@itwin/core-geometry 3.5.0-dev.7 → 3.6.0-dev.1

package/lib/esm/geometry3d/Ray3d.d.ts

@@ -143,12 +143,12 @@ export declare class Ray3d implements BeJSONFunctions {
      */
     static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair;
     /**
-     * Return a ray whose ray.origin is interpolated, and ray.direction is the vector between points with a
-     * scale factor applied.
-     * @param pt1 start point of interpolation
+     * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction
+     * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.
+     * @param pt1 start point of interpolation.
      * @param fraction fractional position between points.
-     * @param pt2 endpoint of interpolation
-     * @param tangentScale scale factor to apply to the startToEnd vector
+     * @param pt2 endpoint of interpolation.
+     * @param tangentScale scale factor to apply to the startToEnd vector.
      * @param result optional receiver.
      */
     static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d;

package/lib/esm/geometry3d/Ray3d.js

@@ -322,12 +322,12 @@ export class Ray3d {
         return pair;
     }
     /**
-     * Return a ray whose ray.origin is interpolated, and ray.direction is the vector between points with a
-     * scale factor applied.
-     * @param pt1 start point of interpolation
+     * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction
+     * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.
+     * @param pt1 start point of interpolation.
      * @param fraction fractional position between points.
-     * @param pt2 endpoint of interpolation
-     * @param tangentScale scale factor to apply to the startToEnd vector
+     * @param pt2 endpoint of interpolation.
+     * @param tangentScale scale factor to apply to the startToEnd vector.
      * @param result optional receiver.
      */
     static interpolatePointAndTangent(pt1, fraction, pt2, tangentScale, result) {

package/lib/esm/geometry3d/Ray3d.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/** A Ray3d contains\r\n * * an origin point.\r\n * * a direction vector.  The vector is NOT required to be normalized.\r\n *  * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n  /** The ray origin */\r\n  public origin: Point3d;\r\n  /** The ray direction.  This is commonly (but not always) a unit vector. */\r\n  public direction: Vector3d;\r\n  /** Numeric annotation. */\r\n  public a?: number; // optional, e.g. weight.\r\n  // constructor captures references !!!\r\n  private constructor(origin: Point3d, direction: Vector3d) {\r\n    this.origin = origin;\r\n    this.direction = direction;\r\n    this.a = undefined;\r\n  }\r\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n  }\r\n  /** Create a ray on the x axis. */\r\n  public static createXAxis(): Ray3d { return Ray3d._create(0, 0, 0, 1, 0, 0); }\r\n  /** Create a ray on the y axis. */\r\n  public static createYAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 1, 0); }\r\n  /** Create a ray on the z axis. */\r\n  public static createZAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 0, 1); }\r\n  /** Create a ray with all zeros. */\r\n  public static createZero(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setZero();\r\n      result.direction.setZero();\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n  }\r\n  /** Test for nearly equal rays. */\r\n  public isAlmostEqual(other: Ray3d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n  }\r\n  /** Create a ray from origin and direction. */\r\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(origin, direction);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), direction.clone());\r\n  }\r\n  /**\r\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.\r\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n   * @param weightedDerivative `[x,y,z,w]` derivatives\r\n   * @param result\r\n   */\r\n  public static createWeightedDerivative(weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d): Ray3d | undefined {\r\n    const w = weightedPoint[3];\r\n    const dw = weightedDerivative[3];\r\n    const x = weightedPoint[0];\r\n    const y = weightedPoint[1];\r\n    const z = weightedPoint[2];\r\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return undefined;\r\n    const divW = 1.0 / w;\r\n    const divWW = divW * divW;\r\n    return Ray3d.createXYZUVW(x * divW, y * divW, z * divW, dx * divWW, dy * divWW, dz * divWW, result);\r\n  }\r\n  /** Create from coordinates of the origin and direction. */\r\n  public static createXYZUVW(originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.getOriginRef().set(originX, originY, originZ);\r\n      result.getDirectionRef().set(directionX, directionY, directionZ);\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n  }\r\n  /** Capture origin and direction in a new Ray3d. */\r\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n    return new Ray3d(origin, direction);\r\n  }\r\n  /** Create from (clones of) origin, direction, and numeric weight. */\r\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setFrom(direction);\r\n      result.a = a;\r\n      return result;\r\n    }\r\n    result = new Ray3d(origin.clone(), direction.clone());\r\n    result.a = a;\r\n    return result;\r\n  }\r\n  /** Create from origin and target.  The direction vector is the full length (non-unit) vector from origin to target. */\r\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setStartEnd(origin, target);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n  }\r\n  /** Return a reference to the ray's origin. */\r\n  public getOriginRef(): Point3d { return this.origin; }\r\n  /** Return a reference to the ray's direction vector. */\r\n  public getDirectionRef(): Vector3d { return this.direction; }\r\n  /** copy coordinates from origin and direction. */\r\n  public set(origin: Point3d, direction: Vector3d): void {\r\n    this.origin.setFrom(origin);\r\n    this.direction.setFrom(direction);\r\n  }\r\n  /** Clone the ray. */\r\n  public clone(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(this.origin.clone(), this.direction.clone());\r\n      return result;\r\n    }\r\n    return new Ray3d(this.origin.clone(), this.direction.clone());\r\n  }\r\n  /** Create a clone and return the transform of the clone. */\r\n  public cloneTransformed(transform: Transform): Ray3d {\r\n    return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n  }\r\n\r\n  /** Create a clone and return the inverse transform of the clone. */\r\n  public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n    const origin = transform.multiplyInversePoint3d(this.origin);\r\n    const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n    if (undefined !== origin && undefined !== direction)\r\n      return new Ray3d(origin, direction);\r\n    return undefined;\r\n  }\r\n\r\n  /** Apply a transform in place. */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.direction, this.direction);\r\n  }\r\n  /** Copy data from another ray. */\r\n  public setFrom(source: Ray3d): void { this.set(source.origin, source.direction); }\r\n  /** * fraction 0 is the ray origin.\r\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n   * @returns Return a point at fractional position along the ray.\r\n   */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d { return this.origin.plusScaled(this.direction, fraction, result); }\r\n  /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */\r\n  public dotProductToPoint(spacePoint: Point3d): number { return this.direction.dotProductStartEnd(this.origin, spacePoint); }\r\n  /**\r\n   * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.\r\n   */\r\n  public pointToFraction(spacePoint: Point3d): number {\r\n    return Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);\r\n  }\r\n  /**\r\n   *\r\n   * Return the spacePoint projected onto the ray.\r\n   */\r\n  public projectPointToRay(spacePoint: Point3d): Point3d {\r\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n  }\r\n  /** Return a transform for rigid axes\r\n   * at ray origin with z in ray direction.  If the direction vector is zero, axes default to identity (from createHeadsUpTriad)\r\n   */\r\n  public toRigidZFrame(): Transform | undefined {\r\n    const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n    return Transform.createOriginAndMatrix(this.origin, axes);\r\n  }\r\n  /**\r\n   * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.\r\n   */\r\n  public setFromJSON(json?: any) {\r\n    if (!json) {\r\n      this.origin.set(0, 0, 0);\r\n      this.direction.set(0, 0, 1);\r\n      return;\r\n    }\r\n    this.origin.setFromJSON(json.origin);\r\n    this.direction.setFromJSON(json.direction);\r\n  }\r\n  /**\r\n   * try to scale the direction vector to a given magnitude.\r\n   * @returns Returns false if ray direction is a zero vector.\r\n   */\r\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n    if (this.direction.tryNormalizeInPlace()) {\r\n      this.direction.scaleInPlace(magnitude);\r\n      return true;\r\n    }\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n   *    * save the parameter `a` as the optional `a` member of the ray.\r\n   *    * normalize the ray's direction vector\r\n   * * If parameter `a` is nearly zero,\r\n   *   * Set the `a` member to zero\r\n   *   * Set the ray's direction vector to zero.\r\n   * @param a area to be saved.\r\n   */\r\n  // input a ray and \"a\" understood as an area.\r\n  // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n  // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n    const tolerance = Geometry.smallMetricDistanceSquared;\r\n    this.a = a;\r\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n      return true;\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * Convert an Angle to a JSON object.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }\r\n  /** Create a new ray from json object.  See `setFromJSON` for json structure; */\r\n  public static fromJSON(json?: any) {\r\n    const result = Ray3d.createXAxis();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** return distance from the ray to point in space */\r\n  public distance(spacePoint: Point3d): number {\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.dotProductToPoint(spacePoint);\r\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n    if (aa)\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n    else\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n  }\r\n  /**\r\n   * Return the intersection of the unbounded ray with a plane.\r\n   * Stores the point of intersection in the result point given as a parameter,\r\n   * and returns the parameter along the ray where the intersection occurs.\r\n   * Returns undefined if the ray and plane are parallel or coplanar.\r\n   */\r\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n    const nDotN = this.direction.magnitudeSquared();\r\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n    if (undefined === division)\r\n      return undefined;\r\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n    if (undefined === division1)\r\n      return undefined;\r\n    if (result) {\r\n      this.origin.plusScaled(this.direction, division, result);\r\n    }\r\n    return division;\r\n  }\r\n\r\n  /**\r\n   * * Find intersection of the ray with a Range3d.\r\n   * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n   * * Note that a range is always returned;  if there is no intersection it is indicated by the test `result.sNull`\r\n   */\r\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n    if (range.isNull)\r\n      return Range1d.createNull(result);\r\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n      return interval;\r\n    return interval;\r\n  }\r\n\r\n  /** Construct a vector from `ray.origin` to target point.\r\n   * * return the part of the vector that is perpendicular to `ray.direction`.\r\n   *  * i.e. return the shortest vector from the ray to the point.\r\n   */\r\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n    return vectorV.plusScaled(this.direction, -fraction, result);\r\n  }\r\n  /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n   * * Return a CurveLocationDetailPair which\r\n   * * contains fraction and point on each ray.\r\n   * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships\r\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB\r\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.  The rays are skew in space.\r\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.\r\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident).   The two points are at the minimum distance\r\n   */\r\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n    const intersectionFractions = Vector2d.create();\r\n    let fractionA, fractionB;\r\n    let pointA, pointB;\r\n    let pairType;\r\n    if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n      rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n      rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n      fractionA = intersectionFractions.x;\r\n      fractionB = intersectionFractions.y;\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n    } else {\r\n      fractionB = 0.0;\r\n      fractionA = rayA.pointToFraction(rayB.origin);\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n    }\r\n    const pair = CurveLocationDetailPair.createCapture(\r\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n    pair.approachType = pairType;\r\n    return pair;\r\n  }\r\n\r\n  /**\r\n   * Return a ray whose ray.origin is interpolated, and ray.direction is the vector between points with a\r\n   * scale factor applied.\r\n   * @param pt1 start point of interpolation\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 endpoint of interpolation\r\n   * @param tangentScale scale factor to apply to the startToEnd vector\r\n   * @param result optional receiver.\r\n   */\r\n  public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n    result = result ?? Ray3d.createZero();\r\n    const dx = pt2.x - pt1.x;\r\n    const dy = pt2.y - pt1.y;\r\n    const dz = pt2.z - pt1.z;\r\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n    if (fraction <= 0.5)\r\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n    else {\r\n      const t: number = fraction - 1.0;\r\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}
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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\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/** A Ray3d contains\r\n * * an origin point.\r\n * * a direction vector.  The vector is NOT required to be normalized.\r\n *  * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n  /** The ray origin */\r\n  public origin: Point3d;\r\n  /** The ray direction.  This is commonly (but not always) a unit vector. */\r\n  public direction: Vector3d;\r\n  /** Numeric annotation. */\r\n  public a?: number; // optional, e.g. weight.\r\n  // constructor captures references !!!\r\n  private constructor(origin: Point3d, direction: Vector3d) {\r\n    this.origin = origin;\r\n    this.direction = direction;\r\n    this.a = undefined;\r\n  }\r\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n  }\r\n  /** Create a ray on the x axis. */\r\n  public static createXAxis(): Ray3d { return Ray3d._create(0, 0, 0, 1, 0, 0); }\r\n  /** Create a ray on the y axis. */\r\n  public static createYAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 1, 0); }\r\n  /** Create a ray on the z axis. */\r\n  public static createZAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 0, 1); }\r\n  /** Create a ray with all zeros. */\r\n  public static createZero(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setZero();\r\n      result.direction.setZero();\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n  }\r\n  /** Test for nearly equal rays. */\r\n  public isAlmostEqual(other: Ray3d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n  }\r\n  /** Create a ray from origin and direction. */\r\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(origin, direction);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), direction.clone());\r\n  }\r\n  /**\r\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.\r\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n   * @param weightedDerivative `[x,y,z,w]` derivatives\r\n   * @param result\r\n   */\r\n  public static createWeightedDerivative(weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d): Ray3d | undefined {\r\n    const w = weightedPoint[3];\r\n    const dw = weightedDerivative[3];\r\n    const x = weightedPoint[0];\r\n    const y = weightedPoint[1];\r\n    const z = weightedPoint[2];\r\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return undefined;\r\n    const divW = 1.0 / w;\r\n    const divWW = divW * divW;\r\n    return Ray3d.createXYZUVW(x * divW, y * divW, z * divW, dx * divWW, dy * divWW, dz * divWW, result);\r\n  }\r\n  /** Create from coordinates of the origin and direction. */\r\n  public static createXYZUVW(originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.getOriginRef().set(originX, originY, originZ);\r\n      result.getDirectionRef().set(directionX, directionY, directionZ);\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n  }\r\n  /** Capture origin and direction in a new Ray3d. */\r\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n    return new Ray3d(origin, direction);\r\n  }\r\n  /** Create from (clones of) origin, direction, and numeric weight. */\r\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setFrom(direction);\r\n      result.a = a;\r\n      return result;\r\n    }\r\n    result = new Ray3d(origin.clone(), direction.clone());\r\n    result.a = a;\r\n    return result;\r\n  }\r\n  /** Create from origin and target.  The direction vector is the full length (non-unit) vector from origin to target. */\r\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setStartEnd(origin, target);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n  }\r\n  /** Return a reference to the ray's origin. */\r\n  public getOriginRef(): Point3d { return this.origin; }\r\n  /** Return a reference to the ray's direction vector. */\r\n  public getDirectionRef(): Vector3d { return this.direction; }\r\n  /** copy coordinates from origin and direction. */\r\n  public set(origin: Point3d, direction: Vector3d): void {\r\n    this.origin.setFrom(origin);\r\n    this.direction.setFrom(direction);\r\n  }\r\n  /** Clone the ray. */\r\n  public clone(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(this.origin.clone(), this.direction.clone());\r\n      return result;\r\n    }\r\n    return new Ray3d(this.origin.clone(), this.direction.clone());\r\n  }\r\n  /** Create a clone and return the transform of the clone. */\r\n  public cloneTransformed(transform: Transform): Ray3d {\r\n    return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n  }\r\n\r\n  /** Create a clone and return the inverse transform of the clone. */\r\n  public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n    const origin = transform.multiplyInversePoint3d(this.origin);\r\n    const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n    if (undefined !== origin && undefined !== direction)\r\n      return new Ray3d(origin, direction);\r\n    return undefined;\r\n  }\r\n\r\n  /** Apply a transform in place. */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.direction, this.direction);\r\n  }\r\n  /** Copy data from another ray. */\r\n  public setFrom(source: Ray3d): void { this.set(source.origin, source.direction); }\r\n  /** * fraction 0 is the ray origin.\r\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n   * @returns Return a point at fractional position along the ray.\r\n   */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d { return this.origin.plusScaled(this.direction, fraction, result); }\r\n  /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */\r\n  public dotProductToPoint(spacePoint: Point3d): number { return this.direction.dotProductStartEnd(this.origin, spacePoint); }\r\n  /**\r\n   * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.\r\n   */\r\n  public pointToFraction(spacePoint: Point3d): number {\r\n    return Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);\r\n  }\r\n  /**\r\n   *\r\n   * Return the spacePoint projected onto the ray.\r\n   */\r\n  public projectPointToRay(spacePoint: Point3d): Point3d {\r\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n  }\r\n  /** Return a transform for rigid axes\r\n   * at ray origin with z in ray direction.  If the direction vector is zero, axes default to identity (from createHeadsUpTriad)\r\n   */\r\n  public toRigidZFrame(): Transform | undefined {\r\n    const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n    return Transform.createOriginAndMatrix(this.origin, axes);\r\n  }\r\n  /**\r\n   * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.\r\n   */\r\n  public setFromJSON(json?: any) {\r\n    if (!json) {\r\n      this.origin.set(0, 0, 0);\r\n      this.direction.set(0, 0, 1);\r\n      return;\r\n    }\r\n    this.origin.setFromJSON(json.origin);\r\n    this.direction.setFromJSON(json.direction);\r\n  }\r\n  /**\r\n   * try to scale the direction vector to a given magnitude.\r\n   * @returns Returns false if ray direction is a zero vector.\r\n   */\r\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n    if (this.direction.tryNormalizeInPlace()) {\r\n      this.direction.scaleInPlace(magnitude);\r\n      return true;\r\n    }\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n   *    * save the parameter `a` as the optional `a` member of the ray.\r\n   *    * normalize the ray's direction vector\r\n   * * If parameter `a` is nearly zero,\r\n   *   * Set the `a` member to zero\r\n   *   * Set the ray's direction vector to zero.\r\n   * @param a area to be saved.\r\n   */\r\n  // input a ray and \"a\" understood as an area.\r\n  // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n  // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n    const tolerance = Geometry.smallMetricDistanceSquared;\r\n    this.a = a;\r\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n      return true;\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * Convert an Angle to a JSON object.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }\r\n  /** Create a new ray from json object.  See `setFromJSON` for json structure; */\r\n  public static fromJSON(json?: any) {\r\n    const result = Ray3d.createXAxis();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** return distance from the ray to point in space */\r\n  public distance(spacePoint: Point3d): number {\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.dotProductToPoint(spacePoint);\r\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n    if (aa)\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n    else\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n  }\r\n  /**\r\n   * Return the intersection of the unbounded ray with a plane.\r\n   * Stores the point of intersection in the result point given as a parameter,\r\n   * and returns the parameter along the ray where the intersection occurs.\r\n   * Returns undefined if the ray and plane are parallel or coplanar.\r\n   */\r\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n    const nDotN = this.direction.magnitudeSquared();\r\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n    if (undefined === division)\r\n      return undefined;\r\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n    if (undefined === division1)\r\n      return undefined;\r\n    if (result) {\r\n      this.origin.plusScaled(this.direction, division, result);\r\n    }\r\n    return division;\r\n  }\r\n\r\n  /**\r\n   * * Find intersection of the ray with a Range3d.\r\n   * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n   * * Note that a range is always returned;  if there is no intersection it is indicated by the test `result.sNull`\r\n   */\r\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n    if (range.isNull)\r\n      return Range1d.createNull(result);\r\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n      return interval;\r\n    return interval;\r\n  }\r\n\r\n  /** Construct a vector from `ray.origin` to target point.\r\n   * * return the part of the vector that is perpendicular to `ray.direction`.\r\n   *  * i.e. return the shortest vector from the ray to the point.\r\n   */\r\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n    return vectorV.plusScaled(this.direction, -fraction, result);\r\n  }\r\n  /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n   * * Return a CurveLocationDetailPair which\r\n   * * contains fraction and point on each ray.\r\n   * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships\r\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB\r\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.  The rays are skew in space.\r\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.\r\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident).   The two points are at the minimum distance\r\n   */\r\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n    const intersectionFractions = Vector2d.create();\r\n    let fractionA, fractionB;\r\n    let pointA, pointB;\r\n    let pairType;\r\n    if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n      rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n      rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n      fractionA = intersectionFractions.x;\r\n      fractionB = intersectionFractions.y;\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n    } else {\r\n      fractionB = 0.0;\r\n      fractionA = rayA.pointToFraction(rayB.origin);\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n    }\r\n    const pair = CurveLocationDetailPair.createCapture(\r\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n    pair.approachType = pairType;\r\n    return pair;\r\n  }\r\n\r\n  /**\r\n   * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction\r\n   * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.\r\n   * @param pt1 start point of interpolation.\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 endpoint of interpolation.\r\n   * @param tangentScale scale factor to apply to the startToEnd vector.\r\n   * @param result optional receiver.\r\n   */\r\n  public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n    result = result ?? Ray3d.createZero();\r\n    const dx = pt2.x - pt1.x;\r\n    const dy = pt2.y - pt1.y;\r\n    const dz = pt2.z - pt1.z;\r\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n    if (fraction <= 0.5)\r\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n    else {\r\n      const t: number = fraction - 1.0;\r\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}

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

@@ -1 +1 @@
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package/lib/esm/geometry3d/Transform.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { 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: Readonly<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\r\n/** Multiply the vector in place by the Matrix3d part of the transform.\r\n   *\r\n   * *  The transform's origin is not used.\r\n   */\r\n public multiplyVectorInPlace(vector: Vector3d): void {\r\n  this._matrix.multiplyVectorInPlace(vector);\r\n}\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"]}
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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: Readonly<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, 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\r\n/** Multiply the vector in place by the Matrix3d part of the transform.\r\n   *\r\n   * *  The transform's origin is not used.\r\n   */\r\n public multiplyVectorInPlace(vector: Vector3d): void {\r\n  this._matrix.multiplyVectorInPlace(vector);\r\n}\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/esm/numerics/Polynomials.d.ts.map

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package/lib/esm/numerics/Polynomials.js

@@ -1402,7 +1402,6 @@ export class SmallSystem {
      * @param spacePoint homogeneous point in space
      */
     static lineSegment3dClosestPointUnbounded(pointA0, pointA1, spacePoint) {
-        // Considering only x,y parts....
         const ux = pointA1.x - pointA0.x;
         const uy = pointA1.y - pointA0.y;
         const uz = pointA1.z - pointA0.z;