Pilot *createPilotFromVertex(Vertex *u)
{
Pilot *p=createEmptyPilot();
Vect4D *v=u->e;
p->pos=createVect(v->x,v->y);
p->speed=getSpeedFromIndex(v->z);
return p;
}
Pilot *getPilotFromVertex(Vertex *v)
{
Vect *speed=getSpeedFromIndex(((Vect4D *)v->e)->z);
if(speed)
{
return createPilot(createVect(((Vect4D *)v->e)->x,((Vect4D *)v->e)->y),speed);
}
else
{
perror("Vitesse (NULL)");
}
}
Vertex *updateNeighborhood(Graph *g,Vertex *u)
{
int i,j;
Vertex *v;
Pilot *np, *p;
Vect *nextAcc;
int boost=((Vect4D *)u->e)->b;
int l=boost>0?2:1;
p=createPilotFromVertex(u);
for(i=-l;i<=l;i++)
{
for(j=-l;j<=l;j++)
{
np=createEmptyPilot();
nextAcc=createVect(i,j);
np->speed=vectSum(p->speed,nextAcc);
np->pos=vectSum(p->pos,np->speed);
if(isValidMove(p,np,g->field))
{
boost=(i==-2||i==2||j==-2||j==2)?((Vect4D *)u->e)->b-1:((Vect4D *)u->e)->b;
v=g->vertices[np->pos->x][np->pos->y][getSpeedIndex(np->speed)][boost];
if(v->distance>u->distance+1)
{
v->previous=u;
v->distance=u->distance+1;
fh_insertkey(g->heap,v->distance,v);
}
if(g->field->cell[np->pos->x][np->pos->y]=='=')
{
return v;
}
}
else
{
destroyPilot(np);
destroyVect(nextAcc);
continue;
}
destroyVect(nextAcc);
}
}
return NULL;
}
Vect *getSpeedFromIndex(int index)
{
int i,j;
int k=0;
for(i=-5;i<=5;i++)
{
for(j=-5;j<=5;j++)
{
if(i*i+j*j<=25)
{
if(k==index) return createVect(i,j);
k++;
}
}
}
return NULL;
}
float distance2Points(Point a, Point b)
{
return distanceVect( createVect(a, b) );
}
