GranularBodySystem.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef AGX_PHYSICS_GRANULARBODYSYSTEM_H
#define AGX_PHYSICS_GRANULARBODYSYSTEM_H
 
#include <agx/ParticleSystem.h>
#include <agx/Physics/GranularBodyEntity.h>
#include <agx/Physics/GranularBody/CachedContact.h>
 
namespace agx
{
  namespace Physics
  {
    AGX_DECLARE_POINTER_TYPES(GranularBodySystem);
    class AGXPHYSICS_EXPORT GranularBodySystem : public agx::ParticleSystem
    {
    public:
      enum MotionControl
      {
        KINEMATICS = 2, 
        DYNAMICS = 3  
      };
 
    public:
      GranularBodySystem(Device *device = CpuDevice::instance());
 
      Physics::GranularBodyPtr createParticle();
 
      virtual bool setUpdateTask(Task* updateTask) override;
 
      agx::Real calculateTotalKineticEnergy() const;
 
#if (!defined SWIG ) || ( defined SWIGCSHARP || defined SWIGJAVA)
      const agx::Physics::GranularBodyPtrArray getParticles() const;
      agx::Physics::GranularBodyPtrArray getParticles();
 
      agx::Physics::GranularBodyPtrVector getGranularBodyPtrVector() const;
      agx::Physics::GranularBodyPtrVector getGranularBodyPtrVector();
#endif
 
      void setMotionControl( agx::Physics::GranularBodyPtr gptr, MotionControl motionControl );
 
      MotionControl getMotionControl( agx::Physics::GranularBodyPtr gptr ) const;
 
      static void copyGranularBodyData( agx::Physics::GranularBodyPtr target, agx::Physics::GranularBodyPtr source, bool copyMaterial=true );
 
      virtual void setSingleParticleRadius(agx::Index particleId, agx::Real radius) override;
 
      void setSingleParticleAngularVelocity(agx::Index particleId, const agx::Vec3& angularVelocity );
 
      agx::Vec3 getSingleParticleAngularVelocity(agx::Index particleId);
 
      static agx::RigidBody* convertGranularBodyToRigidBody(agx::Physics::GranularBodyPtr gptr);
 
      static void applyTransform( agx::Physics::GranularBodyPtr gptr, const agx::AffineMatrix4x4& transform, bool includeVelocity = false );
 
      static bool isGranularBodySystem(agx::ParticleSystem* system);
 
      virtual void setParticleMass( Real mass, bool updateExistingParticles = false ) override;
 
      void setContactMode(agx::UInt contactMode);
 
      void preAllocateParticlePairContactStorage( size_t numElements );
 
      void preAllocateParticleGeometryContactStorage( size_t numElements );
 
      void preAllocateParticleStorage( size_t numElements );
 
 
      GranularBodyPtrVector filterBodiesInGeometry( const agxCollide::Geometry* geometry,
                                                    const GranularBodyPtrVector& granularBodies,
                                                    bool onlyCheckForMidPoint) const;
 
      GranularBodyPtrVector getGranularBodiesInsideGeometry(const agxCollide::Geometry* geometry,
                                                            bool onlyCheckForMidPoint) const;
 
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agx::Physics::GranularBodySystem );
 
    protected:
      void invalidLicenseCallback();
      void init();
 
      virtual ~GranularBodySystem();
 
    private:
    };
 
 
    AGX_FORCE_INLINE Physics::GranularBodyPtr GranularBodySystem::createParticle() { return ParticleSystem::createParticle(); }
    AGX_FORCE_INLINE agx::Physics::GranularBodyPtrArray GranularBodySystem::getParticles() { return getParticleStorage()->getInstances<Physics::GranularBodyPtr>(); }
    AGX_FORCE_INLINE const agx::Physics::GranularBodyPtrArray GranularBodySystem::getParticles() const { return const_cast<GranularBodySystem *>(this)->getParticles(); }
  }
}
 
 
#endif /* AGX_PHYSICS_GRANULARBODYSYSTEM_H */