From 1fa48f89abeedbd7e01e541289b0a645520f56dd Mon Sep 17 00:00:00 2001
From: Nolan Darilek <nolan@thewordnerd.info>
Date: Tue, 7 Jan 2025 16:24:58 -0500
Subject: [PATCH] Move map-based pathfinding code to `Map`.

---
 src/core.rs        | 10 ++++++++++
 src/map.rs         | 35 +++++++++++++++++++++++++++++++++++
 src/pathfinding.rs | 34 ----------------------------------
 3 files changed, 45 insertions(+), 34 deletions(-)

diff --git a/src/core.rs b/src/core.rs
index d688143..3ab0326 100644
--- a/src/core.rs
+++ b/src/core.rs
@@ -353,6 +353,16 @@ impl PointLike for IVec2 {
     }
 }
 
+impl PointLike for UVec2 {
+    fn x(&self) -> f32 {
+        self.x as f32
+    }
+
+    fn y(&self) -> f32 {
+        self.y as f32
+    }
+}
+
 impl PointLike for (i32, i32) {
     fn x(&self) -> f32 {
         self.0 as f32
diff --git a/src/map.rs b/src/map.rs
index cc74c77..0e3990e 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -5,11 +5,13 @@ use bevy::prelude::*;
 pub use here_be_dragons::Map as MapgenMap;
 use here_be_dragons::{geometry::Rect as MRect, MapFilter, Tile};
 use maze_generator::{prelude::*, recursive_backtracking::RbGenerator};
+use pathfinding::prelude::*;
 use rand::prelude::StdRng;
 
 use crate::{
     core::{Obstacle, PointLike, Zone},
     exploration::Mappable,
+    pathfinding::CostMap,
     visibility::Visible,
 };
 
@@ -17,6 +19,39 @@ use crate::{
 #[require(Transform, SpawnColliders, SpawnPortals)]
 pub struct Map<D: 'static + Clone + Default + Send + Sync>(pub MapgenMap<D>);
 
+impl<D: 'static + Clone + Default + Send + Sync> Map<D> {
+    pub fn find_path(
+        &self,
+        start: &UVec2,
+        destination: &UVec2,
+        cost_map: &Option<CostMap>,
+    ) -> Option<(Vec<UVec2>, u32)> {
+        astar(
+            &start,
+            |p| {
+                let mut successors: Vec<(UVec2, u32)> = vec![];
+                if let Some(tile) = self.at(p.x as usize, p.y as usize) {
+                    if tile.is_walkable() {
+                        for tile in self.get_available_exits(p.x as usize, p.y as usize) {
+                            let mut cost = tile.2 * 100.;
+                            if let Some(cost_map) = cost_map {
+                                if let Some(modifier) = cost_map.get(&p.as_ivec2()) {
+                                    cost *= modifier;
+                                }
+                            }
+                            successors
+                                .push((UVec2::new(tile.0 as u32, tile.1 as u32), cost as u32));
+                        }
+                    }
+                }
+                successors
+            },
+            |p| (p.distance_squared(destination) * 100.) as u32,
+            |p| *p == *destination,
+        )
+    }
+}
+
 impl<D: Clone + Default + Send + Sync> From<MapgenMap<D>> for Map<D> {
     fn from(v: MapgenMap<D>) -> Self {
         Self(v)
diff --git a/src/pathfinding.rs b/src/pathfinding.rs
index e6e8a08..ef7d270 100644
--- a/src/pathfinding.rs
+++ b/src/pathfinding.rs
@@ -5,7 +5,6 @@ use pathfinding::prelude::*;
 
 use crate::{
     core::{GlobalTransformExt, Obstacle},
-    map::Map,
     navigation::{NavigationAction, RotationSpeed, Speed},
 };
 
@@ -45,39 +44,6 @@ impl Default for PathfindingControlsBundle {
     }
 }
 
-pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
-    start: IVec2,
-    destination: IVec2,
-    map: &Map<D>,
-    cost_map: &Option<CostMap>,
-) -> Option<(Vec<IVec2>, u32)> {
-    astar(
-        &start,
-        |p| {
-            let mut successors: Vec<(IVec2, u32)> = vec![];
-            if p.x >= 0 && p.y >= 0 {
-                if let Some(tile) = map.at(p.x as usize, p.y as usize) {
-                    if tile.is_walkable() {
-                        for tile in map.get_available_exits(p.x as usize, p.y as usize) {
-                            let mut cost = tile.2 * 100.;
-                            if let Some(cost_map) = cost_map {
-                                if let Some(modifier) = cost_map.get(p) {
-                                    cost *= modifier;
-                                }
-                            }
-                            successors
-                                .push((IVec2::new(tile.0 as i32, tile.1 as i32), cost as u32));
-                        }
-                    }
-                }
-            }
-            successors
-        },
-        |p| (p.distance_squared(destination) * 100) as u32,
-        |p| *p == destination,
-    )
-}
-
 fn calculate_path(
     mut commands: Commands,
     spatial_query: SpatialQuery,