public static void qDown(Point p, Point down){
		if(down == Point.NULL || down.isObstacle || down.id != 0) return;
		else if(!down.leftFree && !down.rightFree){
			unprocessed.add(down);
			origins.add(p);
		}
		else if((!p.leftFree && !down.rightFree) || (!p.rightFree && !down.leftFree)){
			unprocessed.add(down);
			origins.add(p);
		}
		else{
			queue.add(down);
		}
	}