MergedBodySolverData.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agxSDK/MergeSplitPostSolveData.h>
 
#include <agx/MergedBody.h>
 
namespace agxSDK
{
  class GeometryContactMergeSplitAlgorithm;
  class ConstraintMergeSplitAlgorithm;
 
  class AGXPHYSICS_EXPORT MergedBodySolverData
  {
    public:
      struct ForceFrame
      {
        agx::Vec3 u; 
        agx::Vec3 v; 
        agx::Vec3 n; 
      };
 
      struct ForceData
      {
        ForceData()
          : graphNodeIndex( agx::InvalidIndex )
        {
        }
 
        ForceData( agx::UInt graphNodeIndex,
                   const agx::Vec3& force,
                   const agx::Vec3& torque )
          : graphNodeIndex( graphNodeIndex ), force( force ), torque( torque )
        {
        }
 
        agx::UInt graphNodeIndex; 
        agx::Vec3 force;          
        agx::Vec3 torque;         
      };
 
    public:
      using ForceDataVector                   = agx::VectorPOD<ForceData>;
      using BodyForceDataContainer            = agx::HashVector<const agx::RigidBody*, ForceDataVector>;
      using GlobalGraphNodeIndexContainer     = agx::UIntVector;
      using MergedBodyGraphNodeIndexContainer = agx::HashTable<const agx::MergedBody*, GlobalGraphNodeIndexContainer>;
 
    public:
      MergedBodySolverData();
 
      void collectData( const agx::MergedBody* mergedBody,
                        const MergeSplitPostSolveData& data,
                        const GlobalGraphNodeIndexContainer* externalInteractions,
                        const GeometryContactMergeSplitAlgorithm* geometryContactAlgorithm,
                        const ConstraintMergeSplitAlgorithm* constraintAlgorithm );
 
      const BodyForceDataContainer& getForceData() const;
 
      const ForceDataVector* tryGetForceData( const agx::RigidBody* rb ) const;
 
      const agx::MergedBody* getMergedBody() const;
 
      agx::Bool calculateContactEdgeStrength( const agx::RigidBody* rb,
                                              MergedBodySolverData::ForceFrame& contactStrength ) const;
 
      using ContactEdgeStrengthVisitor = std::function<void( ForceFrame, const agx::RigidBody* )>;
 
      using ContactEdgeStrengthVisitorPredicate = std::function<agx::Bool( const agx::RigidBody* )>;
 
      void traverseContactEdgeStrength( const agx::RigidBody* rb,
                                        ContactEdgeStrengthVisitorPredicate pred,
                                        ContactEdgeStrengthVisitor visitor ) const;
 
    private:
      const agx::MergedBody* m_mergedBody;
      GlobalGraphNodeIndexContainer m_nodes;
      BodyForceDataContainer m_bodyForceDataContainer;
  };
 
  inline const agx::MergedBody* MergedBodySolverData::getMergedBody() const
  {
    return m_mergedBody;
  }
}