@cesium/engine 22.2.0 → 23.0.0

package/Source/Core/Cartesian3.js

@@ -1,1129 +1,1182 @@
+// @ts-check
+
 import Check from "./Check.js";
 import defined from "./defined.js";
 import DeveloperError from "./DeveloperError.js";
 import CesiumMath from "./Math.js";
 
+/** @import {TypedArray} from "./globalTypes.js"; */
+/** @import Cartesian4 from "./Cartesian4.js"; */
+/** @import Ellipsoid from "./Ellipsoid.js"; */
+/** @import Spherical from "./Spherical.js"; */
+
 /**
  * A 3D Cartesian point.
- * @alias Cartesian3
- * @constructor
- *
- * @param {number} [x=0.0] The X component.
- * @param {number} [y=0.0] The Y component.
- * @param {number} [z=0.0] The Z component.
  *
  * @see Cartesian2
  * @see Cartesian4
  * @see Packable
  */
-function Cartesian3(x, y, z) {
+class Cartesian3 {
   /**
-   * The X component.
-   * @type {number}
-   * @default 0.0
+   * @param {number} [x=0.0] The X component.
+   * @param {number} [y=0.0] The Y component.
+   * @param {number} [z=0.0] The Z component.
    */
-  this.x = x ?? 0.0;
+  constructor(x, y, z) {
+    /**
+     * The X component.
+     * @type {number}
+     * @default 0.0
+     */
+    this.x = x ?? 0.0;
+
+    /**
+     * The Y component.
+     * @type {number}
+     * @default 0.0
+     */
+    this.y = y ?? 0.0;
+
+    /**
+     * The Z component.
+     * @type {number}
+     * @default 0.0
+     */
+    this.z = z ?? 0.0;
+  }
 
   /**
-   * The Y component.
-   * @type {number}
-   * @default 0.0
+   * Converts the provided Spherical into Cartesian3 coordinates.
+   *
+   * @param {Spherical} spherical The Spherical to be converted to Cartesian3.
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
    */
-  this.y = y ?? 0.0;
+  static fromSpherical(spherical, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("spherical", spherical);
+    //>>includeEnd('debug');
+
+    if (!defined(result)) {
+      result = new Cartesian3();
+    }
+
+    const clock = spherical.clock;
+    const cone = spherical.cone;
+    const magnitude = spherical.magnitude ?? 1.0;
+    const radial = magnitude * Math.sin(cone);
+    result.x = radial * Math.cos(clock);
+    result.y = radial * Math.sin(clock);
+    result.z = magnitude * Math.cos(cone);
+    return result;
+  }
 
   /**
-   * The Z component.
-   * @type {number}
-   * @default 0.0
+   * Creates a Cartesian3 instance from x, y and z coordinates.
+   *
+   * @param {number} x The x coordinate.
+   * @param {number} y The y coordinate.
+   * @param {number} z The z coordinate.
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
    */
-  this.z = z ?? 0.0;
-}
+  static fromElements(x, y, z, result) {
+    if (!defined(result)) {
+      return new Cartesian3(x, y, z);
+    }
 
-/**
- * Converts the provided Spherical into Cartesian3 coordinates.
- *
- * @param {Spherical} spherical The Spherical to be converted to Cartesian3.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- */
-Cartesian3.fromSpherical = function (spherical, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("spherical", spherical);
-  //>>includeEnd('debug');
+    result.x = x;
+    result.y = y;
+    result.z = z;
+    return result;
+  }
 
-  if (!defined(result)) {
-    result = new Cartesian3();
+  /**
+   * Duplicates a Cartesian3 instance.
+   *
+   * @param {Cartesian3} cartesian The Cartesian to duplicate.
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided. (Returns undefined if cartesian is undefined)
+   */
+  static clone(cartesian, result) {
+    if (!defined(cartesian)) {
+      return undefined;
+    }
+    if (!defined(result)) {
+      return new Cartesian3(cartesian.x, cartesian.y, cartesian.z);
+    }
+
+    result.x = cartesian.x;
+    result.y = cartesian.y;
+    result.z = cartesian.z;
+    return result;
   }
 
-  const clock = spherical.clock;
-  const cone = spherical.cone;
-  const magnitude = spherical.magnitude ?? 1.0;
-  const radial = magnitude * Math.sin(cone);
-  result.x = radial * Math.cos(clock);
-  result.y = radial * Math.sin(clock);
-  result.z = magnitude * Math.cos(cone);
-  return result;
-};
+  /**
+   * Stores the provided instance into the provided array.
+   *
+   * @param {Cartesian3} value The value to pack.
+   * @param {number[]|TypedArray} array The array to pack into.
+   * @param {number} [startingIndex=0] The index into the array at which to start packing the elements.
+   *
+   * @returns {number[]|TypedArray} The array that was packed into
+   */
+  static pack(value, array, startingIndex) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("value", value);
+    Check.defined("array", array);
+    //>>includeEnd('debug');
 
-/**
- * Creates a Cartesian3 instance from x, y and z coordinates.
- *
- * @param {number} x The x coordinate.
- * @param {number} y The y coordinate.
- * @param {number} z The z coordinate.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- */
-Cartesian3.fromElements = function (x, y, z, result) {
-  if (!defined(result)) {
-    return new Cartesian3(x, y, z);
+    startingIndex = startingIndex ?? 0;
+
+    array[startingIndex++] = value.x;
+    array[startingIndex++] = value.y;
+    array[startingIndex] = value.z;
+
+    return array;
   }
 
-  result.x = x;
-  result.y = y;
-  result.z = z;
-  return result;
-};
+  /**
+   * Retrieves an instance from a packed array.
+   *
+   * @param {number[]|TypedArray} array The packed array.
+   * @param {number} [startingIndex=0] The starting index of the element to be unpacked.
+   * @param {Cartesian3} [result] The object into which to store the result.
+   * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
+   */
+  static unpack(array, startingIndex, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("array", array);
+    //>>includeEnd('debug');
+
+    startingIndex = startingIndex ?? 0;
 
-/**
- * Duplicates a Cartesian3 instance.
- *
- * @param {Cartesian3} cartesian The Cartesian to duplicate.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided. (Returns undefined if cartesian is undefined)
- */
-Cartesian3.clone = function (cartesian, result) {
-  if (!defined(cartesian)) {
-    return undefined;
+    if (!defined(result)) {
+      result = new Cartesian3();
+    }
+    result.x = array[startingIndex++];
+    result.y = array[startingIndex++];
+    result.z = array[startingIndex];
+    return result;
   }
-  if (!defined(result)) {
-    return new Cartesian3(cartesian.x, cartesian.y, cartesian.z);
+
+  /**
+   * Flattens an array of Cartesian3s into an array of components.
+   *
+   * @param {Cartesian3[]} array The array of cartesians to pack.
+   * @param {number[]|TypedArray} [result] The array onto which to store the result. If this is a typed array, it must have array.length * 3 components, else a {@link DeveloperError} will be thrown. If it is a regular array, it will be resized to have (array.length * 3) elements.
+   * @returns {number[]|TypedArray} The packed array.
+   */
+  static packArray(array, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("array", array);
+    //>>includeEnd('debug');
+
+    const length = array.length;
+    const resultLength = length * 3;
+    if (!defined(result)) {
+      result = new Array(resultLength);
+    } else if (!Array.isArray(result) && result.length !== resultLength) {
+      //>>includeStart('debug', pragmas.debug);
+      throw new DeveloperError(
+        "If result is a typed array, it must have exactly array.length * 3 elements",
+      );
+      //>>includeEnd('debug');
+    } else if (result.length !== resultLength) {
+      /** @type {number[]} */ (result).length = resultLength;
+    }
+
+    for (let i = 0; i < length; ++i) {
+      Cartesian3.pack(array[i], result, i * 3);
+    }
+    return result;
   }
 
-  result.x = cartesian.x;
-  result.y = cartesian.y;
-  result.z = cartesian.z;
-  return result;
-};
+  /**
+   * Unpacks an array of cartesian components into an array of Cartesian3s.
+   *
+   * @param {number[]|TypedArray} array The array of components to unpack.
+   * @param {Cartesian3[]} [result] The array onto which to store the result.
+   * @returns {Cartesian3[]} The unpacked array.
+   */
+  static unpackArray(array, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("array", array);
+    Check.typeOf.number.greaterThanOrEquals("array.length", array.length, 3);
+    if (array.length % 3 !== 0) {
+      throw new DeveloperError("array length must be a multiple of 3.");
+    }
+    //>>includeEnd('debug');
 
-/**
- * Creates a Cartesian3 instance from an existing Cartesian4.  This simply takes the
- * x, y, and z properties of the Cartesian4 and drops w.
- * @function
- *
- * @param {Cartesian4} cartesian The Cartesian4 instance to create a Cartesian3 instance from.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- */
-Cartesian3.fromCartesian4 = Cartesian3.clone;
+    const length = array.length;
+    if (!defined(result)) {
+      result = new Array(length / 3);
+    } else {
+      result.length = length / 3;
+    }
 
-/**
- * The number of elements used to pack the object into an array.
- * @type {number}
- */
-Cartesian3.packedLength = 3;
+    for (let i = 0; i < length; i += 3) {
+      const index = i / 3;
+      result[index] = Cartesian3.unpack(array, i, result[index]);
+    }
+    return result;
+  }
 
-/**
- * Stores the provided instance into the provided array.
- *
- * @param {Cartesian3} value The value to pack.
- * @param {number[]} array The array to pack into.
- * @param {number} [startingIndex=0] The index into the array at which to start packing the elements.
- *
- * @returns {number[]} The array that was packed into
- */
-Cartesian3.pack = function (value, array, startingIndex) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("value", value);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
+  /**
+   * Computes the value of the maximum component for the supplied Cartesian.
+   *
+   * @param {Cartesian3} cartesian The cartesian to use.
+   * @returns {number} The value of the maximum component.
+   */
+  static maximumComponent(cartesian) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    //>>includeEnd('debug');
 
-  startingIndex = startingIndex ?? 0;
+    return Math.max(cartesian.x, cartesian.y, cartesian.z);
+  }
 
-  array[startingIndex++] = value.x;
-  array[startingIndex++] = value.y;
-  array[startingIndex] = value.z;
+  /**
+   * Computes the value of the minimum component for the supplied Cartesian.
+   *
+   * @param {Cartesian3} cartesian The cartesian to use.
+   * @returns {number} The value of the minimum component.
+   */
+  static minimumComponent(cartesian) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    //>>includeEnd('debug');
 
-  return array;
-};
+    return Math.min(cartesian.x, cartesian.y, cartesian.z);
+  }
 
-/**
- * Retrieves an instance from a packed array.
- *
- * @param {number[]} array The packed array.
- * @param {number} [startingIndex=0] The starting index of the element to be unpacked.
- * @param {Cartesian3} [result] The object into which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- */
-Cartesian3.unpack = function (array, startingIndex, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
+  /**
+   * Compares two Cartesians and computes a Cartesian which contains the minimum components of the supplied Cartesians.
+   *
+   * @param {Cartesian3} first A cartesian to compare.
+   * @param {Cartesian3} second A cartesian to compare.
+   * @param {Cartesian3} result The object into which to store the result.
+   * @returns {Cartesian3} A cartesian with the minimum components.
+   */
+  static minimumByComponent(first, second, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("first", first);
+    Check.typeOf.object("second", second);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  startingIndex = startingIndex ?? 0;
+    result.x = Math.min(first.x, second.x);
+    result.y = Math.min(first.y, second.y);
+    result.z = Math.min(first.z, second.z);
 
-  if (!defined(result)) {
-    result = new Cartesian3();
+    return result;
   }
-  result.x = array[startingIndex++];
-  result.y = array[startingIndex++];
-  result.z = array[startingIndex];
-  return result;
-};
 
-/**
- * Flattens an array of Cartesian3s into an array of components.
- *
- * @param {Cartesian3[]} array The array of cartesians to pack.
- * @param {number[]} [result] The array onto which to store the result. If this is a typed array, it must have array.length * 3 components, else a {@link DeveloperError} will be thrown. If it is a regular array, it will be resized to have (array.length * 3) elements.
- * @returns {number[]} The packed array.
- */
-Cartesian3.packArray = function (array, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
-
-  const length = array.length;
-  const resultLength = length * 3;
-  if (!defined(result)) {
-    result = new Array(resultLength);
-  } else if (!Array.isArray(result) && result.length !== resultLength) {
+  /**
+   * Compares two Cartesians and computes a Cartesian which contains the maximum components of the supplied Cartesians.
+   *
+   * @param {Cartesian3} first A cartesian to compare.
+   * @param {Cartesian3} second A cartesian to compare.
+   * @param {Cartesian3} result The object into which to store the result.
+   * @returns {Cartesian3} A cartesian with the maximum components.
+   */
+  static maximumByComponent(first, second, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("first", first);
+    Check.typeOf.object("second", second);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result.x = Math.max(first.x, second.x);
+    result.y = Math.max(first.y, second.y);
+    result.z = Math.max(first.z, second.z);
+    return result;
+  }
+
+  /**
+   * Constrain a value to lie between two values.
+   *
+   * @param {Cartesian3} value The value to clamp.
+   * @param {Cartesian3} min The minimum bound.
+   * @param {Cartesian3} max The maximum bound.
+   * @param {Cartesian3} result The object into which to store the result.
+   * @returns {Cartesian3} The clamped value such that min <= value <= max.
+   */
+  static clamp(value, min, max, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("value", value);
+    Check.typeOf.object("min", min);
+    Check.typeOf.object("max", max);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    const x = CesiumMath.clamp(value.x, min.x, max.x);
+    const y = CesiumMath.clamp(value.y, min.y, max.y);
+    const z = CesiumMath.clamp(value.z, min.z, max.z);
+
+    result.x = x;
+    result.y = y;
+    result.z = z;
+
+    return result;
+  }
+
+  /**
+   * Computes the provided Cartesian's squared magnitude.
+   *
+   * @param {Cartesian3} cartesian The Cartesian instance whose squared magnitude is to be computed.
+   * @returns {number} The squared magnitude.
+   */
+  static magnitudeSquared(cartesian) {
     //>>includeStart('debug', pragmas.debug);
-    throw new DeveloperError(
-      "If result is a typed array, it must have exactly array.length * 3 elements",
+    Check.typeOf.object("cartesian", cartesian);
+    //>>includeEnd('debug');
+
+    return (
+      cartesian.x * cartesian.x +
+      cartesian.y * cartesian.y +
+      cartesian.z * cartesian.z
     );
+  }
+
+  /**
+   * Computes the Cartesian's magnitude (length).
+   *
+   * @param {Cartesian3} cartesian The Cartesian instance whose magnitude is to be computed.
+   * @returns {number} The magnitude.
+   */
+  static magnitude(cartesian) {
+    return Math.sqrt(Cartesian3.magnitudeSquared(cartesian));
+  }
+
+  /**
+   * Computes the distance between two points.
+   *
+   * @param {Cartesian3} left The first point to compute the distance from.
+   * @param {Cartesian3} right The second point to compute the distance to.
+   * @returns {number} The distance between two points.
+   *
+   * @example
+   * // Returns 1.0
+   * const d = Cesium.Cartesian3.distance(new Cesium.Cartesian3(1.0, 0.0, 0.0), new Cesium.Cartesian3(2.0, 0.0, 0.0));
+   */
+  static distance(left, right) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
     //>>includeEnd('debug');
-  } else if (result.length !== resultLength) {
-    result.length = resultLength;
+
+    Cartesian3.subtract(left, right, distanceScratch);
+    return Cartesian3.magnitude(distanceScratch);
   }
 
-  for (let i = 0; i < length; ++i) {
-    Cartesian3.pack(array[i], result, i * 3);
+  /**
+   * Computes the squared distance between two points.  Comparing squared distances
+   * using this function is more efficient than comparing distances using {@link Cartesian3#distance}.
+   *
+   * @param {Cartesian3} left The first point to compute the distance from.
+   * @param {Cartesian3} right The second point to compute the distance to.
+   * @returns {number} The distance between two points.
+   *
+   * @example
+   * // Returns 4.0, not 2.0
+   * const d = Cesium.Cartesian3.distanceSquared(new Cesium.Cartesian3(1.0, 0.0, 0.0), new Cesium.Cartesian3(3.0, 0.0, 0.0));
+   */
+  static distanceSquared(left, right) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    //>>includeEnd('debug');
+
+    Cartesian3.subtract(left, right, distanceScratch);
+    return Cartesian3.magnitudeSquared(distanceScratch);
   }
-  return result;
-};
 
-/**
- * Unpacks an array of cartesian components into an array of Cartesian3s.
- *
- * @param {number[]} array The array of components to unpack.
- * @param {Cartesian3[]} [result] The array onto which to store the result.
- * @returns {Cartesian3[]} The unpacked array.
- */
-Cartesian3.unpackArray = function (array, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  Check.typeOf.number.greaterThanOrEquals("array.length", array.length, 3);
-  if (array.length % 3 !== 0) {
-    throw new DeveloperError("array length must be a multiple of 3.");
+  /**
+   * Computes the normalized form of the supplied Cartesian.
+   *
+   * @param {Cartesian3} cartesian The Cartesian to be normalized.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static normalize(cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    const magnitude = Cartesian3.magnitude(cartesian);
+
+    result.x = cartesian.x / magnitude;
+    result.y = cartesian.y / magnitude;
+    result.z = cartesian.z / magnitude;
+
+    //>>includeStart('debug', pragmas.debug);
+    if (isNaN(result.x) || isNaN(result.y) || isNaN(result.z)) {
+      throw new DeveloperError("normalized result is not a number");
+    }
+    //>>includeEnd('debug');
+
+    return result;
   }
-  //>>includeEnd('debug');
 
-  const length = array.length;
-  if (!defined(result)) {
-    result = new Array(length / 3);
-  } else {
-    result.length = length / 3;
+  /**
+   * Computes the dot (scalar) product of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @returns {number} The dot product.
+   */
+  static dot(left, right) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    //>>includeEnd('debug');
+
+    return left.x * right.x + left.y * right.y + left.z * right.z;
   }
 
-  for (let i = 0; i < length; i += 3) {
-    const index = i / 3;
-    result[index] = Cartesian3.unpack(array, i, result[index]);
+  /**
+   * Computes the componentwise product of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static multiplyComponents(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result.x = left.x * right.x;
+    result.y = left.y * right.y;
+    result.z = left.z * right.z;
+    return result;
   }
-  return result;
-};
 
-/**
- * Creates a Cartesian3 from three consecutive elements in an array.
- * @function
- *
- * @param {number[]} array The array whose three consecutive elements correspond to the x, y, and z components, respectively.
- * @param {number} [startingIndex=0] The offset into the array of the first element, which corresponds to the x component.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- *
- * @example
- * // Create a Cartesian3 with (1.0, 2.0, 3.0)
- * const v = [1.0, 2.0, 3.0];
- * const p = Cesium.Cartesian3.fromArray(v);
- *
- * // Create a Cartesian3 with (1.0, 2.0, 3.0) using an offset into an array
- * const v2 = [0.0, 0.0, 1.0, 2.0, 3.0];
- * const p2 = Cesium.Cartesian3.fromArray(v2, 2);
- */
-Cartesian3.fromArray = Cartesian3.unpack;
+  /**
+   * Computes the componentwise quotient of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static divideComponents(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the value of the maximum component for the supplied Cartesian.
- *
- * @param {Cartesian3} cartesian The cartesian to use.
- * @returns {number} The value of the maximum component.
- */
-Cartesian3.maximumComponent = function (cartesian) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  //>>includeEnd('debug');
+    result.x = left.x / right.x;
+    result.y = left.y / right.y;
+    result.z = left.z / right.z;
+    return result;
+  }
 
-  return Math.max(cartesian.x, cartesian.y, cartesian.z);
-};
+  /**
+   * Computes the componentwise sum of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static add(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the value of the minimum component for the supplied Cartesian.
- *
- * @param {Cartesian3} cartesian The cartesian to use.
- * @returns {number} The value of the minimum component.
- */
-Cartesian3.minimumComponent = function (cartesian) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  //>>includeEnd('debug');
+    result.x = left.x + right.x;
+    result.y = left.y + right.y;
+    result.z = left.z + right.z;
+    return result;
+  }
 
-  return Math.min(cartesian.x, cartesian.y, cartesian.z);
-};
+  /**
+   * Computes the componentwise difference of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static subtract(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Compares two Cartesians and computes a Cartesian which contains the minimum components of the supplied Cartesians.
- *
- * @param {Cartesian3} first A cartesian to compare.
- * @param {Cartesian3} second A cartesian to compare.
- * @param {Cartesian3} result The object into which to store the result.
- * @returns {Cartesian3} A cartesian with the minimum components.
- */
-Cartesian3.minimumByComponent = function (first, second, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("first", first);
-  Check.typeOf.object("second", second);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
+    result.x = left.x - right.x;
+    result.y = left.y - right.y;
+    result.z = left.z - right.z;
+    return result;
+  }
 
-  result.x = Math.min(first.x, second.x);
-  result.y = Math.min(first.y, second.y);
-  result.z = Math.min(first.z, second.z);
+  /**
+   * Multiplies the provided Cartesian componentwise by the provided scalar.
+   *
+   * @param {Cartesian3} cartesian The Cartesian to be scaled.
+   * @param {number} scalar The scalar to multiply with.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static multiplyByScalar(cartesian, scalar, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.number("scalar", scalar);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    result.x = cartesian.x * scalar;
+    result.y = cartesian.y * scalar;
+    result.z = cartesian.z * scalar;
+    return result;
+  }
 
-/**
- * Compares two Cartesians and computes a Cartesian which contains the maximum components of the supplied Cartesians.
- *
- * @param {Cartesian3} first A cartesian to compare.
- * @param {Cartesian3} second A cartesian to compare.
- * @param {Cartesian3} result The object into which to store the result.
- * @returns {Cartesian3} A cartesian with the maximum components.
- */
-Cartesian3.maximumByComponent = function (first, second, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("first", first);
-  Check.typeOf.object("second", second);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = Math.max(first.x, second.x);
-  result.y = Math.max(first.y, second.y);
-  result.z = Math.max(first.z, second.z);
-  return result;
-};
+  /**
+   * Divides the provided Cartesian componentwise by the provided scalar.
+   *
+   * @param {Cartesian3} cartesian The Cartesian to be divided.
+   * @param {number} scalar The scalar to divide by.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static divideByScalar(cartesian, scalar, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.number("scalar", scalar);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Constrain a value to lie between two values.
- *
- * @param {Cartesian3} cartesian The value to clamp.
- * @param {Cartesian3} min The minimum bound.
- * @param {Cartesian3} max The maximum bound.
- * @param {Cartesian3} result The object into which to store the result.
- * @returns {Cartesian3} The clamped value such that min <= value <= max.
- */
-Cartesian3.clamp = function (value, min, max, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("value", value);
-  Check.typeOf.object("min", min);
-  Check.typeOf.object("max", max);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
+    result.x = cartesian.x / scalar;
+    result.y = cartesian.y / scalar;
+    result.z = cartesian.z / scalar;
+    return result;
+  }
 
-  const x = CesiumMath.clamp(value.x, min.x, max.x);
-  const y = CesiumMath.clamp(value.y, min.y, max.y);
-  const z = CesiumMath.clamp(value.z, min.z, max.z);
+  /**
+   * Negates the provided Cartesian.
+   *
+   * @param {Cartesian3} cartesian The Cartesian to be negated.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static negate(cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  result.x = x;
-  result.y = y;
-  result.z = z;
+    result.x = -cartesian.x;
+    result.y = -cartesian.y;
+    result.z = -cartesian.z;
+    return result;
+  }
 
-  return result;
-};
+  /**
+   * Computes the absolute value of the provided Cartesian.
+   *
+   * @param {Cartesian3} cartesian The Cartesian whose absolute value is to be computed.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static abs(cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the provided Cartesian's squared magnitude.
- *
- * @param {Cartesian3} cartesian The Cartesian instance whose squared magnitude is to be computed.
- * @returns {number} The squared magnitude.
- */
-Cartesian3.magnitudeSquared = function (cartesian) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  //>>includeEnd('debug');
-
-  return (
-    cartesian.x * cartesian.x +
-    cartesian.y * cartesian.y +
-    cartesian.z * cartesian.z
-  );
-};
+    result.x = Math.abs(cartesian.x);
+    result.y = Math.abs(cartesian.y);
+    result.z = Math.abs(cartesian.z);
+    return result;
+  }
 
-/**
- * Computes the Cartesian's magnitude (length).
- *
- * @param {Cartesian3} cartesian The Cartesian instance whose magnitude is to be computed.
- * @returns {number} The magnitude.
- */
-Cartesian3.magnitude = function (cartesian) {
-  return Math.sqrt(Cartesian3.magnitudeSquared(cartesian));
-};
+  /**
+   * Computes the linear interpolation or extrapolation at t using the provided cartesians.
+   *
+   * @param {Cartesian3} start The value corresponding to t at 0.0.
+   * @param {Cartesian3} end The value corresponding to t at 1.0.
+   * @param {number} t The point along t at which to interpolate.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static lerp(start, end, t, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("start", start);
+    Check.typeOf.object("end", end);
+    Check.typeOf.number("t", t);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-const distanceScratch = new Cartesian3();
+    Cartesian3.multiplyByScalar(end, t, lerpScratch);
+    result = Cartesian3.multiplyByScalar(start, 1.0 - t, result);
+    return Cartesian3.add(lerpScratch, result, result);
+  }
 
-/**
- * Computes the distance between two points.
- *
- * @param {Cartesian3} left The first point to compute the distance from.
- * @param {Cartesian3} right The second point to compute the distance to.
- * @returns {number} The distance between two points.
- *
- * @example
- * // Returns 1.0
- * const d = Cesium.Cartesian3.distance(new Cesium.Cartesian3(1.0, 0.0, 0.0), new Cesium.Cartesian3(2.0, 0.0, 0.0));
- */
-Cartesian3.distance = function (left, right) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  //>>includeEnd('debug');
+  /**
+   * Returns the angle, in radians, between the provided Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @returns {number} The angle between the Cartesians.
+   */
+  static angleBetween(left, right) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    //>>includeEnd('debug');
 
-  Cartesian3.subtract(left, right, distanceScratch);
-  return Cartesian3.magnitude(distanceScratch);
-};
+    Cartesian3.normalize(left, angleBetweenScratch);
+    Cartesian3.normalize(right, angleBetweenScratch2);
+    const cosine = Cartesian3.dot(angleBetweenScratch, angleBetweenScratch2);
+    const sine = Cartesian3.magnitude(
+      Cartesian3.cross(
+        angleBetweenScratch,
+        angleBetweenScratch2,
+        angleBetweenScratch,
+      ),
+    );
+    return Math.atan2(sine, cosine);
+  }
 
-/**
- * Computes the squared distance between two points.  Comparing squared distances
- * using this function is more efficient than comparing distances using {@link Cartesian3#distance}.
- *
- * @param {Cartesian3} left The first point to compute the distance from.
- * @param {Cartesian3} right The second point to compute the distance to.
- * @returns {number} The distance between two points.
- *
- * @example
- * // Returns 4.0, not 2.0
- * const d = Cesium.Cartesian3.distanceSquared(new Cesium.Cartesian3(1.0, 0.0, 0.0), new Cesium.Cartesian3(3.0, 0.0, 0.0));
- */
-Cartesian3.distanceSquared = function (left, right) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  //>>includeEnd('debug');
+  /**
+   * Returns the axis that is most orthogonal to the provided Cartesian.
+   *
+   * @param {Cartesian3} cartesian The Cartesian on which to find the most orthogonal axis.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The most orthogonal axis.
+   */
+  static mostOrthogonalAxis(cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  Cartesian3.subtract(left, right, distanceScratch);
-  return Cartesian3.magnitudeSquared(distanceScratch);
-};
+    const f = Cartesian3.normalize(cartesian, mostOrthogonalAxisScratch);
+    Cartesian3.abs(f, f);
+
+    if (f.x <= f.y) {
+      if (f.x <= f.z) {
+        result = Cartesian3.clone(Cartesian3.UNIT_X, result);
+      } else {
+        result = Cartesian3.clone(Cartesian3.UNIT_Z, result);
+      }
+    } else if (f.y <= f.z) {
+      result = Cartesian3.clone(Cartesian3.UNIT_Y, result);
+    } else {
+      result = Cartesian3.clone(Cartesian3.UNIT_Z, result);
+    }
 
-/**
- * Computes the normalized form of the supplied Cartesian.
- *
- * @param {Cartesian3} cartesian The Cartesian to be normalized.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.normalize = function (cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
+    return result;
+  }
 
-  const magnitude = Cartesian3.magnitude(cartesian);
+  /**
+   * Projects vector a onto vector b
+   * @param {Cartesian3} a The vector that needs projecting
+   * @param {Cartesian3} b The vector to project onto
+   * @param {Cartesian3} result The result cartesian
+   * @returns {Cartesian3} The modified result parameter
+   */
+  static projectVector(a, b, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("a", a);
+    Check.defined("b", b);
+    Check.defined("result", result);
+    //>>includeEnd('debug');
+
+    const scalar = Cartesian3.dot(a, b) / Cartesian3.dot(b, b);
+    return Cartesian3.multiplyByScalar(b, scalar, result);
+  }
+
+  /**
+   * Compares the provided Cartesians componentwise and returns
+   * <code>true</code> if they are equal, <code>false</code> otherwise.
+   *
+   * @param {Cartesian3} [left] The first Cartesian.
+   * @param {Cartesian3} [right] The second Cartesian.
+   * @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
+   */
+  static equals(left, right) {
+    return (
+      left === right ||
+      (defined(left) &&
+        defined(right) &&
+        left.x === right.x &&
+        left.y === right.y &&
+        left.z === right.z)
+    );
+  }
 
-  result.x = cartesian.x / magnitude;
-  result.y = cartesian.y / magnitude;
-  result.z = cartesian.z / magnitude;
+  /**
+   * @param {Cartesian3} cartesian
+   * @param {number[]} array
+   * @param {number} offset
+   * @private
+   */
+  static equalsArray(cartesian, array, offset) {
+    return (
+      cartesian.x === array[offset] &&
+      cartesian.y === array[offset + 1] &&
+      cartesian.z === array[offset + 2]
+    );
+  }
 
-  //>>includeStart('debug', pragmas.debug);
-  if (isNaN(result.x) || isNaN(result.y) || isNaN(result.z)) {
-    throw new DeveloperError("normalized result is not a number");
+  /**
+   * Compares the provided Cartesians componentwise and returns
+   * <code>true</code> if they pass an absolute or relative tolerance test,
+   * <code>false</code> otherwise.
+   *
+   * @param {Cartesian3} [left] The first Cartesian.
+   * @param {Cartesian3} [right] The second Cartesian.
+   * @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
+   * @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
+   * @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
+   */
+  static equalsEpsilon(left, right, relativeEpsilon, absoluteEpsilon) {
+    return (
+      left === right ||
+      (defined(left) &&
+        defined(right) &&
+        CesiumMath.equalsEpsilon(
+          left.x,
+          right.x,
+          relativeEpsilon,
+          absoluteEpsilon,
+        ) &&
+        CesiumMath.equalsEpsilon(
+          left.y,
+          right.y,
+          relativeEpsilon,
+          absoluteEpsilon,
+        ) &&
+        CesiumMath.equalsEpsilon(
+          left.z,
+          right.z,
+          relativeEpsilon,
+          absoluteEpsilon,
+        ))
+    );
   }
-  //>>includeEnd('debug');
 
-  return result;
-};
+  /**
+   * Computes the cross (outer) product of two Cartesians.
+   *
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The cross product.
+   */
+  static cross(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the dot (scalar) product of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @returns {number} The dot product.
- */
-Cartesian3.dot = function (left, right) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  //>>includeEnd('debug');
+    const leftX = left.x;
+    const leftY = left.y;
+    const leftZ = left.z;
+    const rightX = right.x;
+    const rightY = right.y;
+    const rightZ = right.z;
+
+    const x = leftY * rightZ - leftZ * rightY;
+    const y = leftZ * rightX - leftX * rightZ;
+    const z = leftX * rightY - leftY * rightX;
+
+    result.x = x;
+    result.y = y;
+    result.z = z;
+    return result;
+  }
 
-  return left.x * right.x + left.y * right.y + left.z * right.z;
-};
+  /**
+   * Computes the midpoint between the right and left Cartesian.
+   * @param {Cartesian3} left The first Cartesian.
+   * @param {Cartesian3} right The second Cartesian.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The midpoint.
+   */
+  static midpoint(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the componentwise product of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.multiplyComponents = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = left.x * right.x;
-  result.y = left.y * right.y;
-  result.z = left.z * right.z;
-  return result;
-};
+    result.x = (left.x + right.x) * 0.5;
+    result.y = (left.y + right.y) * 0.5;
+    result.z = (left.z + right.z) * 0.5;
 
-/**
- * Computes the componentwise quotient of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.divideComponents = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = left.x / right.x;
-  result.y = left.y / right.y;
-  result.z = left.z / right.z;
-  return result;
-};
+    return result;
+  }
 
-/**
- * Computes the componentwise sum of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.add = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = left.x + right.x;
-  result.y = left.y + right.y;
-  result.z = left.z + right.z;
-  return result;
-};
+  /**
+   * Returns a Cartesian3 position from longitude and latitude values given in degrees.
+   *
+   * @param {number} longitude The longitude, in degrees
+   * @param {number} latitude The latitude, in degrees
+   * @param {number} [height=0.0] The height, in meters, above the ellipsoid.
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The position
+   *
+   * @example
+   * const position = Cesium.Cartesian3.fromDegrees(-115.0, 37.0);
+   */
+  static fromDegrees(longitude, latitude, height, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("longitude", longitude);
+    Check.typeOf.number("latitude", latitude);
+    //>>includeEnd('debug');
 
-/**
- * Computes the componentwise difference of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.subtract = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = left.x - right.x;
-  result.y = left.y - right.y;
-  result.z = left.z - right.z;
-  return result;
-};
+    longitude = CesiumMath.toRadians(longitude);
+    latitude = CesiumMath.toRadians(latitude);
+    return Cartesian3.fromRadians(
+      longitude,
+      latitude,
+      height,
+      ellipsoid,
+      result,
+    );
+  }
 
-/**
- * Multiplies the provided Cartesian componentwise by the provided scalar.
- *
- * @param {Cartesian3} cartesian The Cartesian to be scaled.
- * @param {number} scalar The scalar to multiply with.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.multiplyByScalar = function (cartesian, scalar, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.number("scalar", scalar);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = cartesian.x * scalar;
-  result.y = cartesian.y * scalar;
-  result.z = cartesian.z * scalar;
-  return result;
-};
+  /**
+   * Returns a Cartesian3 position from longitude and latitude values given in radians.
+   *
+   * @param {number} longitude The longitude, in radians
+   * @param {number} latitude The latitude, in radians
+   * @param {number} [height=0.0] The height, in meters, above the ellipsoid.
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The position
+   *
+   * @example
+   * const position = Cesium.Cartesian3.fromRadians(-2.007, 0.645);
+   */
+  static fromRadians(longitude, latitude, height, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("longitude", longitude);
+    Check.typeOf.number("latitude", latitude);
+    //>>includeEnd('debug');
 
-/**
- * Divides the provided Cartesian componentwise by the provided scalar.
- *
- * @param {Cartesian3} cartesian The Cartesian to be divided.
- * @param {number} scalar The scalar to divide by.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.divideByScalar = function (cartesian, scalar, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.number("scalar", scalar);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = cartesian.x / scalar;
-  result.y = cartesian.y / scalar;
-  result.z = cartesian.z / scalar;
-  return result;
-};
+    height = height ?? 0.0;
 
-/**
- * Negates the provided Cartesian.
- *
- * @param {Cartesian3} cartesian The Cartesian to be negated.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.negate = function (cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = -cartesian.x;
-  result.y = -cartesian.y;
-  result.z = -cartesian.z;
-  return result;
-};
+    const radiiSquared = !defined(ellipsoid)
+      ? Cartesian3._ellipsoidRadiiSquared
+      : // @ts-expect-error Requires type-checking on Ellipsoid.js.
+        ellipsoid.radiiSquared;
 
-/**
- * Computes the absolute value of the provided Cartesian.
- *
- * @param {Cartesian3} cartesian The Cartesian whose absolute value is to be computed.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.abs = function (cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = Math.abs(cartesian.x);
-  result.y = Math.abs(cartesian.y);
-  result.z = Math.abs(cartesian.z);
-  return result;
-};
+    const cosLatitude = Math.cos(latitude);
+    scratchN.x = cosLatitude * Math.cos(longitude);
+    scratchN.y = cosLatitude * Math.sin(longitude);
+    scratchN.z = Math.sin(latitude);
+    scratchN = Cartesian3.normalize(scratchN, scratchN);
 
-const lerpScratch = new Cartesian3();
-/**
- * Computes the linear interpolation or extrapolation at t using the provided cartesians.
- *
- * @param {Cartesian3} start The value corresponding to t at 0.0.
- * @param {Cartesian3} end The value corresponding to t at 1.0.
- * @param {number} t The point along t at which to interpolate.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Cartesian3.lerp = function (start, end, t, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("start", start);
-  Check.typeOf.object("end", end);
-  Check.typeOf.number("t", t);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  Cartesian3.multiplyByScalar(end, t, lerpScratch);
-  result = Cartesian3.multiplyByScalar(start, 1.0 - t, result);
-  return Cartesian3.add(lerpScratch, result, result);
-};
+    Cartesian3.multiplyComponents(radiiSquared, scratchN, scratchK);
+    const gamma = Math.sqrt(Cartesian3.dot(scratchN, scratchK));
+    scratchK = Cartesian3.divideByScalar(scratchK, gamma, scratchK);
+    scratchN = Cartesian3.multiplyByScalar(scratchN, height, scratchN);
 
-const angleBetweenScratch = new Cartesian3();
-const angleBetweenScratch2 = new Cartesian3();
-/**
- * Returns the angle, in radians, between the provided Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @returns {number} The angle between the Cartesians.
- */
-Cartesian3.angleBetween = function (left, right) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  //>>includeEnd('debug');
-
-  Cartesian3.normalize(left, angleBetweenScratch);
-  Cartesian3.normalize(right, angleBetweenScratch2);
-  const cosine = Cartesian3.dot(angleBetweenScratch, angleBetweenScratch2);
-  const sine = Cartesian3.magnitude(
-    Cartesian3.cross(
-      angleBetweenScratch,
-      angleBetweenScratch2,
-      angleBetweenScratch,
-    ),
-  );
-  return Math.atan2(sine, cosine);
-};
+    if (!defined(result)) {
+      result = new Cartesian3();
+    }
+    return Cartesian3.add(scratchK, scratchN, result);
+  }
 
-const mostOrthogonalAxisScratch = new Cartesian3();
-/**
- * Returns the axis that is most orthogonal to the provided Cartesian.
- *
- * @param {Cartesian3} cartesian The Cartesian on which to find the most orthogonal axis.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The most orthogonal axis.
- */
-Cartesian3.mostOrthogonalAxis = function (cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const f = Cartesian3.normalize(cartesian, mostOrthogonalAxisScratch);
-  Cartesian3.abs(f, f);
-
-  if (f.x <= f.y) {
-    if (f.x <= f.z) {
-      result = Cartesian3.clone(Cartesian3.UNIT_X, result);
+  /**
+   * Returns an array of Cartesian3 positions given an array of longitude and latitude values given in degrees.
+   *
+   * @param {number[]} coordinates A list of longitude and latitude values. Values alternate [longitude, latitude, longitude, latitude...].
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the coordinates lie.
+   * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
+   * @returns {Cartesian3[]} The array of positions.
+   *
+   * @example
+   * const positions = Cesium.Cartesian3.fromDegreesArray([-115.0, 37.0, -107.0, 33.0]);
+   */
+  static fromDegreesArray(coordinates, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("coordinates", coordinates);
+    if (coordinates.length < 2 || coordinates.length % 2 !== 0) {
+      throw new DeveloperError(
+        "the number of coordinates must be a multiple of 2 and at least 2",
+      );
+    }
+    //>>includeEnd('debug');
+
+    const length = coordinates.length;
+    if (!defined(result)) {
+      result = new Array(length / 2);
     } else {
-      result = Cartesian3.clone(Cartesian3.UNIT_Z, result);
+      result.length = length / 2;
     }
-  } else if (f.y <= f.z) {
-    result = Cartesian3.clone(Cartesian3.UNIT_Y, result);
-  } else {
-    result = Cartesian3.clone(Cartesian3.UNIT_Z, result);
-  }
 
-  return result;
-};
+    for (let i = 0; i < length; i += 2) {
+      const longitude = coordinates[i];
+      const latitude = coordinates[i + 1];
+      const index = i / 2;
+      result[index] = Cartesian3.fromDegrees(
+        longitude,
+        latitude,
+        0,
+        ellipsoid,
+        result[index],
+      );
+    }
 
-/**
- * Projects vector a onto vector b
- * @param {Cartesian3} a The vector that needs projecting
- * @param {Cartesian3} b The vector to project onto
- * @param {Cartesian3} result The result cartesian
- * @returns {Cartesian3} The modified result parameter
- */
-Cartesian3.projectVector = function (a, b, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("a", a);
-  Check.defined("b", b);
-  Check.defined("result", result);
-  //>>includeEnd('debug');
+    return result;
+  }
 
-  const scalar = Cartesian3.dot(a, b) / Cartesian3.dot(b, b);
-  return Cartesian3.multiplyByScalar(b, scalar, result);
-};
+  /**
+   * Returns an array of Cartesian3 positions given an array of longitude and latitude values given in radians.
+   *
+   * @param {number[]} coordinates A list of longitude and latitude values. Values alternate [longitude, latitude, longitude, latitude...].
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the coordinates lie.
+   * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
+   * @returns {Cartesian3[]} The array of positions.
+   *
+   * @example
+   * const positions = Cesium.Cartesian3.fromRadiansArray([-2.007, 0.645, -1.867, .575]);
+   */
+  static fromRadiansArray(coordinates, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("coordinates", coordinates);
+    if (coordinates.length < 2 || coordinates.length % 2 !== 0) {
+      throw new DeveloperError(
+        "the number of coordinates must be a multiple of 2 and at least 2",
+      );
+    }
+    //>>includeEnd('debug');
 
-/**
- * Compares the provided Cartesians componentwise and returns
- * <code>true</code> if they are equal, <code>false</code> otherwise.
- *
- * @param {Cartesian3} [left] The first Cartesian.
- * @param {Cartesian3} [right] The second Cartesian.
- * @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
- */
-Cartesian3.equals = function (left, right) {
-  return (
-    left === right ||
-    (defined(left) &&
-      defined(right) &&
-      left.x === right.x &&
-      left.y === right.y &&
-      left.z === right.z)
-  );
-};
+    const length = coordinates.length;
+    if (!defined(result)) {
+      result = new Array(length / 2);
+    } else {
+      result.length = length / 2;
+    }
 
-/**
- * @private
- */
-Cartesian3.equalsArray = function (cartesian, array, offset) {
-  return (
-    cartesian.x === array[offset] &&
-    cartesian.y === array[offset + 1] &&
-    cartesian.z === array[offset + 2]
-  );
-};
+    for (let i = 0; i < length; i += 2) {
+      const longitude = coordinates[i];
+      const latitude = coordinates[i + 1];
+      const index = i / 2;
+      result[index] = Cartesian3.fromRadians(
+        longitude,
+        latitude,
+        0,
+        ellipsoid,
+        result[index],
+      );
+    }
 
-/**
- * Compares the provided Cartesians componentwise and returns
- * <code>true</code> if they pass an absolute or relative tolerance test,
- * <code>false</code> otherwise.
- *
- * @param {Cartesian3} [left] The first Cartesian.
- * @param {Cartesian3} [right] The second Cartesian.
- * @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
- * @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
- * @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
- */
-Cartesian3.equalsEpsilon = function (
-  left,
-  right,
-  relativeEpsilon,
-  absoluteEpsilon,
-) {
-  return (
-    left === right ||
-    (defined(left) &&
-      defined(right) &&
-      CesiumMath.equalsEpsilon(
-        left.x,
-        right.x,
-        relativeEpsilon,
-        absoluteEpsilon,
-      ) &&
-      CesiumMath.equalsEpsilon(
-        left.y,
-        right.y,
-        relativeEpsilon,
-        absoluteEpsilon,
-      ) &&
-      CesiumMath.equalsEpsilon(
-        left.z,
-        right.z,
-        relativeEpsilon,
-        absoluteEpsilon,
-      ))
-  );
-};
+    return result;
+  }
 
-/**
- * Computes the cross (outer) product of two Cartesians.
- *
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The cross product.
- */
-Cartesian3.cross = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const leftX = left.x;
-  const leftY = left.y;
-  const leftZ = left.z;
-  const rightX = right.x;
-  const rightY = right.y;
-  const rightZ = right.z;
-
-  const x = leftY * rightZ - leftZ * rightY;
-  const y = leftZ * rightX - leftX * rightZ;
-  const z = leftX * rightY - leftY * rightX;
-
-  result.x = x;
-  result.y = y;
-  result.z = z;
-  return result;
-};
+  /**
+   * Returns an array of Cartesian3 positions given an array of longitude, latitude and height values where longitude and latitude are given in degrees.
+   *
+   * @param {number[]} coordinates A list of longitude, latitude and height values. Values alternate [longitude, latitude, height, longitude, latitude, height...].
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
+   * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
+   * @returns {Cartesian3[]} The array of positions.
+   *
+   * @example
+   * const positions = Cesium.Cartesian3.fromDegreesArrayHeights([-115.0, 37.0, 100000.0, -107.0, 33.0, 150000.0]);
+   */
+  static fromDegreesArrayHeights(coordinates, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("coordinates", coordinates);
+    if (coordinates.length < 3 || coordinates.length % 3 !== 0) {
+      throw new DeveloperError(
+        "the number of coordinates must be a multiple of 3 and at least 3",
+      );
+    }
+    //>>includeEnd('debug');
 
-/**
- * Computes the midpoint between the right and left Cartesian.
- * @param {Cartesian3} left The first Cartesian.
- * @param {Cartesian3} right The second Cartesian.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The midpoint.
- */
-Cartesian3.midpoint = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
+    const length = coordinates.length;
+    if (!defined(result)) {
+      result = new Array(length / 3);
+    } else {
+      result.length = length / 3;
+    }
 
-  result.x = (left.x + right.x) * 0.5;
-  result.y = (left.y + right.y) * 0.5;
-  result.z = (left.z + right.z) * 0.5;
+    for (let i = 0; i < length; i += 3) {
+      const longitude = coordinates[i];
+      const latitude = coordinates[i + 1];
+      const height = coordinates[i + 2];
+      const index = i / 3;
+      result[index] = Cartesian3.fromDegrees(
+        longitude,
+        latitude,
+        height,
+        ellipsoid,
+        result[index],
+      );
+    }
 
-  return result;
-};
+    return result;
+  }
 
-/**
- * Returns a Cartesian3 position from longitude and latitude values given in degrees.
- *
- * @param {number} longitude The longitude, in degrees
- * @param {number} latitude The latitude, in degrees
- * @param {number} [height=0.0] The height, in meters, above the ellipsoid.
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The position
- *
- * @example
- * const position = Cesium.Cartesian3.fromDegrees(-115.0, 37.0);
- */
-Cartesian3.fromDegrees = function (
-  longitude,
-  latitude,
-  height,
-  ellipsoid,
-  result,
-) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("longitude", longitude);
-  Check.typeOf.number("latitude", latitude);
-  //>>includeEnd('debug');
-
-  longitude = CesiumMath.toRadians(longitude);
-  latitude = CesiumMath.toRadians(latitude);
-  return Cartesian3.fromRadians(longitude, latitude, height, ellipsoid, result);
-};
+  /**
+   * Returns an array of Cartesian3 positions given an array of longitude, latitude and height values where longitude and latitude are given in radians.
+   *
+   * @param {number[]} coordinates A list of longitude, latitude and height values. Values alternate [longitude, latitude, height, longitude, latitude, height...].
+   * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
+   * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
+   * @returns {Cartesian3[]} The array of positions.
+   *
+   * @example
+   * const positions = Cesium.Cartesian3.fromRadiansArrayHeights([-2.007, 0.645, 100000.0, -1.867, .575, 150000.0]);
+   */
+  static fromRadiansArrayHeights(coordinates, ellipsoid, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("coordinates", coordinates);
+    if (coordinates.length < 3 || coordinates.length % 3 !== 0) {
+      throw new DeveloperError(
+        "the number of coordinates must be a multiple of 3 and at least 3",
+      );
+    }
+    //>>includeEnd('debug');
 
-let scratchN = new Cartesian3();
-let scratchK = new Cartesian3();
+    const length = coordinates.length;
+    if (!defined(result)) {
+      result = new Array(length / 3);
+    } else {
+      result.length = length / 3;
+    }
 
-// To prevent a circular dependency, this value is overridden by Ellipsoid when Ellipsoid.default is set
-Cartesian3._ellipsoidRadiiSquared = new Cartesian3(
-  6378137.0 * 6378137.0,
-  6378137.0 * 6378137.0,
-  6356752.3142451793 * 6356752.3142451793,
-);
+    for (let i = 0; i < length; i += 3) {
+      const longitude = coordinates[i];
+      const latitude = coordinates[i + 1];
+      const height = coordinates[i + 2];
+      const index = i / 3;
+      result[index] = Cartesian3.fromRadians(
+        longitude,
+        latitude,
+        height,
+        ellipsoid,
+        result[index],
+      );
+    }
 
-/**
- * Returns a Cartesian3 position from longitude and latitude values given in radians.
- *
- * @param {number} longitude The longitude, in radians
- * @param {number} latitude The latitude, in radians
- * @param {number} [height=0.0] The height, in meters, above the ellipsoid.
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The position
- *
- * @example
- * const position = Cesium.Cartesian3.fromRadians(-2.007, 0.645);
- */
-Cartesian3.fromRadians = function (
-  longitude,
-  latitude,
-  height,
-  ellipsoid,
-  result,
-) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("longitude", longitude);
-  Check.typeOf.number("latitude", latitude);
-  //>>includeEnd('debug');
-
-  height = height ?? 0.0;
-
-  const radiiSquared = !defined(ellipsoid)
-    ? Cartesian3._ellipsoidRadiiSquared
-    : ellipsoid.radiiSquared;
-
-  const cosLatitude = Math.cos(latitude);
-  scratchN.x = cosLatitude * Math.cos(longitude);
-  scratchN.y = cosLatitude * Math.sin(longitude);
-  scratchN.z = Math.sin(latitude);
-  scratchN = Cartesian3.normalize(scratchN, scratchN);
-
-  Cartesian3.multiplyComponents(radiiSquared, scratchN, scratchK);
-  const gamma = Math.sqrt(Cartesian3.dot(scratchN, scratchK));
-  scratchK = Cartesian3.divideByScalar(scratchK, gamma, scratchK);
-  scratchN = Cartesian3.multiplyByScalar(scratchN, height, scratchN);
-
-  if (!defined(result)) {
-    result = new Cartesian3();
+    return result;
   }
-  return Cartesian3.add(scratchK, scratchN, result);
-};
 
-/**
- * Returns an array of Cartesian3 positions given an array of longitude and latitude values given in degrees.
- *
- * @param {number[]} coordinates A list of longitude and latitude values. Values alternate [longitude, latitude, longitude, latitude...].
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the coordinates lie.
- * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
- * @returns {Cartesian3[]} The array of positions.
- *
- * @example
- * const positions = Cesium.Cartesian3.fromDegreesArray([-115.0, 37.0, -107.0, 33.0]);
- */
-Cartesian3.fromDegreesArray = function (coordinates, ellipsoid, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("coordinates", coordinates);
-  if (coordinates.length < 2 || coordinates.length % 2 !== 0) {
-    throw new DeveloperError(
-      "the number of coordinates must be a multiple of 2 and at least 2",
-    );
+  /**
+   * Duplicates this Cartesian3 instance.
+   *
+   * @param {Cartesian3} [result] The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
+   */
+  clone(result) {
+    return Cartesian3.clone(this, result);
   }
-  //>>includeEnd('debug');
 
-  const length = coordinates.length;
-  if (!defined(result)) {
-    result = new Array(length / 2);
-  } else {
-    result.length = length / 2;
+  /**
+   * Compares this Cartesian against the provided Cartesian componentwise and returns
+   * <code>true</code> if they are equal, <code>false</code> otherwise.
+   *
+   * @param {Cartesian3} [right] The right hand side Cartesian.
+   * @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
+   */
+  equals(right) {
+    return Cartesian3.equals(this, right);
   }
 
-  for (let i = 0; i < length; i += 2) {
-    const longitude = coordinates[i];
-    const latitude = coordinates[i + 1];
-    const index = i / 2;
-    result[index] = Cartesian3.fromDegrees(
-      longitude,
-      latitude,
-      0,
-      ellipsoid,
-      result[index],
+  /**
+   * Compares this Cartesian against the provided Cartesian componentwise and returns
+   * <code>true</code> if they pass an absolute or relative tolerance test,
+   * <code>false</code> otherwise.
+   *
+   * @param {Cartesian3} [right] The right hand side Cartesian.
+   * @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
+   * @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
+   * @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> otherwise.
+   */
+  equalsEpsilon(right, relativeEpsilon, absoluteEpsilon) {
+    return Cartesian3.equalsEpsilon(
+      this,
+      right,
+      relativeEpsilon,
+      absoluteEpsilon,
     );
   }
 
-  return result;
-};
+  /**
+   * Creates a string representing this Cartesian in the format '(x, y, z)'.
+   *
+   * @returns {string} A string representing this Cartesian in the format '(x, y, z)'.
+   */
+  toString() {
+    return `(${this.x}, ${this.y}, ${this.z})`;
+  }
+}
 
 /**
- * Returns an array of Cartesian3 positions given an array of longitude and latitude values given in radians.
- *
- * @param {number[]} coordinates A list of longitude and latitude values. Values alternate [longitude, latitude, longitude, latitude...].
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the coordinates lie.
- * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
- * @returns {Cartesian3[]} The array of positions.
+ * Creates a Cartesian3 instance from an existing Cartesian4.  This simply takes the
+ * x, y, and z properties of the Cartesian4 and drops w.
+ * @function
  *
- * @example
- * const positions = Cesium.Cartesian3.fromRadiansArray([-2.007, 0.645, -1.867, .575]);
+ * @param {Cartesian4} cartesian The Cartesian4 instance to create a Cartesian3 instance from.
+ * @param {Cartesian3} [result] The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
  */
-Cartesian3.fromRadiansArray = function (coordinates, ellipsoid, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("coordinates", coordinates);
-  if (coordinates.length < 2 || coordinates.length % 2 !== 0) {
-    throw new DeveloperError(
-      "the number of coordinates must be a multiple of 2 and at least 2",
-    );
-  }
-  //>>includeEnd('debug');
-
-  const length = coordinates.length;
-  if (!defined(result)) {
-    result = new Array(length / 2);
-  } else {
-    result.length = length / 2;
-  }
-
-  for (let i = 0; i < length; i += 2) {
-    const longitude = coordinates[i];
-    const latitude = coordinates[i + 1];
-    const index = i / 2;
-    result[index] = Cartesian3.fromRadians(
-      longitude,
-      latitude,
-      0,
-      ellipsoid,
-      result[index],
-    );
-  }
+Cartesian3.fromCartesian4 = Cartesian3.clone;
 
-  return result;
-};
+/**
+ * The number of elements used to pack the object into an array.
+ * @type {number}
+ */
+Cartesian3.packedLength = 3;
 
 /**
- * Returns an array of Cartesian3 positions given an array of longitude, latitude and height values where longitude and latitude are given in degrees.
+ * Creates a Cartesian3 from three consecutive elements in an array.
+ * @function
  *
- * @param {number[]} coordinates A list of longitude, latitude and height values. Values alternate [longitude, latitude, height, longitude, latitude, height...].
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
- * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
- * @returns {Cartesian3[]} The array of positions.
+ * @param {number[]} array The array whose three consecutive elements correspond to the x, y, and z components, respectively.
+ * @param {number} [startingIndex=0] The offset into the array of the first element, which corresponds to the x component.
+ * @param {Cartesian3} [result] The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
  *
  * @example
- * const positions = Cesium.Cartesian3.fromDegreesArrayHeights([-115.0, 37.0, 100000.0, -107.0, 33.0, 150000.0]);
+ * // Create a Cartesian3 with (1.0, 2.0, 3.0)
+ * const v = [1.0, 2.0, 3.0];
+ * const p = Cesium.Cartesian3.fromArray(v);
+ *
+ * // Create a Cartesian3 with (1.0, 2.0, 3.0) using an offset into an array
+ * const v2 = [0.0, 0.0, 1.0, 2.0, 3.0];
+ * const p2 = Cesium.Cartesian3.fromArray(v2, 2);
  */
-Cartesian3.fromDegreesArrayHeights = function (coordinates, ellipsoid, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("coordinates", coordinates);
-  if (coordinates.length < 3 || coordinates.length % 3 !== 0) {
-    throw new DeveloperError(
-      "the number of coordinates must be a multiple of 3 and at least 3",
-    );
-  }
-  //>>includeEnd('debug');
-
-  const length = coordinates.length;
-  if (!defined(result)) {
-    result = new Array(length / 3);
-  } else {
-    result.length = length / 3;
-  }
+Cartesian3.fromArray = Cartesian3.unpack;
 
-  for (let i = 0; i < length; i += 3) {
-    const longitude = coordinates[i];
-    const latitude = coordinates[i + 1];
-    const height = coordinates[i + 2];
-    const index = i / 3;
-    result[index] = Cartesian3.fromDegrees(
-      longitude,
-      latitude,
-      height,
-      ellipsoid,
-      result[index],
-    );
-  }
+const distanceScratch = new Cartesian3();
 
-  return result;
-};
+const lerpScratch = new Cartesian3();
 
-/**
- * Returns an array of Cartesian3 positions given an array of longitude, latitude and height values where longitude and latitude are given in radians.
- *
- * @param {number[]} coordinates A list of longitude, latitude and height values. Values alternate [longitude, latitude, height, longitude, latitude, height...].
- * @param {Ellipsoid} [ellipsoid=Ellipsoid.default] The ellipsoid on which the position lies.
- * @param {Cartesian3[]} [result] An array of Cartesian3 objects to store the result.
- * @returns {Cartesian3[]} The array of positions.
- *
- * @example
- * const positions = Cesium.Cartesian3.fromRadiansArrayHeights([-2.007, 0.645, 100000.0, -1.867, .575, 150000.0]);
- */
-Cartesian3.fromRadiansArrayHeights = function (coordinates, ellipsoid, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("coordinates", coordinates);
-  if (coordinates.length < 3 || coordinates.length % 3 !== 0) {
-    throw new DeveloperError(
-      "the number of coordinates must be a multiple of 3 and at least 3",
-    );
-  }
-  //>>includeEnd('debug');
+const angleBetweenScratch = new Cartesian3();
+const angleBetweenScratch2 = new Cartesian3();
 
-  const length = coordinates.length;
-  if (!defined(result)) {
-    result = new Array(length / 3);
-  } else {
-    result.length = length / 3;
-  }
+const mostOrthogonalAxisScratch = new Cartesian3();
 
-  for (let i = 0; i < length; i += 3) {
-    const longitude = coordinates[i];
-    const latitude = coordinates[i + 1];
-    const height = coordinates[i + 2];
-    const index = i / 3;
-    result[index] = Cartesian3.fromRadians(
-      longitude,
-      latitude,
-      height,
-      ellipsoid,
-      result[index],
-    );
-  }
+let scratchN = new Cartesian3();
+let scratchK = new Cartesian3();
 
-  return result;
-};
+// To prevent a circular dependency, this value is overridden by Ellipsoid when Ellipsoid.default is set
+Cartesian3._ellipsoidRadiiSquared = new Cartesian3(
+  6378137.0 * 6378137.0,
+  6378137.0 * 6378137.0,
+  6356752.3142451793 * 6356752.3142451793,
+);
 
 /**
  * An immutable Cartesian3 instance initialized to (0.0, 0.0, 0.0).
@@ -1165,56 +1218,4 @@ Cartesian3.UNIT_Y = Object.freeze(new Cartesian3(0.0, 1.0, 0.0));
  */
 Cartesian3.UNIT_Z = Object.freeze(new Cartesian3(0.0, 0.0, 1.0));
 
-/**
- * Duplicates this Cartesian3 instance.
- *
- * @param {Cartesian3} [result] The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter or a new Cartesian3 instance if one was not provided.
- */
-Cartesian3.prototype.clone = function (result) {
-  return Cartesian3.clone(this, result);
-};
-
-/**
- * Compares this Cartesian against the provided Cartesian componentwise and returns
- * <code>true</code> if they are equal, <code>false</code> otherwise.
- *
- * @param {Cartesian3} [right] The right hand side Cartesian.
- * @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
- */
-Cartesian3.prototype.equals = function (right) {
-  return Cartesian3.equals(this, right);
-};
-
-/**
- * Compares this Cartesian against the provided Cartesian componentwise and returns
- * <code>true</code> if they pass an absolute or relative tolerance test,
- * <code>false</code> otherwise.
- *
- * @param {Cartesian3} [right] The right hand side Cartesian.
- * @param {number} [relativeEpsilon=0] The relative epsilon tolerance to use for equality testing.
- * @param {number} [absoluteEpsilon=relativeEpsilon] The absolute epsilon tolerance to use for equality testing.
- * @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> otherwise.
- */
-Cartesian3.prototype.equalsEpsilon = function (
-  right,
-  relativeEpsilon,
-  absoluteEpsilon,
-) {
-  return Cartesian3.equalsEpsilon(
-    this,
-    right,
-    relativeEpsilon,
-    absoluteEpsilon,
-  );
-};
-
-/**
- * Creates a string representing this Cartesian in the format '(x, y, z)'.
- *
- * @returns {string} A string representing this Cartesian in the format '(x, y, z)'.
- */
-Cartesian3.prototype.toString = function () {
-  return `(${this.x}, ${this.y}, ${this.z})`;
-};
 export default Cartesian3;