GCC Code Coverage Report

Directory: ./
File: include/coal/serialization/BVH_model.h
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 65 70 92.9%
Branches: 36 106 34.0%
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1 //
2 // Copyright (c) 2021-2022 INRIA
3 //
4
5 #ifndef COAL_SERIALIZATION_BVH_MODEL_H
6 #define COAL_SERIALIZATION_BVH_MODEL_H
7
8 #include "coal/BVH/BVH_model.h"
9
10 #include "coal/serialization/fwd.h"
11 #include "coal/serialization/BV_node.h"
12 #include "coal/serialization/BV_splitter.h"
13 #include "coal/serialization/collision_object.h"
14 #include "coal/serialization/memory.h"
15 #include "coal/serialization/triangle.h"
16
17 namespace boost {
18 namespace serialization {
19
20 namespace internal {
21 struct BVHModelBaseAccessor : coal::BVHModelBase {
22 typedef coal::BVHModelBase Base;
23 using Base::num_tris_allocated;
24 using Base::num_vertices_allocated;
25 };
26 } // namespace internal
27
28 template <class Archive>
29 18 void save(Archive &ar, const coal::BVHModelBase &bvh_model,
30 const unsigned int /*version*/) {
31 using namespace coal;
32 36 if (!(bvh_model.build_state == BVH_BUILD_STATE_PROCESSED ||
33
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 18 bvh_model.build_state == BVH_BUILD_STATE_UPDATED) &&
34 ✗ (bvh_model.getModelType() == BVH_MODEL_TRIANGLES)) {
35 ✗ COAL_THROW_PRETTY(
36 "The BVH model is not in a BVH_BUILD_STATE_PROCESSED or "
37 "BVH_BUILD_STATE_UPDATED state.\n"
38 "The BVHModel could not be serialized.",
39 std::invalid_argument);
40 }
41
42
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 18 ar &make_nvp(
43 "base",
44 18 boost::serialization::base_object<coal::CollisionGeometry>(bvh_model));
45
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 18 ar &make_nvp("num_vertices", bvh_model.num_vertices);
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 18 ar &make_nvp("vertices", bvh_model.vertices);
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 18 ar &make_nvp("num_tris", bvh_model.num_tris);
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 18 ar &make_nvp("tri_indices", bvh_model.tri_indices);
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 18 ar &make_nvp("build_state", bvh_model.build_state);
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 18 ar &make_nvp("prev_vertices", bvh_model.prev_vertices);
54
55 // if(bvh_model.convex)
56 // {
57 // const bool has_convex = true;
58 // ar << make_nvp("has_convex",has_convex);
59 // }
60 // else
61 // {
62 // const bool has_convex = false;
63 // ar << make_nvp("has_convex",has_convex);
64 // }
65 18 }
66
67 template <class Archive>
68 18 void load(Archive &ar, coal::BVHModelBase &bvh_model,
69 const unsigned int /*version*/) {
70 using namespace coal;
71
72
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 18 ar >> make_nvp("base",
73 18 boost::serialization::base_object<coal::CollisionGeometry>(
74 bvh_model));
75
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 18 ar >> make_nvp("num_vertices", bvh_model.num_vertices);
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 18 ar >> make_nvp("vertices", bvh_model.vertices);
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 18 ar >> make_nvp("num_tris", bvh_model.num_tris);
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 18 ar >> make_nvp("tri_indices", bvh_model.tri_indices);
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 18 ar >> make_nvp("build_state", bvh_model.build_state);
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 18 ar >> make_nvp("prev_vertices", bvh_model.prev_vertices);
84
85 // bool has_convex = true;
86 // ar >> make_nvp("has_convex",has_convex);
87 18 }
88
89 36 COAL_SERIALIZATION_SPLIT(coal::BVHModelBase)
90
91 namespace internal {
92 template <typename BV>
93 struct BVHModelAccessor : coal::BVHModel<BV> {
94 typedef coal::BVHModel<BV> Base;
95 using Base::bvs;
96 using Base::num_bvs;
97 using Base::num_bvs_allocated;
98 using Base::primitive_indices;
99 };
100 } // namespace internal
101
102 template <class Archive, typename BV>
103 36 void serialize(Archive &ar, coal::BVHModel<BV> &bvh_model,
104 const unsigned int version) {
105 36 split_free(ar, bvh_model, version);
106 36 }
107
108 template <class Archive, typename BV>
109 18 void save(Archive &ar, const coal::BVHModel<BV> &bvh_model_,
110 const unsigned int /*version*/) {
111 using namespace coal;
112 typedef internal::BVHModelAccessor<BV> Accessor;
113 typedef BVNode<BV> Node;
114
115 18 const Accessor &bvh_model = reinterpret_cast<const Accessor &>(bvh_model_);
116
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 18 ar &make_nvp("base",
117 18 boost::serialization::base_object<BVHModelBase>(bvh_model));
118
119 // if(bvh_model.primitive_indices)
120 // {
121 // const bool with_primitive_indices = true;
122 // ar & make_nvp("with_primitive_indices",with_primitive_indices);
123 //
124 // int num_primitives = 0;
125 // switch(bvh_model.getModelType())
126 // {
127 // case BVH_MODEL_TRIANGLES:
128 // num_primitives = bvh_model.num_tris;
129 // break;
130 // case BVH_MODEL_POINTCLOUD:
131 // num_primitives = bvh_model.num_vertices;
132 // break;
133 // default:
134 // ;
135 // }
136 //
137 // ar & make_nvp("num_primitives",num_primitives);
138 // if(num_primitives > 0)
139 // {
140 // typedef Eigen::Matrix<unsigned int,1,Eigen::Dynamic>
141 // AsPrimitiveIndexVector; const Eigen::Map<const
142 // AsPrimitiveIndexVector>
143 // primitive_indices_map(reinterpret_cast<const unsigned int
144 // *>(bvh_model.primitive_indices),1,num_primitives); ar &
145 // make_nvp("primitive_indices",primitive_indices_map);
146 //// ar &
147 /// make_nvp("primitive_indices",make_array(bvh_model.primitive_indices,num_primitives));
148 // }
149 // }
150 // else
151 // {
152 // const bool with_primitive_indices = false;
153 // ar & make_nvp("with_primitive_indices",with_primitive_indices);
154 // }
155 //
156
157
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 18 if (bvh_model.bvs.get()) {
158 18 const bool with_bvs = true;
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 18 ar &make_nvp("with_bvs", with_bvs);
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 18 ar &make_nvp("num_bvs", bvh_model.num_bvs);
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 18 ar &make_nvp(
162 "bvs",
163 make_array(
164 18 reinterpret_cast<const char *>(bvh_model.bvs->data()),
165 sizeof(Node) *
166 18 (std::size_t)bvh_model.num_bvs)); // Assuming BVs are POD.
167 } else {
168 ✗ const bool with_bvs = false;
169 ✗ ar &make_nvp("with_bvs", with_bvs);
170 }
171 18 }
172
173 template <class Archive, typename BV>
174 18 void load(Archive &ar, coal::BVHModel<BV> &bvh_model_,
175 const unsigned int /*version*/) {
176 using namespace coal;
177 typedef internal::BVHModelAccessor<BV> Accessor;
178 typedef BVNode<BV> Node;
179
180 18 Accessor &bvh_model = reinterpret_cast<Accessor &>(bvh_model_);
181
182
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 18 ar >> make_nvp("base",
183
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 18 boost::serialization::base_object<BVHModelBase>(bvh_model));
184
185 // bool with_primitive_indices;
186 // ar >> make_nvp("with_primitive_indices",with_primitive_indices);
187 // if(with_primitive_indices)
188 // {
189 // int num_primitives;
190 // ar >> make_nvp("num_primitives",num_primitives);
191 //
192 // delete[] bvh_model.primitive_indices;
193 // if(num_primitives > 0)
194 // {
195 // bvh_model.primitive_indices = new unsigned int[num_primitives];
196 // ar &
197 // make_nvp("primitive_indices",make_array(bvh_model.primitive_indices,num_primitives));
198 // }
199 // else
200 // bvh_model.primitive_indices = NULL;
201 // }
202
203 bool with_bvs;
204
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 18 ar >> make_nvp("with_bvs", with_bvs);
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 18 if (with_bvs) {
206 unsigned int num_bvs;
207
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 18 ar >> make_nvp("num_bvs", num_bvs);
208
209
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 18 if (num_bvs != bvh_model.num_bvs) {
210 8 bvh_model.bvs.reset();
211 8 bvh_model.num_bvs = num_bvs;
212
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 8 if (num_bvs > 0)
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 8 bvh_model.bvs.reset(new
214 typename BVHModel<BV>::bv_node_vector_t(num_bvs));
215 }
216
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 18 if (num_bvs > 0) {
217
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 18 ar >> make_nvp("bvs",
218 18 make_array(reinterpret_cast<char *>(bvh_model.bvs->data()),
219 18 sizeof(Node) * (std::size_t)num_bvs));
220 } else
221 ✗ bvh_model.bvs.reset();
222 }
223 18 }
224
225 } // namespace serialization
226 } // namespace boost
227
228 namespace coal {
229
230 namespace internal {
231 template <typename BV>
232 struct memory_footprint_evaluator<::coal::BVHModel<BV>> {
233 3 static size_t run(const ::coal::BVHModel<BV> &bvh_model) {
234 3 return static_cast<size_t>(bvh_model.memUsage(false));
235 }
236 };
237 } // namespace internal
238
239 } // namespace coal
240
241 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::AABB>)
242 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::OBB>)
243 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::RSS>)
244 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::OBBRSS>)
245 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::kIOS>)
246 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::KDOP<16>>)
247 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::KDOP<18>>)
248 36 COAL_SERIALIZATION_DECLARE_EXPORT(::coal::BVHModel<::coal::KDOP<24>>)
249
250 #endif // ifndef COAL_SERIALIZATION_BVH_MODEL_H
251