spatial_hash.h

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#ifndef FCL_BROADPHASE_SPATIALHASH_H
#define FCL_BROADPHASE_SPATIALHASH_H

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

namespace fcl
{

namespace detail
{

template <typename S_>
struct SpatialHash
{
  using S = S_;

  SpatialHash(const AABB<S>& scene_limit_, S cell_size_);
    
  std::vector<unsigned int> operator() (const AABB<S>& aabb) const;

private:

  S cell_size;
  AABB<S> scene_limit;
  unsigned int width[3];
};

using SpatialHashf = SpatialHash<float>;
using SpatialHashd = SpatialHash<double>;

} // namespace detail
} // namespace fcl

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

#endif