@itwin/core-geometry 4.0.0-dev.54 → 4.0.0-dev.56

package/lib/esm/geometry3d/Transform.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\n\n/**\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\n * the columns of the Matrix3d being the local x,y,z axis directions.\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\n * * If `T` is a translation, no point is fixed by `T`.\n * * If `T` is the identity, all points are fixed by `T`.\n * * If `T` is a scale about a point, one point is fixed by `T`.\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\n * @public\n */\nexport class Transform implements BeJSONFunctions {\n  private _origin: XYZ;\n  private _matrix: Matrix3d;\n  // Constructor accepts and uses pointer to content (no copy is done here).\n  private constructor(origin: XYZ, matrix: Matrix3d) {\n    this._origin = origin;\n    this._matrix = matrix;\n  }\n  private static _identity?: Transform;\n  /** The identity Transform. Value is frozen and cannot be modified. */\n  public static get identity(): Transform {\n    if (undefined === this._identity) {\n      this._identity = Transform.createIdentity();\n      this._identity.freeze();\n    }\n    return this._identity;\n  }\n  /** Freeze this instance (and its members) so it is read-only */\n  public freeze(): Readonly<this> {\n    this._origin.freeze();\n    this._matrix.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Copy contents from other Transform into this Transform\n   * @param other source transform\n   */\n  public setFrom(other: Transform) {\n    this._origin.setFrom(other._origin);\n    this._matrix.setFrom(other._matrix);\n  }\n  /** Set this Transform to be an identity. */\n  public setIdentity() {\n    this._origin.setZero();\n    this._matrix.setIdentity();\n  }\n  /**\n   * Set this Transform instance from flexible inputs:\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\n   * * If no input is provided, the identity Transform is returned.\n   */\n  public setFromJSON(json?: TransformProps | Transform): void {\n    if (json) {\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\n        this._origin.setFromJSON((json as any).origin);\n        this._matrix.setFromJSON((json as any).matrix);\n        return;\n      }\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\n        const data = json as number[][];\n        this._matrix.setRowValues(\n          data[0][0], data[0][1], data[0][2],\n          data[1][0], data[1][1], data[1][2],\n          data[2][0], data[2][1], data[2][2]\n        );\n        this._origin.set(data[0][3], data[1][3], data[2][3]);\n        return;\n      }\n      if (Geometry.isNumberArray(json, 12)) {\n        const data = json as number[];\n        this._matrix.setRowValues(\n          data[0], data[1], data[2],\n          data[4], data[5], data[6],\n          data[8], data[9], data[10]\n        );\n        this._origin.set(data[3], data[7], data[11]);\n        return;\n      }\n    }\n    this.setIdentity();\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\n   * `matrix` parts.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\n    return this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n   */\n  public toRows(): number[][] {\n    return [\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\n    ];\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n  */\n  public toJSON(): TransformProps {\n    return this.toRows();\n  }\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\n  public static fromJSON(json?: TransformProps): Transform {\n    const result = Transform.createIdentity();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\n  public clone(result?: Transform): Transform {\n    if (result) {\n      result._matrix.setFrom(this._matrix);\n      result._origin.setFrom(this._origin);\n      return result;\n    }\n    return new Transform(\n      Point3d.createFrom(this._origin),\n      this._matrix.clone()\n    );\n  }\n  /**\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\n   * * For details of how the matrix is modified to rigid, see documentation of `Matrix3d.axisOrderCrossProductsInPlace`\n   */\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\n    if (!modifiedMatrix)\n      return undefined;\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\n  }\n  /** Create a Transform with the given `origin` and `matrix`. */\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\n    if (!origin)\n      origin = Point3d.createZero();\n    if (result) {\n      result._origin = origin;\n      result._matrix = matrix;\n      return result;\n    }\n    return new Transform(origin, matrix);\n  }\n  /** Create a Transform with complete contents given */\n  public static createRowValues(\n    qxx: number, qxy: number, qxz: number, ax: number,\n    qyx: number, qyy: number, qyz: number, ay: number,\n    qzx: number, qzy: number, qzz: number, az: number,\n    result?: Transform\n  ): Transform {\n    if (result) {\n      result._origin.set(ax, ay, az);\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\n      return result;\n    }\n    return new Transform(\n      Point3d.create(ax, ay, az),\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz)\n    );\n  }\n  /** Create a Transform with all zeros */\n  public static createZero(result?: Transform): Transform {\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\n  }\n  /**\n   * Create a Transform with translation provided by x,y,z parts.\n   * @param x x part of translation\n   * @param y y part of translation\n   * @param z z part of translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\n  }\n  /**\n   * Create a Transform with specified `translation` part.\n   * @param translation x,y,z parts of the translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\n  }\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\n  public get matrix(): Matrix3d {\n    return this._matrix;\n  }\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\n  public get origin(): XYZ {\n    return this._origin;\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\n  public getOrigin(): Point3d {\n    return Point3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\n  public getTranslation(): Vector3d {\n    return Vector3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\n  public getMatrix(): Matrix3d {\n    return this._matrix.clone();\n  }\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\n  public get isIdentity(): boolean {\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\n  }\n  /** Create an identity transform */\n  public static createIdentity(result?: Transform): Transform {\n    if (result) {\n      result._origin.setZero();\n      result._matrix.setIdentity();\n      return result;\n    }\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\n  }\n  /**\n   * Create a Transform using the given `origin` and `matrix`.\n   * * This is a the appropriate construction when the columns of the matrix are coordinate axes of a\n   * local-to-world mapping.\n   * * This function is a closely related to `createFixedPointAndMatrix` whose point input is the fixed point\n   * of the world-to-world transformation.\n   */\n  public static createOriginAndMatrix(\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform\n  ): Transform {\n    if (result) {\n      result._origin.setFromPoint3d(origin);\n      result._matrix.setFrom(matrix);\n      return result;\n    }\n    return Transform.createRefs(\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\n      result\n    );\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\n  public setOriginAndMatrixColumns(\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined\n  ): void {\n    if (origin !== undefined)\n      this._origin.setFrom(origin);\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\n  public static createOriginAndMatrixColumns(\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform\n  ): Transform {\n    if (result)\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\n    else\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\n    return result;\n  }\n  /**\n   * Create a Transform such that its `matrix` part is rigid.\n   * * For details of how the matrix is created to be rigid, see documentation of `Matrix3d.createRigidFromColumns`\n   */\n  public static createRigidFromOriginAndColumns(\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform\n  ): Transform | undefined {\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result ? result._matrix : undefined);\n    if (!matrix)\n      return undefined;\n    if (result) {\n      // result._matrix was already modified to become rigid via createRigidFromColumns\n      result._origin.setFrom(origin);\n      return result;\n    }\n    /**\n     * We don't want to pass \"origin\" to createRefs because createRefs does not clone \"origin\" and use its reference.\n     * That means if \"origin\" is changed via Transform at any point, the initial \"origin\" passed by the user is also\n     * changed. To avoid that, we pass undefined to createRefs. This would cause createRefs to create a new \"origin\"\n     * equals (0,0,0) which then we set it to the \"origin\" passed by user in the next line.\n     */\n    result = Transform.createRefs(undefined, matrix);\n    result._origin.setFromPoint3d(origin);\n    return result;\n  }\n  /**\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\n   */\n  public static createFixedPointAndMatrix(\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform\n  ): Transform {\n    if (fixedPoint) {\n      /**\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\n       */\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n      return Transform.createRefs(origin, matrix.clone(), result);\n    }\n    return Transform.createRefs(undefined, matrix.clone());\n  }\n  /**\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform, transforms\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`) so transforms point `a` to 'b'.\n   */\n  public static createMatrixPickupPutdown(\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform\n  ): Transform {\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(x-a) + b\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\n    return Transform.createRefs(origin, matrix.clone(), result);\n  }\n  /**\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\n   * a single scale factor. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\n   */\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\n    const matrix = Matrix3d.createScale(scale, scale, scale);\n    /**\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\n     */\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n    return Transform.createRefs(origin, matrix, result);\n  }\n  /**\n   * Transform the input 2d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element\n   * at the same row. Return the result.\n   */\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element\n   * at the same row times w. Return the result.\n   */\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new\n   * point4d (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new\n   * Float64Array with size 4 (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result\n   * (if result is given).\n   */\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * If `p = (x,y,z)` then transform is `Tp = M*p + o`. This function returns the transformed point as a new\n   * Float64Array with size 3 (`Tp` as 3 elements) or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Treat the 3x3 `matrix` and `origin` as upper 3x4 part of a 4x4 matrix, with 0001 as the final row. Now multiply\n   * the transposed of this 4x4 matrix by Point4d given as xyzw. Return as a new point4d (`M*p` as first 3 elements\n   * and `o*p + w` as last element where `p = (x,y,z)`) or in the pre-allocated result (if result is given).\n   */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    const coffs = this._matrix.coffs;\n    const origin = this._origin;\n    return Point4d.create(\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\n      result\n    );\n  }\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\n    let point;\n    for (point of points)\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\n  }\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\n    for (const chain of chains)\n      this.multiplyPoint3dArrayInPlace(chain);\n  }\n  /**\n   * If for a point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then\n   * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the\n   * transformed point (`Tp = point`).\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      point.x - this._origin.x,\n      point.y - this._origin.y,\n      point.z - this._origin.z,\n      result\n    );\n  }\n  /**\n   * If for a point `p` we have `Tp = M*p + w*o = weightedPoint` (where `weightedPoint` is the transformed point), then\n   * `p = MInverse * (weightedPoint - w*o)`. This function returns a Point4d where first 3 elements are the original\n   *  point `p` if `weightedPoint` is the transformed point (`Tp = weightedPoint`) and the last element is `w`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\n    const w = weightedPoint.w;\n    return this._matrix.multiplyInverseXYZW(\n      weightedPoint.x - w * this.origin.x,\n      weightedPoint.y - w * this.origin.y,\n      weightedPoint.z - w * this.origin.z,\n      w,\n      result\n    );\n  }\n  /**\n   * If for a point `p = (x,y,z)` we have `Tp = M*p + o = point` (where `point` is the transformed point), then\n   * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the transformed\n   * point (`Tp = point`).\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      x - this._origin.x,\n      y - this._origin.y,\n      z - this._origin.z,\n      result\n    );\n  }\n  /**\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\n   * operations can complete.\n   * @param useCached If true, accept prior cached inverse if available.\n   * @returns `true` if matrix inverse completes, `false` otherwise.\n   */\n  public computeCachedInverse(useCached: boolean = true): boolean {\n    return this._matrix.computeCachedInverse(useCached);\n  }\n  /**\n   * Match the length of destination array with the length of source array\n   * * If destination has more elements than source, remove the extra elements.\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\n   * *\n   * @param source the source array\n   * @param dest the destination array\n   * @param constructionFunction function to call to create new elements.\n   */\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\n    const numSource = source.length;\n    const numDest = dest.length;\n    if (numSource > numDest) {\n      for (let i = numDest; i < numSource; i++) {\n        dest.push(constructionFunction());\n      }\n    } else if (numDest > numSource) {\n      dest.length = numSource;\n    }\n    return numSource;\n  }\n  /**\n   * If for each point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then\n   * `p = MInverse * (point - o)`. This function returns the array of original points `p[]` if `points`\n   * is the array of transformed point (`Tp = point` for each `p` and `point`).\n   * * If `results` is given, resize it to match the input `points` array and update it with original points `p[]`.\n   * * If `results` is not given, return a new array.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3dArray(points: Point3d[], results?: Point3d[]): Point3d[] | undefined {\n    if (!this._matrix.computeCachedInverse(true))\n      return undefined;\n    const originX = this.origin.x;\n    const originY = this.origin.y;\n    const originZ = this.origin.z;\n    if (results) {\n      const n = Transform.matchArrayLengths(points, results, Point3d.createZero);\n      for (let i = 0; i < n; i++)\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          points[i].x - originX,\n          points[i].y - originY,\n          points[i].z - originZ,\n          results[i]\n        );\n    }\n    results = [];\n    for (const point of points)\n      results.push(\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          point.x - originX,\n          point.y - originY,\n          point.z - originZ\n        )!\n      );\n    return results;\n  }\n  /**\n   * If for each point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then\n   * `p = MInverse * (point - o)`. This function calculates the array of original points `p[]` if `points`\n   * is the array of transformed point (`Tp = point` for each `p` and `point`) and replaces `points`\n   * with the array of original points.\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false if singular.\n   */\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\n    if (!this._matrix.computeCachedInverse(true))\n      return false;\n    for (const point of points)\n      this._matrix.multiplyInverseXYZAsPoint3d(\n        point.x - this.origin.x,\n        point.y - this.origin.y,\n        point.z - this.origin.z,\n        point\n      );\n    return true;\n  }\n  /**\n   * Transform the input 2d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, Point2d.createZero);\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Transform the input 3d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, Point3d.createZero);\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyVector(vector, result);\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform in place.\n   * * The `origin` part of Transform is not used.\n   */\n  public multiplyVectorInPlace(vector: Vector3d): void {\n    this._matrix.multiplyVectorInPlace(vector);\n  }\n  /**\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyXYZ(x, y, z, result);\n  }\n  /**\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\n   * `[A*B   Ab+a]`. See `multiplyTransformTransform` doc for math details.\n   * @param transformA first operand\n   * @param transformB second operand\n   */\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\n    Matrix3d.xyzPlusMatrixTimesXYZ(\n      transformA._origin,\n      transformA._matrix,\n      transformB._origin,\n      this._origin as Point3d\n    );\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\n  }\n  /**\n   * Multiply `this` Transform times `other` Transform.\n   * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as [A*B   Ab+a].\n   * That's because we create a 4x4 matrix for each Transform with the 3x3 `matrix` and `origin`\n   * as upper 3x4 part of a 4x4 matrix and 0001 as the final row. Then we multiply those two 4x4 matrixes:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{`this` Transform with `matrix` part }\\bold{A}\\text{ and `origin` part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{`other` Transform with `matrix` part }\\bold{B}\\text{ and `origin` part }\\bold{b} & \\blockTransform{B}{b} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\n   * \\end{matrix}\n   * ```\n   * @param other the 'other` Transform to be multiplied to `this` Transform.\n   * @param result optional preallocated result to reuse.\n   */\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\n    if (!result)\n      return Transform.createRefs(\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\n        this._matrix.multiplyMatrixMatrix(other._matrix)\n      );\n    result.setMultiplyTransformTransform(this, other);\n    return result;\n  }\n  /**\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\n   * **Note:** If `this = [A   a]`, then we promote `other` matrix to be a Transform [B   0].\n   * Then `this * other` is defined as [A*B   a]. That's because we create a 4x4 matrix for each Transform\n   * with the 3x3 `matrix` and `origin` as upper 3x4 part of a 4x4 matrix and 0001 as the final row. Then we\n   * multiply those two 4x4 matrixes:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{`this` Transform with `matrix` part }\\bold{A}\\text{ and `origin` part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{`other` matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\n   * @param result optional preallocated result to reuse.\n   */\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\n    if (!result)\n      return Transform.createRefs(\n        this._origin.cloneAsPoint3d(),\n        this._matrix.multiplyMatrixMatrix(other)\n      );\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\n    result._origin.setFrom(this._origin);\n    return result;\n  }\n  /**\n   * Return the Range of the transformed corners.\n   * * The 8 corners are transformed individually.\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\n   * function creates the larger range box because it only has access to the range box and the geometry itself.\n   */\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\n    if (range.isNull)\n      return range.clone(result);\n    const lowX = range.low.x;\n    const lowY = range.low.y;\n    const lowZ = range.low.z;\n    const highX = range.high.x;\n    const highY = range.high.y;\n    const highZ = range.high.z;\n    result = Range3d.createNull(result);\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\n    result.extendTransformedXYZ(this, highX, highY, highZ);\n    return result;\n  }\n  /**\n   * Return a Transform which is the inverse of `this` Transform.\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   MInverse*-o]`\n   * * Return `undefined` if this Transform's matrix is singular.\n   */\n  public inverse(result?: Transform): Transform | undefined {\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\n    if (!matrixInverse)\n      return undefined;\n    if (result) {\n      // result._matrix is already defined\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\n      return result;\n    }\n    return Transform.createRefs(\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\n      matrixInverse\n    );\n  }\n  /**\n   * Initialize 2 Transforms: First Transform maps a box (axis aligned) specified by `min` and `max` to\n   * the unit box specified by 000 and 111 and inverse of it. Second Transform is the reverse of first.\n   * @param min the min corner of the box\n   * @param max the max corner of the box\n   * @param npcToGlobal maps global (the unit box specified by 000 and 111) to NPC (a box specified by `min`\n   * and `max`). Object created by caller, re-initialized here.\n   * @param globalToNpc maps NPC (a box specified by `min` and `max`) to global (the unit box specified by\n   * 000 and 111). Object created by caller, re-initialized here.\n   * * NPC stands for `Normalized Projection Coordinate`\n   */\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\n    const diag = max.minus(min);\n    if (diag.x === 0.0)\n      diag.x = 1.0;\n    if (diag.y === 0.0)\n      diag.y = 1.0;\n    if (diag.z === 0.0)\n      diag.z = 1.0;\n    const rMatrix = new Matrix3d();\n    /**\n     *               [diag.x    0       0      min.x]\n     * npcToGlobal = [  0     diag.y    0      min.y]\n     *               [  0       0     diag.y   min.z]\n     *\n     * npcToGlobal * 0 = min\n     * npcToGlobal * 1 = diag + min = max\n     */\n    if (npcToGlobal) {\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\n    }\n    /**\n     *               [1/diag.x      0         0      -min.x/diag.x]\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\n     *               [  0         0       1/diag.y   -min.z/diag.z]\n     *\n     * globalToNpc * min = min/diag - min/diag = 0\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\n     */\n    if (globalToNpc) {\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\n    }\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/**\r\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\r\n * the columns of the Matrix3d being the local x,y,z axis directions.\r\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\r\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\r\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\r\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\r\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\r\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\r\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\r\n * * If `T` is a translation, no point is fixed by `T`.\r\n * * If `T` is the identity, all points are fixed by `T`.\r\n * * If `T` is a scale about a point, one point is fixed by `T`.\r\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\r\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\r\n * @public\r\n */\r\nexport class Transform implements BeJSONFunctions {\r\n  private _origin: XYZ;\r\n  private _matrix: Matrix3d;\r\n  // Constructor accepts and uses pointer to content (no copy is done here).\r\n  private constructor(origin: XYZ, matrix: Matrix3d) {\r\n    this._origin = origin;\r\n    this._matrix = matrix;\r\n  }\r\n  private static _identity?: Transform;\r\n  /** The identity Transform. Value is frozen and cannot be modified. */\r\n  public static get identity(): Transform {\r\n    if (undefined === this._identity) {\r\n      this._identity = Transform.createIdentity();\r\n      this._identity.freeze();\r\n    }\r\n    return this._identity;\r\n  }\r\n  /** Freeze this instance (and its members) so it is read-only */\r\n  public freeze(): Readonly<this> {\r\n    this._origin.freeze();\r\n    this._matrix.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Copy contents from other Transform into this Transform\r\n   * @param other source transform\r\n   */\r\n  public setFrom(other: Transform) {\r\n    this._origin.setFrom(other._origin);\r\n    this._matrix.setFrom(other._matrix);\r\n  }\r\n  /** Set this Transform to be an identity. */\r\n  public setIdentity() {\r\n    this._origin.setZero();\r\n    this._matrix.setIdentity();\r\n  }\r\n  /**\r\n   * Set this Transform instance from flexible inputs:\r\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\r\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\r\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\r\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\r\n   * * If no input is provided, the identity Transform is returned.\r\n   */\r\n  public setFromJSON(json?: TransformProps | Transform): void {\r\n    if (json) {\r\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\r\n        this._origin.setFromJSON((json as any).origin);\r\n        this._matrix.setFromJSON((json as any).matrix);\r\n        return;\r\n      }\r\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\r\n        const data = json as number[][];\r\n        this._matrix.setRowValues(\r\n          data[0][0], data[0][1], data[0][2],\r\n          data[1][0], data[1][1], data[1][2],\r\n          data[2][0], data[2][1], data[2][2]\r\n        );\r\n        this._origin.set(data[0][3], data[1][3], data[2][3]);\r\n        return;\r\n      }\r\n      if (Geometry.isNumberArray(json, 12)) {\r\n        const data = json as number[];\r\n        this._matrix.setRowValues(\r\n          data[0], data[1], data[2],\r\n          data[4], data[5], data[6],\r\n          data[8], data[9], data[10]\r\n        );\r\n        this._origin.set(data[3], data[7], data[11]);\r\n        return;\r\n      }\r\n    }\r\n    this.setIdentity();\r\n  }\r\n  /**\r\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\r\n   * `matrix` parts.\r\n   * @param other Transform to compare to.\r\n   */\r\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\r\n    return this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\r\n  }\r\n  /**\r\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\r\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\r\n   * @param other Transform to compare to.\r\n   */\r\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\r\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\r\n  }\r\n  /**\r\n   * Return a 3 by 4 matrix containing the rows of this Transform.\r\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n   */\r\n  public toRows(): number[][] {\r\n    return [\r\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\r\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\r\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\r\n    ];\r\n  }\r\n  /**\r\n   * Return a 3 by 4 matrix containing the rows of this Transform.\r\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n  */\r\n  public toJSON(): TransformProps {\r\n    return this.toRows();\r\n  }\r\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\r\n  public static fromJSON(json?: TransformProps): Transform {\r\n    const result = Transform.createIdentity();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\r\n  public clone(result?: Transform): Transform {\r\n    if (result) {\r\n      result._matrix.setFrom(this._matrix);\r\n      result._origin.setFrom(this._origin);\r\n      return result;\r\n    }\r\n    return new Transform(\r\n      Point3d.createFrom(this._origin),\r\n      this._matrix.clone()\r\n    );\r\n  }\r\n  /**\r\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\r\n   * * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\r\n   */\r\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\r\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\r\n    if (!modifiedMatrix)\r\n      return undefined;\r\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\r\n  }\r\n  /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */\r\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n    if (!origin)\r\n      origin = Point3d.createZero();\r\n    if (result) {\r\n      result._origin = origin;\r\n      result._matrix = matrix;\r\n      return result;\r\n    }\r\n    return new Transform(origin, matrix);\r\n  }\r\n  /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */\r\n  public static createRowValues(\r\n    qxx: number, qxy: number, qxz: number, ax: number,\r\n    qyx: number, qyy: number, qyz: number, ay: number,\r\n    qzx: number, qzy: number, qzz: number, az: number,\r\n    result?: Transform\r\n  ): Transform {\r\n    if (result) {\r\n      result._origin.set(ax, ay, az);\r\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\r\n      return result;\r\n    }\r\n    return new Transform(\r\n      Point3d.create(ax, ay, az),\r\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz)\r\n    );\r\n  }\r\n  /** Create a Transform with all zeros */\r\n  public static createZero(result?: Transform): Transform {\r\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\r\n  }\r\n  /**\r\n   * Create a Transform with translation provided by x,y,z parts.\r\n   * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube\r\n   * @param x x part of translation\r\n   * @param y y part of translation\r\n   * @param z z part of translation\r\n   * @param result optional pre-allocated Transform\r\n   * @returns new or updated transform\r\n   */\r\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\r\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\r\n  }\r\n  /**\r\n   * Create a Transform with specified `translation` part.\r\n   * * Translation Transform maps any vector `v` to `v + translation`\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube\r\n   * @param translation x,y,z parts of the translation\r\n   * @param result optional pre-allocated Transform\r\n   * @returns new or updated transform\r\n   */\r\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\r\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\r\n  }\r\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\r\n  public get matrix(): Matrix3d {\r\n    return this._matrix;\r\n  }\r\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\r\n  public get origin(): XYZ {\r\n    return this._origin;\r\n  }\r\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\r\n  public getOrigin(): Point3d {\r\n    return Point3d.createFrom(this._origin);\r\n  }\r\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\r\n  public getTranslation(): Vector3d {\r\n    return Vector3d.createFrom(this._origin);\r\n  }\r\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\r\n  public getMatrix(): Matrix3d {\r\n    return this._matrix.clone();\r\n  }\r\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\r\n  public get isIdentity(): boolean {\r\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\r\n  }\r\n  /** Create an identity transform */\r\n  public static createIdentity(result?: Transform): Transform {\r\n    if (result) {\r\n      result._origin.setZero();\r\n      result._matrix.setIdentity();\r\n      return result;\r\n    }\r\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Transform using the given `origin` and `matrix`.\r\n   * * This is a the appropriate construction when the columns of the matrix are coordinate axes of a\r\n   * local-to-world mapping.\r\n   * * This function is a closely related to `createFixedPointAndMatrix` whose point input is the fixed point\r\n   * of the world-to-world transformation.\r\n   * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\r\n   */\r\n  public static createOriginAndMatrix(\r\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform\r\n  ): Transform {\r\n    if (result) {\r\n      result._origin.setFromPoint3d(origin);\r\n      result._matrix.setFrom(matrix);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(\r\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\r\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\r\n      result\r\n    );\r\n  }\r\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\r\n  public setOriginAndMatrixColumns(\r\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined\r\n  ): void {\r\n    if (origin !== undefined)\r\n      this._origin.setFrom(origin);\r\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\r\n  }\r\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\r\n  public static createOriginAndMatrixColumns(\r\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform\r\n  ): Transform {\r\n    if (result)\r\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\r\n    else\r\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\r\n    return result;\r\n  }\r\n  /**\r\n   * Create a Transform such that its `matrix` part is rigid.\r\n   * @see [[Matrix3d.createRigidFromColumns]] for details of how the matrix is created to be rigid.\r\n   */\r\n  public static createRigidFromOriginAndColumns(\r\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform\r\n  ): Transform | undefined {\r\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result ? result._matrix : undefined);\r\n    if (!matrix)\r\n      return undefined;\r\n    if (result) {\r\n      // result._matrix was already modified to become rigid via createRigidFromColumns\r\n      result._origin.setFrom(origin);\r\n      return result;\r\n    }\r\n    /**\r\n     * We don't want to pass \"origin\" to createRefs because createRefs does not clone \"origin\". That means if \"origin\"\r\n     * is changed via Transform at any point, the initial \"origin\" passed by the user is also changed. To avoid that,\r\n     * we pass \"undefined\" to createRefs so that it allocates a new point which then we set it to the \"origin\" which\r\n     * is passed by user in the next line.\r\n     */\r\n    result = Transform.createRefs(undefined, matrix);\r\n    result._origin.setFromPoint3d(origin);\r\n    return result;\r\n  }\r\n  /**\r\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\r\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\r\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\r\n   */\r\n  public static createFixedPointAndMatrix(\r\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform\r\n  ): Transform {\r\n    if (fixedPoint) {\r\n      /**\r\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\r\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\r\n       */\r\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n      return Transform.createRefs(origin, matrix.clone(), result);\r\n    }\r\n    return Transform.createRefs(undefined, matrix.clone());\r\n  }\r\n  /**\r\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\r\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to 'b'.\r\n   */\r\n  public static createMatrixPickupPutdown(\r\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform\r\n  ): Transform {\r\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(p-a) + b\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\r\n    return Transform.createRefs(origin, matrix.clone(), result);\r\n  }\r\n  /**\r\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\r\n   * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`\r\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ScaleCube\r\n   */\r\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\r\n    const matrix = Matrix3d.createScale(scale, scale, scale);\r\n    /**\r\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\r\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\r\n     */\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n    return Transform.createRefs(origin, matrix, result);\r\n  }\r\n  /**\r\n   * Transform the input 2d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\r\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\r\n  }\r\n  /**\r\n   * Transform the input 3d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\r\n    // Tx = Mx + o so we return Mx + o\r\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\r\n  }\r\n  /**\r\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\r\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\r\n  }\r\n  /**\r\n   * Transform the input 3d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\r\n    // Tx = Mx + o so we return Mx + o\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /**\r\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\r\n   */\r\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\r\n    const coffs = this._matrix.coffs;\r\n    const idx = 3 * componentIndex;\r\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n  }\r\n  /**\r\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\r\n   */\r\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\r\n    const coffs = this._matrix.coffs;\r\n    const idx = 3 * componentIndex;\r\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n  }\r\n  /**\r\n   * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the\r\n   * first three coordinates, and `w` in the fourth.\r\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n   */\r\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n  /**\r\n   * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated result (if\r\n   * result is given).\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`\r\n   * in the first 3 numbers of the array and `w` as the fourth.\r\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n   */\r\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n  /**\r\n   * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated result (if result is given).\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.\r\n   */\r\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /**\r\n   * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\r\n   * pre-allocated result (if result is given).\r\n   * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,\r\n   * and `o*p + w` in the fourth.\r\n   * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\r\n   * fourth row 0001.\r\n   */\r\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    const coffs = this._matrix.coffs;\r\n    const origin = this._origin;\r\n    return Point4d.create(\r\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\r\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\r\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\r\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\r\n      result\r\n    );\r\n  }\r\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\r\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\r\n    let point;\r\n    for (point of points)\r\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\r\n  }\r\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\r\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\r\n    for (const chain of chains)\r\n      this.multiplyPoint3dArrayInPlace(chain);\r\n  }\r\n  /**\r\n   * Multiply the point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`\r\n   * Transform has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      point.x - this._origin.x,\r\n      point.y - this._origin.y,\r\n      point.z - this._origin.z,\r\n      result\r\n    );\r\n  }\r\n  /**\r\n   * Multiply the homogenous point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\r\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`\r\n   * in the first three coordinates, and `w` in the fourth.\r\n   * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\r\n   * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\r\n    const w = weightedPoint.w;\r\n    return this._matrix.multiplyInverseXYZW(\r\n      weightedPoint.x - w * this.origin.x,\r\n      weightedPoint.y - w * this.origin.y,\r\n      weightedPoint.z - w * this.origin.z,\r\n      w,\r\n      result\r\n    );\r\n  }\r\n  /**\r\n   * Multiply the point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\r\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      x - this._origin.x,\r\n      y - this._origin.y,\r\n      z - this._origin.z,\r\n      result\r\n    );\r\n  }\r\n  /**\r\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\r\n   * operations can complete.\r\n   * @param useCached If true, accept prior cached inverse if available.\r\n   * @returns `true` if matrix inverse completes, `false` otherwise.\r\n   */\r\n  public computeCachedInverse(useCached: boolean = true): boolean {\r\n    return this._matrix.computeCachedInverse(useCached);\r\n  }\r\n  /**\r\n   * Match the length of destination array with the length of source array\r\n   * * If destination has more elements than source, remove the extra elements.\r\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\r\n   * *\r\n   * @param source the source array\r\n   * @param dest the destination array\r\n   * @param constructionFunction function to call to create new elements.\r\n   */\r\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\r\n    const numSource = source.length;\r\n    const numDest = dest.length;\r\n    if (numSource > numDest) {\r\n      for (let i = numDest; i < numSource; i++) {\r\n        dest.push(constructionFunction());\r\n      }\r\n    } else if (numDest > numSource) {\r\n      dest.length = numSource;\r\n    }\r\n    return numSource;\r\n  }\r\n  /**\r\n   * Multiply each point in the array by the inverse of `this` Transform.\r\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n   * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\r\n   * * If `result` is not given, return a new array.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return undefined;\r\n    const originX = this.origin.x;\r\n    const originY = this.origin.y;\r\n    const originZ = this.origin.z;\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, Point3d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        this._matrix.multiplyInverseXYZAsPoint3d(\r\n          points[i].x - originX,\r\n          points[i].y - originY,\r\n          points[i].z - originZ,\r\n          result[i]\r\n        );\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const point of points)\r\n      result.push(\r\n        this._matrix.multiplyInverseXYZAsPoint3d(\r\n          point.x - originX,\r\n          point.y - originY,\r\n          point.z - originZ\r\n        )!\r\n      );\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply each point in the array by the inverse of `this` Transform in place.\r\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\r\n   */\r\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return false;\r\n    for (const point of points)\r\n      this._matrix.multiplyInverseXYZAsPoint3d(\r\n        point.x - this.origin.x,\r\n        point.y - this.origin.y,\r\n        point.z - this.origin.z,\r\n        point\r\n      );\r\n    return true;\r\n  }\r\n  /**\r\n   * Transform the input 2d point array (using `Tp = M*p + o`).\r\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n   * * If `result` is not given, return a new array.\r\n   */\r\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, Point2d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of points)\r\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\r\n    return result;\r\n  }\r\n  /**\r\n   * Transform the input 3d point array (using `Tp = M*p + o`).\r\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n   * * If `result` is not given, return a new array.\r\n   */\r\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, Point3d.createZero);\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of points)\r\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply the vector by the `matrix` part of the Transform.\r\n   * * The `origin` part of Transform is not used.\r\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n   */\r\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyVector(vector, result);\r\n  }\r\n  /**\r\n   * Multiply the vector by the `matrix` part of the Transform in place.\r\n   * * The `origin` part of Transform is not used.\r\n   */\r\n  public multiplyVectorInPlace(vector: Vector3d): void {\r\n    this._matrix.multiplyVectorInPlace(vector);\r\n  }\r\n  /**\r\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\r\n   * * The `origin` part of Transform is not used.\r\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n   */\r\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyXYZ(x, y, z, result);\r\n  }\r\n  /**\r\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\r\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\r\n   * `[A*B   Ab+a]`.\r\n   * * @see [[multiplyTransformTransform]] documentation for math details.\r\n   * @param transformA first operand\r\n   * @param transformB second operand\r\n   */\r\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\r\n    Matrix3d.xyzPlusMatrixTimesXYZ(\r\n      transformA._origin,\r\n      transformA._matrix,\r\n      transformB._origin,\r\n      this._origin as Point3d\r\n    );\r\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\r\n  }\r\n  /**\r\n   * Multiply `this` Transform times `other` Transform.\r\n   * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as [A*B   Ab+a] because:\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n   *    \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other the 'other` Transform to be multiplied to `this` Transform.\r\n   * @param result optional preallocated `result` to reuse.\r\n   */\r\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\r\n        this._matrix.multiplyMatrixMatrix(other._matrix)\r\n      );\r\n    result.setMultiplyTransformTransform(this, other);\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\r\n   * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n   *    \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\r\n   * @param result optional preallocated `result` to reuse.\r\n   */\r\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        this._origin.cloneAsPoint3d(),\r\n        this._matrix.multiplyMatrixMatrix(other)\r\n      );\r\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\r\n    result._origin.setFrom(this._origin);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return the range of the transformed corners.\r\n   * * The 8 corners are transformed individually.\r\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\r\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\r\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\r\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\r\n   * function creates the larger range box because it only has access to the range box and not the geometry itself.\r\n   */\r\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\r\n    if (range.isNull)\r\n      return range.clone(result);\r\n    const lowX = range.low.x;\r\n    const lowY = range.low.y;\r\n    const lowZ = range.low.z;\r\n    const highX = range.high.x;\r\n    const highY = range.high.y;\r\n    const highZ = range.high.z;\r\n    result = Range3d.createNull(result);\r\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\r\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\r\n    result.extendTransformedXYZ(this, highX, highY, highZ);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return a Transform which is the inverse of `this` Transform.\r\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`\r\n   * * Return `undefined` if this Transform's matrix is singular.\r\n   */\r\n  public inverse(result?: Transform): Transform | undefined {\r\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\r\n    if (!matrixInverse)\r\n      return undefined;\r\n    if (result) {\r\n      // result._matrix is already defined\r\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(\r\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\r\n      matrixInverse\r\n    );\r\n  }\r\n  /**\r\n   * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\r\n   * by the input points.\r\n   * @param min the min corner of the range box\r\n   * @param max the max corner of the range box\r\n   * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\r\n   * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\r\n   * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\r\n   * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\r\n   * * NPC stands for `Normalized Projection Coordinate`\r\n   */\r\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\r\n    const diag = max.minus(min);\r\n    if (diag.x === 0.0)\r\n      diag.x = 1.0;\r\n    if (diag.y === 0.0)\r\n      diag.y = 1.0;\r\n    if (diag.z === 0.0)\r\n      diag.z = 1.0;\r\n    const rMatrix = new Matrix3d();\r\n    /**\r\n     *               [diag.x    0       0      min.x]\r\n     * npcToGlobal = [  0     diag.y    0      min.y]\r\n     *               [  0       0     diag.y   min.z]\r\n     *\r\n     * npcToGlobal * 0 = min\r\n     * npcToGlobal * 1 = diag + min = max\r\n     */\r\n    if (npcToGlobal) {\r\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\r\n    }\r\n    /**\r\n     *               [1/diag.x      0         0      -min.x/diag.x]\r\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\r\n     *               [  0         0       1/diag.y   -min.z/diag.z]\r\n     *\r\n     * globalToNpc * min = min/diag - min/diag = 0\r\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\r\n     */\r\n    if (globalToNpc) {\r\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\r\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\r\n    }\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry3d/UVSurfaceOps.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { EllipsoidPatch } from \"./Ellipsoid\";\nimport { UVSurface } from \"./GeometryHandler\";\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\n/**\n * Support methods to act on surfaces with 0..1 uv fractional parameterization\n * @public\n */\nexport class UVSurfaceOps {\n  /** Return the range of sampled points at specified offset from the surface.\n   * * point counts in each direction may be set in the optional `options` structure.\n   * * numU and numV are clamped at (2,500).\n   */\n  public static sampledRangeOfOffsetPatch(patch: UVSurface, offsetDistance: number | undefined, numU: number, numV: number): Range3d {\n    const range = Range3d.createNull();\n    numU = Math.ceil(Geometry.clamp(numU, 2, 500));\n    numV = Math.ceil(Geometry.clamp(numV, 2, 500));\n    const du = 1.0 / numU;\n    const dv = 1.0 / numV;\n    const xyz = Point3d.create();\n    const plane = Plane3dByOriginAndVectors.createXYPlane();\n\n    let u, v;\n    for (let j = 0; j <= numV; j++) {\n      v = j * dv;\n      for (let i = 0; i <= numU; i++) {\n        u = i * du;\n        if (offsetDistance !== undefined) {\n          patch.uvFractionToPointAndTangents(u, v, plane);\n          const unitNormal = plane.unitNormal();\n          if (unitNormal !== undefined) {\n            plane.origin.addScaledInPlace(unitNormal, offsetDistance);\n            range.extend(plane.origin);\n          }\n        } else {\n          patch.uvFractionToPoint(u, v, xyz);\n          range.extendXYZ(xyz.x, xyz.y, xyz.z);\n        }\n      }\n    }\n    return range;\n  }\n\n  /** Return the range of sampled points at specified offset from the surface.\n * * point counts in each direction may be set in the optional `options` structure, with angle ranges from the ellipsoid.\n * * Default evaluation is at 5 degree intervals.\n */\n  public static sampledRangeOfOffsetEllipsoidPatch(patch: EllipsoidPatch, offsetDistance: number | undefined, options?: StrokeOptions): Range3d {\n    const numU = StrokeOptions.applyAngleTol(options, 2, patch.latitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\n    const numV = StrokeOptions.applyAngleTol(options, 2, patch.longitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\n    return this.sampledRangeOfOffsetPatch(patch, offsetDistance, numU, numV);\n  }\n\n  private constructor() { }  // private constructor -- no instances.\n  /**\n   * * evaluate `numEdge+1` points at surface uv parameters interpolated between (u0,v0) and (u1,v1)\n   * * accumulate the xyz in a linestring.\n   * * If xyzToUV is given, also accumulate transformed values as surfaceUV\n   * * use xyzToUserUV transform to convert xyz to uv stored in the linestring (this uv is typically different from surface uv -- e.g. torus cap plane coordinates)\n   * @param surface\n   * @param u0 u coordinate at start of parameter space line\n   * @param v0 v coordinate at end of parameter space line\n   * @param u1 u coordinate at start of parameter space line\n   * @param v1 v coordinate at end of parameter space line\n   * @param numEdge number of edges.   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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { EllipsoidPatch } from \"./Ellipsoid\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\n/**\r\n * Support methods to act on surfaces with 0..1 uv fractional parameterization\r\n * @public\r\n */\r\nexport class UVSurfaceOps {\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n   * * point counts in each direction may be set in the optional `options` structure.\r\n   * * numU and numV are clamped at (2,500).\r\n   */\r\n  public static sampledRangeOfOffsetPatch(patch: UVSurface, offsetDistance: number | undefined, numU: number, numV: number): Range3d {\r\n    const range = Range3d.createNull();\r\n    numU = Math.ceil(Geometry.clamp(numU, 2, 500));\r\n    numV = Math.ceil(Geometry.clamp(numV, 2, 500));\r\n    const du = 1.0 / numU;\r\n    const dv = 1.0 / numV;\r\n    const xyz = Point3d.create();\r\n    const plane = Plane3dByOriginAndVectors.createXYPlane();\r\n\r\n    let u, v;\r\n    for (let j = 0; j <= numV; j++) {\r\n      v = j * dv;\r\n      for (let i = 0; i <= numU; i++) {\r\n        u = i * du;\r\n        if (offsetDistance !== undefined) {\r\n          patch.uvFractionToPointAndTangents(u, v, plane);\r\n          const unitNormal = plane.unitNormal();\r\n          if (unitNormal !== undefined) {\r\n            plane.origin.addScaledInPlace(unitNormal, offsetDistance);\r\n            range.extend(plane.origin);\r\n          }\r\n        } else {\r\n          patch.uvFractionToPoint(u, v, xyz);\r\n          range.extendXYZ(xyz.x, xyz.y, xyz.z);\r\n        }\r\n      }\r\n    }\r\n    return range;\r\n  }\r\n\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n * * point counts in each direction may be set in the optional `options` structure, with angle ranges from the ellipsoid.\r\n * * Default evaluation is at 5 degree intervals.\r\n */\r\n  public static sampledRangeOfOffsetEllipsoidPatch(patch: EllipsoidPatch, offsetDistance: number | undefined, options?: StrokeOptions): Range3d {\r\n    const numU = StrokeOptions.applyAngleTol(options, 2, patch.latitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    const numV = StrokeOptions.applyAngleTol(options, 2, patch.longitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    return this.sampledRangeOfOffsetPatch(patch, offsetDistance, numU, numV);\r\n  }\r\n\r\n  private constructor() { }  // private constructor -- no instances.\r\n  /**\r\n   * * evaluate `numEdge+1` points at surface uv parameters interpolated between (u0,v0) and (u1,v1)\r\n   * * accumulate the xyz in a linestring.\r\n   * * If xyzToUV is given, also accumulate transformed values as surfaceUV\r\n   * * use xyzToUserUV transform to convert xyz to uv stored in the linestring (this uv is typically different from surface uv -- e.g. torus cap plane coordinates)\r\n   * @param surface\r\n   * @param u0 u coordinate at start of parameter space line\r\n   * @param v0 v coordinate at end of parameter space line\r\n   * @param u1 u coordinate at start of parameter space line\r\n   * @param v1 v coordinate at end of parameter space line\r\n   * @param numEdge number of edges.   (`numEdge+1` points are evaluated)\r\n   * @param saveUV if true, save each surface uv fractions with `linestring.addUVParamsAsUV (u,v)`\r\n   * @param saveFraction if true, save each fractional coordinate (along the u,v line) with `linestring.addFraction (fraction)`\r\n   *\r\n   * @param xyzToUV\r\n   */\r\n  public static createLinestringOnUVLine(\r\n    surface: UVSurface,\r\n    u0: number,\r\n    v0: number,\r\n    u1: number,\r\n    v1: number,\r\n    numEdge: number,\r\n    saveUV: boolean = false,\r\n    saveFraction: boolean = false): LineString3d {\r\n\r\n    const ls = LineString3d.create();\r\n    const xyz = Point3d.create();\r\n    let fraction, u, v;\r\n    const numEvaluate = numEdge + 1;\r\n    for (let i = 0; i < numEvaluate; i++) {\r\n      fraction = i / numEdge;\r\n      u = Geometry.interpolate(u0, fraction, u1);\r\n      v = Geometry.interpolate(v0, fraction, v1);\r\n      surface.uvFractionToPoint(u, v, xyz);\r\n      ls.addPoint(xyz);\r\n      if (saveUV)\r\n        ls.addUVParamAsUV(u, v);\r\n      if (saveFraction)\r\n        ls.addFraction(fraction);\r\n    }\r\n    return ls;\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry3d/XYZProps.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { Geometry } from \"../Geometry\";\n\n/**\n * Interface for class with `x` and `y` as number properties.\n * @public\n */\nexport interface WritableXAndY {\n  /** x coordinate */\n  x: number;\n  /** y coordinate */\n  y: number;\n}\n/**\n * Interface for class with `z` as number property.\n * @public\n */\nexport interface WriteableHasZ {\n  /** z coordinate */\n  z: number;\n}\n/**\n * Interface for class with `x`, `y`, `z` as number property.\n * @public\n */\nexport interface WritableXYAndZ extends WritableXAndY, WriteableHasZ {\n}\n/**\n * Interface for class with named properties `low` and `high`, both being `WriteableXAndY`\n * @public\n */\nexport interface WritableLowAndHighXY {\n  /** Low x,y coordinates */\n  low: WritableXAndY;\n  /** High x,y,z coordinates */\n  high: WritableXAndY;\n}\n/**\n * Interface for class with named properties `low` and `high`, both being `WriteableXYAndZ`\n * @public\n */\nexport interface WritableLowAndHighXYZ {\n  /** Low x,y,z coordinates */\n  low: WritableXYAndZ;\n  /** High x,y,z coordinates */\n  high: WritableXYAndZ;\n}\n/**\n * Interface for readable `z` number members.\n * @public\n */\nexport type HasZ = Readonly<WriteableHasZ>;\n/**\n * Interface for readable `x` and `y` number members.\n * @public\n */\nexport type XAndY = Readonly<WritableXAndY>;\n/**\n * Interface for type with readable `x`, `y`, `z` number members.\n * @public\n */\nexport type XYAndZ = Readonly<WritableXYAndZ>;\n\n/** @public */\nexport namespace XYAndZ { // eslint-disable-line @typescript-eslint/no-redeclare\n  /**\n   * Return true if two XYAndZs have equal x,y,z parts within a specified tolerance.\n   * @param a The first XYAndZ to compare\n   * @param b The second XYAndZ to compare\n   * @param The tolerance for comparison. If undefined, [[Geometry.smallMetricDistance]] is used.\n   * @returns true if the difference in each coordinate of `a` and `b` is smaller than `tol`.\n   */\n  export function almostEqual(a: XYAndZ, b: XYAndZ, tol?: number): boolean {\n    return Geometry.isSameCoordinate(a.x, b.x, tol)\n      && Geometry.isSameCoordinate(a.y, b.y, tol)\n      && Geometry.isSameCoordinate(a.z, b.z, tol);\n  }\n}\n\n/**\n * Interface for type with readable `low` and `high` members which have `x` and `y` number members.\n * @public\n */\nexport type LowAndHighXY = Readonly<WritableLowAndHighXY>;\n/**\n * Interface for type with readable `low` and `high` members which have `x`, `y`, and `z` number members.\n * @public\n */\nexport type LowAndHighXYZ = Readonly<WritableLowAndHighXYZ>;\n/**\n * Interface for variant json (one of)\n * * (individually optional) `x`, `y`, `z`\n * * number array\n * @public\n */\nexport type XYZProps = {\n  x?: number;\n  y?: number;\n  z?: number;\n} | number[];\n/**\n * Interface for variant json (one of)\n * * (individually optional) `x`, `y`\n * * number array\n * @public\n */\nexport type XYProps = {\n  x?: number;\n  y?: number;\n} | number[];\n/**\n * Interface for variant json (one of)\n * * array of number arrays, with one matrix row in each array\n * * flat array of numbers, in row-mor order\n * * `Matrix3d` object\n * @public\n */\nexport type Matrix3dProps = number[][] | number[];\n/**\n * Interface for variant json (one of)\n * * array of number arrays, with each low level array containing 4 numbers of a transform row (qx, qy, qz, ax)\n * * flat array of 12 numbers, in row-major order for the 3 rows of 4 values\n * * `Transform` object\n * @public\n */\nexport type TransformProps = number[][] | number[] | {\n  origin: XYZProps;\n  matrix: Matrix3dProps;\n};\n/**\n *  Interface for variant json representing a Range3d\n * * pair of `XYZProps` named `low` and `high`\n * * array of `XYZProps`\n * @public\n */\nexport type Range3dProps = {\n  low: XYZProps;\n  high: XYZProps;\n} | XYZProps[];\n/**\n *  Interface for variant json representing a Range2d\n * * pair of `XYProps` named `low` and `high`\n * * array of `XYProps`\n * @public\n */\nexport type Range2dProps = {\n  low: XYProps;\n  high: XYProps;\n} | XYProps[];\n/**\n *  Interface for variant json representing a Range1d\n * * pair of `number` named `low` and `high`\n * * array of `number`\n * @public\n */\nexport type Range1dProps = {\n  low: number;\n  high: number;\n} | number[];\n"]}
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\n\r\n/**\r\n * Interface for class with `x` and `y` as number properties.\r\n * @public\r\n */\r\nexport interface WritableXAndY {\r\n  /** x coordinate */\r\n  x: number;\r\n  /** y coordinate */\r\n  y: number;\r\n}\r\n/**\r\n * Interface for class with `z` as number property.\r\n * @public\r\n */\r\nexport interface WriteableHasZ {\r\n  /** z coordinate */\r\n  z: number;\r\n}\r\n/**\r\n * Interface for class with `x`, `y`, `z` as number property.\r\n * @public\r\n */\r\nexport interface WritableXYAndZ extends WritableXAndY, WriteableHasZ {\r\n}\r\n/**\r\n * Interface for class with named properties `low` and `high`, both being `WriteableXAndY`\r\n * @public\r\n */\r\nexport interface WritableLowAndHighXY {\r\n  /** Low x,y coordinates */\r\n  low: WritableXAndY;\r\n  /** High x,y,z coordinates */\r\n  high: WritableXAndY;\r\n}\r\n/**\r\n * Interface for class with named properties `low` and `high`, both being `WriteableXYAndZ`\r\n * @public\r\n */\r\nexport interface WritableLowAndHighXYZ {\r\n  /** Low x,y,z coordinates */\r\n  low: WritableXYAndZ;\r\n  /** High x,y,z coordinates */\r\n  high: WritableXYAndZ;\r\n}\r\n/**\r\n * Interface for readable `z` number members.\r\n * @public\r\n */\r\nexport type HasZ = Readonly<WriteableHasZ>;\r\n/**\r\n * Interface for readable `x` and `y` number members.\r\n * @public\r\n */\r\nexport type XAndY = Readonly<WritableXAndY>;\r\n/**\r\n * Interface for type with readable `x`, `y`, `z` number members.\r\n * @public\r\n */\r\nexport type XYAndZ = Readonly<WritableXYAndZ>;\r\n\r\n/** @public */\r\nexport namespace XYAndZ { // eslint-disable-line @typescript-eslint/no-redeclare\r\n  /**\r\n   * Return true if two XYAndZs have equal x,y,z parts within a specified tolerance.\r\n   * @param a The first XYAndZ to compare\r\n   * @param b The second XYAndZ to compare\r\n   * @param The tolerance for comparison. If undefined, [[Geometry.smallMetricDistance]] is used.\r\n   * @returns true if the difference in each coordinate of `a` and `b` is smaller than `tol`.\r\n   */\r\n  export function almostEqual(a: XYAndZ, b: XYAndZ, tol?: number): boolean {\r\n    return Geometry.isSameCoordinate(a.x, b.x, tol)\r\n      && Geometry.isSameCoordinate(a.y, b.y, tol)\r\n      && Geometry.isSameCoordinate(a.z, b.z, tol);\r\n  }\r\n}\r\n\r\n/**\r\n * Interface for type with readable `low` and `high` members which have `x` and `y` number members.\r\n * @public\r\n */\r\nexport type LowAndHighXY = Readonly<WritableLowAndHighXY>;\r\n/**\r\n * Interface for type with readable `low` and `high` members which have `x`, `y`, and `z` number members.\r\n * @public\r\n */\r\nexport type LowAndHighXYZ = Readonly<WritableLowAndHighXYZ>;\r\n/**\r\n * Interface for variant json (one of)\r\n * * (individually optional) `x`, `y`, `z`\r\n * * number array\r\n * @public\r\n */\r\nexport type XYZProps = {\r\n  x?: number;\r\n  y?: number;\r\n  z?: number;\r\n} | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * (individually optional) `x`, `y`\r\n * * number array\r\n * @public\r\n */\r\nexport type XYProps = {\r\n  x?: number;\r\n  y?: number;\r\n} | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * array of number arrays, with one matrix row in each array\r\n * * flat array of numbers, in row-mor order\r\n * * `Matrix3d` object\r\n * @public\r\n */\r\nexport type Matrix3dProps = number[][] | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * array of number arrays, with each low level array containing 4 numbers of a transform row (qx, qy, qz, ax)\r\n * * flat array of 12 numbers, in row-major order for the 3 rows of 4 values\r\n * * `Transform` object\r\n * @public\r\n */\r\nexport type TransformProps = number[][] | number[] | {\r\n  origin: XYZProps;\r\n  matrix: Matrix3dProps;\r\n};\r\n/**\r\n *  Interface for variant json representing a Range3d\r\n * * pair of `XYZProps` named `low` and `high`\r\n * * array of `XYZProps`\r\n * @public\r\n */\r\nexport type Range3dProps = {\r\n  low: XYZProps;\r\n  high: XYZProps;\r\n} | XYZProps[];\r\n/**\r\n *  Interface for variant json representing a Range2d\r\n * * pair of `XYProps` named `low` and `high`\r\n * * array of `XYProps`\r\n * @public\r\n */\r\nexport type Range2dProps = {\r\n  low: XYProps;\r\n  high: XYProps;\r\n} | XYProps[];\r\n/**\r\n *  Interface for variant json representing a Range1d\r\n * * pair of `number` named `low` and `high`\r\n * * array of `number`\r\n * @public\r\n */\r\nexport type Range1dProps = {\r\n  low: number;\r\n  high: number;\r\n} | number[];\r\n"]}

package/lib/esm/geometry3d/YawPitchRollAngles.d.ts

@@ -7,7 +7,7 @@ import { Matrix3d } from "./Matrix3d";
 import { Point3d } from "./Point3dVector3d";
 import { Transform } from "./Transform";
 /**
- * angle properties of a `YawPitchRoll` orientation
+ * Angle properties of a `YawPitchRoll` orientation
  * @public
  */
 export interface YawPitchRollProps {
@@ -48,36 +48,36 @@ export declare class YawPitchRollAngles {
     /** The roll angle: counterclockwise rotation angle around x */
     roll: Angle;
     /**
-     * constructor
+     * Constructor
      * @param yaw counterclockwise rotation angle around z
      * @param pitch **clockwise** rotation angle around y
      * @param roll counterclockwise rotation angle around x
-     * */
+     */
     constructor(yaw?: Angle, pitch?: Angle, roll?: Angle);
     /** Freeze this YawPitchRollAngles */
     freeze(): Readonly<this>;
     /**
-     * constructor for YawPitchRollAngles with angles in degrees.
+     * Constructor for YawPitchRollAngles with angles in degrees.
      * @param yawDegrees counterclockwise rotation angle (in degrees) around z
      * @param pitchDegrees **clockwise** rotation angle (in degrees) around y
      * @param rollDegrees counterclockwise rotation angle (in degrees) around x
-     * */
+     */
     static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles;
     /**
-     * constructor for YawPitchRollAngles with angles in radians.
+     * Constructor for YawPitchRollAngles with angles in radians.
      * @param yawRadians counterclockwise rotation angle (in radians) around z
      * @param pitchRadians **clockwise** rotation angle (in radians) around y
      * @param rollRadians counterclockwise rotation angle (in radians) around x
-     * */
+     */
     static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles;
-    /** construct a `YawPitchRoll` object from an object with 3 named angles */
+    /** Construct a `YawPitchRoll` object from an object with 3 named angles */
     static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles;
-    /** populate yaw, pitch and roll fields using `Angle.fromJSON` */
+    /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */
     setFromJSON(json?: YawPitchRollProps): void;
     /**
      * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.
      * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.
-     **/
+     */
     toJSON(): YawPitchRollProps;
     /**
      * Install all rotations from `other` into `this`.
@@ -90,19 +90,17 @@ export declare class YawPitchRollAngles {
      * @param other YawPitchRollAngles source
      */
     isAlmostEqual(other: YawPitchRollAngles): boolean;
-    /**
-     * Make a copy of this YawPitchRollAngles.
-     */
+    /** Make a copy of this YawPitchRollAngles */
     clone(): YawPitchRollAngles;
     /**
      * Expand the angles into a (rigid rotation) matrix.
-     *
      * * The returned matrix is "rigid" (i.e., it has unit length rows and columns, and its transpose is its inverse).
      * * The rigid matrix is always a right handed coordinate system.
      * @param result optional pre-allocated `Matrix3d`
      */
     toMatrix3d(result?: Matrix3d): Matrix3d;
-    /** Returns true if this rotation does nothing.
+    /**
+     * Returns true if this rotation does nothing.
      * * If allowPeriodShift is false, any nonzero angle is considered a non-identity
      * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.
      */
@@ -124,7 +122,8 @@ export declare class YawPitchRollAngles {
         origin: Point3d;
         angles: YawPitchRollAngles | undefined;
     };
-    /** Attempts to create a YawPitchRollAngles object from a Matrix3d
+    /**
+     * Attempts to create a YawPitchRollAngles object from a Matrix3d
      * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)
      * * In the failure case the method's return value is `undefined`.
      * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with

package/lib/esm/geometry3d/YawPitchRollAngles.d.ts.map

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package/lib/esm/geometry3d/YawPitchRollAngles.js

@@ -33,11 +33,11 @@ import { Point3d } from "./Point3dVector3d";
  */
 export class YawPitchRollAngles {
     /**
-     * constructor
+     * Constructor
      * @param yaw counterclockwise rotation angle around z
      * @param pitch **clockwise** rotation angle around y
      * @param roll counterclockwise rotation angle around x
-     * */
+     */
     constructor(yaw = Angle.zero(), pitch = Angle.zero(), roll = Angle.zero()) {
         this.yaw = yaw;
         this.pitch = pitch;
@@ -51,29 +51,29 @@ export class YawPitchRollAngles {
         return Object.freeze(this);
     }
     /**
-     * constructor for YawPitchRollAngles with angles in degrees.
+     * Constructor for YawPitchRollAngles with angles in degrees.
      * @param yawDegrees counterclockwise rotation angle (in degrees) around z
      * @param pitchDegrees **clockwise** rotation angle (in degrees) around y
      * @param rollDegrees counterclockwise rotation angle (in degrees) around x
-     * */
+     */
     static createDegrees(yawDegrees, pitchDegrees, rollDegrees) {
         return new YawPitchRollAngles(Angle.createDegrees(yawDegrees), Angle.createDegrees(pitchDegrees), Angle.createDegrees(rollDegrees));
     }
     /**
-     * constructor for YawPitchRollAngles with angles in radians.
+     * Constructor for YawPitchRollAngles with angles in radians.
      * @param yawRadians counterclockwise rotation angle (in radians) around z
      * @param pitchRadians **clockwise** rotation angle (in radians) around y
      * @param rollRadians counterclockwise rotation angle (in radians) around x
-     * */
+     */
     static createRadians(yawRadians, pitchRadians, rollRadians) {
         return new YawPitchRollAngles(Angle.createRadians(yawRadians), Angle.createRadians(pitchRadians), Angle.createRadians(rollRadians));
     }
-    /** construct a `YawPitchRoll` object from an object with 3 named angles */
+    /** Construct a `YawPitchRoll` object from an object with 3 named angles */
     static fromJSON(json) {
         json = json ? json : {};
         return new YawPitchRollAngles(Angle.fromJSON(json.yaw), Angle.fromJSON(json.pitch), Angle.fromJSON(json.roll));
     }
-    /** populate yaw, pitch and roll fields using `Angle.fromJSON` */
+    /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */
     setFromJSON(json) {
         json = json ? json : {};
         this.yaw = Angle.fromJSON(json.yaw);
@@ -83,7 +83,7 @@ export class YawPitchRollAngles {
     /**
      * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.
      * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.
-     **/
+     */
     toJSON() {
         const val = {};
         if (!this.pitch.isAlmostZero)
@@ -113,15 +113,12 @@ export class YawPitchRollAngles {
             && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)
             && this.roll.isAlmostEqualAllowPeriodShift(other.roll);
     }
-    /**
-     * Make a copy of this YawPitchRollAngles.
-     */
+    /** Make a copy of this YawPitchRollAngles */
     clone() {
         return new YawPitchRollAngles(this.yaw.clone(), this.pitch.clone(), this.roll.clone());
     }
     /**
      * Expand the angles into a (rigid rotation) matrix.
-     *
      * * The returned matrix is "rigid" (i.e., it has unit length rows and columns, and its transpose is its inverse).
      * * The rigid matrix is always a right handed coordinate system.
      * @param result optional pre-allocated `Matrix3d`
@@ -158,7 +155,8 @@ export class YawPitchRollAngles {
         */
         return Matrix3d.createRowValues(cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx), sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx), sy, cy * sx, cy * cx, result);
     }
-    /** Returns true if this rotation does nothing.
+    /**
+     * Returns true if this rotation does nothing.
      * * If allowPeriodShift is false, any nonzero angle is considered a non-identity
      * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.
      */
@@ -203,7 +201,8 @@ export class YawPitchRollAngles {
             angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),
         };
     }
-    /** Attempts to create a YawPitchRollAngles object from a Matrix3d
+    /**
+     * Attempts to create a YawPitchRollAngles object from a Matrix3d
      * * This conversion fails if the matrix is not rigid (unit rows and columns, and transpose is inverse)
      * * In the failure case the method's return value is `undefined`.
      * * In the failure case, if the optional result was supplied, that result will nonetheless be filled with