Refactor path zoning

src/Dodge/Path.hs

@@ -11,9 +11,10 @@ module Dodge.Path
     , bfsNodePoints
     , fusePairs
     ) where
+import Dodge.Zoning.Pathing
+import Dodge.Zoning.Base
 import Dodge.Data
 import Dodge.Base.Collide
-import Dodge.Zone
 import Geometry.Data
 import Geometry
 
@@ -52,7 +53,7 @@ walkableNodeNear :: World -> Point2 -> Maybe Int
 walkableNodeNear w p = fmap fst . find (flip (isWalkable p) w . snd) $ nodesNear
   where
     --nodesNear = runIdentity . S.toList_ $ nearPoint _pnZoning p w
-    nodesNear = runIdentity . S.toList_ $ aroundPoint _pnZoning p w
+    nodesNear = zonesExtract (w ^. pnZoning) $ zonesAroundPoint pnZoneSize p
 
 makePathBetweenPs :: Point2 -> Point2 -> World -> Maybe [Point2]
 makePathBetweenPs a b w = mapMaybe (lab $ _pathGraph w) <$> makePathBetween a b w
@@ -137,12 +138,12 @@ addEdges nodemap gr = runIdentity . S.fold_ f (mempty,gr) id
 obstructPathsCrossing :: EdgeObstacle -> Point2 -> Point2 -> World -> ( World, [(Int,Int,PathEdge)])
 obstructPathsCrossing obstacletype sp' ep w = 
     ( w & pathGraph %~ updateedges
-    , runIdentity $ S.toList_ es
+    , es
     )
   where
-    es = S.filter edgecrosses $ nearSeg _peZoning sp' ep w
+    es = filter edgecrosses $ pesNearSeg sp' ep w
     edgecrosses (_,_,pe) = isJust $ intersectSegSeg sp' ep (_peStart pe) (_peEnd pe)
-    updateedges gr = runIdentity $ S.fold_ updateedge gr id es
+    updateedges gr = foldl' updateedge gr es
     updateedge gr (x,y,pe) 
         = insEdge (x,y,pe & peObstacles . at obstacletype ?~ ()) $ delEdge (x,y) gr