vreRtdUtil.h File Reference

Include dependency graph for vreRtdUtil.h:

Go to the source code of this file.

Namespaces
namespace	vreRtd
namespace	RTD
namespace	FixedWingLibCGF
namespace	RotorLibCGF

Macros
#define	GEODETIC_TO_LOCAL(geo, local)
#define	LOCAL_TO_GEODETIC(local, geo)
#define	VRF_OBJECT_GET_NAME   objectName
#define	GET_EXT_ENTITY_NAME(entity)
#define	GET_EXT_VRF_OBJ_NAME(object)
#define	RTDHeadingToVrfHeading(hdgInDeg)
#define	VrfHeadingToRTDHeading(hdgInDeg)
#define	toDtVector(v)
#define	toSmVec3r(v)
#define	toSmVec2r(v)
#define	toSmVec3d(v)
#define	toSmVec2d(v)
#define	toRTDLLA(geodeticCoord)
#define	toRTDLL(geodeticCoord)
#define	toGeodetic(lla)
#define	RTD_CHECK_CONSWARN_RETURN(expression, complaint)
#define	RTD_CHECK_DTWARN_RETURN(expression, complaint)
#define	RTD_CHECK_CONSWARN_RETURN2(expression, complaint, retVal)
#define	RTD_CHECK_DTWARN_RETURN2(expression, complaint, retVal)

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

Detailed Description

This file provides common utility functions and macros for coordinate transformations, terrain queries, and other operations used by the VREngage Real-Time Dynamics (RTD) components. It includes conversions between VRF (Virtual Reality Forces) and RTD coordinate systems, orientation transformations, terrain height calculation, and vehicle property modifiers such as wind, speed limits, and altitude limits.

Macro Definition Documentation

GEODETIC_TO_LOCAL

#define GEODETIC_TO_LOCAL	(		geo,
			local )

Value:

simulationServices()->physicalWorld()->geodeticToDatabase((geo), (local))

Macro to convert geodetic coordinates to local database coordinates.

Parameters

geo	The geodetic coordinates to convert
local	The resulting local database coordinates

Converts geodetic coordinates (latitude, longitude, altitude) to local database coordinates using the simulation's physical world.

LOCAL_TO_GEODETIC

#define LOCAL_TO_GEODETIC	(		local,
			geo )

Value:

simulationServices()->physicalWorld()->databaseToGeodetic((local), (geo));

Macro to convert local database coordinates to geodetic coordinates.

Parameters

local	The local database coordinates to convert
geo	The resulting geodetic coordinates

Converts local database coordinates to geodetic coordinates (latitude, longitude, altitude) using the simulation's physical world.

VRF_OBJECT_GET_NAME

#define VRF_OBJECT_GET_NAME   objectName

Version-dependent macro for accessing object name properties.

This macro provides version compatibility between different VRF plugin versions. In version 4.4.0 and later, we use markingText, while in earlier versions we use objectName.

GET_EXT_ENTITY_NAME

#define GET_EXT_ENTITY_NAME

(

entity

)

Value:

("'" + (entity)->getMarkingText() + "'" + " (" + (entity)->getName() + ')')

Macro to get a formatted name for an external entity.

Parameters

entity

Pointer to the entity object

Returns

A string containing the marking text and name of the entity

Creates a formatted display name for an external entity that includes both the marking text (in single quotes) and the entity name (in parentheses).

GET_EXT_VRF_OBJ_NAME

#define GET_EXT_VRF_OBJ_NAME

(

object

)

Value:

   ("'" + (object)->markingText().stdString() + "'" + " (" + (object)->uuid().uuidString().stdString() + ')')

Macro to get a formatted name for a VRF object.

Parameters

object

Pointer to the VRF object

Returns

A string containing the marking text and UUID of the object

Creates a formatted display name for a VRF object that includes both the marking text (in single quotes) and the object's UUID (in parentheses).

RTDHeadingToVrfHeading

#define RTDHeadingToVrfHeading

(

hdgInDeg

)

Value:

(-hdgInDeg)

Macro to convert an RTD heading to a VRF heading.

Parameters

hdgInDeg

RTD heading in degrees

Returns

VRF heading in degrees

Converts a heading from RTD coordinate system to VRF coordinate system. In VRF, heading increases clockwise from north, while in RTD, heading increases counterclockwise from north.

VrfHeadingToRTDHeading

#define VrfHeadingToRTDHeading

(

hdgInDeg

)

Value:

(-hdgInDeg)

Macro to convert a VRF heading to an RTD heading.

Parameters

hdgInDeg

VRF heading in degrees

Returns

RTD heading in degrees

Converts a heading from VRF coordinate system to RTD coordinate system. In VRF, heading increases clockwise from north, while in RTD, heading increases counterclockwise from north.

toDtVector

#define toDtVector

(

v

)

Value:

DtVector((v)[0], (v)[1], (v)[2])

Macro to convert a vector to DtVector.

Parameters

v	Vector to convert

Returns

Equivalent DtVector

toSmVec3r

#define toSmVec3r

(

v

)

Value:

smVec3r((v)[0], (v)[1], (v)[2])

Macro to convert a vector to smVec3r (single precision 3D vector)

Parameters

v	Vector to convert

Returns

Equivalent smVec3r

toSmVec2r

#define toSmVec2r

(

v

)

Value:

smVec2r((v)[0], (v)[1])

Macro to convert a vector to smVec2r (single precision 2D vector)

Parameters

v	Vector to convert

Returns

Equivalent smVec2r

toSmVec3d

#define toSmVec3d

(

v

)

Value:

smVec3d((v)[0], (v)[1], (v)[2])

Macro to convert a vector to smVec3d (double precision 3D vector)

Parameters

v	Vector to convert

Returns

Equivalent smVec3d

toSmVec2d

#define toSmVec2d

(

v

)

Value:

smVec2d((v)[0], (v)[1])

Macro to convert a vector to smVec2d (double precision 2D vector)

Parameters

v	Vector to convert

Returns

Equivalent smVec2d

toRTDLLA

#define toRTDLLA

(

geodeticCoord

)

Value:

   smVec3r(smMath::radToDeg(geodeticCoord[0]), smMath::radToDeg(geodeticCoord[1]), geodeticCoord[2])

Macro to convert a geodetic coordinate to RTD LLA (Latitude, Longitude, Altitude)

Parameters

geodeticCoord

Geodetic coordinate in radians with altitude in meters

Returns

RTD LLA with latitude and longitude in degrees, altitude in meters

toRTDLL

#define toRTDLL

(

geodeticCoord

)

Value:

smVec2r(smMath::radToDeg(geodeticCoord[0]), smMath::radToDeg(geodeticCoord[1]))

Macro to convert a geodetic coordinate to RTD LL (Latitude, Longitude)

Parameters

geodeticCoord

Geodetic coordinate in radians

Returns

RTD LL with latitude and longitude in degrees

toGeodetic

#define toGeodetic

(

lla

)

Value:

DtGeodeticCoord(smMath::degToRad(lla[0]), smMath::degToRad(lla[1]), lla[2])

Macro to convert an RTD LLA to geodetic coordinate.

Parameters

lla	RTD LLA with latitude and longitude in degrees, altitude in meters

Returns

Geodetic coordinate in radians with altitude in meters

RTD_CHECK_CONSWARN_RETURN

#define RTD_CHECK_CONSWARN_RETURN	(		expression,
			complaint )

Value:

   if (!(expression))                                                                                                  \
   {                                                                                                                   \
      objectConsoleWarn() << (complaint) << std::endl;                                                                 \
      return;                                                                                                          \
   }

Macro to check an expression and return if false, logging a console warning.

Parameters

expression	The expression to check
complaint	The message to log if the expression is false

Evaluates the given expression and, if false, logs a warning to the object console and returns from the current function (with no return value).

RTD_CHECK_DTWARN_RETURN

#define RTD_CHECK_DTWARN_RETURN	(		expression,
			complaint )

Value:

   if (!(expression))                                                                                                  \
   {                                                                                                                   \
      DtWarn(complaint "\n");                                                                                          \
      return;                                                                                                          \
   }

Macro to check an expression and return if false, logging a DtWarn.

Parameters

expression	The expression to check
complaint	The message to log if the expression is false

Evaluates the given expression and, if false, logs a warning using DtWarn and returns from the current function (with no return value).

RTD_CHECK_CONSWARN_RETURN2

#define RTD_CHECK_CONSWARN_RETURN2	(		expression,
			complaint,
			retVal )

Value:

   if (!(expression))                                                                                                  \
   {                                                                                                                   \
      objectConsoleWarn() << (complaint) << std::endl;                                                                 \
      return retVal;                                                                                                   \
   }

Macro to check an expression and return a value if false, logging a console warning.

Parameters

expression	The expression to check
complaint	The message to log if the expression is false
retVal	The value to return if the expression is false

Evaluates the given expression and, if false, logs a warning to the object console and returns the specified value from the current function.

RTD_CHECK_DTWARN_RETURN2

#define RTD_CHECK_DTWARN_RETURN2	(		expression,
			complaint,
			retVal )

Value:

   if (!(expression))                                                                                                  \
   {                                                                                                                   \
      DtWarn(complaint "\n");                                                                                          \
      return retVal;                                                                                                   \
   }

Macro to check an expression and return a value if false, logging a DtWarn.

Parameters

expression	The expression to check
complaint	The message to log if the expression is false
retVal	The value to return if the expression is false

Evaluates the given expression and, if false, logs a warning using DtWarn and returns the specified value from the current function.

Function Documentation

RTDVRFConfigWarnsForExternalIncludes()

RTDVRFConfigWarnsForExternalIncludes

(

)