From c5a3b3106cc4fb4829f80f475cdfb52312d6d9ca Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Fri, 10 May 2019 16:45:05 -0400
Subject: [PATCH 01/10] First crack at importing AGI_articulations from glTF
 models.

---
 Source/DataSources/ModelVisualizer.js |  10 +-
 Source/Scene/Model.js                 | 203 ++++++++++++++++++++++++--
 Source/Scene/ModelNode.js             |  14 ++
 Source/Scene/ModelUtility.js          |   5 +-
 4 files changed, 207 insertions(+), 25 deletions(-)

diff --git a/Source/DataSources/ModelVisualizer.js b/Source/DataSources/ModelVisualizer.js
index 3ce724f63523..06469ee82796 100644
--- a/Source/DataSources/ModelVisualizer.js
+++ b/Source/DataSources/ModelVisualizer.js
@@ -137,7 +137,6 @@ define([
                     url : resource.url,
                     animationsRunning : false,
                     nodeTransformationsScratch : {},
-                    originalNodeMatrixHash : {},
                     loadFail : false
                 };
                 modelHash[entity.id] = modelData;
@@ -179,7 +178,6 @@ define([
                 // Apply node transformations
                 var nodeTransformations = Property.getValueOrUndefined(modelGraphics._nodeTransformations, time, modelData.nodeTransformationsScratch);
                 if (defined(nodeTransformations)) {
-                    var originalNodeMatrixHash = modelData.originalNodeMatrixHash;
                     var nodeNames = Object.keys(nodeTransformations);
                     for (var nodeIndex = 0, nodeLength = nodeNames.length; nodeIndex < nodeLength; ++nodeIndex) {
                         var nodeName = nodeNames[nodeIndex];
@@ -194,14 +192,8 @@ define([
                             continue;
                         }
 
-                        var originalNodeMatrix = originalNodeMatrixHash[nodeName];
-                        if (!defined(originalNodeMatrix)) {
-                            originalNodeMatrix = modelNode.matrix.clone();
-                            originalNodeMatrixHash[nodeName] = originalNodeMatrix;
-                        }
-
                         var transformationMatrix = Matrix4.fromTranslationRotationScale(nodeTransformation, nodeMatrixScratch);
-                        modelNode.matrix = Matrix4.multiply(originalNodeMatrix, transformationMatrix, transformationMatrix);
+                        modelNode.matrix = Matrix4.multiply(modelNode.originalMatrix, transformationMatrix, transformationMatrix);
                     }
                 }
             }
diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index 1892df92f71e..5980a63fa6c7 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -237,21 +237,23 @@ define([
      * Cesium supports glTF assets with the following extensions:
      * <ul>
      * <li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_binary_glTF/README.md|KHR_binary_glTF}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_binary_glTF/README.md|KHR_binary_glTF (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_materials_common/README.md|KHR_materials_common}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_materials_common/README.md|KHR_materials_common (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Vendor/WEB3D_quantized_attributes/README.md|WEB3D_quantized_attributes}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Vendor/WEB3D_quantized_attributes/README.md|WEB3D_quantized_attributes (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_draco_mesh_compression/README.md|KHR_draco_mesh_compression}
+     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Vendor/AGI_articulations/README.md|AGI_articulations}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_techniques_webgl/README.md|KHR_techniques_webgl}
+     * {@link https://github.com/KhronosGroup/glTF/pull/1302|KHR_blend (draft)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_blend/README.md|KHR_blend}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_draco_mesh_compression/README.md|KHR_draco_mesh_compression}
+     * </li><li>
+     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_pbrSpecularGlossiness/README.md|KHR_materials_pbrSpecularGlossiness}
      * </li><li>
      * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_unlit/README.md|KHR_materials_unlit}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_pbrSpecularGlossiness/README.md|KHR_materials_pbrSpecularGlossiness}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_techniques_webgl/README.md|KHR_techniques_webgl}
      * </li><li>
      * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_texture_transform/README.md|KHR_texture_transform}
      * </li>
@@ -617,6 +619,7 @@ define([
 
         this._runtime = {
             animations : undefined,
+            articulations : undefined,
             rootNodes : undefined,
             nodes : undefined,            // Indexed with the node's index
             nodesByName : undefined,      // Indexed with name property in the node
@@ -1282,21 +1285,23 @@ define([
      * Cesium supports glTF assets with the following extensions:
      * <ul>
      * <li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_binary_glTF/README.md|KHR_binary_glTF}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_binary_glTF/README.md|KHR_binary_glTF (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_materials_common/README.md|KHR_materials_common}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Khronos/KHR_materials_common/README.md|KHR_materials_common (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Vendor/WEB3D_quantized_attributes/README.md|WEB3D_quantized_attributes}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/1.0/Vendor/WEB3D_quantized_attributes/README.md|WEB3D_quantized_attributes (glTF 1.0)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_draco_mesh_compression/README.md|KHR_draco_mesh_compression}
+     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Vendor/AGI_articulations/README.md|AGI_articulations}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_techniques_webgl/README.md|KHR_techniques_webgl}
+     * {@link https://github.com/KhronosGroup/glTF/pull/1302|KHR_blend (draft)}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_blend/README.md|KHR_blend}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_draco_mesh_compression/README.md|KHR_draco_mesh_compression}
+     * </li><li>
+     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_pbrSpecularGlossiness/README.md|KHR_materials_pbrSpecularGlossiness}
      * </li><li>
      * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_unlit/README.md|KHR_materials_unlit}
      * </li><li>
-     * {@link https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_materials_pbrSpecularGlossiness/README.md|KHR_materials_pbrSpecularGlossiness}
+     * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_techniques_webgl/README.md|KHR_techniques_webgl}
      * </li><li>
      * {@link https://github.com/KhronosGroup/glTF/blob/master/extensions/2.0/Khronos/KHR_texture_transform/README.md|KHR_texture_transform}
      * </li>
@@ -1501,6 +1506,126 @@ define([
         return getRuntime(this, 'materialsByName', name);
     };
 
+    /**
+     * Returns a data structure associated with a particular articulation name.
+
+     * @param {String} name The name of the articulation.
+     * @returns {object} The named articulation, or <code>undefined</code> if no match was found.
+     *
+     * @exception {DeveloperError} The model is not loaded.  Use Model.readyPromise or wait for Model.ready to be true.
+     */
+    Model.prototype.getArticulation = function(name) {
+        return getRuntime(this, 'articulations', name);
+    };
+
+    var scratchArticulationCartesian = new Cartesian3();
+    var scratchArticulationRotation = new Matrix3();
+
+    /**
+     * Modifies a Matrix4 by applying a transformation for a given value of a stage.  Note this is different usage
+     * from the typical <code>result</code> parameter, in that the incoming value of <code>result</code> is
+     * meaningful if defined.  Various stages of an articulation can be multiplied together, so their
+     * transformations are all merged into a composite Matrix4 representing them all.
+     *
+     * @param {object} stage The stage of an articulation that is being evaluated.
+     * @param {number} value The current value of the stage.
+     * @param {Matrix4} [result] The matrix to be modified.  If undefined, the identity matrix will be used.
+     * @returns {Matrix4} A matrix transformed as requested by the articulation stage.
+     */
+    Model.prototype.applyArticulationStageMatrix = function(stage, value, result) {
+        //>>includeStart('debug', pragmas.debug);
+        Check.typeOf.object('stage', stage);
+        Check.typeOf.number('value', value);
+        //>>includeEnd('debug');
+
+        if (!defined(result)) {
+            result = Matrix4.clone(Matrix4.IDENTITY);
+        }
+
+        var cartesian = scratchArticulationCartesian;
+        var rotation;
+        switch (stage.type) {
+            case 'xRotate':
+                rotation = Matrix3.fromRotationX(CesiumMath.toRadians(value), scratchArticulationRotation);
+                Matrix4.multiplyByMatrix3(result, rotation, result);
+                break;
+            case 'yRotate':
+                rotation = Matrix3.fromRotationY(CesiumMath.toRadians(value), scratchArticulationRotation);
+                Matrix4.multiplyByMatrix3(result, rotation, result);
+                break;
+            case 'zRotate':
+                rotation = Matrix3.fromRotationZ(CesiumMath.toRadians(value), scratchArticulationRotation);
+                Matrix4.multiplyByMatrix3(result, rotation, result);
+                break;
+            case 'xTranslate':
+                cartesian.x = value;
+                cartesian.y = 0.0;
+                cartesian.z = 0.0;
+                Matrix4.multiplyByTranslation(result, cartesian, result);
+                break;
+            case 'yTranslate':
+                cartesian.x = 0.0;
+                cartesian.y = value;
+                cartesian.z = 0.0;
+                Matrix4.multiplyByTranslation(result, cartesian, result);
+                break;
+            case 'zTranslate':
+                cartesian.x = 0.0;
+                cartesian.y = 0.0;
+                cartesian.z = value;
+                Matrix4.multiplyByTranslation(result, cartesian, result);
+                break;
+            case 'xScale':
+                cartesian.x = value;
+                cartesian.y = 1.0;
+                cartesian.z = 1.0;
+                Matrix4.multiplyByScale(result, cartesian, result);
+                break;
+            case 'yScale':
+                cartesian.x = 1.0;
+                cartesian.y = value;
+                cartesian.z = 1.0;
+                Matrix4.multiplyByScale(result, cartesian, result);
+                break;
+            case 'zScale':
+                cartesian.x = 1.0;
+                cartesian.y = 1.0;
+                cartesian.z = value;
+                Matrix4.multiplyByScale(result, cartesian, result);
+                break;
+            case 'uniformScale':
+                Matrix4.multiplyByUniformScale(result, value, result);
+                break;
+            default:
+                break;
+        }
+        return result;
+    };
+
+    var scratchApplyArticulationTransform = new Matrix4();
+
+    /**
+     * TODO
+     */
+    Model.prototype.applyArticulation = function(articulation) {
+        //>>includeStart('debug', pragmas.debug);
+        Check.typeOf.object('articulation', articulation);
+        //>>includeEnd('debug');
+
+        var numNodes = articulation.nodes.length;
+        for (var n = 0; n < numNodes; ++n) {
+            var node = articulation.nodes[n];
+            var transform = Matrix4.clone(node.originalMatrix, scratchApplyArticulationTransform);
+
+            var numStages = articulation.stages.length;
+            for (var s = 0; s < numStages; ++s) {
+                var stage = articulation.stages[s];
+                transform = this.applyArticulationStageMatrix(stage, stage.currentValue, transform);
+            }
+            node.matrix = transform;
+        }
+    };
+
     ///////////////////////////////////////////////////////////////////////////
 
     function addBuffersToLoadResources(model) {
@@ -1631,6 +1756,35 @@ define([
         }
     }
 
+    function parseArticulations(model) {
+        var runtimeArticulations = {};
+        model._runtime.articulations = runtimeArticulations;
+
+        var gltf = model.gltf;
+        if (!hasExtension(gltf, 'AGI_articulations') || !defined(gltf.extensions) || !defined(gltf.extensions.AGI_articulations)) {
+            return;
+        }
+
+        var gltfArticulations = gltf.extensions.AGI_articulations.articulations;
+        if (!defined(gltfArticulations)) {
+            return;
+        }
+
+        var numArticulations = gltfArticulations.length;
+        for (var i = 0; i < numArticulations; ++i) {
+            var articulation = clone(gltfArticulations[i]);
+            articulation.nodes = [];
+            articulation.stagesByName = {};
+            runtimeArticulations[articulation.name] = articulation;
+
+            var numStages = articulation.stages.length;
+            for (var s = 0; s < numStages; ++s) {
+                var stage = articulation.stages[s];
+                articulation.stagesByName[stage.name] = stage;
+            }
+        }
+    }
+
     function imageLoad(model, textureId) {
         return function(image) {
             var loadResources = model._loadResources;
@@ -1733,12 +1887,15 @@ define([
         });
     }
 
+    var scratchArticulationStageInitialTransform = new Matrix4();
+
     function parseNodes(model) {
         var runtimeNodes = {};
         var runtimeNodesByName = {};
         var skinnedNodes = [];
 
         var skinnedNodesIds = model._loadResources.skinnedNodesIds;
+        var runtimeArticulations = model._runtime.articulations;
 
         ForEach.node(model.gltf, function(node, id) {
             var runtimeNode = {
@@ -1786,6 +1943,23 @@ define([
                 skinnedNodesIds.push(id);
                 skinnedNodes.push(runtimeNode);
             }
+
+            if (defined(node.extensions) && defined(node.extensions.AGI_articulations)) {
+                var articulationName = node.extensions.AGI_articulations.articulationName;
+                if (defined(articulationName)) {
+                    var transform = Matrix4.clone(runtimeNode.publicNode.originalMatrix, scratchArticulationStageInitialTransform);
+                    var articulation = runtimeArticulations[articulationName];
+                    articulation.nodes.push(runtimeNode.publicNode);
+
+                    var numStages = articulation.stages.length;
+                    for (var s = 0; s < numStages; ++s) {
+                        var stage = articulation.stages[s];
+                        stage.currentValue = stage.initialValue;
+                        transform = model.applyArticulationStageMatrix(stage, stage.currentValue, transform);
+                    }
+                    runtimeNode.publicNode.matrix = transform;
+                }
+            }
         });
 
         model._runtime.nodes = runtimeNodes;
@@ -4465,6 +4639,7 @@ define([
 
                     // We do this after to make sure that the ids don't change
                     addBuffersToLoadResources(this);
+                    parseArticulations(this);
                     parseTechniques(this);
                     if (!this._loadRendererResourcesFromCache) {
                         parseBufferViews(this);
diff --git a/Source/Scene/ModelNode.js b/Source/Scene/ModelNode.js
index 517dde68305a..8bbfb727b77a 100644
--- a/Source/Scene/ModelNode.js
+++ b/Source/Scene/ModelNode.js
@@ -38,6 +38,7 @@ define([
 
         this._show = true;
         this._matrix = Matrix4.clone(matrix);
+        this._originalMatrix = Matrix4.clone(matrix);
     }
 
     defineProperties(ModelNode.prototype, {
@@ -112,6 +113,19 @@ define([
                 model._cesiumAnimationsDirty = true;
                 this._runtimeNode.dirtyNumber = model._maxDirtyNumber;
             }
+        },
+
+        /**
+         * Gets the node's original 4x4 matrix transform from its local coordinates to
+         * its parent's, without any node transformations or articulations applied.
+         *
+         * @memberof ModelNode.prototype
+         * @type {Matrix4}
+         */
+        originalMatrix : {
+            get : function() {
+                return this._originalMatrix;
+            }
         }
     });
 
diff --git a/Source/Scene/ModelUtility.js b/Source/Scene/ModelUtility.js
index 53a517e95c67..f8fe7ff0eda4 100644
--- a/Source/Scene/ModelUtility.js
+++ b/Source/Scene/ModelUtility.js
@@ -485,7 +485,9 @@ define([
     };
 
     ModelUtility.supportedExtensions = {
+        'AGI_articulations' : true,
         'CESIUM_RTC' : true,
+        'EXT_texture_webp' : true,
         'KHR_blend' : true,
         'KHR_binary_glTF' : true,
         'KHR_draco_mesh_compression' : true,
@@ -494,8 +496,7 @@ define([
         'KHR_materials_unlit' : true,
         'KHR_materials_pbrSpecularGlossiness' : true,
         'KHR_texture_transform' : true,
-        'WEB3D_quantized_attributes' : true,
-        'EXT_texture_webp' : true
+        'WEB3D_quantized_attributes' : true
     };
 
     ModelUtility.checkSupportedExtensions = function(extensionsRequired, browserSupportsWebp) {

From 83fa625d9b1dcda0eb6420cb120aea8946d8c198 Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Fri, 10 May 2019 18:00:25 -0400
Subject: [PATCH 02/10] Some tweaking, and add option to get list of
 articulations.

---
 Source/Scene/Model.js | 31 +++++++++++++++++++++++++------
 1 file changed, 25 insertions(+), 6 deletions(-)

diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index 5980a63fa6c7..4107ebebf5d5 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -885,6 +885,20 @@ define([
             }
         },
 
+        /**
+         * Gets a dictionary of available articulations and their stages.
+         *
+         * @memberof Model.prototype
+         *
+         * @type {object}
+         * @readonly
+         */
+        articulations : {
+            get : function() {
+                return this._runtime.articulations;
+            }
+        },
+
         /**
          * When <code>true</code>, each glTF mesh and primitive is pickable with {@link Scene#pick}.  When <code>false</code>, GPU memory is saved.
          *
@@ -1531,6 +1545,8 @@ define([
      * @param {number} value The current value of the stage.
      * @param {Matrix4} [result] The matrix to be modified.  If undefined, the identity matrix will be used.
      * @returns {Matrix4} A matrix transformed as requested by the articulation stage.
+     *
+     * @private
      */
     Model.prototype.applyArticulationStageMatrix = function(stage, value, result) {
         //>>includeStart('debug', pragmas.debug);
@@ -1544,7 +1560,7 @@ define([
 
         var cartesian = scratchArticulationCartesian;
         var rotation;
-        switch (stage.type) {
+        switch (stage.type) {  // TODO: Optimize by testing the value for 0.0 or 1.0
             case 'xRotate':
                 rotation = Matrix3.fromRotationX(CesiumMath.toRadians(value), scratchArticulationRotation);
                 Matrix4.multiplyByMatrix3(result, rotation, result);
@@ -1605,12 +1621,15 @@ define([
     var scratchApplyArticulationTransform = new Matrix4();
 
     /**
-     * TODO
+     * Applies all of the stages of the named articulation to the matrix of each node that participates
+     * in the articulation.  Note that this will overwrite any nodeTransformations on participating nodes.
+
+     * @param {String} name The name of the articulation to apply to the model.
+     *
+     * @exception {DeveloperError} The model is not loaded.  Use Model.readyPromise or wait for Model.ready to be true.
      */
-    Model.prototype.applyArticulation = function(articulation) {
-        //>>includeStart('debug', pragmas.debug);
-        Check.typeOf.object('articulation', articulation);
-        //>>includeEnd('debug');
+    Model.prototype.applyArticulation = function(name) {
+        var articulation = getRuntime(this, 'articulations', name);
 
         var numNodes = articulation.nodes.length;
         for (var n = 0; n < numNodes; ++n) {

From 41db0da10a29236c29278e8267b5a3085be09996 Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Mon, 13 May 2019 17:26:36 -0400
Subject: [PATCH 03/10] Add 3D Models Articulations demo.

---
 .../development/3D Models Articulations.html  | 157 ++++++++++++++++++
 1 file changed, 157 insertions(+)
 create mode 100644 Apps/Sandcastle/gallery/development/3D Models Articulations.html

diff --git a/Apps/Sandcastle/gallery/development/3D Models Articulations.html b/Apps/Sandcastle/gallery/development/3D Models Articulations.html
new file mode 100644
index 000000000000..9d5ae4472f6c
--- /dev/null
+++ b/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
@@ -0,0 +1,157 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, minimum-scale=1, user-scalable=no">
+    <meta name="description" content="Explore node transformations of 3D models.">
+    <meta name="cesium-sandcastle-labels" content="Development">
+    <title>Cesium Demo</title>
+    <script type="text/javascript" src="../Sandcastle-header.js"></script>
+    <script type="text/javascript" src="../../../ThirdParty/requirejs-2.1.20/require.js"></script>
+    <script type="text/javascript">
+        if(typeof require === 'function') {
+            require.config({
+                baseUrl : '../../../Source',
+                waitSeconds : 120
+            });
+        }
+    </script>
+</head>
+<body class="sandcastle-loading" data-sandcastle-bucket="bucket-requirejs.html">
+<style>
+    @import url(../templates/bucket.css);
+    #toolbar {
+        background: rgba(42, 42, 42, 0.8);
+        padding: 4px;
+        border-radius: 4px;
+    }
+    #toolbar input {
+        vertical-align: middle;
+        padding-top: 2px;
+        padding-bottom: 2px;
+    }
+</style>
+<div id="cesiumContainer" class="fullSize"></div>
+<div id="loadingOverlay"><h1>Loading...</h1></div>
+<div id="toolbar">
+    <div>Articulation:
+        <select class="cesium-button" data-bind="options: articulations,
+                                                 optionsText: 'name',
+                                                 value: selectedArticulation"></select>
+    </div>
+    <table>
+        <tbody data-bind="foreach: stages">
+            <tr>
+                <td data-bind="text: name"></td>
+                <td>
+                    <input type="range" min="-3" max="3" step="0.01"
+                           data-bind="value: current,
+                                      valueUpdate: 'input',
+                                      attr: {
+                                          min: minimum,
+                                          max: maximum
+                                      }">
+                    <input type="text" size="2" data-bind="value: currentText">
+                </td>
+            </tr>
+        </tbody>
+    </table>
+</div>
+<script id="cesium_sandcastle_script">
+function startup(Cesium) {
+    'use strict';
+//Sandcastle_Begin
+// this can be changed to any glTF model
+var modelUrl = 'https://assets.agi.com/models/launchvehicle.glb';
+
+var viewModel = {
+    articulations: [],
+    stages: [],
+    selectedArticulation: undefined
+};
+
+Cesium.knockout.track(viewModel);
+
+Cesium.knockout.getObservable(viewModel, 'selectedArticulation').subscribe(function(newArticulation) {
+    viewModel.stages = newArticulation.stages;
+});
+
+var toolbar = document.getElementById('toolbar');
+Cesium.knockout.applyBindings(viewModel, toolbar);
+
+var viewer = new Cesium.Viewer('cesiumContainer');
+var scene = viewer.scene;
+
+var height = 220000.0;
+var origin = Cesium.Cartesian3.fromDegrees(-74.693, 28.243, height);
+var modelMatrix = Cesium.Transforms.headingPitchRollToFixedFrame(origin, new Cesium.HeadingPitchRoll());
+
+var model = scene.primitives.add(Cesium.Model.fromGltf({
+    url : modelUrl,
+    modelMatrix : modelMatrix,
+    minimumPixelSize : 128
+}));
+
+window.viewer = viewer;
+window.Cesium = Cesium;
+window.model = model;
+
+model.readyPromise.then(function(model) {
+    var camera = viewer.camera;
+
+    // Zoom to model
+    var controller = scene.screenSpaceCameraController;
+    var r = 2.0 * Math.max(model.boundingSphere.radius, camera.frustum.near);
+    controller.minimumZoomDistance = r * 0.5;
+
+    var center = Cesium.Matrix4.multiplyByPoint(model.modelMatrix, model.boundingSphere.center, new Cesium.Cartesian3());
+    var heading = Cesium.Math.toRadians(0.0);
+    var pitch = Cesium.Math.toRadians(-10.0);
+    camera.lookAt(center, new Cesium.HeadingPitchRange(heading, pitch, r * 0.8));
+
+    viewModel.articulations = Object.keys(model._runtime.articulations).map(function(articulationName) {
+        return {
+            name: articulationName,
+            stages: model._runtime.articulations[articulationName].stages.map(function(stage) {
+                var stageModel = {
+                    name: stage.name,
+                    minimum: stage.minimumValue,
+                    maximum: stage.maximumValue,
+                    current: stage.currentValue
+                };
+                Cesium.knockout.track(stageModel);
+                Cesium.knockout.defineProperty(stageModel, 'currentText', {
+                    get: function() {
+                        return stageModel.current.toString();
+                    },
+                    set: function(value) {
+                        // coerce values to number
+                        stageModel.current = +value;
+                    }
+                });
+                Cesium.knockout.getObservable(stageModel, 'current').subscribe(function(newValue) {
+                    stage.currentValue = +stageModel.current;
+                    model.applyArticulation(articulationName);
+                });
+                return stageModel;
+            })
+        };
+    });
+    viewModel.selectedArticulation = viewModel.articulations[0];
+
+}).otherwise(function(error){
+    console.error(error);
+});
+
+//Sandcastle_End
+    Sandcastle.finishedLoading();
+}
+if (typeof Cesium !== 'undefined') {
+    startup(Cesium);
+} else if (typeof require === 'function') {
+    require(['Cesium'], startup);
+}
+</script>
+</body>
+</html>

From dd866420f116a210fc8b0d0990d57c8e80db5077 Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Fri, 17 May 2019 15:16:07 -0400
Subject: [PATCH 04/10] Update the API to be based on an articulation/stage
 key.

---
 .../development/3D Models Articulations.html  |  11 +-
 Source/Scene/Model.js                         | 120 +++++++++++-------
 2 files changed, 79 insertions(+), 52 deletions(-)

diff --git a/Apps/Sandcastle/gallery/development/3D Models Articulations.html b/Apps/Sandcastle/gallery/development/3D Models Articulations.html
index 9d5ae4472f6c..3ece47dc2f33 100644
--- a/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
+++ b/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
@@ -45,8 +45,7 @@
             <tr>
                 <td data-bind="text: name"></td>
                 <td>
-                    <input type="range" min="-3" max="3" step="0.01"
-                           data-bind="value: current,
+                    <input type="range" min="-3" max="3" step="0.01" data-bind="value: current,
                                       valueUpdate: 'input',
                                       attr: {
                                           min: minimum,
@@ -110,10 +109,10 @@
     var pitch = Cesium.Math.toRadians(-10.0);
     camera.lookAt(center, new Cesium.HeadingPitchRange(heading, pitch, r * 0.8));
 
-    viewModel.articulations = Object.keys(model._runtime.articulations).map(function(articulationName) {
+    viewModel.articulations = Object.keys(model._runtime.articulationsByName).map(function(articulationName) {
         return {
             name: articulationName,
-            stages: model._runtime.articulations[articulationName].stages.map(function(stage) {
+            stages: model._runtime.articulationsByName[articulationName].stages.map(function(stage) {
                 var stageModel = {
                     name: stage.name,
                     minimum: stage.minimumValue,
@@ -131,8 +130,8 @@
                     }
                 });
                 Cesium.knockout.getObservable(stageModel, 'current').subscribe(function(newValue) {
-                    stage.currentValue = +stageModel.current;
-                    model.applyArticulation(articulationName);
+                    model.setArticulationStage(articulationName + ' ' + stage.name, +stageModel.current);
+                    model.applyArticulations();
                 });
                 return stageModel;
             })
diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index 4107ebebf5d5..70638d80b932 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -169,6 +169,8 @@ define([
     // glTF MIME types discussed in https://github.com/KhronosGroup/glTF/issues/412 and https://github.com/KhronosGroup/glTF/issues/943
     var defaultModelAccept = 'model/gltf-binary,model/gltf+json;q=0.8,application/json;q=0.2,*/*;q=0.01';
 
+    var articulationEpsilon = CesiumMath.EPSILON16;
+
     ///////////////////////////////////////////////////////////////////////////
 
     function setCachedGltf(model, cachedGltf) {
@@ -619,7 +621,9 @@ define([
 
         this._runtime = {
             animations : undefined,
-            articulations : undefined,
+            articulationsByName : undefined,
+            articulationsByStageKey : undefined,
+            stagesByKey : undefined,
             rootNodes : undefined,
             nodes : undefined,            // Indexed with the node's index
             nodesByName : undefined,      // Indexed with name property in the node
@@ -886,16 +890,16 @@ define([
         },
 
         /**
-         * Gets a dictionary of available articulations and their stages.
+         * Gets a list of available articulation and stage names.
          *
          * @memberof Model.prototype
          *
          * @type {object}
          * @readonly
          */
-        articulations : {
+        articulationStageKeys : {
             get : function() {
-                return this._runtime.articulations;
+                return Object.keys(this._runtime.articulationsByStageKey);
             }
         },
 
@@ -1521,15 +1525,30 @@ define([
     };
 
     /**
-     * Returns a data structure associated with a particular articulation name.
-
-     * @param {String} name The name of the articulation.
-     * @returns {object} The named articulation, or <code>undefined</code> if no match was found.
+     * Sets the current value of an articulation stage.  After setting one or multiple stage values, call
+     * Model.applyArticulations() to cause the node matrices to be recalculated.
+     *
+     * @param {String} articulationStageKey The name of the articulation, a space, and the name of the stage.
+     * @param {Number} value The numeric value of this stage of the articulation.
      *
      * @exception {DeveloperError} The model is not loaded.  Use Model.readyPromise or wait for Model.ready to be true.
+     *
+     * @see Model#applyArticulations
      */
-    Model.prototype.getArticulation = function(name) {
-        return getRuntime(this, 'articulations', name);
+    Model.prototype.setArticulationStage = function(articulationStageKey, value) {
+        //>>includeStart('debug', pragmas.debug);
+        Check.typeOf.number('value', value);
+        //>>includeEnd('debug');
+
+        var stage = getRuntime(this, 'stagesByKey', articulationStageKey);
+        var articulation = getRuntime(this, 'articulationsByStageKey', articulationStageKey);
+        if (defined(stage) && defined(articulation)) {
+            value = Math.max(Math.min(value, stage.maximumValue), stage.minimumValue);
+            if (!CesiumMath.equalsEpsilon(stage.currentValue, value, articulationEpsilon)) {
+                stage.currentValue = value;
+                articulation.isDirty = true;
+            }
+        }
     };
 
     var scratchArticulationCartesian = new Cartesian3();
@@ -1538,26 +1557,22 @@ define([
     /**
      * Modifies a Matrix4 by applying a transformation for a given value of a stage.  Note this is different usage
      * from the typical <code>result</code> parameter, in that the incoming value of <code>result</code> is
-     * meaningful if defined.  Various stages of an articulation can be multiplied together, so their
+     * meaningful.  Various stages of an articulation can be multiplied together, so their
      * transformations are all merged into a composite Matrix4 representing them all.
      *
      * @param {object} stage The stage of an articulation that is being evaluated.
-     * @param {number} value The current value of the stage.
-     * @param {Matrix4} [result] The matrix to be modified.  If undefined, the identity matrix will be used.
+     * @param {Matrix4} result The matrix to be modified.
      * @returns {Matrix4} A matrix transformed as requested by the articulation stage.
      *
      * @private
      */
-    Model.prototype.applyArticulationStageMatrix = function(stage, value, result) {
+    function applyArticulationStageMatrix(stage, result) {
         //>>includeStart('debug', pragmas.debug);
         Check.typeOf.object('stage', stage);
-        Check.typeOf.number('value', value);
+        Check.typeOf.object('result', result);
         //>>includeEnd('debug');
 
-        if (!defined(result)) {
-            result = Matrix4.clone(Matrix4.IDENTITY);
-        }
-
+        var value = stage.currentValue;
         var cartesian = scratchArticulationCartesian;
         var rotation;
         switch (stage.type) {  // TODO: Optimize by testing the value for 0.0 or 1.0
@@ -1616,32 +1631,37 @@ define([
                 break;
         }
         return result;
-    };
+    }
 
     var scratchApplyArticulationTransform = new Matrix4();
 
     /**
-     * Applies all of the stages of the named articulation to the matrix of each node that participates
-     * in the articulation.  Note that this will overwrite any nodeTransformations on participating nodes.
-
-     * @param {String} name The name of the articulation to apply to the model.
+     * Applies any modified articulation stages to the matrix of each node that participates
+     * in any articulation.  Note that this will overwrite any nodeTransformations on participating nodes.
      *
      * @exception {DeveloperError} The model is not loaded.  Use Model.readyPromise or wait for Model.ready to be true.
      */
-    Model.prototype.applyArticulation = function(name) {
-        var articulation = getRuntime(this, 'articulations', name);
-
-        var numNodes = articulation.nodes.length;
-        for (var n = 0; n < numNodes; ++n) {
-            var node = articulation.nodes[n];
-            var transform = Matrix4.clone(node.originalMatrix, scratchApplyArticulationTransform);
-
-            var numStages = articulation.stages.length;
-            for (var s = 0; s < numStages; ++s) {
-                var stage = articulation.stages[s];
-                transform = this.applyArticulationStageMatrix(stage, stage.currentValue, transform);
+    Model.prototype.applyArticulations = function() {
+        var articulationsByName = this._runtime.articulationsByName;
+        for (var articulationName in articulationsByName) {
+            if (articulationsByName.hasOwnProperty(articulationName)) {
+                var articulation = articulationsByName[articulationName];
+                if (articulation.isDirty) {
+                    articulation.isDirty = false;
+                    var numNodes = articulation.nodes.length;
+                    for (var n = 0; n < numNodes; ++n) {
+                        var node = articulation.nodes[n];
+                        var transform = Matrix4.clone(node.originalMatrix, scratchApplyArticulationTransform);
+
+                        var numStages = articulation.stages.length;
+                        for (var s = 0; s < numStages; ++s) {
+                            var stage = articulation.stages[s];
+                            transform = applyArticulationStageMatrix(stage, transform);
+                        }
+                        node.matrix = transform;
+                    }
+                }
             }
-            node.matrix = transform;
         }
     };
 
@@ -1776,8 +1796,13 @@ define([
     }
 
     function parseArticulations(model) {
-        var runtimeArticulations = {};
-        model._runtime.articulations = runtimeArticulations;
+        var articulationsByName = {};
+        var articulationsByStageKey = {};
+        var runtimeStagesByKey = {};
+
+        model._runtime.articulationsByName = articulationsByName;
+        model._runtime.articulationsByStageKey = articulationsByStageKey;
+        model._runtime.stagesByKey = runtimeStagesByKey;
 
         var gltf = model.gltf;
         if (!hasExtension(gltf, 'AGI_articulations') || !defined(gltf.extensions) || !defined(gltf.extensions.AGI_articulations)) {
@@ -1793,13 +1818,17 @@ define([
         for (var i = 0; i < numArticulations; ++i) {
             var articulation = clone(gltfArticulations[i]);
             articulation.nodes = [];
-            articulation.stagesByName = {};
-            runtimeArticulations[articulation.name] = articulation;
+            articulation.isDirty = true;
+            articulationsByName[articulation.name] = articulation;
 
             var numStages = articulation.stages.length;
             for (var s = 0; s < numStages; ++s) {
                 var stage = articulation.stages[s];
-                articulation.stagesByName[stage.name] = stage;
+                stage.currentValue = stage.initialValue;
+
+                var stageKey = articulation.name + ' ' + stage.name;
+                articulationsByStageKey[stageKey] = articulation;
+                runtimeStagesByKey[stageKey] = stage;
             }
         }
     }
@@ -1914,7 +1943,7 @@ define([
         var skinnedNodes = [];
 
         var skinnedNodesIds = model._loadResources.skinnedNodesIds;
-        var runtimeArticulations = model._runtime.articulations;
+        var articulationsByName = model._runtime.articulationsByName;
 
         ForEach.node(model.gltf, function(node, id) {
             var runtimeNode = {
@@ -1967,14 +1996,13 @@ define([
                 var articulationName = node.extensions.AGI_articulations.articulationName;
                 if (defined(articulationName)) {
                     var transform = Matrix4.clone(runtimeNode.publicNode.originalMatrix, scratchArticulationStageInitialTransform);
-                    var articulation = runtimeArticulations[articulationName];
+                    var articulation = articulationsByName[articulationName];
                     articulation.nodes.push(runtimeNode.publicNode);
 
                     var numStages = articulation.stages.length;
                     for (var s = 0; s < numStages; ++s) {
                         var stage = articulation.stages[s];
-                        stage.currentValue = stage.initialValue;
-                        transform = model.applyArticulationStageMatrix(stage, stage.currentValue, transform);
+                        transform = applyArticulationStageMatrix(stage, transform);
                     }
                     runtimeNode.publicNode.matrix = transform;
                 }

From e164dff6c2be4e7e22f6dce396009bec4912374e Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Fri, 17 May 2019 16:43:42 -0400
Subject: [PATCH 05/10] Remove TODO, change model center point.

---
 .../gallery/development/3D Models Articulations.html          | 4 ++--
 Source/Scene/Model.js                                         | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Apps/Sandcastle/gallery/development/3D Models Articulations.html b/Apps/Sandcastle/gallery/development/3D Models Articulations.html
index 3ece47dc2f33..474230cdaa1b 100644
--- a/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
+++ b/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
@@ -102,9 +102,9 @@
     // Zoom to model
     var controller = scene.screenSpaceCameraController;
     var r = 2.0 * Math.max(model.boundingSphere.radius, camera.frustum.near);
-    controller.minimumZoomDistance = r * 0.5;
+    controller.minimumZoomDistance = r * 0.2;
 
-    var center = Cesium.Matrix4.multiplyByPoint(model.modelMatrix, model.boundingSphere.center, new Cesium.Cartesian3());
+    var center = Cesium.Matrix4.multiplyByPoint(model.modelMatrix, Cesium.Cartesian3.ZERO, new Cesium.Cartesian3());
     var heading = Cesium.Math.toRadians(0.0);
     var pitch = Cesium.Math.toRadians(-10.0);
     camera.lookAt(center, new Cesium.HeadingPitchRange(heading, pitch, r * 0.8));
diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index 70638d80b932..d9c775c287e9 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -1575,7 +1575,7 @@ define([
         var value = stage.currentValue;
         var cartesian = scratchArticulationCartesian;
         var rotation;
-        switch (stage.type) {  // TODO: Optimize by testing the value for 0.0 or 1.0
+        switch (stage.type) {
             case 'xRotate':
                 rotation = Matrix3.fromRotationX(CesiumMath.toRadians(value), scratchArticulationRotation);
                 Matrix4.multiplyByMatrix3(result, rotation, result);

From 01238dd462e37fd73200cbcbdda0e75f45ad7cec Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Mon, 20 May 2019 11:23:29 -0400
Subject: [PATCH 06/10] Tweak Sandcastle

---
 Apps/Sandcastle/CesiumSandcastle.css            |   2 +-
 .../development/3D Models Articulations.html    |   4 ----
 .../development/3D Models Articulations.jpg     | Bin 0 -> 14933 bytes
 3 files changed, 1 insertion(+), 5 deletions(-)
 create mode 100644 Apps/Sandcastle/gallery/development/3D Models Articulations.jpg

diff --git a/Apps/Sandcastle/CesiumSandcastle.css b/Apps/Sandcastle/CesiumSandcastle.css
index 2c87c1799c4e..5013fc8d8d93 100644
--- a/Apps/Sandcastle/CesiumSandcastle.css
+++ b/Apps/Sandcastle/CesiumSandcastle.css
@@ -138,7 +138,7 @@ html, body {
     height: 100%;
     transition-property: transform;
     transition-duration: 0.5s;
-    transform-origin: 200px 150px;
+    transform-origin: 200px 152px;  /* These numbers should be divisible by 4 because of scaling in .makeThumbnail */
 }
 
 .makeThumbnail {
diff --git a/Apps/Sandcastle/gallery/development/3D Models Articulations.html b/Apps/Sandcastle/gallery/development/3D Models Articulations.html
index 474230cdaa1b..3393d1b4a3b1 100644
--- a/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
+++ b/Apps/Sandcastle/gallery/development/3D Models Articulations.html	
@@ -92,10 +92,6 @@
     minimumPixelSize : 128
 }));
 
-window.viewer = viewer;
-window.Cesium = Cesium;
-window.model = model;
-
 model.readyPromise.then(function(model) {
     var camera = viewer.camera;
 
diff --git a/Apps/Sandcastle/gallery/development/3D Models Articulations.jpg b/Apps/Sandcastle/gallery/development/3D Models Articulations.jpg
new file mode 100644
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From 760ee06f6b47273ed59fee3ec8a57398da1cd9a1 Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Thu, 23 May 2019 14:26:08 -0400
Subject: [PATCH 07/10] Add test for articulations

---
 .../Box-Articulations/Box-Articulations.gltf  | 241 ++++++++++++++++++
 Specs/Scene/ModelSpec.js                      |  36 +++
 2 files changed, 277 insertions(+)
 create mode 100644 Specs/Data/Models/Box-Articulations/Box-Articulations.gltf

diff --git a/Specs/Data/Models/Box-Articulations/Box-Articulations.gltf b/Specs/Data/Models/Box-Articulations/Box-Articulations.gltf
new file mode 100644
index 000000000000..d5f906c215d0
--- /dev/null
+++ b/Specs/Data/Models/Box-Articulations/Box-Articulations.gltf
@@ -0,0 +1,241 @@
+{
+    "asset": {
+        "generator": "COLLADA2GLTF",
+        "version": "2.0"
+    },
+    "scene": 0,
+    "scenes": [
+        {
+            "nodes": [
+                0
+            ]
+        }
+    ],
+    "nodes": [
+        {
+            "name": "Root",
+            "children": [
+                1
+            ],
+            "matrix": [
+                1,
+                0,
+                0,
+                0,
+                0,
+                0,
+                -1,
+                0,
+                0,
+                1,
+                0,
+                0,
+                0,
+                0,
+                0,
+                1
+            ],
+            "extensions": {
+                "AGI_articulations": {
+                    "articulationName": "SampleArticulation"
+                }
+            }
+        },
+        {
+            "mesh": 0
+        }
+    ],
+    "meshes": [
+        {
+            "primitives": [
+                {
+                    "attributes": {
+                        "NORMAL": 1,
+                        "POSITION": 2
+                    },
+                    "indices": 0,
+                    "mode": 4,
+                    "material": 0
+                }
+            ],
+            "name": "Mesh"
+        }
+    ],
+    "accessors": [
+        {
+            "bufferView": 0,
+            "byteOffset": 0,
+            "componentType": 5123,
+            "count": 36,
+            "max": [
+                23
+            ],
+            "min": [
+                0
+            ],
+            "type": "SCALAR"
+        },
+        {
+            "bufferView": 1,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 24,
+            "max": [
+                1,
+                1,
+                1
+            ],
+            "min": [
+                -1,
+                -1,
+                -1
+            ],
+            "type": "VEC3"
+        },
+        {
+            "bufferView": 1,
+            "byteOffset": 288,
+            "componentType": 5126,
+            "count": 24,
+            "max": [
+                0.5,
+                0.5,
+                0.5
+            ],
+            "min": [
+                -0.5,
+                -0.5,
+                -0.5
+            ],
+            "type": "VEC3"
+        }
+    ],
+    "materials": [
+        {
+            "pbrMetallicRoughness": {
+                "baseColorFactor": [
+                    0.800000011920929,
+                    0,
+                    0,
+                    1
+                ],
+                "metallicFactor": 0,
+                "roughnessFactor": 1
+            },
+            "name": "Red",
+            "emissiveFactor": [
+                0,
+                0,
+                0
+            ],
+            "alphaMode": "OPAQUE",
+            "doubleSided": false
+        }
+    ],
+    "bufferViews": [
+        {
+            "buffer": 0,
+            "byteOffset": 0,
+            "byteLength": 72,
+            "target": 34963
+        },
+        {
+            "buffer": 0,
+            "byteOffset": 72,
+            "byteLength": 576,
+            "byteStride": 12,
+            "target": 34962
+        }
+    ],
+    "buffers": [
+        {
+            "name": "Box0",
+            "byteLength": 648,
+            "uri": "data:application/octet-stream;base64,AAABAAIAAwACAAEABAAFAAYABwAGAAUACAAJAAoACwAKAAkADAANAA4ADwAOAA0AEAARABIAEwASABEAFAAVABYAFwAWABUAAAAAAAAAAAAAAIA/AAAAAAAAAAAAAIA/AAAAAAAAAAAAAIA/AAAAAAAAAAAAAIA/AAAAAAAAgL8AAAAAAAAAAAAAgL8AAAAAAAAAAAAAgL8AAAAAAAAAAAAAgL8AAAAAAACAPwAAAAAAAAAAAACAPwAAAAAAAAAAAACAPwAAAAAAAAAAAACAPwAAAAAAAAAAAAAAAAAAgD8AAAAAAAAAAAAAgD8AAAAAAAAAAAAAgD8AAAAAAAAAAAAAgD8AAAAAAACAvwAAAAAAAAAAAACAvwAAAAAAAAAAAACAvwAAAAAAAAAAAACAvwAAAAAAAAAAAAAAAAAAAAAAAIC/AAAAAAAAAAAAAIC/AAAAAAAAAAAAAIC/AAAAAAAAAAAAAIC/AAAAvwAAAL8AAAA/AAAAPwAAAL8AAAA/AAAAvwAAAD8AAAA/AAAAPwAAAD8AAAA/AAAAPwAAAL8AAAA/AAAAvwAAAL8AAAA/AAAAPwAAAL8AAAC/AAAAvwAAAL8AAAC/AAAAPwAAAD8AAAA/AAAAPwAAAL8AAAA/AAAAPwAAAD8AAAC/AAAAPwAAAL8AAAC/AAAAvwAAAD8AAAA/AAAAPwAAAD8AAAA/AAAAvwAAAD8AAAC/AAAAPwAAAD8AAAC/AAAAvwAAAL8AAAA/AAAAvwAAAD8AAAA/AAAAvwAAAL8AAAC/AAAAvwAAAD8AAAC/AAAAvwAAAL8AAAC/AAAAvwAAAD8AAAC/AAAAPwAAAL8AAAC/AAAAPwAAAD8AAAC/"
+        }
+    ],
+    "extensionsUsed": [
+        "AGI_articulations"
+    ],
+    "extensions": {
+        "AGI_articulations": {
+            "articulations": [
+                {
+                    "name": "SampleArticulation",
+                    "stages": [
+                        {
+                            "name": "MoveX",
+                            "type": "xTranslate",
+                            "minimumValue": -1000.0,
+                            "maximumValue": 1000.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "MoveY",
+                            "type": "yTranslate",
+                            "minimumValue": -1000.0,
+                            "maximumValue": 1000.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "MoveZ",
+                            "type": "zTranslate",
+                            "minimumValue": -1000.0,
+                            "maximumValue": 1000.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "Yaw",
+                            "type": "yRotate",
+                            "minimumValue": -360.0,
+                            "maximumValue": 360.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "Pitch",
+                            "type": "xRotate",
+                            "minimumValue": -360.0,
+                            "maximumValue": 360.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "Roll",
+                            "type": "zRotate",
+                            "minimumValue": -360.0,
+                            "maximumValue": 360.0,
+                            "initialValue": 0.0
+                        },
+                        {
+                            "name": "Size",
+                            "type": "uniformScale",
+                            "minimumValue": 0.0,
+                            "maximumValue": 1.0,
+                            "initialValue": 1.0
+                        },
+                        {
+                            "name": "SizeX",
+                            "type": "xScale",
+                            "minimumValue": 0.0,
+                            "maximumValue": 1.0,
+                            "initialValue": 1.0
+                        },
+                        {
+                            "name": "SizeY",
+                            "type": "yScale",
+                            "minimumValue": 0.0,
+                            "maximumValue": 1.0,
+                            "initialValue": 1.0
+                        },
+                        {
+                            "name": "SizeZ",
+                            "type": "zScale",
+                            "minimumValue": 0.0,
+                            "maximumValue": 1.0,
+                            "initialValue": 1.0
+                        }
+                    ]
+                }
+            ]
+        }
+    }
+}
diff --git a/Specs/Scene/ModelSpec.js b/Specs/Scene/ModelSpec.js
index 7beafda1a432..c7d16a542a7e 100644
--- a/Specs/Scene/ModelSpec.js
+++ b/Specs/Scene/ModelSpec.js
@@ -95,6 +95,7 @@ defineSuite([
     var boxRtcUrl = './Data/Models/Box-RTC/Box.gltf';
     var boxEcefUrl = './Data/Models/Box-ECEF/ecef.gltf';
     var boxWithUnusedMaterial = './Data/Models/BoxWithUnusedMaterial/Box.gltf';
+    var boxArticulationsUrl = './Data/Models/Box-Articulations/Box-Articulations.gltf';
 
     var cesiumAirUrl = './Data/Models/CesiumAir/Cesium_Air.gltf';
     var cesiumAir_0_8Url = './Data/Models/CesiumAir/Cesium_Air_0_8.gltf';
@@ -1041,6 +1042,41 @@ defineSuite([
         });
     });
 
+    it('loads a glTF 2.0 model with AGI_articulations extension', function() {
+        return loadModel(boxArticulationsUrl).then(function(m) {
+            verifyRender(m);
+
+            m.setArticulationStage('SampleArticulation MoveX', 1.0);
+            m.setArticulationStage('SampleArticulation MoveY', 2.0);
+            m.setArticulationStage('SampleArticulation MoveZ', 3.0);
+            m.setArticulationStage('SampleArticulation Yaw', 4.0);
+            m.setArticulationStage('SampleArticulation Pitch', 5.0);
+            m.setArticulationStage('SampleArticulation Roll', 6.0);
+            m.setArticulationStage('SampleArticulation Size', 0.9);
+            m.setArticulationStage('SampleArticulation SizeX', 0.8);
+            m.setArticulationStage('SampleArticulation SizeY', 0.7);
+            m.setArticulationStage('SampleArticulation SizeZ', 0.6);
+            m.applyArticulations();
+
+            var node = m.getNode('Root');
+            expect(node.useMatrix).toBe(true);
+
+            var expected = [
+                0.7147690483240505, -0.04340611926232735, -0.0749741046529782, 0,
+                -0.06188330295778636, 0.05906797312763484, -0.6241645867602773, 0,
+                0.03752515582279579, 0.5366347296529127, 0.04706410108373541, 0,
+                1, 3, -2, 1
+            ];
+
+            var matrix = node.matrix;
+            for (var i = 0; i < 16; ++i) {
+                expect(matrix[i]).toEqualEpsilon(expected[i], CesiumMath.EPSILON14);
+            }
+
+            primitives.remove(m);
+        });
+    });
+
     it('loads a glTF model with unused material', function() {
         return loadModel(boxWithUnusedMaterial).then(function(m) {
             verifyRender(m);

From 841f45368d19cd9c56bb2ab0b5f75f692d9096d3 Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Thu, 23 May 2019 15:03:40 -0400
Subject: [PATCH 08/10] Remove getter for articulationStageKeys, it's not
 useful by itself.

---
 Source/Scene/Model.js | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index d9c775c287e9..2d721816f5d3 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -889,20 +889,6 @@ define([
             }
         },
 
-        /**
-         * Gets a list of available articulation and stage names.
-         *
-         * @memberof Model.prototype
-         *
-         * @type {object}
-         * @readonly
-         */
-        articulationStageKeys : {
-            get : function() {
-                return Object.keys(this._runtime.articulationsByStageKey);
-            }
-        },
-
         /**
          * When <code>true</code>, each glTF mesh and primitive is pickable with {@link Scene#pick}.  When <code>false</code>, GPU memory is saved.
          *

From 41e4416442e9821322e69a274d1b92099d3ea95c Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Wed, 29 May 2019 20:15:22 -0400
Subject: [PATCH 09/10] CHANGES.md

---
 CHANGES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGES.md b/CHANGES.md
index 345f06499a36..6f1d23b8fe28 100644
--- a/CHANGES.md
+++ b/CHANGES.md
@@ -8,6 +8,7 @@ Change Log
 * Added syntax to delete data from existing properties via CZML. [#7818](https://github.com/AnalyticalGraphicsInc/cesium/pull/7818)
 * Added `checkerboard` material to CZML. [#7845](https://github.com/AnalyticalGraphicsInc/cesium/pull/7845)
 * `BingMapsImageryProvider` now uses `DiscardEmptyTileImagePolicy` by default to detect missing tiles as zero-length responses instead of inspecting pixel values. [#7810](https://github.com/AnalyticalGraphicsInc/cesium/pull/7810)
+* Added support for the [AGI_articulations](https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Vendor/AGI_articulations) vendor extension of glTF 2.0 to the Model primitive graphics API. [#7835](https://github.com/AnalyticalGraphicsInc/cesium/pull/7835)
 * Reduce the number of Bing transactions and ion Bing sessions used when destroying and recreating the same imagery layer to 1. [#7848](https://github.com/AnalyticalGraphicsInc/cesium/pull/7848)
 
 ##### Fixes :wrench:

From 3c5fb79ea6c3f00b4b9bb14d7388a97ec66844fc Mon Sep 17 00:00:00 2001
From: Ed Mackey <elm19087@gmail.com>
Date: Thu, 30 May 2019 11:27:16 -0400
Subject: [PATCH 10/10] Code cleanup from review.

---
 Source/Scene/Model.js    | 2 +-
 Specs/Scene/ModelSpec.js | 5 +----
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/Source/Scene/Model.js b/Source/Scene/Model.js
index 2d721816f5d3..b85b12f86276 100644
--- a/Source/Scene/Model.js
+++ b/Source/Scene/Model.js
@@ -1529,7 +1529,7 @@ define([
         var stage = getRuntime(this, 'stagesByKey', articulationStageKey);
         var articulation = getRuntime(this, 'articulationsByStageKey', articulationStageKey);
         if (defined(stage) && defined(articulation)) {
-            value = Math.max(Math.min(value, stage.maximumValue), stage.minimumValue);
+            value = CesiumMath.clamp(value, stage.minimumValue, stage.maximumValue);
             if (!CesiumMath.equalsEpsilon(stage.currentValue, value, articulationEpsilon)) {
                 stage.currentValue = value;
                 articulation.isDirty = true;
diff --git a/Specs/Scene/ModelSpec.js b/Specs/Scene/ModelSpec.js
index c7d16a542a7e..0dce256ffe87 100644
--- a/Specs/Scene/ModelSpec.js
+++ b/Specs/Scene/ModelSpec.js
@@ -1068,10 +1068,7 @@ defineSuite([
                 1, 3, -2, 1
             ];
 
-            var matrix = node.matrix;
-            for (var i = 0; i < 16; ++i) {
-                expect(matrix[i]).toEqualEpsilon(expected[i], CesiumMath.EPSILON14);
-            }
+            expect(node.matrix).toEqualEpsilon(expected, CesiumMath.EPSILON14);
 
             primitives.remove(m);
         });