@itwin/core-geometry 5.0.0-dev.8 → 5.0.0-dev.83

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { AnyRegion } from \"../curve/CurveTypes\";\nimport { CurveChain } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { Loop } from \"../curve/Loop\";\nimport { ParityRegion } from \"../curve/ParityRegion\";\nimport { RegionOps } from \"../curve/RegionOps\";\nimport { UnionRegion } from \"../curve/UnionRegion\";\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { PolygonOps } from \"./PolygonOps\";\nimport { Range3d } from \"./Range\";\nimport { XAndY } from \"./XYZProps\";\n\n/** abstract base class for area-related queries of a loop.\n * * subclasses have particular logic for `Loop` and polygon data.\n * @internal\n */\nabstract class SimpleRegionCarrier {\n  public abstract classifyPointXY(xy: XAndY): number | undefined;\n  // Find any point on an edge.\n  // evaluate tangent.\n  // move to left or right according to signedArea, producing an interior point for the loop.\n  public abstract getAnyInteriorPoint(): Point3d | undefined;\n  /**\n   * * grab the loop formatted as a simple polygon.\n   * * stroke if necessary.\n   */\n  public abstract grabPolygon(): IndexedReadWriteXYZCollection | undefined;\n  /**\n   * * grab the loop formatted as a strongly typed loop object\n   */\n  public abstract grabLoop(): Loop | undefined;\n  /**\n   * (Property access) Return the signed area of the loop\n   */\n  public abstract get signedArea(): number;\n  /**\n   * If the current `signedArea` has different sign versus `targetSign`, reverse the loop in place.\n   */\n  public abstract reverseForAreaSign(targetSign: number): void;\n}\n/**\n * Implement `LoopCarrier` queries with the area as a polygon carried in an `IndexedReadWriteXYZCollection`\n */\nclass PolygonCarrier extends SimpleRegionCarrier {\n  public data: IndexedReadWriteXYZCollection;\n  private _signedArea: number;\n  public get signedArea(): number { return this._signedArea; }\n  public constructor(data: IndexedReadWriteXYZCollection) {\n    super();\n    this.data = data;\n    this._signedArea = PolygonOps.areaXY(data);\n  }\n  /**\n   * classify xy parts of point wrt this loop.\n   * @param xy\n   * @internal\n   */\n  public classifyPointXY(xy: XAndY): number | undefined {\n    return PolygonOps.classifyPointInPolygonXY(xy.x, xy.y, this.data);\n  }\n  /** Return some point \"inside\"\n   * NEEDS WORK: this returns a point ON --\n   */\n  public getAnyInteriorPoint(): Point3d | undefined {\n    for (let childIndex = 0; childIndex < this.data.length; childIndex++) {\n      const q = this.constructInteriorPointNearEdge(childIndex, 0.2349);\n      if (q !== undefined)\n        return q;\n    }\n    return undefined;\n  }\n  public grabPolygon(): IndexedReadWriteXYZCollection | undefined { return this.data; }\n  public grabLoop(): Loop | undefined {\n    return Loop.createPolygon(this.data);\n  }\n  public reverseForAreaSign(targetSign: number) {\n    if (targetSign * this._signedArea < 0.0) {\n      this.data.reverseInPlace();\n      this._signedArea *= -1.0;\n    }\n  }\n  public constructInteriorPointNearEdge(edgeIndex: number, fractionAlong: number): Point3d | undefined {\n    if (edgeIndex + 1 < this.data.length) {\n      const point0 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex);\n      const point1 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex + 1);\n      const vector = point0.vectorTo(point1);\n      const point = point0.interpolate(fractionAlong, point1);\n      vector.rotate90CCWXY(vector);\n      if (vector.normalizeInPlace()) {\n        if (this._signedArea < 0)\n          vector.scaleInPlace(-1.0);\n        const refDistance = Math.sqrt(Math.abs(this._signedArea));\n        for (let fraction = 1.0e-5; fraction < 3; fraction *= 5.0) {\n          const candidatePoint = point.plusScaled(vector, fraction * refDistance);\n          if (1 === this.classifyPointXY(candidatePoint))\n            return candidatePoint;\n        }\n      }\n    }\n    return undefined;\n  }\n\n}\n/**\n * Implement `LoopCarrier` queries with the area as a strongly typed `Loop`\n */\nclass LoopCarrier extends SimpleRegionCarrier {\n  public data: Loop;\n  private _signedArea: number;\n  public get signedArea(): number { return this._signedArea; }\n  public constructor(data: Loop) {\n    super();\n    this.data = data;\n    const areaMoments = RegionOps.computeXYAreaMoments(data);\n    this._signedArea = areaMoments !== undefined ? areaMoments.quantitySum : 0.0;\n  }\n  /**\n   * classify xy parts of point wrt this loop.\n   * @param xy\n   * @internal\n   */\n  public classifyPointXY(xy: XAndY): number | undefined {\n    return RegionOps.testPointInOnOutRegionXY(this.data, xy.x, xy.y);\n  }\n  public constructInteriorPointNearChild(childIndex: number, fractionAlong: number): Point3d | undefined {\n    if (childIndex < this.data.children.length) {\n      const primitive = this.data.children[childIndex];\n      const ray = primitive.fractionToPointAndUnitTangent(fractionAlong);\n      ray.direction.rotate90CCWXY(ray.direction);\n      if (this._signedArea < 0.0)\n        ray.direction.scaleInPlace(-1.0);\n      const refDistance = Math.sqrt(Math.abs(this._signedArea));\n      for (let fraction = 1.0e-5; fraction < 3; fraction *= 5.0) {\n        const candidatePoint = ray.fractionToPoint(fraction * refDistance);\n        if (1 === this.classifyPointXY(candidatePoint))\n          return candidatePoint;\n      }\n    }\n    return undefined;\n  }\n  /** Return some point \"inside\"\n   * NEEDS WORK: this returns a point ON --\n   */\n  public getAnyInteriorPoint(): Point3d | undefined {\n    for (let childIndex = 0; childIndex < this.data.children.length; childIndex++) {\n      const q = this.constructInteriorPointNearChild(childIndex, 0.2349);\n      if (q !== undefined)\n        return q;\n    }\n    return undefined;\n  }\n  public grabPolygon(): IndexedReadWriteXYZCollection | undefined {\n    const strokes = this.data.cloneStroked();\n    if (strokes instanceof CurveChain) {\n      const linestring = LineString3d.create();\n      for (const child of strokes.children) {\n        if (child instanceof CurvePrimitive) {\n          child.emitStrokes(linestring);\n        }\n      }\n      return linestring.numPoints() > 0 ? linestring.packedPoints : undefined;\n    }\n    return undefined;\n  }\n  public grabLoop(): Loop | undefined {\n    return this.data;\n  }\n  public reverseForAreaSign(targetSign: number) {\n    if (targetSign * this._signedArea < 0.0) {\n      this.data.reverseChildrenInPlace();\n      this._signedArea *= -1.0;\n    }\n  }\n}\n\n/**\n * A `SortablePolygon` carries a (single) loop with data useful for sorting for inner-outer structure.\n * @internal\n */\nexport class SortablePolygon {\n  private _loopCarrier: SimpleRegionCarrier;\n  public anyPoint?: Point3d;\n  public sortKey: number;\n  public range: Range3d;\n  public parentIndex?: number;\n  public isHole: boolean;\n  public outputSetIndex?: number;\n  /**\n   *\n   * @param loop Loop to capture.\n   */\n  public constructor(loop: IndexedReadWriteXYZCollection | Loop, range: Range3d) {\n    if (loop instanceof IndexedReadWriteXYZCollection)\n      this._loopCarrier = new PolygonCarrier(loop);\n    else\n      this._loopCarrier = new LoopCarrier(loop);\n    this.range = range;\n    this.sortKey = Math.abs(this._loopCarrier.signedArea);\n    this.isHole = false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  public static pushPolygon(loops: SortablePolygon[], loop: IndexedReadWriteXYZCollection): boolean {\n    const range = loop.getRange();\n    const sortablePolygon = new SortablePolygon(loop, range);\n    if (sortablePolygon.sortKey > 0.0) {\n      loops.push(sortablePolygon);\n      return true;\n    }\n    return false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  public static pushLoop(loops: SortablePolygon[], loop: Loop): boolean {\n    const range = loop.range();\n    const sortablePolygon = new SortablePolygon(loop, range);\n    if (sortablePolygon.sortKey > 0.0) {\n      loops.push(sortablePolygon);\n      return true;\n    }\n    return false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  private static assignParentsAndDepth(loops: SortablePolygon[]): void {\n    // Sort largest to smallest ...\n    loops.sort((loopA: SortablePolygon, loopB: SortablePolygon) => (loopB.sortKey - loopA.sortKey));\n    // starting with smallest loop, point each loop to smallest containing parent.\n    for (let i = loops.length; i-- > 0;) {\n      const thisLoop = loops[i];\n      const xy = thisLoop._loopCarrier.getAnyInteriorPoint();\n      if (xy !== undefined) {\n        // find smallest containing parent (search forward only to hit)\n        loops[i].parentIndex = undefined;\n        loops[i].outputSetIndex = undefined;\n        for (let j = i; j-- > 0;) {\n          const otherLoop = loops[j];\n          if (otherLoop.range.containsXY(xy.x, xy.y)) {\n            if (1 === otherLoop._loopCarrier.classifyPointXY(xy)) {\n              thisLoop.parentIndex = j;\n              // The loops are searched from small area to larger.  Any other containing loop is larger, so otherLoop must be the smallest.\n              break;\n            }\n          }\n        }\n      }\n    }\n  }\n\n  private static assemblePolygonSet(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\n    const outputSets: IndexedReadWriteXYZCollection[][] = [];\n\n    // In large-to-small order:\n    // If a loop has no parent or has a \"hole\" as parent it is outer.\n    // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\n    for (const loopData of loops) {\n      loopData.isHole = false;\n      const parentIndex = loopData.parentIndex;\n      if (parentIndex !== undefined)\n        loopData.isHole = !loops[parentIndex].isHole;\n      if (!loopData.isHole) {\n        loopData._loopCarrier.reverseForAreaSign(1.0);\n        loopData.outputSetIndex = outputSets.length;\n        outputSets.push([]);\n        outputSets[loopData.outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\n      } else {\n        loopData._loopCarrier.reverseForAreaSign(-1.0);\n        const outputSetIndex = loops[parentIndex!].outputSetIndex!;\n        outputSets[outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\n      }\n    }\n    return outputSets;\n  }\n  private static assembleLoopSet(loops: SortablePolygon[]): AnyRegion[] {\n    const outputSets: AnyRegion[] = [];\n    const numLoops = loops.length;\n    // In large-to-small order:\n    // If a loop has no parent or has a \"hole\" as parent it is outer.\n    // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\n    for (let candidateIndex = 0; candidateIndex < numLoops; candidateIndex++) {\n      const candidateData = loops[candidateIndex];\n      const parentIndex = candidateData.parentIndex;\n      candidateData.isHole = parentIndex !== undefined ? !loops[parentIndex].isHole : false;\n\n      if (!candidateData.isHole) {\n        candidateData._loopCarrier.reverseForAreaSign(1.0);\n        const candidateLoop = candidateData._loopCarrier.grabLoop()!;\n        let candidateParityRegion: ParityRegion | undefined;\n        // find all directly contained children . . .\n        for (let childIndex = candidateIndex + 1; childIndex < numLoops; childIndex++) {\n          const childData = loops[childIndex];\n          if (childData.parentIndex === candidateIndex) {\n            if (candidateParityRegion === undefined) {\n              candidateParityRegion = ParityRegion.create();\n              candidateParityRegion.tryAddChild(candidateLoop);\n              childData._loopCarrier.reverseForAreaSign(-1.0);\n              candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\n            } else {\n              childData._loopCarrier.reverseForAreaSign(-1.0);\n              candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\n            }\n          }\n        }\n        if (candidateParityRegion !== undefined)\n          outputSets.push(candidateParityRegion);\n        else if (candidateLoop !== undefined)\n          outputSets.push(candidateLoop);\n      }\n    }\n    return outputSets;\n  }\n\n  public static sortAsAnyRegion(loops: SortablePolygon[]): AnyRegion {\n    this.assignParentsAndDepth(loops);\n    const regions = this.assembleLoopSet(loops);\n    if (regions.length === 1)\n      return regions[0];\n    else {\n      const unionRegion = UnionRegion.create();\n      for (const region of regions)\n        unionRegion.tryAddChild(region);\n      return unionRegion;\n    }\n  }\n  public static sortAsArrayOfArrayOfPolygons(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\n    this.assignParentsAndDepth(loops);\n    return this.assemblePolygonSet(loops);\n  }\n  public grabPolygon(): IndexedXYZCollection | undefined {\n    return this._loopCarrier.grabPolygon();\n  }\n  public grabLoop(): Loop | undefined {\n    return this._loopCarrier.grabLoop();\n  }\n  public reverseForAreaSign(targetSign: number) {\n    this._loopCarrier.reverseForAreaSign(targetSign);\n  }\n  public getAnyInteriorPoint(): Point3d | undefined {\n    return this._loopCarrier.getAnyInteriorPoint();\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { AnyRegion } from \"../curve/CurveTypes\";\nimport { CurveChain } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { Loop } from \"../curve/Loop\";\nimport { ParityRegion } from \"../curve/ParityRegion\";\nimport { RegionOps } from \"../curve/RegionOps\";\nimport { UnionRegion } from \"../curve/UnionRegion\";\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { PolygonOps } from \"./PolygonOps\";\nimport { Range3d } from \"./Range\";\nimport { XAndY } from \"./XYZProps\";\n\n/** abstract base class for area-related queries of a loop.\n * * subclasses have particular logic for `Loop` and polygon data.\n * @internal\n */\nabstract class SimpleRegionCarrier {\n  public abstract classifyPointXY(xy: XAndY): number | undefined;\n  // Find any point on an edge.\n  // evaluate tangent.\n  // move to left or right according to signedArea, producing an interior point for the loop.\n  public abstract getAnyInteriorPoint(): Point3d | undefined;\n  /**\n   * * grab the loop formatted as a simple polygon.\n   * * stroke if necessary.\n   */\n  public abstract grabPolygon(): IndexedReadWriteXYZCollection | undefined;\n  /**\n   * * grab the loop formatted as a strongly typed loop object\n   */\n  public abstract grabLoop(): Loop | undefined;\n  /**\n   * (Property access) Return the signed area of the loop\n   */\n  public abstract get signedArea(): number;\n  /**\n   * If the current `signedArea` has different sign versus `targetSign`, reverse the loop in place.\n   */\n  public abstract reverseForAreaSign(targetSign: number): void;\n}\n/**\n * Implement `LoopCarrier` queries with the area as a polygon carried in an `IndexedReadWriteXYZCollection`\n */\nclass PolygonCarrier extends SimpleRegionCarrier {\n  public data: IndexedReadWriteXYZCollection;\n  private _signedArea: number;\n  public get signedArea(): number { return this._signedArea; }\n  public constructor(data: IndexedReadWriteXYZCollection) {\n    super();\n    this.data = data;\n    this._signedArea = PolygonOps.areaXY(data);\n  }\n  /**\n   * classify xy parts of point wrt this loop.\n   * @param xy\n   * @internal\n   */\n  public classifyPointXY(xy: XAndY): number | undefined {\n    return PolygonOps.classifyPointInPolygonXY(xy.x, xy.y, this.data);\n  }\n  /** Return some point \"inside\"\n   * NEEDS WORK: this returns a point ON --\n   */\n  public getAnyInteriorPoint(): Point3d | undefined {\n    for (let childIndex = 0; childIndex < this.data.length; childIndex++) {\n      const q = this.constructInteriorPointNearEdge(childIndex, 0.2349);\n      if (q !== undefined)\n        return q;\n    }\n    return undefined;\n  }\n  public grabPolygon(): IndexedReadWriteXYZCollection | undefined { return this.data; }\n  public grabLoop(): Loop | undefined {\n    return Loop.createPolygon(this.data);\n  }\n  public reverseForAreaSign(targetSign: number) {\n    if (targetSign * this._signedArea < 0.0) {\n      this.data.reverseInPlace();\n      this._signedArea *= -1.0;\n    }\n  }\n  public constructInteriorPointNearEdge(edgeIndex: number, fractionAlong: number): Point3d | undefined {\n    if (edgeIndex + 1 < this.data.length) {\n      const point0 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex);\n      const point1 = this.data.getPoint3dAtUncheckedPointIndex(edgeIndex + 1);\n      const vector = point0.vectorTo(point1);\n      const point = point0.interpolate(fractionAlong, point1);\n      vector.rotate90CCWXY(vector);\n      if (vector.normalizeInPlace()) {\n        if (this._signedArea < 0)\n          vector.scaleInPlace(-1.0);\n        const refDistance = Math.sqrt(Math.abs(this._signedArea));\n        for (let fraction = 1.0e-5; fraction < 3; fraction *= 5.0) {\n          const candidatePoint = point.plusScaled(vector, fraction * refDistance);\n          if (1 === this.classifyPointXY(candidatePoint))\n            return candidatePoint;\n        }\n      }\n    }\n    return undefined;\n  }\n\n}\n/**\n * Implement `LoopCarrier` queries with the area as a strongly typed `Loop`\n */\nclass LoopCarrier extends SimpleRegionCarrier {\n  public data: Loop;\n  private _signedArea: number;\n  public get signedArea(): number { return this._signedArea; }\n  public constructor(data: Loop) {\n    super();\n    this.data = data;\n    const areaMoments = RegionOps.computeXYAreaMoments(data);\n    this._signedArea = areaMoments !== undefined ? areaMoments.quantitySum : 0.0;\n  }\n  /**\n   * classify xy parts of point wrt this loop.\n   * @param xy\n   * @internal\n   */\n  public classifyPointXY(xy: XAndY): number | undefined {\n    return RegionOps.testPointInOnOutRegionXY(this.data, xy.x, xy.y);\n  }\n  public constructInteriorPointNearChild(childIndex: number, fractionAlong: number): Point3d | undefined {\n    if (childIndex < this.data.children.length) {\n      const primitive = this.data.children[childIndex];\n      const ray = primitive.fractionToPointAndUnitTangent(fractionAlong);\n      ray.direction.rotate90CCWXY(ray.direction);\n      if (this._signedArea < 0.0)\n        ray.direction.scaleInPlace(-1.0);\n      const refDistance = Math.sqrt(Math.abs(this._signedArea));\n      for (let fraction = 1.0e-5; fraction < 3; fraction *= 5.0) {\n        const candidatePoint = ray.fractionToPoint(fraction * refDistance);\n        if (1 === this.classifyPointXY(candidatePoint))\n          return candidatePoint;\n      }\n    }\n    return undefined;\n  }\n  /** Return some point \"inside\"\n   * NEEDS WORK: this returns a point ON --\n   */\n  public getAnyInteriorPoint(): Point3d | undefined {\n    for (let childIndex = 0; childIndex < this.data.children.length; childIndex++) {\n      const q = this.constructInteriorPointNearChild(childIndex, 0.2349);\n      if (q !== undefined)\n        return q;\n    }\n    return undefined;\n  }\n  public grabPolygon(): IndexedReadWriteXYZCollection | undefined {\n    const strokes = this.data.cloneStroked();\n    if (strokes instanceof CurveChain) {\n      const linestring = LineString3d.create();\n      for (const child of strokes.children) {\n        if (child instanceof CurvePrimitive) {\n          child.emitStrokes(linestring);\n        }\n      }\n      return linestring.numPoints() > 0 ? linestring.packedPoints : undefined;\n    }\n    return undefined;\n  }\n  public grabLoop(): Loop | undefined {\n    return this.data;\n  }\n  public reverseForAreaSign(targetSign: number) {\n    if (targetSign * this._signedArea < 0.0) {\n      this.data.reverseChildrenInPlace();\n      this._signedArea *= -1.0;\n    }\n  }\n}\n\n/**\n * A `SortablePolygon` carries a (single) loop with data useful for sorting for inner-outer structure.\n * @internal\n */\nexport class SortablePolygon {\n  private _loopCarrier: SimpleRegionCarrier;\n  public anyPoint?: Point3d;\n  public sortKey: number;\n  public range: Range3d;\n  public parentIndex?: number;\n  public isHole: boolean;\n  public outputSetIndex?: number;\n  /**\n   *\n   * @param loop Loop to capture.\n   */\n  public constructor(loop: IndexedReadWriteXYZCollection | Loop, range: Range3d) {\n    if (loop instanceof IndexedReadWriteXYZCollection)\n      this._loopCarrier = new PolygonCarrier(loop);\n    else\n      this._loopCarrier = new LoopCarrier(loop);\n    this.range = range;\n    this.sortKey = Math.abs(this._loopCarrier.signedArea);\n    this.isHole = false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  public static pushPolygon(loops: SortablePolygon[], loop: IndexedReadWriteXYZCollection): boolean {\n    const range = loop.getRange();\n    const sortablePolygon = new SortablePolygon(loop, range);\n    if (sortablePolygon.sortKey > 0.0) {\n      loops.push(sortablePolygon);\n      return true;\n    }\n    return false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  public static pushLoop(loops: SortablePolygon[], loop: Loop): boolean {\n    const range = loop.range();\n    const sortablePolygon = new SortablePolygon(loop, range);\n    if (sortablePolygon.sortKey > 0.0) {\n      loops.push(sortablePolygon);\n      return true;\n    }\n    return false;\n  }\n  /** Push loop with sort data onto the array.\n   * * No action if no clear normal.\n   * * return true if pushed.\n   */\n  private static assignParentsAndDepth(loops: SortablePolygon[]): void {\n    // Sort largest to smallest ...\n    loops.sort((loopA: SortablePolygon, loopB: SortablePolygon) => (loopB.sortKey - loopA.sortKey));\n    // starting with smallest loop, point each loop to smallest containing parent.\n    for (let i = loops.length; i-- > 0;) {\n      const thisLoop = loops[i];\n      const xy = thisLoop._loopCarrier.getAnyInteriorPoint();\n      if (xy !== undefined) {\n        // find smallest containing parent (search forward only to hit)\n        loops[i].parentIndex = undefined;\n        loops[i].outputSetIndex = undefined;\n        for (let j = i; j-- > 0;) {\n          const otherLoop = loops[j];\n          if (otherLoop.range.containsXY(xy.x, xy.y)) {\n            if (1 === otherLoop._loopCarrier.classifyPointXY(xy)) {\n              thisLoop.parentIndex = j;\n              // The loops are searched from small area to larger.  Any other containing loop is larger, so otherLoop must be the smallest.\n              break;\n            }\n          }\n        }\n      }\n    }\n  }\n\n  private static assemblePolygonSet(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\n    const outputSets: IndexedReadWriteXYZCollection[][] = [];\n\n    // In large-to-small order:\n    // If a loop has no parent or has a \"hole\" as parent it is outer.\n    // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\n    for (const loopData of loops) {\n      loopData.isHole = false;\n      const parentIndex = loopData.parentIndex;\n      if (parentIndex !== undefined)\n        loopData.isHole = !loops[parentIndex].isHole;\n      if (!loopData.isHole) {\n        loopData._loopCarrier.reverseForAreaSign(1.0);\n        loopData.outputSetIndex = outputSets.length;\n        outputSets.push([]);\n        outputSets[loopData.outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\n      } else {\n        loopData._loopCarrier.reverseForAreaSign(-1.0);\n        const outputSetIndex = loops[parentIndex!].outputSetIndex!;\n        outputSets[outputSetIndex].push(loopData._loopCarrier.grabPolygon()!);\n      }\n    }\n    return outputSets;\n  }\n  private static assembleLoopSet(loops: SortablePolygon[]): AnyRegion[] {\n    const outputSets: AnyRegion[] = [];\n    const numLoops = loops.length;\n    // In large-to-small order:\n    // If a loop has no parent or has a \"hole\" as parent it is outer.\n    // otherwise (i.e. it has a non-hole parent) it becomes a hole in the parent.\n    for (let candidateIndex = 0; candidateIndex < numLoops; candidateIndex++) {\n      const candidateData = loops[candidateIndex];\n      const parentIndex = candidateData.parentIndex;\n      candidateData.isHole = parentIndex !== undefined ? !loops[parentIndex].isHole : false;\n\n      if (!candidateData.isHole) {\n        candidateData._loopCarrier.reverseForAreaSign(1.0);\n        const candidateLoop = candidateData._loopCarrier.grabLoop()!;\n        let candidateParityRegion: ParityRegion | undefined;\n        // find all directly contained children . . .\n        for (let childIndex = candidateIndex + 1; childIndex < numLoops; childIndex++) {\n          const childData = loops[childIndex];\n          if (childData.parentIndex === candidateIndex) {\n            if (candidateParityRegion === undefined) {\n              candidateParityRegion = ParityRegion.create();\n              candidateParityRegion.tryAddChild(candidateLoop);\n              childData._loopCarrier.reverseForAreaSign(-1.0);\n              candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\n            } else {\n              childData._loopCarrier.reverseForAreaSign(-1.0);\n              candidateParityRegion.tryAddChild(childData._loopCarrier.grabLoop());\n            }\n          }\n        }\n        if (candidateParityRegion !== undefined)\n          outputSets.push(candidateParityRegion);\n        else if (candidateLoop !== undefined)\n          outputSets.push(candidateLoop);\n      }\n    }\n    return outputSets;\n  }\n\n  public static sortAsAnyRegion(loops: SortablePolygon[]): AnyRegion {\n    this.assignParentsAndDepth(loops);\n    const regions = this.assembleLoopSet(loops);\n    if (regions.length === 1)\n      return regions[0];\n    else {\n      const unionRegion = UnionRegion.create();\n      for (const region of regions)\n        unionRegion.tryAddChild(region);\n      return unionRegion;\n    }\n  }\n  public static sortAsArrayOfArrayOfPolygons(loops: SortablePolygon[]): IndexedReadWriteXYZCollection[][] {\n    this.assignParentsAndDepth(loops);\n    return this.assemblePolygonSet(loops);\n  }\n  public grabPolygon(): IndexedXYZCollection | undefined {\n    return this._loopCarrier.grabPolygon();\n  }\n  public grabLoop(): Loop | undefined {\n    return this._loopCarrier.grabLoop();\n  }\n  public reverseForAreaSign(targetSign: number) {\n    this._loopCarrier.reverseForAreaSign(targetSign);\n  }\n  public getAnyInteriorPoint(): Point3d | undefined {\n    return this._loopCarrier.getAnyInteriorPoint();\n  }\n}\n"]}

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

@@ -78,7 +78,7 @@ export declare class Transform implements BeJSONFunctions {
     clone(result?: Transform): Transform;
     /**
      * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).
-     * * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.
+     * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.
      */
     cloneRigid(axisOrder?: AxisOrder): Transform | undefined;
     /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */

package/lib/cjs/geometry3d/Transform.js

@@ -32,11 +32,14 @@ const Range_1 = require("./Range");
  * @public
  */
 class Transform {
+    _origin;
+    _matrix;
     // Constructor accepts and uses pointer to content (no copy is done here).
     constructor(origin, matrix) {
         this._origin = origin;
         this._matrix = matrix;
     }
+    static _identity;
     /** The identity Transform. Value is frozen and cannot be modified. */
     static get identity() {
         if (undefined === this._identity) {
@@ -143,7 +146,7 @@ class Transform {
     }
     /**
      * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).
-     * * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.
+     * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.
      */
     cloneRigid(axisOrder = Geometry_1.AxisOrder.XYZ) {
         const modifiedMatrix = Matrix3d_1.Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\n\n/**\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\n * the columns of the Matrix3d being the local x,y,z axis directions.\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\n * * If `T` is a translation, no point is fixed by `T`.\n * * If `T` is the identity, all points are fixed by `T`.\n * * If `T` is a scale about a point, one point is fixed by `T`.\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\n * @public\n */\nexport class Transform implements BeJSONFunctions {\n  private _origin: XYZ;\n  private _matrix: Matrix3d;\n  // Constructor accepts and uses pointer to content (no copy is done here).\n  private constructor(origin: XYZ, matrix: Matrix3d) {\n    this._origin = origin;\n    this._matrix = matrix;\n  }\n  private static _identity?: Transform;\n  /** The identity Transform. Value is frozen and cannot be modified. */\n  public static get identity(): Transform {\n    if (undefined === this._identity) {\n      this._identity = Transform.createIdentity();\n      this._identity.freeze();\n    }\n    return this._identity;\n  }\n  /** Freeze this instance (and its members) so it is read-only */\n  public freeze(): Readonly<this> {\n    this._origin.freeze();\n    this._matrix.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Copy contents from other Transform into this Transform\n   * @param other source transform\n   */\n  public setFrom(other: Transform) {\n    this._origin.setFrom(other._origin);\n    this._matrix.setFrom(other._matrix);\n  }\n  /** Set this Transform to be an identity. */\n  public setIdentity() {\n    this._origin.setZero();\n    this._matrix.setIdentity();\n  }\n  /**\n   * Set this Transform instance from flexible inputs:\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\n   * * If no input is provided, the identity Transform is returned.\n   */\n  public setFromJSON(json?: TransformProps | Transform): void {\n    if (json) {\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\n        this._origin.setFromJSON((json as any).origin);\n        this._matrix.setFromJSON((json as any).matrix);\n        return;\n      }\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\n        this._matrix.setRowValues(\n          json[0][0], json[0][1], json[0][2],\n          json[1][0], json[1][1], json[1][2],\n          json[2][0], json[2][1], json[2][2],\n        );\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\n        return;\n      }\n      if (Geometry.isNumberArray(json, 12)) {\n        this._matrix.setRowValues(\n          json[0], json[1], json[2],\n          json[4], json[5], json[6],\n          json[8], json[9], json[10],\n        );\n        this._origin.set(json[3], json[7], json[11]);\n        return;\n      }\n    }\n    this.setIdentity();\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\n   * `matrix` parts.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\n    return this === other || this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n   */\n  public toRows(): number[][] {\n    return [\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\n    ];\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n  */\n  public toJSON(): TransformProps {\n    return this.toRows();\n  }\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\n  public static fromJSON(json?: TransformProps): Transform {\n    const result = Transform.createIdentity();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\n  public clone(result?: Transform): Transform {\n    if (result) {\n      result._matrix.setFrom(this._matrix);\n      result._origin.setFrom(this._origin);\n      return result;\n    }\n    return new Transform(\n      Point3d.createFrom(this._origin),\n      this._matrix.clone(),\n    );\n  }\n  /**\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\n   * * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\n   */\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\n    if (!modifiedMatrix)\n      return undefined;\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\n  }\n  /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\n    if (!origin)\n      origin = Point3d.createZero();\n    if (result) {\n      result._origin = origin;\n      result._matrix = matrix;\n      return result;\n    }\n    return new Transform(origin, matrix);\n  }\n  /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */\n  public static createRowValues(\n    qxx: number, qxy: number, qxz: number, ax: number,\n    qyx: number, qyy: number, qyz: number, ay: number,\n    qzx: number, qzy: number, qzz: number, az: number,\n    result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.set(ax, ay, az);\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\n      return result;\n    }\n    return new Transform(\n      Point3d.create(ax, ay, az),\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\n    );\n  }\n  /** Create a Transform with all zeros */\n  public static createZero(result?: Transform): Transform {\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\n  }\n  /**\n   * Create a Transform with translation provided by x,y,z parts.\n   * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param x x part of translation\n   * @param y y part of translation\n   * @param z z part of translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\n  }\n  /**\n   * Create a Transform with specified `translation` part.\n   * * Translation Transform maps any vector `v` to `v + translation`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param translation x,y,z parts of the translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\n  }\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\n  public get matrix(): Matrix3d {\n    return this._matrix;\n  }\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\n  public get origin(): XYZ {\n    return this._origin;\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\n  public getOrigin(): Point3d {\n    return Point3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\n  public getTranslation(): Vector3d {\n    return Vector3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\n  public getMatrix(): Matrix3d {\n    return this._matrix.clone();\n  }\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\n  public get isIdentity(): boolean {\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\n  }\n  /** Create an identity transform */\n  public static createIdentity(result?: Transform): Transform {\n    if (result) {\n      result._origin.setZero();\n      result._matrix.setIdentity();\n      return result;\n    }\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\n  }\n  /**\n   * Create a Transform using the given `origin` and `matrix`.\n   * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\n   * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\n   * of the world-to-world transformation.\n   * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\n   */\n  public static createOriginAndMatrix(\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.setFromPoint3d(origin);\n      result._matrix.setFrom(matrix);\n      return result;\n    }\n    return Transform.createRefs(\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\n      result,\n    );\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\n  public setOriginAndMatrixColumns(\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined,\n  ): void {\n    if (origin !== undefined)\n      this._origin.setFrom(origin);\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\n  public static createOriginAndMatrixColumns(\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\n  ): Transform {\n    if (result)\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\n    else\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\n    return result;\n  }\n  /**\n   * Create a Transform such that its `matrix` part is rigid.\n   * @see [[Matrix3d.createRigidFromColumns]] for details of how the matrix is created to be rigid.\n   */\n  public static createRigidFromOriginAndColumns(\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\n  ): Transform | undefined {\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result ? result._matrix : undefined);\n    if (!matrix)\n      return undefined;\n    if (result) {\n      // result._matrix was already modified to become rigid via createRigidFromColumns\n      result._origin.setFrom(origin);\n      return result;\n    }\n    /**\n     * We don't want to pass \"origin\" to createRefs because createRefs does not clone \"origin\". That means if \"origin\"\n     * is changed via Transform at any point, the initial \"origin\" passed by the user is also changed. To avoid that,\n     * we pass \"undefined\" to createRefs so that it allocates a new point which then we set it to the \"origin\" which\n     * is passed by user in the next line.\n     */\n    result = Transform.createRefs(undefined, matrix);\n    result._origin.setFromPoint3d(origin);\n    return result;\n  }\n  /**\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\n   */\n  public static createFixedPointAndMatrix(\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform,\n  ): Transform {\n    if (fixedPoint) {\n      /**\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\n       */\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n      return Transform.createRefs(origin, matrix.clone(), result);\n    }\n    return Transform.createRefs(undefined, matrix.clone());\n  }\n  /**\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to `b`.\n   */\n  public static createMatrixPickupPutdown(\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\n  ): Transform {\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(p-a) + b\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\n    return Transform.createRefs(origin, matrix.clone(), result);\n  }\n  /**\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\n   * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   */\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\n    const matrix = Matrix3d.createScale(scale, scale, scale);\n    /**\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\n     */\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n    return Transform.createRefs(origin, matrix, result);\n  }\n  /**\n   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\n   * from the plane normal.\n   * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\n   * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.\n   * @param planePoint any point on the plane\n   * @param planeNormal vector normal to the plane.\n   */\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\n    if (matrix === undefined)\n      return undefined;\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\n  }\n  /**\n   * Transform the input 2d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\n   */\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\n   */\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the\n   * first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`\n   * in the first 3 numbers of the array and `w` as the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.\n   */\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\n   * pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,\n   * and `o*p + w` in the fourth.\n   * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001.\n   */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    const coffs = this._matrix.coffs;\n    const origin = this._origin;\n    return Point4d.create(\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\n      result,\n    );\n  }\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\n    let point;\n    for (point of points)\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\n  }\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\n    for (const chain of chains)\n      this.multiplyPoint3dArrayInPlace(chain);\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`\n   * Transform has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      point.x - this._origin.x,\n      point.y - this._origin.y,\n      point.z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * Multiply the homogenous point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`\n   * in the first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\n    const w = weightedPoint.w;\n    return this._matrix.multiplyInverseXYZW(\n      weightedPoint.x - w * this.origin.x,\n      weightedPoint.y - w * this.origin.y,\n      weightedPoint.z - w * this.origin.z,\n      w,\n      result,\n    );\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      x - this._origin.x,\n      y - this._origin.y,\n      z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\n   * operations can complete.\n   * @param useCached If true, accept prior cached inverse if available.\n   * @returns `true` if matrix inverse completes, `false` otherwise.\n   */\n  public computeCachedInverse(useCached: boolean = true): boolean {\n    return this._matrix.computeCachedInverse(useCached);\n  }\n  /**\n   * Match the length of destination array with the length of source array\n   * * If destination has more elements than source, remove the extra elements.\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\n   * *\n   * @param source the source array\n   * @param dest the destination array\n   * @param constructionFunction function to call to create new elements.\n   */\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\n    const numSource = source.length;\n    const numDest = dest.length;\n    if (numSource > numDest) {\n      for (let i = numDest; i < numSource; i++) {\n        dest.push(constructionFunction());\n      }\n    } else if (numDest > numSource) {\n      dest.length = numSource;\n    }\n    return numSource;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\n   * * If `result` is not given, return a new array.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined {\n    if (!this._matrix.computeCachedInverse(true))\n      return undefined;\n    const originX = this.origin.x;\n    const originY = this.origin.y;\n    const originZ = this.origin.z;\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          points[i].x - originX,\n          points[i].y - originY,\n          points[i].z - originZ,\n          result[i],\n        );\n      return result;\n    }\n    result = [];\n    for (const point of points)\n      result.push(\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          point.x - originX,\n          point.y - originY,\n          point.z - originZ,\n        )!,\n      );\n    return result;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform in place.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\n   */\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\n    if (!this._matrix.computeCachedInverse(true))\n      return false;\n    for (const point of points)\n      this._matrix.multiplyInverseXYZAsPoint3d(\n        point.x - this.origin.x,\n        point.y - this.origin.y,\n        point.z - this.origin.z,\n        point,\n      );\n    return true;\n  }\n  /**\n   * Transform the input 2d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Transform the input 3d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyVector(vector, result);\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform in place.\n   * * The `origin` part of Transform is not used.\n   */\n  public multiplyVectorInPlace(vector: Vector3d): void {\n    this._matrix.multiplyVectorInPlace(vector);\n  }\n  /**\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyXYZ(x, y, z, result);\n  }\n  /**\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\n   * `[A*B   Ab+a]`.\n   * * @see [[multiplyTransformTransform]] documentation for math details.\n   * @param transformA first operand\n   * @param transformB second operand\n   */\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\n    Matrix3d.xyzPlusMatrixTimesXYZ(\n      transformA._origin,\n      transformA._matrix,\n      transformB._origin,\n      this._origin as Point3d,\n    );\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\n  }\n  /**\n   * Multiply `this` Transform times `other` Transform.\n   * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as `[A*B   Ab+a]` because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Transform to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\n    if (!result)\n      return Transform.createRefs(\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\n        this._matrix.multiplyMatrixMatrix(other._matrix),\n      );\n    result.setMultiplyTransformTransform(this, other);\n    return result;\n  }\n  /**\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\n   * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\n    if (!result)\n      return Transform.createRefs(\n        this._origin.cloneAsPoint3d(),\n        this._matrix.multiplyMatrixMatrix(other),\n      );\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\n    result._origin.setFrom(this._origin);\n    return result;\n  }\n  /**\n   * Return the range of the transformed corners.\n   * * The 8 corners are transformed individually.\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\n   * function creates the larger range box because it only has access to the range box and not the geometry itself.\n   */\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\n    if (range.isNull)\n      return range.clone(result);\n    const lowX = range.low.x;\n    const lowY = range.low.y;\n    const lowZ = range.low.z;\n    const highX = range.high.x;\n    const highY = range.high.y;\n    const highZ = range.high.z;\n    result = Range3d.createNull(result);\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\n    result.extendTransformedXYZ(this, highX, highY, highZ);\n    return result;\n  }\n  /**\n   * Return a Transform which is the inverse of `this` Transform.\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`\n   * * Return `undefined` if this Transform's matrix is singular.\n   */\n  public inverse(result?: Transform): Transform | undefined {\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\n    if (!matrixInverse)\n      return undefined;\n    if (result) {\n      // result._matrix is already defined\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\n      return result;\n    }\n    return Transform.createRefs(\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\n      matrixInverse,\n    );\n  }\n  /**\n   * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\n   * by the input points.\n   * @param min the min corner of the range box\n   * @param max the max corner of the range box\n   * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\n   * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\n   * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\n   * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\n   * * NPC stands for `Normalized Projection Coordinate`\n   */\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\n    const diag = max.minus(min);\n    if (diag.x === 0.0)\n      diag.x = 1.0;\n    if (diag.y === 0.0)\n      diag.y = 1.0;\n    if (diag.z === 0.0)\n      diag.z = 1.0;\n    const rMatrix = new Matrix3d();\n    /**\n     *               [diag.x    0       0      min.x]\n     * npcToGlobal = [  0     diag.y    0      min.y]\n     *               [  0       0     diag.y   min.z]\n     *\n     * npcToGlobal * 0 = min\n     * npcToGlobal * 1 = diag + min = max\n     */\n    if (npcToGlobal) {\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\n    }\n    /**\n     *               [1/diag.x      0         0      -min.x/diag.x]\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\n     *               [  0         0       1/diag.y   -min.z/diag.z]\n     *\n     * globalToNpc * min = min/diag - min/diag = 0\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\n     */\n    if (globalToNpc) {\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\n    }\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\n\n/**\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\n * the columns of the Matrix3d being the local x,y,z axis directions.\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\n * * If `T` is a translation, no point is fixed by `T`.\n * * If `T` is the identity, all points are fixed by `T`.\n * * If `T` is a scale about a point, one point is fixed by `T`.\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\n * @public\n */\nexport class Transform implements BeJSONFunctions {\n  private _origin: XYZ;\n  private _matrix: Matrix3d;\n  // Constructor accepts and uses pointer to content (no copy is done here).\n  private constructor(origin: XYZ, matrix: Matrix3d) {\n    this._origin = origin;\n    this._matrix = matrix;\n  }\n  private static _identity?: Transform;\n  /** The identity Transform. Value is frozen and cannot be modified. */\n  public static get identity(): Transform {\n    if (undefined === this._identity) {\n      this._identity = Transform.createIdentity();\n      this._identity.freeze();\n    }\n    return this._identity;\n  }\n  /** Freeze this instance (and its members) so it is read-only */\n  public freeze(): Readonly<this> {\n    this._origin.freeze();\n    this._matrix.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Copy contents from other Transform into this Transform\n   * @param other source transform\n   */\n  public setFrom(other: Transform) {\n    this._origin.setFrom(other._origin);\n    this._matrix.setFrom(other._matrix);\n  }\n  /** Set this Transform to be an identity. */\n  public setIdentity() {\n    this._origin.setZero();\n    this._matrix.setIdentity();\n  }\n  /**\n   * Set this Transform instance from flexible inputs:\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\n   * * If no input is provided, the identity Transform is returned.\n   */\n  public setFromJSON(json?: TransformProps | Transform): void {\n    if (json) {\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\n        this._origin.setFromJSON((json as any).origin);\n        this._matrix.setFromJSON((json as any).matrix);\n        return;\n      }\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\n        this._matrix.setRowValues(\n          json[0][0], json[0][1], json[0][2],\n          json[1][0], json[1][1], json[1][2],\n          json[2][0], json[2][1], json[2][2],\n        );\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\n        return;\n      }\n      if (Geometry.isNumberArray(json, 12)) {\n        this._matrix.setRowValues(\n          json[0], json[1], json[2],\n          json[4], json[5], json[6],\n          json[8], json[9], json[10],\n        );\n        this._origin.set(json[3], json[7], json[11]);\n        return;\n      }\n    }\n    this.setIdentity();\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\n   * `matrix` parts.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\n    return this === other || this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n   */\n  public toRows(): number[][] {\n    return [\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\n    ];\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n  */\n  public toJSON(): TransformProps {\n    return this.toRows();\n  }\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\n  public static fromJSON(json?: TransformProps): Transform {\n    const result = Transform.createIdentity();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\n  public clone(result?: Transform): Transform {\n    if (result) {\n      result._matrix.setFrom(this._matrix);\n      result._origin.setFrom(this._origin);\n      return result;\n    }\n    return new Transform(\n      Point3d.createFrom(this._origin),\n      this._matrix.clone(),\n    );\n  }\n  /**\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\n   * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\n   */\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\n    if (!modifiedMatrix)\n      return undefined;\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\n  }\n  /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\n    if (!origin)\n      origin = Point3d.createZero();\n    if (result) {\n      result._origin = origin;\n      result._matrix = matrix;\n      return result;\n    }\n    return new Transform(origin, matrix);\n  }\n  /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */\n  public static createRowValues(\n    qxx: number, qxy: number, qxz: number, ax: number,\n    qyx: number, qyy: number, qyz: number, ay: number,\n    qzx: number, qzy: number, qzz: number, az: number,\n    result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.set(ax, ay, az);\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\n      return result;\n    }\n    return new Transform(\n      Point3d.create(ax, ay, az),\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\n    );\n  }\n  /** Create a Transform with all zeros */\n  public static createZero(result?: Transform): Transform {\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\n  }\n  /**\n   * Create a Transform with translation provided by x,y,z parts.\n   * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param x x part of translation\n   * @param y y part of translation\n   * @param z z part of translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\n  }\n  /**\n   * Create a Transform with specified `translation` part.\n   * * Translation Transform maps any vector `v` to `v + translation`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param translation x,y,z parts of the translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\n  }\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\n  public get matrix(): Matrix3d {\n    return this._matrix;\n  }\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\n  public get origin(): XYZ {\n    return this._origin;\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\n  public getOrigin(): Point3d {\n    return Point3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\n  public getTranslation(): Vector3d {\n    return Vector3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\n  public getMatrix(): Matrix3d {\n    return this._matrix.clone();\n  }\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\n  public get isIdentity(): boolean {\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\n  }\n  /** Create an identity transform */\n  public static createIdentity(result?: Transform): Transform {\n    if (result) {\n      result._origin.setZero();\n      result._matrix.setIdentity();\n      return result;\n    }\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\n  }\n  /**\n   * Create a Transform using the given `origin` and `matrix`.\n   * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\n   * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\n   * of the world-to-world transformation.\n   * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\n   */\n  public static createOriginAndMatrix(\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.setFromPoint3d(origin);\n      result._matrix.setFrom(matrix);\n      return result;\n    }\n    return Transform.createRefs(\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\n      result,\n    );\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\n  public setOriginAndMatrixColumns(\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined,\n  ): void {\n    if (origin !== undefined)\n      this._origin.setFrom(origin);\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\n  public static createOriginAndMatrixColumns(\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\n  ): Transform {\n    if (result)\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\n    else\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\n    return result;\n  }\n  /**\n   * Create a Transform such that its `matrix` part is rigid.\n   * @see [[Matrix3d.createRigidFromColumns]] for details of how the matrix is created to be rigid.\n   */\n  public static createRigidFromOriginAndColumns(\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\n  ): Transform | undefined {\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result ? result._matrix : undefined);\n    if (!matrix)\n      return undefined;\n    if (result) {\n      // result._matrix was already modified to become rigid via createRigidFromColumns\n      result._origin.setFrom(origin);\n      return result;\n    }\n    /**\n     * We don't want to pass \"origin\" to createRefs because createRefs does not clone \"origin\". That means if \"origin\"\n     * is changed via Transform at any point, the initial \"origin\" passed by the user is also changed. To avoid that,\n     * we pass \"undefined\" to createRefs so that it allocates a new point which then we set it to the \"origin\" which\n     * is passed by user in the next line.\n     */\n    result = Transform.createRefs(undefined, matrix);\n    result._origin.setFromPoint3d(origin);\n    return result;\n  }\n  /**\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\n   */\n  public static createFixedPointAndMatrix(\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform,\n  ): Transform {\n    if (fixedPoint) {\n      /**\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\n       */\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n      return Transform.createRefs(origin, matrix.clone(), result);\n    }\n    return Transform.createRefs(undefined, matrix.clone());\n  }\n  /**\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to `b`.\n   */\n  public static createMatrixPickupPutdown(\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\n  ): Transform {\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(p-a) + b\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\n    return Transform.createRefs(origin, matrix.clone(), result);\n  }\n  /**\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\n   * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   */\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\n    const matrix = Matrix3d.createScale(scale, scale, scale);\n    /**\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\n     */\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n    return Transform.createRefs(origin, matrix, result);\n  }\n  /**\n   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\n   * from the plane normal.\n   * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\n   * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.\n   * @param planePoint any point on the plane\n   * @param planeNormal vector normal to the plane.\n   */\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\n    if (matrix === undefined)\n      return undefined;\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\n  }\n  /**\n   * Transform the input 2d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\n   */\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\n   */\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the\n   * first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`\n   * in the first 3 numbers of the array and `w` as the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.\n   */\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\n   * pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,\n   * and `o*p + w` in the fourth.\n   * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001.\n   */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    const coffs = this._matrix.coffs;\n    const origin = this._origin;\n    return Point4d.create(\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\n      result,\n    );\n  }\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\n    let point;\n    for (point of points)\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\n  }\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\n    for (const chain of chains)\n      this.multiplyPoint3dArrayInPlace(chain);\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`\n   * Transform has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      point.x - this._origin.x,\n      point.y - this._origin.y,\n      point.z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * Multiply the homogenous point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`\n   * in the first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\n    const w = weightedPoint.w;\n    return this._matrix.multiplyInverseXYZW(\n      weightedPoint.x - w * this.origin.x,\n      weightedPoint.y - w * this.origin.y,\n      weightedPoint.z - w * this.origin.z,\n      w,\n      result,\n    );\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      x - this._origin.x,\n      y - this._origin.y,\n      z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\n   * operations can complete.\n   * @param useCached If true, accept prior cached inverse if available.\n   * @returns `true` if matrix inverse completes, `false` otherwise.\n   */\n  public computeCachedInverse(useCached: boolean = true): boolean {\n    return this._matrix.computeCachedInverse(useCached);\n  }\n  /**\n   * Match the length of destination array with the length of source array\n   * * If destination has more elements than source, remove the extra elements.\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\n   * *\n   * @param source the source array\n   * @param dest the destination array\n   * @param constructionFunction function to call to create new elements.\n   */\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\n    const numSource = source.length;\n    const numDest = dest.length;\n    if (numSource > numDest) {\n      for (let i = numDest; i < numSource; i++) {\n        dest.push(constructionFunction());\n      }\n    } else if (numDest > numSource) {\n      dest.length = numSource;\n    }\n    return numSource;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\n   * * If `result` is not given, return a new array.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined {\n    if (!this._matrix.computeCachedInverse(true))\n      return undefined;\n    const originX = this.origin.x;\n    const originY = this.origin.y;\n    const originZ = this.origin.z;\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          points[i].x - originX,\n          points[i].y - originY,\n          points[i].z - originZ,\n          result[i],\n        );\n      return result;\n    }\n    result = [];\n    for (const point of points)\n      result.push(\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          point.x - originX,\n          point.y - originY,\n          point.z - originZ,\n        )!,\n      );\n    return result;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform in place.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\n   */\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\n    if (!this._matrix.computeCachedInverse(true))\n      return false;\n    for (const point of points)\n      this._matrix.multiplyInverseXYZAsPoint3d(\n        point.x - this.origin.x,\n        point.y - this.origin.y,\n        point.z - this.origin.z,\n        point,\n      );\n    return true;\n  }\n  /**\n   * Transform the input 2d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Transform the input 3d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyVector(vector, result);\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform in place.\n   * * The `origin` part of Transform is not used.\n   */\n  public multiplyVectorInPlace(vector: Vector3d): void {\n    this._matrix.multiplyVectorInPlace(vector);\n  }\n  /**\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyXYZ(x, y, z, result);\n  }\n  /**\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\n   * `[A*B   Ab+a]`.\n   * * @see [[multiplyTransformTransform]] documentation for math details.\n   * @param transformA first operand\n   * @param transformB second operand\n   */\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\n    Matrix3d.xyzPlusMatrixTimesXYZ(\n      transformA._origin,\n      transformA._matrix,\n      transformB._origin,\n      this._origin as Point3d,\n    );\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\n  }\n  /**\n   * Multiply `this` Transform times `other` Transform.\n   * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as `[A*B   Ab+a]` because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Transform to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\n    if (!result)\n      return Transform.createRefs(\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\n        this._matrix.multiplyMatrixMatrix(other._matrix),\n      );\n    result.setMultiplyTransformTransform(this, other);\n    return result;\n  }\n  /**\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\n   * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\n    if (!result)\n      return Transform.createRefs(\n        this._origin.cloneAsPoint3d(),\n        this._matrix.multiplyMatrixMatrix(other),\n      );\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\n    result._origin.setFrom(this._origin);\n    return result;\n  }\n  /**\n   * Return the range of the transformed corners.\n   * * The 8 corners are transformed individually.\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\n   * function creates the larger range box because it only has access to the range box and not the geometry itself.\n   */\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\n    if (range.isNull)\n      return range.clone(result);\n    const lowX = range.low.x;\n    const lowY = range.low.y;\n    const lowZ = range.low.z;\n    const highX = range.high.x;\n    const highY = range.high.y;\n    const highZ = range.high.z;\n    result = Range3d.createNull(result);\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\n    result.extendTransformedXYZ(this, highX, highY, highZ);\n    return result;\n  }\n  /**\n   * Return a Transform which is the inverse of `this` Transform.\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`\n   * * Return `undefined` if this Transform's matrix is singular.\n   */\n  public inverse(result?: Transform): Transform | undefined {\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\n    if (!matrixInverse)\n      return undefined;\n    if (result) {\n      // result._matrix is already defined\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\n      return result;\n    }\n    return Transform.createRefs(\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\n      matrixInverse,\n    );\n  }\n  /**\n   * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\n   * by the input points.\n   * @param min the min corner of the range box\n   * @param max the max corner of the range box\n   * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\n   * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\n   * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\n   * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\n   * * NPC stands for `Normalized Projection Coordinate`\n   */\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\n    const diag = max.minus(min);\n    if (diag.x === 0.0)\n      diag.x = 1.0;\n    if (diag.y === 0.0)\n      diag.y = 1.0;\n    if (diag.z === 0.0)\n      diag.z = 1.0;\n    const rMatrix = new Matrix3d();\n    /**\n     *               [diag.x    0       0      min.x]\n     * npcToGlobal = [  0     diag.y    0      min.y]\n     *               [  0       0     diag.y   min.z]\n     *\n     * npcToGlobal * 0 = min\n     * npcToGlobal * 1 = diag + min = max\n     */\n    if (npcToGlobal) {\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\n    }\n    /**\n     *               [1/diag.x      0         0      -min.x/diag.x]\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\n     *               [  0         0       1/diag.y   -min.z/diag.z]\n     *\n     * globalToNpc * min = min/diag - min/diag = 0\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\n     */\n    if (globalToNpc) {\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\n    }\n  }\n}\n"]}

package/lib/cjs/geometry3d/YawPitchRollAngles.js

@@ -35,6 +35,12 @@ const Point3dVector3d_1 = require("./Point3dVector3d");
  * @public
  */
 class YawPitchRollAngles {
+    /** The yaw angle: counterclockwise rotation angle around z  */
+    yaw;
+    /** The pitch angle: **clockwise** rotation angle around y */
+    pitch;
+    /** The roll angle: counterclockwise rotation angle around x */
+    roll;
     /**
      * Constructor
      * @param yaw counterclockwise rotation angle around z

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

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

package/lib/cjs/geometry4d/Map4d.js

@@ -16,6 +16,8 @@ const Matrix4d_1 = require("./Matrix4d");
  * @public
  */
 class Map4d {
+    _matrix0;
+    _matrix1;
     constructor(matrix0, matrix1) {
         this._matrix0 = matrix0;
         this._matrix1 = matrix1;