@itwin/core-geometry 5.1.0-dev.3 → 5.1.0-dev.32

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

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

@@ -131,5 +131,7 @@ export declare abstract class Plane3d implements PlaneAltitudeEvaluator {
      * * MUST BE IMPLEMENTED BY DERIVED CLASSES
      */
     abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
+    /** Return the projection of (x,y,z) onto the plane. */
+    projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d;
 }
 //# sourceMappingURL=Plane3d.d.ts.map

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

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package/lib/cjs/geometry3d/Plane3d.js

@@ -91,7 +91,12 @@ class Plane3d {
      * * Classes with a purely implicit equation of their plane can accept the default implementation
      */
     getAnyPointOnPlane(result) {
-        return this.projectPointToPlane(Point3dVector3d_1.Point3d.create(0, 0, 0), result);
+        return this.projectXYZToPlane(0, 0, 0, result);
+    }
+    /** Return the projection of (x,y,z) onto the plane. */
+    projectXYZToPlane(x, y, z, result) {
+        const point = Point3dVector3d_1.Point3d.create(x, y, z, result);
+        return this.projectPointToPlane(point, point);
     }
 }
 exports.Plane3d = Plane3d;

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

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\n\n/**\n * Plane3d is the abstract base class for multiple 3d plane representations:\n * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions\n * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product\n * * [[Point4d]] -- homogeneous form of xyzw plane.\n * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]\n *\n * As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions\n * about the plane's normal and the altitude of points above or below the plane.  (Altitude is measured perpendicular to the plane.)\n * These abstract methods are:\n * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude\n * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.\n * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.\n * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.\n *\n * The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.\n * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.\n * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance.  Default tolerance is small metric distance\n * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude\n *     is negative, near zero, or positive.\n *\n * Notes about scaling and signs in methods that compute altitudes, normal components and velocities:\n * * The term \"altitude\" indicates a _signed_ distance from the plane.\n *   * altitude zero is _on_ the plane\n *   * positive altitudes are on one side\n *   * negatives are on the other.\n *  * Altitude values and normal components are not strictly required to be true cartesian distance.   If the calling code happens to use \"distance scaled by 1000X\" it\n *     understands that it can be OK for its plane implementation to have that scaling.\n *  * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected\n *    to return true distances.  This applies to:\n *    * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]\n *       * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.\n *    * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because\n *       * the normal is the cross product of the defining vectors.\n *       * that cross product is not typically unit\n *       * normalization adds to the cost of computing off-plane distances\n *       * Since a main purpose of using this class is often to navigate a skewed, non-unit grid, occasional off-plane queries are not likely to be important.\n *  * \"4 dimensional\" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])\n *     * typically do _not_ force their coefficients to any distance-based normalization\n *     * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.\n *  * In all classes, the `weightedAltitude` method is free to be scaled distance.\n * @public\n */\nexport abstract class Plane3d implements PlaneAltitudeEvaluator {\n  /**\n   * Return the altitude of spacePoint above or below the plane. (Below is negative)\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   */\n  public abstract altitude(spacePoint: Point3d): number;\n  /** Returns true if spacePoint is within distance tolerance of the plane. */\n  public isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\n    return Math.abs(this.altitude(spacePoint)) <= tolerance;\n  }\n  /**\n   * Return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is\n   * negative, near zero, or positive.\n   *\n   */\n  public classifyAltitude(point: Point3d, tolerance: number = Geometry.smallMetricDistance): -1 | 0 | 1 {\n    return Geometry.split3Way01(this.altitude(point), tolerance);\n  }\n  /**\n   * Return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is\n   * negative, near zero, or positive.\n   *\n   */\n  public classifyAltitudeXYZ(\n    x: number, y: number, z: number, tolerance: number = Geometry.smallMetricDistance,\n  ): -1 | 0 | 1 {\n    return Geometry.split3Way01(this.altitudeXYZ(x, y, z), tolerance);\n  }\n  /**\n   * Return the x component of the normal used to evaluate altitude.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract normalX(): number;\n  /**\n   * Return the y component of the normal used to evaluate altitude.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract normalY(): number;\n  /**\n   * Return the z component of the normal used to evaluate altitude.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract normalZ(): number;\n  /**\n   * Return the unit normal for the plane.\n   * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.\n   * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls\n   * cause repeated normalization.\n   * @param result\n   */\n  public getUnitNormal(result?: Vector3d): Vector3d | undefined {\n    return Vector3d.createNormalized(this.normalX(), this.normalY(), this.normalZ(), result);\n  }\n  /**\n   * Return any point on the plane.\n   * * Default implementation projects the origin (0,0,0) to the plane.\n   * * Classes that have a preferred origin for their plane should override.\n   * * Classes with a purely implicit equation of their plane can accept the default implementation\n   */\n  public getAnyPointOnPlane(result?: Point3d): Point3d {\n    return this.projectPointToPlane(Point3d.create(0, 0, 0), result);\n  }\n  /**\n   * Return the altitude of weighted spacePoint above or below the plane.  (Below is negative)\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract weightedAltitude(spacePoint: Point4d): number;\n  /**\n   * Return the dot product of spaceVector (x,y,z) with the plane's unit normal. This tells the rate of change of\n   * altitude for a point moving at speed one along the spaceVector.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract velocityXYZ(x: number, y: number, z: number): number;\n  /**\n   * Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude\n   * for a point moving at speed one along the spaceVector.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract velocity(spaceVector: Vector3d): number;\n  /**\n   * Return the altitude of a point given as separate x,y,z components.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   * * See [[Plane3d]] note about scaling.\n   */\n  public abstract altitudeXYZ(x: number, y: number, z: number): number;\n  /**\n   * Return the projection of spacePoint onto the plane.\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\n   */\n  public abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;\n}\n"]}
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\n\r\n/**\r\n * Plane3d is the abstract base class for multiple 3d plane representations:\r\n * * [[Plane3dByOriginAndUnitNormal]] -- plane defined by origin and normal, with no preferred in-plane directions\r\n * * [[Plane3dByOriginAndVectors]] -- plane defined by origin and 2 vectors in the plane, with normal implied by the vectors' cross product\r\n * * [[Point4d]] -- homogeneous form of xyzw plane.\r\n * * [[ClipPlane]] -- implicit plane with additional markup as used by compound clip structures such as [[ConvexClipPlaneSet]] and [[UnionOfConvexClipPlaneSets]]\r\n *\r\n * As an abstract base class, Plane3d demands that its derived classes implement queries to answer questions\r\n * about the plane's normal and the altitude of points above or below the plane.  (Altitude is measured perpendicular to the plane.)\r\n * These abstract methods are:\r\n * * altitude(Point3d), altitudeXYZ(x,y,z), and altitudeXYZW(Point4d) -- evaluate altitude\r\n * * normalX(), normalY(), normalZ() -- return components of the plane's normal vector.\r\n * * velocity(Vector3d), velocityXYZ(x,y,z) -- return dot product of the input vector with the plane normal.\r\n * * projectPointToPlane (spacePoint: Point3d) -- return projection of spacePoint into the plane.\r\n *\r\n * The Plane3d base class also provides implementations of several queries which it can implement by calling the abstract queries.\r\n * * Derived classes may choose to override these default implementations using private knowledge of what they have stored.\r\n * * isPointInPlane(spacePoint, tolerance?) -- test if spacePoint is in the plane with tolerance.  Default tolerance is small metric distance\r\n * * classifyAltitude (spacePoint, tolerance?), classifyAltitudeXYZ (x,y,z,tolerance?) -- return -1,0,1 indicating if spacePoint's altitude\r\n *     is negative, near zero, or positive.\r\n *\r\n * Notes about scaling and signs in methods that compute altitudes, normal components and velocities:\r\n * * The term \"altitude\" indicates a _signed_ distance from the plane.\r\n *   * altitude zero is _on_ the plane\r\n *   * positive altitudes are on one side\r\n *   * negatives are on the other.\r\n *  * Altitude values and normal components are not strictly required to be true cartesian distance.   If the calling code happens to use \"distance scaled by 1000X\" it\r\n *     understands that it can be OK for its plane implementation to have that scaling.\r\n *  * By convention, derived classes whose definitions (normals and vectors in plane) are simple cartesian are expected\r\n *    to return true distances.  This applies to:\r\n *    * [[Plane3dByOriginAndUnitNormal]] and [[ClipPlane]]\r\n *       * These maintain a stored unit normal so the altitude calculations are inherently true cartesian distance.\r\n *    * [[Plane3dByOriginAndVectors]] -- this is a bit expensive because\r\n *       * the normal is the cross product of the defining vectors.\r\n *       * that cross product is not typically unit\r\n *       * normalization adds to the cost of computing off-plane distances\r\n *       * Since a main purpose of using this class is often to navigate a skewed, non-unit grid, occasional off-plane queries are not likely to be important.\r\n *  * \"4 dimensional\" (homogeneous coordinate planes) ([[Point4d]] and [[PlaneByOriginAndVectors4d]])\r\n *     * typically do _not_ force their coefficients to any distance-based normalization\r\n *     * are typically used for calculations in spaces with skewing effects do to perspective, and true distances are not required.\r\n *  * In all classes, the `weightedAltitude` method is free to be scaled distance.\r\n * @public\r\n */\r\nexport abstract class Plane3d implements PlaneAltitudeEvaluator {\r\n  /**\r\n   * Return the altitude of spacePoint above or below the plane. (Below is negative)\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   */\r\n  public abstract altitude(spacePoint: Point3d): number;\r\n  /** Returns true if spacePoint is within distance tolerance of the plane. */\r\n  public isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n    return Math.abs(this.altitude(spacePoint)) <= tolerance;\r\n  }\r\n  /**\r\n   * Return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of the point is\r\n   * negative, near zero, or positive.\r\n   *\r\n   */\r\n  public classifyAltitude(point: Point3d, tolerance: number = Geometry.smallMetricDistance): -1 | 0 | 1 {\r\n    return Geometry.split3Way01(this.altitude(point), tolerance);\r\n  }\r\n  /**\r\n   * Return a value -1, 0, 1 giving a signed indicator of whether the toleranced altitude of x,y,z is\r\n   * negative, near zero, or positive.\r\n   *\r\n   */\r\n  public classifyAltitudeXYZ(\r\n    x: number, y: number, z: number, tolerance: number = Geometry.smallMetricDistance,\r\n  ): -1 | 0 | 1 {\r\n    return Geometry.split3Way01(this.altitudeXYZ(x, y, z), tolerance);\r\n  }\r\n  /**\r\n   * Return the x component of the normal used to evaluate altitude.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract normalX(): number;\r\n  /**\r\n   * Return the y component of the normal used to evaluate altitude.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract normalY(): number;\r\n  /**\r\n   * Return the z component of the normal used to evaluate altitude.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract normalZ(): number;\r\n  /**\r\n   * Return the unit normal for the plane.\r\n   * * The abstract base class implementation assembles the normal from normalX, normalY, normalZ calls.\r\n   * * Derived classes should (but are not required to) override for maximum efficiency if the separate normal calls\r\n   * cause repeated normalization.\r\n   * @param result\r\n   */\r\n  public getUnitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return Vector3d.createNormalized(this.normalX(), this.normalY(), this.normalZ(), result);\r\n  }\r\n  /**\r\n   * Return any point on the plane.\r\n   * * Default implementation projects the origin (0,0,0) to the plane.\r\n   * * Classes that have a preferred origin for their plane should override.\r\n   * * Classes with a purely implicit equation of their plane can accept the default implementation\r\n   */\r\n  public getAnyPointOnPlane(result?: Point3d): Point3d {\r\n    return this.projectXYZToPlane(0, 0, 0, result);\r\n  }\r\n  /**\r\n   * Return the altitude of weighted spacePoint above or below the plane.  (Below is negative)\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract weightedAltitude(spacePoint: Point4d): number;\r\n  /**\r\n   * Return the dot product of spaceVector (x,y,z) with the plane's unit normal. This tells the rate of change of\r\n   * altitude for a point moving at speed one along the spaceVector.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract velocityXYZ(x: number, y: number, z: number): number;\r\n  /**\r\n   * Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude\r\n   * for a point moving at speed one along the spaceVector.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract velocity(spaceVector: Vector3d): number;\r\n  /**\r\n   * Return the altitude of a point given as separate x,y,z components.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   * * See [[Plane3d]] note about scaling.\r\n   */\r\n  public abstract altitudeXYZ(x: number, y: number, z: number): number;\r\n  /**\r\n   * Return the projection of spacePoint onto the plane.\r\n   * * MUST BE IMPLEMENTED BY DERIVED CLASSES\r\n   */\r\n  public abstract projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;\r\n  /** Return the projection of (x,y,z) onto the plane. */\r\n  public projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d {\r\n    const point = Point3d.create(x, y, z, result);\r\n    return this.projectPointToPlane(point, point);\r\n  }\r\n}\r\n"]}

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

@@ -155,6 +155,8 @@ export declare class Plane3dByOriginAndUnitNormal extends Plane3d implements BeJ
     altitudeXYZW(x: number, y: number, z: number, w: number): number;
     /** Return the projection of spacePoint onto the plane. */
     projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
+    /** Return the projection of (x,y,z) onto the plane. */
+    projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d;
     /**
      * Returns true if spacePoint is within distance tolerance of the plane.
      * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.

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

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package/lib/cjs/geometry3d/Plane3dByOriginAndUnitNormal.js

@@ -323,7 +323,12 @@ class Plane3dByOriginAndUnitNormal extends Plane3d_1.Plane3d {
     }
     /** Return the projection of spacePoint onto the plane. */
     projectPointToPlane(spacePoint, result) {
-        return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);
+        return this.projectXYZToPlane(spacePoint.x, spacePoint.y, spacePoint.z, result);
+    }
+    /** Return the projection of (x,y,z) onto the plane. */
+    projectXYZToPlane(x, y, z, result) {
+        const scale = -this._normal.dotProductStartEndXYZ(this._origin, x, y, z);
+        return Point3dVector3d_1.Point3d.create(x + scale * this._normal.x, y + scale * this._normal.y, z + scale * this._normal.z, result);
     }
     /**
      * Returns true if spacePoint is within distance tolerance of the plane.

package/lib/cjs/geometry3d/Plane3dByOriginAndUnitNormal.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, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Plane3d } from \"./Plane3d\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Transform } from \"./Transform\";\nimport { XAndY } from \"./XYZProps\";\n\n/**\n * A plane defined by\n * * Any point on the plane.\n * * a unit normal.\n * @public\n */\nexport class Plane3dByOriginAndUnitNormal extends Plane3d implements BeJSONFunctions {\n  private _origin: Point3d;\n  private _normal: Vector3d;\n  // constructor captures references !!!\n  private constructor(origin: Point3d, normal: Vector3d) {\n    super();\n    this._origin = origin;\n    this._normal = normal;\n  }\n  // This is private because it does not check validity of the unit vector.\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\n    return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, z), Vector3d.create(u, v, w));\n  }\n  /**\n   * Create a plane parallel to the XY plane\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\n   */\n  public static createXYPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n    if (origin)\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 0, 1);\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 0, 1);\n  }\n  /**\n   * Create a plane parallel to the YZ plane\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\n   */\n  public static createYZPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n    if (origin)\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 1, 0, 0);\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 1, 0, 0);\n  }\n  /**\n   * Create a plane parallel to the ZX plane\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\n   */\n  public static createZXPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\n    if (origin)\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 1, 0);\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 1, 0);\n  }\n  /**\n   * Create a new Plane3dByOriginAndUnitNormal with given origin and normal.\n   * * The inputs are NOT captured.\n   * * Returns undefined if `normal.normalize()` returns undefined.\n   */\n  public static create(\n    origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    if (result) {\n      if (normal.normalize(result._normal) === undefined)\n        return undefined;\n      origin.clone(result._origin);\n      return result;\n    }\n    const normalized = normal.normalize();\n    if (normalized === undefined)\n      return undefined;\n    return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\n  }\n  /**\n   * Create a new Plane3dByOriginAndUnitNormal from a variety of plane types.\n   * * The inputs are NOT captured.\n   * * Returns undefined if `source.getUnitNormal()` returns undefined.\n   */\n  public static createFrom(\n    source: Plane3d, result?: Plane3dByOriginAndUnitNormal,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    if (source instanceof Plane3dByOriginAndUnitNormal)\n      return source.clone(result);\n    if (result) {\n      if (source.getUnitNormal(result._normal) === undefined)\n        return undefined;\n      source.getAnyPointOnPlane(result._origin);\n      return result;\n    }\n    const normal = source.getUnitNormal();\n    if (normal === undefined)\n      return undefined;\n    const origin = source.getAnyPointOnPlane();\n    return new Plane3dByOriginAndUnitNormal(origin, normal);\n  }\n  /**\n   * Create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.\n   * * Returns undefined if the normal vector is all zeros.\n   * * If unable to normalize return undefined. (And if result is given it is left unchanged)\n   */\n  public static createXYZUVW(\n    ax: number, ay: number, az: number, ux: number, uy: number, uz: number, result?: Plane3dByOriginAndUnitNormal,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    const magU = Geometry.hypotenuseXYZ(ux, uy, uz);\n    if (magU < Geometry.smallMetricDistance)\n      return undefined;\n    if (result) {\n      result._origin.set(ax, ay, az);\n      result._normal.set(ux / magU, uy / magU, uz / magU);\n      return result;\n    }\n    return new Plane3dByOriginAndUnitNormal(Point3d.create(ax, ay, az), Vector3d.create(ux / magU, uy / magU, uz / magU));\n  }\n  /**\n   * Create a new  Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line\n   * defined by xy parts of origin to target.\n   * * origin and normal both have z = 0.\n   * * The inputs are NOT captured.\n   * * Returns undefined if the normal vector is all zeros.\n   */\n  public static createOriginAndTargetXY(\n    origin: XAndY, target: XAndY, result?: Plane3dByOriginAndUnitNormal,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    const ux = target.x - origin.x;\n    const uy = target.y - origin.y;\n    return this.createXYZUVW(origin.x, origin.y, 0.0, uy, -ux, 0.0, result);\n  }\n  /**\n   * Create a new  Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.\n   * * Returns undefined if the normal vector is all zeros.\n   */\n  public static createXYAngle(\n    x: number, y: number, normalAngleFromX: Angle, result?: Plane3dByOriginAndUnitNormal,\n  ): Plane3dByOriginAndUnitNormal {\n    if (result) {\n      result._origin.set(x, y, 0.0);\n      result._normal.set(normalAngleFromX.cos(), normalAngleFromX.sin(), 0.0);\n      return result;\n    }\n    return new Plane3dByOriginAndUnitNormal(\n      Point3d.create(x, y, 0), Vector3d.create(normalAngleFromX.cos(), normalAngleFromX.sin()),\n    );\n  }\n  /**\n   * Create a plane defined by two points and an in-plane vector.\n   * @param pointA any point in the plane\n   * @param pointB any other point in the plane\n   * @param vector any vector in the plane but not parallel to the vector from pointA to pointB\n   */\n  public static createPointPointVectorInPlane(\n    pointA: Point3d, pointB: Point3d, vector: Vector3d,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    const cross = vector.crossProductStartEnd(pointA, pointB);\n    if (cross.tryNormalizeInPlace())\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\n    return undefined;\n  }\n  /**\n   * Create a plane defined by three points.\n   * @param pointA any point in the plane.  This will be the origin.\n   * @param pointB any other point in the plane\n   * @param pointC any third point in the plane but not on the line of pointA and pointB\n   */\n  public static createOriginAndTargets(\n    pointA: Point3d, pointB: Point3d, pointC: Point3d,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    const cross = pointA.crossProductToPoints(pointB, pointC);\n    if (cross.tryNormalizeInPlace())\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\n    return undefined;\n  }\n  /**\n   * Create a plane defined by a point and two vectors in the plane\n   * @param pointA any point in the plane\n   * @param vectorB any vector in the plane\n   * @param vectorC any vector in the plane but not parallel to vectorB\n   */\n  public static createOriginAndVectors(\n    pointA: Point3d, vectorB: Vector3d, vectorC: Vector3d,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    const cross = vectorB.crossProduct(vectorC);\n    if (cross.tryNormalizeInPlace())\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\n    return undefined;\n  }\n  /** Test for (toleranced) equality with `other` */\n  public isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean {\n    return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);\n  }\n  /** Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}`  */\n  public setFromJSON(json?: any): void {\n    if (!json) {\n      this._origin.set(0, 0, 0);\n      this._normal.set(0, 0, 1);\n    } else {\n      this._origin.setFromJSON(json.origin);\n      this._normal.setFromJSON(json.normal);\n    }\n  }\n  /**\n   * Convert to a JSON object.\n   * @return {*} [origin,normal]\n   */\n  public toJSON(): any {\n    return { origin: this._origin.toJSON(), normal: this._normal.toJSON() };\n  }\n  /**\n   * Create a new Plane3dByOriginAndUnitNormal from json fragment.\n   * * See `Plane3dByOriginAndUnitNormal.setFromJSON`\n   */\n  public static fromJSON(json?: any): Plane3dByOriginAndUnitNormal {\n    const result = Plane3dByOriginAndUnitNormal.createXYPlane();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Return a reference to the origin. */\n  public getOriginRef(): Point3d {\n    return this._origin;\n  }\n  /** Return a reference to the unit normal. */\n  public getNormalRef(): Vector3d {\n    return this._normal;\n  }\n  /**\n   * Return coordinate axes (as a transform) with\n   * * origin at plane origin\n   * * z axis in direction of plane normal.\n   * * x,y axes in plane.\n   */\n  public getLocalToWorld(): Transform {\n    const axes = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY);\n    return Transform.createRefs(this._origin.clone(), axes);\n  }\n  /** Return a (singular) transform which projects points to this plane. */\n  public getProjectionToPlane(): Transform {\n    const axes = Matrix3d.createIdentity();\n    axes.addScaledOuterProductInPlace(this._normal, this._normal, -1.0);\n    axes.markSingular();\n    return Transform.createFixedPointAndMatrix(this._origin, axes);\n  }\n  /** Copy coordinates from the given origin and normal. */\n  public set(origin: Point3d, normal: Vector3d): void {\n    this._origin.setFrom(origin);\n    this._normal.setFrom(normal);\n  }\n  /** Return a deep clone (point and normal cloned) */\n  public clone(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\n    if (result) {\n      result.set(this._origin, this._normal);\n      return result;\n    }\n    return new Plane3dByOriginAndUnitNormal(this._origin.clone(), this._normal.clone());\n  }\n  /** Create a clone and return the transform of the clone. */\n  public cloneTransformed(transform: Transform, inverse: boolean = false): Plane3dByOriginAndUnitNormal | undefined {\n    const result = this.clone();\n    if (inverse) {\n      transform.multiplyInversePoint3d(result._origin, result._origin);\n      if (transform.matrix.multiplyTransposeVector(result._normal, result._normal) !== undefined\n        && result._normal.normalizeInPlace())\n        return result;\n    } else {\n      transform.multiplyPoint3d(result._origin, result._origin);\n      if (transform.matrix.multiplyInverseTranspose(result._normal, result._normal) !== undefined\n        && result._normal.normalizeInPlace())\n        return result;\n    }\n    return undefined;\n  }\n  /** Copy data from the given plane. */\n  public setFrom(source: Plane3dByOriginAndUnitNormal): void {\n    this.set(source._origin, source._normal);\n  }\n  /** Return the altitude of spacePoint above or below the plane.  (Below is negative) */\n  public altitude(spacePoint: Point3d): number {\n    return this._normal.dotProductStartEnd(this._origin, spacePoint);\n  }\n  /** Return the altitude of point (x,y)  given xy parts using only the xy parts of origin and unit normal */\n  public altitudeXY(x: number, y: number): number {\n    return (x - this._origin.x) * this._normal.x + (y - this._origin.y) * this._normal.y;\n  }\n  /** Return the x component of the normal used to evaluate altitude. */\n  public normalX(): number {\n    return this._normal.x;\n  }\n  /** Return the x component of the normal used to evaluate altitude. */\n  public normalY(): number {\n    return this._normal.y;\n  }\n  /** Return the z component of the normal used to evaluate altitude. */\n  public normalZ(): number {\n    return this._normal.z;\n  }\n  /** Return (a clone of) the unit normal. */\n  public override getUnitNormal(result?: Vector3d): Vector3d | undefined {\n    return this._normal.clone(result);\n  }\n  /** Return (a clone of) the origin. */\n  public override getAnyPointOnPlane(result?: Point3d): Point3d {\n    // This function returns the plane origin. In general, a point x is on the plane if and only if (x-o).n = 0.\n    return this._origin.clone(result);\n  }\n  /** Return the signed altitude of weighted spacePoint above or below the plane.  (Below is negative) */\n  public weightedAltitude(spacePoint: Point4d): number {\n    return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);\n  }\n  /** Return any point at specified (signed) altitude. */\n  public altitudeToPoint(altitude: number, result?: Point3d): Point3d {\n    return this._origin.plusScaled(this._normal, altitude, result);\n  }\n  /**\n   * Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\n   * for a point moving at speed one along the spaceVector.\n   */\n  public velocityXYZ(x: number, y: number, z: number): number {\n    return this._normal.dotProductXYZ(x, y, z);\n  }\n  /**\n   * Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude\n   * for a point moving at speed one along the spaceVector.\n   */\n  public velocity(spaceVector: Vector3d): number {\n    return this._normal.dotProduct(spaceVector);\n  }\n  /** Return the altitude of a point given as separate x,y,z components. */\n  public altitudeXYZ(x: number, y: number, z: number): number {\n    return this._normal.dotProductStartEndXYZ(this._origin, x, y, z);\n  }\n  /** Return the altitude of a point given as separate x,y,z,w components. */\n  public altitudeXYZW(x: number, y: number, z: number, w: number): number {\n    return this._normal.dotProductStartEndXYZW(this._origin, x, y, z, w);\n  }\n  /** Return the projection of spacePoint onto the plane. */\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\n    return spacePoint.plusScaled(this._normal, -this._normal.dotProductStartEnd(this._origin, spacePoint), result);\n  }\n  /**\n   * Returns true if spacePoint is within distance tolerance of the plane.\n   * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.\n   */\n  public override isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\n    const altitude = this._normal.dotProductStartEnd(this._origin, spacePoint);\n    return Math.abs(altitude) <= tolerance;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Plane3d } from \"./Plane3d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/**\r\n * A plane defined by\r\n * * Any point on the plane.\r\n * * a unit normal.\r\n * @public\r\n */\r\nexport class Plane3dByOriginAndUnitNormal extends Plane3d implements BeJSONFunctions {\r\n  private _origin: Point3d;\r\n  private _normal: Vector3d;\r\n  // constructor captures references !!!\r\n  private constructor(origin: Point3d, normal: Vector3d) {\r\n    super();\r\n    this._origin = origin;\r\n    this._normal = normal;\r\n  }\r\n  // This is private because it does not check validity of the unit vector.\r\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n    return new Plane3dByOriginAndUnitNormal(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n  }\r\n  /**\r\n   * Create a plane parallel to the XY plane\r\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\r\n   */\r\n  public static createXYPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n    if (origin)\r\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 0, 1);\r\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 0, 1);\r\n  }\r\n  /**\r\n   * Create a plane parallel to the YZ plane\r\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\r\n   */\r\n  public static createYZPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n    if (origin)\r\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 1, 0, 0);\r\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 1, 0, 0);\r\n  }\r\n  /**\r\n   * Create a plane parallel to the ZX plane\r\n   * @param origin optional plane origin.  If omitted, the origin is placed at 000\r\n   */\r\n  public static createZXPlane(origin?: Point3d): Plane3dByOriginAndUnitNormal {\r\n    if (origin)\r\n      return Plane3dByOriginAndUnitNormal._create(origin.x, origin.y, origin.z, 0, 1, 0);\r\n    return Plane3dByOriginAndUnitNormal._create(0, 0, 0, 0, 1, 0);\r\n  }\r\n  /**\r\n   * Create a new Plane3dByOriginAndUnitNormal with given origin and normal.\r\n   * * The inputs are NOT captured.\r\n   * * Returns undefined if `normal.normalize()` returns undefined.\r\n   */\r\n  public static create(\r\n    origin: Point3d, normal: Vector3d, result?: Plane3dByOriginAndUnitNormal,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    if (result) {\r\n      if (normal.normalize(result._normal) === undefined)\r\n        return undefined;\r\n      origin.clone(result._origin);\r\n      return result;\r\n    }\r\n    const normalized = normal.normalize();\r\n    if (normalized === undefined)\r\n      return undefined;\r\n    return new Plane3dByOriginAndUnitNormal(origin.clone(), normalized);\r\n  }\r\n  /**\r\n   * Create a new Plane3dByOriginAndUnitNormal from a variety of plane types.\r\n   * * The inputs are NOT captured.\r\n   * * Returns undefined if `source.getUnitNormal()` returns undefined.\r\n   */\r\n  public static createFrom(\r\n    source: Plane3d, result?: Plane3dByOriginAndUnitNormal,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    if (source instanceof Plane3dByOriginAndUnitNormal)\r\n      return source.clone(result);\r\n    if (result) {\r\n      if (source.getUnitNormal(result._normal) === undefined)\r\n        return undefined;\r\n      source.getAnyPointOnPlane(result._origin);\r\n      return result;\r\n    }\r\n    const normal = source.getUnitNormal();\r\n    if (normal === undefined)\r\n      return undefined;\r\n    const origin = source.getAnyPointOnPlane();\r\n    return new Plane3dByOriginAndUnitNormal(origin, normal);\r\n  }\r\n  /**\r\n   * Create a new  Plane3dByOriginAndUnitNormal with direct coordinates of origin and normal.\r\n   * * Returns undefined if the normal vector is all zeros.\r\n   * * If unable to normalize return undefined. (And if result is given it is left unchanged)\r\n   */\r\n  public static createXYZUVW(\r\n    ax: number, ay: number, az: number, ux: number, uy: number, uz: number, result?: Plane3dByOriginAndUnitNormal,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    const magU = Geometry.hypotenuseXYZ(ux, uy, uz);\r\n    if (magU < Geometry.smallMetricDistance)\r\n      return undefined;\r\n    if (result) {\r\n      result._origin.set(ax, ay, az);\r\n      result._normal.set(ux / magU, uy / magU, uz / magU);\r\n      return result;\r\n    }\r\n    return new Plane3dByOriginAndUnitNormal(Point3d.create(ax, ay, az), Vector3d.create(ux / magU, uy / magU, uz / magU));\r\n  }\r\n  /**\r\n   * Create a new  Plane3dByOriginAndUnitNormal with unit normal (a) in the xy plane (b) perpendicular to the line\r\n   * defined by xy parts of origin to target.\r\n   * * origin and normal both have z = 0.\r\n   * * The inputs are NOT captured.\r\n   * * Returns undefined if the normal vector is all zeros.\r\n   */\r\n  public static createOriginAndTargetXY(\r\n    origin: XAndY, target: XAndY, result?: Plane3dByOriginAndUnitNormal,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    const ux = target.x - origin.x;\r\n    const uy = target.y - origin.y;\r\n    return this.createXYZUVW(origin.x, origin.y, 0.0, uy, -ux, 0.0, result);\r\n  }\r\n  /**\r\n   * Create a new  Plane3dByOriginAndUnitNormal with xy origin (at z=0) and normal angle in xy plane.\r\n   * * Returns undefined if the normal vector is all zeros.\r\n   */\r\n  public static createXYAngle(\r\n    x: number, y: number, normalAngleFromX: Angle, result?: Plane3dByOriginAndUnitNormal,\r\n  ): Plane3dByOriginAndUnitNormal {\r\n    if (result) {\r\n      result._origin.set(x, y, 0.0);\r\n      result._normal.set(normalAngleFromX.cos(), normalAngleFromX.sin(), 0.0);\r\n      return result;\r\n    }\r\n    return new Plane3dByOriginAndUnitNormal(\r\n      Point3d.create(x, y, 0), Vector3d.create(normalAngleFromX.cos(), normalAngleFromX.sin()),\r\n    );\r\n  }\r\n  /**\r\n   * Create a plane defined by two points and an in-plane vector.\r\n   * @param pointA any point in the plane\r\n   * @param pointB any other point in the plane\r\n   * @param vector any vector in the plane but not parallel to the vector from pointA to pointB\r\n   */\r\n  public static createPointPointVectorInPlane(\r\n    pointA: Point3d, pointB: Point3d, vector: Vector3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    const cross = vector.crossProductStartEnd(pointA, pointB);\r\n    if (cross.tryNormalizeInPlace())\r\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create a plane defined by three points.\r\n   * @param pointA any point in the plane.  This will be the origin.\r\n   * @param pointB any other point in the plane\r\n   * @param pointC any third point in the plane but not on the line of pointA and pointB\r\n   */\r\n  public static createOriginAndTargets(\r\n    pointA: Point3d, pointB: Point3d, pointC: Point3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    const cross = pointA.crossProductToPoints(pointB, pointC);\r\n    if (cross.tryNormalizeInPlace())\r\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create a plane defined by a point and two vectors in the plane\r\n   * @param pointA any point in the plane\r\n   * @param vectorB any vector in the plane\r\n   * @param vectorC any vector in the plane but not parallel to vectorB\r\n   */\r\n  public static createOriginAndVectors(\r\n    pointA: Point3d, vectorB: Vector3d, vectorC: Vector3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    const cross = vectorB.crossProduct(vectorC);\r\n    if (cross.tryNormalizeInPlace())\r\n      return new Plane3dByOriginAndUnitNormal(pointA, cross);\r\n    return undefined;\r\n  }\r\n  /** Test for (toleranced) equality with `other` */\r\n  public isAlmostEqual(other: Plane3dByOriginAndUnitNormal): boolean {\r\n    return this._origin.isAlmostEqual(other._origin) && this._normal.isAlmostEqual(other._normal);\r\n  }\r\n  /** Parse a json fragment `{origin: [x,y,z], normal: [ux,uy,uz]}`  */\r\n  public setFromJSON(json?: any): void {\r\n    if (!json) {\r\n      this._origin.set(0, 0, 0);\r\n      this._normal.set(0, 0, 1);\r\n    } else {\r\n      this._origin.setFromJSON(json.origin);\r\n      this._normal.setFromJSON(json.normal);\r\n    }\r\n  }\r\n  /**\r\n   * Convert to a JSON object.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any {\r\n    return { origin: this._origin.toJSON(), normal: this._normal.toJSON() };\r\n  }\r\n  /**\r\n   * Create a new Plane3dByOriginAndUnitNormal from json fragment.\r\n   * * See `Plane3dByOriginAndUnitNormal.setFromJSON`\r\n   */\r\n  public static fromJSON(json?: any): Plane3dByOriginAndUnitNormal {\r\n    const result = Plane3dByOriginAndUnitNormal.createXYPlane();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a reference to the origin. */\r\n  public getOriginRef(): Point3d {\r\n    return this._origin;\r\n  }\r\n  /** Return a reference to the unit normal. */\r\n  public getNormalRef(): Vector3d {\r\n    return this._normal;\r\n  }\r\n  /**\r\n   * Return coordinate axes (as a transform) with\r\n   * * origin at plane origin\r\n   * * z axis in direction of plane normal.\r\n   * * x,y axes in plane.\r\n   */\r\n  public getLocalToWorld(): Transform {\r\n    const axes = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY);\r\n    return Transform.createRefs(this._origin.clone(), axes);\r\n  }\r\n  /** Return a (singular) transform which projects points to this plane. */\r\n  public getProjectionToPlane(): Transform {\r\n    const axes = Matrix3d.createIdentity();\r\n    axes.addScaledOuterProductInPlace(this._normal, this._normal, -1.0);\r\n    axes.markSingular();\r\n    return Transform.createFixedPointAndMatrix(this._origin, axes);\r\n  }\r\n  /** Copy coordinates from the given origin and normal. */\r\n  public set(origin: Point3d, normal: Vector3d): void {\r\n    this._origin.setFrom(origin);\r\n    this._normal.setFrom(normal);\r\n  }\r\n  /** Return a deep clone (point and normal cloned) */\r\n  public clone(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal {\r\n    if (result) {\r\n      result.set(this._origin, this._normal);\r\n      return result;\r\n    }\r\n    return new Plane3dByOriginAndUnitNormal(this._origin.clone(), this._normal.clone());\r\n  }\r\n  /** Create a clone and return the transform of the clone. */\r\n  public cloneTransformed(transform: Transform, inverse: boolean = false): Plane3dByOriginAndUnitNormal | undefined {\r\n    const result = this.clone();\r\n    if (inverse) {\r\n      transform.multiplyInversePoint3d(result._origin, result._origin);\r\n      if (transform.matrix.multiplyTransposeVector(result._normal, result._normal) !== undefined\r\n        && result._normal.normalizeInPlace())\r\n        return result;\r\n    } else {\r\n      transform.multiplyPoint3d(result._origin, result._origin);\r\n      if (transform.matrix.multiplyInverseTranspose(result._normal, result._normal) !== undefined\r\n        && result._normal.normalizeInPlace())\r\n        return result;\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy data from the given plane. */\r\n  public setFrom(source: Plane3dByOriginAndUnitNormal): void {\r\n    this.set(source._origin, source._normal);\r\n  }\r\n  /** Return the altitude of spacePoint above or below the plane.  (Below is negative) */\r\n  public altitude(spacePoint: Point3d): number {\r\n    return this._normal.dotProductStartEnd(this._origin, spacePoint);\r\n  }\r\n  /** Return the altitude of point (x,y)  given xy parts using only the xy parts of origin and unit normal */\r\n  public altitudeXY(x: number, y: number): number {\r\n    return (x - this._origin.x) * this._normal.x + (y - this._origin.y) * this._normal.y;\r\n  }\r\n  /** Return the x component of the normal used to evaluate altitude. */\r\n  public normalX(): number {\r\n    return this._normal.x;\r\n  }\r\n  /** Return the x component of the normal used to evaluate altitude. */\r\n  public normalY(): number {\r\n    return this._normal.y;\r\n  }\r\n  /** Return the z component of the normal used to evaluate altitude. */\r\n  public normalZ(): number {\r\n    return this._normal.z;\r\n  }\r\n  /** Return (a clone of) the unit normal. */\r\n  public override getUnitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return this._normal.clone(result);\r\n  }\r\n  /** Return (a clone of) the origin. */\r\n  public override getAnyPointOnPlane(result?: Point3d): Point3d {\r\n    // This function returns the plane origin. In general, a point x is on the plane if and only if (x-o).n = 0.\r\n    return this._origin.clone(result);\r\n  }\r\n  /** Return the signed altitude of weighted spacePoint above or below the plane.  (Below is negative) */\r\n  public weightedAltitude(spacePoint: Point4d): number {\r\n    return this._normal.dotProductStart3dEnd4d(this._origin, spacePoint);\r\n  }\r\n  /** Return any point at specified (signed) altitude. */\r\n  public altitudeToPoint(altitude: number, result?: Point3d): Point3d {\r\n    return this._origin.plusScaled(this._normal, altitude, result);\r\n  }\r\n  /**\r\n   * Return the dot product of spaceVector with the plane's unit normal. This tells the rate of change of altitude\r\n   * for a point moving at speed one along the spaceVector.\r\n   */\r\n  public velocityXYZ(x: number, y: number, z: number): number {\r\n    return this._normal.dotProductXYZ(x, y, z);\r\n  }\r\n  /**\r\n   * Return the dot product of spaceVector with the plane's unit normal.  This tells the rate of change of altitude\r\n   * for a point moving at speed one along the spaceVector.\r\n   */\r\n  public velocity(spaceVector: Vector3d): number {\r\n    return this._normal.dotProduct(spaceVector);\r\n  }\r\n  /** Return the altitude of a point given as separate x,y,z components. */\r\n  public altitudeXYZ(x: number, y: number, z: number): number {\r\n    return this._normal.dotProductStartEndXYZ(this._origin, x, y, z);\r\n  }\r\n  /** Return the altitude of a point given as separate x,y,z,w components. */\r\n  public altitudeXYZW(x: number, y: number, z: number, w: number): number {\r\n    return this._normal.dotProductStartEndXYZW(this._origin, x, y, z, w);\r\n  }\r\n  /** Return the projection of spacePoint onto the plane. */\r\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n    return this.projectXYZToPlane(spacePoint.x, spacePoint.y, spacePoint.z, result);\r\n  }\r\n  /** Return the projection of (x,y,z) onto the plane. */\r\n  public override projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d {\r\n    const scale = -this._normal.dotProductStartEndXYZ(this._origin, x, y, z);\r\n    return Point3d.create(x + scale * this._normal.x, y + scale * this._normal.y, z + scale * this._normal.z, result);\r\n  }\r\n  /**\r\n   * Returns true if spacePoint is within distance tolerance of the plane.\r\n   * * This logic is identical to the [[Plane3d]] method but avoids a level of function call.\r\n   */\r\n  public override isPointInPlane(spacePoint: Point3d, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n    const altitude = this._normal.dotProductStartEnd(this._origin, spacePoint);\r\n    return Math.abs(altitude) <= tolerance;\r\n  }\r\n}\r\n"]}

package/lib/cjs/geometry3d/Plane3dByOriginAndVectors.d.ts

@@ -169,9 +169,15 @@ export declare class Plane3dByOriginAndVectors extends Plane3d implements BeJSON
     weightedAltitude(xyzw: Point4d): number;
     /**
      * Return the projection of spacePoint onto the plane.
-     * If the plane is degenerate to a ray, project to the ray.
-     * If the plane is degenerate to its origin, return the point
+     * * If the plane is degenerate to a ray, project to the ray.
+     * * If the plane is degenerate to its origin, return the point.
      */
     projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d;
+    /**
+     * Return the projection of (x,y,z) onto the plane.
+     * * If the plane is degenerate to a ray, project to the ray.
+     * * If the plane is degenerate to its origin, return the point.
+     */
+    projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d;
 }
 //# sourceMappingURL=Plane3dByOriginAndVectors.d.ts.map

package/lib/cjs/geometry3d/Plane3dByOriginAndVectors.d.ts.map

@@ -1 +1 @@
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package/lib/cjs/geometry3d/Plane3dByOriginAndVectors.js

@@ -352,30 +352,38 @@ class Plane3dByOriginAndVectors extends Plane3d_1.Plane3d {
     }
     /**
      * Return the projection of spacePoint onto the plane.
-     * If the plane is degenerate to a ray, project to the ray.
-     * If the plane is degenerate to its origin, return the point
+     * * If the plane is degenerate to a ray, project to the ray.
+     * * If the plane is degenerate to its origin, return the point.
      */
     projectPointToPlane(spacePoint, result) {
+        return this.projectXYZToPlane(spacePoint.x, spacePoint.y, spacePoint.z, result);
+    }
+    /**
+     * Return the projection of (x,y,z) onto the plane.
+     * * If the plane is degenerate to a ray, project to the ray.
+     * * If the plane is degenerate to its origin, return the point.
+     */
+    projectXYZToPlane(x, y, z, result) {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         if (unitNormal !== undefined) {
-            const w = unitNormal.dotProductStartEnd(this.origin, spacePoint);
-            return spacePoint.plusScaled(unitNormal, -w, result);
+            const scale = -unitNormal.dotProductStartEndXYZ(this.origin, x, y, z);
+            return Point3dVector3d_1.Point3d.create(x + scale * unitNormal.x, y + scale * unitNormal.y, z + scale * unitNormal.z, result);
         }
-        // uh oh.   vectorU and vectorV are colinear or zero.
-        // project to ray defined by the longer one, or just to origin.
+        // vectorU and vectorV are colinear or zero.
+        // Project to ray defined by the longer one, or just to origin.
         const dotUU = this.vectorU.magnitudeSquared();
         const dotVV = this.vectorV.magnitudeSquared();
         if (dotUU >= dotVV) {
-            const dotUW = this.vectorU.dotProductStartEnd(this.origin, spacePoint);
+            const dotUW = this.vectorU.dotProductStartEndXYZ(this.origin, x, y, z);
             const f = Geometry_1.Geometry.conditionalDivideCoordinate(dotUW, dotUU, 0.0);
             if (f !== undefined)
-                return spacePoint.plusScaled(this.vectorU, f, result);
+                return Point3dVector3d_1.Point3d.create(x + f * this.vectorU.x, y + f * this.vectorU.y, z + f * this.vectorU.z, result);
         }
         else {
-            const dotVW = this.vectorV.dotProductStartEnd(this.origin, spacePoint);
+            const dotVW = this.vectorV.dotProductStartEndXYZ(this.origin, x, y, z);
             const f = Geometry_1.Geometry.conditionalDivideCoordinate(dotVW, dotVV, 0.0);
             if (f !== undefined)
-                return spacePoint.plusScaled(this.vectorV, f, result);
+                return Point3dVector3d_1.Point3d.create(x + f * this.vectorV.x, y + f * this.vectorV.y, z + f * this.vectorV.z, result);
         }
         return this.origin.clone(result);
     }