#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

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: PRIMARY - The primary mode of excavation, where the shovel digs along the cutting direction in the terrain horizontal plane. More...

Public Member Functions
	Shovel (agx::RigidBody shovelBody, const agx::Line &topEdge, const agx::Line &cuttingEdge, const agx::Vec3 &cuttingDirection, Shovel connectedShovel=nullptr)
	Basic constructor.

agx::Real	computeCuttingEdgeLength () const

bool	getAlwaysRemoveShovelContacts () const

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 (Terrain *terrain, ExcavationMode mode) const

agx::Vec3	getCuttingDirection () const

agx::Vec3	getCuttingDirectionWorld () 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.

bool	getEnable () const
	Access the state enable flag.

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

bool	getEnableParticleForceFeedback ()

bool	getEnableParticleFreeDeformers () const

ExcavationSettings &	getExcavationSettings (ExcavationMode mode)

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	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::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.

agx::Real	getPenetrationForceScaling () const

agx::RigidBody *	getRigidBody () const

agx::Vec3	getSecondaryCuttingDirection (Terrain *terrain) const

agx::Real	getSecondarySeparationAngle (Terrain *terrain) const

agx::Real	getSecondarySeparationDeadloadLimit () const

bool	getSoilPenetrationModel (agxTerrain::Terrain *terrain, agxTerrain::SoilPenetrationResistance::PenetrationModel &model) const
	Get the soil penetration model used for the specified shovel in the given terrain.

agx::Real	getToothLength () const

agx::Real	getToothMaximumRadius () const

agx::Real	getToothMinimumRadius () const

agx::Line	getTopEdge () const

agx::Line	getTopEdgeWorld () const

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

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 Default: true.

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	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	setSoilPenetrationModel (agxTerrain::SoilPenetrationResistance::PenetrationModel model, agxTerrain::Terrain *terrain)
	Set the soil penetration model used for the specified shovel in the given terrain.

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

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.

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 }

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

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

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

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 ()

Protected Attributes
Shovel *	m_connectedShovel

agx::Real	m_contactThreshold

agx::Vec3	m_cuttingDirection

agx::Line	m_cuttingEdge

agx::Real	m_deadLoadFraction

std::array< ExcavationSettings, 4 >	m_excavationSettings

Flags	m_flags

agx::Real	m_innerContactArea

agx::Real	m_minimumSubmergedContactLengthFraction

agx::Real	m_noMergeExtensionDistance

agx::UInt	m_nTeeth

agx::Real	m_particleInclusionMultiplier

agx::Real	m_secondarySeparationDeadLoadLimit

bool	m_settingsAreDirty

agx::RigidBodyObserver	m_shovelBody

SoilPenetrationParameters	m_soilPenetrationParameters

agx::Real	m_toothLength

agx::Real	m_toothMaxRadius

agx::Real	m_toothMinRadius

agx::Line	m_topEdge

agx::Real	m_verticalContactThreshold

agx::Real	m_verticalSoilBladeMergeDistance

agxCollide::GeometryRefVector	m_voxelCollisionGeometries

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
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.

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.

Detailed Description

Definition at line 50 of file Shovel.h.

Member Typedef Documentation

◆ Flags

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

protected

Definition at line 654 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: 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 )

Enumerator
PRIMARY
DEFORM_BACK
DEFORM_RIGHT
DEFORM_LEFT

Definition at line 91 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

Definition at line 646 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 pruposes 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

◆ computeCuttingEdgeLength()

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

Returns: the computed cutting edge length of the Shovel.

◆ createVoxelCollisionGeometries()

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

protected

◆ getAlwaysRemoveShovelContacts()

bool agxTerrain::Shovel::getAlwaysRemoveShovelContacts ( ) const

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

◆ 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	(	Terrain *	terrain,
		ExcavationMode	mode
	)		const

Returns: get current separation plane for each excavation mode

◆ getCuttingDirection()

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()

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

◆ getEnable()

bool agxTerrain::Shovel::getEnable ( ) const

Access the state enable flag.

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

◆ 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.

◆ getExcavationSettings()

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

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

◆ 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.

◆ 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.

◆ 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.

◆ getPenetrationForceScaling()

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

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

◆ getRigidBody()

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

Returns: the base rigid body from the shovel object.

◆ getSecondaryCuttingDirection()

agx::Vec3 agxTerrain::Shovel::getSecondaryCuttingDirection ( Terrain * terrain ) const

Returns: the secondary cutting direction of the shovel in a specified terrain

◆ getSecondarySeparationAngle()

agx::Real agxTerrain::Shovel::getSecondarySeparationAngle ( Terrain * terrain ) const

Returns: the secondary separation forward vector of the shovel in a specified terrain

◆ 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

◆ getSoilPenetrationModel()

bool agxTerrain::Shovel::getSoilPenetrationModel	(	agxTerrain::Terrain *	terrain,
		agxTerrain::SoilPenetrationResistance::PenetrationModel &	model
	)		const

Get the soil penetration model used for the specified shovel in the given terrain.

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.
terrain	- The specified terrain where this model applies.

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

◆ 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()

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.

◆ 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.

◆ 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 Default: true.

Parameters

enable - true to enable, false to disable

◆ 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.

◆ 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)

◆ setSoilPenetrationModel()

bool agxTerrain::Shovel::setSoilPenetrationModel	(	agxTerrain::SoilPenetrationResistance::PenetrationModel	model,
		agxTerrain::Terrain *	terrain
	)

Set the soil penetration model used for the specified shovel in the given terrain.

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 )
terrain	- The specified terrain where this model will apply.

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.

◆ 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.

Member Data Documentation

◆ m_connectedShovel

Shovel* agxTerrain::Shovel::m_connectedShovel

protected

Definition at line 686 of file Shovel.h.

◆ m_contactThreshold

agx::Real agxTerrain::Shovel::m_contactThreshold

protected

Definition at line 674 of file Shovel.h.

◆ m_cuttingDirection

agx::Vec3 agxTerrain::Shovel::m_cuttingDirection

protected

Definition at line 659 of file Shovel.h.

◆ m_cuttingEdge

agx::Line agxTerrain::Shovel::m_cuttingEdge

protected

Definition at line 657 of file Shovel.h.

◆ m_deadLoadFraction

agx::Real agxTerrain::Shovel::m_deadLoadFraction

protected

Definition at line 678 of file Shovel.h.

◆ m_excavationSettings

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

protected

Definition at line 672 of file Shovel.h.

◆ m_flags

Flags agxTerrain::Shovel::m_flags

protected

Definition at line 669 of file Shovel.h.

◆ m_innerContactArea

agx::Real agxTerrain::Shovel::m_innerContactArea

protected

Definition at line 680 of file Shovel.h.

◆ m_minimumSubmergedContactLengthFraction

agx::Real agxTerrain::Shovel::m_minimumSubmergedContactLengthFraction

protected

Definition at line 666 of file Shovel.h.

◆ m_noMergeExtensionDistance

agx::Real agxTerrain::Shovel::m_noMergeExtensionDistance

protected

Definition at line 664 of file Shovel.h.

◆ m_nTeeth

agx::UInt agxTerrain::Shovel::m_nTeeth

protected

Definition at line 663 of file Shovel.h.

◆ m_particleInclusionMultiplier

agx::Real agxTerrain::Shovel::m_particleInclusionMultiplier

protected

Definition at line 668 of file Shovel.h.

◆ m_secondarySeparationDeadLoadLimit

agx::Real agxTerrain::Shovel::m_secondarySeparationDeadLoadLimit

protected

Definition at line 667 of file Shovel.h.

◆ m_settingsAreDirty

bool agxTerrain::Shovel::m_settingsAreDirty

protected

Definition at line 684 of file Shovel.h.

◆ m_shovelBody

agx::RigidBodyObserver agxTerrain::Shovel::m_shovelBody

protected

Definition at line 656 of file Shovel.h.

◆ m_soilPenetrationParameters

SoilPenetrationParameters agxTerrain::Shovel::m_soilPenetrationParameters

protected

Definition at line 670 of file Shovel.h.

◆ m_toothLength

agx::Real agxTerrain::Shovel::m_toothLength

protected

Definition at line 660 of file Shovel.h.

◆ m_toothMaxRadius

agx::Real agxTerrain::Shovel::m_toothMaxRadius

protected

Definition at line 662 of file Shovel.h.

◆ m_toothMinRadius

agx::Real agxTerrain::Shovel::m_toothMinRadius

protected

Definition at line 661 of file Shovel.h.

◆ m_topEdge

agx::Line agxTerrain::Shovel::m_topEdge

protected

Definition at line 658 of file Shovel.h.

◆ m_verticalContactThreshold

agx::Real agxTerrain::Shovel::m_verticalContactThreshold

protected

Definition at line 675 of file Shovel.h.

◆ m_verticalSoilBladeMergeDistance

agx::Real agxTerrain::Shovel::m_verticalSoilBladeMergeDistance

protected

Definition at line 665 of file Shovel.h.

◆ m_voxelCollisionGeometries

agxCollide::GeometryRefVector agxTerrain::Shovel::m_voxelCollisionGeometries

protected

Definition at line 683 of file Shovel.h.

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

Shovel.h

Classes

Public Types

Public Member Functions

Protected Types

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

◆ computeCuttingEdgeLength()

◆ createVoxelCollisionGeometries()

◆ getAlwaysRemoveShovelContacts()

◆ getContactRegionThreshold()

◆ getContactRegionVerticalLimit()

◆ getCurrentSeparationPlane()

◆ getCuttingDirection()

◆ getCuttingDirectionWorld()

◆ getCuttingEdge()

◆ getCuttingEdgeWorld()

◆ getDeadLoadFraction()

◆ getEnable()

◆ getEnableInnerShapeCreateDynamicMass()

◆ getEnableParticleForceFeedback()

◆ getEnableParticleFreeDeformers()

◆ getExcavationSettings()

◆ getInnerContactArea()

◆ getMaxPenetrationForce()

◆ getMinimumSubmergedContactLengthFraction()

◆ getNoMergeExtensionDistance()

◆ getNumberOfTeeth()

◆ getParticleInclusionMultiplier()

◆ getPenetrationDepthThreshold()

◆ getPenetrationForceScaling()

◆ getRigidBody()

◆ getSecondaryCuttingDirection()

◆ getSecondarySeparationAngle()

◆ getSecondarySeparationDeadloadLimit()

◆ getSoilPenetrationModel()

◆ getToothLength()

◆ getToothMaximumRadius()

◆ getToothMinimumRadius()

◆ getTopEdge()

◆ getTopEdgeWorld()

◆ getVerticalBladeSoilMergeDistance()

◆ setAlwaysRemoveShovelContacts()

◆ setContactRegionThreshold()

◆ setContactRegionVerticalLimit()

◆ setCuttingDirection()

◆ setCuttingEdge()

◆ setEnable()

◆ setEnableInnerShapeCreateDynamicMass()

◆ setEnableParticleForceFeedback()

◆ setEnableParticleFreeDeformers()

◆ setExcavationSettings()

◆ setMaxPenetrationForce()

◆ setMinimumSubmergedContactLengthFraction()

◆ setNoMergeExtensionDistance()

◆ setNumberOfTeeth()

◆ setParticleInclusionMultiplier()

◆ setPenetrationDepthThreshold()

◆ setPenetrationForceScaling()

◆ setSecondarySeparationDeadloadLimit()

◆ setSoilPenetrationModel()

◆ setToothLength()

◆ setToothMaximumRadius()

◆ setToothMinimumRadius()

◆ setTopEdge()

◆ setVerticalBladeSoilMergeDistance()

Member Data Documentation

◆ m_connectedShovel

◆ m_contactThreshold