@itwin/core-geometry 5.0.0-dev.99 → 5.1.0-dev.1

package/lib/esm/geometry3d/Matrix3d.js

@@ -2621,28 +2621,27 @@ export class Matrix3d {
         return count === 3;
     }
     /**
-     * Adjust the matrix in place to make is a `rigid` matrix so that:
-     * * columns are perpendicular and have unit length.
-     * * transpose equals inverse.
-     * * mirroring is removed.
-     * * This function internally uses `axisOrderCrossProductsInPlace` to make the matrix rigid.
-     * @param axisOrder how to reorder the matrix columns
-     * @return whether the adjusted matrix is `rigid` on return
+     * Adjust the matrix in place to make it rigid:
+     * * Columns are perpendicular and have unit length.
+     * * Transpose equals inverse.
+     * @param axisOrder how to reorder the matrix columns. A left-handed ordering will return a mirror.
+     * @return whether the adjusted matrix is rigid on return
      */
     makeRigid(axisOrder = AxisOrder.XYZ) {
         const maxAbs = this.maxAbs();
         if (Geometry.isSmallMetricDistance(maxAbs))
             return false;
         const scale = 1.0 / maxAbs;
-        this.scaleColumnsInPlace(scale, scale, scale);
+        this.scaleColumnsInPlace(scale, scale, scale); // improve numerical stability
         this.axisOrderCrossProductsInPlace(axisOrder);
         return this.normalizeColumnsInPlace();
     }
     /**
-     * Create a new orthogonal matrix (perpendicular columns, unit length, transpose is inverse).
-     * * Columns are taken from the source Matrix3d in order indicated by the axis order.
-     * * Mirroring in the matrix is removed.
-     * * This function internally uses `axisOrderCrossProductsInPlace` to make the matrix rigid.
+     * Create a new orthogonal matrix by calling [[makeRigid]] on a clone of `source`.
+     * @param source input matrix
+     * @param axisOrder how to reorder the matrix columns. A left-handed ordering will return a mirror.
+     * @param result optional preallocated result to populate and return
+     * @returns rigid matrix, or `undefined` if the operation failed.
      */
     static createRigidFromMatrix3d(source, axisOrder = AxisOrder.XYZ, result) {
         result = source.clone(result);