@itwin/core-geometry 5.2.0-dev.25 → 5.2.0-dev.28

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

@@ -1 +1 @@
-{"version":3,"file":"Transform.js","sourceRoot":"","sources":["../../../src/geometry3d/Transform.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAmE;AACnE,mDAAgD;AAChD,yCAAsC;AACtC,uDAA4C;AAC5C,uDAA2D;AAC3D,mCAAkC;AAGlC;;;;;;;;;;;;;;;;GAgBG;AACH,MAAa,SAAS;IACZ,OAAO,CAAM;IACb,OAAO,CAAW;IAC1B,0EAA0E;IAC1E,YAAoB,MAAW,EAAE,MAAgB;QAC/C,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;IACxB,CAAC;IACO,MAAM,CAAC,SAAS,CAAa;IACrC,sEAAsE;IAC/D,MAAM,KAAK,QAAQ;QACxB,IAAI,SAAS,KAAK,IAAI,CAAC,SAAS,EAAE,CAAC;YACjC,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC,cAAc,EAAE,CAAC;YAC5C,IAAI,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC;QAC1B,CAAC;QACD,OAAO,IAAI,CAAC,SAAS,CAAC;IACxB,CAAC;IACD,gEAAgE;IACzD,MAAM;QACX,IAAI,CAAC,OAAO,CAAC,MAAM,EAAE,CAAC;QACtB,IAAI,CAAC,OAAO,CAAC,MAAM,EAAE,CAAC;QACtB,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAC7B,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAgB;QAC7B,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACpC,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;IACtC,CAAC;IACD,4CAA4C;IACrC,WAAW;QAChB,IAAI,CAAC,OAAO,CAAC,OAAO,EAAE,CAAC;QACvB,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;IAC7B,CAAC;IACD;;;;;;;OAOG;IACI,WAAW,CAAC,IAAiC;QAClD,IAAI,IAAI,EAAE,CAAC;YACT,IAAI,IAAI,YAAY,MAAM,IAAK,IAAY,CAAC,MAAM,IAAK,IAAY,CAAC,MAAM,EAAE,CAAC;gBAC3E,IAAI,CAAC,OAAO,CAAC,WAAW,CAAE,IAAY,CAAC,MAAM,CAAC,CAAC;gBAC/C,IAAI,CAAC,OAAO,CAAC,WAAW,CAAE,IAAY,CAAC,MAAM,CAAC,CAAC;gBAC/C,OAAO;YACT,CAAC;YACD,IAAI,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;gBAC9C,IAAI,CAAC,OAAO,CAAC,YAAY,CACvB,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAClC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAClC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CACnC,CAAC;gBACF,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YACD,IAAI,mBAAQ,CAAC,aAAa,CAAC,IAAI,EAAE,EAAE,CAAC,EAAE,CAAC;gBACrC,IAAI,CAAC,OAAO,CAAC,YAAY,CACvB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EACzB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EACzB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,CAAC,CAC3B,CAAC;gBACF,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC;gBAC7C,OAAO;YACT,CAAC;QACH,CAAC;QACD,IAAI,CAAC,WAAW,EAAE,CAAC;IACrB,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAA0B;QAC7C,OAAO,IAAI,KAAK,KAAK,IAAI,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;IAC9G,CAAC;IACD;;;;OAIG;IACI,2BAA2B,CAAC,KAAgB;QACjD,OAAO,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;IAC9G,CAAC;IACD;;;OAGG;IACI,MAAM;QACX,OAAO;YACL,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;YACrF,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;YACrF,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;SACtF,CAAC;IACJ,CAAC;IACD;;;MAGE;IACK,MAAM;QACX,OAAO,IAAI,CAAC,MAAM,EAAE,CAAC;IACvB,CAAC;IACD,oEAAoE;IAC7D,MAAM,CAAC,QAAQ,CAAC,IAAqB;QAC1C,MAAM,MAAM,GAAG,SAAS,CAAC,cAAc,EAAE,CAAC;QAC1C,MAAM,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QACzB,OAAO,MAAM,CAAC;IAChB,CAAC;IACD,mGAAmG;IAC5F,KAAK,CAAC,MAAkB;QAC7B,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACrC,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACrC,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAClB,yBAAO,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,EAChC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,CACrB,CAAC;IACJ,CAAC;IACD;;;OAGG;IACI,UAAU,CAAC,YAAuB,oBAAS,CAAC,GAAG;QACpD,MAAM,cAAc,GAAG,mBAAQ,CAAC,uBAAuB,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;QAChF,IAAI,CAAC,cAAc;YACjB,OAAO,SAAS,CAAC;QACnB,OAAO,IAAI,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,cAAc,EAAE,EAAE,cAAc,CAAC,CAAC;IACrE,CAAC;IACD,gGAAgG;IACzF,MAAM,CAAC,UAAU,CAAC,MAAuB,EAAE,MAAgB,EAAE,MAAkB;QACpF,IAAI,CAAC,MAAM;YACT,MAAM,GAAG,yBAAO,CAAC,UAAU,EAAE,CAAC;QAChC,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,GAAG,MAAM,CAAC;YACxB,MAAM,CAAC,OAAO,GAAG,MAAM,CAAC;YACxB,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IACvC,CAAC;IACD,iHAAiH;IAC1G,MAAM,CAAC,eAAe,CAC3B,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,MAAkB;QAElB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;YAC/B,MAAM,CAAC,OAAO,CAAC,YAAY,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;YACzE,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAClB,yBAAO,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,EAC1B,mBAAQ,CAAC,eAAe,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CACtE,CAAC;IACJ,CAAC;IACD,wCAAwC;IACjC,MAAM,CAAC,UAAU,CAAC,MAAkB;QACzC,OAAO,SAAS,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC/E,CAAC;IACD;;;;;;;;;OASG;IACI,MAAM,CAAC,oBAAoB,CAAC,IAAY,CAAC,EAAE,IAAY,CAAC,EAAE,IAAY,CAAC,EAAE,MAAkB;QAChG,OAAO,SAAS,CAAC,UAAU,CAAC,0BAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,mBAAQ,CAAC,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAC3F,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,iBAAiB,CAAC,WAAgB,EAAE,MAAkB;QAClE,OAAO,SAAS,CAAC,UAAU,CAAC,WAAW,EAAE,mBAAQ,CAAC,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAC9E,CAAC;IACD,iFAAiF;IACjF,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IACD,iFAAiF;IACjF,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IACD,6EAA6E;IACtE,SAAS;QACd,OAAO,yBAAO,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC1C,CAAC;IACD,8EAA8E;IACvE,cAAc;QACnB,OAAO,0BAAQ,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC3C,CAAC;IACD,8EAA8E;IACvE,SAAS;QACd,OAAO,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC;IAC9B,CAAC;IACD,yEAAyE;IACzE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,OAAO,CAAC,UAAU,IAAI,IAAI,CAAC,OAAO,CAAC,YAAY,CAAC;IAC9D,CAAC;IACD,mCAAmC;IAC5B,MAAM,CAAC,cAAc,CAAC,MAAkB;QAC7C,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,EAAE,CAAC;YACzB,MAAM,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;YAC7B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,yBAAO,CAAC,UAAU,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;IAC/E,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,qBAAqB,CACjC,MAAuB,EAAE,MAA4B,EAAE,MAAkB;QAEzE,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,cAAc,CAAC,MAAM,CAAC,CAAC;YACtC,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CACzB,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC,yBAAO,CAAC,UAAU,EAAE,EACvD,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,EAAE,EACjE,MAAM,CACP,CAAC;IACJ,CAAC;IACD,4GAA4G;IACrG,yBAAyB,CAC9B,MAAuB,EAAE,OAA6B,EAAE,OAA6B,EAAE,OAA6B;QAEpH,IAAI,MAAM,KAAK,SAAS;YACtB,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;QAC/B,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;IACrD,CAAC;IACD,8EAA8E;IACvE,MAAM,CAAC,4BAA4B,CACxC,MAAW,EAAE,OAAiB,EAAE,OAAiB,EAAE,OAAiB,EAAE,MAAkB;QAExF,IAAI,MAAM;YACR,MAAM,CAAC,yBAAyB,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;;YAEpE,MAAM,GAAG,SAAS,CAAC,UAAU,CAAC,0BAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,mBAAQ,CAAC,aAAa,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC,CAAC;QAChH,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,+BAA+B,CAC3C,MAAuB,EAAE,OAAiB,EAAE,OAAiB,EAAE,SAAoB,EAAE,MAAkB;QAEvG,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,OAAO,EAAE,OAAO,EAAE,SAAS,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC;QAC7F,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAChE,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,8BAA8B,CAAC,MAAuB,EAAE,MAAgB,EAAE,YAAuB,oBAAS,CAAC,GAAG,EAAE,MAAkB;QAC9I,MAAM,MAAM,GAAG,mBAAQ,CAAC,kBAAkB,CAAC,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC;QAC/E,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAChE,CAAC;IACD;;;;OAIG;IACI,MAAM,CAAC,yBAAyB,CACrC,UAA8B,EAAE,MAAgB,EAAE,MAAkB;QAEpE,IAAI,UAAU,EAAE,CAAC;YACf;;;eAGG;YACH,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,UAAU,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC;YAC/E,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,CAAC,KAAK,EAAE,EAAE,MAAM,CAAC,CAAC;QAC9D,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,SAAS,EAAE,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC;IACzD,CAAC;IACD;;;OAGG;IACI,MAAM,CAAC,yBAAyB,CACrC,MAAgB,EAAE,CAAU,EAAE,CAAU,EAAE,MAAkB;QAE5D,mFAAmF;QACnF,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;QAC7D,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,CAAC,KAAK,EAAE,EAAE,MAAM,CAAC,CAAC;IAC9D,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,qBAAqB,CAAC,UAAmB,EAAE,KAAa,EAAE,MAAkB;QACxF,MAAM,MAAM,GAAG,mBAAQ,CAAC,WAAW,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACzD;;;WAGG;QACH,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,UAAU,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC;QAC/E,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACtD,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,+BAA+B,CAAC,WAAqB,EAAE,UAAkB,EAAE,WAAqB;QAC5G,MAAM,MAAM,GAAG,mBAAQ,CAAC,+BAA+B,CAAC,WAAW,EAAE,WAAW,CAAC,CAAC;QAClF,IAAI,MAAM,KAAK,SAAS;YACtB,OAAO,SAAS,CAAC;QACnB,OAAO,SAAS,CAAC,yBAAyB,CAAC,UAAU,EAAE,MAAM,CAAC,CAAC;IACjE,CAAC;IACD;;;OAGG;IACI,eAAe,CAAC,KAAY,EAAE,MAAgB;QACnD,OAAO,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;IACjF,CAAC;IACD;;;OAGG;IACI,eAAe,CAAC,KAAa,EAAE,MAAgB;QACpD,kCAAkC;QAClC,OAAO,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;IACnF,CAAC;IACD;;;OAGG;IACI,qBAAqB,CAAC,KAAa;QACxC,OAAO,mBAAQ,CAAC,4BAA4B,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;IAClF,CAAC;IACD;;;OAGG;IACI,WAAW,CAAC,CAAS,EAAE,CAAS,EAAE,IAAY,CAAC,EAAE,MAAgB;QACtE,kCAAkC;QAClC,OAAO,mBAAQ,CAAC,6BAA6B,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC7F,CAAC;IACD;;OAEG;IACI,oBAAoB,CAAC,cAAsB,EAAE,CAAS,EAAE,CAAS,EAAE,IAAY,CAAC;QACrF,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,GAAG,GAAG,CAAC,GAAG,cAAc,CAAC;QAC/B,OAAO,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACzG,CAAC;IACD;;OAEG;IACI,qBAAqB,CAAC,cAAsB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS;QAC7F,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,GAAG,GAAG,CAAC,GAAG,cAAc,CAAC;QAC/B,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAC/G,CAAC;IACD;;;;;OAKG;IACI,YAAY,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QAC9E,OAAO,mBAAQ,CAAC,qCAAqC,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACxG,CAAC;IACD;;;;;OAKG;IACI,0BAA0B,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAqB;QACjG,OAAO,mBAAQ,CAAC,mDAAmD,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACtH,CAAC;IACD;;;OAGG;IACI,yBAAyB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAqB;QACrF,OAAO,mBAAQ,CAAC,2CAA2C,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC3G,CAAC;IACD;;;;;;;OAOG;IACI,qBAAqB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QACvF,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,MAAM,GAAG,IAAI,CAAC,OAAO,CAAC;QAC5B,OAAO,iBAAO,CAAC,MAAM,CACnB,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,EACpD,MAAM,CACP,CAAC;IACJ,CAAC;IACD,iGAAiG;IAC1F,2BAA2B,CAAC,MAAiB;QAClD,IAAI,KAAK,CAAC;QACV,KAAK,KAAK,IAAI,MAAM;YAClB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;IAC7E,CAAC;IACD,oGAAoG;IAC7F,gCAAgC,CAAC,MAAmB;QACzD,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,IAAI,CAAC,2BAA2B,CAAC,KAAK,CAAC,CAAC;IAC5C,CAAC;IACD;;;;;;OAMG;IACI,sBAAsB,CAAC,KAAa,EAAE,MAAgB;QAC3D,OAAO,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAC7C,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;;;;;;OAUG;IACI,sBAAsB,CAAC,aAAsB,EAAE,MAAgB;QACpE,MAAM,CAAC,GAAG,aAAa,CAAC,CAAC,CAAC;QAC1B,OAAO,IAAI,CAAC,OAAO,CAAC,mBAAmB,CACrC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,CAAC,EACD,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;;OAMG;IACI,kBAAkB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QACzE,OAAO,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAC7C,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,oBAAoB,CAAC,YAAqB,IAAI;QACnD,OAAO,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,SAAS,CAAC,CAAC;IACtD,CAAC;IACD;;;;;;;;OAQG;IACI,MAAM,CAAC,iBAAiB,CAAC,MAAa,EAAE,IAAW,EAAE,oBAA+B;QACzF,MAAM,SAAS,GAAG,MAAM,CAAC,MAAM,CAAC;QAChC,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC;QAC5B,IAAI,SAAS,GAAG,OAAO,EAAE,CAAC;YACxB,KAAK,IAAI,CAAC,GAAG,OAAO,EAAE,CAAC,GAAG,SAAS,EAAE,CAAC,EAAE,EAAE,CAAC;gBACzC,IAAI,CAAC,IAAI,CAAC,oBAAoB,EAAE,CAAC,CAAC;YACpC,CAAC;QACH,CAAC;aAAM,IAAI,OAAO,GAAG,SAAS,EAAE,CAAC;YAC/B,IAAI,CAAC,MAAM,GAAG,SAAS,CAAC;QAC1B,CAAC;QACD,OAAO,SAAS,CAAC;IACnB,CAAC;IACD;;;;;;;OAOG;IACI,2BAA2B,CAAC,MAAiB,EAAE,MAAkB;QACtE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,IAAI,CAAC;YAC1C,OAAO,SAAS,CAAC;QACnB,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CACV,CAAC;YACJ,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,MAAM,CAAC,IAAI,CACT,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,KAAK,CAAC,CAAC,GAAG,OAAO,EACjB,KAAK,CAAC,CAAC,GAAG,OAAO,EACjB,KAAK,CAAC,CAAC,GAAG,OAAO,CACjB,CACH,CAAC;QACJ,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;OAKG;IACI,kCAAkC,CAAC,MAAiB;QACzD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,IAAI,CAAC;YAC1C,OAAO,KAAK,CAAC;QACf,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CACN,CAAC;QACJ,OAAO,IAAI,CAAC;IACd,CAAC;IACD;;;;OAIG;IACI,oBAAoB,CAAC,MAAiB,EAAE,MAAkB;QAC/D,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YACjF,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,CAAC,IAAI,MAAM;YACpB,MAAM,CAAC,IAAI,CAAC,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;QAC3E,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,oBAAoB,CAAC,MAAiB,EAAE,MAAkB;QAC/D,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YACnF,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,CAAC,IAAI,MAAM;YACpB,MAAM,CAAC,IAAI,CAAC,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;QAC7E,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,cAAc,CAAC,MAAgB,EAAE,MAAiB;QACvD,OAAO,IAAI,CAAC,OAAO,CAAC,cAAc,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IACrD,CAAC;IACD;;;OAGG;IACI,qBAAqB,CAAC,MAAgB;QAC3C,IAAI,CAAC,OAAO,CAAC,qBAAqB,CAAC,MAAM,CAAC,CAAC;IAC7C,CAAC;IACD;;;;OAIG;IACI,iBAAiB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAiB;QACzE,OAAO,IAAI,CAAC,OAAO,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACnD,CAAC;IACD;;;;;;;OAOG;IACI,6BAA6B,CAAC,UAAqB,EAAE,UAAqB;QAC/E,mBAAQ,CAAC,qBAAqB,CAC5B,UAAU,CAAC,OAAO,EAClB,UAAU,CAAC,OAAO,EAClB,UAAU,CAAC,OAAO,EAClB,IAAI,CAAC,OAAkB,CACxB,CAAC;QACF,UAAU,CAAC,OAAO,CAAC,oBAAoB,CAAC,UAAU,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC;IAC5E,CAAC;IACD;;;;;;;;;;;;;OAaG;IACI,0BAA0B,CAAC,KAAgB,EAAE,MAAkB;QACpE,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC,UAAU,CACzB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC,OAAO,CAAC,EACzE,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,CAAC,OAAO,CAAC,CACjD,CAAC;QACJ,MAAM,CAAC,6BAA6B,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QAClD,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;;;;;;OAaG;IACI,yBAAyB,CAAC,KAAe,EAAE,MAAkB;QAClE,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC,UAAU,CACzB,IAAI,CAAC,OAAO,CAAC,cAAc,EAAE,EAC7B,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,CAAC,CACzC,CAAC;QACJ,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,EAAE,MAAM,CAAC,OAAO,CAAC,CAAC;QACzD,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACrC,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;OAQG;IACI,aAAa,CAAC,KAAc,EAAE,MAAgB;QACnD,IAAI,KAAK,CAAC,MAAM;YACd,OAAO,KAAK,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;QAC7B,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,GAAG,eAAO,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC;QACpC,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;QACpD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACvD,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,OAAO,CAAC,MAAkB;QAC/B,MAAM,aAAa,GAAG,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QAChF,IAAI,CAAC,aAAa;YAChB,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,oCAAoC;YACpC,aAAa,CAAC,WAAW,CAAC,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,CAAC,OAAmB,CAAC,CAAC;YACzG,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CACzB,aAAa,CAAC,WAAW,CAAC,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,EAC5E,aAAa,CACd,CAAC;IACJ,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,aAAa,CAAC,GAAY,EAAE,GAAY,EAAE,WAAuB,EAAE,WAAuB;QACtG,MAAM,IAAI,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,MAAM,OAAO,GAAG,IAAI,mBAAQ,EAAE,CAAC;QAC/B;;;;;;;WAOG;QACH,IAAI,WAAW,EAAE,CAAC;YAChB,mBAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC;YACtD,SAAS,CAAC,qBAAqB,CAAC,GAAG,EAAE,OAAO,EAAE,WAAW,CAAC,CAAC;QAC7D,CAAC;QACD;;;;;;;WAOG;QACH,IAAI,WAAW,EAAE,CAAC;YAChB,MAAM,MAAM,GAAG,IAAI,yBAAO,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC;YAC9E,mBAAQ,CAAC,WAAW,CAAC,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC;YACxE,SAAS,CAAC,qBAAqB,CAAC,MAAM,EAAE,OAAO,EAAE,WAAW,CAAC,CAAC;QAChE,CAAC;IACH,CAAC;CACF;AAhzBD,8BAgzBC","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/**\r\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\r\n * the columns of the Matrix3d being the local x,y,z axis directions.\r\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\r\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\r\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\r\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\r\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\r\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\r\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\r\n * * If `T` is a translation, no point is fixed by `T`.\r\n * * If `T` is the identity, all points are fixed by `T`.\r\n * * If `T` is a scale about a point, one point is fixed by `T`.\r\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\r\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\r\n * @public\r\n */\r\nexport class Transform implements BeJSONFunctions {\r\n  private _origin: XYZ;\r\n  private _matrix: Matrix3d;\r\n  // Constructor accepts and uses pointer to content (no copy is done here).\r\n  private constructor(origin: XYZ, matrix: Matrix3d) {\r\n    this._origin = origin;\r\n    this._matrix = matrix;\r\n  }\r\n  private static _identity?: Transform;\r\n  /** The identity Transform. Value is frozen and cannot be modified. */\r\n  public static get identity(): Transform {\r\n    if (undefined === this._identity) {\r\n      this._identity = Transform.createIdentity();\r\n      this._identity.freeze();\r\n    }\r\n    return this._identity;\r\n  }\r\n  /** Freeze this instance (and its members) so it is read-only */\r\n  public freeze(): Readonly<this> {\r\n    this._origin.freeze();\r\n    this._matrix.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Copy contents from other Transform into this Transform\r\n   * @param other source transform\r\n   */\r\n  public setFrom(other: Transform) {\r\n    this._origin.setFrom(other._origin);\r\n    this._matrix.setFrom(other._matrix);\r\n  }\r\n  /** Set this Transform to be an identity. */\r\n  public setIdentity() {\r\n    this._origin.setZero();\r\n    this._matrix.setIdentity();\r\n  }\r\n  /**\r\n   * Set this Transform instance from flexible inputs:\r\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\r\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\r\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\r\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\r\n   * * If no input is provided, the identity Transform is returned.\r\n   */\r\n  public setFromJSON(json?: TransformProps | Transform): void {\r\n    if (json) {\r\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\r\n        this._origin.setFromJSON((json as any).origin);\r\n        this._matrix.setFromJSON((json as any).matrix);\r\n        return;\r\n      }\r\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\r\n        this._matrix.setRowValues(\r\n          json[0][0], json[0][1], json[0][2],\r\n          json[1][0], json[1][1], json[1][2],\r\n          json[2][0], json[2][1], json[2][2],\r\n        );\r\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\r\n        return;\r\n      }\r\n      if (Geometry.isNumberArray(json, 12)) {\r\n        this._matrix.setRowValues(\r\n          json[0], json[1], json[2],\r\n          json[4], json[5], json[6],\r\n          json[8], json[9], json[10],\r\n        );\r\n        this._origin.set(json[3], json[7], json[11]);\r\n        return;\r\n      }\r\n    }\r\n    this.setIdentity();\r\n  }\r\n  /**\r\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\r\n   * `matrix` parts.\r\n   * @param other Transform to compare to.\r\n   */\r\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\r\n    return this === other || this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\r\n  }\r\n  /**\r\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\r\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\r\n   * @param other Transform to compare to.\r\n   */\r\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\r\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\r\n  }\r\n  /**\r\n   * Return a 3 by 4 matrix containing the rows of this Transform.\r\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n   */\r\n  public toRows(): number[][] {\r\n    return [\r\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\r\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\r\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\r\n    ];\r\n  }\r\n  /**\r\n   * Return a 3 by 4 matrix containing the rows of this Transform.\r\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n  */\r\n  public toJSON(): TransformProps {\r\n    return this.toRows();\r\n  }\r\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\r\n  public static fromJSON(json?: TransformProps): Transform {\r\n    const result = Transform.createIdentity();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\r\n  public clone(result?: Transform): Transform {\r\n    if (result) {\r\n      result._matrix.setFrom(this._matrix);\r\n      result._origin.setFrom(this._origin);\r\n      return result;\r\n    }\r\n    return new Transform(\r\n      Point3d.createFrom(this._origin),\r\n      this._matrix.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\r\n   * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\r\n   */\r\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\r\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\r\n    if (!modifiedMatrix)\r\n      return undefined;\r\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\r\n  }\r\n  /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */\r\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n    if (!origin)\r\n      origin = Point3d.createZero();\r\n    if (result) {\r\n      result._origin = origin;\r\n      result._matrix = matrix;\r\n      return result;\r\n    }\r\n    return new Transform(origin, matrix);\r\n  }\r\n  /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */\r\n  public static createRowValues(\r\n    qxx: number, qxy: number, qxz: number, ax: number,\r\n    qyx: number, qyy: number, qyz: number, ay: number,\r\n    qzx: number, qzy: number, qzz: number, az: number,\r\n    result?: Transform,\r\n  ): Transform {\r\n    if (result) {\r\n      result._origin.set(ax, ay, az);\r\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\r\n      return result;\r\n    }\r\n    return new Transform(\r\n      Point3d.create(ax, ay, az),\r\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\r\n    );\r\n  }\r\n  /** Create a Transform with all zeros */\r\n  public static createZero(result?: Transform): Transform {\r\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\r\n  }\r\n  /**\r\n   * Create a Transform with translation provided by x,y,z parts.\r\n   * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n   * @param x x part of translation\r\n   * @param y y part of translation\r\n   * @param z z part of translation\r\n   * @param result optional pre-allocated Transform\r\n   * @returns new or updated transform\r\n   */\r\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\r\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\r\n  }\r\n  /**\r\n   * Create a Transform with specified `translation` part.\r\n   * * Translation Transform maps any vector `v` to `v + translation`\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n   * @param translation x,y,z parts of the translation\r\n   * @param result optional pre-allocated Transform\r\n   * @returns new or updated transform\r\n   */\r\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\r\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\r\n  }\r\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\r\n  public get matrix(): Matrix3d {\r\n    return this._matrix;\r\n  }\r\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\r\n  public get origin(): XYZ {\r\n    return this._origin;\r\n  }\r\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\r\n  public getOrigin(): Point3d {\r\n    return Point3d.createFrom(this._origin);\r\n  }\r\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\r\n  public getTranslation(): Vector3d {\r\n    return Vector3d.createFrom(this._origin);\r\n  }\r\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\r\n  public getMatrix(): Matrix3d {\r\n    return this._matrix.clone();\r\n  }\r\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\r\n  public get isIdentity(): boolean {\r\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\r\n  }\r\n  /** Create an identity transform */\r\n  public static createIdentity(result?: Transform): Transform {\r\n    if (result) {\r\n      result._origin.setZero();\r\n      result._matrix.setIdentity();\r\n      return result;\r\n    }\r\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Transform using the given `origin` and `matrix`.\r\n   * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\r\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\r\n   * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\r\n   * of the world-to-world transformation.\r\n   * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\r\n   */\r\n  public static createOriginAndMatrix(\r\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform,\r\n  ): Transform {\r\n    if (result) {\r\n      result._origin.setFromPoint3d(origin);\r\n      result._matrix.setFrom(matrix);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(\r\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\r\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\r\n      result,\r\n    );\r\n  }\r\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\r\n  public setOriginAndMatrixColumns(\r\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined,\r\n  ): void {\r\n    if (origin !== undefined)\r\n      this._origin.setFrom(origin);\r\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\r\n  }\r\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\r\n  public static createOriginAndMatrixColumns(\r\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\r\n  ): Transform {\r\n    if (result)\r\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\r\n    else\r\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\r\n    return result;\r\n  }\r\n  /**\r\n   * Create a Transform with given origin and a rigid matrix constructed from two column vectors.\r\n   * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n   * @param vectorX first axis passed into `Matrix3d.createRigidFromColumns`.\r\n   * @param vectorY second axis passed into `Matrix3d.createRigidFromColumns`.\r\n   * @param axisOrder order of axis construction in `Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder)`.\r\n   * @param result optional pre-allocated result to populate and return.\r\n   * @returns localToWorld transform for a local coordinate system with given origin and ordered axes, or `undefined`\r\n   * if the rigid matrix could not be created.\r\n   * @see [[Matrix3d.createRigidFromColumns]]\r\n   */\r\n  public static createRigidFromOriginAndColumns(\r\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\r\n  ): Transform | undefined {\r\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result?._matrix);\r\n    if (!matrix)\r\n      return undefined;\r\n    if (result) {\r\n      result._origin.setFrom(origin);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n  }\r\n  /**\r\n   * Create a Transform with given origin and a rigid matrix constructed from one column vector.\r\n   * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n   * @param vector direction of the axis of the local coordinate system indicated by the first letter of `axisOrder`.\r\n   * @param axisOrder order of axis construction in `Matrix3d.createRigidHeadsUp(vector, axisOrder)`. Default value\r\n   * is `AxisOrder.ZXY`, which means the z-column of the returned Transform is in the direction of `vector`.\r\n   * @param result optional pre-allocated result to populate and return.\r\n   * @returns localToWorld transform for a local coordinate system with given origin and axis, or `undefined`\r\n   * if the rigid matrix could not be created.\r\n   * @see [[Matrix3d.createRigidHeadsUp]]\r\n   */\r\n  public static createRigidFromOriginAndVector(origin: XYZ | undefined, vector: Vector3d, axisOrder: AxisOrder = AxisOrder.ZXY, result?: Transform): Transform | undefined {\r\n    const matrix = Matrix3d.createRigidHeadsUp(vector, axisOrder, result?._matrix);\r\n    if (!matrix)\r\n      return undefined;\r\n    if (result) {\r\n      result._origin.setFrom(origin);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n  }\r\n  /**\r\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\r\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\r\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\r\n   */\r\n  public static createFixedPointAndMatrix(\r\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform,\r\n  ): Transform {\r\n    if (fixedPoint) {\r\n      /**\r\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\r\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\r\n       */\r\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n      return Transform.createRefs(origin, matrix.clone(), result);\r\n    }\r\n    return Transform.createRefs(undefined, matrix.clone());\r\n  }\r\n  /**\r\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\r\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to `b`.\r\n   */\r\n  public static createMatrixPickupPutdown(\r\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\r\n  ): Transform {\r\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(p-a) + b\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\r\n    return Transform.createRefs(origin, matrix.clone(), result);\r\n  }\r\n  /**\r\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\r\n   * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`\r\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n   */\r\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\r\n    const matrix = Matrix3d.createScale(scale, scale, scale);\r\n    /**\r\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\r\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\r\n     */\r\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n    return Transform.createRefs(origin, matrix, result);\r\n  }\r\n  /**\r\n   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\r\n   * from the plane normal.\r\n   * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\r\n   * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.\r\n   * @param planePoint any point on the plane\r\n   * @param planeNormal vector normal to the plane.\r\n   */\r\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\r\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\r\n    if (matrix === undefined)\r\n      return undefined;\r\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\r\n  }\r\n  /**\r\n   * Transform the input 2d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\r\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\r\n  }\r\n  /**\r\n   * Transform the input 3d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\r\n    // Tx = Mx + o so we return Mx + o\r\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\r\n  }\r\n  /**\r\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\r\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\r\n  }\r\n  /**\r\n   * Transform the input 3d point (using `Tp = M*p + o`).\r\n   * Return as a new point or in the pre-allocated result (if result is given).\r\n   */\r\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\r\n    // Tx = Mx + o so we return Mx + o\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /**\r\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\r\n   */\r\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\r\n    const coffs = this._matrix.coffs;\r\n    const idx = 3 * componentIndex;\r\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n  }\r\n  /**\r\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\r\n   */\r\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\r\n    const coffs = this._matrix.coffs;\r\n    const idx = 3 * componentIndex;\r\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n  }\r\n  /**\r\n   * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the\r\n   * first three coordinates, and `w` in the fourth.\r\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n   */\r\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n  /**\r\n   * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`\r\n   * in the first 3 numbers of the array and `w` as the fourth.\r\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n   */\r\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\r\n  }\r\n  /**\r\n   * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\r\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.\r\n   */\r\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\r\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\r\n  }\r\n  /**\r\n   * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\r\n   * pre-allocated result (if result is given).\r\n   * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,\r\n   * and `o*p + w` in the fourth.\r\n   * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\r\n   * fourth row 0001.\r\n   */\r\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n    const coffs = this._matrix.coffs;\r\n    const origin = this._origin;\r\n    return Point4d.create(\r\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\r\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\r\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\r\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\r\n      result,\r\n    );\r\n  }\r\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\r\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\r\n    let point;\r\n    for (point of points)\r\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\r\n  }\r\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\r\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\r\n    for (const chain of chains)\r\n      this.multiplyPoint3dArrayInPlace(chain);\r\n  }\r\n  /**\r\n   * Multiply the point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`\r\n   * Transform has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      point.x - this._origin.x,\r\n      point.y - this._origin.y,\r\n      point.z - this._origin.z,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Multiply the homogenous point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\r\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`\r\n   * in the first three coordinates, and `w` in the fourth.\r\n   * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\r\n   * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\r\n    const w = weightedPoint.w;\r\n    return this._matrix.multiplyInverseXYZW(\r\n      weightedPoint.x - w * this.origin.x,\r\n      weightedPoint.y - w * this.origin.y,\r\n      weightedPoint.z - w * this.origin.z,\r\n      w,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Multiply the point by the inverse Transform.\r\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\r\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\r\n   * * Return as a new point or in the optional `result`.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\r\n    return this._matrix.multiplyInverseXYZAsPoint3d(\r\n      x - this._origin.x,\r\n      y - this._origin.y,\r\n      z - this._origin.z,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\r\n   * operations can complete.\r\n   * @param useCached If true, accept prior cached inverse if available.\r\n   * @returns `true` if matrix inverse completes, `false` otherwise.\r\n   */\r\n  public computeCachedInverse(useCached: boolean = true): boolean {\r\n    return this._matrix.computeCachedInverse(useCached);\r\n  }\r\n  /**\r\n   * Match the length of destination array with the length of source array\r\n   * * If destination has more elements than source, remove the extra elements.\r\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\r\n   * *\r\n   * @param source the source array\r\n   * @param dest the destination array\r\n   * @param constructionFunction function to call to create new elements.\r\n   */\r\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\r\n    const numSource = source.length;\r\n    const numDest = dest.length;\r\n    if (numSource > numDest) {\r\n      for (let i = numDest; i < numSource; i++) {\r\n        dest.push(constructionFunction());\r\n      }\r\n    } else if (numDest > numSource) {\r\n      dest.length = numSource;\r\n    }\r\n    return numSource;\r\n  }\r\n  /**\r\n   * Multiply each point in the array by the inverse of `this` Transform.\r\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n   * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\r\n   * * If `result` is not given, return a new array.\r\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n   */\r\n  public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return undefined;\r\n    const originX = this.origin.x;\r\n    const originY = this.origin.y;\r\n    const originZ = this.origin.z;\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n      for (let i = 0; i < n; i++)\r\n        this._matrix.multiplyInverseXYZAsPoint3d(\r\n          points[i].x - originX,\r\n          points[i].y - originY,\r\n          points[i].z - originZ,\r\n          result[i],\r\n        );\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const point of points)\r\n      result.push(\r\n        this._matrix.multiplyInverseXYZAsPoint3d(\r\n          point.x - originX,\r\n          point.y - originY,\r\n          point.z - originZ,\r\n        )!,\r\n      );\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply each point in the array by the inverse of `this` Transform in place.\r\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\r\n   */\r\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\r\n    if (!this._matrix.computeCachedInverse(true))\r\n      return false;\r\n    for (const point of points)\r\n      this._matrix.multiplyInverseXYZAsPoint3d(\r\n        point.x - this.origin.x,\r\n        point.y - this.origin.y,\r\n        point.z - this.origin.z,\r\n        point,\r\n      );\r\n    return true;\r\n  }\r\n  /**\r\n   * Transform the input 2d point array (using `Tp = M*p + o`).\r\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n   * * If `result` is not given, return a new array.\r\n   */\r\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of points)\r\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\r\n    return result;\r\n  }\r\n  /**\r\n   * Transform the input 3d point array (using `Tp = M*p + o`).\r\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n   * * If `result` is not given, return a new array.\r\n   */\r\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\r\n    if (result) {\r\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n      for (let i = 0; i < n; i++)\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\r\n      return result;\r\n    }\r\n    result = [];\r\n    for (const p of points)\r\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply the vector by the `matrix` part of the Transform.\r\n   * * The `origin` part of Transform is not used.\r\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n   */\r\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyVector(vector, result);\r\n  }\r\n  /**\r\n   * Multiply the vector by the `matrix` part of the Transform in place.\r\n   * * The `origin` part of Transform is not used.\r\n   */\r\n  public multiplyVectorInPlace(vector: Vector3d): void {\r\n    this._matrix.multiplyVectorInPlace(vector);\r\n  }\r\n  /**\r\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\r\n   * * The `origin` part of Transform is not used.\r\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n   */\r\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\r\n    return this._matrix.multiplyXYZ(x, y, z, result);\r\n  }\r\n  /**\r\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\r\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\r\n   * `[A*B   Ab+a]`.\r\n   * * @see [[multiplyTransformTransform]] documentation for math details.\r\n   * @param transformA first operand\r\n   * @param transformB second operand\r\n   */\r\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\r\n    Matrix3d.xyzPlusMatrixTimesXYZ(\r\n      transformA._origin,\r\n      transformA._matrix,\r\n      transformB._origin,\r\n      this._origin as Point3d,\r\n    );\r\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\r\n  }\r\n  /**\r\n   * Multiply `this` Transform times `other` Transform.\r\n   * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as `[A*B   Ab+a]` because:\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n   *    \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other the `other` Transform to be multiplied to `this` Transform.\r\n   * @param result optional preallocated `result` to reuse.\r\n   */\r\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\r\n        this._matrix.multiplyMatrixMatrix(other._matrix),\r\n      );\r\n    result.setMultiplyTransformTransform(this, other);\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\r\n   * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:\r\n   * ```\r\n   * equation\r\n   * \\begin{matrix}\r\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n   *    \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\r\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\r\n   * \\end{matrix}\r\n   * ```\r\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\r\n   * @param result optional preallocated `result` to reuse.\r\n   */\r\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\r\n    if (!result)\r\n      return Transform.createRefs(\r\n        this._origin.cloneAsPoint3d(),\r\n        this._matrix.multiplyMatrixMatrix(other),\r\n      );\r\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\r\n    result._origin.setFrom(this._origin);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return the range of the transformed corners.\r\n   * * The 8 corners are transformed individually.\r\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\r\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\r\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\r\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\r\n   * function creates the larger range box because it only has access to the range box and not the geometry itself.\r\n   */\r\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\r\n    if (range.isNull)\r\n      return range.clone(result);\r\n    const lowX = range.low.x;\r\n    const lowY = range.low.y;\r\n    const lowZ = range.low.z;\r\n    const highX = range.high.x;\r\n    const highY = range.high.y;\r\n    const highZ = range.high.z;\r\n    result = Range3d.createNull(result);\r\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\r\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\r\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\r\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\r\n    result.extendTransformedXYZ(this, highX, highY, highZ);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return a Transform which is the inverse of `this` Transform.\r\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`\r\n   * * Return `undefined` if this Transform's matrix is singular.\r\n   */\r\n  public inverse(result?: Transform): Transform | undefined {\r\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\r\n    if (!matrixInverse)\r\n      return undefined;\r\n    if (result) {\r\n      // result._matrix is already defined\r\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\r\n      return result;\r\n    }\r\n    return Transform.createRefs(\r\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\r\n      matrixInverse,\r\n    );\r\n  }\r\n  /**\r\n   * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\r\n   * by the input points.\r\n   * @param min the min corner of the range box\r\n   * @param max the max corner of the range box\r\n   * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\r\n   * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\r\n   * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\r\n   * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\r\n   * * NPC stands for `Normalized Projection Coordinate`\r\n   */\r\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\r\n    const diag = max.minus(min);\r\n    if (diag.x === 0.0)\r\n      diag.x = 1.0;\r\n    if (diag.y === 0.0)\r\n      diag.y = 1.0;\r\n    if (diag.z === 0.0)\r\n      diag.z = 1.0;\r\n    const rMatrix = new Matrix3d();\r\n    /**\r\n     *               [diag.x    0       0      min.x]\r\n     * npcToGlobal = [  0     diag.y    0      min.y]\r\n     *               [  0       0     diag.y   min.z]\r\n     *\r\n     * npcToGlobal * 0 = min\r\n     * npcToGlobal * 1 = diag + min = max\r\n     */\r\n    if (npcToGlobal) {\r\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\r\n    }\r\n    /**\r\n     *               [1/diag.x      0         0      -min.x/diag.x]\r\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\r\n     *               [  0         0       1/diag.y   -min.z/diag.z]\r\n     *\r\n     * globalToNpc * min = min/diag - min/diag = 0\r\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\r\n     */\r\n    if (globalToNpc) {\r\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\r\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\r\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\r\n    }\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"Transform.js","sourceRoot":"","sources":["../../../src/geometry3d/Transform.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAmE;AACnE,mDAAgD;AAChD,yCAAsC;AACtC,uDAA4C;AAC5C,uDAA2D;AAC3D,mCAAkC;AAGlC;;;;;;;;;;;;;;;;GAgBG;AACH,MAAa,SAAS;IACZ,OAAO,CAAM;IACb,OAAO,CAAW;IAC1B,0EAA0E;IAC1E,YAAoB,MAAW,EAAE,MAAgB;QAC/C,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;IACxB,CAAC;IACO,MAAM,CAAC,SAAS,CAAa;IACrC,sEAAsE;IAC/D,MAAM,KAAK,QAAQ;QACxB,IAAI,SAAS,KAAK,IAAI,CAAC,SAAS,EAAE,CAAC;YACjC,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC,cAAc,EAAE,CAAC;YAC5C,IAAI,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC;QAC1B,CAAC;QACD,OAAO,IAAI,CAAC,SAAS,CAAC;IACxB,CAAC;IACD,gEAAgE;IACzD,MAAM;QACX,IAAI,CAAC,OAAO,CAAC,MAAM,EAAE,CAAC;QACtB,IAAI,CAAC,OAAO,CAAC,MAAM,EAAE,CAAC;QACtB,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAC7B,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAgB;QAC7B,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACpC,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;IACtC,CAAC;IACD,4CAA4C;IACrC,WAAW;QAChB,IAAI,CAAC,OAAO,CAAC,OAAO,EAAE,CAAC;QACvB,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;IAC7B,CAAC;IACD;;;;;;;OAOG;IACI,WAAW,CAAC,IAAiC;QAClD,IAAI,IAAI,EAAE,CAAC;YACT,IAAI,IAAI,YAAY,MAAM,IAAK,IAAY,CAAC,MAAM,IAAK,IAAY,CAAC,MAAM,EAAE,CAAC;gBAC3E,IAAI,CAAC,OAAO,CAAC,WAAW,CAAE,IAAY,CAAC,MAAM,CAAC,CAAC;gBAC/C,IAAI,CAAC,OAAO,CAAC,WAAW,CAAE,IAAY,CAAC,MAAM,CAAC,CAAC;gBAC/C,OAAO;YACT,CAAC;YACD,IAAI,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;gBAC9C,IAAI,CAAC,OAAO,CAAC,YAAY,CACvB,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAClC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAClC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CACnC,CAAC;gBACF,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YACD,IAAI,mBAAQ,CAAC,aAAa,CAAC,IAAI,EAAE,EAAE,CAAC,EAAE,CAAC;gBACrC,IAAI,CAAC,OAAO,CAAC,YAAY,CACvB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EACzB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EACzB,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,CAAC,CAC3B,CAAC;gBACF,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC;gBAC7C,OAAO;YACT,CAAC;QACH,CAAC;QACD,IAAI,CAAC,WAAW,EAAE,CAAC;IACrB,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAA0B;QAC7C,OAAO,IAAI,KAAK,KAAK,IAAI,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,IAAI,CAAC,MAAM,CAAC,aAAa,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;IAC9G,CAAC;IACD;;;;OAIG;IACI,2BAA2B,CAAC,KAAgB;QACjD,OAAO,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;IAC9G,CAAC;IACD;;;OAGG;IACI,MAAM;QACX,OAAO;YACL,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;YACrF,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;YACrF,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;SACtF,CAAC;IACJ,CAAC;IACD;;;MAGE;IACK,MAAM;QACX,OAAO,IAAI,CAAC,MAAM,EAAE,CAAC;IACvB,CAAC;IACD,oEAAoE;IAC7D,MAAM,CAAC,QAAQ,CAAC,IAAqB;QAC1C,MAAM,MAAM,GAAG,SAAS,CAAC,cAAc,EAAE,CAAC;QAC1C,MAAM,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QACzB,OAAO,MAAM,CAAC;IAChB,CAAC;IACD,mGAAmG;IAC5F,KAAK,CAAC,MAAkB;QAC7B,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACrC,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACrC,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAClB,yBAAO,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,EAChC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,CACrB,CAAC;IACJ,CAAC;IACD;;;OAGG;IACI,UAAU,CAAC,YAAuB,oBAAS,CAAC,GAAG;QACpD,MAAM,cAAc,GAAG,mBAAQ,CAAC,uBAAuB,CAAC,IAAI,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;QAChF,IAAI,CAAC,cAAc;YACjB,OAAO,SAAS,CAAC;QACnB,OAAO,IAAI,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,cAAc,EAAE,EAAE,cAAc,CAAC,CAAC;IACrE,CAAC;IACD,gGAAgG;IACzF,MAAM,CAAC,UAAU,CAAC,MAAuB,EAAE,MAAgB,EAAE,MAAkB;QACpF,IAAI,CAAC,MAAM;YACT,MAAM,GAAG,yBAAO,CAAC,UAAU,EAAE,CAAC;QAChC,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,GAAG,MAAM,CAAC;YACxB,MAAM,CAAC,OAAO,GAAG,MAAM,CAAC;YACxB,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IACvC,CAAC;IACD,iHAAiH;IAC1G,MAAM,CAAC,eAAe,CAC3B,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,GAAW,EAAE,GAAW,EAAE,GAAW,EAAE,EAAU,EACjD,MAAkB;QAElB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;YAC/B,MAAM,CAAC,OAAO,CAAC,YAAY,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;YACzE,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,IAAI,SAAS,CAClB,yBAAO,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,EAC1B,mBAAQ,CAAC,eAAe,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CACtE,CAAC;IACJ,CAAC;IACD,wCAAwC;IACjC,MAAM,CAAC,UAAU,CAAC,MAAkB;QACzC,OAAO,SAAS,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC/E,CAAC;IACD;;;;;;;;;OASG;IACI,MAAM,CAAC,oBAAoB,CAAC,IAAY,CAAC,EAAE,IAAY,CAAC,EAAE,IAAY,CAAC,EAAE,MAAkB;QAChG,OAAO,SAAS,CAAC,UAAU,CAAC,0BAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,mBAAQ,CAAC,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAC3F,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,iBAAiB,CAAC,WAAgB,EAAE,MAAkB;QAClE,OAAO,SAAS,CAAC,UAAU,CAAC,WAAW,EAAE,mBAAQ,CAAC,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAC9E,CAAC;IACD,iFAAiF;IACjF,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IACD,iFAAiF;IACjF,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IACD,6EAA6E;IACtE,SAAS;QACd,OAAO,yBAAO,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC1C,CAAC;IACD,8EAA8E;IACvE,cAAc;QACnB,OAAO,0BAAQ,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC3C,CAAC;IACD,8EAA8E;IACvE,SAAS;QACd,OAAO,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC;IAC9B,CAAC;IACD,yEAAyE;IACzE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,OAAO,CAAC,UAAU,IAAI,IAAI,CAAC,OAAO,CAAC,YAAY,CAAC;IAC9D,CAAC;IACD,mCAAmC;IAC5B,MAAM,CAAC,cAAc,CAAC,MAAkB;QAC7C,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,EAAE,CAAC;YACzB,MAAM,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;YAC7B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,yBAAO,CAAC,UAAU,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;IAC/E,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,qBAAqB,CACjC,MAAuB,EAAE,MAA4B,EAAE,MAAkB;QAEzE,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,cAAc,CAAC,MAAM,CAAC,CAAC;YACtC,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CACzB,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC,yBAAO,CAAC,UAAU,EAAE,EACvD,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,EAAE,EACjE,MAAM,CACP,CAAC;IACJ,CAAC;IACD,4GAA4G;IACrG,yBAAyB,CAC9B,MAAuB,EAAE,OAA6B,EAAE,OAA6B,EAAE,OAA6B;QAEpH,IAAI,MAAM,KAAK,SAAS;YACtB,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;QAC/B,IAAI,CAAC,OAAO,CAAC,UAAU,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;IACrD,CAAC;IACD,8EAA8E;IACvE,MAAM,CAAC,4BAA4B,CACxC,MAAW,EAAE,OAAiB,EAAE,OAAiB,EAAE,OAAiB,EAAE,MAAkB;QAExF,IAAI,MAAM;YACR,MAAM,CAAC,yBAAyB,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;;YAEpE,MAAM,GAAG,SAAS,CAAC,UAAU,CAAC,0BAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,mBAAQ,CAAC,aAAa,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC,CAAC;QAChH,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,+BAA+B,CAC3C,MAAuB,EAAE,OAAiB,EAAE,OAAiB,EAAE,SAAoB,EAAE,MAAkB;QAEvG,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,OAAO,EAAE,OAAO,EAAE,SAAS,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC;QAC7F,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAChE,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,8BAA8B,CAAC,MAAuB,EAAE,MAAgB,EAAE,YAAuB,oBAAS,CAAC,GAAG,EAAE,MAAkB;QAC9I,MAAM,MAAM,GAAG,mBAAQ,CAAC,kBAAkB,CAAC,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC;QAC/E,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC/B,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,cAAc,EAAE,EAAE,MAAM,CAAC,CAAC;IAChE,CAAC;IACD;;;;OAIG;IACI,MAAM,CAAC,yBAAyB,CACrC,UAA8B,EAAE,MAAgB,EAAE,MAAkB;QAEpE,IAAI,UAAU,EAAE,CAAC;YACf;;;eAGG;YACH,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,UAAU,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC;YAC/E,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,CAAC,KAAK,EAAE,EAAE,MAAM,CAAC,CAAC;QAC9D,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CAAC,SAAS,EAAE,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC;IACzD,CAAC;IACD;;;OAGG;IACI,MAAM,CAAC,yBAAyB,CACrC,MAAgB,EAAE,CAAU,EAAE,CAAU,EAAE,MAAkB;QAE5D,mFAAmF;QACnF,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;QAC7D,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,CAAC,KAAK,EAAE,EAAE,MAAM,CAAC,CAAC;IAC9D,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,qBAAqB,CAAC,UAAmB,EAAE,KAAa,EAAE,MAAkB;QACxF,MAAM,MAAM,GAAG,mBAAQ,CAAC,WAAW,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACzD;;;WAGG;QACH,MAAM,MAAM,GAAG,mBAAQ,CAAC,sBAAsB,CAAC,UAAU,EAAE,MAAM,EAAE,UAAU,CAAC,CAAC;QAC/E,OAAO,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACtD,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,+BAA+B,CAAC,WAAqB,EAAE,UAAkB,EAAE,WAAqB;QAC5G,MAAM,MAAM,GAAG,mBAAQ,CAAC,+BAA+B,CAAC,WAAW,EAAE,WAAW,CAAC,CAAC;QAClF,IAAI,MAAM,KAAK,SAAS;YACtB,OAAO,SAAS,CAAC;QACnB,OAAO,SAAS,CAAC,yBAAyB,CAAC,UAAU,EAAE,MAAM,CAAC,CAAC;IACjE,CAAC;IACD;;;OAGG;IACI,eAAe,CAAC,KAAY,EAAE,MAAgB;QACnD,OAAO,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;IACjF,CAAC;IACD;;;OAGG;IACI,eAAe,CAAC,KAAa,EAAE,MAAgB;QACpD,kCAAkC;QAClC,OAAO,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;IACnF,CAAC;IACD;;;OAGG;IACI,qBAAqB,CAAC,KAAa;QACxC,OAAO,mBAAQ,CAAC,4BAA4B,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;IAClF,CAAC;IACD;;;OAGG;IACI,WAAW,CAAC,CAAS,EAAE,CAAS,EAAE,IAAY,CAAC,EAAE,MAAgB;QACtE,kCAAkC;QAClC,OAAO,mBAAQ,CAAC,6BAA6B,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC7F,CAAC;IACD;;OAEG;IACI,oBAAoB,CAAC,cAAsB,EAAE,CAAS,EAAE,CAAS,EAAE,IAAY,CAAC;QACrF,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,GAAG,GAAG,CAAC,GAAG,cAAc,CAAC;QAC/B,OAAO,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACzG,CAAC;IACD;;OAEG;IACI,qBAAqB,CAAC,cAAsB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS;QAC7F,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,GAAG,GAAG,CAAC,GAAG,cAAc,CAAC;QAC/B,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAC/G,CAAC;IACD;;;;;OAKG;IACI,YAAY,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QAC9E,OAAO,mBAAQ,CAAC,qCAAqC,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACxG,CAAC;IACD;;;;;OAKG;IACI,0BAA0B,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAqB;QACjG,OAAO,mBAAQ,CAAC,mDAAmD,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACtH,CAAC;IACD;;;OAGG;IACI,yBAAyB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAqB;QACrF,OAAO,mBAAQ,CAAC,2CAA2C,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IAC3G,CAAC;IACD;;;;;;;OAOG;IACI,qBAAqB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QACvF,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC;QACjC,MAAM,MAAM,GAAG,IAAI,CAAC,OAAO,CAAC;QAC5B,OAAO,iBAAO,CAAC,MAAM,CACnB,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,EAChD,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,EACpD,MAAM,CACP,CAAC;IACJ,CAAC;IACD,iGAAiG;IAC1F,2BAA2B,CAAC,MAAiB;QAClD,IAAI,KAAK,CAAC;QACV,KAAK,KAAK,IAAI,MAAM;YAClB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;IAC7E,CAAC;IACD,oGAAoG;IAC7F,gCAAgC,CAAC,MAAmB;QACzD,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,IAAI,CAAC,2BAA2B,CAAC,KAAK,CAAC,CAAC;IAC5C,CAAC;IACD;;;;;;OAMG;IACI,sBAAsB,CAAC,KAAa,EAAE,MAAgB;QAC3D,OAAO,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAC7C,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EACxB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;;;;;;OAUG;IACI,sBAAsB,CAAC,aAAsB,EAAE,MAAgB;QACpE,MAAM,CAAC,GAAG,aAAa,CAAC,CAAC,CAAC;QAC1B,OAAO,IAAI,CAAC,OAAO,CAAC,mBAAmB,CACrC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,aAAa,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACnC,CAAC,EACD,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;;OAMG;IACI,kBAAkB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAgB;QACzE,OAAO,IAAI,CAAC,OAAO,CAAC,2BAA2B,CAC7C,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,CAAC,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC,EAClB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,oBAAoB,CAAC,YAAqB,IAAI;QACnD,OAAO,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,SAAS,CAAC,CAAC;IACtD,CAAC;IACD;;;;;;;;OAQG;IACI,MAAM,CAAC,iBAAiB,CAAC,MAAa,EAAE,IAAW,EAAE,oBAA+B;QACzF,MAAM,SAAS,GAAG,MAAM,CAAC,MAAM,CAAC;QAChC,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC;QAC5B,IAAI,SAAS,GAAG,OAAO,EAAE,CAAC;YACxB,KAAK,IAAI,CAAC,GAAG,OAAO,EAAE,CAAC,GAAG,SAAS,EAAE,CAAC,EAAE,EAAE,CAAC;gBACzC,IAAI,CAAC,IAAI,CAAC,oBAAoB,EAAE,CAAC,CAAC;YACpC,CAAC;QACH,CAAC;aAAM,IAAI,OAAO,GAAG,SAAS,EAAE,CAAC;YAC/B,IAAI,CAAC,MAAM,GAAG,SAAS,CAAC;QAC1B,CAAC;QACD,OAAO,SAAS,CAAC;IACnB,CAAC;IACD;;;;;;;OAOG;IACI,2BAA2B,CAAC,MAAiB,EAAE,MAAkB;QACtE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,IAAI,CAAC;YAC1C,OAAO,SAAS,CAAC;QACnB,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QAC9B,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,EACrB,MAAM,CAAC,CAAC,CAAC,CACV,CAAC;YACJ,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,MAAM,CAAC,IAAI,CACT,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,KAAK,CAAC,CAAC,GAAG,OAAO,EACjB,KAAK,CAAC,CAAC,GAAG,OAAO,EACjB,KAAK,CAAC,CAAC,GAAG,OAAO,CACjB,CACH,CAAC;QACJ,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;OAKG;IACI,kCAAkC,CAAC,MAAiB;QACzD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,IAAI,CAAC;YAC1C,OAAO,KAAK,CAAC;QACf,KAAK,MAAM,KAAK,IAAI,MAAM;YACxB,IAAI,CAAC,OAAO,CAAC,2BAA2B,CACtC,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,EACvB,KAAK,CACN,CAAC;QACJ,OAAO,IAAI,CAAC;IACd,CAAC;IACD;;;;OAIG;IACI,oBAAoB,CAAC,MAAiB,EAAE,MAAkB;QAC/D,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YACjF,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,CAAC,IAAI,MAAM;YACpB,MAAM,CAAC,IAAI,CAAC,mBAAQ,CAAC,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;QAC3E,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,oBAAoB,CAAC,MAAiB,EAAE,MAAkB;QAC/D,IAAI,MAAM,EAAE,CAAC;YACX,MAAM,CAAC,GAAG,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,yBAAO,CAAC,UAAU,EAAE,CAAC,CAAC;YAClF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE;gBACxB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YACnF,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,MAAM,GAAG,EAAE,CAAC;QACZ,KAAK,MAAM,CAAC,IAAI,MAAM;YACpB,MAAM,CAAC,IAAI,CAAC,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;QAC7E,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,cAAc,CAAC,MAAgB,EAAE,MAAiB;QACvD,OAAO,IAAI,CAAC,OAAO,CAAC,cAAc,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IACrD,CAAC;IACD;;;OAGG;IACI,qBAAqB,CAAC,MAAgB;QAC3C,IAAI,CAAC,OAAO,CAAC,qBAAqB,CAAC,MAAM,CAAC,CAAC;IAC7C,CAAC;IACD;;;;OAIG;IACI,iBAAiB,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,MAAiB;QACzE,OAAO,IAAI,CAAC,OAAO,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;IACnD,CAAC;IACD;;;;;;;OAOG;IACI,6BAA6B,CAAC,UAAqB,EAAE,UAAqB;QAC/E,mBAAQ,CAAC,qBAAqB,CAC5B,UAAU,CAAC,OAAO,EAClB,UAAU,CAAC,OAAO,EAClB,UAAU,CAAC,OAAO,EAClB,IAAI,CAAC,OAAkB,CACxB,CAAC;QACF,UAAU,CAAC,OAAO,CAAC,oBAAoB,CAAC,UAAU,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC;IAC5E,CAAC;IACD;;;;;;;;;;;;;OAaG;IACI,0BAA0B,CAAC,KAAgB,EAAE,MAAkB;QACpE,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC,UAAU,CACzB,mBAAQ,CAAC,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC,OAAO,CAAC,EACzE,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,CAAC,OAAO,CAAC,CACjD,CAAC;QACJ,MAAM,CAAC,6BAA6B,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QAClD,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;;;;;;OAaG;IACI,yBAAyB,CAAC,KAAe,EAAE,MAAkB;QAClE,IAAI,CAAC,MAAM;YACT,OAAO,SAAS,CAAC,UAAU,CACzB,IAAI,CAAC,OAAO,CAAC,cAAc,EAAE,EAC7B,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,CAAC,CACzC,CAAC;QACJ,IAAI,CAAC,OAAO,CAAC,oBAAoB,CAAC,KAAK,EAAE,MAAM,CAAC,OAAO,CAAC,CAAC;QACzD,MAAM,CAAC,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACrC,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;;;;;OAQG;IACI,aAAa,CAAC,KAAc,EAAE,MAAgB;QACnD,IAAI,KAAK,CAAC,MAAM;YACd,OAAO,KAAK,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;QAC7B,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QACzB,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,KAAK,GAAG,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;QAC3B,MAAM,GAAG,eAAO,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC;QACpC,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;QACpD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;QACrD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACtD,MAAM,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACvD,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,OAAO,CAAC,MAAkB;QAC/B,MAAM,aAAa,GAAG,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QAChF,IAAI,CAAC,aAAa;YAChB,OAAO,SAAS,CAAC;QACnB,IAAI,MAAM,EAAE,CAAC;YACX,oCAAoC;YACpC,aAAa,CAAC,WAAW,CAAC,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,CAAC,OAAmB,CAAC,CAAC;YACzG,OAAO,MAAM,CAAC;QAChB,CAAC;QACD,OAAO,SAAS,CAAC,UAAU,CACzB,aAAa,CAAC,WAAW,CAAC,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,EAC5E,aAAa,CACd,CAAC;IACJ,CAAC;IACD;;;;;;;;;;OAUG;IACI,MAAM,CAAC,aAAa,CAAC,GAAY,EAAE,GAAY,EAAE,WAAuB,EAAE,WAAuB;QACtG,MAAM,IAAI,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,IAAI,IAAI,CAAC,CAAC,KAAK,GAAG;YAChB,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;QACf,MAAM,OAAO,GAAG,IAAI,mBAAQ,EAAE,CAAC;QAC/B;;;;;;;WAOG;QACH,IAAI,WAAW,EAAE,CAAC;YAChB,mBAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC;YACtD,SAAS,CAAC,qBAAqB,CAAC,GAAG,EAAE,OAAO,EAAE,WAAW,CAAC,CAAC;QAC7D,CAAC;QACD;;;;;;;WAOG;QACH,IAAI,WAAW,EAAE,CAAC;YAChB,MAAM,MAAM,GAAG,IAAI,yBAAO,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC;YAC9E,mBAAQ,CAAC,WAAW,CAAC,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,IAAI,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC;YACxE,SAAS,CAAC,qBAAqB,CAAC,MAAM,EAAE,OAAO,EAAE,WAAW,CAAC,CAAC;QAChE,CAAC;IACH,CAAC;CACF;AAhzBD,8BAgzBC","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\n\n/**\n * A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\n * the columns of the Matrix3d being the local x,y,z axis directions.\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = M*p + o`.\n * In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\n * * If `T` is a translation, no point is fixed by `T`.\n * * If `T` is the identity, all points are fixed by `T`.\n * * If `T` is a scale about a point, one point is fixed by `T`.\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\n * @public\n */\nexport class Transform implements BeJSONFunctions {\n  private _origin: XYZ;\n  private _matrix: Matrix3d;\n  // Constructor accepts and uses pointer to content (no copy is done here).\n  private constructor(origin: XYZ, matrix: Matrix3d) {\n    this._origin = origin;\n    this._matrix = matrix;\n  }\n  private static _identity?: Transform;\n  /** The identity Transform. Value is frozen and cannot be modified. */\n  public static get identity(): Transform {\n    if (undefined === this._identity) {\n      this._identity = Transform.createIdentity();\n      this._identity.freeze();\n    }\n    return this._identity;\n  }\n  /** Freeze this instance (and its members) so it is read-only */\n  public freeze(): Readonly<this> {\n    this._origin.freeze();\n    this._matrix.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Copy contents from other Transform into this Transform\n   * @param other source transform\n   */\n  public setFrom(other: Transform) {\n    this._origin.setFrom(other._origin);\n    this._matrix.setFrom(other._matrix);\n  }\n  /** Set this Transform to be an identity. */\n  public setIdentity() {\n    this._origin.setZero();\n    this._matrix.setIdentity();\n  }\n  /**\n   * Set this Transform instance from flexible inputs:\n   * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\n   * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\n   * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\n   * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\n   * * If no input is provided, the identity Transform is returned.\n   */\n  public setFromJSON(json?: TransformProps | Transform): void {\n    if (json) {\n      if (json instanceof Object && (json as any).origin && (json as any).matrix) {\n        this._origin.setFromJSON((json as any).origin);\n        this._matrix.setFromJSON((json as any).matrix);\n        return;\n      }\n      if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\n        this._matrix.setRowValues(\n          json[0][0], json[0][1], json[0][2],\n          json[1][0], json[1][1], json[1][2],\n          json[2][0], json[2][1], json[2][2],\n        );\n        this._origin.set(json[0][3], json[1][3], json[2][3]);\n        return;\n      }\n      if (Geometry.isNumberArray(json, 12)) {\n        this._matrix.setRowValues(\n          json[0], json[1], json[2],\n          json[4], json[5], json[6],\n          json[8], json[9], json[10],\n        );\n        this._origin.set(json[3], json[7], json[11]);\n        return;\n      }\n    }\n    this.setIdentity();\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\n   * `matrix` parts.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqual(other: Readonly<Transform>): boolean {\n    return this === other || this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\n  }\n  /**\n   * Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\n   * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\n   * @param other Transform to compare to.\n   */\n  public isAlmostEqualAllowZRotation(other: Transform): boolean {\n    return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n   */\n  public toRows(): number[][] {\n    return [\n      [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\n      [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\n      [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\n    ];\n  }\n  /**\n   * Return a 3 by 4 matrix containing the rows of this Transform.\n   * * The transform's origin coordinates are the last entries of the 3 json arrays\n  */\n  public toJSON(): TransformProps {\n    return this.toRows();\n  }\n  /** Return a new Transform initialized by `Transform.setFromJSON` */\n  public static fromJSON(json?: TransformProps): Transform {\n    const result = Transform.createIdentity();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Copy the contents of `this` transform into a new Transform (or to the result, if specified). */\n  public clone(result?: Transform): Transform {\n    if (result) {\n      result._matrix.setFrom(this._matrix);\n      result._origin.setFrom(this._origin);\n      return result;\n    }\n    return new Transform(\n      Point3d.createFrom(this._origin),\n      this._matrix.clone(),\n    );\n  }\n  /**\n   * Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\n   * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\n   */\n  public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform | undefined {\n    const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\n    if (!modifiedMatrix)\n      return undefined;\n    return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\n  }\n  /** Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. */\n  public static createRefs(origin: XYZ | undefined, matrix: Matrix3d, result?: Transform): Transform {\n    if (!origin)\n      origin = Point3d.createZero();\n    if (result) {\n      result._origin = origin;\n      result._matrix = matrix;\n      return result;\n    }\n    return new Transform(origin, matrix);\n  }\n  /** Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin */\n  public static createRowValues(\n    qxx: number, qxy: number, qxz: number, ax: number,\n    qyx: number, qyy: number, qyz: number, ay: number,\n    qzx: number, qzy: number, qzz: number, az: number,\n    result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.set(ax, ay, az);\n      result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\n      return result;\n    }\n    return new Transform(\n      Point3d.create(ax, ay, az),\n      Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\n    );\n  }\n  /** Create a Transform with all zeros */\n  public static createZero(result?: Transform): Transform {\n    return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\n  }\n  /**\n   * Create a Transform with translation provided by x,y,z parts.\n   * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param x x part of translation\n   * @param y y part of translation\n   * @param z z part of translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\n    return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\n  }\n  /**\n   * Create a Transform with specified `translation` part.\n   * * Translation Transform maps any vector `v` to `v + translation`\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   * @param translation x,y,z parts of the translation\n   * @param result optional pre-allocated Transform\n   * @returns new or updated transform\n   */\n  public static createTranslation(translation: XYZ, result?: Transform): Transform {\n    return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\n  }\n  /** Return a reference (and NOT a copy) to the `matrix` part of the Transform. */\n  public get matrix(): Matrix3d {\n    return this._matrix;\n  }\n  /** Return a reference (and NOT a copy) to the `origin` part of the Transform. */\n  public get origin(): XYZ {\n    return this._origin;\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Point3d` */\n  public getOrigin(): Point3d {\n    return Point3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `origin` part of the Transform, as a `Vector3d` */\n  public getTranslation(): Vector3d {\n    return Vector3d.createFrom(this._origin);\n  }\n  /** return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` */\n  public getMatrix(): Matrix3d {\n    return this._matrix.clone();\n  }\n  /** test if the transform has `origin` = (0,0,0) and identity `matrix` */\n  public get isIdentity(): boolean {\n    return this._matrix.isIdentity && this._origin.isAlmostZero;\n  }\n  /** Create an identity transform */\n  public static createIdentity(result?: Transform): Transform {\n    if (result) {\n      result._origin.setZero();\n      result._matrix.setIdentity();\n      return result;\n    }\n    return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\n  }\n  /**\n   * Create a Transform using the given `origin` and `matrix`.\n   * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\n   * local-to-world mapping, and the given point is the axes' origin in world coordinates.\n   * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\n   * of the world-to-world transformation.\n   * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\n   */\n  public static createOriginAndMatrix(\n    origin: XYZ | undefined, matrix: Matrix3d | undefined, result?: Transform,\n  ): Transform {\n    if (result) {\n      result._origin.setFromPoint3d(origin);\n      result._matrix.setFrom(matrix);\n      return result;\n    }\n    return Transform.createRefs(\n      origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\n      matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\n      result,\n    );\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. */\n  public setOriginAndMatrixColumns(\n    origin: XYZ | undefined, vectorX: Vector3d | undefined, vectorY: Vector3d | undefined, vectorZ: Vector3d | undefined,\n  ): void {\n    if (origin !== undefined)\n      this._origin.setFrom(origin);\n    this._matrix.setColumns(vectorX, vectorY, vectorZ);\n  }\n  /** Create a Transform using the given `origin` and columns of the `matrix` */\n  public static createOriginAndMatrixColumns(\n    origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\n  ): Transform {\n    if (result)\n      result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\n    else\n      result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\n    return result;\n  }\n  /**\n   * Create a Transform with given origin and a rigid matrix constructed from two column vectors.\n   * @param origin origin of the local coordinate system. Default is the global origin (zero).\n   * @param vectorX first axis passed into `Matrix3d.createRigidFromColumns`.\n   * @param vectorY second axis passed into `Matrix3d.createRigidFromColumns`.\n   * @param axisOrder order of axis construction in `Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder)`.\n   * @param result optional pre-allocated result to populate and return.\n   * @returns localToWorld transform for a local coordinate system with given origin and ordered axes, or `undefined`\n   * if the rigid matrix could not be created.\n   * @see [[Matrix3d.createRigidFromColumns]]\n   */\n  public static createRigidFromOriginAndColumns(\n    origin: XYZ | undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\n  ): Transform | undefined {\n    const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result?._matrix);\n    if (!matrix)\n      return undefined;\n    if (result) {\n      result._origin.setFrom(origin);\n      return result;\n    }\n    return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\n  }\n  /**\n   * Create a Transform with given origin and a rigid matrix constructed from one column vector.\n   * @param origin origin of the local coordinate system. Default is the global origin (zero).\n   * @param vector direction of the axis of the local coordinate system indicated by the first letter of `axisOrder`.\n   * @param axisOrder order of axis construction in `Matrix3d.createRigidHeadsUp(vector, axisOrder)`. Default value\n   * is `AxisOrder.ZXY`, which means the z-column of the returned Transform is in the direction of `vector`.\n   * @param result optional pre-allocated result to populate and return.\n   * @returns localToWorld transform for a local coordinate system with given origin and axis, or `undefined`\n   * if the rigid matrix could not be created.\n   * @see [[Matrix3d.createRigidHeadsUp]]\n   */\n  public static createRigidFromOriginAndVector(origin: XYZ | undefined, vector: Vector3d, axisOrder: AxisOrder = AxisOrder.ZXY, result?: Transform): Transform | undefined {\n    const matrix = Matrix3d.createRigidHeadsUp(vector, axisOrder, result?._matrix);\n    if (!matrix)\n      return undefined;\n    if (result) {\n      result._origin.setFrom(origin);\n      return result;\n    }\n    return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\n  }\n  /**\n   * Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\n   * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint (i.e., `Tp = M*(p-f) + f`).\n   */\n  public static createFixedPointAndMatrix(\n    fixedPoint: XYAndZ | undefined, matrix: Matrix3d, result?: Transform,\n  ): Transform {\n    if (fixedPoint) {\n      /**\n       * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n       * we define the origin o = f - M*f. Therefore, Tf = Mf + o = M*f + (f - M*f) = f.\n       */\n      const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n      return Transform.createRefs(origin, matrix.clone(), result);\n    }\n    return Transform.createRefs(undefined, matrix.clone());\n  }\n  /**\n   * Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\n   * point `p` to `M*(p-a) + b` (i.e., `Tp = M*(p-a) + b`), so maps `a` to `b`.\n   */\n  public static createMatrixPickupPutdown(\n    matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\n  ): Transform {\n    // we define the origin o = b - M*a so Tp = M*p + o = M*p + (b - M*a) = M*(p-a) + b\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\n    return Transform.createRefs(origin, matrix.clone(), result);\n  }\n  /**\n   * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\n   * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`\n   * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\n   */\n  public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\n    const matrix = Matrix3d.createScale(scale, scale, scale);\n    /**\n     * if f is a fixed point, then Tf = M*f + o = f where M is the matrix and o is the origin.\n     * we define the origin o = f - M*f. Therefore, Tf = M*f + o = M*f + (f - M*f) = f.\n     */\n    const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\n    return Transform.createRefs(origin, matrix, result);\n  }\n  /**\n   * Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\n   * from the plane normal.\n   * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\n   * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation flattens to the plane.\n   * @param planePoint any point on the plane\n   * @param planeNormal vector normal to the plane.\n   */\n  public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform | undefined {\n    const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\n    if (matrix === undefined)\n      return undefined;\n    return Transform.createFixedPointAndMatrix(planePoint, matrix);\n  }\n  /**\n   * Transform the input 2d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\n    return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\n  }\n  /**\n   * Transform the input 3d point in place (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYAndZInPlace(point: XYAndZ): void {\n    return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\n  }\n  /**\n   * Transform the input 3d point (using `Tp = M*p + o`).\n   * Return as a new point or in the pre-allocated result (if result is given).\n   */\n  public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\n    // Tx = Mx + o so we return Mx + o\n    return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\n   */\n  public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\n   */\n  public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\n    const coffs = this._matrix.coffs;\n    const idx = 3 * componentIndex;\n    return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\n  }\n  /**\n   * Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Point4d` formed by `Tp` in the\n   * first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o*w` and returns the `Float64Array` formed by `Tp`\n   * in the first 3 numbers of the array and `w` as the fourth.\n   * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\n   */\n  public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\n  }\n  /**\n   * * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\n   * * If `p = (x,y,z)` then this method computes `Tp = M*p + o` and returns it as the first 3 elements of the array.\n   */\n  public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\n    return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\n  }\n  /**\n   * Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\n   * pre-allocated result (if result is given).\n   * * If `p = (x,y,z)` then this method computes `M^t*p` and returns it in the first three coordinates of the `Point4d`,\n   * and `o*p + w` in the fourth.\n   * * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001.\n   */\n  public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n    const coffs = this._matrix.coffs;\n    const origin = this._origin;\n    return Point4d.create(\n      (x * coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\n      (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\n      (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\n      (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\n      result,\n    );\n  }\n  /** For each point in the array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayInPlace(points: Point3d[]) {\n    let point;\n    for (point of points)\n      Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\n  }\n  /** For each point in the 2d array, replace point by the transformed point (using `Tp = M*p + o`) */\n  public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\n    for (const chain of chains)\n      this.multiplyPoint3dArrayInPlace(chain);\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse`\n   * Transform has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      point.x - this._origin.x,\n      point.y - this._origin.y,\n      point.z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * Multiply the homogenous point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * This method computes `TInverse p = MInverse*p - w*MInverse*o` and returns the `Point4d` formed by `TInverse*p`\n   * in the first three coordinates, and `w` in the fourth.\n   * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\n   * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d | undefined {\n    const w = weightedPoint.w;\n    return this._matrix.multiplyInverseXYZW(\n      weightedPoint.x - w * this.origin.x,\n      weightedPoint.y - w * this.origin.y,\n      weightedPoint.z - w * this.origin.z,\n      w,\n      result,\n    );\n  }\n  /**\n   * Multiply the point by the inverse Transform.\n   * * If for a point `p` we have `Tp = M*p + o = q`, then `p = MInverse*(q - o) = TInverse q` so `TInverse` Transform\n   * has matrix part `MInverse` and origin part `-MInverse*o`.\n   * * Return as a new point or in the optional `result`.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d | undefined {\n    return this._matrix.multiplyInverseXYZAsPoint3d(\n      x - this._origin.x,\n      y - this._origin.y,\n      z - this._origin.z,\n      result,\n    );\n  }\n  /**\n   * * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\n   * operations can complete.\n   * @param useCached If true, accept prior cached inverse if available.\n   * @returns `true` if matrix inverse completes, `false` otherwise.\n   */\n  public computeCachedInverse(useCached: boolean = true): boolean {\n    return this._matrix.computeCachedInverse(useCached);\n  }\n  /**\n   * Match the length of destination array with the length of source array\n   * * If destination has more elements than source, remove the extra elements.\n   * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\n   * *\n   * @param source the source array\n   * @param dest the destination array\n   * @param constructionFunction function to call to create new elements.\n   */\n  public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\n    const numSource = source.length;\n    const numDest = dest.length;\n    if (numSource > numDest) {\n      for (let i = numDest; i < numSource; i++) {\n        dest.push(constructionFunction());\n      }\n    } else if (numDest > numSource) {\n      dest.length = numSource;\n    }\n    return numSource;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\n   * * If `result` is not given, return a new array.\n   * * Returns `undefined` if the `matrix` part if this Transform is singular.\n   */\n  public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] | undefined {\n    if (!this._matrix.computeCachedInverse(true))\n      return undefined;\n    const originX = this.origin.x;\n    const originY = this.origin.y;\n    const originZ = this.origin.z;\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          points[i].x - originX,\n          points[i].y - originY,\n          points[i].z - originZ,\n          result[i],\n        );\n      return result;\n    }\n    result = [];\n    for (const point of points)\n      result.push(\n        this._matrix.multiplyInverseXYZAsPoint3d(\n          point.x - originX,\n          point.y - originY,\n          point.z - originZ,\n        )!,\n      );\n    return result;\n  }\n  /**\n   * Multiply each point in the array by the inverse of `this` Transform in place.\n   * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\n   * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\n   * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\n   */\n  public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\n    if (!this._matrix.computeCachedInverse(true))\n      return false;\n    for (const point of points)\n      this._matrix.multiplyInverseXYZAsPoint3d(\n        point.x - this.origin.x,\n        point.y - this.origin.y,\n        point.z - this.origin.z,\n        point,\n      );\n    return true;\n  }\n  /**\n   * Transform the input 2d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Transform the input 3d point array (using `Tp = M*p + o`).\n   * * If `result` is given, resize it to match the input `points` array and update it with transformed points.\n   * * If `result` is not given, return a new array.\n   */\n  public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\n    if (result) {\n      const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\n      for (let i = 0; i < n; i++)\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\n      return result;\n    }\n    result = [];\n    for (const p of points)\n      result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\n    return result;\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyVector(vector, result);\n  }\n  /**\n   * Multiply the vector by the `matrix` part of the Transform in place.\n   * * The `origin` part of Transform is not used.\n   */\n  public multiplyVectorInPlace(vector: Vector3d): void {\n    this._matrix.multiplyVectorInPlace(vector);\n  }\n  /**\n   * Multiply the vector (x,y,z) by the `matrix` part of the Transform.\n   * * The `origin` part of Transform is not used.\n   * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\n   */\n  public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\n    return this._matrix.multiplyXYZ(x, y, z, result);\n  }\n  /**\n   * Calculate `transformA * transformB` and store it into the calling instance (`this`).\n   * * **Note:** If `transformA = [A   a]` and `transformB = [B   b]` then `transformA * transformB` is defined as\n   * `[A*B   Ab+a]`.\n   * * @see [[multiplyTransformTransform]] documentation for math details.\n   * @param transformA first operand\n   * @param transformB second operand\n   */\n  public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\n    Matrix3d.xyzPlusMatrixTimesXYZ(\n      transformA._origin,\n      transformA._matrix,\n      transformB._origin,\n      this._origin as Point3d,\n    );\n    transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\n  }\n  /**\n   * Multiply `this` Transform times `other` Transform.\n   * * **Note:** If `this = [A   a]` and `other = [B   b]` then `this * other` is defined as `[A*B   Ab+a]` because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Transform to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformTransform(other: Transform, result?: Transform) {\n    if (!result)\n      return Transform.createRefs(\n        Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\n        this._matrix.multiplyMatrixMatrix(other._matrix),\n      );\n    result.setMultiplyTransformTransform(this, other);\n    return result;\n  }\n  /**\n   * Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\n   * * **Note:** If `this = [A   a]` and `other = [B   0]`, then `this * other` is defined as [A*B   a] because:\n   * ```\n   * equation\n   * \\begin{matrix}\n   *    \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\n   *    \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\n   * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\n   * \\end{matrix}\n   * ```\n   * @param other the `other` Matrix3d to be multiplied to `this` Transform.\n   * @param result optional preallocated `result` to reuse.\n   */\n  public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\n    if (!result)\n      return Transform.createRefs(\n        this._origin.cloneAsPoint3d(),\n        this._matrix.multiplyMatrixMatrix(other),\n      );\n    this._matrix.multiplyMatrixMatrix(other, result._matrix);\n    result._origin.setFrom(this._origin);\n    return result;\n  }\n  /**\n   * Return the range of the transformed corners.\n   * * The 8 corners are transformed individually.\n   * * **Note:** Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\n   * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\n   * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\n   * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\n   * function creates the larger range box because it only has access to the range box and not the geometry itself.\n   */\n  public multiplyRange(range: Range3d, result?: Range3d): Range3d {\n    if (range.isNull)\n      return range.clone(result);\n    const lowX = range.low.x;\n    const lowY = range.low.y;\n    const lowZ = range.low.z;\n    const highX = range.high.x;\n    const highY = range.high.y;\n    const highZ = range.high.z;\n    result = Range3d.createNull(result);\n    result.extendTransformedXYZ(this, lowX, lowY, lowZ);\n    result.extendTransformedXYZ(this, highX, lowY, lowZ);\n    result.extendTransformedXYZ(this, lowX, highY, lowZ);\n    result.extendTransformedXYZ(this, highX, highY, lowZ);\n    result.extendTransformedXYZ(this, lowX, lowY, highZ);\n    result.extendTransformedXYZ(this, highX, lowY, highZ);\n    result.extendTransformedXYZ(this, lowX, highY, highZ);\n    result.extendTransformedXYZ(this, highX, highY, highZ);\n    return result;\n  }\n  /**\n   * Return a Transform which is the inverse of `this` Transform.\n   * * If `transform = [M   o]` then `transformInverse = [MInverse   -MInverse*o]`\n   * * Return `undefined` if this Transform's matrix is singular.\n   */\n  public inverse(result?: Transform): Transform | undefined {\n    const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\n    if (!matrixInverse)\n      return undefined;\n    if (result) {\n      // result._matrix is already defined\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\n      return result;\n    }\n    return Transform.createRefs(\n      matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\n      matrixInverse,\n    );\n  }\n  /**\n   * Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\n   * by the input points.\n   * @param min the min corner of the range box\n   * @param max the max corner of the range box\n   * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\n   * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\n   * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\n   * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\n   * * NPC stands for `Normalized Projection Coordinate`\n   */\n  public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\n    const diag = max.minus(min);\n    if (diag.x === 0.0)\n      diag.x = 1.0;\n    if (diag.y === 0.0)\n      diag.y = 1.0;\n    if (diag.z === 0.0)\n      diag.z = 1.0;\n    const rMatrix = new Matrix3d();\n    /**\n     *               [diag.x    0       0      min.x]\n     * npcToGlobal = [  0     diag.y    0      min.y]\n     *               [  0       0     diag.y   min.z]\n     *\n     * npcToGlobal * 0 = min\n     * npcToGlobal * 1 = diag + min = max\n     */\n    if (npcToGlobal) {\n      Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\n      Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\n    }\n    /**\n     *               [1/diag.x      0         0      -min.x/diag.x]\n     * globalToNpc = [  0       1/diag.y      0      -min.y/diag.y]\n     *               [  0         0       1/diag.y   -min.z/diag.z]\n     *\n     * globalToNpc * min = min/diag - min/diag = 0\n     * globalToNpc * max = max/diag - min/diag = diag/diag = 1\n     */\n    if (globalToNpc) {\n      const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\n      Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\n      Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\n    }\n  }\n}\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"UVSurfaceOps.js","sourceRoot":"","sources":["../../../src/geometry3d/UVSurfaceOps.ts"],"names":[],"mappings":";;;AAAA;;;+FAG+F;AAC/F;;GAEG;AACH,wDAAqD;AACrD,0DAAuD;AACvD,0CAAuC;AACvC,mCAAgC;AAGhC,2EAAwE;AACxE,uDAA4C;AAC5C,mCAAkC;AAClC;;;GAGG;AACH,MAAa,YAAY;IACvB;;;OAGG;IACI,MAAM,CAAC,yBAAyB,CAAC,KAAgB,EAAE,cAAkC,EAAE,IAAY,EAAE,IAAY;QACtH,MAAM,KAAK,GAAG,eAAO,CAAC,UAAU,EAAE,CAAC;QACnC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,mBAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;QAC/C,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,mBAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;QAC/C,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC;QACtB,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC;QACtB,MAAM,GAAG,GAAG,yBAAO,CAAC,MAAM,EAAE,CAAC;QAC7B,MAAM,KAAK,GAAG,qDAAyB,CAAC,aAAa,EAAE,CAAC;QAExD,IAAI,CAAC,EAAE,CAAC,CAAC;QACT,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;YACX,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC/B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;gBACX,IAAI,cAAc,KAAK,SAAS,EAAE,CAAC;oBACjC,KAAK,CAAC,4BAA4B,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;oBAChD,MAAM,UAAU,GAAG,KAAK,CAAC,UAAU,EAAE,CAAC;oBACtC,IAAI,UAAU,KAAK,SAAS,EAAE,CAAC;wBAC7B,KAAK,CAAC,MAAM,CAAC,gBAAgB,CAAC,UAAU,EAAE,cAAc,CAAC,CAAC;wBAC1D,KAAK,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;oBAC7B,CAAC;gBACH,CAAC;qBAAM,CAAC;oBACN,KAAK,CAAC,iBAAiB,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;oBACnC,KAAK,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;gBACvC,CAAC;YACH,CAAC;QACH,CAAC;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED;;;KAGC;IACM,MAAM,CAAC,kCAAkC,CAAC,KAAqB,EAAE,cAAkC,EAAE,OAAuB;QACjI,MAAM,IAAI,GAAG,6BAAa,CAAC,aAAa,CAAC,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,EAAE,aAAK,CAAC,gBAAgB,CAAC,GAAG,CAAC,CAAC,CAAC;QACpH,MAAM,IAAI,GAAG,6BAAa,CAAC,aAAa,CAAC,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,cAAc,CAAC,YAAY,EAAE,aAAK,CAAC,gBAAgB,CAAC,GAAG,CAAC,CAAC,CAAC;QACrH,OAAO,IAAI,CAAC,yBAAyB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC3E,CAAC;IAED,gBAAwB,CAAC,CAAE,uCAAuC;IAClE;;;;;;;;;;;;;;;OAeG;IACI,MAAM,CAAC,wBAAwB,CACpC,OAAkB,EAClB,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU,EACV,OAAe,EACf,SAAkB,KAAK,EACvB,eAAwB,KAAK;QAE7B,MAAM,EAAE,GAAG,2BAAY,CAAC,MAAM,EAAE,CAAC;QACjC,MAAM,GAAG,GAAG,yBAAO,CAAC,MAAM,EAAE,CAAC;QAC7B,IAAI,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAC;QACnB,MAAM,WAAW,GAAG,OAAO,GAAG,CAAC,CAAC;QAChC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,WAAW,EAAE,CAAC,EAAE,EAAE,CAAC;YACrC,QAAQ,GAAG,CAAC,GAAG,OAAO,CAAC;YACvB,CAAC,GAAG,mBAAQ,CAAC,WAAW,CAAC,EAAE,EAAE,QAAQ,EAAE,EAAE,CAAC,CAAC;YAC3C,CAAC,GAAG,mBAAQ,CAAC,WAAW,CAAC,EAAE,EAAE,QAAQ,EAAE,EAAE,CAAC,CAAC;YAC3C,OAAO,CAAC,iBAAiB,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;YACrC,EAAE,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;YACjB,IAAI,MAAM;gBACR,EAAE,CAAC,cAAc,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;YAC1B,IAAI,YAAY;gBACd,EAAE,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;QAC7B,CAAC;QACD,OAAO,EAAE,CAAC;IACZ,CAAC;CACF;AAzFD,oCAyFC","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { EllipsoidPatch } from \"./Ellipsoid\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\n/**\r\n * Support methods to act on surfaces with 0..1 uv fractional parameterization\r\n * @public\r\n */\r\nexport class UVSurfaceOps {\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n   * * point counts in each direction may be set in the optional `options` structure.\r\n   * * numU and numV are clamped at (2,500).\r\n   */\r\n  public static sampledRangeOfOffsetPatch(patch: UVSurface, offsetDistance: number | undefined, numU: number, numV: number): Range3d {\r\n    const range = Range3d.createNull();\r\n    numU = Math.ceil(Geometry.clamp(numU, 2, 500));\r\n    numV = Math.ceil(Geometry.clamp(numV, 2, 500));\r\n    const du = 1.0 / numU;\r\n    const dv = 1.0 / numV;\r\n    const xyz = Point3d.create();\r\n    const plane = Plane3dByOriginAndVectors.createXYPlane();\r\n\r\n    let u, v;\r\n    for (let j = 0; j <= numV; j++) {\r\n      v = j * dv;\r\n      for (let i = 0; i <= numU; i++) {\r\n        u = i * du;\r\n        if (offsetDistance !== undefined) {\r\n          patch.uvFractionToPointAndTangents(u, v, plane);\r\n          const unitNormal = plane.unitNormal();\r\n          if (unitNormal !== undefined) {\r\n            plane.origin.addScaledInPlace(unitNormal, offsetDistance);\r\n            range.extend(plane.origin);\r\n          }\r\n        } else {\r\n          patch.uvFractionToPoint(u, v, xyz);\r\n          range.extendXYZ(xyz.x, xyz.y, xyz.z);\r\n        }\r\n      }\r\n    }\r\n    return range;\r\n  }\r\n\r\n  /** Return the range of sampled points at specified offset from the surface.\r\n * * point counts in each direction may be set in the optional `options` structure, with angle ranges from the ellipsoid.\r\n * * Default evaluation is at 5 degree intervals.\r\n */\r\n  public static sampledRangeOfOffsetEllipsoidPatch(patch: EllipsoidPatch, offsetDistance: number | undefined, options?: StrokeOptions): Range3d {\r\n    const numU = StrokeOptions.applyAngleTol(options, 2, patch.latitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    const numV = StrokeOptions.applyAngleTol(options, 2, patch.longitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\r\n    return this.sampledRangeOfOffsetPatch(patch, offsetDistance, numU, numV);\r\n  }\r\n\r\n  private constructor() { }  // private constructor -- no instances.\r\n  /**\r\n   * * evaluate `numEdge+1` points at surface uv parameters interpolated between (u0,v0) and (u1,v1)\r\n   * * accumulate the xyz in a linestring.\r\n   * * If xyzToUV is given, also accumulate transformed values as surfaceUV\r\n   * * use xyzToUserUV transform to convert xyz to uv stored in the linestring (this uv is typically different from surface uv -- e.g. torus cap plane coordinates)\r\n   * @param surface\r\n   * @param u0 u coordinate at start of parameter space line\r\n   * @param v0 v coordinate at end of parameter space line\r\n   * @param u1 u coordinate at start of parameter space line\r\n   * @param v1 v coordinate at end of parameter space line\r\n   * @param numEdge number of edges.   (`numEdge+1` points are evaluated)\r\n   * @param saveUV if true, save each surface uv fractions with `linestring.addUVParamsAsUV (u,v)`\r\n   * @param saveFraction if true, save each fractional coordinate (along the u,v line) with `linestring.addFraction (fraction)`\r\n   *\r\n   * @param xyzToUV\r\n   */\r\n  public static createLinestringOnUVLine(\r\n    surface: UVSurface,\r\n    u0: number,\r\n    v0: number,\r\n    u1: number,\r\n    v1: number,\r\n    numEdge: number,\r\n    saveUV: boolean = false,\r\n    saveFraction: boolean = false): LineString3d {\r\n\r\n    const ls = LineString3d.create();\r\n    const xyz = Point3d.create();\r\n    let fraction, u, v;\r\n    const numEvaluate = numEdge + 1;\r\n    for (let i = 0; i < numEvaluate; i++) {\r\n      fraction = i / numEdge;\r\n      u = Geometry.interpolate(u0, fraction, u1);\r\n      v = Geometry.interpolate(v0, fraction, v1);\r\n      surface.uvFractionToPoint(u, v, xyz);\r\n      ls.addPoint(xyz);\r\n      if (saveUV)\r\n        ls.addUVParamAsUV(u, v);\r\n      if (saveFraction)\r\n        ls.addFraction(fraction);\r\n    }\r\n    return ls;\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"UVSurfaceOps.js","sourceRoot":"","sources":["../../../src/geometry3d/UVSurfaceOps.ts"],"names":[],"mappings":";;;AAAA;;;+FAG+F;AAC/F;;GAEG;AACH,wDAAqD;AACrD,0DAAuD;AACvD,0CAAuC;AACvC,mCAAgC;AAGhC,2EAAwE;AACxE,uDAA4C;AAC5C,mCAAkC;AAClC;;;GAGG;AACH,MAAa,YAAY;IACvB;;;OAGG;IACI,MAAM,CAAC,yBAAyB,CAAC,KAAgB,EAAE,cAAkC,EAAE,IAAY,EAAE,IAAY;QACtH,MAAM,KAAK,GAAG,eAAO,CAAC,UAAU,EAAE,CAAC;QACnC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,mBAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;QAC/C,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,mBAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;QAC/C,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC;QACtB,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC;QACtB,MAAM,GAAG,GAAG,yBAAO,CAAC,MAAM,EAAE,CAAC;QAC7B,MAAM,KAAK,GAAG,qDAAyB,CAAC,aAAa,EAAE,CAAC;QAExD,IAAI,CAAC,EAAE,CAAC,CAAC;QACT,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;YACX,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC/B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;gBACX,IAAI,cAAc,KAAK,SAAS,EAAE,CAAC;oBACjC,KAAK,CAAC,4BAA4B,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;oBAChD,MAAM,UAAU,GAAG,KAAK,CAAC,UAAU,EAAE,CAAC;oBACtC,IAAI,UAAU,KAAK,SAAS,EAAE,CAAC;wBAC7B,KAAK,CAAC,MAAM,CAAC,gBAAgB,CAAC,UAAU,EAAE,cAAc,CAAC,CAAC;wBAC1D,KAAK,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;oBAC7B,CAAC;gBACH,CAAC;qBAAM,CAAC;oBACN,KAAK,CAAC,iBAAiB,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;oBACnC,KAAK,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;gBACvC,CAAC;YACH,CAAC;QACH,CAAC;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED;;;KAGC;IACM,MAAM,CAAC,kCAAkC,CAAC,KAAqB,EAAE,cAAkC,EAAE,OAAuB;QACjI,MAAM,IAAI,GAAG,6BAAa,CAAC,aAAa,CAAC,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,aAAa,CAAC,YAAY,EAAE,aAAK,CAAC,gBAAgB,CAAC,GAAG,CAAC,CAAC,CAAC;QACpH,MAAM,IAAI,GAAG,6BAAa,CAAC,aAAa,CAAC,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,cAAc,CAAC,YAAY,EAAE,aAAK,CAAC,gBAAgB,CAAC,GAAG,CAAC,CAAC,CAAC;QACrH,OAAO,IAAI,CAAC,yBAAyB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC3E,CAAC;IAED,gBAAwB,CAAC,CAAE,uCAAuC;IAClE;;;;;;;;;;;;;;;OAeG;IACI,MAAM,CAAC,wBAAwB,CACpC,OAAkB,EAClB,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU,EACV,OAAe,EACf,SAAkB,KAAK,EACvB,eAAwB,KAAK;QAE7B,MAAM,EAAE,GAAG,2BAAY,CAAC,MAAM,EAAE,CAAC;QACjC,MAAM,GAAG,GAAG,yBAAO,CAAC,MAAM,EAAE,CAAC;QAC7B,IAAI,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAC;QACnB,MAAM,WAAW,GAAG,OAAO,GAAG,CAAC,CAAC;QAChC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,WAAW,EAAE,CAAC,EAAE,EAAE,CAAC;YACrC,QAAQ,GAAG,CAAC,GAAG,OAAO,CAAC;YACvB,CAAC,GAAG,mBAAQ,CAAC,WAAW,CAAC,EAAE,EAAE,QAAQ,EAAE,EAAE,CAAC,CAAC;YAC3C,CAAC,GAAG,mBAAQ,CAAC,WAAW,CAAC,EAAE,EAAE,QAAQ,EAAE,EAAE,CAAC,CAAC;YAC3C,OAAO,CAAC,iBAAiB,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;YACrC,EAAE,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;YACjB,IAAI,MAAM;gBACR,EAAE,CAAC,cAAc,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;YAC1B,IAAI,YAAY;gBACd,EAAE,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;QAC7B,CAAC;QACD,OAAO,EAAE,CAAC;IACZ,CAAC;CACF;AAzFD,oCAyFC","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* 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 CartesianGeometry\n */\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { EllipsoidPatch } from \"./Ellipsoid\";\nimport { UVSurface } from \"./GeometryHandler\";\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\n/**\n * Support methods to act on surfaces with 0..1 uv fractional parameterization\n * @public\n */\nexport class UVSurfaceOps {\n  /** Return the range of sampled points at specified offset from the surface.\n   * * point counts in each direction may be set in the optional `options` structure.\n   * * numU and numV are clamped at (2,500).\n   */\n  public static sampledRangeOfOffsetPatch(patch: UVSurface, offsetDistance: number | undefined, numU: number, numV: number): Range3d {\n    const range = Range3d.createNull();\n    numU = Math.ceil(Geometry.clamp(numU, 2, 500));\n    numV = Math.ceil(Geometry.clamp(numV, 2, 500));\n    const du = 1.0 / numU;\n    const dv = 1.0 / numV;\n    const xyz = Point3d.create();\n    const plane = Plane3dByOriginAndVectors.createXYPlane();\n\n    let u, v;\n    for (let j = 0; j <= numV; j++) {\n      v = j * dv;\n      for (let i = 0; i <= numU; i++) {\n        u = i * du;\n        if (offsetDistance !== undefined) {\n          patch.uvFractionToPointAndTangents(u, v, plane);\n          const unitNormal = plane.unitNormal();\n          if (unitNormal !== undefined) {\n            plane.origin.addScaledInPlace(unitNormal, offsetDistance);\n            range.extend(plane.origin);\n          }\n        } else {\n          patch.uvFractionToPoint(u, v, xyz);\n          range.extendXYZ(xyz.x, xyz.y, xyz.z);\n        }\n      }\n    }\n    return range;\n  }\n\n  /** Return the range of sampled points at specified offset from the surface.\n * * point counts in each direction may be set in the optional `options` structure, with angle ranges from the ellipsoid.\n * * Default evaluation is at 5 degree intervals.\n */\n  public static sampledRangeOfOffsetEllipsoidPatch(patch: EllipsoidPatch, offsetDistance: number | undefined, options?: StrokeOptions): Range3d {\n    const numU = StrokeOptions.applyAngleTol(options, 2, patch.latitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\n    const numV = StrokeOptions.applyAngleTol(options, 2, patch.longitudeSweep.sweepRadians, Angle.degreesToRadians(5.0));\n    return this.sampledRangeOfOffsetPatch(patch, offsetDistance, numU, numV);\n  }\n\n  private constructor() { }  // private constructor -- no instances.\n  /**\n   * * evaluate `numEdge+1` points at surface uv parameters interpolated between (u0,v0) and (u1,v1)\n   * * accumulate the xyz in a linestring.\n   * * If xyzToUV is given, also accumulate transformed values as surfaceUV\n   * * use xyzToUserUV transform to convert xyz to uv stored in the linestring (this uv is typically different from surface uv -- e.g. torus cap plane coordinates)\n   * @param surface\n   * @param u0 u coordinate at start of parameter space line\n   * @param v0 v coordinate at end of parameter space line\n   * @param u1 u coordinate at start of parameter space line\n   * @param v1 v coordinate at end of parameter space line\n   * @param numEdge number of edges.   (`numEdge+1` points are evaluated)\n   * @param saveUV if true, save each surface uv fractions with `linestring.addUVParamsAsUV (u,v)`\n   * @param saveFraction if true, save each fractional coordinate (along the u,v line) with `linestring.addFraction (fraction)`\n   *\n   * @param xyzToUV\n   */\n  public static createLinestringOnUVLine(\n    surface: UVSurface,\n    u0: number,\n    v0: number,\n    u1: number,\n    v1: number,\n    numEdge: number,\n    saveUV: boolean = false,\n    saveFraction: boolean = false): LineString3d {\n\n    const ls = LineString3d.create();\n    const xyz = Point3d.create();\n    let fraction, u, v;\n    const numEvaluate = numEdge + 1;\n    for (let i = 0; i < numEvaluate; i++) {\n      fraction = i / numEdge;\n      u = Geometry.interpolate(u0, fraction, u1);\n      v = Geometry.interpolate(v0, fraction, v1);\n      surface.uvFractionToPoint(u, v, xyz);\n      ls.addPoint(xyz);\n      if (saveUV)\n        ls.addUVParamAsUV(u, v);\n      if (saveFraction)\n        ls.addFraction(fraction);\n    }\n    return ls;\n  }\n}\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"XYZProps.js","sourceRoot":"","sources":["../../../src/geometry3d/XYZProps.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAuC;AA8DvC,cAAc;AACd,IAAiB,MAAM,CAatB;AAbD,WAAiB,MAAM;IACrB;;;;;;OAMG;IACH,SAAgB,WAAW,CAAC,CAAS,EAAE,CAAS,EAAE,GAAY;QAC5D,OAAO,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC;eAC1C,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC;eACxC,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;IAChD,CAAC;IAJe,kBAAW,cAI1B,CAAA;AACH,CAAC,EAbgB,MAAM,sBAAN,MAAM,QAatB","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\n\r\n/**\r\n * Interface for class with `x` and `y` as number properties.\r\n * @public\r\n */\r\nexport interface WritableXAndY {\r\n  /** x coordinate */\r\n  x: number;\r\n  /** y coordinate */\r\n  y: number;\r\n}\r\n/**\r\n * Interface for class with `z` as number property.\r\n * @public\r\n */\r\nexport interface WriteableHasZ {\r\n  /** z coordinate */\r\n  z: number;\r\n}\r\n/**\r\n * Interface for class with `x`, `y`, `z` as number property.\r\n * @public\r\n */\r\nexport interface WritableXYAndZ extends WritableXAndY, WriteableHasZ {\r\n}\r\n/**\r\n * Interface for class with named properties `low` and `high`, both being `WriteableXAndY`\r\n * @public\r\n */\r\nexport interface WritableLowAndHighXY {\r\n  /** Low x,y coordinates */\r\n  low: WritableXAndY;\r\n  /** High x,y,z coordinates */\r\n  high: WritableXAndY;\r\n}\r\n/**\r\n * Interface for class with named properties `low` and `high`, both being `WriteableXYAndZ`\r\n * @public\r\n */\r\nexport interface WritableLowAndHighXYZ {\r\n  /** Low x,y,z coordinates */\r\n  low: WritableXYAndZ;\r\n  /** High x,y,z coordinates */\r\n  high: WritableXYAndZ;\r\n}\r\n/**\r\n * Interface for readable `z` number members.\r\n * @public\r\n */\r\nexport type HasZ = Readonly<WriteableHasZ>;\r\n/**\r\n * Interface for readable `x` and `y` number members.\r\n * @public\r\n */\r\nexport type XAndY = Readonly<WritableXAndY>;\r\n/**\r\n * Interface for type with readable `x`, `y`, `z` number members.\r\n * @public\r\n */\r\nexport type XYAndZ = Readonly<WritableXYAndZ>;\r\n\r\n/** @public */\r\nexport namespace XYAndZ { // eslint-disable-line @typescript-eslint/no-redeclare\r\n  /**\r\n   * Return true if two XYAndZs have equal x,y,z parts within a specified tolerance.\r\n   * @param a The first XYAndZ to compare\r\n   * @param b The second XYAndZ to compare\r\n   * @param The tolerance for comparison. If undefined, [[Geometry.smallMetricDistance]] is used.\r\n   * @returns true if the difference in each coordinate of `a` and `b` is smaller than `tol`.\r\n   */\r\n  export function almostEqual(a: XYAndZ, b: XYAndZ, tol?: number): boolean {\r\n    return Geometry.isSameCoordinate(a.x, b.x, tol)\r\n      && Geometry.isSameCoordinate(a.y, b.y, tol)\r\n      && Geometry.isSameCoordinate(a.z, b.z, tol);\r\n  }\r\n}\r\n\r\n/**\r\n * Interface for type with readable `low` and `high` members which have `x` and `y` number members.\r\n * @public\r\n */\r\nexport type LowAndHighXY = Readonly<WritableLowAndHighXY>;\r\n\r\n/** JSON representation of [[LowAndHighXY]].\r\n * @public\r\n */\r\nexport interface LowAndHighXYProps { low: XYProps, high: XYProps }\r\n\r\n/**\r\n * Interface for type with readable `low` and `high` members which have `x`, `y`, and `z` number members.\r\n * @public\r\n */\r\nexport type LowAndHighXYZ = Readonly<WritableLowAndHighXYZ>;\r\n\r\n/** JSON representation of [[LowAndHighXYZ]].\r\n * @public\r\n */\r\nexport interface LowAndHighXYZProps { low: XYZProps, high: XYZProps }\r\n\r\n/**\r\n * Interface for variant json (one of)\r\n * * (individually optional) `x`, `y`, `z`\r\n * * number array\r\n * @public\r\n */\r\nexport type XYZProps = {\r\n  x?: number;\r\n  y?: number;\r\n  z?: number;\r\n} | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * (individually optional) `x`, `y`\r\n * * number array\r\n * @public\r\n */\r\nexport type XYProps = {\r\n  x?: number;\r\n  y?: number;\r\n} | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * array of number arrays, with one matrix row in each array\r\n * * flat array of numbers, in row-mor order\r\n * * `Matrix3d` object\r\n * @public\r\n */\r\nexport type Matrix3dProps = number[][] | number[];\r\n/**\r\n * Interface for variant json (one of)\r\n * * array of number arrays, with each low level array containing 4 numbers of a transform row (qx, qy, qz, ax)\r\n * * flat array of 12 numbers, in row-major order for the 3 rows of 4 values\r\n * * `Transform` object\r\n * @public\r\n */\r\nexport type TransformProps = number[][] | number[] | {\r\n  origin: XYZProps;\r\n  matrix: Matrix3dProps;\r\n};\r\n/**\r\n *  Interface for variant json representing a Range3d\r\n * * pair of `XYZProps` named `low` and `high`\r\n * * array of `XYZProps`\r\n * @public\r\n */\r\nexport type Range3dProps = LowAndHighXYZProps | XYZProps[];\r\n/**\r\n *  Interface for variant json representing a Range2d\r\n * * pair of `XYProps` named `low` and `high`\r\n * * array of `XYProps`\r\n * @public\r\n */\r\nexport type Range2dProps = LowAndHighXYProps | XYProps[];\r\n/**\r\n *  Interface for variant json representing a Range1d\r\n * * pair of `number` named `low` and `high`\r\n * * array of `number`\r\n * @public\r\n */\r\nexport type Range1dProps = {\r\n  low: number;\r\n  high: number;\r\n} | number[];\r\n"]}
+{"version":3,"file":"XYZProps.js","sourceRoot":"","sources":["../../../src/geometry3d/XYZProps.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAuC;AA8DvC,cAAc;AACd,IAAiB,MAAM,CAatB;AAbD,WAAiB,MAAM;IACrB;;;;;;OAMG;IACH,SAAgB,WAAW,CAAC,CAAS,EAAE,CAAS,EAAE,GAAY;QAC5D,OAAO,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC;eAC1C,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC;eACxC,mBAAQ,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;IAChD,CAAC;IAJe,kBAAW,cAI1B,CAAA;AACH,CAAC,EAbgB,MAAM,sBAAN,MAAM,QAatB","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { Geometry } from \"../Geometry\";\n\n/**\n * Interface for class with `x` and `y` as number properties.\n * @public\n */\nexport interface WritableXAndY {\n  /** x coordinate */\n  x: number;\n  /** y coordinate */\n  y: number;\n}\n/**\n * Interface for class with `z` as number property.\n * @public\n */\nexport interface WriteableHasZ {\n  /** z coordinate */\n  z: number;\n}\n/**\n * Interface for class with `x`, `y`, `z` as number property.\n * @public\n */\nexport interface WritableXYAndZ extends WritableXAndY, WriteableHasZ {\n}\n/**\n * Interface for class with named properties `low` and `high`, both being `WriteableXAndY`\n * @public\n */\nexport interface WritableLowAndHighXY {\n  /** Low x,y coordinates */\n  low: WritableXAndY;\n  /** High x,y,z coordinates */\n  high: WritableXAndY;\n}\n/**\n * Interface for class with named properties `low` and `high`, both being `WriteableXYAndZ`\n * @public\n */\nexport interface WritableLowAndHighXYZ {\n  /** Low x,y,z coordinates */\n  low: WritableXYAndZ;\n  /** High x,y,z coordinates */\n  high: WritableXYAndZ;\n}\n/**\n * Interface for readable `z` number members.\n * @public\n */\nexport type HasZ = Readonly<WriteableHasZ>;\n/**\n * Interface for readable `x` and `y` number members.\n * @public\n */\nexport type XAndY = Readonly<WritableXAndY>;\n/**\n * Interface for type with readable `x`, `y`, `z` number members.\n * @public\n */\nexport type XYAndZ = Readonly<WritableXYAndZ>;\n\n/** @public */\nexport namespace XYAndZ { // eslint-disable-line @typescript-eslint/no-redeclare\n  /**\n   * Return true if two XYAndZs have equal x,y,z parts within a specified tolerance.\n   * @param a The first XYAndZ to compare\n   * @param b The second XYAndZ to compare\n   * @param The tolerance for comparison. If undefined, [[Geometry.smallMetricDistance]] is used.\n   * @returns true if the difference in each coordinate of `a` and `b` is smaller than `tol`.\n   */\n  export function almostEqual(a: XYAndZ, b: XYAndZ, tol?: number): boolean {\n    return Geometry.isSameCoordinate(a.x, b.x, tol)\n      && Geometry.isSameCoordinate(a.y, b.y, tol)\n      && Geometry.isSameCoordinate(a.z, b.z, tol);\n  }\n}\n\n/**\n * Interface for type with readable `low` and `high` members which have `x` and `y` number members.\n * @public\n */\nexport type LowAndHighXY = Readonly<WritableLowAndHighXY>;\n\n/** JSON representation of [[LowAndHighXY]].\n * @public\n */\nexport interface LowAndHighXYProps { low: XYProps, high: XYProps }\n\n/**\n * Interface for type with readable `low` and `high` members which have `x`, `y`, and `z` number members.\n * @public\n */\nexport type LowAndHighXYZ = Readonly<WritableLowAndHighXYZ>;\n\n/** JSON representation of [[LowAndHighXYZ]].\n * @public\n */\nexport interface LowAndHighXYZProps { low: XYZProps, high: XYZProps }\n\n/**\n * Interface for variant json (one of)\n * * (individually optional) `x`, `y`, `z`\n * * number array\n * @public\n */\nexport type XYZProps = {\n  x?: number;\n  y?: number;\n  z?: number;\n} | number[];\n/**\n * Interface for variant json (one of)\n * * (individually optional) `x`, `y`\n * * number array\n * @public\n */\nexport type XYProps = {\n  x?: number;\n  y?: number;\n} | number[];\n/**\n * Interface for variant json (one of)\n * * array of number arrays, with one matrix row in each array\n * * flat array of numbers, in row-mor order\n * * `Matrix3d` object\n * @public\n */\nexport type Matrix3dProps = number[][] | number[];\n/**\n * Interface for variant json (one of)\n * * array of number arrays, with each low level array containing 4 numbers of a transform row (qx, qy, qz, ax)\n * * flat array of 12 numbers, in row-major order for the 3 rows of 4 values\n * * `Transform` object\n * @public\n */\nexport type TransformProps = number[][] | number[] | {\n  origin: XYZProps;\n  matrix: Matrix3dProps;\n};\n/**\n *  Interface for variant json representing a Range3d\n * * pair of `XYZProps` named `low` and `high`\n * * array of `XYZProps`\n * @public\n */\nexport type Range3dProps = LowAndHighXYZProps | XYZProps[];\n/**\n *  Interface for variant json representing a Range2d\n * * pair of `XYProps` named `low` and `high`\n * * array of `XYProps`\n * @public\n */\nexport type Range2dProps = LowAndHighXYProps | XYProps[];\n/**\n *  Interface for variant json representing a Range1d\n * * pair of `number` named `low` and `high`\n * * array of `number`\n * @public\n */\nexport type Range1dProps = {\n  low: number;\n  high: number;\n} | number[];\n"]}

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

@@ -1 +1 @@
-{"version":3,"file":"YawPitchRollAngles.js","sourceRoot":"","sources":["../../../src/geometry3d/YawPitchRollAngles.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAmD;AACnD,mCAAgC;AAChC,yCAAsC;AACtC,uDAA4C;AAkB5C;;;;;;;;;;;;;;;;;;;;;GAqBG;AACH,MAAa,kBAAkB;IAC7B,+DAA+D;IACxD,GAAG,CAAQ;IAClB,6DAA6D;IACtD,KAAK,CAAQ;IACpB,+DAA+D;IACxD,IAAI,CAAQ;IACnB;;;;;OAKG;IACH,YAAY,MAAa,aAAK,CAAC,IAAI,EAAE,EAAE,QAAe,aAAK,CAAC,IAAI,EAAE,EAAE,OAAc,aAAK,CAAC,IAAI,EAAE;QAC5F,IAAI,CAAC,GAAG,GAAG,GAAG,CAAC;QACf,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;QACnB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;IACnB,CAAC;IACD,qCAAqC;IAC9B,MAAM;QACX,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAClB,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QACpB,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QACnB,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAC7B,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAC/B,aAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EACjC,aAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CACjC,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAC/B,aAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EACjC,aAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CACjC,CAAC;IACJ,CAAC;IACD,2EAA2E;IACpE,MAAM,CAAC,QAAQ,CAAC,IAAwB;QAC7C,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,EACxB,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,EAC1B,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAC1B,CAAC;IACJ,CAAC;IACD,iEAAiE;IAC1D,WAAW,CAAC,IAAwB;QACzC,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,IAAI,CAAC,GAAG,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QACpC,IAAI,CAAC,KAAK,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACxC,IAAI,CAAC,IAAI,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxC,CAAC;IACD;;;OAGG;IACI,MAAM;QACX,MAAM,GAAG,GAAsB,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY;YAC1B,GAAG,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY;YACzB,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,YAAY;YACxB,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAC9B,OAAO,GAAG,CAAC;IACb,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAyB;QACtC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAChC,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAAyB;QAC5C,OAAO,IAAI,CAAC,GAAG,CAAC,6BAA6B,CAAC,KAAK,CAAC,GAAG,CAAC;eACnD,IAAI,CAAC,KAAK,CAAC,6BAA6B,CAAC,KAAK,CAAC,KAAK,CAAC;eACrD,IAAI,CAAC,IAAI,CAAC,6BAA6B,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC3D,CAAC;IACD,6CAA6C;IACtC,KAAK;QACV,OAAO,IAAI,kBAAkB,CAC3B,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,EAChB,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,EAClB,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,CAClB,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,UAAU,CAAC,MAAiB;QACjC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC;;;;;;;;;;;;;;;;;;;;;;UAsBE;QACF,OAAO,mBAAQ,CAAC,eAAe,CAC7B,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,GAAG,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EACpB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;OAIG;IACI,UAAU,CAAC,mBAA4B,IAAI;QAChD,IAAI,gBAAgB;YAClB,OAAO,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBACnE,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBACnE,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;;YAExE,OAAO,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBAChE,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBAChE,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzE,CAAC;IACD,0CAA0C;IACnC,aAAa;QAClB,OAAO,mBAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,sDAAsD;IAC/C,iBAAiB;QACtB,OAAO,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CACb,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EACpC,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EACxC,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CACvC,CAAC;IACJ,CAAC;IACD,2CAA2C;IACpC,aAAa;QAClB,OAAO,mBAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,mDAAmD;IAC5C,iBAAiB;QACtB,OAAO,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CACb,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EACpC,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EACxC,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CACvC,CAAC;IACJ,CAAC;IACD,6EAA6E;IACtE,MAAM,CAAC,gBAAgB,CAAC,SAAoB;QAIjD,OAAO;YACL,MAAM,EAAE,yBAAO,CAAC,UAAU,CAAC,SAAS,CAAC,MAAM,CAAC;YAC5C,MAAM,EAAE,kBAAkB,CAAC,kBAAkB,CAAC,SAAS,CAAC,MAAM,CAAC;SAChE,CAAC;IACJ,CAAC;IACD;;;;;;;;OAQG;IACI,MAAM,CAAC,kBAAkB,CAAC,MAAgB,EAAE,MAA2B;QAC5E;;;;;;;;;;WAUG;QACH,MAAM,EAAE,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,SAAS;QACrC,MAAM,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW;QACxG,MAAM,MAAM,GAAG,aAAK,CAAC,WAAW,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,uBAAuB;QACjE,MAAM,MAAM,GAAG,aAAK,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,uBAAuB;QAClE,MAAM,MAAM,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,kBAAkB,EAAE,CAAC;QAC1D;;;;;;;;;;;;;;;;WAgBG;QACH,IAAI,EAAE,GAAG,mBAAQ,CAAC,iBAAiB,EAAE,CAAC;YACpC,MAAM,CAAC,GAAG,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC,CAAC,wDAAwD;YAC/E,MAAM,CAAC,IAAI,GAAG,aAAK,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC;QACzC,CAAC;aAAM,CAAC;YACN;;;;eAIG;YACH,MAAM,IAAI,GAAG,aAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACjE,MAAM,KAAK,GAAG,aAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,+BAA+B;YAC/B,MAAM,IAAI,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnE,MAAM,KAAK,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACpE,aAAa;YACb,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,6DAA6D;YAC7D,MAAM,SAAS,GAAG,IAAI,CAAC;YACvB,MAAM,WAAW,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACzC,MAAM,WAAW,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACzC,IAAI,WAAW,GAAG,SAAS,GAAG,WAAW,EAAE,CAAC;gBAC1C,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YACvB,CAAC;iBAAM,IAAI,WAAW,GAAG,SAAS,GAAG,WAAW,EAAE,CAAC;gBACjD,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YACvB,CAAC;iBAAM,CAAC;gBACN,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,IAAI,IAAI,IAAI,IAAI,EAAE,CAAC;oBACjB,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;gBACvB,CAAC;qBAAM,CAAC;oBACN,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;gBACvB,CAAC;YACH,CAAC;QACH,CAAC;QACD,eAAe;QACf,MAAM,OAAO,GAAG,MAAM,CAAC,UAAU,EAAE,CAAC;QACpC,OAAO,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC;IAC5D,CAAC;CACF;AAnSD,gDAmSC","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/**\r\n * Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n\r\n/**\r\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle: counterclockwise rotation angle around z  */\r\n  public yaw: Angle;\r\n  /** The pitch angle: **clockwise** rotation angle around y */\r\n  public pitch: Angle;\r\n  /** The roll angle: counterclockwise rotation angle around x */\r\n  public roll: Angle;\r\n  /**\r\n   * Constructor\r\n   * @param yaw counterclockwise rotation angle around z\r\n   * @param pitch **clockwise** rotation angle around y\r\n   * @param roll counterclockwise rotation angle around x\r\n   */\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> {\r\n    this.yaw.freeze();\r\n    this.pitch.freeze();\r\n    this.roll.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in degrees.\r\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\r\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n   */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createDegrees(yawDegrees),\r\n      Angle.createDegrees(pitchDegrees),\r\n      Angle.createDegrees(rollDegrees),\r\n    );\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in radians.\r\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\r\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n   */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createRadians(yawRadians),\r\n      Angle.createRadians(pitchRadians),\r\n      Angle.createRadians(rollRadians),\r\n    );\r\n  }\r\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(\r\n      Angle.fromJSON(json.yaw),\r\n      Angle.fromJSON(json.pitch),\r\n      Angle.fromJSON(json.roll),\r\n    );\r\n  }\r\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /**\r\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n   */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles): boolean {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /** Make a copy of this YawPitchRollAngles */\r\n  public clone(): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      this.yaw.clone(),\r\n      this.pitch.clone(),\r\n      this.roll.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n   * * The rigid matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\r\n    const cz = Math.cos(this.yaw.radians);\r\n    const sz = Math.sin(this.yaw.radians);\r\n    const cy = Math.cos(this.pitch.radians);\r\n    const sy = Math.sin(this.pitch.radians);\r\n    const cx = Math.cos(this.roll.radians);\r\n    const sx = Math.sin(this.roll.radians);\r\n    /**\r\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"YawPitchRollAngles.js","sourceRoot":"","sources":["../../../src/geometry3d/YawPitchRollAngles.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;;;AAE/F;;GAEG;AAEH,0CAAmD;AACnD,mCAAgC;AAChC,yCAAsC;AACtC,uDAA4C;AAkB5C;;;;;;;;;;;;;;;;;;;;;GAqBG;AACH,MAAa,kBAAkB;IAC7B,+DAA+D;IACxD,GAAG,CAAQ;IAClB,6DAA6D;IACtD,KAAK,CAAQ;IACpB,+DAA+D;IACxD,IAAI,CAAQ;IACnB;;;;;OAKG;IACH,YAAY,MAAa,aAAK,CAAC,IAAI,EAAE,EAAE,QAAe,aAAK,CAAC,IAAI,EAAE,EAAE,OAAc,aAAK,CAAC,IAAI,EAAE;QAC5F,IAAI,CAAC,GAAG,GAAG,GAAG,CAAC;QACf,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;QACnB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;IACnB,CAAC;IACD,qCAAqC;IAC9B,MAAM;QACX,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAClB,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QACpB,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QACnB,OAAO,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAC7B,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAC/B,aAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EACjC,aAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CACjC,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,MAAM,CAAC,aAAa,CAAC,UAAkB,EAAE,YAAoB,EAAE,WAAmB;QACvF,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,aAAa,CAAC,UAAU,CAAC,EAC/B,aAAK,CAAC,aAAa,CAAC,YAAY,CAAC,EACjC,aAAK,CAAC,aAAa,CAAC,WAAW,CAAC,CACjC,CAAC;IACJ,CAAC;IACD,2EAA2E;IACpE,MAAM,CAAC,QAAQ,CAAC,IAAwB;QAC7C,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,OAAO,IAAI,kBAAkB,CAC3B,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,EACxB,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,EAC1B,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAC1B,CAAC;IACJ,CAAC;IACD,iEAAiE;IAC1D,WAAW,CAAC,IAAwB;QACzC,IAAI,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC;QACxB,IAAI,CAAC,GAAG,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QACpC,IAAI,CAAC,KAAK,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACxC,IAAI,CAAC,IAAI,GAAG,aAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxC,CAAC;IACD;;;OAGG;IACI,MAAM;QACX,MAAM,GAAG,GAAsB,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,YAAY;YAC1B,GAAG,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;QAClC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY;YACzB,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,YAAY;YACxB,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;QAC9B,OAAO,GAAG,CAAC;IACb,CAAC;IACD;;;OAGG;IACI,OAAO,CAAC,KAAyB;QACtC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAChC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAChC,CAAC;IACD;;;;OAIG;IACI,aAAa,CAAC,KAAyB;QAC5C,OAAO,IAAI,CAAC,GAAG,CAAC,6BAA6B,CAAC,KAAK,CAAC,GAAG,CAAC;eACnD,IAAI,CAAC,KAAK,CAAC,6BAA6B,CAAC,KAAK,CAAC,KAAK,CAAC;eACrD,IAAI,CAAC,IAAI,CAAC,6BAA6B,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;IAC3D,CAAC;IACD,6CAA6C;IACtC,KAAK;QACV,OAAO,IAAI,kBAAkB,CAC3B,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,EAChB,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,EAClB,IAAI,CAAC,IAAI,CAAC,KAAK,EAAE,CAClB,CAAC;IACJ,CAAC;IACD;;;;;OAKG;IACI,UAAU,CAAC,MAAiB;QACjC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QACtC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QACvC;;;;;;;;;;;;;;;;;;;;;;UAsBE;QACF,OAAO,mBAAQ,CAAC,eAAe,CAC7B,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,GAAG,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAC5D,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EACpB,MAAM,CACP,CAAC;IACJ,CAAC;IACD;;;;OAIG;IACI,UAAU,CAAC,mBAA4B,IAAI;QAChD,IAAI,gBAAgB;YAClB,OAAO,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBACnE,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBACnE,aAAK,CAAC,oCAAoC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;;YAExE,OAAO,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;mBAChE,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC;mBAChE,aAAK,CAAC,iCAAiC,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzE,CAAC;IACD,0CAA0C;IACnC,aAAa;QAClB,OAAO,mBAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,sDAAsD;IAC/C,iBAAiB;QACtB,OAAO,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CACb,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EACpC,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EACxC,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CACvC,CAAC;IACJ,CAAC;IACD,2CAA2C;IACpC,aAAa;QAClB,OAAO,mBAAQ,CAAC,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACrF,CAAC;IACD,mDAAmD;IAC5C,iBAAiB;QACtB,OAAO,mBAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAChG,CAAC;IACD,kFAAkF;IAC3E,cAAc,CAAC,KAAyB;QAC7C,OAAO,IAAI,CAAC,GAAG,CACb,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,OAAO,EACpC,IAAI,CAAC,KAAK,CAAC,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,OAAO,EACxC,IAAI,CAAC,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,OAAO,CACvC,CAAC;IACJ,CAAC;IACD,6EAA6E;IACtE,MAAM,CAAC,gBAAgB,CAAC,SAAoB;QAIjD,OAAO;YACL,MAAM,EAAE,yBAAO,CAAC,UAAU,CAAC,SAAS,CAAC,MAAM,CAAC;YAC5C,MAAM,EAAE,kBAAkB,CAAC,kBAAkB,CAAC,SAAS,CAAC,MAAM,CAAC;SAChE,CAAC;IACJ,CAAC;IACD;;;;;;;;OAQG;IACI,MAAM,CAAC,kBAAkB,CAAC,MAAgB,EAAE,MAA2B;QAC5E;;;;;;;;;;WAUG;QACH,MAAM,EAAE,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,SAAS;QACrC,MAAM,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW;QACxG,MAAM,MAAM,GAAG,aAAK,CAAC,WAAW,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,uBAAuB;QACjE,MAAM,MAAM,GAAG,aAAK,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,uBAAuB;QAClE,MAAM,MAAM,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,IAAI,kBAAkB,EAAE,CAAC;QAC1D;;;;;;;;;;;;;;;;WAgBG;QACH,IAAI,EAAE,GAAG,mBAAQ,CAAC,iBAAiB,EAAE,CAAC;YACpC,MAAM,CAAC,GAAG,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC,CAAC,wDAAwD;YAC/E,MAAM,CAAC,IAAI,GAAG,aAAK,CAAC,aAAa,CAAC,GAAG,CAAC,CAAC;QACzC,CAAC;aAAM,CAAC;YACN;;;;eAIG;YACH,MAAM,IAAI,GAAG,aAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACjE,MAAM,KAAK,GAAG,aAAK,CAAC,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YAClE,+BAA+B;YAC/B,MAAM,IAAI,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnE,MAAM,KAAK,GAAG,aAAK,CAAC,WAAW,CAAC,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACpE,aAAa;YACb,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,MAAM,IAAI,GAAG,IAAI,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACzD,6DAA6D;YAC7D,MAAM,SAAS,GAAG,IAAI,CAAC;YACvB,MAAM,WAAW,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACzC,MAAM,WAAW,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;YACzC,IAAI,WAAW,GAAG,SAAS,GAAG,WAAW,EAAE,CAAC;gBAC1C,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YACvB,CAAC;iBAAM,IAAI,WAAW,GAAG,SAAS,GAAG,WAAW,EAAE,CAAC;gBACjD,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YACvB,CAAC;iBAAM,CAAC;gBACN,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBACtC,IAAI,IAAI,IAAI,IAAI,EAAE,CAAC;oBACjB,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;gBACvB,CAAC;qBAAM,CAAC;oBACN,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;gBACvB,CAAC;YACH,CAAC;QACH,CAAC;QACD,eAAe;QACf,MAAM,OAAO,GAAG,MAAM,CAAC,UAAU,EAAE,CAAC;QACpC,OAAO,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC;IAC5D,CAAC;CACF;AAnSD,gDAmSC","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AngleProps, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { Transform } from \"./Transform\";\n\n// cspell:word Tait\n\n/**\n * Angle properties of a `YawPitchRoll` orientation\n * @public\n */\nexport interface YawPitchRollProps {\n  /** yaw field */\n  yaw?: AngleProps;\n  /** pitch field */\n  pitch?: AngleProps;\n  /** roll field */\n  roll?: AngleProps;\n}\n\n/**\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\n * (https://en.wikipedia.org/wiki/Euler_angles).\n * * The matrix construction can be replicated by this logic:\n * * xyz coordinates have\n *   * x forward\n *   * y to left\n *   * z up\n * * Note that this is a right handed coordinate system.\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\n * * The YPR matrix is the product\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\n * @public\n */\nexport class YawPitchRollAngles {\n  /** The yaw angle: counterclockwise rotation angle around z  */\n  public yaw: Angle;\n  /** The pitch angle: **clockwise** rotation angle around y */\n  public pitch: Angle;\n  /** The roll angle: counterclockwise rotation angle around x */\n  public roll: Angle;\n  /**\n   * Constructor\n   * @param yaw counterclockwise rotation angle around z\n   * @param pitch **clockwise** rotation angle around y\n   * @param roll counterclockwise rotation angle around x\n   */\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\n    this.yaw = yaw;\n    this.pitch = pitch;\n    this.roll = roll;\n  }\n  /** Freeze this YawPitchRollAngles */\n  public freeze(): Readonly<this> {\n    this.yaw.freeze();\n    this.pitch.freeze();\n    this.roll.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Constructor for YawPitchRollAngles with angles in degrees.\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\n   */\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      Angle.createDegrees(yawDegrees),\n      Angle.createDegrees(pitchDegrees),\n      Angle.createDegrees(rollDegrees),\n    );\n  }\n  /**\n   * Constructor for YawPitchRollAngles with angles in radians.\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\n   */\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      Angle.createRadians(yawRadians),\n      Angle.createRadians(pitchRadians),\n      Angle.createRadians(rollRadians),\n    );\n  }\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\n    json = json ? json : {};\n    return new YawPitchRollAngles(\n      Angle.fromJSON(json.yaw),\n      Angle.fromJSON(json.pitch),\n      Angle.fromJSON(json.roll),\n    );\n  }\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\n  public setFromJSON(json?: YawPitchRollProps): void {\n    json = json ? json : {};\n    this.yaw = Angle.fromJSON(json.yaw);\n    this.pitch = Angle.fromJSON(json.pitch);\n    this.roll = Angle.fromJSON(json.roll);\n  }\n  /**\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\n   */\n  public toJSON(): YawPitchRollProps {\n    const val: YawPitchRollProps = {};\n    if (!this.pitch.isAlmostZero)\n      val.pitch = this.pitch.toJSON();\n    if (!this.roll.isAlmostZero)\n      val.roll = this.roll.toJSON();\n    if (!this.yaw.isAlmostZero)\n      val.yaw = this.yaw.toJSON();\n    return val;\n  }\n  /**\n   * Install all rotations from `other` into `this`.\n   * @param other YawPitchRollAngles source\n   */\n  public setFrom(other: YawPitchRollAngles) {\n    this.yaw.setFrom(other.yaw);\n    this.pitch.setFrom(other.pitch);\n    this.roll.setFrom(other.roll);\n  }\n  /**\n   * Compare angles between `this` and `other`.\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\n   * @param other YawPitchRollAngles source\n   */\n  public isAlmostEqual(other: YawPitchRollAngles): boolean {\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\n  }\n  /** Make a copy of this YawPitchRollAngles */\n  public clone(): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      this.yaw.clone(),\n      this.pitch.clone(),\n      this.roll.clone(),\n    );\n  }\n  /**\n   * Expand the angles into a (rigid rotation) matrix.\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\n   * * The rigid matrix is always a right handed coordinate system.\n   * @param result optional pre-allocated `Matrix3d`\n   */\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\n    const cz = Math.cos(this.yaw.radians);\n    const sz = Math.sin(this.yaw.radians);\n    const cy = Math.cos(this.pitch.radians);\n    const sy = Math.sin(this.pitch.radians);\n    const cx = Math.cos(this.roll.radians);\n    const sx = Math.sin(this.roll.radians);\n    /**\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\n    * rX, rY, and rZ are base rotation matrixes:\n    *\n    *     const rX = Matrix3d.createRowValues(\n    *        1, 0, 0,\n    *        0, Math.cos(x), -Math.sin(x),\n    *        0, Math.sin(x), Math.cos(x),\n    *      );\n    *      const rY = Matrix3d.createRowValues(\n    *        Math.cos(y), 0, Math.sin(y),\n    *        0, 1, 0,\n    *        -Math.sin(y), 0, Math.cos(y),\n    *      );\n    *      const rZ = Matrix3d.createRowValues(\n    *        Math.cos(z), -Math.sin(z), 0,\n    *        Math.sin(z), Math.cos(z), 0,\n    *        0, 0, 1,\n    *      );\n    *\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\n    * can use transpose of rY in the matrix multiplication to get the same result)\n    */\n    return Matrix3d.createRowValues(\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\n      sy, cy * sx, cy * cx,\n      result,\n    );\n  }\n  /**\n   * Returns true if this rotation does nothing.\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\n   */\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\n    if (allowPeriodShift)\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\n    else\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\n  }\n  /** Return the largest angle in radians */\n  public maxAbsRadians(): number {\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\n  }\n  /** Return the sum of the angles in squared radians */\n  public sumSquaredRadians(): number {\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\n  }\n  /** Return the largest difference of angles (in radians) between this and other */\n  public maxDiffRadians(other: YawPitchRollAngles): number {\n    return Math.max(\n      this.yaw.radians - other.yaw.radians,\n      this.pitch.radians - other.pitch.radians,\n      this.roll.radians - other.roll.radians,\n    );\n  }\n  /** Return the largest angle in degrees. */\n  public maxAbsDegrees(): number {\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\n  }\n  /** Return the sum of squared angles in degrees. */\n  public sumSquaredDegrees(): number {\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\n  }\n  /** Return the largest difference of angles (in degrees) between this and other */\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\n    return Math.max(\n      this.yaw.degrees - other.yaw.degrees,\n      this.pitch.degrees - other.pitch.degrees,\n      this.roll.degrees - other.roll.degrees,\n    );\n  }\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\n  public static tryFromTransform(transform: Transform): {\n    origin: Point3d;\n    angles: YawPitchRollAngles | undefined;\n  } {\n    return {\n      origin: Point3d.createFrom(transform.origin),\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\n    };\n  }\n  /**\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\n   * @param result optional pre-allocated object to populate and return.\n   * @returns computed angles, or undefined if `matrix` is not rigid.\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\n   * their usefulness decreases the further `matrix` is from being rigid.\n   */\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\n    /**\n     * The rotation matrix form is\n     *\n     * Matrix3d.createRowValues(\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\n     *      sy, cy * sx, cy * cx\n     * );\n     *\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\n     */\n    const sy = matrix.at(2, 0); // sin(y)\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\n    const angles = result ? result : new YawPitchRollAngles();\n    /**\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\n     * This means x and z can be anything as long as their sum x + z is constant.\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\n     * Math details can be found\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\n     *\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\n     *\n     * Matrix3d.createRowValues(\n     *      0, -sz, -+cz,\n     *      0, cz, -+sz,\n     *      +-1, 0, 0\n     * );\n     *\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\n     */\n    if (cy < Geometry.smallAngleRadians) {\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\n      angles.roll = Angle.createRadians(0.0);\n    } else {\n      /**\n       * positive cosine\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\n       */\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\n      // similar with negative cosine\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\n      // create YPR\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\n      // decide to pick yprA or yprB with smallest magnitude angles\n      const absFactor = 0.95;\n      const maxRadiansA = yprA.maxAbsRadians();\n      const maxRadiansB = yprB.maxAbsRadians();\n      if (maxRadiansA < absFactor * maxRadiansB) {\n        angles.setFrom(yprA);\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\n        angles.setFrom(yprB);\n      } else {\n        const sumA = yprA.sumSquaredRadians();\n        const sumB = yprB.sumSquaredRadians();\n        if (sumA <= sumB) {\n          angles.setFrom(yprA);\n        } else {\n          angles.setFrom(yprB);\n        }\n      }\n    }\n    // sanity check\n    const matrix1 = angles.toMatrix3d();\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\n  }\n}\n"]}

package/lib/cjs/geometry4d/Map4d.js.map

@@ -1 +1 @@
-{"version":3,"file":"Map4d.js","sourceRoot":"","sources":["../../../src/geometry4d/Map4d.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;AAC/F;;GAEG;;;AAGH,qDAAkD;AAElD,uDAAoD;AACpD,yCAAsC;AAEtC;;;GAGG;AACH,MAAa,KAAK;IACR,QAAQ,CAAW;IACnB,QAAQ,CAAW;IAC3B,YAAoB,OAAiB,EAAE,OAAiB;QACtD,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;QACxB,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;IAC1B,CAAC;IACD,iEAAiE;IACjE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IACD,iEAAiE;IACjE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IACD,oEAAoE;IAC7D,MAAM,CAAC,UAAU,CAAC,OAAiB,EAAE,OAAiB;QAC3D,OAAO,IAAI,KAAK,CAAC,OAAO,EAAE,OAAO,CAAC,CAAC;IACrC,CAAC;IACD,8BAA8B;IACvB,MAAM,CAAC,cAAc;QAC1B,OAAO,IAAI,KAAK,CAAC,mBAAQ,CAAC,cAAc,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;IACzE,CAAC;IACD;;;OAGG;IACI,MAAM,CAAC,eAAe,CAAC,UAAqB,EAAE,UAAsB;QACzE,IAAI,UAAU,KAAK,SAAS,EAAE,CAAC;YAC7B,UAAU,GAAG,UAAU,CAAC,OAAO,EAAE,CAAC;YAClC,IAAI,UAAU,KAAK,SAAS;gBAC1B,OAAO,SAAS,CAAC;QACrB,CAAC;aAAM,CAAC;YACN,MAAM,OAAO,GAAG,UAAU,CAAC,0BAA0B,CAAC,UAAU,CAAC,CAAC;YAClE,IAAI,CAAC,OAAO,CAAC,UAAU;gBACrB,OAAO,SAAS,CAAC;QACrB,CAAC;QACD,OAAO,IAAI,KAAK,CAAC,mBAAQ,CAAC,eAAe,CAAC,UAAU,CAAC,EAAE,mBAAQ,CAAC,eAAe,CAAC,UAAU,CAAC,CAAC,CAAC;IAC/F,CAAC;IACD;;;;;;OAMG;IACI,MAAM,CAAC,YAAY,CACxB,IAAa,EAAE,KAAc,EAAE,IAAa,EAAE,KAAc,EAAE,MAAc;QAE5E,MAAM,EAAE,GAAG,mBAAQ,CAAC,cAAc,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QACrG,MAAM,EAAE,GAAG,mBAAQ,CAAC,cAAc,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QACrG,IAAI,EAAE,IAAI,EAAE,EAAE,CAAC;YACb,IAAI,MAAM;gBACR,OAAO,MAAM,CAAC;YAChB,OAAO,IAAI,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAC3B,CAAC;QACD,OAAO,SAAS,CAAC;IACnB,CAAC;IACD,uCAAuC;IAChC,OAAO,CAAC,KAAY;QACzB,IAAI,CAAC,QAAQ,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;QACtC,IAAI,CAAC,QAAQ,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;IACxC,CAAC;IACD,mCAAmC;IAC5B,KAAK;QACV,OAAO,IAAI,KAAK,CAAC,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,CAAC;IACjE,CAAC;IACD,8CAA8C;IACvC,WAAW;QAChB,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;QAC5B,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IAC9B,CAAC;IACD,6GAA6G;IACtG,WAAW,CAAC,IAAS;QAC1B,IAAI,IAAI,CAAC,OAAO,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YACjC,IAAI,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACxC,IAAI,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QAC1C,CAAC;;YACC,IAAI,CAAC,WAAW,EAAE,CAAC;IACvB,CAAC;IACD,6GAA6G;IACtG,MAAM,CAAC,QAAQ,CAAC,IAAU;QAC/B,MAAM,MAAM,GAAG,IAAI,KAAK,CAAC,mBAAQ,CAAC,cAAc,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;QAC/E,MAAM,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QACzB,OAAO,MAAM,CAAC;IAChB,CAAC;IACD,gEAAgE;IACzD,MAAM;QACX,OAAO,EAAE,OAAO,EAAE,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,EAAE,OAAO,EAAE,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,EAAE,CAAC;IAC9E,CAAC;IACD,sDAAsD;IAC/C,aAAa,CAAC,KAAY;QAC/B,OAAO,IAAI,CAAC,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,QAAQ,CAAC,IAAI,IAAI,CAAC,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;IACpG,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,mBAAmB,CAC/B,MAAe,EAAE,OAAiB,EAAE,OAAiB,EAAE,OAAiB,EAAE,QAAgB;QAE1F,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;QACtC,MAAM,WAAW,GAAG,qBAAS,CAAC,qBAAqB,CAAC,MAAM,EAAE,mBAAQ,CAAC,aAAa,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC,CAAC;QAC/G,MAAM,WAAW,GAAG,WAAW,CAAC,OAAO,EAAE,CAAC;QAC1C,IAAI,CAAC,WAAW;YACd,OAAO,SAAS,CAAC;QACnB,MAAM,cAAc,GAAG,IAAI,KAAK,CAAC,mBAAQ,CAAC,eAAe,CAAC,WAAW,CAAC,EAAE,mBAAQ,CAAC,eAAe,CAAC,WAAW,CAAC,CAAC,CAAC;QAC/G,MAAM,YAAY,GAAG,IAAI,KAAK,CAC5B,mBAAQ,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,QAAQ,GAAG,GAAG,EAAE,CAAC,CAAC,EAC5F,mBAAQ,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,GAAG,QAAQ,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,GAAG,GAAG,QAAQ,CAAC,GAAG,QAAQ,EAAE,CAAC,CAAC,CAChH,CAAC;QACF,MAAM,MAAM,GAAG,YAAY,CAAC,cAAc,CAAC,cAAc,CAAC,CAAC;QAC3D;;;;;;;;;;;;;YAaI;QACJ,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,EAClD,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,CACnD,CAAC;IACJ,CAAC;IACD,4CAA4C;IACrC,cAAc;QACnB,MAAM,IAAI,GAAG,IAAI,CAAC,QAAQ,CAAC;QAC3B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;QAC9B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IACvB,CAAC;IACD;;;OAGG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,EACvF,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CACxF,CAAC;IACJ,CAAC;IACD;;;OAGG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,EACvF,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CACxF,CAAC;IACJ,CAAC;CACF;AAzKD,sBAyKC","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { BeJSONFunctions } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\n\r\n/**\r\n * Map4 carries two Matrix4d which are inverses of each other.\r\n * @public\r\n */\r\nexport class Map4d implements BeJSONFunctions {\r\n  private _matrix0: Matrix4d;\r\n  private _matrix1: Matrix4d;\r\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    this._matrix0 = matrix0;\r\n    this._matrix1 = matrix1;\r\n  }\r\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\r\n  public get transform0(): Matrix4d {\r\n    return this._matrix0;\r\n  }\r\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\r\n  public get transform1(): Matrix4d {\r\n    return this._matrix1;\r\n  }\r\n  /** Create a Map4d, capturing the references to the two matrices. */\r\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    return new Map4d(matrix0, matrix1);\r\n  }\r\n  /** Create an identity map. */\r\n  public static createIdentity(): Map4d {\r\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Map4d with given transform pair.\r\n   * @returns undefined if the transforms are not inverses of each other.\r\n   */\r\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\r\n    if (transform1 === undefined) {\r\n      transform1 = transform0.inverse();\r\n      if (transform1 === undefined)\r\n        return undefined;\r\n    } else {\r\n      const product = transform0.multiplyTransformTransform(transform1);\r\n      if (!product.isIdentity)\r\n        return undefined;\r\n    }\r\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) between boxes.\r\n   * @param lowA low point of box A\r\n   * @param highA high point of box A\r\n   * @param lowB low point of box B\r\n   * @param highB high point of box B\r\n   */\r\n  public static createBoxMap(\r\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\r\n  ): Map4d | undefined {\r\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\r\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\r\n    if (t0 && t1) {\r\n      if (result)\r\n        return result;\r\n      return new Map4d(t0, t1);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy contents from another Map4d */\r\n  public setFrom(other: Map4d) {\r\n    this._matrix0.setFrom(other._matrix0);\r\n    this._matrix1.setFrom(other._matrix1);\r\n  }\r\n  /** Return a clone of this Map4d */\r\n  public clone(): Map4d {\r\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\r\n  }\r\n  /** Reinitialize this Map4d as an identity. */\r\n  public setIdentity() {\r\n    this._matrix0.setIdentity();\r\n    this._matrix1.setIdentity();\r\n  }\r\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public setFromJSON(json: any): void {\r\n    if (json.matrix0 && json.matrix1) {\r\n      this._matrix0.setFromJSON(json.matrix0);\r\n      this._matrix1.setFromJSON(json.matrix1);\r\n    } else\r\n      this.setIdentity();\r\n  }\r\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public static fromJSON(json?: any): Map4d {\r\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\r\n  public toJSON(): any {\r\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\r\n  }\r\n  /** Test if both matrices are almost equal to those */\r\n  public isAlmostEqual(other: Map4d) {\r\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\r\n  }\r\n  /**\r\n   * Create a world to NPC map that maps between world coordinates and the given frustum.\r\n   * @param origin lower left rear of frustum\r\n   * @param uVector Vector from origin to lower right rear.\r\n   * @param vVector Vector from origin to upper left rear.\r\n   * @param wVector Vector from origin to lower left front, i.e. origin towards eye.\r\n   * @param fraction front size divided by rear size.\r\n   */\r\n  public static createVectorFrustum(\r\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\r\n  ): Map4d | undefined {\r\n    fraction = Math.max(fraction, 1.0e-8);\r\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\r\n    const worldToSlab = slabToWorld.inverse();\r\n    if (!worldToSlab)\r\n      return undefined;\r\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\r\n    const slabToNPCMap = new Map4d(\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\r\n    );\r\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\r\n    /*\r\n    let numIdentity = 0;\r\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\r\n    if (productA.isIdentity())\r\n      numIdentity++;\r\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\r\n    if (productB.isIdentity())\r\n      numIdentity++;\r\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\r\n    if (product.isIdentity())\r\n      numIdentity++;\r\n    if (numIdentity === 3)\r\n        return result;\r\n      */\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply this*other. The output matrices are\r\n   * * output matrix0 = `this.matrix0 * other.matrix0`\r\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\r\n   */\r\n  public multiplyMapMap(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\r\n    );\r\n  }\r\n  /** Exchange the two matrices of the map. */\r\n  public reverseInPlace() {\r\n    const temp = this._matrix0;\r\n    this._matrix0 = this._matrix1;\r\n    this._matrix1 = temp;\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform0 * this.transform0 * other.transform1\r\n   */\r\n  public sandwich0This1(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\r\n    );\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform1 * this.transform0 * other.transform0\r\n   */\r\n  public sandwich1This0(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\r\n    );\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"Map4d.js","sourceRoot":"","sources":["../../../src/geometry4d/Map4d.ts"],"names":[],"mappings":";AAAA;;;+FAG+F;AAC/F;;GAEG;;;AAGH,qDAAkD;AAElD,uDAAoD;AACpD,yCAAsC;AAEtC;;;GAGG;AACH,MAAa,KAAK;IACR,QAAQ,CAAW;IACnB,QAAQ,CAAW;IAC3B,YAAoB,OAAiB,EAAE,OAAiB;QACtD,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;QACxB,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;IAC1B,CAAC;IACD,iEAAiE;IACjE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IACD,iEAAiE;IACjE,IAAW,UAAU;QACnB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IACD,oEAAoE;IAC7D,MAAM,CAAC,UAAU,CAAC,OAAiB,EAAE,OAAiB;QAC3D,OAAO,IAAI,KAAK,CAAC,OAAO,EAAE,OAAO,CAAC,CAAC;IACrC,CAAC;IACD,8BAA8B;IACvB,MAAM,CAAC,cAAc;QAC1B,OAAO,IAAI,KAAK,CAAC,mBAAQ,CAAC,cAAc,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;IACzE,CAAC;IACD;;;OAGG;IACI,MAAM,CAAC,eAAe,CAAC,UAAqB,EAAE,UAAsB;QACzE,IAAI,UAAU,KAAK,SAAS,EAAE,CAAC;YAC7B,UAAU,GAAG,UAAU,CAAC,OAAO,EAAE,CAAC;YAClC,IAAI,UAAU,KAAK,SAAS;gBAC1B,OAAO,SAAS,CAAC;QACrB,CAAC;aAAM,CAAC;YACN,MAAM,OAAO,GAAG,UAAU,CAAC,0BAA0B,CAAC,UAAU,CAAC,CAAC;YAClE,IAAI,CAAC,OAAO,CAAC,UAAU;gBACrB,OAAO,SAAS,CAAC;QACrB,CAAC;QACD,OAAO,IAAI,KAAK,CAAC,mBAAQ,CAAC,eAAe,CAAC,UAAU,CAAC,EAAE,mBAAQ,CAAC,eAAe,CAAC,UAAU,CAAC,CAAC,CAAC;IAC/F,CAAC;IACD;;;;;;OAMG;IACI,MAAM,CAAC,YAAY,CACxB,IAAa,EAAE,KAAc,EAAE,IAAa,EAAE,KAAc,EAAE,MAAc;QAE5E,MAAM,EAAE,GAAG,mBAAQ,CAAC,cAAc,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QACrG,MAAM,EAAE,GAAG,mBAAQ,CAAC,cAAc,CAAC,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QACrG,IAAI,EAAE,IAAI,EAAE,EAAE,CAAC;YACb,IAAI,MAAM;gBACR,OAAO,MAAM,CAAC;YAChB,OAAO,IAAI,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAC3B,CAAC;QACD,OAAO,SAAS,CAAC;IACnB,CAAC;IACD,uCAAuC;IAChC,OAAO,CAAC,KAAY;QACzB,IAAI,CAAC,QAAQ,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;QACtC,IAAI,CAAC,QAAQ,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;IACxC,CAAC;IACD,mCAAmC;IAC5B,KAAK;QACV,OAAO,IAAI,KAAK,CAAC,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,EAAE,IAAI,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,CAAC;IACjE,CAAC;IACD,8CAA8C;IACvC,WAAW;QAChB,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;QAC5B,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;IAC9B,CAAC;IACD,6GAA6G;IACtG,WAAW,CAAC,IAAS;QAC1B,IAAI,IAAI,CAAC,OAAO,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YACjC,IAAI,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;YACxC,IAAI,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;QAC1C,CAAC;;YACC,IAAI,CAAC,WAAW,EAAE,CAAC;IACvB,CAAC;IACD,6GAA6G;IACtG,MAAM,CAAC,QAAQ,CAAC,IAAU;QAC/B,MAAM,MAAM,GAAG,IAAI,KAAK,CAAC,mBAAQ,CAAC,cAAc,EAAE,EAAE,mBAAQ,CAAC,cAAc,EAAE,CAAC,CAAC;QAC/E,MAAM,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QACzB,OAAO,MAAM,CAAC;IAChB,CAAC;IACD,gEAAgE;IACzD,MAAM;QACX,OAAO,EAAE,OAAO,EAAE,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,EAAE,OAAO,EAAE,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,EAAE,CAAC;IAC9E,CAAC;IACD,sDAAsD;IAC/C,aAAa,CAAC,KAAY;QAC/B,OAAO,IAAI,CAAC,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,QAAQ,CAAC,IAAI,IAAI,CAAC,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;IACpG,CAAC;IACD;;;;;;;OAOG;IACI,MAAM,CAAC,mBAAmB,CAC/B,MAAe,EAAE,OAAiB,EAAE,OAAiB,EAAE,OAAiB,EAAE,QAAgB;QAE1F,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;QACtC,MAAM,WAAW,GAAG,qBAAS,CAAC,qBAAqB,CAAC,MAAM,EAAE,mBAAQ,CAAC,aAAa,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC,CAAC;QAC/G,MAAM,WAAW,GAAG,WAAW,CAAC,OAAO,EAAE,CAAC;QAC1C,IAAI,CAAC,WAAW;YACd,OAAO,SAAS,CAAC;QACnB,MAAM,cAAc,GAAG,IAAI,KAAK,CAAC,mBAAQ,CAAC,eAAe,CAAC,WAAW,CAAC,EAAE,mBAAQ,CAAC,eAAe,CAAC,WAAW,CAAC,CAAC,CAAC;QAC/G,MAAM,YAAY,GAAG,IAAI,KAAK,CAC5B,mBAAQ,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,QAAQ,GAAG,GAAG,EAAE,CAAC,CAAC,EAC5F,mBAAQ,CAAC,eAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,GAAG,QAAQ,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,GAAG,GAAG,QAAQ,CAAC,GAAG,QAAQ,EAAE,CAAC,CAAC,CAChH,CAAC;QACF,MAAM,MAAM,GAAG,YAAY,CAAC,cAAc,CAAC,cAAc,CAAC,CAAC;QAC3D;;;;;;;;;;;;;YAaI;QACJ,OAAO,MAAM,CAAC;IAChB,CAAC;IACD;;;;OAIG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,EAClD,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,CACnD,CAAC;IACJ,CAAC;IACD,4CAA4C;IACrC,cAAc;QACnB,MAAM,IAAI,GAAG,IAAI,CAAC,QAAQ,CAAC;QAC3B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;QAC9B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IACvB,CAAC;IACD;;;OAGG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,EACvF,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CACxF,CAAC;IACJ,CAAC;IACD;;;OAGG;IACI,cAAc,CAAC,KAAY;QAChC,OAAO,IAAI,KAAK,CACd,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,EACvF,KAAK,CAAC,QAAQ,CAAC,oBAAoB,CAAC,IAAI,CAAC,QAAQ,CAAC,oBAAoB,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CACxF,CAAC;IACJ,CAAC;CACF;AAzKD,sBAyKC","sourcesContent":["/*---------------------------------------------------------------------------------------------\n* 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 } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { Matrix4d } from \"./Matrix4d\";\n\n/**\n * Map4 carries two Matrix4d which are inverses of each other.\n * @public\n */\nexport class Map4d implements BeJSONFunctions {\n  private _matrix0: Matrix4d;\n  private _matrix1: Matrix4d;\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\n    this._matrix0 = matrix0;\n    this._matrix1 = matrix1;\n  }\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\n  public get transform0(): Matrix4d {\n    return this._matrix0;\n  }\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\n  public get transform1(): Matrix4d {\n    return this._matrix1;\n  }\n  /** Create a Map4d, capturing the references to the two matrices. */\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\n    return new Map4d(matrix0, matrix1);\n  }\n  /** Create an identity map. */\n  public static createIdentity(): Map4d {\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\n  }\n  /**\n   * Create a Map4d with given transform pair.\n   * @returns undefined if the transforms are not inverses of each other.\n   */\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\n    if (transform1 === undefined) {\n      transform1 = transform0.inverse();\n      if (transform1 === undefined)\n        return undefined;\n    } else {\n      const product = transform0.multiplyTransformTransform(transform1);\n      if (!product.isIdentity)\n        return undefined;\n    }\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\n  }\n  /**\n   * Create a mapping the scales and translates (no rotation) between boxes.\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 createBoxMap(\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\n  ): Map4d | undefined {\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\n    if (t0 && t1) {\n      if (result)\n        return result;\n      return new Map4d(t0, t1);\n    }\n    return undefined;\n  }\n  /** Copy contents from another Map4d */\n  public setFrom(other: Map4d) {\n    this._matrix0.setFrom(other._matrix0);\n    this._matrix1.setFrom(other._matrix1);\n  }\n  /** Return a clone of this Map4d */\n  public clone(): Map4d {\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\n  }\n  /** Reinitialize this Map4d as an identity. */\n  public setIdentity() {\n    this._matrix0.setIdentity();\n    this._matrix1.setIdentity();\n  }\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\n  public setFromJSON(json: any): void {\n    if (json.matrix0 && json.matrix1) {\n      this._matrix0.setFromJSON(json.matrix0);\n      this._matrix1.setFromJSON(json.matrix1);\n    } else\n      this.setIdentity();\n  }\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\n  public static fromJSON(json?: any): Map4d {\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\n  public toJSON(): any {\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\n  }\n  /** Test if both matrices are almost equal to those */\n  public isAlmostEqual(other: Map4d) {\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\n  }\n  /**\n   * Create a world to NPC map that maps between world coordinates and the given frustum.\n   * @param origin lower left rear of frustum\n   * @param uVector Vector from origin to lower right rear.\n   * @param vVector Vector from origin to upper left rear.\n   * @param wVector Vector from origin to lower left front, i.e. origin towards eye.\n   * @param fraction front size divided by rear size.\n   */\n  public static createVectorFrustum(\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\n  ): Map4d | undefined {\n    fraction = Math.max(fraction, 1.0e-8);\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\n    const worldToSlab = slabToWorld.inverse();\n    if (!worldToSlab)\n      return undefined;\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\n    const slabToNPCMap = new Map4d(\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\n    );\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\n    /*\n    let numIdentity = 0;\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\n    if (productA.isIdentity())\n      numIdentity++;\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\n    if (productB.isIdentity())\n      numIdentity++;\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\n    if (product.isIdentity())\n      numIdentity++;\n    if (numIdentity === 3)\n        return result;\n      */\n    return result;\n  }\n  /**\n   * Multiply this*other. The output matrices are\n   * * output matrix0 = `this.matrix0 * other.matrix0`\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\n   */\n  public multiplyMapMap(other: Map4d): Map4d {\n    return new Map4d(\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\n    );\n  }\n  /** Exchange the two matrices of the map. */\n  public reverseInPlace() {\n    const temp = this._matrix0;\n    this._matrix0 = this._matrix1;\n    this._matrix1 = temp;\n  }\n  /**\n   * Return a Map4d whose transform0 is\n   * other.transform0 * this.transform0 * other.transform1\n   */\n  public sandwich0This1(other: Map4d): Map4d {\n    return new Map4d(\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\n    );\n  }\n  /**\n   * Return a Map4d whose transform0 is\n   * other.transform1 * this.transform0 * other.transform0\n   */\n  public sandwich1This0(other: Map4d): Map4d {\n    return new Map4d(\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\n    );\n  }\n}\n"]}

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

@@ -145,8 +145,24 @@ export declare class Matrix4d implements BeJSONFunctions {
     /**
      * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix
      * @return undefined if this Matrix4d has perspective effects in the w row.
+     * @see toTransform
      */
     get asTransform(): Transform | undefined;
+    /**
+     * Populate a [[Transform]] from the instance, even if the transformations aren't equivalent.
+     * * A Transform cannot encode perspective, but this method returns one even if it isn't equivalent to the instance.
+     * * Compare to the [[asTransform]] property, which returns `undefined` when there is perspective.
+     * @param result optional preallocated object to populate and return.
+     * @returns derived `Transform` and a flag indicating its validity:
+     * * `transform` is filled with the top three rows of the instance's entries scaled by the reciprocal of nonzero [[weight]];
+     * if [[weight]] is zero, `transform` is set to the identity.
+     * * `isValid` is true if and only if the last row of the instance is essentially `[000w]` for nonzero `w` = [[weight]].
+     * @see asTransform
+     */
+    toTransform(result?: Transform): {
+        transform: Transform;
+        isValid: boolean;
+    };
     /** multiply this * other. */
     multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d;
     /** multiply this * transpose(other). */