First public release of Rapier.v0.1.0

1 files changed, 70 insertions, 0 deletions

diff --git a/src/geometry/z_order.rs b/src/geometry/z_order.rs
new file mode 100644
index 0000000..6693547
--- /dev/null
+++ b/src/geometry/z_order.rs
@@ -0,0 +1,70 @@
+use num_traits::float::FloatCore;
+use std::cmp::Ordering;
+
+#[allow(dead_code)] // We don't use this currently, but migth in the future.
+pub fn z_cmp_ints(lhs: &[usize], rhs: &[usize]) -> Ordering {
+    assert_eq!(
+        lhs.len(),
+        rhs.len(),
+        "Cannot compare array with different lengths."
+    );
+
+    let mut msd = 0;
+
+    for dim in 1..rhs.len() {
+        if less_msb(lhs[msd] ^ rhs[msd], lhs[dim] ^ rhs[dim]) {
+            msd = dim;
+        }
+    }
+
+    lhs[msd].cmp(&rhs[msd])
+}
+
+fn less_msb(x: usize, y: usize) -> bool {
+    x < y && x < (x ^ y)
+}
+
+// Fast construction of k-Nearest Neighbor Graphs for Point Clouds
+// Michael Connor, Piyush Kumar
+// Algorithm 1
+//
+// http://compgeom.com/~piyush/papers/tvcg_stann.pdf
+pub fn z_cmp_floats(p1: &[f32], p2: &[f32]) -> Option<Ordering> {
+    assert_eq!(
+        p1.len(),
+        p2.len(),
+        "Cannot compare array with different lengths."
+    );
+    let mut x = 0;
+    let mut dim = 0;
+
+    for j in 0..p1.len() {
+        let y = xor_msb_float(p1[j], p2[j]);
+        if x < y {
+            x = y;
+            dim = j;
+        }
+    }
+
+    p1[dim].partial_cmp(&p2[dim])
+}
+
+fn xor_msb_float(fa: f32, fb: f32) -> i16 {
+    let (mantissa1, exponent1, _sign1) = fa.integer_decode();
+    let (mantissa2, exponent2, _sign2) = fb.integer_decode();
+    let x = exponent1; // To keep the same notation as the paper.
+    let y = exponent2; // To keep the same notation as the paper.
+
+    if x == y {
+        let z = msdb(mantissa1, mantissa2);
+        x - z
+    } else if y < x {
+        x
+    } else {
+        y
+    }
+}
+
+fn msdb(x: u64, y: u64) -> i16 {
+    64i16 - (x ^ y).leading_zeros() as i16
+}