@itwin/core-geometry 4.0.0-dev.59 → 4.0.0-dev.60

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   * * 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"]}
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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 zRot*yRot*xRot\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 zRot*yRot*xRot\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 zRot*yRot*xRot\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"]}

package/lib/esm/geometry3d/Plane3d.d.ts

@@ -0,0 +1,126 @@
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { PlaneAltitudeEvaluator } from "../Geometry";
+import { Point4d } from "../geometry4d/Point4d";
+import { Point3d, Vector3d } from "./Point3dVector3d";
+/**
+ * Plane3d is the abstract base class for multiple 3d plane representations:
+ * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions
+ * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product
+ * * [[Point4d]] -- homogeneous form of xyzw plane.
+ * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]
+ *
+ * As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions
+ * about the plane's normal and the altitude of points above or below the plane.  (Altitude is measured perpendicular to the plane.)
+ * These abstract methods are:
+ * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude
+ * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.
+ * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.
+ * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.
+ *
+ * The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.
+ * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.
+ * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance.  Default tolerance is small metric distance
+ * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude
+ *     is negative, near zero, or positive.
+ *
+ * Notes about scaling and signs in methods that compute altitudes, normal components and velocities:
+ * * The term "altitude" indicates a _signed_ distance from the plane.
+ *   * altitude zero is _on_ the plane
+ *   * positive altitudes are on one side
+ *   * negatives are on the other.
+ *  * Altitude values and normal components are not strictly required to be true cartesian distance.   If the calling code happens to use "distance scaled by 1000X" it
+ *     understands that it can be OK for its plane implementation to have that scaling.
+ *  * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected
+ *    to return true distances.  This applies to:
+ *    * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]
+ *       * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.
+ *    * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because
+ *       * the normal is the cross product of the defining vectors.
+ *       * that cross product is not typically unit
+ *       * normalization adds to the cost of computing off-plane distances
+ *       * Since a main purpose of using this class is often to navigate a skewed, non-unit grid, occasional off-plane queries are not likely to be important.
+ *  * "4 dimensional" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])
+ *     * typically do _not_ force their coefficients to any distance-based normalization
+ *     * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.
+ *  * In all classes, the `weightedAltitude` method is free to be scaled distance.
+ * @public
+ */
+export declare abstract class Plane3d implements PlaneAltitudeEvaluator {
+    /** Return the altitude of spacePoint above or below the plane.  (Below is negative)
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+    */
+    abstract altitude(spacePoint: Point3d): number;
+    /** Returns true if spacePoint is within distance tolerance of the plane. */
+    isPointInPlane(spacePoint: Point3d, tolerance?: number): boolean;
+    /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is
+     *    negative, near zero, or positive.
+     *
+    */
+    classifyAltitude(point: Point3d, tolerance?: number): -1 | 0 | 1;
+    /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is
+     *    negative, near zero, or positive.
+     *
+    */
+    classifyAltitudeXYZ(x: number, y: number, z: number, tolerance?: number): -1 | 0 | 1;
+    /**
+      * Return the x component of the normal used to evaluate altitude.
+      * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+      */
+    abstract normalX(): number;
+    /**
+      * Return the y component of the normal used to evaluate altitude.
+      * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+     */
+    abstract normalY(): number;
+    /**
+     * Return the z component of the normal used to evaluate altitude.
+      * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+     */
+    abstract normalZ(): number;
+    /**
+     * Return the unit normal for the plane.
+     * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.
+     * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls cause repeated normalization.
+     * @param result
+     */
+    getUnitNormal(result?: Vector3d): Vector3d | undefined;
+    /**
+     * Return any point on the plane.
+     * * Default implementation projects the origin (0,0,0) to the plane.
+     * * Classes that have a preferred origin for their plane should override.
+     * * Classes with a purely implicit equation of their plane can accept the default implementation
+     * */
+    getAnyPointOnPlane(result?: Point3d): Point3d;
+    /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative)
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+    */
+    abstract weightedAltitude(spacePoint: Point4d): number;
+    /** Return the dot product of spaceVector (x,y,z) with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+     */
+    abstract velocityXYZ(x: number, y: number, z: number): number;
+    /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
+     * for a point moving at speed one along the spaceVector.
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+     */
+    abstract velocity(spaceVector: Vector3d): number;
+    /** Return the altitude of a point given as separate x,y,z components.
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+      * * See [[Plane3d]] note about scaling.
+    */
+    abstract altitudeXYZ(x: number, y: number, z: number): number;
+    /** Return the projection of spacePoint onto the plane.
+     * * MUST BE IMPLEMENTED BY DERIVED CLASSES
+    */
+    abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
+}
+//# sourceMappingURL=Plane3d.d.ts.map

package/lib/esm/geometry3d/Plane3d.d.ts.map

@@ -0,0 +1 @@
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package/lib/esm/geometry3d/Plane3d.js

@@ -0,0 +1,91 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { Geometry } from "../Geometry";
+import { Point3d, Vector3d } from "./Point3dVector3d";
+/**
+ * Plane3d is the abstract base class for multiple 3d plane representations:
+ * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions
+ * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product
+ * * [[Point4d]] -- homogeneous form of xyzw plane.
+ * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]
+ *
+ * As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions
+ * about the plane's normal and the altitude of points above or below the plane.  (Altitude is measured perpendicular to the plane.)
+ * These abstract methods are:
+ * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude
+ * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.
+ * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.
+ * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.
+ *
+ * The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.
+ * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.
+ * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance.  Default tolerance is small metric distance
+ * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude
+ *     is negative, near zero, or positive.
+ *
+ * Notes about scaling and signs in methods that compute altitudes, normal components and velocities:
+ * * The term "altitude" indicates a _signed_ distance from the plane.
+ *   * altitude zero is _on_ the plane
+ *   * positive altitudes are on one side
+ *   * negatives are on the other.
+ *  * Altitude values and normal components are not strictly required to be true cartesian distance.   If the calling code happens to use "distance scaled by 1000X" it
+ *     understands that it can be OK for its plane implementation to have that scaling.
+ *  * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected
+ *    to return true distances.  This applies to:
+ *    * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]
+ *       * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.
+ *    * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because
+ *       * the normal is the cross product of the defining vectors.
+ *       * that cross product is not typically unit
+ *       * normalization adds to the cost of computing off-plane distances
+ *       * Since a main purpose of using this class is often to navigate a skewed, non-unit grid, occasional off-plane queries are not likely to be important.
+ *  * "4 dimensional" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])
+ *     * typically do _not_ force their coefficients to any distance-based normalization
+ *     * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.
+ *  * In all classes, the `weightedAltitude` method is free to be scaled distance.
+ * @public
+ */
+export class Plane3d {
+    /** Returns true if spacePoint is within distance tolerance of the plane. */
+    isPointInPlane(spacePoint, tolerance = Geometry.smallMetricDistance) {
+        return Math.abs(this.altitude(spacePoint)) <= tolerance;
+    }
+    /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is
+     *    negative, near zero, or positive.
+     *
+    */
+    classifyAltitude(point, tolerance = Geometry.smallMetricDistance) {
+        return Geometry.split3Way01(this.altitude(point), tolerance);
+    }
+    /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is
+     *    negative, near zero, or positive.
+     *
+    */
+    classifyAltitudeXYZ(x, y, z, tolerance = Geometry.smallMetricDistance) {
+        return Geometry.split3Way01(this.altitudeXYZ(x, y, z), tolerance);
+    }
+    /**
+     * Return the unit normal for the plane.
+     * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.
+     * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls cause repeated normalization.
+     * @param result
+     */
+    getUnitNormal(result) {
+        return Vector3d.createNormalized(this.normalX(), this.normalY(), this.normalZ(), result);
+    }
+    /**
+     * Return any point on the plane.
+     * * Default implementation projects the origin (0,0,0) to the plane.
+     * * Classes that have a preferred origin for their plane should override.
+     * * Classes with a purely implicit equation of their plane can accept the default implementation
+     * */
+    getAnyPointOnPlane(result) {
+        return this.projectPointToPlane(Point3d.create(0, 0, 0), result);
+    }
+}
+//# sourceMappingURL=Plane3d.js.map

package/lib/esm/geometry3d/Plane3d.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Plane3d.js","sourceRoot":"","sources":["../../../src/geometry3d/Plane3d.ts"],"names":[],"mappings":"AAAA;;;+FAG+F;AAE/F;;GAEG;AACH,OAAO,EAAE,QAAQ,EAA0B,MAAM,aAAa,CAAC;AAE/D,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAE,MAAM,mBAAmB,CAAC;AAEtD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA0CG;AACH,MAAM,OAAgB,OAAO;IAM3B,4EAA4E;IACrE,cAAc,CAAC,UAAmB,EAAE,YAAoB,QAAQ,CAAC,mBAAmB;QACzF,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,QAAQ,CAAC,UAAU,CAAC,CAAC,IAAI,SAAS,CAAC;IAC1D,CAAC;IACD;;;MAGE;IACK,gBAAgB,CAAC,KAAc,EAAE,YAAoB,QAAQ,CAAC,mBAAmB;QACtF,OAAO,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,SAAS,CAAC,CAAC;IAC/D,CAAC;IACD;;;MAGE;IACK,mBAAmB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,YAAoB,QAAQ,CAAC,mBAAmB;QAC1G,OAAO,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC;IACpE,CAAC;IAmBD;;;;;OAKG;IACI,aAAa,CAAC,MAAiB;QACpC,OAAO,QAAQ,CAAC,gBAAgB,CAAC,IAAI,CAAC,OAAO,EAAE,EAAE,IAAI,CAAC,OAAO,EAAE,EAAE,IAAI,CAAC,OAAO,EAAE,EAAE,MAAM,CAAC,CAAC;IAC3F,CAAC;IACD;;;;;SAKK;IACE,kBAAkB,CAAC,MAAgB;QACxC,OAAO,IAAI,CAAC,mBAAmB,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC;IACnE,CAAC;CA6BF","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* 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 { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\n\n/**\n * Plane3d is the abstract base class for multiple 3d plane representations:\n * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions\n * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product\n * * [[Point4d]] -- homogeneous form of xyzw plane.\n * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]\n *\n * As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions\n * about the plane's normal and the altitude of points above or below the plane.  (Altitude is measured perpendicular to the plane.)\n * These abstract methods are:\n * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude\n * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.\n * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.\n * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.\n *\n * The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.\n * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.\n * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance.  Default tolerance is small metric distance\n * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude\n *     is negative, near zero, or positive.\n *\n * Notes about scaling and signs in methods that compute altitudes, normal components and velocities:\n * * The term \"altitude\" indicates a _signed_ distance from the plane.\n *   * altitude zero is _on_ the plane\n *   * positive altitudes are on one side\n *   * negatives are on the other.\n *  * Altitude values and normal components are not strictly required to be true cartesian distance.   If the calling code happens to use \"distance scaled by 1000X\" it\n *     understands that it can be OK for its plane implementation to have that scaling.\n *  * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected\n *    to return true distances.  This applies to:\n *    * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]\n *       * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.\n *    * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because\n *       * the normal is the cross product of the defining vectors.\n *       * that cross product is not typically unit\n *       * normalization adds to the cost of computing off-plane distances\n *       * Since a main purpose of using this class is often to navigate a skewed, non-unit grid, occasional off-plane queries are not likely to be important.\n *  * \"4 dimensional\" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])\n *     * typically do _not_ force their coefficients to any distance-based normalization\n *     * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.\n *  * In all classes, the `weightedAltitude` method is free to be scaled distance.\n * @public\n */\nexport abstract class Plane3d implements PlaneAltitudeEvaluator {\n  /** Return the altitude of spacePoint above or below the plane.  (Below is negative)\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n  */\n  public abstract altitude(spacePoint: Point3d): number;\n\n  /** Returns true if spacePoint is within distance tolerance of the plane. */\n  public isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\n    return Math.abs(this.altitude(spacePoint)) <= tolerance;\n  }\n  /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is\n   *    negative, near zero, or positive.\n   *\n  */\n  public classifyAltitude(point: Point3d, tolerance: number = Geometry.smallMetricDistance): -1 | 0 | 1 {\n    return Geometry.split3Way01(this.altitude(point), tolerance);\n  }\n  /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is\n   *    negative, near zero, or positive.\n   *\n  */\n  public classifyAltitudeXYZ(x: number, y: number, z: number, tolerance: number = Geometry.smallMetricDistance): -1 | 0 | 1 {\n    return Geometry.split3Way01(this.altitudeXYZ(x, y, z), tolerance);\n  }\n  /**\n    * Return the x component of the normal used to evaluate altitude.\n    * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n    */\n  public abstract normalX(): number;\n  /**\n    * Return the y component of the normal used to evaluate altitude.\n    * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n   */\n  public abstract normalY(): number;\n  /**\n   * Return the z component of the normal used to evaluate altitude.\n    * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n   */\n  public abstract normalZ(): number;\n  /**\n   * Return the unit normal for the plane.\n   * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.\n   * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls cause repeated normalization.\n   * @param result\n   */\n  public getUnitNormal(result?: Vector3d): Vector3d | undefined {\n    return Vector3d.createNormalized(this.normalX(), this.normalY(), this.normalZ(), result);\n  }\n  /**\n   * Return any point on the plane.\n   * * Default implementation projects the origin (0,0,0) to the plane.\n   * * Classes that have a preferred origin for their plane should override.\n   * * Classes with a purely implicit equation of their plane can accept the default implementation\n   * */\n  public getAnyPointOnPlane(result?: Point3d): Point3d {\n    return this.projectPointToPlane(Point3d.create(0, 0, 0), result);\n  }\n  /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative)\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n  */\n  public abstract weightedAltitude(spacePoint: Point4d): number;\n\n  /** Return the dot product of spaceVector (x,y,z) 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   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n   */\n  public abstract velocityXYZ(x: number, y: number, z: number): number;\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   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n   */\n  public abstract velocity(spaceVector: Vector3d): number;\n  /** Return the altitude of a point given as separate x,y,z components.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n    * * See [[Plane3d]] note about scaling.\n  */\n  public abstract altitudeXYZ(x: number, y: number, z: number): number;\n\n  /** Return the projection of spacePoint onto the plane.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n  */\n  public abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;\n}\n"]}

package/lib/esm/geometry3d/Plane3dByOriginAndUnitNormal.d.ts

@@ -1,7 +1,8 @@
 /** @packageDocumentation
  * @module CartesianGeometry
  */
-import { BeJSONFunctions, PlaneAltitudeEvaluator } from "../Geometry";
+import { BeJSONFunctions } from "../Geometry";
+import { Plane3d } from "./Plane3d";
 import { Point4d } from "../geometry4d/Point4d";
 import { Angle } from "./Angle";
 import { Point3d, Vector3d } from "./Point3dVector3d";
@@ -13,7 +14,7 @@ import { XAndY } from "./XYZProps";
  * * a unit normal.
  * @public
  */
-export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, PlaneAltitudeEvaluator {
+export declare class Plane3dByOriginAndUnitNormal extends Plane3d implements BeJSONFunctions {
     private _origin;
     private _normal;
     private constructor();
@@ -38,6 +39,11 @@ export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, Pl
      * * Returns undefined if the normal vector is all zeros.
      */
     static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined;
+    /** create a new  Plane3dByOriginAndUnitNormal from a variety of plane types.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createFrom(source: Plane3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined;
     /** create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.
      * * Returns undefined if the normal vector is all zeros.
      * * If unable to normalize return undefined. (And if result is given it is left unchanged)
@@ -59,6 +65,18 @@ export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, Pl
      * @param vector any vector in the plane but not parallel to the vector from pointA to pointB
      */
     static createPointPointVectorInPlane(pointA: Point3d, pointB: Point3d, vector: Vector3d): Plane3dByOriginAndUnitNormal | undefined;
+    /** Create a plane defined by three points.
+     * @param pointA any point in the plane.  This will be the origin.
+     * @param pointB any other point in the plane
+     * @param pointC any third point in the plane but not on the line of pointA and pointB
+     */
+    static createOriginAndTargets(pointA: Point3d, pointB: Point3d, pointC: Point3d): Plane3dByOriginAndUnitNormal | undefined;
+    /** Create a plane defined by a point and two vectors in the plane
+     * @param pointA any point in the plane
+     * @param vectorB any vector in the plane
+     * @param vectorC any vector in the plane but not parallel to vectorB
+     */
+    static createOriginAndVectors(pointA: Point3d, vectorB: Vector3d, vectorC: Vector3d): Plane3dByOriginAndUnitNormal | undefined;
     /** test for (toleranced) equality with `other` */
     isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean;
     /** Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}`  */
@@ -109,9 +127,17 @@ export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, Pl
      * Return the z component of the normal used to evaluate altitude.
      */
     normalZ(): number;
-    /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative) */
+    /**
+     * Return (a clone of) the unit normal.
+     */
+    getUnitNormal(result?: Vector3d): Vector3d | undefined;
+    /**
+     * Return (a clone of) the origin.
+     */
+    getAnyPointOnPlane(result?: Point3d): Point3d;
+    /** Return the signed altitude of weighted spacePoint above or below the plane.  (Below is negative) */
     weightedAltitude(spacePoint: Point4d): number;
-    /** return a point at specified (signed) altitude */
+    /** return any point at specified (signed) altitude. */
     altitudeToPoint(altitude: number, result?: Point3d): Point3d;
     /** Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude
      * for a point moving at speed one along the spaceVector.
@@ -127,7 +153,9 @@ export declare class Plane3dByOriginAndUnitNormal implements BeJSONFunctions, Pl
     altitudeXYZW(x: number, y: number, z: number, w: number): number;
     /** Return the projection of spacePoint onto the plane. */
     projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
-    /** Returns true of spacePoint is within distance tolerance of the plane. */
-    isPointInPlane(spacePoint: Point3d): boolean;
+    /** Returns true if spacePoint is within distance tolerance of the plane.
+     * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.
+    */
+    isPointInPlane(spacePoint: Point3d, tolerance?: number): boolean;
 }
 //# sourceMappingURL=Plane3dByOriginAndUnitNormal.d.ts.map

package/lib/esm/geometry3d/Plane3dByOriginAndUnitNormal.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/Plane3dByOriginAndUnitNormal.js

@@ -6,6 +6,7 @@
  * @module CartesianGeometry
  */
 import { AxisOrder, Geometry } from "../Geometry";
+import { Plane3d } from "./Plane3d";
 import { Matrix3d } from "./Matrix3d";
 import { Point3d, Vector3d } from "./Point3dVector3d";
 import { Transform } from "./Transform";
@@ -15,9 +16,10 @@ import { Transform } from "./Transform";
  * * a unit normal.
  * @public
  */
-export class Plane3dByOriginAndUnitNormal {
+export class Plane3dByOriginAndUnitNormal extends Plane3d {
     // constructor captures references !!!
     constructor(origin, normal) {
+        super();
         this._origin = origin;
         this._normal = normal;
     }
@@ -66,6 +68,19 @@ export class Plane3dByOriginAndUnitNormal {
         }
         return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);
     }
+    /** create a new  Plane3dByOriginAndUnitNormal from a variety of plane types.
+     * * The inputs are NOT captured.
+     * * Returns undefined if the normal vector is all zeros.
+     */
+    static createFrom(source, result) {
+        if (source instanceof Plane3dByOriginAndUnitNormal)
+            return source.clone(result);
+        const normal = source.getUnitNormal();
+        if (normal === undefined)
+            return undefined;
+        const origin = source.getAnyPointOnPlane();
+        return this.create(origin, normal, result);
+    }
     /** create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.
      * * Returns undefined if the normal vector is all zeros.
      * * If unable to normalize return undefined. (And if result is given it is left unchanged)
@@ -113,6 +128,28 @@ export class Plane3dByOriginAndUnitNormal {
             return new Plane3dByOriginAndUnitNormal(pointA, cross);
         return undefined;
     }
+    /** Create a plane defined by three points.
+     * @param pointA any point in the plane.  This will be the origin.
+     * @param pointB any other point in the plane
+     * @param pointC any third point in the plane but not on the line of pointA and pointB
+     */
+    static createOriginAndTargets(pointA, pointB, pointC) {
+        const cross = pointA.crossProductToPoints(pointB, pointC);
+        if (cross.tryNormalizeInPlace())
+            return new Plane3dByOriginAndUnitNormal(pointA, cross);
+        return undefined;
+    }
+    /** Create a plane defined by a point and two vectors in the plane
+     * @param pointA any point in the plane
+     * @param vectorB any vector in the plane
+     * @param vectorC any vector in the plane but not parallel to vectorB
+     */
+    static createOriginAndVectors(pointA, vectorB, vectorC) {
+        const cross = vectorB.crossProduct(vectorC);
+        if (cross.tryNormalizeInPlace())
+            return new Plane3dByOriginAndUnitNormal(pointA, cross);
+        return undefined;
+    }
     /** test for (toleranced) equality with `other` */
     isAlmostEqual(other) {
         return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);
@@ -214,11 +251,23 @@ export class Plane3dByOriginAndUnitNormal {
      * Return the z component of the normal used to evaluate altitude.
      */
     normalZ() { return this._normal.z; }
-    /** Return the altitude of weighted spacePoint above or below the plane.  (Below is negative) */
+    /**
+     * Return (a clone of) the unit normal.
+     */
+    getUnitNormal(result) {
+        return this._normal.clone(result);
+    }
+    /**
+     * Return (a clone of) the origin.
+     */
+    getAnyPointOnPlane(result) {
+        return this._origin.clone(result);
+    }
+    /** Return the signed altitude of weighted spacePoint above or below the plane.  (Below is negative) */
     weightedAltitude(spacePoint) {
         return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);
     }
-    /** return a point at specified (signed) altitude */
+    /** return any point at specified (signed) altitude. */
     altitudeToPoint(altitude, result) {
         return this._origin.plusScaled(this._normal, altitude, result);
     }
@@ -242,7 +291,12 @@ export class Plane3dByOriginAndUnitNormal {
     projectPointToPlane(spacePoint, result) {
         return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);
     }
-    /** Returns true of spacePoint is within distance tolerance of the plane. */
-    isPointInPlane(spacePoint) { return Geometry.isSmallMetricDistance(this.altitude(spacePoint)); }
+    /** Returns true if spacePoint is within distance tolerance of the plane.
+     * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.
+    */
+    isPointInPlane(spacePoint, tolerance = Geometry.smallMetricDistance) {
+        const altitude = this._normal.dotProductStartEnd(this._origin, spacePoint);
+        return Math.abs(altitude) <= tolerance;
+    }
 }
 //# sourceMappingURL=Plane3dByOriginAndUnitNormal.js.map