@itwin/core-geometry 3.6.0-dev.14 → 3.6.0-dev.22

package/lib/cjs/geometry3d/OrderedRotationAngles.js

@@ -13,11 +13,13 @@ const Angle_1 = require("./Angle");
 const Matrix3d_1 = require("./Matrix3d");
 /* cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz */
 /**
- * *   represents a non-trivial rotation using three simple axis rotation angles and an
- * order in which to apply them.
+ * 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.
+ * * This class bakes in angle rotation directions via create functions (i.e., createRadians, createDegrees, and
+ * createAngles) so you can define each of the 3 rotations to be clockwise or counterclockwise. The default
+ * rotation is counterclockwise.
  * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.
  * @alpha
  */
@@ -69,7 +71,7 @@ class OrderedRotationAngles {
     get zRadians() {
         return this._z.radians;
     }
-    /** Flag controlling whether vectors are treated as rows or as columns */
+    /** the flag controlling whether vectors are treated as rows or as columns */
     static get treatVectorsAsColumns() {
         return OrderedRotationAngles._sTreatVectorsAsColumns;
     }
@@ -77,68 +79,81 @@ class OrderedRotationAngles {
         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
+     * Create an OrderedRotationAngles from three angles (in radians), an ordering in which to apply them when
+     * rotating, and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.
+     * @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
+     * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.
+     * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.
+     * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].
+     * @param result caller-allocated OrderedRotationAngles
      */
-    static createAngles(xRotation, yRotation, zRotation, order, result) {
+    static createRadians(xRadians, yRadians, zRadians, order, xyzRotationIsClockwise, result) {
+        if (!xyzRotationIsClockwise) {
+            xyzRotationIsClockwise = [false, false, false];
+        }
+        const xRadian = xyzRotationIsClockwise[0] ? -xRadians : xRadians;
+        const yRadian = xyzRotationIsClockwise[1] ? -yRadians : yRadians;
+        const zRadian = xyzRotationIsClockwise[2] ? -zRadians : zRadians;
         if (result) {
-            result._x.setFrom(xRotation);
-            result._y.setFrom(yRotation);
-            result._z.setFrom(zRotation);
+            result._x.setRadians(xRadian);
+            result._y.setRadians(yRadian);
+            result._z.setRadians(zRadian);
             result._order = order;
             return result;
         }
-        return new OrderedRotationAngles(xRotation.clone(), yRotation.clone(), zRotation.clone(), order);
+        return new OrderedRotationAngles(Angle_1.Angle.createRadians(xRadian), Angle_1.Angle.createRadians(yRadian), Angle_1.Angle.createRadians(zRadian), order);
     }
     /**
-     * Create an OrderedRotationAngles from three angles (in radians) and an ordering in which to apply
+     * 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 xDegrees rotation around x
+     * @param yDegrees rotation around y
+     * @param zDegrees 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
+     * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.
+     * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.
+     * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].
+     * @param result caller-allocated OrderedRotationAngles
      */
-    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_1.Angle.createRadians(xRadians), Angle_1.Angle.createRadians(yRadians), Angle_1.Angle.createRadians(zRadians), order);
+    static createDegrees(xDegrees, yDegrees, zDegrees, order, xyzRotationIsClockwise, result) {
+        return OrderedRotationAngles.createRadians(Angle_1.Angle.degreesToRadians(xDegrees), Angle_1.Angle.degreesToRadians(yDegrees), Angle_1.Angle.degreesToRadians(zDegrees), order, xyzRotationIsClockwise, result);
     }
     /**
-     * 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.
+     * Create an OrderedRotationAngles from three angles, an ordering in which to apply them when rotating,
+     * and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.
+     * @param xRotation rotation around x
+     * @param yRotation rotation around y
+     * @param zRotation 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
+     * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.
+     * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.
+     * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].
+     * @param result caller-allocated OrderedRotationAngles
      */
-    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_1.Angle.createDegrees(xDegrees), Angle_1.Angle.createDegrees(yDegrees), Angle_1.Angle.createDegrees(zDegrees), order);
+    static createAngles(xRotation, yRotation, zRotation, order, xyzRotationIsClockwise, result) {
+        return OrderedRotationAngles.createRadians(xRotation.radians, yRotation.radians, zRotation.radians, order, xyzRotationIsClockwise, result);
     }
-    /** Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations that the matrix derives from. */
+    /**
+     * Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations
+     * that the matrix derives from.
+     * * This function creates an OrderedRotationAngles with default angle rotation directions, i.e.,
+     * it assumes all x, y, and z rotations are counterclockwise.
+     * * In the failure case the method's return value is `undefined`.
+     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with
+     * a set of angles.
+     * */
     static createFromMatrix3d(matrix, order, result) {
         // treat vector as columns
         let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];
@@ -161,13 +176,19 @@ class OrderedRotationAngles {
                     zRad = Math.atan2(m21, m11);
                 }
                 else {
-                    /*
-                    * 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
-                    */
+                    /**
+                     * 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).
+                     * Therefore, rotation matrix becomes
+                     *        Matrix3d.createRowValues(
+                     *             0, +-sx, +-cx,
+                     *             0, cx, -sx,
+                     *             -+1, 0, 0
+                     *        );
+                     * 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;
                 }
@@ -237,7 +258,21 @@ class OrderedRotationAngles {
                 xRad = yRad = zRad = 0;
             }
         }
-        return OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, result);
+        const xyzRotationIsClockwise = [false, false, false];
+        const angles = OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, xyzRotationIsClockwise, result);
+        // sanity check
+        const matrix1 = angles.toMatrix3d();
+        /**
+         * Below tolerance loosened to allow sanity check to pass for
+         *
+         * OrderedRotationAngles.createFromMatrix3d(
+         *       OrderedRotationAngles.createDegrees(0, 89.999, 0.001, AxisOrder.XYZ).toMatrix3d(),
+         *       AxisOrder.XYZ
+         * );
+         *
+         * with treatVectorsAsColumns = true.
+         */
+        return (matrix.maxDiff(matrix1) < 10 * Geometry_1.Geometry.smallFraction) ? angles : undefined;
     }
     /**
      * Create a 3x3 rotational matrix from this OrderedRotationAngles.

package/lib/cjs/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\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"]}
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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, Geometry } 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 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 * * This class bakes in angle rotation directions via create functions (i.e., createRadians, createDegrees, and\r\n * createAngles) so you can define each of the 3 rotations to be clockwise or counterclockwise. The default\r\n * rotation is counterclockwise.\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  /** the 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 (in radians), an ordering in which to apply them when\r\n   * rotating, and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\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   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\r\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\r\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\r\n   * @param result caller-allocated OrderedRotationAngles\r\n   */\r\n  public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder,\r\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    if (!xyzRotationIsClockwise) {\r\n      xyzRotationIsClockwise = [false, false, false];\r\n    }\r\n    const xRadian = xyzRotationIsClockwise[0] ? -xRadians : xRadians;\r\n    const yRadian = xyzRotationIsClockwise[1] ? -yRadians : yRadians;\r\n    const zRadian = xyzRotationIsClockwise[2] ? -zRadians : zRadians;\r\n    if (result) {\r\n      result._x.setRadians(xRadian);\r\n      result._y.setRadians(yRadian);\r\n      result._z.setRadians(zRadian);\r\n      result._order = order;\r\n      return result;\r\n    }\r\n    return new OrderedRotationAngles(\r\n      Angle.createRadians(xRadian),\r\n      Angle.createRadians(yRadian),\r\n      Angle.createRadians(zRadian),\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 xDegrees rotation around x\r\n   * @param yDegrees rotation around y\r\n   * @param zDegrees 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   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\r\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\r\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\r\n   * @param result caller-allocated OrderedRotationAngles\r\n   */\r\n  public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder,\r\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    return OrderedRotationAngles.createRadians(\r\n      Angle.degreesToRadians(xDegrees),\r\n      Angle.degreesToRadians(yDegrees),\r\n      Angle.degreesToRadians(zDegrees),\r\n      order,\r\n      xyzRotationIsClockwise,\r\n      result\r\n    );\r\n  }\r\n  /**\r\n   * Create an OrderedRotationAngles from three angles, an ordering in which to apply them when rotating,\r\n   * and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\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   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\r\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\r\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\r\n   * @param result caller-allocated OrderedRotationAngles\r\n   */\r\n  public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder,\r\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\r\n    return OrderedRotationAngles.createRadians(\r\n      xRotation.radians,\r\n      yRotation.radians,\r\n      zRotation.radians,\r\n      order,\r\n      xyzRotationIsClockwise,\r\n      result\r\n    );\r\n  }\r\n  /**\r\n   * Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations\r\n   * that the matrix derives from.\r\n   * * This function creates an OrderedRotationAngles with default angle rotation directions, i.e.,\r\n   * it assumes all x, y, and z rotations are counterclockwise.\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\r\n   * a set of angles.\r\n   * */\r\n  public static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles):\r\n    OrderedRotationAngles | undefined {\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           * Therefore, rotation matrix becomes\r\n           *        Matrix3d.createRowValues(\r\n           *             0, +-sx, +-cx,\r\n           *             0, cx, -sx,\r\n           *             -+1, 0, 0\r\n           *        );\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    const xyzRotationIsClockwise: [boolean, boolean, boolean] = [false, false, false];\r\n    const angles = OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, xyzRotationIsClockwise, result);\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    /**\r\n     * Below tolerance loosened to allow sanity check to pass for\r\n     *\r\n     * OrderedRotationAngles.createFromMatrix3d(\r\n     *       OrderedRotationAngles.createDegrees(0, 89.999, 0.001, AxisOrder.XYZ).toMatrix3d(),\r\n     *       AxisOrder.XYZ\r\n     * );\r\n     *\r\n     * with treatVectorsAsColumns = true.\r\n     */\r\n    return (matrix.maxDiff(matrix1) < 10 * Geometry.smallFraction) ? angles : undefined;\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/cjs/geometry3d/YawPitchRollAngles.d.ts

@@ -6,7 +6,6 @@ import { Angle } from "./Angle";
 import { Matrix3d } from "./Matrix3d";
 import { Point3d } from "./Point3dVector3d";
 import { Transform } from "./Transform";
-/** The properties that define [[YawPitchRollAngles]]. */
 /**
  * angle properties of a `YawPitchRoll` orientation
  * @public
@@ -19,44 +18,66 @@ export interface YawPitchRollProps {
     /** roll field */
     roll?: AngleProps;
 }
-/** 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).
+/**
+ * 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).
  * * The matrix construction can be replicated by this logic:
  * * xyz coordinates have
  *   * x forward
  *   * y to left
  *   * z up
- *   * Note that this is a right handed coordinate system.
- *   * yaw is a rotation of x towards y, i.e. around positive z:
+ * * Note that this is a right handed coordinate system.
+ * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):
  *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`
- *   * pitch is a rotation that raises x towards z, i.e. rotation around negative y:
+ * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):
  *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`
- *   * roll is rotation of y towards z, i.e. rotation around positive x:
+ * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):
  *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`
- *   * The YPR matrix is the product
+ * * The YPR matrix is the product
  *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`
- *   * Note that this is for "column based" matrix, with vectors appearing to the right
- *     * Hence a vector is first rotated by roll, then the pitch, finally yaw.
+ * * Note that this is for "column based" matrix with vectors multiplying on the right of the matrix.
+ * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in
+ * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.
  * @public
  */
 export declare class YawPitchRollAngles {
-    /** The yaw angle. */
+    /** The yaw angle: counterclockwise rotation angle around z  */
     yaw: Angle;
-    /** The pitch angle. */
+    /** The pitch angle: **clockwise** rotation angle around y */
     pitch: Angle;
-    /** The roll angle. */
+    /** The roll angle: counterclockwise rotation angle around x */
     roll: Angle;
+    /**
+     * constructor
+     * @param yaw counterclockwise rotation angle around z
+     * @param pitch **clockwise** rotation angle around y
+     * @param roll counterclockwise rotation angle around x
+     * */
     constructor(yaw?: Angle, pitch?: Angle, roll?: Angle);
     /** Freeze this YawPitchRollAngles */
     freeze(): Readonly<this>;
-    /** constructor for YawPitchRollAngles with angles in degrees. */
+    /**
+     * constructor for YawPitchRollAngles with angles in degrees.
+     * @param yawDegrees counterclockwise rotation angle (in degrees) around z
+     * @param pitchDegrees **clockwise** rotation angle (in degrees) around y
+     * @param rollDegrees counterclockwise rotation angle (in degrees) around x
+     * */
     static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles;
-    /** constructor for YawPitchRollAngles with angles in radians. */
+    /**
+     * constructor for YawPitchRollAngles with angles in radians.
+     * @param yawRadians counterclockwise rotation angle (in radians) around z
+     * @param pitchRadians **clockwise** rotation angle (in radians) around y
+     * @param rollRadians counterclockwise rotation angle (in radians) around x
+     * */
     static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles;
     /** construct a `YawPitchRoll` object from an object with 3 named angles */
     static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles;
     /** populate yaw, pitch and roll fields using `Angle.fromJSON` */
     setFromJSON(json?: YawPitchRollProps): void;
-    /** 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. */
+    /**
+     * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.
+     * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.
+     **/
     toJSON(): YawPitchRollProps;
     /**
      * Install all rotations from `other` into `this`.
@@ -64,7 +85,7 @@ export declare class YawPitchRollAngles {
      */
     setFrom(other: YawPitchRollAngles): void;
     /**
-     * * Compare angles between `this` and `other`.
+     * Compare angles between `this` and `other`.
      * * Comparisons are via `isAlmostEqualAllowPeriodShift`.
      * @param other YawPitchRollAngles source
      */
@@ -76,35 +97,38 @@ export declare class YawPitchRollAngles {
     /**
      * Expand the angles into a (rigid rotation) matrix.
      *
-     * * The returned matrix is "rigid" -- unit length rows and columns, and its transpose is its inverse.
-     * * The "rigid" matrix is always a right handed coordinate system.
+     * * The returned matrix is "rigid" (i.e., it has unit length rows and columns, and its transpose is its inverse).
+     * * The rigid matrix is always a right handed coordinate system.
      * @param result optional pre-allocated `Matrix3d`
      */
     toMatrix3d(result?: Matrix3d): Matrix3d;
-    /** Return the largest angle in radians */
-    maxAbsRadians(): number;
-    /** Return the sum of the angles in squared radians */
-    sumSquaredRadians(): number;
     /** Returns true if this rotation does nothing.
      * * If allowPeriodShift is false, any nonzero angle is considered a non-identity
      * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.
      */
     isIdentity(allowPeriodShift?: boolean): boolean;
+    /** Return the largest angle in radians */
+    maxAbsRadians(): number;
+    /** Return the sum of the angles in squared radians */
+    sumSquaredRadians(): number;
     /** Return the largest difference of angles (in radians) between this and other */
     maxDiffRadians(other: YawPitchRollAngles): number;
     /** Return the largest angle in degrees. */
     maxAbsDegrees(): number;
     /** Return the sum of squared angles in degrees. */
     sumSquaredDegrees(): number;
+    /** Return the largest difference of angles (in degrees) between this and other */
+    maxDiffDegrees(other: YawPitchRollAngles): number;
     /** Return an object from a Transform as an origin and YawPitchRollAngles. */
     static tryFromTransform(transform: Transform): {
         origin: Point3d;
         angles: YawPitchRollAngles | undefined;
     };
-    /** Attempts to create a YawPitchRollAngles object from an Matrix3d
-     * * This conversion fails if the matrix is not rigid (unit rows and columns, transpose is inverse)
+    /** Attempts to create a YawPitchRollAngles object from a Matrix3d
+     * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)
      * * In the failure case the method's return value is `undefined`.
-     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with a set of angles.
+     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with
+     * a set of angles.
      */
     static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined;
 }

package/lib/cjs/geometry3d/YawPitchRollAngles.d.ts.map

@@ -1 +1 @@
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