vortexUtil.h

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/*******************************************************************************
** Copyright (c) 2024 MAK Technologies
** All rights reserved.
*******************************************************************************/
 
//! \file    vortexUtil.h
//! \brief   Utility functions for coordinate conversion and geometry operations with Vortex
//! \ingroup vreVrfVortex
 
#pragma once
 
#include <vreVrfVortex/export.h>
 
#include <VxMath/VxMath.h>
#include <geometry/point.h>
#include <matrix/vlVector.h>
#include <geometry/extent.h>
 
class DtLocalObject;
 
namespace makVre
{
//! \brief Converts a vector from Vortex (NWU) coordinates to flat earth coordinates
//!
//! \param input The input vector in Vortex coordinates
//! \param output The output vector in flat earth coordinates
void VREVRFVORTEX_DLL ConvertVortexToFlatEarth(const DtVector& input, DtVector& output);
 
//! \brief Converts a vector from Vortex (NWU) coordinates to DIS body coordinates (NED)
//!
//! \param input The input vector in Vortex coordinates
//! \param output The output vector in DIS body coordinates
void VREVRFVORTEX_DLL ConvertVortexToDISBody(const DtVector& input, DtVector& output);
 
//! \brief Converts a vector from flat earth coordinates to Vortex (NWU) coordinates
//!
//! \param input The input vector in flat earth coordinates
//! \param output The output vector in Vortex coordinates
void VREVRFVORTEX_DLL ConvertFlatEarthToVortex(const DtVector& input, DtVector& output);
 
//! \brief Converts a vector from DIS body coordinates (NED) to Vortex (NWU) coordinates
//!
//! \param input The input vector in DIS body coordinates
//! \param output The output vector in Vortex coordinates
void VREVRFVORTEX_DLL ConvertDISBodyToVortex(const DtVector& input, DtVector& output);
 
//! \brief Converts a Vortex Vector3 to a DtVector
//!
//! \param input The input Vortex Vector3
//! \param output The output DtVector
void VREVRFVORTEX_DLL ConvertVxVector3ToDtVector(const VxMath::Vector3& input, DtVector& output);
 
//! \brief Converts a DtVector to a Vortex Vector3
//!
//! \param input The input DtVector
//! \param output The output Vortex Vector3
void VREVRFVORTEX_DLL ConvertDtVectorToVxVector3(const DtVector& input, VxMath::Vector3& output);
 
//! \brief Checks if one bounding box fully includes another
//!
//! Does not check the Z dimension, only X and Y.
//!
//! \param bbOne The first bounding box
//! \param bbTwo The second bounding box to check if it's included
//! \return True if bbOne fully includes bbTwo in X and Y dimensions
bool VREVRFVORTEX_DLL doesBoundingBoxInclude(const VxMath::BoundingBox& bbOne, VxMath::BoundingBox& bbTwo);
 
//! \brief Checks if a bounding box contains a DtVector point
//!
//! \param bb The bounding box
//! \param vec The vector to check
//! \return True if the point is inside the bounding box
bool VREVRFVORTEX_DLL doesBoundingBoxContainPoint(const VxMath::BoundingBox& bb, const DtVector& vec);
 
//! \brief Checks if a bounding box contains a DtPoint
//!
//! \param bb The bounding box
//! \param vec The point to check
//! \return True if the point is inside the bounding box
bool VREVRFVORTEX_DLL doesBoundingBoxContainPoint(const VxMath::BoundingBox& bb, const DtPoint& vec);
 
//! \brief Checks if a bounding box contains a Vortex Vector3 point
//!
//! \param bb The bounding box
//! \param vec The vector to check
//! \return True if the point is inside the bounding box
bool VREVRFVORTEX_DLL doesBoundingBoxContainPoint(const VxMath::BoundingBox& bb, const VxMath::Vector3& vec);
 
//! \brief Checks if an extent contains a DtVector point
//!
//! \param ext The extent
//! \param vec The vector to check
//! \return True if the point is inside the extent
bool VREVRFVORTEX_DLL doesExtentContainPoint(const DtExtent& ext, const DtVector& vec);
 
//! \brief Checks if an extent contains a DtPoint
//!
//! \param ext The extent
//! \param vec The point to check
//! \return True if the point is inside the extent
bool VREVRFVORTEX_DLL doesExtentContainPoint(const DtExtent& ext, const DtPoint& vec);
 
//! \brief Checks if an extent contains a Vortex Vector3 point
//!
//! \param ext The extent
//! \param vec The vector to check
//! \return True if the point is inside the extent
bool VREVRFVORTEX_DLL doesExtentContainPoint(const DtExtent& ext, const VxMath::Vector3& vec);
 
//! \brief Creates a DtVector from a Vortex Vector3
//!
//! \param input The input Vortex Vector3
//! \return A new DtVector with the same values
DtVector getDtVector(const VxMath::Vector3& input);
 
//! \brief Creates a Vortex Vector3 from a DtVector
//!
//! \param input The input DtVector
//! \return A new Vortex Vector3 with the same values
VxMath::Vector3 getVxVector(const DtVector& input);
 
//! \brief Returns whether or not a local object is a valid vortex entity.
//! \param obj The Local object
//! \return True if the local object is vortex
bool isValidVortexLocalObject(DtLocalObject* obj);
}
 
//! \brief Coercion macros for efficient memory access without copying
//!
//! Since both VxVector and DtVector/DtPoint are simply 3 doubles in memory,
//! we can coerce one to be the other by doing pointer casting and dereferencing
//! which avoids making any copies.
 
//! \brief Converts a Vortex vector to a DtVector without copying memory
#define CoerceToDtVector(x) *((DtVector*)(&x[0]))
 
//! \brief Converts a DtVector to a Vx::VxReal3 without copying memory
#define CoerceToVxReal3(x) *((Vx::VxReal3*)(&x[0]))
 
//! \brief Converts a DtVector to a VxMath::Vector3 without copying memory
#define CoerceToVxVector(x) *((VxMath::Vector3*)(&x[0]))
 
//! \brief Formats a vector for printing with fixed precision
#define printVec(vec) std::fixed << std::setprecision(8) << "{" << vec[0] << ", " << vec[1] << ", " << vec[2] << "}"
 
//! \brief Formats a transform matrix for printing with fixed precision
#define printTransform(tm)                                                                                             \
   std::fixed << std::setprecision(8) << "[" << tm[0][0] << ", " << tm[0][1] << ", " << tm[0][2] << ", " << tm[0][3]   \
              << "]" << std::endl                                                                                      \
              << "[" << tm[1][0] << ", " << tm[1][1] << ", " << tm[1][2] << ", " << tm[1][3] << "]" << std::endl       \
              << "[" << tm[2][0] << ", " << tm[2][1] << ", " << tm[2][2] << ", " << tm[2][3] << "]" << std::endl       \
              << "[" << tm[3][0] << ", " << tm[3][1] << ", " << tm[3][2] << ", " << tm[3][3] << "]"
 
//! \brief Formats a matrix for printing with fixed precision
#define printMatrix(tm)                                                                                                \
   std::fixed << std::setprecision(8) << "[" << tm(0, 0) << ", " << tm(0, 1) << ", " << tm(0, 2) << ", " << tm(0, 3)   \
              << "]" << std::endl                                                                                      \
              << "[" << tm(1, 0) << ", " << tm(1, 1) << ", " << tm(1, 2) << ", " << tm(1, 3) << "]" << std::endl       \
              << "[" << tm(2, 0) << ", " << tm(2, 1) << ", " << tm(2, 2) << ", " << tm(2, 3) << "]" << std::endl       \
              << "[" << tm(3, 0) << ", " << tm(3, 1) << ", " << tm(3, 2) << ", " << tm(3, 3) << "]"
 
//! \brief Profiler macros for performance monitoring with color-coding
//! @{
 
//! \brief Defines a profiler zone with a specific color
#define PROFILER_ZONE_COLOR(color) ZoneNamedC(___tracy_scoped_zone, color, makVrf::DtProfiler::collectTracyStats());
 
//! \brief Defines a profiler section with text and color
#define PROFILER_SECTION_COLOR(text, color)                                                                            \
   {                                                                                                                   \
      ZoneNamedNC(___tracy_scoped_zone, text, color, makVrf::DtProfiler::collectTracyStats());
 
//! \brief Application profiling color (Dark Green)
#define APPLICATION_COLOR_PROFILE 0x006400
 
//! \brief Application profiling zone
#define PROFILE_VX_APPLICATION_ZONE PROFILER_ZONE_COLOR(APPLICATION_COLOR_PROFILE);
 
//! \brief Application profiling section with text
#define PROFILE_VX_APPLICATION_SECTION(text) PROFILER_SECTION_COLOR(text, APPLICATION_COLOR_PROFILE);
 
//! \brief End of application profiling section
#define PROFILE_VX_APPLICATION_SECTION_END DtPROFILE_SECTION_END
 
//! \brief Terrain profiling color (DodgerBlue3)
#define TERRAIN_COLOR_PROFILE tracy::Color::DodgerBlue3
 
//! \brief Terrain profiling zone
#define PROFILE_VX_TERRAIN_ZONE PROFILER_ZONE_COLOR(TERRAIN_COLOR_PROFILE);
 
//! \brief Terrain profiling section with text
#define PROFILE_VX_TERRAIN_SECTION(text) PROFILER_SECTION_COLOR(text, TERRAIN_COLOR_PROFILE);
 
//! \brief End of terrain profiling section
#define PROFILE_VX_TERRAIN_SECTION_END DtPROFILE_SECTION_END
 
//! \brief Dynamic terrain profiling color (LightSalmon4)
#define DYNAMIC_TERRAIN_COLOR_PROFILE tracy::Color::LightSalmon4
 
//! \brief Dynamic terrain profiling zone
#define PROFILE_VX_DYNAMIC_TERRAIN_ZONE PROFILER_ZONE_COLOR(DYNAMIC_TERRAIN_COLOR_PROFILE);
 
//! \brief Dynamic terrain profiling section with text
#define PROFILE_VX_DYNAMIC_TERRAIN_SECTION(text) PROFILER_SECTION_COLOR(text, DYNAMIC_TERRAIN_COLOR_PROFILE);
 
//! \brief End of dynamic terrain profiling section
#define PROFILE_VX_DYNAMIC_TERRAIN_SECTION_END DtPROFILE_SECTION_END
 
//! \brief Actuator profiling color (DarkOliveGreen3)
#define ACTUATOR_COLOR_PROFILE tracy::Color::DarkOliveGreen3
 
//! \brief Actuator profiling zone
#define PROFILE_VX_ACTUATOR_ZONE PROFILER_ZONE_COLOR(ACTUATOR_COLOR_PROFILE);
 
//! \brief Actuator profiling section with text
#define PROFILE_VX_ACTUATOR_SECTION(text) PROFILER_SECTION_COLOR(text, ACTUATOR_COLOR_PROFILE);
 
//! \brief End of actuator profiling section
#define PROFILE_VX_ACTUATOR_SECTION_END DtPROFILE_SECTION_END
//! @}