Working and with a single unit test to verify

src/bounding_volume/aabb.rs

@@ -181,14 +181,18 @@ impl Aabb {
     pub fn scaled_wrt_center(self, scale: &Vector<Real>) -> Self {
         let center: Point<Real> = na::center(&self.mins, &self.maxs);
 
-        let translated_min = na::Translation2::from(center).transform_point(&self.mins);
-        let translated_max = na::Translation2::from(center).transform_point(&self.maxs);
+        let translated_min = na::Translation2::from(center)
+            .inverse()
+            .transform_point(&self.mins);
+        let translated_max = na::Translation2::from(center)
+            .inverse()
+            .transform_point(&self.maxs);
 
         let transformed_min = translated_min.coords.component_mul(scale);
         let transformed_max = translated_max.coords.component_mul(scale);
 
-        let a = transformed_min + center;
-        let b = transformed_max + center;
+        let a = center + transformed_min;
+        let b = center + transformed_max;
 
         Self {
             mins: a.inf(&b).into(),
@@ -201,14 +205,18 @@ impl Aabb {
     pub fn scaled_wrt_center(self, scale: &Vector<Real>) -> Self {
         let center: Point<Real> = na::center(&self.mins, &self.maxs);
 
-        let translated_min = na::Translation3::from(center).transform_point(&self.mins);
-        let translated_max = na::Translation3::from(center).transform_point(&self.maxs);
+        let translated_min = na::Translation3::from(center)
+            .inverse()
+            .transform_point(&self.mins);
+        let translated_max = na::Translation3::from(center)
+            .inverse()
+            .transform_point(&self.maxs);
 
         let transformed_min = translated_min.coords.component_mul(scale);
         let transformed_max = translated_max.coords.component_mul(scale);
 
-        let a = transformed_min + center;
-        let b = transformed_max + center;
+        let a = center + transformed_min;
+        let b = center + transformed_max;
 
         Self {
             mins: a.inf(&b).into(),

src/bounding_volume/mod.rs

@@ -62,3 +62,22 @@ pub mod details {
     pub use super::aabb_utils::{local_point_cloud_aabb, local_support_map_aabb, point_cloud_aabb};
     pub use super::bounding_sphere_utils::point_cloud_bounding_sphere;
 }
+
+#[cfg(test)]
+mod quick_tests {
+    use super::*;
+    use crate::math::{Point, Vector};
+
+    #[test]
+    #[cfg(feature = "dim2")]
+    fn aabb_rescale_wrt_origin_2d() {
+        let x1 = Point::new(1.0, 1.0);
+        let x2 = Point::new(2.0, 2.0);
+        let scale = Vector::new(2.0, 2.0);
+        let aabb = Aabb::new(x1, x2);
+        let aabbp = aabb.scaled_wrt_center(&scale);
+        let xp1 = Point::new(0.5, 0.5);
+        let xp2 = Point::new(2.5, 2.5);
+        assert_eq!(aabbp, Aabb::new(xp1, xp2));
+    }
+}

src/partitioning/qbvh/mod.rs

@@ -1,8 +1,6 @@
 #[cfg(feature = "std")]
 pub use self::{
-    build::{
-        BuilderProxies, CenterDataSplitter, QbvhDataGenerator, QbvhNonOverlappingDataSplitter,
-    },
+    build::{CenterDataSplitter, QbvhDataGenerator, QbvhNonOverlappingDataSplitter},
     update::QbvhUpdateWorkspace,
 };