Detailed Description

This class provides the real-time dynamics integration for fixed-wing aircraft controlled through VREngage. It processes joystick inputs, handles control surface movement, and maintains proper kinematic state.

Note

Generally the VREngage actuator should not directly write the kinematic state to the state repository but use its output ports instead. This allows to use the Update Repository Actuator which in turn allows to mix the RTD VREngageActuator with the VRF Flight Kinematics Actuator. However, there are exceptions:

setRestore() and setLocation() (same if player takes control) use state repository methods like processSetRestore() and checkAndClampAircraftOnGround() which directly write the kinematic state to the state repository.

Reason:

VRF often calls DtVrfMovingObjectStateRepository::clampToGround() after a setLocation request. This method considers the current kinematic state of the state repository which has to be assigned beforehand.
The kinematic state is written to the state repository only at certain situations (setRestore, setLocation etc.) while the RTD actuator is active (see isPlayerControlled()). Hence, there should be no critical interference with other actuators.

#include <vreFwlActuator.h>

Inheritance diagram for FwlCgfVrf::DtVreFwlActuator:

[legend]

Public Member Functions
	DtVreFwlActuator (const DtString &name, DtLocalObject object, DtSimulationServices simManager, DtComponentDescriptor compDescriptor, DtReaderWriterRegistry parentRegistry)

virtual	~DtVreFwlActuator () override

virtual const char *	type () const override

virtual void	setRadio (DtSimRadio *radio) override

virtual void	tick () override

virtual bool	createPorts () override

virtual bool	createPortGroups () override

virtual void	updateControlSurfaces (bool resetToZero=false)

virtual void	processRadioMsg (DtSimMessage *msg)

virtual void	processSetRestore (DtSetRestoreRequest *req)

virtual void	processSetLocation (DtSetLocationRequest *req)

virtual void	processSetHeading (DtSetHeadingRequest *req)

DtFixedWingEntityStateRepository *	getStateRepository ()

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject object, DtSimulationServices simManager, DtComponentDescriptor compDescriptor, DtReaderWriterRegistry parentRegistry)

static void	radioMsgCallback (DtSimMessage msg, void usr)

Protected Member Functions
bool	isPlayerControlled ()

void	writeOutputData ()

void	enableStatePropThresholding (bool enable)

virtual void	setSpeed (DtReal speed)

virtual void	checkAndClampAircraftOnGround (const DtVector &localPosition)

virtual void	copyStateFromRTD ()

virtual void	copyStateFromRTD (DtVector &position, DtVector &velocity, DtVector &acceleration, DtTaitBryan &orientation, DtVector &rotVelocity)

virtual void	copyStateToRTD ()

const DtVreFwlParameters *	getFWParameters ()

	UNIMPLEMENTED_COPYCTOR_AND_ASSIGNMENT_OPERATOR (DtVreFwlActuator)

Protected Attributes
DtBooleanInputPort *	myJoystickEnabledPort

DtBooleanInputPort *	myLandingGearPort

DtIntegerInputPort *	myFlapSettingPort

DtAnalogInputPort *	myAirBrakePort

DtAnalogInputPort *	myWheelBrakePort

DtConstrainedDualAxisAnalogInputPort *	myStickPort

DtConstrainedAnalogInputPort *	myPedalPort

DtConstrainedAnalogInputPort *	myThrottlePort

DtBooleanOutputPort *	myLandingGearState

DtAnalogOutputPort *	myRudderPort

DtAnalogOutputPort *	myLeftAileronPort

DtAnalogOutputPort *	myRightAileronPort

DtAnalogOutputPort *	myLeftElevatorPort

DtAnalogOutputPort *	myRightElevatorPort

DtAnalogOutputPort *	myLeftFlapPort

DtAnalogOutputPort *	myRightFlapPort

DtOutputPortGroup *	myControlSurfacesGroup

FixedWingLibCGF::AirplaneDynamics *	myDynamics

bool	myPlayerControlled

DtReal	myLastSpeed

bool	myExtendedGearsLocked

Constructor & Destructor Documentation

◆ DtVreFwlActuator()

FwlCgfVrf::DtVreFwlActuator::DtVreFwlActuator	(	const DtString &	name,
		DtLocalObject *	object,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry )

Constructor.

Parameters

name	The name of the component
object	The local object this component belongs to
simManager	The simulation services manager
compDescriptor	Component descriptor containing configuration
parentRegistry	Parent registry for reader/writer functionality

Initializes a new fixed-wing actuator component for VREngage control.

Referenced by UNIMPLEMENTED_COPYCTOR_AND_ASSIGNMENT_OPERATOR().

◆ ~DtVreFwlActuator()

virtual FwlCgfVrf::DtVreFwlActuator::~DtVreFwlActuator ( )

overridevirtual

Virtual destructor.

Cleans up resources used by the actuator component.

Member Function Documentation

◆ type()

virtual const char * FwlCgfVrf::DtVreFwlActuator::type ( ) const

overridevirtual

Gets the component type.

Returns: The type string for this component

Returns TS_VREngageActuator as the component type identifier.

◆ setRadio()

virtual void FwlCgfVrf::DtVreFwlActuator::setRadio ( DtSimRadio * radio )

overridevirtual

Sets the radio interface for this component.

Parameters

radio The radio interface to use

Configures the radio interface used for communication with this component.

◆ tick()

virtual void FwlCgfVrf::DtVreFwlActuator::tick ( )

overridevirtual

Performs per-frame processing.

Called once per simulation frame to update the component state, process inputs, and generate outputs.

◆ createPorts()

virtual bool FwlCgfVrf::DtVreFwlActuator::createPorts ( )

overridevirtual

Creates component ports.

Returns: True if port creation was successful

Creates input and output ports for joystick control, landing gear, flaps, and other control surfaces.

◆ createPortGroups()

virtual bool FwlCgfVrf::DtVreFwlActuator::createPortGroups ( )

overridevirtual

Creates port groups.

Returns: True if port group creation was successful

Creates logical groupings of related ports such as control surfaces.

◆ updateControlSurfaces()

virtual void FwlCgfVrf::DtVreFwlActuator::updateControlSurfaces ( bool resetToZero = false )

virtual

Updates the control surface positions.

Parameters

resetToZero If true, resets all control surfaces to neutral positions

Updates the positions of all aircraft control surfaces based on current inputs or resets them to neutral positions if resetToZero is true.

◆ creator()

static DtSimComponent * FwlCgfVrf::DtVreFwlActuator::creator	(	const DtString &	name,
		DtLocalObject *	object,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry )

static

Component factory function.

Parameters

name	The name for the new component
object	The local object the component will belong to
simManager	The simulation services manager
compDescriptor	Component descriptor containing configuration
parentRegistry	Parent registry for reader/writer functionality

Returns: Pointer to the newly created component

Static factory function used for component creation through the component registry.

◆ radioMsgCallback()

static void FwlCgfVrf::DtVreFwlActuator::radioMsgCallback	(	DtSimMessage *	msg,
		void *	usr )

static

Static callback for radio messages.

Parameters

msg	The received message
usr	User data pointer (points to the actuator instance)

Static callback function invoked when a radio message is received. Routes the message to the appropriate instance.

◆ processRadioMsg()

virtual void FwlCgfVrf::DtVreFwlActuator::processRadioMsg ( DtSimMessage * msg )

virtual

Processes a radio message.

Parameters

msg	The message to process

Handles incoming radio messages directed to this component.

◆ processSetRestore()

virtual void FwlCgfVrf::DtVreFwlActuator::processSetRestore ( DtSetRestoreRequest * req )

virtual

Processes a restore request.

Parameters

req	The restore request to process

Restores the entity to a previously saved state. Note: This method directly writes to the state repository. See class notes.

◆ processSetLocation()

virtual void FwlCgfVrf::DtVreFwlActuator::processSetLocation ( DtSetLocationRequest * req )

virtual

Processes a location change request.

Parameters

req	The location request to process

Changes the entity's location. Note: This method directly writes to the state repository. See class notes.

◆ processSetHeading()

virtual void FwlCgfVrf::DtVreFwlActuator::processSetHeading ( DtSetHeadingRequest * req )

virtual

Processes a heading change request.

Parameters

req	The heading request to process

Changes the entity's heading.

◆ getStateRepository()

DtFixedWingEntityStateRepository * FwlCgfVrf::DtVreFwlActuator::getStateRepository ( )

Gets the state repository.

Returns: Pointer to the fixed-wing entity state repository

Returns the state repository used by this fixed-wing aircraft.

◆ isPlayerControlled()

bool FwlCgfVrf::DtVreFwlActuator::isPlayerControlled ( )

protected

Checks if the entity is currently player-controlled.

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

Determines whether the entity is currently under player control through VREngage or AI control.

◆ writeOutputData()

void FwlCgfVrf::DtVreFwlActuator::writeOutputData ( )

protected

Writes output data to ports.

Updates all output ports with current state data.

◆ enableStatePropThresholding()

void FwlCgfVrf::DtVreFwlActuator::enableStatePropThresholding ( bool enable )

protected

Enables or disables state propagation thresholding.

Parameters

enable True to enable thresholding, false to disable

Enables or disables thresholding for state propagation to reduce network traffic by only sending significant state changes.

◆ setSpeed()

virtual void FwlCgfVrf::DtVreFwlActuator::setSpeed ( DtReal speed )

protectedvirtual

Sets the aircraft speed.

Parameters

speed The new speed value to set

Sets the current speed of the aircraft.

◆ checkAndClampAircraftOnGround()

virtual void FwlCgfVrf::DtVreFwlActuator::checkAndClampAircraftOnGround ( const DtVector & localPosition )

protectedvirtual

Checks and adjusts the aircraft position to keep it on the ground.

Parameters

localPosition The current local position to check

Ensures the aircraft doesn't sink into or float above the ground when it should be in contact with the terrain.

◆ copyStateFromRTD() [1/2]

virtual void FwlCgfVrf::DtVreFwlActuator::copyStateFromRTD ( )

protectedvirtual

Copies state from RTD to the state repository.

Copies the current state from the real-time dynamics engine to the state repository to synchronize the simulation state.

◆ copyStateFromRTD() [2/2]

virtual void FwlCgfVrf::DtVreFwlActuator::copyStateFromRTD	(	DtVector &	position,
		DtVector &	velocity,
		DtVector &	acceleration,
		DtTaitBryan &	orientation,
		DtVector &	rotVelocity )

protectedvirtual

Copies state from RTD to provided parameters.

Parameters

position	Output parameter for position
velocity	Output parameter for velocity
acceleration	Output parameter for acceleration
orientation	Output parameter for orientation
rotVelocity	Output parameter for rotational velocity

Copies the current state from the real-time dynamics engine to the provided output parameters.

◆ copyStateToRTD()

virtual void FwlCgfVrf::DtVreFwlActuator::copyStateToRTD ( )

protectedvirtual

Copies state from the state repository to RTD.

Copies the current state from the state repository to the real-time dynamics engine to synchronize the simulation state.

◆ getFWParameters()

const DtVreFwlParameters * FwlCgfVrf::DtVreFwlActuator::getFWParameters ( )

protected

Gets the fixed-wing parameters.

Returns: Pointer to the fixed-wing parameters

Returns the parameters used to configure this fixed-wing aircraft.

◆ UNIMPLEMENTED_COPYCTOR_AND_ASSIGNMENT_OPERATOR()

FwlCgfVrf::DtVreFwlActuator::UNIMPLEMENTED_COPYCTOR_AND_ASSIGNMENT_OPERATOR ( DtVreFwlActuator )

protected

References DtVreFwlActuator().

Member Data Documentation

◆ myJoystickEnabledPort

DtBooleanInputPort* FwlCgfVrf::DtVreFwlActuator::myJoystickEnabledPort

protected

Input port for joystick enabled state.

◆ myLandingGearPort

DtBooleanInputPort* FwlCgfVrf::DtVreFwlActuator::myLandingGearPort

protected

Input port for landing gear control.

◆ myFlapSettingPort

DtIntegerInputPort* FwlCgfVrf::DtVreFwlActuator::myFlapSettingPort

protected

Input port for flap setting.

◆ myAirBrakePort

DtAnalogInputPort* FwlCgfVrf::DtVreFwlActuator::myAirBrakePort

protected

Input port for air brake control.

◆ myWheelBrakePort

DtAnalogInputPort* FwlCgfVrf::DtVreFwlActuator::myWheelBrakePort

protected

Input port for wheel brake control.

◆ myStickPort

DtConstrainedDualAxisAnalogInputPort* FwlCgfVrf::DtVreFwlActuator::myStickPort

protected

Input port for control stick (pitch/roll)

◆ myPedalPort

DtConstrainedAnalogInputPort* FwlCgfVrf::DtVreFwlActuator::myPedalPort

protected

Input port for rudder pedals (yaw)

◆ myThrottlePort

DtConstrainedAnalogInputPort* FwlCgfVrf::DtVreFwlActuator::myThrottlePort

protected

Input port for throttle control.

◆ myLandingGearState

DtBooleanOutputPort* FwlCgfVrf::DtVreFwlActuator::myLandingGearState

protected

Output port for landing gear state.

◆ myRudderPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myRudderPort

protected

Output port for rudder position.

◆ myLeftAileronPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myLeftAileronPort

protected

Output port for left aileron position.

◆ myRightAileronPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myRightAileronPort

protected

Output port for right aileron position.

◆ myLeftElevatorPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myLeftElevatorPort

protected

Output port for left elevator position.

◆ myRightElevatorPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myRightElevatorPort

protected

Output port for right elevator position.

◆ myLeftFlapPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myLeftFlapPort

protected

Output port for left flap position.

◆ myRightFlapPort

DtAnalogOutputPort* FwlCgfVrf::DtVreFwlActuator::myRightFlapPort

protected

Output port for right flap position.

◆ myControlSurfacesGroup

DtOutputPortGroup* FwlCgfVrf::DtVreFwlActuator::myControlSurfacesGroup

protected

Output port group for all control surfaces.

◆ myDynamics

FixedWingLibCGF::AirplaneDynamics* FwlCgfVrf::DtVreFwlActuator::myDynamics

protected

Pointer to the real-time dynamics model.

◆ myPlayerControlled

bool FwlCgfVrf::DtVreFwlActuator::myPlayerControlled

protected

Flag indicating whether the entity is player-controlled.

◆ myLastSpeed

DtReal FwlCgfVrf::DtVreFwlActuator::myLastSpeed

protected

Last recorded speed value.

◆ myExtendedGearsLocked

bool FwlCgfVrf::DtVreFwlActuator::myExtendedGearsLocked

protected

Flag to keep landing gear extended when on ground.

Keep gears extended if vehicle is placed on ground even if isTouchingGround is (still) false. This is required to avoid that gears are retracted due to joystick input while vehicle is on ground. Lock is automatically released as soon as isTouchingGround becomes true.

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

include/vrfExtensions/vreVrfRtd/vreFwlActuator.h

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ DtVreFwlActuator()

◆ ~DtVreFwlActuator()

Member Function Documentation

◆ type()

◆ setRadio()

◆ tick()

◆ createPorts()

◆ createPortGroups()

◆ updateControlSurfaces()

◆ creator()

◆ radioMsgCallback()

◆ processRadioMsg()

◆ processSetRestore()

◆ processSetLocation()

◆ processSetHeading()

◆ getStateRepository()

◆ isPlayerControlled()

◆ writeOutputData()

◆ enableStatePropThresholding()

◆ setSpeed()

◆ checkAndClampAircraftOnGround()

◆ copyStateFromRTD() [1/2]

◆ copyStateFromRTD() [2/2]

◆ copyStateToRTD()

◆ getFWParameters()

◆ UNIMPLEMENTED_COPYCTOR_AND_ASSIGNMENT_OPERATOR()

Member Data Documentation

◆ myJoystickEnabledPort

◆ myLandingGearPort

◆ myFlapSettingPort

◆ myAirBrakePort

◆ myWheelBrakePort

◆ myStickPort

◆ myPedalPort

◆ myThrottlePort

◆ myLandingGearState

◆ myRudderPort

◆ myLeftAileronPort

◆ myRightAileronPort

◆ myLeftElevatorPort

◆ myRightElevatorPort

◆ myLeftFlapPort

◆ myRightFlapPort

◆ myControlSurfacesGroup

◆ myDynamics

◆ myPlayerControlled

◆ myLastSpeed

◆ myExtendedGearsLocked