morton.cpp

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/*
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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  Copyright (c) 2016, Toyota Research Institute
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#include "hpp/fcl/broadphase/detail/morton-inl.h"
 
namespace hpp {
namespace fcl {
 
namespace detail {
 
//==============================================================================
uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z) {
  x = (x | (x << 16)) & 0x030000FF;
  x = (x | (x << 8)) & 0x0300F00F;
  x = (x | (x << 4)) & 0x030C30C3;
  x = (x | (x << 2)) & 0x09249249;
 
  y = (y | (y << 16)) & 0x030000FF;
  y = (y | (y << 8)) & 0x0300F00F;
  y = (y | (y << 4)) & 0x030C30C3;
  y = (y | (y << 2)) & 0x09249249;
 
  z = (z | (z << 16)) & 0x030000FF;
  z = (z | (z << 8)) & 0x0300F00F;
  z = (z | (z << 4)) & 0x030C30C3;
  z = (z | (z << 2)) & 0x09249249;
 
  return x | (y << 1) | (z << 2);
}
 
//==============================================================================
uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z) {
  uint32_t lo_x = x & 1023u;
  uint32_t lo_y = y & 1023u;
  uint32_t lo_z = z & 1023u;
  uint32_t hi_x = x >> 10u;
  uint32_t hi_y = y >> 10u;
  uint32_t hi_z = z >> 10u;
 
  return (uint64_t(morton_code(hi_x, hi_y, hi_z)) << 30) |
         uint64_t(morton_code(lo_x, lo_y, lo_z));
}
 
}  // namespace detail
}  // namespace fcl
}  // namespace hpp