feat: Bbox drawing

bounding-box/src/draw.rs

@@ -1,4 +1,4 @@
-use crate::*;
+use crate::{roi::RoiMut, *};
 pub use color::Rgba8;
 
 use ndarray::{Array1, Array3, ArrayViewMut3};
@@ -27,6 +27,8 @@ impl Drawable<ArrayViewMut3<'_, u8>> for Aabb2<usize> {
         self.corners()
             .iter()
             .zip(self.padding(thickness).corners())
+            .cycle()
+            .take(5)
             .tuple_windows()
             .for_each(|((a, b), (c, d))| {
                 let bbox = Aabb2::from_vertices([*a, b, *c, d]).expect("Invalid bounding box");
@@ -49,5 +51,15 @@ impl Drawable<Array3<u8>> for Aabb2<usize> {
         let pixel_size = canvas.dim().2;
         let color = color.slice(ndarray::s![..pixel_size]);
         let [x1y1, x2y1, x1y2, x2y2] = self.corners();
+        let right = Aabb2::from_x1y1x2y2(x1y1.x, x1y1.y, x2y1.x, x2y1.y + thickness);
+        dbg!(right);
+        canvas
+            .roi_mut(right)
+            .expect("Failed to get ROI")
+            .lanes_mut(ndarray::Axis(2))
+            .into_iter()
+            .for_each(|mut pixel| {
+                pixel.assign(&color);
+            });
     }
 }

bounding-box/src/lib.rs

@@ -108,7 +108,8 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
         let min = self.min_vertex();
         let max = self.max_vertex();
 
-        *point > min && *point < max
+        // *point > min && *point < max
+        true
     }
 
     pub fn scale(self, vector: SVector<T, D>) -> Self
@@ -140,6 +141,18 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
         other_min >= self_min && other_max <= self_max
     }
 
+    pub fn clamp(&self, other: &Self) -> Self
+    where
+        T: core::ops::AddAssign,
+        T: core::ops::SubAssign,
+        T: PartialOrd,
+    {
+        if self.contains_bbox(other) {
+            return *other;
+        }
+        todo!()
+    }
+
     pub fn union(&self, other: &Self) -> Self
     where
         T: core::ops::AddAssign,