MaterialManager.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 <agxSDK/agxSDK.h>
 
#include <agx/Material.h>
#include <agx/QuadraticProbingHashTable.h>
#include <agx/FrictionModel.h>
 
#include <agxCollide/Contacts.h>
 
#include <agxData/EntityStorage.h>
 
namespace agx
{
  typedef agx::Vector<const agx::ContactMaterial*> ContactMaterialPtrVector;
  typedef agx::Vector<const agx::Material*> MaterialPtrVector;
}
 
namespace agxSDK
{
  typedef agx::SymmetricPair<const agx::Material*> MaterialPair;
  typedef agx::ContactMaterial* (*ContactMaterialFunction)(const agx::Material* m1, const agx::Material* m2);
 
  typedef agx::SymmetricPair< const agx::Material* > SymmetricMaterialPair;
  typedef agx::HashTable< agx::String, agx::MaterialRef > StringMaterialRefTable;
  typedef agx::QuadraticProbingHashTable< SymmetricMaterialPair, agx::ContactMaterialRef > MaterialSPairContactMaterialRefTable;
 
  AGX_DECLARE_POINTER_TYPES( MaterialManager );
 
  class AGXPHYSICS_EXPORT MaterialManager : public agx::Component
  {
    public:
      static agx::Model* ClassModel();
 
      static void calculateContactMaterial( agx::ContactMaterial* contactMaterial );
 
    public:
      MaterialManager();
 
      bool add( agx::Material* material );
 
      bool add( agx::ContactMaterial* contactMaterial );
 
      bool remove( agx::Material* material );
 
      bool remove( agx::ContactMaterial* contactMaterial );
 
      agx::ContactMaterial* getOrCreateContactMaterial( const agx::Material* material1, const agx::Material* material2 );
 
      const agx::ContactMaterial* getContactMaterial( const agx::Material* material1, const agx::Material* material2 ) const;
 
      const agx::ContactMaterial* getContactMaterial( agx::Physics::MaterialPtr material1, agx::Physics::MaterialPtr material2 ) const;
 
      agx::Material* getMaterial( const agx::String& name );
 
      const agx::Material* getMaterial( const agx::String& name ) const;
 
      agx::Material* getMaterial(const agx::Uuid& uuid);
 
      const agx::Material* getDefaultMaterial() const;
 
      const StringMaterialRefTable& getMaterials() const;
 
      agx::MaterialPtrVector getMaterialVector() const;
 
      const MaterialSPairContactMaterialRefTable& getContactMaterials() const;
 
      agx::ContactMaterialPtrVector getContactMaterialVector() const;
 
      bool hasMaterialsWithContactReduction() const;
 
      bool setContactMaterial( agxCollide::LocalGeometryContact* localGeometryContact );
 
      agx::ContactMaterial* getOrCreateContactMaterial( const agxCollide::GeometryContact* geometryContact );
 
      agxData::EntityStorage* getContactMaterialStorage();
 
      DOXYGEN_START_INTERNAL_BLOCK()
      agx::ContactMaterial* getContactMaterialOrCreateImplicit(const agx::Material* material1, const agx::Material* material2);
 
      agx::ContactMaterial* getContactMaterialOrCreateImplicit(const agxCollide::Geometry* geometry1, const agxCollide::Geometry* geometry2);
      DOXYGEN_END_INTERNAL_BLOCK()
 
    public:
      class MaterialManagerSerializer : public agxStream::Serializable
      {
        public:
          MaterialManagerSerializer( const MaterialManager* mgr )
            : m_mgr( mgr ) {}
          AGXSTREAM_DECLARE_SERIALIZABLE( agxSDK::MaterialManager::MaterialManagerSerializer );
 
          const MaterialManager* get() const { return m_mgr; }
          void set( MaterialManager* mgr ) { m_mgr = mgr; }
 
          typedef agx::Vector<agx::ref_ptr<agx::ContactMaterial> > ContactMaterialVector;
          ContactMaterialVector m_contactMaterials;
 
        protected:
          MaterialManagerSerializer() : m_mgr( nullptr ) {}
          const MaterialManager* m_mgr;
      };
 
      void store( agxStream::OutputArchive& out ) const;
 
      void restore( const MaterialManagerSerializer& mgr );
 
    protected:
      virtual ~MaterialManager();
 
      SymmetricMaterialPair getSymmetricPair( const agx::ContactMaterial* contactMaterial ) const;
 
      SymmetricMaterialPair getSymmetricPair( const agx::Material* material1, const agx::Material* material2 ) const;
 
      friend class Simulation;
      friend class SimulationController;
 
      void clear();
 
      void resetDirtyMaterials() const;
 
      void initializeNewGeometryContacts( const agxCollide::GeometryContactPtrVector& geometryContacts );
 
      void updateContactMaterials( const agxCollide::GeometryContactPtrVector& geometryContacts );
 
      bool loadLibraryContactMaterial( const agx::Material* material1, const agx::Material* material2, agx::ContactMaterial* contactMaterial );
 
    private:
      StringMaterialRefTable m_materials;
      MaterialSPairContactMaterialRefTable m_contactMaterials;
 
      bool m_hasMaterialsWithContactReduction;
      agxData::EntityStorageRef m_contactMaterialStorage;
 
      agx::Mutex m_mutex;
  };
 
  inline const agx::Material* MaterialManager::getDefaultMaterial() const
  {
    return agx::Material::getDefaultMaterial();
  }
 
  inline agxData::EntityStorage* MaterialManager::getContactMaterialStorage()
  {
    return m_contactMaterialStorage;
  }
 
  inline const agx::ContactMaterial* MaterialManager::getContactMaterial( agx::Physics::MaterialPtr material1, agx::Physics::MaterialPtr material2 ) const
  {
    return getContactMaterial( material1 ? material1.model() : getDefaultMaterial(), material2 ? material2.model() : getDefaultMaterial() );
  }
 
  AGX_FORCE_INLINE SymmetricMaterialPair MaterialManager::getSymmetricPair( const agx::ContactMaterial* contactMaterial ) const
  {
    agxAssert( contactMaterial );
    const agx::Material* m1 = contactMaterial ? contactMaterial->getMaterial1() : nullptr;
    const agx::Material* m2 = contactMaterial ? contactMaterial->getMaterial2() : nullptr;
    return SymmetricMaterialPair( m1 ? m1 : getDefaultMaterial(), m2 ? m2 : getDefaultMaterial() );
  }
 
  AGX_FORCE_INLINE SymmetricMaterialPair MaterialManager::getSymmetricPair( const agx::Material* material1, const agx::Material* material2 ) const
  {
    return SymmetricMaterialPair( material1 ? material1 : getDefaultMaterial(), material2 ? material2 : getDefaultMaterial() );
  }
}