Improve Aabb API

crates/fj-math/src/aabb.rs

@@ -13,13 +13,50 @@ pub struct Aabb<const D: usize> {
  pub max: Point<D>,
 }
 
+impl<const D: usize> Aabb<D> {
+ /// Determine whether the AABB contains a given point
+ pub fn contains(&self, point: impl Into<Point<D>>) -> bool {
+ let point = point.into();
+
+ let min = self
+ .min
+ .coords
+ .components
+ .into_iter()
+ .zip(point.coords.components);
+ for (min, p) in min {
+ if min > p {
+ return false;
+ }
+ }
+
+ let max = self
+ .max
+ .coords
+ .components
+ .into_iter()
+ .zip(point.coords.components);
+ for (max, p) in max {
+ if max < p {
+ return false;
+ }
+ }
+
+ true
+ }
+}
+
 impl Aabb<2> {
  /// Construct a 2-dimensional AABB from a list of points
  ///
  /// The resulting AABB will contain all the points.
- pub fn from_points(points: impl IntoIterator<Item = Point<2>>) -> Self {
- let points: Vec<_> =
- points.into_iter().map(|point| point.to_na()).collect();
+ pub fn from_points(
+ points: impl IntoIterator<Item = impl Into<Point<2>>>,
+ ) -> Self {
+ let points: Vec<_> = points
+ .into_iter()
+ .map(|point| point.into().to_na())
+ .collect();
  parry2d_f64::bounding_volume::AABB::from_points(&points).into()
  }
 
@@ -36,9 +73,13 @@ impl Aabb<3> {
  /// Construct a 3-dimensional AABB from a list of points
  ///
  /// The resulting AABB will contain all the points.
- pub fn from_points(points: impl IntoIterator<Item = Point<3>>) -> Self {
- let points: Vec<_> =
- points.into_iter().map(|point| point.to_na()).collect();
+ pub fn from_points(
+ points: impl IntoIterator<Item = impl Into<Point<3>>>,
+ ) -> Self {
+ let points: Vec<_> = points
+ .into_iter()
+ .map(|point| point.into().to_na())
+ .collect();
  parry3d_f64::bounding_volume::AABB::from_points(&points).into()
  }
 
@@ -98,3 +139,25 @@ impl From<parry3d_f64::bounding_volume::AABB> for Aabb<3> {
  Self::from_parry(aabb)
  }
 }
+
+#[cfg(test)]
+mod tests {
+ use super::Aabb;
+
+ #[test]
+ fn contains() {
+ let aabb = Aabb::<2>::from_points([[1., 1.], [3., 3.]]);
+
+ assert!(aabb.contains([2., 2.]));
+
+ assert!(!aabb.contains([0., 0.]));
+ assert!(!aabb.contains([4., 0.]));
+ assert!(!aabb.contains([4., 4.]));
+ assert!(!aabb.contains([0., 4.]));
+
+ assert!(!aabb.contains([2., 0.]));
+ assert!(!aabb.contains([2., 4.]));
+ assert!(!aabb.contains([0., 2.]));
+ assert!(!aabb.contains([4., 2.]));
+ }
+}

crates/fj-math/src/segment.rs

@@ -24,7 +24,7 @@ impl<const D: usize> Segment<D> {
  let points = points.map(Into::into);
  let [a, b] = points;
 
- assert!(a != b, "Invalid segment; both points are identical {a:?}");
+ assert!(a != b, "Invalid segment; both points are identical: {a:?}");
 
  Self { points }
  }