loop/src/Dodge/Path.hs

--{-# LANGUAGE TupleSections #-}
module Dodge.Path 
    ( pointTowardsImpulse
    , makePathBetween
    , makePathBetweenPs
--    , removePathsCrossing
    , obstructPathsCrossing
    , pairsToGraph
    , getNodePos
    , walkableNodeNear
    , bfsNodePoints
    , fusePairs
    ) where
import Dodge.Zoning.Pathing
import Dodge.Zoning.Base
import Dodge.Data
import Dodge.Base.Collide
import Geometry.Data
import Geometry

import Data.Foldable
import Control.Lens
import Data.Maybe
import Data.List
--import qualified IntMapHelp as IM
import Data.Graph.Inductive hiding ((&))
import qualified Data.Set as Set
import Data.Set (Set)
import qualified Data.Map.Strict as M
import Data.Map.Strict (Map)
import StreamingHelp
import qualified Streaming.Prelude as S
--import Data.Graph.Inductive.PatriciaTree
--import Data.Graph.Inductive.Graph hiding ((&))

getNodePos :: Int -> World -> Maybe Point2
getNodePos i w = _pathGraph (_cWorld w) `lab` i

makePathBetween :: Point2 -> Point2 -> World -> Maybe [Int]
makePathBetween a b w = do -- join $ sp <$> a' <*> b' <*> return (_pathGraph w)
    na <- walkableNodeNear w a
    nb <- walkableNodeNear w b
    sp na nb (second _peDist (efilter (not . pathEdgeObstructed . (^. _3)) $ _pathGraph (_cWorld w)))

pathEdgeObstructed :: PathEdge -> Bool
pathEdgeObstructed pe = DoorObstacle `Set.member` obs || BlockObstacle `Set.member` obs
  where
    obs = _peObstacles pe


walkableNodeNear :: World -> Point2 -> Maybe Int
{-# INLINE walkableNodeNear #-}
walkableNodeNear w p = fmap fst . find (flip (isWalkable p) w . snd) $ nodesNear
  where
    --nodesNear = runIdentity . S.toList_ $ nearPoint _pnZoning p w
    nodesNear = zonesExtract (w ^. cWorld . pnZoning) $ zonesAroundPoint pnZoneSize p

makePathBetweenPs :: Point2 -> Point2 -> World -> Maybe [Point2]
makePathBetweenPs a b w = mapMaybe (lab $ _pathGraph (_cWorld w)) <$> makePathBetween a b w

bfsNodePoints :: Int -> World -> [Point2]
bfsNodePoints n w = mapMaybe (lab g) $ bfs n g
  where
    g = _pathGraph (_cWorld w)


pointTowardsImpulse :: Point2 -> Point2 -> World -> Maybe Point2
pointTowardsImpulse a b w = (find (flip (isWalkable a) w) . reverse) =<< makePathBetweenPs a b w

------ continues a walk from a list of points, without repetitions
------ supposes that the list is non-empty
--randomGraphWalk :: RandomGen g => [Int] -> Gr a b -> State g [Int]
--randomGraphWalk (n:ns) g = do 
--    next' <- randomGraphStepRestricted n ns g
--    case next' of 
--        Nothing -> return (n:ns)
--        Just n' -> randomGraphWalk (n':n:ns) g
--randomGraphWalk _ _ = error "Trying to walk in an empty list"
--
--randomPointXStepsFrom :: Int -> Point2 -> World -> Point2
--randomPointXStepsFrom i p w = 
--    let g  = _pathGraph w
--        ns = labNodes g
--        mp = listToMaybe $ sortBy (compare `on` dist p . snd) $ filter (flip (isWalkable p) w . snd) ns
--    in case mp of 
--        Nothing -> p
--        Just (n,_) -> fromJust 
--            $ lab g (last $ take i $ randomGraphWalk [n] g Data.Function.& evalState  $ _randGen w)
--
--randomPointsXStepsFrom :: Int -> Point2 -> World -> [Point2]
--randomPointsXStepsFrom i p w = 
--    let g  = _pathGraph w
--        ns = labNodes g
--        mp = listToMaybe $ sortBy (compare `on` dist p . snd) $ filter (flip (isWalkable p) w . snd) ns
--    in case mp of 
--        Nothing -> [p]
--        Just (n,_) -> mapMaybe (lab g) (take i $ randomGraphWalk [n] g Data.Function.& evalState $ _randGen w)
--
--randomGraphStep :: RandomGen g => Int -> Gr a b -> State g (Maybe Int)
--randomGraphStep n g = 
--    do let ns = neighbors g n
--       i  <- state $ randomR (0,length ns - 1)
--       case ns of [] -> return Nothing
--                  _  -> return $ Just $ ns !! i
--randomGraphStepRestricted :: RandomGen g => Int -> [Int] -> Gr a b -> State g (Maybe Int)
--randomGraphStepRestricted n notns g = do 
--    let ns = neighbors g n \\ notns
--    i  <- state $ randomR (0,length ns - 1)
--    case ns of 
--        [] -> return Nothing
--        _  -> return $ Just $ ns !! i
--
pairsToGraph :: Set.Set (Point2,Point2) -> (Map (V2 Point2) (Int,Int,PathEdge),Gr Point2 PathEdge)
pairsToGraph pairs = addEdges nodemap gr $ S.each pairs
  where
    (nodemap,_,gr) = addNodes $ S.map fst (S.each pairs) <> S.map snd (S.each pairs)
--    let nodes' = Set.map fst pairs `Set.union` Set.map snd pairs
--        pairs' = Set.map (\(x,y)->(x,y,f x y)) pairs
--    in undir $ run_ Data.Graph.Inductive.empty $ insMapNodesM (Set.toList nodes') >> insMapEdgesM (Set.toList pairs')

addNodes :: StreamOf Point2 -> (Map Point2 Int,Int,Gr Point2 PathEdge)
addNodes = runIdentity . S.fold_ f (mempty,0,Data.Graph.Inductive.empty) id
  where
    f (nodemap,i,gr) p = case nodemap M.!? p of
        Just _  -> (nodemap,i,gr)
        Nothing -> (nodemap & at p ?~i ,i+1, insNode (i,p) gr)
addEdges :: Map Point2 Int -> Gr Point2 PathEdge -> StreamOf (Point2,Point2) 
    -> (Map (V2 Point2) (Int,Int,PathEdge) , Gr Point2 PathEdge)
addEdges nodemap gr = runIdentity . S.fold_ f (mempty,gr) id
  where
    f (edgemap,gr') (a,b) = (M.insert (V2 a b) theedge edgemap
        , insEdge theedge gr'
        )
      where
        theedge = (g a,g b,PathEdge a b (dist a b) mempty)
    g a = nodemap M.! a

obstructPathsCrossing :: EdgeObstacle -> Point2 -> Point2 -> World -> ( World, [(Int,Int,PathEdge)])
obstructPathsCrossing obstacletype sp' ep w = 
    ( w & cWorld . pathGraph %~ updateedges
    , es
    )
  where
    es = filter edgecrosses $ pesNearSeg sp' ep w
    edgecrosses (_,_,pe) = isJust $ intersectSegSeg sp' ep (_peStart pe) (_peEnd pe)
    updateedges gr = foldl' updateedge gr es
    updateedge gr (x,y,pe) 
        = insEdge (x,y,pe & peObstacles . at obstacletype ?~ ()) $ delEdge (x,y) gr

fuseFunc :: (a -> a -> Bool) -> [a] -> a -> a
fuseFunc t xs x = fromJust . find (t x) $ nubBy t xs

fusePairs :: Set (Point2,Point2) -> Set (Point2,Point2)
fusePairs ps = Set.map (bimap f f) ps
  where
    f = fuseFunc (\x y -> dist x y < 2) . nub $ concatMap (\(x,y) -> [x,y]) $ toList ps