GCC Code Coverage Report


Directory: ./
File: src/broadphase/detail/morton.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 14 23 60.9%
Branches: 0 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 #include "coal/broadphase/detail/morton-inl.h"
40
41 namespace coal {
42
43 /// @cond IGNORE
44 namespace detail {
45
46 //==============================================================================
47 25342 uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z) {
48 25342 x = (x | (x << 16)) & 0x030000FF;
49 25342 x = (x | (x << 8)) & 0x0300F00F;
50 25342 x = (x | (x << 4)) & 0x030C30C3;
51 25342 x = (x | (x << 2)) & 0x09249249;
52
53 25342 y = (y | (y << 16)) & 0x030000FF;
54 25342 y = (y | (y << 8)) & 0x0300F00F;
55 25342 y = (y | (y << 4)) & 0x030C30C3;
56 25342 y = (y | (y << 2)) & 0x09249249;
57
58 25342 z = (z | (z << 16)) & 0x030000FF;
59 25342 z = (z | (z << 8)) & 0x0300F00F;
60 25342 z = (z | (z << 4)) & 0x030C30C3;
61 25342 z = (z | (z << 2)) & 0x09249249;
62
63 25342 return x | (y << 1) | (z << 2);
64 }
65
66 //==============================================================================
67 uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z) {
68 uint32_t lo_x = x & 1023u;
69 uint32_t lo_y = y & 1023u;
70 uint32_t lo_z = z & 1023u;
71 uint32_t hi_x = x >> 10u;
72 uint32_t hi_y = y >> 10u;
73 uint32_t hi_z = z >> 10u;
74
75 return (uint64_t(morton_code(hi_x, hi_y, hi_z)) << 30) |
76 uint64_t(morton_code(lo_x, lo_y, lo_z));
77 }
78
79 } // namespace detail
80 /// @endcond
81 } // namespace coal
82