CollisionShapeCache.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  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