Program Listing for File morton-inl.h
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#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