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leave space for bends

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jan 2026-03-16 21:33:48 -07:00
commit 6827283886
1 changed files with 20 additions and 3 deletions
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23
inire/router/astar.py
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@ -229,9 +229,14 @@ class AStarRouter:
if max_reach > self.config.min_straight_length: if max_reach > self.config.min_straight_length:
# milestone 1: exactly at max_reach (touching) # milestone 1: exactly at max_reach (touching)
straight_lengths.add(snap_search_grid(max_reach, snap)) straight_lengths.add(snap_search_grid(max_reach, snap))
# milestone 2: 10um before max_reach (space to turn) # milestone 2: space to turn before collision
if max_reach > self.config.min_straight_length + 10.0: for radius in self.config.bend_radii:
straight_lengths.add(snap_search_grid(max_reach - 10.0, snap)) if max_reach > radius + self.config.min_straight_length:
straight_lengths.add(snap_search_grid(max_reach - radius, snap))
# milestone 3: small buffer for tight maneuvering
if max_reach > self.config.min_straight_length + 5.0:
straight_lengths.add(snap_search_grid(max_reach - 5.0, snap))
visible_corners = self.visibility_manager.get_visible_corners(cp, max_dist=max_reach) visible_corners = self.visibility_manager.get_visible_corners(cp, max_dist=max_reach)
for cx, cy, dist in visible_corners: for cx, cy, dist in visible_corners:
@ -251,10 +256,22 @@ class AStarRouter:
target_dist = abs(target.x - cp.x) target_dist = abs(target.x - cp.x)
if target_dist <= max_reach and target_dist > self.config.min_straight_length: if target_dist <= max_reach and target_dist > self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist, snap)) straight_lengths.add(snap_search_grid(target_dist, snap))
# Space for turning: target_dist - R and target_dist - 2R
for radius in self.config.bend_radii:
if target_dist > radius + self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist - radius, snap))
if target_dist > 2 * radius + self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist - 2 * radius, snap))
else: # Vertical else: # Vertical
target_dist = abs(target.y - cp.y) target_dist = abs(target.y - cp.y)
if target_dist <= max_reach and target_dist > self.config.min_straight_length: if target_dist <= max_reach and target_dist > self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist, snap)) straight_lengths.add(snap_search_grid(target_dist, snap))
# Space for turning: target_dist - R and target_dist - 2R
for radius in self.config.bend_radii:
if target_dist > radius + self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist - radius, snap))
if target_dist > 2 * radius + self.config.min_straight_length:
straight_lengths.add(snap_search_grid(target_dist - 2 * radius, snap))
# NO standard samples here! Only milestones. # NO standard samples here! Only milestones.