CollisionShapeCache.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mrpt/opengl/CRenderizable.h>
#include <mvsim/Shape2p5.h>
 
#include <map>
#include <optional>
#include <string>
 
namespace mvsim
{
class CollisionShapeCache
{
   public:
        static CollisionShapeCache& Instance();
 
        Shape2p5 get(
                mrpt::opengl::CRenderizable& obj, float zMin, float zMax,
                const mrpt::poses::CPose3D& modelPose, const float modelScale,
                const std::optional<std::string>& modelFile = std::nullopt);
 
        void clear() { cache.clear(); }
 
   private:
        CollisionShapeCache() = default;
        ~CollisionShapeCache() = default;
 
        struct Entry
        {
                Shape2p5 shape;
        };
 
        std::map<std::string, Entry> cache;
 
        std::optional<Shape2p5> processSimpleGeometries(
                const mrpt::opengl::CRenderizable& obj, float zMin, float zMax,
                const mrpt::poses::CPose3D& modelPose, const float modelScale);
 
        Shape2p5 processGenericGeometry(
                mrpt::opengl::CRenderizable& obj, float zMin, float zMax,
                const mrpt::poses::CPose3D& modelPose, const float modelScale);
 
        Shape2p5 processCylinderLike(
                const size_t actualEdgeCount, double actualRadius, float zMin, float zMax,
                const mrpt::poses::CPose3D& modelPose, const float modelScale);
};
 
}  // namespace mvsim