aabb.h

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#pragma once
#include "vde/core/point.h"
#include <algorithm>
#include <limits>
 
namespace vde::core {
 
template <typename T>
class AABB {
public:
    AABB() : min_(Point3D::Constant(std::numeric_limits<T>::max())),
             max_(Point3D::Constant(std::numeric_limits<T>::lowest())) {}
 
    AABB(const Point3D& min, const Point3D& max) : min_(min), max_(max) {}
 
    void expand(const Point3D& p) {
        min_ = min_.cwiseMin(p);
        max_ = max_.cwiseMax(p);
    }
 
    void expand(const AABB& other) {
        min_ = min_.cwiseMin(other.min_);
        max_ = max_.cwiseMax(other.max_);
    }
 
    [[nodiscard]] Point3D center() const { return (min_ + max_) * 0.5; }
 
    [[nodiscard]] Vector3D extent() const { return max_ - min_; }
 
    [[nodiscard]] T surface_area() const {
        Vector3D e = extent();
        return 2.0 * (e.x() * e.y() + e.y() * e.z() + e.z() * e.x());
    }
 
    [[nodiscard]] T volume() const {
        Vector3D e = extent();
        return e.x() * e.y() * e.z();
    }
 
    [[nodiscard]] bool contains(const Point3D& p) const {
        return (p.array() >= min_.array()).all() && (p.array() <= max_.array()).all();
    }
 
    [[nodiscard]] bool intersects(const AABB& other) const {
        return (min_.array() <= other.max_.array()).all()
            && (max_.array() >= other.min_.array()).all();
    }
 
    [[nodiscard]] const Point3D& min() const { return min_; }
    [[nodiscard]] const Point3D& max() const { return max_; }
 
private:
    Point3D min_, max_;
};
 
using AABB3D = AABB<double>;
using AABB3f = AABB<float>;
 
}  // namespace vde::core