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

#include <BulletShapeModel.h>

Inheritance diagram for Isis::BulletShapeModel:

Collaboration diagram for Isis::BulletShapeModel:

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 BulletWorldManager &	model () 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...

SurfacePoint *	surfaceIntersection () 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< Distance >	targetRadii () 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< BulletClosestRayCallback >	sortHits (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< BulletWorldManager >	m_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...

bool	m_hasEllipsoidIntersection
	Indicates the ellipsoid was successfully intersected. More...

bool	m_hasIntersection
	indicates good intersection exists More...

bool	m_hasNormal
	indicates normal has been computed More...

std::vector< double >	m_normal
	Local normal of current intersection point. More...

QString *	m_name

SurfacePoint *	m_surfacePoint
	< Name of the shape More...

Target *	m_target

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 35 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

target	Target object describing the observed body
pvl	ISIS Cube label. Extracts the name of the DEM from the Kernels group

Definition at line 78 of file BulletShapeModel.cpp.

References 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

shape	The existing target shape to use with this shape model
target	Target object describing the observed body
pvl	Unused

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

model	The existing Bullet world model to use
target	Target object describing the observed body
pvl	Unused

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 140 of file ShapeModel.cpp.

◆ 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

neighborPoints Input body-fixed points to compute normal for

Implements Isis::ShapeModel.

Definition at line 516 of file BulletShapeModel.cpp.

References 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

observer	The observer position or origin of the ray.
lookDir	The 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 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

observerBodyFixedPosition Three 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 185 of file ShapeModel.cpp.

References Isis::RAD2DEG.

Referenced by Isis::CSMCamera::EmissionAngle(), and 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 213 of file ShapeModel.cpp.

◆ hasIntersection()

bool Isis::ShapeModel::hasIntersection ( )

inherited

Returns intersection status.

Returns: bool Indicates whether this ShapeModel has an intersection.

Definition at line 368 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::EmbreeShapeModel::calculateLocalNormal(), Isis::NaifDskShape::calculateLocalNormal(), ellipsoidNormal(), Isis::EmbreeShapeModel::ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), Isis::Camera::GetLocalNormal(), Isis::Sensor::HasSurfaceIntersection(), intersectSurface(), Isis::DemShape::intersectSurface(), Isis::EmbreeShapeModel::intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::CSMCamera::SetGround(), Isis::Sensor::SetGroundLocal(), setLocalNormalFromIntercept(), and Isis::NaifDskShape::setLocalNormalFromIntercept().

◆ hasNormal()

bool Isis::ShapeModel::hasNormal ( ) const

inherited

Returns surface point normal status.

Returns: Indicates whether this ShapeModel has a surface normal.

Definition at line 378 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 449 of file ShapeModel.cpp.

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

illuminatorBodyFixedPosition Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Incidence angle, in degrees.

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

Definition at line 232 of file ShapeModel.cpp.

References Isis::RAD2DEG.

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

◆ Initialize()

void Isis::ShapeModel::Initialize ( )

inherited

Initializes the ShapeModel private variables.

Definition at line 65 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

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
observerLookVectorToTarget	Three dimensional direction vector from the observer to the target.

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

Definition at line 267 of file ShapeModel.cpp.

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

◆ intersectSurface() [1/3]

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

lat	The latitude to compute the intersection at.
lon	The longitude to compute the intersection at.
observerPos	The observer used for occlusion and deciding between multiple intersections.
checkOcclusion	If 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() [2/3]

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

surfpt	Surface point to find the intersection at
observerPos	The observer used for occlusion and deciding between multiple intersections.
checkOcclusion	If 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().

◆ intersectSurface() [3/3]

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

observerPos	Position of observer in body fixed coordiates
lookDirection	Look 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().

◆ 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

hit	The callback with the intersection to check
observer	The 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::isVisible(), 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

observerPos	The position of the observer in body-fixed kilometers.
lookDirection	The 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

lat	The latitude of the surface point
lon	The 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

lat	Latitude coordinate of grid point
lon	Longitude 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

point The 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

Gets the shape name.

Returns: QString The name of the ShapeModel.

Definition at line 543 of file ShapeModel.cpp.

Referenced by Isis::UniversalGroundMap::GroundRange(), Isis::VimsGroundMap::SetGround(), Isis::Camera::SetGround(), Isis::CSMCamera::SetGround(), Isis::Camera::SetImageMapProjection(), Isis::TrackTool::updateLabels(), and Isis::AdvancedTrackTool::updateRow().

◆ 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 401 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::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

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
illuminatorBodyFixedPosition	Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Phase angle, in degrees.

Definition at line 324 of file ShapeModel.cpp.

References Isis::RAD2DEG.

Referenced by Isis::CSMCamera::PhaseAngle(), and Isis::Sensor::PhaseAngle().

◆ pointToVector()

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

private

Convert a surface point into a vector.

Parameters

surfpt The 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: @double The pixel resolution at the surface intersection.

Definition at line 592 of file ShapeModel.cpp.

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

◆ setHasIntersection()

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

inherited

Sets the flag to indicate whether this ShapeModel has an intersection.

Parameters

b	Indicates whether there is an intersection.

Definition at line 554 of file ShapeModel.cpp.

Referenced by Isis::DemShape::intersectSurface(), Isis::EmbreeShapeModel::intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), Isis::Camera::RawFocalPlanetoImage(), Isis::CSMCamera::SetGround(), Isis::Sensor::SetGroundLocal(), Isis::Camera::SetImageMapProjection(), Isis::Sensor::SetLookDirection(), and Isis::EmbreeShapeModel::updateIntersection().

◆ setHasNormal()

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

protectedinherited

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

Parameters

b	Indicates whether there is a normal.

Definition at line 581 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::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 Isis::ShapeModel::hasIntersection(), m_intercept, Isis::ShapeModel::normal(), Isis::BulletClosestRayCallback::normal(), Isis::IException::Programmer, and Isis::ShapeModel::setNormal().

Referenced by calculateLocalNormal().

◆ setName()

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

protectedinherited

Sets the shape name.

Parameters

name	The name of the ShapeModel.

Definition at line 532 of file ShapeModel.cpp.

Referenced by BulletShapeModel(), Isis::DemShape::DemShape(), Isis::EllipsoidShape::EllipsoidShape(), Isis::EmbreeShapeModel::EmbreeShapeModel(), Isis::EquatorialCylindricalShape::EquatorialCylindricalShape(), Isis::NaifDskShape::NaifDskShape(), and Isis::PlaneShape::PlaneShape().

◆ setNormal() [1/2]

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

a	First coordinate value for the three dimensional surface normal.
b	Second coordinate value for the three dimensional surface normal.
c	Third coordinate value for the three dimensional surface normal.

Definition at line 512 of file ShapeModel.cpp.

◆ setNormal() [2/2]

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

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

normal Three dimensional surface normal vector.

Definition at line 487 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), calculateSurfaceNormal(), Isis::EmbreeShapeModel::calculateSurfaceNormal(), Isis::NaifDskShape::calculateSurfaceNormal(), Isis::EmbreeShapeModel::incidenceAngle(), Isis::PlaneShape::intersectSurface(), setLocalNormalFromIntercept(), Isis::NaifDskShape::setLocalNormalFromIntercept(), Isis::EmbreeShapeModel::updateIntersection(), and updateShapeModel().

◆ 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

surfacePoint The 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

tolerance The 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

hits	The hits callback to sort hits from
sortPoint	The 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()

SurfacePoint * Isis::ShapeModel::surfaceIntersection ( ) const

inherited

Returns the surface intersection for this ShapeModel.

Returns: SurfacePoint Three dimensional position for the surface intersection, in body-fixed coordinate system.

Definition at line 358 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::DemShape::calculateLocalNormal(), Isis::EllipsoidShape::calculateLocalNormal(), Isis::Sensor::Coordinate(), ellipsoidNormal(), Isis::EmbreeShapeModel::ellipsoidNormal(), Isis::NaifDskShape::ellipsoidNormal(), Isis::PlaneShape::emissionAngle(), Isis::Sensor::GetLatitude(), Isis::Sensor::GetLongitude(), Isis::Sensor::GetSurfacePoint(), Isis::PlaneShape::incidenceAngle(), Isis::DemShape::intersectSurface(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), Isis::EmbreeShapeModel::isVisibleFrom(), Isis::Sensor::LocalRadius(), Isis::PlaneShape::localRadius(), Isis::Sensor::SetGroundLocal(), Isis::Sensor::SlantDistance(), and Isis::Sensor::SolarDistance().

◆ 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 465 of file ShapeModel.cpp.

Referenced by Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateLocalNormal(), ellipsoidNormal(), Isis::EmbreeShapeModel::ellipsoidNormal(), Isis::NaifDskShape::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

result The 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::ShapeModel::normal(), Isis::BulletClosestRayCallback::normal(), Isis::BulletClosestRayCallback::point(), Isis::ShapeModel::setHasNormal(), Isis::ShapeModel::setNormal(), and Isis::ShapeModel::setSurfacePoint().

Referenced by clearSurfacePoint(), and intersectSurface().

Member Data Documentation

◆ m_hasEllipsoidIntersection

bool Isis::ShapeModel::m_hasEllipsoidIntersection

privateinherited

Indicates the ellipsoid was successfully intersected.

Definition at line 171 of file ShapeModel.h.

◆ m_hasIntersection

bool Isis::ShapeModel::m_hasIntersection

privateinherited

indicates good intersection exists

Definition at line 172 of file ShapeModel.h.

◆ m_hasNormal

bool Isis::ShapeModel::m_hasNormal

privateinherited

indicates normal has been computed

Definition at line 173 of file ShapeModel.h.

◆ m_intercept

BulletClosestRayCallback Isis::BulletShapeModel::m_intercept

private

! Tolerance of occlusion check in kilometers.

Definition at line 92 of file BulletShapeModel.h.

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

◆ m_normal

std::vector<double> Isis::ShapeModel::m_normal

privateinherited

Local normal of current intersection point.

Definition at line 174 of file ShapeModel.h.

◆ m_surfacePoint

SurfacePoint* Isis::ShapeModel::m_surfacePoint

privateinherited

< Name of the shape

Current intersection point

Definition at line 176 of file ShapeModel.h.

◆ m_tolerance

double Isis::BulletShapeModel::m_tolerance

private

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

Definition at line 90 of file BulletShapeModel.h.

Referenced by getTolerance(), and setTolerance().

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

src/base/objs/BulletShapeModel/BulletShapeModel.h
src/base/objs/BulletShapeModel/BulletShapeModel.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletShapeModel() [1/4]

◆ BulletShapeModel() [2/4]

◆ BulletShapeModel() [3/4]

◆ BulletShapeModel() [4/4]

◆ ~BulletShapeModel()

Member Function Documentation

◆ calculateDefaultNormal()

◆ calculateEllipsoidalSurfaceNormal()

◆ calculateLocalNormal()

◆ calculateSurfaceNormal()

◆ castLookDir()

◆ clearSurfacePoint()

◆ ellipsoidNormal()

◆ emissionAngle()

◆ getTolerance()

◆ hasEllipsoidIntersection()

◆ hasIntersection()

◆ hasNormal()

◆ hasValidTarget()

◆ incidenceAngle()

◆ Initialize()

◆ intersectEllipsoid()

◆ intersectSurface() [1/3]

◆ intersectSurface() [2/3]

◆ intersectSurface() [3/3]

◆ isDEM()

◆ isOccluded()

◆ isVisibleFrom()

◆ latlonToVector()

◆ localRadius()

◆ makeSurfacePoint()

◆ maxDistance()

◆ model()

◆ name()

◆ normal()

◆ phaseAngle()

◆ pointToVector()

◆ resolution()

◆ setHasIntersection()

◆ setHasNormal()

◆ setLocalNormalFromIntercept()

◆ setName()

◆ setNormal() [1/2]

◆ setNormal() [2/2]

◆ setSurfacePoint()

◆ setTolerance()

◆ sortHits()

◆ surfaceIntersection()

◆ targetRadii()

◆ updateShapeModel()

Member Data Documentation

◆ m_hasEllipsoidIntersection

◆ m_hasIntersection

◆ m_hasNormal

◆ m_intercept

◆ m_normal

◆ m_surfacePoint

◆ m_tolerance