@itwin/core-geometry 5.0.0-dev.4 → 5.0.0-dev.40

package/lib/esm/geometry3d/OrderedRotationAngles.js

@@ -21,6 +21,8 @@ import { Matrix3d } from "./Matrix3d";
  * @alpha
  */
 export class OrderedRotationAngles {
+    /** treat vectors as matrix columns */
+    static { this._sTreatVectorsAsColumns = false; }
     /** constructor */
     constructor(x, y, z, axisOrder) {
         this._x = x;
@@ -314,6 +316,4 @@ export class OrderedRotationAngles {
         return rot;
     }
 }
-/** treat vectors as matrix columns */
-OrderedRotationAngles._sTreatVectorsAsColumns = false;
 //# sourceMappingURL=OrderedRotationAngles.js.map

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { AxisOrder, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\n\n/* cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz */\n\n/**\n * Represents a non-trivial rotation using three simple axis rotation angles and an order in which to apply them.\n * * This class accommodates application-specific interpretation of \"multiplying 3 rotation matrices\" with regard to\n *   * Whether a \"vector\" is a \"row\" or a \"column\"\n *   * The order in which the X,Y,Z rotations are applied.\n * * This class bakes in angle rotation directions via create functions (i.e., createRadians, createDegrees, and\n * createAngles) so you can define each of the 3 rotations to be clockwise or counterclockwise. The default\n * rotation is counterclockwise.\n * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.\n * @alpha\n */\nexport class OrderedRotationAngles {\n  /** rotation around x */\n  private _x: Angle;\n  /** rotation around y */\n  private _y: Angle;\n  /** rotation around z */\n  private _z: Angle;\n  /** rotation order. For example XYZ means to rotate around x axis first, then y axis, and finally Z axis */\n  private _order: AxisOrder;\n  /** treat vectors as matrix columns */\n  private static _sTreatVectorsAsColumns: boolean = false;\n  /** constructor */\n  private constructor(x: Angle, y: Angle, z: Angle, axisOrder: AxisOrder) {\n    this._x = x;\n    this._y = y;\n    this._z = z;\n    this._order = axisOrder;\n  }\n  /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */\n  public get order(): AxisOrder {\n    return this._order;\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around x. */\n  public get xAngle(): Angle {\n    return this._x.clone();\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around y. */\n  public get yAngle(): Angle {\n    return this._y.clone();\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around z. */\n  public get zAngle(): Angle {\n    return this._z.clone();\n  }\n  /** (Property accessor) Return the angle of rotation around x, in degrees */\n  public get xDegrees(): number {\n    return this._x.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around y, in degrees */\n  public get xRadians(): number {\n    return this._x.radians;\n  }\n  /** (Property accessor) Return the angle of rotation around z, in degrees */\n  public get yDegrees(): number {\n    return this._y.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around x, in radians */\n  public get yRadians(): number {\n    return this._y.radians;\n  }\n  /** (Property accessor) Return the angle of rotation around y, in radians */\n  public get zDegrees(): number {\n    return this._z.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around z, in radians */\n  public get zRadians(): number {\n    return this._z.radians;\n  }\n  /** The flag controlling whether vectors are treated as rows or as columns */\n  public static get treatVectorsAsColumns(): boolean {\n    return OrderedRotationAngles._sTreatVectorsAsColumns;\n  }\n  public static set treatVectorsAsColumns(value: boolean) {\n    OrderedRotationAngles._sTreatVectorsAsColumns = value;\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles (in radians), an ordering in which to apply them when\n   * rotating, and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * @param xRadians rotation around x\n   * @param yRadians rotation around y\n   * @param zRadians rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied.\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    if (!xyzRotationIsClockwise) {\n      xyzRotationIsClockwise = [false, false, false];\n    }\n    const xRadian = xyzRotationIsClockwise[0] ? -xRadians : xRadians;\n    const yRadian = xyzRotationIsClockwise[1] ? -yRadians : yRadians;\n    const zRadian = xyzRotationIsClockwise[2] ? -zRadians : zRadians;\n    if (result) {\n      result._x.setRadians(xRadian);\n      result._y.setRadians(yRadian);\n      result._z.setRadians(zRadian);\n      result._order = order;\n      return result;\n    }\n    return new OrderedRotationAngles(\n      Angle.createRadians(xRadian),\n      Angle.createRadians(yRadian),\n      Angle.createRadians(zRadian),\n      order,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply\n   * them when rotating.\n   * @param xDegrees rotation around x\n   * @param yDegrees rotation around y\n   * @param zDegrees rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied.\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    return OrderedRotationAngles.createRadians(\n      Angle.degreesToRadians(xDegrees),\n      Angle.degreesToRadians(yDegrees),\n      Angle.degreesToRadians(zDegrees),\n      order,\n      xyzRotationIsClockwise,\n      result,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles, an ordering in which to apply them when rotating,\n   * and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * @param xRotation rotation around x\n   * @param yRotation rotation around y\n   * @param zRotation rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    return OrderedRotationAngles.createRadians(\n      xRotation.radians,\n      yRotation.radians,\n      zRotation.radians,\n      order,\n      xyzRotationIsClockwise,\n      result,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations\n   * that the matrix derives from.\n   * * This function creates an OrderedRotationAngles with default angle rotation directions, i.e.,\n   * it assumes all x, y, and z rotations are counterclockwise.\n   * * In the failure case the method's return value is `undefined`.\n   * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with\n   * a set of angles.\n   */\n  public static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles):\n    OrderedRotationAngles | undefined {\n    // treat vector as columns\n    let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];\n    let m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];\n    let m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];\n    // treat vector as rows\n    if (!OrderedRotationAngles.treatVectorsAsColumns) {\n      m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];\n      m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];\n      m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];\n    }\n\n    let xRad: number;\n    let yRad: number;\n    let zRad: number;\n\n    switch (order) {\n      case AxisOrder.XYZ: {\n        yRad = Math.asin(Math.max(-1, Math.min(1, -m31))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m31) < 0.99999) {\n          xRad = Math.atan2(m32, m33);\n          zRad = Math.atan2(m21, m11);\n        } else {\n          /**\n           * If Math.abs(m31) = 1 then yRad = +-90 degrees and therefore, we have a gimbal lock.\n           * This means xRad and zRad can be anything as long as their sum xRad + zRad is constant.\n           * so we can pick zRad = 0 and calculate xRad (or pick xRad = 0 and calculate zRad).\n           * Therefore, rotation matrix becomes\n           *        Matrix3d.createRowValues(\n           *             0, +-sx, +-cx,\n           *             0, cx, -sx,\n           *             -+1, 0, 0\n           *        );\n           * Math details can be found\n           * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\n           */\n          xRad = Math.atan2(-m23, m22);\n          zRad = 0;\n        }\n        break;\n      } case AxisOrder.YXZ: {\n        xRad = Math.asin(Math.max(-1, Math.min(1, m32))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m32) < 0.99999) {\n          yRad = Math.atan2(-m31, m33);\n          zRad = Math.atan2(-m12, m22);\n        } else {\n          yRad = Math.atan2(m13, m11);\n          zRad = 0;\n        }\n        break;\n      } case AxisOrder.ZXY: {\n        xRad = Math.asin(Math.max(-1, Math.min(1, -m23))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m23) < 0.99999) {\n          yRad = Math.atan2(m13, m33);\n          zRad = Math.atan2(m21, m22);\n        } else {\n          yRad = 0;\n          zRad = Math.atan2(-m12, m11);\n        }\n        break;\n      } case AxisOrder.ZYX: {\n        yRad = Math.asin(Math.max(-1, Math.min(1, m13))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m13) < 0.99999) {\n          xRad = Math.atan2(-m23, m33);\n          zRad = Math.atan2(-m12, m11);\n        } else {\n          xRad = 0;\n          zRad = Math.atan2(m21, m22);\n        }\n        break;\n      } case AxisOrder.YZX: {\n        zRad = Math.asin(Math.max(-1, Math.min(1, -m12))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m12) < 0.99999) {\n          xRad = Math.atan2(m32, m22);\n          yRad = Math.atan2(m13, m11);\n        } else {\n          xRad = 0;\n          yRad = Math.atan2(-m31, m33);\n        }\n        break;\n      } case AxisOrder.XZY: {\n        zRad = Math.asin(Math.max(-1, Math.min(1, m21))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m21) < 0.99999) {\n          xRad = Math.atan2(-m23, m22);\n          yRad = Math.atan2(-m31, m11);\n        } else {\n          xRad = Math.atan2(m32, m33);\n          yRad = 0;\n        }\n        break;\n      } default: {\n        xRad = yRad = zRad = 0;\n      }\n    }\n    const xyzRotationIsClockwise: [boolean, boolean, boolean] = [false, false, false];\n    const angles = OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, xyzRotationIsClockwise, result);\n    // sanity check\n    const matrix1 = angles.toMatrix3d();\n    /**\n     * Below tolerance loosened to allow sanity check to pass for\n     *\n     * OrderedRotationAngles.createFromMatrix3d(\n     *       OrderedRotationAngles.createDegrees(0, 89.999, 0.001, AxisOrder.XYZ).toMatrix3d(),\n     *       AxisOrder.XYZ\n     * );\n     *\n     * with treatVectorsAsColumns = true.\n     */\n    return (matrix.maxDiff(matrix1) < 10 * Geometry.smallFraction) ? angles : undefined;\n  }\n  /**\n   * Create a 3x3 rotational matrix from this OrderedRotationAngles.\n   ** math details can be found at docs/learning/geometry/Angle.md\n   **/\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\n    const rot = (result !== undefined) ? result : new Matrix3d();\n    const axisOrder = this.order;\n    const x = this.xAngle, y = this.yAngle, z = this.zAngle;\n\n    const cx = x.cos(), sx = x.sin();\n    const cy = y.cos(), sy = y.sin();\n    const cz = z.cos(), sz = z.sin();\n\n    const cxcz = cx * cz, cxsz = cx * sz, cxcy = cx * cy, cxsy = cx * sy;\n    const sxcz = sx * cz, sxsz = sx * sz, sxcy = sx * cy, sxsy = sx * sy;\n    const cycz = cy * cz, cysz = cy * sz, sycz = sy * cz, sysz = sy * sz;\n\n    // the rotation matrix we build below is created using column-based base rotation matrixes\n    if (axisOrder === AxisOrder.XYZ) {\n      rot.setRowValues(\n        cy * cz, sxcz * sy - cxsz, cxcz * sy + sxsz,\n        cy * sz, cxcz + sxsz * sy, cxsz * sy - sxcz,\n        -sy, sx * cy, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.YXZ) {\n      rot.setRowValues(\n        cycz - sysz * sx, -cx * sz, cysz * sx + sycz,\n        sycz * sx + cysz, cx * cz, sysz - cycz * sx,\n        -cx * sy, sx, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.ZXY) {\n      rot.setRowValues(\n        cycz + sysz * sx, sycz * sx - cysz, cx * sy,\n        cx * sz, cx * cz, -sx,\n        cysz * sx - sycz, cycz * sx + sysz, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.ZYX) {\n      rot.setRowValues(\n        cy * cz, -cy * sz, sy,\n        sxcz * sy + cxsz, cxcz - sxsz * sy, -sx * cy,\n        sxsz - cxcz * sy, sxcz + cxsz * sy, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.YZX) {\n      rot.setRowValues(\n        cy * cz, -sz, sy * cz,\n        sxsy + cxcy * sz, cx * cz, cxsy * sz - sxcy,\n        sxcy * sz - cxsy, sx * cz, cxcy + sxsy * sz,\n      );\n    } else if (axisOrder === AxisOrder.XZY) {\n      rot.setRowValues(\n        cy * cz, sxsy - cxcy * sz, cxsy + sxcy * sz,\n        sz, cx * cz, -sx * cz,\n        -sy * cz, sxcy + cxsy * sz, cxcy - sxsy * sz,\n      );\n    } else {\n      rot.setIdentity();\n    }\n    // if we need row-based rotation matrix, we transpose the rotation matrix\n    if (!OrderedRotationAngles.treatVectorsAsColumns)\n      rot.transposeInPlace();\n\n    return rot;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { AxisOrder, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\n\n/* cspell:word cxcz, cxsz, cxcy, cxsy, sxcz, sxsz, sxcy, sxsy, cycz, cysz, sycz, sysz */\n\n/**\n * Represents a non-trivial rotation using three simple axis rotation angles and an order in which to apply them.\n * * This class accommodates application-specific interpretation of \"multiplying 3 rotation matrices\" with regard to\n *   * Whether a \"vector\" is a \"row\" or a \"column\"\n *   * The order in which the X,Y,Z rotations are applied.\n * * This class bakes in angle rotation directions via create functions (i.e., createRadians, createDegrees, and\n * createAngles) so you can define each of the 3 rotations to be clockwise or counterclockwise. The default\n * rotation is counterclockwise.\n * * Within the imodel geometry library, the preferred rotation order is encapsulated in `YawPitchRollAngles`.\n * @alpha\n */\nexport class OrderedRotationAngles {\n  /** rotation around x */\n  private _x: Angle;\n  /** rotation around y */\n  private _y: Angle;\n  /** rotation around z */\n  private _z: Angle;\n  /** rotation order. For example XYZ means to rotate around x axis first, then y axis, and finally Z axis */\n  private _order: AxisOrder;\n  /** treat vectors as matrix columns */\n  private static _sTreatVectorsAsColumns: boolean = false;\n  /** constructor */\n  private constructor(x: Angle, y: Angle, z: Angle, axisOrder: AxisOrder) {\n    this._x = x;\n    this._y = y;\n    this._z = z;\n    this._order = axisOrder;\n  }\n  /** (Property accessor) Return the `AxisOrder` controlling matrix multiplication order. */\n  public get order(): AxisOrder {\n    return this._order;\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around x. */\n  public get xAngle(): Angle {\n    return this._x.clone();\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around y. */\n  public get yAngle(): Angle {\n    return this._y.clone();\n  }\n  /** (Property accessor) Return the strongly typed angle of rotation around z. */\n  public get zAngle(): Angle {\n    return this._z.clone();\n  }\n  /** (Property accessor) Return the angle of rotation around x, in degrees */\n  public get xDegrees(): number {\n    return this._x.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around y, in degrees */\n  public get xRadians(): number {\n    return this._x.radians;\n  }\n  /** (Property accessor) Return the angle of rotation around z, in degrees */\n  public get yDegrees(): number {\n    return this._y.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around x, in radians */\n  public get yRadians(): number {\n    return this._y.radians;\n  }\n  /** (Property accessor) Return the angle of rotation around y, in radians */\n  public get zDegrees(): number {\n    return this._z.degrees;\n  }\n  /** (Property accessor) Return the angle of rotation around z, in radians */\n  public get zRadians(): number {\n    return this._z.radians;\n  }\n  /** The flag controlling whether vectors are treated as rows or as columns */\n  public static get treatVectorsAsColumns(): boolean {\n    return OrderedRotationAngles._sTreatVectorsAsColumns;\n  }\n  public static set treatVectorsAsColumns(value: boolean) {\n    OrderedRotationAngles._sTreatVectorsAsColumns = value;\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles (in radians), an ordering in which to apply them when\n   * rotating, and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * @param xRadians rotation around x\n   * @param yRadians rotation around y\n   * @param zRadians rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied.\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundStandardAxes\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createRadians(xRadians: number, yRadians: number, zRadians: number, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    if (!xyzRotationIsClockwise) {\n      xyzRotationIsClockwise = [false, false, false];\n    }\n    const xRadian = xyzRotationIsClockwise[0] ? -xRadians : xRadians;\n    const yRadian = xyzRotationIsClockwise[1] ? -yRadians : yRadians;\n    const zRadian = xyzRotationIsClockwise[2] ? -zRadians : zRadians;\n    if (result) {\n      result._x.setRadians(xRadian);\n      result._y.setRadians(yRadian);\n      result._z.setRadians(zRadian);\n      result._order = order;\n      return result;\n    }\n    return new OrderedRotationAngles(\n      Angle.createRadians(xRadian),\n      Angle.createRadians(yRadian),\n      Angle.createRadians(zRadian),\n      order,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles (in degrees) and an ordering in which to apply\n   * them when rotating.\n   * @param xDegrees rotation around x\n   * @param yDegrees rotation around y\n   * @param zDegrees rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied.\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createDegrees(xDegrees: number, yDegrees: number, zDegrees: number, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    return OrderedRotationAngles.createRadians(\n      Angle.degreesToRadians(xDegrees),\n      Angle.degreesToRadians(yDegrees),\n      Angle.degreesToRadians(zDegrees),\n      order,\n      xyzRotationIsClockwise,\n      result,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from three angles, an ordering in which to apply them when rotating,\n   * and a flag triple controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * @param xRotation rotation around x\n   * @param yRotation rotation around y\n   * @param zRotation rotation around z\n   * @param order left to right order of axis names identifies the order that rotations are applied\n   * For example XYZ means to rotate around x axis first, then y axis, and finally Z axis.\n   * * Note that rotation order is reverse of rotation matrix multiplication so for XYZ the rotation\n   * matrix multiplication would be zRot*yRot*xRot\n   * @param xyzRotationIsClockwise the flags controlling whether direction of x,y,z is clockwise or counterclockwise.\n   * rotation direction of x,y,z: true ---> clockwise - false ---> counterclockwise.\n   * * if xyzRotationIsClockwise is undefined it's set to [false, false, false].\n   * @param result caller-allocated OrderedRotationAngles\n   */\n  public static createAngles(xRotation: Angle, yRotation: Angle, zRotation: Angle, order: AxisOrder,\n    xyzRotationIsClockwise?: [boolean, boolean, boolean], result?: OrderedRotationAngles): OrderedRotationAngles {\n    return OrderedRotationAngles.createRadians(\n      xRotation.radians,\n      yRotation.radians,\n      zRotation.radians,\n      order,\n      xyzRotationIsClockwise,\n      result,\n    );\n  }\n  /**\n   * Create an OrderedRotationAngles from a 3x3 rotational matrix, given the ordering of axis rotations\n   * that the matrix derives from.\n   * * This function creates an OrderedRotationAngles with default angle rotation directions, i.e.,\n   * it assumes all x, y, and z rotations are counterclockwise.\n   * * In the failure case the method's return value is `undefined`.\n   * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with\n   * a set of angles.\n   */\n  public static createFromMatrix3d(matrix: Matrix3d, order: AxisOrder, result?: OrderedRotationAngles):\n    OrderedRotationAngles | undefined {\n    // treat vector as columns\n    let m11 = matrix.coffs[0], m12 = matrix.coffs[1], m13 = matrix.coffs[2];\n    let m21 = matrix.coffs[3], m22 = matrix.coffs[4], m23 = matrix.coffs[5];\n    let m31 = matrix.coffs[6], m32 = matrix.coffs[7], m33 = matrix.coffs[8];\n    // treat vector as rows\n    if (!OrderedRotationAngles.treatVectorsAsColumns) {\n      m11 = matrix.coffs[0], m12 = matrix.coffs[3], m13 = matrix.coffs[6];\n      m21 = matrix.coffs[1], m22 = matrix.coffs[4], m23 = matrix.coffs[7];\n      m31 = matrix.coffs[2], m32 = matrix.coffs[5], m33 = matrix.coffs[8];\n    }\n\n    let xRad: number;\n    let yRad: number;\n    let zRad: number;\n\n    switch (order) {\n      case AxisOrder.XYZ: {\n        yRad = Math.asin(Math.max(-1, Math.min(1, -m31))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m31) < 0.99999) {\n          xRad = Math.atan2(m32, m33);\n          zRad = Math.atan2(m21, m11);\n        } else {\n          /**\n           * If Math.abs(m31) = 1 then yRad = +-90 degrees and therefore, we have a gimbal lock.\n           * This means xRad and zRad can be anything as long as their sum xRad + zRad is constant.\n           * so we can pick zRad = 0 and calculate xRad (or pick xRad = 0 and calculate zRad).\n           * Therefore, rotation matrix becomes\n           *        Matrix3d.createRowValues(\n           *             0, +-sx, +-cx,\n           *             0, cx, -sx,\n           *             -+1, 0, 0\n           *        );\n           * Math details can be found\n           * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\n           */\n          xRad = Math.atan2(-m23, m22);\n          zRad = 0;\n        }\n        break;\n      } case AxisOrder.YXZ: {\n        xRad = Math.asin(Math.max(-1, Math.min(1, m32))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m32) < 0.99999) {\n          yRad = Math.atan2(-m31, m33);\n          zRad = Math.atan2(-m12, m22);\n        } else {\n          yRad = Math.atan2(m13, m11);\n          zRad = 0;\n        }\n        break;\n      } case AxisOrder.ZXY: {\n        xRad = Math.asin(Math.max(-1, Math.min(1, -m23))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m23) < 0.99999) {\n          yRad = Math.atan2(m13, m33);\n          zRad = Math.atan2(m21, m22);\n        } else {\n          yRad = 0;\n          zRad = Math.atan2(-m12, m11);\n        }\n        break;\n      } case AxisOrder.ZYX: {\n        yRad = Math.asin(Math.max(-1, Math.min(1, m13))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m13) < 0.99999) {\n          xRad = Math.atan2(-m23, m33);\n          zRad = Math.atan2(-m12, m11);\n        } else {\n          xRad = 0;\n          zRad = Math.atan2(m21, m22);\n        }\n        break;\n      } case AxisOrder.YZX: {\n        zRad = Math.asin(Math.max(-1, Math.min(1, -m12))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m12) < 0.99999) {\n          xRad = Math.atan2(m32, m22);\n          yRad = Math.atan2(m13, m11);\n        } else {\n          xRad = 0;\n          yRad = Math.atan2(-m31, m33);\n        }\n        break;\n      } case AxisOrder.XZY: {\n        zRad = Math.asin(Math.max(-1, Math.min(1, m21))); // limit asin domain to [-1,1]\n\n        if (Math.abs(m21) < 0.99999) {\n          xRad = Math.atan2(-m23, m22);\n          yRad = Math.atan2(-m31, m11);\n        } else {\n          xRad = Math.atan2(m32, m33);\n          yRad = 0;\n        }\n        break;\n      } default: {\n        xRad = yRad = zRad = 0;\n      }\n    }\n    const xyzRotationIsClockwise: [boolean, boolean, boolean] = [false, false, false];\n    const angles = OrderedRotationAngles.createRadians(xRad, yRad, zRad, order, xyzRotationIsClockwise, result);\n    // sanity check\n    const matrix1 = angles.toMatrix3d();\n    /**\n     * Below tolerance loosened to allow sanity check to pass for\n     *\n     * OrderedRotationAngles.createFromMatrix3d(\n     *       OrderedRotationAngles.createDegrees(0, 89.999, 0.001, AxisOrder.XYZ).toMatrix3d(),\n     *       AxisOrder.XYZ\n     * );\n     *\n     * with treatVectorsAsColumns = true.\n     */\n    return (matrix.maxDiff(matrix1) < 10 * Geometry.smallFraction) ? angles : undefined;\n  }\n  /**\n   * Create a 3x3 rotational matrix from this OrderedRotationAngles.\n   ** math details can be found at docs/learning/geometry/Angle.md\n   **/\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\n    const rot = (result !== undefined) ? result : new Matrix3d();\n    const axisOrder = this.order;\n    const x = this.xAngle, y = this.yAngle, z = this.zAngle;\n\n    const cx = x.cos(), sx = x.sin();\n    const cy = y.cos(), sy = y.sin();\n    const cz = z.cos(), sz = z.sin();\n\n    const cxcz = cx * cz, cxsz = cx * sz, cxcy = cx * cy, cxsy = cx * sy;\n    const sxcz = sx * cz, sxsz = sx * sz, sxcy = sx * cy, sxsy = sx * sy;\n    const cycz = cy * cz, cysz = cy * sz, sycz = sy * cz, sysz = sy * sz;\n\n    // the rotation matrix we build below is created using column-based base rotation matrixes\n    if (axisOrder === AxisOrder.XYZ) {\n      rot.setRowValues(\n        cy * cz, sxcz * sy - cxsz, cxcz * sy + sxsz,\n        cy * sz, cxcz + sxsz * sy, cxsz * sy - sxcz,\n        -sy, sx * cy, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.YXZ) {\n      rot.setRowValues(\n        cycz - sysz * sx, -cx * sz, cysz * sx + sycz,\n        sycz * sx + cysz, cx * cz, sysz - cycz * sx,\n        -cx * sy, sx, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.ZXY) {\n      rot.setRowValues(\n        cycz + sysz * sx, sycz * sx - cysz, cx * sy,\n        cx * sz, cx * cz, -sx,\n        cysz * sx - sycz, cycz * sx + sysz, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.ZYX) {\n      rot.setRowValues(\n        cy * cz, -cy * sz, sy,\n        sxcz * sy + cxsz, cxcz - sxsz * sy, -sx * cy,\n        sxsz - cxcz * sy, sxcz + cxsz * sy, cx * cy,\n      );\n    } else if (axisOrder === AxisOrder.YZX) {\n      rot.setRowValues(\n        cy * cz, -sz, sy * cz,\n        sxsy + cxcy * sz, cx * cz, cxsy * sz - sxcy,\n        sxcy * sz - cxsy, sx * cz, cxcy + sxsy * sz,\n      );\n    } else if (axisOrder === AxisOrder.XZY) {\n      rot.setRowValues(\n        cy * cz, sxsy - cxcy * sz, cxsy + sxcy * sz,\n        sz, cx * cz, -sx * cz,\n        -sy * cz, sxcy + cxsy * sz, cxcy - sxsy * sz,\n      );\n    } else {\n      rot.setIdentity();\n    }\n    // if we need row-based rotation matrix, we transpose the rotation matrix\n    if (!OrderedRotationAngles.treatVectorsAsColumns)\n      rot.transposeInPlace();\n\n    return rot;\n  }\n}\n"]}

package/lib/esm/geometry3d/Point3dArrayCarrier.js

@@ -22,7 +22,7 @@ export class Point3dArrayCarrier extends IndexedReadWriteXYZCollection {
     }
     /** Test if `index` is a valid index into the array. */
     isValidIndex(index) {
-        return index >= 0 && index < this.data.length;
+        return this.isIndexValid(index);
     }
     /**
      * Access by index, returning strongly typed Point3d

package/lib/esm/geometry3d/Point3dArrayCarrier.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module ArraysAndInterfaces\n */\n\nimport { IndexedReadWriteXYZCollection } from \"./IndexedXYZCollection\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { XYAndZ } from \"./XYZProps\";\n\n/**\n * Helper object to access members of a Point3d[] in geometric calculations.\n * * The collection holds only a reference to the actual array.\n * * The actual array may be replaced by the user as needed.\n * * When replaced, there is no cached data to be updated.\n * @public\n */\nexport class Point3dArrayCarrier extends IndexedReadWriteXYZCollection {\n  /** Reference to array being queried. */\n  public data: Point3d[];\n  /** CAPTURE caller supplied array ... */\n  public constructor(data: Point3d[]) {\n    super();\n    this.data = data;\n  }\n  /** Test if `index` is a valid index into the array. */\n  public isValidIndex(index: number): boolean {\n    return index >= 0 && index < this.data.length;\n  }\n  /**\n   * Access by index, returning strongly typed Point3d\n   * * This returns the xyz value but NOT reference to the point in the \"carried\" array.\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   * @returns undefined if the index is out of bounds\n   */\n  public getPoint3dAtCheckedPointIndex(index: number, result?: Point3d): Point3d | undefined {\n    if (this.isValidIndex(index)) {\n      const source = this.data[index];\n      return Point3d.create(source.x, source.y, source.z, result);\n    }\n    return undefined;\n  }\n  /**\n   * Access by index, returning strongly typed Point3d\n   * * This returns the xyz value but NOT reference to the point in the \"carried\" array.\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   */\n  public getPoint3dAtUncheckedPointIndex(index: number, result?: Point3d): Point3d {\n    const source = this.data[index];\n    return Point3d.create(source.x, source.y, source.z, result);\n  }\n  /**\n   * Access by index, returning strongly typed Vector3d\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   * @returns undefined if the index is out of bounds\n   */\n  public getVector3dAtCheckedVectorIndex(index: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(index)) {\n      const source = this.data[index];\n      return Vector3d.create(source.x, source.y, source.z, result);\n    }\n    return undefined;\n  }\n  /**\n   * Access x of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getXAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].x;\n  }\n  /**\n   * Access y of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getYAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].y;\n  }\n  /**\n   * Access z of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getZAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].z;\n  }\n  /**\n   * Return a vector from the point at indexA to the point at indexB\n   * @param indexA index of point within the array\n   * @param indexB index of point within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if either index is out of bounds\n   */\n  public vectorIndexIndex(indexA: number, indexB: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createStartEnd(this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return a vector from given origin to point at indexB\n   * @param origin origin for vector\n   * @param indexB index of point within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if index is out of bounds\n   */\n  public vectorXYAndZIndex(origin: XYAndZ, indexB: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(indexB))\n      return Vector3d.createStartEnd(origin, this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return the cross product of vectors from origin to points at indexA and indexB\n   * @param origin origin for vector\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if either index is out of bounds\n   */\n  public crossProductXYAndZIndexIndex(\n    origin: XYAndZ, indexA: number, indexB: number, result?: Vector3d,\n  ): Vector3d | undefined {\n    if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createCrossProductToPoints(origin, this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return the cross product of vectors from point at originIndex to points at indexA and indexB\n   * @param originIndex index of origin\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns return true if indexA, indexB both valid\n   */\n  public crossProductIndexIndexIndex(\n    originIndex: number, indexA: number, indexB: number, result?: Vector3d,\n  ): Vector3d | undefined {\n    if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createCrossProductToPoints(this.data[originIndex], this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Compute the cross product of vectors from point at originIndex to points at indexA and indexB, and accumulate it to the result.\n   * @param origin index of origin\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns return true if indexA, indexB both valid\n   */\n  public accumulateCrossProductIndexIndexIndex(originIndex: number, indexA: number, indexB: number, result: Vector3d): void {\n    const data = this.data;\n    if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      result.addCrossProductToTargetsInPlace(\n        data[originIndex].x, data[originIndex].y, data[originIndex].z,\n        data[indexA].x, data[indexA].y, data[indexA].z,\n        data[indexB].x, data[indexB].y, data[indexB].z,\n      );\n  }\n  /** Accumulate scale times the x,y,z values at index to the sum. No action if index is out of bounds */\n  public accumulateScaledXYZ(index: number, scale: number, sum: Point3d): void {\n    if (this.isValidIndex(index)) {\n      const point = this.data[index];\n      sum.x += scale * point.x;\n      sum.y += scale * point.y;\n      sum.z += scale * point.z;\n    }\n  }\n  /** Read-only property for number of XYZ in the collection */\n  public get length(): number {\n    return this.data.length;\n  }\n  /**\n   * Push a (clone of) point onto the collection\n   * * point itself is not pushed -- xyz data is extracted into the native form of the collection.\n   */\n  public push(data: Point3d): void {\n    this.data.push(data.clone());\n  }\n  /**\n   * Push a new point (given by coordinates) onto the collection\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param z z coordinate\n   */\n  public pushXYZ(x?: number, y?: number, z?: number): void {\n    this.data.push(\n      Point3d.create(x === undefined ? 0.0 : x, y === undefined ? 0.0 : y, z === undefined ? 0.0 : z),\n    );\n  }\n  /** Extract (copy) the final point */\n  public override back(result?: Point3d): Point3d | undefined {\n    if (this.data.length > 0) {\n      return this.data[this.data.length - 1].clone(result);\n    }\n    return undefined;\n  }\n  /** Extract (copy) the first point */\n  public override front(result?: Point3d): Point3d | undefined {\n    if (this.data.length > 0) {\n      return this.data[0].clone(result);\n    }\n    return undefined;\n  }\n  /** Remove the final point. */\n  public pop(): void {\n    if (this.data.length > 0)\n      this.data.pop();\n  }\n  /** Remove all points. */\n  public clear(): void {\n    this.data.length = 0;\n  }\n  /** Reverse the points in place */\n  public reverseInPlace(): void {\n    this.data.reverse();\n  }\n  /**\n   * Return distance squared between indicated points.\n   * @param index0 first point index\n   * @param index1 second point index\n   */\n  public distanceSquaredIndexIndex(index0: number, index1: number): number | undefined {\n    const n = this.data.length;\n    if (index0 >= 0 && index0 < n && index1 >= 0 && index1 < n) {\n      return this.data[index0].distanceSquared(this.data[index1]);\n    }\n    return undefined;\n  }\n  /**\n   * Return distance between indicated points.\n   * @param index0 first point index\n   * @param index1 second point index\n   */\n  public distanceIndexIndex(index0: number, index1: number): number | undefined {\n    const n = this.data.length;\n    if (index0 >= 0 && index0 < n && index1 >= 0 && index1 < n) {\n      return this.data[index0].distance(this.data[index1]);\n    }\n    return undefined;\n  }\n  /** Adjust index into range by modulo with the length. */\n  public override cyclicIndex(i: number): number {\n    return (i % this.data.length);\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module ArraysAndInterfaces\n */\n\nimport { IndexedReadWriteXYZCollection } from \"./IndexedXYZCollection\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { XYAndZ } from \"./XYZProps\";\n\n/**\n * Helper object to access members of a Point3d[] in geometric calculations.\n * * The collection holds only a reference to the actual array.\n * * The actual array may be replaced by the user as needed.\n * * When replaced, there is no cached data to be updated.\n * @public\n */\nexport class Point3dArrayCarrier extends IndexedReadWriteXYZCollection {\n  /** Reference to array being queried. */\n  public data: Point3d[];\n  /** CAPTURE caller supplied array ... */\n  public constructor(data: Point3d[]) {\n    super();\n    this.data = data;\n  }\n  /** Test if `index` is a valid index into the array. */\n  public isValidIndex(index: number): boolean {\n    return this.isIndexValid(index);\n  }\n  /**\n   * Access by index, returning strongly typed Point3d\n   * * This returns the xyz value but NOT reference to the point in the \"carried\" array.\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   * @returns undefined if the index is out of bounds\n   */\n  public getPoint3dAtCheckedPointIndex(index: number, result?: Point3d): Point3d | undefined {\n    if (this.isValidIndex(index)) {\n      const source = this.data[index];\n      return Point3d.create(source.x, source.y, source.z, result);\n    }\n    return undefined;\n  }\n  /**\n   * Access by index, returning strongly typed Point3d\n   * * This returns the xyz value but NOT reference to the point in the \"carried\" array.\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   */\n  public getPoint3dAtUncheckedPointIndex(index: number, result?: Point3d): Point3d {\n    const source = this.data[index];\n    return Point3d.create(source.x, source.y, source.z, result);\n  }\n  /**\n   * Access by index, returning strongly typed Vector3d\n   * @param index index of point within the array\n   * @param result caller-allocated destination\n   * @returns undefined if the index is out of bounds\n   */\n  public getVector3dAtCheckedVectorIndex(index: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(index)) {\n      const source = this.data[index];\n      return Vector3d.create(source.x, source.y, source.z, result);\n    }\n    return undefined;\n  }\n  /**\n   * Access x of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getXAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].x;\n  }\n  /**\n   * Access y of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getYAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].y;\n  }\n  /**\n   * Access z of indexed point\n   * * WARNING: make sure `pointIndex` is a valid index, otherwise, you get random results\n   */\n  public getZAtUncheckedPointIndex(pointIndex: number): number {\n    return this.data[pointIndex].z;\n  }\n  /**\n   * Return a vector from the point at indexA to the point at indexB\n   * @param indexA index of point within the array\n   * @param indexB index of point within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if either index is out of bounds\n   */\n  public vectorIndexIndex(indexA: number, indexB: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createStartEnd(this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return a vector from given origin to point at indexB\n   * @param origin origin for vector\n   * @param indexB index of point within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if index is out of bounds\n   */\n  public vectorXYAndZIndex(origin: XYAndZ, indexB: number, result?: Vector3d): Vector3d | undefined {\n    if (this.isValidIndex(indexB))\n      return Vector3d.createStartEnd(origin, this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return the cross product of vectors from origin to points at indexA and indexB\n   * @param origin origin for vector\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns undefined if either index is out of bounds\n   */\n  public crossProductXYAndZIndexIndex(\n    origin: XYAndZ, indexA: number, indexB: number, result?: Vector3d,\n  ): Vector3d | undefined {\n    if (this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createCrossProductToPoints(origin, this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Return the cross product of vectors from point at originIndex to points at indexA and indexB\n   * @param originIndex index of origin\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns return true if indexA, indexB both valid\n   */\n  public crossProductIndexIndexIndex(\n    originIndex: number, indexA: number, indexB: number, result?: Vector3d,\n  ): Vector3d | undefined {\n    if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      return Vector3d.createCrossProductToPoints(this.data[originIndex], this.data[indexA], this.data[indexB], result);\n    return undefined;\n  }\n  /**\n   * Compute the cross product of vectors from point at originIndex to points at indexA and indexB, and accumulate it to the result.\n   * @param origin index of origin\n   * @param indexA index of first target within the array\n   * @param indexB index of second target within the array\n   * @param result caller-allocated vector.\n   * @returns return true if indexA, indexB both valid\n   */\n  public accumulateCrossProductIndexIndexIndex(originIndex: number, indexA: number, indexB: number, result: Vector3d): void {\n    const data = this.data;\n    if (this.isValidIndex(originIndex) && this.isValidIndex(indexA) && this.isValidIndex(indexB))\n      result.addCrossProductToTargetsInPlace(\n        data[originIndex].x, data[originIndex].y, data[originIndex].z,\n        data[indexA].x, data[indexA].y, data[indexA].z,\n        data[indexB].x, data[indexB].y, data[indexB].z,\n      );\n  }\n  /** Accumulate scale times the x,y,z values at index to the sum. No action if index is out of bounds */\n  public accumulateScaledXYZ(index: number, scale: number, sum: Point3d): void {\n    if (this.isValidIndex(index)) {\n      const point = this.data[index];\n      sum.x += scale * point.x;\n      sum.y += scale * point.y;\n      sum.z += scale * point.z;\n    }\n  }\n  /** Read-only property for number of XYZ in the collection */\n  public get length(): number {\n    return this.data.length;\n  }\n  /**\n   * Push a (clone of) point onto the collection\n   * * point itself is not pushed -- xyz data is extracted into the native form of the collection.\n   */\n  public push(data: Point3d): void {\n    this.data.push(data.clone());\n  }\n  /**\n   * Push a new point (given by coordinates) onto the collection\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param z z coordinate\n   */\n  public pushXYZ(x?: number, y?: number, z?: number): void {\n    this.data.push(\n      Point3d.create(x === undefined ? 0.0 : x, y === undefined ? 0.0 : y, z === undefined ? 0.0 : z),\n    );\n  }\n  /** Extract (copy) the final point */\n  public override back(result?: Point3d): Point3d | undefined {\n    if (this.data.length > 0) {\n      return this.data[this.data.length - 1].clone(result);\n    }\n    return undefined;\n  }\n  /** Extract (copy) the first point */\n  public override front(result?: Point3d): Point3d | undefined {\n    if (this.data.length > 0) {\n      return this.data[0].clone(result);\n    }\n    return undefined;\n  }\n  /** Remove the final point. */\n  public pop(): void {\n    if (this.data.length > 0)\n      this.data.pop();\n  }\n  /** Remove all points. */\n  public clear(): void {\n    this.data.length = 0;\n  }\n  /** Reverse the points in place */\n  public reverseInPlace(): void {\n    this.data.reverse();\n  }\n  /**\n   * Return distance squared between indicated points.\n   * @param index0 first point index\n   * @param index1 second point index\n   */\n  public distanceSquaredIndexIndex(index0: number, index1: number): number | undefined {\n    const n = this.data.length;\n    if (index0 >= 0 && index0 < n && index1 >= 0 && index1 < n) {\n      return this.data[index0].distanceSquared(this.data[index1]);\n    }\n    return undefined;\n  }\n  /**\n   * Return distance between indicated points.\n   * @param index0 first point index\n   * @param index1 second point index\n   */\n  public distanceIndexIndex(index0: number, index1: number): number | undefined {\n    const n = this.data.length;\n    if (index0 >= 0 && index0 < n && index1 >= 0 && index1 < n) {\n      return this.data[index0].distance(this.data[index1]);\n    }\n    return undefined;\n  }\n  /** Adjust index into range by modulo with the length. */\n  public override cyclicIndex(i: number): number {\n    return (i % this.data.length);\n  }\n}\n"]}

package/lib/esm/geometry3d/Point3dVector3d.d.ts

@@ -524,10 +524,10 @@ export declare class Vector3d extends XYZ {
      */
     rotate90Around(axis: Vector3d, result?: Vector3d): Vector3d | undefined;
     /**
-     * Return a vector computed at fractional position between this vector and vectorB
-     * @param fraction fractional position.  0 is at `this`.  1 is at `vectorB`.
-     *                 True fractions are "between", negatives are "before this", beyond 1 is "beyond vectorB".
-     * @param vectorB second vector
+     * Return a vector computed at fractional position between this vector and vectorB.
+     * @param fraction fractional position. 0 is at `this`. 1 is at `vectorB`. True fractions are "between",
+     * negatives are "before this", beyond 1 is "beyond vectorB".
+     * @param vectorB second vector.
      * @param result optional preallocated result.
      */
     interpolate(fraction: number, vectorB: XYAndZ, result?: Vector3d): Vector3d;
@@ -781,8 +781,8 @@ export declare class Vector3d extends XYZ {
      * * The input tolerances in `options`, if given, are considered to be squared for efficiency's sake,
      * so if you have a distance or angle tolerance t, you should pass in t * t.
      * @param other second vector in comparison
-     * @param oppositeIsParallel whether to consider diametrically opposed vectors as parallel
-     * @param returnValueIfAnInputIsZeroLength if either vector is near zero length, return this value.
+     * @param oppositeIsParallel whether to consider diametrically opposed vectors as parallel. Default false.
+     * @param returnValueIfAnInputIsZeroLength if either vector is near zero length, return this value. Default false.
      * @param options optional radian and distance tolerances.
      */
     isParallelTo(other: Vector3d, oppositeIsParallel?: boolean, returnValueIfAnInputIsZeroLength?: boolean, options?: PerpParallelOptions): boolean;

package/lib/esm/geometry3d/Point3dVector3d.js

@@ -1033,10 +1033,10 @@ export class Vector3d extends XYZ {
         return unitNormal ? unitNormal.crossProduct(this).plusScaled(unitNormal, unitNormal.dotProduct(this), result) : undefined;
     }
     /**
-     * Return a vector computed at fractional position between this vector and vectorB
-     * @param fraction fractional position.  0 is at `this`.  1 is at `vectorB`.
-     *                 True fractions are "between", negatives are "before this", beyond 1 is "beyond vectorB".
-     * @param vectorB second vector
+     * Return a vector computed at fractional position between this vector and vectorB.
+     * @param fraction fractional position. 0 is at `this`. 1 is at `vectorB`. True fractions are "between",
+     * negatives are "before this", beyond 1 is "beyond vectorB".
+     * @param vectorB second vector.
      * @param result optional preallocated result.
      */
     interpolate(fraction, vectorB, result) {
@@ -1476,8 +1476,8 @@ export class Vector3d extends XYZ {
      * * The input tolerances in `options`, if given, are considered to be squared for efficiency's sake,
      * so if you have a distance or angle tolerance t, you should pass in t * t.
      * @param other second vector in comparison
-     * @param oppositeIsParallel whether to consider diametrically opposed vectors as parallel
-     * @param returnValueIfAnInputIsZeroLength if either vector is near zero length, return this value.
+     * @param oppositeIsParallel whether to consider diametrically opposed vectors as parallel. Default false.
+     * @param returnValueIfAnInputIsZeroLength if either vector is near zero length, return this value. Default false.
      * @param options optional radian and distance tolerances.
      */
     isParallelTo(other, oppositeIsParallel = false, returnValueIfAnInputIsZeroLength = false, options) {