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Add conflict tracing and pair-local repair

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Jan Petykiewicz 2026-04-02 14:39:39 -07:00
commit 42e46c67e0
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@ -42,6 +42,7 @@ The search state is a snapped Manhattan `(x, y, r)` port. From each state the ro
- The visibility subsystem keeps a lazy static corner index for default `tangent_corner` guidance and only builds the exact corner-to-corner graph on demand for `exact_corner` queries.
- `use_tiered_strategy` can swap in a cheaper bend proxy on the first congestion iteration.
- Negotiated congestion now re-verifies every reached-target path at the end of each iteration against the final installed dynamic geometry, and it stops early if the conflict graph stalls for consecutive iterations.
- After best-snapshot restoration, the router runs a bounded pair-local scratch reroute on final two-net reached-target conflict pairs. That repair phase clones static obstacles from the live collision world, treats all outside-pair geometry as fixed blockers, tries both pair orders, and only keeps the result if whole-set reverify improves.
- Final `RoutingResult` validity is determined by explicit post-route verification, not only by search-time pruning.
## Performance Visibility