agxTerrain::TerrainContact Class Reference

Class that contains information about a terrain contact between an external object and the terrain geometry. More...

#include <TerrainContact.h>

Inheritance diagram for agxTerrain::TerrainContact:

Classes
struct	SurfaceForce
	Struct holding information about a surface force of the Terrain contact. More...

Public Types
typedef agx::Vector< SurfaceForce >	SurfaceForceVector

Public Member Functions
	TerrainContact ()
	Internal method.
	TerrainContact (const agxCollide::Geometry *geometry, const TerrainIndexToDepthTable terrainIndicesToDepth, const agx::Real area, const agx::Real meanGridDepth, const agx::Real currentContactTime, const agx::Bound3 contactBound)
	Internal method.
agx::Real	calculateTotalForce () const
agx::Real	getArea () const
	Get the contact area.
agx::Bound3	getContactBound () const
	The 3D bound spanned by the contact points of the colliding geometry.
agx::Vec3	getContactMidPoint () const
agx::Real	getCurrentContactTime () const
	Get the time that the colliding geometry has been in contact with the terrain.
const TerrainIndexToDepthTable &	getDepthTable () const
	Get the table which holds information about the contact depth at each terrain index in the contact area.
const agxCollide::Geometry *	getGeometry () const
	Get the geometry colliding with the terrain.
agx::Real	getMaxSurfaceForce () const
	Get the maximum force of the Terrain contact from the associated contact points.
agx::Real	getMeanGridDepth () const
	Get the mean depth of the intersected grid points in the TerrainContact.
agx::Real	getSurfaceForce () const
	Get the total surface force of the Terrain contact from all the contact points.
const SurfaceForceVector &	getSurfacePointForces () const
	Get the surface point forces active in the Terrain contact.
agx::Real	getSurfaceStress () const
	Get the average surface stress of the contact which is calculated using the approximated contact area and the total surface force of the contact.
agx::Real	getSurfaceStressInIndex (const agx::Vec2i &terrainIndex) const
	Get the specific contact stress in a terrain index in the contact by scaling the average stress with the depth in the specific index.
void	setContactArea (agx::Real area)
	Internal method.
void	setSurfaceForce (agx::Real surfaceForce)
	Internal method.
void	setSurfacePointForces (const SurfaceForceVector &pointForces)
	Internal method.
void	setSurfaceStress (agx::Real surfaceStress)
	Internal method.
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
virtual	~TerrainContact ()
	Reference counted object - protected destructor.
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

Class that contains information about a terrain contact between an external object and the terrain geometry.

The contact contains an estimated area calculated from grid points intersecting the colliding geometry as well as mean stress calculated from estimated area and contact forces. Stress distribution can also be estimated by scaling the surface stress with the depth in each grid point.

This data container is used primarily in soil compaction calculation.

Definition at line 40 of file TerrainContact.h.

Member Typedef Documentation

SurfaceForceVector

typedef agx::Vector<SurfaceForce> agxTerrain::TerrainContact::SurfaceForceVector

Definition at line 52 of file TerrainContact.h.

Constructor & Destructor Documentation

TerrainContact() [1/2]

agxTerrain::TerrainContact::TerrainContact

(

)

Internal method.

Default constructor

TerrainContact() [2/2]

agxTerrain::TerrainContact::TerrainContact	(	const agxCollide::Geometry *	geometry,
		const TerrainIndexToDepthTable	terrainIndicesToDepth,
		const agx::Real	area,
		const agx::Real	meanGridDepth,
		const agx::Real	currentContactTime,
		const agx::Bound3	contactBound
	)

Internal method.

Construct a Terrain contact with specified arguments.

~TerrainContact()

virtual agxTerrain::TerrainContact::~TerrainContact ( )

protectedvirtual

Reference counted object - protected destructor.

Member Function Documentation

calculateTotalForce()

agx::Real agxTerrain::TerrainContact::calculateTotalForce

(

)

const

getArea()

agx::Real agxTerrain::TerrainContact::getArea

(

)

const

Get the contact area.

The contact area is approximated by doing intersection tests between the colliding geometry and the terrain in grid points close to the contact points. All the grid points which intersect the collider are used when calculating the total area which is given by: number_of_grid_points * gridElementArea.

Returns

The approximated contact area from intersected grid points.

getContactBound()

agx::Bound3 agxTerrain::TerrainContact::getContactBound

(

)

const

The 3D bound spanned by the contact points of the colliding geometry.

Returns

The contact bound.

getContactMidPoint()

agx::Vec3 agxTerrain::TerrainContact::getContactMidPoint

(

)

const

Returns

the computed average mid point from the from all the contact points.

getCurrentContactTime()

agx::Real agxTerrain::TerrainContact::getCurrentContactTime

(

)

const

Get the time that the colliding geometry has been in contact with the terrain.

Mainly used in compression calculation in order to include compression rate relaxation.

Returns

The current contact time of the Terrain contact.

getDepthTable()

const TerrainIndexToDepthTable & agxTerrain::TerrainContact::getDepthTable

(

)

const

Get the table which holds information about the contact depth at each terrain index in the contact area.

Returns

The geometry colliding with the terrain.

getGeometry()

const agxCollide::Geometry * agxTerrain::TerrainContact::getGeometry

(

)

const

Get the geometry colliding with the terrain.

Returns

The geometry colliding with the terrain.

getMaxSurfaceForce()

agx::Real agxTerrain::TerrainContact::getMaxSurfaceForce

(

)

const

Get the maximum force of the Terrain contact from the associated contact points.

Returns

The total surface force of the Terrain contact.

getMeanGridDepth()

agx::Real agxTerrain::TerrainContact::getMeanGridDepth

(

)

const

Get the mean depth of the intersected grid points in the TerrainContact.

Returns

The mean depth of the Terrain contact.

getSurfaceForce()

agx::Real agxTerrain::TerrainContact::getSurfaceForce

(

)

const

Get the total surface force of the Terrain contact from all the contact points.

Note

- This is only accessible in post-update of the simulation

Returns

The total surface force of the Terrain contact.

getSurfacePointForces()

const SurfaceForceVector & agxTerrain::TerrainContact::getSurfacePointForces

(

)

const

Get the surface point forces active in the Terrain contact.

The surface point forces consists of the contact points in the associated geometry contact, which has been projected onto the terrain surface.

Returns

The surface points forces in the Terrain contact.

getSurfaceStress()

agx::Real agxTerrain::TerrainContact::getSurfaceStress

(

)

const

Get the average surface stress of the contact which is calculated using the approximated contact area and the total surface force of the contact.

Returns

The average surface stress of the contact.

getSurfaceStressInIndex()

agx::Real agxTerrain::TerrainContact::getSurfaceStressInIndex

(

const agx::Vec2i &

terrainIndex

)

const

Get the specific contact stress in a terrain index in the contact by scaling the average stress with the depth in the specific index.

Returns

The specific surface stress in the contact terrain index.

setContactArea()

void agxTerrain::TerrainContact::setContactArea

(

agx::Real

area

)

Internal method.

Set the contact area of the contact.

Parameters

area	- The surface area of the contact.

setSurfaceForce()

void agxTerrain::TerrainContact::setSurfaceForce

(

agx::Real

surfaceForce

)

Internal method.

Set the surface force of the contact.

Parameters

surfaceForce

- The surface force to set on the contact

setSurfacePointForces()

void agxTerrain::TerrainContact::setSurfacePointForces

(

const SurfaceForceVector &

pointForces

)

Internal method.

Set the surface point forces of the contact.

Parameters

pointForces

- The point forces to set on the contact.

setSurfaceStress()

void agxTerrain::TerrainContact::setSurfaceStress

(

agx::Real

surfaceStress

)

Internal method.

Set the surface stress of the contact.

Parameters

surfaceStress

- The surface stress to set.

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

• TerrainContact.h