tesseract_collision_configuration.h

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#ifndef TESSERACT_COLLISION_TESSERACT_COLLISION_CONFIGURATION_H
#define TESSERACT_COLLISION_TESSERACT_COLLISION_CONFIGURATION_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_collision::tesseract_collision_bullet
{
struct TesseractCollisionConfigurationInfo : public btDefaultCollisionConstructionInfo
{
  TesseractCollisionConfigurationInfo(bool create_pool_allocators = true, bool share_pool_allocators = false);
 
  void createPoolAllocators();
 
  TesseractCollisionConfigurationInfo clone() const;
 
protected:
  bool share_pool_allocators_{ false };
  std::shared_ptr<btPoolAllocator> persistent_manifold_pool_;
  std::shared_ptr<btPoolAllocator> collision_algorithm_pool_;
};
 
class TesseractCollisionConfiguration : public btDefaultCollisionConfiguration
{
public:
  TesseractCollisionConfiguration(
      const TesseractCollisionConfigurationInfo& config_info = TesseractCollisionConfigurationInfo());
};
}  // namespace tesseract_collision::tesseract_collision_bullet
#endif  // TESSERACT_COLLISION_TESSERACT_COLLISION_CONFIGURATION_H