GranularBody.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_GRANULARBODY_H
#define MOMENTUM_GRANULARBODY_H
 
#include "momentum_namespace.h"
#include "momentum_export.h"
 
#include <memory>
 
#include "Vec3.h"
#include "EulerAngles.h"
 
#include <agx/Physics/GranularBodyEntity.h>
 
namespace MOMENTUM_NAMESPACE
{
  class Material;
 
  class MOMENTUM_EXPORT GranularBody
  {
  public:
      enum MotionControl
    {
      KINEMATICS = 2, 
      DYNAMICS = 3  
    };
  public:
#ifndef SWIG
    GranularBody(agx::Physics::GranularBodyPtr);
 
    GranularBody();
#endif
 
    Vec3 getPosition() const;
 
    Quat getRotation() const;
 
    Vec3 getVelocity() const;
 
    Vec3 getAngularVelocity() const;
 
    GranularBody::MotionControl getMotionControl() const;
 
    double getRadius() const;
 
    double getMass() const;
 
    Material* getMaterial() const;
 
    Vec3 getForce() const;
 
    Vec4 getColor() const;
 
    bool isValid() const;
 
    unsigned int getId() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setPosition(const Vec3& position);
 
    void setPosition(double x, double y, double z);
 
    void setRotation(const Quat& q);
 
    void setRotation(const EulerAngles& e);
 
    void setLinearVelocity( const Vec3& velocity );
 
    void setLinearVelocity( double vx, double vy, double vz );
 
    void setAngularVelocity( const Vec3& angularVelocity );
 
    void setAngularVelocity( double ax, double ay, double az );
 
    void setMotionControl(GranularBody::MotionControl motionControl);
 
    void addForce(const Vec3& force);
 
    void addForce(double fx, double fy, double fz);
 
    void addTorque(const Vec3& torque);
 
    void addTorque(double tx, double ty, double tz);
 
    void setForce(const Vec3& force);
 
    void setForce(double fx, double fy, double fz);
 
    void setTorque(const Vec3& torque);
 
    void setTorque(double tx, double ty, double tz);
 
    void setRadius(double radius);
 
    void setMass(double mass);
 
    void setMaterial(const Material* material);
 
    void setColor(const Vec4& color);
 
    void destroy();
 
    // Old methods that exists for backwards compatibility
    void setVelocity( const Vec3& velocity );
    void setVelocity( double vx, double vy, double vz );
 
#endif
 
    bool operator==(const GranularBody& other) const;
 
#ifndef SWIG
    bool is(agx::Physics::GranularBodyPtr granularBody) const;
 
    agx::Physics::GranularBodyPtr ptr() const;
#endif
 
    std::string getMaterialUuidString() const;
  private:
#ifndef SWIG
    agx::Physics::GranularBodyPtr m_granularBodyPtr;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(GranularBody);
}
 
#endif