Class for containing and managing the different agxTerrain::Terrain settings. More...

#include <TerrainProperties.h>

Inheritance diagram for agxTerrain::TerrainProperties:

Public Member Functions
agx::Real	getActivationSpeed () const
	Get the shovel speed threshold in the excavation plane of shovel deformers when static mass in the active zone is converted to dynamic mass.

bool	getAlwaysEnableSoilFailure () const

agx::Real	getAvalancheDecayFraction () const

agx::Real	getAvalancheErrorThreshold () const

agx::Real	getAvalancheMaxHeightGrowth () const
	Get the maximum allowed height transfer per time step due to avalanching.

bool	getCreateParticles () const

bool	getDeleteSoilParticlesOutsideBounds () const

bool	getEnableAvalanching () const

bool	getEnableCreateDynamicMass () const

bool	getEnableDeformation () const

bool	getEnableGroundCollapse () const

bool	getEnableLockedBorders () const

bool	getEnableSoilCompaction () const

agx::UInt32	getFlags () const

agx::Real	getMaximumParticleActivationVolume () const

agx::Real	getPenetrationForceVelocityScaling () const

agx::Real	getSoilAggregateLockCompliance (agx::Int dof) const
	Set the compliance of the soil aggregate lock joint the local constraint dimensions to relax or increase the force feedback interaction from shovel - terrain interaction.

agx::Real	getSoilMergeSpeedThreshold () const

agx::Real	getSoilParticleGrowthRate () const

agx::Real	getSoilParticleLifeTime () const

agx::Real	getSoilParticleMergeRate () const

agx::Real	getSoilParticleMergeThreshold () const

float	getSoilParticleSizeScaling () const
	Get soil particle size scaling factor.

bool	isDirty () const

void	setActivationSpeed (agx::Real activationSpeed)
	Set the shovel speed threshold in the excavation plane when static mass in the active zone is converted to dynamic mass.

void	setAlwaysEnableSoilFailure (bool enable)
	Set if soil wedges should always fail.

void	setAvalancheDecayFraction (agx::Real decayFraction)
	Set the fraction of the height difference that violates the angle of repose condition that will be transferred in each time step during avalanching.

void	setAvalancheErrorThreshold (agx::Real errorThreshold)
	Set the fractional error threshold for the height difference that will trigger avalanching in a grid point.

void	setAvalancheMaxHeightGrowth (agx::Real maxHeightGrowth)
	Set the maximum allowed height (m) transfer per time step due to avalanching.

void	setCreateParticles (bool enable)
	Set whether the terrain should create particles or not during shovel interactions.

void	setDeleteSoilParticlesOutsideBounds (bool enable)
	Set if terrain should delete soil particles outside of terrain bounds.

void	setDirty (bool isDirty)
	Set dirty flag on the TerrainProperties.

void	setEnableAvalanching (bool enable)
	Set whether to enable avalanching in the terrain.

void	setEnableCreateDynamicMass (bool enable)
	Sets if dynamic mass should be created during excavation.

void	setEnableDeformation (bool enable)
	Sets if terrain deformation should be enabled.

void	setEnableGroundCollapse (bool enable)
	Set if ground collapse should be enabled.

void	setEnableLockedBorders (bool enable)
	Set whether to fixate the height of the borders in the terrain.

void	setEnableSoilCompaction (bool enable)
	Set whether or not to use the soil compaction calculations in the terrain.

void	setFlags (agx::UInt32 flags)
	Set state flags for the properties object.

void	setMaximumParticleActivationVolume (agx::Real volume)
	Sets the maximum volume (m3) of active zone wedges that should wake particles.

void	setPenetrationForceVelocityScaling (agx::Real penetrationForceVelocityScaling)
	Set the penetration force velocity scaling constant.

void	setSoilAggregateLockCompliance (agx::Real compliance, agx::Int dof)
	Set the compliance of the soil aggregate lock joint the local constraint dimensions to relax or increase the force feedback interaction from shovel -terrain interaction.

void	setSoilMergeSpeedThreshold (agx::Real speedThreshold)
	Set the absolute lower speed (m/s) threshold where soil particles are allowed to merge with the terrain.

void	setSoilParticleGrowthRate (agx::Real growthRateFactor)
	Set the rate factor in the algorithm for growing soil particles from fluid mass and particle resizing.

void	setSoilParticleLifeTime (agx::Real lifeTime)
	Set the lifetime (s) of created soil particles in the terrain.

void	setSoilParticleMergeRate (agx::Real mergeRate)
	Set the merge rate for soil particles into the terrain.

void	setSoilParticleMergeThreshold (agx::Real radiusFraction)
	Set the fraction of the particle nominal radius that will trigger instant merge of soil particles into the terrain during merging.

void	setSoilParticleSizeScaling (float scalingFactor)
	Set soil particle size scaling factor.

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 Types
using	Flags = agx::BitState< StateFlags, agx::UInt32 >

enum	StateFlags : agx::UInt32 { LOCKED_BORDERS = 1 << 0 , CREATE_PATICLES = 1 << 1 , DELETE_PARTICLES_OUTSIDE_BOUNDS = 1 << 2 , ENABLE_SOIL_COMPACTION = 1 << 3 , ENABLE_AVALANCHING = 1 << 4 , ENABLE_DYNAMIC_MASS = 1 << 5 , ENABLE_DEFORMATION = 1 << 6 , ENABLE_GROUND_COLLAPSE = 1 << 7 , ENABLE_ALWAYS_SOIL_FAILURE = 1 << 8 }

Protected Member Functions
virtual	~TerrainProperties ()

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 for containing and managing the different agxTerrain::Terrain settings.

Definition at line 31 of file TerrainProperties.h.

Member Typedef Documentation

◆ Flags

using agxTerrain::TerrainProperties::Flags = agx::BitState<StateFlags, agx::UInt32>

protected

Definition at line 371 of file TerrainProperties.h.

Member Enumeration Documentation

◆ StateFlags

enum agxTerrain::TerrainProperties::StateFlags : agx::UInt32

protected

Enumerator
LOCKED_BORDERS
CREATE_PATICLES
DELETE_PARTICLES_OUTSIDE_BOUNDS
ENABLE_SOIL_COMPACTION
ENABLE_AVALANCHING
ENABLE_DYNAMIC_MASS
ENABLE_DEFORMATION
ENABLE_GROUND_COLLAPSE
ENABLE_ALWAYS_SOIL_FAILURE

Definition at line 359 of file TerrainProperties.h.

Constructor & Destructor Documentation

◆ ~TerrainProperties()

virtual agxTerrain::TerrainProperties::~TerrainProperties ( )

protectedvirtual

Member Function Documentation

◆ getActivationSpeed()

agx::Real agxTerrain::TerrainProperties::getActivationSpeed ( ) const

Get the shovel speed threshold in the excavation plane of shovel deformers when static mass in the active zone is converted to dynamic mass.

◆ getAlwaysEnableSoilFailure()

bool agxTerrain::TerrainProperties::getAlwaysEnableSoilFailure ( ) const

Returns: wether soil wedges should always fail.

◆ getAvalancheDecayFraction()

agx::Real agxTerrain::TerrainProperties::getAvalancheDecayFraction ( ) const

inline

Returns: the fraction of the height difference that violates the angle of repose condition that will be transferred in each time step during avalanching.

Definition at line 411 of file TerrainProperties.h.

◆ getAvalancheErrorThreshold()

agx::Real agxTerrain::TerrainProperties::getAvalancheErrorThreshold ( ) const

Returns: the the fractional error threshold for the height difference that will trigger avalanching in a grid point.

Note: - the height difference error threshold is calculated using: errorThreshold * elementSize.

◆ getAvalancheMaxHeightGrowth()

agx::Real agxTerrain::TerrainProperties::getAvalancheMaxHeightGrowth ( ) const

inline

Get the maximum allowed height transfer per time step due to avalanching.

Definition at line 404 of file TerrainProperties.h.

◆ getCreateParticles()

bool agxTerrain::TerrainProperties::getCreateParticles ( ) const

Returns: whether the terrain should create particles or not during shovel interactions.

◆ getDeleteSoilParticlesOutsideBounds()

bool agxTerrain::TerrainProperties::getDeleteSoilParticlesOutsideBounds ( ) const

inline

Returns: true if particles outside the terrain bounds should be deleted - otherwise false (default).

Definition at line 418 of file TerrainProperties.h.

References DELETE_PARTICLES_OUTSIDE_BOUNDS.

◆ getEnableAvalanching()

bool agxTerrain::TerrainProperties::getEnableAvalanching ( ) const

Returns: whether or not to use avalanching in the terrain.

◆ getEnableCreateDynamicMass()

bool agxTerrain::TerrainProperties::getEnableCreateDynamicMass ( ) const

inline

Returns: true if dynamic mass should be created during excavation. If false, this will prevent the creation of fluid and soil particle mass during shovel excavation; thus only solid removal will be active.

Definition at line 446 of file TerrainProperties.h.

References ENABLE_DYNAMIC_MASS.

◆ getEnableDeformation()

bool agxTerrain::TerrainProperties::getEnableDeformation ( ) const

inline

Returns: true if the terrain should be deformable. If false, no avalanching will occur, no dynamic particles will be created and the soil will not be compacted.

Definition at line 392 of file TerrainProperties.h.

References ENABLE_DEFORMATION.

◆ getEnableGroundCollapse()

bool agxTerrain::TerrainProperties::getEnableGroundCollapse ( ) const

Returns: wether ground collapse should be enable or not.

◆ getEnableLockedBorders()

bool agxTerrain::TerrainProperties::getEnableLockedBorders ( ) const

inline

Returns: whether or not to use locked borders. I.e the borders of the terrain are not allowed to change from excavation and avalanching.

Definition at line 397 of file TerrainProperties.h.

References LOCKED_BORDERS.

◆ getEnableSoilCompaction()

bool agxTerrain::TerrainProperties::getEnableSoilCompaction ( ) const

Returns: whether or not to use soil compaction calculation in the terrain.

◆ getFlags()

agx::UInt32 agxTerrain::TerrainProperties::getFlags ( ) const

Returns: the state flags for the properties object.

◆ getMaximumParticleActivationVolume()

agx::Real agxTerrain::TerrainProperties::getMaximumParticleActivationVolume ( ) const

inline

Returns: the maximum volume of active zone wedges that should wake particles.

Definition at line 432 of file TerrainProperties.h.

◆ getPenetrationForceVelocityScaling()

agx::Real agxTerrain::TerrainProperties::getPenetrationForceVelocityScaling ( ) const

inline

Returns: the penetration force velocity scaling constant. This will scale the penetration force with the shovel velocity squared in the cutting direction according to: ( 1.0 + C * v^2 ) (Default: 0.0)

Definition at line 425 of file TerrainProperties.h.

◆ getSoilAggregateLockCompliance()

agx::Real agxTerrain::TerrainProperties::getSoilAggregateLockCompliance ( agx::Int dof ) const

inline

Set the compliance of the soil aggregate lock joint the local constraint dimensions to relax or increase the force feedback interaction from shovel - terrain interaction.

Note: The z - direction(dof = 5) is perpendicular to the plane that the cutting edge and the top edge exists in, which is typically in the digging direction. dof: 0 - 2 = translational direction dof: 3 - 5 = rotational direction

Returns: the current compliance in the lock joint in the specified degree of freedom.

Definition at line 439 of file TerrainProperties.h.

◆ getSoilMergeSpeedThreshold()

agx::Real agxTerrain::TerrainProperties::getSoilMergeSpeedThreshold ( ) const

Returns: the absolute lower speed (m/s) threshold where soil particles are allowed to merge with the terrain.

◆ getSoilParticleGrowthRate()

agx::Real agxTerrain::TerrainProperties::getSoilParticleGrowthRate ( ) const

Returns: the rate factor in the algorithm that governs particle growth from fluid mass and resizing. (Default: 0.05)

◆ getSoilParticleLifeTime()

agx::Real agxTerrain::TerrainProperties::getSoilParticleLifeTime ( ) const

Returns: the lifetime (s) of the created soil particles. (Default: Infinity).

◆ getSoilParticleMergeRate()

agx::Real agxTerrain::TerrainProperties::getSoilParticleMergeRate ( ) const

Returns: the merge rate for soil particles in the terrain. The merge rate is defined as the fraction of the current particle mass that should be merged into the terrain for each second.

◆ getSoilParticleMergeThreshold()

agx::Real agxTerrain::TerrainProperties::getSoilParticleMergeThreshold ( ) const

Returns: the fraction of the particle nominal radius that will trigger instant merge of particles into the terrain during merging.

◆ getSoilParticleSizeScaling()

float agxTerrain::TerrainProperties::getSoilParticleSizeScaling ( ) const

Get soil particle size scaling factor.

◆ isDirty()

bool agxTerrain::TerrainProperties::isDirty ( ) const

Returns: whether the TerainProperties is dirty.

◆ setActivationSpeed()

void agxTerrain::TerrainProperties::setActivationSpeed ( agx::Real activationSpeed )

Set the shovel speed threshold in the excavation plane when static mass in the active zone is converted to dynamic mass.

Parameters

activationSpeed - the specified speed threshold where static mass is converted to dynamic mass in the active zone. (Default: 0.1 m/s)

◆ setAlwaysEnableSoilFailure()

void agxTerrain::TerrainProperties::setAlwaysEnableSoilFailure ( bool enable )

Set if soil wedges should always fail.

Parameters

enable - True if soil wedges should always fail, false otherwise.

◆ setAvalancheDecayFraction()

void agxTerrain::TerrainProperties::setAvalancheDecayFraction ( agx::Real decayFraction )

Set the fraction of the height difference that violates the angle of repose condition that will be transferred in each time step during avalanching.

Parameters

decayFraction - The fraction of the height difference that violates the angle of repose that will be transferred. (Default: 0.1)

◆ setAvalancheErrorThreshold()

void agxTerrain::TerrainProperties::setAvalancheErrorThreshold ( agx::Real errorThreshold )

Set the fractional error threshold for the height difference that will trigger avalanching in a grid point.

Parameters

errorThreshold - the fractional error threshold that will determine if a height difference will trigger avalanching. (Default: 1E-4)

Note: - the height difference error threshold is calculated using: errorThreshold / elementSize.

◆ setAvalancheMaxHeightGrowth()

void agxTerrain::TerrainProperties::setAvalancheMaxHeightGrowth ( agx::Real maxHeightGrowth )

Set the maximum allowed height (m) transfer per time step due to avalanching.

Parameters

maxHeightGrowth - The maximum height allowed during a height (m) transfer. (Default: infinity)

◆ setCreateParticles()

void agxTerrain::TerrainProperties::setCreateParticles ( bool enable )

Set whether the terrain should create particles or not during shovel interactions.

Parameters

enable - true if particles should be created from excavation - false otherwise.

◆ setDeleteSoilParticlesOutsideBounds()

void agxTerrain::TerrainProperties::setDeleteSoilParticlesOutsideBounds ( bool enable )

Set if terrain should delete soil particles outside of terrain bounds.

Parameters

enable - true if particle should be deleted when outside terrain bounds - false otherwise.

◆ setDirty()

void agxTerrain::TerrainProperties::setDirty ( bool isDirty )

Set dirty flag on the TerrainProperties.

Parameters

isDirty - set whether the properties should be marked as dirty or not.

◆ setEnableAvalanching()

void agxTerrain::TerrainProperties::setEnableAvalanching ( bool enable )

Set whether to enable avalanching in the terrain.

Parameters

enable - true if avalanching should be enabled - false otherwise.

◆ setEnableCreateDynamicMass()

void agxTerrain::TerrainProperties::setEnableCreateDynamicMass ( bool enable )

Sets if dynamic mass should be created during excavation.

Setting this to false will prevent the creation of fluid and soil particle mass during shovel excavation; thus only solid removal will be active.

Parameters

enable - True if dynamic mass should be created during excavation, false otherwise ( Default: True )

◆ setEnableDeformation()

void agxTerrain::TerrainProperties::setEnableDeformation ( bool enable )

Sets if terrain deformation should be enabled.

Setting this to false will prevent the creation of fluid and soil particle mass and prevent both avalanching and compaction of the terrain.

Parameters

enable - True if terrain deformations should occur, false otherwise (Default: True)

◆ setEnableGroundCollapse()

void agxTerrain::TerrainProperties::setEnableGroundCollapse ( bool enable )

Set if ground collapse should be enabled.

Parameters

enable - True if ground collapse should be enabled, false otherwise.

◆ setEnableLockedBorders()

void agxTerrain::TerrainProperties::setEnableLockedBorders ( bool enable )

Set whether to fixate the height of the borders in the terrain.

I.e the borders of the terrain are not allowed to change from excavation and avalanching.

Parameters

enable - true if borders should be locked - false otherwise.

◆ setEnableSoilCompaction()

void agxTerrain::TerrainProperties::setEnableSoilCompaction ( bool enable )

Set whether or not to use the soil compaction calculations in the terrain.

Parameters

enable - true if compaction should be calculated in the terrain - false otherwise.

◆ setFlags()

void agxTerrain::TerrainProperties::setFlags ( agx::UInt32 flags )

Set state flags for the properties object.

Parameters

flags - the state flags integer to be set on the object.

◆ setMaximumParticleActivationVolume()

void agxTerrain::TerrainProperties::setMaximumParticleActivationVolume ( agx::Real volume )

Sets the maximum volume (m3) of active zone wedges that should wake particles.

Parameters

volume - the maximum volume of active zone wedges that should wake particles. ( Default:Infinity )

◆ setPenetrationForceVelocityScaling()

void agxTerrain::TerrainProperties::setPenetrationForceVelocityScaling ( agx::Real penetrationForceVelocityScaling )

Set the penetration force velocity scaling constant.

This will scale the penetration force with the shovel velocity squared in the cutting direction according to: ( 1.0 + C * v^2 )

Parameters

penetrationForceVelocityScaling - The coefficient for scaling the penetration force with the shovel velocity in the cutting direction (Default: 0.0)

◆ setSoilAggregateLockCompliance()

void agxTerrain::TerrainProperties::setSoilAggregateLockCompliance	(	agx::Real	compliance,
		agx::Int	dof
	)

Set the compliance of the soil aggregate lock joint the local constraint dimensions to relax or increase the force feedback interaction from shovel -terrain interaction.

Note: The z-direction (dof = 5) is perpendicular to the plane that the cutting edge and the top edge exists in, which is typically in the digging direction. dof: 0-2 = translational direction dof: 3-5 = rotational direction

Parameters

compliance	- the compliance to set in the specified degree of freedom
dof	- Target dof for the change of compliance

◆ setSoilMergeSpeedThreshold()

void agxTerrain::TerrainProperties::setSoilMergeSpeedThreshold ( agx::Real speedThreshold )

Set the absolute lower speed (m/s) threshold where soil particles are allowed to merge with the terrain.

Parameters

speedThreshold - The lower speed threshold where soil particles are allowed to merge with the terrain. ( Default: 4 )

◆ setSoilParticleGrowthRate()

void agxTerrain::TerrainProperties::setSoilParticleGrowthRate ( agx::Real growthRateFactor )

Set the rate factor in the algorithm for growing soil particles from fluid mass and particle resizing.

Parameters

growthRateFactor - the rate factor in the algorithm that governs particle growth from fluid mass and resizing. (Default: 0.125)

◆ setSoilParticleLifeTime()

void agxTerrain::TerrainProperties::setSoilParticleLifeTime ( agx::Real lifeTime )

Set the lifetime (s) of created soil particles in the terrain.

The particle will be deleted after existing for the specified lifetime.

Parameters

lifeTime - The lifetime of created particles. ( Default: Infinity )

◆ setSoilParticleMergeRate()

void agxTerrain::TerrainProperties::setSoilParticleMergeRate ( agx::Real mergeRate )

Set the merge rate for soil particles into the terrain.

The merge rate is defined as the fraction of the current particle mass that should be merged into the terrain for each second.

Parameters

mergeRate - the fraction of the current particle mass that should be merged into the terrain for each second. ( Default: 9)

◆ setSoilParticleMergeThreshold()

void agxTerrain::TerrainProperties::setSoilParticleMergeThreshold ( agx::Real radiusFraction )

Set the fraction of the particle nominal radius that will trigger instant merge of soil particles into the terrain during merging.

Parameters

radiusFraction - the fraction of the particle nominal radius that will trigger instant merge for a particle. (Default: 0.4)

Note: - radiusFractionvalue must be in the interval (0, 1.0] to be valid ( zero excluded ).

◆ setSoilParticleSizeScaling()

void agxTerrain::TerrainProperties::setSoilParticleSizeScaling ( float scalingFactor )

Set soil particle size scaling factor.

The soil particle size scaling factor scales the nominal radius that the algorithm will aim for during the dynamic resizing of particles that occur during terrain interaction. This is used to alter the desired number of soil particles in the terrain. Default value: 1.0

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

TerrainProperties.h

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Flags

Member Enumeration Documentation

◆ StateFlags

Constructor & Destructor Documentation

◆ ~TerrainProperties()

Member Function Documentation

◆ getActivationSpeed()

◆ getAlwaysEnableSoilFailure()

◆ getAvalancheDecayFraction()

◆ getAvalancheErrorThreshold()

◆ getAvalancheMaxHeightGrowth()

◆ getCreateParticles()

◆ getDeleteSoilParticlesOutsideBounds()

◆ getEnableAvalanching()

◆ getEnableCreateDynamicMass()

◆ getEnableDeformation()

◆ getEnableGroundCollapse()

◆ getEnableLockedBorders()

◆ getEnableSoilCompaction()

◆ getFlags()

◆ getMaximumParticleActivationVolume()

◆ getPenetrationForceVelocityScaling()

◆ getSoilAggregateLockCompliance()

◆ getSoilMergeSpeedThreshold()

◆ getSoilParticleGrowthRate()

◆ getSoilParticleLifeTime()

◆ getSoilParticleMergeRate()

◆ getSoilParticleMergeThreshold()

◆ getSoilParticleSizeScaling()

◆ isDirty()

◆ setActivationSpeed()

◆ setAlwaysEnableSoilFailure()

◆ setAvalancheDecayFraction()

◆ setAvalancheErrorThreshold()

◆ setAvalancheMaxHeightGrowth()

◆ setCreateParticles()

◆ setDeleteSoilParticlesOutsideBounds()

◆ setDirty()

◆ setEnableAvalanching()

◆ setEnableCreateDynamicMass()

◆ setEnableDeformation()

◆ setEnableGroundCollapse()

◆ setEnableLockedBorders()

◆ setEnableSoilCompaction()

◆ setFlags()

◆ setMaximumParticleActivationVolume()

◆ setPenetrationForceVelocityScaling()

◆ setSoilAggregateLockCompliance()

◆ setSoilMergeSpeedThreshold()

◆ setSoilParticleGrowthRate()

◆ setSoilParticleLifeTime()

◆ setSoilParticleMergeRate()

◆ setSoilParticleMergeThreshold()

◆ setSoilParticleSizeScaling()