cesium 坐标系

1、通过上面图片标记的信息Z轴朝北，X轴朝西，Y轴朝上，可以得到cesium坐标系是右手坐标系：

2、gltf模型是Y轴朝上，Z轴朝前坐标系,：

3、我们用cesium中entity加载一个模型：
(1) cesium 加载gltf模型如果只乘上位置矩阵，注释model对象中的坐标轴转换得到效果图：

(2) 设置四元数orientation(heading pitch roll 角度)值，cesium中的model对象内部会自动将模型的Y轴转Z轴朝上和Z轴转X轴朝前,就是将模型坐标系变换到三维空间坐标系，示例代码和效果图：

    var entity = viewer.entities.add({
          position : new Cesium.Cartesian3.fromDegrees(121.52317,31.11436,1000),
          orientation:Cesium.Quaternion.fromHeadingPitchRoll(Cesium.HeadingPitchRoll.fromDegrees(0.0,0.0,0.0)),
          model : {
              uri :'../data/model/GroundVehicle/GroundVehicle.glb',
              scale:650,
              minimumPixelSize:100,

          }
      });

(3) 不设置四元数orientation(heading pitch roll 角度)值，首先cesium中 Entity对象的computeModelMatrix方法会执行Transforms.eastNorthUpToFixedFrame 这句代码，意思是先模型的坐标转换到X轴朝东，Y轴朝北，Z轴朝上；然后model对象内部会自动将模型的Y轴转Z轴朝上和Z轴转X轴朝前,最终模型的X轴朝向东，Y轴朝北；最终得到模型朝前方向是东方向，左侧指向北方向。示例代码和效果图：

   var entity = viewer.entities.add({
          position : new Cesium.Cartesian3.fromDegrees(121.52317,31.11436,1000),
          model : {
              uri :'../data/model/GroundVehicle/GroundVehicle.glb', 
              scale:650,
              minimumPixelSize:100,

          }
      });

4、最后使用右手坐标系和第一张图标记的方位很容易推导cesium Transforms.js中坐标系定义：

//由第一个X轴 第二个Y轴 得出Z轴
var vectorProductLocalFrame = {
  up: {
    south: "east",
    north: "west",
    west: "south",
    east: "north",
  },
  down: {
    south: "west",
    north: "east",
    west: "north",
    east: "south",
  },
  south: {
    up: "west",
    down: "east",
    west: "down",
    east: "up",
  },
  north: {
    up: "east",
    down: "west",
    west: "up",
    east: "down",
  },
  west: {
    up: "north",
    down: "south",
    north: "down",
    south: "up",
  },
  east: {
    up: "south",
    down: "north",
    north: "up",
    south: "down",
  },
};