AABB Struct Reference

Axis-aligned bounding box. More...

#include <Geometry.hpp>

Collaboration diagram for AABB:

Public Member Functions
bool	contains_xy (const Vec3 &p, float z_eps) const
	2D containment test on XY with tolerance in Z.
bool	contains_xy_only (const Vec3 &p) const
	2D containment test on XY only (no Z check).
void	expand (const AABB &b)
	Expand the box to include another box b (component-wise union).
void	expand (const Vec3 &p)
	Expand the box to include a point p.
bool	intersects_ray (const Vec3 &o, const Vec3 &d, float tmax=1e30f) const
	Robust ray-box intersection (slabs method).
int	longest_axis () const
	Return the index of the longest axis (0=x, 1=y, 2=z).

Public Attributes
Vec3	max
	Maximum corner (x_max, y_max, z_max).
Vec3	min
	Minimum corner (x_min, y_min, z_min).

Detailed Description

Axis-aligned bounding box.

Stores component-wise minima/maxima and provides helpers for:

• Union/expansion with points or other AABBs.
• Longest axis query (for BVH splitting).
• Robust ray-box intersection (slabs method).
• XY containment with and without Z tolerance.

Member Function Documentation

contains_xy()

bool contains_xy	(	const Vec3 &	p,
		float	z_eps ) const

2D containment test on XY with tolerance in Z.

Checks if point p lies inside the XY rectangle and within a vertical band around [min.z, max.z] expanded by z_eps.

Parameters

p	Query point.
z_eps	Extra vertical half-thickness tolerance.

Returns

True if inside XY and |z - [min.z,max.z]| <= z_eps.

contains_xy_only()

bool contains_xy_only

(

const Vec3 &

p

)

const

2D containment test on XY only (no Z check).

Parameters

p	Query point.

Returns

True if inside XY rectangle [min,max].

expand() [1/2]

void expand

(

const AABB &

b

)

Expand the box to include another box b (component-wise union).

Parameters

b	Other AABB to merge.

expand() [2/2]

void expand

(

const Vec3 &

p

)

Expand the box to include a point p.

Parameters

p	Point to merge into this AABB.

intersects_ray()

bool intersects_ray	(	const Vec3 &	o,
		const Vec3 &	d,
		float	tmax = 1e30f ) const

Robust ray-box intersection (slabs method).

Intersects ray (o + t * d) against the box. Handles zero components in direction d by checking slab containment on that axis.

Parameters

o	Ray origin.
d	Ray direction.
tmax	Upper bound for t interval (can be +inf).

Returns

True if the ray intersects the box with some t in [0, tmax].

longest_axis()

int longest_axis

(

)

const

Return the index of the longest axis (0=x, 1=y, 2=z).

Returns

Axis index with the largest extent.

Member Data Documentation

max

Vec3 max

Initial value:

{-std::numeric_limits<float>::infinity(),
    -std::numeric_limits<float>::infinity(),
    -std::numeric_limits<float>::infinity()}

Maximum corner (x_max, y_max, z_max).

Initialized to -inf.

min

Vec3 min

Initial value:

{std::numeric_limits<float>::infinity(),
    std::numeric_limits<float>::infinity(),
    std::numeric_limits<float>::infinity()}

Minimum corner (x_min, y_min, z_min).

Initialized to +inf.

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The documentation for this struct was generated from the following file:

• navmap_core/include/navmap_core/Geometry.hpp