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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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* 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_BROADPHASE_SPATIALHASH_INL_H |
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#define HPP_FCL_BROADPHASE_SPATIALHASH_INL_H |
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#include "hpp/fcl/broadphase/detail/spatial_hash.h" |
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#include <algorithm> |
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namespace hpp { |
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namespace fcl { |
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namespace detail { |
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//============================================================================== |
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SpatialHash::SpatialHash(const AABB& scene_limit_, FCL_REAL cell_size_) |
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: cell_size(cell_size_), scene_limit(scene_limit_) { |
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width[0] = |
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static_cast<unsigned int>(std::ceil(scene_limit.width() / cell_size)); |
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width[1] = |
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static_cast<unsigned int>(std::ceil(scene_limit.height() / cell_size)); |
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width[2] = |
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static_cast<unsigned int>(std::ceil(scene_limit.depth() / cell_size)); |
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} |
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//============================================================================== |
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std::vector<unsigned int> SpatialHash::operator()(const AABB& aabb) const { |
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unsigned int min_x = static_cast<unsigned int>( |
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std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size)); |
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unsigned int max_x = static_cast<unsigned int>( |
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std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size)); |
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unsigned int min_y = static_cast<unsigned int>( |
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std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size)); |
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unsigned int max_y = static_cast<unsigned int>( |
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std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size)); |
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unsigned int min_z = static_cast<unsigned int>( |
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std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size)); |
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unsigned int max_z = static_cast<unsigned int>( |
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std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size)); |
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std::vector<unsigned int> keys( |
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✓✗ |
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static_cast<size_t>((max_x - min_x) * (max_y - min_y) * (max_z - min_z))); |
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size_t id = 0; |
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✓✓ |
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for (unsigned int x = min_x; x < max_x; ++x) { |
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✓✓ |
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for (unsigned int y = min_y; y < max_y; ++y) { |
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✓✓ |
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for (unsigned int z = min_z; z < max_z; ++z) { |
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keys[id++] = x + y * width[0] + z * width[0] * width[1]; |
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} |
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} |
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} |
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return keys; |
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} |
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} // namespace detail |
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} // namespace fcl |
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} // namespace hpp |
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#endif |