npm - @itwin/core-geometry - Versions diffs - 5.5.0-dev.4 → 5.5.0-dev.6 - Mend

@itwin/core-geometry 5.5.0-dev.4 → 5.5.0-dev.6

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (611) hide show

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

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/\r\n A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\r\n * the columns of the Matrix3d being the local x,y,z axis directions.\r\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = Mp + o`.\r\n In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\r\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\r\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\r\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\r\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\r\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\r\n * * If `T` is a translation, no point is fixed by `T`.\r\n * * If `T` is the identity, all points are fixed by `T`.\r\n * * If `T` is a scale about a point, one point is fixed by `T`.\r\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\r\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\r\n * @public\r\n /\r\nexport class Transform implements BeJSONFunctions {\r\n private _origin: XYZ;\r\n private _matrix: Matrix3d;\r\n // Constructor accepts and uses pointer to content (no copy is done here).\r\n private constructor(origin: XYZ, matrix: Matrix3d) {\r\n this._origin = origin;\r\n this._matrix = matrix;\r\n }\r\n private static _identity?: Transform;\r\n /* The identity Transform. Value is frozen and cannot be modified. /\r\n public static get identity(): Transform {\r\n if (undefined === this._identity) {\r\n this._identity = Transform.createIdentity();\r\n this._identity.freeze();\r\n }\r\n return this._identity;\r\n }\r\n /* Freeze this instance (and its members) so it is read-only /\r\n public freeze(): Readonly<this> {\r\n this._origin.freeze();\r\n this._matrix.freeze();\r\n return Object.freeze(this);\r\n }\r\n /\r\n Copy contents from other Transform into this Transform\r\n * @param other source transform\r\n /\r\n public setFrom(other: Transform) {\r\n this._origin.setFrom(other._origin);\r\n this._matrix.setFrom(other._matrix);\r\n }\r\n /* Set this Transform to be an identity. /\r\n public setIdentity() {\r\n this._origin.setZero();\r\n this._matrix.setIdentity();\r\n }\r\n /\r\n Set this Transform instance from flexible inputs:\r\n * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\r\n * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\r\n * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\r\n * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\r\n * * If no input is provided, the identity Transform is returned.\r\n /\r\n public setFromJSON(json?: TransformProps \| Transform): void {\r\n if (json) {\r\n if (json instanceof Object && (json as any).origin && (json as any).matrix) {\r\n this._origin.setFromJSON((json as any).origin);\r\n this._matrix.setFromJSON((json as any).matrix);\r\n return;\r\n }\r\n if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\r\n this._matrix.setRowValues(\r\n json[0][0], json[0][1], json[0][2],\r\n json[1][0], json[1][1], json[1][2],\r\n json[2][0], json[2][1], json[2][2],\r\n );\r\n this._origin.set(json[0][3], json[1][3], json[2][3]);\r\n return;\r\n }\r\n if (Geometry.isNumberArray(json, 12)) {\r\n this._matrix.setRowValues(\r\n json[0], json[1], json[2],\r\n json[4], json[5], json[6],\r\n json[8], json[9], json[10],\r\n );\r\n this._origin.set(json[3], json[7], json[11]);\r\n return;\r\n }\r\n }\r\n this.setIdentity();\r\n }\r\n /\r\n Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\r\n * `matrix` parts.\r\n * @param other Transform to compare to.\r\n /\r\n public isAlmostEqual(other: Readonly<Transform>): boolean {\r\n return this === other \|\| this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\r\n }\r\n /\r\n Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\r\n * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\r\n * @param other Transform to compare to.\r\n /\r\n public isAlmostEqualAllowZRotation(other: Transform): boolean {\r\n return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\r\n }\r\n /\r\n Return a 3 by 4 matrix containing the rows of this Transform.\r\n * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n /\r\n public toRows(): number[][] {\r\n return [\r\n [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\r\n [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\r\n [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\r\n ];\r\n }\r\n /\r\n Return a 3 by 4 matrix containing the rows of this Transform.\r\n * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n /\r\n public toJSON(): TransformProps {\r\n return this.toRows();\r\n }\r\n /* Return a new Transform initialized by `Transform.setFromJSON` /\r\n public static fromJSON(json?: TransformProps): Transform {\r\n const result = Transform.createIdentity();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /* Copy the contents of `this` transform into a new Transform (or to the result, if specified). /\r\n public clone(result?: Transform): Transform {\r\n if (result) {\r\n result._matrix.setFrom(this._matrix);\r\n result._origin.setFrom(this._origin);\r\n return result;\r\n }\r\n return new Transform(\r\n Point3d.createFrom(this._origin),\r\n this._matrix.clone(),\r\n );\r\n }\r\n /\r\n Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\r\n * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\r\n /\r\n public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform \| undefined {\r\n const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\r\n if (!modifiedMatrix)\r\n return undefined;\r\n return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\r\n }\r\n /* Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. /\r\n public static createRefs(origin: XYZ \| undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n if (!origin)\r\n origin = Point3d.createZero();\r\n if (result) {\r\n result._origin = origin;\r\n result._matrix = matrix;\r\n return result;\r\n }\r\n return new Transform(origin, matrix);\r\n }\r\n /* Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin /\r\n public static createRowValues(\r\n qxx: number, qxy: number, qxz: number, ax: number,\r\n qyx: number, qyy: number, qyz: number, ay: number,\r\n qzx: number, qzy: number, qzz: number, az: number,\r\n result?: Transform,\r\n ): Transform {\r\n if (result) {\r\n result._origin.set(ax, ay, az);\r\n result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\r\n return result;\r\n }\r\n return new Transform(\r\n Point3d.create(ax, ay, az),\r\n Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\r\n );\r\n }\r\n /* Create a Transform with all zeros /\r\n public static createZero(result?: Transform): Transform {\r\n return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\r\n }\r\n /\r\n Create a Transform with translation provided by x,y,z parts.\r\n * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n * @param x x part of translation\r\n * @param y y part of translation\r\n * @param z z part of translation\r\n * @param result optional pre-allocated Transform\r\n * @returns new or updated transform\r\n /\r\n public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\r\n return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\r\n }\r\n /\r\n Create a Transform with specified `translation` part.\r\n * * Translation Transform maps any vector `v` to `v + translation`\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n * @param translation x,y,z parts of the translation\r\n * @param result optional pre-allocated Transform\r\n * @returns new or updated transform\r\n /\r\n public static createTranslation(translation: XYZ, result?: Transform): Transform {\r\n return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\r\n }\r\n /* Return a reference (and NOT a copy) to the `matrix` part of the Transform. /\r\n public get matrix(): Matrix3d {\r\n return this._matrix;\r\n }\r\n /* Return a reference (and NOT a copy) to the `origin` part of the Transform. /\r\n public get origin(): XYZ {\r\n return this._origin;\r\n }\r\n /* return a (clone of) the `origin` part of the Transform, as a `Point3d` /\r\n public getOrigin(): Point3d {\r\n return Point3d.createFrom(this._origin);\r\n }\r\n /* return a (clone of) the `origin` part of the Transform, as a `Vector3d` /\r\n public getTranslation(): Vector3d {\r\n return Vector3d.createFrom(this._origin);\r\n }\r\n /* return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` /\r\n public getMatrix(): Matrix3d {\r\n return this._matrix.clone();\r\n }\r\n /* test if the transform has `origin` = (0,0,0) and identity `matrix` /\r\n public get isIdentity(): boolean {\r\n return this._matrix.isIdentity && this._origin.isAlmostZero;\r\n }\r\n /* Create an identity transform /\r\n public static createIdentity(result?: Transform): Transform {\r\n if (result) {\r\n result._origin.setZero();\r\n result._matrix.setIdentity();\r\n return result;\r\n }\r\n return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\r\n }\r\n /\r\n Create a Transform using the given `origin` and `matrix`.\r\n * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\r\n * local-to-world mapping, and the given point is the axes' origin in world coordinates.\r\n * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\r\n * of the world-to-world transformation.\r\n * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\r\n /\r\n public static createOriginAndMatrix(\r\n origin: XYZ \| undefined, matrix: Matrix3d \| undefined, result?: Transform,\r\n ): Transform {\r\n if (result) {\r\n result._origin.setFromPoint3d(origin);\r\n result._matrix.setFrom(matrix);\r\n return result;\r\n }\r\n return Transform.createRefs(\r\n origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\r\n matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\r\n result,\r\n );\r\n }\r\n /* Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. /\r\n public setOriginAndMatrixColumns(\r\n origin: XYZ \| undefined, vectorX: Vector3d \| undefined, vectorY: Vector3d \| undefined, vectorZ: Vector3d \| undefined,\r\n ): void {\r\n if (origin !== undefined)\r\n this._origin.setFrom(origin);\r\n this._matrix.setColumns(vectorX, vectorY, vectorZ);\r\n }\r\n /* Create a Transform using the given `origin` and columns of the `matrix` /\r\n public static createOriginAndMatrixColumns(\r\n origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\r\n ): Transform {\r\n if (result)\r\n result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\r\n else\r\n result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\r\n return result;\r\n }\r\n /\r\n Create a Transform with given origin and a rigid matrix constructed from two column vectors.\r\n * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n * @param vectorX first axis passed into `Matrix3d.createRigidFromColumns`.\r\n * @param vectorY second axis passed into `Matrix3d.createRigidFromColumns`.\r\n * @param axisOrder order of axis construction in `Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder)`.\r\n * @param result optional pre-allocated result to populate and return.\r\n * @returns localToWorld transform for a local coordinate system with given origin and ordered axes, or `undefined`\r\n * if the rigid matrix could not be created.\r\n * @see [[Matrix3d.createRigidFromColumns]]\r\n /\r\n public static createRigidFromOriginAndColumns(\r\n origin: XYZ \| undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\r\n ): Transform \| undefined {\r\n const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result?._matrix);\r\n if (!matrix)\r\n return undefined;\r\n if (result) {\r\n result._origin.setFrom(origin);\r\n return result;\r\n }\r\n return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n }\r\n /\r\n Create a Transform with given origin and a rigid matrix constructed from one column vector.\r\n * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n * @param vector direction of the axis of the local coordinate system indicated by the first letter of `axisOrder`.\r\n * @param axisOrder order of axis construction in `Matrix3d.createRigidHeadsUp(vector, axisOrder)`. Default value\r\n * is `AxisOrder.ZXY`, which means the z-column of the returned Transform is in the direction of `vector`.\r\n * @param result optional pre-allocated result to populate and return.\r\n * @returns localToWorld transform for a local coordinate system with given origin and axis, or `undefined`\r\n * if the rigid matrix could not be created.\r\n * @see [[Matrix3d.createRigidHeadsUp]]\r\n /\r\n public static createRigidFromOriginAndVector(origin: XYZ \| undefined, vector: Vector3d, axisOrder: AxisOrder = AxisOrder.ZXY, result?: Transform): Transform \| undefined {\r\n const matrix = Matrix3d.createRigidHeadsUp(vector, axisOrder, result?._matrix);\r\n if (!matrix)\r\n return undefined;\r\n if (result) {\r\n result._origin.setFrom(origin);\r\n return result;\r\n }\r\n return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n }\r\n /\r\n Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\r\n * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `Mp + (f - Mf)`\r\n * where `f` is the fixedPoint (i.e., `Tp = M(p-f) + f`).\r\n /\r\n public static createFixedPointAndMatrix(\r\n fixedPoint: XYAndZ \| undefined, matrix: Matrix3d, result?: Transform,\r\n ): Transform {\r\n if (fixedPoint) {\r\n /*\r\n if f is a fixed point, then Tf = Mf + o = f where M is the matrix and o is the origin.\r\n we define the origin o = f - Mf. Therefore, Tf = Mf + o = Mf + (f - Mf) = f.\r\n /\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n return Transform.createRefs(origin, matrix.clone(), result);\r\n }\r\n return Transform.createRefs(undefined, matrix.clone());\r\n }\r\n /*\r\n Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\r\n * point `p` to `M(p-a) + b` (i.e., `Tp = M(p-a) + b`), so maps `a` to `b`.\r\n /\r\n public static createMatrixPickupPutdown(\r\n matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\r\n ): Transform {\r\n // we define the origin o = b - Ma so Tp = Mp + o = Mp + (b - Ma) = M(p-a) + b\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\r\n return Transform.createRefs(origin, matrix.clone(), result);\r\n }\r\n /*\r\n Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\r\n * a single scale factor. The returned Transform maps a point `p` to `Mp + (f - Mf)`\r\n * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M(p-f) + f`).\r\n * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n /\r\n public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\r\n const matrix = Matrix3d.createScale(scale, scale, scale);\r\n /\r\n if f is a fixed point, then Tf = Mf + o = f where M is the matrix and o is the origin.\r\n we define the origin o = f - Mf. Therefore, Tf = Mf + o = Mf + (f - Mf) = f.\r\n /\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n return Transform.createRefs(origin, matrix, result);\r\n }\r\n /\r\n Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\r\n * from the plane normal.\r\n * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\r\n * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation is a projection onto the plane.\r\n * @param planePoint any point on the plane\r\n * @param planeNormal vector normal to the plane.\r\n /\r\n public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform \| undefined {\r\n const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\r\n if (matrix === undefined)\r\n return undefined;\r\n return Transform.createFixedPointAndMatrix(planePoint, matrix);\r\n }\r\n /\r\n Transform the input 2d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\r\n return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\r\n }\r\n /\r\n Transform the input 3d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\r\n // Tx = Mx + o so we return Mx + o\r\n return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\r\n }\r\n /\r\n Transform the input 3d point in place (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyXYAndZInPlace(point: XYAndZ): void {\r\n return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\r\n }\r\n /\r\n Transform the input 3d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\r\n // Tx = Mx + o so we return Mx + o\r\n return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\r\n }\r\n /\r\n Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\r\n /\r\n public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\r\n const coffs = this._matrix.coffs;\r\n const idx = 3 componentIndex;\r\n return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n }\r\n /*\r\n Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\r\n /\r\n public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\r\n const coffs = this._matrix.coffs;\r\n const idx = 3 componentIndex;\r\n return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n }\r\n /*\r\n Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + ow` and returns the `Point4d` formed by `Tp` in the\r\n * first three coordinates, and `w` in the fourth.\r\n * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n /\r\n public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\r\n }\r\n /\r\n Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + ow` and returns the `Float64Array` formed by `Tp`\r\n * in the first 3 numbers of the array and `w` as the fourth.\r\n * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n /\r\n public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\r\n return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\r\n }\r\n /\r\n * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + o` and returns it as the first 3 elements of the array.\r\n /\r\n public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\r\n return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\r\n }\r\n /*\r\n Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\r\n * pre-allocated result (if result is given).\r\n * * If `p = (x,y,z)` then this method computes `M^tp` and returns it in the first three coordinates of the `Point4d`,\r\n and `op + w` in the fourth.\r\n * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\r\n * fourth row 0001.\r\n /\r\n public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n const coffs = this._matrix.coffs;\r\n const origin = this._origin;\r\n return Point4d.create(\r\n (x coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\r\n (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\r\n (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\r\n (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\r\n result,\r\n );\r\n }\r\n /** For each point in the array, replace point by the transformed point (using `Tp = Mp + o`) /\r\n public multiplyPoint3dArrayInPlace(points: Point3d[]) {\r\n let point;\r\n for (point of points)\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\r\n }\r\n /** For each point in the 2d array, replace point by the transformed point (using `Tp = Mp + o`) /\r\n public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\r\n for (const chain of chains)\r\n this.multiplyPoint3dArrayInPlace(chain);\r\n }\r\n /*\r\n Multiply the point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse`\r\n * Transform has matrix part `MInverse` and origin part `-MInverseo`.\r\n * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d \| undefined {\r\n return this._matrix.multiplyInverseXYZAsPoint3d(\r\n point.x - this._origin.x,\r\n point.y - this._origin.y,\r\n point.z - this._origin.z,\r\n result,\r\n );\r\n }\r\n /\r\n Multiply the homogenous point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse` Transform\r\n * has matrix part `MInverse` and origin part `-MInverseo`.\r\n * This method computes `TInverse p = MInversep - wMInverseo` and returns the `Point4d` formed by `TInversep`\r\n * in the first three coordinates, and `w` in the fourth.\r\n * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\r\n * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\r\n * * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d \| undefined {\r\n const w = weightedPoint.w;\r\n return this._matrix.multiplyInverseXYZW(\r\n weightedPoint.x - w this.origin.x,\r\n weightedPoint.y - w * this.origin.y,\r\n weightedPoint.z - w * this.origin.z,\r\n w,\r\n result,\r\n );\r\n }\r\n /*\r\n Multiply the point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse` Transform\r\n * has matrix part `MInverse` and origin part `-MInverseo`.\r\n * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d \| undefined {\r\n return this._matrix.multiplyInverseXYZAsPoint3d(\r\n x - this._origin.x,\r\n y - this._origin.y,\r\n z - this._origin.z,\r\n result,\r\n );\r\n }\r\n /\r\n * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\r\n * operations can complete.\r\n * @param useCached If true, accept prior cached inverse if available.\r\n * @returns `true` if matrix inverse completes, `false` otherwise.\r\n /\r\n public computeCachedInverse(useCached: boolean = true): boolean {\r\n return this._matrix.computeCachedInverse(useCached);\r\n }\r\n /\r\n Match the length of destination array with the length of source array\r\n * * If destination has more elements than source, remove the extra elements.\r\n * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\r\n * \r\n @param source the source array\r\n * @param dest the destination array\r\n * @param constructionFunction function to call to create new elements.\r\n /\r\n public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\r\n const numSource = source.length;\r\n const numDest = dest.length;\r\n if (numSource > numDest) {\r\n for (let i = numDest; i < numSource; i++) {\r\n dest.push(constructionFunction());\r\n }\r\n } else if (numDest > numSource) {\r\n dest.length = numSource;\r\n }\r\n return numSource;\r\n }\r\n /\r\n Multiply each point in the array by the inverse of `this` Transform.\r\n * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\r\n * * If `result` is not given, return a new array.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] \| undefined {\r\n if (!this._matrix.computeCachedInverse(true))\r\n return undefined;\r\n const originX = this.origin.x;\r\n const originY = this.origin.y;\r\n const originZ = this.origin.z;\r\n if (result) {\r\n const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n for (let i = 0; i < n; i++)\r\n this._matrix.multiplyInverseXYZAsPoint3d(\r\n points[i].x - originX,\r\n points[i].y - originY,\r\n points[i].z - originZ,\r\n result[i],\r\n );\r\n return result;\r\n }\r\n result = [];\r\n for (const point of points)\r\n result.push(\r\n this._matrix.multiplyInverseXYZAsPoint3d(\r\n point.x - originX,\r\n point.y - originY,\r\n point.z - originZ,\r\n )!,\r\n );\r\n return result;\r\n }\r\n /\r\n Multiply each point in the array by the inverse of `this` Transform in place.\r\n * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\r\n /\r\n public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\r\n if (!this._matrix.computeCachedInverse(true))\r\n return false;\r\n for (const point of points)\r\n this._matrix.multiplyInverseXYZAsPoint3d(\r\n point.x - this.origin.x,\r\n point.y - this.origin.y,\r\n point.z - this.origin.z,\r\n point,\r\n );\r\n return true;\r\n }\r\n /\r\n Transform the input 2d point array (using `Tp = Mp + o`).\r\n * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n * * If `result` is not given, return a new array.\r\n /\r\n public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\r\n if (result) {\r\n const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\r\n for (let i = 0; i < n; i++)\r\n Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\r\n return result;\r\n }\r\n result = [];\r\n for (const p of points)\r\n result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\r\n return result;\r\n }\r\n /\r\n Transform the input 3d point array (using `Tp = Mp + o`).\r\n * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n * * If `result` is not given, return a new array.\r\n /\r\n public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\r\n if (result) {\r\n const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n for (let i = 0; i < n; i++)\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\r\n return result;\r\n }\r\n result = [];\r\n for (const p of points)\r\n result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\r\n return result;\r\n }\r\n /\r\n Multiply the vector by the `matrix` part of the Transform.\r\n * * The `origin` part of Transform is not used.\r\n * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n /\r\n public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\r\n return this._matrix.multiplyVector(vector, result);\r\n }\r\n /\r\n Multiply the vector by the `matrix` part of the Transform in place.\r\n * * The `origin` part of Transform is not used.\r\n /\r\n public multiplyVectorInPlace(vector: Vector3d): void {\r\n this._matrix.multiplyVectorInPlace(vector);\r\n }\r\n /\r\n Multiply the vector (x,y,z) by the `matrix` part of the Transform.\r\n * * The `origin` part of Transform is not used.\r\n * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n /\r\n public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\r\n return this._matrix.multiplyXYZ(x, y, z, result);\r\n }\r\n /\r\n Calculate `transformA * transformB` and store it into the calling instance (`this`).\r\n * * Note: If `transformA = [A a]` and `transformB = [B b]` then `transformA * transformB` is defined as\r\n * `[AB Ab+a]`.\r\n * @see [[multiplyTransformTransform]] documentation for math details.\r\n * @param transformA first operand\r\n * @param transformB second operand\r\n /\r\n public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\r\n Matrix3d.xyzPlusMatrixTimesXYZ(\r\n transformA._origin,\r\n transformA._matrix,\r\n transformB._origin,\r\n this._origin as Point3d,\r\n );\r\n transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\r\n }\r\n /\r\n Multiply `this` Transform times `other` Transform.\r\n * * Note: If `this = [A a]` and `other = [B b]` then `this * other` is defined as `[AB Ab+a]` because:\r\n ```\r\n * equation\r\n * \\begin{matrix}\r\n * \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n * \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\r\n * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\r\n * \\end{matrix}\r\n * ```\r\n * @param other the `other` Transform to be multiplied to `this` Transform.\r\n * @param result optional preallocated `result` to reuse.\r\n /\r\n public multiplyTransformTransform(other: Transform, result?: Transform) {\r\n if (!result)\r\n return Transform.createRefs(\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\r\n this._matrix.multiplyMatrixMatrix(other._matrix),\r\n );\r\n result.setMultiplyTransformTransform(this, other);\r\n return result;\r\n }\r\n /\r\n Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\r\n * * Note: If `this = [A a]` and `other = [B 0]`, then `this * other` is defined as [AB a] because:\r\n ```\r\n * equation\r\n * \\begin{matrix}\r\n * \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n * \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\r\n * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\r\n * \\end{matrix}\r\n * ```\r\n * @param other the `other` Matrix3d to be multiplied to `this` Transform.\r\n * @param result optional preallocated `result` to reuse.\r\n /\r\n public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\r\n if (!result)\r\n return Transform.createRefs(\r\n this._origin.cloneAsPoint3d(),\r\n this._matrix.multiplyMatrixMatrix(other),\r\n );\r\n this._matrix.multiplyMatrixMatrix(other, result._matrix);\r\n result._origin.setFrom(this._origin);\r\n return result;\r\n }\r\n /\r\n Return the range of the transformed corners.\r\n * * The 8 corners are transformed individually.\r\n * * Note: Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\r\n * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\r\n * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\r\n * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\r\n * function creates the larger range box because it only has access to the range box and not the geometry itself.\r\n /\r\n public multiplyRange(range: Range3d, result?: Range3d): Range3d {\r\n if (range.isNull)\r\n return range.clone(result);\r\n const lowX = range.low.x;\r\n const lowY = range.low.y;\r\n const lowZ = range.low.z;\r\n const highX = range.high.x;\r\n const highY = range.high.y;\r\n const highZ = range.high.z;\r\n result = Range3d.createNull(result);\r\n result.extendTransformedXYZ(this, lowX, lowY, lowZ);\r\n result.extendTransformedXYZ(this, highX, lowY, lowZ);\r\n result.extendTransformedXYZ(this, lowX, highY, lowZ);\r\n result.extendTransformedXYZ(this, highX, highY, lowZ);\r\n result.extendTransformedXYZ(this, lowX, lowY, highZ);\r\n result.extendTransformedXYZ(this, highX, lowY, highZ);\r\n result.extendTransformedXYZ(this, lowX, highY, highZ);\r\n result.extendTransformedXYZ(this, highX, highY, highZ);\r\n return result;\r\n }\r\n /\r\n Return a Transform which is the inverse of `this` Transform.\r\n * * If `transform = [M o]` then `transformInverse = [MInverse -MInverseo]`\r\n * Return `undefined` if this Transform's matrix is singular.\r\n /\r\n public inverse(result?: Transform): Transform \| undefined {\r\n const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\r\n if (!matrixInverse)\r\n return undefined;\r\n if (result) {\r\n // result._matrix is already defined\r\n matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\r\n return result;\r\n }\r\n return Transform.createRefs(\r\n matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\r\n matrixInverse,\r\n );\r\n }\r\n /\r\n Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\r\n * by the input points.\r\n * @param min the min corner of the range box\r\n * @param max the max corner of the range box\r\n * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\r\n * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\r\n * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\r\n * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\r\n * * NPC stands for `Normalized Projection Coordinate`\r\n /\r\n public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\r\n const diag = max.minus(min);\r\n if (diag.x === 0.0)\r\n diag.x = 1.0;\r\n if (diag.y === 0.0)\r\n diag.y = 1.0;\r\n if (diag.z === 0.0)\r\n diag.z = 1.0;\r\n const rMatrix = new Matrix3d();\r\n /\r\n [diag.x 0 0 min.x]\r\n * npcToGlobal = [ 0 diag.y 0 min.y]\r\n * [ 0 0 diag.y min.z]\r\n \r\n npcToGlobal * 0 = min\r\n * npcToGlobal * 1 = diag + min = max\r\n /\r\n if (npcToGlobal) {\r\n Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\r\n Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\r\n }\r\n /\r\n [1/diag.x 0 0 -min.x/diag.x]\r\n * globalToNpc = [ 0 1/diag.y 0 -min.y/diag.y]\r\n * [ 0 0 1/diag.y -min.z/diag.z]\r\n \r\n globalToNpc * min = min/diag - min/diag = 0\r\n * globalToNpc * max = max/diag - min/diag = diag/diag = 1\r\n */\r\n if (globalToNpc) {\r\n const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\r\n Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\r\n Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\r\n }\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { TransformProps, XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/\r\n A Transform consists of an origin and a Matrix3d. This describes a coordinate frame with this origin, with\r\n * the columns of the Matrix3d being the local x,y,z axis directions.\r\n * * The math for a Transform `T` consisting of a Matrix3d `M` and a Point3d `o` on a Vector3d `p` is: `Tp = Mp + o`.\r\n In other words, `T` is a combination of two operations on `p`: the action of matrix multiplication, followed by a\r\n * translation. `Origin` is a traditional term for `o`, because `T` can be interpreted as a change of basis from the\r\n * global axes centered at the global origin, to a new set of axes specified by matrix M columns centered at `o`.\r\n * * Beware that for common transformations (e.g. scale about point, rotate around an axis) the `fixed point` that\r\n * is used when describing the transform is NOT the `origin` stored in the transform. Setup methods (e.g\r\n * createFixedPointAndMatrix, createScaleAboutPoint) take care of determining the appropriate origin coordinates.\r\n * * If `T` is a translation, no point is fixed by `T`.\r\n * * If `T` is the identity, all points are fixed by `T`.\r\n * * If `T` is a scale about a point, one point is fixed by `T`.\r\n * * If `T` is a rotation about an axis, a line is fixed by `T`.\r\n * * If `T` is a projection to the plane, a plane is fixed by `T`.\r\n * @public\r\n /\r\nexport class Transform implements BeJSONFunctions {\r\n private _origin: XYZ;\r\n private _matrix: Matrix3d;\r\n // Constructor accepts and uses pointer to content (no copy is done here).\r\n private constructor(origin: XYZ, matrix: Matrix3d) {\r\n this._origin = origin;\r\n this._matrix = matrix;\r\n }\r\n private static _identity?: Transform;\r\n /* The identity Transform. Value is frozen and cannot be modified. /\r\n public static get identity(): Transform {\r\n if (undefined === this._identity) {\r\n this._identity = Transform.createIdentity();\r\n this._identity.freeze();\r\n }\r\n return this._identity;\r\n }\r\n /* Freeze this instance (and its members) so it is read-only /\r\n public freeze(): Readonly<this> {\r\n this._origin.freeze();\r\n this._matrix.freeze();\r\n return Object.freeze(this);\r\n }\r\n /\r\n Copy contents from other Transform into this Transform\r\n * @param other source transform\r\n /\r\n public setFrom(other: Transform) {\r\n this._origin.setFrom(other._origin);\r\n this._matrix.setFrom(other._matrix);\r\n }\r\n /* Set this Transform to be an identity. /\r\n public setIdentity() {\r\n this._origin.setZero();\r\n this._matrix.setIdentity();\r\n }\r\n /\r\n Set this Transform instance from flexible inputs:\r\n * * Any object (such as another Transform or TransformProps) that has `origin` and `matrix` members\r\n * accepted by `Point3d.setFromJSON` and `Matrix3d.setFromJSON`\r\n * * An array of 3 number arrays, each with 4 entries which are rows in a 3x4 matrix.\r\n * * An array of 12 numbers, each block of 4 entries as a row 3x4 matrix.\r\n * * If no input is provided, the identity Transform is returned.\r\n /\r\n public setFromJSON(json?: TransformProps \| Transform): void {\r\n if (json) {\r\n if (json instanceof Object && (json as any).origin && (json as any).matrix) {\r\n this._origin.setFromJSON((json as any).origin);\r\n this._matrix.setFromJSON((json as any).matrix);\r\n return;\r\n }\r\n if (Geometry.isArrayOfNumberArray(json, 3, 4)) {\r\n this._matrix.setRowValues(\r\n json[0][0], json[0][1], json[0][2],\r\n json[1][0], json[1][1], json[1][2],\r\n json[2][0], json[2][1], json[2][2],\r\n );\r\n this._origin.set(json[0][3], json[1][3], json[2][3]);\r\n return;\r\n }\r\n if (Geometry.isNumberArray(json, 12)) {\r\n this._matrix.setRowValues(\r\n json[0], json[1], json[2],\r\n json[4], json[5], json[6],\r\n json[8], json[9], json[10],\r\n );\r\n this._origin.set(json[3], json[7], json[11]);\r\n return;\r\n }\r\n }\r\n this.setIdentity();\r\n }\r\n /\r\n Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` and\r\n * `matrix` parts.\r\n * @param other Transform to compare to.\r\n /\r\n public isAlmostEqual(other: Readonly<Transform>): boolean {\r\n return this === other \|\| this.origin.isAlmostEqual(other.origin) && this.matrix.isAlmostEqual(other.matrix);\r\n }\r\n /\r\n Test for near equality with `other` Transform. Comparison uses the `isAlmostEqual` methods on the `origin` part\r\n * and the `isAlmostEqualAllowZRotation` method on the `matrix` part.\r\n * @param other Transform to compare to.\r\n /\r\n public isAlmostEqualAllowZRotation(other: Transform): boolean {\r\n return this._origin.isAlmostEqual(other._origin) && this._matrix.isAlmostEqualAllowZRotation(other._matrix);\r\n }\r\n /\r\n Return a 3 by 4 matrix containing the rows of this Transform.\r\n * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n /\r\n public toRows(): number[][] {\r\n return [\r\n [this._matrix.coffs[0], this._matrix.coffs[1], this._matrix.coffs[2], this._origin.x],\r\n [this._matrix.coffs[3], this._matrix.coffs[4], this._matrix.coffs[5], this._origin.y],\r\n [this._matrix.coffs[6], this._matrix.coffs[7], this._matrix.coffs[8], this._origin.z],\r\n ];\r\n }\r\n /\r\n Return a 3 by 4 matrix containing the rows of this Transform.\r\n * * The transform's origin coordinates are the last entries of the 3 json arrays\r\n /\r\n public toJSON(): TransformProps {\r\n return this.toRows();\r\n }\r\n /* Return a new Transform initialized by `Transform.setFromJSON` /\r\n public static fromJSON(json?: TransformProps): Transform {\r\n const result = Transform.createIdentity();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /* Copy the contents of `this` transform into a new Transform (or to the result, if specified). /\r\n public clone(result?: Transform): Transform {\r\n if (result) {\r\n result._matrix.setFrom(this._matrix);\r\n result._origin.setFrom(this._origin);\r\n return result;\r\n }\r\n return new Transform(\r\n Point3d.createFrom(this._origin),\r\n this._matrix.clone(),\r\n );\r\n }\r\n /\r\n Return a modified copy of `this` Transform so that its `matrix` part is rigid (`origin` part is untouched).\r\n * @see [[Matrix3d.axisOrderCrossProductsInPlace]] documentation for details of how the matrix is modified to rigid.\r\n /\r\n public cloneRigid(axisOrder: AxisOrder = AxisOrder.XYZ): Transform \| undefined {\r\n const modifiedMatrix = Matrix3d.createRigidFromMatrix3d(this.matrix, axisOrder);\r\n if (!modifiedMatrix)\r\n return undefined;\r\n return new Transform(this.origin.cloneAsPoint3d(), modifiedMatrix);\r\n }\r\n /* Create a Transform with the given `origin` and `matrix`. Inputs are captured, not cloned. /\r\n public static createRefs(origin: XYZ \| undefined, matrix: Matrix3d, result?: Transform): Transform {\r\n if (!origin)\r\n origin = Point3d.createZero();\r\n if (result) {\r\n result._origin = origin;\r\n result._matrix = matrix;\r\n return result;\r\n }\r\n return new Transform(origin, matrix);\r\n }\r\n /* Create a Transform with complete contents given. `q` inputs make the matrix and `a` inputs make the origin /\r\n public static createRowValues(\r\n qxx: number, qxy: number, qxz: number, ax: number,\r\n qyx: number, qyy: number, qyz: number, ay: number,\r\n qzx: number, qzy: number, qzz: number, az: number,\r\n result?: Transform,\r\n ): Transform {\r\n if (result) {\r\n result._origin.set(ax, ay, az);\r\n result._matrix.setRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz);\r\n return result;\r\n }\r\n return new Transform(\r\n Point3d.create(ax, ay, az),\r\n Matrix3d.createRowValues(qxx, qxy, qxz, qyx, qyy, qyz, qzx, qzy, qzz),\r\n );\r\n }\r\n /* Create a Transform with all zeros /\r\n public static createZero(result?: Transform): Transform {\r\n return Transform.createRowValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, result);\r\n }\r\n /\r\n Create a Transform with translation provided by x,y,z parts.\r\n * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n * @param x x part of translation\r\n * @param y y part of translation\r\n * @param z z part of translation\r\n * @param result optional pre-allocated Transform\r\n * @returns new or updated transform\r\n /\r\n public static createTranslationXYZ(x: number = 0, y: number = 0, z: number = 0, result?: Transform): Transform {\r\n return Transform.createRefs(Vector3d.create(x, y, z), Matrix3d.createIdentity(), result);\r\n }\r\n /\r\n Create a Transform with specified `translation` part.\r\n * * Translation Transform maps any vector `v` to `v + translation`\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n * @param translation x,y,z parts of the translation\r\n * @param result optional pre-allocated Transform\r\n * @returns new or updated transform\r\n /\r\n public static createTranslation(translation: XYZ, result?: Transform): Transform {\r\n return Transform.createRefs(translation, Matrix3d.createIdentity(), result);\r\n }\r\n /* Return a reference (and NOT a copy) to the `matrix` part of the Transform. /\r\n public get matrix(): Matrix3d {\r\n return this._matrix;\r\n }\r\n /* Return a reference (and NOT a copy) to the `origin` part of the Transform. /\r\n public get origin(): XYZ {\r\n return this._origin;\r\n }\r\n /* return a (clone of) the `origin` part of the Transform, as a `Point3d` /\r\n public getOrigin(): Point3d {\r\n return Point3d.createFrom(this._origin);\r\n }\r\n /* return a (clone of) the `origin` part of the Transform, as a `Vector3d` /\r\n public getTranslation(): Vector3d {\r\n return Vector3d.createFrom(this._origin);\r\n }\r\n /* return a (clone of) the `matrix` part of the Transform, as a `Matrix3d` /\r\n public getMatrix(): Matrix3d {\r\n return this._matrix.clone();\r\n }\r\n /* test if the transform has `origin` = (0,0,0) and identity `matrix` /\r\n public get isIdentity(): boolean {\r\n return this._matrix.isIdentity && this._origin.isAlmostZero;\r\n }\r\n /* Create an identity transform /\r\n public static createIdentity(result?: Transform): Transform {\r\n if (result) {\r\n result._origin.setZero();\r\n result._matrix.setIdentity();\r\n return result;\r\n }\r\n return Transform.createRefs(Point3d.createZero(), Matrix3d.createIdentity());\r\n }\r\n /\r\n Create a Transform using the given `origin` and `matrix`.\r\n * * This is the appropriate construction when the columns of the matrix are coordinate axes of a\r\n * local-to-world mapping, and the given point is the axes' origin in world coordinates.\r\n * * This function is closely related to `createFixedPointAndMatrix` whose point input is the fixed point\r\n * of the world-to-world transformation.\r\n * * If origin is `undefined`, (0,0,0) is used. If matrix is `undefined` the identity matrix is used.\r\n /\r\n public static createOriginAndMatrix(\r\n origin: XYZ \| undefined, matrix: Matrix3d \| undefined, result?: Transform,\r\n ): Transform {\r\n if (result) {\r\n result._origin.setFromPoint3d(origin);\r\n result._matrix.setFrom(matrix);\r\n return result;\r\n }\r\n return Transform.createRefs(\r\n origin ? origin.cloneAsPoint3d() : Point3d.createZero(),\r\n matrix === undefined ? Matrix3d.createIdentity() : matrix.clone(),\r\n result,\r\n );\r\n }\r\n /* Create a Transform using the given `origin` and columns of the `matrix`. If `undefined` zero is used. /\r\n public setOriginAndMatrixColumns(\r\n origin: XYZ \| undefined, vectorX: Vector3d \| undefined, vectorY: Vector3d \| undefined, vectorZ: Vector3d \| undefined,\r\n ): void {\r\n if (origin !== undefined)\r\n this._origin.setFrom(origin);\r\n this._matrix.setColumns(vectorX, vectorY, vectorZ);\r\n }\r\n /* Create a Transform using the given `origin` and columns of the `matrix` /\r\n public static createOriginAndMatrixColumns(\r\n origin: XYZ, vectorX: Vector3d, vectorY: Vector3d, vectorZ: Vector3d, result?: Transform,\r\n ): Transform {\r\n if (result)\r\n result.setOriginAndMatrixColumns(origin, vectorX, vectorY, vectorZ);\r\n else\r\n result = Transform.createRefs(Vector3d.createFrom(origin), Matrix3d.createColumns(vectorX, vectorY, vectorZ));\r\n return result;\r\n }\r\n /\r\n Create a Transform with given origin and a rigid matrix constructed from two column vectors.\r\n * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n * @param vectorX first axis passed into `Matrix3d.createRigidFromColumns`.\r\n * @param vectorY second axis passed into `Matrix3d.createRigidFromColumns`.\r\n * @param axisOrder order of axis construction in `Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder)`.\r\n * @param result optional pre-allocated result to populate and return.\r\n * @returns localToWorld transform for a local coordinate system with given origin and ordered axes, or `undefined`\r\n * if the rigid matrix could not be created.\r\n * @see [[Matrix3d.createRigidFromColumns]]\r\n /\r\n public static createRigidFromOriginAndColumns(\r\n origin: XYZ \| undefined, vectorX: Vector3d, vectorY: Vector3d, axisOrder: AxisOrder, result?: Transform,\r\n ): Transform \| undefined {\r\n const matrix = Matrix3d.createRigidFromColumns(vectorX, vectorY, axisOrder, result?._matrix);\r\n if (!matrix)\r\n return undefined;\r\n if (result) {\r\n result._origin.setFrom(origin);\r\n return result;\r\n }\r\n return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n }\r\n /\r\n Create a Transform with given origin and a rigid matrix constructed from one column vector.\r\n * @param origin origin of the local coordinate system. Default is the global origin (zero).\r\n * @param vector direction of the axis of the local coordinate system indicated by the first letter of `axisOrder`.\r\n * @param axisOrder order of axis construction in `Matrix3d.createRigidHeadsUp(vector, axisOrder)`. Default value\r\n * is `AxisOrder.ZXY`, which means the z-column of the returned Transform is in the direction of `vector`.\r\n * @param result optional pre-allocated result to populate and return.\r\n * @returns localToWorld transform for a local coordinate system with given origin and axis, or `undefined`\r\n * if the rigid matrix could not be created.\r\n * @see [[Matrix3d.createRigidHeadsUp]]\r\n /\r\n public static createRigidFromOriginAndVector(origin: XYZ \| undefined, vector: Vector3d, axisOrder: AxisOrder = AxisOrder.ZXY, result?: Transform): Transform \| undefined {\r\n const matrix = Matrix3d.createRigidHeadsUp(vector, axisOrder, result?._matrix);\r\n if (!matrix)\r\n return undefined;\r\n if (result) {\r\n result._origin.setFrom(origin);\r\n return result;\r\n }\r\n return Transform.createRefs(origin?.cloneAsPoint3d(), matrix);\r\n }\r\n /\r\n Create a Transform with the specified `matrix`. Compute an `origin` (different from the given `fixedPoint`)\r\n * so that the `fixedPoint` maps back to itself. The returned Transform, transforms a point `p` to `Mp + (f - Mf)`\r\n * where `f` is the fixedPoint (i.e., `Tp = M(p-f) + f`).\r\n /\r\n public static createFixedPointAndMatrix(\r\n fixedPoint: XYAndZ \| undefined, matrix: Matrix3d, result?: Transform,\r\n ): Transform {\r\n if (fixedPoint) {\r\n /*\r\n if f is a fixed point, then Tf = Mf + o = f where M is the matrix and o is the origin.\r\n we define the origin o = f - Mf. Therefore, Tf = Mf + o = Mf + (f - Mf) = f.\r\n /\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n return Transform.createRefs(origin, matrix.clone(), result);\r\n }\r\n return Transform.createRefs(undefined, matrix.clone());\r\n }\r\n /*\r\n Create a transform with the specified `matrix` and points `a` and `b`. The returned Transform maps\r\n * point `p` to `M(p-a) + b` (i.e., `Tp = M(p-a) + b`), so maps `a` to `b`.\r\n /\r\n public static createMatrixPickupPutdown(\r\n matrix: Matrix3d, a: Point3d, b: Point3d, result?: Transform,\r\n ): Transform {\r\n // we define the origin o = b - Ma so Tp = Mp + o = Mp + (b - Ma) = M(p-a) + b\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(b, matrix, a);\r\n return Transform.createRefs(origin, matrix.clone(), result);\r\n }\r\n /*\r\n Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by\r\n * a single scale factor. The returned Transform maps a point `p` to `Mp + (f - Mf)`\r\n * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M(p-f) + f`).\r\n * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeTransform\r\n /\r\n public static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform {\r\n const matrix = Matrix3d.createScale(scale, scale, scale);\r\n /\r\n if f is a fixed point, then Tf = Mf + o = f where M is the matrix and o is the origin.\r\n we define the origin o = f - Mf. Therefore, Tf = Mf + o = Mf + (f - Mf) = f.\r\n /\r\n const origin = Matrix3d.xyzMinusMatrixTimesXYZ(fixedPoint, matrix, fixedPoint);\r\n return Transform.createRefs(origin, matrix, result);\r\n }\r\n /\r\n Return a transformation which flattens space onto a plane, sweeping along a direction which may be different\r\n * from the plane normal.\r\n * * See [Matrix3d.createFlattenAlongVectorToPlane] for math details.\r\n * @param sweepVector sweep direction. If same as `planeNormal`, the resulting transformation is a projection onto the plane.\r\n * @param planePoint any point on the plane\r\n * @param planeNormal vector normal to the plane.\r\n /\r\n public static createFlattenAlongVectorToPlane(sweepVector: Vector3d, planePoint: XYAndZ, planeNormal: Vector3d): Transform \| undefined {\r\n const matrix = Matrix3d.createFlattenAlongVectorToPlane(sweepVector, planeNormal);\r\n if (matrix === undefined)\r\n return undefined;\r\n return Transform.createFixedPointAndMatrix(planePoint, matrix);\r\n }\r\n /\r\n Transform the input 2d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyPoint2d(point: XAndY, result?: Point2d): Point2d {\r\n return Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, point, result);\r\n }\r\n /\r\n Transform the input 3d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyPoint3d(point: XYAndZ, result?: Point3d): Point3d {\r\n // Tx = Mx + o so we return Mx + o\r\n return Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, result);\r\n }\r\n /\r\n Transform the input 3d point in place (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyXYAndZInPlace(point: XYAndZ): void {\r\n return Matrix3d.xyzPlusMatrixTimesXYZInPlace(this._origin, this._matrix, point);\r\n }\r\n /\r\n Transform the input 3d point (using `Tp = Mp + o`).\r\n Return as a new point or in the pre-allocated result (if result is given).\r\n /\r\n public multiplyXYZ(x: number, y: number, z: number = 0, result?: Point3d): Point3d {\r\n // Tx = Mx + o so we return Mx + o\r\n return Matrix3d.xyzPlusMatrixTimesCoordinates(this._origin, this._matrix, x, y, z, result);\r\n }\r\n /\r\n Multiply a specific row (component) of the 3x4 instance times (x,y,z,1). Return the result.\r\n /\r\n public multiplyComponentXYZ(componentIndex: number, x: number, y: number, z: number = 0): number {\r\n const coffs = this._matrix.coffs;\r\n const idx = 3 componentIndex;\r\n return this.origin.at(componentIndex) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n }\r\n /*\r\n Multiply a specific row (component) of the 3x4 instance times (x,y,z,w). Return the result.\r\n /\r\n public multiplyComponentXYZW(componentIndex: number, x: number, y: number, z: number, w: number): number {\r\n const coffs = this._matrix.coffs;\r\n const idx = 3 componentIndex;\r\n return (this.origin.at(componentIndex) * w) + (coffs[idx] * x) + (coffs[idx + 1] * y) + (coffs[idx + 2] * z);\r\n }\r\n /*\r\n Transform the homogeneous point. Return as a new `Point4d`, or in the pre-allocated result (if result is given).\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + ow` and returns the `Point4d` formed by `Tp` in the\r\n * first three coordinates, and `w` in the fourth.\r\n * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n /\r\n public multiplyXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n return Matrix3d.xyzPlusMatrixTimesWeightedCoordinates(this._origin, this._matrix, x, y, z, w, result);\r\n }\r\n /\r\n Transform the homogeneous point. Return as new `Float64Array` with size 4, or in the pre-allocated `result` of sufficient size.\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + ow` and returns the `Float64Array` formed by `Tp`\r\n * in the first 3 numbers of the array and `w` as the fourth.\r\n * * Logically, this is multiplication by the 4x4 matrix formed from the 3x4 instance augmented with fourth row 0001.\r\n /\r\n public multiplyXYZWToFloat64Array(x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array {\r\n return Matrix3d.xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, w, result);\r\n }\r\n /\r\n * Transform the point. Return as new `Float64Array` with size 3, or in the pre-allocated `result` of sufficient size.\r\n * * If `p = (x,y,z)` then this method computes `Tp = Mp + o` and returns it as the first 3 elements of the array.\r\n /\r\n public multiplyXYZToFloat64Array(x: number, y: number, z: number, result?: Float64Array): Float64Array {\r\n return Matrix3d.xyzPlusMatrixTimesCoordinatesToFloat64Array(this._origin, this._matrix, x, y, z, result);\r\n }\r\n /*\r\n Multiply the homogeneous point by the transpose of `this` Transform. Return as a new `Point4d` or in the\r\n * pre-allocated result (if result is given).\r\n * * If `p = (x,y,z)` then this method computes `M^tp` and returns it in the first three coordinates of the `Point4d`,\r\n and `op + w` in the fourth.\r\n * Logically, this is multiplication by the transpose of the 4x4 matrix formed from the 3x4 instance augmented with\r\n * fourth row 0001.\r\n /\r\n public multiplyTransposeXYZW(x: number, y: number, z: number, w: number, result?: Point4d): Point4d {\r\n const coffs = this._matrix.coffs;\r\n const origin = this._origin;\r\n return Point4d.create(\r\n (x coffs[0]) + (y * coffs[3]) + (z * coffs[6]),\r\n (x * coffs[1]) + (y * coffs[4]) + (z * coffs[7]),\r\n (x * coffs[2]) + (y * coffs[5]) + (z * coffs[8]),\r\n (x * origin.x) + (y * origin.y) + (z * origin.z) + w,\r\n result,\r\n );\r\n }\r\n /** For each point in the array, replace point by the transformed point (using `Tp = Mp + o`) /\r\n public multiplyPoint3dArrayInPlace(points: Point3d[]) {\r\n let point;\r\n for (point of points)\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, point, point);\r\n }\r\n /** For each point in the 2d array, replace point by the transformed point (using `Tp = Mp + o`) /\r\n public multiplyPoint3dArrayArrayInPlace(chains: Point3d[][]) {\r\n for (const chain of chains)\r\n this.multiplyPoint3dArrayInPlace(chain);\r\n }\r\n /*\r\n Multiply the point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse`\r\n * Transform has matrix part `MInverse` and origin part `-MInverseo`.\r\n * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint3d(point: XYAndZ, result?: Point3d): Point3d \| undefined {\r\n return this._matrix.multiplyInverseXYZAsPoint3d(\r\n point.x - this._origin.x,\r\n point.y - this._origin.y,\r\n point.z - this._origin.z,\r\n result,\r\n );\r\n }\r\n /\r\n Multiply the point by the inverse Transform, and return its xy-coordinates.\r\n * @param point point to transform\r\n * @param result optional pre-allocated result to populate and return\r\n * @returns xy-coordinates of the transformed point, or `undefined` if the instance is singular.\r\n * @see [[multiplyInversePoint3d]]\r\n /\r\n public multiplyInversePoint3dAsPoint2d(point: XYAndZ, result?: Point2d): Point2d \| undefined {\r\n return this._matrix.multiplyInverseXYZAsPoint2d(\r\n point.x - this._origin.x,\r\n point.y - this._origin.y,\r\n point.z - this._origin.z,\r\n result,\r\n );\r\n }\r\n /\r\n Multiply the homogenous point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse` Transform\r\n * has matrix part `MInverse` and origin part `-MInverseo`.\r\n * This method computes `TInverse p = MInversep - wMInverseo` and returns the `Point4d` formed by `TInversep`\r\n * in the first three coordinates, and `w` in the fourth.\r\n * * Logically, this is multiplication by the inverse of the 4x4 matrix formed from the 3x4 instance augmented with\r\n * fourth row 0001. This is equivalent to the 4x4 matrix formed in similar fashion from the inverse of this instance.\r\n * * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint4d(weightedPoint: Point4d, result?: Point4d): Point4d \| undefined {\r\n const w = weightedPoint.w;\r\n return this._matrix.multiplyInverseXYZW(\r\n weightedPoint.x - w this.origin.x,\r\n weightedPoint.y - w * this.origin.y,\r\n weightedPoint.z - w * this.origin.z,\r\n w,\r\n result,\r\n );\r\n }\r\n /*\r\n Multiply the point by the inverse Transform.\r\n * * If for a point `p` we have `Tp = Mp + o = q`, then `p = MInverse(q - o) = TInverse q` so `TInverse` Transform\r\n * has matrix part `MInverse` and origin part `-MInverseo`.\r\n * Return as a new point or in the optional `result`.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInverseXYZ(x: number, y: number, z: number, result?: Point3d): Point3d \| undefined {\r\n return this._matrix.multiplyInverseXYZAsPoint3d(\r\n x - this._origin.x,\r\n y - this._origin.y,\r\n z - this._origin.z,\r\n result,\r\n );\r\n }\r\n /\r\n * Compute (if needed) the inverse of the `matrix` part of the Transform, thereby ensuring inverse\r\n * operations can complete.\r\n * @param useCached If true, accept prior cached inverse if available.\r\n * @returns `true` if matrix inverse completes, `false` otherwise.\r\n /\r\n public computeCachedInverse(useCached: boolean = true): boolean {\r\n return this._matrix.computeCachedInverse(useCached);\r\n }\r\n /\r\n Match the length of destination array with the length of source array\r\n * * If destination has more elements than source, remove the extra elements.\r\n * * If destination has fewer elements than source, use `constructionFunction` to create new elements.\r\n * \r\n @param source the source array\r\n * @param dest the destination array\r\n * @param constructionFunction function to call to create new elements.\r\n /\r\n public static matchArrayLengths(source: any[], dest: any[], constructionFunction: () => any): number {\r\n const numSource = source.length;\r\n const numDest = dest.length;\r\n if (numSource > numDest) {\r\n for (let i = numDest; i < numSource; i++) {\r\n dest.push(constructionFunction());\r\n }\r\n } else if (numDest > numSource) {\r\n dest.length = numSource;\r\n }\r\n return numSource;\r\n }\r\n /\r\n Multiply each point in the array by the inverse of `this` Transform.\r\n * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n * * If `result` is given, resize it to match the input `points` array and update it with original points `p[]`.\r\n * * If `result` is not given, return a new array.\r\n * * Returns `undefined` if the `matrix` part if this Transform is singular.\r\n /\r\n public multiplyInversePoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] \| undefined {\r\n if (!this._matrix.computeCachedInverse(true))\r\n return undefined;\r\n const originX = this.origin.x;\r\n const originY = this.origin.y;\r\n const originZ = this.origin.z;\r\n if (!result)\r\n result = [];\r\n const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n for (let i = 0; i < n; i++)\r\n this._matrix.multiplyInverseXYZAsPoint3d(\r\n points[i].x - originX,\r\n points[i].y - originY,\r\n points[i].z - originZ,\r\n result[i],\r\n );\r\n return result;\r\n }\r\n /\r\n Multiply each point in the array by the inverse of `this` Transform in place.\r\n * * For a transform `T = [M o]` the inverse transform `T' = [M' -M'o]` exists if and only if `M` has an inverse\r\n * `M'`. Indeed, for any point `p`, we have `T'Tp = T'(Mp + o) = M'(Mp + o) - M'o = M'Mp + M'o - M'o = p.`\r\n * * Returns `true` if the `matrix` part if this Transform is invertible and `false` if singular.\r\n /\r\n public multiplyInversePoint3dArrayInPlace(points: Point3d[]): boolean {\r\n if (!this._matrix.computeCachedInverse(true))\r\n return false;\r\n for (const point of points)\r\n this._matrix.multiplyInverseXYZAsPoint3d(\r\n point.x - this.origin.x,\r\n point.y - this.origin.y,\r\n point.z - this.origin.z,\r\n point,\r\n );\r\n return true;\r\n }\r\n /\r\n Transform the input 2d point array (using `Tp = Mp + o`).\r\n * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n * * If `result` is not given, return a new array.\r\n /\r\n public multiplyPoint2dArray(points: Point2d[], result?: Point2d[]): Point2d[] {\r\n if (result) {\r\n const n = Transform.matchArrayLengths(points, result, () => Point2d.createZero());\r\n for (let i = 0; i < n; i++)\r\n Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, points[i], result[i]);\r\n return result;\r\n }\r\n result = [];\r\n for (const p of points)\r\n result.push(Matrix3d.xyPlusMatrixTimesXY(this._origin, this._matrix, p));\r\n return result;\r\n }\r\n /\r\n Transform the input 3d point array (using `Tp = Mp + o`).\r\n * If `result` is given, resize it to match the input `points` array and update it with transformed points.\r\n * * If `result` is not given, return a new array.\r\n /\r\n public multiplyPoint3dArray(points: Point3d[], result?: Point3d[]): Point3d[] {\r\n if (result) {\r\n const n = Transform.matchArrayLengths(points, result, () => Point3d.createZero());\r\n for (let i = 0; i < n; i++)\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, points[i], result[i]);\r\n return result;\r\n }\r\n result = [];\r\n for (const p of points)\r\n result.push(Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, p));\r\n return result;\r\n }\r\n /\r\n Multiply the vector by the `matrix` part of the Transform.\r\n * * The `origin` part of Transform is not used.\r\n * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n /\r\n public multiplyVector(vector: Vector3d, result?: Vector3d): Vector3d {\r\n return this._matrix.multiplyVector(vector, result);\r\n }\r\n /\r\n Multiply the vector by the `matrix` part of the Transform in place.\r\n * * The `origin` part of Transform is not used.\r\n /\r\n public multiplyVectorInPlace(vector: Vector3d): void {\r\n this._matrix.multiplyVectorInPlace(vector);\r\n }\r\n /\r\n Multiply the vector (x,y,z) by the `matrix` part of the Transform.\r\n * * The `origin` part of Transform is not used.\r\n * * If `result` is given, update it with the multiplication. Otherwise, create a new Vector3d.\r\n /\r\n public multiplyVectorXYZ(x: number, y: number, z: number, result?: Vector3d): Vector3d {\r\n return this._matrix.multiplyXYZ(x, y, z, result);\r\n }\r\n /\r\n Calculate `transformA * transformB` and store it into the calling instance (`this`).\r\n * * Note: If `transformA = [A a]` and `transformB = [B b]` then `transformA * transformB` is defined as\r\n * `[AB Ab+a]`.\r\n * @see [[multiplyTransformTransform]] documentation for math details.\r\n * @param transformA first operand\r\n * @param transformB second operand\r\n /\r\n public setMultiplyTransformTransform(transformA: Transform, transformB: Transform): void {\r\n Matrix3d.xyzPlusMatrixTimesXYZ(\r\n transformA._origin,\r\n transformA._matrix,\r\n transformB._origin,\r\n this._origin as Point3d,\r\n );\r\n transformA._matrix.multiplyMatrixMatrix(transformB._matrix, this._matrix);\r\n }\r\n /\r\n Multiply `this` Transform times `other` Transform.\r\n * * Note: If `this = [A a]` and `other = [B b]` then `this * other` is defined as `[AB Ab+a]` because:\r\n ```\r\n * equation\r\n * \\begin{matrix}\r\n * \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n * \\text{other Transform with matrix part }\\bold{B}\\text{ and origin part }\\bold{b} & \\blockTransform{B}{b} \\\\\r\n * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{b}=\\blockTransform{AB}{Ab + a}\r\n * \\end{matrix}\r\n * ```\r\n * @param other the `other` Transform to be multiplied to `this` Transform.\r\n * @param result optional preallocated `result` to reuse.\r\n /\r\n public multiplyTransformTransform(other: Transform, result?: Transform) {\r\n if (!result)\r\n return Transform.createRefs(\r\n Matrix3d.xyzPlusMatrixTimesXYZ(this._origin, this._matrix, other._origin),\r\n this._matrix.multiplyMatrixMatrix(other._matrix),\r\n );\r\n result.setMultiplyTransformTransform(this, other);\r\n return result;\r\n }\r\n /\r\n Multiply `this` Transform times `other` Matrix3d (considered to be a Transform with 0 `origin`).\r\n * * Note: If `this = [A a]` and `other = [B 0]`, then `this * other` is defined as [AB a] because:\r\n ```\r\n * equation\r\n * \\begin{matrix}\r\n * \\text{this Transform with matrix part }\\bold{A}\\text{ and origin part }\\bold{a} & \\blockTransform{A}{a}\\\\\r\n * \\text{other matrix }\\bold{B}\\text{ promoted to block Transform} & \\blockTransform{B}{0} \\\\\r\n * \\text{product}& \\blockTransform{A}{a}\\blockTransform{B}{0}=\\blockTransform{AB}{a}\r\n * \\end{matrix}\r\n * ```\r\n * @param other the `other` Matrix3d to be multiplied to `this` Transform.\r\n * @param result optional preallocated `result` to reuse.\r\n /\r\n public multiplyTransformMatrix3d(other: Matrix3d, result?: Transform): Transform {\r\n if (!result)\r\n return Transform.createRefs(\r\n this._origin.cloneAsPoint3d(),\r\n this._matrix.multiplyMatrixMatrix(other),\r\n );\r\n this._matrix.multiplyMatrixMatrix(other, result._matrix);\r\n result._origin.setFrom(this._origin);\r\n return result;\r\n }\r\n /\r\n Return the range of the transformed corners.\r\n * * The 8 corners are transformed individually.\r\n * * Note: Suppose you have a geometry, a range box around that geometry, and your Transform is a rotation.\r\n * If you rotate the range box and recompute a new range box around the rotated range box, then the new range\r\n * box will have a larger volume than the original range box. However, if you rotate the geometry itself and\r\n * then recompute the range box, it will be a tighter range box around the rotated geometry. `multiplyRange`\r\n * function creates the larger range box because it only has access to the range box and not the geometry itself.\r\n /\r\n public multiplyRange(range: Range3d, result?: Range3d): Range3d {\r\n if (range.isNull)\r\n return range.clone(result);\r\n const lowX = range.low.x;\r\n const lowY = range.low.y;\r\n const lowZ = range.low.z;\r\n const highX = range.high.x;\r\n const highY = range.high.y;\r\n const highZ = range.high.z;\r\n result = Range3d.createNull(result);\r\n result.extendTransformedXYZ(this, lowX, lowY, lowZ);\r\n result.extendTransformedXYZ(this, highX, lowY, lowZ);\r\n result.extendTransformedXYZ(this, lowX, highY, lowZ);\r\n result.extendTransformedXYZ(this, highX, highY, lowZ);\r\n result.extendTransformedXYZ(this, lowX, lowY, highZ);\r\n result.extendTransformedXYZ(this, highX, lowY, highZ);\r\n result.extendTransformedXYZ(this, lowX, highY, highZ);\r\n result.extendTransformedXYZ(this, highX, highY, highZ);\r\n return result;\r\n }\r\n /\r\n Return a Transform which is the inverse of `this` Transform.\r\n * * If `transform = [M o]` then `transformInverse = [MInverse -MInverseo]`\r\n * Return `undefined` if this Transform's matrix is singular.\r\n /\r\n public inverse(result?: Transform): Transform \| undefined {\r\n const matrixInverse = this._matrix.inverse(result ? result._matrix : undefined);\r\n if (!matrixInverse)\r\n return undefined;\r\n if (result) {\r\n // result._matrix is already defined\r\n matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z, result._origin as Vector3d);\r\n return result;\r\n }\r\n return Transform.createRefs(\r\n matrixInverse.multiplyXYZ(-this._origin.x, -this._origin.y, -this._origin.z),\r\n matrixInverse,\r\n );\r\n }\r\n /\r\n Initialize 2 Transforms that map between the unit box (specified by 000 and 111) and the range box specified\r\n * by the input points.\r\n * @param min the min corner of the range box\r\n * @param max the max corner of the range box\r\n * @param npcToGlobal maps NPC coordinates into range box coordinates. Specifically, maps 000 to `min` and maps\r\n * 111 to `max`. This Transform is the inverse of `globalToNpc`. Object created by caller, re-initialized here.\r\n * @param globalToNpc maps range box coordinates into NPC coordinates. Specifically, maps `min` to 000 and maps\r\n * `max` to 111. This Transform is the inverse of `npcToGlobal`. Object created by caller, re-initialized here.\r\n * * NPC stands for `Normalized Projection Coordinate`\r\n /\r\n public static initFromRange(min: Point3d, max: Point3d, npcToGlobal?: Transform, globalToNpc?: Transform): void {\r\n const diag = max.minus(min);\r\n if (diag.x === 0.0)\r\n diag.x = 1.0;\r\n if (diag.y === 0.0)\r\n diag.y = 1.0;\r\n if (diag.z === 0.0)\r\n diag.z = 1.0;\r\n const rMatrix = new Matrix3d();\r\n /\r\n [diag.x 0 0 min.x]\r\n * npcToGlobal = [ 0 diag.y 0 min.y]\r\n * [ 0 0 diag.y min.z]\r\n \r\n npcToGlobal * 0 = min\r\n * npcToGlobal * 1 = diag + min = max\r\n /\r\n if (npcToGlobal) {\r\n Matrix3d.createScale(diag.x, diag.y, diag.z, rMatrix);\r\n Transform.createOriginAndMatrix(min, rMatrix, npcToGlobal);\r\n }\r\n /\r\n [1/diag.x 0 0 -min.x/diag.x]\r\n * globalToNpc = [ 0 1/diag.y 0 -min.y/diag.y]\r\n * [ 0 0 1/diag.y -min.z/diag.z]\r\n \r\n globalToNpc * min = min/diag - min/diag = 0\r\n * globalToNpc * max = max/diag - min/diag = diag/diag = 1\r\n */\r\n if (globalToNpc) {\r\n const origin = new Point3d(-min.x / diag.x, -min.y / diag.y, -min.z / diag.z);\r\n Matrix3d.createScale(1.0 / diag.x, 1.0 / diag.y, 1.0 / diag.z, rMatrix);\r\n Transform.createOriginAndMatrix(origin, rMatrix, globalToNpc);\r\n }\r\n }\r\n}\r\n"]}

package/lib/cjs/numerics/ClusterableArray.d.ts CHANGED Viewed

@@ -111,12 +111,14 @@ export declare class ClusterableArray extends GrowableBlockedArray {
     /**
      * Returns packed points with indices mapping old to new.
      * @param data points to cluster.
+     * @returns data carrier for the packed points as a GrowableXYZArray
      */
     static clusterGrowablePoint3dArray(source: GrowableXYZArray, tolerance?: number): PackedPointsWithIndex;
 }
 /**
  * Data carrier class for
  * * packedPoints = an array of Point3d
+ * * growablePackedPoints = a growable array of xyz coordinates
  * * oldToNew = array of indices from some prior Point3d[] to the packed points.
  * @internal
  */
@@ -124,7 +126,7 @@ declare class PackedPointsWithIndex {
     /** Array of Point3d */
     packedPoints: Point3d[];
     /** array of coordinates packed in GrowableXYZArray  */
-    growablePackedPoints: GrowableXYZArray | undefined;
+    growablePackedPoints: GrowableXYZArray;
     /** mapping from old point index to new point index. */
     oldToNew: Uint32Array;
     /** integer value for unknown index. */
@@ -133,7 +135,7 @@ declare class PackedPointsWithIndex {
      * * empty packedPoints array
      * * oldToNew indices all initialized to PackedPoints.invalidIndex
      */
-    constructor(numOldIndexEntry: number);
+    constructor(numOldIndexEntry: number, numPackedPoints: number);
     /**
      * Use the oldToNew array to update an array of "old" indices.
      * @param indices array of indices into prepacked array.

package/lib/cjs/numerics/ClusterableArray.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/lib/cjs/numerics/ClusterableArray.js CHANGED Viewed

@@ -330,7 +330,7 @@ class ClusterableArray extends GrowableBlockedArray_1.GrowableBlockedArray {
             clusterArray.addDirect(p.x, p.y, p.z);
         });
         const order = clusterArray.clusterIndicesLexical(tolerance);
-        const result = new PackedPointsWithIndex(data.length);
+        const result = new PackedPointsWithIndex(data.length, 0);
         let currentClusterIndex = 0;
         let numThisCluster = 0;
         order.forEach((k) => {
@@ -406,6 +406,7 @@ class ClusterableArray extends GrowableBlockedArray_1.GrowableBlockedArray {
     /**
      * Returns packed points with indices mapping old to new.
      * @param data points to cluster.
+     * @returns data carrier for the packed points as a GrowableXYZArray
      */
     static clusterGrowablePoint3dArray(source, tolerance = Geometry_1.Geometry.smallMetricDistance) {
         const clusterArray = new ClusterableArray(3, 0, source.length);
@@ -416,9 +417,8 @@ class ClusterableArray extends GrowableBlockedArray_1.GrowableBlockedArray {
             clusterArray.addDirect(p.x, p.y, p.z);
         }
         const order = clusterArray.clusterIndicesLexical(tolerance);
-        const result = new PackedPointsWithIndex(source.length);
         const numPackedPoints = clusterArray.countClusters(order);
-        result.growablePackedPoints = new GrowableXYZArray_1.GrowableXYZArray(numPackedPoints);
+        const result = new PackedPointsWithIndex(source.length, numPackedPoints);
         let currentClusterIndex = 0;
         let numThisCluster = 0;
         order.forEach((k) => {
@@ -454,6 +454,7 @@ function updateIndices(indices, oldToNew) {
 /**
  * Data carrier class for
  * * packedPoints = an array of Point3d
+ * * growablePackedPoints = a growable array of xyz coordinates
  * * oldToNew = array of indices from some prior Point3d[] to the packed points.
  * @internal
  */
@@ -470,8 +471,9 @@ class PackedPointsWithIndex {
      * * empty packedPoints array
      * * oldToNew indices all initialized to PackedPoints.invalidIndex
      */
-    constructor(numOldIndexEntry) {
+    constructor(numOldIndexEntry, numPackedPoints) {
         this.packedPoints = [];
+        this.growablePackedPoints = new GrowableXYZArray_1.GrowableXYZArray(numPackedPoints);
         this.oldToNew = new Uint32Array(numOldIndexEntry);
         for (let i = 0; i < numOldIndexEntry; i++) {
             this.oldToNew[i] = PackedPointsWithIndex.invalidIndex;

package/lib/cjs/numerics/ClusterableArray.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n /\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableBlockedArray } from \"../geometry3d/GrowableBlockedArray\";\r\nimport { GrowableXYArray } from \"../geometry3d/GrowableXYArray\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\n\r\n/\r\n Blocked array with operations to sort and cluster with a tolerance.\r\n * * Primary sorting is along an \"arbitrary\" sort vector.\r\n * @internal\r\n /\r\nexport class ClusterableArray extends GrowableBlockedArray {\r\n // (This is pretty strange)\r\n // The sort vector is (1,c, cc, ...)\r\n // Setting c = 1 makes it 1,1,1 which may be useful for visual scans during debug.\r\n // c with some non-obvious digits makes it unlikely that there will be multiple points on a perpendicular to the sort vector.\r\n private static readonly _vectorFactor = 0.8732; // use 1.0 to rig easy tests.\r\n /** Return a component of the sort vector. /\r\n public static sortVectorComponent(index: number): number {\r\n let c = 1.0;\r\n for (let i = 1; i < index; i++) c = ClusterableArray._vectorFactor;\r\n return c;\r\n }\r\n private _numCoordinatePerPoint: number;\r\n private _numExtraDataPerPoint: number;\r\n /*\r\n @param numCoordinatePerPoint number of coordinates per point\r\n * @param numExtraDataPerPoint of extra data values per point.\r\n * @param initialBlockCapacity predicted number of points. (This does not have to be accurate)\r\n /\r\n public constructor(numCoordinatePerPoint: number, numExtraDataPerPoint: number, initialBlockCapacity: number) {\r\n super(1 + numCoordinatePerPoint + numExtraDataPerPoint, initialBlockCapacity);\r\n this._numExtraDataPerPoint = numExtraDataPerPoint;\r\n this._numCoordinatePerPoint = numCoordinatePerPoint;\r\n }\r\n /* load a block, placing data[i] at block[i+1] to allow sort coordinate first.\r\n * @param data array of numDataPerBlock values.\r\n /\r\n public override addBlock(data: number[]) {\r\n const i0 = this.newBlockIndex() + 1;\r\n const n = Math.min(this.numPerBlock - 1, data.length);\r\n for (let i = 0; i < n; i++)\r\n this._data[i0 + i] = data[i];\r\n }\r\n /* add a block directly with 1 to 5 listed content parameters.\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addDirect(x0: number, x1?: number, x2?: number, x3?: number, x4?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = x0;\r\n if (x1 !== undefined) this._data[i0 + 2] = x1;\r\n if (x2 !== undefined) this._data[i0 + 3] = x2;\r\n if (x3 !== undefined) this._data[i0 + 4] = x3;\r\n if (x4 !== undefined) this._data[i0 + 5] = x4;\r\n }\r\n\r\n /* add a block directly from a Point2d with 0 to 3 extras\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addPoint2d(xy: Point2d, a?: number, b?: number, c?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = xy.x;\r\n this._data[i0 + 2] = xy.y;\r\n if (a !== undefined)\r\n this._data[i0 + 3] = a;\r\n if (b !== undefined)\r\n this._data[i0 + 4] = b;\r\n if (c !== undefined)\r\n this._data[i0 + 5] = c;\r\n }\r\n\r\n /* add a block with directly from a Point2d with 0 to 3 extras\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addPoint3d(xyz: Point3d, a?: number, b?: number, c?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = xyz.x;\r\n this._data[i0 + 2] = xyz.y;\r\n this._data[i0 + 3] = xyz.z;\r\n if (a !== undefined)\r\n this._data[i0 + 4] = a;\r\n if (b !== undefined)\r\n this._data[i0 + 5] = b;\r\n if (c !== undefined)\r\n this._data[i0 + 6] = c;\r\n }\r\n /* Get the xy coordinates by point index. /\r\n public getPoint2d(blockIndex: number, result?: Point2d): Point2d {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return Point2d.create(this._data[i0 + 1], this._data[i0 + 2], result);\r\n }\r\n /* Get the xyZ coordinates by point index. /\r\n public getPoint3d(blockIndex: number, result?: Point3d): Point3d {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return Point3d.create(this._data[i0 + 1], this._data[i0 + 2], this._data[i0 + 3], result);\r\n }\r\n /* Return a single extra data value /\r\n public getExtraData(blockIndex: number, i: number): number {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return this._data[i0 + 1 + this._numCoordinatePerPoint + i];\r\n }\r\n /* Return a single data value /\r\n public getData(blockIndex: number, i: number): number {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return this._data[i0 + i];\r\n }\r\n\r\n /* Set a single extra data value /\r\n public setExtraData(blockIndex: number, i: number, value: number): void {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n this._data[i0 + 1 + this._numCoordinatePerPoint + i] = value;\r\n }\r\n\r\n /* this value is used as cluster terminator in the Uint232Array of indices. /\r\n public static readonly clusterTerminator = 0xFFffFFff;\r\n /* Test if `x` is the cluster terminator value. /\r\n public static isClusterTerminator(x: number): boolean { return x === ClusterableArray.clusterTerminator; }\r\n /* Return an array giving clusters of blocks with similar coordinates.\r\n \r\n * The contents of each block is assumed to be set up so the primary sort coordinate is first.\r\n \r\n ** simple coordinate blocks (x,y) or (x,y,z) would work fine but have occasional performance problems because points with same x would generate big blocks of\r\n * candidates for clusters.\r\n * ** The usual solution is to sort by u value, which is a dot product along some skew direction, and have the blocks contain (u,x,y) or (u,x,y,z) for 2d versus 3d.\r\n * ** apply setupPrimaryClusterSort to prepare that!!!\r\n * * After a simple lexical sort, consecutive blocks that are within tolerance in the 0 component\r\n * are inspected. Within that candidate set, all blocks that are within tolerance for ALL components are clustered.\r\n * * In the output cluster array, clusters are terminated a invalid index. Test for the invalid index with GrowableBlockArray.isClusterTerminator (x)\r\n /\r\n public clusterIndicesLexical(clusterTolerance: number = Geometry.smallMetricDistance): Uint32Array {\r\n // install primary sort key\r\n this.setupPrimaryClusterSort();\r\n // presort by all coordinates ....\r\n const firstSort = this.sortIndicesLexical();\r\n const clusterIndices = new Uint32Array(2 firstSort.length); // worst case: no duplicates, each index goes in followed by terminator.\r\n let m = 0; // number of cluster indices\r\n const n = this.numBlocks; // and this must match firstSort.length !!\r\n let clusterStartBlockIndex = 0;\r\n let candidateBlockIndex = 0;\r\n let barrierU = 0.0;\r\n let i = 0;\r\n let j = 0;\r\n const k0 = 1; // beginning of active column for distance\r\n const k1 = 1 + this._numCoordinatePerPoint;\r\n for (i = 0; i < n; i++) {\r\n clusterStartBlockIndex = firstSort[i];\r\n if (!ClusterableArray.isClusterTerminator(clusterStartBlockIndex)) {\r\n // unused block, so it becomes a cluster...\r\n clusterIndices[m++] = clusterStartBlockIndex;\r\n barrierU = this.component(clusterStartBlockIndex, 0) + clusterTolerance;\r\n firstSort[i] = ClusterableArray.clusterTerminator;\r\n for (j = i + 1; j < n; j++) {\r\n candidateBlockIndex = firstSort[j];\r\n if (candidateBlockIndex === ClusterableArray.clusterTerminator)\r\n continue; // nearby in sort direction but already in a cluster.\r\n if (this.component(candidateBlockIndex, 0) > barrierU)\r\n break;\r\n if (this.distanceBetweenSubBlocks(clusterStartBlockIndex, candidateBlockIndex, k0, k1) <= clusterTolerance) {\r\n clusterIndices[m++] = candidateBlockIndex; // The candidate is in the block\r\n firstSort[j] = ClusterableArray.clusterTerminator; // and it will not be reused as future block base\r\n }\r\n }\r\n clusterIndices[m++] = ClusterableArray.clusterTerminator;\r\n }\r\n }\r\n // Alas, the clusterIndices array has fluff at the end. So it has to be copied.\r\n return clusterIndices.slice(0, m);\r\n }\r\n /** setup (overwrite!!) the \"0\" component with the dot product of numClusterCoordinate later components with a non-axis aligned vector.\r\n * This is normally called before clusterIndicesLexical.\r\n /\r\n public setupPrimaryClusterSort() {\r\n const nb = this.numBlocks;\r\n const nc = this._numCoordinatePerPoint;\r\n const vector = new Float64Array(nc);\r\n vector[0] = 1.0;\r\n for (let c = 1; c < nc; c++) vector[c] = vector[c - 1] ClusterableArray._vectorFactor;\r\n let k = 0;\r\n let dot = 0.0;\r\n const data = this._data;\r\n for (let b = 0; b < nb; b++) {\r\n k = this.blockIndexToDoubleIndex(b);\r\n dot = 0.0;\r\n for (let c = 0; c < nc; c++) { dot += vector[c] * data[k + 1 + c]; }\r\n data[k] = dot;\r\n }\r\n }\r\n /** Convert the cluster data to an array of tuples with point i in the form\r\n * `[i, primarySortCoordinate, [x,y,..], [extraData0, extraData1, ...]]`\r\n /\r\n public toJSON(): any[] {\r\n const result: any[] = [];\r\n for (let b = 0; b < this.numBlocks; b++) {\r\n let i = this.blockIndexToDoubleIndex(b);\r\n const chunk: any[] = [b, this._data[i++]];\r\n const coordinates = [];\r\n for (let c = 0; c < this._numCoordinatePerPoint; c++)coordinates.push(this._data[i++]);\r\n chunk.push(coordinates);\r\n for (let c = 0; c < this._numExtraDataPerPoint; c++)\r\n chunk.push(this._data[i++]);\r\n result.push(chunk);\r\n }\r\n return result;\r\n }\r\n /\r\n Return an array of indices from block index to cluster index.\r\n * @param clusteredBlocks clusters of block indices followed by separators.\r\n /\r\n public createIndexBlockToClusterIndex(clusteredBlocks: Uint32Array): Uint32Array {\r\n const numBlocks = this.numBlocks;\r\n const blockToCluster = new Uint32Array(numBlocks);\r\n blockToCluster.fill(ClusterableArray.clusterTerminator);\r\n let numCluster = 0;\r\n for (const b of clusteredBlocks) {\r\n if (b >= numBlocks) {\r\n numCluster++;\r\n } else {\r\n blockToCluster[b] = numCluster;\r\n }\r\n }\r\n return blockToCluster;\r\n }\r\n /\r\n Return an array of indices from block index to index of its cluster's start in the cluster index array.\r\n * @param clusteredBlocks clusters of block indices followed by separators.\r\n /\r\n public createIndexBlockToClusterStart(clusteredBlocks: Uint32Array): Uint32Array {\r\n const n = clusteredBlocks.length;\r\n const numBlocks = this.numBlocks;\r\n const blockToClusterStart = new Uint32Array(numBlocks);\r\n const terminator = ClusterableArray.clusterTerminator;\r\n blockToClusterStart.fill(terminator);\r\n let clusterStart = 0;\r\n for (let i = 0; i < n; i++) {\r\n const k = clusteredBlocks[i];\r\n if (k > numBlocks) {\r\n clusterStart = i + 1;\r\n } else {\r\n blockToClusterStart[k] = clusterStart;\r\n }\r\n }\r\n return blockToClusterStart;\r\n }\r\n /* count the clusters in the clusteredBlocks array. /\r\n public countClusters(clusteredBlocks: Uint32Array): number {\r\n let numClusters = 0;\r\n const terminator = ClusterableArray.clusterTerminator;\r\n for (const b of clusteredBlocks) {\r\n if (b === terminator)\r\n numClusters++;\r\n }\r\n return numClusters;\r\n }\r\n /* create a reverse index: given a cluster index k, clusterToClusterStart[k] is the place\r\n * the cluster's block indices appear in clusterBlocks\r\n /\r\n public createIndexClusterToClusterStart(clusteredBlocks: Uint32Array): Uint32Array {\r\n let numCluster = this.countClusters(clusteredBlocks);\r\n const clusterToClusterStart = new Uint32Array(numCluster);\r\n const terminator = ClusterableArray.clusterTerminator;\r\n clusterToClusterStart.fill(terminator);\r\n const n = clusteredBlocks.length;\r\n let clusterStart = 0;\r\n for (let i = 0; i < n; i++) {\r\n const k = clusteredBlocks[i];\r\n if (k === terminator) {\r\n clusterStart = i + 1;\r\n } else if (i === clusterStart) {\r\n clusterToClusterStart[numCluster++] = clusterStart;\r\n }\r\n }\r\n return clusterToClusterStart;\r\n }\r\n\r\n /\r\n Sort terminator-delimited subsets of an array of indices into the table, using a single data value as sort key.\r\n * @param blockedIndices indices, organized as blocks of good indices terminated by the clusterTerminator. Each block is individually sorted on return.\r\n * @param dataIndex index of the data key, e.g., if the sort key is the first extraData (angle) after x and y coordinate data, pass dataIndex = 2.\r\n /\r\n public sortSubsetsBySingleKey(blockedIndices: Uint32Array, dataIndex: number) {\r\n const dataOffset = 1 + dataIndex;\r\n let kBegin = 0;\r\n let swap;\r\n let key0, key1;\r\n const numK = blockedIndices.length;\r\n for (let kEnd = 0; kEnd < numK; kEnd++) {\r\n if (blockedIndices[kEnd] === ClusterableArray.clusterTerminator) {\r\n // bubble sort blockedIndices[kBegin <= k < kEnd].\r\n // (search for minimum remaining, swap . . )\r\n for (let k0 = kBegin; k0 + 1 < kEnd; k0++) {\r\n key0 = this.getWithinBlock(blockedIndices[k0], dataOffset);\r\n for (let k1 = k0 + 1; k1 < kEnd; k1++) {\r\n key1 = this.getWithinBlock(blockedIndices[k1], dataOffset);\r\n if (key1 < key0) {\r\n swap = blockedIndices[k0];\r\n blockedIndices[k0] = blockedIndices[k1];\r\n blockedIndices[k1] = swap;\r\n key0 = key1;\r\n }\r\n }\r\n }\r\n kBegin = kEnd + 1;\r\n }\r\n }\r\n }\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n /\r\n public static clusterPoint3dArray(data: Point3d[], tolerance: number = Geometry.smallMetricDistance):\r\n PackedPointsWithIndex {\r\n const clusterArray = new ClusterableArray(3, 0, data.length);\r\n data.forEach((p: Point3d) => {\r\n clusterArray.addDirect(p.x, p.y, p.z);\r\n });\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const result = new PackedPointsWithIndex(data.length);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0)\r\n result.packedPoints.push(data[k].clone());\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns number array with indices mapping old to new.\r\n * @param data numbers to cluster.\r\n /\r\n public static clusterNumberArray(data: number[], tolerance: number = Geometry.smallMetricDistance): PackedNumbersWithIndex {\r\n const clusterArray = new ClusterableArray(1, 0, data.length);\r\n data.forEach((x: number) => {clusterArray.addDirect(x);});\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const result = new PackedNumbersWithIndex(data.length);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0)\r\n result.packedNumbers.push(data[k]);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n /\r\n public static clusterGrowablePoint2dArray(source: GrowableXYArray, tolerance: number = Geometry.smallMetricDistance): PackedPoint2dsWithIndex {\r\n const clusterArray = new ClusterableArray(2, 0, source.length);\r\n const p = Point2d.create();\r\n const numSourcePoint = source.length;\r\n for (let i = 0; i < numSourcePoint; i++) {\r\n source.getPoint2dAtUncheckedPointIndex(i, p);\r\n clusterArray.addDirect(p.x, p.y);\r\n }\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const numPackedPoints = clusterArray.countClusters(order);\r\n const result = new PackedPoint2dsWithIndex(source.length, numPackedPoints);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0) // This is the first encounter with a new cluster\r\n result.growablePackedPoints.pushFromGrowableXYArray(source, k);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n /\r\n public static clusterGrowablePoint3dArray(source: GrowableXYZArray, tolerance: number = Geometry.smallMetricDistance):\r\n PackedPointsWithIndex {\r\n const clusterArray = new ClusterableArray(3, 0, source.length);\r\n const p = Point3d.create();\r\n const numSourcePoint = source.length;\r\n for (let i = 0; i < numSourcePoint; i++) {\r\n source.getPoint3dAtUncheckedPointIndex(i, p);\r\n clusterArray.addDirect(p.x, p.y, p.z);\r\n }\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const result = new PackedPointsWithIndex(source.length);\r\n const numPackedPoints = clusterArray.countClusters(order);\r\n result.growablePackedPoints = new GrowableXYZArray(numPackedPoints);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0) // This is the first encounter with a new cluster\r\n result.growablePackedPoints!.pushFromGrowableXYZArray(source, k);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\nfunction updateIndices(indices: number[], oldToNew: Uint32Array): boolean {\r\n let numErrors = 0;\r\n indices.forEach((value: number, i: number, data: number[]) => {\r\n if (value < oldToNew.length) {\r\n data[i] = oldToNew[value];\r\n } else numErrors++;\r\n });\r\n return numErrors === 0;\r\n}\r\n\r\n/\r\n Data carrier class for\r\n * * packedPoints = an array of Point3d\r\n * * oldToNew = array of indices from some prior Point3d[] to the packed points.\r\n * @internal\r\n /\r\nclass PackedPointsWithIndex {\r\n /* Array of Point3d /\r\n public packedPoints: Point3d[];\r\n /* array of coordinates packed in GrowableXYZArray /\r\n public growablePackedPoints: GrowableXYZArray \| undefined;\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedPoints object with\r\n * * empty packedPoints array\r\n * * oldToNew indices all initialized to PackedPoints.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number) {\r\n this.packedPoints = [];\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPointsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n /\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\nclass PackedPoint2dsWithIndex {\r\n /* array of coordinates packed in GrowableXYArray /\r\n public growablePackedPoints: GrowableXYArray;\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedPoints object with\r\n * * empty packedPoints array\r\n * * oldToNew indices all initialized to PackedPoints.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number, numPackedPoints: number) {\r\n this.growablePackedPoints = new GrowableXYArray(numPackedPoints);\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPoint2dsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n /\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\n class PackedNumbersWithIndex {\r\n /* Array of numbers /\r\n public packedNumbers: number[];\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedNumbers object with\r\n * * empty packedNumbers array\r\n * * oldToNew indices all initialized to PackedNumbers.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number) {\r\n this.packedNumbers = [];\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPointsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n */\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n /\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableBlockedArray } from \"../geometry3d/GrowableBlockedArray\";\r\nimport { GrowableXYArray } from \"../geometry3d/GrowableXYArray\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\n\r\n/\r\n Blocked array with operations to sort and cluster with a tolerance.\r\n * * Primary sorting is along an \"arbitrary\" sort vector.\r\n * @internal\r\n /\r\nexport class ClusterableArray extends GrowableBlockedArray {\r\n // (This is pretty strange)\r\n // The sort vector is (1,c, cc, ...)\r\n // Setting c = 1 makes it 1,1,1 which may be useful for visual scans during debug.\r\n // c with some non-obvious digits makes it unlikely that there will be multiple points on a perpendicular to the sort vector.\r\n private static readonly _vectorFactor = 0.8732; // use 1.0 to rig easy tests.\r\n /** Return a component of the sort vector. /\r\n public static sortVectorComponent(index: number): number {\r\n let c = 1.0;\r\n for (let i = 1; i < index; i++) c = ClusterableArray._vectorFactor;\r\n return c;\r\n }\r\n private _numCoordinatePerPoint: number;\r\n private _numExtraDataPerPoint: number;\r\n /*\r\n @param numCoordinatePerPoint number of coordinates per point\r\n * @param numExtraDataPerPoint of extra data values per point.\r\n * @param initialBlockCapacity predicted number of points. (This does not have to be accurate)\r\n /\r\n public constructor(numCoordinatePerPoint: number, numExtraDataPerPoint: number, initialBlockCapacity: number) {\r\n super(1 + numCoordinatePerPoint + numExtraDataPerPoint, initialBlockCapacity);\r\n this._numExtraDataPerPoint = numExtraDataPerPoint;\r\n this._numCoordinatePerPoint = numCoordinatePerPoint;\r\n }\r\n /* load a block, placing data[i] at block[i+1] to allow sort coordinate first.\r\n * @param data array of numDataPerBlock values.\r\n /\r\n public override addBlock(data: number[]) {\r\n const i0 = this.newBlockIndex() + 1;\r\n const n = Math.min(this.numPerBlock - 1, data.length);\r\n for (let i = 0; i < n; i++)\r\n this._data[i0 + i] = data[i];\r\n }\r\n /* add a block directly with 1 to 5 listed content parameters.\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addDirect(x0: number, x1?: number, x2?: number, x3?: number, x4?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = x0;\r\n if (x1 !== undefined) this._data[i0 + 2] = x1;\r\n if (x2 !== undefined) this._data[i0 + 3] = x2;\r\n if (x3 !== undefined) this._data[i0 + 4] = x3;\r\n if (x4 !== undefined) this._data[i0 + 5] = x4;\r\n }\r\n\r\n /* add a block directly from a Point2d with 0 to 3 extras\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addPoint2d(xy: Point2d, a?: number, b?: number, c?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = xy.x;\r\n this._data[i0 + 2] = xy.y;\r\n if (a !== undefined)\r\n this._data[i0 + 3] = a;\r\n if (b !== undefined)\r\n this._data[i0 + 4] = b;\r\n if (c !== undefined)\r\n this._data[i0 + 5] = c;\r\n }\r\n\r\n /* add a block with directly from a Point2d with 0 to 3 extras\r\n * This assumes numDataPerPoint is sufficient for the parameters provided.\r\n /\r\n public addPoint3d(xyz: Point3d, a?: number, b?: number, c?: number) {\r\n const i0 = this.newBlockIndex();\r\n this._data[i0 + 1] = xyz.x;\r\n this._data[i0 + 2] = xyz.y;\r\n this._data[i0 + 3] = xyz.z;\r\n if (a !== undefined)\r\n this._data[i0 + 4] = a;\r\n if (b !== undefined)\r\n this._data[i0 + 5] = b;\r\n if (c !== undefined)\r\n this._data[i0 + 6] = c;\r\n }\r\n /* Get the xy coordinates by point index. /\r\n public getPoint2d(blockIndex: number, result?: Point2d): Point2d {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return Point2d.create(this._data[i0 + 1], this._data[i0 + 2], result);\r\n }\r\n /* Get the xyZ coordinates by point index. /\r\n public getPoint3d(blockIndex: number, result?: Point3d): Point3d {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return Point3d.create(this._data[i0 + 1], this._data[i0 + 2], this._data[i0 + 3], result);\r\n }\r\n /* Return a single extra data value /\r\n public getExtraData(blockIndex: number, i: number): number {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return this._data[i0 + 1 + this._numCoordinatePerPoint + i];\r\n }\r\n /* Return a single data value /\r\n public getData(blockIndex: number, i: number): number {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n return this._data[i0 + i];\r\n }\r\n\r\n /* Set a single extra data value /\r\n public setExtraData(blockIndex: number, i: number, value: number): void {\r\n const i0 = this.blockIndexToDoubleIndex(blockIndex);\r\n this._data[i0 + 1 + this._numCoordinatePerPoint + i] = value;\r\n }\r\n\r\n /* this value is used as cluster terminator in the Uint232Array of indices. /\r\n public static readonly clusterTerminator = 0xFFffFFff;\r\n /* Test if `x` is the cluster terminator value. /\r\n public static isClusterTerminator(x: number): boolean { return x === ClusterableArray.clusterTerminator; }\r\n /* Return an array giving clusters of blocks with similar coordinates.\r\n \r\n * The contents of each block is assumed to be set up so the primary sort coordinate is first.\r\n \r\n ** simple coordinate blocks (x,y) or (x,y,z) would work fine but have occasional performance problems because points with same x would generate big blocks of\r\n * candidates for clusters.\r\n * ** The usual solution is to sort by u value, which is a dot product along some skew direction, and have the blocks contain (u,x,y) or (u,x,y,z) for 2d versus 3d.\r\n * ** apply setupPrimaryClusterSort to prepare that!!!\r\n * * After a simple lexical sort, consecutive blocks that are within tolerance in the 0 component\r\n * are inspected. Within that candidate set, all blocks that are within tolerance for ALL components are clustered.\r\n * * In the output cluster array, clusters are terminated a invalid index. Test for the invalid index with GrowableBlockArray.isClusterTerminator (x)\r\n /\r\n public clusterIndicesLexical(clusterTolerance: number = Geometry.smallMetricDistance): Uint32Array {\r\n // install primary sort key\r\n this.setupPrimaryClusterSort();\r\n // presort by all coordinates ....\r\n const firstSort = this.sortIndicesLexical();\r\n const clusterIndices = new Uint32Array(2 firstSort.length); // worst case: no duplicates, each index goes in followed by terminator.\r\n let m = 0; // number of cluster indices\r\n const n = this.numBlocks; // and this must match firstSort.length !!\r\n let clusterStartBlockIndex = 0;\r\n let candidateBlockIndex = 0;\r\n let barrierU = 0.0;\r\n let i = 0;\r\n let j = 0;\r\n const k0 = 1; // beginning of active column for distance\r\n const k1 = 1 + this._numCoordinatePerPoint;\r\n for (i = 0; i < n; i++) {\r\n clusterStartBlockIndex = firstSort[i];\r\n if (!ClusterableArray.isClusterTerminator(clusterStartBlockIndex)) {\r\n // unused block, so it becomes a cluster...\r\n clusterIndices[m++] = clusterStartBlockIndex;\r\n barrierU = this.component(clusterStartBlockIndex, 0) + clusterTolerance;\r\n firstSort[i] = ClusterableArray.clusterTerminator;\r\n for (j = i + 1; j < n; j++) {\r\n candidateBlockIndex = firstSort[j];\r\n if (candidateBlockIndex === ClusterableArray.clusterTerminator)\r\n continue; // nearby in sort direction but already in a cluster.\r\n if (this.component(candidateBlockIndex, 0) > barrierU)\r\n break;\r\n if (this.distanceBetweenSubBlocks(clusterStartBlockIndex, candidateBlockIndex, k0, k1) <= clusterTolerance) {\r\n clusterIndices[m++] = candidateBlockIndex; // The candidate is in the block\r\n firstSort[j] = ClusterableArray.clusterTerminator; // and it will not be reused as future block base\r\n }\r\n }\r\n clusterIndices[m++] = ClusterableArray.clusterTerminator;\r\n }\r\n }\r\n // Alas, the clusterIndices array has fluff at the end. So it has to be copied.\r\n return clusterIndices.slice(0, m);\r\n }\r\n /** setup (overwrite!!) the \"0\" component with the dot product of numClusterCoordinate later components with a non-axis aligned vector.\r\n * This is normally called before clusterIndicesLexical.\r\n /\r\n public setupPrimaryClusterSort() {\r\n const nb = this.numBlocks;\r\n const nc = this._numCoordinatePerPoint;\r\n const vector = new Float64Array(nc);\r\n vector[0] = 1.0;\r\n for (let c = 1; c < nc; c++) vector[c] = vector[c - 1] ClusterableArray._vectorFactor;\r\n let k = 0;\r\n let dot = 0.0;\r\n const data = this._data;\r\n for (let b = 0; b < nb; b++) {\r\n k = this.blockIndexToDoubleIndex(b);\r\n dot = 0.0;\r\n for (let c = 0; c < nc; c++) { dot += vector[c] * data[k + 1 + c]; }\r\n data[k] = dot;\r\n }\r\n }\r\n /** Convert the cluster data to an array of tuples with point i in the form\r\n * `[i, primarySortCoordinate, [x,y,..], [extraData0, extraData1, ...]]`\r\n /\r\n public toJSON(): any[] {\r\n const result: any[] = [];\r\n for (let b = 0; b < this.numBlocks; b++) {\r\n let i = this.blockIndexToDoubleIndex(b);\r\n const chunk: any[] = [b, this._data[i++]];\r\n const coordinates = [];\r\n for (let c = 0; c < this._numCoordinatePerPoint; c++)coordinates.push(this._data[i++]);\r\n chunk.push(coordinates);\r\n for (let c = 0; c < this._numExtraDataPerPoint; c++)\r\n chunk.push(this._data[i++]);\r\n result.push(chunk);\r\n }\r\n return result;\r\n }\r\n /\r\n Return an array of indices from block index to cluster index.\r\n * @param clusteredBlocks clusters of block indices followed by separators.\r\n /\r\n public createIndexBlockToClusterIndex(clusteredBlocks: Uint32Array): Uint32Array {\r\n const numBlocks = this.numBlocks;\r\n const blockToCluster = new Uint32Array(numBlocks);\r\n blockToCluster.fill(ClusterableArray.clusterTerminator);\r\n let numCluster = 0;\r\n for (const b of clusteredBlocks) {\r\n if (b >= numBlocks) {\r\n numCluster++;\r\n } else {\r\n blockToCluster[b] = numCluster;\r\n }\r\n }\r\n return blockToCluster;\r\n }\r\n /\r\n Return an array of indices from block index to index of its cluster's start in the cluster index array.\r\n * @param clusteredBlocks clusters of block indices followed by separators.\r\n /\r\n public createIndexBlockToClusterStart(clusteredBlocks: Uint32Array): Uint32Array {\r\n const n = clusteredBlocks.length;\r\n const numBlocks = this.numBlocks;\r\n const blockToClusterStart = new Uint32Array(numBlocks);\r\n const terminator = ClusterableArray.clusterTerminator;\r\n blockToClusterStart.fill(terminator);\r\n let clusterStart = 0;\r\n for (let i = 0; i < n; i++) {\r\n const k = clusteredBlocks[i];\r\n if (k > numBlocks) {\r\n clusterStart = i + 1;\r\n } else {\r\n blockToClusterStart[k] = clusterStart;\r\n }\r\n }\r\n return blockToClusterStart;\r\n }\r\n /* count the clusters in the clusteredBlocks array. /\r\n public countClusters(clusteredBlocks: Uint32Array): number {\r\n let numClusters = 0;\r\n const terminator = ClusterableArray.clusterTerminator;\r\n for (const b of clusteredBlocks) {\r\n if (b === terminator)\r\n numClusters++;\r\n }\r\n return numClusters;\r\n }\r\n /* create a reverse index: given a cluster index k, clusterToClusterStart[k] is the place\r\n * the cluster's block indices appear in clusterBlocks\r\n /\r\n public createIndexClusterToClusterStart(clusteredBlocks: Uint32Array): Uint32Array {\r\n let numCluster = this.countClusters(clusteredBlocks);\r\n const clusterToClusterStart = new Uint32Array(numCluster);\r\n const terminator = ClusterableArray.clusterTerminator;\r\n clusterToClusterStart.fill(terminator);\r\n const n = clusteredBlocks.length;\r\n let clusterStart = 0;\r\n for (let i = 0; i < n; i++) {\r\n const k = clusteredBlocks[i];\r\n if (k === terminator) {\r\n clusterStart = i + 1;\r\n } else if (i === clusterStart) {\r\n clusterToClusterStart[numCluster++] = clusterStart;\r\n }\r\n }\r\n return clusterToClusterStart;\r\n }\r\n\r\n /\r\n Sort terminator-delimited subsets of an array of indices into the table, using a single data value as sort key.\r\n * @param blockedIndices indices, organized as blocks of good indices terminated by the clusterTerminator. Each block is individually sorted on return.\r\n * @param dataIndex index of the data key, e.g., if the sort key is the first extraData (angle) after x and y coordinate data, pass dataIndex = 2.\r\n /\r\n public sortSubsetsBySingleKey(blockedIndices: Uint32Array, dataIndex: number) {\r\n const dataOffset = 1 + dataIndex;\r\n let kBegin = 0;\r\n let swap;\r\n let key0, key1;\r\n const numK = blockedIndices.length;\r\n for (let kEnd = 0; kEnd < numK; kEnd++) {\r\n if (blockedIndices[kEnd] === ClusterableArray.clusterTerminator) {\r\n // bubble sort blockedIndices[kBegin <= k < kEnd].\r\n // (search for minimum remaining, swap . . )\r\n for (let k0 = kBegin; k0 + 1 < kEnd; k0++) {\r\n key0 = this.getWithinBlock(blockedIndices[k0], dataOffset);\r\n for (let k1 = k0 + 1; k1 < kEnd; k1++) {\r\n key1 = this.getWithinBlock(blockedIndices[k1], dataOffset);\r\n if (key1 < key0) {\r\n swap = blockedIndices[k0];\r\n blockedIndices[k0] = blockedIndices[k1];\r\n blockedIndices[k1] = swap;\r\n key0 = key1;\r\n }\r\n }\r\n }\r\n kBegin = kEnd + 1;\r\n }\r\n }\r\n }\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n /\r\n public static clusterPoint3dArray(data: Point3d[], tolerance: number = Geometry.smallMetricDistance): PackedPointsWithIndex {\r\n const clusterArray = new ClusterableArray(3, 0, data.length);\r\n data.forEach((p: Point3d) => {\r\n clusterArray.addDirect(p.x, p.y, p.z);\r\n });\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const result = new PackedPointsWithIndex(data.length, 0);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0)\r\n result.packedPoints.push(data[k].clone());\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns number array with indices mapping old to new.\r\n * @param data numbers to cluster.\r\n /\r\n public static clusterNumberArray(data: number[], tolerance: number = Geometry.smallMetricDistance): PackedNumbersWithIndex {\r\n const clusterArray = new ClusterableArray(1, 0, data.length);\r\n data.forEach((x: number) => {clusterArray.addDirect(x);});\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const result = new PackedNumbersWithIndex(data.length);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0)\r\n result.packedNumbers.push(data[k]);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n /\r\n public static clusterGrowablePoint2dArray(source: GrowableXYArray, tolerance: number = Geometry.smallMetricDistance): PackedPoint2dsWithIndex {\r\n const clusterArray = new ClusterableArray(2, 0, source.length);\r\n const p = Point2d.create();\r\n const numSourcePoint = source.length;\r\n for (let i = 0; i < numSourcePoint; i++) {\r\n source.getPoint2dAtUncheckedPointIndex(i, p);\r\n clusterArray.addDirect(p.x, p.y);\r\n }\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const numPackedPoints = clusterArray.countClusters(order);\r\n const result = new PackedPoint2dsWithIndex(source.length, numPackedPoints);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0) // This is the first encounter with a new cluster\r\n result.growablePackedPoints.pushFromGrowableXYArray(source, k);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n\r\n /\r\n Returns packed points with indices mapping old to new.\r\n * @param data points to cluster.\r\n * @returns data carrier for the packed points as a GrowableXYZArray\r\n /\r\n public static clusterGrowablePoint3dArray(source: GrowableXYZArray, tolerance: number = Geometry.smallMetricDistance): PackedPointsWithIndex {\r\n const clusterArray = new ClusterableArray(3, 0, source.length);\r\n const p = Point3d.create();\r\n const numSourcePoint = source.length;\r\n for (let i = 0; i < numSourcePoint; i++) {\r\n source.getPoint3dAtUncheckedPointIndex(i, p);\r\n clusterArray.addDirect(p.x, p.y, p.z);\r\n }\r\n const order = clusterArray.clusterIndicesLexical(tolerance);\r\n const numPackedPoints = clusterArray.countClusters(order);\r\n const result = new PackedPointsWithIndex(source.length, numPackedPoints);\r\n let currentClusterIndex = 0;\r\n let numThisCluster = 0;\r\n order.forEach((k: number) => {\r\n if (ClusterableArray.isClusterTerminator(k)) {\r\n currentClusterIndex++;\r\n numThisCluster = 0;\r\n } else {\r\n if (numThisCluster === 0) // This is the first encounter with a new cluster\r\n result.growablePackedPoints.pushFromGrowableXYZArray(source, k);\r\n result.oldToNew[k] = currentClusterIndex;\r\n numThisCluster++;\r\n }\r\n });\r\n return result;\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\nfunction updateIndices(indices: number[], oldToNew: Uint32Array): boolean {\r\n let numErrors = 0;\r\n indices.forEach((value: number, i: number, data: number[]) => {\r\n if (value < oldToNew.length) {\r\n data[i] = oldToNew[value];\r\n } else numErrors++;\r\n });\r\n return numErrors === 0;\r\n}\r\n\r\n/\r\n Data carrier class for\r\n * * packedPoints = an array of Point3d\r\n * * growablePackedPoints = a growable array of xyz coordinates\r\n * * oldToNew = array of indices from some prior Point3d[] to the packed points.\r\n * @internal\r\n /\r\nclass PackedPointsWithIndex {\r\n /* Array of Point3d /\r\n public packedPoints: Point3d[];\r\n /* array of coordinates packed in GrowableXYZArray /\r\n public growablePackedPoints: GrowableXYZArray;\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedPoints object with\r\n * * empty packedPoints array\r\n * * oldToNew indices all initialized to PackedPoints.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number, numPackedPoints: number) {\r\n this.packedPoints = [];\r\n this.growablePackedPoints = new GrowableXYZArray(numPackedPoints);\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPointsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n /\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\nclass PackedPoint2dsWithIndex {\r\n /* array of coordinates packed in GrowableXYArray /\r\n public growablePackedPoints: GrowableXYArray;\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedPoints object with\r\n * * empty packedPoints array\r\n * * oldToNew indices all initialized to PackedPoints.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number, numPackedPoints: number) {\r\n this.growablePackedPoints = new GrowableXYArray(numPackedPoints);\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPoint2dsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n /\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n\r\n/\r\n @internal\r\n /\r\n class PackedNumbersWithIndex {\r\n /* Array of numbers /\r\n public packedNumbers: number[];\r\n /* mapping from old point index to new point index. /\r\n public oldToNew: Uint32Array;\r\n /* integer value for unknown index. /\r\n public static readonly invalidIndex = 0xFFFFffff;\r\n\r\n /* construct a PackedNumbers object with\r\n * * empty packedNumbers array\r\n * * oldToNew indices all initialized to PackedNumbers.invalidIndex\r\n /\r\n constructor(numOldIndexEntry: number) {\r\n this.packedNumbers = [];\r\n this.oldToNew = new Uint32Array(numOldIndexEntry);\r\n for (let i = 0; i < numOldIndexEntry; i++) {\r\n this.oldToNew[i] = PackedPointsWithIndex.invalidIndex;\r\n }\r\n }\r\n /\r\n Use the oldToNew array to update an array of \"old\" indices.\r\n * @param indices array of indices into prepacked array.\r\n * @returns true if all input indices were valid for the oldToNew array.\r\n */\r\n public updateIndices(indices: number[]): boolean {\r\n return updateIndices(indices, this.oldToNew);\r\n }\r\n}\r\n"]}