testbed: physics fixes (rest-at-contact), pytest suite (33 tests green)

testbed/tests/test_render.py

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+"""Tests for the headless raycaster: honest frames from real world state."""
+
+from testbed.room.render import Raycaster
+from testbed.room.world import Room
+
+
+def test_spawn_view_shows_crate_and_occludes_beacon():
+    """From spawn the beacon is behind crate_red, so the frame center is the
+    crate's color, not a cyan glow."""
+    room = Room()
+    img, grid = Raycaster().render(room)
+    px = img.load()
+    r, g, b = px[80, 60]
+    assert r > 120 and g < 100 and b < 90  # reddish crate, distance-fogged
+    assert len(grid) == 30 and len(grid[0]) == 40
+    # The crate is ~5m away: center depth block must be well below 10.
+    assert 2.0 < grid[17][20] < 8.0
+
+
+def test_wall_nearby_is_bright_gray():
+    room = Room()
+    room.capsule.yaw_deg = 180.0  # face north wall 1.5m away
+    px = Raycaster().render(room)[0].load()
+    r, g, b = px[80, 60]
+    assert abs(r - g) < 8 and r > 80  # gray wall, little fog at 1.5m
+
+
+def test_beacon_glow_visible_when_facing_it():
+    room = Room()
+    room.capsule.x, room.capsule.z, room.capsule.yaw_deg = 11.0, 11.0, 45.0
+    img, _ = Raycaster().render(room)
+    px = img.load()
+    r, g, b = px[80, 60]
+    assert b > r  # inactive beacon glows cyan
+    room.beacon.active = True
+    px = Raycaster().render(room)[0].load()
+    r, g, b = px[80, 60]
+    assert r > b  # active beacon glows warm yellow
+
+
+def test_beacon_occluded_by_crate():
+    room = Room()
+    # Beacon behind crate_red from spawn: center pixel must not be cyan.
+    px = Raycaster().render(room)[0].load()
+    r, g, b = px[80, 60]
+    assert b < 90
+
+
+def test_depth_grid_aligned_and_bounded():
+    room = Room()
+    _, grid = Raycaster().render(room, max_depth=10.0)
+    assert all(0.0 <= v <= 10.0 for row in grid for v in row)
+    assert any(v > 0 for row in grid for v in row)