Fig. 14
From: A multiscale model of terrain dynamics for real-time earthmoving simulation
Simulated excavation for comparing the multiscale terrain model (left) and the microscale reference model (right, particles colour coded by particle height position) at time 8 s and using material dirt-1. Second and third row show sideview of the high-resolution model (particles colour coded by velocity, blue to red by 0 to 1.5 m/s) and the real-time model, at time 0, 2, 4, 6, 8, 10 and 12 s. See Additional file 4: Video S4