Program Listing for File AABB.h

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/**
 * @file
 * @brief Contains the declarations for the AABB class and associated stream operator.
 */

#pragma once
#include "Karana/Math/Defs.h"
#include "Karana/Math/HomTran.h"
#include "Karana/Math/UnitQuaternion.h"
#include <iostream>
#include <string>

namespace Karana::Math {
    /**
     * @class AABB
     * @brief Represents an Axis-Aligned Bounding Box using a pair of 3-vectors
     *
     * An AABB is defined by its minimum and maximum corners. This class
     * provides functionality to combine two AABBs and to compute a new AABB
     * after transformation.
     */
    class AABB {
      public:
        /**
         * @brief Constructs an AABB with maximum and minimum values.
         *
         * This is a default constructor that creates an "empty" AABB, which can
         * be used as a starting point for combining other AABBs.
         */
        AABB();

        /**
         * @brief Constructs an AABB from a minimum and a maximum corner.
         * @param min The minimum corner vector.
         * @param max The maximum corner vector.
         * @param fix_minmax If true, recompute min and max to
         * ensure they are actually the minimum and maximum corners
         */
        AABB(const Vec3 &min, const Vec3 &max, bool fix_minmax = true);

        /**
         * @brief Copy an AABB from another one.
         * @param other The other AABB.
         */
        AABB(const AABB &other);

        /**
         * @brief Update the AABB from another one.
         * @param other The other AABB.
         * @return This AABB after updating.
         */
        AABB &operator=(const AABB &other);

        /**
         * @brief Get the minimum corner of the AABB.
         * @return The minimum corner.
         */
        const Vec3 &min() const;

        /**
         * @brief Get the maximum corner of the AABB.
         * @return The maximum corner.
         */
        const Vec3 &max() const;

        /**
         * @brief Returns a string representation of the AABB with options for formatting.
         *
         * @param prefix A string to prepend to each line.
         * @param precision The number of decimal places for floating-point values.
         * @param format_type The format type to use.
         * @return A string containing the min and max corners.
         */
        std::string dumpString(std::string_view prefix = "",
                               int precision = 6,
                               DumpFormatType format_type = DumpFormatType::DEFAULT_FLOAT) const;

        /**
         * @brief Prints a string representation of the AABB with options for formatting.
         *
         * @param prefix A string to prepend to each line.
         * @param precision The number of decimal places for floating-point values.
         * @param format_type The format type to use.
         */
        void dump(std::string_view prefix = "",
                  int precision = 10,
                  DumpFormatType format_type = DumpFormatType::DEFAULT_FLOAT) const;

        /**
         * @brief Combines this AABB with another AABB.
         *
         * The resulting AABB will be a new box that encompasses both the
         * original AABB and the 'other' AABB.
         *
         * @param other The AABB to combine with this one.
         * @return The combined AABB
         */
        AABB operator+(const AABB &other) const;

        /**
         * @brief Combines this AABB with another AABB in-place.
         *
         * The resulting AABB will be a new box that encompasses both the
         * original AABB and the 'other' AABB.
         *
         * @param other The AABB to combine with this one.
         * @return This AABB updated with the new combined box.
         */
        AABB &operator+=(const AABB &other);

        /**
         * @brief Computes a new AABB by translating this AABB by a given vector.
         *
         * @param t The 3-vector to translate by.
         * @return A new AABB that has been translated.
         */
        AABB translate(const Vec3 &t) const;

        /**
         * @brief Computes a new AABB by rotating this AABB by a given unit quaternion.
         *
         * @param q The unit quaternion to rotate by.
         * @return A new AABB that has been translated.
         */
        AABB rotate(const UnitQuaternion &q) const;

        /**
         * @brief Computes a new AABB by scaling this AABB by a given scalar.
         *
         * @param s The scalar to scale by.
         * @return A new AABB that has been scaled.
         */
        AABB scale(double s) const;

        /**
         * @brief Computes a new AABB by scaling this AABB by a given vector.
         *
         * @param s The 3-vector to scale by.
         * @return A new AABB that has been scaled.
         */
        AABB scale(const Vec3 &s) const;

        /**
         * @brief Computes a new AABB by transforming this AABB by a given HomTran.
         *
         * @param t The 3-vector to scale by.
         * @return A new AABB that has been transformed.
         */
        AABB transform(const HomTran &t) const;

      private:
        /// The minimum corner of the bounding box.
        Vec3 _min;

        /// The maximum corner of the bounding box.
        Vec3 _max;
    };
} // namespace Karana::Math

/**
 * @brief Overloads the stream insertion operator `<<` for the AABB class.
 *
 * This allows an AABB object to be printed directly to an output stream
 * using `std::cout << aabb_object;`. It uses the `dumpString()` method.
 *
 * @param os The output stream to write to.
 * @param aabb The AABB object to print.
 * @return A reference to the output stream.
 */
std::ostream &operator<<(std::ostream &os, const Karana::Math::AABB &aabb);