fixedFrameToHeadingPitchRoll bug ?

[cnchore]

What happened?

const modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(
Cesium.Cartesian3.fromDegrees(120.33820052, 30.32139976, 560.66),
new Cesium.HeadingPitchRoll(Cesium.Math.toRadians(30), Cesium.Math.toRadians(-90), Cesium.Math.toRadians(60)),
Cesium.Ellipsoid.WGS84,
Cesium.Transforms.eastNorthUpToFixedFrame
);
const rotation = Cesium.Matrix4.getMatrix3(modelMatrix, new Cesium.Matrix3());
const quaternion = Cesium.Quaternion.fromRotationMatrix(rotation);
const hpr = Cesium.HeadingPitchRoll.fromQuaternion(quaternion);
console.log("🚀 hpr:", Cesium.Math.toDegrees(hpr.heading), Cesium.Math.toDegrees(hpr.pitch), Cesium.Math.toDegrees(hpr.roll));
// console: 59.661799480000006 -30.321414538290494 180

why not 30 -90 60 ?

const hpr1 = Cesium.Transforms.fixedFrameToHeadingPitchRoll(modelMatrix, Cesium.Ellipsoid.WGS84, Cesium.Transforms.eastNorthUpToFixedFrame);
console.log("🚀 hpr1:", Cesium.Math.toDegrees(hpr1.heading), Cesium.Math.toDegrees(hpr1.pitch), Cesium.Math.toDegrees(hpr1.roll));
// console : 68.19859051364818 -90 68.19859051364818
why not 30 -90 60 ?

Reproduction steps

const modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(
Cesium.Cartesian3.fromDegrees(120.33820052, 30.32139976, 560.66),
new Cesium.HeadingPitchRoll(Cesium.Math.toRadians(30), Cesium.Math.toRadians(-90), Cesium.Math.toRadians(60)),
Cesium.Ellipsoid.WGS84,
Cesium.Transforms.eastNorthUpToFixedFrame
);
const rotation = Cesium.Matrix4.getMatrix3(modelMatrix, new Cesium.Matrix3());
const quaternion = Cesium.Quaternion.fromRotationMatrix(rotation);
const hpr = Cesium.HeadingPitchRoll.fromQuaternion(quaternion);
console.log("🚀 hpr:", Cesium.Math.toDegrees(hpr.heading), Cesium.Math.toDegrees(hpr.pitch), Cesium.Math.toDegrees(hpr.roll));
// console: 59.661799480000006 -30.321414538290494 180

why not 30 -90 60 ?

const hpr1 = Cesium.Transforms.fixedFrameToHeadingPitchRoll(modelMatrix, Cesium.Ellipsoid.WGS84, Cesium.Transforms.eastNorthUpToFixedFrame);
console.log("🚀 hpr1:", Cesium.Math.toDegrees(hpr1.heading), Cesium.Math.toDegrees(hpr1.pitch), Cesium.Math.toDegrees(hpr1.roll));
// console : 68.19859051364818 -90 68.19859051364818
why not 30 -90 60 ?

Sandcastle example

No response

Environment

Browser:
CesiumJS Version: Cesium 1.116
Operating System:

[ggetz]

Hi @cnchore, the rotations are in world space, not in local space.

CesiumJS is a big project, so we use GitHub for feature requests and bug tracking exclusively. In the future, please take any questions to the Cesium Forum where there are members of the community and developers from the team who can help. Thanks!