spatial_hash-inl.h
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35 
38 #ifndef HPP_FCL_BROADPHASE_SPATIALHASH_INL_H
39 #define HPP_FCL_BROADPHASE_SPATIALHASH_INL_H
40 
42 #include <algorithm>
43 
44 namespace hpp {
45 namespace fcl {
46 namespace detail {
47 
48 //==============================================================================
49 SpatialHash::SpatialHash(const AABB& scene_limit_, FCL_REAL cell_size_)
50  : cell_size(cell_size_), scene_limit(scene_limit_) {
51  width[0] = std::ceil(scene_limit.width() / cell_size);
52  width[1] = std::ceil(scene_limit.height() / cell_size);
53  width[2] = std::ceil(scene_limit.depth() / cell_size);
54 }
55 
56 //==============================================================================
57 std::vector<unsigned int> SpatialHash::operator()(const AABB& aabb) const {
58  int min_x = std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size);
59  int max_x = std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size);
60  int min_y = std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size);
61  int max_y = std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size);
62  int min_z = std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size);
63  int max_z = std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size);
64 
65  std::vector<unsigned int> keys((max_x - min_x) * (max_y - min_y) *
66  (max_z - min_z));
67  int id = 0;
68  for (int x = min_x; x < max_x; ++x) {
69  for (int y = min_y; y < max_y; ++y) {
70  for (int z = min_z; z < max_z; ++z) {
71  keys[id++] = x + y * width[0] + z * width[0] * width[1];
72  }
73  }
74  }
75  return keys;
76 }
77 
78 } // namespace detail
79 } // namespace fcl
80 } // namespace hpp
81 
82 #endif
Vec3f min_
The min point in the AABB.
Definition: BV/AABB.h:57
y
FCL_REAL height() const
Height of the AABB.
Definition: BV/AABB.h:163
Main namespace.
SpatialHash(const AABB &scene_limit_, FCL_REAL cell_size_)
FCL_REAL depth() const
Depth of the AABB.
Definition: BV/AABB.h:166
std::vector< unsigned int > operator()(const AABB &aabb) const
double FCL_REAL
Definition: data_types.h:65
x
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: BV/AABB.h:54
Vec3f max_
The max point in the AABB.
Definition: BV/AABB.h:59
FCL_REAL width() const
Width of the AABB.
Definition: BV/AABB.h:160


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:02