feat(router/thetastar): Highlight currently attempted navedge

crates/topola-egui/src/displayer.rs

@@ -28,6 +28,7 @@ use topola::{
         navmesh::{BinavnodeNodeIndex, Navmesh, NavnodeIndex},
         ng::pie,
         prenavmesh::PrenavmeshConstraint,
+        thetastar::ThetastarState,
     },
 };
 
@@ -223,13 +224,15 @@ impl<'a> Displayer<'a> {
                         }
                     }
 
+                    if menu_bar.show_navmesh {
                         let stroke = 'blk: {
                             if let Some(navcord) = activity.maybe_navcord() {
                                 if let (Some(source_pos), Some(target_pos)) = (
                                     navcord.path.iter().position(|node| *node == edge.source()),
                                     navcord.path.iter().position(|node| *node == edge.target()),
                                 ) {
-                                if target_pos == source_pos + 1 || source_pos == target_pos + 1 {
+                                    if target_pos == source_pos + 1 || source_pos == target_pos + 1
+                                    {
                                         break 'blk egui::Stroke::new(
                                             5.0,
                                             egui::Color32::from_rgb(250, 250, 0),
@@ -241,7 +244,6 @@ impl<'a> Displayer<'a> {
                             egui::Stroke::new(1.0, egui::Color32::from_rgb(125, 125, 125))
                         };
 
-                    if menu_bar.show_navmesh {
                         self.painter.paint_line_segment(from, to, stroke);
                     }
 
@@ -277,6 +279,34 @@ impl<'a> Displayer<'a> {
                     }
                 }
 
+                if menu_bar.show_navmesh {
+                    match thetastar.state() {
+                        ThetastarState::BacktrackAndProbeOnLineOfSight(_, edge)
+                        | ThetastarState::ProbeOnNavedge(_, edge) => {
+                            let edge_from = PrimitiveIndex::from(
+                                navmesh.node_weight(edge.0).unwrap().binavnode,
+                            )
+                            .primitive_ref(board.layout().drawing())
+                            .shape()
+                            .center();
+
+                            let edge_to = PrimitiveIndex::from(
+                                navmesh.node_weight(edge.1).unwrap().binavnode,
+                            )
+                            .primitive_ref(board.layout().drawing())
+                            .shape()
+                            .center();
+
+                            self.painter.paint_line_segment(
+                                edge_from,
+                                edge_to,
+                                egui::Stroke::new(5.0, egui::Color32::from_rgb(255, 0, 255)),
+                            );
+                        }
+                        _ => (),
+                    }
+                }
+
                 for index in navmesh.graph().node_indices() {
                     if menu_bar.show_guide_circles {
                         if let Some(navcord) = activity.maybe_navcord() {

src/router/thetastar.rs

@@ -116,10 +116,10 @@ pub enum ThetastarState<N: Copy, E: Copy> {
 /// on the navmesh.
 ///
 /// Conditional repeated backtracking is our improvement to Theta*: if
-/// line-of-sight routing fails if a condition is met, continue trying to draw
+/// line-of-sight routing fails, for as long as a condition is met, continue
-/// from parent of the parent navnode, and so on. This is different from Theta*
+/// trying to draw from parent of the parent navnode, and so on. This is
-/// because in Theta* there is only one backtracking step -- only one attempt to
+/// different from Theta* because in Theta* there is only one backtracking step
-/// do line-of-sight routing.
+/// -- only one attempt to do line-of-sight routing.
 #[derive(Getters)]
 pub struct ThetastarStepper<G, K>
 where