@itwin/core-geometry 4.0.0-dev.39 → 4.0.0-dev.40

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

@@ -61,6 +61,7 @@ export declare class OrderedRotationAngles {
      * 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
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes
      * @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].

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

@@ -1 +1 @@
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+{"version":3,"file":"OrderedRotationAngles.d.ts","sourceRoot":"","sources":["../../../src/geometry3d/OrderedRotationAngles.ts"],"names":[],"mappings":"AAKA;;GAEG;AACH,OAAO,EAAE,SAAS,EAAY,MAAM,aAAa,CAAC;AAClD,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAC;AAChC,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AAItC;;;;;;;;;;GAUG;AACH,qBAAa,qBAAqB;IAChC,wBAAwB;IACxB,OAAO,CAAC,EAAE,CAAQ;IAClB,wBAAwB;IACxB,OAAO,CAAC,EAAE,CAAQ;IAClB,wBAAwB;IACxB,OAAO,CAAC,EAAE,CAAQ;IAClB,2GAA2G;IAC3G,OAAO,CAAC,MAAM,CAAY;IAC1B,sCAAsC;IACtC,OAAO,CAAC,MAAM,CAAC,uBAAuB,CAAkB;IACxD,kBAAkB;IAClB,OAAO;IAMP,0FAA0F;IAC1F,IAAW,KAAK,IAAI,SAAS,CAE5B;IACD,gFAAgF;IAChF,IAAW,MAAM,IAAI,KAAK,CAEzB;IACD,gFAAgF;IAChF,IAAW,MAAM,IAAI,KAAK,CAEzB;IACD,gFAAgF;IAChF,IAAW,MAAM,IAAI,KAAK,CAEzB;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,4EAA4E;IAC5E,IAAW,QAAQ,IAAI,MAAM,CAE5B;IACD,6EAA6E;IAC7E,WAAkB,qBAAqB,IAAI,OAAO,CAEjD;IACD,WAAkB,qBAAqB,CAAC,KAAK,EAAE,OAAO,EAErD;IACD;;;;;;;;;;;;;;;OAeG;WACW,aAAa,CAAC,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,SAAS,EAChG,sBAAsB,CAAC,EAAE,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,EAAE,MAAM,CAAC,EAAE,qBAAqB,GAAG,qBAAqB;IAqB9G;;;;;;;;;;;;;;OAcG;WACW,aAAa,CAAC,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,SAAS,EAChG,sBAAsB,CAAC,EAAE,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,EAAE,MAAM,CAAC,EAAE,qBAAqB,GAAG,qBAAqB;IAU9G;;;;;;;;;;;;;;OAcG;WACW,YAAY,CAAC,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,KAAK,EAAE,SAAS,EAC/F,sBAAsB,CAAC,EAAE,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,EAAE,MAAM,CAAC,EAAE,qBAAqB,GAAG,qBAAqB;IAU9G;;;;;;;;SAQK;WACS,kBAAkB,CAAC,MAAM,EAAE,QAAQ,EAAE,KAAK,EAAE,SAAS,EAAE,MAAM,CAAC,EAAE,qBAAqB,GACjG,qBAAqB,GAAG,SAAS;IAoHnC;;;QAGI;IACG,UAAU,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;CA2D/C"}

package/lib/esm/geometry3d/OrderedRotationAngles.js

@@ -85,6 +85,7 @@ export class OrderedRotationAngles {
      * 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
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes
      * @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].

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\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"]}
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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   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes\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/esm/geometry3d/Point3dVector3d.d.ts.map

@@ -1 +1 @@
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