[WIP] Add proper C unit tests

.github/workflows/ci.yml

@@ -40,6 +40,39 @@ jobs:
       - name: Unit tests
         run: python -m pytest -v tests/unit_tests
 
+  c-drive-tests:
+    name: C Drive Tests
+    runs-on: ubuntu-latest
+    env:
+      PUFFER_CPU: 1
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Free up disk space
+        run: |
+          sudo rm -rf /usr/share/dotnet /usr/local/lib/android /opt/ghc
+          sudo apt-get clean
+          sudo rm -rf ~/.cache/pip /tmp/* /var/tmp/*
+
+      - name: Install pufferlib
+        env:
+          TMPDIR: ${{ runner.temp }}/build
+          PIP_NO_CACHE_DIR: 1
+        run: |
+          sudo apt-get update && sudo apt-get install -y build-essential cmake xvfb libgl1-mesa-dev libegl1-mesa-dev libx11-dev libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev libxxf86vm-dev
+          python -m pip install -U pip
+          pip install -e . --no-cache-dir
+          python setup.py build_ext --inplace --force
+
+      - name: C drive unit and render tests
+        run: make -C tests/drive test render
+
   notebook-tests:
     name: Notebook Execution
     runs-on: ubuntu-latest
@@ -147,11 +180,11 @@ jobs:
           TMPDIR: ${{ runner.temp }}/build
           PIP_NO_CACHE_DIR: 1
         run: |
-          sudo apt-get update && sudo apt-get install -y build-essential cmake
+          sudo apt-get update && sudo apt-get install -y build-essential cmake libgl1-mesa-dev libegl1-mesa-dev libx11-dev libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev libxxf86vm-dev
           python -m pip install -U pip
           pip install -e . --no-cache-dir
           python setup.py build_ext --inplace --force
 
       - name: Test simulator performance
-        run: python tests/smoke_tests/test_simulator_perf.py
+        run: make -C tests/drive perf
         timeout-minutes: 20

pufferlib/ocean/drive/datatypes.h

@@ -181,21 +181,26 @@ struct Agent {
     float *log_height;
     int *log_valid;
 
-    // Simulation state (always center-based, even when trajectory control uses the rear axle)
-    float sim_x; // Vehicle center x-coordinate
-    float sim_y; // Vehicle center y-coordinate
-    float sim_z;
-    float sim_heading;
-    float cos_heading; // Cached cosf(sim_heading) - updated in move_dynamics
-    float sin_heading; // Cached sinf(sim_heading) - updated in move_dynamics
-    float sim_vx;      // Vehicle center velocity x-component
-    float sim_vy;      // Vehicle center velocity y-component
-    float yaw_rate;    // Angular velocity used to derive rear-axle velocity
-    float sim_speed;
-    float sim_speed_signed;
-    float sim_length;
-    float sim_width;
-    float sim_height;
+    // Simulation state
+    float sim_x;       // Bounding box center x
+    float sim_y;       // Bounding box center y
+    float sim_z;       // Bounding box center z
+    float sim_heading; // Bounding box heading
+    float cos_heading;
+    float sin_heading;
+    float sim_vx;           // Bounding box velocity x
+    float sim_vy;           // Bounding box velocity y
+    float yaw_rate;         // Angular velocity used to convert between rear and center velocity
+    float sim_speed;        // Bounding box center speed magnitude
+    float sim_speed_signed; // Bounding box center signed longitudinal speed
+    float sim_length;       // Bounding box length
+    float sim_width;        // Bounding box width
+    float sim_height;       // Bounding box height
+    float radius;           // 0.5 * sqrt(L^2 + W^2); refreshed when L/W change
+    float prev_x;
+    float prev_y;
+    float prev_cos_heading;
+    float prev_sin_heading;
     int sim_valid;
 
     // Route information