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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/broadphase/detail/morton-inl.h	Lines:	15	15	100.0 %
Date:	2024-02-09 12:57:42	Branches:	5	10	50.0 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  Copyright (c) 2016, Toyota Research Institute
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** @author Jia Pan */

#ifndef HPP_FCL_MORTON_INL_H
#define HPP_FCL_MORTON_INL_H

#include "hpp/fcl/broadphase/detail/morton.h"

namespace hpp {
namespace fcl {  /// @cond IGNORE
namespace detail {

//==============================================================================
template <typename S>
uint32_t quantize(S x, uint32_t n) {
  return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0));
}

//==============================================================================
template <typename S>
morton_functor<S, uint32_t>::morton_functor(const AABB& bbox)
    : base(bbox.min_),
      inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
          1.0 / (bbox.max_[1] - bbox.min_[1]),
          1.0 / (bbox.max_[2] - bbox.min_[2])) {
  // Do nothing
}

//==============================================================================
template <typename S>
uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const {
  uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u);
  uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u);
  uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u);

  return detail::morton_code(x, y, z);
}

//==============================================================================
template <typename S>
morton_functor<S, uint64_t>::morton_functor(const AABB& bbox)
    : base(bbox.min_),
      inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
          1.0 / (bbox.max_[1] - bbox.min_[1]),
          1.0 / (bbox.max_[2] - bbox.min_[2])) {
  // Do nothing
}

//==============================================================================
template <typename S>
uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const {
  uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20);
  uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20);
  uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20);

  return detail::morton_code60(x, y, z);
}

//==============================================================================
template <typename S>
constexpr size_t morton_functor<S, uint64_t>::bits() {
  return 60;
}

//==============================================================================
template <typename S>
constexpr size_t morton_functor<S, uint32_t>::bits() {
  return 30;
}

//==============================================================================
template <typename S, size_t N>
morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox)
    : base(bbox.min_),
      inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
          1.0 / (bbox.max_[1] - bbox.min_[1]),
          1.0 / (bbox.max_[2] - bbox.min_[2])) {
  // Do nothing
}

//==============================================================================
template <typename S, size_t N>
std::bitset<N> morton_functor<S, std::bitset<N>>::operator()(
    const Vec3f& point) const {
  S x = (point[0] - base[0]) * inv[0];
  S y = (point[1] - base[1]) * inv[1];
  S z = (point[2] - base[2]) * inv[2];
  int start_bit = bits() - 1;
  std::bitset<N> bset;

  x *= 2;
  y *= 2;
  z *= 2;

  for (size_t i = 0; i < bits() / 3; ++i) {
    bset[start_bit--] = ((z < 1) ? 0 : 1);
    bset[start_bit--] = ((y < 1) ? 0 : 1);
    bset[start_bit--] = ((x < 1) ? 0 : 1);
    x = ((x >= 1) ? 2 * (x - 1) : 2 * x);
    y = ((y >= 1) ? 2 * (y - 1) : 2 * y);
    z = ((z >= 1) ? 2 * (z - 1) : 2 * z);
  }

  return bset;
}

//==============================================================================
template <typename S, size_t N>
constexpr size_t morton_functor<S, std::bitset<N>>::bits() {
  return N;
}

}  // namespace detail
/// @endcond
}  // namespace fcl
}  // namespace hpp

#endif


Generated by: GCOVR (Version 4.2)

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			#ifndef HPP_FCL_MORTON_INL_H
40			#define HPP_FCL_MORTON_INL_H
41
42			#include "hpp/fcl/broadphase/detail/morton.h"
43
44			namespace hpp {
45			namespace fcl { /// @cond IGNORE
46			namespace detail {
47
48			//==============================================================================
49			template <typename S>
50		76026	uint32_t quantize(S x, uint32_t n) {
51		76026	return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0));
52			}
53
54			//==============================================================================
55			template <typename S>
56		86	morton_functor<S, uint32_t>::morton_functor(const AABB& bbox)
57		86	: base(bbox.min_),
58	✓✗	86	inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
59	✓✗✓✗	86	1.0 / (bbox.max_[1] - bbox.min_[1]),
60	✓✗✓✗	172	1.0 / (bbox.max_[2] - bbox.min_[2])) {
61			// Do nothing
62		86	}
63
64			//==============================================================================
65			template <typename S>
66		25342	uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const {
67		25342	uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u);
68		25342	uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u);
69		25342	uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u);
70
71		25342	return detail::morton_code(x, y, z);
72			}
73
74			//==============================================================================
75			template <typename S>
76			morton_functor<S, uint64_t>::morton_functor(const AABB& bbox)
77			: base(bbox.min_),
78			inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
79			1.0 / (bbox.max_[1] - bbox.min_[1]),
80			1.0 / (bbox.max_[2] - bbox.min_[2])) {
81			// Do nothing
82			}
83
84			//==============================================================================
85			template <typename S>
86			uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const {
87			uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20);
88			uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20);
89			uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20);
90
91			return detail::morton_code60(x, y, z);
92			}
93
94			//==============================================================================
95			template <typename S>
96			constexpr size_t morton_functor<S, uint64_t>::bits() {
97			return 60;
98			}
99
100			//==============================================================================
101			template <typename S>
102		172	constexpr size_t morton_functor<S, uint32_t>::bits() {
103		172	return 30;
104			}
105
106			//==============================================================================
107			template <typename S, size_t N>
108			morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox)
109			: base(bbox.min_),
110			inv(1.0 / (bbox.max_[0] - bbox.min_[0]),
111			1.0 / (bbox.max_[1] - bbox.min_[1]),
112			1.0 / (bbox.max_[2] - bbox.min_[2])) {
113			// Do nothing
114			}
115
116			//==============================================================================
117			template <typename S, size_t N>
118			std::bitset<N> morton_functor<S, std::bitset<N>>::operator()(
119			const Vec3f& point) const {
120			S x = (point[0] - base[0]) * inv[0];
121			S y = (point[1] - base[1]) * inv[1];
122			S z = (point[2] - base[2]) * inv[2];
123			int start_bit = bits() - 1;
124			std::bitset<N> bset;
125
126			x *= 2;
127			y *= 2;
128			z *= 2;
129
130			for (size_t i = 0; i < bits() / 3; ++i) {
131			bset[start_bit--] = ((z < 1) ? 0 : 1);
132			bset[start_bit--] = ((y < 1) ? 0 : 1);
133			bset[start_bit--] = ((x < 1) ? 0 : 1);
134			x = ((x >= 1) ? 2 * (x - 1) : 2 * x);
135			y = ((y >= 1) ? 2 * (y - 1) : 2 * y);
136			z = ((z >= 1) ? 2 * (z - 1) : 2 * z);
137			}
138
139			return bset;
140			}
141
142			//==============================================================================
143			template <typename S, size_t N>
144			constexpr size_t morton_functor<S, std::bitset<N>>::bits() {
145			return N;
146			}
147
148			} // namespace detail
149			/// @endcond
150			} // namespace fcl
151			} // namespace hpp
152
153			#endif