Shovel object used to interact with a terrain via an active zone that converts solid terrain to dynamic terrain which can be moved by the shovel rigid body. More...

#include <Shovel.h>

Inheritance diagram for agxTerrain::Shovel:

Classes
class	ExcavationSettings
	Class containing the settings for the different ExcavationModes for a shovel. More...

struct	SoilPenetrationParameters

struct	TeethSettings

Public Types
enum class	ExcavationMode : agx::UInt32 { PRIMARY = 0 , DEFORM_BACK = 1 , DEFORM_RIGHT = 2 , DEFORM_LEFT = 3 }
	Enum for describing the different excavation modes of a shovel: 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
	Shovel (agx::RigidBody shovelBody, const agx::Line &topEdge, const agx::Line &cuttingEdge, const agx::Vec3 &cuttingDirection, Shovel connectedShovel=nullptr)
	Basic constructor.

bool	collisionGeometriesAreInsideTerrain (Terrain *terrain) const
	Check if any of the collision geometries are inside terrain bounds.

agx::Real	computeCuttingEdgeLength () const

Terrain *	getActiveTerrain () const

PrimaryActiveZone *	getActiveZone () const

AggregateContactGenerator *	getAggregateContactGenerator () const

agx::Material *	getAggregateMaterial () const

agx::Real	getAggregateTerrainContactArea (Shovel::ExcavationMode excavationMode) const
	Get the aggregate <-> terrain contact area given an excavation mode and a shovel.

agx::Real	getAggregateTerrainContactDepth (Shovel::ExcavationMode excavationMode) const

agx::Vec3	getAggregateTerrainContactForce (Shovel::ExcavationMode excavationMode) const
	Get the terrain <-> aggregate contact force for the given excavation mode.

agxCollide::GeometryContactPtrVector	getAggregateTerrainContacts (Shovel::ExcavationMode excavationMode) const
	Get the aggregate <-> terrain geometry contacts with the shovel given an excavation mode.

agx::Vec3	getAggregateTerrainNormalForce (Shovel::ExcavationMode excavationMode) const
	Get the terrain <-> aggregate normal force for the given excavation mode.

agx::Vec3	getAggregateTerrainTangentialForce (Shovel::ExcavationMode excavationMode) const
	Get the terrain <-> aggregate tangential force for the given excavation mode.

bool	getAlwaysRemoveShovelContacts () const

agx::Vec3	getContactForce () const
	Given geometry contacts exists and the solver has solved them - calculates total shovel contact force between the shovel and it's active terrain.

agx::Real	getContactRegionThreshold () const
	Get the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

agx::Real	getContactRegionVerticalLimit () const

agx::Plane	getCurrentSeparationPlane (ExcavationMode mode) const

const agx::Vec3 &	getCuttingDirection () const

agx::Vec3	getCuttingDirectionWorld () const

const agx::Line &	getCuttingEdge () const

agx::Line	getCuttingEdgeWorld () const

agx::Real	getDeadLoadFraction () const
	Get the last computed dead load fraction of the shovel, i.e how much of it's inner volume that is filled with dynamic soil.

agx::Vec3	getDeformationContactForce () const
	Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain deformation soil aggregate and the shovel.

DeformController *	getDeformController () const

agx::Real	getDynamicMass () const

bool	getEnable () const
	Access the state enable flag.

bool	getEnableForTerrain (Terrain *terrain) const

bool	getEnableInnerShapeCreateDynamicMass () const
	Get if inner shape alone should always create dynamic mass.

bool	getEnableParticleForceFeedback ()

bool	getEnableParticleFreeDeformers () const

agx::Vec3	getExcavationModeContactForce (Shovel::ExcavationMode excavationMode) const
	Calculates total contact force between the soil aggregate associated with the specified excavation mode in the shovel.

ExcavationSettings &	getExcavationSettings (ExcavationMode mode)

const agx::Vector< agxCollide::BoundingAABB > &	getForbiddenBounds ()
	Get the shovels forbidden bounds.

agx::Real	getInnerContactArea () const
	Get the last computed inner contact area of the shovel, i.e the estimated cross-section area of the inner volume that is filled with dynamic soil.

agx::Real	getInnerVolume () const

agx::Real	getMaxPenetrationForce () const
	Set the maximum limit on penetration force (N) that the terrain will generate on this shovel.

agx::Real	getMinimumSubmergedContactLengthFraction () const
	Get the minimum submerged cutting edge length fraction (0-1) that generates submerged cutting.

agx::Real	getNoMergeExtensionDistance () const
	Get the margin outside the shovel bonding box where soil particle merging is forbidden.

agx::UInt	getNumberOfTeeth () const

agx::Frame *	getParentFrame () const

agx::Real	getParticleInclusionMultiplier () const

agx::Real	getPenetrationDepthThreshold () const
	Get the vertical penetration depth threshold for when the shovel tooth for penetration resistance should reach full effectiveness.

bool	getPenetrationForce (agx::Vec3 &force, agx::Vec3 &torque) const
	The result includes the active force and torque from the penetration resistance from the active terrain on the shovel if the shovel is digging in the terrain.

agx::Real	getPenetrationForceScaling () const

SoilPenetrationResistance *	getPenetrationResistance () const

virtual agx::RigidBody *	getRigidBody () const override

agx::Vec3	getSecondaryCuttingDirection () const

agx::Real	getSecondarySeparationAngle () const

agx::Real	getSecondarySeparationDeadloadLimit () const

agx::Vec3	getSeparationContactForce () const
	Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain soil particle aggregate and the shovel.

agx::Vec3	getSeparationFrictionForce () const
	Given geometry contacts exists and the solver has solved them - calculates total contact friction force between the terrain soil particle aggregate and the given shovel.

agx::Vec3	getSeparationNormalForce () const
	Given geometry contacts exists and the solver has solved them - calculates total contact normal force between the terrain soil particle aggregate and the shovel.

agx::Bool	getSetZeroAggregateVelocity () const

agx::ContactMaterial *	getShovelAggregateContactMaterial (Shovel::ExcavationMode mode=Shovel::ExcavationMode::PRIMARY) const
	Get the explicitly set contact material in a shovel-aggregate contact corresponding to a specified excavation mode for the shovel.

agxCollide::GeometryContactPtrVector	getShovelAggregateContacts (Shovel::ExcavationMode excavationMode) const
	Get the shovel <-> aggregate contacts with the soil particle aggregate for the given excavation mode.

ShovelAggregateContactMaterialContainer *	getShovelTerrainContactMaterialContainer () const

agx::Real	getSoilAggregateMass (Shovel::ExcavationMode excavationMode) const
	Returns the total soil aggregate mass in the shovel for the specific excavation mode.

SoilParticleAggregate *	getSoilParticleAggregate () const

bool	getSoilPenetrationModel (agxTerrain::SoilPenetrationResistance::PenetrationModel &model) const
	Get the soil penetration model used for the shovel.

Shovel::TeethSettings &	getTeethSettings ()

agx::Real	getToothLength () const

agx::Real	getToothMaximumRadius () const

agx::Real	getToothMinimumRadius () const

const agx::Line &	getTopEdge () const

agx::Line	getTopEdgeWorld () const

bool	getUseCustomFricionModel () const

agx::Real	getVerticalBladeSoilMergeDistance () const
	Get the vertical distance under the blade cutting edge that the soil is allowed to instantly merge up to.

const agxCollide::GeometryRefVector &	getVoxelCollisionGeometries () const

const agx::RigidBody *	getWedgeAggregate (Shovel::ExcavationMode excavationMode) const

bool	isActive () const

bool	isDigging () const
	Check if the shovel is currently in digging mode with a terrain, i.e if the cutting edge is submerged.

virtual bool	isValid () const override

void	setAlwaysRemoveShovelContacts (bool enable)
	Set to true/false if shovel <-> terrain contacts should always be removed param enable - set to true/false if shovel <-> terrain contacts should always be removed.

void	setContactRegionThreshold (agx::Real contactRegionThreshold)
	Set the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

void	setContactRegionVerticalLimit (agx::Real verticalLimit)
	Set the maximum vertical distance from the shovel bottom plane where regular geometry contacts between the shovel and the terrain are allowed to be created.

void	setCuttingDirection (agx::Vec3 cuttingDirection)

void	setCuttingEdge (agx::Line cuttingEdge)
	Set the cutting edge in local space.

void	setEnable (bool enable)
	Change state enable of this shovel.

void	setEnableForTerrain (Terrain *terrain, bool enable)
	Set if the shovel is enabled for the particular terrain.

void	setEnableInnerShapeCreateDynamicMass (bool enable)
	Set if inner shape alone should always create dynamic mass.

void	setEnableParticleForceFeedback (bool enable)
	Set whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts.

void	setEnableParticleFreeDeformers (bool enable)
	Set true/false if the shovel deformers should make particle free deformations.

void	setEnableShovelTerrainGeometryContacts (Terrain *terrain, bool enable)
	Set if regular geometry contacts should be created between the shovel geometries and the associated terrain geometry.

void	setExcavationSettings (ExcavationMode mode, ExcavationSettings excavationSettings)
	Set a settings object for an ExcavationMode of the shovel.

void	setMaxPenetrationForce (agx::Real maxPenetrationForce)
	Set a maximum limit on penetration force (N) that the terrain will generate on this shovel.

void	setMinimumSubmergedContactLengthFraction (agx::Real minimumSubmergedContactLengthFraction)
	Set the minimum submerged cutting edge length fraction (0-1) that generates submerged cutting.

void	setNoMergeExtensionDistance (agx::Real extensionDistance)
	Set the extension outside the shovel bounding box where soil particle merging is forbidden.

void	setNumberOfTeeth (agx::UInt count)

void	setParticleInclusionMultiplier (agx::Real radiusMultiplier)

void	setPenetrationDepthThreshold (agx::Real depthThreshold)
	Set the vertical penetration depth threshold for when the shovel tooth for penetration resistance should reach full effectiveness.

void	setPenetrationForceScaling (agx::Real penetrationForceScaling)
	Set the linear scaling coefficient for the penetration force (Default: 1.0)

void	setSecondarySeparationDeadloadLimit (agx::Real secondarySeparationLimit)
	Sets the dead-load limit where secondary separation will start to activate where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel.

bool	setShovelAggregateContactMaterial (agx::ContactMaterial *contactMaterial, Shovel::ExcavationMode mode=Shovel::ExcavationMode::PRIMARY)
	Explicitly set contact material properties in a shovel-aggregate contact for a specific excavation mode for the shovel.

bool	setSoilPenetrationModel (agxTerrain::SoilPenetrationResistance::PenetrationModel model)
	Set the soil penetration model used for the shovel.

void	setToothLength (agx::Real length)

void	setToothMaximumRadius (agx::Real radius)

void	setToothMinimumRadius (agx::Real radius)

void	setTopEdge (agx::Line topEdge)
	Set the top edge in local space.

void	setUseCustomFrictionModel (bool enable)

void	setVerticalBladeSoilMergeDistance (agx::Real verticalSoilBladeMergeDistance)
	Sets the vertical distance under the blade cutting edge that the soil is allowed to instantly merge up to.

void	setZeroAggregateVelocity (bool enable)
	Set whenever the innerbody aggregate should have zero velocity before solve step as opposed to using particle or cached post-solve velocities from the previous time step.

Public Member Functions inherited from agxSDK::ShovelInstance
void	addEventListener (agxSDK::StepEventListener *listener)
	Add a StepEventListener which follows the shovel - ie added and removed from a simulation at the same time as the shovel is added/removed from the simulation.

virtual agx::RigidBody *	getRigidBody () const =0

agxSDK::Simulation *	getSimulation () const

virtual bool	isValid () const =0

bool	removeEventListener (agxSDK::StepEventListener *listener)
	Remove an added StepEventListener from the shovel.

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

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 Shovel *	find (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find first shovel with given name.

static Shovel *	find (const agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	Find shovel with given UUID.

static ShovelPtrVector	findAll (const agxSDK::Simulation *simulation)
	Finds all shovels in the given simulation.

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 Types
using	Flags = agx::BitState< StateFlags, agx::UInt32 >

enum	StateFlags : agx::UInt32 { ENABLED = 1 << 0 , REMOVE_SHOVEL_CONTACTS = 1 << 1 , INNER_SHAPE_CREATE_DYNAMIC_MASS = 1 << 2 , ENABLE_PARTICLE_FREE_DEFORMATION = 1 << 3 , ENABLE_PARTICLE_FORCE_FEEDBACK = 1 << 4 , SET_ZERO_AGGREGATE_VELOCITY = 1 << 5 , USE_CUSTOM_FRICTION_MODELS = 1 << 6 }

Protected Member Functions
	Shovel ()
	Default constructor used in serialization.

virtual	~Shovel ()
	Reference counted object - protected destructor.

virtual void	addNotification () override
	Add notification when a shovel is added to a simulation.

void	calculateDeadLoadFraction ()

void	calculateForbiddenBounds ()
	Calculate the shovels forbidden bounds around all the active zones.

void	checkContactMaterials ()

void	clearActiveZoneWedges () const
	Clear the active zone wedges of the primary active zones and deformers.

agx::Real	computeDefaultContactRegionThreshold () const

agx::Frame *	createParentFrame ()

agxCollide::GeometryRefVector	createVoxelCollisionGeometries (agx::Real tessellationLevel=0.5) const

agx::Vec3	ensureCuttingDirectionIsNormalized (agx::Vec3 cuttingDirection)

agxSDK::TerrainManager *	getTerrainManager ()

TerrainPtrVec	getTerrainsInSimulation ()

void	initalizeContactMaterialsForExistingTerrains (agxSDK::Simulation *simulation)
	Initialize contact materials when added to simulation.

virtual void	last () override
	Callback to be executed at the end of the time step Shovel and Terrain step events are synchronized via the TerrainManager.

virtual void	post () override
	Executes post-step events for agxTerrain::Shovel in the simulation.

virtual void	pre () override
	Executes pre-step events for agxTerrain::Shovel in the simulation.

virtual void	preCollide () override
	Executes pre-collide events for agxTerrain::Shovel in the simulation.

virtual void	removeNotification () override
	Remove notification when this shovel is removed from a simulation.

void	setAggregateMaterial (agx::Material *material)
	Set the common material used by the SoilParticleAggregates inside the primary active zone and deformers.

bool	shovelHasParticles () const

Protected Member Functions inherited from agxSDK::ShovelInstance
	ShovelInstance ()
	Default constructor.

virtual	~ShovelInstance ()
	Reference counted object - protected destructor.

virtual void	addNotification ()

virtual void	last ()

virtual void	post ()

virtual void	pre ()

virtual void	preCollide ()

virtual void	removeNotification ()

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 ()

Static Protected Member Functions
static agx::UInt	excavationModeToDeformerCollectionIndex (Shovel::ExcavationMode excavationMode)
	Cast from excavation mode enum to deformer collection index.

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
Terrain *	m_activeTerrain

PrimaryActiveZoneRef	m_activeZone

AggregateContactGeneratorRef	m_aggregateContactGenerator

agx::MaterialRef	m_aggregateMaterial

agxCollide::BoundingAABB	m_collisionBound

Shovel *	m_connectedShovel

agx::Real	m_contactThreshold

agx::Vec3	m_cuttingDirection

agx::Line	m_cuttingEdge

agx::Real	m_deadLoadFraction

DeformControllerRef	m_deformController

std::array< ExcavationSettings, 4 >	m_excavationSettings

Flags	m_flags

agx::Vector< agxCollide::BoundingAABB >	m_forbiddenBounds

agx::Real	m_innerContactArea

bool	m_isActive

agx::Real	m_minimumSubmergedContactLengthFraction

agx::Real	m_noMergeExtensionDistance

agx::FrameRef	m_parentFrame

agx::Real	m_particleInclusionMultiplier

SoilPenetrationResistanceRef	m_penetrationResistance

agx::Real	m_secondarySeparationDeadLoadLimit

bool	m_settingsAreDirty

ShovelAggregateContactMaterialContainerRef	m_shovelAggregateCMContainer

agx::RigidBodyRef	m_shovelBody

SoilParticleAggregateRef	m_soilParticleAggregate

SoilPenetrationParameters	m_soilPenetrationParameters

TeethSettings	m_teethSettings

agx::Line	m_topEdge

agx::Real	m_verticalContactThreshold

agx::Real	m_verticalSoilBladeMergeDistance

agxCollide::GeometryRefVector	m_voxelCollisionGeometries

agx::Vec3iVector	m_voxelsInPrimaryActiveZoneLastTimeStep

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

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

ObjectEvent	removeObjectEvent

Detailed Description

Shovel object used to interact with a terrain via an active zone that converts solid terrain to dynamic terrain which can be moved by the shovel rigid body.

A shovel object consists of a rigid body, two edges and a cutting direction. A convex inner shape is created between the two edges, the top edge and the cutting edge, and the attached rigid body. When the cutting edge intersects a terrain surface an active zone is created in the cutting direction inside the terrain, which then converts solid mass into dynamic mass. The shovel receives feedback forces through a rigid body aggregate constructed from the intertia of the soil particles in the active zone.

The shovel has 4 modes for deforming terrain: PRIMARY, DEFORM_BACK, DEFORM_LEFT and DEFORM_RIGHT. See the Shovel::ExcavationMode enum for details.

Definition at line 60 of file Shovel.h.

Member Typedef Documentation

◆ Flags

using agxTerrain::Shovel::Flags = agx::BitState<StateFlags, agx::UInt32>

protected

Definition at line 1058 of file Shovel.h.

Member Enumeration Documentation

◆ ExcavationMode

enum class agxTerrain::Shovel::ExcavationMode : agx::UInt32

strong

Enum for describing the different excavation modes of a shovel:

Enumerator
PRIMARY	The primary mode of excavation, where the shovel digs along the cutting direction in the terrain horizontal plane.
DEFORM_BACK	The mode of excavation where the shovel is digging in the opposite direction of the cutting direction in the terrain horizontal plane. ( Example: Backside grading )
DEFORM_RIGHT	The mode of excavation where the shovel is digging to the clock wise (Right) direction orthogonal to the cutting direction in the terrain horizontal plane. ( Example: Side push/grading )
DEFORM_LEFT	The mode of excavation where the shovel is digging to the counter-clock wise (Left) direction orthogonal to the cutting direction in the terrain horizontal plane. ( Example: Side push/grading )

Definition at line 112 of file Shovel.h.

◆ StateFlags

enum agxTerrain::Shovel::StateFlags : agx::UInt32

protected

Enumerator
ENABLED
REMOVE_SHOVEL_CONTACTS
INNER_SHAPE_CREATE_DYNAMIC_MASS
ENABLE_PARTICLE_FREE_DEFORMATION
ENABLE_PARTICLE_FORCE_FEEDBACK
SET_ZERO_AGGREGATE_VELOCITY
USE_CUSTOM_FRICTION_MODELS

Definition at line 1048 of file Shovel.h.

Constructor & Destructor Documentation

◆ Shovel() [1/2]

agxTerrain::Shovel::Shovel	(	agx::RigidBody *	shovelBody,
		const agx::Line &	topEdge,
		const agx::Line &	cuttingEdge,
		const agx::Vec3 &	cuttingDirection,
		Shovel *	connectedShovel = `nullptr`
	)

Basic constructor.

Parameters

shovelBody	- The base body of the shovel.
topEdge	- The top edge of the active zone, specified in the LOCAL shovelBody frame that will be created in front of the shovel.
cuttingEdge	- The lowest edge on the shovel, specified in the LOCAL shovelBody frame that serves as the cutting edge of the active zone.
cuttingDirection	- The cutting direction of the shovel where the penetration resistance will be active, which is usually parallel to the lowest shovel plate that is used to initially penetrate the soil.
connectedShovel	- Set if the shovel should be connected to another shovels InnerBody for purposes of simulating composite shovels with varying shovel vectors in along the shovel geometry. This means you can have multiple cutting edges with varying orientation per shovel where you have a central shovel with a single inner shape. (Default: nullptr)

◆ Shovel() [2/2]

agxTerrain::Shovel::Shovel ( )

protected

Default constructor used in serialization.

◆ ~Shovel()

virtual agxTerrain::Shovel::~Shovel ( )

protectedvirtual

Reference counted object - protected destructor.

Member Function Documentation

◆ addNotification()

virtual void agxTerrain::Shovel::addNotification ( )

overrideprotectedvirtual

Add notification when a shovel is added to a simulation.

Reimplemented from agxSDK::ShovelInstance.

◆ calculateDeadLoadFraction()

void agxTerrain::Shovel::calculateDeadLoadFraction ( )

protected

◆ calculateForbiddenBounds()

void agxTerrain::Shovel::calculateForbiddenBounds ( )

protected

Calculate the shovels forbidden bounds around all the active zones.

◆ checkContactMaterials()

void agxTerrain::Shovel::checkContactMaterials ( )

protected

◆ clearActiveZoneWedges()

void agxTerrain::Shovel::clearActiveZoneWedges ( ) const

protected

Clear the active zone wedges of the primary active zones and deformers.

◆ collisionGeometriesAreInsideTerrain()

bool agxTerrain::Shovel::collisionGeometriesAreInsideTerrain ( Terrain * terrain ) const

Check if any of the collision geometries are inside terrain bounds.

◆ computeCuttingEdgeLength()

agx::Real agxTerrain::Shovel::computeCuttingEdgeLength ( ) const

Returns: the computed cutting edge length of the Shovel.

◆ computeDefaultContactRegionThreshold()

agx::Real agxTerrain::Shovel::computeDefaultContactRegionThreshold ( ) const

protected

◆ createParentFrame()

agx::Frame * agxTerrain::Shovel::createParentFrame ( )

protected

◆ createVoxelCollisionGeometries()

agxCollide::GeometryRefVector agxTerrain::Shovel::createVoxelCollisionGeometries ( agx::Real tessellationLevel = 0.5 ) const

protected

◆ ensureCuttingDirectionIsNormalized()

agx::Vec3 agxTerrain::Shovel::ensureCuttingDirectionIsNormalized ( agx::Vec3 cuttingDirection )

protected

◆ excavationModeToDeformerCollectionIndex()

static agx::UInt agxTerrain::Shovel::excavationModeToDeformerCollectionIndex ( Shovel::ExcavationMode excavationMode )

staticprotected

Cast from excavation mode enum to deformer collection index.

◆ find() [1/2]

static Shovel * agxTerrain::Shovel::find	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find first shovel with given name.

Parameters

simulation	- simulation the shovel is part of
name	- name of the shovel

Returns: shovel if found - otherwise nullptr

◆ find() [2/2]

static Shovel * agxTerrain::Shovel::find	(	const agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

Find shovel with given UUID.

Parameters

simulation	- simulation the shovel is part of
uuid	- UUID of the shovel

Returns: shovel if found - otherwise nullptr

◆ findAll()

static ShovelPtrVector agxTerrain::Shovel::findAll ( const agxSDK::Simulation * simulation )

static

Finds all shovels in the given simulation.

Parameters

simulation - simulation with shovels.

Returns: vector of shovels

◆ getActiveTerrain()

Terrain * agxTerrain::Shovel::getActiveTerrain ( ) const

◆ getActiveZone()

PrimaryActiveZone * agxTerrain::Shovel::getActiveZone ( ) const

Returns: shovel active zone specific for this shovel instance

◆ getAggregateContactGenerator()

AggregateContactGenerator * agxTerrain::Shovel::getAggregateContactGenerator ( ) const

Returns: aggregate contact generator specific for this shovel instance

◆ getAggregateMaterial()

agx::Material * agxTerrain::Shovel::getAggregateMaterial ( ) const

Returns: the common material used for the SoilParticleAggregates inside the primary active zone and deformers.

◆ getAggregateTerrainContactArea()

agx::Real agxTerrain::Shovel::getAggregateTerrainContactArea ( Shovel::ExcavationMode excavationMode ) const

Get the aggregate <-> terrain contact area given an excavation mode and a shovel.

Parameters

excavationMode - the excavation mode that the aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: the aggregate <-> terrain contact area given an excavation mode and a shovel.

◆ getAggregateTerrainContactDepth()

agx::Real agxTerrain::Shovel::getAggregateTerrainContactDepth ( Shovel::ExcavationMode excavationMode ) const

Returns: the current wedge aggregate depth in the specified collection given an excavation mode.

◆ getAggregateTerrainContactForce()

agx::Vec3 agxTerrain::Shovel::getAggregateTerrainContactForce ( Shovel::ExcavationMode excavationMode ) const

Get the terrain <-> aggregate contact force for the given excavation mode.

Parameters

excavationMode - the excavation mode that the aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: the total force (N) acting on the aggregate in the terrain-aggregate contact

◆ getAggregateTerrainContacts()

agxCollide::GeometryContactPtrVector agxTerrain::Shovel::getAggregateTerrainContacts ( Shovel::ExcavationMode excavationMode ) const

Get the aggregate <-> terrain geometry contacts with the shovel given an excavation mode.

Parameters

excavationMode - the excavation mode that the aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: vector containing the geometry contacts between the specified aggregate and the terrain

◆ getAggregateTerrainNormalForce()

agx::Vec3 agxTerrain::Shovel::getAggregateTerrainNormalForce ( Shovel::ExcavationMode excavationMode ) const

Get the terrain <-> aggregate normal force for the given excavation mode.

Parameters

excavationMode - the excavation mode that the aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: the total force (N) acting on the aggregate in the terrain-aggregate contact

◆ getAggregateTerrainTangentialForce()

agx::Vec3 agxTerrain::Shovel::getAggregateTerrainTangentialForce ( Shovel::ExcavationMode excavationMode ) const

Get the terrain <-> aggregate tangential force for the given excavation mode.

Parameters

excavationMode - the excavation mode that the aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: the total force (N) acting on the aggregate in the terrain-aggregate contact

◆ getAlwaysRemoveShovelContacts()

bool agxTerrain::Shovel::getAlwaysRemoveShovelContacts ( ) const

Returns: true/false if shovel <-> terrain contacts are removed.

◆ getContactForce()

agx::Vec3 agxTerrain::Shovel::getContactForce ( ) const

Given geometry contacts exists and the solver has solved them - calculates total shovel contact force between the shovel and it's active terrain.

This is the contact force that prevents the shovel from falling through the terrain when not in excavation mode, where contact feedback is generated from the soil aggregates.

Note: - This method returns regular contact forces ONLY when no soil aggregates are present to generate excavation feedback!

Returns: the total non-excavation contact force between this terrain and the given shovel.

◆ getContactRegionThreshold()

agx::Real agxTerrain::Shovel::getContactRegionThreshold ( ) const

Get the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

Contacts that do not reach the distance threshold will be filtered away.

Returns: the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created. ( Default: cuttingEdgeLength / 10.0 )

◆ getContactRegionVerticalLimit()

agx::Real agxTerrain::Shovel::getContactRegionVerticalLimit ( ) const

◆ getCurrentSeparationPlane()

agx::Plane agxTerrain::Shovel::getCurrentSeparationPlane ( ExcavationMode mode ) const

Returns: get current separation plane for each excavation mode

◆ getCuttingDirection()

const agx::Vec3 & agxTerrain::Shovel::getCuttingDirection ( ) const

Returns: the forward vector in local space.

◆ getCuttingDirectionWorld()

agx::Vec3 agxTerrain::Shovel::getCuttingDirectionWorld ( ) const

Returns: the forward vector in world space.

◆ getCuttingEdge()

const agx::Line & agxTerrain::Shovel::getCuttingEdge ( ) const

Returns: the cutting edge in local space.

◆ getCuttingEdgeWorld()

agx::Line agxTerrain::Shovel::getCuttingEdgeWorld ( ) const

Returns: the cutting edge in world space.

◆ getDeadLoadFraction()

agx::Real agxTerrain::Shovel::getDeadLoadFraction ( ) const

Get the last computed dead load fraction of the shovel, i.e how much of it's inner volume that is filled with dynamic soil.

The dead load fraction ranges from 0.0 (empty), to 1.0 (full).

Returns: the last computed dead load fraction

◆ getDeformationContactForce()

agx::Vec3 agxTerrain::Shovel::getDeformationContactForce ( ) const

Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain deformation soil aggregate and the shovel.

This represents the deformation force that is required to move soil via shovel deformation instead of excavation, i.e not excavation or digging. Examples of this would be side movement and backwards grading of the soil.

Returns: the total contact force between given shovel and the deformer soil aggregates in the terrain.

◆ getDeformController()

DeformController * agxTerrain::Shovel::getDeformController ( ) const

Returns: aggregate contact generator specific for this shovel instance

◆ getDynamicMass()

agx::Real agxTerrain::Shovel::getDynamicMass ( ) const

Returns: dynamic mass in the shovel, including both particles and fluid mass

◆ getEnable()

bool agxTerrain::Shovel::getEnable ( ) const

Access the state enable flag.

Returns: true if the body is enabled (default) - otherwise false

◆ getEnableForTerrain()

bool agxTerrain::Shovel::getEnableForTerrain ( Terrain * terrain ) const

Returns: if the shovel is enabled for the specified terrain. Default: true.

◆ getEnableInnerShapeCreateDynamicMass()

bool agxTerrain::Shovel::getEnableInnerShapeCreateDynamicMass ( ) const

Get if inner shape alone should always create dynamic mass.

The alternative is to only create dynamic mass in the inner shape when primary excavation soil wedges create mass.

Returns: true if inner shape should always create dynamic mass (default), false otherwise.

◆ getEnableParticleForceFeedback()

bool agxTerrain::Shovel::getEnableParticleForceFeedback ( )

Returns: whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts. (Default: false)

◆ getEnableParticleFreeDeformers()

bool agxTerrain::Shovel::getEnableParticleFreeDeformers ( ) const

Returns: whether the shovel deformers should create dynamic mass.

◆ getExcavationModeContactForce()

agx::Vec3 agxTerrain::Shovel::getExcavationModeContactForce ( Shovel::ExcavationMode excavationMode ) const

Calculates total contact force between the soil aggregate associated with the specified excavation mode in the shovel.

This represents the deformation force that is required to move soil via shovel deformation instead of excavation, i.e not excavation or digging. Examples of this would be side movement and backwards grading of the soil.

Parameters

excavationMode - the excavation mode that the specified soil aggregate belongs to

Returns: the total contact force between the shovel and the soil aggregate specified by the excavation mode

◆ getExcavationSettings()

ExcavationSettings & agxTerrain::Shovel::getExcavationSettings ( ExcavationMode mode )

Returns: the excavation settings for an excavation mode in the shovel.

◆ getForbiddenBounds()

const agx::Vector< agxCollide::BoundingAABB > & agxTerrain::Shovel::getForbiddenBounds ( )

Get the shovels forbidden bounds.

◆ getInnerContactArea()

agx::Real agxTerrain::Shovel::getInnerContactArea ( ) const

Get the last computed inner contact area of the shovel, i.e the estimated cross-section area of the inner volume that is filled with dynamic soil.

Note: - This is used in the shovel-aggregate contact in primary excavation to calculate stiffness and cohesion.

Returns: the last computed inner contact area of the shovel.

◆ getInnerVolume()

agx::Real agxTerrain::Shovel::getInnerVolume ( ) const

Returns: the shovel inner volume that is used in the dead load calculations

◆ getMaxPenetrationForce()

agx::Real agxTerrain::Shovel::getMaxPenetrationForce ( ) const

Set the maximum limit on penetration force (N) that the terrain will generate on this shovel.

(Default: Infinity)

Returns: The maximum penetration force that the terrain will act on this shovel

◆ getMinimumSubmergedContactLengthFraction()

agx::Real agxTerrain::Shovel::getMinimumSubmergedContactLengthFraction ( ) const

Get the minimum submerged cutting edge length fraction (0-1) that generates submerged cutting.

Default: 0.5

◆ getNoMergeExtensionDistance()

agx::Real agxTerrain::Shovel::getNoMergeExtensionDistance ( ) const

Get the margin outside the shovel bonding box where soil particle merging is forbidden.

◆ getNumberOfTeeth()

agx::UInt agxTerrain::Shovel::getNumberOfTeeth ( ) const

Returns: the teeth count of the shovel.

◆ getParentFrame()

agx::Frame * agxTerrain::Shovel::getParentFrame ( ) const

Returns: parent frame located at model center of the shovel

◆ getParticleInclusionMultiplier()

agx::Real agxTerrain::Shovel::getParticleInclusionMultiplier ( ) const

Returns: the radius multiplier for extending the inclusion bound with particle radius during post-excavation with particles in bucket. (Default: 1.0)

Note: - This will only be active post-excavation and NOT during excavation when we have active soil wedges.

◆ getPenetrationDepthThreshold()

agx::Real agxTerrain::Shovel::getPenetrationDepthThreshold ( ) const

Get the vertical penetration depth threshold for when the shovel tooth for penetration resistance should reach full effectiveness.

The penetration depth is defined as the vertical distance between the tip of a shovel tooth and the surface position of the height field. The penetration resistance will increase from a baseline of 10% until maximum effectiveness is reached when the vertical penetration depth of the shovel reaches the specified value. (Default: 0.5 m)

Returns: the vertical depth penetration threshold that will cause penetration resistance to reach full effectiveness.

◆ getPenetrationForce()

bool agxTerrain::Shovel::getPenetrationForce	(	agx::Vec3 &	force,
		agx::Vec3 &	torque
	)		const

The result includes the active force and torque from the penetration resistance from the active terrain on the shovel if the shovel is digging in the terrain.

Parameters

force	- the penetration force out parameter
torque	- the penetration torque out parameter

Returns: true if resulting force and torque was written to force and torque - otherwise false

◆ getPenetrationForceScaling()

agx::Real agxTerrain::Shovel::getPenetrationForceScaling ( ) const

Returns: the linear scaling coefficient for the penetration force (Default: 1.0)

◆ getPenetrationResistance()

SoilPenetrationResistance * agxTerrain::Shovel::getPenetrationResistance ( ) const

Returns: shovel penetration resistance specific for this shovel instance

◆ getRigidBody()

virtual agx::RigidBody * agxTerrain::Shovel::getRigidBody ( ) const

overridevirtual

Returns: the base rigid body from the shovel object.

Implements agxSDK::ShovelInstance.

◆ getSecondaryCuttingDirection()

agx::Vec3 agxTerrain::Shovel::getSecondaryCuttingDirection ( ) const

Returns: the secondary cutting direction of the shovel

◆ getSecondarySeparationAngle()

agx::Real agxTerrain::Shovel::getSecondarySeparationAngle ( ) const

Returns: the secondary separation forward vector of the shovel

◆ getSecondarySeparationDeadloadLimit()

agx::Real agxTerrain::Shovel::getSecondarySeparationDeadloadLimit ( ) const

Returns: the dead-load limit where secondary separation will start to active where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel

◆ getSeparationContactForce()

agx::Vec3 agxTerrain::Shovel::getSeparationContactForce ( ) const

Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain soil particle aggregate and the shovel.

This represents the separation force that is required to move the excavated soil in the shovel active zone.

Returns: the total contact force between given shovel and the soil particle aggregate in the terrain.

◆ getSeparationFrictionForce()

agx::Vec3 agxTerrain::Shovel::getSeparationFrictionForce ( ) const

Given geometry contacts exists and the solver has solved them - calculates total contact friction force between the terrain soil particle aggregate and the given shovel.

Returns: the total contact friction force between given shovel and the soil particle aggregate in the terrain.

◆ getSeparationNormalForce()

agx::Vec3 agxTerrain::Shovel::getSeparationNormalForce ( ) const

Given geometry contacts exists and the solver has solved them - calculates total contact normal force between the terrain soil particle aggregate and the shovel.

Returns: the total contact normal force between given shovel and the soil particle aggregate in the terrain.

◆ getSetZeroAggregateVelocity()

agx::Bool agxTerrain::Shovel::getSetZeroAggregateVelocity ( ) const

Returns: true if the innerbody aggregate should have zero velocity, false otherwise.

◆ getShovelAggregateContactMaterial()

agx::ContactMaterial * agxTerrain::Shovel::getShovelAggregateContactMaterial ( Shovel::ExcavationMode mode = Shovel::ExcavationMode::PRIMARY ) const

Get the explicitly set contact material in a shovel-aggregate contact corresponding to a specified excavation mode for the shovel.

This overrides the shovel-terrain contact material properties that are used in the default case.

Parameters

mode	- The specified excavation mode that corresponds to the aggregate.

Note: - this returns nullptr if the shovel is not valid.

Returns: a contact material if one has been explicitly set, nullptr otherwise.

◆ getShovelAggregateContacts()

agxCollide::GeometryContactPtrVector agxTerrain::Shovel::getShovelAggregateContacts ( Shovel::ExcavationMode excavationMode ) const

Get the shovel <-> aggregate contacts with the soil particle aggregate for the given excavation mode.

Parameters

excavationMode - the excavation mode that the soil aggregate belongs too ( PRIMARY, DEFORM_BACK, DEFORM_RIGHT, DEFORM_LEFT )

Returns: vector containing the geometry contacts between the specified shovel and the aggregate.

◆ getShovelTerrainContactMaterialContainer()

ShovelAggregateContactMaterialContainer * agxTerrain::Shovel::getShovelTerrainContactMaterialContainer ( ) const

Returns: the ShovelAggregateContactMaterialContainer that contains all contact materials explicitly set for this shovel.

◆ getSoilAggregateMass()

agx::Real agxTerrain::Shovel::getSoilAggregateMass ( Shovel::ExcavationMode excavationMode ) const

Returns the total soil aggregate mass in the shovel for the specific excavation mode.

This function can be used to extract the active mass that the shovel is trying to displace in the failure zones during digging and deformation.

Parameters

excavationMode - The excavation mode of the aggregate that will be used to extract the mass.

Returns: the total aggregate mass, including inner shape if excavation mode is PRIMARY_EXCAVATION.

◆ getSoilParticleAggregate()

SoilParticleAggregate * agxTerrain::Shovel::getSoilParticleAggregate ( ) const

Returns: soil particle aggregate specific for this shovel instance

◆ getSoilPenetrationModel()

bool agxTerrain::Shovel::getSoilPenetrationModel ( agxTerrain::SoilPenetrationResistance::PenetrationModel & model ) const

Get the soil penetration model used for the shovel.

Available models are:

NO_MODEL - Only use the soil pressure above the cutting edge to determine the penetration resistance.
ELASTIC_PLASTIC_LIMIT - Calculate the expected penetration resistance based in the elastic plastic limit. (Default)
PLASTIC - Calculate the expected penetration resistance based on plastic expansion due to tooth pressure.

Parameters

model - The output variable where the penetration model that is used will be put, if successful.

Returns: true if the model was successfully extracted, false otherwise.

◆ getTeethSettings()

Shovel::TeethSettings & agxTerrain::Shovel::getTeethSettings ( )

◆ getTerrainManager()

agxSDK::TerrainManager * agxTerrain::Shovel::getTerrainManager ( )

protected

◆ getTerrainsInSimulation()

TerrainPtrVec agxTerrain::Shovel::getTerrainsInSimulation ( )

protected

◆ getToothLength()

agx::Real agxTerrain::Shovel::getToothLength ( ) const

Returns: the tooth length of the shovel.

◆ getToothMaximumRadius()

agx::Real agxTerrain::Shovel::getToothMaximumRadius ( ) const

Returns: the maximum radius of the shovel teeth.

◆ getToothMinimumRadius()

agx::Real agxTerrain::Shovel::getToothMinimumRadius ( ) const

Returns: the minimum radius of the shovel teeth.

◆ getTopEdge()

const agx::Line & agxTerrain::Shovel::getTopEdge ( ) const

Returns: the top edge in local space.

◆ getTopEdgeWorld()

agx::Line agxTerrain::Shovel::getTopEdgeWorld ( ) const

Returns: the top edge in world space.

◆ getUseCustomFricionModel()

bool agxTerrain::Shovel::getUseCustomFricionModel ( ) const

Returns: whenever custom friction models should be used in the shovel <-> aggregate contacts. (Default: true)

◆ getVerticalBladeSoilMergeDistance()

agx::Real agxTerrain::Shovel::getVerticalBladeSoilMergeDistance ( ) const

Get the vertical distance under the blade cutting edge that the soil is allowed to instantly merge up to.

◆ getVoxelCollisionGeometries()

const agxCollide::GeometryRefVector & agxTerrain::Shovel::getVoxelCollisionGeometries ( ) const

Returns: the shovel geometries colliding with voxels in the terrain

◆ getWedgeAggregate()

const agx::RigidBody * agxTerrain::Shovel::getWedgeAggregate ( Shovel::ExcavationMode excavationMode ) const

Returns: the current wedge aggregate in the specified collection given an excavation mode if it exists, nullptr otherwise.

◆ initalizeContactMaterialsForExistingTerrains()

void agxTerrain::Shovel::initalizeContactMaterialsForExistingTerrains ( agxSDK::Simulation * simulation )

protected

Initialize contact materials when added to simulation.

◆ isActive()

bool agxTerrain::Shovel::isActive ( ) const

◆ isDigging()

bool agxTerrain::Shovel::isDigging ( ) const

Check if the shovel is currently in digging mode with a terrain, i.e if the cutting edge is submerged.

Note: Internally check if the shovel is acting on an active terrain or not, see getActiveTerrain.

Returns: whether the Shovel is currently digging or not.

◆ isValid()

virtual bool agxTerrain::Shovel::isValid ( ) const

overridevirtual

Implements agxSDK::ShovelInstance.

◆ last()

virtual void agxTerrain::Shovel::last ( )

overrideprotectedvirtual

Callback to be executed at the end of the time step Shovel and Terrain step events are synchronized via the TerrainManager.

Reimplemented from agxSDK::ShovelInstance.

◆ post()

virtual void agxTerrain::Shovel::post ( )

overrideprotectedvirtual

Executes post-step events for agxTerrain::Shovel in the simulation.

Shovel and Terrain step events are synchronized via the TerrainManager.

Reimplemented from agxSDK::ShovelInstance.

◆ pre()

virtual void agxTerrain::Shovel::pre ( )

overrideprotectedvirtual

Executes pre-step events for agxTerrain::Shovel in the simulation.

Shovel and Terrain step events are synchronized via the TerrainManager. In the pre step we:

Filter contact points for the deformers
Calculate dead load fraction
Check and if need be, set the internal contact materials (this is a new ContactMaterial and transfer each pre step)
Run the onPre calls in all internal classes (aggregates, deformers, pen resistance)

Reimplemented from agxSDK::ShovelInstance.

◆ preCollide()

virtual void agxTerrain::Shovel::preCollide ( )

overrideprotectedvirtual

Executes pre-collide events for agxTerrain::Shovel in the simulation.

Shovel and Terrain step events are synchronized via the TerrainManager. In the preCollide step, we:

Check if the shovel is active either by colliding with a terrain or if there are particles in the shovel.
If we need to, we create soil wedges in the primary and secondary deformers. (onPreCollide calls)
Forbidden bounds around the shovel are calculated.

Reimplemented from agxSDK::ShovelInstance.

◆ removeNotification()

virtual void agxTerrain::Shovel::removeNotification ( )

overrideprotectedvirtual

Remove notification when this shovel is removed from a simulation.

Reimplemented from agxSDK::ShovelInstance.

◆ setAggregateMaterial()

void agxTerrain::Shovel::setAggregateMaterial ( agx::Material * material )

protected

Set the common material used by the SoilParticleAggregates inside the primary active zone and deformers.

Propagates the material into the internal classes.

◆ setAlwaysRemoveShovelContacts()

void agxTerrain::Shovel::setAlwaysRemoveShovelContacts ( bool enable )

Set to true/false if shovel <-> terrain contacts should always be removed param enable - set to true/false if shovel <-> terrain contacts should always be removed.

◆ setContactRegionThreshold()

void agxTerrain::Shovel::setContactRegionThreshold ( agx::Real contactRegionThreshold )

Set the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

Contacts that are not past the distance threshold will be filtered away.

Parameters

contactRegionThreshold - The contact distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain are allowed to be created. ( Default: cuttingEdgeLength / 10.0 )

◆ setContactRegionVerticalLimit()

void agxTerrain::Shovel::setContactRegionVerticalLimit ( agx::Real verticalLimit )

Set the maximum vertical distance from the shovel bottom plane where regular geometry contacts between the shovel and the terrain are allowed to be created.

Contacts past the distance will be filtered away.

Parameters

verticalLimit - The vertical contact distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain are allowed to be created. ( Default: cuttingEdgeLength / 10.0 )

◆ setCuttingDirection()

void agxTerrain::Shovel::setCuttingDirection ( agx::Vec3 cuttingDirection )

Parameters

cuttingDirection - new cutting direction in local space.

◆ setCuttingEdge()

void agxTerrain::Shovel::setCuttingEdge ( agx::Line cuttingEdge )

Set the cutting edge in local space.

Parameters

cuttingEdge - new cutting edge in local space.

◆ setEnable()

void agxTerrain::Shovel::setEnable ( bool enable )

Change state enable of this shovel.

If the shovel is disabled, it can not be used for excavation in a terrain. Default: true.

Parameters

enable - true to enable, false to disable

◆ setEnableForTerrain()

void agxTerrain::Shovel::setEnableForTerrain	(	Terrain *	terrain,
		bool	enable
	)

Set if the shovel is enabled for the particular terrain.

Prerequisites: Shovel needs to be added to the simulation. Default: True, ie enabled for any terrain.

◆ setEnableInnerShapeCreateDynamicMass()

void agxTerrain::Shovel::setEnableInnerShapeCreateDynamicMass ( bool enable )

Set if inner shape alone should always create dynamic mass.

The alternative is to only create dynamic mass in the inner shape when primary excavation soil wedges create mass. Default: true.

Parameters

enable - true if inner shape should always create dynamic mass (default), false otherwise.

◆ setEnableParticleForceFeedback()

void agxTerrain::Shovel::setEnableParticleForceFeedback ( bool enable )

Set whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts.

Parameters

enable - true if particles should generate contact forces on the shovel, false otherwise. (Default: false)

◆ setEnableParticleFreeDeformers()

void agxTerrain::Shovel::setEnableParticleFreeDeformers ( bool enable )

Set true/false if the shovel deformers should make particle free deformations.

(Default: false) Note, if this is true all excavation modes will make particle free deformations. Even if enableCreateDynamicMass is set to false for one or more excavation modes.

Parameters

enable - true if the shovel deformers mode should make particle free deformations.

◆ setEnableShovelTerrainGeometryContacts()

void agxTerrain::Shovel::setEnableShovelTerrainGeometryContacts	(	Terrain *	terrain,
		bool	enable
	)

Set if regular geometry contacts should be created between the shovel geometries and the associated terrain geometry.

◆ setExcavationSettings()

void agxTerrain::Shovel::setExcavationSettings	(	ExcavationMode	mode,
		ExcavationSettings	excavationSettings
	)

Set a settings object for an ExcavationMode of the shovel.

Excavation modes are as follows:

PRIMARY - The primary mode of excavation, where the shovel digs along the cutting direction in the terrain horizontal plane.
DEFORM_BACK - The mode of excavation where the shovel is digging in the opposite direction of the cutting direction in the terrain horizontal plane. ( Example: Backside grading )
DEFORM_LEFT - The mode of excavation where the shovel is digging to the counter-clock wise (Left) direction orthogonal to the cutting direction in the terrain horizontal plane. ( Example: Side push/grading )
DEFORM_RIGHT - The mode of excavation where the shovel is digging to the clock wise (Right) direction orthogonal to the cutting direction in the terrain horizontal plane. ( Example: Side push/grading )
Parameters

mode - The specified excavation mode that the settings will apply to.

excavationSettings - The specified excavation settings that will apply to the excavation mode.

◆ setMaxPenetrationForce()

void agxTerrain::Shovel::setMaxPenetrationForce ( agx::Real maxPenetrationForce )

Set a maximum limit on penetration force (N) that the terrain will generate on this shovel.

(Default: Infinity)

Parameters

maxPenetrationForce - The maximum penetration force that the terrain will act on this shovel

◆ setMinimumSubmergedContactLengthFraction()

void agxTerrain::Shovel::setMinimumSubmergedContactLengthFraction ( agx::Real minimumSubmergedContactLengthFraction )

Set the minimum submerged cutting edge length fraction (0-1) that generates submerged cutting.

Default: 0.5

◆ setNoMergeExtensionDistance()

void agxTerrain::Shovel::setNoMergeExtensionDistance ( agx::Real extensionDistance )

Set the extension outside the shovel bounding box where soil particle merging is forbidden.

◆ setNumberOfTeeth()

void agxTerrain::Shovel::setNumberOfTeeth ( agx::UInt count )

Parameters

count - new teeth count of shovel.

◆ setParticleInclusionMultiplier()

void agxTerrain::Shovel::setParticleInclusionMultiplier ( agx::Real radiusMultiplier )

◆ setPenetrationDepthThreshold()

void agxTerrain::Shovel::setPenetrationDepthThreshold ( agx::Real depthThreshold )

Set the vertical penetration depth threshold for when the shovel tooth for penetration resistance should reach full effectiveness.

The penetration depth is defined as the vertical distance between the tip of a shovel tooth and the surface position of the height field. The penetration resistance will increase from a baseline of 10% until maximum effectiveness is reached when the vertical penetration depth of the shovel reaches the specified value. (Default: 0.5 m)

Parameters

depthThreshold - the vertical pressure threshold that will cause penetration resistance to start.

◆ setPenetrationForceScaling()

void agxTerrain::Shovel::setPenetrationForceScaling ( agx::Real penetrationForceScaling )

Set the linear scaling coefficient for the penetration force (Default: 1.0)

Parameters

penetrationForceScaling - The coefficient for scaling the penetration force that the terrain will give on this shovel

◆ setSecondarySeparationDeadloadLimit()

void agxTerrain::Shovel::setSecondarySeparationDeadloadLimit ( agx::Real secondarySeparationLimit )

Sets the dead-load limit where secondary separation will start to activate where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel.

Parameters

secondarySeparationLimit - The dead load limit where secondary separation will start to activate (Default: 0.8)

◆ setShovelAggregateContactMaterial()

bool agxTerrain::Shovel::setShovelAggregateContactMaterial	(	agx::ContactMaterial *	contactMaterial,
		Shovel::ExcavationMode	mode = `Shovel::ExcavationMode::PRIMARY`
	)

Explicitly set contact material properties in a shovel-aggregate contact for a specific excavation mode for the shovel.

This overrides the shovel-terrain contact material properties that are used in the default case.

Parameters

contactMaterial	- The contact material to be set in the aggregate contact.
mode	- The specified excavation mode that corresponds to the aggregate.

Returns: true if the contact material was successfully set, false otherwise.

◆ setSoilPenetrationModel()

bool agxTerrain::Shovel::setSoilPenetrationModel ( agxTerrain::SoilPenetrationResistance::PenetrationModel model )

Set the soil penetration model used for the shovel.

Available models are:

NO_MODEL - Only use the soil pressure above the cutting edge to determine the penetration resistance.
ELASTIC_PLASTIC_LIMIT - Calculate the expected penetration resistance based in the elastic plastic limit. (Default)
PLASTIC - Calculate the expected penetration resistance based on plastic expansion due to tooth pressure.

Parameters

model - The specified penetration model to use in the shovel against the terrain. ( Default: ELASTIC_PLASTIC_LIMIT )

Returns: true if the model was successfully changed, false otherwise.

◆ setToothLength()

void agxTerrain::Shovel::setToothLength ( agx::Real length )

Parameters

length - new tooth length.

◆ setToothMaximumRadius()

void agxTerrain::Shovel::setToothMaximumRadius ( agx::Real radius )

Parameters

radius - new maximum radius of the shovel teeth.

◆ setToothMinimumRadius()

void agxTerrain::Shovel::setToothMinimumRadius ( agx::Real radius )

Parameters

radius - new minimum radius of the shovel teeth.

◆ setTopEdge()

void agxTerrain::Shovel::setTopEdge ( agx::Line topEdge )

Set the top edge in local space.

Parameters

topEdge - new top edge in local space.

◆ setUseCustomFrictionModel()

void agxTerrain::Shovel::setUseCustomFrictionModel ( bool enable )

◆ setVerticalBladeSoilMergeDistance()

void agxTerrain::Shovel::setVerticalBladeSoilMergeDistance ( agx::Real verticalSoilBladeMergeDistance )

Sets the vertical distance under the blade cutting edge that the soil is allowed to instantly merge up to.

◆ setZeroAggregateVelocity()

void agxTerrain::Shovel::setZeroAggregateVelocity ( bool enable )

Set whenever the innerbody aggregate should have zero velocity before solve step as opposed to using particle or cached post-solve velocities from the previous time step.

Parameters

enable - true if the innerbody aggregate should have zero velocity, false otherwise.

◆ shovelHasParticles()

bool agxTerrain::Shovel::shovelHasParticles ( ) const

protected

Member Data Documentation

◆ m_activeTerrain

Terrain* agxTerrain::Shovel::m_activeTerrain

protected

Definition at line 1103 of file Shovel.h.

◆ m_activeZone

PrimaryActiveZoneRef agxTerrain::Shovel::m_activeZone

protected

Definition at line 1097 of file Shovel.h.

◆ m_aggregateContactGenerator

AggregateContactGeneratorRef agxTerrain::Shovel::m_aggregateContactGenerator

protected

Definition at line 1098 of file Shovel.h.

◆ m_aggregateMaterial

agx::MaterialRef agxTerrain::Shovel::m_aggregateMaterial

protected

Definition at line 1101 of file Shovel.h.

◆ m_collisionBound

agxCollide::BoundingAABB agxTerrain::Shovel::m_collisionBound

protected

Definition at line 1106 of file Shovel.h.

◆ m_connectedShovel

Shovel* agxTerrain::Shovel::m_connectedShovel

protected

Definition at line 1091 of file Shovel.h.

◆ m_contactThreshold

agx::Real agxTerrain::Shovel::m_contactThreshold

protected

Definition at line 1077 of file Shovel.h.

◆ m_cuttingDirection

agx::Vec3 agxTerrain::Shovel::m_cuttingDirection

protected

Definition at line 1063 of file Shovel.h.

◆ m_cuttingEdge

agx::Line agxTerrain::Shovel::m_cuttingEdge

protected

Definition at line 1061 of file Shovel.h.

◆ m_deadLoadFraction

agx::Real agxTerrain::Shovel::m_deadLoadFraction

protected

Definition at line 1081 of file Shovel.h.

◆ m_deformController

DeformControllerRef agxTerrain::Shovel::m_deformController

protected

Definition at line 1099 of file Shovel.h.

◆ m_excavationSettings

std::array< ExcavationSettings, 4 > agxTerrain::Shovel::m_excavationSettings

protected

Definition at line 1075 of file Shovel.h.

◆ m_flags

Flags agxTerrain::Shovel::m_flags

protected

Definition at line 1072 of file Shovel.h.

◆ m_forbiddenBounds

agx::Vector<agxCollide::BoundingAABB> agxTerrain::Shovel::m_forbiddenBounds

protected

Definition at line 1104 of file Shovel.h.

◆ m_innerContactArea

agx::Real agxTerrain::Shovel::m_innerContactArea

protected

Definition at line 1083 of file Shovel.h.

◆ m_isActive

bool agxTerrain::Shovel::m_isActive

protected

Definition at line 1102 of file Shovel.h.

◆ m_minimumSubmergedContactLengthFraction

agx::Real agxTerrain::Shovel::m_minimumSubmergedContactLengthFraction

protected

Definition at line 1069 of file Shovel.h.

◆ m_noMergeExtensionDistance

agx::Real agxTerrain::Shovel::m_noMergeExtensionDistance

protected

Definition at line 1067 of file Shovel.h.

◆ m_parentFrame

agx::FrameRef agxTerrain::Shovel::m_parentFrame

protected

Definition at line 1085 of file Shovel.h.

◆ m_particleInclusionMultiplier

agx::Real agxTerrain::Shovel::m_particleInclusionMultiplier

protected

Definition at line 1071 of file Shovel.h.

◆ m_penetrationResistance

SoilPenetrationResistanceRef agxTerrain::Shovel::m_penetrationResistance

protected

Definition at line 1095 of file Shovel.h.

◆ m_secondarySeparationDeadLoadLimit

agx::Real agxTerrain::Shovel::m_secondarySeparationDeadLoadLimit

protected

Definition at line 1070 of file Shovel.h.

◆ m_settingsAreDirty

bool agxTerrain::Shovel::m_settingsAreDirty

protected

Definition at line 1089 of file Shovel.h.

◆ m_shovelAggregateCMContainer

ShovelAggregateContactMaterialContainerRef agxTerrain::Shovel::m_shovelAggregateCMContainer

protected

Definition at line 1093 of file Shovel.h.

◆ m_shovelBody

agx::RigidBodyRef agxTerrain::Shovel::m_shovelBody

protected

Definition at line 1060 of file Shovel.h.

◆ m_soilParticleAggregate

SoilParticleAggregateRef agxTerrain::Shovel::m_soilParticleAggregate

protected

Definition at line 1094 of file Shovel.h.

◆ m_soilPenetrationParameters

SoilPenetrationParameters agxTerrain::Shovel::m_soilPenetrationParameters

protected

Definition at line 1073 of file Shovel.h.

◆ m_teethSettings

TeethSettings agxTerrain::Shovel::m_teethSettings

protected

Definition at line 1065 of file Shovel.h.

◆ m_topEdge

agx::Line agxTerrain::Shovel::m_topEdge

protected

Definition at line 1062 of file Shovel.h.

◆ m_verticalContactThreshold

agx::Real agxTerrain::Shovel::m_verticalContactThreshold

protected

Definition at line 1078 of file Shovel.h.

◆ m_verticalSoilBladeMergeDistance

agx::Real agxTerrain::Shovel::m_verticalSoilBladeMergeDistance

protected

Definition at line 1068 of file Shovel.h.

◆ m_voxelCollisionGeometries

agxCollide::GeometryRefVector agxTerrain::Shovel::m_voxelCollisionGeometries

protected

Definition at line 1088 of file Shovel.h.

◆ m_voxelsInPrimaryActiveZoneLastTimeStep

agx::Vec3iVector agxTerrain::Shovel::m_voxelsInPrimaryActiveZoneLastTimeStep

protected

Definition at line 1105 of file Shovel.h.

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

Shovel.h

mode	- The specified excavation mode that the settings will apply to.
excavationSettings	- The specified excavation settings that will apply to the excavation mode.

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Flags

Member Enumeration Documentation

◆ ExcavationMode

◆ StateFlags

Constructor & Destructor Documentation

◆ Shovel() [1/2]

◆ Shovel() [2/2]

◆ ~Shovel()

Member Function Documentation

◆ addNotification()

◆ calculateDeadLoadFraction()

◆ calculateForbiddenBounds()

◆ checkContactMaterials()

◆ clearActiveZoneWedges()

◆ collisionGeometriesAreInsideTerrain()

◆ computeCuttingEdgeLength()

◆ computeDefaultContactRegionThreshold()

◆ createParentFrame()

◆ createVoxelCollisionGeometries()

◆ ensureCuttingDirectionIsNormalized()

◆ excavationModeToDeformerCollectionIndex()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll()

◆ getActiveTerrain()

◆ getActiveZone()

◆ getAggregateContactGenerator()

◆ getAggregateMaterial()

◆ getAggregateTerrainContactArea()

◆ getAggregateTerrainContactDepth()

◆ getAggregateTerrainContactForce()

◆ getAggregateTerrainContacts()

◆ getAggregateTerrainNormalForce()

◆ getAggregateTerrainTangentialForce()

◆ getAlwaysRemoveShovelContacts()

◆ getContactForce()

◆ getContactRegionThreshold()

◆ getContactRegionVerticalLimit()

◆ getCurrentSeparationPlane()

◆ getCuttingDirection()

◆ getCuttingDirectionWorld()

◆ getCuttingEdge()

◆ getCuttingEdgeWorld()

◆ getDeadLoadFraction()

◆ getDeformationContactForce()

◆ getDeformController()

◆ getDynamicMass()

◆ getEnable()

◆ getEnableForTerrain()

◆ getEnableInnerShapeCreateDynamicMass()

◆ getEnableParticleForceFeedback()

◆ getEnableParticleFreeDeformers()

◆ getExcavationModeContactForce()

◆ getExcavationSettings()

◆ getForbiddenBounds()

◆ getInnerContactArea()

◆ getInnerVolume()

◆ getMaxPenetrationForce()

◆ getMinimumSubmergedContactLengthFraction()

◆ getNoMergeExtensionDistance()

◆ getNumberOfTeeth()

◆ getParentFrame()

◆ getParticleInclusionMultiplier()

◆ getPenetrationDepthThreshold()

◆ getPenetrationForce()

◆ getPenetrationForceScaling()

◆ getPenetrationResistance()

◆ getRigidBody()

◆ getSecondaryCuttingDirection()