solid_sync_collider.h

#pragma once
 
#include <mutex>
#include "solid_collider.h"
 
 
namespace bmpf {
    class SolidSyncCollider : public Collider {
    public:
 
        const static int MAX_MUTES_CNT = 60;
 
        explicit SolidSyncCollider(unsigned int mutexCnt);
 
        void init(std::vector<std::vector<std::string>> groupedModelPaths, bool subColliders) override;
 
        void paint(std::vector<Eigen::Matrix4d> matrices, bool onlyRobot) override {
            _colliders.front()->paint(matrices, onlyRobot);
        }
 
        bool isCollided(std::vector<Eigen::Matrix4d> matrices) override;
 
        std::vector<float> getPoints(std::vector<Eigen::Matrix4d> matrices) override {
            return _colliders.front()->getPoints(matrices);
        }
 
        std::vector<double> getBoxCoords(unsigned long robotNum, std::vector<Eigen::Matrix4d> matrices) override {
            return _colliders.front()->getBoxCoords(robotNum, matrices);
        }
 
        std::vector<double> getBoxPoints(unsigned long robotNum, std::vector<Eigen::Matrix4d> matrices) override {
            return _colliders.front()->getBoxPoints(robotNum, matrices);
        }
 
 
        bool isCollided(std::vector<Eigen::Matrix4d> matrices, std::vector<int> robotIndexes) override;
 
    private:
        // кол-во мьютексов
        unsigned int _mutexCnt{};
        // список коллайдеров
        std::vector<std::shared_ptr<SolidCollider>> _colliders;
        // массив мьютексов
        std::mutex _colliderMutexes[MAX_MUTES_CNT];
 
    };
 
}