Abstract. The steady-state magnetosheath model has various applications for studying the plasma and magnetic field profile around the planetary magnetospheres. In particular, the magnetosheath model is analytically obtained by solving the Laplace equation for parabolic boundaries (bow shock and magnetopause). We address the question, how can we utilize the magnetosheath model by transforming into a more general, empirical, non-parabolic magnetosheath geometry? To achieve the goal, we develop the scalar-potential mapping method which provides a semi-analytic estimate of steady-state flow velocity and magnetic field in the empirical magnetosheath domain. The method makes use of a coordinate transformation from the empirical magnetosheath domain into the parabolic magnetosheath domain and evaluates a set of variables (shell variable and connector variable) to utilize the solutions of the Laplace equation obtained for the parabolic magnetosheath domain. Our model uses two invariants of transformation: the zenith angle within the magnetosheath with respect to the direction to the Sun and the ratio of the distance to the magnetopause and the thickness of magnetosheath along the magnetopause-normal direction. The use of magnetopause-normal direction makes a marked difference from the earlier model construction using the radial direction as reference. The plasma flow and magnetic field can be determined as a function of the upstream condition (flow velocity or magnetic field) in a wide range of zenith angles. The scalar-potential mapping method is computationally inexpensive, using analytic expressions as much as possible, and is applicable to various planetary magnetosheath domains.