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

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

@@ -1 +1 @@
-{"version":3,"file":"YawPitchRollAngles.js","sourceRoot":"","sources":["../../../src/geometry3d/YawPitchRollAngles.ts"],"names":[],"mappings":"AAAA;;;+FAG+F;AAE/F;;GAEG;AAEH,OAAO,EAAc,QAAQ,EAAE,MAAM,aAAa,CAAC;AACnD,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAC;AAChC,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AACtC,OAAO,EAAE,OAAO,EAAE,MAAM,mBAAmB,CAAC;AAgB5C,mBAAmB;AACnB;;;;;;;;;;;;;;;;;;GAkBG;AACH,MAAM,OAAO,kBAAkB;IAQ7B,YAAY,MAAa,KAAK,CAAC,IAAI,EAAE,EAAE,QAAe,KAAK,CAAC,IAAI,EAAE,EAAE,OAAc,KAAK,CAAC,IAAI,EAAE;QAC5F,IAAI,CAAC,GAAG,GAAG,GAAG,CAAC;QACf,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;QACnB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;IACnB,CAAC;IACD,qCAAqC;IAC9B,MAAM,KAAqB,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAC3H,iEAAiE;IAC1D,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CAAC,CAAC;IACtI,CAAC;IACD,iEAAiE;IAC1D,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CAAC,CAAC;IACtI,CAAC;IACD,2EAA2E;IACpE,MAAM,CAAC,QAAQ,CAAC,IAAwB;QAC7C,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,EAAE,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;IACjH,CAAC;IACD,iEAAiE;IAC1D,WAAW,CAAC,IAAwB;QACzC,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QACpC,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACxC,IAAI,CAAC,IAAI,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxC,CAAC;IACD,uLAAuL;IAChL,MAAM;QACX,MAAM,GAAG,GAAsB,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY;YAC1B,GAAG,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY;YACzB,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,YAAY;YACxB,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAC9B,OAAO,GAAG,CAAC;IACb,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAyB;QACtC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAChC,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAAyB;QAC5C,OAAO,IAAI,CAAC,GAAG,CAAC,6BAA6B,CAAC,KAAK,CAAC,GAAG,CAAC;eACnD,IAAI,CAAC,KAAK,CAAC,6BAA6B,CAAC,KAAK,CAAC,KAAK,CAAC;eACrD,IAAI,CAAC,IAAI,CAAC,6BAA6B,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC3D,CAAC;IACD;;OAEG;IACI,KAAK,KAAK,OAAO,IAAI,kBAAkB,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC;IAC1G;;;;;;OAMG;IACI,UAAU,CAAC,MAAiB;QACjC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,OAAO,QAAQ,CAAC,eAAe,CAAC,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,EAAE,GAAG,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,MAAM,CAAC,CAAC;IAC5L,CAAC;IACD,0CAA0C;IACnC,aAAa;QAClB,OAAO,QAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,sDAAsD;IAC/C,iBAAiB;QACtB,OAAO,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD;;;OAGG;IACI,UAAU,CAAC,mBAA4B,IAAI;QAChD,IAAI,gBAAgB;YAClB,OAAO,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBACnE,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBACnE,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;;YAExE,OAAO,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBAChE,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBAChE,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzE,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC1I,CAAC;IACD,2CAA2C;IACpC,aAAa,KAAa,OAAO,QAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACtH,mDAAmD;IAC5C,iBAAiB,KAAa,OAAO,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACrI,6EAA6E;IACtE,MAAM,CAAC,gBAAgB,CAAC,SAAoB;QAIjD,oFAAoF;QACpF,OAAO;YACL,MAAM,EAAE,kBAAkB,CAAC,kBAAkB,CAAC,SAAS,CAAC,MAAM,CAAC;YAC/D,MAAM,EAAE,OAAO,CAAC,UAAU,CAAC,SAAS,CAAC,MAAM,CAAC;SAC7C,CAAC;IACJ,CAAC;IACD;;;;OAIG;IACI,MAAM,CAAC,kBAAkB,CAAC,MAAgB,EAAE,MAA2B;QAC5E,MAAM,EAAE,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3B,MAAM,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAC5F,MAAM,MAAM,GAAG,KAAK,CAAC,WAAW,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,uBAAuB;QACjE,MAAM,MAAM,GAAG,KAAK,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,uBAAuB;QAClE,MAAM,MAAM,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,kBAAkB,EAAE,CAAC,CAAC,0BAA0B;QACrF,IAAI,EAAE,GAAG,QAAQ,CAAC,iBAAiB,EAAE,EAAE,6BAA6B;YAClE,MAAM,CAAC,GAAG,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC;YACtB,MAAM,CAAC,IAAI,GAAG,KAAK,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC;SACxC;aAAM;YACL,MAAM,IAAI,GAAG,KAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACjE,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,IAAI,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnE,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACpE,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,SAAS,GAAG,IAAI,CAAC;YACvB,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACtC,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACtC,IAAI,QAAQ,GAAG,SAAS,GAAG,QAAQ,EAAE;gBACnC,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;aACtB;iBAAM,IAAI,QAAQ,GAAG,SAAS,GAAG,QAAQ,EAAE;gBAC1C,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;aACtB;iBAAM;gBACL,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,IAAI,IAAI,IAAI,IAAI,EAAE;oBAChB,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;iBACtB;qBAAM;oBACL,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;iBACtB;aACF;SACF;QACD,MAAM,OAAO,GAAG,MAAM,CAAC,UAAU,EAAE,CAAC;QACpC,OAAO,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,QAAQ,CAAC,iBAAiB,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC;IACnF,CAAC;CACF","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* 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 { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/** The properties that define [[YawPitchRollAngles]]. */\r\n/**\r\n * angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n// cspell:word Tait\r\n/** Three angles that determine the orientation of an object in space. Sometimes referred to as [Tait–Bryan angles](https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n *   * Note that this is a right handed coordinate system.\r\n *   * yaw is a rotation of x towards y, i.e. around positive z:\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n *   * pitch is a rotation that raises x towards z, i.e. rotation around negative y:\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n *   * roll is rotation of y towards z, i.e. rotation around positive x:\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n *   * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n *   * Note that this is for \"column based\" matrix, with vectors appearing to the right\r\n *     * Hence a vector is first rotated by roll, then the pitch, finally yaw.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle. */\r\n  public yaw: Angle;\r\n  /** The pitch angle. */\r\n  public pitch: Angle;\r\n  /** The roll angle. */\r\n  public roll: Angle;\r\n\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> { this.yaw.freeze(); this.pitch.freeze(); this.roll.freeze(); return Object.freeze(this); }\r\n  /** constructor for YawPitchRollAngles with angles in degrees. */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createDegrees(yawDegrees), Angle.createDegrees(pitchDegrees), Angle.createDegrees(rollDegrees));\r\n  }\r\n  /** constructor for YawPitchRollAngles with angles in radians. */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createRadians(yawRadians), Angle.createRadians(pitchRadians), Angle.createRadians(rollRadians));\r\n  }\r\n  /** construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(Angle.fromJSON(json.yaw), Angle.fromJSON(json.pitch), Angle.fromJSON(json.roll));\r\n  }\r\n  /** populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /** Convert to a JSON object of form { pitch: 20 , roll: 29.999999999999996 , yaw: 10 }. Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted. */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles) {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /**\r\n   * Make a copy of this YawPitchRollAngles.\r\n   */\r\n  public clone() { return new YawPitchRollAngles(this.yaw.clone(), this.pitch.clone(), this.roll.clone()); }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   *\r\n   * * The returned matrix is \"rigid\" -- unit length rows and columns, and its transpose is its inverse.\r\n   * * The \"rigid\" matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d) {\r\n    const c0 = Math.cos(this.yaw.radians);\r\n    const s0 = Math.sin(this.yaw.radians);\r\n    const c1 = Math.cos(this.pitch.radians);\r\n    const s1 = Math.sin(this.pitch.radians);\r\n    const c2 = Math.cos(this.roll.radians);\r\n    const s2 = Math.sin(this.roll.radians);\r\n    return Matrix3d.createRowValues(c0 * c1, -(s0 * c2 + c0 * s1 * s2), (s0 * s2 - c0 * s1 * c2), s0 * c1, (c0 * c2 - s0 * s1 * s2), -(c0 * s2 + s0 * s1 * c2), s1, c1 * s2, c1 * c2, result);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(this.yaw.radians - other.yaw.radians, this.pitch.radians - other.pitch.radians, this.roll.radians - other.roll.radians);\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number { return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number { return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    // bundle up the transform's origin with the angle data extracted from the transform\r\n    return {\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n      origin: Point3d.createFrom(transform.origin),\r\n    };\r\n  }\r\n  /** Attempts to create a YawPitchRollAngles object from an Matrix3d\r\n   * * This conversion fails if the matrix is not rigid (unit rows and columns, transpose is inverse)\r\n   * * In the failure case the method's return value is `undefined`.\r\n   * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with a set of angles.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    const s1 = matrix.at(2, 0);\r\n    const c1 = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2));\r\n    const pitchA = Angle.createAtan2(s1, c1); // with positive cosine\r\n    const pitchB = Angle.createAtan2(s1, -c1); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles(); // default undefined . . .\r\n    if (c1 < Geometry.smallAngleRadians) { // This is a radians test !!!\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA;\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      const absFactor = 0.95;\r\n      const radiansA = yprA.maxAbsRadians();\r\n      const radiansB = yprB.maxAbsRadians();\r\n      if (radiansA < absFactor * radiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (radiansB < absFactor * radiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"YawPitchRollAngles.js","sourceRoot":"","sources":["../../../src/geometry3d/YawPitchRollAngles.ts"],"names":[],"mappings":"AAAA;;;+FAG+F;AAE/F;;GAEG;AAEH,OAAO,EAAc,QAAQ,EAAE,MAAM,aAAa,CAAC;AACnD,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAC;AAChC,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AACtC,OAAO,EAAE,OAAO,EAAE,MAAM,mBAAmB,CAAC;AAgB5C,mBAAmB;AACnB;;;;;;;;;;;;;;;;;;GAkBG;AACH,MAAM,OAAO,kBAAkB;IAQ7B,YAAY,MAAa,KAAK,CAAC,IAAI,EAAE,EAAE,QAAe,KAAK,CAAC,IAAI,EAAE,EAAE,OAAc,KAAK,CAAC,IAAI,EAAE;QAC5F,IAAI,CAAC,GAAG,GAAG,GAAG,CAAC;QACf,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;QACnB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;IACnB,CAAC;IACD,qCAAqC;IAC9B,MAAM,KAAqB,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAC3H,iEAAiE;IAC1D,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CAAC,CAAC;IACtI,CAAC;IACD,iEAAiE;IAC1D,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CAAC,CAAC;IACtI,CAAC;IACD,2EAA2E;IACpE,MAAM,CAAC,QAAQ,CAAC,IAAwB;QAC7C,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,OAAO,IAAI,kBAAkB,CAAC,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,EAAE,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;IACjH,CAAC;IACD,iEAAiE;IAC1D,WAAW,CAAC,IAAwB;QACzC,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QACpC,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACxC,IAAI,CAAC,IAAI,GAAG,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxC,CAAC;IACD,uLAAuL;IAChL,MAAM;QACX,MAAM,GAAG,GAAsB,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY;YAC1B,GAAG,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY;YACzB,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,YAAY;YACxB,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAC9B,OAAO,GAAG,CAAC;IACb,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAyB;QACtC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAChC,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAAyB;QAC5C,OAAO,IAAI,CAAC,GAAG,CAAC,6BAA6B,CAAC,KAAK,CAAC,GAAG,CAAC;eACnD,IAAI,CAAC,KAAK,CAAC,6BAA6B,CAAC,KAAK,CAAC,KAAK,CAAC;eACrD,IAAI,CAAC,IAAI,CAAC,6BAA6B,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC3D,CAAC;IACD;;OAEG;IACI,KAAK,KAAK,OAAO,IAAI,kBAAkB,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC;IAC1G;;;;;;OAMG;IACI,UAAU,CAAC,MAAiB;QACjC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,OAAO,QAAQ,CAAC,eAAe,CAC7B,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,GAAG,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EACpB,MAAM,CACP,CAAC;IACJ,CAAC;IACD,0CAA0C;IACnC,aAAa;QAClB,OAAO,QAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,sDAAsD;IAC/C,iBAAiB;QACtB,OAAO,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD;;;OAGG;IACI,UAAU,CAAC,mBAA4B,IAAI;QAChD,IAAI,gBAAgB;YAClB,OAAO,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBACnE,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBACnE,KAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;;YAExE,OAAO,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBAChE,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBAChE,KAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzE,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC1I,CAAC;IACD,2CAA2C;IACpC,aAAa,KAAa,OAAO,QAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACtH,mDAAmD;IAC5C,iBAAiB,KAAa,OAAO,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACrI,6EAA6E;IACtE,MAAM,CAAC,gBAAgB,CAAC,SAAoB;QAIjD,oFAAoF;QACpF,OAAO;YACL,MAAM,EAAE,kBAAkB,CAAC,kBAAkB,CAAC,SAAS,CAAC,MAAM,CAAC;YAC/D,MAAM,EAAE,OAAO,CAAC,UAAU,CAAC,SAAS,CAAC,MAAM,CAAC;SAC7C,CAAC;IACJ,CAAC;IACD;;;;OAIG;IACI,MAAM,CAAC,kBAAkB,CAAC,MAAgB,EAAE,MAA2B;QAC5E,MAAM,EAAE,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3B,MAAM,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAC5F,MAAM,MAAM,GAAG,KAAK,CAAC,WAAW,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,uBAAuB;QACjE,MAAM,MAAM,GAAG,KAAK,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,uBAAuB;QAClE,MAAM,MAAM,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,kBAAkB,EAAE,CAAC,CAAC,0BAA0B;QACrF,IAAI,EAAE,GAAG,QAAQ,CAAC,iBAAiB,EAAE,EAAE,6BAA6B;YAClE,MAAM,CAAC,GAAG,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC;YACtB,MAAM,CAAC,IAAI,GAAG,KAAK,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC;SACxC;aAAM;YACL,MAAM,IAAI,GAAG,KAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACjE,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,IAAI,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnE,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACpE,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,SAAS,GAAG,IAAI,CAAC;YACvB,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACtC,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACtC,IAAI,QAAQ,GAAG,SAAS,GAAG,QAAQ,EAAE;gBACnC,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;aACtB;iBAAM,IAAI,QAAQ,GAAG,SAAS,GAAG,QAAQ,EAAE;gBAC1C,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;aACtB;iBAAM;gBACL,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,IAAI,IAAI,IAAI,IAAI,EAAE;oBAChB,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;iBACtB;qBAAM;oBACL,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;iBACtB;aACF;SACF;QACD,MAAM,OAAO,GAAG,MAAM,CAAC,UAAU,EAAE,CAAC;QACpC,OAAO,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,QAAQ,CAAC,iBAAiB,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC;IACnF,CAAC;CACF","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* 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 { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/** The properties that define [[YawPitchRollAngles]]. */\r\n/**\r\n * angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n// cspell:word Tait\r\n/** Three angles that determine the orientation of an object in space. Sometimes referred to as [Tait–Bryan angles](https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n *   * Note that this is a right handed coordinate system.\r\n *   * yaw is a rotation of x towards y, i.e. around positive z:\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n *   * pitch is a rotation that raises x towards z, i.e. rotation around negative y:\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n *   * roll is rotation of y towards z, i.e. rotation around positive x:\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n *   * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n *   * Note that this is for \"column based\" matrix, with vectors appearing to the right\r\n *     * Hence a vector is first rotated by roll, then the pitch, finally yaw.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle. */\r\n  public yaw: Angle;\r\n  /** The pitch angle. */\r\n  public pitch: Angle;\r\n  /** The roll angle. */\r\n  public roll: Angle;\r\n\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> { this.yaw.freeze(); this.pitch.freeze(); this.roll.freeze(); return Object.freeze(this); }\r\n  /** constructor for YawPitchRollAngles with angles in degrees. */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createDegrees(yawDegrees), Angle.createDegrees(pitchDegrees), Angle.createDegrees(rollDegrees));\r\n  }\r\n  /** constructor for YawPitchRollAngles with angles in radians. */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createRadians(yawRadians), Angle.createRadians(pitchRadians), Angle.createRadians(rollRadians));\r\n  }\r\n  /** construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(Angle.fromJSON(json.yaw), Angle.fromJSON(json.pitch), Angle.fromJSON(json.roll));\r\n  }\r\n  /** populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /** Convert to a JSON object of form { pitch: 20 , roll: 29.999999999999996 , yaw: 10 }. Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted. */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles) {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /**\r\n   * Make a copy of this YawPitchRollAngles.\r\n   */\r\n  public clone() { return new YawPitchRollAngles(this.yaw.clone(), this.pitch.clone(), this.roll.clone()); }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   *\r\n   * * The returned matrix is \"rigid\" -- unit length rows and columns, and its transpose is its inverse.\r\n   * * The \"rigid\" matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d) {\r\n    const c0 = Math.cos(this.yaw.radians);\r\n    const s0 = Math.sin(this.yaw.radians);\r\n    const c1 = Math.cos(this.pitch.radians);\r\n    const s1 = Math.sin(this.pitch.radians);\r\n    const c2 = Math.cos(this.roll.radians);\r\n    const s2 = Math.sin(this.roll.radians);\r\n    return Matrix3d.createRowValues(\r\n      c0 * c1, -(s0 * c2 + c0 * s1 * s2), (s0 * s2 - c0 * s1 * c2),\r\n      s0 * c1, (c0 * c2 - s0 * s1 * s2), -(c0 * s2 + s0 * s1 * c2),\r\n      s1, c1 * s2, c1 * c2,\r\n      result\r\n    );\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(this.yaw.radians - other.yaw.radians, this.pitch.radians - other.pitch.radians, this.roll.radians - other.roll.radians);\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number { return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number { return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    // bundle up the transform's origin with the angle data extracted from the transform\r\n    return {\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n      origin: Point3d.createFrom(transform.origin),\r\n    };\r\n  }\r\n  /** Attempts to create a YawPitchRollAngles object from an Matrix3d\r\n   * * This conversion fails if the matrix is not rigid (unit rows and columns, transpose is inverse)\r\n   * * In the failure case the method's return value is `undefined`.\r\n   * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with a set of angles.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    const s1 = matrix.at(2, 0);\r\n    const c1 = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2));\r\n    const pitchA = Angle.createAtan2(s1, c1); // with positive cosine\r\n    const pitchB = Angle.createAtan2(s1, -c1); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles(); // default undefined . . .\r\n    if (c1 < Geometry.smallAngleRadians) { // This is a radians test !!!\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA;\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      const absFactor = 0.95;\r\n      const radiansA = yprA.maxAbsRadians();\r\n      const radiansB = yprB.maxAbsRadians();\r\n      if (radiansA < absFactor * radiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (radiansB < absFactor * radiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;\r\n  }\r\n}\r\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@itwin/core-geometry",
-  "version": "3.6.0-dev.10",
+  "version": "3.6.0-dev.14",
   "description": "iTwin.js Core Geometry library",
   "main": "lib/cjs/core-geometry.js",
   "module": "lib/esm/core-geometry.js",
@@ -22,8 +22,8 @@
     "url": "http://www.bentley.com"
   },
   "devDependencies": {
-    "@itwin/build-tools": "3.6.0-dev.10",
-    "@itwin/eslint-plugin": "3.6.0-dev.10",
+    "@itwin/build-tools": "3.6.0-dev.14",
+    "@itwin/eslint-plugin": "3.6.0-dev.14",
     "@types/chai": "4.3.1",
     "@types/flatbuffers": "~1.10.0",
     "@types/mocha": "^8.2.2",
@@ -38,7 +38,7 @@
     "typescript": "~4.4.0"
   },
   "dependencies": {
-    "@itwin/core-bentley": "3.6.0-dev.10",
+    "@itwin/core-bentley": "3.6.0-dev.14",
     "flatbuffers": "~1.12.0"
   },
   "nyc": {