@openglobus/og 0.17.2 → 0.18.1

package/lib/js/ellipsoid/Ellipsoid.d.ts

@@ -0,0 +1,187 @@
+import { LonLat } from "../LonLat";
+import { Quat } from "../math/Quat";
+import { Vec3 } from "../math/Vec3";
+export interface IInverseResult {
+    distance: number;
+    initialAzimuth: number;
+    finalAzimuth: number;
+}
+export interface IDirectResult {
+    destination: LonLat;
+    finalAzimuth: number;
+}
+/**
+ * Class represents a plant ellipsoid.
+ * @class
+ * @param {number} equatorialSize - Equatorial ellipsoid size.
+ * @param {number} polarSize - Polar ellipsoid size.
+ */
+declare class Ellipsoid {
+    /**
+     * Equatorial size
+     * @type {number}
+     * @protected
+     */
+    protected _a: number;
+    /**
+     * Polar size
+     * @type {number}
+     * @protected
+     */
+    protected _b: number;
+    protected _flattening: number;
+    protected _f: number;
+    protected _a2: number;
+    protected _b2: number;
+    protected _e: number;
+    protected _e2: number;
+    protected _e22: number;
+    protected _k: number;
+    protected _k2: number;
+    protected _radii: Vec3;
+    protected _radii2: Vec3;
+    protected _invRadii: Vec3;
+    _invRadii2: Vec3;
+    constructor(equatorialSize?: number, polarSize?: number);
+    /**
+     * Returns the distance travelling from ‘this’ point to destination point along a rhumb line.
+     * @param   {LonLat} startLonLat coordinates.
+     * @param   {LonLat} endLonLat coordinates
+     * @returns {number} Distance in m between this point and destination point (same units as radius).
+     */
+    rhumbDistanceTo(startLonLat: LonLat, endLonLat: LonLat): number;
+    /**
+     * Returns the point at given fraction between two points on the great circle.
+     * @param   {LonLat} lonLat1 - Longitude/Latitude of source point.
+     * @param   {LonLat} lonLat2 - Longitude/Latitude of destination point.
+     * @param   {number} fraction - Fraction between the two points (0 = source point, 1 = destination point).
+     * @returns {LonLat} Intermediate point between points.
+     */
+    getIntermediatePointOnGreatCircle(lonLat1: LonLat, lonLat2: LonLat, fraction: number): LonLat;
+    /**
+     * REMOVE ASAP after
+     * @param lonLat1
+     * @param lonLat2
+     * @returns {number}
+     */
+    static getBearing(lonLat1: LonLat, lonLat2: LonLat): number;
+    getFlattening(): number;
+    /**
+     * Gets ellipsoid equatorial size.
+     * @public
+     * @returns {number} -
+     */
+    getEquatorialSize(): number;
+    get equatorialSize(): number;
+    get equatorialSizeSqr(): number;
+    /**
+     * Gets ellipsoid polar size.
+     * @public
+     * @returns {number} -
+     */
+    getPolarSize(): number;
+    get polarSize(): number;
+    get polarSizeSqr(): number;
+    /**
+     * Calculate cartesian coordinates by its ECEF geodetic coordinates.
+     * @public
+     * @param {LonLat} lonlat - Geodetic coordinates.
+     * @returns {Vec3} -
+     */
+    lonLatToCartesian(lonlat: LonLat): Vec3;
+    /**
+     * Calculate cartesian coordinates by its ECEF geodetic coordinates.
+     * @public
+     * @param {LonLat} lonlat - Geodetic coordinates.
+     * @param {Vec3} res - Output variable reference.
+     * @returns {Vec3} -
+     */
+    lonLatToCartesianRes(lonlat: LonLat, res: Vec3): Vec3;
+    /**
+     * Gets cartesian ECEF from Wgs84 geodetic coordinates.
+     * @public
+     * @param {Number} lon - Longitude.
+     * @param {Number} lat - Latitude.
+     * @param {Number} height - Height.
+     * @param {Vec3} res - Output result variable.
+     * @returns {Vec3} -
+     */
+    geodeticToCartesian(lon: number, lat: number, height?: number, res?: Vec3): Vec3;
+    /**
+     * Gets Wgs84 geodetic coordinates from cartesian ECEF.
+     * @public
+     * @param {Vec3} p - Cartesian coordinates.
+     * @returns {LonLat} -
+     */
+    projToSurface(p: Vec3): Vec3;
+    /**
+     * Converts 3d cartesian coordinates to geodetic
+     * @param {Vec3} cart - Cartesian coordinates
+     * @returns {LonLat} - Geodetic coordinates
+     */
+    cartesianToLonLat(cart: Vec3): LonLat;
+    /**
+     * Converts 3d cartesian coordinates to geodetic
+     * @param {Vec3} cart - Cartesian coordinates
+     * @param {LonLat} res - Link geodetic coordinates variable
+     * @returns {LonLat} - Geodetic coordinates
+     */
+    cartesianToLonLatRes(cart: Vec3, res?: LonLat): LonLat;
+    /**
+     * Gets ellipsoid surface normal.
+     * @public
+     * @param {Vec3} coord - Spatial coordinates.
+     * @return {Vec3} -
+     */
+    getSurfaceNormal3v(coord: Vec3): Vec3;
+    getGreatCircleDistance(lonLat1: LonLat, lonLat2: LonLat): number;
+    /**
+     * Calculates the destination point given start point lat / lon, azimuth(deg) and distance (m).
+     * Source: http://movable-type.co.uk/scripts/latlong-vincenty-direct.html and optimized / cleaned up by Mathias Bynens <http://mathiasbynens.be/>
+     * Based on the Vincenty direct formula by T. Vincenty, “Direct and Inverse Solutions of Geodesics on the Ellipsoid with application of nested equations”, Survey Review, vol XXII no 176, 1975 <http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf>
+     * @param {LonLat} lonLat - Origin coordinates
+     * @param {number} azimuth - View azimuth in degrees
+     * @param {number} dist - Distance to the destination point coordinates in meters
+     * @returns {LonLat} - Destination point coordinates
+     */
+    getGreatCircleDestination(lonLat: LonLat, azimuth: number, dist: number): LonLat;
+    inverse(lonLat1: LonLat, lonLat2: LonLat): IInverseResult;
+    /**
+     * Calculates the destination point given start point lat / lon, azimuth(deg) and distance (m).
+     * Source: http://movable-type.co.uk/scripts/latlong-vincenty-direct.html and optimized / cleaned up by Mathias Bynens <http://mathiasbynens.be/>
+     * Based on the Vincenty direct formula by T. Vincenty, “Direct and Inverse Solutions of Geodesics on the Ellipsoid with application of nested equations”, Survey Review, vol XXII no 176, 1975 <http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf>
+     * @param {LonLat} lonLat - Origin coordinates
+     * @param {number} azimuth - View azimuth in degrees
+     * @param {number} dist - Distance to the destination point coordinates in meters
+     * @returns {LonLat} - Destination point coordinates
+     */
+    direct(lonLat: LonLat, azimuth: number, dist: number): IDirectResult;
+    /**
+     * Returns cartesian coordinates of the intersection of a ray and an ellipsoid.
+     * If the ray doesn't hit ellipsoid returns null.
+     * @public
+     * @param {Vec3} origin - Ray origin point.
+     * @param {Vec3} direction - Ray direction.
+     * @returns {Vec3} -
+     */
+    hitRay(origin: Vec3, direction: Vec3): Vec3 | undefined;
+    getNorthFrameRotation(cartesian: Vec3): Quat;
+    /**
+     * @todo this is not precise function, needs to be replaced or removed
+     * @param lonLat1
+     * @param bearing
+     * @param distance
+     * @returns {LonLat}
+     */
+    getBearingDestination(lonLat1: LonLat, bearing?: number, distance?: number): LonLat;
+    /**
+     * Returns the point at given fraction between two points on the great circle.
+     * @param   {LonLat} lonLat1 - Longitude/Latitude of source point.
+     * @param   {LonLat} lonLat2 - Longitude/Latitude of destination point.
+     * @param   {number} fraction - Fraction between the two points (0 = source point, 1 = destination point).
+     * @returns {LonLat} Intermediate point between points.
+     */
+    static getIntermediatePointOnGreatCircle(lonLat1: LonLat, lonLat2: LonLat, fraction: number): LonLat;
+    static getRhumbBearing(lonLat1: LonLat, lonLat2: LonLat): number;
+}
+export { Ellipsoid };

package/lib/js/ellipsoid/Ellipsoid.js

@@ -0,0 +1,434 @@
+import { LonLat } from "../LonLat";
+import { Quat } from "../math/Quat";
+import { Vec3 } from "../math/Vec3";
+import { DEGREES, EPS1, EPS12, EPS15, RADIANS, zeroTwoPI } from "../math";
+/**
+ * Class represents a plant ellipsoid.
+ * @class
+ * @param {number} equatorialSize - Equatorial ellipsoid size.
+ * @param {number} polarSize - Polar ellipsoid size.
+ */
+class Ellipsoid {
+    constructor(equatorialSize = 1, polarSize = 1) {
+        this._a = equatorialSize;
+        this._b = polarSize;
+        this._flattening = (equatorialSize - polarSize) / equatorialSize;
+        this._f = 1 / this._flattening;
+        this._a2 = equatorialSize * equatorialSize;
+        this._b2 = polarSize * polarSize;
+        const qa2b2 = Math.sqrt(this._a2 - this._b2);
+        this._e = qa2b2 / equatorialSize;
+        this._e2 = this._e * this._e;
+        this._e22 = this._e2 * this._e2;
+        this._k = qa2b2 / polarSize;
+        this._k2 = this._k * this._k;
+        this._radii = new Vec3(equatorialSize, equatorialSize, polarSize);
+        this._radii2 = new Vec3(this._a2, this._a2, this._b2);
+        this._invRadii = new Vec3(1.0 / equatorialSize, 1.0 / equatorialSize, 1.0 / polarSize);
+        this._invRadii2 = new Vec3(1.0 / this._a2, 1.0 / this._a2, 1.0 / this._b2);
+    }
+    /**
+     * Returns the distance travelling from ‘this’ point to destination point along a rhumb line.
+     * @param   {LonLat} startLonLat coordinates.
+     * @param   {LonLat} endLonLat coordinates
+     * @returns {number} Distance in m between this point and destination point (same units as radius).
+     */
+    rhumbDistanceTo(startLonLat, endLonLat) {
+        const f1 = startLonLat.lat * RADIANS;
+        const f2 = endLonLat.lat * RADIANS;
+        const df = f2 - f1;
+        let d = Math.abs(endLonLat.lon - startLonLat.lon) * RADIANS;
+        if (Math.abs(d) > Math.PI)
+            d = d > 0 ? -(2 * Math.PI - d) : (2 * Math.PI + d);
+        const dd = Math.log(Math.tan(f2 / 2 + Math.PI / 4) / Math.tan(f1 / 2 + Math.PI / 4));
+        const q = Math.abs(dd) > 10e-12 ? df / dd : Math.cos(f1);
+        const t = Math.sqrt(df * df + q * q * d * d); // angular distance in radians
+        return t * this._a;
+    }
+    /**
+     * Returns the point at given fraction between two points on the great circle.
+     * @param   {LonLat} lonLat1 - Longitude/Latitude of source point.
+     * @param   {LonLat} lonLat2 - Longitude/Latitude of destination point.
+     * @param   {number} fraction - Fraction between the two points (0 = source point, 1 = destination point).
+     * @returns {LonLat} Intermediate point between points.
+     */
+    getIntermediatePointOnGreatCircle(lonLat1, lonLat2, fraction) {
+        if (fraction == 0)
+            return lonLat1.clone();
+        if (fraction == 1)
+            return lonLat2.clone();
+        const inverse = this.inverse(lonLat1, lonLat2);
+        const dist = inverse.distance;
+        const azimuth = inverse.initialAzimuth;
+        return isNaN(azimuth) ? lonLat1 : this.getGreatCircleDestination(lonLat1, azimuth, dist * fraction);
+    }
+    /**
+     * REMOVE ASAP after
+     * @param lonLat1
+     * @param lonLat2
+     * @returns {number}
+     */
+    static getBearing(lonLat1, lonLat2) {
+        let f1 = lonLat1.lat * RADIANS, l1 = lonLat1.lon * RADIANS;
+        let f2 = lonLat2.lat * RADIANS, l2 = lonLat2.lon * RADIANS;
+        let y = Math.sin(l2 - l1) * Math.cos(f2);
+        let x = Math.cos(f1) * Math.sin(f2) - Math.sin(f1) * Math.cos(f2) * Math.cos(l2 - l1);
+        return Math.atan2(y, x) * DEGREES;
+    }
+    getFlattening() {
+        return this._flattening;
+    }
+    /**
+     * Gets ellipsoid equatorial size.
+     * @public
+     * @returns {number} -
+     */
+    getEquatorialSize() {
+        return this._a;
+    }
+    get equatorialSize() {
+        return this._a;
+    }
+    get equatorialSizeSqr() {
+        return this._a2;
+    }
+    /**
+     * Gets ellipsoid polar size.
+     * @public
+     * @returns {number} -
+     */
+    getPolarSize() {
+        return this._b;
+    }
+    get polarSize() {
+        return this._b;
+    }
+    get polarSizeSqr() {
+        return this._b2;
+    }
+    /**
+     * Calculate cartesian coordinates by its ECEF geodetic coordinates.
+     * @public
+     * @param {LonLat} lonlat - Geodetic coordinates.
+     * @returns {Vec3} -
+     */
+    lonLatToCartesian(lonlat) {
+        return this.geodeticToCartesian(lonlat.lon, lonlat.lat, lonlat.height);
+    }
+    /**
+     * Calculate cartesian coordinates by its ECEF geodetic coordinates.
+     * @public
+     * @param {LonLat} lonlat - Geodetic coordinates.
+     * @param {Vec3} res - Output variable reference.
+     * @returns {Vec3} -
+     */
+    lonLatToCartesianRes(lonlat, res) {
+        return this.geodeticToCartesian(lonlat.lon, lonlat.lat, lonlat.height, res);
+    }
+    /**
+     * Gets cartesian ECEF from Wgs84 geodetic coordinates.
+     * @public
+     * @param {Number} lon - Longitude.
+     * @param {Number} lat - Latitude.
+     * @param {Number} height - Height.
+     * @param {Vec3} res - Output result variable.
+     * @returns {Vec3} -
+     */
+    geodeticToCartesian(lon, lat, height = 0, res = new Vec3()) {
+        let latrad = RADIANS * lat, lonrad = RADIANS * lon;
+        let slt = Math.sin(latrad);
+        let N = this._a / Math.sqrt(1 - this._e2 * slt * slt);
+        let nc = (N + height) * Math.cos(latrad);
+        res.x = nc * Math.cos(lonrad);
+        res.y = nc * Math.sin(lonrad);
+        res.z = (N * (1 - this._e2) + height) * slt;
+        return res;
+    }
+    /**
+     * Gets Wgs84 geodetic coordinates from cartesian ECEF.
+     * @public
+     * @param {Vec3} p - Cartesian coordinates.
+     * @returns {LonLat} -
+     */
+    projToSurface(p) {
+        let pX = p.x || 0.0, pY = p.y || 0.0, pZ = p.z || 0.0;
+        let length = Math.sqrt(pX * pX + pY * pY + pZ * pZ);
+        let invRadii2X = this._invRadii2.x, invRadii2Y = this._invRadii2.y, invRadii2Z = this._invRadii2.z;
+        let x2 = pX * pX * invRadii2X, y2 = pY * pY * invRadii2Y, z2 = pZ * pZ * invRadii2Z;
+        let norm = x2 + y2 + z2;
+        let ratio = Math.sqrt(1.0 / norm);
+        let first = p.scaleTo(ratio);
+        if (norm < EPS1) {
+            return !Number.isFinite(ratio) ? new Vec3() : first;
+        }
+        let lambda = ((1.0 - ratio) * length) / first.mulA(this._invRadii2).length();
+        let m_X = 0.0, m_Y = 0.0, m_Z = 0.0;
+        do {
+            m_X = 1.0 / (1.0 + lambda * invRadii2X);
+            m_Y = 1.0 / (1.0 + lambda * invRadii2Y);
+            m_Z = 1.0 / (1.0 + lambda * invRadii2Z);
+            let m_X2 = m_X * m_X, m_Y2 = m_Y * m_Y, m_Z2 = m_Z * m_Z;
+            let func = x2 * m_X2 + y2 * m_Y2 + z2 * m_Z2 - 1.0;
+            if (Math.abs(func) < EPS12) {
+                break;
+            }
+            let m_X3 = m_X2 * m_X, m_Y3 = m_Y2 * m_Y, m_Z3 = m_Z2 * m_Z;
+            lambda += 0.5 * func / (x2 * m_X3 * invRadii2X + y2 * m_Y3 * invRadii2Y + z2 * m_Z3 * invRadii2Z);
+        } while (true); // eslint-disable-line
+        return new Vec3(pX * m_X, pY * m_Y, pZ * m_Z);
+    }
+    /**
+     * Converts 3d cartesian coordinates to geodetic
+     * @param {Vec3} cart - Cartesian coordinates
+     * @returns {LonLat} - Geodetic coordinates
+     */
+    cartesianToLonLat(cart) {
+        return this.cartesianToLonLatRes(cart);
+    }
+    /**
+     * Converts 3d cartesian coordinates to geodetic
+     * @param {Vec3} cart - Cartesian coordinates
+     * @param {LonLat} res - Link geodetic coordinates variable
+     * @returns {LonLat} - Geodetic coordinates
+     */
+    cartesianToLonLatRes(cart, res = new LonLat()) {
+        let p = this.projToSurface(cart);
+        let n = this.getSurfaceNormal3v(p), h = cart.sub(p);
+        res.lon = Math.atan2(n.y, n.x) * DEGREES;
+        res.lat = Math.asin(n.z) * DEGREES;
+        res.height = Math.sign(h.dot(cart)) * h.length();
+        return res;
+    }
+    /**
+     * Gets ellipsoid surface normal.
+     * @public
+     * @param {Vec3} coord - Spatial coordinates.
+     * @return {Vec3} -
+     */
+    getSurfaceNormal3v(coord) {
+        let r2 = this._invRadii2;
+        let nx = coord.x * r2.x, ny = coord.y * r2.y, nz = coord.z * r2.z;
+        let l = 1.0 / Math.sqrt(nx * nx + ny * ny + nz * nz);
+        return new Vec3(nx * l, ny * l, nz * l);
+    }
+    getGreatCircleDistance(lonLat1, lonLat2) {
+        return this.inverse(lonLat1, lonLat2).distance;
+    }
+    /**
+     * Calculates the destination point given start point lat / lon, azimuth(deg) and distance (m).
+     * Source: http://movable-type.co.uk/scripts/latlong-vincenty-direct.html and optimized / cleaned up by Mathias Bynens <http://mathiasbynens.be/>
+     * Based on the Vincenty direct formula by T. Vincenty, “Direct and Inverse Solutions of Geodesics on the Ellipsoid with application of nested equations”, Survey Review, vol XXII no 176, 1975 <http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf>
+     * @param {LonLat} lonLat - Origin coordinates
+     * @param {number} azimuth - View azimuth in degrees
+     * @param {number} dist - Distance to the destination point coordinates in meters
+     * @returns {LonLat} - Destination point coordinates
+     */
+    getGreatCircleDestination(lonLat, azimuth, dist) {
+        return this.direct(lonLat, azimuth, dist).destination;
+    }
+    inverse(lonLat1, lonLat2) {
+        let a = this._a, b = this._b, f = this._flattening;
+        const fi1 = lonLat1.lat * RADIANS, lambda1 = lonLat1.lon * RADIANS;
+        const fi2 = lonLat2.lat * RADIANS, lambda2 = lonLat2.lon * RADIANS;
+        const L = lambda2 - lambda1; // L = difference in longitude, U = reduced latitude, defined by tan U = (1-f)·tanφ.
+        const tanU1 = (1 - f) * Math.tan(fi1), cosU1 = 1 / Math.sqrt((1 + tanU1 * tanU1)), sinU1 = tanU1 * cosU1;
+        const tanU2 = (1 - f) * Math.tan(fi2), cosU2 = 1 / Math.sqrt((1 + tanU2 * tanU2)), sinU2 = tanU2 * cosU2;
+        const antipodal = Math.abs(L) > Math.PI / 2 || Math.abs(fi2 - fi1) > Math.PI / 2;
+        let lmb = L, sinLmb = null, cosLmb = null; // lmb - difference in longitude on an auxiliary sphere
+        let s = antipodal ? Math.PI : 0, sin_s = 0, cos_s = antipodal ? -1 : 1, sinSqs = null; // s - angular distance lonLat1 lonLat2 on the sphere
+        let cos2sm = 1; // sm - angular distance on the sphere from the equator to the midpoint of the line
+        let cosSqa = 1; // a - azimuth of the geodesic at the equator
+        let lmb_ = null, iterations = 0;
+        do {
+            sinLmb = Math.sin(lmb);
+            cosLmb = Math.cos(lmb);
+            sinSqs = (cosU2 * sinLmb) ** 2 + (cosU1 * sinU2 - sinU1 * cosU2 * cosLmb) ** 2;
+            if (Math.abs(sinSqs) < 1e-24)
+                break; // co-incident/antipodal points (σ < ≈0.006mm)
+            sin_s = Math.sqrt(sinSqs);
+            cos_s = sinU1 * sinU2 + cosU1 * cosU2 * cosLmb;
+            s = Math.atan2(sin_s, cos_s);
+            const sin_a = cosU1 * cosU2 * sinLmb / sin_s;
+            cosSqa = 1 - sin_a * sin_a;
+            cos2sm = (cosSqa != 0) ? (cos_s - 2 * sinU1 * sinU2 / cosSqa) : 0; // on equatorial line cos²α = 0 (§6)
+            const C = f / 16 * cosSqa * (4 + f * (4 - 3 * cosSqa));
+            lmb_ = lmb;
+            lmb = L + (1 - C) * f * sin_a * (s + C * sin_s * (cos2sm + C * cos_s * (-1 + 2 * cos2sm * cos2sm)));
+        } while (Math.abs(lmb - lmb_) > EPS12 && ++iterations < 1000);
+        const uSq = cosSqa * (a * a - b * b) / (b * b);
+        const A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
+        const B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));
+        const ds = B * sin_s * (cos2sm + B / 4 * (cos_s * (-1 + 2 * cos2sm * cos2sm) - B / 6 * cos2sm * (-3 + 4 * sin_s * sin_s) * (-3 + 4 * cos2sm * cos2sm)));
+        const dist = b * A * (s - ds); // s = length of the geodesic
+        // note special handling of exactly antipodal points where sin²σ = 0 (due to discontinuity
+        // atan2(0, 0) = 0 but atan2(ε, 0) = π/2 / 90°) - in which case bearing is always meridional,
+        // due north (or due south!)
+        // α = azimuths of the geodesic; α2 the direction P₁ P₂ produced
+        const a1 = Math.abs(sinSqs) < Number.EPSILON ? 0 : Math.atan2(cosU2 * sinLmb, cosU1 * sinU2 - sinU1 * cosU2 * cosLmb);
+        const a2 = Math.abs(sinSqs) < Number.EPSILON ? Math.PI : Math.atan2(cosU1 * sinLmb, -sinU1 * cosU2 + cosU1 * sinU2 * cosLmb);
+        return {
+            distance: dist,
+            initialAzimuth: Math.abs(dist) < Number.EPSILON ? NaN : zeroTwoPI(a1) * DEGREES,
+            finalAzimuth: Math.abs(dist) < Number.EPSILON ? NaN : zeroTwoPI(a2) * DEGREES
+        };
+    }
+    /**
+     * Calculates the destination point given start point lat / lon, azimuth(deg) and distance (m).
+     * Source: http://movable-type.co.uk/scripts/latlong-vincenty-direct.html and optimized / cleaned up by Mathias Bynens <http://mathiasbynens.be/>
+     * Based on the Vincenty direct formula by T. Vincenty, “Direct and Inverse Solutions of Geodesics on the Ellipsoid with application of nested equations”, Survey Review, vol XXII no 176, 1975 <http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf>
+     * @param {LonLat} lonLat - Origin coordinates
+     * @param {number} azimuth - View azimuth in degrees
+     * @param {number} dist - Distance to the destination point coordinates in meters
+     * @returns {LonLat} - Destination point coordinates
+     */
+    direct(lonLat, azimuth, dist) {
+        let lon1 = lonLat.lon, lat1 = lonLat.lat;
+        let a = this._a, b = this._b, f = this._flattening, s = dist, alpha1 = azimuth * RADIANS, sinAlpha1 = Math.sin(alpha1), cosAlpha1 = Math.cos(alpha1), tanU1 = (1 - f) * Math.tan(lat1 * RADIANS), cosU1 = 1 / Math.sqrt(1 + tanU1 * tanU1), sinU1 = tanU1 * cosU1, sigma1 = Math.atan2(tanU1, cosAlpha1), sinAlpha = cosU1 * sinAlpha1, cosSqAlpha = 1 - sinAlpha * sinAlpha, uSq = (cosSqAlpha * (a * a - b * b)) / (b * b), A = 1 + (uSq / 16384) * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq))), B = (uSq / 1024) * (256 + uSq * (-128 + uSq * (74 - 47 * uSq))), sigma = s / (b * A), sigmaP = 2 * Math.PI;
+        let cos2SigmaM = 0, sinSigma = 0, cosSigma = 0, deltaSigma = 0;
+        while (Math.abs(sigma - sigmaP) > 1e-12) {
+            cos2SigmaM = Math.cos(2 * sigma1 + sigma);
+            sinSigma = Math.sin(sigma);
+            cosSigma = Math.cos(sigma);
+            deltaSigma = B * sinSigma *
+                (cos2SigmaM + (B / 4) *
+                    (cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM) -
+                        (B / 6) * cos2SigmaM * (-3 + 4 * sinSigma * sinSigma) * (-3 + 4 * cos2SigmaM * cos2SigmaM)));
+            sigmaP = sigma;
+            sigma = s / (b * A) + deltaSigma;
+        }
+        let tmp = sinU1 * sinSigma - cosU1 * cosSigma * cosAlpha1, lat2 = Math.atan2(sinU1 * cosSigma + cosU1 * sinSigma * cosAlpha1, (1 - f) * Math.sqrt(sinAlpha * sinAlpha + tmp * tmp)), lambda = Math.atan2(sinSigma * sinAlpha1, cosU1 * cosSigma - sinU1 * sinSigma * cosAlpha1), C = (f / 16.0) * cosSqAlpha * (4.0 + f * (4.0 - 3.0 * cosSqAlpha)), L = lambda - (1.0 - C) * f * sinAlpha * (sigma + C * sinSigma * (cos2SigmaM + C * cosSigma * (-1.0 + 2.0 * cos2SigmaM * cos2SigmaM))), revAz = Math.atan2(sinAlpha, -tmp);
+        return {
+            destination: new LonLat(lon1 + L * DEGREES, lat2 * DEGREES),
+            finalAzimuth: revAz * DEGREES
+        };
+    }
+    /**
+     * Returns cartesian coordinates of the intersection of a ray and an ellipsoid.
+     * If the ray doesn't hit ellipsoid returns null.
+     * @public
+     * @param {Vec3} origin - Ray origin point.
+     * @param {Vec3} direction - Ray direction.
+     * @returns {Vec3} -
+     */
+    hitRay(origin, direction) {
+        let q = this._invRadii.mul(origin);
+        let w = this._invRadii.mul(direction);
+        let q2 = q.dot(q);
+        let qw = q.dot(w);
+        let difference, w2, product, discriminant, temp;
+        if (q2 > 1.0) {
+            // Outside ellipsoid.
+            if (qw >= 0.0) {
+                // Looking outward or tangent (0 intersections).
+                return undefined;
+            }
+            // qw < 0.0.
+            var qw2 = qw * qw;
+            difference = q2 - 1.0; // Positively valued.
+            w2 = w.dot(w);
+            product = w2 * difference;
+            let eps = Math.abs(qw2 - product);
+            if (eps > EPS15 && qw2 < product) {
+                // Imaginary roots (0 intersections).
+                return undefined;
+            }
+            else if (qw2 > product) {
+                // Distinct roots (2 intersections).
+                discriminant = qw * qw - product;
+                temp = -qw + Math.sqrt(discriminant); // Avoid cancellation.
+                var root0 = temp / w2;
+                var root1 = difference / temp;
+                if (root0 < root1) {
+                    return origin.add(direction.scaleTo(root0));
+                }
+                return origin.add(direction.scaleTo(root1));
+            }
+            else {
+                // qw2 == product.  Repeated roots (2 intersections).
+                var root = Math.sqrt(difference / w2);
+                return origin.add(direction.scaleTo(root));
+            }
+        }
+        else if (q2 < 1.0) {
+            // Inside ellipsoid (2 intersections).
+            difference = q2 - 1.0; // Negatively valued.
+            w2 = w.dot(w);
+            product = w2 * difference; // Negatively valued.
+            discriminant = qw * qw - product;
+            temp = -qw + Math.sqrt(discriminant); // Positively valued.
+            return origin.add(direction.scaleTo(temp / w2));
+        }
+        else {
+            // q2 == 1.0. On ellipsoid.
+            if (qw < 0.0) {
+                // Looking inward.
+                w2 = w.dot(w);
+                return origin.add(direction.scaleTo(-qw / w2));
+            }
+            // qw >= 0.0.  Looking outward or tangent.
+            // return undefined
+        }
+    }
+    getNorthFrameRotation(cartesian) {
+        let n = this.getSurfaceNormal3v(cartesian);
+        let t = Vec3.proj_b_to_plane(Vec3.NORTH, n);
+        return Quat.getLookRotation(t, n);
+    }
+    /**
+     * @todo this is not precise function, needs to be replaced or removed
+     * @param lonLat1
+     * @param bearing
+     * @param distance
+     * @returns {LonLat}
+     */
+    getBearingDestination(lonLat1, bearing = 0.0, distance = 0) {
+        bearing = bearing * RADIANS;
+        var nlon = ((lonLat1.lon + 540) % 360) - 180;
+        var f1 = lonLat1.lat * RADIANS, l1 = nlon * RADIANS;
+        var dR = distance / this._a;
+        var f2 = Math.asin(Math.sin(f1) * Math.cos(dR) + Math.cos(f1) * Math.sin(dR) * Math.cos(bearing));
+        return new LonLat((l1 +
+            Math.atan2(Math.sin(bearing) * Math.sin(dR) * Math.cos(f1), Math.cos(dR) - Math.sin(f1) * Math.sin(f2))) *
+            DEGREES, f2 * DEGREES);
+    }
+    /**
+     * Returns the point at given fraction between two points on the great circle.
+     * @param   {LonLat} lonLat1 - Longitude/Latitude of source point.
+     * @param   {LonLat} lonLat2 - Longitude/Latitude of destination point.
+     * @param   {number} fraction - Fraction between the two points (0 = source point, 1 = destination point).
+     * @returns {LonLat} Intermediate point between points.
+     */
+    static getIntermediatePointOnGreatCircle(lonLat1, lonLat2, fraction) {
+        var f1 = lonLat1.lat * RADIANS, l1 = lonLat1.lon * RADIANS;
+        var f2 = lonLat2.lat * RADIANS, l2 = lonLat2.lon * RADIANS;
+        var sinf1 = Math.sin(f1), cosf1 = Math.cos(f1), sinl1 = Math.sin(l1), cosl1 = Math.cos(l1);
+        var sinf2 = Math.sin(f2), cosf2 = Math.cos(f2), sinl2 = Math.sin(l2), cosl2 = Math.cos(l2);
+        var df = f2 - f1, dl = l2 - l1;
+        var a = Math.sin(df / 2) * Math.sin(df / 2) +
+            Math.cos(f1) * Math.cos(f2) * Math.sin(dl / 2) * Math.sin(dl / 2);
+        var d = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+        var A = Math.sin((1 - fraction) * d) / Math.sin(d);
+        var B = Math.sin(fraction * d) / Math.sin(d);
+        var x = A * cosf1 * cosl1 + B * cosf2 * cosl2;
+        var y = A * cosf1 * sinl1 + B * cosf2 * sinl2;
+        var z = A * sinf1 + B * sinf2;
+        var f3 = Math.atan2(z, Math.sqrt(x * x + y * y));
+        var l3 = Math.atan2(y, x);
+        return new LonLat(((l3 * DEGREES + 540) % 360) - 180, f3 * DEGREES);
+    }
+    static getRhumbBearing(lonLat1, lonLat2) {
+        var dLon = (lonLat2.lon - lonLat1.lon) * RADIANS;
+        var dPhi = Math.log(Math.tan((lonLat2.lat * RADIANS) / 2 + Math.PI / 4) /
+            Math.tan((lonLat1.lat * RADIANS) / 2 + Math.PI / 4));
+        if (Math.abs(dLon) > Math.PI) {
+            if (dLon > 0) {
+                dLon = (2 * Math.PI - dLon) * -1;
+            }
+            else {
+                dLon = 2 * Math.PI + dLon;
+            }
+        }
+        return (Math.atan2(dLon, dPhi) * DEGREES + 360) % 360;
+    }
+}
+export { Ellipsoid };

package/lib/js/ellipsoid/index.d.ts

@@ -0,0 +1,3 @@
+import { Ellipsoid } from './Ellipsoid';
+import { wgs84 } from './wgs84';
+export { Ellipsoid, wgs84 };

package/lib/js/ellipsoid/index.js

@@ -0,0 +1,3 @@
+import { Ellipsoid } from './Ellipsoid';
+import { wgs84 } from './wgs84';
+export { Ellipsoid, wgs84 };

package/lib/js/ellipsoid/wgs84.d.ts

@@ -0,0 +1,6 @@
+import { Ellipsoid } from "./Ellipsoid";
+/**
+ * WGS84 ellipsoid object.
+ * @type {Ellipsoid}
+ */
+export declare const wgs84: Ellipsoid;

package/lib/js/ellipsoid/wgs84.js

@@ -0,0 +1,6 @@
+import { Ellipsoid } from "./Ellipsoid";
+/**
+ * WGS84 ellipsoid object.
+ * @type {Ellipsoid}
+ */
+export const wgs84 = new Ellipsoid(6378137.0, 6356752.3142451793); // Equitorial Radius (m), Polar Radius (m)