ShovelAggregateContactUtils.h

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/*
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 unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from 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.
*/
 
#pragma once
 
#include <agxTerrain/export.h>
#include <agx/Material.h>
#include <agxTerrain/TerrainMaterial.h>
#include <agxTerrain/Shovel.h>
 
 
 
namespace agxTerrain
{
  AGXTERRAIN_EXPORT bool setupShovelAggregateContactMaterial( agx::ContactMaterial* shovelAggregateCM,
                                                              agx::Real contactArea,
                                                              Shovel::ExcavationMode mode,
                                                              Terrain* terrain,
                                                              Shovel* shovel,
                                                              agx::Vec3Vector& points);
 
  AGXTERRAIN_EXPORT void setShovelAggregateContactMaterialProperties( agx::ContactMaterial* shovelAggregateCM,
                                                                      agx::Real contactArea,
                                                                      const agx::RealVector& weights,
                                                                      Terrain* terrain,
                                                                      Shovel* shovel );
 
  AGXTERRAIN_EXPORT void setShovelExplicitShovelContactMaterial( agx::ContactMaterial* shovelAggregateCM,
                                                                 agx::Real contactArea,
                                                                 const agx::ContactMaterial* sourceMaterial,
                                                                 agx::Real excavationStiffnessMultiplier);
 
  AGXTERRAIN_EXPORT void setShovelAggregateContactMaterialFromParticles(agx::ContactMaterial* shovelAggregateCM,
                                                                        agx::Real contactArea,
                                                                        Shovel* shovel);
 
 
  AGXTERRAIN_EXPORT bool isValidContactGeometry( agxCollide::Geometry* geometry );
 
  AGXTERRAIN_EXPORT agxCollide::Geometry* getFirstContactValidGeometry( const agx::RigidBody* shovelBody );
 
  AGXTERRAIN_EXPORT agx::Material* findShovelMaterial( agxTerrain::Shovel* shovel );
 
  agx::Real AGXTERRAIN_EXPORT estimateContactDepth(
    agx::ContactMaterial* contactMaterial,
    Shovel* shovel,
    agx::Real bodyMass,
    agx::Real contactVelocity,
    agx::Real contactGravity,
    agx::Real contactArea,
    agx::Real elasticRestLength,
    size_t numContacts );
 
  agx::Real AGXTERRAIN_EXPORT calculateGv(
    const agx::Vec3& normal,
    const agx::Vec3& point,
    const agx::RigidBody* rb1,
    const agx::RigidBody* rb2 );
 
  agx::Vec3 AGXTERRAIN_EXPORT calculateGravityVector(
    agxSDK::Simulation* simulation,
    const agx::Vec3& position );
 
  agxCollide::LocalGeometryContactVector AGXTERRAIN_EXPORT computeAggregatePairContacts( agxTerrain::Shovel* shovel1,
                                                                                         agxTerrain::Shovel* shovel2,
                                                                                         agx::ContactMaterial* contactMaterial = nullptr,
                                                                                         bool debugRenderContacts=false,
                                                                                         agx::Real size = 0.1);
 
}