| Directory: | ./ |
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| File: | include/coal/broadphase/detail/morton-inl.h |
| Date: | 2025-04-13 14:25:19 |
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| 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 | * Copyright (c) 2016, Toyota Research Institute | ||
| 7 | * All rights reserved. | ||
| 8 | * | ||
| 9 | * Redistribution and use in source and binary forms, with or without | ||
| 10 | * modification, are permitted provided that the following conditions | ||
| 11 | * are met: | ||
| 12 | * | ||
| 13 | * * Redistributions of source code must retain the above copyright | ||
| 14 | * notice, this list of conditions and the following disclaimer. | ||
| 15 | * * Redistributions in binary form must reproduce the above | ||
| 16 | * copyright notice, this list of conditions and the following | ||
| 17 | * disclaimer in the documentation and/or other materials provided | ||
| 18 | * with the distribution. | ||
| 19 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 20 | * contributors may be used to endorse or promote products derived | ||
| 21 | * from this software without specific prior written permission. | ||
| 22 | * | ||
| 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 24 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 25 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 26 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 27 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 28 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 29 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 30 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 32 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 33 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 34 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 35 | */ | ||
| 36 | |||
| 37 | /** @author Jia Pan */ | ||
| 38 | |||
| 39 | #ifndef COAL_MORTON_INL_H | ||
| 40 | #define COAL_MORTON_INL_H | ||
| 41 | |||
| 42 | #include "coal/broadphase/detail/morton.h" | ||
| 43 | |||
| 44 | namespace coal { /// @cond IGNORE | ||
| 45 | namespace detail { | ||
| 46 | |||
| 47 | //============================================================================== | ||
| 48 | template <typename S> | ||
| 49 | 76026 | uint32_t quantize(S x, uint32_t n) { | |
| 50 | 76026 | return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0)); | |
| 51 | } | ||
| 52 | |||
| 53 | //============================================================================== | ||
| 54 | template <typename S> | ||
| 55 | 86 | morton_functor<S, uint32_t>::morton_functor(const AABB& bbox) | |
| 56 | 86 | : base(bbox.min_), | |
| 57 |
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86 | inv(Scalar(1) / (bbox.max_[0] - bbox.min_[0]), |
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86 | Scalar(1) / (bbox.max_[1] - bbox.min_[1]), |
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86 | Scalar(1) / (bbox.max_[2] - bbox.min_[2])) { |
| 60 | // Do nothing | ||
| 61 | 86 | } | |
| 62 | |||
| 63 | //============================================================================== | ||
| 64 | template <typename S> | ||
| 65 | 25342 | uint32_t morton_functor<S, uint32_t>::operator()(const Vec3s& point) const { | |
| 66 | 25342 | uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u); | |
| 67 | 25342 | uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u); | |
| 68 | 25342 | uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u); | |
| 69 | |||
| 70 | 25342 | return detail::morton_code(x, y, z); | |
| 71 | } | ||
| 72 | |||
| 73 | //============================================================================== | ||
| 74 | template <typename S> | ||
| 75 | morton_functor<S, uint64_t>::morton_functor(const AABB& bbox) | ||
| 76 | : base(bbox.min_), | ||
| 77 | inv(Scalar(1) / (bbox.max_[0] - bbox.min_[0]), | ||
| 78 | Scalar(1) / (bbox.max_[1] - bbox.min_[1]), | ||
| 79 | Scalar(1) / (bbox.max_[2] - bbox.min_[2])) { | ||
| 80 | // Do nothing | ||
| 81 | } | ||
| 82 | |||
| 83 | //============================================================================== | ||
| 84 | template <typename S> | ||
| 85 | uint64_t morton_functor<S, uint64_t>::operator()(const Vec3s& point) const { | ||
| 86 | uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20); | ||
| 87 | uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20); | ||
| 88 | uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20); | ||
| 89 | |||
| 90 | return detail::morton_code60(x, y, z); | ||
| 91 | } | ||
| 92 | |||
| 93 | //============================================================================== | ||
| 94 | template <typename S> | ||
| 95 | constexpr size_t morton_functor<S, uint64_t>::bits() { | ||
| 96 | return 60; | ||
| 97 | } | ||
| 98 | |||
| 99 | //============================================================================== | ||
| 100 | template <typename S> | ||
| 101 | 172 | constexpr size_t morton_functor<S, uint32_t>::bits() { | |
| 102 | 172 | return 30; | |
| 103 | } | ||
| 104 | |||
| 105 | //============================================================================== | ||
| 106 | template <typename S, size_t N> | ||
| 107 | morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox) | ||
| 108 | : base(bbox.min_), | ||
| 109 | inv(Scalar(1) / (bbox.max_[0] - bbox.min_[0]), | ||
| 110 | Scalar(1) / (bbox.max_[1] - bbox.min_[1]), | ||
| 111 | Scalar(1) / (bbox.max_[2] - bbox.min_[2])) { | ||
| 112 | // Do nothing | ||
| 113 | } | ||
| 114 | |||
| 115 | //============================================================================== | ||
| 116 | template <typename S, size_t N> | ||
| 117 | std::bitset<N> morton_functor<S, std::bitset<N>>::operator()( | ||
| 118 | const Vec3s& point) const { | ||
| 119 | S x = (point[0] - base[0]) * inv[0]; | ||
| 120 | S y = (point[1] - base[1]) * inv[1]; | ||
| 121 | S z = (point[2] - base[2]) * inv[2]; | ||
| 122 | int start_bit = bits() - 1; | ||
| 123 | std::bitset<N> bset; | ||
| 124 | |||
| 125 | x *= 2; | ||
| 126 | y *= 2; | ||
| 127 | z *= 2; | ||
| 128 | |||
| 129 | for (size_t i = 0; i < bits() / 3; ++i) { | ||
| 130 | bset[start_bit--] = ((z < 1) ? 0 : 1); | ||
| 131 | bset[start_bit--] = ((y < 1) ? 0 : 1); | ||
| 132 | bset[start_bit--] = ((x < 1) ? 0 : 1); | ||
| 133 | x = ((x >= 1) ? 2 * (x - 1) : 2 * x); | ||
| 134 | y = ((y >= 1) ? 2 * (y - 1) : 2 * y); | ||
| 135 | z = ((z >= 1) ? 2 * (z - 1) : 2 * z); | ||
| 136 | } | ||
| 137 | |||
| 138 | return bset; | ||
| 139 | } | ||
| 140 | |||
| 141 | //============================================================================== | ||
| 142 | template <typename S, size_t N> | ||
| 143 | constexpr size_t morton_functor<S, std::bitset<N>>::bits() { | ||
| 144 | return N; | ||
| 145 | } | ||
| 146 | |||
| 147 | } // namespace detail | ||
| 148 | /// @endcond | ||
| 149 | } // namespace coal | ||
| 150 | |||
| 151 | #endif | ||
| 152 |