| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 |