diff --git a/Apps/SampleData/tracking.czml b/Apps/SampleData/tracking.czml new file mode 100644 index 000000000000..11fff8a3f146 --- /dev/null +++ b/Apps/SampleData/tracking.czml @@ -0,0 +1,4010 @@ + +[ + { + "id":"document", + "name":"tracking", + "version":"1.0", + "clock":{ + "interval":"2012-03-15T10:00:00Z/2012-03-16T10:00:00Z", + "currentTime":"2012-03-15T10:00:00Z", + "range":"LOOP_STOP" + } + }, + { + "id":"Satellite/ISS", + "name":"ISS", + "availability":"2012-03-15T10:00:00Z/2012-03-16T10:00:00Z", + "description":"\r\n

The International Space Station (ISS) is a space station, or a habitable artificial satellite in low Earth orbit. It is a modular structure whose first component was launched in 1998. Now the largest artificial body in orbit, it can often be seen at the appropriate time with the naked eye from Earth. The ISS consists of pressurised modules, external trusses, solar arrays and other components. ISS components have been launched by American Space Shuttles as well as Russian Proton and Soyuz rockets. In 1984 the ESA was invited to participate in Space Station Freedom. In 1993, after the USSR ended, the United States and Russia merged Mir-2 and Freedom together.\r\nThe ISS serves as a microgravity and space environment research laboratory in which crew members conduct experiments in biology, human biology, physics, astronomy, meteorology and other fields. The station is suited for the testing of spacecraft systems and equipment required for missions to the Moon and Mars.

\r\n\r\n

Since the arrival of Expedition 1 on 2 November 2000, the station has been continuously occupied for 13 years and 86 days, the longest continuous human presence in space. (In 2010, the station surpassed the previous record of almost 10 years (or 3,634 days) held by Mir.) The station is serviced by a variety of visiting spacecraft: Soyuz, Progress, the Automated Transfer Vehicle, the H-II Transfer Vehicle, Dragon, and Cygnus. It has been visited by astronauts and cosmonauts from 15 different nations.

\r\n\r\n

After the U.S. Space Shuttle program ended in 2011, Soyuz rockets became the only provider of transport for astronauts at the International Space Station.\r\nThe ISS programme is a joint project among five participating space agencies: NASA, Roskosmos, JAXA, ESA, and CSA. The ownership and use of the space station is established by intergovernmental treaties and agreements. The station is divided into two sections, the Russian Orbital Segment (ROS) and the United States Orbital Segment (USOS), which is shared by many nations. The ISS maintains an orbit with an altitude of between 330 km (205 mi) and 435 km (270 mi) by means of reboost manoeuvres using the engines of the Zvezda module or visiting spacecraft. It completes 15.410 orbits per day. The ISS is funded until 2024, and may operate until 2028. The Russian Federal Space Agency, Roskosmos (RKA) has proposed using the ISS to commission modules for a new space station, called OPSEK, before the remainder of the ISS is deorbited. ISS is the ninth space station to be inhabited by crews, following the Soviet and later Russian Salyut, Almaz, and Mir stations, and Skylab from the US.

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-0.4046948384535172, 0.32677174069651416, 0.8406418025210889, + 29.8, 0.16881151361728666, -0.42808331370548564, 0.45697830616533924, 0.7611952292884058, + 29.900000000000002, 0.1423466349130348, -0.44576957339756496, 0.6122577860814612, 0.6373125813480508, + 30, 0.09343174999255299, -0.4420021955623113, 0.7327630102924036, 0.5088840122843713 + ] + } + } +] \ No newline at end of file diff --git a/Apps/Sandcastle/gallery/Callback Position Property.html b/Apps/Sandcastle/gallery/Callback Position Property.html index 272509b8b934..4786dfd84822 100644 --- a/Apps/Sandcastle/gallery/Callback Position Property.html +++ b/Apps/Sandcastle/gallery/Callback Position Property.html @@ -134,7 +134,7 @@ } // Create the entity and bind its position to the callback position property - viewer.entities.add({ + const entity = viewer.entities.add({ availability: new Cesium.TimeIntervalCollection([ new Cesium.TimeInterval({ start: start, @@ -158,35 +158,11 @@ leadTime: 1, trailTime: 0.1, }, + trackingReferenceFrame: Cesium.TrackingReferenceFrame.INERTIAL, + viewFrom: new Cesium.Cartesian3(-100, 0, 10), }); - const camera = viewer.camera; - const scene = viewer.scene; - - const scratchPosition = new Cesium.Cartesian3(); - const scratchOrientation = new Cesium.Quaternion(); - const scratchTransform = new Cesium.Matrix4(); - const offset = new Cesium.Cartesian3(-100, 0, 10); - - // Update camera to follow entity's position and orientation - viewer.clock.onTick.addEventListener(function (clock) { - if (scene.mode === Cesium.Scene.MORPHING) { - return; - } - const time = clock.currentTime; - const entityPosition = position.getValue(time, scratchPosition); - const entityOrientation = orientation.getValue(time, scratchOrientation); - if (entityPosition === undefined || entityOrientation === undefined) { - return; - } - const transform = Cesium.Matrix4.fromTranslationQuaternionRotationScale( - entityPosition, - entityOrientation, - Cesium.Cartesian3.ONE, - scratchTransform, - ); - camera.lookAtTransform(transform, offset); - }); + viewer.trackedEntity = entity; //Sandcastle_End }; if (typeof Cesium !== "undefined") { diff --git a/Apps/Sandcastle/gallery/Entity tracking.html b/Apps/Sandcastle/gallery/Entity tracking.html new file mode 100644 index 000000000000..f5f21aa22a47 --- /dev/null +++ b/Apps/Sandcastle/gallery/Entity tracking.html @@ -0,0 +1,110 @@ + + + + + + + + + Cesium Demo + + + + + + +
+

Loading...

+
+ + + diff --git a/Apps/Sandcastle/gallery/Entity tracking.jpg b/Apps/Sandcastle/gallery/Entity tracking.jpg new file mode 100644 index 000000000000..4fe477db6de5 Binary files /dev/null and b/Apps/Sandcastle/gallery/Entity tracking.jpg differ diff --git a/Apps/Sandcastle/gallery/Interpolation.html b/Apps/Sandcastle/gallery/Interpolation.html index d0559b27d7a8..567ec12627ea 100644 --- a/Apps/Sandcastle/gallery/Interpolation.html +++ b/Apps/Sandcastle/gallery/Interpolation.html @@ -154,6 +154,21 @@ viewer.trackedEntity = entity; }); + Sandcastle.addToolbarMenu([ + { + text: "Tracking reference frame: East-North-Up", + onselect: function () { + entity.trackingReferenceFrame = Cesium.TrackingReferenceFrame.EAST_NORTH_UP; + }, + }, + { + text: "Tracking reference frame: Inertial", + onselect: function () { + entity.trackingReferenceFrame = Cesium.TrackingReferenceFrame.INERTIAL; + }, + }, + ]); + //Add a combo box for selecting each interpolation mode. Sandcastle.addToolbarMenu( [ diff --git a/CHANGES.md b/CHANGES.md index 47b8c5a262e0..49e2c0056ac6 100644 --- a/CHANGES.md +++ b/CHANGES.md @@ -4,6 +4,10 @@ #### @cesium/engine +##### Additions :tada: + +- Added `Entity.trackingReferenceFrame` property to allow tracking entities in their own inertial reference frame. [#12194](https://github.com/CesiumGS/cesium/pull/12194) + ##### Fixes :wrench: - Fix label rendering bug in WebGL1 contexts. [#12301](https://github.com/CesiumGS/cesium/pull/12301) diff --git a/packages/engine/Source/Core/TrackingReferenceFrame.js b/packages/engine/Source/Core/TrackingReferenceFrame.js new file mode 100644 index 000000000000..4ad418e96b7a --- /dev/null +++ b/packages/engine/Source/Core/TrackingReferenceFrame.js @@ -0,0 +1,40 @@ +/** + * Constants for identifying well-known tracking reference frames. + * + * @enum {number} + */ +const TrackingReferenceFrame = { + /** + * Auto-detect algorithm. The reference frame used to track the Entity will + * be automatically selected based on its trajectory: near-surface slow moving + * objects will be tracked in the entity's local east-north-up reference + * frame, while faster objects like satellites will use VVLH (Vehicle Velocity, + * Local Horizontal). + * + * @type {number} + * @constant + */ + AUTODETECT: 0, + + /** + * The entity's inertial reference frame. If entity has no defined orientation + * property, a {@link VelocityOrientationProperty} is used instead, thus + * falling back to TrackingReferenceFrame.VELOCITY. + * When selected, the auto-detect algorithm is overridden. + * + * @type {number} + * @constant + */ + INERTIAL: 1, + + /** + * The entity's inertial reference frame with orientation fixed to its + * {@link VelocityOrientationProperty}, ignoring its own orientation. + * When selected, the auto-detect algorithm is overridden. + * + * @type {number} + * @constant + */ + VELOCITY: 2, +}; +export default Object.freeze(TrackingReferenceFrame); diff --git a/packages/engine/Source/DataSources/Entity.js b/packages/engine/Source/DataSources/Entity.js index b2b7433e29ba..d8c9fab17f9e 100644 --- a/packages/engine/Source/DataSources/Entity.js +++ b/packages/engine/Source/DataSources/Entity.js @@ -10,6 +10,7 @@ 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 GroundPolylinePrimitive from "../Scene/GroundPolylinePrimitive.js"; import GroundPrimitive from "../Scene/GroundPrimitive.js"; @@ -73,8 +74,9 @@ function createPropertyTypeDescriptor(name, Type) { * @property {string} [name] A human readable name to display to users. It does not have to be unique. * @property {TimeIntervalCollection} [availability] The availability, if any, associated with this object. * @property {boolean} [show] A boolean value indicating if the entity and its children are displayed. + * @property {TrackingReferenceFrame} [trackingReferenceFrame=TrackingReferenceFrame.AUTODETECT] The reference frame used when this entity is being tracked.
If undefined, reference frame is determined based on entity velocity: near-surface slow moving entities are tracked using the local east-north-up reference frame, whereas fast moving entities such as satellites are tracked using VVLH (Vehicle Velocity, Local Horizontal). * @property {Property | string} [description] A string Property specifying an HTML description for this entity. - * @property {PositionProperty | Cartesian3 | CallbackProperty} [position] A Property specifying the entity position. + * @property {PositionProperty | Cartesian3 | CallbackPositionProperty} [position] A Property specifying the entity position. * @property {Property | Quaternion} [orientation=Transforms.eastNorthUpToFixedFrame(position)] A Property specifying the entity orientation in respect to Earth-fixed-Earth-centered (ECEF). If undefined, east-north-up at entity position is used. * @property {Property | Cartesian3} [viewFrom] A suggested initial offset for viewing this object. * @property {Entity} [parent] A parent entity to associate with this entity. @@ -122,6 +124,10 @@ function Entity(options) { this._definitionChanged = new Event(); this._name = options.name; this._show = defaultValue(options.show, true); + this._trackingReferenceFrame = defaultValue( + options.trackingReferenceFrame, + TrackingReferenceFrame.AUTODETECT, + ); this._parent = undefined; this._propertyNames = [ "billboard", @@ -296,6 +302,14 @@ Object.defineProperties(Entity.prototype, { this._definitionChanged.raiseEvent(this, "show", value, !value); }, }, + /** + * Gets or sets the entity's tracking reference frame. + * @demo {@link https://sandcastle.cesium.com/index.html?src=Entity tracking.html|Cesium Sandcastle Entity tracking Demo} + * + * @memberof Entity.prototype + * @type {TrackingReferenceFrame} + */ + trackingReferenceFrame: createRawPropertyDescriptor("trackingReferenceFrame"), /** * Gets whether this entity is being displayed, taking into account * the visibility of any ancestor entities. diff --git a/packages/engine/Source/DataSources/EntityView.js b/packages/engine/Source/DataSources/EntityView.js index eb4fd4c5c207..bc759b53dbd6 100644 --- a/packages/engine/Source/DataSources/EntityView.js +++ b/packages/engine/Source/DataSources/EntityView.js @@ -8,8 +8,11 @@ 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(); @@ -21,6 +24,9 @@ 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 @@ -30,6 +36,9 @@ function updateTransform( updateLookAt, saveCamera, positionProperty, + velocityProperty, + orientationProperty, + trackingReferenceFrame, time, ellipsoid, ) { @@ -228,7 +237,39 @@ function updateTransform( } const transform = updateTransformMatrix4Scratch; - if (hasBasis) { + + let orientation; + if (defined(orientationProperty)) { + orientation = orientationProperty.getValue( + time, + updateTransformOrientationScratch, + ); + } + + const velocity = velocityProperty.getValue(time, velocityScratch); + + if ( + trackingReferenceFrame === TrackingReferenceFrame.INERTIAL && + defined(orientation) + ) { + Matrix4.fromTranslationQuaternionRotationScale( + cartesian, + orientation, + Cartesian3.ONE, + transform, + ); + } else if ( + trackingReferenceFrame === TrackingReferenceFrame.VELOCITY && + defined(velocity) + ) { + const rotation = Transforms.rotationMatrixFromPositionVelocity( + cartesian, + velocity, + ellipsoid, + rotationScratch, + ); + Matrix4.fromRotationTranslation(rotation, cartesian, transform); + } else if (hasBasis) { transform[0] = xBasis.x; transform[1] = xBasis.y; transform[2] = xBasis.z; @@ -316,6 +357,8 @@ function EntityView(entity, scene, ellipsoid) { this._lastCartesian = new Cartesian3(); this._defaultOffset3D = undefined; + this._velocityProperty = new VelocityVectorProperty(entity.position, true); + this._offset3D = new Cartesian3(); } @@ -362,10 +405,13 @@ EntityView.prototype.update = function (time, boundingSphere) { } 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; @@ -419,6 +465,9 @@ EntityView.prototype.update = function (time, boundingSphere) { updateLookAt, saveCamera, positionProperty, + velocityProperty, + orientationProperty, + trackingReferenceFrame, time, ellipsoid, ); diff --git a/packages/engine/Specs/DataSources/EntitySpec.js b/packages/engine/Specs/DataSources/EntitySpec.js index 4edfdbffc4da..33ce89a6d98e 100644 --- a/packages/engine/Specs/DataSources/EntitySpec.js +++ b/packages/engine/Specs/DataSources/EntitySpec.js @@ -4,6 +4,7 @@ import { Matrix3, Matrix4, Quaternion, + TrackingReferenceFrame, TimeInterval, TimeIntervalCollection, Transforms, @@ -54,11 +55,15 @@ describe("DataSources/Entity", function () { expect(entity.viewFrom).toBeUndefined(); expect(entity.wall).toBeUndefined(); expect(entity.entityCollection).toBeUndefined(); + expect(entity.trackingReferenceFrame).toBe( + TrackingReferenceFrame.AUTODETECT, + ); const options = { id: "someId", name: "bob", show: false, + trackingReferenceFrame: TrackingReferenceFrame.INERTIAL, availability: new TimeIntervalCollection(), parent: new Entity(), customProperty: {}, @@ -88,6 +93,7 @@ describe("DataSources/Entity", function () { expect(entity.id).toEqual(options.id); expect(entity.name).toEqual(options.name); expect(entity.show).toBe(options.show); + expect(entity.trackingReferenceFrame).toBe(options.trackingReferenceFrame); expect(entity.availability).toBe(options.availability); expect(entity.parent).toBe(options.parent); expect(entity.customProperty).toBe(options.customProperty); @@ -114,6 +120,7 @@ describe("DataSources/Entity", function () { expect(entity.wall).toBeInstanceOf(WallGraphics); expect(entity.entityCollection).toBeUndefined(); + expect(entity.trackingReferenceFrame).toBe(TrackingReferenceFrame.INERTIAL); }); it("isAvailable is always true if no availability defined.", function () { diff --git a/packages/engine/Specs/DataSources/EntityViewSpec.js b/packages/engine/Specs/DataSources/EntityViewSpec.js index 1406cf8207d3..2aa12913f9e5 100644 --- a/packages/engine/Specs/DataSources/EntityViewSpec.js +++ b/packages/engine/Specs/DataSources/EntityViewSpec.js @@ -6,6 +6,7 @@ import { ConstantPositionProperty, Entity, EntityView, + TrackingReferenceFrame, } from "../../index.js"; import createScene from "../../../../Specs/createScene.js"; @@ -74,6 +75,14 @@ describe( const view = new EntityView(entity, scene); view.update(JulianDate.now()); expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.INERTIAL; + view.update(JulianDate.now()); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.VELOCITY; + view.update(JulianDate.now()); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); }); it("uses entity bounding sphere", function () { @@ -92,6 +101,20 @@ describe( new BoundingSphere(new Cartesian3(3, 4, 5), 6), ); expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.INERTIAL; + view.update( + JulianDate.now(), + new BoundingSphere(new Cartesian3(3, 4, 5), 6), + ); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.VELOCITY; + view.update( + JulianDate.now(), + new BoundingSphere(new Cartesian3(3, 4, 5), 6), + ); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); }); it("uses entity viewFrom if available and boundingsphere is supplied", function () { @@ -109,6 +132,14 @@ describe( ); view.update(JulianDate.now()); expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.INERTIAL; + view.update(JulianDate.now()); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); + + entity.trackingReferenceFrame = TrackingReferenceFrame.VELOCITY; + view.update(JulianDate.now()); + expect(view.scene.camera.position).toEqualEpsilon(sampleOffset, 1e-10); }); it("update throws without time parameter", function () {