GCC Code Coverage Report


Directory: ./
File: src/broadphase/detail/spatial_hash.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 23 23 100.0%
Branches: 7 8 87.5%

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 * 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
1/2
✓ Branch 2 taken 22993 times.
✗ Branch 3 not taken.
22993 static_cast<size_t>((max_x - min_x) * (max_y - min_y) * (max_z - min_z)));
75 22993 size_t id = 0;
76
2/2
✓ Branch 0 taken 56268 times.
✓ Branch 1 taken 22993 times.
79261 for (unsigned int x = min_x; x < max_x; ++x) {
77
2/2
✓ Branch 0 taken 187942 times.
✓ Branch 1 taken 56268 times.
244210 for (unsigned int y = min_y; y < max_y; ++y) {
78
2/2
✓ Branch 0 taken 1215745 times.
✓ Branch 1 taken 187942 times.
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