TerrainPhysics.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/Terrain.h>
 
namespace agxTerrain
{
  class TerrainPhysics
  {
  public:
    static bool calculateNewCompactionFromStressLog10(Terrain* terrain,
                                                      const agx::Vec3i& voxelIndex,
                                                      agx::Real stress,
                                                      agx::Real timeFactor,
                                                      agx::Real& newCompaction);
 
    static bool calculateNewCompactionFromStressVoidRatio(Terrain* terrain,
                                                          const agx::Vec3i& voxelIndex,
                                                          agx::Real stress,
                                                          agx::Real timeFactor,
                                                          agx::Real& newCompaction);
 
    static agx::Real calculateStressFromUniformDiskLoad(agx::Real depth, agx::Real surfaceLoad, agx::Real diskRadius);
 
    static agx::Real calculateBoussinesqFrolichSubSoilStress(agx::Real depth, agx::Real surfaceForce, agx::Real concentrationFactor, const agx::Vec3& rk_vec);
 
    static agx::Real calculateCompressionMultiplier( agx::Real hardnessRate, agx::Real compaction );
 
    static agx::Real calculateCompactionTimeFactor(agx::Real contactTime, agx::Real tau_c);
 
    static agx::Real getAngleOfReposeMultiplier(Terrain* terrain, const agx::Vec3i& voxelIndex);
 
    static agx::Real getAngleOfReposeMultiplier(Terrain* terrain, const agx::Vec3i& voxelIndex, const agx::Real compaction);
 
    static agx::Real calculateReposeHeight(Terrain* terrain, const agx::Vec2i& receivingIndex, const agx::Vec2i& reposingIndex);
 
 
    /*
    Calculate tan(\alpha) where \alpha is the effective repose angle in the given reposing index, which is
    determined by the material angle of repose and the local compaction.
 
    To get the actual height difference allowed between two neighboring vertices, this needs to be multiplied by
    the distance between them. This is elementSize for adjacent vertices and elementSize * SQRT(2) for diagonal
    vertices.
    */
    static agx::Real calculateTanReposeAngle(Terrain* terrain, const agx::Vec2i& reposingIndex);
 
 
 
    static agx::Vec2 calculateReposeHeights( Terrain* terrain,
                                             const agx::Vec3i& receivingSurfaceVoxelIndex,
                                             const agx::Vec3i& reposingSurfaceVoxelIndex,
                                             const agx::Vec2& tanReposeAngles);
 
 
    static agx::Vec2 calculateReposeHeights( Terrain* terrain,
                                             const agx::Vec3i& receivingSurfaceVoxelIndex,
                                             const agx::Vec3i& reposingSurfaceVoxelIndex,
                                             const agx::Vec2& tanReposeAngles,
                                             const agx::Real& receivingSurfaceCompaction,
                                             const agx::Real& reposingSurfaceCompaction);
 
    static agx::Real calculateYoungsModulus_POW2(agx::Real originalYoungsModulus, agx::Real hardeningRate, agx::Real compaction);
 
    static agx::Real calculateYoungsModulus_CAM_CLAY(agx::Real originalYoungsModulus, agx::Real k_e, agx::Real n_e, agx::Real compaction);
 
    static agx::Real calculateHardnessMultiplier_CAM_CLAY(agx::Real k_e, agx::Real n_e, agx::Real compaction);
 
    static agx::Real calculatePreconsolidationStressLog10(Terrain* terrain, const agx::Vec3i& voxelIndex);
 
    static agx::Real calculatePreconsolidationStressVoidRatio(Terrain* terrain, const agx::Vec3i& voxelIndex);
 
    static agx::Real calculateDilatancyAngleVoxel( const Terrain* terrain, const agx::Vec3i& voxelIndex );
 
    static agx::Real calculateDilatancyAngle(agx::Real dilatancyAngleScalingFactor, agx::Real dilatancyAngle, agx::Real compaction);
 
    static agx::Real calculateEffectiveFrictionAngleVoxel( const Terrain* terrain, const agx::Vec3i& voxelIndex );
 
    static agx::Real calculateEffectiveReposeAngle(const TerrainMaterial* terrainMaterial);
 
    static agx::Real calculateEffectiveFrictionAngleTerrainIndex( const Terrain* terrain, const agx::Vec2i& terrainIndex );
 
    static agx::Real calculateEffectiveFrictionAngle( agx::Real nominalFrictionAngle,
                                                      agx::Real dilatancyAngleScalingFactor,
                                                      agx::Real nominalDilatancyAngle,
                                                      agx::Real compaction);
 
    static agx::Real estimateCriticalCompaction(agx::Real dilatancyAngleScalingFactor, agx::Real dilatancyAngle);
  };
}