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// Port of the AABB subtests from box3d-cpp-reference/test/test_collision.c
// (AABBTest and TestRayAABBIntersection). The LargeWorld* subtests depend on
// hull/shape modules not yet ported and will be added with them.
//
// SPDX-FileCopyrightText: 2025 Erin Catto
// SPDX-License-Identifier: MIT
use crate::aabb::ray_cast_aabb;
use crate::math_functions::{aabb_contains, aabb_overlaps, abs_float, is_valid_aabb, Aabb, Vec3};
fn aabb(lx: f32, ly: f32, lz: f32, ux: f32, uy: f32, uz: f32) -> Aabb {
Aabb {
lower_bound: Vec3 {
x: lx,
y: ly,
z: lz,
},
upper_bound: Vec3 {
x: ux,
y: uy,
z: uz,
},
}
}
fn v(x: f32, y: f32, z: f32) -> Vec3 {
Vec3 { x, y, z }
}
/// AABBTest from test_collision.c
#[test]
fn aabb_validity_overlap_contains() {
let mut a = Aabb {
lower_bound: v(-1.0, -1.0, -1.0),
// C: a.upperBound = { -2, -2, -2 }
upper_bound: v(-2.0, -2.0, -2.0),
};
assert!(!is_valid_aabb(a));
// C: a.upperBound = (b3Vec3){ 1.0f, 1.0f }; — z zero-initialized
a.upper_bound = v(1.0, 1.0, 0.0);
assert!(is_valid_aabb(a));
// C: b3AABB b = { { 2, 2 }, { 4, 4 } }; — z components zero-initialized
let b = aabb(2.0, 2.0, 0.0, 4.0, 4.0, 0.0);
assert!(!aabb_overlaps(a, b));
assert!(!aabb_contains(a, b));
}
/// TestRayAABBIntersection from test_collision.c
#[test]
fn test_ray_aabb_intersection() {
let mut min_fraction = 0.0;
let mut max_fraction = 0.0;
// Test 1: Ray passing through center of AABB
{
let a = aabb(-1.0, -1.0, -1.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-2.0, 0.0, 0.0),
v(2.0, 0.0, 0.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert!(abs_float(min_fraction - 0.25) < 0.001); // Enters at 25% of ray
assert!(abs_float(max_fraction - 0.75) < 0.001); // Exits at 75% of ray
}
// Test 2: Ray starting inside AABB
{
let a = aabb(-1.0, -1.0, -1.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(0.0, 0.0, 0.0),
v(2.0, 0.0, 0.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert_eq!(min_fraction, 0.0); // Starts inside
assert!(abs_float(max_fraction - 0.5) < 0.001); // Exits at 50% of ray
}
// Test 3: Ray ending inside AABB
{
let a = aabb(-1.0, -1.0, -1.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-2.0, 0.0, 0.0),
v(0.0, 0.0, 0.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert!(abs_float(min_fraction - 0.5) < 0.001); // Enters at 50% of ray
assert_eq!(max_fraction, 1.0); // Ends inside
}
// Test 4: Ray completely inside AABB
{
let a = aabb(-2.0, -2.0, -2.0, 2.0, 2.0, 2.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 0.0, 0.0),
v(1.0, 0.0, 0.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert_eq!(min_fraction, 0.0);
assert_eq!(max_fraction, 1.0);
}
// Test 5: Ray missing AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 2.0, 0.5),
v(2.0, 2.0, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(!hit);
}
// Test 6: Ray parallel to AABB face (no intersection)
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 2.0, 0.5),
v(2.0, 2.0, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(!hit);
}
// Test 7: Ray parallel to AABB face (within bounds)
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 0.5, 0.5),
v(2.0, 0.5, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert!(abs_float(min_fraction - 1.0 / 3.0) < 0.001);
assert!(abs_float(max_fraction - 2.0 / 3.0) < 0.001);
}
// Test 8: Degenerate ray (point) inside AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(0.5, 0.5, 0.5),
v(0.5, 0.5, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert_eq!(min_fraction, 0.0);
assert_eq!(max_fraction, 0.0);
}
// Test 9: Degenerate ray (point) outside AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(2.0, 2.0, 2.0),
v(2.0, 2.0, 2.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(!hit);
}
// Test 10: Ray pointing away from AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 0.5, 0.5),
v(-2.0, 0.5, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(!hit);
}
// Test 11: Ray hitting corner of AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, -1.0, -1.0),
v(2.0, 2.0, 2.0),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert!(abs_float(min_fraction - 1.0 / 3.0) < 0.001);
assert!(abs_float(max_fraction - 2.0 / 3.0) < 0.001);
}
// Test 12: Ray grazing edge of AABB
{
let a = aabb(0.0, 0.0, 0.0, 1.0, 1.0, 1.0);
let hit = ray_cast_aabb(
a,
v(-1.0, 0.0, 0.5),
v(2.0, 0.0, 0.5),
&mut min_fraction,
&mut max_fraction,
);
assert!(hit);
assert!(abs_float(min_fraction - 1.0 / 3.0) < 0.001);
assert!(abs_float(max_fraction - 2.0 / 3.0) < 0.001);
}
}