raisim::DeformableTerrain

final class · #include <raisim/object/terrain/DeformableTerrain.hpp>

Inherits: raisim::HeightMap

A triangulated soil surface with no particles or soil inertia. The surface deforms along its local +Z axis. Bekker pressure-sinkage and elastic unloading describe a calibrated soil bed; this is a surface terramechanics model, not a volumetric FEM or an excavation model. Contacts are area quadrature samples coupled implicitly to rigid/articulated dynamics. The mesh spacing controls spatial accuracy; pressure and forces are independent of the number of contact rows. Create with World::addDeformableTerrain(). Rendering and ray queries use the deformed mesh.

Nested classes

• struct Material
• struct State
• struct StepStats — Counters of the last step. contacts counts the quadrature rows near bodies, including rows that the body has not loaded. contactArea (m^2) and normalForce (N) cover the loaded rows.

Constructors & destructor

DeformableTerrain

DeformableTerrain(
    size_t xSamples,
    size_t ySamples,
    double xSize,
    double ySize,
    double centerX,
    double centerY,
    const std::vector<double> &heights,
    const Material &material)

Public member functions

getSoilMaterial

const Material &getSoilMaterial() const

getUndeformedHeights

const std::vector<double> &getUndeformedHeights() const

getSoilState

const State &getSoilState() const

getSoilStepStats

const StepStats &getSoilStepStats() const

setSoilState

void setSoilState(const State &state)

Restore a validated state and synchronize the collision/render mesh. Throws on bad input.

resetSoil

void resetSoil()

setBodyType

void setBodyType(BodyType type) override

Soil is a fixed bed. Its frame may be placed between steps, but cannot move dynamically.

pressure

double pressure(
    double sinkage,
    double plasticSinkage,
    double contactWidth) const

Constitutive pressure without viscosity (Pa). Width is the narrowest projected footprint width.

Inherited members

From raisim::HeightMap: destroyCollisionBodies, getCenterX, getCenterY, getColor, getColorMap, getContactHeight, getContactHeightVector, getHeight, getHeightMap, getHeightRowRevisions, getHeightVector, getNormal, getVisualDirtyRegion, getXSamples, getXSize, getYSamples, getYSize, hasVisualHeightUpdate, init, isUpdated, setColor, setColorPatch, setOrientation, setPosition, setUpdatedFalse, update, updateCollision, updateContactAabbs, updateVisualHeight, updateVisualHeightPatch

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setPosition, setVelocity

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex