Isis 3 Programmer Reference
Isis::BulletShapeModel Class Reference

Shape model that uses the Bullet library to perform ray tracing. More...

#include <BulletShapeModel.h>

Inheritance diagram for Isis::BulletShapeModel:
Inheritance graph
Collaboration diagram for Isis::BulletShapeModel:
Collaboration graph

Public Member Functions

 BulletShapeModel ()
 Default constructor that creates a shape model without any internal model. More...
 
 BulletShapeModel (Target *target, Pvl &pvl)
 Constructor provided for instantiation from an ISIS cube. More...
 
 BulletShapeModel (const QString &shapefile, Target *target, Pvl &pvl)
 
 BulletShapeModel (BulletTargetShape *shape, Target *target, Pvl &pvl)
 Constructor for creating new shape model from an existing target shape. More...
 
 BulletShapeModel (BulletWorldManager *model, Target *target, Pvl &pvl)
 Constructor for creating a new shape model an existing Bullet World. More...
 
 ~BulletShapeModel ()
 Destructor. More...
 
double getTolerance () const
 Returns the occlusion tolerance in kilometers. More...
 
void setTolerance (const double &tolerance)
 Sets the occlusion tolerance. More...
 
bool intersectSurface (std::vector< double > observerPos, std::vector< double > lookDirection)
 This method computes a DEM intercept point given an observer location and look direction using the Bullet model. More...
 
virtual bool intersectSurface (const Latitude &lat, const Longitude &lon, const std::vector< double > &observerPos, const bool &checkOcclusion=true)
 Compute the intersection at a specified latitude and longitude. More...
 
virtual bool intersectSurface (const SurfacePoint &surfpt, const std::vector< double > &observerPos, const bool &checkOcclusion=true)
 Compute the intersection at surface point. More...
 
virtual void setSurfacePoint (const SurfacePoint &surfacePoint)
 Set the internal surface point. More...
 
virtual void clearSurfacePoint ()
 Clear the saved surface point and reset the saved intersection. More...
 
void calculateDefaultNormal ()
 Calculate the surface normal of the ellipsoid as the default. More...
 
bool isDEM () const
 Indicates that this shape model is not from a DEM. More...
 
void setLocalNormalFromIntercept ()
 Set the normal vector to the intercept point normal. More...
 
void calculateLocalNormal (QVector< double *> cornerNeighborPoints)
 Compute the normal for a local region of surface points. More...
 
void calculateSurfaceNormal ()
 compute the ellipsoid surface normal of the target More...
 
Distance localRadius (const Latitude &lat, const Longitude &lon)
 Compute the radius of the body at a lat/lon point. More...
 
QVector< double > ellipsoidNormal ()
 Compute the true surface normal vector of an ellipsoid. More...
 
const BulletWorldManagermodel () const
 Returns a direct reference to the Bullet world that contains the target shape and can perform ray casts. More...
 
virtual bool isVisibleFrom (const std::vector< double > observerPos, const std::vector< double > lookDirection)
 Check if the saved intercept is visible from a observer with a given look direction. More...
 
void Initialize ()
 Initializes the ShapeModel private variables. More...
 
SurfacePointsurfaceIntersection () const
 Returns the surface intersection for this ShapeModel. More...
 
bool hasIntersection ()
 Returns intersection status. More...
 
bool hasNormal () const
 Returns surface point normal status. More...
 
virtual double emissionAngle (const std::vector< double > &sB)
 Computes and returns emission angle, in degrees, given the observer position. More...
 
virtual double incidenceAngle (const std::vector< double > &uB)
 Computes and returns incidence angle, in degrees, given the illuminator position. More...
 
virtual double phaseAngle (const std::vector< double > &sB, const std::vector< double > &uB)
 Computes and returns phase angle, in degrees, given the positions of the observer and illuminator. More...
 
QString name () const
 Gets the shape name. More...
 
void setHasIntersection (bool b)
 Sets the flag to indicate whether this ShapeModel has an intersection. More...
 
std::vector< double > normal ()
 Returns the local surface normal at the current intersection point. More...
 

Protected Member Functions

void setNormal (const std::vector< double >)
 Sets the normal for the currect intersection point. More...
 
void setNormal (const double a, const double b, const double c)
 Sets the normal for the currect intersection point. More...
 
void setName (QString name)
 Sets the shape name. More...
 
void calculateEllipsoidalSurfaceNormal ()
 Calculates the ellipsoidal surface normal. More...
 
bool hasEllipsoidIntersection ()
 Returns the status of the ellipsoid model intersection. More...
 
bool intersectEllipsoid (const std::vector< double > observerPosRelativeToTarget, const std::vector< double > &observerLookVectorToTarget)
 Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body). More...
 
bool hasValidTarget () const
 Returns the status of the target. More...
 
std::vector< DistancetargetRadii () const
 Returns the radii of the body in km. More...
 
void setHasNormal (bool status)
 Sets the flag to indicate whether this ShapeModel has a surface normal. More...
 
double resolution ()
 Convenience method to get pixel resolution (m/pix) at current intersection point. More...
 

Private Member Functions

btScalar maxDistance () const
 ! The results of the last ray cast. More...
 
btVector3 castLookDir (const btVector3 &observer, const btVector3 &lookdir) const
 Compute the end point of a ray based on an observer and look direction. More...
 
btVector3 latlonToVector (const Latitude &lat, const Longitude &lon) const
 Convert a pair of latitude and longitude values into a unit vector pointing from the origin of the body towards the surface point(s) at the latitude and longitude. More...
 
btVector3 pointToVector (const SurfacePoint &point) const
 Convert a surface point into a vector. More...
 
SurfacePoint makeSurfacePoint (const btVector3 &point) const
 Convert a vector into a surface point. More...
 
QVector< BulletClosestRayCallbacksortHits (const BulletAllHitsRayCallback &hits, const btVector3 &sortPoint) const
 Sort the hits in an AllHitsRayCallback based on distance to a point. More...
 
bool isOccluded (const BulletClosestRayCallback &hit, const btVector3 &observer) const
 Check if an intersection is occluded from an observer. More...
 
void updateShapeModel (const BulletClosestRayCallback &result)
 Update shape model - carefully!! More...
 

Private Attributes

QScopedPointer< BulletWorldManagerm_model
 
double m_tolerance
 ! Bullet collision world that contains the representation of the body. More...
 
BulletClosestRayCallback m_intercept
 ! Tolerance of occlusion check in kilometers. More...
 

Detailed Description

Shape model that uses the Bullet library to perform ray tracing.

Author
2017-03-22 Kris Becker
History:
2017-03-22 - Kris Becker - Original Version

Definition at line 51 of file BulletShapeModel.h.

Constructor & Destructor Documentation

◆ BulletShapeModel() [1/4]

Isis::BulletShapeModel::BulletShapeModel ( )

Default constructor that creates a shape model without any internal model.

Definition at line 53 of file BulletShapeModel.cpp.

References Isis::ShapeModel::setName().

◆ BulletShapeModel() [2/4]

Isis::BulletShapeModel::BulletShapeModel ( Target target,
Pvl pvl 
)

Constructor provided for instantiation from an ISIS cube.

This constructor is typically used for and ISIS cube that has been initialized by spiceinit. The DEM name should be that of a NAIF DSK file. This constructor will throw an exception if it fails to open the DSK file.

Author
2014-02-12 Kris Becker
Parameters
targetTarget object describing the observed body
pvlISIS Cube label. Extracts the name of the DEM from the Kernels group

Definition at line 78 of file BulletShapeModel.cpp.

References _FILEINFO_, Isis::PvlObject::findGroup(), Isis::PvlContainer::hasKeyword(), Isis::BulletTargetShape::load(), Isis::ShapeModel::setName(), Isis::PvlObject::Traverse, and Isis::IException::User.

◆ BulletShapeModel() [3/4]

Isis::BulletShapeModel::BulletShapeModel ( BulletTargetShape shape,
Target target,
Pvl pvl 
)

Constructor for creating new shape model from an existing target shape.

Parameters
shapeThe existing target shape to use with this shape model
targetTarget object describing the observed body
pvlUnused
Author
2014-02-12 Kris Becker

Definition at line 124 of file BulletShapeModel.cpp.

References Isis::BulletTargetShape::name(), and Isis::ShapeModel::setName().

◆ BulletShapeModel() [4/4]

Isis::BulletShapeModel::BulletShapeModel ( BulletWorldManager model,
Target target,
Pvl pvl 
)

Constructor for creating a new shape model an existing Bullet World.

Assumes the world contains at least one active object

Parameters
modelThe existing Bullet world model to use
targetTarget object describing the observed body
pvlUnused
Author
2014-02-12 Kris Becker

Definition at line 145 of file BulletShapeModel.cpp.

◆ ~BulletShapeModel()

Isis::BulletShapeModel::~BulletShapeModel ( )

Destructor.

Cleanup is handled by Bullet routines and QPointers.

Definition at line 159 of file BulletShapeModel.cpp.

Member Function Documentation

◆ calculateDefaultNormal()

void Isis::BulletShapeModel::calculateDefaultNormal ( )
virtual

Calculate the surface normal of the ellipsoid as the default.

Implements Isis::ShapeModel.

Definition at line 531 of file BulletShapeModel.cpp.

References calculateSurfaceNormal().

◆ calculateEllipsoidalSurfaceNormal()

void Isis::ShapeModel::calculateEllipsoidalSurfaceNormal ( )
protectedinherited

Calculates the ellipsoidal surface normal.

Definition at line 134 of file ShapeModel.cpp.

References _FILEINFO_.

◆ calculateLocalNormal()

void Isis::BulletShapeModel::calculateLocalNormal ( QVector< double *>  neighborPoints)
virtual

Compute the normal for a local region of surface points.

This method will calculate the surface normal of an assumed very local region of points. This method is provided to fullfil the specs of the ShapeModel class but this approach is not the most efficent means to accomplish this for a pre-exising intercept point. See setLocalNormalFromIntercept() for this.

The ShapeModel class makes the assumption that the four pixel corners of the center intercept point forms a plane from which a surface normal can be computed. For the Naif DSK plate model, we have already identified the plate (see m_intercept) from the DSK plate model (m_model) of the intercept point that provides it directly. That is what setLocalNormalFromIntercept() provides.

So, this implementation will compute the centroid of the neighboring points and make a determination if it intercepts the current intercept plate as defined by m_intercept - if it is valid. If it does not exist or does not intercept the plate, a new intercept point is computed and returned here.

Author
2017-03-27 Kris Becker
Parameters
neighborPointsInput body-fixed points to compute normal for

Implements Isis::ShapeModel.

Definition at line 516 of file BulletShapeModel.cpp.

References _FILEINFO_, Isis::ShapeModel::hasIntersection(), Isis::IException::Programmer, and setLocalNormalFromIntercept().

◆ calculateSurfaceNormal()

void Isis::BulletShapeModel::calculateSurfaceNormal ( )
virtual

compute the ellipsoid surface normal of the target

Implements Isis::ShapeModel.

Definition at line 539 of file BulletShapeModel.cpp.

References ellipsoidNormal(), and Isis::ShapeModel::setNormal().

Referenced by calculateDefaultNormal().

◆ castLookDir()

btVector3 Isis::BulletShapeModel::castLookDir ( const btVector3 &  observer,
const btVector3 &  lookdir 
) const
private

Compute the end point of a ray based on an observer and look direction.

The end point is computed as the observer position plus a scaled look direction. Look direction is scaled to ensure that the ray intersects every point along its path.

Parameters
observerThe observer position or origin of the ray.
lookDirThe look direction or pointing of the ray.
Returns
btVector3 The end point of the ray for ray casting.

Definition at line 626 of file BulletShapeModel.cpp.

References maxDistance().

Referenced by intersectSurface(), isVisibleFrom(), and localRadius().

◆ clearSurfacePoint()

void Isis::BulletShapeModel::clearSurfacePoint ( )
virtual

Clear the saved surface point and reset the saved intersection.

Reimplemented from Isis::ShapeModel.

Definition at line 388 of file BulletShapeModel.cpp.

References updateShapeModel().

Referenced by intersectSurface().

◆ ellipsoidNormal()

QVector< double > Isis::BulletShapeModel::ellipsoidNormal ( )

Compute the true surface normal vector of an ellipsoid.

This routine is used instead of the one provided by the ShapeModel implementation. This is primarly because ShapeModel::calculateEllipsoidalSurfaceNormal() is only suitable for a spheroid. This implementation is intended for irregular bodies so we expect triaxial ellipsoids.

Author
2017-03-27 Kris Becker
Returns
QVector<double> Normal vector at the intercept point relative to the ellipsoid (not the plate model)

Definition at line 559 of file BulletShapeModel.cpp.

References _FILEINFO_, Isis::NaifStatus::CheckErrors(), Isis::ShapeModel::hasIntersection(), Isis::ShapeModel::hasValidTarget(), Isis::IException::Programmer, Isis::ShapeModel::surfaceIntersection(), Isis::ShapeModel::targetRadii(), and Isis::SurfacePoint::ToNaifArray().

Referenced by calculateSurfaceNormal().

◆ emissionAngle()

double Isis::ShapeModel::emissionAngle ( const std::vector< double > &  observerBodyFixedPosition)
virtualinherited

Computes and returns emission angle, in degrees, given the observer position.

Emission Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the observer (usually the spacecraft). The emission angle varies from 0 degrees when the observer is viewing the sub-spacecraft point (nadir viewing) to 90 degrees when the intercept is tangent to the surface of the target body. Thus, higher values of emission angle indicate more oblique viewing of the target.

Parameters
observerBodyFixedPositionThree dimensional position of the observer, in the coordinate system of the target body.
Returns
The emission angle, in decimal degrees.

Reimplemented in Isis::PlaneShape.

Definition at line 179 of file ShapeModel.cpp.

References Isis::RAD2DEG.

Referenced by Isis::Sensor::EmissionAngle().

◆ getTolerance()

double Isis::BulletShapeModel::getTolerance ( ) const

Returns the occlusion tolerance in kilometers.

Returns
double The occlusion tolerance in kilometers.

Definition at line 167 of file BulletShapeModel.cpp.

References m_tolerance.

Referenced by isOccluded(), and isVisibleFrom().

◆ hasEllipsoidIntersection()

bool Isis::ShapeModel::hasEllipsoidIntersection ( )
protectedinherited

Returns the status of the ellipsoid model intersection.

Returns
bool Indicates whether this shape model has a valid ellipsoid intersection.

Definition at line 207 of file ShapeModel.cpp.

◆ hasIntersection()

◆ hasNormal()

bool Isis::ShapeModel::hasNormal ( ) const
inherited

Returns surface point normal status.

Returns
Indicates whether this ShapeModel has a surface normal.

Definition at line 372 of file ShapeModel.cpp.

Referenced by Isis::Camera::GetLocalNormal(), and Isis::EmbreeShapeModel::incidenceAngle().

◆ hasValidTarget()

bool Isis::ShapeModel::hasValidTarget ( ) const
protectedinherited

Returns the status of the target.

If it is NULL, this method returns false.

Returns
Indicates whether the target is valid.

Definition at line 443 of file ShapeModel.cpp.

Referenced by Isis::EmbreeShapeModel::ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), and ellipsoidNormal().

◆ incidenceAngle()

double Isis::ShapeModel::incidenceAngle ( const std::vector< double > &  illuminatorBodyFixedPosition)
virtualinherited

Computes and returns incidence angle, in degrees, given the illuminator position.

Incidence Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the illuminator (usually the sun).

Note: this method does not use the surface model.

Parameters
illuminatorBodyFixedPositionThree dimensional position for the illuminator, in the body-fixed coordinate system.
Returns
double Incidence angle, in degrees.

Reimplemented in Isis::EmbreeShapeModel, and Isis::PlaneShape.

Definition at line 226 of file ShapeModel.cpp.

References Isis::RAD2DEG.

Referenced by Isis::EmbreeShapeModel::incidenceAngle(), and Isis::Sensor::IncidenceAngle().

◆ Initialize()

void Isis::ShapeModel::Initialize ( )
inherited

Initializes the ShapeModel private variables.

Definition at line 59 of file ShapeModel.cpp.

◆ intersectEllipsoid()

bool Isis::ShapeModel::intersectEllipsoid ( const std::vector< double >  observerBodyFixedPosition,
const std::vector< double > &  observerLookVectorToTarget 
)
protectedinherited

Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body).

Parameters
observerBodyFixedPositionThree dimensional position of the observer, in the coordinate system of the target body.
observerLookVectorToTargetThree dimensional direction vector from the observer to the target.
Returns
bool Indicates whether this shape model found a valid ellipsoid intersection.

Definition at line 261 of file ShapeModel.cpp.

Referenced by Isis::EllipsoidShape::intersectSurface(), and Isis::DemShape::intersectSurface().

◆ intersectSurface() [1/3]

bool Isis::BulletShapeModel::intersectSurface ( std::vector< double >  observerPos,
std::vector< double >  lookDirection 
)
virtual

This method computes a DEM intercept point given an observer location and look direction using the Bullet model.

Author
2014-02-13 Kris Becker
Parameters
observerPosPosition of observer in body fixed coordiates
lookDirectionLook direction (ray) from the observer
Returns
bool If an intersection was found and saved.

Implements Isis::ShapeModel.

Definition at line 193 of file BulletShapeModel.cpp.

References castLookDir(), clearSurfacePoint(), and updateShapeModel().

Referenced by setSurfacePoint().

◆ intersectSurface() [2/3]

bool Isis::BulletShapeModel::intersectSurface ( const Latitude lat,
const Longitude lon,
const std::vector< double > &  observerPos,
const bool &  checkOcclusion = true 
)
virtual

Compute the intersection at a specified latitude and longitude.

The intersection can also be checked for occlusion from an observer.

If more than one intersection exist at the latitude and longitude, then the intersection closest to the observer is saved. If occlusion is being checked, then the closest non-occluded intersection is saved.

Author
2017-03-27 Kris Becker
Parameters
latThe latitude to compute the intersection at.
lonThe longitude to compute the intersection at.
observerPosThe observer used for occlusion and deciding between multiple intersections.
checkOcclusionIf occlusion should be checked.
Returns
bool If an intersection was found and saved.

Reimplemented from Isis::ShapeModel.

Definition at line 224 of file BulletShapeModel.cpp.

References castLookDir(), clearSurfacePoint(), Isis::ShapeModel::hasIntersection(), isOccluded(), latlonToVector(), sortHits(), and updateShapeModel().

◆ intersectSurface() [3/3]

bool Isis::BulletShapeModel::intersectSurface ( const SurfacePoint surfpt,
const std::vector< double > &  observerPos,
const bool &  checkOcclusion = true 
)
virtual

Compute the intersection at surface point.

The intersection can also be checked for occlusion from an observer.

The intersection is found by casting a ray from the center of the body through the surface point. If multiple intersections are found, then the intersection closest to the surface point is saved. If occlusion is being checked, then the closest non-occluded point is saved.

Author
2017-03-27 Kris Becker
Parameters
surfptSurface point to find the intersection at
observerPosThe observer used for occlusion and deciding between multiple intersections.
checkOcclusionIf occlusion should be checked.
Returns
bool If an intersection was found and saved.

Reimplemented from Isis::ShapeModel.

Definition at line 287 of file BulletShapeModel.cpp.

References castLookDir(), clearSurfacePoint(), Isis::ShapeModel::hasIntersection(), isOccluded(), pointToVector(), sortHits(), and updateShapeModel().

◆ isDEM()

bool Isis::BulletShapeModel::isDEM ( ) const
virtual

Indicates that this shape model is not from a DEM.

Since this method returns false for this class, the Camera class will not calculate the local normal using neighbor points.

Returns
bool Indicates that this is not a DEM shape model.

Implements Isis::ShapeModel.

Definition at line 456 of file BulletShapeModel.cpp.

◆ isOccluded()

bool Isis::BulletShapeModel::isOccluded ( const BulletClosestRayCallback hit,
const btVector3 &  observer 
) const
private

Check if an intersection is occluded from an observer.

Parameters
hitThe callback with the intersection to check
observerThe observer position for checking occlusion
Returns
bool If the intersection is occluded from the observer.

Definition at line 342 of file BulletShapeModel.cpp.

References getTolerance(), Isis::BulletClosestRayCallback::isValid(), Isis::BulletClosestRayCallback::normal(), Isis::BulletClosestRayCallback::point(), and Isis::RAD2DEG.

Referenced by intersectSurface().

◆ isVisibleFrom()

bool Isis::BulletShapeModel::isVisibleFrom ( const std::vector< double >  observerPos,
const std::vector< double >  lookDirection 
)
virtual

Check if the saved intercept is visible from a observer with a given look direction.

Parameters
observerPosThe position of the observer in body-fixed kilometers.
lookDirectionThe observer look direction inf body-fixed coordinates.
Returns
bool If the saved intercept is visible.

Reimplemented from Isis::ShapeModel.

Definition at line 470 of file BulletShapeModel.cpp.

References castLookDir(), getTolerance(), Isis::BulletClosestRayCallback::isValid(), Isis::BulletClosestRayCallback::isVisible(), m_intercept, Isis::BulletClosestRayCallback::normal(), Isis::BulletClosestRayCallback::point(), and Isis::RAD2DEG.

◆ latlonToVector()

btVector3 Isis::BulletShapeModel::latlonToVector ( const Latitude lat,
const Longitude lon 
) const
private

Convert a pair of latitude and longitude values into a unit vector pointing from the origin of the body towards the surface point(s) at the latitude and longitude.

Parameters
latThe latitude of the surface point
lonThe longitude of the surface point
Returns
btVector3 A unit vector pointing from the origin to the surface point at the latitude and longitude.

Definition at line 644 of file BulletShapeModel.cpp.

References Isis::Angle::radians().

Referenced by intersectSurface(), and localRadius().

◆ localRadius()

Distance Isis::BulletShapeModel::localRadius ( const Latitude lat,
const Longitude lon 
)
virtual

Compute the radius of the body at a lat/lon point.

A ray is cast from the center of the body through the lat/lon point. The intersection closest to the center of the body is used to compute the radius.

NOTE this call does not update the internal state of the intercept point. Use intersectSurface(lat, lon) for that.

Author
2017-03-27 Kris Becker
Parameters
latLatitude coordinate of grid point
lonLongitude coordinate of grid point
Returns
Distance Radius value of the intercept grid point. If no intersection is found, a default, invalid, Distance object is returned.

Implements Isis::ShapeModel.

Definition at line 410 of file BulletShapeModel.cpp.

References castLookDir(), Isis::BulletAllHitsRayCallback::hit(), Isis::Distance::Kilometers, latlonToVector(), and Isis::BulletClosestRayCallback::point().

◆ makeSurfacePoint()

SurfacePoint Isis::BulletShapeModel::makeSurfacePoint ( const btVector3 &  point) const
private

Convert a vector into a surface point.

Parameters
pointThe vector to convert
Returns
SurfacePoint The surface point on the body.

Definition at line 675 of file BulletShapeModel.cpp.

References Isis::SurfacePoint::FromNaifArray().

Referenced by updateShapeModel().

◆ maxDistance()

btScalar Isis::BulletShapeModel::maxDistance ( ) const
private

! The results of the last ray cast.

Returns The maximum distance in the Bullet world.

This can be used to scale rays such that they will be guaranteed to intersect everything along their path.

Returns
btScalar The maximum distance in the bullet world in kilometers.

Definition at line 610 of file BulletShapeModel.cpp.

Referenced by castLookDir().

◆ model()

const BulletWorldManager & Isis::BulletShapeModel::model ( ) const

Returns a direct reference to the Bullet world that contains the target shape and can perform ray casts.

Definition at line 598 of file BulletShapeModel.cpp.

◆ name()

QString Isis::ShapeModel::name ( ) const
inherited

◆ normal()

std::vector< double > Isis::ShapeModel::normal ( )
inherited

Returns the local surface normal at the current intersection point.

Note: This method will throw an error if the normal doesn't exist. Use the hasNormal() method to verify before calling this method.

See also
hasNormal()
Returns
A surface normal vector, if it exists.

Definition at line 395 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::DemShape::calculateLocalNormal(), Isis::Camera::GetLocalNormal(), Isis::EmbreeShapeModel::incidenceAngle(), setLocalNormalFromIntercept(), and updateShapeModel().

◆ phaseAngle()

double Isis::ShapeModel::phaseAngle ( const std::vector< double > &  observerBodyFixedPosition,
const std::vector< double > &  illuminatorBodyFixedPosition 
)
virtualinherited

Computes and returns phase angle, in degrees, given the positions of the observer and illuminator.

Phase Angle: The angle between the vector from the intersection point to the observer (usually the spacecraft) and the vector from the intersection point to the illuminator (usually the sun).

Parameters
observerBodyFixedPositionThree dimensional position of the observer, in the coordinate system of the target body.
illuminatorBodyFixedPositionThree dimensional position for the illuminator, in the body-fixed coordinate system.
Returns
double Phase angle, in degrees.

Definition at line 318 of file ShapeModel.cpp.

References Isis::RAD2DEG.

Referenced by Isis::Sensor::PhaseAngle().

◆ pointToVector()

btVector3 Isis::BulletShapeModel::pointToVector ( const SurfacePoint surfpt) const
private

Convert a surface point into a vector.

Parameters
surfptThe surface point to convert.
Returns
btVector3 The surface point's location in body-fixed kilometers.

Definition at line 661 of file BulletShapeModel.cpp.

References Isis::SurfacePoint::ToNaifArray().

Referenced by intersectSurface().

◆ resolution()

double Isis::ShapeModel::resolution ( )
protectedinherited

Convenience method to get pixel resolution (m/pix) at current intersection point.

Returns
The pixel resolution at the surface intersection.

Definition at line 586 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::DemShape::intersectSurface().

◆ setHasIntersection()

void Isis::ShapeModel::setHasIntersection ( bool  b)
inherited

◆ setHasNormal()

void Isis::ShapeModel::setHasNormal ( bool  status)
protectedinherited

Sets the flag to indicate whether this ShapeModel has a surface normal.

Parameters
bIndicates whether there is a normal.

Definition at line 575 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EmbreeShapeModel::clearSurfacePoint(), and updateShapeModel().

◆ setLocalNormalFromIntercept()

void Isis::BulletShapeModel::setLocalNormalFromIntercept ( )

Set the normal vector to the intercept point normal.

This method will reassign the ShapeModel normal to the current intercept point shape (which is a triangular plate) normal. If an intercept point is not defined, an error will ensue.

Author
2017-03-27 Kris Becker

Definition at line 436 of file BulletShapeModel.cpp.

References _FILEINFO_, Isis::ShapeModel::hasIntersection(), m_intercept, Isis::BulletClosestRayCallback::normal(), Isis::ShapeModel::normal(), Isis::IException::Programmer, and Isis::ShapeModel::setNormal().

Referenced by calculateLocalNormal().

◆ setName()

void Isis::ShapeModel::setName ( QString  name)
protectedinherited

◆ setNormal() [1/2]

void Isis::ShapeModel::setNormal ( const std::vector< double >  normal)
protectedinherited

◆ setNormal() [2/2]

void Isis::ShapeModel::setNormal ( const double  a,
const double  b,
const double  c 
)
protectedinherited

Sets the normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have and intersection. Use the hasIntersection() method to verify before calling this method.

See also
hasIntersection()
Parameters
aFirst coordinate value for the three dimensional surface normal.
bSecond coordinate value for the three dimensional surface normal.
cThird coordinate value for the three dimensional surface normal.

Definition at line 506 of file ShapeModel.cpp.

References _FILEINFO_.

◆ setSurfacePoint()

void Isis::BulletShapeModel::setSurfacePoint ( const SurfacePoint surfacePoint)
virtual

Set the internal surface point.

A new intersection based on the surface point will be computed and saved.

Parameters
surfacePointThe new surface point

Reimplemented from Isis::ShapeModel.

Definition at line 379 of file BulletShapeModel.cpp.

References intersectSurface().

◆ setTolerance()

void Isis::BulletShapeModel::setTolerance ( const double &  tolerance)

Sets the occlusion tolerance.

Parameters
toleranceThe new occlusion tolerance in kilometers.

Definition at line 177 of file BulletShapeModel.cpp.

References m_tolerance.

Referenced by Isis::ShapeModelFactory::create().

◆ sortHits()

QVector< BulletClosestRayCallback > Isis::BulletShapeModel::sortHits ( const BulletAllHitsRayCallback hits,
const btVector3 &  sortPoint 
) const
private

Sort the hits in an AllHitsRayCallback based on distance to a point.

Parameters
hitsThe hits callback to sort hits from
sortPointThe point to sort hits based on. Hits will be sorted in increasing distance from this point.
Returns
QVector<BulletClosestRayCallback> A vector of hits in order of increasing distance from the sortPoint.

Definition at line 692 of file BulletShapeModel.cpp.

References Isis::BulletClosestRayCallback::distance(), Isis::BulletAllHitsRayCallback::hit(), and Isis::BulletAllHitsRayCallback::size().

Referenced by intersectSurface().

◆ surfaceIntersection()

◆ targetRadii()

std::vector< Distance > Isis::ShapeModel::targetRadii ( ) const
protectedinherited

Returns the radii of the body in km.

The radii are obtained from the target. Note: This method will throw an error if the ShapeModel does not have a valid target. Use the hasValidTarget() method to verify before calling this method.

See also
hasValidTarget()
Returns
Three dimensional vector containing the ellipsoid radii values.

Definition at line 459 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::EmbreeShapeModel::ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), ellipsoidNormal(), Isis::EquatorialCylindricalShape::intersectSurface(), and Isis::EllipsoidShape::localRadius().

◆ updateShapeModel()

void Isis::BulletShapeModel::updateShapeModel ( const BulletClosestRayCallback result)
private

Update shape model - carefully!!

This is coded so that users can safely call the setSurfacePoint() and clearSurfacePoint() routines.

Author
2017-03-27 Kris Becker
Parameters
resultThe ray callback to update the shape model with. If the ray callback does not have an intersection, then the shape model will be flagged as not having a surface point or normal.

Definition at line 716 of file BulletShapeModel.cpp.

References Isis::ShapeModel::clearSurfacePoint(), Isis::BulletClosestRayCallback::isValid(), m_intercept, makeSurfacePoint(), Isis::BulletClosestRayCallback::normal(), Isis::ShapeModel::normal(), Isis::BulletClosestRayCallback::point(), Isis::ShapeModel::setHasNormal(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setSurfacePoint().

Referenced by clearSurfacePoint(), and intersectSurface().

Member Data Documentation

◆ m_intercept

BulletClosestRayCallback Isis::BulletShapeModel::m_intercept
private

! Tolerance of occlusion check in kilometers.

Definition at line 108 of file BulletShapeModel.h.

Referenced by isVisibleFrom(), setLocalNormalFromIntercept(), and updateShapeModel().

◆ m_tolerance

double Isis::BulletShapeModel::m_tolerance
private

! Bullet collision world that contains the representation of the body.

Definition at line 106 of file BulletShapeModel.h.

Referenced by getTolerance(), and setTolerance().


The documentation for this class was generated from the following files: