morton.h

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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef HPP_FCL_MORTON_H
#define HPP_FCL_MORTON_H
 
#include "hpp/fcl/BV/AABB.h"
#include <cstdint>
#include <bitset>
 
namespace hpp {
namespace fcl {
 
namespace detail {
 
template <typename S>
uint32_t quantize(S x, uint32_t n);
 
HPP_FCL_DLLAPI
uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z);
 
HPP_FCL_DLLAPI
uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z);
 
template <typename S, typename T>
struct morton_functor {};
 
template <typename S>
struct morton_functor<S, uint32_t> {
  morton_functor(const AABB& bbox);
 
  uint32_t operator()(const Vec3f& point) const;
 
  const Vec3f base;
  const Vec3f inv;
 
  static constexpr size_t bits();
};
 
using morton_functoru32f = morton_functor<float, uint32_t>;
using morton_functoru32d = morton_functor<FCL_REAL, uint32_t>;
 
template <typename S>
struct morton_functor<S, uint64_t> {
  morton_functor(const AABB& bbox);
 
  uint64_t operator()(const Vec3f& point) const;
 
  const Vec3f base;
  const Vec3f inv;
 
  static constexpr size_t bits();
};
 
template <typename S, size_t N>
struct morton_functor<S, std::bitset<N>> {
  static_assert(N % 3 == 0, "Number of bits must be a multiple of 3");
 
  morton_functor(const AABB& bbox);
 
  std::bitset<N> operator()(const Vec3f& point) const;
 
  const Vec3f base;
  const Vec3f inv;
 
  static constexpr size_t bits();
};
 
}  // namespace detail
}  // namespace fcl
}  // namespace hpp
 
#include "hpp/fcl/broadphase/detail/morton-inl.h"
 
#endif