npm - @itwin/core-geometry - Versions diffs - 4.0.0-dev.54 → 4.0.0-dev.55 - Mend

@itwin/core-geometry 4.0.0-dev.54 → 4.0.0-dev.55

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package/lib/cjs/geometry3d/OrderedRotationAngles.js.map CHANGED Viewed

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\nimport { AxisOrder, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\n\n/ cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz /\n\n/\n represents a non-trivial rotation using three simple axis rotation angles and an order in which to apply them.\n * * This class accommodates application-specific interpretation of \"multiplying 3 rotation matrices\" with regard to\n * * Whether a \"vector\" is a \"row\" or a \"column\"\n * * The order in which the X,Y,Z rotations are applied.\n * * This class bakes in angle rotation directions via create functions (i.e., createRadians, createDegrees, and\n * createAngles) so you can define each of the 3 rotations to be clockwise or counterclockwise. The default\n * rotation is counterclockwise.\n * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.\n * @alpha\n /\nexport class OrderedRotationAngles {\n /* rotation around x /\n private _x: Angle;\n /* rotation around y /\n private _y: Angle;\n /* rotation around z /\n private _z: Angle;\n /* rotation order. For example XYZ means to rotate around x axis first, then y axis, and finally Z axis /\n private _order: AxisOrder;\n /* treat vectors as matrix columns /\n private static _sTreatVectorsAsColumns: boolean = false;\n /* constructor /\n private constructor(x: Angle, y: Angle, z: Angle, axisOrder: AxisOrder) {\n this._x = x;\n this._y = y;\n this._z = z;\n this._order = axisOrder;\n }\n /* (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. /\n public get order(): AxisOrder {\n return this._order;\n }\n /* (Property accessor) Return the strongly typed angle of rotation around x. /\n public get xAngle(): Angle {\n return this._x.clone();\n }\n /* (Property accessor) Return the strongly typed angle of rotation around y. /\n public get yAngle(): Angle {\n return this._y.clone();\n }\n /* (Property accessor) Return the strongly typed angle of rotation around z. /\n public get zAngle(): Angle {\n return this._z.clone();\n }\n /* (Property accessor) Return the angle of rotation around x, in degrees /\n public get xDegrees(): number {\n return this._x.degrees;\n }\n /* (Property accessor) Return the angle of rotation around y, in degrees /\n public get xRadians(): number {\n return this._x.radians;\n }\n /* (Property accessor) Return the angle of rotation around z, in degrees /\n public get yDegrees(): number {\n return this._y.degrees;\n }\n /* (Property accessor) Return the angle of rotation around x, in radians /\n public get yRadians(): number {\n return this._y.radians;\n }\n /* (Property accessor) Return the angle of rotation around y, in radians /\n public get zDegrees(): number {\n return this._z.degrees;\n }\n /* (Property accessor) Return the angle of rotation around z, in radians /\n public get zRadians(): number {\n return this._z.radians;\n }\n /* the flag controlling whether vectors are treated as rows or as columns /\n public static get treatVectorsAsColumns(): boolean {\n return OrderedRotationAngles._sTreatVectorsAsColumns;\n }\n public static set treatVectorsAsColumns(value: boolean) {\n OrderedRotationAngles._sTreatVectorsAsColumns = value;\n }\n /\n Create an OrderedRotationAngles from three angles (in radians), an ordering in which to apply them when\n * rotating, and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n * @param xRadians rotation around x\n * @param yRadians rotation around y\n * @param zRadians rotation around z\n * @param order left to right order of axis names identifies the order that rotations are applied.\n * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n * matrix multiplication would be zRotyRotxRot\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes\n * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n * @param result caller-allocated OrderedRotationAngles\n /\n public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder,\n xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n if (!xyzRotationIsClockwise) {\n xyzRotationIsClockwise = [false, false, false];\n }\n const xRadian = xyzRotationIsClockwise[0] ? -xRadians : xRadians;\n const yRadian = xyzRotationIsClockwise[1] ? -yRadians : yRadians;\n const zRadian = xyzRotationIsClockwise[2] ? -zRadians : zRadians;\n if (result) {\n result._x.setRadians(xRadian);\n result._y.setRadians(yRadian);\n result._z.setRadians(zRadian);\n result._order = order;\n return result;\n }\n return new OrderedRotationAngles(\n Angle.createRadians(xRadian),\n Angle.createRadians(yRadian),\n Angle.createRadians(zRadian),\n order\n );\n }\n /\n Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply\n * them when rotating.\n * @param xDegrees rotation around x\n * @param yDegrees rotation around y\n * @param zDegrees rotation around z\n * @param order left to right order of axis names identifies the order that rotations are applied.\n * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n * matrix multiplication would be zRotyRotxRot\n * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n * @param result caller-allocated OrderedRotationAngles\n /\n public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder,\n xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n return OrderedRotationAngles.createRadians(\n Angle.degreesToRadians(xDegrees),\n Angle.degreesToRadians(yDegrees),\n Angle.degreesToRadians(zDegrees),\n order,\n xyzRotationIsClockwise,\n result\n );\n }\n /\n Create an OrderedRotationAngles from three angles, an ordering in which to apply them when rotating,\n * and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n * @param xRotation rotation around x\n * @param yRotation rotation around y\n * @param zRotation rotation around z\n * @param order left to right order of axis names identifies the order that rotations are applied\n * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n * matrix multiplication would be zRotyRotxRot\n * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n * @param result caller-allocated OrderedRotationAngles\n /\n public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder,\n xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n return OrderedRotationAngles.createRadians(\n xRotation.radians,\n yRotation.radians,\n zRotation.radians,\n order,\n xyzRotationIsClockwise,\n result\n );\n }\n /\n Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations\n * that the matrix derives from.\n * * This function creates an OrderedRotationAngles with default angle rotation directions, i.e.,\n * it assumes all x, y, and z rotations are counterclockwise.\n * * In the failure case the method's return value is `undefined`.\n * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with\n * a set of angles.\n * /\n public static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles):\n OrderedRotationAngles \| undefined {\n // treat vector as columns\n let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];\n let m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];\n let m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];\n // treat vector as rows\n if (!OrderedRotationAngles.treatVectorsAsColumns) {\n m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];\n m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];\n m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];\n }\n\n let xRad: number;\n let yRad: number;\n let zRad: number;\n\n switch (order) {\n case AxisOrder.XYZ: {\n yRad = Math.asin(Math.max(-1, Math.min(1, -m31))); // limit asin domain to [-1,1]\n\n if (Math.abs(m31) < 0.99999) {\n xRad = Math.atan2(m32, m33);\n zRad = Math.atan2(m21, m11);\n } else {\n /\n If Math.abs(m31) = 1 then yRad = +-90 degrees and therefore, we have a gimbal lock.\n * This means xRad and zRad can be anything as long as their sum xRad + zRad is constant.\n * so we can pick zRad = 0 and calculate xRad (or pick xRad = 0 and calculate zRad).\n * Therefore, rotation matrix becomes\n * Matrix3d.createRowValues(\n * 0, +-sx, +-cx,\n * 0, cx, -sx,\n * -+1, 0, 0\n * );\n * Math details can be found\n * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\n /\n xRad = Math.atan2(-m23, m22);\n zRad = 0;\n }\n break;\n } case AxisOrder.YXZ: {\n xRad = Math.asin(Math.max(-1, Math.min(1, m32))); // limit asin domain to [-1,1]\n\n if (Math.abs(m32) < 0.99999) {\n yRad = Math.atan2(-m31, m33);\n zRad = Math.atan2(-m12, m22);\n } else {\n yRad = Math.atan2(m13, m11);\n zRad = 0;\n }\n break;\n } case AxisOrder.ZXY: {\n xRad = Math.asin(Math.max(-1, Math.min(1, -m23))); // limit asin domain to [-1,1]\n\n if (Math.abs(m23) < 0.99999) {\n yRad = Math.atan2(m13, m33);\n zRad = Math.atan2(m21, m22);\n } else {\n yRad = 0;\n zRad = Math.atan2(-m12, m11);\n }\n break;\n } case AxisOrder.ZYX: {\n yRad = Math.asin(Math.max(-1, Math.min(1, m13))); // limit asin domain to [-1,1]\n\n if (Math.abs(m13) < 0.99999) {\n xRad = Math.atan2(-m23, m33);\n zRad = Math.atan2(-m12, m11);\n } else {\n xRad = 0;\n zRad = Math.atan2(m21, m22);\n }\n break;\n } case AxisOrder.YZX: {\n zRad = Math.asin(Math.max(-1, Math.min(1, -m12))); // limit asin domain to [-1,1]\n\n if (Math.abs(m12) < 0.99999) {\n xRad = Math.atan2(m32, m22);\n yRad = Math.atan2(m13, m11);\n } else {\n xRad = 0;\n yRad = Math.atan2(-m31, m33);\n }\n break;\n } case AxisOrder.XZY: {\n zRad = Math.asin(Math.max(-1, Math.min(1, m21))); // limit asin domain to [-1,1]\n\n if (Math.abs(m21) < 0.99999) {\n xRad = Math.atan2(-m23, m22);\n yRad = Math.atan2(-m31, m11);\n } else {\n xRad = Math.atan2(m32, m33);\n yRad = 0;\n }\n break;\n } default: {\n xRad = yRad = zRad = 0;\n }\n }\n const xyzRotationIsClockwise: [boolean, boolean, boolean] = [false, false, false];\n const angles = OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, xyzRotationIsClockwise, result);\n // sanity check\n const matrix1 = angles.toMatrix3d();\n /\n Below tolerance loosened to allow sanity check to pass for\n \n OrderedRotationAngles.createFromMatrix3d(\n * OrderedRotationAngles.createDegrees(0, 89.999, 0.001, AxisOrder.XYZ).toMatrix3d(),\n * AxisOrder.XYZ\n * );\n \n with treatVectorsAsColumns = true.\n /\n return (matrix.maxDiff(matrix1) < 10 Geometry.smallFraction) ? angles : undefined;\n }\n /*\n Create a 3x3 rotational matrix from this OrderedRotationAngles.\n math details can be found at docs/learning/geometry/Angle.md\n /\n public toMatrix3d(result?: Matrix3d): Matrix3d {\n const rot = (result !== undefined) ? result : new Matrix3d();\n const axisOrder = this.order;\n const x = this.xAngle, y = this.yAngle, z = this.zAngle;\n\n const cx = x.cos(), sx = x.sin();\n const cy = y.cos(), sy = y.sin();\n const cz = z.cos(), sz = z.sin();\n\n const cxcz = cx * cz, cxsz = cx * sz, cxcy = cx * cy, cxsy = cx * sy;\n const sxcz = sx * cz, sxsz = sx * sz, sxcy = sx * cy, sxsy = sx * sy;\n const cycz = cy * cz, cysz = cy * sz, sycz = sy * cz, sysz = sy * sz;\n\n // the rotation matrix we build below is created using column-based base rotation matrixes\n if (axisOrder === AxisOrder.XYZ) {\n rot.setRowValues(\n cy * cz, sxcz * sy - cxsz, cxcz * sy + sxsz,\n cy * sz, cxcz + sxsz * sy, cxsz * sy - sxcz,\n -sy, sx * cy, cx * cy,\n );\n } else if (axisOrder === AxisOrder.YXZ) {\n rot.setRowValues(\n cycz - sysz * sx, -cx * sz, cysz * sx + sycz,\n sycz * sx + cysz, cx * cz, sysz - cycz * sx,\n -cx * sy, sx, cx * cy,\n );\n } else if (axisOrder === AxisOrder.ZXY) {\n rot.setRowValues(\n cycz + sysz * sx, sycz * sx - cysz, cx * sy,\n cx * sz, cx * cz, -sx,\n cysz * sx - sycz, cycz * sx + sysz, cx * cy,\n );\n } else if (axisOrder === AxisOrder.ZYX) {\n rot.setRowValues(\n cy * cz, -cy * sz, sy,\n sxcz * sy + cxsz, cxcz - sxsz * sy, -sx * cy,\n sxsz - cxcz * sy, sxcz + cxsz * sy, cx * cy,\n );\n } else if (axisOrder === AxisOrder.YZX) {\n rot.setRowValues(\n cy * cz, -sz, sy * cz,\n sxsy + cxcy * sz, cx * cz, cxsy * sz - sxcy,\n sxcy * sz - cxsy, sx * cz, cxcy + sxsy * sz,\n );\n } else if (axisOrder === AxisOrder.XZY) {\n rot.setRowValues(\n cy * cz, sxsy - cxcy * sz, cxsy + sxcy * sz,\n sz, cx * cz, -sx * cz,\n -sy * cz, sxcy + cxsy * sz, cxcy - sxsy * sz,\n );\n } else {\n rot.setIdentity();\n }\n // if we need row-based rotation matrix, we transpose the rotation matrix\n if (!OrderedRotationAngles.treatVectorsAsColumns)\n rot.transposeInPlace();\n\n return rot;\n }\n}\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 zRotyRotxRot\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 zRotyRotxRot\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 zRotyRotxRot\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.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\nimport { AxisOrder, BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Transform } from \"./Transform\";\nimport { XAndY } from \"./XYZProps\";\n\n/\n A plane defined by\n * * Any point on the plane.\n * * a unit normal.\n * @public\n /\nexport class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, PlaneAltitudeEvaluator {\n private _origin: Point3d;\n private _normal: Vector3d;\n // constructor captures references !!!\n private constructor(origin: Point3d, normal: Vector3d) {\n this._origin = origin;\n this._normal = normal;\n }\n // This is private because it does not check validity of the unit vector.\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\n return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, z), Vector3d.create(u, v, w));\n }\n /\n Create a plane parallel to the XY plane\n * @param origin optional plane origin. If omitted, the origin is placed at 000\n /\n public static createXYPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n if (origin)\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 0, 1);\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 0, 1);\n }\n /\n Create a plane parallel to the YZ plane\n * @param origin optional plane origin. If omitted, the origin is placed at 000\n /\n public static createYZPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n if (origin)\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 1, 0, 0);\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 1, 0, 0);\n }\n /\n Create a plane parallel to the ZX plane\n * @param origin optional plane origin. If omitted, the origin is placed at 000\n /\n public static createZXPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n if (origin)\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 1, 0);\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 1, 0);\n }\n /* create a new Plane3dByOriginAndUnitNormal with given origin and normal.\n * * The inputs are NOT captured.\n * * Returns undefined if the normal vector is all zeros.\n /\n public static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\n const normalized = normal.normalize();\n if (!normalized)\n return undefined;\n if (result) {\n result.set(origin, normalized);\n return result;\n }\n return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\n }\n /* create a new Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.\n * * Returns undefined if the normal vector is all zeros.\n * * If unable to normalize return undefined. (And if result is given it is left unchanged)\n /\n public static createXYZUVW(ax: number, ay: number, az: number, ux: number, uy: number, uz: number, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\n const magU = Geometry.hypotenuseXYZ(ux, uy, uz);\n if (magU < Geometry.smallMetricDistance)\n return undefined;\n if (result) {\n result._origin.set(ax, ay, az);\n result._normal.set(ux / magU, uy / magU, uz / magU);\n return result;\n }\n return new Plane3dByOriginAndUnitNormal(Point3d.create(ax, ay, az), Vector3d.create(ux / magU, uy / magU, uz / magU));\n }\n /* create a new Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line defined by xy parts of origin to target.\n * * origin and normal both have z = 0.\n * * The inputs are NOT captured.\n * * Returns undefined if the normal vector is all zeros.\n /\n public static createOriginAndTargetXY(origin: XAndY, target: XAndY, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\n const ux = target.x - origin.x;\n const uy = target.y - origin.y;\n return this.createXYZUVW(origin.x, origin.y, 0.0, uy, -ux, 0.0, result);\n }\n\n /* create a new Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.\n * * Returns undefined if the normal vector is all zeros.\n /\n public static createXYAngle(x: number, y: number, normalAngleFromX: Angle, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\n if (result) {\n result._origin.set(x, y, 0.0);\n result._normal.set(normalAngleFromX.cos(), normalAngleFromX.sin(), 0.0);\n return result;\n }\n return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, 0), Vector3d.create(normalAngleFromX.cos(), normalAngleFromX.sin()));\n }\n\n /* Create a plane defined by two points and an in-plane vector.\n * @param pointA any point in the plane\n * @param pointB any other point in the plane\n * @param vector any vector in the plane but not parallel to the vector from pointA to pointB\n /\n public static createPointPointVectorInPlane(pointA: Point3d, pointB: Point3d, vector: Vector3d): Plane3dByOriginAndUnitNormal \| undefined {\n const cross = vector.crossProductStartEnd(pointA, pointB);\n if (cross.tryNormalizeInPlace())\n return new Plane3dByOriginAndUnitNormal(pointA, cross);\n return undefined;\n }\n\n /* test for (toleranced) equality with `other` /\n public isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean {\n return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);\n }\n /* Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}` /\n public setFromJSON(json?: any) {\n if (!json) {\n this._origin.set(0, 0, 0);\n this._normal.set(0, 0, 1);\n } else {\n this._origin.setFromJSON(json.origin);\n this._normal.setFromJSON(json.normal);\n }\n }\n /\n Convert to a JSON object.\n * @return {} [origin,normal]\n /\n public toJSON(): any { return { origin: this._origin.toJSON(), normal: this._normal.toJSON() }; }\n /** create a new Plane3dByOriginAndUnitNormal from json fragment.\n * * See `Plane3dByOriginAndUnitNormal.setFromJSON`\n /\n public static fromJSON(json?: any): Plane3dByOriginAndUnitNormal {\n const result = Plane3dByOriginAndUnitNormal.createXYPlane();\n result.setFromJSON(json);\n return result;\n }\n /* Return a reference to the origin. /\n public getOriginRef(): Point3d { return this._origin; }\n /* Return a reference to the unit normal. /\n public getNormalRef(): Vector3d { return this._normal; }\n\n /* Return coordinate axes (as a transform) with\n * * origin at plane origin\n * * z axis in direction of plane normal.\n * * x,y axes in plane.\n /\n public getLocalToWorld(): Transform {\n const axes = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY);\n return Transform.createRefs(this._origin.clone(), axes);\n }\n /* Return a (singular) transform which projects points to this plane.\n /\n public getProjectionToPlane(): Transform {\n const axes = Matrix3d.createIdentity();\n axes.addScaledOuterProductInPlace(this._normal, this._normal, -1.0);\n axes.markSingular();\n return Transform.createFixedPointAndMatrix(this._origin, axes);\n }\n\n /* Copy coordinates from the given origin and normal. /\n public set(origin: Point3d, normal: Vector3d): void {\n this._origin.setFrom(origin);\n this._normal.setFrom(normal);\n }\n /* return a deep clone (point and normal cloned) /\n public clone(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\n if (result) {\n result.set(this._origin, this._normal);\n return result;\n }\n return new Plane3dByOriginAndUnitNormal(this._origin.clone(), this._normal.clone());\n }\n /* Create a clone and return the transform of the clone. /\n public cloneTransformed(transform: Transform, inverse: boolean = false): Plane3dByOriginAndUnitNormal \| undefined {\n const result = this.clone();\n if (inverse) {\n transform.multiplyInversePoint3d(result._origin, result._origin);\n if (transform.matrix.multiplyTransposeVector(result._normal, result._normal) !== undefined\n && result._normal.normalizeInPlace())\n return result;\n } else {\n transform.multiplyPoint3d(result._origin, result._origin);\n if (transform.matrix.multiplyInverseTranspose(result._normal, result._normal) !== undefined\n && result._normal.normalizeInPlace())\n return result;\n }\n return undefined;\n }\n /* Copy data from the given plane. /\n public setFrom(source: Plane3dByOriginAndUnitNormal): void {\n this.set(source._origin, source._normal);\n }\n /* Return the altitude of spacePoint above or below the plane. (Below is negative) /\n public altitude(spacePoint: Point3d): number { return this._normal.dotProductStartEnd(this._origin, spacePoint); }\n /* Return the altitude of point (x,y) given xy parts using only the xy parts of origin and unit normal /\n public altitudeXY(x: number, y: number): number {\n return (x - this._origin.x) this._normal.x + (y - this._origin.y) * this._normal.y;\n }\n /*\n Return the x component of the normal used to evaluate altitude.\n /\n public normalX(): number {return this._normal.x; }\n /\n Return the x component of the normal used to evaluate altitude.\n /\n public normalY(): number {return this._normal.y; }\n /\n Return the z component of the normal used to evaluate altitude.\n /\n public normalZ(): number {return this._normal.z; }\n\n /* Return the altitude of weighted spacePoint above or below the plane. (Below is negative) /\n public weightedAltitude(spacePoint: Point4d): number {\n return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);\n }\n\n /* return a point at specified (signed) altitude /\n public altitudeToPoint(altitude: number, result?: Point3d): Point3d {\n return this._origin.plusScaled(this._normal, altitude, result);\n }\n /* Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\n * for a point moving at speed one along the spaceVector.\n /\n public velocityXYZ(x: number, y: number, z: number): number { return this._normal.dotProductXYZ(x, y, z); }\n /* Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\n * for a point moving at speed one along the spaceVector.\n /\n public velocity(spaceVector: Vector3d): number { return this._normal.dotProduct(spaceVector); }\n /* Return the altitude of a point given as separate x,y,z components. /\n public altitudeXYZ(x: number, y: number, z: number): number {\n return this._normal.dotProductStartEndXYZ(this._origin, x, y, z);\n }\n /* Return the altitude of a point given as separate x,y,z,w components. /\n public altitudeXYZW(x: number, y: number, z: number, w: number): number {\n return this._normal.dotProductStartEndXYZW(this._origin, x, y, z, w);\n }\n /* Return the projection of spacePoint onto the plane. /\n public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\n return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);\n }\n /* Returns true of spacePoint is within distance tolerance of the plane. */\n public isPointInPlane(spacePoint: Point3d): boolean { return Geometry.isSmallMetricDistance(this.altitude(spacePoint)); }\n}\n"]}
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, BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/\r\n A plane defined by\r\n * * Any point on the plane.\r\n * * a unit normal.\r\n * @public\r\n /\r\nexport class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, PlaneAltitudeEvaluator {\r\n private _origin: Point3d;\r\n private _normal: Vector3d;\r\n // constructor captures references !!!\r\n private constructor(origin: Point3d, normal: Vector3d) {\r\n this._origin = origin;\r\n this._normal = normal;\r\n }\r\n // This is private because it does not check validity of the unit vector.\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /\r\n Create a plane parallel to the XY plane\r\n * @param origin optional plane origin. If omitted, the origin is placed at 000\r\n /\r\n public static createXYPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n if (origin)\r\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 0, 1);\r\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /\r\n Create a plane parallel to the YZ plane\r\n * @param origin optional plane origin. If omitted, the origin is placed at 000\r\n /\r\n public static createYZPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n if (origin)\r\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 1, 0, 0);\r\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /\r\n Create a plane parallel to the ZX plane\r\n * @param origin optional plane origin. If omitted, the origin is placed at 000\r\n /\r\n public static createZXPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n if (origin)\r\n return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 1, 0);\r\n return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /* create a new Plane3dByOriginAndUnitNormal with given origin and normal.\r\n * * The inputs are NOT captured.\r\n * * Returns undefined if the normal vector is all zeros.\r\n /\r\n public static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\r\n const normalized = normal.normalize();\r\n if (!normalized)\r\n return undefined;\r\n if (result) {\r\n result.set(origin, normalized);\r\n return result;\r\n }\r\n return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\r\n }\r\n /* create a new Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.\r\n * * Returns undefined if the normal vector is all zeros.\r\n * * If unable to normalize return undefined. (And if result is given it is left unchanged)\r\n /\r\n public static createXYZUVW(ax: number, ay: number, az: number, ux: number, uy: number, uz: number, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\r\n const magU = Geometry.hypotenuseXYZ(ux, uy, uz);\r\n if (magU < Geometry.smallMetricDistance)\r\n return undefined;\r\n if (result) {\r\n result._origin.set(ax, ay, az);\r\n result._normal.set(ux / magU, uy / magU, uz / magU);\r\n return result;\r\n }\r\n return new Plane3dByOriginAndUnitNormal(Point3d.create(ax, ay, az), Vector3d.create(ux / magU, uy / magU, uz / magU));\r\n }\r\n /* create a new Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line defined by xy parts of origin to target.\r\n * * origin and normal both have z = 0.\r\n * * The inputs are NOT captured.\r\n * * Returns undefined if the normal vector is all zeros.\r\n /\r\n public static createOriginAndTargetXY(origin: XAndY, target: XAndY, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\r\n const ux = target.x - origin.x;\r\n const uy = target.y - origin.y;\r\n return this.createXYZUVW(origin.x, origin.y, 0.0, uy, -ux, 0.0, result);\r\n }\r\n\r\n /* create a new Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.\r\n * * Returns undefined if the normal vector is all zeros.\r\n /\r\n public static createXYAngle(x: number, y: number, normalAngleFromX: Angle, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\r\n if (result) {\r\n result._origin.set(x, y, 0.0);\r\n result._normal.set(normalAngleFromX.cos(), normalAngleFromX.sin(), 0.0);\r\n return result;\r\n }\r\n return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, 0), Vector3d.create(normalAngleFromX.cos(), normalAngleFromX.sin()));\r\n }\r\n\r\n /* Create a plane defined by two points and an in-plane vector.\r\n * @param pointA any point in the plane\r\n * @param pointB any other point in the plane\r\n * @param vector any vector in the plane but not parallel to the vector from pointA to pointB\r\n /\r\n public static createPointPointVectorInPlane(pointA: Point3d, pointB: Point3d, vector: Vector3d): Plane3dByOriginAndUnitNormal \| undefined {\r\n const cross = vector.crossProductStartEnd(pointA, pointB);\r\n if (cross.tryNormalizeInPlace())\r\n return new Plane3dByOriginAndUnitNormal(pointA, cross);\r\n return undefined;\r\n }\r\n\r\n /* test for (toleranced) equality with `other` /\r\n public isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean {\r\n return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);\r\n }\r\n /* Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}` /\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this._origin.set(0, 0, 0);\r\n this._normal.set(0, 0, 1);\r\n } else {\r\n this._origin.setFromJSON(json.origin);\r\n this._normal.setFromJSON(json.normal);\r\n }\r\n }\r\n /\r\n Convert to a JSON object.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any { return { origin: this._origin.toJSON(), normal: this._normal.toJSON() }; }\r\n /** create a new Plane3dByOriginAndUnitNormal from json fragment.\r\n * * See `Plane3dByOriginAndUnitNormal.setFromJSON`\r\n /\r\n public static fromJSON(json?: any): Plane3dByOriginAndUnitNormal {\r\n const result = Plane3dByOriginAndUnitNormal.createXYPlane();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /* Return a reference to the origin. /\r\n public getOriginRef(): Point3d { return this._origin; }\r\n /* Return a reference to the unit normal. /\r\n public getNormalRef(): Vector3d { return this._normal; }\r\n\r\n /* Return coordinate axes (as a transform) with\r\n * * origin at plane origin\r\n * * z axis in direction of plane normal.\r\n * * x,y axes in plane.\r\n /\r\n public getLocalToWorld(): Transform {\r\n const axes = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY);\r\n return Transform.createRefs(this._origin.clone(), axes);\r\n }\r\n /* Return a (singular) transform which projects points to this plane.\r\n /\r\n public getProjectionToPlane(): Transform {\r\n const axes = Matrix3d.createIdentity();\r\n axes.addScaledOuterProductInPlace(this._normal, this._normal, -1.0);\r\n axes.markSingular();\r\n return Transform.createFixedPointAndMatrix(this._origin, axes);\r\n }\r\n\r\n /* Copy coordinates from the given origin and normal. /\r\n public set(origin: Point3d, normal: Vector3d): void {\r\n this._origin.setFrom(origin);\r\n this._normal.setFrom(normal);\r\n }\r\n /* return a deep clone (point and normal cloned) /\r\n public clone(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\r\n if (result) {\r\n result.set(this._origin, this._normal);\r\n return result;\r\n }\r\n return new Plane3dByOriginAndUnitNormal(this._origin.clone(), this._normal.clone());\r\n }\r\n /* Create a clone and return the transform of the clone. /\r\n public cloneTransformed(transform: Transform, inverse: boolean = false): Plane3dByOriginAndUnitNormal \| undefined {\r\n const result = this.clone();\r\n if (inverse) {\r\n transform.multiplyInversePoint3d(result._origin, result._origin);\r\n if (transform.matrix.multiplyTransposeVector(result._normal, result._normal) !== undefined\r\n && result._normal.normalizeInPlace())\r\n return result;\r\n } else {\r\n transform.multiplyPoint3d(result._origin, result._origin);\r\n if (transform.matrix.multiplyInverseTranspose(result._normal, result._normal) !== undefined\r\n && result._normal.normalizeInPlace())\r\n return result;\r\n }\r\n return undefined;\r\n }\r\n /* Copy data from the given plane. /\r\n public setFrom(source: Plane3dByOriginAndUnitNormal): void {\r\n this.set(source._origin, source._normal);\r\n }\r\n /* Return the altitude of spacePoint above or below the plane. (Below is negative) /\r\n public altitude(spacePoint: Point3d): number { return this._normal.dotProductStartEnd(this._origin, spacePoint); }\r\n /* Return the altitude of point (x,y) given xy parts using only the xy parts of origin and unit normal /\r\n public altitudeXY(x: number, y: number): number {\r\n return (x - this._origin.x) this._normal.x + (y - this._origin.y) * this._normal.y;\r\n }\r\n /*\r\n Return the x component of the normal used to evaluate altitude.\r\n /\r\n public normalX(): number {return this._normal.x; }\r\n /\r\n Return the x component of the normal used to evaluate altitude.\r\n /\r\n public normalY(): number {return this._normal.y; }\r\n /\r\n Return the z component of the normal used to evaluate altitude.\r\n /\r\n public normalZ(): number {return this._normal.z; }\r\n\r\n /* Return the altitude of weighted spacePoint above or below the plane. (Below is negative) /\r\n public weightedAltitude(spacePoint: Point4d): number {\r\n return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);\r\n }\r\n\r\n /* return a point at specified (signed) altitude /\r\n public altitudeToPoint(altitude: number, result?: Point3d): Point3d {\r\n return this._origin.plusScaled(this._normal, altitude, result);\r\n }\r\n /* Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\r\n * for a point moving at speed one along the spaceVector.\r\n /\r\n public velocityXYZ(x: number, y: number, z: number): number { return this._normal.dotProductXYZ(x, y, z); }\r\n /* Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\r\n * for a point moving at speed one along the spaceVector.\r\n /\r\n public velocity(spaceVector: Vector3d): number { return this._normal.dotProduct(spaceVector); }\r\n /* Return the altitude of a point given as separate x,y,z components. /\r\n public altitudeXYZ(x: number, y: number, z: number): number {\r\n return this._normal.dotProductStartEndXYZ(this._origin, x, y, z);\r\n }\r\n /* Return the altitude of a point given as separate x,y,z,w components. /\r\n public altitudeXYZW(x: number, y: number, z: number, w: number): number {\r\n return this._normal.dotProductStartEndXYZW(this._origin, x, y, z, w);\r\n }\r\n /* Return the projection of spacePoint onto the plane. /\r\n public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);\r\n }\r\n /* Returns true of spacePoint is within distance tolerance of the plane. */\r\n public isPointInPlane(spacePoint: Point3d): boolean { return Geometry.isSmallMetricDistance(this.altitude(spacePoint)); }\r\n}\r\n"]}

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\n\n/\n A Plane3dByOriginAndVectors is an origin and a pair of vectors.\n * This defines a plane with a (possibly skewed) uv coordinate grid\n * * The grid directions (`vectorU` and `vectorV`)\n * * are NOT required to be unit vectors.\n * * are NOT required to be perpendicular vectors.\n * @public\n /\nexport class Plane3dByOriginAndVectors implements BeJSONFunctions {\n /* origin of plane grid /\n public origin: Point3d;\n /* u direction in plane grid /\n public vectorU: Vector3d;\n /* v direction in plane grid /\n public vectorV: Vector3d;\n private constructor(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d) {\n this.origin = origin;\n this.vectorU = vectorU;\n this.vectorV = vectorV;\n }\n /* create a new plane from origin and vectors. /\n public static createOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n if (result) {\n result.origin.setFrom(origin);\n result.vectorU.setFrom(vectorU);\n result.vectorV.setFrom(vectorV);\n return result;\n }\n return new Plane3dByOriginAndVectors(origin.clone(), vectorU.clone(), vectorV.clone());\n }\n /* clone to a new plane. /\n public clone(): Plane3dByOriginAndVectors {\n return new Plane3dByOriginAndVectors(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\n }\n\n /\n Return a Plane3dByOriginAndVectors, with\n * * origin is the translation (aka origin) from the Transform\n * * vectorU is the X column of the transform\n * * vectorV is the Y column of the transform.\n * @param transform source transform\n * @param xLength optional length to impose on vectorU.\n * @param yLength optional length to impose on vectorV.\n * @param result optional preexisting result\n /\n public static createFromTransformColumnsXYAndLengths(transform: Transform,\n xLength: number \| undefined, yLength: number \| undefined,\n result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n if (result) {\n result.origin.setFrom(transform.getOrigin());\n transform.matrix.columnX(result.vectorU);\n transform.matrix.columnY(result.vectorV);\n } else {\n result = new Plane3dByOriginAndVectors(\n transform.getOrigin(),\n transform.matrix.columnX(),\n transform.matrix.columnY());\n }\n if (xLength !== undefined)\n result.vectorU.scaleToLength(xLength, result.vectorU);\n if (yLength !== undefined)\n result.vectorV.scaleToLength(yLength, result.vectorV);\n return result;\n }\n /* Capture origin and directions in a new plane. /\n public static createCapture(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n if (!result)\n return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\n result.origin = origin;\n result.vectorU = vectorU;\n result.vectorV = vectorV;\n return result;\n }\n\n /* Set all origin and both vectors from direct numeric parameters /\n public setOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number): Plane3dByOriginAndVectors {\n this.origin.set(x0, y0, z0);\n this.vectorU.set(ux, uy, uz);\n this.vectorV.set(vx, vy, vz);\n return this;\n }\n /* Set all origin and both vectors from coordinates in given origin and vectors.\n * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.\n /\n public setOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d): Plane3dByOriginAndVectors {\n this.origin.setFrom(origin);\n this.vectorU.setFrom(vectorU);\n this.vectorV.setFrom(vectorV);\n return this;\n }\n /* Create a new plane from direct numeric parameters /\n public static createOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n if (result)\n return result.setOriginAndVectorsXYZ(x0, y0, z0, ux, uy, uz, vx, vy, vz);\n return new Plane3dByOriginAndVectors(Point3d.create(x0, y0, z0), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz));\n }\n /* Define a plane by three points in the plane.\n * @param origin origin for the parameterization.\n * @param targetU target point for the vectorU starting at the origin.\n * @param targetV target point for the vectorV originating at the origin.\n * @param result optional result.\n /\n public static createOriginAndTargets(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin.x, origin.y, origin.z, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, result);\n }\n /* Create a plane with origin at 000, unit vectorU in x direction, and unit vectorV in the y direction. /\n public static createXYPlane(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(0, 0, 0, 1, 0, 0, 0, 1, 0, result);\n }\n /* create a plane from data presented as Float64Arrays.\n * @param origin x,y,z of origin.\n * @param vectorU x,y,z of vectorU\n * @param vectorV x,y,z of vectorV\n /\n public static createOriginAndVectorsArrays(origin: Float64Array, vectorU: Float64Array, vectorV: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin[0], origin[1], origin[2], vectorU[0], vectorU[1], vectorU[2], vectorV[0], vectorV[1], vectorV[2], result);\n }\n /* create a plane from data presented as Float64Array with weights\n * @param origin x,y,z,w of origin.\n * @param vectorU x,y,z,w of vectorU\n * @param vectorV x,y,z,w of vectorV\n /\n public static createOriginAndVectorsWeightedArrays(originW: Float64Array, vectorUw: Float64Array, vectorVw: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n const w = originW[3];\n result = Plane3dByOriginAndVectors.createXYPlane(result);\n if (Geometry.isSmallMetricDistance(w))\n return result;\n const dw = 1.0 / w;\n const au = vectorUw[3] dw * dw;\n const av = vectorVw[3] * dw * dw;\n // for homogeneous function X, with w its weight:\n // (X/w) is the cartesian point.\n // (X/w)' = (X' w - X w')/(ww)\n // = X'/w - (X/w)(w'/w)\n // = X'/w - X w'/w^2)\n // The w parts of the formal xyzw sums are identically 0.\n // Here the X' and its w' are taken from each vectorUw and vectorVw\n result.origin.set(originW[0] dw, originW[1] * dw, originW[2] * dw);\n Vector3d.createAdd2ScaledXYZ(vectorUw[0], vectorUw[1], vectorUw[2], dw, originW[0], originW[1], originW[2], -au, result.vectorU);\n Vector3d.createAdd2ScaledXYZ(vectorVw[0], vectorVw[1], vectorVw[2], dw, originW[0], originW[1], originW[2], -av, result.vectorV);\n return result;\n }\n /*\n Evaluate a point a grid coordinates on the plane.\n * * The computed point is `origin + vectorU * u + vectorV * v`\n * @param u coordinate along vectorU\n * @param v coordinate along vectorV\n * @param result optional result destination.\n * @returns Return the computed coordinate.\n /\n public fractionToPoint(u: number, v: number, result?: Point3d): Point3d {\n return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\n }\n /* Return the vector from the plane origin to parametric coordinate (u.v) /\n public fractionToVector(u: number, v: number, result?: Vector3d): Vector3d {\n return Vector3d.createAdd2Scaled(this.vectorU, u, this.vectorV, v, result);\n }\n /* Set coordinates from a json object such as `{origin: [1,2,3], vectorU:[4,5,6], vectorV[3,2,1]}` /\n public setFromJSON(json?: any) {\n if (!json \|\| !json.origin \|\| !json.vectorV) {\n this.origin.set(0, 0, 0);\n this.vectorU.set(1, 0, 0);\n this.vectorV.set(0, 1, 0);\n } else {\n this.origin.setFromJSON(json.origin);\n this.vectorU.setFromJSON(json.vectorU);\n this.vectorV.setFromJSON(json.vectorV);\n }\n }\n /\n Convert an Angle to a JSON object.\n * @return {} [origin,normal]\n /\n public toJSON(): any {\n return {\n origin: this.origin.toJSON(),\n vectorU: this.vectorU.toJSON(),\n vectorV: this.vectorV.toJSON(),\n };\n }\n /** create a new plane. See `setFromJSON` for layout example. /\n public static fromJSON(json?: any): Plane3dByOriginAndVectors {\n const result = Plane3dByOriginAndVectors.createXYPlane();\n result.setFromJSON(json);\n return result;\n }\n /* Test origin and vectors for isAlmostEqual with `other` /\n public isAlmostEqual(other: Plane3dByOriginAndVectors): boolean {\n return this.origin.isAlmostEqual(other.origin)\n && this.vectorU.isAlmostEqual(other.vectorU)\n && this.vectorV.isAlmostEqual(other.vectorV);\n }\n /* Normalize both `vectorU` and `vectorV` in place.\n * * Return true if both succeeded.\n /\n public normalizeInPlace(): boolean {\n const okU = this.vectorU.normalizeInPlace();\n const okV = this.vectorV.normalizeInPlace();\n return okU && okV;\n }\n /\n Return (if possible) a unit normal to the plane.\n /\n public unitNormal(result?: Vector3d): Vector3d \| undefined {\n return this.vectorU.unitCrossProduct(this.vectorV, result);\n }\n private static _workVector: Vector3d;\n /\n Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane.\n /\n public unitNormalRay(result?: Ray3d): Ray3d \| undefined {\n if (!Plane3dByOriginAndVectors._workVector)\n Plane3dByOriginAndVectors._workVector = Vector3d.create();\n const unitNormal = this.vectorU.unitCrossProduct(this.vectorV, Plane3dByOriginAndVectors._workVector);\n if (unitNormal === undefined)\n return undefined;\n return Ray3d.create(this.origin, unitNormal, result);\n }\n\n /\n Create a rigid frame (i.e. frenet frame) with\n * * origin at the plane origin\n * * x axis along the (normalized) vectorU\n * * y axis normalized vectorU to vectorV plane, and perpendicular to x axis\n * * z axis perpendicular to both.\n * @param result optional result\n /\n public toRigidFrame(result?: Transform): Transform \| undefined {\n return Transform.createRigidFromOriginAndColumns(this.origin, this.vectorU, this.vectorV, AxisOrder.XYZ, result);\n }\n\n /\n Apply the transform to the origin and vectors in place.\n */\n public transformInPlace(transform: Transform) {\n transform.multiplyPoint3d(this.origin, this.origin);\n transform.multiplyVector (this.vectorU, this.vectorU);\n transform.multiplyVector (this.vectorV, this.vectorV);\n }\n}\n"]}
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, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/\r\n A Plane3dByOriginAndVectors is an origin and a pair of vectors.\r\n * This defines a plane with a (possibly skewed) uv coordinate grid\r\n * * The grid directions (`vectorU` and `vectorV`)\r\n * * are NOT required to be unit vectors.\r\n * * are NOT required to be perpendicular vectors.\r\n * @public\r\n /\r\nexport class Plane3dByOriginAndVectors implements BeJSONFunctions {\r\n /* origin of plane grid /\r\n public origin: Point3d;\r\n /* u direction in plane grid /\r\n public vectorU: Vector3d;\r\n /* v direction in plane grid /\r\n public vectorV: Vector3d;\r\n private constructor(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d) {\r\n this.origin = origin;\r\n this.vectorU = vectorU;\r\n this.vectorV = vectorV;\r\n }\r\n /* create a new plane from origin and vectors. /\r\n public static createOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.vectorU.setFrom(vectorU);\r\n result.vectorV.setFrom(vectorV);\r\n return result;\r\n }\r\n return new Plane3dByOriginAndVectors(origin.clone(), vectorU.clone(), vectorV.clone());\r\n }\r\n /* clone to a new plane. /\r\n public clone(): Plane3dByOriginAndVectors {\r\n return new Plane3dByOriginAndVectors(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n }\r\n\r\n /\r\n Return a Plane3dByOriginAndVectors, with\r\n * * origin is the translation (aka origin) from the Transform\r\n * * vectorU is the X column of the transform\r\n * * vectorV is the Y column of the transform.\r\n * @param transform source transform\r\n * @param xLength optional length to impose on vectorU.\r\n * @param yLength optional length to impose on vectorV.\r\n * @param result optional preexisting result\r\n /\r\n public static createFromTransformColumnsXYAndLengths(transform: Transform,\r\n xLength: number \| undefined, yLength: number \| undefined,\r\n result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n if (result) {\r\n result.origin.setFrom(transform.getOrigin());\r\n transform.matrix.columnX(result.vectorU);\r\n transform.matrix.columnY(result.vectorV);\r\n } else {\r\n result = new Plane3dByOriginAndVectors(\r\n transform.getOrigin(),\r\n transform.matrix.columnX(),\r\n transform.matrix.columnY());\r\n }\r\n if (xLength !== undefined)\r\n result.vectorU.scaleToLength(xLength, result.vectorU);\r\n if (yLength !== undefined)\r\n result.vectorV.scaleToLength(yLength, result.vectorV);\r\n return result;\r\n }\r\n /* Capture origin and directions in a new plane. /\r\n public static createCapture(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n if (!result)\r\n return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\r\n result.origin = origin;\r\n result.vectorU = vectorU;\r\n result.vectorV = vectorV;\r\n return result;\r\n }\r\n\r\n /* Set all origin and both vectors from direct numeric parameters /\r\n public setOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number): Plane3dByOriginAndVectors {\r\n this.origin.set(x0, y0, z0);\r\n this.vectorU.set(ux, uy, uz);\r\n this.vectorV.set(vx, vy, vz);\r\n return this;\r\n }\r\n /* Set all origin and both vectors from coordinates in given origin and vectors.\r\n * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.\r\n /\r\n public setOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d): Plane3dByOriginAndVectors {\r\n this.origin.setFrom(origin);\r\n this.vectorU.setFrom(vectorU);\r\n this.vectorV.setFrom(vectorV);\r\n return this;\r\n }\r\n /* Create a new plane from direct numeric parameters /\r\n public static createOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n if (result)\r\n return result.setOriginAndVectorsXYZ(x0, y0, z0, ux, uy, uz, vx, vy, vz);\r\n return new Plane3dByOriginAndVectors(Point3d.create(x0, y0, z0), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz));\r\n }\r\n /* Define a plane by three points in the plane.\r\n * @param origin origin for the parameterization.\r\n * @param targetU target point for the vectorU starting at the origin.\r\n * @param targetV target point for the vectorV originating at the origin.\r\n * @param result optional result.\r\n /\r\n public static createOriginAndTargets(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin.x, origin.y, origin.z, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, result);\r\n }\r\n /* Create a plane with origin at 000, unit vectorU in x direction, and unit vectorV in the y direction. /\r\n public static createXYPlane(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(0, 0, 0, 1, 0, 0, 0, 1, 0, result);\r\n }\r\n /* create a plane from data presented as Float64Arrays.\r\n * @param origin x,y,z of origin.\r\n * @param vectorU x,y,z of vectorU\r\n * @param vectorV x,y,z of vectorV\r\n /\r\n public static createOriginAndVectorsArrays(origin: Float64Array, vectorU: Float64Array, vectorV: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin[0], origin[1], origin[2], vectorU[0], vectorU[1], vectorU[2], vectorV[0], vectorV[1], vectorV[2], result);\r\n }\r\n /* create a plane from data presented as Float64Array with weights\r\n * @param origin x,y,z,w of origin.\r\n * @param vectorU x,y,z,w of vectorU\r\n * @param vectorV x,y,z,w of vectorV\r\n /\r\n public static createOriginAndVectorsWeightedArrays(originW: Float64Array, vectorUw: Float64Array, vectorVw: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n const w = originW[3];\r\n result = Plane3dByOriginAndVectors.createXYPlane(result);\r\n if (Geometry.isSmallMetricDistance(w))\r\n return result;\r\n const dw = 1.0 / w;\r\n const au = vectorUw[3] dw * dw;\r\n const av = vectorVw[3] * dw * dw;\r\n // for homogeneous function X, with w its weight:\r\n // (X/w) is the cartesian point.\r\n // (X/w)' = (X' w - X w')/(ww)\r\n // = X'/w - (X/w)(w'/w)\r\n // = X'/w - X w'/w^2)\r\n // The w parts of the formal xyzw sums are identically 0.\r\n // Here the X' and its w' are taken from each vectorUw and vectorVw\r\n result.origin.set(originW[0] dw, originW[1] * dw, originW[2] * dw);\r\n Vector3d.createAdd2ScaledXYZ(vectorUw[0], vectorUw[1], vectorUw[2], dw, originW[0], originW[1], originW[2], -au, result.vectorU);\r\n Vector3d.createAdd2ScaledXYZ(vectorVw[0], vectorVw[1], vectorVw[2], dw, originW[0], originW[1], originW[2], -av, result.vectorV);\r\n return result;\r\n }\r\n /*\r\n Evaluate a point a grid coordinates on the plane.\r\n * * The computed point is `origin + vectorU * u + vectorV * v`\r\n * @param u coordinate along vectorU\r\n * @param v coordinate along vectorV\r\n * @param result optional result destination.\r\n * @returns Return the computed coordinate.\r\n /\r\n public fractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n }\r\n /* Return the vector from the plane origin to parametric coordinate (u.v) /\r\n public fractionToVector(u: number, v: number, result?: Vector3d): Vector3d {\r\n return Vector3d.createAdd2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n }\r\n /* Set coordinates from a json object such as `{origin: [1,2,3], vectorU:[4,5,6], vectorV[3,2,1]}` /\r\n public setFromJSON(json?: any) {\r\n if (!json \|\| !json.origin \|\| !json.vectorV) {\r\n this.origin.set(0, 0, 0);\r\n this.vectorU.set(1, 0, 0);\r\n this.vectorV.set(0, 1, 0);\r\n } else {\r\n this.origin.setFromJSON(json.origin);\r\n this.vectorU.setFromJSON(json.vectorU);\r\n this.vectorV.setFromJSON(json.vectorV);\r\n }\r\n }\r\n /\r\n Convert an Angle to a JSON object.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any {\r\n return {\r\n origin: this.origin.toJSON(),\r\n vectorU: this.vectorU.toJSON(),\r\n vectorV: this.vectorV.toJSON(),\r\n };\r\n }\r\n /** create a new plane. See `setFromJSON` for layout example. /\r\n public static fromJSON(json?: any): Plane3dByOriginAndVectors {\r\n const result = Plane3dByOriginAndVectors.createXYPlane();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /* Test origin and vectors for isAlmostEqual with `other` /\r\n public isAlmostEqual(other: Plane3dByOriginAndVectors): boolean {\r\n return this.origin.isAlmostEqual(other.origin)\r\n && this.vectorU.isAlmostEqual(other.vectorU)\r\n && this.vectorV.isAlmostEqual(other.vectorV);\r\n }\r\n /* Normalize both `vectorU` and `vectorV` in place.\r\n * * Return true if both succeeded.\r\n /\r\n public normalizeInPlace(): boolean {\r\n const okU = this.vectorU.normalizeInPlace();\r\n const okV = this.vectorV.normalizeInPlace();\r\n return okU && okV;\r\n }\r\n /\r\n Return (if possible) a unit normal to the plane.\r\n /\r\n public unitNormal(result?: Vector3d): Vector3d \| undefined {\r\n return this.vectorU.unitCrossProduct(this.vectorV, result);\r\n }\r\n private static _workVector: Vector3d;\r\n /\r\n Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane.\r\n /\r\n public unitNormalRay(result?: Ray3d): Ray3d \| undefined {\r\n if (!Plane3dByOriginAndVectors._workVector)\r\n Plane3dByOriginAndVectors._workVector = Vector3d.create();\r\n const unitNormal = this.vectorU.unitCrossProduct(this.vectorV, Plane3dByOriginAndVectors._workVector);\r\n if (unitNormal === undefined)\r\n return undefined;\r\n return Ray3d.create(this.origin, unitNormal, result);\r\n }\r\n\r\n /\r\n Create a rigid frame (i.e. frenet frame) with\r\n * * origin at the plane origin\r\n * * x axis along the (normalized) vectorU\r\n * * y axis normalized vectorU to vectorV plane, and perpendicular to x axis\r\n * * z axis perpendicular to both.\r\n * @param result optional result\r\n /\r\n public toRigidFrame(result?: Transform): Transform \| undefined {\r\n return Transform.createRigidFromOriginAndColumns(this.origin, this.vectorU, this.vectorV, AxisOrder.XYZ, result);\r\n }\r\n\r\n /\r\n Apply the transform to the origin and vectors in place.\r\n */\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector (this.vectorU, this.vectorU);\r\n transform.multiplyVector (this.vectorV, this.vectorV);\r\n }\r\n}\r\n"]}

package/lib/cjs/geometry3d/Point2dArrayCarrier.js.map CHANGED Viewed

	@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n/** @packageDocumentation\n * @module CartesianGeometry\n /\n/ eslint-disable @typescript-eslint/naming-convention, no-empty /\n\nimport { IndexedXYCollection } from \"./IndexedXYCollection\";\nimport { Point2d, Vector2d, XY } from \"./Point2dVector2d\";\nimport { XAndY } from \"./XYZProps\";\n\n/\n Helper object to access members of a Point2d[] in geometric calculations.\n * * The collection holds only a reference to the actual array.\n * * The actual array may be replaced by the user as needed.\n * * When replaced, there is no cached data to be updated.\n * @public\n/\nexport class Point2dArrayCarrier extends IndexedXYCollection {\n /* reference to array being queried. /\n public data: Point2d[];\n /* CAPTURE caller supplied array ... /\n public constructor(data: Point2d[]) {\n super();\n this.data = data;\n }\n /* test if index is valid /\n public isValidIndex(index: number): boolean {\n return index >= 0 && index < this.data.length;\n }\n /\n Access by index, returning strongly typed Point2d\n * * This returns the xy value but NOT reference to the point in the \"carried\" array.\n * @param index index of point within the array\n * @param result caller-allocated destination\n * @returns undefined if the index is out of bounds\n /\n public override getPoint2dAtCheckedPointIndex(index: number, result?: Point2d): Point2d \| undefined {\n if (this.isValidIndex(index)) {\n const source = this.data[index];\n return Point2d.create(source.x, source.y, result);\n }\n return undefined;\n }\n /\n Access by index, returning strongly typed Vector2d\n * @param index index of point within the array\n * @param result caller-allocated destination\n * @returns undefined if the index is out of bounds\n /\n public override getVector2dAtCheckedVectorIndex(index: number, result?: Vector2d): Vector2d \| undefined {\n if (this.isValidIndex(index)) {\n const source = this.data[index];\n return Vector2d.create(source.x, source.y, result);\n }\n return undefined;\n }\n /\n Return a vector from the point at indexA to the point at indexB\n * @param indexA index of point within the array\n * @param indexB index of point within the array\n * @param result caller-allocated vector.\n * @returns undefined if either index is out of bounds\n /\n public override vectorIndexIndex(indexA: number, indexB: number, result?: Vector2d): Vector2d \| undefined {\n if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n return Vector2d.createStartEnd(this.data[indexA], this.data[indexB], result);\n return undefined;\n }\n /\n Return a vector from given origin to point at indexB\n * @param origin origin for vector\n * @param indexB index of point within the array\n * @param result caller-allocated vector.\n * @returns undefined if index is out of bounds\n /\n public override vectorXAndYIndex(origin: XAndY, indexB: number, result?: Vector2d): Vector2d \| undefined {\n if (this.isValidIndex(indexB))\n return Vector2d.createStartEnd(origin, this.data[indexB], result);\n return undefined;\n }\n\n /\n Return the cross product of vectors from origin to points at indexA and indexB\n * @param origin origin for vector\n * @param indexA index of first target within the array\n * @param indexB index of second target within the array\n * @param result caller-allocated vector.\n * @returns undefined if either index is out of bounds\n /\n public override crossProductXAndYIndexIndex(origin: XAndY, indexA: number, indexB: number): number \| undefined {\n if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n return XY.crossProductToPoints(origin, this.data[indexA], this.data[indexB]);\n return undefined;\n }\n /\n Return the cross product of vectors from point at originIndex to points at indexA and indexB\n * @param originIndex index of origin\n * @param indexA index of first target within the array\n * @param indexB index of second target within the array\n * @param result caller-allocated vector.\n * @returns return true if indexA, indexB both valid\n /\n public override crossProductIndexIndexIndex(originIndex: number, indexA: number, indexB: number): number \| undefined {\n if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\n return XY.crossProductToPoints(this.data[originIndex], this.data[indexA], this.data[indexB]);\n return undefined;\n }\n /\n read-only property for number of XYZ in the collection.\n /\n public override get length(): number {\n return this.data.length;\n }\n\n /\n Get x coordinate by point index, with no index checking\n * @param pointIndex index to access\n /\n public override getXAtUncheckedPointIndex(pointIndex: number): number {\n return this.data[pointIndex].x;\n }\n\n /\n Get y coordinate by point index, with no index checking\n * @param pointIndex index to access\n */\n public override getYAtUncheckedPointIndex(pointIndex: number): number {\n return this.data[pointIndex].y;\n }\n}\n"]}
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n/ eslint-disable @typescript-eslint/naming-convention, no-empty /\r\n\r\nimport { IndexedXYCollection } from \"./IndexedXYCollection\";\r\nimport { Point2d, Vector2d, XY } from \"./Point2dVector2d\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/\r\n Helper object to access members of a Point2d[] in geometric calculations.\r\n * * The collection holds only a reference to the actual array.\r\n * * The actual array may be replaced by the user as needed.\r\n * * When replaced, there is no cached data to be updated.\r\n * @public\r\n/\r\nexport class Point2dArrayCarrier extends IndexedXYCollection {\r\n /* reference to array being queried. /\r\n public data: Point2d[];\r\n /* CAPTURE caller supplied array ... /\r\n public constructor(data: Point2d[]) {\r\n super();\r\n this.data = data;\r\n }\r\n /* test if index is valid /\r\n public isValidIndex(index: number): boolean {\r\n return index >= 0 && index < this.data.length;\r\n }\r\n /\r\n Access by index, returning strongly typed Point2d\r\n * * This returns the xy value but NOT reference to the point in the \"carried\" array.\r\n * @param index index of point within the array\r\n * @param result caller-allocated destination\r\n * @returns undefined if the index is out of bounds\r\n /\r\n public override getPoint2dAtCheckedPointIndex(index: number, result?: Point2d): Point2d \| undefined {\r\n if (this.isValidIndex(index)) {\r\n const source = this.data[index];\r\n return Point2d.create(source.x, source.y, result);\r\n }\r\n return undefined;\r\n }\r\n /\r\n Access by index, returning strongly typed Vector2d\r\n * @param index index of point within the array\r\n * @param result caller-allocated destination\r\n * @returns undefined if the index is out of bounds\r\n /\r\n public override getVector2dAtCheckedVectorIndex(index: number, result?: Vector2d): Vector2d \| undefined {\r\n if (this.isValidIndex(index)) {\r\n const source = this.data[index];\r\n return Vector2d.create(source.x, source.y, result);\r\n }\r\n return undefined;\r\n }\r\n /\r\n Return a vector from the point at indexA to the point at indexB\r\n * @param indexA index of point within the array\r\n * @param indexB index of point within the array\r\n * @param result caller-allocated vector.\r\n * @returns undefined if either index is out of bounds\r\n /\r\n public override vectorIndexIndex(indexA: number, indexB: number, result?: Vector2d): Vector2d \| undefined {\r\n if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\r\n return Vector2d.createStartEnd(this.data[indexA], this.data[indexB], result);\r\n return undefined;\r\n }\r\n /\r\n Return a vector from given origin to point at indexB\r\n * @param origin origin for vector\r\n * @param indexB index of point within the array\r\n * @param result caller-allocated vector.\r\n * @returns undefined if index is out of bounds\r\n /\r\n public override vectorXAndYIndex(origin: XAndY, indexB: number, result?: Vector2d): Vector2d \| undefined {\r\n if (this.isValidIndex(indexB))\r\n return Vector2d.createStartEnd(origin, this.data[indexB], result);\r\n return undefined;\r\n }\r\n\r\n /\r\n Return the cross product of vectors from origin to points at indexA and indexB\r\n * @param origin origin for vector\r\n * @param indexA index of first target within the array\r\n * @param indexB index of second target within the array\r\n * @param result caller-allocated vector.\r\n * @returns undefined if either index is out of bounds\r\n /\r\n public override crossProductXAndYIndexIndex(origin: XAndY, indexA: number, indexB: number): number \| undefined {\r\n if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\r\n return XY.crossProductToPoints(origin, this.data[indexA], this.data[indexB]);\r\n return undefined;\r\n }\r\n /\r\n Return the cross product of vectors from point at originIndex to points at indexA and indexB\r\n * @param originIndex index of origin\r\n * @param indexA index of first target within the array\r\n * @param indexB index of second target within the array\r\n * @param result caller-allocated vector.\r\n * @returns return true if indexA, indexB both valid\r\n /\r\n public override crossProductIndexIndexIndex(originIndex: number, indexA: number, indexB: number): number \| undefined {\r\n if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\r\n return XY.crossProductToPoints(this.data[originIndex], this.data[indexA], this.data[indexB]);\r\n return undefined;\r\n }\r\n /\r\n read-only property for number of XYZ in the collection.\r\n /\r\n public override get length(): number {\r\n return this.data.length;\r\n }\r\n\r\n /\r\n Get x coordinate by point index, with no index checking\r\n * @param pointIndex index to access\r\n /\r\n public override getXAtUncheckedPointIndex(pointIndex: number): number {\r\n return this.data[pointIndex].x;\r\n }\r\n\r\n /\r\n Get y coordinate by point index, with no index checking\r\n * @param pointIndex index to access\r\n */\r\n public override getYAtUncheckedPointIndex(pointIndex: number): number {\r\n return this.data[pointIndex].y;\r\n }\r\n}\r\n"]}