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Drag to Rotate the Globe

Here's a simple drag-to-rotate globe demo.

When trying to write an interactive globe viz, I was surprised to find that there were no existing function / tutorial / example code out there to accomplish the simple drag-to-rotate functionality. Jason Davies has a good article on the theory behind this, but no code. It is still difficult for people with limited math background (like me) on matrices / quaternion / euler angles to figure it out.

One big hurdle is to understand why and how to convert between different coordinate / representations for the rotations. e.g. Quaternion is easy to combine together by multiplication, that's why it's chosen here. and d3 uses Euler angle representations for projection rotations, that's why we need to convert between them.

Most of the formulas are from the wiki with minor tweaks.

forked from ivyywang's block: Drag to Rotate the Globe

<!DOCTYPE html>
<html>
<head>
<meta http-equiv="Content-Type" content="text/html;charset=utf-8"/>
<script src="https://cdnjs.cloudflare.com/ajax/libs/d3/3.5.5/d3.min.js"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/topojson/1.6.19/topojson.min.js"></script>

.land{
	fill: rgba(0,0,0, 0.17);
}

.border{
	stroke: rgba(255,255,255, 0.7);
	fill: none;
}

</style>
</head>

/***** ALL MATH FUNCTIONS ****/

var to_radians = Math.PI / 180;
var to_degrees = 180 / Math.PI;

// Helper function: cross product of two vectors v0&v1
function cross(v0, v1) {
    return [v0[1] * v1[2] - v0[2] * v1[1], v0[2] * v1[0] - v0[0] * v1[2], v0[0] * v1[1] - v0[1] * v1[0]];
}

//Helper function: dot product of two vectors v0&v1
function dot(v0, v1) {
    for (var i = 0, sum = 0; v0.length > i; ++i) sum += v0[i] * v1[i];
    return sum;
}

// Helper function: 
// This function converts a [lon, lat] coordinates into a [x,y,z] coordinate 
// the [x, y, z] is Cartesian, with origin at lon/lat (0,0) center of the earth
function lonlat2xyz( coord ){

var lon = coord[0] * to_radians;
	var lat = coord[1] * to_radians;

var x = Math.cos(lat) * Math.cos(lon);

var y = Math.cos(lat) * Math.sin(lon);

var z = Math.sin(lat);

return [x, y, z];
}

// Helper function: 
// This function computes a quaternion representation for the rotation between to vectors
// https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Euler_angles_.E2.86.94_Quaternion
function quaternion(v0, v1) {

if (v0 && v1) {
		
	    var w = cross(v0, v1),  // vector pendicular to v0 & v1
	        w_len = Math.sqrt(dot(w, w)); // length of w

if (w_len == 0)
        	return;

var theta = .5 * Math.acos(Math.max(-1, Math.min(1, dot(v0, v1)))),

qi  = w[2] * Math.sin(theta) / w_len; 
	        qj  = - w[1] * Math.sin(theta) / w_len; 
	        qk  = w[0]* Math.sin(theta) / w_len;
	        qr  = Math.cos(theta);

return theta && [qr, qi, qj, qk];
	}
}

// Helper function: 
// This functions converts euler angles to quaternion
// https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Euler_angles_.E2.86.94_Quaternion
function euler2quat(e) {

if(!e) return;
    
    var roll = .5 * e[0] * to_radians,
        pitch = .5 * e[1] * to_radians,
        yaw = .5 * e[2] * to_radians,

sr = Math.sin(roll),
        cr = Math.cos(roll),
        sp = Math.sin(pitch),
        cp = Math.cos(pitch),
        sy = Math.sin(yaw),
        cy = Math.cos(yaw),

qi = sr*cp*cy - cr*sp*sy,
        qj = cr*sp*cy + sr*cp*sy,
        qk = cr*cp*sy - sr*sp*cy,
        qr = cr*cp*cy + sr*sp*sy;

return [qr, qi, qj, qk];
}

// This functions computes a quaternion multiply
// Geometrically, it means combining two quant rotations
// https://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/arithmetic/index.htm
function quatMultiply(q1, q2) {
	if(!q1 || !q2) return;

var a = q1[0],
        b = q1[1],
        c = q1[2],
        d = q1[3],
        e = q2[0],
        f = q2[1],
        g = q2[2],
        h = q2[3];

return [
     a*e - b*f - c*g - d*h,
     b*e + a*f + c*h - d*g,
     a*g - b*h + c*e + d*f,
     a*h + b*g - c*f + d*e];

}

// This function computes quaternion to euler angles
// https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions#Euler_angles_.E2.86.94_Quaternion
function quat2euler(t){

if(!t) return;

return [ Math.atan2(2 * (t[0] * t[1] + t[2] * t[3]), 1 - 2 * (t[1] * t[1] + t[2] * t[2])) * to_degrees, 
			 Math.asin(Math.max(-1, Math.min(1, 2 * (t[0] * t[2] - t[3] * t[1])))) * to_degrees, 
			 Math.atan2(2 * (t[0] * t[3] + t[1] * t[2]), 1 - 2 * (t[2] * t[2] + t[3] * t[3])) * to_degrees
			]
}

/*  This function computes the euler angles when given two vectors, and a rotation
	This is really the only math function called with d3 code.

v0 - starting pos in lon/lat, commonly obtained by projection.invert
	v1 - ending pos in lon/lat, commonly obtained by projection.invert
	o0 - the projection rotation in euler angles at starting pos (v0), commonly obtained by projection.rotate
*/

function eulerAngles(v0, v1, o0) {

/*
		The math behind this:
		- first calculate the quaternion rotation between the two vectors, v0 & v1
		- then multiply this rotation onto the original rotation at v0
		- finally convert the resulted quat angle back to euler angles for d3 to rotate
	*/

var t = quatMultiply( euler2quat(o0), quaternion(lonlat2xyz(v0), lonlat2xyz(v1) ) );
	return quat2euler(t);	
}

/**************end of math functions**********************/

var width = 960,
    height = 500;
    r = 250;

var projection = d3.geo.orthographic()
    .scale(250)
    .translate([width / 2, height / 2])
    .clipAngle(90);

var path = d3.geo.path()
    .projection(projection);

var svg = d3.select("body").append("svg")
    .attr("width", width)
    .attr("height", height);

var drag = d3.behavior.drag()
			.on("dragstart", dragstarted)
			.on("drag", dragged)
			.on("dragend", dragended);

svg.call(drag);

var gpos0, o0;

function dragstarted(){

gpos0 = projection.invert(d3.mouse(this));
	o0 = projection.rotate();

svg.insert("path")
             .datum({type: "Point", coordinates: gpos0})
             .attr("class", "point")
             .attr("d", path); 
}

function dragged(){

var gpos1 = projection.invert(d3.mouse(this));

o0 = projection.rotate();

var o1 = eulerAngles(gpos0, gpos1, o0);
	projection.rotate(o1);

svg.selectAll(".point")
	 		.datum({type: "Point", coordinates: gpos1});
  svg.selectAll("path").attr("d", path);

}

function dragended(){
	svg.selectAll(".point").remove();
}

d3.json("world-110m.json", function(error, world){
  if (error) throw error;

svg.append("path")
      .datum(topojson.feature(world, world.objects.land))
      .attr("class", "land")
      .attr("d", path);

borders = topojson.mesh(world, world.objects.countries, function(a, b) { return a !== b; });

svg.append("path")
  		.datum(borders)
  		.attr("class", "border")
  		.attr("d", path);
});

</script>

</body>
</html>

https://cdnjs.cloudflare.com/ajax/libs/d3/3.5.5/d3.min.js

https://cdnjs.cloudflare.com/ajax/libs/topojson/1.6.19/topojson.min.js