/// <summary>
/// 更新camera参数
/// </summary>
public void UpdateCamera()
{
//首先计算LookAt点所在世界坐标系
var centerLookAt = _shape.ToVector3(new Geodetic3D(_lookAtInfo.Longitude, _lookAtInfo.Latitude, _lookAtInfo.Altitude));
//描述一个基于基本参考系的旋转平移之后的参考系
var transform = Shape.GeographicToCartesianTransform2(new Geodetic3D(_lookAtInfo.Longitude, _lookAtInfo.Latitude, _lookAtInfo.Altitude));
//对这个参考系再进行旋转
//var transformLocal = Matrix4x4.CreateFromYawPitchRoll(0,(float)_lookAtInfo.Tilt, -(float)_lookAtInfo.Heading);
//v
var localTransformheading = Matrix4x4.CreateFromAxisAngle(Vector3.UnitZ, (float)_lookAtInfo.Heading);
//
var localTransformTilt = Matrix4x4.CreateFromAxisAngle(Vector3.UnitX, (float)_lookAtInfo.Tilt);
//再创建平移矩阵
var transTransform = Matrix4x4.CreateTranslation(0, 0, (float)_lookAtInfo.Range);
//var localTransformheading2= Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)_lookAtInfo.Heading);
//var result1 = Matrix4x4.Transform(transform, localTransformheading2);
//var result2 = transform * localTransformheading;
//var transformAll2 = transTransform*(localTransformTilt*(localTransformheading*(localTransformheading*transform)));
//var tttt = transform * localTransformheading * localTransformTilt;
//* transTransform;
var tttt = transTransform * localTransformTilt * localTransformheading * transform;
//求其转置矩阵,
_positon = tttt.Translation;
var unitY = Vector3.Transform(Vector3.UnitY, Quaternion.CreateFromRotationMatrix(tttt));
// _viewMatrix = tttt.InvertOrthonormal();
//_positon = _viewMatrix.ExtractEyePosition();
// _positon = new Vector3(_positon.X,-_positon.Y,_positon.Z);
var target = Vector3.Transform(-Vector3.UnitZ, Quaternion.CreateFromRotationMatrix(tttt));
_viewMatrix = Matrix4x4.CreateLookAt(_positon, _positon + target, unitY);
}
/// <summary>
/// 更新camera参数
/// </summary>
private void UpdateCamera()
{
//首先计算LookAt点，也即是相机参考系的原点
//计算
var centerEarth = _shape.ToVector3(new Geodetic2D(_cameraInfo.Longitude, _cameraInfo.Latitude));
var transform = Shape.geographicToCartesianTransform(new Geodetic3D(_cameraInfo.Longitude, _cameraInfo.Latitude, _cameraInfo.Altitude));
//再次旋转Tile和heading，roll这里先不管
var transformLocal = Matrix4x4.CreateFromYawPitchRoll(0, -(float)_cameraInfo.Tilt, -(float)_cameraInfo.Heading);
//这里的transform是经过两次变换，第一次是经纬度的变化，第二次是rollpitch的变化，此时的矩阵还并不是视图矩阵，因为Camera的Z与世界坐标系是相反的，因此我们
//世界参考系是右手参考系，相机参考系为左手参考系，此transform中的平移量即为相机坐标，相机的三个坐标系可据此进行变换，注意，只需要使用变换矩阵的旋转变量参数（一个四元组）即可
var transoformAll = transform * transformLocal;
var scale = Matrix4x4.Decompose(transoformAll, out Vector3 scale1, out Quaternion rotation1, out Vector3 translation1);
var cameraPosition = transoformAll.Translation;
_positon = transoformAll.Translation;
var cameraUp = Vector3.Transform(Vector3.UnitY, Quaternion.CreateFromRotationMatrix(transoformAll));
var cameraZ = Vector3.Transform(-Vector3.UnitZ, Quaternion.CreateFromRotationMatrix(transoformAll));
var target = cameraZ;
//相机一直朝向当前相机的中心点，且此夹角不能超过90度
_viewMatrix = Matrix4x4.CreateLookAt(cameraPosition, centerEarth, cameraUp);
// _viewMatrix = transformAll;
}