public static void qLeft(Point p, Point left){
		if(left == Point.NULL || left.isObstacle || left.id != 0) return;
		else if(!left.upFree && !left.downFree){
			unprocessed.add(left);
			origins.add(p);
		}
		else if((!p.upFree && !left.downFree) || (!p.downFree && !left.upFree)){
			unprocessed.add(left);
			origins.add(p);
		}
		else{
			queue.add(left);
		}
	}