A terrain model based a 3D grid model with overlapping height field that can be deformed by interacting shovels objects performing digging motions, converting solid mass to dynamic mass which can be moved. More...

#include <Terrain.h>

Inheritance diagram for agxTerrain::Terrain:

Classes
struct	offsetIndexInfo

Public Types
enum class	MassType { SOLID , PARTICLE , FLUID }

enum class	MaterialType { TERRAIN , PARTICLE , AGGREGATE }

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
	Terrain (size_t resolutionX, size_t resolutionY, agx::Real elementSize, agx::Real maximumDepth)
	Constructor.

	Terrain (size_t resolutionX, size_t resolutionY, agx::Real elementSize, const agx::RealVector &heights, bool flipY, agx::Real maximumDepth)
	Constructor.

	Terrain (size_t resolutionX, size_t resolutionY, agx::Real elementSize, const agx::RealVector &heights, const agx::RealVector &minimumHeights)
	Constructor.

bool	add (Shovel *shovel)

bool	addForbiddenBound (IForbiddenBound *bound)
	Add a ForbiddenBound to a terrain that prevents mergining and avalanching for the indices and positions inside the bound.

ForbiddenBound *	addNoMergeZoneToGeometry (agxCollide::Geometry *geometry, const agxCollide::BoundingAABB &bound, const agx::AffineMatrix4x4 &localTransform)
	Utility method for creating a forbidden bound that follow the transformation of a specified geometry.

bool	addTerrainMaterial (TerrainMaterial *terrainMaterial)
	Add a non default TerrainMaterial to the terrain instance, without designating its domain.

int	addTerrainMaterial (TerrainMaterial terrainMaterial, agxCollide::Geometry geometry)
	Add a non default TerrainMaterial to the designated region bounded by the overlap between the terrain and the given geometry.

agx::Real	calculateTotalDynamicMass () const

agx::Real	calculateTotalFluidMass () const

agx::Real	calculateTotalMass () const

agx::Real	calculateTotalSolidMass () const

agx::Real	calculateVolume ()

void	clearTerrainMaterials (bool clearAddedMaterials=true)

bool	contains (const Shovel *shovel) const

void	convertToDynamicMassInShape (agxCollide::Shape *shape)
	Converts the terrain occupancy that overlaps the specified shape into dynamic mass.

bool	exchangeTerrainMaterial (TerrainMaterial oldTerrainMaterial, TerrainMaterial newTerrainMaterial)
	Exchange an already added TerrainMaterial with another TerrainMaterial without changing its associated agx::Material or assigned domain.

agx::Real	getAggregateTerrainContactArea (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

agx::Vec3	getAggregateTerrainContactForce (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

agxCollide::GeometryContactPtrVector	getAggregateTerrainContacts (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

agx::Vec3	getAggregateTerrainNormalForce (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

agx::Vec3	getAggregateTerrainTangentialForce (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

agx::Material *	getAssociatedMaterial (TerrainMaterial *terrainMaterial) const

agx::Real	getAverageSoilParticleRadius () const

agx::Vec2i	getClosestGridPoint (const agx::Vec3 &worldPosition, bool clampToBound=false) const
	Finds the closes terrain grid point given any point in world.

agx::Vec3	getContactForce (const Shovel *shovel) const

agx::ContactMaterial *	getContactMaterial (Terrain::MaterialType type1, Terrain::MaterialType type2)
	Returns one of the internal contact materials in agxTerrain.

TerrainMaterial *	getDefaultTerrainMaterial () const
	Returns the default terrain material which is used to derive material and contact material parameters.

bool	getDeformable () const
	Gets whether or not deformations are enabled for this terrain.

agx::Vec3	getDeformationContactForce (const Shovel *shovel) const

agx::Real	getDynamicMass (const Shovel *shovel) const

agx::Real	getElementSize () const
	Returns the element size of a cell in agxTerrain, which is incidentally the distance between the center of each grid point in the surface height field.

bool	getEnable () const

bool	getEnableMinimumHeights () const

agx::Vec3	getExcavationModeContactForce (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

ExternalDeformerPtrVector	getExternalDeformers () const
	Return the external deformers currently added in the simulation.

IForbiddenBoundPtrVector	getForbiddenBounds ()

virtual agxCollide::Geometry *	getGeometry () const override

agx::Real	getHeight (const agx::Vec2i &terrainIndex, bool includeSurfaceParticles=false) const
	Gets the terrain height at a specific terrain grid node.

const agxCollide::HeightField *	getHeightField () const

agx::Real	getInnerVolume (const Shovel *shovel) const

bool	getIntersectingActiveGridElements (agxCollide::Geometry *geometry, agx::Vec3iVector &gridPoints, MassType massType, bool onlyMidpoint=false) const
	Get intersecting 3D grid element with specified geometry that is active/occupied with a specified mass type.

bool	getIntersectingGridElements (agxCollide::Geometry *geometry, agx::Vec3iVector &gridPoints) const
	Get intersecting 3D grid element with specified geometry.

agx::AffineMatrix4x4	getInverseTransform () const

agx::Real	getLastDeadLoadFraction (const Shovel *shovel) const

agx::Real	getLastExcavatedVolume () const

agx::Material *	getMaterial (Terrain::MaterialType type=Terrain::MaterialType::TERRAIN) const
	Returns one of the internal materials in agxTerrain: MaterialType::TERRAIN - The internal material used on the terrain surface height field structure.

agx::RealVector	getMaterialWeightsInGridPoints (const agx::Vec3iVector &gridPoints) const
	Get the material weights in the terrain of the specified grid points.

agx::RealVector	getMaterialWeightsInLine (const agx::Line &line) const
	Get the material weights in the terrain of the voxels that intersect the specified line.

size_t	getMemoryUsage ()
	Returns the memory usage in bytes in agxTerrain.

agx::Real	getMinimumAllowedHeight () const

agx::Real	getMinimumHeight (const agx::Vec2i &terrainIndex) const

agx::RealVector	getMinimumHeights () const
	Return row major array with dimension (resolutionX * resolutionY) with the minimum height allowed in each grid point.

const ModifiedVerticesVector &	getModifiedParticleVertices () const
	Returns the modified terrain height field (including particles) vertices during the last time step.

const ModifiedVerticesVector &	getModifiedVertices () const
	Returns the modified terrain height field vertices during the last time step.

bool	getNoMerge ()
	Return whether this terrain is prevented from merging dynamic mass to it.

size_t	getNumCreatedParticles () const
	Return the number of soil particles created during excavation this time step.

size_t	getNumSoilParticles () const
	Return the number of soil particles active in the simulation.

float	getParticleNominalRadius () const
	Get the soil particle nominal radius from the simulation.

const ModifiedVerticesVector &	getParticleVertices () const
	Returns the terrain vertices that contains soil particles during the last time step.

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

agx::Vec3	getPosition () const

TerrainProperties *	getProperties ()

TerrainProperties *	getProperties () const

agx::RealVector	getResizedHeightField (size_t factorX, size_t factorY) const
	Calculate a reduced version of the height field structure.

size_t	getResolutionX () const

size_t	getResolutionY () const

agx::Quat	getRotation () const

agx::Vec3	getSeparationContactForce (const Shovel *shovel) const

agx::Vec3	getSeparationFrictionForce (const Shovel *shovel) const

agx::Vec3	getSeparationNormalForce (const Shovel *shovel) const

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

agxCollide::GeometryContactPtrVector	getShovelAggregateContacts (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

ShovelPtrVector	getShovels () const
	Return the shovels currently added in the simulation.

agx::Vec2	getSize () const
	Returns the total surface size of he terrain in X Y coordinate system.

agx::Real	getSoilAggregateMass (const Shovel *shovel, Shovel::ExcavationMode excavationMode) const

const agxCollide::HeightField *	getSoilParticleBoundedHeightField () const
	Get the soil particle height field consisting of the highest point of either the terrain surface or the highest particle position in each terrain index.

SoilParticleStatistics	getSoilParticleStatistics () const
	Get basic statistics of the soil particles active in the simulation.

SoilSimulationInterface *	getSoilSimulationInterface () const
	Get the soil particle system interface used to represent the dynamic mass in the terrain.

agx::Vec3	getSurfacePosition (const agx::Vec2i &terrainIndex, bool includeSurfaceParticles=false) const
	Finds the terrain surface position, given in local coordinate frame, for a specified terrain index.

agx::Vec3	getSurfacePositionWorld (const agx::Vec2i &terrainIndex, bool includeSurfaceParticles=false) const
	Finds the terrain surface world position for a specified terrain index.

const TerrainContactRefVector &	getTerrainContacts () const

TerrainContactPtrVector	getTerrainContactsPtrVector () const

TerrainContactRefVector *	getTerrainContactsVector () const

TerrainGridControl *	getTerrainGridControl () const
	Get control interface of the terrain grid data.

TerrainMaterial *	getTerrainMaterial () const
	Returns the default terrain material which is used to derive material and contact material parameters.

TerrainMaterial *	getTerrainMaterial (agx::Vec3 position) const
	Returns the terrain material at the specific position which is used to derive material and contact material parameters.

deprecated::TerrainToolCollection *	getToolCollection (const Shovel *shovel) const

deprecated::TerrainToolCollectionRefVector	getToolCollections () const

agx::Real	getTotalSoilParticleMass () const
	Get the total mass (kg) of the active soil particles in the simulation.

agx::AffineMatrix4x4	getTransform () const

agx::Vec3	getUpDirection () const
	Returns the world up direction of the terrain.

agx::Real	getVoxelArea () const

agx::Real	getVoxelVolume () const

bool	hasOverlap (const agxCollide::Geometry *geometry) const
	Return true if the specified geometry bounding volume overlaps the terrain geometry bounding volume.

bool	indexIsInsideForbiddenBounds (const agx::Vec3i &terrainIndex, bool onlyUserDefined=false)
	Check if the specified index is inside the forbidden bounds in the terrain.

bool	isBorderIndex (const agx::Vec2i &terrainIndex) const
	Checks if the specified index is at the border of the terrain.

bool	isDigging (const Shovel *shovel) const

bool	isGeometryShovel (const agxCollide::Geometry *geometry) const

bool	isIndexWithinBounds (const agx::Vec2i &terrainIndex) const
	Checks if the specified index is within bound of the terrain [(0,0) -> (resolutionX, resolutionY)].

bool	isLocalPositionWithinBounds (const agx::Vec3 &position) const
	Checks whether the position is within terrain (x,y) position bounds in local space.

bool	isOfHomogeneousTerrainMaterial () const

bool	isRigidBodyShovel (const agx::RigidBody *body) const

bool	isWorldPositionWithinBounds (const agx::Vec3 &position) const
	Checks whether the position is within terrain (x,y) position bounds in world space.

bool	loadLibraryMaterial (const agx::String &materialName)
	Loads a TerrainMaterial preset in the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

bool	loadMaterialFile (const agx::String &filename)
	Load a TerrainMaterial from a specification file in JSON data format.

bool	pointIsInsideForbiddenBounds (const agx::Vec3 &positionWorld, bool onlyUserDefined=false)
	Check if the specified points is inside the forbidden bounds in the terrain.

agx::Bool	projectPointToSurface (const agx::Vec3 &worldPosition, agx::Vec3 &result) const
	Project a world point to the grid surface.

agx::Bool	projectPointToSurfaceInDirection (const agx::Vec3 &worldPosition, const agx::Vec3 &worldDirection, agx::Vec3 &result) const
	Project a world point to the grid surface in a given direction.

bool	remove (Shovel *shovel)

float	removeFluidMassInGeometry (agxCollide::Geometry *geometry, float fluidMass)
	Remove fluid mass (in kg, NOT occupancy) in the intersecting 3D grid element with specified geometry.

bool	removeForbiddenBound (IForbiddenBound *bound)
	Remove a ForbiddenBound from a terrain that prevents merging and avalanching for the indices and positions inside the bounds.

void	removeModifiedParticleVertice (agx::Vec2i terrainIndex)
	Removes a vertex from the vector with vertices that were modified during the last time step.

bool	removeTerrainMaterial (TerrainMaterial *terrainMaterialToRemove)

bool	removeVolumeInShape (agxCollide::Shape *shape)
	Instantly removes a terrain volume in the speficied shape.

bool	setAssociatedMaterial (TerrainMaterial terrainMaterial, agx::Material material)
	Set the associated material with the given TerrainMaterial.

void	setCompaction (agx::Real compaction, bool replaceCompactedSoil=true) const
	Set a compaction for all current active solid grid elements in the Terrain object.

void	setDeformable (bool deformable)
	Sets if deformation should be enabled on this terrain.

void	setEnable (bool enable)
	Set if terrain computations should be enabled.

void	setEnableMinimumHeights (bool enable)

void	setHeight (const agx::Vec2i &terrainIndex, agx::Real height)
	Sets Terrain height at a specific terrain grid node.

bool	setHeights (const agx::RealVector &heights, bool flipY=false, bool resetCompaction=true)
	Set height values of all sampled points.

void	setMaterial (agx::Material *material, Terrain::MaterialType type=Terrain::MaterialType::TERRAIN)
	Assign new material to this terrain.

void	setMinimumHeight (const agx::Vec2i &terrainIndex, agx::Real minimumHeight)

bool	setMinimumHeights (const agx::RealVector &minimumHeights)

void	setNoMerge (bool noMerge)
	Prevent merge of dynamic mass to this terrain.

void	setNoMergeEdgeMargin (size_t noMergeEdgeMargin)
	Add disable merge and avalanche a number of indices from the terrain edge.

void	setPosition (const agx::Vec3 &position)
	Set the position of this terrain.

void	setProperties (TerrainProperties *properties)
	Set the TerrainProperties of the Terrian object.

void	setRotation (const agx::Quat &rotation)
	Set the rotation of this terrain.

bool	setShovelAggregateContactMaterial (Shovel shovel, agx::ContactMaterial contactMaterial, Shovel::ExcavationMode mode=Shovel::ExcavationMode::PRIMARY)

void	setTerrainMaterial (TerrainMaterial terrainMaterial, agx::Material material=nullptr)
	Set the default terrain material for the bulk of the terrain which is used to derive material and contact material parameters.

void	setTransform (const agx::AffineMatrix4x4 &transform)
	Set the transform of this terrain.

agx::Vec3	transformPointToTerrain (const agx::Vec3 point) const
	Transform point given in world coordinate frame to local coordinate frame of this terrain.

agx::Vec3	transformPointToVoxelSpace (const agx::Vec3 point) const
	Transform point given in world coordinate frame to local coordinate frame of this terrain.

agx::Vec3	transformPointToWorld (const agx::Vec3 point) const
	Transform point given in local coordinate frame of this terrain, to world coordinate frame.

agx::Vec3	transformVectorToTerrain (const agx::Vec3 vector) const
	Transform vector given in world coordinate frame to local coordinate frame of this terrain.

agx::Vec3	transformVectorToWorld (const agx::Vec3 vector) const
	Transform vector given in local coordinate frame of this terrain, to world coordinate frame.

void	triggerForceAvalancheAll ()
	Triggers initial avalanching on all indices in the terrain.

Public Member Functions inherited from agxSDK::TerrainInstance
void	addEventListener (agxSDK::StepEventListener *listener)

virtual agxCollide::Geometry *	getGeometry () const

agxSDK::Simulation *	getSimulation () const

bool	removeEventListener (agxSDK::StepEventListener *listener)

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 Terrain *	createFromHeightField (const agxCollide::HeightField *heightField, agx::Real maximumDepth)
	Creates a terrain object by using an existing height field as a basis.

static Terrain *	createTerrainBedFromGeometries (size_t resolution, agxCollide::GeometryPtrVector bedGeometries, agx::Real edgeMargin=0.0, agx::Real bedOffset=0.0, bool resolutionAxisIsX=true)

static Terrain *	createTerrainBedFromGeometry (size_t resolution, agxCollide::Geometry *bedGeometry, agx::Real edgeMargin=0.0, agx::Real bedOffset=0.0, bool resolutionAxisIsX=true)

static Terrain *	find (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find first terrain with given name.

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

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

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

static agx::StringVector	getAvailableLibraryMaterials ()
	Get the available TerrainMaterial presets from the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

static agx::Bool	getEnableKinematicForParticles (const agx::RigidBody *rb)

static TerrainMaterial *	getLibraryMaterial (const agx::String &materialName)
	Loads a TerrainMaterial preset in the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

static TerrainMaterial *	getMaterialFromFile (const agx::String &filename)
	Load a TerrainMaterial from a specification file in JSON data format.

static agx::Real	getTerrainParticlePackingRatio ()

static void	setEnableKinematicForParticles (agx::RigidBody *rb, agx::Bool enable)
	Enable/disable particles to see this rigid body as kinematic regardless of current motion control.

Static Public Member Functions inherited from agx::Component
static Component *	_load (TiXmlElement eComponent, Device device)

static agx::Model *	ClassModel ()

static Component *	load (const Path &path, const Name &implementation, Device *device, const Path &_namespace=Path())

static Component *	load (const String &path, const Path &_namespace=Path())

static Component *	load (const String &path, Device *device, const Path &_namespace=Path())

static Component *	load (TiXmlElement eComponent, Device device)

Static Public Member Functions inherited from agx::Object
static agx::Model *	ClassModel ()

static agx::String	generateName (const agx::String &bindPath)

static const HashSet< Object * > &	getActiveObjects ()

static bool	getEnableRebind ()
	Should rebinding be allowed? Right now a global setting.

static Object *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

template<typename T >
static T *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

static Object *	load (const String &path, Device *device, const String &type="", size_t instance=0)

template<typename T >
static T *	load (const String &path, Device *device, const String &type="", size_t instance=0)

static void	load (const String &path, Device *device, ObjectPtrVector &loadedObjects)

static Object *	load (TiXmlElement eObject, Device device)

template<typename T >
static T *	load (TiXmlElement eObject, Device device)

static TiXmlDocument	openDocument (const String &path)

static void	setEnableRebind (bool flag)
	Sets if rebinding of objects should be allowed (Right now a global setting).

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

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

Protected Types
using	GoToStopCondition = std::function< bool(const agx::Vec3i &index)>

typedef struct agxTerrain::Terrain::offsetIndexInfo	offsetIndexInfo

using	ParticleIslandVector = agx::Vector< agx::Vector< std::pair< agx::Vec3i, offsetIndexInfo > > >

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

	Terrain (agxCollide::HeightField *heightField, agx::Real maximumDepth)

virtual	~Terrain ()

bool	_getIntersectingGridElements (BasicGrid grid, agxCollide::Geometry geometry, agx::Vec3iVector &gridPoints, bool isOccupied=true, bool onlyMidpoint=false) const

void	addDirtyVoxelsToAvalanche ()

void	addModifiedParticleTerrainIndex (const agx::Vec2i &terrainIndex)

void	addNeighbours (agxData::LocalVector< agx::Vec3i > &indexQueue, agx::Vec3i index)

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

void	applyFluidMassChanges (agx::HashTable< agx::Vec3i, float > &fluidMassTable)

void	avalanche ()

void	calculateFluidMassTransport (agx::HashTable< agx::Vec3i, float > &fluidMassTable)

SoilParticlePtrVector	calculateParticlesInContactWithSurfaceGraph (agxCollide::GeometryPtrVector &contactGeometries)

void	calculateShovelVoxelIntersection ()

agx::Real	calculateSurfaceHeightFromVoxelIndex (const agx::Vec3i &voxelIndex)

void	computeForbiddenBounds ()

void	computeParticleGrowthTables (const agx::UInt64Vector &particleIndices, ParticleDeltaVector &particles)

agx::Real	convertFluidMassToOccupancy (agx::Real mass) const

agx::Real	convertFluidOccupancyToMass (agx::Real occupancy) const

float	convertOccupancyToParticleRadius (float occupancy) const

float	convertParticleRadiusToOccupancy (float radius) const

float	convertParticlesToSolidMass (agx::Vec3i voxel, ParticleWeightPairVector particles, float occupancyToRemove, agx::Vec3iVector &changedIndices)

void	convertRemovedOccupancyToDynamicMass ()

void	convertVoxelsInActiveZonesToDynamicMass ()

void	createFluidMassInVoxel (const agx::Vec3i &voxelIndex, agx::Real32 amount)

void	createFluidMassOnTerrainSurface (const agx::Vec2i &terrainIndex, int surfaceVoxelOffset, agx::Real32 amount)

void	createParticleIslands (ParticleIslandVector &particleIslands)

void	createSoilParticles ()

agx::TaskGroupRef	createTask_preCollide ()

void	debugRenderContactGeometryVoxels ()

void	debugRenderForbiddenBounds ()

void	enforceIncompressibilityColumnwise ()

void	filterParticlesAboveContactGeometryVoxels (agx::HashTable< agx::Vec2i, agx::Vec4 > &contactPositionTable, agxTerrain::SoilParticlePtrVector &particles)

agx::Real	findNewHeightFromVoxelIndex (const agx::Vec3i &index)

bool	findPathToSurfaceVoxel (const agx::Vec3i &startVoxel, std::deque< agx::Vec3i > &result)

bool	findSurfaceVoxel (const agx::Vec3i &index, agx::Vec3i &result) const

TerrainIndexSet	findTerrainIndices (agxTerrain::SoilParticlePtrVector &particles)

agx::Real	generateRandomNumber ()

agx::Vec3	generateRandomSoilParticlePositionPerturbation (agx::Real maxDelta)

agx::Quat	generateRandomSoilParticleRotation ()

AvalancheController *	getAvalancheController () const

float	getDynamicMassCompaction (const agx::Vec3i &voxelIndex) const

agx::Real	getMergeSpeedSquared () const

agx::HashVector< agx::Vec2i, agx::Int >	getShovelHeightPerColumn ()

bool	getSurfaceVoxel (const agx::Vec3i &voxelIndex, agx::Vec3i &result) const

agx::Vec3	getValidParticlePosition (const agx::Real radius, const agx::Vec3i &index, const agx::Vec3 &pos)

agx::Vec3i	goToBoundaryVoxel (const agx::Vec3i &start) const

agx::Vec3i	goToSurfaceVoxel (const agx::Vec3i &start) const

agx::Vec3i	goToVoxelKernel (const agx::Vec3i &start, const GoToStopCondition &stopCondition) const

void	growLargeParticlesFromParticleMass (ParticleDeltaVector &particles, float particleRadiusUpperLimit)

void	growParticlesFromFluidMass (agx::Vec3i binIndex, int binVoxels, float availableFluidMass, ParticleDeltaVector &particles)

void	growSmallParticlesFromParticleMass (ParticleDeltaVector &particles, float particleRadiusUpperLimit)

bool	hasVoxelCompaction (const agx::Vec3i &index) const

void	initBuildIslandTask ()

void	initializeFromHeightField ()

void	initializeSurfaceHeightFieldFromVoxelGrid ()

void	initVoxelStructureFromHeightField (bool adjustForCompaction=false)

bool	isDirty ()

bool	isFilledSolidVoxel (const agx::Vec3i &index) const

agx::Bool	isIndexWithinBoundsIssueWarning (const agx::Vec2i &terrainIndex) const

bool	isSolidBoundaryVoxel (const agx::Vec3i &index) const
	voxel functions

bool	isSubmergedVoxel (const agx::Vec3i &index) const

bool	isVoxelWithinTerrainIndexBounds (const agx::Vec3i &index) const

virtual void	last () override
	Callback to be executed at the end of the time step.

void	markVoxelToAvalanche (const agx::Vec3i &changedVoxel)

agx::Vec3iVector	mergeCuttingEdgeColumn (agx::Vec3i cuttingEdgeVoxel, size_t numVoxelsToSurfaceThreshold, agx::Plane cuttingPlane)

bool	mergeFluidMass ()

void	mergeParticleIslands (const ParticleIslandVector &particleIslands, agxData::LocalVector< agx::Vec3i > &mergedParticleIndices)

void	mergeSoilParticlesAndFluidMass ()

void	mergeSoilToCuttingEdge ()

void	moveEntityDataToCurrentThread ()

void	moveParticlesToSurface (agx::Vec3iVector changedVoxelIndices)

bool	particleIslandShouldMerge (const agx::Vector< std::pair< agx::Vec3i, offsetIndexInfo > > &island)

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

void	postSortSynchronizeParticleHeightField ()

void	postUpdateCompaction ()

void	postUpdateGroundCollapse ()

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

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

virtual void	preEveryStep () override
	Performs some stuff that is needed before every substep such as preCollide, pre, and post.

void	preSortSynchronizeParticleHeightField ()

void	preUpdateTerrainContacts ()

void	raytraceColumns (agxCollide::GeometryPtrVector geometries, agx::HashTable< agx::Vec2i, agx::Vec4 > &contactPositionTable, const TerrainIndexSet &columnTerrainIndices, bool parallelExecute)

void	removeEmptyTerrainMaterialVoxels ()
	Removes terrain material info from the empty voxels that was modified during this pre step.

virtual void	removeNotification () override
	Remove notification executed when terrain is removed to a simulation.

void	removeSoilParticlesOutsideTerrainBounds ()

void	renderVoxelAABB (agx::Vec3i index, agx::Vec4f color)

void	resizeOrRemoveParticles (const agx::HashTable< SoilParticlePtr, std::array< agx::Real, 2 > > &particlesToUpdate)

void	resizeSoilParticles ()

void	sampleParticleMassVelocity ()

void	sanitizeMaxDepthData ()

void	sanityCheckHeightFieldAgainstMaxDepth ()

bool	shouldDeformerActiveZoneRemoveMass (Shovel shovel, DeformerCollection deformerCollection)

bool	shouldExternalDeformerActiveZoneRemoveMass (agx::RigidBody deformerBody, DeformerCollection deformerCollection)

bool	shouldPrimaryActiveZoneRemoveMass (Shovel *shovel)

agx::HashTable< agx::Vec3i, agx::UInt64Vector >	sortParticlesIntoBins (int binVoxels)

void	sortParticlesIntoColumns ()

void	sortParticlesIntoVoxels ()

void	stepFluidMass ()

void	storeModifiedTerrainIndex (const agx::Vec2i &terrainVertex)

agx::Real	traceGridSurfaceHeightFromVoxelIndex (const agx::Vec3i &index)

void	traceGridSurfaceVoxel (const agx::Vec2i &terrainIndex, agx::Vec3i &surfaceVoxel) const

void	updateIndicesForAvalanche (TerrainIndexSet &forbiddenVertices)

void	updateInternalTransforms ()

void	updateOccupancyFromHeightChange (const agx::Vec2i &heightFieldIndex)

void	updateSurfaceHeightFieldFromDirtyVoxels ()

void	updateSurfaceHeightFieldFromHeightsTable (agx::HashTable< agx::Vec2i, std::pair< agx::Vec3i, agx::Real > > &table)

void	updateSurfaceHeightFieldFromIndicesAndHeights (agx::Vec2uVector &hfIndices, agx::RealVector &hfHeights)

void	updateSurfaceHeightFieldFromVoxelIndex (const agx::Vec3i &voxelIndex)

void	updateSurfaceHeightFieldFromVoxelIndices (const agx::Vec3iVector &updateIndices, bool updateParticleHeightField=true)

void	updateSurfaceHeightFieldFromVoxelIndices (const agxData::LocalVector< agx::Vec3i > &updateIndices)

void	updateTransformationFromParentBody ()

bool	voxelColumnHasParticles (const agx::Vec2i &vertex) const

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

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

virtual void	addNotification ()

virtual void	last ()

virtual void	post ()

virtual void	pre ()

virtual void	preCollide ()

virtual void	preEveryStep ()

virtual void	removeNotification ()

virtual void	runBuildIslandsTask ()

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 ()

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

ObjectEvent	removeObjectEvent

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 inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

A terrain model based a 3D grid model with overlapping height field that can be deformed by interacting shovels objects performing digging motions, converting solid mass to dynamic mass which can be moved.

The underlying terrain data model consists of a hierarchical sparse 3D grid of cells, containing terrain data such as mass. The terrain surface is represented as a 2D height field that is updated when the underlying grid structure is changed. Mass is moved in the terrain via interacting shovels that converts solid cells to dynamic mass. Each shovel has an "Active Zone" which is defined by specifying two edges on the shovel's constructor, a top edge and a cutting edge. These edges should be perpendicular to the shovel's digging direction and parallel to the shovel's cross section. When the active zone intersects the terrain, dynamic mass is created in the overlapping area.

Definition at line 89 of file Terrain.h.

Member Typedef Documentation

◆ GoToStopCondition

using agxTerrain::Terrain::GoToStopCondition = std::function<bool(const agx::Vec3i& index)>

protected

Definition at line 1688 of file Terrain.h.

◆ offsetIndexInfo

typedef struct agxTerrain::Terrain::offsetIndexInfo agxTerrain::Terrain::offsetIndexInfo

protected

◆ ParticleIslandVector

using agxTerrain::Terrain::ParticleIslandVector = agx::Vector<agx::Vector<std::pair<agx::Vec3i, offsetIndexInfo> >>

protected

Definition at line 1689 of file Terrain.h.

Member Enumeration Documentation

◆ MassType

enum class agxTerrain::Terrain::MassType

strong

Enumerator
SOLID
PARTICLE
FLUID

Definition at line 99 of file Terrain.h.

◆ MaterialType

enum class agxTerrain::Terrain::MaterialType

strong

Enumerator
TERRAIN
PARTICLE
AGGREGATE

Definition at line 92 of file Terrain.h.

Constructor & Destructor Documentation

◆ Terrain() [1/5]

agxTerrain::Terrain::Terrain	(	size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	elementSize,
		agx::Real	maximumDepth
	)

Constructor.

Creates a terrain object with a specific resolution of 2D grid points with elementSize as the length between them. The terrain length in each direction thus becomes (resolution - 1) * elementSize.

Parameters

resolutionX	- Represents the total count of discrete data points or height points present in the 'X' dimension, rather than indicating the number of sample points per unit length in that dimension.
resolutionY	- Represents the total count of discrete data points or height points present in the 'Y' dimension, rather than indicating the number of sample points per unit length in that dimension.
elementSize	- The distance between the height points in the terrain.
maximumDepth	- The maximum depth that the terrain can have.

◆ Terrain() [2/5]

agxTerrain::Terrain::Terrain	(	size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	elementSize,
		const agx::RealVector &	heights,
		bool	flipY,
		agx::Real	maximumDepth
	)

Constructor.

Creates a terrain object with a specific resolution of 2D grid points with elementSize as the length between them. The terrain length in each direction thus becomes (resolution - 1) * elementSize.

Parameters

resolutionX	- Represents the total count of discrete data points or height points present in the 'X' dimension, rather than indicating the number of sample points per unit length in that dimension.
resolutionY	- Represents the total count of discrete data points or height points present in the 'Y' dimension, rather than indicating the number of sample points per unit length in that dimension.
elementSize	- The distance between the height points in the terrain.
heights	- A row major matrix, containing the specified heights, with dimensions (resolutionX, resolutionY).
flipY	- set to true if y decreases with increasing indices in heights.
maximumDepth	- The maximum depth that the terrain can have.

◆ Terrain() [3/5]

agxTerrain::Terrain::Terrain	(	size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	elementSize,
		const agx::RealVector &	heights,
		const agx::RealVector &	minimumHeights
	)

Constructor.

Creates a terrain object with a specific resolution of 2D grid points with elementSize as the length between them. The terrain length in each direction thus becomes (resolution - 1) * elementSize.

Parameters

resolutionX	- The number of height points to use in the Terrain in the X-direction.
resolutionY	- The number of height points to use in the Terrain in the Y-direction.
elementSize	- The distance between the height points in the terrain.
heights	- A row major matrix, containing the specified heights, with dimensions (resolutionX, resolutionY).
minimumHeights	- A row major matrix, containing the minimum heights, with dimensions (resolutionX, resolutionY). The surface height field is not allowed to be greater than the local values of these minimum heights.

◆ Terrain() [4/5]

agxTerrain::Terrain::Terrain ( )

protected

Default constructor used in serialization.

◆ ~Terrain()

virtual agxTerrain::Terrain::~Terrain ( )

protectedvirtual

◆ Terrain() [5/5]

agxTerrain::Terrain::Terrain	(	agxCollide::HeightField *	heightField,
		agx::Real	maximumDepth
	)

protected

Member Function Documentation

◆ _getIntersectingGridElements()

bool agxTerrain::Terrain::_getIntersectingGridElements	(	BasicGrid *	grid,
		agxCollide::Geometry *	geometry,
		agx::Vec3iVector &	gridPoints,
		bool	isOccupied = `true`,
		bool	onlyMidpoint = `false`
	)		const

protected

◆ add()

bool agxTerrain::Terrain::add ( Shovel * shovel )

Deprecated:: Shovel should now be added to the simulation instead of a terrain. Adds a shovel object in the terrain. The shovel objects interacts with the terrain by converting solid soil to dynamic soil in it's active zone.

Parameters

shovel - The specified shovel object.

Returns: true if the shovel object was successfully registered in the terrain object, false otherwise.

◆ addDirtyVoxelsToAvalanche()

void agxTerrain::Terrain::addDirtyVoxelsToAvalanche ( )

protected

◆ addForbiddenBound()

bool agxTerrain::Terrain::addForbiddenBound ( IForbiddenBound * bound )

Add a ForbiddenBound to a terrain that prevents mergining and avalanching for the indices and positions inside the bound.

Parameters

bound - The forbidden bound to be added to the terrain.

Returns: - true if the bound was added successfully, false otherwise.

◆ addModifiedParticleTerrainIndex()

void agxTerrain::Terrain::addModifiedParticleTerrainIndex ( const agx::Vec2i & terrainIndex )

protected

◆ addNeighbours()

void agxTerrain::Terrain::addNeighbours	(	agxData::LocalVector< agx::Vec3i > &	indexQueue,
		agx::Vec3i	index
	)

protected

◆ addNoMergeZoneToGeometry()

ForbiddenBound * agxTerrain::Terrain::addNoMergeZoneToGeometry	(	agxCollide::Geometry *	geometry,
		const agxCollide::BoundingAABB &	bound,
		const agx::AffineMatrix4x4 &	localTransform
	)

Utility method for creating a forbidden bound that follow the transformation of a specified geometry.

This bound disables merge and avalanche for vertices inside.

Parameters

geometry	- the specified geometry that the bound will follow.
bound	- the specified axis-aligned bound.
localTransform	- the local transform of the bound.

Returns: the created forbidden bound that follows the transformation of the specified geometry.

Note: - use the removeForbiddenBound() method for removing the created bound.

◆ addNotification()

virtual void agxTerrain::Terrain::addNotification ( )

overrideprotectedvirtual

Add notification executed when terrain is added to a simulation.

Reimplemented from agxSDK::TerrainInstance.

◆ addTerrainMaterial() [1/2]

bool agxTerrain::Terrain::addTerrainMaterial ( TerrainMaterial * terrainMaterial )

Add a non default TerrainMaterial to the terrain instance, without designating its domain.

Parameters

terrainMaterial - The TerrainMaterial to add.

Returns: true if the material was added, false otherwise. If false, perhaps the terrainMaterial was already added?

◆ addTerrainMaterial() [2/2]

int agxTerrain::Terrain::addTerrainMaterial	(	TerrainMaterial *	terrainMaterial,
		agxCollide::Geometry *	geometry
	)

Add a non default TerrainMaterial to the designated region bounded by the overlap between the terrain and the given geometry.

Parameters

terrainMaterial	- The TerrainMaterial to add.
geometry	- The geometry where the TerrainMaterial should be added.

Returns: num voxel elements that was successfully assigned the material.

◆ applyFluidMassChanges()

void agxTerrain::Terrain::applyFluidMassChanges ( agx::HashTable< agx::Vec3i, float > & fluidMassTable )

protected

◆ avalanche()

void agxTerrain::Terrain::avalanche ( )

protected

◆ calculateFluidMassTransport()

void agxTerrain::Terrain::calculateFluidMassTransport ( agx::HashTable< agx::Vec3i, float > & fluidMassTable )

protected

◆ calculateParticlesInContactWithSurfaceGraph()

SoilParticlePtrVector agxTerrain::Terrain::calculateParticlesInContactWithSurfaceGraph ( agxCollide::GeometryPtrVector & contactGeometries )

protected

◆ calculateShovelVoxelIntersection()

void agxTerrain::Terrain::calculateShovelVoxelIntersection ( )

protected

◆ calculateSurfaceHeightFromVoxelIndex()

agx::Real agxTerrain::Terrain::calculateSurfaceHeightFromVoxelIndex ( const agx::Vec3i & voxelIndex )

protected

◆ calculateTotalDynamicMass()

agx::Real agxTerrain::Terrain::calculateTotalDynamicMass ( ) const

Returns: the calculated current total dynamic mass in the terrain in kg. This includes created soil particles and fluid mass.

◆ calculateTotalFluidMass()

agx::Real agxTerrain::Terrain::calculateTotalFluidMass ( ) const

Returns: the calculated current total fluid mass in the terrain in kg.

◆ calculateTotalMass()

agx::Real agxTerrain::Terrain::calculateTotalMass ( ) const

Returns: the calculated the total mass in the terrain, consisting of both dynamic and solid mass.

◆ calculateTotalSolidMass()

agx::Real agxTerrain::Terrain::calculateTotalSolidMass ( ) const

Returns: the calculated total solid mass in the terrain in kg.

◆ calculateVolume()

agx::Real agxTerrain::Terrain::calculateVolume ( )

Returns: the calculated total terrain volume.

◆ clearTerrainMaterials()

void agxTerrain::Terrain::clearTerrainMaterials ( bool clearAddedMaterials = true )

◆ computeForbiddenBounds()

void agxTerrain::Terrain::computeForbiddenBounds ( )

protected

◆ computeParticleGrowthTables()

void agxTerrain::Terrain::computeParticleGrowthTables	(	const agx::UInt64Vector &	particleIndices,
		ParticleDeltaVector &	particles
	)

protected

◆ contains()

bool agxTerrain::Terrain::contains ( const Shovel * shovel ) const

Deprecated:: The shovel is now added to the simulation! Check is a shovel object is registered in the terrain.

Parameters

shovel - the shovel object that is checked against the terrain.

Returns: true if the shovel object is registered in the terrain, false otherwise.

◆ convertFluidMassToOccupancy()

agx::Real agxTerrain::Terrain::convertFluidMassToOccupancy ( agx::Real mass ) const

protected

◆ convertFluidOccupancyToMass()

agx::Real agxTerrain::Terrain::convertFluidOccupancyToMass ( agx::Real occupancy ) const

protected

◆ convertOccupancyToParticleRadius()

float agxTerrain::Terrain::convertOccupancyToParticleRadius ( float occupancy ) const

protected

◆ convertParticleRadiusToOccupancy()

float agxTerrain::Terrain::convertParticleRadiusToOccupancy ( float radius ) const

protected

◆ convertParticlesToSolidMass()

float agxTerrain::Terrain::convertParticlesToSolidMass	(	agx::Vec3i	voxel,
		ParticleWeightPairVector	particles,
		float	occupancyToRemove,
		agx::Vec3iVector &	changedIndices
	)

protected

◆ convertRemovedOccupancyToDynamicMass()

void agxTerrain::Terrain::convertRemovedOccupancyToDynamicMass ( )

protected

◆ convertToDynamicMassInShape()

void agxTerrain::Terrain::convertToDynamicMassInShape ( agxCollide::Shape * shape )

Converts the terrain occupancy that overlaps the specified shape into dynamic mass.

Parameters

shape - The shape within which to convert occupancy into dynamic mass

◆ convertVoxelsInActiveZonesToDynamicMass()

void agxTerrain::Terrain::convertVoxelsInActiveZonesToDynamicMass ( )

protected

◆ createFluidMassInVoxel()

void agxTerrain::Terrain::createFluidMassInVoxel	(	const agx::Vec3i &	voxelIndex,
		agx::Real32	amount
	)

protected

◆ createFluidMassOnTerrainSurface()

void agxTerrain::Terrain::createFluidMassOnTerrainSurface	(	const agx::Vec2i &	terrainIndex,
		int	surfaceVoxelOffset,
		agx::Real32	amount
	)

protected

◆ createFromHeightField()

static Terrain * agxTerrain::Terrain::createFromHeightField	(	const agxCollide::HeightField *	heightField,
		agx::Real	maximumDepth
	)

static

Creates a terrain object by using an existing height field as a basis.

The height field data is copied into the internal terrain structure. The existing height field MUST have uniform scale in X and Y axis, otherwise the function returns nullptr.

Note: The specified height field is copied and never used inside Terrain object.

Parameters

heightField	- The height field object that will be used as a basis for creating
maximumDepth	- The maximum depth of the terrain.

Note: - If the heightfield contains heights which are lower than the specified maximumDepth parameter, then the heightfield heights will be clamped upwards to the maximumDepth.

Returns: A terrain object create from the specified height field or nullptr if an invalid height field is given.

◆ createParticleIslands()

void agxTerrain::Terrain::createParticleIslands ( ParticleIslandVector & particleIslands )

protected

◆ createSoilParticles()

void agxTerrain::Terrain::createSoilParticles ( )

protected

◆ createTask_preCollide()

agx::TaskGroupRef agxTerrain::Terrain::createTask_preCollide ( )

protected

◆ createTerrainBedFromGeometries()

static Terrain * agxTerrain::Terrain::createTerrainBedFromGeometries	(	size_t	resolution,
		agxCollide::GeometryPtrVector	bedGeometries,
		agx::Real	edgeMargin = `0.0`,
		agx::Real	bedOffset = `0.0`,
		bool	resolutionAxisIsX = `true`
	)

static

◆ createTerrainBedFromGeometry()

static Terrain * agxTerrain::Terrain::createTerrainBedFromGeometry	(	size_t	resolution,
		agxCollide::Geometry *	bedGeometry,
		agx::Real	edgeMargin = `0.0`,
		agx::Real	bedOffset = `0.0`,
		bool	resolutionAxisIsX = `true`
	)

static

◆ debugRenderContactGeometryVoxels()

void agxTerrain::Terrain::debugRenderContactGeometryVoxels ( )

protected

◆ debugRenderForbiddenBounds()

void agxTerrain::Terrain::debugRenderForbiddenBounds ( )

protected

◆ enforceIncompressibilityColumnwise()

void agxTerrain::Terrain::enforceIncompressibilityColumnwise ( )

protected

◆ exchangeTerrainMaterial()

bool agxTerrain::Terrain::exchangeTerrainMaterial	(	TerrainMaterial *	oldTerrainMaterial,
		TerrainMaterial *	newTerrainMaterial
	)

Exchange an already added TerrainMaterial with another TerrainMaterial without changing its associated agx::Material or assigned domain.

Parameters

oldTerrainMaterial	- the TerrainMaterial to be replaced
newTerrainMaterial	- the new TerrainMaterial to put in its place

Returns: True if exchange was successful, false otherwise

◆ filterParticlesAboveContactGeometryVoxels()

void agxTerrain::Terrain::filterParticlesAboveContactGeometryVoxels	(	agx::HashTable< agx::Vec2i, agx::Vec4 > &	contactPositionTable,
		agxTerrain::SoilParticlePtrVector &	particles
	)

protected

◆ find() [1/2]

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

static

Find first terrain with given name.

Parameters

simulation	- simulation the terrain is part of
name	- name of the terrain

Returns: terrain instance if found - otherwise nullptr

◆ find() [2/2]

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

static

Find terrain with given UUID.

Parameters

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

Returns: terrain instance if found - otherwise nullptr

◆ findAll() [1/2]

static TerrainPtrVector agxTerrain::Terrain::findAll ( const agxSDK::Simulation * simulation )

static

Finds all terrains in the given simulation.

Parameters

simulation - simulation with terrains.

Returns: vector of terrains

◆ findAll() [2/2]

static TerrainPtrVector agxTerrain::Terrain::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find all terrains with given name.

Parameters

simulation	- simulation the terrain is part of
name	- name of the terrain

Returns: vector of terrains

◆ findNewHeightFromVoxelIndex()

agx::Real agxTerrain::Terrain::findNewHeightFromVoxelIndex ( const agx::Vec3i & index )

protected

◆ findPathToSurfaceVoxel()

bool agxTerrain::Terrain::findPathToSurfaceVoxel	(	const agx::Vec3i &	startVoxel,
		std::deque< agx::Vec3i > &	result
	)

protected

◆ findSurfaceVoxel()

bool agxTerrain::Terrain::findSurfaceVoxel	(	const agx::Vec3i &	index,
		agx::Vec3i &	result
	)		const

protected

◆ findTerrainIndices()

TerrainIndexSet agxTerrain::Terrain::findTerrainIndices ( agxTerrain::SoilParticlePtrVector & particles )

protected

◆ generateRandomNumber()

agx::Real agxTerrain::Terrain::generateRandomNumber ( )

protected

◆ generateRandomSoilParticlePositionPerturbation()

agx::Vec3 agxTerrain::Terrain::generateRandomSoilParticlePositionPerturbation ( agx::Real maxDelta )

protected

◆ generateRandomSoilParticleRotation()

agx::Quat agxTerrain::Terrain::generateRandomSoilParticleRotation ( )

protected

◆ getAggregateTerrainContactArea()

agx::Real agxTerrain::Terrain::getAggregateTerrainContactArea	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: Method was moved to shovel! Get the aggregate <-> terrain contact area given an excavation mode and a shovel.

Parameters

shovel	- the specified shovel
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.

◆ getAggregateTerrainContactForce()

agx::Vec3 agxTerrain::Terrain::getAggregateTerrainContactForce	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: Method was moved to shovel! Get the aggregate contact force with the terrain given an excavation mode and a shovel

Parameters

shovel	- the specified shovel
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::Terrain::getAggregateTerrainContacts	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: Method was moved to shovel! Get the aggregate <-> terrain geometry contacts given an excavation mode and a shovel.

Parameters

shovel	- the specified shovel
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::Terrain::getAggregateTerrainNormalForce	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: Method was moved to shovel! Get the aggregate normal force with the terrain given an excavation mode and a shovel

Parameters

shovel	- the specified shovel
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::Terrain::getAggregateTerrainTangentialForce	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: Method was moved to shovel! Get the aggregate tangential force with the terrain given an excavation mode and a shovel

Parameters

shovel	- the specified shovel
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

◆ getAssociatedMaterial()

agx::Material * agxTerrain::Terrain::getAssociatedMaterial ( TerrainMaterial * terrainMaterial ) const

◆ getAvailableLibraryMaterials()

static agx::StringVector agxTerrain::Terrain::getAvailableLibraryMaterials ( )

static

Get the available TerrainMaterial presets from the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

Returns: a vector containing the available TerrainMaterial presets in the TerrainMaterialLibrary.

◆ getAvalancheController()

AvalancheController * agxTerrain::Terrain::getAvalancheController ( ) const

protected

◆ getAverageSoilParticleRadius()

agx::Real agxTerrain::Terrain::getAverageSoilParticleRadius ( ) const

Returns: the current average soil particle radius

◆ getClosestGridPoint()

agx::Vec2i agxTerrain::Terrain::getClosestGridPoint	(	const agx::Vec3 &	worldPosition,
		bool	clampToBound = `false`
	)		const

Finds the closes terrain grid point given any point in world.

Parameters

worldPosition	- position in world
clampToBound	- true if the grid point should be clamped to border if position is outside bounds

Returns: the closest terrain grid index, going from (0,0) -> (resolutionX-1, resolutionY-1)

◆ getContactForce()

agx::Vec3 agxTerrain::Terrain::getContactForce ( const Shovel * shovel ) const

Deprecated:: The contact force can now be fetched from the shovel instead! Given geometry contacts exists and the solver has solved them - calculates total shovel contact force between this terrain and the given shovel. 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!

Parameters

shovel - interacting shovel

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

◆ getContactMaterial()

agx::ContactMaterial * agxTerrain::Terrain::getContactMaterial	(	Terrain::MaterialType	type1,
		Terrain::MaterialType	type2
	)

Returns one of the internal contact materials in agxTerrain.

TODO fix this.

Contact materials exist between MaterialType::TERRAIN - MaterialType::PARTICLE MaterialType::PARTICLE - MaterialType::PARTICLE MaterialType::TERRAIN - MaterialType::AGGREGATE

Returns: The specified internal contact material in agxTerrain.

◆ getDefaultTerrainMaterial()

TerrainMaterial * agxTerrain::Terrain::getDefaultTerrainMaterial ( ) const

inline

Returns the default terrain material which is used to derive material and contact material parameters.

Returns: The set default terrain material.

Definition at line 2002 of file Terrain.h.

◆ getDeformable()

bool agxTerrain::Terrain::getDeformable ( ) const

inline

Gets whether or not deformations are enabled for this terrain.

If false, then no dynamic mass particles or fluid mass is created. Additionally, no avalanching or compaction occurs on the terrain.

Returns: true if deformations are enabled for the terrain, false otherwise

Definition at line 2080 of file Terrain.h.

◆ getDeformationContactForce()

agx::Vec3 agxTerrain::Terrain::getDeformationContactForce ( const Shovel * shovel ) const

Deprecated:: The deformation force can now be fetched from the shovel instead! Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain deformation soil aggregate and the given 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

shovel - interacting shovel

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

◆ getDynamicMass()

agx::Real agxTerrain::Terrain::getDynamicMass ( const Shovel * shovel ) const

Deprecated:: The dynamic mass inside a shovel can be fetched from the shovel instead!

Parameters

shovel - interacting shovel

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

◆ getDynamicMassCompaction()

float agxTerrain::Terrain::getDynamicMassCompaction ( const agx::Vec3i & voxelIndex ) const

protected

◆ getElementSize()

agx::Real agxTerrain::Terrain::getElementSize ( ) const

inline

Returns the element size of a cell in agxTerrain, which is incidentally the distance between the center of each grid point in the surface height field.

Returns: the element size of a single cell in Terrain.

Definition at line 2033 of file Terrain.h.

◆ getEnable()

bool agxTerrain::Terrain::getEnable ( ) const

Returns: true if terrain computations should be enabled, false otherwise.

Note: - updates for ToolCollections will still be executed if false.

◆ getEnableKinematicForParticles()

static agx::Bool agxTerrain::Terrain::getEnableKinematicForParticles ( const agx::RigidBody * rb )

static

Returns: true if particles sees given rigid body as kinematic (regardless of motion control)

◆ getEnableMinimumHeights()

bool agxTerrain::Terrain::getEnableMinimumHeights ( ) const

inline

Definition at line 2087 of file Terrain.h.

◆ getExcavationModeContactForce()

agx::Vec3 agxTerrain::Terrain::getExcavationModeContactForce	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: The contact force for a specific excavation mode can now be fetched from the shovel instead! calculates total contact force between the soil aggregate associated with the specified excavation mode and the given 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

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

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

◆ getExternalDeformers()

ExternalDeformerPtrVector agxTerrain::Terrain::getExternalDeformers ( ) const

Return the external deformers currently added in the simulation.

◆ getForbiddenBounds()

IForbiddenBoundPtrVector agxTerrain::Terrain::getForbiddenBounds ( )

Returns: the user-added forbidden bounds inside the terrain.

◆ getGeometry()

virtual agxCollide::Geometry * agxTerrain::Terrain::getGeometry ( ) const

overridevirtual

Note: It's undefined to modify this geometry instance.

Returns: the geometry of this terrain

Reimplemented from agxSDK::TerrainInstance.

◆ getHeight()

agx::Real agxTerrain::Terrain::getHeight	(	const agx::Vec2i &	terrainIndex,
		bool	includeSurfaceParticles = `false`
	)		const

Gets the terrain height at a specific terrain grid node.

Parameters

terrainIndex	An (x,y) index specifying the grid point.
includeSurfaceParticles	- Also consider particles when returning height. Default false.

Returns: the height at the specific grid node.

◆ getHeightField()

const agxCollide::HeightField * agxTerrain::Terrain::getHeightField ( ) const

Note: It's undefined to modify the terrain height field instance.

Returns: the height field shape of this terrain

◆ getInnerVolume()

agx::Real agxTerrain::Terrain::getInnerVolume ( const Shovel * shovel ) const

Deprecated:: The inner volume of a shovel can now be fetched from the shovel instead!

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

◆ getIntersectingActiveGridElements()

bool agxTerrain::Terrain::getIntersectingActiveGridElements	(	agxCollide::Geometry *	geometry,
		agx::Vec3iVector &	gridPoints,
		MassType	massType,
		bool	onlyMidpoint = `false`
	)		const

Get intersecting 3D grid element with specified geometry that is active/occupied with a specified mass type.

The x,y coordinate of the returned 3D points is the terrain index while the z coordinate is a depth index. See the 'TerrainGridControl' class for further explanation.

Parameters

geometry	- The geometry to test intersection with the terrain grid.
gridPoints	- Reference to the container where the intersecting terrain grid elements will be put.
massType	- The specific mass type (SOLID, FLUID or PARTICLE) that is active/occupied in grid points that will be extracted.
onlyMidpoint	- Should count as intersection only if the voxel midpoint is inside the geometry.

Note: - This function updates the bound of the specified geometry in order to properly do intersection tests.

Returns: true if there are intersecting voxels with specified mass type within terrain bound, false if not.

◆ getIntersectingGridElements()

bool agxTerrain::Terrain::getIntersectingGridElements	(	agxCollide::Geometry *	geometry,
		agx::Vec3iVector &	gridPoints
	)		const

Get intersecting 3D grid element with specified geometry.

The x,y coordinate of the returned 3D points is the terrain index while the z coordinate is a depth index. See the 'TerrainGridControl' class for further explanation.

Parameters

geometry	- The geometry to test intersection with the terrain grid.
gridPoints	- Reference to the container where the intersecting terrain grid elements will be put.

Note: - This function updates the bound of the specified geometry in order to properly do intersection tests.

Returns: true if there are intersecting voxels within terrain bound, false if not.

◆ getInverseTransform()

agx::AffineMatrix4x4 agxTerrain::Terrain::getInverseTransform ( ) const

Returns: inverse transform of this terrain

◆ getLastDeadLoadFraction()

agx::Real agxTerrain::Terrain::getLastDeadLoadFraction ( const Shovel * shovel ) const

Deprecated:: The dead load fraction can now be fetched from the shovel instead! 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).

Parameters

shovel - interacting shovel

Returns: the last computed dead load fraction

◆ getLastExcavatedVolume()

agx::Real agxTerrain::Terrain::getLastExcavatedVolume ( ) const

Returns: the last excavated volume (m3) of the terrain.

◆ getLibraryMaterial()

static TerrainMaterial * agxTerrain::Terrain::getLibraryMaterial ( const agx::String & materialName )

static

Loads a TerrainMaterial preset in the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

Note - This method uses the convenience enum MaterialPreset that points to existing preset files.

Parameters

materialName - The name of the material preset that should be loaded.

Returns: The library material if it exists, null otherwise.

◆ getMaterial()

agx::Material * agxTerrain::Terrain::getMaterial ( Terrain::MaterialType type = Terrain::MaterialType::TERRAIN ) const

Returns one of the internal materials in agxTerrain: MaterialType::TERRAIN - The internal material used on the terrain surface height field structure.

MaterialType::PARTICLE - The internal material used on the terrain particles. MaterialType::AGGREGATE - The internal material used on aggregate used to represent the particle mass.

These materials can be used to configure contact materials for interactions between the terrain and other objects.

Returns: The specified internal material in agxTerrain.

◆ getMaterialFromFile()

static TerrainMaterial * agxTerrain::Terrain::getMaterialFromFile ( const agx::String & filename )

static

Load a TerrainMaterial from a specification file in JSON data format.

Parameters

filename - the name of the JSON file containing the specified material data.

Returns: The library material if it exists, null otherwise.

◆ getMaterialWeightsInGridPoints()

agx::RealVector agxTerrain::Terrain::getMaterialWeightsInGridPoints ( const agx::Vec3iVector & gridPoints ) const

Get the material weights in the terrain of the specified grid points.

Returns: a vector containing the material weights of the specified grid points.

◆ getMaterialWeightsInLine()

agx::RealVector agxTerrain::Terrain::getMaterialWeightsInLine ( const agx::Line & line ) const

Get the material weights in the terrain of the voxels that intersect the specified line.

Returns: a vector containing the material weights of the terrain grid elements intersecting the line.

◆ getMemoryUsage()

size_t agxTerrain::Terrain::getMemoryUsage ( )

Returns the memory usage in bytes in agxTerrain.

◆ getMergeSpeedSquared()

agx::Real agxTerrain::Terrain::getMergeSpeedSquared ( ) const

protected

◆ getMinimumAllowedHeight()

agx::Real agxTerrain::Terrain::getMinimumAllowedHeight ( ) const

Returns: the minimum allowed height of this terrain. Is equivalent to (0 - maximum depth) if minimum heights are disabled. If minimum heights are enabled, returns the lowest minimum height in the grid.

◆ getMinimumHeight()

agx::Real agxTerrain::Terrain::getMinimumHeight ( const agx::Vec2i & terrainIndex ) const

◆ getMinimumHeights()

agx::RealVector agxTerrain::Terrain::getMinimumHeights ( ) const

Return row major array with dimension (resolutionX * resolutionY) with the minimum height allowed in each grid point.

If minimum heights are disabled, this is equivalent to the value of getLowestAllowableHeight in all grid points. If minimum heights are enabled, this can be a varying field.

◆ getModifiedParticleVertices()

const ModifiedVerticesVector & agxTerrain::Terrain::getModifiedParticleVertices ( ) const

Returns the modified terrain height field (including particles) vertices during the last time step.

Returns: a HashVector containing the modified particle height field indices for the last time step.

◆ getModifiedVertices()

const ModifiedVerticesVector & agxTerrain::Terrain::getModifiedVertices ( ) const

Returns the modified terrain height field vertices during the last time step.

Returns: a HashVector containing the modified terrain indices for the height field during the last time step.

◆ getNoMerge()

bool agxTerrain::Terrain::getNoMerge ( )

Return whether this terrain is prevented from merging dynamic mass to it.

◆ getNumCreatedParticles()

size_t agxTerrain::Terrain::getNumCreatedParticles ( ) const

Return the number of soil particles created during excavation this time step.

Note: - particles may disappear during dynamic mass distribution stage

◆ getNumSoilParticles()

size_t agxTerrain::Terrain::getNumSoilParticles ( ) const

Return the number of soil particles active in the simulation.

◆ getParticleNominalRadius()

float agxTerrain::Terrain::getParticleNominalRadius ( ) const

Get the soil particle nominal radius from the simulation.

The nominal radius is the particle radius that the terrain algorithm will aim for during the dynamic resizing of particles that occur during terrain interaction. This is calculated from the resulting element size upon construction of the terrain object.

◆ getParticleVertices()

const ModifiedVerticesVector & agxTerrain::Terrain::getParticleVertices ( ) const

Returns the terrain vertices that contains soil particles during the last time step.

Returns: a HashVector containing the terrain indices containing particles during the last time step.

◆ getPenetrationForce()

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

Deprecated:: The penetration force can now be fetched from the shovel instead! The result includes the active force and torque from the penetration resistance from the terrain on the shovel if the shovel is digging in the terrain

Parameters

shovel	- interacting shovel
force	- the penetration force
torque	- the penetration torque

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

◆ getPosition()

agx::Vec3 agxTerrain::Terrain::getPosition ( ) const

Returns: position of this terrain, in world coordinate frame.

◆ getProperties() [1/2]

TerrainProperties * agxTerrain::Terrain::getProperties ( )

Returns: the properties object for the terrain.

◆ getProperties() [2/2]

TerrainProperties * agxTerrain::Terrain::getProperties ( ) const

Returns: the properties object for the terrain.

◆ getResizedHeightField()

agx::RealVector agxTerrain::Terrain::getResizedHeightField	(	size_t	factorX,
		size_t	factorY
	)		const

Calculate a reduced version of the height field structure.

Heights in terrain index segments with dimensions [factorX, factorY] are averaged and put into a reduced structure with dimensions [resolutionX/factorX, resolutionY/factorY].

Parameters

factorX	- The factor to resize the height field in the X dimension.
factorY	- The factor to resize the height field in the Y dimension.

Returns: a row major matrix of heights which corresponds to the reduced height field structure.

◆ getResolutionX()

size_t agxTerrain::Terrain::getResolutionX ( ) const

inline

Returns: the total count of discrete data points or height points present in the 'X' dimension, rather than indicating the number of sample points per unit length in that dimension.

Definition at line 2021 of file Terrain.h.

◆ getResolutionY()

size_t agxTerrain::Terrain::getResolutionY ( ) const

inline

Returns: the total count of discrete data points or height points present in the 'Y' dimension, rather than indicating the number of sample points per unit length in that dimension.

Definition at line 2027 of file Terrain.h.

◆ getRotation()

agx::Quat agxTerrain::Terrain::getRotation ( ) const

Returns: rotation of this terrain, in world coordinate frame

◆ getSeparationContactForce()

agx::Vec3 agxTerrain::Terrain::getSeparationContactForce ( const Shovel * shovel ) const

Deprecated:: The separation force can now be fetched from the shovel instead! Given geometry contacts exists and the solver has solved them - calculates total contact force between the terrain soil particle aggregate and the given shovel. This represents the separation force that is required to move the excavated soil in the shovel active zone.

Parameters

shovel - interacting shovel

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

◆ getSeparationFrictionForce()

agx::Vec3 agxTerrain::Terrain::getSeparationFrictionForce ( const Shovel * shovel ) const

Deprecated:: The separation force can now be fetched from the shovel instead! Given geometry contacts existsand the solver has solved them - calculates total contact friction force between the terrain soil particle aggregate and the given shovel.

Parameters

shovel - interacting shovel

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

◆ getSeparationNormalForce()

agx::Vec3 agxTerrain::Terrain::getSeparationNormalForce ( const Shovel * shovel ) const

Deprecated:: The separation force can now be fetched from the shovel instead! Given geometry contacts exists and the solver has solved them - calculates total contact normal force between the terrain soil particle aggregate and the given shovel.

Parameters

shovel - interacting shovel

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

◆ getShovelAggregateContactMaterial()

agx::ContactMaterial * agxTerrain::Terrain::getShovelAggregateContactMaterial	(	const Shovel *	shovel,
		Shovel::ExcavationMode	mode = `Shovel::ExcavationMode::PRIMARY`
	)		const

Deprecated:: Method was moved to shovel! Get the explicitly set contact material in a shovel-aggregate contact corresponding to a specified excavation mode for a specific shovel-terrain pair. This overrides the shovel-terrain contact material properties that are used in the default case.

Parameters

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

Note: - this returns nullptr if the shovel is not set to the terrain.

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

◆ getShovelAggregateContacts()

agxCollide::GeometryContactPtrVector agxTerrain::Terrain::getShovelAggregateContacts	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: The shovel <-> aggregate contacts can now be fetched from the shovel instead! Get the shovel <-> aggregate contacts with the terrain given an excavation mode and a shovel.

Parameters

shovel	- the specified shovel
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.

◆ getShovelHeightPerColumn()

agx::HashVector< agx::Vec2i, agx::Int > agxTerrain::Terrain::getShovelHeightPerColumn ( )

protected

◆ getShovels()

ShovelPtrVector agxTerrain::Terrain::getShovels ( ) const

Return the shovels currently added in the simulation.

◆ getSize()

agx::Vec2 agxTerrain::Terrain::getSize ( ) const

Returns the total surface size of he terrain in X Y coordinate system.

◆ getSoilAggregateMass()

agx::Real agxTerrain::Terrain::getSoilAggregateMass	(	const Shovel *	shovel,
		Shovel::ExcavationMode	excavationMode
	)		const

Deprecated:: The mass of a soil aggregate can be fetched from the given shovel instead! Returns the total soil aggregate mass in a terrain given a shovel and a 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

shovel	- interacting shovel
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.

◆ getSoilParticleBoundedHeightField()

const agxCollide::HeightField * agxTerrain::Terrain::getSoilParticleBoundedHeightField ( ) const

Get the soil particle height field consisting of the highest point of either the terrain surface or the highest particle position in each terrain index.

Note: It's undefined to modify the terrain height field instance.

Returns: the soil particle height field shape of this terrain

◆ getSoilParticleStatistics()

SoilParticleStatistics agxTerrain::Terrain::getSoilParticleStatistics ( ) const

Get basic statistics of the soil particles active in the simulation.

◆ getSoilSimulationInterface()

SoilSimulationInterface * agxTerrain::Terrain::getSoilSimulationInterface ( ) const

Get the soil particle system interface used to represent the dynamic mass in the terrain.

This can be used to access and modify soil particle data.

Returns: the interface to the soil particle system used to represent the dynamic mass in the terrain.

◆ getSurfacePosition()

agx::Vec3 agxTerrain::Terrain::getSurfacePosition	(	const agx::Vec2i &	terrainIndex,
		bool	includeSurfaceParticles = `false`
	)		const

Finds the terrain surface position, given in local coordinate frame, for a specified terrain index.

Parameters

-	terrainIndex - the terrain index, going from (0,0) -> (resolutionX-1, resolutionY-1)
includeSurfaceParticles	- Also consider surface particles when calculating the height, default false.

Returns: the position of the terrain surface in the grid point, given in local coordinate frame

◆ getSurfacePositionWorld()

agx::Vec3 agxTerrain::Terrain::getSurfacePositionWorld	(	const agx::Vec2i &	terrainIndex,
		bool	includeSurfaceParticles = `false`
	)		const

Finds the terrain surface world position for a specified terrain index.

Parameters

-	terrainIndex - the terrain index, going from (0,0) -> (resolutionX-1, resolutionY-1)
includeSurfaceParticles	- Also consider surface particles when calculating the height, default false.

Returns: the world position of the terrain surface in the grid point

◆ getSurfaceVoxel()

bool agxTerrain::Terrain::getSurfaceVoxel	(	const agx::Vec3i &	voxelIndex,
		agx::Vec3i &	result
	)		const

protected

◆ getTerrainContacts()

const TerrainContactRefVector & agxTerrain::Terrain::getTerrainContacts ( ) const

Returns: the current active terrain contacts with external geometries on this terrain instance.

◆ getTerrainContactsPtrVector()

TerrainContactPtrVector agxTerrain::Terrain::getTerrainContactsPtrVector ( ) const

◆ getTerrainContactsVector()

TerrainContactRefVector * agxTerrain::Terrain::getTerrainContactsVector ( ) const

◆ getTerrainGridControl()

TerrainGridControl * agxTerrain::Terrain::getTerrainGridControl ( ) const

Get control interface of the terrain grid data.

This interface can modify and extract data from the terrain in grid cell level, properties such as mass and compaction.

Returns: the control interface of the terrain grid data.

◆ getTerrainMaterial() [1/2]

TerrainMaterial * agxTerrain::Terrain::getTerrainMaterial ( ) const

inline

Returns the default terrain material which is used to derive material and contact material parameters.

Returns: The set terrain material.

Definition at line 2008 of file Terrain.h.

◆ getTerrainMaterial() [2/2]

TerrainMaterial * agxTerrain::Terrain::getTerrainMaterial ( agx::Vec3 position ) const

inline

Returns the terrain material at the specific position which is used to derive material and contact material parameters.

Parameters

position - The world position you want to get the terrain material at.

Returns: The terrain material in the specified position of the terrain. If the position is outside of the terrain, it returns the default terrain material.

Definition at line 2014 of file Terrain.h.

◆ getTerrainParticlePackingRatio()

static agx::Real agxTerrain::Terrain::getTerrainParticlePackingRatio ( )

static

Returns: the packing ratio of soil particles generated from the terrain.

◆ getToolCollection()

deprecated::TerrainToolCollection * agxTerrain::Terrain::getToolCollection ( const Shovel * shovel ) const

Deprecated:: TerrainToolCollection is no longer used.

Parameters

shovel - shovel instance

Returns: tool collection given shovel - nullptr when shovel hasn't been added to this terrain

◆ getToolCollections()

deprecated::TerrainToolCollectionRefVector agxTerrain::Terrain::getToolCollections ( ) const

Deprecated:: TerrainToolCollection is no longer used.

Returns: registered tool collections for this terrain instance

◆ getTotalSoilParticleMass()

agx::Real agxTerrain::Terrain::getTotalSoilParticleMass ( ) const

Get the total mass (kg) of the active soil particles in the simulation.

◆ getTransform()

agx::AffineMatrix4x4 agxTerrain::Terrain::getTransform ( ) const

Returns: transform of this terrain

◆ getUpDirection()

agx::Vec3 agxTerrain::Terrain::getUpDirection ( ) const

Returns the world up direction of the terrain.

◆ getValidParticlePosition()

agx::Vec3 agxTerrain::Terrain::getValidParticlePosition	(	const agx::Real	radius,
		const agx::Vec3i &	index,
		const agx::Vec3 &	pos
	)

protected

◆ getVoxelArea()

agx::Real agxTerrain::Terrain::getVoxelArea ( ) const

Returns: the area of a voxel

◆ getVoxelVolume()

agx::Real agxTerrain::Terrain::getVoxelVolume ( ) const

Returns: the volume of a voxel

◆ goToBoundaryVoxel()

agx::Vec3i agxTerrain::Terrain::goToBoundaryVoxel ( const agx::Vec3i & start ) const

protected

◆ goToSurfaceVoxel()

agx::Vec3i agxTerrain::Terrain::goToSurfaceVoxel ( const agx::Vec3i & start ) const

protected

◆ goToVoxelKernel()

agx::Vec3i agxTerrain::Terrain::goToVoxelKernel	(	const agx::Vec3i &	start,
		const GoToStopCondition &	stopCondition
	)		const

protected

◆ growLargeParticlesFromParticleMass()

void agxTerrain::Terrain::growLargeParticlesFromParticleMass	(	ParticleDeltaVector &	particles,
		float	particleRadiusUpperLimit
	)

protected

◆ growParticlesFromFluidMass()

void agxTerrain::Terrain::growParticlesFromFluidMass	(	agx::Vec3i	binIndex,
		int	binVoxels,
		float	availableFluidMass,
		ParticleDeltaVector &	particles
	)

protected

◆ growSmallParticlesFromParticleMass()

void agxTerrain::Terrain::growSmallParticlesFromParticleMass	(	ParticleDeltaVector &	particles,
		float	particleRadiusUpperLimit
	)

protected

◆ hasOverlap()

bool agxTerrain::Terrain::hasOverlap ( const agxCollide::Geometry * geometry ) const

Return true if the specified geometry bounding volume overlaps the terrain geometry bounding volume.

◆ hasVoxelCompaction()

bool agxTerrain::Terrain::hasVoxelCompaction ( const agx::Vec3i & index ) const

protected

◆ indexIsInsideForbiddenBounds()

bool agxTerrain::Terrain::indexIsInsideForbiddenBounds	(	const agx::Vec3i &	terrainIndex,
		bool	onlyUserDefined = `false`
	)

Check if the specified index is inside the forbidden bounds in the terrain.

Parameters

terrainIndex	- the 3D terrain index that should be checked against the bounds.
onlyUserDefined	- true if the check should only include the forbidden bounds added by the user and not the zones created from shovel active zones in the terrain.

Returns: true if the specified index is inside the foribdden bounds, false otherwise.

◆ initBuildIslandTask()

void agxTerrain::Terrain::initBuildIslandTask ( )

protected

◆ initializeFromHeightField()

void agxTerrain::Terrain::initializeFromHeightField ( )

protected

◆ initializeSurfaceHeightFieldFromVoxelGrid()

void agxTerrain::Terrain::initializeSurfaceHeightFieldFromVoxelGrid ( )

protected

◆ initVoxelStructureFromHeightField()

void agxTerrain::Terrain::initVoxelStructureFromHeightField ( bool adjustForCompaction = false )

protected

◆ isBorderIndex()

bool agxTerrain::Terrain::isBorderIndex ( const agx::Vec2i & terrainIndex ) const

Checks if the specified index is at the border of the terrain.

Parameters

terrainIndex - the terrain index to check

Returns: true if the given index is at the border, else false

◆ isDigging()

bool agxTerrain::Terrain::isDigging ( const Shovel * shovel ) const

Deprecated:: If the shovel is submerged beneath a terrain can be checked from the shovel now! Check if the specified shovel is currently in digging mode with the terrain, i.e if the cutting edge is submerged.

Parameters

shovel - interacting shovel

Returns: the current penetration force between given shovel and this terrain

◆ isDirty()

bool agxTerrain::Terrain::isDirty ( )

protected

◆ isFilledSolidVoxel()

bool agxTerrain::Terrain::isFilledSolidVoxel ( const agx::Vec3i & index ) const

protected

◆ isGeometryShovel()

bool agxTerrain::Terrain::isGeometryShovel ( const agxCollide::Geometry * geometry ) const

Deprecated:: Use method from ShovelUtils instead! Checks if the specified geometry's rigid body is contained in any of the terrain object's registered shovels.

Parameters

geometry - the specified geometry for which its body should be checked against the registered shovels.

Returns: true if the specified geometry's body is contained in any of the registered shovels.

◆ isIndexWithinBounds()

bool agxTerrain::Terrain::isIndexWithinBounds ( const agx::Vec2i & terrainIndex ) const

Checks if the specified index is within bound of the terrain [(0,0) -> (resolutionX, resolutionY)].

Parameters

terrainIndex - the terrain index to check

Returns: true if the given index is within bounds, else false

◆ isIndexWithinBoundsIssueWarning()

agx::Bool agxTerrain::Terrain::isIndexWithinBoundsIssueWarning ( const agx::Vec2i & terrainIndex ) const

protected

◆ isLocalPositionWithinBounds()

bool agxTerrain::Terrain::isLocalPositionWithinBounds ( const agx::Vec3 & position ) const

Checks whether the position is within terrain (x,y) position bounds in local space.

Parameters

position - the position to be checked against the terrain bound.

Returns: true if the position is within bounds of terrain, false otherwise.

◆ isOfHomogeneousTerrainMaterial()

bool agxTerrain::Terrain::isOfHomogeneousTerrainMaterial ( ) const

◆ isRigidBodyShovel()

bool agxTerrain::Terrain::isRigidBodyShovel ( const agx::RigidBody * body ) const

Deprecated:: Use method from ShovelUtils instead! Checks if a specified rigid body is contained in any of the terrain object's registered shovels.

Parameters

body	- the specified body to check against the registered shovels.

Returns: true if the specified body is contained in any of the registered shovels.

◆ isSolidBoundaryVoxel()

bool agxTerrain::Terrain::isSolidBoundaryVoxel ( const agx::Vec3i & index ) const

protected

voxel functions

◆ isSubmergedVoxel()

bool agxTerrain::Terrain::isSubmergedVoxel ( const agx::Vec3i & index ) const

protected

◆ isVoxelWithinTerrainIndexBounds()

bool agxTerrain::Terrain::isVoxelWithinTerrainIndexBounds ( const agx::Vec3i & index ) const

protected

◆ isWorldPositionWithinBounds()

bool agxTerrain::Terrain::isWorldPositionWithinBounds ( const agx::Vec3 & position ) const

Checks whether the position is within terrain (x,y) position bounds in world space.

Parameters

position - the position to be checked against the terrain bound.

Returns: true if the position is within bounds of terrain, false otherwise.

◆ last()

virtual void agxTerrain::Terrain::last ( )

overrideprotectedvirtual

Callback to be executed at the end of the time step.

Reimplemented from agxSDK::TerrainInstance.

◆ loadLibraryMaterial()

bool agxTerrain::Terrain::loadLibraryMaterial ( const agx::String & materialName )

Loads a TerrainMaterial preset in the TerrainMaterialLibrary that contains calibrated bulk and contact properties for a predefined material archetype.

Note - This method uses the convenience enum MaterialPreset that points to existing preset files.

Parameters

materialName - The name of the material preset that should be loaded.

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

◆ loadMaterialFile()

bool agxTerrain::Terrain::loadMaterialFile ( const agx::String & filename )

Load a TerrainMaterial from a specification file in JSON data format.

Parameters

filename - the name of the JSON file containing the specified material data.

Returns: true if the specification was successfully loaded, false otherwise.

◆ markVoxelToAvalanche()

void agxTerrain::Terrain::markVoxelToAvalanche ( const agx::Vec3i & changedVoxel )

protected

◆ mergeCuttingEdgeColumn()

agx::Vec3iVector agxTerrain::Terrain::mergeCuttingEdgeColumn	(	agx::Vec3i	cuttingEdgeVoxel,
		size_t	numVoxelsToSurfaceThreshold,
		agx::Plane	cuttingPlane
	)

protected

◆ mergeFluidMass()

bool agxTerrain::Terrain::mergeFluidMass ( )

protected

◆ mergeParticleIslands()

void agxTerrain::Terrain::mergeParticleIslands	(	const ParticleIslandVector &	particleIslands,
		agxData::LocalVector< agx::Vec3i > &	mergedParticleIndices
	)

protected

◆ mergeSoilParticlesAndFluidMass()

void agxTerrain::Terrain::mergeSoilParticlesAndFluidMass ( )

protected

◆ mergeSoilToCuttingEdge()

void agxTerrain::Terrain::mergeSoilToCuttingEdge ( )

protected

◆ moveEntityDataToCurrentThread()

void agxTerrain::Terrain::moveEntityDataToCurrentThread ( )

protected

◆ moveParticlesToSurface()

void agxTerrain::Terrain::moveParticlesToSurface ( agx::Vec3iVector changedVoxelIndices )

protected

◆ particleIslandShouldMerge()

bool agxTerrain::Terrain::particleIslandShouldMerge ( const agx::Vector< std::pair< agx::Vec3i, offsetIndexInfo > > & island )

protected

◆ pointIsInsideForbiddenBounds()

bool agxTerrain::Terrain::pointIsInsideForbiddenBounds	(	const agx::Vec3 &	positionWorld,
		bool	onlyUserDefined = `false`
	)

Check if the specified points is inside the forbidden bounds in the terrain.

Parameters

positionWorld	- the point in world coordinates that should be checked against the bounds.
onlyUserDefined	- true if the check should only include the forbidden bounds added by the user and not the zones created from shovel active zones in the terrain.

Returns: true if the specified point is inside the foribdden bounds, false otherwise.

◆ post()

virtual void agxTerrain::Terrain::post ( )

overrideprotectedvirtual

Executes post-step events for agxTerrain in the simulation.

Reimplemented from agxSDK::TerrainInstance.

◆ postSortSynchronizeParticleHeightField()

void agxTerrain::Terrain::postSortSynchronizeParticleHeightField ( )

protected

◆ postUpdateCompaction()

void agxTerrain::Terrain::postUpdateCompaction ( )

protected

◆ postUpdateGroundCollapse()

void agxTerrain::Terrain::postUpdateGroundCollapse ( )

protected

◆ pre()

virtual void agxTerrain::Terrain::pre ( )

overrideprotectedvirtual

Executes pre-step events for agxTerrain in the simulation.

Reimplemented from agxSDK::TerrainInstance.

◆ preCollide()

virtual void agxTerrain::Terrain::preCollide ( )

overrideprotectedvirtual

Executes pre-collide events for agxTerrain in the simulation.

Reimplemented from agxSDK::TerrainInstance.

◆ preEveryStep()

virtual void agxTerrain::Terrain::preEveryStep ( )

overrideprotectedvirtual

Performs some stuff that is needed before every substep such as preCollide, pre, and post.

Makes license checks.

Reimplemented from agxSDK::TerrainInstance.

◆ preSortSynchronizeParticleHeightField()

void agxTerrain::Terrain::preSortSynchronizeParticleHeightField ( )

protected

◆ preUpdateTerrainContacts()

void agxTerrain::Terrain::preUpdateTerrainContacts ( )

protected

◆ projectPointToSurface()

agx::Bool agxTerrain::Terrain::projectPointToSurface	(	const agx::Vec3 &	worldPosition,
		agx::Vec3 &	result
	)		const

Project a world point to the grid surface.

Parameters

worldPosition	- position in world
result	- position on this terrain, given in world coordinates

Returns: true if worldPosition successfully projected onto this terrain, false if worldPosition is outside

◆ projectPointToSurfaceInDirection()

agx::Bool agxTerrain::Terrain::projectPointToSurfaceInDirection	(	const agx::Vec3 &	worldPosition,
		const agx::Vec3 &	worldDirection,
		agx::Vec3 &	result
	)		const

Project a world point to the grid surface in a given direction.

Parameters

worldPosition	- position in world
result	- position on this terrain, given in world coordinates

Returns: true if worldPosition successfully projected onto this terrain, false if worldPosition is outside

◆ raytraceColumns()

void agxTerrain::Terrain::raytraceColumns	(	agxCollide::GeometryPtrVector	geometries,
		agx::HashTable< agx::Vec2i, agx::Vec4 > &	contactPositionTable,
		const TerrainIndexSet &	columnTerrainIndices,
		bool	parallelExecute
	)

protected

◆ remove()

bool agxTerrain::Terrain::remove ( Shovel * shovel )

Deprecated:: Shovel should now be removed from the simulation instead of a terrain. Removes a shovel object in the terrain, if it exists.

Parameters

shovel - The specified shovel object.

Returns: true if the shovel object was successfully removed in the terrain object, false otherwise.

◆ removeEmptyTerrainMaterialVoxels()

void agxTerrain::Terrain::removeEmptyTerrainMaterialVoxels ( )

protected

Removes terrain material info from the empty voxels that was modified during this pre step.

◆ removeFluidMassInGeometry()

float agxTerrain::Terrain::removeFluidMassInGeometry	(	agxCollide::Geometry *	geometry,
		float	fluidMass
	)

Remove fluid mass (in kg, NOT occupancy) in the intersecting 3D grid element with specified geometry.

The x,y coordinate of the returned 3D points is the terrain index while the z coordinate is a depth index. See the 'TerrainGridControl' class for further explanation.

Parameters

geometry	- The geometry to test intersection with the terrain grid.
fluidMass	- Amount of mass to be removed

Note: - This function updates the bound of the specified geometry in order to properly do intersection tests.

Returns: The amount of fluid mass (in kg) that was removed in the grid points of the intersection.

◆ removeForbiddenBound()

bool agxTerrain::Terrain::removeForbiddenBound ( IForbiddenBound * bound )

Remove a ForbiddenBound from a terrain that prevents merging and avalanching for the indices and positions inside the bounds.

Parameters

bound - The forbidden bound to be removed to the terrain.

Returns: - true if the bound was removed successfully, false otherwise.

◆ removeModifiedParticleVertice()

void agxTerrain::Terrain::removeModifiedParticleVertice ( agx::Vec2i terrainIndex )

Removes a vertex from the vector with vertices that were modified during the last time step.

◆ removeNotification()

virtual void agxTerrain::Terrain::removeNotification ( )

overrideprotectedvirtual

Remove notification executed when terrain is removed to a simulation.

Reimplemented from agxSDK::TerrainInstance.

◆ removeSoilParticlesOutsideTerrainBounds()

void agxTerrain::Terrain::removeSoilParticlesOutsideTerrainBounds ( )

protected

◆ removeTerrainMaterial()

bool agxTerrain::Terrain::removeTerrainMaterial ( TerrainMaterial * terrainMaterialToRemove )

◆ removeVolumeInShape()

bool agxTerrain::Terrain::removeVolumeInShape ( agxCollide::Shape * shape )

Instantly removes a terrain volume in the speficied shape.

Parameters

shape - The shape within which to remove volume in the terrain

◆ renderVoxelAABB()

void agxTerrain::Terrain::renderVoxelAABB	(	agx::Vec3i	index,
		agx::Vec4f	color
	)

protected

◆ resizeOrRemoveParticles()

void agxTerrain::Terrain::resizeOrRemoveParticles ( const agx::HashTable< SoilParticlePtr, std::array< agx::Real, 2 > > & particlesToUpdate )

protected

◆ resizeSoilParticles()

void agxTerrain::Terrain::resizeSoilParticles ( )

protected

◆ sampleParticleMassVelocity()

void agxTerrain::Terrain::sampleParticleMassVelocity ( )

protected

◆ sanitizeMaxDepthData()

void agxTerrain::Terrain::sanitizeMaxDepthData ( )

protected

◆ sanityCheckHeightFieldAgainstMaxDepth()

void agxTerrain::Terrain::sanityCheckHeightFieldAgainstMaxDepth ( )

protected

◆ setAssociatedMaterial()

bool agxTerrain::Terrain::setAssociatedMaterial	(	TerrainMaterial *	terrainMaterial,
		agx::Material *	material
	)

Set the associated material with the given TerrainMaterial.

This material is used to configure contact materials between the given terrainMaterial and other materials, for example the shovelMaterial.

Parameters

terrainMaterial	- the added terrainMaterial with which you want to associate a new material.
material	- the associated material to the given terrainMaterial.

Returns: true if the material could successfully be associated with the given TerrainMaterial. If it fails, it returns false. This can occur if the TerrainMaterial was not added to the terrain with the addTerrainMaterial method.

◆ setCompaction()

void agxTerrain::Terrain::setCompaction	(	agx::Real	compaction,
		bool	replaceCompactedSoil = `true`
	)		const

Set a compaction for all current active solid grid elements in the Terrain object.

Note: - the terrain grid elements all start with a the nominal compaction value of 1.0, of which all user specified bulk parameters correspond to.

Parameters

compaction	- The compaction value to set to every voxel in the terrain (Default: 1.0)
replaceCompactedSoil	- True if all voxels which already have a compaction value (compaction != 1.0) should get overwritten.

◆ setDeformable()

void agxTerrain::Terrain::setDeformable ( bool deformable )

Sets if deformation should be enabled on this terrain.

If this is set to false no dynamic mass particles or fluid mass is created. Additionally, no avalanching or compaction occurs on the terrain.

Parameters

deformable - Whether or not to deformations should occur on this terrain

◆ setEnable()

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

Set if terrain computations should be enabled.

Note: - updates for ToolCollections will still be executed if false.

Parameters

enable - true if terrain computations should be enabled, false otherwise.

◆ setEnableKinematicForParticles()

static void agxTerrain::Terrain::setEnableKinematicForParticles	(	agx::RigidBody *	rb,
		agx::Bool	enable
	)

static

Enable/disable particles to see this rigid body as kinematic regardless of current motion control.

Parameters

rb	- rigid body
enable	- true to enable this feature, false to disable

◆ setEnableMinimumHeights()

void agxTerrain::Terrain::setEnableMinimumHeights ( bool enable )

inline

Definition at line 2093 of file Terrain.h.

◆ setHeight()

void agxTerrain::Terrain::setHeight	(	const agx::Vec2i &	terrainIndex,
		agx::Real	height
	)

Sets Terrain height at a specific terrain grid node.

Parameters

terrainIndex	An (x,y) index specifying the grid point to set the height to
height	the new height in the height field.

◆ setHeights()

bool agxTerrain::Terrain::setHeights	(	const agx::RealVector &	heights,
		bool	flipY = `false`,
		bool	resetCompaction = `true`
	)

Set height values of all sampled points.

The height values will be capped by the minimum allowed height for each terrain index. (See getMinimumAllowedHeight, getMinimumHeight).

Parameters

heights	- must be a row major matrix with dimensions (resolutionX, resolutionY).
flipY	- set to true if y decreases with increasing indices in heights. ( Default: false )
resetCompaction	- Set to true if the compaction data should be erased to default compaction, false if compaction data should be preserved. ( Default: true )

Returns: true if heights were set successfully

◆ setMaterial()

void agxTerrain::Terrain::setMaterial	(	agx::Material *	material,
		Terrain::MaterialType	type = `Terrain::MaterialType::TERRAIN`
	)

Assign new material to this terrain.

The material instance will be assigned to the specified part of the terrain: MaterialType::Terrain - The geometry holding the height field (getHeightFieldGeometry()) will be assigned the material. MaterialType::Particle - The granular body system simulating dynamic soil particles will be assigned the material. MaterialType::Aggregate - NOT SUPPORTED Internal contact materials terrain <-> particles, terrain <-> soil particle aggregate and particles <-> particles will be updated.

Note that the properties in the material will be overwritten by the terrain based on the assigned TerrainMaterial.

Parameters

material	- new material for this terrain
type	- specifies which material to set.

◆ setMinimumHeight()

void agxTerrain::Terrain::setMinimumHeight	(	const agx::Vec2i &	terrainIndex,
		agx::Real	minimumHeight
	)

◆ setMinimumHeights()

bool agxTerrain::Terrain::setMinimumHeights ( const agx::RealVector & minimumHeights )

◆ setNoMerge()

void agxTerrain::Terrain::setNoMerge ( bool noMerge )

Prevent merge of dynamic mass to this terrain.

◆ setNoMergeEdgeMargin()

void agxTerrain::Terrain::setNoMergeEdgeMargin ( size_t noMergeEdgeMargin )

Add disable merge and avalanche a number of indices from the terrain edge.

◆ setPosition()

void agxTerrain::Terrain::setPosition ( const agx::Vec3 & position )

Set the position of this terrain.

Parameters

position - new position of this terrain, given in world coordinate frame

◆ setProperties()

void agxTerrain::Terrain::setProperties ( TerrainProperties * properties )

Set the TerrainProperties of the Terrian object.

Parameters

properties - the properties object to be set on the terrain.

◆ setRotation()

void agxTerrain::Terrain::setRotation ( const agx::Quat & rotation )

Set the rotation of this terrain.

Parameters

rotation - new rotation of this terrain, given in world coordinate frame

◆ setShovelAggregateContactMaterial()

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

Deprecated:: Method was moved to shovel! Explicitly set contact material properties in a shovel-aggregate contact for a specific excavation mode for a specific shovel-terrain pair. This overrides the shovel-terrain contact material properties that are used in the default case.

Parameters

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

Note: - this returns false if the shovel is not set to the terrain.

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

◆ setTerrainMaterial()

void agxTerrain::Terrain::setTerrainMaterial	(	TerrainMaterial *	terrainMaterial,
		agx::Material *	material = `nullptr`
	)

Set the default terrain material for the bulk of the terrain which is used to derive material and contact material parameters.

Parameters

terrainMaterial	- The TerrainMaterial to set as default.
material	- The corresponding agx::Material. Used to setup contact material between this part of the terrain <-> shovel.

◆ setTransform()

void agxTerrain::Terrain::setTransform ( const agx::AffineMatrix4x4 & transform )

Set the transform of this terrain.

Parameters

transform - new transform of this terrain, given in world coordinate frame

◆ shouldDeformerActiveZoneRemoveMass()

bool agxTerrain::Terrain::shouldDeformerActiveZoneRemoveMass	(	Shovel *	shovel,
		DeformerCollection *	deformerCollection
	)

protected

◆ shouldExternalDeformerActiveZoneRemoveMass()

bool agxTerrain::Terrain::shouldExternalDeformerActiveZoneRemoveMass	(	agx::RigidBody *	deformerBody,
		DeformerCollection *	deformerCollection
	)

protected

◆ shouldPrimaryActiveZoneRemoveMass()

bool agxTerrain::Terrain::shouldPrimaryActiveZoneRemoveMass ( Shovel * shovel )

protected

◆ sortParticlesIntoBins()

agx::HashTable< agx::Vec3i, agx::UInt64Vector > agxTerrain::Terrain::sortParticlesIntoBins ( int binVoxels )

protected

◆ sortParticlesIntoColumns()

void agxTerrain::Terrain::sortParticlesIntoColumns ( )

protected

◆ sortParticlesIntoVoxels()

void agxTerrain::Terrain::sortParticlesIntoVoxels ( )

protected

◆ stepFluidMass()

void agxTerrain::Terrain::stepFluidMass ( )

protected

◆ storeModifiedTerrainIndex()

void agxTerrain::Terrain::storeModifiedTerrainIndex ( const agx::Vec2i & terrainVertex )

protected

◆ traceGridSurfaceHeightFromVoxelIndex()

agx::Real agxTerrain::Terrain::traceGridSurfaceHeightFromVoxelIndex ( const agx::Vec3i & index )

protected

◆ traceGridSurfaceVoxel()

void agxTerrain::Terrain::traceGridSurfaceVoxel	(	const agx::Vec2i &	terrainIndex,
		agx::Vec3i &	surfaceVoxel
	)		const

protected

◆ transformPointToTerrain()

agx::Vec3 agxTerrain::Terrain::transformPointToTerrain ( const agx::Vec3 point ) const

Transform point given in world coordinate frame to local coordinate frame of this terrain.

Parameters

point - point in world coordinate frame

Returns: point in local coordinate frame of this terrain

◆ transformPointToVoxelSpace()

agx::Vec3 agxTerrain::Terrain::transformPointToVoxelSpace ( const agx::Vec3 point ) const

Transform point given in world coordinate frame to local coordinate frame of this terrain.

Parameters

point - point in world coordinate frame

Returns: point in local coordinate frame of this terrain

◆ transformPointToWorld()

agx::Vec3 agxTerrain::Terrain::transformPointToWorld ( const agx::Vec3 point ) const

Transform point given in local coordinate frame of this terrain, to world coordinate frame.

Parameters

point - point in local coordinate frame of this terrain

Returns: point in world coordinate frame

◆ transformVectorToTerrain()

agx::Vec3 agxTerrain::Terrain::transformVectorToTerrain ( const agx::Vec3 vector ) const

Transform vector given in world coordinate frame to local coordinate frame of this terrain.

Parameters

vector - vector in world coordinate frame

Returns: vector in local coordinate frame of this terrain

◆ transformVectorToWorld()

agx::Vec3 agxTerrain::Terrain::transformVectorToWorld ( const agx::Vec3 vector ) const

Transform vector given in local coordinate frame of this terrain, to world coordinate frame.

Parameters

vector - vector in local coordinate frame of this terrain

Returns: vector in world coordinate frame

◆ triggerForceAvalancheAll()

void agxTerrain::Terrain::triggerForceAvalancheAll ( )

Triggers initial avalanching on all indices in the terrain.

If any height differences in the terrain violates the angle of repose requirement, avalanching will begin on those indices.

◆ updateIndicesForAvalanche()

void agxTerrain::Terrain::updateIndicesForAvalanche ( TerrainIndexSet & forbiddenVertices )

protected

◆ updateInternalTransforms()

void agxTerrain::Terrain::updateInternalTransforms ( )

protected

◆ updateOccupancyFromHeightChange()

void agxTerrain::Terrain::updateOccupancyFromHeightChange ( const agx::Vec2i & heightFieldIndex )

protected

◆ updateSurfaceHeightFieldFromDirtyVoxels()

void agxTerrain::Terrain::updateSurfaceHeightFieldFromDirtyVoxels ( )

protected

◆ updateSurfaceHeightFieldFromHeightsTable()

void agxTerrain::Terrain::updateSurfaceHeightFieldFromHeightsTable ( agx::HashTable< agx::Vec2i, std::pair< agx::Vec3i, agx::Real > > & table )

protected

◆ updateSurfaceHeightFieldFromIndicesAndHeights()

void agxTerrain::Terrain::updateSurfaceHeightFieldFromIndicesAndHeights	(	agx::Vec2uVector &	hfIndices,
		agx::RealVector &	hfHeights
	)

protected

◆ updateSurfaceHeightFieldFromVoxelIndex()

void agxTerrain::Terrain::updateSurfaceHeightFieldFromVoxelIndex ( const agx::Vec3i & voxelIndex )

protected

◆ updateSurfaceHeightFieldFromVoxelIndices() [1/2]

void agxTerrain::Terrain::updateSurfaceHeightFieldFromVoxelIndices	(	const agx::Vec3iVector &	updateIndices,
		bool	updateParticleHeightField = `true`
	)

protected

◆ updateSurfaceHeightFieldFromVoxelIndices() [2/2]

void agxTerrain::Terrain::updateSurfaceHeightFieldFromVoxelIndices ( const agxData::LocalVector< agx::Vec3i > & updateIndices )

protected

◆ updateTransformationFromParentBody()

void agxTerrain::Terrain::updateTransformationFromParentBody ( )

protected

◆ voxelColumnHasParticles()

bool agxTerrain::Terrain::voxelColumnHasParticles ( const agx::Vec2i & vertex ) const

protected

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

Terrain.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GoToStopCondition

◆ offsetIndexInfo

◆ ParticleIslandVector

Member Enumeration Documentation

◆ MassType

◆ MaterialType

Constructor & Destructor Documentation

◆ Terrain() [1/5]

◆ Terrain() [2/5]

◆ Terrain() [3/5]

◆ Terrain() [4/5]

◆ ~Terrain()

◆ Terrain() [5/5]

Member Function Documentation

◆ _getIntersectingGridElements()

◆ add()

◆ addDirtyVoxelsToAvalanche()

◆ addForbiddenBound()

◆ addModifiedParticleTerrainIndex()

◆ addNeighbours()

◆ addNoMergeZoneToGeometry()

◆ addNotification()

◆ addTerrainMaterial() [1/2]

◆ addTerrainMaterial() [2/2]

◆ applyFluidMassChanges()

◆ avalanche()

◆ calculateFluidMassTransport()

◆ calculateParticlesInContactWithSurfaceGraph()

◆ calculateShovelVoxelIntersection()

◆ calculateSurfaceHeightFromVoxelIndex()

◆ calculateTotalDynamicMass()

◆ calculateTotalFluidMass()

◆ calculateTotalMass()

◆ calculateTotalSolidMass()

◆ calculateVolume()

◆ clearTerrainMaterials()

◆ computeForbiddenBounds()

◆ computeParticleGrowthTables()

◆ contains()

◆ convertFluidMassToOccupancy()

◆ convertFluidOccupancyToMass()

◆ convertOccupancyToParticleRadius()

◆ convertParticleRadiusToOccupancy()

◆ convertParticlesToSolidMass()

◆ convertRemovedOccupancyToDynamicMass()

◆ convertToDynamicMassInShape()

◆ convertVoxelsInActiveZonesToDynamicMass()

◆ createFluidMassInVoxel()

◆ createFluidMassOnTerrainSurface()

◆ createFromHeightField()

◆ createParticleIslands()

◆ createSoilParticles()

◆ createTask_preCollide()

◆ createTerrainBedFromGeometries()

◆ createTerrainBedFromGeometry()

◆ debugRenderContactGeometryVoxels()

◆ debugRenderForbiddenBounds()

◆ enforceIncompressibilityColumnwise()

◆ exchangeTerrainMaterial()

◆ filterParticlesAboveContactGeometryVoxels()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ findNewHeightFromVoxelIndex()

◆ findPathToSurfaceVoxel()

◆ findSurfaceVoxel()

◆ findTerrainIndices()

◆ generateRandomNumber()

◆ generateRandomSoilParticlePositionPerturbation()

◆ generateRandomSoilParticleRotation()