90 lines
3.4 KiB
C++
90 lines
3.4 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2011-2014, Willow Garage, Inc.
|
|
* Copyright (c) 2014-2016, Open Source Robotics Foundation
|
|
* 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 FCL_BROADPHASE_SPATIALHASH_INL_H
|
|
#define FCL_BROADPHASE_SPATIALHASH_INL_H
|
|
|
|
#include "fcl/broadphase/detail/spatial_hash.h"
|
|
|
|
namespace fcl {
|
|
namespace detail {
|
|
|
|
//==============================================================================
|
|
extern template
|
|
struct SpatialHash<double>;
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
SpatialHash<S>::SpatialHash(const AABB<S>& scene_limit_, S cell_size_)
|
|
: cell_size(cell_size_), scene_limit(scene_limit_)
|
|
{
|
|
width[0] = std::ceil(scene_limit.width() / cell_size);
|
|
width[1] = std::ceil(scene_limit.height() / cell_size);
|
|
width[2] = std::ceil(scene_limit.depth() / cell_size);
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::vector<unsigned int> SpatialHash<S>::operator()(const AABB<S>& aabb) const
|
|
{
|
|
int min_x = std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size);
|
|
int max_x = std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size);
|
|
int min_y = std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size);
|
|
int max_y = std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size);
|
|
int min_z = std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size);
|
|
int max_z = std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size);
|
|
|
|
std::vector<unsigned int> keys((max_x - min_x) * (max_y - min_y) * (max_z - min_z));
|
|
int id = 0;
|
|
for(int x = min_x; x < max_x; ++x)
|
|
{
|
|
for(int y = min_y; y < max_y; ++y)
|
|
{
|
|
for(int z = min_z; z < max_z; ++z)
|
|
{
|
|
keys[id++] = x + y * width[0] + z * width[0] * width[1];
|
|
}
|
|
}
|
|
}
|
|
return keys;
|
|
}
|
|
|
|
} // namespace detail
|
|
} // namespace fcl
|
|
|
|
#endif
|