morton.cpp

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/*
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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#include "fcl/broadphase/detail/morton-inl.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template
uint32 quantize(double x, uint32 n);
 
//==============================================================================
uint32 morton_code(uint32 x, uint32 y, uint32 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 morton_code60(uint32 x, uint32 y, uint32 z)
{
  uint32 lo_x = x & 1023u;
  uint32 lo_y = y & 1023u;
  uint32 lo_z = z & 1023u;
  uint32 hi_x = x >> 10u;
  uint32 hi_y = y >> 10u;
  uint32 hi_z = z >> 10u;
 
  return (uint64(morton_code(hi_x, hi_y, hi_z)) << 30)
      | uint64(morton_code(lo_x, lo_y, lo_z));
}
 
//==============================================================================
template
struct morton_functor<double, uint32>;
 
//==============================================================================
template
struct morton_functor<double, uint64>;
 
} // namespace detail
} // namespace fcl