pns_optimizer.cpp

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/*
 * KiRouter - a push-and-(sometimes-)shove PCB router
 *
 * Copyright (C) 2013-2014 CERN
 * Copyright (C) 2016-2021 KiCad Developers, see AUTHORS.txt for contributors.
 * Author: Tomasz Wlostowski <[email protected]>
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or (at your
 * option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program. If not, see <http://www.gnu.org/licenses/>.
 */

#include <geometry/shape_line_chain.h>
#include <geometry/shape_rect.h>
#include <geometry/shape_simple.h>

#include <cmath>

#include "pns_arc.h"
#include "pns_line.h"
#include "pns_diff_pair.h"
#include "pns_node.h"
#include "pns_solid.h"
#include "pns_optimizer.h"

#include "pns_utils.h"
#include "pns_router.h"
#include "pns_debug_decorator.h"


namespace PNS {


int COST_ESTIMATOR::CornerCost( const SEG& aA, const SEG& aB )
{
 DIRECTION_45 dir_a( aA ), dir_b( aB );

 switch( dir_a.Angle( dir_b ) )
 {
 case DIRECTION_45::ANG_OBTUSE: return 10;
 case DIRECTION_45::ANG_STRAIGHT: return 5;
 case DIRECTION_45::ANG_ACUTE: return 50;
 case DIRECTION_45::ANG_RIGHT: return 30;
 case DIRECTION_45::ANG_HALF_FULL: return 60;
 default: return 100;
 }
}


int COST_ESTIMATOR::CornerCost( const SHAPE_LINE_CHAIN& aLine )
{
 int total = 0;

 for( int i = 0; i < aLine.SegmentCount() - 1; ++i )
 total += CornerCost( aLine.CSegment( i ), aLine.CSegment( i + 1 ) );

 return total;
}


int COST_ESTIMATOR::CornerCost( const LINE& aLine )
{
 return CornerCost( aLine.CLine() );
}


void COST_ESTIMATOR::Add( const LINE& aLine )
{
 m_lengthCost += aLine.CLine().Length();
 m_cornerCost += CornerCost( aLine );
}


void COST_ESTIMATOR::Remove( const LINE& aLine )
{
 m_lengthCost -= aLine.CLine().Length();
 m_cornerCost -= CornerCost( aLine );
}


void COST_ESTIMATOR::Replace( const LINE& aOldLine, const LINE& aNewLine )
{
 m_lengthCost -= aOldLine.CLine().Length();
 m_cornerCost -= CornerCost( aOldLine );
 m_lengthCost += aNewLine.CLine().Length();
 m_cornerCost += CornerCost( aNewLine );
}


bool COST_ESTIMATOR::IsBetter( const COST_ESTIMATOR& aOther, double aLengthTolerance,
 double aCornerTolerance ) const
{
 if( aOther.m_cornerCost < m_cornerCost && aOther.m_lengthCost < m_lengthCost )
 return true;
 else if( aOther.m_cornerCost < m_cornerCost * aCornerTolerance &&
 aOther.m_lengthCost < m_lengthCost * aLengthTolerance )
 return true;

 return false;
}


OPTIMIZER::OPTIMIZER( NODE* aWorld ) :
 m_world( aWorld ),
 m_collisionKindMask( ITEM::ANY_T ),
 m_effortLevel( MERGE_SEGMENTS ),
 m_restrictAreaIsStrict( false )
{
}


OPTIMIZER::~OPTIMIZER()
{
}


struct OPTIMIZER::CACHE_VISITOR
{
 CACHE_VISITOR( const ITEM* aOurItem, NODE* aNode, int aMask ) :
 m_ourItem( aOurItem ),
 m_collidingItem( nullptr ),
 m_node( aNode ),
 m_mask( aMask )
 {}

 bool operator()( ITEM* aOtherItem )
 {
 if( !( m_mask & aOtherItem->Kind() ) )
 return true;

 if( !aOtherItem->Collide( m_ourItem, m_node ) )
 return true;

 m_collidingItem = aOtherItem;
 return false;
 }

 const ITEM* m_ourItem;
 ITEM* m_collidingItem;
 NODE* m_node;
 int m_mask;
};


void OPTIMIZER::cacheAdd( ITEM* aItem, bool aIsStatic = false )
{
 if( m_cacheTags.find( aItem ) != m_cacheTags.end() )
 return;

 m_cache.Add( aItem );
 m_cacheTags[aItem].m_hits = 1;
 m_cacheTags[aItem].m_isStatic = aIsStatic;
}


void OPTIMIZER::removeCachedSegments( LINE* aLine, int aStartVertex, int aEndVertex )
{
 if( !aLine->IsLinked() )
 return;

 auto links = aLine->Links();

 if( aEndVertex < 0 )
 aEndVertex += aLine->PointCount();

 for( int i = aStartVertex; i < aEndVertex - 1; i++ )
 {
 LINKED_ITEM* s = links[i];
 m_cacheTags.erase( s );
 m_cache.Remove( s );
 }
}


void OPTIMIZER::CacheRemove( ITEM* aItem )
{
 if( aItem->Kind() == ITEM::LINE_T )
 removeCachedSegments( static_cast<LINE*>( aItem ) );
}


void OPTIMIZER::ClearCache( bool aStaticOnly )
{
 if( !aStaticOnly )
 {
 m_cacheTags.clear();
 m_cache.Clear();
 return;
 }

 for( auto i = m_cacheTags.begin(); i!= m_cacheTags.end(); ++i )
 {
 if( i->second.m_isStatic )
 {
 m_cache.Remove( i->first );
 m_cacheTags.erase( i->first );
 }
 }
}


bool AREA_CONSTRAINT::Check( int aVertex1, int aVertex2, const LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 const VECTOR2I& p1 = aOriginLine->CPoint( aVertex1 );
 const VECTOR2I& p2 = aOriginLine->CPoint( aVertex2 );

 bool p1_in = m_allowedArea.Contains( p1 );
 bool p2_in = m_allowedArea.Contains( p2 );

 if( m_allowedAreaStrict ) // strict restriction? both points must be inside the restricted area
 return p1_in && p2_in;
 else // loose restriction
 return p1_in || p2_in;
}


bool PRESERVE_VERTEX_CONSTRAINT::Check( int aVertex1, int aVertex2, const LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 bool cv = false;

 for( int i = aVertex1; i < aVertex2; i++ )
 {
 SEG::ecoord dist = aCurrentPath.CSegment(i).SquaredDistance( m_v );

 if ( dist <= 1 )
 {
 cv = true;
 break;
 }
 }

 if( !cv )
 return true;

 for( int i = 0; i < aReplacement.SegmentCount(); i++ )
 {
 SEG::ecoord dist = aReplacement.CSegment(i).SquaredDistance( m_v );

 if ( dist <= 1 )
 return true;
 }

 return false;
}


bool RESTRICT_VERTEX_RANGE_CONSTRAINT::Check( int aVertex1, int aVertex2, const LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 return true;
}


bool CORNER_COUNT_LIMIT_CONSTRAINT::Check( int aVertex1, int aVertex2, const LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 LINE newPath( *aOriginLine, aCurrentPath );
 newPath.Line().Replace( aVertex1, aVertex2, aReplacement );
 int cc = newPath.CountCorners( m_angleMask );

 if( cc >= m_minCorners && cc <= m_maxCorners )
 return true;

 return false;
}


static bool pointInside2( const SHAPE_LINE_CHAIN& aL, const VECTOR2I& aP )
{
 if( !aL.IsClosed() || aL.SegmentCount() < 3 )
 return false;

 int result = 0;
 size_t cnt = aL.PointCount();

 VECTOR2I ip = aL.CPoint( 0 );

 for( size_t i = 1; i <= cnt; ++i )
 {
 VECTOR2I ipNext = ( i == cnt ? aL.CPoint( 0 ) : aL.CPoint( i ) );

 if( ipNext.y == aP.y )
 {
 if( ( ipNext.x == aP.x )
 || ( ip.y == aP.y && ( ( ipNext.x > aP.x ) == ( ip.x < aP.x ) ) ) )
 return true; // pt on polyground boundary
 }

 if( ( ip.y < aP.y ) != ( ipNext.y < aP.y ) )
 {
 if( ip.x >=aP.x )
 {
  if( ipNext.x >aP.x )
 {
 result = 1 - result;
 }
 else
 {
 double d = static_cast<double>( ip.x - aP.x ) *
 static_cast<double>( ipNext.y - aP.y ) -
 static_cast<double>( ipNext.x - aP.x ) *
 static_cast<double>( ip.y - aP.y );

 if( !d )
 return true; // pt on polyground boundary

 if( ( d > 0 ) == ( ipNext.y > ip.y ) )
 result = 1 - result;
 }
 }
 else
 {
 if( ipNext.x >aP.x )
 {
 double d = ( (double) ip.x - aP.x ) * ( (double) ipNext.y - aP.y )
 - ( (double) ipNext.x - aP.x ) * ( (double) ip.y - aP.y );

 if( !d )
 return true; // pt on polyground boundary

 if( ( d > 0 ) == ( ipNext.y > ip.y ) )
 result = 1 - result;
 }
 }
 }

 ip = ipNext;
 }

 return result > 0;
}


bool KEEP_TOPOLOGY_CONSTRAINT::Check( int aVertex1, int aVertex2, const LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 SHAPE_LINE_CHAIN encPoly = aOriginLine->CLine().Slice( aVertex1, aVertex2 );

 // fixme: this is a remarkably shitty implementation...
 encPoly.Append( aReplacement.Reverse() );
 encPoly.SetClosed( true );

 BOX2I bb = encPoly.BBox();
 std::vector<JOINT*> joints;

 int cnt = m_world->QueryJoints( bb, joints, aOriginLine->Layers(), ITEM::SOLID_T );

 if( !cnt )
 return true;

 for( JOINT* j : joints )
 {
 if( j->Net() == aOriginLine->Net() )
 continue;

 if( pointInside2( encPoly, j->Pos() ) )
 {
 bool falsePositive = false;

 for( int k = 0; k < encPoly.PointCount(); k++ )
 {
 if( encPoly.CPoint(k) == j->Pos() )
 {
 falsePositive = true;
 break;
 }
 }

 if( !falsePositive )
 {
 //dbg->AddPoint(j->Pos(), 5);
 return false;
 }
 }
 }

 return true;
}


bool OPTIMIZER::checkColliding( ITEM* aItem, bool aUpdateCache )
{
 CACHE_VISITOR v( aItem, m_world, m_collisionKindMask );

 return static_cast<bool>( m_world->CheckColliding( aItem ) );
}


void OPTIMIZER::ClearConstraints()
{
 for( OPT_CONSTRAINT* c : m_constraints )
 delete c;

 m_constraints.clear();
}


void OPTIMIZER::AddConstraint ( OPT_CONSTRAINT *aConstraint )
{
 m_constraints.push_back( aConstraint );
}


bool OPTIMIZER::checkConstraints( int aVertex1, int aVertex2, LINE* aOriginLine,
 const SHAPE_LINE_CHAIN& aCurrentPath,
 const SHAPE_LINE_CHAIN& aReplacement )
{
 for( OPT_CONSTRAINT* c : m_constraints )
 {
 if( !c->Check( aVertex1, aVertex2, aOriginLine, aCurrentPath, aReplacement ) )
 return false;
 }

 return true;
}


bool OPTIMIZER::checkColliding( LINE* aLine, const SHAPE_LINE_CHAIN& aOptPath )
{
 LINE tmp( *aLine, aOptPath );

 return checkColliding( &tmp );
}


bool OPTIMIZER::mergeObtuse( LINE* aLine )
{
 SHAPE_LINE_CHAIN& line = aLine->Line();

 int step = line.PointCount() - 3;
 int iter = 0;
 int segs_pre = line.SegmentCount();

 if( step < 0 )
 return false;

 SHAPE_LINE_CHAIN current_path( line );

 while( 1 )
 {
 iter++;
 int n_segs = current_path.SegmentCount();
 int max_step = n_segs - 2;

 if( step > max_step )
 step = max_step;

 if( step < 2 )
 {
 line = current_path;
 return current_path.SegmentCount() < segs_pre;
 }

 bool found_anything = false;

 for( int n = 0; n < n_segs - step; n++ )
 {
 const SEG s1 = current_path.CSegment( n );
 const SEG s2 = current_path.CSegment( n + step );
 SEG s1opt, s2opt;

 if( DIRECTION_45( s1 ).IsObtuse( DIRECTION_45( s2 ) ) )
 {
 VECTOR2I ip = *s1.IntersectLines( s2 );

 s1opt = SEG( s1.A, ip );
 s2opt = SEG( ip, s2.B );

 if( DIRECTION_45( s1opt ).IsObtuse( DIRECTION_45( s2opt ) ) )
 {
 SHAPE_LINE_CHAIN opt_path;
 opt_path.Append( s1opt.A );
 opt_path.Append( s1opt.B );
 opt_path.Append( s2opt.B );

 LINE opt_track( *aLine, opt_path );

 if( !checkColliding( &opt_track ) )
 {
 current_path.Replace( s1.Index() + 1, s2.Index(), ip );

 // removeCachedSegments(aLine, s1.Index(), s2.Index());
 n_segs = current_path.SegmentCount();
 found_anything = true;
 break;
 }
 }
 }
 }

 if( !found_anything )
 {
 if( step <= 2 )
 {
 line = current_path;
 return line.SegmentCount() < segs_pre;
 }

 step--;
 }
 }

 return line.SegmentCount() < segs_pre;
}


bool OPTIMIZER::mergeFull( LINE* aLine )
{
 SHAPE_LINE_CHAIN& line = aLine->Line();
 int step = line.SegmentCount() - 1;

 int segs_pre = line.SegmentCount();

 line.Simplify();

 if( step < 0 )
 return false;

 SHAPE_LINE_CHAIN current_path( line );

 while( 1 )
 {
 int n_segs = current_path.SegmentCount();
 int max_step = n_segs - 2;

 if( step > max_step )
 step = max_step;

 if( step < 1 )
 break;

 bool found_anything = mergeStep( aLine, current_path, step );

 if( !found_anything )
 step--;

 if( !step )
 break;
 }

 aLine->SetShape( current_path );

 return current_path.SegmentCount() < segs_pre;
}


bool OPTIMIZER::mergeColinear( LINE* aLine )
{
 SHAPE_LINE_CHAIN& line = aLine->Line();

 int nSegs = line.SegmentCount();

 for( int segIdx = 0; segIdx < line.SegmentCount() - 1; ++segIdx )
 {
 SEG s1 = line.CSegment( segIdx );
 SEG s2 = line.CSegment( segIdx + 1 );

 // Skip zero-length segs caused by abutting arcs
 if( s1.SquaredLength() == 0 || s2.SquaredLength() == 0 )
 continue;

 if( s1.Collinear( s2 ) )
 {
 // We should not see a collinear vertex inside an arc
 wxASSERT( !line.IsPtOnArc( segIdx + 1 ) );
 line.Remove( segIdx + 1 );
 }
 }

 return line.SegmentCount() < nSegs;
}


bool OPTIMIZER::Optimize( LINE* aLine, LINE* aResult, LINE* aRoot )
{
 DEBUG_DECORATOR* dbg = ROUTER::GetInstance()->GetInterface()->GetDebugDecorator();

 if( aRoot )
 {
 PNS_DBG( dbg, AddLine, aRoot->CLine(), BLUE, 100000, "root-line" );
 }


 if( !aResult )
 {
 aResult = aLine;
 }
 else
 {
 *aResult = *aLine;
 aResult->ClearLinks();
 }

 bool hasArcs = aLine->ArcCount();
 bool rv = false;

 if( (m_effortLevel & LIMIT_CORNER_COUNT) && aRoot )
 {
 const int angleMask = DIRECTION_45::ANG_OBTUSE;
 int rootObtuseCorners = aRoot->CountCorners( angleMask );
 auto c = new CORNER_COUNT_LIMIT_CONSTRAINT( m_world, rootObtuseCorners,
 aLine->SegmentCount(), angleMask );
 AddConstraint( c );
 }

 if( m_effortLevel & PRESERVE_VERTEX )
 {
 auto c = new PRESERVE_VERTEX_CONSTRAINT( m_world, m_preservedVertex );
 AddConstraint( c );
 }

 if( m_effortLevel & RESTRICT_VERTEX_RANGE )
 {
 auto c = new RESTRICT_VERTEX_RANGE_CONSTRAINT( m_world, m_restrictedVertexRange.first,
 m_restrictedVertexRange.second );
 AddConstraint( c );
 }

 if( m_effortLevel & RESTRICT_AREA )
 {
 auto c = new AREA_CONSTRAINT( m_world, m_restrictArea, m_restrictAreaIsStrict );
 AddConstraint( c );
 }

 if( m_effortLevel & KEEP_TOPOLOGY )
 {
 auto c = new KEEP_TOPOLOGY_CONSTRAINT( m_world );
 AddConstraint( c );
 }

 // TODO: Fix for arcs
 if( !hasArcs && m_effortLevel & MERGE_SEGMENTS )
 rv |= mergeFull( aResult );

 // TODO: Fix for arcs
 if( !hasArcs && m_effortLevel & MERGE_OBTUSE )
 rv |= mergeObtuse( aResult );

 if( m_effortLevel & MERGE_COLINEAR )
 rv |= mergeColinear( aResult );

 // TODO: Fix for arcs
 if( !hasArcs && m_effortLevel & SMART_PADS )
 rv |= runSmartPads( aResult );

 // TODO: Fix for arcs
 if( !hasArcs && m_effortLevel & FANOUT_CLEANUP )
 rv |= fanoutCleanup( aResult );

 return rv;
}


bool OPTIMIZER::mergeStep( LINE* aLine, SHAPE_LINE_CHAIN& aCurrentPath, int step )
{
 int n_segs = aCurrentPath.SegmentCount();

 int cost_orig = COST_ESTIMATOR::CornerCost( aCurrentPath );

 if( aLine->SegmentCount() < 2 )
 return false;

 DIRECTION_45 orig_start( aLine->CSegment( 0 ) );
 DIRECTION_45 orig_end( aLine->CSegment( -1 ) );


 for( int n = 0; n < n_segs - step; n++ )
 {
 // Do not attempt to merge false segments that are part of an arc
 if( aCurrentPath.IsArcSegment( n )
 || aCurrentPath.IsArcSegment( static_cast<std::size_t>( n ) + step ) )
 {
 continue;
 }

 const SEG s1 = aCurrentPath.CSegment( n );
 const SEG s2 = aCurrentPath.CSegment( n + step );

 SHAPE_LINE_CHAIN path[2];
 SHAPE_LINE_CHAIN* picked = nullptr;
 int cost[2];

 for( int i = 0; i < 2; i++ )
 {
 SHAPE_LINE_CHAIN bypass = DIRECTION_45().BuildInitialTrace( s1.A, s2.B, i );
 cost[i] = INT_MAX;

 bool ok = false;

 if( !checkColliding( aLine, bypass ) )
 {
 //printf("Chk-constraints: %d %d\n", n, n+step+1 );
 ok = checkConstraints ( n, n + step + 1, aLine, aCurrentPath, bypass );
 }

 if( ok )
 {
 path[i] = aCurrentPath;
 path[i].Replace( s1.Index(), s2.Index(), bypass );
 path[i].Simplify();
 cost[i] = COST_ESTIMATOR::CornerCost( path[i] );
 }
 }

 if( cost[0] < cost_orig && cost[0] < cost[1] )
 picked = &path[0];
 else if( cost[1] < cost_orig )
 picked = &path[1];

 if( picked )
 {
 n_segs = aCurrentPath.SegmentCount();
 aCurrentPath = *picked;
 return true;
 }
 }

 return false;
}


OPTIMIZER::BREAKOUT_LIST OPTIMIZER::circleBreakouts( int aWidth, const SHAPE* aShape,
 bool aPermitDiagonal ) const
{
 BREAKOUT_LIST breakouts;

 for( int angle = 0; angle < 360; angle += 45 )
 {
 const SHAPE_CIRCLE* cir = static_cast<const SHAPE_CIRCLE*>( aShape );
 SHAPE_LINE_CHAIN l;
 VECTOR2I p0 = cir->GetCenter();
 VECTOR2I v0( cir->GetRadius() * M_SQRT2, 0 );

 l.Append( p0 );
 l.Append( p0 + v0.Rotate( angle * M_PI / 180.0 ) );
 breakouts.push_back( l );
 }

 return breakouts;
}


OPTIMIZER::BREAKOUT_LIST OPTIMIZER::customBreakouts( int aWidth, const ITEM* aItem,
 bool aPermitDiagonal ) const
{
 BREAKOUT_LIST breakouts;
 const SHAPE_SIMPLE* convex = static_cast<const SHAPE_SIMPLE*>( aItem->Shape() );

 BOX2I bbox = convex->BBox( 0 );
 VECTOR2I p0 = static_cast<const SOLID*>( aItem )->Pos();
 // must be large enough to guarantee intersecting the convex polygon
 int length = std::max( bbox.GetWidth(), bbox.GetHeight() ) / 2 + 5;

 for( int angle = 0; angle < 360; angle += ( aPermitDiagonal ? 45 : 90 ) )
 {
 SHAPE_LINE_CHAIN l;
 VECTOR2I v0( p0 + VECTOR2I( length, 0 ).Rotate( angle * M_PI / 180.0 ) );
 SHAPE_LINE_CHAIN::INTERSECTIONS intersections;
 int n = convex->Vertices().Intersect( SEG( p0, v0 ), intersections );

 // if n == 1 intersected a segment
 // if n == 2 intersected the common point of 2 segments
 // n == 0 can not happen I think, but...
 if( n > 0 )
 {
 l.Append( p0 );

 // for a breakout distance relative to the distance between
 // center and polygon edge
 //l.Append( intersections[0].p + (v0 - p0).Resize( (intersections[0].p - p0).EuclideanNorm() * 0.4 ) );

 // for an absolute breakout distance, e.g. 0.1 mm
 //l.Append( intersections[0].p + (v0 - p0).Resize( 100000 ) );

 // for the breakout right on the polygon edge
 l.Append( intersections[0].p );

 breakouts.push_back( l );
 }
 }

 return breakouts;
}


OPTIMIZER::BREAKOUT_LIST OPTIMIZER::rectBreakouts( int aWidth, const SHAPE* aShape,
 bool aPermitDiagonal ) const
{
 const SHAPE_RECT* rect = static_cast<const SHAPE_RECT*>(aShape);
 VECTOR2I s = rect->GetSize();
 VECTOR2I c = rect->GetPosition() + VECTOR2I( s.x / 2, s.y / 2 );
 BREAKOUT_LIST breakouts;

 VECTOR2I d_offset;

 d_offset.x = ( s.x > s.y ) ? ( s.x - s.y ) / 2 : 0;
 d_offset.y = ( s.x < s.y ) ? ( s.y - s.x ) / 2 : 0;

 VECTOR2I d_vert = VECTOR2I( 0, s.y / 2 + aWidth );
 VECTOR2I d_horiz = VECTOR2I( s.x / 2 + aWidth, 0 );

 breakouts.emplace_back( SHAPE_LINE_CHAIN( { c, c + d_horiz } ) );
 breakouts.emplace_back( SHAPE_LINE_CHAIN( { c, c - d_horiz } ) );
 breakouts.emplace_back( SHAPE_LINE_CHAIN( { c, c + d_vert } ) );
 breakouts.emplace_back( SHAPE_LINE_CHAIN( { c, c - d_vert } ) );

 if( aPermitDiagonal )
 {
 int l = aWidth + std::min( s.x, s.y ) / 2;
 VECTOR2I d_diag;

 if( s.x >= s.y )
 {
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c + d_offset, c + d_offset + VECTOR2I( l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c + d_offset, c + d_offset - VECTOR2I( -l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c - d_offset, c - d_offset + VECTOR2I( -l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c - d_offset, c - d_offset - VECTOR2I( l, l ) } ) );
 }
 else
 {
 // fixme: this could be done more efficiently
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c + d_offset, c + d_offset + VECTOR2I( l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c - d_offset, c - d_offset - VECTOR2I( -l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c + d_offset, c + d_offset + VECTOR2I( -l, l ) } ) );
 breakouts.emplace_back(
 SHAPE_LINE_CHAIN( { c, c - d_offset, c - d_offset - VECTOR2I( l, l ) } ) );
 }
 }

 return breakouts;
}


OPTIMIZER::BREAKOUT_LIST OPTIMIZER::computeBreakouts( int aWidth, const ITEM* aItem,
 bool aPermitDiagonal ) const
{
 switch( aItem->Kind() )
 {
 case ITEM::VIA_T:
 {
 const VIA* via = static_cast<const VIA*>( aItem );
 return circleBreakouts( aWidth, via->Shape(), aPermitDiagonal );
 }

 case ITEM::SOLID_T:
 {
 const SHAPE* shape = aItem->Shape();

 switch( shape->Type() )
 {
 case SH_RECT:
 return rectBreakouts( aWidth, shape, aPermitDiagonal );

 case SH_SEGMENT:
 {
 const SHAPE_SEGMENT* seg = static_cast<const SHAPE_SEGMENT*> (shape);
 const SHAPE_RECT rect = ApproximateSegmentAsRect ( *seg );
 return rectBreakouts( aWidth, &rect, aPermitDiagonal );
 }

 case SH_CIRCLE:
 return circleBreakouts( aWidth, shape, aPermitDiagonal );

 case SH_SIMPLE:
 return customBreakouts( aWidth, aItem, aPermitDiagonal );

 default:
 break;
 }

 break;
 }

 default:
 break;
 }

 return BREAKOUT_LIST();
}


ITEM* OPTIMIZER::findPadOrVia( int aLayer, int aNet, const VECTOR2I& aP ) const
{
 JOINT* jt = m_world->FindJoint( aP, aLayer, aNet );

 if( !jt )
 return nullptr;

 for( ITEM* item : jt->LinkList() )
 {
 if( item->OfKind( ITEM::VIA_T | ITEM::SOLID_T ) )
 return item;
 }

 return nullptr;
}


int OPTIMIZER::smartPadsSingle( LINE* aLine, ITEM* aPad, bool aEnd, int aEndVertex )
{
 DIRECTION_45 dir;

 const int ForbiddenAngles = DIRECTION_45::ANG_ACUTE | DIRECTION_45::ANG_RIGHT |
 DIRECTION_45::ANG_HALF_FULL | DIRECTION_45::ANG_UNDEFINED;

 typedef std::tuple<int, long long int, SHAPE_LINE_CHAIN> RtVariant;
 std::vector<RtVariant> variants;

 SOLID* solid = dyn_cast<SOLID*>( aPad );

 // don't do optimized connections for offset pads
 if( solid && solid->Offset() != VECTOR2I( 0, 0 ) )
 return -1;

 // don't do optimization on vias, they are always round at the moment and the optimizer
 // will possibly mess up an intended via exit posture
 if( aPad->Kind() == ITEM::VIA_T )
 return -1;

 BREAKOUT_LIST breakouts = computeBreakouts( aLine->Width(), aPad, true );
 SHAPE_LINE_CHAIN line = ( aEnd ? aLine->CLine().Reverse() : aLine->CLine() );
 int p_end = std::min( aEndVertex, std::min( 3, line.PointCount() - 1 ) );

 // Start at 1 to find a potentially better breakout (0 is the pad connection)
 for( int p = 1; p <= p_end; p++ )
 {
 // If the line is contained inside the pad, don't optimize
 if( solid && solid->Shape() && !solid->Shape()->Collide(
 SEG( line.CPoint( 0 ), line.CPoint( p ) ), aLine->Width() / 2 ) )
 {
 continue;
 }

 for( SHAPE_LINE_CHAIN & breakout : breakouts )
 {
 for( int diag = 0; diag < 2; diag++ )
 {
 SHAPE_LINE_CHAIN v;
 SHAPE_LINE_CHAIN connect = dir.BuildInitialTrace(
 breakout.CPoint( -1 ), line.CPoint( p ), diag == 0 );

 DIRECTION_45 dir_bkout( breakout.CSegment( -1 ) );

 if( !connect.SegmentCount() )
 continue;

 int ang1 = dir_bkout.Angle( DIRECTION_45( connect.CSegment( 0 ) ) );

 if( ang1 & ForbiddenAngles )
 continue;

 if( breakout.Length() > line.Length() )
 continue;

 v = breakout;
 v.Append( connect );

 for( int i = p + 1; i < line.PointCount(); i++ )
 v.Append( line.CPoint( i ) );

 LINE tmp( *aLine, v );
 int cc = tmp.CountCorners( ForbiddenAngles );

 if( cc == 0 )
 {
 RtVariant vp;
 std::get<0>( vp ) = p;
 std::get<1>( vp ) = breakout.Length();
 std::get<2>( vp ) = aEnd ? v.Reverse() : v;
 std::get<2>( vp ).Simplify();
 variants.push_back( vp );
 }
 }
 }
 }

 // We attempt to minimize the corner cost (minimizes the segments and types of corners)
 // but given two, equally valid costs, we want to pick the longer pad exit. The logic
 // here is that if the pad is oblong, the track should not exit the shorter side and parallel
 // the pad but should follow the pad's preferential direction before exiting.
 // The baseline guess is to start with the existing line the user has drawn.
 int min_cost = COST_ESTIMATOR::CornerCost( *aLine );
 long long int max_length = 0;
 bool found = false;
 int p_best = -1;
 SHAPE_LINE_CHAIN l_best;

 for( RtVariant& vp : variants )
 {
 LINE tmp( *aLine, std::get<2>( vp ) );
 int cost = COST_ESTIMATOR::CornerCost( std::get<2>( vp ) );
 long long int len = std::get<1>( vp );

 if( !checkColliding( &tmp ) )
 {
 if( cost < min_cost || ( cost == min_cost && len > max_length ) )
 {
 l_best = std::get<2>( vp );
 p_best = std::get<0>( vp );
 found = true;

 if( cost <= min_cost )
 max_length = std::max<int>( len, max_length );

 min_cost = std::min( cost, min_cost );
 }
 }
 }

 if( found )
 {
 aLine->SetShape( l_best );
 return p_best;
 }

 return -1;
}


bool OPTIMIZER::runSmartPads( LINE* aLine )
{
  SHAPE_LINE_CHAIN& line = aLine->Line();

 if( line.PointCount() < 3 )
 return false;

 VECTOR2I p_start = line.CPoint( 0 ), p_end = line.CPoint( -1 );

 ITEM* startPad = findPadOrVia( aLine->Layer(), aLine->Net(), p_start );
 ITEM* endPad = findPadOrVia( aLine->Layer(), aLine->Net(), p_end );

 int vtx = -1;

 if( startPad )
 vtx = smartPadsSingle( aLine, startPad, false, 3 );

 if( endPad )
 smartPadsSingle( aLine, endPad, true,
 vtx < 0 ? line.PointCount() - 1 : line.PointCount() - 1 - vtx );

 aLine->Line().Simplify();

 return true;
}


bool OPTIMIZER::Optimize( LINE* aLine, int aEffortLevel, NODE* aWorld, const VECTOR2I& aV )
{
 OPTIMIZER opt( aWorld );

 opt.SetEffortLevel( aEffortLevel );
 opt.SetCollisionMask( -1 );

 if( aEffortLevel & OPTIMIZER::PRESERVE_VERTEX )
 opt.SetPreserveVertex( aV );

 return opt.Optimize( aLine );
}


bool OPTIMIZER::fanoutCleanup( LINE* aLine )
{
 if( aLine->PointCount() < 3 )
 return false;

 VECTOR2I p_start = aLine->CPoint( 0 ), p_end = aLine->CPoint( -1 );

 ITEM* startPad = findPadOrVia( aLine->Layer(), aLine->Net(), p_start );
 ITEM* endPad = findPadOrVia( aLine->Layer(), aLine->Net(), p_end );

 int thr = aLine->Width() * 10;
 int len = aLine->CLine().Length();

 if( !startPad )
 return false;

 bool startMatch = startPad->OfKind( ITEM::VIA_T | ITEM::SOLID_T );
 bool endMatch = false;

 if(endPad)
 {
 endMatch = endPad->OfKind( ITEM::VIA_T | ITEM::SOLID_T );
 }
 else
 {
 endMatch = aLine->EndsWithVia();
 }

 if( startMatch && endMatch && len < thr )
 {
 for( int i = 0; i < 2; i++ )
 {
 SHAPE_LINE_CHAIN l2 = DIRECTION_45().BuildInitialTrace( p_start, p_end, i );
 LINE repl;
 repl = LINE( *aLine, l2 );

 if( !m_world->CheckColliding( &repl ) )
 {
 aLine->SetShape( repl.CLine() );
 return true;
 }
 }
 }

 return false;
}


int findCoupledVertices( const VECTOR2I& aVertex, const SEG& aOrigSeg,
 const SHAPE_LINE_CHAIN& aCoupled, DIFF_PAIR* aPair, int* aIndices )
{
 int count = 0;

 for ( int i = 0; i < aCoupled.SegmentCount(); i++ )
 {
 SEG s = aCoupled.CSegment( i );
 VECTOR2I projOverCoupled = s.LineProject ( aVertex );

 if( s.ApproxParallel( aOrigSeg ) )
 {
 int64_t dist =
 int64_t{ ( ( projOverCoupled - aVertex ).EuclideanNorm() ) } - aPair->Width();

 if( aPair->GapConstraint().Matches( dist ) )
 {
 *aIndices++ = i;
 count++;
 }
 }
 }

 return count;
}


bool verifyDpBypass( NODE* aNode, DIFF_PAIR* aPair, bool aRefIsP, const SHAPE_LINE_CHAIN& aNewRef,
 const SHAPE_LINE_CHAIN& aNewCoupled )
{
 LINE refLine ( aRefIsP ? aPair->PLine() : aPair->NLine(), aNewRef );
 LINE coupledLine ( aRefIsP ? aPair->NLine() : aPair->PLine(), aNewCoupled );

 if( refLine.Collide( &coupledLine, aNode ) )
 return false;

 if( aNode->CheckColliding ( &refLine ) )
 return false;

 if( aNode->CheckColliding ( &coupledLine ) )
 return false;

 return true;
}


bool coupledBypass( NODE* aNode, DIFF_PAIR* aPair, bool aRefIsP, const SHAPE_LINE_CHAIN& aRef,
 const SHAPE_LINE_CHAIN& aRefBypass, const SHAPE_LINE_CHAIN& aCoupled,
 SHAPE_LINE_CHAIN& aNewCoupled )
{
 int vStartIdx[1024]; // fixme: possible overflow
 int nStarts = findCoupledVertices( aRefBypass.CPoint( 0 ),
 aRefBypass.CSegment( 0 ),
 aCoupled, aPair, vStartIdx );
 DIRECTION_45 dir( aRefBypass.CSegment( 0 ) );

 int64_t bestLength = -1;
 bool found = false;
 SHAPE_LINE_CHAIN bestBypass;
 int si, ei;

 for( int i=0; i< nStarts; i++ )
 {
 for( int j = 1; j < aCoupled.PointCount() - 1; j++ )
 {
 int delta = std::abs ( vStartIdx[i] - j );

 if( delta > 1 )
 {
 const VECTOR2I& vs = aCoupled.CPoint( vStartIdx[i] );
 SHAPE_LINE_CHAIN bypass = dir.BuildInitialTrace( vs, aCoupled.CPoint(j),
 dir.IsDiagonal() );

 int64_t coupledLength = aPair->CoupledLength( aRef, bypass );

 SHAPE_LINE_CHAIN newCoupled = aCoupled;

 si = vStartIdx[i];
 ei = j;

 if(si < ei)
 newCoupled.Replace( si, ei, bypass );
 else
 newCoupled.Replace( ei, si, bypass.Reverse() );

 if( coupledLength > bestLength && verifyDpBypass( aNode, aPair, aRefIsP, aRef,
 newCoupled) )
 {
 bestBypass = newCoupled;
 bestLength = coupledLength;
 found = true;
 }
 }
 }
 }

 if( found )
 aNewCoupled = bestBypass;

 return found;
}


bool checkDpColliding( NODE* aNode, DIFF_PAIR* aPair, bool aIsP, const SHAPE_LINE_CHAIN& aPath )
{
 LINE tmp ( aIsP ? aPair->PLine() : aPair->NLine(), aPath );

 return static_cast<bool>( aNode->CheckColliding( &tmp ) );
}


bool OPTIMIZER::mergeDpStep( DIFF_PAIR* aPair, bool aTryP, int step )
{
 int n = 1;

 SHAPE_LINE_CHAIN currentPath = aTryP ? aPair->CP() : aPair->CN();
 SHAPE_LINE_CHAIN coupledPath = aTryP ? aPair->CN() : aPair->CP();

 int n_segs = currentPath.SegmentCount() - 1;

 int64_t clenPre = aPair->CoupledLength( currentPath, coupledPath );
 int64_t budget = clenPre / 10; // fixme: come up with something more intelligent here...

 while( n < n_segs - step )
 {
 const SEG s1 = currentPath.CSegment( n );
 const SEG s2 = currentPath.CSegment( n + step );

 DIRECTION_45 dir1( s1 );
 DIRECTION_45 dir2( s2 );

 if( dir1.IsObtuse( dir2 ) )
 {
 SHAPE_LINE_CHAIN bypass = DIRECTION_45().BuildInitialTrace( s1.A, s2.B,
 dir1.IsDiagonal() );
 SHAPE_LINE_CHAIN newRef;
 SHAPE_LINE_CHAIN newCoup;
 int64_t deltaCoupled = -1, deltaUni = -1;

 newRef = currentPath;
 newRef.Replace( s1.Index(), s2.Index(), bypass );

 deltaUni = aPair->CoupledLength ( newRef, coupledPath ) - clenPre + budget;

 if( coupledBypass( m_world, aPair, aTryP, newRef, bypass, coupledPath, newCoup ) )
 {
 deltaCoupled = aPair->CoupledLength( newRef, newCoup ) - clenPre + budget;

 if( deltaCoupled >= 0 )
 {
 newRef.Simplify();
 newCoup.Simplify();

 aPair->SetShape( newRef, newCoup, !aTryP );
 return true;
 }
 }
 else if( deltaUni >= 0 && verifyDpBypass( m_world, aPair, aTryP, newRef, coupledPath ) )
 {
 newRef.Simplify();
 coupledPath.Simplify();

 aPair->SetShape( newRef, coupledPath, !aTryP );
 return true;
 }
 }

 n++;
 }

 return false;
}


bool OPTIMIZER::mergeDpSegments( DIFF_PAIR* aPair )
{
 int step_p = aPair->CP().SegmentCount() - 2;
 int step_n = aPair->CN().SegmentCount() - 2;

 while( 1 )
 {
 int n_segs_p = aPair->CP().SegmentCount();
 int n_segs_n = aPair->CN().SegmentCount();

 int max_step_p = n_segs_p - 2;
 int max_step_n = n_segs_n - 2;

 if( step_p > max_step_p )
 step_p = max_step_p;

 if( step_n > max_step_n )
 step_n = max_step_n;

 if( step_p < 1 && step_n < 1 )
 break;

 bool found_anything_p = false;
 bool found_anything_n = false;

 if( step_p > 1 )
 found_anything_p = mergeDpStep( aPair, true, step_p );

 if( step_n > 1 )
 found_anything_n = mergeDpStep( aPair, false, step_n );

 if( !found_anything_n && !found_anything_p )
 {
 step_n--;
 step_p--;
 }
 }
 return true;
}


bool OPTIMIZER::Optimize( DIFF_PAIR* aPair )
{
 return mergeDpSegments( aPair );
}


static int64_t shovedArea( const SHAPE_LINE_CHAIN& aOld, const SHAPE_LINE_CHAIN& aNew )
{
 int64_t area = 0;
 const int oc = aOld.PointCount();
 const int nc = aNew.PointCount();
 const int total = oc + nc;

 for(int i = 0; i < total; i++)
 {
 int i_next = (i + 1 == total ? 0 : i + 1);

 const VECTOR2I &v0 = i < oc ? aOld.CPoint(i)
 : aNew.CPoint( nc - 1 - (i - oc) );
 const VECTOR2I &v1 = i_next < oc ? aOld.CPoint ( i_next )
 : aNew.CPoint( nc - 1 - (i_next - oc) );
 area += -(int64_t) v0.y * v1.x + (int64_t) v0.x * v1.y;
 }

 return std::abs( area / 2 );
}


bool tightenSegment( bool dir, NODE *aNode, const LINE& cur, const SHAPE_LINE_CHAIN& in,
 SHAPE_LINE_CHAIN& out )
{
 SEG a = in.CSegment(0);
 SEG center = in.CSegment(1);
 SEG b = in.CSegment(2);

 DIRECTION_45 dirA ( a );
 DIRECTION_45 dirCenter ( center );
 DIRECTION_45 dirB ( b );

 if (!dirA.IsObtuse( dirCenter) || !dirCenter.IsObtuse(dirB))
 return false;

 //VECTOR2I perp = (center.B - center.A).Perpendicular();
 VECTOR2I guideA, guideB ;

 SEG guide;
 int initial;

 //auto dbg = ROUTER::GetInstance()->GetInterface()->GetDebugDecorator();
 if ( dirA.Angle ( dirB ) != DIRECTION_45::ANG_RIGHT )
 return false;

 {
 /*
 auto rC = *a.IntersectLines( b );
 dbg->AddSegment ( SEG( center.A, rC ), 1 );
 dbg->AddSegment ( SEG( center.B, rC ), 2 );
 auto perp = dirCenter.Left().Left();

 SEG sperp ( center.A, center.A + perp.ToVector() );

 auto vpc = sperp.LineProject( rC );
 auto vpa = sperp.LineProject( a.A );
 auto vpb = sperp.LineProject( b.B );

 auto da = (vpc - vpa).EuclideanNorm();
 auto db = (vpc - vpb).EuclideanNorm();

 auto vp = (da < db) ? vpa : vpb;
 dbg->AddSegment ( SEG( vpc, vp ), 5 );


 guide = SEG ( vpc, vp );
 */
 }

 int da = a.Length();
 int db = b.Length();

 if( da < db )
 guide = a;
 else
 guide = b;

 initial = guide.Length();

 int step = initial;
 int current = step;
 SHAPE_LINE_CHAIN snew;

 while( step > 1 )
 {
 LINE l( cur );

 snew.Clear();
 snew.Append( a.A );
 snew.Append( a.B + ( a.A - a.B ).Resize( current ) );
 snew.Append( b.A + ( b.B - b.A ).Resize( current ) );
 snew.Append( b.B );

 step /= 2;

 l.SetShape(snew);

 if( aNode->CheckColliding(&l) )
 current -= step;
 else if ( current + step >= initial )
 current = initial;
 else
 current += step;

 //dbg->AddSegment ( SEG( center.A , a.LineProject( center.A + gr ) ), 3 );
 //dbg->AddSegment ( SEG( center.A , center.A + guideA ), 3 );
 //dbg->AddSegment ( SEG( center.B , center.B + guideB ), 4 );

 if ( current == initial )
 break;


 }

 out = snew;

 //dbg->AddLine ( snew, 3, 100000 );

 return true;
}


void Tighten( NODE *aNode, const SHAPE_LINE_CHAIN& aOldLine, const LINE& aNewLine,
 LINE& aOptimized )
{
 LINE tmp;

 if( aNewLine.SegmentCount() < 3 )
 return;

 SHAPE_LINE_CHAIN current ( aNewLine.CLine() );

 for( int step = 0; step < 3; step++ )
 {
 current.Simplify();

 for( int i = 0; i <= current.SegmentCount() - 3; i++ )
 {
 SHAPE_LINE_CHAIN l_in, l_out;

 l_in = current.Slice( i, i + 3 );

 for( int dir = 0; dir <= 1; dir++ )
 {
 if( tightenSegment( dir ? true : false, aNode, aNewLine, l_in, l_out ) )
 {
 SHAPE_LINE_CHAIN opt = current;
 opt.Replace( i, i + 3, l_out );
 auto optArea = std::abs( shovedArea( aOldLine, opt ) );
 auto prevArea = std::abs( shovedArea( aOldLine, current ) );

 if( optArea < prevArea )
 current = opt;

 break;
 }
 }
 }
 }

 aOptimized = LINE( aNewLine, current );

 //auto dbg = ROUTER::GetInstance()->GetInterface()->GetDebugDecorator();
 //dbg->AddLine ( current, 4, 100000 );
}

}