TerrainMassOccupancyController.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/TerrainDataAtlas.h>
#include <agx/Referenced.h>
#include <agx/Vec3.h>
 
namespace agxTerrain
{
  class Terrain;
 
  AGX_DECLARE_POINTER_TYPES(TerrainMassOccupancyController);
  AGX_DECLARE_VECTOR_TYPES(TerrainMassOccupancyController);
 
  class AGXTERRAIN_EXPORT TerrainMassOccupancyController : public agx::Referenced
  {
  public:
    TerrainMassOccupancyController(Terrain* terrain);
 
    TerrainMassOccupancyController();
 
    /*
    Set fluid mass in a voxel given an index
    \param voxelIndex - The specified voxel index
    \param fluidMass - the amount of fluid mass to set
    */
    void setFluidOccupancy(const agx::Vec3i& voxelIndex, float fluidMass);
 
    float addFluidOccupancy(const agx::Vec3i& voxelIndex, float fluidMass);
 
    float removeFluidOccupancy(const agx::Vec3i& voxelIndex, float fluidMass);
 
    float getFluidOccupancy(const agx::Vec3i& voxelIndex) const;
 
    float addSolidOccupancy(const agx::Vec3i& voxelIndex, float solidOccupancy, float compaction, float occupancyLimit = 1.0);
 
    float removeSolidOccupancy(const agx::Vec3i& voxelIndex, float solidOccupancy);
 
    float getSolidOccupancy(const agx::Vec3i& voxelIndex) const;
 
    void setCompaction(const agx::Vec3i& voxelIndex, float compaction, bool scaleMass=false);
 
    float getCompaction(const agx::Vec3i& voxelIndex) const;
 
    float getOccupancyModifier(agx::Vec3i voxelIndex) const;
 
    float getParticleOccupancy(const agx::Vec3i& voxelIndex) const;
 
    void setParticleOccupancy(const agx::Vec3i& voxelIndex, float particleMass);
 
    float getCompactedSolidOccupancy(const agx::Vec3i& voxelIndex) const;
 
    float addFluidOccupancyToColumn(const agx::Vec2i& terrainIndex, float mass);
 
    float removeFluidOccupancyFromColumn(const agx::Vec2i& terrainIndex, float mass);
 
    float addSolidOccupancyToColumn(const agx::Vec2i& terrainIndex, float occupancy, float compaction);
 
    float addSolidOccupancyToColumn(const agx::Vec3i& surfaceVoxelIndex, float occupancy, float compaction);
 
    float removeSolidOccupancyFromColumn(const agx::Vec2i& terrainIndex, float mass);
 
    float removeSolidOccupancyFromColumn(const agx::Vec3i& surfaceVoxelIndex, float mass);
 
    float removeOccupancyFromColumn(const agx::Vec2i& terrainIndex, float occupancy);
 
    float addSolidMassKgToColumn(const agx::Vec2i& terrainIndex, float massKg, float compaction);
 
    bool dilateOccupancyInColumn(const agx::Vec3i& bottomVoxel, agx::Vec3i& newSurfaceVoxel);
 
    float convertCompactedSolidOccupancyToNominal(const agx::Vec3i& voxelIndex, float compactedOccupancy) const;
 
    bool isTotalOccupancyOverNominalThreshold(const agx::Vec3i& voxelIndex) const;
 
    bool verifyOccupancyColumnIntegrity(const agx::Vec2i& terrainIndex ) const;
 
    void setGridColumnOccupancy(const agx::Vec2i terrainIndex, int voxelZ, float occupancy);
 
    void setOccupancyInSurfaceVoxel(const agx::Vec2i terrainIndex, float occupancy);
 
    int getSurfaceHeightIndex(const agx::Vec2i terrainIndex) const;
 
    agx::Real getOccupancyInTerrain( TerrainDataAtlas::MassType massType ) const;
 
 
    GridElement getVoxelZAndOccupancyFromLocalHeight(agx::Real height);
 
  public:
    DOXYGEN_START_INTERNAL_BLOCK()
    AGXTERRAIN_STORE_RESTORE_INTERFACE;
    DOXYGEN_END_INTERNAL_BLOCK()
 
  protected:
 
    virtual ~TerrainMassOccupancyController();
 
    TerrainDataAtlas* getData() const;
 
  private:
    Terrain*                          m_terrain;
    agx::HashTable<agx::Vec3i, float> m_occupancyModifiers;
  };
}