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

package/lib/numerics/ConvexPolygon2d.js.map

@@ -1 +0,0 @@
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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 { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Range1d } from \"../geometry3d/Range\";\r\n\r\n/**\r\n * Ray with xy origin and direction\r\n * @internal\r\n */\r\nexport class Ray2d {\r\n  private _origin: Point2d;\r\n  private _direction: Vector2d;\r\n\r\n  private constructor(origin: Point2d, direction: Vector2d) {\r\n    this._origin = origin;\r\n    this._direction = direction;\r\n  }\r\n  /** Create from 2d `origin` and `target`.\r\n   * * `target - origin` is the direction vector.\r\n   */\r\n  public static createOriginAndTarget(origin: Point2d, target: Point2d): Ray2d {\r\n    return new Ray2d(origin.clone(), origin.vectorTo(target));\r\n  }\r\n  /** Create from (clones of) `origin` point and `direction` vector */\r\n  public static createOriginAndDirection(origin: Point2d, direction: Vector2d): Ray2d {\r\n    return new Ray2d(origin.clone(), direction.clone());\r\n  }\r\n  /** Capture `origin` and `direction` as ray member variables. */\r\n  public static createOriginAndDirectionCapture(origin: Point2d, direction: Vector2d): Ray2d {\r\n    return new Ray2d(origin, direction);\r\n  }\r\n  /** Get the (REFERENCE TO) the ray origin. */\r\n  public get origin() { return this._origin; }\r\n  /** Get the (REFERENCE TO) the ray direction. */\r\n  public get direction() { return this._direction; }\r\n\r\n  /**\r\n   *  Return a ray that is parallel at distance to the left, specified as fraction of the ray's direction vector.\r\n   */\r\n  public parallelRay(leftFraction: number): Ray2d {\r\n    return new Ray2d(this._origin.addForwardLeft(0.0, leftFraction, this._direction), this._direction);\r\n  }\r\n  /** Return a ray with same origin, direction rotated 90 degrees counterclockwise */\r\n  public ccwPerpendicularRay(): Ray2d {\r\n    return new Ray2d(this._origin, this._direction.rotate90CCWXY());\r\n  }\r\n\r\n  /** Return a ray with same origin, direction rotated 90 degrees clockwise */\r\n  public cwPerpendicularRay(): Ray2d {\r\n    return new Ray2d(this._origin, this._direction.rotate90CWXY());\r\n  }\r\n  /** Normalize the direction vector in place. */\r\n  public normalizeDirectionInPlace(defaultX: number = 1, defaultY: number = 0): boolean {\r\n    if (this._direction.normalize(this._direction)) {\r\n      return true;\r\n    } else {\r\n      this._direction.x = defaultX;\r\n      this._direction.y = defaultY;\r\n      // magnitude = 0.0;\r\n      return false;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Intersect this ray (ASSUMED NORMALIZED) with unbounded line defined by points.\r\n   *  (The normalization assumption affects test for parallel vectors.)\r\n   *  Fraction and dHds passed as number[] to use by reference... Sticking to return of true and false in the case fraction is zero after\r\n   *  a true safe divide\r\n   */\r\n  public intersectUnboundedLine(linePointA: Point2d, linePointB: Point2d, fraction: number[], dHds: number[]): boolean {\r\n    const lineDirection = linePointA.vectorTo(linePointB);\r\n    const vector0 = linePointA.vectorTo(this._origin);\r\n    const h0 = vector0.crossProduct(lineDirection);\r\n    dHds[0] = this._direction.crossProduct(lineDirection);\r\n    // h = h0 + s * dh\r\n    const ff = Geometry.conditionalDivideFraction(-h0, dHds[0]);\r\n    if (ff !== undefined) {\r\n      fraction[0] = ff;\r\n      return true;\r\n    } else {\r\n      fraction[0] = 0.0;\r\n      return false;\r\n    }\r\n  }\r\n\r\n  /** return the ray fraction where point projects to the ray */\r\n  public projectionFraction(point: Point2d): number {\r\n    return this._origin.vectorTo(point).fractionOfProjectionToVector(this._direction);\r\n  }\r\n\r\n  /** return the fraction of projection to the perpendicular ray */\r\n  public perpendicularProjectionFraction(point: Point2d): number {\r\n    const uv = this._direction.crossProduct(this._origin.vectorTo(point));\r\n    const uu = this._direction.magnitudeSquared();\r\n    // Want zero returned if failure case, not undefined\r\n    return Geometry.safeDivideFraction(uv, uu, 0.0);\r\n  }\r\n\r\n  /** Return point from origin plus a scaled vector */\r\n  public fractionToPoint(f: number): Point2d {\r\n    return this._origin.plusScaled(this._direction, f);\r\n  }\r\n}\r\n/**\r\n * Convex hull of points in 2d.\r\n * @internal\r\n */\r\nexport class ConvexPolygon2d {\r\n  // hull points in CCW order, WITHOUT final duplicate...\r\n  // REMARK: In degenerate case with 0,1,or 2 points the array is still there.\r\n  private _hullPoints: Point2d[];\r\n\r\n  constructor(points: Point2d[] | undefined) {\r\n    this._hullPoints = [];\r\n    // Deep copy of points array given\r\n    if (points) {\r\n      for (const point of points) {\r\n        this._hullPoints.push(point);\r\n      }\r\n    }\r\n  }\r\n\r\n  /** Create the hull */\r\n  public static createHull(points: Point2d[]): ConvexPolygon2d {\r\n    return new ConvexPolygon2d(ConvexPolygon2d.computeConvexHull(points));\r\n  }\r\n\r\n  /** Create the hull. First try to use the points as given. */\r\n  public static createHullIsValidCheck(points: Point2d[]) {\r\n    if (ConvexPolygon2d.isValidConvexHull(points))\r\n      return new ConvexPolygon2d(points);\r\n    else\r\n      return new ConvexPolygon2d(ConvexPolygon2d.computeConvexHull(points));\r\n  }\r\n\r\n  /** Return a reference of the hull points. */\r\n  public get points(): Point2d[] {\r\n    return this._hullPoints;\r\n  }\r\n\r\n  /** Test if hull points are a convex, CCW polygon */\r\n  public static isValidConvexHull(points: Point2d[]) {\r\n    if (points.length < 3)\r\n      return false;\r\n    const n = points.length;\r\n    for (let i = 0; i < n; i++) {\r\n      const i1 = (i + 1) % n;\r\n      const i2 = (i + 2) % n;\r\n      if (points[i].crossProductToPoints(points[i1], points[i2]) < 0.0)\r\n        return false;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /** Return true if the convex hull (to the left of the edges) contains the test point */\r\n  public containsPoint(point: Point2d): boolean {\r\n    let xy0 = this._hullPoints[this._hullPoints.length - 1];\r\n    // double tol = -1.0e-20;  negative tol!!\r\n    for (const i of this._hullPoints) {\r\n      const xy1 = i;\r\n      const c = xy0.crossProductToPoints(xy1, point);\r\n      if (c < 0.0)\r\n        return false;\r\n      xy0 = i;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /** Return the largest outside. (return 0 if in or on) */\r\n  public distanceOutside(xy: Point2d): number {\r\n    let maxDistance = 0.0;\r\n    const n = this._hullPoints.length;\r\n    let xy0 = this._hullPoints[n - 1];\r\n    // double tol = -1.0e-20;  // negative tol!!\r\n    for (let i = 0; i < n; i++) {\r\n      const xy1 = this._hullPoints[i];\r\n      const c = xy0.crossProductToPoints(xy1, xy);\r\n      if (c < 0.0) {\r\n        const ray = Ray2d.createOriginAndTarget(xy0, xy1);\r\n        const s = ray.projectionFraction(xy);\r\n        let d = 0.0;\r\n        if (s < 0.0)\r\n          d = xy0.distance(xy);\r\n        else if (s > 1.0)\r\n          d = xy1.distance(xy);\r\n        else\r\n          d = xy.distance(ray.fractionToPoint(s));\r\n\r\n        if (d > maxDistance)\r\n          maxDistance = d;\r\n      }\r\n      xy0 = this._hullPoints[i];\r\n    }\r\n    return maxDistance;\r\n  }\r\n\r\n  /** Offset the entire hull (in place) by distance.\r\n   * Returns false if an undefined occurred from normalizing (could occur after changing some hull points already)\r\n   */\r\n  public offsetInPlace(distance: number): boolean {\r\n    const n = this._hullPoints.length;\r\n    if (n >= 3) {\r\n      const hullPoint0 = this._hullPoints[0];\r\n      let edgeA: Vector2d | undefined = this._hullPoints[n - 1].vectorTo(hullPoint0);\r\n      edgeA = edgeA.normalize();\r\n      if (edgeA === undefined) { return false; }\r\n\r\n      let perpA = edgeA.rotate90CWXY();\r\n      let edgeB: Vector2d | undefined;\r\n      let perpB: Vector2d;\r\n      for (let i = 0; i < n; i++) {\r\n        const j = i + 1;\r\n        edgeB = this._hullPoints[i].vectorTo(j < n ? this._hullPoints[j] : hullPoint0);\r\n        edgeB = edgeB.normalize();\r\n        if (edgeB === undefined) { return false; }\r\n\r\n        perpB = edgeB.rotate90CWXY();\r\n        const offsetBisector = Vector2d.createOffsetBisector(perpA, perpB, distance);\r\n        if (offsetBisector === undefined) { return false; }\r\n\r\n        this._hullPoints[i] = this._hullPoints[i].plus(offsetBisector);\r\n        // PerpA takes up reference to perpB, as perpB will die in new iteration\r\n        perpA = perpB;\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Return 2 distances bounding the intersection of the ray with a convex hull.\r\n   * ASSUME (for tolerance) the ray has normalized direction vector.\r\n   * Both negative and positive distances along the ray are possible.\r\n   * Returns range with extremities if less than 3 points, distanceA > distanceB, or if cross product < 0\r\n   */\r\n  public clipRay(ray: Ray2d): Range1d {\r\n    let distanceA = - Number.MAX_VALUE;\r\n    let distanceB = Number.MAX_VALUE;\r\n\r\n    const n = this._hullPoints.length;\r\n\r\n    if (n < 3)\r\n      return Range1d.createNull();\r\n\r\n    let xy0 = this._hullPoints[n - 1];\r\n    for (const xy1 of this._hullPoints) {\r\n      const distance: number[] = [];\r\n      const dHds: number[] = [];\r\n      if (ray.intersectUnboundedLine(xy0, xy1, distance, dHds)) {\r\n        if (dHds[0] > 0.0) {\r\n          if (distance[0] < distanceB)\r\n            distanceB = distance[0];\r\n        } else {\r\n          if (distance[0] > distanceA)\r\n            distanceA = distance[0];\r\n        }\r\n        if (distanceA > distanceB)\r\n          return Range1d.createNull();\r\n      } else {\r\n        // ray is parallel to the edge.\r\n        // Any single point out classifies it all . ..\r\n        if (xy0.crossProductToPoints(xy1, ray.origin) < 0.0)\r\n          return Range1d.createNull();\r\n      }\r\n\r\n      // xy1 is reassigned with each new loop\r\n      xy0 = xy1;\r\n    }\r\n    const range = Range1d.createNull();\r\n    range.extendX(distanceA);\r\n    range.extendX(distanceB);\r\n    return range;\r\n  }\r\n\r\n  /** Return the range of (fractional) ray positions for projections of all points from the arrays. */\r\n  public rangeAlongRay(ray: Ray2d): Range1d {\r\n    const range = Range1d.createNull();\r\n    for (const xy1 of this._hullPoints)\r\n      range.extendX(ray.projectionFraction(xy1));\r\n    return range;\r\n  }\r\n\r\n  /** Return the range of (fractional) ray positions for projections of all points from the arrays. */\r\n  public rangePerpendicularToRay(ray: Ray2d): Range1d {\r\n    const range = Range1d.createNull();\r\n    for (const xy1 of this._hullPoints)\r\n      range.extendX(ray.perpendicularProjectionFraction(xy1));\r\n    return range;\r\n  }\r\n\r\n  /** Computes the hull of a convex polygon from points given. Returns the hull as a new Point2d array.\r\n   *  Returns an empty hull if less than 3 points are given.\r\n   */\r\n  public static computeConvexHull(points: Point2d[]): Point2d[] | undefined {\r\n    const hull: Point2d[] = [];\r\n    const n = points.length;\r\n    if (n < 3)\r\n      return undefined;\r\n    // Get deep copy\r\n    const xy1: Point2d[] = points.slice(0, n);\r\n    xy1.sort(Geometry.lexicalXYLessThan);\r\n    hull.push(xy1[0]); // This is sure to stay\r\n    hull.push(xy1[1]); // This one can be removed in loop.\r\n\r\n    // First sweep creates upper hull\r\n    for (let i = 2; i < n; i++) {\r\n      const candidate = xy1[i];\r\n      let top = hull.length - 1;\r\n      while (top > 0 && hull[top - 1].crossProductToPoints(hull[top], candidate) <= 0.0) {\r\n        top--;\r\n        hull.pop();\r\n      }\r\n      hull.push(candidate);\r\n    }\r\n\r\n    // Second sweep creates lower hull right to left\r\n    const i0 = hull.length - 1;\r\n    // xy1.back () is already on stack.\r\n    hull.push(xy1[n - 2]);\r\n    for (let i = n - 2; i-- > 0;) {\r\n      const candidate = xy1[i];\r\n      let top = hull.length - 1;\r\n      while (top > i0 && hull[top - 1].crossProductToPoints(hull[top], candidate) <= 0.0) {\r\n        top--;\r\n        hull.pop();\r\n      }\r\n      if (i > 0) // don't replicate start point!!!\r\n        hull.push(candidate);\r\n    }\r\n\r\n    return hull;\r\n  }\r\n}\r\n"]}

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package/lib/numerics/Newton.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\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { SmallSystem } from \"./Polynomials\";\r\n\r\n// cspell:word currentdFdX\r\n/** base class for Newton iterations in various dimensions.\r\n * Dimension-specific classes carry all dimension-related data and answer generalized queries\r\n * from this base class.\r\n * @internal\r\n */\r\nexport abstract class AbstractNewtonIterator {\r\n  /** Compute a step.  The current x and function values must be retained for use in later method calls */\r\n  public abstract computeStep(): boolean;\r\n  /** return the current step size, scaled for use in tolerance tests.\r\n   * * This is a single number, typically the max of various per-dimension `dx / (1+x)` for the x and dx of that dimension.\r\n   */\r\n  public abstract currentStepSize(): number;\r\n  /**\r\n   * Apply the current step (in all dimensions)\r\n   * @param isFinalStep true if this is a final step.\r\n   */\r\n  public abstract applyCurrentStep(isFinalStep: boolean): boolean;\r\n  /**\r\n   * @param stepSizeTarget tolerance to consider a single step converged.\r\n   * This number should be \"moderately\" strict.   Because 2 successive convergences are required,\r\n   * it is expected that a first \"accept\" for (say) 10 to 14 digit step will be followed by another\r\n   * iteration.   A well behaved newton would then hypothetically double the number of digits to\r\n   * 20 to 28.  Since the IEEE double only carries 16 digits, this second-convergence step will\r\n   * typically achieve full precision.\r\n   * @param successiveConvergenceTarget number of successive convergences required for acceptance.\r\n   * @param maxIterations max number of iterations.   A typical newton step converges in 3 to 6 iterations.\r\n   *     Allow 15 to 20 to catch difficult cases.\r\n   */\r\n  protected constructor(\r\n    stepSizeTolerance: number = 1.0e-11,\r\n    successiveConvergenceTarget: number = 2,\r\n    maxIterations: number = 15) {\r\n    this._stepSizeTolerance = stepSizeTolerance;\r\n    this._successiveConvergenceTarget = successiveConvergenceTarget;\r\n    this._maxIterations = maxIterations;\r\n  }\r\n  /** Number of consecutive steps which passed convergence condition */\r\n  protected _numAccepted: number = 0;\r\n  /** Target number of successive convergences */\r\n  protected _successiveConvergenceTarget: number;\r\n  /** convergence target (the implementation-specific currentStepSize is compared to this) */\r\n  protected _stepSizeTolerance: number;\r\n  /** Max iterations allowed */\r\n  protected _maxIterations: number;\r\n  /** number of iterations (incremented at each step) */\r\n  public numIterations: number = 0;\r\n  /**\r\n   * Test if a step is converged.\r\n   * * Convergence is accepted with enough (_successiveConvergenceTarget) small steps (according to _stepSizeTolerance) occur in succession.\r\n   * @param delta step size as reported by currentStepSize\r\n   */\r\n  public testConvergence(delta: number): boolean {\r\n    if (Math.abs(delta) < this._stepSizeTolerance) {\r\n      this._numAccepted++;\r\n      return this._numAccepted >= this._successiveConvergenceTarget;\r\n    }\r\n    this._numAccepted = 0;\r\n    return false;\r\n  }\r\n  /**\r\n   * Run iterations, calling various methods from base and derived classes:\r\n   * * computeStep -- typically evaluate derivatives and solve linear system.\r\n   * * currentStepSize -- return numeric measure of the step just computed by computeStep\r\n   * * testConvergence -- test if the step from currentStepSize (along with recent steps) is converged.\r\n   * * applyCurrentStep -- apply the step to the independent variables\r\n   */\r\n  public runIterations(): boolean {\r\n    this._numAccepted = 0;\r\n    this.numIterations = 0;\r\n    while (this.numIterations++ < this._maxIterations && this.computeStep()) {\r\n      if (this.testConvergence(this.currentStepSize())\r\n        && this.applyCurrentStep(true)) {\r\n        return true;\r\n      }\r\n      this.applyCurrentStep(false);\r\n    }\r\n    return false;\r\n  }\r\n}\r\n/** object to evaluate a newton function.  The object must retain most-recent function and derivative\r\n * values for immediate query.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoRD {\r\n  /** evaluate the function and its derivative at x. */\r\n  public abstract evaluate(x: number): boolean;\r\n  /** most recent function value */\r\n  public currentF!: number;\r\n  /** most recent evaluated derivative */\r\n  public currentdFdX!: number;\r\n}\r\n/**\r\n * Newton iterator for use when both function and derivative can be evaluated.\r\n * @internal\r\n */\r\nexport class Newton1dUnbounded extends AbstractNewtonIterator {\r\n  private _func: NewtonEvaluatorRtoRD;\r\n  private _currentStep!: number;\r\n  private _currentX!: number;\r\n  private _target!: number;\r\n  /**\r\n   * Constructor for 1D newton iteration with approximate derivatives.\r\n   * @param func function that returns both function and derivative.\r\n   */\r\n  public constructor(func: NewtonEvaluatorRtoRD) {\r\n    super();\r\n    this._func = func;\r\n    this.setTarget(0);\r\n  }\r\n  /** Set the independent variable */\r\n  public setX(x: number): boolean { this._currentX = x; return true; }\r\n  /** Get the independent variable */\r\n  public getX(): number { return this._currentX; }\r\n  /** Set the target function value */\r\n  public setTarget(y: number) { this._target = y; }\r\n  /** move the current X by the just-computed step */\r\n  public applyCurrentStep(): boolean { return this.setX(this._currentX - this._currentStep); }\r\n  /** Compute the univariate newton step. */\r\n  public computeStep(): boolean {\r\n    if (this._func.evaluate(this._currentX)) {\r\n      const dx = Geometry.conditionalDivideFraction(this._func.currentF - this._target, this._func.currentdFdX);\r\n      if (dx !== undefined) {\r\n        this._currentStep = dx;\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Return the current step size as a relative number. */\r\n  public currentStepSize(): number {\r\n    return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n  }\r\n}\r\n\r\n/** object to evaluate a newton function (without derivative).  The object must retain most-recent function value.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoR {\r\n  /** Evaluate function value into member currentF */\r\n  public abstract evaluate(x: number): boolean;\r\n  /** Most recent function evaluation. */\r\n  public currentF!: number;\r\n}\r\n\r\n/** Newton iteration for a univariate function, using approximate derivatives.\r\n * @internal\r\n */\r\nexport class Newton1dUnboundedApproximateDerivative extends AbstractNewtonIterator {\r\n  private _func: NewtonEvaluatorRtoR;\r\n  private _currentStep!: number;\r\n  private _currentX!: number;\r\n  /** Step size for iteration.\r\n   * * Initialized to 1e-8, which is appropriate for iteration in fraction space.\r\n   * * Should be larger for iteration with real distance as x.\r\n   */\r\n  public derivativeH: number; // step size for approximate derivative\r\n\r\n  /**\r\n   * Constructor for 1D newton iteration with approximate derivatives.\r\n   * @param func function that returns both function and derivative.\r\n   */\r\n  public constructor(func: NewtonEvaluatorRtoR) {\r\n    super();\r\n    this._func = func;\r\n    this.derivativeH = 1.0e-8;\r\n  }\r\n  /** Set the x (independent, iterated) value */\r\n  public setX(x: number): boolean { this._currentX = x; return true; }\r\n  /** Get the independent variable */\r\n  public getX(): number { return this._currentX; }\r\n  /** move the current X by the just-computed step */\r\n  public applyCurrentStep(): boolean { return this.setX(this._currentX - this._currentStep); }\r\n  /** Univariate newton step computed with APPROXIMATE derivative. */\r\n  public computeStep(): boolean {\r\n    if (this._func.evaluate(this._currentX)) {\r\n      const fA = this._func.currentF;\r\n      if (this._func.evaluate(this._currentX + this.derivativeH)) {\r\n        const fB = this._func.currentF;\r\n        const dx = Geometry.conditionalDivideFraction(fA, (fB - fA) / this.derivativeH);\r\n        if (dx !== undefined) {\r\n          this._currentStep = dx;\r\n          return true;\r\n        }\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /** Return the current step size as a relative number. */\r\n  public currentStepSize(): number {\r\n    return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n  }\r\n}\r\n\r\n/** object to evaluate a 2-parameter newton function (with derivatives!!).\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRRtoRRD {\r\n  /** Iteration controller calls this to ask for evaluation of the function and its two partial derivatives.\r\n   * * The implementation returns true, it must set the currentF object.\r\n   */\r\n  public abstract evaluate(x: number, y: number): boolean;\r\n  /** most recent function evaluation as xy parts of the plane */\r\n  public currentF!: Plane3dByOriginAndVectors;\r\n  /**\r\n   * constructor.\r\n   * * This creates a currentF object to (repeatedly) receive function and derivatives.\r\n   */\r\n  public constructor() {\r\n    this.currentF = Plane3dByOriginAndVectors.createXYPlane();\r\n  }\r\n}\r\n\r\n/**\r\n * Implement evaluation steps for newton iteration in 2 dimensions, using caller supplied NewtonEvaluatorRRtoRRD object.\r\n * @internal\r\n */\r\nexport class Newton2dUnboundedWithDerivative extends AbstractNewtonIterator {\r\n  private _func: NewtonEvaluatorRRtoRRD;\r\n  private _currentStep: Vector2d;\r\n  private _currentUV: Point2d;\r\n\r\n  public constructor(func: NewtonEvaluatorRRtoRRD) {\r\n    super();\r\n    this._func = func;\r\n    this._currentStep = Vector2d.createZero();\r\n    this._currentUV = Point2d.createZero();\r\n  }\r\n  /** Set the current uv coordinates for current iteration */\r\n  public setUV(x: number, y: number): boolean { this._currentUV.set(x, y); return true; }\r\n  /** Get the current u coordinate */\r\n  public getU(): number { return this._currentUV.x; }\r\n  /** Get the current v coordinate */\r\n  public getV(): number { return this._currentUV.y; }\r\n  /** Move the currentUV coordinate by currentStep. */\r\n  public applyCurrentStep(): boolean { return this.setUV(this._currentUV.x - this._currentStep.x, this._currentUV.y - this._currentStep.y); }\r\n  /** Evaluate the functions and derivatives at this._currentUV\r\n   * Invert the jacobian and compute the this._currentStep.\r\n   */\r\n  public computeStep(): boolean {\r\n    if (this._func.evaluate(this._currentUV.x, this._currentUV.y)) {\r\n      const fA = this._func.currentF;\r\n      if (SmallSystem.linearSystem2d(\r\n        fA.vectorU.x, fA.vectorV.x,\r\n        fA.vectorU.y, fA.vectorV.y,\r\n        fA.origin.x, fA.origin.y, this._currentStep))\r\n        return true;\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Return the largest relative step of the x,y, components of the current step.\r\n   */\r\n  public currentStepSize(): number {\r\n    return Geometry.maxAbsXY(\r\n      this._currentStep.x / (1.0 + Math.abs(this._currentUV.x)),\r\n      this._currentStep.y / (1.0 + Math.abs(this._currentUV.y)));\r\n  }\r\n}\r\n/**\r\n * SimpleNewton has static methods for newton methods with evaluated functions presented as immediate arguments (not function object)\r\n * @internal\r\n */\r\nexport class SimpleNewton {\r\n  /** Run a one-dimensional newton iteration with separate functions for function and derivative.\r\n   * * completion is at 2 (TWO) successive passes at (absoluteTolerance + relTol * abs (x)), where relTol is chosen internally.\r\n   * * absoluteTolerance is usually aggressively tight -- should come into play only for x near zero.\r\n   * * The relTol is fluffy (for instance around 1e-11) but in properly converging cases the extra pass after first success\r\n   *    normally moves to full machine precision.\r\n   * * This is an open-loop newton -- it just runs, and returns undefined if anything bad happens.\r\n   */\r\n  public static runNewton1D(x: number, func: (x: number) => number | undefined, derivative: (x: number) => number | undefined, absoluteTolerance: number = 1.0e-15): number | undefined {\r\n    let numConverged = 0;\r\n    let tolerance: number;\r\n    const relTol = 1.0e-11;\r\n    for (let iteration = 0; iteration < 20; iteration++) {\r\n      const f = func(x);\r\n      const df = derivative(x);\r\n      if (f !== undefined && df !== undefined) {\r\n        const dx = Geometry.conditionalDivideCoordinate(f, df);\r\n        if (dx === undefined)\r\n          return undefined;\r\n        x -= dx;\r\n        tolerance = absoluteTolerance + Math.abs(x) * relTol;\r\n        if (Math.abs(dx) < tolerance) {\r\n          numConverged++;\r\n          if (dx === 0.0 || numConverged > 1)   // bypass convergence count on true 0 dx !\r\n            return x;\r\n        } else {\r\n          numConverged = 0;\r\n        }\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n}\r\n"]}

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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/**\r\n * PascalCoeffients class has static methods which return rows of the PascalTriangle.\r\n * @internal\r\n */\r\nexport class PascalCoefficients {\r\n  private static _allRows: Float64Array[] = [];\r\n  /**\r\n   * * return a row of the pascal table.\r\n   * * The contents must not be altered by the user !!!\r\n   * * Hypothetically the request row can be any integer.\r\n   * * BUT in practice, values 60 create integer entries that are too big for IEEE double.\r\n   */\r\n  public static getRow(row: number): Float64Array {\r\n    const allRows = PascalCoefficients._allRows;\r\n    if (allRows.length === 0) {\r\n      // seed the table . . .\r\n      allRows.push(new Float64Array([1]));\r\n      allRows.push(new Float64Array([1, 1]));\r\n      allRows.push(new Float64Array([1, 2, 1]));\r\n      allRows.push(new Float64Array([1, 3, 3, 1]));\r\n      allRows.push(new Float64Array([1, 4, 6, 4, 1]));\r\n      allRows.push(new Float64Array([1, 5, 10, 10, 5, 1]));\r\n      allRows.push(new Float64Array([1, 6, 15, 20, 15, 6, 1]));\r\n      allRows.push(new Float64Array([1, 7, 21, 35, 35, 21, 7, 1]));\r\n    }\r\n\r\n    while (allRows.length <= row) {\r\n      const k = allRows.length;\r\n      const oldRow = allRows[k - 1];\r\n      const newRow = new Float64Array(k + 1);\r\n      newRow[0] = 1.0;\r\n      for (let i = 1; i < k; i++)\r\n        newRow[i] = oldRow[i - 1] + oldRow[i];\r\n      newRow[k] = 1.0;\r\n      allRows.push(newRow);\r\n    }\r\n    return allRows[row];\r\n  }\r\n  /** Return an array with Bezier weighted pascal coefficients\r\n   * @param row row index in the pascal triangle.  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package/lib/numerics/PolarData.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\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CoordinateXYZ } from \"../curve/CoordinateXYZ\";\r\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\r\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\n\r\n/** Enumeration of how constraints have been resolved\r\n * @internal\r\n */\r\nexport enum ConstraintState {\r\n  unknown = 0,\r\n  singlePoint = 1,\r\n  impossibleValues = -1,\r\n  onCurve = 2,\r\n\r\n}\r\n\r\n/**\r\n * PolarData carries (possibly incomplete) data for converting among polar and cartesian coordinates.\r\n * @internal\r\n */\r\nexport class PolarData {\r\n  private static _defaultRadius = 1.0;\r\n  public static get defaultRadius(): number { return PolarData._defaultRadius; }\r\n  /** x coordinate, possibly unknown */\r\n  public x?: number;\r\n  /** y coordinate, possibly unknown */\r\n  public y?: number;\r\n  /** radius, possibly unknown */\r\n  public r?: number;\r\n  /** angle, possibly unknown */\r\n  public theta?: Angle;\r\n  /** point, line, or arc geometry, as determined by  solveFromScalars */\r\n  public geometry?: GeometryQuery;\r\n  /** enumeration of resolved state validity conditions. */\r\n  public state?: ConstraintState;\r\n  /** Count the number of defined values among x,y,r, theta */\r\n  public get numberOfConstrainedScalars(): number {\r\n    let n = 0;\r\n    if (this.x !== undefined) n++;\r\n    if (this.y !== undefined) n++;\r\n    if (this.r !== undefined) n++;\r\n    if (this.theta !== undefined) n++;\r\n    return n;\r\n  }\r\n  /** Create with any combination of known and unknown scalars. */\r\n  public static createMixedScalars(state?: ConstraintState, x?: number, y?: number, r?: number, theta?: Angle): PolarData {\r\n    const result = new PolarData();\r\n    result.x = x;\r\n    result.y = y;\r\n    result.r = r;\r\n    result.theta = theta !== undefined ? theta.clone() : undefined;\r\n    result.state = state;\r\n    return result;\r\n  }\r\n\r\n  /** Clone the scalar data, replace the state.\r\n   * * Geometry is NOT cloned.\r\n   */\r\n  public cloneScalarsWithState(newState: ConstraintState): PolarData {\r\n    const result = new PolarData();\r\n    result.x = this.x;\r\n    result.y = this.y;\r\n    result.r = this.r;\r\n    result.theta = this.theta !== undefined ? this.theta.clone() : undefined;\r\n    result.state = newState;\r\n    return result;\r\n  }\r\n\r\n  /** Given a possibly incomplete set of x,y,r,theta, determine the possible completions. */\r\n  public static solveFromScalars(known: PolarData): PolarData[] {\r\n    const result = [];\r\n    // .. fill out known combinations (x,y) (x,r) etc.\r\n    // .. any \"singlePoints\" gets created with no geometry, but geometry fills in at end.\r\n    // .. \"free on curve\" has curve filled in, with finite curve range controlled by PolarData.defaultRadius.\r\n    if (known.x !== undefined) {\r\n      if (known.y !== undefined) {\r\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, known.y, Geometry.hypotenuseXY(known.x, known.y), Angle.createAtan2(known.y, known.x)));\r\n      } else if (known.r !== undefined) {\r\n        const rr = known.r * known.r;\r\n        const xx = known.x * known.x;\r\n        const yy = rr - xx;\r\n        if (yy < 0.0) {\r\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\r\n        } else {\r\n          const y = Math.sqrt(yy);\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, known.r, Angle.createAtan2(y, known.x)));\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, -y, known.r, Angle.createAtan2(-y, known.x)));\r\n        }\r\n      } else if (known.theta !== undefined) {\r\n        const r = Geometry.conditionalDivideFraction(known.x, known.theta.cos());\r\n        // test 4*theta to isolate either positive or negative PI/2 case ...\r\n        if (r === undefined) {\r\n          // Anywhere on y axis does has x=0, this angle . . .\r\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n          q.geometry = LineSegment3d.createXYXY(0, PolarData._defaultRadius, 0, PolarData._defaultRadius);\r\n        } else {\r\n          const y = r * known.theta.sin();\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, r, known.theta));\r\n        }\r\n      } else {  // only x known --- fill out a vertical line\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = LineSegment3d.createXYZXYZ(known.x, PolarData._defaultRadius, 0, known.x, PolarData._defaultRadius, 0);\r\n      }\r\n    } else if (known.y !== undefined) {   // and we already know x is undefined .....\r\n      if (known.r !== undefined) {\r\n        const rr = known.r * known.r;\r\n        const yy = known.y * known.y;\r\n        const xx = rr - yy;\r\n        if (xx < 0.0) {\r\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\r\n        } else {\r\n          const x = Math.sqrt(xx);\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, known.r, Angle.createAtan2(known.y, x)));\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, -x, known.y, known.r, Angle.createAtan2(known.y, -x)));\r\n        }\r\n      } else if (known.theta !== undefined) {\r\n        const r = Geometry.conditionalDivideFraction(known.y, known.theta.sin());\r\n        // test 4*theta to isolate either positive or negative PI/2 case ...\r\n        if (r === undefined) {\r\n          // Anywhere on y axis does has x=0, this angle . . .\r\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n          q.geometry = LineSegment3d.createXYZXYZ(0, PolarData._defaultRadius, 0, 0, PolarData._defaultRadius, 0);\r\n        } else {\r\n          const x = r * known.theta.cos();\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, r, known.theta));\r\n        }\r\n      } else {  // only x known --- fill out a horizontal line\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = LineSegment3d.createXYZXYZ(PolarData._defaultRadius, known.y, 0, PolarData._defaultRadius, known.y, 0);\r\n      }\r\n    } else if (known.r !== undefined) {\r\n      if (known.theta !== undefined) {\r\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.r * known.theta.cos(), known.r * known.theta.sin(), known.r, known.theta));\r\n      } else {\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = Arc3d.createXY(Point3d.create(0, 0, 0), known.r);\r\n        result.push(q);\r\n      }\r\n    } else if (known.theta !== undefined) {\r\n      const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n      const x = PolarData._defaultRadius * known.theta.cos();\r\n      const y = PolarData._defaultRadius * known.theta.sin();\r\n      q.geometry = LineSegment3d.createXYXY(-x, -y, x, y);\r\n      result.push(q);\r\n    }\r\n    // ----------------------------------------------------------------------------------------\r\n    // add tangible geometry to single points ...\r\n    for (const r of result) {\r\n      if (r.state === ConstraintState.singlePoint && r.geometry === undefined)\r\n        r.geometry = CoordinateXYZ.createXYZ(r.x, r.y, 0.0);\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}

package/lib/numerics/Polynomials.d.ts.map

@@ -1 +0,0 @@
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package/lib/numerics/Polynomials.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\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\n// import { Angle, AngleSweep, Geometry } from \"../Geometry\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { GrowableFloat64Array, OptionalGrowableFloat64Array } from \"../geometry3d/GrowableFloat64Array\";\r\nimport { LongitudeLatitudeNumber } from \"../geometry3d/LongitudeLatitudeAltitude\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { XAndY } from \"../geometry3d/XYZProps\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\n\r\n// import { Arc3d } from \"../curve/Arc3d\";\r\n// cspell:word Cardano\r\n// cspell:word CCminusSS\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n/**\r\n * degree 2 (quadratic) polynomial in for y = c0 + c1*x + c2*x^2\r\n * @internal\r\n */\r\nexport class Degree2PowerPolynomial {\r\n  /** The three coefficients for the quartic */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0) {\r\n    this.coffs = [c0, c1, c2];\r\n  }\r\n\r\n  /**\r\n   * * Return 2 duplicate roots in double root case.\r\n   * * The solutions are always in algebraic order.\r\n   * @returns 0, 1, or 2 solutions of the usual quadratic (a*x*x + b * x + c = 0)\r\n   */\r\n  public static solveQuadratic(a: number, b: number, c: number): number[] | undefined {\r\n    const b1 = Geometry.conditionalDivideFraction(b, a);\r\n    const c1 = Geometry.conditionalDivideFraction(c, a);\r\n    if (b1 !== undefined && c1 !== undefined) {\r\n      // now solving xx + b1*x + c1 = 0 -- i.e. implied \"a\" coefficient is 1 . .\r\n      const q = b1 * b1 - 4 * c1;\r\n      if (q > 0) {\r\n        const e = Math.sqrt(q);\r\n        // e is positive, so this sorts algebraically\r\n        return [0.5 * (-b1 - e), 0.5 * (-b1 + e)];\r\n      }\r\n      if (q < 0)\r\n        return undefined;\r\n      const root = -0.5 * b1;\r\n      return [root, root];\r\n    }\r\n    // \"divide by a\" failed.  solve bx + c = 0\r\n    const x = Geometry.conditionalDivideFraction(-c, b);\r\n    if (x !== undefined)\r\n      return [x];\r\n    return undefined;\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /** Add  `s * (a + b*x)^2` to the quadratic coefficients */\r\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\r\n    this.coffs[0] += s * (a * a);\r\n    this.coffs[1] += s * (2.0 * a * b);\r\n    this.coffs[2] += s * (b * b);\r\n  }\r\n  /** Return the real roots of this polynomial */\r\n  public realRoots(): number[] | undefined {\r\n    const ss = Degree2PowerPolynomial.solveQuadratic(this.coffs[2], this.coffs[1], this.coffs[0]);\r\n    if (ss && ss.length > 1) {\r\n      if (ss[0] > ss[1]) {\r\n        const temp = ss[0];\r\n        ss[0] = ss[1];\r\n        ss[1] = temp;\r\n      }\r\n    }\r\n    return ss;\r\n  }\r\n\r\n  /** Evaluate the quadratic at x. */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * this.coffs[2]);\r\n  }\r\n\r\n  /**\r\n   * Evaluate the bezier function at a parameter value.  (i.e. sum the basis functions times coefficients)\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return this.coffs[1] + 2 * x * this.coffs[2];\r\n  }\r\n\r\n  /** Factor the polynomial in to the form `y0 + c * (x-x0)^2)`, i.e. complete the square. */\r\n  public tryGetVertexFactorization(): { x0: number, y0: number, c: number } | undefined {\r\n    const x = Geometry.conditionalDivideFraction(-this.coffs[1], 2.0 * this.coffs[2]);\r\n    if (x !== undefined) {\r\n      const y = this.evaluate(x);\r\n      return { c: this.coffs[2], x0: x, y0: y };\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Construct a quadratic from input form `c2 * (x-root0) * (x-root1)` */\r\n  public static fromRootsAndC2(root0: number, root1: number, c2: number = 1): Degree2PowerPolynomial {\r\n    return new Degree2PowerPolynomial(\r\n      c2 * root0 * root1,\r\n      - c2 * (root0 + root1),\r\n      c2);\r\n  }\r\n\r\n}\r\n/**\r\n * degree 3 (cubic) polynomial in for y = c0 + c1*x + c2*x^2 + c3*x^3\r\n * @internal\r\n */\r\nexport class Degree3PowerPolynomial {\r\n  /** polynomial coefficients, index corresponds to power */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 1) {\r\n    this.coffs = [c0, c1, c2, c3];\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /** Add `s * (a + b*x)^2` to the cubic */\r\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\r\n    this.coffs[0] += s * (a * a);\r\n    this.coffs[1] += s * (2.0 * a * b);\r\n    this.coffs[2] += s * (b * b);\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial at x\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * this.coffs[3]));\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial derivative\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return this.coffs[1] + x * (2.0 * this.coffs[2] + x * 3.0 * this.coffs[3]);\r\n  }\r\n  /** Construct a cubic from the form `c3 * (x-root0) * (x - root1) * (x- root2)` */\r\n  public static fromRootsAndC3(root0: number, root1: number, root2: number, c3: number = 1.0): Degree3PowerPolynomial {\r\n    return new Degree3PowerPolynomial(\r\n      -c3 * root0 * root1 * root2,\r\n      c3 * (root0 * root1 + root1 * root2 + root0 * root2),\r\n      - c3 * (root0 + root1 + root2),\r\n      c3);\r\n  }\r\n}\r\n/**\r\n * degree 4 (quartic) polynomial in for y = c0 + c1*x + c2*x^2 + c4*x^4\r\n * @internal\r\n */\r\nexport class Degree4PowerPolynomial {\r\n  /** polynomial coefficients, index corresponds to power */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 0, c4: number = 0) {\r\n    this.coffs = [c0, c1, c2, c3, c4];\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial\r\n   * @param x x coordinate for evaluation\r\n   */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * (this.coffs[3] + x * this.coffs[4])));\r\n  }\r\n\r\n  /**\r\n   * Evaluate the derivative\r\n   * @param x x coordinate for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return (this.coffs[1] + x * (2.0 * this.coffs[2] + x * (3.0 * this.coffs[3] + x * 4.0 * this.coffs[4])));\r\n  }\r\n\r\n  /** Construct a quartic from the form `c3 * (x-root0) * (x - root1) * (x- root2) * (x-root3)` */\r\n  public static fromRootsAndC4(root0: number, root1: number, root2: number, root3: number, c4: number = 1): Degree4PowerPolynomial {\r\n    return new Degree4PowerPolynomial(\r\n      c4 * (root0 * root1 * root2 * root3),\r\n      -c4 * (root0 * root1 * root2 + root0 * root1 * root3 + root0 * root2 * root3 + root1 * root2 * root3),\r\n      c4 * (root0 * root1 + root0 * root2 + root0 * root3 + root1 * root2 + root1 * root3 + root2 * root3),\r\n      -c4 * (root0 + root1 + root2 + root3),\r\n      c4);\r\n  }\r\n\r\n}\r\n/**\r\n * polynomial services for an implicit torus with\r\n * * z axis is \"through the donut hole\"\r\n * * `majorRadius` is the radius of the circle \"around the z axis\"\r\n * * `minorRadius` is the radius of circles around the major circle\r\n * * for simple xyz the implicit form is\r\n *   * `(x^2+y^2+z^2+(R^2-r^2))^2 = 4 R^2(x^2+y^2)`\r\n * * In weighted form\r\n *   * `(x^2+y^2+z^2+(R^2-r^2)w^2)^2 = 4 R^2 w^2 (x^2+y^2)`\r\n * @internal\r\n */\r\nexport class TorusImplicit {\r\n  /** major (xy plane) radius */\r\n  public majorRadius: number;\r\n  /** hoop (perpendicular to major circle) radius */\r\n  public minorRadius: number;\r\n\r\n  constructor(majorRadius: number, minorRadius: number) {\r\n    this.majorRadius = majorRadius;\r\n    this.minorRadius = minorRadius;\r\n  }\r\n\r\n  /** Return sum of (absolute) major and minor radii, which is (half) the box size in x and y directions */\r\n  public boxSize() {\r\n    return (Math.abs(this.majorRadius) + Math.abs(this.minorRadius));\r\n  }\r\n  /** Return scale factor appropriate to control the magnitude of the implicit function. */\r\n  public implicitFunctionScale(): number {\r\n    const a = this.boxSize();\r\n    if (a === 0.0)\r\n      return 1.0;\r\n    return 1.0 / (a * a * a * a);\r\n  }\r\n\r\n  /**\r\n   * At space point (x,y,z) evaluate the implicit form of the torus (See `ImplicitTorus`)\r\n   */\r\n  public evaluateImplicitFunctionXYZ(x: number, y: number, z: number): number {\r\n    const rho2 = x * x + y * y;\r\n    const z2 = z * z;\r\n    const R2 = this.majorRadius * this.majorRadius;\r\n    const r2 = this.minorRadius * this.minorRadius;\r\n    const f = rho2 + z2 + (R2 - r2);\r\n    const g = 4.0 * R2 * rho2;\r\n    return (f * f - g) * this.implicitFunctionScale();\r\n  }\r\n  /** Evaluate the implicit function at a point. */\r\n  public evaluateImplicitFunctionPoint(xyz: Point3d): number {\r\n    return this.evaluateImplicitFunctionXYZ(xyz.x, xyz.y, xyz.z);\r\n  }\r\n  /** Evaluate the implicit function at homogeneous coordinates */\r\n  public evaluateImplicitFunctionXYZW(x: number, y: number, z: number, w: number) {\r\n    const rho2 = x * x + y * y;\r\n    const z2 = z * z;\r\n    const w2 = w * w;\r\n    const R2 = this.majorRadius * this.majorRadius;\r\n    const r2 = this.minorRadius * this.minorRadius;\r\n    const f = rho2 + z2 + w2 * (R2 - r2);\r\n    const g = w2 * 4.0 * R2 * rho2;\r\n    return (f * f - g) * this.implicitFunctionScale();\r\n  }\r\n\r\n  /** Evaluate the surface point at angles (in radians) on the major and minor circles. */\r\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number): Point3d {\r\n    const c = Math.cos(thetaRadians);\r\n    const s = Math.sin(thetaRadians);\r\n    // theta=0 point\r\n    const x0 = this.majorRadius + this.minorRadius * Math.cos(phiRadians);\r\n    const z0 = this.minorRadius * Math.sin(phiRadians);\r\n    return Point3d.create(c * x0, s * x0, z0);\r\n  }\r\n\r\n  /** Evaluate partial derivatives at angles (int radians) on major and minor circles. */\r\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\r\n    const cTheta = Math.cos(thetaRadians);\r\n    const sTheta = Math.sin(thetaRadians);\r\n    const bx = this.minorRadius * Math.cos(phiRadians);\r\n    const bz = this.minorRadius * Math.sin(phiRadians);\r\n    const x0 = this.majorRadius + bx;\r\n    Vector3d.create(-x0 * sTheta, x0 * cTheta, 0.0, dxdTheta);\r\n    Vector3d.create(-cTheta * bz, -sTheta * bz, bx, dxdPhi);\r\n  }\r\n\r\n  /** Evaluate space point at major and minor angles (in radians) and distance from major hoop. */\r\n  public evaluateThetaPhiDistance(thetaRadians: number, phiRadians: number, distance: number): Point3d {\r\n    const c = Math.cos(thetaRadians);\r\n    const s = Math.sin(thetaRadians);\r\n    // theta=0 point\r\n    const x0 = this.majorRadius + distance * Math.cos(phiRadians);\r\n    const z0 = distance * Math.sin(phiRadians);\r\n    return Point3d.create(c * x0, s * x0, z0);\r\n  }\r\n  /** Given an xyz coordinate in the local system of the toroid, compute the torus parametrization\r\n   * * theta = angular coordinate in xy plane\r\n   * * phi = angular coordinate in minor circle.\r\n   * * distance = distance from major circle\r\n   * * rho = distance from origin to xy part of the input.\r\n   * @param xyz space point in local coordinates.\r\n   * @return object with properties theta, phi, distance, rho\r\n   */\r\n  public xyzToThetaPhiDistance(xyz: Point3d): { theta: number, phi: number, distance: number, rho: number, safePhi: boolean } {\r\n    const rho = xyz.magnitudeXY();\r\n    const majorRadiusFactor = Geometry.conditionalDivideFraction(this.majorRadius, rho);\r\n    let safeMajor;\r\n    let majorCirclePoint;\r\n    if (majorRadiusFactor) {\r\n      safeMajor = true;\r\n      majorCirclePoint = Point3d.create(majorRadiusFactor * xyz.x, majorRadiusFactor * xyz.y, 0.0);\r\n    } else {\r\n      safeMajor = false;\r\n      majorCirclePoint = Point3d.create(xyz.x, xyz.y, 0.0);\r\n    }\r\n    const theta = safeMajor ? Math.atan2(xyz.y, xyz.x) : 0.0;\r\n    const vectorFromMajorCircle = Vector3d.createStartEnd(majorCirclePoint, xyz);\r\n    const distance = vectorFromMajorCircle.magnitude();\r\n    const dRho = rho - this.majorRadius;\r\n    let safePhi;\r\n    let phi;\r\n    if (xyz.z === 0.0 && dRho === 0.0) {\r\n      phi = 0.0;\r\n      safePhi = false;\r\n    } else {\r\n      phi = Math.atan2(xyz.z, dRho);\r\n      safePhi = true;\r\n    }\r\n    return { theta, phi, distance, rho, safePhi: safeMajor && safePhi };\r\n  }\r\n  /*\r\n    public minorCircle(theta: Angle): Arc3d {\r\n      const c = Math.cos(theta.radians);\r\n      const s = Math.sin(theta.radians);\r\n      return Arc3d.create(\r\n        Point3d.create(c * this.majorRadius, s * this.majorRadius, 0.0),\r\n        Vector3d.create(c * this.minorRadius, s * this.minorRadius, 0.0),\r\n        Vector3d.create(0.0, 0.0, this.minorRadius),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n\r\n    public majorCircle(phi: Angle): Arc3d {\r\n      const c = Math.cos(phi.radians);\r\n      const s = Math.sin(phi.radians);\r\n      const a = this.majorRadius + c * this.minorRadius;\r\n      return Arc3d.create(\r\n        Point3d.create(0.0, 0.0, this.minorRadius * s),\r\n        Vector3d.create(a, 0.0, 0.0),\r\n        Vector3d.create(0.0, a, 0.0),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n  */\r\n}\r\n/**\r\n * evaluation methods for an implicit sphere\r\n * * xyz function `x*x + y*y + z*z - r*r = 0`.\r\n * * xyzw function `x*x + y*y + z*z - r*r*w*w = 0`.\r\n * @internal\r\n */\r\nexport class SphereImplicit {\r\n  /** Radius of sphere. */\r\n  public radius: number;\r\n  constructor(r: number) { this.radius = r; }\r\n\r\n  /** Evaluate the implicit function at coordinates x,y,z */\r\n  public evaluateImplicitFunction(x: number, y: number, z: number): number {\r\n    return x * x + y * y + z * z - this.radius * this.radius;\r\n  }\r\n\r\n  /** Evaluate the implicit function at homogeneous coordinates x,y,z,w */\r\n  public evaluateImplicitFunctionXYZW(wx: number, wy: number, wz: number, w: number): number {\r\n    return (wx * wx + wy * wy + wz * wz) - this.radius * this.radius * w * w;\r\n  }\r\n\r\n  /** Given an xyz coordinate in the local system of the toroid, compute the sphere parametrization\r\n   * * theta = angular coordinate in xy plane\r\n   * * phi = rotation from xy plane towards z axis.\r\n   * @param xyz space point in local coordinates.\r\n   * @return object with properties thetaRadians, phi, r\r\n   */\r\n  public xyzToThetaPhiR(xyz: Point3d): { thetaRadians: number, phiRadians: number, r: number, valid: boolean } {\r\n    const rhoSquared = xyz.x * xyz.x + xyz.y * xyz.y;\r\n    const rho = Math.sqrt(rhoSquared);\r\n    const r = Math.sqrt(rhoSquared + xyz.z * xyz.z);\r\n    let theta;\r\n    let phi;\r\n    let valid;\r\n    if (r === 0.0) {\r\n      theta = phi = 0.0;\r\n      valid = false;\r\n    } else {\r\n      phi = Math.atan2(xyz.z, rho); // At least one of these is nonzero\r\n      if (rhoSquared !== 0.0) {\r\n        theta = Math.atan2(xyz.y, xyz.x);\r\n        valid = true;\r\n      } else {\r\n        theta = 0.0;\r\n        valid = false;\r\n      }\r\n    }\r\n    return { thetaRadians: (theta), phiRadians: (phi), r, valid };\r\n  }\r\n  /** Return the range of a uv-aligned patch of the sphere. */\r\n  public static patchRangeStartEndRadians(center: Point3d, radius: number, theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number, result?: Range3d): Range3d {\r\n    const thetaSweep = AngleSweep.createStartEndRadians(theta0Radians, theta1Radians);\r\n    const phiSweep = AngleSweep.createStartEndRadians(phi0Radians, phi1Radians);\r\n    const range = Range3d.createNull(result);\r\n    const xyz = Point3d.create();\r\n    if (thetaSweep.isFullCircle && phiSweep.isFullLatitudeSweep) {\r\n      // full sphere, no trimming -- build directly\r\n      range.extendPoint(center);\r\n      range.expandInPlace(Math.abs(radius));\r\n    } else {\r\n      const sphere = new SphereImplicit(radius);\r\n      // construct range for ORIGIN CENTERED sphere ...\r\n      const pi = Math.PI;\r\n      const piOver2 = 0.5 * Math.PI;\r\n      let phi, theta;\r\n      // 6 candidate interior extreme points on equator and 0, 90 degree meridians\r\n      for (const thetaPhi of [\r\n        [0.0, 0.0],\r\n        [pi, 0.0],\r\n        [piOver2, 0.0],\r\n        [-piOver2, 0.0],\r\n        [theta0Radians, piOver2],\r\n        [theta0Radians, -piOver2]]) {\r\n        theta = thetaPhi[0];\r\n        phi = thetaPhi[1];\r\n        if (thetaSweep.isRadiansInSweep(theta) && phiSweep.isRadiansInSweep(phi))\r\n          range.extendPoint(sphere.evaluateThetaPhi(theta, phi, xyz));\r\n      }\r\n\r\n      // 4 boundary curves, each with 3 components ...\r\n      // BUT: phi should not extend beyond poles. Hence z extremes on constant theta curve will never be different from z of constant phi curve or of poles as tested above.\r\n      const axisRange = Range1d.createNull();\r\n      const cosPhi0 = Math.cos(phi0Radians);\r\n      const cosPhi1 = Math.cos(phi1Radians);\r\n      const sinPhi0 = Math.sin(phi0Radians);\r\n      const sinPhi1 = Math.sin(phi1Radians);\r\n      const trigForm = new SineCosinePolynomial(0, 0, 0);\r\n      // constant phi curves at phi0 and phi1\r\n      for (const cosPhi of [cosPhi0, cosPhi1]) {\r\n        trigForm.set(0, cosPhi * radius, 0);\r\n        trigForm.rangeInSweep(thetaSweep, axisRange);\r\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\r\n        trigForm.set(0, 0, cosPhi * radius);\r\n        trigForm.rangeInSweep(thetaSweep, axisRange);\r\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\r\n      }\r\n      range.extendZOnly(sinPhi0 * radius);\r\n      range.extendZOnly(sinPhi1 * radius);\r\n\r\n      // constant theta curves as theta0 and theta1:\r\n      for (const thetaRadians of [theta0Radians, theta1Radians]) {\r\n        const cosThetaR = Math.cos(thetaRadians) * radius;\r\n        const sinThetaR = Math.sin(thetaRadians) * radius;\r\n        trigForm.set(0, cosThetaR, 0);\r\n        trigForm.rangeInSweep(phiSweep, axisRange);\r\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\r\n\r\n        trigForm.set(0, sinThetaR, 0);\r\n        trigForm.rangeInSweep(phiSweep, axisRange);\r\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\r\n      }\r\n      range.cloneTranslated(center, range);\r\n    }\r\n    return range;\r\n  }\r\n  /** Compute intersections with a ray.\r\n   * * Return the number of intersections\r\n   * * Fill any combinations of arrays of\r\n   *    * rayFractions = fractions along the ray\r\n   *    * xyz = xyz intersection coordinates points in space\r\n   *    * thetaPhiRadians = sphere longitude and latitude in radians.\r\n   * * For each optional array, caller must of course initialize an array (usually empty)\r\n   */\r\n  public static intersectSphereRay(center: Point3d, radius: number, ray: Ray3d, rayFractions: number[] | undefined, xyz: Point3d[] | undefined, thetaPhiRadians: LongitudeLatitudeNumber[] | undefined): number {\r\n    const vx = ray.origin.x - center.x;\r\n    const vy = ray.origin.y - center.y;\r\n    const vz = ray.origin.z - center.z;\r\n    const ux = ray.direction.x;\r\n    const uy = ray.direction.y;\r\n    const uz = ray.direction.z;\r\n    const a0 = Geometry.hypotenuseSquaredXYZ(vx, vy, vz) - radius * radius;\r\n    const a1 = 2.0 * Geometry.dotProductXYZXYZ(ux, uy, uz, vx, vy, vz);\r\n    const a2 = Geometry.hypotenuseSquaredXYZ(ux, uy, uz);\r\n    const parameters = Degree2PowerPolynomial.solveQuadratic(a2, a1, a0);\r\n    if (rayFractions !== undefined)\r\n      rayFractions.length = 0;\r\n    if (xyz !== undefined)\r\n      xyz.length = 0;\r\n    if (thetaPhiRadians !== undefined)\r\n      thetaPhiRadians.length = 0;\r\n\r\n    if (parameters === undefined) {\r\n      return 0;\r\n    }\r\n    const sphere = new SphereImplicit(radius);\r\n    if (rayFractions !== undefined)\r\n      for (const f of parameters) rayFractions.push(f);\r\n    if (xyz !== undefined || thetaPhiRadians !== undefined) {\r\n      for (const f of parameters) {\r\n        const point = ray.fractionToPoint(f);\r\n        if (xyz !== undefined)\r\n          xyz.push(point);\r\n        if (thetaPhiRadians !== undefined) {\r\n          const data = sphere.xyzToThetaPhiR(point);\r\n          thetaPhiRadians.push(LongitudeLatitudeNumber.createRadians(data.thetaRadians, data.phiRadians));\r\n        }\r\n      }\r\n    }\r\n    return parameters.length;\r\n  }\r\n\r\n  // public intersectRay(ray: Ray3d, maxHit: number): {rayFractions: number, points: Point3d} {\r\n  //   const q = new Degree2PowerPolynomial();\r\n  //   // Ray is (origin.x + s * direction.x, etc)\r\n  //   // squared distance from origin is (origin.x + s*direction.x)^2 + etc\r\n  //   // sphere radius in local system is 1.\r\n  //   q.addSquaredLinearTerm(ray.origin.x, ray.direction.x);\r\n  //   q.addSquaredLinearTerm(ray.origin.y, ray.direction.y);\r\n  //   q.addSquaredLinearTerm(ray.origin.z, ray.direction.z);\r\n  //   q.addConstant(-this.radius * this.radius);\r\n  //   let ss = [];\r\n  //   let n = q.realRoots(ss);\r\n  //   if (n > maxHit)\r\n  //     n = maxHit;\r\n  //   let rayFractions;\r\n  //   let points;\r\n  //   for (let i = 0; i < n; i++) {\r\n  //     rayFractions[i] = ss[i];\r\n  //     points[i] = Point3d. // What is the equivalent of FromSumOf in TS?\r\n  //   }\r\n  /** Compute the point on a sphere at angular coordinates.\r\n   * @param thetaRadians latitude angle\r\n   * @param phiRadians longitude angle\r\n   */\r\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number, result?: Point3d): Point3d {\r\n    const rc = this.radius * Math.cos(thetaRadians);\r\n    const rs = this.radius * Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    return Point3d.create(rc * cosPhi, rs * cosPhi, this.radius * sinPhi, result);\r\n  }\r\n  /**\r\n   * * convert radians to xyz on unit sphere\r\n   * * Note that there is no radius used -- implicitly radius is 1\r\n   * * Evaluation is always to a preallocated xyz.\r\n   */\r\n  public static radiansToUnitSphereXYZ(thetaRadians: number, phiRadians: number, xyz: XYZ) {\r\n    const cosTheta = Math.cos(thetaRadians);\r\n    const sinTheta = Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    xyz.x = cosTheta * cosPhi;\r\n    xyz.y = sinTheta * cosPhi;\r\n    xyz.z = sinPhi;\r\n  }\r\n  /** Compute the derivatives with respect to spherical angles.\r\n   * @param thetaRadians latitude angle\r\n   * @param phiRadians longitude angle\r\n   */\r\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\r\n    const rc = this.radius * Math.cos(thetaRadians);\r\n    const rs = this.radius * Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    Vector3d.create(-rs * cosPhi, rc * cosPhi, 0.0, dxdTheta);\r\n    Vector3d.create(-rc * sinPhi, -rs * sinPhi, this.radius * cosPhi, dxdPhi);\r\n  }\r\n  /*\r\n    public meridianCircle(theta: number): Arc3d {\r\n      const rc = this.radius * Math.cos(theta);\r\n      const rs = this.radius * Math.sin(theta);\r\n      return Arc3d.create(\r\n        Point3d.create(0.0, 0.0, 0.0),\r\n        Vector3d.create(rc, rs, 0),\r\n        Vector3d.create(0, 0, this.radius),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n\r\n    public parallelCircle(phi: number): Arc3d {\r\n      const cr = this.radius * Math.cos(phi);\r\n      const sr = this.radius * Math.sin(phi);\r\n      return Arc3d.create(\r\n        Point3d.create(0, 0, sr),\r\n        Vector3d.create(cr, 0, 0),\r\n        Vector3d.create(0, cr, 0),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n    */\r\n}\r\n/** AnalyticRoots has static methods for solving quadratic, cubic, and quartic equations.\r\n * @internal\r\n *\r\n */\r\nexport class AnalyticRoots {\r\n  private static readonly _EQN_EPS = 1.0e-9;\r\n  private static readonly _safeDivideFactor = 1.0e-14;\r\n  /** Absolute zero test with a tolerance that has worked well for the analytic root use case . . . */\r\n  private static isZero(x: number): boolean {\r\n    return Math.abs(x) < this._EQN_EPS;\r\n  }\r\n  /** Without actually doing a division, test if (x/y) is small.\r\n   * @param x numerator\r\n   * @param y denominator\r\n   * @param absTol absolute tolerance\r\n   * @param relTol relative tolerance\r\n   */\r\n  private static isSmallRatio(x: number, y: number, absTol: number = 1.0e-9, relTol: number = 8.0e-16) {\r\n    return Math.abs(x) <= absTol || Math.abs(x) < relTol * Math.abs(y);\r\n  }\r\n  /** Return the (real, signed) principal cube root of x */\r\n  public static cbrt(x: number): number {\r\n    return ((x) > 0.0\r\n      ? Math.pow((x), 1.0 / 3.0)\r\n      : ((x) < 0.0\r\n        ? -Math.pow(-(x), 1.0 / 3.0)\r\n        : 0.0));\r\n  }\r\n  /**\r\n   * Try to divide `numerator/denominator` and place the result (or defaultValue) in `values[offset]`\r\n   * @param values array of values.  `values[offset]` will be replaced.\r\n   * @param numerator numerator for division.\r\n   * @param denominator denominator for division.\r\n   * @param defaultValue value to save if denominator is too small to divide.\r\n   * @param offset index of value to replace.\r\n   */\r\n  private static safeDivide(values: Float64Array, numerator: number, denominator: number, defaultValue: number = 0.0, offset: number): boolean {\r\n    if (Math.abs(denominator) > (this._safeDivideFactor * Math.abs(numerator))) {\r\n      values[offset] = numerator / denominator;\r\n      return true;\r\n    }\r\n    values[offset] = defaultValue;\r\n    return false;\r\n  }\r\n  // Used in NewtonMethod for testing if a root has been adjusted past its bounding region\r\n  private static checkRootProximity(roots: GrowableFloat64Array, i: number): boolean {\r\n    if (i === 0) { // Case 1: Beginning Root (check root following it)\r\n      return roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1);\r\n    } else if (i > 0 && i + 1 < roots.length) { // Case 2: Middle Root (check roots before and after)\r\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1)) && (roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1));\r\n    } else { // Case 3: End root (check preceding root)\r\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1));\r\n    }\r\n  }\r\n  private static newtonMethodAdjustment(coffs: Float64Array | number[], root: number, degree: number): number | undefined {\r\n    let p = coffs[degree];\r\n    let q = 0.0;\r\n    for (let i = degree - 1; i >= 0; i--) {\r\n      q = p + root * q;\r\n      p = coffs[i] + root * p;\r\n    }\r\n    if (Math.abs(q) >= 1.0e-14 * (1.0 + Math.abs(root))) {\r\n      return p / q;\r\n    }\r\n    return undefined;\r\n  }\r\n  private static improveRoots(coffs: Float64Array | number[], degree: number, roots: GrowableFloat64Array, restrictOrderChanges: boolean) {\r\n    const relTol = 1.0e-10;\r\n\r\n    // Loop through each root\r\n    for (let i = 0; i < roots.length; i++) {\r\n      let dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\r\n      if (dx === undefined || dx === 0.0) continue;  // skip if newton step had divide by zero.\r\n      const originalValue = roots.atUncheckedIndex(i);\r\n      let counter = 0;\r\n      let convergenceCounter = 0;\r\n\r\n      // Loop through applying changes to found root until dx is diminished or counter is hit\r\n      while (dx !== undefined && dx !== 0.0 && (counter < 12)) {\r\n        // consider it converged if two successive iterations satisfy the (not too demanding) tolerance.\r\n        if (Math.abs(dx) < relTol * (1.0 + Math.abs(roots.atUncheckedIndex(i)))) {\r\n          if (++convergenceCounter > 1)\r\n            break;\r\n        } else {\r\n          convergenceCounter = 0;\r\n        }\r\n\r\n        const rootDX = roots.atUncheckedIndex(i) - dx;\r\n        roots.reassign(i, rootDX);\r\n\r\n        // If root is thrown past one of its neighboring roots, unstable condition is assumed.. revert\r\n        // to originally found root\r\n        if (restrictOrderChanges && !this.checkRootProximity(roots, i)) {\r\n          roots.reassign(i, originalValue);\r\n          break;\r\n        }\r\n\r\n        dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\r\n        counter++;\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Append (if defined) value to results.\r\n   * @param value optional value to append\r\n   * @param results growing array\r\n   */\r\n  private static appendSolution(value: number | undefined, results: GrowableFloat64Array) {\r\n    if (value !== undefined) {\r\n      results.push(value);\r\n    }\r\n  }\r\n  /**\r\n   * Append 2 solutions -- note that both are required args, no option of omitting as in single solution case\r\n   * @param value1\r\n   * @param value2\r\n   * @param results\r\n   */\r\n  private static append2Solutions(valueA: number, valueB: number, results: GrowableFloat64Array) {\r\n    results.push(valueA);\r\n    results.push(valueB);\r\n  }\r\n\r\n  /**\r\n   * If `co/c1` is a safe division, append it to the values array.\r\n   * @param c0 numerator\r\n   * @param c1 denominator\r\n   * @param values array to expand\r\n   */\r\n  public static appendLinearRoot(c0: number, c1: number, values: GrowableFloat64Array) {\r\n    AnalyticRoots.appendSolution(Geometry.conditionalDivideFraction(-c0, c1), values);\r\n  }\r\n  /**\r\n   * * Compute the mean of all the entries in `data`\r\n   * * Return the data value that is farthest away\r\n   */\r\n  public static mostDistantFromMean(data: GrowableFloat64Array | undefined): number {\r\n    if (!data || data.length === 0) return 0;\r\n    let a = 0.0;  // to become the sum and finally the average.\r\n    for (let i = 0; i < data.length; i++) a += data.atUncheckedIndex(i);\r\n    a /= data.length;\r\n    let dMax = 0.0;\r\n    let result = data.atUncheckedIndex(0);\r\n    for (let i = 0; i < data.length; i++) {\r\n      const d = Math.abs(data.atUncheckedIndex(i) - a);\r\n      if (d > dMax) {\r\n        dMax = d;\r\n        result = data.atUncheckedIndex(i);\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * Append 0, 1, or 2 solutions of a quadratic to the values array.\r\n   * @param c array of coefficients for quadratic `c[0] + c[1] * x + c[2] * x*x`\r\n   * @param values array to be expanded.\r\n   */\r\n  public static appendQuadraticRoots(c: Float64Array | number[], values: GrowableFloat64Array) {\r\n    // Normal form: x^2 + 2px + q = 0\r\n\r\n    const divFactor = Geometry.conditionalDivideFraction(1.0, c[2]);\r\n    if (!divFactor) {\r\n      this.appendLinearRoot(c[0], c[1], values);\r\n      return;\r\n    }\r\n\r\n    const p = 0.5 * c[1] * divFactor;\r\n    const q = c[0] * divFactor;\r\n\r\n    const D = p * p - q;\r\n\r\n    if (this.isZero(D)) {\r\n      this.appendSolution(-p, values);\r\n      return;\r\n    } else if (D < 0) {\r\n      return;\r\n    } else if (D > 0) {\r\n      const sqrt_D = Math.sqrt(D);\r\n      this.append2Solutions(sqrt_D - p, - sqrt_D - p, values);\r\n      return;\r\n    }\r\n    return;\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  private static addConstant(value: number, data: GrowableFloat64Array) {\r\n    for (let i = 0; i < data.length; i++) data.reassign(i, data.atUncheckedIndex(i) + value);\r\n  }\r\n\r\n  private static signedCubeRoot(y: number): number {\r\n    if (y >= 0.0)\r\n      return Math.pow(y, 1.0 / 3.0);\r\n    return -Math.pow(-y, 1.0 / 3.0);\r\n  }\r\n  /**\r\n   * RWD Nickalls Cubic solution\r\n   * The Mathematical Gazette (1993) (vol 77) pp 354-359\r\n   * * ASSUME a is nonzero.\r\n   */\r\n  // Solve full cubic ASSUMING a3 is nonzero.\r\n  private static appendFullCubicSolutions(a: number, b: number, c: number, d: number, result: GrowableFloat64Array) {\r\n    const q = b * b - 3.0 * a * c;\r\n    const aa = a * a;\r\n    const delta2 = q / (9.0 * aa);\r\n    const xN = - b / (3.0 * a);\r\n    const yN = d + xN * (c + xN * (b + xN * a));\r\n    const yN2 = yN * yN;\r\n    const h2 = 4.0 * a * a * delta2 * delta2 * delta2;\r\n    const discriminant = yN2 - h2;\r\n    if (discriminant > 0) {\r\n      // 1 real root\r\n      const r = Math.sqrt(discriminant);\r\n      const f = 0.5 / a;\r\n      result.push(xN + this.signedCubeRoot(f * (-yN + r)) + this.signedCubeRoot(f * (-yN - r)));\r\n    } else if (discriminant < 0) {\r\n      // 3 real roots\r\n      let h = Math.sqrt(h2);\r\n      // I don't see comment in Nickalls about sign of h -- but this sign change is needed ...\r\n      if (a < 0)\r\n        h = -h;\r\n      // sign of h?\r\n      const thetaRadians = Math.acos(-yN / h) / 3.0;\r\n      const g = 2.0 * Math.sqrt(delta2);\r\n      const shift = 2.0 * Math.PI / 3.0;\r\n      result.push(xN + g * Math.cos(thetaRadians));\r\n      result.push(xN + g * Math.cos(thetaRadians + shift));\r\n      result.push(xN + g * Math.cos(thetaRadians - shift));\r\n    } else {\r\n      // NOTE: The double-root case is not toleranced.\r\n      // double root + single root\r\n      const delta = this.signedCubeRoot(0.5 * yN / a);\r\n      const minMaxRoot = xN + delta;\r\n      result.push(xN - 2 * delta);\r\n      result.push(minMaxRoot);\r\n      result.push(minMaxRoot);\r\n    }\r\n  }\r\n\r\n  /* return roots of a cubic c0 + c1 *x + c2 * x^2 + c2 * x3.\r\n   * In the usual case where c0 is non-zero, there are either 1 or 3 roots.\r\n   * But if c0 is zero the (0, 1, or 2) roots of the lower order equation\r\n   */\r\n  /*\r\n  private static _appendCubicRootsUnsorted(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    let sq_A: number;\r\n    let p: number;\r\n    let q: number;\r\n\r\n    // normal form: x^3 + Ax^2 + Bx + C = 0\r\n\r\n    const scaleFactor = Geometry.conditionalDivideFraction(1.0, c[3]);\r\n    if (!scaleFactor) {\r\n      this.appendQuadraticRoots(c, results);\r\n      return;\r\n    }\r\n    // It is a real cubic.  There MUST be at least one real solution . . .\r\n    const A: number = c[2] * scaleFactor;\r\n    const B: number = c[1] * scaleFactor;\r\n    const C: number = c[0] * scaleFactor;\r\n\r\n    //  substitute x = y - A/3 to eliminate quadric term:\r\n    //    f = y^3 +3py + 2q = 0\r\n    //    f' = 3y^2 + p\r\n    //        local min/max at Y = +-sqrt (-p)\r\n    //        f(+Y) = -p sqrt(-p) + 3p sqrt (-p) + 2q = 2 p sqrt (-p) + 2q\r\n    sq_A = A * A;\r\n    p = (3.0 * B - sq_A) / 9.0;\r\n    q = 1.0 / 2 * (2.0 / 27 * A * sq_A - 1.0 / 3 * A * B + C);\r\n\r\n    // Use Cardano formula\r\n    const cb_p: number = p * p * p;\r\n    const D: number = q * q + cb_p;\r\n    const origin = A / (-3.0);\r\n    if (D >= 0.0 && this.isZero(D)) {\r\n      if (this.isZero(q)) {\r\n        // One triple solution\r\n        results.push(origin);\r\n        results.push(origin);\r\n        results.push(origin);\r\n        return;\r\n      } else {\r\n        // One single and one double solution\r\n        const u = this.cbrt(-q);\r\n        if (u < 0) {\r\n          results.push(origin + 2 * u);\r\n          results.push(origin - u);\r\n          results.push(origin - u);\r\n          return;\r\n        } else {\r\n          results.push(origin - u);\r\n          results.push(origin - u);\r\n          results.push(origin + 2 * u);\r\n          return;\r\n        }\r\n      }\r\n    } else if (D <= 0) {      // three real solutions\r\n      const phi = 1.0 / 3 * Math.acos(-q / Math.sqrt(-cb_p));\r\n      const t = 2 * Math.sqrt(-p);\r\n      results.push(origin + t * Math.cos(phi));\r\n      results.push(origin - t * Math.cos(phi + Math.PI / 3));\r\n      results.push(origin - t * Math.cos(phi - Math.PI / 3));\r\n      this.improveRoots(c, 3, results, false);\r\n\r\n      return;\r\n    } else {    // One real solution\r\n      const sqrt_D = Math.sqrt(D);\r\n      const u = this.cbrt(sqrt_D - q);\r\n      const v = -(this.cbrt(sqrt_D + q));\r\n      results.push(origin + u + v);\r\n      this.improveRoots(c, 3, results, false);\r\n      return;\r\n    }\r\n  }\r\n  */\r\n  /** Compute roots of cubic 'c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 */\r\n  public static appendCubicRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    if (Geometry.conditionalDivideCoordinate(1.0, c[3]) !== undefined) {\r\n      this.appendFullCubicSolutions(c[3], c[2], c[1], c[0], results);\r\n      // EDL April 5, 2020 replace classic GraphicsGems solver by RWDNickalls.\r\n      // Don't know if improveRoots is needed.\r\n      // Breaks in AnalyticRoots.test.ts checkQuartic suggest it indeed converts many e-16 errors to zero.\r\n      //  e-13 cases are unaffected\r\n      this.improveRoots(c, 3, results, false);\r\n    } else {\r\n      this.appendQuadraticRoots(c, results);\r\n    }\r\n    // this.appendCubicRootsUnsorted(c, results);\r\n    results.sort();\r\n  }\r\n  /** Compute roots of quartic 'c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 + c[4] * x^4 */\r\n  public static appendQuarticRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    const coffs = new Float64Array(4); // at various times .. coefficients of quadratic an cubic intermediates.\r\n    let u: number;\r\n    let v: number;\r\n\r\n    // normal form: x^4 + Ax^3 + Bx^2 + Cx + D = 0\r\n\r\n    const coffScale = new Float64Array(1);\r\n    if (!this.safeDivide(coffScale, 1.0, c[4], 0.0, 0)) {\r\n      this.appendCubicRoots(c, results);\r\n      return;\r\n    }\r\n    const A: number = c[3] * coffScale[0];\r\n    const B: number = c[2] * coffScale[0];\r\n    const C: number = c[1] * coffScale[0];\r\n    const D: number = c[0] * coffScale[0];\r\n    const origin = -0.25 * A;\r\n    /*  substitute x = y - A/4 to eliminate cubic term:\r\n        x^4 + px^2 + qx + r = 0 */\r\n    const sq_A: number = A * A;\r\n    const p: number = -3.0 / 8 * sq_A + B;\r\n    const q: number = 0.125 * sq_A * A - 0.5 * A * B + C;\r\n    const r: number = -3.0 / 256 * sq_A * sq_A + 1.0 / 16 * sq_A * B - 1.0 / 4 * A * C + D;\r\n\r\n    const tempStack = new GrowableFloat64Array();\r\n\r\n    if (this.isZero(r)) {\r\n\r\n      // no absolute term: y(y^3 + py + q) = 0\r\n      coffs[0] = q;\r\n      coffs[1] = p;\r\n      coffs[2] = 0;\r\n      coffs[3] = 1;\r\n      this.appendCubicRoots(coffs, results);\r\n      results.push(0); // APPLY ORIGIN ....\r\n      this.addConstant(origin, results);\r\n      return;\r\n    } else {\r\n\r\n      // Solve the resolvent cubic\r\n      coffs[0] = 1.0 / 2 * r * p - 1.0 / 8 * q * q;\r\n      coffs[1] = - r;\r\n      coffs[2] = - 1.0 / 2 * p;\r\n      coffs[3] = 1;\r\n\r\n      this.appendCubicRoots(coffs, tempStack);\r\n      const z = this.mostDistantFromMean(tempStack);\r\n\r\n      // ... to build two quadric equations\r\n      u = z * z - r;\r\n      v = 2 * z - p;\r\n\r\n      if (this.isSmallRatio(u, r)) {\r\n        u = 0;\r\n      } else if (u > 0) {\r\n        u = Math.sqrt(u);\r\n      } else {\r\n        return;\r\n      }\r\n\r\n      if (this.isSmallRatio(v, p)) {\r\n        v = 0;\r\n      } else if (v > 0) {\r\n        v = Math.sqrt(v);\r\n      } else {\r\n        for (let i = 0; i < tempStack.length; i++) {\r\n          results.push(tempStack.atUncheckedIndex(i));\r\n        }\r\n        return;\r\n      }\r\n\r\n      coffs[0] = z - u;\r\n      coffs[1] = ((q < 0) ? (-v) : (v));\r\n      coffs[2] = 1;\r\n\r\n      this.appendQuadraticRoots(coffs, results);\r\n\r\n      coffs[0] = z + u;\r\n      coffs[1] = ((q < 0) ? (v) : (-v));\r\n      coffs[2] = 1;\r\n\r\n      this.appendQuadraticRoots(coffs, results);\r\n    }\r\n\r\n    // substitute\r\n    this.addConstant(origin, results);\r\n\r\n    results.sort();\r\n    this.improveRoots(c, 4, results, true);\r\n\r\n    return;\r\n  }\r\n\r\n  private static appendCosSinRadians(c: number, s: number, cosValues: OptionalGrowableFloat64Array, sinValues: OptionalGrowableFloat64Array,\r\n    radiansValues: OptionalGrowableFloat64Array) {\r\n    if (cosValues) cosValues.push(c);\r\n    if (sinValues) sinValues.push(s);\r\n    if (radiansValues) radiansValues.push(Math.atan2(s, c));\r\n  }\r\n\r\n  /**\r\n   * * Solve the simultaneous equations in variables`c` and`s`:\r\n   *   * A line: `alpha + beta*c + gamma*s = 0`\r\n   *   * The unit circle 'c*c + s*s = 1`\r\n   * * Solution values are returned as 0, 1, or 2(c, s) pairs\r\n   * * Return value indicates one of these solution states:\r\n   *   * -2 -- all coefficients identically 0.   The entire c, s plane-- and therefore the entire unit circle-- is a solution.\r\n   *   * -1 -- beta, gamma are zero, alpha is not.There is no line defined.There are no solutions.\r\n   *   * 0 -- the line is well defined, but passes completely outside the unit circle.\r\n   *     * In this case, (c1, s1) is the circle point closest to the line and(c2, s2) is the line point closest to the circle.\r\n   * * 1 -- the line is tangent to the unit circle.\r\n   *   * Tangency is determined by tolerances, which calls a \"close approach\" point a tangency.\r\n   *    * (c1, s1) is the closest circle point\r\n   *    * (c2, s2) is the line point.\r\n   * * 2 -- two simple intersections.\r\n   * @param alpha constant coefficient on line\r\n   * @param beta x cosine coefficient on line\r\n   * @param gamma y sine coefficient on line\r\n   * @param relTol relative tolerance for tangencies\r\n   * @param cosValues (caller allocated) array to receive solution `c` values\r\n   * @param sinValues (caller allocated) array to receive solution `s` values\r\n   * @param radiansValues (caller allocated) array to receive solution radians values.\r\n   */\r\n  public static appendImplicitLineUnitCircleIntersections(alpha: number, beta: number, gamma: number,\r\n    cosValues: OptionalGrowableFloat64Array, sinValues: OptionalGrowableFloat64Array, radiansValues: OptionalGrowableFloat64Array,\r\n    relTol: number = 1.0e-14): number {\r\n\r\n    let twoTol: number;\r\n    const delta2 = beta * beta + gamma * gamma;\r\n    const alpha2 = alpha * alpha;\r\n    let solutionType = 0;\r\n\r\n    if (relTol < 0.0) {\r\n      twoTol = 0.0;\r\n    } else {\r\n      twoTol = 2.0 * relTol;\r\n    }\r\n\r\n    if (delta2 <= 0.0) {\r\n      solutionType = (alpha === 0) ? -2 : -1;\r\n    } else {\r\n      const lambda = - alpha / delta2;\r\n      const a2 = alpha2 / delta2;\r\n      const D2 = 1.0 - a2;\r\n      if (D2 < -twoTol) {\r\n        const delta = Math.sqrt(delta2);\r\n        const iota = (alpha < 0) ? (1.0 / delta) : (-1.0 / delta);\r\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\r\n        solutionType = 0;\r\n      } else if (D2 < twoTol) {\r\n        const delta = Math.sqrt(delta2);\r\n        const iota = (alpha < 0) ? (1.0 / delta) : (- 1.0 / delta);\r\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\r\n        solutionType = 1;\r\n      } else {\r\n        const mu = Math.sqrt(D2 / delta2);\r\n        /* c0,s0 = closest approach of line to origin */\r\n        const c0 = lambda * beta;\r\n        const s0 = lambda * gamma;\r\n        this.appendCosSinRadians(c0 - mu * gamma, s0 + mu * beta, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(c0 + mu * gamma, s0 - mu * beta, cosValues, sinValues, radiansValues);\r\n        solutionType = 2;\r\n      }\r\n    }\r\n    return solutionType;\r\n  }\r\n}\r\n/**\r\n * manipulations of polynomials with where `coff[i]` multiplies x^i\r\n * @internal\r\n */\r\n\r\nexport class PowerPolynomial {\r\n\r\n  /** Evaluate a standard basis polynomial at `x`, with `degree` possibly less than `coff.length` */\r\n  public static degreeKnownEvaluate(coff: Float64Array, degree: number, x: number): number {\r\n    if (degree < 0) {\r\n      return 0.0;\r\n    }\r\n    let p = coff[degree];\r\n    for (let i = degree - 1; i >= 0; i--)\r\n      p = x * p + coff[i];\r\n    return p;\r\n  }\r\n  /** Evaluate the standard basis polynomial of degree `coff.length` at `x` */\r\n  public static evaluate(coff: Float64Array, x: number): number {\r\n    const degree = coff.length - 1;\r\n    return this.degreeKnownEvaluate(coff, degree, x);\r\n  }\r\n  /**\r\n   * * Accumulate Q*scale into P.Both are treated as full degree.\r\n   * * (Expect Address exceptions if P is smaller than Q)\r\n   * * Returns degree of result as determined by comparing trailing coefficients to zero\r\n   */\r\n  public static accumulate(coffP: Float64Array, coffQ: Float64Array, scaleQ: number): number {\r\n    let degreeP = coffP.length - 1;\r\n    const degreeQ = coffQ.length - 1;\r\n\r\n    for (let i = 0; i <= degreeQ; i++) {\r\n      coffP[i] += scaleQ * coffQ[i];\r\n    }\r\n\r\n    while (degreeP >= 0 && coffP[degreeP] === 0.0) {\r\n      degreeP--;\r\n    }\r\n    return degreeP;\r\n  }\r\n  /** Zero all coefficients */\r\n  public static zero(coff: Float64Array) {\r\n    for (let i = 0; i < coff.length; i++) {\r\n      coff[i] = 0.0;\r\n    }\r\n  }\r\n}\r\n/**\r\n * manipulation of polynomials with powers of sine and cosine\r\n * @internal\r\n */\r\nexport class TrigPolynomial {\r\n  // tolerance for small angle decision.\r\n  private static readonly _smallAngle: number = 1.0e-11;\r\n\r\n  /** Standard Basis coefficients for rational sine numerator. */\r\n  public static readonly S = Float64Array.from([0.0, 2.0, -2.0]);\r\n  /** Standard Basis coefficients for rational cosine numerator. */\r\n  public static readonly C = Float64Array.from([1.0, -2.0]);\r\n  /** Standard Basis coefficients for rational denominator. */\r\n  public static readonly W = Float64Array.from([1.0, -2.0, 2.0]);\r\n  /** Standard Basis coefficients for cosine*weight numerator */\r\n  public static readonly CW = Float64Array.from([1.0, -4.0, 6.0, -4.0]);\r\n  /** Standard Basis coefficients for sine*weight numerator */\r\n  public static readonly SW = Float64Array.from([0.0, 2.0, -6.0, 8.0, -4.0]);\r\n  /** Standard Basis coefficients for sine*cosine numerator */\r\n  public static readonly SC = Float64Array.from([0.0, 2.0, -6.0, 4.0]);\r\n  /** Standard Basis coefficients for sine^2 numerator */\r\n  public static readonly SS = Float64Array.from([0.0, 0.0, 4.0, -8.0, 4.0]);\r\n  /** Standard Basis coefficients for cosine^2 numerator */\r\n  public static readonly CC = Float64Array.from([1.0, -4.0, 4.0]);\r\n  /** Standard Basis coefficients for weight^2 */\r\n  public static readonly WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]);\r\n  /** Standard Basis coefficients for (Math.Cos^2 - sine^2) numerator */\r\n  public static readonly CCminusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]);\r\n\r\n  /**\r\n   *  Solve a polynomial created from trigonometric condition using\r\n   * Trig.S, Trig.C, Trig.W.  Solution logic includes inferring angular roots\r\n   * corresponding zero leading coefficients (roots at infinity)\r\n   * @param coff Coefficients\r\n   * @param nominalDegree degree of the polynomial under most complex\r\n   *     root case.  If there are any zero coefficients up to this degree, a single root\r\n   *     \"at infinity\" is recorded as its corresponding angular parameter at negative pi/2\r\n   * @param referenceCoefficient A number which represents the size of coefficients\r\n   *     at various stages of computation.  A small fraction of this will be used as a zero\r\n   *     tolerance\r\n   * @param angles Roots are placed here. Assumed preallocated with adequate size.\r\n   * @param numRoots Number of roots  .  Zero roots is possible. (Passed as array of size\r\n   * one to pass-by-reference)\r\n   * Returns false if equation is all zeros.   This usually means any angle is a solution.\r\n   */\r\n  public static solveAngles(coff: Float64Array, nominalDegree: number, referenceCoefficient: number,\r\n    radians: number[]): boolean {\r\n    let maxCoff = Math.abs(referenceCoefficient);\r\n    let a;\r\n    radians.length = 0;\r\n    const relTol = this._smallAngle;\r\n\r\n    for (let i = 0; i <= nominalDegree; i++) {\r\n      a = Math.abs(coff[i]);\r\n      if (a > maxCoff) {\r\n        maxCoff = a;\r\n      }\r\n    }\r\n    const coffTol = relTol * maxCoff;\r\n    let degree = nominalDegree;\r\n    while (degree > 0 && (Math.abs(coff[degree]) <= coffTol)) {\r\n      degree--;\r\n    }\r\n    // let status = false;\r\n    const roots = new GrowableFloat64Array();\r\n    if (degree === -1) {\r\n      // Umm.   Dunno.   Nothing there.\r\n      // status = false;\r\n    } else {\r\n      // status = true;\r\n      if (degree === 0) {\r\n        // p(t) is a nonzero constant\r\n        // No roots, but not degenerate.\r\n        // status = true;\r\n      } else if (degree === 1) {\r\n        // p(t) = coff[1] * t + coff[0]...\r\n        roots.push(- coff[0] / coff[1]);\r\n      } else if (degree === 2) {\r\n        AnalyticRoots.appendQuadraticRoots(coff, roots);\r\n      } else if (degree === 3) {\r\n        AnalyticRoots.appendCubicRoots(coff, roots);\r\n      } else if (degree === 4) {\r\n        AnalyticRoots.appendQuarticRoots(coff, roots);\r\n      } else {\r\n        // TODO: WILL WORK WITH BEZIER SOLVER\r\n        // status = false;\r\n      }\r\n      if (roots.length > 0) {\r\n        // Each solution t represents an angle with\r\n        //  Math.Cos(theta)=C(t)/W(t),  ,sin(theta)=S(t)/W(t)\r\n        // Division by W has no effect on Atan2 calculations, so we just compute S(t),C(t)\r\n        for (let i = 0; i < roots.length; i++) {\r\n          const ss = PowerPolynomial.evaluate(this.S, roots.atUncheckedIndex(i));\r\n          const cc = PowerPolynomial.evaluate(this.C, roots.atUncheckedIndex(i));\r\n          radians.push(Math.atan2(ss, cc));\r\n        }\r\n\r\n        // Each leading zero at the front of the coefficients corresponds to a root at -PI/2.\r\n        // Only make one entry....\r\n        // for (int i = degree; i < nominalDegree; i++)\r\n        if (degree < nominalDegree) {\r\n          radians.push(-0.5 * Math.PI);\r\n        }\r\n      }\r\n    }\r\n    return radians.length > 0;\r\n  }\r\n  private static readonly _coefficientRelTol = 1.0e-12;\r\n  /**\r\n   * Compute intersections of unit circle `x ^ 2 + y 2 = 1` with general quadric\r\n   * `axx * x ^ 2 + axy * x * y + ayy * y ^ 2 + ax * x + ay * y + a1 = 0`\r\n   * Solutions are returned as angles.Sine and Cosine of the angles are the x, y results.\r\n   * @param axx  Coefficient of x ^ 2\r\n   * @param axy  Coefficient of xy\r\n   * @param ayy  Coefficient of y ^ 2\r\n   * @param ax  Coefficient of x\r\n   * @param ay  Coefficient of y\r\n   * @param a1  Constant coefficient\r\n   * @param angles  solution angles\r\n   * @param numAngle  number of solution angles(Passed as array to make changes to reference)\r\n   */\r\n  public static solveUnitCircleImplicitQuadricIntersection(axx: number, axy: number, ayy: number,\r\n    ax: number, ay: number, a1: number, radians: number[]): boolean {\r\n    const Coffs = new Float64Array(5);\r\n    PowerPolynomial.zero(Coffs);\r\n    let degree;\r\n    if (Geometry.hypotenuseXYZ(axx, axy, ayy) > TrigPolynomial._coefficientRelTol * Geometry.hypotenuseXYZ(ax, ay, a1)) {\r\n      PowerPolynomial.accumulate(Coffs, this.CW, ax);\r\n      PowerPolynomial.accumulate(Coffs, this.SW, ay);\r\n      PowerPolynomial.accumulate(Coffs, this.WW, a1);\r\n      PowerPolynomial.accumulate(Coffs, this.SS, ayy);\r\n      PowerPolynomial.accumulate(Coffs, this.CC, axx);\r\n      PowerPolynomial.accumulate(Coffs, this.SC, axy);\r\n      degree = 4;\r\n    } else {\r\n      PowerPolynomial.accumulate(Coffs, this.C, ax);\r\n      PowerPolynomial.accumulate(Coffs, this.S, ay);\r\n      PowerPolynomial.accumulate(Coffs, this.W, a1);\r\n      degree = 2;\r\n    }\r\n\r\n    let maxCoff = 0.0;\r\n    maxCoff = Math.max(maxCoff,\r\n      Math.abs(axx),\r\n      Math.abs(ayy),\r\n      Math.abs(axy),\r\n      Math.abs(ax),\r\n      Math.abs(ay),\r\n      Math.abs(a1));\r\n\r\n    const b = this.solveAngles(Coffs, degree, maxCoff, radians);\r\n    /*\r\n    for (const theta of angles) {\r\n      const c = theta.cos();\r\n      const s = theta.sin();\r\n      console.log({\r\n        angle: theta, co: c, si: s,\r\n        f: axx * c * c + axy * c * s + ayy * s * s + ax * c + ay * s + a1});\r\n  } */\r\n\r\n    return b;\r\n  }\r\n  /**\r\n   * Compute intersections of unit circle x^2 + y 2 = 1 with the ellipse\r\n   *         (x,y) = (cx + ux Math.Cos + vx sin, cy + uy Math.Cos + vy sin)\r\n   * Solutions are returned as angles in the ellipse space.\r\n   * @param cx center x\r\n   * @param cy center y\r\n   * @param ux 0 degree vector x\r\n   * @param uy 0 degree vector y\r\n   * @param vx 90 degree vector x\r\n   * @param vy 90 degree vector y\r\n   * @param ellipseRadians solution angles in ellipse parameter space\r\n   * @param circleRadians solution angles in circle parameter space\r\n   */\r\n  public static solveUnitCircleEllipseIntersection(cx: number, cy: number, ux: number, uy: number,\r\n    vx: number, vy: number, ellipseRadians: number[], circleRadians: number[]): boolean {\r\n    circleRadians.length = 0;\r\n    const acc = ux * ux + uy * uy;\r\n    const acs = 2.0 * (ux * vx + uy * vy);\r\n    const ass = vx * vx + vy * vy;\r\n    const ac = 2.0 * (ux * cx + uy * cy);\r\n    const asi = 2.0 * (vx * cx + vy * cy);\r\n    const a = cx * cx + cy * cy - 1.0;\r\n    const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, asi, a, ellipseRadians);\r\n    for (const radians of ellipseRadians) {\r\n      const cc = Math.cos(radians);\r\n      const ss = Math.sin(radians);\r\n      const x = cx + ux * cc + vx * ss;\r\n      const y = cy + uy * cc + vy * ss;\r\n      circleRadians.push(Math.atan2(y, x));\r\n    }\r\n    return status;\r\n  }\r\n  /**\r\n   * Compute intersections of unit circle x^2 + y 2 = w^2 with the ellipse\r\n   *         (x,y) = (cx + ux Math.Cos + vx sin, cy + uy Math.Cos + vy sin)/ (cw + uw Math.Cos + vw * Math.Sin)\r\n   * Solutions are returned as angles in the ellipse space.\r\n   * @param cx center x\r\n   * @param cy center y\r\n   * @param cw center w\r\n   * @param ux 0 degree vector x\r\n   * @param uy 0 degree vector y\r\n   * @param uw 0 degree vector w\r\n   * @param vx 90 degree vector x\r\n   * @param vy 90 degree vector y\r\n   * @param vw 90 degree vector w\r\n   * @param ellipseRadians solution angles in ellipse parameter space\r\n   * @param circleRadians solution angles in circle parameter space\r\n   */\r\n  public static solveUnitCircleHomogeneousEllipseIntersection(cx: number, cy: number, cw: number,\r\n    ux: number, uy: number, uw: number,\r\n    vx: number, vy: number, vw: number,\r\n    ellipseRadians: number[], circleRadians: number[]): boolean {\r\n    circleRadians.length = 0;\r\n    const acc = ux * ux + uy * uy - uw * uw;\r\n    const acs = 2.0 * (ux * vx + uy * vy - uw * vw);\r\n    const ass = vx * vx + vy * vy - vw * vw;\r\n    const ac = 2.0 * (ux * cx + uy * cy - uw * cw);\r\n    const asi = 2.0 * (vx * cx + vy * cy - vw * cw);\r\n    const a = cx * cx + cy * cy - cw * cw;\r\n    const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, asi, a, ellipseRadians);\r\n    for (const radians of ellipseRadians) {\r\n      const cc = Math.cos(radians);\r\n      const ss = Math.sin(radians);\r\n      const x = cx + ux * cc + vx * ss;\r\n      const y = cy + uy * cc + vy * ss;\r\n      circleRadians.push(Math.atan2(y, x));\r\n    }\r\n    return status;\r\n  }\r\n}\r\n/**\r\n * static methods for commonly appearing sets of equations in 2 or 3 variables\r\n * @public\r\n */\r\nexport class SmallSystem {\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment2dXYTransverseIntersectionUnbounded(a0: Point2d, a1: Point2d, b0: Point2d, b1: Point2d,\r\n    result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n\r\n    const cx = b0.x - a0.x;\r\n    const cy = b0.y - a0.y;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n  /**\r\n   * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.\r\n   * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.\r\n   * * Return true if the lines have a simple intersection.\r\n   * * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegmentXYUVTransverseIntersectionUnbounded(\r\n    ax0: number, ay0: number, ux: number, uy: number,\r\n    bx0: number, by0: number, vx: number, vy: number,\r\n    result: Vector2d): boolean {\r\n\r\n    const cx = bx0 - ax0;\r\n    const cy = by0 - ay0;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dXYTransverseIntersectionUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\r\n    result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n\r\n    const cx = b0.x - a0.x;\r\n    const cy = b0.y - a0.y;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param hA0 homogeneous start point of line a\r\n   * @param hA1 homogeneous end point of line a\r\n   * @param hB0 homogeneous start point of line b\r\n   * @param hB1 homogeneous end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dHXYTransverseIntersectionUnbounded(hA0: Point4d, hA1: Point4d, hB0: Point4d, hB1: Point4d, result?: Vector2d): Vector2d | undefined {\r\n    // Considering only x,y,w parts....\r\n    // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`\r\n    // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)\r\n    const alpha0 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB0.x,\r\n      hA0.y, hA1.y, hB0.y,\r\n      hA0.w, hA1.w, hB0.w);\r\n    const alpha1 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB1.x,\r\n      hA0.y, hA1.y, hB1.y,\r\n      hA0.w, hA1.w, hB1.w);\r\n    const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);\r\n    if (fractionB !== undefined) {\r\n      const beta0 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA0.x,\r\n        hB0.y, hB1.y, hA0.y,\r\n        hB0.w, hB1.w, hA0.w);\r\n      const beta1 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA1.x,\r\n        hB0.y, hB1.y, hA1.y,\r\n        hB0.w, hB1.w, hA1.w);\r\n      const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);\r\n      if (fractionA !== undefined)\r\n        return Vector2d.create(fractionA, fractionB, result);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.\r\n   * @param hA0 homogeneous start point of line a\r\n   * @param hA1 homogeneous end point of line a\r\n   * @param spacePoint homogeneous point in space\r\n   */\r\n  public static lineSegment3dHXYClosestPointUnbounded(hA0: Point4d, hA1: Point4d, spacePoint: Point4d): number | undefined {\r\n    // Considering only x,y,w parts....\r\n    // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.\r\n    // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection\r\n    // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`\r\n    // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.\r\n    const tx = hA1.x * hA0.w - hA0.x * hA1.w;\r\n    const ty = hA1.y * hA0.w - hA0.y * hA1.w;\r\n    const det0 = Geometry.tripleProduct(\r\n      hA0.x, -ty, spacePoint.x,\r\n      hA0.y, tx, spacePoint.y,\r\n      hA0.w, 0, spacePoint.w);\r\n    const det1 = Geometry.tripleProduct(\r\n      hA1.x, -ty, spacePoint.x,\r\n      hA1.y, tx, spacePoint.y,\r\n      hA1.w, 0, spacePoint.w);\r\n    return Geometry.conditionalDivideFraction(-det0, det1 - det0);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point as viewed in xy only.\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint homogeneous point in space\r\n   */\r\n  public static lineSegment3dXYClosestPointUnbounded(pointA0: XAndY, pointA1: XAndY, spacePoint: XAndY): number | undefined {\r\n    // Considering only x,y parts....\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uu = ux * ux + uy * uy;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const uv = ux * vx + uy * vy;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint homogeneous point in space\r\n   */\r\n  public static lineSegment3dClosestPointUnbounded(pointA0: Point3d, pointA1: Point3d, spacePoint: Point3d): number | undefined {\r\n    // Considering only x,y parts....\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uz = pointA1.z - pointA0.z;\r\n    const uu = ux * ux + uy * uy + uz * uz;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const vz = spacePoint.z - pointA0.z;\r\n    const uv = ux * vx + uy * vy + uz * vz;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dClosestApproachUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\r\n    result: Vector2d): boolean {\r\n    return this.ray3dXYZUVWClosestApproachUnbounded(\r\n      a0.x, a0.y, a0.z,\r\n      a1.x - a0.x, a1.y - a0.y, a1.z - a0.z,\r\n      b0.x, b0.y, b0.z,\r\n      b1.x - b0.x, b1.y - b0.y, b1.z - b0.z,\r\n      result);\r\n  }\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d\r\n   * Return the fractional (not xy) coordinates as x and y parts of a Point2d.\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static ray3dXYZUVWClosestApproachUnbounded(\r\n    ax: number, ay: number, az: number, au: number, av: number, aw: number,\r\n    bx: number, by: number, bz: number, bu: number, bv: number, bw: number,\r\n    result: Vector2d): boolean {\r\n\r\n    const cx = bx - ax;\r\n    const cy = by - ay;\r\n    const cz = bz - az;\r\n\r\n    const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);\r\n    const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);\r\n    const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);\r\n    const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);\r\n    const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);\r\n    return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);\r\n  }\r\n  /**\r\n   * Solve the pair of linear equations\r\n   * * `ux * x + vx + y = cx`\r\n   * * `uy * x + vy * y = cy`\r\n   * @param ux xx coefficient\r\n   * @param vx xy coefficient\r\n   * @param uy yx coefficient\r\n   * @param vy yy coefficient\r\n   * @param cx x right hand side\r\n   * @param cy y right hand side\r\n   * @param result (x,y) solution.  (MUST be preallocated by caller)\r\n   */\r\n  public static linearSystem2d(\r\n    ux: number, vx: number, // first row of matrix\r\n    uy: number, vy: number, // second row of matrix\r\n    cx: number, cy: number, // right side\r\n    result: Vector2d): boolean {\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n  /**\r\n   * Solve a linear system\r\n   * * x equation: `ux *u * vx * v + wx * w = cx`\r\n   * * y equation: `uy *u * vy * v + wy * w = cy`\r\n   * * z equation: `uz *u * vz * v + wz * w = cz`\r\n   * @param axx row 0, column 0 coefficient\r\n   * @param axy row 0, column 1 coefficient\r\n   * @param axz row 0, column 1 coefficient\r\n   * @param ayx row 1, column 0 coefficient\r\n   * @param ayy row 1, column 1 coefficient\r\n   * @param ayz row 1, column 2 coefficient\r\n   * @param azx row 2, column 0 coefficient\r\n   * @param azy row 2, column 1 coefficient\r\n   * @param azz row 2, column 2 coefficient\r\n   * @param cx right hand side row 0 coefficient\r\n   * @param cy right hand side row 1 coefficient\r\n   * @param cz right hand side row 2 coefficient\r\n   * @param result optional result.\r\n   */\r\n  public static linearSystem3d(\r\n    axx: number, axy: number, axz: number, // first row of matrix\r\n    ayx: number, ayy: number, ayz: number, // second row of matrix\r\n    azx: number, azy: number, azz: number, // second row of matrix\r\n    cx: number, cy: number, cz: number, // right side\r\n    result?: Vector3d): Vector3d | undefined {\r\n    // determinants of various combinations of columns ...\r\n    const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);\r\n    const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);\r\n    const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);\r\n    const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);\r\n    const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);\r\n    const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);\r\n    const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);\r\n    if (s !== undefined && t !== undefined && u !== undefined) {\r\n      return Vector3d.create(s, t, u, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`\r\n   * @param rowA row that does not change\r\n   * @param pivotIndex index of pivot (divisor) in rowA.\r\n   * @param rowB row where elimination occurs.\r\n   */\r\n  public static eliminateFromPivot(rowA: Float64Array, pivotIndex: number, rowB: Float64Array, a: number): boolean {\r\n    const n = rowA.length;\r\n    let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);\r\n    if (q === undefined) return false;\r\n    q *= a;\r\n    for (let j = pivotIndex + 1; j < n; j++)\r\n      rowB[j] += q * rowA[j];\r\n    return true;\r\n  }\r\n  /**\r\n   * Solve a pair of bilinear equations\r\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\r\n   * * Second equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\r\n   */\r\n  public static solveBilinearPair(a0: number, b0: number, c0: number, d0: number,\r\n    a1: number, b1: number, c1: number, d1: number): Point2d[] | undefined {\r\n    // constant linear, and quadratic coefficients for c0 + c1 * u + c2 * u*u = 0\r\n    const e0 = Geometry.crossProductXYXY(a0, a1, c0, c1);\r\n    const e1 = Geometry.crossProductXYXY(b0, b1, c0, c1) + Geometry.crossProductXYXY(a0, a1, d0, d1);\r\n    const e2 = Geometry.crossProductXYXY(b0, b1, d0, d1);\r\n    const uRoots = Degree2PowerPolynomial.solveQuadratic(e2, e1, e0);\r\n    if (uRoots === undefined)\r\n      return undefined;\r\n    const uv = [];\r\n    for (const u of uRoots) {\r\n      const v0 = Geometry.conditionalDivideFraction(-(a0 + b0 * u), c0 + d0 * u);\r\n      const v1 = Geometry.conditionalDivideFraction(-(a1 + b1 * u), c1 + d1 * u);\r\n      if (v0 !== undefined)\r\n        uv.push(Point2d.create(u, v0));\r\n      else if (v1 !== undefined)\r\n        uv.push(Point2d.create(u, v1));\r\n    }\r\n    return uv;\r\n  }\r\n}\r\n/**\r\n * * bilinear expression\r\n * * `f(u,v) = a + b * u * c * v + d * u * v`\r\n * @internal\r\n */\r\nexport class BilinearPolynomial {\r\n  /** constant coefficient */\r\n  public a: number;\r\n  /** u coefficient */\r\n  public b: number;\r\n  /** v coefficient */\r\n  public c: number;\r\n  /** uv coefficient */\r\n  public d: number;\r\n  /**\r\n   *\r\n   * @param a constant coefficient\r\n   * @param b `u` coefficient\r\n   * @param c `v` coefficient\r\n   * @param d `u*v` coefficient\r\n   */\r\n  public constructor(a: number, b: number, c: number, d: number) {\r\n    this.a = a;\r\n    this.b = b;\r\n    this.c = c;\r\n    this.d = d;\r\n  }\r\n  /**\r\n   * Evaluate the bilinear expression at u,v\r\n   */\r\n  public evaluate(u: number, v: number): number {\r\n    return this.a + this.b * u + v * (this.c + this.d * u);\r\n  }\r\n  /** Create a bilinear polynomial z=f(u,v) given z values at 00, 10, 01, 11.\r\n   */\r\n  public static createUnitSquareValues(f00: number, f10: number, f01: number, f11: number): BilinearPolynomial {\r\n    return new BilinearPolynomial(f00, f10, f10, f11 - f10 - f01);\r\n  }\r\n  /**\r\n   * Solve the simultaneous equations\r\n   * * `p(u,v) = pValue`\r\n   * * `q(u,v) = qValue`\r\n   * @param p\r\n   * @param pValue\r\n   * @param q\r\n   * @param qValue\r\n   */\r\n  public static solvePair(p: BilinearPolynomial, pValue: number, q: BilinearPolynomial, qValue: number): Point2d[] | undefined {\r\n    return SmallSystem.solveBilinearPair(p.a - pValue, p.b, p.c, p.d,\r\n      q.a - qValue, q.b, q.c, q.d);\r\n  }\r\n}\r\n\r\n/**\r\n * * trigonometric expresses `f(theta) = a + cosineCoff * cos(theta) + sineCoff * sin(theta)`\r\n * @internal\r\n */\r\nexport class SineCosinePolynomial {\r\n  /** constant coefficient */\r\n  public a: number;\r\n  /** cosine coefficient */\r\n  public cosineCoff: number;\r\n  /** sine coefficient */\r\n  public sineCoff: number;\r\n  /**\r\n   *\r\n   * @param a constant coefficient\r\n   * @param cosineCoff `cos(theta)` coefficient\r\n   * @param sinCoff `sin(theta)` coefficient\r\n   */\r\n  public constructor(a: number, cosCoff: number, sinCoff: number) {\r\n    this.a = a;\r\n    this.cosineCoff = cosCoff;\r\n    this.sineCoff = sinCoff;\r\n  }\r\n  /** set all coefficients */\r\n  public set(a: number, cosCoff: number, sinCoff: number) {\r\n    this.a = a;\r\n    this.cosineCoff = cosCoff;\r\n    this.sineCoff = sinCoff;\r\n  }\r\n  /** Return the function value at given angle in radians */\r\n  public evaluateRadians(theta: number): number {\r\n    return this.a + this.cosineCoff * Math.cos(theta) + this.sineCoff * Math.sin(theta);\r\n  }\r\n  /** Return the range of function values over the entire angle range. */\r\n  public range(result?: Range1d): Range1d {\r\n    const q = Geometry.hypotenuseXY(this.cosineCoff, this.sineCoff);\r\n    return Range1d.createXX(this.a - q, this.a + q, result);\r\n  }\r\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\r\n  public rangeInStartEndRadians(radians0: number, radians1: number, result?: Range1d): Range1d {\r\n    if (Angle.isFullCircleRadians(radians1 - radians0))\r\n      return this.range(result);\r\n    result = Range1d.createXX(this.evaluateRadians(radians0), this.evaluateRadians(radians1), result);\r\n    // angles of min and max ...\r\n    // angles for min and max of the sine wave . ..\r\n    const alphaA = Math.atan2(this.sineCoff, this.cosineCoff);\r\n    const alphaB = alphaA + Math.PI;\r\n    if (AngleSweep.isRadiansInStartEnd(alphaA, radians0, radians1))\r\n      result.extendX(this.evaluateRadians(alphaA));\r\n    if (AngleSweep.isRadiansInStartEnd(alphaB, radians0, radians1))\r\n      result.extendX(this.evaluateRadians(alphaB));\r\n    return result;\r\n  }\r\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\r\n  public rangeInSweep(sweep: AngleSweep, result?: Range1d): Range1d {\r\n    return this.rangeInStartEndRadians(sweep.startRadians, sweep.endRadians, result);\r\n  }\r\n  /**\r\n   * Return a representative angle (in radians) for min and max values.\r\n   * * The radians value is atan2(sineCoff, cosineCoff)\r\n   * * Hence the candidates for min and max of the function are at this value and this value plus PI\r\n   */\r\n  public referenceMinMaxRadians(): number {\r\n    return Math.atan2(this.sineCoff, this.cosineCoff);\r\n  }\r\n}\r\n/**\r\n * Support for an implicit linear equation (half space)\r\n * f(x,y) = a0 + x * ax + y * ay\r\n * @internal\r\n */\r\nexport class ImplicitLineXY {\r\n  /**\r\n   * constant coefficient\r\n   */\r\n   public a: number;\r\n   /**\r\n   * x coefficient\r\n   */\r\n  public ax: number;\r\n  /**\r\n   * y coefficient\r\n   */\r\n  public ay: number;\r\n  /** construct the ImplicitLineXY from coefficients */\r\n  public constructor(a: number, ax: number, ay: number) {\r\n    this.a = a;\r\n    this.ax = ax;\r\n    this.ay = ay;\r\n  }\r\n  /** Compute 2 points of a line segment with\r\n   * * the segment is on the zero-line of this ImplicitLineXY\r\n   * * the start and endpoints are distance `b` from the projection of the origin onto the ImplicitLineXY\r\n   * @returns undefined if ax,ay are both zero.   Otherwise the two points of the segment.\r\n   */\r\n  public convertToSegmentPoints(b: number): Point3d[] | undefined{\r\n    const q = Math.sqrt (this.ax * this.ax + this.ay * this.ay);\r\n    const alpha = Geometry.conditionalDivideCoordinate(1.0, q, 1.0e10);\r\n    if (alpha === undefined)\r\n      return undefined;\r\n    const ux = alpha * this.ax;\r\n    const uy = alpha * this.ay;\r\n    const px = -alpha * ux;\r\n    const py = -alpha * uy;\r\n    return [Point3d.create(px - b * uy, py + b * ux), Point3d.create(px + b * uy, py - b * ux)];\r\n  }\r\n  /**\r\n   * Evaluate the half-space function at an xy point\r\n   * @param xy xy values for evaluation\r\n   * @returns evaluation.\r\n   */\r\n  public evaluatePoint(xy: XAndY): number {\r\n    return this.a + xy.x * this.ax + xy.y * this.ay;\r\n  }\r\n  /**\r\n   * add scale * (a,ax,ay) to the respective coefficients.\r\n   */\r\n   public addScaledCoefficientsInPlace(a: number, ax: number, ay: number, scale: number) {\r\n     this.a += scale * a;\r\n     this.ax += scale * ax;\r\n     this.ay += scale * ay;\r\n  }\r\n\r\n}\r\n"]}

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package/lib/numerics/Quadrature.js.map

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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\nimport { Geometry } from \"../Geometry\";\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\n/** Support class for quadrature -- approximate integrals by summing weighted function values.\r\n * These are filled with x and weight for quadrature between xA and xB\r\n *\r\n * Since quadrature is done in side tight loops, these methods are structured for minimum object\r\n * allocation.\r\n * For methods names setupGauss<N> (where N is a smallish integer), the CALLER creates arrays xMapped and wMapped\r\n * The method installs particular x and weight values.\r\n * @internal\r\n */\r\nexport class Quadrature {\r\n  /** x value for 1 point gauss rule in 0..1 interval */\r\n  public static readonly gaussX1Interval01 = new Float64Array([0.5]);\r\n  /** weight for 1 point gauss rule in 0..1 interval */\r\n  public static readonly gaussW1Interval01 = new Float64Array([1.0]);\r\n\r\n  /** x value for 2 point gauss rule in 0..1 interval */\r\n  public static readonly gaussX2Interval01 = new Float64Array([0.21132486540518708, 0.7886751345948129]);\r\n  /** weight for 2 point gauss rule in 0..1 interval */\r\n  public static readonly gaussW2Interval01 = new Float64Array([0.5, 0.5]);\r\n\r\n  /** x value for 3 point gauss rule in 0..1 interval */\r\n  public static readonly gaussX3Interval01 = new Float64Array([0.1127016653792583, 0.5, 0.8872983346207417]);\r\n  /** weight for 3 point gauss rule in 0..1 interval */\r\n  public static readonly gaussW3Interval01 = new Float64Array([0.2777777777777778, 0.4444444444444444, 0.2777777777777778]);\r\n\r\n  /** x value for 4 point gauss rule in 0..1 interval */\r\n  public static readonly gaussX4Interval01 = new Float64Array([0.06943184420297371, 0.33000947820757187, 0.6699905217924281, 0.9305681557970262]);\r\n  /** weight for 4 point gauss rule in 0..1 interval */\r\n  public static readonly gaussW4Interval01 = new Float64Array([0.17392742256872692, 0.3260725774312731, 0.3260725774312731, 0.17392742256872692]);\r\n\r\n  /** x value for 5 point gauss rule in 0..1 interval */\r\n  public static readonly gaussX5Interval01 = new Float64Array([0.04691007703066802, 0.23076534494715845, 0.5, 0.7692346550528415, 0.9530899229693319]);\r\n  /** weight for 5 point gauss rule in 0..1 interval */\r\n  public static readonly gaussW5Interval01 = new Float64Array([0.11846344252809454, 0.23931433524968324, 0.28444444444444444, 0.23931433524968324, 0.11846344252809454]);\r\n\r\n  /**\r\n   * Given points and weights in a reference interval (usually 0 to 1):\r\n   *\r\n   * * map each xRef[i] to xA + h * xRef[i];\r\n   * * scale each weight wRef[i] to h * wRef[i]\r\n   * * all arrays are assumed to have xRef.length entries.\r\n   * * the return value is xRef.length\r\n   * @param xA beginning of target interval\r\n   * @param h length of target interval\r\n   * @param xRef x coordinates in reference interval\r\n   * @param wRef weights for integration in the reference interval\r\n   * @param xMapped x coordinates to evaluate integrands\r\n   * @param wMapped weights for evaluated integrands\r\n   */\r\n  public static mapWeights(xA: number, h: number, xRef: Float64Array, wRef: Float64Array, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    const n = xRef.length;\r\n    for (let i = 0; i < n; i++) {\r\n      xMapped[i] = xA + h * xRef[i];\r\n      wMapped[i] = h * wRef[i];\r\n    }\r\n    return n;\r\n  }\r\n\r\n  /** Install 1 (ONE) x and weight values for quadrature from xA to xB. */\r\n  public static setupGauss1(xA: number, xB: number, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    return Quadrature.mapWeights(xA, xB - xA, Quadrature.gaussX1Interval01, Quadrature.gaussW1Interval01, xMapped, wMapped);\r\n  }\r\n\r\n  /** Install 2 (TWO) x and weight values for quadrature from xA to xB. */\r\n  public static setupGauss2(xA: number, xB: number, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    return Quadrature.mapWeights(xA, xB - xA, Quadrature.gaussX2Interval01, Quadrature.gaussW2Interval01, xMapped, wMapped);\r\n    /*  // exact formulas for interval xA..xB:\r\n        const x0 = 0.5 * (xA + xB);\r\n            const h = 0.5 * (xB - xA);\r\n            const dx = h / Math.sqrt(3);\r\n            xMapped[0] = x0 - dx; xMapped[1] = x0 + dx;\r\n            wMapped[0] = wMapped[1] = h;\r\n            */\r\n  }\r\n  /** Install 3 (THREE) x and weight values for quadrature from xA to xB. */\r\n  public static setupGauss3(xA: number, xB: number, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    return Quadrature.mapWeights(xA, xB - xA, Quadrature.gaussX3Interval01, Quadrature.gaussW3Interval01, xMapped, wMapped);\r\n    /*  // exact formulas for interval xA..xB:\r\n    const x0 = 0.5 * (xA + xB);\r\n    const h = 0.5 * (xB - xA);\r\n    const a = Math.sqrt(0.6);\r\n    const b = h * 5.0 / 9.0;\r\n    const dx = a * h;\r\n    xMapped[0] = x0 - dx; xMapped[1] = x0; xMapped[2] = x0 + dx;\r\n    wMapped[0] = wMapped[2] = b;\r\n    wMapped[1] = h * 8.0 / 9.0;\r\n    return 3;\r\n    */\r\n  }\r\n\r\n  /** Install 5 (FIVE) x and weight values for quadrature from xA to xB. */\r\n  public static setupGauss5(xA: number, xB: number, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    return Quadrature.mapWeights(xA, xB - xA, Quadrature.gaussX5Interval01, Quadrature.gaussW5Interval01, xMapped, wMapped);\r\n    /*  // exact formulas for interval xA..xB:\r\n    const x0 = 0.5 * (xA + xB);\r\n    const h = 0.5 * (xB - xA);\r\n    const q = 2.0 * Math.sqrt(10.0 / 7.0);\r\n    const b = 13.0 * Math.sqrt(70.0);\r\n    const a1 = h * Math.sqrt(5.0 - q) / 3.0;\r\n    const a2 = h * Math.sqrt(5.0 + q) / 3.0;\r\n    const w1 = h * (322.0 + b) / 900.0;\r\n    const w2 = h * (322.0 - b) / 900;\r\n    const w0 = h * 128.0 / 225.0;\r\n    xMapped[0] = x0 - a2; xMapped[1] = x0 - a1; xMapped[2] = x0; xMapped[3] = x0 + a1; xMapped[4] = x0 + a2;\r\n    wMapped[0] = w2; wMapped[1] = w1; wMapped[2] = w0; wMapped[3] = w1; wMapped[4] = w2;\r\n    return 5;\r\n    */\r\n  }\r\n\r\n  /** Install 4 (FOUR) x and weight values for quadrature from xA to xB. */\r\n  public static setupGauss4(xA: number, xB: number, xMapped: Float64Array, wMapped: Float64Array): number {\r\n    return Quadrature.mapWeights(xA, xB - xA, Quadrature.gaussX4Interval01, Quadrature.gaussW4Interval01, xMapped, wMapped);\r\n    /*  // exact formulas for interval xA..xB:\r\nconst x0 = 0.5 * (xA + xB);\r\nconst h = 0.5 * (xB - xA);\r\nconst q = 2.0 * Math.sqrt(6.0 / 5.0);\r\nconst r = Math.sqrt(30.0);\r\nconst a1 = h * Math.sqrt((3 - q) / 7.0);\r\nconst w1 = h * (18.0 + r) / 36.0;\r\nconst a2 = h * Math.sqrt((3 + q) / 7.0);\r\nconst w2 = h * (18.0 - r) / 36.0;\r\nxMapped[0] = x0 - a2; xMapped[1] = x0 - a1; xMapped[2] = x0 + a1; xMapped[3] = x0 + a2;\r\nwMapped[0] = w2; wMapped[1] = w1; wMapped[2] = w1; wMapped[3] = w2;\r\nreturn 4;\r\n*/\r\n  }\r\n  /** Sum function values with given weights and x values. */\r\n  public static sum1(\r\n    xx: Float64Array,\r\n    ww: Float64Array,\r\n    n: number,\r\n    f: (x: number) => number): number {\r\n    let sum = 0;\r\n    for (let i = 0; i < n; i++)sum += ww[i] * f(xx[i]);\r\n    return sum;\r\n  }\r\n  /**\r\n   * Do a Guass quadrature integral for a (number)=>number function over an interval, with caller specified sub-interval count and\r\n   * @param x0 start of overall interval\r\n   * @param x1 end of overall interval\r\n   * @param f function to evaluate\r\n   * @param numInterval number of internal intervals\r\n   * @param numGauss number of gauss points.    must be supported by GaussMapper, i.e. 1,2,3,4,5\r\n   */\r\n  public static doGaussIntegral(x0: number, x1: number, f: (x: number) => number, numInterval: number, numGauss: number = 5) {\r\n    const mapper = new GaussMapper(numGauss);\r\n    if (numInterval < 1)\r\n      numInterval = 1;\r\n    const df = 1.0 / numInterval;\r\n    let sum = 0;\r\n    for (let i = 1; i <= numInterval; i++) {\r\n      const xA = Geometry.interpolate(x0, (i - 1) * df, x1);\r\n      const xB = i === numInterval ? x1 : Geometry.interpolate(x0, (i) * df, x1);\r\n      const n = mapper.mapXAndW(xA, xB);\r\n      for (let k = 0; k < n; k++) {\r\n        sum += mapper.gaussW[k] * f(mapper.gaussX[k]);\r\n      }\r\n    }\r\n    return sum;\r\n  }\r\n}\r\n\r\n/**\r\n * This class carries public members as needed for users to have gauss points that are used\r\n * in the callers loops.\r\n * @internal\r\n */\r\nexport class GaussMapper {\r\n  /** x values for integration */\r\n  public gaussX: Float64Array;\r\n  /** weights for integration */\r\n  public gaussW: Float64Array;\r\n  /** function to be called (at each interval) to map integration values */\r\n  public mapXAndWFunction: (xA: number, xB: number, xx: Float64Array, ww: Float64Array) => number;\r\n  /** Execute the mapXAndWFunction to set up arrays for integration from xA to xB */\r\n  public mapXAndW(xA: number, xB: number): number {\r\n    return this.mapXAndWFunction(xA, xB, this.gaussX, this.gaussW);\r\n  }\r\n  /** setup gauss arrays.\r\n   * * Number of gauss points must be 1 to 5 (inclusive)\r\n   * @param numGauss requested number of gauss points.\r\n   */\r\n  public constructor(numGaussPoints: number) {\r\n    const maxGauss = 7;  // (As of Nov 2 2018, 7 is a fluffy over-allocation-- the quadrature class only handles up to 5.)\r\n    this.gaussX = new Float64Array(maxGauss);\r\n    this.gaussW = new Float64Array(maxGauss);\r\n    // This sets the number of gauss points.  This integrates exactly for polynomials of (degree 2*numGauss - 1).\r\n    if (numGaussPoints > 5 || numGaussPoints < 1)\r\n      numGaussPoints = 5;\r\n    switch (numGaussPoints) {\r\n      case 1: this.mapXAndWFunction = Quadrature.setupGauss1; break;\r\n      case 2: this.mapXAndWFunction = Quadrature.setupGauss2; break;\r\n      case 3: this.mapXAndWFunction = Quadrature.setupGauss3; break;\r\n      case 4: this.mapXAndWFunction = Quadrature.setupGauss4; break;\r\n      default: this.mapXAndWFunction = Quadrature.setupGauss5; break;\r\n    }\r\n\r\n  }\r\n}\r\n// someday .... http://www.holoborodko.com/pavel/numerical-methods/numerical-integration/overlapped-newton-cotes-quadratures/\r\n"]}

package/lib/numerics/Range1dArray.d.ts.map

@@ -1 +0,0 @@
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