pns_shove.cpp

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/*
 * KiRouter - a push-and-(sometimes-)shove PCB router
 *
 * Copyright (C) 2013-2014 CERN
 * Copyright (C) 2016-2023 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 <deque>
#include <cassert>
#include <math/box2.h>
 
#include <wx/log.h>
 
#include "pns_arc.h"
#include "pns_line.h"
#include "pns_node.h"
#include "pns_debug_decorator.h"
#include "pns_walkaround.h"
#include "pns_shove.h"
#include "pns_solid.h"
#include "pns_optimizer.h"
#include "pns_via.h"
#include "pns_utils.h"
#include "pns_router.h"
#include "pns_topology.h"
 
#include "time_limit.h"
 
// fixme - move all logger calls to debug decorator
 
typedef VECTOR2I::extended_type ecoord;
 
namespace PNS {
 
void SHOVE::replaceItems( ITEM* aOld, std::unique_ptr< ITEM > aNew )
{
 OPT_BOX2I changed_area = ChangedArea( aOld, aNew.get() );
 
 if( changed_area )
 m_affectedArea = m_affectedArea ? m_affectedArea->Merge( *changed_area ) : *changed_area;
 
 m_currentNode->Replace( aOld, std::move( aNew ) );
}
 
 
void SHOVE::replaceLine( LINE& aOld, LINE& aNew, bool aIncludeInChangedArea, NODE* aNode )
{
 if( aIncludeInChangedArea )
 {
 OPT_BOX2I changed_area = ChangedArea( aOld, aNew );
 
 if( changed_area )
 {
 SHAPE_RECT r( *changed_area );
 PNS_DBG( Dbg(), AddShape, &r, BLUE, 0, wxT( "shove-changed-area" ) );
 
 m_affectedArea = m_affectedArea ? m_affectedArea->Merge( *changed_area )
 : *changed_area;
 }
 }
 
 bool foundPredecessor = false;
 LINE* rootLine = nullptr;
 
 // Keep track of the 'root lines', i.e. the unmodified (pre-shove) versions
 // of the affected tracks in a map. The optimizer can then query the pre-shove shape
 // for each shoved line and perform additional constraint checks (i.e. prevent overzealous
 // optimizations)
 
 // Check if the shoved line already has an ancestor (e.g. line from a previous shove
 // iteration/cursor movement)
 for( LINKED_ITEM* link : aOld.Links() )
 {
 auto oldLineIter = m_rootLineHistory.find( link );
 
 if( oldLineIter != m_rootLineHistory.end() )
 {
 rootLine = oldLineIter->second;
 foundPredecessor = true;
 break;
 }
 }
 
 // If found, use it, otherwise, create new entry in the map (we have a genuine new 'root' line)
 if( !foundPredecessor )
 {
 for( LINKED_ITEM* link : aOld.Links() )
 {
 if( ! rootLine )
 rootLine = aOld.Clone();
 
 m_rootLineHistory[link] = rootLine;
 }
 }
 
 // Now update the NODE (calling Replace invalidates the Links() in a LINE)
 if( aNode )
 aNode->Replace( aOld, aNew );
 else
 m_currentNode->Replace( aOld, aNew );
 
 // point the Links() of the new line to its oldest ancestor
 for( LINKED_ITEM* link : aNew.Links() )
 m_rootLineHistory[ link ] = rootLine;
}
 
 
int SHOVE::getClearance( const ITEM* aA, const ITEM* aB ) const
{
 if( m_forceClearance >= 0 )
 return m_forceClearance;
 
 int clearance = m_currentNode->GetClearance( aA, aB, false );
 
 if( aA->HasHole() )
 clearance = std::max( clearance, m_currentNode->GetClearance( aA->Hole(), aB, false ) );
 
 if( aB->HasHole() )
 clearance = std::max( clearance, m_currentNode->GetClearance( aA, aB->Hole(), false ) );
 
 return clearance;
}
 
 
void SHOVE::sanityCheck( LINE* aOld, LINE* aNew )
{
 assert( aOld->CPoint( 0 ) == aNew->CPoint( 0 ) );
 assert( aOld->CPoint( -1 ) == aNew->CPoint( -1 ) );
}
 
 
SHOVE::SHOVE( NODE* aWorld, ROUTER* aRouter ) :
 ALGO_BASE( aRouter )
{
 m_optFlagDisableMask = 0;
 m_forceClearance = -1;
 m_root = aWorld;
 m_currentNode = aWorld;
 SetDebugDecorator( aRouter->GetInterface()->GetDebugDecorator() );
 
 // Initialize other temporary variables:
 m_draggedVia = nullptr;
 m_iter = 0;
 m_multiLineMode = false;
 m_restrictSpringbackTagId = 0;
 m_springbackDoNotTouchNode = nullptr;
}
 
 
SHOVE::~SHOVE()
{
 std::unordered_set<LINE*> alreadyDeleted;
 
 for( auto& it : m_rootLineHistory )
 {
 auto it2 = alreadyDeleted.find( it.second );
 
 if( it2 == alreadyDeleted.end() )
 {
 alreadyDeleted.insert( it.second );
 delete it.second;
 }
 }
}
 
 
LINE SHOVE::assembleLine( const LINKED_ITEM* aSeg, int* aIndex )
{
 return m_currentNode->AssembleLine( const_cast<LINKED_ITEM*>( aSeg ), aIndex, true );
}
 
 
// A dumb function that checks if the shoved line is shoved the right way, e.g. visually
// "outwards" of the line/via applying pressure on it. Unfortunately there's no mathematical
// concept of orientation of an open curve, so we use some primitive heuristics: if the shoved
// line wraps around the start of the "pusher", it's likely shoved in wrong direction.
 
// Update: there's no concept of an orientation of an open curve, but nonetheless Tom's dumb
// as.... (censored)
// Two open curves put together make a closed polygon... Tom should learn high school geometry!
bool SHOVE::checkShoveDirection( const LINE& aCurLine, const LINE& aObstacleLine,
 const LINE& aShovedLine ) const
{
 SHAPE_LINE_CHAIN::POINT_INSIDE_TRACKER checker( aCurLine.CPoint( 0) );
 checker.AddPolyline( aObstacleLine.CLine() );
 checker.AddPolyline( aShovedLine.CLine().Reverse() );
 
 bool inside = checker.IsInside();
 
 return !inside;
}
 
 
/*
 * Push aObstacleLine away from aCurLine's via by the clearance distance, returning the result
 * in aResultLine.
 *
 * Must be called only when aCurLine itself is on another layer (or has no segments) so that it
 * can be ignored.
 */
SHOVE::SHOVE_STATUS SHOVE::shoveLineFromLoneVia( const LINE& aCurLine, const LINE& aObstacleLine,
 LINE& aResultLine )
{
 // Build a hull for aCurLine's via and re-walk aObstacleLine around it.
 
 int obstacleLineWidth = aObstacleLine.Width();
 const VIA& via = aCurLine.Via();
 int clearance = getClearance( &via, &aObstacleLine );
 HOLE* viaHole = via.Hole();
 int holeClearance = getClearance( viaHole, &aObstacleLine );
 
 if( holeClearance + via.Drill() / 2 > clearance + via.Diameter() / 2 )
 clearance = holeClearance + via.Drill() / 2 - via.Diameter() / 2;
 
 SHAPE_LINE_CHAIN hull = aCurLine.Via().Hull( clearance, obstacleLineWidth, aCurLine.Layer() );
 SHAPE_LINE_CHAIN path_cw;
 SHAPE_LINE_CHAIN path_ccw;
 
 if( ! aObstacleLine.Walkaround( hull, path_cw, true ) )
 return SH_INCOMPLETE;
 
 if( ! aObstacleLine.Walkaround( hull, path_ccw, false ) )
 return SH_INCOMPLETE;
 
 const SHAPE_LINE_CHAIN& shortest = path_ccw.Length() < path_cw.Length() ? path_ccw : path_cw;
 
 if( shortest.PointCount() < 2 )
 return SH_INCOMPLETE;
 
 if( aObstacleLine.CPoint( -1 ) != shortest.CPoint( -1 ) )
 return SH_INCOMPLETE;
 
 if( aObstacleLine.CPoint( 0 ) != shortest.CPoint( 0 ) )
 return SH_INCOMPLETE;
 
 aResultLine.SetShape( shortest );
 
 if( aResultLine.Collide( &aCurLine, m_currentNode ) )
 return SH_INCOMPLETE;
 
 return SH_OK;
}
 
 
/*
 * Re-walk aObstacleLine around the given set of hulls, returning the result in aResultLine.
 */
SHOVE::SHOVE_STATUS SHOVE::shoveLineToHullSet( const LINE& aCurLine, const LINE& aObstacleLine,
 LINE& aResultLine, const HULL_SET& aHulls )
{
 const SHAPE_LINE_CHAIN& obs = aObstacleLine.CLine();
 
 int attempt;
 
 PNS_DBG( Dbg(), BeginGroup, "shove-details", 1 );
 
 for( attempt = 0; attempt < 4; attempt++ )
 {
 bool invertTraversal = ( attempt >= 2 );
 bool clockwise = attempt % 2;
 int vFirst = -1, vLast = -1;
 
 LINE l( aObstacleLine );
 SHAPE_LINE_CHAIN path( l.CLine() );
 
 for( int i = 0; i < (int) aHulls.size(); i++ )
 {
 const SHAPE_LINE_CHAIN& hull = aHulls[invertTraversal ? aHulls.size() - 1 - i : i];
 
 PNS_DBG( Dbg(), AddShape, &hull, YELLOW, 10000, wxString::Format( "hull[%d]", i ) );
 PNS_DBG( Dbg(), AddShape, &path, WHITE, l.Width(), wxString::Format( "path[%d]", i ) );
 PNS_DBG( Dbg(), AddShape, &obs, LIGHTGRAY, aObstacleLine.Width(), wxString::Format( "obs[%d]", i ) );
 
 if( !l.Walkaround( hull, path, clockwise ) )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "Fail-Walk %s %s %d\n" ),
 hull.Format().c_str(),
 l.CLine().Format().c_str(),
 clockwise? 1 : 0) );
 
 PNS_DBGN( Dbg(), EndGroup );
 return SH_INCOMPLETE;
 }
 
 PNS_DBG( Dbg(), AddShape, &path, WHITE, l.Width(), wxString::Format( "path-presimp[%d]", i ) );
 
 path.Simplify();
 
 PNS_DBG( Dbg(), AddShape, &path, WHITE, l.Width(), wxString::Format( "path-postsimp[%d]", i ) );
 
 l.SetShape( path );
 }
 
 for( int i = 0; i < std::min( path.PointCount(), obs.PointCount() ); i++ )
 {
 if( path.CPoint( i ) != obs.CPoint( i ) )
 {
 vFirst = i;
 break;
 }
 }
 
 int k = obs.PointCount() - 1;
 
 for( int i = path.PointCount() - 1; i >= 0 && k >= 0; i--, k-- )
 {
 if( path.CPoint( i ) != obs.CPoint( k ) )
 {
 vLast = i;
 break;
 }
 }
 
 if( ( vFirst < 0 || vLast < 0 ) && !path.CompareGeometry( aObstacleLine.CLine() ) )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "attempt %d fail vfirst-last" ),
 attempt ) );
 continue;
 }
 
 if( path.CPoint( -1 ) != obs.CPoint( -1 ) || path.CPoint( 0 ) != obs.CPoint( 0 ) )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "attempt %d fail vend-start\n" ),
 attempt ) );
 continue;
 }
 
 if( !checkShoveDirection( aCurLine, aObstacleLine, l ) )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "attempt %d fail direction-check" ),
 attempt ) );
 aResultLine.SetShape( l.CLine() );
 continue;
 }
 
 if( path.SelfIntersecting() )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "attempt %d fail self-intersect" ),
 attempt ) );
 continue;
 }
 
 bool colliding = l.Collide( &aCurLine, m_currentNode );
 
 if(( aCurLine.Marker() & MK_HEAD ) && !colliding )
 {
 const JOINT* jtStart = m_currentNode->FindJoint( aCurLine.CPoint( 0 ), &aCurLine );
 
 for( ITEM* item : jtStart->LinkList() )
 {
 if( item->Collide( &l, m_currentNode ) )
 colliding = true;
 }
 }
 
 if( colliding )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "attempt %d fail coll-check" ),
 attempt ) );
 continue;
 }
 
 aResultLine.SetShape( l.CLine() );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 return SH_OK;
 }
 
 PNS_DBGN( Dbg(), EndGroup );
 
 return SH_INCOMPLETE;
}
 
 
/*
 * Push aObstacleLine line away from aCurLine by the clearance distance, and return the result in
 * aResultLine.
 */
SHOVE::SHOVE_STATUS SHOVE::ShoveObstacleLine( const LINE& aCurLine, const LINE& aObstacleLine,
 LINE& aResultLine )
{
 aResultLine.ClearLinks();
 
 bool obstacleIsHead = false;
 
 for( LINKED_ITEM* s : aObstacleLine.Links() )
 {
 if( s->Marker() & MK_HEAD )
 {
 obstacleIsHead = true;
 break;
 }
 }
 
 SHOVE_STATUS rv;
 bool viaOnEnd = aCurLine.EndsWithVia();
 
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "shove process-single: voe1 %d voe2 %d" ),
 aCurLine.EndsWithVia()?1:0, aObstacleLine.EndsWithVia()?1:0 ) );
 
 
 if( viaOnEnd && ( !aCurLine.LayersOverlap( &aObstacleLine ) || aCurLine.SegmentCount() == 0 ) )
 {
 // Shove aObstacleLine to the hull of aCurLine's via.
 
 rv = shoveLineFromLoneVia( aCurLine, aObstacleLine, aResultLine );
 }
 else
 {
 // Build a set of hulls around the segments of aCurLine. Hulls are at the clearance
 // distance + aObstacleLine's linewidth so that when re-walking aObstacleLine along the
 // hull it will be at the appropriate clearance.
 
 int obstacleLineWidth = aObstacleLine.Width();
 int clearance = getClearance( &aCurLine, &aObstacleLine );
 int currentLineSegmentCount = aCurLine.SegmentCount();
 HULL_SET hulls;
 
 hulls.reserve( currentLineSegmentCount + 1 );
 
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "shove process-single: cur net %d obs %d cl %d" ),
 m_router->GetInterface()->GetNetCode( aCurLine.Net() ),
 m_router->GetInterface()->GetNetCode( aObstacleLine.Net() ),
 clearance ) );
 
 for( int i = 0; i < currentLineSegmentCount; i++ )
 {
 SEGMENT seg( aCurLine, aCurLine.CSegment( i ) );
 
 // Arcs need additional clearance to ensure the hulls are always bigger than the arc
 if( aCurLine.CLine().IsArcSegment( i ) )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "shove add-extra-clearance %d" ),
 SHAPE_ARC::DefaultAccuracyForPCB() ) );
 clearance += KiROUND( SHAPE_ARC::DefaultAccuracyForPCB() );
 }
 
 SHAPE_LINE_CHAIN hull = seg.Hull( clearance, obstacleLineWidth, aObstacleLine.Layer() );
 
 hulls.push_back( hull );
 }
 
 if( viaOnEnd )
 {
 const VIA& via = aCurLine.Via();
 int viaClearance = getClearance( &via, &aObstacleLine );
 HOLE* viaHole = via.Hole();
 int holeClearance = getClearance( viaHole, &aObstacleLine );
 
 if( holeClearance + via.Drill() / 2 > viaClearance + via.Diameter() / 2 )
 viaClearance = holeClearance + via.Drill() / 2 - via.Diameter() / 2;
 
 hulls.push_back( aCurLine.Via().Hull( viaClearance, obstacleLineWidth ) );
 }
 
 rv = shoveLineToHullSet( aCurLine, aObstacleLine, aResultLine, hulls );
 }
 
 if( obstacleIsHead )
 aResultLine.Mark( aResultLine.Marker() | MK_HEAD );
 
 return rv;
}
 
 
/*
 * TODO describe....
 */
SHOVE::SHOVE_STATUS SHOVE::onCollidingSegment( LINE& aCurrent, SEGMENT* aObstacleSeg )
{
 int segIndex;
 LINE obstacleLine = assembleLine( aObstacleSeg, &segIndex );
 LINE shovedLine( obstacleLine );
 SEGMENT tmp( *aObstacleSeg );
 
 if( obstacleLine.HasLockedSegments() )
 {
 PNS_DBG(Dbg(), Message, "try walk (locked segments)");
 return SH_TRY_WALK;
 }
 
 SHOVE_STATUS rv = ShoveObstacleLine( aCurrent, obstacleLine, shovedLine );
 
 const double extensionWalkThreshold = 1.0;
 
 double obsLen = obstacleLine.CLine().Length();
 double shovedLen = shovedLine.CLine().Length();
 double extensionFactor = 0.0;
 
 if( obsLen != 0.0f )
 extensionFactor = shovedLen / obsLen - 1.0;
 
 if( extensionFactor > extensionWalkThreshold )
 return SH_TRY_WALK;
 
 assert( obstacleLine.LayersOverlap( &shovedLine ) );
 
 if( Dbg() )
 {
 PNS_DBG( Dbg(), AddItem, aObstacleSeg, BLUE, 0, wxT( "shove-changed-area" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, RED, 10000, wxString::Format( "current-line [l %d v %d]", aCurrent.Layer(), aCurrent.EndsWithVia() ) );
 PNS_DBG( Dbg(), AddItem, &obstacleLine, GREEN, 10000, wxString::Format( "obstacle-line [l %d v %d]", obstacleLine.Layer(), obstacleLine.EndsWithVia() ) );
 PNS_DBG( Dbg(), AddItem, &shovedLine, BLUE, 10000, wxT( "shoved-line" ) );
 }
 
 if( rv == SH_OK )
 {
 if( shovedLine.Marker() & MK_HEAD )
 {
 if( m_multiLineMode )
 return SH_INCOMPLETE;
 
 m_newHead = shovedLine;
 }
 
 int rank = aCurrent.Rank();
 shovedLine.SetRank( rank - 1 );
 
 sanityCheck( &obstacleLine, &shovedLine );
 replaceLine( obstacleLine, shovedLine );
 
 if( !pushLineStack( shovedLine ) )
 rv = SH_INCOMPLETE;
 }
 
 return rv;
}
 
 
/*
 * TODO describe....
 */
SHOVE::SHOVE_STATUS SHOVE::onCollidingArc( LINE& aCurrent, ARC* aObstacleArc )
{
 int segIndex;
 LINE obstacleLine = assembleLine( aObstacleArc, &segIndex );
 LINE shovedLine( obstacleLine );
 ARC tmp( *aObstacleArc );
 
 if( obstacleLine.HasLockedSegments() )
 return SH_TRY_WALK;
 
 SHOVE_STATUS rv = ShoveObstacleLine( aCurrent, obstacleLine, shovedLine );
 
 const double extensionWalkThreshold = 1.0;
 
 double obsLen = obstacleLine.CLine().Length();
 double shovedLen = shovedLine.CLine().Length();
 double extensionFactor = 0.0;
 
 if( obsLen != 0.0f )
 extensionFactor = shovedLen / obsLen - 1.0;
 
 if( extensionFactor > extensionWalkThreshold )
 return SH_TRY_WALK;
 
 assert( obstacleLine.LayersOverlap( &shovedLine ) );
 
 PNS_DBG( Dbg(), AddItem, &tmp, WHITE, 10000, wxT( "obstacle-arc" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, RED, 10000, wxT( "current-line" ) );
 PNS_DBG( Dbg(), AddItem, &obstacleLine, GREEN, 10000, wxT( "obstacle-line" ) );
 PNS_DBG( Dbg(), AddItem, &shovedLine, BLUE, 10000, wxT( "shoved-line" ) );
 
 if( rv == SH_OK )
 {
 if( shovedLine.Marker() & MK_HEAD )
 {
 if( m_multiLineMode )
 return SH_INCOMPLETE;
 
 m_newHead = shovedLine;
 }
 
 int rank = aCurrent.Rank();
 shovedLine.SetRank( rank - 1 );
 
 sanityCheck( &obstacleLine, &shovedLine );
 replaceLine( obstacleLine, shovedLine );
 
 if( !pushLineStack( shovedLine ) )
 rv = SH_INCOMPLETE;
 }
 
 return rv;
}
 
 
/*
 * TODO describe....
 */
SHOVE::SHOVE_STATUS SHOVE::onCollidingLine( LINE& aCurrent, LINE& aObstacle )
{
 LINE shovedLine( aObstacle );
 
 SHOVE_STATUS rv = ShoveObstacleLine( aCurrent, aObstacle, shovedLine );
 
 PNS_DBG( Dbg(), AddItem, &aObstacle, RED, 100000, wxT( "obstacle-line" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, GREEN, 150000, wxT( "current-line" ) );
 PNS_DBG( Dbg(), AddItem, &shovedLine, BLUE, 200000, wxT( "shoved-line" ) );
 
 if( rv == SH_OK )
 {
 if( shovedLine.Marker() & MK_HEAD )
 {
 if( m_multiLineMode )
 return SH_INCOMPLETE;
 
 m_newHead = shovedLine;
 }
 
 sanityCheck( &aObstacle, &shovedLine );
 replaceLine( aObstacle, shovedLine );
 
 int rank = aObstacle.Rank();
 shovedLine.SetRank( rank - 1 );
 
 
 if( !pushLineStack( shovedLine ) )
 {
 rv = SH_INCOMPLETE;
 }
 }
 
 return rv;
}
 
 
/*
 * TODO describe....
 */
SHOVE::SHOVE_STATUS SHOVE::onCollidingSolid( LINE& aCurrent, ITEM* aObstacle, OBSTACLE& aObstacleInfo )
{
 WALKAROUND walkaround( m_currentNode, Router() );
 LINE walkaroundLine( aCurrent );
 
 if( aCurrent.EndsWithVia() )
 {
 VIA vh = aCurrent.Via();
 VIA* via = nullptr;
 const JOINT* jtStart = m_currentNode->FindJoint( vh.Pos(), &aCurrent );
 
 if( !jtStart )
 return SH_INCOMPLETE;
 
 for( ITEM* item : jtStart->LinkList() )
 {
 if( item->OfKind( ITEM::VIA_T ) )
 {
 via = (VIA*) item;
 break;
 }
 }
 
 if( via && via->Collide( aObstacle, m_currentNode ) )
 return onCollidingVia( aObstacle, via, aObstacleInfo );
 }
 
 TOPOLOGY topo( m_currentNode );
 
 std::set<ITEM*> cluster = topo.AssembleCluster( aObstacle, aCurrent.Layers().Start() );
 
 
 PNS_DBG( Dbg(), BeginGroup, "walk-cluster", 1 );
 
 for( ITEM* item : cluster )
 PNS_DBG( Dbg(), AddItem, item, RED, 10000, wxT( "cl-item" ) );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 
 walkaround.SetDebugDecorator( Dbg() );
 walkaround.SetSolidsOnly( false );
 walkaround.RestrictToSet( true, cluster );
 walkaround.SetIterationLimit( 16 ); // fixme: make configurable
 
 int currentRank = aCurrent.Rank();
 int nextRank;
 
 bool success = false;
 
 for( int attempt = 0; attempt < 2; attempt++ )
 {
 if( attempt == 1 || Settings().JumpOverObstacles() )
 nextRank = currentRank - 1;
 else
 nextRank = currentRank + 10000;
 
 WALKAROUND::WALKAROUND_STATUS status = walkaround.Route( aCurrent, walkaroundLine, false );
 
 if( status != WALKAROUND::DONE )
 continue;
 
 walkaroundLine.ClearLinks();
 walkaroundLine.Unmark();
 walkaroundLine.Line().Simplify();
 
 if( walkaroundLine.HasLoops() )
 continue;
 
 if( aCurrent.Marker() & MK_HEAD )
 {
 walkaroundLine.Mark( MK_HEAD );
 
 if( m_multiLineMode )
 continue;
 
 m_newHead = walkaroundLine;
 }
 
 sanityCheck( &aCurrent, &walkaroundLine );
 
 if( !m_lineStack.empty() )
 {
 LINE lastLine = m_lineStack.front();
 
 if( lastLine.Collide( &walkaroundLine, m_currentNode ) )
 {
 LINE dummy( lastLine );
 
 if( ShoveObstacleLine( walkaroundLine, lastLine, dummy ) == SH_OK )
 {
 success = true;
 break;
 }
 }
 else
 {
 success = true;
 break;
 }
 }
 }
 
 if(!success)
 return SH_INCOMPLETE;
 
 replaceLine( aCurrent, walkaroundLine );
 walkaroundLine.SetRank( nextRank );
 
 PNS_DBG( Dbg(), AddItem, &aCurrent, RED, 10000, wxT( "current-line" ) );
 PNS_DBG( Dbg(), AddItem, &walkaroundLine, BLUE, 10000, wxT( "walk-line" ) );
 
 popLineStack();
 
 if( !pushLineStack( walkaroundLine ) )
 return SH_INCOMPLETE;
 
 return SH_OK;
}
 
 
/*
 * Pops NODE stackframes which no longer collide with aHeadSet. Optionally sets aDraggedVia
 * to the dragged via of the last unpopped state.
 */
NODE* SHOVE::reduceSpringback( const ITEM_SET& aHeadSet, VIA_HANDLE& aDraggedVia )
{
 while( !m_nodeStack.empty() )
 {
 SPRINGBACK_TAG& spTag = m_nodeStack.back();
 
 // Prevent the springback algo from erasing NODEs that might contain items used by the ROUTER_TOOL/LINE_PLACER.
 // I noticed this can happen for the endItem provided to LINE_PLACER::Move() and cause a nasty crash.
 if( spTag.m_node == m_springbackDoNotTouchNode )
 break;
 
 std::optional<OBSTACLE> obs = spTag.m_node->CheckColliding( aHeadSet );
 
 if( !obs && !spTag.m_locked )
 {
 aDraggedVia = spTag.m_draggedVia;
 aDraggedVia.valid = true;
 
 delete spTag.m_node;
 m_nodeStack.pop_back();
 }
 else
 {
 break;
 }
 }
 
 return m_nodeStack.empty() ? m_root : m_nodeStack.back().m_node;
}
 
 
/*
 * Push the current NODE on to the stack. aDraggedVia is the dragged via *before* the push
 * (which will be restored in the event the stackframe is popped).
 */
bool SHOVE::pushSpringback( NODE* aNode, const OPT_BOX2I& aAffectedArea, VIA* aDraggedVia )
{
 SPRINGBACK_TAG st;
 OPT_BOX2I prev_area;
 
 if( !m_nodeStack.empty() )
 prev_area = m_nodeStack.back().m_affectedArea;
 
 if( aDraggedVia )
 {
 st.m_draggedVia = aDraggedVia->MakeHandle();
 }
 
 st.m_node = aNode;
 
 if( aAffectedArea )
 {
 if( prev_area )
 st.m_affectedArea = prev_area->Merge( *aAffectedArea );
 else
 st.m_affectedArea = aAffectedArea;
 }
 else
 {
 st.m_affectedArea = prev_area;
 }
 
 st.m_seq = ( m_nodeStack.empty() ? 1 : m_nodeStack.back().m_seq + 1 );
 st.m_locked = false;
 
 m_nodeStack.push_back( st );
 
 return true;
}
 
 
/*
 * Push or shove a via by at least aForce. (The via might be pushed or shoved slightly further
 * to keep it from landing on an existing joint.)
 */
SHOVE::SHOVE_STATUS SHOVE::pushOrShoveVia( VIA* aVia, const VECTOR2I& aForce, int aCurrentRank )
{
 LINE_PAIR_VEC draggedLines;
 VECTOR2I p0( aVia->Pos() );
 const JOINT* jt = m_currentNode->FindJoint( p0, aVia );
 VECTOR2I p0_pushed( p0 + aForce );
 
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "via force [%d %d]\n" ), aForce.x, aForce.y ) );
 
 // nothing to do...
 if ( aForce.x == 0 && aForce.y == 0 )
 return SH_OK;
 
 if( !jt )
 {
 PNS_DBG( Dbg(), Message, wxT( "weird, can't find the center-of-via joint\n" ) );
 return SH_INCOMPLETE;
 }
 
 if( Settings().ShoveVias() == false || aVia->IsLocked() )
 return SH_TRY_WALK;
 
 if( jt->IsLocked() )
 return SH_INCOMPLETE;
 
 // make sure pushed via does not overlap with any existing joint
 while( true )
 {
 const JOINT* jt_next = m_currentNode->FindJoint( p0_pushed, aVia );
 
 if( !jt_next )
 break;
 
 p0_pushed += aForce.Resize( 2 );
 }
 
 std::unique_ptr<VIA> pushedVia = Clone( *aVia );
 pushedVia->SetPos( p0_pushed );
 pushedVia->Mark( aVia->Marker() );
 
 for( ITEM* item : jt->LinkList() )
 {
 if( item->OfKind( ITEM::SEGMENT_T | ITEM::ARC_T ) )
 {
 LINKED_ITEM* li = static_cast<LINKED_ITEM*>( item );
 LINE_PAIR lp;
 int segIndex;
 
 lp.first = assembleLine( li, &segIndex );
 
 if( lp.first.HasLockedSegments() )
 return SH_TRY_WALK;
 
 assert( segIndex == 0 || ( segIndex == ( lp.first.SegmentCount() - 1 ) ) );
 
 if( segIndex == 0 )
 lp.first.Reverse();
 
 lp.second = lp.first;
 lp.second.ClearLinks();
 lp.second.DragCorner( p0_pushed, lp.second.CLine().Find( p0 ) );
 lp.second.AppendVia( *pushedVia );
 draggedLines.push_back( lp );
 }
 }
 
 pushedVia->SetRank( aCurrentRank - 1 );
 PNS_DBG( Dbg(), Message, wxString::Format("PushViaRank %d\n", pushedVia->Rank() ) );
 
 if( aVia->Marker() & MK_HEAD ) // push
 {
 m_draggedVia = pushedVia.get();
 }
 else
 { // shove
 if( jt->IsStitchingVia() )
 pushLineStack( LINE( *pushedVia ) );
 }
 
 PNS_DBG( Dbg(), AddPoint, aVia->Pos(), LIGHTGREEN, 100000, "via-pre" );
 PNS_DBG( Dbg(), AddPoint, pushedVia->Pos(), LIGHTRED, 100000, "via-post" );
 
 replaceItems( aVia, std::move( pushedVia ) );
 
 for( LINE_PAIR lp : draggedLines )
 {
 if( lp.first.Marker() & MK_HEAD )
 {
 lp.second.Mark( MK_HEAD );
 
 if( m_multiLineMode )
 return SH_INCOMPLETE;
 
 m_newHead = lp.second;
 }
 
 unwindLineStack( &lp.first );
 
 if( lp.second.SegmentCount() )
 {
 replaceLine( lp.first, lp.second );
 lp.second.SetRank( aCurrentRank - 1 );
 
 PNS_DBG( Dbg(), Message, wxString::Format("PushViaF %p %d\n", &lp.second, lp.second.SegmentCount() ) );
 
 if( !pushLineStack( lp.second, true ) )
 return SH_INCOMPLETE;
 }
 else
 {
 m_currentNode->Remove( lp.first );
 }
 
 PNS_DBG( Dbg(), AddItem, &lp.first, LIGHTGREEN, 10000, wxT( "fan-pre" ) );
 PNS_DBG( Dbg(), AddItem, &lp.second, LIGHTRED, 10000, wxT( "fan-post" ) );
 }
 
 return SH_OK;
}
 
 
/*
 * Calculate the minimum translation vector required to resolve a collision with a via and
 * shove the via by that distance.
 */
SHOVE::SHOVE_STATUS SHOVE::onCollidingVia( ITEM* aCurrent, VIA* aObstacleVia, OBSTACLE& aObstacleInfo )
{
 assert( aObstacleVia );
 
 int clearance = getClearance( aCurrent, aObstacleVia );
 VECTOR2I mtv;
 int rank = -1;
 
 bool lineCollision = false;
 bool viaCollision = false;
 VECTOR2I mtvLine, mtvVia;
 
 PNS_DBG( Dbg(), BeginGroup, "push-via-by-line", 1 );
 
 if( aCurrent->OfKind( ITEM::LINE_T ) )
 {
 VIA vtmp ( *aObstacleVia );
 
 if( aObstacleInfo.m_maxFanoutWidth > 0 && aObstacleInfo.m_maxFanoutWidth > aObstacleVia->Diameter() )
 {
 vtmp.SetDiameter( aObstacleInfo.m_maxFanoutWidth );
 }
 
 LINE* currentLine = (LINE*) aCurrent;
 
 PNS_DBG( Dbg(), AddItem, currentLine, LIGHTRED, 10000, wxT( "current-line" ) );
 
 if( currentLine->EndsWithVia() )
 {
 PNS_DBG( Dbg(), AddItem, &currentLine->Via(), LIGHTRED, 10000, wxT( "current-line-via" ) );
 }
 
 PNS_DBG( Dbg(), AddItem, &vtmp, LIGHTRED, 100000, wxT( "orig-via" ) );
 
 lineCollision = vtmp.Shape()->Collide( currentLine->Shape(),
 clearance + currentLine->Width() / 2,
 &mtvLine );
 
 // Check the via if present. Via takes priority.
 if( currentLine->EndsWithVia() )
 {
 const VIA& currentVia = currentLine->Via();
 int viaClearance = getClearance( &currentVia, &vtmp );
 
 viaCollision = currentVia.Shape()->Collide( vtmp.Shape(), viaClearance, &mtvVia );
 }
 }
 else if( aCurrent->OfKind( ITEM::SOLID_T ) )
 {
 // TODO: is this possible at all? We don't shove solids.
 return SH_INCOMPLETE;
 }
 
 // fixme: we may have a sign issue in Collide(CIRCLE, LINE_CHAIN)
 if( viaCollision )
 mtv = -mtvVia;
 else if ( lineCollision )
 mtv = -mtvLine;
 else
 mtv = VECTOR2I(0, 0);
 
 SHOVE::SHOVE_STATUS st = pushOrShoveVia( aObstacleVia, -mtv, aCurrent->Rank() );
 PNS_DBG( Dbg(), Message, wxString::Format("push-or-shove-via st %d", st ) );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 return st;
}
 
 
/*
 * TODO describe....
 */
SHOVE::SHOVE_STATUS SHOVE::onReverseCollidingVia( LINE& aCurrent, VIA* aObstacleVia )
{
 int n = 0;
 LINE cur( aCurrent );
 cur.ClearLinks();
 
 const JOINT* jt = m_currentNode->FindJoint( aObstacleVia->Pos(), aObstacleVia );
 LINE shoved( aCurrent );
 shoved.ClearLinks();
 
 cur.RemoveVia();
 unwindLineStack( &aCurrent );
 
 for( ITEM* item : jt->LinkList() )
 {
 if( item->OfKind( ITEM::SEGMENT_T | ITEM::ARC_T ) && item->LayersOverlap( &aCurrent ) )
 {
 LINKED_ITEM* li = static_cast<LINKED_ITEM*>( item );
 LINE head = assembleLine( li );
 
 head.AppendVia( *aObstacleVia );
 
 SHOVE_STATUS st = ShoveObstacleLine( head, cur, shoved );
 
 if( st != SH_OK )
 {
 PNS_DBG( Dbg(), BeginGroup, "on-reverse-via-fail-shove", m_iter );
 PNS_DBG( Dbg(), AddItem, aObstacleVia, LIGHTRED, 100000, wxT( "the-via" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, LIGHTGREEN, 10000, wxT( "current-line" ) );
 PNS_DBG( Dbg(), AddItem, &shoved, LIGHTRED, 10000, wxT( "shoved-line" ) );
 PNS_DBGN( Dbg(), EndGroup );
 
 return st;
 }
 
 cur.SetShape( shoved.CLine() );
 n++;
 }
 }
 
 if( !n )
 {
 PNS_DBG( Dbg(), BeginGroup, "on-reverse-via-fail-lonevia", m_iter );
 PNS_DBG( Dbg(), AddItem, aObstacleVia, LIGHTRED, 100000, wxT( "the-via" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, LIGHTGREEN, 10000, wxT( "current-line" ) );
 PNS_DBGN( Dbg(), EndGroup );
 
 LINE head( aCurrent );
 head.Line().Clear();
 head.AppendVia( *aObstacleVia );
 head.ClearLinks();
 
 SHOVE_STATUS st = ShoveObstacleLine( head, aCurrent, shoved );
 
 if( st != SH_OK )
 return st;
 
 cur.SetShape( shoved.CLine() );
 }
 
 if( aCurrent.EndsWithVia() )
 shoved.AppendVia( aCurrent.Via() );
 
 PNS_DBG( Dbg(), BeginGroup, "on-reverse-via", m_iter );
 PNS_DBG( Dbg(), AddItem, aObstacleVia, YELLOW, 0, wxT( "rr-the-via" ) );
 PNS_DBG( Dbg(), AddItem, &aCurrent, BLUE, 0, wxT( "rr-current-line" ) );
 PNS_DBG( Dbg(), AddItem, &shoved, GREEN, 0, wxT( "rr-shoved-line" ) );
 PNS_DBGN( Dbg(), EndGroup );
 
 int currentRank = aCurrent.Rank();
 replaceLine( aCurrent, shoved );
 
 if( !pushLineStack( shoved ) )
 return SH_INCOMPLETE;
 
 shoved.SetRank( currentRank );
 
 return SH_OK;
}
 
 
void SHOVE::unwindLineStack( const LINKED_ITEM* aSeg )
{
 int d = 0;
 
 for( std::vector<LINE>::iterator i = m_lineStack.begin(); i != m_lineStack.end() ; )
 {
 if( i->ContainsLink( aSeg ) )
 {
 PNS_DBG(Dbg(), Message, wxString::Format("Unwind lc %d (depth %d/%d)", i->SegmentCount(), d, (int)m_lineStack.size() ) );
 i = m_lineStack.erase( i );
 }
 else
 {
 i++;
 }
 
 d++;
 }
 
 for( std::vector<LINE>::iterator i = m_optimizerQueue.begin(); i != m_optimizerQueue.end() ; )
 {
 if( i->ContainsLink( aSeg ) )
 i = m_optimizerQueue.erase( i );
 else
 i++;
 }
}
 
 
void SHOVE::unwindLineStack( const ITEM* aItem )
{
 if( aItem->OfKind( ITEM::SEGMENT_T | ITEM::ARC_T ) )
 {
 unwindLineStack( static_cast<const LINKED_ITEM*>( aItem ) );
 }
 else if( aItem->OfKind( ITEM::LINE_T ) )
 {
 const LINE* l = static_cast<const LINE*>( aItem );
 
 for( const LINKED_ITEM* seg : l->Links() )
 unwindLineStack( seg );
 }
}
 
 
bool SHOVE::pushLineStack( const LINE& aL, bool aKeepCurrentOnTop )
{
 if( !aL.IsLinkedChecked() && aL.SegmentCount() != 0 )
 {
 PNS_DBG( Dbg(), AddItem, &aL, BLUE, 10000, wxT( "push line stack failed" ) );
 
 return false;
 }
 
 if( aKeepCurrentOnTop && m_lineStack.size() > 0)
 {
 m_lineStack.insert( m_lineStack.begin() + m_lineStack.size() - 1, aL );
 }
 else
 {
 m_lineStack.push_back( aL );
 }
 
 m_optimizerQueue.push_back( aL );
 
 return true;
}
 
 
void SHOVE::popLineStack( )
{
 LINE& l = m_lineStack.back();
 
 for( std::vector<LINE>::iterator i = m_optimizerQueue.begin(); i != m_optimizerQueue.end(); )
 {
 bool found = false;
 
 for( LINKED_ITEM* s : l.Links() )
 {
 if( i->ContainsLink( s ) )
 {
 i = m_optimizerQueue.erase( i );
 found = true;
 break;
 }
 }
 
 if( !found )
 i++;
 }
 
 m_lineStack.pop_back();
}
 
 
bool SHOVE::fixupViaCollisions( const LINE* aCurrent, OBSTACLE& obs )
{
 // if the current obstacle is a via, consider also the lines connected to it
 // if their widths are larger or equal than the via diameter, the shove algorithm
 // will very likely fail in the subsequent iterations (as our base assumption is track
 // ends can never move on their own, only dragged by force-propagated vias
 
 // our colliding item is a via: just find the max width of the traces connected to it
 if( obs.m_item->OfKind( ITEM::VIA_T ) )
 {
 const VIA* v = static_cast<const VIA*>( obs.m_item );
 int maxw = 0;
 const JOINT* jv = m_currentNode->FindJoint( v->Pos(), v );
 
 ITEM_SET links( jv->CLinks() );
 
 for( ITEM* link : links )
 {
 if( link->OfKind( ITEM::SEGMENT_T ) ) // consider segments ...
 {
 const SEGMENT* seg = static_cast<const SEGMENT*>( link );
 maxw = std::max( seg->Width(), maxw );
 }
 else if( link->OfKind( ITEM::ARC_T ) ) // ... or arcs
 {
 const ARC* arc = static_cast<const ARC*>( link );
 maxw = std::max( arc->Width(), maxw );
 }
 }
 
 obs.m_maxFanoutWidth = 0;
 
 if( maxw > 0 && maxw >= v->Diameter() )
 {
 obs.m_maxFanoutWidth = maxw + 1;
 PNS_DBG( Dbg(), Message,
 wxString::Format( "Fixup via: new-w %d via-w %d", maxw, v->Diameter() ) );
 
 return true;
 }
 return false;
 }
 
 
 // our colliding item is a segment. check if it has a via on either of the ends.
 if( !obs.m_item->OfKind( ITEM::SEGMENT_T ) )
 return false;
 
 const SEGMENT* s = static_cast<const SEGMENT*>( obs.m_item );
 
 const JOINT* ja = m_currentNode->FindJoint( s->Seg().A, s );
 const JOINT* jb = m_currentNode->FindJoint( s->Seg().B, s );
 
 VIA* vias[] = { ja->Via(), jb->Via() };
 
 for( int i = 0; i < 2; i++ )
 {
 VIA* v = vias[i];
 
 // via diameter is larger than the segment width - cool, the force propagation algo
 // will be able to deal with it, no need to intervene
 if( !v || v->Diameter() > s->Width() )
 continue;
 
 VIA vtest( *v );
 vtest.SetDiameter( s->Width() );
 
 // enlarge the via to the width of the segment
 if( vtest.Collide( aCurrent, m_currentNode ) )
 {
 // if colliding, drop the segment in the shove iteration loop and force-propagate the via instead
 obs.m_item = v;
 obs.m_maxFanoutWidth = s->Width() + 1;
 return true;
 }
 }
 return false;
}
 
/*
 * Resolve the next collision.
 */
SHOVE::SHOVE_STATUS SHOVE::shoveIteration( int aIter )
{
 LINE currentLine = m_lineStack.back();
 NODE::OPT_OBSTACLE nearest;
 SHOVE_STATUS st = SH_NULL;
 
 if( Dbg() )
 Dbg()->SetIteration( aIter );
 
 PNS_DBG( Dbg(), AddItem, &currentLine, RED, currentLine.Width(),
 wxString::Format( wxT( "current-coll-chk rank %d" ), currentLine.Rank() ) );
 
 for( ITEM::PnsKind search_order : { ITEM::SOLID_T, ITEM::VIA_T, ITEM::SEGMENT_T, ITEM::HOLE_T } )
 {
 COLLISION_SEARCH_OPTIONS opts;
 opts.m_kindMask = search_order;
 
 nearest = m_currentNode->NearestObstacle( &currentLine, opts );
 
 if( nearest )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "nearest %p %s rank %d" ),
 nearest->m_item,
 nearest->m_item->KindStr(),
 nearest->m_item->Rank() ) );
 
 PNS_DBG( Dbg(), AddShape, nearest->m_item->Shape(), YELLOW, 10000, wxT( "nearest" ) );
 }
 
 if( nearest )
 break;
 }
 
 if( !nearest )
 {
 m_lineStack.pop_back();
 PNS_DBG( Dbg(), Message, wxT( "no-nearest-item ") );
 return SH_OK;
 }
 
 bool viaFixup = fixupViaCollisions( &currentLine, *nearest );
 
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "iter %d: VF %d" ), aIter, viaFixup?1:0 ) );
 
 
 ITEM* ni = nearest->m_item;
 
 UNITS_PROVIDER up( pcbIUScale, EDA_UNITS::MILLIMETRES );
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "NI: %s (%s)" ),
 ni->Format(),
 ni->Parent() ? ni->Parent()->GetItemDescription( &up )
 : wxString( wxT( "null" ) ) ) );
 
 unwindLineStack( ni );
 
 if( !ni->OfKind( ITEM::SOLID_T ) && ni->Rank() >= 0 && ni->Rank() > currentLine.Rank() )
 {
 // Collision with a higher-ranking object (ie: one that we've already shoved)
 //
 switch( ni->Kind() )
 {
 case ITEM::VIA_T:
 {
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: reverse-collide-via" ), aIter ), 0 );
 
 if( currentLine.EndsWithVia() && nearest->m_item->Collide( &currentLine.Via(), m_currentNode ) )
 {
 st = SH_INCOMPLETE;
 }
 else
 {
 st = onReverseCollidingVia( currentLine, (VIA*) ni );
 }
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 }
 
 case ITEM::SEGMENT_T:
 {
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: reverse-collide-segment " ),
 aIter ), 0 );
 LINE revLine = assembleLine( static_cast<SEGMENT*>( ni ) );
 
 popLineStack();
 st = onCollidingLine( revLine, currentLine );
 
 
 if( !pushLineStack( revLine ) )
 {
 return SH_INCOMPLETE;
 }
 
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 }
 
 case ITEM::ARC_T:
 {
 //TODO(snh): Handle Arc shove separate from track
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: reverse-collide-arc " ), aIter ), 0 );
 LINE revLine = assembleLine( static_cast<ARC*>( ni ) );
 
 popLineStack();
 st = onCollidingLine( revLine, currentLine );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 if( !pushLineStack( revLine ) )
 return SH_INCOMPLETE;
 
 break;
 }
 
 default:
 assert( false );
 }
 }
 else
 {
 // Collision with a lower-ranking object or a solid
 //
 switch( ni->Kind() )
 {
 case ITEM::SEGMENT_T:
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: collide-segment " ), aIter ), 0 );
 
 st = onCollidingSegment( currentLine, (SEGMENT*) ni );
 
 if( st == SH_TRY_WALK )
 st = onCollidingSolid( currentLine, ni, *nearest );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 
 //TODO(snh): Customize Arc collide
 case ITEM::ARC_T:
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: collide-arc " ), aIter ), 0 );
 
 st = onCollidingArc( currentLine, static_cast<ARC*>( ni ) );
 
 if( st == SH_TRY_WALK )
 st = onCollidingSolid( currentLine, ni, *nearest );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 
 case ITEM::VIA_T:
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: collide-via (fixup: %d)" ), aIter, 0 ), 0 );
 st = onCollidingVia( &currentLine, (VIA*) ni, *nearest );
 
 if( st == SH_TRY_WALK )
 st = onCollidingSolid( currentLine, ni, *nearest );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 
 case ITEM::HOLE_T:
 case ITEM::SOLID_T:
 PNS_DBG( Dbg(), BeginGroup, wxString::Format( wxT( "iter %d: walk-solid " ), aIter ), 0);
 st = onCollidingSolid( currentLine, ni, *nearest );
 
 PNS_DBGN( Dbg(), EndGroup );
 
 break;
 
 default:
 break;
 }
 }
 
 return st;
}
 
 
/*
 * Resolve collisions.
 * Each iteration pushes the next colliding object out of the way. Iterations are continued as
 * long as they propagate further collisions, or until the iteration timeout or max iteration
 * count is reached.
 */
SHOVE::SHOVE_STATUS SHOVE::shoveMainLoop()
{
 SHOVE_STATUS st = SH_OK;
 
 m_affectedArea = OPT_BOX2I();
 
 PNS_DBG( Dbg(), Message, wxString::Format( "ShoveStart [root: %d jts, current: %d jts]",
 m_root->JointCount(),
 m_currentNode->JointCount() ) );
 
 int iterLimit = Settings().ShoveIterationLimit();
 TIME_LIMIT timeLimit = Settings().ShoveTimeLimit();
 
 m_iter = 0;
 
 timeLimit.Restart();
 
 if( m_lineStack.empty() && m_draggedVia )
 {
 // If we're shoving a free via then push a proxy LINE (with the via on the end) onto
 // the stack.
 pushLineStack( LINE( *m_draggedVia ) );
 }
 
 while( !m_lineStack.empty() )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( "iter %d: node %p stack %d ", m_iter,
 m_currentNode, (int) m_lineStack.size() ) );
 
 st = shoveIteration( m_iter );
 
 m_iter++;
 
 if( st == SH_INCOMPLETE || timeLimit.Expired() || m_iter >= iterLimit )
 {
 PNS_DBG( Dbg(), Message, wxString::Format( "Fail [time limit expired: %d iter %d iter limit %d",
 timeLimit.Expired()?1:0, m_iter, iterLimit ) );
 st = SH_INCOMPLETE;
 break;
 }
 }
 
 return st;
}
 
 
OPT_BOX2I SHOVE::totalAffectedArea() const
{
 OPT_BOX2I area;
 
 if( !m_nodeStack.empty() )
 area = m_nodeStack.back().m_affectedArea;
 
 if( area && m_affectedArea)
 area->Merge( *m_affectedArea );
 else if( !area )
 area = m_affectedArea;
 
 return area;
}
 
 
SHOVE::SHOVE_STATUS SHOVE::ShoveLines( const LINE& aCurrentHead )
{
 SHOVE_STATUS st = SH_OK;
 
 m_multiLineMode = false;
 
 PNS_DBG( Dbg(), Message,
 wxString::Format( "Shove start, lc = %d", aCurrentHead.SegmentCount() ) )
 
 // empty head? nothing to shove...
 if( !aCurrentHead.SegmentCount() && !aCurrentHead.EndsWithVia() )
 return SH_INCOMPLETE;
 
 LINE head( aCurrentHead );
 head.ClearLinks();
 
 m_lineStack.clear();
 m_optimizerQueue.clear();
 m_newHead = OPT_LINE();
 
 // Pop NODEs containing previous shoves which are no longer necessary
 //
 ITEM_SET headSet;
 headSet.Add( aCurrentHead );
 
 VIA_HANDLE dummyVia;
 
 NODE* parent = reduceSpringback( headSet, dummyVia );
 
 // Create a new NODE to store this version of the world
 m_currentNode = parent->Branch();
 m_currentNode->ClearRanks();
 m_currentNode->Add( head );
 
 m_currentNode->LockJoint( head.CPoint(0), &head, true );
 
 if( !head.EndsWithVia() )
 m_currentNode->LockJoint( head.CPoint( -1 ), &head, true );
 
 head.Mark( MK_HEAD );
 head.SetRank( 100000 );
 
 PNS_DBG( Dbg(), AddItem, &head, CYAN, 0, wxT( "head, after shove" ) );
 
 if( head.EndsWithVia() )
 {
 std::unique_ptr< VIA >headVia = Clone( head.Via() );
 headVia->Mark( MK_HEAD );
 headVia->SetRank( 100000 );
 m_currentNode->Add( std::move( headVia ) );
 }
 
 if( !pushLineStack( head ) )
 {
 delete m_currentNode;
 m_currentNode = parent;
 
 return SH_INCOMPLETE;
 }
 
 st = shoveMainLoop();
 
 if( st == SH_OK )
 {
 runOptimizer( m_currentNode );
 
 if( m_newHead )
 st = m_currentNode->CheckColliding( &( *m_newHead ) ) ? SH_INCOMPLETE : SH_HEAD_MODIFIED;
 else
 st = m_currentNode->CheckColliding( &head ) ? SH_INCOMPLETE : SH_OK;
 }
 
 m_currentNode->RemoveByMarker( MK_HEAD );
 
 PNS_DBG( Dbg(), Message, wxString::Format( "Shove status : %s after %d iterations",
 ( ( st == SH_OK || st == SH_HEAD_MODIFIED ) ? "OK" : "FAILURE"), m_iter ) );
 
 if( st == SH_OK || st == SH_HEAD_MODIFIED )
 {
 pushSpringback( m_currentNode, m_affectedArea, nullptr );
 }
 else
 {
 delete m_currentNode;
 
 m_currentNode = parent;
 m_newHead = OPT_LINE();
 }
 
 if( m_newHead )
 m_newHead->Unmark();
 
 if( m_newHead && head.EndsWithVia() )
 {
 VIA v = head.Via();
 v.SetPos( m_newHead->CPoint( -1 ) );
 m_newHead->AppendVia(v);
 }
 
 return st;
}
 
 
SHOVE::SHOVE_STATUS SHOVE::ShoveMultiLines( const ITEM_SET& aHeadSet )
{
 SHOVE_STATUS st = SH_OK;
 
 m_multiLineMode = true;
 
 ITEM_SET headSet;
 
 for( const ITEM* item : aHeadSet.CItems() )
 {
 const LINE* headOrig = static_cast<const LINE*>( item );
 
 // empty head? nothing to shove...
 if( !headOrig->SegmentCount() )
 return SH_INCOMPLETE;
 
 headSet.Add( *headOrig );
 }
 
 m_lineStack.clear();
 m_optimizerQueue.clear();
 
 VIA_HANDLE dummyVia;
 
 NODE* parent = reduceSpringback( headSet, dummyVia );
 
 m_currentNode = parent->Branch();
 m_currentNode->ClearRanks();
 int n = 0;
 
 for( const ITEM* item : aHeadSet.CItems() )
 {
 const LINE* headOrig = static_cast<const LINE*>( item );
 LINE head( *headOrig );
 head.ClearLinks();
 
 m_currentNode->Add( head );
 
 head.Mark( MK_HEAD );
 head.SetRank( 100000 );
 n++;
 
 if( !pushLineStack( head ) )
 return SH_INCOMPLETE;
 
 if( head.EndsWithVia() )
 {
 std::unique_ptr< VIA > headVia = Clone( head.Via() );
 headVia->Mark( MK_HEAD );
 headVia->SetRank( 100000 );
 m_currentNode->Add( std::move( headVia ) );
 }
 }
 
 st = shoveMainLoop();
 
 if( st == SH_OK )
 runOptimizer( m_currentNode );
 
 m_currentNode->RemoveByMarker( MK_HEAD );
 
 PNS_DBG( Dbg(), Message, wxString::Format( "Shove status : %s after %d iterations",
 ( st == SH_OK ? "OK" : "FAILURE"), m_iter ) );
 
 if( st == SH_OK )
 {
 pushSpringback( m_currentNode, m_affectedArea, nullptr );
 }
 else
 {
 delete m_currentNode;
 m_currentNode = parent;
 }
 
 return st;
}
 
 
static VIA* findViaByHandle ( NODE *aNode, const VIA_HANDLE& handle )
{
 const JOINT* jt = aNode->FindJoint( handle.pos, handle.layers.Start(), handle.net );
 
 if( !jt )
 return nullptr;
 
 for( ITEM* item : jt->LinkList() )
 {
 if( item->OfKind( ITEM::VIA_T ) )
 {
 if( item->Net() == handle.net && item->Layers().Overlaps(handle.layers) )
 return static_cast<VIA*>( item );
 }
 }
 
 return nullptr;
}
 
 
SHOVE::SHOVE_STATUS SHOVE::ShoveDraggingVia( const VIA_HANDLE aOldVia, const VECTOR2I& aWhere,
 VIA_HANDLE& aNewVia )
{
 SHOVE_STATUS st = SH_OK;
 
 m_lineStack.clear();
 m_optimizerQueue.clear();
 m_newHead = OPT_LINE();
 m_draggedVia = nullptr;
 
 VIA* viaToDrag = findViaByHandle( m_currentNode, aOldVia );
 
 if( !viaToDrag )
 return SH_INCOMPLETE;
 
 // Pop NODEs containing previous shoves which are no longer necessary
 ITEM_SET headSet;
 
 VIA headVia ( *viaToDrag );
 headVia.SetPos( aWhere );
 headSet.Add( &headVia, false ); // headVia is on stack
 
 VIA_HANDLE prevViaHandle;
 NODE* parent = reduceSpringback( headSet, prevViaHandle );
 
 if( prevViaHandle.valid )
 {
 aNewVia = prevViaHandle;
 viaToDrag = findViaByHandle( parent, prevViaHandle );
 }
 
 // Create a new NODE to store this version of the world
 m_currentNode = parent->Branch();
 m_currentNode->ClearRanks();
 
 viaToDrag->Mark( MK_HEAD );
 viaToDrag->SetRank( 100000 );
 
 // Push the via to its new location
 st = pushOrShoveVia( viaToDrag, ( aWhere - viaToDrag->Pos() ), 0 );
 
 // Shove any colliding objects out of the way
 if( st == SH_OK )
 st = shoveMainLoop();
 
 if( st == SH_OK )
 {
 runOptimizer( m_currentNode );
 
 // m_draggedVia will only be updated if pushOrShoveVia makes progress...
 // this should probably be refactored/cleaned up.
 PNS::VIA* viaCheck = m_draggedVia ? m_draggedVia : viaToDrag;
 
 st = m_currentNode->CheckColliding( viaCheck ) ? SH_INCOMPLETE : SH_OK;
 }
 
 if( st == SH_OK || st == SH_HEAD_MODIFIED )
 {
 wxLogTrace( "PNS","setNewV %p", m_draggedVia );
 
 if( !m_draggedVia )
 m_draggedVia = viaToDrag;
 
 aNewVia = m_draggedVia->MakeHandle();
 
 pushSpringback( m_currentNode, m_affectedArea, viaToDrag );
 }
 else
 {
 delete m_currentNode;
 m_currentNode = parent;
 }
 
 return st;
}
 
 
LINE* SHOVE::findRootLine( LINE *aLine )
{
 for( LINKED_ITEM* link : aLine->Links() )
 {
 if( SEGMENT* seg = dyn_cast<SEGMENT*>( link ) )
 {
 auto it = m_rootLineHistory.find( seg );
 
 if( it != m_rootLineHistory.end() )
 return it->second;
 }
 }
 
 return nullptr;
}
 
 
void SHOVE::runOptimizer( NODE* aNode )
{
 OPTIMIZER optimizer( aNode );
 int optFlags = 0;
 int n_passes = 0;
 
 PNS_OPTIMIZATION_EFFORT effort = Settings().OptimizerEffort();
 
 OPT_BOX2I area = totalAffectedArea();
 
 int maxWidth = 0;
 
 for( LINE& line : m_optimizerQueue )
 maxWidth = std::max( line.Width(), maxWidth );
 
 if( area )
 {
 area->Inflate( maxWidth );
 area = area->Intersect( VisibleViewArea() );
 }
 
 switch( effort )
 {
 case OE_LOW:
 optFlags |= OPTIMIZER::MERGE_OBTUSE;
 n_passes = 1;
 break;
 
 case OE_MEDIUM:
 optFlags |= OPTIMIZER::MERGE_SEGMENTS;
 n_passes = 2;
 break;
 
 case OE_FULL:
 optFlags = OPTIMIZER::MERGE_SEGMENTS;
 n_passes = 2;
 break;
 
 default:
 break;
 }
 
 optFlags |= OPTIMIZER::LIMIT_CORNER_COUNT;
 
 if( area )
 {
 SHAPE_RECT r( *area );
 
 PNS_DBG( Dbg(), AddShape, &r, BLUE, 0, wxT( "opt-area" ) );
 
 optFlags |= OPTIMIZER::RESTRICT_AREA;
 optimizer.SetRestrictArea( *area, false );
 }
 
 DIRECTION_45::CORNER_MODE cornerMode = Settings().GetCornerMode();
 
 // Smart Pads is incompatible with 90-degree mode for now
 if( Settings().SmartPads()
 && ( cornerMode == DIRECTION_45::MITERED_45 || cornerMode == DIRECTION_45::ROUNDED_45 ) )
 {
 optFlags |= OPTIMIZER::SMART_PADS;
 }
 
 
 optimizer.SetEffortLevel( optFlags & ~m_optFlagDisableMask );
 optimizer.SetCollisionMask( ITEM::ANY_T );
 
 for( int pass = 0; pass < n_passes; pass++ )
 {
 std::reverse( m_optimizerQueue.begin(), m_optimizerQueue.end() );
 
 PNS_DBG( Dbg(), Message, wxString::Format( wxT( "optimize %d lines, pass %d"), (int)m_optimizerQueue.size(), (int)pass ) );
 
 for( LINE& line : m_optimizerQueue)
 {
 if( !( line.Marker() & MK_HEAD ) )
 {
 LINE optimized;
 LINE* root = findRootLine( &line );
 
 if( optimizer.Optimize( &line, &optimized, root ) )
 {
 PNS_DBG( Dbg(), AddShape, &line.CLine(), BLUE, 0, wxT( "shove-pre-opt" ) );
 
 if( root )
 PNS_DBG( Dbg(), AddItem, root, RED, 0, wxT( "shove-root-opt" ) );
 
 replaceLine( line, optimized, false, aNode );
 line = optimized; // keep links in the lines in the queue up to date
 
 PNS_DBG( Dbg(), AddShape, &line.CLine(), GREEN, 0, wxT( "shove-post-opt" ) );
 }
 }
 }
 }
}
 
 
NODE* SHOVE::CurrentNode()
{
 return m_nodeStack.empty() ? m_root : m_nodeStack.back().m_node;
}
 
 
const LINE SHOVE::NewHead() const
{
 assert( m_newHead );
 
 return *m_newHead;
}
 
 
void SHOVE::SetInitialLine( LINE& aInitial )
{
 m_root = m_root->Branch();
 m_root->Remove( aInitial );
}
 
 
bool SHOVE::AddLockedSpringbackNode( NODE* aNode )
{
 SPRINGBACK_TAG sp;
 sp.m_node = aNode;
 sp.m_locked = true;
 
 m_nodeStack.push_back(sp);
 return true;
}
 
 
bool SHOVE::RewindSpringbackTo( NODE* aNode )
{
 bool found = false;
 
 auto iter = m_nodeStack.begin();
 
 while( iter != m_nodeStack.end() )
 {
 if ( iter->m_node == aNode )
 {
 found = true;
 break;
 }
 
 iter++;
 }
 
 if( !found )
 return false;
 
 auto start = iter;
 
 aNode->KillChildren();
 m_nodeStack.erase( start, m_nodeStack.end() );
 
 return true;
}
 
 
bool SHOVE::RewindToLastLockedNode()
{
 if( m_nodeStack.empty() )
 return false;
 
 while( !m_nodeStack.back().m_locked && m_nodeStack.size() > 1 )
 m_nodeStack.pop_back();
 
 return m_nodeStack.back().m_locked;
}
 
 
void SHOVE::UnlockSpringbackNode( NODE* aNode )
{
 auto iter = m_nodeStack.begin();
 
 while( iter != m_nodeStack.end() )
 {
 if ( iter->m_node == aNode )
 {
 iter->m_locked = false;
 break;
 }
 
 iter++;
 }
}
 
 
void SHOVE::DisablePostShoveOptimizations( int aMask )
{
 m_optFlagDisableMask = aMask;
}
 
 
void SHOVE::SetSpringbackDoNotTouchNode( const NODE *aNode )
{
 m_springbackDoNotTouchNode = aNode;
}
 
}