Pathfinding ? - Version imprimable

Code :
inclure('is_passable');

 function  tableau_deplacement($xd,$yd,$nb,$xmax,$ymax,$rayon=3){

    $xmin=max(1,$xd-$rayon);

    $xmax=min($xmax,$xd+$rayon);

    $ymin=max(1,$yd-$rayon);

    $ymax=min($ymax,$yd+$rayon);



    $sort['xmin']=$xmin;

    $sort['ymin']=$ymin;

    $sort['xmax']=$xmax;

    $sort['ymax']=$ymax;



    // definir le relief

    for($x=$xmin;$x<=$xmax;$x++){

        for($y=$ymin;$y<=$ymax;$y++){

            if (false==is_passable($x,$y)){

                $sort[$x.'/'.$y]=-1;

            }else{

                $sort[$x.'/'.$y]=255;

            }

        }

    }

    $sort[$xd.'/'.$yd]=0;



    //demarer l'algo

    for($i=1;$i<=$nb;$i++){

        $verif=0;

        for($x=$xmin;$x<=$xmax;$x++){

            for($y=$ymin;$y<=$ymax;$y++){

                if ($sort[$x.'/'.$y]==$i-1){

                    $verif=1;

                    // ecrire les cases adjacentes

                    if ($sort[$x.'/'.min($y+1,$ymax)]>$i){

                        $sort[$x.'/'.min($y+1,$ymax)]=$i;

                    }

                    if ($sort[$x.'/'.max($y-1,$ymin)]>$i){

                        $sort[$x.'/'.max($y-1,$ymin)]=$i;

                    }

                    if ($sort[min($x+1,$xmax).'/'.$y]>$i){

                        $sort[min($x+1,$xmax).'/'.$y]=$i;

                    }

                    if ($sort[max($x-1,$xmin).'/'.$y]>$i){

                        $sort[max($x-1,$xmin).'/'.$y]=$i;

                    }

                }

            }

        }

        if ($verif==0){break;}

    }



    //finaliser le tableau

    for($x=$xmin;$x<=$xmax;$x++){

        for($y=$ymin;$y<=$ymax;$y++){

            if ($sort[$x.'/'.$y]==255){

                $sort[$x.'/'.$y]=-1;

            }

        }

    }



    return $sort;

}