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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 %

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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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      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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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