FCL  0.6.0
Flexible Collision Library
spatial_hash-inl.h
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35 
38 #ifndef FCL_BROADPHASE_SPATIALHASH_INL_H
39 #define FCL_BROADPHASE_SPATIALHASH_INL_H
40 
41 #include "fcl/broadphase/detail/spatial_hash.h"
42 
43 namespace fcl {
44 namespace detail {
45 
46 //==============================================================================
47 extern template
48 struct SpatialHash<double>;
49 
50 //==============================================================================
51 template <typename S>
52 SpatialHash<S>::SpatialHash(const AABB<S>& scene_limit_, S cell_size_)
53  : cell_size(cell_size_), scene_limit(scene_limit_)
54 {
55  width[0] = std::ceil(scene_limit.width() / cell_size);
56  width[1] = std::ceil(scene_limit.height() / cell_size);
57  width[2] = std::ceil(scene_limit.depth() / cell_size);
58 }
59 
60 //==============================================================================
61 template <typename S>
62 std::vector<unsigned int> SpatialHash<S>::operator()(const AABB<S>& aabb) const
63 {
64  int min_x = std::floor((aabb.min_[0] - scene_limit.min_[0]) / cell_size);
65  int max_x = std::ceil((aabb.max_[0] - scene_limit.min_[0]) / cell_size);
66  int min_y = std::floor((aabb.min_[1] - scene_limit.min_[1]) / cell_size);
67  int max_y = std::ceil((aabb.max_[1] - scene_limit.min_[1]) / cell_size);
68  int min_z = std::floor((aabb.min_[2] - scene_limit.min_[2]) / cell_size);
69  int max_z = std::ceil((aabb.max_[2] - scene_limit.min_[2]) / cell_size);
70 
71  std::vector<unsigned int> keys((max_x - min_x) * (max_y - min_y) * (max_z - min_z));
72  int id = 0;
73  for(int x = min_x; x < max_x; ++x)
74  {
75  for(int y = min_y; y < max_y; ++y)
76  {
77  for(int z = min_z; z < max_z; ++z)
78  {
79  keys[id++] = x + y * width[0] + z * width[0] * width[1];
80  }
81  }
82  }
83  return keys;
84 }
85 
86 } // namespace detail
87 } // namespace fcl
88 
89 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45