@itwin/core-geometry 4.0.0-dev.10 → 4.0.0-dev.11

package/lib/cjs/geometry3d/Matrix3d.d.ts

@@ -136,7 +136,10 @@ export declare class Matrix3d implements BeJSONFunctions {
     inverseCoffs: Float64Array | undefined;
     /** Indicates if inverse is unknown, available, or known singular */
     inverseState: InverseMatrixState;
+    /** The identity matrix */
     private static _identity;
+    /** temporary buffer to store a matrix as a Float64Array (array of 9 floats) */
+    private static _productBuffer;
     /** The identity Matrix3d. Value is frozen and cannot be modified. */
     static get identity(): Matrix3d;
     /** Freeze this Matrix3d. */
@@ -234,9 +237,15 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static createColumnsInAxisOrder(axisOrder: AxisOrder, columnA: Vector3d | undefined, columnB: Vector3d | undefined, columnC: Vector3d | undefined, result?: Matrix3d): Matrix3d;
     /**
-   * Copy the transpose of the coffs to the inverseCoffs.
-   * * Mark the matrix as inverseStored.
-   */
+     * Create the inverseCoffs member (filled with zeros)
+     * This is for use by matrix * matrix multiplications which need to be sure the member is there to be
+     * filled with method-specific content.
+     */
+    private createInverseCoffsWithZeros;
+    /**
+     * Copy the transpose of the coffs to the inverseCoffs.
+     * * Mark the matrix as inverseStored.
+     */
     private setupInverseTranspose;
     /**
      * Set all entries in the matrix from call parameters appearing in row-major order.
@@ -339,6 +348,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * Construct a rigid matrix (orthogonal matrix with +1 determinant) using vectorA and its 2 perpendicular.
      * * If axisOrder is not passed then `AxisOrder = AxisOrder.ZXY` is used as default.
      * * This function internally uses createPerpendicularVectorFavorXYPlane and createRigidFromColumns.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/2PerpendicularVectorsTo1Vector
      */
     static createRigidHeadsUp(vectorA: Vector3d, axisOrder?: AxisOrder, result?: Matrix3d): Matrix3d;
     /** Return the matrix for rotation of `angle` around desired `axis` */
@@ -353,7 +363,7 @@ export declare class Matrix3d implements BeJSONFunctions {
     /**
      * Replace current rows Ui and Uj with (c*Ui + s*Uj) and (c*Uj - s*Ui).
      * * There is no checking for i,j being 0,1,2.
-     * @param i first row index.  **must be 0,1,2** (unchecked)
+     * @param i first row index. **must be 0,1,2** (unchecked)
      * @param j second row index. **must be 0,1,2** (unchecked)
      * @param c fist coefficient
      * @param s second coefficient
@@ -617,6 +627,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * \text{The matrix is } I + (s-1) D D^T
      * \\ \text{with }D\text{ being the normalized direction vector and }s\text{ being the scale.}
      * ```
+     * * Visualization can be found at itwinjs.org/sandbox/SaeedTorabi/DirectionalScale
      */
     static createDirectionalScale(direction: Vector3d, scale: number, result?: Matrix3d): Matrix3d;
     /**
@@ -692,7 +703,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static xyzPlusMatrixTimesCoordinatesToFloat64Array(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, result?: Float64Array): Float64Array;
     /**
-     * Multiply transpose of this matrix times a vector.
+     * Multiply the transpose matrix times a vector.
      * * This produces the same x,y,z as treating the vector as a row on the left of the (un-transposed) matrix.
      * ```
      * equation
@@ -701,161 +712,213 @@ export declare class Matrix3d implements BeJSONFunctions {
      * \text{Treating U as a row to the left of untransposed matrix\: return row}&\rowSubXYZ{V}&=&\rowSubXYZ{U}\matrixXY{A}
      * \end{matrix}
      * ```
-     * @return the vector result
+     * @return the vector result (optional)
      */
     multiplyTransposeVector(vector: Vector3d, result?: Vector3d): Vector3d;
-    /** Multiply the matrix * (x,y,z), i.e. the vector (x,y,z) is a column vector on the right.
-     * @return the vector result
+    /**
+     * Multiply the matrix * [x,y,z], i.e. the vector [x,y,z] is a column vector on the right.
+     * @return the vector result (optional)
      */
     multiplyXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
-    /** Multiply the matrix * xyz, place result in (required) return value.
-     *   @param xyz right side
-     *   @param result result.
+    /**
+     * Multiply the matrix * xyz, place result in (required) return value.
+     * @param xyz right side
+     * @param result the result.
      */
     multiplyXYZtoXYZ(xyz: XYZ, result: XYZ): XYZ;
-    /** Multiply the matrix * (x,y,0), i.e. the vector (x,y,z) is a column vector on the right.
-     *   @return the vector result
+    /**
+     * Multiply the matrix * [x,y,0], i.e. the vector [x,y,0] is a column vector on the right.
+     * @return the vector result (optional)
      */
     multiplyXY(x: number, y: number, result?: Vector3d): Vector3d;
-    /** compute `origin + this*[x,y,0]`  */
+    /**
+     * Compute origin + the matrix * [x,y,0].
+     * @return the vector result (optional)
+     */
     originPlusMatrixTimesXY(origin: XYZ, x: number, y: number, result?: Point3d): Point3d;
-    /** Multiply matrix * (x, y, z) using any 3d object given containing those members */
+    /**
+     * Multiply the matrix * (x,y,z) in place, i.e. the vector (x,y,z) is a column vector on the right and
+     * the multiplication updates the vector values.
+     * @param xyzData the vector data
+     */
     multiplyVectorInPlace(xyzData: XYZ): void;
-    /** Multiply the transpose matrix times column using any 3d object with x,y,z members.
-     * This is equivalent to `multiplyTransposeVector` but always returns the result directly in the input.
+    /**
+     * Multiply the transpose matrix times [x,y,z] in place, i.e. the vector [x,y,z] is a column vector on
+     * the right and the multiplication updates the vector values.
+     * * This is equivalent to `multiplyTransposeVector` but always returns the result directly in the input.
+     * @param xyzData the vector data
      */
     multiplyTransposeVectorInPlace(vectorU: XYZ): void;
-    /** Multiply the transpose matrix times column using individual numeric inputs.
-     * * This is equivalent to multiplying with the vector as a row to the left of the plain matrix.
+    /**
+     * Multiply the transpose matrix times column using individual numeric inputs.
+     * * This produces the same x,y,z as treating the vector as a row on the left of the (un-transposed) matrix.
      * ```
      * equation
      * \begin{matrix}
-     * \text{treating the input as a column } \columnXYZ{x}{y}{z}\text{ compute  }&\columnSubXYZ{V} &= &A^T \columnXYZ{x}{y}{z} \\
-     * \text{or row vector } \rowXYZ{x}{y}{z} \text{ compute }&\rowSubXYZ{V} &= &\rowXYZ{x}{y}{z} A \\
+     * \text{treating the input as a column vector } \columnXYZ{x}{y}{z}\text{ compute  }&\columnSubXYZ{V} &= &A^T \columnXYZ{x}{y}{z} \\
+     * \text{or as a row vector } \rowXYZ{x}{y}{z} \text{ compute }&\rowSubXYZ{V} &= &\rowXYZ{x}{y}{z} A \\
      * \phantom{8888}\text{and return V as a Vector3d} & & &
      * \end{matrix}
      * ````
-     * @return the vector result
+     * @return the vector result (optional)
      */
     multiplyTransposeXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
-    /** Solve `matrix * result = vector`.
-     * * This is equivalent to multiplication `result = matrixInverse * vector`.
-     * * Result is undefined if the matrix is singular (e.g. has parallel or zero length columns)
+    /**
+     * Solve `matrix * result = vector` for an unknown `result`.
+     * * This is equivalent to multiplication `result = inverse matrix * vector`.
+     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
      */
     multiplyInverse(vector: Vector3d, result?: Vector3d): Vector3d | undefined;
-    /** Solve `matrixTranspose * result = vector`.
+    /**
+     * Solve `matrixTranspose * result = vector` for an unknown `result`.
      * * This is equivalent to multiplication `result = matrixInverseTranspose * vector`.
-     * * Result is undefined if the matrix is singular (e.g. has parallel or zero length columns)
+     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
      */
     multiplyInverseTranspose(vector: Vector3d, result?: Vector3d): Vector3d | undefined;
     /**
-     * multiply `matrixInverse * [x,y,z]`.
-     * *  This is equivalent to solving `matrix * result = [x,y,z]`
-     * *  return as a Vector3d, or undefined if the matrix is singular.
+     * Multiply `matrixInverse * [x,y,z]`.
+     * * This is equivalent to solving `matrix * result = [x,y,z]` for an unknown `result`.
+     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
+     * @return result as a Vector3d or undefined (if the matrix is singular).
      */
     multiplyInverseXYZAsVector3d(x: number, y: number, z: number, result?: Vector3d): Vector3d | undefined;
     /**
-     * multiply `matrixInverse * [x,y,z]` and return packaged as `Point4d` with given weight.
-     * *  Equivalent to solving matrix * result = [x,y,z]
-     * *  return as a Point4d with the same weight.
-     * *  Called by Transform with x,y,z adjusted by subtraction ((xw) - w * origin.x, etc) where xw is the pre-weighted space point.
+     * Multiply `matrixInverse * [x,y,z]` and return result as `Point4d` with given weight.
+     * * Equivalent to solving `matrix * result = [x,y,z]` for an unknown `result`.
+     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
+     * @return result as a Point4d with the same weight.
      */
     multiplyInverseXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d | undefined;
     /**
-     * multiply `matrixInverse * [x,y,z]` and return packaged as `Point3d`.
-     * *  multiply matrixInverse * [x,y,z]
-     * *  Equivalent to solving matrix * result = [x,y,z]
-     * *  return as a Point3d.
+     * Multiply `matrixInverse * [x,y,z]` and return result as `Point3d`.
+     * * Equivalent to solving `matrix * result = [x,y,z]` for an unknown `result`.
+     * @return result as a Point3d or undefined (if the matrix is singular).
      */
     multiplyInverseXYZAsPoint3d(x: number, y: number, z: number, result?: Point3d): Point3d | undefined;
     /**
-     * * invoke a given matrix-matrix operation (product function) to compute this.inverseCOffs
-     * * set this.inverseCoffs
-     * * if either input cffA or coffB is undefined, set state to `InverseMatrixState.unknown` (but leave the inverseCoffs untouched)
+     * Invoke a given matrix*matrix operation to compute the inverse matrix and set this.inverseCoffs
+     * * If either input coffA or coffB is undefined, set state to `InverseMatrixState.unknown` but
+     * leave the inverseCoffs untouched.
+     * @param f the given matrix*matrix operation that is called by this function to compute the inverse.
+     * `f` must be a matrix*matrix operation. Otherwise, the function does not generate the inverse properly.
      */
     private finishInverseCoffs;
-    /** Multiply the instance matrix A by the input matrix B.
-     *   @return the matrix product A * B
+    /**
+     * Multiply `this` matrix times `other` matrix
+     * @return the matrix result: this*other
      */
     multiplyMatrixMatrix(other: Matrix3d, result?: Matrix3d): Matrix3d;
-    private static _productBuffer;
-    /** Multiply this matrix times inverse of other
-     *   @return the matrix result
+    /**
+     * Multiply `this` matrix times `inverse of other` matrix
+     * @return the matrix result: this*otherInverse
      */
     multiplyMatrixMatrixInverse(other: Matrix3d, result?: Matrix3d): Matrix3d | undefined;
-    /** Multiply this matrix times inverse of other
-     *   @return the matrix result
+    /**
+     * Multiply `inverse of this` matrix times `other` matrix
+     * @return the matrix result: thisInverse*other
      */
     multiplyMatrixInverseMatrix(other: Matrix3d, result?: Matrix3d): Matrix3d | undefined;
-    /** Multiply `this` matrix times the transpose of `matrixB`.
+    /**
+     * Multiply `this` matrix times the transpose of `other` matrix
      * ```
      * equation
-     * \text{for instance matrix }A\text{ and other matrix }B\text{ return matrix }C{\text where }\\\matrixXY{C}=\matrixXY{A}\matrixTransposeSubXY{B}
+     * \text{for instance matrix }A\text{ and matrix }B\text{ return matrix }C{\text where }\\\matrixXY{C}=\matrixXY{A}\matrixTransposeSubXY{B}
      * ```
-     * @return the matrix result
+     * @return the matrix result: this*otherTranspose
      */
-    multiplyMatrixMatrixTranspose(matrixB: Matrix3d, result?: Matrix3d): Matrix3d;
-    /** Matrix multiplication `thisTranspose * other`.
+    multiplyMatrixMatrixTranspose(other: Matrix3d, result?: Matrix3d): Matrix3d;
+    /**
+     * Multiply the transpose of `this` matrix times `other` matrix
      * ```
      * equation
      * \matrixXY{result}=\matrixXY{\text{this}}\matrixTransposeSubXY{\text{other}}
      * ```
-     *   @return the matrix result
+     * @return the matrix result: thisTranspose*other
      */
     multiplyMatrixTransposeMatrix(other: Matrix3d, result?: Matrix3d): Matrix3d;
-    /** multiply this Matrix3d (considered as a transform with 0 translation) times other Transform.
+    /**
+     * Multiply `this` Matrix3d (considered as a Transform with 0 translation) times `other` Transform.
      * ```
      * equation
      * \begin{matrix}
-     *    \text{This matrix }\bold{A}\text{ promoted to block transform} & \blockTransform{A}{0} \\
-     *    \text{other transform with matrix part }\bold{B}\text{ and translation }\bold{b} & \blockTransform{B}{b}\\
+     * \text{This matrix }\bold{A}\text{ promoted to block transform} & \blockTransform{A}{0} \\
+     * \text{other transform with matrix part }\bold{B}\text{ and translation }\bold{b} & \blockTransform{B}{b}\\
      * \text{product}& \blockTransform{A}{0}\blockTransform{B}{b}=\blockTransform{AB}{Ab}
      * \end{matrix}
      * ```
-     * @param other right hand Matrix3d for multiplication.
-     * @param result optional preallocated result to reuse.
+     * @param other Right hand Matrix3d for multiplication.
+     * @param result the Transform result (optional)
      */
     multiplyMatrixTransform(other: Transform, result?: Transform): Transform;
     /**
      * Return the transpose of `this` matrix.
-     * If `result` is passed as argument, then the function copies the transpose of `this` into `result`
-     * `this` is not changed unless also passed as the result, i.e., this.transpose(this) transposes `this` in place
+     * * If `result` is passed as argument, then the function copies the transpose of `this` into `result`.
+     * * `this` is not changed unless also passed as the result, i.e., `this.transpose(this)` transposes `this` in place.
      */
     transpose(result?: Matrix3d): Matrix3d;
     /**
      * Transpose this matrix in place.
      */
     transposeInPlace(): void;
-    /** return the inverse matrix.
-     * The return is undefined if the matrix is singular (has columns that are coplanar or colinear)
-     * * Note that each Matrix3d object caches its own inverse, and has methods to multiply the inverse times matrices and vectors.
-     * * Hence explicitly constructing this new inverse object is rarely necessary.
+    /**
+     * Return the inverse matrix.
+     * The return is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
+     * * If `result == this`, then content of inverse of `this` matrix is copied into `this`. Otherwise, inverse
+     * of `this` is stored in `result`.
+     * * **Note:** Each Matrix3d object caches its own inverse (`this.inverseCoffs`) and has methods to multiply
+     * the inverse times matrices and vectors (e.g., `multiplyMatrixInverseMatrix`, `multiplyMatrixMatrixInverse`,
+     * `multiplyInverse`). Hence explicitly constructing this new inverse object is rarely necessary.
      */
     inverse(result?: Matrix3d): Matrix3d | undefined;
+    /**
+     * Take the dot product of a row (specified by `rowStartA`) of `coffA` and `columnStartB` of `coffB`.
+     * * **Note:** We don't validate row/column numbers. Pass 0/3/6 for row 0/1/2 and pass 0/1/2 for column 0/1/2.
+     */
+    private static rowColumnDot;
+    /**
+     * Take the cross product of 2 rows (specified by `rowStart0` and `rowStart1`) of `source` and store the result
+     * in `columnStart` of `dest`.
+     * * **Note:** We don't validate row/column numbers. Pass 0/3/6 for row 0/1/2 and pass 0/1/2 for column 0/1/2.
+     */
     private static indexedRowCrossProduct;
+    /**
+     * Take the cross product of 2 columns (i.e., `colStart0` and `colStart1`) of `this` matrix and store the
+     * result in `colStart2` of the same matrix.
+     * * **Note:** We don't validate column numbers. Pass 0/1/2 for column 0/1/2.
+     */
     private indexedColumnCrossProductInPlace;
-    /** Form cross products among columns in axisOrder.
-     * For axis order ABC,
-     * * form cross product of column A and B, store in C
+    /**
+     * Form cross products among columns in axisOrder.
+     * For axis order ABC:
+     * * form cross product of column A and B, store in C.
      * * form cross product of column C and A, store in B.
+     * * [A   B   C] ===> [A   B   AxB] ===> [A   (AxB)xA   AxB]
+     *
      * This means that in the final matrix:
-     * * column A is strictly parallel to original column A
-     * * column B is linear combination of only original A and B
+     * * column A is same as original column A.
+     * * column B is linear combination of original A and B (i.e., is in the plane of original A and B).
      * * column C is perpendicular to A and B of both the original and final.
-     * * original column C does not participate in the result.
+     * * original column C is overwritten and does not participate in the result.
      */
     axisOrderCrossProductsInPlace(axisOrder: AxisOrder): void;
-    /** Normalize each column in place.
-     * * For false return the magnitudes are stored in the originalMagnitudes vector but no columns are altered.
-     * @returns Return true if all columns had nonzero lengths.
-     * @param originalMagnitudes optional vector to receive original column magnitudes.
-     */
-    normalizeColumnsInPlace(originalMagnitudes?: Vector3d): boolean;
-    /** Normalize each row in place */
-    normalizeRowsInPlace(originalMagnitudes?: Vector3d): boolean;
-    private static rowColumnDot;
     /**
-     * Returns true if the matrix is singular (i.e. collapses data to a plane, line, or point)
+     * Normalize each column in place.
+     * @param originalRowMagnitudes optional vector to store original column magnitudes.
+     * @returns Return true if all columns have non-zero lengths. Otherwise, return false.
+     * * If false is returned, the magnitudes are stored in the `originalRowMagnitudes` vector but no columns
+     * are altered.
+     */
+    normalizeColumnsInPlace(originalRowMagnitudes?: Vector3d): boolean;
+    /**
+   * Normalize each row in place.
+   * @param originalColumnMagnitudes optional vector to store original row magnitudes.
+   * @returns Return true if all rows have non-zero lengths. Otherwise, return false.
+   * * If false is returned, the magnitudes are stored in the `originalColumnMagnitudes` vector but no rows
+   * are altered.
+   */
+    normalizeRowsInPlace(originalColumnMagnitudes?: Vector3d): boolean;
+    /**
+     * Returns true if the matrix is singular.
      */
     isSingular(): boolean;
     /**
@@ -863,20 +926,23 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     markSingular(): void;
     /**
-     * Create the inverseCoffs member (filled with zeros)
-     * This is for use by matrix * matrix multiplications which need to be sure the member is there to be
-     * filled with method-specific content.
-     */
-    private createInverseCoffsWithZeros;
-    /** compute the inverse of this Matrix3d. The inverse is stored for later use.
-     * @returns Return true if the inverse computed.  (False if the columns collapse to a point, line or plane.)
+     * Compute the inverse of `this` Matrix3d. The inverse is stored in `this.inverseCoffs` for later use.
+     * @param useCacheIfAvailable if `true`, use the previously computed inverse if available. If `false`,
+     * recompute the inverse.
+     * @returns Return `true` if the inverse is computed. Return `false` if matrix is singular.
      */
     computeCachedInverse(useCacheIfAvailable: boolean): boolean;
-    /** convert a (row,column) index pair to the single index within flattened array of 9 numbers in row-major-order  */
+    /**
+     * Convert a (row,column) index pair to the single index within flattened array of 9 numbers in row-major-order
+     * * **Note:** Out of range row/column is interpreted cyclically.
+     */
     static flatIndexOf(row: number, column: number): number;
-    /** Get a column by index (0,1,2), packaged as a Point4d with given weight.   Out of range index is interpreted cyclically.  */
+    /**
+     * Get elements of column `index` packaged as a Point4d with given `weight`.
+     * * **Note:** Out of range index is interpreted cyclically.
+     */
     indexedColumnWithWeight(index: number, weight: number, result?: Point4d): Point4d;
-    /** return the entry at specific row and column */
+    /** Return the entry at specific row and column */
     at(row: number, column: number): number;
     /** Set the entry at specific row and column */
     setAt(row: number, column: number, value: number): void;
@@ -931,12 +997,11 @@ export declare class Matrix3d implements BeJSONFunctions {
     /**
      * Create a rigid matrix (columns and rows are unit length and pairwise perpendicular) for
      * the given eye coordinate.
-     * * column z is parallel to x,y,z
-     * * column x is perpendicular to column z and is in the xy plane
-     * * column y is perpendicular to both.  It is the "up" vector on the view plane.
+     * * column 2 is parallel to (x,y,z).
+     * * column 0 is perpendicular to column 2 and is in the xy plane.
+     * * column 1 is perpendicular to both. It is the "up" vector on the view plane.
      * * Multiplying the returned matrix times a local (view) vector gives the world vector.
-     * * Multiplying transpose of the returned matrix times a world vector gives the local
-     * (view) vector.
+     * * Multiplying transpose of the returned matrix times a world vector gives the local (view) vector.
      * @param x eye x coordinate
      * @param y eye y coordinate
      * @param z eye z coordinate

package/lib/cjs/geometry3d/Matrix3d.d.ts.map

@@ -1 +1 @@
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