public static RotoTranslation3 Enu(this GeoPoint3 origin, GeoDatum datum)
{
var ecefOrigin = origin.ToEcef(datum);
var z = origin.EcefUp();
var y = Vector3.UnitZ - z.Z * z;
var x = y.Cross(z);
return(new RotoTranslation3(Rotation3Utils.GramSchmidt(x, y), ecefOrigin));
}
public static IPolygon3 CreateTriangle(Vector3 a, Vector3 b, Vector3 c)
{
var deltaB = b - a;
var deltaC = c - a;
var rotation = Rotation3Utils.GramSchmidt(deltaB, deltaC);
var bNorm = Rotation3Utils.InvProductX(rotation, deltaB);
var localC = Rotation3Utils.InvProductXY(rotation, deltaC);
var polygon = new Polygon(new List<Vector2>
{
Vector2.Zero,
new Vector2(bNorm, 0),
localC
});
return new Polygon3(new RotoTranslation3(rotation, a), polygon);
}