@itwin/core-geometry 3.6.0-dev.10 → 3.6.0-dev.14

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

@@ -5,19 +5,26 @@ 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
+ * *   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.
+ *   * 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 declare class OrderedRotationAngles {
+    /** rotation around x */
     private _x;
+    /** rotation around y */
     private _y;
+    /** rotation around z */
     private _z;
+    /** rotation order. For example XYZ means to rotate around x axis first, then y axis, and finally Z axis */
     private _order;
+    /** treat vectors as matrix columns */
     private static _sTreatVectorsAsColumns;
+    /** constructor */
     private constructor();
     /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */
     get order(): AxisOrder;
@@ -42,20 +49,47 @@ export declare class OrderedRotationAngles {
     /** Flag controlling whether vectors are treated as rows or as columns */
     static get treatVectorsAsColumns(): boolean;
     static set treatVectorsAsColumns(value: boolean);
-    /** Create an OrderedRotationAngles from three angles and an ordering in which to apply them when rotating.
+    /**
+     * 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.
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
      */
     static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles;
-    /** Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply them when rotating. */
+    /**
+     * Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply
+     * them when rotating.
+     * @param xRadians rotation around x
+     * @param yRadians rotation around y
+     * @param zRadians rotation around z
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
+     */
     static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles;
-    /** Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply them when rotating. */
+    /**
+     * Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply
+     * them when rotating.
+     * @param xRadians rotation around x
+     * @param yRadians rotation around y
+     * @param zRadians rotation around z
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
+     */
     static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles;
     /** Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations that the matrix derives from. */
     static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles): OrderedRotationAngles;
-    /** Create a 3x3 rotational matrix from this OrderedRotationAngles. */
+    /**
+     * Create a 3x3 rotational matrix from this OrderedRotationAngles.
+     ** math details can be found at docs/learning/geometry/Angle.md
+     **/
     toMatrix3d(result?: Matrix3d): Matrix3d;
 }
 //# sourceMappingURL=OrderedRotationAngles.d.ts.map

package/lib/esm/geometry3d/OrderedRotationAngles.d.ts.map

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package/lib/esm/geometry3d/OrderedRotationAngles.js

@@ -8,15 +8,18 @@
 import { AxisOrder } from "../Geometry";
 import { Angle } from "./Angle";
 import { Matrix3d } from "./Matrix3d";
+/* cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz */
 /**
- * * 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
+ * *   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.
+ *   * 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 */
     constructor(x, y, z, axisOrder) {
         this._x = x;
         this._y = y;
@@ -24,33 +27,61 @@ export class OrderedRotationAngles {
         this._order = axisOrder;
     }
     /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */
-    get order() { return this._order; }
+    get order() {
+        return this._order;
+    }
     /** (Property accessor) Return the strongly typed angle of rotation around x. */
-    get xAngle() { return this._x.clone(); }
+    get xAngle() {
+        return this._x.clone();
+    }
     /** (Property accessor) Return the strongly typed angle of rotation around y. */
-    get yAngle() { return this._y.clone(); }
+    get yAngle() {
+        return this._y.clone();
+    }
     /** (Property accessor) Return the strongly typed angle of rotation around z. */
-    get zAngle() { return this._z.clone(); }
+    get zAngle() {
+        return this._z.clone();
+    }
     /** (Property accessor) Return the angle of rotation around x, in degrees */
-    get xDegrees() { return this._x.degrees; }
+    get xDegrees() {
+        return this._x.degrees;
+    }
     /** (Property accessor) Return the angle of rotation around y, in degrees */
-    get xRadians() { return this._x.radians; }
+    get xRadians() {
+        return this._x.radians;
+    }
     /** (Property accessor) Return the angle of rotation around z, in degrees */
-    get yDegrees() { return this._y.degrees; }
+    get yDegrees() {
+        return this._y.degrees;
+    }
     /** (Property accessor) Return the angle of rotation around x, in radians */
-    get yRadians() { return this._y.radians; }
+    get yRadians() {
+        return this._y.radians;
+    }
     /** (Property accessor) Return the angle of rotation around y, in radians */
-    get zDegrees() { return this._z.degrees; }
+    get zDegrees() {
+        return this._z.degrees;
+    }
     /** (Property accessor) Return the angle of rotation around z, in radians */
-    get zRadians() { return this._z.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.
+    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.
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
      */
     static createAngles(xRotation, yRotation, zRotation, order, result) {
         if (result) {
@@ -62,7 +93,17 @@ export class OrderedRotationAngles {
         }
         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. */
+    /**
+     * Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply
+     * them when rotating.
+     * @param xRadians rotation around x
+     * @param yRadians rotation around y
+     * @param zRadians rotation around z
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
+     */
     static createRadians(xRadians, yRadians, zRadians, order, result) {
         if (result) {
             result._x.setRadians(xRadians);
@@ -73,7 +114,17 @@ export class OrderedRotationAngles {
         }
         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. */
+    /**
+     * Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply
+     * them when rotating.
+     * @param xRadians rotation around x
+     * @param yRadians rotation around y
+     * @param zRadians rotation around z
+     * @param order left to right order of axis names identifies the order that rotations are applied.
+     * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.
+     * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation
+     * matrix multiplication would be zRot*yRot*xRot
+     */
     static createDegrees(xDegrees, yDegrees, zDegrees, order, result) {
         if (result) {
             result._x.setDegrees(xDegrees);
@@ -86,87 +137,95 @@ export class OrderedRotationAngles {
     }
     /** 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];
+        // treat vector as columns
+        let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];
+        let m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];
+        let m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];
+        // treat vector as rows
+        if (!OrderedRotationAngles.treatVectorsAsColumns) {
+            m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];
+            m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];
+            m31 = matrix.coffs[2], m32 = matrix.coffs[5], 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);
+                yRad = Math.asin(Math.max(-1, Math.min(1, -m31))); // limit asin domain to [-1,1]
+                if (Math.abs(m31) < 0.99999) {
+                    xRad = Math.atan2(m32, m33);
+                    zRad = Math.atan2(m21, m11);
                 }
                 else {
-                    xRad = Math.atan2(m32, m22);
+                    /*
+                    * If Math.abs(m31) = 1 then yRad = 90 degrees and therefore, we have a gimbal lock.
+                    * This means xRad and zRad can be anything as long as their sum xRad + zRad is constant.
+                    * so we can pick zRad = 0 and calculate xRad (or pick xRad = 0 and calculate zRad).
+                    * Math details can be found
+                    * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles
+                    */
+                    xRad = Math.atan2(-m23, 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);
+                xRad = Math.asin(Math.max(-1, Math.min(1, m32))); // limit asin domain to [-1,1]
+                if (Math.abs(m32) < 0.99999) {
+                    yRad = Math.atan2(-m31, m33);
+                    zRad = Math.atan2(-m12, m22);
                 }
                 else {
-                    yRad = Math.atan2(-m31, m11);
+                    yRad = Math.atan2(m13, 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);
+                xRad = Math.asin(Math.max(-1, Math.min(1, -m23))); // limit asin domain to [-1,1]
+                if (Math.abs(m23) < 0.99999) {
+                    yRad = Math.atan2(m13, m33);
+                    zRad = Math.atan2(m21, m22);
                 }
                 else {
                     yRad = 0;
-                    zRad = Math.atan2(m21, m11);
+                    zRad = Math.atan2(-m12, 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);
+                yRad = Math.asin(Math.max(-1, Math.min(1, m13))); // limit asin domain to [-1,1]
+                if (Math.abs(m13) < 0.99999) {
+                    xRad = Math.atan2(-m23, m33);
+                    zRad = Math.atan2(-m12, m11);
                 }
                 else {
                     xRad = 0;
-                    zRad = Math.atan2(-m12, m22);
+                    zRad = Math.atan2(m21, 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);
+                zRad = Math.asin(Math.max(-1, Math.min(1, -m12))); // limit asin domain to [-1,1]
+                if (Math.abs(m12) < 0.99999) {
+                    xRad = Math.atan2(m32, m22);
+                    yRad = Math.atan2(m13, m11);
                 }
                 else {
                     xRad = 0;
-                    yRad = Math.atan2(m13, m33);
+                    yRad = Math.atan2(-m31, 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);
+                zRad = Math.asin(Math.max(-1, Math.min(1, m21))); // limit asin domain to [-1,1]
+                if (Math.abs(m21) < 0.99999) {
+                    xRad = Math.atan2(-m23, m22);
+                    yRad = Math.atan2(-m31, m11);
                 }
                 else {
-                    xRad = Math.atan2(-m23, m33);
+                    xRad = Math.atan2(m32, m33);
                     yRad = 0;
                 }
                 break;
@@ -175,54 +234,50 @@ export class OrderedRotationAngles {
                 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. */
+    /**
+     * Create a 3x3 rotational matrix from this OrderedRotationAngles.
+     ** math details can be found at docs/learning/geometry/Angle.md
+     **/
     toMatrix3d(result) {
-        const rot = result !== undefined ? result : new Matrix3d();
+        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;
-        }
+        const cx = x.cos(), sx = x.sin();
+        const cy = y.cos(), sy = y.sin();
+        const cz = z.cos(), sz = z.sin();
+        const cxcz = cx * cz, cxsz = cx * sz, cxcy = cx * cy, cxsy = cx * sy;
+        const sxcz = sx * cz, sxsz = sx * sz, sxcy = sx * cy, sxsy = sx * sy;
+        const cycz = cy * cz, cysz = cy * sz, sycz = sy * cz, sysz = sy * sz;
+        // the rotation matrix we build below is created using column-based base rotation matrixes
         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);
+            rot.setRowValues(cy * cz, sxcz * sy - cxsz, cxcz * sy + sxsz, cy * sz, cxcz + sxsz * sy, cxsz * sy - sxcz, -sy, sx * cy, cx * cy);
         }
         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);
+            rot.setRowValues(cycz - sysz * sx, -cx * sz, cysz * sx + sycz, sycz * sx + cysz, cx * cz, sysz - cycz * sx, -cx * sy, sx, cx * cy);
         }
         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);
+            rot.setRowValues(cycz + sysz * sx, sycz * sx - cysz, cx * sy, cx * sz, cx * cz, -sx, cysz * sx - sycz, cycz * sx + sysz, cx * cy);
         }
         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);
+            rot.setRowValues(cy * cz, -cy * sz, sy, sxcz * sy + cxsz, cxcz - sxsz * sy, -sx * cy, sxsz - cxcz * sy, sxcz + cxsz * sy, cx * cy);
         }
         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);
+            rot.setRowValues(cy * cz, -sz, sy * cz, sxsy + cxcy * sz, cx * cz, cxsy * sz - sxcy, sxcy * sz - cxsy, sx * cz, cxcy + sxsy * sz);
         }
         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);
+            rot.setRowValues(cy * cz, sxsy - cxcy * sz, cxsy + sxcy * sz, sz, cx * cz, -sx * cz, -sy * cz, sxcy + cxsy * sz, cxcy - sxsy * sz);
+        }
+        else {
+            rot.setIdentity();
         }
-        if (OrderedRotationAngles.treatVectorsAsColumns)
+        // if we need row-based rotation matrix, we transpose the rotation matrix
+        if (!OrderedRotationAngles.treatVectorsAsColumns)
             rot.transposeInPlace();
         return rot;
     }
 }
+/** treat vectors as matrix columns */
 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"]}
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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\nimport { AxisOrder } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\n\r\n/* cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz */\r\n\r\n/**\r\n * *   represents a non-trivial rotation using three simple axis rotation angles and an\r\n * 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  /** rotation around x */\r\n  private _x: Angle;\r\n  /** rotation around y */\r\n  private _y: Angle;\r\n  /** rotation around z */\r\n  private _z: Angle;\r\n  /** rotation order. For example XYZ means to rotate around x axis first, then y axis, and finally Z axis */\r\n  private _order: AxisOrder;\r\n  /** treat vectors as matrix columns */\r\n  private static _sTreatVectorsAsColumns: boolean = false;\r\n  /** constructor */\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  /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */\r\n  public get order(): AxisOrder {\r\n    return this._order;\r\n  }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around x. */\r\n  public get xAngle(): Angle {\r\n    return this._x.clone();\r\n  }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around y. */\r\n  public get yAngle(): Angle {\r\n    return this._y.clone();\r\n  }\r\n  /** (Property accessor) Return the strongly typed angle of rotation around z. */\r\n  public get zAngle(): Angle {\r\n    return this._z.clone();\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around x, in degrees */\r\n  public get xDegrees(): number {\r\n    return this._x.degrees;\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around y, in degrees */\r\n  public get xRadians(): number {\r\n    return this._x.radians;\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around z, in degrees */\r\n  public get yDegrees(): number {\r\n    return this._y.degrees;\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around x, in radians */\r\n  public get yRadians(): number {\r\n    return this._y.radians;\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around y, in radians */\r\n  public get zDegrees(): number {\r\n    return this._z.degrees;\r\n  }\r\n  /** (Property accessor) Return the angle of rotation around z, in radians */\r\n  public get zRadians(): number {\r\n    return this._z.radians;\r\n  }\r\n  /** Flag controlling whether vectors are treated as rows or as columns */\r\n  public static get treatVectorsAsColumns(): boolean {\r\n    return OrderedRotationAngles._sTreatVectorsAsColumns;\r\n  }\r\n  public static set treatVectorsAsColumns(value: boolean) {\r\n    OrderedRotationAngles._sTreatVectorsAsColumns = value;\r\n  }\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 order left to right order of axis names identifies the order that rotations are applied.\r\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\r\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\r\n   * matrix multiplication would be zRot*yRot*xRot\r\n   */\r\n  public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder,\r\n    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\r\n   * them when rotating.\r\n   * @param xRadians rotation around x\r\n   * @param yRadians rotation around y\r\n   * @param zRadians rotation around z\r\n   * @param order left to right order of axis names identifies the order that rotations are applied.\r\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\r\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\r\n   * matrix multiplication would be zRot*yRot*xRot\r\n   */\r\n  public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder,\r\n    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(\r\n      Angle.createRadians(xRadians),\r\n      Angle.createRadians(yRadians),\r\n      Angle.createRadians(zRadians),\r\n      order\r\n    );\r\n  }\r\n  /**\r\n   * Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply\r\n   * them when rotating.\r\n   * @param xRadians rotation around x\r\n   * @param yRadians rotation around y\r\n   * @param zRadians rotation around z\r\n   * @param order left to right order of axis names identifies the order that rotations are applied.\r\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\r\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\r\n   * matrix multiplication would be zRot*yRot*xRot\r\n   */\r\n  public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder,\r\n    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(\r\n      Angle.createDegrees(xDegrees),\r\n      Angle.createDegrees(yDegrees),\r\n      Angle.createDegrees(zDegrees),\r\n      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    // treat vector as columns\r\n    let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];\r\n    let m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];\r\n    let m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];\r\n    // treat vector as rows\r\n    if (!OrderedRotationAngles.treatVectorsAsColumns) {\r\n      m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];\r\n      m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];\r\n      m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];\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, -m31))); // limit asin domain to [-1,1]\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          /*\r\n          * If Math.abs(m31) = 1 then yRad = 90 degrees and therefore, we have a gimbal lock.\r\n          * This means xRad and zRad can be anything as long as their sum xRad + zRad is constant.\r\n          * so we can pick zRad = 0 and calculate xRad (or pick xRad = 0 and calculate zRad).\r\n          * Math details can be found\r\n          * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n          */\r\n          xRad = Math.atan2(-m23, 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, m32))); // limit asin domain to [-1,1]\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 = Math.atan2(m13, 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, -m23))); // limit asin domain to [-1,1]\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 = 0;\r\n          zRad = Math.atan2(-m12, m11);\r\n        }\r\n        break;\r\n      } case AxisOrder.ZYX: {\r\n        yRad = Math.asin(Math.max(-1, Math.min(1, m13))); // limit asin domain to [-1,1]\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 = 0;\r\n          zRad = Math.atan2(m21, m22);\r\n        }\r\n        break;\r\n      } case AxisOrder.YZX: {\r\n        zRad = Math.asin(Math.max(-1, Math.min(1, -m12))); // limit asin domain to [-1,1]\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 = 0;\r\n          yRad = Math.atan2(-m31, m33);\r\n        }\r\n        break;\r\n      } case AxisOrder.XZY: {\r\n        zRad = Math.asin(Math.max(-1, Math.min(1, m21))); // limit asin domain to [-1,1]\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 = Math.atan2(m32, 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\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   ** math details can be found at docs/learning/geometry/Angle.md\r\n   **/\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\r\n    const cx = x.cos(), sx = x.sin();\r\n    const cy = y.cos(), sy = y.sin();\r\n    const cz = z.cos(), sz = z.sin();\r\n\r\n    const cxcz = cx * cz, cxsz = cx * sz, cxcy = cx * cy, cxsy = cx * sy;\r\n    const sxcz = sx * cz, sxsz = sx * sz, sxcy = sx * cy, sxsy = sx * sy;\r\n    const cycz = cy * cz, cysz = cy * sz, sycz = sy * cz, sysz = sy * sz;\r\n\r\n    // the rotation matrix we build below is created using column-based base rotation matrixes\r\n    if (axisOrder === AxisOrder.XYZ) {\r\n      rot.setRowValues(\r\n        cy * cz, sxcz * sy - cxsz, cxcz * sy + sxsz,\r\n        cy * sz, cxcz + sxsz * sy, cxsz * sy - sxcz,\r\n        -sy, sx * cy, cx * cy,\r\n      );\r\n    } else if (axisOrder === AxisOrder.YXZ) {\r\n      rot.setRowValues(\r\n        cycz - sysz * sx, -cx * sz, cysz * sx + sycz,\r\n        sycz * sx + cysz, cx * cz, sysz - cycz * sx,\r\n        -cx * sy, sx, cx * cy,\r\n      );\r\n    } else if (axisOrder === AxisOrder.ZXY) {\r\n      rot.setRowValues(\r\n        cycz + sysz * sx, sycz * sx - cysz, cx * sy,\r\n        cx * sz, cx * cz, -sx,\r\n        cysz * sx - sycz, cycz * sx + sysz, cx * cy,\r\n      );\r\n    } else if (axisOrder === AxisOrder.ZYX) {\r\n      rot.setRowValues(\r\n        cy * cz, -cy * sz, sy,\r\n        sxcz * sy + cxsz, cxcz - sxsz * sy, -sx * cy,\r\n        sxsz - cxcz * sy, sxcz + cxsz * sy, cx * cy,\r\n      );\r\n    } else if (axisOrder === AxisOrder.YZX) {\r\n      rot.setRowValues(\r\n        cy * cz, -sz, sy * cz,\r\n        sxsy + cxcy * sz, cx * cz, cxsy * sz - sxcy,\r\n        sxcy * sz - cxsy, sx * cz, cxcy + sxsy * sz,\r\n      );\r\n    } else if (axisOrder === AxisOrder.XZY) {\r\n      rot.setRowValues(\r\n        cy * cz, sxsy - cxcy * sz, cxsy + sxcy * sz,\r\n        sz, cx * cz, -sx * cz,\r\n        -sy * cz, sxcy + cxsy * sz, cxcy - sxsy * sz,\r\n      );\r\n    } else {\r\n      rot.setIdentity();\r\n    }\r\n    // if we need row-based rotation matrix, we transpose the rotation matrix\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/Point2dVector2d.d.ts

@@ -182,6 +182,7 @@ export declare class Vector2d extends XY implements BeJSONFunctions {
     /**
      * Return a vector that bisects the angle between two normals and extends to the intersection of two offset lines
      * * returns `undefined` if `unitPerpA = -unitPerpB` (i.e., are opposite)
+     * * math details can be found at docs/learning/geometry/PointVector.md
      * @param unitPerpA unit perpendicular to incoming direction
      * @param unitPerpB  unit perpendicular to outgoing direction
      * @param offset offset distance

package/lib/esm/geometry3d/Point2dVector2d.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/Point2dVector2d.js

@@ -362,6 +362,7 @@ export class Vector2d extends XY {
     /**
      * Return a vector that bisects the angle between two normals and extends to the intersection of two offset lines
      * * returns `undefined` if `unitPerpA = -unitPerpB` (i.e., are opposite)
+     * * math details can be found at docs/learning/geometry/PointVector.md
      * @param unitPerpA unit perpendicular to incoming direction
      * @param unitPerpB  unit perpendicular to outgoing direction
      * @param offset offset distance