Changeset 12319 for code/branches/3DPacman_FS19/src/modules/pacman/PacmanGhost.cc

Timestamp:

Apr 21, 2019, 11:30:41 PM (5 years ago)

Author:

peterf

Message:

PacmanPink implementation, but lots of SIGSEGV

File:

• code/branches/3DPacman_FS19/src/modules/pacman/PacmanGhost.cc (modified) (3 diffs)

code/branches/3DPacman_FS19/src/modules/pacman/PacmanGhost.cc

@@ -247 +247 @@
 
 
+    bool PacmanGhost::jeanfindpos(Vector3 one, Vector3 other){
+       if((abs(one.x - other.x)<15) && (abs(one.y - other.y)<15) && (abs(one.z - other.z)<15)) return true;
+        return false;
+        }
+
+    void PacmanGhost::setNewTargetGhost(Vector3 goalToGo){
+
+                    this->target_x = goalToGo.x;
+                    this->target_z = goalToGo.z; 
+                    this->ismoving = true;
+    }
 
 
@@ -255 +266 @@
         
         
-
-        Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal){
+    Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal, Vector3 pointToAvoidP1){
+        //this function should then somehow produce the algorithm and call all other functions
+        //and finally return the best neighboor of the actual position of the pacman
+        
+    //(optional parameter) pointToAvoidP1 is a point that cannot be considered
+
+
+    graphVertex listOfVerticesM[67]; //our list of all possible graphs
+    graphVertex* actualVertex; //we will walk through the array with a pointer
+    
+        if(start==goal){ // basic case
+            return start; 
+        }
+
+        for(int an=0; an < 67; an++){
+      listOfVerticesM[an]= graphVertex(possibleposition[an]); //same position order as in other file
+    if(start==possibleposition[an]){
+     actualVertex= &listOfVerticesM[an]; //our pointer points to the graph with position start in array
+    //cout<<an<<endl;
+        }
+        }
+
+        //graphVertex actualVertex= listOfVerticesM[an];
+
+        actualVertex->alreadyVisited=true; //our start point is now visited
+        actualVertex->shortestDistanceToStart=0; //At our start point, distance from start is 0
+        findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); 
+        // second parameter is an array ! //third is our global array
+
+        while(actualVertex->position!=goal){
+            for(int h=0;h < 4; h++){
+                if(actualVertex->adjacentVertices[h]!=nullptr){ //check all neighboors of our current graphVertex
+ 
+         //h=2 and 3 never reached
+                    updateShortestDistanceToStart(*actualVertex, *actualVertex->adjacentVertices[h]);
+                } //we "update" the neighboors of our new visited vertex
+        
+            }
+            
+            actualVertex=findNextVertexToConsider(listOfVerticesM, pointToAvoidP1);
+            actualVertex->alreadyVisited=true;
+    //cout<<actualVertex->position<<endl;
+            if(actualVertex->position!=goal){
+                findNeighboorVertices(actualVertex->position, actualVertex->adjacentVertices, listOfVerticesM); 
+                //we find the neighboors of our new visited vertex
+                }
+        }
+
+    //cout<<"meuejeeke"<<endl; never reached
+
+        //we should have reached our goal at this point
+
+        while(actualVertex->actuelPredecessor->actuelPredecessor!=nullptr){ //the predecessor of our predecessor
+            actualVertex=actualVertex->actuelPredecessor;
+        }
+        // the predecessor is our starting point, in other words we are now on an
+        //adjacent vertex of the start
+
+        return actualVertex->position; //we return the position of this - adjacent to start - vertex
+    }
+
+//end of getShortestPath
+
+
+    int PacmanGhost::graphDistance(Vector3 start, Vector3 goal){
+    //cout<<hgj++<<endl;
+        Vector3 differenceVector= Vector3(abs(goal.x-start.x), 0,abs(goal.z-start.z));
+
+        return differenceVector.x+differenceVector.z;
+    }
+
+    void PacmanGhost::updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor){
+        //apply this method to all non visited neighboors of a vertex.
+        // This method should always be run on a vertex after we marked it as visited.
+        if(neighboor.alreadyVisited==false){ //we only consider non visited neighboors.
+            if((vertex.shortestDistanceToStart!=std::numeric_limits<int>::max())&&
+        (neighboor.shortestDistanceToStart > vertex.shortestDistanceToStart + 
+                graphDistance(vertex.position, neighboor.position))){ //need to consider overflow case !
+        
+                neighboor.shortestDistanceToStart= vertex.shortestDistanceToStart + 
+                graphDistance(vertex.position, neighboor.position);
+                neighboor.actuelPredecessor = &vertex;
+            }
+        }
+    }
+
+    void PacmanGhost::findNearestNonVisitedNeighboor (graphVertex &vertex, Vector3 pointToAvoidP3){ 
+            //find nearest non visited neighboor of a given already visited vertex
+    //(optional parameter) pointToAvoidP3 is a point that cannot be considered
+        int shortestDistance = -1;
+        graphVertex* nearestNonVisitedNeighboor=nullptr;//=graphVertex(); //by default there is not any.
+        //Also, if all neighboors are already visited, we return NULL, i.e. there is no
+        //nearest non visited neighboor.
+        for(int i=0; i < 4; i++){
+            if((vertex.adjacentVertices[i]!=nullptr)&&(vertex.adjacentVertices[i]->alreadyVisited==false)&&(vertex.adjacentVertices[i]->position!=pointToAvoidP3)){
+                if(shortestDistance==-1){   //(concerns line above) we want a non visited neighboor //(optional) if the position of the neighboor is the one we want
+    //to avoid, then we ignore it
+
+                    shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position);
+                    nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses !
+    //cout<<shortestDistance<<endl;
+                }
+                else if(graphDistance(vertex.position, vertex.adjacentVertices[i]->position)<shortestDistance){
+                    shortestDistance= graphDistance(vertex.position, vertex.adjacentVertices[i]->position);
+                    nearestNonVisitedNeighboor=vertex.adjacentVertices[i]; //warning, both sides are pointer adresses !
+        //cout<<(hgj++)%4<<endl;
+                }
+            }
+        }
+        vertex.currentNearestNonVisitedNeighboor = nearestNonVisitedNeighboor; //warning, both sides are pointer adresses !
+    //cout<<hgj++<<endl;
+    }
+
+
+    PacmanGhost::graphVertex* PacmanGhost::findNextVertexToConsider(graphVertex listOfVerticesP[], Vector3 pointToAvoidP2){ //find next, nearest from start, non visited vertex in our listOfVertices array
+    //(optional parameter) pointToAvoidP2 is a point that cannot be considered
+
+        int shortestDistance = -1;
+        graphVertex* nextVertexToConsider;
+
+        for(int i=0; i < 67; i++){ //we loop over all possible positions 
+
+            if(listOfVerticesP[i].alreadyVisited==true){ //vertex should already be visited 
+
+                findNearestNonVisitedNeighboor(listOfVerticesP[i], pointToAvoidP2); //we update nearest neighboor
+                //of all visited vertices given that one of the nearest neighboor of a visited
+                // vertex is now also visited because it was chosen as next optimal vertex
+
+                if(listOfVerticesP[i].currentNearestNonVisitedNeighboor!=nullptr){ //we want a candidate!
+                if(shortestDistance==-1){ //our first possible candidate
+
+            shortestDistance=graphDistance(listOfVerticesP[i].position, 
+            listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + 
+            listOfVerticesP[i].shortestDistanceToStart;
+
+            nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor;
+    //adress of nextVertexToConsider is that of pointer currentNearestNonVisitedNeighboor
+
+                }
+                else if(shortestDistance > graphDistance(listOfVerticesP[i].position, 
+                listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + 
+                    listOfVerticesP[i].shortestDistanceToStart){//if better candidate than our first candidate available
+
+            shortestDistance=graphDistance(listOfVerticesP[i].position, 
+            listOfVerticesP[i].currentNearestNonVisitedNeighboor->position) + 
+            listOfVerticesP[i].shortestDistanceToStart;
+
+            nextVertexToConsider=listOfVerticesP[i].currentNearestNonVisitedNeighboor;
+    //we dont need the & because we are not giving the adress of the array element 
+    //listOfVerticesP[i] but that of the pointer currentNearestNonVisitedNeighboor
+                    }
+                }
+            }
+            //we want after all to return the nearest non visited neighboor
+        }
+
+        return nextVertexToConsider; //returns adress nextVertexToConsider is pointing to in array
+    }
+
+    //////////////////////////////////////////////////////////////////////////////////////////////
+
+    //if vertex already visited, call function on it and reapeat until you reach non visited vertex
+    // ---> not sure if a good idea because we risk infinite loop
+
+    //-215 -185 -135 -70 -20 0 20 70 135 185 215 
+
+    //-195 -135 -85 -35 15 60 105 150 195 245
+
+    void PacmanGhost::findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]){      
+
+
+            if(findpos(actuelposition,possibleposition[0])){
+                // we should use listOfVerticesP2[i] instead of possibleposition[i] I think
+                // so that all neighboors are "the same"
+                adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]);  //need to do it everywhere !!!
+                adjacentVertices[1]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]);
+                adjacentVertices[2]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]); //maybe a vector would be more suitable ?
+            }
+            else if(findpos(actuelposition,possibleposition[1])){
+                adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]);
+                adjacentVertices[1]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]);
+            }
+            else if(findpos(actuelposition,possibleposition[2])){
+                adjacentVertices[0]=&listOfVerticesP2[1]; //graphVertex(possibleposition[1]);
+                adjacentVertices[1]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]);
+            }
+            else if(findpos(actuelposition,possibleposition[3])){
+                adjacentVertices[0]=&listOfVerticesP2[2]; //graphVertex(possibleposition[2]);
+                adjacentVertices[1]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]);
+                adjacentVertices[2]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]);
+            }
+            else if(findpos(actuelposition,possibleposition[4])){
+                adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]);
+                adjacentVertices[1]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]);
+            }
+            else if(findpos(actuelposition,possibleposition[5])){
+                adjacentVertices[0]=&listOfVerticesP2[3]; //graphVertex(possibleposition[3]);
+                adjacentVertices[1]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]);
+            }
+            else if(findpos(actuelposition,possibleposition[6])){
+                adjacentVertices[0]=&listOfVerticesP2[4]; //graphVertex(possibleposition[4]);
+                adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]);
+                adjacentVertices[2]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]);
+            }
+            else if(findpos(actuelposition,possibleposition[7])){
+                adjacentVertices[0]=&listOfVerticesP2[5]; //graphVertex(possibleposition[5]);
+                adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]);
+            }
+            else if(findpos(actuelposition,possibleposition[8])){
+                adjacentVertices[0]=&listOfVerticesP2[7]; //graphVertex(possibleposition[7]);
+                adjacentVertices[1]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]);
+            }
+            else if(findpos(actuelposition,possibleposition[9])){
+                adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]);
+                adjacentVertices[1]=&listOfVerticesP2[8]; //graphVertex(possibleposition[8]);
+                adjacentVertices[2]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]);
+                adjacentVertices[3]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]);
+            }
+            else if(findpos(actuelposition,possibleposition[10])){
+                adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]);
+                adjacentVertices[1]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]);
+                adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]);
+            }
+            else if(findpos(actuelposition,possibleposition[11])){
+                adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]);
+                adjacentVertices[1]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]);
+                adjacentVertices[2]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]);
+            }
+            else if(findpos(actuelposition,possibleposition[12])){
+                adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]);
+                adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]);
+            }
+            else if(findpos(actuelposition,possibleposition[13])){
+                adjacentVertices[0]=&listOfVerticesP2[11]; //graphVertex(possibleposition[11]);
+                adjacentVertices[1]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]);
+                adjacentVertices[2]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]);
+                adjacentVertices[3]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]);
+            }
+            else if(findpos(actuelposition,possibleposition[14])){
+                adjacentVertices[0]=&listOfVerticesP2[12]; //graphVertex(possibleposition[12]);
+                adjacentVertices[1]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]);
+                adjacentVertices[2]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]);
+            }
+            else if(findpos(actuelposition,possibleposition[15])){
+                adjacentVertices[0]=&listOfVerticesP2[14]; //graphVertex(possibleposition[14]);
+                adjacentVertices[1]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]);
+            }
+            else if(findpos(actuelposition,possibleposition[16])){
+                adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]);
+                adjacentVertices[1]=&listOfVerticesP2[15]; //graphVertex(possibleposition[15]);
+                adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]);
+            }
+            else if(findpos(actuelposition,possibleposition[17])){
+                adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]);
+                adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]);
+            }
+            else if(findpos(actuelposition,possibleposition[18])){
+                adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]);
+                adjacentVertices[1]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]);                
+            }
+            else if(findpos(actuelposition,possibleposition[19])){
+                adjacentVertices[0]=&listOfVerticesP2[0]; //graphVertex(possibleposition[0]);
+                adjacentVertices[1]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]);
+                adjacentVertices[2]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]);
+                         }
+            else if(findpos(actuelposition,possibleposition[20])){
+                adjacentVertices[0]=&listOfVerticesP2[19]; //graphVertex(possibleposition[19]);
+                adjacentVertices[1]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]);
+                       }
+            else if(findpos(actuelposition,possibleposition[21])){
+                adjacentVertices[0]=&listOfVerticesP2[20]; //graphVertex(possibleposition[20]);
+                adjacentVertices[1]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]);
+                       }
+            else if(findpos(actuelposition,possibleposition[22])){
+                adjacentVertices[0]=&listOfVerticesP2[21]; //graphVertex(possibleposition[21]);
+                adjacentVertices[1]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]);
+                adjacentVertices[2]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]);
+                          }
+            else if(findpos(actuelposition,possibleposition[23])){
+                adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]);
+                adjacentVertices[1]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]);
+                       }
+            else if(findpos(actuelposition,possibleposition[24])){
+                adjacentVertices[0]=&listOfVerticesP2[18]; //graphVertex(possibleposition[18]);
+                adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]);
+                       }
+            else if(findpos(actuelposition,possibleposition[25])){
+                adjacentVertices[0]=&listOfVerticesP2[17]; //graphVertex(possibleposition[17]);
+                adjacentVertices[1]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]);
+                       }
+            else if(findpos(actuelposition,possibleposition[26])){
+                adjacentVertices[0]=&listOfVerticesP2[6]; //graphVertex(possibleposition[6]);
+                adjacentVertices[1]=&listOfVerticesP2[25]; //graphVertex(possibleposition[25]);
+                adjacentVertices[2]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]);
+                         }
+            else if(findpos(actuelposition,possibleposition[27])){
+                adjacentVertices[0]=&listOfVerticesP2[26]; //graphVertex(possibleposition[26]);
+                adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]);
+                adjacentVertices[2]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]);
+                          }
+            else if(findpos(actuelposition,possibleposition[28])){
+                adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]);
+                adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]);
+                adjacentVertices[2]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]);
+                          }
+            else if(findpos(actuelposition,possibleposition[29])){
+                adjacentVertices[0]=&listOfVerticesP2[24]; //graphVertex(possibleposition[24]);
+                adjacentVertices[1]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]);
+                adjacentVertices[2]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]);
+                          }
+            else if(findpos(actuelposition,possibleposition[30])){
+                adjacentVertices[0]=&listOfVerticesP2[23]; //graphVertex(possibleposition[23]);
+                adjacentVertices[1]=&listOfVerticesP2[29]; //graphVertex(possibleposition[29]);
+                adjacentVertices[2]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]);
+                          }
+            else if(findpos(actuelposition,possibleposition[31])){
+                adjacentVertices[0]=&listOfVerticesP2[22]; //graphVertex(possibleposition[22]);
+                adjacentVertices[1]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]);
+                       }
+            else if(findpos(actuelposition,possibleposition[32])){
+                adjacentVertices[0]=&listOfVerticesP2[31]; //graphVertex(possibleposition[31]);
+                adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]);
+                       }
+            else if(findpos(actuelposition,possibleposition[33])){
+                adjacentVertices[0]=&listOfVerticesP2[32]; //graphVertex(possibleposition[32]);
+                adjacentVertices[1]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]);
+                       }
+            else if(findpos(actuelposition,possibleposition[34])){
+                adjacentVertices[0]=&listOfVerticesP2[30]; //graphVertex(possibleposition[30]);
+                adjacentVertices[1]=&listOfVerticesP2[33]; //graphVertex(possibleposition[33]);
+                adjacentVertices[2]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]);
+                adjacentVertices[3]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]);
+                
+            }
+            else if(findpos(actuelposition,possibleposition[35])){
+                adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]);
+                adjacentVertices[1]=&listOfVerticesP2[36]; //graphVertex(possibleposition[36]);
+                adjacentVertices[2]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]);
+                          }
+            else if(findpos(actuelposition,possibleposition[36])){
+                adjacentVertices[0]=&listOfVerticesP2[28]; //graphVertex(possibleposition[28]);
+                adjacentVertices[1]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]);
+                       }
+            else if(findpos(actuelposition,possibleposition[37])){
+                adjacentVertices[0]=&listOfVerticesP2[27]; //graphVertex(possibleposition[27]);
+                adjacentVertices[1]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]);
+                       }
+            else if(findpos(actuelposition,possibleposition[38])){
+                adjacentVertices[0]=&listOfVerticesP2[9]; //graphVertex(possibleposition[9]);
+                adjacentVertices[1]=&listOfVerticesP2[37]; //graphVertex(possibleposition[37]);
+                adjacentVertices[2]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]);
+                         }
+            else if(findpos(actuelposition,possibleposition[39])){
+                adjacentVertices[0]=&listOfVerticesP2[38]; //graphVertex(possibleposition[38]);
+                adjacentVertices[1]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]);
+                adjacentVertices[2]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]);
+                          }
+            else if(findpos(actuelposition,possibleposition[40])){
+                adjacentVertices[0]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]);
+                adjacentVertices[1]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]);
+            }
+            else if(findpos(actuelposition,possibleposition[41])){
+                adjacentVertices[0]=&listOfVerticesP2[35]; //graphVertex(possibleposition[35]);
+                adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]);
+                       }
+            else if(findpos(actuelposition,possibleposition[42])){
+                adjacentVertices[0]=&listOfVerticesP2[34]; //graphVertex(possibleposition[34]);
+                adjacentVertices[1]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]);
+                adjacentVertices[2]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]);
+                          }
+            else if(findpos(actuelposition,possibleposition[43])){
+                adjacentVertices[0]=&listOfVerticesP2[41]; //graphVertex(possibleposition[41]);
+                adjacentVertices[1]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]);
+                       }
+            else if(findpos(actuelposition,possibleposition[44])){
+                adjacentVertices[0]=&listOfVerticesP2[40]; //graphVertex(possibleposition[40]);
+                adjacentVertices[1]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]);
+                       }
+            else if(findpos(actuelposition,possibleposition[45])){
+                adjacentVertices[0]=&listOfVerticesP2[10]; //graphVertex(possibleposition[10]);
+                adjacentVertices[1]=&listOfVerticesP2[39]; //graphVertex(possibleposition[39]);
+                adjacentVertices[2]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]);
+                          }
+            else if(findpos(actuelposition,possibleposition[46])){
+                adjacentVertices[0]=&listOfVerticesP2[43]; //graphVertex(possibleposition[43]);
+                adjacentVertices[1]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]);
+                       }
+            else if(findpos(actuelposition,possibleposition[47])){
+                adjacentVertices[0]=&listOfVerticesP2[46]; //graphVertex(possibleposition[46]);
+                adjacentVertices[1]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]);
+                adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]);
+                          }
+            else if(findpos(actuelposition,possibleposition[48])){
+                adjacentVertices[0]=&listOfVerticesP2[49]; //graphVertex(possibleposition[49]);
+                adjacentVertices[1]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]);
+                adjacentVertices[2]=&listOfVerticesP2[66]; //graphVertex(possibleposition[66]);
+                          }
+            else if(findpos(actuelposition,possibleposition[49])){
+                adjacentVertices[0]=&listOfVerticesP2[45]; //graphVertex(possibleposition[45]);
+                adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]);
+                       }
+            else if(findpos(actuelposition,possibleposition[50])){
+                adjacentVertices[0]=&listOfVerticesP2[51]; //graphVertex(possibleposition[51]);
+                adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]);
+                       }
+            else if(findpos(actuelposition,possibleposition[51])){
+                adjacentVertices[0]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]);
+                adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]);
+                       }
+            else if(findpos(actuelposition,possibleposition[52])){
+                adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]);
+                adjacentVertices[1]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]);
+                       }
+            else if(findpos(actuelposition,possibleposition[53])){
+                adjacentVertices[0]=&listOfVerticesP2[52]; //graphVertex(possibleposition[52]);
+                adjacentVertices[1]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]);
+                       }
+            else if(findpos(actuelposition,possibleposition[54])){
+                adjacentVertices[0]=&listOfVerticesP2[42]; //graphVertex(possibleposition[42]);
+                adjacentVertices[1]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]);
+                adjacentVertices[2]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]);
+                          }
+            else if(findpos(actuelposition,possibleposition[55])){
+                adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]);
+                adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]);
+                       }
+            else if(findpos(actuelposition,possibleposition[56])){
+                adjacentVertices[0]=&listOfVerticesP2[55]; //graphVertex(possibleposition[55]);
+                adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]);
+                adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]);
+                          }
+            else if(findpos(actuelposition,possibleposition[57])){
+                adjacentVertices[0]=&listOfVerticesP2[54]; //graphVertex(possibleposition[54]);
+                adjacentVertices[1]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]);
+                adjacentVertices[2]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]);
+                adjacentVertices[3]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]);
+                
+            }
+            else if(findpos(actuelposition,possibleposition[58])){
+                adjacentVertices[0]=&listOfVerticesP2[53]; //graphVertex(possibleposition[53]);
+                adjacentVertices[1]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]);
+                adjacentVertices[2]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]);
+                          }
+            else if(findpos(actuelposition,possibleposition[59])){
+                adjacentVertices[0]=&listOfVerticesP2[58]; //graphVertex(possibleposition[58]);
+                adjacentVertices[1]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]);
+                adjacentVertices[2]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]);
+                          }
+            else if(findpos(actuelposition,possibleposition[60])){
+                adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]);
+                adjacentVertices[1]=&listOfVerticesP2[61]; //graphVertex(possibleposition[61]);
+                adjacentVertices[2]=&listOfVerticesP2[62]; //graphVertex(possibleposition[62]);
+                          }
+            else if(findpos(actuelposition,possibleposition[61])){
+                adjacentVertices[0]=&listOfVerticesP2[13]; //graphVertex(possibleposition[13]);
+                adjacentVertices[1]=&listOfVerticesP2[50]; //graphVertex(possibleposition[50]);
+                adjacentVertices[2]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]);
+                          }
+            else if(findpos(actuelposition,possibleposition[62])){
+                adjacentVertices[0]=&listOfVerticesP2[16]; //graphVertex(possibleposition[16]);
+                adjacentVertices[1]=&listOfVerticesP2[60]; //graphVertex(possibleposition[60]);
+                       }
+            else if(findpos(actuelposition,possibleposition[63])){
+                adjacentVertices[0]=&listOfVerticesP2[59]; //graphVertex(possibleposition[59]);
+                adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]);
+                       }
+            else if(findpos(actuelposition,possibleposition[64])){
+                adjacentVertices[0]=&listOfVerticesP2[57]; //graphVertex(possibleposition[57]);
+                adjacentVertices[1]=&listOfVerticesP2[63]; //graphVertex(possibleposition[63]);
+                adjacentVertices[2]=&listOfVerticesP2[65]; //graphVertex(possibleposition[65]);
+                          }
+            else if(findpos(actuelposition,possibleposition[65])){
+                adjacentVertices[0]=&listOfVerticesP2[56]; //graphVertex(possibleposition[56]);
+                adjacentVertices[1]=&listOfVerticesP2[64]; //graphVertex(possibleposition[64]);
+                       }
+            else if(findpos(actuelposition,possibleposition[66])){
+                adjacentVertices[0]=&listOfVerticesP2[47]; //graphVertex(possibleposition[47]);
+                adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]);
+                       }
+    }
+
+
+
+
+
+        /*Vector3 PacmanGhost::getShortestPath(Vector3 start, Vector3 goal){
         //this function should then somehow produce the algorithm and call all other functions
         //and finally return the best neighboor of the actual position of the pacman
@@ -727 +1222 @@
                 adjacentVertices[1]=&listOfVerticesP2[48]; //graphVertex(possibleposition[48]);
                        }
-    }
+    }*/