npm - @itwin/core-geometry - Versions diffs - 4.1.0-dev.4 → 4.1.0-dev.40 - Mend

@itwin/core-geometry 4.1.0-dev.4 → 4.1.0-dev.40

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Files changed (570) hide show

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

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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"]}
1	+ 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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"]}

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

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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\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\n\r\n/\r\n Plane3d is the abstract base class for multiple 3d plane representations:\r\n * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions\r\n * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product\r\n * * [[Point4d]] -- homogeneous form of xyzw plane.\r\n * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]\r\n \r\n As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions\r\n * about the plane's normal and the altitude of points above or below the plane. (Altitude is measured perpendicular to the plane.)\r\n * These abstract methods are:\r\n * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude\r\n * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.\r\n * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.\r\n * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.\r\n \r\n The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.\r\n * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.\r\n * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance. Default tolerance is small metric distance\r\n * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude\r\n * is negative, near zero, or positive.\r\n \r\n Notes about scaling and signs in methods that compute altitudes, normal components and velocities:\r\n * * The term \"altitude\" indicates a _signed_ distance from the plane.\r\n * * altitude zero is _on_ the plane\r\n * * positive altitudes are on one side\r\n * * negatives are on the other.\r\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\r\n * understands that it can be OK for its plane implementation to have that scaling.\r\n * * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected\r\n * to return true distances. This applies to:\r\n * * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]\r\n * * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.\r\n * * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because\r\n * * the normal is the cross product of the defining vectors.\r\n * * that cross product is not typically unit\r\n * * normalization adds to the cost of computing off-plane distances\r\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.\r\n * * \"4 dimensional\" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])\r\n * * typically do _not_ force their coefficients to any distance-based normalization\r\n * * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.\r\n * * In all classes, the `weightedAltitude` method is free to be scaled distance.\r\n * @public\r\n /\r\nexport abstract class Plane3d implements PlaneAltitudeEvaluator {\r\n /* Return the altitude of spacePoint above or below the plane. (Below is negative)\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n /\r\n public abstract altitude(spacePoint: Point3d): number;\r\n\r\n /* Returns true if spacePoint is within distance tolerance of the plane. /\r\n public isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n return Math.abs(this.altitude(spacePoint)) <= tolerance;\r\n }\r\n /* return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is\r\n * negative, near zero, or positive.\r\n \r\n /\r\n public classifyAltitude(point: Point3d, tolerance: number = Geometry.smallMetricDistance): -1 \| 0 \| 1 {\r\n return Geometry.split3Way01(this.altitude(point), tolerance);\r\n }\r\n /** return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is\r\n * negative, near zero, or positive.\r\n \r\n /\r\n public classifyAltitudeXYZ(x: number, y: number, z: number, tolerance: number = Geometry.smallMetricDistance): -1 \| 0 \| 1 {\r\n return Geometry.split3Way01(this.altitudeXYZ(x, y, z), tolerance);\r\n }\r\n /*\r\n Return the x component of the normal used to evaluate altitude.\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract normalX(): number;\r\n /\r\n Return the y component of the normal used to evaluate altitude.\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract normalY(): number;\r\n /\r\n Return the z component of the normal used to evaluate altitude.\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract normalZ(): number;\r\n /\r\n Return the unit normal for the plane.\r\n * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.\r\n * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls cause repeated normalization.\r\n * @param result\r\n /\r\n public getUnitNormal(result?: Vector3d): Vector3d \| undefined {\r\n return Vector3d.createNormalized(this.normalX(), this.normalY(), this.normalZ(), result);\r\n }\r\n /\r\n Return any point on the plane.\r\n * * Default implementation projects the origin (0,0,0) to the plane.\r\n * * Classes that have a preferred origin for their plane should override.\r\n * * Classes with a purely implicit equation of their plane can accept the default implementation\r\n * /\r\n public getAnyPointOnPlane(result?: Point3d): Point3d {\r\n return this.projectPointToPlane(Point3d.create(0, 0, 0), result);\r\n }\r\n /* Return the altitude of weighted spacePoint above or below the plane. (Below is negative)\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract weightedAltitude(spacePoint: Point4d): number;\r\n\r\n /* Return the dot product of spaceVector (x,y,z) 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 * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract velocityXYZ(x: number, y: number, z: number): number;\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 * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract velocity(spaceVector: Vector3d): number;\r\n /* Return the altitude of a point given as separate x,y,z components.\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n * * See [[Plane3d]] note about scaling.\r\n /\r\n public abstract altitudeXYZ(x: number, y: number, z: number): number;\r\n\r\n /* Return the projection of spacePoint onto the plane.\r\n * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n */\r\n public abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;\r\n}\r\n"]}
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"]}

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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 { Plane3d } from \"./Plane3d\";\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 extends Plane3d implements BeJSONFunctions {\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 super();\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 `normal.normalize()` returns undefined.\r\n /\r\n public static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\r\n if (result) {\r\n if (normal.normalize(result._normal) === undefined)\r\n return undefined;\r\n origin.clone(result._origin);\r\n return result;\r\n }\r\n const normalized = normal.normalize();\r\n if (normalized === undefined)\r\n return undefined;\r\n return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\r\n }\r\n /* Create a new Plane3dByOriginAndUnitNormal from a variety of plane types.\r\n * * The inputs are NOT captured.\r\n * * Returns undefined if `source.getUnitNormal()` returns undefined.\r\n /\r\n public static createFrom(source: Plane3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\r\n if (source instanceof Plane3dByOriginAndUnitNormal)\r\n return source.clone(result);\r\n if (result) {\r\n if (source.getUnitNormal(result._normal) === undefined)\r\n return undefined;\r\n source.getAnyPointOnPlane(result._origin);\r\n return result;\r\n }\r\n const normal = source.getUnitNormal();\r\n if (normal === undefined)\r\n return undefined;\r\n const origin = source.getAnyPointOnPlane();\r\n return new Plane3dByOriginAndUnitNormal(origin, normal);\r\n }\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 /* Create a plane defined by three points.\r\n * @param pointA any point in the plane. This will be the origin.\r\n * @param pointB any other point in the plane\r\n * @param pointC any third point in the plane but not on the line of pointA and pointB\r\n /\r\n public static createOriginAndTargets(pointA: Point3d, pointB: Point3d, pointC: Point3d): Plane3dByOriginAndUnitNormal \| undefined {\r\n const cross = pointA.crossProductToPoints(pointB, pointC);\r\n if (cross.tryNormalizeInPlace())\r\n return new Plane3dByOriginAndUnitNormal(pointA, cross);\r\n return undefined;\r\n }\r\n\r\n /* Create a plane defined by a point and two vectors in the plane\r\n * @param pointA any point in the plane\r\n * @param vectorB any vector in the plane\r\n * @param vectorC any vector in the plane but not parallel to vectorB\r\n /\r\n public static createOriginAndVectors(pointA: Point3d, vectorB: Vector3d, vectorC: Vector3d): Plane3dByOriginAndUnitNormal \| undefined {\r\n const cross = vectorB.crossProduct(vectorC);\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 (a clone of) the unit normal.\r\n /\r\n public override getUnitNormal(result?: Vector3d): Vector3d \| undefined {\r\n return this._normal.clone(result);\r\n }\r\n /\r\n Return (a clone of) the origin.\r\n /\r\n public override getAnyPointOnPlane(result?: Point3d): Point3d {\r\n return this._origin.clone(result);\r\n }\r\n /* Return the signed 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 any 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 if spacePoint is within distance tolerance of the plane.\r\n * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.\r\n */\r\n public override isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n const altitude = this._normal.dotProductStartEnd(this._origin, spacePoint);\r\n return Math.abs(altitude) <= tolerance;\r\n }\r\n}\r\n"]}
1	+ 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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 { Plane3d } from \"./Plane3d\";\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 extends Plane3d implements BeJSONFunctions {\n private _origin: Point3d;\n private _normal: Vector3d;\n // constructor captures references !!!\n private constructor(origin: Point3d, normal: Vector3d) {\n super();\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 `normal.normalize()` returns undefined.\n /\n public static create(origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\n if (result) {\n if (normal.normalize(result._normal) === undefined)\n return undefined;\n origin.clone(result._origin);\n return result;\n }\n const normalized = normal.normalize();\n if (normalized === undefined)\n return undefined;\n return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\n }\n /* Create a new Plane3dByOriginAndUnitNormal from a variety of plane types.\n * * The inputs are NOT captured.\n * * Returns undefined if `source.getUnitNormal()` returns undefined.\n /\n public static createFrom(source: Plane3d, result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal \| undefined {\n if (source instanceof Plane3dByOriginAndUnitNormal)\n return source.clone(result);\n if (result) {\n if (source.getUnitNormal(result._normal) === undefined)\n return undefined;\n source.getAnyPointOnPlane(result._origin);\n return result;\n }\n const normal = source.getUnitNormal();\n if (normal === undefined)\n return undefined;\n const origin = source.getAnyPointOnPlane();\n return new Plane3dByOriginAndUnitNormal(origin, normal);\n }\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 /* Create a plane defined by three points.\n * @param pointA any point in the plane. This will be the origin.\n * @param pointB any other point in the plane\n * @param pointC any third point in the plane but not on the line of pointA and pointB\n /\n public static createOriginAndTargets(pointA: Point3d, pointB: Point3d, pointC: Point3d): Plane3dByOriginAndUnitNormal \| undefined {\n const cross = pointA.crossProductToPoints(pointB, pointC);\n if (cross.tryNormalizeInPlace())\n return new Plane3dByOriginAndUnitNormal(pointA, cross);\n return undefined;\n }\n\n /* Create a plane defined by a point and two vectors in the plane\n * @param pointA any point in the plane\n * @param vectorB any vector in the plane\n * @param vectorC any vector in the plane but not parallel to vectorB\n /\n public static createOriginAndVectors(pointA: Point3d, vectorB: Vector3d, vectorC: Vector3d): Plane3dByOriginAndUnitNormal \| undefined {\n const cross = vectorB.crossProduct(vectorC);\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 (a clone of) the unit normal.\n /\n public override getUnitNormal(result?: Vector3d): Vector3d \| undefined {\n return this._normal.clone(result);\n }\n /\n Return (a clone of) the origin.\n /\n public override getAnyPointOnPlane(result?: Point3d): Point3d {\n return this._origin.clone(result);\n }\n /* Return the signed 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 any 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 if spacePoint is within distance tolerance of the plane.\n * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.\n */\n public override isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\n const altitude = this._normal.dotProductStartEnd(this._origin, spacePoint);\n return Math.abs(altitude) <= tolerance;\n }\n}\n"]}

package/lib/esm/geometry3d/Plane3dByOriginAndVectors.d.ts CHANGED Viewed

@@ -15,25 +15,28 @@ import { XYAndZ } from "./XYZProps";
  *   * are NOT required to be unit vectors.
  *   * are NOT required to be perpendicular vectors.
  * * The skewed, non-uniform scaling of the grid directions is the primary focus of this class.
- * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU and vectorV as plane normal.
+ * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU
+ * and vectorV as plane normal.
  *   * Hence these are cartesian distances.
  *   * If numerous calls to these are expected, the repeated normalization may be a performance issue.
- *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide better performance.
+ *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide
+ * better performance.
  * @public
  */
 export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSONFunctions {
-    /** origin of plane grid */
+    /** Origin of plane grid */
     origin: Point3d;
     /** u direction in plane grid */
     vectorU: Vector3d;
     /** v direction in plane grid */
     vectorV: Vector3d;
     private constructor();
-    /** create a new plane from origin and 2 in-plane vectors. */
+    /** Create a new plane from origin and 2 in-plane vectors. */
     static createOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** clone to a new plane. */
+    /** Clone to a new plane. */
     clone(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** create a new Plane3dByOriginAndVectors from a variety of plane types.
+    /**
+     * Create a new Plane3dByOriginAndVectors from a variety of plane types.
      * * The input is NOT captured.
      */
     static createFrom(source: Plane3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors | undefined;
@@ -52,13 +55,15 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
     static createCapture(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
     /** Set all origin and both vectors from direct numeric parameters */
     setOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number): Plane3dByOriginAndVectors;
-    /** Set all origin and both vectors from coordinates in given origin and vectors.
+    /**
+     * Set all origin and both vectors from coordinates in given origin and vectors.
      * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.
      */
     setOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d): Plane3dByOriginAndVectors;
     /** Create a new plane from direct numeric parameters */
     static createOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** Define a plane by three points in the plane.
+    /**
+     * Define a plane by three points in the plane.
      * @param origin origin for the parameterization.
      * @param targetU target point for the vectorU starting at the origin.
      * @param targetV target point for the vectorV originating at the origin.
@@ -67,13 +72,15 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
     static createOriginAndTargets(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
     /** Create a plane with origin at 000, unit vectorU in x direction, and unit vectorV in the y direction. */
     static createXYPlane(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** create a plane from data presented as Float64Arrays.
+    /**
+     * Create a plane from data presented as Float64Arrays.
      * @param origin x,y,z of origin.
      * @param vectorU x,y,z of vectorU
      * @param vectorV x,y,z of vectorV
      */
     static createOriginAndVectorsArrays(origin: Float64Array, vectorU: Float64Array, vectorV: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** create a plane from data presented as Float64Array with weights
+    /**
+     * Create a plane from data presented as Float64Array with weights
      * @param origin x,y,z,w of origin.
      * @param vectorU x,y,z,w of vectorU
      * @param vectorV x,y,z,w of vectorV
@@ -97,17 +104,16 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
      * @return {*} [origin,normal]
      */
     toJSON(): any;
-    /** create a new plane.   See `setFromJSON` for layout example. */
+    /** Create a new plane.   See `setFromJSON` for layout example. */
     static fromJSON(json?: any): Plane3dByOriginAndVectors;
     /** Test origin and vectors for isAlmostEqual with `other` */
     isAlmostEqual(other: Plane3dByOriginAndVectors): boolean;
-    /** Normalize both `vectorU` and `vectorV` in place.  This does NOT make them perpendicular.
+    /**
+     * Normalize both `vectorU` and `vectorV` in place. This does NOT make them perpendicular.
      * * Return true if both succeeded.
      */
     normalizeInPlace(): boolean;
-    /**
-     * Return (if possible) a unit normal to the plane.
-     */
+    /** Return (if possible) a unit normal to the plane */
     getUnitNormal(result?: Vector3d): Vector3d | undefined;
     /**
      * Return (if possible) a unit normal to the plane.
@@ -119,9 +125,7 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
      */
     getAnyPointOnPlane(result?: Point3d): Point3d;
     private static _workVector;
-    /**
-     * Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane.
-     */
+    /** Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane */
     unitNormalRay(result?: Ray3d): Ray3d | undefined;
     /**
      * Create a rigid frame (i.e. frenet frame) with
@@ -132,35 +136,35 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
      * @param result optional result
      */
     toRigidFrame(result?: Transform): Transform | undefined;
-    /**
-     * Apply the transform to the origin and vectors in place.
-     */
+    /** Apply the transform to the origin and vectors in place */
     transformInPlace(transform: Transform): void;
     /**
      * Return x component of the (normalized!) {vectorU CROSS vectorV}.
      * Return 0 if the cross product is zero.
-     * */
+     */
     normalX(): number;
     /**
-  * Return y component of the (normalized!) {vectorU CROSS vectorV}.
-  * Return 0 if the cross product is zero.
-  * */
+     * Return y component of the (normalized!) {vectorU CROSS vectorV}.
+     * Return 0 if the cross product is zero.
+     */
     normalY(): number;
     /**
      * Return z component of the (normalized!) {vectorU CROSS vectorV}.
      * Return 0 if the cross product is zero.
-     * */
+     */
     normalZ(): number;
-    /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */
+    /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */
     altitude(xyz: XYAndZ): number;
-    /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */
+    /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */
     altitudeXYZ(x: number, y: number, z: number): number;
-    /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */
+    /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */
     velocity(xyzVector: XYAndZ): number;
-    /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */
+    /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */
     velocityXYZ(x: number, y: number, z: number): number;
-    /** Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.
-     * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the plane but is not a physical distance.
+    /**
+     * Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.
+     * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the
+     * plane but is not a physical distance.
      */
     weightedAltitude(xyzw: Point4d): number;
     /**

package/lib/esm/geometry3d/Plane3dByOriginAndVectors.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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