@itwin/core-geometry 3.0.0-dev.76 → 3.0.0-dev.80

package/lib/esm/geometry3d/Transform.d.ts

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+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { AxisOrder, BeJSONFunctions } from "../Geometry";
+import { Point4d } from "../geometry4d/Point4d";
+import { Matrix3d } from "./Matrix3d";
+import { Point2d } from "./Point2dVector2d";
+import { Point3d, Vector3d, XYZ } from "./Point3dVector3d";
+import { Range3d } from "./Range";
+import { TransformProps, XAndY, XYAndZ } from "./XYZProps";
+/** A transform is an origin and a Matrix3d.
+ *
+ * * This describes a coordinate frame with
+ * this origin, with the columns of the Matrix3d being the
+ * local x,y,z axis directions.
+ * *  Beware that for common transformations (e.g. scale about point,
+ * rotate around line, mirror across a plane) the "fixed point" that is used
+ * when describing the transform is NOT the "origin" stored in the transform.
+ * Setup methods (e.g createFixedPointAndMatrix, createScaleAboutPoint)
+ * take care of determining the appropriate origin coordinates.
+ * @public
+ */
+export declare class Transform implements BeJSONFunctions {
+    private static _scratchPoint;
+    private _origin;
+    private _matrix;
+    private constructor();
+    private static _identity?;
+    /** The identity Transform. Value is frozen and cannot be modified. */
+    static get identity(): Transform;
+    /** Freeze this instance (and its members) so it is read-only */
+    freeze(): Readonly<this>;
+    /**
+     * Copy contents from other Transform into this Transform
+     * @param other source transform
+     */
+    setFrom(other: Transform): void;
+    /** Set this Transform to be an identity. */
+    setIdentity(): void;
+    /** Set this Transform instance from flexible inputs:
+     * * Any object (such as another Transform) that has `origin` and `matrix` members accepted by Point3d.setFromJSON and Matrix3d.setFromJSON
+     * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.
+     * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.
+     */
+    setFromJSON(json?: TransformProps | Transform): void;
+    /**
+     * Test for near equality with other Transform.  Comparison uses the isAlmostEqual methods on
+     * the origin and matrix parts.
+     * @param other Transform to compare to.
+     */
+    isAlmostEqual(other: Transform): boolean;
+    /**
+     * Test for near equality with other Transform.  Comparison uses the isAlmostEqualAllowZRotation method of Matrix3d
+     * the origin and matrix parts.
+     * @param other Transform to compare to.
+     */
+    isAlmostEqualAllowZRotation(other: Transform): boolean;
+    /** Return a 3 by 4 matrix containing the rows of this Transform
+    * * This transform's origin is the [3] entry of the json arrays
+    */
+    toJSON(): TransformProps;
+    /** Return a 3 by 4 matrix containing the rows of this Transform
+     * * This transform's origin is the [3] entry of the json arrays
+     */
+    toRows(): number[][];
+    /** Return a new Transform initialized by `setFromJSON (json)` */
+    static fromJSON(json?: TransformProps): Transform;
+    /** Copy the contents of this transform into a new Transform (or to the result, if specified). */
+    clone(result?: Transform): Transform;
+    /** Return a copy of this Transform, modified so that its axes are rigid
+     * * The first axis direction named in axisOrder is preserved
+     * * The plane of the first and second directions is preserved, and its vector in the rigid matrix has positive dot product with the corresponding vector if the instance
+     * * The third named column is the cross product of the first and second.
+     */
+    cloneRigid(axisOrder?: AxisOrder): Transform | undefined;
+    /** Create a copy with the given origin and matrix captured as the Transform origin and Matrix3d. */
+    static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
+    /** Create a transform with complete contents given */
+    static createRowValues(qxx: number, qxy: number, qxz: number, ax: number, qyx: number, qyy: number, qyz: number, ay: number, qzx: number, qzy: number, qzz: number, az: number, result?: Transform): Transform;
+    /** Create a transform with all zeros.
+     */
+    static createZero(result?: Transform): Transform;
+    /**
+     * create a Transform with translation provided by x,y,z parts.
+     * @param x x part of translation
+     * @param y y part of translation
+     * @param z z part of translation
+     * @param result optional result
+     * @returns new or updated transform.
+     */
+    static createTranslationXYZ(x?: number, y?: number, z?: number, result?: Transform): Transform;
+    /** Create a matrix with specified translation part.
+     * @param XYZ x,y,z parts of the translation.
+     * @returns new or updated transform.
+     */
+    static createTranslation(translation: XYZ, result?: Transform): Transform;
+    /** Return a reference to the matrix within the transform.  (NOT a copy) */
+    get matrix(): Matrix3d;
+    /** Return a reference to the origin within the transform.  (NOT a copy) */
+    get origin(): XYZ;
+    /** return a (clone of) the origin part of the transform, as a Point3d */
+    getOrigin(): Point3d;
+    /** return a (clone of) the origin part of the transform, as a Vector3d */
+    getTranslation(): Vector3d;
+    /** test if the transform has 000 origin and identity Matrix3d */
+    get isIdentity(): boolean;
+    /** Return an identity transform, optionally filling existing transform.  */
+    static createIdentity(result?: Transform): Transform;
+    /** Create by directly installing origin and matrix
+     * this is a the appropriate construction when the columns of the matrix are coordinate axes of a local-to-global mapping
+     * Note there is a closely related createFixedPointAndMatrix whose point input is the fixed point of the global-to-global transformation.
+     */
+    static createOriginAndMatrix(origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform): Transform;
+    /** Create by directly installing origin and columns of the matrix
+     */
+    static createOriginAndMatrixColumns(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform): Transform;
+    /** Create by with matrix from Matrix3d.createRigidFromColumns.
+     * * Has careful logic for building up optional result without allocations.
+     */
+    static createRigidFromOriginAndColumns(origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform): Transform | undefined;
+    /** Reinitialize by directly installing origin and columns of the matrix
+     */
+    setOriginAndMatrixColumns(origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined): void;
+    /** Create a transform with the specified matrix. Compute an origin (different from the given fixedPoint)
+     * so that the fixedPoint maps back to itself.
+     */
+    static createFixedPointAndMatrix(fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
+    /** Create a transform with the specified matrix, acting on any `pointX `via
+     * `pointY = matrix * (pointX - pointA) + pointB`
+     * so that the fixedPoint maps back to itself.
+     */
+    static createMatrixPickupPutdown(matrix: Matrix3d, pointA: Point3d, pointB: Point3d, result?: Transform): Transform;
+    /** Create a Transform which leaves the fixedPoint unchanged and
+     * scales everything else around it by a single scale factor.
+     */
+    static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform;
+    /** Transform the input 2d point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyPoint2d(source: XAndY, result?: Point2d): Point2d;
+    /** Transform the input 3d point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d;
+    /** Transform the input object with x,y,z members */
+    multiplyXYAndZInPlace(point: XYAndZ): void;
+    /** Transform the input point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyXYZ(x: number, y: number, z?: number, result?: Point3d): Point3d;
+    /** Multiply a specific row of the transform times xyz. Return the (number). */
+    multiplyComponentXYZ(componentIndex: number, x: number, y: number, z?: number): number;
+    /** Multiply a specific row of the transform times (weighted!) xyzw. Return the (number). */
+    multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number;
+    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
+    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array;
+    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array;
+    /** Multiply the transposed transform (as 4x4 with 0001 row) by Point4d given as xyzw..  Return as a new point or in the pre-allocated result (if result is given) */
+    multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
+    /** for each point:  replace point by Transform*point */
+    multiplyPoint3dArrayInPlace(points: Point3d[]): void;
+    /** for each point:  replace point by Transform*point */
+    multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]): void;
+    /** Return product of the transform's inverse times a point. */
+    multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined;
+    /** Inverse transform the input homogeneous point.
+     * * Return as a new point or in the optional result.
+     * * returns undefined if the matrix part if this Transform is singular.
+     */
+    multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined;
+    /** Return product of the transform's inverse times a point (point given as x,y,z) */
+    multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined;
+    /**
+     * *  for each point:   multiply    transform * point
+     * *  if result is given, resize to match source and replace each corresponding pi
+     * *  if result is not given, return a new array.
+     */
+    multiplyInversePoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[] | undefined;
+    /**
+     * * for each point in source: multiply transformInverse * point in place in the point.
+     * * return false if not invertible.
+     */
+    multiplyInversePoint3dArrayInPlace(source: Point3d[]): boolean;
+    /**
+     * * Compute (if needed) the inverse of the matrix part, thereby ensuring inverse operations can complete.
+     * * Return true if matrix inverse completes.
+     * @param useCached If true, accept prior cached inverse if available.
+     */
+    computeCachedInverse(useCached?: boolean): boolean;
+    /**
+     * * If destination has more values than source, remove the extras.
+     * * If destination has fewer values, use the constructionFunction to create new ones.
+     * @param source array
+     * @param dest destination array, to  be modified to match source length
+     * @param constructionFunction function to call to create new entries.
+     */
+    static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number;
+    /**
+     * *  for each point:   multiply    transform * point
+     * *  if result is given, resize to match source and replace each corresponding pi
+     * *  if result is not given, return a new array.
+     */
+    multiplyPoint2dArray(source: Point2d[], result?: Point2d[]): Point2d[];
+    /**
+     * *  for each point:   multiply    transform * point
+     * *  if result is given, resize to match source and replace each corresponding pi
+     * *  if result is not given, return a new array.
+     */
+    multiplyPoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[];
+    /** Multiply the vector by the Matrix3d part of the transform.
+     *
+     * *  The transform's origin is not used.
+     * *  Return as new or result by usual optional result convention
+     */
+    multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d;
+    /** Multiply the vector (x,y,z) by the Matrix3d part of the transform.
+     *
+     * *  The transform's origin is not used.
+     * *  Return as new or result by usual optional result convention
+     */
+    multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
+    /** multiply this Transform times other Transform.
+     * ```
+     * equation
+     * \begin{matrix}
+     *    \text{`this` transform with matrix part }\bold{A}\text{ and translation }\bold{a} & \blockTransform{A}{a}\\
+     *    \text{`other` transform with matrix part }\bold{B}\text{ and translation part }\bold{b}\text{ promoted to block transform} & \blockTransform{B}{b} \\
+     * \text{product}& \blockTransform{A}{a}\blockTransform{B}{b}=\blockTransform{AB}{Ab + a}
+     * \end{matrix}
+     * ```
+     * @param other right hand transform for multiplication.
+     * @param result optional preallocated result to reuse.
+     */
+    multiplyTransformTransform(other: Transform, result?: Transform): Transform;
+    /**
+     * multiply transformA * transformB, store to calling instance.
+     * @param transformA left operand
+     * @param transformB right operand
+     */
+    setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void;
+    /** multiply this Transform times other Matrix3d, with other considered to be a Transform with 0 translation.
+     * ```
+     * equation
+     * \begin{matrix}
+     *    \text{`this` transform with matrix part }\bold{A}\text{ and translation }\bold{b} & \blockTransform{B}{b}\\
+     *    \text{`other` matrix }\bold{B}\text{ promoted to block transform} & \blockTransform{B}{0} \\
+     * \text{product}& \blockTransform{A}{a}\blockTransform{B}{0}=\blockTransform{AB}{a}
+     * \end{matrix}
+     * ```
+     * @param other right hand Matrix3d for multiplication.
+     * @param result optional preallocated result to reuse.
+     */
+    multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform;
+    /**
+     * Return the range of the transformed corners.
+     * * The 8 corners are transformed individually.
+     * * Note that if there is anything other than translation and principal axis scaling in the transform, the volume of the range rotation will increase.
+     *    * Hence to get a "tight" range on rotated geometry, a range computation must be made on the rotated geometry itself.
+     */
+    multiplyRange(range: Range3d, result?: Range3d): Range3d;
+    /**
+     * * Return a Transform which is the inverse of this transform.
+     * * Return undefined if this Transform's matrix is singular.
+     */
+    inverse(): Transform | undefined;
+    /** Initialize transforms that map each direction of a box (axis aligned) to `[0,1]`.
+     * * The corner coordinates do _not_ need to be in order in any of the x,y,z directions.
+     * * The npcToGlobalTransform (if supplied) maps 000 to the point named point000.
+     * * The npcToGlobalTransform (if supplied) maps 11 to the point named point000.
+     * * The globalToNpc transform is the inverse.
+     * @param min the "000" corner of the box
+     * @param max the "111" corner of the box
+     * @param npcToGlobal (object created by caller, re-initialized here) transform that carries 01 coordinates into the min,max box.
+     * @param globalToNpc (object created by caller, re-initialized here) transform that carries world coordinates into 01
+     */
+    static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void;
+}
+//# sourceMappingURL=Transform.d.ts.map

package/lib/esm/geometry3d/Transform.d.ts.map

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