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import DeveloperError from "./DeveloperError.js";
import CesiumMath from "./Math.js";
/**
* A rotation expressed as a heading, pitch, and roll. Heading is the rotation about the
* negative z axis. Pitch is the rotation about the negative y axis. Roll is the rotation about
* the positive x axis.
* @alias HeadingPitchRoll
* @constructor
*
* @param {number} [heading=0.0] The heading component in radians.
* @param {number} [pitch=0.0] The pitch component in radians.
* @param {number} [roll=0.0] The roll component in radians.
*/
function HeadingPitchRoll(heading, pitch, roll) {
/**
* Gets or sets the heading.
* @type {number}
* @default 0.0
*/
this.heading = heading ?? 0.0;
/**
* Gets or sets the pitch.
* @type {number}
* @default 0.0
*/
this.pitch = pitch ?? 0.0;
/**
* Gets or sets the roll.
* @type {number}
* @default 0.0
*/
this.roll = roll ?? 0.0;
}
/**
* Computes the heading, pitch and roll from a quaternion (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
*
* @param {Quaternion} quaternion The quaternion from which to retrieve heading, pitch, and roll, all expressed in radians.
* @param {HeadingPitchRoll} [result] The object in which to store the result. If not provided, a new instance is created and returned.
* @returns {HeadingPitchRoll} The modified result parameter or a new HeadingPitchRoll instance if one was not provided.
*/
HeadingPitchRoll.fromQuaternion = function (quaternion, result) {
//>>includeStart('debug', pragmas.debug);
if (!defined(quaternion)) {
throw new DeveloperError("quaternion is required");
}
//>>includeEnd('debug');
if (!defined(result)) {
result = new HeadingPitchRoll();
}
const test = 2 * (quaternion.w * quaternion.y - quaternion.z * quaternion.x);
const denominatorRoll =
1 - 2 * (quaternion.x * quaternion.x + quaternion.y * quaternion.y);
const numeratorRoll =
2 * (quaternion.w * quaternion.x + quaternion.y * quaternion.z);
const denominatorHeading =
1 - 2 * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
const numeratorHeading =
2 * (quaternion.w * quaternion.z + quaternion.x * quaternion.y);
result.heading = -Math.atan2(numeratorHeading, denominatorHeading);
result.roll = Math.atan2(numeratorRoll, denominatorRoll);
result.pitch = -CesiumMath.asinClamped(test);
return result;
};
/**
* Returns a new HeadingPitchRoll instance from angles given in degrees.
*
* @param {number} heading the heading in degrees
* @param {number} pitch the pitch in degrees
* @param {number} roll the heading in degrees
* @param {HeadingPitchRoll} [result] The object in which to store the result. If not provided, a new instance is created and returned.
* @returns {HeadingPitchRoll} A new HeadingPitchRoll instance
*/
HeadingPitchRoll.fromDegrees = function (heading, pitch, roll, result) {
//>>includeStart('debug', pragmas.debug);
if (!defined(heading)) {
throw new DeveloperError("heading is required");
}
if (!defined(pitch)) {
throw new DeveloperError("pitch is required");
}
if (!defined(roll)) {
throw new DeveloperError("roll is required");
}
//>>includeEnd('debug');
if (!defined(result)) {
result = new HeadingPitchRoll();
}
result.heading = heading * CesiumMath.RADIANS_PER_DEGREE;
result.pitch = pitch * CesiumMath.RADIANS_PER_DEGREE;
result.roll = roll * CesiumMath.RADIANS_PER_DEGREE;
return result;
};
/**
* Duplicates a HeadingPitchRoll instance.
*
* @param {HeadingPitchRoll} headingPitchRoll The HeadingPitchRoll to duplicate.
* @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. (Returns undefined if headingPitchRoll is undefined)
*/
HeadingPitchRoll.clone = function (headingPitchRoll, result) {
Iif (!defined(headingPitchRoll)) {
return undefined;
}
Iif (!defined(result)) {
return new HeadingPitchRoll(
headingPitchRoll.heading,
headingPitchRoll.pitch,
headingPitchRoll.roll,
);
}
result.heading = headingPitchRoll.heading;
result.pitch = headingPitchRoll.pitch;
result.roll = headingPitchRoll.roll;
return result;
};
/**
* Compares the provided HeadingPitchRolls componentwise and returns
* <code>true</code> if they are equal, <code>false</code> otherwise.
*
* @param {HeadingPitchRoll} [left] The first HeadingPitchRoll.
* @param {HeadingPitchRoll} [right] The second HeadingPitchRoll.
* @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> 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
* <code>true</code> if they pass an absolute or relative tolerance test,
* <code>false</code> otherwise.
*
* @param {HeadingPitchRoll} [left] The first HeadingPitchRoll.
* @param {HeadingPitchRoll} [right] The second HeadingPitchRoll.
* @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
* @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
* @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> 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
* <code>true</code> if they are equal, <code>false</code> otherwise.
*
* @param {HeadingPitchRoll} [right] The right hand side HeadingPitchRoll.
* @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
*/
HeadingPitchRoll.prototype.equals = function (right) {
return HeadingPitchRoll.equals(this, right);
};
/**
* Compares this HeadingPitchRoll against the provided HeadingPitchRoll componentwise and returns
* <code>true</code> if they pass an absolute or relative tolerance test,
* <code>false</code> otherwise.
*
* @param {HeadingPitchRoll} [right] The right hand side HeadingPitchRoll.
* @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
* @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
* @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> 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})`;
};
export default HeadingPitchRoll;
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