Route to goal immediately if a straight path exists at any vertex

src/main.rs

@@ -23,7 +23,7 @@ mod rules;
 mod segbend;
 mod shape;
 
-use graph::{Tag, TaggedIndex};
+use graph::{SegWeight, Tag, TaggedIndex};
 use layout::Layout;
 use mesh::{MeshEdgeReference, VertexIndex};
 use route::Route;
@@ -224,7 +224,7 @@ fn main() {
         })
         .unwrap();
 
-    let _barrier2_dot1 = router
+    let barrier2_dot1 = router
         .layout
         .add_dot(DotWeight {
             net: 20,
@@ -234,7 +234,7 @@ fn main() {
             },
         })
         .unwrap();
-    let _barrier2_dot2 = router
+    let barrier2_dot2 = router
         .layout
         .add_dot(DotWeight {
             net: 20,
@@ -244,20 +244,20 @@ fn main() {
             },
         })
         .unwrap();
-    /*let _ = router.layout.add_seg(
+    let _ = router.layout.add_seg(
         barrier2_dot1,
         barrier2_dot2,
         SegWeight {
             net: 20,
             width: 16.0,
         },
-    );*/
+    );
 
     /*let head = router.draw_start(dot5);
     let head = router.draw_around_dot(head, dot6, false, 5.0).unwrap();
     let _ = router.draw_finish(head, dot7, 5.0);*/
 
-    router.enroute(
+    let _ = router.enroute(
         dot1_1,
         dot1_2,
         DebugRouteStrategy::new(DefaultRouteStrategy::new(), &mut event_pump, &mut canvas),

src/router.rs

@@ -71,7 +71,7 @@ impl<'a, RS: RouteStrategy> AstarStrategy<&Mesh, u64> for RouterAstarStrategy<'a
     fn reroute(&mut self, vertex: VertexIndex, tracker: &PathTracker<&Mesh>) -> Option<u64> {
         let new_path = tracker.reconstruct_path_to(vertex);
 
-        if vertex == self.to {
+        /*if vertex == self.to {
             self.route
                 .rework_path(&mut self.trace, &new_path[..new_path.len() - 1], 5.0)
                 .ok();
@@ -79,10 +79,16 @@ impl<'a, RS: RouteStrategy> AstarStrategy<&Mesh, u64> for RouterAstarStrategy<'a
                 .finish(&mut self.trace, new_path[new_path.len() - 1], 5.0)
                 .ok();
             None
-        } else {
+        } else {*/
+        //}
+
         self.route.rework_path(&mut self.trace, &new_path, 5.0).ok();
-            Some(self.strategy.route_cost(&self.route, &new_path))
+
+        if self.route.finish(&mut self.trace, self.to, 5.0).is_ok() {
+            return None;
         }
+
+        Some(self.strategy.route_cost(&self.route, &new_path))
     }
 
     fn edge_cost(&mut self, edge: MeshEdgeReference) -> u64 {

src/shape.rs

@@ -2,7 +2,6 @@ use enum_as_inner::EnumAsInner;
 use geo::{point, polygon, EuclideanDistance, Intersects, Point, Polygon, Rotate};
 use rstar::{RTreeObject, AABB};
 
-
 use crate::math::{self, Circle};
 
 #[derive(Debug, Clone, Copy, PartialEq)]
@@ -101,8 +100,8 @@ impl Shape {
     fn priority(&self) -> i64 {
         match self {
             Shape::Dot(..) => 3,
-            Shape::Bend(..) => 2,
-            Shape::Seg(..) => 1,
+            Shape::Seg(..) => 2,
+            Shape::Bend(..) => 1,
         }
     }