From 92cda8b0bbc6cbc4223c728b37bde363465aa9ba Mon Sep 17 00:00:00 2001
From: Innokentiy Popov <65750797+kyon4ik@users.noreply.github.com>
Date: Sun, 4 May 2025 18:05:27 +0500
Subject: [PATCH] Fix `rotate_by` implementation for `Aabb2d` (#19015)

# Objective

Fixes #18969

## Solution

Also updated `Aabb3d` implementation for consistency.

## Testing

Added tests for `Aabb2d` and `Aabb3d` to verify correct rotation
behavior for angles greater than 90 degrees.
---
 .../bevy_math/src/bounding/bounded2d/mod.rs   | 23 +++++++++++++------
 .../bevy_math/src/bounding/bounded3d/mod.rs   | 22 +++++++++++++-----
 2 files changed, 32 insertions(+), 13 deletions(-)

diff --git a/crates/bevy_math/src/bounding/bounded2d/mod.rs b/crates/bevy_math/src/bounding/bounded2d/mod.rs
index bea18f5808..5f11ad5233 100644
--- a/crates/bevy_math/src/bounding/bounded2d/mod.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/mod.rs
@@ -243,13 +243,9 @@ impl BoundingVolume for Aabb2d {
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
     fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
-        let rotation: Rot2 = rotation.into();
-        let abs_rot_mat = Mat2::from_cols(
-            Vec2::new(rotation.cos, rotation.sin),
-            Vec2::new(rotation.sin, rotation.cos),
-        );
-        let half_size = abs_rot_mat * self.half_size();
-        *self = Self::new(rotation * self.center(), half_size);
+        let rot_mat = Mat2::from(rotation.into());
+        let half_size = rot_mat.abs() * self.half_size();
+        *self = Self::new(rot_mat * self.center(), half_size);
     }
 }
 
@@ -274,6 +270,8 @@ impl IntersectsVolume<BoundingCircle> for Aabb2d {
 
 #[cfg(test)]
 mod aabb2d_tests {
+    use approx::assert_relative_eq;
+
     use super::Aabb2d;
     use crate::{
         bounding::{BoundingCircle, BoundingVolume, IntersectsVolume},
@@ -394,6 +392,17 @@ mod aabb2d_tests {
         assert!(scaled.contains(&a));
     }
 
+    #[test]
+    fn rotate() {
+        let a = Aabb2d {
+            min: Vec2::new(-2.0, -2.0),
+            max: Vec2::new(2.0, 2.0),
+        };
+        let rotated = a.rotated_by(core::f32::consts::PI);
+        assert_relative_eq!(rotated.min, a.min);
+        assert_relative_eq!(rotated.max, a.max);
+    }
+
     #[test]
     fn transform() {
         let a = Aabb2d {
diff --git a/crates/bevy_math/src/bounding/bounded3d/mod.rs b/crates/bevy_math/src/bounding/bounded3d/mod.rs
index 5a95b7711f..ca3b359798 100644
--- a/crates/bevy_math/src/bounding/bounded3d/mod.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/mod.rs
@@ -250,12 +250,7 @@ impl BoundingVolume for Aabb3d {
     #[inline(always)]
     fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
         let rot_mat = Mat3::from_quat(rotation.into());
-        let abs_rot_mat = Mat3::from_cols(
-            rot_mat.x_axis.abs(),
-            rot_mat.y_axis.abs(),
-            rot_mat.z_axis.abs(),
-        );
-        let half_size = abs_rot_mat * self.half_size();
+        let half_size = rot_mat.abs() * self.half_size();
         *self = Self::new(rot_mat * self.center(), half_size);
     }
 }
@@ -279,6 +274,8 @@ impl IntersectsVolume<BoundingSphere> for Aabb3d {
 
 #[cfg(test)]
 mod aabb3d_tests {
+    use approx::assert_relative_eq;
+
     use super::Aabb3d;
     use crate::{
         bounding::{BoundingSphere, BoundingVolume, IntersectsVolume},
@@ -398,6 +395,19 @@ mod aabb3d_tests {
         assert!(scaled.contains(&a));
     }
 
+    #[test]
+    fn rotate() {
+        use core::f32::consts::PI;
+        let a = Aabb3d {
+            min: Vec3A::new(-2.0, -2.0, -2.0),
+            max: Vec3A::new(2.0, 2.0, 2.0),
+        };
+        let rotation = Quat::from_euler(glam::EulerRot::XYZ, PI, PI, 0.0);
+        let rotated = a.rotated_by(rotation);
+        assert_relative_eq!(rotated.min, a.min);
+        assert_relative_eq!(rotated.max, a.max);
+    }
+
     #[test]
     fn transform() {
         let a = Aabb3d {