MouseMovement nextMovement(unsigned x, unsigned y, const Maze &maze) {
const bool frontWall = maze.wallInFront();
const bool leftWall = maze.wallOnLeft();
// Pause at each cell if the user requests it.
// It allows for better viewing on command line.
if(pause) {
std::cout << "Hit enter to continue..., (" << x << "," << y << "), M=" << getManDistance(x,y) << std::endl;
std::cin.ignore(10000, '\n');
std::cin.clear();
}
std::cout << maze.draw(5) << std::endl << std::endl;
// If we somehow miraculously hit the center
// of the maze, just terminate and celebrate!
if(isAtCenter(x, y)) {
std::cout << "Found center! Good enough for the demo, won't try to get back." << std::endl;
return Finish;
}
// If we hit the start of the maze a second time, then
// we couldn't find the center and never will...
if(x == 0 && y == 0) {
if(visitedStart) {
std::cout << "Unable to find center, giving up." << std::endl;
return Finish;
} else {
visitedStart = true;
}
}
// If we have just turned left, we should take that path!
if(!frontWall && shouldGoForward) {
shouldGoForward = false;
return MoveForward;
}
// As long as nothing is in front and we have
// a wall to our left, keep going forward!
if(!frontWall && leftWall) {
shouldGoForward = false;
return MoveForward;
}
// If our forward and left paths are blocked
// we should try going to the right!
if(frontWall && leftWall) {
shouldGoForward = false;
return TurnClockwise;
}
// Lastly, if there is no left wall we should take that path!
if(!leftWall) {
shouldGoForward = true;
return TurnCounterClockwise;
}
// If we get stuck somehow, just terminate.
std::cout << "Got stuck..." << std::endl;
return Finish;
}
MouseMovement nextMovement(unsigned x, unsigned y, const Maze& maze)
{
coord block;
block.x = x;
block.y = y;
//todo: CREATE IR (so we can tell if there's walls in front or not)
bool front = maze.wallInFront();
bool left = maze.wallOnLeft();
bool right = maze.wallOnRight();
//todo: reverse the goal and reset the values.
if(isAtCenter(x, y))
return Finish;
switch(heading)
{
case NORTH:
{
if(front)
horizontal.set(y+1,x);
if(left)
vertical.set(y,x);
if(right)
vertical.set(y,x+1);
break;
}
case EAST:
{
if(front)
vertical.set(y,x+1);
if(left)
horizontal.set(y+1,x);
if(right)
horizontal.set(y,x);
break;
}
case WEST:
{
if(front)
vertical.set(y,x);
if(left)
horizontal.set(y,x);
if(right)
horizontal.set(y+1,x);
break;
}
case SOUTH:
{
if(front)
horizontal.set(y,x);
if(left)
vertical.set(y,x+1);
if(right)
vertical.set(y,x);
break;
}
case INVALID:
//cry
{
}
}
if((getDistance(x,y) <= getDistance(x,y+1) || horizontal.get(y+1,x))
&& (getDistance(x,y) <= getDistance(x,y-1) || horizontal.get(y,x))
&& (getDistance(x,y) <= getDistance(x+1,y) || vertical.get(y,x+1))
&& (getDistance(x,y) <= getDistance(x-1,y) || vertical.get(y,x)) ){
floodFillFinder(block, Distance, horizontal, vertical);
}
else if(front && left && right)
floodFillFinder(block, Distance, horizontal, vertical);
if(maze.wallInFront()){
if(left && right){
heading = opposite(heading);
return TurnAround;
}
else if(left){
heading = clockwise(heading);
return TurnClockwise;
}
else{
heading = counterClockwise(heading);
return TurnCounterClockwise;
}
}
if(!coords.get(y,x)){
coords.set(y,x);
return MoveForward;
}
left = maze.wallOnLeft();
right = maze.wallOnRight();
unsigned int shortest;
MouseMovement dir = MoveForward;
switch(heading){
case NORTH:
shortest = Distance[x][y+1];
if(!left){
if(shortest > Distance[x-1][y]){
shortest = Distance[x-1][y];
heading = counterClockwise(heading);
dir = TurnCounterClockwise;
}
}
if(!right){
if(shortest > Distance[x+1][y]){
shortest = Distance[x+1][y];
heading = clockwise(heading);
dir = TurnClockwise;
}
}
break;
case EAST:
shortest = Distance[x+1][y];
if(!left){
if(shortest > Distance[x][y+1]){
shortest = Distance[x][y+1];
heading = counterClockwise(heading);
dir = TurnCounterClockwise;
}
}
if(!right){
if(shortest > Distance[x][y-1]){
shortest = Distance[x][y-1];
heading = clockwise(heading);
dir = TurnClockwise;
}
}
break;
case WEST:
shortest = Distance[x-1][y];
if(!left){
if(shortest > Distance[x][y-1]){
shortest = Distance[x][y-1];
heading = counterClockwise(heading);
dir = TurnCounterClockwise;
}
}
if(!right){
if(shortest > Distance[x][y+1]){
shortest = Distance[x][y+1];
heading = clockwise(heading);
dir = TurnClockwise;
}
}
break;
case SOUTH:
shortest = Distance[x][y-1];
if(!left){
if(shortest > Distance[x+1][y]){
shortest = Distance[x+1][y];
heading = counterClockwise(heading);
dir = TurnCounterClockwise;
}
}
if(!right){
if(shortest > Distance[x-1][y]){
shortest = Distance[x-1][y];
heading = clockwise(heading);
dir = TurnClockwise;
}
}
break;
}
return dir;
}
