#include <ShovelSettings.h>

Inheritance diagram for agxTerrain::AdvancedShovelSettings:

Public Member Functions
	AdvancedShovelSettings ()
	Constructor for serialization.

	AdvancedShovelSettings (const agx::Line &cuttingEdge)
	Constructor of advanced shovel settings from the necessary initial info from a shovel.

agx::Bool	getAggregateVelocityToShovel () const

bool	getAlwaysRemoveShovelContacts () const

agx::Bool	getClampAggregateVelocityToParticles () const

agx::Real	getContactRegionThreshold () const
	Get the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

agx::Real	getContactRegionVerticalLimit () const

agx::Real	getContactSamplingAngleCutoff () const

agx::Vec3	getCustomBottomVector () const

agx::RealVector	getCustomContactPatchAngleThresholds () const
	Specify cutsom contact patches by givin custom angle thresholds.

agx::Real	getCustomExcavationStiffnessMultiplier () const

agx::Vec3	getCustomForwardVector () const

agx::Bool	getDisablePrimaryWedgeAggregates () const

bool	getDisableShovelSideContacts () const

bool	getEnableCustomBottomVector () const
	Checks whether a custom bottom vector is enabled.

bool	getEnableCustomForwardVector () const
	Checks whether a custom forward vector is enabled.

agx::Bool	getEnableCustomPartitioning () const

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

agx::Bool	getEnableInnerShapeMidpointInclusion () const

bool	getEnableParticleForceFeedback ()

bool	getEnableTeethVolume () const
	Checks whether the teeth volume feature is enabled.

agx::Real	getMinimumSubmergedContactLengthFraction () const
	Get the minimum submerged cutting edge length fraction [0-1] that generates submerged cutting.

agx::Real	getNoMergeExtensionDistance () const
	Get the margin outside the shovel bonding box where soil particle merging is forbidden.

agx::Bool	getNonHolonomicContacts () const

agx::UInt	getNumContactPatches () const
	Get the number of contact patches that will be created inside the shovel to generate shovel <-> aggregate contact points.

agx::UInt	getNumContactPatchSamplingPoints () const

agx::Real	getParticleInclusionMultiplier () const

agx::Real	getSecondarySeparationDeadloadLimit () const

bool	getShouldUpdateContactPatches () const

bool	getUseCustomFrictionModel () const

bool	getUseZeroAggregateVelocity () const

bool	isDirty () const

void	setAggregateVelocityToShovel (bool enable)
	Set if the inner shape aggregate velocity should explicitly be set to the shovel velocity.

void	setAlwaysRemoveShovelContacts (bool enable)
	Set to true/false if shovel <-> terrain contacts should always be removed.

void	setClampAggregateVelocityToParticles (bool enable)
	Set if the inner shape aggregate velocity should clamped to the total soil particle velocity.

void	setContactRegionThreshold (agx::Real contactRegionThreshold)
	Set the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

void	setContactRegionVerticalLimit (agx::Real verticalLimit)
	Set the maximum vertical distance from the shovel bottom plane where regular geometry contacts between the shovel and the terrain are allowed to be created.

void	setContactSamplingAngleCutoff (agx::Real angleCutoff)
	Set the angle cutoff from the cutting edge when the contact sampling inside the shovel will stop.

void	setCustomBottomVector (const agx::Vec3 &bottomVector)
	Sets the custom bottom plate direction vector.

void	setCustomContactPatchAngleTresholds (const agx::RealVector &angleThresholds)
	Specify cutsom contact patches by givin custom angle thresholds.

void	setCustomExcavationStiffnessMultiplier (agx::Real excavationStiffnessMultiplier)
	Set the custom excavation stiffness multiplier, which is used to multiply the Young's modulus of the user defined contact materials in the different excavation modes.

void	setCustomForwardVector (const agx::Vec3 &forwardVector)
	Sets the custom forward vector.

void	setDirty (bool enable)

void	setDisablePrimaryWedgeAggregates (bool enable)
	Set if we should disabled wedge aggregates for primary excavation.

void	setDisableShovelSideContacts (bool enable)
	Set if shovel <-> aggregate side contacts should be disabled.

void	setEnableCustomBottomVector (bool enable)
	Enables or disables the use of a custom bottom vector.

void	setEnableCustomForwardVector (bool enable)
	Enables or disables the use of a custom forward vector.

void	setEnableCustomPartitioning (bool enable)
	Set whenever custom contact partitions should be used or not.

void	setEnableInnerShapeCreateDynamicMass (bool enable)
	Set if inner shape alone should always create dynamic mass.

void	setEnableInnerShapeMidpointInclusion (bool enable)
	Set if we limit the particle inner shape inclusion to the particle midpoint.

void	setEnableParticleForceFeedback (bool enable)
	Set whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts.

void	setEnableTeethVolume (bool enable)
	Enables or disables the teeth volume feature.

void	setMinimumSubmergedContactLengthFraction (agx::Real minimumSubmergedContactLengthFraction)
	Set the minimum submerged cutting edge length fraction [0-1] that generates submerged cutting.

void	setNoMergeExtensionDistance (agx::Real extensionDistance)
	Set the extension outside the shovel bounding box where soil particle merging is forbidden.

void	setNonHolonomicContacts (bool enable)
	Set if shovel <-> aggregate contacts should be set to use non-holonomic constraints, i.e velocity constraints.

void	setNumContactPatches (agx::UInt numContactPatches)
	Set number of contact patches that will be created inside the shovel to generate shovel <-> aggregate contact points.

void	setNumContactPatchSamplingPoints (agx::UInt numSamples)
	Set the number of sampling points used when tracing the shovel outline during creation of contact patches.

void	setParticleInclusionMultiplier (agx::Real radiusMultiplier)
	Set the radius multiplier for extending the inclusion bound with particle radius during post-excavation with particles in bucket.

void	setSecondarySeparationDeadloadLimit (agx::Real secondarySeparationLimit)
	Sets the dead-load limit where secondary separation will start to activate where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel.

void	setShouldUpdateContactPatches (bool shouldUpdate)
	Set if we should update contact patches of the shovel, this is set when the shovel contact patch settings are changed.

void	setUseCustomFrictionModel (bool enable)

void	setUseZeroAggregateVelocity (bool enable)
	Set whenever the innerbody aggregate should have zero velocity before solve step as opposed to using particle or cached post-solve velocities from the previous time step.

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.

Protected Member Functions
void	restore (agxStream::InputArchive &in)

void	store (agxStream::OutputArchive &out) const

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

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

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

Definition at line 301 of file ShovelSettings.h.

Constructor & Destructor Documentation

◆ AdvancedShovelSettings() [1/2]

agxTerrain::AdvancedShovelSettings::AdvancedShovelSettings ( const agx::Line & cuttingEdge )

Constructor of advanced shovel settings from the necessary initial info from a shovel.

◆ AdvancedShovelSettings() [2/2]

agxTerrain::AdvancedShovelSettings::AdvancedShovelSettings ( )

Constructor for serialization.

Member Function Documentation

◆ getAggregateVelocityToShovel()

agx::Bool agxTerrain::AdvancedShovelSettings::getAggregateVelocityToShovel ( ) const

Returns: if the inner shape aggregate velocity should explicitly be set to the shovel velocity.

◆ getAlwaysRemoveShovelContacts()

bool agxTerrain::AdvancedShovelSettings::getAlwaysRemoveShovelContacts ( ) const

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

◆ getClampAggregateVelocityToParticles()

agx::Bool agxTerrain::AdvancedShovelSettings::getClampAggregateVelocityToParticles ( ) const

Returns: if the inner shape aggregate velocity should clamped to the total soil particle velocity.

◆ getContactRegionThreshold()

agx::Real agxTerrain::AdvancedShovelSettings::getContactRegionThreshold ( ) const

Get the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

Contacts that do not reach the distance threshold will be filtered away.

Returns: the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created. ( Default: cuttingEdgeLength / 10.0 )

◆ getContactRegionVerticalLimit()

agx::Real agxTerrain::AdvancedShovelSettings::getContactRegionVerticalLimit ( ) const

◆ getContactSamplingAngleCutoff()

agx::Real agxTerrain::AdvancedShovelSettings::getContactSamplingAngleCutoff ( ) const

Returns: the angle cutoff from the cutting edge when the contact sampling inside the shovel will stop.

◆ getCustomBottomVector()

agx::Vec3 agxTerrain::AdvancedShovelSettings::getCustomBottomVector ( ) const

Returns: the current custom bottom vector.

◆ getCustomContactPatchAngleThresholds()

agx::RealVector agxTerrain::AdvancedShovelSettings::getCustomContactPatchAngleThresholds ( ) const

Specify cutsom contact patches by givin custom angle thresholds.

Will be used if custom partitioning is enabled.

Note: - see setEnableCustomPartitioning.

◆ getCustomExcavationStiffnessMultiplier()

agx::Real agxTerrain::AdvancedShovelSettings::getCustomExcavationStiffnessMultiplier ( ) const

Returns: the custom excavation stiffness multiplier, which is used to multiply the Young's modulus of the user defined contact materials in the different excavation modes. See Shovel::getShovelTerrainContactMaterialContainer(). Default: 1.0.

◆ getCustomForwardVector()

agx::Vec3 agxTerrain::AdvancedShovelSettings::getCustomForwardVector ( ) const

Returns: the current custom forward vector.

◆ getDisablePrimaryWedgeAggregates()

agx::Bool agxTerrain::AdvancedShovelSettings::getDisablePrimaryWedgeAggregates ( ) const

Returns: if we should disabled wedge aggregates for primary excavation

Note: - this setting is used by the ClamShellBucket.

◆ getDisableShovelSideContacts()

bool agxTerrain::AdvancedShovelSettings::getDisableShovelSideContacts ( ) const

Returns: if shovel <-> aggregate side contacts should be disabled.

◆ getEnableCustomBottomVector()

bool agxTerrain::AdvancedShovelSettings::getEnableCustomBottomVector ( ) const

Checks whether a custom bottom vector is enabled.

Returns: true if a custom bottom vector is enabled, false otherwise.

◆ getEnableCustomForwardVector()

bool agxTerrain::AdvancedShovelSettings::getEnableCustomForwardVector ( ) const

Checks whether a custom forward vector is enabled.

Returns: true if a custom forward vector is enabled, false otherwise.

◆ getEnableCustomPartitioning()

agx::Bool agxTerrain::AdvancedShovelSettings::getEnableCustomPartitioning ( ) const

Returns: whenever custom contact partitions should be used or not.

Note: - see setCustomContactPatchAngleTresholds.

◆ getEnableInnerShapeCreateDynamicMass()

bool agxTerrain::AdvancedShovelSettings::getEnableInnerShapeCreateDynamicMass ( ) const

Get if inner shape alone should always create dynamic mass.

The alternative is to only create dynamic mass in the inner shape when primary excavation soil wedges create mass. Default: true.

Returns: true if inner shape should always create dynamic mass (default), false otherwise.

◆ getEnableInnerShapeMidpointInclusion()

agx::Bool agxTerrain::AdvancedShovelSettings::getEnableInnerShapeMidpointInclusion ( ) const

Returns: if we limit the particle inner shape inclusion to the particle midpoint.

◆ getEnableParticleForceFeedback()

bool agxTerrain::AdvancedShovelSettings::getEnableParticleForceFeedback ( )

Returns: whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts. (Default: false)

◆ getEnableTeethVolume()

bool agxTerrain::AdvancedShovelSettings::getEnableTeethVolume ( ) const

Checks whether the teeth volume feature is enabled.

Returns: True if the teeth volume is enabled, false otherwise.

◆ getMinimumSubmergedContactLengthFraction()

agx::Real agxTerrain::AdvancedShovelSettings::getMinimumSubmergedContactLengthFraction ( ) const

Get the minimum submerged cutting edge length fraction [0-1] that generates submerged cutting.

Default: 0.5

◆ getNoMergeExtensionDistance()

agx::Real agxTerrain::AdvancedShovelSettings::getNoMergeExtensionDistance ( ) const

Get the margin outside the shovel bonding box where soil particle merging is forbidden.

Default: 0.5 m.

◆ getNonHolonomicContacts()

agx::Bool agxTerrain::AdvancedShovelSettings::getNonHolonomicContacts ( ) const

Returns: if shovel <-> aggregate contacts should be set to use non-holonomic constraints, i.e velocity constraints.

◆ getNumContactPatches()

agx::UInt agxTerrain::AdvancedShovelSettings::getNumContactPatches ( ) const

Get the number of contact patches that will be created inside the shovel to generate shovel <-> aggregate contact points.

◆ getNumContactPatchSamplingPoints()

agx::UInt agxTerrain::AdvancedShovelSettings::getNumContactPatchSamplingPoints ( ) const

Returns: the number of sampling points used when tracing the shovel outline during creation of contact patches.

◆ getParticleInclusionMultiplier()

agx::Real agxTerrain::AdvancedShovelSettings::getParticleInclusionMultiplier ( ) const

Returns: the radius multiplier for extending the inclusion bound with particle radius during post-excavation with particles in bucket. (Default: 1.0)

Note: - This will only be active post-excavation and NOT during excavation when we have active soil wedges.

◆ getSecondarySeparationDeadloadLimit()

agx::Real agxTerrain::AdvancedShovelSettings::getSecondarySeparationDeadloadLimit ( ) const

Returns: the dead-load limit where secondary separation will start to active where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel (Default: 0.8)

◆ getShouldUpdateContactPatches()

bool agxTerrain::AdvancedShovelSettings::getShouldUpdateContactPatches ( ) const

Returns: Set if we should update contact patches of the shovel, this is set when the shovel contact patch settings are changed.

Note: - not serialized.

◆ getUseCustomFrictionModel()

bool agxTerrain::AdvancedShovelSettings::getUseCustomFrictionModel ( ) const

Returns: whenever custom friction models should be used in the shovel <-> aggregate contacts. (Default: true)

◆ getUseZeroAggregateVelocity()

bool agxTerrain::AdvancedShovelSettings::getUseZeroAggregateVelocity ( ) const

Returns: true if the innerbody aggregate should have zero velocity, false otherwise. Default: false.

◆ isDirty()

bool agxTerrain::AdvancedShovelSettings::isDirty ( ) const

inline

Definition at line 717 of file ShovelSettings.h.

◆ restore()

void agxTerrain::AdvancedShovelSettings::restore ( agxStream::InputArchive & in )

protected

◆ setAggregateVelocityToShovel()

void agxTerrain::AdvancedShovelSettings::setAggregateVelocityToShovel ( bool enable )

Set if the inner shape aggregate velocity should explicitly be set to the shovel velocity.

◆ setAlwaysRemoveShovelContacts()

void agxTerrain::AdvancedShovelSettings::setAlwaysRemoveShovelContacts ( bool enable )

Set to true/false if shovel <-> terrain contacts should always be removed.

Default: false.

Parameters

enable - set to true/false if shovel <-> terrain contacts should always be removed

◆ setClampAggregateVelocityToParticles()

void agxTerrain::AdvancedShovelSettings::setClampAggregateVelocityToParticles ( bool enable )

Set if the inner shape aggregate velocity should clamped to the total soil particle velocity.

◆ setContactRegionThreshold()

void agxTerrain::AdvancedShovelSettings::setContactRegionThreshold ( agx::Real contactRegionThreshold )

Set the starting distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain can be created.

Contacts that are not past the distance threshold will be filtered away.

Parameters

contactRegionThreshold - The contact distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain are allowed to be created. ( Default: cuttingEdgeLength / 10.0 )

◆ setContactRegionVerticalLimit()

void agxTerrain::AdvancedShovelSettings::setContactRegionVerticalLimit ( agx::Real verticalLimit )

Set the maximum vertical distance from the shovel bottom plane where regular geometry contacts between the shovel and the terrain are allowed to be created.

Contacts past the distance will be filtered away.

Parameters

verticalLimit - The vertical contact distance threshold from the shovel planes where regular geometry contacts between the shovel underside and the terrain are allowed to be created. ( Default: cuttingEdgeLength / 10.0 )

◆ setContactSamplingAngleCutoff()

void agxTerrain::AdvancedShovelSettings::setContactSamplingAngleCutoff ( agx::Real angleCutoff )

Set the angle cutoff from the cutting edge when the contact sampling inside the shovel will stop.

◆ setCustomBottomVector()

void agxTerrain::AdvancedShovelSettings::setCustomBottomVector ( const agx::Vec3 & bottomVector )

Sets the custom bottom plate direction vector.

When enabled the custom bottom plate direction vector will replace the one that is generated from the shovel geometry. This can be useful if the geometric algorithms fails on a particular shovel shape.

Parameters

bottomVector The vector to use as the custom bottom direction.

See also: setEnableCustomBottomVector()

◆ setCustomContactPatchAngleTresholds()

void agxTerrain::AdvancedShovelSettings::setCustomContactPatchAngleTresholds ( const agx::RealVector & angleThresholds )

Specify cutsom contact patches by givin custom angle thresholds.

Will be used if custom partitioning is enabled.

Note: - see setEnableCustomPartitioning.

◆ setCustomExcavationStiffnessMultiplier()

void agxTerrain::AdvancedShovelSettings::setCustomExcavationStiffnessMultiplier ( agx::Real excavationStiffnessMultiplier )

Set the custom excavation stiffness multiplier, which is used to multiply the Young's modulus of the user defined contact materials in the different excavation modes.

See Shovel::getShovelTerrainContactMaterialContainer().

Parameters

excavationStiffnessMultiplier - the excavation stiffness multiplier for the explicit contact materials. Default: 1.0.

◆ setCustomForwardVector()

void agxTerrain::AdvancedShovelSettings::setCustomForwardVector ( const agx::Vec3 & forwardVector )

Sets the custom forward vector.

When enabled the custom forward vector will replace the one that is generated from the shovel geometry. This can be useful if the geometric algorithms fails on a particular shovel shape.

Parameters

forwardVector - The vector to use as the custom forward direction.

See also: setEnableCustomForwardVector()

◆ setDirty()

void agxTerrain::AdvancedShovelSettings::setDirty ( bool enable )

inline

Definition at line 719 of file ShovelSettings.h.

◆ setDisablePrimaryWedgeAggregates()

void agxTerrain::AdvancedShovelSettings::setDisablePrimaryWedgeAggregates ( bool enable )

Set if we should disabled wedge aggregates for primary excavation.

Note: - this setting is used by the ClamShellBucket.

◆ setDisableShovelSideContacts()

void agxTerrain::AdvancedShovelSettings::setDisableShovelSideContacts ( bool enable )

Set if shovel <-> aggregate side contacts should be disabled.

◆ setEnableCustomBottomVector()

void agxTerrain::AdvancedShovelSettings::setEnableCustomBottomVector ( bool enable )

Enables or disables the use of a custom bottom vector.

When enabled, the simulation will use the custom bottom vector set with setCustomBottomVector() instead of the default one generated from the shovel geometry.

Parameters

enable - true to enable the custom bottom vector, false to disable it.

◆ setEnableCustomForwardVector()

void agxTerrain::AdvancedShovelSettings::setEnableCustomForwardVector ( bool enable )

Enables or disables the use of a custom forward vector.

When enabled, the simulation will use the custom forward vector set with setCustomForwardVector() instead of the default one generated from the shovel geometry. This can be useful if the geometric algorithms fails on a particular shovel shape.

Parameters

enable - true to enable the custom forward vector, false to disable it.

◆ setEnableCustomPartitioning()

void agxTerrain::AdvancedShovelSettings::setEnableCustomPartitioning ( bool enable )

Set whenever custom contact partitions should be used or not.

Note: - see setCustomContactPatchAngleTresholds.

◆ setEnableInnerShapeCreateDynamicMass()

void agxTerrain::AdvancedShovelSettings::setEnableInnerShapeCreateDynamicMass ( bool enable )

Set if inner shape alone should always create dynamic mass.

The alternative is to only create dynamic mass in the inner shape when primary excavation soil wedges create mass. Default: true.

Parameters

enable - true if inner shape should always create dynamic mass (default), false otherwise.

◆ setEnableInnerShapeMidpointInclusion()

void agxTerrain::AdvancedShovelSettings::setEnableInnerShapeMidpointInclusion ( bool enable )

Set if we limit the particle inner shape inclusion to the particle midpoint.

◆ setEnableParticleForceFeedback()

void agxTerrain::AdvancedShovelSettings::setEnableParticleForceFeedback ( bool enable )

Set whenever the excavation force feedback during PRIMARY excavation should be generated from particle contacts instead of aggregate contacts.

Parameters

enable - true if particles should generate contact forces on the shovel, false otherwise. (Default: false)

◆ setEnableTeethVolume()

void agxTerrain::AdvancedShovelSettings::setEnableTeethVolume ( bool enable )

Enables or disables the teeth volume feature.

When enabled, a volumetric representation of the space between the top edge, cutting edge and the teeth edge is generated and used for including particles in the shovel inner shape.

Parameters

enable True to enable teeth volume, false to disable it.

◆ setMinimumSubmergedContactLengthFraction()

void agxTerrain::AdvancedShovelSettings::setMinimumSubmergedContactLengthFraction ( agx::Real minimumSubmergedContactLengthFraction )

Set the minimum submerged cutting edge length fraction [0-1] that generates submerged cutting.

Default: 0.5

◆ setNoMergeExtensionDistance()

void agxTerrain::AdvancedShovelSettings::setNoMergeExtensionDistance ( agx::Real extensionDistance )

Set the extension outside the shovel bounding box where soil particle merging is forbidden.

Default: 0.5 m.

◆ setNonHolonomicContacts()

void agxTerrain::AdvancedShovelSettings::setNonHolonomicContacts ( bool enable )

Set if shovel <-> aggregate contacts should be set to use non-holonomic constraints, i.e velocity constraints.

◆ setNumContactPatches()

void agxTerrain::AdvancedShovelSettings::setNumContactPatches ( agx::UInt numContactPatches )

Set number of contact patches that will be created inside the shovel to generate shovel <-> aggregate contact points.

Parameters

numContactPatches - the number of contact patches that will be generated.

◆ setNumContactPatchSamplingPoints()

void agxTerrain::AdvancedShovelSettings::setNumContactPatchSamplingPoints ( agx::UInt numSamples )

Set the number of sampling points used when tracing the shovel outline during creation of contact patches.

◆ setParticleInclusionMultiplier()

void agxTerrain::AdvancedShovelSettings::setParticleInclusionMultiplier ( agx::Real radiusMultiplier )

Set the radius multiplier for extending the inclusion bound with particle radius during post-excavation with particles in bucket.

Parameters

radiusMultiplier - The multiplier for the particle radius extension of the shovel inclusion bound. (Default: 1.0)

Note: - This will only be active pos-excavation and NOT during excavation when we have active soil wedges.

◆ setSecondarySeparationDeadloadLimit()

void agxTerrain::AdvancedShovelSettings::setSecondarySeparationDeadloadLimit ( agx::Real secondarySeparationLimit )

Sets the dead-load limit where secondary separation will start to activate where the forward direction starts to change according to the virtual separation plate created by the material inside the shovel.

Parameters

secondarySeparationLimit - The dead load limit where secondary separation will start to activate (Default: 0.8)

◆ setShouldUpdateContactPatches()

void agxTerrain::AdvancedShovelSettings::setShouldUpdateContactPatches ( bool shouldUpdate )

Set if we should update contact patches of the shovel, this is set when the shovel contact patch settings are changed.

Note: - not serialized.

◆ setUseCustomFrictionModel()

void agxTerrain::AdvancedShovelSettings::setUseCustomFrictionModel ( bool enable )

◆ setUseZeroAggregateVelocity()

void agxTerrain::AdvancedShovelSettings::setUseZeroAggregateVelocity ( bool enable )

Set whenever the innerbody aggregate should have zero velocity before solve step as opposed to using particle or cached post-solve velocities from the previous time step.

Parameters

enable - true if the innerbody aggregate should have zero velocity, false otherwise. Default: false.

◆ store()

void agxTerrain::AdvancedShovelSettings::store ( agxStream::OutputArchive & out ) const

protected

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

ShovelSettings.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AdvancedShovelSettings() [1/2]

◆ AdvancedShovelSettings() [2/2]

Member Function Documentation

◆ getAggregateVelocityToShovel()

◆ getAlwaysRemoveShovelContacts()

◆ getClampAggregateVelocityToParticles()

◆ getContactRegionThreshold()

◆ getContactRegionVerticalLimit()

◆ getContactSamplingAngleCutoff()

◆ getCustomBottomVector()

◆ getCustomContactPatchAngleThresholds()

◆ getCustomExcavationStiffnessMultiplier()

◆ getCustomForwardVector()

◆ getDisablePrimaryWedgeAggregates()

◆ getDisableShovelSideContacts()

◆ getEnableCustomBottomVector()

◆ getEnableCustomForwardVector()

◆ getEnableCustomPartitioning()

◆ getEnableInnerShapeCreateDynamicMass()

◆ getEnableInnerShapeMidpointInclusion()

◆ getEnableParticleForceFeedback()

◆ getEnableTeethVolume()

◆ getMinimumSubmergedContactLengthFraction()

◆ getNoMergeExtensionDistance()

◆ getNonHolonomicContacts()

◆ getNumContactPatches()

◆ getNumContactPatchSamplingPoints()

◆ getParticleInclusionMultiplier()

◆ getSecondarySeparationDeadloadLimit()

◆ getShouldUpdateContactPatches()

◆ getUseCustomFrictionModel()

◆ getUseZeroAggregateVelocity()

◆ isDirty()

◆ restore()

◆ setAggregateVelocityToShovel()

◆ setAlwaysRemoveShovelContacts()

◆ setClampAggregateVelocityToParticles()

◆ setContactRegionThreshold()

◆ setContactRegionVerticalLimit()

◆ setContactSamplingAngleCutoff()

◆ setCustomBottomVector()

◆ setCustomContactPatchAngleTresholds()

◆ setCustomExcavationStiffnessMultiplier()

◆ setCustomForwardVector()

◆ setDirty()

◆ setDisablePrimaryWedgeAggregates()

◆ setDisableShovelSideContacts()

◆ setEnableCustomBottomVector()

◆ setEnableCustomForwardVector()

◆ setEnableCustomPartitioning()

◆ setEnableInnerShapeCreateDynamicMass()

◆ setEnableInnerShapeMidpointInclusion()

◆ setEnableParticleForceFeedback()

◆ setEnableTeethVolume()

◆ setMinimumSubmergedContactLengthFraction()

◆ setNoMergeExtensionDistance()

◆ setNonHolonomicContacts()

◆ setNumContactPatches()

◆ setNumContactPatchSamplingPoints()

◆ setParticleInclusionMultiplier()

◆ setSecondarySeparationDeadloadLimit()

◆ setShouldUpdateContactPatches()

◆ setUseCustomFrictionModel()

◆ setUseZeroAggregateVelocity()

◆ store()