@itwin/core-common 4.0.0-dev.10 → 4.0.0-dev.100

package/lib/esm/geometry/Cartographic.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Geometry\r\n */\r\n\r\nimport { Angle, Constant, Point3d, Range1d, Range2d, Range3d, Transform, Vector3d, XYAndZ, XYZ } from \"@itwin/core-geometry\";\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\n// portions adapted from Cesium.js Copyright 2011 - 2017 Cesium Contributors\r\n\r\n/** The JSON representation of a Cartographic object.\r\n * @public\r\n * @extensions\r\n **/\r\nexport interface CartographicProps {\r\n  /** The longitude, specified in radians. */\r\n  longitude: number;\r\n  /** The latitude, specified in radians. */\r\n  latitude: number;\r\n  /** The height, specified in meters above the ellipsoid. */\r\n  height: number;\r\n}\r\n\r\n/** A position on the earth defined by longitude, latitude, and height above the [WGS84](https://en.wikipedia.org/wiki/World_Geodetic_System) ellipsoid.\r\n * @public\r\n */\r\nexport class Cartographic implements CartographicProps {\r\n  /**\r\n   * @param longitude longitude, in radians.\r\n   * @param latitude latitude, in radians.\r\n   * @param height The height, in meters, above the ellipsoid.\r\n   */\r\n  private constructor(public longitude: number = 0, public latitude: number = 0, public height: number = 0) { }\r\n\r\n  /** Create a Cartographic object with longitude, latitude, and height of zero. */\r\n  public static createZero() {\r\n    return new Cartographic(0, 0, 0);\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude specified in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are numbers specified in radians. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object onto which to store the result.\r\n   */\r\n  public static fromRadians(args: { longitude: number, latitude: number, height?: number }, result?: Cartographic) {\r\n    if (!result)\r\n      return new Cartographic(args.longitude, args.latitude, args.height);\r\n\r\n    result.longitude = args.longitude;\r\n    result.latitude = args.latitude;\r\n    result.height = args.height !== undefined ? args.height : 0;\r\n    return result;\r\n  }\r\n\r\n  /** Create a JSON representation of a Cartographic object. */\r\n  public toJSON(): CartographicProps {\r\n    return {\r\n      latitude: this.latitude,\r\n      longitude: this.longitude,\r\n      height: this.height,\r\n    };\r\n  }\r\n\r\n  /** Freeze this Cartographic */\r\n  public freeze(): Readonly<this> {\r\n    return Object.freeze(this);\r\n  }\r\n\r\n  /** longitude, in degrees */\r\n  public get longitudeDegrees() {\r\n    return Angle.radiansToDegrees(this.longitude);\r\n  }\r\n\r\n  /** latitude, in degrees */\r\n  public get latitudeDegrees() {\r\n    return Angle.radiansToDegrees(this.latitude);\r\n  }\r\n\r\n  private static _oneMinusF = 1 - (Constant.earthRadiusWGS84.equator - Constant.earthRadiusWGS84.polar) / Constant.earthRadiusWGS84.equator;\r\n  private static _equatorOverPolar = Constant.earthRadiusWGS84.equator / Constant.earthRadiusWGS84.polar;\r\n  /** return the geocentric latitude angle for the input geodetic latitude angle (both in radians).\r\n   * @param geodeticLatitude geodetic latitude angle in radians\r\n   */\r\n  public static geocentricLatitudeFromGeodeticLatitude(geodeticLatitude: number): number {\r\n    return Math.atan(Cartographic._oneMinusF * Cartographic._oneMinusF * Math.tan(geodeticLatitude));\r\n  }\r\n  /** return the parametric latitude angle for the input geodetic latitude angle (both in radians).  The parametric latitude\r\n   * is appropriate for input to the Ellipsoid methods.\r\n   * @param geodeticLatitude geodetic latitude angle in radians\r\n   */\r\n  public static parametricLatitudeFromGeodeticLatitude(geodeticLatitude: number): number {\r\n    return Math.atan(Cartographic._oneMinusF * Cartographic._oneMinusF * Cartographic._equatorOverPolar * Math.tan(geodeticLatitude));\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude specified in degrees. The values in the resulting object will be in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are numbers specified in degrees. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object onto which to store the result.\r\n   */\r\n  public static fromDegrees(args: { longitude: number, latitude: number, height?: number }, result?: Cartographic) {\r\n    return Cartographic.fromRadians({ longitude: Angle.degreesToRadians(args.longitude), latitude: Angle.degreesToRadians(args.latitude), height: args.height }, result);\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude in [Angle]($geometry)s. The values in the resulting object will be in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are Angle objects. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object into which to store the result (optional)\r\n   */\r\n  public static fromAngles(args: { longitude: Angle, latitude: Angle, height?: number }, result?: Cartographic) {\r\n    return Cartographic.fromRadians({ longitude: args.longitude.radians, latitude: args.latitude.radians, height: args.height }, result);\r\n  }\r\n\r\n  private static _cartesianToCartographicN = new Point3d();\r\n  private static _cartesianToCartographicP = new Point3d();\r\n  private static _cartesianToCartographicH = new Vector3d();\r\n  private static _wgs84OneOverRadii = new Point3d(1.0 / 6378137.0, 1.0 / 6378137.0, 1.0 / 6356752.3142451793);\r\n  private static _wgs84OneOverRadiiSquared = new Point3d(1.0 / (6378137.0 * 6378137.0), 1.0 / (6378137.0 * 6378137.0), 1.0 / (6356752.3142451793 * 6356752.3142451793));\r\n  private static _wgs84RadiiSquared = new Point3d(6378137.0 * 6378137.0, 6378137.0 * 6378137.0, 6356752.3142451793 * 6356752.3142451793);\r\n  private static _wgs84CenterToleranceSquared = 0.1;\r\n  private static _scratchN = new Vector3d();\r\n  private static _scratchK = new Vector3d();\r\n\r\n  /** Creates a new Cartographic from an [ECEF](https://en.wikipedia.org/wiki/ECEF) position.\r\n   * @param cartesian The position, in ECEF, to convert to cartographic representation.\r\n   * @param [result] The object onto which to store the result.\r\n   * @returns The modified result parameter, new Cartographic instance if none was provided, or undefined if the cartesian is at the center of the ellipsoid.\r\n   */\r\n  public static fromEcef(cartesian: Point3d, result?: Cartographic): Cartographic | undefined {\r\n    const oneOverRadiiSquared = Cartographic._wgs84OneOverRadiiSquared;\r\n    const p = Cartographic.scalePointToGeodeticSurface(cartesian, Cartographic._cartesianToCartographicP);\r\n\r\n    if (!p)\r\n      return undefined;\r\n\r\n    const n = Cartographic._cartesianToCartographicN;\r\n    Cartographic.multiplyComponents(p, oneOverRadiiSquared, n);\r\n    Cartographic.normalize(n, n);\r\n\r\n    const h = p.vectorTo(cartesian, Cartographic._cartesianToCartographicH);\r\n    const longitude = Math.atan2(n.y, n.x);\r\n    const latitude = Math.asin(n.z);\r\n    const height = Math.sign(h.dotProduct(cartesian)) * h.magnitude();\r\n\r\n    if (!result)\r\n      return new Cartographic(longitude, latitude, height);\r\n\r\n    result.longitude = longitude;\r\n    result.latitude = latitude;\r\n    result.height = height;\r\n    return result;\r\n  }\r\n\r\n  /** Scale point to geodetic surface\r\n   * @param point in ECEF to scale to the surface\r\n   * @param [result] The object onto which to store the result.\r\n   * @returns a point on the geodetic surface\r\n   */\r\n  public static scalePointToGeodeticSurface(point: Point3d, result?: Point3d): Point3d | undefined {\r\n    const oneOverRadii = Cartographic._wgs84OneOverRadii;\r\n    const oneOverRadiiSquared = Cartographic._wgs84OneOverRadiiSquared;\r\n    const centerToleranceSquared = Cartographic._wgs84CenterToleranceSquared;\r\n    return Cartographic._scaleToGeodeticSurface(point, oneOverRadii, oneOverRadiiSquared, centerToleranceSquared, result);\r\n  }\r\n\r\n  /** Duplicates a Cartographic. */\r\n  public clone(result?: Cartographic): Cartographic {\r\n    if (!result)\r\n      return new Cartographic(this.longitude, this.latitude, this.height);\r\n\r\n    result.longitude = this.longitude;\r\n    result.latitude = this.latitude;\r\n    result.height = this.height;\r\n    return result;\r\n  }\r\n\r\n  /** Return true if this Cartographic is the same as right */\r\n  public equals(right: CartographicProps): boolean {\r\n    return (this === right) ||\r\n      ((this.longitude === right.longitude) &&\r\n        (this.latitude === right.latitude) &&\r\n        (this.height === right.height));\r\n  }\r\n\r\n  /** Compares this Cartographic component-wise and returns true if they are within the provided epsilon, */\r\n  public equalsEpsilon(right: CartographicProps, epsilon: number): boolean {\r\n    return (this === right) ||\r\n      ((Math.abs(this.longitude - right.longitude) <= epsilon) &&\r\n        (Math.abs(this.latitude - right.latitude) <= epsilon) &&\r\n        (Math.abs(this.height - right.height) <= epsilon));\r\n  }\r\n\r\n  private static normalize(cartesian: XYZ, result: XYZ) {\r\n    const magnitude = cartesian.magnitude();\r\n    result.x = cartesian.x / magnitude;\r\n    result.y = cartesian.y / magnitude;\r\n    result.z = cartesian.z / magnitude;\r\n  }\r\n\r\n  private static multiplyComponents(left: XYAndZ, right: XYAndZ, result: XYZ) {\r\n    result.x = left.x * right.x;\r\n    result.y = left.y * right.y;\r\n    result.z = left.z * right.z;\r\n  }\r\n\r\n  private static scalePoint(cartesian: XYAndZ, scalar: number, result: XYZ) {\r\n    result.x = cartesian.x * scalar;\r\n    result.y = cartesian.y * scalar;\r\n    result.z = cartesian.z * scalar;\r\n  }\r\n\r\n  private static addPoints(left: XYAndZ, right: XYAndZ, result: XYZ) {\r\n    result.x = left.x + right.x;\r\n    result.y = left.y + right.y;\r\n    result.z = left.z + right.z;\r\n  }\r\n\r\n  /** Create a string representing this cartographic in the format '(longitude, latitude, height)'. */\r\n  public toString(): string { return `(${this.longitude}, ${this.latitude}, ${this.height})`; }\r\n\r\n  private static _scaleToGeodeticSurfaceIntersection = new Point3d();\r\n  private static _scaleToGeodeticSurfaceGradient = new Point3d();\r\n  private static _scaleToGeodeticSurface(cartesian: Point3d, oneOverRadii: XYAndZ, oneOverRadiiSquared: XYAndZ, centerToleranceSquared: number, result?: Point3d) {\r\n    const positionX = cartesian.x;\r\n    const positionY = cartesian.y;\r\n    const positionZ = cartesian.z;\r\n\r\n    const oneOverRadiiX = oneOverRadii.x;\r\n    const oneOverRadiiY = oneOverRadii.y;\r\n    const oneOverRadiiZ = oneOverRadii.z;\r\n\r\n    const x2 = positionX * positionX * oneOverRadiiX * oneOverRadiiX;\r\n    const y2 = positionY * positionY * oneOverRadiiY * oneOverRadiiY;\r\n    const z2 = positionZ * positionZ * oneOverRadiiZ * oneOverRadiiZ;\r\n\r\n    // Compute the squared ellipsoid norm.\r\n    const squaredNorm = x2 + y2 + z2;\r\n    const ratio = Math.sqrt(1.0 / squaredNorm);\r\n\r\n    // As an initial approximation, assume that the radial intersection is the projection point.\r\n    const intersection = Cartographic._scaleToGeodeticSurfaceIntersection;\r\n    Cartographic.scalePoint(cartesian, ratio, intersection);\r\n\r\n    // If the position is near the center, the iteration will not converge.\r\n    if (squaredNorm < centerToleranceSquared) {\r\n      return !isFinite(ratio) ? undefined : Point3d.createFrom(intersection, result);\r\n    }\r\n\r\n    const oneOverRadiiSquaredX = oneOverRadiiSquared.x;\r\n    const oneOverRadiiSquaredY = oneOverRadiiSquared.y;\r\n    const oneOverRadiiSquaredZ = oneOverRadiiSquared.z;\r\n\r\n    // Use the gradient at the intersection point in place of the true unit normal.\r\n    // The difference in magnitude will be absorbed in the multiplier.\r\n    const gradient = Cartographic._scaleToGeodeticSurfaceGradient;\r\n    gradient.x = intersection.x * oneOverRadiiSquaredX * 2.0;\r\n    gradient.y = intersection.y * oneOverRadiiSquaredY * 2.0;\r\n    gradient.z = intersection.z * oneOverRadiiSquaredZ * 2.0;\r\n\r\n    // Compute the initial guess at the normal vector multiplier, lambda.\r\n    let lambda = (1.0 - ratio) * cartesian.magnitude() / (0.5 * gradient.magnitude());\r\n    let correction = 0.0;\r\n    let func;\r\n    let denominator;\r\n    let xMultiplier;\r\n    let yMultiplier;\r\n    let zMultiplier;\r\n    let xMultiplier2;\r\n    let yMultiplier2;\r\n    let zMultiplier2;\r\n    let xMultiplier3;\r\n    let yMultiplier3;\r\n    let zMultiplier3;\r\n\r\n    do {\r\n      lambda -= correction;\r\n\r\n      xMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredX);\r\n      yMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredY);\r\n      zMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredZ);\r\n\r\n      xMultiplier2 = xMultiplier * xMultiplier;\r\n      yMultiplier2 = yMultiplier * yMultiplier;\r\n      zMultiplier2 = zMultiplier * zMultiplier;\r\n\r\n      xMultiplier3 = xMultiplier2 * xMultiplier;\r\n      yMultiplier3 = yMultiplier2 * yMultiplier;\r\n      zMultiplier3 = zMultiplier2 * zMultiplier;\r\n\r\n      func = x2 * xMultiplier2 + y2 * yMultiplier2 + z2 * zMultiplier2 - 1.0;\r\n\r\n      // \"denominator\" here refers to the use of this expression in the velocity and acceleration\r\n      // computations in the sections to follow.\r\n      denominator = x2 * xMultiplier3 * oneOverRadiiSquaredX + y2 * yMultiplier3 * oneOverRadiiSquaredY + z2 * zMultiplier3 * oneOverRadiiSquaredZ;\r\n\r\n      const derivative = -2.0 * denominator;\r\n\r\n      correction = func / derivative;\r\n    } while (Math.abs(func) > 0.01);\r\n\r\n    if (!result)\r\n      return new Point3d(positionX * xMultiplier, positionY * yMultiplier, positionZ * zMultiplier);\r\n\r\n    result.x = positionX * xMultiplier;\r\n    result.y = positionY * yMultiplier;\r\n    result.z = positionZ * zMultiplier;\r\n    return result;\r\n  }\r\n\r\n  /** Return an ECEF point from a Cartographic point */\r\n  public toEcef(result?: Point3d): Point3d {\r\n    const cosLatitude = Math.cos(this.latitude);\r\n    const scratchN = Cartographic._scratchN;\r\n    const scratchK = Cartographic._scratchK;\r\n    scratchN.x = cosLatitude * Math.cos(this.longitude);\r\n    scratchN.y = cosLatitude * Math.sin(this.longitude);\r\n    scratchN.z = Math.sin(this.latitude);\r\n    Cartographic.normalize(scratchN, scratchN);\r\n\r\n    Cartographic.multiplyComponents(Cartographic._wgs84RadiiSquared, scratchN, scratchK);\r\n    const gamma = Math.sqrt(scratchN.dotProduct(scratchK));\r\n    Cartographic.scalePoint(scratchK, 1.0 / gamma, scratchK);\r\n    Cartographic.scalePoint(scratchN, this.height, scratchN);\r\n\r\n    result = result ? result : new Point3d();\r\n    Cartographic.addPoints(scratchK, scratchN, result);\r\n    return result;\r\n  }\r\n}\r\n/** A cartographic range representing a rectangular region if low longitude/latitude > high then area crossing seam is indicated.\r\n * @public\r\n */\r\nexport class CartographicRange {\r\n  private _ranges: Range2d[] = [];\r\n\r\n  // These following are used to preserve the min/max latitude and longitudes.\r\n  // The longitudes are raw values and may cross over the -PI or 2PI boundaries.\r\n  private _minLongitude = 0;\r\n  private _maxLongitude = 0;\r\n  private _minLatitude = 0;\r\n  private _maxLatitude = 0;\r\n  constructor(spatialRange: Range3d, spatialToEcef: Transform) {\r\n    // Compute 8 corners in spatial coordinate system before converting to ECEF\r\n    // We want a box oriented in the spatial coordinate system and not in the ECEF coordinate system\r\n    const spatialCorners = spatialRange.corners();\r\n    const ecefCorners = spatialToEcef.multiplyPoint3dArray(spatialCorners);\r\n    let low: Cartographic | undefined, high: Cartographic | undefined;\r\n\r\n    for (const ecefCorner of ecefCorners) {\r\n      const geoPt = Cartographic.fromEcef(ecefCorner);\r\n      if (!geoPt)\r\n        continue;\r\n      if (undefined === low || undefined === high) {\r\n        low = geoPt;\r\n        high = geoPt.clone();\r\n        continue;\r\n      }\r\n      low.latitude = Math.min(low.latitude, geoPt.latitude);\r\n      low.longitude = Math.min(low.longitude, geoPt.longitude);\r\n      high.latitude = Math.max(high.latitude, geoPt.latitude);\r\n      high.longitude = Math.max(high.longitude, geoPt.longitude);\r\n    }\r\n\r\n    if (!low || !high) {\r\n      assert(false);\r\n      return;\r\n    }\r\n\r\n    const longitudeRanges = [];\r\n    this._minLongitude = Math.min(low.longitude, high.longitude), this._maxLongitude = Math.max(low.longitude, high.longitude);\r\n    if (this._maxLongitude - this._minLongitude > Angle.piRadians) {\r\n      longitudeRanges.push(Range1d.createXX(0.0, this._minLongitude));\r\n      longitudeRanges.push(Range1d.createXX(this._maxLongitude, Angle.pi2Radians));\r\n    } else {\r\n      longitudeRanges.push(Range1d.createXX(this._minLongitude, this._maxLongitude));\r\n    }\r\n\r\n    for (const longitudeRange of longitudeRanges) {\r\n      this._minLatitude = Math.min(low.latitude, high.latitude), this._maxLatitude = Math.max(low.latitude, high.latitude);\r\n      if (this._maxLatitude - this._minLatitude > Angle.piOver2Radians) {\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, 0.0, longitudeRange.high, this._minLatitude));\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, this._maxLatitude, longitudeRange.high, Angle.piRadians));\r\n      } else {\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, this._minLatitude, longitudeRange.high, this._maxLatitude));\r\n      }\r\n    }\r\n  }\r\n\r\n  public intersectsRange(other: CartographicRange): boolean {\r\n    for (const range of this._ranges)\r\n      for (const otherRange of other._ranges)\r\n        if (range.intersectsRange(otherRange))\r\n          return true;\r\n    return false;\r\n  }\r\n\r\n  /** This method returns the raw latitude / longitude for the range in a Range2d object.\r\n   * The X value represents the longitude and the Y value the latitudes.\r\n   * Y values are kept between -PI and +PI while\r\n   * longitude values can be expressed in any range between -2PI to +2PI\r\n   * given the minimum longitude is always smaller numerically than the maximum longitude.\r\n   * Note that usually the longitudes are usually by convention in the range of -PI to PI except\r\n   * for ranges that overlap the -PI/+PI frontier in which case either representation is acceptable.\r\n   */\r\n  public getLongitudeLatitudeBoundingBox(): Range2d {\r\n    return Range2d.createXYXY(this._minLongitude, this._minLatitude, this._maxLongitude, this._maxLatitude);\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Geometry\r\n */\r\n\r\nimport { Angle, Constant, Point3d, Range1d, Range2d, Range3d, Transform, Vector3d, XYAndZ, XYZ } from \"@itwin/core-geometry\";\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\n// portions adapted from Cesium.js Copyright 2011 - 2017 Cesium Contributors\r\n\r\n/** The JSON representation of a Cartographic object.\r\n * @public\r\n * @extensions\r\n **/\r\nexport interface CartographicProps {\r\n  /** The longitude, specified in radians. */\r\n  longitude: number;\r\n  /** The latitude, specified in radians. */\r\n  latitude: number;\r\n  /** The height, specified in meters above the ellipsoid. */\r\n  height: number;\r\n}\r\n\r\n/** A position on the earth defined by longitude, latitude, and height above the [WGS84](https://en.wikipedia.org/wiki/World_Geodetic_System) ellipsoid.\r\n * @public\r\n */\r\nexport class Cartographic implements CartographicProps {\r\n  /**\r\n   * @param longitude longitude, in radians.\r\n   * @param latitude latitude, in radians.\r\n   * @param height The height, in meters, above the ellipsoid.\r\n   */\r\n  private constructor(public longitude: number = 0, public latitude: number = 0, public height: number = 0) { }\r\n\r\n  /** Create a Cartographic object with longitude, latitude, and height of zero. */\r\n  public static createZero() {\r\n    return new Cartographic(0, 0, 0);\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude specified in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are numbers specified in radians. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object onto which to store the result.\r\n   */\r\n  public static fromRadians(args: { longitude: number, latitude: number, height?: number }, result?: Cartographic) {\r\n    if (!result)\r\n      return new Cartographic(args.longitude, args.latitude, args.height);\r\n\r\n    result.longitude = args.longitude;\r\n    result.latitude = args.latitude;\r\n    result.height = args.height !== undefined ? args.height : 0;\r\n    return result;\r\n  }\r\n\r\n  /** Create a JSON representation of a Cartographic object. */\r\n  public toJSON(): CartographicProps {\r\n    return {\r\n      latitude: this.latitude,\r\n      longitude: this.longitude,\r\n      height: this.height,\r\n    };\r\n  }\r\n\r\n  /** Freeze this Cartographic */\r\n  public freeze(): Readonly<this> {\r\n    return Object.freeze(this);\r\n  }\r\n\r\n  /** longitude, in degrees */\r\n  public get longitudeDegrees() {\r\n    return Angle.radiansToDegrees(this.longitude);\r\n  }\r\n\r\n  /** latitude, in degrees */\r\n  public get latitudeDegrees() {\r\n    return Angle.radiansToDegrees(this.latitude);\r\n  }\r\n\r\n  private static _oneMinusF = 1 - (Constant.earthRadiusWGS84.equator - Constant.earthRadiusWGS84.polar) / Constant.earthRadiusWGS84.equator;\r\n  private static _equatorOverPolar = Constant.earthRadiusWGS84.equator / Constant.earthRadiusWGS84.polar;\r\n  /** return the geocentric latitude angle for the input geodetic latitude angle (both in radians).\r\n   * @param geodeticLatitude geodetic latitude angle in radians\r\n   */\r\n  public static geocentricLatitudeFromGeodeticLatitude(geodeticLatitude: number): number {\r\n    return Math.atan(Cartographic._oneMinusF * Cartographic._oneMinusF * Math.tan(geodeticLatitude));\r\n  }\r\n  /** return the parametric latitude angle for the input geodetic latitude angle (both in radians).  The parametric latitude\r\n   * is appropriate for input to the Ellipsoid methods.\r\n   * @param geodeticLatitude geodetic latitude angle in radians\r\n   */\r\n  public static parametricLatitudeFromGeodeticLatitude(geodeticLatitude: number): number {\r\n    return Math.atan(Cartographic._oneMinusF * Cartographic._oneMinusF * Cartographic._equatorOverPolar * Math.tan(geodeticLatitude));\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude specified in degrees. The values in the resulting object will be in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are numbers specified in degrees. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object onto which to store the result.\r\n   */\r\n  public static fromDegrees(args: { longitude: number, latitude: number, height?: number }, result?: Cartographic) {\r\n    return Cartographic.fromRadians({ longitude: Angle.degreesToRadians(args.longitude), latitude: Angle.degreesToRadians(args.latitude), height: args.height }, result);\r\n  }\r\n\r\n  /** Create a new Cartographic from longitude and latitude in [Angle]($geometry)s. The values in the resulting object will be in radians.\r\n   * @param args an object containing a longitude, latitude, and an optional height property. The longitude and latitude properties are Angle objects. The height property, if specified, is a number which contains the height in meters above the ellipsoid; if undefined, this height will default to zero.\r\n   * @param result The object into which to store the result (optional)\r\n   */\r\n  public static fromAngles(args: { longitude: Angle, latitude: Angle, height?: number }, result?: Cartographic) {\r\n    return Cartographic.fromRadians({ longitude: args.longitude.radians, latitude: args.latitude.radians, height: args.height }, result);\r\n  }\r\n\r\n  private static _cartesianToCartographicN = new Point3d();\r\n  private static _cartesianToCartographicP = new Point3d();\r\n  private static _cartesianToCartographicH = new Vector3d();\r\n  private static _wgs84OneOverRadii = new Point3d(1.0 / 6378137.0, 1.0 / 6378137.0, 1.0 / 6356752.3142451793);\r\n  private static _wgs84OneOverRadiiSquared = new Point3d(1.0 / (6378137.0 * 6378137.0), 1.0 / (6378137.0 * 6378137.0), 1.0 / (6356752.3142451793 * 6356752.3142451793));\r\n  private static _wgs84RadiiSquared = new Point3d(6378137.0 * 6378137.0, 6378137.0 * 6378137.0, 6356752.3142451793 * 6356752.3142451793);\r\n  private static _wgs84CenterToleranceSquared = 0.1;\r\n  private static _scratchN = new Vector3d();\r\n  private static _scratchK = new Vector3d();\r\n\r\n  /** Creates a new Cartographic from an [ECEF](https://en.wikipedia.org/wiki/ECEF) position.\r\n   * @param cartesian The position, in ECEF, to convert to cartographic representation.\r\n   * @param [result] The object onto which to store the result.\r\n   * @returns The modified result parameter, new Cartographic instance if none was provided, or undefined if the cartesian is at the center of the ellipsoid.\r\n   */\r\n  public static fromEcef(cartesian: Point3d, result?: Cartographic): Cartographic | undefined {\r\n    const oneOverRadiiSquared = Cartographic._wgs84OneOverRadiiSquared;\r\n    const p = Cartographic.scalePointToGeodeticSurface(cartesian, Cartographic._cartesianToCartographicP);\r\n\r\n    if (!p)\r\n      return undefined;\r\n\r\n    const n = Cartographic._cartesianToCartographicN;\r\n    Cartographic.multiplyComponents(p, oneOverRadiiSquared, n);\r\n    Cartographic.normalize(n, n);\r\n\r\n    const h = p.vectorTo(cartesian, Cartographic._cartesianToCartographicH);\r\n    const longitude = Math.atan2(n.y, n.x);\r\n    const latitude = Math.asin(n.z);\r\n    const height = Math.sign(h.dotProduct(cartesian)) * h.magnitude();\r\n\r\n    if (!result)\r\n      return new Cartographic(longitude, latitude, height);\r\n\r\n    result.longitude = longitude;\r\n    result.latitude = latitude;\r\n    result.height = height;\r\n    return result;\r\n  }\r\n\r\n  /** Scale point to geodetic surface\r\n   * @param point in ECEF to scale to the surface\r\n   * @param [result] The object onto which to store the result.\r\n   * @returns a point on the geodetic surface\r\n   */\r\n  public static scalePointToGeodeticSurface(point: Point3d, result?: Point3d): Point3d | undefined {\r\n    const oneOverRadii = Cartographic._wgs84OneOverRadii;\r\n    const oneOverRadiiSquared = Cartographic._wgs84OneOverRadiiSquared;\r\n    const centerToleranceSquared = Cartographic._wgs84CenterToleranceSquared;\r\n    return Cartographic._scaleToGeodeticSurface(point, oneOverRadii, oneOverRadiiSquared, centerToleranceSquared, result);\r\n  }\r\n\r\n  /** Duplicates a Cartographic. */\r\n  public clone(result?: Cartographic): Cartographic {\r\n    if (!result)\r\n      return new Cartographic(this.longitude, this.latitude, this.height);\r\n\r\n    result.longitude = this.longitude;\r\n    result.latitude = this.latitude;\r\n    result.height = this.height;\r\n    return result;\r\n  }\r\n\r\n  /** Return true if this Cartographic is the same as right */\r\n  public equals(right: CartographicProps): boolean {\r\n    return (this === right) ||\r\n      ((this.longitude === right.longitude) &&\r\n        (this.latitude === right.latitude) &&\r\n        (this.height === right.height));\r\n  }\r\n\r\n  /** Compares this Cartographic component-wise and returns true if they are within the provided epsilon, */\r\n  public equalsEpsilon(right: CartographicProps, epsilon: number): boolean {\r\n    return (this === right) ||\r\n      ((Math.abs(this.longitude - right.longitude) <= epsilon) &&\r\n        (Math.abs(this.latitude - right.latitude) <= epsilon) &&\r\n        (Math.abs(this.height - right.height) <= epsilon));\r\n  }\r\n\r\n  private static normalize(cartesian: XYZ, result: XYZ) {\r\n    const magnitude = cartesian.magnitude();\r\n    result.x = cartesian.x / magnitude;\r\n    result.y = cartesian.y / magnitude;\r\n    result.z = cartesian.z / magnitude;\r\n  }\r\n\r\n  private static multiplyComponents(left: XYAndZ, right: XYAndZ, result: XYZ) {\r\n    result.x = left.x * right.x;\r\n    result.y = left.y * right.y;\r\n    result.z = left.z * right.z;\r\n  }\r\n\r\n  private static scalePoint(cartesian: XYAndZ, scalar: number, result: XYZ) {\r\n    result.x = cartesian.x * scalar;\r\n    result.y = cartesian.y * scalar;\r\n    result.z = cartesian.z * scalar;\r\n  }\r\n\r\n  private static addPoints(left: XYAndZ, right: XYAndZ, result: XYZ) {\r\n    result.x = left.x + right.x;\r\n    result.y = left.y + right.y;\r\n    result.z = left.z + right.z;\r\n  }\r\n\r\n  /** Create a string representing this cartographic in the format '(longitude, latitude, height)'. */\r\n  public toString(): string { return `(${this.longitude}, ${this.latitude}, ${this.height})`; }\r\n\r\n  private static _scaleToGeodeticSurfaceIntersection = new Point3d();\r\n  private static _scaleToGeodeticSurfaceGradient = new Point3d();\r\n  private static _scaleToGeodeticSurface(cartesian: Point3d, oneOverRadii: XYAndZ, oneOverRadiiSquared: XYAndZ, centerToleranceSquared: number, result?: Point3d) {\r\n    const positionX = cartesian.x;\r\n    const positionY = cartesian.y;\r\n    const positionZ = cartesian.z;\r\n\r\n    const oneOverRadiiX = oneOverRadii.x;\r\n    const oneOverRadiiY = oneOverRadii.y;\r\n    const oneOverRadiiZ = oneOverRadii.z;\r\n\r\n    const x2 = positionX * positionX * oneOverRadiiX * oneOverRadiiX;\r\n    const y2 = positionY * positionY * oneOverRadiiY * oneOverRadiiY;\r\n    const z2 = positionZ * positionZ * oneOverRadiiZ * oneOverRadiiZ;\r\n\r\n    // Compute the squared ellipsoid norm.\r\n    const squaredNorm = x2 + y2 + z2;\r\n    const ratio = Math.sqrt(1.0 / squaredNorm);\r\n\r\n    // As an initial approximation, assume that the radial intersection is the projection point.\r\n    const intersection = Cartographic._scaleToGeodeticSurfaceIntersection;\r\n    Cartographic.scalePoint(cartesian, ratio, intersection);\r\n\r\n    // If the position is near the center, the iteration will not converge.\r\n    if (squaredNorm < centerToleranceSquared) {\r\n      return !isFinite(ratio) ? undefined : Point3d.createFrom(intersection, result);\r\n    }\r\n\r\n    const oneOverRadiiSquaredX = oneOverRadiiSquared.x;\r\n    const oneOverRadiiSquaredY = oneOverRadiiSquared.y;\r\n    const oneOverRadiiSquaredZ = oneOverRadiiSquared.z;\r\n\r\n    // Use the gradient at the intersection point in place of the true unit normal.\r\n    // The difference in magnitude will be absorbed in the multiplier.\r\n    const gradient = Cartographic._scaleToGeodeticSurfaceGradient;\r\n    gradient.x = intersection.x * oneOverRadiiSquaredX * 2.0;\r\n    gradient.y = intersection.y * oneOverRadiiSquaredY * 2.0;\r\n    gradient.z = intersection.z * oneOverRadiiSquaredZ * 2.0;\r\n\r\n    // Compute the initial guess at the normal vector multiplier, lambda.\r\n    let lambda = (1.0 - ratio) * cartesian.magnitude() / (0.5 * gradient.magnitude());\r\n    let correction = 0.0;\r\n    let func;\r\n    let denominator;\r\n    let xMultiplier;\r\n    let yMultiplier;\r\n    let zMultiplier;\r\n    let xMultiplier2;\r\n    let yMultiplier2;\r\n    let zMultiplier2;\r\n    let xMultiplier3;\r\n    let yMultiplier3;\r\n    let zMultiplier3;\r\n\r\n    do {\r\n      lambda -= correction;\r\n\r\n      xMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredX);\r\n      yMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredY);\r\n      zMultiplier = 1.0 / (1.0 + lambda * oneOverRadiiSquaredZ);\r\n\r\n      xMultiplier2 = xMultiplier * xMultiplier;\r\n      yMultiplier2 = yMultiplier * yMultiplier;\r\n      zMultiplier2 = zMultiplier * zMultiplier;\r\n\r\n      xMultiplier3 = xMultiplier2 * xMultiplier;\r\n      yMultiplier3 = yMultiplier2 * yMultiplier;\r\n      zMultiplier3 = zMultiplier2 * zMultiplier;\r\n\r\n      func = x2 * xMultiplier2 + y2 * yMultiplier2 + z2 * zMultiplier2 - 1.0;\r\n\r\n      // \"denominator\" here refers to the use of this expression in the velocity and acceleration\r\n      // computations in the sections to follow.\r\n      denominator = x2 * xMultiplier3 * oneOverRadiiSquaredX + y2 * yMultiplier3 * oneOverRadiiSquaredY + z2 * zMultiplier3 * oneOverRadiiSquaredZ;\r\n\r\n      const derivative = -2.0 * denominator;\r\n\r\n      correction = func / derivative;\r\n    } while (Math.abs(func) > 0.01);\r\n\r\n    if (!result)\r\n      return new Point3d(positionX * xMultiplier, positionY * yMultiplier, positionZ * zMultiplier);\r\n\r\n    result.x = positionX * xMultiplier;\r\n    result.y = positionY * yMultiplier;\r\n    result.z = positionZ * zMultiplier;\r\n    return result;\r\n  }\r\n\r\n  /** Return an ECEF point from a Cartographic point */\r\n  public toEcef(result?: Point3d): Point3d {\r\n    const cosLatitude = Math.cos(this.latitude);\r\n    const scratchN = Cartographic._scratchN;\r\n    const scratchK = Cartographic._scratchK;\r\n    scratchN.x = cosLatitude * Math.cos(this.longitude);\r\n    scratchN.y = cosLatitude * Math.sin(this.longitude);\r\n    scratchN.z = Math.sin(this.latitude);\r\n    Cartographic.normalize(scratchN, scratchN);\r\n\r\n    Cartographic.multiplyComponents(Cartographic._wgs84RadiiSquared, scratchN, scratchK);\r\n    const gamma = Math.sqrt(scratchN.dotProduct(scratchK));\r\n    Cartographic.scalePoint(scratchK, 1.0 / gamma, scratchK);\r\n    Cartographic.scalePoint(scratchN, this.height, scratchN);\r\n\r\n    result = result ? result : new Point3d();\r\n    Cartographic.addPoints(scratchK, scratchN, result);\r\n    return result;\r\n  }\r\n}\r\n/** A cartographic range representing a rectangular region if low longitude/latitude > high then area crossing seam is indicated.\r\n * @public\r\n */\r\nexport class CartographicRange {\r\n  private _ranges: Range2d[] = [];\r\n\r\n  // These following are used to preserve the min/max latitude and longitudes.\r\n  // The longitudes are raw values and may cross over the -PI or 2PI boundaries.\r\n  private _minLongitude = 0;\r\n  private _maxLongitude = 0;\r\n  private _minLatitude = 0;\r\n  private _maxLatitude = 0;\r\n  constructor(spatialRange: Range3d, spatialToEcef: Transform) {\r\n    // Compute 8 corners in spatial coordinate system before converting to ECEF\r\n    // We want a box oriented in the spatial coordinate system and not in the ECEF coordinate system\r\n    const spatialCorners = spatialRange.corners();\r\n    const ecefCorners = spatialToEcef.multiplyPoint3dArray(spatialCorners);\r\n    let low: Cartographic | undefined, high: Cartographic | undefined;\r\n\r\n    for (const ecefCorner of ecefCorners) {\r\n      const geoPt = Cartographic.fromEcef(ecefCorner);\r\n      if (!geoPt)\r\n        continue;\r\n      if (undefined === low || undefined === high) {\r\n        low = geoPt;\r\n        high = geoPt.clone();\r\n        continue;\r\n      }\r\n      low.latitude = Math.min(low.latitude, geoPt.latitude);\r\n      low.longitude = Math.min(low.longitude, geoPt.longitude);\r\n      high.latitude = Math.max(high.latitude, geoPt.latitude);\r\n      high.longitude = Math.max(high.longitude, geoPt.longitude);\r\n    }\r\n\r\n    if (!low || !high) {\r\n      assert(false);\r\n      return;\r\n    }\r\n\r\n    const longitudeRanges = [];\r\n    this._minLongitude = Math.min(low.longitude, high.longitude), this._maxLongitude = Math.max(low.longitude, high.longitude);\r\n    if (this._maxLongitude - this._minLongitude > Angle.piRadians) {\r\n      longitudeRanges.push(Range1d.createXX(0.0, this._minLongitude));\r\n      longitudeRanges.push(Range1d.createXX(this._maxLongitude, Angle.pi2Radians));\r\n    } else {\r\n      longitudeRanges.push(Range1d.createXX(this._minLongitude, this._maxLongitude));\r\n    }\r\n\r\n    for (const longitudeRange of longitudeRanges) {\r\n      this._minLatitude = Math.min(low.latitude, high.latitude), this._maxLatitude = Math.max(low.latitude, high.latitude);\r\n      if (this._maxLatitude - this._minLatitude > Angle.piOver2Radians) {\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, 0.0, longitudeRange.high, this._minLatitude));\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, this._maxLatitude, longitudeRange.high, Angle.piRadians));\r\n      } else {\r\n        this._ranges.push(Range2d.createXYXY(longitudeRange.low, this._minLatitude, longitudeRange.high, this._maxLatitude));\r\n      }\r\n    }\r\n  }\r\n\r\n  public intersectsRange(other: CartographicRange): boolean {\r\n    for (const range of this._ranges)\r\n      for (const otherRange of other._ranges)\r\n        if (range.intersectsRange(otherRange))\r\n          return true;\r\n    return false;\r\n  }\r\n\r\n  /** This method returns the raw latitude / longitude for the range in a Range2d object.\r\n   * The X value represents the longitude and the Y value the latitudes.\r\n   * Y values are kept between -PI and +PI while\r\n   * longitude values can be expressed in any range between -2PI to +2PI\r\n   * given the minimum longitude is always smaller numerically than the maximum longitude.\r\n   * Note that usually the longitudes are usually by convention in the range of -PI to PI except\r\n   * for ranges that overlap the -PI/+PI frontier in which case either representation is acceptable.\r\n   */\r\n  public getLongitudeLatitudeBoundingBox(): Range2d {\r\n    return Range2d.createXYXY(this._minLongitude, this._minLatitude, this._maxLongitude, this._maxLatitude);\r\n  }\r\n}\r\n"]}