RaytraceSystems.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 <agxSensor/SystemNode.h>
#include <agxSensor/RaytraceHandles.h>
#include <agxSensor/RaytraceShapeInstance.h>
 
#include <agxModel/DeformableObject.h>
 
#include <agxWire/Wire.h>
 
#include <agxSDK/LinkedStructure.h>
 
#include <agxTerrain/Terrain.h>
#include <agxTerrain/TerrainPager.h>
 
#include <memory>
#include <vector>
 
namespace agxSensor
{
  struct RtVec3fVector;
 
  class AGXSENSOR_EXPORT RtShapeCollisionShapeSystem : public SystemNode
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      virtual ~RtShapeCollisionShapeSystem() = default;
 
      virtual bool onAdd( agx::Referenced& instance ) override;
      virtual bool onRemove( agx::Referenced& instance ) override;
      virtual void synchronize( const SystemNode::CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeCollisionShapeSystem );
 
    private:
      struct RtShapeInstanceData
      {
        bool isValid() const
        {
          return shape != nullptr;
        }
 
        RtShapeInstance instance = { nullptr, nullptr, nullptr };
        const agxCollide::Shape* shape = nullptr;
      };
 
    private:
      using RtShapeInstanceDataVector = std::vector<RtShapeInstanceData>;
 
    private:
      bool contains( const agxCollide::Shape* shape ) const;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      RtShapeInstanceDataVector m_rtShapeInstances;
  };
 
  class AGXSENSOR_EXPORT RtShapeLinkedStructureSystem : public SystemNode
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      virtual ~RtShapeLinkedStructureSystem() = default;
 
      virtual bool onAdd( agx::Referenced& instance ) override;
      virtual bool onRemove( agx::Referenced& instance ) override;
      virtual void synchronize( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeLinkedStructureSystem );
 
    private:
      struct LsData
      {
        struct RtShapeInstanceScale
        {
          RtShapeInstance instance;
          agx::Vec3 scale;
        };
 
        using RtShapeInstanceScaleVector = std::vector<RtShapeInstanceScale>;
 
        const agxSDK::LinkedStructure* linkedStructure = nullptr;
        RtEntityId entityId{ NullRtEntityId };
        RtMaterialInstance material{};
        RtShapeInstanceScaleVector shapeData; 
      };
 
      using LsDataVector = std::vector<LsData>;
      using ShapeScaleRtShapeTable = agx::HashTable<agx::Vec3, RtShapeRef>;
      using ShapeTypeShapeScaleRtShapeCache = std::array<ShapeScaleRtShapeTable, agxCollide::Shape::NUM_TYPES>;
 
    private:
      bool contains( const agxSDK::LinkedStructure* linkedStructure ) const;
      void initialize( agxCollide::Shape& shape,
                       LsData::RtShapeInstanceScale& shapeScale,
                       RtInstanceData* shapeInstanceData );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      LsDataVector m_lsData;
      ShapeTypeShapeScaleRtShapeCache m_shapeCache;
  };
 
  class AGXSENSOR_EXPORT RtShapeDeformableObjectSystem : public SystemNode
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      static const agxCollide::MeshData* getMeshData( const agxModel::DeformableObject& deformable );
 
    public:
      RtShapeDeformableObjectSystem() = default;
 
    public:
      virtual ~RtShapeDeformableObjectSystem() = default;
      virtual bool onAdd( agx::Referenced& instance ) override;
      virtual bool onRemove( agx::Referenced& instance ) override;
      virtual void synchronize( const SystemNode::CallbackData& cd ) override;
      virtual void execute( const SystemNode::CallbackData& cd ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeDeformableObjectSystem );
 
    private:
      struct DeformableData
      {
        RtShapeInstance instance = { nullptr, nullptr, nullptr };
        const agxModel::DeformableObject* deformable = nullptr;
 
        agx::AffineMatrix4x4 synchronizedTransform;
        agx::Vec3Vector synchronizedVertices;
      };
 
      using DeformableDataVector = std::vector<DeformableData>;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      DeformableDataVector m_data;
  };
 
  class AGXSENSOR_EXPORT RtShapeWireSystem : public SystemNode
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      RtShapeWireSystem();
 
    public:
      virtual ~RtShapeWireSystem() = default;
 
      virtual bool onAdd( agx::Referenced& instance ) override;
      virtual bool onRemove( agx::Referenced& instance ) override;
      virtual void synchronize( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeWireSystem );
 
    private:
      struct WireSegmentData
      {
        RtShapeInstance halfSphere;
        RtShapeInstance cylinder;
      };
      using WireSegmentDataBuffer = std::vector<WireSegmentData>;
 
      struct WireData
      {
        const agxWire::Wire* wire = nullptr;
        WireSegmentDataBuffer segmentDataBuffer;
        RtMaterialInstance material{};
        RtEntityId entityId{ NullRtEntityId };
        size_t numSegments = 0;
      };
 
      using WireDataVector = std::vector<WireData>;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      bool contains( const agxWire::Wire* wire ) const;
 
    private:
      WireDataVector m_wireData;
      RtShapeRef m_halfSphereMesh;
      RtShapeRef m_cylinderMesh;
  };
 
  class AGXSENSOR_EXPORT RtShapeTerrainSystemBase : public SystemNode
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      virtual ~RtShapeTerrainSystemBase() = default;
 
    protected:
      struct ParticleTerrainId
      {
        RtMaterialInstance material{};
        RtEntityId entityId{ NullRtEntityId };
      };
      using SurfaceMaterialTable = agx::HashTable<const agx::Material*, ParticleTerrainId>;
 
      struct RtTerrainData
      {
        RtTerrainData();
        bool isValid() const
        {
          return terrain != nullptr;
        }
 
        RtShapeInstance instance = { nullptr, nullptr, nullptr };
        const agxTerrain::Terrain* terrain = nullptr;
        std::shared_ptr<RtVec3fVector> vertices;
      };
 
      static RtTerrainData create(RtSceneRef scene, agxTerrain::Terrain* terrain, RtInstanceData* rtData = nullptr);
      static void updateHeights(RtTerrainData& terrainData);
 
    protected:
      void updateParticles( const agx::ParticleSystem* particleSystem,
                            const SurfaceMaterialTable& materialTable );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      using ParticleShapeInstances = std::vector<RtShapeInstance>;
 
    private:
      RtShapeRef m_sphereShape;
      ParticleShapeInstances m_particleInstances;
  };
 
  class AGXSENSOR_EXPORT RtShapeTerrainSystem : public RtShapeTerrainSystemBase
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      virtual bool onAdd(agx::Referenced& instance) override;
      virtual bool onRemove(agx::Referenced& instance) override;
      virtual void synchronize( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeTerrainSystem );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      bool contains(const agxTerrain::Terrain* terrain) const;
 
    private:
      using RtTerrainDataVector = std::vector<RtTerrainData>;
      RtTerrainDataVector m_rtTerrainInstances;
  };
 
  class AGXSENSOR_EXPORT RtShapeTerrainPagerSystem : public RtShapeTerrainSystemBase
  {
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
 
      virtual bool onAdd(agx::Referenced& instance) override;
      virtual bool onRemove(agx::Referenced& instance) override;
      virtual void synchronize( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::RtShapeTerrainPagerSystem );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      struct RtTerrainPagerData
      {
        bool isValid() const
        {
          return terrainPager != nullptr;
        }
 
        using RtTerrainDataMap = agx::HashVector<const agxTerrain::Terrain*, RtTerrainData>;
        const agxTerrain::TerrainPager* terrainPager = nullptr;
        RtTerrainDataMap terrainData;
      };
 
      bool contains(const agxTerrain::TerrainPager* pager) const;
      bool syncronizeTiles(RtTerrainPagerData& data, SurfaceMaterialTable& materialTable);
 
    private:
      using RtTerrainPagerDataVector = std::vector<RtTerrainPagerData>;
      RtTerrainPagerDataVector m_rtTerrainPagerData;
  };
}