void RoboPult::Left()
{
if(askStena->isChecked () ){emit hasLeftWall(); askStena->setChecked(false);switchButt();return;};
if(askFree->isChecked () ){emit noLeftWall(); askFree->setChecked(false);switchButt();return;};
emit goLeft();
switchButt();
};
void evaluatePaths() {
// looking for labyrinth exit
int x,y;
for (x = 0; x < getWorldWidth(); x++){
for (y = 0; y < getWorldHeight(); y++){
if (hasBaggle(x,y)){
setIndication(x, y, 0);
}
}
}
int changed = 1;
while (changed) {
changed = 0;
for (x = 0; x < getWorldWidth(); x++) {
for (y = 0; y < getWorldHeight(); y++) {
int indication = getIndication(x, y);
if (indication != 9999) {
if (! hasBottomWall(x,y))
changed |= setValueIfLess(x, (y + 1) % getWorldHeight(), indication + 1);
if (! hasRightWall(x,y))
changed |= setValueIfLess((x + 1) % getWorldWidth(), y, indication + 1);
if (! hasTopWall(x,y))
changed |= setValueIfLess(x, (y+getWorldHeight() - 1) % getWorldHeight(), indication + 1);
if (! hasLeftWall(x,y))
changed |= setValueIfLess((x +getWorldWidth() - 1) % getWorldWidth(), y, indication + 1);
}
}
}
}
}
void followShortestPath() {
while (! isOverBaggle()) {
int x = getX();
int y = getY();
int topValue = 9999;
int bottomValue = 9999;
int leftValue = 9999;
int rightValue = 9999;
if (! hasTopWall(x, y))
topValue = getIndication(x, (y + getWorldHeight() - 1) % getWorldHeight());
if (! hasBottomWall(x, y))
bottomValue = getIndication(x, (y+1) % getWorldHeight());
if (! hasLeftWall(x, y))
leftValue = getIndication((x +getWorldWidth() - 1) % getWorldWidth(), y);
if (! hasRightWall(x, y))
rightValue = getIndication((x + 1) % getWorldWidth(), y);
if (topValue <= bottomValue && topValue <= leftValue && topValue <= rightValue)
setDirection(NORTH);
else if (rightValue <= topValue && rightValue <= bottomValue && rightValue <= leftValue)
setDirection(EAST);
else if (leftValue <= rightValue && leftValue <= bottomValue && leftValue <= topValue)
setDirection(WEST);
else if (bottomValue <= topValue && bottomValue <= rightValue && bottomValue <= leftValue)
setDirection(SOUTH);
forward(1);
}
/* END SOLUTION */
}
// tools functions
int hasRightWall(int x, int y) {
return hasLeftWall((x + 1) % getWorldWidth(), y);
}