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refactor(router/navmesh): Factor out some repeating code

This commit is contained in:
Mikolaj Wielgus 2025-07-08 01:29:40 +02:00 committed by mikolaj
parent ebd115c3dd
commit 9742740b9e
2 changed files with 114 additions and 79 deletions
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6
crates/topola-egui/src/viewport.rs
View File

@ -24,7 +24,7 @@ use topola::{
layout::poly::MakePolygon,
math::{Circle, RotationSense},
router::{
navmesh::{BinavnodeNodeIndex, NavnodeIndex},
navmesh::{BinavnodeNodeIndex, NavmeshTriangulationConstraint, NavnodeIndex},
ng::pie,
},
};
@ -443,7 +443,9 @@ impl Viewport {
if let Some(thetastar) = activity.maybe_thetastar() {
let navmesh = thetastar.graph();
for (from_weight, to_weight) in navmesh.constraints() {
for NavmeshTriangulationConstraint(from_weight, to_weight) in
navmesh.constraints()
{
let from = from_weight.pos + [100.0, 100.0].into();
let to = to_weight.pos + [100.0, 100.0].into();

187
src/router/navmesh.rs
View File

@ -27,6 +27,7 @@ use crate::{
graph::{GetMaybeNet, MakePrimitive, PrimitiveIndex},
primitive::{GetCore, GetJoints, MakePrimitiveShape, Primitive},
rules::AccessRules,
seg::{FixedSegIndex, LoneLooseSegIndex, SegIndex, SeqLooseSegIndex},
Drawing,
},
geometry::{shape::AccessShape, GetLayer},
@ -107,12 +108,28 @@ impl From<TrianvertexNodeIndex> for BinavnodeNodeIndex {
}
}
#[derive(Debug, Clone)]
#[derive(Debug, Clone, Copy)]
pub struct TrianvertexWeight {
pub node: TrianvertexNodeIndex,
pub pos: Point,
}
impl TrianvertexWeight {
fn new_from_fixed_dot(layout: &Layout<impl AccessRules>, dot: FixedDotIndex) -> Self {
Self {
node: dot.into(),
pos: dot.primitive(layout.drawing()).shape().center(),
}
}
fn new_from_fixed_bend(layout: &Layout<impl AccessRules>, bend: FixedBendIndex) -> Self {
Self {
node: bend.into(),
pos: bend.primitive(layout.drawing()).shape().center(),
}
}
}
impl GetTrianvertexNodeIndex<TrianvertexNodeIndex> for TrianvertexWeight {
fn node_index(&self) -> TrianvertexNodeIndex {
self.node
@ -126,6 +143,49 @@ impl HasPosition for TrianvertexWeight {
}
}
#[derive(Clone)]
pub struct NavmeshTriangulationConstraint(pub TrianvertexWeight, pub TrianvertexWeight);
impl NavmeshTriangulationConstraint {
fn new_from_fixed_dot_pair(
layout: &Layout<impl AccessRules>,
from_dot: FixedDotIndex,
to_dot: FixedDotIndex,
) -> Self {
Self(
TrianvertexWeight::new_from_fixed_dot(layout, from_dot),
TrianvertexWeight::new_from_fixed_dot(layout, to_dot),
)
}
fn new_from_lone_loose_seg(layout: &Layout<impl AccessRules>, seg: LoneLooseSegIndex) -> Self {
let (from_dot, to_dot) = layout.drawing().primitive(seg).joints();
Self::new_from_fixed_dot_pair(layout, from_dot, to_dot)
}
fn new_from_seq_loose_seg(layout: &Layout<impl AccessRules>, seg: SeqLooseSegIndex) -> Self {
let (from_joint, to_joint) = layout.drawing().primitive(seg).joints();
let from_dot = match from_joint {
DotIndex::Fixed(dot) => dot,
DotIndex::Loose(dot) => {
let bend = layout.drawing().primitive(dot).bend();
layout.drawing().primitive(bend).core()
}
};
let to_bend = layout.drawing().primitive(to_joint).bend();
let to_dot = layout.drawing().primitive(to_bend).core();
Self::new_from_fixed_dot_pair(layout, from_dot, to_dot)
}
fn new_from_fixed_seg(layout: &Layout<impl AccessRules>, seg: FixedSegIndex) -> Self {
let (from_dot, to_dot) = layout.drawing().primitive(seg).joints();
Self::new_from_fixed_dot_pair(layout, from_dot, to_dot)
}
}
/// The terms "navnode" and "navmesh vertex", "navmesh node", "navigation
/// vertex", "navigation node" are all equivalent.
///
@ -148,6 +208,8 @@ pub enum NavmeshError {
Insertion(#[from] InsertionError),
}
type NavmeshTriangulation = Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>;
/// The navmesh holds the entire Topola's search space represented as a graph.
/// Topola's routing works by navigating over this graph with a pathfinding
/// algorithm such as A* while drawing a track segment (always a cane except
@ -169,10 +231,10 @@ pub struct Navmesh {
/// Original triangulation stored for debugging purposes.
// XXX: Maybe have a way to compile this out in release?
triangulation: Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>,
triangulation: NavmeshTriangulation,
// Original triangulation constraints stored for debugging purposes.
// XXX: Maybe have a way to compile this out in release?
constraints: Vec<(TrianvertexWeight, TrianvertexWeight)>,
constraints: Vec<NavmeshTriangulationConstraint>,
}
impl Navmesh {
@ -183,8 +245,8 @@ impl Navmesh {
destination: FixedDotIndex,
options: RouterOptions,
) -> Result<Self, NavmeshError> {
let mut triangulation: Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()> =
Triangulation::new(layout.drawing().geometry().graph().node_bound());
let mut triangulation: NavmeshTriangulation =
NavmeshTriangulation::new(layout.drawing().geometry().graph().node_bound());
let mut constraints = vec![];
let layer = layout.drawing().primitive(origin).layer();
@ -200,62 +262,28 @@ impl Navmesh {
{
match node {
PrimitiveIndex::FixedDot(dot) => {
triangulation.add_vertex(TrianvertexWeight {
node: dot.into(),
pos: primitive.shape().center(),
})?;
triangulation
.add_vertex(TrianvertexWeight::new_from_fixed_dot(layout, dot))?;
}
PrimitiveIndex::LoneLooseSeg(seg) => {
let (from_dot, to_dot) = layout.drawing().primitive(seg).joints();
let (from_weight, to_weight) = (
TrianvertexWeight {
node: from_dot.into(),
pos: from_dot.primitive(layout.drawing()).shape().center(),
},
TrianvertexWeight {
node: to_dot.into(),
pos: to_dot.primitive(layout.drawing()).shape().center(),
},
);
triangulation
.add_constraint_edge(from_weight.clone(), to_weight.clone())?;
constraints.push((from_weight, to_weight));
Self::add_constraint(
&mut triangulation,
&mut constraints,
NavmeshTriangulationConstraint::new_from_lone_loose_seg(
layout, seg,
),
)?;
}
PrimitiveIndex::SeqLooseSeg(seg) => {
let (from_joint, to_joint) = layout.drawing().primitive(seg).joints();
let from_dot = match from_joint {
DotIndex::Fixed(dot) => dot,
DotIndex::Loose(dot) => {
let bend = layout.drawing().primitive(dot).bend();
layout.drawing().primitive(bend).core()
}
};
let to_bend = layout.drawing().primitive(to_joint).bend();
let to_dot = layout.drawing().primitive(to_bend).core();
let (from_weight, to_weight) = (
TrianvertexWeight {
node: from_dot.into(),
pos: from_dot.primitive(layout.drawing()).shape().center(),
},
TrianvertexWeight {
node: to_dot.into(),
pos: to_dot.primitive(layout.drawing()).shape().center(),
},
);
triangulation
.add_constraint_edge(from_weight.clone(), to_weight.clone())?;
constraints.push((from_weight, to_weight));
Self::add_constraint(
&mut triangulation,
&mut constraints,
NavmeshTriangulationConstraint::new_from_seq_loose_seg(layout, seg),
)?;
}
PrimitiveIndex::FixedBend(bend) => {
triangulation.add_vertex(TrianvertexWeight {
node: bend.into(),
pos: primitive.shape().center(),
})?;
triangulation
.add_vertex(TrianvertexWeight::new_from_fixed_bend(layout, bend))?;
}
_ => (),
}
@ -272,33 +300,28 @@ impl Navmesh {
|| Some(primitive_net) != maybe_net
{
// If you have a band that was routed from a polygonal pad,
// upon another routing some of the constraint edges created
// from the loose segs band will intersect some of the
// constraint edges created from the fixed segs constituting
// the pad boundary.
// when you will start a new routing some of the constraint
// edges created from the loose segs of a band will
// intersect some of the constraint edges created from the
// fixed segs constituting the pad boundary.
//
// Such constraint intersections are erroneous and cause
// Spade to throw a panic at runtime. So, to prevent this
// from occuring, we iterate over the layout for the second
// time, after all the constraint edges from bands have
// been placed, and only then add constraint edges created
// from fixed segs, but only ones that do not cause an
// intersection.
// time, after all the constraint edges from bands have been
// placed, and only then add constraint edges created from
// fixed segs that do not cause an intersection.
match node {
PrimitiveIndex::FixedSeg(seg) => {
let (from_dot, to_dot) = layout.drawing().primitive(seg).joints();
let constraint =
NavmeshTriangulationConstraint::new_from_fixed_seg(layout, seg);
let from_weight = TrianvertexWeight {
node: from_dot.into(),
pos: from_dot.primitive(layout.drawing()).shape().center(),
};
let to_weight = TrianvertexWeight {
node: to_dot.into(),
pos: to_dot.primitive(layout.drawing()).shape().center(),
};
if !triangulation.intersects_constraint(&from_weight, &to_weight) {
triangulation.add_constraint_edge(from_weight, to_weight)?;
if !triangulation.intersects_constraint(&constraint.0, &constraint.1) {
Self::add_constraint(
&mut triangulation,
&mut constraints,
constraint,
);
}
}
_ => (),
@ -317,12 +340,22 @@ impl Navmesh {
)
}
fn add_constraint(
triangulation: &mut NavmeshTriangulation,
constraints: &mut Vec<NavmeshTriangulationConstraint>,
constraint: NavmeshTriangulationConstraint,
) -> Result<(), InsertionError> {
triangulation.add_constraint_edge(constraint.0, constraint.1)?;
constraints.push(constraint);
Ok(())
}
fn new_from_triangulation(
layout: &Layout<impl AccessRules>,
triangulation: Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>,
triangulation: NavmeshTriangulation,
origin: FixedDotIndex,
destination: FixedDotIndex,
constraints: Vec<(TrianvertexWeight, TrianvertexWeight)>,
constraints: Vec<NavmeshTriangulationConstraint>,
options: RouterOptions,
) -> Result<Self, NavmeshError> {
let mut graph: UnGraph<NavnodeWeight, (), usize> = UnGraph::default();