ShovelSettings.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 <agx/BitState.h>
#include <agxTerrain/export.h>
#include <agx/Line.h>
#include <agx/agx_vector_types.h>
#include <agxStream/OutputArchive.h>
#include <agxStream/InputArchive.h>
#include <agx/Referenced.h>
 
 
namespace agxTerrain
{
 
  class AdvancedShovelSettings;
  AGX_DECLARE_POINTER_TYPES(AdvancedShovelSettings);
 
 
  AGX_DECLARE_POINTER_TYPES(ShovelSettings);
  class AGXTERRAIN_EXPORT ShovelSettings : public agx::Referenced
  {
  public:
 
    /*
    Settings class for shovel.
    */
    ShovelSettings(const agx::Line& cuttingEdge, const agx::Vec3& toothDirection, agx::Real toothLength);
 
    // Common settings
 
    void setEnableParticleFreeDeformers(bool enable);
    bool getEnableParticleFreeDeformers() const;
 
    void setPenetrationDepthThreshold(agx::Real depthThreshold);
    agx::Real getPenetrationDepthThreshold() const;
 
    void setPenetrationForceScaling(agx::Real penetrationForceScaling);
 
    agx::Real getPenetrationForceScaling() const;
 
 
    void setMaxPenetrationForce(agx::Real maxPenetrationForce);
    agx::Real getMaxPenetrationForce() const;
 
    void setToothLength(agx::Real length);
 
    agx::Real getToothLength() const;
 
    agx::Vec3 getToothDirection() const;
 
    void setToothDirection( const agx::Vec3& toothDirection);
 
    void setEnableCustomTeethGeometry( bool enable );
 
    bool getEnableCustomTeethGeometry() const;
 
    void setCustomTeethGeometryHalfVec( const agx::Vec3& halfVec );
 
    agx::Vec3 getCustomTeethGeometryHalfVec() const;
 
    void setToothMinimumRadius(agx::Real radius);
 
    agx::Real getToothMinimumRadius() const;
 
    void setToothMaximumRadius(agx::Real radius);
 
    agx::Real getToothMaximumRadius() const;
 
    void setNumberOfTeeth(agx::UInt count);
    agx::UInt getNumberOfTeeth() const;
 
    void setEnableGenerateTeethGeometry( bool enable );
 
    bool getEnableGenerateTeethGeometry() const;
 
    void setEnableExcavationAtTeethEdge( bool enable );
 
    bool getEnableExcavationAtTeethEdge() const;
 
    void setVerticalBladeSoilMergeDistance(agx::Real verticalSoilBladeMergeDistance);
    agx::Real getVerticalBladeSoilMergeDistance() const;
 
    DOXYGEN_START_INTERNAL_BLOCK()
 
    /*
    Constructor for serialization
    */
    ShovelSettings();
 
    ~ShovelSettings();
 
    void store(agxStream::OutputArchive& out) const;
    void restore( agxStream::InputArchive& in);
 
    /* This method is only used internally for restore from TerrainToolCollection */
    void restorePreShovelRefactor(agxStream::InputArchive& in, const agx::Line& cuttingEdge, bool& enabled);
 
    AdvancedShovelSettings* getAdvancedSettings() { return m_advanced; }
    AdvancedShovelSettings* getAdvancedSettings() const { return m_advanced; }
 
    bool isDirty() const { return m_dirty; };
    void setDirty( bool enable ) { m_dirty = enable; }
 
    DOXYGEN_END_INTERNAL_BLOCK()
 
  private:
 
    enum CommonFlags : agx::UInt32
    {
      ENABLE_PARTICLE_FREE_DEFORMATION = 1 << 0,
      ENABLE_GENERATE_TEETH_GEOMETRY = 1 << 1,
      ENABLE_CUSTOM_TEETH_GEOMETRY = 1 << 3,
      ENABLE_EXCAVATION_AT_TEETH_EDGE = 1 << 4
    };
    using CommonBitState = agx::BitState<CommonFlags, agx::UInt32>;
 
    CommonBitState           m_flags;
 
    /* teeth parameters for the penetration resistance model */
    struct TeethProperties
    {
      agx::Real   toothLength;
      agx::Real   toothMinRadius;
      agx::Real   toothMaxRadius;
      agx::UInt   numberOfTeeth;
      agx::Vec3   toothDirection;
    };
    TeethProperties             m_teethProps;
    agx::Vec3                   m_customTeethGeometryHalfVec;
 
    /* struct for soil penetration parameters */
    struct SoilPenetrationParameters
    {
      agx::Real depthThreshold;
      agx::Real forceScaling;
      agx::Real maxForce;
    };
 
    SoilPenetrationParameters m_soilPenetrationParameters;
    agx::Real                 m_verticalSoilBladeMergeDistance;
    // Contains advanced settings for the shovel
    AdvancedShovelSettingsRef m_advanced;
 
    bool m_dirty;
  };
 
  /*
  Advanced settings class for shovel.
  */
  class AGXTERRAIN_EXPORT AdvancedShovelSettings : public agx::Referenced
  {
  public:
 
    AdvancedShovelSettings(const agx::Line& cuttingEdge);
 
    AdvancedShovelSettings();
 
    void setAlwaysRemoveShovelContacts(bool enable);
 
    bool getAlwaysRemoveShovelContacts() const;
 
    void setEnableInnerShapeCreateDynamicMass(bool enable);
 
    bool getEnableInnerShapeCreateDynamicMass() const;
 
    void setEnableParticleForceFeedback(bool enable);
 
    bool getEnableParticleForceFeedback();
 
    void setUseZeroAggregateVelocity(bool enable);
 
    bool getUseZeroAggregateVelocity() const;
 
    /*
    Set whenever custom friction models should be used in the
    shovel <-> aggregate contacts.
    \param enable - True if custom friction models should be used. (Default: true)
    */
    void setUseCustomFrictionModel(bool enable);
 
    bool getUseCustomFrictionModel() const;
 
    void setNoMergeExtensionDistance(agx::Real extensionDistance);
 
    agx::Real getNoMergeExtensionDistance() const;
 
    void setMinimumSubmergedContactLengthFraction(agx::Real minimumSubmergedContactLengthFraction);
 
    agx::Real getMinimumSubmergedContactLengthFraction() const;
 
    void setSecondarySeparationDeadloadLimit(agx::Real secondarySeparationLimit);
 
    agx::Real getSecondarySeparationDeadloadLimit() const;
 
    void setContactRegionThreshold(agx::Real contactRegionThreshold);
 
    agx::Real getContactRegionThreshold() const;
 
    void setContactRegionVerticalLimit(agx::Real verticalLimit);
 
    /*
    Get the maximum vertical distance from the shovel bottom plane where regular geometry
    contacts between the shovel and the terrain are allowed to be created. Contacts past that distance
    will be filtered away.
    \return the maximum vertical distance from the shovel bottom plane where regular geometry
            contacts between the shovel and the terrain are allowed to be created. ( Default: cuttingEdgeLength / 10.0 )
    */
    agx::Real getContactRegionVerticalLimit() const;
 
    void setParticleInclusionMultiplier(agx::Real radiusMultiplier);
 
    agx::Real getParticleInclusionMultiplier() const;
 
    void setCustomExcavationStiffnessMultiplier(agx::Real excavationStiffnessMultiplier);
 
    agx::Real getCustomExcavationStiffnessMultiplier() const;
 
    void setNumContactPatches( agx::UInt numContactPatches );
 
    agx::UInt getNumContactPatches() const;
 
    void setEnableCustomPartitioning( bool enable );
 
    agx::Bool getEnableCustomPartitioning() const;
 
    void setCustomContactPatchAngleTresholds( const agx::RealVector& angleThresholds );
 
    agx::RealVector getCustomContactPatchAngleThresholds() const;
 
    void setNumContactPatchSamplingPoints( agx::UInt numSamples );
 
    agx::UInt getNumContactPatchSamplingPoints() const;
 
    void setContactSamplingAngleCutoff( agx::Real angleCutoff );
 
    agx::Real getContactSamplingAngleCutoff() const;
 
    void setAggregateVelocityToShovel( bool enable );
 
    agx::Bool getAggregateVelocityToShovel() const;
 
    void setNonHolonomicContacts( bool enable );
 
    agx::Bool getNonHolonomicContacts() const;
 
    void setClampAggregateVelocityToParticles( bool enable );
 
    agx::Bool getClampAggregateVelocityToParticles() const;
 
    void setDisablePrimaryWedgeAggregates( bool enable );
 
    agx::Bool getDisablePrimaryWedgeAggregates() const;
 
    void setEnableInnerShapeMidpointInclusion( bool enable );
 
    agx::Bool getEnableInnerShapeMidpointInclusion() const;
 
    void setDisableShovelSideContacts( bool enable );
 
    bool getDisableShovelSideContacts() const;
 
    void setShouldUpdateContactPatches( bool shouldUpdate );
 
    bool getShouldUpdateContactPatches() const;
 
    void setEnableCustomForwardVector( bool enable );
 
    bool getEnableCustomForwardVector() const;
 
    void setEnableCustomBottomVector( bool enable );
 
    bool getEnableCustomBottomVector() const;
 
    void setCustomForwardVector( const agx::Vec3& forwardVector );
 
    agx::Vec3 getCustomForwardVector() const;
 
    void setCustomBottomVector( const agx::Vec3& bottomVector );
 
    agx::Vec3 getCustomBottomVector() const;
 
    void setEnableTeethVolume( bool enable );
 
    bool getEnableTeethVolume() const;
 
    bool isDirty() const { return m_dirty; };
 
    void setDirty( bool enable ) { m_dirty = enable; }
 
  protected:
    friend class ShovelSettings;
    void store(agxStream::OutputArchive& out) const;
    void restore(agxStream::InputArchive& in);
 
  private:
    enum AdvancedFlags : agx::UInt32
    {
      REMOVE_SHOVEL_CONTACTS = 1 << 0,
      INNER_SHAPE_CREATE_DYNAMIC_MASS = 1 << 1,
      ENABLE_PARTICLE_FREE_DEFORMATION = 1 << 2,
      ENABLE_PARTICLE_FORCE_FEEDBACK = 1 << 3,
      SET_ZERO_AGGREGATE_VELOCITY = 1 << 4,
      USE_CUSTOM_FRICTION_MODELS = 1 << 5,
      CLAMP_AGGREGATE_VELOCITY_TO_PARTICLES = 1 << 6,
      SET_AGGREGATE_VELOCITY_TO_SHOVEL = 1 << 7,
      SET_NON_HOLONOMIC_CONTACTS = 1 << 8,
      CUSTOM_PATCH_PARTITIONING = 1 << 9,
      DISABLE_PRIMARY_WEDGE_AGGREGATES = 1 << 10,
      INNER_SHAPE_STRICT_PARTICLE_INCLUSION = 1 << 11,
      DISABLE_SHOVEL_SIDE_CONTACTS = 1 << 12,
      ENABLE_CUSTOM_FORWARD_VECTOR = 1 << 13,
      ENABLE_CUSTOM_BOTTOM_VECTOR = 1 << 14,
      DISABLE_TEETH_SHAPE = 1 << 15,
    };
    using AdvancedBitState = agx::BitState<AdvancedFlags, agx::UInt32>;
    AdvancedBitState          m_advancedFlags;
 
    agx::Real                 m_noMergeExtensionDistance;
    agx::Real                 m_minimumSubmergedContactLengthFraction;
    agx::Real                 m_secondarySeparationDeadLoadLimit;
    agx::Real                 m_particleInclusionMultiplier;
    agx::Real                 m_contactThreshold;
    agx::Real                 m_verticalContactLimit;
    agx::Real                 m_excavationStiffnessMultiplier;
 
    agx::UInt                 m_numContactPatches;
    agx::UInt                 m_numPatchSamplingPoints;
    agx::Real                 m_contactSamplingAngleCutoff;
    agx::RealVector           m_customAngleThresholds;
    bool                      m_shouldUpdateContactPatches;
    agx::Vec3                 m_customForwardVector;
    agx::Vec3                 m_customBottomVector;
    bool                      m_dirty;
  };
 
  DOXYGEN_START_INTERNAL_BLOCK()
 
  AGX_DECLARE_POINTER_TYPES( ShovelDebugRenderSettings );
  class AGXTERRAIN_EXPORT ShovelDebugRenderSettings : public agx::Referenced
  {
  public:
    ShovelDebugRenderSettings();
 
    void setRenderForbiddenBounds( bool enable );
    bool getEnableRenderForbiddenBounds() const;
 
    void setEnableRenderAggregateContactArea( bool enable );
    bool getEnableRenderAggregateContactArea() const;
 
    void setEnableRenderAggregateContacts( bool enable );
    bool getEnableRenderAggregateContacts() const;
 
    void setEnableRenderContactPatches( bool enable );
    bool getEnableRenderContactPatches() const;
 
    void setEnableRenderInnerParticles( bool enable );
    bool getEnableRenderInnerParticles() const;
 
    void setEnableRenderWedgeParticles( bool enable );
    bool getEnableRenderWedgeParticles() const;
 
    void setEnableRenderWedgeVoxels( bool enable );
    bool getEnableRenderWedgeVoxels() const;
 
    void setEnableRenderExcludedInnerParticles( bool enable );
    bool getEnableRenderExcludedInnerParticles() const;
 
    void setEnableRenderContactPartitioning( bool enable );
    bool getEnableRenderContactPartitioning() const;
 
    void setEnableRenderSideWallContactPartitioning( bool enable );
    bool getEnableRenderSideWallContactPartitioning() const;
 
    void setRenderWedgeLocks( bool enable );
    bool getRenderWedgeLocks() const;
 
    void setParticleScalingFactor( agx::Real scalingFactor );
    agx::Real getParticleScalingFactor() const;
 
    void setRenderActiveZone( bool enable );
    bool getRenderActiveZone() const;
 
    void setRenderSoilWedges( bool enable );
    bool getRenderSoilWedges() const;
 
    void setRenderInnerShapeAlgorithm( bool enable );
    bool getRenderInnerShapeAlgorithm() const;
 
    void setRenderContactPatchIntersectionTest( bool enable );
    bool getRenderContactPatchIntersectionTest() const;
 
    void setContactRenderSize( agx::Real size );
    agx::Real getContactRenderSize() const;
 
    void setRenderTeeth( bool enable );
    bool getRenderTeeth() const;
 
    void setRenderShovelPrimaryVectors( bool enable );
    bool getRenderShovelPrimaryVectors() const;
 
    void setRenderShovelDeformerVectors( bool enable );
    bool getRenderShovelDeformerVectors() const;
 
    void setRenderInnerShapes( bool enable );
    bool getRenderInnerShapes() const;
 
    void setRenderBottomPlateAlgorithm( bool enable );
    bool getRenderBottomPlateAlgorithm() const;
 
    void setRenderInnerPlaneAlgorithm( bool enable );
    bool getRenderInnerPlaneAlgorithm() const;
 
    void setRenderShovelDeadloadParticles( bool enable );
    bool getRenderShovelDeadloadParticles() const;
 
    void setRenderSecondarySeparation( bool enable );
    bool getRenderSecondarySeparation() const;
 
    void setRenderParticleContactsConvexHull( bool enable );
    bool getRenderParticleContactsConvexHull() const;
 
    void setRenderSoilWedgeVelocities(bool enable);
    bool getRenderSoilWedgeVelocities() const;
 
  private:
    enum AdvancedFlags : agx::UInt32
    {
      RENDER_FORBIDDEN_BOUNDS = 1 << 0,
      RENDER_AGGREGATE_CONTACTS = 1 << 1,
      RENDER_AGGREGATE_CONTACT_AREA = 1 << 2,
      RENDER_AGGREGATE_CONTACT_PARTITIONING = 1 << 3,
      RENDER_AGGREGATE_SIDE_CONTACT_PARTITIONING = 1 << 4,
      RENDER_INNER_SHAPE_PARTICLES = 1 << 5,
      RENDER_WEDGE_SHAPE_PARTICLES = 1 << 6,
      RENDER_EXCLUDED_INNER_SHAPE_PARTICLES = 1 << 7,
      RENDER_CONTACT_PATCHES = 1 << 8,
      RENDER_WEDGE_LOCKS = 1 << 9,
      RENDER_SOIL_WEDGES = 1 << 10,
      RENDER_ACTIVE_ZONE = 1 << 11,
      RENDER_INNER_SHAPE_ALGORITHM = 1 << 12,
      RENDER_CONTACT_PATCH_INTERSECTION_TEST = 1 << 13,
      RENDER_SHOVEL_TEETH = 1 << 14,
      RENDER_SHOVEL_PRIMARY_VECTORS = 1 << 15,
      RENDER_SHOVEL_DEFORMER_VECTORS = 1 << 16,
      RENDER_SHOVEL_INNER_SHAPES = 1 << 17,
      RENDER_BOTTOM_PLANE_ALGORITHM = 1 << 18,
      RENDER_INNER_PLANE_ALGORITHM = 1 << 19,
      RENDER_SHOVEL_DEADLOAD_PARTICLES = 1 << 20,
      RENDER_SHOVEL_SECONDARY_SEPARATION = 1 << 21,
      RENDER_WEDGE_VOXELS = 1 << 22,
      RENDER_PARTICLE_CONTACTS_CONVEX_HULL = 1 << 23,
      RENDER_WEDGE_VELOCITIES = 1 << 24
    };
    using RenderState = agx::BitState<AdvancedFlags, agx::UInt32>;
    RenderState         m_flags;
    agx::Real           m_particleScalingFactor;
    agx::Real           m_contactRenderSize;
  };
 
  DOXYGEN_END_INTERNAL_BLOCK()
}