Cat is afraid of darkness

function [thrustRow, thrustCol] = solver(chart, aIndex, bIndex, maxThrottle)

solverScore=inf;

for kk=0:0.1:2.5
    [thrustRow1, thrustCol1,sc1] = subsolver(chart, aIndex, bIndex, maxThrottle,kk);
    if sc1<solverScore
        solverScore=sc1;
        thrustRow=thrustRow1;
        thrustCol=thrustCol1;
    end
end


end
function [thrustRow, thrustCol,sc] = subsolver(chart, aIndex, bIndex, maxThrottle,key)
%maxThrottle
[aRow, aCol] = ind2sub(size(chart(:,:,1)),aIndex);
[bRow, bCol] = ind2sub(size(chart(:,:,1)),bIndex);

currentRow=aRow;
currentCol=aCol;
vR=0;
vC=0;

thrustRow = [];
thrustCol = [];

targetRow=bRow;
targetCol=bCol;

currentRows(1)=currentRow;
currentCols(1)=currentCol;

for s=1:1000
    br=0;
    rowLim=0;
    colLim=0;
    
    if currentRow==bRow && currentCol==bCol
        targetRow=aRow;
        targetCol=aCol;
    end
    if currentRow==aRow && currentCol==aCol && targetRow==aRow && targetCol==aCol
        break
    end
    dvRw=chart(currentRow,currentCol,1);
    dvCw=chart(currentRow,currentCol,2);
    
    DR=targetRow-currentRow;
    DC=targetCol-currentCol;
    
    vRplusW=vR+dvRw;
    vCplusW=vC+dvCw;
    dvRm=(sign(DR)-sign(vRplusW))*(abs(vRplusW)+1)/2;
    dvCm=(sign(DC)-sign(vCplusW))*(abs(vCplusW)+1)/2;
    
    if sign(DR)==sign(vRplusW) && abs(DR)<abs(vRplusW)
        dvRm=-(abs(vRplusW)-abs(DR))*sign(vRplusW);
    end
    
    if sign(DC)==sign(vCplusW) && abs(DC)<abs(vCplusW)
        dvCm=-(abs(vCplusW)-abs(DC))*sign(vCplusW);
    end
    if key>0
        if abs(vRplusW)>maxThrottle/key
            dvRm=-round((abs(vRplusW)-maxThrottle/key)*sign(vRplusW));
        end
        
        if abs(vCplusW)>maxThrottle/key
            dvCm=-round((abs(vCplusW)-maxThrottle/key)*sign(vCplusW));
        end
    end
    if sign(DR)==0
        dvRm=-vRplusW;
    end
    if sign(DC)==0
        dvCm=-vCplusW;
    end
    
    if sign(vRplusW)==0
        dvRm=sign(DR);
    end
    if sign(vCplusW)==0
        dvCm=sign(DC);
    end
    %**************
    
    if currentRow+vRplusW+dvRm<1
        dvRm=1-currentRow-vRplusW;
        if abs(dvRm)>maxThrottle
            break
        end
        rowLim=1;
    end
    if currentCol+vCplusW+dvCm<1
        dvCm=1-currentCol-vCplusW;
        if abs(dvCm)>maxThrottle
            break
        end
        colLim=1;
    end
    
    if currentRow+vRplusW+dvRm>size(chart(:,:,1),1)
        dvRm=size(chart(:,:,1),1)-currentRow-vRplusW;
        if abs(dvRm)>maxThrottle
            break
        end
        rowLim=1;
    end
    if currentCol+vCplusW+dvCm>size(chart(:,:,1),2)
        dvCm=size(chart(:,:,1),2)-currentCol-vCplusW;
        if abs(dvCm)>maxThrottle
            break
        end
        colLim=1;
    end
    
    for tt=1:10
        if (abs(dvRm) + abs(dvCm))>maxThrottle
            if rowLim==1 && colLim==1
                br=1;
                break
            end
            if rowLim==1
                dvCm=max((maxThrottle-abs(dvRm)),0)*sign(dvCm);
            end
            
            if colLim==1
                dvRm=max((maxThrottle-abs(dvCm)),0)*sign(dvCm);
            end
        end
        if (abs(dvRm) + abs(dvCm))>maxThrottle
            if rowLim==0 && colLim==0
                m=(abs(dvRm) + abs(dvCm));
                dvCm=fix(rand(1)*dvCm*(maxThrottle/m));
                dvRm=fix(rand(1)*dvRm*(maxThrottle/m));
            end
        end
        rowLim=0;
        colLim=0;
        if currentRow+vRplusW+dvRm<1
            dvRm=1-currentRow-vRplusW;
            if abs(dvRm)>maxThrottle
                br=1;
                break
            end
            rowLim=1;
        end
        if currentCol+vCplusW+dvCm<1
            dvCm=1-currentCol-vCplusW;
            if abs(dvCm)>maxThrottle
                br=1;
                break
            end
            colLim=1;
        end
        
        if currentRow+vRplusW+dvRm>size(chart(:,:,1),1)
            dvRm=size(chart(:,:,1),1)-currentRow-vRplusW;
            if abs(dvRm)>maxThrottle
                br=1;
                break
            end
            rowLim=1;
        end
        if currentCol+vCplusW+dvCm>size(chart(:,:,1),2)
            dvCm=size(chart(:,:,1),2)-currentCol-vCplusW;
            if abs(dvCm)>maxThrottle
                br=1;
                break
            end
            colLim=1;
        end
        if rowLim==0 && colLim==0 && (abs(dvRm) && abs(dvCm))<=maxThrottle
            break
        end
    end
    if tt==10 || br==1
        break
    end
    
    
    
    
    vR=vRplusW+dvRm;
    vC=vCplusW+dvCm;
    currentRow=currentRow+vR;
    currentCol=currentCol+vC;
    
    
    thrustRow(end+1) = dvRm;
    thrustCol(end+1) = dvCm;
    
    currentRows(end+1)=currentRow;
    currentCols(end+1)=currentCol;
    
    
end

scD=(currentRows-bRow).^2+(currentCols-bCol).^2;

for j=1:length(scD)
    scD(j)=min(scD(1:j));
end

scL=cumsum([0 abs(thrustRow)])+cumsum([0 abs(thrustCol)])+(currentRows-aRow).^2+(currentCols-aCol).^2 +scD;
[sc mi]=min(scL);
if mi>1
    thrustRow= thrustRow(1:mi-1);
    thrustCol= thrustCol(1:mi-1);
    
else
    thrustRow= [];
    thrustCol= [];
end


end