@itwin/core-geometry 5.0.0-dev.82 → 5.0.0-dev.84

package/lib/esm/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/esm/serialization/IModelJsonSchema.d.ts

@@ -158,43 +158,43 @@ export declare namespace IModelJson {
         ruledSweep?: RuledSweepProps;
     }
     /**
-     * * There are multiple ways to specify an orientation
-     * * A "Best" among these is application specific.
-     * * An object with AxesProps should only specify one of the variants.
-     * * YawPitchRollAngles uses 3 angles.
-     * * * Cases where only one of the 3 is nonzero are intuitive
-     * * * Cases where more than one is nonzero have difficult interactions and order issues.
-     * * xyVectors uses a vector along the x direction and a vector into positive xy plane
-     *    along any direction not parallel to x.
-     * * * In most cases, users supply a normalized x and the actual normalized y vector.
-     * * zxVectors uses a z vector and another vector into the positive zx plane.
-     * * * In most cases, users supply a normalized z and the actual normalized x vector.
+     * Ways to specify an object's local coordinate frame.
+     * * Most objects that implement AxesProps specify their local coordinate frame by a right-handed
+     * rotation matrix (`yawPitchRollAngles`, `xyVectors`, `zxVectors`).
+     * * A general invertible matrix can be specified by `xyzVectors`.
+     * * An object that implements AxesProps typically specifies only one variant, or none for Identity.
      * @public
      */
     interface AxesProps {
         /**
-         * See YawPitchAngles class for further information about using 3 rotations to specify orientation.
+         * A rotation specified by yaw, pitch, roll angles.
+         * * Cases where only one of these angles is nonzero are intuitive.
+         * * Cases where more than one is nonzero have difficult interactions and order issues.
+         * * See [[YawPitchRollAngles]] for further information.
          * @public
          */
         yawPitchRollAngles?: YawPitchRollProps;
         /**
-         * Cartesian coordinate directions defined by X direction then Y direction.
-         * * The right side contains two vectors in an array.
-         * * The first vector gives the x axis direction
-         * * * This is normalized to unit length.
-         * * The second vector gives the positive y direction in the xy plane.
-         * * * This vector is adjusted to be unit length and perpendicular to the x direction.
+         * A rotation specified by an array of two vectors [xAxis, yAxis].
+         * * The first vector gives the local x-axis direction; the second determines the local xy-plane.
+         * * A third implied axis is perpendicular to these.
+         * * The implied rotation is `Matrix3d.createRigidFromColumns(xAxis, yAxis, AxisOrder.XYZ)`.
          */
         xyVectors?: [XYZProps, XYZProps];
         /**
-         * Cartesian coordinate directions defined by Z direction then X direction.
-         * * The right side contains two vectors in an array.
-         * * The first vector gives the z axis direction
-         * * * This is normalized to unit length.
-         * * The second vector gives the positive x direction in the zx plane.
-         * * * This vector is adjusted to be unit length and perpendicular to the z direction.
+         * A rotation specified by an array of two vectors [zAxis, xAxis].
+         * * The first vector gives the local z-axis direction; the second determines the local zx-plane.
+         * * A third implied axis is perpendicular to these.
+         * * The implied rotation is `Matrix3d.createRigidFromColumns(zAxis, xAxis, AxisOrder.ZXY)`.
          */
         zxVectors?: [XYZProps, XYZProps];
+        /**
+         * A local coordinate system specified by an array of three vectors [xAxis, yAxis, zAxis].
+         * * The vectors should have positive length and be linearly independent, but otherwise they are unrestricted.
+         * * This allows skew coordinate systems, left-handed frames, and non-uniform scaling.
+         * * The implied matrix is `Matrix3d.createColumns(xAxis, yAxis, zAxis)`.
+         */
+        xyzVectors?: [XYZProps, XYZProps, XYZProps];
     }
     /**
      * Interface for Arc3d value defined by center, vectorX, vectorY and sweepStartEnd.
@@ -211,25 +211,34 @@ export declare namespace IModelJson {
         sweepStartEnd: AngleSweepProps;
     }
     /**
-     * Interface for Cone value defined by centers, radii, and (optional) vectors for circular section planes.
-     * * VectorX and vectorY are optional.
-     * * If either one is missing, both vectors are constructed perpendicular to the vector from start to end.
+     * Interface for a [[Cone]], defined by two centers and radii.
+     * * A Cone typically has circular sections perpendicular to the axis line between centers.
+     * * The cross section xy-plane is specified by an [[IModelJson.AxesProps]]:
+     *   * Typically this is an `xyVectors`.
+     *   * Elliptical cross sections can be specified with `xyzVectors`, which admits skew vectors
+     * and/or vectors of different lengths. Elliptical cross sections are scaled by radius.
      * @public
      */
     interface ConeProps extends AxesProps {
-        /** Point on axis at start section. */
+        /** Point on axis at center of start section. */
         start: XYZProps;
-        /** Point on axis at end section  */
+        /** Point on axis at center of end section. */
         end: XYZProps;
-        /** radius at `start` section */
+        /** Radius of the section at `start` if circular, or scale factor if elliptical. */
         startRadius?: number;
-        /** radius at `end` section */
+        /** Radius of the section at `end` if circular, or scale factor if elliptical. */
         endRadius?: number;
-        /** single radius to be applied as both start and end */
+        /** Constant radius of all sections if circular, or scale factor if elliptical. */
         radius?: number;
-        /** optional x vector in start section.  Omit for circular sections perpendicular to axis. */
+        /**
+         * Optional section x-axis.
+         * @deprecated in 5.x. This property has never been written. Optional axes are specified by an AxesProps.
+         */
         vectorX?: XYZProps;
-        /** optional y vector in start section.  Omit for circular sections perpendicular to axis. */
+        /**
+         * Optional section y-axis.
+         * @deprecated in 5.x. This property has never been written. Optional axes are specified by an AxesProps.
+         */
         vectorY?: XYZProps;
         /** flag for circular end caps. */
         capped?: boolean;
@@ -390,8 +399,11 @@ export declare namespace IModelJson {
         capped?: boolean;
     }
     /**
-     * Interface for Sphere (with optionally different radius to pole versus equator)
-     * * Orientation may be given in any `AxesProp`s way (yawPitchRoll, xyVectors, zxVectors)
+     * Interface for a [[Sphere]].
+     * * Local coordinate frame is supplied by an [[IModelJson.AxesProps]]:
+     *   * Typically this is a `zxVectors`.
+     *   * Skew axes can be specified with `xyzVectors`, in which case any specified radii scale these axes;
+     * all other AxesProps specify a right-handed orthonormal triad.
      * @public
      */
     interface SphereProps extends AxesProps {
@@ -403,7 +415,7 @@ export declare namespace IModelJson {
         radiusX?: number;
         /** optional y radius */
         radiusY?: number;
-        /** optional radius at poles.  */
+        /** optional z radius */
         radiusZ?: number;
         /** optional sweep range for latitude.  Default latitude limits are [-90,90 ] degrees. */
         latitudeStartEnd?: AngleSweepProps;
@@ -557,10 +569,11 @@ export declare namespace IModelJson {
         private static parseAxesFromVectors;
         /**
          * Look for orientation data and convert to Matrix3d.
-         * * Search order is:
-         * * * yawPitchRollAngles
-         * * * xyVectors
-         * * * zxVectors
+         * * Search order and interpretation:
+         * * * xyzVectors - general matrix, axes preserved
+         * * * yawPitchRollAngles - right-handed rotation via axial rotations
+         * * * xyVectors - right-handed rotation, xy-plane specified, axes squared and normalized
+         * * * zxVectors - right-handed rotation, zx-plane specified, axes squared and normalized
          * @param json [in] json source data
          * @param createDefaultIdentity [in] If true and no orientation is present, return an identity matrix.  If false and no orientation is present, return undefined.
          */

package/lib/esm/serialization/IModelJsonSchema.d.ts.map

@@ -1 +1 @@
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