vreRtd::DtVreRtdTerrainQueryHighFidelity Class Reference

Detailed Description

This class provides high-fidelity terrain and object intersection queries for the VREngage Real-Time Dynamics system. It detects collisions with terrain and simulation objects, and provides detailed information about hits including position, normal vectors, velocity, and surface properties like friction. This is used primarily for ground contact detection in flight models.

#include <vreRtdTerrainQueryHighFidelity.h>

Inheritance diagram for vreRtd::DtVreRtdTerrainQueryHighFidelity:

Public Member Functions
	RTD_BASE_COMMON (vreRtd, DtVreRtdTerrainQueryHighFidelity)
	DtVreRtdTerrainQueryHighFidelity (DtPhysicalWorld *pw, bool blocking)
virtual	~DtVreRtdTerrainQueryHighFidelity () override
virtual bool	query (QueryContext context, const void *contextData, const RTD::TerrainQueryUserData *userData, const smVec3d &start, const smVec3d &end, smVec3d &hitXYZ, smVec3d &hitNormal, smVec3d &hitVelocity, smReal &frictionFactor, bool &isLiquid, const RTD::EntityBase *&entity) override
Public Member Functions inherited from vreRtd::DtVreRtdTraitTerrainQuery
	DtVreRtdTraitTerrainQuery ()
virtual	~DtVreRtdTraitTerrainQuery ()
void	setCheckTerrain (bool status)

Protected Member Functions
bool	updateAndCheckPositionCache (DtVrfChordIntersectionRecord &isectRecord, DtUUID &vehicleUuid, const void *contextData, Coordinate_System *coordSys, DtPoint startPoint, DtPoint endPoint)
bool	terrainIntersect (DtVrfChordIntersectionRecord &isectRecord, DtPoint startPoint, DtPoint endPoint)
bool	simObjectIntersect (DtVrfChordIntersectionRecord &isectRecord, DtUUID &vehicleUuid, const void *contextData, DtPoint startPoint, DtPoint endPoint)
bool	calculateHit (DtVrfChordIntersectionRecord &isectRecord, Coordinate_System *coordSys, smVec3d &hitXYZ, smVec3d &hitNormal, smVec3d &hitVelocity)
bool	noTerrainDBIntersect (DtVrfChordIntersectionRecord &isectRecord, Coordinate_System *coordSys, DtVector startLocal, DtVector endLocal, smVec3d &hitXYZ, smVec3d &hitNormal, smVec3d &hitVelocity)

Protected Attributes
bool	myIsBlocking
Protected Attributes inherited from vreRtd::DtVreRtdTraitTerrainQuery
DtPhysicalWorld *	myPhysicalWorld
bool	myCheckTerrain

Constructor & Destructor Documentation

DtVreRtdTerrainQueryHighFidelity()

vreRtd::DtVreRtdTerrainQueryHighFidelity::DtVreRtdTerrainQueryHighFidelity	(	DtPhysicalWorld *	pw,
		bool	blocking )

Constructor.

Parameters

pw	Pointer to the physical world instance to query against
blocking	Whether terrain queries should block until completed

Initializes a new high-fidelity terrain query handler with the specified physical world and blocking behavior.

Referenced by RTD_BASE_COMMON().

~DtVreRtdTerrainQueryHighFidelity()

virtual vreRtd::DtVreRtdTerrainQueryHighFidelity::~DtVreRtdTerrainQueryHighFidelity ( )

overridevirtual

Destructor.

Cleans up resources used by the terrain query handler.

Member Function Documentation

RTD_BASE_COMMON()

vreRtd::DtVreRtdTerrainQueryHighFidelity::RTD_BASE_COMMON	(	vreRtd	,
		DtVreRtdTerrainQueryHighFidelity	)

Macro for common RTD type definitions.

References DtVreRtdTerrainQueryHighFidelity().

query()

virtual bool vreRtd::DtVreRtdTerrainQueryHighFidelity::query ( QueryContext context, const void * contextData, const RTD::TerrainQueryUserData * userData, const smVec3d & start, const smVec3d & end, smVec3d & hitXYZ, smVec3d & hitNormal, smVec3d & hitVelocity, smReal & frictionFactor, bool & isLiquid, const RTD::EntityBase *& entity )

overridevirtual

Performs a terrain query between two points.

Parameters

context	The query context (ground contact, sensor, etc.)
contextData	Additional context-specific data
userData	User-provided terrain query data
start	The start point of the query in world coordinates
end	The end point of the query in world coordinates
hitXYZ	Output parameter for the hit position
hitNormal	Output parameter for the surface normal at the hit position
hitVelocity	Output parameter for the velocity of the hit object (if moving)
frictionFactor	Output parameter for the surface friction factor
isLiquid	Output parameter indicating whether the hit surface is liquid
entity	Output parameter for the entity that was hit (if any)

Returns

True if an intersection was found, false otherwise

Performs a high-fidelity terrain query between the specified start and end points, checking for intersections with both terrain and simulation objects. If an intersection is found, the output parameters are populated with the hit details.

updateAndCheckPositionCache()

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::updateAndCheckPositionCache ( DtVrfChordIntersectionRecord & isectRecord, DtUUID & vehicleUuid, const void * contextData, Coordinate_System * coordSys, DtPoint startPoint, DtPoint endPoint )

protected

Updates and checks the position cache for queries.

Parameters

isectRecord	Intersection record to populate
vehicleUuid	UUID of the vehicle performing the query
contextData	Additional context-specific data
coordSys	Coordinate system for the query
startPoint	Start point of the query in world coordinates
endPoint	End point of the query in world coordinates

Returns

True if the cache was updated, false otherwise

Updates the internal position cache and checks if it contains valid data for the current query, which can be used to optimize repeated queries in similar locations.

terrainIntersect()

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::terrainIntersect ( DtVrfChordIntersectionRecord & isectRecord, DtPoint startPoint, DtPoint endPoint )

protected

Performs a terrain-only intersection test.

Parameters

isectRecord	Intersection record to populate
startPoint	Start point of the query in world coordinates
endPoint	End point of the query in world coordinates

Returns

True if a terrain intersection was found, false otherwise

Checks for intersections with the terrain database between the specified points.

simObjectIntersect()

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::simObjectIntersect ( DtVrfChordIntersectionRecord & isectRecord, DtUUID & vehicleUuid, const void * contextData, DtPoint startPoint, DtPoint endPoint )

protected

Performs a simulation object intersection test.

Parameters

isectRecord	Intersection record to populate
vehicleUuid	UUID of the vehicle performing the query
contextData	Additional context-specific data
startPoint	Start point of the query in world coordinates
endPoint	End point of the query in world coordinates

Returns

True if a simulation object intersection was found, false otherwise

Checks for intersections with simulation objects between the specified points.

calculateHit()

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::calculateHit ( DtVrfChordIntersectionRecord & isectRecord, Coordinate_System * coordSys, smVec3d & hitXYZ, smVec3d & hitNormal, smVec3d & hitVelocity )

protected

Calculates hit details from an intersection record.

Parameters

isectRecord	Intersection record containing raw intersection data
coordSys	Coordinate system for the query
hitXYZ	Output parameter for the hit position
hitNormal	Output parameter for the surface normal at the hit position
hitVelocity	Output parameter for the velocity of the hit object

Returns

True if hit details were successfully calculated, false otherwise

Processes an intersection record to extract detailed hit information.

noTerrainDBIntersect()

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::noTerrainDBIntersect ( DtVrfChordIntersectionRecord & isectRecord, Coordinate_System * coordSys, DtVector startLocal, DtVector endLocal, smVec3d & hitXYZ, smVec3d & hitNormal, smVec3d & hitVelocity )

protected

Handles the case where no terrain database is available.

Parameters

isectRecord	Intersection record to populate
coordSys	Coordinate system for the query
startLocal	Start point of the query in local coordinates
endLocal	End point of the query in local coordinates
hitXYZ	Output parameter for the hit position
hitNormal	Output parameter for the surface normal at the hit position
hitVelocity	Output parameter for the velocity of the hit object

Returns

True if a fallback intersection was calculated, false otherwise

Provides a fallback intersection calculation when no terrain database is available, typically returning a flat ground plane intersection if appropriate.

Member Data Documentation

myIsBlocking

bool vreRtd::DtVreRtdTerrainQueryHighFidelity::myIsBlocking

protected

Flag indicating whether terrain queries are blocking.

When true, terrain queries will block until completed. When false, they will return immediately, potentially with cached or approximate results.

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

• include/vrfExtensions/vreVrfRtd/vreRtdTerrainQueryHighFidelity.h