UE4 和 Cesium 的坐标系统转换

UE4 和 Cesium 的坐标系统转换

Constants useful for transformation between Cesium and Unreal Engine coordinate systems.

用于在Cesium和UE4虚幻引擎坐标系之间转换的常量。

CesiumTransforms

1. 单位：UE4使用的是厘米；cesium使用的米。
2. 坐标系：UE4使用左手系，+x (forward),+y (right),+z(up);cesium使用右手系，+x(forward),+y(left),+z(up)。

如下图所示，红色代表X轴，绿色代表Y轴，蓝色代表Z轴。

cesium 的坐标轴：

UE4的坐标轴：

//CesiumTransforms.h
class CESIUMRUNTIME_API CesiumTransforms {
public:
  /**
   * The constant to multiply to transform meters to centimeters (100.0).
   */
  static const double metersToCentimeters;

  /**
   * The constant to multiply to transform centimeters to meters (0.01).
   */
  static const double centimetersToMeters;

  /**
   * A matrix to scale Cesium's meters up to Unreal's centimeters.
   */
  static const glm::dmat4x4 scaleToUnrealWorld;

  /**
   * A matrix to scale down Unreal's centimeters into Cesium's meters.
   */
  static const glm::dmat4x4 scaleToCesium;

  /**
   * A matrix to transform Cesium's right-handed, Z-up coordinate system to
   * Unreal's left-handed, Z-up coordinate system by inverting the Y coordinate.
   * This same transformation can also go the other way.
   */
  static const glm::dmat4x4 unrealToOrFromCesium;
};

// CesiumTransforms.cpp
#include "CesiumTransforms.h"
//厘米<->米
const double CesiumTransforms::metersToCentimeters = 100.0;
const double CesiumTransforms::centimetersToMeters = 0.01;

// Scale Cesium's meters up to Unreal's centimeters.
const glm::dmat4x4 CesiumTransforms::scaleToUnrealWorld =
    glm::dmat4x4(glm::dmat3x3(metersToCentimeters));

// Scale down Unreal's centimeters into Cesium's meters.
const glm::dmat4x4 CesiumTransforms::scaleToCesium =
    glm::dmat4x4(glm::dmat3x3(centimetersToMeters));

// UE4和cesium坐标的转换，反转Y轴即可。
// We're initializing with a static function instead of inline to avoid an
// internal compiler error in MSVC v14.27.29110.
static glm::dmat4 createUnrealToOrFromCesium() {
  return glm::dmat4x4(
      glm::dvec4(1.0, 0.0, 0.0, 0.0),
      glm::dvec4(0.0, -1.0, 0.0, 0.0),
      glm::dvec4(0.0, 0.0, 1.0, 0.0),
      glm::dvec4(0.0, 0.0, 0.0, 1.0));
}

// Transform Cesium's right-handed, Z-up coordinate system to Unreal's
// left-handed, Z-up coordinate system by inverting the Y coordinate. This same
// transformation can also go the other way.
const glm::dmat4x4 CesiumTransforms::unrealToOrFromCesium =
    createUnrealToOrFromCesium();