From 446439dc252f847dd4919b35495e5ba6c56316ee Mon Sep 17 00:00:00 2001
From: Sebastian Achim Mueller <sebastian-achim.mueller@mpi-hd.mpg.de>
Date: Thu, 6 Jun 2024 10:27:36 +0200
Subject: [PATCH] fix ray grid traversal, fix ray aabb intersection.

---
 libs/mli/src/mliRay.test.c            | 27 +++++++++++++++++++++++++++
 libs/mli/src/mliRay_AABB.c            |  5 +----
 libs/mli/src/mli_ray_grid_traversal.c |  4 ++--
 libs/mli/src/mli_version.h            |  2 +-
 4 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/libs/mli/src/mliRay.test.c b/libs/mli/src/mliRay.test.c
index 0db27cb..916d923 100644
--- a/libs/mli/src/mliRay.test.c
+++ b/libs/mli/src/mliRay.test.c
@@ -116,6 +116,33 @@ CASE("ray inside aabb")
         }
 }
 
+CASE("ray aabb actual test cases")
+{
+        struct mliAABB aabb;
+        /*struct mliVec aabbextent;*/
+        struct mliRay ray;
+        /*struct mliVec vn, vf;*/
+        double near, far;
+        aabb.lower = mliVec_init(-5124735.0, -5120543.0, -5000.0);
+        aabb.upper = mliVec_init(5115265.0, 5119457.0, 5000.0);
+        /*aabbextent = mliVec_substract(aabb.upper, aabb.lower);*/
+        ray = mliRay_set(
+                mliVec_init(-15220843.0, -16454620.0, 0.0),
+                mliVec_init(0.678895, 0.734165, 0.010214));
+
+        mliRay_aabb_intersections(ray, aabb, &near, &far);
+        CHECK(!mliRay_aabb_intersections_is_valid_given_near_and_far(
+                near, far));
+        /*
+        vn = mliRay_at(&ray, near);
+        vf = mliRay_at(&ray, far);
+        fprintf(stderr, "n:%e, f:%e\n", near, far);
+        fprintf(stderr, "vn:(%f, %f, %f), vf:(%f, %f, %f)\n",
+                vn.x/aabbextent.x, vn.y/aabbextent.y, vn.z/aabbextent.z,
+                vf.x/aabbextent.x, vf.y/aabbextent.y, vf.z/aabbextent.z);
+        */
+}
+
 CASE("mliHomTraComp, transform direction")
 {
         struct mliHomTraComp Tcomp;
diff --git a/libs/mli/src/mliRay_AABB.c b/libs/mli/src/mliRay_AABB.c
index 55847e2..94dc283 100644
--- a/libs/mli/src/mliRay_AABB.c
+++ b/libs/mli/src/mliRay_AABB.c
@@ -43,12 +43,9 @@ int mliRay_aabb_intersections_is_valid_given_near_and_far(
         if (t_far < 0) {
                 return 0;
         }
-
-        /* if t_near > t_far, ray doesn't intersect AABB */
         if (t_near > t_far) {
-                return 1;
+                return 0;
         }
-
         return 1;
 }
 
diff --git a/libs/mli/src/mli_ray_grid_traversal.c b/libs/mli/src/mli_ray_grid_traversal.c
index 68d2fce..1f28de1 100644
--- a/libs/mli/src/mli_ray_grid_traversal.c
+++ b/libs/mli/src/mli_ray_grid_traversal.c
@@ -77,8 +77,8 @@ int mliAxisAlignedGrid_find_voxel_of_first_interaction(
                         mliRay_aabb_intersections_is_valid_given_near_and_far(
                                 ray_parameter_near, ray_parameter_far);
                 if (has_intersection) {
-                        struct mliVec inner =
-                                mliRay_at(ray, ray_parameter_near);
+                        struct mliVec inner;
+                        inner = mliRay_at(ray, ray_parameter_near);
                         (*bin) = mliAxisAlignedGrid_get_voxel_idx(grid, inner);
 
                         if (bin->x >= grid->num_bins.x) {
diff --git a/libs/mli/src/mli_version.h b/libs/mli/src/mli_version.h
index 11f55d2..fb5347c 100644
--- a/libs/mli/src/mli_version.h
+++ b/libs/mli/src/mli_version.h
@@ -6,7 +6,7 @@
 
 #define MLI_VERSION_MAYOR 1
 #define MLI_VERSION_MINOR 9
-#define MLI_VERSION_PATCH 8
+#define MLI_VERSION_PATCH 9
 
 void mli_logo_fprint(FILE *f);
 void mli_authors_and_affiliations_fprint(FILE *f);