42 lines
1.1 KiB
Haskell
42 lines
1.1 KiB
Haskell
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module Navigation where
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import Affection as A
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import Data.Matrix as M
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import qualified Data.HashSet as HS
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import Data.Graph.AStar
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import Data.Maybe (isJust)
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import Linear
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-- internal imports
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import Types.Map
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import Types.UserData
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import Types.Interior
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isReachable :: Matrix (Maybe ImgId) -> [V2 Int] -> [ReachPoint] -> Bool
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isReachable imgmat reaches exits =
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let astarAppl ex rc = aStar
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(naviGraph imgmat)
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(\a b -> distance (fmap fromIntegral a) (fmap fromIntegral b))
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(\a -> distance (fmap fromIntegral ex) (fmap fromIntegral a))
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(== ex)
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rc
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result =
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(concatMap
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(\exit -> map (astarAppl exit) reaches)
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(map pointCoord exits))
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in all isJust result
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naviGraph :: Matrix (Maybe ImgId) -> V2 Int -> HS.HashSet (V2 Int)
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naviGraph imgmat (V2 r c) =
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let list = foldl
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(\acc (or, oc) -> if null (imgObstacle $ imgmat M.! (r + or, c + oc))
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then if or == 0 && oc == 0 then acc else V2 (r + or) (c + oc): acc
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else acc
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)
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[]
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[(0, 1), (0, -1), (1, 0), (-1, 0)]
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in HS.fromList list
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