Unigine::GeodeticPivot Class

Warning

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

Header:	#include <UnigineGeodetics.h>
Inherits from:	Node

This class is used to create and modify a geodetic pivot object that is used to place world objects on their real world positions (latitude, longitude and altitude). The geodetic pivot contains an ellipsoid with a pivot point.

Notice

In UNIGINE SDK editions other than Engineering and Sim, the geodetic pivot object is equivalent to NodeDummy.

Methods:

Name	Description View: Sort by:
*create*	GeodeticPivot constructor.
setOrigin	Sets a new position (latitude, longitude and altitude) on the ellipsoid.
getOrigin	Returns the position (latitude, longitude and altitude) on the ellipsoid.
setOriginBasis	Sets a new origin basis for the GeodeticPivot object.
getOriginBasis	Returns the origin basis set for the GeodeticPivot object: If ORIGIN_BASIS_LOCAL is set, the binding to geo-coordinates is disabled.
setEllipsoid	Sets an Ellipsoid to be used for the Geodetic Pivot.
getEllipsoid	Returns the Ellipsoid currently used by the Geodetic Pivot.
mapEllipsoidToFlat	Maps ellipsoid coordinates of a point to flat plane coordinates (using latitude and longitude as X and Y coordinates and altitude as Z).
mapFlatToEllipsoid	Maps flat plane coordinates to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).
mapFlatToGeodetic	Maps flat plane coordinates to geodetic latitude / longitude / altitude coordinates according to pivot's origin.
mapFlatsToGeodetic	Pefrorms batch mapping of flat plane coordinates to geodetic latitude / longitude coordinates according to pivot's origin and puts the result to the corresponding output arrays.
mapGeodeticToFlat	Maps geodetic latitude / longitude / altitude coordinates to flat plane coordinates according to pivot's latitude / longitude / altitude origin.
mapGeodeticsToFlat	Pefrorms batch mapping of geodetic latitude / longitude coordinates to flat plane coordinates according to pivot's latitude / longitude origin and puts the result to the corresponding output arrays.
mapMeshEllipsoidToFlat	Maps a curved mesh to the flat plane (using latitude / longitude / altitude as X / Y / Z coordinates).
mapMeshFlatToEllipsoid	Maps a flat mesh to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).
toGeodetic	Returns geodetic coordinates for a given world transformation matrix.
toWorld	Returns world transformation matrix for given geodetic coordinates.
toWorldPreserveRotation	Returns new world transformation matrix preserving rotation relative to normal.
type	Returns the type of the object.

Variables:

Name	Description
ORIGIN_BASIS_ENU = 1	The origin basis East - North - Up (Earth-Centric) is used for the GeodeticPivot object. It is used to place the pivot to the world ECF position with ENU orientation according to latitude / longitude / altitude. The position of the GeodeticPivot object is blocked when this basis is used. Notice The Up-axis (Z+) direction in ENU points upward along the ellipsoid normal, while in UNIGINE implementation of ENU it goes from the Earth's center.
ORIGIN_BASIS_LOCAL = 0	The local (X - Y - Z) origin basis is used for the GeodeticPivot object. The pivot doesn't bind to geo-coordinates and can be placed anywhere.

Name

Description

ORIGIN_BASIS_ENU = 1

The origin basis East - North - Up (Earth-Centric) is used for the GeodeticPivot object. It is used to place the pivot to the world ECF position with ENU orientation according to latitude / longitude / altitude. The position of the GeodeticPivot object is blocked when this basis is used.

NoticeThe Up-axis (Z+) direction in ENU points upward along the ellipsoid normal, while in UNIGINE implementation of ENU it goes from the Earth's center.

ORIGIN_BASIS_LOCAL = 0

The local (X - Y - Z) origin basis is used for the GeodeticPivot object. The pivot doesn't bind to geo-coordinates and can be placed anywhere.

GeodeticPivot Class

Members

static GeodeticPivotPtr create ( ) #

GeodeticPivot constructor. Creates a GeodeticPivot instance with the default settings:

The origin is set to dvec3(0.0,0.0,0.0).
The size of the curving region is 2048000×2048000 km.
The resolution of the region texture is 2048.

void setEllipsoid ( const Ptr<Ellipsoid> & ellipsoid ) #

Sets an Ellipsoid to be used for the Geodetic Pivot.

NoticeModifying the ellipsoid of the Geodetic Pivot directly makes the pivot's state inconsistent. You should force the GeodeticPivot node to update its internal state according to the modified ellipsoid by setting it via the setEllipsoid() method.

Source code (C++)

// Creating a new geodetic pivot
GeodeticPivotPtr pivot = GeodeticPivot::create();

// setting the local (X - Y - Z) origin basis for it
pivot->setOriginBasis(GeodeticPivot::ORIGIN_BASIS_LOCAL);

// getting an ellipsoid currently used by the geodetic pivot
EllipsoidPtr ellipsoid = pivot->getEllipsoid();

// setting a fast calculation mode for the ellipsoid
ellipsoid->setMode(Ellipsoid::MODE_FAST);

// setting a new semimajor axis for the ellipsoid
ellipsoid->setSemimajorAxis(6378137.0f - 500.0f);

/* ... */

// force updating the geodetic pivot according to the modified ellipsoid
pivot->setEllipsoid(ellipsoid);

Arguments

const Ptr<Ellipsoid> & ellipsoid - Ellipsoid to be set.

Ptr<Ellipsoid> getEllipsoid ( ) #

Returns the Ellipsoid currently used by the Geodetic Pivot.

Notice

Modifying the ellipsoid of the Geodetic Pivot directly makes the pivot's state inconsistent. You should force the GeodeticPivot node to update its internal state according to the modified ellipsoid by setting it via the setEllipsoid() method.

Source code (C++)

// Creating a new geodetic pivot
GeodeticPivotPtr pivot = GeodeticPivot::create();

// setting the local (X - Y - Z) origin basis for it
pivot->setOriginBasis(GeodeticPivot::ORIGIN_BASIS_LOCAL);

// getting an ellipsoid currently used by the geodetic pivot
EllipsoidPtr ellipsoid = pivot->getEllipsoid();

// setting a fast calculation mode for the ellipsoid
ellipsoid->setMode(Ellipsoid::MODE_FAST);

// setting a new semimajor axis for the ellipsoid
ellipsoid->setSemimajorAxis(6378137.0f - 500.0f);

/* ... */

// force updating the geodetic pivot according to the modified ellipsoid
pivot->setEllipsoid(ellipsoid);

Return value

Ellipsoid currently used by the Geodetic Pivot.

void setOrigin ( const Math::dvec3 & origin ) #

Sets a new position (latitude, longitude and altitude) on the ellipsoid.

Source code (C++)

// the GeodeticPivot will use WGS84 reference ellipsoid by default
GeodeticPivotPtr pivot = GeodeticPivot::create();
// update the origin
dvec3 new_york_origin = dvec3(40.71427,-74.00597,57.0);
pivot->setOrigin(new_york_origin);
ObjectMeshStaticPtr flat_new_york_ground = ObjectMeshStatic::create("flat_new_york_ground.mesh");
pivot->addChild(flat_new_york_ground); // the mesh will be bent once ObjectMeshStatic become a child of GeodeticPivot

Arguments

const Math::dvec3 & origin - Origin vector in ellipsoid coordinates.

Math::dvec3 getOrigin ( ) #

Returns the position (latitude, longitude and altitude) on the ellipsoid.

Return value

Origin vector in ellipsoid coordinates.

void setOriginBasis ( int basis ) #

Sets a new origin basis for the GeodeticPivot object:

If ORIGIN_BASIS_LOCAL is set, the binding to geo-coordinates is disabled. GeodeticPivot can be placed everywhere.
If ORIGIN_BASIS_ENU is set, GeodeticPivot is placed to the world ECF position with ENU (East - North - Up) orientation according to the given latitude / longitude / altitude. The GeodeticPivot position is blocked.
Notice
The Up-axis (Z+) direction in ENU points upward along the ellipsoid normal, while in UNIGINE implementation of ENU it goes from the Earth's center.

Arguments

int basis - One of the ORIGIN_BASIS_* variables.

int getOriginBasis ( ) #

Returns the origin basis set for the GeodeticPivot object:

If ORIGIN_BASIS_LOCAL is set, the binding to geo-coordinates is disabled. GeodeticPivot can be placed everywhere.
If ORIGIN_BASIS_ENU is set, GeodeticPivot is placed to the world ECF position with ENU (East - North - Up) orientation according to the given latitude / longitude / altitude. The GeodeticPivot position is blocked.
Notice
The Up-axis (Z+) direction in ENU points upward along the ellipsoid normal, while in UNIGINE implementation of ENU it goes from the Earth's center.

Return value

One of the ORIGIN_BASIS_* variables.

void mapEllipsoidToFlat ( const Math::vec3 & ellipsoid_point, Math::vec3 & ret_flat_point, Math::vec3 & ret_ellipsoid_normal ) #

Maps ellipsoid coordinates of a point to flat plane coordinates (using latitude and longitude as X and Y coordinates and altitude as Z).

Arguments

const Math::vec3 & ellipsoid_point - Ellipsoid coordinates of the point
Math::vec3 & ret_flat_point - Flat plane coordinates of the point.
Math::vec3 & ret_ellipsoid_normal - Ellipsoid point normal coordinates.

void mapEllipsoidToFlat ( const Math::dvec3 & ellipsoid_point, Math::dvec3 & ret_flat_point, Math::dvec3 & ret_ellipsoid_normal ) #

Maps ellipsoid coordinates of a point to flat plane coordinates (using latitude and longitude as X and Y coordinates and altitude as Z).

Arguments

const Math::dvec3 & ellipsoid_point - Ellipsoid coordinates of the point
Math::dvec3 & ret_flat_point - Flat plane coordinates of the point.
Math::dvec3 & ret_ellipsoid_normal - Ellipsoid point normal coordinates.

Math::mat4 mapEllipsoidToFlat ( const Math::mat4 & ellipsoid_transform ) #

Maps ellipsoid transformation to the flat plane transformation (using latitude and longitude as X and Y coordinates and altitude as Z).

Arguments

const Math::mat4 & ellipsoid_transform - Ellipsoid transformation.

Return value

Flat plane transformation.

Math::dmat4 mapEllipsoidToFlat ( const Math::dmat4 & ellipsoid_transform ) #

Maps ellipsoid transformation to the flat plane transformation (using latitude and longitude as X and Y coordinates and altitude as Z).

Arguments

const Math::dmat4 & ellipsoid_transform - Ellipsoid transformation.

Return value

Flat plane transformation.

void mapFlatToEllipsoid ( const Math::vec3 & flat_point, Math::vec3 & ret_ellipsoid_point, Math::vec3 & ret_ellipsoid_normal ) #

Maps flat plane coordinates to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

const Math::vec3 & flat_point - Flat plane coordinates of the point.
Math::vec3 & ret_ellipsoid_point - Ellipsoid coordinates of the point
Math::vec3 & ret_ellipsoid_normal - Ellipsoid point normal coordinates.

void mapFlatToEllipsoid ( const Math::dvec3 & flat_point, Math::dvec3 & ret_ellipsoid_point, Math::dvec3 & ret_ellipsoid_normal ) #

Maps flat plane coordinates to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

const Math::dvec3 & flat_point - Flat plane coordinates of the point.
Math::dvec3 & ret_ellipsoid_point - Ellipsoid coordinates of the point
Math::dvec3 & ret_ellipsoid_normal - Ellipsoid point normal coordinates.

Math::mat4 mapFlatToEllipsoid ( const Math::mat4 & flat_transform ) #

Maps flat plane transformation to the ellipsoid transformation (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

const Math::mat4 & flat_transform - Flat plane transformation.

Return value

Ellipsoid transformation.

Math::dmat4 mapFlatToEllipsoid ( const Math::dmat4 & flat_transform ) #

Maps flat plane transformation to the ellipsoid transformation (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

const Math::dmat4 & flat_transform - Flat plane transformation.

Return value

Ellipsoid transformation.

Math::dvec3 mapFlatToGeodetic ( const Math::dvec3 & flat_point ) #

Maps flat plane coordinates to geodetic latitude / longitude / altitude coordinates according to pivot's origin.

Arguments

const Math::dvec3 & flat_point - Flat plane coordinates.

Return value

Geodetic coordinates.

Math::dvec3 mapFlatToGeodetic ( const Math::vec3 & flat_point ) #

Maps flat plane coordinates to geodetic latitude / longitude / altitude coordinates according to pivot's origin.

Arguments

const Math::vec3 & flat_point - Flat plane coordinates.

Return value

Geodetic coordinates.

void mapFlatsToGeodetic ( const double * src_x, const double * src_y, int size, double * ret_lat, double * ret_lon ) #

Pefrorms batch mapping of flat plane coordinates to geodetic latitude / longitude coordinates according to pivot's origin and puts the result to the corresponding output arrays.

Arguments

const double * src_x - Array of flat plane X coordinates.
const double * src_y - Array of flat plane Y coordinates.
int size - Array size.
double * ret_lat - Output array of geodetic latitude coordinates.
double * ret_lon - Output array of geodetic longitude coordinates.

Math::dvec3 mapGeodeticToFlat ( const Math::dvec3 & geodetic_coords ) #

Maps geodetic latitude / longitude / altitude coordinates to flat plane coordinates according to pivot's latitude / longitude / altitude origin.

Arguments

const Math::dvec3 & geodetic_coords - Geodetic coordinates.

Return value

Flat plane coordinates.

void mapGeodeticsToFlat ( const double * lat, const double * lon, int size, double * ret_x, double * ret_y ) #

Pefrorms batch mapping of geodetic latitude / longitude coordinates to flat plane coordinates according to pivot's latitude / longitude origin and puts the result to the corresponding output arrays.

Arguments

const double * lat - Array of geodetic latitude coordinates.
const double * lon - Array of geodetic longitude coordinates.
int size - Array size.
double * ret_x - Output array of flat plane X coordinates.
double * ret_y - Output array of flat plane Y coordinates.

Math::mat4 mapMeshEllipsoidToFlat ( Ptr<Mesh> & mesh, const Math::mat4 & ellipsoid_transform ) #

Maps a curved mesh to the flat plane (using latitude / longitude / altitude as X / Y / Z coordinates).

Arguments

Ptr<Mesh> & mesh - Mesh to be mapped.
const Math::mat4 & ellipsoid_transform - Mesh ellipsoid transformation.

Return value

Position on the flat plane, where the node is to be placed.

Math::dmat4 mapMeshEllipsoidToFlat ( Ptr<Mesh> & mesh, const Math::dmat4 & ellipsoid_transform ) #

Maps a curved mesh to the flat plane (using latitude / longitude / altitude as X / Y / Z coordinates).

Arguments

Ptr<Mesh> & mesh - Mesh to be mapped.
const Math::dmat4 & ellipsoid_transform - Mesh ellipsoid transformation.

Return value

Position on the flat plane, where the node is to be placed.

Math::mat4 mapMeshFlatToEllipsoid ( Ptr<Mesh> & mesh, const Math::mat4 & flat_transform ) #

Maps a flat mesh to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

Ptr<Mesh> & mesh - Mesh to be mapped.
const Math::mat4 & flat_transform - Mesh flat plane transformation.

Return value

Position on the ellipsoid, where the node is to be placed.

Math::dmat4 mapMeshFlatToEllipsoid ( Ptr<Mesh> & mesh, const Math::dmat4 & flat_transform ) #

Maps a flat mesh to the ellipsoid (uses X and Y coordinates as latitude and longitude, and Z as altitude).

Arguments

Ptr<Mesh> & mesh - Mesh to be mapped.
const Math::dmat4 & flat_transform - Mesh flat plane transformation.

Return value

Position on the ellipsoid, where the node is to be placed.

Math::dvec3 toGeodetic ( const Math::mat4 & world_transform ) #

Returns geodetic coordinates for a given world transformation matrix.

Arguments

const Math::mat4 & world_transform - World transformation.

Return value

Geodetic coordinates.

Math::dvec3 toGeodetic ( const Math::dmat4 & world_transform ) #

Returns geodetic coordinates for a given world transformation matrix.

Arguments

const Math::dmat4 & world_transform - World transformation.

Return value

Geodetic coordinates.

Math::dmat4 toWorld ( const Math::dvec3 & geodetic_coords ) #

Returns world transformation matrix for given geodetic coordinates.

Arguments

const Math::dvec3 & geodetic_coords - Geodetic coordinates.

Return value

World transformation.

Math::mat4 toWorldPreserveRotation ( const Math::mat4 & world_transform, const Math::dvec3 & geodetic_coords ) #

Returns new world transformation matrix preserving rotation relative to normal.

Arguments

const Math::mat4 & world_transform - World transformation.
const Math::dvec3 & geodetic_coords - Geodetic coordinates.

Return value

New world transformation.

Math::dmat4 toWorldPreserveRotation ( const Math::dmat4 & world_transform, const Math::dvec3 & geodetic_coords ) #

Returns new world transformation matrix preserving rotation relative to normal.

Arguments

const Math::dmat4 & world_transform - World transformation.
const Math::dvec3 & geodetic_coords - Geodetic coordinates.

Return value

New world transformation.

static int type ( ) #

Returns the type of the object.

Return value

GeodeticPivot type identifier.

Last update: 13.12.2021

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Unigine::GeodeticPivot Class

See also#

Methods:

Variables:

GeodeticPivot Class

Members

static GeodeticPivotPtr create ( ) #

void setEllipsoid ( const Ptr<Ellipsoid> & ellipsoid ) #

Arguments

Ptr<Ellipsoid> getEllipsoid ( ) #

Return value

void setOrigin ( const Math::dvec3 & origin ) #

Arguments

Math::dvec3 getOrigin ( ) #

Return value

void setOriginBasis ( int basis ) #

Arguments

int getOriginBasis ( ) #

Return value

void mapEllipsoidToFlat ( const Math::vec3 & ellipsoid_point, Math::vec3 & ret_flat_point, Math::vec3 & ret_ellipsoid_normal ) #

Arguments

void mapEllipsoidToFlat ( const Math::dvec3 & ellipsoid_point, Math::dvec3 & ret_flat_point, Math::dvec3 & ret_ellipsoid_normal ) #

Arguments

Math::mat4 mapEllipsoidToFlat ( const Math::mat4 & ellipsoid_transform ) #

Arguments

Return value

Math::dmat4 mapEllipsoidToFlat ( const Math::dmat4 & ellipsoid_transform ) #

Arguments

Return value

void mapFlatToEllipsoid ( const Math::vec3 & flat_point, Math::vec3 & ret_ellipsoid_point, Math::vec3 & ret_ellipsoid_normal ) #

Arguments

void mapFlatToEllipsoid ( const Math::dvec3 & flat_point, Math::dvec3 & ret_ellipsoid_point, Math::dvec3 & ret_ellipsoid_normal ) #

Arguments

Math::mat4 mapFlatToEllipsoid ( const Math::mat4 & flat_transform ) #

Arguments

Return value

Math::dmat4 mapFlatToEllipsoid ( const Math::dmat4 & flat_transform ) #

Arguments

Return value

Math::dvec3 mapFlatToGeodetic ( const Math::dvec3 & flat_point ) #

Arguments

Return value

Math::dvec3 mapFlatToGeodetic ( const Math::vec3 & flat_point ) #

Arguments

Return value

void mapFlatsToGeodetic ( const double * src_x, const double * src_y, int size, double * ret_lat, double * ret_lon ) #

Arguments

Math::dvec3 mapGeodeticToFlat ( const Math::dvec3 & geodetic_coords ) #

Arguments

Return value

void mapGeodeticsToFlat ( const double * lat, const double * lon, int size, double * ret_x, double * ret_y ) #

Arguments

Math::mat4 mapMeshEllipsoidToFlat ( Ptr<Mesh> & mesh, const Math::mat4 & ellipsoid_transform ) #

Arguments

Return value

Math::dmat4 mapMeshEllipsoidToFlat ( Ptr<Mesh> & mesh, const Math::dmat4 & ellipsoid_transform ) #

Arguments

Return value

Math::mat4 mapMeshFlatToEllipsoid ( Ptr<Mesh> & mesh, const Math::mat4 & flat_transform ) #

Arguments

Return value

Math::dmat4 mapMeshFlatToEllipsoid ( Ptr<Mesh> & mesh, const Math::dmat4 & flat_transform ) #

Arguments

Return value

Math::dvec3 toGeodetic ( const Math::mat4 & world_transform ) #

Arguments

Return value

Math::dvec3 toGeodetic ( const Math::dmat4 & world_transform ) #

Arguments

Return value

Math::dmat4 toWorld ( const Math::dvec3 & geodetic_coords ) #

Arguments

Return value

Math::mat4 toWorldPreserveRotation ( const Math::mat4 & world_transform, const Math::dvec3 & geodetic_coords ) #

Arguments

Return value

Math::dmat4 toWorldPreserveRotation ( const Math::dmat4 & world_transform, const Math::dvec3 & geodetic_coords ) #

Arguments

Return value

static int type ( ) #