ClamShellBucket is a CompositeShovel class that models a clamshell bucket that consists of two opposing shovels. More...

#include <ClamShellBucket.h>

Inheritance diagram for agxTerrain::ClamShellBucket:

Public Types
enum class	SHOVEL : agx::UInt16 { FIRST = 0 , SECOND = 1 }
	Enum specifing the available shovels in a ClamShellBucket. 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
	ClamShellBucket (agxTerrain::Shovel shovel1, agxTerrain::Shovel shovel2)
	Constructor.

agx::Real	computeCurrentDistance () const

agxCollide::GeometryContactPtrVector	getAggregateContacts (agxSDK::Simulation *simulation)

agx::Real	getClosedThreshold () const

Shovel *	getShovel (SHOVEL i) const

agx::Real	getSoilMassInBucket () const

bool	isClosed () const

virtual bool	isValid () const override

void	setClosedThreshold (agx::Real closedThreshold)
	The threshold value for the distance between the bucket shovel's cutting edges that determines when the shovel is in a closed state.

Public Member Functions inherited from agxTerrain::CompositeShovel
	CompositeShovel ()
	Default constructor.

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

bool	getEnable () const
	Access the state enable flag.

virtual bool	isValid () const override

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

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

Public Member Functions inherited from agxSDK::TerrainToolInstance
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.

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

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

static ClamShellBucketPtrVector	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 Member Functions
	ClamShellBucket ()

virtual	~ClamShellBucket ()

void	updateAggregateContacts ()

void	updateClosedState ()

void	updateShovelSettings ()

Protected Member Functions inherited from agxTerrain::CompositeShovel
virtual	~CompositeShovel ()

bool	isChildShovelsValid () const

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

virtual	~TerrainToolInstance ()
	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 ()

Protected Attributes
agx::Real	m_closedThreshold

ClamShellDebugRenderSettingsRef	m_debugRenderSettings

bool	m_isClosed

Protected Attributes inherited from agxTerrain::CompositeShovel
Flags	m_flags

agxTerrain::ShovelRefVector	m_terrainTools

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

Protected Types inherited from agxTerrain::CompositeShovel
using	Flags = agx::BitState< StateFlags, agx::UInt32 >

enum	StateFlags : agx::UInt32 { ENABLED = 1 << 0 }

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

ClamShellBucket is a CompositeShovel class that models a clamshell bucket that consists of two opposing shovels.

This class manages shovel functionality when two shovels have overlapping soil aggregates. Examples of this is making sure we do not double count particles and also to create contacts between the opposing shovel aggregates when the bucket is closed.

The ClamShellBucket is considered closed when the distance between the cutting edges between the two shovels in the clam shell bucket is below a specified threshold which is initially estimated from the cutting edges of the supplied shovels.

Definition at line 54 of file ClamShellBucket.h.

Member Enumeration Documentation

◆ SHOVEL

enum class agxTerrain::ClamShellBucket::SHOVEL : agx::UInt16

strong

Enum specifing the available shovels in a ClamShellBucket.

Enumerator
FIRST
SECOND

Definition at line 84 of file ClamShellBucket.h.

Constructor & Destructor Documentation

◆ ClamShellBucket() [1/2]

agxTerrain::ClamShellBucket::ClamShellBucket	(	agxTerrain::Shovel *	shovel1,
		agxTerrain::Shovel *	shovel2
	)

Constructor.

Parameters

shovel1	- one of the shovels in the ClamShellBucket
shovel2	- one of the shovels in the ClamShellBucket

Note: - the closedThreshold is intially estimated from the cutting edges of the supplied shovels.

◆ ClamShellBucket() [2/2]

agxTerrain::ClamShellBucket::ClamShellBucket ( )

protected

◆ ~ClamShellBucket()

virtual agxTerrain::ClamShellBucket::~ClamShellBucket ( )

protectedvirtual

Member Function Documentation

◆ computeCurrentDistance()

agx::Real agxTerrain::ClamShellBucket::computeCurrentDistance ( ) const

Returns: the computed distance between the cutting edges of the shovels in the ClamShellBuckets.

◆ find() [1/2]

static ClamShellBucket * agxTerrain::ClamShellBucket::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 ClamShellBucket * agxTerrain::ClamShellBucket::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 ClamShellBucketPtrVector agxTerrain::ClamShellBucket::findAll ( const agxSDK::Simulation * simulation )

static

Finds all shovels in the given simulation.

Parameters

simulation - simulation with shovels.

Returns: vector of shovels

◆ getAggregateContacts()

agxCollide::GeometryContactPtrVector agxTerrain::ClamShellBucket::getAggregateContacts ( agxSDK::Simulation * simulation )

◆ getClosedThreshold()

agx::Real agxTerrain::ClamShellBucket::getClosedThreshold ( ) const

Returns: the threshold value that determines when the shovel is in a closed state.

◆ getShovel()

Shovel * agxTerrain::ClamShellBucket::getShovel ( SHOVEL i ) const

Returns: one of the two shovels in the ClamShellBucket (0 or 1).

◆ getSoilMassInBucket()

agx::Real agxTerrain::ClamShellBucket::getSoilMassInBucket ( ) const

Returns: the soil aggregate mass inside the clamshell bucket.

◆ isClosed()

bool agxTerrain::ClamShellBucket::isClosed ( ) const

Returns: true if the clamshell bucket is in a closed state. (See: getClosedThreshold())

◆ isValid()

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

overridevirtual

Returns: true if the clamshell bucket is in a valid state.

Reimplemented from agxTerrain::CompositeShovel.

◆ setClosedThreshold()

void agxTerrain::ClamShellBucket::setClosedThreshold ( agx::Real closedThreshold )

The threshold value for the distance between the bucket shovel's cutting edges that determines when the shovel is in a closed state.

Parameters

closedThreshold - the threshold to be used to determine when the ClamShellBucket to be closed.

◆ updateAggregateContacts()

void agxTerrain::ClamShellBucket::updateAggregateContacts ( )

protected

◆ updateClosedState()

void agxTerrain::ClamShellBucket::updateClosedState ( )

protected

◆ updateShovelSettings()

void agxTerrain::ClamShellBucket::updateShovelSettings ( )

protected

Member Data Documentation

◆ m_closedThreshold

agx::Real agxTerrain::ClamShellBucket::m_closedThreshold

protected

Definition at line 192 of file ClamShellBucket.h.

◆ m_debugRenderSettings

ClamShellDebugRenderSettingsRef agxTerrain::ClamShellBucket::m_debugRenderSettings

protected

Definition at line 194 of file ClamShellBucket.h.

◆ m_isClosed

bool agxTerrain::ClamShellBucket::m_isClosed

protected

Definition at line 193 of file ClamShellBucket.h.

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

ClamShellBucket.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ SHOVEL

Constructor & Destructor Documentation

◆ ClamShellBucket() [1/2]

◆ ClamShellBucket() [2/2]

◆ ~ClamShellBucket()

Member Function Documentation

◆ computeCurrentDistance()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll()

◆ getAggregateContacts()

◆ getClosedThreshold()

◆ getShovel()

◆ getSoilMassInBucket()

◆ isClosed()

◆ isValid()

◆ setClosedThreshold()

◆ updateAggregateContacts()

◆ updateClosedState()

◆ updateShovelSettings()

Member Data Documentation

◆ m_closedThreshold

◆ m_debugRenderSettings

◆ m_isClosed