bullet_collision_shape_cache.h

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#ifndef TESSERACT_COLLISION_BULLET_COLLISION_SHAPE_CACHE_H
#define TESSERACT_COLLISION_BULLET_COLLISION_SHAPE_CACHE_H
 
#include <map>
#include <memory>
#include <vector>
#include <mutex>
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
#include <boost/uuid/uuid.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/fwd.h>
 
namespace tesseract_collision::tesseract_collision_bullet
{
struct BulletCollisionShape
{
  BulletCollisionShape() = default;
  BulletCollisionShape(std::shared_ptr<btCollisionShape> top_level_);
 
  std::shared_ptr<btCollisionShape> top_level;
  std::vector<std::shared_ptr<btCollisionShape>> children;
};
 
class BulletCollisionShapeCache
{
public:
  static void insert(const std::shared_ptr<const tesseract_geometry::Geometry>& key,
                     const std::shared_ptr<BulletCollisionShape>& value);
 
  static std::shared_ptr<BulletCollisionShape> get(const std::shared_ptr<const tesseract_geometry::Geometry>& key);
 
  static void prune();
 
private:
  static std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> cache_;  // NOLINT
  static std::mutex mutex_;  // NOLINT
};
}  // namespace tesseract_collision::tesseract_collision_bullet
 
#endif  // TESSERACT_COLLISION_BULLET_COLLISION_SHAPE_CACHE_H