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

package/lib/geometry3d/Transform.js.map

@@ -1 +0,0 @@
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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 { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/** A transform is an origin and a Matrix3d.\r\n *\r\n * * This describes a coordinate frame with\r\n * this origin, with the columns of the Matrix3d being the\r\n * local x,y,z axis directions.\r\n * *  Beware that for common transformations (e.g. scale about point,\r\n * rotate around line, mirror across a plane) the \"fixed point\" that is used\r\n * when describing the transform is NOT the \"origin\" stored in the transform.\r\n * Setup methods (e.g createFixedPointAndMatrix, createScaleAboutPoint)\r\n * take care of determining the appropriate origin coordinates.\r\n * @public\r\n */\r\nexport class Transform implements BeJSONFunctions {\r\n  // static (one per class) vars for temporaries in computation.\r\n  // ASSUME any user of these vars needs them only within its own scope\r\n  // ASSUME no calls to other methods that use the same scratch.\r\n  // When Transform was in the same file with Point3d, this was initialized right here.\r\n  // But when split, there is a load order issue, so it has to be initialized at point-of-use\r\n  private static _scratchPoint: Point3d;\r\n  private _origin: XYZ;\r\n  private _matrix: Matrix3d;\r\n  // Constructor accepts and uses POINTER to content .. no copy here.\r\n  private constructor(origin: XYZ, matrix: Matrix3d) { this._origin = origin; this._matrix = matrix; }\r\n\r\n  private static _identity?: Transform;\r\n  /** The identity Transform. Value is frozen and cannot be modified. */\r\n  public static get identity(): Transform {\r\n    if (undefined === this._identity) {\r\n      this._identity = Transform.createIdentity();\r\n      this._identity.freeze();\r\n    }\r\n\r\n    return this._identity;\r\n  }\r\n  /** Freeze this instance (and its members) so it is read-only */\r\n  public freeze(): Readonly<this> { this._origin.freeze(); this._matrix.freeze(); return Object.freeze(this); }\r\n  /**\r\n   * Copy contents from other Transform into this Transform\r\n   * @param other source transform\r\n   */\r\n  public setFrom(other: Transform) { this._origin.setFrom(other._origin), this._matrix.setFrom(other._matrix); }\r\n  /** Set this Transform to be an identity. */\r\n  public setIdentity() { this._origin.setZero(); this._matrix.setIdentity(); }\r\n  /** Set this Transform instance from flexible inputs:\r\n   * * Any object (such as another Transform) that has `origin` and `matrix` members accepted by Point3d.setFromJSON and Matrix3d.setFromJSON\r\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\r\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\r\n   */\r\n  public setFromJSON(json?: TransformProps | Transform): void {\r\n    if (json) {\r\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\r\n        this._origin.setFromJSON((json as any).origin);\r\n        this._matrix.setFromJSON((json as any).matrix);\r\n        return;\r\n      }\r\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\r\n        const data = json as number[][];\r\n        this._matrix.setRowValues(\r\n          data[0][0], data[0][1], data[0][2],\r\n          data[1][0], data[1][1], data[1][2],\r\n          data[2][0], data[2][1], data[2][2]);\r\n        this._origin.set(data[0][3], data[1][3], data[2][3]);\r\n        return;\r\n      }\r\n      if (Geometry.isNumberArray(json, 12)) {\r\n        const data = json as number[];\r\n        this._matrix.setRowValues(\r\n          data[0], data[1], data[2],\r\n          data[4], data[5], data[6],\r\n          data[8], data[9], data[10]);\r\n        this._origin.set(data[3], data[7], data[11]);\r\n        return;\r\n      }\r\n    }\r\n    this.setIdentity();\r\n  }\r\n  /**\r\n   * Test for near equality with other Transform.  Comparison uses the isAlmostEqual methods on\r\n   * the origin and matrix parts.\r\n   * @param other Transform to compare to.\r\n   */\r\n  public isAlmostEqual(other: Transform): boolean { return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqual(other._matrix); }\r\n\r\n  /**\r\n   * Test for near equality with other Transform.  Comparison uses the isAlmostEqualAllowZRotation method of Matrix3d\r\n   * the origin and matrix parts.\r\n   * @param other Transform to compare to.\r\n   */\r\n   public isAlmostEqualAllowZRotation(other: Transform): boolean { return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix); }\r\n\r\n   /** Return a 3 by 4 matrix containing the rows of this Transform\r\n   * * This transform's origin is the [3] entry of the json arrays\r\n   */\r\n  public toJSON(): TransformProps {\r\n    return this.toRows();\r\n  }\r\n\r\n  /** Return a 3 by 4 matrix containing the rows of this Transform\r\n   * * This transform's origin is the [3] entry of the json arrays\r\n   */\r\n  public toRows(): number[][] {\r\n    return [\r\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\r\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\r\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\r\n    ];\r\n  }\r\n\r\n  /** Return a new Transform initialized by `setFromJSON (json)` */\r\n  public static fromJSON(json?: TransformProps): Transform {\r\n    const result = Transform.createIdentity();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Copy the contents of this transform into a new Transform (or to the result, if specified). */\r\n  public clone(result?: Transform): Transform {\r\n    if (result) {\r\n      result._matrix.setFrom(this._matrix);\r\n      result._origin.setFrom(this._origin);\r\n      return result;\r\n    }\r\n    return new Transform(\r\n      Point3d.createFrom(this._origin),\r\n      this._matrix.clone());\r\n  }\r\n  /** Return a copy of this Transform, modified so that its axes are rigid\r\n   * * The first axis direction named in axisOrder is preserved\r\n   * * 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\r\n   * * The third named column is the cross product of the first and second.\r\n   */\r\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\r\n    const axes0 = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\r\n    if (!axes0)\r\n      return undefined;\r\n    return new Transform(this.origin.cloneAsPoint3d(), axes0);\r\n  }\r\n  /** Create a copy with the given origin and matrix captured as the Transform origin and Matrix3d. */\r\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n    if (!origin)\r\n      origin = Point3d.createZero();\r\n    if (result) {\r\n      result._origin = origin;\r\n      result._matrix = matrix;\r\n      return result;\r\n    }\r\n    return new Transform(origin, matrix);\r\n  }\r\n  /** Create a transform with complete contents given */\r\n  public static createRowValues(\r\n    qxx: number, qxy: number, qxz: number, ax: number,\r\n    qyx: number, qyy: number, qyz: number, ay: number,\r\n    qzx: number, qzy: number, qzz: number, az: number,\r\n    result?: Transform): Transform {\r\n    if (result) {\r\n      result._origin.set(ax, ay, az);\r\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\r\n      return result;\r\n    }\r\n    return new Transform(Point3d.create(ax, ay, az), Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz));\r\n  }\r\n  /** Create a transform with all zeros.\r\n   */\r\n  public static createZero(result?: Transform): Transform {\r\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\r\n  }\r\n\r\n  /**\r\n   * create a Transform with translation provided by x,y,z parts.\r\n   * @param x x part of translation\r\n   * @param y y part of translation\r\n   * @param z z part of translation\r\n   * @param result optional result\r\n   * @returns new or updated transform.\r\n   */\r\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\r\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\r\n  }\r\n  /** Create a matrix with specified translation part.\r\n   * @param XYZ x,y,z parts of the translation.\r\n   * @returns new or updated transform.\r\n   */\r\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\r\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\r\n  }\r\n\r\n  /** Return a reference to the matrix within the transform.  (NOT a copy) */\r\n  public get matrix(): Matrix3d { return this._matrix; }\r\n  /** Return a reference to the origin within the transform.  (NOT a copy) */\r\n  public get origin(): XYZ { return this._origin; }\r\n\r\n  /** return a (clone of) the origin part of the transform, as a Point3d */\r\n  public getOrigin(): Point3d { return Point3d.createFrom(this._origin); }\r\n\r\n  /** return a (clone of) the origin part of the transform, as a Vector3d */\r\n  public getTranslation(): Vector3d { return Vector3d.createFrom(this._origin); }\r\n\r\n  /** test if the transform has 000 origin and identity Matrix3d */\r\n  public get isIdentity(): boolean {\r\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\r\n  }\r\n  /** Return an identity transform, optionally filling existing transform.  */\r\n  public static createIdentity(result?: Transform): Transform {\r\n    if (result) {\r\n      result._origin.setZero();\r\n      result._matrix.setIdentity();\r\n      return result;\r\n    }\r\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\r\n  }\r\n  /** Create by directly installing origin and matrix\r\n   * this is a the appropriate construction when the columns of the matrix are coordinate axes of a local-to-global mapping\r\n   * Note there is a closely related createFixedPointAndMatrix whose point input is the fixed point of the global-to-global transformation.\r\n   */\r\n  public static createOriginAndMatrix(origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform): Transform {\r\n    if (result) {\r\n      result._origin.setFromPoint3d(origin);\r\n      result._matrix.setFrom(matrix);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(\r\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\r\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(), result);\r\n  }\r\n  /** Create by directly installing origin and columns of the matrix\r\n   */\r\n  public static createOriginAndMatrixColumns(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform): Transform {\r\n    if (result)\r\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\r\n    else\r\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\r\n    return result;\r\n  }\r\n  /** Create by with matrix from Matrix3d.createRigidFromColumns.\r\n   * * Has careful logic for building up optional result without allocations.\r\n   */\r\n  public static createRigidFromOriginAndColumns(origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform): Transform | undefined {\r\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder,\r\n      result ? result._matrix : undefined);\r\n    if (!matrix)\r\n      return undefined;\r\n    if (result) {\r\n      // The matrix was already defined !!!\r\n      result._origin.setFrom(origin);\r\n      return result;\r\n    }\r\n    // cleanly capture the matrix and then the point ..\r\n    result = Transform.createRefs(undefined, matrix);\r\n    result._origin.setFromPoint3d(origin);\r\n    return result;\r\n  }\r\n\r\n  /** Reinitialize by directly installing origin and columns of the matrix\r\n   */\r\n  public setOriginAndMatrixColumns(origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined) {\r\n    if (origin !== undefined)\r\n      this._origin.setFrom(origin);\r\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\r\n  }\r\n\r\n  /** Create a transform with the specified matrix. Compute an origin (different from the given fixedPoint)\r\n   * so that the fixedPoint maps back to itself.\r\n   */\r\n  public static createFixedPointAndMatrix(fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n    if (fixedPoint) {\r\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n      return Transform.createRefs(origin, matrix.clone(), result);\r\n    }\r\n    return Transform.createRefs(undefined, matrix.clone());\r\n  }\r\n  /** Create a transform with the specified matrix, acting on any `pointX `via\r\n   * `pointY = matrix * (pointX - pointA) + pointB`\r\n   * so that the fixedPoint maps back to itself.\r\n   */\r\n  public static createMatrixPickupPutdown(matrix: Matrix3d, pointA: Point3d, pointB: Point3d, result?: Transform): Transform {\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(pointB, matrix, pointA);\r\n    return Transform.createRefs(origin, matrix.clone(), result);\r\n  }\r\n\r\n  /** Create a Transform which leaves the fixedPoint unchanged and\r\n   * scales everything else around it by a single scale factor.\r\n   */\r\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\r\n    const matrix = Matrix3d.createScale(scale, scale, scale);\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n    return Transform.createRefs(origin, matrix, result);\r\n  }\r\n\r\n  /** Transform the input 2d point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyPoint2d(source: XAndY, result?: Point2d): Point2d {\r\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, source, result);\r\n  }\r\n\r\n  /** Transform the input 3d point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\r\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\r\n  }\r\n\r\n  /** Transform the input object with x,y,z members */\r\n  public multiplyXYAndZInPlace(point: XYAndZ) {\r\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\r\n  }\r\n\r\n  /** Transform the input point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /** Multiply a specific row of the transform times xyz. Return the (number). */\r\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\r\n    const coffs = this._matrix.coffs;\r\n    const i0 = 3 * componentIndex;\r\n    return this.origin.at(componentIndex) + coffs[i0] * x + coffs[i0 + 1] * y + coffs[i0 + 2] * z;\r\n  }\r\n  /** Multiply a specific row of the transform times (weighted!) xyzw. Return the (number). */\r\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\r\n    const coffs = this._matrix.coffs;\r\n    const i0 = 3 * componentIndex;\r\n    return this.origin.at(componentIndex) * w +\r\n      coffs[i0] * x + coffs[i0 + 1] * y + coffs[i0 + 2] * z;\r\n  }\r\n\r\n  /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n  /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n\r\n  /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */\r\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /** 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) */\r\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    const coffs = this._matrix.coffs;\r\n    const origin = this._origin;\r\n    return Point4d.create(\r\n      x * coffs[0] + y * coffs[3] + z * coffs[6],\r\n      x * coffs[1] + y * coffs[4] + z * coffs[7],\r\n      x * coffs[2] + y * coffs[5] + z * coffs[8],\r\n      x * origin.x + y * origin.y + z * origin.z + w,\r\n      result);\r\n  }\r\n\r\n  /** for each point:  replace point by Transform*point */\r\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\r\n    let point;\r\n    for (point of points)\r\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\r\n  }\r\n\r\n  /** for each point:  replace point by Transform*point */\r\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\r\n    for (const chain of chains)\r\n      this.multiplyPoint3dArrayInPlace(chain);\r\n  }\r\n  /** Return product of the transform's inverse times a point. */\r\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      point.x - this._origin.x,\r\n      point.y - this._origin.y,\r\n      point.z - this._origin.z,\r\n      result);\r\n  }\r\n  /** Inverse transform the input homogeneous point.\r\n   * * Return as a new point or in the optional result.\r\n   * * returns undefined if the matrix part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\r\n    const w = weightedPoint.w;\r\n    return this._matrix.multiplyInverseXYZW(\r\n      weightedPoint.x - w * this.origin.x,\r\n      weightedPoint.y - w * this.origin.y,\r\n      weightedPoint.z - w * this.origin.z,\r\n      w, result);\r\n  }\r\n\r\n  /** Return product of the transform's inverse times a point (point given as x,y,z) */\r\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      x - this._origin.x,\r\n      y - this._origin.y,\r\n      z - this._origin.z,\r\n      result);\r\n  }\r\n\r\n  /**\r\n   * *  for each point:   multiply    transform * point\r\n   * *  if result is given, resize to match source and replace each corresponding pi\r\n   * *  if result is not given, return a new array.\r\n   */\r\n  public multiplyInversePoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[] | undefined {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return undefined;\r\n    const originX = this.origin.x;\r\n    const originY = this.origin.y;\r\n    const originZ = this.origin.z;\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(source, result, Point3d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        this._matrix.multiplyInverseXYZAsPoint3d(\r\n          source[i].x - originX,\r\n          source[i].y - originY,\r\n          source[i].z - originZ,\r\n          result[i]);\r\n    }\r\n    result = [];\r\n    for (const p of source)\r\n      result.push(this._matrix.multiplyInverseXYZAsPoint3d(\r\n        p.x - originX,\r\n        p.y - originY,\r\n        p.z - originZ)!);\r\n\r\n    return result;\r\n  }\r\n  /**\r\n   * * for each point in source: multiply transformInverse * point in place in the point.\r\n   * * return false if not invertible.\r\n   */\r\n  public multiplyInversePoint3dArrayInPlace(source: Point3d[]): boolean {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return false;\r\n    const originX = this.origin.x;\r\n    const originY = this.origin.y;\r\n    const originZ = this.origin.z;\r\n    const n = source.length;\r\n    for (let i = 0; i < n; i++)\r\n      this._matrix.multiplyInverseXYZAsPoint3d(\r\n        source[i].x - originX,\r\n        source[i].y - originY,\r\n        source[i].z - originZ,\r\n        source[i]);\r\n    return true;\r\n  }\r\n  /**\r\n   * * Compute (if needed) the inverse of the matrix part, thereby ensuring inverse operations can complete.\r\n   * * Return true if matrix inverse completes.\r\n   * @param useCached If true, accept prior cached inverse if available.\r\n   */\r\n  public computeCachedInverse(useCached: boolean = true): boolean {\r\n    return this._matrix.computeCachedInverse(useCached);\r\n  }\r\n  /**\r\n   * * If destination has more values than source, remove the extras.\r\n   * * If destination has fewer values, use the constructionFunction to create new ones.\r\n   * @param source array\r\n   * @param dest destination array, to  be modified to match source length\r\n   * @param constructionFunction function to call to create new entries.\r\n   */\r\n  // modify destination so it has non-null points for the same length as the source.\r\n  // (ASSUME existing elements of dest are non-null, and that parameters are given as either Point2d or Point3d arrays)\r\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\r\n    const numSource = source.length;\r\n    const numDest = dest.length;\r\n    if (numSource > numDest) {\r\n      for (let i = numDest; i < numSource; i++) {\r\n        dest.push(constructionFunction());\r\n      }\r\n    } else if (numDest > numSource) {\r\n      dest.length = numSource;\r\n    }\r\n    return numSource;\r\n  }\r\n\r\n  /**\r\n   * *  for each point:   multiply    transform * point\r\n   * *  if result is given, resize to match source and replace each corresponding pi\r\n   * *  if result is not given, return a new array.\r\n   */\r\n  public multiplyPoint2dArray(source: Point2d[], result?: Point2d[]): Point2d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(source, result, Point2d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, source[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of source)\r\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\r\n\r\n    return result;\r\n  }\r\n  /**\r\n   * *  for each point:   multiply    transform * point\r\n   * *  if result is given, resize to match source and replace each corresponding pi\r\n   * *  if result is not given, return a new array.\r\n   */\r\n  public multiplyPoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(source, result, Point3d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, source[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of source)\r\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\r\n\r\n    return result;\r\n  }\r\n\r\n  /** Multiply the vector by the Matrix3d part of the transform.\r\n   *\r\n   * *  The transform's origin is not used.\r\n   * *  Return as new or result by usual optional result convention\r\n   */\r\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyVector(vector, result);\r\n  }\r\n  /** Multiply the vector (x,y,z) by the Matrix3d part of the transform.\r\n   *\r\n   * *  The transform's origin is not used.\r\n   * *  Return as new or result by usual optional result convention\r\n   */\r\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyXYZ(x, y, z, result);\r\n  }\r\n  /** multiply this Transform times other Transform.\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{`this` transform with matrix part }\\bold{A}\\text{ and translation }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n   *    \\text{`other` transform with matrix part }\\bold{B}\\text{ and translation part }\\bold{b}\\text{ promoted to block transform} & \\blockTransform{B}{b} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other right hand transform for multiplication.\r\n   * @param result optional preallocated result to reuse.\r\n   */\r\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\r\n        this._matrix.multiplyMatrixMatrix(other._matrix));\r\n    result.setMultiplyTransformTransform(this, other);\r\n    return result;\r\n  }\r\n  /**\r\n   * multiply transformA * transformB, store to calling instance.\r\n   * @param transformA left operand\r\n   * @param transformB right operand\r\n   */\r\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\r\n    if (Transform._scratchPoint === undefined)\r\n      Transform._scratchPoint = Point3d.create();\r\n    Matrix3d.xyzPlusMatrixTimesXYZ(transformA._origin, transformA._matrix, transformB._origin, Transform._scratchPoint);\r\n    this._origin.setFrom(Transform._scratchPoint);\r\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\r\n  }\r\n  //   [Q A][R 0] = [QR A]\r\n  //   [0 1][0 1]   [0  1]\r\n  /** multiply this Transform times other Matrix3d, with other considered to be a Transform with 0 translation.\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{`this` transform with matrix part }\\bold{A}\\text{ and translation }\\bold{b} & \\blockTransform{B}{b}\\\\\r\n   *    \\text{`other` matrix }\\bold{B}\\text{ promoted to block transform} & \\blockTransform{B}{0} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other right hand Matrix3d for multiplication.\r\n   * @param result optional preallocated result to reuse.\r\n   */\r\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        this._origin.cloneAsPoint3d(),\r\n        this._matrix.multiplyMatrixMatrix(other));\r\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\r\n    result._origin.setFrom(this._origin);\r\n    return result;\r\n  }\r\n\r\n  /**\r\n   * Return the range of the transformed corners.\r\n   * * The 8 corners are transformed individually.\r\n   * * Note that if there is anything other than translation and principal axis scaling in the transform, the volume of the range rotation will increase.\r\n   *    * Hence to get a \"tight\" range on rotated geometry, a range computation must be made on the rotated geometry itself.\r\n   */\r\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\r\n    if (range.isNull)\r\n      return range.clone(result);\r\n\r\n    // snag current values to allow aliasing.\r\n    const lowX = range.low.x;\r\n    const lowY = range.low.y;\r\n    const lowZ = range.low.z;\r\n    const highX = range.high.x;\r\n    const highY = range.high.y;\r\n    const highZ = range.high.z;\r\n    result = Range3d.createNull(result);\r\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\r\n\r\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\r\n    result.extendTransformedXYZ(this, highX, highY, highZ);\r\n    return result;\r\n  }\r\n  /**\r\n   * * Return a Transform which is the inverse of this transform.\r\n   * * Return undefined if this Transform's matrix is singular.\r\n   */\r\n  public inverse(): Transform | undefined {\r\n    const matrixInverse = this._matrix.inverse();\r\n    if (!matrixInverse)\r\n      return undefined;\r\n    return Transform.createRefs(\r\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\r\n      matrixInverse);\r\n  }\r\n  /** Initialize transforms that map each direction of a box (axis aligned) to `[0,1]`.\r\n   * * The corner coordinates do _not_ need to be in order in any of the x,y,z directions.\r\n   * * The npcToGlobalTransform (if supplied) maps 000 to the point named point000.\r\n   * * The npcToGlobalTransform (if supplied) maps 11 to the point named point000.\r\n   * * The globalToNpc transform is the inverse.\r\n   * @param min the \"000\" corner of the box\r\n   * @param max the \"111\" corner of the box\r\n   * @param npcToGlobal (object created by caller, re-initialized here) transform that carries 01 coordinates into the min,max box.\r\n   * @param globalToNpc (object created by caller, re-initialized here) transform that carries world coordinates into 01\r\n   */\r\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform) {\r\n    const diag = max.minus(min);\r\n    if (diag.x === 0.0) diag.x = 1.0;\r\n    if (diag.y === 0.0) diag.y = 1.0;\r\n    if (diag.z === 0.0) diag.z = 1.0;\r\n\r\n    const rMatrix = new Matrix3d();\r\n    if (npcToGlobal) {\r\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\r\n    }\r\n\r\n    if (globalToNpc) {\r\n      const origin = new Point3d(- min.x / diag.x, - min.y / diag.y, - min.z / diag.z);\r\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\r\n    }\r\n  }\r\n}\r\n"]}

package/lib/geometry3d/UVSurfaceOps.d.ts.map

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package/lib/geometry3d/UVSurfaceOps.js.map

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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 CartesianGeometry\r\n */\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { EllipsoidPatch } from \"./Ellipsoid\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\n/**\r\n * Support methods to act on surfaces with 0..1 uv fractional parameterization\r\n * @public\r\n */\r\nexport class UVSurfaceOps {\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n   * * point counts in each direction may be set in the optional `options` structure.\r\n   * * numU and numV are clamped at (2,500).\r\n   */\r\n  public static sampledRangeOfOffsetPatch(patch: UVSurface, offsetDistance: number | undefined, numU: number, numV: number): Range3d {\r\n    const range = Range3d.createNull();\r\n    numU = Math.ceil(Geometry.clamp(numU, 2, 500));\r\n    numV = Math.ceil(Geometry.clamp(numV, 2, 500));\r\n    const du = 1.0 / numU;\r\n    const dv = 1.0 / numV;\r\n    const xyz = Point3d.create();\r\n    const plane = Plane3dByOriginAndVectors.createXYPlane();\r\n\r\n    let u, v;\r\n    for (let j = 0; j <= numV; j++) {\r\n      v = j * dv;\r\n      for (let i = 0; i <= numU; i++) {\r\n        u = i * du;\r\n        if (offsetDistance !== undefined) {\r\n          patch.uvFractionToPointAndTangents(u, v, plane);\r\n          const unitNormal = plane.unitNormal();\r\n          if (unitNormal !== undefined) {\r\n            plane.origin.addScaledInPlace(unitNormal, offsetDistance);\r\n            range.extend(plane.origin);\r\n          }\r\n        } else {\r\n          patch.uvFractionToPoint(u, v, xyz);\r\n          range.extendXYZ(xyz.x, xyz.y, xyz.z);\r\n        }\r\n      }\r\n    }\r\n    return range;\r\n  }\r\n\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n * * point counts in each direction may be set in the optional `options` structure, with angle ranges from the ellipsoid.\r\n * * Default evaluation is at 5 degree intervals.\r\n */\r\n  public static sampledRangeOfOffsetEllipsoidPatch(patch: EllipsoidPatch, offsetDistance: number | undefined, options?: StrokeOptions): Range3d {\r\n    const numU = StrokeOptions.applyAngleTol(options, 2, patch.latitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    const numV = StrokeOptions.applyAngleTol(options, 2, patch.longitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    return this.sampledRangeOfOffsetPatch(patch, offsetDistance, numU, numV);\r\n  }\r\n\r\n  private constructor() { }  // private constructor -- no instances.\r\n  /**\r\n   * * evaluate `numEdge+1` points at surface uv parameters interpolated between (u0,v0) and (u1,v1)\r\n   * * accumulate the xyz in a linestring.\r\n   * * If xyzToUV is given, also accumulate transformed values as surfaceUV\r\n   * * use xyzToUserUV transform to convert xyz to uv stored in the linestring (this uv is typically different from surface uv -- e.g. torus cap plane coordinates)\r\n   * @param surface\r\n   * @param u0 u coordinate at start of parameter space line\r\n   * @param v0 v coordinate at end of parameter space line\r\n   * @param u1 u coordinate at start of parameter space line\r\n   * @param v1 v coordinate at end of parameter space line\r\n   * @param numEdge number of edges.   (`numEdge+1` points are evaluated)\r\n   * @param saveUV if true, save each surface uv fractions with `linestring.addUVParamsAsUV (u,v)`\r\n   * @param saveFraction if true, save each fractional coordinate (along the u,v line) with `linestring.addFraction (fraction)`\r\n   *\r\n   * @param xyzToUV\r\n   */\r\n  public static createLinestringOnUVLine(\r\n    surface: UVSurface,\r\n    u0: number,\r\n    v0: number,\r\n    u1: number,\r\n    v1: number,\r\n    numEdge: number,\r\n    saveUV: boolean = false,\r\n    saveFraction: boolean = false): LineString3d {\r\n\r\n    const ls = LineString3d.create();\r\n    const xyz = Point3d.create();\r\n    let fraction, u, v;\r\n    const numEvaluate = numEdge + 1;\r\n    for (let i = 0; i < numEvaluate; i++) {\r\n      fraction = i / numEdge;\r\n      u = Geometry.interpolate(u0, fraction, u1);\r\n      v = Geometry.interpolate(v0, fraction, v1);\r\n      surface.uvFractionToPoint(u, v, xyz);\r\n      ls.addPoint(xyz);\r\n      if (saveUV)\r\n        ls.addUVParamAsUV(u, v);\r\n      if (saveFraction)\r\n        ls.addFraction(fraction);\r\n    }\r\n    return ls;\r\n  }\r\n}\r\n"]}

package/lib/geometry3d/XYZProps.d.ts.map

@@ -1 +0,0 @@
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package/lib/geometry3d/XYZProps.js.map

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package/lib/geometry3d/YawPitchRollAngles.d.ts.map

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package/lib/geometry3d/YawPitchRollAngles.js.map

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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/geometry4d/Map4d.d.ts.map

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package/lib/geometry4d/Map4d.js.map

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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"]}

package/lib/geometry4d/Matrix4d.d.ts.map

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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/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Point4d, Point4dProps } from \"./Point4d\";\r\n\r\n/**\r\n * Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\r\n * @public\r\n */\r\nexport type Matrix4dProps = Point4dProps[];\r\n\r\n/**\r\n * * A Matrix4d is a matrix with 4 rows and 4 columns.\r\n * * The 4 rows may be described as the x,y,z,w rows.\r\n * * The 4 columns may be described as the x,y,z,w columns.\r\n * * The matrix is physically stored as a Float64Array with 16 numbers.\r\n * * The layout in the Float64Array is \"by row\"\r\n *   * indices 0,1,2,3 are the \"x row\".   They may be called the xx,xy,xz,xw entries\r\n *   * indices 4,5,6,7 are the \"y row\"    They may be called the yx,yy,yz,yw entries\r\n *   * indices 8,9,10,11 are the \"z row\"  They may be called the zx,zy,zz,zw entries\r\n *   * indices 12,13,14,15 are the \"w row\".  They may be called the wx,wy,wz,ww entries\r\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\r\n *  * The upper right 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\r\n *  * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\r\n * @public\r\n */\r\nexport class Matrix4d implements BeJSONFunctions {\r\n  private _coffs: Float64Array;\r\n  private constructor() { this._coffs = new Float64Array(16); }\r\n  /** Copy matrix entries from `other` */\r\n  public setFrom(other: Matrix4d): void {\r\n    for (let i = 0; i < 16; i++)\r\n      this._coffs[i] = other._coffs[i];\r\n  }\r\n  /** Return a deep clone. */\r\n  public clone(result?: Matrix4d): Matrix4d {\r\n    if (result === this)\r\n      return this;\r\n    if (result === undefined)\r\n      result = new Matrix4d();\r\n    for (let i = 0; i < 16; i++)\r\n      result._coffs[i] = this._coffs[i];\r\n    return result;\r\n  }\r\n  /** zero this matrix4d in place. */\r\n  public setZero(): void {\r\n    for (let i = 0; i < 16; i++)\r\n      this._coffs[i] = 0;\r\n  }\r\n  /** set to identity. */\r\n  public setIdentity(): void {\r\n    for (let i = 0; i < 16; i++)\r\n      this._coffs[i] = 0;\r\n    this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\r\n  }\r\n  private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\r\n    return Math.abs(a - 1.0) <= tol\r\n      && Math.abs(b) <= tol\r\n      && Math.abs(c) <= tol\r\n      && Math.abs(d) <= tol;\r\n  }\r\n  /** set to identity. */\r\n  public isIdentity(tol: number = 1.0e-10): boolean {\r\n    return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\r\n      && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\r\n      && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\r\n      && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\r\n  }\r\n  /** create a Matrix4d filled with zeros. */\r\n  public static createZero(result?: Matrix4d): Matrix4d {\r\n    if (result) {\r\n      result.setZero();\r\n      return result;\r\n    }\r\n    return new Matrix4d(); // this is zero.\r\n  }\r\n  /** create a Matrix4d with values supplied \"across the rows\" */\r\n  public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\r\n    result = result ? result : new Matrix4d();\r\n    result._coffs[0] = cxx;\r\n    result._coffs[1] = cxy;\r\n    result._coffs[2] = cxz;\r\n    result._coffs[3] = cxw;\r\n    result._coffs[4] = cyx;\r\n    result._coffs[5] = cyy;\r\n    result._coffs[6] = cyz;\r\n    result._coffs[7] = cyw;\r\n    result._coffs[8] = czx;\r\n    result._coffs[9] = czy;\r\n    result._coffs[10] = czz;\r\n    result._coffs[11] = czw;\r\n    result._coffs[12] = cwx;\r\n    result._coffs[13] = cwy;\r\n    result._coffs[14] = cwz;\r\n    result._coffs[15] = cww;\r\n    return result;\r\n  }\r\n  /** Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. */\r\n  public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\r\n    return this.createRowValues(\r\n      rowX.x, rowX.y, rowX.z, rowX.w,\r\n      rowY.x, rowY.y, rowY.z, rowY.w,\r\n      rowZ.x, rowZ.y, rowZ.z, rowZ.w,\r\n      rowW.x, rowW.y, rowW.z, rowW.w, result);\r\n  }\r\n  /** directly set columns from typical 3d data:\r\n   *\r\n   * * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\r\n   * * origin as column3, with weight 1\r\n   */\r\n  public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\r\n    this._coffs[0] = vectorX.x;\r\n    this._coffs[1] = vectorY.x;\r\n    this._coffs[2] = vectorZ.x;\r\n    this._coffs[3] = origin.x;\r\n    this._coffs[4] = vectorX.y;\r\n    this._coffs[5] = vectorY.y;\r\n    this._coffs[6] = vectorZ.y;\r\n    this._coffs[7] = origin.y;\r\n    this._coffs[8] = vectorX.z;\r\n    this._coffs[9] = vectorY.z;\r\n    this._coffs[10] = vectorZ.z;\r\n    this._coffs[11] = origin.z;\r\n    this._coffs[12] = 0.0;\r\n    this._coffs[13] = 0.0;\r\n    this._coffs[14] = 0.0;\r\n    this._coffs[15] = 1.0;\r\n  }\r\n  /** promote a transform to full Matrix4d (with 0001 in final row) */\r\n  public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\r\n    const matrix = source.matrix;\r\n    const point = source.origin;\r\n    return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\r\n  }\r\n  /** return an identity matrix. */\r\n  public static createIdentity(result?: Matrix4d): Matrix4d {\r\n    result = Matrix4d.createZero(result);\r\n    result._coffs[0] = 1.0;\r\n    result._coffs[5] = 1.0;\r\n    result._coffs[10] = 1.0;\r\n    result._coffs[15] = 1.0;\r\n    return result;\r\n  }\r\n  /** return matrix with translation directly inserted (along with 1 on diagonal) */\r\n  public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\r\n    result = Matrix4d.createZero(result);\r\n    result._coffs[0] = 1.0;\r\n    result._coffs[5] = 1.0;\r\n    result._coffs[10] = 1.0;\r\n    result._coffs[15] = 1.0;\r\n    result._coffs[3] = x;\r\n    result._coffs[7] = y;\r\n    result._coffs[11] = z;\r\n    return result;\r\n  }\r\n\r\n  /** return this matrix plus scale times matrixB. */\r\n  public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\r\n    // If result is undefined, a real clone is created.\r\n    // If result is \"this\" we get the pointer to this right back.\r\n    // If result is other, \"this\" coffs are copied.\r\n    // Then we can add matrixB.  (Which we assume is different from this?)\r\n    result = this.clone(result);\r\n    for (let i = 0; i < 16; i++)\r\n      result._coffs[i] += scale * matrixB._coffs[i];\r\n    return result;\r\n  }\r\n\r\n  /**\r\n   * Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\r\n   * @param tx x entry for translation column\r\n   * @param ty y entry for translation column\r\n   * @param tz z entry for translation column\r\n   * @param scaleX x diagonal entry\r\n   * @param scaleY y diagonal entry\r\n   * @param scaleZ z diagonal entry\r\n   * @param result optional result.\r\n   */\r\n  public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\r\n    return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) from box A to boxB\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 createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d | undefined {\r\n    const ax = highA.x - lowA.x;\r\n    const ay = highA.y - lowA.y;\r\n    const az = highA.z - lowA.z;\r\n    const bx = highB.x - lowB.x;\r\n    const by = highB.y - lowB.y;\r\n    const bz = highB.z - lowB.z;\r\n    const abx = Geometry.conditionalDivideFraction(bx, ax);\r\n    const aby = Geometry.conditionalDivideFraction(by, ay);\r\n    const abz = Geometry.conditionalDivideFraction(bz, az);\r\n    if (abx !== undefined && aby !== undefined && abz !== undefined) {\r\n      return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx * lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\r\n  public setFromJSON(json?: Matrix4dProps) {\r\n    if (Geometry.isArrayOfNumberArray(json, 4, 4))\r\n      for (let i = 0; i < 4; ++i) {\r\n        for (let j = 0; j < 4; ++j)\r\n          this._coffs[i * 4 + j] = json![i][j];\r\n      }\r\n    else\r\n      this.setZero();\r\n  }\r\n  /**\r\n   * Return the largest (absolute) difference between this and other Matrix4d.\r\n   * @param other matrix to compare to\r\n   */\r\n  public maxDiff(other: Matrix4d): number {\r\n    let a = 0.0;\r\n    for (let i = 0; i < 16; i++)\r\n      a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\r\n    return a;\r\n  }\r\n  /**\r\n   * Return the largest absolute value in the Matrix4d\r\n   */\r\n  public maxAbs(): number {\r\n    let a = 0.0;\r\n    for (let i = 0; i < 16; i++)\r\n      a = Math.max(a, Math.abs(this._coffs[i]));\r\n    return a;\r\n  }\r\n  /** Test for near-equality with `other` */\r\n  public isAlmostEqual(other: Matrix4d): boolean {\r\n    return Geometry.isSmallMetricDistance(this.maxDiff(other));\r\n  }\r\n  /** Test for exact (bitwise) equality with other. */\r\n  public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\r\n  /**\r\n   * Convert an Matrix4d to a Matrix4dProps.\r\n   */\r\n  public toJSON(): Matrix4dProps {\r\n    const value = [];\r\n    for (let i = 0; i < 4; ++i) {\r\n      const row = i * 4;\r\n      value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\r\n    }\r\n    return value;\r\n  }\r\n  /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\r\n  public static fromJSON(json?: Matrix4dProps) {\r\n    const result = new Matrix4d();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return a point with entries from positions [i0, i0+step, i0+2*step, i0+3*step].\r\n   * * There are no tests for index going out of the 0..15 range.\r\n   * * Usual uses are:\r\n   * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\r\n   * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\r\n   * * * i0 = 0, step = 5 to extract the diagonal\r\n   * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\r\n   * @param i0 start index (for 16 member array)\r\n   * @param step step between members\r\n   * @param result optional preallocated point.\r\n   */\r\n  public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\r\n    return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 * step], this._coffs[i0 + 3 * step], result);\r\n  }\r\n  /** Return column 0 as Point4d. */\r\n  public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\r\n  /** Return column 1 as Point4d. */\r\n  public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\r\n  /** Return column 2 as Point4d. */\r\n  public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\r\n  /** Return column 3 as Point4d. */\r\n  public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\r\n  /** Return row 0 as Point4d. */\r\n  public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\r\n  /** Return row 1 as Point4d. */\r\n  public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\r\n  /** Return row 2 as Point4d. */\r\n  public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\r\n  /** Return row 3 as Point4d. */\r\n  public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\r\n  /**\r\n   * Returns true if the w row has content other than [0,0,0,1]\r\n   */\r\n  public get hasPerspective(): boolean {\r\n    return this._coffs[12] !== 0.0\r\n      || this._coffs[13] !== 0.0\r\n      || this._coffs[14] !== 0.0\r\n      || this._coffs[15] !== 1.0;\r\n  }\r\n  /**\r\n   * Return a Point4d with the diagonal entries of the matrix\r\n   */\r\n  public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\r\n  /** return the weight component of this matrix */\r\n  public weight(): number { return this._coffs[15]; }\r\n  /** return the leading 3x3 matrix part of this matrix */\r\n  public matrixPart(): Matrix3d {\r\n    return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\r\n  }\r\n  /**\r\n   * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\r\n   * @return undefined if this Matrix4d has perspective effects in the w row.\r\n   */\r\n  public get asTransform(): Transform | undefined {\r\n    if (this.hasPerspective)\r\n      return undefined;\r\n    return Transform.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]);\r\n  }\r\n  /** multiply this * other. */\r\n  public multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n    for (let i0 = 0; i0 < 16; i0 += 4) {\r\n      for (let k = 0; k < 4; k++)\r\n        result._coffs[i0 + k] =\r\n          this._coffs[i0] * other._coffs[k] +\r\n          this._coffs[i0 + 1] * other._coffs[k + 4] +\r\n          this._coffs[i0 + 2] * other._coffs[k + 8] +\r\n          this._coffs[i0 + 3] * other._coffs[k + 12];\r\n    }\r\n    return result;\r\n  }\r\n  /** multiply this * transpose(other). */\r\n  public multiplyMatrixMatrixTranspose(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n    let j = 0;\r\n    for (let i0 = 0; i0 < 16; i0 += 4) {\r\n      for (let k = 0; k < 16; k += 4)\r\n        result._coffs[j++] =\r\n          this._coffs[i0] * other._coffs[k] +\r\n          this._coffs[i0 + 1] * other._coffs[k + 1] +\r\n          this._coffs[i0 + 2] * other._coffs[k + 2] +\r\n          this._coffs[i0 + 3] * other._coffs[k + 3];\r\n    }\r\n    return result;\r\n  }\r\n  /** multiply transpose (this) * other. */\r\n  public multiplyMatrixTransposeMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n    let j = 0;\r\n    for (let i0 = 0; i0 < 4; i0 += 1) {\r\n      for (let k0 = 0; k0 < 4; k0 += 1)\r\n        result._coffs[j++] =\r\n          this._coffs[i0] * other._coffs[k0] +\r\n          this._coffs[i0 + 4] * other._coffs[k0 + 4] +\r\n          this._coffs[i0 + 8] * other._coffs[k0 + 8] +\r\n          this._coffs[i0 + 12] * other._coffs[k0 + 12];\r\n    }\r\n    return result;\r\n  }\r\n  /** Return a transposed matrix. */\r\n  public cloneTransposed(result?: Matrix4d): Matrix4d {\r\n    return Matrix4d.createRowValues(this._coffs[0], this._coffs[4], this._coffs[8], this._coffs[12], this._coffs[1], this._coffs[5], this._coffs[9], this._coffs[13], this._coffs[2], this._coffs[6], this._coffs[10], this._coffs[14], this._coffs[3], this._coffs[7], this._coffs[11], this._coffs[15], result);\r\n  }\r\n  /** multiply matrix times column [x,y,z,w].  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\r\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    result = result ? result : Point4d.createZero();\r\n    return result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w, this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w);\r\n  }\r\n  /** multiply matrix times column vectors [x,y,z,w] where [x,y,z,w] appear in blocks in an array.\r\n   * replace the xyzw in the block\r\n   */\r\n  public multiplyBlockedFloat64ArrayInPlace(data: Float64Array) {\r\n    const n = data.length;\r\n    let x, y, z, w;\r\n    for (let i = 0; i + 3 < n; i += 4) {\r\n      x = data[i];\r\n      y = data[i + 1];\r\n      z = data[i + 2];\r\n      w = data[i + 3];\r\n      data[i] = this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w;\r\n      data[i + 1] = this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w;\r\n      data[i + 2] = this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w;\r\n      data[i + 3] = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\r\n    }\r\n  }\r\n  /** multiply matrix times XYAndZ  and w. return as Point4d  (And the returned value is NOT normalized down to unit w) */\r\n  public multiplyPoint3d(pt: XYAndZ, w: number, result?: Point4d): Point4d {\r\n    return this.multiplyXYZW(pt.x, pt.y, pt.z, w, result);\r\n  }\r\n  /** multiply matrix times and array  of XYAndZ. return as array of Point4d  (And the returned value is NOT normalized down to unit w) */\r\n  public multiplyPoint3dArray(pts: XYAndZ[], results: Point4d[], w: number = 1.0): void {\r\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZW(pt.x, pt.y, pt.z, w, results[i]); });\r\n  }\r\n  /** multiply [x,y,z,w] times matrix.  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\r\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    result = result ? result : Point4d.createZero();\r\n    return result.set(this._coffs[0] * x + this._coffs[4] * y + this._coffs[8] * z + this._coffs[12] * w, this._coffs[1] * x + this._coffs[5] * y + this._coffs[9] * z + this._coffs[13] * w, this._coffs[2] * x + this._coffs[6] * y + this._coffs[10] * z + this._coffs[14] * w, this._coffs[3] * x + this._coffs[7] * y + this._coffs[11] * z + this._coffs[15] * w);\r\n  }\r\n  /** Returns dot product of row rowIndex of this with column columnIndex of other.\r\n   */\r\n  public rowDotColumn(rowIndex: number, other: Matrix4d, columnIndex: number): number {\r\n    const i = rowIndex * 4;\r\n    const j = columnIndex;\r\n    return this._coffs[i] * other._coffs[j]\r\n      + this._coffs[i + 1] * other._coffs[j + 4]\r\n      + this._coffs[i + 2] * other._coffs[j + 8]\r\n      + this._coffs[i + 3] * other._coffs[j + 12];\r\n  }\r\n  /** Returns dot product of row rowIndex of this with [x y z w]\r\n   */\r\n  public rowDotXYZW(rowIndex: number, x: number, y: number, z: number, w: number): number {\r\n    const i = rowIndex * 4;\r\n    return this._coffs[i] * x\r\n      + this._coffs[i + 1] * y\r\n      + this._coffs[i + 2] * z\r\n      + this._coffs[i + 3] * w;\r\n  }\r\n\r\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\r\n   */\r\n  public rowDotRow(rowIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\r\n    const i = rowIndexThis * 4;\r\n    const j = rowIndexOther * 4;\r\n    return this._coffs[i] * other._coffs[j]\r\n      + this._coffs[i + 1] * other._coffs[j + 1]\r\n      + this._coffs[i + 2] * other._coffs[j + 2]\r\n      + this._coffs[i + 3] * other._coffs[j + 3];\r\n  }\r\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\r\n   */\r\n  public columnDotColumn(columnIndexThis: number, other: Matrix4d, columnIndexOther: number): number {\r\n    const i = columnIndexThis;\r\n    const j = columnIndexOther;\r\n    return this._coffs[i] * other._coffs[j]\r\n      + this._coffs[i + 4] * other._coffs[j + 4]\r\n      + this._coffs[i + 8] * other._coffs[j + 8]\r\n      + this._coffs[i + 12] * other._coffs[j + 12];\r\n  }\r\n  /** Returns dot product of column columnIndexThis of this with row rowIndexOther other.\r\n   */\r\n  public columnDotRow(columnIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\r\n    const i = columnIndexThis;\r\n    const j = 4 * rowIndexOther;\r\n    return this._coffs[i] * other._coffs[j]\r\n      + this._coffs[i + 4] * other._coffs[j + 1]\r\n      + this._coffs[i + 8] * other._coffs[j + 2]\r\n      + this._coffs[i + 12] * other._coffs[j + 3];\r\n  }\r\n  /** Return a matrix entry by row and column index.\r\n   */\r\n  public atIJ(rowIndex: number, columnIndex: number): number {\r\n    return this._coffs[rowIndex * 4 + columnIndex];\r\n  }\r\n\r\n  /** Set a matrix entry by row and column index.\r\n   */\r\n  public setAtIJ(rowIndex: number, columnIndex: number, value: number) {\r\n    this._coffs[rowIndex * 4 + columnIndex] = value;\r\n  }\r\n  /** multiply matrix * [x,y,z,w]. immediately renormalize to return in a Point3d.\r\n   * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\r\n   */\r\n  public multiplyXYZWQuietRenormalize(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\r\n    result = result ? result : Point3d.createZero();\r\n    result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w);\r\n    const w1 = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\r\n    const qx = Geometry.conditionalDivideCoordinate(result.x, w1);\r\n    const qy = Geometry.conditionalDivideCoordinate(result.y, w1);\r\n    const qz = Geometry.conditionalDivideCoordinate(result.z, w1);\r\n    if (qx !== undefined && qy !== undefined && qz !== undefined) {\r\n      result.x = qx;\r\n      result.y = qy;\r\n      result.z = qz;\r\n    }\r\n    return result;\r\n  }\r\n  /** multiply matrix * an array of Point4d. immediately renormalize to return in an array of Point3d. */\r\n  public multiplyPoint4dArrayQuietRenormalize(pts: Point4d[], results: Point3d[]): void {\r\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZWQuietRenormalize(pt.x, pt.y, pt.z, pt.w, results[i]); });\r\n  }\r\n  /** multiply a Point4d, return with the optional result convention. */\r\n  public multiplyPoint4d(point: Point4d, result?: Point4d): Point4d {\r\n    return this.multiplyXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\r\n  }\r\n  /** multiply a Point4d, return with the optional result convention. */\r\n  public multiplyTransposePoint4d(point: Point4d, result?: Point4d): Point4d {\r\n    return this.multiplyTransposeXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\r\n  }\r\n  /** multiply matrix * point. This produces a weighted xyzw.\r\n   * Immediately renormalize back to xyz and return (with optional result convention).\r\n   * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\r\n   */\r\n  public multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d {\r\n    return this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, result);\r\n  }\r\n  /** multiply each matrix * points[i].   This produces a weighted xyzw.\r\n   * Immediately renormalize back to xyz and replace the original point.\r\n   * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\r\n   */\r\n  public multiplyPoint3dArrayQuietNormalize(points: Point3d[]) {\r\n    points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));\r\n  }\r\n  /**\r\n   * Add the product terms [xx,xy,xz,xw, yx, yy, yz, yw, zx, zy, zz, zs, wx, wy, wz, ww] to respective entries in the matrix\r\n   * @param x x component for products\r\n   * @param y y component for products\r\n   * @param z z component for products\r\n   * @param w w component for products\r\n   */\r\n  public addMomentsInPlace(x: number, y: number, z: number, w: number) {\r\n    this._coffs[0] += x * x;\r\n    this._coffs[1] += x * y;\r\n    this._coffs[2] += x * z;\r\n    this._coffs[3] += x * w;\r\n    this._coffs[4] += y * x;\r\n    this._coffs[5] += y * y;\r\n    this._coffs[6] += y * z;\r\n    this._coffs[7] += y * w;\r\n    this._coffs[8] += z * x;\r\n    this._coffs[9] += z * y;\r\n    this._coffs[10] += z * z;\r\n    this._coffs[11] += z * w;\r\n    this._coffs[12] += w * x;\r\n    this._coffs[13] += w * y;\r\n    this._coffs[14] += w * z;\r\n    this._coffs[15] += w * w;\r\n  }\r\n  /** accumulate all coefficients of other to this. */\r\n  public addScaledInPlace(other: Matrix4d, scale: number = 1.0) {\r\n    for (let i = 0; i < 16; i++)\r\n      this._coffs[i] += scale * other._coffs[i];\r\n  }\r\n  /**\r\n   * Add scale times rowA to rowB.\r\n   * @param rowIndexA row that is not modified\r\n   * @param rowIndexB row that is modified.\r\n   * @param firstColumnIndex first column modified.  All from there to the right are updated\r\n   * @param scale scale\r\n   */\r\n  public rowOperation(rowIndexA: number, rowIndexB: number, firstColumnIndex: number, scale: number) {\r\n    if (scale === 0.0)\r\n      return;\r\n    let iA = rowIndexA * 4 + firstColumnIndex;\r\n    let iB = rowIndexB * 4 + firstColumnIndex;\r\n    for (let i = firstColumnIndex; i < 4; i++ , iA++ , iB++)\r\n      this._coffs[iB] += scale * this._coffs[iA];\r\n  }\r\n  /** Return the determinant of the matrix. */\r\n  public determinant(): number {\r\n    const c = this._coffs;\r\n    return Geometry.determinant4x4(\r\n      c[0], c[1], c[2], c[3],\r\n      c[4], c[5], c[6], c[7],\r\n      c[8], c[9], c[10], c[11],\r\n      c[12], c[13], c[14], c[15]);\r\n  }\r\n  /** Compute an inverse matrix.\r\n   * * This uses direct formulas with various determinants.\r\n   * * If result is given, it is ALWAYS filled with values \"prior to dividing by the determinant\".\r\n   * *\r\n   * @returns undefined if dividing by the determinant looks unsafe.\r\n   */\r\n  public createInverse(result?: Matrix4d): Matrix4d | undefined {\r\n    const maxAbs0 = this.maxAbs();\r\n    if (maxAbs0 === 0.0)\r\n      return undefined;\r\n    const divMaxAbs = 1.0 / maxAbs0;\r\n    const columnA = this.columnX();\r\n    const columnB = this.columnY();\r\n    const columnC = this.columnZ();\r\n    const columnD = this.columnW();\r\n    columnA.scale(divMaxAbs, columnA);\r\n    columnB.scale(divMaxAbs, columnB);\r\n    columnC.scale(divMaxAbs, columnC);\r\n    columnD.scale(divMaxAbs, columnD);\r\n    const rowBCD = Point4d.perpendicularPoint4dPlane(columnB, columnC, columnD);\r\n    const rowCDA = Point4d.perpendicularPoint4dPlane(columnA, columnD, columnC);  // order for negation !\r\n    const rowDAB = Point4d.perpendicularPoint4dPlane(columnD, columnA, columnB);\r\n    const rowABC = Point4d.perpendicularPoint4dPlane(columnC, columnB, columnA); // order for negation !\r\n    // The matrix is singular if the determinant is zero.\r\n    // But what is the proper tolerance for zero?\r\n    // The row values are generally cubes of entries. And the typical perspective matrix\r\n    //    has very different magnitudes in various parts.  So a typical cube size is really hard.\r\n    // Compute 4 different determinants.  They should match.\r\n    // If they are near zero, maybe a sign change is a red flag for singular case.\r\n    // (And there's a lot less work to do that than was done to make the rows)\r\n    result = Matrix4d.createRows(rowBCD, rowCDA, rowDAB, rowABC, result);\r\n    const determinantA = rowBCD.dotProduct(columnA);\r\n    const determinantB = rowCDA.dotProduct(columnB);\r\n    const determinantC = rowDAB.dotProduct(columnC);\r\n    const determinantD = rowABC.dotProduct(columnD);\r\n    const maxAbs1 = result.maxAbs();\r\n    if (determinantA * determinantB > 0.0\r\n      && determinantA * determinantC > 0.0\r\n      && determinantA * determinantD > 0.0) {\r\n      const divisionTest = Geometry.conditionalDivideCoordinate(maxAbs1, determinantA);\r\n      if (divisionTest !== undefined) {\r\n        const b = divMaxAbs / determinantA;\r\n        result.scaleRowsInPlace(b, b, b, b);\r\n        return result;\r\n      }\r\n    } else {\r\n      return undefined; // this is a useful spot to break to see if the 4 determinant test is effective.\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Returns an array-of-arrays of the matrix rows, optionally passing each value through a function.\r\n   * @param f optional function to provide alternate values for each entry (e.g. force fuzz to zero.)\r\n   */\r\n  public rowArrays(f?: (value: number) => any): any {\r\n    if (f)\r\n      return [\r\n        [f(this._coffs[0]), f(this._coffs[1]), f(this._coffs[2]), f(this._coffs[3])],\r\n        [f(this._coffs[4]), f(this._coffs[5]), f(this._coffs[6]), f(this._coffs[7])],\r\n        [f(this._coffs[8]), f(this._coffs[9]), f(this._coffs[10]), f(this._coffs[11])],\r\n        [f(this._coffs[12]), f(this._coffs[13]), f(this._coffs[14]), f(this._coffs[15])]];\r\n    else\r\n      return [\r\n        [this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3]],\r\n        [this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7]],\r\n        [this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]],\r\n        [this._coffs[12], this._coffs[13], this._coffs[14], this._coffs[15]]];\r\n  }\r\n  /**\r\n   * Scale each row by respective scale factors.\r\n   * @param ax scale factor for row 0\r\n   * @param ay scale factor for row 1\r\n   * @param az scale factor for row 2\r\n   * @param aw scale factor for row 3\r\n   */\r\n  public scaleRowsInPlace(ax: number, ay: number, az: number, aw: number) {\r\n    for (let i = 0; i < 4; i++)\r\n      this._coffs[i] *= ax;\r\n    for (let i = 4; i < 8; i++)\r\n      this._coffs[i] *= ay;\r\n    for (let i = 8; i < 12; i++)\r\n      this._coffs[i] *= az;\r\n    for (let i = 12; i < 16; i++)\r\n      this._coffs[i] *= aw;\r\n  }\r\n  /**\r\n   * add an outer product (single column times single row times scale factor) to this matrix.\r\n   * @param vectorU column vector\r\n   * @param vectorV row vector\r\n   * @param scale scale factor\r\n   */\r\n  public addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number) {\r\n    let a = vectorU.x * scale;\r\n    this._coffs[0] += a * vectorV.x;\r\n    this._coffs[1] += a * vectorV.y;\r\n    this._coffs[2] += a * vectorV.z;\r\n    this._coffs[3] += a * vectorV.w;\r\n\r\n    a = vectorU.y * scale;\r\n    this._coffs[4] += a * vectorV.x;\r\n    this._coffs[5] += a * vectorV.y;\r\n    this._coffs[6] += a * vectorV.z;\r\n    this._coffs[7] += a * vectorV.w;\r\n\r\n    a = vectorU.z * scale;\r\n    this._coffs[8] += a * vectorV.x;\r\n    this._coffs[9] += a * vectorV.y;\r\n    this._coffs[10] += a * vectorV.z;\r\n    this._coffs[11] += a * vectorV.w;\r\n\r\n    a = vectorU.w * scale;\r\n    this._coffs[12] += a * vectorV.x;\r\n    this._coffs[13] += a * vectorV.y;\r\n    this._coffs[14] += a * vectorV.z;\r\n    this._coffs[15] += a * vectorV.w;\r\n  }\r\n  /**\r\n   * ADD (n place) scale*A*B*AT where\r\n   * * A is a pure translation with final column [x,y,z,1]\r\n   * * B is the given `matrixB`\r\n   * * AT is the transpose of A.\r\n   * * scale is a multiplier.\r\n   * @param matrixB the middle matrix.\r\n   * @param ax x part of translation\r\n   * @param ay y part of translation\r\n   * @param az z part of translation\r\n   * @param scale scale factor for entire product\r\n   */\r\n  public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\r\n    const bx = matrixB._coffs[3];\r\n    const by = matrixB._coffs[7];\r\n    const bz = matrixB._coffs[11];\r\n    // matrixB can be non-symmetric!!\r\n    const cx = matrixB._coffs[12];\r\n    const cy = matrixB._coffs[13];\r\n    const cz = matrixB._coffs[14];\r\n\r\n    const beta = matrixB._coffs[15];\r\n    const axBeta = ax * beta;\r\n    const ayBeta = ay * beta;\r\n    const azBeta = az * beta;\r\n    this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\r\n    this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\r\n    this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\r\n    this._coffs[3] += scale * (bx + axBeta);\r\n\r\n    this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\r\n    this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\r\n    this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\r\n    this._coffs[7] += scale * (by + ayBeta);\r\n\r\n    this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\r\n    this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\r\n    this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\r\n    this._coffs[11] += scale * (bz + azBeta);\r\n\r\n    this._coffs[12] += scale * (cx + axBeta);\r\n    this._coffs[13] += scale * (cy + ayBeta);\r\n    this._coffs[14] += scale * (cz + azBeta);\r\n    this._coffs[15] += scale * beta;\r\n  }\r\n  /**\r\n   * Multiply and replace contents of this matrix by A*this*AT where\r\n   * * A is a pure translation with final column [x,y,z,1]\r\n   * * this is this matrix.\r\n   * * AT is the transpose of A.\r\n   * * scale is a multiplier.\r\n   * @param matrixB the middle matrix.\r\n   * @param ax x part of translation\r\n   * @param ay y part of translation\r\n   * @param az z part of translation\r\n   * @param scale scale factor for entire product\r\n   */\r\n  public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) {\r\n    const bx = this._coffs[3];\r\n    const by = this._coffs[7];\r\n    const bz = this._coffs[11];\r\n    // matrixB can be non-symmetric!!\r\n    const cx = this._coffs[12];\r\n    const cy = this._coffs[13];\r\n    const cz = this._coffs[14];\r\n\r\n    const beta = this._coffs[15];\r\n    const axBeta = ax * beta;\r\n    const ayBeta = ay * beta;\r\n    const azBeta = az * beta;\r\n    this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\r\n    this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\r\n    this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\r\n    this._coffs[3] += axBeta;\r\n\r\n    this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\r\n    this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\r\n    this._coffs[6] += (az * by + cz * ay + ay * azBeta);\r\n    this._coffs[7] += ayBeta;\r\n\r\n    this._coffs[8] += (ax * bz + cx * az + az * axBeta);\r\n    this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\r\n    this._coffs[10] += (az * bz + cz * az + az * azBeta);\r\n    this._coffs[11] += azBeta;\r\n\r\n    this._coffs[12] += axBeta;\r\n    this._coffs[13] += ayBeta;\r\n    this._coffs[14] += azBeta;\r\n    // coffs[15] is unchanged !!!\r\n  }\r\n}\r\n"]}

package/lib/geometry4d/MomentData.d.ts.map

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package/lib/geometry4d/MomentData.js.map

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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 Numerics\r\n */\r\n\r\n// import { Point2d } from \"./Geometry2d\";\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A MomentData structure exists in several levels:\r\n * * First level: as a carrier of sums of inertial products that determine moments.\r\n *   * origin = local origin used as moments are summed.\r\n *   * sums = array of summed moments.\r\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\r\n *       * axes 0,1,2 are x,y,z\r\n *         * e.g. entry [0,1] is summed product xy\r\n *       * axis 3 is \"w\", which is 1 in sums.\r\n *         * e.g. entry 03 is summed x\r\n *    * In this level,\r\n *        * the `absoluteQuantity` member is undefined.\r\n *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.\r\n *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and `radiiOfGyration` are filled in.\r\n * @public\r\n */\r\nexport class MomentData {\r\n  /** Origin used for sums. */\r\n  public origin: Point3d;\r\n  /** flag to request deferred origin setup. */\r\n  public needOrigin: boolean;\r\n  /** Moment sums.\r\n   * * Set to zero at initialization and if requested later.\r\n   * * Accumulated during data entry phase.\r\n   */\r\n  public sums: Matrix4d;\r\n  /** the mapping between principal and world system.\r\n   * * This set up with its inverse already constructed.\r\n   */\r\n  public localToWorldMap: Transform;\r\n  /** Return the lower-right (3,3) entry in the sums.\r\n   * * This is the quantity (i.e. length, area, or volume) summed\r\n   */\r\n  public get quantitySum(): number { return this.sums.atIJ(3, 3); }\r\n  /** Return a scale factor to make these sums match the target orientation sign.\r\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\r\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\r\n   */\r\n  public signFactor(targetSign: number): number {\r\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\r\n  }\r\n\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginIfNeeded(origin: Point3d) {\r\n    if (this.needOrigin) {\r\n      this.origin.setFromPoint3d(origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\r\n    if (this.needOrigin && points.length > 0) {\r\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\r\n    if (this.needOrigin) {\r\n      this.origin.set(x, y, z);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n\r\n  /** radii of gyration (square roots of principal second moments)\r\n   */\r\n  public radiusOfGyration: Vector3d;\r\n  /** principal quantity (e.g. length, area, or volume).  This is undefined in raw moments, and becomes defined by\r\n   *\r\n   */\r\n  public absoluteQuantity?: number;\r\n\r\n  private constructor() {\r\n    this.origin = Point3d.createZero();\r\n    this.sums = Matrix4d.createZero();\r\n    this.localToWorldMap = Transform.createIdentity();\r\n    this.radiusOfGyration = Vector3d.create();\r\n    this.needOrigin = false;\r\n    this.absoluteQuantity = 0.1;   // so optimizer sees its type\r\n    this.absoluteQuantity = undefined;\r\n  }\r\n  /** Create moments with optional origin.\r\n   * * origin and needOrigin are quirky.\r\n   *   * (undefined, true) sets up to use first incoming point as origin.\r\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false\r\n   *   * (origin, true) the \"true\" is meaningless\r\n   *   * (undefined, false) makes 000 the durable origin\r\n  */\r\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\r\n    const data = new MomentData();\r\n    data.needOrigin = needOrigin;\r\n    if (origin) {\r\n      data.origin.setFromPoint3d(origin);\r\n      data.needOrigin = false;\r\n    }\r\n    return data;\r\n  }\r\n  /**\r\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`\r\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`\r\n   */\r\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\r\n    const rr = products.sumDiagonal();\r\n    const result = Matrix3d.createScale(rr, rr, rr);\r\n    result.addScaledInPlace(products, -1.0);\r\n    return result;\r\n  }\r\n  /** Sort the columns of the matrix for increasing moments. */\r\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\r\n    const points = [\r\n      axes.indexedColumnWithWeight(0, moments.x),\r\n      axes.indexedColumnWithWeight(1, moments.y),\r\n      axes.indexedColumnWithWeight(2, moments.z),\r\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\r\n      if (dataA.w < dataB.w) return -1;\r\n      if (dataA.w > dataB.w) return 1;\r\n      return 0;\r\n    });\r\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\r\n    if (axes.determinant() < 0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\r\n    // prefer x and z positive -- y falls wherever . ..\r\n    if (axes.at(0, 0) < 0.0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\r\n    if (axes.at(2, 2) < 0.0)\r\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\r\n    moments.set(points[0].w, points[1].w, points[2].w);\r\n  }\r\n\r\n  /**\r\n   * Return the principal moment data for an array of points.\r\n   * @param points array of points\r\n   */\r\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    if (points.length === 0)\r\n      return moments;\r\n    moments.clearSums(points[0]);\r\n    moments.accumulatePointMomentsFromOrigin(points);\r\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\r\n  }\r\n  /**\r\n   * Compute principal axes from inertial products\r\n   * * The radii of gyration are sorted smallest to largest\r\n   * * Hence x axis is long direction\r\n   * * Hence planar data generates large moment as Z\r\n   * @param origin The origin used for the inertia products.\r\n   * @param inertiaProducts The inertia products -- sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w]\r\n   */\r\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    moments.sums.setFrom(inertiaProducts);\r\n    moments.origin.setFrom(origin);\r\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\r\n      return undefined;\r\n    const products = moments.sums.matrixPart();\r\n    const w = moments.sums.weight();\r\n    if (w < 0.0)\r\n      products.scaleColumnsInPlace(-1, -1, -1);\r\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\r\n    const moment2 = Vector3d.create();\r\n    const axisVectors = Matrix3d.createZero();\r\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\r\n    if (moment2.x < 0.0)\r\n      return undefined;\r\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\r\n    if (w < 0.0)\r\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\r\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\r\n    moments.radiusOfGyration.set(\r\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)));\r\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\r\n    moments.absoluteQuantity = Math.abs(w);\r\n    return moments;\r\n  }\r\n  /**\r\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`\r\n   * * The members considered are\r\n   *   * origin of local to world map (i.e. centroid)\r\n   *   * radius of gyration\r\n   *   * axes of localToWorldMap.\r\n   * * Axis direction tests allow these quirks:\r\n   *   * opposite orientation is considered matched.\r\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\r\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely.  Only Z direction is tested.\r\n   * * If either or both are undefined, returns false.\r\n   * @param dataA first set of moments\r\n   * @param dataB second set of moments\r\n   */\r\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\r\n    if (dataA && dataB\r\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) {  // um.. need different tolerance for area, volume?)\r\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\r\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\r\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\r\n          // We have at least xy symmetry ....\r\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\r\n            return true;\r\n          // just xy.\r\n          // allow opposite z directions.\r\n          // If the z's are aligned, x an dy can spin freely.\r\n          const zA = dataA.localToWorldMap.matrix.columnZ();\r\n          const zB = dataB.localToWorldMap.matrix.columnZ();\r\n          if (zA.isParallelTo(zB, true))\r\n            return true;\r\n          return false;\r\n        }\r\n        // no symmetry.  Test all three axes.\r\n        const vectorA = Vector3d.create();\r\n        const vectorB = Vector3d.create();\r\n        for (let i = 0; i < 3; i++) {\r\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\r\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\r\n          if (!vectorA.isParallelTo(vectorB, true))\r\n            return false;\r\n        }\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear the MomentData sums to zero, and establish a new origin. */\r\n  public clearSums(origin?: Point3d) {\r\n    this.sums.setZero();\r\n    if (origin)\r\n      this.origin.setFrom(origin);\r\n    else\r\n      this.origin.setZero();\r\n  }\r\n  /** Accumulate products-of-components for given points. */\r\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\r\n    for (const p of points) {\r\n      this.sums.addMomentsInPlace(\r\n        p.x - this.origin.x,\r\n        p.y - this.origin.y,\r\n        p.z - this.origin.z,\r\n        1.0);\r\n    }\r\n  }\r\n  /** revise the accumulated sums to be \"around the centroid\" */\r\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\r\n    const xyz = this.sums.columnW().realPoint();\r\n    if (xyz) {\r\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /** revise the accumulated sums\r\n   * * add ax,ay,ax to the origin coordinates.\r\n   * * apply the negative translation to the sums.\r\n  */\r\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\r\n    this.origin.addXYZInPlace(ax, ay, az);\r\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\r\n  }\r\n  /** revise the accumulated sums so they are based at a specified origin. */\r\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\r\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\r\n  }\r\n  private static _vectorA?: Point4d;\r\n  private static _vectorB?: Point4d;\r\n  private static _vectorC?: Point4d;\r\n\r\n  /** compute moments of a triangle from the origin to the given line.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, pointB is used\r\n  */\r\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\r\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const vectorA = MomentData._vectorA =\r\n      pointA !== undefined ? Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA)\r\n        : Point4d.create(this.origin.x, this.origin.y, 0.0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\r\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\r\n\r\n    // accumulate Return product integrals I(0<=u<=1) I (0<=v<= u)  (w*W + u *U + v * V)(w*W + u *U + v * V)^  du dv\r\n    //  where w = 1-u-v\r\n    //  W = column vector (point00.x, point00.y, point00.z, 1.0) etc.\r\n    const detJ = Geometry.crossProductXYXY(vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y);\r\n    if (detJ !== 0.0) {\r\n      const r1_12 = detJ / 12.0;\r\n      const r1_24 = detJ / 24.0;\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\r\n    }\r\n  }\r\n  /** add scaled outer product of (4d, unit weight) point to this.sums */\r\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\r\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\r\n    const vectorA = MomentData._vectorA = Point4d.create(point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\r\n  }\r\n  /** Accumulate wire moment integral from pointA to pointB */\r\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\r\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const z0 = this.origin.z;\r\n    const vectorA = MomentData._vectorA = Point4d.create(pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB);\r\n    const detJ = pointA.distance(pointB);\r\n    const r1_3 = detJ / 3.0;\r\n    const r1_6 = detJ / 6.0;\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\r\n\r\n  }\r\n\r\n  private _point0 = Point3d.create();\r\n  private _point1 = Point3d.create();\r\n  /** compute moments of triangles from a base point to the given linestring.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.\r\n   *\r\n   */\r\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\r\n    const n = points.length;\r\n    if (n > 1) {\r\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\r\n      for (let i = 1; i < n; i++) {\r\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\r\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\r\n        this._point0.setFromPoint3d(this._point1);\r\n      }\r\n    }\r\n  }\r\n  // cspell:word ABAT\r\n  /**\r\n   * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].\r\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy parts of vectors)\r\n   * * scale by detJ for the xy-only determinant of the vectors.\r\n   * @param productXX\r\n   * @param productXY\r\n   * @param productYY\r\n   * @param area Area in caller's system\r\n   * @param origin Caller's origin\r\n   * @param vectorU Caller's U axis (not necessarily unit)\r\n   * @param vectorV Caller's V axis (not necessarily unit)\r\n   */\r\n  public accumulateXYProductsInCentroidalFrame(productXX: number, productXY: number, productYY: number, area: number,\r\n    origin: XAndY, vectorU: XAndY, vectorV: XAndY) {\r\n    const centroidalProducts = Matrix4d.createRowValues(\r\n      productXX, productXY, 0, 0,\r\n      productXY, productYY, 0, 0,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, area);\r\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\r\n    const placement = Matrix4d.createRowValues(\r\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\r\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, 1);\r\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\r\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\r\n    this.sums.addScaledInPlace(ABAT, detJ);\r\n  }\r\n  /**\r\n   * Accumulate sums from other moments.\r\n   * * scale by given scaleFactor (e.g. sign to correct orientation)\r\n   * * pull the origin from `other` if `this` needs an origin.\r\n   * *\r\n   */\r\n  public accumulateProducts(other: MomentData, scale: number) {\r\n    this.setOriginIfNeeded(other.origin);\r\n    this.sums.addTranslationSandwichInPlace(other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale);\r\n  }\r\n\r\n  /**\r\n * Accumulate sums from Matrix4d and origin.\r\n * * scale by given scaleFactor (e.g. sign to correct orientation)\r\n * * trap the origin if `this` needs an origin.\r\n * *\r\n */\r\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\r\n    this.setOriginIfNeeded(origin);\r\n    this.sums.addTranslationSandwichInPlace(products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale);\r\n  }\r\n  /**\r\n   * Convert to a json data object with:\r\n   */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin,\r\n      sums: this.sums.toJSON(),\r\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\r\n      localToWorld: this.localToWorldMap.toJSON(),\r\n    };\r\n  }\r\n}\r\n"]}

package/lib/geometry4d/PlaneByOriginAndVectors4d.d.ts.map

@@ -1 +0,0 @@
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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\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A Plane4dByOriginAndVectors is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\r\n * * The parameterization of the plane is    `X = origin + vectorU*u + vectorV * v`\r\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\r\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\r\n * @public\r\n */\r\nexport class PlaneByOriginAndVectors4d {\r\n  /** homogeneous origin */\r\n  public origin: Point4d;\r\n  /** homogeneous u-direction vector */\r\n  public vectorU: Point4d;\r\n  /** homogeneous v-direction vector */\r\n  public vectorV: Point4d;\r\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** Return a clone of this plane */\r\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setFrom(this);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /** copy all content from other plane */\r\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\r\n    this.origin.setFrom(other.origin);\r\n    this.vectorU.setFrom(other.vectorU);\r\n    this.vectorV.setFrom(other.vectorV);\r\n  }\r\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\r\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\r\n   */\r\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setOriginAndVectors(origin, vectorU, vectorV);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\r\n    this.origin.set(x0, y0, z0, w0);\r\n    this.vectorU.set(ux, uy, uz, uw);\r\n    this.vectorV.set(vx, vy, vz, vw);\r\n    return this;\r\n  }\r\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\r\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\r\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\r\n  }\r\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\r\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\r\n  }\r\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\r\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** create a new plane which maps to the cartesian xy plane. */\r\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\r\n  }\r\n}\r\n"]}