@itwin/core-geometry 5.1.0-dev.3 → 5.1.0-dev.5

package/lib/cjs/geometry4d/Matrix4d.d.ts

@@ -268,13 +268,13 @@ export declare class Matrix4d implements BeJSONFunctions {
      */
     addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number): void;
     /**
-     * Multiply and replace contents of this matrix by A*this*AT where
-     * * A is a pure translation with final column [x,y,z,1]
-     * * this is this matrix.
-     * * AT is the transpose of A.
-     * @param ax x part of translation
-     * @param ay y part of translation
-     * @param az z part of translation
+     * Multiply and replace contents of ` this` matrix by `A*this*AT` where
+     * * `A` is a pure translation with final column [x,y,z,1].
+     * * `this` is this matrix.
+     * * `AT` is the transpose of A.
+     * @param ax x part of translation.
+     * @param ay y part of translation.
+     * @param az z part of translation.
      */
     multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number): void;
 }

package/lib/cjs/geometry4d/Matrix4d.d.ts.map

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package/lib/cjs/geometry4d/Matrix4d.js

@@ -714,19 +714,19 @@ class Matrix4d {
         this._coffs[15] += scale * beta;
     }
     /**
-     * Multiply and replace contents of this matrix by A*this*AT where
-     * * A is a pure translation with final column [x,y,z,1]
-     * * this is this matrix.
-     * * AT is the transpose of A.
-     * @param ax x part of translation
-     * @param ay y part of translation
-     * @param az z part of translation
+     * Multiply and replace contents of ` this` matrix by `A*this*AT` where
+     * * `A` is a pure translation with final column [x,y,z,1].
+     * * `this` is this matrix.
+     * * `AT` is the transpose of A.
+     * @param ax x part of translation.
+     * @param ay y part of translation.
+     * @param az z part of translation.
      */
     multiplyTranslationSandwichInPlace(ax, ay, az) {
         const bx = this._coffs[3];
         const by = this._coffs[7];
         const bz = this._coffs[11];
-        // matrixB can be non-symmetric!!
+        // matrixB can be non-symmetric
         const cx = this._coffs[12];
         const cy = this._coffs[13];
         const cz = this._coffs[14];
@@ -749,7 +749,7 @@ class Matrix4d {
         this._coffs[12] += axBeta;
         this._coffs[13] += ayBeta;
         this._coffs[14] += azBeta;
-        // coffs[15] is unchanged !!!
+        // coffs[15] is unchanged
     }
 }
 exports.Matrix4d = Matrix4d;

package/lib/cjs/geometry4d/Matrix4d.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/** @packageDocumentation\n * @module Numerics\n */\n\nimport { BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Point4d, Point4dProps } from \"./Point4d\";\n\n/**\n * Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\n * @public\n */\nexport type Matrix4dProps = Point4dProps[];\n\n/**\n * * A Matrix4d is a matrix with 4 rows and 4 columns.\n * * The 4 rows may be described as the x,y,z,w rows.\n * * The 4 columns may be described as the x,y,z,w columns.\n * * The matrix is physically stored as a Float64Array with 16 numbers.\n * * The layout in the Float64Array is \"by row\"\n *   * indices 0,1,2,3 are the \"x row\".   They may be called the xx,xy,xz,xw entries\n *   * indices 4,5,6,7 are the \"y row\"    They may be called the yx,yy,yz,yw entries\n *   * indices 8,9,10,11 are the \"z row\"  They may be called the zx,zy,zz,zw entries\n *   * indices 12,13,14,15 are the \"w row\".  They may be called the wx,wy,wz,ww entries\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\n *  * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\n *  * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\n * @public\n */\nexport class Matrix4d implements BeJSONFunctions {\n  private _coffs: Float64Array;\n  private constructor() { this._coffs = new Float64Array(16); }\n  /** Copy matrix entries from `other` */\n  public setFrom(other: Matrix4d): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = other._coffs[i];\n  }\n  /** Return a deep clone. */\n  public clone(result?: Matrix4d): Matrix4d {\n    if (result === this)\n      return this;\n    if (result === undefined)\n      result = new Matrix4d();\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] = this._coffs[i];\n    return result;\n  }\n  /** zero this matrix4d in place. */\n  public setZero(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n  }\n  /** set to identity. */\n  public setIdentity(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n    this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\n  }\n  private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\n    return Math.abs(a - 1.0) <= tol\n      && Math.abs(b) <= tol\n      && Math.abs(c) <= tol\n      && Math.abs(d) <= tol;\n  }\n  /** set to identity. */\n  public isIdentity(tol: number = 1.0e-10): boolean {\n    return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\n      && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\n      && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\n      && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\n  }\n  /** create a Matrix4d filled with zeros. */\n  public static createZero(result?: Matrix4d): Matrix4d {\n    if (result) {\n      result.setZero();\n      return result;\n    }\n    return new Matrix4d(); // this is zero.\n  }\n  /** create a Matrix4d with values supplied \"across the rows\" */\n  public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\n    result = result ? result : new Matrix4d();\n    result._coffs[0] = cxx;\n    result._coffs[1] = cxy;\n    result._coffs[2] = cxz;\n    result._coffs[3] = cxw;\n    result._coffs[4] = cyx;\n    result._coffs[5] = cyy;\n    result._coffs[6] = cyz;\n    result._coffs[7] = cyw;\n    result._coffs[8] = czx;\n    result._coffs[9] = czy;\n    result._coffs[10] = czz;\n    result._coffs[11] = czw;\n    result._coffs[12] = cwx;\n    result._coffs[13] = cwy;\n    result._coffs[14] = cwz;\n    result._coffs[15] = cww;\n    return result;\n  }\n  /** Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. */\n  public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\n    return this.createRowValues(\n      rowX.x, rowX.y, rowX.z, rowX.w,\n      rowY.x, rowY.y, rowY.z, rowY.w,\n      rowZ.x, rowZ.y, rowZ.z, rowZ.w,\n      rowW.x, rowW.y, rowW.z, rowW.w, result);\n  }\n  /** directly set columns from typical 3d data:\n   *\n   * * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\n   * * origin as column3, with weight 1\n   */\n  public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\n    this._coffs[0] = vectorX.x;\n    this._coffs[1] = vectorY.x;\n    this._coffs[2] = vectorZ.x;\n    this._coffs[3] = origin.x;\n    this._coffs[4] = vectorX.y;\n    this._coffs[5] = vectorY.y;\n    this._coffs[6] = vectorZ.y;\n    this._coffs[7] = origin.y;\n    this._coffs[8] = vectorX.z;\n    this._coffs[9] = vectorY.z;\n    this._coffs[10] = vectorZ.z;\n    this._coffs[11] = origin.z;\n    this._coffs[12] = 0.0;\n    this._coffs[13] = 0.0;\n    this._coffs[14] = 0.0;\n    this._coffs[15] = 1.0;\n  }\n  /** promote a transform to full Matrix4d (with 0001 in final row) */\n  public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\n    const matrix = source.matrix;\n    const point = source.origin;\n    return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\n  }\n  /** return an identity matrix. */\n  public static createIdentity(result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    return result;\n  }\n  /** return matrix with translation directly inserted (along with 1 on diagonal) */\n  public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    result._coffs[3] = x;\n    result._coffs[7] = y;\n    result._coffs[11] = z;\n    return result;\n  }\n\n  /** return this matrix plus scale times matrixB. */\n  public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\n    // If result is undefined, a real clone is created.\n    // If result is \"this\" we get the pointer to this right back.\n    // If result is other, \"this\" coffs are copied.\n    // Then we can add matrixB.  (Which we assume is different from this?)\n    result = this.clone(result);\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] += scale * matrixB._coffs[i];\n    return result;\n  }\n\n  /**\n   * Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\n   * @param tx x entry for translation column\n   * @param ty y entry for translation column\n   * @param tz z entry for translation column\n   * @param scaleX x diagonal entry\n   * @param scaleY y diagonal entry\n   * @param scaleZ z diagonal entry\n   * @param result optional result.\n   */\n  public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\n    return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\n  }\n  /**\n   * Create a mapping that scales and translates (no rotation) from box A to box B\n   * @param lowA low point of box A\n   * @param highA high point of box A\n   * @param lowB low point of box B\n   * @param highB high point of box B\n   */\n  public static createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d | undefined {\n    const ax = highA.x - lowA.x;\n    const ay = highA.y - lowA.y;\n    const az = highA.z - lowA.z;\n    const bx = highB.x - lowB.x;\n    const by = highB.y - lowB.y;\n    const bz = highB.z - lowB.z;\n    const abx = Geometry.conditionalDivideFraction(bx, ax);\n    const aby = Geometry.conditionalDivideFraction(by, ay);\n    const abz = Geometry.conditionalDivideFraction(bz, az);\n    if (abx !== undefined && aby !== undefined && abz !== undefined) {\n      return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx * lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\n    }\n    return undefined;\n  }\n  /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public setFromJSON(json?: Matrix4dProps) {\n    if (Geometry.isArrayOfNumberArray(json, 4, 4)) {\n      for (let i = 0; i < 4; ++i) {\n        for (let j = 0; j < 4; ++j)\n          this._coffs[i * 4 + j] = json[i][j];\n      }\n    } else {\n      this.setZero();\n    }\n  }\n  /**\n   * Return the largest (absolute) difference between this and other Matrix4d.\n   * @param other matrix to compare to\n   */\n  public maxDiff(other: Matrix4d): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\n    return a;\n  }\n  /**\n   * Return the largest absolute value in the Matrix4d\n   */\n  public maxAbs(): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i]));\n    return a;\n  }\n  /** Test for near-equality with `other` */\n  public isAlmostEqual(other: Matrix4d): boolean {\n    return Geometry.isSmallMetricDistance(this.maxDiff(other));\n  }\n  /** Test for exact (bitwise) equality with other. */\n  public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\n  /**\n   * Convert an Matrix4d to a Matrix4dProps.\n   */\n  public toJSON(): Matrix4dProps {\n    const value = [];\n    for (let i = 0; i < 4; ++i) {\n      const row = i * 4;\n      value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\n    }\n    return value;\n  }\n  /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public static fromJSON(json?: Matrix4dProps) {\n    const result = new Matrix4d();\n    result.setFromJSON(json);\n    return result;\n  }\n  /**\n   * Return a point with entries from positions [i0, i0+step, i0+2*step, i0+3*step].\n   * * There are no tests for index going out of the 0..15 range.\n   * * Usual uses are:\n   * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\n   * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\n   * * * i0 = 0, step = 5 to extract the diagonal\n   * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\n   * @param i0 start index (for 16 member array)\n   * @param step step between members\n   * @param result optional preallocated point.\n   */\n  public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\n    return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 * step], this._coffs[i0 + 3 * step], result);\n  }\n  /** Return column 0 as Point4d. */\n  public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\n  /** Return column 1 as Point4d. */\n  public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\n  /** Return column 2 as Point4d. */\n  public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\n  /** Return column 3 as Point4d. */\n  public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\n  /** Return row 0 as Point4d. */\n  public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\n  /** Return row 1 as Point4d. */\n  public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\n  /** Return row 2 as Point4d. */\n  public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\n  /** Return row 3 as Point4d. */\n  public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\n  /**\n   * Returns true if the w row has content other than [0,0,0,1]\n   */\n  public get hasPerspective(): boolean {\n    return this._coffs[12] !== 0.0\n      || this._coffs[13] !== 0.0\n      || this._coffs[14] !== 0.0\n      || this._coffs[15] !== 1.0;\n  }\n  /**\n   * Return a Point4d with the diagonal entries of the matrix\n   */\n  public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\n  /** return the weight component of this matrix */\n  public weight(): number { return this._coffs[15]; }\n  /** return the leading 3x3 matrix part of this matrix */\n  public matrixPart(): Matrix3d {\n    return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\n  }\n  /**\n   * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\n   * @return undefined if this Matrix4d has perspective effects in the w row.\n   */\n  public get asTransform(): Transform | undefined {\n    if (this.hasPerspective)\n      return undefined;\n    return Transform.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]);\n  }\n  /** multiply this * other. */\n  public multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    for (let i0 = 0; i0 < 16; i0 += 4) {\n      for (let k = 0; k < 4; k++)\n        result._coffs[i0 + k] =\n          this._coffs[i0] * other._coffs[k] +\n          this._coffs[i0 + 1] * other._coffs[k + 4] +\n          this._coffs[i0 + 2] * other._coffs[k + 8] +\n          this._coffs[i0 + 3] * other._coffs[k + 12];\n    }\n    return result;\n  }\n  /** multiply this * transpose(other). */\n  public multiplyMatrixMatrixTranspose(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    let j = 0;\n    for (let i0 = 0; i0 < 16; i0 += 4) {\n      for (let k = 0; k < 16; k += 4)\n        result._coffs[j++] =\n          this._coffs[i0] * other._coffs[k] +\n          this._coffs[i0 + 1] * other._coffs[k + 1] +\n          this._coffs[i0 + 2] * other._coffs[k + 2] +\n          this._coffs[i0 + 3] * other._coffs[k + 3];\n    }\n    return result;\n  }\n  /** multiply transpose (this) * other. */\n  public multiplyMatrixTransposeMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    let j = 0;\n    for (let i0 = 0; i0 < 4; i0 += 1) {\n      for (let k0 = 0; k0 < 4; k0 += 1)\n        result._coffs[j++] =\n          this._coffs[i0] * other._coffs[k0] +\n          this._coffs[i0 + 4] * other._coffs[k0 + 4] +\n          this._coffs[i0 + 8] * other._coffs[k0 + 8] +\n          this._coffs[i0 + 12] * other._coffs[k0 + 12];\n    }\n    return result;\n  }\n  /** Return a transposed matrix. */\n  public cloneTransposed(result?: Matrix4d): Matrix4d {\n    return Matrix4d.createRowValues(this._coffs[0], this._coffs[4], this._coffs[8], this._coffs[12], this._coffs[1], this._coffs[5], this._coffs[9], this._coffs[13], this._coffs[2], this._coffs[6], this._coffs[10], this._coffs[14], this._coffs[3], this._coffs[7], this._coffs[11], this._coffs[15], result);\n  }\n  /** multiply matrix times column [x,y,z,w].  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    result = result ? result : Point4d.createZero();\n    return result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w, this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w);\n  }\n  /** multiply matrix times column vectors [x,y,z,w] where [x,y,z,w] appear in blocks in an array.\n   * replace the xyzw in the block\n   */\n  public multiplyBlockedFloat64ArrayInPlace(data: Float64Array) {\n    const n = data.length;\n    let x, y, z, w;\n    for (let i = 0; i + 3 < n; i += 4) {\n      x = data[i];\n      y = data[i + 1];\n      z = data[i + 2];\n      w = data[i + 3];\n      data[i] = this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w;\n      data[i + 1] = this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w;\n      data[i + 2] = this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w;\n      data[i + 3] = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n    }\n  }\n  /** multiply matrix times XYAndZ  and w. return as Point4d  (And the returned value is NOT normalized down to unit w) */\n  public multiplyPoint3d(pt: XYAndZ, w: number, result?: Point4d): Point4d {\n    return this.multiplyXYZW(pt.x, pt.y, pt.z, w, result);\n  }\n  /** multiply matrix times and array  of XYAndZ. return as array of Point4d  (And the returned value is NOT normalized down to unit w) */\n  public multiplyPoint3dArray(pts: XYAndZ[], results: Point4d[], w: number = 1.0): void {\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZW(pt.x, pt.y, pt.z, w, results[i]); });\n  }\n  /** multiply [x,y,z,w] times matrix.  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    result = result ? result : Point4d.createZero();\n    return result.set(this._coffs[0] * x + this._coffs[4] * y + this._coffs[8] * z + this._coffs[12] * w, this._coffs[1] * x + this._coffs[5] * y + this._coffs[9] * z + this._coffs[13] * w, this._coffs[2] * x + this._coffs[6] * y + this._coffs[10] * z + this._coffs[14] * w, this._coffs[3] * x + this._coffs[7] * y + this._coffs[11] * z + this._coffs[15] * w);\n  }\n  /** Returns dot product of row rowIndex of this with column columnIndex of other.\n   */\n  public rowDotColumn(rowIndex: number, other: Matrix4d, columnIndex: number): number {\n    const i = rowIndex * 4;\n    const j = columnIndex;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 1] * other._coffs[j + 4]\n      + this._coffs[i + 2] * other._coffs[j + 8]\n      + this._coffs[i + 3] * other._coffs[j + 12];\n  }\n  /** Returns dot product of row rowIndex of this with [x y z w]\n   */\n  public rowDotXYZW(rowIndex: number, x: number, y: number, z: number, w: number): number {\n    const i = rowIndex * 4;\n    return this._coffs[i] * x\n      + this._coffs[i + 1] * y\n      + this._coffs[i + 2] * z\n      + this._coffs[i + 3] * w;\n  }\n\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n   */\n  public rowDotRow(rowIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n    const i = rowIndexThis * 4;\n    const j = rowIndexOther * 4;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 1] * other._coffs[j + 1]\n      + this._coffs[i + 2] * other._coffs[j + 2]\n      + this._coffs[i + 3] * other._coffs[j + 3];\n  }\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n   */\n  public columnDotColumn(columnIndexThis: number, other: Matrix4d, columnIndexOther: number): number {\n    const i = columnIndexThis;\n    const j = columnIndexOther;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 4] * other._coffs[j + 4]\n      + this._coffs[i + 8] * other._coffs[j + 8]\n      + this._coffs[i + 12] * other._coffs[j + 12];\n  }\n  /** Returns dot product of column columnIndexThis of this with row rowIndexOther other.\n   */\n  public columnDotRow(columnIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n    const i = columnIndexThis;\n    const j = 4 * rowIndexOther;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 4] * other._coffs[j + 1]\n      + this._coffs[i + 8] * other._coffs[j + 2]\n      + this._coffs[i + 12] * other._coffs[j + 3];\n  }\n  /** Return a matrix entry by row and column index.\n   */\n  public atIJ(rowIndex: number, columnIndex: number): number {\n    return this._coffs[rowIndex * 4 + columnIndex];\n  }\n\n  /** Set a matrix entry by row and column index.\n   */\n  public setAtIJ(rowIndex: number, columnIndex: number, value: number) {\n    this._coffs[rowIndex * 4 + columnIndex] = value;\n  }\n  /** multiply matrix * [x,y,z,w]. immediately renormalize to return in a Point3d.\n   * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n   */\n  public multiplyXYZWQuietRenormalize(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\n    result = result ? result : Point3d.createZero();\n    result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w);\n    const w1 = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n    const qx = Geometry.conditionalDivideCoordinate(result.x, w1);\n    const qy = Geometry.conditionalDivideCoordinate(result.y, w1);\n    const qz = Geometry.conditionalDivideCoordinate(result.z, w1);\n    if (qx !== undefined && qy !== undefined && qz !== undefined) {\n      result.x = qx;\n      result.y = qy;\n      result.z = qz;\n    }\n    return result;\n  }\n  /** multiply matrix * an array of Point4d. immediately renormalize to return in an array of Point3d. */\n  public multiplyPoint4dArrayQuietRenormalize(pts: Point4d[], results: Point3d[]): void {\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZWQuietRenormalize(pt.x, pt.y, pt.z, pt.w, results[i]); });\n  }\n  /** multiply a Point4d, return with the optional result convention. */\n  public multiplyPoint4d(point: Point4d, result?: Point4d): Point4d {\n    return this.multiplyXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n  }\n  /** multiply a Point4d, return with the optional result convention. */\n  public multiplyTransposePoint4d(point: Point4d, result?: Point4d): Point4d {\n    return this.multiplyTransposeXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n  }\n  /** multiply matrix * point. This produces a weighted xyzw.\n   * Immediately renormalize back to xyz and return (with optional result convention).\n   * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\n   */\n  public multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d {\n    return this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, result);\n  }\n  /** multiply each matrix * points[i].   This produces a weighted xyzw.\n   * Immediately renormalize back to xyz and replace the original point.\n   * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n   */\n  public multiplyPoint3dArrayQuietNormalize(points: Point3d[]) {\n    points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));\n  }\n  /**\n   * Add the product terms [xx,xy,xz,xw, yx, yy, yz, yw, zx, zy, zz, zs, wx, wy, wz, ww] to respective entries in the matrix\n   * @param x x component for products\n   * @param y y component for products\n   * @param z z component for products\n   * @param w w component for products\n   */\n  public addMomentsInPlace(x: number, y: number, z: number, w: number) {\n    this._coffs[0] += x * x;\n    this._coffs[1] += x * y;\n    this._coffs[2] += x * z;\n    this._coffs[3] += x * w;\n    this._coffs[4] += y * x;\n    this._coffs[5] += y * y;\n    this._coffs[6] += y * z;\n    this._coffs[7] += y * w;\n    this._coffs[8] += z * x;\n    this._coffs[9] += z * y;\n    this._coffs[10] += z * z;\n    this._coffs[11] += z * w;\n    this._coffs[12] += w * x;\n    this._coffs[13] += w * y;\n    this._coffs[14] += w * z;\n    this._coffs[15] += w * w;\n  }\n  /** accumulate all coefficients of other to this. */\n  public addScaledInPlace(other: Matrix4d, scale: number = 1.0) {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] += scale * other._coffs[i];\n  }\n  /**\n   * Add scale times rowA to rowB.\n   * @param rowIndexA row that is not modified\n   * @param rowIndexB row that is modified.\n   * @param firstColumnIndex first column modified.  All from there to the right are updated\n   * @param scale scale\n   */\n  public rowOperation(rowIndexA: number, rowIndexB: number, firstColumnIndex: number, scale: number) {\n    if (scale === 0.0)\n      return;\n    let iA = rowIndexA * 4 + firstColumnIndex;\n    let iB = rowIndexB * 4 + firstColumnIndex;\n    for (let i = firstColumnIndex; i < 4; i++ , iA++ , iB++)\n      this._coffs[iB] += scale * this._coffs[iA];\n  }\n  /** Return the determinant of the matrix. */\n  public determinant(): number {\n    const c = this._coffs;\n    return Geometry.determinant4x4(\n      c[0], c[1], c[2], c[3],\n      c[4], c[5], c[6], c[7],\n      c[8], c[9], c[10], c[11],\n      c[12], c[13], c[14], c[15]);\n  }\n  /** Compute an inverse matrix.\n   * * This uses direct formulas with various determinants.\n   * * If result is given, it is ALWAYS filled with values \"prior to dividing by the determinant\".\n   * *\n   * @returns undefined if dividing by the determinant looks unsafe.\n   */\n  public createInverse(result?: Matrix4d): Matrix4d | undefined {\n    // dividing each column by its maxAbs is more robust than dividing them by this.maxAbs()\n    let maxAbs0 = this.columnX().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsA = 1.0 / maxAbs0;\n    maxAbs0 = this.columnY().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsB = 1.0 / maxAbs0;\n    maxAbs0 = this.columnZ().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsC = 1.0 / maxAbs0;\n    maxAbs0 = this.columnW().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsD = 1.0 / maxAbs0;\n    const columnA = this.columnX();\n    const columnB = this.columnY();\n    const columnC = this.columnZ();\n    const columnD = this.columnW();\n    columnA.scale(divMaxAbsA, columnA);\n    columnB.scale(divMaxAbsB, columnB);\n    columnC.scale(divMaxAbsC, columnC);\n    columnD.scale(divMaxAbsD, columnD);\n    const rowBCD = Point4d.perpendicularPoint4dPlane(columnB, columnC, columnD);\n    const rowCDA = Point4d.perpendicularPoint4dPlane(columnA, columnD, columnC);  // order for negation !\n    const rowDAB = Point4d.perpendicularPoint4dPlane(columnD, columnA, columnB);\n    const rowABC = Point4d.perpendicularPoint4dPlane(columnC, columnB, columnA); // order for negation !\n    // The matrix is singular if the determinant is zero.\n    // But what is the proper tolerance for zero?\n    // The row values are generally cubes of entries. And the typical perspective matrix\n    //    has very different magnitudes in various parts.  So a typical cube size is really hard.\n    // Compute 4 different determinants.  They should match.\n    // If they are near zero, maybe a sign change is a red flag for singular case.\n    // (And there's a lot less work to do that than was done to make the rows)\n    result = Matrix4d.createRows(rowBCD, rowCDA, rowDAB, rowABC, result);\n    const determinantA = rowBCD.dotProduct(columnA);\n    const determinantB = rowCDA.dotProduct(columnB);\n    const determinantC = rowDAB.dotProduct(columnC);\n    const determinantD = rowABC.dotProduct(columnD);\n    const maxAbs1 = result.maxAbs();\n    if (determinantA * determinantB > 0.0\n      && determinantA * determinantC > 0.0\n      && determinantA * determinantD > 0.0) {\n      const divisionTest = Geometry.conditionalDivideCoordinate(maxAbs1, determinantA);\n      if (divisionTest !== undefined) {\n        const divDet = 1.0 / determinantA;\n        result.scaleRowsInPlace(divMaxAbsA * divDet, divMaxAbsB * divDet, divMaxAbsC * divDet, divMaxAbsD * divDet);\n        return result;\n      }\n    } else {\n      return undefined; // this is a useful spot to break to see if the 4 determinant test is effective.\n    }\n    return undefined;\n  }\n  /** Returns an array-of-arrays of the matrix rows, optionally passing each value through a function.\n   * @param f optional function to provide alternate values for each entry (e.g. force fuzz to zero.)\n   */\n  public rowArrays(f?: (value: number) => any): any {\n    if (f)\n      return [\n        [f(this._coffs[0]), f(this._coffs[1]), f(this._coffs[2]), f(this._coffs[3])],\n        [f(this._coffs[4]), f(this._coffs[5]), f(this._coffs[6]), f(this._coffs[7])],\n        [f(this._coffs[8]), f(this._coffs[9]), f(this._coffs[10]), f(this._coffs[11])],\n        [f(this._coffs[12]), f(this._coffs[13]), f(this._coffs[14]), f(this._coffs[15])]];\n    else\n      return [\n        [this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3]],\n        [this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7]],\n        [this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]],\n        [this._coffs[12], this._coffs[13], this._coffs[14], this._coffs[15]]];\n  }\n  /**\n   * Scale each row by respective scale factors.\n   * @param ax scale factor for row 0\n   * @param ay scale factor for row 1\n   * @param az scale factor for row 2\n   * @param aw scale factor for row 3\n   */\n  public scaleRowsInPlace(ax: number, ay: number, az: number, aw: number) {\n    for (let i = 0; i < 4; i++)\n      this._coffs[i] *= ax;\n    for (let i = 4; i < 8; i++)\n      this._coffs[i] *= ay;\n    for (let i = 8; i < 12; i++)\n      this._coffs[i] *= az;\n    for (let i = 12; i < 16; i++)\n      this._coffs[i] *= aw;\n  }\n  /**\n   * add an outer product (single column times single row times scale factor) to this matrix.\n   * @param vectorU column vector\n   * @param vectorV row vector\n   * @param scale scale factor\n   */\n  public addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number) {\n    let a = vectorU.x * scale;\n    this._coffs[0] += a * vectorV.x;\n    this._coffs[1] += a * vectorV.y;\n    this._coffs[2] += a * vectorV.z;\n    this._coffs[3] += a * vectorV.w;\n\n    a = vectorU.y * scale;\n    this._coffs[4] += a * vectorV.x;\n    this._coffs[5] += a * vectorV.y;\n    this._coffs[6] += a * vectorV.z;\n    this._coffs[7] += a * vectorV.w;\n\n    a = vectorU.z * scale;\n    this._coffs[8] += a * vectorV.x;\n    this._coffs[9] += a * vectorV.y;\n    this._coffs[10] += a * vectorV.z;\n    this._coffs[11] += a * vectorV.w;\n\n    a = vectorU.w * scale;\n    this._coffs[12] += a * vectorV.x;\n    this._coffs[13] += a * vectorV.y;\n    this._coffs[14] += a * vectorV.z;\n    this._coffs[15] += a * vectorV.w;\n  }\n  /**\n   * Add (in place) scale*A*B*AT where\n   * * A is a pure translation with final column [x,y,z,1]\n   * * B is the given `matrixB`\n   * * AT is the transpose of A.\n   * * scale is a multiplier.\n   * @param matrixB the middle matrix.\n   * @param ax x part of translation\n   * @param ay y part of translation\n   * @param az z part of translation\n   * @param scale scale factor for entire product\n   */\n  public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\n    const bx = matrixB._coffs[3];\n    const by = matrixB._coffs[7];\n    const bz = matrixB._coffs[11];\n    // matrixB can be non-symmetric!!\n    const cx = matrixB._coffs[12];\n    const cy = matrixB._coffs[13];\n    const cz = matrixB._coffs[14];\n\n    const beta = matrixB._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += scale * (bx + axBeta);\n\n    this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += scale * (by + ayBeta);\n\n    this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\n    this._coffs[11] += scale * (bz + azBeta);\n\n    this._coffs[12] += scale * (cx + axBeta);\n    this._coffs[13] += scale * (cy + ayBeta);\n    this._coffs[14] += scale * (cz + azBeta);\n    this._coffs[15] += scale * beta;\n  }\n  /**\n   * Multiply and replace contents of this matrix by A*this*AT where\n   * * A is a pure translation with final column [x,y,z,1]\n   * * this is this matrix.\n   * * AT is the transpose of A.\n   * @param ax x part of translation\n   * @param ay y part of translation\n   * @param az z part of translation\n   */\n  public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) {\n    const bx = this._coffs[3];\n    const by = this._coffs[7];\n    const bz = this._coffs[11];\n    // matrixB can be non-symmetric!!\n    const cx = this._coffs[12];\n    const cy = this._coffs[13];\n    const cz = this._coffs[14];\n\n    const beta = this._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += axBeta;\n\n    this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += (az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += ayBeta;\n\n    this._coffs[8] += (ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += (az * bz + cz * az + az * azBeta);\n    this._coffs[11] += azBeta;\n\n    this._coffs[12] += axBeta;\n    this._coffs[13] += ayBeta;\n    this._coffs[14] += azBeta;\n    // coffs[15] is unchanged !!!\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/** @packageDocumentation\n * @module Numerics\n */\n\nimport { BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Point4d, Point4dProps } from \"./Point4d\";\n\n/**\n * Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\n * @public\n */\nexport type Matrix4dProps = Point4dProps[];\n\n/**\n * * A Matrix4d is a matrix with 4 rows and 4 columns.\n * * The 4 rows may be described as the x,y,z,w rows.\n * * The 4 columns may be described as the x,y,z,w columns.\n * * The matrix is physically stored as a Float64Array with 16 numbers.\n * * The layout in the Float64Array is \"by row\"\n *   * indices 0,1,2,3 are the \"x row\".   They may be called the xx,xy,xz,xw entries\n *   * indices 4,5,6,7 are the \"y row\"    They may be called the yx,yy,yz,yw entries\n *   * indices 8,9,10,11 are the \"z row\"  They may be called the zx,zy,zz,zw entries\n *   * indices 12,13,14,15 are the \"w row\".  They may be called the wx,wy,wz,ww entries\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\n *  * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\n *  * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\n * @public\n */\nexport class Matrix4d implements BeJSONFunctions {\n  private _coffs: Float64Array;\n  private constructor() { this._coffs = new Float64Array(16); }\n  /** Copy matrix entries from `other` */\n  public setFrom(other: Matrix4d): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = other._coffs[i];\n  }\n  /** Return a deep clone. */\n  public clone(result?: Matrix4d): Matrix4d {\n    if (result === this)\n      return this;\n    if (result === undefined)\n      result = new Matrix4d();\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] = this._coffs[i];\n    return result;\n  }\n  /** zero this matrix4d in place. */\n  public setZero(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n  }\n  /** set to identity. */\n  public setIdentity(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n    this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\n  }\n  private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\n    return Math.abs(a - 1.0) <= tol\n      && Math.abs(b) <= tol\n      && Math.abs(c) <= tol\n      && Math.abs(d) <= tol;\n  }\n  /** set to identity. */\n  public isIdentity(tol: number = 1.0e-10): boolean {\n    return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\n      && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\n      && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\n      && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\n  }\n  /** create a Matrix4d filled with zeros. */\n  public static createZero(result?: Matrix4d): Matrix4d {\n    if (result) {\n      result.setZero();\n      return result;\n    }\n    return new Matrix4d(); // this is zero.\n  }\n  /** create a Matrix4d with values supplied \"across the rows\" */\n  public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\n    result = result ? result : new Matrix4d();\n    result._coffs[0] = cxx;\n    result._coffs[1] = cxy;\n    result._coffs[2] = cxz;\n    result._coffs[3] = cxw;\n    result._coffs[4] = cyx;\n    result._coffs[5] = cyy;\n    result._coffs[6] = cyz;\n    result._coffs[7] = cyw;\n    result._coffs[8] = czx;\n    result._coffs[9] = czy;\n    result._coffs[10] = czz;\n    result._coffs[11] = czw;\n    result._coffs[12] = cwx;\n    result._coffs[13] = cwy;\n    result._coffs[14] = cwz;\n    result._coffs[15] = cww;\n    return result;\n  }\n  /** Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. */\n  public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\n    return this.createRowValues(\n      rowX.x, rowX.y, rowX.z, rowX.w,\n      rowY.x, rowY.y, rowY.z, rowY.w,\n      rowZ.x, rowZ.y, rowZ.z, rowZ.w,\n      rowW.x, rowW.y, rowW.z, rowW.w, result);\n  }\n  /** directly set columns from typical 3d data:\n   *\n   * * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\n   * * origin as column3, with weight 1\n   */\n  public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\n    this._coffs[0] = vectorX.x;\n    this._coffs[1] = vectorY.x;\n    this._coffs[2] = vectorZ.x;\n    this._coffs[3] = origin.x;\n    this._coffs[4] = vectorX.y;\n    this._coffs[5] = vectorY.y;\n    this._coffs[6] = vectorZ.y;\n    this._coffs[7] = origin.y;\n    this._coffs[8] = vectorX.z;\n    this._coffs[9] = vectorY.z;\n    this._coffs[10] = vectorZ.z;\n    this._coffs[11] = origin.z;\n    this._coffs[12] = 0.0;\n    this._coffs[13] = 0.0;\n    this._coffs[14] = 0.0;\n    this._coffs[15] = 1.0;\n  }\n  /** promote a transform to full Matrix4d (with 0001 in final row) */\n  public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\n    const matrix = source.matrix;\n    const point = source.origin;\n    return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\n  }\n  /** return an identity matrix. */\n  public static createIdentity(result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    return result;\n  }\n  /** return matrix with translation directly inserted (along with 1 on diagonal) */\n  public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    result._coffs[3] = x;\n    result._coffs[7] = y;\n    result._coffs[11] = z;\n    return result;\n  }\n\n  /** return this matrix plus scale times matrixB. */\n  public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\n    // If result is undefined, a real clone is created.\n    // If result is \"this\" we get the pointer to this right back.\n    // If result is other, \"this\" coffs are copied.\n    // Then we can add matrixB.  (Which we assume is different from this?)\n    result = this.clone(result);\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] += scale * matrixB._coffs[i];\n    return result;\n  }\n\n  /**\n   * Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\n   * @param tx x entry for translation column\n   * @param ty y entry for translation column\n   * @param tz z entry for translation column\n   * @param scaleX x diagonal entry\n   * @param scaleY y diagonal entry\n   * @param scaleZ z diagonal entry\n   * @param result optional result.\n   */\n  public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\n    return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\n  }\n  /**\n   * Create a mapping that scales and translates (no rotation) from box A to box B\n   * @param lowA low point of box A\n   * @param highA high point of box A\n   * @param lowB low point of box B\n   * @param highB high point of box B\n   */\n  public static createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d | undefined {\n    const ax = highA.x - lowA.x;\n    const ay = highA.y - lowA.y;\n    const az = highA.z - lowA.z;\n    const bx = highB.x - lowB.x;\n    const by = highB.y - lowB.y;\n    const bz = highB.z - lowB.z;\n    const abx = Geometry.conditionalDivideFraction(bx, ax);\n    const aby = Geometry.conditionalDivideFraction(by, ay);\n    const abz = Geometry.conditionalDivideFraction(bz, az);\n    if (abx !== undefined && aby !== undefined && abz !== undefined) {\n      return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx * lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\n    }\n    return undefined;\n  }\n  /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public setFromJSON(json?: Matrix4dProps) {\n    if (Geometry.isArrayOfNumberArray(json, 4, 4)) {\n      for (let i = 0; i < 4; ++i) {\n        for (let j = 0; j < 4; ++j)\n          this._coffs[i * 4 + j] = json[i][j];\n      }\n    } else {\n      this.setZero();\n    }\n  }\n  /**\n   * Return the largest (absolute) difference between this and other Matrix4d.\n   * @param other matrix to compare to\n   */\n  public maxDiff(other: Matrix4d): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\n    return a;\n  }\n  /**\n   * Return the largest absolute value in the Matrix4d\n   */\n  public maxAbs(): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i]));\n    return a;\n  }\n  /** Test for near-equality with `other` */\n  public isAlmostEqual(other: Matrix4d): boolean {\n    return Geometry.isSmallMetricDistance(this.maxDiff(other));\n  }\n  /** Test for exact (bitwise) equality with other. */\n  public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\n  /**\n   * Convert an Matrix4d to a Matrix4dProps.\n   */\n  public toJSON(): Matrix4dProps {\n    const value = [];\n    for (let i = 0; i < 4; ++i) {\n      const row = i * 4;\n      value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\n    }\n    return value;\n  }\n  /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public static fromJSON(json?: Matrix4dProps) {\n    const result = new Matrix4d();\n    result.setFromJSON(json);\n    return result;\n  }\n  /**\n   * Return a point with entries from positions [i0, i0+step, i0+2*step, i0+3*step].\n   * * There are no tests for index going out of the 0..15 range.\n   * * Usual uses are:\n   * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\n   * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\n   * * * i0 = 0, step = 5 to extract the diagonal\n   * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\n   * @param i0 start index (for 16 member array)\n   * @param step step between members\n   * @param result optional preallocated point.\n   */\n  public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\n    return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 * step], this._coffs[i0 + 3 * step], result);\n  }\n  /** Return column 0 as Point4d. */\n  public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\n  /** Return column 1 as Point4d. */\n  public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\n  /** Return column 2 as Point4d. */\n  public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\n  /** Return column 3 as Point4d. */\n  public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\n  /** Return row 0 as Point4d. */\n  public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\n  /** Return row 1 as Point4d. */\n  public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\n  /** Return row 2 as Point4d. */\n  public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\n  /** Return row 3 as Point4d. */\n  public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\n  /**\n   * Returns true if the w row has content other than [0,0,0,1]\n   */\n  public get hasPerspective(): boolean {\n    return this._coffs[12] !== 0.0\n      || this._coffs[13] !== 0.0\n      || this._coffs[14] !== 0.0\n      || this._coffs[15] !== 1.0;\n  }\n  /**\n   * Return a Point4d with the diagonal entries of the matrix\n   */\n  public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\n  /** return the weight component of this matrix */\n  public weight(): number { return this._coffs[15]; }\n  /** return the leading 3x3 matrix part of this matrix */\n  public matrixPart(): Matrix3d {\n    return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\n  }\n  /**\n   * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\n   * @return undefined if this Matrix4d has perspective effects in the w row.\n   */\n  public get asTransform(): Transform | undefined {\n    if (this.hasPerspective)\n      return undefined;\n    return Transform.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]);\n  }\n  /** multiply this * other. */\n  public multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    for (let i0 = 0; i0 < 16; i0 += 4) {\n      for (let k = 0; k < 4; k++)\n        result._coffs[i0 + k] =\n          this._coffs[i0] * other._coffs[k] +\n          this._coffs[i0 + 1] * other._coffs[k + 4] +\n          this._coffs[i0 + 2] * other._coffs[k + 8] +\n          this._coffs[i0 + 3] * other._coffs[k + 12];\n    }\n    return result;\n  }\n  /** multiply this * transpose(other). */\n  public multiplyMatrixMatrixTranspose(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    let j = 0;\n    for (let i0 = 0; i0 < 16; i0 += 4) {\n      for (let k = 0; k < 16; k += 4)\n        result._coffs[j++] =\n          this._coffs[i0] * other._coffs[k] +\n          this._coffs[i0 + 1] * other._coffs[k + 1] +\n          this._coffs[i0 + 2] * other._coffs[k + 2] +\n          this._coffs[i0 + 3] * other._coffs[k + 3];\n    }\n    return result;\n  }\n  /** multiply transpose (this) * other. */\n  public multiplyMatrixTransposeMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n    result = (result && result !== this && result !== other) ? result : new Matrix4d();\n    let j = 0;\n    for (let i0 = 0; i0 < 4; i0 += 1) {\n      for (let k0 = 0; k0 < 4; k0 += 1)\n        result._coffs[j++] =\n          this._coffs[i0] * other._coffs[k0] +\n          this._coffs[i0 + 4] * other._coffs[k0 + 4] +\n          this._coffs[i0 + 8] * other._coffs[k0 + 8] +\n          this._coffs[i0 + 12] * other._coffs[k0 + 12];\n    }\n    return result;\n  }\n  /** Return a transposed matrix. */\n  public cloneTransposed(result?: Matrix4d): Matrix4d {\n    return Matrix4d.createRowValues(this._coffs[0], this._coffs[4], this._coffs[8], this._coffs[12], this._coffs[1], this._coffs[5], this._coffs[9], this._coffs[13], this._coffs[2], this._coffs[6], this._coffs[10], this._coffs[14], this._coffs[3], this._coffs[7], this._coffs[11], this._coffs[15], result);\n  }\n  /** multiply matrix times column [x,y,z,w].  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    result = result ? result : Point4d.createZero();\n    return result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w, this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w);\n  }\n  /** multiply matrix times column vectors [x,y,z,w] where [x,y,z,w] appear in blocks in an array.\n   * replace the xyzw in the block\n   */\n  public multiplyBlockedFloat64ArrayInPlace(data: Float64Array) {\n    const n = data.length;\n    let x, y, z, w;\n    for (let i = 0; i + 3 < n; i += 4) {\n      x = data[i];\n      y = data[i + 1];\n      z = data[i + 2];\n      w = data[i + 3];\n      data[i] = this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w;\n      data[i + 1] = this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w;\n      data[i + 2] = this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w;\n      data[i + 3] = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n    }\n  }\n  /** multiply matrix times XYAndZ  and w. return as Point4d  (And the returned value is NOT normalized down to unit w) */\n  public multiplyPoint3d(pt: XYAndZ, w: number, result?: Point4d): Point4d {\n    return this.multiplyXYZW(pt.x, pt.y, pt.z, w, result);\n  }\n  /** multiply matrix times and array  of XYAndZ. return as array of Point4d  (And the returned value is NOT normalized down to unit w) */\n  public multiplyPoint3dArray(pts: XYAndZ[], results: Point4d[], w: number = 1.0): void {\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZW(pt.x, pt.y, pt.z, w, results[i]); });\n  }\n  /** multiply [x,y,z,w] times matrix.  return as Point4d.   (And the returned value is NOT normalized down to unit w) */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    result = result ? result : Point4d.createZero();\n    return result.set(this._coffs[0] * x + this._coffs[4] * y + this._coffs[8] * z + this._coffs[12] * w, this._coffs[1] * x + this._coffs[5] * y + this._coffs[9] * z + this._coffs[13] * w, this._coffs[2] * x + this._coffs[6] * y + this._coffs[10] * z + this._coffs[14] * w, this._coffs[3] * x + this._coffs[7] * y + this._coffs[11] * z + this._coffs[15] * w);\n  }\n  /** Returns dot product of row rowIndex of this with column columnIndex of other.\n   */\n  public rowDotColumn(rowIndex: number, other: Matrix4d, columnIndex: number): number {\n    const i = rowIndex * 4;\n    const j = columnIndex;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 1] * other._coffs[j + 4]\n      + this._coffs[i + 2] * other._coffs[j + 8]\n      + this._coffs[i + 3] * other._coffs[j + 12];\n  }\n  /** Returns dot product of row rowIndex of this with [x y z w]\n   */\n  public rowDotXYZW(rowIndex: number, x: number, y: number, z: number, w: number): number {\n    const i = rowIndex * 4;\n    return this._coffs[i] * x\n      + this._coffs[i + 1] * y\n      + this._coffs[i + 2] * z\n      + this._coffs[i + 3] * w;\n  }\n\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n   */\n  public rowDotRow(rowIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n    const i = rowIndexThis * 4;\n    const j = rowIndexOther * 4;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 1] * other._coffs[j + 1]\n      + this._coffs[i + 2] * other._coffs[j + 2]\n      + this._coffs[i + 3] * other._coffs[j + 3];\n  }\n  /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n   */\n  public columnDotColumn(columnIndexThis: number, other: Matrix4d, columnIndexOther: number): number {\n    const i = columnIndexThis;\n    const j = columnIndexOther;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 4] * other._coffs[j + 4]\n      + this._coffs[i + 8] * other._coffs[j + 8]\n      + this._coffs[i + 12] * other._coffs[j + 12];\n  }\n  /** Returns dot product of column columnIndexThis of this with row rowIndexOther other.\n   */\n  public columnDotRow(columnIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n    const i = columnIndexThis;\n    const j = 4 * rowIndexOther;\n    return this._coffs[i] * other._coffs[j]\n      + this._coffs[i + 4] * other._coffs[j + 1]\n      + this._coffs[i + 8] * other._coffs[j + 2]\n      + this._coffs[i + 12] * other._coffs[j + 3];\n  }\n  /** Return a matrix entry by row and column index.\n   */\n  public atIJ(rowIndex: number, columnIndex: number): number {\n    return this._coffs[rowIndex * 4 + columnIndex];\n  }\n\n  /** Set a matrix entry by row and column index.\n   */\n  public setAtIJ(rowIndex: number, columnIndex: number, value: number) {\n    this._coffs[rowIndex * 4 + columnIndex] = value;\n  }\n  /** multiply matrix * [x,y,z,w]. immediately renormalize to return in a Point3d.\n   * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n   */\n  public multiplyXYZWQuietRenormalize(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\n    result = result ? result : Point3d.createZero();\n    result.set(this._coffs[0] * x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w);\n    const w1 = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n    const qx = Geometry.conditionalDivideCoordinate(result.x, w1);\n    const qy = Geometry.conditionalDivideCoordinate(result.y, w1);\n    const qz = Geometry.conditionalDivideCoordinate(result.z, w1);\n    if (qx !== undefined && qy !== undefined && qz !== undefined) {\n      result.x = qx;\n      result.y = qy;\n      result.z = qz;\n    }\n    return result;\n  }\n  /** multiply matrix * an array of Point4d. immediately renormalize to return in an array of Point3d. */\n  public multiplyPoint4dArrayQuietRenormalize(pts: Point4d[], results: Point3d[]): void {\n    pts.forEach((pt, i) => { results[i] = this.multiplyXYZWQuietRenormalize(pt.x, pt.y, pt.z, pt.w, results[i]); });\n  }\n  /** multiply a Point4d, return with the optional result convention. */\n  public multiplyPoint4d(point: Point4d, result?: Point4d): Point4d {\n    return this.multiplyXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n  }\n  /** multiply a Point4d, return with the optional result convention. */\n  public multiplyTransposePoint4d(point: Point4d, result?: Point4d): Point4d {\n    return this.multiplyTransposeXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n  }\n  /** multiply matrix * point. This produces a weighted xyzw.\n   * Immediately renormalize back to xyz and return (with optional result convention).\n   * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\n   */\n  public multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d {\n    return this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, result);\n  }\n  /** multiply each matrix * points[i].   This produces a weighted xyzw.\n   * Immediately renormalize back to xyz and replace the original point.\n   * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n   */\n  public multiplyPoint3dArrayQuietNormalize(points: Point3d[]) {\n    points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));\n  }\n  /**\n   * Add the product terms [xx,xy,xz,xw, yx, yy, yz, yw, zx, zy, zz, zs, wx, wy, wz, ww] to respective entries in the matrix\n   * @param x x component for products\n   * @param y y component for products\n   * @param z z component for products\n   * @param w w component for products\n   */\n  public addMomentsInPlace(x: number, y: number, z: number, w: number) {\n    this._coffs[0] += x * x;\n    this._coffs[1] += x * y;\n    this._coffs[2] += x * z;\n    this._coffs[3] += x * w;\n    this._coffs[4] += y * x;\n    this._coffs[5] += y * y;\n    this._coffs[6] += y * z;\n    this._coffs[7] += y * w;\n    this._coffs[8] += z * x;\n    this._coffs[9] += z * y;\n    this._coffs[10] += z * z;\n    this._coffs[11] += z * w;\n    this._coffs[12] += w * x;\n    this._coffs[13] += w * y;\n    this._coffs[14] += w * z;\n    this._coffs[15] += w * w;\n  }\n  /** accumulate all coefficients of other to this. */\n  public addScaledInPlace(other: Matrix4d, scale: number = 1.0) {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] += scale * other._coffs[i];\n  }\n  /**\n   * Add scale times rowA to rowB.\n   * @param rowIndexA row that is not modified\n   * @param rowIndexB row that is modified.\n   * @param firstColumnIndex first column modified.  All from there to the right are updated\n   * @param scale scale\n   */\n  public rowOperation(rowIndexA: number, rowIndexB: number, firstColumnIndex: number, scale: number) {\n    if (scale === 0.0)\n      return;\n    let iA = rowIndexA * 4 + firstColumnIndex;\n    let iB = rowIndexB * 4 + firstColumnIndex;\n    for (let i = firstColumnIndex; i < 4; i++ , iA++ , iB++)\n      this._coffs[iB] += scale * this._coffs[iA];\n  }\n  /** Return the determinant of the matrix. */\n  public determinant(): number {\n    const c = this._coffs;\n    return Geometry.determinant4x4(\n      c[0], c[1], c[2], c[3],\n      c[4], c[5], c[6], c[7],\n      c[8], c[9], c[10], c[11],\n      c[12], c[13], c[14], c[15]);\n  }\n  /** Compute an inverse matrix.\n   * * This uses direct formulas with various determinants.\n   * * If result is given, it is ALWAYS filled with values \"prior to dividing by the determinant\".\n   * *\n   * @returns undefined if dividing by the determinant looks unsafe.\n   */\n  public createInverse(result?: Matrix4d): Matrix4d | undefined {\n    // dividing each column by its maxAbs is more robust than dividing them by this.maxAbs()\n    let maxAbs0 = this.columnX().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsA = 1.0 / maxAbs0;\n    maxAbs0 = this.columnY().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsB = 1.0 / maxAbs0;\n    maxAbs0 = this.columnZ().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsC = 1.0 / maxAbs0;\n    maxAbs0 = this.columnW().maxAbs();\n    if (maxAbs0 === 0.0) return undefined;\n    const divMaxAbsD = 1.0 / maxAbs0;\n    const columnA = this.columnX();\n    const columnB = this.columnY();\n    const columnC = this.columnZ();\n    const columnD = this.columnW();\n    columnA.scale(divMaxAbsA, columnA);\n    columnB.scale(divMaxAbsB, columnB);\n    columnC.scale(divMaxAbsC, columnC);\n    columnD.scale(divMaxAbsD, columnD);\n    const rowBCD = Point4d.perpendicularPoint4dPlane(columnB, columnC, columnD);\n    const rowCDA = Point4d.perpendicularPoint4dPlane(columnA, columnD, columnC);  // order for negation !\n    const rowDAB = Point4d.perpendicularPoint4dPlane(columnD, columnA, columnB);\n    const rowABC = Point4d.perpendicularPoint4dPlane(columnC, columnB, columnA); // order for negation !\n    // The matrix is singular if the determinant is zero.\n    // But what is the proper tolerance for zero?\n    // The row values are generally cubes of entries. And the typical perspective matrix\n    //    has very different magnitudes in various parts.  So a typical cube size is really hard.\n    // Compute 4 different determinants.  They should match.\n    // If they are near zero, maybe a sign change is a red flag for singular case.\n    // (And there's a lot less work to do that than was done to make the rows)\n    result = Matrix4d.createRows(rowBCD, rowCDA, rowDAB, rowABC, result);\n    const determinantA = rowBCD.dotProduct(columnA);\n    const determinantB = rowCDA.dotProduct(columnB);\n    const determinantC = rowDAB.dotProduct(columnC);\n    const determinantD = rowABC.dotProduct(columnD);\n    const maxAbs1 = result.maxAbs();\n    if (determinantA * determinantB > 0.0\n      && determinantA * determinantC > 0.0\n      && determinantA * determinantD > 0.0) {\n      const divisionTest = Geometry.conditionalDivideCoordinate(maxAbs1, determinantA);\n      if (divisionTest !== undefined) {\n        const divDet = 1.0 / determinantA;\n        result.scaleRowsInPlace(divMaxAbsA * divDet, divMaxAbsB * divDet, divMaxAbsC * divDet, divMaxAbsD * divDet);\n        return result;\n      }\n    } else {\n      return undefined; // this is a useful spot to break to see if the 4 determinant test is effective.\n    }\n    return undefined;\n  }\n  /** Returns an array-of-arrays of the matrix rows, optionally passing each value through a function.\n   * @param f optional function to provide alternate values for each entry (e.g. force fuzz to zero.)\n   */\n  public rowArrays(f?: (value: number) => any): any {\n    if (f)\n      return [\n        [f(this._coffs[0]), f(this._coffs[1]), f(this._coffs[2]), f(this._coffs[3])],\n        [f(this._coffs[4]), f(this._coffs[5]), f(this._coffs[6]), f(this._coffs[7])],\n        [f(this._coffs[8]), f(this._coffs[9]), f(this._coffs[10]), f(this._coffs[11])],\n        [f(this._coffs[12]), f(this._coffs[13]), f(this._coffs[14]), f(this._coffs[15])]];\n    else\n      return [\n        [this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3]],\n        [this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7]],\n        [this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]],\n        [this._coffs[12], this._coffs[13], this._coffs[14], this._coffs[15]]];\n  }\n  /**\n   * Scale each row by respective scale factors.\n   * @param ax scale factor for row 0\n   * @param ay scale factor for row 1\n   * @param az scale factor for row 2\n   * @param aw scale factor for row 3\n   */\n  public scaleRowsInPlace(ax: number, ay: number, az: number, aw: number) {\n    for (let i = 0; i < 4; i++)\n      this._coffs[i] *= ax;\n    for (let i = 4; i < 8; i++)\n      this._coffs[i] *= ay;\n    for (let i = 8; i < 12; i++)\n      this._coffs[i] *= az;\n    for (let i = 12; i < 16; i++)\n      this._coffs[i] *= aw;\n  }\n  /**\n   * add an outer product (single column times single row times scale factor) to this matrix.\n   * @param vectorU column vector\n   * @param vectorV row vector\n   * @param scale scale factor\n   */\n  public addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number) {\n    let a = vectorU.x * scale;\n    this._coffs[0] += a * vectorV.x;\n    this._coffs[1] += a * vectorV.y;\n    this._coffs[2] += a * vectorV.z;\n    this._coffs[3] += a * vectorV.w;\n\n    a = vectorU.y * scale;\n    this._coffs[4] += a * vectorV.x;\n    this._coffs[5] += a * vectorV.y;\n    this._coffs[6] += a * vectorV.z;\n    this._coffs[7] += a * vectorV.w;\n\n    a = vectorU.z * scale;\n    this._coffs[8] += a * vectorV.x;\n    this._coffs[9] += a * vectorV.y;\n    this._coffs[10] += a * vectorV.z;\n    this._coffs[11] += a * vectorV.w;\n\n    a = vectorU.w * scale;\n    this._coffs[12] += a * vectorV.x;\n    this._coffs[13] += a * vectorV.y;\n    this._coffs[14] += a * vectorV.z;\n    this._coffs[15] += a * vectorV.w;\n  }\n  /**\n   * Add (in place) scale*A*B*AT where\n   * * A is a pure translation with final column [x,y,z,1]\n   * * B is the given `matrixB`\n   * * AT is the transpose of A.\n   * * scale is a multiplier.\n   * @param matrixB the middle matrix.\n   * @param ax x part of translation\n   * @param ay y part of translation\n   * @param az z part of translation\n   * @param scale scale factor for entire product\n   */\n  public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\n    const bx = matrixB._coffs[3];\n    const by = matrixB._coffs[7];\n    const bz = matrixB._coffs[11];\n    // matrixB can be non-symmetric!!\n    const cx = matrixB._coffs[12];\n    const cy = matrixB._coffs[13];\n    const cz = matrixB._coffs[14];\n\n    const beta = matrixB._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += scale * (bx + axBeta);\n\n    this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += scale * (by + ayBeta);\n\n    this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\n    this._coffs[11] += scale * (bz + azBeta);\n\n    this._coffs[12] += scale * (cx + axBeta);\n    this._coffs[13] += scale * (cy + ayBeta);\n    this._coffs[14] += scale * (cz + azBeta);\n    this._coffs[15] += scale * beta;\n  }\n  /**\n   * Multiply and replace contents of ` this` matrix by `A*this*AT` where\n   * * `A` is a pure translation with final column [x,y,z,1].\n   * * `this` is this matrix.\n   * * `AT` is the transpose of A.\n   * @param ax x part of translation.\n   * @param ay y part of translation.\n   * @param az z part of translation.\n   */\n  public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) : void {\n    const bx = this._coffs[3];\n    const by = this._coffs[7];\n    const bz = this._coffs[11];\n    // matrixB can be non-symmetric\n    const cx = this._coffs[12];\n    const cy = this._coffs[13];\n    const cz = this._coffs[14];\n\n    const beta = this._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += axBeta;\n\n    this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += (az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += ayBeta;\n\n    this._coffs[8] += (ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += (az * bz + cz * az + az * azBeta);\n    this._coffs[11] += azBeta;\n\n    this._coffs[12] += axBeta;\n    this._coffs[13] += ayBeta;\n    this._coffs[14] += azBeta;\n    // coffs[15] is unchanged\n  }\n}\n"]}

package/lib/cjs/geometry4d/MomentData.d.ts

@@ -16,8 +16,8 @@ import { Matrix4d } from "./Matrix4d";
  *         * e.g. entry 03 is summed x.
  *    * In this level:
  *        * the `absoluteQuantity` member is undefined.
- *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.
- *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and
+ *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.
+ *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and
  *    `radiiOfGyration` are filled in.
  * @public
  */
@@ -37,11 +37,20 @@ export declare class MomentData {
      * * This set up with its inverse already constructed.
      */
     localToWorldMap: Transform;
+    /** Radii of gyration (square roots of principal second moments). */
+    radiusOfGyration: Vector3d;
+    /**
+     * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by
+     * inertiaProductsToPrincipalAxes.
+     */
+    absoluteQuantity?: number;
     private static _vectorA?;
     private static _vectorB?;
     private static _vectorC?;
     private _point0;
     private _point1;
+    /** Constructor. */
+    private constructor();
     /**
      * Return the lower-right (3,3) entry in the sums.
      * * This is the quantity (i.e. length, area, or volume) summed.
@@ -59,15 +68,6 @@ export declare class MomentData {
     setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray): void;
     /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginXYZIfNeeded(x: number, y: number, z: number): void;
-    /** Radii of gyration (square roots of principal second moments). */
-    radiusOfGyration: Vector3d;
-    /**
-     * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by
-     * inertiaProductsToPrincipalAxes.
-     */
-    absoluteQuantity?: number;
-    /** Constructor. */
-    private constructor();
     /**
      * Create moments with optional origin.
      * * Origin and needOrigin are quirky.
@@ -95,7 +95,8 @@ export declare class MomentData {
      * * Hence x axis is long direction.
      * * Hence planar data generates large moment as Z.
      * @param origin The origin used for the inertia products.
-     * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
+     * @param inertiaProducts The inertia products: sums or integrals of
+     * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
      */
     static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined;
     /**
@@ -122,43 +123,40 @@ export declare class MomentData {
     shiftOriginAndSumsToCentroidOfSums(): boolean;
     /**
      * Revise the accumulated sums.
-     * * add ax,ay,ax to the origin coordinates.
-     * * apply the negative translation to the sums.
-    */
+     * * Add (ax,ay,az) to the origin coordinates.
+     * * Apply the negative translation to the sums.
+     */
     shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number): void;
     /** Revise the accumulated sums so they are based at a specified origin. */
     shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ): void;
     /**
-     * Compute moments of a triangle from the origin to the given line.
-     * Accumulate them to this.sums.
-     * * If `pointA` is undefined, use `this.origin` as pointA.
-     * * If `this.needOrigin` is set, pointB is used
-    */
+     * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.
+     * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.
+     * * If `pointA` is undefined, use `this.origin` as `pointA`.
+     */
     accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY): void;
-    /** Add scaled outer product of (4d, unit weight) point to this.sums. */
+    /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */
     accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number): void;
     /** Accumulate wire moment integral from pointA to pointB */
     accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d): void;
     /**
-     * Compute moments of triangles from a base point to the given linestring.
-     * Accumulate them to this.sums.
-     * * If `pointA` is undefined, use `this.origin` as pointA.
-     * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.
-     *
+     * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.
+     * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.
+     * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.
      */
     accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray): void;
     /**
-     * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].
-     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy
-     *   parts of vectors).
-     * * scale by detJ for the xy-only determinant of the vectors.
+     * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].
+     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].
+     *   (column weights 0001; only xy parts of vectors).
+     * * Scale by detJ for the xy-only determinant of the vectors.
      * @param productXX
      * @param productXY
      * @param productYY
-     * @param area Area in caller's system.
-     * @param origin Caller's origin.
-     * @param vectorU Caller's U axis (not necessarily unit).
-     * @param vectorV Caller's V axis (not necessarily unit).
+     * @param area area in caller's system.
+     * @param origin caller's origin.
+     * @param vectorU caller's U axis (not necessarily unit).
+     * @param vectorV caller's V axis (not necessarily unit).
      */
     accumulateXYProductsInCentroidalFrame(productXX: number, productXY: number, productYY: number, area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY): void;
     /**

package/lib/cjs/geometry4d/MomentData.d.ts.map

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