feat(overlay,viewport): generation and rendering of topological navmesh

crates/topola-egui/src/actions.rs

@@ -82,6 +82,7 @@ pub struct EditActions {
     pub abort: Trigger,
     pub select_all: Trigger,
     pub unselect_all: Trigger,
+    pub recalculate_topo_navmesh: Trigger,
     pub remove_bands: Trigger,
 }
 
@@ -118,6 +119,10 @@ impl EditActions {
                 egui::Key::A,
             )
             .into_trigger(),
+            recalculate_topo_navmesh: Action::new_keyless(
+                tr.text("tr-menu-edit-recalculate-topo-navmesh"),
+            )
+            .into_trigger(),
             remove_bands: Action::new(
                 tr.text("tr-menu-edit-remove-bands"),
                 egui::Modifiers::NONE,
@@ -146,6 +151,7 @@ impl EditActions {
 
             self.select_all.button(ctx, ui);
             self.unselect_all.button(ctx, ui);
+            self.recalculate_topo_navmesh.button(ctx, ui);
 
             ui.separator();
 
@@ -205,6 +211,10 @@ impl ViewActions {
             &mut menu_bar.show_navmesh,
             tr.text("tr-menu-view-show-navmesh"),
         );
+        ui.checkbox(
+            &mut menu_bar.show_topo_navmesh,
+            tr.text("tr-menu-view-show-topo-navmesh"),
+        );
         ui.checkbox(
             &mut menu_bar.show_bboxes,
             tr.text("tr-menu-view-show-bboxes"),

crates/topola-egui/src/appearance_panel.rs

@@ -9,6 +9,8 @@ pub struct AppearancePanel {
     // In1.Cu shall be #7fc87f (#d5ecd5 when selected).
     // In2.Cu shall be #ce7d2c (#e8c39e when selected).
     pub visible: Box<[bool]>,
+
+    pub active_layer: usize,
 }
 
 impl AppearancePanel {
@@ -18,7 +20,10 @@ impl AppearancePanel {
             .take(layer_count)
             .collect::<Vec<_>>()
             .into_boxed_slice();
-        Self { visible }
+        Self {
+            visible,
+            active_layer: 0,
+        }
     }
 
     pub fn update(&mut self, ctx: &egui::Context, board: &Board<impl AccessMesadata>) {
@@ -33,7 +38,11 @@ impl AppearancePanel {
                     .layer_layername(layer)
                     .unwrap_or("Unnamed layer");
 
+                let old = *visible;
                 ui.checkbox(visible, layername);
+                if old != *visible {
+                    self.active_layer = layer;
+                }
             }
         });
     }

crates/topola-egui/src/menu_bar.rs

@@ -25,6 +25,7 @@ pub struct MenuBar {
     pub is_placing_via: bool,
     pub show_ratsnest: bool,
     pub show_navmesh: bool,
+    pub show_topo_navmesh: bool,
     pub show_bboxes: bool,
     pub show_origin_destination: bool,
     pub show_appearance_panel: bool,
@@ -45,6 +46,7 @@ impl MenuBar {
             is_placing_via: false,
             show_ratsnest: true,
             show_navmesh: false,
+            show_topo_navmesh: false,
             show_bboxes: false,
             show_origin_destination: false,
             show_appearance_panel: true,
@@ -249,6 +251,15 @@ impl MenuBar {
                         workspace
                             .overlay
                             .select_all(board, &workspace.appearance_panel);
+                    } else if actions
+                        .edit
+                        .recalculate_topo_navmesh
+                        .consume_key_triggered(ctx, ui)
+                    {
+                        let board = workspace.interactor.invoker().autorouter().board();
+                        workspace
+                            .overlay
+                            .recalculate_topo_navmesh(board, &workspace.appearance_panel);
                     } else if actions.place.place_via.consume_key_enabled(
                         ctx,
                         ui,

crates/topola-egui/src/overlay.rs

@@ -13,10 +13,24 @@ use topola::{
     },
     board::{AccessMesadata, Board},
     geometry::shape::AccessShape,
+    layout::NodeIndex,
+    router::planar_incr_embed,
 };
 
 use crate::appearance_panel::AppearancePanel;
 
+#[derive(Clone, Copy, Debug)]
+pub struct PieNavmeshBase;
+
+impl planar_incr_embed::NavmeshBase for PieNavmeshBase {
+    type PrimalNodeIndex = NodeIndex;
+    type EtchedPath = planar_incr_embed::navmesh::EdgeIndex<NodeIndex>;
+    type GapComment = ();
+    type Scalar = f64;
+}
+
+pub type PieNavmesh = planar_incr_embed::navmesh::Navmesh<PieNavmeshBase>;
+
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum SelectionMode {
     Addition,
@@ -27,6 +41,7 @@ pub enum SelectionMode {
 pub struct Overlay {
     ratsnest: Ratsnest,
     selection: Selection,
+    planar_incr_navmesh: Option<PieNavmesh>,
     reselect_bbox: Option<(SelectionMode, Point)>,
 }
 
@@ -37,6 +52,7 @@ impl Overlay {
         Ok(Self {
             ratsnest: Ratsnest::new(board.layout())?,
             selection: Selection::new(),
+            planar_incr_navmesh: None,
             reselect_bbox: None,
         })
     }
@@ -63,6 +79,58 @@ impl Overlay {
         self.reselect_bbox = None;
     }
 
+    pub fn recalculate_topo_navmesh(
+        &mut self,
+        board: &Board<impl AccessMesadata>,
+        appearance_panel: &AppearancePanel,
+    ) {
+        use spade::Triangulation;
+        use topola::router::planar_incr_embed::navmesh::TrianVertex;
+
+        if let Ok(triangulation) =
+            spade::DelaunayTriangulation::<TrianVertex<NodeIndex, f64>>::bulk_load(
+                board
+                    .layout()
+                    .drawing()
+                    .rtree()
+                    .locate_in_envelope_intersecting(&AABB::<[f64; 3]>::from_corners(
+                        [
+                            -f64::INFINITY,
+                            -f64::INFINITY,
+                            appearance_panel.active_layer as f64,
+                        ],
+                        [
+                            f64::INFINITY,
+                            f64::INFINITY,
+                            appearance_panel.active_layer as f64,
+                        ],
+                    ))
+                    .map(|&geom| geom.data)
+                    .filter_map(|node| {
+                        board
+                            .layout()
+                            .center_of_compoundless_node(node)
+                            .map(|pos| (node, pos))
+                    })
+                    .map(|(idx, pos)| TrianVertex {
+                        idx,
+                        pos: spade::mitigate_underflow(spade::Point2 {
+                            x: pos.x(),
+                            y: pos.y(),
+                        }),
+                    })
+                    .collect(),
+            )
+        {
+            self.planar_incr_navmesh = Some(
+                planar_incr_embed::navmesh::NavmeshSer::<PieNavmeshBase>::from_triangulation(
+                    &triangulation,
+                )
+                .into(),
+            );
+        }
+    }
+
     pub fn drag_start(
         &mut self,
         _board: &Board<impl AccessMesadata>,
@@ -167,6 +235,10 @@ impl Overlay {
         &self.selection
     }
 
+    pub fn planar_incr_navmesh(&self) -> Option<&PieNavmesh> {
+        self.planar_incr_navmesh.as_ref()
+    }
+
     /// Returns the currently selected bounding box of a bounding-box reselect
     pub fn get_bbox_reselect(
         &self,

crates/topola-egui/src/viewport.rs

@@ -274,6 +274,78 @@ impl Viewport {
                             }
                         }
 
+                        if menu_bar.show_topo_navmesh {
+                            if let Some(navmesh) = workspace.overlay.planar_incr_navmesh() {
+                                // calculate dual node position approximations
+                                use std::collections::BTreeMap;
+                                use topola::geometry::shape::AccessShape;
+                                use topola::router::planar_incr_embed::NavmeshIndex;
+                                let mut map = BTreeMap::new();
+                                let resolve_primal = |p: &topola::layout::NodeIndex| {
+                                    board.layout().node_shape(*p).center()
+                                };
+                                let root_bbox3d =
+                                    board.layout().drawing().rtree().root().envelope();
+
+                                let root_bbox = AABB::<[f64; 2]>::from_corners(
+                                    [root_bbox3d.lower()[0], root_bbox3d.lower()[1]].into(),
+                                    [root_bbox3d.upper()[0], root_bbox3d.upper()[1]].into(),
+                                );
+
+                                for (nidx, node) in &*navmesh.nodes {
+                                    if let NavmeshIndex::Dual(didx) = nidx {
+                                        map.insert(
+                                            didx,
+                                            geo::point! { x: node.pos.x, y: node.pos.y },
+                                        );
+                                    }
+                                }
+                                for (eidx, edge) in &*navmesh.edges {
+                                    // TODO: display edge contents, too
+                                    let (a, b) = eidx.clone().into();
+                                    let mut got_primal = false;
+                                    let a_pos = match a {
+                                        NavmeshIndex::Primal(p) => {
+                                            got_primal = true;
+                                            resolve_primal(&p)
+                                        }
+                                        NavmeshIndex::Dual(d) => match map.get(&d) {
+                                            None => continue,
+                                            Some(x) => x.clone(),
+                                        },
+                                    };
+                                    let b_pos = match b {
+                                        NavmeshIndex::Primal(p) => {
+                                            got_primal = true;
+                                            resolve_primal(&p)
+                                        }
+                                        NavmeshIndex::Dual(d) => match map.get(&d) {
+                                            None => continue,
+                                            Some(x) => x.clone(),
+                                        },
+                                    };
+                                    let edge_len = navmesh.edge_paths[edge.1].len();
+                                    use egui::Color32;
+                                    let stroke = if edge_len == 0 {
+                                        egui::Stroke::new(
+                                            1.0,
+                                            if got_primal {
+                                                Color32::from_rgb(255, 175, 0)
+                                            } else {
+                                                Color32::from_rgb(159, 255, 33)
+                                            },
+                                        )
+                                    } else {
+                                        egui::Stroke::new(
+                                            1.5 + (edge_len as f32).atan(),
+                                            Color32::from_rgb(250, 250, 0),
+                                        )
+                                    };
+                                    painter.paint_edge(a_pos, b_pos, stroke);
+                                }
+                            }
+                        }
+
                         if menu_bar.show_bboxes {
                             let root_bbox3d = board.layout().drawing().rtree().root().envelope();
 

locales/en-US/main.ftl

@@ -15,12 +15,14 @@ tr-menu-edit-redo = Redo
 tr-menu-edit-abort = Abort
 tr-menu-edit-select-all = Select All
 tr-menu-edit-unselect-all = Unselect All
+tr-menu-edit-recalculate-topo-navmesh = Recalculate Topological Navmesh
 tr-menu-edit-remove-bands = Remove Bands
 
 tr-menu-view = View
 tr-menu-view-zoom-to-fit = Zoom to Fit
 tr-menu-view-show-ratsnest = Show Ratsnest
 tr-menu-view-show-navmesh = Show Navmesh
+tr-menu-view-show-topo-navmesh = Show Topological Navmesh
 tr-menu-view-show-bboxes = Show BBoxes
 tr-menu-view-show-origin-destination = Show Origin–Destination
 tr-menu-view-show-layer-manager = Show Layer Manager

src/router/mod.rs

@@ -12,3 +12,5 @@ mod router;
 
 pub use route::RouteStepper;
 pub use router::*;
+
+pub use planar_incr_embed;