Transforms

engine/Source/Core/Transforms.js 22
Contains functions for transforming positions to various reference frames.

Methods

static Cesium.Transforms.computeFixedToIcrfMatrix(date, result) → Matrix3
engine/Source/Core/Transforms.js 763

Computes a rotation matrix to transform a point or vector from the Earth-Fixed frame axes (ITRF) to the International Celestial Reference Frame (GCRF/ICRF) inertial frame axes at a given time. This function may return undefined if the data necessary to do the transformation is not yet loaded.
Name Type Description
date JulianDate The time at which to compute the rotation matrix.
result Matrix3 optional The object onto which to store the result. If this parameter is not specified, a new instance is created and returned.
Returns:
The rotation matrix, or undefined if the data necessary to do the transformation is not yet loaded.
Example:
// Transform a point from the Fixed axes to the ICRF axes.
const now = Cesium.JulianDate.now();
const pointInFixed = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const fixedToIcrf = Cesium.Transforms.computeFixedToIcrfMatrix(now);
let pointInInertial = new Cesium.Cartesian3();
if (Cesium.defined(fixedToIcrf)) {
    pointInInertial = Cesium.Matrix3.multiplyByVector(fixedToIcrf, pointInFixed, pointInInertial);
}
See:

static Cesium.Transforms.computeIcrfToFixedMatrix(date, result) → Matrix3
engine/Source/Core/Transforms.js 708

Computes a rotation matrix to transform a point or vector from the International Celestial Reference Frame (GCRF/ICRF) inertial frame axes to the Earth-Fixed frame axes (ITRF) at a given time. This function may return undefined if the data necessary to do the transformation is not yet loaded.
Name Type Description
date JulianDate The time at which to compute the rotation matrix.
result Matrix3 optional The object onto which to store the result. If this parameter is not specified, a new instance is created and returned.
Returns:
The rotation matrix, or undefined if the data necessary to do the transformation is not yet loaded.
Example:
scene.postUpdate.addEventListener(function(scene, time) {
  // View in ICRF.
  const icrfToFixed = Cesium.Transforms.computeIcrfToFixedMatrix(time);
  if (Cesium.defined(icrfToFixed)) {
    const offset = Cesium.Cartesian3.clone(camera.position);
    const transform = Cesium.Matrix4.fromRotationTranslation(icrfToFixed);
    camera.lookAtTransform(transform, offset);
  }
});
See:

static Cesium.Transforms.computeTemeToPseudoFixedMatrix(date, result) → Matrix3
engine/Source/Core/Transforms.js 557

Computes a rotation matrix to transform a point or vector from True Equator Mean Equinox (TEME) axes to the pseudo-fixed axes at a given time. This method treats the UT1 time standard as equivalent to UTC.
Name Type Description
date JulianDate The time at which to compute the rotation matrix.
result Matrix3 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix3 instance if none was provided.
Example:
//Set the view to the inertial frame.
scene.postUpdate.addEventListener(function(scene, time) {
   const now = Cesium.JulianDate.now();
   const offset = Cesium.Matrix4.multiplyByPoint(camera.transform, camera.position, new Cesium.Cartesian3());
   const transform = Cesium.Matrix4.fromRotationTranslation(Cesium.Transforms.computeTemeToPseudoFixedMatrix(now));
   const inverseTransform = Cesium.Matrix4.inverseTransformation(transform, new Cesium.Matrix4());
   Cesium.Matrix4.multiplyByPoint(inverseTransform, offset, offset);
   camera.lookAtTransform(transform, offset);
});

static Cesium.Transforms.eastNorthUpToFixedFrame(origin, ellipsoid, result) → Matrix4
engine/Source/Core/Transforms.js 274

Computes a 4x4 transformation matrix from a reference frame with an east-north-up axes centered at the provided origin to the provided ellipsoid's fixed reference frame. The local axes are defined as:
  • The x axis points in the local east direction.
  • The y axis points in the local north direction.
  • The z axis points in the direction of the ellipsoid surface normal which passes through the position.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
Example:
// Get the transform from local east-north-up at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const transform = Cesium.Transforms.eastNorthUpToFixedFrame(center);

static Cesium.Transforms.fixedFrameToHeadingPitchRoll(transform, ellipsoid, fixedFrameTransform, result) → HeadingPitchRoll
engine/Source/Core/Transforms.js 479

Computes heading-pitch-roll angles from a transform in a particular reference frame. Heading is the rotation from the local north direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
Name Type Default Description
transform Matrix4 The transform
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
fixedFrameTransform Transforms.LocalFrameToFixedFrame Transforms.eastNorthUpToFixedFrame optional A 4x4 transformation matrix from a reference frame to the provided ellipsoid's fixed reference frame
result HeadingPitchRoll optional The object onto which to store the result.
Returns:
The modified result parameter or a new HeadingPitchRoll instance if none was provided.

static Cesium.Transforms.headingPitchRollQuaternion(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, result) → Quaternion
engine/Source/Core/Transforms.js 439

Computes a quaternion from a reference frame with axes computed from the heading-pitch-roll angles centered at the provided origin. Heading is the rotation from the local north direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
headingPitchRoll HeadingPitchRoll The heading, pitch, and roll.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
fixedFrameTransform Transforms.LocalFrameToFixedFrame Transforms.eastNorthUpToFixedFrame optional A 4x4 transformation matrix from a reference frame to the provided ellipsoid's fixed reference frame
result Quaternion optional The object onto which to store the result.
Returns:
The modified result parameter or a new Quaternion instance if none was provided.
Example:
// Get the quaternion from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const heading = -Cesium.Math.PI_OVER_TWO;
const pitch = Cesium.Math.PI_OVER_FOUR;
const roll = 0.0;
const hpr = new HeadingPitchRoll(heading, pitch, roll);
const quaternion = Cesium.Transforms.headingPitchRollQuaternion(center, hpr);

static Cesium.Transforms.headingPitchRollToFixedFrame(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, result) → Matrix4
engine/Source/Core/Transforms.js 384

Computes a 4x4 transformation matrix from a reference frame with axes computed from the heading-pitch-roll angles centered at the provided origin to the provided ellipsoid's fixed reference frame. Heading is the rotation from the local north direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
headingPitchRoll HeadingPitchRoll The heading, pitch, and roll.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
fixedFrameTransform Transforms.LocalFrameToFixedFrame Transforms.eastNorthUpToFixedFrame optional A 4x4 transformation matrix from a reference frame to the provided ellipsoid's fixed reference frame
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
Example:
// Get the transform from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const heading = -Cesium.Math.PI_OVER_TWO;
const pitch = Cesium.Math.PI_OVER_FOUR;
const roll = 0.0;
const hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll);
const transform = Cesium.Transforms.headingPitchRollToFixedFrame(center, hpr);

static Cesium.Transforms.localFrameToFixedFrameGenerator(firstAxis, secondAxis) → Transforms.LocalFrameToFixedFrame
engine/Source/Core/Transforms.js 100

Generates a function that computes a 4x4 transformation matrix from a reference frame centered at the provided origin to the provided ellipsoid's fixed reference frame.
Name Type Description
firstAxis string name of the first axis of the local reference frame. Must be 'east', 'north', 'up', 'west', 'south' or 'down'.
secondAxis string name of the second axis of the local reference frame. Must be 'east', 'north', 'up', 'west', 'south' or 'down'.
Returns:
The function that will computes a 4x4 transformation matrix from a reference frame, with first axis and second axis compliant with the parameters,

static Cesium.Transforms.northEastDownToFixedFrame(origin, ellipsoid, result) → Matrix4
engine/Source/Core/Transforms.js 300

Computes a 4x4 transformation matrix from a reference frame with an north-east-down axes centered at the provided origin to the provided ellipsoid's fixed reference frame. The local axes are defined as:
  • The x axis points in the local north direction.
  • The y axis points in the local east direction.
  • The z axis points in the opposite direction of the ellipsoid surface normal which passes through the position.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
Example:
// Get the transform from local north-east-down at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const transform = Cesium.Transforms.northEastDownToFixedFrame(center);

static Cesium.Transforms.northUpEastToFixedFrame(origin, ellipsoid, result) → Matrix4
engine/Source/Core/Transforms.js 326

Computes a 4x4 transformation matrix from a reference frame with an north-up-east axes centered at the provided origin to the provided ellipsoid's fixed reference frame. The local axes are defined as:
  • The x axis points in the local north direction.
  • The y axis points in the direction of the ellipsoid surface normal which passes through the position.
  • The z axis points in the local east direction.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
Example:
// Get the transform from local north-up-east at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const transform = Cesium.Transforms.northUpEastToFixedFrame(center);

static Cesium.Transforms.northWestUpToFixedFrame(origin, ellipsoid, result) → Matrix4
engine/Source/Core/Transforms.js 352

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:
  • The x axis points in the local north direction.
  • The y axis points in the local west direction.
  • The z axis points in the direction of the ellipsoid surface normal which passes through the position.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
Example:
// Get the transform from local north-West-Up at cartographic (0.0, 0.0) to Earth's fixed frame.
const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
const transform = Cesium.Transforms.northWestUpToFixedFrame(center);

static Cesium.Transforms.pointToWindowCoordinates(modelViewProjectionMatrix, viewportTransformation, point, result) → Cartesian2
engine/Source/Core/Transforms.js 886

Transform a point from model coordinates to window coordinates.
Name Type Description
modelViewProjectionMatrix Matrix4 The 4x4 model-view-projection matrix.
viewportTransformation Matrix4 The 4x4 viewport transformation.
point Cartesian3 The point to transform.
result Cartesian2 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Cartesian2 instance if none was provided.

static Cesium.Transforms.preloadIcrfFixed(timeInterval) → Promise.<void>
engine/Source/Core/Transforms.js 668

Preloads the data necessary to transform between the ICRF and Fixed axes, in either direction, over a given interval. This function returns a promise that, when resolved, indicates that the preload has completed.
Name Type Description
timeInterval TimeInterval The interval to preload.
Returns:
A promise that, when resolved, indicates that the preload has completed and evaluation of the transformation between the fixed and ICRF axes will no longer return undefined for a time inside the interval.
Example:
const interval = new Cesium.TimeInterval(...);
await Cesium.Transforms.preloadIcrfFixed(interval));
// the data is now loaded
See:

static Cesium.Transforms.rotationMatrixFromPositionVelocity(position, velocity, ellipsoid, result) → Matrix3
engine/Source/Core/Transforms.js 954

Transform a position and velocity to a rotation matrix.
Name Type Default Description
position Cartesian3 The position to transform.
velocity Cartesian3 The velocity vector to transform.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix3 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix3 instance if none was provided.

Type Definitions

Cesium.Transforms.LocalFrameToFixedFrame(origin, ellipsoid, result) → Matrix4
engine/Source/Core/Transforms.js 111

Computes a 4x4 transformation matrix from a reference frame centered at the provided origin to the provided ellipsoid's fixed reference frame.
Name Type Default Description
origin Cartesian3 The center point of the local reference frame.
ellipsoid Ellipsoid Ellipsoid.WGS84 optional The ellipsoid whose fixed frame is used in the transformation.
result Matrix4 optional The object onto which to store the result.
Returns:
The modified result parameter or a new Matrix4 instance if none was provided.
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