ContactPoint.h

/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material without having a written signed agreement with Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef MOMENTUM_CONTACTPOINT_H
#define MOMENTUM_CONTACTPOINT_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "macros.h"
#include "Vec3.h"
 
#include <string>
#include <vector>
 
#ifndef SWIG
namespace agxCollide
{
  class GeometryContact;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
 
  class RigidBody;
  class MaterialPair;
  class ContactPoint;
  class Joint;
  V1_DECLARE_CONTAINER_TYPE(ContactPoint);
 
  class MOMENTUM_EXPORT ContactPoint
  {
  public:
#ifndef SWIG
 
    ContactPoint(agxCollide::GeometryContact* contact, size_t index);
 
    ContactPoint();
 
    ContactPoint(const ContactPoint& copy);
#endif
 
    std::shared_ptr<RigidBody> getBody1() const;
    std::shared_ptr<RigidBody> getBody2() const;
 
    std::shared_ptr<MaterialPair> getContactMaterial() const;
 
    Vec3 getForce() const;
 
    Vec3 getNormalForce() const;
 
    Vec3 getFrictionForce() const;
 
    Vec3 getPoint() const;
 
    double getDepth() const;
 
    std::string __str__() const;
 
 
  private:
#ifndef SWIG
    agxCollide::GeometryContact* m_contact;
    size_t m_index;
#endif
  public:
    static Vec3 calculateSumForce(const std::vector<std::shared_ptr<ContactPoint> >& points);
 
    static Vec3 calculateSumNormalForce(const std::vector<std::shared_ptr<ContactPoint> >& points);
 
    static Vec3 calculateSumFrictionForce(const std::vector<std::shared_ptr<ContactPoint> >& points);
  };
 
#ifdef SWIG
  V1_DECLARE_CONTAINER_TYPE(ContactPoint);
#endif
 
 
} // namespace momentum
 
 
#endif