@itwin/core-geometry 4.10.0-dev.3 → 4.10.0-dev.31

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

@@ -408,7 +408,8 @@ export declare class Matrix3d implements BeJSONFunctions {
      * ```
      */
     static createColumns(vectorU: Vector3d, vectorV: Vector3d, vectorW: Vector3d, result?: Matrix3d): Matrix3d;
-    /** Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
+    /**
+     * Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
      * ```
      * equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ u & v & w \end{bmatrix}
@@ -698,20 +699,13 @@ export declare class Matrix3d implements BeJSONFunctions {
      */
     static createDirectionalScale(direction: Vector3d, scale: number, result?: Matrix3d): Matrix3d;
     /**
-     * Create a matrix which sweeps a vector along `sweepVector` until it hits the plane through the origin with the given normal.
-     * * To sweep an arbitrary vector U0 along direction W to the vector U1 in the plane through the origin with normal N:
-     *   *   `U1 = U0 + W * alpha`
-     *   *   `U1 DOT N = (U0 + W * alpha) DOT N = 0`
-     *   *   `U0 DOT N = - alpha * W DOT N`
-     *   *   `alpha = - U0 DOT N / W DOT N`
-     * * Insert the alpha definition in U1:
-     *   *   `U1 = U0 -  W * N DOT U0 / W DOT N`
-     * * Write vector dot expression N DOT U0 as a matrix product (^T indicates transpose):
-     *   *   `U1 = U0 -  W * N^T * U0 / W DOT N`
-     * * Note W * N^T is an outer product, i.e. a 3x3 matrix. By associativity of matrix multiplication:
-     *   *   `U1 = (I - W * N^T / W DOT N) * U0`
-     * * and the matrix to do the sweep for any vector in place of U0 is `I - W * N^T / W DOT N`.
-     * @param sweepVector sweep direction
+     * Create a matrix which sweeps a vector along `sweepVector` until it hits the plane through the origin with the
+     * given normal.
+     * * Geometrically, the returned matrix `M` acts on a vector `u` by rotating and scaling it to lie in the plane.
+     * Specifically, `Mu = u + sw` is perpendicular to `n` for some scalar `s`, where `w` is the sweep direction, and
+     * `n` is the plane normal.
+     * * Symbolically, `M = I - w⊗n / w.n`, where `I` is the identity, and ⊗ is the vector outer product.
+     * @param sweepVector sweep direction. If same as `planeNormal`, the resulting matrix flattens to the plane.
      * @param planeNormal normal to the target plane
      */
     static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planeNormal: Vector3d): Matrix3d | undefined;
@@ -1153,37 +1147,47 @@ export declare class Matrix3d implements BeJSONFunctions {
     /** Test if the above diagonal entries (1,2,5) are all nearly zero */
     get isLowerTriangular(): boolean;
     /**
-     * If the matrix is diagonal and all diagonals are almost equal, return the first diagonal (entry 0
-     * which is same as entry 4 and 8). Otherwise return `undefined`.
+     * If the matrix is diagonal with almost equal diagonal entries, return the first diagonal entry.
+     * Otherwise return `undefined`.
      */
     sameDiagonalScale(): number | undefined;
     /**
-     * Test if all rows and columns are unit length and are perpendicular to each other, i.e., the matrix is either
-     * a `pure rotation` (determinant is +1) or is a `mirror` (determinant is -1).
-     * * **Note:** such a matrix is called `orthogonal` and its inverse is its transpose.
+     * Test if all rows and columns are unit length and perpendicular to each other.
+     * * If so, the matrix is either a rotation (determinant is +1) or a mirror (determinant is -1).
+     * * Such a matrix is called "orthogonal" and its inverse is its transpose.
      */
     testPerpendicularUnitRowsAndColumns(): boolean;
     /**
-     * Test if the matrix is a `rigid` matrix (or `pure rotation`, i.e., columns and rows are unit length and
-     * pairwise perpendicular and determinant is +1).
-     * @param allowMirror whether to widen the test to return true if the matrix is a `mirror` (determinant is -1).
+     * Test if the matrix is a rigid matrix.
+     * * A rigid matrix is a rotation: its columns and rows are unit length and pairwise perpendicular, and its
+     * determinant is +1.
+     * @param allowMirror whether to widen the test to also return true if the matrix is a mirror (determinant is -1).
     */
     isRigid(allowMirror?: boolean): boolean;
     /**
-     * Test if all rows and columns are perpendicular to each other and have equal length.
-     * If so, the length (or its negative) is the `scale` factor from a set of `orthonormal axes` to
-     * the set of axes created by columns of `this` matrix. Otherwise, returns `undefined`.
+     * Test if the instance is the product of a rigid matrix and a signed scale, and return both.
+     * * Specifically, this is a test of whether the instance rows and columns are pairwise perpendicular and have equal
+     * length. If so, the scale factor is this length, or its negative if the instance is a mirror, and dividing the
+     * columns by this scale factor produces a rigid matrix (a rotation).
      * @param result optional pre-allocated object to populate and return
-     * @returns returns `{ rigidAxes, scale }` where `rigidAxes` is a Matrix3d with its columns as the rigid axes
-     * (with the scale factor removed) and `scale` is the scale factor.
-     * * Note that determinant of a rigid matrix is +1.
-     * * The context for this method is to determine if the matrix is the product a `rotation` matrix and a uniform
-     * `scale` matrix (diagonal matrix with all diagonal entries the same nonzero number).
+     * @returns the factorization `{ rigidAxes, scale }` where `rigidAxes` is the instance matrix with `scale` factor
+     * removed, or undefined if the factorization failed.
      */
     factorRigidWithSignedScale(result?: Matrix3d): {
         rigidAxes: Matrix3d;
         scale: number;
     } | undefined;
+    /**
+     * Compute the factorization M = R*G, where R is rigid (a rotation) and G is whatever is left over (skew, scale,
+     * mirror, etc).
+     * * The rotation is computed from the instance by passing `axisOrder` into [[createRigidFromMatrix3d]].
+     * @param rotation the rigid factor R
+     * @param skew the non-rotation factor G = R^t * M (since R transposed is its inverse)
+     * @param axisOrder optional cross product ordering for computing R
+     * @return whether [[createRigidFromMatrix3d]] succeeded; if not, `rotation` is set to the identity, and `skew` is
+     * set to this instance.
+     */
+    factorRigidSkew(rotation: Matrix3d, skew: Matrix3d, axisOrder?: AxisOrder): boolean;
     /** Test if `this` matrix reorders and/or negates the columns of the `identity` matrix. */
     get isSignedPermutation(): boolean;
     /**

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package/lib/esm/geometry3d/Matrix3d.js

@@ -766,7 +766,8 @@ export class Matrix3d {
     static createColumns(vectorU, vectorV, vectorW, result) {
         return Matrix3d.createRowValues(vectorU.x, vectorV.x, vectorW.x, vectorU.y, vectorV.y, vectorW.y, vectorU.z, vectorV.z, vectorW.z, result);
     }
-    /** Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
+    /**
+     * Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
      * ```
      * equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ u & v & w \end{bmatrix}
@@ -1491,23 +1492,28 @@ export class Matrix3d {
         return Matrix3d.createUniformScale(scale);
     }
     /**
-     * Create a matrix which sweeps a vector along `sweepVector` until it hits the plane through the origin with the given normal.
-     * * To sweep an arbitrary vector U0 along direction W to the vector U1 in the plane through the origin with normal N:
-     *   *   `U1 = U0 + W * alpha`
-     *   *   `U1 DOT N = (U0 + W * alpha) DOT N = 0`
-     *   *   `U0 DOT N = - alpha * W DOT N`
-     *   *   `alpha = - U0 DOT N / W DOT N`
-     * * Insert the alpha definition in U1:
-     *   *   `U1 = U0 -  W * N DOT U0 / W DOT N`
-     * * Write vector dot expression N DOT U0 as a matrix product (^T indicates transpose):
-     *   *   `U1 = U0 -  W * N^T * U0 / W DOT N`
-     * * Note W * N^T is an outer product, i.e. a 3x3 matrix. By associativity of matrix multiplication:
-     *   *   `U1 = (I - W * N^T / W DOT N) * U0`
-     * * and the matrix to do the sweep for any vector in place of U0 is `I - W * N^T / W DOT N`.
-     * @param sweepVector sweep direction
+     * Create a matrix which sweeps a vector along `sweepVector` until it hits the plane through the origin with the
+     * given normal.
+     * * Geometrically, the returned matrix `M` acts on a vector `u` by rotating and scaling it to lie in the plane.
+     * Specifically, `Mu = u + sw` is perpendicular to `n` for some scalar `s`, where `w` is the sweep direction, and
+     * `n` is the plane normal.
+     * * Symbolically, `M = I - w⊗n / w.n`, where `I` is the identity, and ⊗ is the vector outer product.
+     * @param sweepVector sweep direction. If same as `planeNormal`, the resulting matrix flattens to the plane.
      * @param planeNormal normal to the target plane
      */
     static createFlattenAlongVectorToPlane(sweepVector, planeNormal) {
+        // To sweep an arbitrary vector U0 along direction W to the vector U1 in the plane through the origin with normal N:
+        //   `U1 = U0 + W * alpha`
+        //   `U1 DOT N = (U0 + W * alpha) DOT N = 0`
+        //   `U0 DOT N = - alpha * W DOT N`
+        //   `alpha = - U0 DOT N / W DOT N`
+        // Insert the alpha definition in U1:
+        //   `U1 = U0 -  W * N DOT U0 / W DOT N`
+        // Write W * N DOT U0 in terms of a vector outer product (^T indicates transpose):
+        //   `U1 = U0 -  W * N^T * U0 / W DOT N`
+        // Note W * N^T is a 3x3 matrix. By associativity of matrix multiplication:
+        //   `U1 = (I - W * N^T / W DOT N) * U0`
+        // and the matrix to do the sweep for any vector in place of U0 is `I - W * N^T / W DOT N`.
         const result = Matrix3d.createIdentity();
         const dot = sweepVector.dotProduct(planeNormal);
         const inverse = Geometry.conditionalDivideCoordinate(1.0, -dot);
@@ -2491,8 +2497,8 @@ export class Matrix3d {
         return Math.sqrt(sumLow) <= Geometry.smallAngleRadians * (1.0 + Math.sqrt(sumAll));
     }
     /**
-     * If the matrix is diagonal and all diagonals are almost equal, return the first diagonal (entry 0
-     * which is same as entry 4 and 8). Otherwise return `undefined`.
+     * If the matrix is diagonal with almost equal diagonal entries, return the first diagonal entry.
+     * Otherwise return `undefined`.
      */
     sameDiagonalScale() {
         const sumAll = this.sumSquares();
@@ -2505,32 +2511,31 @@ export class Matrix3d {
         return undefined;
     }
     /**
-     * Test if all rows and columns are unit length and are perpendicular to each other, i.e., the matrix is either
-     * a `pure rotation` (determinant is +1) or is a `mirror` (determinant is -1).
-     * * **Note:** such a matrix is called `orthogonal` and its inverse is its transpose.
+     * Test if all rows and columns are unit length and perpendicular to each other.
+     * * If so, the matrix is either a rotation (determinant is +1) or a mirror (determinant is -1).
+     * * Such a matrix is called "orthogonal" and its inverse is its transpose.
      */
     testPerpendicularUnitRowsAndColumns() {
         const product = this.multiplyMatrixMatrixTranspose(this);
         return product.isIdentity;
     }
     /**
-     * Test if the matrix is a `rigid` matrix (or `pure rotation`, i.e., columns and rows are unit length and
-     * pairwise perpendicular and determinant is +1).
-     * @param allowMirror whether to widen the test to return true if the matrix is a `mirror` (determinant is -1).
+     * Test if the matrix is a rigid matrix.
+     * * A rigid matrix is a rotation: its columns and rows are unit length and pairwise perpendicular, and its
+     * determinant is +1.
+     * @param allowMirror whether to widen the test to also return true if the matrix is a mirror (determinant is -1).
     */
     isRigid(allowMirror = false) {
         return this.testPerpendicularUnitRowsAndColumns() && (allowMirror || this.determinant() > 0);
     }
     /**
-     * Test if all rows and columns are perpendicular to each other and have equal length.
-     * If so, the length (or its negative) is the `scale` factor from a set of `orthonormal axes` to
-     * the set of axes created by columns of `this` matrix. Otherwise, returns `undefined`.
+     * Test if the instance is the product of a rigid matrix and a signed scale, and return both.
+     * * Specifically, this is a test of whether the instance rows and columns are pairwise perpendicular and have equal
+     * length. If so, the scale factor is this length, or its negative if the instance is a mirror, and dividing the
+     * columns by this scale factor produces a rigid matrix (a rotation).
      * @param result optional pre-allocated object to populate and return
-     * @returns returns `{ rigidAxes, scale }` where `rigidAxes` is a Matrix3d with its columns as the rigid axes
-     * (with the scale factor removed) and `scale` is the scale factor.
-     * * Note that determinant of a rigid matrix is +1.
-     * * The context for this method is to determine if the matrix is the product a `rotation` matrix and a uniform
-     * `scale` matrix (diagonal matrix with all diagonal entries the same nonzero number).
+     * @returns the factorization `{ rigidAxes, scale }` where `rigidAxes` is the instance matrix with `scale` factor
+     * removed, or undefined if the factorization failed.
      */
     factorRigidWithSignedScale(result) {
         const product = this.multiplyMatrixMatrixTranspose(this);
@@ -2541,6 +2546,25 @@ export class Matrix3d {
         const scaleInverse = 1.0 / scale;
         return { rigidAxes: this.scaleColumns(scaleInverse, scaleInverse, scaleInverse, result), scale };
     }
+    /**
+     * Compute the factorization M = R*G, where R is rigid (a rotation) and G is whatever is left over (skew, scale,
+     * mirror, etc).
+     * * The rotation is computed from the instance by passing `axisOrder` into [[createRigidFromMatrix3d]].
+     * @param rotation the rigid factor R
+     * @param skew the non-rotation factor G = R^t * M (since R transposed is its inverse)
+     * @param axisOrder optional cross product ordering for computing R
+     * @return whether [[createRigidFromMatrix3d]] succeeded; if not, `rotation` is set to the identity, and `skew` is
+     * set to this instance.
+     */
+    factorRigidSkew(rotation, skew, axisOrder = AxisOrder.XYZ) {
+        if (Matrix3d.createRigidFromMatrix3d(this, axisOrder, rotation)) {
+            rotation.multiplyMatrixTransposeMatrix(this, skew);
+            return true;
+        }
+        rotation.setIdentity();
+        skew.setFrom(this);
+        return false;
+    }
     /** Test if `this` matrix reorders and/or negates the columns of the `identity` matrix. */
     get isSignedPermutation() {
         let count = 0;