add backward compatibility for RaveOrientedBox deserialization

[eisoku9618]

In the past, RaveOrientedBox was serialized with halfExtents / pose keywords.

[rdiankov]

I just noticed this. If possible, let's serialize to halfExtents, that is more standard

[cielavenir]

@eisoku9618 that scene was ok to load.

[cielavenir]

@eisoku9618 sorry, this pull request is blocking testplanningcommon. Please talk with @yoshikikanemoto (and @kanbouchou) for serialization format.

[yoshikikanemoto]

@rdiankov there was old scenes that use "pose" and "halfExtents" instead of "transform" and "extents". this change is just to support loading those old scenes.

[cielavenir]

@yoshikikanemoto so we will use "transform" and "extents" as default. Thank you for clarification.

[eisoku9618]

If possible, let's serialize to halfExtents, that is more standard

Since many code use extents e.g. RaveOrientedBox / RaveAxisAlignedBox / PyOrientedBox / PyAABB so it takes some time to change all of them to halfExtents... :cry:

[cielavenir]

I agree that the C++ variable name and the serialization key should be the same.

[rdiankov]

Geometry already serializes to "halfExtents", so let's be consistent with the serialization, even if the variable names are not:

    case GT_Box:
        orjson::SetJsonValueByKey(rGeometryInfo, "halfExtents", _vGeomData*fUnitScale, allocator);
        break;

[eisoku9618]

@rdiankov @cielavenir Sure, I changed to be consistent with the serialization at least.

Here is the situation with this MR.

• FROM RaveOrientedBox / GeometryInfo TO rapidjson::Value: all the codes use halfExtents as a key
• FROM rapidjson::Value TO RaveOrientedBox / GeometryInfo: all the codes use halfExtents as a key
  • extents can be accepted to RaveOrientedBox as backward compatibility
• FROM PyOrientedBox / PyAABB TO python dict: all the codes use extents as a key
• variable names in OpenRAVE: all the codes use extents

[eisoku9618]

test failed. checking.

[eisoku9618]

@rdiankov Could you review this MR again? We also need to merge one internal repository together with this change.

Pipeline #579242

[rdiankov]

thanks~