@itwin/core-geometry 4.0.0-dev.46 → 4.0.0-dev.50

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

@@ -8,16 +8,17 @@ import { Point2d } from "./Point2dVector2d";
 import { Point3d, Vector3d, XYZ } from "./Point3dVector3d";
 import { Range3d } from "./Range";
 import { TransformProps, XAndY, XYAndZ } from "./XYZProps";
-/** A transform is an origin and a Matrix3d.
- *
- * * This describes a coordinate frame with
- * this origin, with the columns of the Matrix3d being the
- * local x,y,z axis directions.
- * *  Beware that for common transformations (e.g. scale about point,
- * rotate around line, mirror across a plane) the "fixed point" that is used
- * when describing the transform is NOT the "origin" stored in the transform.
- * Setup methods (e.g createFixedPointAndMatrix, createScaleAboutPoint)
- * take care of determining the appropriate origin coordinates.
+/**
+ * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with
+ * the columns of the Matrix3d being the local x,y,z axis directions.
+ * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.
+ * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a
+ * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the
+ * global axes centered at the global origin, to a new set of axes centered at `o`.
+ * * Beware that for common transformations (e.g. scale about point, rotate around an axis, mirror across a
+ * plane) the "fixed point" that is used when describing the transform is NOT the "origin" stored in the
+ * transform. Setup methods (e.g createFixedPointAndMatrix, createScaleAboutPoint) take care of determining
+ * the appropriate origin coordinates.
  * @public
  */
 export declare class Transform implements BeJSONFunctions {
@@ -37,135 +38,183 @@ export declare class Transform implements BeJSONFunctions {
     setFrom(other: Transform): void;
     /** Set this Transform to be an identity. */
     setIdentity(): void;
-    /** Set this Transform instance from flexible inputs:
-     * * Any object (such as another Transform) that has `origin` and `matrix` members accepted by Point3d.setFromJSON and Matrix3d.setFromJSON
+    /**
+     * Set this Transform instance from flexible inputs:
+     * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members
+     * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`
      * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.
      * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.
+     * * If no input is provided, the identity Transform is returned.
      */
     setFromJSON(json?: TransformProps | Transform): void;
     /**
-     * Test for near equality with other Transform.  Comparison uses the isAlmostEqual methods on
-     * the origin and matrix parts.
+     * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and
+     * `matrix` parts.
      * @param other Transform to compare to.
      */
     isAlmostEqual(other: Readonly<Transform>): boolean;
     /**
-     * Test for near equality with other Transform.  Comparison uses the isAlmostEqualAllowZRotation method of Matrix3d
-     * the origin and matrix parts.
+     * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part
+     * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.
      * @param other Transform to compare to.
      */
     isAlmostEqualAllowZRotation(other: Transform): boolean;
-    /** Return a 3 by 4 matrix containing the rows of this Transform
-    * * This transform's origin is the [3] entry of the json arrays
-    */
-    toJSON(): TransformProps;
-    /** Return a 3 by 4 matrix containing the rows of this Transform
-     * * This transform's origin is the [3] entry of the json arrays
+    /**
+     * Return a 3 by 4 matrix containing the rows of this Transform.
+     * * The transform's origin coordinates are the last entries of the 3 json arrays
      */
     toRows(): number[][];
-    /** Return a new Transform initialized by `setFromJSON (json)` */
+    /**
+     * Return a 3 by 4 matrix containing the rows of this Transform.
+     * * The transform's origin coordinates are the last entries of the 3 json arrays
+    */
+    toJSON(): TransformProps;
+    /** Return a new Transform initialized by `Transform.setFromJSON` */
     static fromJSON(json?: TransformProps): Transform;
-    /** Copy the contents of this transform into a new Transform (or to the result, if specified). */
+    /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */
     clone(result?: Transform): Transform;
-    /** Return a copy of this Transform, modified so that its axes are rigid
-     * * The first axis direction named in axisOrder is preserved
-     * * 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
-     * * The third named column is the cross product of the first and second.
+    /**
+     * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).
+     * * For details of how the matrix is modified to rigid, see documentation of `Matrix3d.axisOrderCrossProductsInPlace`
      */
     cloneRigid(axisOrder?: AxisOrder): Transform | undefined;
-    /** Create a copy with the given origin and matrix captured as the Transform origin and Matrix3d. */
+    /** Create a Transform with the given `origin` and `matrix`. */
     static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
-    /** Create a transform with complete contents given */
+    /** Create a Transform with complete contents given */
     static createRowValues(qxx: number, qxy: number, qxz: number, ax: number, qyx: number, qyy: number, qyz: number, ay: number, qzx: number, qzy: number, qzz: number, az: number, result?: Transform): Transform;
-    /** Create a transform with all zeros.
-     */
+    /** Create a Transform with all zeros */
     static createZero(result?: Transform): Transform;
     /**
-     * create a Transform with translation provided by x,y,z parts.
+     * Create a Transform with translation provided by x,y,z parts.
      * @param x x part of translation
      * @param y y part of translation
      * @param z z part of translation
-     * @param result optional result
-     * @returns new or updated transform.
+     * @param result optional pre-allocated Transform
+     * @returns new or updated transform
      */
     static createTranslationXYZ(x?: number, y?: number, z?: number, result?: Transform): Transform;
-    /** Create a matrix with specified translation part.
-     * @param XYZ x,y,z parts of the translation.
-     * @returns new or updated transform.
+    /**
+     * Create a Transform with specified `translation` part.
+     * @param translation x,y,z parts of the translation
+     * @param result optional pre-allocated Transform
+     * @returns new or updated transform
      */
     static createTranslation(translation: XYZ, result?: Transform): Transform;
-    /** Return a reference to the matrix within the transform.  (NOT a copy) */
+    /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */
     get matrix(): Matrix3d;
-    /** Return a reference to the origin within the transform.  (NOT a copy) */
+    /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */
     get origin(): XYZ;
-    /** return a (clone of) the origin part of the transform, as a Point3d */
+    /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */
     getOrigin(): Point3d;
-    /** return a (clone of) the origin part of the transform, as a Vector3d */
+    /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */
     getTranslation(): Vector3d;
-    /** test if the transform has 000 origin and identity Matrix3d */
+    /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */
+    getMatrix(): Matrix3d;
+    /** test if the transform has `origin` = (0,0,0) and identity `matrix` */
     get isIdentity(): boolean;
-    /** Return an identity transform, optionally filling existing transform.  */
+    /** Create an identity transform */
     static createIdentity(result?: Transform): Transform;
-    /** Create by directly installing origin and matrix
-     * this is a the appropriate construction when the columns of the matrix are coordinate axes of a local-to-global mapping
-     * Note there is a closely related createFixedPointAndMatrix whose point input is the fixed point of the global-to-global transformation.
+    /**
+     * Create a Transform using the given `origin` and `matrix`.
+     * * This is a the appropriate construction when the columns of the matrix are coordinate axes of a
+     * local-to-world mapping.
+     * * This function is a closely related to `createFixedPointAndMatrix` whose point input is the fixed point
+     * of the world-to-world transformation.
      */
     static createOriginAndMatrix(origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform): Transform;
-    /** Create by directly installing origin and columns of the matrix
-     */
+    /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */
+    setOriginAndMatrixColumns(origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined): void;
+    /** Create a Transform using the given `origin` and columns of the `matrix` */
     static createOriginAndMatrixColumns(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform): Transform;
-    /** Create by with matrix from Matrix3d.createRigidFromColumns.
-     * * Has careful logic for building up optional result without allocations.
+    /**
+     * Create a Transform such that its `matrix` part is rigid.
+     * * For details of how the matrix is created to be rigid, see documentation of `Matrix3d.createRigidFromColumns`
      */
     static createRigidFromOriginAndColumns(origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform): Transform | undefined;
-    /** Reinitialize by directly installing origin and columns of the matrix
-     */
-    setOriginAndMatrixColumns(origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined): void;
-    /** Create a transform with the specified matrix. Compute an origin (different from the given fixedPoint)
-     * so that the fixedPoint maps back to itself.
+    /**
+     * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)
+     * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`
+     * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).
      */
     static createFixedPointAndMatrix(fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
-    /** Create a transform with the specified matrix, acting on any `pointX `via
-     * `pointY = matrix * (pointX - pointA) + pointB`
-     * so that the fixedPoint maps back to itself.
+    /**
+     * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform, transforms
+     * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`) so transforms point `a` to 'b'.
      */
-    static createMatrixPickupPutdown(matrix: Matrix3d, pointA: Point3d, pointB: Point3d, result?: Transform): Transform;
-    /** Create a Transform which leaves the fixedPoint unchanged and
-     * scales everything else around it by a single scale factor.
+    static createMatrixPickupPutdown(matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform): Transform;
+    /**
+     * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by
+     * a single scale factor. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`
+     * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).
      */
     static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform;
-    /** Transform the input 2d point.  Return as a new point or in the pre-allocated result (if result is given) */
-    multiplyPoint2d(source: XAndY, result?: Point2d): Point2d;
-    /** Transform the input 3d point.  Return as a new point or in the pre-allocated result (if result is given) */
+    /** Transform the input 2d point. Return as a new point or in the pre-allocated result (if result is given). */
+    multiplyPoint2d(point: XAndY, result?: Point2d): Point2d;
+    /** Transform the input 3d point. Return as a new point or in the pre-allocated result (if result is given). */
     multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d;
-    /** Transform the input object with x,y,z members */
+    /** Transform the input 3d point in place (override the input point by the transformed point). */
     multiplyXYAndZInPlace(point: XYAndZ): void;
-    /** Transform the input point.  Return as a new point or in the pre-allocated result (if result is given) */
+    /** Transform the input point. Return as a new point or in the pre-allocated result (if result is given). */
     multiplyXYZ(x: number, y: number, z?: number, result?: Point3d): Point3d;
-    /** Multiply a specific row of the transform times xyz. Return the (number). */
+    /**
+     * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element
+     * at the same row. Return the result.
+     */
     multiplyComponentXYZ(componentIndex: number, x: number, y: number, z?: number): number;
-    /** Multiply a specific row of the transform times (weighted!) xyzw. Return the (number). */
+    /**
+     * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element
+     * at the same row times w. Return the result.
+     */
     multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number;
-    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    /**
+     * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new
+     * point4d (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result (if result is given).
+     */
     multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
-    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    /**
+     * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new
+     * Float64Array with size 4 (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result
+     * (if result is given).
+     */
     multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array;
-    /** Transform the input homogeneous point.  Return as a new point or in the pre-allocated result (if result is given) */
+    /**
+     * If `p = (x,y,z)` then transform is `Tp = M*p + o`. This function returns the transformed point as a new
+     * Float64Array with size 3 (`Tp` as 3 elements) or in the pre-allocated result (if result is given).
+     */
     multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array;
-    /** 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) */
+    /**
+     * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row. Now multiply
+     * the transposed of this 4x4 matrix by Point4d given as xyzw. Return as a new point4d (`M*p` as first 3 elements
+     * and `o*p + w` as last element where `p = (x,y,z)`) or in the pre-allocated result (if result is given).
+     */
     multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
-    /** for each point:  replace point by Transform*point */
+    /** For each point in the array, replace point by the transformed point (by `Tp = M*p + o`) */
     multiplyPoint3dArrayInPlace(points: Point3d[]): void;
-    /** for each point:  replace point by Transform*point */
+    /** For each point in the 2d array, replace point by the transformed point (by `Tp = M*p + o`) */
     multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]): void;
-    /** Return product of the transform's inverse times a point. */
+    /**
+     * If for a point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
+     * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the
+     * transformed point (`Tp = point`).
+     * * Return as a new point or in the optional `result`.
+     * * Returns `undefined` if the `matrix` part if this Transform is singular.
+     */
     multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined;
-    /** Inverse transform the input homogeneous point.
-     * * Return as a new point or in the optional result.
-     * * returns undefined if the matrix part if this Transform is singular.
+    /**
+     * If for a point `p` we have `Tp = M*p + w*o = weightedPoint` (where `weightedPoint` is the transformed point), then
+     * `p = MInverse * (weightedPoint - w*o)`. This function returns a Point4d where first 3 elements are the original
+     *  point `p` if `weightedPoint` is the transformed point (`Tp = weightedPoint`) and the last element is `w`.
+     * * Return as a new point or in the optional `result`.
+     * * Returns `undefined` if the `matrix` part if this Transform is singular.
      */
     multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined;
-    /** Return product of the transform's inverse times a point (point given as x,y,z) */
+    /**
+     * If for a point `p = (x,y,z)` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
+     * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the transformed
+     * point (`Tp = point`).
+     * * Return as a new point or in the optional `result`.
+     * * Returns `undefined` if the `matrix` part if this Transform is singular.
+     */
     multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined;
     /**
      * *  for each point:   multiply    transform * point
@@ -174,8 +223,8 @@ export declare class Transform implements BeJSONFunctions {
      */
     multiplyInversePoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[] | undefined;
     /**
-     * * for each point in source: multiply transformInverse * point in place in the point.
-     * * return false if not invertible.
+     * * For each point in source: multiply transformInverse * point in place in the point.
+     * * Return false if not invertible.
      */
     multiplyInversePoint3dArrayInPlace(source: Point3d[]): boolean;
     /**
@@ -193,35 +242,35 @@ export declare class Transform implements BeJSONFunctions {
      */
     static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number;
     /**
-     * *  for each point:   multiply    transform * point
-     * *  if result is given, resize to match source and replace each corresponding pi
-     * *  if result is not given, return a new array.
+     * * For each point:   multiply    transform * point
+     * * If result is given, resize to match source and replace each corresponding pi
+     * * If result is not given, return a new array.
      */
     multiplyPoint2dArray(source: Point2d[], result?: Point2d[]): Point2d[];
     /**
-     * *  for each point:   multiply    transform * point
-     * *  if result is given, resize to match source and replace each corresponding pi
-     * *  if result is not given, return a new array.
+     * * For each point:   multiply    transform * point
+     * * If result is given, resize to match source and replace each corresponding pi
+     * * If result is not given, return a new array.
      */
     multiplyPoint3dArray(source: Point3d[], result?: Point3d[]): Point3d[];
-    /** Multiply the vector by the Matrix3d part of the transform.
-     *
-     * *  The transform's origin is not used.
-     * *  Return as new or result by usual optional result convention
+    /**
+     * Multiply the vector by the Matrix3d part of the transform.
+     * * The transform's origin is not used.
+     * * Return as new or result by usual optional result convention
      */
     multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d;
-    /** Multiply the vector in place by the Matrix3d part of the transform.
-       *
-       * *  The transform's origin is not used.
-       */
+    /**
+     * Multiply the vector in place by the Matrix3d part of the transform.
+     * * The transform's origin is not used.
+     */
     multiplyVectorInPlace(vector: Vector3d): void;
-    /** Multiply the vector (x,y,z) by the Matrix3d part of the transform.
-     *
-     * *  The transform's origin is not used.
-     * *  Return as new or result by usual optional result convention
+    /**
+     * Multiply the vector (x,y,z) by the Matrix3d part of the transform.
+     * * The transform's origin is not used.
+     * * Return as new or result by usual optional result convention
      */
     multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d;
-    /** multiply this Transform times other Transform.
+    /** Multiply this Transform times other Transform.
      * ```
      * equation
      * \begin{matrix}
@@ -235,12 +284,13 @@ export declare class Transform implements BeJSONFunctions {
      */
     multiplyTransformTransform(other: Transform, result?: Transform): Transform;
     /**
-     * multiply transformA * transformB, store to calling instance.
+     * Multiply transformA * transformB, store to calling instance.
      * @param transformA left operand
      * @param transformB right operand
      */
     setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void;
-    /** multiply this Transform times other Matrix3d, with other considered to be a Transform with 0 translation.
+    /**
+     * Multiply this Transform times other Matrix3d, with other considered to be a Transform with 0 translation.
      * ```
      * equation
      * \begin{matrix}
@@ -257,15 +307,17 @@ export declare class Transform implements BeJSONFunctions {
      * Return the range of the transformed corners.
      * * The 8 corners are transformed individually.
      * * Note that if there is anything other than translation and principal axis scaling in the transform, the volume of the range rotation will increase.
-     *    * Hence to get a "tight" range on rotated geometry, a range computation must be made on the rotated geometry itself.
+     * * Hence to get a "tight" range on rotated geometry, a range computation must be made on the rotated geometry itself.
      */
     multiplyRange(range: Range3d, result?: Range3d): Range3d;
     /**
      * * Return a Transform which is the inverse of this transform.
-     * * Return undefined if this Transform's matrix is singular.
+     * @param result optional pre-allocated result
+     * @return the inverse Transform, or undefined if the matrix is singular
      */
-    inverse(): Transform | undefined;
-    /** Initialize transforms that map each direction of a box (axis aligned) to `[0,1]`.
+    inverse(result?: Transform): Transform | undefined;
+    /**
+     * Initialize transforms that map each direction of a box (axis aligned) to `[0,1]`.
      * * The corner coordinates do _not_ need to be in order in any of the x,y,z directions.
      * * The npcToGlobalTransform (if supplied) maps 000 to the point named point000.
      * * The npcToGlobalTransform (if supplied) maps 11 to the point named point000.

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

@@ -1 +1 @@
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