Updated revision of polygon triangulation from 0a67dd3fdd

This maintains the primary goal of ensuring that bad splits do not allow
the triangulation process to continue.  Instead, we boot this back up to
the top-level where we will simplify the polygon before triangulating
again.

Fixes https://gitlab.com/kicad/code/kicad/-/issues/16624

libs/kimath/include/geometry/polygon_triangulation.h

@@ -60,8 +60,6 @@ class PolygonTriangulation
 {
 public:
     PolygonTriangulation( SHAPE_POLY_SET::TRIANGULATED_POLYGON& aResult ) :
-        m_prefactor_x( 0.0 ),
-        m_prefactor_y( 0.0 ),
         m_result( aResult )
     {};
 
@@ -303,7 +301,7 @@ private:
 
         while( p != aStart )
         {
-            if( area( p->prev, p, p->next ) == 0.0 )
+            if( *p == *( p->next ) || area( p->prev, p, p->next ) == 0.0 )
             {
                 p = p->prev;
                 p->next->remove();
@@ -312,6 +310,7 @@ private:
                 if( p == p->next )
                     break;
             }
+
             p = p->next;
         };
 
@@ -474,7 +473,9 @@ private:
                 }
 
                 // If we don't have any NULL triangles left, cut the polygon in two and try again
-                splitPolygon( aPoint );
+                if( !splitPolygon( aPoint ) )
+                    return false;
+
                 break;
             }
         }
@@ -559,7 +560,7 @@ private:
      * independently.  This is assured to generate at least one new ear if the
      * split is successful
      */
-    void splitPolygon( Vertex* start )
+    bool splitPolygon( Vertex* start )
     {
         Vertex* origPoly = start;
 
@@ -577,9 +578,7 @@ private:
                     origPoly->updateList();
                     newPoly->updateList();
 
-                    earcutList( origPoly );
-                    earcutList( newPoly );
-                    return;
+                    return earcutList( origPoly ) && earcutList( newPoly );
                 }
 
                 marker = marker->next;
@@ -587,22 +586,31 @@ private:
 
             origPoly = origPoly->next;
         } while( origPoly != start );
+
+        return false;
     }
 
     /**
      * Check if a segment joining two vertices lies fully inside the polygon.
      * To do this, we first ensure that the line isn't along the polygon edge.
      * Next, we know that if the line doesn't intersect the polygon, then it is
-     * either fully inside or fully outside the polygon.  Finally, by checking whether
-     * the segment is enclosed by the local triangles, we distinguish between
-     * these two cases and no further checks are needed.
+     * either fully inside or fully outside the polygon.  Next, we ensure that
+     * the proposed split is inside the local area of the polygon at both ends
+     * and the midpoint. Finally, we check to split creates two new polygons,
+     * each with positive area.
      */
     bool goodSplit( const Vertex* a, const Vertex* b ) const
     {
-        return a->next->i != b->i &&
-               a->prev->i != b->i &&
-               !intersectsPolygon( a, b ) &&
-               locallyInside( a, b );
+        bool a_on_edge = ( a->nextZ && *a == *a->nextZ ) || ( a->prevZ && *a == *a->prevZ );
+        bool b_on_edge = ( b->nextZ && *b == *b->nextZ ) || ( b->prevZ && *b == *b->prevZ );
+        bool no_intersect = a->next->i != b->i && a->prev->i != b->i && !intersectsPolygon( a, b );
+        bool local_split = locallyInside( a, b ) && locallyInside( b, a ) && middleInside( a, b );
+        bool same_dir = area( a->prev, a, b->prev ) != 0.0 || area( a, b->prev, b ) != 0.0;
+        bool has_len = ( *a == *b ) && area( a->prev, a, a->next ) > 0 && area( b->prev, b, b->next ) > 0;
+
+
+        return no_intersect && local_split && ( same_dir || has_len ) && !a_on_edge && !b_on_edge;
+
     }
 
     /**
@@ -613,6 +621,23 @@ private:
         return ( q->y - p->y ) * ( r->x - q->x ) - ( q->x - p->x ) * ( r->y - q->y );
     }
 
+
+    constexpr int sign( double aVal ) const
+    {
+        return ( aVal > 0 ) - ( aVal < 0 );
+    }
+
+    /**
+     * If p, q, and r are collinear and r lies between p and q, then return true.
+    */
+    constexpr bool overlapping( const Vertex* p, const Vertex* q, const Vertex* r ) const
+    {
+        return q->x <= std::max( p->x, r->x ) &&
+               q->x >= std::min( p->x, r->x ) &&
+               q->y <= std::max( p->y, r->y ) &&
+               q->y >= std::min( p->y, r->y );
+    }
+
     /**
      * Check for intersection between two segments, end points included.
      *
@@ -620,11 +645,28 @@ private:
      */
     bool intersects( const Vertex* p1, const Vertex* q1, const Vertex* p2, const Vertex* q2 ) const
     {
-        if( ( *p1 == *q1 && *p2 == *q2 ) || ( *p1 == *q2 && *p2 == *q1 ) )
+        int sign1 = sign( area( p1, q1, p2 ) );
+        int sign2 = sign( area( p1, q1, q2 ) );
+        int sign3 = sign( area( p2, q2, p1 ) );
+        int sign4 = sign( area( p2, q2, q1 ) );
+
+        if( sign1 != sign2 && sign3 != sign4 )
             return true;
 
-        return ( area( p1, q1, p2 ) > 0 ) != ( area( p1, q1, q2 ) > 0 )
-                && ( area( p2, q2, p1 ) > 0 ) != ( area( p2, q2, q1 ) > 0 );
+        if( sign1 == 0 && overlapping( p1, p2, q1 ) )
+            return true;
+
+        if( sign2 == 0 && overlapping( p1, q2, q1 ) )
+            return true;
+
+        if( sign3 == 0 && overlapping( p2, p1, q2 ) )
+            return true;
+
+        if( sign4 == 0 && overlapping( p2, q1, q2 ) )
+            return true;
+
+
+        return false;
     }
 
     /**
@@ -668,6 +710,28 @@ private:
             return area( a, b, a->prev ) < 0 || area( a, a->next, b ) < 0;
     }
 
+    /**
+     * Check to see if the segment halfway point between a and b is inside the polygon
+    */
+    bool middleInside( const Vertex* a, const Vertex* b ) const
+    {
+        const Vertex* p = a;
+        bool          inside = false;
+        double        px = ( a->x + b->x ) / 2;
+        double        py = ( a->y + b->y ) / 2;
+
+        do
+        {
+            if( ( ( p->y > py ) != ( p->next->y > py ) )
+                && ( px < ( p->next->x - p->x ) * ( py - p->y ) / ( p->next->y - p->y ) + p->x ) )
+                inside = !inside;
+
+            p = p->next;
+        } while( p != a );
+
+        return inside;
+    }
+
     /**
      * Create an entry in the vertices lookup and optionally inserts the newly created vertex
      * into an existing linked list.