From 4ce149568c21f27396298de7aa63fd6ba72a2bc7 Mon Sep 17 00:00:00 2001
From: lee <205592689+jkhahe72-sh3@users.noreply.github.com>
Date: Mon, 9 Mar 2026 19:56:51 +0100
Subject: [PATCH 1/2] Fix parameter naming and formatting

---
 geometry/point_to_plane_distance.py | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 geometry/point_to_plane_distance.py

diff --git a/geometry/point_to_plane_distance.py b/geometry/point_to_plane_distance.py
new file mode 100644
index 000000000000..6969803033d6
--- /dev/null
+++ b/geometry/point_to_plane_distance.py
@@ -0,0 +1,37 @@
+from math import sqrt
+
+
+def point_to_plane_distance(
+    point_x: float,
+    point_y: float,
+    point_z: float,
+    normal_x: float,
+    normal_y: float,
+    normal_z: float,
+    plane_constant: float
+) -> float:
+    """
+    Return the distance between a point (x, y, z) and the plane
+    ax + by + cz + d = 0 using the Hesse normal form.
+
+    Reference:
+    https://en.wikipedia.org/wiki/Hesse_normal_form
+
+    >>> point_to_plane_distance(1, 2, 3, 1, 0, 0, -1)
+    0.0
+    >>> point_to_plane_distance(3, 2, 1, 1, 0, 0, -1)
+    2.0
+    >>> point_to_plane_distance(1, 2, 3, 0, 0, 0, 4)
+    Traceback (most recent call last):
+        ...
+    ValueError: Normal vector cannot be zero.
+    """
+    if normal_x == 0 and normal_y == 0 and normal_z == 0:
+        raise ValueError("Normal vector cannot be zero.")
+
+    return abs(
+        normal_x * point_x
+        + normal_y * point_y
+        + normal_z * point_z
+        + plane_constant
+    ) / sqrt(normal_x**2 + normal_y**2 + normal_z**2)

From dfbde05ae16e0973c9350fb83a0a92c0e1d88ed4 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 9 Mar 2026 19:09:09 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 geometry/point_to_plane_distance.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/geometry/point_to_plane_distance.py b/geometry/point_to_plane_distance.py
index 6969803033d6..a2dbe8120dbf 100644
--- a/geometry/point_to_plane_distance.py
+++ b/geometry/point_to_plane_distance.py
@@ -8,7 +8,7 @@ def point_to_plane_distance(
     normal_x: float,
     normal_y: float,
     normal_z: float,
-    plane_constant: float
+    plane_constant: float,
 ) -> float:
     """
     Return the distance between a point (x, y, z) and the plane
@@ -30,8 +30,5 @@ def point_to_plane_distance(
         raise ValueError("Normal vector cannot be zero.")
 
     return abs(
-        normal_x * point_x
-        + normal_y * point_y
-        + normal_z * point_z
-        + plane_constant
+        normal_x * point_x + normal_y * point_y + normal_z * point_z + plane_constant
     ) / sqrt(normal_x**2 + normal_y**2 + normal_z**2)