GeoTransforms.h

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// Copyright 2020-2024 CesiumGS, Inc. and Contributors
 
#pragma once
 
#include "CesiumGeospatial/Ellipsoid.h"
#include "CesiumGeospatial/LocalHorizontalCoordinateSystem.h"
#include "HAL/Platform.h"
#include "Math/Matrix.h"
#include <glm/fwd.hpp>
#include <glm/vec3.hpp>
 
class CESIUMRUNTIME_API GeoTransforms {
 
public:
  GeoTransforms();
 
  GeoTransforms(
      const CesiumGeospatial::Ellipsoid& ellipsoid,
      const glm::dvec3& center,
      double scale);
 
  void setCenter(const glm::dvec3& center) noexcept;
 
  void setEllipsoid(const CesiumGeospatial::Ellipsoid& ellipsoid) noexcept;
 
  glm::dvec3 TransformLongitudeLatitudeHeightToEcef(
      const glm::dvec3& LongitudeLatitudeHeight) const noexcept;
 
  glm::dvec3
  TransformEcefToLongitudeLatitudeHeight(const glm::dvec3& Ecef) const noexcept;
 
  glm::dvec3 TransformLongitudeLatitudeHeightToUnreal(
      const glm::dvec3& origin,
      const glm::dvec3& LongitudeLatitudeHeight) const noexcept;
 
  glm::dvec3 TransformUnrealToLongitudeLatitudeHeight(
      const glm::dvec3& origin,
      const glm::dvec3& Ue) const noexcept;
 
  glm::dvec3 TransformEcefToUnreal(
      const glm::dvec3& origin,
      const glm::dvec3& Ecef) const noexcept;
 
  glm::dvec3 TransformUnrealToEcef(
      const glm::dvec3& origin,
      const glm::dvec3& Ue) const noexcept;
 
  glm::dquat TransformRotatorUnrealToEastSouthUp(
      const glm::dvec3& origin,
      const glm::dquat& UeRotator,
      const glm::dvec3& UeLocation) const noexcept;
 
  glm::dquat TransformRotatorEastSouthUpToUnreal(
      const glm::dvec3& origin,
      const glm::dquat& EnuRotator,
      const glm::dvec3& UeLocation) const noexcept;
 
  glm::dmat4 ComputeEastSouthUpToUnreal(
      const glm::dvec3& origin,
      const glm::dvec3& Ue) const noexcept;
 
  glm::dmat3 ComputeEastNorthUpToEcef(const glm::dvec3& Ecef) const noexcept;
 
  /*
   * GEOREFERENCE TRANSFORMS
   */
 
  const glm::dmat4&
  GetAbsoluteUnrealWorldToEllipsoidCenteredTransform() const noexcept {
    return this->_coordinateSystem.getLocalToEcefTransformation();
  }
 
  const glm::dmat4&
  GetEllipsoidCenteredToAbsoluteUnrealWorldTransform() const noexcept {
    return this->_coordinateSystem.getEcefToLocalTransformation();
  }
 
  glm::dvec3 ComputeGeodeticSurfaceNormal(const glm::dvec3& position) const {
    return _ellipsoid.geodeticSurfaceNormal(position);
  }
 
  glm::dquat ComputeSurfaceNormalRotation(
      const glm::dvec3& oldPosition,
      const glm::dvec3& newPosition) const;
 
  glm::dquat ComputeSurfaceNormalRotationUnreal(
      const glm::dvec3& oldPosition,
      const glm::dvec3& newPosition) const;
 
  const FMatrix& GetEllipsoidCenteredToAbsoluteUnrealWorldMatrix() const {
    return this->_ecefToUnreal;
  }
  const FMatrix& GetAbsoluteUnrealWorldToEllipsoidCenteredMatrix() const {
    return this->_unrealToEcef;
  }
 
private:
  void updateTransforms() noexcept;
 
  CesiumGeospatial::LocalHorizontalCoordinateSystem _coordinateSystem;
 
  // Modifiable state
  CesiumGeospatial::Ellipsoid _ellipsoid;
  glm::dvec3 _center;
  double _scale;
  FMatrix _ecefToUnreal;
  FMatrix _unrealToEcef;
};