def createLeaf( leaf, tree, dM, dK ):
    newLeaf = np.array(leaf)
    global visited
    global isGoingLeft
    if leaf[4]:
        newLeaf[0], newLeaf[1], newLeaf[2], newLeaf[3], newLeaf[4] = leaf[0]+dM, leaf[1]+dK, leaf[2]-dM, leaf[3]-dK, not leaf[4]
    else:
        newLeaf[0], newLeaf[1], newLeaf[2], newLeaf[3], newLeaf[4] = leaf[0]-dM, leaf[1]-dK, leaf[2]+dM, leaf[3]+dK, not leaf[4]
    if isValid(newLeaf):
        tree.append(tuple(newLeaf))
        visited.append(tuple(newLeaf))