Unigine::Plugins::IG::Converter Class

Warning

The functionality described in this article is not available in the Community SDK edition.
You should upgrade to Sim SDK edition to use it.

Header:

#include <plugins/UnigineIG.h>

This utility class is used to perform conversions between different coordinate systems for the IG (e.g. ENU <-> NED, Euler rotation <-> quaternion, etc.).

Notice

IG plugin must be loaded.

Methods:

Name	Description View: Sort by:
setCoordinateSystem	Sets the specified coordinate system to be used.
getCoordinateSystem	Returns the currently used coordinate system.
worldToGeodetic	Returns geodetic coordinates of a point with the specified world coordinates.
geodeticToWorld	Returns world coordinates of a point with the specified geodetic coordinates.
ENUtoNED	Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).
NEDtoENU	Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).
IGtoENU	Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).
ENUtoIG	Converts the coordinates of a point specified in the ENU (East-North-Up) system to IG.
ENUtoNED	Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).
NEDtoENU	Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).
IGtoENU	Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).
ENUtoIG	Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).
getZeroRotation	Returns the zero-rotation for the specified target geodetic position.
getZeroUpDirection	Returns the zero "up"-vector coordinates for the specified target geodetic position.
getZeroBasis	Returns the whole zero basis for the specified target geodetic position.
eulerENUToRotation	Converts the specified Euler rotation vector in ENU (East-North-Up) coordinates to a rotation quaternion.
eulerNEDToRotation	Converts the specified Euler rotation vector in NED (North-East-Down) coordinates to a rotation quaternion.
eulerIGToRotation	Converts the specified Euler rotation vector in IG coordinates to a rotation quaternion.
rotationToEulerENU	Converts the specified rotation quaternion to Euler rotation vector in ENU (East-North-Up) coordinates.
rotationToEulerNED	Converts the specified rotation quaternion to Euler rotation vector in NED (North-East-Down) coordinates.
rotationToEulerIG	Converts the specified rotation quaternion to Euler rotation vector in IG coordinates.

Converter Class

Enums

COORDINATE_SYSTEM#

Name	Description
COORDINATE_SYSTEM::ENU = 0	ENU (East-North-Up) coordinate system. X - right, Y - front, Z - up, default in Unigine. Rotation order: Z -> X -> Y (Yaw-Roll-Pitch)
COORDINATE_SYSTEM::NED = 1	NED (North-East-Down) coordinate system. X - front, Y - right, Z - down, default in Unigine. Rotation order: Z -> Y -> X (Yaw-Pitch-Roll)

Members

Math::dvec3 worldToGeodetic ( const Math::dvec3& world_pos ) #

Returns geodetic coordinates of a point with the specified world coordinates.

Arguments

const Math::dvec3& world_pos - World coordinates of the point to be converted (X, Y, Z).

Return value

Geodetic coordinates of the point (lat, lon, alt).

Math::dvec3 geodeticToWorld ( const Math::dvec3& geo_pos ) const#

Returns world coordinates of a point with the specified geodetic coordinates.

Arguments

const Math::dvec3& geo_pos - Geodetic coordinates of the point to be converted (lat, lon, alt).

Return value

World coordinates of the point (X, Y, Z).

Math::dvec3 ENUtoNED ( const Math::dvec3& enu_pos ) const#

Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).

Arguments

const Math::dvec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.

Return value

Coordinates of the point in the NED (North-East-Down) system.

Math::dvec3 NEDtoENU ( const Math::dvec3& ned_pos ) const#

Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).

Arguments

const Math::dvec3& ned_pos - Coordinates of a point in the NED (North-East-Down) system.

Return value

Coordinates of the point in the ENU (East-North-Up) system.

Math::dvec3 IGtoENU ( const Math::dvec3& ig_pos ) const#

Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).

Arguments

const Math::dvec3& ig_pos - Coordinates of the point in the IG system.

Return value

Coordinates of a point in the ENU (East-North-Up) system.

Math::dvec3 ENUtoIG ( const Math::dvec3& enu_pos ) const#

Converts the coordinates of a point specified in the ENU (East-North-Up) system to IG.

Arguments

const Math::dvec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.

Return value

Coordinates of the point in the IG system.

Math::vec3 ENUtoNED ( const Math::vec3& enu_pos ) const#

Converts the coordinates of a point specified in the ENU (East-North-Up) system to NED (North-East-Down).

Arguments

const Math::vec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.

Return value

Coordinates of the point in the NED (North-East-Down) system.

Math::vec3 NEDtoENU ( const Math::vec3& ned_pos ) const#

Converts the coordinates of a point specified in the NED (North-East-Down) system to ENU (East-North-Up).

Arguments

const Math::vec3& ned_pos - Coordinates of the point in the NED (North-East-Down) system.

Return value

Coordinates of a point in the ENU (East-North-Up) system.

Math::vec3 IGtoENU ( const Math::vec3& ig_pos ) const#

Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).

Arguments

const Math::vec3& ig_pos - Coordinates of the point in the IG system.

Return value

Coordinates of a point in the ENU (East-North-Up) system.

Math::vec3 ENUtoIG ( const Math::vec3& enu_pos ) const#

Converts the coordinates of a point specified in the IG system to ENU (East-North-Up).

Arguments

const Math::vec3& enu_pos - Coordinates of a point in the ENU (East-North-Up) system.

Return value

Coordinates of the point in the IG system.

Math::quat getZeroRotation ( const Math::dvec3& geo_pos ) const#

Returns the zero-rotation for the specified target geodetic position.

Notice

Unigine uses ENU orientation!

final_rotation = zero_rotation * entity_local_rotation
entity_local_rotation = final_rotation * inverse(zero_rotation)

Arguments

const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).

Return value

Zero-rotation quaternion for the specified target geodetic position.

Math::vec3& getZeroUpDirection ( const Math::dvec3& geo_pos ) const#

Returns the zero "up"-vector coordinates for the specified target geodetic position.

Arguments

const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).

Return value

Zero "up"-vector coordinates for the specified target geodetic position.

Math::dmat4 getZeroBasis ( const Math::dvec3& geo_pos ) const#

Returns the whole zero basis for the specified target geodetic position.

Arguments

const Math::dvec3& geo_pos - Target geodetic position coordinates (lat, lon, alt).

Return value

Zero basis for the specified target geodetic position.

Math::quat eulerENUToRotation ( const Math::vec3& euler ) const#

Converts the specified Euler rotation vector in ENU (East-North-Up) coordinates to a rotation quaternion.

Notice

Unigine uses ENU orientation!

Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)

final_rotation = zero_rotation * entity_local_rotation
entity_local_rotation = final_rotation * inverse(zero_rotation)

Arguments

const Math::vec3& euler - Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.

Return value

Rotation quaternion.

Math::quat eulerNEDToRotation ( const Math::vec3& euler ) const#

Converts the specified Euler rotation vector in NED (North-East-Down) coordinates to a rotation quaternion.

Notice

Unigine uses ENU orientation!

Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)

final_rotation = zero_rotation * entity_local_rotation
entity_local_rotation = final_rotation * inverse(zero_rotation)

Arguments

const Math::vec3& euler - Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.

Return value

Rotation quaternion.

Math::quat eulerIGToRotation ( const Math::vec3& euler ) const#

Converts the specified Euler rotation vector in IG coordinates to a rotation quaternion.

Arguments

const Math::vec3& euler - Vector representing Euler rotation (roll, pitch, yaw) in IG coordinates.

Return value

Rotation quaternion.

Math::vec3 rotationToEulerENU ( const Math::quat& rotation ) const#

Converts the specified rotation quaternion to Euler rotation vector in ENU (East-North-Up) coordinates.

Notice

Unigine uses ENU orientation!

Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)

final_rotation = zero_rotation * entity_local_rotation
entity_local_rotation = final_rotation * inverse(zero_rotation)

Arguments

const Math::quat& rotation - Rotation quaternion.

Return value

Vector representing rotation (roll, pitch, yaw) in ENU (East-North-Up) coordinates.

Math::vec3 rotationToEulerNED ( const Math::quat& rotation ) const#

Converts the specified rotation quaternion to Euler rotation vector in NED (North-East-Down) coordinates.

Notice

Unigine uses ENU orientation!

Axis order: Yaw -> Pitch -> Roll (ENU: Z -> X -> Y, NED: Z -> Y -> X)

final_rotation = zero_rotation * entity_local_rotation
entity_local_rotation = final_rotation * inverse(zero_rotation)

Arguments

const Math::quat& rotation - Rotation quaternion.

Return value

Vector representing Euler rotation (roll, pitch, yaw) in NED (North-East-Down) coordinates.

Math::vec3 rotationToEulerIG ( const Math::quat& rotation ) const#

Converts the specified rotation quaternion to Euler rotation vector in IG coordinates.

Arguments

const Math::quat& rotation - Rotation quaternion.

Return value

Vector representing Euler rotation (roll, pitch, yaw) in IG coordinates.

void setCoordinateSystem ( Converter::COORDINATE_SYSTEM coord_system ) #

Sets the specified coordinate system to be used.

Arguments

Converter::COORDINATE_SYSTEM coord_system - Coordinate system to be set. One of the COORDINATE_SYSTEM::* values.

Converter::COORDINATE_SYSTEM getCoordinateSystem ( ) const#

Returns the currently used coordinate system.

Return value

Coordinate system currently used.

Last update: 2021-12-13

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