GCC Code Coverage Report


Directory: ./
File: include/coal/broadphase/detail/morton-inl.h
Date: 2025-04-01 09:23:31
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Lines: 15 15 100.0%
Branches: 5 10 50.0%

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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