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File: | src/broadphase/detail/spatial_hash.cpp |
Date: | 2025-04-01 09:23:31 |
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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 | 22993 | std::vector<unsigned int> SpatialHash::operator()(const AABB& aabb) const { | |
60 | unsigned int min_x = static_cast<unsigned int>( | ||
61 | 22993 | std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size)); | |
62 | unsigned int max_x = static_cast<unsigned int>( | ||
63 | 22993 | std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size)); | |
64 | unsigned int min_y = static_cast<unsigned int>( | ||
65 | 22993 | std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size)); | |
66 | unsigned int max_y = static_cast<unsigned int>( | ||
67 | 22993 | std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size)); | |
68 | unsigned int min_z = static_cast<unsigned int>( | ||
69 | 22993 | std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size)); | |
70 | unsigned int max_z = static_cast<unsigned int>( | ||
71 | 22993 | std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size)); | |
72 | |||
73 | std::vector<unsigned int> keys( | ||
74 |
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22993 | static_cast<size_t>((max_x - min_x) * (max_y - min_y) * (max_z - min_z))); |
75 | 22993 | size_t id = 0; | |
76 |
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79261 | for (unsigned int x = min_x; x < max_x; ++x) { |
77 |
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244210 | for (unsigned int y = min_y; y < max_y; ++y) { |
78 |
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1403687 | for (unsigned int z = min_z; z < max_z; ++z) { |
79 | 1215745 | keys[id++] = x + y * width[0] + z * width[0] * width[1]; | |
80 | } | ||
81 | } | ||
82 | } | ||
83 | 22993 | return keys; | |
84 | } | ||
85 | |||
86 | } // namespace detail | ||
87 | } // namespace coal | ||
88 | |||
89 | #endif | ||
90 |