maze.cpp

#include "globals.h"
#include "maze.h"
#include "mbed.h"
#include "N5110.h"
#include "Joystick.h"
#include <cmath>
#include <cstdio>
#include <cstdlib>

#define PI 3.14159265358979323846
#define NUM_RAYS 84 // Number of rays to cast for the maze



float y = 24;  //position of player
float x = 42;
float direction = 0.0; //initialise direction of the point to 0 degrees (facing up)
int mazeSpeed = 1; //speed of the point
//float maze_speed = 0.5; //speed of the point
bool firstPerson = true;
bool goelReached = false;
float FOV = 100 * (PI / 180);
bool hitVertical = false;
bool darkMode = false;
bool darkness = false;
int texture;
int tileX, tileY;
int level = 1;



const int MAP_WIDTH = 15;
const int MAP_HEIGHT = 9;
const int TILE_SIZE = 6;  // pixels per tile for display (top down view)

int map[MAP_HEIGHT][MAP_WIDTH] = {
    {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
    {1,0,0,0,0,0,0,1,0,0,0,0,0,0,1},
    {1,0,1,1,1,1,1,1,0,0,1,0,0,0,1},
    {1,0,1,0,0,1,0,0,0,0,1,0,0,0,1},                                                             
    {1,0,1,0,0,1,0,0,0,0,0,0,0,0,1},
    {1,0,0,0,0,0,0,0,0,0,1,0,0,0,1},
    {1,0,0,0,1,0,0,0,0,0,0,0,0,0,1},
    {1,0,0,0,1,0,0,0,0,0,0,0,0,0,1},
    {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
};



const int checkerboard[16][16] = {
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0},
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1},
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}, 
    {0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1}
    };

const int wall1[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0},
    {0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0},
    {0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0},
    {0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0},
    {0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0},
    {0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0},
    {0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0},
    {0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0},
    {0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0},
    {1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};

const int wall2[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0}, 
    {1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0}, 
    {1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
    };

const int wall3[16][16] = {
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
    {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1}, 
    {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1}, 
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
    {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1}, 
    {0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1}, 
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1}, 
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
    };

const int wall4[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};

const int wall5[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1},
    {1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1},
    {1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};

const int wall6[16][16] = {
    {1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1},
    {1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1},
    {0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1},
    {0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1},
    {0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1},
    {0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1},
    {0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0},
    {1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0},
    {1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0},
    {1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0},
    {1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0},
    {1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1},
    {1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1}
};

const int ceiling[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1},
    {1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1},
    {1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1},
    {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1},
    {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1},
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1},
    {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1},
    {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1},
    {1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1},
    {1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1},
    {1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1},
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
};


const int door[16][16] = {
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1}, 
    {1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1}, 
    {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
    };


int flashlight[4032] = {
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 
    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
};
        

//pointers for vertical and horizontal walls
const int (*wallH)[16] = wall2;
const int (*wallV)[16] = wall3;



void maze(){ 
    /*
    game that makes a 3d raycasted maze
    */
    
    generateMaze(map); //generate the maze
    printMaze(map); //print the maze to the consol for debugging
    printf("\n\n");

    x = 9;   //starting posistion of the player
    y = 9;

    
    while (1) {
        lcd.clear();
        tileX = (int)(x)/6; //calculate the x coordinate of the maze tile
        tileY = (int)(y)/6; //calculate the y

        draw3Drays(); //draws the rays from the point to the walls of the maze

        if(joystick.get_direction() == N){
            moveForward(x, y);
            //printf(" Direction: N\n");
        }else if(joystick.get_direction() == S){
            moveBackward(x, y);
            //printf(" Direction: S\n");
        }else if(joystick.get_direction() == E){
            direction += 5;         //increment the direction of the point by 5 degrees
            //printf(" Direction: E\n");
        }else if(joystick.get_direction() == W){
            direction -= 5; 
            //printf(" Direction: W\n");
        }
        else {
            //printf(" Direction: Centre\n");
        }
        if (direction < 0) direction += 360;
        if (direction > 360) direction -= 360;

        if (g_buttonA_flag) {                // check if menu button pressed
            ThisThread::sleep_for(500ms);
            g_buttonA_flag = 0;
            printf(" exiting maze \n");
            
            break;
            }

        if (g_joystick_flag) {                // check if menu button pressed
            printf("joystick pressed  tile: %d, %d   type: %d  texture %d \n", tileX, tileY, map[tileX][tileY], texture);
            ThisThread::sleep_for(500ms);
            g_joystick_flag = 0;
            firstPerson = !firstPerson; //toggle first person view

            }

        if (goelReached == true) { //if goal has been reached
            printf("goal reached\n");
            goelReached = false;
            nextLevel(); //go to next level
        }
        
        collisionDetection(x, y, direction, mazeSpeed); //check for collision with walls also checks for goal reached
            
        lcd.refresh();
        ThisThread::sleep_for(30ms);
    }
}

void moveForward(float &x, float &y) {
    // Calculate the new position based on the current direction and mazeSpeed
    x += mazeSpeed * cos(direction * PI / 180.0); // Convert degrees to radians
    y += mazeSpeed * sin(direction * PI / 180.0); // Invert y-axis for LCD coordinate system
}

void moveBackward(float &x, float &y) {
    // Calculate the new position based on the current direction and mazeSpeed
    x -= mazeSpeed * cos(direction * PI / 180.0); // Convert degrees to radians
    y -= mazeSpeed * sin(direction * PI / 180.0); // Invert y-axis for LCD coordinate system
}

float dist(float ax, float ay, float bx, float by, float ang) {
    // Calculate the distance from the current position to the target position
    return (sqrt((bx - ax) * (bx - ax) + (by - ay) * (by - ay)));
}

void draw3Drays() {
                            // KEY
    int r,mx,my,mp,dof;     // r = ray; mx,my = mapx,y; dof = depth of field
    float rx,ry,ra,xo,yo;   // rx,ry = ray x,y position; ra = ray angle; xo,yo = x,y offset
    
    
    ra = direction * PI / 180 - FOV / 2; // start at leftmost angle of FOV
    for (r=0; r<NUM_RAYS;r++)
    {
        dof = 0; //reset the depth of field
        float aTan = -1/tan(ra); //calculate the tangent of the angle
        float distH = 100000000; float hx=x, hy=y; //initialise the distance to a large number

        ////////        horizontal ray checking
        // Looking up
        if (ra > PI) {
            hy = ((int)(y / TILE_SIZE)) * TILE_SIZE - 0.0001;
            hx = (y - hy) * aTan + x;
            yo = -TILE_SIZE;
            xo = -yo * aTan;
        }
        // Looking down
        else if (ra < PI) {
            hy = ((int)(y / TILE_SIZE)) * TILE_SIZE + TILE_SIZE;
            hx = (y - hy) * aTan + x;
            yo = TILE_SIZE;
            xo = -yo * aTan;
        }
        if (ra == 0 || ra == PI) { hx=x; hy=y; dof=8; } //ray is facing left or right

        while (dof<14) //loop until the ray hits a wall or reaches the maximum depth of field
        {
            mx = (int)(hx)/6; //calculate the x coordinate of the maze tile
            my = (int)(hy)/6; //calculate the y coordinate of the maze tile
            mp = my*MAP_WIDTH+mx; //calculate the index of the maze tile in the map array
            if (mx < 0 || mx >= MAP_WIDTH || my < 0 || my >= MAP_HEIGHT) {
                dof = 14;
                break;
            }
            if (map[my][mx] > 0) {
                //printf("Hit wall at rx: %.2f, ry: %.2f\n", rx, ry);
                texture = map[my][mx]; //set the texture to the wall texture hit

                distH = dist(x, y, hx, hy, ra); //calculate the distance to the wall
                break;
            }
            else { hx += xo; hy += yo; dof++; } //move to next tile
        }


        ////////        vertical ray checking
        dof = 0; //reset the depth of field
        aTan = -tan(ra); //calculate the tangent of the angle
        float distV = 100000000; float vx=x, vy=y; //initialise the distance to a large number

        // Looking right
        if (ra > PI/2 && ra < 3*PI/2) {
            vx = ((int)(x / TILE_SIZE)) * TILE_SIZE - 0.0001;
            vy = (x - vx) * aTan + y;
            xo = -TILE_SIZE;
            yo = -xo * aTan;
        }
        // Looking left
        else if (ra < PI/2 || ra > 3*PI/2) {
            vx = ((int)(x / TILE_SIZE)) * TILE_SIZE + TILE_SIZE;
            vy = (x - vx) * aTan + y;
            xo = TILE_SIZE;
            yo = -xo * aTan;
        }
        if (ra == 3*PI/2 || ra == PI/2) { vx=x; vy=y; dof=8; } //ray is facing up or down

        while (dof<14) //loop until the ray hits a wall or reaches the maximum depth of field
        {
            mx = (int)(vx)/6; //calculate the x coordinate of the maze tile
            my = (int)(vy)/6; //calculate the y coordinate of the maze tile
            mp = my*MAP_WIDTH+mx; //calculate the index of the maze tile in the map array
            if (mx < 0 || mx >= MAP_WIDTH || my < 0 || my >= MAP_HEIGHT) {
                //dof = 14;
                break;
            }
            if (map[my][mx] > 0) {
                //printf("Hit wall at vx: %.2f, vy: %.2f\n", vx, vy);
                texture = map[my][mx];
                distV = dist(x, y, vx, vy, ra); //calculate the distance to the wall
                break;
            }
            else { vx += xo; vy += yo; dof++; } //move to next tile
        }

        if (distH < distV) { //if the horizontal distance is less than the vertical distance
            rx = hx; ry = hy; //set the intersection point to the horizontal intersection point
            hitVertical = false;
            distV = distH; //set the vertical distance to the horizontal distance
        }
        if (distV < distH) { //if the vertical distance is less than the horizontal distance
            rx = vx; ry = vy; //set the intersection point to the vertical intersection point
            hitVertical = true;
            distH = distV; //set the horizontal distance to the vertical distance
        }
        if (!firstPerson) {   //display the map if first person mode is disabled 
            drawMap();
        }

        else //   =====if first person mode is enabled=====
        {
        
            float ca = (direction * PI / 180) - ra; // Calculate the angle difference
            if (ca < 0) ca += 2*PI; // Wrap around to 0 degrees
            if (ca > 2*PI) ca -= 2*PI; // Wrap around to 0 degrees
            ca = cos(ca); 
            distV = distV * ca; // Adjust the distance based on the angle difference

            int lineHeight = (int)(TILE_SIZE / distV * 27); // Adjust height based on distance
            int drawStart = (48 - lineHeight) / 2; // Center the wall slice vertically
            int drawEnd = drawStart + lineHeight;

            float ty_step = 16.0f / (drawEnd - drawStart);
            float ty_off=0;

            if (lineHeight>48) { ty_off=(lineHeight-48)/2; lineHeight = 48;}

            if (drawStart < 0) drawStart = 0;
            if (drawEnd >= 48) drawEnd = 47;

            float wallHeight = 16; // Height of the wall slice
            float ty = ty_off*ty_step; // Texture Y coordinate
            float tx;
            if (hitVertical) {
                tx = fmod(ry, 6.0f) / 6.0f * 16.0f;
            } else {
                tx = fmod(rx, 6.0f) / 6.0f * 16.0f;
            }
             // Step size for texture Y coordinate
            
            for (int i = drawStart; i < drawEnd; i++) {
                
                int color = 0;
                
                if(texture == 1) {
                    if (hitVertical) {
                        color = wallV[(int)ty][(int)tx];
                    } else {
                        color = wallH[(int)ty][(int)tx];
                    }
                }
                else if(texture == 2) {
                    color = door[(int)ty][(int)tx];
                }

                lcd.setPixel(r, i, color); // Set the pixel color based on the wall texture
                ty += ty_step; // Increment the texture Y coordinate

            } 
            //draw          =========floors and ceilings===========
            //note: only draws textures in one direction
            float textureSizeModifier = 1.0; // smaller numbers means bigger texture

            for (int i = 0; i < drawStart; i++) { // cieling
      
                float dy = i - 24;

                // prevents division by zero
                if (fabs(dy) < 0.01f) dy = 0.01f;

                // Correct fish-eye distortion
                float raFix = cos((direction * PI / 180.0f) - ra);

                float projectionPlane = (48.0f / 2.0f) / tanf(FOV * 0.5f);
                float distance = (6 * projectionPlane) / (dy * raFix);  

                // position of the point we are sampling 
                float floorX = x - cos(ra) * distance;  
                float floorY = y - sin(ra) * distance;

                // Texture coordinates (16x16 texture)
                int tx = ((int)( textureSizeModifier * floorX * (16.0f / TILE_SIZE))) % 16;
                int ty = ((int)( textureSizeModifier * floorY * (16.0f / TILE_SIZE))) % 16;

                // Safety clamp to keep in bounds
                if (tx < 0) tx += 16;
                if (ty < 0) ty += 16;

                int color = ceiling[ty][tx];   //swap the array for a different texture
                lcd.setPixel(r, i, color);
            }
            for (int i = drawEnd; i < 48; i++) { // ===Floor=== identical to ceiling code except swapped the sign before cos and sig so it moves the correct way
                float dy = i - 24;

                if (fabs(dy) < 0.01f) dy = 0.01f;

                float raFix = cos((direction * PI / 180.0f) - ra);

                float projectionPlane = (48.0f / 2.0f) / tanf(FOV * 0.5f);
                float distance = (6 * projectionPlane) / (dy * raFix);  

                float floorX = x + cos(ra) * distance;
                float floorY = y + sin(ra) * distance;

                int tx = ((int)( textureSizeModifier * floorX * (16.0f / TILE_SIZE))) % 16;
                int ty = ((int)( textureSizeModifier * floorY * (16.0f / TILE_SIZE))) % 16;

                if (tx < 0) tx += 16;
                if (ty < 0) ty += 16;

                int color = ceiling[ty][tx];
                lcd.setPixel(r, i, color);
            }
            lcd.drawRect(0, 0, 84, 48, FILL_TRANSPARENT);  // adds a screen border cause it looks good
            
        }   
       
        

        ra += FOV / NUM_RAYS; //increment the angle of the ray
        if (ra < 0) ra += 2*PI; //wrap the angle
        if (ra > 2*PI) ra -= 2*PI;
        
    }
    // ================= flashlight / dark mode ===================
    if (darkMode) {
        static Timer darknessTimer;
        static bool timerStarted = false;
         
        if (!timerStarted) {
            darknessTimer.start();
            timerStarted = true;
        }
        if (darknessTimer.elapsed_time() > 2s && !darkness) {  
            darknessTimer.reset();
            darkness = !darkness; 
            timerStarted = false;
        }
        if (darknessTimer.elapsed_time() > 5s && darkness) {
            darknessTimer.reset();
            darkness = !darkness; 
            timerStarted = false;
        }

        if (darkness) {
            for (int i = 0; i < 4032; i++) {
                if (flashlight[i] == 1) {
                    int xDark = i % 84; 
                    int yDark = i / 84; 
                    lcd.setPixel(xDark, yDark, FILL_BLACK);
                }
            }
        }
        else {
            lcd.drawRect(0, 0, 84, 48, FILL_BLACK);
        }
    }//buttonDOWN.read() || buttonUP.read()
}

void drawMap() {
    for (int y = 0; y < MAP_HEIGHT; y++) {
        for (int x = 0; x < MAP_WIDTH; x++) {
            int x0 = x * TILE_SIZE;
            int y0 = y * TILE_SIZE;
            if (map[y][x] == 1) {
                lcd.drawRect(x0, y0, TILE_SIZE, TILE_SIZE, FILL_BLACK);
            } else {
                //lcd.drawRect(x0, y0, TILE_SIZE, TILE_SIZE, FILL_TRANSPARENT);
            }
        }
    }
    lcd.drawRect(x,y,2,2,FILL_BLACK);   //draws point at position (x,y)
}

void collisionDetection(float &x, float &y, float direction, float mazeSpeed) {
    float lookAhead = 0.5f;

    // === FRONT COLLISION ===
    float nextFrontX = x + lookAhead * cos(direction * PI / 180.0f);
    float nextFrontY = y - lookAhead * sin(direction * PI / 180.0f);

    int tileFrontX = int(nextFrontX / TILE_SIZE);
    int tileFrontY = int(y / TILE_SIZE);

    if (map[tileFrontY][tileFrontX] == 1) {
        x -= mazeSpeed * cos(direction * PI / 180.0f);
        printf("collided with wall \n");
    }

    tileFrontX = int(x / TILE_SIZE);
    tileFrontY = int(nextFrontY / TILE_SIZE);

    if (map[tileFrontY][tileFrontX] == 1) {
        y += mazeSpeed * sin(direction * PI / 180.0f);
        printf("collided with wall \n");
    }
    if (map[tileFrontY][tileFrontX] == 2) {
        printf("collided with goal \n");
        goelReached = true;
    }

    // === BACK COLLISION ===
    float nextBackX = x - lookAhead * cos(direction * PI / 180.0f);
    float nextBackY = y + lookAhead * sin(direction * PI / 180.0f);

    int tileBackX = int(nextBackX / TILE_SIZE);
    int tileBackY = int(y / TILE_SIZE);

    if (map[tileBackY][tileBackX] == 1) {
        x += mazeSpeed * cos(direction * PI / 180.0f);
    }

    tileBackX = int(x / TILE_SIZE);
    tileBackY = int(nextBackY / TILE_SIZE);

    if (map[tileBackY][tileBackX] == 1) {
        y -= mazeSpeed * sin(direction * PI / 180.0f);
    }
}

void generateMaze(int maze[8][15]) {
    // Initialize all cells as walls
    for (int y = 0; y < 8; y++) {
        for (int x = 0; x < 14; x++) {
            maze[y][x] = 1; // wall
        }
    }

    // Recursive backtracking to carve the maze
    auto carve = [&](int x, int y, auto&& carve_ref) -> void {
        const int dx[] = { 0, 0, -2, 2 };  // N S W E
        const int dy[] = { -2, 2, 0, 0 };

        std::vector<int> dir = { 0, 1, 2, 3};
        std::random_shuffle(dir.begin(), dir.end());

        for (int i : dir) {
            int nx = x + dx[i];
            int ny = y + dy[i];

            if (ny > 0 && ny < 8 - 1 && nx > 0 && nx < 14 - 1 && maze[ny][nx] == 1) {
                maze[ny][nx] = 0;                       // jump point
                maze[y + dy[i] / 2][x + dx[i] / 2] = 0; // break wall between jump point
                carve_ref(nx, ny, carve_ref);
            }
        }
    };

    // Start point
    maze[1][1] = 0;
    carve(1, 1, carve);

    // Set goal: farthest path cell (bottom-right corner if possible)
    for (int y = 8 - 2; y > 0; y--) {
        for (int x = 14 - 2; x > 0; x--) {
            if (maze[y][x] == 0) {
                maze[y][x] = 0; // goal
                maze[y][x+1] = 2; //exit
                return;
            }
        }
    }
}

void printMaze(int maze[8][15]) {
    for (int y = 0; y < 8; y++) {
        for (int x = 0; x < 14; x++) {
            printf("%d ", maze[y][x]);
        }
        printf("\n");
    }
}

void nextLevel() {
    // Function to generate the next level of the maze
    // This function can be called when the player reaches the goal

    lcd.clear();
    lcd.drawRect(0, 0, 84, 48, FILL_TRANSPARENT); // Draw screen border
    char buffer[32];
    level++; // Increment the level
    sprintf(buffer, "Level: %d", level);
    lcd.printString("LEVEL COMPLETE", 1, 2);
    lcd.printString(buffer, 1, 3);
    lcd.refresh();
    ThisThread::sleep_for(5000ms);

    //dark mode every 3 levels
    if (level % 3 == 0) {
        darkMode = true; 
    } else {
        darkMode = false; 
    }


    printf("Generating next level...\n");
    printf("Level: %d\n", level); // Print the next level
    generateMaze(map); // Generate a new maze
    printMaze(map); // Print the new maze to the console
    swapCurrentWall(); // Swap the current wall textures
    x = 9, y = 9;
}

void swapCurrentWall() {
    int i = rand() % 6 + 1;
    switch (i) {
        case 1: wallH = wall1; break;
        case 2: wallH = wall2; break;
        case 3: wallH = wall3; break;
        case 4: wallH = wall4; break;
        case 5: wallH = wall5; break;
        case 6: wallH = wall6; break;
    }
    i = rand() % 6 + 1;
    switch (i) {
        case 1: wallV = wall1; break;
        case 2: wallV = wall2; break;
        case 3: wallV = wall3; break;
        case 4: wallV = wall4; break;
        case 5: wallV = wall5; break;
        case 6: wallV = wall6; break;
    }
}