convex.h

Go to the documentation of this file.

//
// 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 {
struct ConvexBaseAccessor : coal::ConvexBase {
 typedef coal::ConvexBase Base;
};

} // namespace internal

template <class Archive>
void serialize(Archive& ar, coal::ConvexBase& 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<CoalScalar>(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<CoalScalar, 3, Eigen::Dynamic> MatrixPoints;
 if (convex_base.num_points > 0) {
 Eigen::Map<MatrixPoints> points_map(
 reinterpret_cast<CoalScalar*>(convex_base.points->data()), 3,
 convex_base.num_points);
 ar& make_nvp("points", points_map);
 }

 typedef Eigen::Matrix<CoalScalar, 1, Eigen::Dynamic> VecOfReals;
 if (convex_base.num_normals_and_offsets > 0) {
 Eigen::Map<MatrixPoints> normals_map(
 reinterpret_cast<CoalScalar*>(convex_base.normals->data()), 3,
 convex_base.num_normals_and_offsets);
 ar& make_nvp("normals", normals_map);

 Eigen::Map<VecOfReals> offsets_map(
 reinterpret_cast<CoalScalar*>(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<CoalScalar*>(
 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::Convex<PolygonT> {
 typedef coal::Convex<PolygonT> Base;
 using Base::fillNeighbors;
};

} // namespace internal

template <class Archive, typename PolygonT>
void serialize(Archive& ar, coal::Convex<PolygonT>& convex_,
 const unsigned int /*version*/) {
 using namespace coal;
 typedef internal::ConvexAccessor<PolygonT> Accessor;

 Accessor& convex = reinterpret_cast<Accessor&>(convex_);
 ar& make_nvp("base", boost::serialization::base_object<ConvexBase>(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::Convex<coal::Triangle>)
COAL_SERIALIZATION_DECLARE_EXPORT(coal::Convex<coal::Quadrilateral>)

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