lots of changes, serialization is done better, grid is defined better, etc.

util/grid/g3_serialization.hpp

@@ -0,0 +1,98 @@
+#ifndef GRID3_Serialization
+#define GRID3_Serialization
+
+#include <fstream>
+#include <cstring>
+#include "grid3.hpp"
+
+constexpr char magic[4] = {'Y', 'G', 'G', '3'};
+
+inline bool VoxelGrid::serializeToFile(const std::string& filename) {
+    std::ofstream file(filename, std::ios::binary);
+    if (!file.is_open()) {
+        std::cerr << "failed to open file (serializeToFile): " << filename << std::endl;
+        return false;
+    }
+
+    file.write(magic, 4);
+    int dims[3] = {gridSize.x, gridSize.y, gridSize.z};
+    file.write(reinterpret_cast<const char*>(dims), sizeof(dims));
+    size_t voxelCount = voxels.size();
+    for (const Voxel& voxel : voxels) {
+        auto write_member = [&file](const auto& member) {
+            file.write(reinterpret_cast<const char*>(&member), sizeof(member));
+        };
+        
+        std::apply([&write_member](const auto&... members) {
+            (write_member(members), ...);
+        }, voxel.members());
+    }
+
+    file.close();
+    return !file.fail();
+}
+
+std::unique_ptr<VoxelGrid> VoxelGrid::deserializeFromFile(const std::string& filename) {
+    std::ifstream file(filename, std::ios::binary);
+    if (!file.is_open()) {
+        std::cerr << "failed to open file (deserializeFromFile): " << filename << std::endl;
+        return nullptr;
+    }
+    
+    // Read and verify magic number
+    char filemagic[4];
+    file.read(filemagic, 4);
+    if (std::strncmp(filemagic, magic, 4) != 0) {
+        std::cerr << "Error: Invalid file format or corrupted file (expected " 
+                  << magic[0] << magic[1] << magic[2] << magic[3]
+                  << ", got " << filemagic[0] << filemagic[1] << filemagic[2] << filemagic[3]
+                  << ")" << std::endl;
+        return nullptr;
+    }
+    
+    // Create output grid
+    auto outgrid = std::make_unique<VoxelGrid>();
+    
+    // Read grid dimensions
+    int dims[3];
+    file.read(reinterpret_cast<char*>(dims), sizeof(dims));
+    
+    // Resize grid
+    outgrid->gridSize = Vec3i(dims[0], dims[1], dims[2]);
+    outgrid->voxels.resize(dims[0] * dims[1] * dims[2]);
+    
+    // Read voxel count
+    size_t voxelCount;
+    file.read(reinterpret_cast<char*>(&voxelCount), sizeof(voxelCount));
+    
+    // Verify voxel count matches grid dimensions
+    size_t expectedCount = static_cast<size_t>(dims[0]) * dims[1] * dims[2];
+    if (voxelCount != expectedCount) {
+        std::cerr << "Error: Voxel count mismatch. Expected " << expectedCount 
+                 << ", found " << voxelCount << std::endl;
+        return nullptr;
+    }
+    
+    // Read all voxels
+    for (size_t i = 0; i < voxelCount; ++i) {
+        auto members = outgrid->voxels[i].members();
+        
+        std::apply([&file](auto&... member) {
+            ((file.read(reinterpret_cast<char*>(&member), sizeof(member))), ...);
+        }, members);
+    }
+    
+    file.close();
+    
+    if (file.fail() && !file.eof()) {
+        std::cerr << "Error: Failed to read from file: " << filename << std::endl;
+        return nullptr;
+    }
+    
+    std::cout << "Successfully loaded grid: " << dims[0] << " x " 
+              << dims[1] << " x " << dims[2] << std::endl;
+    
+    return outgrid;
+}
+
+#endif