tiered bbox

.gitignore

@@ -8,3 +8,5 @@ wheels/
 
 # Virtual environments
 .venv
+
+.hypothesis

.python-version

@@ -0,0 +1 @@
+3.13

DOCS.md

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+# Inire Configuration & API Documentation
+
+This document describes the user-tunable parameters for the `inire` auto-router.
+
+## 1. AStarRouter Parameters
+
+The `AStarRouter` is the core pathfinding engine. It can be configured directly through its constructor.
+
+| Parameter             | Type          | Default            | Description                                                                           |
+| :-------------------- | :------------ | :----------------- | :------------------------------------------------------------------------------------ |
+| `node_limit`          | `int`         | 1,000,000          | Maximum number of states to explore per net. Increase for very complex paths.         |
+| `straight_lengths`    | `list[float]` | `[1.0, 5.0, 25.0]` | Discrete step sizes for straight waveguides (µm). Larger steps speed up search.       |
+| `bend_radii`          | `list[float]` | `[10.0]`           | Available radii for 90-degree turns (µm). Multiple values allow best-fit selection.   |
+| `sbend_offsets`       | `list[float]` | `[-5, -2, 2, 5]`   | Lateral offsets for parametric S-bends (µm).                                          |
+| `sbend_radii`         | `list[float]` | `[10.0]`           | Available radii for S-bends (µm).                                                     |
+| `snap_to_target_dist` | `float`       | 20.0               | Distance (µm) at which the router attempts an exact bridge to the target port.        |
+| `bend_penalty`        | `float`       | 50.0               | Flat cost added for every 90-degree bend. Higher values favor straight lines.         |
+| `sbend_penalty`       | `float`       | 100.0              | Flat cost added for every S-bend. Usually higher than `bend_penalty`.                 |
+| `bend_collision_type` | `str`         | `"arc"`            | Collision model for bends: `"arc"`, `"bbox"`, or `"clipped_bbox"`.                    |
+| `bend_clip_margin`    | `float`       | 10.0               | Extra space (µm) around the waveguide before the bounding box corners are clipped.    |
+
+### Bend Collision Models
+*   `"arc"`: High-fidelity model following the exact curved waveguide geometry.
+*   `"bbox"`: Conservative model using the axis-aligned bounding box of the bend. Fast but blocks more space.
+*   `"clipped_bbox"`: A middle ground that starts with the bounding box but applies 45-degree linear cuts to the inner and outer corners. The `bend_clip_margin` defines the extra safety distance from the waveguide edge to the cut line.
+
+---
+
+## 2. CostEvaluator Parameters
+
+The `CostEvaluator` defines the "goodness" of a path.
+
+| Parameter            | Type    | Default    | Description                                                                              |
+| :------------------- | :------ | :--------- | :--------------------------------------------------------------------------------------- |
+| `unit_length_cost`   | `float` | 1.0        | Cost per µm of wire length.                                                              |
+| `greedy_h_weight`    | `float` | 1.1        | Heuristic weight. `1.0` is optimal; higher values (e.g. `1.5`) speed up search.          |
+| `congestion_penalty` | `float` | 10,000.0   | Multiplier for overlaps in the multi-net Negotiated Congestion loop.                     |
+
+---
+
+## 3. PathFinder Parameters
+
+The `PathFinder` orchestrates multi-net routing using the Negotiated Congestion algorithm.
+
+| Parameter                 | Type    | Default | Description                                                                             |
+| :------------------------ | :------ | :------ | :-------------------------------------------------------------------------------------- |
+| `max_iterations`          | `int`   | 10      | Maximum number of rip-up and reroute iterations to resolve congestion.                  |
+| `base_congestion_penalty` | `float` | 100.0   | Starting penalty for overlaps. Multiplied by `1.5` each iteration if congestion remains.|
+
+---
+
+## 4. CollisionEngine Parameters
+
+| Parameter            | Type    | Default    | Description                                                                           |
+| :------------------- | :------ | :--------- | :------------------------------------------------------------------------------------ |
+| `clearance`          | `float` | (Required) | Minimum required distance between any two waveguides or obstacles (µm).                |
+| `safety_zone_radius` | `float` | 0.0021     | Radius (µm) around ports where collisions are ignored for PDK boundary incidence.     |
+
+---
+
+## 4. Physical Units & Precision
+-   **Coordinates**: Micrometers (µm).
+-   **Grid Snapping**: The router internally operates on a **1nm** grid for final ports and a **1µm** lattice for expansion moves.
+-   **Search Space**: Assumptions are optimized for design areas up to **20mm x 20mm**.
+-   **Design Bounds**: The boundary limits defined in `DangerMap` strictly constrain the **physical edges** (dilated geometry) of the waveguide. Any move that would cause the waveguide or its required clearance to extend beyond these bounds is rejected with an infinite cost.
+
+---
+
+## 5. Best Practices & Tuning Advice
+
+### Speed vs. Optimality
+The `greedy_h_weight` is your primary lever for search performance.
+-   **`1.0`**: Dijkstra-like behavior. Guarantees the shortest path but is very slow.
+-   **`1.1` to `1.2`**: Recommended range. Balances wire length with fast convergence.
+-   **`> 1.5`**: Extremely fast "greedy" search. May produce zig-zags or suboptimal detours.
+
+### Avoiding "Zig-Zags"
+If the router produces many small bends instead of a long straight line:
+1.  Increase `bend_penalty` (e.g., set to `100.0` or higher).
+2.  Ensure `straight_lengths` includes larger values like `25.0` or `100.0`.
+3.  Decrease `greedy_h_weight` closer to `1.0`.
+
+### Handling Congestion
+In multi-net designs, if nets are overlapping:
+1.  Increase `congestion_penalty` in `CostEvaluator`.
+2.  Increase `max_iterations` in `PathFinder`.
+3.  If a solution is still not found, check if the `clearance` is physically possible given the design's narrowest bottlenecks.
+
+### S-Bend Usage
+Parametric S-bends are triggered by the `sbend_offsets` list. If you need a specific lateral shift (e.g., 5.86µm for a 45° switchover), add it to `sbend_offsets`. The router will only use an S-bend if it can reach a state that is exactly on the lattice or the target.

README.md

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+# inire: Auto-Routing for Photonic and RF Integrated Circuits
+
+`inire` is a high-performance auto-router designed specifically for the physical constraints of photonic and RF integrated circuits. It utilizes a Hybrid State-Lattice A* search combined with "Negotiated Congestion" (PathFinder) to route multiple nets while maintaining strict geometric fidelity and clearance.
+
+## Key Features
+
+*   **Hybrid State-Lattice Search**: Routes using discrete 90° bends and parametric S-bends, ensuring manufacturing-stable paths.
+*   **Negotiated Congestion**: Iteratively resolves multi-net bottlenecks by inflating costs in high-traffic regions.
+*   **Analytic Correctness**: Every move is verified against an R-Tree spatial index of obstacles and other paths.
+*   **1nm Precision**: All coordinates and ports are snapped to a 1nm manufacturing grid.
+*   **Safety & Proximity**: Incorporates a "Danger Map" (pre-computed distance transform) to maintain optimal spacing and reduce crosstalk.
+*   **Locked Paths**: Supports treating existing geometries as fixed obstacles for incremental routing sessions.
+
+## Installation
+
+`inire` requires Python 3.11+. You can install the dependencies using `uv` (recommended) or `pip`:
+
+```bash
+# Using uv
+uv sync
+
+# Using pip
+pip install numpy scipy shapely rtree matplotlib
+```
+
+## Quick Start
+
+```python
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+
+# 1. Setup Environment
+engine = CollisionEngine(clearance=2.0)
+danger_map = DangerMap(bounds=(0, 0, 1000, 1000))
+danger_map.precompute([]) # Add polygons here for obstacles
+
+# 2. Configure Router
+evaluator = CostEvaluator(
+    collision_engine=engine, 
+    danger_map=danger_map,
+    greedy_h_weight=1.2
+)
+router = AStarRouter(
+    cost_evaluator=evaluator,
+    bend_penalty=10.0
+)
+pf = PathFinder(
+    router=router, 
+    cost_evaluator=evaluator
+)
+
+# 3. Define Netlist
+netlist = {
+    "net1": (Port(0, 0, 0), Port(100, 50, 0)),
+}
+
+# 4. Route
+results = pf.route_all(netlist, {"net1": 2.0})
+
+if results["net1"].is_valid:
+    print("Successfully routed net1!")
+```
+
+## Usage Examples
+
+Check the `examples/` directory for ready-to-run scripts demonstrating core features:
+
+*   **`examples/01_simple_route.py`**: Basic single-net routing with visualization. Generates `01_simple_route.png`.
+*   **`examples/02_congestion_resolution.py`**: Multi-net routing resolving bottlenecks using Negotiated Congestion. Generates `02_congestion_resolution.png`.
+*   **`examples/03_locked_paths.py`**: Incremental workflow using `lock_net()` to route around previously fixed paths. Generates `03_locked_paths.png`.
+*   **`examples/04_sbends_and_radii.py`**: Complex paths using parametric S-bends and multiple bend radii. Generates `04_sbends_and_radii.png`.
+*   **`examples/05_orientation_stress.py`**: Stress test for various port orientation combinations (U-turns, opposite directions). Generates `05_orientation_stress.png`.
+*   **`examples/06_bend_collision_models.py`**: Comparison of different collision models for bends (Arc vs. BBox vs. Clipped BBox). Generates `06_bend_collision_models.png`.
+
+Run an example:
+```bash
+python3 examples/01_simple_route.py
+```
+
+## Documentation
+
+Full documentation for all user-tunable parameters, cost functions, and collision models can be found in **[DOCS.md](DOCS.md)**.
+
+## Architecture
+
+`inire` operates on a **State-Lattice** defined by $(x, y, \theta)$. From any state, the router expands via three primary "Move" types:
+1.  **Straights**: Variable-length segments.
+2.  **90° Bends**: Fixed-radius PDK cells.
+3.  **Parametric S-Bends**: Procedural arcs for bridging small lateral offsets ($O < 2R$).
+
+For multi-net problems, the **PathFinder** loop handles rip-up and reroute logic, ensuring that paths find the globally optimal configuration without crossings.
+
+## Configuration
+
+`inire` is highly tunable. Every major component (Router, CostEvaluator, PathFinder) accepts explicit named arguments in its constructor to control expansion rules, cost weights, and convergence limits. See `DOCS.md` for a full parameter reference.
+
+## License
+
+This project is licensed under the GNU Affero General Public License v3. See `LICENSE.md` for details.

examples/01_simple_route.py

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+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 01: Simple Route...")
+
+    # 1. Setup Environment
+    # Define the routing area bounds (minx, miny, maxx, maxy)
+    bounds = (0, 0, 100, 100)
+
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+
+    # Add a simple rectangular obstacle
+    obstacle = Polygon([(30, 20), (70, 20), (70, 40), (30, 40)])
+    engine.add_static_obstacle(obstacle)
+
+    # Precompute the danger map (distance field) for heuristics
+    danger_map.precompute([obstacle])
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Define Netlist
+    # Route from (10, 10) to (90, 50)
+    # The obstacle at y=20-40 blocks the direct path.
+    netlist = {
+        "simple_net": (Port(10, 10, 0), Port(90, 50, 0)),
+    }
+    net_widths = {"simple_net": 2.0}
+
+    # 3. Route
+    results = pf.route_all(netlist, net_widths)
+
+    # 4. Check Results
+    if results["simple_net"].is_valid:
+        print("Success! Route found.")
+        print(f"Path collisions: {results['simple_net'].collisions}")
+    else:
+        print("Failed to route.")
+
+    # 5. Visualize
+    fig, ax = plot_routing_results(results, [obstacle], bounds, netlist=netlist)
+    fig.savefig("examples/01_simple_route.png")
+    print("Saved plot to examples/01_simple_route.png")
+
+
+if __name__ == "__main__":
+    main()

examples/02_congestion_resolution.py

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+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 02: Congestion Resolution (Triple Crossing)...")
+
+    # 1. Setup Environment (Open space)
+    bounds = (0, 0, 100, 100)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([])
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Define Netlist
+    # Three nets that all converge on the same central area.
+    # Negotiated Congestion must find non-overlapping paths for all of them.
+    netlist = {
+        "horizontal": (Port(10, 50, 0), Port(90, 50, 0)),
+        "vertical_up": (Port(45, 10, 90), Port(45, 90, 90)),
+        "vertical_down": (Port(55, 90, 270), Port(55, 10, 270)),
+    }
+    net_widths = dict.fromkeys(netlist, 2.0)
+
+    # 3. Route with Negotiated Congestion
+    # We increase the base penalty to encourage faster divergence
+    pf = PathFinder(router, evaluator, base_congestion_penalty=1000.0)
+    results = pf.route_all(netlist, net_widths)
+
+    # 4. Check Results
+    all_valid = all(r.is_valid for r in results.values())
+    if all_valid:
+        print("Success! Congestion resolved for all nets.")
+    else:
+        print("Some nets failed or have collisions.")
+        for nid, res in results.items():
+            print(f"  {nid}: valid={res.is_valid}, collisions={res.collisions}")
+
+    # 5. Visualize
+    fig, ax = plot_routing_results(results, [], bounds, netlist=netlist)
+    fig.savefig("examples/02_congestion_resolution.png")
+    print("Saved plot to examples/02_congestion_resolution.png")
+
+
+if __name__ == "__main__":
+    main()

examples/03_locked_paths.py

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+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 03: Locked Paths (Incremental Routing - Bus Scenario)...")
+
+    # 1. Setup Environment
+    bounds = (0, 0, 120, 120)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([]) # Start with empty space
+
+    evaluator = CostEvaluator(engine, danger_map, greedy_h_weight=1.2)
+    router = AStarRouter(evaluator, node_limit=200000)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Phase 1: Route a "Bus" of 3 parallel nets
+    # We give them a small jog to make the locked geometry more interesting
+    netlist_p1 = {
+        "bus_0": (Port(10, 40, 0), Port(110, 45, 0)),
+        "bus_1": (Port(10, 50, 0), Port(110, 55, 0)),
+        "bus_2": (Port(10, 60, 0), Port(110, 65, 0)),
+    }
+    print("Phase 1: Routing bus (3 nets)...")
+    results_p1 = pf.route_all(netlist_p1, dict.fromkeys(netlist_p1, 2.0))
+
+    # Lock all Phase 1 nets
+    path_polys = []
+    for nid, res in results_p1.items():
+        if res.is_valid:
+            print(f"  Locking {nid}...")
+            engine.lock_net(nid)
+            path_polys.extend([p for comp in res.path for p in comp.geometry])
+        else:
+            print(f"  Warning: {nid} failed to route correctly.")
+
+    # Update danger map with the newly locked geometry
+    print("Updating DangerMap with locked paths...")
+    danger_map.precompute(path_polys)
+
+    # 3. Phase 2: Route secondary nets that must navigate around the locked bus
+    # These nets cross the bus vertically.
+    netlist_p2 = {
+        "cross_left": (Port(30, 10, 90), Port(30, 110, 90)),
+        "cross_right": (Port(80, 110, 270), Port(80, 10, 270)), # Top to bottom
+    }
+
+    print("Phase 2: Routing crossing nets around locked bus...")
+    # We use a slightly different width for variety
+    results_p2 = pf.route_all(netlist_p2, dict.fromkeys(netlist_p2, 1.5))
+
+    # 4. Check Results
+    for nid, res in results_p2.items():
+        status = "Success" if res.is_valid else "Failed"
+        print(f"  {nid:12}: {status}, collisions={res.collisions}")
+
+    # 5. Visualize
+    all_results = {**results_p1, **results_p2}
+    all_netlists = {**netlist_p1, **netlist_p2}
+
+    fig, ax = plot_routing_results(all_results, [], bounds, netlist=all_netlists)
+    fig.savefig("examples/03_locked_paths.png")
+    print("Saved plot to examples/03_locked_paths.png")
+
+
+if __name__ == "__main__":
+    main()

examples/04_sbends_and_radii.py

@@ -0,0 +1,68 @@
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 04: S-Bends and Multiple Radii...")
+
+    # 1. Setup Environment
+    bounds = (0, 0, 100, 100)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([])
+
+    # 2. Configure Router
+    evaluator = CostEvaluator(
+        engine,
+        danger_map,
+        unit_length_cost=1.0,
+        greedy_h_weight=1.5,
+    )
+
+    # We want a 45 degree switchover for S-bend.
+    # Offset O = 2 * R * (1 - cos(theta))
+    # If R = 10, O = 5.86
+
+    router = AStarRouter(
+        evaluator,
+        node_limit=50000,
+        bend_radii=[10.0, 30.0],
+        sbend_offsets=[5.0], # Use a simpler offset
+        sbend_radii=[10.0],
+        bend_penalty=10.0,
+        sbend_penalty=20.0,
+        snap_to_target_dist=50.0, # Large snap range
+    )
+
+    pf = PathFinder(router, evaluator)
+
+    # 3. Define Netlist
+    # start (10, 50), target (60, 55) -> 5um offset
+    netlist = {
+        "sbend_only": (Port(10, 50, 0), Port(60, 55, 0)),
+        "multi_radii": (Port(10, 10, 0), Port(90, 90, 0)),
+    }
+    net_widths = {"sbend_only": 2.0, "multi_radii": 2.0}
+
+    # 4. Route
+    results = pf.route_all(netlist, net_widths)
+
+    # 5. Check Results
+    for nid, res in results.items():
+        status = "Success" if res.is_valid else "Failed"
+        print(f"{nid}: {status}, collisions={res.collisions}")
+
+    # 6. Visualize
+    fig, ax = plot_routing_results(results, [], bounds, netlist=netlist)
+    fig.savefig("examples/04_sbends_and_radii.png")
+    print("Saved plot to examples/04_sbends_and_radii.png")
+
+
+if __name__ == "__main__":
+    main()

examples/05_orientation_stress.py

@@ -0,0 +1,57 @@
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 05: Orientation Stress Test...")
+
+    # 1. Setup Environment
+    # Give some breathing room (-20 to 120) for U-turns and flips (R=10)
+    bounds = (-20, -20, 120, 120)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([])
+
+    evaluator = CostEvaluator(engine, danger_map, greedy_h_weight=1.1)
+#    router = AStarRouter(evaluator, node_limit=100000)
+    router = AStarRouter(evaluator, node_limit=100000, bend_collision_type="clipped_bbox", bend_clip_margin=1.0)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Define Netlist with various orientation challenges
+    netlist = {
+        # Opposite directions: requires two 90-degree bends to flip orientation
+        "opposite": (Port(10, 80, 0), Port(90, 80, 180)),
+
+        # 90-degree turn: standard L-shape
+        "turn_90": (Port(10, 60, 0), Port(40, 90, 90)),
+
+        # Output behind input: requires a full U-turn
+        "behind": (Port(80, 40, 0), Port(20, 40, 0)),
+
+        # Sharp return: output is behind and oriented towards the input
+        "return_loop": (Port(80, 20, 0), Port(40, 10, 180)),
+    }
+    net_widths = dict.fromkeys(netlist, 2.0)
+
+    # 3. Route
+    results = pf.route_all(netlist, net_widths)
+
+    # 4. Check Results
+    for nid, res in results.items():
+        status = "Success" if res.is_valid else "Failed"
+        total_len = sum(comp.length for comp in res.path) if res.path else 0
+        print(f"  {nid:12}: {status}, total_length={total_len:.1f}")
+
+    # 5. Visualize
+    fig, ax = plot_routing_results(results, [], bounds, netlist=netlist)
+    fig.savefig("examples/05_orientation_stress.png")
+    print("Saved plot to examples/05_orientation_stress.png")
+
+
+if __name__ == "__main__":
+    main()

examples/06_bend_collision_models.py

@@ -0,0 +1,70 @@
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 06: Bend Collision Models...")
+
+    # 1. Setup Environment
+    # Give room for 10um bends near the edges
+    bounds = (-20, -20, 170, 170)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+
+    # Create three scenarios with identical obstacles
+    # We'll space them out vertically
+    obs_arc = Polygon([(40, 110), (60, 110), (60, 130), (40, 130)])
+    obs_bbox = Polygon([(40, 60), (60, 60), (60, 80), (40, 80)])
+    obs_clipped = Polygon([(40, 10), (60, 10), (60, 30), (40, 30)])
+
+    obstacles = [obs_arc, obs_bbox, obs_clipped]
+    for obs in obstacles:
+        engine.add_static_obstacle(obs)
+    danger_map.precompute(obstacles)
+
+    # We'll run three separate routers since collision_type is a router-level config
+    evaluator = CostEvaluator(engine, danger_map)
+
+    # Scenario 1: Standard 'arc' model (High fidelity)
+    router_arc = AStarRouter(evaluator, bend_collision_type="arc")
+    netlist_arc = {"arc_model": (Port(10, 120, 0), Port(90, 140, 90))}
+
+    # Scenario 2: 'bbox' model (Conservative axis-aligned box)
+    router_bbox = AStarRouter(evaluator, bend_collision_type="bbox")
+    netlist_bbox = {"bbox_model": (Port(10, 70, 0), Port(90, 90, 90))}
+
+    # Scenario 3: 'clipped_bbox' model (Balanced)
+    router_clipped = AStarRouter(evaluator, bend_collision_type="clipped_bbox", bend_clip_margin=1.0)
+    netlist_clipped = {"clipped_model": (Port(10, 20, 0), Port(90, 40, 90))}
+
+    # 2. Route each scenario
+    print("Routing Scenario 1 (Arc)...")
+    res_arc = PathFinder(router_arc, evaluator).route_all(netlist_arc, {"arc_model": 2.0})
+
+    print("Routing Scenario 2 (BBox)...")
+    res_bbox = PathFinder(router_bbox, evaluator).route_all(netlist_bbox, {"bbox_model": 2.0})
+
+    print("Routing Scenario 3 (Clipped BBox)...")
+    res_clipped = PathFinder(router_clipped, evaluator).route_all(netlist_clipped, {"clipped_model": 2.0})
+
+    # 3. Combine results for visualization
+    all_results = {**res_arc, **res_bbox, **res_clipped}
+    all_netlists = {**netlist_arc, **netlist_bbox, **netlist_clipped}
+
+    # 4. Visualize
+    # Note: plot_routing_results will show the 'collision geometry' used by the router
+    # since that's what's stored in res.path[i].geometry
+    fig, ax = plot_routing_results(all_results, obstacles, bounds, netlist=all_netlists)
+    fig.savefig("examples/06_bend_collision_models.png")
+    print("Saved plot to examples/06_bend_collision_models.png")
+
+
+if __name__ == "__main__":
+    main()

inire/__init__.py

@@ -1,6 +1,8 @@
 """
 inire Wave-router
 """
+from .geometry.primitives import Port as Port  # noqa: PLC0414
+from .geometry.components import Straight as Straight, Bend90 as Bend90, SBend as SBend  # noqa: PLC0414
 
 __author__ = 'Jan Petykiewicz'
 __version__ = '0.1'

inire/geometry/collision.py

@@ -0,0 +1,230 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING, Literal
+import rtree
+from shapely.prepared import prep
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+    from shapely.prepared import PreparedGeometry
+    from inire.geometry.primitives import Port
+
+
+class CollisionEngine:
+    """
+    Manages spatial queries for collision detection with unified dilation logic.
+    """
+    __slots__ = (
+        'clearance', 'max_net_width', 'safety_zone_radius',
+        'static_index', 'static_geometries', 'static_dilated', 'static_prepared', '_static_id_counter',
+        'dynamic_index', 'dynamic_geometries', 'dynamic_dilated', 'dynamic_prepared', '_dynamic_id_counter'
+    )
+
+    clearance: float
+    """ Minimum required distance between any two waveguides or obstacles """
+
+    max_net_width: float
+    """ Maximum width of any net in the session (used for pre-dilation) """
+
+    safety_zone_radius: float
+    """ Radius around ports where collisions are ignored """
+
+    def __init__(
+            self,
+            clearance: float,
+            max_net_width: float = 2.0,
+            safety_zone_radius: float = 0.0021,
+            ) -> None:
+        """
+        Initialize the Collision Engine.
+
+        Args:
+            clearance: Minimum required distance (um).
+            max_net_width: Maximum net width (um).
+            safety_zone_radius: Safety radius around ports (um).
+        """
+        self.clearance = clearance
+        self.max_net_width = max_net_width
+        self.safety_zone_radius = safety_zone_radius
+
+        # Static obstacles
+        self.static_index = rtree.index.Index()
+        self.static_geometries: dict[int, Polygon] = {}  # ID -> Raw Polygon
+        self.static_dilated: dict[int, Polygon] = {}     # ID -> Dilated Polygon (by clearance)
+        self.static_prepared: dict[int, PreparedGeometry] = {}  # ID -> Prepared Dilated
+        self._static_id_counter = 0
+
+        # Dynamic paths for multi-net congestion
+        self.dynamic_index = rtree.index.Index()
+        # obj_id -> (net_id, raw_geometry)
+        self.dynamic_geometries: dict[int, tuple[str, Polygon]] = {}
+        # obj_id -> dilated_geometry (by clearance/2)
+        self.dynamic_dilated: dict[int, Polygon] = {}
+        self.dynamic_prepared: dict[int, PreparedGeometry] = {}
+        self._dynamic_id_counter = 0
+
+    def add_static_obstacle(self, polygon: Polygon) -> None:
+        """
+        Add a static obstacle to the engine.
+
+        Args:
+            polygon: Raw obstacle geometry.
+        """
+        obj_id = self._static_id_counter
+        self._static_id_counter += 1
+
+        dilated = polygon.buffer(self.clearance)
+        self.static_geometries[obj_id] = polygon
+        self.static_dilated[obj_id] = dilated
+        self.static_prepared[obj_id] = prep(dilated)
+        self.static_index.insert(obj_id, dilated.bounds)
+
+    def add_path(self, net_id: str, geometry: list[Polygon], dilated_geometry: list[Polygon] | None = None) -> None:
+        """
+        Add a net's routed path to the dynamic index.
+
+        Args:
+            net_id: Identifier for the net.
+            geometry: List of raw polygons in the path.
+            dilated_geometry: Optional list of pre-dilated polygons (by clearance/2).
+        """
+        dilation = self.clearance / 2.0
+        for i, poly in enumerate(geometry):
+            obj_id = self._dynamic_id_counter
+            self._dynamic_id_counter += 1
+            
+            dil = dilated_geometry[i] if dilated_geometry else poly.buffer(dilation)
+            
+            self.dynamic_geometries[obj_id] = (net_id, poly)
+            self.dynamic_dilated[obj_id] = dil
+            self.dynamic_prepared[obj_id] = prep(dil)
+            self.dynamic_index.insert(obj_id, dil.bounds)
+
+    def remove_path(self, net_id: str) -> None:
+        """
+        Remove a net's path from the dynamic index.
+
+        Args:
+            net_id: Identifier for the net to remove.
+        """
+        to_remove = [obj_id for obj_id, (nid, _) in self.dynamic_geometries.items() if nid == net_id]
+        for obj_id in to_remove:
+            nid, poly = self.dynamic_geometries.pop(obj_id)
+            dilated = self.dynamic_dilated.pop(obj_id)
+            self.dynamic_prepared.pop(obj_id)
+            self.dynamic_index.delete(obj_id, dilated.bounds)
+
+    def lock_net(self, net_id: str) -> None:
+        """
+        Move a net's dynamic path to static obstacles permanently.
+
+        Args:
+            net_id: Identifier for the net to lock.
+        """
+        to_move = [obj_id for obj_id, (nid, _) in self.dynamic_geometries.items() if nid == net_id]
+        for obj_id in to_move:
+            nid, poly = self.dynamic_geometries.pop(obj_id)
+            dilated = self.dynamic_dilated.pop(obj_id)
+            self.dynamic_prepared.pop(obj_id)
+            self.dynamic_index.delete(obj_id, dilated.bounds)
+            # Re-buffer for static clearance if necessary. 
+            # Note: dynamic is clearance/2, static is clearance.
+            self.add_static_obstacle(poly)
+
+    def is_collision(
+            self,
+            geometry: Polygon,
+            net_width: float = 2.0,
+            start_port: Port | None = None,
+            end_port: Port | None = None,
+            ) -> bool:
+        """
+        Alias for check_collision(buffer_mode='static') for backward compatibility.
+        """
+        _ = net_width
+        res = self.check_collision(geometry, 'default', buffer_mode='static', start_port=start_port, end_port=end_port)
+        return bool(res)
+
+    def count_congestion(self, geometry: Polygon, net_id: str) -> int:
+        """
+        Alias for check_collision(buffer_mode='congestion') for backward compatibility.
+        """
+        res = self.check_collision(geometry, net_id, buffer_mode='congestion')
+        return int(res)
+
+    def check_collision(
+            self,
+            geometry: Polygon,
+            net_id: str,
+            buffer_mode: Literal['static', 'congestion'] = 'static',
+            start_port: Port | None = None,
+            end_port: Port | None = None,
+            dilated_geometry: Polygon | None = None,
+            ) -> bool | int:
+        """
+        Check for collisions using unified dilation logic.
+
+        Args:
+            geometry: Raw geometry to check.
+            net_id: Identifier for the net.
+            buffer_mode: 'static' (full clearance) or 'congestion' (shared).
+            start_port: Optional start port for safety zone.
+            end_port: Optional end port for safety zone.
+            dilated_geometry: Optional pre-buffered geometry (clearance/2).
+
+        Returns:
+            Boolean if static, integer count if congestion.
+        """
+        if buffer_mode == 'static':
+            # Use raw query against pre-dilated obstacles
+            candidates = self.static_index.intersection(geometry.bounds)
+
+            for obj_id in candidates:
+                if self.static_prepared[obj_id].intersects(geometry):
+                    if start_port or end_port:
+                        # Optimization: Skip expensive intersection if neither port is near the obstacle's bounds
+                        # (Plus a small margin for safety zone)
+                        sz = self.safety_zone_radius
+                        is_near_port = False
+                        for p in [start_port, end_port]:
+                            if p:
+                                # Quick bounds check
+                                b = self.static_dilated[obj_id].bounds
+                                if (b[0] - sz <= p.x <= b[2] + sz and 
+                                    b[1] - sz <= p.y <= b[3] + sz):
+                                    is_near_port = True
+                                    break
+                        
+                        if not is_near_port:
+                            return True # Collision, and not near any port safety zone
+
+                        # Only if near port, do the expensive check
+                        raw_obstacle = self.static_geometries[obj_id]
+                        intersection = geometry.intersection(raw_obstacle)
+                        if not intersection.is_empty:
+                            ix_minx, ix_miny, ix_maxx, ix_maxy = intersection.bounds
+                            is_safe = False
+                            for p in [start_port, end_port]:
+                                if p and (abs(ix_minx - p.x) < sz and
+                                          abs(ix_maxx - p.x) < sz and
+                                          abs(ix_miny - p.y) < sz and
+                                          abs(ix_maxy - p.y) < sz):
+                                    is_safe = True
+                                    break
+                            
+                            if is_safe:
+                                continue
+                    return True
+            return False
+
+        # buffer_mode == 'congestion'
+        dilation = self.clearance / 2.0
+        test_poly = dilated_geometry if dilated_geometry else geometry.buffer(dilation)
+        candidates = self.dynamic_index.intersection(test_poly.bounds)
+
+        count = 0
+        for obj_id in candidates:
+            other_net_id, _ = self.dynamic_geometries[obj_id]
+            if other_net_id != net_id and self.dynamic_prepared[obj_id].intersects(test_poly):
+                count += 1
+        return count

inire/geometry/components.py

@@ -0,0 +1,491 @@
+from __future__ import annotations
+
+from typing import Literal, cast
+import numpy
+import shapely
+from shapely.geometry import Polygon, box
+from shapely.ops import unary_union
+
+from .primitives import Port
+
+
+
+# Search Grid Snap (1.0 µm)
+SEARCH_GRID_SNAP_UM = 1.0
+
+
+def snap_search_grid(value: float) -> float:
+    """
+    Snap a coordinate to the nearest search grid unit.
+
+    Args:
+        value: Value to snap.
+
+    Returns:
+        Snapped value.
+    """
+    return round(value / SEARCH_GRID_SNAP_UM) * SEARCH_GRID_SNAP_UM
+
+
+class ComponentResult:
+    """
+    The result of a component generation: geometry, final port, and physical length.
+    """
+    __slots__ = ('geometry', 'dilated_geometry', 'end_port', 'length', 'bounds', 'dilated_bounds')
+
+    geometry: list[Polygon]
+    """ List of polygons representing the component geometry """
+
+    dilated_geometry: list[Polygon] | None
+    """ Optional list of pre-dilated polygons for collision optimization """
+
+    end_port: Port
+    """ The final port after the component """
+
+    length: float
+    """ Physical length of the component path """
+
+    bounds: numpy.ndarray
+    """ Pre-calculated bounds for each polygon in geometry """
+
+    dilated_bounds: numpy.ndarray | None
+    """ Pre-calculated bounds for each polygon in dilated_geometry """
+
+    def __init__(
+            self,
+            geometry: list[Polygon],
+            end_port: Port,
+            length: float,
+            dilated_geometry: list[Polygon] | None = None,
+            ) -> None:
+        self.geometry = geometry
+        self.dilated_geometry = dilated_geometry
+        self.end_port = end_port
+        self.length = length
+        # Vectorized bounds calculation
+        self.bounds = shapely.bounds(geometry)
+        self.dilated_bounds = shapely.bounds(dilated_geometry) if dilated_geometry is not None else None
+
+    def translate(self, dx: float, dy: float) -> ComponentResult:
+        """
+        Create a new ComponentResult translated by (dx, dy).
+        """
+        # Vectorized translation if possible, else list comp
+        # Shapely 2.x affinity functions still work on single geometries efficiently
+        geoms = list(self.geometry)
+        num_geom = len(self.geometry)
+        if self.dilated_geometry is not None:
+            geoms.extend(self.dilated_geometry)
+        
+        from shapely.affinity import translate
+        translated = [translate(p, dx, dy) for p in geoms]
+        
+        new_geom = translated[:num_geom]
+        new_dil = translated[num_geom:] if self.dilated_geometry is not None else None
+        
+        new_port = Port(self.end_port.x + dx, self.end_port.y + dy, self.end_port.orientation)
+        return ComponentResult(new_geom, new_port, self.length, new_dil)
+
+
+
+
+
+
+class Straight:
+    """
+    Move generator for straight waveguide segments.
+    """
+    @staticmethod
+    def generate(
+            start_port: Port,
+            length: float,
+            width: float,
+            snap_to_grid: bool = True,
+            dilation: float = 0.0,
+            ) -> ComponentResult:
+        """
+        Generate a straight waveguide segment.
+
+        Args:
+            start_port: Port to start from.
+            length: Requested length.
+            width: Waveguide width.
+            snap_to_grid: Whether to snap the end port to the search grid.
+            dilation: Optional dilation distance for pre-calculating collision geometry.
+
+        Returns:
+            A ComponentResult containing the straight segment.
+        """
+        rad = numpy.radians(start_port.orientation)
+        cos_val = numpy.cos(rad)
+        sin_val = numpy.sin(rad)
+
+        ex = start_port.x + length * cos_val
+        ey = start_port.y + length * sin_val
+
+        if snap_to_grid:
+            ex = snap_search_grid(ex)
+            ey = snap_search_grid(ey)
+
+        end_port = Port(ex, ey, start_port.orientation)
+        actual_length = numpy.sqrt((end_port.x - start_port.x)**2 + (end_port.y - start_port.y)**2)
+
+        # Create polygons using vectorized points
+        half_w = width / 2.0
+        pts_raw = numpy.array([
+            [0, half_w], 
+            [actual_length, half_w], 
+            [actual_length, -half_w], 
+            [0, -half_w]
+        ])
+        
+        # Rotation matrix (standard 2D rotation)
+        rot_matrix = numpy.array([[cos_val, -sin_val], [sin_val, cos_val]])
+        
+        # Transform points: P' = R * P + T
+        poly_points = (pts_raw @ rot_matrix.T) + [start_port.x, start_port.y]
+        geom = [Polygon(poly_points)]
+
+        dilated_geom = None
+        if dilation > 0:
+            # Direct calculation of dilated rectangle instead of expensive buffer()
+            half_w_dil = half_w + dilation
+            pts_dil = numpy.array([
+                [-dilation, half_w_dil], 
+                [actual_length + dilation, half_w_dil], 
+                [actual_length + dilation, -half_w_dil], 
+                [-dilation, -half_w_dil]
+            ])
+            poly_points_dil = (pts_dil @ rot_matrix.T) + [start_port.x, start_port.y]
+            dilated_geom = [Polygon(poly_points_dil)]
+
+        return ComponentResult(geometry=geom, end_port=end_port, length=actual_length, dilated_geometry=dilated_geom)
+
+
+def _get_num_segments(radius: float, angle_deg: float, sagitta: float = 0.01) -> int:
+    """
+    Calculate number of segments for an arc to maintain a maximum sagitta.
+
+    Args:
+        radius: Arc radius.
+        angle_deg: Total angle turned.
+        sagitta: Maximum allowed deviation.
+
+    Returns:
+        Minimum number of segments needed.
+    """
+    if radius <= 0:
+        return 1
+    ratio = max(0.0, min(1.0, 1.0 - sagitta / radius))
+    theta_max = 2.0 * numpy.arccos(ratio)
+    if theta_max < 1e-9:
+        return 16
+    num = int(numpy.ceil(numpy.radians(abs(angle_deg)) / theta_max))
+    return max(8, num)
+
+
+def _get_arc_polygons(
+        cx: float,
+        cy: float,
+        radius: float,
+        width: float,
+        t_start: float,
+        t_end: float,
+        sagitta: float = 0.01,
+        dilation: float = 0.0,
+        ) -> list[Polygon]:
+    """
+    Helper to generate arc-shaped polygons using vectorized NumPy operations.
+
+    Args:
+        cx, cy: Center coordinates.
+        radius: Arc radius.
+        width: Waveguide width.
+        t_start, t_end: Start and end angles (radians).
+        sagitta: Geometric fidelity.
+        dilation: Optional dilation to apply directly to the arc.
+
+    Returns:
+        List containing the arc polygon.
+    """
+    num_segments = _get_num_segments(radius, float(numpy.degrees(abs(t_end - t_start))), sagitta)
+    angles = numpy.linspace(t_start, t_end, num_segments + 1)
+    
+    cos_a = numpy.cos(angles)
+    sin_a = numpy.sin(angles)
+    
+    inner_radius = radius - width / 2.0 - dilation
+    outer_radius = radius + width / 2.0 + dilation
+    
+    inner_points = numpy.stack([cx + inner_radius * cos_a, cy + inner_radius * sin_a], axis=1)
+    outer_points = numpy.stack([cx + outer_radius * cos_a[::-1], cy + outer_radius * sin_a[::-1]], axis=1)
+    
+    # Concatenate inner and outer points to form the polygon ring
+    poly_points = numpy.concatenate([inner_points, outer_points])
+    
+    return [Polygon(poly_points)]
+
+
+def _clip_bbox(
+        bbox: Polygon,
+        cx: float,
+        cy: float,
+        radius: float,
+        width: float,
+        clip_margin: float,
+        arc_poly: Polygon,
+        ) -> Polygon:
+    """
+    Clips corners of a bounding box for better collision modeling using direct vertex manipulation.
+    """
+    # Determination of which corners to clip
+    ac = arc_poly.centroid
+    qsx = 1.0 if ac.x >= cx else -1.0
+    qsy = 1.0 if ac.y >= cy else -1.0
+
+    r_out_cut = radius + width / 2.0 + clip_margin
+    r_in_cut = radius - width / 2.0 - clip_margin
+
+    minx, miny, maxx, maxy = bbox.bounds
+    # Initial vertices: [minx,miny], [maxx,miny], [maxx,maxy], [minx,maxy]
+    verts = [
+        numpy.array([minx, miny]),
+        numpy.array([maxx, miny]),
+        numpy.array([maxx, maxy]),
+        numpy.array([minx, maxy])
+    ]
+
+    new_verts = []
+    for p in verts:
+        dx, dy = p[0] - cx, p[1] - cy
+        dist = numpy.sqrt(dx**2 + dy**2)
+
+        # Normal vector components from center to corner
+        sx = 1.0 if dx > 1e-6 else (-1.0 if dx < -1e-6 else qsx)
+        sy = 1.0 if dy > 1e-6 else (-1.0 if dy < -1e-6 else qsy)
+
+        d_line = -1.0
+        if dist > r_out_cut:
+            d_line = r_out_cut * numpy.sqrt(2)
+        elif r_in_cut > 0 and dist < r_in_cut:
+            d_line = r_in_cut
+        
+        if d_line > 0:
+            # This corner needs clipping. Replace one vertex with two at intersection of line and edges.
+            # Line: sx*(x-cx) + sy*(y-cy) = d_line
+            # Edge x=px: y = cy + (d_line - sx*(px-cx))/sy
+            # Edge y=py: x = cx + (d_line - sy*(py-cy))/sx
+            try:
+                p_edge_x = numpy.array([p[0], cy + (d_line - sx * (p[0] - cx)) / sy])
+                p_edge_y = numpy.array([cx + (d_line - sy * (p[1] - cy)) / sx, p[1]])
+                # Order matters for polygon winding.
+                # If we are at [minx, miny] and moving CCW towards [maxx, miny]:
+                # If we clip this corner, we should add p_edge_y then p_edge_x (or vice versa depending on orientation)
+                # For simplicity, we can just add both and let Polygon sort it out if it's convex,
+                # but better to be precise.
+                # Since we know the bounding box orientation, we can determine order.
+                # BUT: Difference was safer. Let's try a simpler approach:
+                # Just collect all possible vertices and use convex_hull if it's guaranteed convex.
+                # A clipped bbox is always convex.
+                new_verts.append(p_edge_x)
+                new_verts.append(p_edge_y)
+            except ZeroDivisionError:
+                new_verts.append(p)
+        else:
+            new_verts.append(p)
+
+    return Polygon(new_verts).convex_hull
+
+
+def _apply_collision_model(
+        arc_poly: Polygon,
+        collision_type: Literal["arc", "bbox", "clipped_bbox"] | Polygon,
+        radius: float,
+        width: float,
+        cx: float = 0.0,
+        cy: float = 0.0,
+        clip_margin: float = 10.0,
+        ) -> list[Polygon]:
+    """
+    Applies the specified collision model to an arc geometry.
+
+    Args:
+        arc_poly: High-fidelity arc.
+        collision_type: Model type or custom polygon.
+        radius: Arc radius.
+        width: Waveguide width.
+        cx, cy: Arc center.
+        clip_margin: Safety margin for clipping.
+
+    Returns:
+        List of polygons representing the collision model.
+    """
+    if isinstance(collision_type, Polygon):
+        return [collision_type]
+
+    if collision_type == "arc":
+        return [arc_poly]
+
+    # Get bounding box
+    minx, miny, maxx, maxy = arc_poly.bounds
+    bbox = box(minx, miny, maxx, maxy)
+
+    if collision_type == "bbox":
+        return [bbox]
+
+    if collision_type == "clipped_bbox":
+        return [_clip_bbox(bbox, cx, cy, radius, width, clip_margin, arc_poly)]
+
+    return [arc_poly]
+
+
+class Bend90:
+    """
+    Move generator for 90-degree bends.
+    """
+    @staticmethod
+    def generate(
+            start_port: Port,
+            radius: float,
+            width: float,
+            direction: str = "CW",
+            sagitta: float = 0.01,
+            collision_type: Literal["arc", "bbox", "clipped_bbox"] | Polygon = "arc",
+            clip_margin: float = 10.0,
+            dilation: float = 0.0,
+            ) -> ComponentResult:
+        """
+        Generate a 90-degree bend.
+
+        Args:
+            start_port: Port to start from.
+            radius: Bend radius.
+            width: Waveguide width.
+            direction: "CW" or "CCW".
+            sagitta: Geometric fidelity.
+            collision_type: Collision model.
+            clip_margin: Margin for clipped_bbox.
+            dilation: Optional dilation distance for pre-calculating collision geometry.
+
+        Returns:
+            A ComponentResult containing the bend.
+        """
+        turn_angle = -90 if direction == "CW" else 90
+        rad_start = numpy.radians(start_port.orientation)
+        c_angle = rad_start + (numpy.pi / 2 if direction == "CCW" else -numpy.pi / 2)
+        cx = start_port.x + radius * numpy.cos(c_angle)
+        cy = start_port.y + radius * numpy.sin(c_angle)
+        t_start = c_angle + numpy.pi
+        t_end = t_start + (numpy.pi / 2 if direction == "CCW" else -numpy.pi / 2)
+
+        ex = snap_search_grid(cx + radius * numpy.cos(t_end))
+        ey = snap_search_grid(cy + radius * numpy.sin(t_end))
+        end_port = Port(ex, ey, float((start_port.orientation + turn_angle) % 360))
+
+        arc_polys = _get_arc_polygons(cx, cy, radius, width, t_start, t_end, sagitta)
+        collision_polys = _apply_collision_model(
+            arc_polys[0], collision_type, radius, width, cx, cy, clip_margin
+        )
+        
+        dilated_geom = None
+        if dilation > 0:
+            if collision_type == "arc":
+                dilated_geom = _get_arc_polygons(cx, cy, radius, width, t_start, t_end, sagitta, dilation=dilation)
+            else:
+                # For bbox or clipped_bbox, buffer the model itself (which is simpler than buffering the high-fidelity arc)
+                dilated_geom = [p.buffer(dilation) for p in collision_polys]
+
+        return ComponentResult(
+            geometry=collision_polys, 
+            end_port=end_port, 
+            length=radius * numpy.pi / 2.0,
+            dilated_geometry=dilated_geom
+        )
+
+
+class SBend:
+    """
+    Move generator for parametric S-bends.
+    """
+    @staticmethod
+    def generate(
+            start_port: Port,
+            offset: float,
+            radius: float,
+            width: float,
+            sagitta: float = 0.01,
+            collision_type: Literal["arc", "bbox", "clipped_bbox"] | Polygon = "arc",
+            clip_margin: float = 10.0,
+            dilation: float = 0.0,
+            ) -> ComponentResult:
+        """
+        Generate a parametric S-bend (two tangent arcs).
+
+        Args:
+            start_port: Port to start from.
+            offset: Lateral offset.
+            radius: Arc radii.
+            width: Waveguide width.
+            sagitta: Geometric fidelity.
+            collision_type: Collision model.
+            clip_margin: Margin for clipped_bbox.
+            dilation: Optional dilation distance for pre-calculating collision geometry.
+
+        Returns:
+            A ComponentResult containing the S-bend.
+        """
+        if abs(offset) >= 2 * radius:
+            raise ValueError(f"SBend offset {offset} must be less than 2*radius {2 * radius}")
+
+        theta = numpy.arccos(1 - abs(offset) / (2 * radius))
+        dx = 2 * radius * numpy.sin(theta)
+        dy = offset
+        rad_start = numpy.radians(start_port.orientation)
+        ex = snap_search_grid(start_port.x + dx * numpy.cos(rad_start) - dy * numpy.sin(rad_start))
+        ey = snap_search_grid(start_port.y + dx * numpy.sin(rad_start) + dy * numpy.cos(rad_start))
+        end_port = Port(ex, ey, start_port.orientation)
+
+        direction = 1 if offset > 0 else -1
+        c1_angle = rad_start + direction * numpy.pi / 2
+        cx1 = start_port.x + radius * numpy.cos(c1_angle)
+        cy1 = start_port.y + radius * numpy.sin(c1_angle)
+        ts1, te1 = c1_angle + numpy.pi, c1_angle + numpy.pi + direction * theta
+
+        ex_raw = start_port.x + dx * numpy.cos(rad_start) - dy * numpy.sin(rad_start)
+        ey_raw = start_port.y + dx * numpy.sin(rad_start) + dy * numpy.cos(rad_start)
+        c2_angle = rad_start - direction * numpy.pi / 2
+        cx2 = ex_raw + radius * numpy.cos(c2_angle)
+        cy2 = ey_raw + radius * numpy.sin(c2_angle)
+        te2 = c2_angle + numpy.pi
+        ts2 = te2 + direction * theta
+
+        arc1 = _get_arc_polygons(cx1, cy1, radius, width, ts1, te1, sagitta)[0]
+        arc2 = _get_arc_polygons(cx2, cy2, radius, width, ts2, te2, sagitta)[0]
+
+        if collision_type == "clipped_bbox":
+            col1 = _apply_collision_model(arc1, collision_type, radius, width, cx1, cy1, clip_margin)[0]
+            col2 = _apply_collision_model(arc2, collision_type, radius, width, cx2, cy2, clip_margin)[0]
+            # Optimization: keep as list instead of unary_union for search efficiency
+            collision_polys = [col1, col2]
+        else:
+            # For other models, we can either combine or keep separate. 
+            # Keeping separate is generally better for CollisionEngine.
+            col1 = _apply_collision_model(arc1, collision_type, radius, width, cx1, cy1, clip_margin)[0]
+            col2 = _apply_collision_model(arc2, collision_type, radius, width, cx2, cy2, clip_margin)[0]
+            collision_polys = [col1, col2]
+
+        dilated_geom = None
+        if dilation > 0:
+            if collision_type == "arc":
+                d1 = _get_arc_polygons(cx1, cy1, radius, width, ts1, te1, sagitta, dilation=dilation)[0]
+                d2 = _get_arc_polygons(cx2, cy2, radius, width, ts2, te2, sagitta, dilation=dilation)[0]
+                dilated_geom = [d1, d2]
+            else:
+                dilated_geom = [p.buffer(dilation) for p in collision_polys]
+
+        return ComponentResult(
+            geometry=collision_polys, 
+            end_port=end_port, 
+            length=2 * radius * theta,
+            dilated_geometry=dilated_geom
+        )

inire/geometry/primitives.py

@@ -0,0 +1,111 @@
+from __future__ import annotations
+
+import numpy
+
+
+# 1nm snap (0.001 µm)
+GRID_SNAP_UM = 0.001
+
+
+def snap_nm(value: float) -> float:
+    """
+    Snap a coordinate to the nearest 1nm (0.001 um).
+
+    Args:
+        value: Coordinate value to snap.
+
+    Returns:
+        Snapped coordinate value.
+    """
+    return round(value / GRID_SNAP_UM) * GRID_SNAP_UM
+
+
+class Port:
+    """
+    A port defined by (x, y, orientation) in micrometers.
+    """
+    __slots__ = ('x', 'y', 'orientation')
+
+    x: float
+    """ x-coordinate in micrometers """
+
+    y: float
+    """ y-coordinate in micrometers """
+
+    orientation: float
+    """ Orientation in degrees: 0, 90, 180, 270 """
+
+    def __init__(
+            self,
+            x: float,
+            y: float,
+            orientation: float,
+            ) -> None:
+        """
+        Initialize and snap a Port.
+
+        Args:
+            x: Initial x-coordinate.
+            y: Initial y-coordinate.
+            orientation: Initial orientation in degrees.
+        """
+        # Snap x, y to 1nm
+        self.x = snap_nm(x)
+        self.y = snap_nm(y)
+
+        # Ensure orientation is one of {0, 90, 180, 270}
+        norm_orientation = int(round(orientation)) % 360
+        if norm_orientation not in {0, 90, 180, 270}:
+            norm_orientation = (round(norm_orientation / 90) * 90) % 360
+
+        self.orientation = float(norm_orientation)
+
+    def __repr__(self) -> str:
+        return f'Port(x={self.x}, y={self.y}, orientation={self.orientation})'
+
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, Port):
+            return False
+        return (self.x == other.x and
+                self.y == other.y and
+                self.orientation == other.orientation)
+
+    def __hash__(self) -> int:
+        return hash((self.x, self.y, self.orientation))
+
+
+def translate_port(port: Port, dx: float, dy: float) -> Port:
+    """
+    Translate a port by (dx, dy).
+
+    Args:
+        port: Port to translate.
+        dx: x-offset.
+        dy: y-offset.
+
+    Returns:
+        A new translated Port.
+    """
+    return Port(port.x + dx, port.y + dy, port.orientation)
+
+
+def rotate_port(port: Port, angle: float, origin: tuple[float, float] = (0, 0)) -> Port:
+    """
+    Rotate a port by a multiple of 90 degrees around an origin.
+
+    Args:
+        port: Port to rotate.
+        angle: Angle to rotate by (degrees).
+        origin: (x, y) origin to rotate around.
+
+    Returns:
+        A new rotated Port.
+    """
+    ox, oy = origin
+    px, py = port.x, port.y
+
+    rad = numpy.radians(angle)
+    qx = ox + numpy.cos(rad) * (px - ox) - numpy.sin(rad) * (py - oy)
+    qy = oy + numpy.sin(rad) * (px - ox) + numpy.cos(rad) * (py - oy)
+
+    return Port(qx, qy, port.orientation + angle)

inire/router/astar.py

@@ -0,0 +1,548 @@
+from __future__ import annotations
+
+import heapq
+import logging
+import functools
+from typing import TYPE_CHECKING, Literal, Any
+import rtree
+
+import numpy
+
+from inire.geometry.components import Bend90, SBend, Straight
+from inire.geometry.primitives import Port
+from inire.router.config import RouterConfig
+
+if TYPE_CHECKING:
+    from inire.geometry.components import ComponentResult
+    from inire.router.cost import CostEvaluator
+
+logger = logging.getLogger(__name__)
+
+
+@functools.total_ordering
+class AStarNode:
+    """
+    A node in the A* search graph.
+    """
+    __slots__ = ('port', 'g_cost', 'h_cost', 'f_cost', 'parent', 'component_result', 'count', 'path_bbox')
+
+    port: Port
+    """ Port representing the state at this node """
+
+    g_cost: float
+    """ Actual cost from start to this node """
+
+    h_cost: float
+    """ Heuristic cost from this node to target """
+
+    f_cost: float
+    """ Total estimated cost (g + h) """
+
+    parent: AStarNode | None
+    """ Parent node in the search tree """
+
+    component_result: ComponentResult | None
+    """ The component move that led to this node """
+
+    count: int
+    """ Unique insertion order for tie-breaking """
+
+    path_bbox: tuple[float, float, float, float] | None
+    """ Bounding box of the entire path up to this node """
+
+    _count = 0
+
+    def __init__(
+            self,
+            port: Port,
+            g_cost: float,
+            h_cost: float,
+            parent: AStarNode | None = None,
+            component_result: ComponentResult | None = None,
+            ) -> None:
+        self.port = port
+        self.g_cost = g_cost
+        self.h_cost = h_cost
+        self.f_cost = g_cost + h_cost
+        self.parent = parent
+        self.component_result = component_result
+        self.count = AStarNode._count
+        AStarNode._count += 1
+
+        # Calculate path_bbox
+        if parent is None:
+            self.path_bbox = None
+        else:
+            # Union of parent's bbox and current move's bbox
+            if component_result:
+                # Merge all polygon bounds in the result
+                minx, miny, maxx, maxy = 1e15, 1e15, -1e15, -1e15
+                for b in component_result.dilated_bounds if component_result.dilated_bounds is not None else component_result.bounds:
+                    minx = min(minx, b[0])
+                    miny = min(miny, b[1])
+                    maxx = max(maxx, b[2])
+                    maxy = max(maxy, b[3])
+                
+                if parent.path_bbox:
+                    self.path_bbox = (
+                        min(minx, parent.path_bbox[0]),
+                        min(miny, parent.path_bbox[1]),
+                        max(maxx, parent.path_bbox[2]),
+                        max(maxy, parent.path_bbox[3])
+                    )
+                else:
+                    self.path_bbox = (minx, miny, maxx, maxy)
+            else:
+                self.path_bbox = parent.path_bbox
+
+
+
+
+    def __lt__(self, other: AStarNode) -> bool:
+        # Tie-breaking: lower f first, then lower h, then order
+        if abs(self.f_cost - other.f_cost) > 1e-9:
+            return self.f_cost < other.f_cost
+        if abs(self.h_cost - other.h_cost) > 1e-9:
+            return self.h_cost < other.h_cost
+        return self.count < other.count
+
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, AStarNode):
+            return False
+        return self.count == other.count
+
+
+class AStarRouter:
+    """
+    Hybrid State-Lattice A* Router.
+    """
+    __slots__ = ('cost_evaluator', 'config', 'node_limit', 'total_nodes_expanded', '_collision_cache', '_move_cache', '_self_dilation')
+
+    cost_evaluator: CostEvaluator
+    """ The evaluator for path and proximity costs """
+
+    config: RouterConfig
+    """ Search configuration parameters """
+
+    node_limit: int
+    """ Maximum nodes to expand before failure """
+
+    total_nodes_expanded: int
+    """ Counter for debugging/profiling """
+
+    _collision_cache: dict[tuple[float, float, float, str, float, str], bool]
+    """ Internal cache for move collision checks """
+
+    _move_cache: dict[tuple[Any, ...], ComponentResult]
+    """ Internal cache for component generation """
+
+    _self_dilation: float
+    """ Cached dilation value for collision checks (clearance / 2.0) """
+
+    def __init__(
+            self,
+            cost_evaluator: CostEvaluator,
+            node_limit: int = 1000000,
+            straight_lengths: list[float] | None = None,
+            bend_radii: list[float] | None = None,
+            sbend_offsets: list[float] | None = None,
+            sbend_radii: list[float] | None = None,
+            snap_to_target_dist: float = 20.0,
+            bend_penalty: float = 50.0,
+            sbend_penalty: float = 100.0,
+            bend_collision_type: Literal['arc', 'bbox', 'clipped_bbox'] = 'arc',
+            bend_clip_margin: float = 10.0,
+            ) -> None:
+        """
+        Initialize the A* Router.
+
+        Args:
+            cost_evaluator: Path cost evaluator.
+            node_limit: Node expansion limit.
+            straight_lengths: Allowed straight lengths (um).
+            bend_radii: Allowed 90-deg radii (um).
+            sbend_offsets: Allowed S-bend lateral offsets (um).
+            sbend_radii: Allowed S-bend radii (um).
+            snap_to_target_dist: Radius for target lookahead (um).
+            bend_penalty: Penalty for 90-degree turns.
+            sbend_penalty: Penalty for S-bends.
+            bend_collision_type: Collision model for bends.
+            bend_clip_margin: Margin for clipped_bbox model.
+        """
+        self.cost_evaluator = cost_evaluator
+        self.config = RouterConfig(
+            node_limit=node_limit,
+            straight_lengths=straight_lengths if straight_lengths is not None else [1.0, 5.0, 25.0, 100.0],
+            bend_radii=bend_radii if bend_radii is not None else [10.0],
+            sbend_offsets=sbend_offsets if sbend_offsets is not None else [-5.0, -2.0, 2.0, 5.0],
+            sbend_radii=sbend_radii if sbend_radii is not None else [10.0],
+            snap_to_target_dist=snap_to_target_dist,
+            bend_penalty=bend_penalty,
+            sbend_penalty=sbend_penalty,
+            bend_collision_type=bend_collision_type,
+            bend_clip_margin=bend_clip_margin,
+        )
+        self.node_limit = self.config.node_limit
+        self.total_nodes_expanded = 0
+        self._collision_cache = {}
+        self._move_cache = {}
+        self._self_dilation = self.cost_evaluator.collision_engine.clearance / 2.0
+
+    def route(
+            self,
+            start: Port,
+            target: Port,
+            net_width: float,
+            net_id: str = 'default',
+            bend_collision_type: Literal['arc', 'bbox', 'clipped_bbox'] | None = None,
+            ) -> list[ComponentResult] | None:
+        """
+        Route a single net using A*.
+
+        Args:
+            start: Starting port.
+            target: Target port.
+            net_width: Waveguide width (um).
+            net_id: Optional net identifier.
+            bend_collision_type: Override collision model for this route.
+
+        Returns:
+            List of moves forming the path, or None if failed.
+        """
+        if bend_collision_type is not None:
+            self.config.bend_collision_type = bend_collision_type
+            
+        self._collision_cache.clear()
+        open_set: list[AStarNode] = []
+        # Key: (x, y, orientation) rounded to 1nm
+        closed_set: set[tuple[float, float, float]] = set()
+
+        start_node = AStarNode(start, 0.0, self.cost_evaluator.h_manhattan(start, target))
+        heapq.heappush(open_set, start_node)
+
+        nodes_expanded = 0
+
+        while open_set:
+            if nodes_expanded >= self.node_limit:
+                logger.warning(f'  AStar failed: node limit {self.node_limit} reached.')
+                return None
+
+            current = heapq.heappop(open_set)
+
+            # Prune if already visited
+            state = (round(current.port.x, 3), round(current.port.y, 3), round(current.port.orientation, 2))
+            if state in closed_set:
+                continue
+            closed_set.add(state)
+
+            nodes_expanded += 1
+            self.total_nodes_expanded += 1
+
+            if nodes_expanded % 5000 == 0:
+                logger.info(f'Nodes expanded: {nodes_expanded}, current: {current.port}, g: {current.g_cost:.1f}')
+
+            # Check if we reached the target exactly
+            if (abs(current.port.x - target.x) < 1e-6 and
+                    abs(current.port.y - target.y) < 1e-6 and
+                    abs(current.port.orientation - target.orientation) < 0.1):
+                return self._reconstruct_path(current)
+
+            # Expansion
+            self._expand_moves(current, target, net_width, net_id, open_set, closed_set)
+
+        return None
+
+    def _expand_moves(
+            self,
+            current: AStarNode,
+            target: Port,
+            net_width: float,
+            net_id: str,
+            open_set: list[AStarNode],
+            closed_set: set[tuple[float, float, float]],
+            ) -> None:
+        # 1. Snap-to-Target Look-ahead
+        dist = numpy.sqrt((current.port.x - target.x)**2 + (current.port.y - target.y)**2)
+        if dist < self.config.snap_to_target_dist:
+            # A. Try straight exact reach
+            if abs(current.port.orientation - target.orientation) < 0.1:
+                rad = numpy.radians(current.port.orientation)
+                dx = target.x - current.port.x
+                dy = target.y - current.port.y
+                proj = dx * numpy.cos(rad) + dy * numpy.sin(rad)
+                perp = -dx * numpy.sin(rad) + dy * numpy.cos(rad)
+                if proj > 0 and abs(perp) < 1e-6:
+                    res = Straight.generate(current.port, proj, net_width, snap_to_grid=False, dilation=self._self_dilation)
+                    self._add_node(current, res, target, net_width, net_id, open_set, closed_set, 'SnapStraight')
+
+            # B. Try SBend exact reach
+            if abs(current.port.orientation - target.orientation) < 0.1:
+                rad = numpy.radians(current.port.orientation)
+                dx = target.x - current.port.x
+                dy = target.y - current.port.y
+                proj = dx * numpy.cos(rad) + dy * numpy.sin(rad)
+                perp = -dx * numpy.sin(rad) + dy * numpy.cos(rad)
+                if proj > 0 and 0.5 <= abs(perp) < 20.0:
+                    for radius in self.config.sbend_radii:
+                        try:
+                            res = SBend.generate(
+                                current.port,
+                                perp,
+                                radius,
+                                net_width,
+                                collision_type=self.config.bend_collision_type,
+                                clip_margin=self.config.bend_clip_margin,
+                                dilation=self._self_dilation
+                            )
+                            self._add_node(current, res, target, net_width, net_id, open_set, closed_set, 'SnapSBend', move_radius=radius)
+                        except ValueError:
+                            pass
+
+        # Move Cache
+        cp = current.port
+        base_ori = round(cp.orientation % 360, 2)
+        state_key = (round(cp.x, 3), round(cp.y, 3), base_ori)
+
+        # 2. Lattice Straights
+        lengths = self.config.straight_lengths
+        if dist < 5.0:
+             fine_steps = [0.1, 0.5]
+             lengths = sorted(set(lengths + fine_steps))
+
+        for length in lengths:
+            # Level 1: Absolute cache (exact location)
+            abs_key = (state_key, 'S', length, net_width)
+            if abs_key in self._move_cache:
+                res = self._move_cache[abs_key]
+            else:
+                # Level 2: Relative cache (orientation only)
+                # Dilation is now 0.0 for caching to save translation time.
+                # It will be calculated lazily in _add_node if needed.
+                rel_key = (base_ori, 'S', length, net_width, 0.0)
+                if rel_key in self._move_cache:
+                    res_rel = self._move_cache[rel_key]
+                    # Check closed set before translating
+                    ex = res_rel.end_port.x + cp.x
+                    ey = res_rel.end_port.y + cp.y
+                    end_state = (round(ex, 3), round(ey, 3), round(res_rel.end_port.orientation, 2))
+                    if end_state in closed_set:
+                        continue
+                    res = res_rel.translate(cp.x, cp.y)
+                else:
+                    res_rel = Straight.generate(Port(0, 0, base_ori), length, net_width, dilation=0.0)
+                    self._move_cache[rel_key] = res_rel
+                    res = res_rel.translate(cp.x, cp.y)
+                self._move_cache[abs_key] = res
+            self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f'S{length}')
+
+        # 3. Lattice Bends
+        for radius in self.config.bend_radii:
+            for direction in ['CW', 'CCW']:
+                abs_key = (state_key, 'B', radius, direction, net_width, self.config.bend_collision_type)
+                if abs_key in self._move_cache:
+                    res = self._move_cache[abs_key]
+                else:
+                    rel_key = (base_ori, 'B', radius, direction, net_width, self.config.bend_collision_type, 0.0)
+                    if rel_key in self._move_cache:
+                        res_rel = self._move_cache[rel_key]
+                        # Check closed set before translating
+                        ex = res_rel.end_port.x + cp.x
+                        ey = res_rel.end_port.y + cp.y
+                        end_state = (round(ex, 3), round(ey, 3), round(res_rel.end_port.orientation, 2))
+                        if end_state in closed_set:
+                            continue
+                        res = res_rel.translate(cp.x, cp.y)
+                    else:
+                        res_rel = Bend90.generate(
+                            Port(0, 0, base_ori),
+                            radius,
+                            net_width,
+                            direction,
+                            collision_type=self.config.bend_collision_type,
+                            clip_margin=self.config.bend_clip_margin,
+                            dilation=0.0
+                        )
+                        self._move_cache[rel_key] = res_rel
+                        res = res_rel.translate(cp.x, cp.y)
+                    self._move_cache[abs_key] = res
+                self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f'B{radius}{direction}', move_radius=radius)
+
+        # 4. Discrete SBends
+        for offset in self.config.sbend_offsets:
+            for radius in self.config.sbend_radii:
+                abs_key = (state_key, 'SB', offset, radius, net_width, self.config.bend_collision_type)
+                if abs_key in self._move_cache:
+                    res = self._move_cache[abs_key]
+                else:
+                    rel_key = (base_ori, 'SB', offset, radius, net_width, self.config.bend_collision_type, 0.0)
+                    if rel_key in self._move_cache:
+                        res_rel = self._move_cache[rel_key]
+                        # Check closed set before translating
+                        ex = res_rel.end_port.x + cp.x
+                        ey = res_rel.end_port.y + cp.y
+                        end_state = (round(ex, 3), round(ey, 3), round(res_rel.end_port.orientation, 2))
+                        if end_state in closed_set:
+                            continue
+                        res = res_rel.translate(cp.x, cp.y)
+                    else:
+                        try:
+                            res_rel = SBend.generate(
+                                Port(0, 0, base_ori),
+                                offset,
+                                radius,
+                                width=net_width,
+                                collision_type=self.config.bend_collision_type,
+                                clip_margin=self.config.bend_clip_margin,
+                                dilation=0.0
+                            )
+                            self._move_cache[rel_key] = res_rel
+                            res = res_rel.translate(cp.x, cp.y)
+                        except ValueError:
+                            continue
+                    self._move_cache[abs_key] = res
+                self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f'SB{offset}R{radius}', move_radius=radius)
+
+    def _add_node(
+            self,
+            parent: AStarNode,
+            result: ComponentResult,
+            target: Port,
+            net_width: float,
+            net_id: str,
+            open_set: list[AStarNode],
+            closed_set: set[tuple[float, float, float]],
+            move_type: str,
+            move_radius: float | None = None,
+            ) -> None:
+        # Check closed set before adding to open set
+        state = (round(result.end_port.x, 3), round(result.end_port.y, 3), round(result.end_port.orientation, 2))
+        if state in closed_set:
+            return
+
+        cache_key = (
+            round(parent.port.x, 3),
+            round(parent.port.y, 3),
+            round(parent.port.orientation, 2),
+            move_type,
+            net_width,
+            net_id,
+        )
+        if cache_key in self._collision_cache:
+            if self._collision_cache[cache_key]:
+                return
+        else:
+            # Lazy Dilation: compute dilated polygons only if we need a collision check
+            if result.dilated_geometry is None:
+                # We need to update the ComponentResult with dilated geometry
+                # For simplicity, we'll just buffer the polygons here.
+                # In a more optimized version, ComponentResult might have a .dilate() method.
+                dilated = [p.buffer(self._self_dilation) for p in result.geometry]
+                result.dilated_geometry = dilated
+                # Re-calculate dilated bounds
+                import shapely
+                result.dilated_bounds = shapely.bounds(dilated)
+
+            hard_coll = False
+            for i, poly in enumerate(result.geometry):
+                dil_poly = result.dilated_geometry[i]
+                if self.cost_evaluator.collision_engine.check_collision(
+                    poly, net_id, buffer_mode='static', start_port=parent.port, end_port=result.end_port,
+                    dilated_geometry=dil_poly
+                ):
+                    hard_coll = True
+                    break
+            self._collision_cache[cache_key] = hard_coll
+            if hard_coll:
+                return
+
+        # Lazy Dilation for self-intersection and cost evaluation
+        if result.dilated_geometry is None:
+            dilated = [p.buffer(self._self_dilation) for p in result.geometry]
+            result.dilated_geometry = dilated
+            import shapely
+            result.dilated_bounds = shapely.bounds(dilated)
+
+        # 3. Check for Self-Intersection (Limited to last 100 segments for performance)
+        if result.dilated_geometry:
+            # Union of current move's bounds for fast path-wide pruning
+            m_minx, m_miny, m_maxx, m_maxy = 1e15, 1e15, -1e15, -1e15
+            for b in result.dilated_bounds if result.dilated_bounds is not None else result.bounds:
+
+                m_minx = min(m_minx, b[0])
+                m_miny = min(m_miny, b[1])
+                m_maxx = max(m_maxx, b[2])
+                m_maxy = max(m_maxy, b[3])
+
+            # If current move doesn't overlap the entire parent path bbox, we can skip individual checks
+            # (Except the immediate parent which we usually skip anyway)
+            if parent.path_bbox and not (m_minx > parent.path_bbox[2] or
+                                         m_maxx < parent.path_bbox[0] or
+                                         m_miny > parent.path_bbox[3] or
+                                         m_maxy < parent.path_bbox[1]):
+                
+                for dm_idx, dilated_move in enumerate(result.dilated_geometry):
+                    dm_bounds = result.dilated_bounds[dm_idx]
+                    curr_p: AStarNode | None = parent
+                    seg_idx = 0
+                    while curr_p and curr_p.component_result and seg_idx < 100:
+                        # Skip immediate parent to avoid tangent/port-safety issues
+                        if seg_idx > 0:
+                            res_p = curr_p.component_result
+                            if res_p.dilated_geometry:
+                                for dp_idx, dilated_prev in enumerate(res_p.dilated_geometry):
+                                    dp_bounds = res_p.dilated_bounds[dp_idx]
+                                    # Quick bounds overlap check
+                                    if not (dm_bounds[0] > dp_bounds[2] or
+                                            dm_bounds[2] < dp_bounds[0] or
+                                            dm_bounds[1] > dp_bounds[3] or
+                                            dm_bounds[3] < dp_bounds[1]):
+                                        # Use intersects() which is much faster than intersection()
+                                        if dilated_move.intersects(dilated_prev):
+                                            # Only do expensive area check if absolutely necessary
+                                            overlap = dilated_move.intersection(dilated_prev)
+                                            if not overlap.is_empty and overlap.area > 1e-6:
+                                                return
+                        curr_p = curr_p.parent
+                        seg_idx += 1
+
+
+        move_cost = self.cost_evaluator.evaluate_move(
+            result.geometry,
+            result.end_port,
+            net_width,
+            net_id,
+            start_port=parent.port,
+            length=result.length,
+            dilated_geometry=result.dilated_geometry,
+            skip_static=True
+        )
+
+        if move_cost > 1e12:
+            return
+
+        # Turn penalties scaled by radius to favor larger turns
+        ref_radius = 10.0
+        if 'B' in move_type and move_radius is not None:
+            penalty_factor = ref_radius / move_radius
+            move_cost += self.config.bend_penalty * penalty_factor
+        elif 'SB' in move_type and move_radius is not None:
+            penalty_factor = ref_radius / move_radius
+            move_cost += self.config.sbend_penalty * penalty_factor
+        elif 'B' in move_type:
+            move_cost += self.config.bend_penalty
+        elif 'SB' in move_type:
+            move_cost += self.config.sbend_penalty
+
+        g_cost = parent.g_cost + move_cost
+        h_cost = self.cost_evaluator.h_manhattan(result.end_port, target)
+
+        new_node = AStarNode(result.end_port, g_cost, h_cost, parent, result)
+        heapq.heappush(open_set, new_node)
+
+    def _reconstruct_path(self, end_node: AStarNode) -> list[ComponentResult]:
+        path = []
+        curr: AStarNode | None = end_node
+        while curr and curr.component_result:
+            path.append(curr.component_result)
+            curr = curr.parent
+        return path[::-1]

inire/router/config.py

@@ -0,0 +1,31 @@
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import Literal, Any
+
+
+
+@dataclass
+class RouterConfig:
+    """Configuration parameters for the A* Router."""
+
+    node_limit: int = 1000000
+    straight_lengths: list[float] = field(default_factory=lambda: [1.0, 5.0, 25.0])
+    bend_radii: list[float] = field(default_factory=lambda: [10.0])
+    sbend_offsets: list[float] = field(default_factory=lambda: [-5.0, -2.0, 2.0, 5.0])
+    sbend_radii: list[float] = field(default_factory=lambda: [10.0])
+    snap_to_target_dist: float = 20.0
+    bend_penalty: float = 50.0
+    sbend_penalty: float = 100.0
+    bend_collision_type: Literal["arc", "bbox", "clipped_bbox"] | Any = "arc"
+    bend_clip_margin: float = 10.0
+
+
+@dataclass
+class CostConfig:
+    """Configuration parameters for the Cost Evaluator."""
+
+    unit_length_cost: float = 1.0
+    greedy_h_weight: float = 1.1
+    congestion_penalty: float = 10000.0
+    bend_penalty: float = 50.0

inire/router/cost.py

@@ -0,0 +1,163 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from inire.router.config import CostConfig
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+
+    from inire.geometry.collision import CollisionEngine
+    from inire.geometry.primitives import Port
+    from inire.router.danger_map import DangerMap
+
+
+class CostEvaluator:
+    """
+    Calculates total path and proximity costs.
+    """
+    __slots__ = ('collision_engine', 'danger_map', 'config', 'unit_length_cost', 'greedy_h_weight', 'congestion_penalty')
+
+    collision_engine: CollisionEngine
+    """ The engine for intersection checks """
+
+    danger_map: DangerMap
+    """ Pre-computed grid for heuristic proximity costs """
+
+    config: CostConfig
+    """ Parameter configuration """
+
+    unit_length_cost: float
+    greedy_h_weight: float
+    congestion_penalty: float
+    """ Cached weight values for performance """
+
+    def __init__(
+            self,
+            collision_engine: CollisionEngine,
+            danger_map: DangerMap,
+            unit_length_cost: float = 1.0,
+            greedy_h_weight: float = 1.1,
+            congestion_penalty: float = 10000.0,
+            bend_penalty: float = 50.0,
+            ) -> None:
+        """
+        Initialize the Cost Evaluator.
+
+        Args:
+            collision_engine: The engine for intersection checks.
+            danger_map: Pre-computed grid for heuristic proximity costs.
+            unit_length_cost: Cost multiplier per micrometer of path length.
+            greedy_h_weight: Heuristic weighting (A* greedy factor).
+            congestion_penalty: Multiplier for path overlaps in negotiated congestion.
+            bend_penalty: Base cost for 90-degree bends.
+        """
+        self.collision_engine = collision_engine
+        self.danger_map = danger_map
+        self.config = CostConfig(
+            unit_length_cost=unit_length_cost,
+            greedy_h_weight=greedy_h_weight,
+            congestion_penalty=congestion_penalty,
+            bend_penalty=bend_penalty,
+        )
+
+        # Use config values
+        self.unit_length_cost = self.config.unit_length_cost
+        self.greedy_h_weight = self.config.greedy_h_weight
+        self.congestion_penalty = self.config.congestion_penalty
+
+
+    def g_proximity(self, x: float, y: float) -> float:
+        """
+        Get proximity cost from the Danger Map.
+
+        Args:
+            x, y: Coordinate to check.
+
+        Returns:
+            Proximity cost at location.
+        """
+        return self.danger_map.get_cost(x, y)
+
+    def h_manhattan(self, current: Port, target: Port) -> float:
+        """
+        Heuristic: weighted Manhattan distance + orientation penalty.
+
+        Args:
+            current: Current port state.
+            target: Target port state.
+
+        Returns:
+            Heuristic cost estimate.
+        """
+        dx = abs(current.x - target.x)
+        dy = abs(current.y - target.y)
+        dist = dx + dy
+
+        # Orientation penalty if not aligned with target entry
+        # If we need to turn, the cost is at least min_bend_radius * pi/2
+        # But we also need to account for the physical distance required for the turn.
+        penalty = 0.0
+        if current.orientation != target.orientation:
+            # 90-degree turn cost: radius 10 -> ~15.7 um + penalty
+            penalty += 15.7 + self.config.bend_penalty
+
+        # Add 1.5 multiplier for greediness (faster search)
+        return 1.5 * (dist + penalty)
+
+
+    def evaluate_move(
+            self,
+            geometry: list[Polygon],
+            end_port: Port,
+            net_width: float,
+            net_id: str,
+            start_port: Port | None = None,
+            length: float = 0.0,
+            dilated_geometry: list[Polygon] | None = None,
+            skip_static: bool = False,
+            ) -> float:
+        """
+        Calculate the cost of a single move (Straight, Bend, SBend).
+
+        Args:
+            geometry: List of polygons in the move.
+            end_port: Port at the end of the move.
+            net_width: Width of the waveguide (unused).
+            net_id: Identifier for the net.
+            start_port: Port at the start of the move.
+            length: Physical path length of the move.
+            dilated_geometry: Pre-calculated dilated polygons.
+            skip_static: If True, bypass static collision checks (e.g. if already done).
+
+        Returns:
+            Total cost of the move, or 1e15 if invalid.
+        """
+        _ = net_width  # Unused
+        total_cost = length * self.unit_length_cost
+
+        # 1. Boundary Check
+        if not self.danger_map.is_within_bounds(end_port.x, end_port.y):
+            return 1e15
+
+        # 2. Collision Check
+        for i, poly in enumerate(geometry):
+            dil_poly = dilated_geometry[i] if dilated_geometry else None
+            # Hard Collision (Static obstacles)
+            if not skip_static:
+                if self.collision_engine.check_collision(
+                    poly, net_id, buffer_mode='static', start_port=start_port, end_port=end_port,
+                    dilated_geometry=dil_poly
+                ):
+                    return 1e15
+
+            # Soft Collision (Negotiated Congestion)
+            overlaps = self.collision_engine.check_collision(
+                poly, net_id, buffer_mode='congestion', dilated_geometry=dil_poly
+            )
+            if isinstance(overlaps, int) and overlaps > 0:
+                total_cost += overlaps * self.congestion_penalty
+
+        # 3. Proximity cost from Danger Map
+        total_cost += self.g_proximity(end_port.x, end_port.y)
+        return total_cost

inire/router/danger_map.py

@@ -0,0 +1,127 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+import numpy
+import shapely
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+
+
+class DangerMap:
+    """
+    A pre-computed grid for heuristic proximity costs, vectorized for performance.
+    """
+    __slots__ = ('minx', 'miny', 'maxx', 'maxy', 'resolution', 'safety_threshold', 'k', 'width_cells', 'height_cells', 'grid')
+
+    minx: float
+    miny: float
+    maxx: float
+    maxy: float
+    """ Boundary coordinates of the map """
+
+    resolution: float
+    """ Grid cell size in micrometers """
+
+    safety_threshold: float
+    """ Distance below which proximity costs are applied """
+
+    k: float
+    """ Cost multiplier constant """
+
+    width_cells: int
+    height_cells: int
+    """ Grid dimensions in cells """
+
+    grid: numpy.ndarray
+    """ 2D array of pre-computed costs """
+
+    def __init__(
+            self,
+            bounds: tuple[float, float, float, float],
+            resolution: float = 1.0,
+            safety_threshold: float = 10.0,
+            k: float = 1.0,
+            ) -> None:
+        """
+        Initialize the Danger Map.
+
+        Args:
+            bounds: (minx, miny, maxx, maxy) in um.
+            resolution: Cell size (um).
+            safety_threshold: Proximity limit (um).
+            k: Penalty multiplier.
+        """
+        self.minx, self.miny, self.maxx, self.maxy = bounds
+        self.resolution = resolution
+        self.safety_threshold = safety_threshold
+        self.k = k
+
+        # Grid dimensions
+        self.width_cells = int(numpy.ceil((self.maxx - self.minx) / self.resolution))
+        self.height_cells = int(numpy.ceil((self.maxy - self.miny) / self.resolution))
+
+        self.grid = numpy.zeros((self.width_cells, self.height_cells), dtype=numpy.float32)
+
+    def precompute(self, obstacles: list[Polygon]) -> None:
+        """
+        Pre-compute the proximity costs for the entire grid using vectorized operations.
+
+        Args:
+            obstacles: List of static obstacle geometries.
+        """
+        from scipy.ndimage import distance_transform_edt
+
+        # 1. Create a binary mask of obstacles
+        mask = numpy.ones((self.width_cells, self.height_cells), dtype=bool)
+
+        # Create coordinate grids
+        x_coords = numpy.linspace(self.minx + self.resolution/2, self.maxx - self.resolution/2, self.width_cells)
+        y_coords = numpy.linspace(self.miny + self.resolution/2, self.maxy - self.resolution/2, self.height_cells)
+        xv, yv = numpy.meshgrid(x_coords, y_coords, indexing='ij')
+
+        for poly in obstacles:
+            # Use shapely.contains_xy for fast vectorized point-in-polygon check
+            in_poly = shapely.contains_xy(poly, xv, yv)
+            mask[in_poly] = False
+
+        # 2. Distance transform (mask=True for empty space)
+        distances = distance_transform_edt(mask) * self.resolution
+
+        # 3. Proximity cost: k / d^2 if d < threshold, else 0
+        # Cap distances at a small epsilon (e.g. 0.1um) to avoid division by zero
+        safe_distances = numpy.maximum(distances, 0.1)
+        self.grid = numpy.where(
+            distances < self.safety_threshold,
+            self.k / (safe_distances**2),
+            0.0
+        ).astype(numpy.float32)
+
+    def is_within_bounds(self, x: float, y: float) -> bool:
+        """
+        Check if a coordinate is within the design bounds.
+
+        Args:
+            x, y: Coordinate to check.
+
+        Returns:
+            True if within [min, max] for both axes.
+        """
+        return self.minx <= x <= self.maxx and self.miny <= y <= self.maxy
+
+    def get_cost(self, x: float, y: float) -> float:
+        """
+        Get the proximity cost at a specific coordinate.
+
+        Args:
+            x, y: Coordinate to look up.
+
+        Returns:
+            Pre-computed cost, or 1e15 if out of bounds.
+        """
+        ix = int((x - self.minx) / self.resolution)
+        iy = int((y - self.miny) / self.resolution)
+
+        if 0 <= ix < self.width_cells and 0 <= iy < self.height_cells:
+            return float(self.grid[ix, iy])
+        return 1e15  # Outside bounds is impossible

inire/router/pathfinder.py

@@ -0,0 +1,197 @@
+from __future__ import annotations
+
+import logging
+import time
+from dataclasses import dataclass
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from inire.geometry.components import ComponentResult
+    from inire.geometry.primitives import Port
+    from inire.router.astar import AStarRouter
+    from inire.router.cost import CostEvaluator
+
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class RoutingResult:
+    """
+    Result of a single net routing operation.
+    """
+    net_id: str
+    """ Identifier for the net """
+
+    path: list[ComponentResult]
+    """ List of moves forming the path """
+
+    is_valid: bool
+    """ Whether the path is collision-free """
+
+    collisions: int
+    """ Number of detected collisions/overlaps """
+
+
+class PathFinder:
+    """
+    Multi-net router using Negotiated Congestion.
+    """
+    __slots__ = ('router', 'cost_evaluator', 'max_iterations', 'base_congestion_penalty')
+
+    router: AStarRouter
+    """ The A* search engine """
+
+    cost_evaluator: CostEvaluator
+    """ The evaluator for path costs """
+
+    max_iterations: int
+    """ Maximum number of rip-up and reroute iterations """
+
+    base_congestion_penalty: float
+    """ Starting penalty for overlaps """
+
+    def __init__(
+            self,
+            router: AStarRouter,
+            cost_evaluator: CostEvaluator,
+            max_iterations: int = 10,
+            base_congestion_penalty: float = 100.0,
+            ) -> None:
+        """
+        Initialize the PathFinder.
+
+        Args:
+            router: The A* search engine.
+            cost_evaluator: The evaluator for path costs.
+            max_iterations: Maximum number of rip-up and reroute iterations.
+            base_congestion_penalty: Starting penalty for overlaps.
+        """
+        self.router = router
+        self.cost_evaluator = cost_evaluator
+        self.max_iterations = max_iterations
+        self.base_congestion_penalty = base_congestion_penalty
+
+    def route_all(
+            self,
+            netlist: dict[str, tuple[Port, Port]],
+            net_widths: dict[str, float],
+            ) -> dict[str, RoutingResult]:
+        """
+        Route all nets in the netlist using Negotiated Congestion.
+
+        Args:
+            netlist: Mapping of net_id to (start_port, target_port).
+            net_widths: Mapping of net_id to waveguide width.
+
+        Returns:
+            Mapping of net_id to RoutingResult.
+        """
+        results: dict[str, RoutingResult] = {}
+        self.cost_evaluator.congestion_penalty = self.base_congestion_penalty
+
+        start_time = time.monotonic()
+        num_nets = len(netlist)
+        session_timeout = max(60.0, 10.0 * num_nets * self.max_iterations)
+
+        for iteration in range(self.max_iterations):
+            any_congestion = False
+            logger.info(f'PathFinder Iteration {iteration}...')
+
+            # Sequence through nets
+            for net_id, (start, target) in netlist.items():
+                # Timeout check
+                elapsed = time.monotonic() - start_time
+                if elapsed > session_timeout:
+                    logger.warning(f'PathFinder TIMEOUT after {elapsed:.2f}s')
+                    return self._finalize_results(results, netlist)
+
+                width = net_widths.get(net_id, 2.0)
+
+                # 1. Rip-up existing path
+                self.cost_evaluator.collision_engine.remove_path(net_id)
+
+                # 2. Reroute with current congestion info
+                # Tiered Strategy: use clipped_bbox for Iteration 0 for speed.
+                # Switch to arc for higher iterations if collisions persist.
+                coll_model = "clipped_bbox" if iteration == 0 else "arc"
+                
+                net_start = time.monotonic()
+                path = self.router.route(start, target, width, net_id=net_id, bend_collision_type=coll_model)
+                logger.debug(f'  Net {net_id} routed in {time.monotonic() - net_start:.4f}s using {coll_model}')
+
+                if path:
+                    # 3. Add to index
+                    all_geoms = []
+                    all_dilated = []
+                    for res in path:
+                        all_geoms.extend(res.geometry)
+                        if res.dilated_geometry:
+                            all_dilated.extend(res.dilated_geometry)
+                        else:
+                            # Fallback dilation
+                            dilation = self.cost_evaluator.collision_engine.clearance / 2.0
+                            all_dilated.extend([p.buffer(dilation) for p in res.geometry])
+                            
+                    self.cost_evaluator.collision_engine.add_path(net_id, all_geoms, dilated_geometry=all_dilated)
+
+                    # Check if this new path has any congestion
+                    collision_count = 0
+                    for i, poly in enumerate(all_geoms):
+                        overlaps = self.cost_evaluator.collision_engine.check_collision(
+                            poly, net_id, buffer_mode='congestion', dilated_geometry=all_dilated[i]
+                        )
+                        if isinstance(overlaps, int):
+                            collision_count += overlaps
+
+                    if collision_count > 0:
+                        any_congestion = True
+
+                    results[net_id] = RoutingResult(net_id, path, collision_count == 0, collision_count)
+                else:
+                    results[net_id] = RoutingResult(net_id, [], False, 0)
+                    any_congestion = True
+
+            if not any_congestion:
+                break
+
+            # 4. Inflate congestion penalty
+            self.cost_evaluator.congestion_penalty *= 1.5
+
+        return self._finalize_results(results, netlist)
+
+    def _finalize_results(
+            self,
+            results: dict[str, RoutingResult],
+            netlist: dict[str, tuple[Port, Port]],
+            ) -> dict[str, RoutingResult]:
+        """
+        Final check: re-verify all nets against the final static paths.
+
+        Args:
+            results: Results from the routing loop.
+            netlist: The original netlist.
+
+        Returns:
+            Refined results with final collision counts.
+        """
+        logger.debug(f'Finalizing results for nets: {list(results.keys())}')
+        final_results = {}
+        for net_id in netlist:
+            res = results.get(net_id)
+            if not res or not res.path:
+                final_results[net_id] = RoutingResult(net_id, [], False, 0)
+                continue
+
+            collision_count = 0
+            for comp in res.path:
+                for i, poly in enumerate(comp.geometry):
+                    dil_poly = comp.dilated_geometry[i] if comp.dilated_geometry else None
+                    overlaps = self.cost_evaluator.collision_engine.check_collision(
+                        poly, net_id, buffer_mode='congestion', dilated_geometry=dil_poly
+                    )
+                    if isinstance(overlaps, int):
+                        collision_count += overlaps
+
+            final_results[net_id] = RoutingResult(net_id, res.path, collision_count == 0, collision_count)
+
+        return final_results

inire/tests/benchmark_scaling.py

@@ -0,0 +1,56 @@
+import time
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+
+def benchmark_scaling() -> None:
+    print("Starting Scalability Benchmark...")
+
+    # 1. Memory Verification (20x20mm)
+    # Resolution 1um -> 20000 x 20000 grid
+    bounds = (0, 0, 20000, 20000)
+    print(f"Initializing DangerMap for {bounds} area...")
+    dm = DangerMap(bounds=bounds, resolution=1.0)
+    # nbytes for float32: 20000 * 20000 * 4 bytes = 1.6 GB
+    mem_gb = dm.grid.nbytes / (1024**3)
+    print(f"DangerMap memory usage: {mem_gb:.2f} GB")
+    assert mem_gb < 2.0
+
+    # 2. Node Expansion Rate (50 nets)
+    engine = CollisionEngine(clearance=2.0)
+    # Use a smaller area for routing benchmark to keep it fast
+    routing_bounds = (0, 0, 1000, 1000)
+    danger_map = DangerMap(bounds=routing_bounds)
+    danger_map.precompute([])
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    num_nets = 50
+    netlist = {}
+    for i in range(num_nets):
+        # Parallel nets spaced by 10um
+        netlist[f"net{i}"] = (Port(0, i * 10, 0), Port(100, i * 10, 0))
+
+    print(f"Routing {num_nets} nets...")
+    start_time = time.monotonic()
+    results = pf.route_all(netlist, dict.fromkeys(netlist, 2.0))
+    end_time = time.monotonic()
+
+    total_time = end_time - start_time
+    print(f"Total routing time: {total_time:.2f} s")
+    print(f"Time per net: {total_time/num_nets:.4f} s")
+
+    if total_time > 0:
+        nodes_per_sec = router.total_nodes_expanded / total_time
+        print(f"Node expansion rate: {nodes_per_sec:.2f} nodes/s")
+
+    # Success rate
+    successes = sum(1 for r in results.values() if r.is_valid)
+    print(f"Success rate: {successes/num_nets * 100:.1f}%")
+
+if __name__ == "__main__":
+    benchmark_scaling()

inire/tests/test_astar.py

@@ -0,0 +1,87 @@
+import pytest
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import RoutingResult
+from inire.utils.validation import validate_routing_result
+
+
+@pytest.fixture
+def basic_evaluator() -> CostEvaluator:
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, 0, 100, 100))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+
+def test_astar_straight(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    start = Port(0, 0, 0)
+    target = Port(50, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    assert validation["connectivity_ok"]
+    # Path should be exactly 50um (or slightly more if it did weird things, but here it's straight)
+    assert abs(validation["total_length"] - 50.0) < 1e-6
+
+
+def test_astar_bend(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    start = Port(0, 0, 0)
+    # 20um right, 20um up. Needs a 10um bend and a 10um bend.
+    # From (0,0,0) -> Bend90 CW R=10 -> (10, -10, 270) ??? No.
+    # Try: (0,0,0) -> Bend90 CCW R=10 -> (10, 10, 90) -> Straight 10 -> (10, 20, 90) -> Bend90 CW R=10 -> (20, 30, 0)
+    target = Port(20, 20, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    assert validation["connectivity_ok"]
+
+
+def test_astar_obstacle(basic_evaluator: CostEvaluator) -> None:
+    # Add an obstacle in the middle of a straight path
+    # Obstacle from x=20 to 40, y=-20 to 20
+    obstacle = Polygon([(20, -20), (40, -20), (40, 20), (20, 20)])
+    basic_evaluator.collision_engine.add_static_obstacle(obstacle)
+    basic_evaluator.danger_map.precompute([obstacle])
+
+    router = AStarRouter(basic_evaluator)
+    router.node_limit = 1000000 # Give it more room for detour
+    start = Port(0, 0, 0)
+    target = Port(60, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [obstacle], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    # Path should have detoured, so length > 50
+    assert validation["total_length"] > 50.0
+
+
+def test_astar_snap_to_target_lookahead(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    # Target is NOT on 1um grid
+    start = Port(0, 0, 0)
+    target = Port(10.1, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"

inire/tests/test_collision.py

@@ -0,0 +1,61 @@
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+
+
+def test_collision_detection() -> None:
+    # Clearance = 2um
+    engine = CollisionEngine(clearance=2.0)
+
+    # 10x10 um obstacle at (10,10)
+    obstacle = Polygon([(10, 10), (20, 10), (20, 20), (10, 20)])
+    engine.add_static_obstacle(obstacle)
+
+    # 1. Direct hit
+    test_poly = Polygon([(12, 12), (13, 12), (13, 13), (12, 13)])
+    assert engine.is_collision(test_poly, net_width=2.0)
+
+    # 2. Far away
+    test_poly_far = Polygon([(0, 0), (5, 0), (5, 5), (0, 5)])
+    assert not engine.is_collision(test_poly_far, net_width=2.0)
+
+    # 3. Near hit (within clearance)
+    # Obstacle edge at x=10.
+    # test_poly edge at x=9.
+    # Distance = 1.0 um.
+    # Required distance (Wi+C)/2 = 2.0. Collision!
+    test_poly_near = Polygon([(8, 10), (9, 10), (9, 15), (8, 15)])
+    assert engine.is_collision(test_poly_near, net_width=2.0)
+
+
+def test_safety_zone() -> None:
+    # Use zero clearance for this test to verify the 2nm port safety zone
+    # against the physical obstacle boundary.
+    engine = CollisionEngine(clearance=0.0)
+
+    obstacle = Polygon([(10, 10), (20, 10), (20, 20), (10, 20)])
+    engine.add_static_obstacle(obstacle)
+
+    # Port exactly on the boundary
+    start_port = Port(10.0, 12.0, 0)
+
+    # Move starting from this port that overlaps the obstacle by 1nm
+    # (Inside the 2nm safety zone)
+    test_poly = Polygon([(9.999, 11.9995), (10.001, 11.9995), (10.001, 12.0005), (9.999, 12.0005)])
+
+    assert not engine.is_collision(test_poly, net_width=0.001, start_port=start_port)
+
+
+def test_configurable_max_net_width() -> None:
+    # Large max_net_width (10.0) -> large pre-dilation (6.0)
+    engine = CollisionEngine(clearance=2.0, max_net_width=10.0)
+
+    obstacle = Polygon([(20, 20), (25, 20), (25, 25), (20, 25)])
+    engine.add_static_obstacle(obstacle)
+
+    test_poly = Polygon([(15, 20), (16, 20), (16, 25), (15, 25)])
+    # physical check: dilated test_poly by C/2 = 1.0.
+    # Dilated test_poly bounds: (14, 19, 17, 26).
+    # obstacle: (20, 20, 25, 25). No physical collision.
+    assert not engine.is_collision(test_poly, net_width=2.0)

inire/tests/test_components.py

@@ -0,0 +1,159 @@
+import pytest
+
+from inire.geometry.components import Bend90, SBend, Straight
+from inire.geometry.primitives import Port, rotate_port, translate_port
+
+
+def test_straight_generation() -> None:
+    start = Port(0, 0, 0)
+    length = 10.0
+    width = 2.0
+    result = Straight.generate(start, length, width)
+
+    assert result.end_port.x == 10.0
+    assert result.end_port.y == 0.0
+    assert result.end_port.orientation == 0.0
+    assert len(result.geometry) == 1
+
+    # Bounds of the polygon
+    minx, miny, maxx, maxy = result.geometry[0].bounds
+    assert minx == 0.0
+    assert maxx == 10.0
+    assert miny == -1.0
+    assert maxy == 1.0
+
+
+def test_bend90_generation() -> None:
+    start = Port(0, 0, 0)
+    radius = 10.0
+    width = 2.0
+
+    # CW bend
+    result_cw = Bend90.generate(start, radius, width, direction="CW")
+    assert result_cw.end_port.x == 10.0
+    assert result_cw.end_port.y == -10.0
+    assert result_cw.end_port.orientation == 270.0
+
+    # CCW bend
+    result_ccw = Bend90.generate(start, radius, width, direction="CCW")
+    assert result_ccw.end_port.x == 10.0
+    assert result_ccw.end_port.y == 10.0
+    assert result_ccw.end_port.orientation == 90.0
+
+
+def test_sbend_generation() -> None:
+    start = Port(0, 0, 0)
+    offset = 5.0
+    radius = 10.0
+    width = 2.0
+
+    result = SBend.generate(start, offset, radius, width)
+    assert result.end_port.y == 5.0
+    assert result.end_port.orientation == 0.0
+    assert len(result.geometry) == 2 # Optimization: returns individual arcs
+
+    # Verify failure for large offset
+    with pytest.raises(ValueError, match=r"SBend offset .* must be less than 2\*radius"):
+        SBend.generate(start, 25.0, 10.0, 2.0)
+
+
+def test_bend_collision_models() -> None:
+    start = Port(0, 0, 0)
+    radius = 10.0
+    width = 2.0
+
+    # 1. BBox model
+    res_bbox = Bend90.generate(start, radius, width, direction="CCW", collision_type="bbox")
+    # Arc CCW R=10 from (0,0,0) ends at (10,10,90).
+    # Waveguide width is 2.0, so bbox will be slightly larger than (0,0,10,10)
+    minx, miny, maxx, maxy = res_bbox.geometry[0].bounds
+    assert minx <= 0.0 + 1e-6
+    assert maxx >= 10.0 - 1e-6
+    assert miny <= 0.0 + 1e-6
+    assert maxy >= 10.0 - 1e-6
+
+    # 2. Clipped BBox model
+    res_clipped = Bend90.generate(start, radius, width, direction="CCW", collision_type="clipped_bbox", clip_margin=1.0)
+    # Area should be less than full bbox
+    assert res_clipped.geometry[0].area < res_bbox.geometry[0].area
+
+
+def test_sbend_collision_models() -> None:
+    start = Port(0, 0, 0)
+    offset = 5.0
+    radius = 10.0
+    width = 2.0
+
+    res_bbox = SBend.generate(start, offset, radius, width, collision_type="bbox")
+    # Geometry should be a list of individual bbox polygons for each arc
+    assert len(res_bbox.geometry) == 2
+
+    res_arc = SBend.generate(start, offset, radius, width, collision_type="arc")
+    area_bbox = sum(p.area for p in res_bbox.geometry)
+    area_arc = sum(p.area for p in res_arc.geometry)
+    assert area_bbox > area_arc
+
+
+def test_sbend_continuity() -> None:
+    # Verify SBend endpoints and continuity math
+    start = Port(10, 20, 90)  # Starting facing up
+    offset = 4.0
+    radius = 20.0
+    width = 1.0
+
+    res = SBend.generate(start, offset, radius, width)
+
+    # Target orientation should be same as start
+    assert abs(res.end_port.orientation - 90.0) < 1e-6
+
+    # For a port at 90 deg, +offset is a shift in -x direction
+    assert abs(res.end_port.x - (10.0 - offset)) < 1e-6
+
+    # Geometry should be a list of valid polygons
+    assert len(res.geometry) == 2
+    for p in res.geometry:
+        assert p.is_valid
+
+
+def test_arc_sagitta_precision() -> None:
+    # Verify that requested sagitta actually controls segment count
+    start = Port(0, 0, 0)
+    radius = 100.0  # Large radius to make sagitta significant
+    width = 2.0
+
+    # Coarse: 1um sagitta
+    res_coarse = Bend90.generate(start, radius, width, sagitta=1.0)
+    # Fine: 0.01um (10nm) sagitta
+    res_fine = Bend90.generate(start, radius, width, sagitta=0.01)
+
+    # Number of segments should be significantly higher for fine
+    # Exterior points = (segments + 1) * 2
+    pts_coarse = len(res_coarse.geometry[0].exterior.coords)
+    pts_fine = len(res_fine.geometry[0].exterior.coords)
+
+    assert pts_fine > pts_coarse * 2
+
+
+def test_component_transform_invariance() -> None:
+    # Verify that generating at (0,0) then transforming
+    # is same as generating at the transformed port.
+    start0 = Port(0, 0, 0)
+    radius = 10.0
+    width = 2.0
+
+    res0 = Bend90.generate(start0, radius, width, direction="CCW")
+
+    # Transform: Translate (10, 10) then Rotate 90
+    dx, dy = 10.0, 5.0
+    angle = 90.0
+
+    # 1. Transform the generated geometry
+    p_end_transformed = rotate_port(translate_port(res0.end_port, dx, dy), angle)
+
+    # 2. Generate at transformed start
+    start_transformed = rotate_port(translate_port(start0, dx, dy), angle)
+    res_transformed = Bend90.generate(start_transformed, radius, width, direction="CCW")
+
+    assert abs(res_transformed.end_port.x - p_end_transformed.x) < 1e-6
+    assert abs(res_transformed.end_port.y - p_end_transformed.y) < 1e-6
+    assert abs(res_transformed.end_port.orientation - p_end_transformed.orientation) < 1e-6

inire/tests/test_congestion.py

@@ -0,0 +1,63 @@
+import pytest
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+
+
+@pytest.fixture
+def basic_evaluator() -> CostEvaluator:
+    engine = CollisionEngine(clearance=2.0)
+    # Wider bounds to allow going around (y from -40 to 40)
+    danger_map = DangerMap(bounds=(0, -40, 100, 40))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+
+def test_astar_sbend(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    # Start at (0,0), target at (50, 2) -> 2um lateral offset
+    # This matches one of our discretized SBend offsets.
+    start = Port(0, 0, 0)
+    target = Port(50, 2, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    # Check if any component in the path is an SBend
+    found_sbend = False
+    for res in path:
+        # Check if the end port orientation is same as start
+        # and it's not a single straight (which would have y=0)
+        if abs(res.end_port.y - start.y) > 0.1 and abs(res.end_port.orientation - start.orientation) < 0.1:
+            found_sbend = True
+            break
+    assert found_sbend
+
+
+def test_pathfinder_negotiated_congestion_resolution(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    # Increase base penalty to force detour immediately
+    pf = PathFinder(router, basic_evaluator, max_iterations=10, base_congestion_penalty=1000.0)
+
+    netlist = {
+        "net1": (Port(0, 0, 0), Port(50, 0, 0)),
+        "net2": (Port(0, 10, 0), Port(50, 10, 0)),
+    }
+    net_widths = {"net1": 2.0, "net2": 2.0}
+
+    # Force them into a narrow corridor that only fits ONE.
+    obs_top = Polygon([(20, 6), (30, 6), (30, 15), (20, 10)]) # Lower wall
+    obs_bottom = Polygon([(20, 4), (30, 4), (30, -15), (20, -10)])
+
+    basic_evaluator.collision_engine.add_static_obstacle(obs_top)
+    basic_evaluator.collision_engine.add_static_obstacle(obs_bottom)
+    basic_evaluator.danger_map.precompute([obs_top, obs_bottom])
+
+    results = pf.route_all(netlist, net_widths)
+
+    assert results["net1"].is_valid
+    assert results["net2"].is_valid

inire/tests/test_cost.py

@@ -0,0 +1,25 @@
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+
+
+def test_cost_calculation() -> None:
+    engine = CollisionEngine(clearance=2.0)
+    # 50x50 um area, 1um resolution
+    danger_map = DangerMap(bounds=(0, 0, 50, 50))
+    danger_map.precompute([])
+    evaluator = CostEvaluator(engine, danger_map)
+
+    p1 = Port(0, 0, 0)
+    p2 = Port(10, 10, 0)
+
+    h = evaluator.h_manhattan(p1, p2)
+    # Manhattan distance = 20. Orientation penalty = 0.
+    # Weighted by 1.1 -> 22.0
+    assert abs(h - 22.0) < 1e-6
+
+    # Orientation penalty
+    p3 = Port(10, 10, 90)
+    h_wrong = evaluator.h_manhattan(p1, p3)
+    assert h_wrong > h

inire/tests/test_fuzz.py

@@ -0,0 +1,66 @@
+from typing import Any
+
+import pytest
+from hypothesis import given, settings, strategies as st
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import RoutingResult
+from inire.utils.validation import validate_routing_result
+
+
+@st.composite
+def random_obstacle(draw: Any) -> Polygon:
+    x = draw(st.floats(min_value=0, max_value=20))
+    y = draw(st.floats(min_value=0, max_value=20))
+    w = draw(st.floats(min_value=1, max_value=5))
+    h = draw(st.floats(min_value=1, max_value=5))
+    return Polygon([(x, y), (x + w, y), (x + w, y + h), (x, y + h)])
+
+
+@st.composite
+def random_port(draw: Any) -> Port:
+    x = draw(st.floats(min_value=0, max_value=20))
+    y = draw(st.floats(min_value=0, max_value=20))
+    orientation = draw(st.sampled_from([0, 90, 180, 270]))
+    return Port(x, y, orientation)
+
+
+@settings(max_examples=3, deadline=None)
+@given(obstacles=st.lists(random_obstacle(), min_size=0, max_size=3), start=random_port(), target=random_port())
+def test_fuzz_astar_no_crash(obstacles: list[Polygon], start: Port, target: Port) -> None:
+    engine = CollisionEngine(clearance=2.0)
+    for obs in obstacles:
+        engine.add_static_obstacle(obs)
+
+    danger_map = DangerMap(bounds=(0, 0, 30, 30))
+    danger_map.precompute(obstacles)
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    router.node_limit = 5000  # Lower limit for fuzzing stability
+
+    # Check if start/target are inside obstacles (safety zone check)
+    # The router should handle this gracefully (either route or return None)
+    try:
+        path = router.route(start, target, net_width=2.0)
+
+        # Analytic Correctness: if path is returned, verify it's collision-free
+        if path:
+            result = RoutingResult(net_id="default", path=path, is_valid=True, collisions=0)
+            validation = validate_routing_result(
+                result,
+                obstacles,
+                clearance=2.0,
+                expected_start=start,
+                expected_end=target,
+            )
+            assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+
+    except Exception as e:
+        # Unexpected exceptions are failures
+        pytest.fail(f"Router crashed with {type(e).__name__}: {e}")

inire/tests/test_pathfinder.py

@@ -0,0 +1,35 @@
+import pytest
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+
+
+@pytest.fixture
+def basic_evaluator() -> CostEvaluator:
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, 0, 100, 100))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+
+def test_pathfinder_parallel(basic_evaluator: CostEvaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    pf = PathFinder(router, basic_evaluator)
+
+    netlist = {
+        "net1": (Port(0, 0, 0), Port(50, 0, 0)),
+        "net2": (Port(0, 10, 0), Port(50, 10, 0)),
+    }
+    net_widths = {"net1": 2.0, "net2": 2.0}
+
+    results = pf.route_all(netlist, net_widths)
+
+    assert len(results) == 2
+    assert results["net1"].is_valid
+    assert results["net2"].is_valid
+    assert results["net1"].collisions == 0
+    assert results["net2"].collisions == 0

inire/tests/test_primitives.py

@@ -0,0 +1,51 @@
+from typing import Any
+
+from hypothesis import given, strategies as st
+
+from inire.geometry.primitives import Port, rotate_port, translate_port
+
+
+@st.composite
+def port_strategy(draw: Any) -> Port:
+    x = draw(st.floats(min_value=-1e6, max_value=1e6))
+    y = draw(st.floats(min_value=-1e6, max_value=1e6))
+    orientation = draw(st.sampled_from([0, 90, 180, 270]))
+    return Port(x, y, orientation)
+
+
+def test_port_snapping() -> None:
+    p = Port(0.123456, 0.654321, 90)
+    assert p.x == 0.123
+    assert p.y == 0.654
+
+
+@given(p=port_strategy())
+def test_port_transform_invariants(p: Port) -> None:
+    # Rotating 90 degrees 4 times should return to same orientation
+    p_rot = p
+    for _ in range(4):
+        p_rot = rotate_port(p_rot, 90)
+
+    assert abs(p_rot.x - p.x) < 1e-6
+    assert abs(p_rot.y - p.y) < 1e-6
+    assert (p_rot.orientation % 360) == (p.orientation % 360)
+
+
+@given(
+    p=port_strategy(),
+    dx=st.floats(min_value=-1000, max_value=1000),
+    dy=st.floats(min_value=-1000, max_value=1000),
+)
+def test_translate_snapping(p: Port, dx: float, dy: float) -> None:
+    p_trans = translate_port(p, dx, dy)
+    # Check that snapped result is indeed multiple of GRID_SNAP_UM (0.001 um = 1nm)
+    assert abs(p_trans.x * 1000 - round(p_trans.x * 1000)) < 1e-6
+    assert abs(p_trans.y * 1000 - round(p_trans.y * 1000)) < 1e-6
+
+
+def test_orientation_normalization() -> None:
+    p = Port(0, 0, 360)
+    assert p.orientation == 0.0
+
+    p2 = Port(0, 0, -90)
+    assert p2.orientation == 270.0

inire/tests/test_refinements.py

@@ -0,0 +1,62 @@
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.components import Bend90
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+
+
+def test_arc_resolution_sagitta() -> None:
+    start = Port(0, 0, 0)
+    # R=10, 90 deg bend.
+    # High tolerance (0.5um) -> few segments
+    res_coarse = Bend90.generate(start, radius=10.0, width=2.0, sagitta=0.5)
+    # Low tolerance (0.001um = 1nm) -> many segments
+    res_fine = Bend90.generate(start, radius=10.0, width=2.0, sagitta=0.001)
+
+    # Check number of points in the polygon exterior
+    # (num_segments + 1) * 2 points usually
+    pts_coarse = len(res_coarse.geometry[0].exterior.coords)
+    pts_fine = len(res_fine.geometry[0].exterior.coords)
+
+    assert pts_fine > pts_coarse
+
+
+def test_locked_paths() -> None:
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, -50, 100, 50))
+    danger_map.precompute([])
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 1. Route Net A
+    netlist_a = {"netA": (Port(0, 0, 0), Port(50, 0, 0))}
+    results_a = pf.route_all(netlist_a, {"netA": 2.0})
+    assert results_a["netA"].is_valid
+
+    # 2. Lock Net A
+    engine.lock_net("netA")
+
+    # 3. Route Net B through the same space. It should detour or fail.
+    # We'll place Net B's start/target such that it MUST cross Net A's physical path.
+    netlist_b = {"netB": (Port(0, -5, 0), Port(50, 5, 0))}
+
+    # Route Net B
+    results_b = pf.route_all(netlist_b, {"netB": 2.0})
+
+    # Net B should be is_valid (it detoured) or at least not have collisions
+    # with Net A in the dynamic set (because netA is now static).
+    # Since netA is static, netB will see it as a HARD collision if it tries to cross.
+
+    # Our A* will find a detour around the static obstacle.
+    assert results_b["netB"].is_valid
+
+    # Verify geometry doesn't intersect locked netA (physical check)
+    poly_a = [p.geometry[0] for p in results_a["netA"].path]
+    poly_b = [p.geometry[0] for p in results_b["netB"].path]
+
+    for pa in poly_a:
+        for pb in poly_b:
+            assert not pa.intersects(pb)

inire/utils/validation.py

@@ -0,0 +1,102 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING, Any
+import numpy
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+    from inire.geometry.primitives import Port
+    from inire.router.pathfinder import RoutingResult
+
+
+def validate_routing_result(
+    result: RoutingResult,
+    static_obstacles: list[Polygon],
+    clearance: float,
+    expected_start: Port | None = None,
+    expected_end: Port | None = None,
+) -> dict[str, Any]:
+    """
+    Perform a high-precision validation of a routed path.
+
+    Args:
+        result: The routing result to validate.
+        static_obstacles: List of static obstacle geometries.
+        clearance: Required minimum distance.
+        expected_start: Optional expected start port.
+        expected_end: Optional expected end port.
+
+    Returns:
+        A dictionary with validation results.
+    """
+    _ = expected_start
+    if not result.path:
+        return {"is_valid": False, "reason": "No path found"}
+
+    obstacle_collision_geoms = []
+    self_intersection_geoms = []
+    connectivity_errors = []
+
+    # 1. Connectivity Check
+    total_length = 0.0
+    for comp in result.path:
+        total_length += comp.length
+
+    # Boundary check
+    if expected_end:
+        last_port = result.path[-1].end_port
+        dist_to_end = numpy.sqrt((last_port.x - expected_end.x)**2 + (last_port.y - expected_end.y)**2)
+        if dist_to_end > 0.005:
+            connectivity_errors.append(f"Final port position mismatch: {dist_to_end*1000:.2f}nm")
+        if abs(last_port.orientation - expected_end.orientation) > 0.1:
+            connectivity_errors.append(f"Final port orientation mismatch: {last_port.orientation} vs {expected_end.orientation}")
+
+    # 2. Geometry Buffering
+    dilation_half = clearance / 2.0
+    dilation_full = clearance
+
+    dilated_for_self = []
+
+    for comp in result.path:
+        for poly in comp.geometry:
+            # Check against obstacles
+            d_full = poly.buffer(dilation_full)
+            for obs in static_obstacles:
+                if d_full.intersects(obs):
+                    intersection = d_full.intersection(obs)
+                    if intersection.area > 1e-9:
+                        obstacle_collision_geoms.append(intersection)
+
+            # Save for self-intersection check
+            dilated_for_self.append(poly.buffer(dilation_half))
+
+    # 3. Self-intersection
+    for i, seg_i in enumerate(dilated_for_self):
+        for j, seg_j in enumerate(dilated_for_self):
+            if j > i + 1 and seg_i.intersects(seg_j): # Non-adjacent
+                overlap = seg_i.intersection(seg_j)
+                if overlap.area > 1e-6:
+                    self_intersection_geoms.append((i, j, overlap))
+
+    is_valid = (len(obstacle_collision_geoms) == 0 and
+                len(self_intersection_geoms) == 0 and
+                len(connectivity_errors) == 0)
+
+    reasons = []
+    if obstacle_collision_geoms:
+        reasons.append(f"Found {len(obstacle_collision_geoms)} obstacle collisions.")
+    if self_intersection_geoms:
+        # report which indices
+        idx_str = ", ".join([f"{i}-{j}" for i, j, _ in self_intersection_geoms[:5]])
+        reasons.append(f"Found {len(self_intersection_geoms)} self-intersections (e.g. {idx_str}).")
+    if connectivity_errors:
+        reasons.extend(connectivity_errors)
+
+    return {
+        "is_valid": is_valid,
+        "reason": " ".join(reasons),
+        "obstacle_collisions": obstacle_collision_geoms,
+        "self_intersections": self_intersection_geoms,
+        "total_length": total_length,
+        "connectivity_ok": len(connectivity_errors) == 0,
+    }

inire/utils/visualization.py

@@ -0,0 +1,88 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+import matplotlib.pyplot as plt
+import numpy
+from shapely.geometry import MultiPolygon, Polygon
+
+if TYPE_CHECKING:
+    from matplotlib.axes import Axes
+    from matplotlib.figure import Figure
+
+    from inire.geometry.primitives import Port
+    from inire.router.pathfinder import RoutingResult
+
+
+def plot_routing_results(
+    results: dict[str, RoutingResult],
+    static_obstacles: list[Polygon],
+    bounds: tuple[float, float, float, float],
+    netlist: dict[str, tuple[Port, Port]] | None = None,
+) -> tuple[Figure, Axes]:
+    """
+    Plot obstacles and routed paths using matplotlib.
+
+    Args:
+        results: Dictionary of net_id to RoutingResult.
+        static_obstacles: List of static obstacle polygons.
+        bounds: Plot limits (minx, miny, maxx, maxy).
+        netlist: Optional original netlist for port visualization.
+
+    Returns:
+        The matplotlib Figure and Axes objects.
+    """
+    fig, ax = plt.subplots(figsize=(10, 10))
+
+    # Plot static obstacles (gray)
+    for poly in static_obstacles:
+        x, y = poly.exterior.xy
+        ax.fill(x, y, alpha=0.5, fc="gray", ec="black")
+
+    # Plot paths
+    colors = plt.get_cmap("tab10")
+    for i, (net_id, res) in enumerate(results.items()):
+        # Use modulo to avoid index out of range for many nets
+        color: str | tuple[float, ...] = colors(i % 10)
+        if not res.is_valid:
+            color = "red"  # Highlight failing nets
+
+        label_added = False
+        for _j, comp in enumerate(res.path):
+            # 1. Plot geometry
+            for poly in comp.geometry:
+                # Handle both Polygon and MultiPolygon (e.g. from SBend)
+                if isinstance(poly, MultiPolygon):
+                    geoms = list(poly.geoms)
+                else:
+                    geoms = [poly]
+
+                for g in geoms:
+                    x, y = g.exterior.xy
+                    ax.fill(x, y, alpha=0.7, fc=color, ec="black", label=net_id if not label_added else "")
+                    label_added = True
+
+            # 2. Plot subtle port orientation arrow for internal ports
+            p = comp.end_port
+            rad = numpy.radians(p.orientation)
+            u = numpy.cos(rad)
+            v = numpy.sin(rad)
+            ax.quiver(p.x, p.y, u, v, color="black", scale=40, width=0.003, alpha=0.3, pivot="tail", zorder=4)
+
+        # 3. Plot main arrows for netlist ports (if provided)
+        if netlist and net_id in netlist:
+            start_p, target_p = netlist[net_id]
+            for p in [start_p, target_p]:
+                rad = numpy.radians(p.orientation)
+                u = numpy.cos(rad)
+                v = numpy.sin(rad)
+                ax.quiver(p.x, p.y, u, v, color="black", scale=25, width=0.005, pivot="tail", zorder=6)
+
+    ax.set_xlim(bounds[0], bounds[2])
+    ax.set_ylim(bounds[1], bounds[3])
+    ax.set_aspect("equal")
+    ax.set_title("Inire Routing Results")
+    handles, labels = ax.get_legend_handles_labels()
+    if labels:
+        ax.legend()
+    plt.grid(True)
+    return fig, ax

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "inire"
-description = "Wave-router"
+description = "Wave-router: Auto-routing for photonic and RF integrated circuits"
 readme = "README.md"
 requires-python = ">=3.11"
 license = { file = "LICENSE.md" }
@@ -9,22 +9,6 @@ authors = [
     ]
 homepage = "https://mpxd.net/code/jan/inire"
 repository = "https://mpxd.net/code/jan/inire"
-keywords = [
-    "layout",
-    "CAD",
-    "EDA",
-    "mask",
-    "pattern",
-    "lithography",
-    "oas",
-    "gds",
-    "dxf",
-    "svg",
-    "OASIS",
-    "gdsii",
-    "gds2",
-    "stream",
-    ]
 classifiers = [
     "Programming Language :: Python :: 3",
     "Development Status :: 4 - Beta",
@@ -36,10 +20,17 @@ classifiers = [
     "Topic :: Scientific/Engineering :: Electronic Design Automation (EDA)",
     ]
 dynamic = ["version"]
-dependencies = []
+dependencies = [
+    "numpy",
+    "scipy",
+    "shapely",
+    "rtree",
+    "matplotlib",
+]
 
 [dependency-groups]
 dev = [
+    "hypothesis>=6.151.9",
     "matplotlib>=3.10.8",
     "pytest>=9.0.2",
     "ruff>=0.15.5",
@@ -79,7 +70,7 @@ lint.ignore = [
     "C408",     # dict(x=y) instead of {'x': y}
     "PLR09",    # Too many xxx
     "PLR2004",  # magic number
-    "PLC0414",  # import x as x
+    #"PLC0414",  # import x as x
     "TRY003",   # Long exception message
     ]
 

uv.lock

@@ -1,5 +1,5 @@
 version = 1
-requires-python = ">=3.13"
+requires-python = ">=3.11"
 
 [[package]]
 name = "colorama"
@@ -19,6 +19,28 @@ dependencies = [
 ]
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 wheels = [
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 version = "2.3.0"
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 name = "inire"
-version = "0.1.0"
+source = { editable = "." }
-source = { virtual = "." }
+dependencies = [
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "rtree" },
+    { name = "scipy" },
+    { name = "shapely" },
+]
 
 [package.dev-dependencies]
 dev = [
+    { name = "hypothesis" },
     { name = "matplotlib" },
     { name = "pytest" },
     { name = "ruff" },
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 [package.metadata]
+requires-dist = [
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "rtree" },
+    { name = "scipy" },
+    { name = "shapely" },
+]
 
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     { name = "pytest", specifier = ">=9.0.2" },
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