coordUtils.h

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/****************************************************************************** 
** Copyright (c) 2024 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 


#pragma once

#include <vrvUtil/vrvUtil.h> 
#include <vrvUtil/DtQuat.h>
#include <matrix/vlVector.h>
#include <matrix/vlDcm.h>
#include <matrix/vlTaitBryan.h>
#include <matrix/geodeticCoord.h>

class DtTaitBryan;
class DtDcm;
class DtDegMinSec;

namespace makVrv 
{
   class DtCoordinateConverter;
   class DtCoordinateSystem;

   DT_DLL_VRVUTIL DtTaitBryan orientUp( DtCoordinateConverter& converter, 
      const DtVector& position, const DtTaitBryan& orientation );

   DT_DLL_VRVUTIL DtDcm orientUpDcm( DtCoordinateConverter& converter, 
      const DtVector& position, const DtTaitBryan& orientation );

   
   DT_DLL_VRVUTIL DtQuat DtOrientToVector( DtCoordinateConverter& converter, 
      const DtVector& start, const DtVector& end );

   DT_DLL_VRVUTIL DtQuat DtOrientToDirectionVector( 
      DtCoordinateConverter& converter, const DtVector& localLocation, 
      const DtVector& dirVec );

   DT_DLL_VRVUTIL DtTaitBryan DtGetLevelOrientation(
      DtCoordinateConverter& converter, const DtTaitBryan& cigOri);

   DT_DLL_VRVUTIL DtTaitBryan DtEastNorthUpToNorthEastDown( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtNorthEastDownToEastNorthUp( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtXFrontZDownToYFrontZUp( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtYFrontZUpToXFrontZDown( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtDcm DtEastNorthUpToNorthEastDown( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtNorthEastDownToEastNorthUp( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtXFrontZDownToYFrontZUp( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtYFrontZUpToXFrontZDown( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtSwapDcmAxes( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtTaitBryan DtSwapTaitBryanAxes( const DtTaitBryan& tbIn );

   DT_DLL_VRVUTIL DtGeodeticCoord DtLocalToGeodetic( const DtVector& localLocation,
      const DtCoordinateSystem& coordSystem );
   DT_DLL_VRVUTIL DtVector DtGeodeticToLocal( const DtGeodeticCoord& geodeticLocation,
      const DtCoordinateSystem& coordSystem  );

   DT_DLL_VRVUTIL DtTaitBryan DtGetTopographicOrientation(const DtVector& geocLocation, const DtTaitBryan& _geocOrientation);
   DT_DLL_VRVUTIL double DtGetTopographicHeading(const DtVector& geocLocation, const DtTaitBryan& geocOrientation);
   DT_DLL_VRVUTIL double DtGetTopographicPitch(const DtVector& geocLocation, const DtTaitBryan& geocOrientation);
   DT_DLL_VRVUTIL double DtGetTopographicRoll(const DtVector& geocLocation, const DtTaitBryan& geocOrientation);

   class DT_DLL_VRVUTIL coordUtils
   {
   public:
      static DtVector findCenter(const std::vector<DtVector>& vertexList);

      static void pack(const double pos[3], float pospack[4]);

      static void unpack(const float pospack[4], double pos[3]);

      static float closestSegmentPointToTestPoint(const DtVector& start, const DtVector& end, const DtVector& testPoint, DtVector& result);

      static void setLatDtDegMinSecFromDegrees(DtDegMinSec &dmslat, double deg);

      static void setLonDtDegMinSecFromDegrees(DtDegMinSec &dmslon, double deg);

      static void utmToGeodetic(int zone, bool isNorth, double easting, double northing, DtGeodeticCoord& result);

   protected:
      static void setDtDegMinSecFromDegrees(DtDegMinSec &dms, double deg);

   };
}