Fig. 21From: A multiscale model of terrain dynamics for real-time earthmoving simulationA wheel loader digging in a step pile of soil. The resistance is too large for breaking out and instead the rear of the vehicle is raised from the ground. The right image shows the active zones, discretised in soil wedges, and the cohesive-frictional contacts between the aggregates and the terrain. See the Additional file 6: Video S6Back to article page