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

package/lib/esm/geometry3d/YawPitchRollAngles.js

@@ -0,0 +1,195 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module CartesianGeometry
+ */
+import { Geometry } from "../Geometry";
+import { Angle } from "./Angle";
+import { Matrix3d } from "./Matrix3d";
+import { Point3d } from "./Point3dVector3d";
+// cspell:word Tait
+/** Three angles that determine the orientation of an object in space. Sometimes referred to as [Tait–Bryan angles](https://en.wikipedia.org/wiki/Euler_angles).
+ * * The matrix construction can be replicated by this logic:
+ * * xyz coordinates have
+ *   * x forward
+ *   * y to left
+ *   * z up
+ *   * Note that this is a right handed coordinate system.
+ *   * yaw is a rotation of x towards y, i.e. around positive z:
+ *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`
+ *   * pitch is a rotation that raises x towards z, i.e. rotation around negative y:
+ *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`
+ *   * roll is rotation of y towards z, i.e. rotation around positive x:
+ *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`
+ *   * The YPR matrix is the product
+ *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`
+ *   * Note that this is for "column based" matrix, with vectors appearing to the right
+ *     * Hence a vector is first rotated by roll, then the pitch, finally yaw.
+ * @public
+ */
+export class YawPitchRollAngles {
+    constructor(yaw = Angle.zero(), pitch = Angle.zero(), roll = Angle.zero()) {
+        this.yaw = yaw;
+        this.pitch = pitch;
+        this.roll = roll;
+    }
+    /** Freeze this YawPitchRollAngles */
+    freeze() { this.yaw.freeze(); this.pitch.freeze(); this.roll.freeze(); return Object.freeze(this); }
+    /** constructor for YawPitchRollAngles with angles in degrees. */
+    static createDegrees(yawDegrees, pitchDegrees, rollDegrees) {
+        return new YawPitchRollAngles(Angle.createDegrees(yawDegrees), Angle.createDegrees(pitchDegrees), Angle.createDegrees(rollDegrees));
+    }
+    /** constructor for YawPitchRollAngles with angles in radians. */
+    static createRadians(yawRadians, pitchRadians, rollRadians) {
+        return new YawPitchRollAngles(Angle.createRadians(yawRadians), Angle.createRadians(pitchRadians), Angle.createRadians(rollRadians));
+    }
+    /** construct a `YawPitchRoll` object from an object with 3 named angles */
+    static fromJSON(json) {
+        json = json ? json : {};
+        return new YawPitchRollAngles(Angle.fromJSON(json.yaw), Angle.fromJSON(json.pitch), Angle.fromJSON(json.roll));
+    }
+    /** populate yaw, pitch and roll fields using `Angle.fromJSON` */
+    setFromJSON(json) {
+        json = json ? json : {};
+        this.yaw = Angle.fromJSON(json.yaw);
+        this.pitch = Angle.fromJSON(json.pitch);
+        this.roll = Angle.fromJSON(json.roll);
+    }
+    /** Convert to a JSON object of form { pitch: 20 , roll: 29.999999999999996 , yaw: 10 }. Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted. */
+    toJSON() {
+        const val = {};
+        if (!this.pitch.isAlmostZero)
+            val.pitch = this.pitch.toJSON();
+        if (!this.roll.isAlmostZero)
+            val.roll = this.roll.toJSON();
+        if (!this.yaw.isAlmostZero)
+            val.yaw = this.yaw.toJSON();
+        return val;
+    }
+    /**
+     * Install all rotations from `other` into `this`.
+     * @param other YawPitchRollAngles source
+     */
+    setFrom(other) {
+        this.yaw.setFrom(other.yaw);
+        this.pitch.setFrom(other.pitch);
+        this.roll.setFrom(other.roll);
+    }
+    /**
+     * * Compare angles between `this` and `other`.
+     * * Comparisons are via `isAlmostEqualAllowPeriodShift`.
+     * @param other YawPitchRollAngles source
+     */
+    isAlmostEqual(other) {
+        return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)
+            && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)
+            && this.roll.isAlmostEqualAllowPeriodShift(other.roll);
+    }
+    /**
+     * Make a copy of this YawPitchRollAngles.
+     */
+    clone() { return new YawPitchRollAngles(this.yaw.clone(), this.pitch.clone(), this.roll.clone()); }
+    /**
+     * Expand the angles into a (rigid rotation) matrix.
+     *
+     * * The returned matrix is "rigid" -- unit length rows and columns, and its transpose is its inverse.
+     * * The "rigid" matrix is always a right handed coordinate system.
+     * @param result optional pre-allocated `Matrix3d`
+     */
+    toMatrix3d(result) {
+        const c0 = Math.cos(this.yaw.radians);
+        const s0 = Math.sin(this.yaw.radians);
+        const c1 = Math.cos(this.pitch.radians);
+        const s1 = Math.sin(this.pitch.radians);
+        const c2 = Math.cos(this.roll.radians);
+        const s2 = Math.sin(this.roll.radians);
+        return Matrix3d.createRowValues(c0 * c1, -(s0 * c2 + c0 * s1 * s2), (s0 * s2 - c0 * s1 * c2), s0 * c1, (c0 * c2 - s0 * s1 * s2), -(c0 * s2 + s0 * s1 * c2), s1, c1 * s2, c1 * c2, result);
+    }
+    /** Return the largest angle in radians */
+    maxAbsRadians() {
+        return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);
+    }
+    /** Return the sum of the angles in squared radians */
+    sumSquaredRadians() {
+        return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);
+    }
+    /** Returns true if this rotation does nothing.
+     * * If allowPeriodShift is false, any nonzero angle is considered a non-identity
+     * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.
+     */
+    isIdentity(allowPeriodShift = true) {
+        if (allowPeriodShift)
+            return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)
+                && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)
+                && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);
+        else
+            return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)
+                && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)
+                && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);
+    }
+    /** Return the largest difference of angles (in radians) between this and other */
+    maxDiffRadians(other) {
+        return Math.max(this.yaw.radians - other.yaw.radians, this.pitch.radians - other.pitch.radians, this.roll.radians - other.roll.radians);
+    }
+    /** Return the largest angle in degrees. */
+    maxAbsDegrees() { return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }
+    /** Return the sum of squared angles in degrees. */
+    sumSquaredDegrees() { return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }
+    /** Return an object from a Transform as an origin and YawPitchRollAngles. */
+    static tryFromTransform(transform) {
+        // bundle up the transform's origin with the angle data extracted from the transform
+        return {
+            angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),
+            origin: Point3d.createFrom(transform.origin),
+        };
+    }
+    /** Attempts to create a YawPitchRollAngles object from an Matrix3d
+     * * This conversion fails if the matrix is not rigid (unit rows and columns, transpose is inverse)
+     * * In the failure case the method's return value is `undefined`.
+     * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with a set of angles.
+     */
+    static createFromMatrix3d(matrix, result) {
+        const s1 = matrix.at(2, 0);
+        const c1 = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2));
+        const pitchA = Angle.createAtan2(s1, c1); // with positive cosine
+        const pitchB = Angle.createAtan2(s1, -c1); // with negative cosine
+        const angles = result ? result : new YawPitchRollAngles(); // default undefined . . .
+        if (c1 < Geometry.smallAngleRadians) { // This is a radians test !!!
+            angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));
+            angles.pitch = pitchA;
+            angles.roll = Angle.createRadians(0.0);
+        }
+        else {
+            const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));
+            const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));
+            const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));
+            const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));
+            const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);
+            const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);
+            const absFactor = 0.95;
+            const radiansA = yprA.maxAbsRadians();
+            const radiansB = yprB.maxAbsRadians();
+            if (radiansA < absFactor * radiansB) {
+                angles.setFrom(yprA);
+            }
+            else if (radiansB < absFactor * radiansA) {
+                angles.setFrom(yprB);
+            }
+            else {
+                const sumA = yprA.sumSquaredRadians();
+                const sumB = yprB.sumSquaredRadians();
+                if (sumA <= sumB) {
+                    angles.setFrom(yprA);
+                }
+                else {
+                    angles.setFrom(yprB);
+                }
+            }
+        }
+        const matrix1 = angles.toMatrix3d();
+        return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;
+    }
+}
+//# sourceMappingURL=YawPitchRollAngles.js.map

package/lib/esm/geometry3d/YawPitchRollAngles.js.map

@@ -0,0 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/** The properties that define [[YawPitchRollAngles]]. */\r\n/**\r\n * angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n// cspell:word Tait\r\n/** Three angles that determine the orientation of an object in space. Sometimes referred to as [Tait–Bryan angles](https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n *   * Note that this is a right handed coordinate system.\r\n *   * yaw is a rotation of x towards y, i.e. around positive z:\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n *   * pitch is a rotation that raises x towards z, i.e. rotation around negative y:\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n *   * roll is rotation of y towards z, i.e. rotation around positive x:\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n *   * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n *   * Note that this is for \"column based\" matrix, with vectors appearing to the right\r\n *     * Hence a vector is first rotated by roll, then the pitch, finally yaw.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle. */\r\n  public yaw: Angle;\r\n  /** The pitch angle. */\r\n  public pitch: Angle;\r\n  /** The roll angle. */\r\n  public roll: Angle;\r\n\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> { this.yaw.freeze(); this.pitch.freeze(); this.roll.freeze(); return Object.freeze(this); }\r\n  /** constructor for YawPitchRollAngles with angles in degrees. */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createDegrees(yawDegrees), Angle.createDegrees(pitchDegrees), Angle.createDegrees(rollDegrees));\r\n  }\r\n  /** constructor for YawPitchRollAngles with angles in radians. */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(Angle.createRadians(yawRadians), Angle.createRadians(pitchRadians), Angle.createRadians(rollRadians));\r\n  }\r\n  /** construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(Angle.fromJSON(json.yaw), Angle.fromJSON(json.pitch), Angle.fromJSON(json.roll));\r\n  }\r\n  /** populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /** Convert to a JSON object of form { pitch: 20 , roll: 29.999999999999996 , yaw: 10 }. Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted. */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles) {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /**\r\n   * Make a copy of this YawPitchRollAngles.\r\n   */\r\n  public clone() { return new YawPitchRollAngles(this.yaw.clone(), this.pitch.clone(), this.roll.clone()); }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   *\r\n   * * The returned matrix is \"rigid\" -- unit length rows and columns, and its transpose is its inverse.\r\n   * * The \"rigid\" matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d) {\r\n    const c0 = Math.cos(this.yaw.radians);\r\n    const s0 = Math.sin(this.yaw.radians);\r\n    const c1 = Math.cos(this.pitch.radians);\r\n    const s1 = Math.sin(this.pitch.radians);\r\n    const c2 = Math.cos(this.roll.radians);\r\n    const s2 = Math.sin(this.roll.radians);\r\n    return Matrix3d.createRowValues(c0 * c1, -(s0 * c2 + c0 * s1 * s2), (s0 * s2 - c0 * s1 * c2), s0 * c1, (c0 * c2 - s0 * s1 * s2), -(c0 * s2 + s0 * s1 * c2), s1, c1 * s2, c1 * c2, result);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(this.yaw.radians - other.yaw.radians, this.pitch.radians - other.pitch.radians, this.roll.radians - other.roll.radians);\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number { return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number { return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees); }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    // bundle up the transform's origin with the angle data extracted from the transform\r\n    return {\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n      origin: Point3d.createFrom(transform.origin),\r\n    };\r\n  }\r\n  /** Attempts to create a YawPitchRollAngles object from an Matrix3d\r\n   * * This conversion fails if the matrix is not rigid (unit rows and columns, transpose is inverse)\r\n   * * In the failure case the method's return value is `undefined`.\r\n   * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with a set of angles.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    const s1 = matrix.at(2, 0);\r\n    const c1 = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2));\r\n    const pitchA = Angle.createAtan2(s1, c1); // with positive cosine\r\n    const pitchB = Angle.createAtan2(s1, -c1); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles(); // default undefined . . .\r\n    if (c1 < Geometry.smallAngleRadians) { // This is a radians test !!!\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA;\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      const absFactor = 0.95;\r\n      const radiansA = yprA.maxAbsRadians();\r\n      const radiansB = yprB.maxAbsRadians();\r\n      if (radiansA < absFactor * radiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (radiansB < absFactor * radiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.maxDiff(matrix1) < Geometry.smallAngleRadians ? angles : undefined;\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry4d/Map4d.d.ts

@@ -0,0 +1,73 @@
+/** @packageDocumentation
+ * @module Numerics
+ */
+import { BeJSONFunctions } from "../Geometry";
+import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
+import { Transform } from "../geometry3d/Transform";
+import { Matrix4d } from "./Matrix4d";
+/** Map4 carries two Matrix4d which are inverses of each other.
+ * @public
+ */
+export declare class Map4d implements BeJSONFunctions {
+    private _matrix0;
+    private _matrix1;
+    private constructor();
+    /** Return a reference to (not copy of) the "forward" Matrix4d */
+    get transform0(): Matrix4d;
+    /** Return a reference to (not copy of) the "reverse" Matrix4d */
+    get transform1(): Matrix4d;
+    /** Create a Map4d, capturing the references to the two matrices. */
+    static createRefs(matrix0: Matrix4d, matrix1: Matrix4d): Map4d;
+    /** Create an identity map. */
+    static createIdentity(): Map4d;
+    /** Create a Map4d with given transform pair.
+     * @returns undefined if the transforms are not inverses of each other.
+     */
+    static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined;
+    /**
+     * Create a mapping the scales and translates (no rotation) between boxes.
+     * @param lowA low point of box A
+     * @param highA high point of box A
+     * @param lowB low point of box B
+     * @param highB high point of box B
+     */
+    static createBoxMap(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d): Map4d | undefined;
+    /** Copy contents from another Map4d */
+    setFrom(other: Map4d): void;
+    /** Return a clone of this Map4d */
+    clone(): Map4d;
+    /** Reinitialize this Map4d as an identity. */
+    setIdentity(): void;
+    /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */
+    setFromJSON(json: any): void;
+    /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */
+    static fromJSON(json?: any): Map4d;
+    /** Return a json object `{matrix0: value0, matrix1: value1}` */
+    toJSON(): any;
+    /** Test if both matrices are almost equal to those */
+    isAlmostEqual(other: Map4d): boolean;
+    /** Create a map between a frustum and world coordinates.
+     * @param origin lower left of frustum
+     * @param uVector Vector from lower left rear to lower right rear
+     * @param vVector Vector from lower left rear to upper left rear
+     * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.
+     * @param fraction front size divided by rear size.
+     */
+    static createVectorFrustum(origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number): Map4d | undefined;
+    /** multiply this*other. The output matrices are
+     * * output matrix0 = `this.matrix0 * other.matrix0`
+     * * output matrix1 = 'other.matrix1 * this.matrix1`
+     */
+    multiplyMapMap(other: Map4d): Map4d;
+    /** Exchange the two matrices of the map. */
+    reverseInPlace(): void;
+    /** return a Map4d whose transform0 is
+     * other.transform0 * this.transform0 * other.transform1
+     */
+    sandwich0This1(other: Map4d): Map4d;
+    /** return a Map4d whose transform0 is
+     * other.transform1 * this.transform0 * other.transform0
+     */
+    sandwich1This0(other: Map4d): Map4d;
+}
+//# sourceMappingURL=Map4d.d.ts.map

package/lib/esm/geometry4d/Map4d.d.ts.map

@@ -0,0 +1 @@
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package/lib/esm/geometry4d/Map4d.js

@@ -0,0 +1,147 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module Numerics
+ */
+import { Matrix3d } from "../geometry3d/Matrix3d";
+import { Transform } from "../geometry3d/Transform";
+import { Matrix4d } from "./Matrix4d";
+/** Map4 carries two Matrix4d which are inverses of each other.
+ * @public
+ */
+export class Map4d {
+    constructor(matrix0, matrix1) {
+        this._matrix0 = matrix0;
+        this._matrix1 = matrix1;
+    }
+    /** Return a reference to (not copy of) the "forward" Matrix4d */
+    get transform0() { return this._matrix0; }
+    /** Return a reference to (not copy of) the "reverse" Matrix4d */
+    get transform1() { return this._matrix1; }
+    /** Create a Map4d, capturing the references to the two matrices. */
+    static createRefs(matrix0, matrix1) {
+        return new Map4d(matrix0, matrix1);
+    }
+    /** Create an identity map. */
+    static createIdentity() { return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity()); }
+    /** Create a Map4d with given transform pair.
+     * @returns undefined if the transforms are not inverses of each other.
+     */
+    static createTransform(transform0, transform1) {
+        if (transform1 === undefined) {
+            transform1 = transform0.inverse();
+            if (transform1 === undefined)
+                return undefined;
+        }
+        else {
+            const product = transform0.multiplyTransformTransform(transform1);
+            if (!product.isIdentity)
+                return undefined;
+        }
+        return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));
+    }
+    /**
+     * Create a mapping the scales and translates (no rotation) between boxes.
+     * @param lowA low point of box A
+     * @param highA high point of box A
+     * @param lowB low point of box B
+     * @param highB high point of box B
+     */
+    static createBoxMap(lowA, highA, lowB, highB, result) {
+        const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);
+        const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);
+        if (t0 && t1) {
+            if (result)
+                return result;
+            return new Map4d(t0, t1);
+        }
+        return undefined;
+    }
+    /** Copy contents from another Map4d */
+    setFrom(other) { this._matrix0.setFrom(other._matrix0), this._matrix1.setFrom(other._matrix1); }
+    /** Return a clone of this Map4d */
+    clone() { return new Map4d(this._matrix0.clone(), this._matrix1.clone()); }
+    /** Reinitialize this Map4d as an identity. */
+    setIdentity() { this._matrix0.setIdentity(); this._matrix1.setIdentity(); }
+    /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */
+    setFromJSON(json) {
+        if (json.matrix0 && json.matrix1) {
+            this._matrix0.setFromJSON(json.matrix0);
+            this._matrix1.setFromJSON(json.matrix1);
+        }
+        else
+            this.setIdentity();
+    }
+    /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */
+    static fromJSON(json) {
+        const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());
+        result.setFromJSON(json);
+        return result;
+    }
+    /** Return a json object `{matrix0: value0, matrix1: value1}` */
+    toJSON() { return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() }; }
+    /** Test if both matrices are almost equal to those */
+    isAlmostEqual(other) {
+        return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);
+    }
+    /** Create a map between a frustum and world coordinates.
+     * @param origin lower left of frustum
+     * @param uVector Vector from lower left rear to lower right rear
+     * @param vVector Vector from lower left rear to upper left rear
+     * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.
+     * @param fraction front size divided by rear size.
+     */
+    static createVectorFrustum(origin, uVector, vVector, wVector, fraction) {
+        fraction = Math.max(fraction, 1.0e-8);
+        const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));
+        const worldToSlab = slabToWorld.inverse();
+        if (!worldToSlab)
+            return undefined;
+        const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));
+        const slabToNPCMap = new Map4d(Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1), Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1));
+        const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);
+        /*
+        let numIdentity = 0;
+        const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);
+        if (productA.isIdentity())
+          numIdentity++;
+        const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);
+        if (productB.isIdentity())
+          numIdentity++;
+        const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);
+        if (product.isIdentity())
+          numIdentity++;
+        if (numIdentity === 3)
+            return result;
+          */
+        return result;
+    }
+    /** multiply this*other. The output matrices are
+     * * output matrix0 = `this.matrix0 * other.matrix0`
+     * * output matrix1 = 'other.matrix1 * this.matrix1`
+     */
+    multiplyMapMap(other) {
+        return new Map4d(this._matrix0.multiplyMatrixMatrix(other._matrix0), other._matrix1.multiplyMatrixMatrix(this._matrix1));
+    }
+    /** Exchange the two matrices of the map. */
+    reverseInPlace() {
+        const temp = this._matrix0;
+        this._matrix0 = this._matrix1;
+        this._matrix1 = temp;
+    }
+    /** return a Map4d whose transform0 is
+     * other.transform0 * this.transform0 * other.transform1
+     */
+    sandwich0This1(other) {
+        return new Map4d(other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)), other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)));
+    }
+    /** return a Map4d whose transform0 is
+     * other.transform1 * this.transform0 * other.transform0
+     */
+    sandwich1This0(other) {
+        return new Map4d(other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)), other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)));
+    }
+} // Map4d
+//# sourceMappingURL=Map4d.js.map

package/lib/esm/geometry4d/Map4d.js.map

@@ -0,0 +1 @@
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { BeJSONFunctions } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\n\r\n/** Map4 carries two Matrix4d which are inverses of each other.\r\n * @public\r\n */\r\nexport class Map4d implements BeJSONFunctions {\r\n  private _matrix0: Matrix4d;\r\n  private _matrix1: Matrix4d;\r\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    this._matrix0 = matrix0;\r\n    this._matrix1 = matrix1;\r\n  }\r\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\r\n  public get transform0(): Matrix4d { return this._matrix0; }\r\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\r\n  public get transform1(): Matrix4d { return this._matrix1; }\r\n  /** Create a Map4d, capturing the references to the two matrices. */\r\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    return new Map4d(matrix0, matrix1);\r\n  }\r\n  /** Create an identity map. */\r\n  public static createIdentity(): Map4d { return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity()); }\r\n  /** Create a Map4d with given transform pair.\r\n   * @returns undefined if the transforms are not inverses of each other.\r\n   */\r\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\r\n    if (transform1 === undefined) {\r\n      transform1 = transform0.inverse();\r\n      if (transform1 === undefined)\r\n        return undefined;\r\n    } else {\r\n      const product = transform0.multiplyTransformTransform(transform1);\r\n      if (!product.isIdentity)\r\n        return undefined;\r\n    }\r\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) between boxes.\r\n   * @param lowA low point of box A\r\n   * @param highA high point of box A\r\n   * @param lowB low point of box B\r\n   * @param highB high point of box B\r\n   */\r\n  public static createBoxMap(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d): Map4d | undefined {\r\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\r\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\r\n    if (t0 && t1) {\r\n      if (result)\r\n        return result;\r\n      return new Map4d(t0, t1);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy contents from another Map4d */\r\n  public setFrom(other: Map4d) { this._matrix0.setFrom(other._matrix0), this._matrix1.setFrom(other._matrix1); }\r\n  /** Return a clone of this Map4d */\r\n  public clone(): Map4d { return new Map4d(this._matrix0.clone(), this._matrix1.clone()); }\r\n  /** Reinitialize this Map4d as an identity. */\r\n  public setIdentity() { this._matrix0.setIdentity(); this._matrix1.setIdentity(); }\r\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public setFromJSON(json: any): void {\r\n    if (json.matrix0 && json.matrix1) {\r\n      this._matrix0.setFromJSON(json.matrix0);\r\n      this._matrix1.setFromJSON(json.matrix1);\r\n    } else\r\n      this.setIdentity();\r\n  }\r\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public static fromJSON(json?: any): Map4d {\r\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\r\n  public toJSON(): any { return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() }; }\r\n  /** Test if both matrices are almost equal to those */\r\n  public isAlmostEqual(other: Map4d) {\r\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\r\n  }\r\n  /** Create a map between a frustum and world coordinates.\r\n   * @param origin lower left of frustum\r\n   * @param uVector Vector from lower left rear to lower right rear\r\n   * @param vVector Vector from lower left rear to upper left rear\r\n   * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.\r\n   * @param fraction front size divided by rear size.\r\n   */\r\n  public static createVectorFrustum(origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number): Map4d | undefined {\r\n    fraction = Math.max(fraction, 1.0e-8);\r\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\r\n    const worldToSlab = slabToWorld.inverse();\r\n    if (!worldToSlab)\r\n      return undefined;\r\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\r\n    const slabToNPCMap = new Map4d(Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1), Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1));\r\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\r\n    /*\r\n    let numIdentity = 0;\r\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\r\n    if (productA.isIdentity())\r\n      numIdentity++;\r\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\r\n    if (productB.isIdentity())\r\n      numIdentity++;\r\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\r\n    if (product.isIdentity())\r\n      numIdentity++;\r\n    if (numIdentity === 3)\r\n        return result;\r\n      */\r\n    return result;\r\n  }\r\n  /** multiply this*other. The output matrices are\r\n   * * output matrix0 = `this.matrix0 * other.matrix0`\r\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\r\n   */\r\n  public multiplyMapMap(other: Map4d): Map4d {\r\n    return new Map4d(this._matrix0.multiplyMatrixMatrix(other._matrix0), other._matrix1.multiplyMatrixMatrix(this._matrix1));\r\n  }\r\n  /** Exchange the two matrices of the map. */\r\n  public reverseInPlace() {\r\n    const temp = this._matrix0;\r\n    this._matrix0 = this._matrix1;\r\n    this._matrix1 = temp;\r\n  }\r\n  /** return a Map4d whose transform0 is\r\n   * other.transform0 * this.transform0 * other.transform1\r\n   */\r\n  public sandwich0This1(other: Map4d): Map4d {\r\n    return new Map4d(other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)), other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)));\r\n  }\r\n  /** return a Map4d whose transform0 is\r\n   * other.transform1 * this.transform0 * other.transform0\r\n   */\r\n  public sandwich1This0(other: Map4d): Map4d {\r\n    return new Map4d(other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)), other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)));\r\n  }\r\n} // Map4d\r\n"]}