@itwin/core-geometry 4.4.0-dev.2 → 4.4.0-dev.20

package/lib/cjs/topology/SignedDataSummary.js.map

@@ -1 +1 @@
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package/lib/cjs/topology/XYParitySearchContext.d.ts

@@ -2,52 +2,58 @@
  * @module Topology
  */
 /**
- * * XYParitySearchContext is an internal class for callers that can feed points (without extracting to array structures)
+ * `XYParitySearchContext` is an internal class for callers that can feed points (without extracting to array structures)
  * * Most will be via static methods which handle a specific data source.
- *   * PolygonOps.classifyPointInPolygon (x,y,points: XAndY[])
- *   * HalfEdgeGraphSearch.pointInOrOnFaceXY (halfEdgeOnFace, x, y)
+ *   * PolygonOps.classifyPointInPolygon(x,y,points: XAndY[])
+ *   * HalfEdgeGraphSearch.pointInOrOnFaceXY(halfEdgeOnFace, x, y)
  * Use pattern:
- * * Caller must be able walk around polygon producing x,y coordinates (possibly transformed from actual polygon)
+ * * Caller must be able to walk around polygon producing x,y coordinates (possibly transformed from actual polygon).
  * * Caller announce edges to tryStartEdge until finding one acceptable to the search.
  * * Caller then passes additional points up to and including both x0,y0 and x1, y1 of the accepted start edge.
  * Call sequence is:
- *    `context = new XYParitySearchContext`
- *    `repeat {  acquire edge (x0,y0) (x1,y1)} until context.tryStartEdge (x0,y0,x1,y1);`
- *    `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`
- *  `return context.classifyCounts ();`
+ *   * `context = new XYParitySearchContext`
+ *   * `repeat { acquire edge (x0,y0) (x1,y1) } until context.tryStartEdge(x0,y0,x1,y1);`
+ *   * `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`
+ *   * `return context.classifyCounts();`
  */
 export declare class XYParitySearchContext {
     xTest: number;
     yTest: number;
+    /** local x-coordinate of the start of the previous (or earlier) edge */
     u0: number;
+    /** local y-coordinate of the start of the previous (or earlier) edge */
     v0: number;
+    /** local x-coordinate of the end of the previous edge (and start of current edge) */
     u1: number;
+    /** local y-coordinate of the end of the previous edge (and start of current edge) */
     v1: number;
     numLeftCrossing: number;
     numRightCrossing: number;
     numHit: number;
     /**
      * Create a new searcher for specified test point.
-     * @param xTest x coordinate of test point
-     * @param yTest y coordinate of test point
+     * @param xTest x coordinate of test point.
+     * @param yTest y coordinate of test point.
      */
     constructor(xTest: number, yTest: number);
-    /**
-     * test if x,y is a safe first coordinate to start the search.
-     * * safe start must have non-zero y so that final point test (return to x0,y0) does not need look back for exact crossing logic.
-     * @param x
-     * @param y
-     */
+    /** Test if parity processing can begin with this edge. */
     tryStartEdge(x0: number, y0: number, x1: number, y1: number): boolean;
-    /** Return true if parity accumulation proceeded normally.
-     * Return false if interrupted for exact hit.
+    /** Update local coordinates: the current edge becomes the previous edge. */
+    private updateUV01;
+    /**
+     * Process the current edge ending at (x2,y2).
+     * * Accumulate left/right parity of the test point wrt to the polygon. These counts track the number of polygon crossings
+     *   of the left and right horizontal rays emanating from the test point. After all edges are processed, if either count is
+     *   odd/even, the test point is inside/outside the polygon (see [[classifyCounts]]).
+     * * Check whether the test point lies on the edge.
+     * @returns whether caller should continue processing with the next edge. In particular, `false` if we have an exact hit.
      */
-    advance(x: number, y: number): boolean;
+    advance(x2: number, y2: number): boolean;
     /**
      * Return classification as ON, IN, or OUT according to hit and crossing counts.
-     * * Any nonzero hit count is ON
+     * * Any nonzero hit count is ON.
      * * Otherwise IN if left crossing count is odd.
-     * @return 0 if ON, 1 if IN, -1 if OUT
+     * @return 0 if ON, 1 if IN, -1 if OUT.
      */
     classifyCounts(): number | undefined;
 }

package/lib/cjs/topology/XYParitySearchContext.d.ts.map

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package/lib/cjs/topology/XYParitySearchContext.js

@@ -9,127 +9,129 @@ exports.XYParitySearchContext = void 0;
  * @module Topology
  */
 /**
- * * XYParitySearchContext is an internal class for callers that can feed points (without extracting to array structures)
+ * `XYParitySearchContext` is an internal class for callers that can feed points (without extracting to array structures)
  * * Most will be via static methods which handle a specific data source.
- *   * PolygonOps.classifyPointInPolygon (x,y,points: XAndY[])
- *   * HalfEdgeGraphSearch.pointInOrOnFaceXY (halfEdgeOnFace, x, y)
+ *   * PolygonOps.classifyPointInPolygon(x,y,points: XAndY[])
+ *   * HalfEdgeGraphSearch.pointInOrOnFaceXY(halfEdgeOnFace, x, y)
  * Use pattern:
- * * Caller must be able walk around polygon producing x,y coordinates (possibly transformed from actual polygon)
+ * * Caller must be able to walk around polygon producing x,y coordinates (possibly transformed from actual polygon).
  * * Caller announce edges to tryStartEdge until finding one acceptable to the search.
  * * Caller then passes additional points up to and including both x0,y0 and x1, y1 of the accepted start edge.
  * Call sequence is:
- *    `context = new XYParitySearchContext`
- *    `repeat {  acquire edge (x0,y0) (x1,y1)} until context.tryStartEdge (x0,y0,x1,y1);`
- *    `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`
- *  `return context.classifyCounts ();`
+ *   * `context = new XYParitySearchContext`
+ *   * `repeat { acquire edge (x0,y0) (x1,y1) } until context.tryStartEdge(x0,y0,x1,y1);`
+ *   * `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`
+ *   * `return context.classifyCounts();`
  */
 class XYParitySearchContext {
     /**
      * Create a new searcher for specified test point.
-     * @param xTest x coordinate of test point
-     * @param yTest y coordinate of test point
+     * @param xTest x coordinate of test point.
+     * @param yTest y coordinate of test point.
      */
     constructor(xTest, yTest) {
         this.xTest = xTest;
         this.yTest = yTest;
-        this.u0 = this.v0 = this.u1 = this.v1 = 0; // Not valid for search -- caller must satisfy tryStartEdge !!!
+        this.u0 = this.v0 = this.u1 = this.v1 = 0; // not valid for search; caller must satisfy tryStartEdge
         this.numLeftCrossing = this.numRightCrossing = 0;
         this.numHit = 0;
     }
-    /**
-     * test if x,y is a safe first coordinate to start the search.
-     * * safe start must have non-zero y so that final point test (return to x0,y0) does not need look back for exact crossing logic.
-     * @param x
-     * @param y
-     */
+    /** Test if parity processing can begin with this edge. */
     tryStartEdge(x0, y0, x1, y1) {
         if (y0 !== this.yTest) {
             this.u0 = x0 - this.xTest;
             this.v0 = y0 - this.yTest;
             this.u1 = x1 - this.xTest;
             this.v1 = y1 - this.yTest;
-            return true;
+            return true; // we won't need wraparound logic to process the final edge ending at (x0,y0)
         }
         return false;
     }
-    /** Return true if parity accumulation proceeded normally.
-     * Return false if interrupted for exact hit.
+    /** Update local coordinates: the current edge becomes the previous edge. */
+    updateUV01(u2, v2) {
+        this.u0 = this.u1;
+        this.v0 = this.v1;
+        this.u1 = u2;
+        this.v1 = v2;
+        return true;
+    }
+    /**
+     * Process the current edge ending at (x2,y2).
+     * * Accumulate left/right parity of the test point wrt to the polygon. These counts track the number of polygon crossings
+     *   of the left and right horizontal rays emanating from the test point. After all edges are processed, if either count is
+     *   odd/even, the test point is inside/outside the polygon (see [[classifyCounts]]).
+     * * Check whether the test point lies on the edge.
+     * @returns whether caller should continue processing with the next edge. In particular, `false` if we have an exact hit.
      */
-    advance(x, y) {
-        const u = x - this.xTest;
-        const v = y - this.yTest;
-        const p = v * this.v1;
+    advance(x2, y2) {
+        // In this method we use local u,v coordinates obtained by translating the test point to the origin.
+        // This simplifies our computations:
+        // * left (right) parity is incremented if the current edge crosses the u-axis at u<0 (u>0)
+        // * we have an exact hit if the current edge crosses the u-axis at u=0
+        const u2 = x2 - this.xTest;
+        const v2 = y2 - this.yTest;
+        const p = v2 * this.v1;
         if (p > 0) {
-            // The common case -- skittering along above or below the x axis . . .
-            this.u0 = this.u1;
-            this.v0 = this.v1;
-            this.u1 = u;
-            this.v1 = v;
-            return true;
+            // Current edge does not cross u-axis.
+            return this.updateUV01(u2, v2);
         }
         if (p < 0) {
-            // crossing within (u1,v1) to (u,v)
-            // both v values are nonzero and of opposite sign, so this division is safe . . .
-            const fraction = -this.v1 / (v - this.v1);
-            const uCross = this.u1 + fraction * (u - this.u1);
+            // Current edge crosses the u-axis at edge parameter 0 < lambda < 1 by the Intermediate Value Theorem.
+            // Solve for lambda in 0 = v1 + lambda (v2 - v1), then use it to compute the u-value of the crossing.
+            const lambda = -this.v1 / (v2 - this.v1);
+            const uCross = this.u1 + lambda * (u2 - this.u1);
             if (uCross === 0.0) {
-                this.numHit++;
+                this.numHit++; // Current edge crosses at the origin.
                 return false;
             }
             if (uCross > 0)
                 this.numRightCrossing++;
             else
                 this.numLeftCrossing++;
-            this.u0 = this.u1;
-            this.v0 = this.v1;
-            this.u1 = u;
-            this.v1 = v;
-            return true;
+            return this.updateUV01(u2, v2);
         }
-        // hard stuff -- one or more exact hits . . .
-        if (v === 0.0) {
+        // At this point, at least one endpoint of the current edge lies on the u-axis.
+        if (v2 === 0.0) {
             if (this.v1 === 0.0) {
-                // uh oh -- moving along x axis.  Does it pass through xTest:
-                if (u * this.u1 <= 0.0) {
-                    this.numHit++;
+                if (u2 * this.u1 <= 0.0) {
+                    this.numHit++; // Current edge lies on u-axis and contains the origin.
                     return false;
                 }
-                // quietly moving along the scan line, both xy and x1y1 to same side of test point ...
-                // u0 and u1 remain unchanged !!!
-                this.u1 = u;
-                this.v1 = v;
+                // Current edge lies on the u-axis to one side of the origin.
+                // This edge doesn't contribute to parity computations, so advance past it.
+                this.u1 = u2;
+                this.v1 = v2;
                 return true;
             }
-            // just moved onto the scan line ...
-            this.u0 = this.u1;
-            this.v0 = this.v1;
-            this.u1 = u;
-            this.v1 = v;
-            return true;
+            if (u2 === 0.0) {
+                this.numHit++; // Current edge ends at the origin.
+                return false;
+            }
+            // Current edge ends on the u-axis away from the origin.
+            return this.updateUV01(u2, v2);
         }
-        // fall out with v1 = 0
-        // both v0 and v are nonzero.
-        // any along-0 v values that have passed through are on the same side of xTest, so u1 determines crossing
-        const q = this.v0 * v;
-        if (this.u1 > 0) {
-            if (q < 0)
-                this.numRightCrossing++;
+        // At this point, the current edge starts at the u-axis.
+        if (this.u1 === 0.0) {
+            this.numHit++; // Current edge starts at the origin.
+            return false;
         }
-        else {
-            if (q < 0)
+        // At this point, the current edge starts on the u-axis away from the origin.
+        const q = this.v0 * v2;
+        if (q < 0) {
+            // The current edge and the previous edge lie on opposite sides of the u-axis, so we have a parity change.
+            if (this.u1 > 0)
+                this.numRightCrossing++;
+            else
                 this.numLeftCrossing++;
         }
-        this.u0 = this.u1;
-        this.v0 = this.v1;
-        this.u1 = u;
-        this.v1 = v;
-        return true;
+        // The current edge and the previous edge lie on the same sides of the u-axis, so no parity change.
+        return this.updateUV01(u2, v2);
     }
     /**
      * Return classification as ON, IN, or OUT according to hit and crossing counts.
-     * * Any nonzero hit count is ON
+     * * Any nonzero hit count is ON.
      * * Otherwise IN if left crossing count is odd.
-     * @return 0 if ON, 1 if IN, -1 if OUT
+     * @return 0 if ON, 1 if IN, -1 if OUT.
      */
     classifyCounts() {
         if (this.numHit > 0)

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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 Topology\r\n */\r\n\r\n/**\r\n * * XYParitySearchContext is an internal class for callers that can feed points (without extracting to array structures)\r\n * * Most will be via static methods which handle a specific data source.\r\n *   * PolygonOps.classifyPointInPolygon (x,y,points: XAndY[])\r\n *   * HalfEdgeGraphSearch.pointInOrOnFaceXY (halfEdgeOnFace, x, y)\r\n * Use pattern:\r\n * * Caller must be able walk around polygon producing x,y coordinates (possibly transformed from actual polygon)\r\n * * Caller announce edges to tryStartEdge until finding one acceptable to the search.\r\n * * Caller then passes additional points up to and including both x0,y0 and x1, y1 of the accepted start edge.\r\n * Call sequence is:\r\n *    `context = new XYParitySearchContext`\r\n *    `repeat {  acquire edge (x0,y0) (x1,y1)} until context.tryStartEdge (x0,y0,x1,y1);`\r\n *    `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`\r\n *  `return context.classifyCounts ();`\r\n */\r\nexport class XYParitySearchContext {\r\n  public xTest: number;\r\n  public yTest: number;\r\n  public u0: number; // local coordinates of recent point with nonzero v.  Usually \"second last point\" but points can be skipped if y1 is zero\r\n  public v0: number;\r\n  public u1: number; // local coordinates of most recent point\r\n  public v1: number;\r\n  public numLeftCrossing: number;\r\n  public numRightCrossing: number;\r\n  public numHit: number;\r\n  /**\r\n   * Create a new searcher for specified test point.\r\n   * @param xTest x coordinate of test point\r\n   * @param yTest y coordinate of test point\r\n   */\r\n  public constructor(xTest: number, yTest: number) {\r\n    this.xTest = xTest;\r\n    this.yTest = yTest;\r\n    this.u0 = this.v0 = this.u1 = this.v1 = 0; // Not valid for search -- caller must satisfy tryStartEdge !!!\r\n    this.numLeftCrossing = this.numRightCrossing = 0;\r\n    this.numHit = 0;\r\n  }\r\n  /**\r\n   * test if x,y is a safe first coordinate to start the search.\r\n   * * safe start must have non-zero y so that final point test (return to x0,y0) does not need look back for exact crossing logic.\r\n   * @param x\r\n   * @param y\r\n   */\r\n  public tryStartEdge(x0: number, y0: number, x1: number, y1: number): boolean {\r\n    if (y0 !== this.yTest) {\r\n      this.u0 = x0 - this.xTest;\r\n      this.v0 = y0 - this.yTest;\r\n      this.u1 = x1 - this.xTest;\r\n      this.v1 = y1 - this.yTest;\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n  /** Return true if parity accumulation proceeded normally.\r\n   * Return false if interrupted for exact hit.\r\n   */\r\n  public advance(x: number, y: number): boolean {\r\n    const u = x - this.xTest;\r\n    const v = y - this.yTest;\r\n    const p = v * this.v1;\r\n    if (p > 0) {\r\n      // The common case -- skittering along above or below the x axis . . .\r\n      this.u0 = this.u1;\r\n      this.v0 = this.v1;\r\n      this.u1 = u;\r\n      this.v1 = v;\r\n      return true;\r\n    }\r\n    if (p < 0) {\r\n      // crossing within (u1,v1) to (u,v)\r\n      // both v values are nonzero and of opposite sign, so this division is safe . . .\r\n      const fraction = -this.v1 / (v - this.v1);\r\n      const uCross = this.u1 + fraction * (u - this.u1);\r\n      if (uCross === 0.0) {\r\n        this.numHit++;\r\n        return false;\r\n      }\r\n      if (uCross > 0)\r\n        this.numRightCrossing++;\r\n      else\r\n        this.numLeftCrossing++;\r\n      this.u0 = this.u1;\r\n      this.v0 = this.v1;\r\n      this.u1 = u;\r\n      this.v1 = v;\r\n      return true;\r\n    }\r\n    // hard stuff -- one or more exact hits . . .\r\n    if (v === 0.0) {\r\n      if (this.v1 === 0.0) {\r\n        // uh oh -- moving along x axis.  Does it pass through xTest:\r\n        if (u * this.u1 <= 0.0) {\r\n          this.numHit++;\r\n          return false;\r\n        }\r\n        // quietly moving along the scan line, both xy and x1y1 to same side of test point ...\r\n        // u0 and u1 remain unchanged !!!\r\n        this.u1 = u;\r\n        this.v1 = v;\r\n        return true;\r\n      }\r\n      // just moved onto the scan line ...\r\n      this.u0 = this.u1;\r\n      this.v0 = this.v1;\r\n      this.u1 = u;\r\n      this.v1 = v;\r\n      return true;\r\n    }\r\n    // fall out with v1 = 0\r\n    // both v0 and v are nonzero.\r\n    // any along-0 v values that have passed through are on the same side of xTest, so u1 determines crossing\r\n    const q = this.v0 * v;\r\n    if (this.u1 > 0) {\r\n      if (q < 0)\r\n        this.numRightCrossing++;\r\n    } else {\r\n      if (q < 0)\r\n        this.numLeftCrossing++;\r\n    }\r\n    this.u0 = this.u1;\r\n    this.v0 = this.v1;\r\n    this.u1 = u;\r\n    this.v1 = v;\r\n    return true;\r\n  }\r\n  /**\r\n   * Return classification as ON, IN, or OUT according to hit and crossing counts.\r\n   * * Any nonzero hit count is ON\r\n   * * Otherwise IN if left crossing count is odd.\r\n   * @return 0 if ON, 1 if IN, -1 if OUT\r\n   */\r\n  public classifyCounts(): number | undefined {\r\n    if (this.numHit > 0)\r\n      return 0;\r\n    const parity = this.numLeftCrossing & 0x01;\r\n    return (parity === 1) ? 1 : -1;\r\n  }\r\n}\r\n"]}
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Topology\r\n */\r\n\r\n/**\r\n * `XYParitySearchContext` is an internal class for callers that can feed points (without extracting to array structures)\r\n * * Most will be via static methods which handle a specific data source.\r\n *   * PolygonOps.classifyPointInPolygon(x,y,points: XAndY[])\r\n *   * HalfEdgeGraphSearch.pointInOrOnFaceXY(halfEdgeOnFace, x, y)\r\n * Use pattern:\r\n * * Caller must be able to walk around polygon producing x,y coordinates (possibly transformed from actual polygon).\r\n * * Caller announce edges to tryStartEdge until finding one acceptable to the search.\r\n * * Caller then passes additional points up to and including both x0,y0 and x1, y1 of the accepted start edge.\r\n * Call sequence is:\r\n *   * `context = new XYParitySearchContext`\r\n *   * `repeat { acquire edge (x0,y0) (x1,y1) } until context.tryStartEdge(x0,y0,x1,y1);`\r\n *   * `for each (x,y) beginning AFTER x1,y1 and ending with (x1,y1) context.advance (x,y)`\r\n *   * `return context.classifyCounts();`\r\n */\r\nexport class XYParitySearchContext {\r\n  public xTest: number;\r\n  public yTest: number;\r\n  /** local x-coordinate of the start of the previous (or earlier) edge */\r\n  public u0: number;\r\n  /** local y-coordinate of the start of the previous (or earlier) edge */\r\n  public v0: number;\r\n  /** local x-coordinate of the end of the previous edge (and start of current edge) */\r\n  public u1: number;\r\n  /** local y-coordinate of the end of the previous edge (and start of current edge) */\r\n  public v1: number;\r\n  public numLeftCrossing: number;\r\n  public numRightCrossing: number;\r\n  public numHit: number;\r\n  /**\r\n   * Create a new searcher for specified test point.\r\n   * @param xTest x coordinate of test point.\r\n   * @param yTest y coordinate of test point.\r\n   */\r\n  public constructor(xTest: number, yTest: number) {\r\n    this.xTest = xTest;\r\n    this.yTest = yTest;\r\n    this.u0 = this.v0 = this.u1 = this.v1 = 0; // not valid for search; caller must satisfy tryStartEdge\r\n    this.numLeftCrossing = this.numRightCrossing = 0;\r\n    this.numHit = 0;\r\n  }\r\n  /** Test if parity processing can begin with this edge. */\r\n  public tryStartEdge(x0: number, y0: number, x1: number, y1: number): boolean {\r\n    if (y0 !== this.yTest) {\r\n      this.u0 = x0 - this.xTest;\r\n      this.v0 = y0 - this.yTest;\r\n      this.u1 = x1 - this.xTest;\r\n      this.v1 = y1 - this.yTest;\r\n      return true;  // we won't need wraparound logic to process the final edge ending at (x0,y0)\r\n    }\r\n    return false;\r\n  }\r\n  /** Update local coordinates: the current edge becomes the previous edge. */\r\n  private updateUV01(u2: number, v2: number) {\r\n    this.u0 = this.u1;\r\n    this.v0 = this.v1;\r\n    this.u1 = u2;\r\n    this.v1 = v2;\r\n    return true;\r\n  }\r\n  /**\r\n   * Process the current edge ending at (x2,y2).\r\n   * * Accumulate left/right parity of the test point wrt to the polygon. These counts track the number of polygon crossings\r\n   *   of the left and right horizontal rays emanating from the test point. After all edges are processed, if either count is\r\n   *   odd/even, the test point is inside/outside the polygon (see [[classifyCounts]]).\r\n   * * Check whether the test point lies on the edge.\r\n   * @returns whether caller should continue processing with the next edge. In particular, `false` if we have an exact hit.\r\n   */\r\n  public advance(x2: number, y2: number): boolean {\r\n    // In this method we use local u,v coordinates obtained by translating the test point to the origin.\r\n    // This simplifies our computations:\r\n    // * left (right) parity is incremented if the current edge crosses the u-axis at u<0 (u>0)\r\n    // * we have an exact hit if the current edge crosses the u-axis at u=0\r\n    const u2 = x2 - this.xTest;\r\n    const v2 = y2 - this.yTest;\r\n    const p = v2 * this.v1;\r\n    if (p > 0) {\r\n      // Current edge does not cross u-axis.\r\n      return this.updateUV01(u2, v2);\r\n    }\r\n    if (p < 0) {\r\n      // Current edge crosses the u-axis at edge parameter 0 < lambda < 1 by the Intermediate Value Theorem.\r\n      // Solve for lambda in 0 = v1 + lambda (v2 - v1), then use it to compute the u-value of the crossing.\r\n      const lambda = -this.v1 / (v2 - this.v1);\r\n      const uCross = this.u1 + lambda * (u2 - this.u1);\r\n      if (uCross === 0.0) {\r\n        this.numHit++;  // Current edge crosses at the origin.\r\n        return false;\r\n      }\r\n      if (uCross > 0)\r\n        this.numRightCrossing++;\r\n      else\r\n        this.numLeftCrossing++;\r\n      return this.updateUV01(u2, v2);\r\n    }\r\n    // At this point, at least one endpoint of the current edge lies on the u-axis.\r\n    if (v2 === 0.0) {\r\n      if (this.v1 === 0.0) {\r\n        if (u2 * this.u1 <= 0.0) {\r\n          this.numHit++;  // Current edge lies on u-axis and contains the origin.\r\n          return false;\r\n        }\r\n        // Current edge lies on the u-axis to one side of the origin.\r\n        // This edge doesn't contribute to parity computations, so advance past it.\r\n        this.u1 = u2;\r\n        this.v1 = v2;\r\n        return true;\r\n      }\r\n      if (u2 === 0.0) {\r\n        this.numHit++;  // Current edge ends at the origin.\r\n        return false;\r\n      }\r\n      // Current edge ends on the u-axis away from the origin.\r\n      return this.updateUV01(u2, v2);\r\n    }\r\n    // At this point, the current edge starts at the u-axis.\r\n    if (this.u1 === 0.0) {\r\n      this.numHit++;  // Current edge starts at the origin.\r\n      return false;\r\n    }\r\n    // At this point, the current edge starts on the u-axis away from the origin.\r\n    const q = this.v0 * v2;\r\n    if (q < 0) {\r\n      // The current edge and the previous edge lie on opposite sides of the u-axis, so we have a parity change.\r\n      if (this.u1 > 0)\r\n        this.numRightCrossing++;\r\n      else\r\n        this.numLeftCrossing++;\r\n    }\r\n    // The current edge and the previous edge lie on the same sides of the u-axis, so no parity change.\r\n    return this.updateUV01(u2, v2);\r\n  }\r\n  /**\r\n   * Return classification as ON, IN, or OUT according to hit and crossing counts.\r\n   * * Any nonzero hit count is ON.\r\n   * * Otherwise IN if left crossing count is odd.\r\n   * @return 0 if ON, 1 if IN, -1 if OUT.\r\n   */\r\n  public classifyCounts(): number | undefined {\r\n    if (this.numHit > 0)\r\n      return 0;\r\n    const parity = this.numLeftCrossing & 0x01;\r\n    return (parity === 1) ? 1 : -1;\r\n  }\r\n}\r\n"]}

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

@@ -123,11 +123,13 @@ export declare class YawPitchRollAngles {
         angles: YawPitchRollAngles | undefined;
     };
     /**
-     * Attempts to create a YawPitchRollAngles object from a Matrix3d
-     * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)
-     * * In the failure case the method's return value is `undefined`.
-     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with
-     * a set of angles.
+     * Attempts to create a YawPitchRollAngles object from a Matrix3d.
+     * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and
+     * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].
+     * @param result optional pre-allocated object to populate and return.
+     * @returns computed angles, or undefined if `matrix` is not rigid.
+     * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:
+     * their usefulness decreases the further `matrix` is from being rigid.
      */
     static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined;
 }

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package/lib/esm/geometry3d/YawPitchRollAngles.js

@@ -202,11 +202,13 @@ export class YawPitchRollAngles {
         };
     }
     /**
-     * Attempts to create a YawPitchRollAngles object from a Matrix3d
-     * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)
-     * * In the failure case the method's return value is `undefined`.
-     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with
-     * a set of angles.
+     * Attempts to create a YawPitchRollAngles object from a Matrix3d.
+     * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and
+     * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].
+     * @param result optional pre-allocated object to populate and return.
+     * @returns computed angles, or undefined if `matrix` is not rigid.
+     * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:
+     * their usefulness decreases the further `matrix` is from being rigid.
      */
     static createFromMatrix3d(matrix, result) {
         /**
@@ -284,7 +286,7 @@ export class YawPitchRollAngles {
         }
         // sanity check
         const matrix1 = angles.toMatrix3d();
-        return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;
+        return matrix.isAlmostEqual(matrix1) ? angles : undefined;
     }
 }
 //# sourceMappingURL=YawPitchRollAngles.js.map

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

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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 rZ*rY*rX 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"]}
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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 rZ*rY*rX 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   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\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.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}

package/lib/esm/serialization/GeometrySamples.d.ts

@@ -662,6 +662,17 @@ export declare class Sample {
      * @param numStroke number of steps to take.
      */
     static createZigZag(start: Point3d | Point3d[], steps: Vector3d[], numStroke: number): Point3d[];
+    /** Create a point on the polar parametric curve r = cos(a * theta), aka "rose".
+     * @param theta angle
+     * @param a period multiplier. If odd, this is the petal count; if even, twice the number of petals.
+     * @param z z-coordinate for output
+    */
+    static createRosePoint3d(theta: number, a: number, z?: number): Point3d;
+    /** Create a point on the polar parametric curve r = cos(a * theta), aka "rose".
+     * @param theta angle
+     * @param a period multiplier. If odd, this is the petal count; if even, twice the number of petals.
+    */
+    static createRosePoint2d(theta: number, a: number): Point2d;
     /**
      * Create a mesh surface from samples of a smooth function over [0,1]x[0,1].
      * @param size grid size; the number of intervals on each side of the unit square domain.