AggregateContactGenerator.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/PrimaryActiveZone.h>
#include <agx/Plane.h>
#include <agxTerrain/SoilParticleAggregate.h>
#include <agxTerrain/AggregateContactUtils.h>
#include <agxTerrain/TerrainFrictionModels.h>
#include <agxTerrain/ShovelContactPatchUtils.h>
 
 
 
namespace agxTerrain
{
  class Shovel;
  class ActiveZone;
  class Terrain;
 
  typedef agx::HashVector<agxCollide::Geometry*, agxCollide::LocalGeometryContact> GeometryLocalContactTable;
  typedef agx::HashSet<agxCollide::Geometry*> GeometryHashSet;
 
  AGX_DECLARE_POINTER_TYPES( AggregateContactGenerator );
 
  class AGXTERRAIN_EXPORT AggregateContactGenerator : public agx::Referenced
  {
  public:
    AggregateContactGenerator();
 
    void onPre(   Shovel* shovel,
                  Terrain* terrain    );
 
    void onPost( Shovel* shovel );
 
    agxCollide::GeometryContactPtrVector getGeometryContacts( agxSDK::Simulation* simulation ) const;
 
    void initializeContactMaterials( Terrain* terrain, Shovel* shovel );
 
    void initializeFrictionModels( Shovel* shovel );
 
    void resetAggregateContactHistory();
 
    const AggregateContactDepthModel& getAggregateDepthModel() const;
 
    bool particleIsInShovelContacts( agx::UInt32 particleId ) const;
 
    agx::ContactMaterial* getAggregateShovelContactMaterial() const;
 
    agx::ContactMaterial* getAggregateTerrainContactMaterial() const;
 
    size_t getMaxPotentialNumberOfContactPoints() const;
 
    size_t getNumShovelContactPoints() const;
 
    DOXYGEN_START_INTERNAL_BLOCK()
 
    
    void createContactPartitions( Shovel* shovel );
 
    void setEnableCustomFrictionModels( bool enable );
    bool getEnableCustomFrictionModels() const;
 
    agx::UInt getNumContactPatches() const { return m_partitionData.getNumPatches(); };
 
    DOXYGEN_END_INTERNAL_BLOCK()
 
  protected:
    virtual ~AggregateContactGenerator();
 
  private:
 
    void createGeometryContacts( SoilParticleAggregate* soilParticleAggregate,
                                 PrimaryActiveZone* activeZone,
                                 Shovel* shovel,
                                 Terrain* terrain );
 
    void createTerrainContacts( SoilParticleAggregate* soilParticleAggregate,
                                PrimaryActiveZone* activeZone,
                                Shovel* shovel,
                                Terrain* terrain,
                                agxCollide::LocalGeometryContactVector& localContacts );
 
    void createShovelContacts( SoilParticleAggregate* soilParticleAggregate,
                               Shovel* shovel,
                               Terrain* terrain,
                               agxCollide::LocalGeometryContactVector& localContacts );
 
    std::tuple<agx::Real, agx::Int> getContactPointAngle( const agx::Vec3& midPoint,
                                                          const agx::Vec3& zeroPoint,
                                                          const agx::Vec3& contactPoint,
                                                          const agx::Plane& polarPlane,
                                                          const agx::Plane& cutTopPlane ) const;
 
    GeometryHashSet getShovelGeometries( Shovel* shovel ) const;
 
    void getShovelContactsAndContactRange( Shovel* shovel,
                                           const agx::Vector<agx::Plane>& shovelPlanes,
                                           GeometryHashSet& geometrySet,
                                           agxCollide::ParticleGeometryContactVector& contacts,
                                           agxCollide::ParticleGeometryContactVector& rightWallContacts,
                                           agxCollide::ParticleGeometryContactVector& leftWallContacts,
                                           agx::RangeReal& range );
 
    agxCollide::LocalParticleGeometryContactVector calculateShovelContactPoints( Shovel* shovel,
                                                                                 const agxCollide::ParticleGeometryContactVector& shovelContacts,
                                                                                 const agx::RangeReal& range,
                                                                                 agx::Real& meanParticleArea ) const;
 
    void calculateShovelSideWallContactPoints( Shovel* shovel,
                                               const agx::Vector<agx::Plane>& shovelPlanes,
                                               GeometryHashSet& shovelGeometryTable,
                                               GeometryLocalContactTable& shovelContactTable,
                                               agxCollide::ParticleGeometryContactVector& rightWallContacts,
                                               agxCollide::ParticleGeometryContactVector& leftWallContacts );
 
    void updateContactSpan( agxTerrain::Shovel* shovel,
                            ContactSpanData& contactSpanData,
                            const agx::Physics::ParticleGeometryContactPtr& contact,
                            const agx::Plane& middlePlane,
                            agx::Real contactAngle ) const;
 
    agxCollide::LocalParticleGeometryContactVector constructShovelContacts( Shovel* shovel,
                                                                            agx::Vector<ContactPatch>& contactPatchData,
                                                                            ContactSpanData& contactSpanData,
                                                                            const agx::Vec3f& separationNormal,
                                                                            const agx::Vec3& cuttingVector ) const;
 
    agx::Real calculateContactArea( const Shovel* shovel,
                                    const Terrain* terrain,
                                    const agxCollide::LocalParticleGeometryContactVector& contacts,
                                    const agx::Real meanParticleArea ) const;
 
    void debugRenderContactPatches( agxTerrain::Shovel* shovel ) const;
 
    void updateContactPartitions( agxTerrain::Shovel* shovel );
 
  private:
    using ParticleIdSet = agx::HashSet<agx::UInt32>;
 
    ParticleIdSet                          m_particleIds;
    ParticleIdSet                          m_particlesInShovelContacts;
    agxCollide::LocalGeometryContactVector m_localGeometryContacts;
    agxCollide::LocalGeometryContactVector m_localShovelAggregateContacts;
    agx::ContactMaterialRef                m_aggregateTerrainContactMaterial;
    agx::ContactMaterialRef                m_aggregateShovelContactMaterial;
    AggregateContactDepthModel             m_depthModel;
    ShovelAggregateFrictionModelRef        m_frictionModel;
    bool                                   m_enableCustomFrictionModels;
    ContactPartitionData                   m_partitionData;
    ContactPatchVector                     m_patchData;
 
  };
}