#include <GranularBodySystem.h>

Inheritance diagram for agx::Physics::GranularBodySystem:

Public Types
enum	MotionControl { KINEMATICS = 2 , DYNAMICS = 3 }
	The MotionControl enumeration indicates what makes a GranularBody in the GranularBodySystem move. More...

Public Types inherited from agx::Component
typedef Event2< Component , Object >	ObjectEvent
	Event when adding removing child objects.

typedef Callback1< Object * >	TraverseCallback

Public Types inherited from agx::Object
typedef agx::observer_ptr< const Event >	EventConstObserver

typedef agx::ref_ptr< const Event >	EventConstRef

typedef agx::observer_ptr< Event >	EventObserver

typedef agx::Vector< EventObserver >	EventObserverVector

typedef agx::VectorPOD< Event * >	EventPtrVector

typedef agx::ref_ptr< Event >	EventRef

typedef agx::Vector< EventRef >	EventRefVector

Public Member Functions
	GranularBodySystem (Device *device=CpuDevice::instance())

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Physics::GranularBodySystem)

agx::Real	calculateTotalKineticEnergy () const
	calculate total kinetic energy of the granular body system

Physics::GranularBodyPtr	createParticle ()
	Create a new particle in the particle system.

GranularBodyPtrVector	filterBodiesInGeometry (const agxCollide::Geometry *geometry, const GranularBodyPtrVector &granularBodies, bool onlyCheckForMidPoint) const
	Return a subset of specified granular bodies that intersect with a specified geometry.

GranularBodyPtrVector	getGranularBodiesInsideGeometry (const agxCollide::Geometry *geometry, bool onlyCheckForMidPoint) const
	Return all granular bodies that intersect with a specified geometry.

agx::Physics::GranularBodyPtrVector	getGranularBodyPtrVector ()

agx::Physics::GranularBodyPtrVector	getGranularBodyPtrVector () const

MotionControl	getMotionControl (agx::Physics::GranularBodyPtr gptr) const
	Get the motion control of a granular body.

agx::Physics::GranularBodyPtrArray	getParticles ()

const agx::Physics::GranularBodyPtrArray	getParticles () const

agx::Vec3	getSingleParticleAngularVelocity (agx::Index particleId)
	Get angular velocity for a single particle.

void	preAllocateParticleGeometryContactStorage (size_t numElements)
	Pre-allocate memory for elements via the `reserve` function in the storages related to particle-geometry contact and constraint data with specified number of elements.

void	preAllocateParticlePairContactStorage (size_t numElements)
	Pre-allocate memory for elements via the `reserve` function in the storages related to particle-particle contact and constraint data with specified number of elements.

void	preAllocateParticleStorage (size_t numElements)
	Pre-allocate memory for elements via the `reserve` function in the particle data storage with specified number of elements.

void	setContactMode (agx::UInt contactMode)
	Set the contact mode of the GranularBodySystem.

void	setMotionControl (agx::Physics::GranularBodyPtr gptr, MotionControl motionControl)
	Set motion control of the granular body.

virtual void	setParticleMass (Real mass, bool updateExistingParticles=false) override
	Set granular body mass and inertia.

void	setSingleParticleAngularVelocity (agx::Index particleId, const agx::Vec3 &angularVelocity)
	Set angular velocity for a single particle.

virtual void	setSingleParticleRadius (agx::Index particleId, agx::Real radius) override
	Set single particle radius given a specified id.

virtual bool	setUpdateTask (Task *updateTask) override
	Set the task that will be executed whenever it is time to step the simulation.

Public Member Functions inherited from agx::ParticleSystem
void	_setGravityTask (Task *task)

void	addCollisionGroup (agx::UInt32 id, bool updateExistingParticles=true)
	Add the specified `id` to a vector of group id, this will make a all newly created particles part of the group `id`.

void	addCollisionGroup (const agx::Name &id, bool updateExistingParticles=true)

void	addCollisionGroupParticle (agx::UInt32 id, agx::Physics::ParticlePtr ptr)
	Add the specified `id` to a vector of group id, this make the specific particle part of the group `id`.

void	addCollisionGroupParticle (const agx::Name &id, agx::Physics::ParticlePtr ptr)

void	addCustomBufferInt (const agx::String &buffername)
	Adds a custom attribute Int buffer for the particle system.

void	addCustomBufferReal (const agx::String &buffername)
	Adds a custom attribute Real buffer for the particle system.

void	addCustomBufferReal32 (const agx::String &buffername)
	Adds a custom attribute Real32 buffer for the particle system.

void	addCustomBufferVec3 (const agx::String &buffername)
	Adds a custom attribute Vec3 buffer for the particle system.

virtual void	addNotification (agxSDK::Simulation *simulation)
	Triggers when particlesystem is added to the simulation.

void	applyAirForceDragSimple (agx::Real cd, agx::Real cr)
	Apply air drag to the particles according to formula: cd * velocity^2 + cr * velocity.

void	attach ()
	Binds relevant buffer pointers to objects after inserting the particle system into the simulation.

agx::Real	calculateMeanRadius () const
	Returns the calculated mean radius of all the particles. Will return 0 if the system contains no particles.

agx::Real	calculateTotalParticleMass () const
	Calculates the total particle mass in the particle system.

agx::Real	calculateTotalParticleVolume () const

void	clearAllParticles ()
	Utility method for clearing all particles in the particle system.

void	clearContactData ()

void	colorParticlesWithLevelsInBound (const agx::Bound3 &bound, const agx::Vec4fVector &colors)
	Colors particles with different levels in the vertical z-direction inside a specified bound.

void	commitAllBuffers ()
	Executes the "commit" command all buffers in the particle system.

void	commitColorBuffer ()
	Executes the "commit" command on the buffer so that particle rendering can be updated properly.

Physics::ParticlePtr	createParticle ()
	Create a new particle in the particle system.

agx::Physics::ParticleGeometryContactPtr	createParticleGeometryContact (agx::Physics::ParticlePtr particle, agx::Physics::GeometryPtr geometry)

agx::Physics::ParticlePairContactPtr	createParticlePairContact (agx::Physics::ParticlePtr p1, agx::Physics::ParticlePtr p2)

agxData::EntityRange	createParticles (size_t numParticles)
	Create a set of particles in the particle system.

void	destroyParticle (Physics::ParticlePtr particle)
	Destroy a particle.

void	destroyParticles (agxData::EntityRange particles)
	Destroy a range of particles.

void	destroyParticles (const agxData::EntityPtrVector &particles)

void	destroyParticles (const Physics::ParticlePtrVector &particles)
	Destroy a list of particles.

virtual void	destroySingleParticle (agx::Index particleId)
	Destroy particle with specified id.

void	detach ()
	Unbinds relevant buffer pointers from objects after removing the particle system into the simulation.

void	evaluateParticleDefaultMass ()
	This should be called if the density of the bulk material is changed, so the particle default mass is updated accordingly.

agx::Physics::CollisionGroupSetPtr	getCollisionGroupSet () const

agx::Int	getCustomBufferValueInt (agx::Index id, const agx::String &buffername)
	Returns a custom Int buffer value from a particle.

agx::Real	getCustomBufferValueReal (agx::Index id, const agx::String &buffername)
	Returns a custom Real buffer value from a particle.

agx::Real32	getCustomBufferValueReal32 (agx::Index id, const agx::String &buffername)
	Returns a custom Real32 buffer value from a particle.

agx::Vec3	getCustomBufferValueVec3 (agx::Index id, const agx::String &buffername)
	Returns a custom Vec3 buffer value from a particle.

const agxCollide::GeometryHashVector &	getDisabledCollisions () const

bool	getEnableCollisions (const agxCollide::Geometry *geometry) const

agxData::EntityStorage *	getGeometryParticleContactListStorage ()

Material *	getMaterial ()

const Material *	getMaterial () const

size_t	getNumActiveParticleGeometryContacts ()
	Returns the number of ACTIVE particle-geometry contacts, after the last conducted contact filtering.

size_t	getNumActiveParticleParticleContacts ()
	Returns the number of ACTIVE particle-particle contacts, after the last conducted contact filtering.

size_t	getNumParticleGeometryContacts ()
	Returns the number of particle-geometry contacts.

size_t	getNumParticleParticleContacts ()
	Returns the number of particle-particle contacts.

size_t	getNumParticles () const

Physics::ParticlePtr	getParticle (agx::Index particleId)
	Returns a particle from the particle system given a particle id.

const agx::Bound3 &	getParticleBound ()

agx::Vector< agx::Physics::ParticleGeometryContactPtr >	getParticleGeometryContacts ()
	Returns the current ParticleGeometryContacts in the simulation.

agxData::EntityStorage *	getParticleGeometryContactStorage ()

agx::Index	getParticleIdFromIndex (agx::Index index) const
	Return the particle id for the specified particle entity array index.

Real	getParticleMass () const

agxData::EntityStorage *	getParticlePairContactStorage ()

agx::Vector< agx::Physics::ParticlePairContactPtr >	getParticleParticleContacts ()
	Returns the current ParticleParticle contacts in the simulation.

Real	getParticleRadius () const

agx::Physics::ParticlePtrArray	getParticles ()

const agx::Physics::ParticlePtrArray	getParticles () const

agxData::EntityStorage *	getParticleStorage ()

const agxData::EntityStorage *	getParticleStorage () const

virtual agx::Vec4f	getSingleParticleColor (agx::Index particleId)
	Get particle color with specified id.

virtual agx::Vec3	getSingleParticleForce (agx::Index particleId)
	Get particle velocity with specified id.

virtual agx::Real	getSingleParticleMass (agx::Index particleId)
	Get particle radius with specified id.

virtual agx::Vec3	getSingleParticlePosition (agx::Index particleId)
	Get particle position with specified id.

virtual agx::Real	getSingleParticleRadius (agx::Index particleId)
	Get particle radius with specified id.

virtual agx::Vec3	getSingleParticleVelocity (agx::Index particleId)
	Get particle velocity with specified id.

agx::Real	getTotalParticleGeometryContactForces ()

agx::Real	getTotalParticleParticleContactForces ()

Task *	getUpdateTask ()

bool	hasCollisionGroup (agx::UInt32 id) const
	This is performing a linear search among the group id for this particle.

bool	hasCollisionGroup (const agx::Name &id) const

bool	hasCollisionGroupParticle (agx::UInt32 id, agx::Physics::ParticlePtr ptr) const
	This is performing a linear search among the group id for this particle.

bool	hasCollisionGroupParticle (const agx::Name &id, agx::Physics::ParticlePtr ptr) const

bool	hasCustomBuffer (const agx::String &buffername, const agx::String &formatName)
	Returns true if the particle system has a buffer with the specified name and format.

bool	isParticleGeometryContactValid (Physics::ParticleGeometryContactPtr contact)

bool	isParticlePairContactValid (Physics::ParticlePairContactPtr contact)

bool	isValid (Physics::ParticlePtr particle) const

bool	particleExistsWithId (agx::Index id)
	Check if there is a particle with a specified id.

void	removeCollisionGroup (agx::UInt32 id, bool updateExistingParticles=true)
	Remove a group id from the vector of group ids.

void	removeCollisionGroup (const agx::Name &id, bool updateExistingParticles=true)

void	removeCollisionGroupParticle (agx::UInt32 id, agx::Physics::ParticlePtr ptr)
	Remove a group id from the vector of group ids.

void	removeCollisionGroupParticle (const agx::Name &id, agx::Physics::ParticlePtr ptr)

bool	removeParticle (Physics::ParticlePtr particle)
	Tag a particle for removal at the end of the time step.

agx::Physics::ParticlePtrVector	removeParticlesOutsideBound (const agx::Bound3 &bound)
	Removes and returns particles in the specified particle system outside the given 3D bound.

void	setCustomBufferValueInt (agx::Index id, const agx::String &buffername, agx::Int val)
	Sets a custom Int buffer value to a particle.

void	setCustomBufferValueReal (agx::Index id, const agx::String &buffername, agx::Real val)
	Sets a custom Real buffer value to a particle.

void	setCustomBufferValueReal32 (agx::Index id, const agx::String &buffername, agx::Real32 val)
	Sets a custom Real32 buffer value to a particle.

void	setCustomBufferValueVec3 (agx::Index id, const agx::String &buffername, agx::Vec3 val)
	Sets a custom Vec3 buffer value to a particle.

void	setEnableCollisions (const agxCollide::Geometry *geometry, bool flag)
	Specify whether `otherGeometry` is allowed to collide with this geometry.

void	setMaterial (Material *material, bool updateExistingParticles=false)
	Set the default particle material.

virtual void	setParticleMass (Real mass, bool updateExistingParticles=false)
	Set particle mass.

void	setParticleRadius (Real radius, bool updateExistingParticles=false)
	Set the default particle radius of created particles, with option of updating existing particles.

virtual void	setSingleParticleColor (agx::Index particleId, const agx::Vec4f &color)
	Set particle color with specified id.

virtual void	setSingleParticleForce (agx::Index particleId, const agx::Vec3 &force)
	Set particle force with specified id.

virtual void	setSingleParticleMass (agx::Index particleId, agx::Real mass)
	Set particle radius with specified id.

virtual void	setSingleParticleRadius (agx::Index particleId, agx::Real radius)
	Set particle radius with specified id.

virtual void	setSingleParticleVelocity (agx::Index particleId, const agx::Vec3 &velocity)
	Set particle velocity with specified id.

void	setSpace (agxCollide::Space *space)

virtual bool	setUpdateTask (Task *updateTask)
	Set the task that will be executed whenever it is time to step the simulation.

agxData::EntityRange	spawnParticles (const agx::Vec3Vector &positions)
	Spawn particles with defined positions.

agx::Physics::ParticlePtrVector	spawnParticlesInBound (const agx::Bound3 &bound, agx::Emitter::DistributionTable *sourceTable, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified bound from a distribution table.

agx::Physics::ParticlePtrVector	spawnParticlesInBound (const agx::Bound3 &bound, Real radius, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles in a specified bound.

agx::Physics::ParticlePtrVector	spawnParticlesInBoundHCP (const agx::Bound3 &bound, agx::Emitter::DistributionTable *sourceTable, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles in a specified bound from a distribution table using a Hexagonal-Close-Packing (HCP) lattice.

agx::Physics::ParticlePtrVector	spawnParticlesInBoundHCP (const agx::Bound3 &bound, Real radius, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified bound using a Hexagonal-Close-Packing (HCP) lattice.

agx::Physics::ParticlePtrVector	spawnParticlesInGeometry (agxCollide::Geometry geometry, agx::Emitter::DistributionTable sourceTable, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified geometry from a distribution table.

agx::Physics::ParticlePtrVector	spawnParticlesInGeometry (agxCollide::Geometry *geometry, Real radius, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified geometry.

agx::Physics::ParticlePtrVector	spawnParticlesInGeometryHCP (agxCollide::Geometry geometry, agx::Emitter::DistributionTable sourceTable, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified geometry from a distribution table using a Hexagonal-Close-Packing (HCP) lattice.

agx::Physics::ParticlePtrVector	spawnParticlesInGeometryHCP (agxCollide::Geometry *geometry, Real radius, const agx::Vec3 &spacing, agx::Real jitterFactor=agx::Real(0))
	Spawns particles In a specified geometry using a Hexagonal-Close-Packing (HCP) lattice.

Vec3	sumForceMagnitudes (RigidBody *body)
	Sums force magnitudes from particle system onto rigid body.

void	updateShouldRender ()
	Update the shouldRender variable in particles given renders states such as clipping and filtering.

Public Member Functions inherited from agx::Component
	Component (const agx::Name &name=agx::Name(), agx::Model model=agx::Component::ClassModel(), agx::Device device=nullptr)

virtual void	addObject (agx::Object *object, bool assignContext=true)
	Add an object to the component.

virtual String	autoComplete (const String &partialName, StringVector &matchingNames) const

virtual void	buildNavigationTree (agxJson::Value &eNode) const override

void	configure (Model *model)

virtual void	configure (TiXmlElement *eComponent) override

agx::Device *	getDevice ()

template<typename T >
T *	getDevice ()

const agx::Device *	getDevice () const

template<typename T >
const T *	getDevice () const

size_t	getNumObjects (const agx::Name &name) const

agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0) const

agx::Object *	getObject (const agx::Name &name, size_t index=0)

template<typename T >
T *	getObject (const agx::Name &name, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, size_t index=0) const

template<typename T >
const T *	getObject (const agx::Name &name, size_t index=0) const

const agx::ObjectRefVector &	getObjects () const

template<typename T >
void	getObjects (agx::ObjectPtrVector &result, bool recursive=false) const
	Returns All child objects of a specified type in the result container.

void	getObjects (agx::ObjectPtrVector &result, const agx::Model *model, bool recursive=false) const

virtual Object *	getResourceImpl (const Path &path, agx::Model *model) override

virtual void	printSubtree () const override

void	printSubtree (std::ostream &stream, int depth=0) const

virtual void	rebind () override

void	removeAllObjects ()
	Remove all components.

virtual void	removeObject (agx::Object *object)
	Remove an object from the component.

void	removeObject (const agx::Name &name, size_t index=0)
	Remove an object with a specified name (and optional index) from the component.

virtual void	snapshot (TiXmlNode *eParent, const String &directory) const override

void	traverse (ComponentVisitor *)

void	traverse (const TraverseCallback &callback)

Public Member Functions inherited from agx::Object
	Object (const Name &name=Name(), Model *model=Object::ClassModel())

void	addListener (EventListener *listener)

virtual void	buildNavigationTree (agxJson::Value &eNode) const

virtual void	configure (TiXmlElement *)

agx::String	fullName () const

agx::String	fullPath () const

agx::String	fullPath (const agx::Object *root) const

template<typename T >
T *	getAutoScopedResource (const agx::Path &path)

template<typename T >
const T *	getAutoScopedResource (const agx::Path &path) const

agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr) const

agx::Object *	getContext ()

template<typename T >
T *	getContext ()

const agx::Object *	getContext () const

template<typename T >
const T *	getContext () const

agx::UInt32	getId () const

const agx::Name &	getImplementationName () const

agx::Model *	getModel ()

const agx::Model *	getModel () const

const agx::Name &	getName () const

agx::Object *	getNextSibling ()

const agx::Object *	getNextSibling () const

agx::Path	getPath () const

agx::Path	getPath (const agx::Object *root) const

template<typename T >
T *	getResource (const agx::Path &path)

template<typename T >
const T *	getResource (const agx::Path &path) const

agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr) const

virtual agx::Object *	getResourceImpl (const agx::Path &path, agx::Model *model)

agx::Object *	getRootContext ()

const agx::Object *	getRootContext () const

bool	hasListener (EventListener *listener)

bool	hasParent (const agx::Object *node) const

bool	isUnique () const

virtual void	printSubtree () const

virtual void	rebind ()

void	removeListener (EventListener *listener)

virtual void	save (TiXmlElement *) const

virtual void	setContext (agx::Object *context)

void	setId (UInt32 id)

void	setModel (agx::Model *model)
	Set the object model (handled automatically).

void	setName (const agx::Name &name)
	Set the name of the object.

virtual void	snapshot (TiXmlNode *, const String &) const

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static void	applyTransform (agx::Physics::GranularBodyPtr gptr, const agx::AffineMatrix4x4 &transform, bool includeVelocity=false)
	Apply a 4x4 transform on a particle.

static agx::RigidBody *	convertGranularBodyToRigidBody (agx::Physics::GranularBodyPtr gptr)
	Convert a granular body to a rigid body.

static void	copyGranularBodyData (agx::Physics::GranularBodyPtr target, agx::Physics::GranularBodyPtr source, bool copyMaterial=true)
	Copy data from GranularBody source to target body.

static agxStream::Serializable *	create (agxStream::InputArchive &)

static bool	isGranularBodySystem (agx::ParticleSystem *system)
	Checks if a particle system is a granular body system by either class or by internal models.

Static Public Member Functions inherited from agx::ParticleSystem
static Model *	ClassModel ()

Static Public Member Functions inherited from agx::Component
static Component *	_load (TiXmlElement eComponent, Device device)

static agx::Model *	ClassModel ()

static Component *	load (const Path &path, const Name &implementation, Device *device, const Path &_namespace=Path())

static Component *	load (const String &path, const Path &_namespace=Path())

static Component *	load (const String &path, Device *device, const Path &_namespace=Path())

static Component *	load (TiXmlElement eComponent, Device device)

Static Public Member Functions inherited from agx::Object
static agx::Model *	ClassModel ()

static agx::String	generateName (const agx::String &bindPath)

static const HashSet< Object * > &	getActiveObjects ()

static bool	getEnableRebind ()
	Should rebinding be allowed? Right now a global setting.

static Object *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

template<typename T >
static T *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

static Object *	load (const String &path, Device *device, const String &type="", size_t instance=0)

template<typename T >
static T *	load (const String &path, Device *device, const String &type="", size_t instance=0)

static void	load (const String &path, Device *device, ObjectPtrVector &loadedObjects)

static Object *	load (TiXmlElement eObject, Device device)

template<typename T >
static T *	load (TiXmlElement eObject, Device device)

static TiXmlDocument	openDocument (const String &path)

static void	setEnableRebind (bool flag)
	Sets if rebinding of objects should be allowed (Right now a global setting).

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~GranularBodySystem ()

void	init ()

void	invalidLicenseCallback ()

Protected Member Functions inherited from agx::ParticleSystem
	ParticleSystem ()

	ParticleSystem (const String &model, Device *device=CpuDevice::instance())

virtual	~ParticleSystem ()

void	init (bool createMaterial=true)

void	invalidLicenseCallback ()

void	setCollisionGroupSet (agx::Physics::CollisionGroupSetPtr)

void	setRadiusOnParticles (agxData::EntityRange &entityRange, agx::Real radius)

Protected Member Functions inherited from agx::Component
virtual	~Component ()

String	expandAutoCompletionMatch (const String &query, const StringVector &matchingNames) const

void	setDevice (Device *device)

Protected Member Functions inherited from agx::Object
virtual	~Object ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Public Attributes inherited from agx::Component
ObjectEvent	addObjectEvent

ObjectEvent	removeObjectEvent

Protected Types inherited from agx::ParticleSystem
typedef agx::observer_ptr< const MaterialUuidBufferListener >	MaterialUuidBufferListenerConstObserver

typedef agx::ref_ptr< const MaterialUuidBufferListener >	MaterialUuidBufferListenerConstRef

typedef agx::observer_ptr< MaterialUuidBufferListener >	MaterialUuidBufferListenerObserver

typedef agx::ref_ptr< MaterialUuidBufferListener >	MaterialUuidBufferListenerRef

typedef agx::observer_ptr< const UpdateRenderingListener >	UpdateRenderingListenerConstObserver

typedef agx::ref_ptr< const UpdateRenderingListener >	UpdateRenderingListenerConstRef

typedef agx::observer_ptr< UpdateRenderingListener >	UpdateRenderingListenerObserver

typedef agx::ref_ptr< UpdateRenderingListener >	UpdateRenderingListenerRef

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::ParticleSystem
agxData::EntityStorageRef	m_particleStorage

TaskGroupRef	m_updateTask

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Definition at line 32 of file GranularBodySystem.h.

Member Enumeration Documentation

◆ MotionControl

enum agx::Physics::GranularBodySystem::MotionControl

The MotionControl enumeration indicates what makes a GranularBody in the GranularBodySystem move.

There are two forms of motion allowed:

KINEMATICS means that motion is scripted;
DYNAMICS means that motion results from forces;

Enumerator

KINEMATICS

This Granular Body's motion is scripted.

(Position/velocity set by the user)

DYNAMICS

This Granular Body moves from the influence of forces.

(Position/velocity updated by the system)

Definition at line 42 of file GranularBodySystem.h.

Constructor & Destructor Documentation

◆ GranularBodySystem()

agx::Physics::GranularBodySystem::GranularBodySystem ( Device * device = CpuDevice::instance() )

◆ ~GranularBodySystem()

virtual agx::Physics::GranularBodySystem::~GranularBodySystem ( )

protectedvirtual

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::Physics::GranularBodySystem::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::Physics::GranularBodySystem )

◆ applyTransform()

static void agx::Physics::GranularBodySystem::applyTransform	(	agx::Physics::GranularBodyPtr	gptr,
		const agx::AffineMatrix4x4 &	transform,
		bool	includeVelocity = `false`
	)

static

Apply a 4x4 transform on a particle.

◆ calculateTotalKineticEnergy()

agx::Real agx::Physics::GranularBodySystem::calculateTotalKineticEnergy ( ) const

calculate total kinetic energy of the granular body system

◆ convertGranularBodyToRigidBody()

static agx::RigidBody * agx::Physics::GranularBodySystem::convertGranularBodyToRigidBody ( agx::Physics::GranularBodyPtr gptr )

static

Convert a granular body to a rigid body.

◆ copyGranularBodyData()

static void agx::Physics::GranularBodySystem::copyGranularBodyData	(	agx::Physics::GranularBodyPtr	target,
		agx::Physics::GranularBodyPtr	source,
		bool	copyMaterial = `true`
	)

static

Copy data from GranularBody source to target body.

◆ create()

static agxStream::Serializable * agx::Physics::GranularBodySystem::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 170 of file GranularBodySystem.h.

◆ createParticle()

Physics::GranularBodyPtr agx::Physics::GranularBodySystem::createParticle ( )

Create a new particle in the particle system.

Definition at line 182 of file GranularBodySystem.h.

References agx::ParticleSystem::createParticle().

◆ filterBodiesInGeometry()

GranularBodyPtrVector agx::Physics::GranularBodySystem::filterBodiesInGeometry	(	const agxCollide::Geometry *	geometry,
		const GranularBodyPtrVector &	granularBodies,
		bool	onlyCheckForMidPoint
	)		const

Return a subset of specified granular bodies that intersect with a specified geometry.

Parameters

geometry	- The geometry that will be used in the intersection test.
granularBodies	- vector containing all granular bodies that should be tested against the specified geometry.
onlyCheckForMidPoint	- True if only the midpoint of the granular body should be used in the intersection test, false if the radius should be included.

Returns: vector containing the subset of the specified granular bodies that intersect with the specified geometry.

◆ getGranularBodiesInsideGeometry()

GranularBodyPtrVector agx::Physics::GranularBodySystem::getGranularBodiesInsideGeometry	(	const agxCollide::Geometry *	geometry,
		bool	onlyCheckForMidPoint
	)		const

Return all granular bodies that intersect with a specified geometry.

Parameters

geometry	- The geometry that will be used in the intersection test.
onlyCheckForMidPoint	- True if only the midpoint of the granular body should be used in the intersection test, false if the radius should be included.

Returns: vector containing the subset of the specified granular bodies that are inside the specified geometry.

◆ getGranularBodyPtrVector() [1/2]

agx::Physics::GranularBodyPtrVector agx::Physics::GranularBodySystem::getGranularBodyPtrVector ( )

◆ getGranularBodyPtrVector() [2/2]

agx::Physics::GranularBodyPtrVector agx::Physics::GranularBodySystem::getGranularBodyPtrVector ( ) const

◆ getMotionControl()

MotionControl agx::Physics::GranularBodySystem::getMotionControl ( agx::Physics::GranularBodyPtr gptr ) const

Get the motion control of a granular body.

◆ getParticles() [1/2]

agx::Physics::GranularBodyPtrArray agx::Physics::GranularBodySystem::getParticles ( )

Definition at line 183 of file GranularBodySystem.h.

References agxData::EntityStorage::getInstances(), and agx::ParticleSystem::getParticleStorage().

◆ getParticles() [2/2]

const agx::Physics::GranularBodyPtrArray agx::Physics::GranularBodySystem::getParticles ( ) const

Returns: All active particles in the particle system (only valid until storage is modified, e.g. by deleting a particle).

Definition at line 184 of file GranularBodySystem.h.

References getParticles().

Referenced by getParticles().

◆ getSingleParticleAngularVelocity()

agx::Vec3 agx::Physics::GranularBodySystem::getSingleParticleAngularVelocity ( agx::Index particleId )

Get angular velocity for a single particle.

◆ init()

void agx::Physics::GranularBodySystem::init ( )

protected

◆ invalidLicenseCallback()

void agx::Physics::GranularBodySystem::invalidLicenseCallback ( )

protected

◆ isGranularBodySystem()

static bool agx::Physics::GranularBodySystem::isGranularBodySystem ( agx::ParticleSystem * system )

static

Checks if a particle system is a granular body system by either class or by internal models.

◆ preAllocateParticleGeometryContactStorage()

void agx::Physics::GranularBodySystem::preAllocateParticleGeometryContactStorage ( size_t numElements )

Pre-allocate memory for elements via the reserve function in the storages related to particle-geometry contact and constraint data with specified number of elements.

Parameters

numElements - the number of elements to pre-allocate in the storage.

◆ preAllocateParticlePairContactStorage()

void agx::Physics::GranularBodySystem::preAllocateParticlePairContactStorage ( size_t numElements )

Pre-allocate memory for elements via the reserve function in the storages related to particle-particle contact and constraint data with specified number of elements.

Parameters

numElements - the number of elements to pre-allocate in the storage.

◆ preAllocateParticleStorage()

void agx::Physics::GranularBodySystem::preAllocateParticleStorage ( size_t numElements )

Pre-allocate memory for elements via the reserve function in the particle data storage with specified number of elements.

Parameters

numElements - the number of elements to pre-allocate in the particle storage.

◆ setContactMode()

void agx::Physics::GranularBodySystem::setContactMode ( agx::UInt contactMode )

Set the contact mode of the GranularBodySystem.

(Default is 4) 2 - Only friction and normal forces are calculated in the granular contacts. 3 - Normal, friction and rolling resistance forces are calculated in the granular contacts. 4 - Normal, friction, rolling resistance and twisting resistance forces are calculated in the granular contacts.

◆ setMotionControl()

void agx::Physics::GranularBodySystem::setMotionControl	(	agx::Physics::GranularBodyPtr	gptr,
		MotionControl	motionControl
	)

Set motion control of the granular body.

◆ setParticleMass()

virtual void agx::Physics::GranularBodySystem::setParticleMass	(	Real	mass,
		bool	updateExistingParticles = `false`
	)

overridevirtual

Set granular body mass and inertia.

Note that the default mass is normally derived from the default material of the granular system when granular bodies are created. This function is used to set the default value of the mass and inertia buffers and also to manually set the mass and inertia on all granular bodies.

Note: - Setting a material on either the granular system or an individual granular bodies will override this mass value.

Parameters

mass	- the specified mass to set as default and to all existing granular bodies if that option is used.
updateExistingParticles	- true if the mass and inertia of all existing bodies should be updated, false otherwise. ( Default: false )

Reimplemented from agx::ParticleSystem.

◆ setSingleParticleAngularVelocity()

void agx::Physics::GranularBodySystem::setSingleParticleAngularVelocity	(	agx::Index	particleId,
		const agx::Vec3 &	angularVelocity
	)

Set angular velocity for a single particle.

◆ setSingleParticleRadius()

virtual void agx::Physics::GranularBodySystem::setSingleParticleRadius	(	agx::Index	particleId,
		agx::Real	radius
	)

overridevirtual

Set single particle radius given a specified id.

Reimplemented from agx::ParticleSystem.

◆ setUpdateTask()

virtual bool agx::Physics::GranularBodySystem::setUpdateTask ( Task * updateTask )

overridevirtual

Set the task that will be executed whenever it is time to step the simulation.

Reimplemented from agx::ParticleSystem.

The documentation for this class was generated from the following file:

GranularBodySystem.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MotionControl

Constructor & Destructor Documentation

◆ GranularBodySystem()

◆ ~GranularBodySystem()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ applyTransform()

◆ calculateTotalKineticEnergy()

◆ convertGranularBodyToRigidBody()

◆ copyGranularBodyData()

◆ create()

◆ createParticle()

◆ filterBodiesInGeometry()

◆ getGranularBodiesInsideGeometry()

◆ getGranularBodyPtrVector() [1/2]

◆ getGranularBodyPtrVector() [2/2]

◆ getMotionControl()

◆ getParticles() [1/2]

◆ getParticles() [2/2]

◆ getSingleParticleAngularVelocity()

◆ init()

◆ invalidLicenseCallback()

◆ isGranularBodySystem()

◆ preAllocateParticleGeometryContactStorage()

◆ preAllocateParticlePairContactStorage()

◆ preAllocateParticleStorage()

◆ setContactMode()

◆ setMotionControl()

◆ setParticleMass()

◆ setSingleParticleAngularVelocity()

◆ setSingleParticleRadius()

◆ setUpdateTask()