SoilSimulationInterface.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,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
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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 <agxTerrain/export.h>
 
#include <agx/Physics/GranularBodySystem.h>
 
namespace agxTerrain
{
  class Terrain;
 
  typedef agx::Physics::GranularBodyPtrVector SoilParticleVector;
  typedef agx::Physics::GranularBodyPtrArray SoilParticleArray;
 
  AGX_DECLARE_POINTER_TYPES(SoilSimulationInterface);
 
  class AGXTERRAIN_EXPORT SoilSimulationInterface : public agx::Referenced
  {
  public:
    enum PACKING_TYPE
    {
      SQUARE_LATTICE_PACK = 0,
      HEXAGONAL_CLOSE_PACK = 1
    };
 
    public:
      SoilSimulationInterface(Terrain* terrain);
 
      SoilSimulationInterface();
 
      agx::Physics::GranularBodyPtr createSoilParticle(const agx::Vec3& position = agx::Vec3(), const agx::Vec3& velocity = agx::Vec3());
 
      agx::Physics::GranularBodyPtr createSoilParticle(agx::Real radius, const agx::Vec3& position = agx::Vec3(), const agx::Vec3& velocity = agx::Vec3());
 
      void removeSoilParticle( agx::Physics::GranularBodyPtr ptr );
 
      bool isValid( agx::Physics::GranularBodyPtr ptr ) const;
 
#if (!defined SWIG ) || ( defined SWIGCSHARP || defined SWIGJAVA)
      SoilParticleArray getSoilParticles() const;
#endif
 
      void tagParticlesAsSoilParticles( agx::Physics::ParticlePtrVector& particles );
 
      agx::Physics::ParticlePtrVector spawnSoilParticlesInGeometry( agxCollide::Geometry* geometry,
                                                                    agx::Real radius,
                                                                    const agx::Vec3& spacing,
                                                                    agx::Real jitterFactor = agx::Real( 0 ),
                                                                    PACKING_TYPE packingType = PACKING_TYPE::SQUARE_LATTICE_PACK );
 
      agx::Real calculateSoilParticleSpecificVolume() const;
 
      agx::Real calculateSoilParticleBulkVolume() const;
 
      void addCollisionGroup(agx::UInt32 id);
      void addCollisionGroup(const agx::Name& name);
 
      void removeCollisionGroup(agx::UInt32 id);
      void removeCollisionGroup(const agx::Name& name);
 
      size_t getNumSoilParticles() const;
 
      agx::Bound3 getSoilParticleBound() const;
 
      const agxCollide::ParticleGeometryContactVector& getParticleGeometryContacts() const;
 
      const agxCollide::ParticlePairContactVector& getParticleParticleContacts() const;
 
      agx::Physics::GranularBodySystem* getGranularBodySystem() const;
 
      bool isParticleGeometryContactValid(agx::Physics::ParticleGeometryContactPtr contact);
 
      bool isParticlePairContactValid(agx::Physics::ParticlePairContactPtr contact);
 
      bool isGeometryPtrValid( agx::Physics::GeometryPtr geometry ) const;
 
    public:
      DOXYGEN_START_INTERNAL_BLOCK()
      void onAddNotification();
      void onRemoveNotification();
 
      AGXTERRAIN_STORE_RESTORE_INTERFACE;
      DOXYGEN_END_INTERNAL_BLOCK()
 
    protected:
      ~SoilSimulationInterface();
 
      agx::Physics::GranularBodyPtr _createSoilParticle( agx::Real radius, const agx::Vec3& position, const agx::Vec3& velocity, agx::Material* material );
      void initGranularBodySystem();
      bool isLastTerrain();
      bool isTerrainPagerActive();
 
    private:
      Terrain* m_terrain;
      agx::Physics::GranularBodySystemRef m_soilParticleSystem;
  };
 
  AGX_FORCE_INLINE bool SoilSimulationInterface::isValid(agx::Physics::GranularBodyPtr ptr) const
  {
    return m_soilParticleSystem != nullptr ? m_soilParticleSystem->isValid(ptr) : false;
  }
}