morton.h

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/*
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  Copyright (c) 2016, Toyota Research Institute
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#ifndef FCL_MORTON_H
#define FCL_MORTON_H
 
#include "fcl/common/types.h"
#include "fcl/math/bv/AABB.h"
 
#include <bitset>
 
namespace fcl
{
 
namespace detail
{
 
template <typename S>
FCL_EXPORT
uint32 quantize(S x, uint32 n);
 
FCL_EXPORT
uint32 morton_code(uint32 x, uint32 y, uint32 z);
 
FCL_EXPORT
uint64 morton_code60(uint32 x, uint32 y, uint32 z);
 
template<typename S, typename T>
struct FCL_EXPORT morton_functor {};
 
template<typename S>
struct FCL_EXPORT morton_functor<S, uint32>
{
  morton_functor(const AABB<S>& bbox);
 
  uint32 operator() (const Vector3<S>& point) const;
 
  const Vector3<S> base;
  const Vector3<S> inv;
 
  static constexpr size_t bits();
};
 
using morton_functoru32f = morton_functor<float, uint32>;
using morton_functoru32d = morton_functor<double, uint32>;
 
template<typename S>
struct FCL_EXPORT morton_functor<S, uint64>
{
  morton_functor(const AABB<S>& bbox);
 
  uint64 operator() (const Vector3<S>& point) const;
 
  const Vector3<S> base;
  const Vector3<S> inv;
 
  static constexpr size_t bits();
};
 
using morton_functoru64f = morton_functor<float, uint64>;
using morton_functoru64d = morton_functor<double, uint64>;
 
template<typename S, size_t N>
struct FCL_EXPORT morton_functor<S, std::bitset<N>>
{
  static_assert(N%3==0, "Number of bits must be a multiple of 3");
 
  morton_functor(const AABB<S>& bbox);
 
  std::bitset<N> operator() (const Vector3<S>& point) const;
 
  const Vector3<S> base;
  const Vector3<S> inv;
 
  static constexpr size_t bits();
};
 
} // namespace detail
} // namespace fcl
 
#include "fcl/broadphase/detail/morton-inl.h"
 
#endif