@itwin/core-geometry 4.0.0-dev.39 → 4.0.0-dev.40

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

@@ -351,7 +351,14 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * 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` */
+    /**
+     * Return the matrix for rotation of `angle` around desired `axis`
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeRotationAroundAnAxis
+     * @param axis the axis of rotation
+     * @param angle the angle of rotation
+     * @param result caller-allocated matrix (optional)
+     * @returns the `rotation matrix` or `undefined` (if axis magnitude is near zero).
+     */
     static createRotationAroundVector(axis: Vector3d, angle: Angle, result?: Matrix3d): Matrix3d | undefined;
     /** Returns a rotation of specified angle around one of the main axis (X,Y,Z).
      * @param axisIndex index of axis (AxisIndex.X, AxisIndex.Y, AxisIndex.Z) kept fixed by the rotation.
@@ -448,26 +455,60 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static createStandardWorldToView(index: StandardViewIndex, invert?: boolean, result?: Matrix3d): Matrix3d;
     /**
-     * Apply (in place) a jacobi update that zeros out this.at(i,j).
+     * Apply (in place) a jacobi eigenvalue algorithm.
      * @param i row index of zeroed member
      * @param j column index of zeroed member
-     * @param k other row/column index (different from i and j)
-     * @param leftEigenVectors a matrix that its columns will be filled by eigenvectors of this Matrix3d
-     * (allocated by caller, computed and filled by this function)
+     * @param leftEigenvectors a matrix that its columns will be filled by the left eigenvectors of `this` Matrix3d
+     * (allocated by caller, computed and filled by this function). Note that columns of leftEigenVectors will be
+     * mutually perpendicular because `this` matrix is symmetric.
+     * @param lambda a matrix that its diagonal entries will be filled by eigenvalues and its non-diagonal elements
+     * converge to 0 (allocated by caller, computed and filled by this function).
+     */
+    private applySymmetricJacobi;
+    /**
+     * Factor `this` matrix as a product `U * lambda * UT` where `U` is an orthogonal matrix and `lambda`
+     * is a diagonal matrix.
+     *
+     * * **Note 1:** You must apply this function to a `symmetric` matrix. Otherwise, the lower triangle is ignored
+     * and the upper triangle is mirrored to the lower triangle to enforce symmetry.
+     * * **Note 2:** This function is replaced by a faster method called `fastSymmetricEigenvalues` so consider
+     * using the fast version instead.
+     * @param leftEigenvectors a matrix that its columns will be filled by the left eigenvectors of `this` Matrix3d
+     * (allocated by caller, computed and filled by this function). Note that columns of leftEigenVectors will be
+     * mutually perpendicular because `this` matrix is symmetric.
+     * @param lambda a vector that its entries will be filled by eigenvalues of `this` Matrix3d (allocated by
+     * caller, computed and filled by this function).
+     */
+    symmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
+    /**
+     * Apply (in place) a jacobi eigenvalue algorithm that diagonalize `this` matrix, i.e., zeros out this.at(i,j).
+     * * During diagonalization, the upper triangle is mirrored to lower triangle to enforce symmetry.
+     * * Math details can be found at docs/learning/geometry/Matrix.md
+     * @param i row index of zeroed member.
+     * @param j column index of zeroed member.
+     * @param k other row/column index (different from i and j).
+     * @param leftEigenVectors a matrix that its columns will be filled by the left eigenvectors of `this` Matrix3d
+     * (allocated by caller, computed and filled by this function). Note that columns of leftEigenVectors will be
+     * mutually perpendicular because `this` matrix is symmetric.
      */
-    private applyFastSymmetricJacobiUpdate;
+    private applyFastSymmetricJacobi;
     /**
-     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
-     * The upper triangle is mirrored to lower triangle to enforce symmetry.
-     * @param leftEigenvectors a matrix that its columns will be filled by eigenvectors of this Matrix3d
-     * (allocated by caller, computed and filled by this function)
-     * @param lambda a vector that its entries will be filled by eigenvalues of this Matrix3d
-     * (allocated by caller, computed and filled by this function)
+     * Factor `this` matrix as a product `U * lambda * UT` where `U` is an orthogonal matrix and `lambda`
+     * is a diagonal matrix.
+     *
+     * * **Note:** You must apply this function to a `symmetric` matrix. Otherwise, the lower triangle is ignored
+     * and the upper triangle is mirrored to the lower triangle to enforce symmetry.
+     * * Math details can be found at docs/learning/geometry/Matrix.md
+     * @param leftEigenvectors a matrix that its columns will be filled by the left eigenvectors of `this` Matrix3d
+     * (allocated by caller, computed and filled by this function). Note that columns of leftEigenVectors will be
+     * mutually perpendicular because `this` matrix is symmetric.
+     * @param lambda a vector that its entries will be filled by eigenvalues of `this` Matrix3d (allocated by
+     * caller, computed and filled by this function).
      */
     fastSymmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
     /**
-     * Compute the (unit vector) axis and angle of rotation.
-     * * math details can be found at docs/learning/geometry/Angle.md
+     * Compute the (unit vector) axis and angle for the rotation generated by `this` Matrix3d.
+     * * Math details can be found at docs/learning/geometry/Angle.md
      * @returns Returns axis and angle of rotation with result.ok === true when the conversion succeeded.
      */
     getAxisAndAngleOfRotation(): {
@@ -475,31 +516,37 @@ export declare class Matrix3d implements BeJSONFunctions {
         angle: Angle;
         ok: boolean;
     };
-    /** Rotate so columns i and j become perpendicular */
-    private applyJacobiColumnRotation;
     /**
-     * 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 matrixU (allocate by caller, computed here)
+     * Rotate columns i and j of `this` matrix to make them perpendicular using the angle that zero-out
+     * `thisTranspose * this`.
+     * @param i row index of zeroed member.
+     * @param j column index of zeroed member.
+     * @param matrixU a matrix that its columns will be filled by the right eigenvectors of `thisTranspose * this`
+     * (allocated by caller, computed and filled by this function). Note that columns of matrixU will be mutually
+     *  perpendicular because `thisTranspose * this` matrix is symmetric.
      */
-    factorPerpendicularColumns(matrixC: Matrix3d, matrixU: Matrix3d): boolean;
+    private applyJacobiColumnRotation;
     /**
-     * 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)
+     * Factor `this` matrix as a product `VD * U` where `VD` has mutually perpendicular columns and `U` is orthogonal.
+     * @param matrixVD a matrix that its columns will be filled by rotating columns of `this` to make them mutually
+     * perpendicular (allocated by caller, computed and filled by this function).
+     * @param matrixU a matrix that its columns will be filled by the right eigenvectors of `thisTranspose * this`
+     * (allocated by caller, computed and filled by this function). Note that columns of matrixU will be mutually
+     *  perpendicular because `thisTranspose * this` matrix is symmetric.
+     */
+    factorPerpendicularColumns(matrixVD: Matrix3d, matrixU: Matrix3d): boolean;
+    /**
+     * Factor `this` matrix as a product `V * D * U` where `V` and `U` are orthogonal and `D` is diagonal with
+     * positive entries.
+     * * This is formally known as the `Singular Value Decomposition` or `SVD`.
+     * @param matrixV an orthogonal matrix that its columns will be filled by the left eigenvectors of
+     * `thisTranspose * this` (allocated by caller, computed and filled by this function).
+     * @param scale singular values of `this` (allocated by caller, computed and filled by this function).
+     * The singular values in the `scale` are non-negative and decreasing.
+     * @param matrixU an orthogonal matrix that its columns will be filled by the right eigenvectors of
+     * `thisTranspose * this` (allocated by caller, computed and filled by this function).
      */
     factorOrthogonalScaleOrthogonal(matrixV: Matrix3d, scale: Point3d, matrixU: Matrix3d): boolean;
-    /** Apply a jacobi step to lambda which evolves towards diagonal. */
-    private applySymmetricJacobi;
-    /**
-     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
-     * The upper triangle is mirrored to lower triangle to enforce symmetry.
-     * @param matrixC (allocate by caller, computed here)
-     * @param factor  (allocate by caller, computed here)
-     */
-    symmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
     /**
      * Return a matrix that rotates a fraction of the angular sweep from vectorA to vectorB.
      * @param vectorA initial vector position
@@ -1015,8 +1062,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     addScaledOuterProductInPlace(vectorU: Vector3d, vectorV: Vector3d, scale: number): void;
     /**
-     * Create a rigid matrix (columns and rows are unit length and pairwise perpendicular) for
-     * the given eye coordinate.
+     * Create a rigid matrix (columns and rows are unit length and pairwise perpendicular) for the given eye coordinate.
      * * 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.
@@ -1050,6 +1096,10 @@ export declare class Matrix3d implements BeJSONFunctions {
     get isIdentity(): boolean;
     /** Test if the off diagonal entries are all nearly zero */
     get isDiagonal(): boolean;
+    /** Sum of squared differences between symmetric pairs (symmetric pairs have indices (1,3), (2,6), and (5,7).) */
+    sumSkewSquares(): number;
+    /** Test if the matrix is (very near to) symmetric */
+    isSymmetric(): boolean;
     /** Test if the stored inverse is present and marked valid */
     get hasCachedInverse(): boolean;
     /** Test if the below diagonal entries (3,6,7) are all nearly zero */
@@ -1061,8 +1111,6 @@ export declare class Matrix3d implements BeJSONFunctions {
      * which is same as entry 4 and 8). Otherwise return `undefined`.
      */
     sameDiagonalScale(): number | undefined;
-    /** Sum of squared differences between symmetric pairs (entry 1 and 3 - 2 and 6 - 5 and 7) */
-    sumSkewSquares(): number;
     /**
      * 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).

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

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