Revert "Merge pull request #5848 from ggetz/CorrectHPRtoQuaternion"

This reverts commit cc4ad28, reversing
changes made to e6c5692.

Apps/Sandcastle/gallery/3D Models Coloring.html

@@ -172,7 +172,7 @@
     viewer.entities.removeAll();
 
     var position = Cesium.Cartesian3.fromDegrees(-123.0744619, 44.0503706, height);
-    var heading = -Cesium.Math.toRadians(135);
+    var heading = Cesium.Math.toRadians(135);
     var pitch = 0;
     var roll = 0;
     var hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll);

Apps/Sandcastle/gallery/Classification.html

@@ -56,7 +56,7 @@
 
     var center = new Cesium.Cartesian3(1216378.730451297, -4736275.917774027, 4081266.871000864);
     var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);
-    var hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(-2.619728786416368, 0.0, 0.0));
+    var hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(2.619728786416368, 0.0, 0.0));
     var hpr = Cesium.Matrix4.fromRotationTranslation(hprRotation, new Cesium.Cartesian3(0.0, 0.0, -2.0));
     Cesium.Matrix4.multiply(modelMatrix, hpr, modelMatrix);
 
@@ -91,7 +91,7 @@
 
     var center = new Cesium.Cartesian3(1216398.6054139996, -4736204.533089285, 4081338.6585485404);
     var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);
-    var hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(-5.785339046755887, 0.0, 0.0));
+    var hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(5.785339046755887, 0.0, 0.0));
     var hpr = Cesium.Matrix4.fromRotationTranslation(hprRotation, new Cesium.Cartesian3(0.4, 0.0, -2.0));
     Cesium.Matrix4.multiply(modelMatrix, hpr, modelMatrix);
 
@@ -111,7 +111,7 @@
 
     center = new Cesium.Cartesian3(1216394.3346955755, -4736207.431365568, 4081336.7768881875);
     modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);
-    hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(-5.785339046755887, 0.0, 0.0));
+    hprRotation = Cesium.Matrix3.fromHeadingPitchRoll(new Cesium.HeadingPitchRoll(5.785339046755887, 0.0, 0.0));
     hpr = Cesium.Matrix4.fromRotationTranslation(hprRotation, new Cesium.Cartesian3(-0.25, 0.0, -2.0));
     Cesium.Matrix4.multiply(modelMatrix, hpr, modelMatrix);
 

Apps/Sandcastle/gallery/Distance Display Conditions.html

@@ -54,7 +54,7 @@
 
     var position = Cesium.Cartesian3.fromDegrees(-75.59777, 40.03883, 0.0);
     var heading = Cesium.Math.toRadians(135);
-    var hpr = new Cesium.HeadingPitchRoll(-heading, 0.0, 0.0);
+    var hpr = new Cesium.HeadingPitchRoll(heading, 0.0, 0.0);
     var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
 
     viewer.entities.add({

Apps/Sandcastle/gallery/Projection.html

@@ -36,7 +36,7 @@
 viewer.projectionPicker.viewModel.switchToOrthographic();
 
 var position = Cesium.Cartesian3.fromDegrees(-123.0744619, 44.0503706, 0.0);
-var hpr = new Cesium.HeadingPitchRoll(-Cesium.Math.toRadians(135), 0.0, 0.0);
+var hpr = new Cesium.HeadingPitchRoll(Cesium.Math.toRadians(135), 0.0, 0.0);
 var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
 
 var entity = viewer.entities.add({

Apps/Sandcastle/gallery/development/3D Models.html

@@ -123,8 +123,8 @@
 
 function createModel(url, height, heading, pitch, roll) {
     height = Cesium.defaultValue(height, 0.0);
-    heading = -Cesium.defaultValue(heading, 0.0);
-    pitch = -Cesium.defaultValue(pitch, 0.0);
+    heading = Cesium.defaultValue(heading, 0.0);
+    pitch = Cesium.defaultValue(pitch, 0.0);
     roll = Cesium.defaultValue(roll, 0.0);
     var hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll);
 

CHANGES.md

@@ -3,7 +3,6 @@ Change Log
 ### 1.38 - 2017-10-02
 
 * Breaking changes
-   * `HeadingPitchRoll.fromQuaternion`, `Matrix3.fromHeadingPitchRoll`, `Quaternion.fromHeadingPitchRoll`, `Transforms.headingPitchRollToFixedFrame`, and `Transforms.headingPitchRollQuaternion` now use the classical orientation of heading and pitch calculated counter-clockwise. With this new behavior, heading and pitch need to be the negative of their previous values. The warning message will be removed in Cesium 1.40.[#5666](https://github.com/AnalyticalGraphicsInc/cesium/issues/5666)
    * `Scene/CullingVolume` has been removed. Use `Core/CullingVolume`.
    * `Scene/OrthographicFrustum` has been removed. Use `Core/OrthographicFrustum`.
    * `Scene/OrthographicOffCenterFrustum` has been removed. Use `Core/OrthographicOffCenterFrustum`.

Source/Core/HeadingPitchRoll.js

@@ -2,14 +2,12 @@ define([
         './defaultValue',
         './defined',
         './DeveloperError',
-        './Math',
-        './deprecationWarning'
+        './Math'
     ], function(
         defaultValue,
         defined,
         DeveloperError,
-        CesiumMath,
-        deprecationWarning) {
+        CesiumMath) {
     'use strict';
 
     /**
@@ -42,23 +40,17 @@ define([
             throw new DeveloperError('quaternion is required');
         }
         //>>includeEnd('debug');
-
-        deprecationWarning('HeadingPitchRoll.fromQuaternion', 'This function now uses a counter-clockwise orientation of heading and pitch as per mathematical conventions. With this new behavior, heading and pitch will need to be the negative of their previous values. This was introduced in 1.38 and the deprecation warning will be removed in Cesium 1.40.');
-
         if (!defined(result)) {
             result = new HeadingPitchRoll();
         }
-
         var test = 2 * (quaternion.w * quaternion.y - quaternion.z * quaternion.x);
         var denominatorRoll = 1 - 2 * (quaternion.x * quaternion.x + quaternion.y * quaternion.y);
         var numeratorRoll = 2 * (quaternion.w * quaternion.x + quaternion.y * quaternion.z);
         var denominatorHeading = 1 - 2 * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
         var numeratorHeading = 2 * (quaternion.w * quaternion.z + quaternion.x * quaternion.y);
-
-        result.heading = Math.atan2(numeratorHeading, denominatorHeading);
+        result.heading = -Math.atan2(numeratorHeading, denominatorHeading);
         result.roll = Math.atan2(numeratorRoll, denominatorRoll);
-        result.pitch = Math.asin(test);
-
+        result.pitch = -Math.asin(test);
         return result;
     };
 

Source/Core/Matrix3.js

@@ -6,8 +6,7 @@ define([
         './defineProperties',
         './DeveloperError',
         './freezeObject',
-        './Math',
-        './deprecationWarning'
+        './Math'
     ], function(
         Cartesian3,
         Check,
@@ -16,8 +15,7 @@ define([
         defineProperties,
         DeveloperError,
         freezeObject,
-        CesiumMath,
-        deprecationWarning) {
+        CesiumMath) {
     'use strict';
 
     /**
@@ -306,13 +304,11 @@ define([
         Check.typeOf.object('headingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
 
-        deprecationWarning('Matrix3.fromHeadingPitchRoll', 'This function now uses a counter-clockwise orientation of heading and pitch as per mathematical conventions. With this new behavior, heading and pitch will need to be the negative of their previous values. This was introduced in 1.38 and the deprecation warning will be removed in Cesium 1.40.');
-
-        var cosTheta = Math.cos(headingPitchRoll.pitch);
-        var cosPsi = Math.cos(headingPitchRoll.heading);
+        var cosTheta = Math.cos(-headingPitchRoll.pitch);
+        var cosPsi = Math.cos(-headingPitchRoll.heading);
         var cosPhi = Math.cos(headingPitchRoll.roll);
-        var sinTheta = Math.sin(headingPitchRoll.pitch);
-        var sinPsi = Math.sin(headingPitchRoll.heading);
+        var sinTheta = Math.sin(-headingPitchRoll.pitch);
+        var sinPsi = Math.sin(-headingPitchRoll.heading);
         var sinPhi = Math.sin(headingPitchRoll.roll);
 
         var m00 = cosTheta * cosPsi;

Source/Core/Quaternion.js

@@ -7,8 +7,7 @@ define([
         './freezeObject',
         './HeadingPitchRoll',
         './Math',
-        './Matrix3',
-        './deprecationWarning'
+        './Matrix3'
     ], function(
         Cartesian3,
         Check,
@@ -18,8 +17,7 @@ define([
         freezeObject,
         HeadingPitchRoll,
         CesiumMath,
-        Matrix3,
-        deprecationWarning) {
+        Matrix3) {
     'use strict';
 
     /**
@@ -191,13 +189,10 @@ define([
         Check.typeOf.object('headingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
 
-        deprecationWarning('Quaternion.fromHeadingPitchRoll', 'This function now uses a counter-clockwise orientation of heading and pitch as per mathematical conventions. With this new behavior, heading and pitch will need to be the negative of their previous values. This was introduced in 1.38 and the deprecation warning will be removed in Cesium 1.40.');
-
         scratchRollQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_X, headingPitchRoll.roll, scratchHPRQuaternion);
-        scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, headingPitchRoll.pitch, result);
+        scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, -headingPitchRoll.pitch, result);
         result = Quaternion.multiply(scratchPitchQuaternion, scratchRollQuaternion, scratchPitchQuaternion);
-        scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, headingPitchRoll.heading, scratchHPRQuaternion);
-
+        scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, -headingPitchRoll.heading, scratchHPRQuaternion);
         return Quaternion.multiply(scratchHeadingQuaternion, result, result);
     };
 

Source/Core/Transforms.js

@@ -18,8 +18,7 @@ define([
         './Matrix3',
         './Matrix4',
         './Quaternion',
-        './TimeConstants',
-        './deprecationWarning'
+        './TimeConstants'
     ], function(
         when,
         Cartesian2,
@@ -40,8 +39,7 @@ define([
         Matrix3,
         Matrix4,
         Quaternion,
-        TimeConstants,
-        deprecationWarning) {
+        TimeConstants) {
     'use strict';
 
     /**
@@ -336,12 +334,8 @@ define([
         Check.typeOf.object( 'HeadingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
 
-        deprecationWarning('Transforms.headingPitchRollToFixedFrame', 'This function now uses a counter-clockwise orientation of heading and pitch as per mathematical conventions. With this new behavior, heading and pitch will need to be the negative of their previous values. This was introduced in 1.38 and the deprecation warning will be removed in Cesium 1.40.');
-
         fixedFrameTransform = defaultValue(fixedFrameTransform, Transforms.eastNorthUpToFixedFrame);
-
-       var hprQuaternion = Quaternion.fromHeadingPitchRoll(headingPitchRoll, scratchHPRQuaternion);
-
+        var hprQuaternion = Quaternion.fromHeadingPitchRoll(headingPitchRoll, scratchHPRQuaternion);
         var hprMatrix = Matrix4.fromTranslationQuaternionRotationScale(Cartesian3.ZERO, hprQuaternion, scratchScale, scratchHPRMatrix4);
         result = fixedFrameTransform(origin, ellipsoid, result);
         return Matrix4.multiply(result, hprMatrix, result);
@@ -378,11 +372,6 @@ define([
         Check.typeOf.object( 'HeadingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
 
-        deprecationWarning('Transforms.headingPitchRollQuaternion', 'This function now uses a counter-clockwise orientation of heading and pitch as per mathematical conventions. With this new behavior, heading and pitch will need to be the negative of their previous values. This was introduced in 1.38 and the deprecation warning will be removed in Cesium 1.40.');
-
-        scratchENUMatrix4 = Transforms.headingPitchRollToFixedFrame(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, scratchENUMatrix4);
-        Matrix4.getRotation(scratchENUMatrix4, scratchHPRMatrix3);
-
         var transform = Transforms.headingPitchRollToFixedFrame(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, scratchENUMatrix4);
         var rotation = Matrix4.getRotation(transform, scratchHPRMatrix3);
         return Quaternion.fromRotationMatrix(rotation, result);

Source/Scene/Camera.js

@@ -1039,6 +1039,7 @@ define([
     var scratchSetViewCartesian = new Cartesian3();
     var scratchSetViewTransform1 = new Matrix4();
     var scratchSetViewTransform2 = new Matrix4();
+    var scratchSetViewQuaternion = new Quaternion();
     var scratchSetViewMatrix3 = new Matrix3();
     var scratchSetViewCartographic = new Cartographic();
 
@@ -1048,10 +1049,10 @@ define([
         camera._setTransform(localTransform);
 
         Cartesian3.clone(Cartesian3.ZERO, camera.position);
-        hpr.heading = -hpr.heading + CesiumMath.PI_OVER_TWO;
-        hpr.pitch = -hpr.pitch;
+        hpr.heading = hpr.heading - CesiumMath.PI_OVER_TWO;
 
-        var rotMat = Matrix3.fromHeadingPitchRoll(hpr, scratchSetViewMatrix3);
+        var rotQuat = Quaternion.fromHeadingPitchRoll(hpr, scratchSetViewQuaternion);
+        var rotMat = Matrix3.fromQuaternion(rotQuat, scratchSetViewMatrix3);
 
         Matrix3.getColumn(rotMat, 0, camera.direction);
         Matrix3.getColumn(rotMat, 2, camera.up);
@@ -1074,10 +1075,10 @@ define([
             }
             Cartesian3.clone(position, camera.position);
         }
-        hpr.heading = -hpr.heading + CesiumMath.PI_OVER_TWO;
-        hpr.pitch = -hpr.pitch;
+        hpr.heading = hpr.heading - CesiumMath.PI_OVER_TWO;
 
-        var rotMat = Matrix3.fromHeadingPitchRoll(hpr, scratchSetViewMatrix3);
+        var rotQuat = Quaternion.fromHeadingPitchRoll(hpr, scratchSetViewQuaternion);
+        var rotMat = Matrix3.fromQuaternion(rotQuat, scratchSetViewMatrix3);
 
         Matrix3.getColumn(rotMat, 0, camera.direction);
         Matrix3.getColumn(rotMat, 2, camera.up);
@@ -1115,10 +1116,11 @@ define([
         }
 
         if (camera._scene.mapMode2D === MapMode2D.ROTATE) {
-            hpr.heading = -hpr.heading  + CesiumMath.PI_OVER_TWO;
-            hpr.pitch = CesiumMath.PI_OVER_TWO;
+            hpr.heading = hpr.heading  - CesiumMath.PI_OVER_TWO;
+            hpr.pitch = -CesiumMath.PI_OVER_TWO;
             hpr.roll =  0.0;
-            var rotMat = Matrix3.fromHeadingPitchRoll(hpr, scratchSetViewMatrix3);
+            var rotQuat = Quaternion.fromHeadingPitchRoll(hpr, scratchSetViewQuaternion);
+            var rotMat = Matrix3.fromQuaternion(rotQuat, scratchSetViewMatrix3);
 
             Matrix3.getColumn(rotMat, 2, camera.up);
             Cartesian3.cross(camera.direction, camera.up, camera.right);

Specs/Core/Matrix3Spec.js

@@ -154,7 +154,7 @@ defineSuite([
             0.133022221559489, 0.656295369162553, -0.742685314912828,
             -0.642787609686539, 0.627506871597133, 0.439385041770705);
 
-        var headingPitchRoll = new HeadingPitchRoll(CesiumMath.toRadians(10), CesiumMath.toRadians(40), CesiumMath.toRadians(55));
+        var headingPitchRoll = new HeadingPitchRoll(-CesiumMath.toRadians(10), -CesiumMath.toRadians(40), CesiumMath.toRadians(55));
         var result = new Matrix3();
         var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, result);
         expect(result).toBe(returnedResult);

Specs/Core/QuaternionSpec.js

@@ -108,14 +108,14 @@ defineSuite([
         var angle = CesiumMath.toRadians(20.0);
         var hpr = new HeadingPitchRoll(angle, 0.0, 0.0);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationZ(angle), CesiumMath.EPSILON11);
+        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationZ(-angle), CesiumMath.EPSILON11);
     });
 
     it('fromHeadingPitchRoll with just pitch', function() {
         var angle = CesiumMath.toRadians(20.0);
         var hpr = new HeadingPitchRoll(0.0, angle, 0.0);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationY(angle), CesiumMath.EPSILON11);
+        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationY(-angle), CesiumMath.EPSILON11);
     });
 
     it('fromHeadingPitchRoll with just roll', function() {
@@ -130,8 +130,8 @@ defineSuite([
         var hpr = new HeadingPitchRoll( angle, angle, angle);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
         var expected = Matrix3.fromRotationX(angle);
-        Matrix3.multiply(Matrix3.fromRotationY(angle), expected, expected);
-        Matrix3.multiply(Matrix3.fromRotationZ(angle), expected, expected);
+        Matrix3.multiply(Matrix3.fromRotationY(-angle), expected, expected);
+        Matrix3.multiply(Matrix3.fromRotationZ(-angle), expected, expected);
         expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
     });
 
@@ -142,8 +142,8 @@ defineSuite([
         var hpr = new HeadingPitchRoll( heading, pitch, roll);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
         var expected = Matrix3.fromRotationX(roll);
-        Matrix3.multiply(Matrix3.fromRotationY(pitch), expected, expected);
-        Matrix3.multiply(Matrix3.fromRotationZ(heading), expected, expected);
+        Matrix3.multiply(Matrix3.fromRotationY(-pitch), expected, expected);
+        Matrix3.multiply(Matrix3.fromRotationZ(-heading), expected, expected);
         expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
     });
 

Specs/Core/TransformsSpec.js

@@ -587,6 +587,7 @@ defineSuite([
         expect(actual).toEqualEpsilon(expected, CesiumMath.EPSILON11);
     });
 
+
     it('headingPitchRollQuaternion works with a custom fixedFrameTransform', function() {
         var origin = new Cartesian3(1.0, 0.0, 0.0);
         var heading = CesiumMath.toRadians(20.0);
@@ -1047,7 +1048,7 @@ defineSuite([
         var heading = CesiumMath.toRadians(90.0);
         var pitch = CesiumMath.toRadians(45.0);
         var roll = 0.0;
-        var hpr = new HeadingPitchRoll(-heading, -pitch, roll);
+        var hpr = new HeadingPitchRoll(heading, pitch, roll);
 
         var modelMatrix = Transforms.headingPitchRollToFixedFrame(origin, hpr, ellipsoid);
         var modelMatrix2D = Transforms.basisTo2D(projection, modelMatrix, new Matrix4());
@@ -1068,7 +1069,7 @@ defineSuite([
         var heading = CesiumMath.toRadians(90.0);
         var pitch = CesiumMath.toRadians(45.0);
         var roll = 0.0;
-        var hpr = new HeadingPitchRoll(-heading, -pitch, roll);
+        var hpr = new HeadingPitchRoll(heading, pitch, roll);
 
         var modelMatrix = Transforms.headingPitchRollToFixedFrame(origin, hpr, ellipsoid);
         var modelMatrix2D = Transforms.basisTo2D(projection, modelMatrix, new Matrix4());

Specs/Scene/ModelInstanceCollectionSpec.js

@@ -133,7 +133,7 @@ defineSuite([
             var heading = Math.PI/2.0;
             var pitch = 0.0;
             var roll = 0.0;
-            var hpr = new HeadingPitchRoll(-heading, -pitch, roll);
+            var hpr = new HeadingPitchRoll(heading, pitch, roll);
             var modelMatrix = Transforms.headingPitchRollToFixedFrame(position, hpr);
             instances.push({
                 modelMatrix : modelMatrix