@itwin/core-geometry 3.5.0-dev.8 → 3.5.0

package/lib/esm/geometry3d/Matrix3d.js

@@ -990,7 +990,7 @@ export class Matrix3d {
      * Factor this as a product C * U where C has mutually perpendicular columns and
      * U is orthogonal.
      * @param matrixC (allocate by caller, computed here)
-     * @param factor  (allocate by caller, computed here)
+     * @param matrixU (allocate by caller, computed here)
      */
     factorPerpendicularColumns(matrixC, matrixU) {
         matrixC.setFrom(this);
@@ -1009,6 +1009,46 @@ export class Matrix3d {
         }
         return false;
     }
+    /**
+     * Factor this matrix M as a product M = V * D * U where V and U are orthogonal, and D is diagonal (scale matrix).
+     * @param matrixV left orthogonal factor (allocate by caller, computed here)
+     * @param scale diagonal entries of D (allocate by caller, computed here)
+     * @param matrixU right orthogonal factor (allocate by caller, computed here)
+     */
+    factorOrthogonalScaleOrthogonal(matrixV, scale, matrixU) {
+        const matrixVD = Matrix3d.createZero();
+        if (!this.factorPerpendicularColumns(matrixVD, matrixU))
+            return false;
+        const column = [];
+        column.push(matrixVD.getColumn(0));
+        column.push(matrixVD.getColumn(1));
+        column.push(matrixVD.getColumn(2));
+        scale.set(column[0].magnitude(), column[1].magnitude(), column[2].magnitude());
+        const det = matrixVD.determinant();
+        if (det < 0)
+            scale.z = -scale.z;
+        const almostZero = 1.0e-15;
+        const scaleXIsZero = Math.abs(scale.x) < almostZero;
+        const scaleYIsZero = Math.abs(scale.y) < almostZero;
+        const scaleZIsZero = Math.abs(scale.z) < almostZero;
+        // ASSUME: any zero-magnitude column(s) of matrixVD are last
+        if (!scaleXIsZero && !scaleYIsZero && !scaleZIsZero) { // full rank
+            matrixV = matrixVD.scaleColumns(1 / scale.x, 1 / scale.y, 1 / scale.z, matrixV);
+        }
+        else if (!scaleXIsZero && !scaleYIsZero) { // rank 2
+            column[0].scaleInPlace(1 / scale.x);
+            column[1].scaleInPlace(1 / scale.y);
+            column[2] = column[0].unitCrossProduct(column[1], column[2]);
+            matrixV.setColumns(column[0], column[1], column[2]);
+        }
+        else if (!scaleXIsZero) { // rank 1
+            matrixV = Matrix3d.createRigidHeadsUp(column[0], AxisOrder.XYZ, matrixV); // preserve column0
+        }
+        else { // rank 0
+            matrixV.setIdentity();
+        }
+        return true;
+    }
     /** Apply a jacobi step to lambda which evolves towards diagonal. */
     applySymmetricJacobi(i, j, lambda) {
         const uDotU = lambda.at(i, i);
@@ -1899,7 +1939,7 @@ export class Matrix3d {
         this.inverseState = InverseMatrixState.unknown;
     }
     /** create a Matrix3d whose columns are scaled copies of this Matrix3d.
-     * @param scaleX scale factor for columns x
+     * @param scaleX scale factor for column x
      * @param scaleY scale factor for column y
      * @param scaleZ scale factor for column z
      * @param result optional result.
@@ -1907,11 +1947,10 @@ export class Matrix3d {
     scaleColumns(scaleX, scaleY, scaleZ, result) {
         return Matrix3d.createRowValues(this.coffs[0] * scaleX, this.coffs[1] * scaleY, this.coffs[2] * scaleZ, this.coffs[3] * scaleX, this.coffs[4] * scaleY, this.coffs[5] * scaleZ, this.coffs[6] * scaleX, this.coffs[7] * scaleY, this.coffs[8] * scaleZ, result);
     }
-    /** create a Matrix3d whose columns are scaled copies of this Matrix3d.
-     * @param scaleX scale factor for columns x
+    /** Scale the columns of this Matrix3d.
+     * @param scaleX scale factor for column x
      * @param scaleY scale factor for column y
      * @param scaleZ scale factor for column z
-     * @param result optional result.
      */
     scaleColumnsInPlace(scaleX, scaleY, scaleZ) {
         this.coffs[0] *= scaleX;
@@ -2087,7 +2126,9 @@ export class Matrix3d {
     sumSkewSquares() {
         return Geometry.hypotenuseSquaredXYZ(this.coffs[1] - this.coffs[3], this.coffs[2] - this.coffs[6], this.coffs[5] - this.coffs[7]);
     }
-    /** Test if the matrix is a pure rotation. */
+    /** Test if the matrix is a pure rotation.
+     * @param allowMirror whether to widen the test to return true if the matrix is orthogonal (a pure rotation or a mirror)
+    */
     isRigid(allowMirror = false) {
         return this.testPerpendicularUnitRowsAndColumns() && (allowMirror || this.determinant() > 0);
     }
@@ -2157,18 +2198,29 @@ export class Matrix3d {
         }
         return undefined;
     }
-    /** create a new orthogonal matrix (perpendicular columns, unit length, transpose is inverse).
-     * columns are taken from the source Matrix3d in order indicated by the axis order.
+    /** Adjust the matrix in place so that:
+     * * columns are perpendicular and have unit length
+     * * transpose equals inverse
+     * * mirroring is removed
+     * @param axisOrder how to reorder the matrix columns
+     * @return whether the instance is rigid on return
      */
-    static createRigidFromMatrix3d(source, axisOrder = AxisOrder.XYZ, result) {
-        result = source.clone(result);
-        const maxAbs = result.maxAbs();
+    makeRigid(axisOrder = AxisOrder.XYZ) {
+        const maxAbs = this.maxAbs();
         if (Geometry.isSmallMetricDistance(maxAbs))
-            return undefined;
+            return false;
         const scale = 1.0 / maxAbs;
-        result.scaleColumnsInPlace(scale, scale, scale);
-        result.axisOrderCrossProductsInPlace(axisOrder);
-        if (result.normalizeColumnsInPlace())
+        this.scaleColumnsInPlace(scale, scale, scale);
+        this.axisOrderCrossProductsInPlace(axisOrder);
+        return this.normalizeColumnsInPlace();
+    }
+    /** Create a new orthogonal matrix (perpendicular columns, unit length, transpose is inverse).
+     * * Columns are taken from the source Matrix3d in order indicated by the axis order.
+     * * Mirroring in the matrix is removed.
+     */
+    static createRigidFromMatrix3d(source, axisOrder = AxisOrder.XYZ, result) {
+        result = source.clone(result);
+        if (result.makeRigid(axisOrder))
             return result;
         return undefined;
     }