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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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#include "hpp/fcl/broadphase/detail/morton-inl.h" |
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namespace hpp { |
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namespace fcl { |
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/// @cond IGNORE |
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namespace detail { |
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//============================================================================== |
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uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z) { |
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x = (x | (x << 16)) & 0x030000FF; |
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x = (x | (x << 8)) & 0x0300F00F; |
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x = (x | (x << 4)) & 0x030C30C3; |
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x = (x | (x << 2)) & 0x09249249; |
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y = (y | (y << 16)) & 0x030000FF; |
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y = (y | (y << 8)) & 0x0300F00F; |
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y = (y | (y << 4)) & 0x030C30C3; |
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y = (y | (y << 2)) & 0x09249249; |
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z = (z | (z << 16)) & 0x030000FF; |
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z = (z | (z << 8)) & 0x0300F00F; |
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z = (z | (z << 4)) & 0x030C30C3; |
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z = (z | (z << 2)) & 0x09249249; |
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return x | (y << 1) | (z << 2); |
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} |
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//============================================================================== |
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uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z) { |
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uint32_t lo_x = x & 1023u; |
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uint32_t lo_y = y & 1023u; |
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uint32_t lo_z = z & 1023u; |
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uint32_t hi_x = x >> 10u; |
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uint32_t hi_y = y >> 10u; |
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uint32_t hi_z = z >> 10u; |
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return (uint64_t(morton_code(hi_x, hi_y, hi_z)) << 30) | |
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uint64_t(morton_code(lo_x, lo_y, lo_z)); |
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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 |