Generalise pathing, usable with flying creatures

src/Dodge/Path.hs

@@ -2,6 +2,7 @@
 module Dodge.Path (
     nodesNear,
     pointTowardsImpulse,
+    pointTowardsImpulse',
     makePathBetween,
     makePathBetweenPs,
     obstructPathsCrossing,
@@ -10,6 +11,7 @@ module Dodge.Path (
     snapToGrid,
     pairsToIncGraph,
     getEdgesCrossing,
+    pathEdgeObstructed,
 ) where
 
 import Dodge.WorldEvent.ThingsHit
@@ -60,15 +62,38 @@ makePathUsing t s e w = do
         . IM.filter (^. seObstacles . to t) $ w ^?! cWorld . incGraph . ix i
     getn i = w ^?! cWorld . incNode . ix i
 
+makePathUsing' :: (Point2 -> Point2 -> World -> Bool) 
+    -> (Set.Set EdgeObstacle -> Bool) -> Point2 -> Point2 -> World -> Maybe [Int]
+makePathUsing' t1 t2 s e w = do
+    na <- nodeNear t1 w s
+    nb <- nodeNear t1 w e
+    let h i = distance (getn nb) (getn i)
+    (na :) . snd <$> AS.aStarAssoc getes h (== nb) na
+  where
+    getes i = IM.toList 
+        . IM.map (^. seDist)
+        . IM.filter (^. seObstacles . to t2) $ w ^?! cWorld . incGraph . ix i
+    getn i = w ^?! cWorld . incNode . ix i
+
+
+
 makePathBetween :: Point2 -> Point2 -> World -> Maybe [Int]
 makePathBetween = makePathUsing $ not . pathEdgeObstructed
 
+makePathBetween' :: (Point2 -> Point2 -> World -> Bool) -> (Set.Set EdgeObstacle -> Bool)
+    -> Point2 -> Point2 -> World -> Maybe [Int]
+makePathBetween' t1 t2 = makePathUsing' t1 $ t2
+
 pathEdgeObstructed :: Set.Set EdgeObstacle -> Bool
 pathEdgeObstructed pe = any (`Set.member` pe) [WallObstacle WallNotAutoOpen, ChasmObstacle]
 
 walkableNodeNear :: World -> Point2 -> Maybe Int
 {-# INLINE walkableNodeNear #-}
 walkableNodeNear w p = fmap fst . find (flip (isWalkable p) w . snd) $ nodesNear w p
+
+nodeNear :: (Point2 -> Point2 -> World -> Bool) -> World -> Point2 -> Maybe Int
+{-# INLINE nodeNear #-}
+nodeNear t w p = fmap fst . find (flip (t p) w . snd) $ nodesNear w p
 --  where
 --    nodesNear = zonesExtract (w ^. incNodeZoning) . snailAround $ zoneOfPoint pnZoneSize p
 
@@ -87,10 +112,18 @@ smallSnailInt2 =
 makePathBetweenPs :: Point2 -> Point2 -> World -> Maybe [Point2]
 makePathBetweenPs a b w = fmap (`getNodePos` w) <$> makePathBetween a b w
 
+makePathBetweenPs' :: (Point2 -> Point2 -> World -> Bool) -> (Set.Set EdgeObstacle -> Bool)
+  ->Point2 -> Point2 -> World -> Maybe [Point2]
+makePathBetweenPs' t1 t2 a b w = fmap (`getNodePos` w) <$> makePathBetween' t1 t2 a b w
+
 -- assumes that pathfinding is symmetric
 pointTowardsImpulse :: Point2 -> Point2 -> World -> Maybe Point2
 pointTowardsImpulse a b w = find (flip (isWalkable a) w) =<< makePathBetweenPs b a w
 
+pointTowardsImpulse' ::  (Point2 -> Point2 -> World -> Bool) -> (Set.Set EdgeObstacle -> Bool)
+    -> Point2 -> Point2 -> World -> Maybe Point2
+pointTowardsImpulse' t1 t2 a b w = find (flip (t1 a) w) =<< makePathBetweenPs' t1 t2 b a w
+
 pairsToIncGraph ::
     Set.Set (Point2, Point2) ->
     ( UV.Vector Point2