From 29b2572f9ad552a68b8651f67fe36a761d3f0bed Mon Sep 17 00:00:00 2001
From: AJ Isaacs <ajisaacs27@gmail.com>
Date: Mon, 16 Mar 2026 00:39:34 -0400
Subject: [PATCH] feat: add IRapidPlanner, RapidPath, and
 SafeHeightRapidPlanner

---
 .../RapidPlanning/IRapidPlanner.cs            | 10 +++++
 OpenNest.Engine/RapidPlanning/RapidPath.cs    | 11 ++++++
 .../RapidPlanning/SafeHeightRapidPlanner.cs   | 17 ++++++++
 .../SafeHeightRapidPlannerTests.cs            | 39 +++++++++++++++++++
 4 files changed, 77 insertions(+)
 create mode 100644 OpenNest.Engine/RapidPlanning/IRapidPlanner.cs
 create mode 100644 OpenNest.Engine/RapidPlanning/RapidPath.cs
 create mode 100644 OpenNest.Engine/RapidPlanning/SafeHeightRapidPlanner.cs
 create mode 100644 OpenNest.Tests/RapidPlanning/SafeHeightRapidPlannerTests.cs

diff --git a/OpenNest.Engine/RapidPlanning/IRapidPlanner.cs b/OpenNest.Engine/RapidPlanning/IRapidPlanner.cs
new file mode 100644
index 0000000..edae37c
--- /dev/null
+++ b/OpenNest.Engine/RapidPlanning/IRapidPlanner.cs
@@ -0,0 +1,10 @@
+using System.Collections.Generic;
+using OpenNest.Geometry;
+
+namespace OpenNest.Engine.RapidPlanning
+{
+    public interface IRapidPlanner
+    {
+        RapidPath Plan(Vector from, Vector to, IReadOnlyList<Shape> cutAreas);
+    }
+}
diff --git a/OpenNest.Engine/RapidPlanning/RapidPath.cs b/OpenNest.Engine/RapidPlanning/RapidPath.cs
new file mode 100644
index 0000000..8ff6eb4
--- /dev/null
+++ b/OpenNest.Engine/RapidPlanning/RapidPath.cs
@@ -0,0 +1,11 @@
+using System.Collections.Generic;
+using OpenNest.Geometry;
+
+namespace OpenNest.Engine.RapidPlanning
+{
+    public readonly struct RapidPath
+    {
+        public bool HeadUp { get; init; }
+        public List<Vector> Waypoints { get; init; }
+    }
+}
diff --git a/OpenNest.Engine/RapidPlanning/SafeHeightRapidPlanner.cs b/OpenNest.Engine/RapidPlanning/SafeHeightRapidPlanner.cs
new file mode 100644
index 0000000..6de4db6
--- /dev/null
+++ b/OpenNest.Engine/RapidPlanning/SafeHeightRapidPlanner.cs
@@ -0,0 +1,17 @@
+using System.Collections.Generic;
+using OpenNest.Geometry;
+
+namespace OpenNest.Engine.RapidPlanning
+{
+    public class SafeHeightRapidPlanner : IRapidPlanner
+    {
+        public RapidPath Plan(Vector from, Vector to, IReadOnlyList<Shape> cutAreas)
+        {
+            return new RapidPath
+            {
+                HeadUp = true,
+                Waypoints = new List<Vector>()
+            };
+        }
+    }
+}
diff --git a/OpenNest.Tests/RapidPlanning/SafeHeightRapidPlannerTests.cs b/OpenNest.Tests/RapidPlanning/SafeHeightRapidPlannerTests.cs
new file mode 100644
index 0000000..3db408f
--- /dev/null
+++ b/OpenNest.Tests/RapidPlanning/SafeHeightRapidPlannerTests.cs
@@ -0,0 +1,39 @@
+using System.Collections.Generic;
+using OpenNest.Engine.RapidPlanning;
+using OpenNest.Geometry;
+using Xunit;
+
+namespace OpenNest.Tests.RapidPlanning;
+
+public class SafeHeightRapidPlannerTests
+{
+    [Fact]
+    public void AlwaysReturnsHeadUp()
+    {
+        var planner = new SafeHeightRapidPlanner();
+        var from = new Vector(10, 10);
+        var to = new Vector(50, 50);
+        var cutAreas = new List<Shape>();
+
+        var result = planner.Plan(from, to, cutAreas);
+
+        Assert.True(result.HeadUp);
+        Assert.Empty(result.Waypoints);
+    }
+
+    [Fact]
+    public void ReturnsHeadUp_EvenWithCutAreas()
+    {
+        var planner = new SafeHeightRapidPlanner();
+        var from = new Vector(0, 0);
+        var to = new Vector(10, 10);
+
+        var shape = new Shape();
+        shape.Entities.Add(new Line(new Vector(5, 0), new Vector(5, 20)));
+        var cutAreas = new List<Shape> { shape };
+
+        var result = planner.Plan(from, to, cutAreas);
+
+        Assert.True(result.HeadUp);
+    }
+}