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feat(router/navmesh): Make sure there are quadrinavedges for each trianedge 

The problems I noticed in 8095b700167c7445b0bd7c55991f0b6b1c7e2f3d are
resolved now.
This commit is contained in:
Mikolaj Wielgus 2025-07-05 02:08:02 +02:00 committed by mikolaj
parent 3e322d7b34
commit 5fbb226d08
1 changed files with 43 additions and 13 deletions
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56
src/router/navmesh.rs
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@ -355,7 +355,7 @@ impl Navmesh {
Into::<GearIndex>::into(Into::<BinavnodeNodeIndex>::into(trianvertex)); Into::<GearIndex>::into(Into::<BinavnodeNodeIndex>::into(trianvertex));
if options.squeeze_through_under_bends { if options.squeeze_through_under_bends {
Self::add_node_to_graph_and_map_as_binavnode( Self::add_trianvertex_to_graph_and_map_as_binavnode(
&mut graph, &mut graph,
&mut map, &mut map,
trianvertex, trianvertex,
@ -364,7 +364,7 @@ impl Navmesh {
if options.wrap_around_bands { if options.wrap_around_bands {
while let Some(bend) = gear.ref_(layout.drawing()).next_gear() { while let Some(bend) = gear.ref_(layout.drawing()).next_gear() {
Self::add_node_to_graph_and_map_as_binavnode( Self::add_trianvertex_to_graph_and_map_as_binavnode(
&mut graph, &mut graph,
&mut map, &mut map,
trianvertex, trianvertex,
@ -381,14 +381,14 @@ impl Navmesh {
gear = bend.into(); gear = bend.into();
} }
Self::add_node_to_graph_and_map_as_binavnode( Self::add_trianvertex_to_graph_and_map_as_binavnode(
&mut graph, &mut graph,
&mut map, &mut map,
trianvertex, trianvertex,
bend.into(), bend.into(),
); );
} else { } else {
Self::add_node_to_graph_and_map_as_binavnode( Self::add_trianvertex_to_graph_and_map_as_binavnode(
&mut graph, &mut graph,
&mut map, &mut map,
trianvertex, trianvertex,
@ -399,14 +399,28 @@ impl Navmesh {
} }
for edge in triangulation.edge_references() { for edge in triangulation.edge_references() {
for (from_navnode1, from_navnode2) in map[&edge.source()].iter() { Self::add_trianedge_to_graph_as_quadrinavedge(
for (to_navnode1, to_navnode2) in map[&edge.target()].iter() { &mut graph,
graph.update_edge(*from_navnode1, *to_navnode1, ()); &map,
graph.update_edge(*from_navnode1, *to_navnode2, ()); edge.source(),
graph.update_edge(*from_navnode2, *to_navnode1, ()); edge.target(),
graph.update_edge(*from_navnode2, *to_navnode2, ()); );
} }
}
// The existence of a constraint edge does not (!) guarantee that this
// edge exactly will be present in the triangulation. It appears that
// Spade splits a constraint edge into two if an endpoint of another
// constraint lies on it.
//
// So now we go over all the constraints and make sure that
// quadrinavedges exist for every one of them.
for constraint in constraints.iter() {
Self::add_trianedge_to_graph_as_quadrinavedge(
&mut graph,
&map,
constraint.0.node,
constraint.1.node,
);
} }
Ok(Self { Ok(Self {
@ -420,7 +434,7 @@ impl Navmesh {
}) })
} }
fn add_node_to_graph_and_map_as_binavnode( fn add_trianvertex_to_graph_and_map_as_binavnode(
graph: &mut UnGraph<NavnodeWeight, (), usize>, graph: &mut UnGraph<NavnodeWeight, (), usize>,
map: &mut BTreeMap<TrianvertexNodeIndex, Vec<(NodeIndex<usize>, NodeIndex<usize>)>>, map: &mut BTreeMap<TrianvertexNodeIndex, Vec<(NodeIndex<usize>, NodeIndex<usize>)>>,
trianvertex: TrianvertexNodeIndex, trianvertex: TrianvertexNodeIndex,
@ -441,6 +455,22 @@ impl Navmesh {
.push((navnode1, navnode2)); .push((navnode1, navnode2));
} }
fn add_trianedge_to_graph_as_quadrinavedge(
graph: &mut UnGraph<NavnodeWeight, (), usize>,
map: &BTreeMap<TrianvertexNodeIndex, Vec<(NodeIndex<usize>, NodeIndex<usize>)>>,
from_trianvertex: TrianvertexNodeIndex,
to_trianvertex: TrianvertexNodeIndex,
) {
for (from_navnode1, from_navnode2) in map[&from_trianvertex].iter() {
for (to_navnode1, to_navnode2) in map[&to_trianvertex].iter() {
graph.update_edge(*from_navnode1, *to_navnode1, ());
graph.update_edge(*from_navnode1, *to_navnode2, ());
graph.update_edge(*from_navnode2, *to_navnode1, ());
graph.update_edge(*from_navnode2, *to_navnode2, ());
}
}
}
/// Returns the origin node. /// Returns the origin node.
pub fn origin(&self) -> FixedDotIndex { pub fn origin(&self) -> FixedDotIndex {
self.origin self.origin