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|---|---|---|---|
| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef COAL_SERIALIZATION_CONTACT_PATCH_H | ||
| 6 | #define COAL_SERIALIZATION_CONTACT_PATCH_H | ||
| 7 | |||
| 8 | #include "coal/collision_data.h" | ||
| 9 | #include "coal/serialization/fwd.h" | ||
| 10 | #include "coal/serialization/transform.h" | ||
| 11 | |||
| 12 | namespace boost { | ||
| 13 | namespace serialization { | ||
| 14 | |||
| 15 | template <class Archive> | ||
| 16 | 56 | void serialize(Archive& ar, coal::ContactPatch& contact_patch, | |
| 17 | const unsigned int /*version*/) { | ||
| 18 | using namespace coal; | ||
| 19 | typedef Eigen::Matrix<Scalar, 2, Eigen::Dynamic> PolygonPoints; | ||
| 20 | |||
| 21 | 56 | size_t patch_size = contact_patch.size(); | |
| 22 |
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56 | ar& make_nvp("patch_size", patch_size); |
| 23 |
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56 | if (patch_size > 0) { |
| 24 | if (Archive::is_loading::value) { | ||
| 25 |
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28 | contact_patch.points().resize(patch_size); |
| 26 | } | ||
| 27 |
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112 | Eigen::Map<PolygonPoints> points_map( |
| 28 | 56 | reinterpret_cast<Scalar*>(contact_patch.points().data()), 2, | |
| 29 | static_cast<Eigen::Index>(patch_size)); | ||
| 30 |
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56 | ar& make_nvp("points", points_map); |
| 31 | } | ||
| 32 | |||
| 33 |
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56 | ar& make_nvp("penetration_depth", contact_patch.penetration_depth); |
| 34 |
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56 | ar& make_nvp("direction", contact_patch.direction); |
| 35 |
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56 | ar& make_nvp("tf", contact_patch.tf); |
| 36 | 56 | } | |
| 37 | |||
| 38 | template <class Archive> | ||
| 39 | 28 | void serialize(Archive& ar, coal::ContactPatchRequest& request, | |
| 40 | const unsigned int /*version*/) { | ||
| 41 | using namespace coal; | ||
| 42 | |||
| 43 |
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28 | ar& make_nvp("max_num_patch", request.max_num_patch); |
| 44 | |||
| 45 | 28 | size_t num_samples_curved_shapes = request.getNumSamplesCurvedShapes(); | |
| 46 | 28 | Scalar patch_tolerance = request.getPatchTolerance(); | |
| 47 |
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28 | ar& make_nvp("num_samples_curved_shapes", num_samples_curved_shapes); |
| 48 |
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28 | ar& make_nvp("patch_tolerance", num_samples_curved_shapes); |
| 49 | |||
| 50 | if (Archive::is_loading::value) { | ||
| 51 | 14 | request.setNumSamplesCurvedShapes(num_samples_curved_shapes); | |
| 52 | 14 | request.setPatchTolerance(patch_tolerance); | |
| 53 | } | ||
| 54 | 28 | } | |
| 55 | |||
| 56 | template <class Archive> | ||
| 57 | 28 | void serialize(Archive& ar, coal::ContactPatchResult& result, | |
| 58 | const unsigned int /*version*/) { | ||
| 59 | using namespace coal; | ||
| 60 | |||
| 61 | 28 | size_t num_patches = result.numContactPatches(); | |
| 62 |
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28 | ar& make_nvp("num_patches", num_patches); |
| 63 | |||
| 64 | 28 | std::vector<ContactPatch> patches; | |
| 65 |
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28 | patches.resize(num_patches); |
| 66 | if (Archive::is_loading::value) { | ||
| 67 |
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14 | ar& make_nvp("patches", patches); |
| 68 | |||
| 69 |
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14 | const ContactPatchRequest request(num_patches); |
| 70 |
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14 | result.set(request); |
| 71 |
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28 | for (size_t i = 0; i < num_patches; ++i) { |
| 72 |
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14 | ContactPatch& patch = result.getUnusedContactPatch(); |
| 73 |
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14 | patch = patches[i]; |
| 74 | } | ||
| 75 | } else { | ||
| 76 | 14 | patches.clear(); | |
| 77 |
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28 | for (size_t i = 0; i < num_patches; ++i) { |
| 78 |
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14 | patches.emplace_back(result.getContactPatch(i)); |
| 79 | } | ||
| 80 |
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14 | ar& make_nvp("patches", patches); |
| 81 | } | ||
| 82 | 28 | } | |
| 83 | |||
| 84 | } // namespace serialization | ||
| 85 | } // namespace boost | ||
| 86 | |||
| 87 | #endif // COAL_SERIALIZATION_CONTACT_PATCH_H | ||
| 88 |