@itwin/core-geometry 3.0.0-dev.76 → 3.0.0-dev.80

package/lib/esm/geometry3d/OrderedRotationAngles.js

@@ -0,0 +1,228 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { AxisOrder } from "../Geometry";
+import { Angle } from "./Angle";
+import { Matrix3d } from "./Matrix3d";
+/**
+ * * OrderedRotationAngles represents a non-trivial rotation using three simple axis rotation angles, and an order in which to apply them.
+ * * This class accommodates application-specific interpretation of "Multiplying 3 rotation matrices" with regard to
+ *   * Whether a "vector" is a "row" or a "column"
+ *   * The order in which the X,Y, Z rotations are applied.
+ * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.
+ * @alpha
+ */
+export class OrderedRotationAngles {
+    constructor(x, y, z, axisOrder) {
+        this._x = x;
+        this._y = y;
+        this._z = z;
+        this._order = axisOrder;
+    }
+    /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */
+    get order() { return this._order; }
+    /** (Property accessor) Return the strongly typed angle of rotation around x. */
+    get xAngle() { return this._x.clone(); }
+    /** (Property accessor) Return the strongly typed angle of rotation around y. */
+    get yAngle() { return this._y.clone(); }
+    /** (Property accessor) Return the strongly typed angle of rotation around z. */
+    get zAngle() { return this._z.clone(); }
+    /** (Property accessor) Return the angle of rotation around x, in degrees */
+    get xDegrees() { return this._x.degrees; }
+    /** (Property accessor) Return the angle of rotation around y, in degrees */
+    get xRadians() { return this._x.radians; }
+    /** (Property accessor) Return the angle of rotation around z, in degrees */
+    get yDegrees() { return this._y.degrees; }
+    /** (Property accessor) Return the angle of rotation around x, in radians */
+    get yRadians() { return this._y.radians; }
+    /** (Property accessor) Return the angle of rotation around y, in radians */
+    get zDegrees() { return this._z.degrees; }
+    /** (Property accessor) Return the angle of rotation around z, in radians */
+    get zRadians() { return this._z.radians; }
+    /** Flag controlling whether vectors are treated as rows or as columns */
+    static get treatVectorsAsColumns() { return OrderedRotationAngles._sTreatVectorsAsColumns; }
+    static set treatVectorsAsColumns(value) { OrderedRotationAngles._sTreatVectorsAsColumns = value; }
+    /** Create an OrderedRotationAngles from three angles and an ordering in which to apply them when rotating.
+     * @param xRotation rotation around x
+     * @param yRotation rotation around y
+     * @param zRotation rotation around z
+     * @param axisOrder right to left order of axis names identifies the order that rotations are applied to xyz data.
+     */
+    static createAngles(xRotation, yRotation, zRotation, order, result) {
+        if (result) {
+            result._x.setFrom(xRotation);
+            result._y.setFrom(yRotation);
+            result._z.setFrom(zRotation);
+            result._order = order;
+            return result;
+        }
+        return new OrderedRotationAngles(xRotation.clone(), yRotation.clone(), zRotation.clone(), order);
+    }
+    /** Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply them when rotating. */
+    static createRadians(xRadians, yRadians, zRadians, order, result) {
+        if (result) {
+            result._x.setRadians(xRadians);
+            result._y.setRadians(yRadians);
+            result._z.setRadians(zRadians);
+            result._order = order;
+            return result;
+        }
+        return new OrderedRotationAngles(Angle.createRadians(xRadians), Angle.createRadians(yRadians), Angle.createRadians(zRadians), order);
+    }
+    /** Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply them when rotating. */
+    static createDegrees(xDegrees, yDegrees, zDegrees, order, result) {
+        if (result) {
+            result._x.setDegrees(xDegrees);
+            result._y.setDegrees(yDegrees);
+            result._z.setDegrees(zDegrees);
+            result._order = order;
+            return result;
+        }
+        return new OrderedRotationAngles(Angle.createDegrees(xDegrees), Angle.createDegrees(yDegrees), Angle.createDegrees(zDegrees), order);
+    }
+    /** Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations that the matrix derives from. */
+    static createFromMatrix3d(matrix, order, result) {
+        let m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];
+        let m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];
+        let m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];
+        if (OrderedRotationAngles.treatVectorsAsColumns) {
+            // the formulas are from row order .. flip the mIJ
+            m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];
+            m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];
+            m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];
+        }
+        let xRad;
+        let yRad;
+        let zRad;
+        switch (order) {
+            case AxisOrder.XYZ: {
+                yRad = Math.asin(Math.max(-1, Math.min(1, m13)));
+                if (Math.abs(m13) < 0.99999) {
+                    xRad = Math.atan2(-m23, m33);
+                    zRad = Math.atan2(-m12, m11);
+                }
+                else {
+                    xRad = Math.atan2(m32, m22);
+                    zRad = 0;
+                }
+                break;
+            }
+            case AxisOrder.YXZ: {
+                xRad = Math.asin(-Math.max(-1, Math.min(1, m23)));
+                if (Math.abs(m23) < 0.99999) {
+                    yRad = Math.atan2(m13, m33);
+                    zRad = Math.atan2(m21, m22);
+                }
+                else {
+                    yRad = Math.atan2(-m31, m11);
+                    zRad = 0;
+                }
+                break;
+            }
+            case AxisOrder.ZXY: {
+                xRad = Math.asin(Math.max(-1, Math.min(1, m32)));
+                if (Math.abs(m32) < 0.99999) {
+                    yRad = Math.atan2(-m31, m33);
+                    zRad = Math.atan2(-m12, m22);
+                }
+                else {
+                    yRad = 0;
+                    zRad = Math.atan2(m21, m11);
+                }
+                break;
+            }
+            case AxisOrder.ZYX: {
+                yRad = -Math.asin(Math.max(-1, Math.min(1, m31)));
+                if (Math.abs(m31) < 0.99999) {
+                    xRad = Math.atan2(m32, m33);
+                    zRad = Math.atan2(m21, m11);
+                }
+                else {
+                    xRad = 0;
+                    zRad = Math.atan2(-m12, m22);
+                }
+                break;
+            }
+            case AxisOrder.YZX: {
+                zRad = Math.asin(Math.max(-1, Math.min(1, m21)));
+                if (Math.abs(m21) < 0.99999) {
+                    xRad = Math.atan2(-m23, m22);
+                    yRad = Math.atan2(-m31, m11);
+                }
+                else {
+                    xRad = 0;
+                    yRad = Math.atan2(m13, m33);
+                }
+                break;
+            }
+            case AxisOrder.XZY: {
+                zRad = -Math.asin(Math.max(-1, Math.min(1, m12)));
+                if (Math.abs(m12) < 0.99999) {
+                    xRad = Math.atan2(m32, m22);
+                    yRad = Math.atan2(m13, m11);
+                }
+                else {
+                    xRad = Math.atan2(-m23, m33);
+                    yRad = 0;
+                }
+                break;
+            }
+            default: {
+                xRad = yRad = zRad = 0;
+            }
+        }
+        if (OrderedRotationAngles.treatVectorsAsColumns)
+            return OrderedRotationAngles.createRadians(-xRad, -yRad, -zRad, order, result);
+        return OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, result);
+    }
+    /** Create a 3x3 rotational matrix from this OrderedRotationAngles. */
+    toMatrix3d(result) {
+        const rot = result !== undefined ? result : new Matrix3d();
+        const axisOrder = this.order;
+        const x = this.xAngle, y = this.yAngle, z = this.zAngle;
+        const a = x.cos();
+        let b = x.sin();
+        const c = y.cos();
+        let d = y.sin();
+        const e = z.cos();
+        let f = z.sin();
+        if (OrderedRotationAngles.treatVectorsAsColumns) {
+            b = -b;
+            d = -d;
+            f = -f;
+        }
+        if (axisOrder === AxisOrder.XYZ) {
+            const ae = a * e, af = a * f, be = b * e, bf = b * f;
+            rot.setRowValues(c * e, af + be * d, bf - ae * d, -c * f, ae - bf * d, be + af * d, d, -b * c, a * c);
+        }
+        else if (axisOrder === AxisOrder.YXZ) {
+            const ce = c * e, cf = c * f, de = d * e, df = d * f;
+            rot.setRowValues(ce + df * b, a * f, cf * b - de, de * b - cf, a * e, df + ce * b, a * d, -b, a * c);
+        }
+        else if (axisOrder === AxisOrder.ZXY) {
+            const ce = c * e, cf = c * f, de = d * e, df = d * f;
+            rot.setRowValues(ce - df * b, cf + de * b, -a * d, -a * f, a * e, b, de + cf * b, df - ce * b, a * c);
+        }
+        else if (axisOrder === AxisOrder.ZYX) {
+            const ae = a * e, af = a * f, be = b * e, bf = b * f;
+            rot.setRowValues(c * e, c * f, -d, be * d - af, bf * d + ae, b * c, ae * d + bf, af * d - be, a * c);
+        }
+        else if (axisOrder === AxisOrder.YZX) {
+            const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+            rot.setRowValues(c * e, f, -d * e, bd - ac * f, a * e, ad * f + bc, bc * f + ad, -b * e, ac - bd * f);
+        }
+        else if (axisOrder === AxisOrder.XZY) {
+            const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+            rot.setRowValues(c * e, ac * f + bd, bc * f - ad, -f, a * e, b * e, d * e, ad * f - bc, bd * f + ac);
+        }
+        if (OrderedRotationAngles.treatVectorsAsColumns)
+            rot.transposeInPlace();
+        return rot;
+    }
+}
+OrderedRotationAngles._sTreatVectorsAsColumns = false;
+//# sourceMappingURL=OrderedRotationAngles.js.map

package/lib/esm/geometry3d/OrderedRotationAngles.js.map

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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\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AxisOrder } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\n\r\n/**\r\n * * OrderedRotationAngles represents a non-trivial rotation using three simple axis rotation angles, and an order in which to apply them.\r\n * * This class accommodates application-specific interpretation of \"Multiplying 3 rotation matrices\" with regard to\r\n *   * Whether a \"vector\" is a \"row\" or a \"column\"\r\n *   * The order in which the X,Y, Z rotations are applied.\r\n * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.\r\n * @alpha\r\n */\r\nexport class OrderedRotationAngles {\r\n  private _x: Angle;\r\n  private _y: Angle;\r\n  private _z: Angle;\r\n  private _order: AxisOrder;\r\n  private static _sTreatVectorsAsColumns: boolean = false;\r\n\r\n  private constructor(x: Angle, y: Angle, z: Angle, axisOrder: AxisOrder) {\r\n    this._x = x;\r\n    this._y = y;\r\n    this._z = z;\r\n    this._order = axisOrder;\r\n  }\r\n\r\n  /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */\r\n  public get order(): AxisOrder { return this._order; }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around x. */\r\n  public get xAngle(): Angle { return this._x.clone(); }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around y. */\r\n  public get yAngle(): Angle { return this._y.clone(); }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around z. */\r\n  public get zAngle(): Angle { return this._z.clone(); }\r\n  /** (Property accessor) Return the angle of rotation around x, in degrees */\r\n  public get xDegrees(): number { return this._x.degrees; }\r\n  /** (Property accessor) Return the angle of rotation around y, in degrees */\r\n  public get xRadians(): number { return this._x.radians; }\r\n  /** (Property accessor) Return the angle of rotation around z, in degrees */\r\n  public get yDegrees(): number { return this._y.degrees; }\r\n  /** (Property accessor) Return the angle of rotation around x, in radians */\r\n  public get yRadians(): number { return this._y.radians; }\r\n  /** (Property accessor) Return the angle of rotation around y, in radians */\r\n  public get zDegrees(): number { return this._z.degrees; }\r\n  /** (Property accessor) Return the angle of rotation around z, in radians */\r\n  public get zRadians(): number { return this._z.radians; }\r\n  /** Flag controlling whether vectors are treated as rows or as columns */\r\n  public static get treatVectorsAsColumns(): boolean { return OrderedRotationAngles._sTreatVectorsAsColumns; }\r\n  public static set treatVectorsAsColumns(value: boolean) { OrderedRotationAngles._sTreatVectorsAsColumns = value; }\r\n\r\n  /** Create an OrderedRotationAngles from three angles and an ordering in which to apply them when rotating.\r\n   * @param xRotation rotation around x\r\n   * @param yRotation rotation around y\r\n   * @param zRotation rotation around z\r\n   * @param axisOrder right to left order of axis names identifies the order that rotations are applied to xyz data.\r\n   */\r\n  public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    if (result) {\r\n      result._x.setFrom(xRotation);\r\n      result._y.setFrom(yRotation);\r\n      result._z.setFrom(zRotation);\r\n      result._order = order;\r\n      return result;\r\n    }\r\n    return new OrderedRotationAngles(xRotation.clone(), yRotation.clone(), zRotation.clone(), order);\r\n  }\r\n\r\n  /** Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply them when rotating. */\r\n  public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    if (result) {\r\n      result._x.setRadians(xRadians);\r\n      result._y.setRadians(yRadians);\r\n      result._z.setRadians(zRadians);\r\n      result._order = order;\r\n      return result;\r\n    }\r\n    return new OrderedRotationAngles(Angle.createRadians(xRadians), Angle.createRadians(yRadians), Angle.createRadians(zRadians), order);\r\n  }\r\n\r\n  /** Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply them when rotating. */\r\n  public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    if (result) {\r\n      result._x.setDegrees(xDegrees);\r\n      result._y.setDegrees(yDegrees);\r\n      result._z.setDegrees(zDegrees);\r\n      result._order = order;\r\n      return result;\r\n    }\r\n    return new OrderedRotationAngles(Angle.createDegrees(xDegrees), Angle.createDegrees(yDegrees), Angle.createDegrees(zDegrees), order);\r\n  }\r\n\r\n  /** Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations that the matrix derives from. */\r\n  public static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles {\r\n\r\n    let m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];\r\n    let m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];\r\n    let m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];\r\n\r\n    if (OrderedRotationAngles.treatVectorsAsColumns) {\r\n      // the formulas are from row order .. flip the mIJ\r\n      m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];\r\n      m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];\r\n      m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];\r\n\r\n    }\r\n\r\n    let xRad: number;\r\n    let yRad: number;\r\n    let zRad: number;\r\n\r\n    switch (order) {\r\n      case AxisOrder.XYZ: {\r\n        yRad = Math.asin(Math.max(-1, Math.min(1, m13)));\r\n\r\n        if (Math.abs(m13) < 0.99999) {\r\n          xRad = Math.atan2(- m23, m33);\r\n          zRad = Math.atan2(- m12, m11);\r\n        } else {\r\n          xRad = Math.atan2(m32, m22);\r\n          zRad = 0;\r\n        }\r\n        break;\r\n      } case AxisOrder.YXZ: {\r\n        xRad = Math.asin(-Math.max(-1, Math.min(1, m23)));\r\n\r\n        if (Math.abs(m23) < 0.99999) {\r\n          yRad = Math.atan2(m13, m33);\r\n          zRad = Math.atan2(m21, m22);\r\n        } else {\r\n          yRad = Math.atan2(-m31, m11);\r\n          zRad = 0;\r\n        }\r\n        break;\r\n      } case AxisOrder.ZXY: {\r\n        xRad = Math.asin(Math.max(-1, Math.min(1, m32)));\r\n\r\n        if (Math.abs(m32) < 0.99999) {\r\n          yRad = Math.atan2(-m31, m33);\r\n          zRad = Math.atan2(-m12, m22);\r\n        } else {\r\n          yRad = 0;\r\n          zRad = Math.atan2(m21, m11);\r\n        }\r\n        break;\r\n      } case AxisOrder.ZYX: {\r\n        yRad = -Math.asin(Math.max(-1, Math.min(1, m31)));\r\n\r\n        if (Math.abs(m31) < 0.99999) {\r\n          xRad = Math.atan2(m32, m33);\r\n          zRad = Math.atan2(m21, m11);\r\n        } else {\r\n          xRad = 0;\r\n          zRad = Math.atan2(-m12, m22);\r\n        }\r\n        break;\r\n      } case AxisOrder.YZX: {\r\n        zRad = Math.asin(Math.max(-1, Math.min(1, m21)));\r\n\r\n        if (Math.abs(m21) < 0.99999) {\r\n          xRad = Math.atan2(-m23, m22);\r\n          yRad = Math.atan2(-m31, m11);\r\n        } else {\r\n          xRad = 0;\r\n          yRad = Math.atan2(m13, m33);\r\n        }\r\n        break;\r\n      } case AxisOrder.XZY: {\r\n        zRad = -Math.asin(Math.max(-1, Math.min(1, m12)));\r\n\r\n        if (Math.abs(m12) < 0.99999) {\r\n          xRad = Math.atan2(m32, m22);\r\n          yRad = Math.atan2(m13, m11);\r\n        } else {\r\n          xRad = Math.atan2(-m23, m33);\r\n          yRad = 0;\r\n        }\r\n        break;\r\n      } default: {\r\n        xRad = yRad = zRad = 0;\r\n      }\r\n    }\r\n    if (OrderedRotationAngles.treatVectorsAsColumns)\r\n      return OrderedRotationAngles.createRadians(-xRad, -yRad, -zRad, order, result);\r\n\r\n    return OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, result);\r\n  }\r\n\r\n  /** Create a 3x3 rotational matrix from this OrderedRotationAngles. */\r\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\r\n    const rot = result !== undefined ? result : new Matrix3d();\r\n    const axisOrder = this.order;\r\n    const x = this.xAngle, y = this.yAngle, z = this.zAngle;\r\n    const a = x.cos(); let b = x.sin();\r\n    const c = y.cos(); let d = y.sin();\r\n    const e = z.cos(); let f = z.sin();\r\n    if (OrderedRotationAngles.treatVectorsAsColumns) {\r\n      b = -b;\r\n      d = -d;\r\n      f = -f;\r\n    }\r\n\r\n    if (axisOrder === AxisOrder.XYZ) {\r\n      const ae = a * e, af = a * f, be = b * e, bf = b * f;\r\n      rot.setRowValues(\r\n        c * e, af + be * d, bf - ae * d,\r\n        -c * f, ae - bf * d, be + af * d,\r\n        d, -b * c, a * c,\r\n      );\r\n    } else if (axisOrder === AxisOrder.YXZ) {\r\n      const ce = c * e, cf = c * f, de = d * e, df = d * f;\r\n      rot.setRowValues(\r\n        ce + df * b, a * f, cf * b - de,\r\n        de * b - cf, a * e, df + ce * b,\r\n        a * d, -b, a * c,\r\n      );\r\n    } else if (axisOrder === AxisOrder.ZXY) {\r\n      const ce = c * e, cf = c * f, de = d * e, df = d * f;\r\n      rot.setRowValues(\r\n        ce - df * b, cf + de * b, -a * d,\r\n        -a * f, a * e, b,\r\n        de + cf * b, df - ce * b, a * c,\r\n      );\r\n    } else if (axisOrder === AxisOrder.ZYX) {\r\n      const ae = a * e, af = a * f, be = b * e, bf = b * f;\r\n      rot.setRowValues(\r\n        c * e, c * f, -d,\r\n        be * d - af, bf * d + ae, b * c,\r\n        ae * d + bf, af * d - be, a * c,\r\n      );\r\n    } else if (axisOrder === AxisOrder.YZX) {\r\n      const ac = a * c, ad = a * d, bc = b * c, bd = b * d;\r\n      rot.setRowValues(\r\n        c * e, f, -d * e,\r\n        bd - ac * f, a * e, ad * f + bc,\r\n        bc * f + ad, -b * e, ac - bd * f,\r\n      );\r\n    } else if (axisOrder === AxisOrder.XZY) {\r\n      const ac = a * c, ad = a * d, bc = b * c, bd = b * d;\r\n      rot.setRowValues(\r\n        c * e, ac * f + bd, bc * f - ad,\r\n        -f, a * e, b * e,\r\n        d * e, ad * f - bc, bd * f + ac,\r\n      );\r\n    }\r\n    if (OrderedRotationAngles.treatVectorsAsColumns)\r\n      rot.transposeInPlace();\r\n\r\n    return rot;\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry3d/Plane3dByOriginAndUnitNormal.d.ts

@@ -0,0 +1,122 @@
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { BeJSONFunctions, PlaneAltitudeEvaluator } from "../Geometry";
+import { Point4d } from "../geometry4d/Point4d";
+import { Angle } from "./Angle";
+import { Point3d, Vector3d } from "./Point3dVector3d";
+import { Transform } from "./Transform";
+import { XAndY } from "./XYZProps";
+/**
+ * A plane defined by
+ *
+ * * Any point on the plane.
+ * * a unit normal.
+ * @public
+ */
+export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, PlaneAltitudeEvaluator {
+    private _origin;
+    private _normal;
+    private constructor();
+    private static _create;
+    /**
+     * Create a plane parallel to the XY plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createXYPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal;
+    /**
+     * Create a plane parallel to the YZ plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createYZPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal;
+    /**
+     * Create a plane parallel to the ZX plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createZXPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal;
+    /** create a new  Plane3dByOriginAndUnitNormal with given origin and normal.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined;
+    /** create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.
+     * * Returns undefined if the normal vector is all zeros.
+     * * If unable to normalize return undefined. (And if result is given it is left unchanged)
+     */
+    static createXYZUVW(ax: number, ay: number, az: number, ux: number, uy: number, uz: number, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined;
+    /** create a new  Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line defined by xy parts of origin to target.
+     * * origin and normal both have z = 0.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createOriginAndTargetXY(origin: XAndY, target: XAndY, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined;
+    /** create a new  Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createXYAngle(x: number, y: number, normalAngleFromX: Angle, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal;
+    /** Create a plane defined by two points and an in-plane vector.
+     * @param pointA any point in the plane
+     * @param pointB any other point in the plane
+     * @param vector any vector in the plane but not parallel to the vector from pointA to pointB
+     */
+    static createPointPointVectorInPlane(pointA: Point3d, pointB: Point3d, vector: Vector3d): Plane3dByOriginAndUnitNormal | undefined;
+    /** test for (toleranced) equality with `other` */
+    isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean;
+    /** Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}`  */
+    setFromJSON(json?: any): void;
+    /**
+     * Convert to a JSON object.
+     * @return {*} [origin,normal]
+     */
+    toJSON(): any;
+    /**  create a new Plane3dByOriginAndUnitNormal from json fragment.
+     * * See `Plane3dByOriginAndUnitNormal.setFromJSON`
+     */
+    static fromJSON(json?: any): Plane3dByOriginAndUnitNormal;
+    /** Return a reference to the origin. */
+    getOriginRef(): Point3d;
+    /** Return a reference to the unit normal. */
+    getNormalRef(): Vector3d;
+    /** Return coordinate axes (as a transform) with
+     * * origin at plane origin
+     * * z axis in direction of plane normal.
+     * * x,y axes in plane.
+     */
+    getLocalToWorld(): Transform;
+    /** Return a (singular) transform which projects points to this plane.
+     */
+    getProjectionToPlane(): Transform;
+    /** Copy coordinates from the given origin and normal. */
+    set(origin: Point3d, normal: Vector3d): void;
+    /** return a deep clone (point and normal cloned) */
+    clone(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal;
+    /** Create a clone and return the transform of the clone. */
+    cloneTransformed(transform: Transform, inverse?: boolean): Plane3dByOriginAndUnitNormal | undefined;
+    /** Copy data from the given plane. */
+    setFrom(source: Plane3dByOriginAndUnitNormal): void;
+    /** Return the altitude of spacePoint above or below the plane.  (Below is negative) */
+    altitude(spacePoint: Point3d): number;
+    /** Return the altitude of point (x,y)  given xy parts using only the xy parts of origin and unit normal */
+    altitudeXY(x: number, y: number): number;
+    /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative) */
+    weightedAltitude(spacePoint: Point4d): number;
+    /** return a point at specified (signed) altitude */
+    altitudeToPoint(altitude: number, result?: Point3d): Point3d;
+    /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     */
+    velocityXYZ(x: number, y: number, z: number): number;
+    /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     */
+    velocity(spaceVector: Vector3d): number;
+    /** Return the altitude of a point given as separate x,y,z components. */
+    altitudeXYZ(x: number, y: number, z: number): number;
+    /** Return the altitude of a point given as separate x,y,z,w components. */
+    altitudeXYZW(x: number, y: number, z: number, w: number): number;
+    /** Return the projection of spacePoint onto the plane. */
+    projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
+    /** Returns true of spacePoint is within distance tolerance of the plane. */
+    isPointInPlane(spacePoint: Point3d): boolean;
+}
+//# sourceMappingURL=Plane3dByOriginAndUnitNormal.d.ts.map

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package/lib/esm/geometry3d/Plane3dByOriginAndUnitNormal.js

@@ -0,0 +1,237 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { AxisOrder, Geometry } from "../Geometry";
+import { Matrix3d } from "./Matrix3d";
+import { Point3d, Vector3d } from "./Point3dVector3d";
+import { Transform } from "./Transform";
+/**
+ * A plane defined by
+ *
+ * * Any point on the plane.
+ * * a unit normal.
+ * @public
+ */
+export class Plane3dByOriginAndUnitNormal {
+    // constructor captures references !!!
+    constructor(origin, normal) {
+        this._origin = origin;
+        this._normal = normal;
+    }
+    // This is private because it does not check validity of the unit vector.
+    static _create(x, y, z, u, v, w) {
+        return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, z), Vector3d.create(u, v, w));
+    }
+    /**
+     * Create a plane parallel to the XY plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createXYPlane(origin) {
+        if (origin)
+            return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 0, 1);
+        return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 0, 1);
+    }
+    /**
+     * Create a plane parallel to the YZ plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createYZPlane(origin) {
+        if (origin)
+            return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 1, 0, 0);
+        return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 1, 0, 0);
+    }
+    /**
+     * Create a plane parallel to the ZX plane
+     * @param origin optional plane origin.  If omitted, the origin is placed at 000
+     */
+    static createZXPlane(origin) {
+        if (origin)
+            return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 1, 0);
+        return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 1, 0);
+    }
+    /** create a new  Plane3dByOriginAndUnitNormal with given origin and normal.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static create(origin, normal, result) {
+        const normalized = normal.normalize();
+        if (!normalized)
+            return undefined;
+        if (result) {
+            result.set(origin, normalized);
+            return result;
+        }
+        return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);
+    }
+    /** create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.
+     * * Returns undefined if the normal vector is all zeros.
+     * * If unable to normalize return undefined. (And if result is given it is left unchanged)
+     */
+    static createXYZUVW(ax, ay, az, ux, uy, uz, result) {
+        const magU = Geometry.hypotenuseXYZ(ux, uy, uz);
+        if (magU < Geometry.smallMetricDistance)
+            return undefined;
+        if (result) {
+            result._origin.set(ax, ay, az);
+            result._normal.set(ux / magU, uy / magU, uz / magU);
+            return result;
+        }
+        return new Plane3dByOriginAndUnitNormal(Point3d.create(ax, ay, az), Vector3d.create(ux / magU, uy / magU, uz / magU));
+    }
+    /** create a new  Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line defined by xy parts of origin to target.
+     * * origin and normal both have z = 0.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createOriginAndTargetXY(origin, target, result) {
+        const ux = target.x - origin.x;
+        const uy = target.y - origin.y;
+        return this.createXYZUVW(origin.x, origin.y, 0.0, uy, -ux, 0.0, result);
+    }
+    /** create a new  Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createXYAngle(x, y, normalAngleFromX, result) {
+        if (result) {
+            result._origin.set(x, y, 0.0);
+            result._normal.set(normalAngleFromX.cos(), normalAngleFromX.sin(), 0.0);
+            return result;
+        }
+        return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, 0), Vector3d.create(normalAngleFromX.cos(), normalAngleFromX.sin()));
+    }
+    /** Create a plane defined by two points and an in-plane vector.
+     * @param pointA any point in the plane
+     * @param pointB any other point in the plane
+     * @param vector any vector in the plane but not parallel to the vector from pointA to pointB
+     */
+    static createPointPointVectorInPlane(pointA, pointB, vector) {
+        const cross = vector.crossProductStartEnd(pointA, pointB);
+        if (cross.tryNormalizeInPlace())
+            return new Plane3dByOriginAndUnitNormal(pointA, cross);
+        return undefined;
+    }
+    /** test for (toleranced) equality with `other` */
+    isAlmostEqual(other) {
+        return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);
+    }
+    /** Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}`  */
+    setFromJSON(json) {
+        if (!json) {
+            this._origin.set(0, 0, 0);
+            this._normal.set(0, 0, 1);
+        }
+        else {
+            this._origin.setFromJSON(json.origin);
+            this._normal.setFromJSON(json.normal);
+        }
+    }
+    /**
+     * Convert to a JSON object.
+     * @return {*} [origin,normal]
+     */
+    toJSON() { return { origin: this._origin.toJSON(), normal: this._normal.toJSON() }; }
+    /**  create a new Plane3dByOriginAndUnitNormal from json fragment.
+     * * See `Plane3dByOriginAndUnitNormal.setFromJSON`
+     */
+    static fromJSON(json) {
+        const result = Plane3dByOriginAndUnitNormal.createXYPlane();
+        result.setFromJSON(json);
+        return result;
+    }
+    /** Return a reference to the origin. */
+    getOriginRef() { return this._origin; }
+    /** Return a reference to the unit normal. */
+    getNormalRef() { return this._normal; }
+    /** Return coordinate axes (as a transform) with
+     * * origin at plane origin
+     * * z axis in direction of plane normal.
+     * * x,y axes in plane.
+     */
+    getLocalToWorld() {
+        const axes = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY);
+        return Transform.createRefs(this._origin.clone(), axes);
+    }
+    /** Return a (singular) transform which projects points to this plane.
+     */
+    getProjectionToPlane() {
+        const axes = Matrix3d.createIdentity();
+        axes.addScaledOuterProductInPlace(this._normal, this._normal, -1.0);
+        axes.markSingular();
+        return Transform.createFixedPointAndMatrix(this._origin, axes);
+    }
+    /** Copy coordinates from the given origin and normal. */
+    set(origin, normal) {
+        this._origin.setFrom(origin);
+        this._normal.setFrom(normal);
+    }
+    /** return a deep clone (point and normal cloned) */
+    clone(result) {
+        if (result) {
+            result.set(this._origin, this._normal);
+            return result;
+        }
+        return new Plane3dByOriginAndUnitNormal(this._origin.clone(), this._normal.clone());
+    }
+    /** Create a clone and return the transform of the clone. */
+    cloneTransformed(transform, inverse = false) {
+        const result = this.clone();
+        if (inverse) {
+            transform.multiplyInversePoint3d(result._origin, result._origin);
+            if (transform.matrix.multiplyTransposeVector(result._normal, result._normal) !== undefined
+                && result._normal.normalizeInPlace())
+                return result;
+        }
+        else {
+            transform.multiplyPoint3d(result._origin, result._origin);
+            if (transform.matrix.multiplyInverseTranspose(result._normal, result._normal) !== undefined
+                && result._normal.normalizeInPlace())
+                return result;
+        }
+        return undefined;
+    }
+    /** Copy data from the given plane. */
+    setFrom(source) {
+        this.set(source._origin, source._normal);
+    }
+    /** Return the altitude of spacePoint above or below the plane.  (Below is negative) */
+    altitude(spacePoint) { return this._normal.dotProductStartEnd(this._origin, spacePoint); }
+    /** Return the altitude of point (x,y)  given xy parts using only the xy parts of origin and unit normal */
+    altitudeXY(x, y) {
+        return (x - this._origin.x) * this._normal.x + (y - this._origin.y) * this._normal.y;
+    }
+    /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative) */
+    weightedAltitude(spacePoint) {
+        return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);
+    }
+    /** return a point at specified (signed) altitude */
+    altitudeToPoint(altitude, result) {
+        return this._origin.plusScaled(this._normal, altitude, result);
+    }
+    /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     */
+    velocityXYZ(x, y, z) { return this._normal.dotProductXYZ(x, y, z); }
+    /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     */
+    velocity(spaceVector) { return this._normal.dotProduct(spaceVector); }
+    /** Return the altitude of a point given as separate x,y,z components. */
+    altitudeXYZ(x, y, z) {
+        return this._normal.dotProductStartEndXYZ(this._origin, x, y, z);
+    }
+    /** Return the altitude of a point given as separate x,y,z,w components. */
+    altitudeXYZW(x, y, z, w) {
+        return this._normal.dotProductStartEndXYZW(this._origin, x, y, z, w);
+    }
+    /** Return the projection of spacePoint onto the plane. */
+    projectPointToPlane(spacePoint, result) {
+        return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);
+    }
+    /** Returns true of spacePoint is within distance tolerance of the plane. */
+    isPointInPlane(spacePoint) { return Geometry.isSmallMetricDistance(this.altitude(spacePoint)); }
+}
+//# sourceMappingURL=Plane3dByOriginAndUnitNormal.js.map