cleanup

Author: rafalmaciag

Sources/ModelingEvolution.Drawing.Tests/Rotation3Tests.cs

@@ -76,9 +76,12 @@ public void Rotation3_FromDegrees_CreatesDegreeRotation()
     [Fact]
     public void Rotation3_FromRadians_ConvertsToInternal()
     {
-        var rotation = Rotation3<double>.FromRadians(Math.PI / 2, 0, 0);
+        var rotation = Rotation3<double>.FromRadians(
+            Radian<double>.FromRadian(Math.PI / 2),
+            Radian<double>.FromRadian(0),
+            Radian<double>.FromRadian(0));
 
-        rotation.Rx.Should().BeApproximately(90, Tolerance);
+        ((double)rotation.Rx).Should().BeApproximately(90, Tolerance);
     }
 
     [Fact]
@@ -88,9 +91,9 @@ public void Rotation3_ToRadians_ConvertsCorrectly()
 
         var (rx, ry, rz) = rotation.ToRadians();
 
-        rx.Should().BeApproximately(Math.PI / 2, Tolerance);
-        ry.Should().BeApproximately(Math.PI, Tolerance);
-        rz.Should().BeApproximately(3 * Math.PI / 2, Tolerance);
+        ((double)rx).Should().BeApproximately(Math.PI / 2, Tolerance);
+        ((double)ry).Should().BeApproximately(Math.PI, Tolerance);
+        ((double)rz).Should().BeApproximately(3 * Math.PI / 2, Tolerance);
     }
 
     #endregion
@@ -118,9 +121,9 @@ public void Rotation3_QuaternionConversion_RoundTrips()
         var quaternion = original.ToQuaternion();
         var backToRotation = Rotation3<double>.FromQuaternion(quaternion);
 
-        backToRotation.Rx.Should().BeApproximately(original.Rx, 1e-6);
-        backToRotation.Ry.Should().BeApproximately(original.Ry, 1e-6);
-        backToRotation.Rz.Should().BeApproximately(original.Rz, 1e-6);
+        ((double)backToRotation.Rx).Should().BeApproximately((double)original.Rx, 1e-6);
+        ((double)backToRotation.Ry).Should().BeApproximately((double)original.Ry, 1e-6);
+        ((double)backToRotation.Rz).Should().BeApproximately((double)original.Rz, 1e-6);
     }
 
     #endregion
@@ -230,7 +233,7 @@ public void Rotation3_Slerp_AtZero_ReturnsFirst()
 
         var result = Rotation3<double>.Slerp(a, b, 0);
 
-        result.Rx.Should().BeApproximately(0, 1e-6);
+        ((double)result.Rx).Should().BeApproximately(0, 1e-6);
     }
 
     [Fact]
@@ -241,7 +244,7 @@ public void Rotation3_Slerp_AtOne_ReturnsSecond()
 
         var result = Rotation3<double>.Slerp(a, b, 1);
 
-        result.Rx.Should().BeApproximately(90, 1e-6);
+        ((double)result.Rx).Should().BeApproximately(90, 1e-6);
     }
 
     [Fact]
@@ -252,7 +255,7 @@ public void Rotation3_Slerp_AtHalf_ReturnsMidpoint()
 
         var result = Rotation3<double>.Slerp(a, b, 0.5);
 
-        result.Rx.Should().BeApproximately(45, 1e-6);
+        ((double)result.Rx).Should().BeApproximately(45, 1e-6);
     }
 
     #endregion

Sources/ModelingEvolution.Drawing.Tests/SpeedTests.cs

@@ -11,20 +11,20 @@ public class SpeedTests
     public void From_CreatesSpeed()
     {
         var s = Speed<float>.From(10f);
-        s.Value.Should().BeApproximately(10f, Tol);
+        ((float)s).Should().BeApproximately(10f, Tol);
     }
 
     [Fact]
     public void Zero_IsZero()
     {
-        Speed<float>.Zero.Value.Should().Be(0f);
+        ((float)Speed<float>.Zero).Should().Be(0f);
     }
 
     [Fact]
     public void ImplicitConversion_FromT()
     {
         Speed<float> s = 42f;
-        s.Value.Should().BeApproximately(42f, Tol);
+        ((float)s).Should().BeApproximately(42f, Tol);
     }
 
     [Fact]
@@ -39,37 +39,37 @@ public void Addition()
     {
         var a = Speed<float>.From(10f);
         var b = Speed<float>.From(5f);
-        (a + b).Value.Should().BeApproximately(15f, Tol);
+        ((float)(a + b)).Should().BeApproximately(15f, Tol);
     }
 
     [Fact]
     public void Subtraction()
     {
         var a = Speed<float>.From(10f);
         var b = Speed<float>.From(3f);
-        (a - b).Value.Should().BeApproximately(7f, Tol);
+        ((float)(a - b)).Should().BeApproximately(7f, Tol);
     }
 
     [Fact]
     public void Negation()
     {
         var s = Speed<float>.From(10f);
-        (-s).Value.Should().BeApproximately(-10f, Tol);
+        ((float)(-s)).Should().BeApproximately(-10f, Tol);
     }
 
     [Fact]
     public void MultiplyByScalar()
     {
         var s = Speed<float>.From(5f);
-        (s * 3f).Value.Should().BeApproximately(15f, Tol);
-        (3f * s).Value.Should().BeApproximately(15f, Tol);
+        ((float)(s * 3f)).Should().BeApproximately(15f, Tol);
+        ((float)(3f * s)).Should().BeApproximately(15f, Tol);
     }
 
     [Fact]
     public void DivideByScalar()
     {
         var s = Speed<float>.From(15f);
-        (s / 3f).Value.Should().BeApproximately(5f, Tol);
+        ((float)(s / 3f)).Should().BeApproximately(5f, Tol);
     }
 
     [Fact]
@@ -90,7 +90,7 @@ public void DistanceIn_SpeedTimesTime()
     public void Abs_ReturnsPositive()
     {
         var s = Speed<float>.From(-10f);
-        s.Abs().Value.Should().BeApproximately(10f, Tol);
+        ((float)s.Abs()).Should().BeApproximately(10f, Tol);
     }
 
     [Fact]
@@ -117,7 +117,7 @@ public void Parse_RoundTrip()
     {
         var s = Speed<float>.From(42.5f);
         Speed<float>.TryParse("42.5", null, out var parsed).Should().BeTrue();
-        parsed.Value.Should().BeApproximately(42.5f, Tol);
+        ((float)parsed).Should().BeApproximately(42.5f, Tol);
     }
 
     [Fact]

Sources/ModelingEvolution.Drawing.Tests/Triangle3Tests.cs

@@ -162,8 +162,8 @@ public void Triangle3_ToPose_HorizontalTriangle_ZAxisPointsUp()
         // Check that Z-axis of pose points along (0,0,1)
         var rotation = pose.Rotation;
         // For a horizontal surface, Rx and Ry should be near 0
-        rotation.Rx.Should().BeApproximately(0, 1);
-        rotation.Ry.Should().BeApproximately(0, 1);
+        ((double)rotation.Rx).Should().BeApproximately(0, 1);
+        ((double)rotation.Ry).Should().BeApproximately(0, 1);
     }
 
     #endregion

Sources/ModelingEvolution.Drawing.Tests/Velocity3Tests.cs

@@ -20,7 +20,7 @@ public void Ctor_Components()
     public void Speed_IsMagnitude()
     {
         var v = new Velocity3<float>(3, 4, 0);
-        v.Speed.Value.Should().BeApproximately(5f, Tol);
+        ((float)v.Speed).Should().BeApproximately(5f, Tol);
     }
 
     [Fact]
@@ -80,6 +80,6 @@ public void ImplicitConversion_FromVector3()
     public void Zero_IsZero()
     {
         var v = Velocity3<float>.Zero;
-        v.Speed.Value.Should().BeApproximately(0f, Tol);
+        ((float)v.Speed).Should().BeApproximately(0f, Tol);
     }
 }

Sources/ModelingEvolution.Drawing/Degree.cs

@@ -191,15 +191,6 @@ public static implicit operator Degree<T>(Radian<T> src)
         return new Degree<T>(tmp);
     }
 
-    /// <summary>
-    /// Gets the underlying numeric value of this degree measurement.
-    /// </summary>
-    /// <returns>The numeric value in degrees.</returns>
-    public T GetValue()
-    {
-        return _val; 
-    }
-    
 
     /// <summary>
     /// Compares this degree value to another degree value.

Sources/ModelingEvolution.Drawing/Point3Converter.cs

@@ -144,9 +144,9 @@ public override Rotation3<T> Read(ref Utf8JsonReader reader, Type typeToConvert,
     public override void Write(Utf8JsonWriter writer, Rotation3<T> value, JsonSerializerOptions options)
     {
         writer.WriteStartArray();
-        WriteValue(writer, value.Rx);
-        WriteValue(writer, value.Ry);
-        WriteValue(writer, value.Rz);
+        WriteValue(writer, (T)value.Rx);
+        WriteValue(writer, (T)value.Ry);
+        WriteValue(writer, (T)value.Rz);
         writer.WriteEndArray();
     }
 }
@@ -208,9 +208,9 @@ public override void Write(Utf8JsonWriter writer, Pose3<T> value, JsonSerializer
         WriteValue(writer, value.X);
         WriteValue(writer, value.Y);
         WriteValue(writer, value.Z);
-        WriteValue(writer, value.Rx);
-        WriteValue(writer, value.Ry);
-        WriteValue(writer, value.Rz);
+        WriteValue(writer, (T)value.Rx);
+        WriteValue(writer, (T)value.Ry);
+        WriteValue(writer, (T)value.Rz);
         writer.WriteEndArray();
     }
 }

Sources/ModelingEvolution.Drawing/Pose3.cs

@@ -97,7 +97,7 @@ public T Z
     /// <summary>
     /// Gets or sets the rotation around X axis in degrees.
     /// </summary>
-    public T Rx
+    public Degree<T> Rx
     {
         readonly get => _rotation.Rx;
         set => _rotation.Rx = value;
@@ -106,7 +106,7 @@ public T Rx
     /// <summary>
     /// Gets or sets the rotation around Y axis in degrees.
     /// </summary>
-    public T Ry
+    public Degree<T> Ry
     {
         readonly get => _rotation.Ry;
         set => _rotation.Ry = value;
@@ -115,7 +115,7 @@ public T Ry
     /// <summary>
     /// Gets or sets the rotation around Z axis in degrees.
     /// </summary>
-    public T Rz
+    public Degree<T> Rz
     {
         readonly get => _rotation.Rz;
         set => _rotation.Rz = value;
@@ -217,12 +217,12 @@ public Pose3<U> Truncating<U>()
 
     /// <summary>
     /// Creates a pose from three points defining a surface plane using the right-hand rule.
-    /// Z direction is determined by (b-a) × (c-a). Reversing point order reverses Z direction.
+    /// Z direction is determined by (b-a) x (c-a). Reversing point order reverses Z direction.
     /// </summary>
     /// <param name="a">First point - becomes the origin, also defines X-axis direction with b.</param>
     /// <param name="b">Second point - defines X-axis direction from a.</param>
-    /// <param name="c">Third point - completes the plane; a→b→c order determines Z via right-hand rule.</param>
-    /// <returns>A pose where origin is at a, X-axis along a→b, Z-axis per right-hand rule.</returns>
+    /// <param name="c">Third point - completes the plane; a-b-c order determines Z via right-hand rule.</param>
+    /// <returns>A pose where origin is at a, X-axis along a-b, Z-axis per right-hand rule.</returns>
     /// <exception cref="ArgumentException">Thrown when points a, b, c are collinear.</exception>
     public static Pose3<T> FromSurface(Point3<T> a, Point3<T> b, Point3<T> c)
     {
@@ -232,7 +232,7 @@ public static Pose3<T> FromSurface(Point3<T> a, Point3<T> b, Point3<T> c)
         var ab = b - a;
         var ac = c - a;
 
-        // Plane normal via right-hand rule: Z = (b-a) × (c-a)
+        // Plane normal via right-hand rule: Z = (b-a) x (c-a)
         var zAxis = Vector3<T>.Cross(ab, ac);
         var normalLength = zAxis.Length;
 
@@ -241,10 +241,10 @@ public static Pose3<T> FromSurface(Point3<T> a, Point3<T> b, Point3<T> c)
 
         zAxis = zAxis / normalLength; // Normalize
 
-        // X-axis along edge a→b, normalized
+        // X-axis along edge a-b, normalized
         var xAxis = ab.Normalize();
 
-        // Y-axis completes right-hand system: Y = Z × X
+        // Y-axis completes right-hand system: Y = Z x X
         var yAxis = Vector3<T>.Cross(zAxis, xAxis);
 
         // Convert orthonormal basis to Euler angles (ZYX convention)
@@ -296,10 +296,10 @@ public static Pose3<T> FromSurface(Point3<T> a, Point3<T> b, Point3<T> c, Point3
         // Z-axis points toward h
         var zAxis = d > T.Zero ? normal : -normal;
 
-        // X-axis along edge a→b, normalized
+        // X-axis along edge a-b, normalized
         var xAxis = ab.Normalize();
 
-        // Y-axis completes right-hand system: Y = Z × X
+        // Y-axis completes right-hand system: Y = Z x X
         var yAxis = Vector3<T>.Cross(zAxis, xAxis);
 
         // Convert orthonormal basis to Euler angles (ZYX convention)
@@ -314,17 +314,7 @@ public static Pose3<T> FromSurface(Point3<T> a, Point3<T> b, Point3<T> c, Point3
     /// </summary>
     private static Rotation3<T> RotationFromAxes(Vector3<T> xAxis, Vector3<T> yAxis, Vector3<T> zAxis)
     {
-        // We want Rotation3 R such that R.Rotate(e_i) = axis_i
-        // This requires extracting Euler angles from the TRANSPOSE of matrix [X|Y|Z]
-        // R^T[i,j] = R[j,i], so:
-        //   R^T[0,2] = xAxis.Z
-        //   R^T[1,2] = yAxis.Z
-        //   R^T[2,2] = zAxis.Z
-        //   R^T[0,1] = xAxis.Y
-        //   R^T[0,0] = xAxis.X
-
         var one = T.One;
-        var rad2Deg = T.CreateTruncating(180) / T.Pi;
         var epsilon = T.CreateTruncating(1e-6);
 
         // Clamp to [-1, 1] to avoid NaN from asin
@@ -345,12 +335,16 @@ private static Rotation3<T> RotationFromAxes(Vector3<T> xAxis, Vector3<T> yAxis,
         }
         else
         {
-            // Gimbal lock - pitch is ±90°
+            // Gimbal lock - pitch is +/-90 deg
             rx = T.Atan2(-zAxis.Y, yAxis.Y);
             rz = T.Zero;
         }
 
-        return new Rotation3<T>(rx * rad2Deg, ry * rad2Deg, rz * rad2Deg);
+        // rx, ry, rz are in radians — convert via Radian<T> → Degree<T>
+        return new Rotation3<T>(
+            (Degree<T>)Radian<T>.FromRadian(rx),
+            (Degree<T>)Radian<T>.FromRadian(ry),
+            (Degree<T>)Radian<T>.FromRadian(rz));
     }
 
     #endregion
@@ -361,7 +355,7 @@ public static implicit operator Pose3<T>((T x, T y, T z, T rx, T ry, T rz) tuple
         new(tuple.x, tuple.y, tuple.z, tuple.rx, tuple.ry, tuple.rz);
 
     public static implicit operator (T x, T y, T z, T rx, T ry, T rz)(Pose3<T> pose) =>
-        (pose.X, pose.Y, pose.Z, pose.Rx, pose.Ry, pose.Rz);
+        (pose.X, pose.Y, pose.Z, (T)pose.Rx, (T)pose.Ry, (T)pose.Rz);
 
     /// <summary>
     /// Deconstructs into position and rotation.
@@ -380,9 +374,9 @@ public readonly void Deconstruct(out T x, out T y, out T z, out T rx, out T ry,
         x = X;
         y = Y;
         z = Z;
-        rx = Rx;
-        ry = Ry;
-        rz = Rz;
+        rx = (T)Rx;
+        ry = (T)Ry;
+        rz = (T)Rz;
     }
 
     #endregion
@@ -394,7 +388,7 @@ public readonly void Deconstruct(out T x, out T y, out T z, out T rx, out T ry,
     public override readonly int GetHashCode() => HashCode.Combine(_position, _rotation);
 
     public override readonly string ToString() =>
-        $"{{X={X}, Y={Y}, Z={Z}, Rx={Rx}, Ry={Ry}, Rz={Rz}}}";
+        $"{{X={X}, Y={Y}, Z={Z}, Rx={(T)Rx}, Ry={(T)Ry}, Rz={(T)Rz}}}";
 
     #endregion
 

Sources/ModelingEvolution.Drawing/PosePath3JsonConverter.cs

@@ -55,9 +55,9 @@ public override void Write(Utf8JsonWriter writer, PosePath3<T> value, JsonSerial
             _writeNumber(writer, pose.X);
             _writeNumber(writer, pose.Y);
             _writeNumber(writer, pose.Z);
-            _writeNumber(writer, pose.Rx);
-            _writeNumber(writer, pose.Ry);
-            _writeNumber(writer, pose.Rz);
+            _writeNumber(writer, (T)pose.Rx);
+            _writeNumber(writer, (T)pose.Ry);
+            _writeNumber(writer, (T)pose.Rz);
         }
         writer.WriteEndArray();
     }