VR-Forces 4.2 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 #include "geometry/surface.h"
26 
27 class DtSimManager;
28 
29 class DtFilename;
30 class DtGeodeticCoord;
31 class Coordinate_System;
32 class DtTerrainInterface;
33 class DtVrfObjectManager;
34 class DtSpatialVrfObjectManagerInterface;
35 class DtEnvironmentalStateManager;
36 class DtExtent;
37 class DtChord;
38 class DtSurface;
39 
40 class DtVector;
41 class DtPoint;
42 
43 class DtVrfObjectPredicate;
44 
45 class DtVrfObject;
46 class DtDcm;
47 class DtChordIntersectionRecord;
48 class DtChordIntersectRecordList;
49 class DtSimMessage;
50 class DtPhysicalWorldParams;
51 class DtSensorSignatureManager;
52 class DtVrfLineOfSightCheckParams;
53 class DtRwNLengthStringVector;
54 
55 class DtExpireOlderThanCommand;
56 
83 #include "vrfobjcore/vrfobjcoreDefines.h"
84 class DT_DLL_vrfobjcore DtPhysicalWorld
85 {
86 public:
87 
89  DtPhysicalWorld(DtSimManager* simManager);
90 
92  virtual ~DtPhysicalWorld();
93 
94 private:
96  DtPhysicalWorld(const DtPhysicalWorld& orig);
97 
99  DtPhysicalWorld& operator=(const DtPhysicalWorld& orig);
100 
101 public:
102 
111  virtual bool initialize();
112 
121  virtual bool reinitialize();
122 
124  virtual bool reset();
125 
131  virtual bool loadParametersFromFile(const DtFilename& filename);
132 
138  virtual bool loadPhysicalWorldFile(const DtFilename& filename);
139 
141  virtual void processParameters();
142 
145  const DtFilename& physicalWorldFile() const;
146 
148  virtual bool parametersLoaded() const;
149 
169  virtual bool isValidState() const;
170 
176  virtual void tick();
177 
178 
182 
188 
189  virtual Coordinate_System* coordinateSystem();
190  virtual const Coordinate_System* coordinateSystem() const;
191 
193  virtual void geocentricToDatabase(const DtVector& in, DtVector& out) const;
194 
196  virtual void geocentricToDatabase(const DtDcm& in, DtDcm& out) const;
197 
199  virtual void geocentricToDatabase(const DtVector& vIn, const DtDcm& dIn,
200  DtVector& vOut, DtDcm& dOut) const;
201 
203  virtual void geocentricToDatabase(const DtExtent& in, DtExtent& out) const;
204 
206  virtual void databaseToGeocentric(const DtVector& in, DtVector& out) const;
207 
209  virtual void databaseToGeocentric(const DtDcm& in, DtDcm& out) const;
210 
212  virtual void databaseToGeocentric(const DtVector& vIn, const DtDcm& dIn,
213  DtVector& vOut, DtDcm& dOut) const;
214 
216  virtual void databaseToGeocentric(const DtExtent& in, DtExtent& out) const;
217 
219  virtual void databaseToGeodetic(const DtVector& databasePosition, DtGeodeticCoord& geodeticPosition) const;
222  virtual void databaseToGeodetic(const DtVector& databasePosition, DtVector& geodeticPosition) const;
224  virtual void databaseToGeodetic(const DtExtent& extent, DtExtent& destExtent) const;
225 
227  virtual void geodeticToDatabase(const DtExtent& extent, DtExtent& destExtent) const;
229  virtual void geodeticToDatabase(const DtGeodeticCoord& geodeticPosition,
230  DtVector& databasePosition) const;
233  virtual void geodeticToDatabase(const DtVector& geodeticPosition,
234  DtVector& databasePosition) const;
235 
238  virtual void topoToDatabase(const DtVector& databasePosition, DtDcm& topoToDatabase) const;
241  virtual void databaseToTopo(const DtVector& databasePosition, DtDcm& databaseToTopo) const;
242 
250  virtual DtVector down(const DtVector& databasePosition) const;
251 
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280 
281  virtual double terrainHeight(const DtPoint& databaseLocation,
282  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
283  virtual double terrainHeight(double lat, double lon, bool* dataAvailable = 0,
284  bool overrideBlockingAssert = false) const;
285  virtual double terrainHeight(const DtVector& databaseLocation,
286  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
288 
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311  virtual bool terrainHeight(const DtPoint& databaseLocation, double& height,
312  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
313  virtual bool terrainHeight(double lat, double lon, double& height,
314  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
315  virtual bool terrainHeight(const DtVector& databaseLocation, double& height,
316  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
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356  virtual bool terrainHeightAndSurface(const DtPoint& databaseLocation,
357  double& height, DtSurface& surface, bool* dataAvailable = 0,
358  bool overrideBlockingAssert = false) const;
359  virtual bool terrainHeightAndSurface(double lat, double lon, double& height,
360  DtSurface& surface, bool* dataAvailable = 0,
361  bool overrideBlockingAssert = false) const;
362  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
363  double& height, DtSurface& surface, bool* dataAvailable = 0,
364  bool overrideBlockingAssert = false) const;
365  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
366  double& heightAtLocation, DtChordIntersectionRecord& intersectionRec,
367  DtIntersectionRecord::DtIntersectionType irtFlag =
368  DtIntersectionRecord::INT_ALL_DATA,
369  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
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432  virtual bool terrainHeightUnderWater(const DtVector& databaseLocation,
433  double& groundHeight, DtSurface& groundSurface, DtVector& groundNormal,
434  double& waterHeight, DtSurface::DtMedium & topSurfaceMedium,
435  bool* dataAvailable = 0, bool overrideBlockingAssert = false);
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469  virtual bool terrainSurface(const DtPoint& databaseLocation,
470  DtSurface& surface, bool* dataAvailable = 0,
471  bool overrideBlockingAssert = false) const;
472  virtual bool terrainSurface(double lat, double lon, DtSurface& surface,
473  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
474  virtual bool terrainSurface(const DtVector& databaseLocation,
475  DtSurface& surface, bool* dataAvailable = 0,
476  bool overrideBlockingAssert = false) const;
477 
478  virtual DtSurface terrainSurface(const DtPoint& databaseLocation,
479  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
480  virtual DtSurface terrainSurface(double lat, double lon,
481  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
482  virtual DtSurface terrainSurface(const DtVector& databaseLocation,
483  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
485 
516  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
517  DtPoint& intersectionPoint, bool* dataAvailable = 0,
518  bool overrideBlockingAssert = false) const;
519 
522  virtual bool closestTerrainLocation(double lat, double lon,
523  DtPoint& intersectionPoint, bool* dataAvailable = 0,
524  bool overrideBlockingAssert = false) const;
525 
527  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
528  DtPoint& intersectionPoint, bool* dataAvailable = 0,
529  bool overrideBlockingAssert = false) const;
530 
533  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
534  DtChordIntersectionRecord& record,
535  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
536  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
537 
540  virtual bool closestTerrainLocation(double lat, double lon,
541  DtChordIntersectionRecord& record,
542  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
543  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
544 
546  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
547  DtChordIntersectionRecord& record,
548  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
549  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
550 
579  virtual bool closestTerrainLocation(const DtVector& curPosition,
580  DtVector& intersection, bool ignoreWater, bool* dataAvailable = 0,
581  bool overrideBlockingAssert = false) const;
582 
613  virtual bool intersect(const DtChord& chord, DtPoint& intersectionPoint,
614  double& intersectionTime, bool* dataAvailable = 0,
615  bool overrideBlockingAssert = false) const;
616 
645  virtual bool intersect(const DtChord& chord,
646  DtChordIntersectionRecord& record,
647  DtIntersectionRecord::DtIntersectionType irtFlag =
648  DtIntersectionRecord::INT_ALL_DATA,
649  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
650 
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662  bool getVrfObjects(DtExtent& extent, std::set<DtVrfObject*>& objects);
663  bool getVrfObjects(DtExtent& extent, std::set<const DtVrfObject*>& objects) const;
664 
665 
666  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
667  std::set<DtVrfObject*>& objects);
668 
669  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
670  std::set<const DtVrfObject*>& objects) const;
671 
672  bool getVrfObjects(DtChord& chord, std::list<DtVrfObject*>& objects);
673  bool getVrfObjects(DtChord& chord, std::list<const DtVrfObject*>& objects) const;
674 
675  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
676  std::list<DtVrfObject*>& objects);
677  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
678  std::list<const DtVrfObject*>& objects) const;
680 
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691 
692  void visitVrfObjects(const DtExtent& extent, class DtSpatialSelectionFunctor& callback) const;
693  void visitVrfObjects(const DtChord& chord, class DtSpatialSelectionFunctor& callback) const;
695 
713  virtual void groundClamp(DtPoint& databaseCoord, float const offset = 0,
714  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
715 
733  virtual void groundClamp(DtVector& databaseCoord, float const offset = 0,
734  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
735 
740  virtual void getVrfObjectsAlongChord(const DtVector& databaseStart,
741  const DtVector& databaseEnd, std::list<const DtVrfObject*>& orderedList) const;
742 
750  virtual DtManagedObjectListConstPtr getSpatiallyManagedVrfObjectList();
751 
757  virtual bool initializeSpatialVrfObjectOrganization();
758 
770  virtual void calcSpatialMgrResolution(const DtManagedObjectListConstPtr& vrfObjList);
771 
778  virtual DtFilterFunctionPredicate getSpatialOrganizationPredicate();
779 
782  static bool spatialOrganizationObjectFilterFcn(const DtVrfObject* obj, void* usr);
783 
794  virtual bool processSpatialOrganizationObjectFilterFcn(const DtVrfObject* obj);
795 
797  static void querySpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
798  static void setSpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
799 
802  virtual void processQuerySpatialSubdivisionConfiguration(DtSimMessage* msg);
803  virtual void processSetSpatialSubdivisionConfiguration(DtSimMessage* msg);
804 
807  virtual bool useVrfObjectSpatialSub() const;
808  virtual void setUseVrfObjectSpatialSub(bool yesOrNo);
809 
810 
813  virtual bool isSpatialMgrResolutionUserSpecified() const;
814  virtual void setSpatialMgrResolutionUserSpecified(bool yesOrNo);
815 
818  virtual unsigned int vrfObjectSpatialSubXResolution() const;
819  virtual unsigned int vrfObjectSpatialSubYResolution() const;
820  virtual unsigned int vrfObjectSpatialSubZResolution() const;
822 
827  virtual void setVrfObjectSpatialSubXResolution(unsigned int newXResolution);
828  virtual void setVrfObjectSpatialSubYResolution(unsigned int newYResolution);
829  virtual void setVrfObjectSpatialSubZResolution(unsigned int newZResolution);
831 
833 
835  virtual DtTerrainInterface* terrainInterface();
837  virtual const DtTerrainInterface* terrainInterface() const;
838 
841  virtual void setTerrainInterface(DtTerrainInterface* newTerrainDatabase);
842 
843  virtual DtSimManager* simManager();
844  virtual const DtSimManager* simManager() const;
845  virtual void setSimManager(DtSimManager* newSimManager);
846 
847  virtual DtVrfObjectManager* objectManager();
848  virtual const DtVrfObjectManager* objectManager() const;
849  virtual void setVrfObjectManager(DtVrfObjectManager* newObjectMgr);
850 
851 
852  virtual DtEnvironmentalStateManager * environmentalStateManager();
853  virtual const DtEnvironmentalStateManager * environmentalStateManager() const;
854  virtual void setEnvironmentalStateManager(DtEnvironmentalStateManager * manager);
855 
856 
858 
859  virtual DtPhysicalWorldParams* parameters();
860  virtual const DtPhysicalWorldParams* parameters() const;
861 
862 
866 
867  virtual DtSensorSignatureManager* sensorSignatureManager();
868  virtual const DtSensorSignatureManager* sensorSignatureManager() const;
869 
870 
885  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
886  const DtVector& databaseViewingPoint, const DtVrfObject& targetObject,
887  bool* terrainDataAvailable = 0) const;
888 
902  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
903  const DtVector& databaseViewingPoint, const DtVector& databaseTargetPoint,
904  bool* terrainDataAvailable = 0) const;
905 
919  virtual bool checkLineOfSight(const DtVector& databaseViewingPoint,
920  const DtVrfObject& targetObject, bool* terrainDataAvailable = 0) const;
921 
932  virtual bool checkLineOfSightWithoutObjects(
933  const DtVector& databaseViewingPoint,
934  const DtVector& databaseTargetPoint,
935  bool* terrainDataAvailable = 0);
936 
937 
943  static void objectAboutToBeRemovedCb(DtVrfObject * vrfObject, void * usr);
944 
945  virtual void expireDataLoadRequestsBeforeTime(const double& time);
946 
950  virtual double thermoclinePermeability(
951  const DtPoint& startPoint, const DtPoint& endPoint) const;
952 
953 protected:
954 
955 
959  typedef DtString DtLosTestKey;
960 
961  typedef std::map<DtLosTestKey, DtVrfLineOfSightFunctorSP> DtKeyedLineOfSightTestContainer;
962  typedef DtKeyedLineOfSightTestContainer::iterator DtMasterLosTestIter;
963  typedef DtKeyedLineOfSightTestContainer::const_iterator DtMasterLosTestConstIter;
964 
965  DtKeyedLineOfSightTestContainer myMasterLineOfSightTestContainer;
966 
967  typedef std::list<DtVrfLineOfSightFunctorSP> DtLineOfSightTestContainer;
968  typedef DtLineOfSightTestContainer::iterator DtLosTestIter;
969  typedef DtLineOfSightTestContainer::const_iterator DtLosTestConstIter;
970 
971  DtLineOfSightTestContainer myLineOfSightTestsToPerform;
972 
973  virtual void addInitialLosChecks();
974 
980 
981  virtual void setDefaultLineOfSightTestOrder(
982  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
983  virtual void setLineOfSightTestOrder(
984  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
985 
986 
992  virtual void addLineOfSightTest(const DtLosTestKey&, DtVrfLineOfSightFunctorSP losTest);
993 
996  virtual void removeLineOfSightTest(const DtLosTestKey& testKey);
997 
1002  virtual void performTest(const DtLosTestKey& testToRun);
1003 
1007  virtual void doNotPerformTest(const DtLosTestKey& testToRun);
1008 
1012  virtual void doNotPerformTest(DtVrfLineOfSightFunctorSP losTest);
1013 
1014 
1019  static bool canBlockLineOfSight(const DtVrfObject* object, void* usr);
1020 
1023  virtual bool checkLineOfSight(const DtLineOfSightTestContainer& losTests,
1024  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1025 
1030  virtual DtVector localLineOfSightTestLocation(const DtVrfObject& object) const;
1031 
1034  virtual bool checkVrfObjectsForLOS(
1035  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1036 
1039  virtual bool checkFeaturesForLOS(
1040  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1041 
1044  virtual bool checkTerrainForLOS(
1045  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1046 
1051  virtual bool intersectVrfObjects(const DtVrfObject* const primaryVrfObject,
1052  const DtVector& databaseStartPoint,
1053  const DtVrfObject* const secondaryVrfObject) const;
1054 
1058  virtual bool intersectVrfObjects(const DtVrfObject* const primaryVrfObject,
1059  const DtVector& databaseStartPoint, const DtVector& databaseEndPoint) const;
1060 
1064  virtual bool intersectsVrfObject(const DtVrfObject& vrfObjectToTest,
1065  const DtVector& databaseStartPoint, const DtVector& databaseEndPoint,
1066  double& distToIntersect) const;
1067 
1068 protected:
1069 
1070  bool testInvariant() const;
1071 
1076  const DtChord createWorldIntersectionChord(const DtVector& databaseLocation) const;
1077 
1080  virtual DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager();
1081  virtual const DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager() const;
1082  virtual void setSpatialVrfObjectManager(DtSpatialVrfObjectManagerInterface* newSpatialVrfObjectMgr);
1083 
1087  virtual DtPhysicalWorldParams* createParameters();
1088 
1091  virtual DtSensorSignatureManager* createSensorSignatureManager();
1092 
1098  virtual void processObjectAboutToBeRemoved(DtVrfObject * vrfObject);
1099 
1102  virtual void performTerrainPreload();
1103 
1104 protected:
1105 
1106  DtTerrainInterface* myTerrainInterface;
1107 
1108  bool myUseVrfObjectSpatialManager;
1109  bool mySpatialMgrResolutionUserSpecified;
1110  unsigned int myVrfObjectSpatialSubXResolution;
1111  unsigned int myVrfObjectSpatialSubYResolution;
1112  unsigned int myVrfObjectSpatialSubZResolution;
1113 
1114  DtSpatialVrfObjectManagerInterface* mySpatialVrfObjectManager;
1115 
1116  DtManagedObjectListConstPtr mySpatiallyManagedVrfObjectList;
1117 
1119  DtSimManager* mySimManager;
1121  DtVrfObjectManager* myVrfObjectManager;
1122 
1124  DtPhysicalWorldParams* myParameters;
1125 
1126  DtSensorSignatureManager* mySensorSignatureManager;
1127 
1128  DtEnvironmentalStateManager * myEnvironmentalStateManager;
1129 
1130  DtFilename myPhysicalWorldFile;
1131 
1132  DtTime myLastPreloadTerrainTime;
1133 
1134  DtExpireOlderThanCommand* myExpireOlderThanCommand;
1135 
1136  std::auto_ptr<MAKVRinTerra::DtObstacleFeatureSet> myLOSFeatures;
1137 
1138  friend class IntersectVrfObjectFunctor;
1139 };
1140 
1141 inline const DtFilename& DtPhysicalWorld::physicalWorldFile() const
1142 {
1143  return myPhysicalWorldFile;
1144 }
1145 
1146 class DT_DLL_vrfobjcore DtExpireOlderThanCommand : public DtConsoleCommand
1147 {
1148 public:
1149  DtExpireOlderThanCommand(DtPhysicalWorld* physicalWorld);
1150  virtual bool execute(const DtString& parameters);
1151  virtual DtString help(const DtString& parameters);
1152  virtual bool showInHelp() const { return true; };
1153 protected:
1154  DtPhysicalWorld* myPhysicalWorld;
1155 };
Document ID: Generated on Sun Nov 24 19:49:21 EST 2013 from SVN revision 133924
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