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|---|---|---|---|
| 1 | // | ||
| 2 | // Copyright (c) 2022-2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef COAL_SERIALIZATION_CONVEX_H | ||
| 6 | #define COAL_SERIALIZATION_CONVEX_H | ||
| 7 | |||
| 8 | #include "coal/shape/convex.h" | ||
| 9 | |||
| 10 | #include "coal/serialization/fwd.h" | ||
| 11 | #include "coal/serialization/geometric_shapes.h" | ||
| 12 | #include "coal/serialization/memory.h" | ||
| 13 | #include "coal/serialization/triangle.h" | ||
| 14 | #include "coal/serialization/quadrilateral.h" | ||
| 15 | |||
| 16 | namespace boost { | ||
| 17 | namespace serialization { | ||
| 18 | |||
| 19 | namespace internal { | ||
| 20 | template <typename IndexType> | ||
| 21 | struct ConvexBaseAccessor : coal::ConvexBaseTpl<IndexType> { | ||
| 22 | typedef coal::ConvexBaseTpl<IndexType> Base; | ||
| 23 | }; | ||
| 24 | |||
| 25 | } // namespace internal | ||
| 26 | |||
| 27 | template <class Archive, typename IndexType> | ||
| 28 | 4 | void serialize(Archive& ar, coal::ConvexBaseTpl<IndexType>& convex_base, | |
| 29 | const unsigned int /*version*/) { | ||
| 30 | using namespace coal; | ||
| 31 | |||
| 32 |
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4 | ar& make_nvp("base", |
| 33 |
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4 | boost::serialization::base_object<coal::ShapeBase>(convex_base)); |
| 34 | |||
| 35 | 4 | const unsigned int num_points_previous = convex_base.num_points; | |
| 36 |
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4 | ar& make_nvp("num_points", convex_base.num_points); |
| 37 | |||
| 38 | 4 | const unsigned int num_normals_and_offsets_previous = | |
| 39 | convex_base.num_normals_and_offsets; | ||
| 40 |
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4 | ar& make_nvp("num_normals_and_offsets", convex_base.num_normals_and_offsets); |
| 41 | |||
| 42 | 4 | const int num_warm_start_supports_previous = | |
| 43 | 4 | static_cast<int>(convex_base.support_warm_starts.points.size()); | |
| 44 |
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4 | assert(num_warm_start_supports_previous == |
| 45 | static_cast<int>(convex_base.support_warm_starts.indices.size())); | ||
| 46 | 4 | int num_warm_start_supports = num_warm_start_supports_previous; | |
| 47 |
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4 | ar& make_nvp("num_warm_start_supports", num_warm_start_supports); |
| 48 | |||
| 49 | if (Archive::is_loading::value) { | ||
| 50 |
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2 | if (num_points_previous != convex_base.num_points) { |
| 51 | 2 | convex_base.points.reset(); | |
| 52 |
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2 | if (convex_base.num_points > 0) |
| 53 |
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2 | convex_base.points.reset( |
| 54 |
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6 | new std::vector<Vec3s>(convex_base.num_points)); |
| 55 | } | ||
| 56 | |||
| 57 | 2 | if (num_normals_and_offsets_previous != | |
| 58 |
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2 | convex_base.num_normals_and_offsets) { |
| 59 | ✗ | convex_base.normals.reset(); | |
| 60 | ✗ | convex_base.offsets.reset(); | |
| 61 | ✗ | if (convex_base.num_normals_and_offsets > 0) { | |
| 62 | ✗ | convex_base.normals.reset( | |
| 63 | ✗ | new std::vector<Vec3s>(convex_base.num_normals_and_offsets)); | |
| 64 | ✗ | convex_base.offsets.reset( | |
| 65 | ✗ | new std::vector<Scalar>(convex_base.num_normals_and_offsets)); | |
| 66 | } | ||
| 67 | } | ||
| 68 | |||
| 69 |
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2 | if (num_warm_start_supports_previous != num_warm_start_supports) { |
| 70 | ✗ | convex_base.support_warm_starts.points.resize( | |
| 71 | static_cast<size_t>(num_warm_start_supports)); | ||
| 72 | ✗ | convex_base.support_warm_starts.indices.resize( | |
| 73 | static_cast<size_t>(num_warm_start_supports)); | ||
| 74 | } | ||
| 75 | } | ||
| 76 | |||
| 77 | typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> MatrixPoints; | ||
| 78 |
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4 | if (convex_base.num_points > 0) { |
| 79 |
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8 | Eigen::Map<MatrixPoints> points_map( |
| 80 | 4 | reinterpret_cast<Scalar*>(convex_base.points->data()), 3, | |
| 81 | 4 | convex_base.num_points); | |
| 82 |
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4 | ar& make_nvp("points", points_map); |
| 83 | } | ||
| 84 | |||
| 85 | typedef Eigen::Matrix<Scalar, 1, Eigen::Dynamic> VecOfReals; | ||
| 86 |
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4 | if (convex_base.num_normals_and_offsets > 0) { |
| 87 | ✗ | Eigen::Map<MatrixPoints> normals_map( | |
| 88 | ✗ | reinterpret_cast<Scalar*>(convex_base.normals->data()), 3, | |
| 89 | ✗ | convex_base.num_normals_and_offsets); | |
| 90 | ✗ | ar& make_nvp("normals", normals_map); | |
| 91 | |||
| 92 | ✗ | Eigen::Map<VecOfReals> offsets_map( | |
| 93 | ✗ | reinterpret_cast<Scalar*>(convex_base.offsets->data()), 1, | |
| 94 | ✗ | convex_base.num_normals_and_offsets); | |
| 95 | ✗ | ar& make_nvp("offsets", offsets_map); | |
| 96 | } | ||
| 97 | |||
| 98 | typedef Eigen::Matrix<int, 1, Eigen::Dynamic> VecOfInts; | ||
| 99 |
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4 | if (num_warm_start_supports > 0) { |
| 100 | ✗ | Eigen::Map<MatrixPoints> warm_start_support_points_map( | |
| 101 | reinterpret_cast<Scalar*>( | ||
| 102 | ✗ | convex_base.support_warm_starts.points.data()), | |
| 103 | 3, num_warm_start_supports); | ||
| 104 | ✗ | ar& make_nvp("warm_start_support_points", warm_start_support_points_map); | |
| 105 | |||
| 106 | ✗ | Eigen::Map<VecOfInts> warm_start_support_indices_map( | |
| 107 | ✗ | reinterpret_cast<int*>(convex_base.support_warm_starts.indices.data()), | |
| 108 | 1, num_warm_start_supports); | ||
| 109 | ✗ | ar& make_nvp("warm_start_support_indices", warm_start_support_indices_map); | |
| 110 | } | ||
| 111 | |||
| 112 |
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4 | ar& make_nvp("center", convex_base.center); |
| 113 | // We don't save neighbors as they will be computed directly by calling | ||
| 114 | // fillNeighbors. | ||
| 115 | 4 | } | |
| 116 | |||
| 117 | namespace internal { | ||
| 118 | template <typename PolygonT> | ||
| 119 | struct ConvexAccessor : coal::ConvexTpl<PolygonT> { | ||
| 120 | typedef coal::ConvexTpl<PolygonT> Base; | ||
| 121 | using Base::fillNeighbors; | ||
| 122 | }; | ||
| 123 | |||
| 124 | } // namespace internal | ||
| 125 | |||
| 126 | template <class Archive, typename PolygonT> | ||
| 127 | 4 | void serialize(Archive& ar, coal::ConvexTpl<PolygonT>& convex_, | |
| 128 | const unsigned int /*version*/) { | ||
| 129 | using namespace coal; | ||
| 130 | typedef internal::ConvexAccessor<PolygonT> Accessor; | ||
| 131 | typedef ConvexBaseTpl<typename PolygonT::IndexType> Base; | ||
| 132 | |||
| 133 | 4 | Accessor& convex = reinterpret_cast<Accessor&>(convex_); | |
| 134 |
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4 | ar& make_nvp("base", boost::serialization::base_object<Base>(convex_)); |
| 135 | |||
| 136 | 4 | const unsigned int num_polygons_previous = convex.num_polygons; | |
| 137 |
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4 | ar& make_nvp("num_polygons", convex.num_polygons); |
| 138 | |||
| 139 | if (Archive::is_loading::value) { | ||
| 140 |
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2 | if (num_polygons_previous != convex.num_polygons) { |
| 141 |
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6 | convex.polygons.reset(new std::vector<PolygonT>(convex.num_polygons)); |
| 142 | } | ||
| 143 | } | ||
| 144 | |||
| 145 |
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4 | ar& make_array<PolygonT>(convex.polygons->data(), convex.num_polygons); |
| 146 | |||
| 147 | 2 | if (Archive::is_loading::value) convex.fillNeighbors(); | |
| 148 | 4 | } | |
| 149 | |||
| 150 | } // namespace serialization | ||
| 151 | } // namespace boost | ||
| 152 | |||
| 153 | 36 | COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Triangle16>) | |
| 154 | 36 | COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Triangle32>) | |
| 155 | 36 | COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Quadrilateral16>) | |
| 156 | 36 | COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Quadrilateral32>) | |
| 157 | |||
| 158 | namespace coal { | ||
| 159 | |||
| 160 | // namespace internal { | ||
| 161 | // template <typename BV> | ||
| 162 | // struct memory_footprint_evaluator< ::coal::BVHModel<BV> > { | ||
| 163 | // static size_t run(const ::coal::BVHModel<BV> &bvh_model) { | ||
| 164 | // return static_cast<size_t>(bvh_model.memUsage(false)); | ||
| 165 | // } | ||
| 166 | // }; | ||
| 167 | // } // namespace internal | ||
| 168 | |||
| 169 | } // namespace coal | ||
| 170 | |||
| 171 | #endif // ifndef COAL_SERIALIZATION_CONVEX_H | ||
| 172 |