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Initial replacement of FGL with incidence representation, use A*

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justin
2025-10-21 11:47:49 +01:00
parent c250448d57
commit 0b997579ad
5 changed files with 97 additions and 43 deletions
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src/Dodge/Debug/Picture.hs
+11 -2
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@@ -404,8 +404,8 @@ drawWlIDs w = setLayer FixedCoordLayer $ foldMap f (w ^. cWorld . lWorld . walls
p = worldPosToScreen (w ^. wCam) $ 0.5 *.* uncurry (+.+) (_wlLine wl)
drawPathing :: Config -> World -> Picture
drawPathing cfig w =
drawPathing' :: Config -> World -> Picture
drawPathing' cfig w =
setLayer DebugLayer $
foldMap (edgeToPic (screenPolygon cfig (w ^. wCam)) . (^?! _3)) (FGL.labEdges gr)
<> foldMap dispInc (graphToIncidence gr)
@@ -413,6 +413,15 @@ drawPathing cfig w =
dispInc (p, n) = setDepth 2 . uncurryV translate p . scale 0.1 0.1 $ text $ show n
gr = w ^. cWorld . pathGraph
drawPathing :: Config -> World -> Picture
drawPathing cfig w =
setLayer DebugLayer $ ifoldMap f $ w ^. cWorld . incGraph
where
inodes = w ^. cWorld . incNode
f i = foldMap (g i)
g i (j,se) = edgeToPic (screenPolygon cfig (w ^.wCam))
(PathEdge (inodes ^?! ix i) (inodes ^?! ix j) 0 (se ^. seObstacles))
edgeToPic :: [Point2] -> PathEdge -> Picture
edgeToPic poly pe
| not (pointInPoly sp poly) && not (pointInPoly ep poly) = mempty