GranularContacts.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_GRANULARCONTACTS_H
#define MOMENTUM_GRANULARCONTACTS_H
 
#include "momentum_namespace.h"
#include "momentum_export.h"
#include <memory>
 
#include <agx/Physics/ParticlePairContactEntity.h>
#include <agx/Physics/ParticleGeometryContactEntity.h>
 
#include "Vec3.h"
 
#ifndef SWIG
namespace agxSDK
{
  class Simulation;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class RigidBody;
  class GranularBody;
  class MaterialPair;
 
  class MOMENTUM_EXPORT GranularGranularContact
  {
  public:
#ifndef SWIG
    GranularGranularContact(agx::Physics::ParticlePairContactPtr, agxSDK::Simulation*);
 
    GranularGranularContact();
#endif
 
    std::shared_ptr<GranularBody> getGranularBody1() const;
 
    std::shared_ptr<GranularBody> getGranularBody2() const;
 
    Vec3 getForce() const;
 
    Vec3 getNormalForce() const;
 
    Vec3 getFrictionalForce() const;
 
    Vec3 getPoint() const;
 
    double getDepth();
 
    Vec3 getNormal() const;
 
    double getNormalImpactForceMagnitude() const;
 
    bool isImpacting() const;
 
    std::shared_ptr<MaterialPair> getContactMaterial() const;
 
  protected:
  private:
#ifndef SWIG
    agx::Physics::ParticlePairContactPtr m_granularContactPtr;
    agxSDK::Simulation* m_simulation;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(GranularGranularContact);
 
  class MOMENTUM_EXPORT GranularRigidBodyContact
  {
  public:
#ifndef SWIG
    GranularRigidBodyContact(agx::Physics::ParticleGeometryContactPtr, agxSDK::Simulation*);
 
    GranularRigidBodyContact();
#endif
 
    std::shared_ptr<RigidBody> getRigidBody() const;
 
    std::shared_ptr<GranularBody> getGranularBody() const;
 
    Vec3 getPoint() const;
 
    double getDepth();
 
    Vec3 getNormal() const;
 
    Vec3 getForce() const;
 
    Vec3 getNormalForce() const;
 
    Vec3 getFrictionalForce() const;
 
    double getNormalImpactForceMagnitude() const;
 
    bool isImpacting() const;
 
    std::shared_ptr<MaterialPair> getContactMaterial() const;
 
  protected:
  private:
#ifndef SWIG
    agx::Physics::ParticleGeometryContactPtr m_granularContactPtr;
    agxSDK::Simulation* m_simulation;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(GranularRigidBodyContact);
}
#endif