vreRtd Namespace Reference

Classes
class	DtVreRtdGlobal
class	DtVreRtdPrinterListener
class	DtVreRtdTerrainQueryHighFidelity
class	DtVreRtdTickCallback
class	DtVreRtdTraitJoyControllerExtension
class	DtVreRtdTraitTerrainQuery

Functions
bool RTD_VRF_BACKEND_PLUGIN_EXPORT	readConfigFile ()
void	setDeadreckoningThresholds (DtLocalObject *entity, double transThreshold, double rotationThreshold)
smVec3r	VRFOriToRTDHPR (const DtTaitBryan &ori)
DtTaitBryan	HprToVRFOri (const smVec3r &hpr)
smVec3r	VRFWorldOriToRTDWorldHPR (const DtTaitBryan &ori)
DtTaitBryan	RTDWorldHprToVRFWorldOri (const smVec3r &hpr)
smVec3r	VRFRotVelToRTDRotVelWCS (const DtTaitBryan &entityWorldOrientation, const DtVector &rotationalVelocity)
DtVector	RTDRotVelWCSToVRFRotVel (const DtTaitBryan &entityWorldOrientation, const smVec3r &rotationalVelocity)
DtTaitBryan	TopoToLocalWrtDatabase (DtPhysicalWorld *physicalWorld, const DtVector &localPosition, const DtTaitBryan &topographicOrientation)
DtVector	TopoToLocalWrtDatabase (DtPhysicalWorld *physicalWorld, const DtVector &localPosition, const DtVector &vec)
DtTaitBryan	LocalWrtDatabaseToTopo (DtPhysicalWorld *physicalWorld, const DtVector &localPosition, const DtTaitBryan &localOrientation)
smReal	compute2DDist (const smVec3r &pnt1, const DtVector &pnt2)
smVec3r	getHeadingAlignedSpeedVector (const smVec3r &hpr, smReal speed, bool xyOnly=false)
smVec3r	getHeadingAlignedSpeedVector (FixedWingLibCGF::AirplaneBot *bot, smReal speed, bool xyOnly=false)
DtVector	getVecMatchingDirection (DtPhysicalWorld *physicalWorld, DtVrfObjectStateRepository *sr, DtReal vecMagnitude)
void	applyAltitudeLimit (RTD::VehicleBase *vehicle, const smReal &maxAltitude)
void	applySpeedLimit (RTD::VehicleBase *vehicle, const smReal &maxSpeed)
void	applyWind (DtPhysicalWorld *physicalWorld, RTD::VehicleBase *vehicle)
void	applyWind (RTD::VehicleBase *vehicle, double vrfWindDir, double vrfWindSpeed)
bool	computeTerrainHeight (const DtSimulationServices *simMan, const DtVector &localPosition, double &result)
double	getTerrainHeight (const DtSimulationServices *simMan, const DtVector &localPosition)
double	getHAT (const DtSimulationServices *simMan, const DtGeodeticCoord &pos)

Function Documentation

readConfigFile()

bool RTD_VRF_BACKEND_PLUGIN_EXPORT vreRtd::readConfigFile

(

)

Reads the RTD configuration file.

Returns

True if the configuration file was successfully read, false otherwise

Reads and processes the configuration file for VREngage RTD components, loading parameters and settings that control the real-time dynamics behavior. This function should be called during application initialization before creating any RTD components.

setDeadreckoningThresholds()

void vreRtd::setDeadreckoningThresholds	(	DtLocalObject *	entity,
		double	transThreshold,
		double	rotationThreshold )

Utility functions for VREngage Real-Time Dynamics (RTD) components.

This namespace contains various utility functions for coordinate transformations, terrain queries, and other operations used by the VREngage RTD components.

Sets dead reckoning thresholds for an entity

Parameters

entity	The entity to set thresholds for
transThreshold	Translational threshold in meters
rotationThreshold	Rotational threshold in radians

Sets the translational and rotational thresholds used for dead reckoning calculations for the specified entity. These thresholds control when position updates are sent across the network.

VRFOriToRTDHPR()

smVec3r vreRtd::VRFOriToRTDHPR

(

const DtTaitBryan &

ori

)

Converts from a VRF/DtTaitBryan orientation to RTD/HPR.

Parameters

ori	The VRF orientation to convert

Returns

The equivalent RTD HPR orientation

Converts from a VRF/DtTaitBryan orientation to RTD/HPR orientation. DtTaitBryan orientation is expected to be a rotation in the coordinate system with x straight, y right, z down. HPR is expected to be a rotation in the coordinate system with y straight, x right, z up. A DtTaitBryan(0,0,0) is hpr(0,0,0). A DtTaitBryan(pi/2,0,0) is hpr(-90,0,0) for example.

HprToVRFOri()

DtTaitBryan vreRtd::HprToVRFOri

(

const smVec3r &

hpr

)

Converts from an RTD/HPR orientation to VRF/DtTaitBryan.

Parameters

hpr	The RTD HPR orientation to convert

Returns

The equivalent VRF/DtTaitBryan orientation

Inverse transform of VRFOriToRTDHPR, converting from RTD HPR to VRF orientation.

VRFWorldOriToRTDWorldHPR()

smVec3r vreRtd::VRFWorldOriToRTDWorldHPR

(

const DtTaitBryan &

ori

)

Converts airplane world orientation from VRF to RTD HPR.

Parameters

ori	The VRF world orientation to convert

Returns

The equivalent RTD world HPR orientation

Converts airplane world orientation from VRF to RTD HPR. Even if VRF world coordinate system and RTD world coordinate system are both WGS84, airplanes are differently oriented in their local coordinate systems:

• In RTD, airplanes point along y-axis with z-axis up
• In VRF, airplanes point along x-axis with z-axis down

An RTD airplane with zero rotation (in world coordinates) points to WGS84 y-axis with 'up' pointing along WGS84 z-axis. A VRF airplane with zero rotation (in world coordinates) points to WGS84 x-axis with 'up' pointing along WGS84 -z-axis (upside down).

RTDWorldHprToVRFWorldOri()

DtTaitBryan vreRtd::RTDWorldHprToVRFWorldOri

(

const smVec3r &

hpr

)

Converts airplane world orientation from RTD HPR to VRF.

Parameters

hpr	The RTD world HPR orientation to convert

Returns

The equivalent VRF world orientation

Inverse of VRFWorldOriToRTDWorldHPR, converting from RTD world HPR to VRF world orientation.

VRFRotVelToRTDRotVelWCS()

smVec3r vreRtd::VRFRotVelToRTDRotVelWCS	(	const DtTaitBryan &	entityWorldOrientation,
		const DtVector &	rotationalVelocity )

Converts rotational velocity from VRF to RTD world coordinate system.

Parameters

entityWorldOrientation	The entity's world orientation
rotationalVelocity	The rotational velocity in VRF coordinate system

Returns

The equivalent rotational velocity in RTD world coordinate system

Converts a rotational velocity vector from VRF to RTD world coordinate system.

RTDRotVelWCSToVRFRotVel()

DtVector vreRtd::RTDRotVelWCSToVRFRotVel	(	const DtTaitBryan &	entityWorldOrientation,
		const smVec3r &	rotationalVelocity )

Converts rotational velocity from RTD to VRF coordinate system.

Parameters

entityWorldOrientation	The entity's world orientation
rotationalVelocity	The rotational velocity in RTD world coordinate system

Returns

The equivalent rotational velocity in VRF coordinate system

Converts a rotational velocity vector from RTD world coordinate system to VRF.

TopoToLocalWrtDatabase() [1/2]

DtTaitBryan vreRtd::TopoToLocalWrtDatabase	(	DtPhysicalWorld *	physicalWorld,
		const DtVector &	localPosition,
		const DtTaitBryan &	topographicOrientation )

Converts topographic orientation to local orientation.

Parameters

physicalWorld	Pointer to the physical world
localPosition	The local position to convert at
topographicOrientation	The topographic orientation to convert

Returns

The equivalent local orientation with respect to the database

Converts a topographic orientation to a local orientation with respect to the database.

TopoToLocalWrtDatabase() [2/2]

DtVector vreRtd::TopoToLocalWrtDatabase	(	DtPhysicalWorld *	physicalWorld,
		const DtVector &	localPosition,
		const DtVector &	vec )

Converts topographic vector to local vector.

Parameters

physicalWorld	Pointer to the physical world
localPosition	The local position to convert at
vec	The topographic vector to convert

Returns

The equivalent local vector with respect to the database

Converts a topographic vector to a local vector with respect to the database.

LocalWrtDatabaseToTopo()

DtTaitBryan vreRtd::LocalWrtDatabaseToTopo	(	DtPhysicalWorld *	physicalWorld,
		const DtVector &	localPosition,
		const DtTaitBryan &	localOrientation )

Converts local orientation to topographic orientation.

Parameters

physicalWorld	Pointer to the physical world
localPosition	The local position to convert at
localOrientation	The local orientation to convert

Returns

The equivalent topographic orientation

Converts a local orientation with respect to the database to a topographic orientation.

compute2DDist()

smReal vreRtd::compute2DDist	(	const smVec3r &	pnt1,
		const DtVector &	pnt2 )

Computes the 2D distance between two points.

Parameters

pnt1	The first point
pnt2	The second point

Returns

The 2D distance between the two points

Computes the 2D distance between two points.

getHeadingAlignedSpeedVector() [1/2]

smVec3r vreRtd::getHeadingAlignedSpeedVector	(	const smVec3r &	hpr,
		smReal	speed,
		bool	xyOnly = false )

Gets the heading-aligned speed vector.

Parameters

hpr	The heading, pitch, and roll of the entity
speed	The speed of the entity
xyOnly	Whether to only consider the x and y components

Returns

The heading-aligned speed vector

Gets the heading-aligned speed vector for an entity.

getHeadingAlignedSpeedVector() [2/2]

smVec3r vreRtd::getHeadingAlignedSpeedVector	(	FixedWingLibCGF::AirplaneBot *	bot,
		smReal	speed,
		bool	xyOnly = false )

Gets the heading-aligned speed vector for an airplane.

Parameters

bot	The airplane entity
speed	The speed of the airplane
xyOnly	Whether to only consider the x and y components

Returns

The heading-aligned speed vector

Gets the heading-aligned speed vector for an airplane entity.

getVecMatchingDirection()

DtVector vreRtd::getVecMatchingDirection	(	DtPhysicalWorld *	physicalWorld,
		DtVrfObjectStateRepository *	sr,
		DtReal	vecMagnitude )

Gets a vector matching the direction of an entity.

Parameters

physicalWorld	Pointer to the physical world
sr	Pointer to the object state repository
vecMagnitude	The magnitude of the vector

Returns

The vector matching the direction of the entity

Gets a vector matching the direction of an entity.

applyAltitudeLimit()

void vreRtd::applyAltitudeLimit	(	RTD::VehicleBase *	vehicle,
		const smReal &	maxAltitude )

Applies an altitude limit to a vehicle.

Parameters

vehicle	The vehicle to apply the limit to
maxAltitude	The maximum altitude

Applies an altitude limit to a vehicle.

applySpeedLimit()

void vreRtd::applySpeedLimit	(	RTD::VehicleBase *	vehicle,
		const smReal &	maxSpeed )

Applies a speed limit to a vehicle.

Parameters

vehicle	The vehicle to apply the limit to
maxSpeed	The maximum speed

Applies a speed limit to a vehicle.

applyWind() [1/2]

void vreRtd::applyWind	(	DtPhysicalWorld *	physicalWorld,
		RTD::VehicleBase *	vehicle )

Applies wind to a vehicle.

Parameters

physicalWorld	Pointer to the physical world
vehicle	The vehicle to apply wind to

Applies wind to a vehicle.

applyWind() [2/2]

void vreRtd::applyWind	(	RTD::VehicleBase *	vehicle,
		double	vrfWindDir,
		double	vrfWindSpeed )

Applies wind to a vehicle.

Parameters

vehicle	The vehicle to apply wind to
vrfWindDir	The wind direction in VRF coordinates
vrfWindSpeed	The wind speed

Applies wind to a vehicle.

computeTerrainHeight()

bool vreRtd::computeTerrainHeight	(	const DtSimulationServices *	simMan,
		const DtVector &	localPosition,
		double &	result )

Computes the terrain height at a specified local position.

Parameters

simMan	Pointer to the simulation services
localPosition	Local position to query terrain height at
result	Reference where the computed terrain height will be stored

Returns

True if terrain height computation was successful, false otherwise

Uses the terrain provider to compute the height of terrain at the specified local position. Returns false if the terrain query fails or the position is outside the terrain bounds.

getTerrainHeight()

double vreRtd::getTerrainHeight	(	const DtSimulationServices *	simMan,
		const DtVector &	localPosition )

Gets the terrain height at a specified local position.

Parameters

simMan	Pointer to the simulation services
localPosition	Local position to query terrain height at

Returns

Terrain height in meters, or 0.0 if computation fails

Convenience function that calls computeTerrainHeight and returns the result directly. Returns 0.0 if the terrain height could not be determined.

getHAT()

double vreRtd::getHAT	(	const DtSimulationServices *	simMan,
		const DtGeodeticCoord &	pos )

Gets the height above terrain (HAT) for a geodetic position.

Parameters

simMan	Pointer to the simulation services
pos	Geodetic position to query HAT for

Returns

Height above terrain in meters

Calculates the height above terrain by converting the geodetic position to local coordinates, determining the terrain height at that location, and subtracting it from the position's altitude.