egui: draw the navmesh

This required some considerable rearrangements in `Router`.

src/autorouter/autorouter.rs

@@ -11,12 +11,13 @@ use crate::{
     autorouter::ratsnest::{Ratsnest, RatsnestVertexIndex},
     drawing::{dot::FixedDotIndex, rules::RulesTrait},
     layout::{connectivity::BandIndex, Layout},
-    router::{Router, RouterObserverTrait, RoutingError},
+    router::{navmesh::Navmesh, Router, RouterObserverTrait, RoutingError},
     triangulation::GetVertexIndex,
 };
 
 pub struct Autoroute {
     edge_indices: EdgeIndices<usize>,
+    navmesh: Navmesh, // Useful for debugging.
 }
 
 impl Autoroute {
@@ -30,9 +31,9 @@ impl Autoroute {
         };
         let (from, to) = autorouter.ratsnest.graph().edge_endpoints(ratline).unwrap();
 
-        let (from_dot, to_dot) = {
+        let (navmesh, from_dot, to_dot) = {
-            let layout = autorouter.router.layout();
+            let mut layout = autorouter.layout.lock().unwrap();
-            let mut layout = layout.lock().unwrap();
+            let navmesh = Navmesh::new(&layout).unwrap();
 
             let from_dot = match autorouter
                 .ratsnest
@@ -56,28 +57,33 @@ impl Autoroute {
                 RatsnestVertexIndex::Zone(zone) => layout.zone_apex(zone),
             };
 
-            (from_dot, to_dot)
+            (navmesh, from_dot, to_dot)
         };
 
-        autorouter
+        let router = Router::new_with_navmesh(
-            .router
+            &mut autorouter.layout,
+            std::mem::replace(&mut self.navmesh, navmesh),
+        );
+        router
+            .unwrap()
             .route_band(from_dot, to_dot, 100.0, observer);
         Some(())
     }
+
+    pub fn navmesh(&self) -> &Navmesh {
+        &self.navmesh
+    }
 }
 
 pub struct Autorouter<R: RulesTrait> {
     ratsnest: Ratsnest,
-    router: Router<R>,
+    layout: Arc<Mutex<Layout<R>>>,
 }
 
 impl<R: RulesTrait> Autorouter<R> {
     pub fn new(layout: Arc<Mutex<Layout<R>>>) -> Result<Self, InsertionError> {
         let ratsnest = Ratsnest::new(&layout.lock().unwrap())?;
-        Ok(Self {
+        Ok(Self { ratsnest, layout })
-            ratsnest,
-            router: Router::new(layout),
-        })
     }
 
     pub fn autoroute(&mut self, observer: &mut impl RouterObserverTrait<R>) {
@@ -90,10 +96,11 @@ impl<R: RulesTrait> Autorouter<R> {
     pub fn autoroute_iter(&mut self) -> Autoroute {
         Autoroute {
             edge_indices: self.ratsnest.graph().edge_indices(),
+            navmesh: Navmesh::new(&self.layout.lock().unwrap()).unwrap(),
         }
     }
 
-    pub fn router(&self) -> &Router<R> {
+    pub fn layout(&self) -> &Arc<Mutex<Layout<R>>> {
-        &self.router
+        &self.layout
     }
 }

src/bin/topola-egui/app.rs

@@ -21,13 +21,14 @@ use topola::{
     geometry::{
         compound::CompoundManagerTrait,
         primitive::{BendShape, DotShape, PrimitiveShape, PrimitiveShapeTrait, SegShape},
+        shape::ShapeTrait,
         GenericNode,
     },
     layout::{zone::MakePolyShape, Layout},
     math::Circle,
     router::{
         draw::DrawException,
-        navmesh::{NavmeshEdgeReference, VertexIndex},
+        navmesh::{Navmesh, NavmeshEdgeReference, VertexIndex},
         tracer::{Trace, Tracer},
         RouterObserverTrait,
     },
@@ -37,6 +38,7 @@ use crate::{overlay::Overlay, painter::Painter};
 
 #[derive(Debug, Default)]
 struct SharedData {
+    pub navmesh: Option<Navmesh>,
     pub path: Vec<VertexIndex>,
     pub ghosts: Vec<PrimitiveShape>,
     pub highlighteds: Vec<PrimitiveIndex>,
@@ -197,7 +199,17 @@ impl eframe::App for App {
 
                         execute(async move {
                             let mut autorouter = Autorouter::new(layout).unwrap();
-                            autorouter.autoroute(&mut DebugRouterObserver { shared_data });
+                            let mut it = autorouter.autoroute_iter();
+                            shared_data.lock().unwrap().navmesh = Some(it.navmesh().clone());
+
+                            while let Some(()) = it.next(
+                                &mut autorouter,
+                                &mut DebugRouterObserver {
+                                    shared_data: shared_data.clone(),
+                                },
+                            ) {
+                                shared_data.lock().unwrap().navmesh = Some(it.navmesh().clone());
+                            }
                         });
                     }
                 }
@@ -264,7 +276,7 @@ impl eframe::App for App {
                             } else {
                                 egui::Color32::from_rgb(52, 52, 200)
                             };
-                            painter.paint_shape(&shape, color);
+                            painter.paint_primitive(&shape, color);
                         }
 
                         for zone in layout.layer_zone_nodes(1) {
@@ -289,7 +301,7 @@ impl eframe::App for App {
                             } else {
                                 egui::Color32::from_rgb(200, 52, 52)
                             };
-                            painter.paint_shape(&shape, color);
+                            painter.paint_primitive(&shape, color);
                         }
 
                         for zone in layout.layer_zone_nodes(0) {
@@ -319,8 +331,21 @@ impl eframe::App for App {
                             painter.paint_edge(from, to, egui::Color32::from_rgb(90, 90, 200));
                         }
 
+                        if let Some(navmesh) = &shared_data.navmesh {
+                            for edge in navmesh.edge_references() {
+                                let from =
+                                    edge.source().primitive(layout.drawing()).shape().center();
+                                let to = edge.target().primitive(layout.drawing()).shape().center();
+                                painter.paint_edge(
+                                    from,
+                                    to,
+                                    egui::Color32::from_rgb(125, 125, 125),
+                                );
+                            }
+                        }
+
                         for ghost in shared_data.ghosts.iter() {
-                            painter.paint_shape(&ghost, egui::Color32::from_rgb(75, 75, 150));
+                            painter.paint_primitive(&ghost, egui::Color32::from_rgb(75, 75, 150));
                         }
                         //unreachable!();
                     }

src/bin/topola-egui/painter.rs

@@ -11,7 +11,7 @@ impl<'a> Painter<'a> {
         Self { ui, transform }
     }
 
-    pub fn paint_shape(&mut self, shape: &PrimitiveShape, color: egui::epaint::Color32) {
+    pub fn paint_primitive(&mut self, shape: &PrimitiveShape, color: egui::epaint::Color32) {
         let epaint_shape = match shape {
             PrimitiveShape::Dot(dot) => egui::Shape::circle_filled(
                 self.transform

src/bin/topola-sdl2-demo/main.rs

@@ -406,7 +406,7 @@ fn render_times(
             };
 
             let shape = node.primitive(drawing).shape();
-            painter.paint_shape(&shape, color, view.zoom);
+            painter.paint_primitive(&shape, color, view.zoom);
         }
 
         for zone in drawing.layer_zones(1) {
@@ -425,7 +425,7 @@ fn render_times(
             };
 
             let shape = node.primitive(drawing).shape();
-            painter.paint_shape(&shape, color, view.zoom);
+            painter.paint_primitive(&shape, color, view.zoom);
         }
 
         for zone in drawing.layer_zones(0) {
@@ -437,13 +437,13 @@ fn render_times(
         }
 
         for ghost in ghosts {
-            painter.paint_shape(&ghost, ColorU::new(75, 75, 150, 255), view.zoom);
+            painter.paint_primitive(&ghost, ColorU::new(75, 75, 150, 255), view.zoom);
         }
 
         if let Some(ref navmesh) = maybe_navmesh {
             for edge in navmesh.edge_references() {
-                let to = edge.source().primitive(drawing).shape().center();
+                let from = edge.source().primitive(drawing).shape().center();
-                let from = edge.target().primitive(drawing).shape().center();
+                let to = edge.target().primitive(drawing).shape().center();
 
                 let color = 'blk: {
                     if let (Some(source_pos), Some(target_pos)) = (

src/bin/topola-sdl2-demo/painter.rs

@@ -13,7 +13,7 @@ impl<'a> Painter<'a> {
         Self { canvas }
     }
 
-    pub fn paint_shape(&mut self, shape: &PrimitiveShape, color: ColorU, zoom: f32) {
+    pub fn paint_primitive(&mut self, shape: &PrimitiveShape, color: ColorU, zoom: f32) {
         self.canvas.set_stroke_style(color);
         self.canvas.set_fill_style(color);
 

src/router/router.rs

@@ -57,24 +57,20 @@ pub trait RouterObserverTrait<R: RulesTrait> {
     fn on_estimate(&mut self, tracer: &Tracer<R>, vertex: VertexIndex);
 }
 
-pub struct Router<R: RulesTrait> {
+pub struct Router<'a, R: RulesTrait> {
-    layout: Arc<Mutex<Layout<R>>>,
+    layout: &'a mut Arc<Mutex<Layout<R>>>,
+    navmesh: Navmesh,
 }
 
 struct RouterAstarStrategy<'a, RO: RouterObserverTrait<R>, R: RulesTrait> {
-    tracer: Tracer<'a, R>,
+    tracer: Tracer<R>,
     trace: Trace,
     to: FixedDotIndex,
     observer: &'a mut RO,
 }
 
 impl<'a, RO: RouterObserverTrait<R>, R: RulesTrait> RouterAstarStrategy<'a, RO, R> {
-    pub fn new(
+    pub fn new(tracer: Tracer<R>, trace: Trace, to: FixedDotIndex, observer: &'a mut RO) -> Self {
-        tracer: Tracer<'a, R>,
-        trace: Trace,
-        to: FixedDotIndex,
-        observer: &'a mut RO,
-    ) -> Self {
         Self {
             tracer,
             trace,
@@ -146,9 +142,17 @@ impl<'a, RO: RouterObserverTrait<R>, R: RulesTrait> AstarStrategy<&Navmesh, f64>
     }
 }
 
-impl<R: RulesTrait> Router<R> {
+impl<'a, R: RulesTrait> Router<'a, R> {
-    pub fn new(layout: Arc<Mutex<Layout<R>>>) -> Self {
+    pub fn new(layout: &'a mut Arc<Mutex<Layout<R>>>) -> Result<Self, InsertionError> {
-        Router { layout }
+        let navmesh = Navmesh::new(&layout.lock().unwrap())?;
+        Self::new_with_navmesh(layout, navmesh)
+    }
+
+    pub fn new_with_navmesh(
+        layout: &'a mut Arc<Mutex<Layout<R>>>,
+        navmesh: Navmesh,
+    ) -> Result<Self, InsertionError> {
+        Ok(Self { layout, navmesh })
     }
 
     pub fn route_band(
@@ -158,22 +162,13 @@ impl<R: RulesTrait> Router<R> {
         width: f64,
         observer: &mut impl RouterObserverTrait<R>,
     ) -> Result<BandIndex, RoutingError> {
-        // XXX: Should we actually store the mesh? May be useful for debugging, but doesn't look
+        let mut tracer = self.tracer();
-        // right.
-        //self.mesh.triangulate(&self.layout)?;
-        let mesh = Navmesh::new(&self.layout.lock().unwrap()).map_err(|err| RoutingError {
-            from,
-            to,
-            source: err.into(),
-        })?;
-
-        let mut tracer = self.tracer(&mesh);
 
         let trace = tracer.start(from, width);
         let band = trace.band;
 
         let (_cost, _path) = astar(
-            &mesh,
+            &self.navmesh,
             from.into(),
             &mut RouterAstarStrategy::new(tracer, trace, to.into(), observer),
         )
@@ -206,8 +201,8 @@ impl<R: RulesTrait> Router<R> {
         self.route_band(from_dot, to_dot, width, observer)
     }
 
-    pub fn tracer<'a>(&'a mut self, mesh: &'a Navmesh) -> Tracer<R> {
+    fn tracer(&mut self) -> Tracer<R> {
-        Tracer::new(self.layout.clone(), mesh)
+        Tracer::new(self.layout.clone())
     }
 
     pub fn layout(&self) -> Arc<Mutex<Layout<R>>> {

src/router/tracer.rs

@@ -25,14 +25,13 @@ pub struct Trace {
 }
 
 #[derive(Debug)]
-pub struct Tracer<'a, R: RulesTrait> {
+pub struct Tracer<R: RulesTrait> {
     pub layout: Arc<Mutex<Layout<R>>>,
-    pub navmesh: &'a Navmesh,
 }
 
-impl<'a, R: RulesTrait> Tracer<'a, R> {
+impl<R: RulesTrait> Tracer<R> {
-    pub fn new(layout: Arc<Mutex<Layout<R>>>, navmesh: &'a Navmesh) -> Self {
+    pub fn new(layout: Arc<Mutex<Layout<R>>>) -> Self {
-        Tracer { layout, navmesh }
+        Tracer { layout }
     }
 
     pub fn start(&mut self, from: FixedDotIndex, width: f64) -> Trace {