#include <TwoBodyTire.h>

Inheritance diagram for agxModel::TwoBodyTire:

Public Types
enum	DeformationMode { RADIAL , LATERAL , BENDING , TORSIONAL }

Public Types inherited from agxSDK::Assembly
enum	Type { ASSEMBLY , COLLECTION }
	Specifies the type an assembly is. More...

Public Member Functions
	TwoBodyTire (agx::RigidBody tireBody, agx::Real outerRadius, agx::RigidBody hubBody, agx::Real innerRadius, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())
	Construct tire given rigid body (with wheel geometry/geometries) and radius.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxModel::TwoBodyTire)

virtual agx::Real	getDampingCoefficient (DeformationMode mode)
	Gets the damping coefficient for a deformation mode.

agx::Hinge *	getHinge ()
	Gets the hinge (with active Lock1D) connecting the tire to the hub.

agx::RigidBody *	getHubRigidBody ()

const agx::RigidBody *	getHubRigidBody () const

agx::Vec2	getImplicitFrictionMultiplier () const

agx::Real	getInnerRadius () const

virtual agx::Real	getLoadedRadius () const override
	Gets the current loaded radius.

agx::Real	getOuterRadius () const

const agx::Frame *	getReferenceFrame () const

virtual agx::Real	getStiffness (DeformationMode mode)
	Gets the stiffness for a deformation mode.

agx::RigidBody *	getTireRigidBody ()

const agx::RigidBody *	getTireRigidBody () const

virtual bool	isValid () const

virtual bool	setDampingCoefficient (const agx::Real dampingCoefficient, DeformationMode mode)
	Sets the damping coefficient for a deformation mode.

void	setImplicitFrictionMultiplier (const agx::Vec2 &implicitFrictionMultiplier)
	Set the implicit friction multiplier in order to get different behavior for different friction directions (forwards, sideways).

virtual bool	setStiffness (const agx::Real stiffness, DeformationMode mode)
	Sets the stiffness for a deformation mode.

Public Member Functions inherited from agxModel::Tire
virtual agx::Real	getLoadedRadius () const
	Gets the current loaded radius.

agx::Real	getRadius () const
	Gets radius.

Public Member Functions inherited from agxSDK::Assembly
	Assembly ()
	Default constructor.

bool	add (agx::Constraint *constraint)
	Add a constraint to the assembly.

bool	add (agx::ContactMaterial *contactMaterial)
	Add a contact material to this assembly.

bool	add (agx::Emitter *emitter)
	Add an emitter to this assembly.

bool	add (agx::Interaction *interaction)
	Add an interaction to this assembly.

bool	add (agx::MergedBody *mergedBody)
	Add a MergedBody to this assembly.

bool	add (agx::ObserverFrame *observerFrame)
	Add an ObserverFrame to this assembly.

bool	add (agx::RigidBody *body)
	Add a rigid body to the assembly.

bool	add (agxCollide::Geometry *geometry)
	Add a geometry to the assembly.

bool	add (agxSDK::EventListener *listener)
	Add a listener to the assembly.

bool	add (agxSDK::TerrainInstance *terrainInstance)
	Add a TerrainInstance to this assembly.

bool	add (agxSDK::TerrainToolInstance *toolInstance)
	Add a TerrainToolInstance to this assembly.

bool	add (agxStream::Serializable *object)
	Add an object of type serialized.

bool	add (Assembly *assembly)
	Add another assembly as child to this assembly.

virtual void	addNotification (agxSDK::Simulation *)
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

virtual void	addNotification (Assembly *)
	Called when this assembly is added to another assembly.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::Assembly)

size_t	collect (agx::ConstraintRefVector &result, bool recursive=true)

size_t	collect (agx::EmitterRefVector &result, bool recursive=true)

size_t	collect (agx::InteractionRefVector &result, bool recursive=true)

size_t	collect (agx::MergedBodyRefVector &result, bool recursive=true)

size_t	collect (agx::ObserverFrameRefVector &result, bool recursive=true)

size_t	collect (agx::ParticleSystemRefVector &result, bool recursive=true)

size_t	collect (agx::RigidBodyRefVector &result, bool recursive=true)

size_t	collect (agxCollide::GeometryRefVector &result, bool recursive=true)

size_t	collect (agxSDK::AssemblyRefVector &result, bool recursive=true)

size_t	collect (agxSDK::EventListenerRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainInstanceRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainToolInstanceRefVector &result, bool recursive=true)

bool	empty () const

const AssemblyRefSetVector &	getAssemblies () const

agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Assembly.

const agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Assembly.

agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an Assembly matching the given uuid.

const agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an Assembly matching the given uuid.

agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Constraint.

template<typename T >
T *	getConstraint (const agx::Name &name, bool recursive=true)
	Find and return named Constraint of a template type, for example Hinge:

const agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Constraint.

template<typename T >
const T *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find and return named Constraint of a template type, for example Hinge:

agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true)
	Find and return a pointer to a Constraint with the given uuid.

const agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a Constraint with the given uuid.

agx::Constraint1DOF *	getConstraint1DOF (const agx::Name &name, bool recursive=true)

agx::Constraint2DOF *	getConstraint2DOF (const agx::Name &name, bool recursive=true)

const agx::ConstraintRefSetVector &	getConstraints () const

const agx::EmitterRefSetVector &	getEmitters () const

const EventListenerRefSetVector &	getEventListeners () const

virtual agx::Frame *	getFrame ()
	Return a reference to the frame containing transformation and velocity information for this assembly.

virtual const agx::Frame *	getFrame () const

const agxCollide::GeometryRefSetVector &	getGeometries () const

agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named collision Geometry.

const agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named collision Geometry.

agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a Geometry matching the given uuid.

const agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a Geometry matching the given uuid.

const agx::InteractionRefSetVector &	getInteractions () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

const agx::MergedBodyRefSetVector &	getMergedBodies () const

agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an MergedBody matching the given uuid.

const agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an MergedBody matching the given uuid.

agx::Name	getName () const

agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrameRefSetVector &	getObserverFrames () const

Assembly *	getParent ()

const Assembly *	getParent () const

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

const agx::ParticleSystemRefSetVector &	getParticleSystems () const

const agx::RigidBodyRefSetVector &	getRigidBodies () const

agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named RigidBody.

const agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named RigidBody.

agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

const agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

agxSDK::Simulation *	getSimulation ()

const agxSDK::Simulation *	getSimulation () const

agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstanceRefSetVector &	getTerrainInstances () const

agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstanceRefSetVector &	getTerrainToolInstances () const

Type	getType () const

bool	remove (agx::Constraint *constraint)
	Remove a constraint from this assembly (does not recurse down in tree).

bool	remove (agx::ContactMaterial *contactMaterial)
	Remove a contact material from this assembly.

bool	remove (agx::Emitter *emitter)
	Remove an emitter from this assembly.

bool	remove (agx::Interaction *interaction)
	Remove an interaction from this assembly.

bool	remove (agx::MergedBody *mergedBody)
	Remove a MergedBody from this assembly.

bool	remove (agx::ObserverFrame *observerFrame, bool resetParentFrame=true)
	Remove an ObserverFrame from this assembly.

bool	remove (agx::RigidBody *body, bool removeAssociatedGeometries=false, bool resetParentFrame=true)
	Remove a rigid body from this assembly (does not recurse down in tree).

bool	remove (agxCollide::Geometry *geometry, bool resetParentFrame=true)
	Remove a geometry from this assembly (does not recurse down in tree).

bool	remove (agxSDK::TerrainInstance *terrainInstance)
	Remove a TerrainInstance from this assembly.

bool	remove (agxSDK::TerrainToolInstance *toolInstance)
	Remove a TerrainToolInstance from this assembly.

bool	remove (Assembly *assembly, bool resetParentFrame=true)
	Remove a child assembly from a parent.

bool	remove (EventListener *listener)
	Remove an EventListener from the assembly.

virtual void	removeNotification (agxSDK::Simulation *)
	Called when this assembly is removed from a simulation.

virtual void	removeNotification (Assembly *)
	Called when this assembly is removed from another assembly.

bool	reset (bool resetParentFrame=true)
	If this assembly is not added to a simulation it will clear all added bodies etc.

virtual void	setAngularVelocity (const agx::Vec3 &velocity)
	Set the angular velocity (in world frame) recursively for all rigid bodies stored in assembly.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this assembly, ignoring any eventual parent transformation.

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

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this assembly's frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the frame in world coordinates.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to world frame.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the assembly.

virtual void	setVelocity (const agx::Vec3 &velocity)
	Set the linear velocity (in world frame) recursively for all rigid bodies stored in assembly.

bool	transfer (agxSDK::Assembly *target)
	Transfer all the content from this assembly to the `target`, including name and transformation.

virtual void	traverse (AssemblyVisitor *visitor)
	Traverse the assembly tree recursively using a visitor.

virtual void	traverse (const AssemblyVisitor *visitor) 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 agxStream::Serializable *	create (agxStream::InputArchive &)

static TwoBodyTire *	find (agxSDK::Assembly *assembly, const agx::Name &name)
	Search the given assembly for a TwoBodyTire with the given name.

static TwoBodyTire *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	Search the given simulation for a TwoBodyTire with the given name.

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

static TwoBodyTirePtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find all TwoBodyTires with given name.

Static Public Member Functions inherited from agxSDK::Assembly
static Assembly *	asAssembly (agxStream::Serializable *obj)

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

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

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

Protected Member Functions
	TwoBodyTire ()

virtual	~TwoBodyTire ()

virtual void	addNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

agxSDK::ContactEventListener::KeepContactPolicy	contact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

agx::Vec3	getTireAxisWorld () const

agx::Vec3	getTireCenterWorld () const

agxSDK::ContactEventListener::KeepContactPolicy	handleContacts (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

agxSDK::ContactEventListener::KeepContactPolicy	impact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

void	initBodies (agx::Real outerRadius, agx::Real innerRadius)

virtual void	last (const agx::TimeStamp &)

virtual void	post (const agx::TimeStamp &)

virtual void	pre (const agx::TimeStamp &)

virtual void	preCollide (const agx::TimeStamp &)

void	reduceContacts (agxCollide::LocalGeometryContact &gc)

virtual void	removeNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is removed from a simulation.

void	separation (const agx::TimeStamp &, agxCollide::GeometryPair &)

Protected Member Functions inherited from agxModel::Tire
	Tire ()

virtual	~Tire ()

Protected Member Functions inherited from agxSDK::Assembly
	Assembly (Type type)

virtual	~Assembly ()
	Destructor.

bool	addParticleSystem (agx::ParticleSystem *particleSystem)
	Add a particle system to this assembly.

void	addToSimulation (Simulation *simulation)

void	removeFromSimulation (Simulation *simulation)

bool	removeParticleSystem (agx::ParticleSystem *particleSystem)
	Remove a particle system from this assembly.

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
agx::UInt32	m_collisionGroup

agx::ref_ptr< agxUtil::GeneralContactEventListener< TwoBodyTire > >	m_contactCallback

agx::Vector< agx::ContactMaterialRef >	m_contactMaterials

agx::Vector< agxCollide::LocalGeometryContact >	m_contacts

agx::HingeRef	m_hinge

agx::RigidBodyObserver	m_hubBody

agx::Vec2	m_implicitFrictionMultiplier

bool	m_initialized

agx::Real	m_innerRadius

agx::Real	m_loadedRadius

agx::FrameRef	m_refFrame

agx::ref_ptr< agxUtil::GeneralStepListener< TwoBodyTire > >	m_stepCallback

agx::RigidBodyObserver	m_tireBody

Protected Attributes inherited from agxModel::Tire
agx::Real	m_radius

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
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

Note: : This is an experimental feature, not fully tested yet.

A simple tire model with two rigid bodies - the hub and the tire. To model any deformation/elastic behavior, the joint settings between hub and tire are being modified.

Note: The shapes in the Tire and the Hub rigidbody, should have no rotation related to its geometries as this will cause an undefined direction for the parameters below. The rotational axis of the hub should be aligned with the shapes used as the tire (typically a cylinder).

Notes on stiffness and damping:

There are four internal deformation modes for the tire which can be expressed via its constraint: Radial stiffness/damping affects translation orthogonal to tire rotation axis. Lateral stiffness/damping affects translation in axis of rotation. Bending stiffness/damping affects rotation orthogonal to axis of rotation. Torsional stiffness/damping affects rotation in axis of rotation.

The unit for translational stiffness is force/displacement (if using SI: N/m) The unit for rotational stiffness is torque/angular displacement (if using SI: Nm/rad) The unit for the translational damping coefficient is force * time/displacement (if using SI: Ns/m) The unit for the rotational damping coefficient is torque * time/angular displacement (if using SI: Nms/rad)

Implementation-details: 1.) stiffness and damping coefficient are set directly on the constraint when using the setStiffness and setDampingCoefficient methods. Since the agx-internal damping is based on stiffness (or rather, compliance) as well, setStiffness will have an effect on the result of getDampingCoefficient. (The constraint can also directly be worked with via getHinge

if setting values there, getStiffness and getDampingCoefficient might not work as expected.) 2.) The tire will copy a GeometryContacts' ContactMaterial and modify the copy to apply special tire friction. This is done both for implicit and explicit ContactMaterials. Both are queried for via MaterialManager (internal materials will be ignored).

Definition at line 147 of file TwoBodyTire.h.

Member Enumeration Documentation

◆ DeformationMode

enum agxModel::TwoBodyTire::DeformationMode

Enumerator
RADIAL
LATERAL
BENDING
TORSIONAL

Definition at line 168 of file TwoBodyTire.h.

Constructor & Destructor Documentation

◆ TwoBodyTire() [1/2]

agxModel::TwoBodyTire::TwoBodyTire	(	agx::RigidBody *	tireBody,
		agx::Real	outerRadius,
		agx::RigidBody *	hubBody,
		agx::Real	innerRadius,
		const agx::AffineMatrix4x4 &	localTransform = `agx::AffineMatrix4x4()`
	)

Construct tire given rigid body (with wheel geometry/geometries) and radius.

By definition tire axis is assumed to be y direction in body coordinates. This is also the secondary friction direction.

Contacts between the tireBody and the hingeBody will be disabled.

Parameters

tireBody	- rigid body of this tire (including geometries)
outerRadius	- radius of this tire
hubBody	- rigid body that the tire is fixed upon (including geometries)
innerRadius	- inner radius of the tire (and outer radius of hub)
localTransform	- local transform for hinge and friction directions, local in tireBody's coordinate system. Expects rotation axis to be in Y-axis.

◆ TwoBodyTire() [2/2]

agxModel::TwoBodyTire::TwoBodyTire ( )

protected

◆ ~TwoBodyTire()

virtual agxModel::TwoBodyTire::~TwoBodyTire ( )

protectedvirtual

Member Function Documentation

◆ addNotification()

virtual void agxModel::TwoBodyTire::addNotification ( agxSDK::Simulation * )

overrideprotectedvirtual

Called when this assembly is added to a simulation (given that it not already is in the simulation).

Reimplemented from agxSDK::Assembly.

Reimplemented in agxModel::ThreeBodyTire.

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxModel::TwoBodyTire::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxModel::TwoBodyTire )

◆ contact()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::TwoBodyTire::contact	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc
	)

protected

◆ create()

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

inlinestatic

Definition at line 310 of file TwoBodyTire.h.

◆ find() [1/2]

static TwoBodyTire * agxModel::TwoBodyTire::find	(	agxSDK::Assembly *	assembly,
		const agx::Name &	name
	)

static

Search the given assembly for a TwoBodyTire with the given name.

Parameters

assembly	- The assembly to search in.
name	- The name of the TwoBodyTire to search for.

Returns: A TwoBodyTire with name name in assembly assembly, or nullptr.

◆ find() [2/2]

static TwoBodyTire * agxModel::TwoBodyTire::find	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Search the given simulation for a TwoBodyTire with the given name.

Parameters

simulation	- The simulation to search in.
name	- The name of the TwoBodyTire to search for.

Returns: A TwoBodyTire with name name in simulation simulation, or nullptr.

◆ findAll() [1/2]

static TwoBodyTirePtrVector agxModel::TwoBodyTire::findAll ( const agxSDK::Simulation * simulation )

static

Finds all TwoBodyTire in the given simulation.

Parameters

simulation - simulation with TwoBodyTire.

Returns: vector of TwoBodyTire

◆ findAll() [2/2]

static TwoBodyTirePtrVector agxModel::TwoBodyTire::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find all TwoBodyTires with given name.

Parameters

simulation	- simulation the tire is part of
name	- name of the TwoBodyTire

Returns: vector of TwoBodyTire

◆ getDampingCoefficient()

virtual agx::Real agxModel::TwoBodyTire::getDampingCoefficient ( DeformationMode mode )

virtual

Gets the damping coefficient for a deformation mode.

Parameters

mode	The deformation mode.

Return values

The	damping Coefficient. 0 if invalid mode.

Note: see comments in class definition about stiffness and damping.

Reimplemented in agxModel::ThreeBodyTire.

◆ getHinge()

agx::Hinge * agxModel::TwoBodyTire::getHinge ( )

Gets the hinge (with active Lock1D) connecting the tire to the hub.

This setup is an implementation detail, and might change in future versions of AGX. Having direct control over the hinge can be helpful in order to change fine-grained options such as compliance and damping. Use with care.

Return values

The	hinge between tire and hub. 0 if isValid is false.

◆ getHubRigidBody() [1/2]

agx::RigidBody * agxModel::TwoBodyTire::getHubRigidBody ( )

Returns: the rigid body of the hub.

◆ getHubRigidBody() [2/2]

const agx::RigidBody * agxModel::TwoBodyTire::getHubRigidBody ( ) const

Returns: the rigid body of the hub.

◆ getImplicitFrictionMultiplier()

agx::Vec2 agxModel::TwoBodyTire::getImplicitFrictionMultiplier ( ) const

Returns: The friction multiplier (for friction different directions). See setImplicitFrictionMultiplier for more details.

◆ getInnerRadius()

agx::Real agxModel::TwoBodyTire::getInnerRadius ( ) const

Returns: The inner radius of the tire (and outer of the hub).

◆ getLoadedRadius()

virtual agx::Real agxModel::TwoBodyTire::getLoadedRadius ( ) const

overridevirtual

Gets the current loaded radius.

Recomputed in POST_STEP. Usually, loaded radius is defined per contact. Since the tire can interact with several contacts and be influenced by other forces, it is defined as the distance between the hub center and the tire center instead in the TwoBodyTire-model.

Reimplemented from agxModel::Tire.

◆ getOuterRadius()

agx::Real agxModel::TwoBodyTire::getOuterRadius ( ) const

Returns: The outer radius of the tire. Identical to getRadius().

◆ getReferenceFrame()

const agx::Frame * agxModel::TwoBodyTire::getReferenceFrame ( ) const

Returns: the reference frame for friction directions.

◆ getStiffness()

virtual agx::Real agxModel::TwoBodyTire::getStiffness ( DeformationMode mode )

virtual

Gets the stiffness for a deformation mode.

Parameters

mode	The deformation mode.

Return values

The	stiffness. 0 if invalid mode.

Note: see comments in class definition about stiffness and damping.

Reimplemented in agxModel::ThreeBodyTire.

◆ getTireAxisWorld()

agx::Vec3 agxModel::TwoBodyTire::getTireAxisWorld ( ) const

protected

◆ getTireCenterWorld()

agx::Vec3 agxModel::TwoBodyTire::getTireCenterWorld ( ) const

protected

◆ getTireRigidBody() [1/2]

agx::RigidBody * agxModel::TwoBodyTire::getTireRigidBody ( )

Returns: the rigid body of the tire.

◆ getTireRigidBody() [2/2]

const agx::RigidBody * agxModel::TwoBodyTire::getTireRigidBody ( ) const

Returns: the rigid body of the tire.

◆ handleContacts()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::TwoBodyTire::handleContacts	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc
	)

protected

◆ impact()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::TwoBodyTire::impact	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc
	)

protected

◆ initBodies()

void agxModel::TwoBodyTire::initBodies	(	agx::Real	outerRadius,
		agx::Real	innerRadius
	)

protected

◆ isValid()

virtual bool agxModel::TwoBodyTire::isValid ( ) const

virtual

Returns: Is the tire valid?

Reimplemented in agxModel::ThreeBodyTire.

◆ last()

virtual void agxModel::TwoBodyTire::last ( const agx::TimeStamp & )

protectedvirtual

◆ post()

virtual void agxModel::TwoBodyTire::post ( const agx::TimeStamp & )

protectedvirtual

Reimplemented in agxModel::ThreeBodyTire.

◆ pre()

virtual void agxModel::TwoBodyTire::pre ( const agx::TimeStamp & )

protectedvirtual

◆ preCollide()

virtual void agxModel::TwoBodyTire::preCollide ( const agx::TimeStamp & )

protectedvirtual

◆ reduceContacts()

void agxModel::TwoBodyTire::reduceContacts ( agxCollide::LocalGeometryContact & gc )

protected

◆ removeNotification()

virtual void agxModel::TwoBodyTire::removeNotification ( agxSDK::Simulation * )

overrideprotectedvirtual

Called when this assembly is removed from a simulation.

Reimplemented from agxSDK::Assembly.

Reimplemented in agxModel::ThreeBodyTire.

◆ separation()

void agxModel::TwoBodyTire::separation	(	const agx::TimeStamp &	,
		agxCollide::GeometryPair &
	)

protected

◆ setDampingCoefficient()

virtual bool agxModel::TwoBodyTire::setDampingCoefficient	(	const agx::Real	dampingCoefficient,
		DeformationMode	mode
	)

virtual

Sets the damping coefficient for a deformation mode.

Parameters

dampingCoefficient	The damping Coefficient.
mode	The deformation mode.

Return values

True	if setting was successful.

Note: see comments in class definition about stiffness and damping.

Reimplemented in agxModel::ThreeBodyTire.

◆ setImplicitFrictionMultiplier()

void agxModel::TwoBodyTire::setImplicitFrictionMultiplier ( const agx::Vec2 & implicitFrictionMultiplier )

Set the implicit friction multiplier in order to get different behavior for different friction directions (forwards, sideways).

This is only necessary for implicit contact materials, since for explicit ones, this can be set directly at the contact material instead.

◆ setStiffness()

virtual bool agxModel::TwoBodyTire::setStiffness	(	const agx::Real	stiffness,
		DeformationMode	mode
	)

virtual

Sets the stiffness for a deformation mode.

Parameters

stiffness	The stiffness.
mode	The deformation mode.

Return values

True	if setting was successful.

Note: see comments in class definition about stiffness and damping.

Reimplemented in agxModel::ThreeBodyTire.

Member Data Documentation

◆ m_collisionGroup

agx::UInt32 agxModel::TwoBodyTire::m_collisionGroup

protected

Definition at line 369 of file TwoBodyTire.h.

◆ m_contactCallback

agx::ref_ptr< agxUtil::GeneralContactEventListener< TwoBodyTire > > agxModel::TwoBodyTire::m_contactCallback

protected

Definition at line 370 of file TwoBodyTire.h.

◆ m_contactMaterials

agx::Vector<agx::ContactMaterialRef> agxModel::TwoBodyTire::m_contactMaterials

protected

Definition at line 374 of file TwoBodyTire.h.

◆ m_contacts

agx::Vector<agxCollide::LocalGeometryContact> agxModel::TwoBodyTire::m_contacts

protected

Definition at line 373 of file TwoBodyTire.h.

◆ m_hinge

agx::HingeRef agxModel::TwoBodyTire::m_hinge

protected

Definition at line 364 of file TwoBodyTire.h.

◆ m_hubBody

agx::RigidBodyObserver agxModel::TwoBodyTire::m_hubBody

protected

Definition at line 361 of file TwoBodyTire.h.

◆ m_implicitFrictionMultiplier

agx::Vec2 agxModel::TwoBodyTire::m_implicitFrictionMultiplier

protected

Definition at line 363 of file TwoBodyTire.h.

◆ m_initialized

bool agxModel::TwoBodyTire::m_initialized

protected

Definition at line 366 of file TwoBodyTire.h.

◆ m_innerRadius

agx::Real agxModel::TwoBodyTire::m_innerRadius

protected

Definition at line 362 of file TwoBodyTire.h.

◆ m_loadedRadius

agx::Real agxModel::TwoBodyTire::m_loadedRadius

protected

Definition at line 367 of file TwoBodyTire.h.

◆ m_refFrame

agx::FrameRef agxModel::TwoBodyTire::m_refFrame

protected

Definition at line 365 of file TwoBodyTire.h.

◆ m_stepCallback

agx::ref_ptr< agxUtil::GeneralStepListener< TwoBodyTire > > agxModel::TwoBodyTire::m_stepCallback

protected

Definition at line 371 of file TwoBodyTire.h.

◆ m_tireBody

agx::RigidBodyObserver agxModel::TwoBodyTire::m_tireBody

protected

Definition at line 360 of file TwoBodyTire.h.

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

TwoBodyTire.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DeformationMode

Constructor & Destructor Documentation

◆ TwoBodyTire() [1/2]

◆ TwoBodyTire() [2/2]

◆ ~TwoBodyTire()

Member Function Documentation

◆ addNotification()

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ contact()

◆ create()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ getDampingCoefficient()

◆ getHinge()

◆ getHubRigidBody() [1/2]

◆ getHubRigidBody() [2/2]

◆ getImplicitFrictionMultiplier()

◆ getInnerRadius()

◆ getLoadedRadius()

◆ getOuterRadius()

◆ getReferenceFrame()

◆ getStiffness()

◆ getTireAxisWorld()

◆ getTireCenterWorld()

◆ getTireRigidBody() [1/2]

◆ getTireRigidBody() [2/2]

◆ handleContacts()

◆ impact()

◆ initBodies()

◆ isValid()

◆ last()

◆ post()

◆ pre()

◆ preCollide()

◆ reduceContacts()

◆ removeNotification()

◆ separation()

◆ setDampingCoefficient()

◆ setImplicitFrictionMultiplier()

◆ setStiffness()

Member Data Documentation

◆ m_collisionGroup

◆ m_contactCallback

◆ m_contactMaterials

◆ m_contacts

◆ m_hinge

◆ m_hubBody

◆ m_implicitFrictionMultiplier

◆ m_initialized

◆ m_innerRadius

◆ m_loadedRadius

◆ m_refFrame

◆ m_stepCallback

◆ m_tireBody