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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2016, Open Source Robotics Foundation |
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* Copyright (c) 2016, Toyota Research Institute |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Jia Pan */ |
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#ifndef HPP_FCL_MORTON_INL_H |
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#define HPP_FCL_MORTON_INL_H |
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#include "hpp/fcl/broadphase/detail/morton.h" |
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namespace hpp { |
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namespace fcl { /// @cond IGNORE |
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namespace detail { |
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//============================================================================== |
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template <typename S> |
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uint32_t quantize(S x, uint32_t n) { |
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return std::max(std::min((uint32_t)(x * (S)n), uint32_t(n - 1)), uint32_t(0)); |
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} |
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//============================================================================== |
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template <typename S> |
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morton_functor<S, uint32_t>::morton_functor(const AABB& bbox) |
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: base(bbox.min_), |
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✓✗ |
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inv(1.0 / (bbox.max_[0] - bbox.min_[0]), |
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✓✗✓✗
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1.0 / (bbox.max_[1] - bbox.min_[1]), |
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✓✗✓✗
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1.0 / (bbox.max_[2] - bbox.min_[2])) { |
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// Do nothing |
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} |
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//============================================================================== |
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template <typename S> |
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uint32_t morton_functor<S, uint32_t>::operator()(const Vec3f& point) const { |
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uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1024u); |
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uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1024u); |
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uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1024u); |
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return detail::morton_code(x, y, z); |
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} |
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//============================================================================== |
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template <typename S> |
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morton_functor<S, uint64_t>::morton_functor(const AABB& bbox) |
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: base(bbox.min_), |
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inv(1.0 / (bbox.max_[0] - bbox.min_[0]), |
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1.0 / (bbox.max_[1] - bbox.min_[1]), |
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1.0 / (bbox.max_[2] - bbox.min_[2])) { |
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// Do nothing |
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} |
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//============================================================================== |
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template <typename S> |
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uint64_t morton_functor<S, uint64_t>::operator()(const Vec3f& point) const { |
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uint32_t x = detail::quantize((point[0] - base[0]) * inv[0], 1u << 20); |
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uint32_t y = detail::quantize((point[1] - base[1]) * inv[1], 1u << 20); |
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uint32_t z = detail::quantize((point[2] - base[2]) * inv[2], 1u << 20); |
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return detail::morton_code60(x, y, z); |
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} |
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//============================================================================== |
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template <typename S> |
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constexpr size_t morton_functor<S, uint64_t>::bits() { |
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return 60; |
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} |
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//============================================================================== |
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template <typename S> |
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constexpr size_t morton_functor<S, uint32_t>::bits() { |
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return 30; |
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} |
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//============================================================================== |
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template <typename S, size_t N> |
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morton_functor<S, std::bitset<N>>::morton_functor(const AABB& bbox) |
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: base(bbox.min_), |
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inv(1.0 / (bbox.max_[0] - bbox.min_[0]), |
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1.0 / (bbox.max_[1] - bbox.min_[1]), |
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1.0 / (bbox.max_[2] - bbox.min_[2])) { |
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// Do nothing |
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} |
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//============================================================================== |
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template <typename S, size_t N> |
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std::bitset<N> morton_functor<S, std::bitset<N>>::operator()( |
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const Vec3f& point) const { |
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S x = (point[0] - base[0]) * inv[0]; |
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S y = (point[1] - base[1]) * inv[1]; |
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S z = (point[2] - base[2]) * inv[2]; |
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int start_bit = bits() - 1; |
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std::bitset<N> bset; |
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x *= 2; |
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y *= 2; |
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z *= 2; |
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for (size_t i = 0; i < bits() / 3; ++i) { |
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bset[start_bit--] = ((z < 1) ? 0 : 1); |
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bset[start_bit--] = ((y < 1) ? 0 : 1); |
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bset[start_bit--] = ((x < 1) ? 0 : 1); |
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x = ((x >= 1) ? 2 * (x - 1) : 2 * x); |
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y = ((y >= 1) ? 2 * (y - 1) : 2 * y); |
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z = ((z >= 1) ? 2 * (z - 1) : 2 * z); |
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} |
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return bset; |
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} |
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//============================================================================== |
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template <typename S, size_t N> |
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constexpr size_t morton_functor<S, std::bitset<N>>::bits() { |
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return N; |
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} |
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} // namespace detail |
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/// @endcond |
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} // namespace fcl |
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} // namespace hpp |
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#endif |