Detailed Description

This actuator provides high-fidelity vehicle physics by connecting a VR-Forces entity to a Vortex physics model. It handles vehicle dynamics simulation, terrain interaction, articulated parts, and player control.

Uses Descriptor Type: DtVortexMovementActuatorDescriptor

#include <vortexMovementActuator.h>

Inheritance diagram for DtVortexMovementActuator:

[legend]

Public Types
using	VortexInterfaceMap = std::map<std::string, DtVortexInterface*>

Public Member Functions
	DtVortexMovementActuator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtVortexMovementActuator () override

DtVortexMovementActuator &	operator= (const DtVortexMovementActuator &orig)=delete

	DtVortexMovementActuator (const DtVortexMovementActuator &orig)=delete

virtual bool	init () override

virtual void	tick () override

virtual const char *	type () const override

virtual bool	createPorts () override

virtual bool	createPortGroups () override

virtual void	preFirstTickInit () override

virtual const std::vector< DtVortexBasePart * > &	getParts () const

virtual bool	isInVortexWorld () const

virtual bool	isVortexPlayerControlled () const

virtual bool	isBeingTowed () const

virtual void	dropAboveTerrain (const DtVector &newLocalPosition, double heading)

VxMath::Matrix44	getNextFrameVortexTransform () const

VxSim::VxSmartInterface< VxDynamics::Mechanism >	getMechanism ()

Vx::VxVector3	getNextFrameVortexPosition () const

Vx::VxEulerAngles	getNextFrameVortexOrientation () const

void	disableVehicleDynamics ()

void	enableVehicleDynamics ()

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

Protected Types
enum	MechanismLoadStatus { NOT_LOADED = 0 , LOADING = 1 , LOADED = 2 }

Protected Member Functions
void	updateParametersFromModel ()

void	loadMechanism ()

void	processTerrainChangeNotification (const DtTerrainChangeNotificationInfo &terrainChangeInfo)

DtVortexBasePart *	findPart (int partId) const

virtual bool	isVortexMechanismValid () const

virtual void	getLowestBoundingPointsOfMechanism (std::vector< DtVector > &outputPoints)

virtual void	processSetVortexWhileUntasked (DtSimMessage *msg)

virtual bool	createPSR ()

virtual bool	isHighFidelityCGF () const

virtual bool	isPlayerControlledAs (std::string role) const

virtual void	realizeVortexState ()

virtual bool	isTerrainAvailable () const

virtual void	detectTerrainFallthrough ()

virtual void	setVortexMechanismLocation (const Vx::VxVector3 &nwuLocation, double heading)

Vx::VxVector3	getVortexLocation (const DtVector &inputCoords) const

virtual void	sendVehicleDynamicsUpdate (bool enable)

virtual void	sendVehiclePartsUpdate (Vx::VxPart::EntityControlTypeEnum control)

virtual void	addSetCallbacks ()

virtual void	removeSetCallbacks ()

virtual void	handleSetLocation (const DtVector &location)

virtual void	handleSetHeading (DtReal heading)

virtual void	resetWheelParts ()

virtual void	manageWheelPartStateTransitions (bool inVortexWorld)

virtual void	updateState ()

virtual void	restoreWheels ()

virtual void	engageParkingBrakeOnDisengage (bool isDriver)

virtual void	updateFuel ()

virtual void	updateDestroyedState ()

virtual double	fuelLeft () const

virtual void	useFuel (double fuelUsed)

DtVortexBasePart *	createPart (makVre::DtVortexSimArtPartDescriptor *desc)

void	createVortexPartsFromDescriptor ()

void	setThresholdsFromDescriptor ()

void	updateGroundInteractionPoint (const DtDcm &localOrientation, const DtVector &localPosition, const DtAttachedTerrain &terrain, bool &dataAvailable) const

void	createVortexConfigurationsFromDescriptor ()

void	createVortexInterfacesFromDescriptor ()

void	connectInterfacesToPorts ()

void	queueMechanismLoad ()

virtual void	updatePorts ()

VxSim::VxSmartInterface< VxDynamics::Part >	findPartFromPathRecursive (const VxSim::VxWeakInterface< VxSim::IObject > &objectToLookThroughWeak, const std::vector< std::string > &pathToLookForPart, int index)

virtual bool	checkDistanceFromCoordinateOriginOverLimit (const DtVector &position, double distance)

Static Protected Member Functions
static void	terrainChangeNotification (const DtTerrainChangeNotificationInfo &terrainChangeInfo, void *usr)

static void	setVortexWhileUntaskedCallback (DtSimMessage msg, void usrData)

static void	setHeadingCallback (DtReal heading, void *usrData)

static void	setLocationCallback (const DtVector &location, void *usrData)

Protected Attributes
const DtVortexMovementActuatorDescriptor *	myDescriptor

DtGroundVehicleStateRepository *	myGroundVehicleState

DtVortexStateRepository *	myVehicleRepository

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtArticulatedPartCollection	myCollectionWithWheels

VxSim::VxSmartInterface< VxDynamics::Mechanism >	myMechanism

VxSim::VxSmartInterface< DtMechAddon >	myMechAddon

VxSim::VxExtension *	myVehicleExt

std::vector< DtVortexBasePart * >	myParts

VortexInterfaceMap	myInterfaces

std::shared_ptr< VxSim::VxSimulationFileManagerFacade >	mySimulationFileManagerFacade

Vx::VxSmartPtr< DtVxSimulationFileManagerFacadeListener >	myListener

std::shared_ptr< makVre::DtVortexConfiguration >	myConfiguration

DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup

DtStringOutputPort *	myAimingModePort

bool	myWasInVortexWorldLastTick

bool	myWasDriverLastTick

bool	myAutoParkButtonDown

bool	myNeedsWheelPartRemoval

bool	myHaveVortexTurretInterface

bool	myIsVortexDynamicsActive

bool	mySpawnedFromSpawnPoint

MechanismLoadStatus	myMechanismLoadStatus

VxSim::VxUuid	myLoadObjectRequestId

makVre::DtVortexPhysicalWorld *	myVortexPhysicalWorld

double	myPositionThreshold

double	myOrientationThreshold

double	myVelocityThreshold

double	myAngularVelocityThreshold

double	myAccelerationThreshold

double	myPartPositionThreshold

double	myPartOrientationThreshold

double	myPartLinearVelocityThreshold

double	myPartAngularVelocityThreshold

double	myDropTimer

bool	myAllowVortexWhileDestroyed

bool	myDetectTerrainFallthrough

DtVector	myPreviousPosition

DtTaitBryan	myPreviousOrientation

DtSymbolString	myMovementChooserControllerName

makVre::DtVortexMovementPSR *	myProcessState

Friends
class	DtVxSimulationFileManagerFacadeListener

Member Typedef Documentation

◆ VortexInterfaceMap

using DtVortexMovementActuator::VortexInterfaceMap = std::map<std::string, DtVortexInterface*>

Type definition for a map of Vortex interfaces by name.

Member Enumeration Documentation

◆ MechanismLoadStatus

enum DtVortexMovementActuator::MechanismLoadStatus

protected

Enumerator
NOT_LOADED
LOADING
LOADED

Constructor & Destructor Documentation

◆ DtVortexMovementActuator() [1/2]

DtVortexMovementActuator::DtVortexMovementActuator	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0 )

Constructor.

Initializes the actuator with the specified parameters.

Parameters

name	Component name
owner	Owner local object
simManager	Simulation services
desc	Component descriptor
parentRegistry	Parent reader/writer registry

Referenced by DtVortexMovementActuator(), and operator=().

◆ ~DtVortexMovementActuator()

virtual DtVortexMovementActuator::~DtVortexMovementActuator ( )

overridevirtual

Destructor.

◆ DtVortexMovementActuator() [2/2]

DtVortexMovementActuator::DtVortexMovementActuator ( const DtVortexMovementActuator & orig )

delete

References DtVortexMovementActuator().

Member Function Documentation

◆ operator=()

DtVortexMovementActuator & DtVortexMovementActuator::operator= ( const DtVortexMovementActuator & orig )

delete

Assignment operator and copy constructor not implemented.

References DtVortexMovementActuator().

◆ init()

virtual bool DtVortexMovementActuator::init ( )

overridevirtual

Initializes the actuator.

Registers set callbacks and queues the loading of the physics mechanism.

Returns: True on success, false otherwise

◆ tick()

virtual void DtVortexMovementActuator::tick ( )

overridevirtual

Updates the actuator each simulation frame.

Manages the state of the Vortex mechanism, updates input/output ports, and synchronizes between VR-Forces and Vortex.

◆ type()

virtual const char * DtVortexMovementActuator::type ( ) const

overridevirtual

Gets the type of this actuator.

Returns: DtVortexMovementActuatorType

◆ createPorts()

virtual bool DtVortexMovementActuator::createPorts ( )

overridevirtual

Creates the ports required for actuator operation.

Creates the ports from the VHL Interface.

Returns: True on success, false otherwise

◆ createPortGroups()

virtual bool DtVortexMovementActuator::createPortGroups ( )

overridevirtual

Creates the port groups for the actuator.

Creates the input and output port groups from the VHL Interface.

Returns: True on success, false otherwise

◆ creator()

static DtSimComponent * DtVortexMovementActuator::creator	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0 )

static

Factory method for creating instances of this actuator.

Parameters

name	Component name
owner	Owner local object
simManager	Simulation services
desc	Component descriptor
parentRegistry	Parent reader/writer registry

Returns: New instance of this class

◆ preFirstTickInit()

virtual void DtVortexMovementActuator::preFirstTickInit ( )

overridevirtual

Initializes the actuator before the first simulation tick.

Calls initializeMovementChooserName() and dropAboveTerrain() to initially place the vehicle on the terrain. Also passes any specified Vortex parameters from the system definition file.

◆ getParts()

virtual const std::vector< DtVortexBasePart * > & DtVortexMovementActuator::getParts ( ) const

virtual

Gets the list of all Vortex parts in this actuator.

Returns: Vector of pointers to Vortex parts

◆ isInVortexWorld()

virtual bool DtVortexMovementActuator::isInVortexWorld ( ) const

virtual

Checks if high-fidelity Vortex physics should be active.

Vortex should be active if the player is driving the vehicle OR if the vehicle is stationary and high-fidelity collision physics are enabled for this vehicle.

Returns: True if Vortex physics should be active, false otherwise

◆ isVortexPlayerControlled()

virtual bool DtVortexMovementActuator::isVortexPlayerControlled ( ) const

virtual

Checks if the entity is player controlled.

Returns: True if the entity is player controlled, false otherwise

◆ isBeingTowed()

virtual bool DtVortexMovementActuator::isBeingTowed ( ) const

virtual

Checks if the entity is being towed by another Vortex entity.

Returns: True if the entity is being towed, false otherwise

◆ dropAboveTerrain()

virtual void DtVortexMovementActuator::dropAboveTerrain	(	const DtVector &	newLocalPosition,
		double	heading )

virtual

Drops the vehicle above the terrain at a specified position.

Calculates the terrain height at the new location and positions the vehicle at the appropriate height above the terrain. The additional height above terrain is determined by the descriptor's additionalDropHeight() value (default: 0.5 meters).

This method checks all bounding points of the vehicle mechanism to ensure no part of the vehicle is placed below the terrain surface. The vehicle is positioned such that its lowest point is at the terrain height plus the additional drop height.

Parameters

newLocalPosition	Where to drop the vehicle (in local coordinates)
heading	The heading to set the vehicle at (in radians)

Note: The additional height value is now configured via DtVortexMovementActuatorDescriptor::setAdditionalDropHeight()

See also: DtVortexMovementActuatorDescriptor::additionalDropHeight()

◆ getNextFrameVortexTransform()

VxMath::Matrix44 DtVortexMovementActuator::getNextFrameVortexTransform ( ) const

Gets the next frame's location and orientation as a VxMatrix.

Returns: Matrix containing orientation and position in NWU coordinates

◆ getMechanism()

VxSim::VxSmartInterface< VxDynamics::Mechanism > DtVortexMovementActuator::getMechanism ( )

Gets the current mechanism associated with the actuator.

Returns: Smart interface to the current mechanism

◆ getNextFrameVortexPosition()

Vx::VxVector3 DtVortexMovementActuator::getNextFrameVortexPosition ( ) const

Gets the next frame Vortex location from the entity.

Returns: Location vector in Vortex coordinates

◆ getNextFrameVortexOrientation()

Vx::VxEulerAngles DtVortexMovementActuator::getNextFrameVortexOrientation ( ) const

Gets the next frame Vortex orientation from the entity.

Returns: Euler angles in Vortex coordinates

◆ disableVehicleDynamics()

void DtVortexMovementActuator::disableVehicleDynamics ( )

Disables the vehicle dynamics.

Sets the parts to static and disables vehicle dynamics.

◆ enableVehicleDynamics()

void DtVortexMovementActuator::enableVehicleDynamics ( )

Enables the vehicle dynamics.

Sets the parts to dynamic and enables vehicle dynamics.

◆ updateParametersFromModel()

void DtVortexMovementActuator::updateParametersFromModel ( )

protected

Updates Vortex model parameters with data from VR-Forces.

Updates vehicle mass and wheel articulated part positions from VR-Forces entity parameters. Called by loadMechanism.

◆ loadMechanism()

void DtVortexMovementActuator::loadMechanism ( )

protected

Loads the Vortex mechanism.

Performs the main loading of the mechanism. Called by the Listener in Vortex at a safe time.

◆ terrainChangeNotification()

static void DtVortexMovementActuator::terrainChangeNotification	(	const DtTerrainChangeNotificationInfo &	terrainChangeInfo,
		void *	usr )

staticprotected

Static callback for terrain change notifications.

Parameters

terrainChangeInfo	Information about the terrain change
usr	Pointer to this actuator

◆ processTerrainChangeNotification()

void DtVortexMovementActuator::processTerrainChangeNotification ( const DtTerrainChangeNotificationInfo & terrainChangeInfo )

protected

Processes terrain change notifications.

Checks if the entity is within the spatial extents of the terrain change notification and sets the terrain change flag if needed.

Parameters

terrainChangeInfo Information about the terrain change

◆ setVortexWhileUntaskedCallback()

static void DtVortexMovementActuator::setVortexWhileUntaskedCallback	(	DtSimMessage *	msg,
		void *	usrData )

staticprotected

Callback for scripted set data request message.

Calls processUseHiFiCollisionsInStationaryCgfState() to process the message.

Parameters

msg	The message to process
usrData	User data

◆ findPart()

DtVortexBasePart * DtVortexMovementActuator::findPart ( int partId ) const

protected

Gets the Vortex part associated with an articulated part ID.

Parameters

partId The part ID of the Vortex part to look for

Returns: Pointer to the base part, or nullptr if not found

◆ isVortexMechanismValid()

virtual bool DtVortexMovementActuator::isVortexMechanismValid ( ) const

protectedvirtual

Checks if the Vortex mechanism is valid.

Valid means the following conditions are all true:

myMechanism.getExtension() != nullptr
myMechanism.getInterface() != nullptr
myMechanism.getObject() != nullptr
myMechanism.valid()

Returns: True if the mechanism is valid, false otherwise

◆ getLowestBoundingPointsOfMechanism()

virtual void DtVortexMovementActuator::getLowestBoundingPointsOfMechanism ( std::vector< DtVector > & outputPoints )

protectedvirtual

Gets the lowest bounding points of the current mechanism.

The values are returned in NWU (Vortex Coordinate System).

Parameters

outputPoints Vector to store the lowest bounding points in current world space

◆ processSetVortexWhileUntasked()

virtual void DtVortexMovementActuator::processSetVortexWhileUntasked ( DtSimMessage * msg )

protectedvirtual

Processes a set data request to enable/disable high-fidelity physics.

Sets the value for useHiFiCollisionInStationaryCgfState in the process state repository from the incoming scripted set data request message.

Parameters

msg	The message to process

◆ createPSR()

virtual bool DtVortexMovementActuator::createPSR ( )

protectedvirtual

Creates a process state repository for this component.

Creates a DtVortexMovementPSR for holding state associated with this component, specifically the useHiFiCollisionInStationaryCgfState flag.

Returns: True on success, false otherwise

◆ isHighFidelityCGF()

virtual bool DtVortexMovementActuator::isHighFidelityCGF ( ) const

protectedvirtual

Checks if the entity is currently a high-fidelity CGF.

Returns true if entity is currently executing a high-fidelity Vortex model, false otherwise. Checks if the movement-chooser controller is actively tasked.

Returns: True if high-fidelity, false otherwise

◆ isPlayerControlledAs()

virtual bool DtVortexMovementActuator::isPlayerControlledAs ( std::string role ) const

protectedvirtual

Checks if the entity is player controlled in a specific role.

Note that there may be multiple roles associated with a vehicle, so responsibilities for controlling the vehicle may be split across multiple role players, and/or shared with CGF control.

Parameters

role	The role to check (e.g., "Driver")

Returns: True if player controlled in the specified role, false otherwise

◆ realizeVortexState()

virtual void DtVortexMovementActuator::realizeVortexState ( )

protectedvirtual

Updates the Vortex state based on current conditions.

Adds or removes the Vortex mechanism from the Vortex scene and registers or unregisters this entity as a Vortex entity in the Collision Proxy Generator, as appropriate for the current Vortex Active state.

◆ isTerrainAvailable()

virtual bool DtVortexMovementActuator::isTerrainAvailable ( ) const

protectedvirtual

Checks if terrain is available below the vehicle.

Returns: True if terrain is available below the center of the vehicle, false otherwise

◆ detectTerrainFallthrough()

virtual void DtVortexMovementActuator::detectTerrainFallthrough ( )

protectedvirtual

Detects and logs terrain fall-through conditions.

Checks if the vehicle has fallen through the terrain when terrain data is not available. Logs diagnostic information to help identify terrain loading issues. Called when terrain is unavailable during Vortex simulation.

◆ setVortexMechanismLocation()

virtual void DtVortexMovementActuator::setVortexMechanismLocation	(	const Vx::VxVector3 &	nwuLocation,
		double	heading )

protectedvirtual

Sets the Vortex mechanism's location and orientation.

Sets the Vortex mechanism's transform using the location and heading and resets wheel parts to be attached to the mechanism.

Parameters

nwuLocation	The location in NWU coordinates
heading	The heading in radians

◆ getVortexLocation()

Vx::VxVector3 DtVortexMovementActuator::getVortexLocation ( const DtVector & inputCoords ) const

protected

Converts local coordinates to Vortex coordinates.

Parameters

inputCoords The coordinates in local database coordinates

Returns: The corresponding coordinates in NWU (Vortex) coordinates

◆ sendVehicleDynamicsUpdate()

virtual void DtVortexMovementActuator::sendVehicleDynamicsUpdate ( bool enable )

protectedvirtual

Sends a vehicle dynamics update event.

Internal function that sends the vehicle dynamics update event to Vortex.

Parameters

enable True to enable dynamics, false to disable

◆ sendVehiclePartsUpdate()

virtual void DtVortexMovementActuator::sendVehiclePartsUpdate ( Vx::VxPart::EntityControlTypeEnum control )

protectedvirtual

Updates the control state of all vehicle parts.

Sets the control type of all parts to disable or enable collisions and simulation.

Parameters

control The control type (Static or Dynamic)

◆ addSetCallbacks()

virtual void DtVortexMovementActuator::addSetCallbacks ( )

protectedvirtual

Adds set callbacks for location and heading.

◆ removeSetCallbacks()

virtual void DtVortexMovementActuator::removeSetCallbacks ( )

protectedvirtual

Removes set callbacks for location and heading.

◆ setHeadingCallback()

static void DtVortexMovementActuator::setHeadingCallback	(	DtReal	heading,
		void *	usrData )

staticprotected

Callback for heading changes.

Parameters

heading	The new heading
usrData	User data

◆ setLocationCallback()

static void DtVortexMovementActuator::setLocationCallback	(	const DtVector &	location,
		void *	usrData )

staticprotected

Callback for location changes.

Parameters

location	The new location
usrData	User data

◆ handleSetLocation()

virtual void DtVortexMovementActuator::handleSetLocation ( const DtVector & location )

protectedvirtual

Handles a location change request.

Parameters

location The new location

◆ handleSetHeading()

virtual void DtVortexMovementActuator::handleSetHeading ( DtReal heading )

protectedvirtual

Handles a heading change request.

Parameters

heading The new heading

◆ resetWheelParts()

virtual void DtVortexMovementActuator::resetWheelParts ( )

protectedvirtual

Resets wheel parts to their default positions.

Resets all wheel parts to zero position on the network.

◆ manageWheelPartStateTransitions()

virtual void DtVortexMovementActuator::manageWheelPartStateTransitions ( bool inVortexWorld )

protectedvirtual

Manages wheel part state transitions when entering or exiting Vortex world.

Handles the logic for resetting or restoring wheel parts based on whether the vehicle is in the Vortex physics simulation. When exiting Vortex, resets wheel parts to prevent network updates that interfere with VRV automatic wheel control. When entering Vortex, restores the original wheel part collection.

Parameters

inVortexWorld True if the vehicle is currently in the Vortex physics world

◆ updateState()

virtual void DtVortexMovementActuator::updateState ( )

protectedvirtual

Updates state properties.

◆ restoreWheels()

virtual void DtVortexMovementActuator::restoreWheels ( )

protectedvirtual

Restores wheel articulated parts.

Restores wheels in the articulated part collection.

◆ engageParkingBrakeOnDisengage()

virtual void DtVortexMovementActuator::engageParkingBrakeOnDisengage ( bool isDriver )

protectedvirtual

Automatically engages parking brake when disengaging from driver role.

Automatically engages the parking brake when a player disengages from the driver role if the brake is not already engaged. Simulates a two-tick button press (down then up) to activate the brake.

Parameters

isDriver True if currently controlled as driver, false otherwise

◆ updateFuel()

virtual void DtVortexMovementActuator::updateFuel ( )

protectedvirtual

Updates fuel level.

◆ updateDestroyedState()

virtual void DtVortexMovementActuator::updateDestroyedState ( )

protectedvirtual

◆ fuelLeft()

virtual double DtVortexMovementActuator::fuelLeft ( ) const

protectedvirtual

Gets the current fuel level.

Returns: The amount of fuel left

◆ useFuel()

virtual void DtVortexMovementActuator::useFuel ( double fuelUsed )

protectedvirtual

Consumes fuel.

Parameters

fuelUsed The amount of fuel to consume

◆ createPart()

DtVortexBasePart * DtVortexMovementActuator::createPart ( makVre::DtVortexSimArtPartDescriptor * desc )

protected

Creates a Vortex part from a descriptor.

Parameters

desc	The part descriptor

Returns: Pointer to the created part

◆ createVortexPartsFromDescriptor()

void DtVortexMovementActuator::createVortexPartsFromDescriptor ( )

protected

Creates all Vortex parts defined in the descriptor.

◆ setThresholdsFromDescriptor()

void DtVortexMovementActuator::setThresholdsFromDescriptor ( )

protected

Sets precision thresholds based on the descriptor.

◆ updateGroundInteractionPoint()

void DtVortexMovementActuator::updateGroundInteractionPoint	(	const DtDcm &	localOrientation,
		const DtVector &	localPosition,
		const DtAttachedTerrain &	terrain,
		bool &	dataAvailable ) const

protected

Updates the ground interaction point under the vehicle.

This is used by the DtGroundVehicleTrailingEffectController to determine the soil type under the vehicle.

Parameters

localOrientation	Orientation relative to terrain or parent entity
localPosition	Position relative to terrain or parent entity
terrain	The attached terrain (database or parent entity)
dataAvailable	Set to true if terrain data is available

◆ createVortexConfigurationsFromDescriptor()

void DtVortexMovementActuator::createVortexConfigurationsFromDescriptor ( )

protected

Creates Vortex configurations from the descriptor.

Creates a Vortex Configuration from the configuration section of the descriptor.

◆ createVortexInterfacesFromDescriptor()

void DtVortexMovementActuator::createVortexInterfacesFromDescriptor ( )

protected

Creates Vortex interfaces defined in the descriptor.

Also creates input/output ports and port groups.

◆ connectInterfacesToPorts()

void DtVortexMovementActuator::connectInterfacesToPorts ( )

protected

Connects interfaces to ports.

Connects all the values defined in VHL interfaces to Vortex.

◆ queueMechanismLoad()

void DtVortexMovementActuator::queueMechanismLoad ( )

protected

Queues the mechanism for loading.

Queues the mechanism to load in a thread-safe manner.

◆ updatePorts()

virtual void DtVortexMovementActuator::updatePorts ( )

protectedvirtual

Updates ports with data from Vortex interfaces.

◆ findPartFromPathRecursive()

VxSim::VxSmartInterface< VxDynamics::Part > DtVortexMovementActuator::findPartFromPathRecursive	(	const VxSim::VxWeakInterface< VxSim::IObject > &	objectToLookThroughWeak,
		const std::vector< std::string > &	pathToLookForPart,
		int	index )

protected

Recursively finds a part from a path.

Parameters

objectToLookThroughWeak	Object to search for the part
pathToLookForPart	Path defined in the system definition file
index	Current index in the path

Returns: Smart pointer to the part, or null if not found

◆ checkDistanceFromCoordinateOriginOverLimit()

virtual bool DtVortexMovementActuator::checkDistanceFromCoordinateOriginOverLimit	(	const DtVector &	position,
		double	distance )

protectedvirtual

Checks if the incoming position is further than distance.

Parameters

position	incoming position. Pass position in geocentric (DIS)
distance	distance

Returns: True if enuPosition is further than distance

Friends And Related Symbol Documentation

◆ DtVxSimulationFileManagerFacadeListener

friend class DtVxSimulationFileManagerFacadeListener

friend

References DtVxSimulationFileManagerFacadeListener.

Referenced by DtVxSimulationFileManagerFacadeListener.

Member Data Documentation

◆ myDescriptor

const DtVortexMovementActuatorDescriptor* DtVortexMovementActuator::myDescriptor

protected

◆ myGroundVehicleState

DtGroundVehicleStateRepository* DtVortexMovementActuator::myGroundVehicleState

protected

◆ myVehicleRepository

DtVortexStateRepository* DtVortexMovementActuator::myVehicleRepository

protected

◆ myPlatformLocalObjectFacade

DtPlatformLocalObjectFacade DtVortexMovementActuator::myPlatformLocalObjectFacade

protected

◆ myCollectionWithWheels

DtArticulatedPartCollection DtVortexMovementActuator::myCollectionWithWheels

protected

◆ myMechanism

VxSim::VxSmartInterface<VxDynamics::Mechanism> DtVortexMovementActuator::myMechanism

protected

◆ myMechAddon

VxSim::VxSmartInterface<DtMechAddon> DtVortexMovementActuator::myMechAddon

protected

◆ myVehicleExt

VxSim::VxExtension* DtVortexMovementActuator::myVehicleExt

protected

◆ myParts

std::vector<DtVortexBasePart*> DtVortexMovementActuator::myParts

protected

◆ myInterfaces

VortexInterfaceMap DtVortexMovementActuator::myInterfaces

protected

◆ mySimulationFileManagerFacade

std::shared_ptr<VxSim::VxSimulationFileManagerFacade> DtVortexMovementActuator::mySimulationFileManagerFacade

protected

◆ myListener

Vx::VxSmartPtr<DtVxSimulationFileManagerFacadeListener> DtVortexMovementActuator::myListener

protected

◆ myConfiguration

std::shared_ptr<makVre::DtVortexConfiguration> DtVortexMovementActuator::myConfiguration

protected

◆ myUpdateRepositoryOutputPortGroup

DtUpdateRepositoryOutputPortGroup* DtVortexMovementActuator::myUpdateRepositoryOutputPortGroup

protected

◆ myAimingModePort

DtStringOutputPort* DtVortexMovementActuator::myAimingModePort

protected

◆ myWasInVortexWorldLastTick

bool DtVortexMovementActuator::myWasInVortexWorldLastTick

protected

◆ myWasDriverLastTick

bool DtVortexMovementActuator::myWasDriverLastTick

protected

◆ myAutoParkButtonDown

bool DtVortexMovementActuator::myAutoParkButtonDown

protected

◆ myNeedsWheelPartRemoval

bool DtVortexMovementActuator::myNeedsWheelPartRemoval

protected

◆ myHaveVortexTurretInterface

bool DtVortexMovementActuator::myHaveVortexTurretInterface

protected

◆ myIsVortexDynamicsActive

bool DtVortexMovementActuator::myIsVortexDynamicsActive

protected

◆ mySpawnedFromSpawnPoint

bool DtVortexMovementActuator::mySpawnedFromSpawnPoint

protected

◆ myMechanismLoadStatus

MechanismLoadStatus DtVortexMovementActuator::myMechanismLoadStatus

protected

◆ myLoadObjectRequestId

VxSim::VxUuid DtVortexMovementActuator::myLoadObjectRequestId

protected

◆ myVortexPhysicalWorld

makVre::DtVortexPhysicalWorld* DtVortexMovementActuator::myVortexPhysicalWorld

protected

◆ myPositionThreshold

double DtVortexMovementActuator::myPositionThreshold

protected

◆ myOrientationThreshold

double DtVortexMovementActuator::myOrientationThreshold

protected

◆ myVelocityThreshold

double DtVortexMovementActuator::myVelocityThreshold

protected

◆ myAngularVelocityThreshold

double DtVortexMovementActuator::myAngularVelocityThreshold

protected

◆ myAccelerationThreshold

double DtVortexMovementActuator::myAccelerationThreshold

protected

◆ myPartPositionThreshold

double DtVortexMovementActuator::myPartPositionThreshold

protected

◆ myPartOrientationThreshold

double DtVortexMovementActuator::myPartOrientationThreshold

protected

◆ myPartLinearVelocityThreshold

double DtVortexMovementActuator::myPartLinearVelocityThreshold

protected

◆ myPartAngularVelocityThreshold

double DtVortexMovementActuator::myPartAngularVelocityThreshold

protected

◆ myDropTimer

double DtVortexMovementActuator::myDropTimer

protected

◆ myAllowVortexWhileDestroyed

bool DtVortexMovementActuator::myAllowVortexWhileDestroyed

protected

Controls whether Vortex physics simulation continues for destroyed entities.

When true, allows Vortex physics to remain active even when the entity is destroyed or mobility-killed. When false (default), Vortex control is disabled for destroyed or mobility-killed entities.

This flag is initialized from the descriptor's allowVortexWhileDestroyed setting during the actuator initialization phase.

Note: Default value is false.

See also: DtVortexMovementActuatorDescriptor::allowVortexWhileDestroyed()

◆ myDetectTerrainFallthrough

bool DtVortexMovementActuator::myDetectTerrainFallthrough

protected

Controls whether terrain fallthrough detection is enabled.

When true, the actuator monitors for terrain availability issues during Vortex simulation and logs diagnostic information when fallthrough conditions are detected. When false (default), fallthrough detection is disabled.

This flag is initialized from the descriptor's detectTerrainFallthrough setting during the actuator initialization phase.

Note: Default value is false.

See also: DtVortexMovementActuatorDescriptor::detectTerrainFallthrough()

◆ myPreviousPosition

DtVector DtVortexMovementActuator::myPreviousPosition

protected

◆ myPreviousOrientation

DtTaitBryan DtVortexMovementActuator::myPreviousOrientation

protected

◆ myMovementChooserControllerName

DtSymbolString DtVortexMovementActuator::myMovementChooserControllerName

protected

◆ myProcessState

makVre::DtVortexMovementPSR* DtVortexMovementActuator::myProcessState

protected

The documentation for this class was generated from the following file:

include/vrfExtensions/vreVrfVortex/vortexMovementActuator.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ VortexInterfaceMap

Member Enumeration Documentation

◆ MechanismLoadStatus

Constructor & Destructor Documentation

◆ DtVortexMovementActuator() [1/2]

◆ ~DtVortexMovementActuator()

◆ DtVortexMovementActuator() [2/2]

Member Function Documentation

◆ operator=()

◆ init()

◆ tick()

◆ type()

◆ createPorts()

◆ createPortGroups()

◆ creator()

◆ preFirstTickInit()

◆ getParts()

◆ isInVortexWorld()

◆ isVortexPlayerControlled()

◆ isBeingTowed()

◆ dropAboveTerrain()

◆ getNextFrameVortexTransform()

◆ getMechanism()

◆ getNextFrameVortexPosition()

◆ getNextFrameVortexOrientation()

◆ disableVehicleDynamics()

◆ enableVehicleDynamics()

◆ updateParametersFromModel()

◆ loadMechanism()

◆ terrainChangeNotification()

◆ processTerrainChangeNotification()

◆ setVortexWhileUntaskedCallback()

◆ findPart()

◆ isVortexMechanismValid()

◆ getLowestBoundingPointsOfMechanism()

◆ processSetVortexWhileUntasked()

◆ createPSR()

◆ isHighFidelityCGF()

◆ isPlayerControlledAs()

◆ realizeVortexState()

◆ isTerrainAvailable()

◆ detectTerrainFallthrough()

◆ setVortexMechanismLocation()

◆ getVortexLocation()

◆ sendVehicleDynamicsUpdate()

◆ sendVehiclePartsUpdate()

◆ addSetCallbacks()

◆ removeSetCallbacks()

◆ setHeadingCallback()

◆ setLocationCallback()

◆ handleSetLocation()

◆ handleSetHeading()

◆ resetWheelParts()

◆ manageWheelPartStateTransitions()

◆ updateState()

◆ restoreWheels()

◆ engageParkingBrakeOnDisengage()

◆ updateFuel()

◆ updateDestroyedState()

◆ fuelLeft()

◆ useFuel()

◆ createPart()

◆ createVortexPartsFromDescriptor()

◆ setThresholdsFromDescriptor()

◆ updateGroundInteractionPoint()

◆ createVortexConfigurationsFromDescriptor()

◆ createVortexInterfacesFromDescriptor()

◆ connectInterfacesToPorts()

◆ queueMechanismLoad()

◆ updatePorts()