router: store every vertex (fails tests but almost functional)

Previously, rail vertices were not stored but generated on demand from
data stored in a `Triangulation<...>`. This functionality is removed in
favor of storing every vertex in `Navmesh`'s own graph built from the
`Triangulation<...>`, which is now afterwards discarded.

Tests still fail and rails aren't added yet, but this is close enough to
completion for me to commit so that I can now go to sleep without
worrying.

src/bin/topola-egui/app.rs

@@ -33,7 +33,7 @@ use topola::{
     math::Circle,
     router::{
         draw::DrawException,
-        navmesh::{Navmesh, NavmeshEdgeReference, NavvertexNodeIndex},
+        navmesh::{BinavvertexNodeIndex, Navmesh},
         tracer::{Trace, Tracer},
     },
     specctra::{design::SpecctraDesign, mesadata::SpecctraMesadata},
@@ -49,7 +49,7 @@ pub struct SharedData {
     pub from: Option<FixedDotIndex>,
     pub to: Option<FixedDotIndex>,
     pub navmesh: Option<Navmesh>,
-    pub path: Vec<NavvertexNodeIndex>,
+    pub path: Vec<BinavvertexNodeIndex>,
     pub ghosts: Vec<PrimitiveShape>,
     pub highlighteds: Vec<PrimitiveIndex>,
 }

src/bin/topola-egui/viewport.rs

@@ -5,7 +5,10 @@ use petgraph::visit::{EdgeRef, IntoEdgeReferences};
 use topola::{
     autorouter::invoker::{Command, Invoker},
     board::mesadata::MesadataTrait,
-    drawing::{graph::MakePrimitive, primitive::MakePrimitiveShape},
+    drawing::{
+        graph::{MakePrimitive, PrimitiveIndex},
+        primitive::MakePrimitiveShape,
+    },
     geometry::{shape::ShapeTrait, GenericNode},
     layout::{via::ViaWeight, zone::MakePolyShape},
     math::Circle,
@@ -165,14 +168,12 @@ impl Viewport {
                         }
 
                         if let Some(navmesh) = &shared_data.navmesh {
-                            for edge in navmesh.edge_references() {
+                            for edge in navmesh.graph().edge_references() {
-                                let from = edge
+                                let from = PrimitiveIndex::from(navmesh.graph().node_weight(edge.source()).unwrap().node)
-                                    .source()
                                     .primitive(board.layout().drawing())
                                     .shape()
                                     .center();
-                                let to = edge
+                                let to = PrimitiveIndex::from(navmesh.graph().node_weight(edge.target()).unwrap().node)
-                                    .target()
                                     .primitive(board.layout().drawing())
                                     .shape()
                                     .center();
@@ -182,11 +183,11 @@ impl Viewport {
                                         shared_data
                                             .path
                                             .iter()
-                                            .position(|node| *node == edge.source()),
+                                            .position(|node| *node == navmesh.graph().node_weight(edge.source()).unwrap().node),
                                         shared_data
                                             .path
                                             .iter()
-                                            .position(|node| *node == edge.target()),
+                                            .position(|node| *node == navmesh.graph().node_weight(edge.target()).unwrap().node),
                                     ) {
                                         if target_pos == source_pos + 1
                                             || source_pos == target_pos + 1

src/router/astar.rs

@@ -101,9 +101,9 @@ where
     K: Measure + Copy,
     G::NodeId: Eq + Hash,
 {
-    fn is_goal(&mut self, node: G::NodeId, tracker: &PathTracker<G>) -> Option<R>;
+    fn is_goal(&mut self, graph: &G, node: G::NodeId, tracker: &PathTracker<G>) -> Option<R>;
-    fn edge_cost(&mut self, edge: G::EdgeRef) -> Option<K>;
+    fn edge_cost(&mut self, graph: &G, edge: G::EdgeRef) -> Option<K>;
-    fn estimate_cost(&mut self, node: G::NodeId) -> K;
+    fn estimate_cost(&mut self, graph: &G, node: G::NodeId) -> K;
 }
 
 pub struct Astar<G, K>
@@ -153,7 +153,7 @@ where
         let zero_score = K::default();
         this.scores.insert(start, zero_score);
         this.visit_next
-            .push(MinScored(strategy.estimate_cost(start), start));
+            .push(MinScored(strategy.estimate_cost(&&graph, start), start));
         this
     }
 
@@ -165,7 +165,7 @@ where
             return Err(AstarError::NotFound);
         };
 
-        if let Some(result) = strategy.is_goal(node, &self.path_tracker) {
+        if let Some(result) = strategy.is_goal(&self.graph, node, &self.path_tracker) {
             let path = self.path_tracker.reconstruct_path_to(node);
             let cost = self.scores[&node];
             return Ok(AstarStatus::Finished(cost, path, result));
@@ -190,7 +190,7 @@ where
         }
 
         for edge in self.graph.edges(node) {
-            if let Some(edge_cost) = strategy.edge_cost(edge) {
+            if let Some(edge_cost) = strategy.edge_cost(&self.graph, edge) {
                 let next = edge.target();
                 let next_score = node_score + edge_cost;
 
@@ -209,7 +209,7 @@ where
                 }
 
                 self.path_tracker.set_predecessor(next, node);
-                let next_estimate_score = next_score + strategy.estimate_cost(next);
+                let next_estimate_score = next_score + strategy.estimate_cost(&self.graph, next);
                 self.visit_next.push(MinScored(next_estimate_score, next));
             }
         }

src/router/navmesh.rs

@@ -1,37 +1,46 @@
-use std::iter;
-
 use enum_dispatch::enum_dispatch;
 use geo::Point;
-use itertools::Itertools;
+use petgraph::{
-use petgraph::visit::{self, NodeIndexable};
+    graph::UnGraph,
-use petgraph::{stable_graph::NodeIndex, visit::EdgeRef};
+    stable_graph::NodeIndex,
+    visit::{IntoNodeIdentifiers, NodeIndexable},
+};
 use spade::{HasPosition, InsertionError, Point2};
 use thiserror::Error;
 
-use crate::drawing::graph::{GetLayer, GetMaybeNet};
-use crate::geometry::shape::ShapeTrait;
 use crate::{
     drawing::{
         bend::{FixedBendIndex, LooseBendIndex},
         dot::FixedDotIndex,
-        graph::{MakePrimitive, PrimitiveIndex},
+        graph::{GetLayer, GetMaybeNet, MakePrimitive, PrimitiveIndex},
-        primitive::{GetCore, MakePrimitiveShape, Primitive},
+        primitive::{MakePrimitiveShape, Primitive},
         rules::RulesTrait,
         Drawing,
     },
+    geometry::shape::ShapeTrait,
     graph::GetPetgraphIndex,
     layout::Layout,
-    triangulation::{GetTrianvertexNodeIndex, Triangulation, TriangulationEdgeReference},
+    triangulation::{GetTrianvertexNodeIndex, Triangulation},
 };
 
 #[enum_dispatch(GetPetgraphIndex, MakePrimitive)]
 #[derive(Debug, Hash, Clone, Copy, PartialEq, Eq)]
-pub enum NavvertexNodeIndex {
+pub enum BinavvertexNodeIndex {
     FixedDot(FixedDotIndex),
     FixedBend(FixedBendIndex),
     LooseBend(LooseBendIndex),
 }
 
+impl From<BinavvertexNodeIndex> for PrimitiveIndex {
+    fn from(vertex: BinavvertexNodeIndex) -> Self {
+        match vertex {
+            BinavvertexNodeIndex::FixedDot(dot) => PrimitiveIndex::FixedDot(dot),
+            BinavvertexNodeIndex::FixedBend(bend) => PrimitiveIndex::FixedBend(bend),
+            BinavvertexNodeIndex::LooseBend(bend) => PrimitiveIndex::LooseBend(bend),
+        }
+    }
+}
+
 #[enum_dispatch(GetPetgraphIndex, MakePrimitive)]
 #[derive(Debug, Hash, Clone, Copy, PartialEq, Eq)]
 enum TrianvertexNodeIndex {
@@ -39,30 +48,19 @@ enum TrianvertexNodeIndex {
     FixedBend(FixedBendIndex),
 }
 
-impl From<NavvertexNodeIndex> for PrimitiveIndex {
+impl From<TrianvertexNodeIndex> for BinavvertexNodeIndex {
-    fn from(vertex: NavvertexNodeIndex) -> Self {
-        match vertex {
-            NavvertexNodeIndex::FixedDot(dot) => PrimitiveIndex::FixedDot(dot),
-            NavvertexNodeIndex::FixedBend(bend) => PrimitiveIndex::FixedBend(bend),
-            NavvertexNodeIndex::LooseBend(bend) => PrimitiveIndex::LooseBend(bend),
-        }
-    }
-}
-
-impl From<TrianvertexNodeIndex> for NavvertexNodeIndex {
     fn from(vertex: TrianvertexNodeIndex) -> Self {
         match vertex {
-            TrianvertexNodeIndex::FixedDot(dot) => NavvertexNodeIndex::FixedDot(dot),
+            TrianvertexNodeIndex::FixedDot(dot) => BinavvertexNodeIndex::FixedDot(dot),
-            TrianvertexNodeIndex::FixedBend(bend) => NavvertexNodeIndex::FixedBend(bend),
+            TrianvertexNodeIndex::FixedBend(bend) => BinavvertexNodeIndex::FixedBend(bend),
         }
     }
 }
 
 #[derive(Debug, Clone)]
 struct TrianvertexWeight {
-    node: TrianvertexNodeIndex,
+    pub node: TrianvertexNodeIndex,
-    rails: Vec<LooseBendIndex>,
+    pub pos: Point,
-    pos: Point,
 }
 
 impl GetTrianvertexNodeIndex<TrianvertexNodeIndex> for TrianvertexWeight {
@@ -79,11 +77,8 @@ impl HasPosition for TrianvertexWeight {
 }
 
 #[derive(Debug, Clone)]
-pub struct Navmesh {
+pub struct NavvertexWeight {
-    triangulation: Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>,
+    pub node: BinavvertexNodeIndex,
-    navvertex_to_trianvertex: Vec<Option<TrianvertexNodeIndex>>,
-    source: FixedDotIndex,
-    target: FixedDotIndex,
 }
 
 #[derive(Error, Debug, Clone)]
@@ -92,20 +87,23 @@ pub enum NavmeshError {
     Insertion(#[from] InsertionError),
 }
 
+#[derive(Debug, Clone)]
+pub struct Navmesh {
+    graph: UnGraph<NavvertexWeight, (), usize>,
+    source: FixedDotIndex,
+    source_vertex: NodeIndex<usize>,
+    target: FixedDotIndex,
+    target_vertex: NodeIndex<usize>,
+}
+
 impl Navmesh {
     pub fn new(
         layout: &Layout<impl RulesTrait>,
         source: FixedDotIndex,
         target: FixedDotIndex,
     ) -> Result<Self, NavmeshError> {
-        let mut this = Self {
+        let mut triangulation: Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()> =
-            triangulation: Triangulation::new(layout.drawing().geometry().graph().node_bound()),
+            Triangulation::new(layout.drawing().geometry().graph().node_bound());
-            navvertex_to_trianvertex: Vec::new(),
-            source,
-            target,
-        };
-        this.navvertex_to_trianvertex
-            .resize(layout.drawing().geometry().graph().node_bound(), None);
 
         let layer = layout.drawing().primitive(source).layer();
         let maybe_net = layout.drawing().primitive(source).maybe_net();
@@ -120,16 +118,14 @@ impl Navmesh {
                 {
                     match node {
                         PrimitiveIndex::FixedDot(dot) => {
-                            this.triangulation.add_vertex(TrianvertexWeight {
+                            triangulation.add_vertex(TrianvertexWeight {
                                 node: dot.into(),
-                                rails: vec![],
                                 pos: primitive.shape().center(),
                             })?;
                         }
                         PrimitiveIndex::FixedBend(bend) => {
-                            this.triangulation.add_vertex(TrianvertexWeight {
+                            triangulation.add_vertex(TrianvertexWeight {
                                 node: bend.into(),
-                                rails: vec![],
                                 pos: primitive.shape().center(),
                             })?;
                         }
@@ -139,185 +135,48 @@ impl Navmesh {
             }
         }
 
-        for node in layout.drawing().layer_primitive_nodes(layer) {
+        let mut graph: UnGraph<NavvertexWeight, (), usize> = UnGraph::default();
-            // Add rails as vertices. This is how the navmesh differs from the triangulation.
+        let mut source_vertex = None;
-            match node {
+        let mut target_vertex = None;
-                PrimitiveIndex::LooseBend(bend) => {
+
-                    this.triangulation
+        for trianvertex in triangulation.node_identifiers() {
-                        .weight_mut(layout.drawing().primitive(bend).core().into())
+            let navvertex = graph.add_node(NavvertexWeight {
-                        .rails
+                node: trianvertex.into(),
-                        .push(bend.into());
+            });
-                    this.navvertex_to_trianvertex[bend.petgraph_index().index()] =
+
-                        Some(layout.drawing().primitive(bend).core().into());
+            if trianvertex == source.into() {
-                }
+                source_vertex = Some(navvertex);
-                _ => (),
+            } else if trianvertex == target.into() {
+                target_vertex = Some(navvertex);
             }
         }
 
-        Ok(this)
+        Ok(Self {
+            graph,
+            source,
+            source_vertex: source_vertex.unwrap(),
+            target,
+            target_vertex: target_vertex.unwrap(),
+        })
     }
 
-    fn trianvertex(&self, vertex: NavvertexNodeIndex) -> TrianvertexNodeIndex {
+    pub fn graph(&self) -> &UnGraph<NavvertexWeight, (), usize> {
-        match vertex {
+        &self.graph
-            NavvertexNodeIndex::FixedDot(dot) => TrianvertexNodeIndex::FixedDot(dot),
-            NavvertexNodeIndex::FixedBend(bend) => TrianvertexNodeIndex::FixedBend(bend),
-            NavvertexNodeIndex::LooseBend(bend) => {
-                self.navvertex_to_trianvertex[bend.petgraph_index().index()].unwrap()
-            }
-        }
     }
 
     pub fn source(&self) -> FixedDotIndex {
         self.source
     }
 
+    pub fn source_vertex(&self) -> NodeIndex<usize> {
+        self.source_vertex
+    }
+
     pub fn target(&self) -> FixedDotIndex {
         self.target
     }
-}
 
-impl visit::GraphBase for Navmesh {
+    pub fn target_vertex(&self) -> NodeIndex<usize> {
-    type NodeId = NavvertexNodeIndex;
+        self.target_vertex
-    type EdgeId = (NavvertexNodeIndex, NavvertexNodeIndex);
-}
-
-impl visit::Data for Navmesh {
-    type NodeWeight = ();
-    type EdgeWeight = ();
-}
-
-#[derive(Debug, Clone, Copy)]
-pub struct NavmeshEdgeReference {
-    from: NavvertexNodeIndex,
-    to: NavvertexNodeIndex,
-}
-
-impl visit::EdgeRef for NavmeshEdgeReference {
-    type NodeId = NavvertexNodeIndex;
-    type EdgeId = (NavvertexNodeIndex, NavvertexNodeIndex);
-    type Weight = ();
-
-    fn source(&self) -> Self::NodeId {
-        self.from
-    }
-
-    fn target(&self) -> Self::NodeId {
-        self.to
-    }
-
-    fn weight(&self) -> &Self::Weight {
-        &()
-    }
-
-    fn id(&self) -> Self::EdgeId {
-        (self.from, self.to)
-    }
-}
-
-impl<'a> visit::IntoNeighbors for &'a Navmesh {
-    type Neighbors = Box<dyn Iterator<Item = NavvertexNodeIndex> + 'a>;
-
-    fn neighbors(self, vertex: Self::NodeId) -> Self::Neighbors {
-        Box::new(
-            self.triangulation
-                .neighbors(self.trianvertex(vertex))
-                .flat_map(|neighbor| {
-                    iter::once(neighbor.into()).chain(
-                        self.triangulation
-                            .weight(neighbor)
-                            .rails
-                            .iter()
-                            .map(|index| NavvertexNodeIndex::from(*index)),
-                    )
-                }),
-        )
-    }
-}
-
-fn edge_with_near_edges(
-    triangulation: &Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>,
-    edge: TriangulationEdgeReference<TrianvertexNodeIndex, ()>,
-) -> impl Iterator<Item = NavmeshEdgeReference> {
-    let mut from_vertices = vec![edge.source().into()];
-
-    // Append rails to the source.
-    from_vertices.extend(
-        triangulation
-            .weight(edge.source())
-            .rails
-            .iter()
-            .map(|bend| NavvertexNodeIndex::from(*bend)),
-    );
-
-    let mut to_vertices = vec![edge.target().into()];
-
-    // Append rails to the target.
-    to_vertices.extend(
-        triangulation
-            .weight(edge.target())
-            .rails
-            .iter()
-            .map(|bend| NavvertexNodeIndex::from(*bend)),
-    );
-
-    // Return cartesian product.
-    from_vertices
-        .into_iter()
-        .cartesian_product(to_vertices.into_iter())
-        .map(|pair| NavmeshEdgeReference {
-            from: pair.0,
-            to: pair.1.into(),
-        })
-}
-
-impl<'a> visit::IntoEdgeReferences for &'a Navmesh {
-    type EdgeRef = NavmeshEdgeReference;
-    type EdgeReferences = Box<dyn Iterator<Item = NavmeshEdgeReference> + 'a>;
-
-    fn edge_references(self) -> Self::EdgeReferences {
-        Box::new(
-            self.triangulation
-                .edge_references()
-                .flat_map(move |edge| edge_with_near_edges(&self.triangulation, edge)),
-        )
-    }
-}
-
-fn vertex_edges(
-    triangulation: &Triangulation<TrianvertexNodeIndex, TrianvertexWeight, ()>,
-    from: NavvertexNodeIndex,
-    to: TrianvertexNodeIndex,
-) -> impl Iterator<Item = NavmeshEdgeReference> {
-    let from_vertices = vec![from];
-    let mut to_vertices = vec![to.into()];
-
-    // Append rails to the target.
-    to_vertices.extend(
-        triangulation
-            .weight(to)
-            .rails
-            .iter()
-            .map(|bend| NavvertexNodeIndex::from(*bend)),
-    );
-
-    // Return cartesian product.
-    from_vertices
-        .into_iter()
-        .cartesian_product(to_vertices.into_iter())
-        .map(|pair| NavmeshEdgeReference {
-            from: pair.0,
-            to: pair.1,
-        })
-}
-
-impl<'a> visit::IntoEdges for &'a Navmesh {
-    type Edges = Box<dyn Iterator<Item = NavmeshEdgeReference> + 'a>;
-
-    fn edges(self, vertex: Self::NodeId) -> Self::Edges {
-        Box::new(
-            self.triangulation
-                .edges(self.trianvertex(vertex))
-                .flat_map(move |edge| vertex_edges(&self.triangulation, vertex, edge.target())),
-        )
     }
 }

src/router/router.rs

@@ -1,5 +1,8 @@
 use geo::EuclideanDistance;
-use petgraph::visit::EdgeRef;
+use petgraph::{
+    graph::{EdgeReference, NodeIndex, UnGraph},
+    visit::EdgeRef,
+};
 use thiserror::Error;
 
 use crate::{
@@ -11,11 +14,12 @@ use crate::{
         rules::RulesTrait,
     },
     geometry::shape::ShapeTrait,
+    graph::GetPetgraphIndex,
     layout::Layout,
     router::{
         astar::{astar, AstarError, AstarStrategy, PathTracker},
         draw::DrawException,
-        navmesh::{Navmesh, NavmeshEdgeReference, NavmeshError, NavvertexNodeIndex},
+        navmesh::{BinavvertexNodeIndex, Navmesh, NavmeshError, NavvertexWeight},
         tracer::{Trace, Tracer},
     },
 };
@@ -35,55 +39,75 @@ pub struct Router<'a, R: RulesTrait> {
 struct RouterAstarStrategy<'a, R: RulesTrait> {
     tracer: Tracer<'a, R>,
     trace: Trace,
-    to: FixedDotIndex,
+    target: FixedDotIndex,
 }
 
 impl<'a, R: RulesTrait> RouterAstarStrategy<'a, R> {
-    pub fn new(tracer: Tracer<'a, R>, trace: Trace, to: FixedDotIndex) -> Self {
+    pub fn new(tracer: Tracer<'a, R>, trace: Trace, target: FixedDotIndex) -> Self {
-        Self { tracer, trace, to }
+        Self {
+            tracer,
+            trace,
+            target,
+        }
     }
 }
 
-impl<'a, R: RulesTrait> AstarStrategy<&Navmesh, f64, BandFirstSegIndex>
+impl<'a, R: RulesTrait> AstarStrategy<&UnGraph<NavvertexWeight, (), usize>, f64, BandFirstSegIndex>
     for RouterAstarStrategy<'a, R>
 {
     fn is_goal(
         &mut self,
-        vertex: NavvertexNodeIndex,
+        graph: &&UnGraph<NavvertexWeight, (), usize>,
-        tracker: &PathTracker<&Navmesh>,
+        vertex: NodeIndex<usize>,
+        tracker: &PathTracker<&UnGraph<NavvertexWeight, (), usize>>,
     ) -> Option<BandFirstSegIndex> {
         let new_path = tracker.reconstruct_path_to(vertex);
+        /*.into_iter()
+        .map(|ni| graph.node_weight(ni).unwrap().node)
+        .collect();*/
         let width = self.trace.width;
 
         self.tracer
-            .rework_path(&mut self.trace, &new_path, width)
+            .rework_path(*graph, &mut self.trace, &new_path[..], width)
             .unwrap();
 
-        self.tracer.finish(&mut self.trace, self.to, width).ok()
+        self.tracer
+            .finish(*graph, &mut self.trace, self.target, width)
+            .ok()
     }
 
-    fn edge_cost(&mut self, edge: NavmeshEdgeReference) -> Option<f64> {
+    fn edge_cost(
-        if edge.target() == self.to.into() {
+        &mut self,
+        graph: &&UnGraph<NavvertexWeight, (), usize>,
+        edge: EdgeReference<(), usize>,
+    ) -> Option<f64> {
+        if edge.target() == self.target.petgraph_index() {
             return None;
         }
 
         let before_probe_length = 0.0; //self.tracer.layout.band_length(self.trace.head.face());
 
         let width = self.trace.width;
-        let result = self.tracer.step(&mut self.trace, edge.target(), width);
+        let result = self
+            .tracer
+            .step(*graph, &mut self.trace, edge.target(), width);
 
         let probe_length = 0.0; //self.tracer.layout.band_length(self.trace.head.face());
 
         if result.is_ok() {
-            self.tracer.undo_step(&mut self.trace);
+            self.tracer.undo_step(*graph, &mut self.trace);
             Some(probe_length - before_probe_length)
         } else {
             None
         }
     }
 
-    fn estimate_cost(&mut self, vertex: NavvertexNodeIndex) -> f64 {
+    fn estimate_cost(
-        let start_point = PrimitiveIndex::from(vertex)
+        &mut self,
+        graph: &&UnGraph<NavvertexWeight, (), usize>,
+        vertex: NodeIndex<usize>,
+    ) -> f64 {
+        let start_point = PrimitiveIndex::from(graph.node_weight(vertex).unwrap().node)
             .primitive(self.tracer.layout.drawing())
             .shape()
             .center();
@@ -91,7 +115,7 @@ impl<'a, R: RulesTrait> AstarStrategy<&Navmesh, f64, BandFirstSegIndex>
             .tracer
             .layout
             .drawing()
-            .primitive(self.to)
+            .primitive(self.target)
             .shape()
             .center();
 
@@ -114,15 +138,18 @@ impl<'a, R: RulesTrait> Router<'a, R> {
     }
 
     pub fn route_band(&mut self, width: f64) -> Result<BandFirstSegIndex, RouterError> {
-        let from = self.navmesh.source();
-        let to = self.navmesh.target();
         let mut tracer = Tracer::new(self.layout);
-        let trace = tracer.start(from, width);
+        let trace = tracer.start(
+            self.navmesh.graph(),
+            self.navmesh.source(),
+            self.navmesh.source_vertex(),
+            width,
+        );
 
         let (_cost, _path, band) = astar(
-            &self.navmesh,
+            self.navmesh.graph(),
-            from.into(),
+            self.navmesh.source_vertex(),
-            &mut RouterAstarStrategy::new(tracer, trace, to),
+            &mut RouterAstarStrategy::new(tracer, trace, self.navmesh.target()),
         )?;
 
         Ok(band)

src/router/tracer.rs

@@ -1,23 +1,25 @@
-use contracts::debug_ensures;
+use contracts::{debug_ensures, debug_requires};
+use petgraph::graph::{NodeIndex, UnGraph};
 
 use crate::{
     drawing::{
         band::BandFirstSegIndex,
         bend::LooseBendIndex,
         dot::FixedDotIndex,
+        graph::PrimitiveIndex,
         guide::{BareHead, CaneHead, Head},
         rules::RulesTrait,
     },
     layout::Layout,
     router::{
         draw::{Draw, DrawException},
-        navmesh::NavvertexNodeIndex,
+        navmesh::{BinavvertexNodeIndex, NavvertexWeight},
     },
 };
 
 #[derive(Debug)]
 pub struct Trace {
-    pub path: Vec<NavvertexNodeIndex>,
+    pub path: Vec<NodeIndex<usize>>,
     pub head: Head,
     pub width: f64,
 }
@@ -32,28 +34,37 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
         Tracer { layout }
     }
 
-    pub fn start(&mut self, from: FixedDotIndex, width: f64) -> Trace {
+    pub fn start(
+        &mut self,
+        _graph: &UnGraph<NavvertexWeight, (), usize>,
+        source: FixedDotIndex,
+        source_vertex: NodeIndex<usize>,
+        width: f64,
+    ) -> Trace {
         Trace {
-            path: vec![from.into()],
+            path: vec![source_vertex],
-            head: BareHead { dot: from }.into(),
+            head: BareHead { dot: source }.into(),
             width,
         }
     }
 
     pub fn finish(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         trace: &mut Trace,
-        into: FixedDotIndex,
+        target: FixedDotIndex,
         width: f64,
     ) -> Result<BandFirstSegIndex, DrawException> {
-        Draw::new(self.layout).finish_in_dot(trace.head, into, width)
+        Draw::new(self.layout).finish_in_dot(trace.head, target, width)
     }
 
+    #[debug_requires(path[0] == trace.path[0])]
     #[debug_ensures(ret.is_ok() -> trace.path.len() == path.len())]
     pub fn rework_path(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         trace: &mut Trace,
-        path: &[NavvertexNodeIndex],
+        path: &[NodeIndex<usize>],
         width: f64,
     ) -> Result<(), DrawException> {
         let prefix_length = trace
@@ -64,20 +75,21 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
             .count();
 
         let length = trace.path.len();
-        self.undo_path(trace, length - prefix_length);
+        self.undo_path(graph, trace, length - prefix_length);
-        self.path(trace, &path[prefix_length..], width)
+        self.path(graph, trace, &path[prefix_length..], width)
     }
 
     #[debug_ensures(ret.is_ok() -> trace.path.len() == old(trace.path.len() + path.len()))]
     pub fn path(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         trace: &mut Trace,
-        path: &[NavvertexNodeIndex],
+        path: &[NodeIndex<usize>],
         width: f64,
     ) -> Result<(), DrawException> {
         for (i, vertex) in path.iter().enumerate() {
-            if let Err(err) = self.step(trace, *vertex, width) {
+            if let Err(err) = self.step(graph, trace, *vertex, width) {
-                self.undo_path(trace, i);
+                self.undo_path(graph, trace, i);
                 return Err(err);
             }
         }
@@ -86,21 +98,28 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
     }
 
     #[debug_ensures(trace.path.len() == old(trace.path.len() - step_count))]
-    pub fn undo_path(&mut self, trace: &mut Trace, step_count: usize) {
+    pub fn undo_path(
+        &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
+        trace: &mut Trace,
+        step_count: usize,
+    ) {
         for _ in 0..step_count {
-            self.undo_step(trace);
+            self.undo_step(graph, trace);
         }
     }
 
+    #[debug_ensures(ret.is_ok() -> matches!(trace.head, Head::Bare(..)))]
     #[debug_ensures(ret.is_ok() -> trace.path.len() == old(trace.path.len() + 1))]
     #[debug_ensures(ret.is_err() -> trace.path.len() == old(trace.path.len()))]
     pub fn step(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         trace: &mut Trace,
-        to: NavvertexNodeIndex,
+        to: NodeIndex<usize>,
         width: f64,
     ) -> Result<(), DrawException> {
-        trace.head = self.wrap(trace.head, to, width)?.into();
+        trace.head = self.wrap(graph, trace.head, to, width)?.into();
         trace.path.push(to);
 
         Ok::<(), DrawException>(())
@@ -108,21 +127,25 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
 
     fn wrap(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         head: Head,
-        around: NavvertexNodeIndex,
+        around: NodeIndex<usize>,
         width: f64,
     ) -> Result<CaneHead, DrawException> {
-        match around {
+        match self.binavvertex(graph, around) {
-            NavvertexNodeIndex::FixedDot(dot) => self.wrap_around_fixed_dot(head, dot, width),
+            BinavvertexNodeIndex::FixedDot(dot) => {
-            NavvertexNodeIndex::FixedBend(_fixed_bend) => todo!(),
+                self.wrap_around_fixed_dot(graph, head, dot, width)
-            NavvertexNodeIndex::LooseBend(loose_bend) => {
+            }
-                self.wrap_around_loose_bend(head, loose_bend, width)
+            BinavvertexNodeIndex::FixedBend(_fixed_bend) => todo!(),
+            BinavvertexNodeIndex::LooseBend(loose_bend) => {
+                self.wrap_around_loose_bend(graph, head, loose_bend, width)
             }
         }
     }
 
     fn wrap_around_fixed_dot(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         head: Head,
         around: FixedDotIndex,
         width: f64,
@@ -133,6 +156,7 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
 
     fn wrap_around_loose_bend(
         &mut self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
         head: Head,
         around: LooseBendIndex,
         width: f64,
@@ -143,8 +167,8 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
     }
 
     #[debug_ensures(trace.path.len() == old(trace.path.len() - 1))]
-    pub fn undo_step(&mut self, trace: &mut Trace) {
+    pub fn undo_step(&mut self, graph: &UnGraph<NavvertexWeight, (), usize>, trace: &mut Trace) {
-        if let Head::Cane(head) = trace.head {
+        if let Head::Cane(head) = dbg!(trace.head) {
             trace.head = Draw::new(self.layout).undo_cane(head).unwrap();
         } else {
             panic!();
@@ -152,4 +176,20 @@ impl<'a, R: RulesTrait> Tracer<'a, R> {
 
         trace.path.pop();
     }
+
+    fn binavvertex(
+        &self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
+        vertex: NodeIndex<usize>,
+    ) -> BinavvertexNodeIndex {
+        graph.node_weight(vertex).unwrap().node
+    }
+
+    fn primitive(
+        &self,
+        graph: &UnGraph<NavvertexWeight, (), usize>,
+        vertex: NodeIndex<usize>,
+    ) -> PrimitiveIndex {
+        self.binavvertex(graph, vertex).into()
+    }
 }