src/geometry/primitive.rs

@@ -294,8 +294,7 @@ impl BendShape {
     /// Determines if the provided point lies in the swept region between the rays cast by tangents
     /// to the arc endpoints of the bend's outer circle, starting at `from` and `to`.
     pub fn between_tangent_rays(&self, point: Point) -> bool {
-        math::perp_dot_product(point - self.from, self.from_tangent_ray()) > 0.0
+        math::between_vectors(point, self.from_tangent_ray(), self.to_tangent_ray())
-            && math::perp_dot_product(point - self.to, self.to_tangent_ray()) < 0.0
     }
 
     pub fn from_tangent_ray(&self) -> Point {

src/router/navmesh.rs

@@ -6,6 +6,7 @@ use std::collections::BTreeMap;
 
 use derive_getters::Getters;
 use enum_dispatch::enum_dispatch;
+use geo::Point;
 use petgraph::{
     data::DataMap,
     graph::UnGraph,
@@ -460,22 +461,6 @@ impl Navmesh {
                 .rev()
                 .enumerate()
             {
-                let to_binavnode = graph.node_weight(*to_navnode1).unwrap().binavnode;
-
-                // One binavnode covers another with bend tangent rays, so don't
-                // add a quadrinavedge.
-                if Self::is_binavnode_behind_binavnode_endpoint_rays(
-                    layout,
-                    from_binavnode,
-                    to_binavnode,
-                ) || Self::is_binavnode_behind_binavnode_endpoint_rays(
-                    layout,
-                    to_binavnode,
-                    from_binavnode,
-                ) {
-                    continue;
-                }
-
                 // Don't create navedges that would cross through and thus
                 // infringe joins of navnodes outwards of them.
                 if maybe_lowest_join.is_some_and(|lowest_join| {
@@ -565,36 +550,6 @@ impl Navmesh {
         })
     }
 
-    fn is_binavnode_behind_binavnode_endpoint_rays(
-        layout: &Layout<impl AccessRules>,
-        binavnode_with_arms: BinavnodeNodeIndex,
-        checked_binavnode: BinavnodeNodeIndex,
-    ) -> bool {
-        let BinavnodeNodeIndex::LooseBend(bend_with_arms) = binavnode_with_arms else {
-            return false;
-        };
-
-        let checked_center = match checked_binavnode {
-            BinavnodeNodeIndex::FixedDot(dot) => {
-                // FIXME: This has a lot of false positives, so we return false instead.
-                return false;
-                //dot.primitive_ref(layout.drawing()).shape().center()
-            }
-            BinavnodeNodeIndex::LooseBend(bend) => {
-                bend.primitive_ref(layout.drawing()).shape().center()
-            }
-            _ => unreachable!(),
-        };
-
-        let PrimitiveShape::Bend(bend_with_arms_shape) =
-            bend_with_arms.primitive_ref(layout.drawing()).shape()
-        else {
-            unreachable!();
-        };
-
-        bend_with_arms_shape.between_tangent_rays(checked_center)
-    }
-
     /// Returns the origin node.
     pub fn origin(&self) -> FixedDotIndex {
         self.origin