agxOSG/SimulationObject.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.
*/
 
#ifndef AGXOSG_SIMULATIONOBJECT_H
#define AGXOSG_SIMULATIONOBJECT_H
 
#include <agxOSG/export.h>
 
#include <agx/observer_ptr.h>
 
#include <agx/PushDisableWarnings.h> // Disabling warnings. Include agx/PopDisableWarnings.h below!
#include <osg/Node>
#include <agx/PopDisableWarnings.h> // End of disabled warnings.
 
#include <agxSDK/SimulationObject.h>
#include <agx/Bound.h>
#include <agx/Material.h>
 
#define DEFAULT_DETAIL_RATIO 1.0f
 
DOXYGEN_START_INTERNAL_BLOCK()
 
 
namespace agxCollide {
  class Geometry;
  class Trimesh;
}
 
namespace agx {
  class RigidBody;
}
 
namespace osg {
  class Geode;
}
 
 
namespace agxOSG
{
 
 
 
 
  class AGXOSG_EXPORT SimulationObject : public agxSDK::SimulationObject
  {
  public:
    explicit SimulationObject( agxCollide::Geometry *geom, agx::RigidBody *body, osg::Node *node=nullptr ) : agxSDK::SimulationObject( geom, body), m_node( node )
    {
      //      LOGGER_WARNING() << "SimulationObject( agxCollide::" << std::endl << LOGGER_END();
    }
    explicit SimulationObject(  )  {
      //      LOGGER_WARNING() << "SimulationObject()" << std::endl << LOGGER_END();
    }
 
 
    ~SimulationObject() {
      //      LOGGER_WARNING() << "~SimulationObject()" << std::endl << LOGGER_END();
    }
 
    SimulationObject( const SimulationObject& copy) : agxSDK::SimulationObject( copy ) {
      m_node = copy.m_node;
      //      LOGGER_WARNING() << "SimulationObject( const SimulationObject& copy) " << std::endl << LOGGER_END();
    }
 
    SimulationObject& operator= (const SimulationObject& copy )
    {
      if (this == &copy)
        return *this;
 
 
      this->m_geometry = copy.m_geometry;
      this->m_body = copy.m_body;
      m_node = copy.m_node;
 
      return *this;
    }
 
 
    osg::Node *getNode() { return m_node.get(); }
 
    operator const osg::Node *() const { return m_node.get(); }
    operator osg::Node *() { return m_node.get(); }
 
    //     virtual bool operator ==(const SimulationObject& obj)
    //     {
    //       return ( m_geometry.get() == obj.m_geometry.get() && m_body.get() == obj.m_body.get() && m_node.get() == obj.m_node.get());
    //     }
 
    static SimulationObject createBox( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      const agx::Vec3& halfExtent,
      osg::Group *root,
      agxSDK::Simulation* simulation,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true,
      bool addAxes=false
      );
 
 
    static SimulationObject createPlane( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC,
      bool createGeometry=true,
      bool createBody=true
      );
 
    static SimulationObject createHeightField( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      const agx::String& filename, const agx::Real& sizeX, const agx::Real& sizeY,
      const agx::Real& low, const agx::Real& high,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC,
      bool createGeometry=true,
      bool createBody=true
      );
 
    static SimulationObject createHeightField( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      const agx::RealVector& heights,
      size_t resolutionX,
      size_t resolutionY,
      agx::Real sizeX,
      agx::Real sizeY,
      agx::Real bottomMargin,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC,
      bool createGeometry=true,
      bool createBody=true
      );
 
 
 
    static SimulationObject createCylinder(  const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      agx::Real radius, agx::Real height,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true,
      bool addAxes=false
      );
 
    static SimulationObject createCapsule( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      agx::Real radius, agx::Real height,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true
      );
 
 
    static SimulationObject createSphere(  const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      agx::Real radius,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true
      );
 
    static SimulationObject createTrimesh( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      const agx::String& filename,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true
      );
 
    static SimulationObject createTrimesh( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      agxCollide::Trimesh* cloneTrimesh,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true
      );
 
 
    static SimulationObject createTrimesh( const agx::String& name,
      const agx::AffineMatrix4x4& transform,
      const agx::String& filename,
      agx::Real bottomMargin,
      osg::Group *root,
      agxSDK::Simulation* simulation=nullptr,
      agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS,
      bool createGeometry=true,
      bool createBody=true
      );
 
 
    // static agx::ParticleSystem *createParticleSystem(const agx::String& name, osg::Group *root, agxSDK::Simulation* simulation=nullptr);
 
  protected:
    osg::ref_ptr<osg::Node> m_node;
  };
 
 
  AGXOSG_EXPORT agx::RigidBody *buildContainer(const agx::Bound3& bound, agx::Real thickness, agxSDK::Simulation* simulation, osg::Group *root, bool addCeiling = false, agx::Material *material = agx::Material::getDefaultMaterial(), osg::Vec4 color = osg::Vec4(0, 1, 0, 0.1f));
 
  // Create a osg Geode from a specified shape
  AGXOSG_EXPORT osg::Geode* createGeode( osg::Shape *shape, const agx::String& name, float detailRatio = DEFAULT_DETAIL_RATIO );
 
}
 
DOXYGEN_END_INTERNAL_BLOCK()
 
#endif /* _AGXOSG_SIMULATIONOBJECT_H_ */