bullet_factories.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <yaml-cpp/yaml.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/bullet/bullet_factories.h>
#include <tesseract_collision/bullet/bullet_cast_bvh_manager.h>
#include <tesseract_collision/bullet/bullet_cast_simple_manager.h>
#include <tesseract_collision/bullet/bullet_discrete_bvh_manager.h>
#include <tesseract_collision/bullet/bullet_discrete_simple_manager.h>
#include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/continuous_contact_manager.h>
 
namespace tesseract_collision::tesseract_collision_bullet
{
TesseractCollisionConfigurationInfo getConfigInfo(const YAML::Node& config)
{
  if (config.IsNull())
    return {};
 
  bool share_pool_allocators{ false };
  if (YAML::Node n = config["share_pool_allocators"])
    share_pool_allocators = n.as<bool>();
 
  TesseractCollisionConfigurationInfo config_info(false, share_pool_allocators);
 
  if (YAML::Node n = config["max_persistent_manifold_pool_size"])
    config_info.m_defaultMaxPersistentManifoldPoolSize = n.as<int>();
 
  if (YAML::Node n = config["max_collision_algorithm_pool_size"])
    config_info.m_defaultMaxCollisionAlgorithmPoolSize = n.as<int>();
 
  config_info.createPoolAllocators();
  return config_info;
}
 
std::unique_ptr<tesseract_collision::DiscreteContactManager>
BulletDiscreteBVHManagerFactory::create(const std::string& name, const YAML::Node& config) const
{
  return std::make_unique<BulletDiscreteBVHManager>(name, getConfigInfo(config));
}
 
std::unique_ptr<DiscreteContactManager> BulletDiscreteSimpleManagerFactory::create(const std::string& name,
                                                                                   const YAML::Node& config) const
{
  return std::make_unique<BulletDiscreteSimpleManager>(name, getConfigInfo(config));
}
 
std::unique_ptr<ContinuousContactManager> BulletCastBVHManagerFactory::create(const std::string& name,
                                                                              const YAML::Node& config) const
{
  return std::make_unique<BulletCastBVHManager>(name, getConfigInfo(config));
}
 
std::unique_ptr<ContinuousContactManager> BulletCastSimpleManagerFactory::create(const std::string& name,
                                                                                 const YAML::Node& config) const
{
  return std::make_unique<BulletCastSimpleManager>(name, getConfigInfo(config));
}
 
PLUGIN_ANCHOR_IMPL(BulletFactoriesAnchor)
 
}  // namespace tesseract_collision::tesseract_collision_bullet
 
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
TESSERACT_ADD_DISCRETE_MANAGER_PLUGIN(tesseract_collision::tesseract_collision_bullet::BulletDiscreteBVHManagerFactory,
                                      BulletDiscreteBVHManagerFactory);
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
TESSERACT_ADD_DISCRETE_MANAGER_PLUGIN(
    tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManagerFactory,
    BulletDiscreteSimpleManagerFactory);
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
TESSERACT_ADD_CONTINUOUS_MANAGER_PLUGIN(tesseract_collision::tesseract_collision_bullet::BulletCastBVHManagerFactory,
                                        BulletCastBVHManagerFactory);
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
TESSERACT_ADD_CONTINUOUS_MANAGER_PLUGIN(tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManagerFactory,
                                        BulletCastSimpleManagerFactory);