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::Line &teethEdge, ShovelDebugRenderSettings settings=nullptr)
	Alternative basic constructor that takes a teeth location edge instead of direction in local space to construct teeth direction and length.

	Shovel (agx::RigidBody shovelBody, const agx::Line &topEdge, const agx::Line &cuttingEdge, const agx::Vec3 &toothDirection=agx::Vec3(0, 0, 0), agx::Real toothLength=0.15, ShovelDebugRenderSettings settings=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

AdvancedShovelSettings *	getAdvancedSettings ()

AdvancedShovelSettings *	getAdvancedSettings () 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.

agx::Vec3	getBottomPlateDirection () const

agx::Vec3	getBottomPlateDirectionWorld () const

Shovel *	getConnectedShovel ()

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::Plane	getCurrentSeparationPlane (ExcavationMode mode) const

agx::Vec3	getCuttingDirection () const

agx::Vec3	getCuttingDirectionWorld () const

const agx::Line &	getCuttingEdge () const

agx::Line	getCuttingEdgeWorld () const

const agx::Plane &	getCutTopPlane () const

agx::Plane	getCutTopPlaneWorld () 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

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	getInnerParticleVolume () const

agx::Real	getInnerSoilBulkVolume () const
	Get the last computed dead load bulk volume of the shovel, i.e the inner volume that is filled with dynamic soil.

agx::Real	getInnerSoilMass () const

SoilParticleVector	getInnerSoilParticles () const

agx::Real	getInnerVolume () const

size_t	getMaximumNumberOfContactPoints ()

size_t	getNumberOfActiveContactPoints ()

agx::Frame *	getParentFrame () const

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.

SoilPenetrationResistance *	getPenetrationResistance () const

agx::RigidBody *	getRigidBody () const

agx::Vec3	getSecondaryForwardVector () const

agx::Vec3	getSecondaryForwardVectorWorld () const

agx::Real	getSecondarySeparationAngle () 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::Plane	getSeparationPlatePlane () const

ShovelSettings *	getSettings ()

const ShovelSettings *	getSettings () 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.

agx::Line	getTeethEdge () const

agx::Line	getTeethEdgeWorld () const

agx::Plane	getTeethSeparationPlane () const

const agx::Plane &	getTeethTopPlane () const

agx::Vec3	getToothDirectionWorld () const

agx::Vec3	getToothOrCuttingDirection () const

agx::Vec3	getToothOrCuttingDirectionWorld () const

const agx::Line &	getTopEdge () const

agx::Line	getTopEdgeWorld () const

agx::Real	getTotalSoilBulkVolume (agx::Real packingFraction=0.67) const
	Returns the total bulk volume moved by the shovel, both in the inner shapes and in the soil wedges in front of the shovel during excavation in m3.

agx::Real	getTotalSoilMass () const

SoilParticleVector	getTotalSoilParticles () const

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	setConnectedShovel (Shovel *shovel)

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

void	setCutTopPlane (agx::Plane cutTopPlane)
	Set the cutting plane 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	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.

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	setTeethEdge (agx::Line teethEdge)
	Set the teeth edge in local space.

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

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 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 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 ()
	Calculates and store the current deadload fraction of the shovel.

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 ()

agxSDK::TerrainManager *	getTerrainManager ()

TerrainPtrVec	getTerrainsInSimulation ()

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

void	initSoilAggregate ()

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::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 ()

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

agx::Vec3	m_bottomPlateDirection

agxCollide::BoundingAABB	m_collisionBound

Shovel *	m_connectedShovel

agx::Line	m_cuttingEdge

agx::Plane	m_cutTopPlane

agx::Real	m_deadLoadAngle =0

agx::Real	m_deadLoadFraction

ShovelDebugRenderSettingsRef	m_debugRenderSettings

DeformControllerRef	m_deformController

std::array< DeformerCollectionRef, 3 >	m_deformers

bool	m_enabled

std::array< ExcavationSettings, 4 >	m_excavationSettings

agx::Vector< agxCollide::BoundingAABB >	m_forbiddenBounds

agx::Vec3	m_forwardDirection

agx::Real	m_innerContactArea

bool	m_isActive

agx::FrameRef	m_parentFrame

SoilPenetrationResistanceRef	m_penetrationResistance

bool	m_settingsAreDirty

ShovelAggregateContactMaterialContainerRef	m_shovelAggregateCMContainer

agx::RigidBodyRef	m_shovelBody

ShovelSettingsRef	m_shovelSettings

SoilParticleAggregateRef	m_soilParticleAggregate

TangentPatchData	m_tangentData

agx::Plane	m_teethTopPlane

agx::Line	m_topEdge

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 62 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 132 of file Shovel.h.

Constructor & Destructor Documentation

◆ Shovel() [1/3]

agxTerrain::Shovel::Shovel	(	agx::RigidBody *	shovelBody,
		const agx::Line &	topEdge,
		const agx::Line &	cuttingEdge,
		const agx::Vec3 &	toothDirection = `agx::Vec3(0, 0, 0)`,
		agx::Real	toothLength = `0.15`,
		ShovelDebugRenderSettings *	settings = `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.
toothDirection	- The direction of the shovel teeth along which the penetration resistance will be active. It also determines where the the teeth edge, which is the tip of the teeth, will be located where soil excavation starts.
toothLength	- The length of the shovel teeth which together with the teeth direction will influence where the teeth edge will be placed. Soil excavation starts at the teeth edge.

◆ Shovel() [2/3]

agxTerrain::Shovel::Shovel	(	agx::RigidBody *	shovelBody,
		const agx::Line &	topEdge,
		const agx::Line &	cuttingEdge,
		const agx::Line &	teethEdge,
		ShovelDebugRenderSettings *	settings = `nullptr`
	)

Alternative basic constructor that takes a teeth location edge instead of direction in local space to construct teeth direction and length.

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.
teethEdge	- The edge of the teeth, specified in the LOCAL shovelBody frame, that will be used to compute teeth properties such as tooth direction and length.

◆ Shovel() [3/3]

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::TerrainToolInstance.

◆ calculateDeadLoadFraction()

void agxTerrain::Shovel::calculateDeadLoadFraction ( )

protected

Calculates and store the current deadload fraction of the shovel.

◆ 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

◆ 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

◆ getAdvancedSettings() [1/2]

AdvancedShovelSettings * agxTerrain::Shovel::getAdvancedSettings ( )

Returns: the advanced settings for the shovel.

◆ getAdvancedSettings() [2/2]

AdvancedShovelSettings * agxTerrain::Shovel::getAdvancedSettings ( ) const

◆ 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

◆ getBottomPlateDirection()

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

Returns: the bottom plate direction in local space

◆ getBottomPlateDirectionWorld()

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

Returns: the bottom plate direction in world space

◆ getConnectedShovel()

Shovel * agxTerrain::Shovel::getConnectedShovel ( )

Returns: the connected shovel if this shovel has a connection to another shovel's inner body. See: setConnectedShovel.

◆ 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.

◆ getCurrentSeparationPlane()

agx::Plane agxTerrain::Shovel::getCurrentSeparationPlane ( 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()

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.

◆ getCutTopPlane()

const agx::Plane & agxTerrain::Shovel::getCutTopPlane ( ) const

Returns: cutting plane in local space.

◆ getCutTopPlaneWorld()

agx::Plane agxTerrain::Shovel::getCutTopPlaneWorld ( ) const

Returns: cutting plane 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.

◆ 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.

◆ getInnerParticleVolume()

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

Returns: the specific particle volume inside the shovel, i.e the soil volume inside the shovel that is unmodified by the packing fraction of the soil.

◆ getInnerSoilBulkVolume()

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

Get the last computed dead load bulk volume of the shovel, i.e the inner volume that is filled with dynamic soil.

This is the particle volume inside the shovel divied by the packing fraction of the soil (0.67).

Returns: the last computed dead load bulk volume of the shovel

◆ getInnerSoilMass()

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

Returns: the mass inside the shovel inner shape in kg.

◆ getInnerSoilParticles()

SoilParticleVector agxTerrain::Shovel::getInnerSoilParticles ( ) const

Returns: the soil particles in the shovel inner shape.

◆ getInnerVolume()

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

Returns: the shovel inner shape volume that is used in the dead load calculations in m3.

◆ getMaximumNumberOfContactPoints()

size_t agxTerrain::Shovel::getMaximumNumberOfContactPoints ( )

◆ getNumberOfActiveContactPoints()

size_t agxTerrain::Shovel::getNumberOfActiveContactPoints ( )

◆ getParentFrame()

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

Returns: parent frame located at model center of the shovel

◆ 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

◆ getPenetrationResistance()

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

Returns: shovel penetration resistance specific for this shovel instance

◆ getRigidBody()

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

Returns: the base rigid body from the shovel object.

◆ getSecondaryForwardVector()

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

Returns: the secondary separation forward vector of the shovel

◆ getSecondaryForwardVectorWorld()

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

Returns: the secondary separation forward vector of the shovel in world space

◆ getSecondarySeparationAngle()

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

Returns: the secondary separation angle of 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.

◆ getSeparationPlatePlane()

agx::Plane agxTerrain::Shovel::getSeparationPlatePlane ( ) const

Returns: the current separation plate plane in world coordinates

◆ getSettings() [1/2]

ShovelSettings * agxTerrain::Shovel::getSettings ( )

Returns: the common settings for the shovel.

◆ getSettings() [2/2]

const ShovelSettings * agxTerrain::Shovel::getSettings ( ) const

◆ 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.

◆ getTeethEdge()

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

Returns: the teeth edge in local space.

◆ getTeethEdgeWorld()

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

Returns: the teeth edge in world space.

◆ getTeethSeparationPlane()

agx::Plane agxTerrain::Shovel::getTeethSeparationPlane ( ) const

Returns: the current separation plate plane in world coordinates

◆ getTeethTopPlane()

const agx::Plane & agxTerrain::Shovel::getTeethTopPlane ( ) const

Returns: cutting plane in local space.

◆ getTerrainManager()

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

protected

◆ getTerrainsInSimulation()

TerrainPtrVec agxTerrain::Shovel::getTerrainsInSimulation ( )

protected

◆ getToothDirectionWorld()

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

Returns: the sanitized tooth direction vector in world space. If the tooth direction is zero, return forward vector instead.

◆ getToothOrCuttingDirection()

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

Returns: a sanitized tooth direction in local space. If the tooth direction is zero, return forward vector instead.

◆ getToothOrCuttingDirectionWorld()

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

Returns: a sanitized tooth direction in world space. If the tooth direction is zero, return forward vector instead.

◆ 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.

◆ getTotalSoilBulkVolume()

agx::Real agxTerrain::Shovel::getTotalSoilBulkVolume ( agx::Real packingFraction = 0.67 ) const

Returns the total bulk volume moved by the shovel, both in the inner shapes and in the soil wedges in front of the shovel during excavation in m3.

This includes both particles and voxels for solid and fluid mass.

Parameters

packingFraction - the packing fraction used for computing the bulk volume for the soil particles in the inner and wedge shapes. (Default: 0.67)

Returns: the total soil bulk volume moved by the shovel.

◆ getTotalSoilMass()

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

Returns: the total mass in the shovel, both in the inner shapes and the mass moved by the soil wedges in front of the shovel during excavation in kg.

◆ getTotalSoilParticles()

SoilParticleVector agxTerrain::Shovel::getTotalSoilParticles ( ) const

Returns: the soil particles both in the shovel inner shape and in the wedge shapes in front of the shovel during excavation.

◆ 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.

◆ initSoilAggregate()

void agxTerrain::Shovel::initSoilAggregate ( )

protected

◆ 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::TerrainToolInstance.

◆ 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::TerrainToolInstance.

◆ 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::TerrainToolInstance.

◆ 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::TerrainToolInstance.

◆ 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::TerrainToolInstance.

◆ removeNotification()

virtual void agxTerrain::Shovel::removeNotification ( )

overrideprotectedvirtual

Remove notification when this shovel is removed from a simulation.

Reimplemented from agxSDK::TerrainToolInstance.

◆ 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.

◆ setConnectedShovel()

void agxTerrain::Shovel::setConnectedShovel ( Shovel * shovel )

Parameters

shovel - 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)

◆ setCuttingEdge()

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

Set the cutting edge in local space.

Parameters

cuttingEdge - new cutting edge in local space.

◆ setCutTopPlane()

void agxTerrain::Shovel::setCutTopPlane ( agx::Plane cutTopPlane )

Set the cutting plane in local space.

Parameters

cutTopPlane - new cutting plane 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.

◆ 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.

◆ 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.

◆ setTeethEdge()

void agxTerrain::Shovel::setTeethEdge ( agx::Line teethEdge )

Set the teeth edge in local space.

This edge will be used to together with the cutting edge to automatically compute teeth properties such as teeth direction and length so that the edge of the teeth conincide with the provided teeth edge.

Parameters

teethEdge - new cutting edge in local space.

◆ setTopEdge()

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

Set the top edge in local space.

Parameters

topEdge - new top edge in local space.

◆ shovelHasParticles()

bool agxTerrain::Shovel::shovelHasParticles ( ) const

protected

Member Data Documentation

◆ m_activeTerrain

Terrain* agxTerrain::Shovel::m_activeTerrain

protected

Definition at line 1107 of file Shovel.h.

◆ m_activeZone

PrimaryActiveZoneRef agxTerrain::Shovel::m_activeZone

protected

Definition at line 1100 of file Shovel.h.

◆ m_aggregateContactGenerator

AggregateContactGeneratorRef agxTerrain::Shovel::m_aggregateContactGenerator

protected

Definition at line 1101 of file Shovel.h.

◆ m_aggregateMaterial

agx::MaterialRef agxTerrain::Shovel::m_aggregateMaterial

protected

Definition at line 1105 of file Shovel.h.

◆ m_bottomPlateDirection

agx::Vec3 agxTerrain::Shovel::m_bottomPlateDirection

protected

Definition at line 1078 of file Shovel.h.

◆ m_collisionBound

agxCollide::BoundingAABB agxTerrain::Shovel::m_collisionBound

protected

Definition at line 1110 of file Shovel.h.

◆ m_connectedShovel

Shovel* agxTerrain::Shovel::m_connectedShovel

protected

Definition at line 1094 of file Shovel.h.

◆ m_cuttingEdge

agx::Line agxTerrain::Shovel::m_cuttingEdge

protected

Definition at line 1074 of file Shovel.h.

◆ m_cutTopPlane

agx::Plane agxTerrain::Shovel::m_cutTopPlane

protected

Definition at line 1076 of file Shovel.h.

◆ m_deadLoadAngle

agx::Real agxTerrain::Shovel::m_deadLoadAngle =0

protected

Definition at line 1090 of file Shovel.h.

◆ m_deadLoadFraction

agx::Real agxTerrain::Shovel::m_deadLoadFraction

protected

Definition at line 1086 of file Shovel.h.

◆ m_debugRenderSettings

ShovelDebugRenderSettingsRef agxTerrain::Shovel::m_debugRenderSettings

protected

Definition at line 1054 of file Shovel.h.

◆ m_deformController

DeformControllerRef agxTerrain::Shovel::m_deformController

protected

Definition at line 1103 of file Shovel.h.

◆ m_deformers

std::array<DeformerCollectionRef, 3> agxTerrain::Shovel::m_deformers

protected

Definition at line 1102 of file Shovel.h.

◆ m_enabled

bool agxTerrain::Shovel::m_enabled

protected

Definition at line 1082 of file Shovel.h.

◆ m_excavationSettings

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

protected

Definition at line 1083 of file Shovel.h.

◆ m_forbiddenBounds

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

protected

Definition at line 1108 of file Shovel.h.

◆ m_forwardDirection

agx::Vec3 agxTerrain::Shovel::m_forwardDirection

protected

Definition at line 1079 of file Shovel.h.

◆ m_innerContactArea

agx::Real agxTerrain::Shovel::m_innerContactArea

protected

Definition at line 1088 of file Shovel.h.

◆ m_isActive

bool agxTerrain::Shovel::m_isActive

protected

Definition at line 1106 of file Shovel.h.

◆ m_parentFrame

agx::FrameRef agxTerrain::Shovel::m_parentFrame

protected

Definition at line 1067 of file Shovel.h.

◆ m_penetrationResistance

SoilPenetrationResistanceRef agxTerrain::Shovel::m_penetrationResistance

protected

Definition at line 1098 of file Shovel.h.

◆ m_settingsAreDirty

bool agxTerrain::Shovel::m_settingsAreDirty

protected

Definition at line 1092 of file Shovel.h.

◆ m_shovelAggregateCMContainer

ShovelAggregateContactMaterialContainerRef agxTerrain::Shovel::m_shovelAggregateCMContainer

protected

Definition at line 1096 of file Shovel.h.

◆ m_shovelBody

agx::RigidBodyRef agxTerrain::Shovel::m_shovelBody

protected

Definition at line 1066 of file Shovel.h.

◆ m_shovelSettings

ShovelSettingsRef agxTerrain::Shovel::m_shovelSettings

protected

Definition at line 1056 of file Shovel.h.

◆ m_soilParticleAggregate

SoilParticleAggregateRef agxTerrain::Shovel::m_soilParticleAggregate

protected

Definition at line 1097 of file Shovel.h.

◆ m_tangentData

TangentPatchData agxTerrain::Shovel::m_tangentData

protected

Definition at line 1068 of file Shovel.h.

◆ m_teethTopPlane

agx::Plane agxTerrain::Shovel::m_teethTopPlane

protected

Definition at line 1077 of file Shovel.h.

◆ m_topEdge

agx::Line agxTerrain::Shovel::m_topEdge

protected

Definition at line 1075 of file Shovel.h.

◆ m_voxelCollisionGeometries

agxCollide::GeometryRefVector agxTerrain::Shovel::m_voxelCollisionGeometries

protected

Definition at line 1071 of file Shovel.h.

◆ m_voxelsInPrimaryActiveZoneLastTimeStep

agx::Vec3iVector agxTerrain::Shovel::m_voxelsInPrimaryActiveZoneLastTimeStep

protected

Definition at line 1109 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 Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ExcavationMode

Constructor & Destructor Documentation

◆ Shovel() [1/3]

◆ Shovel() [2/3]

◆ Shovel() [3/3]

◆ ~Shovel()

Member Function Documentation

◆ addNotification()

◆ calculateDeadLoadFraction()

◆ calculateForbiddenBounds()

◆ checkContactMaterials()

◆ clearActiveZoneWedges()

◆ collisionGeometriesAreInsideTerrain()

◆ computeCuttingEdgeLength()

◆ computeDefaultContactRegionThreshold()

◆ createParentFrame()

◆ excavationModeToDeformerCollectionIndex()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll()

◆ getActiveTerrain()

◆ getActiveZone()

◆ getAdvancedSettings() [1/2]

◆ getAdvancedSettings() [2/2]

◆ getAggregateContactGenerator()

◆ getAggregateMaterial()

◆ getAggregateTerrainContactArea()

◆ getAggregateTerrainContactDepth()

◆ getAggregateTerrainContactForce()

◆ getAggregateTerrainContacts()

◆ getAggregateTerrainNormalForce()

◆ getAggregateTerrainTangentialForce()

◆ getBottomPlateDirection()

◆ getBottomPlateDirectionWorld()

◆ getConnectedShovel()

◆ getContactForce()

◆ getCurrentSeparationPlane()

◆ getCuttingDirection()

◆ getCuttingDirectionWorld()

◆ getCuttingEdge()

◆ getCuttingEdgeWorld()

◆ getCutTopPlane()

◆ getCutTopPlaneWorld()

◆ getDeadLoadFraction()

◆ getDeformationContactForce()

◆ getDeformController()

◆ getDynamicMass()

◆ getEnable()

◆ getEnableForTerrain()

◆ getExcavationModeContactForce()

◆ getExcavationSettings()

◆ getForbiddenBounds()

◆ getInnerContactArea()

◆ getInnerParticleVolume()

◆ getInnerSoilBulkVolume()

◆ getInnerSoilMass()

◆ getInnerSoilParticles()

◆ getInnerVolume()

◆ getMaximumNumberOfContactPoints()

◆ getNumberOfActiveContactPoints()

◆ getParentFrame()

◆ getPenetrationForce()

◆ getPenetrationResistance()

◆ getRigidBody()

◆ getSecondaryForwardVector()

◆ getSecondaryForwardVectorWorld()

◆ getSecondarySeparationAngle()

◆ getSeparationContactForce()

◆ getSeparationFrictionForce()

◆ getSeparationNormalForce()