Changeset 12319 for code

Timestamp:

Apr 21, 2019, 11:30:41 PM (6 years ago)

Author:

peterf

Message:

PacmanPink implementation, but lots of SIGSEGV

Location:

code/branches/3DPacman_FS19/src/modules/pacman

Files:

• CMakeLists.txt (modified) (1 diff)
• PacmanGhost.cc (modified) (3 diffs)
• PacmanGhost.h (modified) (3 diffs)
• PacmanPink.cc (modified) (5 diffs)
• PacmanPink.h (modified) (2 diffs)
• PacmanRed.cc (modified) (8 diffs)
• PacmanRed.h (modified) (1 diff)

code/branches/3DPacman_FS19/src/modules/pacman/CMakeLists.txt

@@ -8 +8 @@
   PacmanRandom.cc
   PacmanRed.cc
+  PacmanPink.cc
 )
 

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]);
                        }
-    }
+    }*/
 
 

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

@@ -99 +99 @@
     public: //HACK
 
-    struct graphVertex;
-    void findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[]);
-    void updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor);
-    void findNearestNonVisitedNeighboor (graphVertex &vertex);
-    int graphDistance(Vector3 start, Vector3 goal);
+    */
 
-    graphVertex* findNextVertexToConsider(graphVertex listOfVerticesP[]);*/
-
-    struct graphVertex;
+    /*struct graphVertex;
     void findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]);
     void updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor);
@@ -114 +108 @@
 
     graphVertex* findNextVertexToConsider(graphVertex listOfVerticesP[]);
-    Vector3 getShortestPath(Vector3 start, Vector3 goal);
+    Vector3 getShortestPath(Vector3 start, Vector3 goal);*/
+
+    struct graphVertex;
+    void findNeighboorVertices(Vector3 actuelposition, graphVertex* adjacentVertices[], graphVertex listOfVerticesP2[]);
+    void updateShortestDistanceToStart(graphVertex &vertex, graphVertex &neighboor);
+    void findNearestNonVisitedNeighboor (graphVertex &vertex, Vector3 pointToAvoidP3=Vector3(0,0,0));
+    int graphDistance(Vector3 start, Vector3 goal);
+
+    graphVertex* findNextVertexToConsider(graphVertex listOfVerticesP[], Vector3 pointToAvoidP2=Vector3(0,0,0));
+    Vector3 getShortestPath(Vector3 start, Vector3 goal, Vector3 pointToAvoidP1=Vector3(0,0,0));
+
 
 
@@ -126 +130 @@
     bool playerFindPos(Vector3 one, Vector3 other);
 
+    bool jeanfindpos(Vector3 one, Vector3 other);
+
+    void setNewTargetGhost(Vector3 goalToGo);
+
 
     };

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

@@ -13 +13 @@
 
         RegisterObject(PacmanPink);
+
+        this->target_x=0;
+        this->target_z=15;
+        this->lastPlayerPassedPoint=Vector3(70,10,-135);
           
     }
@@ -31 +35 @@
 
         this->actuelposition = this->getPosition();
+
+
+        for(int u=0; u < 67; u++){//always check if player passed a point
+            if(jeanfindpos(this->getPlayerPos(), possibleposition[u])){
+            this->lastPlayerPassedPoint=possibleposition[u];
+                    }
+            }
+
         
         //Stop, if target arrived
@@ -53 +65 @@
             lockmove = true;
 
-            if(findPos(player.getPos(), player.lastPassedPoint)){
+            Vector3 pinkPos=Vector3(this->target_x, 10, this->target_z);
+            
+            int directionV = findPlayerTravDir (lastPlayerPassedPoint, this->getPlayerPos());
+            this->pointInFrontOfPlayer=getPointInFrontOfPacman(lastPlayerPassedPoint, directionV);
+
+
+            nextMove(pinkPos, pointInFrontOfPlayer, lastPlayerPassedPoint);
+
+
+
+            /*if(findPos(player.getPos(), player.lastPassedPoint)){
                 // if player is on a point, for simplicity go to it
             Vector3 nextMove = getShortestPath(this->actuelposition, player.lastPassedPoint);
@@ -100 +122 @@
                 }
 
-            }
+            }*/
+            lockmove=false;
 
         }
@@ -106 +129 @@
 
 
-        /*
-        Vector3 diffVector (Vector3 start, Vector3 goal){
 
-                Vector3 result;
-                result.x=goal.x-start.x;
-                result.z=goal.z-start.z;
-                return result;
+
         }
 
-        int findPlayerTravDir (Vector3 playerPosBefore, Vector3 playerPos){
-                //return 0 for south, 1 for west, 2 for north, 3 for east
-
-                Vector3 difference = diffVector(playerPosBefore, playerPos);
 
 
-                if((difference.z < 0)&&(difference.z>difference.x)){ //move south
+    void PacmanPink::nextMove( Vector3 pinkPosP, Vector3 playerPos, Vector3 pointToAvoidP11){
+    
+        Vector3 nextTarget;
 
-                        return 0;
-                }
-                else if((difference.x < 0)&&(difference.x > difference.z )){//move west
+       nextTarget = getShortestPath(pinkPosP, playerPos, pointToAvoidP11);
+    
+       setNewTargetGhost(nextTarget);
+    }
 
-                        return 1;
-                }
-
-                else if((difference.z>0)&&(difference.z>difference.x)){ //mouve north
-
-                        return 2;
-                }
-
-                else if((difference.x>0)&&(difference.x>difference.z)){ //move east
-                        return 3;
-
-                }
-
-                else { //default move west 
-
-                return 1;
-                }
-                
-
-        Vector3 getPointInFrontOfPacman(Vector3 pacLasVisPos,int indexForSWNE){
-                //return the Vector3 point that Pinky should target to
-                //be in front of pacman
-
-                Vector3 listOfNeighboors[4];
-                //first element is south, 2nd west, 3d north, 4th east
-        
-
-
-                if(findpos(pacLasVisPos,possibleposition[0])){
-                        //no south neighbor 
-                        listOfNeighboors[1]=possibleposition[19]; // west neighbor
-                        listOfNeighboors[2]=possibleposition[17]; //north
-                        listOfNeighboors[3]=possibleposition[1]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[1])){
-                listOfNeighboors[1]=possibleposition[0]; // west neighbor
-                        listOfNeighboors[2]=possibleposition[2]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[2])){
-                listOfNeighboors[0]=possibleposition[1];  //south
-                listOfNeighboors[1]=possibleposition[3]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[3])){
-                listOfNeighboors[1]=possibleposition[4]; //west
-                        listOfNeighboors[2]=possibleposition[5]; //north
-                        listOfNeighboors[3]=possibleposition[2]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[4])){
-                        listOfNeighboors[2]=possibleposition[6]; //north
-                        listOfNeighboors[3]=possibleposition[3]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[5])){
-                listOfNeighboors[0]=possibleposition[3]; //south
-                        listOfNeighboors[3]=possibleposition[7]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[6])){
-                listOfNeighboors[0]=possibleposition[4]; //south
-                listOfNeighboors[1]=possibleposition[26]; //west
-                        listOfNeighboors[2]=possibleposition[9]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[7])){
-                listOfNeighboors[1]=possibleposition[5]; //west
-                        listOfNeighboors[2]=possibleposition[8]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[8])){
-                listOfNeighboors[0]=possibleposition[7]; //south
-                listOfNeighboors[1]=possibleposition[9]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[9])){
-                listOfNeighboors[0]=possibleposition[6]; //south
-                listOfNeighboors[1]=possibleposition[38]; //west
-                        listOfNeighboors[2]=possibleposition[10]; //north
-                        listOfNeighboors[3]=possibleposition[8]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[10])){
-                listOfNeighboors[0]=possibleposition[9]; //south
-                listOfNeighboors[1]=possibleposition[45]; //west
-                        listOfNeighboors[2]=possibleposition[11]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[11])){
-                listOfNeighboors[0]=possibleposition[10]; //south
-                        listOfNeighboors[2]=possibleposition[13]; //north
-                        listOfNeighboors[3]=possibleposition[12]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[12])){
-                listOfNeighboors[1]=possibleposition[11]; //west
-                        listOfNeighboors[2]=possibleposition[14]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[13])){
-                listOfNeighboors[0]=possibleposition[11]; //south
-                listOfNeighboors[1]=possibleposition[61]; //west
-                        listOfNeighboors[2]=possibleposition[16]; //north
-                        listOfNeighboors[3]=possibleposition[14]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[14])){
-                listOfNeighboors[0]=possibleposition[12]; //south
-                listOfNeighboors[1]=possibleposition[13]; //west
-                        listOfNeighboors[2]=possibleposition[15]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[15])){
-                listOfNeighboors[0]=possibleposition[14]; //south
-                listOfNeighboors[1]=possibleposition[16]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[16])){
-                listOfNeighboors[0]=possibleposition[13]; //south
-                listOfNeighboors[1]=possibleposition[62]; //west
-                        listOfNeighboors[2]=possibleposition[15]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[17])){
-                listOfNeighboors[0]=possibleposition[0]; //south
-                        listOfNeighboors[3]=possibleposition[25]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[18])){
-                listOfNeighboors[0]=possibleposition[19]; //south
-                listOfNeighboors[1]=possibleposition[24]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[19])){
-                listOfNeighboors[1]=possibleposition[20]; //west
-                        listOfNeighboors[2]=possibleposition[18]; //north
-                        listOfNeighboors[3]=possibleposition[0]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[20])){
-                        listOfNeighboors[2]=possibleposition[21]; //north
-                        listOfNeighboors[3]=possibleposition[19]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[21])){
-                listOfNeighboors[0]=possibleposition[20]; //south
-                        listOfNeighboors[3]=possibleposition[22]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[22])){
-                listOfNeighboors[1]=possibleposition[21]; //west
-                        listOfNeighboors[2]=possibleposition[31]; //north
-                        listOfNeighboors[3]=possibleposition[23]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[23])){
-                listOfNeighboors[1]=possibleposition[22]; //west
-                        listOfNeighboors[2]=possibleposition[30]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[24])){
-                        listOfNeighboors[2]=possibleposition[29]; //north
-                        listOfNeighboors[3]=possibleposition[18]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[25])){
-                listOfNeighboors[1]=possibleposition[17]; //west
-                        listOfNeighboors[2]=possibleposition[26]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[26])){
-                listOfNeighboors[0]=possibleposition[25]; //south
-                listOfNeighboors[1]=possibleposition[27]; //west
-                        listOfNeighboors[3]=possibleposition[6]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[27])){
-                listOfNeighboors[1]=possibleposition[28]; //west
-                        listOfNeighboors[2]=possibleposition[37]; //north
-                        listOfNeighboors[3]=possibleposition[26]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[28])){
-                listOfNeighboors[1]=possibleposition[29]; //west
-                        listOfNeighboors[2]=possibleposition[36]; //north
-                        listOfNeighboors[3]=possibleposition[27]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[29])){
-                listOfNeighboors[0]=possibleposition[24]; //south
-                listOfNeighboors[1]=possibleposition[30]; //west
-                        listOfNeighboors[3]=possibleposition[28]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[30])){
-                listOfNeighboors[0]=possibleposition[23]; //south
-                        listOfNeighboors[2]=possibleposition[34]; //north
-                        listOfNeighboors[3]=possibleposition[29]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[31])){
-                listOfNeighboors[0]=possibleposition[22]; //south
-                listOfNeighboors[1]=possibleposition[32]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[32])){
-                        listOfNeighboors[2]=possibleposition[33]; //north
-                        listOfNeighboors[3]=possibleposition[31]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[33])){
-                listOfNeighboors[0]=possibleposition[32]; //south
-                        listOfNeighboors[3]=possibleposition[34]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[34])){
-                listOfNeighboors[0]=possibleposition[30]; //south
-                listOfNeighboors[1]=possibleposition[33]; //west
-                        listOfNeighboors[2]=possibleposition[92]; //north
-                        listOfNeighboors[3]=possibleposition[35]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[35])){
-                listOfNeighboors[1]=possibleposition[34]; //west
-                        listOfNeighboors[2]=possibleposition[91]; //north
-                        listOfNeighboors[3]=possibleposition[36]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[36])){
-                listOfNeighboors[0]=possibleposition[28]; //south
-                listOfNeighboors[1]=possibleposition[35]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[37])){
-                listOfNeighboors[0]=possibleposition[27]; //south
-                        listOfNeighboors[3]=possibleposition[38]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[38])){
-                listOfNeighboors[1]=possibleposition[37]; //west
-                        listOfNeighboors[2]=possibleposition[39]; //north
-                        listOfNeighboors[3]=possibleposition[9]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[39])){
-                listOfNeighboors[0]=possibleposition[38]; //south
-                listOfNeighboors[1]=possibleposition[40]; //west
-                        listOfNeighboors[2]=possibleposition[45]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[40])){
-                listOfNeighboors[1]=possibleposition[41]; //west
-                        //Not return in center
-                        listOfNeighboors[3]=possibleposition[39]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[41])){
-                listOfNeighboors[0]=possibleposition[35]; //south
-                        listOfNeighboors[2]=possibleposition[43]; //north
-                        listOfNeighboors[3]=possibleposition[40]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[42])){
-                listOfNeighboors[0]=possibleposition[39]; //south
-                        listOfNeighboors[2]=possibleposition[59]; //north
-                        listOfNeighboors[3]=possibleposition[43]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[43])){
-                listOfNeighboors[0]=possibleposition[41]; //south
-                listOfNeighboors[1]=possibleposition[42]; //west
-                        listOfNeighboors[2]=possibleposition[46]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[44])){
-                listOfNeighboors[0]=possibleposition[40]; //south
-                        listOfNeighboors[2]=possibleposition[66]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[45])){
-                listOfNeighboors[0]=possibleposition[39]; //south
-                        listOfNeighboors[2]=possibleposition[49]; //north
-                        listOfNeighboors[3]=possibleposition[10]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[46])){
-                listOfNeighboors[0]=possibleposition[43]; //south
-                        listOfNeighboors[3]=possibleposition[47]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[47])){
-                listOfNeighboors[1]=possibleposition[46]; //west
-                        listOfNeighboors[2]=possibleposition[52]; //north
-                        listOfNeighboors[3]=possibleposition[66]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[48])){
-                listOfNeighboors[1]=possibleposition[66]; //west
-                        listOfNeighboors[2]=possibleposition[51]; //north
-                        listOfNeighboors[3]=possibleposition[49]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[49])){
-                listOfNeighboors[0]=possibleposition[45]; //south
-                listOfNeighboors[1]=possibleposition[48]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[50])){
-                listOfNeighboors[1]=possibleposition[51]; //west
-                        listOfNeighboors[2]=possibleposition[61]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[51])){
-                listOfNeighboors[0]=possibleposition[48]; //south
-                        listOfNeighboors[3]=possibleposition[50]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[52])){
-                listOfNeighboors[0]=possibleposition[47]; //south
-                listOfNeighboors[1]=possibleposition[53]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[53])){
-                        listOfNeighboors[2]=possibleposition[58]; //north
-                        listOfNeighboors[3]=possibleposition[52]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[54])){
-                listOfNeighboors[0]=possibleposition[42]; //south
-                listOfNeighboors[1]=possibleposition[55]; //west
-                        listOfNeighboors[2]=possibleposition[57]; //north
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[55])){
-                        listOfNeighboors[2]=possibleposition[56]; //north
-                        listOfNeighboors[3]=possibleposition[54]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[56])){
-                listOfNeighboors[0]=possibleposition[55]; //south
-                        listOfNeighboors[2]=possibleposition[65]; //north
-                        listOfNeighboors[3]=possibleposition[57]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[57])){
-                listOfNeighboors[0]=possibleposition[54]; //south
-                listOfNeighboors[1]=possibleposition[56]; //west
-                        listOfNeighboors[2]=possibleposition[64]; //north
-                        listOfNeighboors[3]=possibleposition[58]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[58])){
-                listOfNeighboors[0]=possibleposition[53]; //south
-                listOfNeighboors[1]=possibleposition[57]; //west
-                        listOfNeighboors[3]=possibleposition[59]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[59])){
-                listOfNeighboors[1]=possibleposition[58]; //west
-                        listOfNeighboors[2]=possibleposition[63]; //north
-                        listOfNeighboors[3]=possibleposition[60]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[60])){
-                listOfNeighboors[1]=possibleposition[59]; //west
-                        listOfNeighboors[2]=possibleposition[62]; //north
-                        listOfNeighboors[3]=possibleposition[61]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[61])){
-                listOfNeighboors[0]=possibleposition[50]; //south
-                listOfNeighboors[1]=possibleposition[60]; //west
-                        listOfNeighboors[3]=possibleposition[13]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[62])){
-                listOfNeighboors[0]=possibleposition[60]; //south
-                        listOfNeighboors[3]=possibleposition[16]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[63])){
-                listOfNeighboors[0]=possibleposition[59]; //south
-                listOfNeighboors[1]=possibleposition[64]; //west
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[64])){
-                listOfNeighboors[0]=possibleposition[57]; //south
-                listOfNeighboors[1]=possibleposition[65]; //west
-                        listOfNeighboors[3]=possibleposition[63]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[65])){
-                listOfNeighboors[0]=possibleposition[56]; //south
-                        listOfNeighboors[3]=possibleposition[64]; //east
-                        return listOfNeighboors[s];
-            }
-            else if(findpos(pacLasVisPos,possibleposition[66])){
-                //Not back in center
-                listOfNeighboors[1]=possibleposition[47]; //west
-                        listOfNeighboors[3]=possibleposition[48]; //east
-                        return listOfNeighboors[s];            
-                }
-*/
-
-        }
+}
 
         

code/branches/3DPacman_FS19/src/modules/pacman/PacmanPink.h

@@ -18 +18 @@
                         virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode) override;
 
-                        void setNewTargetPink(Vector3 goalToGo);
+                        //void setNewTargetPink(Vector3 goalToGo);
 
-                        void nextMove(Vector3 playerPos, Vector3 redPos);
+                        //void nextMove(Vector3 playerPos, Vector3 redPos);
 
                         //int findPlayerTravDir (Vector3 playerPosBefore, Vector3 playerPos);
@@ -28 +28 @@
                         //Vector3 diffVector (Vector3 start, Vector3 goal);
 
+        Vector3 pinkPos;
+
+        void nextMove(Vector3 pinkPosP, Vector3 playerPos, Vector3 pointToAvoidP11=Vector3(0,0,0));
+
         };
 

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

@@ -36 +36 @@
     }*/
 
-    bool PacmanRed::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 PacmanRed::tick(float dt)
     {
-        std::cout<<"LemanExpress5"<<endl;
+        //std::cout<<"LemanExpress5"<<endl;
         SUPER(PacmanGhost, tick, dt);
 
@@ -69 +65 @@
         //Stop, if target arrived
         if((abs(this->actuelposition.x - this->target_x)<0.5) && (abs(this->actuelposition.z - this->target_z)<0.5)){
-            std::cout<<"LemanExpress1"<<endl;
+            //std::cout<<"LemanExpress1"<<endl;
                  this->ismoving = false;
         }
@@ -75 +71 @@
         //Move, if ghost hasn't arrived yet
         if(this->ismoving){
-            std::cout<<"LemanExpress2"<<endl;
+            //std::cout<<"LemanExpress2"<<endl;
             if(!(abs(this->actuelposition.z-target_z)<0.5)) {
                 velocity = Vector3(0,0,-sgn(this->actuelposition.z-this->target_z));
@@ -84 +80 @@
                 move(dt, actuelposition, velocity);
             }
-            std::cout<<"LemanExpress4"<<endl;
+            //std::cout<<"LemanExpress4"<<endl;
         }
 
@@ -106 +102 @@
             if(!findpos(this->actuelposition, lastPlayerPassedPoint)){
                 
-                std::cout<<this->getPlayerPos()<<endl;
+                /*std::cout<<this->getPlayerPos()<<endl;
                 std::cout<<this->lastPlayerPassedPoint<<endl;
                 std::cout<<this->pointInFrontOfPlayer<<endl;
-                std::cout<<this->actuelposition<<endl;
+                std::cout<<this->actuelposition<<endl;*/
             nextMove(redPos, lastPlayerPassedPoint);
             std::cout<<"hiuddi"<<endl;
@@ -115 +111 @@
             else if(findpos(this->actuelposition, lastPlayerPassedPoint)){// red pacman is at lastPlayerPassedPoint
 
-                std::cout<<"dhdidjop"<<endl;
+                /*std::cout<<"dhdidjop"<<endl;
                 std::cout<<this->getPlayerPos()<<endl;
                 std::cout<<this->lastPlayerPassedPoint<<endl;
                 std::cout<<this->pointInFrontOfPlayer<<endl;
-                std::cout<<this->actuelposition<<endl;
+                std::cout<<this->actuelposition<<endl;*/
 
                 nextMove(lastPlayerPassedPoint, pointInFrontOfPlayer);
@@ -132 +128 @@
 
 
-        void PacmanRed::setNewTargetRed(Vector3 goalToGo){
-
-                                        this->target_x = goalToGo.x;
-                    this->target_z = goalToGo.z; 
-                    this->ismoving = true;
-        }
-
-
         void PacmanRed::nextMove( Vector3 redPosP, Vector3 playerPos){
         
@@ -146 +134 @@
            nextTarget = getShortestPath(redPosP, playerPos);
         
-           setNewTargetRed(nextTarget);
+           setNewTargetGhost(nextTarget);
         }
 

code/branches/3DPacman_FS19/src/modules/pacman/PacmanRed.h

@@ -18 +18 @@
                         virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode) override;
 
-                        void setNewTargetRed(Vector3 goalToGo);
-
                         void nextMove(Vector3 playerPos, Vector3 redPos);
 
                         void mainBehaviourRed();
-
-                        bool jeanfindpos(Vector3 one, Vector3 other);
 
                         bool isNearPlayer;