LidarRayPatternGenerator.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/RaytraceSystemNodeProxy.h>
 
#include <agx/agx_vector_types.h>
 
#include <agxStream/InputArchive.h>
#include <agxStream/OutputArchive.h>
 
#include <memory>
 
#ifdef _MSC_VER
  #pragma warning(push)
  #pragma warning(disable : 4251)  // Disable warnings about members needing dll interface.
#endif
 
namespace agxSensor
{
  struct LidarRayPatternStorage;
  struct LidarRayPatternInterval;
  struct RtNode;
 
  AGX_DECLARE_POINTER_TYPES(LidarRayPatternGenerator);
 
  class AGXSENSOR_EXPORT LidarRayPatternGenerator : public IRtSystemNode
  {
    public:
      LidarRayPatternGenerator();
 
      void setRayTransforms(const agx::AffineMatrix4x4Vector& rayTransforms);
 
      void applyTransform(const agx::AffineMatrix4x4& rhs);
 
    public:
      virtual ~LidarRayPatternGenerator() = default;
 
      virtual LidarRayPatternInterval getNextInterval(agx::Real dt) = 0;
 
      virtual size_t getNumRays() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual RtNode* createNode() override;
      virtual void synchronize(RtSystemNodeProxy& node, const CallbackData& data) override;
 
      virtual void store(agxStream::OutputArchive& out) const override;
      virtual void restore(agxStream::InputArchive& in) override;
 
      void store(agxStream::OutputArchive& out, bool storeTransforms) const;
      void restore(agxStream::InputArchive& in, bool restoreTransforms);
 
    protected:
      template <typename ContainerT>
      static void writeTransforms(agxStream::OutputArchive& out, const ContainerT& container);
 
      template <typename ContainerT>
      static void readTransforms(agxStream::InputArchive& in, ContainerT& container);
 
    protected:
      LidarRayPatternStorage* getStorage();
      const LidarRayPatternStorage* getStorage() const;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      void updateRayTransforms(RtNode* node, agx::Real dt);
 
    private:
      std::shared_ptr<LidarRayPatternStorage> m_storage;
  };
 
  template <typename ContainerT>
  void LidarRayPatternGenerator::writeTransforms(agxStream::OutputArchive& out, const ContainerT& container)
  {
    const size_t numRayTransforms = container.size();
    out << agxStream::out("numRayTransforms", numRayTransforms);
 
    out.beginSection("rayTransforms");
    out.write(container.data(), sizeof(typename ContainerT::value_type) * numRayTransforms);
    out.endSection("rayTransforms");
  }
 
  template <typename ContainerT>
  void LidarRayPatternGenerator::readTransforms(agxStream::InputArchive& in, ContainerT& container)
  {
    size_t numRayTransforms = 0u;
    in >> agxStream::in("numRayTransforms", numRayTransforms);
 
    container.resize(numRayTransforms);
    in.beginSection("rayTransforms");
    in.read(container.data(), sizeof(typename ContainerT::value_type) * numRayTransforms);
    in.endSection("rayTransforms");
  }
 
 
  struct AGXSENSOR_EXPORT LidarRayPatternInterval
  {
      LidarRayPatternInterval() = default;
 
      LidarRayPatternInterval(agx::Int32 first, agx::Int32 numRays)
        : first(first)
        , numRays(numRays)
      {
      }
 
      agx::Int32 first {0};
      agx::Int32 numRays {0};
  };
}
 
#ifdef _MSC_VER
  #pragma warning(pop)
#endif