fix(globe): Navara aircraft models face, size and light as Cesium's (10b review 3)

The near-pose finding (Navara models faint, Cesium ~23 bright aircraft)
came from the side-by-side's frozen page clock: the fleet tick ran once per
pose, so Cesium never handed its aircraft to their models and drew 3×
glyphs, against real models on Navara. With the hand-off driven (the move
ends every 10 frames while a pose loads), both engines draw models, and
the comparison showed three real differences, all fixed:

- Orientation: Navara's glTF loader is three's GLTFLoader, which keeps
  the scene Y-up; the instance turn is now Cesium's whole axis correction
  (Y_UP_TO_Z_UP × Z_UP_TO_X_UP), not Z_UP_TO_X_UP alone. Every fleet model
  drew 90° off its heading.
- Size: minimumPixelSize is taken at Cesium's distance (Camera
  distanceToBoundingSphere: view depth less the radius at the model's own
  scale), in the mover and in ModelHandle.computedScale; the straight-line
  distance drew off-centre models up to 16 % larger.
- Colour: the instance colour tints by the set's blend amount (Cesium's
  colorBlendAmount) and its alpha is the model's opacity (Cesium: a
  model colour's alpha makes it translucent), not a blend weight; a model
  is translucent only while faded. An ambient share of the tinted surface
  (MODEL_AMBIENT 0.5, Cesium's image-based lighting) keeps a tinted
  aircraft near-white at a low sun (median luminance 139 → 190; Cesium 197).

qa-flights-engines (now --layer=flights|military) gates the near pose
with --models=on: computed scale within ±5 % per model (ratio 1.000007),
footprint against the same view with the layer off within ±20 % (1553 vs
1496 px, 104 %), median luminance within ±10 % (189.8 vs 196.7). The probe's
drawn() reports a model's computedScale. Flights models on: 19/19.

src/globe/navara/movers/index.js

@@ -72,6 +72,7 @@ class GevMoverSetDesc extends MeshDesc {
 // The camera a mover needs each drawn frame (scratch: no allocation).
 const frameCamera = {
   cameraPosition: { x: 0, y: 0, z: 0 },
+  cameraDirection: { x: 0, y: 0, z: -1 },
   cameraHeight: 0,
   fovDeg: 60,
   viewportHeightPx: 0,
@@ -86,6 +87,12 @@ function updateMover(view, ctx, mover) {
   position.x = e[12];
   position.y = e[13];
   position.z = e[14];
+  // A three camera looks down its local −z.
+  const direction = frameCamera.cameraDirection;
+  const length = Math.hypot(e[8], e[9], e[10]) || 1;
+  direction.x = -e[8] / length;
+  direction.y = -e[9] / length;
+  direction.z = -e[10] / length;
   frameCamera.cameraHeight =
     Math.hypot(position.x, position.y, position.z) - EARTH_RADIUS_M;
   frameCamera.fovDeg = raw.fov;

src/globe/navara/movers/modelMover.js

@@ -19,12 +19,39 @@ import {
 } from 'three';
 import { footprintPerDepth, originFor } from './pack.js';
 
+/**
+ * Ambient light on the tinted surface, as an emissive share of it: Cesium
+ * lights models with image-based lighting besides the sun, so a tinted
+ * aircraft reads near-white at any sun angle; Navara's sky light alone left
+ * them grey-brown at dawn. 0.5 matched Cesium's model luminance at the near
+ * pose (qa-flights-engines --models=on: median 190 vs 193 on Cesium; 139
+ * without it).
+ */
+export const MODEL_AMBIENT = 0.5;
+
+/**
+ * The distance Cesium sizes a model's minimumPixelSize at (Camera
+ * distanceToBoundingSphere): |offset · view direction| less `radiusM`, at
+ * least 0; the straight-line distance when no direction is known.
+ */
+export function modelPixelDistance(dx, dy, dz, direction, radiusM) {
+  const along = direction
+    ? Math.abs(dx * direction.x + dy * direction.y + dz * direction.z)
+    : Math.sqrt(dx * dx + dy * dy + dz * dz);
+  return Math.max(0, along - radiusM);
+}
+
 const scratchMatrix = new Matrix4();
 const scratchQuaternion = new Quaternion();
 const scratchTranslation = new Vector3();
 const scratchScale = new Vector3();
 
-/** Mixes the instance colour into the material's colour by uGevBlend × alpha. */
+/**
+ * Mixes the instance colour into the material's colour by uGevBlend (the
+ * set's colorBlend, as Cesium's colorBlendAmount); the instance alpha is the
+ * model's opacity (Cesium: a model colour's alpha makes it translucent; the
+ * aircraft fade with distance through it), not a blend weight.
+ */
 function blendInstanceColor(material, uniforms) {
   material.onBeforeCompile = (shader) => {
     Object.assign(shader.uniforms, uniforms);
@@ -40,11 +67,15 @@ function blendInstanceColor(material, uniforms) {
     shader.fragmentShader = shader.fragmentShader
       .replace(
         'void main() {',
-        'uniform float uGevBlend;\nvarying vec4 vGevColor;\nvoid main() {',
+        'uniform float uGevBlend;\nuniform float uGevAmbient;\nvarying vec4 vGevColor;\nvoid main() {',
+      )
+      .replace(
+        '#include <emissivemap_fragment>',
+        '#include <emissivemap_fragment>\ntotalEmissiveRadiance += diffuseColor.rgb * uGevAmbient;',
       )
       .replace(
         '#include <map_fragment>',
-        '#include <map_fragment>\ndiffuseColor.rgb = mix(diffuseColor.rgb, vGevColor.rgb, uGevBlend * vGevColor.a);',
+        '#include <map_fragment>\ndiffuseColor.rgb = mix(diffuseColor.rgb, vGevColor.rgb, uGevBlend);\ndiffuseColor.a *= vGevColor.a;',
       );
   };
   material.customProgramCacheKey = () => 'gev-mover-model-blend';
@@ -58,6 +89,7 @@ function blendInstanceColor(material, uniforms) {
 export function createModelMover(options, store, { load, onLoad = () => {} }) {
   const { capacity, model } = options;
   const uniforms = {
+    uGevAmbient: { value: MODEL_AMBIENT },
     uGevBlend: {
       value: model.colorBlend
         ? model.colorBlend.mode === 'replace'
@@ -71,9 +103,24 @@ export function createModelMover(options, store, { load, onLoad = () => {} }) {
   let origin = null;
   let footprint = 0;
   let cameraPosition = null;
+  let cameraDirection = null;
   let loaded = false;
   let disposed = false;
   const colorAttributes = [];
+  const materials = [];
+  // Translucent only while an instance is faded (opaque models keep the
+  // opaque pass).
+  const syncTransparency = () => {
+    const { colors } = store;
+    let faded = false;
+    for (let index = 0; index < store.count && !faded; index++)
+      if (store.shows[index] === 1 && colors[index * 4 + 3] < 1) faded = true;
+    for (const material of materials)
+      if (material.transparent !== faded) {
+        material.transparent = faded;
+        material.needsUpdate = true;
+      }
+  };
 
   const write = (from, to) => {
     if (!loaded || !origin) return;
@@ -84,7 +131,16 @@ export function createModelMover(options, store, { load, onLoad = () => {} }) {
         const dx = positions[index * 3] - cameraPosition.x;
         const dy = positions[index * 3 + 1] - cameraPosition.y;
         const dz = positions[index * 3 + 2] - cameraPosition.z;
-        const distance = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        // Cesium's distance for minimumPixelSize (Camera
+        // distanceToBoundingSphere): the depth along the view direction
+        // less the model's radius at its own scale.
+        const distance = modelPixelDistance(
+          dx,
+          dy,
+          dz,
+          cameraDirection,
+          radius * scale,
+        );
         const pixels = (2 * radius * scale) / (footprint * distance);
         if (pixels < model.minimumPixelSize)
           scale *= model.minimumPixelSize / pixels;
@@ -119,6 +175,7 @@ export function createModelMover(options, store, { load, onLoad = () => {} }) {
       mesh.instanceMatrix.needsUpdate = true;
     }
     for (const attribute of colorAttributes) attribute.needsUpdate = true;
+    syncTransparency();
   };
 
   const group = { meshes: [], ready: null };
@@ -140,6 +197,7 @@ export function createModelMover(options, store, { load, onLoad = () => {} }) {
         });
       else material = material.clone();
       blendInstanceColor(material, uniforms);
+      materials.push(material);
       const geometry = child.geometry.clone();
       const color = new InstancedBufferAttribute(
         new Float32Array(capacity * 4).fill(1),
@@ -189,9 +247,16 @@ export function createModelMover(options, store, { load, onLoad = () => {} }) {
       for (const { mesh } of parts) mesh.count = store.count;
     },
     /** Each drawn frame: pixel limits need every instance rewritten. */
-    update({ cameraPosition: camera, cameraHeight, fovDeg, viewportHeightPx }) {
+    update({
+      cameraPosition: camera,
+      cameraDirection: direction = null,
+      cameraHeight,
+      fovDeg,
+      viewportHeightPx,
+    }) {
       footprint = footprintPerDepth(fovDeg, viewportHeightPx);
       cameraPosition = camera;
+      cameraDirection = direction;
       if (!origin || store.count === 0) return false;
       const next = originFor(camera, origin, cameraHeight);
       if (next !== origin) placeAt(next);

src/globe/navara/movers/modelMover.test.mjs

@@ -9,7 +9,7 @@ import {
   Vector3,
 } from 'three';
 import { createMoverStore, normalizeMoverSetOptions } from '../../movers.js';
-import { createModelMover } from './modelMover.js';
+import { createModelMover, modelPixelDistance } from './modelMover.js';
 
 const options = normalizeMoverSetOptions({
   id: 'm',
@@ -69,6 +69,7 @@ test('a far model keeps its minimum pixel size', async () => {
   await mover.group.ready;
   mover.update({
     cameraPosition: { x: 6_378_137 + 100_000, y: 0, z: 0 },
+    cameraDirection: { x: -1, y: 0, z: 0 },
     cameraHeight: 100_000,
     fovDeg: 60,
     viewportHeightPx: 800,
@@ -76,11 +77,57 @@ test('a far model keeps its minimum pixel size', async () => {
   const matrix = new Matrix4();
   mover.group.meshes[0].getMatrixAt(0, matrix);
   const scale = new Vector3().setFromMatrixScale(matrix).x;
-  // Box radius √3; 40 px at 100 km with a 60° fov over 800 px.
+  // Box radius √3; 40 px at 100 km (less the radius, as Cesium) with a 60°
+  // fov over 800 px.
   const footprint = (2 * Math.tan(Math.PI / 6)) / 800;
-  const expected = (40 * footprint * 100_000) / (2 * Math.sqrt(3));
+  const expected =
+    (40 * footprint * (100_000 - Math.sqrt(3))) / (2 * Math.sqrt(3));
   assert.ok(
     Math.abs(scale - expected) / expected < 1e-6,
     `${scale} vs ${expected}`,
   );
 });
+
+test("the instance colour tints by the set's blend amount; its alpha is opacity, as Cesium's model colour", async () => {
+  const store = createMoverStore(options);
+  const mover = createModelMover(options, store, {
+    load: async () => fakeGltf(),
+  });
+  store.set(0, {
+    position: { x: 6_378_137, y: 0, z: 0 },
+    color: [1, 1, 1, 0.4],
+  });
+  store.setCount(1);
+  mover.commit(store.dirty());
+  await mover.group.ready;
+  const [mesh] = mover.group.meshes;
+  const shader = {
+    uniforms: {},
+    vertexShader: 'void main() {\n#include <begin_vertex>\n}',
+    fragmentShader:
+      'void main() {\n#include <map_fragment>\n#include <emissivemap_fragment>\n}',
+  };
+  mesh.material.onBeforeCompile(shader);
+  assert.match(
+    shader.fragmentShader,
+    /diffuseColor\.rgb = mix\(diffuseColor\.rgb, vGevColor\.rgb, uGevBlend\);\s*diffuseColor\.a \*= vGevColor\.a;/,
+  );
+  // Ambient light on the tinted surface (Cesium's image-based lighting).
+  assert.match(
+    shader.fragmentShader,
+    /totalEmissiveRadiance \+= diffuseColor\.rgb \* uGevAmbient;/,
+  );
+  assert.equal(mover.uniforms.uGevAmbient.value, 0.5);
+  assert.equal(mesh.material.transparent, true, 'a faded instance');
+  store.set(0, { color: [1, 1, 1, 1] });
+  mover.commit(store.dirty());
+  assert.equal(mesh.material.transparent, false, 'all opaque again');
+});
+
+test("the minimum pixel size is taken at Cesium's distance: view depth less the radius", () => {
+  const ahead = { x: 0, y: 0, z: -1 };
+  // 3 km ahead and 4 km aside: depth 3 km, not the 5 km straight line.
+  assert.equal(modelPixelDistance(4000, 0, -3000, ahead, 30), 2970);
+  assert.equal(modelPixelDistance(0, 0, -10, ahead, 30), 0);
+  assert.equal(modelPixelDistance(4000, 0, -3000, null, 0), 5000);
+});

src/layers/aircraft/qaDrawn.js

@@ -30,7 +30,13 @@ export function aircraftQaDrawn(state) {
           }
         : null,
       model: model
-        ? { scale: model.scale, show: model.show, ready: model.ready }
+        ? {
+            scale: model.scale,
+            // The drawn scale, after the minimum pixel size.
+            computedScale: model.computedScale,
+            show: model.show,
+            ready: model.ready,
+          }
         : null,
     });
   }

src/layers/aircraft/render/navara.js

@@ -27,15 +27,15 @@ import { registerViewerEngine } from '../../../globe/cesium/engineFromViewer.js'
 const BASE_SIZE_PX = 20;
 
 /**
- * The model frame → glTF scene axes on Navara. Cesium draws a glTF through
- * Y_UP_TO_Z_UP × Z_UP_TO_X_UP (data/modelVisualAnchor.js); Navara's glTF
- * loader already turns the scene Y-up to Z-up, so here it is Z_UP_TO_X_UP
- * alone: nose, top and heading of airplane.glb where Cesium draws them
- * (checked side by side with Cesium on a tracked aircraft at 300 m against
- * five other axis candidates).
+ * The model frame → glTF scene axes on Navara: Cesium's own glTF axis
+ * correction, Y_UP_TO_Z_UP × Z_UP_TO_X_UP (data/modelVisualAnchor.js).
+ * Navara's glTF loader is three's GLTFLoader, which keeps the scene Y-up.
+ * (10b used Z_UP_TO_X_UP alone, on the belief that the loader turned the
+ * scene Z-up: every fleet model drew 90° off its heading — side by side
+ * with Cesium at the near pose, 10b review item 3.)
  */
-// Cesium's Axis.Z_UP_TO_X_UP, column-major.
-const NAVARA_GLTF_AXIS = [0, 0, -1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1];
+// Cesium's Axis.Y_UP_TO_Z_UP × Axis.Z_UP_TO_X_UP, column-major.
+const NAVARA_GLTF_AXIS = [0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1];
 const FIRST_CAPACITY = 1024;
 const ATLAS_PAD = 2;
 const TRAIL_ALPHA = 0.85;
@@ -644,6 +644,8 @@ export function createAircraftNavaraRenderer({
     return bank;
   };
 
+  const scratchOffset = geo.cartesian3.create();
+
   class ModelHandle {
     constructor(spec) {
       this.spec = spec;
@@ -669,9 +671,13 @@ export function createAircraftNavaraRenderer({
       const minimum = this.spec.minimumPixelSize ?? 0;
       if (!(minimum > 0)) return this._scale;
       const cam = freshCamera();
-      const distance = geo.cartesian3.distance(
-        cam.positionWC,
-        this.translation,
+      // Cesium's distance (Camera distanceToBoundingSphere): the depth
+      // along the view less the radius at the model's own scale.
+      geo.cartesian3.subtract(this.translation, cam.positionWC, scratchOffset);
+      const distance = Math.max(
+        0,
+        Math.abs(geo.cartesian3.dot(scratchOffset, cam.directionWC)) -
+          this.radiusM * this._scale,
       );
       const height = engine.host.size().height;
       if (!(distance > 0) || !(height > 0)) return this._scale;

src/layers/aircraft/render/navara.test.mjs

@@ -227,11 +227,15 @@ test("a model pose is the Cesium model frame, turned to Navara's glTF axes", asy
   );
   for (let index = 0; index < 16; index++)
     assert.ok(Math.abs(model.modelMatrix[index] - expected[index]) < 1e-6);
-  // The instance orientation: modelMatrix × Cesium's Z_UP_TO_X_UP (Navara's
-  // loader already turned the glTF Z-up).
+  // The instance orientation: modelMatrix × Cesium's glTF axis correction
+  // (Y_UP_TO_Z_UP × Z_UP_TO_X_UP; Navara's loader keeps the glTF Y-up).
   const corrected = Cesium.Matrix4.multiplyTransformation(
     expected,
-    Cesium.Axis.Z_UP_TO_X_UP,
+    Cesium.Matrix4.multiplyTransformation(
+      Cesium.Axis.Y_UP_TO_Z_UP,
+      Cesium.Axis.Z_UP_TO_X_UP,
+      new Cesium.Matrix4(),
+    ),
     new Cesium.Matrix4(),
   );
   const q = Cesium.Quaternion.fromRotationMatrix(