@itowns/geographic 2.44.3-next.43 → 2.45.0

package/package.json

@@ -1,16 +1,15 @@
 {
   "name": "@itowns/geographic",
-  "version": "2.44.3-next.43",
+  "version": "2.45.0",
   "description": "Geodesy",
   "type": "module",
   "main": "lib/Main.js",
-  "exports": {
-    ".": "./lib/Main.js"
-  },
+  "exports": "./lib/Main.js",
+  "types": "./lib/Main.d.ts",
   "scripts": {
     "build": "",
     "lint": "eslint \"src/**/*.{js,ts,tsx}\" \"test/**/*.js\"",
-    "transpile": "cross-env BABEL_DISABLE_CACHE=1 babel src --out-dir lib --extensions .js,.ts",
+    "transpile": "tsc && cross-env BABEL_DISABLE_CACHE=1 babel src --out-dir lib --extensions .js,.ts",
     "test-unit": "npm run base-test-unit test/unit",
     "base-test-unit": "cross-env BABEL_DISABLE_CACHE=1 mocha --import=../../config/babel-register/register.mjs",
     "test-with-coverage": "c8 -n src -r html cross-env npm run test-unit",

package/src/{CoordStars.js → CoordStars.ts}

@@ -3,7 +3,7 @@
  * Class: CoordStars
  * Description: get coord of stars like earth...
  */
-import Coordinates from 'Coordinates';
+import Coordinates from './Coordinates';
 
 const CoordStars = {
 
@@ -22,48 +22,48 @@ const CoordStars = {
         const J2000 = 2451545;
         const e = rad * 23.4397; // obliquity of the Earth
 
-        function toJulian(date) {
+        function toJulian(date: Date | number) {
             return date.valueOf() / dayMs - 0.5 + J1970;
         }
 
-        function toDays(date) {
+        function toDays(date: Date | number) {
             return toJulian(date) - J2000;
         }
 
-        function getRightAscension(l, b) {
+        function getRightAscension(l: number, b: number) {
             return atan(sin(l) * cos(e) - tan(b) * sin(e), cos(l));
         }
 
-        function getDeclination(l, b) {
+        function getDeclination(l: number, b: number) {
             return asin(sin(b) * cos(e) + cos(b) * sin(e) * sin(l));
         }
 
-        function getAzimuth(H, phi, dec) {
+        function getAzimuth(H: number, phi: number, dec: number) {
             return atan(sin(H), cos(H) * sin(phi) - tan(dec) * cos(phi));
         }
 
-        function getAltitude(H, phi, dec) {
+        function getAltitude(H: number, phi: number, dec: number) {
             return asin(sin(phi) * sin(dec) + cos(phi) * cos(dec) * cos(H));
         }
 
-        function getSiderealTime(d, lw) {
+        function getSiderealTime(d: number, lw: number) {
             return rad * (280.16 + 360.9856235 * d) - lw;
         }
 
-        function getSolarMeanAnomaly(d) {
+        function getSolarMeanAnomaly(d: number) {
             return rad * (357.5291 + 0.98560028 * d);
         }
 
-        function getEquationOfCenter(M) {
+        function getEquationOfCenter(M: number) {
             return rad * (1.9148 * sin(M) + 0.0200 * sin(2 * M) + 0.0003 * sin(3 * M));
         }
 
-        function getEclipticLongitude(M, C) {
+        function getEclipticLongitude(M: number, C: number) {
             const P = rad * 102.9372; // perihelion of the Earth
             return M + C + P + PI;
         }
 
-        return function getSunPosition(date, lat, lon) {
+        return function getSunPosition(date: Date | number, lat: number, lon: number) {
             const lw = rad * -lon;
             const phi = rad * lat;
             const d = toDays(date);
@@ -82,16 +82,22 @@ const CoordStars = {
                 H,
                 SiderealTime: t,
                 altitude: getAltitude(H, phi, D),
-                azimuth: getAzimuth(H, phi, D) + PI / 2, // + PI// - PI/2 // origin: north !!! not like original Mourner code but more classical ref
+                azimuth: getAzimuth(H, phi, D) + PI / 2, // + PI// - PI/2
+                // origin: north !!! not like original Mourner code but more
+                // classical ref
             };
         };
     },
 
     // Return scene coordinate ({x,y,z}) of sun
-    getSunPositionInScene(date, lat, lon) {
+    getSunPositionInScene(date: Date | number, lat: number, lon: number) {
+        if (typeof date !== 'number') {
+            date = date.valueOf();
+        }
         const sun = CoordStars.getSunPosition()(date, lat, lon);
         const dayMilliSec = 24 * 3600000;
-        const longitude = sun.ascension + ((date % dayMilliSec) / dayMilliSec) * -360 + 180; // cause midday
+        const longitude = sun.ascension +
+            ((date % dayMilliSec) / dayMilliSec) * -360 + 180; // cause midday
         const coSunCarto = new Coordinates('EPSG:4326', longitude, lat, 50000000)
             .as('EPSG:4978').toVector3();
 

package/src/Coordinates.ts

@@ -1,6 +1,6 @@
 import * as THREE from 'three';
 import proj4 from 'proj4';
-import Ellipsoid from 'Ellipsoid';
+import Ellipsoid from './Ellipsoid';
 import * as CRS from './Crs';
 
 import type { ProjectionLike } from './Crs';

package/src/Ellipsoid.ts

@@ -1,6 +1,6 @@
 import * as THREE from 'three';
 import proj4 from 'proj4';
-import Coordinates from 'Coordinates';
+import Coordinates from './Coordinates';
 
 /**
  * Length of the semi-axes of the WGS84 ellipsoid.

package/src/Main.ts

@@ -0,0 +1,8 @@
+// Geodesic tools
+export { default as Extent } from './Extent';
+export { default as Coordinates } from './Coordinates';
+export * as CRS from './Crs';
+export { default as CoordStars } from './CoordStars';
+export * as OrientationUtils from './OrientationUtils';
+export { default as Ellipsoid, ellipsoidSizes } from './Ellipsoid';
+

package/src/OrientationUtils.ts

@@ -0,0 +1,493 @@
+import { Euler, MathUtils, Matrix4, Quaternion, Vector3 } from 'three';
+import proj4 from 'proj4';
+import type { ProjectionDefinition } from 'proj4';
+import Coordinates from './Coordinates';
+
+const DEG2RAD = MathUtils.DEG2RAD;
+const matrix = new Matrix4();
+const north = new Vector3();
+const east = new Vector3();
+const axis = new Vector3().set(0, 0, 1);
+const coord = new Coordinates('EPSG:4326', 0, 0, 0);
+const euler = new Euler();
+const quat = new Quaternion();
+
+interface EulerAngles {
+    /** angle in degrees */
+    roll: number;
+    /** angle in degrees */
+    pitch: number;
+    /** angle in degrees */
+    heading: number;
+}
+
+interface PhotogrammetryAngles {
+    /** angle in degrees */
+    omega: number;
+    /** angle in degrees */
+    phi: number;
+    /** angle in degrees */
+    kappa: number;
+}
+
+type Attitude = Partial<EulerAngles> | Partial<PhotogrammetryAngles>;
+
+type QuaternionFunction = (coords: Coordinates, target?: Quaternion) => Quaternion;
+
+type ProjectionLike = ProjectionDefinition | string;
+type LCCProjection = { long0: number, lat0: number };
+type TMercProjection = { a: number, b: number, e?: number, long0: number };
+
+/**
+ * The transform from the platform frame to the local East, North, Up (ENU)
+ * frame is `RotationZ(heading).RotationX(pitch).RotationY(roll)`.
+ *
+ * @param roll - angle in degrees. Default is 0.
+ * @param pitch - angle in degrees. Default is 0.
+ * @param heading - angle in degrees. Default is 0
+ * @param target - output Quaternion
+ *
+ * @returns The target quaternion
+ */
+export function quaternionFromRollPitchHeading(
+    roll = 0,
+    pitch = 0,
+    heading = 0,
+    target = new Quaternion(),
+) {
+    roll *= DEG2RAD;
+    pitch *= DEG2RAD;
+    heading *= DEG2RAD;
+    // return setFromEuler(euler.set(pitch, roll, heading , 'ZXY')).conjugate();
+    // Below is optimized version of above line
+    return target.setFromEuler(euler.set(-pitch, -roll, -heading, 'YXZ'));
+}
+
+/**
+ * From
+ * [DocMicMac](https://github.com/micmacIGN/Documentation/raw/master/DocMicMac.pdf),
+ * the transform from the platform frame to the local East, North, Up (ENU)
+ * frame is:
+ *
+ * ```
+ * RotationX(omega).RotationY(phi).RotationZ(kappa).RotationX(PI)
+ * Converts between the 2 conventions for the camera local frame:
+ * RotationX(PI) <=> Quaternion(1,0,0,0)
+ * X right, Y bottom, Z front : convention in photogrammetry and computer vision
+ * X right, Y top,    Z back  : convention in webGL, threejs
+ * ```
+ *
+ * @param omega - angle in degrees. Default is 0.
+ * @param phi - angle in degrees. Default is 0.
+ * @param kappa - angle in degrees. Default is 0.
+ * @param target - output quaternion
+ *
+ * @returns The target quaternion
+ */
+export function quaternionFromOmegaPhiKappa(
+    omega = 0,
+    phi = 0,
+    kappa = 0,
+    target = new Quaternion(),
+) {
+    omega *= DEG2RAD;
+    phi *= DEG2RAD;
+    kappa *= DEG2RAD;
+    target.setFromEuler(euler.set(omega, phi, kappa, 'XYZ'));
+    target.set(target.w, target.z, -target.y, -target.x);
+    // <=> target.multiply(new THREE.Quaternion(1, 0, 0, 0));
+    return target;
+}
+
+/**
+ * Sets the quaternion according to the rotation from the platform frame to the
+ * local frame.
+ *
+ * @param attitude - either euler angles or photogrammetry angles
+ * @param target - output Quaternion
+ *
+ * @returns The target quaternion
+ */
+export function quaternionFromAttitude(attitude: Attitude, target = new Quaternion()) {
+    if ('roll' in attitude || 'pitch' in attitude || 'heading' in attitude) {
+        return quaternionFromRollPitchHeading(
+            attitude.roll, attitude.pitch, attitude.heading,
+            target,
+        );
+    }
+    if ('omega' in attitude || 'phi' in attitude || 'kappa' in attitude) {
+        return quaternionFromOmegaPhiKappa(
+            attitude.omega, attitude.phi, attitude.kappa,
+            target,
+        );
+    }
+    return target.set(0, 0, 0, 1);
+}
+
+export function quaternionFromEnuToGeocent(): QuaternionFunction;
+export function quaternionFromEnuToGeocent(coords: Coordinates, target?: Quaternion): Quaternion;
+/**
+ * Sets the quaternion according to the rotation from the local East North Up
+ * (ENU) frame to the geocentric frame. The up direction of the ENU frame is
+ * provided by the normalized geodetic normal of the provided coordinates
+ * (geodeticNormal property).
+ *
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromEnuToGeocent(coordinates?: Coordinates, target = new Quaternion()) {
+    if (coordinates) { return quaternionFromEnuToGeocent()(coordinates, target); }
+    return (coordinates: Coordinates, target = new Quaternion()) => {
+        const up = coordinates.geodesicNormal;
+        if (up.x == 0 && up.y == 0) {
+            return target.set(0, 0, 0, 1);
+        }
+        // this is an optimized version of
+        // matrix.lookAt(up, new THREE.Vector3(), new THREE.Vector3(0, 0, 1));
+        east.set(-up.y, up.x, 0).normalize();
+        north.crossVectors(up, east);
+        matrix.makeBasis(east, north, up);
+        return target.setFromRotationMatrix(matrix);
+    };
+}
+
+export function quaternionFromGeocentToEnu(): QuaternionFunction;
+export function quaternionFromGeocentToEnu(coords: Coordinates, target?: Quaternion): Quaternion;
+/**
+ * Sets the quaternion according to the rotation from a geocentric frame
+ * to the local East North Up (ENU) frame. The up direction of the ENU frame is
+ * provided by the normalized geodetic normal of the provided coordinates
+ * (geodeticNormal property).
+ *
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromGeocentToEnu(coordinates?: Coordinates, target = new Quaternion()) {
+    if (coordinates) { return quaternionFromGeocentToEnu()(coordinates, target); }
+    const toGeocent = quaternionFromEnuToGeocent();
+    return (coordinates: Coordinates, target = new Quaternion()) =>
+        toGeocent(coordinates, target).conjugate();
+}
+
+
+export function quaternionFromLCCToEnu(proj: LCCProjection): QuaternionFunction;
+export function quaternionFromLCCToEnu(
+    proj: LCCProjection,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Computes the rotation from a Lambert Conformal Conic (LCC) frame to the local
+ * East North Up (ENU) frame.
+ * The quaternion accounts for the
+ * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0060.pdf">meridian convergence</a>
+ * between the ENU and LCC frames.
+ * This is a generally small rotation around Z.
+ *
+ * @param proj - the lcc projection (may be parsed using proj4)
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromLCCToEnu(
+    proj: LCCProjection,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromLCCToEnu(proj)(coordinates, target); }
+    const sinlat0 = Math.sin(proj.lat0);
+    return (coordinates: Coordinates, target = new Quaternion()) => {
+        const long = coordinates.as(coord.crs, coord).longitude * DEG2RAD;
+        return target.setFromAxisAngle(axis, sinlat0 * (proj.long0 - long));
+    };
+}
+
+export function quaternionFromEnuToLCC(proj: LCCProjection): QuaternionFunction;
+export function quaternionFromEnuToLCC(
+    proj: LCCProjection,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Computes the rotation from the local East North Up (ENU) frame to a Lambert
+ * Conformal Conic (LCC) frame. The quaternion accounts for the
+ * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0060.pdf">meridian convergence</a>
+ * between the ENU and LCC frames.
+ * This is a generally small rotation around Z.
+ *
+ * @param proj - the lcc projection (may be parsed using proj4)
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromEnuToLCC(
+    proj: LCCProjection,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromEnuToLCC(proj)(coordinates, target); }
+    const fromLCC = quaternionFromLCCToEnu(proj);
+    return (coordinates: Coordinates, target = new Quaternion()) =>
+        fromLCC(coordinates, target).conjugate();
+}
+
+export function quaternionFromTMercToEnu(proj: TMercProjection): QuaternionFunction;
+export function quaternionFromTMercToEnu(
+    proj: TMercProjection,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Computes the rotation from a Transverse Mercator frame (TMerc) to the
+ * local East North Up (ENU) frame. The quaternion accounts for the
+ * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0061.pdf">meridian convergence</a>
+ * between the ENU and TMerc frames.
+ * This is a generally small rotation around Z.
+ *
+ * @param proj - the tmerc projection (may be parsed using proj4)
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromTMercToEnu(
+    proj: TMercProjection,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromTMercToEnu(proj)(coordinates, target); }
+    let eta0;
+    if (!proj.e) {
+        const a2 = proj.a * proj.a;
+        const b2 = proj.b * proj.b;
+        eta0 = (a2 / b2 - 1);
+    } else {
+        const e2 = proj.e * proj.e;
+        eta0 = (e2 / (1 - e2));
+    }
+    return (coordinates: Coordinates, target = new Quaternion()) => {
+        coordinates.as(coord.crs, coord);
+        const long = coord.longitude * DEG2RAD;
+        const lat = coord.latitude * DEG2RAD;
+        const dlong = proj.long0 - long;
+        const coslat = Math.cos(lat);
+        const sinlat = Math.sin(lat);
+        const tanlat = sinlat / coslat;
+        const coslat2 = coslat * coslat;
+        const dl2 = dlong * dlong * coslat2;
+        const eta2 = eta0 * coslat2;
+        const gamma = dlong * sinlat * (
+            1 + dl2 / 3 * (1 + 3 * eta2 + 2 * eta2 * eta2) + dl2 * dl2 * (2 - tanlat) / 15
+        );
+        return target.setFromAxisAngle(axis, gamma);
+    };
+}
+
+export function quaternionFromEnuToTMerc(proj: TMercProjection): QuaternionFunction;
+export function quaternionFromEnuToTMerc(
+    proj: TMercProjection,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Computes the rotation from the local East North Up (ENU) to a Transverse
+ * Mercator frame. The quaternion accounts for the
+ * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0061.pdf">meridian convergence</a>
+ * between the ENU and TMerc frames.
+ * This is a generally small rotation around Z.
+ *
+ * @param proj - the tmerc projection (may be parsed using proj4)
+ * @param coordinates - origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined. Otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromEnuToTMerc(
+    proj: TMercProjection,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromEnuToTMerc(proj)(coordinates, target); }
+    const fromTMerc = quaternionFromTMercToEnu(proj);
+    return (coordinates: Coordinates, target = new Quaternion()) =>
+        fromTMerc(coordinates, target).conjugate();
+}
+
+export function quaternionFromLongLatToEnu(): QuaternionFunction;
+export function quaternionFromLongLatToEnu(coords: Coordinates, target?: Quaternion): Quaternion;
+/**
+ * Computes the rotation from a LongLat frame to the local East North Up
+ * (ENU) frame. The identity quaternion (0,0,0,1) is returned, as longlat
+ * and ENU frame are assumed to be aligned.
+ *
+ * @param coordinates - coordinates the origin of the local East North Up
+ * (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromLongLatToEnu(coordinates?: Coordinates, target = new Quaternion()) {
+    return coordinates ? target.set(0, 0, 0, 1) :
+        (coordinates: Coordinates, target = new Quaternion()) =>
+            quaternionFromLongLatToEnu(coordinates, target);
+}
+
+export function quaternionFromEnuToLongLat(): QuaternionFunction;
+export function quaternionFromEnuToLongLat(coords: Coordinates, target?: Quaternion): Quaternion;
+/**
+ * Computes the rotation from the local East North Up (ENU) frame to a
+ * LongLat frame. The identity quaternion (0,0,0,1) is returned, as longlat
+ * and ENU frame are assumed to be aligned.
+ *
+ * @param coordinates - the origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromEnuToLongLat(coordinates?: Coordinates, target = new Quaternion()) {
+    return coordinates ? target.set(0, 0, 0, 1) :
+        (coordinates: Coordinates, target = new Quaternion()) =>
+            quaternionFromEnuToLongLat(coordinates, target);
+}
+
+
+export function quaternionUnimplemented(proj: { projName?: string }): QuaternionFunction;
+export function quaternionUnimplemented(
+    proj: { projName?: string },
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Warns for an unimplemented projection, sets the quaternion to the
+ * identity (0,0,0,1).
+ *
+ * @param proj - the unimplemented projection (may be parsed using proj4)
+ * @param coordinates - the origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionUnimplemented(
+    proj: { projName?: string },
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    console.warn(
+        'This quaternion function is not implemented for projections of type',
+        proj.projName,
+    );
+    return coordinates ? target.set(0, 0, 0, 1) :
+        (coordinates: Coordinates, target = new Quaternion()) =>
+            quaternionUnimplemented(proj, coordinates, target);
+}
+
+export function quaternionFromEnuToCRS(proj: ProjectionLike): QuaternionFunction;
+export function quaternionFromEnuToCRS(
+    proj: ProjectionLike,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Compute the quaternion that models the rotation from the local East North
+ * Up (ENU) frame to the frame of the given crs.
+ *
+ * @param crsOrProj - the CRS of the target frame or its proj4-compatible
+ * object.
+ * @param coordinates - the origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromEnuToCRS(
+    crsOrProj: ProjectionLike,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromEnuToCRS(crsOrProj)(coordinates, target); }
+    const proj = typeof crsOrProj === 'string' ? proj4.defs(crsOrProj) : crsOrProj;
+    switch (proj.projName) {
+        case 'geocent': return quaternionFromEnuToGeocent();
+        case 'lcc': return quaternionFromEnuToLCC(proj as LCCProjection);
+        case 'tmerc': return quaternionFromEnuToTMerc(proj as TMercProjection);
+        case 'longlat': return quaternionFromEnuToLongLat();
+        default: return quaternionUnimplemented(proj);
+    }
+}
+
+export function quaternionFromCRSToEnu(proj: ProjectionLike): QuaternionFunction;
+export function quaternionFromCRSToEnu(
+    proj: ProjectionLike,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Compute the quaternion that models the rotation from the frame of the
+ * given crs to the local East North Up (ENU) frame.
+ *
+ * @param crsOrProj - the CRS of the target frame or its proj4-compatible
+ * object.
+ * @param coordinates - the origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromCRSToEnu(
+    crsOrProj: ProjectionLike,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromCRSToEnu(crsOrProj)(coordinates, target); }
+    const proj = typeof crsOrProj === 'string' ? proj4.defs(crsOrProj) : crsOrProj;
+    switch (proj.projName) {
+        case 'geocent': return quaternionFromGeocentToEnu();
+        case 'lcc': return quaternionFromLCCToEnu(proj as LCCProjection);
+        case 'tmerc': return quaternionFromTMercToEnu(proj as TMercProjection);
+        case 'longlat': return quaternionFromLongLatToEnu();
+        default: return quaternionUnimplemented(proj);
+    }
+}
+
+export function quaternionFromCRSToCRS(
+    crsIn: ProjectionLike,
+    crsOut: ProjectionLike,
+): QuaternionFunction;
+export function quaternionFromCRSToCRS(
+    crsIn: ProjectionLike,
+    crsOut: ProjectionLike,
+    coords: Coordinates,
+    target?: Quaternion,
+): Quaternion;
+/**
+ * Return the function that computes the quaternion that represents a
+ * rotation of coordinates between two CRS frames.
+ *
+ * @param crsIn - the CRS of the input frame.
+ * @param crsOut - the CRS of the output frame.
+ * @param coordinates - the origin of the local East North Up (ENU) frame
+ * @param target - output Quaternion
+ * @returns The target quaternion if coordinates is defined, otherwise, a
+ * function to compute it from coordinates.
+ */
+export function quaternionFromCRSToCRS(
+    crsIn: ProjectionLike,
+    crsOut: ProjectionLike,
+    coordinates?: Coordinates,
+    target = new Quaternion(),
+) {
+    if (coordinates) { return quaternionFromCRSToCRS(crsIn, crsOut)(coordinates, target); }
+    if (crsIn == crsOut) {
+        return (origin: Coordinates, target = new Quaternion()) => target.set(0, 0, 0, 1);
+    }
+
+    // get rotations from the local East/North/Up (ENU) frame to both CRS.
+    const fromCrs = quaternionFromCRSToEnu(crsIn);
+    const toCrs = quaternionFromEnuToCRS(crsOut);
+    return (origin: Coordinates, target = new Quaternion()) =>
+        toCrs(origin, target).multiply(fromCrs(origin, quat));
+}

package/src/Main.js

@@ -1,8 +0,0 @@
-// Geodesic tools
-export { default as Extent } from 'Extent';
-export { default as Coordinates } from 'Coordinates';
-export * as CRS from 'Crs';
-export { default as CoordStars } from 'CoordStars';
-export { default as OrientationUtils } from 'OrientationUtils';
-export { default as Ellipsoid, ellipsoidSizes } from 'Ellipsoid';
-

package/src/OrientationUtils.js

@@ -1,410 +0,0 @@
-import * as THREE from 'three';
-import proj4 from 'proj4';
-import Coordinates from 'Coordinates';
-
-const DEG2RAD = THREE.MathUtils.DEG2RAD;
-const matrix = new THREE.Matrix4();
-const north = new THREE.Vector3();
-const east = new THREE.Vector3();
-const axis = new THREE.Vector3().set(0, 0, 1);
-const coord = new Coordinates('EPSG:4326', 0, 0, 0);
-const euler = new THREE.Euler();
-const quat = new THREE.Quaternion();
-
-function quaternionIdentity(coordinates, target = new THREE.Quaternion()) {
-    return coordinates ? target.set(0, 0, 0, 1) : quaternionIdentity;
-}
-
-/**
- * The OrientationUtils module provides methods to compute the quaternion that
- * models a rotation defined with various conventions, including between different
- * CRS.
- * The local <a href="https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates#Local_east,_north,_up_(ENU)_coordinates">
- * East/North/Up frame (ENU)</a> is used as a pivot frame when computing the rotation between two distinct CRS.
- * If the origin of the frame is undefined, CRS-related methods precompute and return a function
- * that can be applied efficiently to many points of origin.
- * Otherwise, the target quaternion is returned at the provided origin coordinates.
- *
- * @example
- * // Compute the rotation around the point of origin from a frame aligned with Lambert93 axes (epsg:2154),
- * // to the geocentric frame (epsg:4978)
- * quat_crs2crs = OrientationUtils.quaternionFromCRSToCRS("EPSG:2154", "EPSG:4978")(origin);
- * // Compute the rotation of a sensor platform defined by its attitude
- * quat_attitude = OrientationUtils.quaternionFromAttitude(attitude);
- * // Compute the rotation from the sensor platform frame to the geocentric frame
- * quat = quat_crs2crs.multiply(quat_attitude);
- *
- * @module OrientationUtils
- */
-export default {
-    /**
-     * @typedef {Object} Attitude
-     * Properties are either defined as (omega, phi, kappa) or as (roll, pitch,
-     * heading) or all `undefined`.
-     *
-     * @property {number} omega - angle in degrees
-     * @property {number} phi - angle in degrees
-     * @property {number} kappa - angle in degrees
-     * @property {number} roll - angle in degrees
-     * @property {number} pitch - angle in degrees
-     * @property {number} heading - angle in degrees
-     */
-
-    /**
-     * The transform from the platform frame to the local East, North, Up (ENU)
-     * frame is `RotationZ(heading).RotationX(pitch).RotationY(roll)`
-     *
-     * @param {number} [roll=0] - angle in degrees
-     * @param {number} [pitch=0] - angle in degrees
-     * @param {number} [heading=0] - angle in degrees
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] - output Quaternion
-     *
-     * @return {THREE.Quaternion} target quaternion
-     */
-    quaternionFromRollPitchHeading(roll = 0, pitch = 0, heading = 0, target = new THREE.Quaternion()) {
-        roll *= DEG2RAD;
-        pitch *= DEG2RAD;
-        heading *= DEG2RAD;
-        // return this.setFromEuler(euler.set(pitch, roll, heading , 'ZXY')).conjugate();
-        return target.setFromEuler(euler.set(-pitch, -roll, -heading, 'YXZ')); // optimized version of above
-    },
-
-    /**
-     * From
-     * [DocMicMac](https://github.com/micmacIGN/Documentation/raw/master/DocMicMac.pdf),
-     * the transform from the platform frame to the local East, North, Up (ENU)
-     * frame is:
-     *
-     * ```
-     * RotationX(omega).RotationY(phi).RotationZ(kappa).RotationX(PI)
-     * RotationX(PI) <=> Quaternion(1,0,0,0) : converts between the 2 conventions for the camera local frame:
-     * X right, Y bottom, Z front : convention in photogrammetry and computer vision
-     * X right, Y top,    Z back  : convention in webGL, threejs
-     * ```
-     *
-     * @param {number} [omega=0] - angle in degrees
-     * @param {number} [phi=0] - angle in degrees
-     * @param {number} [kappa=0] - angle in degrees
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     *
-     * @return {THREE.Quaternion} target quaternion
-     */
-    quaternionFromOmegaPhiKappa(omega = 0, phi = 0, kappa = 0, target = new THREE.Quaternion()) {
-        omega *= DEG2RAD;
-        phi *= DEG2RAD;
-        kappa *= DEG2RAD;
-        target.setFromEuler(euler.set(omega, phi, kappa, 'XYZ'));
-        target.set(target.w, target.z, -target.y, -target.x); // <=> target.multiply(new THREE.Quaternion(1, 0, 0, 0));
-        return target;
-    },
-
-    /**
-     * Set the quaternion according to the rotation from the platform frame to
-     * the local frame.
-     *
-     * @param {Attitude} attitude - Attitude
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     *
-     * @return {THREE.Quaternion} target quaternion
-     */
-    quaternionFromAttitude(attitude, target = new THREE.Quaternion()) {
-        if ((attitude.roll !== undefined) || (attitude.pitch !== undefined) || (attitude.heading !== undefined)) {
-            return this.quaternionFromRollPitchHeading(attitude.roll, attitude.pitch, attitude.heading, target);
-        }
-        if ((attitude.omega !== undefined) || (attitude.phi !== undefined) || (attitude.kappa !== undefined)) {
-            return this.quaternionFromOmegaPhiKappa(attitude.omega, attitude.phi, attitude.kappa, target);
-        }
-        return target.set(0, 0, 0, 1);
-    },
-
-    /**
-     * @typedef {Function|THREE.Quaternion} FunctionOrQuaternion - Either a
-     * THREE.Quaternion or a function that accepts arguments `(coordinates,
-     * target)` and returns the quaternion that models a rotation around the
-     * point of origin. If target is not provided, a new quaternion is created
-     * and returned instead.
-     *
-     * @property {Coordinates} coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @property {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion.
-     */
-
-    /**
-     * A Projection object models a Coordinate Reference System (CRS).
-     * Such an object is usually created with proj4 using `proj4.defs(crs);`
-     *
-     * @typedef {Object} Projection
-     *
-     * @property {string} projName
-     */
-
-    /**
-     * Set the quaternion according to the rotation from the local East North Up (ENU)
-     * frame to the geocentric frame. The up direction of the ENU frame is
-     * provided by the normalized geodetic normal of the provided coordinates
-     * (geodeticNormal property).
-     *
-     * @param {Coordinates} [coordinates] the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromEnuToGeocent(coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromEnuToGeocent()(coordinates, target); }
-        return (coordinates, target = new THREE.Quaternion()) => {
-            const up = coordinates.geodesicNormal;
-            if (up.x == 0 && up.y == 0) {
-                return target.set(0, 0, 0, 1);
-            }
-            // this is an optimized version of matrix.lookAt(up, new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0, 1));
-            east.set(-up.y, up.x, 0).normalize();
-            north.crossVectors(up, east);
-            matrix.makeBasis(east, north, up);
-            return target.setFromRotationMatrix(matrix);
-        };
-    },
-
-    /**
-     * Set the quaternion according to the rotation from a geocentric frame
-     * to the local East North Up (ENU) frame. The up direction of the ENU frame is
-     * provided by the normalized geodetic normal of the provided coordinates
-     * (geodeticNormal property).
-     *
-     * @param {Coordinates} [coordinates] the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromGeocentToEnu(coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromGeocentToEnu()(coordinates, target); }
-        const toGeocent = this.quaternionFromEnuToGeocent();
-        return (coordinates, target = new THREE.Quaternion()) => toGeocent(coordinates, target).conjugate();
-    },
-
-
-    /**
-     * Computes the rotation from a Lambert Conformal Conic (LCC) frame to the local East North Up (ENU) frame.
-     * The quaternion accounts for the
-     * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0060.pdf">meridian convergence</a>
-     * between the ENU and LCC frames.
-     * This is a generally small rotation around Z.
-     *
-     * @param {Object} proj the lcc projection (may be parsed using proj4)
-     * @param {number} proj.lat0 - the latitude of origin
-     * @param {number} proj.long0 - the longitude of the central meridian
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-    */
-    quaternionFromLCCToEnu(proj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromLCCToEnu(proj)(coordinates, target); }
-        const sinlat0 = Math.sin(proj.lat0);
-        return (coordinates, target = new THREE.Quaternion()) => {
-            const long = coordinates.as(coord.crs, coord).longitude * DEG2RAD;
-            return target.setFromAxisAngle(axis, sinlat0 * (proj.long0 - long));
-        };
-    },
-
-    /**
-     * Computes the rotation from the local East North Up (ENU) frame to a Lambert Conformal Conic (LCC) frame.
-     * The quaternion accounts for the
-     * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0060.pdf">meridian convergence</a>
-     * between the ENU and LCC frames.
-     * This is a generally small rotation around Z.
-     *
-     * @param {Object} proj the lcc projection (may be parsed using proj4)
-     * @param {number} proj.lat0 - the latitude of origin
-     * @param {number} proj.long0 - the longitude of the central meridian
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-    */
-    quaternionFromEnuToLCC(proj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromEnuToLCC(proj)(coordinates, target); }
-        const fromLCC = this.quaternionFromLCCToEnu(proj);
-        return (coordinates, target = new THREE.Quaternion()) => fromLCC(coordinates, target).conjugate();
-    },
-
-    /**
-     * Computes the rotation from a Transverse Mercator frame (TMerc) to the local East North Up (ENU) frame.
-     * The quaternion accounts for the
-     * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0061.pdf">meridian convergence</a>
-     * between the ENU and TMerc frames.
-     * This is a generally small rotation around Z.
-     *
-     * @param {Object} proj the tmerc projection (may be parsed using proj4)
-     * @param {number} proj.e - the excentricity of the ellipsoid (supersedes {proj.a} and {proj.b})
-     * @param {number} proj.a - the semimajor radius of the ellipsoid axis
-     * @param {number} proj.b - the semiminor radius of the ellipsoid axis
-     * @param {number} proj.long0 - the longitude of the central meridian
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-    */
-    quaternionFromTMercToEnu(proj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromTMercToEnu(proj)(coordinates, target); }
-        const a2 = proj.a * proj.a;
-        const b2 = proj.b * proj.b;
-        const e2 = proj.e * proj.e;
-        const eta0 = proj.e ? (e2 / (1 - e2)) : (a2 / b2 - 1);
-        return (coordinates, target = new THREE.Quaternion()) => {
-            coordinates.as(coord.crs, coord);
-            const long = coord.longitude * DEG2RAD;
-            const lat = coord.latitude * DEG2RAD;
-            const dlong = proj.long0 - long;
-            const coslat = Math.cos(lat);
-            const sinlat = Math.sin(lat);
-            const tanlat = sinlat / coslat;
-            const coslat2 = coslat * coslat;
-            const dl2 = dlong * dlong * coslat2;
-            const eta2 = eta0 * coslat2;
-            const gamma = dlong * sinlat * (1 + dl2 / 3 * (1 + 3 * eta2 + 2 * eta2 * eta2) + dl2 * dl2 * (2 - tanlat) / 15);
-            return target.setFromAxisAngle(axis, gamma);
-        };
-    },
-
-    /**
-     * Computes the rotation from the local East North Up (ENU) to a Transverse Mercator frame.
-     * The quaternion accounts for the
-     * <a href="https://geodesie.ign.fr/contenu/fichiers/documentation/algorithmes/alg0061.pdf">meridian convergence</a>
-     * between the ENU and TMerc frames.
-     * This is a generally small rotation around Z.
-     *
-     * @param {Object} proj the tmerc projection (may be parsed using proj4)
-     * @param {number} proj.e - the excentricity of the ellipsoid (supersedes
-     * {proj.a} and {proj.b})
-     * @param {number} proj.a - the semimajor radius of the ellipsoid axis
-     * @param {number} proj.b - the semiminor radius of the ellipsoid axis
-     * @param {number} proj.long0 - the longitude of the central meridian
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-    */
-    quaternionFromEnuToTMerc(proj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromEnuToTMerc(proj)(coordinates, target); }
-        const fromTMerc = this.quaternionFromTMercToEnu(proj);
-        return (coordinates, target = new THREE.Quaternion()) => fromTMerc(coordinates, target).conjugate();
-    },
-
-    /**
-     * Computes the rotation from a LongLat frame to the local East North Up (ENU) frame.
-     * The identity quaternion (0,0,0,1) is returned, as longlat and ENU frame are assumed to be aligned.
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromLongLatToEnu(coordinates, target = new THREE.Quaternion()) {
-        return quaternionIdentity(coordinates, target);
-    },
-
-    /**
-    * Computes the rotation from the local East North Up (ENU) frame to a LongLat frame.
-    * The identity quaternion (0,0,0,1) is returned, as longlat and ENU frame are assumed to be aligned.
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromEnuToLongLat(coordinates, target = new THREE.Quaternion()) {
-        return quaternionIdentity(coordinates, target);
-    },
-
-
-    /**
-     * Warns for an unimplemented projection, sets the quaternion to the
-     * identity (0,0,0,1).
-     *
-     * @param {Projection} proj - the unimplemented projection (may be parsed
-     * using proj4)
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionUnimplemented(proj, coordinates, target = new THREE.Quaternion()) {
-        console.warn('This quaternion function is not implemented for projections of type', proj.projName);
-        return quaternionIdentity(coordinates, target);
-    },
-
-    /**
-     * Compute the quaternion that models the rotation from the local East North
-     * Up (ENU) frame to the frame of the given crs.
-     *
-     * @param {string|Projection} crsOrProj - the CRS of the target frame or its
-     * proj4-compatible object.
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromEnuToCRS(crsOrProj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromEnuToCRS(crsOrProj)(coordinates, target); }
-        const proj = crsOrProj.projName ? crsOrProj : proj4.defs(crsOrProj);
-        switch (proj.projName) {
-            case 'geocent': return this.quaternionFromEnuToGeocent();
-            case 'lcc': return this.quaternionFromEnuToLCC(proj);
-            case 'tmerc': return this.quaternionFromEnuToTMerc(proj);
-            case 'longlat': return this.quaternionFromEnuToLongLat();
-            default: return this.quaternionUnimplemented(proj);
-        }
-    },
-
-    /**
-     * Compute the quaternion that models the rotation from the frame of the
-     * given crs to the local East North Up (ENU) frame.
-     *
-     * @param {string|Projection} crsOrProj - the CRS of the source frame or its
-     * proj4-compatible object.
-     *
-     * @param {Coordinates} [coordinates]  coordinates the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-     */
-    quaternionFromCRSToEnu(crsOrProj, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromCRSToEnu(crsOrProj)(coordinates, target); }
-        const proj = crsOrProj.projName ? crsOrProj : proj4.defs(crsOrProj);
-        switch (proj.projName) {
-            case 'geocent': return this.quaternionFromGeocentToEnu();
-            case 'lcc': return this.quaternionFromLCCToEnu(proj);
-            case 'tmerc': return this.quaternionFromTMercToEnu(proj);
-            case 'longlat': return this.quaternionFromLongLatToEnu();
-            default: return this.quaternionUnimplemented(proj);
-        }
-    },
-
-    /**
-     * Return the function that computes the quaternion that represents a
-     * rotation of coordinates between two CRS frames.
-     *
-     * @param {string} crsIn - the CRS of the input frame.
-     * @param {string} crsOut - the CRS of the output frame.
-     * @param {Coordinates} [coordinates]  coordinates - the origin of the local East North Up
-     * (ENU) frame
-     * @param {THREE.Quaternion} [target=new THREE.Quaternion()] output Quaternion
-     * @return {FunctionOrQuaternion} The target quaternion if coordinates is defined, otherwise, a function to compute it from coordinates.
-    */
-    quaternionFromCRSToCRS(crsIn, crsOut, coordinates, target = new THREE.Quaternion()) {
-        if (coordinates) { return this.quaternionFromCRSToCRS(crsIn, crsOut)(coordinates, target); }
-        if (crsIn == crsOut) {
-            return (origin, target = new THREE.Quaternion()) => target.set(0, 0, 0, 1);
-        }
-
-        // get rotations from the local East/North/Up (ENU) frame to both CRS.
-        const fromCrs = this.quaternionFromCRSToEnu(crsIn);
-        const toCrs = this.quaternionFromEnuToCRS(crsOut);
-        return (origin, target = new THREE.Quaternion()) =>
-            toCrs(origin, target).multiply(fromCrs(origin, quat));
-    },
-};