spatial_hash-inl.h
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  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_BROADPHASE_SPATIALHASH_INL_H
39 #define FCL_BROADPHASE_SPATIALHASH_INL_H
40 
42 
43 namespace fcl {
44 namespace detail {
45 
46 //==============================================================================
47 extern template
48 struct SpatialHash<double>;
49 
50 //==============================================================================
51 template <typename S>
52 SpatialHash<S>::SpatialHash(const AABB<S>& scene_limit_, S cell_size_)
53  : cell_size(cell_size_), scene_limit(scene_limit_)
54 {
55  width[0] = std::ceil(scene_limit.width() / cell_size);
56  width[1] = std::ceil(scene_limit.height() / cell_size);
57  width[2] = std::ceil(scene_limit.depth() / cell_size);
58 }
59 
60 //==============================================================================
61 template <typename S>
62 std::vector<unsigned int> SpatialHash<S>::operator()(const AABB<S>& aabb) const
63 {
64  int min_x = std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size);
65  int max_x = std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size);
66  int min_y = std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size);
67  int max_y = std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size);
68  int min_z = std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size);
69  int max_z = std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size);
70 
71  std::vector<unsigned int> keys((max_x - min_x) * (max_y - min_y) * (max_z - min_z));
72  int id = 0;
73  for(int x = min_x; x < max_x; ++x)
74  {
75  for(int y = min_y; y < max_y; ++y)
76  {
77  for(int z = min_z; z < max_z; ++z)
78  {
79  keys[id++] = x + y * width[0] + z * width[0] * width[1];
80  }
81  }
82  }
83  return keys;
84 }
85 
86 } // namespace detail
87 } // namespace fcl
88 
89 #endif
spatial_hash.h
fcl::detail::SpatialHash::operator()
std::vector< unsigned int > operator()(const AABB< S > &aabb) const
Definition: spatial_hash-inl.h:62
fcl::AABB< S >
fcl::detail::SpatialHash::scene_limit
AABB< S > scene_limit
Definition: spatial_hash.h:62
fcl::detail::SpatialHash::width
unsigned int width[3]
Definition: spatial_hash.h:63
fcl::AABB::depth
S depth() const
Depth of the AABB.
Definition: AABB-inl.h:202
fcl::detail::SpatialHash::cell_size
S cell_size
Definition: spatial_hash.h:61
fcl::detail::SpatialHash::SpatialHash
SpatialHash(const AABB< S > &scene_limit_, S cell_size_)
Definition: spatial_hash-inl.h:52
fcl::AABB::width
S width() const
Width of the AABB.
Definition: AABB-inl.h:188
aabb
SaPCollisionManager< S >::SaPAABB * aabb
back pointer to SAP interval
Definition: broadphase_SaP.h:184
fcl::detail::SpatialHash::S
S_ S
Definition: spatial_hash.h:53
fcl::AABB::height
S height() const
Height of the AABB.
Definition: AABB-inl.h:195
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
Author(s):
autogenerated on Sat Sep 11 2021 02:37:42