Initial version of the P&S router. Buggy and crappy.

pcbnew/router/CMakeLists.txt

+include_directories(BEFORE ${INC_BEFORE})
+
+include_directories(
+		./
+		../
+    ../../include
+    ../../pcbnew
+    ../../polygon
+    ${INC_AFTER}
+    )
+
+set(PCBNEW_PNS_SRCS
+	direction.h
+	pns_via.h
+	pns_routing_settings.h
+	pns_shove.cpp
+	pns_line.cpp
+	pns_utils.h
+	pns_layerset.h
+	trace.h
+	pns_line.h
+	pns_walkaround.cpp
+	pns_node.h
+	pns_line_placer.cpp
+	pns_utils.cpp
+	pns_solid.h
+	pns_item.cpp
+	pns_via.cpp
+	pns_node.cpp
+	pns_solid.cpp
+	pns_line_placer.h
+	pns_optimizer.h
+	pns_walkaround.h
+	pns_shove.h
+	pns_router.h
+	pns_router.cpp
+	pns_index.h
+	pns_item.h
+	pns_optimizer.cpp
+	pns_joint.h
+	pns_segment.h
+	pns_itemset.h
+	pns_itemset.cpp
+	router_tool.cpp
+	router_tool.h
+	router_preview_item.cpp
+	router_preview_item.h
+	)
+
+add_library(pnsrouter STATIC ${PCBNEW_PNS_SRCS})

pcbnew/router/direction.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __DIRECTION_H
+#define __DIRECTION_H
+
+#include <geometry/seg.h>
+#include <geometry/shape_line_chain.h>
+
+/**
+ * Class DIRECTION_45.
+ * Represents route directions & corner angles in a 45-degree metric.
+ */
+
+class DIRECTION_45
+{
+	
+public:
+	
+	/**
+	 * Enum Directions
+	 * Represents available directions - there are 8 of them, as on a rectilinear map (north = up) +
+	 * an extra undefined direction, reserved for traces that don't respect 45-degree routing regime.
+	 */
+	enum Directions {
+		N = 0, 
+		NE = 1, 
+		E = 2, 
+		SE = 3, 
+		S = 4, 
+		SW = 5, 
+		W = 6, 
+		NW = 7, 
+		UNDEFINED = -1
+	};
+
+	/**
+	 * Enum AngleType
+	 * Represents kind of angle formed by vectors heading in two DIRECTION_45s. 
+	 */
+	enum AngleType {
+		ANG_OBTUSE = 0x1,
+		ANG_RIGHT = 0x2,
+		ANG_ACUTE = 0x4,
+		ANG_STRAIGHT = 0x8,
+		ANG_HALF_FULL = 0x10,
+		ANG_UNDEFINED = 0x20
+	};
+
+	DIRECTION_45(Directions aDir = UNDEFINED): m_dir(aDir) {};
+	
+	/**
+	 * Constructor
+	 * @param aVec vector, whose direction will be translated into a DIRECTION_45.
+	 */
+	DIRECTION_45(const VECTOR2I& aVec)
+	{
+		construct(aVec);
+	}
+
+	/**
+	 * Constructor
+	 * @param aSeg segment, whose direction will be translated into a DIRECTION_45.
+	 */
+	DIRECTION_45(const SEG& aSeg)
+	{
+		construct( aSeg.b - aSeg.a );
+	}
+
+	/**
+	 * Function Format()
+	 * Formats the direction in a human readable word.
+	 * @return name of the direction
+	 */
+	const std::string Format() const
+	{
+		switch(m_dir)
+		{
+			case N : return "north";
+			case NE : return "north-east";
+			case E : return "east";
+			case SE : return "south-east";
+			case S : return "south";
+			case SW : return "south-west";
+			case W : return "west";
+			case NW : return "north-west";
+			case UNDEFINED : return "undefined";
+			default: return "<Error>";
+		}
+	}
+	
+	/**
+	 * Function Opposite()
+	 * Returns a direction opposite (180 degree) to (this)
+	 * @return opposite direction
+	 */
+	DIRECTION_45 Opposite() const
+	{
+		if(m_dir == UNDEFINED)
+			return UNDEFINED;
+		const Directions OppositeMap[] = { S, SW, W, NW, N, NE, E, SE }	;
+		return OppositeMap[m_dir];
+	}
+
+	/**
+	 * Function Angle()
+	 * Returns the type of angle between directions (this) and aOther.
+	 * @param aOther direction to compare angle with
+	 */
+	AngleType Angle(const DIRECTION_45& aOther) const
+	{
+		if(m_dir == UNDEFINED || aOther.m_dir == UNDEFINED)
+			return ANG_UNDEFINED;
+
+		int d = std::abs(m_dir - aOther.m_dir);
+
+		if(d == 1 || d == 7)
+			return ANG_OBTUSE;
+		else if(d == 2 || d == 6)
+			return ANG_RIGHT;
+		else if(d == 3 || d == 5)
+			return ANG_ACUTE;
+		else if(d == 4)
+			return ANG_HALF_FULL;
+		else
+			return ANG_STRAIGHT;
+	}
+
+	/**
+	 * Function IsObtuse()
+	 * @return true, when (this) forms an obtuse angle with aOther
+	 */
+	bool IsObtuse(const DIRECTION_45& aOther) const
+	{
+		return Angle(aOther) == ANG_OBTUSE;
+	}
+
+	/**
+	 * Function IsDiagonal()
+	 * Returns true if the direction is diagonal (e.g. North-West, South-East, etc)
+	 * @return true, when diagonal.
+	 */
+	bool IsDiagonal() const
+	{
+		return (m_dir % 2) == 1;
+	}
+	
+	/**
+	 * Function BuildInitialTrace()
+	 *
+	 * Builds a 2-segment line chain between points aP0 and aP1 and following 45-degree routing
+	 * regime. If aStartDiagonal is true, the trace starts with a diagonal segment.
+	 * @param aP0 starting point
+	 * @param aP1 ending point
+	 * @param aStartDiagonal whether the first segment has to be diagonal
+	 * @return the trace
+	 */
+	const SHAPE_LINE_CHAIN BuildInitialTrace(const VECTOR2I& aP0, const VECTOR2I &aP1, bool aStartDiagonal = false) const
+	{
+		int w = abs(aP1.x - aP0.x);
+		int h = abs(aP1.y - aP0.y);	
+		int sw = sign(aP1.x - aP0.x);
+		int sh = sign(aP1.y - aP0.y);		
+
+		VECTOR2I mp0, mp1;
+		
+		// we are more horizontal than vertical?
+		if(w > h)
+		{
+			mp0 = VECTOR2I((w - h) * sw, 0); // direction: E
+			mp1 = VECTOR2I(h * sw, h * sh);	 // direction: NE
+		} else {
+			mp0 = VECTOR2I(0, sh * (h - w)); // direction: N
+			mp1 = VECTOR2I(sw * w, sh * w);  // direction: NE
+		}
+
+		bool start_diagonal;
+
+		if(m_dir == UNDEFINED)
+			start_diagonal = aStartDiagonal;
+		else
+			start_diagonal = IsDiagonal();
+
+		SHAPE_LINE_CHAIN pl;
+
+		pl.Append(aP0);
+		if (start_diagonal)
+			pl.Append(aP0 + mp1);
+		else
+			pl.Append(aP0 + mp0);
+		
+		pl.Append(aP1);
+		pl.Simplify();
+		return pl;
+	};
+
+	bool operator==(const DIRECTION_45& aOther) const
+	{
+		return aOther.m_dir == m_dir;
+	}
+
+	bool operator!=(const DIRECTION_45& aOther) const
+	{
+		return aOther.m_dir != m_dir;
+	}
+
+	const DIRECTION_45 Right() const
+	{
+		DIRECTION_45 r;
+		r.m_dir = (Directions) (m_dir + 1);
+		if(r.m_dir == NW)
+			r.m_dir = N;
+		return r;
+	}
+
+private:
+
+	template <typename T> int sign(T val) const {
+    	return (T(0) < val) - (val < T(0));
+	}
+
+	/** 
+	 * Function construct()
+	 * Calculates the direction from a vector. If the vector's angle is not a multiple of 45
+	 * degrees, the direction is rounded to the nearest octant.
+	 * @param aVec our vector
+	 */
+	void construct(const VECTOR2I& aVec)
+	{
+		m_dir = UNDEFINED;
+		if(aVec.x == 0 && aVec.y == 0)
+			return;
+
+		double mag = 360.0 - (180.0 / M_PI * atan2 ((double) aVec.y, (double) aVec.x )) + 90.0;
+		if (mag >= 360.0)
+			mag -= 360.0;
+		if(mag < 0.0)
+			mag += 360.0;
+ 
+ 		m_dir = (Directions) ((mag + 22.5) / 45.0);
+
+ 		if(m_dir >= 8)
+ 			m_dir = (Directions) (m_dir - 8);
+ 		if(m_dir < 0)
+ 			m_dir = (Directions) (m_dir + 8);
+
+ 		return ;
+		if(aVec.y < 0)
+		{
+			if(aVec.x > 0)
+				m_dir = NE;
+			else if(aVec.x < 0)
+				m_dir = NW;
+			else
+				m_dir = N;
+		}
+		else if(aVec.y == 0)
+		{
+			if(aVec.x > 0)
+				m_dir = E;
+			else
+				m_dir = W;
+		}
+		else  // aVec.y>0
+		{
+			if(aVec.x > 0)
+				m_dir = SE;
+			else if(aVec.x < 0)
+				m_dir = SW;
+			else
+				m_dir = S;
+		}
+	}
+
+	Directions m_dir; ///> our actual direction
+};		
+
+#endif // __DIRECTION_H

pcbnew/router/pns_index.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_INDEX_H
+#define __PNS_INDEX_H
+
+#include <boost/foreach.hpp>
+#include <boost/range/adaptor/map.hpp>
+
+#include <list>
+#include <geometry/shape_index.h>
+
+#include "pns_item.h"
+
+/**
+ * Class PNS_INDEX
+ *
+ * Custom spatial index, holding our board items and allowing for very fast searches. Items
+ * are assigned to separate R-Tree subundices depending on their type and spanned layers, reducing
+ * overlap and improving search time.
+ **/
+
+class PNS_INDEX {
+
+public:
+	
+	typedef std::list<PNS_ITEM *> NetItemsList;
+	typedef SHAPE_INDEX<PNS_ITEM *> ItemShapeIndex;
+	typedef boost::unordered_set<PNS_ITEM *> ItemSet;
+
+	PNS_INDEX();
+	~PNS_INDEX();
+
+	void Add( PNS_ITEM *aItem );
+	void Remove ( PNS_ITEM *aItem );
+	void Replace ( PNS_ITEM *aOldItem, PNS_ITEM *aNewItem );
+
+	template<class Visitor>
+		int Query( const PNS_ITEM *aItem, int aMinDistance, Visitor &v);
+	template<class Visitor>
+		int Query( const SHAPE *aShape, int aMinDistance, Visitor &v);
+
+	void Clear();
+
+	NetItemsList* GetItemsForNet ( int aNet ) ;
+
+	ItemSet::iterator begin() { return m_allItems.begin(); }
+	ItemSet::iterator end() { return m_allItems.end(); }
+
+	bool Contains ( PNS_ITEM *aItem ) const {
+		return m_allItems.find(aItem) != m_allItems.end();
+	}
+
+	int Size() const { return m_allItems.size(); }
+
+private:
+	
+
+	static const int MaxSubIndices = 64;
+	static const int SI_Multilayer = 2;
+	static const int SI_SegDiagonal = 0;
+	static const int SI_SegStraight = 1;
+	static const int SI_Traces = 3;
+	static const int SI_PadsTop = 0;
+	static const int SI_PadsBottom = 1;
+
+	template<class Visitor>
+		int querySingle( int index, const SHAPE *aShape, int aMinDistance, Visitor &v);
+
+	ItemShapeIndex *getSubindex( const PNS_ITEM *aItem );
+
+	ItemShapeIndex *m_subIndices[ MaxSubIndices ];
+	std::map<int, NetItemsList> m_netMap;
+	ItemSet m_allItems;
+};
+
+PNS_INDEX::PNS_INDEX()
+{
+	memset(m_subIndices, 0, sizeof(m_subIndices));
+}
+
+PNS_INDEX::ItemShapeIndex *PNS_INDEX::getSubindex(const PNS_ITEM *aItem ) 
+{
+	int idx_n = -1;
+
+	const PNS_LAYERSET l = aItem->GetLayers();
+	
+	switch(aItem->GetKind())
+	{
+		case PNS_ITEM::VIA: 
+			idx_n = SI_Multilayer;
+			break;
+		case PNS_ITEM::SOLID:
+		{
+			if( l.IsMultilayer() )
+				idx_n = SI_Multilayer;
+			else if (l.Start() == 0) // fixme: use kicad layer codes
+				idx_n = SI_PadsTop;
+			else if (l.Start() == 15) 
+				idx_n = SI_PadsBottom;
+			break;
+		}
+		case PNS_ITEM::SEGMENT:
+		case PNS_ITEM::LINE:
+			idx_n = SI_Traces + 2 * l.Start() + SI_SegStraight;
+			break;
+		default:
+			break;
+	}
+	assert(idx_n >= 0 && idx_n < MaxSubIndices);
+
+	if(!m_subIndices[idx_n])
+		m_subIndices[idx_n] = new ItemShapeIndex;
+
+	return m_subIndices[idx_n];
+}
+
+void PNS_INDEX::Add( PNS_ITEM *aItem )
+{
+	ItemShapeIndex *idx = getSubindex(aItem);
+	
+
+	idx->Add(aItem);
+	m_allItems.insert(aItem);
+	int net = aItem->GetNet();
+	if(net >= 0)
+	{
+		m_netMap[net].push_back(aItem);
+	}
+}
+
+void PNS_INDEX::Remove( PNS_ITEM *aItem )
+{
+	ItemShapeIndex *idx = getSubindex(aItem);
+	idx->Remove(aItem);
+	m_allItems.erase (aItem);
+
+	int net = aItem->GetNet();
+	
+	if(net >= 0 && m_netMap.find(net) != m_netMap.end())
+		m_netMap[net].remove(aItem);
+}
+
+void PNS_INDEX::Replace( PNS_ITEM *aOldItem, PNS_ITEM *aNewItem )
+{
+	Remove(aOldItem);
+	Add(aNewItem);
+}
+
+template<class Visitor>
+	int PNS_INDEX::querySingle( int index, const SHAPE *aShape, int aMinDistance, Visitor &v)
+	{
+		if(!m_subIndices[index])
+			return 0;
+		return m_subIndices[index] -> Query(aShape, aMinDistance, v, false);
+	}
+
+template<class Visitor>
+	int PNS_INDEX::Query( const PNS_ITEM *aItem, int aMinDistance, Visitor &v)
+	{
+		const SHAPE *shape = aItem->GetShape();
+		int total = 0;
+		
+			
+		total += querySingle(SI_Multilayer, shape, aMinDistance, v);
+
+		const PNS_LAYERSET layers = aItem->GetLayers();
+		
+		if(layers.IsMultilayer())
+		{
+			total += querySingle(SI_PadsTop, shape, aMinDistance, v);
+			total += querySingle(SI_PadsBottom, shape, aMinDistance, v);
+
+		
+			for(int i = layers.Start(); i <= layers.End(); ++i )
+				total += querySingle( SI_Traces + 2 * i + SI_SegStraight, shape, aMinDistance, v);
+
+		} else {
+			int l = layers.Start();
+
+			if(l == 0)
+				total += querySingle(SI_PadsTop, shape, aMinDistance, v);
+			else if(l == 15)
+				total += querySingle(SI_PadsBottom, shape, aMinDistance, v);
+			total += querySingle (  SI_Traces + 2 * l + SI_SegStraight, shape, aMinDistance, v);
+		}
+
+		return total;
+	}
+
+template<class Visitor>
+	int PNS_INDEX::Query( const SHAPE *aShape, int aMinDistance, Visitor &v)
+	{
+		int total = 0;
+		for(int i = 0; i < MaxSubIndices; i++)
+			total += querySingle(i, aShape, aMinDistance, v);
+		return total;
+	}
+
+		
+void PNS_INDEX::Clear()
+{
+	for(int i = 0; i < MaxSubIndices; ++i)
+	{
+		ItemShapeIndex *idx = m_subIndices[i];
+		if(idx)
+			delete idx;
+		m_subIndices[i] = NULL;
+	}
+}
+
+PNS_INDEX::~PNS_INDEX()
+{
+	Clear();
+}
+
+PNS_INDEX::NetItemsList* PNS_INDEX::GetItemsForNet ( int aNet ) 
+{
+	if(m_netMap.find(aNet) == m_netMap.end())
+		return NULL;
+	return &m_netMap[aNet];
+}
+
+#endif

pcbnew/router/pns_item.cpp

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#include "pns_item.h"
+#include "pns_line.h"
+
+bool PNS_ITEM::collideSimple ( const PNS_ITEM *aOther, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) const
+{
+	// same nets? no collision!
+	if( m_net == aOther->m_net )
+		return false;	
+
+	// check if we are not on completely different layers first
+	if (!m_layers.Overlaps (aOther->m_layers))
+		return false;
+
+	return GetShape()->Collide ( aOther->GetShape(), aClearance );
+
+	// fixme: MTV
+}
+
+bool PNS_ITEM::Collide( const PNS_ITEM *aOther, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) const
+{
+	if( collideSimple( aOther, aClearance, aNeedMTV, aMTV ) )
+		return true;
+
+	// special case for "head" line with a via attached at the end. 
+	if( aOther->m_kind == LINE ) 
+	{
+		const PNS_LINE *line = static_cast<const PNS_LINE *> (aOther);
+		if(line -> EndsWithVia())
+			return collideSimple( &line->GetVia(), aClearance - line->GetWidth() / 2, aNeedMTV, aMTV );
+	}
+
+	return false;
+}
+
+const std::string PNS_ITEM::GetKindStr() const
+{
+	switch(m_kind)
+	{
+		case LINE: return "line";
+		case SEGMENT: return "segment";
+		case VIA: return "via";
+		case JOINT: return "joint";
+		case SOLID: return "solid";
+		default: return "unknown";
+	}
+}
+
+PNS_ITEM::~PNS_ITEM()
+{
+		
+}
+	
\ No newline at end of file

pcbnew/router/pns_item.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_ITEM_H
+#define __PNS_ITEM_H
+
+#include <math/vector2d.h>
+
+#include <geometry/shape.h>
+#include <geometry/shape_line_chain.h>
+
+#include "pns_layerset.h"
+
+class BOARD_ITEM;
+class PNS_NODE;
+
+/**
+ * Class PNS_ITEM
+ *
+ * Base class for PNS router board items. Implements the shared properties of all PCB items -
+ * net, spanned layers, geometric shape & refererence to owning model.
+ */
+ 
+class PNS_ITEM 
+{
+public:
+
+	static const int UnusedNet = INT_MAX;
+
+	///> Supported item types
+	enum PnsKind {
+		SOLID 		= 1,
+		LINE 		= 2,
+		JOINT 		= 4,
+		SEGMENT 	= 8,
+		VIA 		= 16,
+		ANY 		= 0xff
+	};
+
+	PNS_ITEM(PnsKind aKind)
+	{	
+		m_net = UnusedNet;
+		m_movable = true;
+		m_kind = aKind;
+		m_parent = NULL;
+		m_world = NULL;
+		m_owner = NULL;
+	}
+
+	PNS_ITEM( const PNS_ITEM& aOther )
+	{
+		m_layers = aOther.m_layers;
+		m_net = aOther.m_net;
+		m_movable = aOther.m_movable;
+		m_kind = aOther.m_kind;
+		m_world = aOther.m_world;
+		m_parent = aOther.m_parent;
+		m_owner = NULL;
+	}
+
+	virtual ~PNS_ITEM();
+	
+	virtual PNS_ITEM *Clone() const = 0;
+
+	///> Returns a convex polygon "hull" of a the item, that is used as the walkaround
+	///  path. 
+	///  aClearance defines how far from the body of the item the hull should be,
+	///  aWalkaroundThickness is the width of the line that walks around this hull.
+	virtual const SHAPE_LINE_CHAIN Hull(int aClearance = 0, int aWalkaroundThickness = 0) const 
+	{
+		return SHAPE_LINE_CHAIN();
+	};
+
+
+	
+	PnsKind GetKind() const 		{  return m_kind; }
+	bool OfKind( int aKind ) const 	{ return (aKind & m_kind) != 0; }
+	
+	const std::string GetKindStr() const;
+	
+	///> Gets/Sets the corresponding parent object in the host application's model (pcbnew) 
+	void SetParent(BOARD_ITEM *aParent) { m_parent = aParent; }
+	BOARD_ITEM *GetParent() const 	{  return m_parent;  }
+
+	///> Net accessors
+	int GetNet() const 				{ return m_net; }
+	void SetNet(int aNet) 			{ m_net = aNet; }
+
+	///> Layers accessors
+	const PNS_LAYERSET& GetLayers() const 				{	return m_layers;	}
+	void SetLayers ( const PNS_LAYERSET& aLayers ) 		{ m_layers = aLayers; }
+	void SetLayer ( int aLayer ) 						{ m_layers = PNS_LAYERSET (aLayer, aLayer); }
+
+	///> Ownership management. An item can belong to a single PNS_NODE or stay unowned.
+	void SetOwner (PNS_NODE *aOwner) 			{ m_owner = aOwner; }
+	bool BelongsTo (PNS_NODE *aNode) const 		{ return m_owner == aNode; }
+	PNS_NODE *GetOwner() const 					{ return m_owner; }
+
+	///> Sets the world that is used for collision resolution.
+	void SetWorld (PNS_NODE *aWorld) 			{ m_world = aWorld; }
+	PNS_NODE *GetWorld() const 					{ return m_world; }
+
+
+	///> Collision function. Checks if the item aOther is closer to us than
+	/// aClearance and returns true if so. It can also calculate a minimum translation vector that resolves the
+	/// collision if needed.
+	virtual bool Collide( const PNS_ITEM *aOther, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) const;
+
+	///> A shortcut without MTV calculation
+	bool Collide( const PNS_ITEM *aOther, int aClearance ) const
+	{
+		VECTOR2I dummy;
+		return Collide(aOther, aClearance, false, dummy);
+	}
+	
+	///> Returns the geometric shape of the item
+	virtual	const SHAPE* GetShape() const { 
+		return NULL;
+	}
+
+private:
+	bool collideSimple ( const PNS_ITEM *aOther, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) const;
+
+protected:
+
+	PnsKind m_kind;
+	
+	BOARD_ITEM *m_parent;
+	PNS_NODE *m_world;
+	PNS_NODE *m_owner;
+	PNS_LAYERSET m_layers;
+
+	bool m_movable;
+	int m_net;
+};
+
+#endif // __PNS_ITEM_H
+

pcbnew/router/pns_itemset.cpp

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#include <boost/foreach.hpp>
+
+#include "pns_itemset.h"
+
+
+PNS_ITEMSET::PNS_ITEMSET()
+{
+
+}
+
+PNS_ITEMSET::~PNS_ITEMSET()
+{
+
+}
+
+PNS_ITEMSET& PNS_ITEMSET::FilterLayers ( int aStart, int aEnd )
+{
+	ItemVector newItems;
+	PNS_LAYERSET l;
+	if(aEnd < 0)
+		l = PNS_LAYERSET(aStart);
+	else
+		l = PNS_LAYERSET(aStart, aEnd);
+
+	BOOST_FOREACH( PNS_ITEM *item, m_items )
+		if(item->GetLayers(). Overlaps ( l ))
+			newItems.push_back(item);
+	m_items = newItems;
+	return *this;
+}
+
+PNS_ITEMSET& PNS_ITEMSET::FilterKinds ( int aKindMask )
+{
+	ItemVector newItems;
+	
+	BOOST_FOREACH( PNS_ITEM *item, m_items )
+		if(item->GetKind() & aKindMask )
+			newItems.push_back(item);
+	m_items = newItems;
+	return *this;
+}
+
+PNS_ITEMSET& PNS_ITEMSET::FilterNet ( int aNet )
+{
+	ItemVector newItems;
+	
+	BOOST_FOREACH( PNS_ITEM *item, m_items )
+		if(item->GetNet() == aNet)
+			newItems.push_back(item);
+	m_items = newItems;
+	return *this;
+}
+

pcbnew/router/pns_itemset.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_ITEMSET_H
+#define __PNS_ITEMSET_H
+
+#include <vector>
+
+#include "pns_item.h"
+
+/**
+ * Class PNS_ITEMSET
+ *
+ * Holds a list of board items, that can be filtered against net, kinds, layers, etc.
+ **/
+
+class PNS_ITEMSET
+{
+public:
+
+	typedef std::vector<PNS_ITEM *> ItemVector;
+
+	PNS_ITEMSET();
+	~PNS_ITEMSET();
+
+	ItemVector& Items() { return m_items; }
+
+	PNS_ITEMSET& FilterLayers ( int aStart, int aEnd = -1 );
+	PNS_ITEMSET& FilterKinds ( int aKindMask );
+	PNS_ITEMSET& FilterNet ( int aNet );
+	
+	int Size() { return m_items.size(); }	
+
+	void Add(PNS_ITEM *item)
+	{
+		m_items.push_back(item);
+	}
+
+	PNS_ITEM *Get( int index ) const { return m_items[index]; }
+
+private:
+	ItemVector m_items;
+};
+
+#endif

pcbnew/router/pns_joint.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_JOINT_H
+#define __PNS_JOINT_H
+
+#include <vector>
+#include <boost/functional/hash.hpp>
+
+#include <math/vector2d.h>
+
+#include "pns_item.h"
+#include "pns_segment.h"
+
+/**
+ * Class PNS_JOINT
+ * 
+ * Represents a 2D point on a given set of layers and belonging to a certain net,
+ * that links together a number of board items.
+ * A hash table of joints is used by the router to follow connectivity between the items.
+ **/
+
+class PNS_JOINT : public PNS_ITEM
+{
+public:
+	typedef std::vector<PNS_ITEM *> LinkedItems;
+
+	///> joints are hashed by their position, layers and net. Linked items are, obviously, not hashed
+	struct HashTag {
+		VECTOR2I pos;
+		int net;
+	};
+	
+	PNS_JOINT():
+		PNS_ITEM(JOINT) {}
+
+	PNS_JOINT(const VECTOR2I& aPos, const PNS_LAYERSET& aLayers, int aNet = -1):
+		PNS_ITEM(JOINT)
+	{
+		m_tag.pos = aPos;
+		m_tag.net = aNet;
+		m_layers = aLayers;
+	}
+
+	PNS_JOINT(const PNS_JOINT& b): 
+		PNS_ITEM(JOINT)
+	{
+		m_layers = b.m_layers;
+		m_tag.pos = b.m_tag.pos;
+		m_tag.net = b.m_tag.net;
+		m_linkedItems = b.m_linkedItems;
+		m_layers = b.m_layers;
+	}
+
+	PNS_ITEM *Clone() const
+	{
+		assert(false);
+		return NULL;
+	}
+
+	///> returns true if the joint is a trivial line corner, connecting two segments of the same net, on the same layer.
+	bool IsLineCorner() const
+	{
+		if(m_linkedItems.size() != 2)
+			return false;
+
+		if( m_linkedItems[0]->GetKind() != SEGMENT || m_linkedItems[1]->GetKind() != SEGMENT )
+			return false;
+
+		PNS_SEGMENT *seg1 = static_cast<PNS_SEGMENT *> (m_linkedItems[0]);
+		PNS_SEGMENT *seg2 = static_cast<PNS_SEGMENT *> (m_linkedItems[1]);
+
+		// joints between segments of different widths are not trivial.
+		return (seg1->GetWidth() == seg2->GetWidth());
+	}
+
+	///> Links the joint to a given board item (when it's added to the PNS_NODE)
+	void Link ( PNS_ITEM *aItem )
+	{
+		LinkedItems::iterator f = std::find(m_linkedItems.begin(), m_linkedItems.end(), aItem);
+		if(f != m_linkedItems.end())
+			return;
+		m_linkedItems.push_back(aItem);
+	}
+
+	///> Unlinks a given board item from the joint (upon its removal from a PNS_NODE)
+	///> Returns true if the joint became dangling after unlinking.
+	bool Unlink ( PNS_ITEM *aItem )
+	{
+		LinkedItems::iterator f = std::find(m_linkedItems.begin(), m_linkedItems.end(), aItem);
+		if(f != m_linkedItems.end())
+			m_linkedItems.erase(f);
+		return (m_linkedItems.size() == 0);
+	}
+
+	///> For trivial joints, returns the segment adjacent to (aCurrent). For non-trival ones, returns 
+	///> NULL, indicating the end of line.
+	PNS_SEGMENT* NextSegment( PNS_SEGMENT* aCurrent) const
+	{
+		if(!IsLineCorner())
+			return NULL;
+		
+		return static_cast<PNS_SEGMENT *> (m_linkedItems [ m_linkedItems[0] == aCurrent ? 1 : 0 ] );
+	}
+
+	/// trivial accessors	
+	const HashTag& GetTag() const 	{ return m_tag; }
+	const VECTOR2I& GetPos() const 	{ return m_tag.pos; }
+	int GetNet() const 				{ return m_tag.net; }
+	LinkedItems & GetLinkList() 	{ return m_linkedItems; };
+
+	///> Returns the number of linked items of types listed in aMask.
+	int LinkCount( int aMask = -1 ) const
+	{
+		int n = 0;
+		for(LinkedItems::const_iterator i = m_linkedItems.begin(); i!= m_linkedItems.end(); ++i)
+			if( (*i)->GetKind() & aMask )
+				n++;
+		return n;
+	}
+
+	void Dump() const;
+	
+	bool operator==(const PNS_JOINT& rhs)  const
+	{
+		return m_tag.pos == rhs.m_tag.pos && m_tag.net == rhs.m_tag.net;
+	}
+
+	void Merge( const PNS_JOINT& aJoint )
+	{
+		if(!Overlaps(aJoint))
+			return;
+		
+		m_layers.Merge (aJoint.m_layers);
+
+		// fixme: duplicate links (?)
+		for(LinkedItems::const_iterator i =aJoint.m_linkedItems.begin(); i!=aJoint.m_linkedItems.end();++i)
+			m_linkedItems.push_back(*i);
+	}
+
+	bool Overlaps(const PNS_JOINT& rhs) const
+	{
+		return m_tag.pos == rhs.m_tag.pos && m_tag.net == rhs.m_tag.net && m_layers.Overlaps(rhs.m_layers);
+	}
+
+private:
+
+	///> hash tag for unordered_multimap
+	HashTag m_tag;
+
+	///> list of items linked to this joint
+	LinkedItems m_linkedItems;
+};
+
+
+// hash function & comparison operator for boost::unordered_map<>
+inline bool operator==(PNS_JOINT::HashTag const& p1, PNS_JOINT::HashTag const& p2)
+{
+    return p1.pos == p2.pos && p1.net == p2.net;
+}
+
+inline std::size_t hash_value(PNS_JOINT::HashTag const& p) 
+{
+    std::size_t seed = 0;
+    boost::hash_combine(seed, p.pos.x);
+    boost::hash_combine(seed, p.pos.y);
+    boost::hash_combine(seed, p.net);
+    return seed;
+}
+
+#endif // __PNS_JOINT_H

pcbnew/router/pns_layerset.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_LAYERSET_H
+#define __PNS_LAYERSET_H
+
+#include <algorithm>
+
+/**
+ * Class PNS_LAYERSET
+ *
+ * Represents a contiguous set of PCB layers. 
+ */
+
+class PNS_LAYERSET
+{
+	public:
+
+		PNS_LAYERSET():
+			m_start(-1),
+			m_end(-1)
+			{};
+
+		PNS_LAYERSET (int aStart, int aEnd)
+		{
+			if(aStart > aEnd)
+				std::swap(aStart, aEnd);
+			m_start = aStart;
+			m_end = aEnd;
+		}
+
+		PNS_LAYERSET (int aLayer)
+		{
+			m_start = m_end = aLayer;
+		}
+
+		PNS_LAYERSET(const PNS_LAYERSET &b) :
+			m_start(b.m_start),
+			m_end (b.m_end)
+			{}
+
+		~PNS_LAYERSET () {};
+
+		const PNS_LAYERSET& operator= ( const PNS_LAYERSET& b)
+		{
+			m_start = b.m_start;
+			m_end = b.m_end;
+			return *this;
+		}
+
+		bool Overlaps ( const PNS_LAYERSET& aOther ) const
+		{
+			return m_end >= aOther.m_start && m_start <= aOther.m_end;
+		}
+
+		bool Overlaps ( const int aLayer ) const
+		{
+			return aLayer >= m_start && aLayer <= m_end;
+		}
+
+		bool IsMultilayer ( ) const
+		{
+			return m_start != m_end;
+		}
+
+		int Start() const {
+			return m_start;
+		}
+
+		int End() const {
+			return m_end;
+		}
+
+		void Merge ( const PNS_LAYERSET& aOther )
+		{
+			if(m_start < 0 || m_end < 0)
+			{
+				m_start = aOther.m_start;
+				m_end = aOther.m_end;
+				return;
+			} 	
+
+			if(aOther.m_start < m_start)
+				m_start = aOther.m_start;
+			if(aOther.m_end > m_end)
+				m_end = aOther.m_end;
+		}
+
+		///> Shortcut for comparisons/overlap tests
+		static PNS_LAYERSET All()
+		{
+			return PNS_LAYERSET(0, 256);
+		}
+
+	private:
+
+		int m_start;
+		int m_end;
+};
+
+#endif // __PNS_LAYERSET_H

pcbnew/router/pns_line.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_LINE_H
+#define __PNS_LINE_H
+
+#include <math/vector2d.h>
+
+#include <geometry/seg.h>
+#include <geometry/shape.h>
+#include <geometry/shape_line_chain.h>
+
+#include "direction.h"
+#include "pns_item.h"
+#include "pns_via.h"
+
+class PNS_NODE;
+class PNS_SEGMENT;
+class PNS_VIA;
+
+/**
+ * Class PNS_LINE
+ *
+ * Represents a track on a PCB, connecting two non-trivial joints (that is, vias, pads, 
+ * junctions between multiple traces or two traces different widths and combinations of these).
+ * PNS_LINEs are NOT stored in the model (PNS_NODE) - instead, they are assembled on-the-fly, based on 
+ * a via/pad/segment that belongs/begins them.
+ *
+ * PNS_LINEs can be either loose (consisting of segments that do not belong to any PNS_NODE) or owned (with segments
+ * taken from a PNS_NODE) - these are returned by PNS_NODE::AssembleLine and friends.
+ * 
+ * A PNS_LINE may have a PNS_VIA attached at its and - this is used by via dragging/force propagation stuff.
+ */
+
+class PNS_LINE : public PNS_ITEM 
+{
+public:
+	typedef std::vector<PNS_SEGMENT *> LinkedSegments;
+
+	PNS_LINE ():
+		PNS_ITEM(LINE)
+		{
+				m_segmentRefs = NULL;
+				m_hasVia = false;
+				m_affectedRangeStart = -1;
+		};
+
+	PNS_LINE (int aLayer, int aWidth, const SHAPE_LINE_CHAIN& aLine) : 
+		PNS_ITEM(LINE)
+			{
+				m_line = aLine;
+				m_width = aWidth;
+				m_segmentRefs = NULL;
+				m_hasVia = false;
+				m_affectedRangeStart = -1;
+				SetLayer(aLayer);
+
+			}
+
+	PNS_LINE(const PNS_LINE& aOther) :
+		PNS_ITEM(aOther), 
+		m_line(aOther.m_line), 
+		m_width(aOther.m_width)
+	{
+		m_net = aOther.m_net;	
+		m_movable = aOther.m_movable;
+		m_world = aOther.m_world;
+		m_layers = aOther.m_layers;
+		m_segmentRefs = NULL;
+		m_via = aOther.m_via;
+		m_hasVia = aOther.m_hasVia;
+		m_affectedRangeStart = -1;
+	}
+
+	/**
+	 * Constructor
+	 * copies properties (net, layers from a base line), and replaces the shape
+	 * by aLine 
+	 **/
+	PNS_LINE(const PNS_LINE& aBase, const SHAPE_LINE_CHAIN& aLine) :
+		PNS_ITEM(aBase),
+		m_line(aLine), 
+		m_width(aBase.m_width) 
+	{
+		m_net = aBase.m_net;
+		m_layers = aBase.m_layers;
+		m_segmentRefs = NULL;
+		m_hasVia = false;
+		m_affectedRangeStart = -1;
+	}	
+
+	~PNS_LINE ()
+	{
+		if(m_segmentRefs)
+			delete m_segmentRefs;
+	};
+	
+	virtual PNS_LINE *Clone() const ;
+	
+	///> clones the line without cloning the shape (just the properties - net, width, layers, etc.)
+	PNS_LINE *CloneProperties() const ;
+	
+	int GetLayer() const { return GetLayers().Start(); }
+
+	///> Geometry accessors
+	void SetShape(const SHAPE_LINE_CHAIN& aLine) 		{ m_line = aLine; }
+	const SHAPE* GetShape() const  						{ return &m_line; }
+	SHAPE_LINE_CHAIN& GetLine() 						{ return m_line; }
+	const SHAPE_LINE_CHAIN& GetCLine() const 			{ return m_line; }
+
+	///> Width accessors
+	void SetWidth( int aWidth ) 						{ m_width = aWidth; }
+	int GetWidth () const 								{ return m_width; }
+
+	///> Links a segment from a PNS_NODE to this line, making it owned by the node
+	void LinkSegment(PNS_SEGMENT *aSeg)
+	{
+		if(!m_segmentRefs)
+			m_segmentRefs = new std::vector<PNS_SEGMENT *> ();
+		m_segmentRefs->push_back(aSeg);
+	}
+
+	///> Returns a list of segments from the owning node that constitute this line (or NULL if
+	///> the line is loose)
+	LinkedSegments* GetLinkedSegments() 
+	{
+		return m_segmentRefs;
+	}
+
+	bool ContainsSegment (PNS_SEGMENT *aSeg) const
+	{
+		if (!m_segmentRefs)
+			return false;
+
+		return std::find( m_segmentRefs->begin(), m_segmentRefs->end(), aSeg) != m_segmentRefs->end();
+	}
+
+	///> Returns this line, but clipped to the nearest obstacle along, to avoid collision.
+	const PNS_LINE ClipToNearestObstacle( PNS_NODE *aNode ) const;
+	
+	///> DEPRECATED optimization functions (moved to PNS_OPTIMIZER)
+	bool MergeObtuseSegments();
+	bool MergeSegments();
+	
+	///> Returns the number of corners of angles specified by mask aAngles.
+	int CountCorners(int aAngles);
+
+
+	///> Calculates a line thightly wrapping a convex hull of an obstacle object (aObstacle).
+	///> aPrePath = path from origin to the obstacle
+	///> aWalkaroundPath = path around the obstacle
+	///> aPostPath = past from obstacle till the end
+	///> aCW = whether to walkaround in clockwise or counter-clockwise direction.
+	void NewWalkaround( const SHAPE_LINE_CHAIN& aObstacle, 
+ 							  SHAPE_LINE_CHAIN& aPrePath,
+					 		  SHAPE_LINE_CHAIN& aWalkaroundPath,
+					 		  SHAPE_LINE_CHAIN& aPostPath,
+					 		  bool aCw ) const;
+
+	void NewWalkaround( const SHAPE_LINE_CHAIN& aObstacle, 
+ 							  SHAPE_LINE_CHAIN& aPath,
+					 		  bool aCw ) const;
+	
+	
+	bool Walkaround(SHAPE_LINE_CHAIN obstacle, SHAPE_LINE_CHAIN &pre, SHAPE_LINE_CHAIN &walk, SHAPE_LINE_CHAIN &post, bool cw) const;
+
+	void Walkaround( const SHAPE_LINE_CHAIN& aObstacle, 
+ 							  SHAPE_LINE_CHAIN& aPath,
+					 		  bool aCw ) const;
+	
+
+	bool Is45Degree();
+
+	///> Prints out all linked segments	
+	void ShowLinks();
+
+	bool EndsWithVia() const {	return m_hasVia; }
+	
+	void AppendVia ( const PNS_VIA &aVia ) {
+		m_hasVia = true;
+		m_via = aVia;
+		m_via.SetNet ( m_net ) ;
+	}
+
+	void RemoveVia() 				{ m_hasVia = false; }
+	const PNS_VIA& GetVia() const 	{ return m_via; }
+
+	void SetAffectedRange ( int aStart, int aEnd )
+	{
+		m_affectedRangeStart = aStart;
+		m_affectedRangeEnd = aEnd;
+	}
+
+	void ClearAffectedRange ( )
+	{
+		m_affectedRangeStart = -1;
+	}
+
+	bool GetAffectedRange ( int& aStart, int& aEnd )
+	{
+		if(m_affectedRangeStart >= 0)
+		{
+			aStart = m_affectedRangeStart;
+			aEnd = m_affectedRangeEnd;
+			return true;
+		} else {
+			aStart = 0;
+			aEnd = m_line.PointCount();
+			return false;
+		}
+	}
+
+private:
+	bool onEdge(const SHAPE_LINE_CHAIN &obstacle, VECTOR2I p, int& ei, bool& is_vertex) const;
+	bool walkScan(const SHAPE_LINE_CHAIN &line, const SHAPE_LINE_CHAIN &obstacle, bool reverse, VECTOR2I &ip, int& index_o, int& index_l, bool& is_vertex) const;
+	
+	///> List of semgments in a PNS_NODE (PNS_ITEM::m_owner) that constitute this line.
+	LinkedSegments* m_segmentRefs;
+	
+	///> Shape of the line
+	SHAPE_LINE_CHAIN m_line;
+	
+	int m_width;
+	///> Via at the end and a flag indicating if it's enabled.
+	PNS_VIA m_via;
+	bool m_hasVia;
+
+	int m_affectedRangeStart;
+	int m_affectedRangeEnd;
+};
+
+
+#endif // __PNS_LINE_H
+

pcbnew/router/pns_line_placer.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+
+#ifndef __PNS_LINE_PLACER_H
+#define __PNS_LINE_PLACER_H
+
+#include <math/vector2d.h>
+
+#include <geometry/shape.h>
+#include <geometry/shape_line_chain.h>
+
+#include "pns_node.h"
+#include "pns_via.h"
+#include "pns_line.h"
+#include "pns_routing_settings.h"
+ 
+class PNS_ROUTER;
+class PNS_SHOVE;
+class PNS_OPTIMIZER;
+class PNS_ROUTER_BASE;
+
+/**
+ * Class PNS_LINE_PLACER
+ *
+ * Interactively routes a single track. Runs shove and walkaround algorithms when needed.
+ */
+
+class PNS_LINE_PLACER
+{
+	public:
+		PNS_LINE_PLACER( PNS_NODE *aWorld );
+		~PNS_LINE_PLACER();
+
+		///> Appends a via at the end of currently placed line.		
+		void AddVia ( bool aEnabled, int aDiameter, int aDrill )
+		{
+			m_viaDiameter = aDiameter;
+			m_viaDrill = aDrill;
+			m_placingVia = aEnabled;
+		}
+
+		///> Starts placement of a line at point aStart.
+		void StartPlacement(const VECTOR2I& aStart, int aNet, int aWidth, int aLayer);
+		
+		///> Updates the routed line with a new ending point.
+		bool Route(const VECTOR2I& aP);
+		
+		///> Sets initial routing direction/posture
+		void SetInitialDirection(const DIRECTION_45& aDirection);
+		
+		void ApplySettings ( const PNS_ROUTING_SETTINGS& aSettings );
+
+		///> Returns the "head" of the line being placed, that is the volatile part that has not been settled yet
+		const PNS_LINE& GetHead() const	{ return m_head; }
+		///> Returns the "tail" of the line being placed the part that has been fixed already (follow mouse mode only)
+		const PNS_LINE& GetTail() const { return m_tail; }
+
+		///> Returns the whole routed line
+		const PNS_LINE GetTrace() const;
+
+		///> Returns the current end of the line being placed. It may not be equal to the cursor position due to collisions.
+		const VECTOR2I& CurrentEnd() const
+		{
+			if(m_head.GetCLine().PointCount() > 0)
+				return m_head.GetCLine().CPoint(-1);
+			else if(m_tail.GetCLine().PointCount() > 0)
+				return m_tail.GetCLine().CPoint(-1);
+			else
+				return m_p_start;
+		}
+
+
+		///> Returns all items in the world that have been affected by the routing operation. Used
+		///  to update data structures of the host application
+		void GetUpdatedItems( PNS_NODE::ItemVector& aRemoved,  PNS_NODE::ItemVector& aAdded);
+		
+		///> Toggles the current posture (straight/diagonal) of the trace head.
+		void FlipPosture();
+
+		///> Returns the most recent world state 
+		PNS_NODE *GetCurrentNode() const;
+
+	private:
+	
+		static const double m_shoveLengthThreshold = 1.7;
+
+		bool handleViaPlacement ( PNS_LINE& aHead );
+
+		bool checkObtusity(const SEG& a, const SEG& b) const;
+		bool handleSelfIntersections();
+		bool handlePullback();
+		bool mergeHead();
+		bool reduceTail(const VECTOR2I& aEnd); 
+		void fixHeadPosture();
+		bool optimizeTailHeadTransition();
+		
+		bool routeHead(const VECTOR2I& aP, PNS_LINE& aNewHead, bool aCwWalkaround = true);
+		void routeStep(const VECTOR2I& aP);
+
+		///> routing mode (walkaround, shove, etc.)
+		PNS_MODE m_mode;
+		///> follow mouse trail by attaching new segments to the head as the cursor moves
+		bool m_follow_mouse;
+		///> mouse smoothing active
+		bool m_smooth_mouse;
+		///> mouse smoothing step (in world units)
+		int m_smoothing_step;
+		///> current routing direction
+		DIRECTION_45 m_direction;
+		///> routing direction for new traces
+		DIRECTION_45 m_initial_direction;
+		///> routing "head": volatile part of the track from the previously 
+		///  analyzed point to the current routing destination
+		PNS_LINE m_head;
+		///> routing "tail": part of the track that has been already fixed due to collisions with obstacles
+		PNS_LINE m_tail;
+		///> current algorithm iteration
+		int m_iteration;
+		///> pointer to world to search colliding items
+		PNS_NODE *m_world;
+		///> current routing start point (end of tail, beginning of head)
+		VECTOR2I m_p_start;
+		///> The shove engine
+		PNS_SHOVE *m_shove;
+		///> Current world state
+		PNS_NODE *m_currentNode;
+		///> Are we placing a via?
+		bool m_placingVia;
+		///> current via diameter
+		int m_viaDiameter;
+		///> current via drill
+		int m_viaDrill;
+		///> walkaround algorithm iteration limit
+		int m_walkaroundIterationLimit;
+		///> smart pads optimizer enabled.
+		bool m_smartPads;
+};
+		
+#endif // __PNS_LINE_PLACER_H

pcbnew/router/pns_node.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+#ifndef __PNS_NODE_H
+#define __PNS_NODE_H
+
+#include <vector>
+#include <list>
+
+#include <boost/unordered_set.hpp>
+#include <boost/unordered_map.hpp>
+#include <boost/optional.hpp>
+#include <boost/smart_ptr.hpp>
+
+#include <geometry/shape.h>
+#include <geometry/shape_line_chain.h>
+#include <geometry/shape_index.h>
+
+#include "pns_item.h"
+#include "pns_joint.h"
+#include "pns_itemset.h"
+
+class PNS_SEGMENT;
+class PNS_LINE;
+class PNS_SOLID;
+class PNS_VIA;
+class PNS_RATSNEST;
+class PNS_INDEX;
+
+using boost::shared_ptr;
+
+class PNS_CLEARANCE_FUNC {
+	public:
+		virtual int operator() ( const PNS_ITEM *a , const PNS_ITEM *b) = 0;
+};
+
+/**
+ * Struct PNS_OBSTACLE
+ *
+ * Holds an object colliding with another object, along with
+ * some useful data about the collision.
+ **/
+struct PNS_OBSTACLE 
+{
+	///> Item we search collisions with
+	PNS_ITEM *head;
+		
+	///> Item found to be colliding with head 
+	PNS_ITEM *item;
+
+	///> Hull of the colliding item
+	SHAPE_LINE_CHAIN hull;
+	
+	///> First and last intersection point between the head item and the hull of the 
+	//// colliding item
+	VECTOR2I ip_first, ip_last;
+	
+	///> ... and the distance thereof
+	int dist_first, dist_last;
+};
+
+/**
+ * Class PNS_NODE
+ *
+ * Keeps the router "world" - i.e. all the tracks, vias, solids in a hierarchical and indexed way. 
+ * Features:
+ * - spatial-indexed container for PCB item shapes
+ * - collision search (with clearance checking)
+ * - assembly of lines connecting joints, finding loops and unique paths
+ * - lightweight cloning/branching (for recursive optimization and shove springback)
+ **/
+
+class PNS_NODE {
+
+public:
+	
+	typedef boost::optional<PNS_OBSTACLE> OptObstacle;
+	typedef std::vector<PNS_ITEM *> ItemVector;
+	typedef std::vector<PNS_OBSTACLE> Obstacles;
+	typedef boost::optional<PNS_JOINT> OptJoint;
+
+	PNS_NODE ();
+	~PNS_NODE ();
+
+	///> Returns the expected clearance between items a and b.
+	int GetClearance(const PNS_ITEM *a, const PNS_ITEM *b) const;
+	
+	///> Returns the pre-set worst case clearance between any pair of items
+	int GetMaxClearance() const
+	{
+		return m_maxClearance;
+	}
+
+	void SetMaxClearance( int aClearance ) 
+	{
+		m_maxClearance = aClearance;
+	}
+
+	void SetClearanceFunctor (PNS_CLEARANCE_FUNC *aFunc)
+	{
+		m_clearanceFunctor = aFunc;
+	}
+
+	///> Finds items that collide with aItem and stores collision information in aObstacles.
+	int QueryColliding( const PNS_ITEM* aItem, Obstacles& aObstacles, int aKindMask = PNS_ITEM::ANY, int aLimitCount = -1);
+
+	///> Finds the nearest item that collides with aItem.
+	OptObstacle NearestObstacle( const PNS_LINE *aItem, int aKindMask = PNS_ITEM::ANY);
+
+	///> Checks if the item collides with anything else in the world, and returns it if so.
+	OptObstacle CheckColliding ( const PNS_ITEM *aItem, int aKindMask = PNS_ITEM::ANY);
+
+	///> Checks if two items collide [deprecated].
+	bool CheckColliding( const PNS_ITEM *aItemA, const PNS_ITEM *aItemB, int aKindMask = PNS_ITEM::ANY);
+
+	///> Hit detection
+	const PNS_ITEMSET HitTest( const VECTOR2I& aPoint );
+
+	void Add(PNS_ITEM *aItem);
+	void Remove(PNS_ITEM *aItem);
+	void Replace(PNS_ITEM *aOldItem, PNS_ITEM *aNewItem);
+
+	///> Creates a lightweight copy ("branch") of self. Note that if there are any branches
+	///  in use, their parents must NOT be deleted.
+	PNS_NODE *Branch();
+
+	///> Assembles a line connecting two non-trivial joints the segment aSeg belongs to.
+	PNS_LINE *AssembleLine(PNS_SEGMENT *aSeg, const OptJoint& a = OptJoint(), const OptJoint& b = OptJoint());
+	
+	///> Dumps the contents and joints structure	
+	void Dump(bool aLong = false);
+
+	///> Returns the number of joints
+	int JointCount() const
+	{
+		return m_joints.size();
+	}
+
+	///> Returns the lists of items removed and added in this branch, with respect
+	///> to the root.	
+	void GetUpdatedItems( ItemVector& aRemoved,  ItemVector& aAdded);
+
+	///> Copies the changes from a given branch (aNode) to the root. Called on 
+	///> a non-root branch will fail.
+	void Commit (PNS_NODE *aNode);
+
+	///> finds a joint at a given position, layer and nets
+	const OptJoint FindJoint(const VECTOR2I &aPos, int aLayer, int aNet);
+
+	///> finds all linest between a pair of joints. Used by the loop removal engine.
+	int FindLinesBetweenJoints( PNS_JOINT& a, PNS_JOINT& b, std::vector<PNS_LINE *> &aLines );
+
+	///> finds the joints corresponding to the ends of line aLine
+	void FindLineEnds (PNS_LINE *aLine, PNS_JOINT& a, PNS_JOINT& b );
+
+	///> finds all joints that have an (in)direct connection(s) (i.e. segments/vias) with the joint aJoint.
+	void FindConnectedJoints( const PNS_JOINT& aJoint, std::vector<PNS_JOINT *> &aConnectedJoints );
+
+	///> Destroys all child nodes. Applicable only to the root node.
+	void KillChildren();
+
+	void AllItemsInNet ( int aNet, std::list<PNS_ITEM *>& aItems);
+
+private:
+
+	struct obstacleVisitor;
+	typedef boost::unordered_multimap<PNS_JOINT::HashTag, PNS_JOINT> JointMap;	
+	typedef JointMap::value_type TagJointPair;
+
+	/// nodes are not copyable
+	PNS_NODE( const PNS_NODE& b);
+	PNS_NODE &operator=(const PNS_NODE& b);
+	
+	///> tries to find matching joint and creates a new one if not found
+	PNS_JOINT& touchJoint( const VECTOR2I& aPos, const PNS_LAYERSET& aLayers, int aNet );
+	
+	///> touches a joint and links it to an item
+	void linkJoint( const VECTOR2I& aPos, const PNS_LAYERSET& aLayers, int aNet, PNS_ITEM *aWhere );
+
+	///> unlinks an item from a joint
+	void unlinkJoint( const VECTOR2I& aPos, const PNS_LAYERSET& aLayers, int aNet, PNS_ITEM *aWhere );
+	
+		///> helpers for adding/removing items
+
+	void addSolid( PNS_SOLID *aSeg );
+	void addSegment( PNS_SEGMENT *aSeg );
+	void addLine( PNS_LINE *aLine );
+	void addVia( PNS_VIA *aVia );
+	void removeSolid( PNS_SOLID *aSeg );
+	void removeLine( PNS_LINE *aLine );
+	void removeSegment (PNS_SEGMENT *aSeg );
+	void removeVia (PNS_VIA *aVia );
+
+	void doRemove( PNS_ITEM *aItem );
+	void unlinkParent ( );
+	void releaseChildren ();
+	
+	bool isRoot() const 
+	{
+		return m_parent == NULL;
+	}
+
+	///> checks if this branch contains an updated version of the item from the root branch.
+	bool overrides ( PNS_ITEM * aItem ) const 
+	{
+		return m_override.find(aItem) != m_override.end();
+	}
+
+	///> scans the joint map, forming a line starting from segment (current). 
+	void followLine(PNS_SEGMENT *current, bool scanDirection, int& pos, int limit, VECTOR2I *corners, PNS_SEGMENT **segments);
+
+	///> spatial index of all items
+	//SHAPE_INDEX_LIST<PNS_ITEM *> m_items;
+	
+	///> hash table with the joints, linking the items. Joints are hashed by their
+	///> position, layer set and net. 
+	JointMap m_joints;
+
+	///> node this node was branched from
+	PNS_NODE *m_parent;
+
+	///> root node of the whole hierarchy
+	PNS_NODE *m_root;
+	
+	///> list of nodes branched from this one
+	std::vector<PNS_NODE *> m_children;
+
+	///> hash of root's items that are more recent in this node
+	boost::unordered_set<PNS_ITEM *> m_override;
+
+	///> worst case item-item clearance 
+	int m_maxClearance;
+	
+	///> Clearance resolution functor
+	PNS_CLEARANCE_FUNC *m_clearanceFunctor;
+
+	///> Geometric/Net index of the items
+	PNS_INDEX *m_index;
+
+	///> list of currently processed obstacles.
+	Obstacles m_obstacleList;
+};
+
+#endif

pcbnew/router/pns_routing_settings.h

+/*
+ * KiRouter - a push-and-(sometimes-)shove PCB router
+ *
+ * Copyright (C) 2013  CERN
+ * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
+ * 
+ * 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.or/licenses/>.
+ */
+ 
+#ifndef __PNS_ROUTER_SETTINGS
+#define __PNS_ROUTER_SETTINGS
+
+///> Routing modes
+enum PNS_MODE {
+	RM_Ignore = 0, ///> Ignore collisions
+	RM_Shove,      ///> Only shove
+	RM_Walkaround, ///> Only walkaround
+	RM_Smart       ///> Guess what's better
+};
+
+class PNS_ROUTING_SETTINGS 
+{
+	public:
+		PNS_MODE m_routingMode;
+
+		bool m_removeLoops;
+		bool m_smartPads;
+		bool m_suggestEnding;
+		bool m_shoveOnRequest;
+		bool m_changePostures;
+		bool m_followMouse;
+
+		int m_lineWidth;
+		int m_viaDiameter;
+		int m_viaDrill;
+		int m_preferredLayer;
+		int m_walkaroundIterationLimit;
+		int m_shoveIterationLimit;
+};
+
+#endif
+