TerrainContactGenerator.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/config/AGX_USE_AGXTERRAIN.h>
#include <agxTerrain/export.h>
#include <agxTerrain/TerrainContact.h>
#include <agx/Referenced.h>
#include <agx/Vec3.h>
#include <agx/Vec2.h>
#include <agx/agx_vector_types.h>
#include <agx/Material.h>
#include <agx/HashSet.h>
#include <agx/Material.h>
#include <agx/Bound.h>
#include <agxCollide/Contacts.h>
#include <queue>
 
namespace agxSDK
{
  class Simulation;
}
 
namespace agxCollide
{
  class Geometry;
}
 
namespace agxTerrain
{
  class Terrain;
 
  typedef std::queue<agx::Vec2i> IndexQueue;
 
  AGX_DECLARE_POINTER_TYPES(TerrainContactGenerator);
  AGX_DECLARE_VECTOR_TYPES(TerrainContactGenerator);
 
  class AGXTERRAIN_EXPORT TerrainContactGenerator : public agx::Referenced
  {
  public:
    TerrainContactGenerator(Terrain* terrain);
 
    TerrainContactGenerator();
 
    void onPre(agxSDK::Simulation* simulation);
 
    void onPost(agxSDK::Simulation* simulation);
 
    void onRemove(agxSDK::Simulation* simulation);
 
    const TerrainContactRefVector& getTerrainContacts() const;
 
    TerrainContactRefVector& getTerrainContacts();
 
    TerrainContactRefVector* getTerrainContactVector();
 
  public:
    DOXYGEN_START_INTERNAL_BLOCK()
    AGXTERRAIN_STORE_RESTORE_INTERFACE;
    DOXYGEN_END_INTERNAL_BLOCK()
 
  protected:
 
    void buildTerrainContacts(agxSDK::Simulation* simulation);
 
    void updateTerrainContactsWithForceData();
 
    void modifyTerrainGeometryContacts();
 
    void collectTerrainContacts(agxSDK::Simulation* simulation);
 
    bool raycastTerrainVertexToGeometry(const agxCollide::Geometry* collider, const agx::Vec2i& hfIndex, agx::Real& depth);
 
    std::tuple<TerrainIndexToDepthTable, agx::Bound3> findIntersectingIndexInContact(const agxCollide::GeometryContactPtrVector& contacts);
 
    TerrainContact* generateTerrainContact(const agxCollide::GeometryContactPtrVector& contacts, agxSDK::Simulation* simulation);
 
    const agxCollide::Geometry* getCollider(const agxCollide::GeometryContact* contact) const;
 
  protected:
    virtual ~TerrainContactGenerator();
 
    agx::Real getModifiedYoungsModuls(const agx::Vec3& position, const agx::ContactMaterial* existingContactMaterial) const;
 
    void addNeighborIndex(
      const agx::Vec2i& index, std::queue<agx::Vec2i>& indicesToCheck, agx::HashSet<agx::Vec2i>& visitedIndices) const;
    void registerContactingGeometry(const agxCollide::Geometry* geometry, agxSDK::Simulation* simulation);
    void unRegisterContactingGeometry(const agxCollide::Geometry* geometry);
    void unRegisterGeometriesNotInContact(const agxCollide::GeometryHashSet& geometriesInContact);
    agx::Real getCurrentContactTime(const agxCollide::Geometry* geometry) const;
    bool isSoilAggregateContact(agxCollide::GeometryContact* gc) const;
 
  private:
    using GeometryContactTimeTable = agx::HashVector<const agxCollide::Geometry*, std::pair<agxCollide::GeometryConstObserver, agx::Real>>;
 
  private:
    Terrain* m_terrain {nullptr};
    agxCollide::GeometryContactPtrVector m_currentContacts;
    GeometryContactTimeTable m_geometryToContactTime;
    TerrainContactRefVector m_currentTerrainContacts;
  };
}