From 0f4bf1b0be03ff6960460f61c5b6ef09b509130d Mon Sep 17 00:00:00 2001
From: Mikolaj Wielgus <wielgusmikolaj@gmail.com>
Date: Thu, 28 Aug 2025 11:35:20 +0200
Subject: [PATCH] fix(router/navmesh): Make sure all clearance-intersecting
 navnodes have the same edges

This does not yet fully fix the problem with routing around SMD pads
failing, but is a step forward.
---
 src/drawing/query.rs     |  2 +-
 src/router/navmesh.rs    | 45 ++++++++++++++++++++++++++++++++++------
 src/router/prenavmesh.rs |  9 ++++++++
 3 files changed, 49 insertions(+), 7 deletions(-)

diff --git a/src/drawing/query.rs b/src/drawing/query.rs
index 82a6249..17f4454 100644
--- a/src/drawing/query.rs
+++ b/src/drawing/query.rs
@@ -161,7 +161,7 @@ impl<CW: Clone, Cel: Copy, R: AccessRules> Drawing<CW, Cel, R> {
             .filter(move |infringement| !self.are_connectable(infringer, infringement.1))
     }
 
-    pub(super) fn clearance_intersectors<'a>(
+    pub fn clearance_intersectors<'a>(
         &'a self,
         intersector: PrimitiveIndex,
     ) -> impl Iterator<Item = Infringement> + 'a {
diff --git a/src/router/navmesh.rs b/src/router/navmesh.rs
index d068a6d..fede5a8 100644
--- a/src/router/navmesh.rs
+++ b/src/router/navmesh.rs
@@ -66,8 +66,8 @@ pub enum BinavnodeNodeIndex {
 }
 
 impl From<PrenavmeshNodeIndex> for BinavnodeNodeIndex {
-    fn from(trianvertex: PrenavmeshNodeIndex) -> Self {
-        match trianvertex {
+    fn from(node: PrenavmeshNodeIndex) -> Self {
+        match node {
             PrenavmeshNodeIndex::FixedDot(dot) => BinavnodeNodeIndex::FixedDot(dot),
             PrenavmeshNodeIndex::FixedBend(bend) => BinavnodeNodeIndex::FixedBend(bend),
         }
@@ -75,8 +75,8 @@ impl From<PrenavmeshNodeIndex> for BinavnodeNodeIndex {
 }
 
 impl From<BinavnodeNodeIndex> for PrimitiveIndex {
-    fn from(vertex: BinavnodeNodeIndex) -> Self {
-        match vertex {
+    fn from(node: BinavnodeNodeIndex) -> Self {
+        match node {
             BinavnodeNodeIndex::FixedDot(dot) => PrimitiveIndex::FixedDot(dot),
             BinavnodeNodeIndex::FixedBend(bend) => PrimitiveIndex::FixedBend(bend),
             BinavnodeNodeIndex::LooseBend(bend) => PrimitiveIndex::LooseBend(bend),
@@ -85,8 +85,8 @@ impl From<BinavnodeNodeIndex> for PrimitiveIndex {
 }
 
 impl From<BinavnodeNodeIndex> for GearIndex {
-    fn from(vertex: BinavnodeNodeIndex) -> Self {
-        match vertex {
+    fn from(node: BinavnodeNodeIndex) -> Self {
+        match node {
             BinavnodeNodeIndex::FixedDot(dot) => GearIndex::FixedDot(dot),
             BinavnodeNodeIndex::FixedBend(bend) => GearIndex::FixedBend(bend),
             BinavnodeNodeIndex::LooseBend(bend) => GearIndex::LooseBend(bend),
@@ -241,6 +241,39 @@ impl Navmesh {
                 edge.source(),
                 edge.target(),
             );
+
+            // TODO: This shouldn't depend on clearance.
+            for source_intersector in layout
+                .drawing()
+                .clearance_intersectors(edge.source().into())
+            {
+                let source = match source_intersector.1 {
+                    PrimitiveIndex::FixedDot(dot) => PrenavmeshNodeIndex::FixedDot(dot),
+                    PrimitiveIndex::FixedBend(bend) => PrenavmeshNodeIndex::FixedBend(bend),
+                    _ => continue,
+                };
+
+                if !map.contains_key(&source) {
+                    continue;
+                }
+
+                for target_intersector in layout
+                    .drawing()
+                    .clearance_intersectors(edge.target().into())
+                {
+                    let target = match target_intersector.1 {
+                        PrimitiveIndex::FixedDot(dot) => PrenavmeshNodeIndex::FixedDot(dot),
+                        PrimitiveIndex::FixedBend(bend) => PrenavmeshNodeIndex::FixedBend(bend),
+                        _ => continue,
+                    };
+
+                    if !map.contains_key(&target) {
+                        continue;
+                    }
+
+                    Self::add_trianedge_to_graph_as_quadrinavedge(&mut graph, &map, source, target);
+                }
+            }
         }
 
         // The existence of a constraint edge does not (!) guarantee that this
diff --git a/src/router/prenavmesh.rs b/src/router/prenavmesh.rs
index c04e503..716ce9a 100644
--- a/src/router/prenavmesh.rs
+++ b/src/router/prenavmesh.rs
@@ -36,6 +36,15 @@ pub enum PrenavmeshNodeIndex {
     FixedBend(FixedBendIndex),
 }
 
+impl From<PrenavmeshNodeIndex> for PrimitiveIndex {
+    fn from(node: PrenavmeshNodeIndex) -> Self {
+        match node {
+            PrenavmeshNodeIndex::FixedDot(dot) => PrimitiveIndex::FixedDot(dot),
+            PrenavmeshNodeIndex::FixedBend(bend) => PrimitiveIndex::FixedBend(bend),
+        }
+    }
+}
+
 #[derive(Clone, Copy)]
 pub struct PrenavmeshWeight {
     pub node: PrenavmeshNodeIndex,