@itwin/core-geometry 5.2.0-dev.8 → 5.2.0

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { AngleProps, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { Transform } from \"./Transform\";\n\n// cspell:word Tait\n\n/**\n * Angle properties of a `YawPitchRoll` orientation\n * @public\n */\nexport interface YawPitchRollProps {\n  /** yaw field */\n  yaw?: AngleProps;\n  /** pitch field */\n  pitch?: AngleProps;\n  /** roll field */\n  roll?: AngleProps;\n}\n\n/**\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\n * (https://en.wikipedia.org/wiki/Euler_angles).\n * * The matrix construction can be replicated by this logic:\n * * xyz coordinates have\n *   * x forward\n *   * y to left\n *   * z up\n * * Note that this is a right handed coordinate system.\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\n * * The YPR matrix is the product\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\n * @public\n */\nexport class YawPitchRollAngles {\n  /** The yaw angle: counterclockwise rotation angle around z  */\n  public yaw: Angle;\n  /** The pitch angle: **clockwise** rotation angle around y */\n  public pitch: Angle;\n  /** The roll angle: counterclockwise rotation angle around x */\n  public roll: Angle;\n  /**\n   * Constructor\n   * @param yaw counterclockwise rotation angle around z\n   * @param pitch **clockwise** rotation angle around y\n   * @param roll counterclockwise rotation angle around x\n   */\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\n    this.yaw = yaw;\n    this.pitch = pitch;\n    this.roll = roll;\n  }\n  /** Freeze this YawPitchRollAngles */\n  public freeze(): Readonly<this> {\n    this.yaw.freeze();\n    this.pitch.freeze();\n    this.roll.freeze();\n    return Object.freeze(this);\n  }\n  /**\n   * Constructor for YawPitchRollAngles with angles in degrees.\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\n   */\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      Angle.createDegrees(yawDegrees),\n      Angle.createDegrees(pitchDegrees),\n      Angle.createDegrees(rollDegrees),\n    );\n  }\n  /**\n   * Constructor for YawPitchRollAngles with angles in radians.\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\n   */\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      Angle.createRadians(yawRadians),\n      Angle.createRadians(pitchRadians),\n      Angle.createRadians(rollRadians),\n    );\n  }\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\n    json = json ? json : {};\n    return new YawPitchRollAngles(\n      Angle.fromJSON(json.yaw),\n      Angle.fromJSON(json.pitch),\n      Angle.fromJSON(json.roll),\n    );\n  }\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\n  public setFromJSON(json?: YawPitchRollProps): void {\n    json = json ? json : {};\n    this.yaw = Angle.fromJSON(json.yaw);\n    this.pitch = Angle.fromJSON(json.pitch);\n    this.roll = Angle.fromJSON(json.roll);\n  }\n  /**\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\n   */\n  public toJSON(): YawPitchRollProps {\n    const val: YawPitchRollProps = {};\n    if (!this.pitch.isAlmostZero)\n      val.pitch = this.pitch.toJSON();\n    if (!this.roll.isAlmostZero)\n      val.roll = this.roll.toJSON();\n    if (!this.yaw.isAlmostZero)\n      val.yaw = this.yaw.toJSON();\n    return val;\n  }\n  /**\n   * Install all rotations from `other` into `this`.\n   * @param other YawPitchRollAngles source\n   */\n  public setFrom(other: YawPitchRollAngles) {\n    this.yaw.setFrom(other.yaw);\n    this.pitch.setFrom(other.pitch);\n    this.roll.setFrom(other.roll);\n  }\n  /**\n   * Compare angles between `this` and `other`.\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\n   * @param other YawPitchRollAngles source\n   */\n  public isAlmostEqual(other: YawPitchRollAngles): boolean {\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\n  }\n  /** Make a copy of this YawPitchRollAngles */\n  public clone(): YawPitchRollAngles {\n    return new YawPitchRollAngles(\n      this.yaw.clone(),\n      this.pitch.clone(),\n      this.roll.clone(),\n    );\n  }\n  /**\n   * Expand the angles into a (rigid rotation) matrix.\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\n   * * The rigid matrix is always a right handed coordinate system.\n   * @param result optional pre-allocated `Matrix3d`\n   */\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\n    const cz = Math.cos(this.yaw.radians);\n    const sz = Math.sin(this.yaw.radians);\n    const cy = Math.cos(this.pitch.radians);\n    const sy = Math.sin(this.pitch.radians);\n    const cx = Math.cos(this.roll.radians);\n    const sx = Math.sin(this.roll.radians);\n    /**\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\n    * rX, rY, and rZ are base rotation matrixes:\n    *\n    *     const rX = Matrix3d.createRowValues(\n    *        1, 0, 0,\n    *        0, Math.cos(x), -Math.sin(x),\n    *        0, Math.sin(x), Math.cos(x),\n    *      );\n    *      const rY = Matrix3d.createRowValues(\n    *        Math.cos(y), 0, Math.sin(y),\n    *        0, 1, 0,\n    *        -Math.sin(y), 0, Math.cos(y),\n    *      );\n    *      const rZ = Matrix3d.createRowValues(\n    *        Math.cos(z), -Math.sin(z), 0,\n    *        Math.sin(z), Math.cos(z), 0,\n    *        0, 0, 1,\n    *      );\n    *\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\n    * can use transpose of rY in the matrix multiplication to get the same result)\n    */\n    return Matrix3d.createRowValues(\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\n      sy, cy * sx, cy * cx,\n      result,\n    );\n  }\n  /**\n   * Returns true if this rotation does nothing.\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\n   */\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\n    if (allowPeriodShift)\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\n    else\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\n  }\n  /** Return the largest angle in radians */\n  public maxAbsRadians(): number {\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\n  }\n  /** Return the sum of the angles in squared radians */\n  public sumSquaredRadians(): number {\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\n  }\n  /** Return the largest difference of angles (in radians) between this and other */\n  public maxDiffRadians(other: YawPitchRollAngles): number {\n    return Math.max(\n      this.yaw.radians - other.yaw.radians,\n      this.pitch.radians - other.pitch.radians,\n      this.roll.radians - other.roll.radians,\n    );\n  }\n  /** Return the largest angle in degrees. */\n  public maxAbsDegrees(): number {\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\n  }\n  /** Return the sum of squared angles in degrees. */\n  public sumSquaredDegrees(): number {\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\n  }\n  /** Return the largest difference of angles (in degrees) between this and other */\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\n    return Math.max(\n      this.yaw.degrees - other.yaw.degrees,\n      this.pitch.degrees - other.pitch.degrees,\n      this.roll.degrees - other.roll.degrees,\n    );\n  }\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\n  public static tryFromTransform(transform: Transform): {\n    origin: Point3d;\n    angles: YawPitchRollAngles | undefined;\n  } {\n    return {\n      origin: Point3d.createFrom(transform.origin),\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\n    };\n  }\n  /**\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\n   * @param result optional pre-allocated object to populate and return.\n   * @returns computed angles, or undefined if `matrix` is not rigid.\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\n   * their usefulness decreases the further `matrix` is from being rigid.\n   */\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\n    /**\n     * The rotation matrix form is\n     *\n     * Matrix3d.createRowValues(\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\n     *      sy, cy * sx, cy * cx\n     * );\n     *\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\n     */\n    const sy = matrix.at(2, 0); // sin(y)\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\n    const angles = result ? result : new YawPitchRollAngles();\n    /**\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\n     * This means x and z can be anything as long as their sum x + z is constant.\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\n     * Math details can be found\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\n     *\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\n     *\n     * Matrix3d.createRowValues(\n     *      0, -sz, -+cz,\n     *      0, cz, -+sz,\n     *      +-1, 0, 0\n     * );\n     *\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\n     */\n    if (cy < Geometry.smallAngleRadians) {\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\n      angles.roll = Angle.createRadians(0.0);\n    } else {\n      /**\n       * positive cosine\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\n       */\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\n      // similar with negative cosine\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\n      // create YPR\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\n      // decide to pick yprA or yprB with smallest magnitude angles\n      const absFactor = 0.95;\n      const maxRadiansA = yprA.maxAbsRadians();\n      const maxRadiansB = yprB.maxAbsRadians();\n      if (maxRadiansA < absFactor * maxRadiansB) {\n        angles.setFrom(yprA);\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\n        angles.setFrom(yprB);\n      } else {\n        const sumA = yprA.sumSquaredRadians();\n        const sumB = yprB.sumSquaredRadians();\n        if (sumA <= sumB) {\n          angles.setFrom(yprA);\n        } else {\n          angles.setFrom(yprB);\n        }\n      }\n    }\n    // sanity check\n    const matrix1 = angles.toMatrix3d();\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\n  }\n}\n"]}
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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 rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}

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

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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 } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { Matrix4d } from \"./Matrix4d\";\n\n/**\n * Map4 carries two Matrix4d which are inverses of each other.\n * @public\n */\nexport class Map4d implements BeJSONFunctions {\n  private _matrix0: Matrix4d;\n  private _matrix1: Matrix4d;\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\n    this._matrix0 = matrix0;\n    this._matrix1 = matrix1;\n  }\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\n  public get transform0(): Matrix4d {\n    return this._matrix0;\n  }\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\n  public get transform1(): Matrix4d {\n    return this._matrix1;\n  }\n  /** Create a Map4d, capturing the references to the two matrices. */\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\n    return new Map4d(matrix0, matrix1);\n  }\n  /** Create an identity map. */\n  public static createIdentity(): Map4d {\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\n  }\n  /**\n   * Create a Map4d with given transform pair.\n   * @returns undefined if the transforms are not inverses of each other.\n   */\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\n    if (transform1 === undefined) {\n      transform1 = transform0.inverse();\n      if (transform1 === undefined)\n        return undefined;\n    } else {\n      const product = transform0.multiplyTransformTransform(transform1);\n      if (!product.isIdentity)\n        return undefined;\n    }\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\n  }\n  /**\n   * Create a mapping the scales and translates (no rotation) between boxes.\n   * @param lowA low point of box A\n   * @param highA high point of box A\n   * @param lowB low point of box B\n   * @param highB high point of box B\n   */\n  public static createBoxMap(\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\n  ): Map4d | undefined {\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\n    if (t0 && t1) {\n      if (result)\n        return result;\n      return new Map4d(t0, t1);\n    }\n    return undefined;\n  }\n  /** Copy contents from another Map4d */\n  public setFrom(other: Map4d) {\n    this._matrix0.setFrom(other._matrix0);\n    this._matrix1.setFrom(other._matrix1);\n  }\n  /** Return a clone of this Map4d */\n  public clone(): Map4d {\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\n  }\n  /** Reinitialize this Map4d as an identity. */\n  public setIdentity() {\n    this._matrix0.setIdentity();\n    this._matrix1.setIdentity();\n  }\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\n  public setFromJSON(json: any): void {\n    if (json.matrix0 && json.matrix1) {\n      this._matrix0.setFromJSON(json.matrix0);\n      this._matrix1.setFromJSON(json.matrix1);\n    } else\n      this.setIdentity();\n  }\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\n  public static fromJSON(json?: any): Map4d {\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\n  public toJSON(): any {\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\n  }\n  /** Test if both matrices are almost equal to those */\n  public isAlmostEqual(other: Map4d) {\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\n  }\n  /**\n   * Create a world to NPC map that maps between world coordinates and the given frustum.\n   * @param origin lower left rear of frustum\n   * @param uVector Vector from origin to lower right rear.\n   * @param vVector Vector from origin to upper left rear.\n   * @param wVector Vector from origin to lower left front, i.e. origin towards eye.\n   * @param fraction front size divided by rear size.\n   */\n  public static createVectorFrustum(\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\n  ): Map4d | undefined {\n    fraction = Math.max(fraction, 1.0e-8);\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\n    const worldToSlab = slabToWorld.inverse();\n    if (!worldToSlab)\n      return undefined;\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\n    const slabToNPCMap = new Map4d(\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\n    );\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\n    /*\n    let numIdentity = 0;\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\n    if (productA.isIdentity())\n      numIdentity++;\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\n    if (productB.isIdentity())\n      numIdentity++;\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\n    if (product.isIdentity())\n      numIdentity++;\n    if (numIdentity === 3)\n        return result;\n      */\n    return result;\n  }\n  /**\n   * Multiply this*other. The output matrices are\n   * * output matrix0 = `this.matrix0 * other.matrix0`\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\n   */\n  public multiplyMapMap(other: Map4d): Map4d {\n    return new Map4d(\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\n    );\n  }\n  /** Exchange the two matrices of the map. */\n  public reverseInPlace() {\n    const temp = this._matrix0;\n    this._matrix0 = this._matrix1;\n    this._matrix1 = temp;\n  }\n  /**\n   * Return a Map4d whose transform0 is\n   * other.transform0 * this.transform0 * other.transform1\n   */\n  public sandwich0This1(other: Map4d): Map4d {\n    return new Map4d(\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\n    );\n  }\n  /**\n   * Return a Map4d whose transform0 is\n   * other.transform1 * this.transform0 * other.transform0\n   */\n  public sandwich1This0(other: Map4d): Map4d {\n    return new Map4d(\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\n    );\n  }\n}\n"]}
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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 } from \"../Geometry\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\n\r\n/**\r\n * Map4 carries two Matrix4d which are inverses of each other.\r\n * @public\r\n */\r\nexport class Map4d implements BeJSONFunctions {\r\n  private _matrix0: Matrix4d;\r\n  private _matrix1: Matrix4d;\r\n  private constructor(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    this._matrix0 = matrix0;\r\n    this._matrix1 = matrix1;\r\n  }\r\n  /** Return a reference to (not copy of) the \"forward\" Matrix4d */\r\n  public get transform0(): Matrix4d {\r\n    return this._matrix0;\r\n  }\r\n  /** Return a reference to (not copy of) the \"reverse\" Matrix4d */\r\n  public get transform1(): Matrix4d {\r\n    return this._matrix1;\r\n  }\r\n  /** Create a Map4d, capturing the references to the two matrices. */\r\n  public static createRefs(matrix0: Matrix4d, matrix1: Matrix4d) {\r\n    return new Map4d(matrix0, matrix1);\r\n  }\r\n  /** Create an identity map. */\r\n  public static createIdentity(): Map4d {\r\n    return new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n  }\r\n  /**\r\n   * Create a Map4d with given transform pair.\r\n   * @returns undefined if the transforms are not inverses of each other.\r\n   */\r\n  public static createTransform(transform0: Transform, transform1?: Transform): Map4d | undefined {\r\n    if (transform1 === undefined) {\r\n      transform1 = transform0.inverse();\r\n      if (transform1 === undefined)\r\n        return undefined;\r\n    } else {\r\n      const product = transform0.multiplyTransformTransform(transform1);\r\n      if (!product.isIdentity)\r\n        return undefined;\r\n    }\r\n    return new Map4d(Matrix4d.createTransform(transform0), Matrix4d.createTransform(transform1));\r\n  }\r\n  /**\r\n   * Create a mapping the scales and translates (no rotation) between boxes.\r\n   * @param lowA low point of box A\r\n   * @param highA high point of box A\r\n   * @param lowB low point of box B\r\n   * @param highB high point of box B\r\n   */\r\n  public static createBoxMap(\r\n    lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Map4d,\r\n  ): Map4d | undefined {\r\n    const t0 = Matrix4d.createBoxToBox(lowA, highA, lowB, highB, result ? result.transform0 : undefined);\r\n    const t1 = Matrix4d.createBoxToBox(lowB, highB, lowA, highA, result ? result.transform1 : undefined);\r\n    if (t0 && t1) {\r\n      if (result)\r\n        return result;\r\n      return new Map4d(t0, t1);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Copy contents from another Map4d */\r\n  public setFrom(other: Map4d) {\r\n    this._matrix0.setFrom(other._matrix0);\r\n    this._matrix1.setFrom(other._matrix1);\r\n  }\r\n  /** Return a clone of this Map4d */\r\n  public clone(): Map4d {\r\n    return new Map4d(this._matrix0.clone(), this._matrix1.clone());\r\n  }\r\n  /** Reinitialize this Map4d as an identity. */\r\n  public setIdentity() {\r\n    this._matrix0.setIdentity();\r\n    this._matrix1.setIdentity();\r\n  }\r\n  /** Set this map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public setFromJSON(json: any): void {\r\n    if (json.matrix0 && json.matrix1) {\r\n      this._matrix0.setFromJSON(json.matrix0);\r\n      this._matrix1.setFromJSON(json.matrix1);\r\n    } else\r\n      this.setIdentity();\r\n  }\r\n  /** Create a map4d from a json object that the two Matrix4d values as properties named matrix0 and matrix1 */\r\n  public static fromJSON(json?: any): Map4d {\r\n    const result = new Map4d(Matrix4d.createIdentity(), Matrix4d.createIdentity());\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Return a json object `{matrix0: value0, matrix1: value1}` */\r\n  public toJSON(): any {\r\n    return { matrix0: this._matrix0.toJSON(), matrix1: this._matrix1.toJSON() };\r\n  }\r\n  /** Test if both matrices are almost equal to those */\r\n  public isAlmostEqual(other: Map4d) {\r\n    return this._matrix0.isAlmostEqual(other._matrix0) && this._matrix1.isAlmostEqual(other._matrix1);\r\n  }\r\n  /**\r\n   * Create a world to NPC map that maps between world coordinates and the given frustum.\r\n   * @param origin lower left rear of frustum\r\n   * @param uVector Vector from origin to lower right rear.\r\n   * @param vVector Vector from origin to upper left rear.\r\n   * @param wVector Vector from origin to lower left front, i.e. origin towards eye.\r\n   * @param fraction front size divided by rear size.\r\n   */\r\n  public static createVectorFrustum(\r\n    origin: Point3d, uVector: Vector3d, vVector: Vector3d, wVector: Vector3d, fraction: number,\r\n  ): Map4d | undefined {\r\n    fraction = Math.max(fraction, 1.0e-8);\r\n    const slabToWorld = Transform.createOriginAndMatrix(origin, Matrix3d.createColumns(uVector, vVector, wVector));\r\n    const worldToSlab = slabToWorld.inverse();\r\n    if (!worldToSlab)\r\n      return undefined;\r\n    const worldToSlabMap = new Map4d(Matrix4d.createTransform(worldToSlab), Matrix4d.createTransform(slabToWorld));\r\n    const slabToNPCMap = new Map4d(\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, fraction, 0, 0, 0, fraction - 1.0, 1),\r\n      Matrix4d.createRowValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1.0 / fraction, 0, 0, 0, (1.0 - fraction) / fraction, 1),\r\n    );\r\n    const result = slabToNPCMap.multiplyMapMap(worldToSlabMap);\r\n    /*\r\n    let numIdentity = 0;\r\n    const productA = worldToSlabMap.matrix0.multiplyMatrixMatrix(worldToSlabMap.matrix1);\r\n    if (productA.isIdentity())\r\n      numIdentity++;\r\n    const productB = slabToNPCMap.matrix0.multiplyMatrixMatrix(slabToNPCMap.matrix1);\r\n    if (productB.isIdentity())\r\n      numIdentity++;\r\n    const product = result.matrix0.multiplyMatrixMatrix(result.matrix1);\r\n    if (product.isIdentity())\r\n      numIdentity++;\r\n    if (numIdentity === 3)\r\n        return result;\r\n      */\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply this*other. The output matrices are\r\n   * * output matrix0 = `this.matrix0 * other.matrix0`\r\n   * * output matrix1 = 'other.matrix1 * this.matrix1`\r\n   */\r\n  public multiplyMapMap(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      this._matrix0.multiplyMatrixMatrix(other._matrix0),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1),\r\n    );\r\n  }\r\n  /** Exchange the two matrices of the map. */\r\n  public reverseInPlace() {\r\n    const temp = this._matrix0;\r\n    this._matrix0 = this._matrix1;\r\n    this._matrix1 = temp;\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform0 * this.transform0 * other.transform1\r\n   */\r\n  public sandwich0This1(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix1)),\r\n      other._matrix0.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix1)),\r\n    );\r\n  }\r\n  /**\r\n   * Return a Map4d whose transform0 is\r\n   * other.transform1 * this.transform0 * other.transform0\r\n   */\r\n  public sandwich1This0(other: Map4d): Map4d {\r\n    return new Map4d(\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix0.multiplyMatrixMatrix(other._matrix0)),\r\n      other._matrix1.multiplyMatrixMatrix(this._matrix1.multiplyMatrixMatrix(other._matrix0)),\r\n    );\r\n  }\r\n}\r\n"]}

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

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

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

@@ -1 +1 @@
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package/lib/cjs/geometry4d/Matrix4d.js

@@ -306,12 +306,38 @@ class Matrix4d {
     /**
      * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix
      * @return undefined if this Matrix4d has perspective effects in the w row.
+     * @see toTransform
      */
     get asTransform() {
         if (this.hasPerspective)
             return undefined;
         return Transform_1.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]);
     }
+    /**
+     * Populate a [[Transform]] from the instance, even if the transformations aren't equivalent.
+     * * A Transform cannot encode perspective, but this method returns one even if it isn't equivalent to the instance.
+     * * Compare to the [[asTransform]] property, which returns `undefined` when there is perspective.
+     * @param result optional preallocated object to populate and return.
+     * @returns derived `Transform` and a flag indicating its validity:
+     * * `transform` is filled with the top three rows of the instance's entries scaled by the reciprocal of nonzero [[weight]];
+     * if [[weight]] is zero, `transform` is set to the identity.
+     * * `isValid` is true if and only if the last row of the instance is essentially `[000w]` for nonzero `w` = [[weight]].
+     * @see asTransform
+     */
+    toTransform(result) {
+        const transform = Transform_1.Transform.createIdentity(result);
+        let isValid = false;
+        if (this.weight() !== 0.0) {
+            const scale = 1.0 / this.weight();
+            for (let i = 0; i < 3; i++) {
+                for (let j = 0; j < 3; j++)
+                    transform.matrix.setAt(i, j, scale * this.atIJ(i, j));
+            }
+            transform.origin.set(scale * this.atIJ(0, 3), scale * this.atIJ(1, 3), scale * this.atIJ(2, 3));
+            isValid = Geometry_1.Geometry.isSmallMetricDistance(scale * (Math.abs(this.atIJ(3, 0) + Math.abs(this.atIJ(3, 1)) + Math.abs(this.atIJ(3, 2)))));
+        }
+        return { transform, isValid };
+    }
     /** multiply this * other. */
     multiplyMatrixMatrix(other, result) {
         result = (result && result !== this && result !== other) ? result : new Matrix4d();