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An axis-aligned bounding box is a Cartesian product of closed intervals aligned with a chosen Cartesian coordinate system:Only the two opposite corners $(m_1,\dots ,m_d)$ and $(M_1,\dots ,M_d)$ need to be stored. In two dimensions it is a rectangle. Changing the Cartesian coordinate system can change how tightly the axis-aligned bounding box fits the same object.^[ref]

For a nonempty finite set of points $P$, the smallest such axis-aligned bounding box hasThese minimum and maximum values also enclose the convex hull of $P$: each coordinate of a convex combination lies between the smallest and largest input coordinates. In particular, three vertices of a polygon determine the axis-aligned bounding box of a filled triangle. For a general nonempty compact set, the same formulas use all its points; inspecting only an arbitrary finite sample is insufficient.

Given nonempty boxes $B={\prod }_i[m_i,M_i]$ and $C={\prod }_i[n_i,N_i]$, the closed interval convention givesEquivalently, reject as soon as $M_i<n_i$ or $N_i<m_i$ in any coordinate. The surviving set intersection has endpoints $\max (m_i,n_i)$ and $\min (M_i,N_i)$. This is an exact box test, while its conclusion about enclosed objects remains a conservative enclosure test.^[ref]

Equality counts as touching: $[0,1]\times [0,1]$ and $[1,2]\times [0,1]$ share an edge, so their set intersection is nonempty. Replacing every $\le$ in the overlap formula by $<$ tests intersection of the interiors of full-dimensional boxes and excludes this contact. A zero-width closed interval can represent a point or a lower-dimensional enclosure, and must not automatically be discarded when touching counts. A box with some $m_i>M_i$ is empty; test emptiness before applying rules intended for nonempty boxes. The broad phase must retain touching candidates whenever the narrow phase counts touching as a hit.

For nonempty boxes, the smallest enclosing axis-aligned bounding box of their set union isThis operation supplies the parent boxes in a bounding volume hierarchy. It is an enclosure of the set union, rather than generally the set union itself. In floating-point arithmetic, comparisons are conclusive only for endpoints that still enclose the intended exact objects; use certified bounds such as interval arithmetic with outward rounding when that guarantee is required.

// Target: analysis.bigb

Interval arithmetic calculates with closed intervals that contain the possible values of a quantity. If all we know is $x\in X=[a,b]$, an interval enclosure for a function $f$ must contain $f(x)$ for every allowed $x$. The result says what is guaranteed, including uncertainty in the input and, with outward rounding, roundoff error in the calculation. A wide answer can still be correct; a narrow answer is useful only if it contains every possible value.

The attraction is that a finite calculation can make a statement about infinitely many real numbers at once. An interval enclosure can certify that a function stays positive throughout a whole closed interval, or bound its maximum for mathematical optimization. For example, on $X=[0,1]$, the actual image of a function for $f(x)=x(1-x)$ is $[0,1/4]$, but direct interval arithmetic gives the wider $[0,1]$. Interval subdivision and the interval square range improve this answer in different ways.

Historically, Ramon E. Moore's 1962 Stanford dissertation studied interval arithmetic and automatic error analysis in digital computing; his book Interval Analysis followed in 1966. Eldon Hansen's account documents earlier reports as well: these dates describe important steps in developing and disseminating the subject, rather than a claim of sole invention in a particular year.^[ref] Moore, R. Baker Kearfott and Michael J. Cloud later wrote Introduction to Interval Analysis (2009).^[ref]

An interval enclosure $F(X)=[L,U]$ for a real-valued function $f$ on a closed interval $X$ satisfiesHere $f(X)$ means the actual image of a function, also called its pointwise range on $X$; $F(X)$ denotes a calculated interval enclosure. They need not agree. Sampling a few inputs can suggest a bound, but does not establish an interval enclosure between those inputs. Kearfott and coauthors explicitly distinguish the image of a function from evaluating an expression with interval arithmetic, because different expressions for the same function can give different bounds.^[ref]

Interval root exclusion certifies that a function has no zero of a function on $X$ when a valid interval enclosure $F(X)$ excludes zero. For $g(x)=x(1-x)-1/3$ on $[0,1]$, the interval square range yields $G(X)=[-1/3,-1/12]$, which excludes zero. Direct interval arithmetic yields $[-1/3,2/3]$ and is inconclusive, even though the function has no zero of a function there.

Knowing only that a calculated interval enclosure contains zero does not certify a zero of a function: it may contain unattainable values. Even the positive constant function $f(x)=1$ has a valid, loose interval enclosure $[-1,2]$. A separate existence argument, such as reliable opposite endpoint signs together with continuity in the intermediate value theorem, is required; see root bracket and bisection method. Interval subdivision can resolve some inconclusive pieces, but remaining pieces must be reported as unresolved unless an existence argument succeeds. This makes interval root exclusion useful for systematically discarding regions in a search.

// Target: analysis.bigb