@itwin/core-geometry 4.0.0-dev.55 → 4.0.0-dev.56

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

@@ -78,17 +78,19 @@ export declare class Transform implements BeJSONFunctions {
     clone(result?: Transform): Transform;
     /**
      * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).
-     * * For details of how the matrix is modified to rigid, see documentation of `Matrix3d.axisOrderCrossProductsInPlace`
+     * * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.
      */
     cloneRigid(axisOrder?: AxisOrder): Transform | undefined;
-    /** Create a Transform with the given `origin` and `matrix`. */
+    /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */
     static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
-    /** Create a Transform with complete contents given */
+    /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */
     static createRowValues(qxx: number, qxy: number, qxz: number, ax: number, qyx: number, qyy: number, qyz: number, ay: number, qzx: number, qzy: number, qzz: number, az: number, result?: Transform): Transform;
     /** Create a Transform with all zeros */
     static createZero(result?: Transform): Transform;
     /**
      * Create a Transform with translation provided by x,y,z parts.
+     * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
      * @param x x part of translation
      * @param y y part of translation
      * @param z z part of translation
@@ -98,6 +100,8 @@ export declare class Transform implements BeJSONFunctions {
     static createTranslationXYZ(x?: number, y?: number, z?: number, result?: Transform): Transform;
     /**
      * Create a Transform with specified `translation` part.
+     * * Translation Transform maps any vector `v` to `v + translation`
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
      * @param translation x,y,z parts of the translation
      * @param result optional pre-allocated Transform
      * @returns new or updated transform
@@ -123,6 +127,7 @@ export declare class Transform implements BeJSONFunctions {
      * local-to-world mapping.
      * * This function is a closely related to `createFixedPointAndMatrix` whose point input is the fixed point
      * of the world-to-world transformation.
+     * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.
      */
     static createOriginAndMatrix(origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform): Transform;
     /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */
@@ -131,7 +136,7 @@ export declare class Transform implements BeJSONFunctions {
     static createOriginAndMatrixColumns(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform): Transform;
     /**
      * Create a Transform such that its `matrix` part is rigid.
-     * * For details of how the matrix is created to be rigid, see documentation of `Matrix3d.createRigidFromColumns`
+     * @see [[Matrix3d.createRigidFromColumns]] for details of how the matrix is created to be rigid.
      */
     static createRigidFromOriginAndColumns(origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform): Transform | undefined;
     /**
@@ -141,14 +146,15 @@ export declare class Transform implements BeJSONFunctions {
      */
     static createFixedPointAndMatrix(fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform): Transform;
     /**
-     * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform, transforms
-     * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`) so transforms point `a` to 'b'.
+     * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps
+     * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to 'b'.
      */
     static createMatrixPickupPutdown(matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform): Transform;
     /**
      * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by
-     * a single scale factor. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`
+     * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`
      * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ScaleCube
      */
     static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform;
     /**
@@ -172,35 +178,40 @@ export declare class Transform implements BeJSONFunctions {
      */
     multiplyXYZ(x: number, y: number, z?: number, result?: Point3d): Point3d;
     /**
-     * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element
-     * at the same row. Return the result.
+     * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.
      */
     multiplyComponentXYZ(componentIndex: number, x: number, y: number, z?: number): number;
     /**
-     * Multiply a specific row (component) of the transform matrix times xyz and add it to the origin element
-     * at the same row times w. Return the result.
+     * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.
      */
     multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number;
     /**
-     * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new
-     * point4d (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result (if result is given).
+     * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).
+     * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the
+     * first three coordinates, and `w` in the fourth.
+     * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.
      */
     multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
     /**
-     * If `p = (x,y,z)` then transform is `Tp = M*p + o*w`. This function returns the transformed point as a new
-     * Float64Array with size 4 (`Tp` as first 3 elements and `w` as last element) or in the pre-allocated result
-     * (if result is given).
+     * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated result (if
+     * result is given).
+     * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`
+     * in the first 3 numbers of the array and `w` as the fourth.
+     * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.
      */
     multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array;
     /**
-     * If `p = (x,y,z)` then transform is `Tp = M*p + o`. This function returns the transformed point as a new
-     * Float64Array with size 3 (`Tp` as 3 elements) or in the pre-allocated result (if result is given).
+     * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated result (if result is given).
+     * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.
      */
     multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array;
     /**
-     * Treat the 3x3 `matrix` and `origin` as upper 3x4 part of a 4x4 matrix, with 0001 as the final row. Now multiply
-     * the transposed of this 4x4 matrix by Point4d given as xyzw. Return as a new point4d (`M*p` as first 3 elements
-     * and `o*p + w` as last element where `p = (x,y,z)`) or in the pre-allocated result (if result is given).
+     * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the
+     * pre-allocated result (if result is given).
+     * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,
+     * and `o*p + w` in the fourth.
+     * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with
+     * fourth row 0001.
      */
     multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
     /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */
@@ -208,25 +219,29 @@ export declare class Transform implements BeJSONFunctions {
     /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */
     multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]): void;
     /**
-     * If for a point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
-     * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the
-     * transformed point (`Tp = point`).
+     * Multiply the point by the inverse Transform.
+     * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`
+     * Transform has matrix part `MInverse` and origin part `-MInverse*o`.
      * * Return as a new point or in the optional `result`.
      * * Returns `undefined` if the `matrix` part if this Transform is singular.
      */
     multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined;
     /**
-     * If for a point `p` we have `Tp = M*p + w*o = weightedPoint` (where `weightedPoint` is the transformed point), then
-     * `p = MInverse * (weightedPoint - w*o)`. This function returns a Point4d where first 3 elements are the original
-     *  point `p` if `weightedPoint` is the transformed point (`Tp = weightedPoint`) and the last element is `w`.
+     * Multiply the homogenous point by the inverse Transform.
+     * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform
+     * has matrix part `MInverse` and origin part `-MInverse*o`.
+     * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`
+     * in the first three coordinates, and `w` in the fourth.
+     * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with
+     * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.
      * * Return as a new point or in the optional `result`.
      * * Returns `undefined` if the `matrix` part if this Transform is singular.
      */
     multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined;
     /**
-     * If for a point `p = (x,y,z)` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
-     * `p = MInverse * (point - o)`. This function returns the original point `p` if `point` is the transformed
-     * point (`Tp = point`).
+     * Multiply the point by the inverse Transform.
+     * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform
+     * has matrix part `MInverse` and origin part `-MInverse*o`.
      * * Return as a new point or in the optional `result`.
      * * Returns `undefined` if the `matrix` part if this Transform is singular.
      */
@@ -249,20 +264,19 @@ export declare class Transform implements BeJSONFunctions {
      */
     static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number;
     /**
-     * If for each point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
-     * `p = MInverse * (point - o)`. This function returns the array of original points `p[]` if `points`
-     * is the array of transformed point (`Tp = point` for each `p` and `point`).
-     * * If `results` is given, resize it to match the input `points` array and update it with original points `p[]`.
-     * * If `results` is not given, return a new array.
+     * Multiply each point in the array by the inverse of `this` Transform.
+     * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse
+     * `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.`
+     * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.
+     * * If `result` is not given, return a new array.
      * * Returns `undefined` if the `matrix` part if this Transform is singular.
      */
-    multiplyInversePoint3dArray(points: Point3d[], results?: Point3d[]): Point3d[] | undefined;
+    multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined;
     /**
-     * If for each point `p` we have `Tp = M*p + o = point` (where `point` is the transformed point), then
-     * `p = MInverse * (point - o)`. This function calculates the array of original points `p[]` if `points`
-     * is the array of transformed point (`Tp = point` for each `p` and `point`) and replaces `points`
-     * with the array of original points.
-     * * Returns `true` if the `matrix` part if this Transform is invertible and `false if singular.
+     * Multiply each point in the array by the inverse of `this` Transform in place.
+     * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse
+     * `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.`
+     * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.
      */
     multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean;
     /**
@@ -297,71 +311,67 @@ export declare class Transform implements BeJSONFunctions {
     /**
      * Calculate `transformA * transformB` and store it into the calling instance (`this`).
      * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as
-     * `[A*B   Ab+a]`. See `multiplyTransformTransform` doc for math details.
+     * `[A*B   Ab+a]`.
+     * * @see [[multiplyTransformTransform]] documentation for math details.
      * @param transformA first operand
      * @param transformB second operand
      */
     setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void;
     /**
      * Multiply `this` Transform times `other` Transform.
-     * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as [A*B   Ab+a].
-     * That's because we create a 4x4 matrix for each Transform with the 3x3 `matrix` and `origin`
-     * as upper 3x4 part of a 4x4 matrix and 0001 as the final row. Then we multiply those two 4x4 matrixes:
+     * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as [A*B   Ab+a] because:
      * ```
      * equation
      * \begin{matrix}
-     *    \text{`this` Transform with `matrix` part }\bold{A}\text{ and `origin` part }\bold{a} & \blockTransform{A}{a}\\
-     *    \text{`other` Transform with `matrix` part }\bold{B}\text{ and `origin` part }\bold{b} & \blockTransform{B}{b} \\
+     *    \text{this Transform with matrix part }\bold{A}\text{ and origin part }\bold{a} & \blockTransform{A}{a}\\
+     *    \text{other Transform with matrix part }\bold{B}\text{ and origin part }\bold{b} & \blockTransform{B}{b} \\
      * \text{product}& \blockTransform{A}{a}\blockTransform{B}{b}=\blockTransform{AB}{Ab + a}
      * \end{matrix}
      * ```
      * @param other the 'other` Transform to be multiplied to `this` Transform.
-     * @param result optional preallocated result to reuse.
+     * @param result optional preallocated `result` to reuse.
      */
     multiplyTransformTransform(other: Transform, result?: Transform): Transform;
     /**
      * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).
-     * **Note:** If `this = [A   a]`, then we promote `other` matrix to be a Transform [B   0].
-     * Then `this * other` is defined as [A*B   a]. That's because we create a 4x4 matrix for each Transform
-     * with the 3x3 `matrix` and `origin` as upper 3x4 part of a 4x4 matrix and 0001 as the final row. Then we
-     * multiply those two 4x4 matrixes:
+     * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:
      * ```
      * equation
      * \begin{matrix}
-     *    \text{`this` Transform with `matrix` part }\bold{A}\text{ and `origin` part }\bold{a} & \blockTransform{A}{a}\\
-     *    \text{`other` matrix }\bold{B}\text{ promoted to block Transform} & \blockTransform{B}{0} \\
+     *    \text{this Transform with matrix part }\bold{A}\text{ and origin part }\bold{a} & \blockTransform{A}{a}\\
+     *    \text{other matrix }\bold{B}\text{ promoted to block Transform} & \blockTransform{B}{0} \\
      * \text{product}& \blockTransform{A}{a}\blockTransform{B}{0}=\blockTransform{AB}{a}
      * \end{matrix}
      * ```
      * @param other the `other` Matrix3d to be multiplied to `this` Transform.
-     * @param result optional preallocated result to reuse.
+     * @param result optional preallocated `result` to reuse.
      */
     multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform;
     /**
-     * Return the Range of the transformed corners.
+     * Return the range of the transformed corners.
      * * The 8 corners are transformed individually.
      * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.
      * If you rotate the range box and recompute a new range box around the rotated range box, then the new range
      * box will have a larger volume than the original range box. However, if you rotate the geometry itself and
      * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`
-     * function creates the larger range box because it only has access to the range box and the geometry itself.
+     * function creates the larger range box because it only has access to the range box and not the geometry itself.
      */
     multiplyRange(range: Range3d, result?: Range3d): Range3d;
     /**
      * Return a Transform which is the inverse of `this` Transform.
-     * * If `transform = [M   o]` then `transformInverse = [MInverse   MInverse*-o]`
+     * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`
      * * Return `undefined` if this Transform's matrix is singular.
      */
     inverse(result?: Transform): Transform | undefined;
     /**
-     * Initialize 2 Transforms: First Transform maps a box (axis aligned) specified by `min` and `max` to
-     * the unit box specified by 000 and 111 and inverse of it. Second Transform is the reverse of first.
-     * @param min the min corner of the box
-     * @param max the max corner of the box
-     * @param npcToGlobal maps global (the unit box specified by 000 and 111) to NPC (a box specified by `min`
-     * and `max`). Object created by caller, re-initialized here.
-     * @param globalToNpc maps NPC (a box specified by `min` and `max`) to global (the unit box specified by
-     * 000 and 111). Object created by caller, re-initialized here.
+     * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified
+     * by the input points.
+     * @param min the min corner of the range box
+     * @param max the max corner of the range box
+     * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps
+     * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.
+     * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps
+     * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.
      * * NPC stands for `Normalized Projection Coordinate`
      */
     static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void;

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

@@ -1 +1 @@
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