convex.h

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//
// Copyright (c) 2022-2024 INRIA
//
 
#ifndef COAL_SERIALIZATION_CONVEX_H
#define COAL_SERIALIZATION_CONVEX_H
 
#include "coal/shape/convex.h"
 
#include "coal/serialization/fwd.h"
#include "coal/serialization/geometric_shapes.h"
#include "coal/serialization/memory.h"
#include "coal/serialization/triangle.h"
#include "coal/serialization/quadrilateral.h"
 
namespace boost {
namespace serialization {
 
namespace internal {
template <typename IndexType>
struct ConvexBaseAccessor : coal::ConvexBaseTpl<IndexType> {
  typedef coal::ConvexBaseTpl<IndexType> Base;
};
 
}  // namespace internal
 
template <class Archive, typename IndexType>
void serialize(Archive& ar, coal::ConvexBaseTpl<IndexType>& convex_base,
               const unsigned int /*version*/) {
  using namespace coal;
 
  ar& make_nvp("base",
               boost::serialization::base_object<coal::ShapeBase>(convex_base));
 
  const unsigned int num_points_previous = convex_base.num_points;
  ar& make_nvp("num_points", convex_base.num_points);
 
  const unsigned int num_normals_and_offsets_previous =
      convex_base.num_normals_and_offsets;
  ar& make_nvp("num_normals_and_offsets", convex_base.num_normals_and_offsets);
 
  const int num_warm_start_supports_previous =
      static_cast<int>(convex_base.support_warm_starts.points.size());
  assert(num_warm_start_supports_previous ==
         static_cast<int>(convex_base.support_warm_starts.indices.size()));
  int num_warm_start_supports = num_warm_start_supports_previous;
  ar& make_nvp("num_warm_start_supports", num_warm_start_supports);
 
  if (Archive::is_loading::value) {
    if (num_points_previous != convex_base.num_points) {
      convex_base.points.reset();
      if (convex_base.num_points > 0)
        convex_base.points.reset(
            new std::vector<Vec3s>(convex_base.num_points));
    }
 
    if (num_normals_and_offsets_previous !=
        convex_base.num_normals_and_offsets) {
      convex_base.normals.reset();
      convex_base.offsets.reset();
      if (convex_base.num_normals_and_offsets > 0) {
        convex_base.normals.reset(
            new std::vector<Vec3s>(convex_base.num_normals_and_offsets));
        convex_base.offsets.reset(
            new std::vector<Scalar>(convex_base.num_normals_and_offsets));
      }
    }
 
    if (num_warm_start_supports_previous != num_warm_start_supports) {
      convex_base.support_warm_starts.points.resize(
          static_cast<size_t>(num_warm_start_supports));
      convex_base.support_warm_starts.indices.resize(
          static_cast<size_t>(num_warm_start_supports));
    }
  }
 
  typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> MatrixPoints;
  if (convex_base.num_points > 0) {
    Eigen::Map<MatrixPoints> points_map(
        reinterpret_cast<Scalar*>(convex_base.points->data()), 3,
        convex_base.num_points);
    ar& make_nvp("points", points_map);
  }
 
  typedef Eigen::Matrix<Scalar, 1, Eigen::Dynamic> VecOfReals;
  if (convex_base.num_normals_and_offsets > 0) {
    Eigen::Map<MatrixPoints> normals_map(
        reinterpret_cast<Scalar*>(convex_base.normals->data()), 3,
        convex_base.num_normals_and_offsets);
    ar& make_nvp("normals", normals_map);
 
    Eigen::Map<VecOfReals> offsets_map(
        reinterpret_cast<Scalar*>(convex_base.offsets->data()), 1,
        convex_base.num_normals_and_offsets);
    ar& make_nvp("offsets", offsets_map);
  }
 
  typedef Eigen::Matrix<int, 1, Eigen::Dynamic> VecOfInts;
  if (num_warm_start_supports > 0) {
    Eigen::Map<MatrixPoints> warm_start_support_points_map(
        reinterpret_cast<Scalar*>(
            convex_base.support_warm_starts.points.data()),
        3, num_warm_start_supports);
    ar& make_nvp("warm_start_support_points", warm_start_support_points_map);
 
    Eigen::Map<VecOfInts> warm_start_support_indices_map(
        reinterpret_cast<int*>(convex_base.support_warm_starts.indices.data()),
        1, num_warm_start_supports);
    ar& make_nvp("warm_start_support_indices", warm_start_support_indices_map);
  }
 
  ar& make_nvp("center", convex_base.center);
  // We don't save neighbors as they will be computed directly by calling
  // fillNeighbors.
}
 
namespace internal {
template <typename PolygonT>
struct ConvexAccessor : coal::ConvexTpl<PolygonT> {
  typedef coal::ConvexTpl<PolygonT> Base;
  using Base::fillNeighbors;
};
 
}  // namespace internal
 
template <class Archive, typename PolygonT>
void serialize(Archive& ar, coal::ConvexTpl<PolygonT>& convex_,
               const unsigned int /*version*/) {
  using namespace coal;
  typedef internal::ConvexAccessor<PolygonT> Accessor;
  typedef ConvexBaseTpl<typename PolygonT::IndexType> Base;
 
  Accessor& convex = reinterpret_cast<Accessor&>(convex_);
  ar& make_nvp("base", boost::serialization::base_object<Base>(convex_));
 
  const unsigned int num_polygons_previous = convex.num_polygons;
  ar& make_nvp("num_polygons", convex.num_polygons);
 
  if (Archive::is_loading::value) {
    if (num_polygons_previous != convex.num_polygons) {
      convex.polygons.reset(new std::vector<PolygonT>(convex.num_polygons));
    }
  }
 
  ar& make_array<PolygonT>(convex.polygons->data(), convex.num_polygons);
 
  if (Archive::is_loading::value) convex.fillNeighbors();
}
 
}  // namespace serialization
}  // namespace boost
 
COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Triangle16>)
COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Triangle32>)
COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Quadrilateral16>)
COAL_SERIALIZATION_DECLARE_EXPORT(coal::ConvexTpl<coal::Quadrilateral32>)
 
namespace coal {
 
// namespace internal {
// template <typename BV>
// struct memory_footprint_evaluator< ::coal::BVHModel<BV> > {
//   static size_t run(const ::coal::BVHModel<BV> &bvh_model) {
//     return static_cast<size_t>(bvh_model.memUsage(false));
//   }
// };
// }  // namespace internal
 
}  // namespace coal
 
#endif  // ifndef COAL_SERIALIZATION_CONVEX_H