问使用Cesium.js围绕顶点旋转圆锥体

EN

/**
 * Calculate the position and orientation needed for the beam entity.
 * @param {Cesium.Cartesian3} position - The position of the desired origin.
 * @param {Number} az - The azimuth of the beam center in radians.
 * @param {Number} el - The elevation of the beam center in radians.
 * @param {Number} range - The range of the beam in meters.
 * 
 * @returns {[Cesium.Cartesian3, Cesium.Quaternion]} Array of the position and
 * orientation to use for the beam.
 */
calculateBeam(position, az, el, range) {
    // The origin of Cesium Cylinder entities is the center of the cylinder.
    // They are also pointed straight down towards the local East-North plane. The
    // math below rotates and translates the cylinder so that its origin is the tip
    // of the cylinder and its orientation is pointed in the direction specified by
    // the az/el.
    let heading = az - Cesium.Math.toRadians(90);
    let pitch = Cesium.Math.toRadians(90) + el;
    let hpr = new Cesium.HeadingPitchRoll(heading, pitch, 0.0);
    let x = range/2.0 * Math.sin(pitch) * Math.cos(heading);
    let y = -range/2.0 * Math.sin(heading) * Math.sin(pitch);
    let z = -range/2.0 * Math.cos(pitch);
    var offset = new Cesium.Cartesian3(x, y, z);
    let enuTransform = Cesium.Transforms.eastNorthUpToFixedFrame(position);
    Cesium.Matrix4.multiplyByPointAsVector(enuTransform, offset, offset);
    let newPosition = Cesium.Cartesian3.add(position, offset, new Cesium.Cartesian3());
    let orientation = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
    return [newPosition, orientation];
}

 computedModelMatrix(Cartesian3: any, attitude: any, length: any) {
        //锥体距离卫星的高度
        let oldLength = length / 2;
        let centerCartesian3 = new Cesium.Cartesian3(Cartesian3.x, Cartesian3.y, Cartesian3.z);
        let oldX = 0, oldY = 0, oldZ = -oldLength, newX = 0, newY = 0, newZ = 0;
        let heading = attitude.heading;
        //规定顺时针为正旋转,正东方向为0度
        if (heading < 0) {
            heading = heading + 360;
        }
        let roll = attitude.roll;
        let pitch = attitude.pitch;
        let headingRadians = Cesium.Math.toRadians(heading);
        let pitchRadians = Cesium.Math.toRadians(pitch);
        let rollRadians = Cesium.Math.toRadians(roll);
        let hpr = new Cesium.HeadingPitchRoll(headingRadians, pitchRadians, rollRadians);
        let orientation = Cesium.Transforms.headingPitchRollQuaternion(centerCartesian3, hpr);
        //旋转roll
        newY = oldY + oldLength * Math.sin(rollRadians);
        newZ = oldZ + oldLength - oldLength * Math.cos(rollRadians);
        let pitchTouying = oldLength * Math.cos(rollRadians);//进行pitch变化时在Y轴和Z轴组成的平面的投影
        //旋转pitch
        newX = oldX + pitchTouying * Math.sin(pitchRadians);
        newZ = newZ + (pitchTouying - pitchTouying * Math.cos(pitchRadians));
        if (heading != 0) {
            let headingTouying = Math.sqrt(Math.pow(Math.abs(newX), 2) + Math.pow(Math.abs(newY), 2));//进行heading变化时在Y轴和X轴组成的平面的投影
            //旋转heading
            let Xdeg = Cesium.Math.toDegrees(Math.acos(Math.abs(newX) / Math.abs(headingTouying)));//现有投影线与X轴的夹角
            let newXdeg = 0;//旋转heading后与X轴的夹角
            let newXRadians = 0;//旋转heading后与X轴的夹角弧度
            if (newX >= 0 && newY >= 0) {
                newXdeg = heading - Xdeg;
            } else if (newX > 0 && newY < 0) {
                newXdeg = heading + Xdeg;
            } else if (newX < 0 && newY > 0) {
                newXdeg = heading + (180 + Xdeg);
            } else {
                newXdeg = heading + (180 - Xdeg)
            }
            if (newXdeg >= 360) {
                newXdeg = 360 - newXdeg;
            }
            if (newXdeg >= 0 && newXdeg <= 90) {
                newXRadians = Cesium.Math.toRadians(newXdeg);
                newY = -headingTouying * Math.sin(newXRadians);
                newX = headingTouying * Math.cos(newXRadians);
            } else if (newXdeg > 90 && newXdeg <= 180) {
                newXRadians = Cesium.Math.toRadians(180 - newXdeg);
                newY = -headingTouying * Math.sin(newXRadians);
                newX = -headingTouying * Math.cos(newXRadians)
            } else if (newXdeg > 180 && newXdeg <= 270) {
                newXRadians = Cesium.Math.toRadians(newXdeg - 180);
                newY = headingTouying * Math.sin(newXRadians);
                newX = -(headingTouying * Math.cos(newXRadians))
            } else {
                newXRadians = Cesium.Math.toRadians(360 - newXdeg);
                newY = headingTouying * Math.sin(newXRadians);
                newX = headingTouying * Math.cos(newXRadians)
            }
        }
        let offset = new Cesium.Cartesian3(newX, newY, newZ);
        let newPosition = this.computeOffset(centerCartesian3, offset);
        return Cesium.Matrix4.fromTranslationQuaternionRotationScale(newPosition, orientation, new Cesium.Cartesian3(1, 1, 1))
    }
computeOffset(Cartesian3: any, offset: any) {
        let enuTransform = Cesium.Transforms.eastNorthUpToFixedFrame(Cartesian3);
        Cesium.Matrix4.multiplyByPointAsVector(enuTransform, offset, offset);
        return Cesium.Cartesian3.add(Cartesian3, offset, new Cesium.Cartesian3());
    }