@tscircuit/curvy-trace-solver 0.0.3 → 0.0.4

package/lib/CurvyTraceSolver.ts

@@ -1,775 +0,0 @@
-import { BaseSolver } from "@tscircuit/solver-utils"
-import type { CurvyTraceProblem, OutputTrace, WaypointPair } from "./types"
-import type { GraphicsObject } from "graphics-debug"
-import type { Point, Bounds } from "@tscircuit/math-utils"
-import { visualizeCurvyTraceProblem } from "./visualization-utils"
-import { getObstacleOuterSegments } from "./geometry/getObstacleOuterSegments"
-
-interface TraceWithControlPoints {
-  waypointPair: WaypointPair
-  ctrl1: Point
-  ctrl2: Point
-  networkId?: string
-  t1: number
-  t2: number
-}
-
-// Get perimeter position for a point on the boundary
-function getPerimeterT(p: Point, bounds: Bounds): number {
-  const { minX, maxX, minY, maxY } = bounds
-  const W = maxX - minX
-  const H = maxY - minY
-  const eps = 1e-6
-
-  if (Math.abs(p.y - maxY) < eps) return p.x - minX
-  if (Math.abs(p.x - maxX) < eps) return W + (maxY - p.y)
-  if (Math.abs(p.y - minY) < eps) return W + H + (maxX - p.x)
-  if (Math.abs(p.x - minX) < eps) return 2 * W + H + (p.y - minY)
-  return 0
-}
-
-// Get point on perimeter at position t
-function getPerimeterPoint(t: number, bounds: Bounds): Point {
-  const { minX, maxX, minY, maxY } = bounds
-  const W = maxX - minX
-  const H = maxY - minY
-  const perimeter = 2 * W + 2 * H
-  t = ((t % perimeter) + perimeter) % perimeter
-
-  if (t <= W) return { x: minX + t, y: maxY }
-  if (t <= W + H) return { x: maxX, y: maxY - (t - W) }
-  if (t <= 2 * W + H) return { x: maxX - (t - W - H), y: minY }
-  return { x: minX, y: minY + (t - 2 * W - H) }
-}
-
-// Inline bezier sampling for performance - returns points directly into provided array
-function sampleCubicBezierInline(
-  p0x: number,
-  p0y: number,
-  p1x: number,
-  p1y: number,
-  p2x: number,
-  p2y: number,
-  p3x: number,
-  p3y: number,
-  points: Float64Array,
-  numSamples: number,
-): void {
-  for (let i = 0; i <= numSamples; i++) {
-    const t = i / numSamples
-    const mt = 1 - t
-    const mt2 = mt * mt
-    const mt3 = mt2 * mt
-    const t2 = t * t
-    const t3 = t2 * t
-    const idx = i * 2
-    points[idx] = mt3 * p0x + 3 * mt2 * t * p1x + 3 * mt * t2 * p2x + t3 * p3x
-    points[idx + 1] =
-      mt3 * p0y + 3 * mt2 * t * p1y + 3 * mt * t2 * p2y + t3 * p3y
-  }
-}
-
-// Sample a cubic bezier curve into Point array
-function sampleCubicBezier(
-  p0: Point,
-  p1: Point,
-  p2: Point,
-  p3: Point,
-  numSamples: number,
-): Point[] {
-  const points: Point[] = []
-  for (let i = 0; i <= numSamples; i++) {
-    const t = i / numSamples
-    const mt = 1 - t
-    const mt2 = mt * mt
-    const mt3 = mt2 * mt
-    const t2 = t * t
-    const t3 = t2 * t
-    points.push({
-      x: mt3 * p0.x + 3 * mt2 * t * p1.x + 3 * mt * t2 * p2.x + t3 * p3.x,
-      y: mt3 * p0.y + 3 * mt2 * t * p1.y + 3 * mt * t2 * p2.y + t3 * p3.y,
-    })
-  }
-  return points
-}
-
-// Point to segment distance squared
-function ptSegDistSq(
-  px: number,
-  py: number,
-  sx: number,
-  sy: number,
-  ex: number,
-  ey: number,
-): number {
-  const dx = ex - sx
-  const dy = ey - sy
-  const lenSq = dx * dx + dy * dy
-  if (lenSq === 0) {
-    const dpx = px - sx
-    const dpy = py - sy
-    return dpx * dpx + dpy * dpy
-  }
-  const t = Math.max(0, Math.min(1, ((px - sx) * dx + (py - sy) * dy) / lenSq))
-  const projX = sx + t * dx
-  const projY = sy + t * dy
-  const dpx = px - projX
-  const dpy = py - projY
-  return dpx * dpx + dpy * dpy
-}
-
-// Inlined segment-to-segment distance squared for hot path
-function segmentDistSq(
-  a1x: number,
-  a1y: number,
-  a2x: number,
-  a2y: number,
-  b1x: number,
-  b1y: number,
-  b2x: number,
-  b2y: number,
-): number {
-  // Check for intersection first
-  const d1 = (b2x - b1x) * (a1y - b1y) - (b2y - b1y) * (a1x - b1x)
-  const d2 = (b2x - b1x) * (a2y - b1y) - (b2y - b1y) * (a2x - b1x)
-  const d3 = (a2x - a1x) * (b1y - a1y) - (a2y - a1y) * (b1x - a1x)
-  const d4 = (a2x - a1x) * (b2y - a1y) - (a2y - a1y) * (b2x - a1x)
-
-  if (
-    ((d1 > 0 && d2 < 0) || (d1 < 0 && d2 > 0)) &&
-    ((d3 > 0 && d4 < 0) || (d3 < 0 && d4 > 0))
-  ) {
-    return 0
-  }
-
-  return Math.min(
-    ptSegDistSq(a1x, a1y, b1x, b1y, b2x, b2y),
-    ptSegDistSq(a2x, a2y, b1x, b1y, b2x, b2y),
-    ptSegDistSq(b1x, b1y, a1x, a1y, a2x, a2y),
-    ptSegDistSq(b2x, b2y, a1x, a1y, a2x, a2y),
-  )
-}
-
-// Check if chord A contains chord B
-function chordContains(
-  aT1: number,
-  aT2: number,
-  bT1: number,
-  bT2: number,
-  perimeter: number,
-): boolean {
-  const normalize = (t: number) => ((t % perimeter) + perimeter) % perimeter
-  const a1 = normalize(aT1),
-    a2 = normalize(aT2)
-  const b1 = normalize(bT1),
-    b2 = normalize(bT2)
-  const [aMin, aMax] = a1 < a2 ? [a1, a2] : [a2, a1]
-  return b1 > aMin && b1 < aMax && b2 > aMin && b2 < aMax
-}
-
-function getBoundsCenter(bounds: Bounds): Point {
-  return {
-    x: (bounds.minX + bounds.maxX) / 2,
-    y: (bounds.minY + bounds.maxY) / 2,
-  }
-}
-
-// Compute bounding box for a sampled trace
-function computeTraceBounds(
-  points: Float64Array,
-  numPoints: number,
-): { minX: number; maxX: number; minY: number; maxY: number } {
-  let minX = Infinity,
-    maxX = -Infinity,
-    minY = Infinity,
-    maxY = -Infinity
-  for (let i = 0; i < numPoints; i++) {
-    const x = points[i * 2],
-      y = points[i * 2 + 1]
-    if (x < minX) minX = x
-    if (x > maxX) maxX = x
-    if (y < minY) minY = y
-    if (y > maxY) maxY = y
-  }
-  return { minX, maxX, minY, maxY }
-}
-
-const OPT_SAMPLES = 5 // Samples during optimization
-const OUTPUT_SAMPLES = 20 // Samples for final output
-
-export class CurvyTraceSolver extends BaseSolver {
-  outputTraces: OutputTrace[] = []
-  private traces: TraceWithControlPoints[] = []
-  private optimizationStep = 0
-  private readonly maxOptimizationSteps = 100
-
-  // Typed arrays for faster sampling
-  private sampledPoints: Float64Array[] = []
-  private traceBounds: {
-    minX: number
-    maxX: number
-    minY: number
-    maxY: number
-  }[] = []
-
-  // Pre-computed obstacle segments as flat arrays
-  private obstacleSegments: Float64Array = new Float64Array(0)
-  private obstacleNetworkIds: (string | undefined)[] = []
-  private numObstacleSegments = 0
-
-  // Collision pairs cache - which traces can possibly collide
-  private collisionPairs: [number, number][] = []
-
-  private lastCost = Infinity
-  private stagnantSteps = 0
-
-  constructor(public problem: CurvyTraceProblem) {
-    super()
-    for (const obstacle of this.problem.obstacles) {
-      obstacle.outerSegments = getObstacleOuterSegments(obstacle)
-    }
-    this.precomputeObstacles()
-  }
-
-  override getConstructorParams() {
-    return this.problem
-  }
-
-  private precomputeObstacles() {
-    const { obstacles } = this.problem
-    let totalSegments = 0
-    for (const obs of obstacles) {
-      if (obs.outerSegments) totalSegments += obs.outerSegments.length
-    }
-
-    this.obstacleSegments = new Float64Array(totalSegments * 4)
-    this.obstacleNetworkIds = []
-    this.numObstacleSegments = totalSegments
-
-    let idx = 0
-    for (const obs of obstacles) {
-      if (obs.outerSegments) {
-        for (const seg of obs.outerSegments) {
-          this.obstacleSegments[idx++] = seg[0].x
-          this.obstacleSegments[idx++] = seg[0].y
-          this.obstacleSegments[idx++] = seg[1].x
-          this.obstacleSegments[idx++] = seg[1].y
-          this.obstacleNetworkIds.push(obs.networkId)
-        }
-      }
-    }
-  }
-
-  private initializeTraces() {
-    const { bounds, waypointPairs } = this.problem
-    const { minX, maxX, minY, maxY } = bounds
-    const W = maxX - minX
-    const H = maxY - minY
-    const perimeter = 2 * W + 2 * H
-    const center = getBoundsCenter(bounds)
-
-    const tracesWithT = waypointPairs.map((pair, idx) => ({
-      pair,
-      t1: getPerimeterT(pair.start, bounds),
-      t2: getPerimeterT(pair.end, bounds),
-      idx,
-    }))
-
-    const nestingDepth = new Map<number, number>()
-    for (const trace of tracesWithT) {
-      let depth = 0
-      for (const other of tracesWithT) {
-        if (
-          trace.idx !== other.idx &&
-          chordContains(other.t1, other.t2, trace.t1, trace.t2, perimeter)
-        ) {
-          depth++
-        }
-      }
-      nestingDepth.set(trace.idx, depth)
-    }
-
-    const maxDepth = Math.max(...Array.from(nestingDepth.values()), 1)
-
-    this.traces = tracesWithT.map(({ pair, t1, t2, idx }) => {
-      let dt = t2 - t1
-      if (dt > perimeter / 2) dt -= perimeter
-      if (dt < -perimeter / 2) dt += perimeter
-
-      const tCtrl1 = t1 + dt * 0.33
-      const tCtrl2 = t1 + dt * 0.67
-
-      const pPerim1 = getPerimeterPoint(tCtrl1, bounds)
-      const pPerim2 = getPerimeterPoint(tCtrl2, bounds)
-
-      const pLinear1 = {
-        x: pair.start.x + (pair.end.x - pair.start.x) * 0.33,
-        y: pair.start.y + (pair.end.y - pair.start.y) * 0.33,
-      }
-      const pLinear2 = {
-        x: pair.start.x + (pair.end.x - pair.start.x) * 0.67,
-        y: pair.start.y + (pair.end.y - pair.start.y) * 0.67,
-      }
-
-      const midPoint = {
-        x: (pair.start.x + pair.end.x) / 2,
-        y: (pair.start.y + pair.end.y) / 2,
-      }
-      const distToCenter = Math.hypot(
-        midPoint.x - center.x,
-        midPoint.y - center.y,
-      )
-      const maxDist = Math.hypot(W / 2, H / 2)
-      const spatialDepth = 1 - distToCenter / maxDist
-
-      const depth = nestingDepth.get(idx) || 0
-      const normalizedDepth = depth / maxDepth
-
-      const basePull = 0.3 + spatialDepth * 0.4
-      const pullAmount = Math.max(0.05, basePull - normalizedDepth * 0.2)
-
-      return {
-        waypointPair: pair,
-        ctrl1: {
-          x: pLinear1.x * (1 - pullAmount) + pPerim1.x * pullAmount,
-          y: pLinear1.y * (1 - pullAmount) + pPerim1.y * pullAmount,
-        },
-        ctrl2: {
-          x: pLinear2.x * (1 - pullAmount) + pPerim2.x * pullAmount,
-          y: pLinear2.y * (1 - pullAmount) + pPerim2.y * pullAmount,
-        },
-        networkId: pair.networkId,
-        t1,
-        t2,
-      }
-    })
-
-    // Initialize typed arrays for sampling
-    this.sampledPoints = this.traces.map(
-      () => new Float64Array((OPT_SAMPLES + 1) * 2),
-    )
-    this.traceBounds = this.traces.map(() => ({
-      minX: 0,
-      maxX: 0,
-      minY: 0,
-      maxY: 0,
-    }))
-
-    this.updateSampledTraces()
-    this.updateCollisionPairs()
-  }
-
-  private updateSampledTraces() {
-    for (let i = 0; i < this.traces.length; i++) {
-      const trace = this.traces[i]
-      sampleCubicBezierInline(
-        trace.waypointPair.start.x,
-        trace.waypointPair.start.y,
-        trace.ctrl1.x,
-        trace.ctrl1.y,
-        trace.ctrl2.x,
-        trace.ctrl2.y,
-        trace.waypointPair.end.x,
-        trace.waypointPair.end.y,
-        this.sampledPoints[i],
-        OPT_SAMPLES,
-      )
-      this.traceBounds[i] = computeTraceBounds(
-        this.sampledPoints[i],
-        OPT_SAMPLES + 1,
-      )
-    }
-  }
-
-  private updateSingleTraceSample(i: number) {
-    const trace = this.traces[i]
-    sampleCubicBezierInline(
-      trace.waypointPair.start.x,
-      trace.waypointPair.start.y,
-      trace.ctrl1.x,
-      trace.ctrl1.y,
-      trace.ctrl2.x,
-      trace.ctrl2.y,
-      trace.waypointPair.end.x,
-      trace.waypointPair.end.y,
-      this.sampledPoints[i],
-      OPT_SAMPLES,
-    )
-    this.traceBounds[i] = computeTraceBounds(
-      this.sampledPoints[i],
-      OPT_SAMPLES + 1,
-    )
-  }
-
-  // Determine which trace pairs could possibly collide based on bounding boxes
-  private updateCollisionPairs() {
-    const { preferredSpacing } = this.problem
-    this.collisionPairs = []
-
-    for (let i = 0; i < this.traces.length; i++) {
-      for (let j = i + 1; j < this.traces.length; j++) {
-        const ti = this.traces[i],
-          tj = this.traces[j]
-        if (ti.networkId && tj.networkId && ti.networkId === tj.networkId)
-          continue
-
-        const bi = this.traceBounds[i],
-          bj = this.traceBounds[j]
-        // Check if bounding boxes (expanded by preferredSpacing) overlap
-        if (
-          bi.maxX + preferredSpacing >= bj.minX &&
-          bj.maxX + preferredSpacing >= bi.minX &&
-          bi.maxY + preferredSpacing >= bj.minY &&
-          bj.maxY + preferredSpacing >= bi.minY
-        ) {
-          this.collisionPairs.push([i, j])
-        }
-      }
-    }
-  }
-
-  private computeTotalCost(): number {
-    const { preferredSpacing } = this.problem
-    const spacingSq = preferredSpacing * preferredSpacing
-    let cost = 0
-
-    // Cost between traces using collision pairs
-    for (const [i, j] of this.collisionPairs) {
-      const pi = this.sampledPoints[i],
-        pj = this.sampledPoints[j]
-
-      for (let a = 0; a < OPT_SAMPLES; a++) {
-        const a1x = pi[a * 2],
-          a1y = pi[a * 2 + 1]
-        const a2x = pi[(a + 1) * 2],
-          a2y = pi[(a + 1) * 2 + 1]
-
-        for (let b = 0; b < OPT_SAMPLES; b++) {
-          const b1x = pj[b * 2],
-            b1y = pj[b * 2 + 1]
-          const b2x = pj[(b + 1) * 2],
-            b2y = pj[(b + 1) * 2 + 1]
-
-          const distSq = segmentDistSq(a1x, a1y, a2x, a2y, b1x, b1y, b2x, b2y)
-          if (distSq < spacingSq) {
-            const dist = Math.sqrt(distSq)
-            cost += (preferredSpacing - dist) ** 2
-            if (distSq < 1e-18) cost += 20 * spacingSq
-          }
-        }
-      }
-    }
-
-    // Cost against obstacles
-    for (let i = 0; i < this.traces.length; i++) {
-      const trace = this.traces[i]
-      const pi = this.sampledPoints[i]
-      const bi = this.traceBounds[i]
-
-      for (let obsIdx = 0; obsIdx < this.numObstacleSegments; obsIdx++) {
-        if (
-          trace.networkId &&
-          this.obstacleNetworkIds[obsIdx] &&
-          trace.networkId === this.obstacleNetworkIds[obsIdx]
-        )
-          continue
-
-        const obsBase = obsIdx * 4
-        const ox1 = this.obstacleSegments[obsBase]
-        const oy1 = this.obstacleSegments[obsBase + 1]
-        const ox2 = this.obstacleSegments[obsBase + 2]
-        const oy2 = this.obstacleSegments[obsBase + 3]
-
-        // Quick bounds check
-        const obsMinX = Math.min(ox1, ox2),
-          obsMaxX = Math.max(ox1, ox2)
-        const obsMinY = Math.min(oy1, oy2),
-          obsMaxY = Math.max(oy1, oy2)
-        if (
-          bi.maxX + preferredSpacing < obsMinX ||
-          obsMaxX + preferredSpacing < bi.minX ||
-          bi.maxY + preferredSpacing < obsMinY ||
-          obsMaxY + preferredSpacing < bi.minY
-        )
-          continue
-
-        for (let a = 0; a < OPT_SAMPLES; a++) {
-          const a1x = pi[a * 2],
-            a1y = pi[a * 2 + 1]
-          const a2x = pi[(a + 1) * 2],
-            a2y = pi[(a + 1) * 2 + 1]
-
-          const distSq = segmentDistSq(a1x, a1y, a2x, a2y, ox1, oy1, ox2, oy2)
-          if (distSq < spacingSq) {
-            const dist = Math.sqrt(distSq)
-            cost += (preferredSpacing - dist) ** 2
-            if (distSq < 1e-18) cost += 20 * spacingSq
-          }
-        }
-      }
-    }
-
-    return cost
-  }
-
-  private computeCostForTrace(traceIdx: number): number {
-    const { preferredSpacing } = this.problem
-    const spacingSq = preferredSpacing * preferredSpacing
-    const trace = this.traces[traceIdx]
-    const pi = this.sampledPoints[traceIdx]
-    const bi = this.traceBounds[traceIdx]
-    let cost = 0
-
-    // Cost against other traces
-    for (let j = 0; j < this.traces.length; j++) {
-      if (j === traceIdx) continue
-      const other = this.traces[j]
-      if (
-        trace.networkId &&
-        other.networkId &&
-        trace.networkId === other.networkId
-      )
-        continue
-
-      const bj = this.traceBounds[j]
-      // Bounding box check
-      if (
-        bi.maxX + preferredSpacing < bj.minX ||
-        bj.maxX + preferredSpacing < bi.minX ||
-        bi.maxY + preferredSpacing < bj.minY ||
-        bj.maxY + preferredSpacing < bi.minY
-      )
-        continue
-
-      const pj = this.sampledPoints[j]
-      for (let a = 0; a < OPT_SAMPLES; a++) {
-        const a1x = pi[a * 2],
-          a1y = pi[a * 2 + 1]
-        const a2x = pi[(a + 1) * 2],
-          a2y = pi[(a + 1) * 2 + 1]
-
-        for (let b = 0; b < OPT_SAMPLES; b++) {
-          const b1x = pj[b * 2],
-            b1y = pj[b * 2 + 1]
-          const b2x = pj[(b + 1) * 2],
-            b2y = pj[(b + 1) * 2 + 1]
-
-          const distSq = segmentDistSq(a1x, a1y, a2x, a2y, b1x, b1y, b2x, b2y)
-          if (distSq < spacingSq) {
-            const dist = Math.sqrt(distSq)
-            cost += (preferredSpacing - dist) ** 2
-            if (distSq < 1e-18) cost += 20 * spacingSq
-          }
-        }
-      }
-    }
-
-    // Cost against obstacles
-    for (let obsIdx = 0; obsIdx < this.numObstacleSegments; obsIdx++) {
-      if (
-        trace.networkId &&
-        this.obstacleNetworkIds[obsIdx] &&
-        trace.networkId === this.obstacleNetworkIds[obsIdx]
-      )
-        continue
-
-      const obsBase = obsIdx * 4
-      const ox1 = this.obstacleSegments[obsBase]
-      const oy1 = this.obstacleSegments[obsBase + 1]
-      const ox2 = this.obstacleSegments[obsBase + 2]
-      const oy2 = this.obstacleSegments[obsBase + 3]
-
-      const obsMinX = Math.min(ox1, ox2),
-        obsMaxX = Math.max(ox1, ox2)
-      const obsMinY = Math.min(oy1, oy2),
-        obsMaxY = Math.max(oy1, oy2)
-      if (
-        bi.maxX + preferredSpacing < obsMinX ||
-        obsMaxX + preferredSpacing < bi.minX ||
-        bi.maxY + preferredSpacing < obsMinY ||
-        obsMaxY + preferredSpacing < bi.minY
-      )
-        continue
-
-      for (let a = 0; a < OPT_SAMPLES; a++) {
-        const a1x = pi[a * 2],
-          a1y = pi[a * 2 + 1]
-        const a2x = pi[(a + 1) * 2],
-          a2y = pi[(a + 1) * 2 + 1]
-
-        const distSq = segmentDistSq(a1x, a1y, a2x, a2y, ox1, oy1, ox2, oy2)
-        if (distSq < spacingSq) {
-          const dist = Math.sqrt(distSq)
-          cost += (preferredSpacing - dist) ** 2
-          if (distSq < 1e-18) cost += 20 * spacingSq
-        }
-      }
-    }
-
-    return cost
-  }
-
-  private optimizeStep() {
-    const { bounds } = this.problem
-    const { minX, maxX, minY, maxY } = bounds
-
-    // Adaptive step size
-    const progress = this.optimizationStep / this.maxOptimizationSteps
-    const baseStep = 3.5 * (1 - progress) + 0.5
-    const SQRT1_2 = Math.SQRT1_2
-
-    // Sort traces by cost (worst first)
-    const traceCosts: { idx: number; cost: number }[] = []
-    for (let i = 0; i < this.traces.length; i++) {
-      traceCosts.push({ idx: i, cost: this.computeCostForTrace(i) })
-    }
-    traceCosts.sort((a, b) => b.cost - a.cost)
-
-    for (const { idx: i, cost: currentCost } of traceCosts) {
-      if (currentCost === 0) continue
-
-      const trace = this.traces[i]
-      const steps = [baseStep, baseStep * 1.5, baseStep * 0.5]
-
-      for (const step of steps) {
-        const directions = [
-          { dx: step, dy: 0 },
-          { dx: -step, dy: 0 },
-          { dx: 0, dy: step },
-          { dx: 0, dy: -step },
-          { dx: step * SQRT1_2, dy: step * SQRT1_2 },
-          { dx: -step * SQRT1_2, dy: -step * SQRT1_2 },
-          { dx: step * SQRT1_2, dy: -step * SQRT1_2 },
-          { dx: -step * SQRT1_2, dy: step * SQRT1_2 },
-        ]
-
-        let bestCost = this.computeCostForTrace(i)
-        let bestCtrl1x = trace.ctrl1.x
-        let bestCtrl1y = trace.ctrl1.y
-        let bestCtrl2x = trace.ctrl2.x
-        let bestCtrl2y = trace.ctrl2.y
-
-        const origCtrl1x = trace.ctrl1.x
-        const origCtrl1y = trace.ctrl1.y
-        const origCtrl2x = trace.ctrl2.x
-        const origCtrl2y = trace.ctrl2.y
-
-        for (const dir of directions) {
-          // Try ctrl1
-          trace.ctrl1.x = Math.max(minX, Math.min(maxX, origCtrl1x + dir.dx))
-          trace.ctrl1.y = Math.max(minY, Math.min(maxY, origCtrl1y + dir.dy))
-          this.updateSingleTraceSample(i)
-          const cost1 = this.computeCostForTrace(i)
-          if (cost1 < bestCost) {
-            bestCost = cost1
-            bestCtrl1x = trace.ctrl1.x
-            bestCtrl1y = trace.ctrl1.y
-            bestCtrl2x = origCtrl2x
-            bestCtrl2y = origCtrl2y
-          }
-          trace.ctrl1.x = origCtrl1x
-          trace.ctrl1.y = origCtrl1y
-
-          // Try ctrl2
-          trace.ctrl2.x = Math.max(minX, Math.min(maxX, origCtrl2x + dir.dx))
-          trace.ctrl2.y = Math.max(minY, Math.min(maxY, origCtrl2y + dir.dy))
-          this.updateSingleTraceSample(i)
-          const cost2 = this.computeCostForTrace(i)
-          if (cost2 < bestCost) {
-            bestCost = cost2
-            bestCtrl1x = origCtrl1x
-            bestCtrl1y = origCtrl1y
-            bestCtrl2x = trace.ctrl2.x
-            bestCtrl2y = trace.ctrl2.y
-          }
-          trace.ctrl2.x = origCtrl2x
-          trace.ctrl2.y = origCtrl2y
-
-          // Try both together
-          trace.ctrl1.x = Math.max(minX, Math.min(maxX, origCtrl1x + dir.dx))
-          trace.ctrl1.y = Math.max(minY, Math.min(maxY, origCtrl1y + dir.dy))
-          trace.ctrl2.x = Math.max(minX, Math.min(maxX, origCtrl2x + dir.dx))
-          trace.ctrl2.y = Math.max(minY, Math.min(maxY, origCtrl2y + dir.dy))
-          this.updateSingleTraceSample(i)
-          const cost3 = this.computeCostForTrace(i)
-          if (cost3 < bestCost) {
-            bestCost = cost3
-            bestCtrl1x = trace.ctrl1.x
-            bestCtrl1y = trace.ctrl1.y
-            bestCtrl2x = trace.ctrl2.x
-            bestCtrl2y = trace.ctrl2.y
-          }
-          trace.ctrl1.x = origCtrl1x
-          trace.ctrl1.y = origCtrl1y
-          trace.ctrl2.x = origCtrl2x
-          trace.ctrl2.y = origCtrl2y
-        }
-
-        trace.ctrl1.x = bestCtrl1x
-        trace.ctrl1.y = bestCtrl1y
-        trace.ctrl2.x = bestCtrl2x
-        trace.ctrl2.y = bestCtrl2y
-        this.updateSingleTraceSample(i)
-
-        if (bestCost < currentCost * 0.9) break // Found significant improvement
-      }
-    }
-
-    // Update collision pairs periodically
-    if (this.optimizationStep % 10 === 0) {
-      this.updateCollisionPairs()
-    }
-  }
-
-  private buildOutputTraces() {
-    this.outputTraces = this.traces.map((trace) => ({
-      waypointPair: trace.waypointPair,
-      points: sampleCubicBezier(
-        trace.waypointPair.start,
-        trace.ctrl1,
-        trace.ctrl2,
-        trace.waypointPair.end,
-        OUTPUT_SAMPLES,
-      ),
-      networkId: trace.networkId,
-    }))
-  }
-
-  override _step() {
-    if (this.traces.length === 0) {
-      this.initializeTraces()
-      this.lastCost = this.computeTotalCost()
-      this.stagnantSteps = 0
-    }
-
-    if (this.optimizationStep < this.maxOptimizationSteps) {
-      this.optimizeStep()
-      this.optimizationStep++
-
-      const currentCost = this.computeTotalCost()
-      if (currentCost === 0) {
-        this.optimizationStep = this.maxOptimizationSteps
-      } else if (currentCost >= this.lastCost * 0.99) {
-        this.stagnantSteps++
-        if (this.stagnantSteps > 15) {
-          this.optimizationStep = this.maxOptimizationSteps
-        }
-      } else {
-        this.stagnantSteps = 0
-      }
-      this.lastCost = currentCost
-    }
-
-    if (this.optimizationStep >= this.maxOptimizationSteps) {
-      this.buildOutputTraces()
-      this.solved = true
-    }
-  }
-
-  override visualize(): GraphicsObject {
-    if (this.traces.length > 0) {
-      this.buildOutputTraces()
-    }
-    return visualizeCurvyTraceProblem(this.problem, this.outputTraces)
-  }
-}