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import Check from "../Core/Check.js";
import defined from "../Core/defined.js";
import Ellipsoid from "../Core/Ellipsoid.js";
import HeadingPitchRange from "../Core/HeadingPitchRange.js";
import JulianDate from "../Core/JulianDate.js";
import CesiumMath from "../Core/Math.js";
import Matrix3 from "../Core/Matrix3.js";
import Matrix4 from "../Core/Matrix4.js";
import Quaternion from "../Core/Quaternion.js";
import TrackingReferenceFrame from "../Core/TrackingReferenceFrame.js";
import Transforms from "../Core/Transforms.js";
import SceneMode from "../Scene/SceneMode.js";
import VelocityVectorProperty from "./VelocityVectorProperty.js";
const updateTransformMatrix3Scratch1 = new Matrix3();
const updateTransformMatrix3Scratch2 = new Matrix3();
const updateTransformMatrix3Scratch3 = new Matrix3();
const updateTransformMatrix4Scratch = new Matrix4();
const updateTransformCartesian3Scratch1 = new Cartesian3();
const updateTransformCartesian3Scratch2 = new Cartesian3();
const updateTransformCartesian3Scratch3 = new Cartesian3();
const updateTransformCartesian3Scratch4 = new Cartesian3();
const updateTransformCartesian3Scratch5 = new Cartesian3();
const updateTransformCartesian3Scratch6 = new Cartesian3();
const updateTransformOrientationScratch = new Quaternion();
const velocityScratch = new Cartesian3();
const rotationScratch = new Matrix3();
const deltaTime = new JulianDate();
const northUpAxisFactor = 1.25; // times ellipsoid's maximum radius
function updateTransform(
that,
camera,
updateLookAt,
saveCamera,
positionProperty,
velocityProperty,
orientationProperty,
trackingReferenceFrame,
time,
ellipsoid,
) {
const mode = that.scene.mode;
let cartesian = positionProperty.getValue(time, that._lastCartesian);
Eif (defined(cartesian)) {
let hasBasis = false;
let invertVelocity = false;
let xBasis;
let yBasis;
let zBasis;
Eif (mode === SceneMode.SCENE3D) {
// The time delta was determined based on how fast satellites move compared to vehicles near the surface.
// Slower moving vehicles will most likely default to east-north-up, while faster ones will be VVLH.
JulianDate.addSeconds(time, 0.001, deltaTime);
let deltaCartesian = positionProperty.getValue(
deltaTime,
updateTransformCartesian3Scratch1,
);
// If no valid position at (time + 0.001), sample at (time - 0.001) and invert the vector
Iif (!defined(deltaCartesian)) {
JulianDate.addSeconds(time, -0.001, deltaTime);
deltaCartesian = positionProperty.getValue(
deltaTime,
updateTransformCartesian3Scratch1,
);
invertVelocity = true;
}
Eif (defined(deltaCartesian)) {
let toInertial = Transforms.computeFixedToIcrfMatrix(
time,
updateTransformMatrix3Scratch1,
);
let toInertialDelta = Transforms.computeFixedToIcrfMatrix(
deltaTime,
updateTransformMatrix3Scratch2,
);
let toFixed;
Iif (!defined(toInertial) || !defined(toInertialDelta)) {
toFixed = Transforms.computeTemeToPseudoFixedMatrix(
time,
updateTransformMatrix3Scratch3,
);
toInertial = Matrix3.transpose(
toFixed,
updateTransformMatrix3Scratch1,
);
toInertialDelta = Transforms.computeTemeToPseudoFixedMatrix(
deltaTime,
updateTransformMatrix3Scratch2,
);
Matrix3.transpose(toInertialDelta, toInertialDelta);
} else {
toFixed = Matrix3.transpose(
toInertial,
updateTransformMatrix3Scratch3,
);
}
const inertialCartesian = Matrix3.multiplyByVector(
toInertial,
cartesian,
updateTransformCartesian3Scratch5,
);
const inertialDeltaCartesian = Matrix3.multiplyByVector(
toInertialDelta,
deltaCartesian,
updateTransformCartesian3Scratch6,
);
Cartesian3.subtract(
inertialCartesian,
inertialDeltaCartesian,
updateTransformCartesian3Scratch4,
);
const inertialVelocity =
Cartesian3.magnitude(updateTransformCartesian3Scratch4) * 1000.0; // meters/sec
const mu = CesiumMath.GRAVITATIONALPARAMETER; // m^3 / sec^2
const semiMajorAxis =
-mu /
(inertialVelocity * inertialVelocity -
(2 * mu) / Cartesian3.magnitude(inertialCartesian));
Iif (
semiMajorAxis < 0 ||
semiMajorAxis > northUpAxisFactor * ellipsoid.maximumRadius
) {
// North-up viewing from deep space.
// X along the nadir
xBasis = updateTransformCartesian3Scratch2;
Cartesian3.normalize(cartesian, xBasis);
Cartesian3.negate(xBasis, xBasis);
// Z is North
zBasis = Cartesian3.clone(
Cartesian3.UNIT_Z,
updateTransformCartesian3Scratch3,
);
// Y is along the cross of z and x (right handed basis / in the direction of motion)
yBasis = Cartesian3.cross(
zBasis,
xBasis,
updateTransformCartesian3Scratch1,
);
if (Cartesian3.magnitude(yBasis) > CesiumMath.EPSILON7) {
Cartesian3.normalize(xBasis, xBasis);
Cartesian3.normalize(yBasis, yBasis);
zBasis = Cartesian3.cross(
xBasis,
yBasis,
updateTransformCartesian3Scratch3,
);
Cartesian3.normalize(zBasis, zBasis);
hasBasis = true;
}
} else Iif (
!Cartesian3.equalsEpsilon(
cartesian,
deltaCartesian,
CesiumMath.EPSILON7,
)
) {
// Approximation of VVLH (Vehicle Velocity Local Horizontal) with the Z-axis flipped.
// Z along the position
zBasis = updateTransformCartesian3Scratch2;
Cartesian3.normalize(inertialCartesian, zBasis);
Cartesian3.normalize(inertialDeltaCartesian, inertialDeltaCartesian);
// Y is along the angular momentum vector (e.g. "orbit normal")
yBasis = Cartesian3.cross(
zBasis,
inertialDeltaCartesian,
updateTransformCartesian3Scratch3,
);
if (invertVelocity) {
yBasis = Cartesian3.multiplyByScalar(yBasis, -1, yBasis);
}
if (
!Cartesian3.equalsEpsilon(
yBasis,
Cartesian3.ZERO,
CesiumMath.EPSILON7,
)
) {
// X is along the cross of y and z (right handed basis / in the direction of motion)
xBasis = Cartesian3.cross(
yBasis,
zBasis,
updateTransformCartesian3Scratch1,
);
Matrix3.multiplyByVector(toFixed, xBasis, xBasis);
Matrix3.multiplyByVector(toFixed, yBasis, yBasis);
Matrix3.multiplyByVector(toFixed, zBasis, zBasis);
Cartesian3.normalize(xBasis, xBasis);
Cartesian3.normalize(yBasis, yBasis);
Cartesian3.normalize(zBasis, zBasis);
hasBasis = true;
}
}
}
}
if (defined(that.boundingSphere)) {
cartesian = that.boundingSphere.center;
}
let position;
let direction;
let up;
if (saveCamera) {
position = Cartesian3.clone(
camera.position,
updateTransformCartesian3Scratch4,
);
direction = Cartesian3.clone(
camera.direction,
updateTransformCartesian3Scratch5,
);
up = Cartesian3.clone(camera.up, updateTransformCartesian3Scratch6);
}
const transform = updateTransformMatrix4Scratch;
let orientation;
Iif (defined(orientationProperty)) {
orientation = orientationProperty.getValue(
time,
updateTransformOrientationScratch,
);
}
const velocity = velocityProperty.getValue(time, velocityScratch);
Iif (
trackingReferenceFrame === TrackingReferenceFrame.INERTIAL &&
defined(orientation)
) {
Matrix4.fromTranslationQuaternionRotationScale(
cartesian,
orientation,
Cartesian3.ONE,
transform,
);
} else Iif (
trackingReferenceFrame === TrackingReferenceFrame.VELOCITY &&
defined(velocity)
) {
const rotation = Transforms.rotationMatrixFromPositionVelocity(
cartesian,
velocity,
ellipsoid,
rotationScratch,
);
Matrix4.fromRotationTranslation(rotation, cartesian, transform);
} else if (
trackingReferenceFrame === TrackingReferenceFrame.ENU ||
!hasBasis
) {
Transforms.eastNorthUpToFixedFrame(cartesian, ellipsoid, transform);
} else E{
transform[0] = xBasis.x;
transform[1] = xBasis.y;
transform[2] = xBasis.z;
transform[3] = 0.0;
transform[4] = yBasis.x;
transform[5] = yBasis.y;
transform[6] = yBasis.z;
transform[7] = 0.0;
transform[8] = zBasis.x;
transform[9] = zBasis.y;
transform[10] = zBasis.z;
transform[11] = 0.0;
transform[12] = cartesian.x;
transform[13] = cartesian.y;
transform[14] = cartesian.z;
transform[15] = 0.0;
}
camera._setTransform(transform);
if (saveCamera) {
Cartesian3.clone(position, camera.position);
Cartesian3.clone(direction, camera.direction);
Cartesian3.clone(up, camera.up);
Cartesian3.cross(direction, up, camera.right);
}
}
if (updateLookAt) {
const offset =
mode === SceneMode.SCENE2D ||
Cartesian3.equals(that._offset3D, Cartesian3.ZERO)
? undefined
: that._offset3D;
camera.lookAtTransform(camera.transform, offset);
}
}
/**
* A utility object for tracking an entity with the camera.
* @alias EntityView
* @constructor
*
* @param {Entity} entity The entity to track with the camera.
* @param {Scene} scene The scene to use.
* @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid to use for orienting the camera.
*/
function EntityView(entity, scene, ellipsoid) {
//>>includeStart('debug', pragmas.debug);
Check.defined("entity", entity);
Check.defined("scene", scene);
//>>includeEnd('debug');
/**
* The entity to track with the camera.
* @type {Entity}
*/
this.entity = entity;
/**
* The scene in which to track the object.
* @type {Scene}
*/
this.scene = scene;
/**
* The ellipsoid to use for orienting the camera.
* @type {Ellipsoid}
*/
this.ellipsoid = ellipsoid ?? Ellipsoid.default;
/**
* The bounding sphere of the object.
* @type {BoundingSphere}
*/
this.boundingSphere = undefined;
// Shadow copies of the objects so we can detect changes.
this._lastEntity = undefined;
this._mode = undefined;
this._lastCartesian = new Cartesian3();
this._defaultOffset3D = undefined;
this._velocityProperty = new VelocityVectorProperty(entity.position, true);
this._offset3D = new Cartesian3();
}
// STATIC properties defined here, not per-instance.
Object.defineProperties(EntityView, {
/**
* Gets or sets a camera offset that will be used to
* initialize subsequent EntityViews.
* @memberof EntityView
* @type {Cartesian3}
*/
defaultOffset3D: {
get: function () {
return this._defaultOffset3D;
},
set: function (vector) {
this._defaultOffset3D = Cartesian3.clone(vector, new Cartesian3());
},
},
});
// Initialize the static property.
EntityView.defaultOffset3D = new Cartesian3(-14000, 3500, 3500);
const scratchHeadingPitchRange = new HeadingPitchRange();
const scratchCartesian = new Cartesian3();
/**
* Should be called each animation frame to update the camera
* to the latest settings.
* @param {JulianDate} time The current animation time.
* @param {BoundingSphere} [boundingSphere] bounding sphere of the object.
*/
EntityView.prototype.update = function (time, boundingSphere) {
//>>includeStart('debug', pragmas.debug);
Check.defined("time", time);
//>>includeEnd('debug');
const scene = this.scene;
const ellipsoid = this.ellipsoid;
const sceneMode = scene.mode;
Iif (sceneMode === SceneMode.MORPHING) {
return;
}
const entity = this.entity;
const trackingReferenceFrame = entity.trackingReferenceFrame;
const positionProperty = entity.position;
if (!defined(positionProperty)) {
return;
}
const velocityProperty = this._velocityProperty;
const orientationProperty = entity.orientation;
const objectChanged = entity !== this._lastEntity;
const sceneModeChanged = sceneMode !== this._mode;
const camera = scene.camera;
let updateLookAt = objectChanged || sceneModeChanged;
let saveCamera = true;
if (objectChanged) {
const viewFromProperty = entity.viewFrom;
const hasViewFrom = defined(viewFromProperty);
if (!hasViewFrom && defined(boundingSphere)) {
// The default HPR is not ideal for high altitude objects so
// we scale the pitch as we get further from the earth for a more
// downward view.
scratchHeadingPitchRange.pitch = -CesiumMath.PI_OVER_FOUR;
scratchHeadingPitchRange.range = 0;
const position = positionProperty.getValue(time, scratchCartesian);
Eif (defined(position)) {
const factor =
2 -
1 /
Math.max(
1,
Cartesian3.magnitude(position) / ellipsoid.maximumRadius,
);
scratchHeadingPitchRange.pitch *= factor;
}
camera.viewBoundingSphere(boundingSphere, scratchHeadingPitchRange);
this.boundingSphere = boundingSphere;
updateLookAt = false;
saveCamera = false;
} else if (
!hasViewFrom ||
!defined(viewFromProperty.getValue(time, this._offset3D))
) {
Cartesian3.clone(EntityView._defaultOffset3D, this._offset3D);
}
} else Eif (!sceneModeChanged && this._mode !== SceneMode.SCENE2D) {
Cartesian3.clone(camera.position, this._offset3D);
}
this._lastEntity = entity;
this._mode = sceneMode;
updateTransform(
this,
camera,
updateLookAt,
saveCamera,
positionProperty,
velocityProperty,
orientationProperty,
trackingReferenceFrame,
time,
ellipsoid,
);
};
export default EntityView;
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