| Heading: ° | +
| ← to left/→ to right | +
| Pitch: ° | +
| ↑ to up/↓ to down | +
| roll: ° | +
| ← + ⇧ left/→ + ⇧ right | +
| Speed: m/s | +
| ↑ + ⇧ to speed up/↓ + ⇧ to speed down | +
| following aircraft + + | +
true if they are equal, false otherwise.
+ *
+ * @param {HeadingPitchRoll} [left] The first HeadingPitchRoll.
+ * @param {HeadingPitchRoll} [right] The second HeadingPitchRoll.
+ * @returns {Boolean} true if left and right are equal, false otherwise.
+ */
+ HeadingPitchRoll.equals = function(left, right) {
+ return (left === right) ||
+ ((defined(left)) &&
+ (defined(right)) &&
+ (left.heading === right.heading) &&
+ (left.pitch === right.pitch) &&
+ (left.roll === right.roll));
+ };
+
+ /**
+ * Compares the provided HeadingPitchRolls componentwise and returns
+ * true if they pass an absolute or relative tolerance test,
+ * false otherwise.
+ *
+ * @param {HeadingPitchRoll} [left] The first HeadingPitchRoll.
+ * @param {HeadingPitchRoll} [right] The second HeadingPitchRoll.
+ * @param {Number} relativeEpsilon The relative epsilon tolerance to use for equality testing.
+ * @param {Number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
+ * @returns {Boolean} true if left and right are within the provided epsilon, false otherwise.
+ */
+ HeadingPitchRoll.equalsEpsilon = function(left, right, relativeEpsilon, absoluteEpsilon) {
+ return (left === right) ||
+ (defined(left) &&
+ defined(right) &&
+ CesiumMath.equalsEpsilon(left.heading, right.heading, relativeEpsilon, absoluteEpsilon) &&
+ CesiumMath.equalsEpsilon(left.pitch, right.pitch, relativeEpsilon, absoluteEpsilon) &&
+ CesiumMath.equalsEpsilon(left.roll, right.roll, relativeEpsilon, absoluteEpsilon));
+ };
+
+ /**
+ * Duplicates this HeadingPitchRoll instance.
+ *
+ * @param {HeadingPitchRoll} [result] The object onto which to store the result.
+ * @returns {HeadingPitchRoll} The modified result parameter or a new HeadingPitchRoll instance if one was not provided.
+ */
+ HeadingPitchRoll.prototype.clone = function(result) {
+ return HeadingPitchRoll.clone(this, result);
+ };
+
+ /**
+ * Compares this HeadingPitchRoll against the provided HeadingPitchRoll componentwise and returns
+ * true if they are equal, false otherwise.
+ *
+ * @param {HeadingPitchRoll} [right] The right hand side HeadingPitchRoll.
+ * @returns {Boolean} true if they are equal, false otherwise.
+ */
+ HeadingPitchRoll.prototype.equals = function(right) {
+ return HeadingPitchRoll.equals(this, right);
+ };
+
+ /**
+ * Compares this HeadingPitchRoll against the provided HeadingPitchRoll componentwise and returns
+ * true if they pass an absolute or relative tolerance test,
+ * false otherwise.
+ *
+ * @param {HeadingPitchRoll} [right] The right hand side HeadingPitchRoll.
+ * @param {Number} relativeEpsilon The relative epsilon tolerance to use for equality testing.
+ * @param {Number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
+ * @returns {Boolean} true if they are within the provided epsilon, false otherwise.
+ */
+ HeadingPitchRoll.prototype.equalsEpsilon = function(right, relativeEpsilon, absoluteEpsilon) {
+ return HeadingPitchRoll.equalsEpsilon(this, right, relativeEpsilon, absoluteEpsilon);
+ };
+
+ /**
+ * Creates a string representing this HeadingPitchRoll in the format '(heading, pitch, roll)' in radians.
+ *
+ * @returns {String} A string representing the provided HeadingPitchRoll in the format '(heading, pitch, roll)'.
+ */
+ HeadingPitchRoll.prototype.toString = function() {
+ return '(' + this.heading + ', ' + this.pitch + ', ' + this.roll + ')';
+ };
+
+ return HeadingPitchRoll;
+});
diff --git a/Source/Core/Matrix3.js b/Source/Core/Matrix3.js
index c6c3e26567cb..a483318f04cc 100644
--- a/Source/Core/Matrix3.js
+++ b/Source/Core/Matrix3.js
@@ -6,6 +6,7 @@ define([
'./defineProperties',
'./DeveloperError',
'./freezeObject',
+ './HeadingPitchRoll',
'./Math'
], function(
Cartesian3,
@@ -14,6 +15,7 @@ define([
defineProperties,
DeveloperError,
freezeObject,
+ HeadingPitchRoll,
CesiumMath) {
'use strict';
@@ -306,6 +308,55 @@ define([
return result;
};
+ /**
+ * Computes a 3x3 rotation matrix from the provided headingPitchRoll. (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
+ *
+ * @param {HeadingPitchRoll} headingPitchRoll the headingPitchRoll to use.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The 3x3 rotation matrix from this headingPitchRoll.
+ */
+ Matrix3.fromHeadingPitchRoll = function(headingPitchRoll, result) {
+ //>>includeStart('debug', pragmas.debug);
+ if (!defined(headingPitchRoll)) {
+ throw new DeveloperError('headingPitchRoll is required');
+ }
+ //>>includeEnd('debug');
+ var cosTheta = Math.cos(-headingPitchRoll.pitch);
+ var cosPsi = Math.cos(-headingPitchRoll.heading);
+ var cosPhi = Math.cos(headingPitchRoll.roll);
+ var sinTheta = Math.sin(-headingPitchRoll.pitch);
+ var sinPsi = Math.sin(-headingPitchRoll.heading);
+ var sinPhi = Math.sin(headingPitchRoll.roll);
+
+ var m00 = cosTheta * cosPsi;
+ var m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;
+ var m02 = sinPhi * sinPsi + cosPhi * sinTheta * cosPsi;
+
+ var m10 = cosTheta * sinPsi;
+ var m11 = cosPhi * cosPsi + sinPhi * sinTheta * sinPsi;
+ var m12 = -sinTheta * cosPhi + cosPhi * sinTheta * sinPsi;
+
+ var m20 = -sinTheta;
+ var m21 = sinPhi * cosTheta;
+ var m22 = cosPhi * cosTheta;
+
+ if (!defined(result)) {
+ return new Matrix3(m00, m01, m02,
+ m10, m11, m12,
+ m20, m21, m22);
+ }
+ result[0] = m00;
+ result[1] = m10;
+ result[2] = m20;
+ result[3] = m01;
+ result[4] = m11;
+ result[5] = m21;
+ result[6] = m02;
+ result[7] = m12;
+ result[8] = m22;
+ return result;
+ };
+
/**
* Computes a Matrix3 instance representing a non-uniform scale.
*
diff --git a/Source/Core/Transforms.js b/Source/Core/Transforms.js
index 74e326d264cf..ec44aedfd191 100644
--- a/Source/Core/Transforms.js
+++ b/Source/Core/Transforms.js
@@ -11,6 +11,7 @@ define([
'./EarthOrientationParameters',
'./EarthOrientationParametersSample',
'./Ellipsoid',
+ './HeadingPitchRoll',
'./Iau2006XysData',
'./Iau2006XysSample',
'./JulianDate',
@@ -31,6 +32,7 @@ define([
EarthOrientationParameters,
EarthOrientationParametersSample,
Ellipsoid,
+ HeadingPitchRoll,
Iau2006XysData,
Iau2006XysSample,
JulianDate,
@@ -347,6 +349,103 @@ define([
return result;
};
+ /**
+ * Computes a 4x4 transformation matrix from a reference frame with an north-west-up axes
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * The local axes are defined as:
+ * x axis points in the local north direction.y axis points in the local west direction.z axis points in the direction of the ellipsoid surface normal which passes through the position.