fix(router/navmesh): Add (failed) attempt to prune some navedges

This did not achieve the intended goal, but I'm committing it anyway
just to have it in history.

src/geometry/primitive.rs

@@ -294,7 +294,8 @@ impl BendShape {
     /// Determines if the provided point lies in the swept region between the rays cast by tangents
     /// to the arc endpoints of the bend's outer circle, starting at `from` and `to`.
     pub fn between_tangent_rays(&self, point: Point) -> bool {
-        math::between_vectors(point, self.from_tangent_ray(), self.to_tangent_ray())
+        math::perp_dot_product(point - self.from, self.from_tangent_ray()) > 0.001
+            && math::perp_dot_product(point - self.to, self.to_tangent_ray()) < -0.001
     }
 
     pub fn from_tangent_ray(&self) -> Point {

src/router/navmesh.rs

@@ -6,7 +6,6 @@ use std::collections::BTreeMap;
 
 use derive_getters::Getters;
 use enum_dispatch::enum_dispatch;
-use geo::Point;
 use petgraph::{
     data::DataMap,
     graph::UnGraph,
@@ -461,6 +460,22 @@ impl Navmesh {
                 .rev()
                 .enumerate()
             {
+                let to_binavnode = graph.node_weight(*to_navnode1).unwrap().binavnode;
+
+                // One binavnode covers another with bend tangent rays, so don't
+                // add a quadrinavedge.
+                if Self::is_binavnode_behind_binavnode_endpoint_rays(
+                    layout,
+                    from_binavnode,
+                    to_binavnode,
+                ) || Self::is_binavnode_behind_binavnode_endpoint_rays(
+                    layout,
+                    to_binavnode,
+                    from_binavnode,
+                ) {
+                    continue;
+                }
+
                 // Don't create navedges that would cross through and thus
                 // infringe joins of navnodes outwards of them.
                 if maybe_lowest_join.is_some_and(|lowest_join| {
@@ -550,6 +565,36 @@ impl Navmesh {
         })
     }
 
+    fn is_binavnode_behind_binavnode_endpoint_rays(
+        layout: &Layout<impl AccessRules>,
+        binavnode_with_arms: BinavnodeNodeIndex,
+        checked_binavnode: BinavnodeNodeIndex,
+    ) -> bool {
+        let BinavnodeNodeIndex::LooseBend(bend_with_arms) = binavnode_with_arms else {
+            return false;
+        };
+
+        let checked_center = match checked_binavnode {
+            BinavnodeNodeIndex::FixedDot(dot) => {
+                // FIXME: This has a lot of false positives, so we return false instead.
+                return false;
+                //dot.primitive_ref(layout.drawing()).shape().center()
+            }
+            BinavnodeNodeIndex::LooseBend(bend) => {
+                bend.primitive_ref(layout.drawing()).shape().center()
+            }
+            _ => unreachable!(),
+        };
+
+        let PrimitiveShape::Bend(bend_with_arms_shape) =
+            bend_with_arms.primitive_ref(layout.drawing()).shape()
+        else {
+            unreachable!();
+        };
+
+        bend_with_arms_shape.between_tangent_rays(checked_center)
+    }
+
     /// Returns the origin node.
     pub fn origin(&self) -> FixedDotIndex {
         self.origin