morton.cpp
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * Copyright (c) 2016, Toyota Research Institute
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Open Source Robotics Foundation nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  */
36 
40 
41 namespace hpp {
42 namespace fcl {
43 
45 namespace detail {
46 
47 //==============================================================================
48 uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z) {
49  x = (x | (x << 16)) & 0x030000FF;
50  x = (x | (x << 8)) & 0x0300F00F;
51  x = (x | (x << 4)) & 0x030C30C3;
52  x = (x | (x << 2)) & 0x09249249;
53 
54  y = (y | (y << 16)) & 0x030000FF;
55  y = (y | (y << 8)) & 0x0300F00F;
56  y = (y | (y << 4)) & 0x030C30C3;
57  y = (y | (y << 2)) & 0x09249249;
58 
59  z = (z | (z << 16)) & 0x030000FF;
60  z = (z | (z << 8)) & 0x0300F00F;
61  z = (z | (z << 4)) & 0x030C30C3;
62  z = (z | (z << 2)) & 0x09249249;
63 
64  return x | (y << 1) | (z << 2);
65 }
66 
67 //==============================================================================
68 uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z) {
69  uint32_t lo_x = x & 1023u;
70  uint32_t lo_y = y & 1023u;
71  uint32_t lo_z = z & 1023u;
72  uint32_t hi_x = x >> 10u;
73  uint32_t hi_y = y >> 10u;
74  uint32_t hi_z = z >> 10u;
75 
76  return (uint64_t(morton_code(hi_x, hi_y, hi_z)) << 30) |
77  uint64_t(morton_code(lo_x, lo_y, lo_z));
78 }
79 
80 } // namespace detail
82 } // namespace fcl
83 } // namespace hpp
Main namespace.


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:01