From 3332d0a88d3e06b55d1d8ea7bdb633b7221f5d73 Mon Sep 17 00:00:00 2001
From: Nolan Darilek <nolan@thewordnerd.info>
Date: Thu, 13 May 2021 12:25:45 -0500
Subject: [PATCH] Initial commit.

---
 .gitignore         |   2 +
 Cargo.toml         |  35 ++++
 src/core.rs        | 433 +++++++++++++++++++++++++++++++++++++++
 src/error.rs       |  56 +++++
 src/exploration.rs | 386 ++++++++++++++++++++++++++++++++++
 src/lib.rs         |  21 ++
 src/log.rs         |  59 ++++++
 src/map.rs         | 370 +++++++++++++++++++++++++++++++++
 src/navigation.rs  | 500 +++++++++++++++++++++++++++++++++++++++++++++
 src/pathfinding.rs | 219 ++++++++++++++++++++
 src/sound.rs       | 333 ++++++++++++++++++++++++++++++
 src/visibility.rs  | 324 +++++++++++++++++++++++++++++
 12 files changed, 2738 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 Cargo.toml
 create mode 100644 src/core.rs
 create mode 100644 src/error.rs
 create mode 100644 src/exploration.rs
 create mode 100644 src/lib.rs
 create mode 100644 src/log.rs
 create mode 100644 src/map.rs
 create mode 100644 src/navigation.rs
 create mode 100644 src/pathfinding.rs
 create mode 100644 src/sound.rs
 create mode 100644 src/visibility.rs

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f2f9e58
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+target
+Cargo.lock
\ No newline at end of file
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..b7cf17b
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,35 @@
+[package]
+name = "blackout"
+version = "0.1.0"
+authors = ["Nolan Darilek <nolan@thewordnerd.info>"]
+edition = "2018"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies.bevy]
+version = "0.5"
+default-features = false
+features = [
+    "bevy_gilrs",
+    "bevy_wgpu",
+    "bevy_winit",
+    "render",
+    "x11",
+    "wayland",
+    "serialize",
+]
+
+[dependencies]
+backtrace = "0.3"
+bevy_input_actionmap = { path = "../bevy_input_actionmap" }
+bevy_openal = { path = "../bevy_openal" }
+bevy_tts = { path = "../bevy_tts" }
+coord_2d = "0.3"
+crossbeam-channel = "0.5"
+derive_more = "0.99"
+gilrs = "0.8"
+mapgen = "0.4"
+maze_generator = "1"
+pathfinding = "2"
+rand = "0.8"
+shadowcast = "0.8"
diff --git a/src/core.rs b/src/core.rs
new file mode 100644
index 0000000..dacdacf
--- /dev/null
+++ b/src/core.rs
@@ -0,0 +1,433 @@
+use std::{
+    cmp::{max, min},
+    fmt::Display,
+};
+
+use bevy::{core::FloatOrd, prelude::*, transform::TransformSystem};
+use derive_more::{Deref, DerefMut};
+
+#[derive(Clone, Copy, Debug, Default, Deref, DerefMut, PartialEq, PartialOrd, Reflect)]
+#[reflect(Component)]
+pub struct Coordinates(pub (f32, f32));
+
+impl From<(f32, f32)> for Coordinates {
+    fn from(v: (f32, f32)) -> Self {
+        Coordinates((v.0, v.1))
+    }
+}
+
+impl From<(i32, i32)> for Coordinates {
+    fn from(v: (i32, i32)) -> Self {
+        Coordinates((v.0 as f32, v.1 as f32))
+    }
+}
+
+impl From<(u32, u32)> for Coordinates {
+    fn from(v: (u32, u32)) -> Self {
+        Coordinates((v.0 as f32, v.1 as f32))
+    }
+}
+
+impl From<(usize, usize)> for Coordinates {
+    fn from(v: (usize, usize)) -> Self {
+        Coordinates((v.0 as f32, v.1 as f32))
+    }
+}
+
+#[derive(Clone, Debug, PartialEq)]
+pub struct Area {
+    pub rect: mapgen::geometry::Rect,
+    pub description: Option<String>,
+}
+
+impl Area {
+    pub fn contains(&self, point: &dyn PointLike) -> bool {
+        let x = point.x() as usize;
+        let y = point.y() as usize;
+        x >= self.rect.x1 && x <= self.rect.x2 && y >= self.rect.y1 && y <= self.rect.y2
+    }
+
+    pub fn center(&self) -> (usize, usize) {
+        let center = self.rect.center();
+        (center.x, center.y)
+    }
+}
+
+#[derive(Clone, Copy, Debug, Reflect)]
+pub enum Angle {
+    Degrees(f32),
+    Radians(f32),
+}
+
+impl Default for Angle {
+    fn default() -> Self {
+        Self::Radians(0.)
+    }
+}
+
+impl Angle {
+    pub fn degrees(&self) -> f32 {
+        use Angle::*;
+        let mut degrees: f32 = match self {
+            Degrees(v) => *v,
+            Radians(v) => v.to_degrees(),
+        };
+        while degrees < 0. {
+            degrees += 360.;
+        }
+        while degrees >= 360. {
+            degrees %= 360.;
+        }
+        degrees
+    }
+
+    pub fn degrees_u32(&self) -> u32 {
+        self.degrees() as u32
+    }
+
+    pub fn radians(&self) -> f32 {
+        use Angle::*;
+        match self {
+            Degrees(v) => v.to_radians(),
+            Radians(v) => *v,
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum MovementDirection {
+    North,
+    NorthNortheast,
+    Northeast,
+    EastNortheast,
+    East,
+    EastSoutheast,
+    Southeast,
+    SouthSoutheast,
+    South,
+    SouthSouthwest,
+    Southwest,
+    WestSouthwest,
+    West,
+    WestNorthwest,
+    Northwest,
+    NorthNorthwest,
+}
+
+impl MovementDirection {
+    pub fn new(heading: f32) -> Self {
+        use MovementDirection::*;
+        let mut heading = heading;
+        while heading >= 360. {
+            heading -= 360.;
+        }
+        while heading < 0. {
+            heading += 360.;
+        }
+        match heading {
+            h if h < 11.5 => East,
+            h if h < 34.0 => EastNortheast,
+            h if h < 56.5 => Northeast,
+            h if h < 79.0 => NorthNortheast,
+            h if h < 101.5 => North,
+            h if h < 124.0 => NorthNorthwest,
+            h if h < 146.5 => Northwest,
+            h if h < 169.0 => WestNorthwest,
+            h if h < 191.5 => West,
+            h if h < 214.0 => WestSouthwest,
+            h if h < 236.5 => Southwest,
+            h if h < 259.0 => SouthSouthwest,
+            h if h < 281.5 => South,
+            h if h < 304.0 => SouthSoutheast,
+            h if h < 326.5 => Southeast,
+            h if h <= 349.0 => EastSoutheast,
+            _ => East,
+        }
+    }
+}
+
+impl From<Angle> for MovementDirection {
+    fn from(angle: Angle) -> Self {
+        MovementDirection::new(angle.degrees())
+    }
+}
+
+// Converting from strings into directions doesn't make sense.
+#[allow(clippy::from_over_into)]
+impl Into<String> for MovementDirection {
+    fn into(self) -> String {
+        use MovementDirection::*;
+        match self {
+            North => "north".to_string(),
+            NorthNortheast => "north northeast".to_string(),
+            Northeast => "northeast".to_string(),
+            EastNortheast => "east northeast".to_string(),
+            East => "east".to_string(),
+            EastSoutheast => "east southeast".to_string(),
+            Southeast => "southeast".to_string(),
+            SouthSoutheast => "south southeast".to_string(),
+            South => "south".to_string(),
+            SouthSouthwest => "south southwest".to_string(),
+            Southwest => "southwest".to_string(),
+            WestSouthwest => "west southwest".to_string(),
+            West => "west".to_string(),
+            WestNorthwest => "west northwest".to_string(),
+            Northwest => "northwest".to_string(),
+            NorthNorthwest => "north northwest".to_string(),
+        }
+    }
+}
+
+impl Display for MovementDirection {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        let str: String = (*self).into();
+        write!(f, "{}", str)
+    }
+}
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum CardinalDirection {
+    North,
+    East,
+    South,
+    West,
+}
+
+impl CardinalDirection {
+    pub fn new(heading: f32) -> Self {
+        use CardinalDirection::*;
+        let mut heading = heading;
+        while heading >= 360. {
+            heading -= 360.;
+        }
+        while heading < 0. {
+            heading += 360.;
+        }
+        match heading {
+            h if h <= 45. => East,
+            h if h <= 135. => North,
+            h if h <= 225. => West,
+            h if h <= 315. => South,
+            _ => East,
+        }
+    }
+}
+
+impl From<Angle> for CardinalDirection {
+    fn from(angle: Angle) -> Self {
+        CardinalDirection::new(angle.degrees())
+    }
+}
+
+// Converting from strings into directions doesn't make sense.
+#[allow(clippy::from_over_into)]
+impl Into<String> for CardinalDirection {
+    fn into(self) -> String {
+        use CardinalDirection::*;
+        match self {
+            North => "north".to_string(),
+            East => "east".to_string(),
+            South => "south".to_string(),
+            West => "west".to_string(),
+        }
+    }
+}
+
+impl Display for CardinalDirection {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        let str: String = (*self).into();
+        write!(f, "{}", str)
+    }
+}
+
+pub trait PointLike {
+    fn x(&self) -> f32;
+
+    fn y(&self) -> f32;
+
+    fn x_i32(&self) -> i32 {
+        self.x() as i32
+    }
+
+    fn y_i32(&self) -> i32 {
+        self.y() as i32
+    }
+
+    fn x_usize(&self) -> usize {
+        self.x() as usize
+    }
+
+    fn y_usize(&self) -> usize {
+        self.y() as usize
+    }
+    fn i32(&self) -> (i32, i32) {
+        (self.x_i32(), self.y_i32())
+    }
+
+    fn to_index(&self, width: usize) -> usize {
+        ((self.y_i32() * width as i32) + self.x_i32()) as usize
+    }
+
+    fn distance_squared(&self, other: &dyn PointLike) -> f32 {
+        let x1 = FloatOrd(self.x());
+        let y1 = FloatOrd(self.y());
+        let x2 = FloatOrd(other.x());
+        let y2 = FloatOrd(other.y());
+        let dx = max(x1, x2).0 - min(x1, x2).0;
+        let dy = max(y1, y2).0 - min(y1, y2).0;
+        (dx * dx) + (dy * dy)
+    }
+
+    fn distance(&self, other: &dyn PointLike) -> f32 {
+        self.distance_squared(other).sqrt()
+    }
+
+    fn bearing(&self, other: &dyn PointLike) -> f32 {
+        let y = other.y() - self.y();
+        let x = other.x() - self.x();
+        y.atan2(x)
+    }
+
+    fn direction(&self, other: &dyn PointLike) -> MovementDirection {
+        let heading = self.bearing(other);
+        MovementDirection::new(heading.to_degrees())
+    }
+
+    fn distance_and_direction(&self, other: &dyn PointLike) -> String {
+        let mut tokens: Vec<String> = vec![];
+        let distance = self.distance(other).round() as i32;
+        if distance > 0 {
+            let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
+            let direction: String = self.direction(other).into();
+            tokens.push(format!("{} {} {}", distance, tile_or_tiles, direction));
+        }
+        tokens.join(" ")
+    }
+}
+
+impl PointLike for (i32, i32) {
+    fn x(&self) -> f32 {
+        self.0 as f32
+    }
+
+    fn y(&self) -> f32 {
+        self.1 as f32
+    }
+}
+
+impl PointLike for (f32, f32) {
+    fn x(&self) -> f32 {
+        self.0
+    }
+
+    fn y(&self) -> f32 {
+        self.1
+    }
+}
+
+impl PointLike for (usize, usize) {
+    fn x(&self) -> f32 {
+        self.0 as f32
+    }
+
+    fn y(&self) -> f32 {
+        self.1 as f32
+    }
+}
+
+impl PointLike for &Coordinates {
+    fn x(&self) -> f32 {
+        self.0 .0
+    }
+
+    fn y(&self) -> f32 {
+        self.0 .1
+    }
+}
+
+impl PointLike for mapgen::geometry::Point {
+    fn x(&self) -> f32 {
+        self.x as f32
+    }
+
+    fn y(&self) -> f32 {
+        self.y as f32
+    }
+}
+
+#[macro_export]
+macro_rules! impl_pointlike_for_tuple_component {
+    ($source:ty) => {
+        impl PointLike for $source {
+            fn x(&self) -> f32 {
+                self.0 .0 as f32
+            }
+
+            fn y(&self) -> f32 {
+                self.0 .1 as f32
+            }
+        }
+    };
+}
+
+impl_pointlike_for_tuple_component!(Coordinates);
+
+impl From<&dyn PointLike> for (i32, i32) {
+    fn from(val: &dyn PointLike) -> Self {
+        (val.x_i32(), val.y_i32())
+    }
+}
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct Player;
+
+fn copy_coordinates_to_transform(
+    config: Res<CoreConfig>,
+    mut query: Query<(&Coordinates, &mut Transform), Changed<Coordinates>>,
+) {
+    for (coordinates, mut transform) in query.iter_mut() {
+        transform.translation.x = coordinates.0 .0 * config.pixels_per_unit as f32;
+        transform.translation.y = coordinates.0 .1 * config.pixels_per_unit as f32;
+    }
+}
+
+#[derive(Clone, Copy, Debug)]
+pub struct CoreConfig {
+    pub pixels_per_unit: u8,
+}
+
+impl Default for CoreConfig {
+    fn default() -> Self {
+        Self { pixels_per_unit: 1 }
+    }
+}
+
+pub struct CorePlugin;
+
+impl Plugin for CorePlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        if !app.world().contains_resource::<CoreConfig>() {
+            app.insert_resource(CoreConfig::default());
+        }
+        app.register_type::<Coordinates>()
+            .add_system(copy_coordinates_to_transform.system())
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                copy_coordinates_to_transform
+                    .system()
+                    .before(TransformSystem::TransformPropagate),
+            );
+    }
+}
+
+pub struct CorePlugins;
+
+impl PluginGroup for CorePlugins {
+    fn build(&mut self, group: &mut bevy::app::PluginGroupBuilder) {
+        group
+            .add(crate::bevy_tts::TtsPlugin)
+            .add(crate::bevy_openal::OpenAlPlugin)
+            .add(CorePlugin);
+    }
+}
diff --git a/src/error.rs b/src/error.rs
new file mode 100644
index 0000000..c7d1f2a
--- /dev/null
+++ b/src/error.rs
@@ -0,0 +1,56 @@
+use std::error::Error;
+use std::{panic, thread};
+
+use backtrace::Backtrace;
+use bevy::prelude::*;
+
+pub fn error_handler(In(result): In<Result<(), Box<dyn Error>>>) {
+    if let Err(e) = result {
+        error!("{}", e);
+    }
+}
+
+fn init_panic_handler() {
+    panic::set_hook(Box::new(|info| {
+        let backtrace = Backtrace::default();
+
+        let thread = thread::current();
+        let thread = thread.name().unwrap_or("<unnamed>");
+
+        let msg = match info.payload().downcast_ref::<&'static str>() {
+            Some(s) => *s,
+            None => match info.payload().downcast_ref::<String>() {
+                Some(s) => &**s,
+                None => "Box<Any>",
+            },
+        };
+
+        match info.location() {
+            Some(location) => {
+                error!(
+                    target: "panic", "thread '{}' panicked at '{}': {}:{}{:?}",
+                    thread,
+                    msg,
+                    location.file(),
+                    location.line(),
+                    backtrace
+                );
+            }
+            None => error!(
+                target: "panic",
+                "thread '{}' panicked at '{}'{:?}",
+                thread,
+                msg,
+                backtrace
+            ),
+        }
+    }));
+}
+
+pub struct ErrorPlugin;
+
+impl Plugin for ErrorPlugin {
+    fn build(&self, _: &mut AppBuilder) {
+        init_panic_handler();
+    }
+}
diff --git a/src/exploration.rs b/src/exploration.rs
new file mode 100644
index 0000000..fdcdaa7
--- /dev/null
+++ b/src/exploration.rs
@@ -0,0 +1,386 @@
+use std::error::Error;
+
+use bevy::prelude::*;
+use bevy_input_actionmap::InputMap;
+use bevy_tts::Tts;
+use derive_more::{Deref, DerefMut};
+use mapgen::TileType;
+
+use crate::{
+    core::{Coordinates, Player, PointLike},
+    error::error_handler,
+    map::Map,
+    pathfinding::Destination,
+    visibility::{RevealedTiles, Viewshed, VisibleTiles},
+};
+
+#[derive(Clone, Copy, Debug, Default, PartialEq, Reflect)]
+#[reflect(Component)]
+pub struct ExplorationFocused;
+
+#[allow(dead_code)]
+#[derive(Clone, Copy, Debug, Eq, Ord, PartialEq, PartialOrd, Reflect)]
+pub enum ExplorationType {
+    Exit = 0,
+    Item = 1,
+    Character = 2,
+    Ally = 3,
+    Enemy = 4,
+}
+
+// Doesn't make sense to create from a `String`.
+#[allow(clippy::from_over_into)]
+impl Into<String> for ExplorationType {
+    fn into(self) -> String {
+        match self {
+            ExplorationType::Exit => "Exit".into(),
+            ExplorationType::Item => "Item".into(),
+            ExplorationType::Character => "Character".into(),
+            ExplorationType::Ally => "Ally".into(),
+            ExplorationType::Enemy => "Enemy".into(),
+        }
+    }
+}
+
+// Likewise.
+#[allow(clippy::from_over_into)]
+impl Into<&str> for ExplorationType {
+    fn into(self) -> &'static str {
+        match self {
+            ExplorationType::Exit => "exit",
+            ExplorationType::Item => "item",
+            ExplorationType::Character => "character",
+            ExplorationType::Ally => "ally",
+            ExplorationType::Enemy => "enemy",
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct Exploring(pub (f32, f32));
+
+impl_pointlike_for_tuple_component!(Exploring);
+
+#[derive(Clone, Debug, Default, Deref, DerefMut)]
+pub struct FocusedExplorationType(pub Option<ExplorationType>);
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct Mappable;
+
+pub const ACTION_EXPLORE_FORWARD: &str = "explore_forward";
+pub const ACTION_EXPLORE_BACKWARD: &str = "explore_backward";
+pub const ACTION_EXPLORE_LEFT: &str = "explore_left";
+pub const ACTION_EXPLORE_RIGHT: &str = "explore_right";
+pub const ACTION_EXPLORE_FOCUS_NEXT: &str = "explore_focus_next";
+pub const ACTION_EXPLORE_FOCUS_PREV: &str = "explore_focus_prev";
+pub const ACTION_EXPLORE_SELECT_NEXT_TYPE: &str = "explore_select_next_type";
+pub const ACTION_EXPLORE_SELECT_PREV_TYPE: &str = "explore_select_prev_type";
+pub const ACTION_NAVIGATE_TO_EXPLORED: &str = "navigate_to";
+
+fn exploration_type_change(
+    mut tts: ResMut<Tts>,
+    input: Res<InputMap<String>>,
+    mut explorers: Query<(&Player, &Viewshed, &mut FocusedExplorationType)>,
+    features: Query<(&Coordinates, &ExplorationType)>,
+) -> Result<(), Box<dyn Error>> {
+    let changed = input.just_active(ACTION_EXPLORE_SELECT_NEXT_TYPE)
+        || input.just_active(ACTION_EXPLORE_SELECT_PREV_TYPE);
+    if !changed {
+        return Ok(());
+    }
+    for (_, viewshed, mut focused) in explorers.iter_mut() {
+        let mut types: Vec<ExplorationType> = vec![];
+        for (coordinates, t) in features.iter() {
+            let (x, y) = **coordinates;
+            let x = x as i32;
+            let y = y as i32;
+            if viewshed.visible.contains(&(x, y)) {
+                types.push(*t);
+            }
+        }
+        types.sort();
+        types.dedup();
+        if types.is_empty() {
+            tts.speak("Nothing visible.", true)?;
+        } else if input.just_active(ACTION_EXPLORE_SELECT_PREV_TYPE) {
+            if let Some(t) = &focused.0 {
+                if let Some(i) = types.iter().position(|v| *v == *t) {
+                    if i == 0 {
+                        focused.0 = None;
+                    } else {
+                        let t = &types[i - 1];
+                        focused.0 = Some(*t);
+                    }
+                } else {
+                    let t = types.last().unwrap();
+                    focused.0 = Some(*t);
+                }
+            } else {
+                let t = types.last().unwrap();
+                focused.0 = Some(*t);
+            }
+        } else if input.just_active(ACTION_EXPLORE_SELECT_NEXT_TYPE) {
+            if let Some(t) = &focused.0 {
+                if let Some(i) = types.iter().position(|v| *v == *t) {
+                    if i == types.len() - 1 {
+                        focused.0 = None;
+                    } else {
+                        let t = &types[i + 1];
+                        focused.0 = Some(*t);
+                    }
+                } else {
+                    let t = types.first().unwrap();
+                    focused.0 = Some(*t);
+                }
+            } else {
+                let t = types.first().unwrap();
+                focused.0 = Some(*t)
+            }
+        }
+    }
+    Ok(())
+}
+
+fn exploration_type_focus(
+    mut commands: Commands,
+    input: Res<InputMap<String>>,
+    mut tts: ResMut<Tts>,
+    explorers: Query<(
+        Entity,
+        &Player,
+        &Viewshed,
+        &FocusedExplorationType,
+        Option<&Exploring>,
+    )>,
+    features: Query<(&Coordinates, &ExplorationType)>,
+) -> Result<(), Box<dyn Error>> {
+    let changed = input.just_active(ACTION_EXPLORE_FOCUS_NEXT)
+        || input.just_active(ACTION_EXPLORE_FOCUS_PREV);
+    if !changed {
+        return Ok(());
+    }
+    for (entity, _, viewshed, focused, exploring) in explorers.iter() {
+        let mut features = features
+            .iter()
+            .filter(|(coordinates, _)| {
+                let (x, y) = ***coordinates;
+                let x = x as i32;
+                let y = y as i32;
+                viewshed.visible.contains(&(x, y))
+            })
+            .collect::<Vec<(&Coordinates, &ExplorationType)>>();
+        features.sort_by(|(c1, _), (c2, _)| c1.partial_cmp(c2).unwrap());
+        if let Some(focused) = &focused.0 {
+            features.retain(|(_, t)| **t == *focused);
+        }
+        if features.is_empty() {
+            tts.speak("Nothing visible.", true)?;
+        } else {
+            let mut target: Option<&(&Coordinates, &ExplorationType)> = None;
+            if input.just_active(ACTION_EXPLORE_FOCUS_NEXT) {
+                if let Some(exploring) = exploring {
+                    target = features.iter().find(|(c, _)| ***c > **exploring);
+                    if target.is_none() {
+                        target = features.first();
+                    }
+                } else {
+                    target = features.first();
+                }
+            } else if input.just_active(ACTION_EXPLORE_FOCUS_PREV) {
+                if let Some(exploring) = exploring {
+                    features.reverse();
+                    target = features.iter().find(|(c, _)| ***c < **exploring);
+                    if target.is_none() {
+                        target = features.first();
+                    }
+                } else {
+                    target = features.last();
+                }
+            }
+            if let Some((coordinates, _)) = target {
+                commands.entity(entity).insert(Exploring(***coordinates));
+            }
+        }
+    }
+    Ok(())
+}
+
+fn exploration_type_changed_announcement(
+    mut tts: ResMut<Tts>,
+    focused: Query<
+        (
+            &FocusedExplorationType,
+            ChangeTrackers<FocusedExplorationType>,
+        ),
+        Changed<FocusedExplorationType>,
+    >,
+) -> Result<(), Box<dyn Error>> {
+    for (focused, changed) in focused.iter() {
+        if changed.is_added() {
+            return Ok(());
+        }
+        match &focused.0 {
+            Some(v) => {
+                let v: String = (*v).into();
+                tts.speak(v, true)?;
+            }
+            None => {
+                tts.speak("Everything", true)?;
+            }
+        };
+    }
+    Ok(())
+}
+
+fn exploration_focus(
+    mut commands: Commands,
+    input: Res<InputMap<String>>,
+    map: Query<&Map>,
+    explorers: Query<(Entity, &Player, &Coordinates, Option<&Exploring>)>,
+) {
+    for map in map.iter() {
+        for (entity, _, coordinates, exploring) in explorers.iter() {
+            let coordinates = **coordinates;
+            let coordinates = (coordinates.0.floor(), coordinates.1.floor());
+            let mut exploring = if let Some(exploring) = exploring {
+                **exploring
+            } else {
+                coordinates
+            };
+            let orig = exploring;
+            if input.just_active(ACTION_EXPLORE_FORWARD) {
+                exploring.1 += 1.;
+            } else if input.just_active(ACTION_EXPLORE_BACKWARD) {
+                exploring.1 -= 1.;
+            } else if input.just_active(ACTION_EXPLORE_LEFT) {
+                exploring.0 -= 1.;
+            } else if input.just_active(ACTION_EXPLORE_RIGHT) {
+                exploring.0 += 1.;
+            }
+            if orig != exploring
+                && exploring.0 >= 0.
+                && exploring.0 < map.width() as f32
+                && exploring.1 >= 0.
+                && exploring.1 < map.height() as f32
+            {
+                commands.entity(entity).insert(Exploring(exploring));
+            }
+        }
+    }
+}
+
+fn navigate_to_explored(
+    mut commands: Commands,
+    input: Res<InputMap<String>>,
+    map: Query<(&Map, &RevealedTiles)>,
+    explorers: Query<(Entity, &Exploring)>,
+) {
+    for (entity, exploring) in explorers.iter() {
+        for (map, revealed_tiles) in map.iter() {
+            let point = **exploring;
+            let idx = point.to_index(map.width());
+            let known = revealed_tiles[idx];
+            if input.just_active(ACTION_NAVIGATE_TO_EXPLORED) && known {
+                commands
+                    .entity(entity)
+                    .insert(Destination((point.x_i32(), point.y_i32())));
+            }
+        }
+    }
+}
+
+fn exploration_changed_announcement(
+    mut commands: Commands,
+    mut tts: ResMut<Tts>,
+    map: Query<(&Map, &RevealedTiles, &VisibleTiles)>,
+    explorers: Query<(&Coordinates, &Exploring), Changed<Exploring>>,
+    focused: Query<(Entity, &ExplorationFocused)>,
+    names: Query<&Name>,
+    types: Query<&ExplorationType>,
+    mappables: Query<&Mappable>,
+) -> Result<(), Box<dyn Error>> {
+    for (coordinates, exploring) in explorers.iter() {
+        let coordinates = **coordinates;
+        let coordinates = (coordinates.0.floor(), coordinates.1.floor());
+        for (map, revealed_tiles, visible_tiles) in map.iter() {
+            let point = **exploring;
+            let idx = point.to_index(map.width());
+            let known = revealed_tiles[idx];
+            let visible = visible_tiles[idx];
+            let fog_of_war = known && !visible;
+            let description = if known {
+                let mut tokens: Vec<&str> = vec![];
+                for (entity, _) in focused.iter() {
+                    commands.entity(entity).remove::<ExplorationFocused>();
+                }
+                for entity in &map.entities[idx] {
+                    commands
+                        .entity(*entity)
+                        .insert(ExplorationFocused::default());
+                    if visible || mappables.get(*entity).is_ok() {
+                        if let Ok(name) = names.get(*entity) {
+                            tokens.push(name.as_str());
+                        }
+                        if tokens.is_empty() {
+                            if let Ok(t) = types.get(*entity) {
+                                tokens.push((*t).into());
+                            }
+                        }
+                    }
+                }
+                if tokens.is_empty() {
+                    match map.base.tiles[idx] {
+                        TileType::Floor => "Floor".to_string(),
+                        TileType::Wall => "Wall".to_string(),
+                    }
+                } else {
+                    tokens.join(": ")
+                }
+            } else {
+                "Unknown".to_string()
+            };
+            let mut tokens: Vec<String> = vec![coordinates.distance_and_direction(exploring)];
+            if fog_of_war {
+                tokens.push("in the fog of war".into());
+            }
+            tts.speak(format!("{}: {}", description, tokens.join(", ")), true)?;
+        }
+    }
+    Ok(())
+}
+
+pub struct ExplorationPlugin;
+
+impl Plugin for ExplorationPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        app.register_type::<ExplorationFocused>()
+            .register_type::<ExplorationType>()
+            .register_type::<Mappable>()
+            .add_system(exploration_focus.system())
+            .add_system(
+                exploration_type_focus
+                    .system()
+                    .chain(error_handler.system()),
+            )
+            .add_system(
+                exploration_type_change
+                    .system()
+                    .chain(error_handler.system()),
+            )
+            .add_system(navigate_to_explored.system())
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                exploration_type_changed_announcement
+                    .system()
+                    .chain(error_handler.system()),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                exploration_changed_announcement
+                    .system()
+                    .chain(error_handler.system()),
+            );
+    }
+}
diff --git a/src/lib.rs b/src/lib.rs
new file mode 100644
index 0000000..2b14608
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,21 @@
+#![allow(clippy::too_many_arguments)]
+#![allow(clippy::type_complexity)]
+
+pub use bevy_input_actionmap;
+pub use bevy_openal;
+pub use bevy_tts;
+#[macro_use]
+pub mod core;
+pub use crossbeam_channel;
+pub use derive_more;
+pub mod error;
+pub mod exploration;
+pub use gilrs;
+pub mod log;
+pub mod map;
+pub use mapgen;
+pub mod navigation;
+pub mod pathfinding;
+pub use rand;
+pub mod sound;
+pub mod visibility;
diff --git a/src/log.rs b/src/log.rs
new file mode 100644
index 0000000..877dd6d
--- /dev/null
+++ b/src/log.rs
@@ -0,0 +1,59 @@
+use std::{error::Error, time::Instant};
+
+use bevy::prelude::*;
+use bevy_tts::Tts;
+use derive_more::{Deref, DerefMut};
+
+use crate::error::error_handler;
+
+#[derive(Clone, Debug, Default, Deref, DerefMut)]
+pub struct Log(pub Vec<LogEntry>);
+
+impl Log {
+    pub fn push<S: Into<String>>(&mut self, message: S) {
+        self.0.push(LogEntry {
+            time: Instant::now(),
+            message: message.into(),
+        })
+    }
+}
+
+#[derive(Clone, Debug)]
+pub struct LogEntry {
+    pub time: Instant,
+    pub message: String,
+}
+
+fn setup(mut commands: Commands) {
+    commands.spawn().insert(Log::default());
+}
+
+fn read_log(
+    mut tts: ResMut<Tts>,
+    mut position: Local<usize>,
+    log: Query<&Log, Changed<Log>>,
+) -> Result<(), Box<dyn Error>> {
+    for log in log.iter() {
+        for (index, entry) in log.iter().enumerate() {
+            if index >= *position {
+                tts.speak(entry.message.clone(), false)?;
+                *position = index + 1;
+            }
+        }
+    }
+    Ok(())
+}
+
+pub struct LogPlugin;
+
+impl Plugin for LogPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        app.add_startup_system(setup.system()).add_system_to_stage(
+            CoreStage::PostUpdate,
+            read_log
+                .system()
+                .chain(error_handler.system())
+                .after(crate::visibility::LOG_VISIBLE_LABEL),
+        );
+    }
+}
diff --git a/src/map.rs b/src/map.rs
new file mode 100644
index 0000000..57d80fb
--- /dev/null
+++ b/src/map.rs
@@ -0,0 +1,370 @@
+use std::collections::{HashMap, HashSet};
+
+use bevy::prelude::*;
+use derive_more::{Deref, DerefMut};
+use mapgen::{geometry::Rect as MRect, Map as MapgenMap, MapFilter, TileType};
+use maze_generator::{prelude::*, recursive_backtracking::RbGenerator};
+use rand::prelude::StdRng;
+
+use crate::{
+    core::{Area, Coordinates, Player, PointLike},
+    exploration::{ExplorationType, Mappable},
+    log::Log,
+};
+
+impl From<mapgen::geometry::Point> for Coordinates {
+    fn from(point: mapgen::geometry::Point) -> Self {
+        Self((point.x as f32, point.y as f32))
+    }
+}
+#[derive(Clone, Debug, Default, Deref, DerefMut)]
+pub struct Areas(pub Vec<Area>);
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct Exit;
+
+#[derive(Clone, Default)]
+pub struct Map {
+    pub base: MapgenMap,
+    pub entities: Vec<HashSet<Entity>>,
+}
+
+impl Map {
+    pub fn new(base: MapgenMap) -> Self {
+        let count = (base.width * base.height) as usize;
+        Self {
+            base,
+            entities: vec![HashSet::new(); count],
+        }
+    }
+
+    pub fn width(&self) -> usize {
+        self.base.width
+    }
+
+    pub fn height(&self) -> usize {
+        self.base.height
+    }
+
+    pub fn count(&self) -> usize {
+        self.width() * self.height()
+    }
+
+    pub fn start(&self) -> Option<mapgen::geometry::Point> {
+        self.base.starting_point
+    }
+
+    pub fn exit(&self) -> Option<mapgen::geometry::Point> {
+        self.base.exit_point
+    }
+}
+
+pub trait ITileType {
+    fn blocks_motion(&self) -> bool;
+    fn blocks_visibility(&self) -> bool;
+}
+
+impl ITileType for TileType {
+    fn blocks_motion(&self) -> bool {
+        match self {
+            TileType::Wall => true,
+            TileType::Floor => false,
+        }
+    }
+
+    fn blocks_visibility(&self) -> bool {
+        match self {
+            TileType::Wall => true,
+            TileType::Floor => false,
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub struct MapConfig {
+    pub autospawn_exits: bool,
+    pub speak_area_descriptions: bool,
+    pub start_revealed: bool,
+}
+
+impl Default for MapConfig {
+    fn default() -> Self {
+        Self {
+            autospawn_exits: true,
+            speak_area_descriptions: true,
+            start_revealed: false,
+        }
+    }
+}
+
+#[derive(Bundle)]
+pub struct ExitBundle {
+    pub coordinates: Coordinates,
+    pub exit: Exit,
+    pub exploration_type: ExplorationType,
+    pub mappable: Mappable,
+    pub transform: Transform,
+    pub global_transform: GlobalTransform,
+}
+
+impl Default for ExitBundle {
+    fn default() -> Self {
+        Self {
+            coordinates: Default::default(),
+            exit: Default::default(),
+            exploration_type: ExplorationType::Exit,
+            mappable: Default::default(),
+            transform: Default::default(),
+            global_transform: Default::default(),
+        }
+    }
+}
+
+#[derive(Bundle, Clone, Default)]
+pub struct MapBundle {
+    pub map: Map,
+    pub children: Children,
+    pub transform: Transform,
+    pub global_transform: GlobalTransform,
+}
+
+pub struct GridBuilder {
+    width_in_rooms: u32,
+    height_in_rooms: u32,
+    room_width: u32,
+    room_height: u32,
+}
+
+impl GridBuilder {
+    pub fn new(
+        width_in_rooms: u32,
+        height_in_rooms: u32,
+        room_width: u32,
+        room_height: u32,
+    ) -> Box<GridBuilder> {
+        Box::new(GridBuilder {
+            width_in_rooms,
+            height_in_rooms,
+            room_width,
+            room_height,
+        })
+    }
+}
+
+impl MapFilter for GridBuilder {
+    fn modify_map(&self, _rng: &mut StdRng, map: &MapgenMap) -> MapgenMap {
+        let mut map = map.clone();
+        let mut generator = RbGenerator::new(None);
+        let maze = generator.generate(self.width_in_rooms as i32, self.height_in_rooms as i32);
+        let total_height = (self.room_height + 1) * self.height_in_rooms + 1;
+        for y in 0..self.height_in_rooms {
+            for x in 0..self.width_in_rooms {
+                let x_offset = x * (self.room_width + 1);
+                let y_offset = total_height - (y * (self.room_height + 1)) - self.room_height - 2;
+                let room = MRect::new_i32(
+                    x_offset as i32 + 1,
+                    y_offset as i32 + 1,
+                    self.room_width as i32,
+                    self.room_height as i32,
+                );
+                map.add_room(room);
+                let coords = maze_generator::prelude::Coordinates::new(x as i32, y as i32);
+                if let Some(field) = maze.get_field(&coords) {
+                    let half_width = self.room_width / 2;
+                    let half_height = self.room_height / 2;
+                    use maze_generator::prelude::Direction::*;
+                    if field.has_passage(&North) {
+                        let x = x_offset + half_width;
+                        let y = y_offset + self.room_height;
+                        map.set_tile(x as usize, y as usize, TileType::Floor);
+                    }
+                    if field.has_passage(&South) {
+                        let x = x_offset + half_width;
+                        let y = y_offset;
+                        map.set_tile(x as usize, y as usize, TileType::Floor);
+                    }
+                    if field.has_passage(&East) {
+                        let x = x_offset + self.room_width;
+                        let y = y_offset + half_height;
+                        map.set_tile(x as usize, y as usize, TileType::Floor);
+                    }
+                    if field.has_passage(&West) {
+                        let x = x_offset;
+                        let y = y_offset + half_height;
+                        map.set_tile(x as usize, y as usize, TileType::Floor);
+                    }
+                }
+            }
+        }
+        map
+    }
+}
+
+fn exit_spawner(
+    mut commands: Commands,
+    map: Query<(Entity, &Map), Added<Map>>,
+    config: Res<MapConfig>,
+) {
+    for (entity, map) in map.iter() {
+        if config.autospawn_exits {
+            let mut exits: Vec<(f32, f32)> = vec![];
+            for x in 1..map.width() {
+                for y in 1..map.height() {
+                    let mut spawn_exit = false;
+                    if map.base.get_available_exits(x, y).len() > 2 {
+                        let idx = (x, y).to_index(map.width());
+                        if map.base.tiles[idx] == TileType::Floor
+                            && (x > 1 && map.base.tiles[idx - 1] == TileType::Floor)
+                            && (x < map.width() - 2 && map.base.tiles[idx + 1] == TileType::Floor)
+                            && (y > 1
+                                && map.base.tiles[idx - map.width() as usize] == TileType::Wall)
+                            && (y < map.height() - 2
+                                && map.base.tiles[idx + map.width() as usize] == TileType::Wall)
+                        {
+                            spawn_exit = true;
+                        }
+                        if map.base.tiles[idx] == TileType::Floor
+                            && (x > 1 && map.base.tiles[idx - 1] == TileType::Wall)
+                            && (x < map.width() - 2 && map.base.tiles[idx + 1] == TileType::Wall)
+                            && (y > 1
+                                && map.base.tiles[idx - map.width() as usize] == TileType::Floor)
+                            && (y < map.height() - 2
+                                && map.base.tiles[idx + map.width() as usize] == TileType::Floor)
+                        {
+                            spawn_exit = true;
+                        }
+                    }
+                    if spawn_exit {
+                        let x = x as f32;
+                        let y = y as f32;
+                        if !exits.contains(&(x, y)) {
+                            exits.push((x, y));
+                        }
+                    }
+                }
+            }
+            for exit in exits {
+                let x = exit.0 as f32;
+                let y = exit.1 as f32;
+                let exit = commands
+                    .spawn()
+                    .insert_bundle(ExitBundle {
+                        coordinates: Coordinates((x, y)),
+                        exit: Default::default(),
+                        transform: Transform::from_translation(Vec3::new(x, y, 0.)),
+                        ..Default::default()
+                    })
+                    .id();
+                commands.entity(entity).push_children(&[exit]);
+            }
+        }
+    }
+}
+
+fn area_description(
+    mut prev_area: Local<Option<Area>>,
+    query: Query<(&Player, &Coordinates), Changed<Coordinates>>,
+    map: Query<(&Map, &Areas)>,
+    mut log: Query<&mut Log>,
+) {
+    for (_, coordinates) in query.iter() {
+        for (_, areas) in map.iter() {
+            let mut should_describe_area = false;
+            let mut current_area: Option<Area> = None;
+            for area in areas.iter() {
+                if area.contains(&*coordinates) {
+                    current_area = Some(area.clone());
+                    if let Some(prev_area) = &*prev_area {
+                        if prev_area != area {
+                            should_describe_area = true;
+                        }
+                    } else {
+                        should_describe_area = true;
+                    }
+                    break;
+                }
+            }
+            if should_describe_area {
+                if let Some(ref area) = current_area {
+                    let description = if area.description.is_some() {
+                        area.description.as_ref().unwrap().clone()
+                    } else {
+                        format!("{} by {} area.", area.rect.width(), area.rect.height())
+                    };
+                    for mut log in log.iter_mut() {
+                        log.push(description.clone());
+                    }
+                }
+            }
+            *prev_area = current_area;
+        }
+    }
+}
+
+#[derive(Default, Deref, DerefMut)]
+struct PreviousIndex(HashMap<Entity, usize>);
+
+fn entity_indexing(
+    mut map: Query<&mut Map>,
+    mut previous_index: ResMut<PreviousIndex>,
+    query: Query<(Entity, &Coordinates), Changed<Coordinates>>,
+) {
+    for (entity, coordinates) in query.iter() {
+        for mut map in map.iter_mut() {
+            let idx = coordinates.to_index(map.width());
+            if let Some(prev_idx) = previous_index.get(&entity) {
+                if idx != *prev_idx {
+                    map.entities[*prev_idx].retain(|&e| e != entity);
+                }
+            }
+            map.entities[idx].insert(entity);
+            previous_index.insert(entity, idx);
+        }
+    }
+}
+
+fn add_areas(mut commands: Commands, query: Query<(Entity, &Map), (Added<Map>, Without<Areas>)>) {
+    for (entity, map) in query.iter() {
+        let mut v = vec![];
+        for room in &map.base.rooms {
+            v.push(Area {
+                rect: *room,
+                description: None,
+            });
+        }
+        commands.entity(entity).insert(Areas(v));
+    }
+}
+
+pub const UPDATE_ENTITY_INDEX_LABEL: &str = "UPDATE_ENTITY_INDEX";
+
+pub struct MapPlugin;
+
+impl Plugin for MapPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        if !app.world().contains_resource::<MapConfig>() {
+            app.insert_resource(MapConfig::default());
+        }
+        let config = app.world().get_resource::<MapConfig>().unwrap().clone();
+        const SPAWN_EXITS: &str = "SPAWN_EXITS";
+        app.register_type::<Exit>()
+            .insert_resource(PreviousIndex::default())
+            .add_system(entity_indexing.system().label(UPDATE_ENTITY_INDEX_LABEL))
+            .add_system(
+                exit_spawner
+                    .system()
+                    .label(SPAWN_EXITS)
+                    .before(UPDATE_ENTITY_INDEX_LABEL),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                entity_indexing.system().label(UPDATE_ENTITY_INDEX_LABEL),
+            )
+            .add_system_to_stage(CoreStage::Update, add_areas.system())
+            .add_system_to_stage(CoreStage::PostUpdate, add_areas.system());
+        if config.speak_area_descriptions {
+            app.add_system_to_stage(CoreStage::PostUpdate, area_description.system());
+        }
+    }
+}
diff --git a/src/navigation.rs b/src/navigation.rs
new file mode 100644
index 0000000..613c5d7
--- /dev/null
+++ b/src/navigation.rs
@@ -0,0 +1,500 @@
+use std::{collections::HashMap, error::Error, fmt::Debug, hash::Hash};
+
+use bevy::prelude::*;
+use bevy_input_actionmap::InputMap;
+use bevy_tts::Tts;
+use derive_more::{Deref, DerefMut};
+
+use crate::{
+    core::{Angle, CardinalDirection, Coordinates, Player, PointLike},
+    error::error_handler,
+    exploration::{ExplorationFocused, Exploring},
+    map::{ITileType, Map},
+    pathfinding::Destination,
+};
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct BlocksMotion;
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct CollisionsMonitored(pub Vec<bool>);
+
+#[derive(Clone, Copy, Debug, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct MaxSpeed(pub f32);
+
+impl Default for MaxSpeed {
+    fn default() -> Self {
+        MaxSpeed(2.)
+    }
+}
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct MonitorsCollisions;
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct MotionBlocked(pub Vec<bool>);
+
+#[derive(Clone, Copy, Debug, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct RotationSpeed(pub Angle);
+
+impl Default for RotationSpeed {
+    fn default() -> Self {
+        Self(Angle::Radians(0.))
+    }
+}
+
+#[derive(Clone, Copy, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct Speed(pub f32);
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct Sprinting;
+
+#[derive(Clone, Copy, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct Velocity(pub Vec2);
+
+#[derive(Clone, Copy, Debug)]
+pub struct Collision {
+    pub entity: Entity,
+    pub coordinates: (f32, f32),
+    pub index: usize,
+}
+
+pub const ACTION_FORWARD: &str = "forward";
+pub const ACTION_BACKWARD: &str = "backward";
+pub const ACTION_LEFT: &str = "left";
+pub const ACTION_RIGHT: &str = "right";
+pub const ACTION_ROTATE_LEFT: &str = "ROTATE_LEFT";
+pub const ACTION_ROTATE_RIGHT: &str = "ROTATE_RIGHT";
+pub const ACTION_SPRINT: &str = "SPRINT";
+
+fn movement_controls(
+    mut commands: Commands,
+    input: Res<InputMap<String>>,
+    time: Res<Time>,
+    mut query: Query<(
+        Entity,
+        &Player,
+        &mut Velocity,
+        &mut Speed,
+        &MaxSpeed,
+        Option<&RotationSpeed>,
+        &mut Transform,
+        Option<&Destination>,
+    )>,
+    exploration_focused: Query<(Entity, &ExplorationFocused)>,
+) {
+    for (
+        entity,
+        _,
+        mut velocity,
+        mut speed,
+        max_speed,
+        rotation_speed,
+        mut transform,
+        destination,
+    ) in query.iter_mut()
+    {
+        let sprinting = input.active(ACTION_SPRINT);
+        if sprinting {
+            commands.entity(entity).insert(Sprinting::default());
+        } else {
+            commands.entity(entity).remove::<Sprinting>();
+        }
+        let mut direction = Vec3::default();
+        if input.active(ACTION_FORWARD) {
+            direction.x += 1.;
+        }
+        if input.active(ACTION_BACKWARD) {
+            direction.x -= 1.;
+        }
+        if input.active(ACTION_LEFT) {
+            direction.y += 1.;
+        }
+        if input.active(ACTION_RIGHT) {
+            direction.y -= 1.;
+        }
+        if let Some(rotation_speed) = rotation_speed {
+            let delta = rotation_speed.radians() * time.delta_seconds();
+            if input.active(ACTION_ROTATE_LEFT) {
+                transform.rotate(Quat::from_rotation_z(delta));
+            }
+            if input.active(ACTION_ROTATE_RIGHT) {
+                transform.rotate(Quat::from_rotation_z(-delta));
+            }
+        }
+        if direction.length_squared() != 0. {
+            direction = direction.normalize();
+            let forward_x = input.strength(ACTION_FORWARD).abs();
+            let backward_x = input.strength(ACTION_BACKWARD).abs();
+            let x = if forward_x > backward_x {
+                forward_x
+            } else {
+                backward_x
+            };
+            let right_y = input.strength(ACTION_RIGHT).abs();
+            let left_y = input.strength(ACTION_LEFT).abs();
+            let y = if right_y > left_y { right_y } else { left_y };
+            let strength = Vec3::new(x, y, 0.);
+            let s = if sprinting {
+                **max_speed
+            } else {
+                **max_speed / 3.
+            };
+            speed.0 = s;
+            direction *= s;
+            direction *= strength;
+            commands.entity(entity).remove::<Destination>();
+            commands.entity(entity).remove::<Exploring>();
+            for (entity, _) in exploration_focused.iter() {
+                commands.entity(entity).remove::<ExplorationFocused>();
+            }
+            direction = transform.compute_matrix().transform_vector3(direction);
+            let direction = Vec2::new(direction.x, direction.y);
+            **velocity = direction;
+        } else if destination.is_none() {
+            **velocity = Vec2::ZERO;
+            speed.0 = 0.;
+        } else if sprinting {
+            speed.0 = max_speed.0;
+        } else {
+            speed.0 = max_speed.0 / 3.;
+        }
+    }
+}
+
+fn movement(
+    time: Res<Time>,
+    mut collision_events: EventWriter<Collision>,
+    map: Query<(&Map, &MotionBlocked, &CollisionsMonitored)>,
+    mut entities: Query<(Entity, &Velocity, &mut Coordinates, Option<&BlocksMotion>)>,
+) {
+    for (entity, velocity, mut coordinates, blocks_motion) in entities.iter_mut() {
+        if **velocity != Vec2::ZERO {
+            let displacement = **velocity * time.delta_seconds();
+            let mut point = **coordinates;
+            point.0 += displacement.x;
+            point.1 += displacement.y;
+            if let Ok((map, motion_blocked, collisions_monitored)) = map.single() {
+                let idx = point.to_index(map.width());
+                if idx < map.base.tiles.len() {
+                    let current_entities = &map.entities[idx];
+                    if blocks_motion.is_some()
+                        && motion_blocked[idx]
+                        && !current_entities.contains(&entity)
+                    {
+                        collision_events.send(Collision {
+                            entity,
+                            coordinates: point,
+                            index: idx,
+                        });
+                    } else {
+                        **coordinates = point;
+                        let current_entities = &map.entities[idx];
+                        if collisions_monitored[idx] && !current_entities.contains(&entity) {
+                            collision_events.send(Collision {
+                                entity,
+                                coordinates: point,
+                                index: idx,
+                            });
+                        }
+                    }
+                }
+            } else {
+                **coordinates = point;
+            }
+        }
+    }
+}
+
+pub const UPDATE_COLLISION_INDEX_LABEL: &str = "UPDATE_COLLISION_INDEX";
+
+#[derive(Default, Deref, DerefMut)]
+struct PreviousBlocksMotionIndex(HashMap<Entity, usize>);
+
+fn blocks_motion_indexing(
+    mut map: Query<(&Map, &mut MotionBlocked)>,
+    mut prev_index: ResMut<PreviousBlocksMotionIndex>,
+    query: Query<
+        (Entity, &Coordinates, &BlocksMotion),
+        Or<(Changed<Coordinates>, Changed<BlocksMotion>)>,
+    >,
+    motion_blockers: Query<&BlocksMotion>,
+) {
+    for (entity, coordinates, _) in query.iter() {
+        for (map, mut motion_blocked) in map.iter_mut() {
+            let idx = coordinates.to_index(map.width());
+            if let Some(prev_idx) = prev_index.get(&entity) {
+                if *prev_idx == idx {
+                    continue;
+                }
+                let tile = map.base.tiles[*prev_idx];
+                let mut new_motion_blocked = tile.blocks_motion();
+                if !new_motion_blocked {
+                    for e in &map.entities[*prev_idx] {
+                        if motion_blockers.get(*e).is_ok() {
+                            new_motion_blocked = true;
+                            break;
+                        }
+                    }
+                }
+                motion_blocked[*prev_idx] = new_motion_blocked;
+            }
+            motion_blocked[idx] = true;
+            prev_index.insert(entity, idx);
+        }
+    }
+}
+
+fn remove_blocks_motion(
+    mut prev_index: ResMut<PreviousBlocksMotionIndex>,
+    mut map: Query<(&Map, &mut MotionBlocked)>,
+    removed: RemovedComponents<BlocksMotion>,
+    coordinates: Query<&Coordinates>,
+    blocks_motion: Query<&BlocksMotion>,
+) {
+    for entity in removed.iter() {
+        if let Ok(coordinates) = coordinates.get_component::<Coordinates>(entity) {
+            prev_index.remove(&entity);
+            for (map, mut motion_blocked) in map.iter_mut() {
+                let idx = (**coordinates).to_index(map.width());
+                let tile = map.base.tiles[idx];
+                let mut new_motion_blocked = tile.blocks_motion();
+                for e in &map.entities[idx] {
+                    new_motion_blocked = new_motion_blocked
+                        || blocks_motion.get_component::<BlocksMotion>(*e).is_ok();
+                }
+                motion_blocked[idx] = new_motion_blocked;
+            }
+        }
+    }
+}
+
+#[derive(Default, Deref, DerefMut)]
+struct PreviousMonitorsCollisionsIndex(HashMap<Entity, usize>);
+
+fn monitors_collisions_indexing(
+    mut map: Query<(&Map, &mut CollisionsMonitored)>,
+    mut prev_index: ResMut<PreviousMonitorsCollisionsIndex>,
+    query: Query<
+        (Entity, &Coordinates, &MonitorsCollisions),
+        Or<(Changed<Coordinates>, Changed<MonitorsCollisions>)>,
+    >,
+    collision_monitors: Query<&MonitorsCollisions>,
+) {
+    for (entity, coordinates, _) in query.iter() {
+        for (map, mut collisions_monitored) in map.iter_mut() {
+            let idx = coordinates.to_index(map.width());
+            if let Some(prev_idx) = prev_index.get(&entity) {
+                if *prev_idx == idx {
+                    continue;
+                }
+                let mut new_collisions_monitored = false;
+                for e in &map.entities[*prev_idx] {
+                    if collision_monitors.get(*e).is_ok() {
+                        new_collisions_monitored = true;
+                        break;
+                    }
+                }
+                collisions_monitored[*prev_idx] = new_collisions_monitored;
+            }
+            collisions_monitored[idx] = true;
+            prev_index.insert(entity, idx);
+        }
+    }
+}
+
+fn remove_monitors_collisions(
+    mut prev_index: ResMut<PreviousMonitorsCollisionsIndex>,
+    mut map: Query<(&Map, &mut CollisionsMonitored)>,
+    removed: RemovedComponents<MonitorsCollisions>,
+    coordinates: Query<&Coordinates>,
+    monitors_collisions: Query<&MonitorsCollisions>,
+) {
+    for entity in removed.iter() {
+        if let Ok(coordinates) = coordinates.get_component::<Coordinates>(entity) {
+            prev_index.remove(&entity);
+            for (map, mut collisions_monitored) in map.iter_mut() {
+                let idx = (**coordinates).to_index(map.width());
+                let mut new_collisions_monitored = false;
+                for e in &map.entities[idx] {
+                    new_collisions_monitored = new_collisions_monitored
+                        || monitors_collisions
+                            .get_component::<MonitorsCollisions>(*e)
+                            .is_ok();
+                }
+                collisions_monitored[idx] = new_collisions_monitored;
+            }
+        }
+    }
+}
+
+fn add_collision_indices(
+    mut commands: Commands,
+    query: Query<
+        (Entity, &Map),
+        (
+            Added<Map>,
+            Without<MotionBlocked>,
+            Without<CollisionsMonitored>,
+        ),
+    >,
+) {
+    for (entity, map) in query.iter() {
+        let mut v = vec![];
+        for tile in &map.base.tiles {
+            v.push(tile.blocks_motion());
+        }
+        commands.entity(entity).insert(MotionBlocked(v));
+        let count = (map.width() * map.height()) as usize;
+        commands
+            .entity(entity)
+            .insert(CollisionsMonitored(vec![false; count]));
+    }
+}
+
+fn speak_direction(
+    mut tts: ResMut<Tts>,
+    mut cache: Local<HashMap<Entity, CardinalDirection>>,
+    player: Query<(Entity, &Player, &Transform), Changed<Transform>>,
+) -> Result<(), Box<dyn Error>> {
+    if let Ok((entity, _, transform)) = player.single() {
+        let forward = transform.local_x();
+        let yaw = Angle::Radians(forward.y.atan2(forward.x));
+        if let Some(old_direction) = cache.get(&entity) {
+            let old_direction = *old_direction;
+            let direction: CardinalDirection = yaw.into();
+            if old_direction != direction {
+                let direction: String = direction.into();
+                tts.speak(direction, false)?;
+            }
+            cache.insert(entity, direction);
+        } else {
+            cache.insert(entity, yaw.into());
+        }
+    }
+    Ok(())
+}
+
+pub const MOVEMENT_LABEL: &str = "MOVEMENT";
+
+#[derive(Clone, Debug)]
+pub struct NavigationConfig<S> {
+    pub movement_states: Vec<S>,
+    pub movement_control_states: Vec<S>,
+}
+
+impl<S> Default for NavigationConfig<S> {
+    fn default() -> Self {
+        Self {
+            movement_states: vec![],
+            movement_control_states: vec![],
+        }
+    }
+}
+
+pub struct NavigationPlugin<'a, S>(std::marker::PhantomData<&'a S>);
+
+impl<'a, S> Default for NavigationPlugin<'a, S> {
+    fn default() -> Self {
+        Self(std::marker::PhantomData)
+    }
+}
+
+impl<'a, S> Plugin for NavigationPlugin<'a, S>
+where
+    S: bevy::ecs::component::Component + Clone + Debug + Eq + Hash,
+    'a: 'static,
+{
+    fn build(&self, app: &mut AppBuilder) {
+        if !app.world().contains_resource::<NavigationConfig<S>>() {
+            app.insert_resource(NavigationConfig::<S>::default());
+        }
+        let config = app
+            .world()
+            .get_resource::<NavigationConfig<S>>()
+            .unwrap()
+            .clone();
+        app.register_type::<MaxSpeed>()
+            .register_type::<RotationSpeed>()
+            .register_type::<Sprinting>()
+            .add_event::<Collision>()
+            .insert_resource(PreviousBlocksMotionIndex::default())
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                blocks_motion_indexing
+                    .system()
+                    .after(crate::map::UPDATE_ENTITY_INDEX_LABEL)
+                    .label(UPDATE_COLLISION_INDEX_LABEL),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                remove_blocks_motion
+                    .system()
+                    .before(UPDATE_COLLISION_INDEX_LABEL),
+            )
+            .insert_resource(PreviousMonitorsCollisionsIndex::default())
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                monitors_collisions_indexing
+                    .system()
+                    .after(crate::map::UPDATE_ENTITY_INDEX_LABEL)
+                    .label(UPDATE_COLLISION_INDEX_LABEL),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                remove_monitors_collisions
+                    .system()
+                    .before(UPDATE_COLLISION_INDEX_LABEL),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                monitors_collisions_indexing
+                    .system()
+                    .after(crate::map::UPDATE_ENTITY_INDEX_LABEL)
+                    .label(UPDATE_COLLISION_INDEX_LABEL),
+            )
+            .add_system(add_collision_indices.system())
+            .add_system(speak_direction.system().chain(error_handler.system()))
+            .add_system_to_stage(CoreStage::PostUpdate, add_collision_indices.system());
+        if config.movement_states.is_empty() {
+            app.add_system(
+                movement
+                    .system()
+                    .label(MOVEMENT_LABEL)
+                    .before(crate::map::UPDATE_ENTITY_INDEX_LABEL),
+            );
+        } else {
+            let states = config.movement_states;
+            for state in states {
+                app.add_system_set(
+                    SystemSet::on_update(state).with_system(
+                        movement
+                            .system()
+                            .label(MOVEMENT_LABEL)
+                            .before(crate::map::UPDATE_ENTITY_INDEX_LABEL),
+                    ),
+                );
+            }
+        }
+        if config.movement_control_states.is_empty() {
+            app.add_system(movement_controls.system().before(MOVEMENT_LABEL));
+        } else {
+            let states = config.movement_control_states;
+            for state in states {
+                app.add_system_set(
+                    SystemSet::on_update(state)
+                        .with_system(movement_controls.system().before(MOVEMENT_LABEL)),
+                );
+            }
+        }
+    }
+}
diff --git a/src/pathfinding.rs b/src/pathfinding.rs
new file mode 100644
index 0000000..29fc297
--- /dev/null
+++ b/src/pathfinding.rs
@@ -0,0 +1,219 @@
+use std::collections::HashMap;
+
+use bevy::{prelude::*, tasks::prelude::*};
+use crossbeam_channel::{unbounded, Receiver};
+use derive_more::{Deref, DerefMut};
+use pathfinding::prelude::*;
+
+use crate::{
+    core::{Coordinates, PointLike},
+    map::Map,
+    navigation::{MotionBlocked, RotationSpeed, Speed, Velocity},
+};
+
+#[derive(Clone, Copy, Debug, Default, Deref, DerefMut, Eq, Hash, PartialEq, Reflect)]
+#[reflect(Component)]
+pub struct Destination(pub (i32, i32));
+
+impl_pointlike_for_tuple_component!(Destination);
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct Path(pub Vec<(i32, i32)>);
+
+pub fn find_path(
+    start: &dyn PointLike,
+    destination: &dyn PointLike,
+    map: &Map,
+) -> Option<(Vec<(i32, i32)>, u32)> {
+    astar(
+        &start.into(),
+        |p| {
+            let mut successors: Vec<((i32, i32), u32)> = vec![];
+            for tile in map.base.get_available_exits(p.0 as usize, p.1 as usize) {
+                successors.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
+            }
+            successors
+        },
+        |p| (p.distance_squared(destination) * 100.) as u32,
+        |p| *p == destination.into(),
+    )
+}
+
+fn nearest_extreme(from: f32, to: i32) -> f32 {
+    let to = to as f32;
+    let range = to..=(to + 0.999);
+    if from <= *range.start() {
+        *range.start()
+    } else {
+        *range.end()
+    }
+}
+
+fn cheat_assign(
+    start: (f32, f32),
+    end: (i32, i32),
+    map_width: usize,
+    motion_blocked: Vec<bool>,
+) -> Option<(f32, f32)> {
+    let x;
+    let y;
+    if start.0 as i32 == end.0 {
+        x = start.0;
+    } else {
+        x = nearest_extreme(start.0, end.0);
+    }
+    if start.1 as i32 == end.1 {
+        y = start.1;
+    } else {
+        y = nearest_extreme(start.1, end.1);
+    }
+    let point = (x, y);
+    let index = point.to_index(map_width);
+    if motion_blocked[index] {
+        None
+    } else {
+        Some(point)
+    }
+}
+
+fn calculate_path(
+    mut commands: Commands,
+    pool: Res<AsyncComputeTaskPool>,
+    mut calculating: Local<HashMap<Entity, Receiver<Path>>>,
+    query: Query<(Entity, &Destination, &Coordinates), Changed<Destination>>,
+    destinations: Query<&Destination>,
+    map: Query<&Map>,
+) {
+    let calculating_clone = calculating.clone();
+    for (entity, rx) in calculating_clone.iter() {
+        if destinations.get(*entity).is_ok() {
+            if let Ok(path) = rx.try_recv() {
+                commands.entity(*entity).insert(path);
+                calculating.remove(&entity);
+            }
+        } else {
+            calculating.remove(&entity);
+        }
+    }
+    for (entity, destination, coordinates) in query.iter() {
+        if !calculating.contains_key(&entity) {
+            let (tx, rx) = unbounded();
+            calculating.insert(entity, rx);
+            for map in map.iter() {
+                let start_clone = *coordinates;
+                let destination_clone = *destination;
+                let map_clone = map.clone();
+                let tx_clone = tx.clone();
+                pool.spawn(async move {
+                    if let Some(result) = find_path(&start_clone, &destination_clone, &map_clone) {
+                        tx_clone.send(Path(result.0)).expect("Channel should exist");
+                    }
+                })
+                .detach();
+            }
+        }
+    }
+}
+
+fn negotiate_path(
+    mut commands: Commands,
+    time: Res<Time>,
+    mut query: Query<(
+        Entity,
+        &mut Path,
+        &mut Coordinates,
+        &mut Velocity,
+        &Speed,
+        Option<&RotationSpeed>,
+        &mut Transform,
+    )>,
+    map: Query<(&Map, &MotionBlocked)>,
+) {
+    for (entity, mut path, mut coordinates, mut velocity, speed, rotation_speed, mut transform) in
+        query.iter_mut()
+    {
+        for (map, motion_blocked) in map.iter() {
+            let mut new_path = path.0.clone();
+            let start_i32 = coordinates.i32();
+            let new_path_clone = new_path.clone();
+            let mut iter = new_path_clone.split(|p| *p == start_i32);
+            if iter.next().is_some() {
+                if let Some(upcoming) = iter.next() {
+                    new_path = vec![start_i32];
+                    new_path.append(&mut upcoming.to_vec());
+                } else {
+                    let point = new_path[0];
+                    if let Some(new_coords) =
+                        cheat_assign(**coordinates, point, map.width(), motion_blocked.0.clone())
+                    {
+                        **coordinates = new_coords;
+                    }
+                }
+            }
+            **path = new_path;
+            if path.len() >= 2 {
+                let start = **coordinates;
+                let start_index = start.to_index(map.width());
+                let start = Vec2::new(start.0, start.1);
+                let next = path[1];
+                if motion_blocked[next.to_index(map.width())] {
+                    // TODO: Should probably handle.
+                }
+                let next = Vec2::new(next.0 as f32, next.1 as f32);
+                if rotation_speed.is_some() {
+                    let start = start.floor();
+                    let v = next - start;
+                    let angle = v.y.atan2(v.x);
+                    transform.rotation = Quat::from_rotation_z(angle);
+                }
+                let mut direction = next - start;
+                direction = direction.normalize();
+                direction *= speed.0;
+                let displacement = direction * time.delta_seconds();
+                let dest = start + displacement;
+                let dest = (dest.x, dest.y);
+                let index = dest.to_index(map.width());
+                if start_index != index && motion_blocked[index] {
+                    let (normal_x, normal_y) = **coordinates;
+                    let next = path[1];
+                    if let Some((cheat_x, cheat_y)) =
+                        cheat_assign(**coordinates, next, map.width(), motion_blocked.0.clone())
+                    {
+                        let index = (normal_x, cheat_y).to_index(map.width());
+                        if !motion_blocked.0[index] {
+                            **coordinates = (normal_x, cheat_y);
+                            return;
+                        }
+                        let index = (cheat_x, normal_y).to_index(map.width());
+                        if !motion_blocked.0[index] {
+                            **coordinates = (cheat_x, normal_y);
+                            return;
+                        }
+                        **coordinates = (cheat_x, cheat_y);
+                    }
+                    **velocity = Vec2::ZERO;
+                } else {
+                    **velocity = direction;
+                }
+            } else {
+                commands.entity(entity).remove::<Path>();
+                commands.entity(entity).remove::<Destination>();
+                **velocity = Vec2::ZERO;
+            }
+        }
+    }
+}
+
+pub struct PathfindingPlugin;
+
+impl Plugin for PathfindingPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        app.add_system_to_stage(CoreStage::PostUpdate, calculate_path.system())
+            .add_system(
+                negotiate_path
+                    .system()
+                    .before(crate::navigation::MOVEMENT_LABEL),
+            );
+    }
+}
diff --git a/src/sound.rs b/src/sound.rs
new file mode 100644
index 0000000..ab7064f
--- /dev/null
+++ b/src/sound.rs
@@ -0,0 +1,333 @@
+use std::{collections::HashMap, fmt::Debug, hash::Hash, time::Duration};
+
+use bevy::{
+    asset::{HandleId, LoadState},
+    ecs::component::Component,
+    prelude::*,
+    transform::TransformSystem,
+};
+use bevy_openal::{Buffer, Context, Sound, SoundState};
+
+use rand::random;
+
+use crate::{
+    core::{Coordinates, CoreConfig, Player, PointLike},
+    exploration::ExplorationFocused,
+    visibility::Viewshed,
+};
+
+#[derive(Clone, Debug, Reflect)]
+#[reflect(Component)]
+pub struct Footstep {
+    pub sound: HandleId,
+    pub step_length: f32,
+    pub gain: f32,
+    pub reference_distance: f32,
+    pub max_distance: f32,
+    pub rolloff_factor: f32,
+    pub pitch_variation: Option<f32>,
+}
+
+impl Default for Footstep {
+    fn default() -> Self {
+        Self {
+            sound: "".into(),
+            step_length: 0.8,
+            gain: 0.05,
+            reference_distance: 1.,
+            max_distance: f32::MAX,
+            rolloff_factor: 1.,
+            pitch_variation: Some(0.15),
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub struct SoundIcon {
+    pub sound: HandleId,
+    pub gain: f32,
+    pub pitch: f32,
+    pub reference_distance: f32,
+    pub max_distance: f32,
+    pub rolloff_factor: f32,
+    pub interval: Option<Timer>,
+}
+
+impl Default for SoundIcon {
+    fn default() -> Self {
+        let seconds = random::<f32>() + 4.5;
+        let mut icon = Self {
+            sound: "".into(),
+            gain: 0.3,
+            pitch: 1.,
+            reference_distance: 1.,
+            max_distance: f32::MAX,
+            rolloff_factor: 1.,
+            interval: Some(Timer::from_seconds(seconds, true)),
+        };
+        if let Some(ref mut interval) = icon.interval {
+            let seconds = Duration::from_secs_f32(seconds - 0.1);
+            interval.set_elapsed(seconds);
+        }
+        icon
+    }
+}
+
+#[derive(Bundle, Default)]
+pub struct FootstepBundle {
+    pub footstep: Footstep,
+    pub transform: Transform,
+    pub global_transform: GlobalTransform,
+}
+
+#[derive(Bundle, Clone, Debug, Default)]
+pub struct SoundIconBundle {
+    pub sound_icon: SoundIcon,
+    pub transform: Transform,
+    pub global_transform: GlobalTransform,
+}
+
+fn footstep(
+    mut commands: Commands,
+    assets: Res<Assets<Buffer>>,
+    mut last_step_distance: Local<HashMap<Entity, (f32, Coordinates)>>,
+    footsteps: Query<(Entity, &Footstep, &Parent, Option<&Children>), Changed<GlobalTransform>>,
+    coordinates_storage: Query<&Coordinates>,
+    mut sounds: Query<&mut Sound>,
+) {
+    for (entity, footstep, parent, children) in footsteps.iter() {
+        let coordinates = coordinates_storage.get(**parent).unwrap();
+        if let Some(children) = children {
+            if let Some(last) = last_step_distance.get(&entity) {
+                let distance = last.0 + (last.1.distance(coordinates));
+                if distance >= footstep.step_length {
+                    last_step_distance.insert(entity, (0., *coordinates));
+                    let sound = children[0];
+                    if let Ok(mut sound) = sounds.get_mut(sound) {
+                        sound.gain = footstep.gain;
+                        sound.reference_distance = footstep.reference_distance;
+                        sound.max_distance = footstep.max_distance;
+                        sound.rolloff_factor = footstep.rolloff_factor;
+                        if let Some(pitch_variation) = footstep.pitch_variation {
+                            let mut pitch = 1. - pitch_variation / 2.;
+                            pitch += random::<f32>() * pitch_variation;
+                            sound.pitch = pitch;
+                        }
+                        sound.play();
+                    }
+                } else if last.1 != *coordinates {
+                    last_step_distance.insert(entity, (distance, *coordinates));
+                }
+            } else {
+                last_step_distance.insert(entity, (0., *coordinates));
+            }
+        } else {
+            let buffer = assets.get_handle(footstep.sound);
+            let sound = Sound {
+                buffer,
+                state: SoundState::Stopped,
+                gain: footstep.gain,
+                ..Default::default()
+            };
+            let child = commands
+                .spawn()
+                .insert(sound)
+                .insert(Transform::default())
+                .insert(GlobalTransform::default())
+                .id();
+            commands.entity(entity).push_children(&[child]);
+        }
+    }
+}
+
+fn sound_icon<S>(
+    mut commands: Commands,
+    config: Res<SoundConfig<S>>,
+    state: Res<State<S>>,
+    time: Res<Time>,
+    asset_server: Res<AssetServer>,
+    viewers: Query<(&Player, &Viewshed)>,
+    mut icons: Query<(
+        Entity,
+        &mut SoundIcon,
+        Option<&Coordinates>,
+        Option<&Parent>,
+        Option<&Children>,
+    )>,
+    coordinates_storage: Query<&Coordinates>,
+    mut sounds: Query<&mut Sound>,
+) where
+    S: Component + Clone + Debug + Eq + Hash,
+{
+    if !(*config).sound_icon_states.is_empty() {
+        if !config.sound_icon_states.contains(state.current()) {
+            return;
+        }
+    }
+    for (_, viewer) in viewers.iter() {
+        for (entity, mut icon, coordinates, parent, children) in icons.iter_mut() {
+            let coords = if let Some(coordinates) = coordinates {
+                *coordinates
+            } else if let Some(parent) = parent {
+                *coordinates_storage
+                    .get(**parent)
+                    .expect("If `SoundIcon` is a child, its parent must have `Coordinates`")
+            } else {
+                panic!("No `Coordinates` on `SoundIcon` or parent");
+            };
+            if viewer.is_visible(&coords) {
+                let buffer = asset_server.get_handle(icon.sound);
+                if asset_server.get_load_state(&buffer) == LoadState::Loaded {
+                    let looping = icon.interval.is_none();
+                    let sound = Sound {
+                        buffer,
+                        gain: icon.gain,
+                        pitch: icon.pitch,
+                        looping,
+                        state: SoundState::Playing,
+                        ..Default::default()
+                    };
+                    if looping && children.is_none() {
+                        let child = commands
+                            .spawn()
+                            .insert(sound)
+                            .insert(Transform::default())
+                            .insert(GlobalTransform::default())
+                            .id();
+                        commands.entity(entity).push_children(&[child]);
+                    } else if let Some(ref mut interval) = icon.interval {
+                        interval.tick(time.delta());
+                        if interval.finished() {
+                            if let Some(children) = children {
+                                for child in children.iter() {
+                                    commands.entity(*child).despawn();
+                                }
+                            }
+                            let child = commands
+                                .spawn()
+                                .insert(sound)
+                                .insert(Transform::default())
+                                .insert(GlobalTransform::default())
+                                .id();
+                            commands.entity(entity).push_children(&[child]);
+                            interval.reset();
+                        }
+                    }
+                    if let Some(children) = children {
+                        if let Some(child) = children.get(0) {
+                            if let Ok(mut sound) = sounds.get_mut(*child) {
+                                let buffer = asset_server.get_handle(icon.sound);
+                                if sound.buffer != buffer {
+                                    sound.stop();
+                                    sound.buffer = buffer;
+                                    sound.play();
+                                }
+                                sound.gain = icon.gain;
+                                sound.pitch = icon.pitch;
+                                sound.reference_distance = icon.reference_distance;
+                                sound.max_distance = icon.max_distance;
+                                sound.rolloff_factor = icon.rolloff_factor;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+fn sound_icon_exploration_focus_changed(
+    mut focused: Query<(&ExplorationFocused, Option<&mut SoundIcon>), Changed<ExplorationFocused>>,
+) {
+    for (_, icon) in focused.iter_mut() {
+        if let Some(mut icon) = icon {
+            icon.gain *= 3.;
+        }
+    }
+}
+
+fn sound_icon_exploration_focus_removed(
+    removed: RemovedComponents<ExplorationFocused>,
+    mut icons: Query<&mut SoundIcon>,
+) {
+    for entity in removed.iter() {
+        if let Ok(mut icon) = icons.get_component_mut::<SoundIcon>(entity) {
+            icon.gain /= 3.;
+        }
+    }
+}
+
+fn scale_sounds(config: Res<CoreConfig>, mut sounds: Query<&mut Sound>) {
+    let pixels_per_unit = config.pixels_per_unit as f32;
+    for mut sound in sounds.iter_mut() {
+        sound.reference_distance *= pixels_per_unit;
+        if sound.max_distance != f32::MAX {
+            sound.max_distance *= pixels_per_unit;
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub struct SoundConfig<S> {
+    pub sound_icon_states: Vec<S>,
+}
+
+impl<S> Default for SoundConfig<S> {
+    fn default() -> Self {
+        Self {
+            sound_icon_states: vec![],
+        }
+    }
+}
+
+pub struct SoundPlugin<'a, S>(std::marker::PhantomData<&'a S>);
+
+impl<'a, S> Default for SoundPlugin<'a, S> {
+    fn default() -> Self {
+        Self(std::marker::PhantomData)
+    }
+}
+
+impl<'a, S> Plugin for SoundPlugin<'a, S>
+where
+    S: bevy::ecs::component::Component + Clone + Debug + Eq + Hash,
+    'a: 'static,
+{
+    fn build(&self, app: &mut AppBuilder) {
+        if !app.world().contains_resource::<SoundConfig<S>>() {
+            app.insert_resource(SoundConfig::<S>::default());
+        }
+        const SOUND_ICON_AND_EXPLORATION_STAGE: &str = "sound_icon_and_exploration";
+        let core_config = *app.world().get_resource::<CoreConfig>().unwrap();
+        if let Some(context) = app.world().get_resource::<Context>() {
+            context
+                .set_meters_per_unit(1. / core_config.pixels_per_unit as f32)
+                .unwrap();
+        }
+        app.register_type::<Footstep>()
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                footstep.system().after(TransformSystem::TransformPropagate),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                sound_icon::<S>
+                    .system()
+                    .after(TransformSystem::TransformPropagate),
+            )
+            .add_stage_after(
+                CoreStage::PostUpdate,
+                SOUND_ICON_AND_EXPLORATION_STAGE,
+                SystemStage::parallel(),
+            )
+            .add_system_to_stage(
+                SOUND_ICON_AND_EXPLORATION_STAGE,
+                sound_icon_exploration_focus_changed.system(),
+            )
+            .add_system_to_stage(
+                SOUND_ICON_AND_EXPLORATION_STAGE,
+                sound_icon_exploration_focus_removed.system(),
+            )
+            .add_system(scale_sounds.system());
+    }
+}
diff --git a/src/visibility.rs b/src/visibility.rs
new file mode 100644
index 0000000..d63c829
--- /dev/null
+++ b/src/visibility.rs
@@ -0,0 +1,324 @@
+use std::collections::{HashMap, HashSet};
+
+use bevy::prelude::*;
+use coord_2d::{Coord, Size};
+use derive_more::{Deref, DerefMut};
+use shadowcast::{vision_distance, Context, InputGrid};
+
+use crate::{
+    core::{Coordinates, Player, PointLike},
+    log::Log,
+    map::{ITileType, Map, MapConfig},
+};
+
+#[derive(Clone, Copy, Debug, Default, Reflect)]
+#[reflect(Component)]
+pub struct BlocksVisibility;
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct RevealedTiles(pub Vec<bool>);
+
+#[derive(Clone, Debug)]
+pub struct Viewshed {
+    pub visible: HashSet<(i32, i32)>,
+    pub range: u32,
+}
+
+impl Default for Viewshed {
+    fn default() -> Self {
+        Self {
+            range: 15,
+            visible: HashSet::new(),
+        }
+    }
+}
+
+#[allow(dead_code)]
+impl Viewshed {
+    pub fn is_visible(&self, point: &dyn PointLike) -> bool {
+        self.visible.contains(&point.into())
+    }
+}
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct VisibilityBlocked(pub Vec<bool>);
+
+#[derive(Clone, Debug, Default, Deref, DerefMut, Reflect)]
+#[reflect(Component)]
+pub struct VisibleTiles(pub Vec<bool>);
+
+fn add_visibility_indices(
+    mut commands: Commands,
+    query: Query<
+        (Entity, &Map),
+        (
+            Added<Map>,
+            Without<VisibilityBlocked>,
+            Without<VisibleTiles>,
+            Without<RevealedTiles>,
+        ),
+    >,
+    map_config: Res<MapConfig>,
+) {
+    for (entity, map) in query.iter() {
+        let mut v = vec![];
+        for tile in &map.base.tiles {
+            v.push(tile.blocks_visibility());
+        }
+        commands.entity(entity).insert(VisibilityBlocked(v));
+        let count = map.count();
+        commands
+            .entity(entity)
+            .insert(VisibleTiles(vec![false; count]));
+        commands
+            .entity(entity)
+            .insert(RevealedTiles(vec![map_config.start_revealed; count]));
+    }
+}
+
+#[derive(Default, Deref, DerefMut)]
+struct PreviousIndex(HashMap<Entity, usize>);
+
+fn map_visibility_indexing(
+    mut map: Query<(&Map, &mut VisibilityBlocked)>,
+    mut prev_index: ResMut<PreviousIndex>,
+    query: Query<
+        (Entity, &Coordinates, &BlocksVisibility),
+        Or<(Changed<Coordinates>, Changed<BlocksVisibility>)>,
+    >,
+    visibility_blockers: Query<&BlocksVisibility>,
+) {
+    for (entity, coordinates, _) in query.iter() {
+        for (map, mut visibility_blocked) in map.iter_mut() {
+            let idx = coordinates.to_index(map.width());
+            if let Some(prev_idx) = prev_index.get(&entity) {
+                if *prev_idx == idx {
+                    continue;
+                }
+                let tile = map.base.tiles[*prev_idx];
+                let mut new_visibility_blocked = tile.blocks_visibility();
+                if !new_visibility_blocked {
+                    for e in &map.entities[*prev_idx] {
+                        if visibility_blockers.get(*e).is_ok() {
+                            new_visibility_blocked = true;
+                            break;
+                        }
+                    }
+                }
+                visibility_blocked[*prev_idx] = new_visibility_blocked;
+            }
+            visibility_blocked[idx] = true;
+            prev_index.insert(entity, idx);
+        }
+    }
+}
+
+fn remove_blocks_visibility(
+    mut prev_index: ResMut<PreviousIndex>,
+    mut map: Query<(&Map, &mut VisibilityBlocked)>,
+    removed: RemovedComponents<BlocksVisibility>,
+    coordinates: Query<&Coordinates>,
+    blocks_visibility: Query<&BlocksVisibility>,
+) {
+    for entity in removed.iter() {
+        if let Ok(coordinates) = coordinates.get_component::<Coordinates>(entity) {
+            prev_index.remove(&entity);
+            for (map, mut visibility_blocked) in map.iter_mut() {
+                let idx = (**coordinates).to_index(map.width());
+                let tile = map.base.tiles[idx];
+                let mut new_visibility_blocked = tile.blocks_visibility();
+                for e in &map.entities[idx] {
+                    new_visibility_blocked = new_visibility_blocked
+                        || blocks_visibility
+                            .get_component::<BlocksVisibility>(*e)
+                            .is_ok();
+                }
+                visibility_blocked[idx] = new_visibility_blocked;
+            }
+        }
+    }
+}
+
+struct VisibilityGrid(Map, VisibilityBlocked);
+
+impl InputGrid for VisibilityGrid {
+    type Grid = VisibilityGrid;
+
+    type Opacity = u8;
+
+    fn size(&self, grid: &Self::Grid) -> Size {
+        Size::new(grid.0.width() as u32, grid.0.height() as u32)
+    }
+
+    fn get_opacity(&self, grid: &Self::Grid, coord: Coord) -> Self::Opacity {
+        let point = (coord.x, coord.y);
+        let index = point.to_index(grid.0.width());
+        if grid.1 .0[index] {
+            255
+        } else {
+            0
+        }
+    }
+}
+
+fn update_viewshed(
+    mut viewers: Query<
+        (&mut Viewshed, &Coordinates),
+        Or<(Changed<VisibilityBlocked>, Changed<Coordinates>)>,
+    >,
+    map: Query<(&Map, &VisibilityBlocked)>,
+) {
+    for (mut viewshed, start) in viewers.iter_mut() {
+        for (map, visibility_blocked) in map.iter() {
+            let mut context: Context<u8> = Context::default();
+            let vision_distance = vision_distance::Circle::new(viewshed.range);
+            let coord = Coord::new(start.x_i32(), start.y_i32());
+            viewshed.visible.clear();
+            let visibility_grid = VisibilityGrid(map.clone(), visibility_blocked.clone());
+            context.for_each_visible(
+                coord,
+                &visibility_grid,
+                &visibility_grid,
+                vision_distance,
+                255,
+                |coord, _directions, _visibility| {
+                    viewshed.visible.insert((coord.x, coord.y));
+                },
+            );
+        }
+    }
+}
+
+fn map_visibility(
+    mut map: Query<
+        (
+            &Map,
+            &VisibilityBlocked,
+            &mut RevealedTiles,
+            &mut VisibleTiles,
+        ),
+        Or<(Changed<Map>, Changed<VisibilityBlocked>)>,
+    >,
+    viewers: Query<(&Player, &Viewshed)>,
+) {
+    for (_, viewshed) in viewers.iter() {
+        for (map, _, mut revealed_tiles, mut visible_tiles) in map.iter_mut() {
+            for t in visible_tiles.iter_mut() {
+                *t = false
+            }
+            for v in viewshed.visible.iter() {
+                let idx = (*v).to_index(map.width());
+                revealed_tiles[idx] = true;
+                visible_tiles[idx] = true;
+            }
+        }
+    }
+}
+
+fn log_visible(
+    time: Res<Time>,
+    mut seen: Local<HashSet<Entity>>,
+    mut recently_lost: Local<HashMap<Entity, Timer>>,
+    mut log: Query<&mut Log>,
+    viewers: Query<(&Viewshed, &Coordinates, &Player)>,
+    map: Query<&Map>,
+    names: Query<&Name>,
+    players: Query<&Player>,
+) {
+    for timer in recently_lost.values_mut() {
+        timer.tick(time.delta());
+    }
+    let recently_lost_clone = recently_lost.clone();
+    for (entity, timer) in recently_lost_clone.iter() {
+        if timer.finished() {
+            recently_lost.remove(&entity);
+        }
+    }
+    let mut new_seen = HashSet::new();
+    if let Ok(mut log) = log.single_mut() {
+        for (viewshed, coordinates, _) in viewers.iter() {
+            for viewed_coordinates in &viewshed.visible {
+                for map in map.iter() {
+                    let index = viewed_coordinates.to_index(map.width());
+                    for entity in &map.entities[index] {
+                        if recently_lost.contains_key(&entity) {
+                            continue;
+                        }
+                        if let Ok(name) = names.get(*entity) {
+                            if players.get(*entity).is_err() {
+                                if !seen.contains(&*entity) {
+                                    let name = name.to_string();
+                                    let location =
+                                        coordinates.distance_and_direction(viewed_coordinates);
+                                    log.push(format!("{}: {}", name, location));
+                                }
+                                new_seen.insert(*entity);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+    let recently_lost_entities = seen.difference(&new_seen);
+    for entity in recently_lost_entities {
+        recently_lost.insert(*entity, Timer::from_seconds(2., false));
+    }
+    *seen = new_seen;
+}
+
+pub const LOG_VISIBLE_LABEL: &str = "LOG_VISIBLE";
+
+pub struct VisibilityPlugin;
+
+impl Plugin for VisibilityPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        const UPDATE_VISIBILITY_INDEX: &str = "UPDATE_VISIBILITY_INDEX";
+        const UPDATE_VIEWSHED: &str = "UPDATE_VIEWSHED";
+        const MAP_VISIBILITY: &str = "MAP_VISIBILITY";
+        app.insert_resource(PreviousIndex::default())
+            .add_system(add_visibility_indices.system())
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                add_visibility_indices
+                    .system()
+                    .before(UPDATE_VISIBILITY_INDEX),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                remove_blocks_visibility
+                    .system()
+                    .before(UPDATE_VISIBILITY_INDEX),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                map_visibility_indexing
+                    .system()
+                    .label(UPDATE_VISIBILITY_INDEX)
+                    .after(crate::map::UPDATE_ENTITY_INDEX_LABEL),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                update_viewshed
+                    .system()
+                    .label(UPDATE_VIEWSHED)
+                    .after(UPDATE_VISIBILITY_INDEX),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                map_visibility
+                    .system()
+                    .label(MAP_VISIBILITY)
+                    .after(UPDATE_VIEWSHED),
+            )
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                log_visible
+                    .system()
+                    .label(LOG_VISIBLE_LABEL)
+                    .after(MAP_VISIBILITY),
+            );
+    }
+}