@cesium/engine 0.1.0

package/Source/Core/Transforms.js

@@ -0,0 +1,1132 @@
+import Cartesian2 from "./Cartesian2.js";
+import Cartesian3 from "./Cartesian3.js";
+import Cartesian4 from "./Cartesian4.js";
+import Cartographic from "./Cartographic.js";
+import Check from "./Check.js";
+import defaultValue from "./defaultValue.js";
+import defined from "./defined.js";
+import DeveloperError from "./DeveloperError.js";
+import EarthOrientationParameters from "./EarthOrientationParameters.js";
+import EarthOrientationParametersSample from "./EarthOrientationParametersSample.js";
+import Ellipsoid from "./Ellipsoid.js";
+import HeadingPitchRoll from "./HeadingPitchRoll.js";
+import Iau2006XysData from "./Iau2006XysData.js";
+import Iau2006XysSample from "./Iau2006XysSample.js";
+import JulianDate from "./JulianDate.js";
+import CesiumMath from "./Math.js";
+import Matrix3 from "./Matrix3.js";
+import Matrix4 from "./Matrix4.js";
+import Quaternion from "./Quaternion.js";
+import TimeConstants from "./TimeConstants.js";
+
+/**
+ * Contains functions for transforming positions to various reference frames.
+ *
+ * @namespace Transforms
+ */
+const Transforms = {};
+
+const vectorProductLocalFrame = {
+  up: {
+    south: "east",
+    north: "west",
+    west: "south",
+    east: "north",
+  },
+  down: {
+    south: "west",
+    north: "east",
+    west: "north",
+    east: "south",
+  },
+  south: {
+    up: "west",
+    down: "east",
+    west: "down",
+    east: "up",
+  },
+  north: {
+    up: "east",
+    down: "west",
+    west: "up",
+    east: "down",
+  },
+  west: {
+    up: "north",
+    down: "south",
+    north: "down",
+    south: "up",
+  },
+  east: {
+    up: "south",
+    down: "north",
+    north: "up",
+    south: "down",
+  },
+};
+
+const degeneratePositionLocalFrame = {
+  north: [-1, 0, 0],
+  east: [0, 1, 0],
+  up: [0, 0, 1],
+  south: [1, 0, 0],
+  west: [0, -1, 0],
+  down: [0, 0, -1],
+};
+
+const localFrameToFixedFrameCache = {};
+
+const scratchCalculateCartesian = {
+  east: new Cartesian3(),
+  north: new Cartesian3(),
+  up: new Cartesian3(),
+  west: new Cartesian3(),
+  south: new Cartesian3(),
+  down: new Cartesian3(),
+};
+let scratchFirstCartesian = new Cartesian3();
+let scratchSecondCartesian = new Cartesian3();
+let scratchThirdCartesian = new Cartesian3();
+/**
+ * Generates a function that computes a 4x4 transformation matrix from a reference frame
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * @param  {String} firstAxis  name of the first axis of the local reference frame. Must be
+ *  'east', 'north', 'up', 'west', 'south' or 'down'.
+ * @param  {String} secondAxis  name of the second axis of the local reference frame. Must be
+ *  'east', 'north', 'up', 'west', 'south' or 'down'.
+ * @return {Transforms.LocalFrameToFixedFrame} The function that will computes a
+ * 4x4 transformation matrix from a reference frame, with first axis and second axis compliant with the parameters,
+ */
+Transforms.localFrameToFixedFrameGenerator = function (firstAxis, secondAxis) {
+  if (
+    !vectorProductLocalFrame.hasOwnProperty(firstAxis) ||
+    !vectorProductLocalFrame[firstAxis].hasOwnProperty(secondAxis)
+  ) {
+    throw new DeveloperError(
+      "firstAxis and secondAxis must be east, north, up, west, south or down."
+    );
+  }
+  const thirdAxis = vectorProductLocalFrame[firstAxis][secondAxis];
+
+  /**
+   * Computes a 4x4 transformation matrix from a reference frame
+   * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+   * @callback Transforms.LocalFrameToFixedFrame
+   * @param {Cartesian3} origin The center point of the local reference frame.
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+   * @param {Matrix4} [result] The object onto which to store the result.
+   * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+   */
+  let resultat;
+  const hashAxis = firstAxis + secondAxis;
+  if (defined(localFrameToFixedFrameCache[hashAxis])) {
+    resultat = localFrameToFixedFrameCache[hashAxis];
+  } else {
+    resultat = function (origin, ellipsoid, result) {
+      //>>includeStart('debug', pragmas.debug);
+      if (!defined(origin)) {
+        throw new DeveloperError("origin is required.");
+      }
+      //>>includeEnd('debug');
+      if (!defined(result)) {
+        result = new Matrix4();
+      }
+      if (
+        Cartesian3.equalsEpsilon(origin, Cartesian3.ZERO, CesiumMath.EPSILON14)
+      ) {
+        // If x, y, and z are zero, use the degenerate local frame, which is a special case
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[firstAxis],
+          0,
+          scratchFirstCartesian
+        );
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[secondAxis],
+          0,
+          scratchSecondCartesian
+        );
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[thirdAxis],
+          0,
+          scratchThirdCartesian
+        );
+      } else if (
+        CesiumMath.equalsEpsilon(origin.x, 0.0, CesiumMath.EPSILON14) &&
+        CesiumMath.equalsEpsilon(origin.y, 0.0, CesiumMath.EPSILON14)
+      ) {
+        // If x and y are zero, assume origin is at a pole, which is a special case.
+        const sign = CesiumMath.sign(origin.z);
+
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[firstAxis],
+          0,
+          scratchFirstCartesian
+        );
+        if (firstAxis !== "east" && firstAxis !== "west") {
+          Cartesian3.multiplyByScalar(
+            scratchFirstCartesian,
+            sign,
+            scratchFirstCartesian
+          );
+        }
+
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[secondAxis],
+          0,
+          scratchSecondCartesian
+        );
+        if (secondAxis !== "east" && secondAxis !== "west") {
+          Cartesian3.multiplyByScalar(
+            scratchSecondCartesian,
+            sign,
+            scratchSecondCartesian
+          );
+        }
+
+        Cartesian3.unpack(
+          degeneratePositionLocalFrame[thirdAxis],
+          0,
+          scratchThirdCartesian
+        );
+        if (thirdAxis !== "east" && thirdAxis !== "west") {
+          Cartesian3.multiplyByScalar(
+            scratchThirdCartesian,
+            sign,
+            scratchThirdCartesian
+          );
+        }
+      } else {
+        ellipsoid = defaultValue(ellipsoid, Ellipsoid.WGS84);
+        ellipsoid.geodeticSurfaceNormal(origin, scratchCalculateCartesian.up);
+
+        const up = scratchCalculateCartesian.up;
+        const east = scratchCalculateCartesian.east;
+        east.x = -origin.y;
+        east.y = origin.x;
+        east.z = 0.0;
+        Cartesian3.normalize(east, scratchCalculateCartesian.east);
+        Cartesian3.cross(up, east, scratchCalculateCartesian.north);
+
+        Cartesian3.multiplyByScalar(
+          scratchCalculateCartesian.up,
+          -1,
+          scratchCalculateCartesian.down
+        );
+        Cartesian3.multiplyByScalar(
+          scratchCalculateCartesian.east,
+          -1,
+          scratchCalculateCartesian.west
+        );
+        Cartesian3.multiplyByScalar(
+          scratchCalculateCartesian.north,
+          -1,
+          scratchCalculateCartesian.south
+        );
+
+        scratchFirstCartesian = scratchCalculateCartesian[firstAxis];
+        scratchSecondCartesian = scratchCalculateCartesian[secondAxis];
+        scratchThirdCartesian = scratchCalculateCartesian[thirdAxis];
+      }
+      result[0] = scratchFirstCartesian.x;
+      result[1] = scratchFirstCartesian.y;
+      result[2] = scratchFirstCartesian.z;
+      result[3] = 0.0;
+      result[4] = scratchSecondCartesian.x;
+      result[5] = scratchSecondCartesian.y;
+      result[6] = scratchSecondCartesian.z;
+      result[7] = 0.0;
+      result[8] = scratchThirdCartesian.x;
+      result[9] = scratchThirdCartesian.y;
+      result[10] = scratchThirdCartesian.z;
+      result[11] = 0.0;
+      result[12] = origin.x;
+      result[13] = origin.y;
+      result[14] = origin.z;
+      result[15] = 1.0;
+      return result;
+    };
+    localFrameToFixedFrameCache[hashAxis] = resultat;
+  }
+  return resultat;
+};
+
+/**
+ * Computes a 4x4 transformation matrix from a reference frame with an east-north-up axes
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * The local axes are defined as:
+ * <ul>
+ * <li>The <code>x</code> axis points in the local east direction.</li>
+ * <li>The <code>y</code> axis points in the local north direction.</li>
+ * <li>The <code>z</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
+ * </ul>
+ *
+ * @function
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Matrix4} [result] The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+ *
+ * @example
+ * // Get the transform from local east-north-up at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const transform = Cesium.Transforms.eastNorthUpToFixedFrame(center);
+ */
+Transforms.eastNorthUpToFixedFrame = Transforms.localFrameToFixedFrameGenerator(
+  "east",
+  "north"
+);
+
+/**
+ * Computes a 4x4 transformation matrix from a reference frame with an north-east-down axes
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * The local axes are defined as:
+ * <ul>
+ * <li>The <code>x</code> axis points in the local north direction.</li>
+ * <li>The <code>y</code> axis points in the local east direction.</li>
+ * <li>The <code>z</code> axis points in the opposite direction of the ellipsoid surface normal which passes through the position.</li>
+ * </ul>
+ *
+ * @function
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Matrix4} [result] The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+ *
+ * @example
+ * // Get the transform from local north-east-down at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const transform = Cesium.Transforms.northEastDownToFixedFrame(center);
+ */
+Transforms.northEastDownToFixedFrame = Transforms.localFrameToFixedFrameGenerator(
+  "north",
+  "east"
+);
+
+/**
+ * Computes a 4x4 transformation matrix from a reference frame with an north-up-east axes
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * The local axes are defined as:
+ * <ul>
+ * <li>The <code>x</code> axis points in the local north direction.</li>
+ * <li>The <code>y</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
+ * <li>The <code>z</code> axis points in the local east direction.</li>
+ * </ul>
+ *
+ * @function
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Matrix4} [result] The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+ *
+ * @example
+ * // Get the transform from local north-up-east at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const transform = Cesium.Transforms.northUpEastToFixedFrame(center);
+ */
+Transforms.northUpEastToFixedFrame = Transforms.localFrameToFixedFrameGenerator(
+  "north",
+  "up"
+);
+
+/**
+ * Computes a 4x4 transformation matrix from a reference frame with an north-west-up axes
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame.
+ * The local axes are defined as:
+ * <ul>
+ * <li>The <code>x</code> axis points in the local north direction.</li>
+ * <li>The <code>y</code> axis points in the local west direction.</li>
+ * <li>The <code>z</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
+ * </ul>
+ *
+ * @function
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Matrix4} [result] The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+ *
+ * @example
+ * // Get the transform from local north-West-Up at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const transform = Cesium.Transforms.northWestUpToFixedFrame(center);
+ */
+Transforms.northWestUpToFixedFrame = Transforms.localFrameToFixedFrameGenerator(
+  "north",
+  "west"
+);
+
+const scratchHPRQuaternion = new Quaternion();
+const scratchScale = new Cartesian3(1.0, 1.0, 1.0);
+const scratchHPRMatrix4 = new Matrix4();
+
+/**
+ * Computes a 4x4 transformation matrix from a reference frame with axes computed from the heading-pitch-roll angles
+ * centered at the provided origin to the provided ellipsoid's fixed reference frame. Heading is the rotation from the local north
+ * direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles
+ * are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
+ *
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {HeadingPitchRoll} headingPitchRoll The heading, pitch, and roll.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Transforms.LocalFrameToFixedFrame} [fixedFrameTransform=Transforms.eastNorthUpToFixedFrame] A 4x4 transformation
+ *  matrix from a reference frame to the provided ellipsoid's fixed reference frame
+ * @param {Matrix4} [result] The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new Matrix4 instance if none was provided.
+ *
+ * @example
+ * // Get the transform from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const heading = -Cesium.Math.PI_OVER_TWO;
+ * const pitch = Cesium.Math.PI_OVER_FOUR;
+ * const roll = 0.0;
+ * const hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll);
+ * const transform = Cesium.Transforms.headingPitchRollToFixedFrame(center, hpr);
+ */
+Transforms.headingPitchRollToFixedFrame = function (
+  origin,
+  headingPitchRoll,
+  ellipsoid,
+  fixedFrameTransform,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("HeadingPitchRoll", headingPitchRoll);
+  //>>includeEnd('debug');
+
+  fixedFrameTransform = defaultValue(
+    fixedFrameTransform,
+    Transforms.eastNorthUpToFixedFrame
+  );
+  const hprQuaternion = Quaternion.fromHeadingPitchRoll(
+    headingPitchRoll,
+    scratchHPRQuaternion
+  );
+  const hprMatrix = Matrix4.fromTranslationQuaternionRotationScale(
+    Cartesian3.ZERO,
+    hprQuaternion,
+    scratchScale,
+    scratchHPRMatrix4
+  );
+  result = fixedFrameTransform(origin, ellipsoid, result);
+  return Matrix4.multiply(result, hprMatrix, result);
+};
+
+const scratchENUMatrix4 = new Matrix4();
+const scratchHPRMatrix3 = new Matrix3();
+
+/**
+ * Computes a quaternion from a reference frame with axes computed from the heading-pitch-roll angles
+ * centered at the provided origin. Heading is the rotation from the local north
+ * direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles
+ * are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
+ *
+ * @param {Cartesian3} origin The center point of the local reference frame.
+ * @param {HeadingPitchRoll} headingPitchRoll The heading, pitch, and roll.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Transforms.LocalFrameToFixedFrame} [fixedFrameTransform=Transforms.eastNorthUpToFixedFrame] A 4x4 transformation
+ *  matrix from a reference frame to the provided ellipsoid's fixed reference frame
+ * @param {Quaternion} [result] The object onto which to store the result.
+ * @returns {Quaternion} The modified result parameter or a new Quaternion instance if none was provided.
+ *
+ * @example
+ * // Get the quaternion from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
+ * const center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const heading = -Cesium.Math.PI_OVER_TWO;
+ * const pitch = Cesium.Math.PI_OVER_FOUR;
+ * const roll = 0.0;
+ * const hpr = new HeadingPitchRoll(heading, pitch, roll);
+ * const quaternion = Cesium.Transforms.headingPitchRollQuaternion(center, hpr);
+ */
+Transforms.headingPitchRollQuaternion = function (
+  origin,
+  headingPitchRoll,
+  ellipsoid,
+  fixedFrameTransform,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("HeadingPitchRoll", headingPitchRoll);
+  //>>includeEnd('debug');
+
+  const transform = Transforms.headingPitchRollToFixedFrame(
+    origin,
+    headingPitchRoll,
+    ellipsoid,
+    fixedFrameTransform,
+    scratchENUMatrix4
+  );
+  const rotation = Matrix4.getMatrix3(transform, scratchHPRMatrix3);
+  return Quaternion.fromRotationMatrix(rotation, result);
+};
+
+const noScale = new Cartesian3(1.0, 1.0, 1.0);
+const hprCenterScratch = new Cartesian3();
+const ffScratch = new Matrix4();
+const hprTransformScratch = new Matrix4();
+const hprRotationScratch = new Matrix3();
+const hprQuaternionScratch = new Quaternion();
+/**
+ * Computes heading-pitch-roll angles from a transform in a particular reference frame. Heading is the rotation from the local north
+ * direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles
+ * are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
+ *
+ * @param {Matrix4} transform The transform
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Transforms.LocalFrameToFixedFrame} [fixedFrameTransform=Transforms.eastNorthUpToFixedFrame] A 4x4 transformation
+ *  matrix from a reference frame to the provided ellipsoid's fixed reference frame
+ * @param {HeadingPitchRoll} [result] The object onto which to store the result.
+ * @returns {HeadingPitchRoll} The modified result parameter or a new HeadingPitchRoll instance if none was provided.
+ */
+Transforms.fixedFrameToHeadingPitchRoll = function (
+  transform,
+  ellipsoid,
+  fixedFrameTransform,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("transform", transform);
+  //>>includeEnd('debug');
+
+  ellipsoid = defaultValue(ellipsoid, Ellipsoid.WGS84);
+  fixedFrameTransform = defaultValue(
+    fixedFrameTransform,
+    Transforms.eastNorthUpToFixedFrame
+  );
+  if (!defined(result)) {
+    result = new HeadingPitchRoll();
+  }
+
+  const center = Matrix4.getTranslation(transform, hprCenterScratch);
+  if (Cartesian3.equals(center, Cartesian3.ZERO)) {
+    result.heading = 0;
+    result.pitch = 0;
+    result.roll = 0;
+    return result;
+  }
+  let toFixedFrame = Matrix4.inverseTransformation(
+    fixedFrameTransform(center, ellipsoid, ffScratch),
+    ffScratch
+  );
+  let transformCopy = Matrix4.setScale(transform, noScale, hprTransformScratch);
+  transformCopy = Matrix4.setTranslation(
+    transformCopy,
+    Cartesian3.ZERO,
+    transformCopy
+  );
+
+  toFixedFrame = Matrix4.multiply(toFixedFrame, transformCopy, toFixedFrame);
+  let quaternionRotation = Quaternion.fromRotationMatrix(
+    Matrix4.getMatrix3(toFixedFrame, hprRotationScratch),
+    hprQuaternionScratch
+  );
+  quaternionRotation = Quaternion.normalize(
+    quaternionRotation,
+    quaternionRotation
+  );
+
+  return HeadingPitchRoll.fromQuaternion(quaternionRotation, result);
+};
+
+const gmstConstant0 = 6 * 3600 + 41 * 60 + 50.54841;
+const gmstConstant1 = 8640184.812866;
+const gmstConstant2 = 0.093104;
+const gmstConstant3 = -6.2e-6;
+const rateCoef = 1.1772758384668e-19;
+const wgs84WRPrecessing = 7.2921158553e-5;
+const twoPiOverSecondsInDay = CesiumMath.TWO_PI / 86400.0;
+let dateInUtc = new JulianDate();
+
+/**
+ * Computes a rotation matrix to transform a point or vector from True Equator Mean Equinox (TEME) axes to the
+ * pseudo-fixed axes at a given time.  This method treats the UT1 time standard as equivalent to UTC.
+ *
+ * @param {JulianDate} date The time at which to compute the rotation matrix.
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if none was provided.
+ *
+ * @example
+ * //Set the view to the inertial frame.
+ * scene.postUpdate.addEventListener(function(scene, time) {
+ *    const now = Cesium.JulianDate.now();
+ *    const offset = Cesium.Matrix4.multiplyByPoint(camera.transform, camera.position, new Cesium.Cartesian3());
+ *    const transform = Cesium.Matrix4.fromRotationTranslation(Cesium.Transforms.computeTemeToPseudoFixedMatrix(now));
+ *    const inverseTransform = Cesium.Matrix4.inverseTransformation(transform, new Cesium.Matrix4());
+ *    Cesium.Matrix4.multiplyByPoint(inverseTransform, offset, offset);
+ *    camera.lookAtTransform(transform, offset);
+ * });
+ */
+Transforms.computeTemeToPseudoFixedMatrix = function (date, result) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(date)) {
+    throw new DeveloperError("date is required.");
+  }
+  //>>includeEnd('debug');
+
+  // GMST is actually computed using UT1.  We're using UTC as an approximation of UT1.
+  // We do not want to use the function like convertTaiToUtc in JulianDate because
+  // we explicitly do not want to fail when inside the leap second.
+
+  dateInUtc = JulianDate.addSeconds(
+    date,
+    -JulianDate.computeTaiMinusUtc(date),
+    dateInUtc
+  );
+  const utcDayNumber = dateInUtc.dayNumber;
+  const utcSecondsIntoDay = dateInUtc.secondsOfDay;
+
+  let t;
+  const diffDays = utcDayNumber - 2451545;
+  if (utcSecondsIntoDay >= 43200.0) {
+    t = (diffDays + 0.5) / TimeConstants.DAYS_PER_JULIAN_CENTURY;
+  } else {
+    t = (diffDays - 0.5) / TimeConstants.DAYS_PER_JULIAN_CENTURY;
+  }
+
+  const gmst0 =
+    gmstConstant0 +
+    t * (gmstConstant1 + t * (gmstConstant2 + t * gmstConstant3));
+  const angle = (gmst0 * twoPiOverSecondsInDay) % CesiumMath.TWO_PI;
+  const ratio = wgs84WRPrecessing + rateCoef * (utcDayNumber - 2451545.5);
+  const secondsSinceMidnight =
+    (utcSecondsIntoDay + TimeConstants.SECONDS_PER_DAY * 0.5) %
+    TimeConstants.SECONDS_PER_DAY;
+  const gha = angle + ratio * secondsSinceMidnight;
+  const cosGha = Math.cos(gha);
+  const sinGha = Math.sin(gha);
+
+  if (!defined(result)) {
+    return new Matrix3(
+      cosGha,
+      sinGha,
+      0.0,
+      -sinGha,
+      cosGha,
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    );
+  }
+  result[0] = cosGha;
+  result[1] = -sinGha;
+  result[2] = 0.0;
+  result[3] = sinGha;
+  result[4] = cosGha;
+  result[5] = 0.0;
+  result[6] = 0.0;
+  result[7] = 0.0;
+  result[8] = 1.0;
+  return result;
+};
+
+/**
+ * The source of IAU 2006 XYS data, used for computing the transformation between the
+ * Fixed and ICRF axes.
+ * @type {Iau2006XysData}
+ *
+ * @see Transforms.computeIcrfToFixedMatrix
+ * @see Transforms.computeFixedToIcrfMatrix
+ *
+ * @private
+ */
+Transforms.iau2006XysData = new Iau2006XysData();
+
+/**
+ * The source of Earth Orientation Parameters (EOP) data, used for computing the transformation
+ * between the Fixed and ICRF axes.  By default, zero values are used for all EOP values,
+ * yielding a reasonable but not completely accurate representation of the ICRF axes.
+ * @type {EarthOrientationParameters}
+ *
+ * @see Transforms.computeIcrfToFixedMatrix
+ * @see Transforms.computeFixedToIcrfMatrix
+ *
+ * @private
+ */
+Transforms.earthOrientationParameters = EarthOrientationParameters.NONE;
+
+const ttMinusTai = 32.184;
+const j2000ttDays = 2451545.0;
+
+/**
+ * Preloads the data necessary to transform between the ICRF and Fixed axes, in either
+ * direction, over a given interval.  This function returns a promise that, when resolved,
+ * indicates that the preload has completed.
+ *
+ * @param {TimeInterval} timeInterval The interval to preload.
+ * @returns {Promise<void>} A promise that, when resolved, indicates that the preload has completed
+ *          and evaluation of the transformation between the fixed and ICRF axes will
+ *          no longer return undefined for a time inside the interval.
+ *
+ *
+ * @example
+ * const interval = new Cesium.TimeInterval(...);
+ * Promise.resolve(Cesium.Transforms.preloadIcrfFixed(interval)).then(function() {
+ *     // the data is now loaded
+ * });
+ *
+ * @see Transforms.computeIcrfToFixedMatrix
+ * @see Transforms.computeFixedToIcrfMatrix
+ */
+Transforms.preloadIcrfFixed = function (timeInterval) {
+  const startDayTT = timeInterval.start.dayNumber;
+  const startSecondTT = timeInterval.start.secondsOfDay + ttMinusTai;
+  const stopDayTT = timeInterval.stop.dayNumber;
+  const stopSecondTT = timeInterval.stop.secondsOfDay + ttMinusTai;
+
+  const xysPromise = Transforms.iau2006XysData.preload(
+    startDayTT,
+    startSecondTT,
+    stopDayTT,
+    stopSecondTT
+  );
+  const eopPromise = Transforms.earthOrientationParameters.getPromiseToLoad();
+
+  return Promise.all([xysPromise, eopPromise]);
+};
+
+/**
+ * Computes a rotation matrix to transform a point or vector from the International Celestial
+ * Reference Frame (GCRF/ICRF) inertial frame axes to the Earth-Fixed frame axes (ITRF)
+ * at a given time.  This function may return undefined if the data necessary to
+ * do the transformation is not yet loaded.
+ *
+ * @param {JulianDate} date The time at which to compute the rotation matrix.
+ * @param {Matrix3} [result] The object onto which to store the result.  If this parameter is
+ *                  not specified, a new instance is created and returned.
+ * @returns {Matrix3} The rotation matrix, or undefined if the data necessary to do the
+ *                   transformation is not yet loaded.
+ *
+ *
+ * @example
+ * scene.postUpdate.addEventListener(function(scene, time) {
+ *   // View in ICRF.
+ *   const icrfToFixed = Cesium.Transforms.computeIcrfToFixedMatrix(time);
+ *   if (Cesium.defined(icrfToFixed)) {
+ *     const offset = Cesium.Cartesian3.clone(camera.position);
+ *     const transform = Cesium.Matrix4.fromRotationTranslation(icrfToFixed);
+ *     camera.lookAtTransform(transform, offset);
+ *   }
+ * });
+ *
+ * @see Transforms.preloadIcrfFixed
+ */
+Transforms.computeIcrfToFixedMatrix = function (date, result) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(date)) {
+    throw new DeveloperError("date is required.");
+  }
+  //>>includeEnd('debug');
+  if (!defined(result)) {
+    result = new Matrix3();
+  }
+
+  const fixedToIcrfMtx = Transforms.computeFixedToIcrfMatrix(date, result);
+  if (!defined(fixedToIcrfMtx)) {
+    return undefined;
+  }
+
+  return Matrix3.transpose(fixedToIcrfMtx, result);
+};
+
+const xysScratch = new Iau2006XysSample(0.0, 0.0, 0.0);
+const eopScratch = new EarthOrientationParametersSample(
+  0.0,
+  0.0,
+  0.0,
+  0.0,
+  0.0,
+  0.0
+);
+const rotation1Scratch = new Matrix3();
+const rotation2Scratch = new Matrix3();
+
+/**
+ * Computes a rotation matrix to transform a point or vector from the Earth-Fixed frame axes (ITRF)
+ * to the International Celestial Reference Frame (GCRF/ICRF) inertial frame axes
+ * at a given time.  This function may return undefined if the data necessary to
+ * do the transformation is not yet loaded.
+ *
+ * @param {JulianDate} date The time at which to compute the rotation matrix.
+ * @param {Matrix3} [result] The object onto which to store the result.  If this parameter is
+ *                  not specified, a new instance is created and returned.
+ * @returns {Matrix3} The rotation matrix, or undefined if the data necessary to do the
+ *                   transformation is not yet loaded.
+ *
+ *
+ * @example
+ * // Transform a point from the ICRF axes to the Fixed axes.
+ * const now = Cesium.JulianDate.now();
+ * const pointInFixed = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
+ * const fixedToIcrf = Cesium.Transforms.computeIcrfToFixedMatrix(now);
+ * let pointInInertial = new Cesium.Cartesian3();
+ * if (Cesium.defined(fixedToIcrf)) {
+ *     pointInInertial = Cesium.Matrix3.multiplyByVector(fixedToIcrf, pointInFixed, pointInInertial);
+ * }
+ *
+ * @see Transforms.preloadIcrfFixed
+ */
+Transforms.computeFixedToIcrfMatrix = function (date, result) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(date)) {
+    throw new DeveloperError("date is required.");
+  }
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new Matrix3();
+  }
+
+  // Compute pole wander
+  const eop = Transforms.earthOrientationParameters.compute(date, eopScratch);
+  if (!defined(eop)) {
+    return undefined;
+  }
+
+  // There is no external conversion to Terrestrial Time (TT).
+  // So use International Atomic Time (TAI) and convert using offsets.
+  // Here we are assuming that dayTT and secondTT are positive
+  const dayTT = date.dayNumber;
+  // It's possible here that secondTT could roll over 86400
+  // This does not seem to affect the precision (unit tests check for this)
+  const secondTT = date.secondsOfDay + ttMinusTai;
+
+  const xys = Transforms.iau2006XysData.computeXysRadians(
+    dayTT,
+    secondTT,
+    xysScratch
+  );
+  if (!defined(xys)) {
+    return undefined;
+  }
+
+  const x = xys.x + eop.xPoleOffset;
+  const y = xys.y + eop.yPoleOffset;
+
+  // Compute XYS rotation
+  const a = 1.0 / (1.0 + Math.sqrt(1.0 - x * x - y * y));
+
+  const rotation1 = rotation1Scratch;
+  rotation1[0] = 1.0 - a * x * x;
+  rotation1[3] = -a * x * y;
+  rotation1[6] = x;
+  rotation1[1] = -a * x * y;
+  rotation1[4] = 1 - a * y * y;
+  rotation1[7] = y;
+  rotation1[2] = -x;
+  rotation1[5] = -y;
+  rotation1[8] = 1 - a * (x * x + y * y);
+
+  const rotation2 = Matrix3.fromRotationZ(-xys.s, rotation2Scratch);
+  const matrixQ = Matrix3.multiply(rotation1, rotation2, rotation1Scratch);
+
+  // Similar to TT conversions above
+  // It's possible here that secondTT could roll over 86400
+  // This does not seem to affect the precision (unit tests check for this)
+  const dateUt1day = date.dayNumber;
+  const dateUt1sec =
+    date.secondsOfDay - JulianDate.computeTaiMinusUtc(date) + eop.ut1MinusUtc;
+
+  // Compute Earth rotation angle
+  // The IERS standard for era is
+  //    era = 0.7790572732640 + 1.00273781191135448 * Tu
+  // where
+  //    Tu = JulianDateInUt1 - 2451545.0
+  // However, you get much more precision if you make the following simplification
+  //    era = a + (1 + b) * (JulianDayNumber + FractionOfDay - 2451545)
+  //    era = a + (JulianDayNumber - 2451545) + FractionOfDay + b (JulianDayNumber - 2451545 + FractionOfDay)
+  //    era = a + FractionOfDay + b (JulianDayNumber - 2451545 + FractionOfDay)
+  // since (JulianDayNumber - 2451545) represents an integer number of revolutions which will be discarded anyway.
+  const daysSinceJ2000 = dateUt1day - 2451545;
+  const fractionOfDay = dateUt1sec / TimeConstants.SECONDS_PER_DAY;
+  let era =
+    0.779057273264 +
+    fractionOfDay +
+    0.00273781191135448 * (daysSinceJ2000 + fractionOfDay);
+  era = (era % 1.0) * CesiumMath.TWO_PI;
+
+  const earthRotation = Matrix3.fromRotationZ(era, rotation2Scratch);
+
+  // pseudoFixed to ICRF
+  const pfToIcrf = Matrix3.multiply(matrixQ, earthRotation, rotation1Scratch);
+
+  // Compute pole wander matrix
+  const cosxp = Math.cos(eop.xPoleWander);
+  const cosyp = Math.cos(eop.yPoleWander);
+  const sinxp = Math.sin(eop.xPoleWander);
+  const sinyp = Math.sin(eop.yPoleWander);
+
+  let ttt = dayTT - j2000ttDays + secondTT / TimeConstants.SECONDS_PER_DAY;
+  ttt /= 36525.0;
+
+  // approximate sp value in rad
+  const sp = (-47.0e-6 * ttt * CesiumMath.RADIANS_PER_DEGREE) / 3600.0;
+  const cossp = Math.cos(sp);
+  const sinsp = Math.sin(sp);
+
+  const fToPfMtx = rotation2Scratch;
+  fToPfMtx[0] = cosxp * cossp;
+  fToPfMtx[1] = cosxp * sinsp;
+  fToPfMtx[2] = sinxp;
+  fToPfMtx[3] = -cosyp * sinsp + sinyp * sinxp * cossp;
+  fToPfMtx[4] = cosyp * cossp + sinyp * sinxp * sinsp;
+  fToPfMtx[5] = -sinyp * cosxp;
+  fToPfMtx[6] = -sinyp * sinsp - cosyp * sinxp * cossp;
+  fToPfMtx[7] = sinyp * cossp - cosyp * sinxp * sinsp;
+  fToPfMtx[8] = cosyp * cosxp;
+
+  return Matrix3.multiply(pfToIcrf, fToPfMtx, result);
+};
+
+const pointToWindowCoordinatesTemp = new Cartesian4();
+
+/**
+ * Transform a point from model coordinates to window coordinates.
+ *
+ * @param {Matrix4} modelViewProjectionMatrix The 4x4 model-view-projection matrix.
+ * @param {Matrix4} viewportTransformation The 4x4 viewport transformation.
+ * @param {Cartesian3} point The point to transform.
+ * @param {Cartesian2} [result] The object onto which to store the result.
+ * @returns {Cartesian2} The modified result parameter or a new Cartesian2 instance if none was provided.
+ */
+Transforms.pointToWindowCoordinates = function (
+  modelViewProjectionMatrix,
+  viewportTransformation,
+  point,
+  result
+) {
+  result = Transforms.pointToGLWindowCoordinates(
+    modelViewProjectionMatrix,
+    viewportTransformation,
+    point,
+    result
+  );
+  result.y = 2.0 * viewportTransformation[5] - result.y;
+  return result;
+};
+
+/**
+ * @private
+ */
+Transforms.pointToGLWindowCoordinates = function (
+  modelViewProjectionMatrix,
+  viewportTransformation,
+  point,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(modelViewProjectionMatrix)) {
+    throw new DeveloperError("modelViewProjectionMatrix is required.");
+  }
+
+  if (!defined(viewportTransformation)) {
+    throw new DeveloperError("viewportTransformation is required.");
+  }
+
+  if (!defined(point)) {
+    throw new DeveloperError("point is required.");
+  }
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new Cartesian2();
+  }
+
+  const tmp = pointToWindowCoordinatesTemp;
+
+  Matrix4.multiplyByVector(
+    modelViewProjectionMatrix,
+    Cartesian4.fromElements(point.x, point.y, point.z, 1, tmp),
+    tmp
+  );
+  Cartesian4.multiplyByScalar(tmp, 1.0 / tmp.w, tmp);
+  Matrix4.multiplyByVector(viewportTransformation, tmp, tmp);
+  return Cartesian2.fromCartesian4(tmp, result);
+};
+
+const normalScratch = new Cartesian3();
+const rightScratch = new Cartesian3();
+const upScratch = new Cartesian3();
+
+/**
+ * Transform a position and velocity to a rotation matrix.
+ *
+ * @param {Cartesian3} position The position to transform.
+ * @param {Cartesian3} velocity The velocity vector to transform.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid whose fixed frame is used in the transformation.
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if none was provided.
+ */
+Transforms.rotationMatrixFromPositionVelocity = function (
+  position,
+  velocity,
+  ellipsoid,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(position)) {
+    throw new DeveloperError("position is required.");
+  }
+
+  if (!defined(velocity)) {
+    throw new DeveloperError("velocity is required.");
+  }
+  //>>includeEnd('debug');
+
+  const normal = defaultValue(ellipsoid, Ellipsoid.WGS84).geodeticSurfaceNormal(
+    position,
+    normalScratch
+  );
+  let right = Cartesian3.cross(velocity, normal, rightScratch);
+
+  if (Cartesian3.equalsEpsilon(right, Cartesian3.ZERO, CesiumMath.EPSILON6)) {
+    right = Cartesian3.clone(Cartesian3.UNIT_X, right);
+  }
+
+  const up = Cartesian3.cross(right, velocity, upScratch);
+  Cartesian3.normalize(up, up);
+  Cartesian3.cross(velocity, up, right);
+  Cartesian3.negate(right, right);
+  Cartesian3.normalize(right, right);
+
+  if (!defined(result)) {
+    result = new Matrix3();
+  }
+
+  result[0] = velocity.x;
+  result[1] = velocity.y;
+  result[2] = velocity.z;
+  result[3] = right.x;
+  result[4] = right.y;
+  result[5] = right.z;
+  result[6] = up.x;
+  result[7] = up.y;
+  result[8] = up.z;
+
+  return result;
+};
+
+const swizzleMatrix = new Matrix4(
+  0.0,
+  0.0,
+  1.0,
+  0.0,
+  1.0,
+  0.0,
+  0.0,
+  0.0,
+  0.0,
+  1.0,
+  0.0,
+  0.0,
+  0.0,
+  0.0,
+  0.0,
+  1.0
+);
+
+const scratchCartographic = new Cartographic();
+const scratchCartesian3Projection = new Cartesian3();
+const scratchCenter = new Cartesian3();
+const scratchRotation = new Matrix3();
+const scratchFromENU = new Matrix4();
+const scratchToENU = new Matrix4();
+
+/**
+ * @private
+ */
+Transforms.basisTo2D = function (projection, matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(projection)) {
+    throw new DeveloperError("projection is required.");
+  }
+  if (!defined(matrix)) {
+    throw new DeveloperError("matrix is required.");
+  }
+  if (!defined(result)) {
+    throw new DeveloperError("result is required.");
+  }
+  //>>includeEnd('debug');
+
+  const rtcCenter = Matrix4.getTranslation(matrix, scratchCenter);
+  const ellipsoid = projection.ellipsoid;
+
+  // Get the 2D Center
+  const cartographic = ellipsoid.cartesianToCartographic(
+    rtcCenter,
+    scratchCartographic
+  );
+  const projectedPosition = projection.project(
+    cartographic,
+    scratchCartesian3Projection
+  );
+  Cartesian3.fromElements(
+    projectedPosition.z,
+    projectedPosition.x,
+    projectedPosition.y,
+    projectedPosition
+  );
+
+  // Assuming the instance are positioned in WGS84, invert the WGS84 transform to get the local transform and then convert to 2D
+  const fromENU = Transforms.eastNorthUpToFixedFrame(
+    rtcCenter,
+    ellipsoid,
+    scratchFromENU
+  );
+  const toENU = Matrix4.inverseTransformation(fromENU, scratchToENU);
+  const rotation = Matrix4.getMatrix3(matrix, scratchRotation);
+  const local = Matrix4.multiplyByMatrix3(toENU, rotation, result);
+  Matrix4.multiply(swizzleMatrix, local, result); // Swap x, y, z for 2D
+  Matrix4.setTranslation(result, projectedPosition, result); // Use the projected center
+
+  return result;
+};
+
+/**
+ * @private
+ */
+Transforms.wgs84To2DModelMatrix = function (projection, center, result) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(projection)) {
+    throw new DeveloperError("projection is required.");
+  }
+  if (!defined(center)) {
+    throw new DeveloperError("center is required.");
+  }
+  if (!defined(result)) {
+    throw new DeveloperError("result is required.");
+  }
+  //>>includeEnd('debug');
+
+  const ellipsoid = projection.ellipsoid;
+
+  const fromENU = Transforms.eastNorthUpToFixedFrame(
+    center,
+    ellipsoid,
+    scratchFromENU
+  );
+  const toENU = Matrix4.inverseTransformation(fromENU, scratchToENU);
+
+  const cartographic = ellipsoid.cartesianToCartographic(
+    center,
+    scratchCartographic
+  );
+  const projectedPosition = projection.project(
+    cartographic,
+    scratchCartesian3Projection
+  );
+  Cartesian3.fromElements(
+    projectedPosition.z,
+    projectedPosition.x,
+    projectedPosition.y,
+    projectedPosition
+  );
+
+  const translation = Matrix4.fromTranslation(
+    projectedPosition,
+    scratchFromENU
+  );
+  Matrix4.multiply(swizzleMatrix, toENU, result);
+  Matrix4.multiply(translation, result, result);
+
+  return result;
+};
+export default Transforms;