Fig. 4
From: A multiscale model of terrain dynamics for real-time earthmoving simulation
The left images illustrate a digging tool with a cutting edge \(\varvec{e}_\text {c}\) (red line), separating plate \(\varvec{n}_\text {c}\) (red face), deformer edge \(\varvec{e}_\text {d}\) (blue line), deformer face \(\varvec{n}_\text {d}\) (blue face) and top edge \(\varvec{e}_\text {t}\) (yellow line). The inner shape is indicated with the dashed lines. The normal \(\varvec{n}_\text {fill}\) of the secondary separation plate range from \(\varvec{n}_\text {c}\) to \(\varvec{n}_\text {ct}\) depending on the fill ratio of the inner shape. The three active zones, discretized by vertical wedges, is illustrated from the rear (upper right) and from above (lower right)