diff --git a/travail_de_groupe/jeu_appren_par_renfo/moving_ball/q.txt b/travail_de_groupe/jeu_appren_par_renfo/moving_ball/q.txt
index 93b39d4b84e44c63c723d8fa9f2e3885e8e47523..15972cd8834245042ca4abba6f928d6a2d6b6412 100644
--- a/travail_de_groupe/jeu_appren_par_renfo/moving_ball/q.txt
+++ b/travail_de_groupe/jeu_appren_par_renfo/moving_ball/q.txt
@@ -1,420 +1,420 @@
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-0.417352 0.035992 -1.031573 -0.912512
-0.669976 0.036491 -1.765555 0.014481
-0.869275 0.283700 -0.820517 -0.878145
-1.047198 0.446700 -0.624459 -0.746547
-1.212757 0.633014 -0.346242 -0.389771
-1.376224 0.813355 -0.349317 0.022151
-1.087382 1.131760 0.030389 1.553730
-0.442751 1.367623 -0.168104 -0.150912
-0.448789 1.181694 -0.553553 -0.599639
-0.129305 1.006072 -0.727960 -0.735712
--1.795992 0.704386 -0.871518 -0.867968
--5.419961 -1.869812 -3.708857 -3.709809
--6.877996 -3.784166 -4.438998 -4.438998
--inf -5.419710 -5.995081 -5.995090
+-3.042068 -inf -2.899353 -2.722525
+-3.158297 -2.923011 -3.048517 -3.181368
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+-2.940403 -3.006632 -3.165173 -3.034118
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+-2.882547 -2.500294 -2.975504 -2.953944
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+-4.436168 -3.857431 -3.973802 -4.110435
+-4.352276 -4.466955 -4.450063 -4.481687
+-inf -4.523451 -4.534211 -4.653015
--0.903302 -inf -1.794359 -0.000000
--1.888512 -1.081474 -1.370784 -1.000025
--1.894270 -1.809297 -1.319707 -1.000535
--1.790949 -1.799560 -1.333036 -1.022939
--1.809634 -1.918411 -1.364628 -1.001793
--1.772265 -1.904872 -1.368757 -0.990979
--2.318136 -1.869989 -2.433337 -0.878539
--2.769711 -2.806413 -3.794161 -1.789015
--1.771598 -2.738337 -3.300342 -0.669164
--1.601502 -1.892425 -3.455499 -0.320804
--1.571903 -1.642375 -3.570842 -0.093219
--1.526182 -1.731464 -3.605724 -0.020657
--1.630193 -1.752972 -3.367834 0.255624
--1.660233 -1.588302 -3.606789 0.082369
--1.767865 -1.675711 -3.609663 -0.179861
--1.896875 -1.709686 -3.602725 -0.412042
--2.709350 -1.795107 -3.609460 -0.825490
--3.438999 -1.855386 -4.338983 -2.799587
--4.995089 -2.705861 -4.995088 -4.419998
--inf -4.438801 -7.395193 -6.877779
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+-inf -4.680346 -4.652773 -4.668035
--2.274823 -inf -inf -1.998917
--0.239060 -1.361621 -inf -1.030196
--0.192977 -0.623675 -inf -1.015081
--0.178113 -0.338083 -inf -1.033181
--0.169390 -0.233137 -inf -1.011519
--2.047086 -0.170447 -inf -0.964664
--3.698861 -2.238323 -inf -2.828518
--3.362710 -3.328363 -inf -3.314670
--3.838189 -3.435092 -inf -2.860093
--3.981106 -3.859570 -inf -2.725594
--4.481407 -4.360524 -inf -2.635113
--4.568501 -4.598739 -inf -2.773824
--4.557566 -4.603247 -inf -2.345359
--4.605671 -4.609997 -inf -2.615880
--4.609488 -4.600443 -inf -2.757381
--4.609990 -4.609360 -inf -2.785457
--5.338998 -4.598870 -inf -2.894095
--5.995094 -4.609997 -inf -3.707547
--7.395545 -5.338997 -inf -4.438797
--inf -5.995087 -inf -5.995077
+-3.642516 -inf -inf -3.667335
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+-3.834303 -3.820060 -inf -3.845415
+-3.767840 -3.749830 -inf -3.752891
+-3.893925 -4.005739 -inf -4.010070
+-4.014921 -4.084437 -inf -3.867079
+-4.055380 -3.924366 -inf -3.967504
+-4.019679 -4.125587 -inf -3.997024
+-4.026253 -4.094030 -inf -4.036355
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+-inf -4.687632 -inf -4.660003
diff --git a/travail_de_groupe/jeu_appren_par_renfo/moving_ball/src/main.c b/travail_de_groupe/jeu_appren_par_renfo/moving_ball/src/main.c
index abb6e7eec6e81a1d2530a2c62860dacd29af37c1..5cff31f6f6d0d93b11111266f5c3d5006cbf2019 100644
--- a/travail_de_groupe/jeu_appren_par_renfo/moving_ball/src/main.c
+++ b/travail_de_groupe/jeu_appren_par_renfo/moving_ball/src/main.c
@@ -342,6 +342,8 @@ int main(){
printf("%d : found at %d %d\n", i, ball.x, ball.y);
running = 0;
}
+
+ insertPointToPath(&path, ball.x, ball.y);
int action = take_action(&ball, Q, 0.5);
printf("[%d] Action: %d\n", i, action);
@@ -357,8 +359,14 @@ int main(){
nextBall->y = ball.y;
nextBall->weight = ball.weight;
nextBall->isGrounded = ball.isGrounded;
- moveBall(nextBall, action);
+
+ moveBall(nextBall, action);
+
+ if (checkIfPointInPath(path, nextBall->x, nextBall->y)){
+ reward = -1;
+ }
+
printf("Next Ball: %d, %d\n", nextBall->x, nextBall->y);
int nextAction = argmax(Q[nextBall->y][nextBall->x],4);