spatial_hash-inl.h

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#ifndef COAL_BROADPHASE_SPATIALHASH_INL_H
#define COAL_BROADPHASE_SPATIALHASH_INL_H

#include "coal/broadphase/detail/spatial_hash.h"
#include <algorithm>

namespace coal {
namespace detail {

//==============================================================================
SpatialHash::SpatialHash(const AABB& scene_limit_, CoalScalar 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);
}

//==============================================================================
std::vector<unsigned int> SpatialHash::operator()(const AABB& 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 coal

#endif