alice_sdf/

lib.rs

//! # ALICE-SDF
//!
//! Signed distance functions for Rust. A shape is a tree of primitives, CSG
//! operations, transforms and modifiers ([`SdfNode`]). The crate
//! evaluates the tree on the CPU (scalar, SIMD, BVH and JIT evaluators),
//! transpiles it to GLSL, WGSL, HLSL and Metal, and turns it into meshes and file
//! formats.
//!
//! The CPU evaluators return bit-identical distances for the same tree and point
//! on every platform CI tests: every transcendental goes through
//! [`alice-det-math`](https://crates.io/crates/alice-det-math) and `a * b + c` is
//! never fused. The GPU shaders agree with the CPU within a tolerance.
//!
//! ## Example
//!
//! ```rust
//! use alice_sdf::prelude::*;
//!
//! // A unit sphere minus a box (box3d takes full extents)
//! let shape = SdfNode::sphere(1.0).subtract(SdfNode::box3d(1.0, 1.0, 1.0));
//!
//! // Signed distance: negative inside, zero on the surface, positive outside
//! let p = Vec3::new(0.9, 0.0, 0.0);
//! let d = eval(&shape, p);
//! assert!(d < 0.0);
//!
//! // Compiled to bytecode for repeated evaluation, with the same bits
//! let compiled = CompiledSdf::compile(&shape);
//! assert_eq!(eval_compiled(&compiled, p).to_bits(), d.to_bits());
//!
//! // A triangle mesh by marching cubes
//! let mesh = sdf_to_mesh(
//!     &shape,
//!     Vec3::splat(-1.5),
//!     Vec3::splat(1.5),
//!     &MarchingCubesConfig::default(),
//! );
//! assert!(!mesh.indices.is_empty());
//! ```
//!
//! ## Cargo features
//!
//! The `physics`, `codec` and `sdf-cache` features link crates licensed
//! `AGPL-3.0-or-later`; the default features and all others do not.
//!
//! <!-- readme-sync: features -->
//! | Feature | Default | Description |
//! |---------|:-------:|-------------|
//! | `cli` | yes | The `alice-sdf` command-line tool (clap). |
//! | `image` | | PNG / JPEG decoding for heightmaps and texture fitting. |
//! | `texture-fit` | | Fit a bitmap texture with procedural noise formulas. Implies `image` and `cli`. |
//! | `jit` | | Native evaluation through Cranelift (scalar and 8-wide). |
//! | `gpu` | | GPU evaluation and WGSL output through wgpu. |
//! | `gpu-mesh` | | Marching cubes on the GPU. Implies `gpu`. |
//! | `volume` | | Bake a field into a 3D texture. Implies `gpu`. |
//! | `glsl` | | GLSL output (Unity, OpenGL, Vulkan, Shadertoy). |
//! | `hlsl` | | HLSL output (Unreal Engine, DirectX). |
//! | `msl` | | Metal Shading Language output, converted from WGSL with naga. Implies `gpu`. |
//! | `blinkscript` | | BlinkScript output for Nuke. Implies `hlsl`. |
//! | `rust` | | Dependency-free Rust source (`fn sdf`, `fn normal`) bit-identical to `eval_compiled`, for `build.rs`. |
//! | `all-shaders` | | `gpu`, `glsl`, `hlsl`, `msl` and `blinkscript`. |
//! | `svo` | | Sparse voxel octree. |
//! | `svo-gpu` | | Sparse voxel octree with GPU support. Implies `svo` and `gpu`. |
//! | `destruction` | | Voxel destruction. |
//! | `terrain` | | Heightmap terrain with erosion and caves. |
//! | `gi` | | Cone-traced global illumination. Implies `svo`. |
//! | `aaa` | | `volume`, `gpu-mesh`, `svo-gpu`, `destruction`, `terrain` and `gi`. |
//! | `ffi` | | C ABI for C, C++, C#, Unity and Unreal Engine. |
//! | `unity` | | `ffi` and `glsl`. |
//! | `unreal` | | `ffi`, `hlsl`, `glsl` and `gpu`: what the Unreal Engine plugin calls. |
//! | `python` | | Python bindings (PyO3 + NumPy). |
//! | `godot` | | Godot 4 GDExtension. |
//! | `wasm` | | WebAssembly bindings through `wasm-bindgen` (built for `wasm32` only). |
//! | `openvdb` | | OpenVDB float grid input and output. |
//! | `physics` | | **AGPL.** SDF colliders and simulation modifiers for [`alice-physics`](https://crates.io/crates/alice-physics). |
//! | `codec` | | **AGPL.** Volume compression with [`alice-codec`](https://crates.io/crates/alice-codec). |
//! | `sdf-cache` | | **AGPL.** Evaluation cache with [`alice-cache`](https://crates.io/crates/alice-cache). |
//! | `asp` | | ALICE Streaming Protocol packets with [`libasp`](https://crates.io/crates/libasp) (its default features only). |
//! | `font` | | Glyph outlines from `alice-font`. Inert on crates.io: also needs `--cfg alice_font_bridge` and a local `alice-font`. |
//!
//! Module overview: <https://github.com/ext-sakamoro/ALICE-SDF/blob/main/docs/MODULES.md>

#![warn(missing_docs)]
// The clippy policy (pedantic + nursery with documented exceptions) lives in
// Cargo.toml [lints.clippy] so tests, benches and examples share it.

pub mod animation;
pub mod cache;
pub mod collision;
pub mod compiled;
mod crispy;
pub mod eval;
pub mod fidelity;
pub mod interval;
pub mod io;
pub mod llm_schema;
pub mod material;
pub mod mesh;
pub mod modifiers;
pub mod morphology;
pub mod neural;
pub mod npr;
pub mod operations;
pub mod optimize;
pub mod primitives;
pub mod raycast;
pub mod soa;
pub mod tight_aabb;
pub mod transforms;
pub mod types;

// New modules: analysis, 2D, and bridges
pub mod autodiff;
pub mod constraint;
pub mod diff;
pub mod heatmap;
pub mod incremental;
pub mod measure;
pub mod sdf2d;
pub mod shell;
pub mod validity;

// `font` alone is inert on crates.io (no `alice-font` dep declared);
// the bridge needs `--cfg alice_font_bridge` + a local path dep.
#[cfg(all(feature = "font", alice_font_bridge))]
pub mod font_bridge;

#[cfg(feature = "python")]
pub mod python;

#[cfg(feature = "godot")]
pub mod godot;

#[cfg(feature = "ffi")]
pub mod ffi;

#[cfg(feature = "codec")]
pub mod codec_bridge;

#[cfg(feature = "physics")]
pub mod physics_bridge;

#[cfg(feature = "physics")]
pub mod sim_bridge;

#[cfg(feature = "physics")]
pub mod live_sdf;

#[cfg(feature = "asp")]
pub mod asp_bridge;

#[cfg(feature = "sdf-cache")]
pub mod cache_bridge;

#[cfg(all(feature = "wasm", target_arch = "wasm32"))]
pub mod wasm;

#[cfg(feature = "texture-fit")]
pub mod texture;

#[cfg(feature = "volume")]
pub mod volume;

#[cfg(feature = "svo")]
pub mod svo;

#[cfg(feature = "destruction")]
pub mod destruction;

#[cfg(feature = "terrain")]
pub mod terrain;

#[cfg(feature = "gi")]
pub mod gi;

/// Library version
pub const VERSION: &str = env!("CARGO_PKG_VERSION");

/// The numeric semantics the CPU evaluators compute distances with
///
/// Re-exported from `alice-det-math`, which derives it from the bit pins of its
/// kernels: it changes exactly when one of them would return different bits for
/// the same input. A caller that stores or identifies distances evaluated by
/// this crate (a baked field, a recorded collision trace, a content hash of a
/// tree plus its samples) can mix it in, so a change of arithmetic shows up as
/// a different identifier instead of a silent mismatch. `tests/test_det_golden.rs`
/// pins its value, so moving to another `alice-det-math` is visible here too.
pub use alice_det_math::SEMANTICS_ID;

/// Prelude - commonly used types and functions
pub mod prelude {
    pub use crate::animation::{
        morph, AnimatedSdf, Interpolation, Keyframe, LoopMode, Timeline, Track,
    };
    pub use crate::autodiff::{
        eval_hessian, eval_with_gradient, gaussian_curvature, mean_curvature, principal_curvatures,
        Dual, Dual3,
    };
    #[cfg(feature = "codec")]
    pub use crate::codec_bridge::{
        compress_sdf, compression_ratio, decode_sdf_volume, decompress_sdf, encode_sdf_volume,
        volume_stats, voxelize_sdf, voxelize_sdf_uniform, CompressResult, EncodeConfig, SdfVolume,
        VolumeStats,
    };
    pub use crate::collision::{
        compute_manifold, sdf_ccd, sdf_closest_point, sdf_collide, sdf_distance, sdf_overlap,
        ContactManifold, SdfContact,
    };
    pub use crate::compiled::{
        eval_compiled, eval_compiled_batch_simd, eval_compiled_batch_simd_parallel,
        eval_compiled_batch_soa, eval_compiled_batch_soa_parallel, eval_compiled_bvh,
        eval_compiled_distance_and_normal, eval_compiled_normal, eval_compiled_simd,
        get_scene_aabb, AabbPacked, CompileError, CompiledSdf, CompiledSdfBvh, RefitError, Vec3x8,
    };
    pub use crate::constraint::{
        Constraint, ConstraintKind, ConstraintSolver, ParamId, SolveResult,
    };
    #[cfg(feature = "destruction")]
    pub use crate::destruction::{
        carve, carve_batch, generate_debris, voronoi_fracture, CarveShape, ChunkMesh, DebrisConfig,
        DebrisPiece, DestructionResult, FractureConfig, FracturePiece, MutableVoxelGrid,
    };
    pub use crate::diff::{
        apply_patch, invert_patch, merge_patches, tree_diff, tree_hash, DiffError, DiffOp,
        TreePatch,
    };
    pub use crate::eval::{
        eval, eval_batch, eval_batch_parallel, eval_gradient, eval_grid, eval_material,
        eval_normal, gradient, normal,
    };
    #[cfg(feature = "gi")]
    pub use crate::gi::{
        bake_irradiance_grid, cone_trace, direct_lighting, sky_color, trace_hemisphere,
        BakeGiConfig, ConeTraceConfig, ConeTraceResult, DirectionalLight, IrradianceGrid,
        IrradianceProbe, PointLight,
    };
    pub use crate::heatmap::{
        generate_heatmap, heatmap_to_rgba, ColorMap, Heatmap, HeatmapConfig, SlicePlane,
    };
    pub use crate::incremental::{IncrementalError, InstructionSlot, ParamDependencyIndex};
    pub use crate::io::{
        export_alembic, export_fbx, export_glb, export_glb_bytes, export_gltf_json, export_nanite,
        export_nanite_json, export_nanite_with_config, export_obj, export_usda, get_info,
        import_fbx, import_glb, import_glb_bytes, import_obj, load, load_asdf, load_asdf_json,
        save, save_asdf, save_asdf_json, AlembicConfig, FbxConfig, FbxFormat, FbxUpAxis,
        GltfConfig, NaniteExportConfig, ObjConfig, UsdConfig, UsdUpAxis,
    };
    #[cfg(feature = "physics")]
    pub use crate::live_sdf::{LiveMesh, LiveMeshConfig, LiveSdf};
    pub use crate::material::{
        material_lerp, Material, MaterialLibrary, StandardMaterials, TextureSlot,
    };
    pub use crate::measure::{
        estimate_center_of_mass, estimate_surface_area, estimate_volume, AreaEstimate,
        CenterOfMass, VolumeEstimate,
    };
    #[allow(deprecated)] // re-export kept until the next major
    pub use crate::mesh::point_cloud_to_sdf;
    pub use crate::mesh::{
        // Adaptive marching cubes
        adaptive_marching_cubes,
        apply_uvs,
        compute_aabb,
        compute_acmr,
        compute_bounding_sphere,
        compute_convex_hull,
        compute_quality,
        convex_decomposition,
        // Mesh decimation
        decimate,
        deduplicate_vertices,
        detect_primitive,
        // Dual Contouring
        dual_contouring,
        dual_contouring_compiled,
        extract_hermite,
        // Lightmap UV generation
        generate_lightmap_uvs,
        generate_lightmap_uvs_fast,
        generate_lod_chain,
        generate_lod_chain_decimated,
        generate_nanite_mesh,
        marching_cubes,
        mesh_to_sdf,
        mesh_to_sdf_exact,
        // Vertex cache optimization
        optimize_vertex_cache,
        primitives_to_csg,
        sdf_to_mesh,
        simplify_collision,
        // UV unwrapping (LSCM)
        uv_unwrap,
        validate_mesh,
        AdaptiveConfig,
        BoundingSphere,
        // Physics collision primitives
        CollisionAabb,
        CollisionMesh,
        ConvexDecomposition,
        ConvexHull,
        DecimateConfig,
        DecimationLodConfig,
        DualContouringConfig,
        // Primitive fitting
        FittedPrimitive,
        FittingConfig,
        HermiteConfig,
        // Hermite data extraction
        HermitePoint,
        // LOD generation
        LodChain,
        LodConfig,
        LodSelector,
        MarchingCubesConfig,
        Mesh,
        MeshBvh,
        MeshQuality,
        MeshRepair,
        MeshSdf,
        MeshSignMode,
        MeshToSdfConfig,
        MeshToSdfStrategy,
        // Manifold mesh validation & repair
        MeshValidation,
        // Nanite clusters
        NaniteCluster,
        NaniteConfig,
        NaniteMesh,
        // Point cloud SDF
        PointCloudSdf,
        PointCloudSdfConfig,
        Triangle,
        UvChart,
        UvUnwrapConfig,
        UvUnwrapResult,
        Vertex,
        // Convex decomposition (V-HACD)
        VhacdConfig,
    };
    #[cfg(feature = "gpu")]
    pub use crate::mesh::{
        gpu_marching_cubes, gpu_marching_cubes_from_shader, GpuMarchingCubesConfig,
    };
    pub use crate::modifiers::*;
    pub use crate::npr::compiled_color::{
        ColorOp, CompiledColorPipeline, NprBatchContext8, NprColorBatch8,
    };
    pub use crate::npr::composition::{bloom_toon, chromatic_offsets, vignette};
    pub use crate::npr::distortion::{hand_drawn_jitter, line_boil, sketch_wobble};
    pub use crate::npr::dsl::{NprColorContext, NprColorNode, PaletteSource};
    pub use crate::npr::dsl_shader::{
        transpile_npr_color_node, NprShaderContext, NprShaderSnippet,
    };
    pub use crate::npr::hatch::{cross_hatch, hatch_lines, paper_grain, pencil_shade};
    pub use crate::npr::motion::{impact_flash, speed_line};
    pub use crate::npr::noise::{
        fbm, HashNoise, NoiseField, PerlinNoise, SimplexNoise, WorleyNoise,
    };
    pub use crate::npr::outline::{
        composite_outline, curvature_outline, depth_step_outline, distance_field_outline,
        distance_field_outline_soft,
    };
    pub use crate::npr::palette::{palette_gradient, season_palette, time_of_day};
    pub use crate::npr::rim::{fresnel_rim, procedural_matcap, stylized_specular};
    #[cfg(any(feature = "glsl", feature = "hlsl", feature = "gpu"))]
    pub use crate::npr::scene_composer::SceneShaderBuilder;
    pub use crate::npr::sdf_integration::{
        curvature_outline_from_node, distance_outline_from_node, soft_toon_shade_from_node,
        toon_shade_from_node,
    };
    pub use crate::npr::shader_glue::{
        full_helpers_for, helpers_for, palette_helpers_for, ShaderLanguage, NPR_GLSL_HELPERS,
        NPR_GLSL_PALETTE_HELPERS, NPR_HLSL_HELPERS, NPR_HLSL_PALETTE_HELPERS, NPR_WGSL_HELPERS,
        NPR_WGSL_PALETTE_HELPERS,
    };
    pub use crate::npr::sky::{
        distance_color_quantize, light_shaft_beam, puffy_cloud_layer, sky_gradient_bands, sun_disc,
    };
    pub use crate::npr::toon::{posterize_color, soft_toon_ramp, toon_ramp, two_tone};
    pub use crate::npr::{NprColor, NprInput};
    pub use crate::operations::*;
    pub use crate::primitives::*;
    pub use crate::raycast::{
        ambient_occlusion, raycast, raycast_batch, raymarch, raymarch_with_config, soft_shadow,
        RaymarchConfig, RaymarchResult,
    };
    pub use crate::sdf2d::{eval_2d, eval_2d_batch, eval_2d_normal, Sdf2dNode};
    pub use crate::shell::{
        eval_shell, eval_shell_batch, eval_shell_batch_parallel, eval_shell_compiled,
        eval_shell_compiled_batch_parallel, eval_shell_gradient, shell_node, ShellConfig,
    };
    #[cfg(feature = "physics")]
    pub use crate::sim_bridge::{attach_physics, simulate_sdf, SimulatedSdf};
    #[cfg(all(feature = "physics", feature = "gpu"))]
    pub use crate::sim_bridge::{gpu_mesh_with_physics, GpuPhysicsBundle};
    pub use crate::soa::{SoADistances, SoAPoints};
    #[cfg(feature = "svo")]
    pub use crate::svo::{
        build_svo, build_svo_compiled, linearize_svo, svo_nearest_surface, svo_query_point,
        svo_ray_query, LinearizedSvo, SparseVoxelOctree, SvoBuildConfig, SvoChunk, SvoNode,
        SvoRayHit, SvoStreamingCache,
    };
    #[cfg(all(feature = "terrain", feature = "image"))]
    pub use crate::terrain::HeightmapImageConfig;
    #[cfg(feature = "terrain")]
    pub use crate::terrain::{
        erode, generate_cave_sdf, terrain_sdf, CaveConfig, ClipmapLevel, ClipmapMesh,
        ClipmapTerrain, ErosionConfig, Heightmap, SplatLayer, Splatmap, TerrainConfig,
    };
    pub use crate::transforms::*;
    pub use crate::types::{Aabb, Hit, Ray, SdfCategory, SdfMetadata, SdfNode, SdfTree};
    #[cfg(feature = "volume")]
    pub use crate::volume::{
        bake_volume, bake_volume_with_normals, export_dds_3d, export_raw, generate_mip_chain,
        BakeChannels, BakeConfig, Volume3D, VoxelDistGrad,
    };
    pub use glam::{Quat, Vec3};
}

// Re-exports for convenience
pub use cache::{
    compute_cache_key, hash_sdf_node, CacheConfig, ChunkCoord, ChunkedCacheConfig,
    ChunkedMeshCache, MeshCache, MeshCacheKey,
};
pub use eval::eval;
pub use io::{load, save};
pub use mesh::sdf_to_mesh;
pub use types::{SdfNode, SdfTree};

/// Items removed or made crate-private in 5.0.0 stay out of the public API.
/// Each block below must fail to compile (`cargo test --doc` runs them):
///
/// ```compile_fail
/// use alice_sdf::crispy::fnv1a_hash;
/// ```
///
/// ```compile_fail
/// let _ = alice_sdf::compiled::Vec3x8::zero();
/// ```
///
/// ```compile_fail
/// let _ = alice_sdf::primitives::eval_primitive_unchecked;
/// ```
///
/// ```compile_fail
/// use alice_sdf::mesh::bvh::Triangle;
/// ```
///
/// ```compile_fail
/// use alice_sdf::mesh::primitive_fitting::PrimitiveType;
/// ```
///
/// ```compile_fail
/// use alice_sdf::primitives::PrimitiveType;
/// ```
///
/// ```compile_fail
/// let _ = alice_sdf::primitives::eval_primitive;
/// ```
///
/// The replacements compile, and `mesh::Aabb` is `types::Aabb`:
///
/// ```
/// use alice_sdf::mesh::{BvhTriangle, FittedPrimitiveKind};
/// let a: alice_sdf::types::Aabb = alice_sdf::mesh::Aabb::empty();
/// let _ = (a, FittedPrimitiveKind::Sphere, std::mem::size_of::<BvhTriangle>());
/// let _ = alice_sdf::compiled::Vec3x8::splat(glam::Vec3::ONE);
/// let _ = alice_sdf::primitives::sdf_sphere;
/// ```
#[cfg(doctest)]
struct RemovedIn5;

#[cfg(test)]
mod tests {
    use super::prelude::*;

    #[test]
    fn test_basic_workflow() {
        // Create a shape: sphere with hole carved out
        let shape = SdfNode::sphere(1.0).subtract(SdfNode::box3d(0.5, 0.5, 0.5));

        // Evaluate at origin - box is inside sphere, so origin is carved out
        let d = eval(&shape, Vec3::ZERO);
        assert!(d > 0.0); // Outside (carved by box)

        // Evaluate at surface - should be near zero
        let d_surface = eval(&shape, Vec3::new(1.0, 0.0, 0.0));
        assert!(d_surface.abs() < 0.01);

        // Create tree
        let tree = SdfTree::new(shape);
        assert!(tree.node_count() > 0);
    }

    #[test]
    fn test_complex_tree() {
        let shape = SdfNode::sphere(1.0)
            .smooth_union(SdfNode::cylinder(0.5, 2.0), 0.2)
            .subtract(SdfNode::box3d(0.5, 0.5, 0.5).repeat_infinite(1.0, 1.0, 1.0))
            .twist(0.5)
            .scale(2.0);

        assert!(shape.node_count() >= 6);
    }

    #[test]
    fn test_mesh_generation() {
        let sphere = SdfNode::sphere(1.0);
        let config = MarchingCubesConfig {
            resolution: 8,
            iso_level: 0.0,
            compute_normals: true,
            ..Default::default()
        };

        let mesh = sdf_to_mesh(&sphere, Vec3::splat(-2.0), Vec3::splat(2.0), &config);
        assert!(mesh.vertex_count() > 0);
        assert!(mesh.triangle_count() > 0);
    }

    #[test]
    fn test_raymarching() {
        let sphere = SdfNode::sphere(1.0);
        let ray = Ray::new(Vec3::new(-5.0, 0.0, 0.0), Vec3::new(1.0, 0.0, 0.0));

        let hit = raycast(&sphere, ray, 10.0);
        assert!(hit.is_some());

        let hit = hit.unwrap();
        assert!((hit.distance - 4.0).abs() < 0.1);
    }

    #[test]
    fn test_production_stress_high_res() {
        // High-resolution mesh generation (production scale)
        let shape = SdfNode::sphere(1.0).smooth_union(SdfNode::box3d(0.5, 0.5, 0.5), 0.2);
        let config = MarchingCubesConfig {
            resolution: 64,
            iso_level: 0.0,
            compute_normals: true,
            ..Default::default()
        };
        let mesh = sdf_to_mesh(&shape, Vec3::splat(-2.0), Vec3::splat(2.0), &config);

        // Should produce a substantial mesh
        assert!(
            mesh.vertex_count() > 1000,
            "Expected >1000 vertices, got {}",
            mesh.vertex_count()
        );
        assert!(
            mesh.triangle_count() > 500,
            "Expected >500 triangles, got {}",
            mesh.triangle_count()
        );
    }

    #[test]
    fn test_production_multi_material_pipeline() {
        // Full pipeline: SDF → mesh → optimize → glTF with multi-material
        let shape = SdfNode::sphere(1.0);
        let config = MarchingCubesConfig {
            resolution: 16,
            iso_level: 0.0,
            compute_normals: true,
            ..Default::default()
        };
        let mut mesh = sdf_to_mesh(&shape, Vec3::splat(-2.0), Vec3::splat(2.0), &config);

        // Assign materials to half the triangles
        let half = mesh.vertices.len() / 2;
        for v in mesh.vertices[half..].iter_mut() {
            v.material_id = 1;
        }

        // Optimize vertex cache
        let acmr_before = compute_acmr(&mesh, 32);
        optimize_vertex_cache(&mut mesh);
        let acmr_after = compute_acmr(&mesh, 32);
        assert!(acmr_after <= acmr_before + 0.01);

        // Create materials
        let mut mat_lib = MaterialLibrary::new();
        mat_lib.add(
            Material::metal("Chrome", 0.9, 0.9, 0.9, 0.2)
                .with_albedo_map("textures/chrome_albedo.png")
                .with_normal_map("textures/chrome_normal.png"),
        );

        // Export glTF with multi-material
        let path = std::env::temp_dir().join("alice_stress_multi_mat.glb");
        export_glb(&mesh, &path, &GltfConfig::aaa(), Some(&mat_lib)).unwrap();

        let bytes = std::fs::read(&path).unwrap();
        assert!(bytes.len() > 100);
        // Verify it's valid GLB
        assert_eq!(&bytes[0..4], &0x46546C67u32.to_le_bytes());

        std::fs::remove_file(&path).ok();
    }

    #[test]
    fn test_production_collision_pipeline() {
        // Full pipeline: SDF → mesh → collision primitives
        let shape = SdfNode::sphere(1.0).subtract(SdfNode::box3d(0.5, 0.5, 0.5));
        let config = MarchingCubesConfig {
            resolution: 16,
            iso_level: 0.0,
            compute_normals: true,
            ..Default::default()
        };
        let mesh = sdf_to_mesh(&shape, Vec3::splat(-2.0), Vec3::splat(2.0), &config);

        // AABB
        let aabb = compute_aabb(&mesh);
        assert!(aabb.contains(Vec3::new(0.5, 0.0, 0.0)));

        // Bounding sphere
        let bs = compute_bounding_sphere(&mesh);
        assert!(bs.radius > 0.5);

        // Convex hull
        let hull = compute_convex_hull(&mesh);
        assert!(hull.vertices.len() >= 4);
        assert!(hull.indices.len() >= 12);

        // Simplified collision
        let simplified = simplify_collision(&mesh, 8);
        assert!(simplified.vertices.len() < mesh.vertices.len());
    }

    #[test]
    fn test_compiled_vs_interpreted() {
        // Complex shape to test
        let shape = SdfNode::sphere(1.0)
            .smooth_union(
                SdfNode::cylinder(0.3, 1.5).rotate_euler(1.57, 0.0, 0.0),
                0.2,
            )
            .subtract(SdfNode::box3d(0.4, 0.4, 0.4))
            .translate(0.5, 0.0, 0.0);

        let compiled = CompiledSdf::compile(&shape);

        // Test at many points
        let test_points = [
            Vec3::ZERO,
            Vec3::new(1.0, 0.0, 0.0),
            Vec3::new(0.5, 0.5, 0.5),
            Vec3::new(-1.0, -1.0, -1.0),
            Vec3::new(0.25, 0.25, 0.25),
            Vec3::new(2.0, 0.0, 0.0),
        ];

        for p in test_points {
            let d_interp = eval(&shape, p);
            let d_compiled = eval_compiled(&compiled, p);
            assert!(
                (d_interp - d_compiled).abs() < 0.001,
                "Mismatch at {:?}: interp={}, compiled={}",
                p,
                d_interp,
                d_compiled
            );
        }
    }
}