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package ei.game.algo;
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import java.util.*;
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/**
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The AStarSearch class, along with the AStarNode class,
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implements a generic A* search algorithm. The AStarNode
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class should be subclassed to provide searching capability.
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*/
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public class AStar {
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/**
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A simple priority list, also called a priority queue.
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Objects in the list are ordered by their priority,
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determined by the object's Comparable interface.
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The highest priority item is first in the list.
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*/
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public static class PriorityList extends LinkedList {
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private static final long serialVersionUID = 1L;
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public void add(Comparable object) {
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for (int i=0; i<size(); i++) {
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if (object.compareTo(get(i)) <= 0) {
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add(i, object);
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return;
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}
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}
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addLast(object);
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}
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}
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/**
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Construct the path, not including the start node.
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*/
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protected List constructPath(AStarNode node) {
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LinkedList<AStarNode> path = new LinkedList<AStarNode>();
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while (node.pathParent != null) {
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path.addFirst(node);
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node = node.pathParent;
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}
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return path;
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}
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private boolean contains(LinkedList<AStarNode> list,AStarNode find){
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for(int i=0; i<list.size() ;i++){
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if(list.get(i).getPos().getX() == find.getPos().getX() &&
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list.get(i).getPos().getY() == find.getPos().getY())
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return true;
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}
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return false;
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}
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/**
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Find the path from the start node to the end node. A list
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of AStarNodes is returned, or null if the path is not
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found.
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*/
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public List findPath(AStarNode startNode, AStarNode goalNode) {
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PriorityList openList = new PriorityList();
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LinkedList<AStarNode> closedList = new LinkedList<AStarNode>();
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startNode.costFromStart = 0;
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startNode.estimatedCostToGoal =
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startNode.getEstimatedCost(goalNode);
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startNode.pathParent = null;
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openList.add(startNode);
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while (!openList.isEmpty()) {
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AStarNode node = (AStarNode)openList.removeFirst();
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if (node == goalNode) {
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// construct the path from start to goal
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return constructPath(goalNode);
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}
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List neighbors = node.getNeighbors();
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for (int i=0; i<neighbors.size(); i++) {
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AStarNode neighborNode =
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(AStarNode)neighbors.get(i);
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boolean isOpen = contains(openList,neighborNode);
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boolean isClosed = contains(closedList,neighborNode);
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float costFromStart = node.costFromStart +
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node.getCost(neighborNode);
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// check if the neighbor node has not been
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// traversed or if a shorter path to this
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// neighbor node is found.
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if ((!isOpen && !isClosed) ||
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costFromStart < neighborNode.costFromStart)
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{
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neighborNode.pathParent = node;
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neighborNode.costFromStart = costFromStart;
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neighborNode.estimatedCostToGoal =
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neighborNode.getEstimatedCost(goalNode);
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if (isClosed) {
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closedList.remove(neighborNode);
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}
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if (!isOpen) {
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openList.add(neighborNode);
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}
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}
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}
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closedList.add(node);
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}
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// no path found
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return null;
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}
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}
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package ei.game.algo;
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import java.util.LinkedList;
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import java.util.List;
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import ei.engine.math.Vector2i;
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import ei.game.gamestate.InGameState;
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/**
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The AStarNode class, along with the AStarSearch class,
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implements a generic A* search algorithm. The AStarNode
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class should be subclassed to provide searching capability.
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*/
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public class AStarNode implements Comparable {
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private Vector2i pos;
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AStarNode pathParent;
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float costFromStart;
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float estimatedCostToGoal;
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public AStarNode(Vector2i pos,AStarNode parent){
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this.pos = pos;
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this.pathParent = parent;
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}
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public float getCost() {
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return costFromStart + estimatedCostToGoal;
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}
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public int compareTo(Object other) {
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float thisValue = this.getCost();
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float otherValue = ((AStarNode)other).getCost();
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float v = thisValue - otherValue;
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return (v>0)?1:(v<0)?-1:0; // sign function
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}
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public Vector2i getPos(){
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return pos;
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}
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/**
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Gets the cost between this node and the specified
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adjacent (AKA "neighbor" or "child") node.
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*/
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public float getCost(AStarNode node){
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if(pos.getX() != node.getPos().getX() &&
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pos.getY() != node.getPos().getY()){
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return 14;
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}
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return 10;
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}
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/**
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Gets the estimated cost between this node and the
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specified node. The estimated cost should never exceed
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the true cost. The better the estimate, the more
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effecient the search.
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*/
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public float getEstimatedCost(AStarNode node) {
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int sum = 0;
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if(pos.getX() > node.getPos().getX())
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sum += pos.getX()-node.getPos().getX();
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else
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sum += node.getPos().getX()-pos.getX();
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if(pos.getY() > node.getPos().getY())
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sum += pos.getY()-node.getPos().getY();
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else
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sum += node.getPos().getY()-pos.getY();
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return sum;
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}
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/**
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Gets the children (AKA "neighbors" or "adjacent nodes")
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of this node.
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*/
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public List getNeighbors() {
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LinkedList<AStarNode> list = new LinkedList<AStarNode>();
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Vector2i tempV;
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//********Vertical and Horisontle
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tempV = new Vector2i(pos.getX()+1,pos.getY());
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if(tempV.getX() < InGameState.getMap().getSize().getX() && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX()-1,pos.getY());
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if(tempV.getX() >= 0 && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX(),pos.getY()+1);
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if(tempV.getY() < InGameState.getMap().getSize().getY() && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX(),pos.getY()-1);
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if(tempV.getX() >= 0 && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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//*********Diagonal
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tempV = new Vector2i(pos.getX()+1,pos.getY()+1);
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if(tempV.getY() < InGameState.getMap().getSize().getY() &&
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tempV.getX() < InGameState.getMap().getSize().getX() && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX()-1,pos.getY()-1);
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if(tempV.getY() >= 0 && tempV.getX() >= 0 && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX()-1,pos.getY()+1);
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if(tempV.getY() < InGameState.getMap().getSize().getY() &&
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tempV.getX() >= 0 && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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tempV = new Vector2i(pos.getX()+1,pos.getY()-1);
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if(tempV.getY() >= 0 &&
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tempV.getX() < InGameState.getMap().getSize().getX() && InGameState.getMap().isPosEmpty(tempV.getX(), tempV.getY()))
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list.add(new AStarNode(tempV,this));
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return list;
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}
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}
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