Hilbert Curves in More (or fewer) than Two Dimensions

version 0.6.4

Let's develop Python functions to map between a point on a Hilbert walk in D dimensions, and an integer we'll call the index of the point, so that, e.g.,

   int_to_Hilbert( i, 3 ) ==> ( x, y, z )
   Hilbert_to_int( ( x, y, z ) ) ==> i
Here ( x, y, z ) is a Python tuple. There's an appendix on some Python details below.

[Wikipedia] shows code for the two-dimensional mapping. [Butz] and later [Lawder], [Moore], [Thomas] and [Jaffer] show algorithms and code that extend Hilbert's curve beyond two dimensions; here I try to explain one unoptimized method simply.

Specifying the Problem

Rather than fill a finite region of space with infinite detail, the code here takes a "Hilbert walk" of unit steps on a D-dimensional grid or lattice, eventually touching all the intersectons in a quadrant of the grid. The functions we're developing here work with the points, which we'll call stops, between steps in the walk.

We don't require the caller to specify the number of bits of precision. Instead, our functions accept either Python's "int," or arbitrary-precision "long" arguments, and determine the precision from the arguments themselves. (For the most part, the difference between int and long is handled automatically in Python and invisible in the code.) Results for large and small numbers need to be made consistent, though.

Gray code Travels the Unit Cube

If you take D bits of a Grey code as coordinates in D-dimensional space, then the Gray code is a Hilbert-like walk on a unit D-cube. We label the most significant bit x, the next (if any) y, and so forth (punting on what the bits after z are called). In this walk,
  3---2
      |
  0---1
the first step is along the x axis, but we'll say the walk as a whole travels along the y axis. "Travel," here, means the difference between the beginning and end of the walk of a cube (here a 2-cube). When D>1, the travel of a unit D-cube walk is always along a different axis than its first step.

Larger Cubes by Recursion

Here's a longer walk in 2D, with the points labeled with their indices:
  .
  .
  5---6   9---10
  |   |   |   |
  4   7###8   11
  #           #
  3---2   13--12
  .   |   |
--0---1...14--15--> ...
  |
The 2D Hilbert curve is defined recursively so that a large walk is composed of four smaller Hilbert walks. The obvious extension is to build a large parent D-cube out of 2D subcubes or child cubes. Although there are extra steps (marked "#" above) between the children, all of the stops on the walk are stops within children.

If the coordinates of the points are expressed in binary, and the bottom left corner of the parent is (0, 0, ... 0), then the most- significant bits of the coordinates are walked in a a unit cube walk. In fact, the D most significant bits of a point's index are transformed by a modified Gray code to become one most- significant bit of each of its D coordinates. The children consume less- significant bits of index and control less- significant bits of the coordinates.

Arbitrariness of Any Solution

For D=2 (and D=1), there is only one Gray code for a given travel, and only one way to orient the subsquares within the larger walk. For D>2, there is more than one possible walk of a unit cube, and some (all?) parent walks are compatible with multiple combinations of subcube orientations. We won't go into all these possibilities except to point out that the code being described here effectively represents a set of arbitrary choices about the shape of the walk.

This method is neither particularly beautiful nor ugly, but works the same way for any number of dimensions. (I found it while trying to understand [Jaffer] below-- the only one of the references I read). I suspect it's the same solution everyone finds.)

Travels are Specified by Start and End Corners

In the Python code, we specify the orientation of a walk of a D-cube with two D-bit numbers indicating the corners of the cube where it starts and ends. (Geometrically, that doesn't specify exactly one rotation/reflection of a cube-- that's one of the arbitrary choices made by the code.)

Outline of the Method

To encode from index to coordinates: Then, for each index chunk, starting at the most- significant, Finally, Decoding is very similar, except that at each stage we Gray- decode D index bits from coordinate bits. At that point the decoder has the same information the encoder uses to calculate the orientation of the child cube for the next stage.

Rotated, Exclusive-Or'ed Gray Code

The canonical Gray code's travel-- the bit that changes between its first and last values-- is always its top bit. To get a unit-cube walk from start to end, our method rotates the D Gray coded bits to travel the correct bit (start xor end), then xors the result with start. For instance, to travel from 011 to 001 (traveling the middle bit), we would rotate right by one bit, then xor with 011:
     i   Gray   >1>   xor 011     
     0    000   000     011 start
     1    001   100     111
     2    011   101     110
     3    010   001     010
     4    110   011     000
     5    111   111     100
     6    101   110     101
     7    100   010     001 end
Here's a Python function to do this, and another to reverse it:
def gray_encode_travel( start, end, mask, i ):
    travel_bit = start ^ end    # ^ means exclusive-or.
    modulus = mask + 1          # == 2**nBits
    # travel_bit = 2**p, the bit we want to travel.
    # Canonical Gray code travels the top bit, 2**(nBits-1).
    # So we need to rotate by ( p - (nBits-1) ) == (p + 1) mod nBits.
    # We rotate by multiplying and dividing by powers of two:
    g = gray_encode( i ) * ( travel_bit * 2 )
    return ( ( g | ( g / modulus ) ) & mask ) ^ start

def gray_decode_travel( start, end, mask, g ):
    travel_bit = start ^ end
    modulus = mask + 1          # == 2**nBits
    rg = ( rg ^ start ) * ( modulus / ( travel_bit * 2 ) )
    return gray_decode( ( rg | ( rg / modulus ) ) & mask )

Orientation of the Subcubes

  .
  .
  5---6   9---10
  |   |   |   |
  4   7###8   11
  #           #
  3---2   13--12
  .   |   |
--0---1...14--15--> ...
  |
Letting small letters stand for child travels and capitals for parent steps, this is the sequence for the 2D walk above:
    y Y x X x Y y

This is how our modified Gray code generates the parent steps (capitals) and how we orient the child travels (smalls) in 3D:

   z Z y Y y Z x X x Z y Y y Z z
Notice that all the odd-numbered (and none of the even) parent steps are along one dimension (Z). That's a property of the Gray code, preserved by our way of modifying it, that makes our child travel pattern (z yy xx yy z) extend to any number of dimensions.

The orientation of the child cube numbered i (0 <= i < 2D) can be calculated directly from the orientation of the parent and i. This table shows the working out of one example, for parent_start = 000 and parent_end = 100 (canonical Gray code), from which a useful pattern can be seen:

   i  parent(i)  child                                   
   0    000      000   child_start(0)=parent(0)
                 001   child_end(0)            =parent(1)
          ^ (flip) v                                   
   1    001      000   child_start(1)=parent(0)          
                 010   child_end(1)            =parent(3)
         ^        v                                    
   2    011      000   child_start(2)=parent(0)          
                 010   child_end(2)            =parent(3)
          v        ^                                    
   3    010      011   child_start(3)=parent(2)          
                 111   child_end(3)            =parent(5)
        ^        v                                     
   4    110      011   child_start(4)=parent(2)          
                 111   child_end(4)            =parent(5)
          ^        v                                    
   5    111      110   child_start(5)=parent(4)           
                 100   child_end(5)            =parent(7)
         v        ^                                    
   6    101      110   child_start(6)=parent(4)          
                 100   child_end(6)            =parent(7)
          v        ^                                    
   7    100      101   child_start(7)=parent(6)          
                 100   child_end(7)            =parent(7)
The "^" and "v" markers show how, when a bit flips in the parent walk, the corresponding bit flips the opposite way, between the end of the previous child walk and the start of the next. (We're producing adjacent binary bits here.) Here's the Python function that calculates the child start and end corners as suggested by the last two columns of the table:
def child_start_end( parent_start, parent_end, mask, i ):
   start_i = max( 0,    ( i - 1 ) & ~1 )  # next lower even number, or 0
   end_i =   min( mask, ( i + 1 ) |  1 )  # next higher odd number, or mask
   child_start = gray_encode_travel( parent_start, parent_end, mask, start_i )
   child_end   = gray_encode_travel( parent_start, parent_end, mask, end_i )
   return child_start, child_end

Orientation of the Largest Cube

The overall algorithm goes top-down, with the number of levels determined by the number of bits in the inputs. But the mapping from index to point should be consistent for all sizes of inputs. The largest cube will always start at the origin. We need to know the right orientation of the top-level cube such that the bottom-level cube at the origin has a fixed orientation.

We decree that the point with index zero is the origin point, and that the first step shall be in the x direction. With our modified Gray code, that means the first level- zero unit cube travels the y dimension. Our child- orientation method always makes the first child of a parent travel the same dimension as the parent's first step. So the level- one parent first steps along y, and travels along z. The level- two parent first steps along z, and so forth. So the orientation of origin- cubes rotates one dimension-- one bit to the right within the D-bit word-- for each level of size. In the following function to handle this, the number of dimensions is nD and the number of levels is nChunks:

def initial_start_end( nChunks, nD ):
    # This orients the largest cube so that 
    # it's start is the origin (0 corner), and
    # the first step is along the x axis, regardless of nD and nChunks:
    return 0,  2**( ( -nChunks - 1 ) % nD )  # in Python 0 <=  a % b  < b.

The Code, Tests, Demos & History

Makefile(2K) how this stuff is prepared for publishing
hilbert.py(8K) index <==> Hilbert and support functions.
hilbert_pic.pdf(96K) Exploded views of 3D Hilbert walks.
hilbert_pic.py(4K) Python/pdfgen code that generates hilbert_pic.pdf
hilbert_test.py(7K) Tests hilbert.py functions for 1 to 3 dimensions.
makeindex.php.txt(18K) PHP source for this page (inserts this listing).
old/(dir) differences from previous versions

Appendix: Some Python Details

Python tuples, like
     ( x, y, z )
are lists that can't be modified once created. They can be passed as arguments, returned from functions, and indexed like lists. They are sometimes implicit in the syntax for multiple assignment or returning multiple values from functions. E.g.
    point = ( x, y, z )
    point = x, y, z
    def f( point ):
       x, y, z = point
       return x + 1, y + 1, z + 1

    point = f( point )
    x, y, z = f( point )
    x = point[ 0 ]
    number_of_dimensions = len( point )
I use tuples for points where I can here just because they look like points.

"Lists" in Python are actually one-dimensional packed arrays. They are like tuples, but modifiable, so,

    a = [ x, y ]
    a[ 1 ] = a[ 0 ] + a[ 1]
    x, y = a
The expression "[0] * n" means n copies of a list of one zero, concatenated together-- in other words a list of n zeroes.

In Python, the bitwise operations on ints and longs are:

   &  and
   |  or
   ^  xor, exclusive or
   ~  complement
Negative ints in Python, or bitwise complements of positive ints, act as if preceeded by an infinite string of one-bits, and (you might say) vice-versa. So, e.g.,
    999999999999 & -2 ==   999999999998
   ~999999999999      == -1000000000000

Unlike in C and Java, Python's '/' with integer arguments is divide-with-floor, and '%' is modulo, so that, e.g.,

   -5 / 2 == -3
   -5 % 2 == 1

References

Most of these references are taken from
[Jaffer]...

[Butz] A. R. Butz, Alternative Algorithm for Hilbert's Space-Filling Curve, IEEE Trans. Comp., April, 1971, pp 424-426.

[Jaffer] Aubrey Jaffer, Multidimensional Space-Filling Curves

[Lawder] J.K.Lawder, Calculation of Mappings Between One and n-dimensional Values Using the Hilbert Space-filling Curve, Research Report JL1/00, School of Computer Science and Information Systems, Birkbeck College, University of London, 2000

[Moore] D. Moore, Fast Hilbert Curves in C, without Recursion [cached]

[Thomas] S. W. Thomas, "hilbert.c" in the Utah Raster Toolkit circa 1993, http://web.mit.edu/afs/athena/contrib/urt/src/urt3.1/urt-3.1b.tar.gz

[Wikipedia] Hilbert Curve


Last change 01 December 2008.

--Steve Witham
Up to my home page.