@itwin/core-geometry 4.0.0-dev.6 → 4.0.0-dev.8

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

@@ -336,13 +336,14 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static createRigidFromColumns(vectorA: Vector3d, vectorB: Vector3d, axisOrder: AxisOrder, result?: Matrix3d): Matrix3d | undefined;
     /**
-     * Construct a rigid matrix using vectorA and its 2 perpendicular.
+     * Construct a rigid matrix (orthogonal matrix with +1 determinant) using vectorA and its 2 perpendicular.
+     * * If axisOrder is not passed then `AxisOrder = AxisOrder.ZXY` is used as default.
      * * This function internally uses createPerpendicularVectorFavorXYPlane and createRigidFromColumns.
      */
     static createRigidHeadsUp(vectorA: Vector3d, axisOrder?: AxisOrder, result?: Matrix3d): Matrix3d;
-    /** Return the matrix for rotation of `angle` around `axis` */
+    /** Return the matrix for rotation of `angle` around desired `axis` */
     static createRotationAroundVector(axis: Vector3d, angle: Angle, result?: Matrix3d): Matrix3d | undefined;
-    /** Returns a rotation of specified angle around an axis
+    /** Returns a rotation of specified angle around one of the main axis (X,Y,Z).
      * @param axisIndex index of axis (AxisIndex.X, AxisIndex.Y, AxisIndex.Z) kept fixed by the rotation.
      * @param angle angle of rotation
      * @param result optional result matrix.
@@ -350,22 +351,31 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static createRotationAroundAxisIndex(axisIndex: AxisIndex, angle: Angle, result?: Matrix3d): Matrix3d;
     /**
-   * Replace current columns Ui and Uj with (c*Ui - s*Uj) and (c*Uj + s*Ui).
-   * * There is no checking for i,j being 0,1,2.
-   * * This is used in compute intensive inner loops
-   * @param i first row index. **must be 0,1,2** (unchecked)
-   * @param j second row index. **must be 0,1,2** (unchecked)
-   * @param c fist coefficient
-   * @param s second coefficient
-   */
+     * Replace current rows Ui and Uj with (c*Ui + s*Uj) and (c*Uj - s*Ui).
+     * * There is no checking for i,j being 0,1,2.
+     * @param i first row index.  **must be 0,1,2** (unchecked)
+     * @param j second row index. **must be 0,1,2** (unchecked)
+     * @param c fist coefficient
+     * @param s second coefficient
+     */
+    private applyGivensRowOp;
+    /**
+     * Replace current columns Ui and Uj with (c*Ui + s*Uj) and (c*Uj - s*Ui).
+     * * There is no checking for i,j being 0,1,2.
+     * * This is used in compute intensive inner loops
+     * @param i first row index. **must be 0,1,2** (unchecked)
+     * @param j second row index. **must be 0,1,2** (unchecked)
+     * @param c fist coefficient
+     * @param s second coefficient
+     */
     applyGivensColumnOp(i: number, j: number, c: number, s: number): void;
     /**
-   * Create a matrix from column vectors.
-   * ```
-   * equation
-   * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ U_z & V_z & W_z \end{bmatrix}
-   * ```
-   */
+     * Create a matrix from column vectors.
+     * ```
+     * equation
+     * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ U_z & V_z & W_z \end{bmatrix}
+     * ```
+     */
     static createColumns(vectorU: Vector3d, vectorV: Vector3d, vectorW: Vector3d, result?: Matrix3d): Matrix3d;
     /** Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
      * ```
@@ -378,8 +388,9 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * ColumnX points in the rightVector direction
      * * ColumnY points in the upVector direction
      * * ColumnZ is a unit cross product of ColumnX and ColumnY.
-     * * Optionally rotate the standard cube by 45 degrees ccw around Y to bring its left or right vertical edge to center.
-     * * Optionally rotate the standard cube by 35.264 degrees ccw around X (isometric rotation).
+     * * Optionally rotate by 45 degrees around `upVector` to bring its left or right vertical edge to center.
+     * * Optionally rotate by arctan(1/sqrt(2)) ~ 35.264 degrees around `rightVector` to bring the top or bottom
+     * horizontal edge of the view to the center (for isometric views).
      * * This is expected to be used with various principal unit vectors that are perpendicular to each other.
      * * STANDARD TOP VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitY(), 0, 0)
      * * STANDARD FRONT VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitZ(), 0, 0)
@@ -387,16 +398,20 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * STANDARD RIGHT VIEW: createViewedAxes(Vector3d.unitY(), Vector3d.unitZ(), 0, 0)
      * * STANDARD LEFT VIEW: createViewedAxes(Vector3d.unitY(-1), Vector3d.unitZ(), 0, 0)
      * * STANDARD BOTTOM VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitY(-1), 0, 0)
+     * * STANDARD ISO VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitZ(), -1, 1)
+     * * STANDARD RIGHT ISO VIEW: createViewedAxes(Vector3d.unitX(), Vector3d.unitZ(), 1, 1)
+     * * Front, right, back, left, top, and bottom standard views are views from faces of the cube
+     * and iso and right iso standard views are views from corners of the cube.
      * * Note: createViewedAxes is column-based so always returns local to world
      *
      * @param rightVector ColumnX of the returned matrix. Expected to be perpendicular to upVector.
      * @param upVector ColumnY of the returned matrix. Expected to be perpendicular to rightVector.
-     * @param leftNoneRight Specifies the ccw rotation around Y axis. Normally one of "-1", "0", and "1", where
-     * "-1" indicates rotation by 45 degrees to bring the left vertical edge to center, "0" means no rotation,
+     * @param leftNoneRight Specifies the ccw rotation around `upVector` axis. Normally one of "-1", "0", and "1",
+     * where "-1" indicates rotation by 45 degrees to bring the left vertical edge to center, "0" means no rotation,
      * and "1" indicates rotation by 45 degrees to bring the right vertical edge to center. Other numbers are
      * used as multiplier for this 45 degree rotation.
-     * @param topNoneBottom Specifies the ccw rotation around X axis. Normally one of "-1", "0", and "1", where
-     * "-1" indicates isometric rotation (35.264 degrees) to bring the bottom upward, "0" means no rotation,
+     * @param topNoneBottom Specifies the ccw rotation around `rightVector` axis. Normally one of "-1", "0", and "1",
+     * where "-1" indicates isometric rotation (35.264 degrees) to bring the bottom upward, "0" means no rotation,
      * and "1" indicates isometric rotation (35.264 degrees) to bring the top downward. Other numbers are
      * used as multiplier for the 35.264 degree rotation.
      * @returns matrix = [rightVector, upVector, rightVector cross upVector] with the applied rotations specified
@@ -408,9 +423,11 @@ export declare class Matrix3d implements BeJSONFunctions {
      * * Default is TOP view (`local X = world X`, `local Y = world Y`, `local Z = world Z`).
      * * To change view from the TOP to one of the other 7 standard views, we need to multiply "world data" to
      * the corresponding matrix1 provided by `createStandardWorldToView(index, false)` and then
-     * `matrix1.multiply(world data)` will returns "local data".
+     * `matrix1.multiply(world data)` will return "local data".
      * * To change view back to the TOP, we need to multiply "local data" to the corresponding matrix2 provided
      * by `createStandardWorldToView(index, true)` and then `matrix2.multiply(local data)` will returns "world data".
+     * * Note: No matter how you rotate the world axis, local X is always pointing right, local Y is always pointing up,
+     * and local Z is always pointing toward you.
      *
      * @param index standard view index `StandardViewIndex.Top, Bottom, Left, Right, Front, Back, Iso, RightIso`
      * @param invert if false (default), the return matrix is world to local (view) and if true, the the return
@@ -418,8 +435,27 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param result optional result.
      */
     static createStandardWorldToView(index: StandardViewIndex, invert?: boolean, result?: Matrix3d): Matrix3d;
+    /**
+     * Apply (in place) a jacobi update that zeros out this.at(i,j).
+     * @param i row index of zeroed member
+     * @param j column index of zeroed member
+     * @param k other row/column index (different from i and j)
+     * @param leftEigenVectors a matrix that its columns will be filled by eigenvectors of this Matrix3d
+     * (allocated by caller, computed and filled by this function)
+     */
+    private applyFastSymmetricJacobiUpdate;
+    /**
+     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
+     * The upper triangle is mirrored to lower triangle to enforce symmetry.
+     * @param leftEigenvectors a matrix that its columns will be filled by eigenvectors of this Matrix3d
+     * (allocated by caller, computed and filled by this function)
+     * @param lambda a vector that its entries will be filled by eigenvalues of this Matrix3d
+     * (allocated by caller, computed and filled by this function)
+     */
+    fastSymmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
     /**
      * Compute the (unit vector) axis and angle of rotation.
+     * * math details can be found at docs/learning/geometry/Angle.md
      * @returns Returns axis and angle of rotation with result.ok === true when the conversion succeeded.
      */
     getAxisAndAngleOfRotation(): {
@@ -427,25 +463,48 @@ export declare class Matrix3d implements BeJSONFunctions {
         angle: Angle;
         ok: boolean;
     };
+    /** Rotate so columns i and j become perpendicular */
+    private applyJacobiColumnRotation;
     /**
-     * Returns a matrix that rotates from vectorA to vectorB.
+     * Factor this as a product C * U where C has mutually perpendicular columns and
+     * U is orthogonal.
+     * @param matrixC (allocate by caller, computed here)
+     * @param matrixU (allocate by caller, computed here)
      */
-    static createRotationVectorToVector(vectorA: Vector3d, vectorB: Vector3d, result?: Matrix3d): Matrix3d | undefined;
+    factorPerpendicularColumns(matrixC: Matrix3d, matrixU: Matrix3d): boolean;
+    /**
+     * Factor this matrix M as a product M = V * D * U where V and U are orthogonal, and D is diagonal (scale matrix).
+     * @param matrixV left orthogonal factor (allocate by caller, computed here)
+     * @param scale diagonal entries of D (allocate by caller, computed here)
+     * @param matrixU right orthogonal factor (allocate by caller, computed here)
+     */
+    factorOrthogonalScaleOrthogonal(matrixV: Matrix3d, scale: Point3d, matrixU: Matrix3d): boolean;
+    /** Apply a jacobi step to lambda which evolves towards diagonal. */
+    private applySymmetricJacobi;
+    /**
+     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
+     * The upper triangle is mirrored to lower triangle to enforce symmetry.
+     * @param matrixC (allocate by caller, computed here)
+     * @param factor  (allocate by caller, computed here)
+     */
+    symmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
     /**
      * Return a matrix that rotates a fraction of the angular sweep from vectorA to vectorB.
      * @param vectorA initial vector position
-     * @param fraction fractional rotation.  1.0 is "all the way"
+     * @param fraction fractional rotation (1 means rotate all the way)
      * @param vectorB final vector position
      * @param result optional result matrix.
      */
     static createPartialRotationVectorToVector(vectorA: Vector3d, fraction: number, vectorB: Vector3d, result?: Matrix3d): Matrix3d | undefined;
+    /** Returns a matrix that rotates from vectorA to vectorB. */
+    static createRotationVectorToVector(vectorA: Vector3d, vectorB: Vector3d, result?: Matrix3d): Matrix3d | undefined;
     /** Create a 90 degree rotation around a principal axis */
     static create90DegreeRotationAroundAxis(axisIndex: number): Matrix3d;
     /** Return (a copy of) the X column */
     columnX(result?: Vector3d): Vector3d;
-    /** Return (a copy of)the Y column */
+    /** Return (a copy of) the Y column */
     columnY(result?: Vector3d): Vector3d;
-    /** Return (a copy of)the Z column */
+    /** Return (a copy of) the Z column */
     columnZ(result?: Vector3d): Vector3d;
     /** Return the X column magnitude squared */
     columnXMagnitudeSquared(): number;
@@ -461,18 +520,17 @@ export declare class Matrix3d implements BeJSONFunctions {
     columnZMagnitude(): number;
     /** Return magnitude of columnX cross columnY. */
     columnXYCrossProductMagnitude(): number;
-    /** Return the X row magnitude d */
+    /** Return the X row magnitude */
     rowXMagnitude(): number;
     /** Return the Y row magnitude  */
     rowYMagnitude(): number;
     /** Return the Z row magnitude  */
     rowZMagnitude(): number;
     /** Return the dot product of column X with column Y */
-    /** Return the dot product of column X with column Y */
     columnXDotColumnY(): number;
     /**
      * Dot product of an indexed column with a vector given as x,y,z
-     * @param columnIndex index of column.  Must be 0,1,2
+     * @param columnIndex index of column. Must be 0,1,2.
      * @param x x component of vector
      * @param y y component of vector
      * @param z z component of vector
@@ -502,59 +560,9 @@ export declare class Matrix3d implements BeJSONFunctions {
     dotRowYXYZ(x: number, y: number, z: number): number;
     /** Return the dot product of the x,y,z with the Z row. */
     dotRowZXYZ(x: number, y: number, z: number): number;
-    /** Return the (vector) cross product of the Z column with the vector parameter. */
+    /** Return the cross product of the Z column with the vector parameter. */
     columnZCrossVector(vector: XYZ, result?: Vector3d): Vector3d;
-    private applyGivensRowOp;
-    /**
-     * create a rigid coordinate frame column z parallel to (_x_,_y_,_z_) and column x in the xy plane.
-     * * column z points from origin to x,y,z
-     * * column x is perpendicular and in the xy plane
-     * * column y is perpendicular to both.  It is the "up" vector on the view plane.
-     * * Multiplying a world vector times the transpose of this matrix transforms into the view xy
-     * * Multiplying the matrix times the an in-view vector transforms the vector to world.
-     * @param x eye x coordinate
-     * @param y eye y coordinate
-     * @param z eye z coordinate
-     * @param result
-     */
-    static createRigidViewAxesZTowardsEye(x: number, y: number, z: number, result?: Matrix3d): Matrix3d;
-    /** Rotate so columns i and j become perpendicular */
-    private applyJacobiColumnRotation;
-    /**
-     * Factor this as a product C * U where C has mutually perpendicular columns and
-     * U is orthogonal.
-     * @param matrixC (allocate by caller, computed here)
-     * @param matrixU (allocate by caller, computed here)
-     */
-    factorPerpendicularColumns(matrixC: Matrix3d, matrixU: Matrix3d): boolean;
-    /**
-     * Factor this matrix M as a product M = V * D * U where V and U are orthogonal, and D is diagonal (scale matrix).
-     * @param matrixV left orthogonal factor (allocate by caller, computed here)
-     * @param scale diagonal entries of D (allocate by caller, computed here)
-     * @param matrixU right orthogonal factor (allocate by caller, computed here)
-     */
-    factorOrthogonalScaleOrthogonal(matrixV: Matrix3d, scale: Point3d, matrixU: Matrix3d): boolean;
-    /** Apply a jacobi step to lambda which evolves towards diagonal. */
-    private applySymmetricJacobi;
-    /**
-     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
-     * The upper triangle is mirrored to lower triangle to enforce symmetry.
-     * @param matrixC (allocate by caller, computed here)
-     * @param factor  (allocate by caller, computed here)
-     */
-    symmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
-    /** Apply (in place a jacobi update that zeros out this.at(i,j).
-     *
-     */
-    private applyFastSymmetricJacobiUpdate;
-    /**
-     * Factor this (symmetrized) as a product U * lambda * UT where U is orthogonal, lambda is diagonal.
-     * The upper triangle is mirrored to lower triangle to enforce symmetry.
-     * @param matrixC (allocate by caller, computed here)
-     * @param factor  (allocate by caller, computed here)
-     */
-    fastSymmetricEigenvalues(leftEigenvectors: Matrix3d, lambda: Vector3d): boolean;
-    /** Install data from xyz parts of Point4d  (w part of Point4d ignored) */
+    /** Set data from xyz parts of Point4d  (w part of Point4d ignored) */
     setColumnsPoint4dXYZ(vectorU: Point4d, vectorV: Point4d, vectorW: Point4d): void;
     /**
      * Set entries in one column of the matrix.
@@ -562,40 +570,57 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param value x,yz, values for column.  If undefined, zeros are installed.
      */
     setColumn(columnIndex: number, value: Vector3d | undefined): void;
-    /** Set all columns of the matrix. Any undefined vector is zeros. */
-    setColumns(vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ?: Vector3d | undefined): void;
     /**
-     * set entries in one row of the matrix.
-     * @param rowIndex row index. this is interpreted cyclically.
-     * @param value x,yz, values for row.  If undefined, zeros are installed.
+     * Set all columns of the matrix. Any undefined vector is zeros.
+     * @param vectorX values for column 0
+     * @param vectorY values for column 1
+     * @param vectorZ optional values for column 2 (it's optional in case column 2 is 000, which is a
+     * projection onto the xy-plane)
+     */
+    setColumns(vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ?: Vector3d): void;
+    /**
+     * Set entries in one row of the matrix.
+     * @param rowIndex row index. This is interpreted cyclically (using Geometry.cyclic3dAxis).
+     * @param value x,y,z values for row.
      */
     setRow(rowIndex: number, value: Vector3d): void;
-    /** Return a (copy of) a column of the matrix.
-     * @param i column index.  This is corrected to 012 by Geometry.cyclic3dAxis.
+    /**
+     * Return (a copy of) a column of the matrix.
+     * @param i column index. This is interpreted cyclically (using Geometry.cyclic3dAxis).
+     * @param result optional preallocated result.
      */
     getColumn(columnIndex: number, result?: Vector3d): Vector3d;
-    /** Return a (copy of) a row of the matrix.
-     * @param i row index.  This is corrected to 012 by Geometry.cyclic3dAxis.
+    /**
+     * Return a (copy of) a row of the matrix.
+     * @param i row index. This is interpreted cyclically (using Geometry.cyclic3dAxis).
+     * @param result optional preallocated result.
      */
     getRow(columnIndex: number, result?: Vector3d): Vector3d;
-    /** Create a matrix from row vectors.
+    /**
+     * Create a matrix from row vectors.
      * ```
      * equation
      * \begin{bmatrix}U_x & U_y & U_z \\ V_x & V_y & V_z \\ W_x & W_y & W_z \end{bmatrix}
      * ```
      */
     static createRows(vectorU: Vector3d, vectorV: Vector3d, vectorW: Vector3d, result?: Matrix3d): Matrix3d;
-    /** Create a matrix that scales along a specified direction.
-     * * The scale factor can be negative.
-     *  * A scale of -1.0 (negative one) is a mirror across the plane perpendicular to the vector.
+    /**
+     * Create a matrix that scales along a specified `direction`. This means if you multiply the returned matrix
+     * by a `vector`, you get `directional scale` of that `vector`. Suppose `plane` is the plane perpendicular
+     * to the `direction`. When scale = 0, `directional scale` is projection of the `vector` to the `plane`.
+     * When scale = 1, `directional scale` is the `vector` itself. When scale = -1, `directional scale` is
+     * mirror of the `vector` across the `plane`. In general, When scale != 0, the result is computed by first
+     * projecting the `vector` to the `plane`, then translating that projection along the `direction` (if scale > 0)
+     * or in opposite direction (if scale < 0).
      * ```
      * equation
-     * \text{The matrix is } I - (s-1) U U^T
-     * \\ \text{with }U\text{ being the unit vector in the direction of the input vector.}
+     * \text{The matrix is } I + (s-1) D D^T
+     * \\ \text{with }D\text{ being the normalized direction vector and }s\text{ being the scale.}
      * ```
      */
     static createDirectionalScale(direction: Vector3d, scale: number, result?: Matrix3d): Matrix3d;
-    /** Multiply the matrix * vector, treating the vector is a column vector on the right.
+    /**
+     * Multiply `matrix * vector`, treating the vector is a column vector on the right.
      * ```
      * equation
      * \matrixXY{A}\columnSubXYZ{U}
@@ -603,54 +628,67 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @return the vector result
      */
     multiplyVector(vectorU: XYAndZ, result?: Vector3d): Vector3d;
-    /** Multiply matrix * vector for each array member, i.e. the vector is a column vector on the right.
-     * @return the vector result
+    /**
+     * Multiply `matrix * vector` in place for vector in the array, i.e. treating the vector is a column
+     * vector on the right.
+     * * Each `vector` is updated to be `matrix * vector`
      */
     multiplyVectorArrayInPlace(data: XYZ[]): void;
-    /** compute `origin - matrix * vector` */
+    /** Compute `origin - matrix * vector` */
     static xyzMinusMatrixTimesXYZ(origin: XYAndZ, matrix: Matrix3d, vector: XYAndZ, result?: Point3d): Point3d;
-    /** compute  `origin + matrix * vector`  using only the xy parts of the inputs. */
+    /** Compute `origin + matrix * vector`  using only the xy parts of the inputs. */
     static xyPlusMatrixTimesXY(origin: XAndY, matrix: Matrix3d, vector: XAndY, result?: Point2d): Point2d;
-    /** compute  `origin + matrix * vector`  using all xyz parts of the inputs. */
+    /** Compute `origin + matrix * vector`  using all xyz parts of the inputs. */
     static xyzPlusMatrixTimesXYZ(origin: XYZ, matrix: Matrix3d, vector: XYAndZ, result?: Point3d): Point3d;
-    /** compute  `origin + matrix * vector`  using all xyz parts of the inputs. */
+    /** Updates vector to be `origin + matrix * vector` using all xyz parts of the inputs. */
     static xyzPlusMatrixTimesXYZInPlace(origin: XYZ, matrix: Matrix3d, vector: WritableXYAndZ): void;
-    /** compute `origin + matrix * vector` where the final vector is given as direct x,y,z coordinates */
+    /** Compute `origin + matrix * vector` where the final vector is given as direct x,y,z coordinates */
     static xyzPlusMatrixTimesCoordinates(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, result?: Point3d): Point3d;
     /**
      * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row.
-     * Multiply times point with coordinates `[x,y,z,w]`
+     * Multiply the 4x4 matrix by `[x,y,z,w]`
+     * ```
+     * equation
+     * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz \\ 0 & 0 & 0 & 1\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ w\end{bmatrix}
+     * ```
      * @param origin translation part (xyz in column 3)
      * @param matrix matrix part (leading 3x3)
      * @param x x part of multiplied point
      * @param y y part of multiplied point
      * @param z z part of multiplied point
      * @param w w part of multiplied point
-     * @param result optional result.
+     * @param result optional preallocated result.
      */
     static xyzPlusMatrixTimesWeightedCoordinates(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, w: number, result?: Point4d): Point4d;
     /**
      * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row.
-     * Multiply times point with coordinates `[x,y,z,w]`
+     * Multiply the 4x4 matrix by `[x,y,z,w]`
+     * ```
+     * equation
+     * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz \\ 0 & 0 & 0 & 1\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ w\end{bmatrix}
+     * ```
      * @param origin translation part (xyz in column 3)
      * @param matrix matrix part (leading 3x3)
      * @param x x part of multiplied point
      * @param y y part of multiplied point
      * @param z z part of multiplied point
      * @param w w part of multiplied point
-     * @param result optional result.
+     * @param result optional preallocated result.
      */
     static xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array;
     /**
-     * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row.
-     * Multiply times point with coordinates `[x,y,z,w]`
+     * Treat the 3x3 matrix and origin as a 3x4 matrix.
+     * * Multiply the 3x4 matrix by `[x,y,z,1]`
+     * ```
+     * equation
+     * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ 1\end{bmatrix}
+     * ```
      * @param origin translation part (xyz in column 3)
      * @param matrix matrix part (leading 3x3)
      * @param x x part of multiplied point
      * @param y y part of multiplied point
      * @param z z part of multiplied point
-     * @param w w part of multiplied point
-     * @param result optional result.
+     * @param result optional preallocated result.
      */
     static xyzPlusMatrixTimesCoordinatesToFloat64Array(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, result?: Float64Array): Float64Array;
     /**
@@ -846,7 +884,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param scaleX scale factor for column x
      * @param scaleY scale factor for column y
      * @param scaleZ scale factor for column z
-     * @param result optional result.
+     * @param result optional preallocated result.
      */
     scaleColumns(scaleX: number, scaleY: number, scaleZ: number, result?: Matrix3d): Matrix3d;
     /** Scale the columns of this Matrix3d.
@@ -859,7 +897,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param scaleX scale factor for row x
      * @param scaleY scale factor for row y
      * @param scaleZ scale factor for row z
-     * @param result optional result.
+     * @param result optional preallocated result.
      */
     scaleRows(scaleX: number, scaleY: number, scaleZ: number, result?: Matrix3d): Matrix3d;
     /**
@@ -886,10 +924,25 @@ export declare class Matrix3d implements BeJSONFunctions {
     addScaledOuterProductInPlace(vectorU: Vector3d, vectorV: Vector3d, scale: number): void;
     /** create a Matrix3d whose values are uniformly scaled from this.
      * @param scale scale factor to apply.
-     * @param result optional result.
+     * @param result optional preallocated result.
      * @returns Return the new or repopulated matrix
      */
     scale(scale: number, result?: Matrix3d): Matrix3d;
+    /**
+     * Create a rigid matrix (columns and rows are unit length and pairwise perpendicular) for
+     * the given eye coordinate.
+     * * column z is parallel to x,y,z
+     * * column x is perpendicular to column z and is in the xy plane
+     * * column y is perpendicular to both.  It is the "up" vector on the view plane.
+     * * Multiplying the returned matrix times a local (view) vector gives the world vector.
+     * * Multiplying transpose of the returned matrix times a world vector gives the local
+     * (view) vector.
+     * @param x eye x coordinate
+     * @param y eye y coordinate
+     * @param z eye z coordinate
+     * @param result optional preallocated result
+     */
+    static createRigidViewAxesZTowardsEye(x: number, y: number, z: number, result?: Matrix3d): Matrix3d;
     /** Return the determinant of this matrix. */
     determinant(): number;
     /** Return an estimate of how independent the columns are.  Near zero is bad. Near 1 is good

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

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