From 7be61bda794a66fb385c3428486c70971ee57ea1 Mon Sep 17 00:00:00 2001
From: ZHANG YU <182837830+xixihaha-ha@users.noreply.github.com>
Date: Tue, 3 Nov 2026 11:38:34 +0800
Subject: [PATCH] Include line moment when constructing a plane from a line and
 point

---
 spatialmath/geom3d.py          |  2 +-
 tests/test_plane_line_point.py | 26 ++++++++++++++++++++++++++
 2 files changed, 27 insertions(+), 1 deletion(-)
 mode change 100755 => 100644 spatialmath/geom3d.py
 create mode 100644 tests/test_plane_line_point.py

diff --git a/spatialmath/geom3d.py b/spatialmath/geom3d.py
old mode 100755
new mode 100644
index 84813a41..4b6c9bc4
--- a/spatialmath/geom3d.py
+++ b/spatialmath/geom3d.py
@@ -95,7 +95,7 @@ def LinePoint(cls, l: Line3, p: ArrayLike3) -> Self:
 
         :seealso: :meth:`PointNormal`  :meth:`ThreePoints`
         """
-        n = np.cross(l.w, p)
+        n = np.cross(l.w, p) - l.v
         d = np.dot(l.v, p)
 
         return cls(np.r_[n, d])
diff --git a/tests/test_plane_line_point.py b/tests/test_plane_line_point.py
new file mode 100644
index 00000000..ef880491
--- /dev/null
+++ b/tests/test_plane_line_point.py
@@ -0,0 +1,26 @@
+import numpy as np
+import pytest
+
+from spatialmath import Line3, Plane3
+
+
+@pytest.mark.parametrize(
+    "anchor,direction,point",
+    [
+        ([1, 2, 3], [1, 0, 0], [1, 4, 3]),
+        ([2, -1, 4], [1, 2, -1], [3, 2, 5]),
+        ([0, 0, 0], [0, 0, 1], [2, 3, 4]),
+    ],
+)
+@pytest.mark.parametrize("scale", [1, -2, 0.25])
+def test_line_point_plane_contains_translated_line(anchor, direction, point, scale):
+    anchor = np.asarray(anchor, dtype=float)
+    direction = np.asarray(direction, dtype=float) * scale
+    line = Line3.PointDir(anchor, direction)
+    plane = Plane3.LinePoint(line, np.asarray(point, dtype=float))
+
+    # Use the plane equation directly, independent of Plane3.contains.
+    for p in [point, anchor, anchor + direction, anchor - 3 * direction]:
+        np.testing.assert_allclose(plane.n @ p + plane.d, 0, atol=1e-12)
+    expected_normal = np.cross(direction, np.asarray(point) - anchor)
+    np.testing.assert_allclose(plane.n, expected_normal, atol=1e-12)