1 files changed, 101 insertions, 0 deletions
diff --git a/bmp.c b/bmp.c
new file mode 100644
index 0000000..14a8d61
--- /dev/null
+++ b/bmp.c
@@ -0,0 +1,101 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "map.h"
+#include "path.h"
+#include "structs.h"
+#include "priority_queue.h"
+
+/* TODO: clean up, do defines or whatever */
+void map_to_bmp(Map map, size_t map_width, size_t map_height, Position start, Position goal, Path path, char **visited, char *filename) {
+    /* Dimensions of the resulting image */
+    int32_t width = map_width;
+    int32_t height = map_height;
+    uint16_t bitcount = 24; 
+
+    /* Width of a single row in bytes */
+    int width_in_bytes = ((width * bitcount + 31) / 32) * 4;
+
+    /* Size in bytes of the image, without the header */
+    uint32_t imagesize = width_in_bytes * height;
+
+    /* Size of the info header */
+    const uint32_t biSize = 40;
+
+    /* Bitmap bit offset */
+    const uint32_t bfOffBits = 54; 
+
+    /* Size in bytes of resulting BMP */
+    uint32_t filesize = 54 + imagesize;
+
+    /* No. of planes */
+    const uint16_t biPlanes = 1;
+
+    /* The header */
+    unsigned char header[54] = { 0 };
+    memcpy(header, "BM", 2);
+    memcpy(header + 2 , &filesize, 4);
+    memcpy(header + 10, &bfOffBits, 4);
+    memcpy(header + 14, &biSize, 4);
+    memcpy(header + 18, &width, 4);
+    memcpy(header + 22, &height, 4);
+    memcpy(header + 26, &biPlanes, 2);
+    memcpy(header + 28, &bitcount, 2);
+    memcpy(header + 34, &imagesize, 4);
+
+    /* The buffer for image data */
+    unsigned char* buf = malloc(imagesize);
+
+    /* Draw the walls */
+    for(int row = height - 1; row >= 0; row--)
+    {
+        for(int col = 0; col < width; col++)
+        {
+            if (map[height - 1 - row][col] == WALL) {
+                buf[row * width_in_bytes + col * 3 + 0] = 255; /* b */
+                buf[row * width_in_bytes + col * 3 + 1] = 255; /* g */
+                buf[row * width_in_bytes + col * 3 + 2] = 255; /* r */
+            } else if (visited != NULL && visited[height - 1 - row][col]) {
+                buf[row * width_in_bytes + col * 3 + 0] = 0;   /* b */
+                buf[row * width_in_bytes + col * 3 + 1] = 255; /* g */
+                buf[row * width_in_bytes + col * 3 + 2] = 0;   /* r */
+            } else {
+                buf[row * width_in_bytes + col * 3 + 0] = 0;   /* b */
+                buf[row * width_in_bytes + col * 3 + 1] = 0;   /* g */
+                buf[row * width_in_bytes + col * 3 + 2] = 0;   /* r */
+            }
+        }
+    }
+
+    /* Draw the path */
+    if (path != NULL) {
+        Position cur = goal;
+        while (cur.x != start.x || cur.y != start.y) {
+            buf[(height - cur.y - 1) * width_in_bytes + cur.x * 3 + 0] = 0;   /* b */
+            buf[(height - cur.y - 1) * width_in_bytes + cur.x * 3 + 1] = 0;   /* g */
+            buf[(height - cur.y - 1) * width_in_bytes + cur.x * 3 + 2] = 255; /* r */
+            cur = path[cur.y][cur.x].parent;
+        }
+    }
+
+    /* Start */
+    buf[(height - start.y - 1) * width_in_bytes + start.x * 3 + 0] = 255; /* b */
+    buf[(height - start.y - 1) * width_in_bytes + start.x * 3 + 1] = 0;   /* g */
+    buf[(height - start.y - 1) * width_in_bytes + start.x * 3 + 2] = 255; /* r */
+
+    /* Goal */
+    buf[(height - goal.y - 1) * width_in_bytes + goal.x * 3 + 0] = 0;   /* b */
+    buf[(height - goal.y - 1) * width_in_bytes + goal.x * 3 + 1] = 255; /* g */
+    buf[(height - goal.y - 1) * width_in_bytes + goal.x * 3 + 2] = 255; /* r */
+
+
+    FILE *fout = fopen(filename, "wb");
+    fwrite(header, 1, 54, fout);
+    fwrite((char*)buf, 1, imagesize, fout);
+    fclose(fout);
+    free(buf);
+
+    return;
+}