make Heading pitch roll counter clock wise again 2

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

@@ -172,11 +172,11 @@
     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);
-    var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
+    var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr, undefined, undefined, undefined, true);
 
     entity = viewer.entities.add({
         name : url,

Apps/Sandcastle/gallery/3D Models.html

@@ -94,4 +94,4 @@
 }
 </script>
 </body>
-</html>
+</html>

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), undefined, true);
     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), undefined, true);
     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), undefined, true);
     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

@@ -54,8 +54,8 @@
 
     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 orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
+    var hpr = new Cesium.HeadingPitchRoll(-heading, 0.0, 0.0);
+    var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr, undefined, undefined, undefined, true);
 
     viewer.entities.add({
         position : position,

Apps/Sandcastle/gallery/HeadingPitchRoll.html

@@ -110,7 +110,7 @@ <h1>Loading...</h1>
 
 var planePrimitive = scene.primitives.add(Cesium.Model.fromGltf({
     url : '../../SampleData/models/CesiumAir/Cesium_Air.glb',
-    modelMatrix : Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, fixedFrameTransform),
+    modelMatrix : Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, fixedFrameTransform, undefined, true),
     minimumPixelSize : 128
 }));
 
@@ -208,7 +208,7 @@ <h1>Loading...</h1>
     speedVector = Cesium.Cartesian3.multiplyByScalar(Cesium.Cartesian3.UNIT_X, speed / 10, speedVector);
     position = Cesium.Matrix4.multiplyByPoint(planePrimitive.modelMatrix, speedVector, position);
     pathPosition.addSample(Cesium.JulianDate.now(), position);
-    Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, fixedFrameTransform, planePrimitive.modelMatrix);
+    Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, fixedFrameTransform, planePrimitive.modelMatrix, true);
 
     if (fromBehind.checked) {
         // Zoom to model

Apps/Sandcastle/gallery/LocalToFixedFrame.html

@@ -110,12 +110,12 @@ <h1>Loading...</h1>
     var comments = localFrames[i].comments;
     var planePrimitive = scene.primitives.add(Cesium.Model.fromGltf({
         url : '../../SampleData/models/CesiumAir/Cesium_Air.glb',
-        modelMatrix : Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, converter),
+        modelMatrix : Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, converter, undefined, true),
         minimumPixelSize : 128
     }));
 
     primitives.push({primitive : planePrimitive, converter : converter, position : position});
-    var modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(position, hprRollZero, Cesium.Ellipsoid.WGS84, converter);
+    var modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(position, hprRollZero, Cesium.Ellipsoid.WGS84, converter, undefined, true);
     scene.primitives.add(new Cesium.DebugModelMatrixPrimitive({
         modelMatrix : modelMatrix,
         length : 300.0,
@@ -221,7 +221,7 @@ <h1>Loading...</h1>
         var primitive = primitives[i].primitive;
         var converter = primitives[i].converter;
         var position = primitives[i].position;
-        Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, converter, primitive.modelMatrix);
+        Cesium.Transforms.headingPitchRollToFixedFrame(position, hpRoll, Cesium.Ellipsoid.WGS84, converter, primitive.modelMatrix, true);
     }
 });
 //Sandcastle_End

Apps/Sandcastle/gallery/Projection.html

@@ -36,8 +36,8 @@
 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 orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
+var hpr = new Cesium.HeadingPitchRoll(-Cesium.Math.toRadians(135), 0.0, 0.0);
+var orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr, undefined, undefined, undefined, true);
 
 var entity = viewer.entities.add({
     position : position,

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

@@ -123,13 +123,13 @@
 
 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);
 
     var origin = Cesium.Cartesian3.fromDegrees(-123.0744619, 44.0503706, height);
-    var modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(origin, hpr);
+    var modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(origin, hpr, undefined, undefined, undefined, true);
 
     scene.primitives.removeAll(); // Remove previous model
     model = scene.primitives.add(Cesium.Model.fromGltf({

CHANGES.md

@@ -8,6 +8,8 @@ Change Log
    * `Scene/OrthographicOffCenterFrustum` has been removed. Use `Core/OrthographicOffCenterFrustum`.
    * `Scene/PerspectiveFrustum` has been removed. Use `Core/PerspectiveFrustum`.
    * `Scene/PerspectiveOffCenterFrustum` has been removed. Use `Core/PerspectiveOffCenterFrustum`.
+* Deprecated
+   * The default behavior of the functions `HeadingPitchRoll.fromQuaternion`, `Matrix3.fromHeadingPitchRoll`, `Quaternion.fromHeadingPitchRoll`, `Transforms.headingPitchRollToFixedFrame`, and `Transforms.headingPitchRollQuaternion` has been deprecated. An optional boolean flag can be supplied to these functions that, if true, uses the classical orientation of heading and pitch calculated counter-clockwise. The flag will be removed and the new behavior made default in 1.40.[#5666](https://github.com/AnalyticalGraphicsInc/cesium/issues/5666)
 * Added ability to add an animation to `ModelAnimationCollection` by its index. [#5815](https://github.com/AnalyticalGraphicsInc/cesium/pull/5815)
 * Fixed a bug in `ModelAnimationCollection` that caused adding an animation by its name to throw an error. [#5815](https://github.com/AnalyticalGraphicsInc/cesium/pull/5815)
 * Zoom about mouse now maintains camera heading, pitch, and roll [#4639](https://github.com/AnalyticalGraphicsInc/cesium/pull/5603)

Source/Core/HeadingPitchRoll.js

@@ -2,12 +2,14 @@ define([
         './defaultValue',
         './defined',
         './DeveloperError',
-        './Math'
+        './Math',
+        './deprecationWarning'
     ], function(
         defaultValue,
         defined,
         DeveloperError,
-        CesiumMath) {
+        CesiumMath,
+        deprecationWarning) {
     'use strict';
 
     /**
@@ -30,11 +32,13 @@ define([
     /**
      * Computes the heading, pitch and roll from a quaternion (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
      *
+     * @deprecated since V1.38. An optional boolean flag can be supplied to this function that, if true, uses the classical orientation of heading and pitch calculated counter-clockwise. The flag will be removed and the new behavior made default in 1.40
      * @param {Quaternion} quaternion The quaternion from which to retrieve heading, pitch, and roll, all expressed in radians.
      * @param {HeadingPitchRoll} [result] The object in which to store the result. If not provided, a new instance is created and returned.
+     * @param {Boolean} [false] Indicates if the function uses the classical orientation of heading and pitch (counter-clockwise).
      * @returns {HeadingPitchRoll} The modified result parameter or a new HeadingPitchRoll instance if one was not provided.
      */
-    HeadingPitchRoll.fromQuaternion = function(quaternion, result) {
+    HeadingPitchRoll.fromQuaternion = function(quaternion, result, classical) {
         //>>includeStart('debug', pragmas.debug);
         if (!defined(quaternion)) {
             throw new DeveloperError('quaternion is required');
@@ -43,14 +47,24 @@ define([
         if (!defined(result)) {
             result = new HeadingPitchRoll();
         }
+        classical = defaultValue(classical, false);
         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.roll = Math.atan2(numeratorRoll, denominatorRoll);
-        result.pitch = -Math.asin(test);
+
+        if(classical === true){
+          result.heading = Math.atan2(numeratorHeading, denominatorHeading);
+          result.roll = Math.atan2(numeratorRoll, denominatorRoll);
+          result.pitch = Math.asin(test);
+        } else {
+          deprecationWarning('HeadingPitchRoll.fromQuaternion', 'This HeadingPitchRoll.fromQuaternion works in the Cesium legacy fashion which means that heading and pitch is opposite of the classical interpretation used in mathematics. This behavior will be corrected in 1.40 in order to be classical. The new behavior can be evaluate using parameter classical setted to true');
+          result.heading = -Math.atan2(numeratorHeading, denominatorHeading);
+          result.roll = Math.atan2(numeratorRoll, denominatorRoll);
+          result.pitch = -Math.asin(test);
+        }
+
         return result;
     };
 

Source/Core/Matrix3.js

@@ -6,7 +6,8 @@ define([
         './defineProperties',
         './DeveloperError',
         './freezeObject',
-        './Math'
+        './Math',
+        './deprecationWarning'
     ], function(
         Cartesian3,
         Check,
@@ -15,7 +16,8 @@ define([
         defineProperties,
         DeveloperError,
         freezeObject,
-        CesiumMath) {
+        CesiumMath,
+        deprecationWarning) {
     'use strict';
 
     /**
@@ -295,21 +297,41 @@ define([
     /**
      * Computes a 3x3 rotation matrix from the provided headingPitchRoll. (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
      *
+     * @deprecated since V1.38. An optional boolean flag can be supplied to this function that, if true, uses the classical orientation of heading and pitch calculated counter-clockwise. The flag will be removed and the new behavior made default in 1.40
      * @param {HeadingPitchRoll} headingPitchRoll the headingPitchRoll to use.
      * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+     * @param {Boolean} [false] Indicates if the function uses the classical orientation of heading and pitch (counter-clockwise).
      * @returns {Matrix3} The 3x3 rotation matrix from this headingPitchRoll.
      */
-    Matrix3.fromHeadingPitchRoll = function(headingPitchRoll, result) {
+    Matrix3.fromHeadingPitchRoll = function(headingPitchRoll, result, classical) {
         //>>includeStart('debug', pragmas.debug);
         Check.typeOf.object('headingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
-
-        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 sinPhi = Math.sin(headingPitchRoll.roll);
+        classical = defaultValue(classical, false);
+
+        var cosTheta;
+        var cosPsi;
+        var cosPhi;
+        var sinTheta;
+        var sinPsi;
+        var sinPhi;
+
+        if(classical === true){
+          cosTheta = Math.cos(headingPitchRoll.pitch);
+          cosPsi = Math.cos(headingPitchRoll.heading);
+          cosPhi = Math.cos(headingPitchRoll.roll);
+          sinTheta = Math.sin(headingPitchRoll.pitch);
+          sinPsi = Math.sin(headingPitchRoll.heading);
+          sinPhi = Math.sin(headingPitchRoll.roll);
+        } else {
+          deprecationWarning('Matrix3.fromHeadingPitchRoll', 'This Matrix3.fromHeadingPitchRoll works in the Cesium legacy fashion which means that heading and pitch is opposite of the classical interpretation used in mathematics. This behavior will be corrected in 1.40 in order to be classical. The new behavior can be evaluate using parameter classical setted to true');
+          cosTheta = Math.cos(-headingPitchRoll.pitch);
+          cosPsi = Math.cos(-headingPitchRoll.heading);
+          cosPhi = Math.cos(headingPitchRoll.roll);
+          sinTheta = Math.sin(-headingPitchRoll.pitch);
+          sinPsi = Math.sin(-headingPitchRoll.heading);
+          sinPhi = Math.sin(headingPitchRoll.roll);
+        }
 
         var m00 = cosTheta * cosPsi;
         var m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;

Source/Core/Quaternion.js

@@ -7,7 +7,8 @@ define([
         './freezeObject',
         './HeadingPitchRoll',
         './Math',
-        './Matrix3'
+        './Matrix3',
+        './deprecationWarning'
     ], function(
         Cartesian3,
         Check,
@@ -17,7 +18,8 @@ define([
         freezeObject,
         HeadingPitchRoll,
         CesiumMath,
-        Matrix3) {
+        Matrix3,
+        deprecationWarning) {
     'use strict';
 
     /**
@@ -179,20 +181,32 @@ define([
      * Computes a rotation from the given heading, pitch and roll angles. Heading is the rotation about the
      * negative z axis. Pitch is the rotation about the negative y axis. Roll is the rotation about
      * the positive x axis.
+     * @deprecated since V1.38. An optional boolean flag can be supplied to this function that, if true, uses the classical orientation of heading and pitch calculated counter-clockwise. The flag will be removed and the new behavior made default in 1.40
      *
      * @param {HeadingPitchRoll} headingPitchRoll The rotation expressed as a heading, pitch and roll.
      * @param {Quaternion} [result] The object onto which to store the result.
+     * @param {Boolean} [false] Indicates if the function uses the classical orientation of heading and pitch (counter-clockwise).
      * @returns {Quaternion} The modified result parameter or a new Quaternion instance if none was provided.
      */
-    Quaternion.fromHeadingPitchRoll = function(headingPitchRoll, result) {
+    Quaternion.fromHeadingPitchRoll = function(headingPitchRoll, result, classical) {
         //>>includeStart('debug', pragmas.debug);
         Check.typeOf.object('headingPitchRoll', headingPitchRoll);
         //>>includeEnd('debug');
+        classical = defaultValue(classical, false);
+
+        if(classical === true){
+          scratchRollQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_X, headingPitchRoll.roll, scratchHPRQuaternion);
+          scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, headingPitchRoll.pitch, result);
+          result = Quaternion.multiply(scratchPitchQuaternion, scratchRollQuaternion, scratchPitchQuaternion);
+          scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, headingPitchRoll.heading, scratchHPRQuaternion);
+        }else{
+          deprecationWarning('Quaternion.fromHeadingPitchRoll', 'This Quaternion.fromHeadingPitchRoll works in the Cesium legacy fashion which means that heading and pitch is opposite of the classical interpretation used in mathematics. This behavior will be corrected in 1.40 in order to be classical. The new behavior can be evaluate using parameter classical setted to true');
+          scratchRollQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_X, headingPitchRoll.roll, scratchHPRQuaternion);
+          scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, -headingPitchRoll.pitch, result);
+          result = Quaternion.multiply(scratchPitchQuaternion, scratchRollQuaternion, scratchPitchQuaternion);
+          scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, -headingPitchRoll.heading, scratchHPRQuaternion);
+        }
 
-        scratchRollQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_X, headingPitchRoll.roll, scratchHPRQuaternion);
-        scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, -headingPitchRoll.pitch, result);
-        result = Quaternion.multiply(scratchPitchQuaternion, scratchRollQuaternion, scratchPitchQuaternion);
-        scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, -headingPitchRoll.heading, scratchHPRQuaternion);
         return Quaternion.multiply(scratchHeadingQuaternion, result, result);
     };