feat: add DirectRapidPlanner with line-shape intersection check

OpenNest.Tests/RapidPlanning/DirectRapidPlannerTests.cs

@@ -0,0 +1,56 @@
+using System.Collections.Generic;
+using OpenNest.Engine.RapidPlanning;
+using OpenNest.Geometry;
+using Xunit;
+
+namespace OpenNest.Tests.RapidPlanning;
+
+public class DirectRapidPlannerTests
+{
+    [Fact]
+    public void NoCutAreas_ReturnsHeadDown()
+    {
+        var planner = new DirectRapidPlanner();
+        var result = planner.Plan(new Vector(0, 0), new Vector(10, 10), new List<Shape>());
+
+        Assert.False(result.HeadUp);
+        Assert.Empty(result.Waypoints);
+    }
+
+    [Fact]
+    public void ClearPath_ReturnsHeadDown()
+    {
+        var planner = new DirectRapidPlanner();
+
+        var cutArea = new Shape();
+        cutArea.Entities.Add(new Line(new Vector(50, 0), new Vector(50, 10)));
+        cutArea.Entities.Add(new Line(new Vector(50, 10), new Vector(60, 10)));
+        cutArea.Entities.Add(new Line(new Vector(60, 10), new Vector(60, 0)));
+        cutArea.Entities.Add(new Line(new Vector(60, 0), new Vector(50, 0)));
+
+        var result = planner.Plan(
+            new Vector(0, 0), new Vector(10, 10),
+            new List<Shape> { cutArea });
+
+        Assert.False(result.HeadUp);
+    }
+
+    [Fact]
+    public void BlockedPath_ReturnsHeadUp()
+    {
+        var planner = new DirectRapidPlanner();
+
+        var cutArea = new Shape();
+        cutArea.Entities.Add(new Line(new Vector(5, 0), new Vector(5, 20)));
+        cutArea.Entities.Add(new Line(new Vector(5, 20), new Vector(6, 20)));
+        cutArea.Entities.Add(new Line(new Vector(6, 20), new Vector(6, 0)));
+        cutArea.Entities.Add(new Line(new Vector(6, 0), new Vector(5, 0)));
+
+        var result = planner.Plan(
+            new Vector(0, 10), new Vector(10, 10),
+            new List<Shape> { cutArea });
+
+        Assert.True(result.HeadUp);
+        Assert.Empty(result.Waypoints);
+    }
+}