Add unit tests, refactor simulation code, improve Makefile, and add documentation

2026-05-12 22:16:46 +02:00
parent ae1c64af05
commit 5713ad7e19
16 changed files with 2486 additions and 825 deletions
@@ -0,0 +1,53 @@
+#include "board.hpp"
+#include "test_helpers.hpp"
+
+#include <cmath>
+
+TEST(ObstacleNearest, ProjectionInsideSegment) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(10.0, 0.0));
+  Vector2d nearest = o.find_nearest_obstacle_point(Vector2d(5.0, 3.0));
+  EXPECT_VEC2_NEAR(nearest, Vector2d(5.0, 0.0));
+}
+
+TEST(ObstacleNearest, ProjectionBeforeStartIsClampedToStart) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(10.0, 0.0));
+  Vector2d nearest = o.find_nearest_obstacle_point(Vector2d(-5.0, 3.0));
+  EXPECT_VEC2_NEAR(nearest, Vector2d(0.0, 0.0));
+}
+
+TEST(ObstacleNearest, ProjectionAfterEndIsClampedToEnd) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(10.0, 0.0));
+  Vector2d nearest = o.find_nearest_obstacle_point(Vector2d(15.0, 3.0));
+  EXPECT_VEC2_NEAR(nearest, Vector2d(10.0, 0.0));
+}
+
+TEST(ObstacleNearest, QueryEqualToStartReturnsStart) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(10.0, 0.0));
+  EXPECT_VEC2_NEAR(o.find_nearest_obstacle_point(Vector2d(0.0, 0.0)), Vector2d(0.0, 0.0));
+}
+
+TEST(ObstacleNearest, QueryEqualToEndReturnsEnd) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(10.0, 0.0));
+  EXPECT_VEC2_NEAR(o.find_nearest_obstacle_point(Vector2d(10.0, 0.0)), Vector2d(10.0, 0.0));
+}
+
+TEST(ObstacleNearest, DiagonalSegment) {
+  Obstacle o(Vector2d(0.0, 0.0), Vector2d(4.0, 4.0));
+  Vector2d nearest = o.find_nearest_obstacle_point(Vector2d(4.0, 0.0));
+  EXPECT_VEC2_NEAR(nearest, Vector2d(2.0, 2.0));
+}
+
+TEST(ObstacleNearest, PointOnSegmentReturnsItself) {
+  Obstacle o(Vector2d(1.0, 1.0), Vector2d(5.0, 9.0));
+  Vector2d on_segment(3.0, 5.0);
+  Vector2d nearest = o.find_nearest_obstacle_point(on_segment);
+  EXPECT_VEC2_NEAR(nearest, on_segment);
+}
+
+TEST(ObstacleNearest, PointOnSinglePointObstacleReturnsStart) {
+  Obstacle o(Vector2d(7.0, 8.0), Vector2d(7.0, 8.0));
+  Vector2d nearest = o.find_nearest_obstacle_point(Vector2d(100.0, -50.0));
+  EXPECT_VEC2_NEAR(nearest, Vector2d(7.0, 8.0));
+  EXPECT_TRUE(std::isfinite(nearest.x));
+  EXPECT_TRUE(std::isfinite(nearest.y));
+}