fix: guide cross-layer routes through legal transition regions - #144
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ShiboSoftwareDev wants to merge 6 commits into
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fix: guide cross-layer routes through legal transition regions#144ShiboSoftwareDev wants to merge 6 commits into
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Problem
For cross-layer routes, the A* heuristic only measured XY distance to the goal. It could spend its iteration budget near the goal on the wrong layer instead of moving toward an existing legal layer-change region.
Fix
During setup, each cross-layer route now selects the cheapest existing ordinary region that:
While the route is still on its start layer, the heuristic estimates distance through that region and includes its normal via cost. After the layer changes, the existing direct-distance estimate is used.
This changes search order only. It does not create connectivity, add a region type, permit a via, or weaken collision checks.
Snapshot
This PR is stacked on #143 and uses the same unchanged fixture. The bottom view now contains one completed path: it leaves the nearby dead ends, crosses layers in the ordinary multilayer region, and reaches the goal on
z1.Hosted verification
All checks and snapshot generation ran in GitHub Actions. No project command was run locally.