This class has two main responsibilities: More...

#include <TerrainContactGenerator.h>

Inheritance diagram for agxTerrain::TerrainContactGenerator:

Public Member Functions
	TerrainContactGenerator ()

	TerrainContactGenerator (Terrain *terrain)
	Default constructor.

TerrainContactRefVector &	getTerrainContacts ()

const TerrainContactRefVector &	getTerrainContacts () const

TerrainContactRefVector *	getTerrainContactVector ()

void	onPost (agxSDK::Simulation *simulation)
	Do post updates for the contact generator.

void	onPre (agxSDK::Simulation *simulation)
	Do pre updates for the contact generator.

void	onRemove (agxSDK::Simulation *simulation)
	Do cleanup when removed from the Simulation.

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	~TerrainContactGenerator ()
	Reference counted object - protected destructor.

void	addNeighborIndex (const agx::Vec2i &index, std::queue< agx::Vec2i > &indicesToCheck, agx::HashSet< agx::Vec2i > &visitedIndices) const

void	buildTerrainContacts (agxSDK::Simulation *simulation)
	Build the TerrainContact objects used in compaction calculations.

void	collectTerrainContacts (agxSDK::Simulation *simulation)
	Collect contacts between externally colliding geometries and the terrain (Does not include SoilParticleAggregateContacts).

std::tuple< TerrainIndexToDepthTable, agx::Bound3 >	findIntersectingIndexInContact (const agxCollide::GeometryContactPtrVector &contacts)
	Find the terrain grid indices intersecting with the colliding geometry via ray intersection tests.

TerrainContact *	generateTerrainContact (const agxCollide::GeometryContactPtrVector &contacts, agxSDK::Simulation *simulation)
	Get the current generated Terrain contacts.

const agxCollide::Geometry *	getCollider (const agxCollide::GeometryContact *contact) const
	Get the collider geometry in the geometry contact.

agx::Real	getCurrentContactTime (const agxCollide::Geometry *geometry) const

agx::Real	getModifiedYoungsModuls (const agx::Vec3 &position, const agx::ContactMaterial *existingContactMaterial) const
	Get modified Young's Modulus from depending on the compaction of the voxel of the specified position.

bool	isSoilAggregateContact (agxCollide::GeometryContact *gc) const

void	modifyTerrainGeometryContacts ()
	Modifies current geometry contacts with updated parameters (such as Young's Modulus among others) for each point depending on the compaction of the voxel.

bool	raycastTerrainVertexToGeometry (const agxCollide::Geometry *collider, const agx::Vec2i &hfIndex, agx::Real &depth)
	Raycast in a terrain index in order to find intersection with a colliding geometry.

void	registerContactingGeometry (const agxCollide::Geometry geometry, agxSDK::Simulation simulation)

void	unRegisterContactingGeometry (const agxCollide::Geometry *geometry)

void	unRegisterGeometriesNotInContact (const agxCollide::GeometryHashSet &geometriesInContact)

void	updateTerrainContactsWithForceData ()
	Update the TerrainContact objects with force data.

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

This class has two main responsibilities:

Generate TerrainContact objects between the terrain and externally colliding geometries. Primary used in compaction calculation.
Replace existing geometry contacts with contacts containing modified Young's Modulus depending on compaction of voxel in contact point.

The generated TerrainContact objects contains information about approximative area and volume overlap which is used in compaction and deformation calculations.

Definition at line 60 of file TerrainContactGenerator.h.

Constructor & Destructor Documentation

◆ TerrainContactGenerator() [1/2]

agxTerrain::TerrainContactGenerator::TerrainContactGenerator ( Terrain * terrain )

Default constructor.

◆ TerrainContactGenerator() [2/2]

agxTerrain::TerrainContactGenerator::TerrainContactGenerator ( )

◆ ~TerrainContactGenerator()

virtual agxTerrain::TerrainContactGenerator::~TerrainContactGenerator ( )

protectedvirtual

Reference counted object - protected destructor.

Member Function Documentation

◆ addNeighborIndex()

void agxTerrain::TerrainContactGenerator::addNeighborIndex	(	const agx::Vec2i &	index,
		std::queue< agx::Vec2i > &	indicesToCheck,
		agx::HashSet< agx::Vec2i > &	visitedIndices
	)		const

protected

◆ buildTerrainContacts()

void agxTerrain::TerrainContactGenerator::buildTerrainContacts ( agxSDK::Simulation * simulation )

protected

Build the TerrainContact objects used in compaction calculations.

◆ collectTerrainContacts()

void agxTerrain::TerrainContactGenerator::collectTerrainContacts ( agxSDK::Simulation * simulation )

protected

Collect contacts between externally colliding geometries and the terrain (Does not include SoilParticleAggregateContacts).

◆ findIntersectingIndexInContact()

std::tuple< TerrainIndexToDepthTable, agx::Bound3 > agxTerrain::TerrainContactGenerator::findIntersectingIndexInContact ( const agxCollide::GeometryContactPtrVector & contacts )

protected

Find the terrain grid indices intersecting with the colliding geometry via ray intersection tests.

Parameters

contacts - The geometry contacts associated with the contact between the collider and the terrain object

Returns: table containing the terrain indices intersecting the geometry volume mapped to the depth of the intersection.

◆ generateTerrainContact()

TerrainContact * agxTerrain::TerrainContactGenerator::generateTerrainContact	(	const agxCollide::GeometryContactPtrVector &	contacts,
		agxSDK::Simulation *	simulation
	)

protected

Get the current generated Terrain contacts.

◆ getCollider()

const agxCollide::Geometry * agxTerrain::TerrainContactGenerator::getCollider ( const agxCollide::GeometryContact * contact ) const

protected

Get the collider geometry in the geometry contact.

◆ getCurrentContactTime()

agx::Real agxTerrain::TerrainContactGenerator::getCurrentContactTime ( const agxCollide::Geometry * geometry ) const

protected

◆ getModifiedYoungsModuls()

agx::Real agxTerrain::TerrainContactGenerator::getModifiedYoungsModuls	(	const agx::Vec3 &	position,
		const agx::ContactMaterial *	existingContactMaterial
	)		const

protected

Get modified Young's Modulus from depending on the compaction of the voxel of the specified position.

Parameters

position	- The world position.
existingContactMaterial	- the existing contact material.

Returns: The modified Young's Modulus from the position.

◆ getTerrainContacts() [1/2]

TerrainContactRefVector & agxTerrain::TerrainContactGenerator::getTerrainContacts ( )

Returns: the current generated Terrain contacts.

◆ getTerrainContacts() [2/2]

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

Returns: the current generated Terrain contacts.

◆ getTerrainContactVector()

TerrainContactRefVector * agxTerrain::TerrainContactGenerator::getTerrainContactVector ( )

◆ isSoilAggregateContact()

bool agxTerrain::TerrainContactGenerator::isSoilAggregateContact ( agxCollide::GeometryContact * gc ) const

protected

◆ modifyTerrainGeometryContacts()

void agxTerrain::TerrainContactGenerator::modifyTerrainGeometryContacts ( )

protected

Modifies current geometry contacts with updated parameters (such as Young's Modulus among others) for each point depending on the compaction of the voxel.

◆ onPost()

void agxTerrain::TerrainContactGenerator::onPost ( agxSDK::Simulation * simulation )

Do post updates for the contact generator.

This does the following:

Update the active TerrainContact objects with force data

◆ onPre()

void agxTerrain::TerrainContactGenerator::onPre ( agxSDK::Simulation * simulation )

Do pre updates for the contact generator.

This does the following:

Build Terrain contact objects from colliding objects
Generate new geometry contacts between colliders and the Terrain with updated Young's Modulus

◆ onRemove()

void agxTerrain::TerrainContactGenerator::onRemove ( agxSDK::Simulation * simulation )

Do cleanup when removed from the Simulation.

◆ raycastTerrainVertexToGeometry()

bool agxTerrain::TerrainContactGenerator::raycastTerrainVertexToGeometry	(	const agxCollide::Geometry *	collider,
		const agx::Vec2i &	hfIndex,
		agx::Real &	depth
	)

protected

Raycast in a terrain index in order to find intersection with a colliding geometry.

Parameters

collider	- The colliding geometry to test ray intersection against.
hfIndex	- The index to raycast in.
depth	- The depth of the intersection of the geometry in the grid point.

Returns: true if the line intersects with the collider below the height field.

◆ registerContactingGeometry()

void agxTerrain::TerrainContactGenerator::registerContactingGeometry	(	const agxCollide::Geometry *	geometry,
		agxSDK::Simulation *	simulation
	)

protected

◆ unRegisterContactingGeometry()

void agxTerrain::TerrainContactGenerator::unRegisterContactingGeometry ( const agxCollide::Geometry * geometry )

protected

◆ unRegisterGeometriesNotInContact()

void agxTerrain::TerrainContactGenerator::unRegisterGeometriesNotInContact ( const agxCollide::GeometryHashSet & geometriesInContact )

protected

◆ updateTerrainContactsWithForceData()

void agxTerrain::TerrainContactGenerator::updateTerrainContactsWithForceData ( )

protected

Update the TerrainContact objects with force data.

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

TerrainContactGenerator.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TerrainContactGenerator() [1/2]

◆ TerrainContactGenerator() [2/2]

◆ ~TerrainContactGenerator()

Member Function Documentation

◆ addNeighborIndex()

◆ buildTerrainContacts()

◆ collectTerrainContacts()

◆ findIntersectingIndexInContact()

◆ generateTerrainContact()

◆ getCollider()

◆ getCurrentContactTime()

◆ getModifiedYoungsModuls()

◆ getTerrainContacts() [1/2]

◆ getTerrainContacts() [2/2]

◆ getTerrainContactVector()

◆ isSoilAggregateContact()

◆ modifyTerrainGeometryContacts()

◆ onPost()

◆ onPre()

◆ onRemove()

◆ raycastTerrainVertexToGeometry()

◆ registerContactingGeometry()

◆ unRegisterContactingGeometry()

◆ unRegisterGeometriesNotInContact()

◆ updateTerrainContactsWithForceData()