@wemap/geo 7.3.0 → 7.3.1

package/package.json

@@ -12,7 +12,7 @@
         "directory": "packages/geo"
     },
     "name": "@wemap/geo",
-    "version": "7.3.0",
+    "version": "7.3.1",
     "bugs": {
         "url": "https://github.com/wemap/wemap-modules-js/issues"
     },
@@ -30,5 +30,5 @@
         "@wemap/logger": "^7.0.0",
         "@wemap/maths": "^7.0.0"
     },
-    "gitHead": "c79062ac53248f45aead5d4edd45b3efbc79755e"
+    "gitHead": "e5431db888821781448e7e05b047e2f4a5d8a1ce"
 }

package/src/coordinates/GeoRef.js

@@ -8,10 +8,10 @@ class GeoRef {
     origin;
 
     /** @type {number} */
-    scale;
+    scale = 1;
 
     /** @type {number} */
-    heading;
+    heading = 0;
 
 
     /**
@@ -19,8 +19,10 @@ class GeoRef {
      * @returns {Coordinates}
      */
     localToWorld(localPosition) {
-        const ecefToEnuRotationOrigin = this.origin.ecefToEnuRotation;
-        const ecefTranslation = Quaternion.rotate(ecefToEnuRotationOrigin, localPosition);
+        const localPositionScaled = Vector3.multiplyScalar(localPosition, this.scale);
+        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], this.heading);
+        const ecefToEnuRotationOrigin = Quaternion.multiply(rotationOffset, this.origin.ecefToEnuRotation);
+        const ecefTranslation = Quaternion.rotate(ecefToEnuRotationOrigin, localPositionScaled);
         const ecef = Vector3.add(this.origin.ecef, ecefTranslation);
         return Coordinates.fromECEF(ecef);
     }
@@ -30,9 +32,11 @@ class GeoRef {
      * @returns {number[]} localPosition in ENU frame
      */
     worldToLocal(coords) {
-        const enuToEcefRotationOrigin = this.origin.enuToEcefRotation;
+        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], -this.heading);
+        const enuToEcefRotationOrigin = Quaternion.multiply(this.origin.enuToEcefRotation, rotationOffset);
         const ecefTranslation = Vector3.subtract(coords.ecef, this.origin.ecef);
-        return Quaternion.rotate(enuToEcefRotationOrigin, ecefTranslation);
+        const ecefTranslationScaled = Vector3.multiplyScalar(ecefTranslation, 1 / this.scale);
+        return Quaternion.rotate(enuToEcefRotationOrigin, ecefTranslationScaled);
     }
 }