morton.h

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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef FCL_MORTON_H
#define FCL_MORTON_H

#include "fcl/common/types.h"
#include "fcl/math/bv/AABB.h"

#include <bitset>

namespace fcl
{

namespace detail
{

template <typename S>
uint32 quantize(S x, uint32 n);

uint32 morton_code(uint32 x, uint32 y, uint32 z);

uint64 morton_code60(uint32 x, uint32 y, uint32 z);

template<typename S, typename T>
struct morton_functor {};

template<typename S>
struct morton_functor<S, uint32>
{
  morton_functor(const AABB<S>& bbox);

  uint32 operator() (const Vector3<S>& point) const;

  const Vector3<S> base;
  const Vector3<S> inv;

  static constexpr size_t bits();
};

using morton_functoru32f = morton_functor<float, uint32>;
using morton_functoru32d = morton_functor<double, uint32>;

template<typename S>
struct morton_functor<S, uint64>
{
  morton_functor(const AABB<S>& bbox);

  uint64 operator() (const Vector3<S>& point) const;

  const Vector3<S> base;
  const Vector3<S> inv;

  static constexpr size_t bits();
};

using morton_functoru64f = morton_functor<float, uint64>;
using morton_functoru64d = morton_functor<double, uint64>;

template<typename S, size_t N>
struct morton_functor<S, std::bitset<N>>
{
  static_assert(N%3==0, "Number of bits must be a multiple of 3");

  morton_functor(const AABB<S>& bbox);

  std::bitset<N> operator() (const Vector3<S>& point) const;

  const Vector3<S> base;
  const Vector3<S> inv;

  static constexpr size_t bits();
};

} // namespace detail
} // namespace fcl

#include "fcl/broadphase/detail/morton-inl.h"

#endif