@itwin/core-geometry 5.11.0-dev.8 → 5.12.0-dev.1

package/lib/esm/geometry3d/Matrix3d.js

@@ -13,15 +13,14 @@ import { Point2d } from "./Point2dVector2d";
 import { Point3d, Vector3d } from "./Point3dVector3d";
 import { Transform } from "./Transform";
 /* eslint-disable @itwin/prefer-get */
-// cSpell:words XXYZ YXYZ ZXYZ SaeedTorabi arctan newcommand diagonalization
+// cSpell:words XXYZ YXYZ ZXYZ SaeedTorabi arctan diagonalization
 /**
  * PackedMatrix3dOps contains static methods for matrix operations where the matrix is a Float64Array.
- * * The Float64Array contains the matrix entries in row-major order
- * @internal
- * ```
- * equation
- * \newcommand[1]\mij{#1_{00}\ #1_{01}\ a_{02}}
+ * * The Float64Array contains the matrix entries in row-major order:
+ * ```equation
+ * \mij{a}
  * ```
+ * @internal
  */
 export class PackedMatrix3dOps {
     /**
@@ -169,13 +168,11 @@ export var InverseMatrixState;
  * * A very common use is to hold a rigid body rotation (which has no scaling or skew), but the 3x3 contents can
  * also hold scaling and skewing.
  * * The matrix with 2-dimensional layout (note: a 2d array can be shown by a matrix)
- * ```
- * equation
+ * ```equation
  *      \matrixXY{A}
  * ```
  * is stored as 9 numbers in "row-major" order in a `Float64Array`, viz
- * ```
- * equation
+ * ```equation
  *      \rowMajorMatrixXY{A}
  * ```
  * * If the matrix inverse is known it is stored in the inverseCoffs array.
@@ -199,8 +196,7 @@ export class Matrix3d {
     static numComputeCache = 0;
     /**
      * Matrix contents as a flat array of numbers in row-major order.
-     * ```
-     * equation
+     * ```equation
      * \mxy{B}
      * \mij{B}
      * ```
@@ -209,8 +205,7 @@ export class Matrix3d {
     coffs;
     /**
      * Matrix inverse contents.
-     * ```
-     * equation
+     * ```equation
      * \mxy{A}
      * ```
      * * DO NOT directly modify this array. It will destroy integrity of the cached inverse state.
@@ -380,8 +375,7 @@ export class Matrix3d {
     /**
      * Returns a Matrix3d populated by numeric values given in row-major order.
      * Sets all entries in the matrix from call parameters appearing in row-major order, i.e.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}a_{xx}\ a_{xy}\ a_{xz}\\ a_{yx}\ a_{yy}\ a_{yz}\\ a_{zx}\ a_{zy}\ a_{zz}\end{bmatrix}
      * ```
      * @param axx Row x, column x(0, 0) entry
@@ -560,8 +554,7 @@ export class Matrix3d {
      * * Note that for geometry transformations "all zeros" is not a useful default state.
      * * Hence, almost always use `createIdentity` for graphics transformations.
      * * "All zeros" is appropriate for summing moment data.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}0 & 0 & 0 \\ 0 & 0 & 0 \\ 0 & 0 & 0\end{bmatrix}
      * ```
      */
@@ -575,8 +568,7 @@ export class Matrix3d {
      * * All diagonal entries (xx,yy,zz) are one
      * * All others are zero.
      * * This (rather than "all zeros") is the useful state for most graphics transformations.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1\end{bmatrix}
      * ```
      *
@@ -588,8 +580,7 @@ export class Matrix3d {
     }
     /**
      * Create a matrix with distinct x,y,z diagonal (scale) entries.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}s_x & 0 & 0 \\ 0 & s_y & 0\\ 0 & 0 & s_z\end{bmatrix}
      * ```
      */
@@ -614,8 +605,7 @@ export class Matrix3d {
     }
     /**
      * Create a matrix with uniform scale factor "s":
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}s & 0 & 0 \\ 0 & s & 0\\ 0 & 0 & s\end{bmatrix}
      * ```
      */
@@ -795,8 +785,7 @@ export class Matrix3d {
     }
     /**
      * Create a matrix from column vectors.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ U_z & V_z & W_z \end{bmatrix}
      * ```
      */
@@ -805,8 +794,7 @@ export class Matrix3d {
     }
     /**
      * Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ u & v & w \end{bmatrix}
      * ```
      */
@@ -1499,8 +1487,7 @@ export class Matrix3d {
     }
     /**
      * Create a matrix from row vectors.
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}U_x & U_y & U_z \\ V_x & V_y & V_z \\ W_x & W_y & W_z \end{bmatrix}
      * ```
      */
@@ -1515,8 +1502,7 @@ export class Matrix3d {
      * mirror of the `vector` across the `plane`. In general, When scale != 0, the result is computed by first
      * projecting the `vector` to the `plane`, then translating that projection along the `direction` (if scale > 0)
      * or in opposite direction (if scale < 0).
-     * ```
-     * equation
+     * ```equation
      * \text{The matrix is } I + (s-1) D D^T
      * \\ \text{with }D\text{ being the normalized direction vector and }s\text{ being the scale.}
      * ```
@@ -1567,8 +1553,7 @@ export class Matrix3d {
     }
     /**
     * Multiply `matrix * point`, treating the point as a column vector on the right.
-    * ```
-    * equation
+    * ```equation
     * \matrixXY{A}\columnSubXYZ{U}
     * ```
     * @return the point result
@@ -1581,8 +1566,7 @@ export class Matrix3d {
     }
     /**
      * Multiply `matrix * vector`, treating the vector is a column vector on the right.
-     * ```
-     * equation
+     * ```equation
      * \matrixXY{A}\columnSubXYZ{U}
      * ```
      * @return the vector result
@@ -1638,8 +1622,7 @@ export class Matrix3d {
     /**
      * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row.
      * Multiply the 4x4 matrix by `[x,y,z,w]`
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz \\ 0 & 0 & 0 & 1\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ w\end{bmatrix}
      * ```
      * @param origin translation part (xyz in column 3)
@@ -1656,8 +1639,7 @@ export class Matrix3d {
     /**
      * Treat the 3x3 matrix and origin as upper 3x4 part of a 4x4 matrix, with 0001 as the final row.
      * Multiply the 4x4 matrix by `[x,y,z,w]`
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz \\ 0 & 0 & 0 & 1\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ w\end{bmatrix}
      * ```
      * @param origin translation part (xyz in column 3)
@@ -1680,8 +1662,7 @@ export class Matrix3d {
     /**
      * Treat the 3x3 matrix and origin as a 3x4 matrix.
      * * Multiply the 3x4 matrix by `[x,y,z,1]`
-     * ```
-     * equation
+     * ```equation
      * \begin{bmatrix}M_0 & M_1 & M_2 & Ox \\ M_3 & M_4 & M_5 & Oy \\ M_6 & M_7 & M_8 & Oz\end{bmatrix} * \begin{bmatrix}x \\ y \\ z \\ 1\end{bmatrix}
      * ```
      * @param origin translation part (xyz in column 3)
@@ -1702,8 +1683,7 @@ export class Matrix3d {
     /**
      * Multiply the transpose matrix times a vector.
      * * This produces the same x,y,z as treating the vector as a row on the left of the (un-transposed) matrix.
-     * ```
-     * equation
+     * ```equation
      * \begin{matrix}
      * \text{Treating U as a column to the right of transposed matrix\:  return column}&\columnSubXYZ{V}&=&\matrixTransposeSubXY{A}\columnSubXYZ{U} \\
      * \text{Treating U as a row to the left of untransposed matrix\: return row}&\rowSubXYZ{V}&=&\rowSubXYZ{U}\matrixXY{A}
@@ -1794,14 +1774,13 @@ export class Matrix3d {
     /**
      * Multiply the transpose matrix times column using individual numeric inputs.
      * * This produces the same x,y,z as treating the vector as a row on the left of the (un-transposed) matrix.
-     * ```
-     * equation
+     * ```equation
      * \begin{matrix}
      * \text{treating the input as a column vector } \columnXYZ{x}{y}{z}\text{ compute  }&\columnSubXYZ{V} &= &A^T \columnXYZ{x}{y}{z} \\
      * \text{or as a row vector } \rowXYZ{x}{y}{z} \text{ compute }&\rowSubXYZ{V} &= &\rowXYZ{x}{y}{z} A \\
      * \phantom{8888}\text{and return V as a Vector3d} & & &
      * \end{matrix}
-     * ````
+     * ```
      * @param result the vector result (optional)
      */
     multiplyTransposeXYZ(x, y, z, result) {
@@ -1964,8 +1943,7 @@ export class Matrix3d {
     }
     /**
      * Multiply `this` matrix times the transpose of `other` matrix
-     * ```
-     * equation
+     * ```equation
      * \text{for instance matrix }A\text{ and matrix }B\text{ return matrix }C{\text where }\\\matrixXY{C}=\matrixXY{A}\matrixTransposeSubXY{B}
      * ```
      * @return the matrix result: this*otherTranspose
@@ -1983,8 +1961,7 @@ export class Matrix3d {
     }
     /**
      * Multiply the transpose of `this` matrix times `other` matrix
-     * ```
-     * equation
+     * ```equation
      * \matrixXY{result}=\matrixXY{\text{this}}\matrixTransposeSubXY{\text{other}}
      * ```
      * @return the matrix result: thisTranspose*other
@@ -2003,8 +1980,7 @@ export class Matrix3d {
     /**
      * Multiply `this` Matrix3d (considered to be a Transform with 0 `origin`) times `other` Transform.
      * * **Note:** If `this = [A   0]` and `other = [B   b]`, then `this * other` is defined as [A*B   Ab] because:
-     * ```
-     * equation
+     * ```equation
      * \begin{matrix}
      * \text{this matrix }\bold{A}\text{ promoted to block Transform} & \blockTransform{A}{0} \\
      * \text{other Transform with `matrix` part }\bold{B}\text{ and origin part }\bold{b} & \blockTransform{B}{b}\\
@@ -2385,8 +2361,7 @@ export class Matrix3d {
      * Add scaled values from an outer product of vectors U and V.
      * * The scaled outer product is a matrix with `rank 1` (all columns/rows are linearly dependent).
      * * This is useful in constructing mirrors and directional scales.
-     * ```
-     * equation
+     * ```equation
      * A += s \columnSubXYZ{U}\rowSubXYZ{V}
      * \\ \matrixXY{A} += s \begin{bmatrix}
      * U_x * V_x & U_x * V_y & U_x * V_z \\