Before revision:  We give fast and simple harmonic-based algorithms with asymptotic approximation ratios of T_{\infty^{d-1}, T_{\infty}^{d} and (1-\epsilon)3^{-d} for dD SP, dD BP and dD KS, respectively, when orthogonal rotations are allowed }  about all or a subset of axes.
After revision:  ^{d-1}, T_{\infty}^{d} and (1-\epsilon)3^{-d} for dD SP, dD BP and dD KS, respectively, when orthogonal rotations are allowed } about all or a subset of axes.