242 lines
8.3 KiB
C
242 lines
8.3 KiB
C
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// Copyright 2020-2024 CesiumGS, Inc. and Contributors
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#pragma once
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#include "CesiumGeospatial/Ellipsoid.h"
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#include "CesiumGeospatial/LocalHorizontalCoordinateSystem.h"
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#include "HAL/Platform.h"
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#include "Math/Matrix.h"
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#include <glm/fwd.hpp>
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#include <glm/vec3.hpp>
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/**
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* @brief A lightweight structure to encapsulate coordinate transforms.
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*
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* It encapsulates the conversions between...
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* - Earth-Centered, Earth-Fixed (ECEF) coordinates
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* - Georeferenced coordinates (Latitude/Longitude/Height)
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* - Unreal coordinates (relative to the unreal world origin)
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*
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*/
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class CESIUMRUNTIME_API GeoTransforms {
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public:
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/**
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* @brief Creates a new instance.
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*/
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GeoTransforms();
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/**
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* @brief Creates a new instance.
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*
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* The center position is the position of the origin of the
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* local coordinate system that is established by this instance.
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*
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* @param ellipsoid The ellipsoid to use for the georeferenced coordinates
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* @param center The center position.
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* @param scale The scale factor of the globe in the Unreal world.
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*/
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GeoTransforms(
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const CesiumGeospatial::Ellipsoid& ellipsoid,
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const glm::dvec3& center,
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double scale);
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/**
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* @brief Set the center position of this instance
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*
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* The center position is the position of the origin of the
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* local coordinate system that is established by this instance.
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*
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* @param center The center position.
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*/
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void setCenter(const glm::dvec3& center) noexcept;
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/**
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* @brief Set the ellipsoid of this instance
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*
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* @param ellipsoid The ellipsoid
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*/
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void setEllipsoid(const CesiumGeospatial::Ellipsoid& ellipsoid) noexcept;
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/**
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* Transforms the given longitude in degrees (x), latitude in
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* degrees (y), and height in meters (z) into Earth-Centered, Earth-Fixed
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* (ECEF) coordinates.
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*/
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glm::dvec3 TransformLongitudeLatitudeHeightToEcef(
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const glm::dvec3& LongitudeLatitudeHeight) const noexcept;
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/**
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* Transforms the given Earth-Centered, Earth-Fixed (ECEF) coordinates into
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* longitude in degrees (x), latitude in degrees (y), and height in
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* meters (z).
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*/
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glm::dvec3
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TransformEcefToLongitudeLatitudeHeight(const glm::dvec3& Ecef) const noexcept;
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/**
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* Transforms the given longitude in degrees (x), latitude in
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* degrees (y), and height in meters (z) into Unreal world coordinates
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* (relative to the floating origin).
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*/
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glm::dvec3 TransformLongitudeLatitudeHeightToUnreal(
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const glm::dvec3& origin,
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const glm::dvec3& LongitudeLatitudeHeight) const noexcept;
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/**
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* Transforms Unreal world coordinates (relative to the floating origin) into
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* longitude in degrees (x), latitude in degrees (y), and height in
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* meters (z).
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*/
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glm::dvec3 TransformUnrealToLongitudeLatitudeHeight(
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const glm::dvec3& origin,
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const glm::dvec3& Ue) const noexcept;
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/**
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* Transforms the given point from Earth-Centered, Earth-Fixed (ECEF) into
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* Unreal world coordinates (relative to the floating origin).
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*/
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glm::dvec3 TransformEcefToUnreal(
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const glm::dvec3& origin,
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const glm::dvec3& Ecef) const noexcept;
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/**
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* Transforms the given point from Unreal world coordinates (relative to the
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* floating origin) to Earth-Centered, Earth-Fixed (ECEF).
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*/
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glm::dvec3 TransformUnrealToEcef(
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const glm::dvec3& origin,
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const glm::dvec3& Ue) const noexcept;
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/**
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* Transforms a rotator from Unreal world to East-South-Up at the given
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* Unreal relative world location (relative to the floating origin).
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*/
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glm::dquat TransformRotatorUnrealToEastSouthUp(
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const glm::dvec3& origin,
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const glm::dquat& UeRotator,
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const glm::dvec3& UeLocation) const noexcept;
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/**
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* Transforms a rotator from East-South-Up to Unreal world at the given
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* Unreal world location (relative to the floating origin).
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*/
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glm::dquat TransformRotatorEastSouthUpToUnreal(
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const glm::dvec3& origin,
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const glm::dquat& EnuRotator,
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const glm::dvec3& UeLocation) const noexcept;
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/**
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* Computes the rotation matrix from the local East-South-Up to Unreal at the
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* specified Unreal world location (relative to the floating
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* origin). The returned transformation works in Unreal's left-handed
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* coordinate system.
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*/
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glm::dmat4 ComputeEastSouthUpToUnreal(
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const glm::dvec3& origin,
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const glm::dvec3& Ue) const noexcept;
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/**
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* Computes the rotation matrix from the local East-North-Up to
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* Earth-Centered, Earth-Fixed (ECEF) at the specified ECEF location.
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*/
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glm::dmat3 ComputeEastNorthUpToEcef(const glm::dvec3& Ecef) const noexcept;
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/*
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* GEOREFERENCE TRANSFORMS
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*/
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/**
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* @brief Gets the transformation from the _absolute_ "Unreal World" reference
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* frame to the "Ellipsoid-centered" reference frame (i.e. ECEF).
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*
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* Gets a matrix that transforms coordinates from the absolute "Unreal World"
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* reference frame (with respect to the absolute world origin, not the
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* floating origin) to the "Ellipsoid-centered" reference frame (which is
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* usually Earth-centered, Earth-fixed). See {@link reference-frames.md}.
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*/
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const glm::dmat4&
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GetAbsoluteUnrealWorldToEllipsoidCenteredTransform() const noexcept {
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return this->_coordinateSystem.getLocalToEcefTransformation();
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}
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/**
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* @brief Gets the transformation from the "Ellipsoid-centered" reference
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* frame (i.e. ECEF) to the absolute "Unreal World" reference frame.
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*
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* Gets a matrix that transforms coordinates from the "Ellipsoid-centered"
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* reference frame (which is usually Earth-centered, Earth-fixed) to the
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* absolute "Unreal world" reference frame (with respect to the absolute world
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* origin, not the floating origin). See {@link reference-frames.md}.
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*/
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const glm::dmat4&
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GetEllipsoidCenteredToAbsoluteUnrealWorldTransform() const noexcept {
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return this->_coordinateSystem.getEcefToLocalTransformation();
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}
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/**
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* @brief Computes the normal of the plane tangent to the surface of the
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* ellipsoid that is used by this instance, at the provided position.
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*
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* @param position The cartesian position for which to to determine the
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* surface normal.
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* @return The normal.
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*/
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glm::dvec3 ComputeGeodeticSurfaceNormal(const glm::dvec3& position) const {
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return _ellipsoid.geodeticSurfaceNormal(position);
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}
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/**
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* Computes the rotation in ellipsoid surface normal between an old position
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* and a new position. This rotation is expressed in terms of Unreal world
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* coordinates, and can be used to maintain an object's orientation relative
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* to the local horizontal as it moves over the globe.
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*
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* @param oldPosition The old ECEF position that the object moved from.
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* @param newPosition The new ECEF position that the object moved to.
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* @return The rotation from the ellipsoid surface normal at the old position
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* to the ellipsoid surface normal at the new position.
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*/
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glm::dquat ComputeSurfaceNormalRotation(
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const glm::dvec3& oldPosition,
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const glm::dvec3& newPosition) const;
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/**
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* Computes the rotation in ellipsoid surface normal between an old position
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* and a new position. This rotation is expressed in terms of Unreal world
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* coordinates, and can be used to maintain an object's orientation relative
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* to the local horizontal as it moves over the globe.
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*
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* @param oldPosition The old ECEF position that the object moved from.
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* @param newPosition The new ECEF position that the object moved to.
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* @return The rotation from the ellipsoid surface normal at the old position
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* to the ellipsoid surface normal at the new position.
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*/
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glm::dquat ComputeSurfaceNormalRotationUnreal(
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const glm::dvec3& oldPosition,
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const glm::dvec3& newPosition) const;
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const FMatrix& GetEllipsoidCenteredToAbsoluteUnrealWorldMatrix() const {
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return this->_ecefToUnreal;
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}
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const FMatrix& GetAbsoluteUnrealWorldToEllipsoidCenteredMatrix() const {
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return this->_unrealToEcef;
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}
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private:
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/**
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* Update the derived state (i.e. the local horizontal coordinate system) when
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* either the center or the ellipsoid has changed.
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*/
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void updateTransforms() noexcept;
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CesiumGeospatial::LocalHorizontalCoordinateSystem _coordinateSystem;
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// Modifiable state
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CesiumGeospatial::Ellipsoid _ellipsoid;
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glm::dvec3 _center;
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double _scale;
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FMatrix _ecefToUnreal;
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FMatrix _unrealToEcef;
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};
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