VR-Forces 4.1.1 Class Documentation
physicalWorld.h
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1 /*******************************************************************************
2 ** Copyright (c) 2009 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
10 
11 #pragma once
12 
13 #include <geometry/intersectionRecord.h>
14 #include <geometry/point.h>
15 #include <vlutil/vlConfig.h>
16 #include <vlutil/vlFilename.h>
17 #include <list>
18 #include <set>
19 #include <map>
20 #include "vrfobjcore/filteredObjList.h"
21 #include "vrfobjcore/fltrFcnPred.h"
22 #include "vrfobjcore/vrfLineOfSightFunctor.h"
23 #include "vrfutil/consoleCommandManager.h"
24 #include "features/obstacleFeature.h"
25 
26 class DtSimManager;
27 
28 class DtFilename;
29 class DtGeodeticCoord;
30 class Coordinate_System;
31 class DtTerrainInterface;
32 class DtVrfObjectManager;
33 class DtSpatialVrfObjectManagerInterface;
34 class DtEnvironmentalStateManager;
35 class DtExtent;
36 class DtChord;
37 class DtSurface;
38 
39 class DtVector;
40 class DtPoint;
41 
42 class DtVrfObjectPredicate;
43 
44 class DtVrfObject;
45 class DtDcm;
46 class DtChordIntersectionRecord;
47 class DtChordIntersectRecordList;
48 class DtSimMessage;
49 class DtPhysicalWorldParams;
50 class DtSensorSignatureManager;
51 class DtVrfLineOfSightCheckParams;
52 class DtRwNLengthStringVector;
53 
54 class DtExpireOlderThanCommand;
55 
82 #include "vrfobjcore/vrfobjcoreDefines.h"
83 class DT_DLL_vrfobjcore DtPhysicalWorld
84 {
85 public:
86 
88  DtPhysicalWorld(DtSimManager* simManager);
89 
91  virtual ~DtPhysicalWorld();
92 
93 private:
95  DtPhysicalWorld(const DtPhysicalWorld& orig);
96 
98  DtPhysicalWorld& operator=(const DtPhysicalWorld& orig);
99 
100 public:
101 
110  virtual bool initialize();
111 
120  virtual bool reinitialize();
121 
123  virtual bool reset();
124 
130  virtual bool loadParametersFromFile(const DtFilename& filename);
131 
137  virtual bool loadPhysicalWorldFile(const DtFilename& filename);
138 
140  virtual void processParameters();
141 
144  const DtFilename& physicalWorldFile() const;
145 
147  virtual bool parametersLoaded() const;
148 
168  virtual bool isValidState() const;
169 
175  virtual void tick();
176 
177 
181 
187 
188  virtual Coordinate_System* coordinateSystem();
189  virtual const Coordinate_System* coordinateSystem() const;
190 
192  virtual void geocentricToDatabase(const DtVector& in, DtVector& out) const;
193 
195  virtual void geocentricToDatabase(const DtDcm& in, DtDcm& out) const;
196 
198  virtual void geocentricToDatabase(const DtVector& vIn, const DtDcm& dIn,
199  DtVector& vOut, DtDcm& dOut) const;
200 
202  virtual void geocentricToDatabase(const DtExtent& in, DtExtent& out) const;
203 
205  virtual void databaseToGeocentric(const DtVector& in, DtVector& out) const;
206 
208  virtual void databaseToGeocentric(const DtDcm& in, DtDcm& out) const;
209 
211  virtual void databaseToGeocentric(const DtVector& vIn, const DtDcm& dIn,
212  DtVector& vOut, DtDcm& dOut) const;
213 
215  virtual void databaseToGeocentric(const DtExtent& in, DtExtent& out) const;
216 
218  virtual void databaseToGeodetic(const DtVector& databasePosition, DtGeodeticCoord& geodeticPosition) const;
221  virtual void databaseToGeodetic(const DtVector& databasePosition, DtVector& geodeticPosition) const;
223  virtual void databaseToGeodetic(const DtExtent& extent, DtExtent& destExtent) const;
224 
226  virtual void geodeticToDatabase(const DtExtent& extent, DtExtent& destExtent) const;
228  virtual void geodeticToDatabase(const DtGeodeticCoord& geodeticPosition,
229  DtVector& databasePosition) const;
232  virtual void geodeticToDatabase(const DtVector& geodeticPosition,
233  DtVector& databasePosition) const;
234 
237  virtual void topoToDatabase(const DtVector& databasePosition, DtDcm& topoToDatabase) const;
240  virtual void databaseToTopo(const DtVector& databasePosition, DtDcm& databaseToTopo) const;
241 
249  virtual DtVector down(const DtVector& databasePosition) const;
250 
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279 
280  virtual double terrainHeight(const DtPoint& databaseLocation,
281  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
282  virtual double terrainHeight(double lat, double lon, bool* dataAvailable = 0,
283  bool overrideBlockingAssert = false) const;
284  virtual double terrainHeight(const DtVector& databaseLocation,
285  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
287 
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309 
310  virtual bool terrainHeight(const DtPoint& databaseLocation, double& height,
311  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
312  virtual bool terrainHeight(double lat, double lon, double& height,
313  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
314  virtual bool terrainHeight(const DtVector& databaseLocation, double& height,
315  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
317 
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354 
355  virtual bool terrainHeightAndSurface(const DtPoint& databaseLocation,
356  double& height, DtSurface& surface, bool* dataAvailable = 0,
357  bool overrideBlockingAssert = false) const;
358  virtual bool terrainHeightAndSurface(double lat, double lon, double& height,
359  DtSurface& surface, bool* dataAvailable = 0,
360  bool overrideBlockingAssert = false) const;
361  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
362  double& height, DtSurface& surface, bool* dataAvailable = 0,
363  bool overrideBlockingAssert = false) const;
364  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
365  double& heightAtLocation, DtChordIntersectionRecord& intersectionRec,
366  DtIntersectionRecord::DtIntersectionType irtFlag =
367  DtIntersectionRecord::INT_ALL_DATA,
368  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
370 
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402  virtual bool terrainSurface(const DtPoint& databaseLocation,
403  DtSurface& surface, bool* dataAvailable = 0,
404  bool overrideBlockingAssert = false) const;
405  virtual bool terrainSurface(double lat, double lon, DtSurface& surface,
406  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
407  virtual bool terrainSurface(const DtVector& databaseLocation,
408  DtSurface& surface, bool* dataAvailable = 0,
409  bool overrideBlockingAssert = false) const;
410 
411  virtual DtSurface terrainSurface(const DtPoint& databaseLocation,
412  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
413  virtual DtSurface terrainSurface(double lat, double lon,
414  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
415  virtual DtSurface terrainSurface(const DtVector& databaseLocation,
416  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
418 
449  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
450  DtPoint& intersectionPoint, bool* dataAvailable = 0,
451  bool overrideBlockingAssert = false) const;
452 
455  virtual bool closestTerrainLocation(double lat, double lon,
456  DtPoint& intersectionPoint, bool* dataAvailable = 0,
457  bool overrideBlockingAssert = false) const;
458 
460  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
461  DtPoint& intersectionPoint, bool* dataAvailable = 0,
462  bool overrideBlockingAssert = false) const;
463 
466  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
467  DtChordIntersectionRecord& record,
468  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
469  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
470 
473  virtual bool closestTerrainLocation(double lat, double lon,
474  DtChordIntersectionRecord& record,
475  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
476  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
477 
479  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
480  DtChordIntersectionRecord& record,
481  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
482  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
483 
512  virtual bool closestTerrainLocation(const DtVector& curPosition,
513  DtVector& intersection, bool ignoreWater, bool* dataAvailable = 0,
514  bool overrideBlockingAssert = false) const;
515 
546  virtual bool intersect(const DtChord& chord, DtPoint& intersectionPoint,
547  double& intersectionTime, bool* dataAvailable = 0,
548  bool overrideBlockingAssert = false) const;
549 
578  virtual bool intersect(const DtChord& chord,
579  DtChordIntersectionRecord& record,
580  DtIntersectionRecord::DtIntersectionType irtFlag =
581  DtIntersectionRecord::INT_ALL_DATA,
582  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
583 
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594 
595  bool getVrfObjects(DtExtent& extent, std::set<DtVrfObject*>& objects);
596  bool getVrfObjects(DtExtent& extent, std::set<const DtVrfObject*>& objects) const;
597 
598 
599  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
600  std::set<DtVrfObject*>& objects);
601 
602  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
603  std::set<const DtVrfObject*>& objects) const;
604 
605  bool getVrfObjects(DtChord& chord, std::list<DtVrfObject*>& objects);
606  bool getVrfObjects(DtChord& chord, std::list<const DtVrfObject*>& objects) const;
607 
608  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
609  std::list<DtVrfObject*>& objects);
610  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
611  std::list<const DtVrfObject*>& objects) const;
613 
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624 
625  void visitVrfObjects(const DtExtent& extent, class DtSpatialSelectionFunctor& callback) const;
626  void visitVrfObjects(const DtChord& chord, class DtSpatialSelectionFunctor& callback) const;
628 
646  virtual void groundClamp(DtPoint& databaseCoord, float const offset = 0,
647  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
648 
666  virtual void groundClamp(DtVector& databaseCoord, float const offset = 0,
667  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
668 
673  virtual void getVrfObjectsAlongChord(const DtVector& databaseStart,
674  const DtVector& databaseEnd, std::list<const DtVrfObject*>& orderedList) const;
675 
683  virtual DtManagedObjectListConstPtr getSpatiallyManagedVrfObjectList();
684 
690  virtual bool initializeSpatialVrfObjectOrganization();
691 
703  virtual void calcSpatialMgrResolution(const DtManagedObjectListConstPtr& vrfObjList);
704 
711  virtual DtFilterFunctionPredicate getSpatialOrganizationPredicate();
712 
715  static bool spatialOrganizationObjectFilterFcn(const DtVrfObject* obj, void* usr);
716 
727  virtual bool processSpatialOrganizationObjectFilterFcn(const DtVrfObject* obj);
728 
730  static void querySpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
731  static void setSpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
732 
735  virtual void processQuerySpatialSubdivisionConfiguration(DtSimMessage* msg);
736  virtual void processSetSpatialSubdivisionConfiguration(DtSimMessage* msg);
737 
740  virtual bool useVrfObjectSpatialSub() const;
741  virtual void setUseVrfObjectSpatialSub(bool yesOrNo);
742 
743 
746  virtual bool isSpatialMgrResolutionUserSpecified() const;
747  virtual void setSpatialMgrResolutionUserSpecified(bool yesOrNo);
748 
751  virtual unsigned int vrfObjectSpatialSubXResolution() const;
752  virtual unsigned int vrfObjectSpatialSubYResolution() const;
753  virtual unsigned int vrfObjectSpatialSubZResolution() const;
755 
760  virtual void setVrfObjectSpatialSubXResolution(unsigned int newXResolution);
761  virtual void setVrfObjectSpatialSubYResolution(unsigned int newYResolution);
762  virtual void setVrfObjectSpatialSubZResolution(unsigned int newZResolution);
764 
766 
768  virtual DtTerrainInterface* terrainInterface();
770  virtual const DtTerrainInterface* terrainInterface() const;
771 
774  virtual void setTerrainInterface(DtTerrainInterface* newTerrainDatabase);
775 
776  virtual DtSimManager* simManager();
777  virtual const DtSimManager* simManager() const;
778  virtual void setSimManager(DtSimManager* newSimManager);
779 
780  virtual DtVrfObjectManager* objectManager();
781  virtual const DtVrfObjectManager* objectManager() const;
782  virtual void setVrfObjectManager(DtVrfObjectManager* newObjectMgr);
783 
784 
785  virtual DtEnvironmentalStateManager * environmentalStateManager();
786  virtual const DtEnvironmentalStateManager * environmentalStateManager() const;
787  virtual void setEnvironmentalStateManager(DtEnvironmentalStateManager * manager);
788 
789 
791 
792  virtual DtPhysicalWorldParams* parameters();
793  virtual const DtPhysicalWorldParams* parameters() const;
794 
795 
799 
800  virtual DtSensorSignatureManager* sensorSignatureManager();
801  virtual const DtSensorSignatureManager* sensorSignatureManager() const;
802 
803 
818  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
819  const DtVector& databaseViewingPoint, const DtVrfObject& targetObject,
820  bool* terrainDataAvailable = 0) const;
821 
835  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
836  const DtVector& databaseViewingPoint, const DtVector& databaseTargetPoint,
837  bool* terrainDataAvailable = 0) const;
838 
852  virtual bool checkLineOfSight(const DtVector& databaseViewingPoint,
853  const DtVrfObject& targetObject, bool* terrainDataAvailable = 0) const;
854 
865  virtual bool checkLineOfSightWithoutObjects(
866  const DtVector& databaseViewingPoint,
867  const DtVector& databaseTargetPoint,
868  bool* terrainDataAvailable = 0);
869 
870 
876  static void objectAboutToBeRemovedCb(DtVrfObject * vrfObject, void * usr);
877 
878  virtual void expireDataLoadRequestsBeforeTime(const double& time);
879 
880 protected:
881 
882 
886  typedef DtString DtLosTestKey;
887 
888  typedef std::map<DtLosTestKey, DtVrfLineOfSightFunctorSP> DtKeyedLineOfSightTestContainer;
889  typedef DtKeyedLineOfSightTestContainer::iterator DtMasterLosTestIter;
890  typedef DtKeyedLineOfSightTestContainer::const_iterator DtMasterLosTestConstIter;
891 
892  DtKeyedLineOfSightTestContainer myMasterLineOfSightTestContainer;
893 
894  typedef std::list<DtVrfLineOfSightFunctorSP> DtLineOfSightTestContainer;
895  typedef DtLineOfSightTestContainer::iterator DtLosTestIter;
896  typedef DtLineOfSightTestContainer::const_iterator DtLosTestConstIter;
897 
898  DtLineOfSightTestContainer myLineOfSightTestsToPerform;
899 
900  virtual void addInitialLosChecks();
901 
907 
908  virtual void setDefaultLineOfSightTestOrder(
909  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
910  virtual void setLineOfSightTestOrder(
911  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
912 
913 
919  virtual void addLineOfSightTest(const DtLosTestKey&, DtVrfLineOfSightFunctorSP losTest);
920 
923  virtual void removeLineOfSightTest(const DtLosTestKey& testKey);
924 
929  virtual void performTest(const DtLosTestKey& testToRun);
930 
934  virtual void doNotPerformTest(const DtLosTestKey& testToRun);
935 
939  virtual void doNotPerformTest(DtVrfLineOfSightFunctorSP losTest);
940 
941 
946  static bool canBlockLineOfSight(const DtVrfObject* object, void* usr);
947 
950  virtual bool checkLineOfSight(const DtLineOfSightTestContainer& losTests,
951  const DtVrfLineOfSightCheckParams& losCheckParams) const;
952 
957  virtual DtVector localLineOfSightTestLocation(const DtVrfObject& object) const;
958 
961  virtual bool checkVrfObjectsForLOS(
962  const DtVrfLineOfSightCheckParams& losCheckParams) const;
963 
966  virtual bool checkFeaturesForLOS(
967  const DtVrfLineOfSightCheckParams& losCheckParams) const;
968 
971  virtual bool checkTerrainForLOS(
972  const DtVrfLineOfSightCheckParams& losCheckParams) const;
973 
977  virtual bool intersectVrfObjects(const DtVrfObject* const primaryVrfObject,
978  const DtVector& databaseStartPoint,
979  const DtVrfObject* const secondaryVrfObject) const;
980 
984  virtual bool intersectsVrfObject(const DtVrfObject& vrfObjectToTest,
985  const DtVector& databaseStartPoint, const DtVector& databaseEndPoint,
986  double& distToIntersect) const;
987 
988 protected:
989 
990  bool testInvariant() const;
991 
996  const DtChord createWorldIntersectionChord(const DtVector& databaseLocation) const;
997 
998 
1000  virtual DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager();
1001  virtual const DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager() const;
1002  virtual void setSpatialVrfObjectManager(DtSpatialVrfObjectManagerInterface* newSpatialVrfObjectMgr);
1003 
1007  virtual DtPhysicalWorldParams* createParameters();
1008 
1011  virtual DtSensorSignatureManager* createSensorSignatureManager();
1012 
1018  virtual void processObjectAboutToBeRemoved(DtVrfObject * vrfObject);
1019 
1022  virtual void performTerrainPreload();
1023 
1024 protected:
1025 
1026  DtTerrainInterface* myTerrainInterface;
1027 
1028  bool myUseVrfObjectSpatialManager;
1029  bool mySpatialMgrResolutionUserSpecified;
1030  unsigned int myVrfObjectSpatialSubXResolution;
1031  unsigned int myVrfObjectSpatialSubYResolution;
1032  unsigned int myVrfObjectSpatialSubZResolution;
1033 
1034  DtSpatialVrfObjectManagerInterface* mySpatialVrfObjectManager;
1035 
1036  DtManagedObjectListConstPtr mySpatiallyManagedVrfObjectList;
1037 
1039  DtSimManager* mySimManager;
1041  DtVrfObjectManager* myVrfObjectManager;
1042 
1044  DtPhysicalWorldParams* myParameters;
1045 
1046  DtSensorSignatureManager* mySensorSignatureManager;
1047 
1048  DtEnvironmentalStateManager * myEnvironmentalStateManager;
1049 
1050  DtFilename myPhysicalWorldFile;
1051 
1052  DtTime myLastPreloadTerrainTime;
1053 
1054  DtExpireOlderThanCommand* myExpireOlderThanCommand;
1055 
1056  std::auto_ptr<MAKVRinTerra::DtObstacleFeatureSet> myLOSFeatures;
1057 
1058  friend class IntersectVrfObjectFunctor;
1059 };
1060 
1061 inline const DtFilename& DtPhysicalWorld::physicalWorldFile() const
1062 {
1063  return myPhysicalWorldFile;
1064 }
1065 
1066 class DT_DLL_vrfobjcore DtExpireOlderThanCommand : public DtConsoleCommand
1067 {
1068 public:
1069  DtExpireOlderThanCommand(DtPhysicalWorld* physicalWorld);
1070  virtual bool execute(const DtString& parameters);
1071  virtual DtString help(const DtString& parameters);
1072  virtual bool showInHelp() const { return true; };
1073 protected:
1074  DtPhysicalWorld* myPhysicalWorld;
1075 };
Document ID: Generated on Mon Apr 8 19:24:01 EDT 2013 from SVN revision 125877
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