hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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morton-inl.h
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1/*
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4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2016, Open Source Robotics Foundation
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36
39#ifndef HPP_FCL_MORTON_INL_H
40#define HPP_FCL_MORTON_INL_H
41
43
44namespace hpp {
45namespace fcl {
46namespace detail {
47
48//==============================================================================
49template <typename S>
50uint32_t quantize(S x, uint32_t n) {
51 return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0));
52}
53
54//==============================================================================
55template <typename S>
56morton_functor<S, uint32_t>::morton_functor(const AABB& bbox)
57 : base(bbox.min_),
58 inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
59 1.0 / (bbox.max_[1] - bbox.min_[1]),
60 1.0 / (bbox.max_[2] - bbox.min_[2])) {
61 // Do nothing
62}
63
64//==============================================================================
65template <typename S>
66uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const {
67 uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u);
68 uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u);
69 uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u);
70
71 return detail::morton_code(x, y, z);
72}
73
74//==============================================================================
75template <typename S>
76morton_functor<S, uint64_t>::morton_functor(const AABB& bbox)
77 : base(bbox.min_),
78 inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
79 1.0 / (bbox.max_[1] - bbox.min_[1]),
80 1.0 / (bbox.max_[2] - bbox.min_[2])) {
81 // Do nothing
82}
83
84//==============================================================================
85template <typename S>
86uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const {
87 uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20);
88 uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20);
89 uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20);
90
91 return detail::morton_code60(x, y, z);
92}
93
94//==============================================================================
95template <typename S>
96constexpr size_t morton_functor<S, uint64_t>::bits() {
97 return 60;
98}
99
100//==============================================================================
101template <typename S>
102constexpr size_t morton_functor<S, uint32_t>::bits() {
103 return 30;
104}
105
106//==============================================================================
107template <typename S, size_t N>
108morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox)
109 : base(bbox.min_),
110 inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
111 1.0 / (bbox.max_[1] - bbox.min_[1]),
112 1.0 / (bbox.max_[2] - bbox.min_[2])) {
113 // Do nothing
114}
115
116//==============================================================================
117template <typename S, size_t N>
118std::bitset<N> morton_functor<S, std::bitset<N>>::operator()(
119 const Vec3f& point) const {
120 S x = (point[0] - base[0]) * inv[0];
121 S y = (point[1] - base[1]) * inv[1];
122 S z = (point[2] - base[2]) * inv[2];
123 int start_bit = bits() - 1;
124 std::bitset<N> bset;
125
126 x *= 2;
127 y *= 2;
128 z *= 2;
129
130 for (size_t i = 0; i < bits() / 3; ++i) {
131 bset[start_bit--] = ((z < 1) ? 0 : 1);
132 bset[start_bit--] = ((y < 1) ? 0 : 1);
133 bset[start_bit--] = ((x < 1) ? 0 : 1);
134 x = ((x >= 1) ? 2 * (x - 1) : 2 * x);
135 y = ((y >= 1) ? 2 * (y - 1) : 2 * y);
136 z = ((z >= 1) ? 2 * (z - 1) : 2 * z);
137 }
138
139 return bset;
140}
141
142//==============================================================================
143template <typename S, size_t N>
144constexpr size_t morton_functor<S, std::bitset<N>>::bits() {
145 return N;
146}
147
148} // namespace detail
150} // namespace fcl
151} // namespace hpp
152
153#endif
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Main namespace.
Definition: broadphase_bruteforce.h:44