@itwin/core-geometry 4.10.0-dev.8 → 5.0.0-dev.0

package/lib/esm/geometry3d/Ray3d.js

@@ -7,7 +7,7 @@
  */
 import { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from "../curve/CurveLocationDetail";
 import { AxisOrder, Geometry } from "../Geometry";
-import { SmallSystem } from "../numerics/Polynomials";
+import { SmallSystem } from "../numerics/SmallSystem";
 import { Matrix3d } from "./Matrix3d";
 import { Vector2d } from "./Point2dVector2d";
 import { Point3d, Vector3d } from "./Point3dVector3d";

package/lib/esm/geometry3d/Ray3d.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\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/**\r\n * A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n  /** The ray origin */\r\n  public origin: Point3d;\r\n  /** The ray direction. This is commonly (but not always) a unit vector. */\r\n  public direction: Vector3d;\r\n  /** Numeric annotation. */\r\n  public a?: number; // optional (e.g. weight)\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workVector2?: Vector3d;\r\n  private static _workVector3?: Vector3d;\r\n  private static _workVector4?: Vector3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  // constructor (captures references)\r\n  private constructor(origin: Point3d, direction: Vector3d) {\r\n    this.origin = origin;\r\n    this.direction = direction;\r\n    this.a = undefined;\r\n  }\r\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n  }\r\n  /** Create a ray on the x axis. */\r\n  public static createXAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n  }\r\n  /** Create a ray on the y axis. */\r\n  public static createYAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n  }\r\n  /** Create a ray on the z axis. */\r\n  public static createZAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n  }\r\n  /** Create a ray with all zeros. */\r\n  public static createZero(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setZero();\r\n      result.direction.setZero();\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n  }\r\n  /**\r\n   * Test for nearly equal Ray3d objects.\r\n   * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n   * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n   * directions to be scaled or opposing.\r\n   */\r\n  public isAlmostEqual(other: Ray3d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n  }\r\n  /**\r\n   * Return the dot product of the ray's direction vector with a vector from the ray origin\r\n   * to the `spacePoint`.\r\n   * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\r\n   * of `spacePoint` with respect to the plane.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\r\n   */\r\n  public dotProductToPoint(spacePoint: Point3d): number {\r\n    return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n  }\r\n  /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\r\n  public pointToFraction(spacePoint: Point3d): number {\r\n    return Geometry.safeDivideFraction(\r\n      this.dotProductToPoint(spacePoint),\r\n      this.direction.magnitudeSquared(),\r\n      0,\r\n    );\r\n  }\r\n  /** Return the `spacePoint` projected onto the ray. */\r\n  public projectPointToRay(spacePoint: Point3d): Point3d {\r\n    /**\r\n     * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n     * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\r\n     * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\r\n     * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\r\n     * spacePoint with respect to the plane.\r\n     */\r\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n  }\r\n  /**\r\n   * Test for nearly equal rays, allowing origin float and direction scaling.\r\n   * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n   */\r\n  public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n    /**\r\n     * This function tests two rays to determine if they define the same infinite lines.\r\n     * So the origins can be different as long as they are on the infinite line (they can\r\n     * \"float\") but the directions must be parallel or antiparallel.\r\n     */\r\n    if (!this.direction.isParallelTo(other.direction, true))\r\n      return false;\r\n    /**\r\n     * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n     * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n     * versa. However, we test both ways because first check may pass due to round-off errors.\r\n     */\r\n    let workPoint = this.projectPointToRay(other.origin);\r\n    if (!other.origin.isAlmostEqualMetric(workPoint))\r\n      return false;\r\n    workPoint = other.projectPointToRay(this.origin);\r\n    if (!this.origin.isAlmostEqualMetric(workPoint))\r\n      return false;\r\n    return true;\r\n  }\r\n  /** Create a ray from origin and direction. */\r\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(origin, direction);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), direction.clone());\r\n  }\r\n  /**\r\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n   * coordinates and derivatives.\r\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n   * @param weightedDerivative `[x,y,z,w]` derivatives\r\n   * @param result\r\n   */\r\n  public static createWeightedDerivative(\r\n    weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d,\r\n  ): Ray3d | undefined {\r\n    const w = weightedPoint[3];\r\n    const dw = weightedDerivative[3];\r\n    const x = weightedPoint[0];\r\n    const y = weightedPoint[1];\r\n    const z = weightedPoint[2];\r\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return undefined;\r\n    const divW = 1.0 / w;\r\n    const divWW = divW * divW;\r\n    return Ray3d.createXYZUVW(\r\n      x * divW, y * divW, z * divW,\r\n      dx * divWW, dy * divWW, dz * divWW,\r\n      result,\r\n    );\r\n  }\r\n  /** Create from coordinates of the origin and direction. */\r\n  public static createXYZUVW(\r\n    originX: number, originY: number, originZ: number,\r\n    directionX: number, directionY: number, directionZ: number,\r\n    result?: Ray3d,\r\n  ): Ray3d {\r\n    if (result) {\r\n      result.getOriginRef().set(originX, originY, originZ);\r\n      result.getDirectionRef().set(directionX, directionY, directionZ);\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n  }\r\n  /** Capture origin and direction in a new Ray3d. */\r\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n    return new Ray3d(origin, direction);\r\n  }\r\n  /** Create from (clones of) origin, direction, and numeric weight. */\r\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setFrom(direction);\r\n      result.a = a;\r\n      return result;\r\n    }\r\n    result = new Ray3d(origin.clone(), direction.clone());\r\n    result.a = a;\r\n    return result;\r\n  }\r\n  /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setStartEnd(origin, target);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n  }\r\n  /** Return a reference to the ray's origin. */\r\n  public getOriginRef(): Point3d {\r\n    return this.origin;\r\n  }\r\n  /** Return a reference to the ray's direction vector. */\r\n  public getDirectionRef(): Vector3d {\r\n    return this.direction;\r\n  }\r\n  /** Copy coordinates from origin and direction. */\r\n  public set(origin: Point3d, direction: Vector3d): void {\r\n    this.origin.setFrom(origin);\r\n    this.direction.setFrom(direction);\r\n  }\r\n  /** Clone the ray. */\r\n  public clone(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(this.origin.clone(), this.direction.clone());\r\n      return result;\r\n    }\r\n    return new Ray3d(this.origin.clone(), this.direction.clone());\r\n  }\r\n  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n    return Ray3d.create(\r\n      transform.multiplyPoint3d(this.origin, result?.origin),\r\n      transform.multiplyVector(this.direction, result?.direction),\r\n      result,\r\n    );\r\n  }\r\n  /** Create a clone and return the inverse transform of the clone. */\r\n  public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined {\r\n    if (!transform.computeCachedInverse(true))\r\n      return undefined;\r\n    return Ray3d.create(\r\n      transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n      transform.matrix.multiplyInverseXYZAsVector3d(\r\n        this.direction.x, this.direction.y, this.direction.z, result?.direction,\r\n      )!,\r\n      result,\r\n    );\r\n  }\r\n  /** Apply a transform in place. */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.direction, this.direction);\r\n  }\r\n  /** Copy data from another ray. */\r\n  public setFrom(source: Ray3d): void {\r\n    this.set(source.origin, source.direction);\r\n  }\r\n  /**\r\n   * Return a point at fractional position along the ray.\r\n   * * fraction 0 is the ray origin.\r\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n   */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    return this.origin.plusScaled(this.direction, fraction, result);\r\n  }\r\n  /**\r\n   * Return a transform for rigid axes at ray origin with z in ray direction.\r\n   * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n   */\r\n  public toRigidZFrame(result?: Transform): Transform {\r\n    const axes = Ray3d._workMatrix = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY, Ray3d._workMatrix);\r\n    return Transform.createOriginAndMatrix(this.origin, axes, result);\r\n  }\r\n  /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\r\n  public setFromJSON(json?: any) {\r\n    if (!json) {\r\n      this.origin.set(0, 0, 0);\r\n      this.direction.set(0, 0, 1);\r\n      return;\r\n    }\r\n    this.origin.setFromJSON(json.origin);\r\n    this.direction.setFromJSON(json.direction);\r\n  }\r\n  /**\r\n   * Construct a JSON object from this Ray3d.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any {\r\n    return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n  }\r\n  /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n  public static fromJSON(json?: any) {\r\n    const result = Ray3d.createXAxis();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /**\r\n   * Try to scale the direction vector to a given `magnitude`.\r\n   * * Returns `false` if the ray direction is a zero vector.\r\n   */\r\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n    if (this.direction.tryNormalizeInPlace()) {\r\n      this.direction.scaleInPlace(magnitude);\r\n      return true;\r\n    }\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * Normalize the ray direction in place.\r\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n   *    * Save the parameter `a` as the optional `a` member of the ray.\r\n   *    * Normalize the ray's direction vector.\r\n   * * If parameter `a` is nearly zero,\r\n   *    * Set the `a` member to zero.\r\n   *    * Set the ray's direction vector to zero.\r\n   * @param a value to be saved (e.g,. area).\r\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n   */\r\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n    const tolerance = Geometry.smallMetricDistanceSquared;\r\n    this.a = a;\r\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n      return true;\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /** Return distance from the ray to point in space. */\r\n  public distance(spacePoint: Point3d): number {\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.dotProductToPoint(spacePoint);\r\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n    if (aa)\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n    else\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n  }\r\n  /**\r\n   * Return the intersection parameter of the line defined by the ray with a `plane`.\r\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n   * be `ray.origin + f * ray.direction`. Therefore:\r\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\r\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n   *    * if intersects behind the ray origin, the function returns f < 0.\r\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n   * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n   */\r\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n    const nDotN = this.direction.magnitudeSquared();\r\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n    if (undefined === division)\r\n      return undefined;\r\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n    if (undefined === division1)\r\n      return undefined;\r\n    if (result) {\r\n      this.origin.plusScaled(this.direction, division, result);\r\n    }\r\n    return division;\r\n  }\r\n  /**\r\n   * Find the intersection of the line defined by the ray with a Range3d.\r\n   * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n   * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n   */\r\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n    if (range.isNull)\r\n      return Range1d.createNull(result);\r\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n    )\r\n      return interval;\r\n    return interval;\r\n  }\r\n  /**\r\n   * Compute the intersection of the ray with a triangle.\r\n   * * This method is faster than `BarycentricTriangle.intersectRay3d`.\r\n   * @param vertex0 first vertex of the triangle\r\n   * @param vertex1 second vertex of the triangle\r\n   * @param vertex2 third vertex of the triangle\r\n   * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n   * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n   * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n   * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n  */\r\n  public intersectionWithTriangle(\r\n    vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d,\r\n  ): Point3d | undefined {\r\n    /**\r\n     * Suppose ray is shown by \"rayOrigin + t*rayVector\" and barycentric coordinate of point\r\n     * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)\r\n     *\r\n     * Then if ray intersects triangle at a point we have\r\n     * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector\r\n     * or\r\n     * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0\r\n     *\r\n     * This equation can be reformulated as the following linear system:\r\n     *\r\n     * [    |          |      |  ] [t]   [      |       ]\r\n     * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]\r\n     * [   |          |      |   ] [v]   [      |       ]\r\n     *\r\n     * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n     * det(A) = c1.(c2 x c3) which leads to\r\n     *\r\n     * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     *\r\n     * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n     * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n     *\r\n     * This leads to the final formulas used in the following code:\r\n     * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     *\r\n     * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n     * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n     * 0 <= w <= 1.\r\n     *\r\n     * More info be found at\r\n     * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n     */\r\n    if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance\r\n      distanceTol = Geometry.smallMetricDistance;\r\n    if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance\r\n      parameterTol = Geometry.smallFloatingPoint;\r\n    const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n    const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n    const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n    const a = edge1.dotProduct(h);\r\n    if (a >= -distanceTol && a <= distanceTol)\r\n      return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n    const f = 1.0 / a;\r\n    const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n    let u = f * s.dotProduct(h);\r\n    if (u < 0.0) {\r\n      if (u > -parameterTol)\r\n        u = 0.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    } else if (u > 1.0) {\r\n      if (u < 1.0 + parameterTol)\r\n        u = 1.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    }\r\n    const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n    let v = f * this.direction.dotProduct(q);\r\n    if (v < 0.0) {\r\n      if (v > -parameterTol)\r\n        v = 0.0;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    } else if (u + v > 1.0) {\r\n      if (u + v < 1.0 + parameterTol)\r\n        v = 1.0 - u;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    }\r\n    // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n    const t = f * edge2.dotProduct(q);\r\n    if (t <= distanceTol) // line intersection but not ray intersection\r\n      return undefined;\r\n    return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n  }\r\n  /**\r\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\r\n   */\r\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n    return vectorV.plusScaled(this.direction, -fraction, result);\r\n  }\r\n  /**\r\n   * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n   * annotation (in member `approachType`) indicating one of these relationships:\r\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n   * in detailA and detailB\r\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n   * The rays are skew in space.\r\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n   * fractions and points are a representative single common point.\r\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n   * at the minimum distance\r\n   */\r\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n    const intersectionFractions = Vector2d.create();\r\n    let fractionA, fractionB;\r\n    let pointA, pointB;\r\n    let pairType;\r\n    if (\r\n      SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n        rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n        rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n        intersectionFractions,\r\n      )\r\n    ) {\r\n      fractionA = intersectionFractions.x;\r\n      fractionB = intersectionFractions.y;\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n        CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n    } else {\r\n      fractionB = 0.0;\r\n      fractionA = rayA.pointToFraction(rayB.origin);\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n        CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n    }\r\n    const pair = CurveLocationDetailPair.createCapture(\r\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n    pair.approachType = pairType;\r\n    return pair;\r\n  }\r\n  /**\r\n   * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n   * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n   * @param pt1 start point of the interpolation.\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 end point of the interpolation.\r\n   * @param tangentScale scale factor to apply to the startToEnd vector.\r\n   * @param result optional receiver.\r\n   */\r\n  public static interpolatePointAndTangent(\r\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d,\r\n  ): Ray3d {\r\n    result = result ?? Ray3d.createZero();\r\n    const dx = pt2.x - pt1.x;\r\n    const dy = pt2.y - pt1.y;\r\n    const dz = pt2.z - pt1.z;\r\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n    if (fraction <= 0.5)\r\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n    else {\r\n      const t: number = fraction - 1.0;\r\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n    }\r\n    return result;\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\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/**\r\n * A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n  /** The ray origin */\r\n  public origin: Point3d;\r\n  /** The ray direction. This is commonly (but not always) a unit vector. */\r\n  public direction: Vector3d;\r\n  /** Numeric annotation. */\r\n  public a?: number; // optional (e.g. weight)\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workVector2?: Vector3d;\r\n  private static _workVector3?: Vector3d;\r\n  private static _workVector4?: Vector3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  // constructor (captures references)\r\n  private constructor(origin: Point3d, direction: Vector3d) {\r\n    this.origin = origin;\r\n    this.direction = direction;\r\n    this.a = undefined;\r\n  }\r\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n  }\r\n  /** Create a ray on the x axis. */\r\n  public static createXAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n  }\r\n  /** Create a ray on the y axis. */\r\n  public static createYAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n  }\r\n  /** Create a ray on the z axis. */\r\n  public static createZAxis(): Ray3d {\r\n    return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n  }\r\n  /** Create a ray with all zeros. */\r\n  public static createZero(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setZero();\r\n      result.direction.setZero();\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n  }\r\n  /**\r\n   * Test for nearly equal Ray3d objects.\r\n   * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n   * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n   * directions to be scaled or opposing.\r\n   */\r\n  public isAlmostEqual(other: Ray3d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n  }\r\n  /**\r\n   * Return the dot product of the ray's direction vector with a vector from the ray origin\r\n   * to the `spacePoint`.\r\n   * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\r\n   * of `spacePoint` with respect to the plane.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\r\n   */\r\n  public dotProductToPoint(spacePoint: Point3d): number {\r\n    return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n  }\r\n  /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\r\n  public pointToFraction(spacePoint: Point3d): number {\r\n    return Geometry.safeDivideFraction(\r\n      this.dotProductToPoint(spacePoint),\r\n      this.direction.magnitudeSquared(),\r\n      0,\r\n    );\r\n  }\r\n  /** Return the `spacePoint` projected onto the ray. */\r\n  public projectPointToRay(spacePoint: Point3d): Point3d {\r\n    /**\r\n     * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n     * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\r\n     * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\r\n     * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\r\n     * spacePoint with respect to the plane.\r\n     */\r\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n  }\r\n  /**\r\n   * Test for nearly equal rays, allowing origin float and direction scaling.\r\n   * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n   */\r\n  public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n    /**\r\n     * This function tests two rays to determine if they define the same infinite lines.\r\n     * So the origins can be different as long as they are on the infinite line (they can\r\n     * \"float\") but the directions must be parallel or antiparallel.\r\n     */\r\n    if (!this.direction.isParallelTo(other.direction, true))\r\n      return false;\r\n    /**\r\n     * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n     * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n     * versa. However, we test both ways because first check may pass due to round-off errors.\r\n     */\r\n    let workPoint = this.projectPointToRay(other.origin);\r\n    if (!other.origin.isAlmostEqualMetric(workPoint))\r\n      return false;\r\n    workPoint = other.projectPointToRay(this.origin);\r\n    if (!this.origin.isAlmostEqualMetric(workPoint))\r\n      return false;\r\n    return true;\r\n  }\r\n  /** Create a ray from origin and direction. */\r\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(origin, direction);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), direction.clone());\r\n  }\r\n  /**\r\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n   * coordinates and derivatives.\r\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n   * @param weightedDerivative `[x,y,z,w]` derivatives\r\n   * @param result\r\n   */\r\n  public static createWeightedDerivative(\r\n    weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d,\r\n  ): Ray3d | undefined {\r\n    const w = weightedPoint[3];\r\n    const dw = weightedDerivative[3];\r\n    const x = weightedPoint[0];\r\n    const y = weightedPoint[1];\r\n    const z = weightedPoint[2];\r\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return undefined;\r\n    const divW = 1.0 / w;\r\n    const divWW = divW * divW;\r\n    return Ray3d.createXYZUVW(\r\n      x * divW, y * divW, z * divW,\r\n      dx * divWW, dy * divWW, dz * divWW,\r\n      result,\r\n    );\r\n  }\r\n  /** Create from coordinates of the origin and direction. */\r\n  public static createXYZUVW(\r\n    originX: number, originY: number, originZ: number,\r\n    directionX: number, directionY: number, directionZ: number,\r\n    result?: Ray3d,\r\n  ): Ray3d {\r\n    if (result) {\r\n      result.getOriginRef().set(originX, originY, originZ);\r\n      result.getDirectionRef().set(directionX, directionY, directionZ);\r\n      return result;\r\n    }\r\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n  }\r\n  /** Capture origin and direction in a new Ray3d. */\r\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n    return new Ray3d(origin, direction);\r\n  }\r\n  /** Create from (clones of) origin, direction, and numeric weight. */\r\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setFrom(direction);\r\n      result.a = a;\r\n      return result;\r\n    }\r\n    result = new Ray3d(origin.clone(), direction.clone());\r\n    result.a = a;\r\n    return result;\r\n  }\r\n  /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.direction.setStartEnd(origin, target);\r\n      return result;\r\n    }\r\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n  }\r\n  /** Return a reference to the ray's origin. */\r\n  public getOriginRef(): Point3d {\r\n    return this.origin;\r\n  }\r\n  /** Return a reference to the ray's direction vector. */\r\n  public getDirectionRef(): Vector3d {\r\n    return this.direction;\r\n  }\r\n  /** Copy coordinates from origin and direction. */\r\n  public set(origin: Point3d, direction: Vector3d): void {\r\n    this.origin.setFrom(origin);\r\n    this.direction.setFrom(direction);\r\n  }\r\n  /** Clone the ray. */\r\n  public clone(result?: Ray3d): Ray3d {\r\n    if (result) {\r\n      result.set(this.origin.clone(), this.direction.clone());\r\n      return result;\r\n    }\r\n    return new Ray3d(this.origin.clone(), this.direction.clone());\r\n  }\r\n  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n    return Ray3d.create(\r\n      transform.multiplyPoint3d(this.origin, result?.origin),\r\n      transform.multiplyVector(this.direction, result?.direction),\r\n      result,\r\n    );\r\n  }\r\n  /** Create a clone and return the inverse transform of the clone. */\r\n  public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined {\r\n    if (!transform.computeCachedInverse(true))\r\n      return undefined;\r\n    return Ray3d.create(\r\n      transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n      transform.matrix.multiplyInverseXYZAsVector3d(\r\n        this.direction.x, this.direction.y, this.direction.z, result?.direction,\r\n      )!,\r\n      result,\r\n    );\r\n  }\r\n  /** Apply a transform in place. */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.direction, this.direction);\r\n  }\r\n  /** Copy data from another ray. */\r\n  public setFrom(source: Ray3d): void {\r\n    this.set(source.origin, source.direction);\r\n  }\r\n  /**\r\n   * Return a point at fractional position along the ray.\r\n   * * fraction 0 is the ray origin.\r\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n   */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    return this.origin.plusScaled(this.direction, fraction, result);\r\n  }\r\n  /**\r\n   * Return a transform for rigid axes at ray origin with z in ray direction.\r\n   * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n   */\r\n  public toRigidZFrame(result?: Transform): Transform {\r\n    const axes = Ray3d._workMatrix = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY, Ray3d._workMatrix);\r\n    return Transform.createOriginAndMatrix(this.origin, axes, result);\r\n  }\r\n  /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\r\n  public setFromJSON(json?: any) {\r\n    if (!json) {\r\n      this.origin.set(0, 0, 0);\r\n      this.direction.set(0, 0, 1);\r\n      return;\r\n    }\r\n    this.origin.setFromJSON(json.origin);\r\n    this.direction.setFromJSON(json.direction);\r\n  }\r\n  /**\r\n   * Construct a JSON object from this Ray3d.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any {\r\n    return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n  }\r\n  /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n  public static fromJSON(json?: any) {\r\n    const result = Ray3d.createXAxis();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /**\r\n   * Try to scale the direction vector to a given `magnitude`.\r\n   * * Returns `false` if the ray direction is a zero vector.\r\n   */\r\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n    if (this.direction.tryNormalizeInPlace()) {\r\n      this.direction.scaleInPlace(magnitude);\r\n      return true;\r\n    }\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /**\r\n   * Normalize the ray direction in place.\r\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n   *    * Save the parameter `a` as the optional `a` member of the ray.\r\n   *    * Normalize the ray's direction vector.\r\n   * * If parameter `a` is nearly zero,\r\n   *    * Set the `a` member to zero.\r\n   *    * Set the ray's direction vector to zero.\r\n   * @param a value to be saved (e.g,. area).\r\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n   */\r\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n    const tolerance = Geometry.smallMetricDistanceSquared;\r\n    this.a = a;\r\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n      return true;\r\n    this.direction.setZero();\r\n    this.a = 0.0;\r\n    return false;\r\n  }\r\n  /** Return distance from the ray to point in space. */\r\n  public distance(spacePoint: Point3d): number {\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.dotProductToPoint(spacePoint);\r\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n    if (aa)\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n    else\r\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n  }\r\n  /**\r\n   * Return the intersection parameter of the line defined by the ray with a `plane`.\r\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n   * be `ray.origin + f * ray.direction`. Therefore:\r\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\r\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n   *    * if intersects behind the ray origin, the function returns f < 0.\r\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n   * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n   */\r\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n    const nDotN = this.direction.magnitudeSquared();\r\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n    if (undefined === division)\r\n      return undefined;\r\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n    if (undefined === division1)\r\n      return undefined;\r\n    if (result) {\r\n      this.origin.plusScaled(this.direction, division, result);\r\n    }\r\n    return division;\r\n  }\r\n  /**\r\n   * Find the intersection of the line defined by the ray with a Range3d.\r\n   * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n   * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n   */\r\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n    if (range.isNull)\r\n      return Range1d.createNull(result);\r\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n    )\r\n      return interval;\r\n    return interval;\r\n  }\r\n  /**\r\n   * Compute the intersection of the ray with a triangle.\r\n   * * This method is faster than `BarycentricTriangle.intersectRay3d`.\r\n   * @param vertex0 first vertex of the triangle\r\n   * @param vertex1 second vertex of the triangle\r\n   * @param vertex2 third vertex of the triangle\r\n   * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n   * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n   * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n   * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n  */\r\n  public intersectionWithTriangle(\r\n    vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d,\r\n  ): Point3d | undefined {\r\n    /**\r\n     * Suppose ray is shown by \"rayOrigin + t*rayVector\" and barycentric coordinate of point\r\n     * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)\r\n     *\r\n     * Then if ray intersects triangle at a point we have\r\n     * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector\r\n     * or\r\n     * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0\r\n     *\r\n     * This equation can be reformulated as the following linear system:\r\n     *\r\n     * [    |          |      |  ] [t]   [      |       ]\r\n     * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]\r\n     * [   |          |      |   ] [v]   [      |       ]\r\n     *\r\n     * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n     * det(A) = c1.(c2 x c3) which leads to\r\n     *\r\n     * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     *\r\n     * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n     * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n     *\r\n     * This leads to the final formulas used in the following code:\r\n     * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     *\r\n     * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n     * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n     * 0 <= w <= 1.\r\n     *\r\n     * More info be found at\r\n     * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n     */\r\n    if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance\r\n      distanceTol = Geometry.smallMetricDistance;\r\n    if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance\r\n      parameterTol = Geometry.smallFloatingPoint;\r\n    const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n    const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n    const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n    const a = edge1.dotProduct(h);\r\n    if (a >= -distanceTol && a <= distanceTol)\r\n      return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n    const f = 1.0 / a;\r\n    const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n    let u = f * s.dotProduct(h);\r\n    if (u < 0.0) {\r\n      if (u > -parameterTol)\r\n        u = 0.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    } else if (u > 1.0) {\r\n      if (u < 1.0 + parameterTol)\r\n        u = 1.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    }\r\n    const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n    let v = f * this.direction.dotProduct(q);\r\n    if (v < 0.0) {\r\n      if (v > -parameterTol)\r\n        v = 0.0;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    } else if (u + v > 1.0) {\r\n      if (u + v < 1.0 + parameterTol)\r\n        v = 1.0 - u;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    }\r\n    // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n    const t = f * edge2.dotProduct(q);\r\n    if (t <= distanceTol) // line intersection but not ray intersection\r\n      return undefined;\r\n    return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n  }\r\n  /**\r\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\r\n   */\r\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n    const uu = this.direction.magnitudeSquared();\r\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n    return vectorV.plusScaled(this.direction, -fraction, result);\r\n  }\r\n  /**\r\n   * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n   * annotation (in member `approachType`) indicating one of these relationships:\r\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n   * in detailA and detailB\r\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n   * The rays are skew in space.\r\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n   * fractions and points are a representative single common point.\r\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n   * at the minimum distance\r\n   */\r\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n    const intersectionFractions = Vector2d.create();\r\n    let fractionA, fractionB;\r\n    let pointA, pointB;\r\n    let pairType;\r\n    if (\r\n      SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n        rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n        rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n        intersectionFractions,\r\n      )\r\n    ) {\r\n      fractionA = intersectionFractions.x;\r\n      fractionB = intersectionFractions.y;\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n        CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n    } else {\r\n      fractionB = 0.0;\r\n      fractionA = rayA.pointToFraction(rayB.origin);\r\n      pointA = rayA.fractionToPoint(fractionA);\r\n      pointB = rayB.fractionToPoint(fractionB);\r\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n        CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n    }\r\n    const pair = CurveLocationDetailPair.createCapture(\r\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n    pair.approachType = pairType;\r\n    return pair;\r\n  }\r\n  /**\r\n   * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n   * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n   * @param pt1 start point of the interpolation.\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 end point of the interpolation.\r\n   * @param tangentScale scale factor to apply to the startToEnd vector.\r\n   * @param result optional receiver.\r\n   */\r\n  public static interpolatePointAndTangent(\r\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d,\r\n  ): Ray3d {\r\n    result = result ?? Ray3d.createZero();\r\n    const dx = pt2.x - pt1.x;\r\n    const dy = pt2.y - pt1.y;\r\n    const dz = pt2.z - pt1.z;\r\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n    if (fraction <= 0.5)\r\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n    else {\r\n      const t: number = fraction - 1.0;\r\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}

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

@@ -1 +1 @@
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package/lib/esm/geometry3d/YawPitchRollAngles.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 { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/**\r\n * Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n\r\n/**\r\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle: counterclockwise rotation angle around z  */\r\n  public yaw: Angle;\r\n  /** The pitch angle: **clockwise** rotation angle around y */\r\n  public pitch: Angle;\r\n  /** The roll angle: counterclockwise rotation angle around x */\r\n  public roll: Angle;\r\n  /**\r\n   * Constructor\r\n   * @param yaw counterclockwise rotation angle around z\r\n   * @param pitch **clockwise** rotation angle around y\r\n   * @param roll counterclockwise rotation angle around x\r\n   */\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> {\r\n    this.yaw.freeze();\r\n    this.pitch.freeze();\r\n    this.roll.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in degrees.\r\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\r\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n   */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createDegrees(yawDegrees),\r\n      Angle.createDegrees(pitchDegrees),\r\n      Angle.createDegrees(rollDegrees),\r\n    );\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in radians.\r\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\r\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n   */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createRadians(yawRadians),\r\n      Angle.createRadians(pitchRadians),\r\n      Angle.createRadians(rollRadians),\r\n    );\r\n  }\r\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(\r\n      Angle.fromJSON(json.yaw),\r\n      Angle.fromJSON(json.pitch),\r\n      Angle.fromJSON(json.roll),\r\n    );\r\n  }\r\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /**\r\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n   */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles) {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /** Make a copy of this YawPitchRollAngles */\r\n  public clone() {\r\n    return new YawPitchRollAngles(\r\n      this.yaw.clone(),\r\n      this.pitch.clone(),\r\n      this.roll.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n   * * The rigid matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d) {\r\n    const cz = Math.cos(this.yaw.radians);\r\n    const sz = Math.sin(this.yaw.radians);\r\n    const cy = Math.cos(this.pitch.radians);\r\n    const sy = Math.sin(this.pitch.radians);\r\n    const cx = Math.cos(this.roll.radians);\r\n    const sx = Math.sin(this.roll.radians);\r\n    /**\r\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\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 { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/**\r\n * Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n\r\n/**\r\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle: counterclockwise rotation angle around z  */\r\n  public yaw: Angle;\r\n  /** The pitch angle: **clockwise** rotation angle around y */\r\n  public pitch: Angle;\r\n  /** The roll angle: counterclockwise rotation angle around x */\r\n  public roll: Angle;\r\n  /**\r\n   * Constructor\r\n   * @param yaw counterclockwise rotation angle around z\r\n   * @param pitch **clockwise** rotation angle around y\r\n   * @param roll counterclockwise rotation angle around x\r\n   */\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> {\r\n    this.yaw.freeze();\r\n    this.pitch.freeze();\r\n    this.roll.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in degrees.\r\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\r\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n   */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createDegrees(yawDegrees),\r\n      Angle.createDegrees(pitchDegrees),\r\n      Angle.createDegrees(rollDegrees),\r\n    );\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in radians.\r\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\r\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n   */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createRadians(yawRadians),\r\n      Angle.createRadians(pitchRadians),\r\n      Angle.createRadians(rollRadians),\r\n    );\r\n  }\r\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(\r\n      Angle.fromJSON(json.yaw),\r\n      Angle.fromJSON(json.pitch),\r\n      Angle.fromJSON(json.roll),\r\n    );\r\n  }\r\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /**\r\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n   */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles): boolean {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /** Make a copy of this YawPitchRollAngles */\r\n  public clone(): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      this.yaw.clone(),\r\n      this.pitch.clone(),\r\n      this.roll.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n   * * The rigid matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\r\n    const cz = Math.cos(this.yaw.radians);\r\n    const sz = Math.sin(this.yaw.radians);\r\n    const cy = Math.cos(this.pitch.radians);\r\n    const sy = Math.sin(this.pitch.radians);\r\n    const cx = Math.cos(this.roll.radians);\r\n    const sx = Math.sin(this.roll.radians);\r\n    /**\r\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}

package/lib/esm/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/esm/geometry4d/Map4d.js

@@ -105,11 +105,11 @@ export 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/esm/geometry4d/Map4d.js.map

@@ -1 +1 @@
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r\n* 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/** @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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r\n* 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/** @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/esm/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/esm/geometry4d/Matrix4d.d.ts.map

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package/lib/esm/geometry4d/Matrix4d.js

@@ -21,7 +21,7 @@ import { Point4d } from "./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
  */
@@ -174,7 +174,7 @@ export 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
@@ -485,7 +485,7 @@ export 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));
@@ -669,7 +669,7 @@ export 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.
@@ -714,12 +714,9 @@ export 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];