Struct Aabb3

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pub struct Aabb3 { /* private fields */ }

Expand description

An axis-aligned bounding box in 3D space.

An AABB is the smallest rectangular box that contains a set of points, with its faces aligned to the coordinate axes. It’s defined by two 3D points:

min: The corner with minimum coordinate values
max: The corner with maximum coordinate values

AABBs are fundamental in physics engines for:

Broad-phase collision detection
Spatial partitioning and culling
Bounding volume hierarchies
Ray casting and intersection testing

§Examples

use phys_geom::{Aabb3, math::Point3};

// Create an AABB from two points
let aabb = Aabb3::new(
    Point3::new(-1.0, -1.0, -1.0),
    Point3::new(1.0, 1.0, 1.0)
);

// Use special constants
let empty_aabb = Aabb3::ANTI_INFINITE;
let zero_aabb = Aabb3::ZERO;

§Invariants

For a valid AABB, the following must hold: min.x <= max.x, min.y <= max.y, min.z <= max.z

§Memory Layout

The struct uses #[repr(C)] for FFI compatibility and contains exactly two Point3 values.

Implementations§

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impl Aabb3

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pub const ANTI_INFINITE: Self

An empty/invalid AABB used as initial value for union operations.

This special AABB has min = [MAX, MAX, MAX] and max = [MIN, MIN, MIN], making it the identity element for union operations. Any AABB unioned with ANTI_INFINITE will result in the original AABB.

§Examples

use phys_geom::{Aabb3, math::Point3};

let mut aabb = Aabb3::ANTI_INFINITE;
aabb.grow(Point3::new(1.0, 2.0, 3.0));
aabb.grow(Point3::new(-1.0, -2.0, -3.0));

assert_eq!(aabb.min(), Point3::new(-1.0, -2.0, -3.0));
assert_eq!(aabb.max(), Point3::new(1.0, 2.0, 3.0));

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pub const ZERO: Aabb3

A zero-sized AABB located at the origin.

Both min and max points are at the origin (0, 0, 0), resulting in an AABB with zero volume. This is useful as a starting point for incremental bounding box computation.

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pub fn new(p1: impl Into<[Real; 3]>, p2: impl Into<[Real; 3]>) -> Aabb3

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pub fn new_unchecked(min: impl Into<Point3>, max: impl Into<Point3>) -> Self

Create AABB bound with min and max point. Different from new method, the new_unchecked won’t compare min and max point, and will assign them to AABB directly. It means user should be ensure that min point is actually smaller than max point.

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pub fn from_array_unchecked(values: [Real; 6]) -> Self

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pub fn from_center_extents( center: impl Into<Point3>, extents: impl Into<Vec3>, ) -> Self

Create AABB from center and extents.

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pub fn min(&self) -> Point3

Returns the minimum point of the AABB.

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pub fn max(&self) -> Point3

Returns the maximum point of the AABB.

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pub fn get_interval(&self, axis: usize) -> Interval

Get the interval of the AABB along the given axis.

§Panics

Panics if axis is greater than 2.

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pub fn set_min_at(&mut self, axis: usize, value: Real)

Set the minimum value of the AABB at the given axis.

§Panics

Panics if the set value is large than max[axis]

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pub fn set_max_at(&mut self, axis: usize, value: Real)

Set the maximum value of the AABB at the given axis.

§Panics

Panics if the set value is smaller than min[axis]

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pub fn grow(&mut self, p: impl Into<Point3>)

Grow the aabb to include the given point.

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pub fn merge(&mut self, other: &Self)

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pub fn expand(&mut self, margin: Real)

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pub fn offset(&mut self, offset: impl Into<[Real; 3]>)

Offset the AABB by the given vector.

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pub fn with_offset(self, offset: impl Into<[Real; 3]>) -> Self

Offset the AABB by the given vector, returning the modified AABB.

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pub fn corners(&self) -> [Point3; 8]

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pub fn with_margin(&self, margin: impl Into<[Real; 3]>) -> Self

Extend AABB with margin.

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pub fn transform(&self, transform: impl Into<Isometry3>) -> Self

TODO: maybe we have more more efficient method (issue #1243)

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pub fn center(&self) -> Point3

Get the center point of the AABB

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pub fn size(&self) -> Vec3

Get the size of the AABB (Excludes cases where the end points are equal)

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pub fn get_extents(&self) -> Vec3

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pub fn overlap_test(&self, rhs: &Aabb3) -> bool

Overlap test two AABB.

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pub fn raycast(&self, ray: Ray, max_distance: Real) -> bool

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pub fn raycast_by_one_over_direction( &self, origin: impl Into<[Real; 3]>, one_over_direction: impl Into<[Real; 3]>, max_distance: Real, ) -> bool

§Examples

use phys_geom::{Aabb3, Ray};
use phys_geom::{math::Point3, math::Vec3};
let ray = Ray::new_with_vec3(Point3::origin(), Vec3::new(0.0, 0.0, 1.0));
let aabb = Aabb3::new(Point3::origin(), Point3::new(1.0, 1.0, 1.0));
aabb.raycast_by_one_over_direction(ray.origin, ray.one_over_direction(), 1.0);