Continue to work on pathfinding

src/Dodge/Debug/Picture.hs

@@ -251,22 +251,20 @@ drawInspectWalls w = concat $ do
                 )
 
 drawInspectWall :: World -> Wall -> Picture
-drawInspectWall w wl =
+drawInspectWall _ wl =
     setLayer DebugLayer $
         color rose (thickLine 3 [a, b])
-            <> foldMap (drawDoorPaths w) (wl ^? wlStructure . wsDoor)
+--            <> foldMap (drawDoorPaths w) (wl ^? wlStructure . wsDoor)
   where
     (a, b) = _wlLine wl
 
-drawDoorPaths :: World -> Int -> Picture
-drawDoorPaths w drid = concat $ do
-    paths <- w ^? cWorld . lWorld . doors . ix drid . drObstructs
-    return $ foldMap' (drawPathEdge . (^. penPathEdge)) paths
+--drawDoorPaths :: World -> Int -> Picture
+--drawDoorPaths w drid = concat $ do
+--    paths <- w ^? cWorld . lWorld . doors . ix drid . drObstructs
+--    return $ foldMap' (drawPathEdge . (^. penPathEdge)) paths
 
-drawPathEdge :: PathEdge -> Picture
-drawPathEdge pe =
-    setLayer DebugLayer $
-        multiArrow (_peStart pe) (_peEnd pe) green (S.map obstacleColor (_peObstacles pe))
+drawPathEdge :: Point2 -> Point2 -> S.Set EdgeObstacle -> Picture
+drawPathEdge x y pe = setLayer DebugLayer $ multiArrow x y green (S.map obstacleColor pe)
 
 obstacleColor :: EdgeObstacle -> Color
 obstacleColor eo = case eo of
@@ -403,16 +401,6 @@ drawWlIDs w = setLayer FixedCoordLayer $ foldMap f (w ^. cWorld . lWorld . walls
       where
         p = worldPosToScreen (w ^. wCam) $ 0.5 *.* uncurry (+.+) (_wlLine wl)
 
-
-drawPathing' :: Config -> World -> Picture
-drawPathing' cfig w =
-    setLayer DebugLayer $
-        foldMap (edgeToPic (screenPolygon cfig (w ^. wCam)) . (^?! _3)) (FGL.labEdges gr)
-            <> foldMap dispInc (graphToIncidence gr)
-  where
-    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
@@ -420,12 +408,9 @@ drawPathing cfig w =
     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))
+        (inodes ^?! ix i) (inodes ^?! ix j) (se ^. seObstacles)
 
-edgeToPic :: [Point2] -> PathEdge -> Picture
-edgeToPic poly pe
+edgeToPic :: [Point2] -> Point2 -> Point2 -> S.Set EdgeObstacle -> Picture
+edgeToPic poly sp ep pe
     | not (pointInPoly sp poly) && not (pointInPoly ep poly) = mempty
-    | otherwise = drawPathEdge pe
-  where
-    sp = _peStart pe
-    ep = _peEnd pe
+    | otherwise = drawPathEdge sp ep pe