@itwin/core-geometry 3.0.0-dev.76 → 3.0.0-dev.80

package/lib/esm/curve/spiral/IntegratedSpiral3d.d.ts

@@ -0,0 +1,158 @@
+/** @packageDocumentation
+ * @module Curve
+ */
+import { TransitionSpiral3d } from "./TransitionSpiral3d";
+import { Segment1d } from "../../geometry3d/Segment1d";
+import { AngleSweep } from "../../geometry3d/AngleSweep";
+import { Transform } from "../../geometry3d/Transform";
+import { LineString3d } from "../LineString3d";
+import { Point3d } from "../../geometry3d/Point3dVector3d";
+import { Angle } from "../../geometry3d/Angle";
+import { Plane3dByOriginAndUnitNormal } from "../../geometry3d/Plane3dByOriginAndUnitNormal";
+import { StrokeOptions } from "../StrokeOptions";
+import { GeometryHandler, IStrokeHandler } from "../../geometry3d/GeometryHandler";
+import { Ray3d } from "../../geometry3d/Ray3d";
+import { Plane3dByOriginAndVectors } from "../../geometry3d/Plane3dByOriginAndVectors";
+import { Range3d } from "../../geometry3d/Range";
+import { GeometryQuery } from "../GeometryQuery";
+/**
+ * An IntegratedSpiral3d is a curve defined by integrating its curvature.
+ * * The first integral of curvature (with respect to distance along the curve) is the bearing angle (in radians)
+ * * Integrating (cos(theta), sin(theta)) gives displacement from the start point, and thus the actual curve position.
+ * * The curvature functions of interest are all symmetric snap functions in the NormalizedTransition class.
+ * * `TransitionConditionalProperties` implements the computations of the interrelationship of radii, bearing, and length.
+ * @public
+ */
+export declare class IntegratedSpiral3d extends TransitionSpiral3d {
+    /** String name for schema properties */
+    readonly curvePrimitiveType = "transitionSpiral";
+    /** start and end radii as a Segment1d */
+    radius01: Segment1d;
+    /** start and end bearings as an AngleSweep */
+    bearing01: AngleSweep;
+    /** stroked approximation of entire spiral. */
+    private _globalStrokes;
+    /** stroked approximation of active spiral.
+     * * Same count as global -- possibly overly fine, but it gives some consistency between same clothoid constructed as partial versus complete.
+     * * If no trimming, this points to the same place as the _globalStrokes !!!  Don't double transform!!!
+     */
+    private _activeStrokes?;
+    /** Return the internal stroked form of the (possibly partial) spiral   */
+    get activeStrokes(): LineString3d;
+    private _evaluator;
+    /** Total curve arc length (computed) */
+    private _arcLength01;
+    /** Curvatures (inverse radii) at start and end */
+    private _curvature01;
+    /** evaluator for transition */
+    private constructor();
+    /** default spiral type name. (clothoid) */
+    static readonly defaultSpiralType = "clothoid";
+    /** use the integrated function to return an angle at fractional position. */
+    globalFractionToBearingRadians(fraction: number): number;
+    /** use the integrated function to return an angle at fractional position. */
+    globalFractionToCurvature(fraction: number): number;
+    /** Return the bearing at given fraction of the active interval .... */
+    fractionToBearingRadians(activeFraction: number): number;
+    /** Return the curvature at given fraction of the active interval ...
+     * * The `undefined` result is to match the abstract class -- it cannot actually occur.
+     */
+    fractionToCurvature(activeFraction: number): number | undefined;
+    private static _gaussFraction;
+    private static _gaussWeight;
+    private static _gaussMapper;
+    /** Initialize class level work arrays. */
+    static initWorkSpace(): void;
+    /** Evaluate and sum the gauss quadrature formulas to integrate cos(theta), sin(theta) fractional subset of a reference length.
+     * (recall that theta is a nonlinear function of the fraction.)
+     * * This is a single interval of gaussian integration.
+     * * The fraction is on the full spiral (not in the mapped active interval)
+     * @param xyz advancing integrated point.
+     * @param fractionA fraction at start of interval
+     * @param fractionB fraction at end of interval.
+     * @param unitArcLength length of curve for 0 to 1 fractional
+     */
+    private fullSpiralIncrementalIntegral;
+    /** Recompute strokes */
+    refreshComputedProperties(): void;
+    /**
+     * Create a transition spiral with radius and bearing conditions.
+     * @param radius01 radius (inverse curvature) at start and end. (radius of zero means straight line)
+     * @param bearing01 bearing angles at start and end.  bearings are measured from the x axis, positive clockwise towards y axis
+     * @param activeFractionInterval fractional limits of the active portion of the spiral.
+     * @param localToWorld placement frame.  Fractional coordinate 0 is at the origin.
+     */
+    static createRadiusRadiusBearingBearing(radius01: Segment1d, bearing01: AngleSweep, activeFractionInterval: Segment1d, localToWorld: Transform, typeName?: string): IntegratedSpiral3d | undefined;
+    /**
+     * Create a transition spiral.
+     * * Inputs must provide exactly 4 of the 5 values `[radius0,radius1,bearing0,bearing1,length`.
+     * @param spiralType one of "clothoid", "bloss", "biquadratic", "cosine", "sine".  If undefined, "clothoid" is used.
+     * @param radius0 radius (or 0 for tangent to line) at start
+     * @param radius1 radius (or 0 for tangent to line) at end
+     * @param bearing0 bearing, measured CCW from x axis at start.
+     * @param bearing1 bearing, measured CCW from x axis at end.
+     * @param fractionInterval optional fractional interval for an "active" portion of the curve.   if omitted, the full [0,1] is used.
+     * @param localToWorld placement transform
+     */
+    static createFrom4OutOf5(spiralType: string | undefined, radius0: number | undefined, radius1: number | undefined, bearing0: Angle | undefined, bearing1: Angle | undefined, arcLength: number | undefined, fractionInterval: undefined | Segment1d, localToWorld: Transform): IntegratedSpiral3d | undefined;
+    /** Copy all defining data from another spiral. */
+    setFrom(other: IntegratedSpiral3d): IntegratedSpiral3d;
+    /** Deep clone of this spiral */
+    clone(): IntegratedSpiral3d;
+    /** Return (if possible) a spiral which is a portion of this curve. */
+    clonePartialCurve(fractionA: number, fractionB: number): IntegratedSpiral3d | undefined;
+    /** apply `transform` to this spiral's local to world transform. */
+    tryTransformInPlace(transformA: Transform): boolean;
+    /** Clone with a transform applied  */
+    cloneTransformed(transform: Transform): TransitionSpiral3d;
+    /** Return the spiral start point. */
+    startPoint(): Point3d;
+    /** return the spiral end point. */
+    endPoint(): Point3d;
+    /** test if the local to world transform places the spiral xy plane into `plane` */
+    isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean;
+    /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    quickLength(): number;
+    /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    curveLength(): number;
+    /** Return (unsigned) length of the spiral between fractions.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    curveLengthBetweenFractions(fraction0: number, fraction1: number): number;
+    /** Test if `other` is an instance of `TransitionSpiral3d` */
+    isSameGeometryClass(other: any): boolean;
+    /** Add strokes from this spiral to `dest`.
+     * * Linestrings will usually stroke as just their points.
+     * * If maxEdgeLength is given, this will sub-stroke within the linestring -- not what we want.
+     */
+    emitStrokes(dest: LineString3d, options?: StrokeOptions): void;
+    /** emit stroke fragments to `dest` handler. */
+    emitStrokableParts(dest: IStrokeHandler, options?: StrokeOptions): void;
+    /**
+     * return the stroke count required for given options.
+     * @param options StrokeOptions that determine count
+     */
+    computeStrokeCountForOptions(options?: StrokeOptions): number;
+    /** Reverse the active interval and active strokes.
+     * * Primary defining data remains unchanged !!!
+     */
+    reverseInPlace(): void;
+    /** Evaluate curve point with respect to fraction. */
+    fractionToPoint(activeFraction: number, result?: Point3d): Point3d;
+    /** Evaluate curve point and derivative with respect to fraction. */
+    fractionToPointAndDerivative(activeFraction: number, result?: Ray3d): Ray3d;
+    /** Return the frenet frame at fractional position. */
+    fractionToFrenetFrame(activeFraction: number, result?: Transform): Transform;
+    /** Return a plane with
+     *
+     * * origin at fractional position along the curve
+     * * vectorU is the first derivative, i.e. tangent vector with length equal to the rate of change with respect to the fraction.
+     * * vectorV is the second derivative, i.e.derivative of vectorU.
+     */
+    fractionToPointAnd2Derivatives(activeFraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors | undefined;
+    /** Second step of double dispatch:  call `handler.handleTransitionSpiral(this)` */
+    dispatchToGeometryHandler(handler: GeometryHandler): any;
+    /** extend the range by the strokes of the spiral */
+    extendRange(rangeToExtend: Range3d, transform?: Transform): void;
+    /** compare various coordinate quantities */
+    isAlmostEqual(other?: GeometryQuery): boolean;
+}
+//# sourceMappingURL=IntegratedSpiral3d.d.ts.map

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package/lib/esm/curve/spiral/IntegratedSpiral3d.js

@@ -0,0 +1,360 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module Curve
+ */
+import { TransitionSpiral3d } from "./TransitionSpiral3d";
+import { Segment1d } from "../../geometry3d/Segment1d";
+import { AngleSweep } from "../../geometry3d/AngleSweep";
+import { Transform } from "../../geometry3d/Transform";
+import { LineString3d } from "../LineString3d";
+import { NormalizedTransition } from "./NormalizedTransition";
+import { TransitionConditionalProperties } from "./TransitionConditionalProperties";
+import { Quadrature } from "../../numerics/Quadrature";
+import { Point3d } from "../../geometry3d/Point3dVector3d";
+import { Matrix3d } from "../../geometry3d/Matrix3d";
+import { AxisOrder, Geometry } from "../../Geometry";
+import { StrokeOptions } from "../StrokeOptions";
+import { Ray3d } from "../../geometry3d/Ray3d";
+import { Plane3dByOriginAndVectors } from "../../geometry3d/Plane3dByOriginAndVectors";
+/**
+ * An IntegratedSpiral3d is a curve defined by integrating its curvature.
+ * * The first integral of curvature (with respect to distance along the curve) is the bearing angle (in radians)
+ * * Integrating (cos(theta), sin(theta)) gives displacement from the start point, and thus the actual curve position.
+ * * The curvature functions of interest are all symmetric snap functions in the NormalizedTransition class.
+ * * `TransitionConditionalProperties` implements the computations of the interrelationship of radii, bearing, and length.
+ * @public
+ */
+export class IntegratedSpiral3d extends TransitionSpiral3d {
+    /** evaluator for transition */
+    // constructor demands all bearing, radius, and length data -- caller determines usual dependency of "any 4 determine the 5th"
+    constructor(spiralType, evaluator, radius01, bearing01, activeFractionInterval, localToWorld, arcLength, properties) {
+        super(spiralType, localToWorld, activeFractionInterval, properties);
+        /** String name for schema properties */
+        this.curvePrimitiveType = "transitionSpiral";
+        this._evaluator = evaluator;
+        this.radius01 = radius01;
+        this.bearing01 = bearing01;
+        this._arcLength01 = arcLength;
+        this._globalStrokes = LineString3d.create();
+        // initialize for compiler -- but this will be recomputed in refreshComputeProperties ...
+        this._curvature01 = Segment1d.create(0, 1);
+        this.refreshComputedProperties();
+    }
+    /** Return the internal stroked form of the (possibly partial) spiral   */
+    get activeStrokes() { return this._activeStrokes !== undefined ? this._activeStrokes : this._globalStrokes; }
+    /** use the integrated function to return an angle at fractional position. */
+    globalFractionToBearingRadians(fraction) {
+        const areaFraction = this._evaluator.fractionToArea(fraction);
+        const dx = this._arcLength01;
+        return this.bearing01.startRadians + areaFraction * dx * this._curvature01.signedDelta() + fraction * this._curvature01.x0 * dx;
+    }
+    /** use the integrated function to return an angle at fractional position. */
+    globalFractionToCurvature(fraction) {
+        const f = this._evaluator.fractionToCurvatureFraction(fraction);
+        return this._curvature01.fractionToPoint(f);
+    }
+    /** Return the bearing at given fraction of the active interval .... */
+    fractionToBearingRadians(activeFraction) {
+        const fraction = this.activeFractionInterval.fractionToPoint(activeFraction);
+        return this.bearing01.startRadians + fraction * this._arcLength01 * (this._curvature01.x0 + 0.5 * fraction * (this._curvature01.x1 - this._curvature01.x0));
+    }
+    /** Return the curvature at given fraction of the active interval ...
+     * * The `undefined` result is to match the abstract class -- it cannot actually occur.
+     */
+    fractionToCurvature(activeFraction) {
+        // BUG? active interval
+        return this._curvature01.fractionToPoint(this.activeFractionInterval.fractionToPoint(activeFraction));
+    }
+    /** Initialize class level work arrays. */
+    static initWorkSpace() {
+        IntegratedSpiral3d._gaussFraction = new Float64Array(5);
+        IntegratedSpiral3d._gaussWeight = new Float64Array(5);
+        IntegratedSpiral3d._gaussMapper = Quadrature.setupGauss5;
+    }
+    /** Evaluate and sum the gauss quadrature formulas to integrate cos(theta), sin(theta) fractional subset of a reference length.
+     * (recall that theta is a nonlinear function of the fraction.)
+     * * This is a single interval of gaussian integration.
+     * * The fraction is on the full spiral (not in the mapped active interval)
+     * @param xyz advancing integrated point.
+     * @param fractionA fraction at start of interval
+     * @param fractionB fraction at end of interval.
+     * @param unitArcLength length of curve for 0 to 1 fractional
+     */
+    fullSpiralIncrementalIntegral(xyz, fractionA, fractionB, applyMatrix) {
+        const gaussFraction = IntegratedSpiral3d._gaussFraction;
+        const gaussWeight = IntegratedSpiral3d._gaussWeight;
+        const numEval = IntegratedSpiral3d._gaussMapper(fractionA, fractionB, gaussFraction, gaussWeight);
+        const deltaL = this._arcLength01;
+        let w = 0;
+        let dx = 0.0;
+        let dy = 0.0;
+        for (let k = 0; k < numEval; k++) {
+            const radians = this.globalFractionToBearingRadians(gaussFraction[k]);
+            w = gaussWeight[k] * deltaL;
+            dx += w * Math.cos(radians);
+            dy += w * Math.sin(radians);
+        }
+        if (applyMatrix)
+            Matrix3d.xyzPlusMatrixTimesXYZ(xyz, this.localToWorld.matrix, { x: dx, y: dy, z: 0.0 }, xyz);
+        else
+            xyz.addXYZInPlace(dx, dy, 0.0);
+    }
+    /** Recompute strokes */
+    refreshComputedProperties() {
+        this._curvature01 = Segment1d.create(TransitionSpiral3d.radiusToCurvature(this.radius01.x0), TransitionSpiral3d.radiusToCurvature(this.radius01.x1));
+        this._globalStrokes.clear();
+        const currentPoint = Point3d.create();
+        this._globalStrokes.appendStrokePoint(currentPoint);
+        const numInterval = 16;
+        const fractionStep = 1.0 / numInterval;
+        for (let i = 1; i <= numInterval; i++) {
+            const fraction0 = (i - 1) * fractionStep;
+            const fraction1 = i * fractionStep;
+            this.fullSpiralIncrementalIntegral(currentPoint, fraction0, fraction1, false);
+            this._globalStrokes.appendStrokePoint(currentPoint);
+        }
+        this._globalStrokes.tryTransformInPlace(this.localToWorld);
+        if (!this.activeFractionInterval.isExact01) {
+            if (this._activeStrokes === undefined)
+                this._activeStrokes = LineString3d.create();
+            this._activeStrokes.clear();
+            // finer strokes in the active interval ... same fraction step, but mapped
+            // This assumes factionToPoint acts normally within refreshComputedProperties -- that depends on the global strokes we just computed, but not on the active strokes
+            for (let i = 0; i <= numInterval; i++) {
+                const localFraction = i * fractionStep;
+                this._activeStrokes.addPoint(this.fractionToPoint(localFraction));
+            }
+        }
+    }
+    /**
+     * Create a transition spiral with radius and bearing conditions.
+     * @param radius01 radius (inverse curvature) at start and end. (radius of zero means straight line)
+     * @param bearing01 bearing angles at start and end.  bearings are measured from the x axis, positive clockwise towards y axis
+     * @param activeFractionInterval fractional limits of the active portion of the spiral.
+     * @param localToWorld placement frame.  Fractional coordinate 0 is at the origin.
+     */
+    static createRadiusRadiusBearingBearing(radius01, bearing01, activeFractionInterval, localToWorld, typeName) {
+        const arcLength = TransitionSpiral3d.radiusRadiusSweepRadiansToArcLength(radius01.x0, radius01.x1, bearing01.sweepRadians);
+        if (typeName === undefined)
+            typeName = "clothoid";
+        const evaluator = NormalizedTransition.findEvaluator(typeName);
+        if (!evaluator)
+            return undefined;
+        return new IntegratedSpiral3d(typeName, evaluator, radius01.clone(), bearing01.clone(), activeFractionInterval.clone(), localToWorld.clone(), arcLength, new TransitionConditionalProperties(radius01.x0, radius01.x1, bearing01.startAngle.clone(), bearing01.endAngle.clone(), undefined));
+    }
+    /**
+     * Create a transition spiral.
+     * * Inputs must provide exactly 4 of the 5 values `[radius0,radius1,bearing0,bearing1,length`.
+     * @param spiralType one of "clothoid", "bloss", "biquadratic", "cosine", "sine".  If undefined, "clothoid" is used.
+     * @param radius0 radius (or 0 for tangent to line) at start
+     * @param radius1 radius (or 0 for tangent to line) at end
+     * @param bearing0 bearing, measured CCW from x axis at start.
+     * @param bearing1 bearing, measured CCW from x axis at end.
+     * @param fractionInterval optional fractional interval for an "active" portion of the curve.   if omitted, the full [0,1] is used.
+     * @param localToWorld placement transform
+     */
+    static createFrom4OutOf5(spiralType, radius0, radius1, bearing0, bearing1, arcLength, fractionInterval, localToWorld) {
+        if (spiralType === undefined)
+            spiralType = "clothoid";
+        const evaluator = NormalizedTransition.findEvaluator(spiralType);
+        if (!evaluator)
+            return undefined;
+        const data = new TransitionConditionalProperties(radius0, radius1, bearing0, bearing1, arcLength);
+        const data1 = data.clone();
+        if (!data.tryResolveAnySingleUnknown())
+            return undefined;
+        if (fractionInterval === undefined)
+            fractionInterval = Segment1d.create(0, 1);
+        return new IntegratedSpiral3d(spiralType, evaluator, Segment1d.create(data.radius0, data.radius1), AngleSweep.createStartEnd(data.bearing0, data.bearing1), fractionInterval ? fractionInterval.clone() : Segment1d.create(0, 1), localToWorld, data.curveLength, data1);
+    }
+    /** Copy all defining data from another spiral. */
+    setFrom(other) {
+        this.localToWorld.setFrom(other.localToWorld);
+        this.radius01.setFrom(other.radius01);
+        this._curvature01.setFrom(other._curvature01);
+        this.bearing01.setFrom(other.bearing01);
+        this.localToWorld.setFrom(other.localToWorld);
+        this.activeFractionInterval.setFrom(other.activeFractionInterval);
+        this._arcLength01 = other._arcLength01;
+        return this;
+    }
+    /** Deep clone of this spiral */
+    clone() {
+        var _a;
+        return new IntegratedSpiral3d(this._spiralType, this._evaluator, this.radius01.clone(), this.bearing01.clone(), this.activeFractionInterval.clone(), this.localToWorld.clone(), this._arcLength01, (_a = this._designProperties) === null || _a === void 0 ? void 0 : _a.clone());
+    }
+    /** Return (if possible) a spiral which is a portion of this curve. */
+    clonePartialCurve(fractionA, fractionB) {
+        const spiralB = this.clone();
+        const globalFractionA = this._activeFractionInterval.fractionToPoint(fractionA);
+        const globalFractionB = this._activeFractionInterval.fractionToPoint(fractionB);
+        spiralB._activeFractionInterval.set(globalFractionA, globalFractionB);
+        spiralB.refreshComputedProperties();
+        return spiralB;
+    }
+    /** apply `transform` to this spiral's local to world transform. */
+    tryTransformInPlace(transformA) {
+        const rigidData = this.applyRigidPartOfTransform(transformA);
+        if (rigidData !== undefined) {
+            this._curvature01.x0 /= rigidData.scale;
+            this._curvature01.x1 /= rigidData.scale;
+            this.radius01.x0 *= rigidData.scale;
+            this.radius01.x1 *= rigidData.scale;
+            this._arcLength01 *= rigidData.scale;
+        }
+        this.refreshComputedProperties();
+        return true;
+    }
+    /** Clone with a transform applied  */
+    cloneTransformed(transform) {
+        const result = this.clone();
+        result.tryTransformInPlace(transform); // ok, we're confident it will always work.
+        return result;
+    }
+    /** Return the spiral start point. */
+    startPoint() { return this.activeStrokes.startPoint(); }
+    /** return the spiral end point. */
+    endPoint() { return this.activeStrokes.endPoint(); }
+    /** test if the local to world transform places the spiral xy plane into `plane` */
+    isInPlane(plane) {
+        return plane.isPointInPlane(this.localToWorld.origin)
+            && Geometry.isSameCoordinate(0.0, this.localToWorld.matrix.dotColumnX(plane.getNormalRef()))
+            && Geometry.isSameCoordinate(0.0, this.localToWorld.matrix.dotColumnY(plane.getNormalRef()));
+    }
+    /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    quickLength() { return this.curveLength(); }
+    /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    curveLength() { return this._arcLength01 * (this._activeFractionInterval.absoluteDelta()); }
+    /** Return (unsigned) length of the spiral between fractions.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */
+    curveLengthBetweenFractions(fraction0, fraction1) {
+        return this._arcLength01 * (this._activeFractionInterval.absoluteDelta() * Math.abs(fraction1 - fraction0));
+    }
+    /** Test if `other` is an instance of `TransitionSpiral3d` */
+    isSameGeometryClass(other) { return other instanceof TransitionSpiral3d; }
+    /** Add strokes from this spiral to `dest`.
+     * * Linestrings will usually stroke as just their points.
+     * * If maxEdgeLength is given, this will sub-stroke within the linestring -- not what we want.
+     */
+    emitStrokes(dest, options) { this.activeStrokes.emitStrokes(dest, options); }
+    /** emit stroke fragments to `dest` handler. */
+    emitStrokableParts(dest, options) {
+        const n = this.computeStrokeCountForOptions(options);
+        const activeStrokes = this.activeStrokes;
+        dest.startParentCurvePrimitive(this);
+        if (n <= activeStrokes.numPoints()) {
+            this.activeStrokes.emitStrokableParts(dest, options);
+        }
+        else {
+            dest.announceIntervalForUniformStepStrokes(this, n, 0.0, 1.0);
+        }
+        dest.endParentCurvePrimitive(this);
+    }
+    /**
+     * return the stroke count required for given options.
+     * @param options StrokeOptions that determine count
+     */
+    computeStrokeCountForOptions(options) {
+        let numStroke;
+        if (options) {
+            const rMin = Math.min(Math.abs(this.radius01.x0), Math.abs(this.radius01.x1));
+            numStroke = options.applyTolerancesToArc(rMin, this.bearing01.sweepRadians);
+            numStroke = options.applyMaxEdgeLength(numStroke, this.curveLength());
+            numStroke = options.applyMinStrokesPerPrimitive(numStroke);
+        }
+        else {
+            numStroke = StrokeOptions.applyAngleTol(undefined, 4, this.bearing01.sweepRadians);
+        }
+        return numStroke;
+    }
+    /** Reverse the active interval and active strokes.
+     * * Primary defining data remains unchanged !!!
+     */
+    reverseInPlace() {
+        this.activeFractionInterval.reverseInPlace();
+        if (this._activeStrokes === undefined)
+            this._activeStrokes = this._globalStrokes.clone();
+        this._activeStrokes.reverseInPlace();
+    }
+    /** Evaluate curve point with respect to fraction. */
+    fractionToPoint(activeFraction, result) {
+        let globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);
+        globalFraction = Geometry.clampToStartEnd(globalFraction, 0, 1);
+        const numStrokes = this._globalStrokes.packedPoints.length - 1;
+        const index0 = Math.trunc(globalFraction * numStrokes); // This indexes the point to the left of the query.
+        const globalFraction0 = index0 / numStrokes;
+        result = this._globalStrokes.packedPoints.getPoint3dAtUncheckedPointIndex(index0, result);
+        // console.log(" fractionToPoint ", activeFraction, this.activeFractionInterval, "( global integration " + globalFraction0 + " to " + globalFraction + ")", index0);
+        this.fullSpiralIncrementalIntegral(result, globalFraction0, globalFraction, true);
+        return result;
+    }
+    /** Evaluate curve point and derivative with respect to fraction. */
+    fractionToPointAndDerivative(activeFraction, result) {
+        const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);
+        result = result ? result : Ray3d.createZero();
+        this.fractionToPoint(activeFraction, result.origin);
+        const radians = this.globalFractionToBearingRadians(globalFraction);
+        const a = this._arcLength01 * this.activeFractionInterval.signedDelta();
+        this.localToWorld.matrix.multiplyXY(a * Math.cos(radians), a * Math.sin(radians), result.direction);
+        return result;
+    }
+    /** Return the frenet frame at fractional position. */
+    fractionToFrenetFrame(activeFraction, result) {
+        const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);
+        result = result ? result : Transform.createIdentity();
+        result.origin.setFrom(this.fractionToPoint(activeFraction));
+        Matrix3d.createRigidFromMatrix3d(this.localToWorld.matrix, AxisOrder.XYZ, result.matrix);
+        const radians = this.globalFractionToBearingRadians(globalFraction);
+        const c = Math.cos(radians);
+        const s = Math.sin(radians);
+        result.matrix.applyGivensColumnOp(0, 1, c, s);
+        return result;
+    }
+    /** Return a plane with
+     *
+     * * origin at fractional position along the curve
+     * * vectorU is the first derivative, i.e. tangent vector with length equal to the rate of change with respect to the fraction.
+     * * vectorV is the second derivative, i.e.derivative of vectorU.
+     */
+    fractionToPointAnd2Derivatives(activeFraction, result) {
+        const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);
+        const origin = this.fractionToPoint(activeFraction);
+        const radians = this.globalFractionToBearingRadians(globalFraction);
+        const c = Math.cos(radians);
+        const s = Math.sin(radians);
+        const delta = this.activeFractionInterval.signedDelta();
+        const a = delta;
+        const b = a * delta;
+        const vectorX = this.localToWorld.matrix.multiplyXY(a * c, a * s);
+        const vectorY = this.localToWorld.matrix.multiplyXY(-b * s, b * c);
+        vectorY.scaleInPlace(this.globalFractionToCurvature(globalFraction));
+        return Plane3dByOriginAndVectors.createCapture(origin, vectorX, vectorY, result);
+    }
+    /** Second step of double dispatch:  call `handler.handleTransitionSpiral(this)` */
+    dispatchToGeometryHandler(handler) {
+        return handler.handleTransitionSpiral(this);
+    }
+    /** extend the range by the strokes of the spiral */
+    extendRange(rangeToExtend, transform) {
+        this.activeStrokes.extendRange(rangeToExtend, transform);
+    }
+    /** compare various coordinate quantities */
+    isAlmostEqual(other) {
+        if (other instanceof IntegratedSpiral3d) {
+            return this.radius01.isAlmostEqual(other.radius01)
+                && this.bearing01.isAlmostEqualAllowPeriodShift(other.bearing01)
+                && this.localToWorld.isAlmostEqual(other.localToWorld)
+                && Geometry.isSameCoordinate(this._arcLength01, other._arcLength01)
+                && this.activeFractionInterval.isAlmostEqual(other.activeFractionInterval)
+                && this._curvature01.isAlmostEqual(other._curvature01);
+        }
+        return false;
+    }
+}
+/** default spiral type name. (clothoid) */
+IntegratedSpiral3d.defaultSpiralType = "clothoid";
+// at load time, initialize gauss quadrature workspace
+IntegratedSpiral3d.initWorkSpace();
+//# sourceMappingURL=IntegratedSpiral3d.js.map

package/lib/esm/curve/spiral/IntegratedSpiral3d.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { TransitionSpiral3d } from \"./TransitionSpiral3d\";\r\nimport { Segment1d } from \"../../geometry3d/Segment1d\";\r\nimport { AngleSweep } from \"../../geometry3d/AngleSweep\";\r\nimport { Transform } from \"../../geometry3d/Transform\";\r\nimport { LineString3d } from \"../LineString3d\";\r\nimport { NormalizedTransition } from \"./NormalizedTransition\";\r\nimport { TransitionConditionalProperties } from \"./TransitionConditionalProperties\";\r\nimport { Quadrature } from \"../../numerics/Quadrature\";\r\nimport { Point3d } from \"../../geometry3d/Point3dVector3d\";\r\nimport { Matrix3d } from \"../../geometry3d/Matrix3d\";\r\nimport { Angle } from \"../../geometry3d/Angle\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { AxisOrder, Geometry } from \"../../Geometry\";\r\nimport { StrokeOptions } from \"../StrokeOptions\";\r\nimport { GeometryHandler, IStrokeHandler } from \"../../geometry3d/GeometryHandler\";\r\nimport { Ray3d } from \"../../geometry3d/Ray3d\";\r\nimport { Plane3dByOriginAndVectors } from \"../../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Range3d } from \"../../geometry3d/Range\";\r\nimport { GeometryQuery } from \"../GeometryQuery\";\r\n/**\r\n * An IntegratedSpiral3d is a curve defined by integrating its curvature.\r\n * * The first integral of curvature (with respect to distance along the curve) is the bearing angle (in radians)\r\n * * Integrating (cos(theta), sin(theta)) gives displacement from the start point, and thus the actual curve position.\r\n * * The curvature functions of interest are all symmetric snap functions in the NormalizedTransition class.\r\n * * `TransitionConditionalProperties` implements the computations of the interrelationship of radii, bearing, and length.\r\n * @public\r\n */\r\nexport class IntegratedSpiral3d extends TransitionSpiral3d {\r\n  /** String name for schema properties */\r\n  public readonly curvePrimitiveType = \"transitionSpiral\";\r\n\r\n  /** start and end radii as a Segment1d */\r\n  public radius01: Segment1d;\r\n  /** start and end bearings as an AngleSweep */\r\n  public bearing01: AngleSweep;\r\n  /** stroked approximation of entire spiral. */\r\n  private _globalStrokes: LineString3d;\r\n  /** stroked approximation of active spiral.\r\n   * * Same count as global -- possibly overly fine, but it gives some consistency between same clothoid constructed as partial versus complete.\r\n   * * If no trimming, this points to the same place as the _globalStrokes !!!  Don't double transform!!!\r\n   */\r\n  private _activeStrokes?: LineString3d;\r\n  /** Return the internal stroked form of the (possibly partial) spiral   */\r\n  public get activeStrokes(): LineString3d { return this._activeStrokes !== undefined ? this._activeStrokes : this._globalStrokes; }\r\n  private _evaluator: NormalizedTransition;\r\n  /** Total curve arc length (computed) */\r\n  private _arcLength01: number;\r\n  /** Curvatures (inverse radii) at start and end */\r\n  private _curvature01: Segment1d;\r\n  /** evaluator for transition */\r\n  // constructor demands all bearing, radius, and length data -- caller determines usual dependency of \"any 4 determine the 5th\"\r\n  private constructor(spiralType: string | undefined,\r\n    evaluator: NormalizedTransition,\r\n    radius01: Segment1d,\r\n    bearing01: AngleSweep,\r\n    activeFractionInterval: Segment1d,\r\n    localToWorld: Transform,\r\n    arcLength: number,\r\n    properties: TransitionConditionalProperties | undefined) {\r\n    super(spiralType, localToWorld, activeFractionInterval, properties);\r\n    this._evaluator = evaluator;\r\n    this.radius01 = radius01;\r\n    this.bearing01 = bearing01;\r\n    this._arcLength01 = arcLength;\r\n    this._globalStrokes = LineString3d.create();\r\n    // initialize for compiler -- but this will be recomputed in refreshComputeProperties ...\r\n    this._curvature01 = Segment1d.create(0, 1);\r\n    this.refreshComputedProperties();\r\n  }\r\n  /** default spiral type name. (clothoid) */\r\n  public static readonly defaultSpiralType = \"clothoid\";\r\n\r\n  /** use the integrated function to return an angle at fractional position. */\r\n\r\n  public globalFractionToBearingRadians(fraction: number): number {\r\n    const areaFraction = this._evaluator.fractionToArea(fraction);\r\n    const dx = this._arcLength01;\r\n    return this.bearing01.startRadians + areaFraction * dx * this._curvature01.signedDelta() + fraction * this._curvature01.x0 * dx;\r\n  }\r\n  /** use the integrated function to return an angle at fractional position. */\r\n  public globalFractionToCurvature(fraction: number): number {\r\n    const f = this._evaluator.fractionToCurvatureFraction(fraction);\r\n    return this._curvature01.fractionToPoint(f);\r\n  }\r\n\r\n  /** Return the bearing at given fraction of the active interval .... */\r\n\r\n  public fractionToBearingRadians(activeFraction: number): number {\r\n    const fraction = this.activeFractionInterval.fractionToPoint(activeFraction);\r\n    return this.bearing01.startRadians + fraction * this._arcLength01 * (this._curvature01.x0 + 0.5 * fraction * (this._curvature01.x1 - this._curvature01.x0));\r\n  }\r\n  /** Return the curvature at given fraction of the active interval ...\r\n   * * The `undefined` result is to match the abstract class -- it cannot actually occur.\r\n   */\r\n  public override fractionToCurvature(activeFraction: number): number | undefined {\r\n    // BUG? active interval\r\n    return this._curvature01.fractionToPoint(this.activeFractionInterval.fractionToPoint(activeFraction));\r\n  }\r\n\r\n  // These static variables are reused on calls to integrateFromStartFraction\r\n\r\n  private static _gaussFraction: Float64Array;\r\n  private static _gaussWeight: Float64Array;\r\n  private static _gaussMapper: (xA: number, xB: number, arrayX: Float64Array, arrayW: Float64Array) => number;\r\n  /** Initialize class level work arrays. */\r\n  public static initWorkSpace() {\r\n    IntegratedSpiral3d._gaussFraction = new Float64Array(5);\r\n    IntegratedSpiral3d._gaussWeight = new Float64Array(5);\r\n    IntegratedSpiral3d._gaussMapper = Quadrature.setupGauss5;\r\n  }\r\n  /** Evaluate and sum the gauss quadrature formulas to integrate cos(theta), sin(theta) fractional subset of a reference length.\r\n   * (recall that theta is a nonlinear function of the fraction.)\r\n   * * This is a single interval of gaussian integration.\r\n   * * The fraction is on the full spiral (not in the mapped active interval)\r\n   * @param xyz advancing integrated point.\r\n   * @param fractionA fraction at start of interval\r\n   * @param fractionB fraction at end of interval.\r\n   * @param unitArcLength length of curve for 0 to 1 fractional\r\n   */\r\n  private fullSpiralIncrementalIntegral(xyz: Point3d, fractionA: number, fractionB: number, applyMatrix: boolean) {\r\n    const gaussFraction = IntegratedSpiral3d._gaussFraction;\r\n    const gaussWeight = IntegratedSpiral3d._gaussWeight;\r\n    const numEval = IntegratedSpiral3d._gaussMapper(fractionA, fractionB, gaussFraction, gaussWeight);\r\n    const deltaL = this._arcLength01;\r\n    let w = 0;\r\n    let dx = 0.0;\r\n    let dy = 0.0;\r\n    for (let k = 0; k < numEval; k++) {\r\n      const radians = this.globalFractionToBearingRadians(gaussFraction[k]);\r\n      w = gaussWeight[k] * deltaL;\r\n      dx += w * Math.cos(radians);\r\n      dy += w * Math.sin(radians);\r\n    }\r\n    if (applyMatrix)\r\n      Matrix3d.xyzPlusMatrixTimesXYZ(xyz, this.localToWorld.matrix, { x: dx, y: dy, z: 0.0 }, xyz);\r\n    else\r\n      xyz.addXYZInPlace(dx, dy, 0.0);\r\n\r\n  }\r\n  /** Recompute strokes */\r\n  public refreshComputedProperties() {\r\n    this._curvature01 = Segment1d.create(\r\n      TransitionSpiral3d.radiusToCurvature(this.radius01.x0),\r\n      TransitionSpiral3d.radiusToCurvature(this.radius01.x1));\r\n    this._globalStrokes.clear();\r\n    const currentPoint = Point3d.create();\r\n    this._globalStrokes.appendStrokePoint(currentPoint);\r\n    const numInterval = 16;\r\n\r\n    const fractionStep = 1.0 / numInterval;\r\n    for (let i = 1; i <= numInterval; i++) {\r\n      const fraction0 = (i - 1) * fractionStep;\r\n      const fraction1 = i * fractionStep;\r\n      this.fullSpiralIncrementalIntegral(currentPoint, fraction0, fraction1, false);\r\n      this._globalStrokes.appendStrokePoint(currentPoint);\r\n    }\r\n    this._globalStrokes.tryTransformInPlace(this.localToWorld);\r\n    if (!this.activeFractionInterval.isExact01) {\r\n      if (this._activeStrokes === undefined)\r\n        this._activeStrokes = LineString3d.create();\r\n      this._activeStrokes.clear();\r\n      // finer strokes in the active interval ... same fraction step, but mapped\r\n      // This assumes factionToPoint acts normally within refreshComputedProperties -- that depends on the global strokes we just computed, but not on the active strokes\r\n      for (let i = 0; i <= numInterval; i++) {\r\n        const localFraction = i * fractionStep;\r\n        this._activeStrokes.addPoint(this.fractionToPoint(localFraction));\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Create a transition spiral with radius and bearing conditions.\r\n   * @param radius01 radius (inverse curvature) at start and end. (radius of zero means straight line)\r\n   * @param bearing01 bearing angles at start and end.  bearings are measured from the x axis, positive clockwise towards y axis\r\n   * @param activeFractionInterval fractional limits of the active portion of the spiral.\r\n   * @param localToWorld placement frame.  Fractional coordinate 0 is at the origin.\r\n   */\r\n  public static createRadiusRadiusBearingBearing(radius01: Segment1d, bearing01: AngleSweep, activeFractionInterval: Segment1d, localToWorld: Transform, typeName?: string) {\r\n    const arcLength = TransitionSpiral3d.radiusRadiusSweepRadiansToArcLength(radius01.x0, radius01.x1, bearing01.sweepRadians);\r\n    if (typeName === undefined)\r\n      typeName = \"clothoid\";\r\n    const evaluator = NormalizedTransition.findEvaluator(typeName);\r\n    if (!evaluator)\r\n      return undefined;\r\n    return new IntegratedSpiral3d(typeName, evaluator,\r\n      radius01.clone(),\r\n      bearing01.clone(), activeFractionInterval.clone(), localToWorld.clone(), arcLength,\r\n      new TransitionConditionalProperties(radius01.x0, radius01.x1,\r\n        bearing01.startAngle.clone(), bearing01.endAngle.clone(),\r\n        undefined));\r\n  }\r\n  /**\r\n   * Create a transition spiral.\r\n   * * Inputs must provide exactly 4 of the 5 values `[radius0,radius1,bearing0,bearing1,length`.\r\n   * @param spiralType one of \"clothoid\", \"bloss\", \"biquadratic\", \"cosine\", \"sine\".  If undefined, \"clothoid\" is used.\r\n   * @param radius0 radius (or 0 for tangent to line) at start\r\n   * @param radius1 radius (or 0 for tangent to line) at end\r\n   * @param bearing0 bearing, measured CCW from x axis at start.\r\n   * @param bearing1 bearing, measured CCW from x axis at end.\r\n   * @param fractionInterval optional fractional interval for an \"active\" portion of the curve.   if omitted, the full [0,1] is used.\r\n   * @param localToWorld placement transform\r\n   */\r\n  public static createFrom4OutOf5(\r\n    spiralType: string | undefined,\r\n    radius0: number | undefined,\r\n    radius1: number | undefined,\r\n    bearing0: Angle | undefined,\r\n    bearing1: Angle | undefined,\r\n    arcLength: number | undefined,\r\n    fractionInterval: undefined | Segment1d,\r\n    localToWorld: Transform): IntegratedSpiral3d | undefined {\r\n    if (spiralType === undefined)\r\n      spiralType = \"clothoid\";\r\n    const evaluator = NormalizedTransition.findEvaluator(spiralType);\r\n    if (!evaluator)\r\n      return undefined;\r\n    const data = new TransitionConditionalProperties(radius0, radius1, bearing0, bearing1, arcLength);\r\n    const data1 = data.clone();\r\n    if (!data.tryResolveAnySingleUnknown())\r\n      return undefined;\r\n    if (fractionInterval === undefined)\r\n      fractionInterval = Segment1d.create(0, 1);\r\n    return new IntegratedSpiral3d(\r\n      spiralType,\r\n      evaluator,\r\n      Segment1d.create(data.radius0, data.radius1),\r\n      AngleSweep.createStartEnd(data.bearing0!, data.bearing1!),\r\n      fractionInterval ? fractionInterval.clone() : Segment1d.create(0, 1),\r\n      localToWorld, data.curveLength!, data1);\r\n  }\r\n  /** Copy all defining data from another spiral. */\r\n  public setFrom(other: IntegratedSpiral3d): IntegratedSpiral3d {\r\n    this.localToWorld.setFrom(other.localToWorld);\r\n    this.radius01.setFrom(other.radius01);\r\n    this._curvature01.setFrom(other._curvature01);\r\n    this.bearing01.setFrom(other.bearing01);\r\n    this.localToWorld.setFrom(other.localToWorld);\r\n    this.activeFractionInterval.setFrom(other.activeFractionInterval);\r\n    this._arcLength01 = other._arcLength01;\r\n    return this;\r\n  }\r\n  /** Deep clone of this spiral */\r\n  public clone(): IntegratedSpiral3d {\r\n    return new IntegratedSpiral3d(this._spiralType, this._evaluator,\r\n      this.radius01.clone(), this.bearing01.clone(),\r\n      this.activeFractionInterval.clone(), this.localToWorld.clone(), this._arcLength01,\r\n      this._designProperties?.clone());\r\n  }\r\n\r\n  /** Return (if possible) a spiral which is a portion of this curve. */\r\n  public override clonePartialCurve(fractionA: number, fractionB: number): IntegratedSpiral3d | undefined {\r\n    const spiralB = this.clone();\r\n    const globalFractionA = this._activeFractionInterval.fractionToPoint(fractionA);\r\n    const globalFractionB = this._activeFractionInterval.fractionToPoint(fractionB);\r\n    spiralB._activeFractionInterval.set(globalFractionA, globalFractionB);\r\n    spiralB.refreshComputedProperties();\r\n    return spiralB;\r\n  }\r\n\r\n  /** apply `transform` to this spiral's local to world transform. */\r\n  public tryTransformInPlace(transformA: Transform): boolean {\r\n\r\n    const rigidData = this.applyRigidPartOfTransform(transformA);\r\n    if (rigidData !== undefined) {\r\n      this._curvature01.x0 /= rigidData.scale;\r\n      this._curvature01.x1 /= rigidData.scale;\r\n      this.radius01.x0 *= rigidData.scale;\r\n      this.radius01.x1 *= rigidData.scale;\r\n      this._arcLength01 *= rigidData.scale;\r\n    }\r\n    this.refreshComputedProperties();\r\n    return true;\r\n  }\r\n  /** Clone with a transform applied  */\r\n  public cloneTransformed(transform: Transform): TransitionSpiral3d {\r\n    const result = this.clone();\r\n    result.tryTransformInPlace(transform); // ok, we're confident it will always work.\r\n    return result;\r\n  }\r\n  /** Return the spiral start point. */\r\n  public override startPoint(): Point3d { return this.activeStrokes.startPoint(); }\r\n  /** return the spiral end point. */\r\n  public override endPoint(): Point3d { return this.activeStrokes.endPoint(); }\r\n  /** test if the local to world transform places the spiral xy plane into `plane` */\r\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\r\n    return plane.isPointInPlane(this.localToWorld.origin as Point3d)\r\n      && Geometry.isSameCoordinate(0.0, this.localToWorld.matrix.dotColumnX(plane.getNormalRef()))\r\n      && Geometry.isSameCoordinate(0.0, this.localToWorld.matrix.dotColumnY(plane.getNormalRef()));\r\n  }\r\n  /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */\r\n  public quickLength() { return this.curveLength(); }\r\n  /** Return length of the spiral.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */\r\n  public override curveLength() { return this._arcLength01 * (this._activeFractionInterval.absoluteDelta()); }\r\n  /** Return (unsigned) length of the spiral between fractions.  Because TransitionSpiral is parameterized directly in terms of distance along, this is a simple return value. */\r\n  public override curveLengthBetweenFractions(fraction0: number, fraction1: number) {\r\n    return this._arcLength01 * (this._activeFractionInterval.absoluteDelta() * Math.abs(fraction1 - fraction0));\r\n  }\r\n  /** Test if `other` is an instance of `TransitionSpiral3d` */\r\n  public isSameGeometryClass(other: any): boolean { return other instanceof TransitionSpiral3d; }\r\n  /** Add strokes from this spiral to `dest`.\r\n   * * Linestrings will usually stroke as just their points.\r\n   * * If maxEdgeLength is given, this will sub-stroke within the linestring -- not what we want.\r\n   */\r\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void { this.activeStrokes.emitStrokes(dest, options); }\r\n  /** emit stroke fragments to `dest` handler. */\r\n  public emitStrokableParts(dest: IStrokeHandler, options?: StrokeOptions): void {\r\n    const n = this.computeStrokeCountForOptions(options);\r\n    const activeStrokes = this.activeStrokes;\r\n    dest.startParentCurvePrimitive(this);\r\n    if (n <= activeStrokes.numPoints()) {\r\n      this.activeStrokes.emitStrokableParts(dest, options);\r\n    } else {\r\n      dest.announceIntervalForUniformStepStrokes(this, n, 0.0, 1.0);\r\n    }\r\n    dest.endParentCurvePrimitive(this);\r\n  }\r\n\r\n  /**\r\n   * return the stroke count required for given options.\r\n   * @param options StrokeOptions that determine count\r\n   */\r\n\r\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\r\n    let numStroke;\r\n    if (options) {\r\n      const rMin = Math.min(Math.abs(this.radius01.x0), Math.abs(this.radius01.x1));\r\n      numStroke = options.applyTolerancesToArc(rMin, this.bearing01.sweepRadians);\r\n      numStroke = options.applyMaxEdgeLength(numStroke, this.curveLength());\r\n      numStroke = options.applyMinStrokesPerPrimitive(numStroke);\r\n    } else {\r\n      numStroke = StrokeOptions.applyAngleTol(undefined, 4, this.bearing01.sweepRadians);\r\n    }\r\n    return numStroke;\r\n  }\r\n\r\n  /** Reverse the active interval and active strokes.\r\n   * * Primary defining data remains unchanged !!!\r\n   */\r\n\r\n  public reverseInPlace(): void {\r\n    this.activeFractionInterval.reverseInPlace();\r\n    if (this._activeStrokes === undefined)\r\n      this._activeStrokes = this._globalStrokes.clone();\r\n    this._activeStrokes.reverseInPlace();\r\n  }\r\n  /** Evaluate curve point with respect to fraction. */\r\n  public fractionToPoint(activeFraction: number, result?: Point3d): Point3d {\r\n    let globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);\r\n    globalFraction = Geometry.clampToStartEnd(globalFraction, 0, 1);\r\n    const numStrokes = this._globalStrokes.packedPoints.length - 1;\r\n    const index0 = Math.trunc(globalFraction * numStrokes); // This indexes the point to the left of the query.\r\n    const globalFraction0 = index0 / numStrokes;\r\n    result = this._globalStrokes.packedPoints.getPoint3dAtUncheckedPointIndex(index0, result);\r\n    // console.log(\" fractionToPoint \", activeFraction, this.activeFractionInterval, \"( global integration \" + globalFraction0 + \" to \" + globalFraction + \")\", index0);\r\n    this.fullSpiralIncrementalIntegral(result, globalFraction0, globalFraction, true);\r\n    return result;\r\n  }\r\n  /** Evaluate curve point and derivative with respect to fraction. */\r\n  public fractionToPointAndDerivative(activeFraction: number, result?: Ray3d): Ray3d {\r\n    const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);\r\n    result = result ? result : Ray3d.createZero();\r\n    this.fractionToPoint(activeFraction, result.origin);\r\n    const radians = this.globalFractionToBearingRadians(globalFraction);\r\n    const a = this._arcLength01 * this.activeFractionInterval.signedDelta();\r\n    this.localToWorld.matrix.multiplyXY(a * Math.cos(radians), a * Math.sin(radians), result.direction);\r\n    return result;\r\n  }\r\n\r\n  /** Return the frenet frame at fractional position. */\r\n\r\n  public override fractionToFrenetFrame(activeFraction: number, result?: Transform): Transform {\r\n    const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);\r\n    result = result ? result : Transform.createIdentity();\r\n    result.origin.setFrom(this.fractionToPoint(activeFraction));\r\n    Matrix3d.createRigidFromMatrix3d(this.localToWorld.matrix, AxisOrder.XYZ, result.matrix);\r\n\r\n    const radians = this.globalFractionToBearingRadians(globalFraction);\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    result.matrix.applyGivensColumnOp(0, 1, c, s);\r\n    return result;\r\n  }\r\n  /** Return a plane with\r\n   *\r\n   * * origin at fractional position along the curve\r\n   * * vectorU is the first derivative, i.e. tangent vector with length equal to the rate of change with respect to the fraction.\r\n   * * vectorV is the second derivative, i.e.derivative of vectorU.\r\n   */\r\n  public fractionToPointAnd2Derivatives(activeFraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors | undefined {\r\n    const globalFraction = this.activeFractionInterval.fractionToPoint(activeFraction);\r\n    const origin = this.fractionToPoint(activeFraction);\r\n    const radians = this.globalFractionToBearingRadians(globalFraction);\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    const delta = this.activeFractionInterval.signedDelta();\r\n    const a = delta;\r\n    const b = a * delta;\r\n    const vectorX = this.localToWorld.matrix.multiplyXY(a * c, a * s);\r\n    const vectorY = this.localToWorld.matrix.multiplyXY(-b * s, b * c);\r\n    vectorY.scaleInPlace(this.globalFractionToCurvature(globalFraction));\r\n    return Plane3dByOriginAndVectors.createCapture(origin, vectorX, vectorY, result);\r\n  }\r\n  /** Second step of double dispatch:  call `handler.handleTransitionSpiral(this)` */\r\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\r\n    return handler.handleTransitionSpiral(this);\r\n  }\r\n  /** extend the range by the strokes of the spiral */\r\n  public extendRange(rangeToExtend: Range3d, transform?: Transform): void {\r\n    this.activeStrokes.extendRange(rangeToExtend, transform);\r\n  }\r\n  /** compare various coordinate quantities */\r\n  public override isAlmostEqual(other?: GeometryQuery): boolean {\r\n    if (other instanceof IntegratedSpiral3d) {\r\n      return this.radius01.isAlmostEqual(other.radius01)\r\n        && this.bearing01.isAlmostEqualAllowPeriodShift(other.bearing01)\r\n        && this.localToWorld.isAlmostEqual(other.localToWorld)\r\n        && Geometry.isSameCoordinate(this._arcLength01, other._arcLength01)\r\n        && this.activeFractionInterval.isAlmostEqual(other.activeFractionInterval)\r\n        && this._curvature01.isAlmostEqual(other._curvature01);\r\n    }\r\n    return false;\r\n  }\r\n\r\n}\r\n// at load time, initialize gauss quadrature workspace\r\nIntegratedSpiral3d.initWorkSpace();\r\n"]}