src/broadphase/detail/morton-inl.h
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36 
39 #ifndef HPP_FCL_MORTON_INL_H
40 #define HPP_FCL_MORTON_INL_H
41 
43 
44 namespace hpp {
45 namespace fcl {
46 namespace detail {
47 
48 //==============================================================================
49 template <typename S>
50 uint32_t quantize(S x, uint32_t n) {
51  return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0));
52 }
53 
54 //==============================================================================
55 template <typename S>
56 morton_functor<S, uint32_t>::morton_functor(const AABB& bbox)
57  : base(bbox.min_),
58  inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
59  1.0 / (bbox.max_[1] - bbox.min_[1]),
60  1.0 / (bbox.max_[2] - bbox.min_[2])) {
61  // Do nothing
62 }
63 
64 //==============================================================================
65 template <typename S>
66 uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const {
67  uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u);
68  uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u);
69  uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u);
70 
71  return detail::morton_code(x, y, z);
72 }
73 
74 //==============================================================================
75 template <typename S>
76 morton_functor<S, uint64_t>::morton_functor(const AABB& bbox)
77  : base(bbox.min_),
78  inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
79  1.0 / (bbox.max_[1] - bbox.min_[1]),
80  1.0 / (bbox.max_[2] - bbox.min_[2])) {
81  // Do nothing
82 }
83 
84 //==============================================================================
85 template <typename S>
86 uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const {
87  uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20);
88  uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20);
89  uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20);
90 
91  return detail::morton_code60(x, y, z);
92 }
93 
94 //==============================================================================
95 template <typename S>
96 constexpr size_t morton_functor<S, uint64_t>::bits() {
97  return 60;
98 }
99 
100 //==============================================================================
101 template <typename S>
102 constexpr size_t morton_functor<S, uint32_t>::bits() {
103  return 30;
104 }
105 
106 //==============================================================================
107 template <typename S, size_t N>
108 morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox)
109  : base(bbox.min_),
110  inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
111  1.0 / (bbox.max_[1] - bbox.min_[1]),
112  1.0 / (bbox.max_[2] - bbox.min_[2])) {
113  // Do nothing
114 }
115 
116 //==============================================================================
117 template <typename S, size_t N>
118 std::bitset<N> morton_functor<S, std::bitset<N>>::operator()(
119  const Vec3f& point) const {
120  S x = (point[0] - base[0]) * inv[0];
121  S y = (point[1] - base[1]) * inv[1];
122  S z = (point[2] - base[2]) * inv[2];
123  int start_bit = bits() - 1;
124  std::bitset<N> bset;
125 
126  x *= 2;
127  y *= 2;
128  z *= 2;
129 
130  for (size_t i = 0; i < bits() / 3; ++i) {
131  bset[start_bit--] = ((z < 1) ? 0 : 1);
132  bset[start_bit--] = ((y < 1) ? 0 : 1);
133  bset[start_bit--] = ((x < 1) ? 0 : 1);
134  x = ((x >= 1) ? 2 * (x - 1) : 2 * x);
135  y = ((y >= 1) ? 2 * (y - 1) : 2 * y);
136  z = ((z >= 1) ? 2 * (z - 1) : 2 * z);
137  }
138 
139  return bset;
140 }
141 
142 //==============================================================================
143 template <typename S, size_t N>
144 constexpr size_t morton_functor<S, std::bitset<N>>::bits() {
145  return N;
146 }
147 
148 } // namespace detail
150 } // namespace fcl
151 } // namespace hpp
152 
153 #endif
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
y
y
uint32_t
uint32_t
uint64_t
uint64_t
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
x
x
morton.h
base
MatrixDerived base(const Eigen::MatrixBase< MatrixDerived > &m)


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:14