Wrap `Board` in `NavmesherBoard`

topola-egui/src/displayer.rs

@@ -33,7 +33,8 @@ impl Displayer {
     ) {
         ui.painter().line(
             workspace
-                .board
+                .navmesher_board
+                .board()
                 .layout()
                 .boundary()
                 .iter()
@@ -45,7 +46,13 @@ impl Displayer {
             egui::Stroke::new(5.0 / viewport.scale_factor(), egui::Color32::WHITE),
         );
 
-        for (_, joint) in workspace.board.layout().joints().collection() {
+        for (_, joint) in workspace
+            .navmesher_board
+            .board()
+            .layout()
+            .joints()
+            .collection()
+        {
             if workspace.appearance_panel.visible[joint.layer] {
                 self.paint_joint(
                     ctx,
@@ -56,13 +63,19 @@ impl Displayer {
                         .appearance_panel
                         .colors(ctx)
                         .layers
-                        .color(workspace.board.layer_name(joint.layer))
+                        .color(workspace.navmesher_board.board().layer_name(joint.layer))
                         .normal,
                 );
             }
         }
 
-        for (i, segment) in workspace.board.layout().segments().collection() {
+        for (i, segment) in workspace
+            .navmesher_board
+            .board()
+            .layout()
+            .segments()
+            .collection()
+        {
             if workspace.appearance_panel.visible[segment.layer] {
                 self.paint_segment(
                     ctx,
@@ -70,20 +83,27 @@ impl Displayer {
                     viewport,
                     segment,
                     workspace
-                        .board
+                        .navmesher_board
+                        .board()
                         .layout()
                         .segment_endpoints(SegmentId::new(i)),
                     workspace
                         .appearance_panel
                         .colors(ctx)
                         .layers
-                        .color(workspace.board.layer_name(segment.layer))
+                        .color(workspace.navmesher_board.board().layer_name(segment.layer))
                         .normal,
                 );
             }
         }
 
-        for (_, polygon) in workspace.board.layout().polygons().collection() {
+        for (_, polygon) in workspace
+            .navmesher_board
+            .board()
+            .layout()
+            .polygons()
+            .collection()
+        {
             if workspace.appearance_panel.visible[polygon.layer] {
                 self.paint_polygon(
                     ctx,
@@ -94,7 +114,7 @@ impl Displayer {
                         .appearance_panel
                         .colors(ctx)
                         .layers
-                        .color(workspace.board.layer_name(polygon.layer))
+                        .color(workspace.navmesher_board.board().layer_name(polygon.layer))
                         .normal,
                 );
             }

topola-egui/src/viewport.rs

@@ -52,14 +52,14 @@ impl Viewport {
     }
 
     fn boundary_bounding_box(workspace: &Workspace) -> egui::Rect {
-        let first = workspace.board.layout().boundary()[0];
+        let first = workspace.navmesher_board.board().layout().boundary()[0];
 
         let mut min_x = first[0];
         let mut max_x = first[0];
         let mut min_y = first[1];
         let mut max_y = first[1];
 
-        for point in workspace.board.layout().boundary()[1..].iter() {
+        for point in workspace.navmesher_board.board().layout().boundary()[1..].iter() {
             if point[0] < min_x {
                 min_x = point[0];
             }

topola-egui/src/workspace.rs

@@ -2,12 +2,12 @@
 //
 // SPDX-License-Identifier: MIT OR Apache-2.0
 
-use topola::Board;
+use topola::{Board, NavmesherBoard};
 
 use crate::{appearance_panel::AppearancePanel, translator::Translator};
 
 pub struct Workspace {
-    pub board: Board,
+    pub navmesher_board: NavmesherBoard,
     pub appearance_panel: AppearancePanel,
 }
 
@@ -16,12 +16,13 @@ impl Workspace {
         let appearance_panel = AppearancePanel::new(&board);
 
         Self {
-            board,
+            navmesher_board: NavmesherBoard::with_board(board),
             appearance_panel,
         }
     }
 
     pub fn update_appearance_panel(&mut self, ctx: &egui::Context) {
-        self.appearance_panel.update(ctx, &self.board);
+        self.appearance_panel
+            .update(ctx, &self.navmesher_board.board());
     }
 }

topola/src/lib.rs

@@ -12,3 +12,4 @@ pub use crate::board::Board;
 pub use crate::layout::{
     Joint, JointId, Layout, Polygon, PolygonId, Segment, SegmentId, Via, ViaId,
 };
+pub use crate::navmesher::NavmesherBoard;

topola/src/navmesher.rs

@@ -17,6 +17,13 @@ pub struct LayerNavmesher {
 }
 
 impl LayerNavmesher {
+    pub fn new() -> Self {
+        Self {
+            navmeshes: Vec::new(),
+            inflation_factors: Vec::new(),
+        }
+    }
+
     pub fn insert_polygon(&mut self, polygon: impl IntoIterator<Item = [i64; 2]>) {
         let polygon: Vec<[i64; 2]> = polygon.into_iter().collect();
 
@@ -67,6 +74,14 @@ pub struct Navmesher {
 }
 
 impl Navmesher {
+    pub fn new(layer_count: usize) -> Self {
+        Self {
+            layers: std::iter::repeat_with(LayerNavmesher::new)
+                .take(layer_count)
+                .collect(),
+        }
+    }
+
     pub fn insert_polygon(&mut self, layer: usize, polygon: impl IntoIterator<Item = [i64; 2]>) {
         self.layers[layer].insert_polygon(polygon);
     }
@@ -79,12 +94,25 @@ pub struct NavmesherBoard {
 }
 
 impl NavmesherBoard {
+    pub fn with_board(board: Board) -> Self {
+        let mut navmesher = Navmesher::new(*board.layout().layer_count());
+
+        for (_, joint) in board.layout().joints().collection() {
+            Self::insert_joint_in_navmesher(&mut navmesher, *joint);
+        }
+
+        Self { navmesher, board }
+    }
+
     pub fn insert_joint(&mut self, joint: Joint) -> JointId {
-        self.navmesher
+        Self::insert_joint_in_navmesher(&mut self.navmesher, joint);
-            .insert_polygon(joint.layer, Self::joint_circumscribed_octagon(joint));
         self.board.add_joint(joint)
     }
 
+    fn insert_joint_in_navmesher(navmesher: &mut Navmesher, joint: Joint) {
+        navmesher.insert_polygon(joint.layer, Self::joint_circumscribed_octagon(joint));
+    }
+
     fn joint_circumscribed_octagon(joint: Joint) -> [[i64; 2]; 8] {
         let cx = joint.position[0];
         let cy = joint.position[1];