obvhs 0.3.0

//! An Axis-Aligned Bounding Box (AABB) represented by its minimum and maximum points.

use std::ops::BitAnd;

use bytemuck::{Pod, Zeroable};
use glam::Vec3A;

use crate::{Boundable, ray::Ray};

/// An Axis-Aligned Bounding Box (AABB) represented by its minimum and maximum points.
#[derive(Default, Clone, Copy, Debug, PartialEq, Zeroable)]
#[repr(C)]
pub struct Aabb {
    pub min: Vec3A,
    pub max: Vec3A,
}

unsafe impl Pod for Aabb {}

impl Aabb {
    /// An invalid (empty) AABB with min set to the maximum possible value
    /// and max set to the minimum possible value.
    pub const INVALID: Self = Self {
        min: Vec3A::splat(f32::MAX),
        max: Vec3A::splat(f32::MIN),
    };

    /// An infinite AABB with min set to negative infinity
    /// and max set to positive infinity.
    pub const LARGEST: Self = Self {
        min: Vec3A::splat(-f32::MAX),
        max: Vec3A::splat(f32::MAX),
    };

    /// An infinite AABB with min set to negative infinity
    /// and max set to positive infinity.
    pub const INFINITY: Self = Self {
        min: Vec3A::splat(-f32::INFINITY),
        max: Vec3A::splat(f32::INFINITY),
    };

    /// Creates a new AABB with the given minimum and maximum points.
    #[inline(always)]
    pub fn new(min: Vec3A, max: Vec3A) -> Self {
        Self { min, max }
    }

    /// Creates a new AABB with both min and max set to the given point.
    #[inline(always)]
    pub fn from_point(point: Vec3A) -> Self {
        Self {
            min: point,
            max: point,
        }
    }

    /// Creates an AABB that bounds the given set of points.
    #[inline(always)]
    pub fn from_points(points: &[Vec3A]) -> Self {
        let mut points = points.iter();
        let mut aabb = Aabb::from_point(*points.next().unwrap());
        for point in points {
            aabb.extend(*point);
        }
        aabb
    }

    /// Checks if the AABB contains the given point.
    #[inline(always)]
    pub fn contains_point(&self, point: Vec3A) -> bool {
        (point.cmpge(self.min).bitand(point.cmple(self.max))).all()
    }

    /// Extends the AABB to include the given point.
    #[inline(always)]
    pub fn extend(&mut self, point: Vec3A) -> &mut Self {
        *self = self.union(&Self::from_point(point));
        self
    }

    /// Returns the union of this AABB and another AABB.
    #[inline(always)]
    #[must_use]
    pub fn union(&self, other: &Self) -> Self {
        Aabb {
            min: self.min.min(other.min),
            max: self.max.max(other.max),
        }
    }

    /// Returns the intersection of this AABB and another AABB.
    ///
    /// The intersection of two AABBs is the overlapping region that is
    /// common to both AABBs. If the AABBs do not overlap, the resulting
    /// AABB will have min and max values that do not form a valid box
    /// (min will not be less than max).
    #[inline(always)]
    pub fn intersection(&self, other: &Self) -> Self {
        Aabb {
            min: self.min.max(other.min),
            max: self.max.min(other.max),
        }
    }

    /// Returns the diagonal vector of the AABB.
    #[inline(always)]
    pub fn diagonal(&self) -> Vec3A {
        self.max - self.min
    }

    /// Returns the center point of the AABB.
    #[inline(always)]
    pub fn center(&self) -> Vec3A {
        (self.max + self.min) * 0.5
    }

    /// Returns the center coordinate of the AABB along a specific axis.
    #[inline(always)]
    pub fn center_axis(&self, axis: usize) -> f32 {
        (self.max[axis] + self.min[axis]) * 0.5
    }

    /// Returns the index of the largest axis of the AABB.
    #[inline]
    pub fn largest_axis(&self) -> usize {
        let d = self.diagonal();
        if d.x < d.y {
            if d.y < d.z { 2 } else { 1 }
        } else if d.x < d.z {
            2
        } else {
            0
        }
    }

    /// Returns the index of the smallest axis of the AABB.
    #[inline]
    pub fn smallest_axis(&self) -> usize {
        let d = self.diagonal();
        if d.x > d.y {
            if d.y > d.z { 2 } else { 1 }
        } else if d.x > d.z {
            2
        } else {
            0
        }
    }

    /// Returns half the surface area of the AABB.
    #[inline(always)]
    pub fn half_area(&self) -> f32 {
        let d = self.diagonal();
        (d.x + d.y) * d.z + d.x * d.y
    }

    /// Returns the surface area of the AABB.
    #[inline(always)]
    pub fn surface_area(&self) -> f32 {
        let d = self.diagonal();
        2.0 * d.dot(d)
    }

    /// Returns an empty AABB.
    #[inline(always)]
    pub fn empty() -> Self {
        Self {
            min: Vec3A::new(f32::MAX, f32::MAX, f32::MAX),
            max: Vec3A::new(f32::MIN, f32::MIN, f32::MIN),
        }
    }

    /// Checks if the AABB is valid (i.e., min <= max on all axes).
    pub fn valid(&self) -> bool {
        self.min.cmple(self.max).all()
    }

    /// Checks if this AABB intersects with another AABB.
    #[inline(always)]
    pub fn intersect_aabb(&self, other: &Aabb) -> bool {
        (self.min.cmpgt(other.max) | self.max.cmplt(other.min)).bitmask() == 0
    }

    /// Checks if this AABB intersects with a ray and returns the distance to the intersection point.
    /// Returns `f32::INFINITY` if there is no intersection.
    #[inline(always)]
    pub fn intersect_ray(&self, ray: &Ray) -> f32 {
        // TODO perf: this is faster with #[target_feature(enable = "avx")] without any code changes
        // The compiler emits vsubps instead of mulps which ultimately results in less instructions.
        // Consider using is_x86_feature_detected!("avx") or #[multiversion(targets("x86_64+avx"))] before traversal
        // The manual impl using is_x86_feature_detected directly is a bit faster than multiversion

        let t1 = (self.min - ray.origin) * ray.inv_direction;
        let t2 = (self.max - ray.origin) * ray.inv_direction;

        let tmin = t1.min(t2);
        let tmax = t1.max(t2);

        let tmin_n = tmin.max_element();
        let tmax_n = tmax.min_element();

        if tmax_n >= tmin_n && tmax_n >= 0.0 {
            tmin_n
        } else {
            f32::INFINITY
        }
    }
}

impl Boundable for Aabb {
    #[inline(always)]
    fn aabb(&self) -> Aabb {
        *self
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use glam::Vec3A;

    #[test]
    fn test_from_point() {
        let point = Vec3A::ONE;
        let aabb = Aabb::from_point(point);
        assert_eq!(aabb.min, point);
        assert_eq!(aabb.max, point);
    }

    #[test]
    fn test_from_points() {
        let points = vec![Vec3A::ZERO, Vec3A::ONE, Vec3A::splat(2.0)];
        let aabb = Aabb::from_points(&points);
        assert_eq!(aabb.min, Vec3A::ZERO);
        assert_eq!(aabb.max, Vec3A::splat(2.0));
    }

    #[test]
    fn test_contains_point() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert!(aabb.contains_point(Vec3A::splat(0.5)));
        assert!(!aabb.contains_point(Vec3A::splat(1.5)));
    }

    #[test]
    fn test_extend() {
        let mut aabb = Aabb::from_point(Vec3A::ZERO);
        aabb.extend(Vec3A::ONE);
        assert_eq!(aabb.min, Vec3A::ZERO);
        assert_eq!(aabb.max, Vec3A::ONE);
    }

    #[test]
    fn test_union() {
        let aabb1 = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        let aabb2 = Aabb::new(Vec3A::splat(0.5), Vec3A::splat(1.5));
        let union = aabb1.union(&aabb2);
        assert_eq!(union.min, Vec3A::ZERO);
        assert_eq!(union.max, Vec3A::splat(1.5));
    }

    #[test]
    fn test_intersection() {
        let aabb1 = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        let aabb2 = Aabb::new(Vec3A::splat(0.5), Vec3A::splat(1.5));
        let intersection = aabb1.intersection(&aabb2);
        assert_eq!(intersection.min, Vec3A::splat(0.5));
        assert_eq!(intersection.max, Vec3A::ONE);
        assert!(intersection.valid());
    }

    #[test]
    fn test_intersection_no_overlap() {
        let aabb1 = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        let aabb2 = Aabb::new(Vec3A::splat(2.0), Vec3A::splat(3.0));
        let intersection = aabb1.intersection(&aabb2);
        assert_eq!(intersection.min, Vec3A::splat(2.0));
        assert_eq!(intersection.max, Vec3A::ONE);
        assert!(!intersection.valid());
    }

    #[test]
    fn test_diagonal() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert_eq!(aabb.diagonal(), Vec3A::ONE);
    }

    #[test]
    fn test_center() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert_eq!(aabb.center(), Vec3A::splat(0.5));
    }

    #[test]
    fn test_center_axis() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert_eq!(aabb.center_axis(0), 0.5);
        assert_eq!(aabb.center_axis(1), 0.5);
        assert_eq!(aabb.center_axis(2), 0.5);
    }

    #[test]
    fn test_largest_axis() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::new(1.0, 2.0, 3.0));
        assert_eq!(aabb.largest_axis(), 2);
    }

    #[test]
    fn test_smallest_axis() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::new(1.0, 2.0, 3.0));
        assert_eq!(aabb.smallest_axis(), 0);
    }

    #[test]
    fn test_half_area() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert_eq!(aabb.half_area(), 3.0);
    }

    #[test]
    fn test_surface_area() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert_eq!(aabb.surface_area(), 6.0);
    }

    #[test]
    fn test_empty() {
        let aabb = Aabb::empty();
        assert_eq!(aabb.min, Vec3A::new(f32::MAX, f32::MAX, f32::MAX));
        assert_eq!(aabb.max, Vec3A::new(f32::MIN, f32::MIN, f32::MIN));
    }

    #[test]
    fn test_valid() {
        let valid_aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        assert!(valid_aabb.valid());

        let invalid_aabb = Aabb::new(Vec3A::splat(2.0), Vec3A::splat(1.0));
        assert!(!invalid_aabb.valid());
    }

    #[test]
    fn test_intersect_aabb() {
        let aabb1 = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        let aabb2 = Aabb::new(Vec3A::splat(0.5), Vec3A::splat(1.5));
        assert!(aabb1.intersect_aabb(&aabb2));
        let aabb3 = Aabb::new(Vec3A::splat(1.5), Vec3A::splat(2.5));
        assert!(!aabb1.intersect_aabb(&aabb3));
    }

    #[test]
    fn test_intersect_ray() {
        let aabb = Aabb::new(Vec3A::ZERO, Vec3A::ONE);
        let ray = Ray::new(Vec3A::splat(-1.0), Vec3A::ONE, 0.0, f32::MAX);
        assert_eq!(aabb.intersect_ray(&ray), 1.0);
        let ray_no_intersect = Ray::new(Vec3A::splat(2.0), Vec3A::ONE, 0.0, f32::MAX);
        assert_eq!(aabb.intersect_ray(&ray_no_intersect), f32::INFINITY);
    }
}