@itwin/core-geometry 4.10.0-dev.2 → 4.10.0-dev.22

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

@@ -158,8 +158,10 @@ export declare class Transform implements BeJSONFunctions {
      */
     static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform;
     /**
-     * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different from the plane normal.
-     * @param sweepVector vector for the sweep direction
+     * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different
+     * from the plane normal.
+     * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.
+     * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.
      * @param planePoint any point on the plane
      * @param planeNormal vector normal to the plane.
      */

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

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package/lib/cjs/geometry3d/Transform.js

@@ -326,8 +326,10 @@ class Transform {
         return Transform.createRefs(origin, matrix, result);
     }
     /**
-     * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different from the plane normal.
-     * @param sweepVector vector for the sweep direction
+     * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different
+     * from the plane normal.
+     * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.
+     * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.
      * @param planePoint any point on the plane
      * @param planeNormal vector normal to the plane.
      */

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

@@ -1 +1 @@
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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        this._matrix.setRowValues(\r\n          json[0][0], json[0][1], json[0][2],\r\n          json[1][0], json[1][1], json[1][2],\r\n          json[2][0], json[2][1], json[2][2],\r\n        );\r\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\r\n        return;\r\n      }\r\n      if (Geometry.isNumberArray(json, 12)) {\r\n        this._matrix.setRowValues(\r\n          json[0], json[1], json[2],\r\n          json[4], json[5], json[6],\r\n          json[8], json[9], json[10],\r\n        );\r\n        this._origin.set(json[3], json[7], json[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 === other || 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/CubeTransform\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/CubeTransform\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 the appropriate construction when the columns of the matrix are coordinate axes of a\r\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\r\n   * * This function is 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/CubeTransform\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   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different from the plane normal.\r\n   * @param sweepVector vector for the sweep direction\r\n   * @param planePoint any point on the plane\r\n   * @param planeNormal vector normal to the plane.\r\n   */\r\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\r\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\r\n    if (matrix === undefined)\r\n      return undefined;\r\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\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` of sufficient size.\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` of sufficient size.\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"]}
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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        this._matrix.setRowValues(\r\n          json[0][0], json[0][1], json[0][2],\r\n          json[1][0], json[1][1], json[1][2],\r\n          json[2][0], json[2][1], json[2][2],\r\n        );\r\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\r\n        return;\r\n      }\r\n      if (Geometry.isNumberArray(json, 12)) {\r\n        this._matrix.setRowValues(\r\n          json[0], json[1], json[2],\r\n          json[4], json[5], json[6],\r\n          json[8], json[9], json[10],\r\n        );\r\n        this._origin.set(json[3], json[7], json[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 === other || 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/CubeTransform\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/CubeTransform\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 the appropriate construction when the columns of the matrix are coordinate axes of a\r\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\r\n   * * This function is 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/CubeTransform\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   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\r\n   * from the plane normal.\r\n   * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\r\n   * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.\r\n   * @param planePoint any point on the plane\r\n   * @param planeNormal vector normal to the plane.\r\n   */\r\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\r\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\r\n    if (matrix === undefined)\r\n      return undefined;\r\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\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` of sufficient size.\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` of sufficient size.\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/cjs/geometry4d/Map4d.d.ts

@@ -49,11 +49,11 @@ export declare class Map4d implements BeJSONFunctions {
     /** Test if both matrices are almost equal to those */
     isAlmostEqual(other: Map4d): boolean;
     /**
-     * Create a map between a frustum and world coordinates.
-     * @param origin lower left of frustum
-     * @param uVector Vector from lower left rear to lower right rear.
-     * @param vVector Vector from lower left rear to upper left rear.
-     * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.
+     * Create a world to NPC map that maps between world coordinates and the given frustum.
+     * @param origin lower left rear of frustum
+     * @param uVector Vector from origin to lower right rear.
+     * @param vVector Vector from origin to upper left rear.
+     * @param wVector Vector from origin to lower left front, i.e. origin towards eye.
      * @param fraction front size divided by rear size.
      */
     static createVectorFrustum(origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number): Map4d | undefined;

package/lib/cjs/geometry4d/Map4d.js

@@ -108,11 +108,11 @@ class Map4d {
         return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);
     }
     /**
-     * Create a map between a frustum and world coordinates.
-     * @param origin lower left of frustum
-     * @param uVector Vector from lower left rear to lower right rear.
-     * @param vVector Vector from lower left rear to upper left rear.
-     * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.
+     * Create a world to NPC map that maps between world coordinates and the given frustum.
+     * @param origin lower left rear of frustum
+     * @param uVector Vector from origin to lower right rear.
+     * @param vVector Vector from origin to upper left rear.
+     * @param wVector Vector from origin to lower left front, i.e. origin towards eye.
      * @param fraction front size divided by rear size.
      */
     static createVectorFrustum(origin, uVector, vVector, wVector, fraction) {

package/lib/cjs/geometry4d/Map4d.js.map

@@ -1 +1 @@
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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 Numerics\r\n */\r\n\r\nimport { BeJSONFunctions } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\n\r\n/**\r\n * Map4 carries two Matrix4d which are inverses of each other.\r\n * @public\r\n */\r\nexport class Map4d implements BeJSONFunctions {\r\n  private _matrix0: Matrix4d;\r\n  private _matrix1: Matrix4d;\r\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    this._matrix0 = matrix0;\r\n    this._matrix1 = matrix1;\r\n  }\r\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\r\n  public get transform0(): Matrix4d {\r\n    return this._matrix0;\r\n  }\r\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\r\n  public get transform1(): Matrix4d {\r\n    return this._matrix1;\r\n  }\r\n  /** Create a Map4d, capturing the references to the two matrices. */\r\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    return new Map4d(matrix0, matrix1);\r\n  }\r\n  /** Create an identity map. */\r\n  public static createIdentity(): Map4d {\r\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Map4d with given transform pair.\r\n   * @returns undefined if the transforms are not inverses of each other.\r\n   */\r\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\r\n    if (transform1 === undefined) {\r\n      transform1 = transform0.inverse();\r\n      if (transform1 === undefined)\r\n        return undefined;\r\n    } else {\r\n      const product = transform0.multiplyTransformTransform(transform1);\r\n      if (!product.isIdentity)\r\n        return undefined;\r\n    }\r\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) between boxes.\r\n   * @param lowA low point of box A\r\n   * @param highA high point of box A\r\n   * @param lowB low point of box B\r\n   * @param highB high point of box B\r\n   */\r\n  public static createBoxMap(\r\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\r\n  ): Map4d | undefined {\r\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\r\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\r\n    if (t0 && t1) {\r\n      if (result)\r\n        return result;\r\n      return new Map4d(t0, t1);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy contents from another Map4d */\r\n  public setFrom(other: Map4d) {\r\n    this._matrix0.setFrom(other._matrix0);\r\n    this._matrix1.setFrom(other._matrix1);\r\n  }\r\n  /** Return a clone of this Map4d */\r\n  public clone(): Map4d {\r\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\r\n  }\r\n  /** Reinitialize this Map4d as an identity. */\r\n  public setIdentity() {\r\n    this._matrix0.setIdentity();\r\n    this._matrix1.setIdentity();\r\n  }\r\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public setFromJSON(json: any): void {\r\n    if (json.matrix0 && json.matrix1) {\r\n      this._matrix0.setFromJSON(json.matrix0);\r\n      this._matrix1.setFromJSON(json.matrix1);\r\n    } else\r\n      this.setIdentity();\r\n  }\r\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public static fromJSON(json?: any): Map4d {\r\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\r\n  public toJSON(): any {\r\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\r\n  }\r\n  /** Test if both matrices are almost equal to those */\r\n  public isAlmostEqual(other: Map4d) {\r\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\r\n  }\r\n  /**\r\n   * Create a map between a frustum and world coordinates.\r\n   * @param origin lower left of frustum\r\n   * @param uVector Vector from lower left rear to lower right rear.\r\n   * @param vVector Vector from lower left rear to upper left rear.\r\n   * @param wVector Vector from lower left rear to lower left front, i.e. lower left rear towards eye.\r\n   * @param fraction front size divided by rear size.\r\n   */\r\n  public static createVectorFrustum(\r\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\r\n  ): Map4d | undefined {\r\n    fraction = Math.max(fraction, 1.0e-8);\r\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\r\n    const worldToSlab = slabToWorld.inverse();\r\n    if (!worldToSlab)\r\n      return undefined;\r\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\r\n    const slabToNPCMap = new Map4d(\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\r\n    );\r\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\r\n    /*\r\n    let numIdentity = 0;\r\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\r\n    if (productA.isIdentity())\r\n      numIdentity++;\r\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\r\n    if (productB.isIdentity())\r\n      numIdentity++;\r\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\r\n    if (product.isIdentity())\r\n      numIdentity++;\r\n    if (numIdentity === 3)\r\n        return result;\r\n      */\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply this*other. The output matrices are\r\n   * * output matrix0 = `this.matrix0 * other.matrix0`\r\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\r\n   */\r\n  public multiplyMapMap(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\r\n    );\r\n  }\r\n  /** Exchange the two matrices of the map. */\r\n  public reverseInPlace() {\r\n    const temp = this._matrix0;\r\n    this._matrix0 = this._matrix1;\r\n    this._matrix1 = temp;\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform0 * this.transform0 * other.transform1\r\n   */\r\n  public sandwich0This1(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\r\n    );\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform1 * this.transform0 * other.transform0\r\n   */\r\n  public sandwich1This0(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\r\n    );\r\n  }\r\n}\r\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/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { BeJSONFunctions } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\n\r\n/**\r\n * Map4 carries two Matrix4d which are inverses of each other.\r\n * @public\r\n */\r\nexport class Map4d implements BeJSONFunctions {\r\n  private _matrix0: Matrix4d;\r\n  private _matrix1: Matrix4d;\r\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    this._matrix0 = matrix0;\r\n    this._matrix1 = matrix1;\r\n  }\r\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\r\n  public get transform0(): Matrix4d {\r\n    return this._matrix0;\r\n  }\r\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\r\n  public get transform1(): Matrix4d {\r\n    return this._matrix1;\r\n  }\r\n  /** Create a Map4d, capturing the references to the two matrices. */\r\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    return new Map4d(matrix0, matrix1);\r\n  }\r\n  /** Create an identity map. */\r\n  public static createIdentity(): Map4d {\r\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Map4d with given transform pair.\r\n   * @returns undefined if the transforms are not inverses of each other.\r\n   */\r\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\r\n    if (transform1 === undefined) {\r\n      transform1 = transform0.inverse();\r\n      if (transform1 === undefined)\r\n        return undefined;\r\n    } else {\r\n      const product = transform0.multiplyTransformTransform(transform1);\r\n      if (!product.isIdentity)\r\n        return undefined;\r\n    }\r\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) between boxes.\r\n   * @param lowA low point of box A\r\n   * @param highA high point of box A\r\n   * @param lowB low point of box B\r\n   * @param highB high point of box B\r\n   */\r\n  public static createBoxMap(\r\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\r\n  ): Map4d | undefined {\r\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\r\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\r\n    if (t0 && t1) {\r\n      if (result)\r\n        return result;\r\n      return new Map4d(t0, t1);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy contents from another Map4d */\r\n  public setFrom(other: Map4d) {\r\n    this._matrix0.setFrom(other._matrix0);\r\n    this._matrix1.setFrom(other._matrix1);\r\n  }\r\n  /** Return a clone of this Map4d */\r\n  public clone(): Map4d {\r\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\r\n  }\r\n  /** Reinitialize this Map4d as an identity. */\r\n  public setIdentity() {\r\n    this._matrix0.setIdentity();\r\n    this._matrix1.setIdentity();\r\n  }\r\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public setFromJSON(json: any): void {\r\n    if (json.matrix0 && json.matrix1) {\r\n      this._matrix0.setFromJSON(json.matrix0);\r\n      this._matrix1.setFromJSON(json.matrix1);\r\n    } else\r\n      this.setIdentity();\r\n  }\r\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public static fromJSON(json?: any): Map4d {\r\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\r\n  public toJSON(): any {\r\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\r\n  }\r\n  /** Test if both matrices are almost equal to those */\r\n  public isAlmostEqual(other: Map4d) {\r\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\r\n  }\r\n  /**\r\n   * Create a world to NPC map that maps between world coordinates and the given frustum.\r\n   * @param origin lower left rear of frustum\r\n   * @param uVector Vector from origin to lower right rear.\r\n   * @param vVector Vector from origin to upper left rear.\r\n   * @param wVector Vector from origin to lower left front, i.e. origin towards eye.\r\n   * @param fraction front size divided by rear size.\r\n   */\r\n  public static createVectorFrustum(\r\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\r\n  ): Map4d | undefined {\r\n    fraction = Math.max(fraction, 1.0e-8);\r\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\r\n    const worldToSlab = slabToWorld.inverse();\r\n    if (!worldToSlab)\r\n      return undefined;\r\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\r\n    const slabToNPCMap = new Map4d(\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\r\n    );\r\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\r\n    /*\r\n    let numIdentity = 0;\r\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\r\n    if (productA.isIdentity())\r\n      numIdentity++;\r\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\r\n    if (productB.isIdentity())\r\n      numIdentity++;\r\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\r\n    if (product.isIdentity())\r\n      numIdentity++;\r\n    if (numIdentity === 3)\r\n        return result;\r\n      */\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply this*other. The output matrices are\r\n   * * output matrix0 = `this.matrix0 * other.matrix0`\r\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\r\n   */\r\n  public multiplyMapMap(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\r\n    );\r\n  }\r\n  /** Exchange the two matrices of the map. */\r\n  public reverseInPlace() {\r\n    const temp = this._matrix0;\r\n    this._matrix0 = this._matrix1;\r\n    this._matrix1 = temp;\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform0 * this.transform0 * other.transform1\r\n   */\r\n  public sandwich0This1(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\r\n    );\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform1 * this.transform0 * other.transform0\r\n   */\r\n  public sandwich1This0(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\r\n    );\r\n  }\r\n}\r\n"]}

package/lib/cjs/geometry4d/Matrix4d.d.ts

@@ -23,7 +23,7 @@ export type Matrix4dProps = Point4dProps[];
  *   * indices 8,9,10,11 are the "z row"  They may be called the zx,zy,zz,zw entries
  *   * indices 12,13,14,15 are the "w row".  They may be called the wx,wy,wz,ww entries
  * * If "w row" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with
- *  * The upper right 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform
+ *  * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform
  *  * The far right column entries xw,yw,zw are the "origin" (sometimes called "translation") part of the transform.
  * @public
  */
@@ -73,7 +73,7 @@ export declare class Matrix4d implements BeJSONFunctions {
      */
     static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d;
     /**
-     * Create a mapping the scales and translates (no rotation) from box A to boxB
+     * Create a mapping that scales and translates (no rotation) from box A to box B
      * @param lowA low point of box A
      * @param highA high point of box A
      * @param lowB low point of box B
@@ -205,7 +205,7 @@ export declare class Matrix4d implements BeJSONFunctions {
     multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d;
     /** multiply each matrix * points[i].   This produces a weighted xyzw.
      * Immediately renormalize back to xyz and replace the original point.
-     * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.
+     * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.
      */
     multiplyPoint3dArrayQuietNormalize(points: Point3d[]): void;
     /**
@@ -255,7 +255,7 @@ export declare class Matrix4d implements BeJSONFunctions {
      */
     addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number): void;
     /**
-     * ADD (n place) scale*A*B*AT where
+     * Add (in place) scale*A*B*AT where
      * * A is a pure translation with final column [x,y,z,1]
      * * B is the given `matrixB`
      * * AT is the transpose of A.
@@ -272,12 +272,9 @@ export declare class Matrix4d implements BeJSONFunctions {
      * * A is a pure translation with final column [x,y,z,1]
      * * this is this matrix.
      * * AT is the transpose of A.
-     * * scale is a multiplier.
-     * @param matrixB the middle matrix.
      * @param ax x part of translation
      * @param ay y part of translation
      * @param az z part of translation
-     * @param scale scale factor for entire product
      */
     multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number): void;
 }

package/lib/cjs/geometry4d/Matrix4d.d.ts.map

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package/lib/cjs/geometry4d/Matrix4d.js

@@ -24,7 +24,7 @@ const Point4d_1 = require("./Point4d");
  *   * indices 8,9,10,11 are the "z row"  They may be called the zx,zy,zz,zw entries
  *   * indices 12,13,14,15 are the "w row".  They may be called the wx,wy,wz,ww entries
  * * If "w row" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with
- *  * The upper right 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform
+ *  * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform
  *  * The far right column entries xw,yw,zw are the "origin" (sometimes called "translation") part of the transform.
  * @public
  */
@@ -177,7 +177,7 @@ class Matrix4d {
         return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);
     }
     /**
-     * Create a mapping the scales and translates (no rotation) from box A to boxB
+     * Create a mapping that scales and translates (no rotation) from box A to box B
      * @param lowA low point of box A
      * @param highA high point of box A
      * @param lowB low point of box B
@@ -488,7 +488,7 @@ class Matrix4d {
     }
     /** multiply each matrix * points[i].   This produces a weighted xyzw.
      * Immediately renormalize back to xyz and replace the original point.
-     * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.
+     * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.
      */
     multiplyPoint3dArrayQuietNormalize(points) {
         points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));
@@ -672,7 +672,7 @@ class Matrix4d {
         this._coffs[15] += a * vectorV.w;
     }
     /**
-     * ADD (n place) scale*A*B*AT where
+     * Add (in place) scale*A*B*AT where
      * * A is a pure translation with final column [x,y,z,1]
      * * B is the given `matrixB`
      * * AT is the transpose of A.
@@ -717,12 +717,9 @@ class Matrix4d {
      * * A is a pure translation with final column [x,y,z,1]
      * * this is this matrix.
      * * AT is the transpose of A.
-     * * scale is a multiplier.
-     * @param matrixB the middle matrix.
      * @param ax x part of translation
      * @param ay y part of translation
      * @param az z part of translation
-     * @param scale scale factor for entire product
      */
     multiplyTranslationSandwichInPlace(ax, ay, az) {
         const bx = this._coffs[3];