@itwin/core-geometry 4.0.0-dev.37 → 4.0.0-dev.39

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

@@ -394,14 +394,16 @@ export declare class Matrix3d implements BeJSONFunctions {
      * ```
      */
     static createColumnsXYW(vectorU: XAndY, u: number, vectorV: XAndY, v: number, vectorW: XAndY, w: number, result?: Matrix3d): Matrix3d;
-    /** Create a matrix from "as viewed" right and up vectors.
-     * * ColumnX points in the rightVector direction
-     * * ColumnY points in the upVector direction
+    /**
+     * Create a matrix from "as viewed" right and up vectors.
+     * * ColumnX points in the rightVector direction.
+     * * ColumnY points in the upVector direction.
      * * ColumnZ is a unit cross product of ColumnX and ColumnY.
      * * Optionally rotate by 45 degrees around `upVector` to bring its left or right vertical edge to center.
      * * Optionally rotate by arctan(1/sqrt(2)) ~ 35.264 degrees around `rightVector` to bring the top or bottom
      * horizontal edge of the view to the center (for isometric views).
-     * * This is expected to be used with various principal unit vectors that are perpendicular to each other.
+     *
+     * This is expected to be used with various principal unit vectors that are perpendicular to each other.
      * * STANDARD TOP VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitY(), 0, 0)
      * * STANDARD FRONT VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitZ(), 0, 0)
      * * STANDARD BACK VIEW: createViewedAxes(Vector3d.unitX(-1), Vector3d.unitZ(), 0, 0)
@@ -538,6 +540,10 @@ export declare class Matrix3d implements BeJSONFunctions {
     rowZMagnitude(): number;
     /** Return the dot product of column X with column Y */
     columnXDotColumnY(): number;
+    /** Return the dot product of column X with column Z */
+    columnXDotColumnZ(): number;
+    /** Return the dot product of column Y with column Z */
+    columnYDotColumnZ(): number;
     /**
      * Dot product of an indexed column with a vector given as x,y,z
      * @param columnIndex index of column. Must be 0,1,2.
@@ -712,12 +718,12 @@ 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 (optional)
+     * @param result 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 (optional)
+     * @param result the vector result (optional)
      */
     multiplyXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
     /**
@@ -728,25 +734,25 @@ export declare class Matrix3d implements BeJSONFunctions {
     multiplyXYZtoXYZ(xyz: XYZ, result: XYZ): XYZ;
     /**
      * 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)
+     * @param result the vector result (optional)
      */
     multiplyXY(x: number, y: number, result?: Vector3d): Vector3d;
     /**
      * Compute origin + the matrix * [x,y,0].
-     * @return the vector result (optional)
+     * @param result the Point3d result (optional)
      */
     originPlusMatrixTimesXY(origin: XYZ, x: number, y: number, result?: Point3d): Point3d;
     /**
      * 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
+     * @param xyzData the vector data.
      */
     multiplyVectorInPlace(xyzData: XYZ): void;
     /**
      * 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
+     * @param vectorU the vector data
      */
     multiplyTransposeVectorInPlace(vectorU: XYZ): void;
     /**
@@ -760,44 +766,44 @@ export declare class Matrix3d implements BeJSONFunctions {
      * \phantom{8888}\text{and return V as a Vector3d} & & &
      * \end{matrix}
      * ````
-     * @return the vector result (optional)
+     * @param result the vector result (optional)
      */
     multiplyTransposeXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
     /**
      * 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)
+     * * This is equivalent to multiplication `result = matrixInverse * 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` for an unknown `result`.
      * * This is equivalent to multiplication `result = matrixInverseTranspose * vector`.
-     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
+     * * 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]` for an unknown `result`.
-     * * Result is undefined if the matrix is singular (e.g. has parallel columns or a zero magnitude column)
+     * * 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 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)
+     * * 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 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).
+     * @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 to compute the inverse matrix and set this.inverseCoffs
-     * * If either input coffA or coffB is undefined, set state to `InverseMatrixState.unknown` but
+     * * 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.
@@ -895,28 +901,30 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * [A   B   C] ===> [A   B   AxB] ===> [A   (AxB)xA   AxB]
      *
      * This means that in the final matrix:
-     * * 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.
+     * * first column is same as original column A.
+     * * second column is linear combination of original A and B (i.e., is in the plane of original A and B).
+     * * third column is perpendicular to first and second columns of both the original and final.
      * * original column C is overwritten and does not participate in the result.
+     *
+     * The final matrix will have 3 orthogonal columns.
      */
     axisOrderCrossProductsInPlace(axisOrder: AxisOrder): void;
     /**
      * 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
+     * @param originalColumnMagnitudes 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 `originalColumnMagnitudes` vector but no columns
      * are altered.
      */
-    normalizeColumnsInPlace(originalRowMagnitudes?: Vector3d): boolean;
+    normalizeColumnsInPlace(originalColumnMagnitudes?: 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;
+     * Normalize each row in place.
+     * @param originalRowMagnitudes 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 `originalRowMagnitudes` vector but no rows
+     * are altered.
+     */
+    normalizeRowsInPlace(originalRowMagnitudes?: Vector3d): boolean;
     /**
      * Returns true if the matrix is singular.
      */
@@ -929,7 +937,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * 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.
+     * @returns return `true` if the inverse is computed. Return `false` if matrix is singular.
      */
     computeCachedInverse(useCacheIfAvailable: boolean): boolean;
     /**
@@ -946,54 +954,66 @@ export declare class Matrix3d implements BeJSONFunctions {
     at(row: number, column: number): number;
     /** Set the entry at specific row and column */
     setAt(row: number, column: number, value: number): void;
-    /** create a Matrix3d whose columns are scaled copies 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 preallocated result.
+    /**
+     * Create a Matrix3d whose values are uniformly scaled from `this` Matrix3d.
+     * @param scale scale factor to apply.
+     * @param result optional result.
+     * @returns return the scaled matrix.
+     */
+    scale(scale: number, result?: Matrix3d): Matrix3d;
+    /**
+     * Create a Matrix3d whose columns are scaled copies of `this` Matrix3d.
+     * @param scaleX scale factor for column 0
+     * @param scaleY scale factor for column 1
+     * @param scaleZ scale factor for column 2
+     * @param result optional result
      */
     scaleColumns(scaleX: number, scaleY: number, scaleZ: number, result?: Matrix3d): Matrix3d;
-    /** 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
+    /**
+     * Scale the columns of `this` Matrix3d in place.
+     * @param scaleX scale factor for column 0
+     * @param scaleY scale factor for column 1
+     * @param scaleZ scale factor for column 2
      */
     scaleColumnsInPlace(scaleX: number, scaleY: number, scaleZ: number): void;
-    /** create a Matrix3d whose rows are scaled copies of this Matrix3d.
-     * @param scaleX scale factor for row x
-     * @param scaleY scale factor for row y
-     * @param scaleZ scale factor for row z
-     * @param result optional preallocated result.
+    /**
+     * Create a Matrix3d whose rows are scaled copies of `this` Matrix3d.
+     * @param scaleX scale factor for row 0
+     * @param scaleY scale factor for row 1
+     * @param scaleZ scale factor for row 2
+     * @param result optional result
      */
     scaleRows(scaleX: number, scaleY: number, scaleZ: number, result?: Matrix3d): Matrix3d;
     /**
-     * add scaled values from other Matrix3d to this Matrix3d
-     * @param other Matrix3d with values to be added
+     * Scale the rows of `this` Matrix3d in place.
+     * @param scaleX scale factor for row 0
+     * @param scaleY scale factor for row 1
+     * @param scaleZ scale factor for row 2
+     */
+    scaleRowsInPlace(scaleX: number, scaleY: number, scaleZ: number): void;
+    /**
+     * Add scaled values from `other` Matrix3d to `this` Matrix3d.
+     * @param other Matrix3d with values to be added.
      * @param scale scale factor to apply to the added values.
      */
     addScaledInPlace(other: Matrix3d, scale: number): void;
     /**
-     * add scaled values from an outer product.
-     * * The scaled outer product is a "rank 1" matrix.
+     * Add scaled values from an outer product of vectors U and V.
+     * * The scaled outer product is a matrix with `rank 1` (all columns/rows are linearly dependent).
      * * This is useful in constructing mirrors and directional scales.
      * ```
      * equation
      * A += s \columnSubXYZ{U}\rowSubXYZ{V}
      * \\ \matrixXY{A} += s \begin{bmatrix}
-     * U_x * V_x & U_y * V_x & U_z * V_x \\
-     * U_x * V_y & U_y * V_y & U_z * V_y \\
-     * U_x * V_z & U_y * V_z & U_z * V_z \end{bmatrix}
+     * U_x * V_x & U_x * V_y & U_x * V_z \\
+     * U_y * V_x & U_y * V_y & U_y * V_z \\
+     * U_z * V_x & U_z * V_y & U_z * V_z \end{bmatrix}
      * ```
-     * @param other Matrix3d with values to be added
+     * @param vectorU first vector in the outer product.
+     * @param vectorV second vector in the outer product.
      * @param scale scale factor to apply to the added values.
      */
     addScaledOuterProductInPlace(vectorU: Vector3d, vectorV: Vector3d, scale: number): void;
-    /** create a Matrix3d whose values are uniformly scaled from this.
-     * @param scale scale factor to apply.
-     * @param result optional preallocated result.
-     * @returns Return the new or repopulated matrix
-     */
-    scale(scale: number, result?: Matrix3d): Matrix3d;
     /**
      * Create a rigid matrix (columns and rows are unit length and pairwise perpendicular) for
      * the given eye coordinate.
@@ -1008,16 +1028,19 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param result optional preallocated result
      */
     static createRigidViewAxesZTowardsEye(x: number, y: number, z: number, result?: Matrix3d): Matrix3d;
-    /** Return the determinant of this matrix. */
+    /** Return the determinant of `this` matrix. */
     determinant(): number;
-    /** Return an estimate of how independent the columns are.  Near zero is bad. Near 1 is good
+    /**
+     * Return an estimate of how independent the columns of `this` matrix are. Near zero is bad (i.e.,
+     * columns are almost dependent and matrix is nearly singular). Near 1 is good (i.e., columns are
+     * almost independent and matrix is invertible).
      */
     conditionNumber(): number;
     /** Return the sum of squares of all entries */
     sumSquares(): number;
     /** Return the sum of squares of diagonal entries */
     sumDiagonalSquares(): number;
-    /** Return the sum of diagonal entries (also known as the trace) */
+    /** Return the matrix `trace` (sum of diagonal entries) */
     sumDiagonal(): number;
     /** Return the Maximum absolute value of any single entry */
     maxAbs(): number;
@@ -1029,36 +1052,52 @@ export declare class Matrix3d implements BeJSONFunctions {
     get isDiagonal(): boolean;
     /** Test if the stored inverse is present and marked valid */
     get hasCachedInverse(): boolean;
-    /** Test if the below diagonal entries are all nearly zero */
+    /** Test if the below diagonal entries (3,6,7) are all nearly zero */
     get isUpperTriangular(): boolean;
-    /** If the matrix is diagonal and all diagonals are within tolerance, return the first diagonal.  Otherwise return undefined.
+    /** Test if the above diagonal entries (1,2,5) are all nearly zero */
+    get isLowerTriangular(): boolean;
+    /**
+     * If the matrix is diagonal and all diagonals are almost equal, return the first diagonal (entry 0
+     * which is same as entry 4 and 8). Otherwise return `undefined`.
      */
     sameDiagonalScale(): number | undefined;
-    /** Sum of squared differences between symmetric pairs */
+    /** Sum of squared differences between symmetric pairs (entry 1 and 3 - 2 and 6 - 5 and 7) */
     sumSkewSquares(): number;
-    /** 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)
+    /**
+     * Test if all rows and columns are unit length and are perpendicular to each other, i.e., the matrix is either
+     * a `pure rotation` (determinant is +1) or is a `mirror` (determinant is -1).
+     * * **Note:** such a matrix is called `orthogonal` and its inverse is its transpose.
+     */
+    testPerpendicularUnitRowsAndColumns(): boolean;
+    /**
+     * Test if the matrix is a `rigid` matrix (or `pure rotation`, i.e., columns and rows are unit length and
+     * pairwise perpendicular and determinant is +1).
+     * @param allowMirror whether to widen the test to return true if the matrix is a `mirror` (determinant is -1).
     */
     isRigid(allowMirror?: boolean): boolean;
-    /** Test if all rows and columns are perpendicular to each other and have equal length.
-     * If so, the length (or its negative) is the scale factor from a set of rigid axes to these axes.
-     * * result.rigidAxes is the rigid axes (with the scale factor removed)
-     * * result.scale is the scale factor
+    /**
+     * Test if all rows and columns are perpendicular to each other and have equal length.
+     * If so, the length (or its negative) is the `scale` factor from a set of `orthonormal axes` to
+     * the set of axes created by columns of `this` matrix. Otherwise, returns `undefined`.
+     * @returns returns `{ rigidAxes, scale }` where `rigidAxes` is a Matrix3d with its columns as the rigid axes
+     * (with the scale factor removed) and `scale` is the scale factor.
+     * * Note that determinant of a rigid matrix is +1.
+     * * The context for this method is to determine if the matrix is the product a `rotation` matrix and a uniform
+     * `scale` matrix (diagonal matrix with all diagonal entries the same nonzero number).
      */
     factorRigidWithSignedScale(): {
         rigidAxes: Matrix3d;
         scale: number;
     } | undefined;
-    /** Test if the matrix is shuffles and negates columns. */
+    /** Test if `this` matrix reorders and/or negates the columns of the `identity` matrix. */
     get isSignedPermutation(): boolean;
-    /** Test if all rows and columns are length 1 and are perpendicular to each other.  (I.e. the matrix is either a pure rotation with uniform scale factor of 1 or -1) */
-    testPerpendicularUnitRowsAndColumns(): boolean;
-    /** Adjust the matrix in place so that:
-     * * columns are perpendicular and have unit length
-     * * transpose equals inverse
-     * * mirroring is removed
+    /**
+     * Adjust the matrix in place to make is a `rigid` matrix 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
+     * @return whether the adjusted matrix is `rigid` on return
      */
     makeRigid(axisOrder?: AxisOrder): boolean;
     /** Create a new orthogonal matrix (perpendicular columns, unit length, transpose is inverse).
@@ -1066,16 +1105,25 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * Mirroring in the matrix is removed.
      */
     static createRigidFromMatrix3d(source: Matrix3d, axisOrder?: AxisOrder, result?: Matrix3d): Matrix3d | undefined;
-    private static computeQuatTerm;
-    /** create a matrix from a quaternion.
-     * **WARNING:** There is frequent confusion over whether a "from quaternion" matrix is organized by rows and columns.
-     * **WARNING:** If you find that the matrix seems to rotate by the opposite angle expect it, transpose it.
+    /**
+     * Create a matrix from a quaternion.
+     * **WARNING:** There is frequent confusion over whether a "from quaternion" matrix is organized by
+     * rows or columns. If you find that the matrix seems to rotate by the opposite angle, transpose it.
+     *
+     * Some math details can be found at
+     * http://marc-b-reynolds.github.io/quaternions/2017/08/08/QuatRotMatrix.html
      */
     static createFromQuaternion(quat: Point4d): Matrix3d;
-    /** convert the matrix to a quaternion.
-     * @note This calculation requires the matrix to have unit length rows and columns.
-     * **WARNING:** There is frequent confusion over whether a "from quaternion" matrix is organized by rows and columns.
-     * **WARNING:** If you find that the matrix seems to rotate by the opposite angle expect it, transpose it.
+    /** Calculate quaternion terms used to convert matrix to a quaternion */
+    private static computeQuatTerm;
+    /**
+     * Create `this` matrix to a quaternion.
+     * **Note:** This calculation requires `this` matrix to have unit length rows and columns.
+     * **WARNING:** There is frequent confusion over whether a "from quaternion" matrix is organized by
+     * rows or columns. If you find that the matrix seems to rotate by the opposite angle, transpose it.
+     *
+     * Some math details can be found at
+     * http://marc-b-reynolds.github.io/quaternions/2017/08/08/QuatRotMatrix.html
      */
     toQuaternion(): Point4d;
 }

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

@@ -1 +1 @@
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