| Directory: | ./ |
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| File: | src/broadphase/detail/spatial_hash.cpp |
| 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 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** @author Jia Pan */ | ||
| 37 | |||
| 38 | #ifndef COAL_BROADPHASE_SPATIALHASH_INL_H | ||
| 39 | #define COAL_BROADPHASE_SPATIALHASH_INL_H | ||
| 40 | |||
| 41 | #include "coal/broadphase/detail/spatial_hash.h" | ||
| 42 | #include <algorithm> | ||
| 43 | |||
| 44 | namespace coal { | ||
| 45 | namespace detail { | ||
| 46 | |||
| 47 | //============================================================================== | ||
| 48 | 51 | SpatialHash::SpatialHash(const AABB& scene_limit_, Scalar cell_size_) | |
| 49 | 51 | : cell_size(cell_size_), scene_limit(scene_limit_) { | |
| 50 | 51 | width[0] = | |
| 51 | 51 | static_cast<unsigned int>(std::ceil(scene_limit.width() / cell_size)); | |
| 52 | 51 | width[1] = | |
| 53 | 51 | static_cast<unsigned int>(std::ceil(scene_limit.height() / cell_size)); | |
| 54 | 51 | width[2] = | |
| 55 | 51 | static_cast<unsigned int>(std::ceil(scene_limit.depth() / cell_size)); | |
| 56 | 51 | } | |
| 57 | |||
| 58 | //============================================================================== | ||
| 59 | 22995 | std::vector<unsigned int> SpatialHash::operator()(const AABB& aabb) const { | |
| 60 | unsigned int min_x = static_cast<unsigned int>( | ||
| 61 | 22995 | std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size)); | |
| 62 | unsigned int max_x = static_cast<unsigned int>( | ||
| 63 | 22995 | std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size)); | |
| 64 | unsigned int min_y = static_cast<unsigned int>( | ||
| 65 | 22995 | std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size)); | |
| 66 | unsigned int max_y = static_cast<unsigned int>( | ||
| 67 | 22995 | std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size)); | |
| 68 | unsigned int min_z = static_cast<unsigned int>( | ||
| 69 | 22995 | std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size)); | |
| 70 | unsigned int max_z = static_cast<unsigned int>( | ||
| 71 | 22995 | std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size)); | |
| 72 | |||
| 73 | std::vector<unsigned int> keys( | ||
| 74 |
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22995 | static_cast<size_t>((max_x - min_x) * (max_y - min_y) * (max_z - min_z))); |
| 75 | 22995 | size_t id = 0; | |
| 76 |
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79276 | for (unsigned int x = min_x; x < max_x; ++x) { |
| 77 |
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244301 | for (unsigned int y = min_y; y < max_y; ++y) { |
| 78 |
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1404311 | for (unsigned int z = min_z; z < max_z; ++z) { |
| 79 | 1216291 | keys[id++] = x + y * width[0] + z * width[0] * width[1]; | |
| 80 | } | ||
| 81 | } | ||
| 82 | } | ||
| 83 | 22995 | return keys; | |
| 84 | } | ||
| 85 | |||
| 86 | } // namespace detail | ||
| 87 | } // namespace coal | ||
| 88 | |||
| 89 | #endif | ||
| 90 |