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Tested AStar
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Main.cpp
789
Main.cpp
@ -1,243 +1,546 @@
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#include<iostream>
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#include<stdlib.h>
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#include<windows.h>
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#include<conio.h>
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#include<string>
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using namespace std;
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char pole[27][27][2];
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int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
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void color(string foregroundColor,string backgroundColor)
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{
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HANDLE hOut;
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hOut = GetStdHandle(STD_OUTPUT_HANDLE);
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int foregroundCode = 15;
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if (foregroundColor == "black")
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foregroundCode = 0;
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if (foregroundColor == "dark_blue")
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foregroundCode = 1;
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if (foregroundColor == "green")
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foregroundCode = 2;
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if (foregroundColor == "cyan")
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foregroundCode = 3;
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if (foregroundColor == "dark_red")
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foregroundCode = 4;
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if (foregroundColor == "purple")
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foregroundCode = 5;
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if (foregroundColor == "dark_yellow")
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foregroundCode = 6;
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if (foregroundColor == "light_gray")
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foregroundCode = 7;
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if (foregroundColor == "gray")
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foregroundCode = 8;
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if (foregroundColor == "blue")
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foregroundCode = 9;
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if (foregroundColor == "lime")
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foregroundCode = 10;
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if (foregroundColor == "light_blue")
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foregroundCode = 11;
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if (foregroundColor == "red")
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foregroundCode = 12;
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if (foregroundColor == "magenta")
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foregroundCode = 13;
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if (foregroundColor == "yellow")
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foregroundCode = 14;
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if (foregroundColor == "white")
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foregroundCode = 15;
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int backgroundCode = 0;
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if (backgroundColor == "black")
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backgroundCode = 0;
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if (backgroundColor == "dark_blue")
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backgroundCode = 1;
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if (backgroundColor == "green")
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backgroundCode = 2;
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if (backgroundColor == "cyan")
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backgroundCode = 3;
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if (backgroundColor == "dark_red")
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backgroundCode = 4;
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if (backgroundColor == "purple")
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backgroundCode = 5;
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if (backgroundColor == "dark_yellow")
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backgroundCode = 6;
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if (backgroundColor == "light_gray")
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backgroundCode = 7;
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if (backgroundColor == "gray")
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backgroundCode = 8;
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if (backgroundColor == "blue")
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backgroundCode = 9;
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if (backgroundColor == "lime")
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backgroundCode = 10;
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if (backgroundColor == "light_blue")
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backgroundCode = 11;
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if (backgroundColor == "red")
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backgroundCode = 12;
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if (backgroundColor == "magenta")
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backgroundCode = 13;
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if (backgroundColor == "yellow")
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backgroundCode = 14;
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if (backgroundColor == "white")
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backgroundCode = 15;
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SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode*16);
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}
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void SetWindow(int Width, int Height)
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{
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_COORD coord;
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coord.X = Width;
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coord.Y = Height;
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_SMALL_RECT Rect;
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Rect.Top = 0;
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Rect.Left = 0;
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Rect.Bottom = Height - 1;
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Rect.Right = Width - 1;
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HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle
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SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size
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SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size
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}
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void updatePola()
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{
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system("cls");
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for (int i = 0; i < 27; i++)
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{
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for (int j = 0; j < 27; j++)
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{
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char item = pole[i][j][0];
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switch (item)
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{
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case 'B':
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{
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color("purple", "dark_yellow");
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}break;
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case 'T':
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{
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color("red", "dark_yellow");
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}break;
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case '.':
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{
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color("yellow", "dark_yellow");
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}break;
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case '#':
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{
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color("light_gray", "gray");
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}break;
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}
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cout << pole[i][j][0];
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}
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cout << endl;
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color("white", "black");
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}
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}
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void Move(char kierunek)
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{
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switch (kierunek)
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{
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//góra-(w)
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case 'w':
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{
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if (pole[pozycjaTraktoraX - 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//dó³-(s)
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case 's':
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{
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if (pole[pozycjaTraktoraX + 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX++;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//lewo-(a)
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case 'a':
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{
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if (pole[pozycjaTraktoraX][pozycjaTraktoraY - 1][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraY--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//prawo-(d)
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case 'd':
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{
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if (pole[pozycjaTraktoraX][pozycjaTraktoraY + 1][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraY++;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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}
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}
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int main()
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{
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SetWindow(50, 30);
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//create pola//
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for (int i = 0; i < 27; i++)
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{
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pole[i][0][0] = '#';
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pole[0][i][0] = '#';
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pole[26][i][0] = '#';
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pole[i][26][0] = '#';
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}
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for (int i = 1; i < 26; i++)
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{
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for (int j = 1; j < 26; j++)
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{
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pole[i][j][0] = '.';
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}
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}
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for (int i = 0; i < 25; i++)
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{
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pole[i+1][i+1][0] = 'B';
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}
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pole[1][1][0] = 'T';
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updatePola();
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//---------start---------//
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bool traktorDziala = true;
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char akcja;
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do
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{
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akcja = _getch();
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if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
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{
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Move(akcja);
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}
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if (akcja == '0')
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{
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traktorDziala = false;
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}
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} while (traktorDziala);
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//---------end---------//
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return 0;
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}
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#include<iostream>
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#include<stdlib.h>
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#include<windows.h>
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#include<conio.h>
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#include<string>
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#include<list>
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#include<set>
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#include<math.h>
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#include<stack>
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using namespace std;
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const int ROW = 27;
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const int COL = 27;
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typedef pair<int, int> Pair;
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typedef pair<double, pair<int, int>> pPair;
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struct cell
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{
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int parent_i, parent_j;
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double f, g, h;
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};
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char pole[27][27][2];
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int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
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void color(string foregroundColor, string backgroundColor)
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{
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HANDLE hOut;
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hOut = GetStdHandle(STD_OUTPUT_HANDLE);
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int foregroundCode = 15;
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if (foregroundColor == "black")
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foregroundCode = 0;
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if (foregroundColor == "dark_blue")
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foregroundCode = 1;
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if (foregroundColor == "green")
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foregroundCode = 2;
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if (foregroundColor == "cyan")
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foregroundCode = 3;
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if (foregroundColor == "dark_red")
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foregroundCode = 4;
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if (foregroundColor == "purple")
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foregroundCode = 5;
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if (foregroundColor == "dark_yellow")
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foregroundCode = 6;
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if (foregroundColor == "light_gray")
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foregroundCode = 7;
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if (foregroundColor == "gray")
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foregroundCode = 8;
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if (foregroundColor == "blue")
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foregroundCode = 9;
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if (foregroundColor == "lime")
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foregroundCode = 10;
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if (foregroundColor == "light_blue")
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foregroundCode = 11;
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if (foregroundColor == "red")
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foregroundCode = 12;
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if (foregroundColor == "magenta")
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foregroundCode = 13;
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if (foregroundColor == "yellow")
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foregroundCode = 14;
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if (foregroundColor == "white")
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foregroundCode = 15;
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int backgroundCode = 0;
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if (backgroundColor == "black")
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backgroundCode = 0;
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if (backgroundColor == "dark_blue")
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backgroundCode = 1;
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if (backgroundColor == "green")
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backgroundCode = 2;
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if (backgroundColor == "cyan")
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backgroundCode = 3;
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if (backgroundColor == "dark_red")
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backgroundCode = 4;
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if (backgroundColor == "purple")
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backgroundCode = 5;
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if (backgroundColor == "dark_yellow")
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backgroundCode = 6;
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if (backgroundColor == "light_gray")
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backgroundCode = 7;
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if (backgroundColor == "gray")
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backgroundCode = 8;
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if (backgroundColor == "blue")
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backgroundCode = 9;
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if (backgroundColor == "lime")
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backgroundCode = 10;
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if (backgroundColor == "light_blue")
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backgroundCode = 11;
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if (backgroundColor == "red")
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backgroundCode = 12;
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if (backgroundColor == "magenta")
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backgroundCode = 13;
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if (backgroundColor == "yellow")
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backgroundCode = 14;
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if (backgroundColor == "white")
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backgroundCode = 15;
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SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
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}
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void SetWindow(int Width, int Height)
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{
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_COORD coord;
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coord.X = Width;
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coord.Y = Height;
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_SMALL_RECT Rect;
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Rect.Top = 0;
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Rect.Left = 0;
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Rect.Bottom = Height - 1;
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Rect.Right = Width - 1;
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HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle
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SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size
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SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size
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}
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void updatePola()
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{
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system("cls");
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for (int i = 0; i < 27; i++)
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{
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for (int j = 0; j < 27; j++)
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{
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char item = pole[i][j][0];
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switch (item)
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{
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case 'B':
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{
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color("purple", "dark_yellow");
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}break;
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case 'T':
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{
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color("red", "dark_yellow");
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}break;
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case '.':
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{
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color("yellow", "dark_yellow");
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}break;
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case '#':
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{
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color("light_gray", "gray");
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}break;
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}
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cout << pole[i][j][0];
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}
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cout << endl;
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color("white", "black");
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}
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}
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void Move(char kierunek)
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{
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switch (kierunek)
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{
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//góra-(w)
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case 'w':
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{
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if (pole[pozycjaTraktoraX - 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//dó³-(s)
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case 's':
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{
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if (pole[pozycjaTraktoraX + 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX++;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//lewo-(a)
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case 'a':
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{
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if (pole[pozycjaTraktoraX][pozycjaTraktoraY - 1][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraY--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//prawo-(d)
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case 'd':
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{
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if (pole[pozycjaTraktoraX][pozycjaTraktoraY + 1][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraY++;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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}
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}
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void MoveOwn(char akcja)
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{
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/*
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switch (akcja)
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{
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//do przodu
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case 'd':
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{
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if (pole[pozycjaTraktoraX - 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//dół-(s)
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case 's':
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{
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if (pole[pozycjaTraktoraX + 1][pozycjaTraktoraY][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraX++;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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//lewo-(a)
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case 'a':
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{
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if (pole[pozycjaTraktoraX][pozycjaTraktoraY - 1][0] != '#')
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{
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = '.';
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pozycjaTraktoraY--;
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pole[pozycjaTraktoraX][pozycjaTraktoraY][0] = 'T';
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}
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updatePola();
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}break;
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}*/
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}
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bool isValid(int x, int y)
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{
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if (pole[x][y][0] != '#')
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{
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return true;
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}
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return false;
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}
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bool isDestination(int x, int y,Pair dest)
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{
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if (dest.first == x && dest.second == y)
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{
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return true;
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}
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return false;
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}
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double calculateHValue(int x, int y, Pair dest)
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{
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return abs(x - dest.first) + abs(y - dest.second);
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}
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void tracePath(cell cellDetails[][COL], Pair dest)
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{
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printf("\nThe Path is ");
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int row = dest.first;
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int col = dest.second;
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|
||||
stack<Pair> Path;
|
||||
|
||||
while (!(cellDetails[row][col].parent_i == row
|
||||
&& cellDetails[row][col].parent_j == col))
|
||||
{
|
||||
Path.push(make_pair(row, col));
|
||||
int temp_row = cellDetails[row][col].parent_i;
|
||||
int temp_col = cellDetails[row][col].parent_j;
|
||||
row = temp_row;
|
||||
col = temp_col;
|
||||
}
|
||||
|
||||
Path.push(make_pair(row, col));
|
||||
while (!Path.empty())
|
||||
{
|
||||
pair<int, int> p = Path.top();
|
||||
Path.pop();
|
||||
printf("-> (%d,%d) ", p.first, p.second);// jeśli sec+1=posTraktorX to koleny ruch w prawo Move('d')
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void aStarSearch(int grid[][COL],Pair src, Pair dest)
|
||||
{
|
||||
bool closedList[ROW][COL];
|
||||
memset(closedList, false, sizeof(closedList));
|
||||
|
||||
cell cellDetails[ROW][COL];
|
||||
|
||||
int i, j;
|
||||
for (i = 0; i < ROW; i++)
|
||||
{
|
||||
for (j = 0; j < COL; j++)
|
||||
{
|
||||
cellDetails[i][j].f = FLT_MAX;
|
||||
cellDetails[i][j].g = FLT_MAX;
|
||||
cellDetails[i][j].h = FLT_MAX;
|
||||
cellDetails[i][j].parent_i = -1;
|
||||
cellDetails[i][j].parent_j = -1;
|
||||
}
|
||||
}
|
||||
i = src.first, j = src.second;
|
||||
cellDetails[i][j].f = 0.0;
|
||||
cellDetails[i][j].g = 0.0;
|
||||
cellDetails[i][j].h = 0.0;
|
||||
cellDetails[i][j].parent_i = i;
|
||||
cellDetails[i][j].parent_j = j;
|
||||
|
||||
set<pPair> openList;
|
||||
openList.insert(make_pair(0.0, make_pair(i, j)));
|
||||
bool foundDest = false;
|
||||
|
||||
while (!openList.empty())
|
||||
{
|
||||
pPair p = *openList.begin();
|
||||
openList.erase(openList.begin());
|
||||
i = p.second.first;
|
||||
j = p.second.second;
|
||||
closedList[i][j] = true;
|
||||
|
||||
double gNew, hNew, fNew;
|
||||
|
||||
//----------- 1st Successor (North) ------------
|
||||
if (isValid(i - 1, j) == true)
|
||||
{
|
||||
if (isDestination(i - 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i - 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + 1.0; //???????-waga
|
||||
hNew = calculateHValue(i - 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
|
||||
if (cellDetails[i - 1][j].f == FLT_MAX ||
|
||||
cellDetails[i - 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i - 1, j)));
|
||||
|
||||
|
||||
cellDetails[i - 1][j].f = fNew;
|
||||
cellDetails[i - 1][j].g = gNew;
|
||||
cellDetails[i - 1][j].h = hNew;
|
||||
cellDetails[i - 1][j].parent_i = i;
|
||||
cellDetails[i - 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 2nd Successor (South) ------------
|
||||
if (isValid(i + 1, j) == true)
|
||||
{
|
||||
if (isDestination(i + 1, j, dest) == true)
|
||||
{
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i + 1][j] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + 1.0;
|
||||
hNew = calculateHValue(i + 1, j, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i + 1][j].f == FLT_MAX ||
|
||||
cellDetails[i + 1][j].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew, make_pair(i + 1, j)));
|
||||
cellDetails[i + 1][j].f = fNew;
|
||||
cellDetails[i + 1][j].g = gNew;
|
||||
cellDetails[i + 1][j].h = hNew;
|
||||
cellDetails[i + 1][j].parent_i = i;
|
||||
cellDetails[i + 1][j].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 3rd Successor (East) ------------
|
||||
if (isValid(i, j + 1) == true)
|
||||
{
|
||||
if (isDestination(i, j + 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j + 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + 1.0;
|
||||
hNew = calculateHValue(i, j + 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j + 1].f == FLT_MAX ||
|
||||
cellDetails[i][j + 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j + 1)));
|
||||
cellDetails[i][j + 1].f = fNew;
|
||||
cellDetails[i][j + 1].g = gNew;
|
||||
cellDetails[i][j + 1].h = hNew;
|
||||
cellDetails[i][j + 1].parent_i = i;
|
||||
cellDetails[i][j + 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//----------- 4th Successor (West) ------------
|
||||
if (isValid(i, j - 1) == true)
|
||||
{
|
||||
if (isDestination(i, j - 1, dest) == true)
|
||||
{
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
//printf("The destination cell is found\n");
|
||||
tracePath(cellDetails, dest);
|
||||
foundDest = true;
|
||||
return;
|
||||
}
|
||||
else if (closedList[i][j - 1] == false)
|
||||
{
|
||||
gNew = cellDetails[i][j].g + 1.0;
|
||||
hNew = calculateHValue(i, j - 1, dest);
|
||||
fNew = gNew + hNew;
|
||||
if (cellDetails[i][j - 1].f == FLT_MAX ||
|
||||
cellDetails[i][j - 1].f > fNew)
|
||||
{
|
||||
openList.insert(make_pair(fNew,
|
||||
make_pair(i, j - 1)));
|
||||
cellDetails[i][j - 1].f = fNew;
|
||||
cellDetails[i][j - 1].g = gNew;
|
||||
cellDetails[i][j - 1].h = hNew;
|
||||
cellDetails[i][j - 1].parent_i = i;
|
||||
cellDetails[i][j - 1].parent_j = j;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (foundDest == false)
|
||||
printf("Failed to find the Destination Cell\n");
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void gogo()
|
||||
{
|
||||
int grid[27][27];
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
for (int j = 0; j < 27; j++)
|
||||
{
|
||||
grid[i][j] = 0;
|
||||
}
|
||||
}
|
||||
Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
|
||||
Pair dest = make_pair(pozycjaTraktoraX+2, pozycjaTraktoraY+3);
|
||||
aStarSearch(grid, src, dest);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
SetWindow(50, 30);
|
||||
//create pola//
|
||||
for (int i = 0; i < 27; i++)
|
||||
{
|
||||
pole[i][0][0] = '#';
|
||||
pole[0][i][0] = '#';
|
||||
pole[26][i][0] = '#';
|
||||
pole[i][26][0] = '#';
|
||||
}
|
||||
for (int i = 1; i < 26; i++)
|
||||
{
|
||||
for (int j = 1; j < 26; j++)
|
||||
{
|
||||
pole[i][j][0] = '.';
|
||||
pole[i][j][1] = '1';
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 25; i++)
|
||||
{
|
||||
pole[i + 1][i + 1][0] = 'B';
|
||||
pole[i + 1][i + 1][1] = '10';
|
||||
}
|
||||
|
||||
pole[1][1][0] = 'T';
|
||||
|
||||
updatePola();
|
||||
|
||||
gogo();
|
||||
|
||||
|
||||
|
||||
//---------start---------//
|
||||
bool traktorDziala = true;
|
||||
|
||||
char akcja;
|
||||
|
||||
do
|
||||
{
|
||||
akcja = _getch();
|
||||
if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
|
||||
{
|
||||
Move(akcja);
|
||||
}
|
||||
if (akcja == '0')
|
||||
{
|
||||
traktorDziala = false;
|
||||
}
|
||||
} while (traktorDziala);
|
||||
//---------end---------//
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user