@itwin/core-geometry 5.3.0-dev.9 → 5.3.1

package/lib/cjs/geometry4d/Matrix4d.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Point4d, Point4dProps } from \"./Point4d\";\n\n/**\n * Coordinate data with `Point4d` numeric data as an array `[x,y,z,w]`\n * @public\n */\nexport type Matrix4dProps = Point4dProps[];\n\n/**\n * * A Matrix4d is a matrix with 4 rows and 4 columns.\n * * The 4 rows may be described as the x,y,z,w rows.\n * * The 4 columns may be described as the x,y,z,w columns.\n * * The matrix is physically stored as a Float64Array with 16 numbers.\n * * The layout in the Float64Array is \"by row\"\n *   * indices 0,1,2,3 are the \"x row\".   They may be called the xx,xy,xz,xw entries\n *   * indices 4,5,6,7 are the \"y row\"    They may be called the yx,yy,yz,yw entries\n *   * indices 8,9,10,11 are the \"z row\"  They may be called the zx,zy,zz,zw entries\n *   * indices 12,13,14,15 are the \"w row\".  They may be called the wx,wy,wz,ww entries\n * * If \"w row\" contains numeric values 0,0,0,1, the Matrix4d is equivalent to a Transform with\n *  * The upper left 3x3 matrix (entries 0,1,2,4,5,6,8,9,10) are the 3x3 matrix part of the transform\n *  * The far right column entries xw,yw,zw are the \"origin\" (sometimes called \"translation\") part of the transform.\n * @public\n */\nexport class Matrix4d implements BeJSONFunctions {\n  private _coffs: Float64Array;\n  private constructor() { this._coffs = new Float64Array(16); }\n  /** Copy matrix entries from `other` */\n  public setFrom(other: Matrix4d): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = other._coffs[i];\n  }\n  /** Return a deep clone. */\n  public clone(result?: Matrix4d): Matrix4d {\n    if (result === this)\n      return this;\n    if (result === undefined)\n      result = new Matrix4d();\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] = this._coffs[i];\n    return result;\n  }\n  /** zero this matrix4d in place. */\n  public setZero(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n  }\n  /** set to identity. */\n  public setIdentity(): void {\n    for (let i = 0; i < 16; i++)\n      this._coffs[i] = 0;\n    this._coffs[0] = this._coffs[5] = this._coffs[10] = this._coffs[15] = 1.0;\n  }\n  private static is1000(a: number, b: number, c: number, d: number, tol: number): boolean {\n    return Math.abs(a - 1.0) <= tol\n      && Math.abs(b) <= tol\n      && Math.abs(c) <= tol\n      && Math.abs(d) <= tol;\n  }\n  /** set to identity. */\n  public isIdentity(tol: number = 1.0e-10): boolean {\n    return Matrix4d.is1000(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[3], tol)\n      && Matrix4d.is1000(this._coffs[5], this._coffs[6], this._coffs[7], this._coffs[4], tol)\n      && Matrix4d.is1000(this._coffs[10], this._coffs[11], this._coffs[8], this._coffs[9], tol)\n      && Matrix4d.is1000(this._coffs[15], this._coffs[12], this._coffs[13], this._coffs[14], tol);\n  }\n  /** create a Matrix4d filled with zeros. */\n  public static createZero(result?: Matrix4d): Matrix4d {\n    if (result) {\n      result.setZero();\n      return result;\n    }\n    return new Matrix4d(); // this is zero.\n  }\n  /** create a Matrix4d with values supplied \"across the rows\" */\n  public static createRowValues(cxx: number, cxy: number, cxz: number, cxw: number, cyx: number, cyy: number, cyz: number, cyw: number, czx: number, czy: number, czz: number, czw: number, cwx: number, cwy: number, cwz: number, cww: number, result?: Matrix4d): Matrix4d {\n    result = result ? result : new Matrix4d();\n    result._coffs[0] = cxx;\n    result._coffs[1] = cxy;\n    result._coffs[2] = cxz;\n    result._coffs[3] = cxw;\n    result._coffs[4] = cyx;\n    result._coffs[5] = cyy;\n    result._coffs[6] = cyz;\n    result._coffs[7] = cyw;\n    result._coffs[8] = czx;\n    result._coffs[9] = czy;\n    result._coffs[10] = czz;\n    result._coffs[11] = czw;\n    result._coffs[12] = cwx;\n    result._coffs[13] = cwy;\n    result._coffs[14] = cwz;\n    result._coffs[15] = cww;\n    return result;\n  }\n  /** Create a `Matrix4d` from 16 values appearing as `Point4d` for each row. */\n  public static createRows(rowX: Point4d, rowY: Point4d, rowZ: Point4d, rowW: Point4d, result?: Matrix4d): Matrix4d {\n    return this.createRowValues(\n      rowX.x, rowX.y, rowX.z, rowX.w,\n      rowY.x, rowY.y, rowY.z, rowY.w,\n      rowZ.x, rowZ.y, rowZ.z, rowZ.w,\n      rowW.x, rowW.y, rowW.z, rowW.w, result);\n  }\n  /** directly set columns from typical 3d data:\n   *\n   * * vectorX, vectorY, vectorZ as columns 0,1,2, with weight0.\n   * * origin as column3, with weight 1\n   */\n  public setOriginAndVectors(origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d) {\n    this._coffs[0] = vectorX.x;\n    this._coffs[1] = vectorY.x;\n    this._coffs[2] = vectorZ.x;\n    this._coffs[3] = origin.x;\n    this._coffs[4] = vectorX.y;\n    this._coffs[5] = vectorY.y;\n    this._coffs[6] = vectorZ.y;\n    this._coffs[7] = origin.y;\n    this._coffs[8] = vectorX.z;\n    this._coffs[9] = vectorY.z;\n    this._coffs[10] = vectorZ.z;\n    this._coffs[11] = origin.z;\n    this._coffs[12] = 0.0;\n    this._coffs[13] = 0.0;\n    this._coffs[14] = 0.0;\n    this._coffs[15] = 1.0;\n  }\n  /** promote a transform to full Matrix4d (with 0001 in final row) */\n  public static createTransform(source: Transform, result?: Matrix4d): Matrix4d {\n    const matrix = source.matrix;\n    const point = source.origin;\n    return Matrix4d.createRowValues(matrix.coffs[0], matrix.coffs[1], matrix.coffs[2], point.x, matrix.coffs[3], matrix.coffs[4], matrix.coffs[5], point.y, matrix.coffs[6], matrix.coffs[7], matrix.coffs[8], point.z, 0, 0, 0, 1, result);\n  }\n  /** return an identity matrix. */\n  public static createIdentity(result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    return result;\n  }\n  /** return matrix with translation directly inserted (along with 1 on diagonal) */\n  public static createTranslationXYZ(x: number, y: number, z: number, result?: Matrix4d): Matrix4d {\n    result = Matrix4d.createZero(result);\n    result._coffs[0] = 1.0;\n    result._coffs[5] = 1.0;\n    result._coffs[10] = 1.0;\n    result._coffs[15] = 1.0;\n    result._coffs[3] = x;\n    result._coffs[7] = y;\n    result._coffs[11] = z;\n    return result;\n  }\n\n  /** return this matrix plus scale times matrixB. */\n  public plusScaled(matrixB: Matrix4d, scale: number, result?: Matrix4d): Matrix4d {\n    // If result is undefined, a real clone is created.\n    // If result is \"this\" we get the pointer to this right back.\n    // If result is other, \"this\" coffs are copied.\n    // Then we can add matrixB.  (Which we assume is different from this?)\n    result = this.clone(result);\n    for (let i = 0; i < 16; i++)\n      result._coffs[i] += scale * matrixB._coffs[i];\n    return result;\n  }\n\n  /**\n   * Create a Matrix4d with translation and scaling values directly inserted (along with 1 as final diagonal entry)\n   * @param tx x entry for translation column\n   * @param ty y entry for translation column\n   * @param tz z entry for translation column\n   * @param scaleX x diagonal entry\n   * @param scaleY y diagonal entry\n   * @param scaleZ z diagonal entry\n   * @param result optional result.\n   */\n  public static createTranslationAndScaleXYZ(tx: number, ty: number, tz: number, scaleX: number, scaleY: number, scaleZ: number, result?: Matrix4d): Matrix4d {\n    return Matrix4d.createRowValues(scaleX, 0, 0, tx, 0, scaleY, 0, ty, 0, 0, scaleZ, tz, 0, 0, 0, 1, result);\n  }\n  /**\n   * Create a mapping that scales and translates (no rotation) from box A to box B\n   * @param lowA low point of box A\n   * @param highA high point of box A\n   * @param lowB low point of box B\n   * @param highB high point of box B\n   */\n  public static createBoxToBox(lowA: Point3d, highA: Point3d, lowB: Point3d, highB: Point3d, result?: Matrix4d): Matrix4d | undefined {\n    const ax = highA.x - lowA.x;\n    const ay = highA.y - lowA.y;\n    const az = highA.z - lowA.z;\n    const bx = highB.x - lowB.x;\n    const by = highB.y - lowB.y;\n    const bz = highB.z - lowB.z;\n    const abx = Geometry.conditionalDivideFraction(bx, ax);\n    const aby = Geometry.conditionalDivideFraction(by, ay);\n    const abz = Geometry.conditionalDivideFraction(bz, az);\n    if (abx !== undefined && aby !== undefined && abz !== undefined) {\n      return Matrix4d.createTranslationAndScaleXYZ(lowB.x - abx * lowA.x, lowB.y - aby * lowA.y, lowB.z - abz * lowA.z, abx, aby, abz, result);\n    }\n    return undefined;\n  }\n  /** Set from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public setFromJSON(json?: Matrix4dProps) {\n    if (Geometry.isArrayOfNumberArray(json, 4, 4)) {\n      for (let i = 0; i < 4; ++i) {\n        for (let j = 0; j < 4; ++j)\n          this._coffs[i * 4 + j] = json[i][j];\n      }\n    } else {\n      this.setZero();\n    }\n  }\n  /**\n   * Return the largest (absolute) difference between this and other Matrix4d.\n   * @param other matrix to compare to\n   */\n  public maxDiff(other: Matrix4d): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i] - other._coffs[i]));\n    return a;\n  }\n  /**\n   * Return the largest absolute value in the Matrix4d\n   */\n  public maxAbs(): number {\n    let a = 0.0;\n    for (let i = 0; i < 16; i++)\n      a = Math.max(a, Math.abs(this._coffs[i]));\n    return a;\n  }\n  /** Test for near-equality with `other` */\n  public isAlmostEqual(other: Matrix4d): boolean {\n    return Geometry.isSmallMetricDistance(this.maxDiff(other));\n  }\n  /** Test for exact (bitwise) equality with other. */\n  public isExactEqual(other: Matrix4d): boolean { return this.maxDiff(other) === 0.0; }\n  /**\n   * Convert an Matrix4d to a Matrix4dProps.\n   */\n  public toJSON(): Matrix4dProps {\n    const value = [];\n    for (let i = 0; i < 4; ++i) {\n      const row = i * 4;\n      value.push([this._coffs[row], this._coffs[row + 1], this._coffs[row + 2], this._coffs[row + 3]]);\n    }\n    return value;\n  }\n  /** Create from nested array json e.g. `[[1,2,3,4],[0,1,2,4],[0,2,5,1],[0,0,1,2]]` */\n  public static fromJSON(json?: Matrix4dProps) {\n    const result = new Matrix4d();\n    result.setFromJSON(json);\n    return result;\n  }\n  /**\n   * Return a point with entries from positions [i0, i0+step, i0+2*step, i0+3*step].\n   * * There are no tests for index going out of the 0..15 range.\n   * * Usual uses are:\n   * * * i0 at left of row (0,4,8,12), step = 1 to extract a row.\n   * * * i0 at top of row (0,1,2,3), step = 4 to extract a column\n   * * * i0 = 0, step = 5 to extract the diagonal\n   * @returns a Point4d with 4 entries taken from positions at steps in the flat 16-member array.\n   * @param i0 start index (for 16 member array)\n   * @param step step between members\n   * @param result optional preallocated point.\n   */\n  public getSteppedPoint(i0: number, step: number, result?: Point4d): Point4d {\n    return Point4d.create(this._coffs[i0], this._coffs[i0 + step], this._coffs[i0 + 2 * step], this._coffs[i0 + 3 * step], result);\n  }\n  /** Return column 0 as Point4d. */\n  public columnX(): Point4d { return this.getSteppedPoint(0, 4); }\n  /** Return column 1 as Point4d. */\n  public columnY(): Point4d { return this.getSteppedPoint(1, 4); }\n  /** Return column 2 as Point4d. */\n  public columnZ(): Point4d { return this.getSteppedPoint(2, 4); }\n  /** Return column 3 as Point4d. */\n  public columnW(): Point4d { return this.getSteppedPoint(3, 4); }\n  /** Return row 0 as Point4d. */\n  public rowX(): Point4d { return this.getSteppedPoint(0, 1); }\n  /** Return row 1 as Point4d. */\n  public rowY(): Point4d { return this.getSteppedPoint(4, 1); }\n  /** Return row 2 as Point4d. */\n  public rowZ(): Point4d { return this.getSteppedPoint(8, 1); }\n  /** Return row 3 as Point4d. */\n  public rowW(): Point4d { return this.getSteppedPoint(12, 1); }\n  /**\n   * Returns true if the w row has content other than [0,0,0,1]\n   */\n  public get hasPerspective(): boolean {\n    return this._coffs[12] !== 0.0\n      || this._coffs[13] !== 0.0\n      || this._coffs[14] !== 0.0\n      || this._coffs[15] !== 1.0;\n  }\n  /**\n   * Return a Point4d with the diagonal entries of the matrix\n   */\n  public diagonal(): Point4d { return this.getSteppedPoint(0, 5); }\n  /** return the weight component of this matrix */\n  public weight(): number { return this._coffs[15]; }\n  /** return the leading 3x3 matrix part of this matrix */\n  public matrixPart(): Matrix3d {\n    return Matrix3d.createRowValues(this._coffs[0], this._coffs[1], this._coffs[2], this._coffs[4], this._coffs[5], this._coffs[6], this._coffs[8], this._coffs[9], this._coffs[10]);\n  }\n  /**\n   * Return the (affine, non-perspective) Transform with the upper 3 rows of this matrix\n   * @return undefined if this Matrix4d has perspective effects in the w row.\n   * @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) scale*A*B*AT where\n   * * A is a pure translation with final column [x,y,z,1]\n   * * B is the given `matrixB`\n   * * AT is the transpose of A.\n   * * scale is a multiplier.\n   * @param matrixB the middle matrix.\n   * @param ax x part of translation\n   * @param ay y part of translation\n   * @param az z part of translation\n   * @param scale scale factor for entire product\n   */\n  public addTranslationSandwichInPlace(matrixB: Matrix4d, ax: number, ay: number, az: number, scale: number) {\n    const bx = matrixB._coffs[3];\n    const by = matrixB._coffs[7];\n    const bz = matrixB._coffs[11];\n    // matrixB can be non-symmetric!!\n    const cx = matrixB._coffs[12];\n    const cy = matrixB._coffs[13];\n    const cz = matrixB._coffs[14];\n\n    const beta = matrixB._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += scale * (matrixB._coffs[0] + ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += scale * (matrixB._coffs[1] + ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += scale * (matrixB._coffs[2] + az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += scale * (bx + axBeta);\n\n    this._coffs[4] += scale * (matrixB._coffs[4] + ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += scale * (matrixB._coffs[5] + ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += scale * (matrixB._coffs[6] + az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += scale * (by + ayBeta);\n\n    this._coffs[8] += scale * (matrixB._coffs[8] + ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += scale * (matrixB._coffs[9] + ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += scale * (matrixB._coffs[10] + az * bz + cz * az + az * azBeta);\n    this._coffs[11] += scale * (bz + azBeta);\n\n    this._coffs[12] += scale * (cx + axBeta);\n    this._coffs[13] += scale * (cy + ayBeta);\n    this._coffs[14] += scale * (cz + azBeta);\n    this._coffs[15] += scale * beta;\n  }\n  /**\n   * Multiply and replace contents of ` this` matrix by `A*this*AT` where\n   * * `A` is a pure translation with final column [x,y,z,1].\n   * * `this` is this matrix.\n   * * `AT` is the transpose of A.\n   * @param ax x part of translation.\n   * @param ay y part of translation.\n   * @param az z part of translation.\n   */\n  public multiplyTranslationSandwichInPlace(ax: number, ay: number, az: number) : void {\n    const bx = this._coffs[3];\n    const by = this._coffs[7];\n    const bz = this._coffs[11];\n    // matrixB can be non-symmetric\n    const cx = this._coffs[12];\n    const cy = this._coffs[13];\n    const cz = this._coffs[14];\n\n    const beta = this._coffs[15];\n    const axBeta = ax * beta;\n    const ayBeta = ay * beta;\n    const azBeta = az * beta;\n    this._coffs[0] += (ax * bx + cx * ax + ax * axBeta);\n    this._coffs[1] += (ay * bx + cy * ax + ax * ayBeta);\n    this._coffs[2] += (az * bx + cz * ax + ax * azBeta);\n    this._coffs[3] += axBeta;\n\n    this._coffs[4] += (ax * by + cx * ay + ay * axBeta);\n    this._coffs[5] += (ay * by + cy * ay + ay * ayBeta);\n    this._coffs[6] += (az * by + cz * ay + ay * azBeta);\n    this._coffs[7] += ayBeta;\n\n    this._coffs[8] += (ax * bz + cx * az + az * axBeta);\n    this._coffs[9] += (ay * bz + cy * az + az * ayBeta);\n    this._coffs[10] += (az * bz + cz * az + az * azBeta);\n    this._coffs[11] += azBeta;\n\n    this._coffs[12] += axBeta;\n    this._coffs[13] += ayBeta;\n    this._coffs[14] += azBeta;\n    // coffs[15] is unchanged\n  }\n}\n"]}
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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+2*step, i0+3*step].\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) scale*A*B*AT 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 `A*this*AT` 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"]}

package/lib/cjs/geometry4d/MomentData.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\n/** @packageDocumentation\n * @module Numerics\n */\n\n/* eslint-disable @typescript-eslint/naming-convention */\n// cspell:word ABAT\n\nimport { Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Matrix4d } from \"./Matrix4d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A MomentData structure exists in several levels:\n * * First level: as a carrier of sums of inertial products that determine moments.\n *   * origin = local origin used as moments are summed.\n *   * sums = array of summed moments.\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\n *       * axes 0,1,2 are x,y,z.\n *         * e.g. entry [0,1] is summed product xy\n *       * axis 3 is \"w\", which is 1 in sums.\n *         * e.g. entry 03 is summed x.\n *    * In this level:\n *        * the `absoluteQuantity` member is undefined.\n *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.\n *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and\n *    `radiiOfGyration` are filled in.\n * @public\n */\nexport class MomentData {\n  /** Origin used for sums. */\n  public origin: Point3d;\n  /** Flag to request deferred origin setup. */\n  public needOrigin: boolean;\n  /**\n   * Moment sums.\n   * * Set to zero at initialization and if requested later.\n   * * Accumulated during data entry phase.\n   */\n  public sums: Matrix4d;\n  /**\n   * The mapping between principal and world system.\n   * * This set up with its inverse already constructed.\n   */\n  public localToWorldMap: Transform;\n  /** Radii of gyration (square roots of principal second moments). */\n  public radiusOfGyration: Vector3d;\n  /**\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\n   * inertiaProductsToPrincipalAxes.\n   */\n  public absoluteQuantity?: number;\n  // private variables\n  private static _vectorA?: Point4d;\n  private static _vectorB?: Point4d;\n  private static _vectorC?: Point4d;\n  private _point0 = Point3d.create();\n  private _point1 = Point3d.create();\n  /** Constructor. */\n  private constructor() {\n    this.origin = Point3d.createZero();\n    this.needOrigin = false;\n    this.sums = Matrix4d.createZero();\n    this.localToWorldMap = Transform.createIdentity();\n    this.radiusOfGyration = Vector3d.create();\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\n    this.absoluteQuantity = undefined;\n  }\n  /**\n   * Return the lower-right (3,3) entry in the sums.\n   * * This is the quantity (i.e. length, area, or volume) summed.\n   */\n  public get quantitySum(): number {\n    return this.sums.weight();\n  }\n  /**\n   * Return a scale factor to make these sums match the target orientation sign.\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\n   */\n  public signFactor(targetSign: number): number {\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginIfNeeded(origin: Point3d) {\n    if (this.needOrigin) {\n      this.origin.setFromPoint3d(origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\n    if (this.needOrigin && points.length > 0) {\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\n    if (this.needOrigin) {\n      this.origin.set(x, y, z);\n      this.needOrigin = false;\n    }\n  }\n  /**\n   * Create moments with optional origin.\n   * * Origin and needOrigin are quirky.\n   *   * (undefined, true) sets up to use first incoming point as origin.\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\n   *   * (origin, true) the \"true\" is meaningless.\n   *   * (undefined, false) makes 000 the durable origin.\n  */\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\n    const data = new MomentData();\n    data.needOrigin = needOrigin;\n    if (origin) {\n      data.origin.setFromPoint3d(origin);\n      data.needOrigin = false;\n    }\n    return data;\n  }\n  /**\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\n   */\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\n    const rr = products.sumDiagonal();\n    const result = Matrix3d.createScale(rr, rr, rr);\n    result.addScaledInPlace(products, -1.0);\n    return result;\n  }\n  /** Sort the columns of the matrix for increasing moments. */\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\n    const points = [\n      axes.indexedColumnWithWeight(0, moments.x),\n      axes.indexedColumnWithWeight(1, moments.y),\n      axes.indexedColumnWithWeight(2, moments.z),\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\n      if (dataA.w < dataB.w) return -1;\n      if (dataA.w > dataB.w) return 1;\n      return 0;\n    });\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\n    if (axes.determinant() < 0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\n    // prefer x and z positive; y falls wherever\n    if (axes.at(0, 0) < 0.0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\n    if (axes.at(2, 2) < 0.0)\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\n    moments.set(points[0].w, points[1].w, points[2].w);\n  }\n  /**\n   * Return the principal moment data for an array of points.\n   * @param points array of points.\n   */\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\n    const moments = new MomentData();\n    if (points.length === 0)\n      return moments;\n    moments.clearSums(points[0]);\n    moments.accumulatePointMomentsFromOrigin(points);\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\n  }\n  /**\n   * Compute principal axes from inertial products.\n   * * The radii of gyration are sorted smallest to largest.\n   * * Hence x axis is long direction.\n   * * Hence planar data generates large moment as Z.\n   * @param origin The origin used for the inertia products.\n   * @param inertiaProducts The inertia products: sums or integrals of\n   * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\n   */\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\n    const moments = new MomentData();\n    moments.sums.setFrom(inertiaProducts);\n    moments.origin.setFrom(origin);\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\n      return undefined;\n    const products = moments.sums.matrixPart();\n    const w = moments.sums.weight();\n    if (w < 0.0)\n      products.scaleColumnsInPlace(-1, -1, -1);\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\n    const moment2 = Vector3d.create();\n    const axisVectors = Matrix3d.createZero();\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\n    if (moment2.x < 0.0)\n      return undefined;\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\n    if (w < 0.0)\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\n    moments.radiusOfGyration.set(\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)),\n    );\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\n    moments.absoluteQuantity = Math.abs(w);\n    return moments;\n  }\n  /**\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\n   * * The members considered are:\n   *   * origin of local to world map (i.e. centroid),\n   *   * radius of gyration,\n   *   * axes of localToWorldMap.\n   * * Axis direction tests allow these quirks:\n   *   * opposite orientation is considered matched.\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\n   *   is tested.\n   * * If either or both are undefined, returns false.\n   * @param dataA first set of moments.\n   * @param dataB second set of moments.\n   */\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\n    if (dataA && dataB\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\n          // we have at least xy symmetry\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\n            return true;\n          // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely\n          const zA = dataA.localToWorldMap.matrix.columnZ();\n          const zB = dataB.localToWorldMap.matrix.columnZ();\n          if (zA.isParallelTo(zB, true))\n            return true;\n          return false;\n        }\n        // no symmetry; test all three axes\n        const vectorA = Vector3d.create();\n        const vectorB = Vector3d.create();\n        for (let i = 0; i < 3; i++) {\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\n          if (!vectorA.isParallelTo(vectorB, true))\n            return false;\n        }\n        return true;\n      }\n    }\n    return false;\n  }\n  /** Clear the MomentData sums to zero, and establish a new origin. */\n  public clearSums(origin?: Point3d) {\n    this.sums.setZero();\n    if (origin)\n      this.origin.setFrom(origin);\n    else\n      this.origin.setZero();\n  }\n  /** Accumulate products-of-components for given points. */\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\n    for (const p of points) {\n      this.sums.addMomentsInPlace(\n        p.x - this.origin.x,\n        p.y - this.origin.y,\n        p.z - this.origin.z,\n        1.0,\n      );\n    }\n  }\n  /** Revise the accumulated sums to be \"around the centroid\". */\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\n    const xyz = this.sums.columnW().realPoint(); // centroid of the geometry\n    if (xyz) {\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\n      return true;\n    }\n    return false;\n  }\n  /**\n   * Revise the accumulated sums.\n   * * Add (ax,ay,az) to the origin coordinates.\n   * * Apply the negative translation to the sums.\n   */\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\n    this.origin.addXYZInPlace(ax, ay, az);\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\n  }\n  /** Revise the accumulated sums so they are based at a specified origin. */\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\n  }\n  /**\n   * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.\n   * * If `pointA` is undefined, use `this.origin` as `pointA`.\n   */\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const vectorA = MomentData._vectorA = (pointA !== undefined) ?\n      Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :\n      Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\n    // Below we calculate 16 double integrals: \\iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).\n    // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric\n    // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.\n    // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,\n    // \\iint_T x^2 dT = detJ \\int_0^1 \\int_0^{1-u} u^2 dv du = detJ / 12, and similarly \\iint_T xy dT = detJ / 24.\n    const detJ = Geometry.crossProductXYXY(\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y,\n    );\n    if (detJ !== 0.0) {\n      const r1_12 = detJ / 12.0;\n      const r1_24 = detJ / 24.0;\n\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\n    }\n  }\n  /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\n    const vectorA = MomentData._vectorA = Point4d.create(\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\n    );\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\n  }\n  /** Accumulate wire moment integral from pointA to pointB */\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const z0 = this.origin.z;\n    const vectorA = MomentData._vectorA = Point4d.create(\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\n    );\n    const vectorB = MomentData._vectorB = Point4d.create(\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\n    );\n    const detJ = pointA.distance(pointB);\n    const r1_3 = detJ / 3.0;\n    const r1_6 = detJ / 6.0;\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\n  }\n  /**\n   * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.\n   * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.\n   */\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\n    const n = points.length;\n    if (n > 1) {\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\n      // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.\n      for (let i = 1; i < n; i++) {\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\n        this._point0.setFromPoint3d(this._point1);\n      }\n    }\n  }\n  /**\n   * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].\n   *   (column weights 0001; only xy parts of vectors).\n   * * Scale by detJ for the xy-only determinant of the vectors.\n   * @param productXX\n   * @param productXY\n   * @param productYY\n   * @param area area in caller's system.\n   * @param origin caller's origin.\n   * @param vectorU caller's U axis (not necessarily unit).\n   * @param vectorV caller's V axis (not necessarily unit).\n   */\n  public accumulateXYProductsInCentroidalFrame(\n    productXX: number, productXY: number, productYY: number,\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\n  ) {\n    const centroidalProducts = Matrix4d.createRowValues(\n      productXX, productXY, 0, 0,\n      productXY, productYY, 0, 0,\n      0, 0, 0, 0,\n      0, 0, 0, area,\n    );\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\n    const placement = Matrix4d.createRowValues(\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\n      0, 0, 0, 0,\n      0, 0, 0, 1,\n    );\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\n    this.sums.addScaledInPlace(ABAT, detJ);\n  }\n  /**\n   * Accumulate sums from other moments.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Pull the origin from `other` if `this` needs an origin.\n   */\n  public accumulateProducts(other: MomentData, scale: number) {\n    this.setOriginIfNeeded(other.origin);\n    this.sums.addTranslationSandwichInPlace(\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\n    );\n  }\n  /**\n   * Accumulate sums from Matrix4d and origin.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Trap the origin if `this` needs an origin.\n   */\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\n    this.setOriginIfNeeded(origin);\n    this.sums.addTranslationSandwichInPlace(\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\n    );\n  }\n  /** Convert to a json data object. */\n  public toJSON(): any {\n    return {\n      origin: this.origin,\n      sums: this.sums.toJSON(),\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\n      localToWorld: this.localToWorldMap.toJSON(),\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\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n// cspell:word ABAT\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A MomentData structure exists in several levels:\r\n * * First level: as a carrier of sums of inertial products that determine moments.\r\n *   * origin = local origin used as moments are summed.\r\n *   * sums = array of summed moments.\r\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\r\n *       * axes 0,1,2 are x,y,z.\r\n *         * e.g. entry [0,1] is summed product xy\r\n *       * axis 3 is \"w\", which is 1 in sums.\r\n *         * e.g. entry 03 is summed x.\r\n *    * In this level:\r\n *        * the `absoluteQuantity` member is undefined.\r\n *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.\r\n *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and\r\n *    `radiiOfGyration` are filled in.\r\n * @public\r\n */\r\nexport class MomentData {\r\n  /** Origin used for sums. */\r\n  public origin: Point3d;\r\n  /** Flag to request deferred origin setup. */\r\n  public needOrigin: boolean;\r\n  /**\r\n   * Moment sums.\r\n   * * Set to zero at initialization and if requested later.\r\n   * * Accumulated during data entry phase.\r\n   */\r\n  public sums: Matrix4d;\r\n  /**\r\n   * The mapping between principal and world system.\r\n   * * This set up with its inverse already constructed.\r\n   */\r\n  public localToWorldMap: Transform;\r\n  /** Radii of gyration (square roots of principal second moments). */\r\n  public radiusOfGyration: Vector3d;\r\n  /**\r\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\r\n   * inertiaProductsToPrincipalAxes.\r\n   */\r\n  public absoluteQuantity?: number;\r\n  // private variables\r\n  private static _vectorA?: Point4d;\r\n  private static _vectorB?: Point4d;\r\n  private static _vectorC?: Point4d;\r\n  private _point0 = Point3d.create();\r\n  private _point1 = Point3d.create();\r\n  /** Constructor. */\r\n  private constructor() {\r\n    this.origin = Point3d.createZero();\r\n    this.needOrigin = false;\r\n    this.sums = Matrix4d.createZero();\r\n    this.localToWorldMap = Transform.createIdentity();\r\n    this.radiusOfGyration = Vector3d.create();\r\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\r\n    this.absoluteQuantity = undefined;\r\n  }\r\n  /**\r\n   * Return the lower-right (3,3) entry in the sums.\r\n   * * This is the quantity (i.e. length, area, or volume) summed.\r\n   */\r\n  public get quantitySum(): number {\r\n    return this.sums.weight();\r\n  }\r\n  /**\r\n   * Return a scale factor to make these sums match the target orientation sign.\r\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\r\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\r\n   */\r\n  public signFactor(targetSign: number): number {\r\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginIfNeeded(origin: Point3d) {\r\n    if (this.needOrigin) {\r\n      this.origin.setFromPoint3d(origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\r\n    if (this.needOrigin && points.length > 0) {\r\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\r\n    if (this.needOrigin) {\r\n      this.origin.set(x, y, z);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /**\r\n   * Create moments with optional origin.\r\n   * * Origin and needOrigin are quirky.\r\n   *   * (undefined, true) sets up to use first incoming point as origin.\r\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\r\n   *   * (origin, true) the \"true\" is meaningless.\r\n   *   * (undefined, false) makes 000 the durable origin.\r\n  */\r\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\r\n    const data = new MomentData();\r\n    data.needOrigin = needOrigin;\r\n    if (origin) {\r\n      data.origin.setFromPoint3d(origin);\r\n      data.needOrigin = false;\r\n    }\r\n    return data;\r\n  }\r\n  /**\r\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\r\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\r\n   */\r\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\r\n    const rr = products.sumDiagonal();\r\n    const result = Matrix3d.createScale(rr, rr, rr);\r\n    result.addScaledInPlace(products, -1.0);\r\n    return result;\r\n  }\r\n  /** Sort the columns of the matrix for increasing moments. */\r\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\r\n    const points = [\r\n      axes.indexedColumnWithWeight(0, moments.x),\r\n      axes.indexedColumnWithWeight(1, moments.y),\r\n      axes.indexedColumnWithWeight(2, moments.z),\r\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\r\n      if (dataA.w < dataB.w) return -1;\r\n      if (dataA.w > dataB.w) return 1;\r\n      return 0;\r\n    });\r\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\r\n    if (axes.determinant() < 0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\r\n    // prefer x and z positive; y falls wherever\r\n    if (axes.at(0, 0) < 0.0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\r\n    if (axes.at(2, 2) < 0.0)\r\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\r\n    moments.set(points[0].w, points[1].w, points[2].w);\r\n  }\r\n  /**\r\n   * Return the principal moment data for an array of points.\r\n   * @param points array of points.\r\n   */\r\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    if (points.length === 0)\r\n      return moments;\r\n    moments.clearSums(points[0]);\r\n    moments.accumulatePointMomentsFromOrigin(points);\r\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\r\n  }\r\n  /**\r\n   * Compute principal axes from inertial products.\r\n   * * The radii of gyration are sorted smallest to largest.\r\n   * * Hence x axis is long direction.\r\n   * * Hence planar data generates large moment as Z.\r\n   * @param origin The origin used for the inertia products.\r\n   * @param inertiaProducts The inertia products: sums or integrals of\r\n   * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\r\n   */\r\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    moments.sums.setFrom(inertiaProducts);\r\n    moments.origin.setFrom(origin);\r\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\r\n      return undefined;\r\n    const products = moments.sums.matrixPart();\r\n    const w = moments.sums.weight();\r\n    if (w < 0.0)\r\n      products.scaleColumnsInPlace(-1, -1, -1);\r\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\r\n    const moment2 = Vector3d.create();\r\n    const axisVectors = Matrix3d.createZero();\r\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\r\n    if (moment2.x < 0.0)\r\n      return undefined;\r\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\r\n    if (w < 0.0)\r\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\r\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\r\n    moments.radiusOfGyration.set(\r\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)),\r\n    );\r\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\r\n    moments.absoluteQuantity = Math.abs(w);\r\n    return moments;\r\n  }\r\n  /**\r\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\r\n   * * The members considered are:\r\n   *   * origin of local to world map (i.e. centroid),\r\n   *   * radius of gyration,\r\n   *   * axes of localToWorldMap.\r\n   * * Axis direction tests allow these quirks:\r\n   *   * opposite orientation is considered matched.\r\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\r\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\r\n   *   is tested.\r\n   * * If either or both are undefined, returns false.\r\n   * @param dataA first set of moments.\r\n   * @param dataB second set of moments.\r\n   */\r\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\r\n    if (dataA && dataB\r\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?\r\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\r\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\r\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\r\n          // we have at least xy symmetry\r\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\r\n            return true;\r\n          // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely\r\n          const zA = dataA.localToWorldMap.matrix.columnZ();\r\n          const zB = dataB.localToWorldMap.matrix.columnZ();\r\n          if (zA.isParallelTo(zB, true))\r\n            return true;\r\n          return false;\r\n        }\r\n        // no symmetry; test all three axes\r\n        const vectorA = Vector3d.create();\r\n        const vectorB = Vector3d.create();\r\n        for (let i = 0; i < 3; i++) {\r\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\r\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\r\n          if (!vectorA.isParallelTo(vectorB, true))\r\n            return false;\r\n        }\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear the MomentData sums to zero, and establish a new origin. */\r\n  public clearSums(origin?: Point3d) {\r\n    this.sums.setZero();\r\n    if (origin)\r\n      this.origin.setFrom(origin);\r\n    else\r\n      this.origin.setZero();\r\n  }\r\n  /** Accumulate products-of-components for given points. */\r\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\r\n    for (const p of points) {\r\n      this.sums.addMomentsInPlace(\r\n        p.x - this.origin.x,\r\n        p.y - this.origin.y,\r\n        p.z - this.origin.z,\r\n        1.0,\r\n      );\r\n    }\r\n  }\r\n  /** Revise the accumulated sums to be \"around the centroid\". */\r\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\r\n    const xyz = this.sums.columnW().realPoint(); // centroid of the geometry\r\n    if (xyz) {\r\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Revise the accumulated sums.\r\n   * * Add (ax,ay,az) to the origin coordinates.\r\n   * * Apply the negative translation to the sums.\r\n   */\r\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\r\n    this.origin.addXYZInPlace(ax, ay, az);\r\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\r\n  }\r\n  /** Revise the accumulated sums so they are based at a specified origin. */\r\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\r\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\r\n  }\r\n  /**\r\n   * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.\r\n   * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.\r\n   * * If `pointA` is undefined, use `this.origin` as `pointA`.\r\n   */\r\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\r\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const vectorA = MomentData._vectorA = (pointA !== undefined) ?\r\n      Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :\r\n      Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\r\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\r\n    // Below we calculate 16 double integrals: \\iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).\r\n    // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric\r\n    // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.\r\n    // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,\r\n    // \\iint_T x^2 dT = detJ \\int_0^1 \\int_0^{1-u} u^2 dv du = detJ / 12, and similarly \\iint_T xy dT = detJ / 24.\r\n    const detJ = Geometry.crossProductXYXY(\r\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y,\r\n    );\r\n    if (detJ !== 0.0) {\r\n      const r1_12 = detJ / 12.0;\r\n      const r1_24 = detJ / 24.0;\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\r\n    }\r\n  }\r\n  /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */\r\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\r\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\r\n    );\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\r\n  }\r\n  /** Accumulate wire moment integral from pointA to pointB */\r\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\r\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const z0 = this.origin.z;\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\r\n    );\r\n    const vectorB = MomentData._vectorB = Point4d.create(\r\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\r\n    );\r\n    const detJ = pointA.distance(pointB);\r\n    const r1_3 = detJ / 3.0;\r\n    const r1_6 = detJ / 6.0;\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\r\n  }\r\n  /**\r\n   * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.\r\n   * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.\r\n   * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.\r\n   */\r\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\r\n    const n = points.length;\r\n    if (n > 1) {\r\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\r\n      // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.\r\n      for (let i = 1; i < n; i++) {\r\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\r\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\r\n        this._point0.setFromPoint3d(this._point1);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].\r\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].\r\n   *   (column weights 0001; only xy parts of vectors).\r\n   * * Scale by detJ for the xy-only determinant of the vectors.\r\n   * @param productXX\r\n   * @param productXY\r\n   * @param productYY\r\n   * @param area area in caller's system.\r\n   * @param origin caller's origin.\r\n   * @param vectorU caller's U axis (not necessarily unit).\r\n   * @param vectorV caller's V axis (not necessarily unit).\r\n   */\r\n  public accumulateXYProductsInCentroidalFrame(\r\n    productXX: number, productXY: number, productYY: number,\r\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\r\n  ) {\r\n    const centroidalProducts = Matrix4d.createRowValues(\r\n      productXX, productXY, 0, 0,\r\n      productXY, productYY, 0, 0,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, area,\r\n    );\r\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\r\n    const placement = Matrix4d.createRowValues(\r\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\r\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, 1,\r\n    );\r\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\r\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\r\n    this.sums.addScaledInPlace(ABAT, detJ);\r\n  }\r\n  /**\r\n   * Accumulate sums from other moments.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Pull the origin from `other` if `this` needs an origin.\r\n   */\r\n  public accumulateProducts(other: MomentData, scale: number) {\r\n    this.setOriginIfNeeded(other.origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\r\n    );\r\n  }\r\n  /**\r\n   * Accumulate sums from Matrix4d and origin.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Trap the origin if `this` needs an origin.\r\n   */\r\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\r\n    this.setOriginIfNeeded(origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\r\n    );\r\n  }\r\n  /** Convert to a json data object. */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin,\r\n      sums: this.sums.toJSON(),\r\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\r\n      localToWorld: this.localToWorldMap.toJSON(),\r\n    };\r\n  }\r\n}\r\n"]}

package/lib/cjs/geometry4d/PlaneByOriginAndVectors4d.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\n * @public\n */\nexport class PlaneByOriginAndVectors4d {\n  /** homogeneous origin */\n  public origin: Point4d;\n  /** homogeneous u-direction vector */\n  public vectorU: Point4d;\n  /** homogeneous v-direction vector */\n  public vectorV: Point4d;\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\n    this.origin = origin;\n    this.vectorU = vectorU;\n    this.vectorV = vectorV;\n  }\n  /** Return a clone of this plane */\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setFrom(this);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\n  }\n  /** copy all content from other plane */\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\n    this.origin.setFrom(other.origin);\n    this.vectorU.setFrom(other.vectorU);\n    this.vectorV.setFrom(other.vectorV);\n  }\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\n    return this.origin.isAlmostEqual(other.origin)\n      && this.vectorU.isAlmostEqual(other.vectorU)\n      && this.vectorV.isAlmostEqual(other.vectorV);\n  }\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\n   */\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setOriginAndVectors(origin, vectorU, vectorV);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\n  }\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\n    this.origin.set(x0, y0, z0, w0);\n    this.vectorU.set(ux, uy, uz, uw);\n    this.vectorV.set(vx, vy, vz, vw);\n    return this;\n  }\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\n    this.origin.setFrom(origin);\n    this.vectorU.setFrom(vectorU);\n    this.vectorV.setFrom(vectorV);\n    return this;\n  }\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result)\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\n  }\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\n  }\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\n  }\n  /** create a new plane which maps to the cartesian xy plane. */\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\n  }\n}\n"]}
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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 Numerics\r\n */\r\n\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\r\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\r\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\r\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\r\n * @public\r\n */\r\nexport class PlaneByOriginAndVectors4d {\r\n  /** homogeneous origin */\r\n  public origin: Point4d;\r\n  /** homogeneous u-direction vector */\r\n  public vectorU: Point4d;\r\n  /** homogeneous v-direction vector */\r\n  public vectorV: Point4d;\r\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** Return a clone of this plane */\r\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setFrom(this);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /** copy all content from other plane */\r\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\r\n    this.origin.setFrom(other.origin);\r\n    this.vectorU.setFrom(other.vectorU);\r\n    this.vectorV.setFrom(other.vectorV);\r\n  }\r\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\r\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\r\n   */\r\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setOriginAndVectors(origin, vectorU, vectorV);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\r\n    this.origin.set(x0, y0, z0, w0);\r\n    this.vectorU.set(ux, uy, uz, uw);\r\n    this.vectorV.set(vx, vy, vz, vw);\r\n    return this;\r\n  }\r\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\r\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\r\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\r\n  }\r\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\r\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\r\n  }\r\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\r\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** create a new plane which maps to the cartesian xy plane. */\r\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\r\n  }\r\n}\r\n"]}