tracer/src/Navigation.hs

module Navigation where

import Affection as A

import Data.Matrix as M
import Data.Maybe (isJust)

-- internal imports

import Types
import Util

isReachable :: Matrix (Maybe ImgId) -> [V2 Int] -> [ReachPoint] -> Bool
isReachable imgmat reaches exits =
  let result =
        (concatMap
          (\exit -> map (astarAppl imgmat exit) reaches)
          (map pointCoord exits))
  in  all isJust result