npm - @itwin/core-geometry - Versions diffs - 5.2.0-dev.29 → 5.2.0-dev.30 - Mend

@itwin/core-geometry 5.2.0-dev.29 → 5.2.0-dev.30

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package/lib/esm/geometry3d/YawPitchRollAngles.js.map CHANGED Viewed

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\n\nimport { 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 rZrYrX 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"]}
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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 rZrYrX 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"]}

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----------------------------\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 thisother. 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"]}
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----------------------------\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 thisother. 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"]}

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n/** @packageDocumentation\n * @module Numerics\n /\n\nimport { BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Point4d, Point4dProps } from \"./Point4d\";\n\n/\n Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\n * @public\n /\nexport type Matrix4dProps = Point4dProps[];\n\n/\n * A Matrix4d is a matrix with 4 rows and 4 columns.\n * * The 4 rows may be described as the x,y,z,w rows.\n * * The 4 columns may be described as the x,y,z,w columns.\n * * The matrix is physically stored as a Float64Array with 16 numbers.\n * * The layout in the Float64Array is \"by row\"\n * * indices 0,1,2,3 are the \"x row\". They may be called the xx,xy,xz,xw entries\n * * indices 4,5,6,7 are the \"y row\" They may be called the yx,yy,yz,yw entries\n * * indices 8,9,10,11 are the \"z row\" They may be called the zx,zy,zz,zw entries\n * * indices 12,13,14,15 are the \"w row\". They may be called the wx,wy,wz,ww entries\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\n * * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\n * * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\n * @public\n /\nexport class Matrix4d implements BeJSONFunctions {\n private _coffs: Float64Array;\n private constructor() { this._coffs = new Float64Array(16); }\n /* Copy matrix entries from `other` /\n public setFrom(other: Matrix4d): void {\n for (let i = 0; i < 16; i++)\n this._coffs[i] = other._coffs[i];\n }\n /* Return a deep clone. /\n public clone(result?: Matrix4d): Matrix4d {\n if (result === this)\n return this;\n if (result === undefined)\n result = new Matrix4d();\n for (let i = 0; i < 16; i++)\n result._coffs[i] = this._coffs[i];\n return result;\n }\n /* zero this matrix4d in place. /\n public setZero(): void {\n for (let i = 0; i < 16; i++)\n this._coffs[i] = 0;\n }\n /* set to identity. /\n public setIdentity(): void {\n for (let i = 0; i < 16; i++)\n this._coffs[i] = 0;\n this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\n }\n private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\n return Math.abs(a - 1.0) <= tol\n && Math.abs(b) <= tol\n && Math.abs(c) <= tol\n && Math.abs(d) <= tol;\n }\n /* set to identity. /\n public isIdentity(tol: number = 1.0e-10): boolean {\n return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\n && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\n && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\n && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\n }\n /* create a Matrix4d filled with zeros. /\n public static createZero(result?: Matrix4d): Matrix4d {\n if (result) {\n result.setZero();\n return result;\n }\n return new Matrix4d(); // this is zero.\n }\n /* create a Matrix4d with values supplied \"across the rows\" /\n public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\n result = result ? result : new Matrix4d();\n result._coffs[0] = cxx;\n result._coffs[1] = cxy;\n result._coffs[2] = cxz;\n result._coffs[3] = cxw;\n result._coffs[4] = cyx;\n result._coffs[5] = cyy;\n result._coffs[6] = cyz;\n result._coffs[7] = cyw;\n result._coffs[8] = czx;\n result._coffs[9] = czy;\n result._coffs[10] = czz;\n result._coffs[11] = czw;\n result._coffs[12] = cwx;\n result._coffs[13] = cwy;\n result._coffs[14] = cwz;\n result._coffs[15] = cww;\n return result;\n }\n /* Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. /\n public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\n return this.createRowValues(\n rowX.x, rowX.y, rowX.z, rowX.w,\n rowY.x, rowY.y, rowY.z, rowY.w,\n rowZ.x, rowZ.y, rowZ.z, rowZ.w,\n rowW.x, rowW.y, rowW.z, rowW.w, result);\n }\n /* directly set columns from typical 3d data:\n \n * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\n * * origin as column3, with weight 1\n /\n public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\n this._coffs[0] = vectorX.x;\n this._coffs[1] = vectorY.x;\n this._coffs[2] = vectorZ.x;\n this._coffs[3] = origin.x;\n this._coffs[4] = vectorX.y;\n this._coffs[5] = vectorY.y;\n this._coffs[6] = vectorZ.y;\n this._coffs[7] = origin.y;\n this._coffs[8] = vectorX.z;\n this._coffs[9] = vectorY.z;\n this._coffs[10] = vectorZ.z;\n this._coffs[11] = origin.z;\n this._coffs[12] = 0.0;\n this._coffs[13] = 0.0;\n this._coffs[14] = 0.0;\n this._coffs[15] = 1.0;\n }\n /* promote a transform to full Matrix4d (with 0001 in final row) /\n public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\n const matrix = source.matrix;\n const point = source.origin;\n return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\n }\n /* return an identity matrix. /\n public static createIdentity(result?: Matrix4d): Matrix4d {\n result = Matrix4d.createZero(result);\n result._coffs[0] = 1.0;\n result._coffs[5] = 1.0;\n result._coffs[10] = 1.0;\n result._coffs[15] = 1.0;\n return result;\n }\n /* return matrix with translation directly inserted (along with 1 on diagonal) /\n public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\n result = Matrix4d.createZero(result);\n result._coffs[0] = 1.0;\n result._coffs[5] = 1.0;\n result._coffs[10] = 1.0;\n result._coffs[15] = 1.0;\n result._coffs[3] = x;\n result._coffs[7] = y;\n result._coffs[11] = z;\n return result;\n }\n\n /* return this matrix plus scale times matrixB. /\n public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\n // If result is undefined, a real clone is created.\n // If result is \"this\" we get the pointer to this right back.\n // If result is other, \"this\" coffs are copied.\n // Then we can add matrixB. (Which we assume is different from this?)\n result = this.clone(result);\n for (let i = 0; i < 16; i++)\n result._coffs[i] += scale matrixB._coffs[i];\n return result;\n }\n\n /*\n Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\n * @param tx x entry for translation column\n * @param ty y entry for translation column\n * @param tz z entry for translation column\n * @param scaleX x diagonal entry\n * @param scaleY y diagonal entry\n * @param scaleZ z diagonal entry\n * @param result optional result.\n /\n public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\n return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\n }\n /\n Create a mapping that scales and translates (no rotation) from box A to box B\n * @param lowA low point of box A\n * @param highA high point of box A\n * @param lowB low point of box B\n * @param highB high point of box B\n /\n public static createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d \| undefined {\n const ax = highA.x - lowA.x;\n const ay = highA.y - lowA.y;\n const az = highA.z - lowA.z;\n const bx = highB.x - lowB.x;\n const by = highB.y - lowB.y;\n const bz = highB.z - lowB.z;\n const abx = Geometry.conditionalDivideFraction(bx, ax);\n const aby = Geometry.conditionalDivideFraction(by, ay);\n const abz = Geometry.conditionalDivideFraction(bz, az);\n if (abx !== undefined && aby !== undefined && abz !== undefined) {\n return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\n }\n return undefined;\n }\n /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` /\n public setFromJSON(json?: Matrix4dProps) {\n if (Geometry.isArrayOfNumberArray(json, 4, 4)) {\n for (let i = 0; i < 4; ++i) {\n for (let j = 0; j < 4; ++j)\n this._coffs[i 4 + j] = json[i][j];\n }\n } else {\n this.setZero();\n }\n }\n /*\n Return the largest (absolute) difference between this and other Matrix4d.\n * @param other matrix to compare to\n /\n public maxDiff(other: Matrix4d): number {\n let a = 0.0;\n for (let i = 0; i < 16; i++)\n a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\n return a;\n }\n /\n Return the largest absolute value in the Matrix4d\n /\n public maxAbs(): number {\n let a = 0.0;\n for (let i = 0; i < 16; i++)\n a = Math.max(a, Math.abs(this._coffs[i]));\n return a;\n }\n /* Test for near-equality with `other` /\n public isAlmostEqual(other: Matrix4d): boolean {\n return Geometry.isSmallMetricDistance(this.maxDiff(other));\n }\n /* Test for exact (bitwise) equality with other. /\n public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\n /\n Convert an Matrix4d to a Matrix4dProps.\n /\n public toJSON(): Matrix4dProps {\n const value = [];\n for (let i = 0; i < 4; ++i) {\n const row = i 4;\n value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\n }\n return value;\n }\n /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` /\n public static fromJSON(json?: Matrix4dProps) {\n const result = new Matrix4d();\n result.setFromJSON(json);\n return result;\n }\n /\n Return a point with entries from positions [i0, i0+step, i0+2step, i0+3step].\n * * There are no tests for index going out of the 0..15 range.\n * * Usual uses are:\n * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\n * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\n * * * i0 = 0, step = 5 to extract the diagonal\n * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\n * @param i0 start index (for 16 member array)\n * @param step step between members\n * @param result optional preallocated point.\n /\n public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\n return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 step], this._coffs[i0 + 3 * step], result);\n }\n /** Return column 0 as Point4d. /\n public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\n /* Return column 1 as Point4d. /\n public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\n /* Return column 2 as Point4d. /\n public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\n /* Return column 3 as Point4d. /\n public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\n /* Return row 0 as Point4d. /\n public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\n /* Return row 1 as Point4d. /\n public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\n /* Return row 2 as Point4d. /\n public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\n /* Return row 3 as Point4d. /\n public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\n /\n Returns true if the w row has content other than [0,0,0,1]\n /\n public get hasPerspective(): boolean {\n return this._coffs[12] !== 0.0\n \|\| this._coffs[13] !== 0.0\n \|\| this._coffs[14] !== 0.0\n \|\| this._coffs[15] !== 1.0;\n }\n /\n Return a Point4d with the diagonal entries of the matrix\n /\n public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\n /* return the weight component of this matrix /\n public weight(): number { return this._coffs[15]; }\n /* return the leading 3x3 matrix part of this matrix /\n public matrixPart(): Matrix3d {\n return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\n }\n /\n Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\n * @return undefined if this Matrix4d has perspective effects in the w row.\n * @see toTransform\n /\n public get asTransform(): Transform \| undefined {\n if (this.hasPerspective)\n return undefined;\n return Transform.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]);\n }\n /\n Populate a [[Transform]] from the instance, even if the transformations aren't equivalent.\n * * A Transform cannot encode perspective, but this method returns one even if it isn't equivalent to the instance.\n * * Compare to the [[asTransform]] property, which returns `undefined` when there is perspective.\n * @param result optional preallocated object to populate and return.\n * @returns derived `Transform` and a flag indicating its validity:\n * * `transform` is filled with the top three rows of the instance's entries scaled by the reciprocal of nonzero [[weight]];\n * if [[weight]] is zero, `transform` is set to the identity.\n * * `isValid` is true if and only if the last row of the instance is essentially `[000w]` for nonzero `w` = [[weight]].\n * @see asTransform\n /\n public toTransform(result?: Transform): { transform: Transform, isValid: boolean } {\n const transform = Transform.createIdentity(result);\n let isValid = false;\n if (this.weight() !== 0.0) {\n const scale = 1.0 / this.weight();\n for (let i = 0; i < 3; i++) {\n for (let j = 0; j < 3; j++)\n transform.matrix.setAt(i, j, scale this.atIJ(i, j));\n }\n transform.origin.set(scale * this.atIJ(0, 3), scale * this.atIJ(1, 3), scale * this.atIJ(2, 3));\n isValid = Geometry.isSmallMetricDistance(scale * (Math.abs(this.atIJ(3, 0) + Math.abs(this.atIJ(3, 1)) + Math.abs(this.atIJ(3, 2)))));\n }\n return { transform, isValid };\n }\n /** multiply this * other. /\n public multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\n for (let i0 = 0; i0 < 16; i0 += 4) {\n for (let k = 0; k < 4; k++)\n result._coffs[i0 + k] =\n this._coffs[i0] other._coffs[k] +\n this._coffs[i0 + 1] * other._coffs[k + 4] +\n this._coffs[i0 + 2] * other._coffs[k + 8] +\n this._coffs[i0 + 3] * other._coffs[k + 12];\n }\n return result;\n }\n /** multiply this * transpose(other). /\n public multiplyMatrixMatrixTranspose(other: Matrix4d, result?: Matrix4d): Matrix4d {\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\n let j = 0;\n for (let i0 = 0; i0 < 16; i0 += 4) {\n for (let k = 0; k < 16; k += 4)\n result._coffs[j++] =\n this._coffs[i0] other._coffs[k] +\n this._coffs[i0 + 1] * other._coffs[k + 1] +\n this._coffs[i0 + 2] * other._coffs[k + 2] +\n this._coffs[i0 + 3] * other._coffs[k + 3];\n }\n return result;\n }\n /** multiply transpose (this) * other. /\n public multiplyMatrixTransposeMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\n let j = 0;\n for (let i0 = 0; i0 < 4; i0 += 1) {\n for (let k0 = 0; k0 < 4; k0 += 1)\n result._coffs[j++] =\n this._coffs[i0] other._coffs[k0] +\n this._coffs[i0 + 4] * other._coffs[k0 + 4] +\n this._coffs[i0 + 8] * other._coffs[k0 + 8] +\n this._coffs[i0 + 12] * other._coffs[k0 + 12];\n }\n return result;\n }\n /** Return a transposed matrix. /\n public cloneTransposed(result?: Matrix4d): Matrix4d {\n return Matrix4d.createRowValues(this._coffs[0], this._coffs[4], this._coffs[8], this._coffs[12], this._coffs[1], this._coffs[5], this._coffs[9], this._coffs[13], this._coffs[2], this._coffs[6], this._coffs[10], this._coffs[14], this._coffs[3], this._coffs[7], this._coffs[11], this._coffs[15], result);\n }\n /* multiply matrix times column [x,y,z,w]. return as Point4d. (And the returned value is NOT normalized down to unit w) /\n public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n result = result ? result : Point4d.createZero();\n return result.set(this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w, this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w);\n }\n /** multiply matrix times column vectors [x,y,z,w] where [x,y,z,w] appear in blocks in an array.\n * replace the xyzw in the block\n /\n public multiplyBlockedFloat64ArrayInPlace(data: Float64Array) {\n const n = data.length;\n let x, y, z, w;\n for (let i = 0; i + 3 < n; i += 4) {\n x = data[i];\n y = data[i + 1];\n z = data[i + 2];\n w = data[i + 3];\n data[i] = this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w;\n data[i + 1] = this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w;\n data[i + 2] = this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w;\n data[i + 3] = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n }\n }\n /** multiply matrix times XYAndZ and w. return as Point4d (And the returned value is NOT normalized down to unit w) /\n public multiplyPoint3d(pt: XYAndZ, w: number, result?: Point4d): Point4d {\n return this.multiplyXYZW(pt.x, pt.y, pt.z, w, result);\n }\n /* multiply matrix times and array of XYAndZ. return as array of Point4d (And the returned value is NOT normalized down to unit w) /\n public multiplyPoint3dArray(pts: XYAndZ[], results: Point4d[], w: number = 1.0): void {\n pts.forEach((pt, i) => { results[i] = this.multiplyXYZW(pt.x, pt.y, pt.z, w, results[i]); });\n }\n /* multiply [x,y,z,w] times matrix. return as Point4d. (And the returned value is NOT normalized down to unit w) /\n public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\n result = result ? result : Point4d.createZero();\n return result.set(this._coffs[0] x + this._coffs[4] * y + this._coffs[8] * z + this._coffs[12] * w, this._coffs[1] * x + this._coffs[5] * y + this._coffs[9] * z + this._coffs[13] * w, this._coffs[2] * x + this._coffs[6] * y + this._coffs[10] * z + this._coffs[14] * w, this._coffs[3] * x + this._coffs[7] * y + this._coffs[11] * z + this._coffs[15] * w);\n }\n /** Returns dot product of row rowIndex of this with column columnIndex of other.\n /\n public rowDotColumn(rowIndex: number, other: Matrix4d, columnIndex: number): number {\n const i = rowIndex 4;\n const j = columnIndex;\n return this._coffs[i] * other._coffs[j]\n + this._coffs[i + 1] * other._coffs[j + 4]\n + this._coffs[i + 2] * other._coffs[j + 8]\n + this._coffs[i + 3] * other._coffs[j + 12];\n }\n /** Returns dot product of row rowIndex of this with [x y z w]\n /\n public rowDotXYZW(rowIndex: number, x: number, y: number, z: number, w: number): number {\n const i = rowIndex 4;\n return this._coffs[i] * x\n + this._coffs[i + 1] * y\n + this._coffs[i + 2] * z\n + this._coffs[i + 3] * w;\n }\n\n /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n /\n public rowDotRow(rowIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n const i = rowIndexThis 4;\n const j = rowIndexOther * 4;\n return this._coffs[i] * other._coffs[j]\n + this._coffs[i + 1] * other._coffs[j + 1]\n + this._coffs[i + 2] * other._coffs[j + 2]\n + this._coffs[i + 3] * other._coffs[j + 3];\n }\n /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\n /\n public columnDotColumn(columnIndexThis: number, other: Matrix4d, columnIndexOther: number): number {\n const i = columnIndexThis;\n const j = columnIndexOther;\n return this._coffs[i] other._coffs[j]\n + this._coffs[i + 4] * other._coffs[j + 4]\n + this._coffs[i + 8] * other._coffs[j + 8]\n + this._coffs[i + 12] * other._coffs[j + 12];\n }\n /** Returns dot product of column columnIndexThis of this with row rowIndexOther other.\n /\n public columnDotRow(columnIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\n const i = columnIndexThis;\n const j = 4 rowIndexOther;\n return this._coffs[i] * other._coffs[j]\n + this._coffs[i + 4] * other._coffs[j + 1]\n + this._coffs[i + 8] * other._coffs[j + 2]\n + this._coffs[i + 12] * other._coffs[j + 3];\n }\n /** Return a matrix entry by row and column index.\n /\n public atIJ(rowIndex: number, columnIndex: number): number {\n return this._coffs[rowIndex 4 + columnIndex];\n }\n\n /** Set a matrix entry by row and column index.\n /\n public setAtIJ(rowIndex: number, columnIndex: number, value: number) {\n this._coffs[rowIndex 4 + columnIndex] = value;\n }\n /** multiply matrix * [x,y,z,w]. immediately renormalize to return in a Point3d.\n * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n /\n public multiplyXYZWQuietRenormalize(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\n result = result ? result : Point3d.createZero();\n result.set(this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w);\n const w1 = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\n const qx = Geometry.conditionalDivideCoordinate(result.x, w1);\n const qy = Geometry.conditionalDivideCoordinate(result.y, w1);\n const qz = Geometry.conditionalDivideCoordinate(result.z, w1);\n if (qx !== undefined && qy !== undefined && qz !== undefined) {\n result.x = qx;\n result.y = qy;\n result.z = qz;\n }\n return result;\n }\n /** multiply matrix * an array of Point4d. immediately renormalize to return in an array of Point3d. /\n public multiplyPoint4dArrayQuietRenormalize(pts: Point4d[], results: Point3d[]): void {\n pts.forEach((pt, i) => { results[i] = this.multiplyXYZWQuietRenormalize(pt.x, pt.y, pt.z, pt.w, results[i]); });\n }\n /* multiply a Point4d, return with the optional result convention. /\n public multiplyPoint4d(point: Point4d, result?: Point4d): Point4d {\n return this.multiplyXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n }\n /* multiply a Point4d, return with the optional result convention. /\n public multiplyTransposePoint4d(point: Point4d, result?: Point4d): Point4d {\n return this.multiplyTransposeXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\n }\n /* multiply matrix * point. This produces a weighted xyzw.\n * Immediately renormalize back to xyz and return (with optional result convention).\n * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\n /\n public multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d {\n return this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, result);\n }\n /* multiply each matrix * points[i]. This produces a weighted xyzw.\n * Immediately renormalize back to xyz and replace the original point.\n * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\n /\n public multiplyPoint3dArrayQuietNormalize(points: Point3d[]) {\n points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));\n }\n /\n Add the product terms [xx,xy,xz,xw, yx, yy, yz, yw, zx, zy, zz, zs, wx, wy, wz, ww] to respective entries in the matrix\n * @param x x component for products\n * @param y y component for products\n * @param z z component for products\n * @param w w component for products\n /\n public addMomentsInPlace(x: number, y: number, z: number, w: number) {\n this._coffs[0] += x x;\n this._coffs[1] += x * y;\n this._coffs[2] += x * z;\n this._coffs[3] += x * w;\n this._coffs[4] += y * x;\n this._coffs[5] += y * y;\n this._coffs[6] += y * z;\n this._coffs[7] += y * w;\n this._coffs[8] += z * x;\n this._coffs[9] += z * y;\n this._coffs[10] += z * z;\n this._coffs[11] += z * w;\n this._coffs[12] += w * x;\n this._coffs[13] += w * y;\n this._coffs[14] += w * z;\n this._coffs[15] += w * w;\n }\n /** accumulate all coefficients of other to this. /\n public addScaledInPlace(other: Matrix4d, scale: number = 1.0) {\n for (let i = 0; i < 16; i++)\n this._coffs[i] += scale other._coffs[i];\n }\n /*\n Add scale times rowA to rowB.\n * @param rowIndexA row that is not modified\n * @param rowIndexB row that is modified.\n * @param firstColumnIndex first column modified. All from there to the right are updated\n * @param scale scale\n /\n public rowOperation(rowIndexA: number, rowIndexB: number, firstColumnIndex: number, scale: number) {\n if (scale === 0.0)\n return;\n let iA = rowIndexA 4 + firstColumnIndex;\n let iB = rowIndexB * 4 + firstColumnIndex;\n for (let i = firstColumnIndex; i < 4; i++ , iA++ , iB++)\n this._coffs[iB] += scale * this._coffs[iA];\n }\n /** Return the determinant of the matrix. /\n public determinant(): number {\n const c = this._coffs;\n return Geometry.determinant4x4(\n c[0], c[1], c[2], c[3],\n c[4], c[5], c[6], c[7],\n c[8], c[9], c[10], c[11],\n c[12], c[13], c[14], c[15]);\n }\n /* Compute an inverse matrix.\n * * This uses direct formulas with various determinants.\n * * If result is given, it is ALWAYS filled with values \"prior to dividing by the determinant\".\n * \n @returns undefined if dividing by the determinant looks unsafe.\n /\n public createInverse(result?: Matrix4d): Matrix4d \| undefined {\n // dividing each column by its maxAbs is more robust than dividing them by this.maxAbs()\n let maxAbs0 = this.columnX().maxAbs();\n if (maxAbs0 === 0.0) return undefined;\n const divMaxAbsA = 1.0 / maxAbs0;\n maxAbs0 = this.columnY().maxAbs();\n if (maxAbs0 === 0.0) return undefined;\n const divMaxAbsB = 1.0 / maxAbs0;\n maxAbs0 = this.columnZ().maxAbs();\n if (maxAbs0 === 0.0) return undefined;\n const divMaxAbsC = 1.0 / maxAbs0;\n maxAbs0 = this.columnW().maxAbs();\n if (maxAbs0 === 0.0) return undefined;\n const divMaxAbsD = 1.0 / maxAbs0;\n const columnA = this.columnX();\n const columnB = this.columnY();\n const columnC = this.columnZ();\n const columnD = this.columnW();\n columnA.scale(divMaxAbsA, columnA);\n columnB.scale(divMaxAbsB, columnB);\n columnC.scale(divMaxAbsC, columnC);\n columnD.scale(divMaxAbsD, columnD);\n const rowBCD = Point4d.perpendicularPoint4dPlane(columnB, columnC, columnD);\n const rowCDA = Point4d.perpendicularPoint4dPlane(columnA, columnD, columnC); // order for negation !\n const rowDAB = Point4d.perpendicularPoint4dPlane(columnD, columnA, columnB);\n const rowABC = Point4d.perpendicularPoint4dPlane(columnC, columnB, columnA); // order for negation !\n // The matrix is singular if the determinant is zero.\n // But what is the proper tolerance for zero?\n // The row values are generally cubes of entries. And the typical perspective matrix\n // has very different magnitudes in various parts. So a typical cube size is really hard.\n // Compute 4 different determinants. They should match.\n // If they are near zero, maybe a sign change is a red flag for singular case.\n // (And there's a lot less work to do that than was done to make the rows)\n result = Matrix4d.createRows(rowBCD, rowCDA, rowDAB, rowABC, result);\n const determinantA = rowBCD.dotProduct(columnA);\n const determinantB = rowCDA.dotProduct(columnB);\n const determinantC = rowDAB.dotProduct(columnC);\n const determinantD = rowABC.dotProduct(columnD);\n const maxAbs1 = result.maxAbs();\n if (determinantA determinantB > 0.0\n && determinantA * determinantC > 0.0\n && determinantA * determinantD > 0.0) {\n const divisionTest = Geometry.conditionalDivideCoordinate(maxAbs1, determinantA);\n if (divisionTest !== undefined) {\n const divDet = 1.0 / determinantA;\n result.scaleRowsInPlace(divMaxAbsA * divDet, divMaxAbsB * divDet, divMaxAbsC * divDet, divMaxAbsD * divDet);\n return result;\n }\n } else {\n return undefined; // this is a useful spot to break to see if the 4 determinant test is effective.\n }\n return undefined;\n }\n /** Returns an array-of-arrays of the matrix rows, optionally passing each value through a function.\n * @param f optional function to provide alternate values for each entry (e.g. force fuzz to zero.)\n /\n public rowArrays(f?: (value: number) => any): any {\n if (f)\n return [\n [f(this._coffs[0]), f(this._coffs[1]), f(this._coffs[2]), f(this._coffs[3])],\n [f(this._coffs[4]), f(this._coffs[5]), f(this._coffs[6]), f(this._coffs[7])],\n [f(this._coffs[8]), f(this._coffs[9]), f(this._coffs[10]), f(this._coffs[11])],\n [f(this._coffs[12]), f(this._coffs[13]), f(this._coffs[14]), f(this._coffs[15])]];\n else\n return [\n [this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3]],\n [this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7]],\n [this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]],\n [this._coffs[12], this._coffs[13], this._coffs[14], this._coffs[15]]];\n }\n /\n Scale each row by respective scale factors.\n * @param ax scale factor for row 0\n * @param ay scale factor for row 1\n * @param az scale factor for row 2\n * @param aw scale factor for row 3\n /\n public scaleRowsInPlace(ax: number, ay: number, az: number, aw: number) {\n for (let i = 0; i < 4; i++)\n this._coffs[i] = ax;\n for (let i = 4; i < 8; i++)\n this._coffs[i] = ay;\n for (let i = 8; i < 12; i++)\n this._coffs[i] = az;\n for (let i = 12; i < 16; i++)\n this._coffs[i] = aw;\n }\n /\n add an outer product (single column times single row times scale factor) to this matrix.\n * @param vectorU column vector\n * @param vectorV row vector\n * @param scale scale factor\n /\n public addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number) {\n let a = vectorU.x scale;\n this._coffs[0] += a * vectorV.x;\n this._coffs[1] += a * vectorV.y;\n this._coffs[2] += a * vectorV.z;\n this._coffs[3] += a * vectorV.w;\n\n a = vectorU.y * scale;\n this._coffs[4] += a * vectorV.x;\n this._coffs[5] += a * vectorV.y;\n this._coffs[6] += a * vectorV.z;\n this._coffs[7] += a * vectorV.w;\n\n a = vectorU.z * scale;\n this._coffs[8] += a * vectorV.x;\n this._coffs[9] += a * vectorV.y;\n this._coffs[10] += a * vectorV.z;\n this._coffs[11] += a * vectorV.w;\n\n a = vectorU.w * scale;\n this._coffs[12] += a * vectorV.x;\n this._coffs[13] += a * vectorV.y;\n this._coffs[14] += a * vectorV.z;\n this._coffs[15] += a * vectorV.w;\n }\n /*\n Add (in place) scaleABAT where\n * A is a pure translation with final column [x,y,z,1]\n * * B is the given `matrixB`\n * * AT is the transpose of A.\n * * scale is a multiplier.\n * @param matrixB the middle matrix.\n * @param ax x part of translation\n * @param ay y part of translation\n * @param az z part of translation\n * @param scale scale factor for entire product\n /\n public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\n const bx = matrixB._coffs[3];\n const by = matrixB._coffs[7];\n const bz = matrixB._coffs[11];\n // matrixB can be non-symmetric!!\n const cx = matrixB._coffs[12];\n const cy = matrixB._coffs[13];\n const cz = matrixB._coffs[14];\n\n const beta = matrixB._coffs[15];\n const axBeta = ax beta;\n const ayBeta = ay * beta;\n const azBeta = az * beta;\n this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\n this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\n this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\n this._coffs[3] += scale * (bx + axBeta);\n\n this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\n this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\n this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\n this._coffs[7] += scale * (by + ayBeta);\n\n this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\n this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\n this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\n this._coffs[11] += scale * (bz + azBeta);\n\n this._coffs[12] += scale * (cx + axBeta);\n this._coffs[13] += scale * (cy + ayBeta);\n this._coffs[14] += scale * (cz + azBeta);\n this._coffs[15] += scale * beta;\n }\n /*\n Multiply and replace contents of ` this` matrix by `AthisAT` where\n * * `A` is a pure translation with final column [x,y,z,1].\n * * `this` is this matrix.\n * * `AT` is the transpose of A.\n * @param ax x part of translation.\n * @param ay y part of translation.\n * @param az z part of translation.\n /\n public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) : void {\n const bx = this._coffs[3];\n const by = this._coffs[7];\n const bz = this._coffs[11];\n // matrixB can be non-symmetric\n const cx = this._coffs[12];\n const cy = this._coffs[13];\n const cz = this._coffs[14];\n\n const beta = this._coffs[15];\n const axBeta = ax beta;\n const ayBeta = ay * beta;\n const azBeta = az * beta;\n this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\n this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\n this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\n this._coffs[3] += axBeta;\n\n this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\n this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\n this._coffs[6] += (az * by + cz * ay + ay * azBeta);\n this._coffs[7] += ayBeta;\n\n this._coffs[8] += (ax * bz + cx * az + az * axBeta);\n this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\n this._coffs[10] += (az * bz + cz * az + az * azBeta);\n this._coffs[11] += azBeta;\n\n this._coffs[12] += axBeta;\n this._coffs[13] += ayBeta;\n this._coffs[14] += azBeta;\n // coffs[15] is unchanged\n }\n}\n"]}
1	+ 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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, Geometry } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Point4d, Point4dProps } from \"./Point4d\";\r\n\r\n/\r\n Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\r\n * @public\r\n /\r\nexport type Matrix4dProps = Point4dProps[];\r\n\r\n/\r\n * A Matrix4d is a matrix with 4 rows and 4 columns.\r\n * * The 4 rows may be described as the x,y,z,w rows.\r\n * * The 4 columns may be described as the x,y,z,w columns.\r\n * * The matrix is physically stored as a Float64Array with 16 numbers.\r\n * * The layout in the Float64Array is \"by row\"\r\n * * indices 0,1,2,3 are the \"x row\". They may be called the xx,xy,xz,xw entries\r\n * * indices 4,5,6,7 are the \"y row\" They may be called the yx,yy,yz,yw entries\r\n * * indices 8,9,10,11 are the \"z row\" They may be called the zx,zy,zz,zw entries\r\n * * indices 12,13,14,15 are the \"w row\". They may be called the wx,wy,wz,ww entries\r\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\r\n * * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\r\n * * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\r\n * @public\r\n /\r\nexport class Matrix4d implements BeJSONFunctions {\r\n private _coffs: Float64Array;\r\n private constructor() { this._coffs = new Float64Array(16); }\r\n /* Copy matrix entries from `other` /\r\n public setFrom(other: Matrix4d): void {\r\n for (let i = 0; i < 16; i++)\r\n this._coffs[i] = other._coffs[i];\r\n }\r\n /* Return a deep clone. /\r\n public clone(result?: Matrix4d): Matrix4d {\r\n if (result === this)\r\n return this;\r\n if (result === undefined)\r\n result = new Matrix4d();\r\n for (let i = 0; i < 16; i++)\r\n result._coffs[i] = this._coffs[i];\r\n return result;\r\n }\r\n /* zero this matrix4d in place. /\r\n public setZero(): void {\r\n for (let i = 0; i < 16; i++)\r\n this._coffs[i] = 0;\r\n }\r\n /* set to identity. /\r\n public setIdentity(): void {\r\n for (let i = 0; i < 16; i++)\r\n this._coffs[i] = 0;\r\n this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\r\n }\r\n private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\r\n return Math.abs(a - 1.0) <= tol\r\n && Math.abs(b) <= tol\r\n && Math.abs(c) <= tol\r\n && Math.abs(d) <= tol;\r\n }\r\n /* set to identity. /\r\n public isIdentity(tol: number = 1.0e-10): boolean {\r\n return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\r\n && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\r\n && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\r\n && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\r\n }\r\n /* create a Matrix4d filled with zeros. /\r\n public static createZero(result?: Matrix4d): Matrix4d {\r\n if (result) {\r\n result.setZero();\r\n return result;\r\n }\r\n return new Matrix4d(); // this is zero.\r\n }\r\n /* create a Matrix4d with values supplied \"across the rows\" /\r\n public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\r\n result = result ? result : new Matrix4d();\r\n result._coffs[0] = cxx;\r\n result._coffs[1] = cxy;\r\n result._coffs[2] = cxz;\r\n result._coffs[3] = cxw;\r\n result._coffs[4] = cyx;\r\n result._coffs[5] = cyy;\r\n result._coffs[6] = cyz;\r\n result._coffs[7] = cyw;\r\n result._coffs[8] = czx;\r\n result._coffs[9] = czy;\r\n result._coffs[10] = czz;\r\n result._coffs[11] = czw;\r\n result._coffs[12] = cwx;\r\n result._coffs[13] = cwy;\r\n result._coffs[14] = cwz;\r\n result._coffs[15] = cww;\r\n return result;\r\n }\r\n /* Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. /\r\n public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\r\n return this.createRowValues(\r\n rowX.x, rowX.y, rowX.z, rowX.w,\r\n rowY.x, rowY.y, rowY.z, rowY.w,\r\n rowZ.x, rowZ.y, rowZ.z, rowZ.w,\r\n rowW.x, rowW.y, rowW.z, rowW.w, result);\r\n }\r\n /* directly set columns from typical 3d data:\r\n \r\n * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\r\n * * origin as column3, with weight 1\r\n /\r\n public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\r\n this._coffs[0] = vectorX.x;\r\n this._coffs[1] = vectorY.x;\r\n this._coffs[2] = vectorZ.x;\r\n this._coffs[3] = origin.x;\r\n this._coffs[4] = vectorX.y;\r\n this._coffs[5] = vectorY.y;\r\n this._coffs[6] = vectorZ.y;\r\n this._coffs[7] = origin.y;\r\n this._coffs[8] = vectorX.z;\r\n this._coffs[9] = vectorY.z;\r\n this._coffs[10] = vectorZ.z;\r\n this._coffs[11] = origin.z;\r\n this._coffs[12] = 0.0;\r\n this._coffs[13] = 0.0;\r\n this._coffs[14] = 0.0;\r\n this._coffs[15] = 1.0;\r\n }\r\n /* promote a transform to full Matrix4d (with 0001 in final row) /\r\n public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\r\n const matrix = source.matrix;\r\n const point = source.origin;\r\n return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\r\n }\r\n /* return an identity matrix. /\r\n public static createIdentity(result?: Matrix4d): Matrix4d {\r\n result = Matrix4d.createZero(result);\r\n result._coffs[0] = 1.0;\r\n result._coffs[5] = 1.0;\r\n result._coffs[10] = 1.0;\r\n result._coffs[15] = 1.0;\r\n return result;\r\n }\r\n /* return matrix with translation directly inserted (along with 1 on diagonal) /\r\n public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\r\n result = Matrix4d.createZero(result);\r\n result._coffs[0] = 1.0;\r\n result._coffs[5] = 1.0;\r\n result._coffs[10] = 1.0;\r\n result._coffs[15] = 1.0;\r\n result._coffs[3] = x;\r\n result._coffs[7] = y;\r\n result._coffs[11] = z;\r\n return result;\r\n }\r\n\r\n /* return this matrix plus scale times matrixB. /\r\n public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\r\n // If result is undefined, a real clone is created.\r\n // If result is \"this\" we get the pointer to this right back.\r\n // If result is other, \"this\" coffs are copied.\r\n // Then we can add matrixB. (Which we assume is different from this?)\r\n result = this.clone(result);\r\n for (let i = 0; i < 16; i++)\r\n result._coffs[i] += scale matrixB._coffs[i];\r\n return result;\r\n }\r\n\r\n /*\r\n Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\r\n * @param tx x entry for translation column\r\n * @param ty y entry for translation column\r\n * @param tz z entry for translation column\r\n * @param scaleX x diagonal entry\r\n * @param scaleY y diagonal entry\r\n * @param scaleZ z diagonal entry\r\n * @param result optional result.\r\n /\r\n public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\r\n return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\r\n }\r\n /\r\n Create a mapping that scales and translates (no rotation) from box A to box B\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 createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d \| undefined {\r\n const ax = highA.x - lowA.x;\r\n const ay = highA.y - lowA.y;\r\n const az = highA.z - lowA.z;\r\n const bx = highB.x - lowB.x;\r\n const by = highB.y - lowB.y;\r\n const bz = highB.z - lowB.z;\r\n const abx = Geometry.conditionalDivideFraction(bx, ax);\r\n const aby = Geometry.conditionalDivideFraction(by, ay);\r\n const abz = Geometry.conditionalDivideFraction(bz, az);\r\n if (abx !== undefined && aby !== undefined && abz !== undefined) {\r\n return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\r\n }\r\n return undefined;\r\n }\r\n /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` /\r\n public setFromJSON(json?: Matrix4dProps) {\r\n if (Geometry.isArrayOfNumberArray(json, 4, 4)) {\r\n for (let i = 0; i < 4; ++i) {\r\n for (let j = 0; j < 4; ++j)\r\n this._coffs[i 4 + j] = json[i][j];\r\n }\r\n } else {\r\n this.setZero();\r\n }\r\n }\r\n /*\r\n Return the largest (absolute) difference between this and other Matrix4d.\r\n * @param other matrix to compare to\r\n /\r\n public maxDiff(other: Matrix4d): number {\r\n let a = 0.0;\r\n for (let i = 0; i < 16; i++)\r\n a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\r\n return a;\r\n }\r\n /\r\n Return the largest absolute value in the Matrix4d\r\n /\r\n public maxAbs(): number {\r\n let a = 0.0;\r\n for (let i = 0; i < 16; i++)\r\n a = Math.max(a, Math.abs(this._coffs[i]));\r\n return a;\r\n }\r\n /* Test for near-equality with `other` /\r\n public isAlmostEqual(other: Matrix4d): boolean {\r\n return Geometry.isSmallMetricDistance(this.maxDiff(other));\r\n }\r\n /* Test for exact (bitwise) equality with other. /\r\n public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\r\n /\r\n Convert an Matrix4d to a Matrix4dProps.\r\n /\r\n public toJSON(): Matrix4dProps {\r\n const value = [];\r\n for (let i = 0; i < 4; ++i) {\r\n const row = i 4;\r\n value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\r\n }\r\n return value;\r\n }\r\n /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` /\r\n public static fromJSON(json?: Matrix4dProps) {\r\n const result = new Matrix4d();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /\r\n Return a point with entries from positions [i0, i0+step, i0+2step, i0+3step].\r\n * * There are no tests for index going out of the 0..15 range.\r\n * * Usual uses are:\r\n * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\r\n * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\r\n * * * i0 = 0, step = 5 to extract the diagonal\r\n * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\r\n * @param i0 start index (for 16 member array)\r\n * @param step step between members\r\n * @param result optional preallocated point.\r\n /\r\n public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\r\n return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 step], this._coffs[i0 + 3 * step], result);\r\n }\r\n /** Return column 0 as Point4d. /\r\n public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\r\n /* Return column 1 as Point4d. /\r\n public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\r\n /* Return column 2 as Point4d. /\r\n public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\r\n /* Return column 3 as Point4d. /\r\n public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\r\n /* Return row 0 as Point4d. /\r\n public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\r\n /* Return row 1 as Point4d. /\r\n public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\r\n /* Return row 2 as Point4d. /\r\n public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\r\n /* Return row 3 as Point4d. /\r\n public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\r\n /\r\n Returns true if the w row has content other than [0,0,0,1]\r\n /\r\n public get hasPerspective(): boolean {\r\n return this._coffs[12] !== 0.0\r\n \|\| this._coffs[13] !== 0.0\r\n \|\| this._coffs[14] !== 0.0\r\n \|\| this._coffs[15] !== 1.0;\r\n }\r\n /\r\n Return a Point4d with the diagonal entries of the matrix\r\n /\r\n public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\r\n /* return the weight component of this matrix /\r\n public weight(): number { return this._coffs[15]; }\r\n /* return the leading 3x3 matrix part of this matrix /\r\n public matrixPart(): Matrix3d {\r\n return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\r\n }\r\n /\r\n Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\r\n * @return undefined if this Matrix4d has perspective effects in the w row.\r\n * @see toTransform\r\n /\r\n public get asTransform(): Transform \| undefined {\r\n if (this.hasPerspective)\r\n return undefined;\r\n return Transform.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]);\r\n }\r\n /\r\n Populate a [[Transform]] from the instance, even if the transformations aren't equivalent.\r\n * * A Transform cannot encode perspective, but this method returns one even if it isn't equivalent to the instance.\r\n * * Compare to the [[asTransform]] property, which returns `undefined` when there is perspective.\r\n * @param result optional preallocated object to populate and return.\r\n * @returns derived `Transform` and a flag indicating its validity:\r\n * * `transform` is filled with the top three rows of the instance's entries scaled by the reciprocal of nonzero [[weight]];\r\n * if [[weight]] is zero, `transform` is set to the identity.\r\n * * `isValid` is true if and only if the last row of the instance is essentially `[000w]` for nonzero `w` = [[weight]].\r\n * @see asTransform\r\n /\r\n public toTransform(result?: Transform): { transform: Transform, isValid: boolean } {\r\n const transform = Transform.createIdentity(result);\r\n let isValid = false;\r\n if (this.weight() !== 0.0) {\r\n const scale = 1.0 / this.weight();\r\n for (let i = 0; i < 3; i++) {\r\n for (let j = 0; j < 3; j++)\r\n transform.matrix.setAt(i, j, scale this.atIJ(i, j));\r\n }\r\n transform.origin.set(scale * this.atIJ(0, 3), scale * this.atIJ(1, 3), scale * this.atIJ(2, 3));\r\n isValid = Geometry.isSmallMetricDistance(scale * (Math.abs(this.atIJ(3, 0) + Math.abs(this.atIJ(3, 1)) + Math.abs(this.atIJ(3, 2)))));\r\n }\r\n return { transform, isValid };\r\n }\r\n /** multiply this * other. /\r\n public multiplyMatrixMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n for (let i0 = 0; i0 < 16; i0 += 4) {\r\n for (let k = 0; k < 4; k++)\r\n result._coffs[i0 + k] =\r\n this._coffs[i0] other._coffs[k] +\r\n this._coffs[i0 + 1] * other._coffs[k + 4] +\r\n this._coffs[i0 + 2] * other._coffs[k + 8] +\r\n this._coffs[i0 + 3] * other._coffs[k + 12];\r\n }\r\n return result;\r\n }\r\n /** multiply this * transpose(other). /\r\n public multiplyMatrixMatrixTranspose(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n let j = 0;\r\n for (let i0 = 0; i0 < 16; i0 += 4) {\r\n for (let k = 0; k < 16; k += 4)\r\n result._coffs[j++] =\r\n this._coffs[i0] other._coffs[k] +\r\n this._coffs[i0 + 1] * other._coffs[k + 1] +\r\n this._coffs[i0 + 2] * other._coffs[k + 2] +\r\n this._coffs[i0 + 3] * other._coffs[k + 3];\r\n }\r\n return result;\r\n }\r\n /** multiply transpose (this) * other. /\r\n public multiplyMatrixTransposeMatrix(other: Matrix4d, result?: Matrix4d): Matrix4d {\r\n result = (result && result !== this && result !== other) ? result : new Matrix4d();\r\n let j = 0;\r\n for (let i0 = 0; i0 < 4; i0 += 1) {\r\n for (let k0 = 0; k0 < 4; k0 += 1)\r\n result._coffs[j++] =\r\n this._coffs[i0] other._coffs[k0] +\r\n this._coffs[i0 + 4] * other._coffs[k0 + 4] +\r\n this._coffs[i0 + 8] * other._coffs[k0 + 8] +\r\n this._coffs[i0 + 12] * other._coffs[k0 + 12];\r\n }\r\n return result;\r\n }\r\n /** Return a transposed matrix. /\r\n public cloneTransposed(result?: Matrix4d): Matrix4d {\r\n return Matrix4d.createRowValues(this._coffs[0], this._coffs[4], this._coffs[8], this._coffs[12], this._coffs[1], this._coffs[5], this._coffs[9], this._coffs[13], this._coffs[2], this._coffs[6], this._coffs[10], this._coffs[14], this._coffs[3], this._coffs[7], this._coffs[11], this._coffs[15], result);\r\n }\r\n /* multiply matrix times column [x,y,z,w]. return as Point4d. (And the returned value is NOT normalized down to unit w) /\r\n public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n result = result ? result : Point4d.createZero();\r\n return result.set(this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w, this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w);\r\n }\r\n /** multiply matrix times column vectors [x,y,z,w] where [x,y,z,w] appear in blocks in an array.\r\n * replace the xyzw in the block\r\n /\r\n public multiplyBlockedFloat64ArrayInPlace(data: Float64Array) {\r\n const n = data.length;\r\n let x, y, z, w;\r\n for (let i = 0; i + 3 < n; i += 4) {\r\n x = data[i];\r\n y = data[i + 1];\r\n z = data[i + 2];\r\n w = data[i + 3];\r\n data[i] = this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w;\r\n data[i + 1] = this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w;\r\n data[i + 2] = this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w;\r\n data[i + 3] = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\r\n }\r\n }\r\n /** multiply matrix times XYAndZ and w. return as Point4d (And the returned value is NOT normalized down to unit w) /\r\n public multiplyPoint3d(pt: XYAndZ, w: number, result?: Point4d): Point4d {\r\n return this.multiplyXYZW(pt.x, pt.y, pt.z, w, result);\r\n }\r\n /* multiply matrix times and array of XYAndZ. return as array of Point4d (And the returned value is NOT normalized down to unit w) /\r\n public multiplyPoint3dArray(pts: XYAndZ[], results: Point4d[], w: number = 1.0): void {\r\n pts.forEach((pt, i) => { results[i] = this.multiplyXYZW(pt.x, pt.y, pt.z, w, results[i]); });\r\n }\r\n /* multiply [x,y,z,w] times matrix. return as Point4d. (And the returned value is NOT normalized down to unit w) /\r\n public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n result = result ? result : Point4d.createZero();\r\n return result.set(this._coffs[0] x + this._coffs[4] * y + this._coffs[8] * z + this._coffs[12] * w, this._coffs[1] * x + this._coffs[5] * y + this._coffs[9] * z + this._coffs[13] * w, this._coffs[2] * x + this._coffs[6] * y + this._coffs[10] * z + this._coffs[14] * w, this._coffs[3] * x + this._coffs[7] * y + this._coffs[11] * z + this._coffs[15] * w);\r\n }\r\n /** Returns dot product of row rowIndex of this with column columnIndex of other.\r\n /\r\n public rowDotColumn(rowIndex: number, other: Matrix4d, columnIndex: number): number {\r\n const i = rowIndex 4;\r\n const j = columnIndex;\r\n return this._coffs[i] * other._coffs[j]\r\n + this._coffs[i + 1] * other._coffs[j + 4]\r\n + this._coffs[i + 2] * other._coffs[j + 8]\r\n + this._coffs[i + 3] * other._coffs[j + 12];\r\n }\r\n /** Returns dot product of row rowIndex of this with [x y z w]\r\n /\r\n public rowDotXYZW(rowIndex: number, x: number, y: number, z: number, w: number): number {\r\n const i = rowIndex 4;\r\n return this._coffs[i] * x\r\n + this._coffs[i + 1] * y\r\n + this._coffs[i + 2] * z\r\n + this._coffs[i + 3] * w;\r\n }\r\n\r\n /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\r\n /\r\n public rowDotRow(rowIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\r\n const i = rowIndexThis 4;\r\n const j = rowIndexOther * 4;\r\n return this._coffs[i] * other._coffs[j]\r\n + this._coffs[i + 1] * other._coffs[j + 1]\r\n + this._coffs[i + 2] * other._coffs[j + 2]\r\n + this._coffs[i + 3] * other._coffs[j + 3];\r\n }\r\n /** Returns dot product of row rowIndexThis of this with row rowIndexOther of other.\r\n /\r\n public columnDotColumn(columnIndexThis: number, other: Matrix4d, columnIndexOther: number): number {\r\n const i = columnIndexThis;\r\n const j = columnIndexOther;\r\n return this._coffs[i] other._coffs[j]\r\n + this._coffs[i + 4] * other._coffs[j + 4]\r\n + this._coffs[i + 8] * other._coffs[j + 8]\r\n + this._coffs[i + 12] * other._coffs[j + 12];\r\n }\r\n /** Returns dot product of column columnIndexThis of this with row rowIndexOther other.\r\n /\r\n public columnDotRow(columnIndexThis: number, other: Matrix4d, rowIndexOther: number): number {\r\n const i = columnIndexThis;\r\n const j = 4 rowIndexOther;\r\n return this._coffs[i] * other._coffs[j]\r\n + this._coffs[i + 4] * other._coffs[j + 1]\r\n + this._coffs[i + 8] * other._coffs[j + 2]\r\n + this._coffs[i + 12] * other._coffs[j + 3];\r\n }\r\n /** Return a matrix entry by row and column index.\r\n /\r\n public atIJ(rowIndex: number, columnIndex: number): number {\r\n return this._coffs[rowIndex 4 + columnIndex];\r\n }\r\n\r\n /** Set a matrix entry by row and column index.\r\n /\r\n public setAtIJ(rowIndex: number, columnIndex: number, value: number) {\r\n this._coffs[rowIndex 4 + columnIndex] = value;\r\n }\r\n /** multiply matrix * [x,y,z,w]. immediately renormalize to return in a Point3d.\r\n * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\r\n /\r\n public multiplyXYZWQuietRenormalize(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\r\n result = result ? result : Point3d.createZero();\r\n result.set(this._coffs[0] x + this._coffs[1] * y + this._coffs[2] * z + this._coffs[3] * w, this._coffs[4] * x + this._coffs[5] * y + this._coffs[6] * z + this._coffs[7] * w, this._coffs[8] * x + this._coffs[9] * y + this._coffs[10] * z + this._coffs[11] * w);\r\n const w1 = this._coffs[12] * x + this._coffs[13] * y + this._coffs[14] * z + this._coffs[15] * w;\r\n const qx = Geometry.conditionalDivideCoordinate(result.x, w1);\r\n const qy = Geometry.conditionalDivideCoordinate(result.y, w1);\r\n const qz = Geometry.conditionalDivideCoordinate(result.z, w1);\r\n if (qx !== undefined && qy !== undefined && qz !== undefined) {\r\n result.x = qx;\r\n result.y = qy;\r\n result.z = qz;\r\n }\r\n return result;\r\n }\r\n /** multiply matrix * an array of Point4d. immediately renormalize to return in an array of Point3d. /\r\n public multiplyPoint4dArrayQuietRenormalize(pts: Point4d[], results: Point3d[]): void {\r\n pts.forEach((pt, i) => { results[i] = this.multiplyXYZWQuietRenormalize(pt.x, pt.y, pt.z, pt.w, results[i]); });\r\n }\r\n /* multiply a Point4d, return with the optional result convention. /\r\n public multiplyPoint4d(point: Point4d, result?: Point4d): Point4d {\r\n return this.multiplyXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\r\n }\r\n /* multiply a Point4d, return with the optional result convention. /\r\n public multiplyTransposePoint4d(point: Point4d, result?: Point4d): Point4d {\r\n return this.multiplyTransposeXYZW(point.xyzw[0], point.xyzw[1], point.xyzw[2], point.xyzw[3], result);\r\n }\r\n /* multiply matrix * point. This produces a weighted xyzw.\r\n * Immediately renormalize back to xyz and return (with optional result convention).\r\n * If zero weight appears in the result (i.e. input is on eyeplane)leave the mapped xyz untouched.\r\n /\r\n public multiplyPoint3dQuietNormalize(point: XYAndZ, result?: Point3d): Point3d {\r\n return this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, result);\r\n }\r\n /* multiply each matrix * points[i]. This produces a weighted xyzw.\r\n * Immediately renormalize back to xyz and replace the original point.\r\n * If zero weight appears in the result (i.e. input is on eyeplane) leave the mapped xyz untouched.\r\n /\r\n public multiplyPoint3dArrayQuietNormalize(points: Point3d[]) {\r\n points.forEach((point) => this.multiplyXYZWQuietRenormalize(point.x, point.y, point.z, 1.0, point));\r\n }\r\n /\r\n Add the product terms [xx,xy,xz,xw, yx, yy, yz, yw, zx, zy, zz, zs, wx, wy, wz, ww] to respective entries in the matrix\r\n * @param x x component for products\r\n * @param y y component for products\r\n * @param z z component for products\r\n * @param w w component for products\r\n /\r\n public addMomentsInPlace(x: number, y: number, z: number, w: number) {\r\n this._coffs[0] += x x;\r\n this._coffs[1] += x * y;\r\n this._coffs[2] += x * z;\r\n this._coffs[3] += x * w;\r\n this._coffs[4] += y * x;\r\n this._coffs[5] += y * y;\r\n this._coffs[6] += y * z;\r\n this._coffs[7] += y * w;\r\n this._coffs[8] += z * x;\r\n this._coffs[9] += z * y;\r\n this._coffs[10] += z * z;\r\n this._coffs[11] += z * w;\r\n this._coffs[12] += w * x;\r\n this._coffs[13] += w * y;\r\n this._coffs[14] += w * z;\r\n this._coffs[15] += w * w;\r\n }\r\n /** accumulate all coefficients of other to this. /\r\n public addScaledInPlace(other: Matrix4d, scale: number = 1.0) {\r\n for (let i = 0; i < 16; i++)\r\n this._coffs[i] += scale other._coffs[i];\r\n }\r\n /*\r\n Add scale times rowA to rowB.\r\n * @param rowIndexA row that is not modified\r\n * @param rowIndexB row that is modified.\r\n * @param firstColumnIndex first column modified. All from there to the right are updated\r\n * @param scale scale\r\n /\r\n public rowOperation(rowIndexA: number, rowIndexB: number, firstColumnIndex: number, scale: number) {\r\n if (scale === 0.0)\r\n return;\r\n let iA = rowIndexA 4 + firstColumnIndex;\r\n let iB = rowIndexB * 4 + firstColumnIndex;\r\n for (let i = firstColumnIndex; i < 4; i++ , iA++ , iB++)\r\n this._coffs[iB] += scale * this._coffs[iA];\r\n }\r\n /** Return the determinant of the matrix. /\r\n public determinant(): number {\r\n const c = this._coffs;\r\n return Geometry.determinant4x4(\r\n c[0], c[1], c[2], c[3],\r\n c[4], c[5], c[6], c[7],\r\n c[8], c[9], c[10], c[11],\r\n c[12], c[13], c[14], c[15]);\r\n }\r\n /* Compute an inverse matrix.\r\n * * This uses direct formulas with various determinants.\r\n * * If result is given, it is ALWAYS filled with values \"prior to dividing by the determinant\".\r\n * \r\n @returns undefined if dividing by the determinant looks unsafe.\r\n /\r\n public createInverse(result?: Matrix4d): Matrix4d \| undefined {\r\n // dividing each column by its maxAbs is more robust than dividing them by this.maxAbs()\r\n let maxAbs0 = this.columnX().maxAbs();\r\n if (maxAbs0 === 0.0) return undefined;\r\n const divMaxAbsA = 1.0 / maxAbs0;\r\n maxAbs0 = this.columnY().maxAbs();\r\n if (maxAbs0 === 0.0) return undefined;\r\n const divMaxAbsB = 1.0 / maxAbs0;\r\n maxAbs0 = this.columnZ().maxAbs();\r\n if (maxAbs0 === 0.0) return undefined;\r\n const divMaxAbsC = 1.0 / maxAbs0;\r\n maxAbs0 = this.columnW().maxAbs();\r\n if (maxAbs0 === 0.0) return undefined;\r\n const divMaxAbsD = 1.0 / maxAbs0;\r\n const columnA = this.columnX();\r\n const columnB = this.columnY();\r\n const columnC = this.columnZ();\r\n const columnD = this.columnW();\r\n columnA.scale(divMaxAbsA, columnA);\r\n columnB.scale(divMaxAbsB, columnB);\r\n columnC.scale(divMaxAbsC, columnC);\r\n columnD.scale(divMaxAbsD, columnD);\r\n const rowBCD = Point4d.perpendicularPoint4dPlane(columnB, columnC, columnD);\r\n const rowCDA = Point4d.perpendicularPoint4dPlane(columnA, columnD, columnC); // order for negation !\r\n const rowDAB = Point4d.perpendicularPoint4dPlane(columnD, columnA, columnB);\r\n const rowABC = Point4d.perpendicularPoint4dPlane(columnC, columnB, columnA); // order for negation !\r\n // The matrix is singular if the determinant is zero.\r\n // But what is the proper tolerance for zero?\r\n // The row values are generally cubes of entries. And the typical perspective matrix\r\n // has very different magnitudes in various parts. So a typical cube size is really hard.\r\n // Compute 4 different determinants. They should match.\r\n // If they are near zero, maybe a sign change is a red flag for singular case.\r\n // (And there's a lot less work to do that than was done to make the rows)\r\n result = Matrix4d.createRows(rowBCD, rowCDA, rowDAB, rowABC, result);\r\n const determinantA = rowBCD.dotProduct(columnA);\r\n const determinantB = rowCDA.dotProduct(columnB);\r\n const determinantC = rowDAB.dotProduct(columnC);\r\n const determinantD = rowABC.dotProduct(columnD);\r\n const maxAbs1 = result.maxAbs();\r\n if (determinantA determinantB > 0.0\r\n && determinantA * determinantC > 0.0\r\n && determinantA * determinantD > 0.0) {\r\n const divisionTest = Geometry.conditionalDivideCoordinate(maxAbs1, determinantA);\r\n if (divisionTest !== undefined) {\r\n const divDet = 1.0 / determinantA;\r\n result.scaleRowsInPlace(divMaxAbsA * divDet, divMaxAbsB * divDet, divMaxAbsC * divDet, divMaxAbsD * divDet);\r\n return result;\r\n }\r\n } else {\r\n return undefined; // this is a useful spot to break to see if the 4 determinant test is effective.\r\n }\r\n return undefined;\r\n }\r\n /** Returns an array-of-arrays of the matrix rows, optionally passing each value through a function.\r\n * @param f optional function to provide alternate values for each entry (e.g. force fuzz to zero.)\r\n /\r\n public rowArrays(f?: (value: number) => any): any {\r\n if (f)\r\n return [\r\n [f(this._coffs[0]), f(this._coffs[1]), f(this._coffs[2]), f(this._coffs[3])],\r\n [f(this._coffs[4]), f(this._coffs[5]), f(this._coffs[6]), f(this._coffs[7])],\r\n [f(this._coffs[8]), f(this._coffs[9]), f(this._coffs[10]), f(this._coffs[11])],\r\n [f(this._coffs[12]), f(this._coffs[13]), f(this._coffs[14]), f(this._coffs[15])]];\r\n else\r\n return [\r\n [this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3]],\r\n [this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[7]],\r\n [this._coffs[8], this._coffs[9], this._coffs[10], this._coffs[11]],\r\n [this._coffs[12], this._coffs[13], this._coffs[14], this._coffs[15]]];\r\n }\r\n /\r\n Scale each row by respective scale factors.\r\n * @param ax scale factor for row 0\r\n * @param ay scale factor for row 1\r\n * @param az scale factor for row 2\r\n * @param aw scale factor for row 3\r\n /\r\n public scaleRowsInPlace(ax: number, ay: number, az: number, aw: number) {\r\n for (let i = 0; i < 4; i++)\r\n this._coffs[i] = ax;\r\n for (let i = 4; i < 8; i++)\r\n this._coffs[i] = ay;\r\n for (let i = 8; i < 12; i++)\r\n this._coffs[i] = az;\r\n for (let i = 12; i < 16; i++)\r\n this._coffs[i] = aw;\r\n }\r\n /\r\n add an outer product (single column times single row times scale factor) to this matrix.\r\n * @param vectorU column vector\r\n * @param vectorV row vector\r\n * @param scale scale factor\r\n /\r\n public addScaledOuterProductInPlace(vectorU: Point4d, vectorV: Point4d, scale: number) {\r\n let a = vectorU.x scale;\r\n this._coffs[0] += a * vectorV.x;\r\n this._coffs[1] += a * vectorV.y;\r\n this._coffs[2] += a * vectorV.z;\r\n this._coffs[3] += a * vectorV.w;\r\n\r\n a = vectorU.y * scale;\r\n this._coffs[4] += a * vectorV.x;\r\n this._coffs[5] += a * vectorV.y;\r\n this._coffs[6] += a * vectorV.z;\r\n this._coffs[7] += a * vectorV.w;\r\n\r\n a = vectorU.z * scale;\r\n this._coffs[8] += a * vectorV.x;\r\n this._coffs[9] += a * vectorV.y;\r\n this._coffs[10] += a * vectorV.z;\r\n this._coffs[11] += a * vectorV.w;\r\n\r\n a = vectorU.w * scale;\r\n this._coffs[12] += a * vectorV.x;\r\n this._coffs[13] += a * vectorV.y;\r\n this._coffs[14] += a * vectorV.z;\r\n this._coffs[15] += a * vectorV.w;\r\n }\r\n /*\r\n Add (in place) scaleABAT where\r\n * A is a pure translation with final column [x,y,z,1]\r\n * * B is the given `matrixB`\r\n * * AT is the transpose of A.\r\n * * scale is a multiplier.\r\n * @param matrixB the middle matrix.\r\n * @param ax x part of translation\r\n * @param ay y part of translation\r\n * @param az z part of translation\r\n * @param scale scale factor for entire product\r\n /\r\n public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\r\n const bx = matrixB._coffs[3];\r\n const by = matrixB._coffs[7];\r\n const bz = matrixB._coffs[11];\r\n // matrixB can be non-symmetric!!\r\n const cx = matrixB._coffs[12];\r\n const cy = matrixB._coffs[13];\r\n const cz = matrixB._coffs[14];\r\n\r\n const beta = matrixB._coffs[15];\r\n const axBeta = ax beta;\r\n const ayBeta = ay * beta;\r\n const azBeta = az * beta;\r\n this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\r\n this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\r\n this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\r\n this._coffs[3] += scale * (bx + axBeta);\r\n\r\n this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\r\n this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\r\n this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\r\n this._coffs[7] += scale * (by + ayBeta);\r\n\r\n this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\r\n this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\r\n this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\r\n this._coffs[11] += scale * (bz + azBeta);\r\n\r\n this._coffs[12] += scale * (cx + axBeta);\r\n this._coffs[13] += scale * (cy + ayBeta);\r\n this._coffs[14] += scale * (cz + azBeta);\r\n this._coffs[15] += scale * beta;\r\n }\r\n /*\r\n Multiply and replace contents of ` this` matrix by `AthisAT` where\r\n * * `A` is a pure translation with final column [x,y,z,1].\r\n * * `this` is this matrix.\r\n * * `AT` is the transpose of A.\r\n * @param ax x part of translation.\r\n * @param ay y part of translation.\r\n * @param az z part of translation.\r\n /\r\n public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) : void {\r\n const bx = this._coffs[3];\r\n const by = this._coffs[7];\r\n const bz = this._coffs[11];\r\n // matrixB can be non-symmetric\r\n const cx = this._coffs[12];\r\n const cy = this._coffs[13];\r\n const cz = this._coffs[14];\r\n\r\n const beta = this._coffs[15];\r\n const axBeta = ax beta;\r\n const ayBeta = ay * beta;\r\n const azBeta = az * beta;\r\n this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\r\n this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\r\n this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\r\n this._coffs[3] += axBeta;\r\n\r\n this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\r\n this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\r\n this._coffs[6] += (az * by + cz * ay + ay * azBeta);\r\n this._coffs[7] += ayBeta;\r\n\r\n this._coffs[8] += (ax * bz + cx * az + az * axBeta);\r\n this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\r\n this._coffs[10] += (az * bz + cz * az + az * azBeta);\r\n this._coffs[11] += azBeta;\r\n\r\n this._coffs[12] += axBeta;\r\n this._coffs[13] += ayBeta;\r\n this._coffs[14] += azBeta;\r\n // coffs[15] is unchanged\r\n }\r\n}\r\n"]}