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physicalWorld.h
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1 /*******************************************************************************
2 ** Copyright (c) 2014 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 <map>
19 #include <boost/unordered_set.hpp>
20 #include "vrfobjcore/managedObjectList.h"
21 #include "vrfobjcore/filterFunctionPredicate.h"
22 #include "vrfobjcore/vrfLineOfSightFunctor.h"
23 #include "vrfutil/consoleCommandManager.h"
24 #include "features/areaFeature.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 class DtCallbackQueue;
57 
84 #include "vrfobjcore/vrfobjcoreDefines.h"
85 class DT_DLL_vrfobjcore DtPhysicalWorld
86 {
87 public:
88 
90  DtPhysicalWorld(DtSimManager* simManager);
91 
93  virtual ~DtPhysicalWorld();
94 
95 private:
97  DtPhysicalWorld(const DtPhysicalWorld& orig);
98 
100  DtPhysicalWorld& operator=(const DtPhysicalWorld& orig);
101 
102 public:
103  typedef std::list<DtVrfLineOfSightFunctorSP> DtLineOfSightTestContainer;
104 
113  virtual bool initialize();
114 
123  virtual bool reinitialize();
124 
126  virtual bool reset();
127 
133  virtual bool loadParametersFromFile(const DtFilename& filename);
134 
140  virtual bool loadPhysicalWorldFile(const DtFilename& filename);
141 
143  virtual void processParameters();
144 
147  const DtFilename& physicalWorldFile() const;
148 
150  virtual bool parametersLoaded() const;
151 
171  virtual bool isValidState() const;
172 
178  virtual void tick();
179 
180 
184 
190 
191  virtual Coordinate_System* coordinateSystem();
192  virtual const Coordinate_System* coordinateSystem() const;
193 
195  virtual void geocentricToDatabase(const DtVector& in, DtVector& out) const;
196 
198  virtual void geocentricToDatabase(const DtDcm& in, DtDcm& out) const;
199 
201  virtual void geocentricToDatabase(const DtVector& vIn, const DtDcm& dIn,
202  DtVector& vOut, DtDcm& dOut) const;
203 
205  virtual void geocentricToDatabase(const DtExtent& in, DtExtent& out) const;
206 
208  virtual void databaseToGeocentric(const DtVector& in, DtVector& out) const;
209 
211  virtual void databaseToGeocentric(const DtDcm& in, DtDcm& out) const;
212 
214  virtual void databaseToGeocentric(const DtVector& vIn, const DtDcm& dIn,
215  DtVector& vOut, DtDcm& dOut) const;
216 
218  virtual void databaseToGeocentric(const DtExtent& in, DtExtent& out) const;
219 
221  virtual void databaseToGeodetic(const DtVector& databasePosition, DtGeodeticCoord& geodeticPosition) const;
224  virtual void databaseToGeodetic(const DtVector& databasePosition, DtVector& geodeticPosition) const;
226  virtual void databaseToGeodetic(const DtExtent& extent, DtExtent& destExtent) const;
227 
229  virtual void geodeticToDatabase(const DtExtent& extent, DtExtent& destExtent) const;
231  virtual void geodeticToDatabase(const DtGeodeticCoord& geodeticPosition,
232  DtVector& databasePosition) const;
235  virtual void geodeticToDatabase(const DtVector& geodeticPosition,
236  DtVector& databasePosition) const;
237 
240  virtual void topoToDatabase(const DtVector& databasePosition, DtDcm& topoToDatabase) const;
243  virtual void databaseToTopo(const DtVector& databasePosition, DtDcm& databaseToTopo) const;
244 
252  virtual DtVector down(const DtVector& databasePosition) const;
253 
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282 
283  virtual double terrainHeight(const DtPoint& databaseLocation,
284  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
285  virtual double terrainHeight(double lat, double lon, bool* dataAvailable = 0,
286  bool overrideBlockingAssert = false) const;
287  virtual double terrainHeight(const DtVector& databaseLocation,
288  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
290 
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313  virtual bool terrainHeight(const DtPoint& databaseLocation, double& height,
314  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
315  virtual bool terrainHeight(double lat, double lon, double& height,
316  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
317  virtual bool terrainHeight(const DtVector& databaseLocation, double& height,
318  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
320 
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358  virtual bool terrainHeightAndSurface(const DtPoint& databaseLocation,
359  double& height, DtSurface& surface, bool* dataAvailable = 0,
360  bool overrideBlockingAssert = false) const;
361  virtual bool terrainHeightAndSurface(double lat, double lon, double& height,
362  DtSurface& surface, bool* dataAvailable = 0,
363  bool overrideBlockingAssert = false) const;
364  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
365  double& height, DtSurface& surface, bool* dataAvailable = 0,
366  bool overrideBlockingAssert = false) const;
367  virtual bool terrainHeightAndSurface(const DtVector& databaseLocation,
368  double& heightAtLocation, DtChordIntersectionRecord& intersectionRec,
369  DtIntersectionRecord::DtIntersectionType irtFlag =
370  DtIntersectionRecord::INT_ALL_DATA,
371  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
373 
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434  virtual bool terrainHeightUnderWater(const DtVector& databaseLocation,
435  double& groundHeight, DtSurface& groundSurface, DtVector& groundNormal,
436  double& waterHeight, DtSurface::DtMedium & topSurfaceMedium,
437  bool* dataAvailable = 0, bool overrideBlockingAssert = false);
439 
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471  virtual bool terrainSurface(const DtPoint& databaseLocation,
472  DtSurface& surface, bool* dataAvailable = 0,
473  bool overrideBlockingAssert = false) const;
474  virtual bool terrainSurface(double lat, double lon, DtSurface& surface,
475  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
476  virtual bool terrainSurface(const DtVector& databaseLocation,
477  DtSurface& surface, bool* dataAvailable = 0,
478  bool overrideBlockingAssert = false) const;
479 
480  virtual DtSurface terrainSurface(const DtPoint& databaseLocation,
481  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
482  virtual DtSurface terrainSurface(double lat, double lon,
483  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
484  virtual DtSurface terrainSurface(const DtVector& databaseLocation,
485  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
487 
518  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
519  DtPoint& intersectionPoint, bool* dataAvailable = 0,
520  bool overrideBlockingAssert = false) const;
521 
524  virtual bool closestTerrainLocation(double lat, double lon,
525  DtPoint& intersectionPoint, bool* dataAvailable = 0,
526  bool overrideBlockingAssert = false) const;
527 
529  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
530  DtPoint& intersectionPoint, bool* dataAvailable = 0,
531  bool overrideBlockingAssert = false) const;
532 
535  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
536  DtChordIntersectionRecord& record,
537  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
538  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
539 
541  virtual bool closestTerrainLocation(const DtPoint& databaseLocation,
542  DtChordIntersectionRecord& record, const DtString& vectorFeatureLookup,
543  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
544  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
545 
548  virtual bool closestTerrainLocation(double lat, double lon,
549  DtChordIntersectionRecord& record,
550  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
551  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
552 
554  virtual bool closestTerrainLocation(const DtVector& databaseLocation,
555  DtChordIntersectionRecord& record,
556  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
557  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
558 
587  virtual bool closestTerrainLocation(const DtVector& curPosition,
588  DtVector& intersection, bool ignoreWater, bool* dataAvailable = 0,
589  bool overrideBlockingAssert = false) const;
590 
621  virtual bool intersect(const DtChord& chord, DtPoint& intersectionPoint,
622  double& intersectionTime, bool* dataAvailable = 0,
623  bool overrideBlockingAssert = false) const;
624 
653  virtual bool intersect(const DtChord& chord,
654  DtChordIntersectionRecord& record,
655  DtIntersectionRecord::DtIntersectionType irtFlag =
656  DtIntersectionRecord::INT_ALL_DATA,
657  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
658 
684  virtual bool allIntersectsAlongChord(const DtChord& chord,
685  DtChordIntersectRecordList& intList,
686  DtIntersectionRecord::DtIntersectionType irtFlag =
687  DtIntersectionRecord::INT_ALL_DATA, bool* dataAvailable = 0,
688  bool overrideBlockingAssert = false) const;
689 
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700 
701  typedef boost::unordered_set<DtVrfObject*> DtVrfObjectUniqueContainer;
702  typedef boost::unordered_set<const DtVrfObject*> DtVrfConstObjectUniqueContainer;
703 
704  bool getVrfObjects(DtExtent& extent, DtVrfObjectUniqueContainer& objects);
705  bool getVrfObjects(DtExtent& extent, DtVrfConstObjectUniqueContainer& objects) const;
706 
707 
708  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
709  DtVrfObjectUniqueContainer& objects);
710 
711  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtExtent& extent,
712  DtVrfConstObjectUniqueContainer& objects) const;
713 
714  bool getVrfObjects(DtChord& chord, std::list<DtVrfObject*>& objects);
715  bool getVrfObjects(DtChord& chord, std::list<const DtVrfObject*>& objects) const;
716 
717  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
718  std::list<DtVrfObject*>& objects);
719  bool getVrfObjects(DtVrfObjectPredicate& predicate, DtChord& chord,
720  std::list<const DtVrfObject*>& objects) const;
722 
724 
725 
726 
727 
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729 
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731 
732 
733 
734  void visitVrfObjects(const DtExtent& extent, class DtSpatialSelectionFunctor& callback) const;
735  void visitVrfObjects(const DtChord& chord, class DtSpatialSelectionFunctor& callback) const;
737 
755  virtual void groundClamp(DtPoint& databaseCoord, float const offset = 0,
756  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
757 
775  virtual void groundClamp(DtVector& databaseCoord, float const offset = 0,
776  bool* dataAvailable = 0, bool overrideBlockingAssert = false) const;
777 
782  virtual void getVrfObjectsAlongChord(const DtVector& databaseStart,
783  const DtVector& databaseEnd, std::list<const DtVrfObject*>& orderedList) const;
784 
792  virtual DtManagedObjectListConstPtr getSpatiallyManagedVrfObjectList();
793 
799  virtual bool initializeSpatialVrfObjectOrganization();
800 
812  virtual void calcSpatialMgrResolution(const DtManagedObjectListConstPtr& vrfObjList);
813 
820  virtual DtFilterFunctionPredicate getSpatialOrganizationPredicate();
821 
824  static bool spatialOrganizationObjectFilterFcn(const DtVrfObject* obj, void* usr);
825 
836  virtual bool processSpatialOrganizationObjectFilterFcn(const DtVrfObject* obj);
837 
839  static void querySpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
840  static void setSpatialSubdivisionConfigurationCallback(DtSimMessage* msg, void* usr);
841 
843  static void requestSensorDomainsCallback(DtSimMessage* msg, void* usr);
844  virtual void sendSensorDomains();
845 
848  virtual void processQuerySpatialSubdivisionConfiguration(DtSimMessage* msg);
849  virtual void processSetSpatialSubdivisionConfiguration(DtSimMessage* msg);
850 
853  virtual bool useVrfObjectSpatialSub() const;
854  virtual void setUseVrfObjectSpatialSub(bool yesOrNo);
855 
856 
859  virtual bool isSpatialMgrResolutionUserSpecified() const;
860  virtual void setSpatialMgrResolutionUserSpecified(bool yesOrNo);
861 
864  virtual unsigned int vrfObjectSpatialSubXResolution() const;
865  virtual unsigned int vrfObjectSpatialSubYResolution() const;
866  virtual unsigned int vrfObjectSpatialSubZResolution() const;
868 
873  virtual void setVrfObjectSpatialSubXResolution(unsigned int newXResolution);
874  virtual void setVrfObjectSpatialSubYResolution(unsigned int newYResolution);
875  virtual void setVrfObjectSpatialSubZResolution(unsigned int newZResolution);
877 
879 
881  virtual DtTerrainInterface* terrainInterface();
883  virtual const DtTerrainInterface* terrainInterface() const;
884 
887  virtual void setTerrainInterface(DtTerrainInterface* newTerrainDatabase);
888 
889  virtual DtSimManager* simManager();
890  virtual const DtSimManager* simManager() const;
891  virtual void setSimManager(DtSimManager* newSimManager);
892 
893  virtual DtVrfObjectManager* objectManager();
894  virtual const DtVrfObjectManager* objectManager() const;
895  virtual void setVrfObjectManager(DtVrfObjectManager* newObjectMgr);
896 
897 
898  virtual DtEnvironmentalStateManager * environmentalStateManager();
899  virtual const DtEnvironmentalStateManager * environmentalStateManager() const;
900  virtual void setEnvironmentalStateManager(DtEnvironmentalStateManager * manager);
901 
902 
904 
905  virtual DtPhysicalWorldParams* parameters();
906  virtual const DtPhysicalWorldParams* parameters() const;
907 
908 
912 
913  virtual DtSensorSignatureManager* sensorSignatureManager();
914  virtual const DtSensorSignatureManager* sensorSignatureManager() const;
915 
916 
935  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
936  const DtVector& databaseViewingPoint, const DtVrfObject& targetObject,
937  bool* terrainDataAvailable = 0,
938  const DtString& featureQueryName = "default") const;
939 
953  virtual bool checkLineOfSight(const DtVrfObject& viewingObject,
954  const DtVector& databaseViewingPoint, const DtVector& databaseTargetPoint,
955  bool* terrainDataAvailable = 0,
956  const DtString& featureQueryName = "default") const;
957 
971  virtual bool checkLineOfSight(const DtVector& databaseViewingPoint,
972  const DtVrfObject& targetObject, bool* terrainDataAvailable = 0,
973  const DtString& featureQueryName = "default") const;
974 
985  virtual bool checkLineOfSightWithoutObjects(
986  const DtVector& databaseViewingPoint,
987  const DtVector& databaseTargetPoint,
988  bool* terrainDataAvailable = 0,
989  const DtString& featureQueryName = "default");
990 
991 
997  static void objectAboutToBeRemovedCb(DtVrfObject * vrfObject, void * usr);
998 
999  virtual void expireDataLoadRequestsBeforeTime(const double& time);
1000 
1004  virtual double thermoclinePermeability(
1005  const DtPoint& startPoint, const DtPoint& endPoint) const;
1006 
1009  virtual bool checkLineOfSight(const DtLineOfSightTestContainer& losTests,
1010  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1011 
1012  const DtLineOfSightTestContainer& lineOfSightTestsToPerform() const
1013  {
1014  return myLineOfSightTestsToPerform;
1015  }
1016 
1021  const DtChord createWorldIntersectionChord(const DtVector& databaseLocation) const;
1022 
1023 protected:
1024 
1025 
1029  typedef DtString DtLosTestKey;
1030 
1031  typedef std::map<DtLosTestKey, DtVrfLineOfSightFunctorSP> DtKeyedLineOfSightTestContainer;
1032  typedef DtKeyedLineOfSightTestContainer::iterator DtMasterLosTestIter;
1033  typedef DtKeyedLineOfSightTestContainer::const_iterator DtMasterLosTestConstIter;
1034 
1035  DtKeyedLineOfSightTestContainer myMasterLineOfSightTestContainer;
1036 
1037  typedef DtLineOfSightTestContainer::iterator DtLosTestIter;
1038  typedef DtLineOfSightTestContainer::const_iterator DtLosTestConstIter;
1039 
1040  DtLineOfSightTestContainer myLineOfSightTestsToPerform;
1041 
1042  virtual void addInitialLosChecks();
1043 
1049 
1050  virtual void setDefaultLineOfSightTestOrder(
1051  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
1052  virtual void setLineOfSightTestOrder(
1053  const DtRwNLengthStringVector& lineOfSightTestsAndOrder);
1054 
1055 
1061  virtual void addLineOfSightTest(const DtLosTestKey&, DtVrfLineOfSightFunctorSP losTest);
1062 
1065  virtual void removeLineOfSightTest(const DtLosTestKey& testKey);
1066 
1071  virtual void performTest(const DtLosTestKey& testToRun);
1072 
1076  virtual void doNotPerformTest(const DtLosTestKey& testToRun);
1077 
1081  virtual void doNotPerformTest(DtVrfLineOfSightFunctorSP losTest);
1082 
1083 
1088  static bool canBlockLineOfSight(const DtVrfObject* object, void* usr);
1089 
1094  virtual DtVector localLineOfSightTestLocation(const DtVrfObject& object) const;
1095 
1098  virtual bool checkVrfObjectsForLOS(
1099  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1100 
1103  virtual bool checkFeaturesForLOS(
1104  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1105 
1108  virtual bool checkTerrainForLOS(
1109  const DtVrfLineOfSightCheckParams& losCheckParams) const;
1110 
1118  virtual bool intersectVrfObjects(const DtVrfObject* const primaryVrfObject,
1119  const DtVector& databaseStartPoint,
1120  const DtVrfObject* const secondaryVrfObject,
1121  const DtVector& databaseEndPoint = DtVector::zero(),
1122  DtVrfObject** intersectedObject = 0) const;
1123 
1128  virtual bool intersectVrfObjects(const DtVrfObject* const primaryVrfObject,
1129  const DtVector& databaseStartPoint, const DtVector& databaseEndPoint,
1130  DtVrfObject** intersectedObject = 0) const;
1131 
1135  virtual bool intersectsVrfObject(const DtVrfObject& vrfObjectToTest,
1136  const DtVector& databaseStartPoint, const DtVector& databaseEndPoint,
1137  double& distToIntersect) const;
1138 
1139 protected:
1140 
1141  bool testInvariant() const;
1142 
1145  virtual DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager();
1146  virtual const DtSpatialVrfObjectManagerInterface* spatialVrfObjectManager() const;
1147  virtual void setSpatialVrfObjectManager(DtSpatialVrfObjectManagerInterface* newSpatialVrfObjectMgr);
1148 
1152  virtual DtPhysicalWorldParams* createParameters();
1153 
1156  virtual DtSensorSignatureManager* createSensorSignatureManager();
1157 
1163  virtual void processObjectAboutToBeRemoved(DtVrfObject * vrfObject);
1164 
1167  virtual void performTerrainPreload();
1168 
1169 protected:
1170 
1171  DtTerrainInterface* myTerrainInterface;
1172 
1173  bool myUseVrfObjectSpatialManager;
1174  bool mySpatialMgrResolutionUserSpecified;
1175  unsigned int myVrfObjectSpatialSubXResolution;
1176  unsigned int myVrfObjectSpatialSubYResolution;
1177  unsigned int myVrfObjectSpatialSubZResolution;
1178 
1179  DtSpatialVrfObjectManagerInterface* mySpatialVrfObjectManager;
1180 
1181  DtManagedObjectListConstPtr mySpatiallyManagedVrfObjectList;
1182 
1184  DtSimManager* mySimManager;
1186  DtVrfObjectManager* myVrfObjectManager;
1187 
1189  DtPhysicalWorldParams* myParameters;
1190 
1191  DtSensorSignatureManager* mySensorSignatureManager;
1192 
1193  DtEnvironmentalStateManager * myEnvironmentalStateManager;
1194 
1195  DtFilename myPhysicalWorldFile;
1196 
1197  DtTime myLastPreloadTerrainTime;
1198 
1199  DtExpireOlderThanCommand* myExpireOlderThanCommand;
1200 
1201  boost::shared_ptr<DtCallbackQueue> mySoilTypeLookupQueue;
1202 
1203  friend class IntersectVrfObjectFunctor;
1204 };
1205 
1206 inline const DtFilename& DtPhysicalWorld::physicalWorldFile() const
1207 {
1208  return myPhysicalWorldFile;
1209 }
1210 
1211 class DT_DLL_vrfobjcore DtExpireOlderThanCommand : public DtConsoleCommand
1212 {
1213 public:
1214  DtExpireOlderThanCommand(DtPhysicalWorld* physicalWorld);
1215  virtual bool execute(const DtString& parameters);
1216  virtual DtString help(const DtString& parameters);
1217  virtual bool showInHelp() const { return true; };
1218 protected:
1219  DtPhysicalWorld* myPhysicalWorld;
1220 };
Document ID: Generated on Wed Jul 29 00:55:00 EDT 2015 from SVN revision 155257
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