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JavaScript (ES8), 173 bytes

Expects an array of characters and returns a matrix of characters.

a=>a.map(c=>~a?1/c?m[y][x]=" ░▒▓█"[c]||a:c<{}?a=c>"!"?-1:m[y][x]:c>"s"?y-=!!y:c>"d"?y+=y<24:x+=c>"a"?x<79:-!!x:a=c,m=[...1e9+{}].map(_=>[..."".padEnd(80)]),x=y=0)&&m

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