fixed robots going through block edges
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SpaceToad
parent
cf393474ef
commit
73bb09ca93
1 changed files with 186 additions and 47 deletions
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@ -108,55 +108,44 @@ public class PathFinding {
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ArrayList nodes = new ArrayList<Node>();
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for (int x = from.index.x - 1; x <= from.index.x + 1; ++x) {
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for (int y = from.index.y - 1; y <= from.index.y + 1; ++y) {
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for (int z = from.index.z - 1; z <= from.index.z + 1; ++z) {
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if (x == from.index.x && y == from.index.y && z == from.index.z) {
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continue;
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}
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for (BlockIndex index : movements(from)) {
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Node nextNode = new Node();
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nextNode.parent = from;
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nextNode.index = index;
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BlockIndex index = new BlockIndex(x, y, z);
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Node nextNode = new Node();
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nextNode.parent = from;
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nextNode.index = index;
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if (endReached(x, y, z)) {
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return nextNode;
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}
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if (!BuildCraftAPI.isSoftBlock(world, x, y, z)) {
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continue;
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}
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nextNode.movementCost = from.movementCost + distance(index, from.index);
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if (end != null) {
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nextNode.destinationCost = distance(index, end);
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} else {
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nextNode.destinationCost = 0;
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}
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nextNode.totalWeight = nextNode.movementCost + nextNode.destinationCost;
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if (closedList.containsKey(index)) {
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continue;
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} else if (openList.containsKey(index)) {
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Node tentative = openList.get(index);
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if (tentative.movementCost < nextNode.movementCost) {
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nextNode = tentative;
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} else {
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openList.put(index, nextNode);
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}
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} else {
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openList.put(index, nextNode);
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}
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nodes.add(nextNode);
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}
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if (endReached(index.x, index.y, index.z)) {
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return nextNode;
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}
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if (!BuildCraftAPI.isSoftBlock(world, index.x, index.y, index.z)) {
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continue;
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}
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nextNode.movementCost = from.movementCost + distance(index, from.index);
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if (end != null) {
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nextNode.destinationCost = distance(index, end);
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} else {
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nextNode.destinationCost = 0;
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}
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nextNode.totalWeight = nextNode.movementCost + nextNode.destinationCost;
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if (closedList.containsKey(index)) {
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continue;
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} else if (openList.containsKey(index)) {
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Node tentative = openList.get(index);
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if (tentative.movementCost < nextNode.movementCost) {
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nextNode = tentative;
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} else {
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openList.put(index, nextNode);
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}
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} else {
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openList.put(index, nextNode);
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}
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nodes.add(nextNode);
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}
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nodes.addAll(openList.values());
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@ -202,4 +191,154 @@ public class PathFinding {
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}
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}
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private ArrayList<BlockIndex> movements(Node from) {
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boolean[][][] result = new boolean[3][3][3];
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for (int dx = -1; dx <= +1; ++dx) {
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for (int dy = -1; dy <= +1; ++dy) {
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for (int dz = -1; dz <= +1; ++dz) {
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int x = from.index.x + dx;
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int y = from.index.y + dy;
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int z = from.index.z + dz;
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if (endReached(x, y, z)) {
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result[dx + 1][dy + 1][dz + 1] = true;
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} else if (!BuildCraftAPI.isSoftBlock(world, x, y, z)) {
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result[dx + 1][dy + 1][dz + 1] = false;
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} else {
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result[dx + 1][dy + 1][dz + 1] = true;
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}
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}
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}
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}
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result[1][1][1] = false;
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if (!result[0][1][1]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[0][i][j] = false;
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}
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}
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}
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if (!result[2][1][1]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[2][i][j] = false;
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}
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}
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}
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if (!result[1][0][1]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[i][0][j] = false;
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}
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}
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}
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if (!result[1][2][1]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[i][2][j] = false;
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}
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}
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}
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if (!result[1][1][0]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[i][j][0] = false;
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}
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}
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}
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if (!result[1][1][2]) {
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for (int i = 0; i <= 1; ++i) {
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for (int j = 0; j <= 1; ++j) {
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result[i][j][2] = false;
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}
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}
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}
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if (!result[0][0][1]) {
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result[0][0][0] = false;
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result[0][0][2] = false;
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}
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if (!result[0][2][1]) {
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result[0][2][0] = false;
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result[0][2][2] = false;
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}
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if (!result[2][0][1]) {
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result[2][0][0] = false;
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result[2][0][2] = false;
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}
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if (!result[2][2][1]) {
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result[2][2][0] = false;
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result[2][2][2] = false;
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}
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if (!result[0][1][0]) {
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result[0][0][0] = false;
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result[0][2][0] = false;
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}
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if (!result[0][1][2]) {
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result[0][0][2] = false;
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result[0][2][2] = false;
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}
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if (!result[2][1][0]) {
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result[2][0][0] = false;
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result[2][2][0] = false;
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}
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if (!result[2][1][2]) {
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result[2][0][2] = false;
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result[2][2][2] = false;
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}
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if (!result[1][0][0]) {
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result[0][0][0] = false;
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result[2][0][0] = false;
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}
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if (!result[1][0][2]) {
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result[0][0][2] = false;
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result[2][0][2] = false;
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}
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if (!result[1][2][0]) {
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result[0][2][0] = false;
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result[2][2][0] = false;
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}
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if (!result[1][2][2]) {
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result[0][2][2] = false;
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result[2][2][2] = false;
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}
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ArrayList<BlockIndex> possibleMovements = new ArrayList<BlockIndex>();
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for (int dx = -1; dx <= +1; ++dx) {
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for (int dy = -1; dy <= +1; ++dy) {
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for (int dz = -1; dz <= +1; ++dz) {
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if (result[dx + 1][dy + 1][dz + 1]) {
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int x = from.index.x + dx;
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int y = from.index.y + dy;
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int z = from.index.z + dz;
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possibleMovements.add(new BlockIndex(x, y, z));
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}
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}
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}
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}
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return possibleMovements;
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}
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}
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