feat(simulation): add Worker AI polygon runtime and terrain navigation

simulation/ai-polygon/navigation/qualify_connectivity.py

@@ -0,0 +1,31 @@
+"""Worker-only numeric equivalence at hazard boundaries and disconnected patches."""
+
+import argparse
+import json
+from pathlib import Path
+
+import numpy as np
+import terrain_costs as costs
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--output", type=Path, required=True)
+args = parser.parse_args()
+assert costs._NATIVE is not None, "Compiled implementation must be installed"
+engine = costs._NATIVE
+rng = np.random.default_rng(230923)
+cases = []
+for dtype in (np.float32, np.float64):
+    for _ in range(200):
+        points = rng.uniform(-0.4, 0.4, (rng.integers(8, 180), 3)).astype(dtype)
+        points[:, 2] *= 0.3
+        cases.append(points)
+    for distance in (0.119999, 0.12, 0.120001):
+        for jump in (0.100099, 0.1001, 0.100101):
+            cases.append(np.array([[0, 0, 0], [distance, 0, jump]], dtype=dtype))
+for points in cases:
+    costs._NATIVE = None
+    expected = costs.connected_grade(points)
+    costs._NATIVE = engine
+    assert costs.connected_grade(points) == expected
+args.output.write_text(json.dumps({"passed": True, "cases": len(cases)}))
+print(json.dumps({"passed": True, "cases": len(cases)}))