cgar 0.2.0

// SPDX-License-Identifier: MIT
//
// Copyright (c) 2025 Alexandre Severino
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

use cgar::geometry::aabb::Aabb;
use cgar::geometry::aabb_tree::AabbTree;
use cgar::geometry::spatial_element::SpatialElement;
use cgar::geometry::{Point2, Point3};
use cgar::numeric::cgar_f64::CgarF64;

#[test]
fn test_aabb_from_union_and_intersection_2() {
    // Test from_points
    let p1 = Point2::<CgarF64>::from_vals([0.0, 1.0]);
    let p2 = Point2::from_vals([2.0, -1.0]);
    let a = Aabb::from_points(&p1, &p2);

    assert_eq!(a.min[0], CgarF64(0.0));
    assert_eq!(a.min[1], CgarF64(-1.0));
    assert_eq!(a.max[0], CgarF64(2.0));
    assert_eq!(a.max[1], CgarF64(1.0));

    // Test union
    let b = Aabb::from_points(
        &Point2::from_vals([0.5, -0.5]),
        &Point2::from_vals([2.0, 0.5]),
    );
    let u = a.union(&b);
    assert_eq!(u.min[0], CgarF64(0.0));
    assert_eq!(u.min[1], CgarF64(-1.0));
    assert_eq!(u.max[0], CgarF64(2.0));
    assert_eq!(u.max[1], CgarF64(1.0));

    // Test intersects
    let c = Aabb::from_points(
        &Point2::from_vals([2.5, 2.5]),
        &Point2::from_vals([3.0, 3.0]),
    );
    assert!(a.intersects(&b));
    assert!(!a.intersects(&c));
}

#[test]
fn test_aabb_tree_build_and_query_2() {
    // Build three AABBs labeled 1,2,3
    let items = vec![
        (
            Aabb::from_points(
                &Point2::<CgarF64>::from_vals([0.0, 0.0]),
                &Point2::from_vals([1.0, 1.0]),
            ),
            1,
        ),
        (
            Aabb::from_points(
                &Point2::from_vals([1.5, 1.5]),
                &Point2::from_vals([2.5, 2.5]),
            ),
            2,
        ),
        (
            Aabb::from_points(
                &Point2::from_vals([-1.0, -1.0]),
                &Point2::from_vals([-0.5, -0.5]),
            ),
            3,
        ),
    ];

    // Build the tree
    let tree = AabbTree::build(items.clone());

    // Query for boxes overlapping the region [0.5,0.5]–[2.0,2.0]
    let mut hits = Vec::new();
    let query = Aabb::from_points(
        &Point2::from_vals([0.5, 0.5]),
        &Point2::from_vals([2.0, 2.0]),
    );
    tree.query(&query, &mut hits);

    // We expect to hit items 1 and 2
    let mut result: Vec<_> = hits.into_iter().cloned().collect();
    result.sort();
    assert_eq!(result, vec![1, 2]);
}

#[test]
fn test_aabb_3d_from_union_and_intersection() {
    // from_points on diagonal corners
    let p1 = Point3::<CgarF64>::from_vals([0.0, 1.0, -1.0]);
    let p2 = Point3::from_vals([2.0, -1.0, 3.0]);
    let a = Aabb::<CgarF64, 3, Point3<CgarF64>>::from_points(&p1, &p2);

    assert_eq!(a.min[0], CgarF64(0.0));
    assert_eq!(a.min[1], CgarF64(-1.0));
    assert_eq!(a.min[2], CgarF64(-1.0));
    assert_eq!(a.max[0], CgarF64(2.0));
    assert_eq!(a.max[1], CgarF64(1.0));
    assert_eq!(a.max[2], CgarF64(3.0));

    // union with a smaller box inside
    let b = Aabb::from_points(
        &Point3::from_vals([0.5, -0.5, 0.0]),
        &Point3::from_vals([1.5, 0.5, 2.0]),
    );
    let u = a.union(&b);
    assert_eq!(u.min[0], CgarF64(0.0));
    assert_eq!(u.min[1], CgarF64(-1.0));
    assert_eq!(u.min[2], CgarF64(-1.0));
    assert_eq!(u.max[0], CgarF64(2.0));
    assert_eq!(u.max[1], CgarF64(1.0));
    assert_eq!(u.max[2], CgarF64(3.0));

    // disjoint box
    let c = Aabb::from_points(
        &Point3::from_vals([3.0, 3.0, 3.0]),
        &Point3::from_vals([4.0, 4.0, 4.0]),
    );
    assert!(a.intersects(&b));
    assert!(!a.intersects(&c));
}

#[test]
fn test_aabb_tree_build_and_query_3d() {
    // Build three 3D AABBs labeled 1,2,3
    let items = vec![
        (
            Aabb::from_points(
                &Point3::<CgarF64>::from_vals([0.0, 0.0, 0.0]),
                &Point3::from_vals([1.0, 1.0, 1.0]),
            ),
            1,
        ),
        (
            Aabb::from_points(
                &Point3::from_vals([1.5, 1.5, 1.5]),
                &Point3::from_vals([2.5, 2.5, 2.5]),
            ),
            2,
        ),
        (
            Aabb::from_points(
                &Point3::from_vals([-1.0, -1.0, -1.0]),
                &Point3::from_vals([-0.5, -0.5, -0.5]),
            ),
            3,
        ),
    ];

    // Build the tree
    let tree = AabbTree::build(items.clone());

    // Query for boxes overlapping [0.5,0.5,0.5]–[2.0,2.0,2.0]
    let mut hits = Vec::new();
    let query = Aabb::from_points(
        &Point3::from_vals([0.5, 0.5, 0.5]),
        &Point3::from_vals([2.0, 2.0, 2.0]),
    );
    tree.query(&query, &mut hits);

    // We expect to hit items 1 and 2
    let mut result: Vec<_> = hits.into_iter().cloned().collect();
    result.sort();
    assert_eq!(result, vec![1, 2]);
}