TerrainContact.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 <agxTerrain/export.h>
#include <agx/Referenced.h>
#include <agxCollide/Geometry.h>
#include <agx/HashTable.h>
 
namespace agxTerrain
{
  class TerrainContactGenerator;
  typedef agx::HashTable<agx::Vec2i, agx::Real> TerrainIndexToDepthTable;
 
  AGX_DECLARE_POINTER_TYPES(TerrainContact);
  AGX_DECLARE_VECTOR_TYPES(TerrainContact);
 
  class AGXTERRAIN_EXPORT TerrainContact : public agx::Referenced
  {
  public:
    struct SurfaceForce {
      agx::Vec3 localPoint;
      agx::Real verticalForce;
    };
 
    typedef agx::Vector<SurfaceForce> SurfaceForceVector;
 
  public:
 
    const agxCollide::Geometry* getGeometry() const;
 
    const TerrainIndexToDepthTable& getDepthTable() const;
 
    agx::Bound3 getContactBound() const;
 
    agx::Real getArea() const;
 
    agx::Real getMeanGridDepth() const;
 
    agx::Real getCurrentContactTime() const;
 
    agx::Real getSurfaceStress() const;
 
    agx::Real getSurfaceStressInIndex(const agx::Vec2i& terrainIndex) const;
 
    agx::Real getSurfaceForce() const;
 
    agx::Vec3 getContactMidPoint() const;
 
    agx::Real getMaxSurfaceForce() const;
 
    const SurfaceForceVector& getSurfacePointForces() const;
 
  public:
    // Internal, but public methods
 
    TerrainContact();
 
    TerrainContact(const agxCollide::Geometry* geometry,
      const TerrainIndexToDepthTable terrainIndicesToDepth,
      const agx::Real area,
      const agx::Real meanGridDepth,
      const agx::Real currentContactTime,
      const agx::Bound3 contactBound);
 
    void setSurfaceStress(agx::Real surfaceStress);
 
    void setSurfaceForce(agx::Real surfaceForce);
 
    void setContactArea(agx::Real area);
 
    void setSurfacePointForces(const SurfaceForceVector& pointForces);
 
  protected:
    virtual ~TerrainContact();
 
  public:
    agx::Real calculateTotalForce() const;
 
    private:
      const agxCollide::Geometry* m_geometry;
      TerrainIndexToDepthTable m_terrainIndicesToDepth;
      agx::Real m_area;
      agx::Real m_meanGridDepth;
      agx::Real m_currentContactTime;
      agx::Bound3 m_contactBound;
      agx::Real m_surfaceStress;
      agx::Real m_surfaceForce;
      SurfaceForceVector m_pointForces;
  };
}