module Navigation where import Affection as A import Data.Matrix as M import Data.Maybe (isJust, catMaybes) -- internal imports import Types import Util isReachable :: Matrix (Maybe ImgId) -> [(V2 Double, Boundaries Double)] -> [V2 Int] -> [ReachPoint] -> Bool isReachable imgmat animBounds reaches exits = let result = concatMap ((\exit -> map (astarAppl imgmat animBounds exit) reaches) . pointCoord) exits in all isJust result