bevy_math/bounding/bounded3d/
mod.rs

1mod extrusion;
2mod primitive_impls;
3
4use glam::Mat3;
5
6use super::{BoundingVolume, IntersectsVolume};
7use crate::{
8    ops::{self, FloatPow},
9    Isometry3d, Quat, Vec3A,
10};
11
12#[cfg(feature = "bevy_reflect")]
13use bevy_reflect::Reflect;
14#[cfg(all(feature = "bevy_reflect", feature = "serialize"))]
15use bevy_reflect::{ReflectDeserialize, ReflectSerialize};
16#[cfg(feature = "serialize")]
17use serde::{Deserialize, Serialize};
18
19pub use extrusion::BoundedExtrusion;
20
21/// Computes the geometric center of the given set of points.
22#[inline(always)]
23fn point_cloud_3d_center(points: impl Iterator<Item = impl Into<Vec3A>>) -> Vec3A {
24    let (acc, len) = points.fold((Vec3A::ZERO, 0), |(acc, len), point| {
25        (acc + point.into(), len + 1)
26    });
27
28    assert!(
29        len > 0,
30        "cannot compute the center of an empty set of points"
31    );
32    acc / len as f32
33}
34
35/// A trait with methods that return 3D bounding volumes for a shape.
36pub trait Bounded3d {
37    /// Get an axis-aligned bounding box for the shape translated and rotated by the given isometry.
38    fn aabb_3d(&self, isometry: impl Into<Isometry3d>) -> Aabb3d;
39    /// Get a bounding sphere for the shape translated and rotated by the given isometry.
40    fn bounding_sphere(&self, isometry: impl Into<Isometry3d>) -> BoundingSphere;
41}
42
43/// A 3D axis-aligned bounding box
44#[derive(Clone, Copy, Debug, PartialEq)]
45#[cfg_attr(
46    feature = "bevy_reflect",
47    derive(Reflect),
48    reflect(Debug, PartialEq, Clone)
49)]
50#[cfg_attr(feature = "serialize", derive(Serialize), derive(Deserialize))]
51#[cfg_attr(
52    all(feature = "serialize", feature = "bevy_reflect"),
53    reflect(Serialize, Deserialize)
54)]
55pub struct Aabb3d {
56    /// The minimum point of the box
57    pub min: Vec3A,
58    /// The maximum point of the box
59    pub max: Vec3A,
60}
61
62impl Aabb3d {
63    /// Constructs an AABB from its center and half-size.
64    #[inline(always)]
65    pub fn new(center: impl Into<Vec3A>, half_size: impl Into<Vec3A>) -> Self {
66        let (center, half_size) = (center.into(), half_size.into());
67        debug_assert!(half_size.x >= 0.0 && half_size.y >= 0.0 && half_size.z >= 0.0);
68        Self {
69            min: center - half_size,
70            max: center + half_size,
71        }
72    }
73
74    /// Computes the smallest [`Aabb3d`] containing the given set of points,
75    /// transformed by the rotation and translation of the given isometry.
76    ///
77    /// # Panics
78    ///
79    /// Panics if the given set of points is empty.
80    #[inline(always)]
81    pub fn from_point_cloud(
82        isometry: impl Into<Isometry3d>,
83        points: impl Iterator<Item = impl Into<Vec3A>>,
84    ) -> Aabb3d {
85        let isometry = isometry.into();
86
87        // Transform all points by rotation
88        let mut iter = points.map(|point| isometry.rotation * point.into());
89
90        let first = iter
91            .next()
92            .expect("point cloud must contain at least one point for Aabb3d construction");
93
94        let (min, max) = iter.fold((first, first), |(prev_min, prev_max), point| {
95            (point.min(prev_min), point.max(prev_max))
96        });
97
98        Aabb3d {
99            min: min + isometry.translation,
100            max: max + isometry.translation,
101        }
102    }
103
104    /// Computes the smallest [`BoundingSphere`] containing this [`Aabb3d`].
105    #[inline(always)]
106    pub fn bounding_sphere(&self) -> BoundingSphere {
107        let radius = self.min.distance(self.max) / 2.0;
108        BoundingSphere::new(self.center(), radius)
109    }
110
111    /// Finds the point on the AABB that is closest to the given `point`.
112    ///
113    /// If the point is outside the AABB, the returned point will be on the surface of the AABB.
114    /// Otherwise, it will be inside the AABB and returned as is.
115    #[inline(always)]
116    pub fn closest_point(&self, point: impl Into<Vec3A>) -> Vec3A {
117        // Clamp point coordinates to the AABB
118        point.into().clamp(self.min, self.max)
119    }
120}
121
122impl BoundingVolume for Aabb3d {
123    type Translation = Vec3A;
124    type Rotation = Quat;
125    type HalfSize = Vec3A;
126
127    #[inline(always)]
128    fn center(&self) -> Self::Translation {
129        (self.min + self.max) / 2.
130    }
131
132    #[inline(always)]
133    fn half_size(&self) -> Self::HalfSize {
134        (self.max - self.min) / 2.
135    }
136
137    #[inline(always)]
138    fn visible_area(&self) -> f32 {
139        let b = self.max - self.min;
140        b.x * (b.y + b.z) + b.y * b.z
141    }
142
143    #[inline(always)]
144    fn contains(&self, other: &Self) -> bool {
145        other.min.cmpge(self.min).all() && other.max.cmple(self.max).all()
146    }
147
148    #[inline(always)]
149    fn merge(&self, other: &Self) -> Self {
150        Self {
151            min: self.min.min(other.min),
152            max: self.max.max(other.max),
153        }
154    }
155
156    #[inline(always)]
157    fn grow(&self, amount: impl Into<Self::HalfSize>) -> Self {
158        let amount = amount.into();
159        let b = Self {
160            min: self.min - amount,
161            max: self.max + amount,
162        };
163        debug_assert!(b.min.cmple(b.max).all());
164        b
165    }
166
167    #[inline(always)]
168    fn shrink(&self, amount: impl Into<Self::HalfSize>) -> Self {
169        let amount = amount.into();
170        let b = Self {
171            min: self.min + amount,
172            max: self.max - amount,
173        };
174        debug_assert!(b.min.cmple(b.max).all());
175        b
176    }
177
178    #[inline(always)]
179    fn scale_around_center(&self, scale: impl Into<Self::HalfSize>) -> Self {
180        let scale = scale.into();
181        let b = Self {
182            min: self.center() - (self.half_size() * scale),
183            max: self.center() + (self.half_size() * scale),
184        };
185        debug_assert!(b.min.cmple(b.max).all());
186        b
187    }
188
189    /// Transforms the bounding volume by first rotating it around the origin and then applying a translation.
190    ///
191    /// The result is an Axis-Aligned Bounding Box that encompasses the rotated shape.
192    ///
193    /// Note that the result may not be as tightly fitting as the original, and repeated rotations
194    /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
195    /// and consider storing the original AABB and rotating that every time instead.
196    #[inline(always)]
197    fn transformed_by(
198        mut self,
199        translation: impl Into<Self::Translation>,
200        rotation: impl Into<Self::Rotation>,
201    ) -> Self {
202        self.transform_by(translation, rotation);
203        self
204    }
205
206    /// Transforms the bounding volume by first rotating it around the origin and then applying a translation.
207    ///
208    /// The result is an Axis-Aligned Bounding Box that encompasses the rotated shape.
209    ///
210    /// Note that the result may not be as tightly fitting as the original, and repeated rotations
211    /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
212    /// and consider storing the original AABB and rotating that every time instead.
213    #[inline(always)]
214    fn transform_by(
215        &mut self,
216        translation: impl Into<Self::Translation>,
217        rotation: impl Into<Self::Rotation>,
218    ) {
219        self.rotate_by(rotation);
220        self.translate_by(translation);
221    }
222
223    #[inline(always)]
224    fn translate_by(&mut self, translation: impl Into<Self::Translation>) {
225        let translation = translation.into();
226        self.min += translation;
227        self.max += translation;
228    }
229
230    /// Rotates the bounding volume around the origin by the given rotation.
231    ///
232    /// The result is an Axis-Aligned Bounding Box that encompasses the rotated shape.
233    ///
234    /// Note that the result may not be as tightly fitting as the original, and repeated rotations
235    /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
236    /// and consider storing the original AABB and rotating that every time instead.
237    #[inline(always)]
238    fn rotated_by(mut self, rotation: impl Into<Self::Rotation>) -> Self {
239        self.rotate_by(rotation);
240        self
241    }
242
243    /// Rotates the bounding volume around the origin by the given rotation.
244    ///
245    /// The result is an Axis-Aligned Bounding Box that encompasses the rotated shape.
246    ///
247    /// Note that the result may not be as tightly fitting as the original, and repeated rotations
248    /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
249    /// and consider storing the original AABB and rotating that every time instead.
250    #[inline(always)]
251    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
252        let rot_mat = Mat3::from_quat(rotation.into());
253        let abs_rot_mat = Mat3::from_cols(
254            rot_mat.x_axis.abs(),
255            rot_mat.y_axis.abs(),
256            rot_mat.z_axis.abs(),
257        );
258        let half_size = abs_rot_mat * self.half_size();
259        *self = Self::new(rot_mat * self.center(), half_size);
260    }
261}
262
263impl IntersectsVolume<Self> for Aabb3d {
264    #[inline(always)]
265    fn intersects(&self, other: &Self) -> bool {
266        self.min.cmple(other.max).all() && self.max.cmpge(other.min).all()
267    }
268}
269
270impl IntersectsVolume<BoundingSphere> for Aabb3d {
271    #[inline(always)]
272    fn intersects(&self, sphere: &BoundingSphere) -> bool {
273        let closest_point = self.closest_point(sphere.center);
274        let distance_squared = sphere.center.distance_squared(closest_point);
275        let radius_squared = sphere.radius().squared();
276        distance_squared <= radius_squared
277    }
278}
279
280#[cfg(test)]
281mod aabb3d_tests {
282    use super::Aabb3d;
283    use crate::{
284        bounding::{BoundingSphere, BoundingVolume, IntersectsVolume},
285        ops, Quat, Vec3, Vec3A,
286    };
287
288    #[test]
289    fn center() {
290        let aabb = Aabb3d {
291            min: Vec3A::new(-0.5, -1., -0.5),
292            max: Vec3A::new(1., 1., 2.),
293        };
294        assert!((aabb.center() - Vec3A::new(0.25, 0., 0.75)).length() < f32::EPSILON);
295        let aabb = Aabb3d {
296            min: Vec3A::new(5., 5., -10.),
297            max: Vec3A::new(10., 10., -5.),
298        };
299        assert!((aabb.center() - Vec3A::new(7.5, 7.5, -7.5)).length() < f32::EPSILON);
300    }
301
302    #[test]
303    fn half_size() {
304        let aabb = Aabb3d {
305            min: Vec3A::new(-0.5, -1., -0.5),
306            max: Vec3A::new(1., 1., 2.),
307        };
308        assert!((aabb.half_size() - Vec3A::new(0.75, 1., 1.25)).length() < f32::EPSILON);
309    }
310
311    #[test]
312    fn area() {
313        let aabb = Aabb3d {
314            min: Vec3A::new(-1., -1., -1.),
315            max: Vec3A::new(1., 1., 1.),
316        };
317        assert!(ops::abs(aabb.visible_area() - 12.) < f32::EPSILON);
318        let aabb = Aabb3d {
319            min: Vec3A::new(0., 0., 0.),
320            max: Vec3A::new(1., 0.5, 0.25),
321        };
322        assert!(ops::abs(aabb.visible_area() - 0.875) < f32::EPSILON);
323    }
324
325    #[test]
326    fn contains() {
327        let a = Aabb3d {
328            min: Vec3A::new(-1., -1., -1.),
329            max: Vec3A::new(1., 1., 1.),
330        };
331        let b = Aabb3d {
332            min: Vec3A::new(-2., -1., -1.),
333            max: Vec3A::new(1., 1., 1.),
334        };
335        assert!(!a.contains(&b));
336        let b = Aabb3d {
337            min: Vec3A::new(-0.25, -0.8, -0.9),
338            max: Vec3A::new(1., 1., 0.9),
339        };
340        assert!(a.contains(&b));
341    }
342
343    #[test]
344    fn merge() {
345        let a = Aabb3d {
346            min: Vec3A::new(-1., -1., -1.),
347            max: Vec3A::new(1., 0.5, 1.),
348        };
349        let b = Aabb3d {
350            min: Vec3A::new(-2., -0.5, -0.),
351            max: Vec3A::new(0.75, 1., 2.),
352        };
353        let merged = a.merge(&b);
354        assert!((merged.min - Vec3A::new(-2., -1., -1.)).length() < f32::EPSILON);
355        assert!((merged.max - Vec3A::new(1., 1., 2.)).length() < f32::EPSILON);
356        assert!(merged.contains(&a));
357        assert!(merged.contains(&b));
358        assert!(!a.contains(&merged));
359        assert!(!b.contains(&merged));
360    }
361
362    #[test]
363    fn grow() {
364        let a = Aabb3d {
365            min: Vec3A::new(-1., -1., -1.),
366            max: Vec3A::new(1., 1., 1.),
367        };
368        let padded = a.grow(Vec3A::ONE);
369        assert!((padded.min - Vec3A::new(-2., -2., -2.)).length() < f32::EPSILON);
370        assert!((padded.max - Vec3A::new(2., 2., 2.)).length() < f32::EPSILON);
371        assert!(padded.contains(&a));
372        assert!(!a.contains(&padded));
373    }
374
375    #[test]
376    fn shrink() {
377        let a = Aabb3d {
378            min: Vec3A::new(-2., -2., -2.),
379            max: Vec3A::new(2., 2., 2.),
380        };
381        let shrunk = a.shrink(Vec3A::ONE);
382        assert!((shrunk.min - Vec3A::new(-1., -1., -1.)).length() < f32::EPSILON);
383        assert!((shrunk.max - Vec3A::new(1., 1., 1.)).length() < f32::EPSILON);
384        assert!(a.contains(&shrunk));
385        assert!(!shrunk.contains(&a));
386    }
387
388    #[test]
389    fn scale_around_center() {
390        let a = Aabb3d {
391            min: Vec3A::NEG_ONE,
392            max: Vec3A::ONE,
393        };
394        let scaled = a.scale_around_center(Vec3A::splat(2.));
395        assert!((scaled.min - Vec3A::splat(-2.)).length() < f32::EPSILON);
396        assert!((scaled.max - Vec3A::splat(2.)).length() < f32::EPSILON);
397        assert!(!a.contains(&scaled));
398        assert!(scaled.contains(&a));
399    }
400
401    #[test]
402    fn transform() {
403        let a = Aabb3d {
404            min: Vec3A::new(-2.0, -2.0, -2.0),
405            max: Vec3A::new(2.0, 2.0, 2.0),
406        };
407        let transformed = a.transformed_by(
408            Vec3A::new(2.0, -2.0, 4.0),
409            Quat::from_rotation_z(core::f32::consts::FRAC_PI_4),
410        );
411        let half_length = ops::hypot(2.0, 2.0);
412        assert_eq!(
413            transformed.min,
414            Vec3A::new(2.0 - half_length, -half_length - 2.0, 2.0)
415        );
416        assert_eq!(
417            transformed.max,
418            Vec3A::new(2.0 + half_length, half_length - 2.0, 6.0)
419        );
420    }
421
422    #[test]
423    fn closest_point() {
424        let aabb = Aabb3d {
425            min: Vec3A::NEG_ONE,
426            max: Vec3A::ONE,
427        };
428        assert_eq!(aabb.closest_point(Vec3A::X * 10.0), Vec3A::X);
429        assert_eq!(aabb.closest_point(Vec3A::NEG_ONE * 10.0), Vec3A::NEG_ONE);
430        assert_eq!(
431            aabb.closest_point(Vec3A::new(0.25, 0.1, 0.3)),
432            Vec3A::new(0.25, 0.1, 0.3)
433        );
434    }
435
436    #[test]
437    fn intersect_aabb() {
438        let aabb = Aabb3d {
439            min: Vec3A::NEG_ONE,
440            max: Vec3A::ONE,
441        };
442        assert!(aabb.intersects(&aabb));
443        assert!(aabb.intersects(&Aabb3d {
444            min: Vec3A::splat(0.5),
445            max: Vec3A::splat(2.0),
446        }));
447        assert!(aabb.intersects(&Aabb3d {
448            min: Vec3A::splat(-2.0),
449            max: Vec3A::splat(-0.5),
450        }));
451        assert!(!aabb.intersects(&Aabb3d {
452            min: Vec3A::new(1.1, 0.0, 0.0),
453            max: Vec3A::new(2.0, 0.5, 0.25),
454        }));
455    }
456
457    #[test]
458    fn intersect_bounding_sphere() {
459        let aabb = Aabb3d {
460            min: Vec3A::NEG_ONE,
461            max: Vec3A::ONE,
462        };
463        assert!(aabb.intersects(&BoundingSphere::new(Vec3::ZERO, 1.0)));
464        assert!(aabb.intersects(&BoundingSphere::new(Vec3::ONE * 1.5, 1.0)));
465        assert!(aabb.intersects(&BoundingSphere::new(Vec3::NEG_ONE * 1.5, 1.0)));
466        assert!(!aabb.intersects(&BoundingSphere::new(Vec3::ONE * 1.75, 1.0)));
467    }
468}
469
470use crate::primitives::Sphere;
471
472/// A bounding sphere
473#[derive(Clone, Copy, Debug, PartialEq)]
474#[cfg_attr(
475    feature = "bevy_reflect",
476    derive(Reflect),
477    reflect(Debug, PartialEq, Clone)
478)]
479#[cfg_attr(feature = "serialize", derive(Serialize), derive(Deserialize))]
480#[cfg_attr(
481    all(feature = "serialize", feature = "bevy_reflect"),
482    reflect(Serialize, Deserialize)
483)]
484pub struct BoundingSphere {
485    /// The center of the bounding sphere
486    pub center: Vec3A,
487    /// The sphere
488    pub sphere: Sphere,
489}
490
491impl BoundingSphere {
492    /// Constructs a bounding sphere from its center and radius.
493    pub fn new(center: impl Into<Vec3A>, radius: f32) -> Self {
494        debug_assert!(radius >= 0.);
495        Self {
496            center: center.into(),
497            sphere: Sphere { radius },
498        }
499    }
500
501    /// Computes a [`BoundingSphere`] containing the given set of points,
502    /// transformed by the rotation and translation of the given isometry.
503    ///
504    /// The bounding sphere is not guaranteed to be the smallest possible.
505    #[inline(always)]
506    pub fn from_point_cloud(
507        isometry: impl Into<Isometry3d>,
508        points: &[impl Copy + Into<Vec3A>],
509    ) -> BoundingSphere {
510        let isometry = isometry.into();
511
512        let center = point_cloud_3d_center(points.iter().map(|v| Into::<Vec3A>::into(*v)));
513        let mut radius_squared: f32 = 0.0;
514
515        for point in points {
516            // Get squared version to avoid unnecessary sqrt calls
517            let distance_squared = Into::<Vec3A>::into(*point).distance_squared(center);
518            if distance_squared > radius_squared {
519                radius_squared = distance_squared;
520            }
521        }
522
523        BoundingSphere::new(isometry * center, ops::sqrt(radius_squared))
524    }
525
526    /// Get the radius of the bounding sphere
527    #[inline(always)]
528    pub fn radius(&self) -> f32 {
529        self.sphere.radius
530    }
531
532    /// Computes the smallest [`Aabb3d`] containing this [`BoundingSphere`].
533    #[inline(always)]
534    pub fn aabb_3d(&self) -> Aabb3d {
535        Aabb3d {
536            min: self.center - self.radius(),
537            max: self.center + self.radius(),
538        }
539    }
540
541    /// Finds the point on the bounding sphere that is closest to the given `point`.
542    ///
543    /// If the point is outside the sphere, the returned point will be on the surface of the sphere.
544    /// Otherwise, it will be inside the sphere and returned as is.
545    #[inline(always)]
546    pub fn closest_point(&self, point: impl Into<Vec3A>) -> Vec3A {
547        let point = point.into();
548        let radius = self.radius();
549        let distance_squared = (point - self.center).length_squared();
550
551        if distance_squared <= radius.squared() {
552            // The point is inside the sphere.
553            point
554        } else {
555            // The point is outside the sphere.
556            // Find the closest point on the surface of the sphere.
557            let dir_to_point = point / ops::sqrt(distance_squared);
558            self.center + radius * dir_to_point
559        }
560    }
561}
562
563impl BoundingVolume for BoundingSphere {
564    type Translation = Vec3A;
565    type Rotation = Quat;
566    type HalfSize = f32;
567
568    #[inline(always)]
569    fn center(&self) -> Self::Translation {
570        self.center
571    }
572
573    #[inline(always)]
574    fn half_size(&self) -> Self::HalfSize {
575        self.radius()
576    }
577
578    #[inline(always)]
579    fn visible_area(&self) -> f32 {
580        2. * core::f32::consts::PI * self.radius() * self.radius()
581    }
582
583    #[inline(always)]
584    fn contains(&self, other: &Self) -> bool {
585        let diff = self.radius() - other.radius();
586        self.center.distance_squared(other.center) <= ops::copysign(diff.squared(), diff)
587    }
588
589    #[inline(always)]
590    fn merge(&self, other: &Self) -> Self {
591        let diff = other.center - self.center;
592        let length = diff.length();
593        if self.radius() >= length + other.radius() {
594            return *self;
595        }
596        if other.radius() >= length + self.radius() {
597            return *other;
598        }
599        let dir = diff / length;
600        Self::new(
601            (self.center + other.center) / 2. + dir * ((other.radius() - self.radius()) / 2.),
602            (length + self.radius() + other.radius()) / 2.,
603        )
604    }
605
606    #[inline(always)]
607    fn grow(&self, amount: impl Into<Self::HalfSize>) -> Self {
608        let amount = amount.into();
609        debug_assert!(amount >= 0.);
610        Self {
611            center: self.center,
612            sphere: Sphere {
613                radius: self.radius() + amount,
614            },
615        }
616    }
617
618    #[inline(always)]
619    fn shrink(&self, amount: impl Into<Self::HalfSize>) -> Self {
620        let amount = amount.into();
621        debug_assert!(amount >= 0.);
622        debug_assert!(self.radius() >= amount);
623        Self {
624            center: self.center,
625            sphere: Sphere {
626                radius: self.radius() - amount,
627            },
628        }
629    }
630
631    #[inline(always)]
632    fn scale_around_center(&self, scale: impl Into<Self::HalfSize>) -> Self {
633        let scale = scale.into();
634        debug_assert!(scale >= 0.);
635        Self::new(self.center, self.radius() * scale)
636    }
637
638    #[inline(always)]
639    fn translate_by(&mut self, translation: impl Into<Self::Translation>) {
640        self.center += translation.into();
641    }
642
643    #[inline(always)]
644    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
645        let rotation: Quat = rotation.into();
646        self.center = rotation * self.center;
647    }
648}
649
650impl IntersectsVolume<Self> for BoundingSphere {
651    #[inline(always)]
652    fn intersects(&self, other: &Self) -> bool {
653        let center_distance_squared = self.center.distance_squared(other.center);
654        let radius_sum_squared = (self.radius() + other.radius()).squared();
655        center_distance_squared <= radius_sum_squared
656    }
657}
658
659impl IntersectsVolume<Aabb3d> for BoundingSphere {
660    #[inline(always)]
661    fn intersects(&self, aabb: &Aabb3d) -> bool {
662        aabb.intersects(self)
663    }
664}
665
666#[cfg(test)]
667mod bounding_sphere_tests {
668    use approx::assert_relative_eq;
669
670    use super::BoundingSphere;
671    use crate::{
672        bounding::{BoundingVolume, IntersectsVolume},
673        ops, Quat, Vec3, Vec3A,
674    };
675
676    #[test]
677    fn area() {
678        let sphere = BoundingSphere::new(Vec3::ONE, 5.);
679        // Since this number is messy we check it with a higher threshold
680        assert!(ops::abs(sphere.visible_area() - 157.0796) < 0.001);
681    }
682
683    #[test]
684    fn contains() {
685        let a = BoundingSphere::new(Vec3::ONE, 5.);
686        let b = BoundingSphere::new(Vec3::new(5.5, 1., 1.), 1.);
687        assert!(!a.contains(&b));
688        let b = BoundingSphere::new(Vec3::new(1., -3.5, 1.), 0.5);
689        assert!(a.contains(&b));
690    }
691
692    #[test]
693    fn contains_identical() {
694        let a = BoundingSphere::new(Vec3::ONE, 5.);
695        assert!(a.contains(&a));
696    }
697
698    #[test]
699    fn merge() {
700        // When merging two circles that don't contain each other, we find a center position that
701        // contains both
702        let a = BoundingSphere::new(Vec3::ONE, 5.);
703        let b = BoundingSphere::new(Vec3::new(1., 1., -4.), 1.);
704        let merged = a.merge(&b);
705        assert!((merged.center - Vec3A::new(1., 1., 0.5)).length() < f32::EPSILON);
706        assert!(ops::abs(merged.radius() - 5.5) < f32::EPSILON);
707        assert!(merged.contains(&a));
708        assert!(merged.contains(&b));
709        assert!(!a.contains(&merged));
710        assert!(!b.contains(&merged));
711
712        // When one circle contains the other circle, we use the bigger circle
713        let b = BoundingSphere::new(Vec3::ZERO, 3.);
714        assert!(a.contains(&b));
715        let merged = a.merge(&b);
716        assert_eq!(merged.center, a.center);
717        assert_eq!(merged.radius(), a.radius());
718
719        // When two circles are at the same point, we use the bigger radius
720        let b = BoundingSphere::new(Vec3::ONE, 6.);
721        let merged = a.merge(&b);
722        assert_eq!(merged.center, a.center);
723        assert_eq!(merged.radius(), b.radius());
724    }
725
726    #[test]
727    fn merge_identical() {
728        let a = BoundingSphere::new(Vec3::ONE, 5.);
729        let merged = a.merge(&a);
730        assert_eq!(merged.center, a.center);
731        assert_eq!(merged.radius(), a.radius());
732    }
733
734    #[test]
735    fn grow() {
736        let a = BoundingSphere::new(Vec3::ONE, 5.);
737        let padded = a.grow(1.25);
738        assert!(ops::abs(padded.radius() - 6.25) < f32::EPSILON);
739        assert!(padded.contains(&a));
740        assert!(!a.contains(&padded));
741    }
742
743    #[test]
744    fn shrink() {
745        let a = BoundingSphere::new(Vec3::ONE, 5.);
746        let shrunk = a.shrink(0.5);
747        assert!(ops::abs(shrunk.radius() - 4.5) < f32::EPSILON);
748        assert!(a.contains(&shrunk));
749        assert!(!shrunk.contains(&a));
750    }
751
752    #[test]
753    fn scale_around_center() {
754        let a = BoundingSphere::new(Vec3::ONE, 5.);
755        let scaled = a.scale_around_center(2.);
756        assert!(ops::abs(scaled.radius() - 10.) < f32::EPSILON);
757        assert!(!a.contains(&scaled));
758        assert!(scaled.contains(&a));
759    }
760
761    #[test]
762    fn transform() {
763        let a = BoundingSphere::new(Vec3::ONE, 5.0);
764        let transformed = a.transformed_by(
765            Vec3::new(2.0, -2.0, 4.0),
766            Quat::from_rotation_z(core::f32::consts::FRAC_PI_4),
767        );
768        assert_relative_eq!(
769            transformed.center,
770            Vec3A::new(2.0, core::f32::consts::SQRT_2 - 2.0, 5.0)
771        );
772        assert_eq!(transformed.radius(), 5.0);
773    }
774
775    #[test]
776    fn closest_point() {
777        let sphere = BoundingSphere::new(Vec3::ZERO, 1.0);
778        assert_eq!(sphere.closest_point(Vec3::X * 10.0), Vec3A::X);
779        assert_eq!(
780            sphere.closest_point(Vec3::NEG_ONE * 10.0),
781            Vec3A::NEG_ONE.normalize()
782        );
783        assert_eq!(
784            sphere.closest_point(Vec3::new(0.25, 0.1, 0.3)),
785            Vec3A::new(0.25, 0.1, 0.3)
786        );
787    }
788
789    #[test]
790    fn intersect_bounding_sphere() {
791        let sphere = BoundingSphere::new(Vec3::ZERO, 1.0);
792        assert!(sphere.intersects(&BoundingSphere::new(Vec3::ZERO, 1.0)));
793        assert!(sphere.intersects(&BoundingSphere::new(Vec3::ONE * 1.1, 1.0)));
794        assert!(sphere.intersects(&BoundingSphere::new(Vec3::NEG_ONE * 1.1, 1.0)));
795        assert!(!sphere.intersects(&BoundingSphere::new(Vec3::ONE * 1.2, 1.0)));
796    }
797}
bevy_math/bounding/bounded3d/mod.rs

bevy_math/bounding/bounded3d/
mod.rs
