npm - @itwin/core-geometry - Versions diffs - 4.2.0-dev.17 → 4.2.0-dev.19 - Mend

@itwin/core-geometry 4.2.0-dev.17 → 4.2.0-dev.19

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Files changed (166) hide show

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

	@@ -1 +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 { AnyRegion } from \"../curve/CurveChain\";\r\nimport { CurveChain } from \"../curve/CurveCollection\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { Loop } from \"../curve/Loop\";\r\nimport { ParityRegion } from \"../curve/ParityRegion\";\r\nimport { RegionOps } from \"../curve/RegionOps\";\r\nimport { UnionRegion } from \"../curve/UnionRegion\";\r\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { PolygonOps } from \"./PolygonOps\";\r\nimport { Range3d } from \"./Range\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/* abstract base class for area-related queries of a loop.\r\n * * subclasses have particular logic for `Loop` and polygon data.\r\n * @internal\r\n /\r\nabstract class SimpleRegionCarrier {\r\n public abstract classifyPointXY(xy: XAndY): number \| undefined;\r\n // Find any point on an edge.\r\n // evaluate tangent.\r\n // move to left or right according to signedArea, producing an interior point for the loop.\r\n public abstract getAnyInteriorPoint(): Point3d \| undefined;\r\n /\r\n * grab the loop formatted as a simple polygon.\r\n * * stroke if necessary.\r\n /\r\n public abstract grabPolygon(): IndexedReadWriteXYZCollection \| undefined;\r\n /\r\n * grab the loop formatted as a strongly typed loop object\r\n /\r\n public abstract grabLoop(): Loop \| undefined;\r\n /\r\n (Property access) Return the signed area of the loop\r\n /\r\n public abstract get signedArea(): number;\r\n /\r\n If the current `signedArea` has different sign versus `targetSign`, reverse the loop in place.\r\n /\r\n public abstract reverseForAreaSign(targetSign: number): void;\r\n}\r\n/\r\n Implement `LoopCarrier` queries with the area as a polygon carried in an `IndexedReadWriteXYZCollection`\r\n /\r\nclass PolygonCarrier extends SimpleRegionCarrier {\r\n public data: IndexedReadWriteXYZCollection;\r\n private _signedArea: number;\r\n public get signedArea(): number { return this._signedArea; }\r\n public constructor(data: IndexedReadWriteXYZCollection) {\r\n super();\r\n this.data = data;\r\n this._signedArea = PolygonOps.areaXY(data);\r\n }\r\n /\r\n classify xy parts of point wrt this loop.\r\n * @param xy\r\n * @internal\r\n /\r\n public classifyPointXY(xy: XAndY): number \| undefined {\r\n return PolygonOps.classifyPointInPolygonXY(xy.x, xy.y, this.data);\r\n }\r\n /* Return some point \"inside\"\r\n * NEEDS WORK: this returns a point ON --\r\n /\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n for (let childIndex = 0; childIndex < this.data.length; childIndex++) {\r\n const q = this.constructInteriorPointNearEdge(childIndex, 0.2349);\r\n if (q !== undefined)\r\n return q;\r\n }\r\n return undefined;\r\n }\r\n public grabPolygon(): IndexedReadWriteXYZCollection \| undefined { return this.data; }\r\n public grabLoop(): Loop \| undefined {\r\n return Loop.createPolygon(this.data);\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n if (targetSign this._signedArea < 0.0) {\r\n this.data.reverseInPlace();\r\n this._signedArea = -1.0;\r\n }\r\n }\r\n public constructInteriorPointNearEdge(edgeIndex: number, fractionAlong: number): Point3d \| undefined {\r\n if (edgeIndex + 1 < this.data.length) {\r\n const point0 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex);\r\n const point1 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex + 1);\r\n const vector = point0.vectorTo(point1);\r\n const point = point0.interpolate(fractionAlong, point1);\r\n vector.rotate90CCWXY(vector);\r\n if (vector.normalizeInPlace()) {\r\n if (this._signedArea < 0)\r\n vector.scaleInPlace(-1.0);\r\n const refDistance = Math.sqrt(Math.abs(this._signedArea));\r\n for (let fraction = 1.0e-5; fraction < 3; fraction = 5.0) {\r\n const candidatePoint = point.plusScaled(vector, fraction * refDistance);\r\n if (1 === this.classifyPointXY(candidatePoint))\r\n return candidatePoint;\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n\r\n}\r\n/*\r\n Implement `LoopCarrier` queries with the area as a strongly typed `Loop`\r\n /\r\nclass LoopCarrier extends SimpleRegionCarrier {\r\n public data: Loop;\r\n private _signedArea: number;\r\n public get signedArea(): number { return this._signedArea; }\r\n public constructor(data: Loop) {\r\n super();\r\n this.data = data;\r\n const areaMoments = RegionOps.computeXYAreaMoments(data);\r\n this._signedArea = areaMoments !== undefined ? areaMoments.quantitySum : 0.0;\r\n }\r\n /\r\n classify xy parts of point wrt this loop.\r\n * @param xy\r\n * @internal\r\n /\r\n public classifyPointXY(xy: XAndY): number \| undefined {\r\n return RegionOps.testPointInOnOutRegionXY(this.data, xy.x, xy.y);\r\n }\r\n public constructInteriorPointNearChild(childIndex: number, fractionAlong: number): Point3d \| undefined {\r\n if (childIndex < this.data.children.length) {\r\n const primitive = this.data.children[childIndex];\r\n const ray = primitive.fractionToPointAndUnitTangent(fractionAlong);\r\n ray.direction.rotate90CCWXY(ray.direction);\r\n if (this._signedArea < 0.0)\r\n ray.direction.scaleInPlace(-1.0);\r\n const refDistance = Math.sqrt(Math.abs(this._signedArea));\r\n for (let fraction = 1.0e-5; fraction < 3; fraction = 5.0) {\r\n const candidatePoint = ray.fractionToPoint(fraction * refDistance);\r\n if (1 === this.classifyPointXY(candidatePoint))\r\n return candidatePoint;\r\n }\r\n }\r\n return undefined;\r\n }\r\n /** Return some point \"inside\"\r\n * NEEDS WORK: this returns a point ON --\r\n /\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n for (let childIndex = 0; childIndex < this.data.children.length; childIndex++) {\r\n const q = this.constructInteriorPointNearChild(childIndex, 0.2349);\r\n if (q !== undefined)\r\n return q;\r\n }\r\n return undefined;\r\n }\r\n public grabPolygon(): IndexedReadWriteXYZCollection \| undefined {\r\n const strokes = this.data.cloneStroked();\r\n if (strokes instanceof CurveChain) {\r\n const linestring = LineString3d.create();\r\n for (const child of strokes.children) {\r\n if (child instanceof CurvePrimitive) {\r\n child.emitStrokes(linestring);\r\n }\r\n }\r\n return linestring.numPoints() > 0 ? linestring.packedPoints : undefined;\r\n }\r\n return undefined;\r\n }\r\n public grabLoop(): Loop \| undefined {\r\n return this.data;\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n if (targetSign this._signedArea < 0.0) {\r\n this.data.reverseChildrenInPlace();\r\n this._signedArea = -1.0;\r\n }\r\n }\r\n}\r\n\r\n/\r\n A `SortablePolygon` carries a (single) loop with data useful for sorting for inner-outer structure.\r\n * @internal\r\n /\r\nexport class SortablePolygon {\r\n private _loopCarrier: SimpleRegionCarrier;\r\n public anyPoint?: Point3d;\r\n public sortKey: number;\r\n public range: Range3d;\r\n public parentIndex?: number;\r\n public isHole: boolean;\r\n public outputSetIndex?: number;\r\n /\r\n \r\n * @param loop Loop to capture.\r\n /\r\n public constructor(loop: IndexedReadWriteXYZCollection \| Loop, range: Range3d) {\r\n if (loop instanceof IndexedReadWriteXYZCollection)\r\n this._loopCarrier = new PolygonCarrier(loop);\r\n else\r\n this._loopCarrier = new LoopCarrier(loop);\r\n this.range = range;\r\n this.sortKey = Math.abs(this._loopCarrier.signedArea);\r\n this.isHole = false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n /\r\n public static pushPolygon(loops: SortablePolygon[], loop: IndexedReadWriteXYZCollection): boolean {\r\n const range = loop.getRange();\r\n const sortablePolygon = new SortablePolygon(loop, range);\r\n if (sortablePolygon.sortKey > 0.0) {\r\n loops.push(sortablePolygon);\r\n return true;\r\n }\r\n return false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n /\r\n public static pushLoop(loops: SortablePolygon[], loop: Loop): boolean {\r\n const range = loop.range();\r\n const sortablePolygon = new SortablePolygon(loop, range);\r\n if (sortablePolygon.sortKey > 0.0) {\r\n loops.push(sortablePolygon);\r\n return true;\r\n }\r\n return false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n */\r\n private static assignParentsAndDepth(loops: SortablePolygon[]): void {\r\n // Sort largest to smallest ...\r\n loops.sort((loopA: SortablePolygon, loopB: SortablePolygon) => (loopB.sortKey - loopA.sortKey));\r\n // starting with smallest loop, point each loop to smallest containing parent.\r\n for (let i = loops.length; i-- > 0;) {\r\n const thisLoop = loops[i];\r\n const xy = thisLoop._loopCarrier.getAnyInteriorPoint();\r\n if (xy !== undefined) {\r\n // find smallest containing parent (search forward only to hit)\r\n loops[i].parentIndex = undefined;\r\n loops[i].outputSetIndex = undefined;\r\n for (let j = i; j-- > 0;) {\r\n const otherLoop = loops[j];\r\n if (otherLoop.range.containsXY(xy.x, xy.y)) {\r\n if (1 === otherLoop._loopCarrier.classifyPointXY(xy)) {\r\n thisLoop.parentIndex = j;\r\n // The loops are searched from small area to larger. Any other containing loop is larger, so otherLoop must be the smallest.\r\n break;\r\n }\r\n }\r\n }\r\n }\r\n }\r\n }\r\n\r\n private static assemblePolygonSet(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\r\n const outputSets: IndexedReadWriteXYZCollection[][] = [];\r\n\r\n // In large-to-small order:\r\n // If a loop has no parent or has a \"hole\" as parent it is outer.\r\n // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\r\n for (const loopData of loops) {\r\n loopData.isHole = false;\r\n const parentIndex = loopData.parentIndex;\r\n if (parentIndex !== undefined)\r\n loopData.isHole = !loops[parentIndex].isHole;\r\n if (!loopData.isHole) {\r\n loopData._loopCarrier.reverseForAreaSign(1.0);\r\n loopData.outputSetIndex = outputSets.length;\r\n outputSets.push([]);\r\n outputSets[loopData.outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\r\n } else {\r\n loopData._loopCarrier.reverseForAreaSign(-1.0);\r\n const outputSetIndex = loops[parentIndex!].outputSetIndex!;\r\n outputSets[outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\r\n }\r\n }\r\n return outputSets;\r\n }\r\n private static assembleLoopSet(loops: SortablePolygon[]): AnyRegion[] {\r\n const outputSets: AnyRegion[] = [];\r\n const numLoops = loops.length;\r\n // In large-to-small order:\r\n // If a loop has no parent or has a \"hole\" as parent it is outer.\r\n // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\r\n for (let candidateIndex = 0; candidateIndex < numLoops; candidateIndex++) {\r\n const candidateData = loops[candidateIndex];\r\n const parentIndex = candidateData.parentIndex;\r\n candidateData.isHole = parentIndex !== undefined ? !loops[parentIndex].isHole : false;\r\n\r\n if (!candidateData.isHole) {\r\n candidateData._loopCarrier.reverseForAreaSign(1.0);\r\n const candidateLoop = candidateData._loopCarrier.grabLoop()!;\r\n let candidateParityRegion: ParityRegion \| undefined;\r\n // find all directly contained children . . .\r\n for (let childIndex = candidateIndex + 1; childIndex < numLoops; childIndex++) {\r\n const childData = loops[childIndex];\r\n if (childData.parentIndex === candidateIndex) {\r\n if (candidateParityRegion === undefined) {\r\n candidateParityRegion = ParityRegion.create();\r\n candidateParityRegion.tryAddChild(candidateLoop);\r\n childData._loopCarrier.reverseForAreaSign(-1.0);\r\n candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\r\n } else {\r\n childData._loopCarrier.reverseForAreaSign(-1.0);\r\n candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\r\n }\r\n }\r\n }\r\n if (candidateParityRegion !== undefined)\r\n outputSets.push(candidateParityRegion);\r\n else if (candidateLoop !== undefined)\r\n outputSets.push(candidateLoop);\r\n }\r\n }\r\n return outputSets;\r\n }\r\n\r\n public static sortAsAnyRegion(loops: SortablePolygon[]): AnyRegion {\r\n this.assignParentsAndDepth(loops);\r\n const regions = this.assembleLoopSet(loops);\r\n if (regions.length === 1)\r\n return regions[0];\r\n else {\r\n const unionRegion = UnionRegion.create();\r\n for (const region of regions)\r\n unionRegion.tryAddChild(region);\r\n return unionRegion;\r\n }\r\n }\r\n public static sortAsArrayOfArrayOfPolygons(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\r\n this.assignParentsAndDepth(loops);\r\n return this.assemblePolygonSet(loops);\r\n }\r\n public grabPolygon(): IndexedXYZCollection \| undefined {\r\n return this._loopCarrier.grabPolygon();\r\n }\r\n public grabLoop(): Loop \| undefined {\r\n return this._loopCarrier.grabLoop();\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n this._loopCarrier.reverseForAreaSign(targetSign);\r\n }\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n return this._loopCarrier.getAnyInteriorPoint();\r\n }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { AnyRegion } from \"../curve/CurveTypes\";\r\nimport { CurveChain } from \"../curve/CurveCollection\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { Loop } from \"../curve/Loop\";\r\nimport { ParityRegion } from \"../curve/ParityRegion\";\r\nimport { RegionOps } from \"../curve/RegionOps\";\r\nimport { UnionRegion } from \"../curve/UnionRegion\";\r\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { PolygonOps } from \"./PolygonOps\";\r\nimport { Range3d } from \"./Range\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/* abstract base class for area-related queries of a loop.\r\n * * subclasses have particular logic for `Loop` and polygon data.\r\n * @internal\r\n /\r\nabstract class SimpleRegionCarrier {\r\n public abstract classifyPointXY(xy: XAndY): number \| undefined;\r\n // Find any point on an edge.\r\n // evaluate tangent.\r\n // move to left or right according to signedArea, producing an interior point for the loop.\r\n public abstract getAnyInteriorPoint(): Point3d \| undefined;\r\n /\r\n * grab the loop formatted as a simple polygon.\r\n * * stroke if necessary.\r\n /\r\n public abstract grabPolygon(): IndexedReadWriteXYZCollection \| undefined;\r\n /\r\n * grab the loop formatted as a strongly typed loop object\r\n /\r\n public abstract grabLoop(): Loop \| undefined;\r\n /\r\n (Property access) Return the signed area of the loop\r\n /\r\n public abstract get signedArea(): number;\r\n /\r\n If the current `signedArea` has different sign versus `targetSign`, reverse the loop in place.\r\n /\r\n public abstract reverseForAreaSign(targetSign: number): void;\r\n}\r\n/\r\n Implement `LoopCarrier` queries with the area as a polygon carried in an `IndexedReadWriteXYZCollection`\r\n /\r\nclass PolygonCarrier extends SimpleRegionCarrier {\r\n public data: IndexedReadWriteXYZCollection;\r\n private _signedArea: number;\r\n public get signedArea(): number { return this._signedArea; }\r\n public constructor(data: IndexedReadWriteXYZCollection) {\r\n super();\r\n this.data = data;\r\n this._signedArea = PolygonOps.areaXY(data);\r\n }\r\n /\r\n classify xy parts of point wrt this loop.\r\n * @param xy\r\n * @internal\r\n /\r\n public classifyPointXY(xy: XAndY): number \| undefined {\r\n return PolygonOps.classifyPointInPolygonXY(xy.x, xy.y, this.data);\r\n }\r\n /* Return some point \"inside\"\r\n * NEEDS WORK: this returns a point ON --\r\n /\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n for (let childIndex = 0; childIndex < this.data.length; childIndex++) {\r\n const q = this.constructInteriorPointNearEdge(childIndex, 0.2349);\r\n if (q !== undefined)\r\n return q;\r\n }\r\n return undefined;\r\n }\r\n public grabPolygon(): IndexedReadWriteXYZCollection \| undefined { return this.data; }\r\n public grabLoop(): Loop \| undefined {\r\n return Loop.createPolygon(this.data);\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n if (targetSign this._signedArea < 0.0) {\r\n this.data.reverseInPlace();\r\n this._signedArea = -1.0;\r\n }\r\n }\r\n public constructInteriorPointNearEdge(edgeIndex: number, fractionAlong: number): Point3d \| undefined {\r\n if (edgeIndex + 1 < this.data.length) {\r\n const point0 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex);\r\n const point1 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex + 1);\r\n const vector = point0.vectorTo(point1);\r\n const point = point0.interpolate(fractionAlong, point1);\r\n vector.rotate90CCWXY(vector);\r\n if (vector.normalizeInPlace()) {\r\n if (this._signedArea < 0)\r\n vector.scaleInPlace(-1.0);\r\n const refDistance = Math.sqrt(Math.abs(this._signedArea));\r\n for (let fraction = 1.0e-5; fraction < 3; fraction = 5.0) {\r\n const candidatePoint = point.plusScaled(vector, fraction * refDistance);\r\n if (1 === this.classifyPointXY(candidatePoint))\r\n return candidatePoint;\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n\r\n}\r\n/*\r\n Implement `LoopCarrier` queries with the area as a strongly typed `Loop`\r\n /\r\nclass LoopCarrier extends SimpleRegionCarrier {\r\n public data: Loop;\r\n private _signedArea: number;\r\n public get signedArea(): number { return this._signedArea; }\r\n public constructor(data: Loop) {\r\n super();\r\n this.data = data;\r\n const areaMoments = RegionOps.computeXYAreaMoments(data);\r\n this._signedArea = areaMoments !== undefined ? areaMoments.quantitySum : 0.0;\r\n }\r\n /\r\n classify xy parts of point wrt this loop.\r\n * @param xy\r\n * @internal\r\n /\r\n public classifyPointXY(xy: XAndY): number \| undefined {\r\n return RegionOps.testPointInOnOutRegionXY(this.data, xy.x, xy.y);\r\n }\r\n public constructInteriorPointNearChild(childIndex: number, fractionAlong: number): Point3d \| undefined {\r\n if (childIndex < this.data.children.length) {\r\n const primitive = this.data.children[childIndex];\r\n const ray = primitive.fractionToPointAndUnitTangent(fractionAlong);\r\n ray.direction.rotate90CCWXY(ray.direction);\r\n if (this._signedArea < 0.0)\r\n ray.direction.scaleInPlace(-1.0);\r\n const refDistance = Math.sqrt(Math.abs(this._signedArea));\r\n for (let fraction = 1.0e-5; fraction < 3; fraction = 5.0) {\r\n const candidatePoint = ray.fractionToPoint(fraction * refDistance);\r\n if (1 === this.classifyPointXY(candidatePoint))\r\n return candidatePoint;\r\n }\r\n }\r\n return undefined;\r\n }\r\n /** Return some point \"inside\"\r\n * NEEDS WORK: this returns a point ON --\r\n /\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n for (let childIndex = 0; childIndex < this.data.children.length; childIndex++) {\r\n const q = this.constructInteriorPointNearChild(childIndex, 0.2349);\r\n if (q !== undefined)\r\n return q;\r\n }\r\n return undefined;\r\n }\r\n public grabPolygon(): IndexedReadWriteXYZCollection \| undefined {\r\n const strokes = this.data.cloneStroked();\r\n if (strokes instanceof CurveChain) {\r\n const linestring = LineString3d.create();\r\n for (const child of strokes.children) {\r\n if (child instanceof CurvePrimitive) {\r\n child.emitStrokes(linestring);\r\n }\r\n }\r\n return linestring.numPoints() > 0 ? linestring.packedPoints : undefined;\r\n }\r\n return undefined;\r\n }\r\n public grabLoop(): Loop \| undefined {\r\n return this.data;\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n if (targetSign this._signedArea < 0.0) {\r\n this.data.reverseChildrenInPlace();\r\n this._signedArea = -1.0;\r\n }\r\n }\r\n}\r\n\r\n/\r\n A `SortablePolygon` carries a (single) loop with data useful for sorting for inner-outer structure.\r\n * @internal\r\n /\r\nexport class SortablePolygon {\r\n private _loopCarrier: SimpleRegionCarrier;\r\n public anyPoint?: Point3d;\r\n public sortKey: number;\r\n public range: Range3d;\r\n public parentIndex?: number;\r\n public isHole: boolean;\r\n public outputSetIndex?: number;\r\n /\r\n \r\n * @param loop Loop to capture.\r\n /\r\n public constructor(loop: IndexedReadWriteXYZCollection \| Loop, range: Range3d) {\r\n if (loop instanceof IndexedReadWriteXYZCollection)\r\n this._loopCarrier = new PolygonCarrier(loop);\r\n else\r\n this._loopCarrier = new LoopCarrier(loop);\r\n this.range = range;\r\n this.sortKey = Math.abs(this._loopCarrier.signedArea);\r\n this.isHole = false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n /\r\n public static pushPolygon(loops: SortablePolygon[], loop: IndexedReadWriteXYZCollection): boolean {\r\n const range = loop.getRange();\r\n const sortablePolygon = new SortablePolygon(loop, range);\r\n if (sortablePolygon.sortKey > 0.0) {\r\n loops.push(sortablePolygon);\r\n return true;\r\n }\r\n return false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n /\r\n public static pushLoop(loops: SortablePolygon[], loop: Loop): boolean {\r\n const range = loop.range();\r\n const sortablePolygon = new SortablePolygon(loop, range);\r\n if (sortablePolygon.sortKey > 0.0) {\r\n loops.push(sortablePolygon);\r\n return true;\r\n }\r\n return false;\r\n }\r\n /* Push loop with sort data onto the array.\r\n * * No action if no clear normal.\r\n * * return true if pushed.\r\n */\r\n private static assignParentsAndDepth(loops: SortablePolygon[]): void {\r\n // Sort largest to smallest ...\r\n loops.sort((loopA: SortablePolygon, loopB: SortablePolygon) => (loopB.sortKey - loopA.sortKey));\r\n // starting with smallest loop, point each loop to smallest containing parent.\r\n for (let i = loops.length; i-- > 0;) {\r\n const thisLoop = loops[i];\r\n const xy = thisLoop._loopCarrier.getAnyInteriorPoint();\r\n if (xy !== undefined) {\r\n // find smallest containing parent (search forward only to hit)\r\n loops[i].parentIndex = undefined;\r\n loops[i].outputSetIndex = undefined;\r\n for (let j = i; j-- > 0;) {\r\n const otherLoop = loops[j];\r\n if (otherLoop.range.containsXY(xy.x, xy.y)) {\r\n if (1 === otherLoop._loopCarrier.classifyPointXY(xy)) {\r\n thisLoop.parentIndex = j;\r\n // The loops are searched from small area to larger. Any other containing loop is larger, so otherLoop must be the smallest.\r\n break;\r\n }\r\n }\r\n }\r\n }\r\n }\r\n }\r\n\r\n private static assemblePolygonSet(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\r\n const outputSets: IndexedReadWriteXYZCollection[][] = [];\r\n\r\n // In large-to-small order:\r\n // If a loop has no parent or has a \"hole\" as parent it is outer.\r\n // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\r\n for (const loopData of loops) {\r\n loopData.isHole = false;\r\n const parentIndex = loopData.parentIndex;\r\n if (parentIndex !== undefined)\r\n loopData.isHole = !loops[parentIndex].isHole;\r\n if (!loopData.isHole) {\r\n loopData._loopCarrier.reverseForAreaSign(1.0);\r\n loopData.outputSetIndex = outputSets.length;\r\n outputSets.push([]);\r\n outputSets[loopData.outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\r\n } else {\r\n loopData._loopCarrier.reverseForAreaSign(-1.0);\r\n const outputSetIndex = loops[parentIndex!].outputSetIndex!;\r\n outputSets[outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\r\n }\r\n }\r\n return outputSets;\r\n }\r\n private static assembleLoopSet(loops: SortablePolygon[]): AnyRegion[] {\r\n const outputSets: AnyRegion[] = [];\r\n const numLoops = loops.length;\r\n // In large-to-small order:\r\n // If a loop has no parent or has a \"hole\" as parent it is outer.\r\n // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\r\n for (let candidateIndex = 0; candidateIndex < numLoops; candidateIndex++) {\r\n const candidateData = loops[candidateIndex];\r\n const parentIndex = candidateData.parentIndex;\r\n candidateData.isHole = parentIndex !== undefined ? !loops[parentIndex].isHole : false;\r\n\r\n if (!candidateData.isHole) {\r\n candidateData._loopCarrier.reverseForAreaSign(1.0);\r\n const candidateLoop = candidateData._loopCarrier.grabLoop()!;\r\n let candidateParityRegion: ParityRegion \| undefined;\r\n // find all directly contained children . . .\r\n for (let childIndex = candidateIndex + 1; childIndex < numLoops; childIndex++) {\r\n const childData = loops[childIndex];\r\n if (childData.parentIndex === candidateIndex) {\r\n if (candidateParityRegion === undefined) {\r\n candidateParityRegion = ParityRegion.create();\r\n candidateParityRegion.tryAddChild(candidateLoop);\r\n childData._loopCarrier.reverseForAreaSign(-1.0);\r\n candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\r\n } else {\r\n childData._loopCarrier.reverseForAreaSign(-1.0);\r\n candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\r\n }\r\n }\r\n }\r\n if (candidateParityRegion !== undefined)\r\n outputSets.push(candidateParityRegion);\r\n else if (candidateLoop !== undefined)\r\n outputSets.push(candidateLoop);\r\n }\r\n }\r\n return outputSets;\r\n }\r\n\r\n public static sortAsAnyRegion(loops: SortablePolygon[]): AnyRegion {\r\n this.assignParentsAndDepth(loops);\r\n const regions = this.assembleLoopSet(loops);\r\n if (regions.length === 1)\r\n return regions[0];\r\n else {\r\n const unionRegion = UnionRegion.create();\r\n for (const region of regions)\r\n unionRegion.tryAddChild(region);\r\n return unionRegion;\r\n }\r\n }\r\n public static sortAsArrayOfArrayOfPolygons(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\r\n this.assignParentsAndDepth(loops);\r\n return this.assemblePolygonSet(loops);\r\n }\r\n public grabPolygon(): IndexedXYZCollection \| undefined {\r\n return this._loopCarrier.grabPolygon();\r\n }\r\n public grabLoop(): Loop \| undefined {\r\n return this._loopCarrier.grabLoop();\r\n }\r\n public reverseForAreaSign(targetSign: number) {\r\n this._loopCarrier.reverseForAreaSign(targetSign);\r\n }\r\n public getAnyInteriorPoint(): Point3d \| undefined {\r\n return this._loopCarrier.getAnyInteriorPoint();\r\n }\r\n}\r\n"]}

package/lib/cjs/geometry3d/YawPitchRollAngles.js CHANGED Viewed

@@ -213,7 +213,7 @@ class YawPitchRollAngles {
      */
     static createFromMatrix3d(matrix, result) {
         /**
-         * The rotation matrix for is
+         * The rotation matrix form is
          *
          * Matrix3d.createRowValues(
          *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),

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

	@@ -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\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/\r\n Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n /\r\nexport interface YawPitchRollProps {\r\n /* yaw field /\r\n yaw?: AngleProps;\r\n /* pitch field /\r\n pitch?: AngleProps;\r\n /* roll field /\r\n roll?: AngleProps;\r\n}\r\n\r\n/\r\n Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n * * x forward\r\n * * y to left\r\n * * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n * * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around negative y (clockwise):\r\n * * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n * * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n * * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n /\r\nexport class YawPitchRollAngles {\r\n /* The yaw angle: counterclockwise rotation angle around z /\r\n public yaw: Angle;\r\n /* The pitch angle: clockwise rotation angle around y /\r\n public pitch: Angle;\r\n /* The roll angle: counterclockwise rotation angle around x /\r\n public roll: Angle;\r\n /\r\n Constructor\r\n * @param yaw counterclockwise rotation angle around z\r\n * @param pitch clockwise rotation angle around y\r\n * @param roll counterclockwise rotation angle around x\r\n /\r\n constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n this.yaw = yaw;\r\n this.pitch = pitch;\r\n this.roll = roll;\r\n }\r\n /* Freeze this YawPitchRollAngles /\r\n public freeze(): Readonly<this> {\r\n this.yaw.freeze();\r\n this.pitch.freeze();\r\n this.roll.freeze();\r\n return Object.freeze(this);\r\n }\r\n /\r\n Constructor for YawPitchRollAngles with angles in degrees.\r\n * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n * @param pitchDegrees clockwise rotation angle (in degrees) around y\r\n * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n /\r\n public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n return new YawPitchRollAngles(\r\n Angle.createDegrees(yawDegrees),\r\n Angle.createDegrees(pitchDegrees),\r\n Angle.createDegrees(rollDegrees),\r\n );\r\n }\r\n /\r\n Constructor for YawPitchRollAngles with angles in radians.\r\n * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n * @param pitchRadians clockwise rotation angle (in radians) around y\r\n * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n /\r\n public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n return new YawPitchRollAngles(\r\n Angle.createRadians(yawRadians),\r\n Angle.createRadians(pitchRadians),\r\n Angle.createRadians(rollRadians),\r\n );\r\n }\r\n /* Construct a `YawPitchRoll` object from an object with 3 named angles /\r\n public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n json = json ? json : {};\r\n return new YawPitchRollAngles(\r\n Angle.fromJSON(json.yaw),\r\n Angle.fromJSON(json.pitch),\r\n Angle.fromJSON(json.roll),\r\n );\r\n }\r\n /* Populate yaw, pitch and roll fields using `Angle.fromJSON` /\r\n public setFromJSON(json?: YawPitchRollProps): void {\r\n json = json ? json : {};\r\n this.yaw = Angle.fromJSON(json.yaw);\r\n this.pitch = Angle.fromJSON(json.pitch);\r\n this.roll = Angle.fromJSON(json.roll);\r\n }\r\n /\r\n Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n /\r\n public toJSON(): YawPitchRollProps {\r\n const val: YawPitchRollProps = {};\r\n if (!this.pitch.isAlmostZero)\r\n val.pitch = this.pitch.toJSON();\r\n if (!this.roll.isAlmostZero)\r\n val.roll = this.roll.toJSON();\r\n if (!this.yaw.isAlmostZero)\r\n val.yaw = this.yaw.toJSON();\r\n return val;\r\n }\r\n /\r\n Install all rotations from `other` into `this`.\r\n * @param other YawPitchRollAngles source\r\n /\r\n public setFrom(other: YawPitchRollAngles) {\r\n this.yaw.setFrom(other.yaw);\r\n this.pitch.setFrom(other.pitch);\r\n this.roll.setFrom(other.roll);\r\n }\r\n /\r\n Compare angles between `this` and `other`.\r\n * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n * @param other YawPitchRollAngles source\r\n /\r\n public isAlmostEqual(other: YawPitchRollAngles) {\r\n return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n }\r\n /* Make a copy of this YawPitchRollAngles /\r\n public clone() {\r\n return new YawPitchRollAngles(\r\n this.yaw.clone(),\r\n this.pitch.clone(),\r\n this.roll.clone(),\r\n );\r\n }\r\n /\r\n Expand the angles into a (rigid rotation) matrix.\r\n * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n * * The rigid matrix is always a right handed coordinate system.\r\n * @param result optional pre-allocated `Matrix3d`\r\n /\r\n public toMatrix3d(result?: Matrix3d) {\r\n const cz = Math.cos(this.yaw.radians);\r\n const sz = Math.sin(this.yaw.radians);\r\n const cy = Math.cos(this.pitch.radians);\r\n const sy = Math.sin(this.pitch.radians);\r\n const cx = Math.cos(this.roll.radians);\r\n const sx = Math.sin(this.roll.radians);\r\n /\r\n The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZrYrX where\r\n * rX, rY, and rZ are base rotation matrixes:\r\n \r\n const rX = Matrix3d.createRowValues(\r\n * 1, 0, 0,\r\n * 0, Math.cos(x), -Math.sin(x),\r\n * 0, Math.sin(x), Math.cos(x),\r\n * );\r\n * const rY = Matrix3d.createRowValues(\r\n * Math.cos(y), 0, Math.sin(y),\r\n * 0, 1, 0,\r\n * -Math.sin(y), 0, Math.cos(y),\r\n * );\r\n * const rZ = Matrix3d.createRowValues(\r\n * Math.cos(z), -Math.sin(z), 0,\r\n * Math.sin(z), Math.cos(z), 0,\r\n * 0, 0, 1,\r\n * );\r\n \r\n Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n * can use transpose of rY in the matrix multiplication to get the same result)\r\n /\r\n return Matrix3d.createRowValues(\r\n cz cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n sy, cy * sx, cy * cx,\r\n result,\r\n );\r\n }\r\n /*\r\n Returns true if this rotation does nothing.\r\n * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n /\r\n public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n if (allowPeriodShift)\r\n return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n else\r\n return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n }\r\n /* Return the largest angle in radians /\r\n public maxAbsRadians(): number {\r\n return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n }\r\n /* Return the sum of the angles in squared radians /\r\n public sumSquaredRadians(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n }\r\n /* Return the largest difference of angles (in radians) between this and other /\r\n public maxDiffRadians(other: YawPitchRollAngles): number {\r\n return Math.max(\r\n this.yaw.radians - other.yaw.radians,\r\n this.pitch.radians - other.pitch.radians,\r\n this.roll.radians - other.roll.radians,\r\n );\r\n }\r\n /* Return the largest angle in degrees. /\r\n public maxAbsDegrees(): number {\r\n return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n }\r\n /* Return the sum of squared angles in degrees. /\r\n public sumSquaredDegrees(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n }\r\n /* Return the largest difference of angles (in degrees) between this and other /\r\n public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n return Math.max(\r\n this.yaw.degrees - other.yaw.degrees,\r\n this.pitch.degrees - other.pitch.degrees,\r\n this.roll.degrees - other.roll.degrees,\r\n );\r\n }\r\n /* Return an object from a Transform as an origin and YawPitchRollAngles. /\r\n public static tryFromTransform(transform: Transform): {\r\n origin: Point3d;\r\n angles: YawPitchRollAngles \| undefined;\r\n } {\r\n return {\r\n origin: Point3d.createFrom(transform.origin),\r\n angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n };\r\n }\r\n /\r\n Attempts to create a YawPitchRollAngles object from a Matrix3d\r\n * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)\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, result?: YawPitchRollAngles): YawPitchRollAngles \| undefined {\r\n /\r\n The rotation matrix for is\r\n \r\n Matrix3d.createRowValues(\r\n * cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n * sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n * sy, cy * sx, cy * cx\r\n * );\r\n \r\n where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n /\r\n const sy = matrix.at(2, 0); // sin(y)\r\n const cy = Math.sqrt(matrix.at(2, 1) matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // \|cos(y)\|\r\n const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n const angles = result ? result : new YawPitchRollAngles();\r\n /*\r\n If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n * This means x and z can be anything as long as their sum x + z is constant.\r\n * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\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 The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n \r\n Matrix3d.createRowValues(\r\n * 0, -sz, -+cz,\r\n * 0, cz, -+sz,\r\n * +-1, 0, 0\r\n * );\r\n \r\n so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n /\r\n if (cy < Geometry.smallAngleRadians) {\r\n angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n angles.roll = Angle.createRadians(0.0);\r\n } else {\r\n /\r\n positive cosine\r\n * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n /\r\n const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n // similar with negative cosine\r\n const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n // create YPR\r\n const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n // decide to pick yprA or yprB with smallest magnitude angles\r\n const absFactor = 0.95;\r\n const maxRadiansA = yprA.maxAbsRadians();\r\n const maxRadiansB = yprB.maxAbsRadians();\r\n if (maxRadiansA < absFactor maxRadiansB) {\r\n angles.setFrom(yprA);\r\n } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n angles.setFrom(yprB);\r\n } else {\r\n const sumA = yprA.sumSquaredRadians();\r\n const sumB = yprB.sumSquaredRadians();\r\n if (sumA <= sumB) {\r\n angles.setFrom(yprA);\r\n } else {\r\n angles.setFrom(yprB);\r\n }\r\n }\r\n }\r\n // sanity check\r\n const matrix1 = angles.toMatrix3d();\r\n return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/\r\n Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n /\r\nexport interface YawPitchRollProps {\r\n /* yaw field /\r\n yaw?: AngleProps;\r\n /* pitch field /\r\n pitch?: AngleProps;\r\n /* roll field /\r\n roll?: AngleProps;\r\n}\r\n\r\n/\r\n Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n * * x forward\r\n * * y to left\r\n * * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n * * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around negative y (clockwise):\r\n * * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n * * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n * * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n /\r\nexport class YawPitchRollAngles {\r\n /* The yaw angle: counterclockwise rotation angle around z /\r\n public yaw: Angle;\r\n /* The pitch angle: clockwise rotation angle around y /\r\n public pitch: Angle;\r\n /* The roll angle: counterclockwise rotation angle around x /\r\n public roll: Angle;\r\n /\r\n Constructor\r\n * @param yaw counterclockwise rotation angle around z\r\n * @param pitch clockwise rotation angle around y\r\n * @param roll counterclockwise rotation angle around x\r\n /\r\n constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n this.yaw = yaw;\r\n this.pitch = pitch;\r\n this.roll = roll;\r\n }\r\n /* Freeze this YawPitchRollAngles /\r\n public freeze(): Readonly<this> {\r\n this.yaw.freeze();\r\n this.pitch.freeze();\r\n this.roll.freeze();\r\n return Object.freeze(this);\r\n }\r\n /\r\n Constructor for YawPitchRollAngles with angles in degrees.\r\n * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n * @param pitchDegrees clockwise rotation angle (in degrees) around y\r\n * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n /\r\n public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n return new YawPitchRollAngles(\r\n Angle.createDegrees(yawDegrees),\r\n Angle.createDegrees(pitchDegrees),\r\n Angle.createDegrees(rollDegrees),\r\n );\r\n }\r\n /\r\n Constructor for YawPitchRollAngles with angles in radians.\r\n * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n * @param pitchRadians clockwise rotation angle (in radians) around y\r\n * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n /\r\n public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n return new YawPitchRollAngles(\r\n Angle.createRadians(yawRadians),\r\n Angle.createRadians(pitchRadians),\r\n Angle.createRadians(rollRadians),\r\n );\r\n }\r\n /* Construct a `YawPitchRoll` object from an object with 3 named angles /\r\n public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n json = json ? json : {};\r\n return new YawPitchRollAngles(\r\n Angle.fromJSON(json.yaw),\r\n Angle.fromJSON(json.pitch),\r\n Angle.fromJSON(json.roll),\r\n );\r\n }\r\n /* Populate yaw, pitch and roll fields using `Angle.fromJSON` /\r\n public setFromJSON(json?: YawPitchRollProps): void {\r\n json = json ? json : {};\r\n this.yaw = Angle.fromJSON(json.yaw);\r\n this.pitch = Angle.fromJSON(json.pitch);\r\n this.roll = Angle.fromJSON(json.roll);\r\n }\r\n /\r\n Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n /\r\n public toJSON(): YawPitchRollProps {\r\n const val: YawPitchRollProps = {};\r\n if (!this.pitch.isAlmostZero)\r\n val.pitch = this.pitch.toJSON();\r\n if (!this.roll.isAlmostZero)\r\n val.roll = this.roll.toJSON();\r\n if (!this.yaw.isAlmostZero)\r\n val.yaw = this.yaw.toJSON();\r\n return val;\r\n }\r\n /\r\n Install all rotations from `other` into `this`.\r\n * @param other YawPitchRollAngles source\r\n /\r\n public setFrom(other: YawPitchRollAngles) {\r\n this.yaw.setFrom(other.yaw);\r\n this.pitch.setFrom(other.pitch);\r\n this.roll.setFrom(other.roll);\r\n }\r\n /\r\n Compare angles between `this` and `other`.\r\n * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n * @param other YawPitchRollAngles source\r\n /\r\n public isAlmostEqual(other: YawPitchRollAngles) {\r\n return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n }\r\n /* Make a copy of this YawPitchRollAngles /\r\n public clone() {\r\n return new YawPitchRollAngles(\r\n this.yaw.clone(),\r\n this.pitch.clone(),\r\n this.roll.clone(),\r\n );\r\n }\r\n /\r\n Expand the angles into a (rigid rotation) matrix.\r\n * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n * * The rigid matrix is always a right handed coordinate system.\r\n * @param result optional pre-allocated `Matrix3d`\r\n /\r\n public toMatrix3d(result?: Matrix3d) {\r\n const cz = Math.cos(this.yaw.radians);\r\n const sz = Math.sin(this.yaw.radians);\r\n const cy = Math.cos(this.pitch.radians);\r\n const sy = Math.sin(this.pitch.radians);\r\n const cx = Math.cos(this.roll.radians);\r\n const sx = Math.sin(this.roll.radians);\r\n /\r\n The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZrYrX where\r\n * rX, rY, and rZ are base rotation matrixes:\r\n \r\n const rX = Matrix3d.createRowValues(\r\n * 1, 0, 0,\r\n * 0, Math.cos(x), -Math.sin(x),\r\n * 0, Math.sin(x), Math.cos(x),\r\n * );\r\n * const rY = Matrix3d.createRowValues(\r\n * Math.cos(y), 0, Math.sin(y),\r\n * 0, 1, 0,\r\n * -Math.sin(y), 0, Math.cos(y),\r\n * );\r\n * const rZ = Matrix3d.createRowValues(\r\n * Math.cos(z), -Math.sin(z), 0,\r\n * Math.sin(z), Math.cos(z), 0,\r\n * 0, 0, 1,\r\n * );\r\n \r\n Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n * can use transpose of rY in the matrix multiplication to get the same result)\r\n /\r\n return Matrix3d.createRowValues(\r\n cz cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n sy, cy * sx, cy * cx,\r\n result,\r\n );\r\n }\r\n /*\r\n Returns true if this rotation does nothing.\r\n * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n /\r\n public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n if (allowPeriodShift)\r\n return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n else\r\n return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n }\r\n /* Return the largest angle in radians /\r\n public maxAbsRadians(): number {\r\n return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n }\r\n /* Return the sum of the angles in squared radians /\r\n public sumSquaredRadians(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n }\r\n /* Return the largest difference of angles (in radians) between this and other /\r\n public maxDiffRadians(other: YawPitchRollAngles): number {\r\n return Math.max(\r\n this.yaw.radians - other.yaw.radians,\r\n this.pitch.radians - other.pitch.radians,\r\n this.roll.radians - other.roll.radians,\r\n );\r\n }\r\n /* Return the largest angle in degrees. /\r\n public maxAbsDegrees(): number {\r\n return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n }\r\n /* Return the sum of squared angles in degrees. /\r\n public sumSquaredDegrees(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n }\r\n /* Return the largest difference of angles (in degrees) between this and other /\r\n public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n return Math.max(\r\n this.yaw.degrees - other.yaw.degrees,\r\n this.pitch.degrees - other.pitch.degrees,\r\n this.roll.degrees - other.roll.degrees,\r\n );\r\n }\r\n /* Return an object from a Transform as an origin and YawPitchRollAngles. /\r\n public static tryFromTransform(transform: Transform): {\r\n origin: Point3d;\r\n angles: YawPitchRollAngles \| undefined;\r\n } {\r\n return {\r\n origin: Point3d.createFrom(transform.origin),\r\n angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n };\r\n }\r\n /\r\n Attempts to create a YawPitchRollAngles object from a Matrix3d\r\n * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)\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, result?: YawPitchRollAngles): YawPitchRollAngles \| undefined {\r\n /\r\n The rotation matrix form is\r\n \r\n Matrix3d.createRowValues(\r\n * cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n * sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n * sy, cy * sx, cy * cx\r\n * );\r\n \r\n where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n /\r\n const sy = matrix.at(2, 0); // sin(y)\r\n const cy = Math.sqrt(matrix.at(2, 1) matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // \|cos(y)\|\r\n const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n const angles = result ? result : new YawPitchRollAngles();\r\n /*\r\n If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n * This means x and z can be anything as long as their sum x + z is constant.\r\n * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\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 The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n \r\n Matrix3d.createRowValues(\r\n * 0, -sz, -+cz,\r\n * 0, cz, -+sz,\r\n * +-1, 0, 0\r\n * );\r\n \r\n so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n /\r\n if (cy < Geometry.smallAngleRadians) {\r\n angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n angles.roll = Angle.createRadians(0.0);\r\n } else {\r\n /\r\n positive cosine\r\n * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n /\r\n const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n // similar with negative cosine\r\n const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n // create YPR\r\n const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n // decide to pick yprA or yprB with smallest magnitude angles\r\n const absFactor = 0.95;\r\n const maxRadiansA = yprA.maxAbsRadians();\r\n const maxRadiansB = yprB.maxAbsRadians();\r\n if (maxRadiansA < absFactor maxRadiansB) {\r\n angles.setFrom(yprA);\r\n } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n angles.setFrom(yprB);\r\n } else {\r\n const sumA = yprA.sumSquaredRadians();\r\n const sumB = yprB.sumSquaredRadians();\r\n if (sumA <= sumB) {\r\n angles.setFrom(yprA);\r\n } else {\r\n angles.setFrom(yprB);\r\n }\r\n }\r\n }\r\n // sanity check\r\n const matrix1 = angles.toMatrix3d();\r\n return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;\r\n }\r\n}\r\n"]}

package/lib/cjs/polyface/PolyfaceBuilder.d.ts CHANGED Viewed

@@ -2,7 +2,7 @@
  * @module Polyface
  */
 import { Arc3d } from "../curve/Arc3d";
-import { AnyCurve, AnyRegion } from "../curve/CurveChain";
+import { AnyCurve, AnyRegion } from "../curve/CurveTypes";
 import { CurvePrimitive } from "../curve/CurvePrimitive";
 import { GeometryQuery } from "../curve/GeometryQuery";
 import { LineString3d } from "../curve/LineString3d";