Deriving The Fundamental Equation of Earthmoving and Configuring Vortex Studio Earthmoving Simulation for Soil Property Estimation Experimentation

This document serves as supplementary material for two International Society for Terrain-Vehicle Systems conference publications regarding in situ soil property estimation by Wagner et al. in 2023 and 2025. It covers the derivation of the fundamental equation of earthmoving for a flat blade moving through sloped soil and provides some information regarding the advanced configuration of Vortex Studio's soil-tool interaction simulation.