.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_morton-inl.h:

Program Listing for File morton-inl.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_broadphase_detail_morton-inl.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/detail/morton-inl.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2016, Open Source Robotics Foundation
    *  Copyright (c) 2016, Toyota Research Institute
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Open Source Robotics Foundation nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef HPP_FCL_MORTON_INL_H
   #define HPP_FCL_MORTON_INL_H
   
   #include "hpp/fcl/broadphase/detail/morton.h"
   
   namespace hpp {
   namespace fcl {  
   namespace detail {
   
   //==============================================================================
   template <typename S>
   uint32_t quantize(S x, uint32_t n) {
     return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0));
   }
   
   //==============================================================================
   template <typename S>
   morton_functor<S, uint32_t>::morton_functor(const AABB& bbox)
       : base(bbox.min_),
         inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
             1.0 / (bbox.max_[1] - bbox.min_[1]),
             1.0 / (bbox.max_[2] - bbox.min_[2])) {
     // Do nothing
   }
   
   //==============================================================================
   template <typename S>
   uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const {
     uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u);
     uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u);
     uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u);
   
     return detail::morton_code(x, y, z);
   }
   
   //==============================================================================
   template <typename S>
   morton_functor<S, uint64_t>::morton_functor(const AABB& bbox)
       : base(bbox.min_),
         inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
             1.0 / (bbox.max_[1] - bbox.min_[1]),
             1.0 / (bbox.max_[2] - bbox.min_[2])) {
     // Do nothing
   }
   
   //==============================================================================
   template <typename S>
   uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const {
     uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20);
     uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20);
     uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20);
   
     return detail::morton_code60(x, y, z);
   }
   
   //==============================================================================
   template <typename S>
   constexpr size_t morton_functor<S, uint64_t>::bits() {
     return 60;
   }
   
   //==============================================================================
   template <typename S>
   constexpr size_t morton_functor<S, uint32_t>::bits() {
     return 30;
   }
   
   //==============================================================================
   template <typename S, size_t N>
   morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox)
       : base(bbox.min_),
         inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
             1.0 / (bbox.max_[1] - bbox.min_[1]),
             1.0 / (bbox.max_[2] - bbox.min_[2])) {
     // Do nothing
   }
   
   //==============================================================================
   template <typename S, size_t N>
   std::bitset<N> morton_functor<S, std::bitset<N>>::operator()(
       const Vec3f& point) const {
     S x = (point[0] - base[0]) * inv[0];
     S y = (point[1] - base[1]) * inv[1];
     S z = (point[2] - base[2]) * inv[2];
     int start_bit = bits() - 1;
     std::bitset<N> bset;
   
     x *= 2;
     y *= 2;
     z *= 2;
   
     for (size_t i = 0; i < bits() / 3; ++i) {
       bset[start_bit--] = ((z < 1) ? 0 : 1);
       bset[start_bit--] = ((y < 1) ? 0 : 1);
       bset[start_bit--] = ((x < 1) ? 0 : 1);
       x = ((x >= 1) ? 2 * (x - 1) : 2 * x);
       y = ((y >= 1) ? 2 * (y - 1) : 2 * y);
       z = ((z >= 1) ? 2 * (z - 1) : 2 * z);
     }
   
     return bset;
   }
   
   //==============================================================================
   template <typename S, size_t N>
   constexpr size_t morton_functor<S, std::bitset<N>>::bits() {
     return N;
   }
   
   }  // namespace detail
   }  // namespace fcl
   }  // namespace hpp
   
   #endif