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

package/lib/esm/bspline/BezierCurve3dH.js

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+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module Bspline
+ */
+import { Geometry } from "../Geometry";
+import { Plane3dByOriginAndVectors } from "../geometry3d/Plane3dByOriginAndVectors";
+import { Point2d } from "../geometry3d/Point2dVector2d";
+import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
+import { Ray3d } from "../geometry3d/Ray3d";
+import { Point4d } from "../geometry4d/Point4d";
+import { BezierPolynomialAlgebra } from "../numerics/BezierPolynomials";
+import { BezierCurveBase } from "./BezierCurveBase";
+/** 3d curve with homogeneous weights.
+ * * A control point with weight w and cartesian (projected) coordinates x,y,z has the weight multiplied into the coordinates,
+ *    hence the control point as stored is (xw, yw, zw, w).
+ * @public
+ */
+export class BezierCurve3dH extends BezierCurveBase {
+    /**
+     * Capture a polygon as the data for a new `BezierCurve3dH`
+     * @param polygon complete packed data and order.
+     */
+    constructor(polygon) {
+        super(4, polygon);
+        this._workRay0 = Ray3d.createXAxis();
+        this._workRay1 = Ray3d.createXAxis();
+    }
+    /** test if `other` is also a BezierCurve3dH. */
+    isSameGeometryClass(other) { return other instanceof BezierCurve3dH; }
+    /**
+     * Apply (multiply by) an affine transform
+     * @param transform
+     */
+    tryTransformInPlace(transform) {
+        const data = this._workData0;
+        for (let i = 0; i < this._polygon.order; i++) {
+            this._polygon.getPolygonPoint(i, data);
+            transform.multiplyXYZWToFloat64Array(data[0], data[1], data[2], data[3], data);
+            this._polygon.setPolygonPoint(i, data);
+        }
+        return true;
+    }
+    /**
+     * Apply (multiply by) a perspective transform
+     * @param matrix
+     */
+    tryMultiplyMatrix4dInPlace(matrix) {
+        matrix.multiplyBlockedFloat64ArrayInPlace(this._polygon.packedData);
+    }
+    /** Return a specific pole as a full `[x,y,z,x] Point4d` */
+    getPolePoint4d(i, result) {
+        const data = this._polygon.getPolygonPoint(i, this._workData0);
+        if (data)
+            return Point4d.create(data[0], data[1], data[2], data[3], result);
+        return undefined;
+    }
+    /** Return a specific pole normalized to weight 1
+     */
+    getPolePoint3d(i, result) {
+        const data = this._polygon.getPolygonPoint(i, this._workData0);
+        if (data)
+            return Point3d.createFromPackedXYZW(data, 0, result);
+        return undefined;
+    }
+    /**
+     * Returns true if all weights are within tolerance of 1.0
+     */
+    isUnitWeight(tolerance) {
+        if (tolerance === undefined)
+            tolerance = Geometry.smallAngleRadians;
+        const aLow = 1.0 - tolerance;
+        const aHigh = 1.0 + tolerance;
+        const data = this._polygon.packedData;
+        const n = data.length;
+        let a;
+        for (let i = 3; i < n; i += 4) {
+            a = data[i];
+            if (a < aLow || a > aHigh)
+                return false;
+        }
+        return true;
+    }
+    /** Create a curve with given points.
+     * * If input is `Point2d[]`, the points are promoted with `z=0` and `w=1`
+     * * If input is `Point3d[]`, the points are promoted with w=1`
+     *
+     */
+    static create(data) {
+        if (data.length < 1)
+            return undefined;
+        const polygon = new Float64Array(data.length * 4);
+        if (data[0] instanceof Point3d) {
+            let i = 0;
+            for (const p of data) {
+                polygon[i++] = p.x;
+                polygon[i++] = p.y;
+                polygon[i++] = p.z;
+                polygon[i++] = 1.0;
+            }
+            return new BezierCurve3dH(polygon);
+        }
+        else if (data[0] instanceof Point4d) {
+            let i = 0;
+            for (const p of data) {
+                polygon[i++] = p.x;
+                polygon[i++] = p.y;
+                polygon[i++] = p.z;
+                polygon[i++] = p.w;
+            }
+            return new BezierCurve3dH(polygon);
+        }
+        else if (data[0] instanceof Point2d) {
+            let i = 0;
+            for (const p of data) {
+                polygon[i++] = p.x;
+                polygon[i++] = p.y;
+                polygon[i++] = 0.0;
+                polygon[i++] = 1.0;
+            }
+            return new BezierCurve3dH(polygon);
+        }
+        return undefined;
+    }
+    /** create a bezier curve of specified order, filled with zeros */
+    static createOrder(order) {
+        const polygonArray = new Float64Array(order * 4); // and we trust that this is all zeros !!!
+        return new BezierCurve3dH(polygonArray);
+    }
+    /** Load order * 4 doubles from data[3 * spanIndex] as poles (with added weight) */
+    loadSpan3dPolesWithWeight(data, spanIndex, weight) {
+        this._polygon.loadSpanPolesWithWeight(data, 3, spanIndex, weight);
+    }
+    /** Load order * 4 doubles from data[3 * spanIndex] as poles (with added weight) */
+    loadSpan4dPoles(data, spanIndex) {
+        this._polygon.loadSpanPoles(data, spanIndex);
+    }
+    /** Clone the entire curve. */
+    clone() {
+        return new BezierCurve3dH(this._polygon.clonePolygon());
+    }
+    /**
+     * Return a curve after transform.
+     */
+    cloneTransformed(transform) {
+        const curve1 = this.clone();
+        curve1.tryTransformInPlace(transform);
+        return curve1;
+    }
+    /** Return a (deweighted) point on the curve. If deweight fails, returns 000 */
+    fractionToPoint(fraction, result) {
+        this._polygon.evaluate(fraction, this._workData0);
+        result = Point3d.createFromPackedXYZW(this._workData0, 0, result);
+        return result ? result : Point3d.createZero();
+    }
+    /** Return a (deweighted) point on the curve. If deweight fails, returns 000 */
+    fractionToPoint4d(fraction, result) {
+        this._polygon.evaluate(fraction, this._workData0);
+        return Point4d.createFromPackedXYZW(this._workData0, 0, result);
+    }
+    /** Return the cartesian point and derivative vector. */
+    fractionToPointAndDerivative(fraction, result) {
+        this._polygon.evaluate(fraction, this._workData0);
+        this._polygon.evaluateDerivative(fraction, this._workData1);
+        result = Ray3d.createWeightedDerivative(this._workData0, this._workData1, result);
+        if (result)
+            return result;
+        // Bad. Very Bad.  Return origin and x axis.   Should be undefined, but usual cartesian types do not allow that
+        return Ray3d.createXAxis();
+    }
+    /** Construct a plane with
+     * * origin at the fractional position along the arc
+     * * x axis is the first derivative, i.e. tangent along the arc
+     * * y axis is the second derivative, i.e. in the plane and on the center side of the tangent.
+     * If the arc is circular, the second derivative is directly towards the center
+     */
+    fractionToPointAnd2Derivatives(fraction, result) {
+        const epsilon = 1.0e-8;
+        const a = 1.0 / (2.0 * epsilon);
+        if (!result)
+            result = Plane3dByOriginAndVectors.createXYPlane();
+        const ray = this.fractionToPointAndDerivative(fraction, this._workRay0);
+        result.origin.setFrom(ray.origin);
+        result.vectorU.setFrom(ray.direction);
+        const ray0 = this.fractionToPointAndDerivative(fraction - epsilon, this._workRay0);
+        const ray1 = this.fractionToPointAndDerivative(fraction + epsilon, this._workRay1);
+        Vector3d.createAdd2Scaled(ray0.direction, -a, ray1.direction, a, result.vectorV);
+        return result;
+    }
+    /** test for nearly equal control points */
+    isAlmostEqual(other) {
+        if (other instanceof BezierCurve3dH) {
+            return this._polygon.isAlmostEqual(other._polygon);
+        }
+        return false;
+    }
+    /** Second step of double dispatch:  call `handler.handleBezierCurve3dH(this)` */
+    dispatchToGeometryHandler(handler) {
+        return handler.handleBezierCurve3dH(this);
+    }
+    /**
+     * Form dot products of each pole with given coefficients. Return as entries in products array.
+     * @param products array of (scalar) dot products
+     * @param ax x coefficient
+     * @param ay y coefficient
+     * @param az z coefficient
+     * @param aw w coefficient
+     */
+    poleProductsXYZW(products, ax, ay, az, aw) {
+        const n = this.numPoles;
+        const data = this._polygon.packedData;
+        for (let i = 0, k = 0; i < n; i++, k += 4)
+            products[i] = ax * data[k] + ay * data[k + 1] + az * data[k + 2] + aw * data[k + 3];
+    }
+    /** Find the closest point within the bezier span, using true perpendicular test (but no endpoint test)
+     * * If closer than previously recorded, update the CurveLocationDetail
+     * * This assumes this bezier is saturated.
+     * @param spacePoint point being projected
+     * @param detail pre-allocated detail to record (evolving) closest point.
+     * @returns true if an updated occurred, false if either (a) no perpendicular projections or (b) perpendiculars were not closer.
+     */
+    updateClosestPointByTruePerpendicular(spacePoint, detail) {
+        let numUpdates = 0;
+        let roots;
+        if (this.isUnitWeight()) {
+            // unweighted !!!
+            const productOrder = 2 * this.order - 2;
+            this.allocateAndZeroBezierWorkData(productOrder, 0, 0);
+            const bezier = this._workBezier;
+            // closestPoint condition is:
+            //   (spacePoint - curvePoint) DOT curveTangent = 0;
+            // Each product (x,y,z) of the DOT is the product of two bezier polynomials
+            BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 0, -spacePoint.x, 0);
+            BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 1, -spacePoint.y, 1);
+            BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 2, -spacePoint.z, 2);
+            roots = bezier.roots(0.0, true);
+        }
+        else {
+            // This bezier has weights.
+            // The pure cartesian closest point condition is
+            //   (spacePoint - X/w) DOT (X' w - w' X)/ w^2 = 0
+            // ignoring denominator and using bezier coefficient differences for the derivative, making the numerator 0 is
+            //   (w * spacePoint - X) DOT ( DELTA X * w - DELTA w * X) = 0
+            const orderA = this.order;
+            const orderB = 2 * this.order - 2; // products of component and component difference.
+            const productOrder = orderA + orderB - 1;
+            this.allocateAndZeroBezierWorkData(productOrder, orderA, orderB);
+            const bezier = this._workBezier;
+            const workA = this._workCoffsA;
+            const workB = this._workCoffsB;
+            const packedData = this._polygon.packedData;
+            for (let i = 0; i < 3; i++) {
+                // x representing loop pass:   (w * spacePoint.x - curve.x(s), 1.0) * (curveDelta.x(s) * curve.w(s) - curve.x(s) * curveDelta.w(s))
+                // (and p.w is always 1)
+                BezierPolynomialAlgebra.scaledComponentSum(workA, packedData, 4, orderA, 3, spacePoint.at(i), // w * spacePoint.x
+                i, -1.0); // curve.x(s) * 1.0
+                BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(workB, packedData, 4, orderA, 1.0, 3, 1.0, i);
+                BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(workB, packedData, 4, orderA, -1.0, i, 1.0, 3);
+                BezierPolynomialAlgebra.accumulateProduct(bezier.coffs, workA, workB);
+            }
+            roots = bezier.roots(0.0, true);
+        }
+        if (roots) {
+            for (const fraction of roots) {
+                const xyz = this.fractionToPoint(fraction);
+                const a = xyz.distance(spacePoint);
+                numUpdates += detail.updateIfCloserCurveFractionPointDistance(this, fraction, xyz, a) ? 1 : 0;
+            }
+        }
+        return numUpdates > 0;
+    }
+    /** Extend `rangeToExtend`, using candidate extrema at
+     * * both end points
+     * * any internal extrema in x,y,z
+     */
+    extendRange(rangeToExtend, transform) {
+        const order = this.order;
+        if (!transform) {
+            this.allocateAndZeroBezierWorkData(order * 2 - 2, 0, 0);
+            const bezier = this._workBezier;
+            const data = this._polygon.packedData;
+            this.getPolePoint3d(0, this._workPoint0);
+            rangeToExtend.extend(this._workPoint0);
+            this.getPolePoint3d(order - 1, this._workPoint0);
+            rangeToExtend.extend(this._workPoint0);
+            // Example:
+            // For x component ...
+            //     coefficients of (weighted x) are at axisIndex=0
+            //     deweighted polynomial is (x(s)/w(s))
+            //    its derivative (to be zeroed) is
+            //              (x'(s)*w(s) -x(s) * w'(s)) / w^2(s)
+            // The coefficients of the derivatives are (degree times) differences of successive coffs.
+            // Make the numerator zero to get extrema
+            for (let axisIndex = 0; axisIndex < 3; axisIndex++) {
+                bezier.zero();
+                BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, data, 4, order, 1.0, axisIndex, 0.0, 3);
+                BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, data, 4, order, -1.0, 3, 0.0, axisIndex);
+                const roots = bezier.roots(0.0, true);
+                if (roots) {
+                    for (const r of roots) {
+                        this.fractionToPoint(r, this._workPoint0);
+                        rangeToExtend.extend(this._workPoint0);
+                    }
+                }
+            }
+        }
+        else {
+            this.allocateAndZeroBezierWorkData(order * 2 - 2, order, order);
+            const componentCoffs = this._workCoffsA; // to hold transformed copy of x,y,z in turn.
+            const weightCoffs = this._workCoffsB; // to hold weights
+            const bezier = this._workBezier;
+            this.getPolePoint3d(0, this._workPoint0);
+            rangeToExtend.extendTransformedPoint(transform, this._workPoint0);
+            this.getPolePoint3d(order - 1, this._workPoint0);
+            rangeToExtend.extendTransformedPoint(transform, this._workPoint0);
+            const data = this._polygon.packedData; // Example:
+            // For x component ...
+            //     coefficients of (weighted x) are at axisIndex=0
+            //     deweighted polynomial is (x(s)/w(s))
+            //    its derivative (to be zeroed) is
+            //              (x'(s)*w(s) -x(s) * w'(s)) / w^2(s)
+            // The coefficients of the derivatives are (degree times) differences of successive coffs.
+            // Make the numerator zero to get extrema
+            // apply one row of the transform to get the transformed coff by itself
+            let weight;
+            for (let axisIndex = 0; axisIndex < 3; axisIndex++) {
+                bezier.zero();
+                for (let i = 0, k = 0; i < order; i++, k += 4) {
+                    weight = data[k + 3];
+                    componentCoffs[i] = transform.multiplyComponentXYZW(axisIndex, data[k], data[k + 1], data[k + 2], weight);
+                    weightCoffs[i] = weight;
+                }
+                BezierPolynomialAlgebra.accumulateProductWithDifferences(bezier.coffs, componentCoffs, weightCoffs, 1.0);
+                BezierPolynomialAlgebra.accumulateProductWithDifferences(bezier.coffs, weightCoffs, componentCoffs, -1.0);
+                const roots = bezier.roots(0.0, true);
+                if (roots && roots.length > 0) {
+                    for (const r of roots) {
+                        this.fractionToPoint(r, this._workPoint0);
+                        rangeToExtend.extendTransformedPoint(transform, this._workPoint0);
+                    }
+                }
+            }
+        }
+    }
+}
+//# sourceMappingURL=BezierCurve3dH.js.map

package/lib/esm/bspline/BezierCurve3dH.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Bspline\r\n */\r\n\r\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GeometryHandler } from \"../geometry3d/GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Matrix4d } from \"../geometry4d/Matrix4d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { BezierPolynomialAlgebra } from \"../numerics/BezierPolynomials\";\r\nimport { BezierCurveBase } from \"./BezierCurveBase\";\r\n\r\n/** 3d curve with homogeneous weights.\r\n * * A control point with weight w and cartesian (projected) coordinates x,y,z has the weight multiplied into the coordinates,\r\n *    hence the control point as stored is (xw, yw, zw, w).\r\n * @public\r\n */\r\nexport class BezierCurve3dH extends BezierCurveBase {\r\n  /** test if `other` is also a BezierCurve3dH. */\r\n  public isSameGeometryClass(other: any): boolean { return other instanceof BezierCurve3dH; }\r\n  /**\r\n   * Apply (multiply by) an affine transform\r\n   * @param transform\r\n   */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    const data = this._workData0;\r\n    for (let i = 0; i < this._polygon.order; i++) {\r\n      this._polygon.getPolygonPoint(i, data);\r\n      transform.multiplyXYZWToFloat64Array(data[0], data[1], data[2], data[3], data);\r\n      this._polygon.setPolygonPoint(i, data);\r\n    }\r\n    return true;\r\n  }\r\n  /**\r\n   * Apply (multiply by) a perspective transform\r\n   * @param matrix\r\n   */\r\n  public tryMultiplyMatrix4dInPlace(matrix: Matrix4d) {\r\n    matrix.multiplyBlockedFloat64ArrayInPlace(this._polygon.packedData);\r\n  }\r\n  private _workRay0: Ray3d;\r\n  private _workRay1: Ray3d;\r\n  /** Return a specific pole as a full `[x,y,z,x] Point4d` */\r\n  public getPolePoint4d(i: number, result?: Point4d): Point4d | undefined {\r\n    const data = this._polygon.getPolygonPoint(i, this._workData0);\r\n    if (data)\r\n      return Point4d.create(data[0], data[1], data[2], data[3], result);\r\n    return undefined;\r\n  }\r\n  /** Return a specific pole normalized to weight 1\r\n   */\r\n  public getPolePoint3d(i: number, result?: Point3d): Point3d | undefined {\r\n    const data = this._polygon.getPolygonPoint(i, this._workData0);\r\n    if (data)\r\n      return Point3d.createFromPackedXYZW(data, 0, result);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Returns true if all weights are within tolerance of 1.0\r\n   */\r\n  public isUnitWeight(tolerance?: number): boolean {\r\n    if (tolerance === undefined)\r\n      tolerance = Geometry.smallAngleRadians;\r\n    const aLow = 1.0 - tolerance;\r\n    const aHigh = 1.0 + tolerance;\r\n    const data = this._polygon.packedData;\r\n    const n = data.length;\r\n    let a;\r\n    for (let i = 3; i < n; i += 4) {\r\n      a = data[i];\r\n      if (a < aLow || a > aHigh)\r\n        return false;\r\n    }\r\n    return true;\r\n  }\r\n  /**\r\n   * Capture a polygon as the data for a new `BezierCurve3dH`\r\n   * @param polygon complete packed data and order.\r\n   */\r\n  private constructor(polygon: Float64Array) {\r\n    super(4, polygon);\r\n    this._workRay0 = Ray3d.createXAxis();\r\n    this._workRay1 = Ray3d.createXAxis();\r\n  }\r\n  /** Create a curve with given points.\r\n   * * If input is `Point2d[]`, the points are promoted with `z=0` and `w=1`\r\n   * * If input is `Point3d[]`, the points are promoted with w=1`\r\n   *\r\n   */\r\n  public static create(data: Point3d[] | Point4d[] | Point2d[]): BezierCurve3dH | undefined {\r\n    if (data.length < 1)\r\n      return undefined;\r\n    const polygon = new Float64Array(data.length * 4);\r\n    if (data[0] instanceof Point3d) {\r\n      let i = 0;\r\n      for (const p of (data as Point3d[])) {\r\n        polygon[i++] = p.x;\r\n        polygon[i++] = p.y;\r\n        polygon[i++] = p.z;\r\n        polygon[i++] = 1.0;\r\n      }\r\n      return new BezierCurve3dH(polygon);\r\n    } else if (data[0] instanceof Point4d) {\r\n      let i = 0;\r\n      for (const p of (data as Point4d[])) {\r\n        polygon[i++] = p.x;\r\n        polygon[i++] = p.y;\r\n        polygon[i++] = p.z;\r\n        polygon[i++] = p.w;\r\n      }\r\n      return new BezierCurve3dH(polygon);\r\n    } else if (data[0] instanceof Point2d) {\r\n      let i = 0;\r\n      for (const p of (data as Point2d[])) {\r\n        polygon[i++] = p.x;\r\n        polygon[i++] = p.y;\r\n        polygon[i++] = 0.0;\r\n        polygon[i++] = 1.0;\r\n      }\r\n      return new BezierCurve3dH(polygon);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** create a bezier curve of specified order, filled with zeros */\r\n  public static createOrder(order: number): BezierCurve3dH {\r\n    const polygonArray = new Float64Array(order * 4); // and we trust that this is all zeros !!!\r\n    return new BezierCurve3dH(polygonArray);\r\n  }\r\n  /** Load order * 4 doubles from data[3 * spanIndex] as poles (with added weight) */\r\n  public loadSpan3dPolesWithWeight(data: Float64Array, spanIndex: number, weight: number) {\r\n    this._polygon.loadSpanPolesWithWeight(data, 3, spanIndex, weight);\r\n  }\r\n  /** Load order * 4 doubles from data[3 * spanIndex] as poles (with added weight) */\r\n  public loadSpan4dPoles(data: Float64Array, spanIndex: number) {\r\n    this._polygon.loadSpanPoles(data, spanIndex);\r\n  }\r\n  /** Clone the entire curve. */\r\n  public clone(): BezierCurve3dH {\r\n    return new BezierCurve3dH(this._polygon.clonePolygon());\r\n  }\r\n  /**\r\n   * Return a curve after transform.\r\n   */\r\n  public cloneTransformed(transform: Transform): BezierCurve3dH {\r\n    const curve1 = this.clone();\r\n    curve1.tryTransformInPlace(transform);\r\n    return curve1;\r\n  }\r\n  /** Return a (deweighted) point on the curve. If deweight fails, returns 000 */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    this._polygon.evaluate(fraction, this._workData0);\r\n    result = Point3d.createFromPackedXYZW(this._workData0, 0, result);\r\n    return result ? result : Point3d.createZero();\r\n  }\r\n  /** Return a (deweighted) point on the curve. If deweight fails, returns 000 */\r\n  public fractionToPoint4d(fraction: number, result?: Point4d): Point4d {\r\n    this._polygon.evaluate(fraction, this._workData0);\r\n    return Point4d.createFromPackedXYZW(this._workData0, 0, result);\r\n  }\r\n  /** Return the cartesian point and derivative vector. */\r\n  public fractionToPointAndDerivative(fraction: number, result?: Ray3d): Ray3d {\r\n    this._polygon.evaluate(fraction, this._workData0);\r\n    this._polygon.evaluateDerivative(fraction, this._workData1);\r\n    result = Ray3d.createWeightedDerivative(this._workData0, this._workData1, result);\r\n    if (result)\r\n      return result;\r\n    // Bad. Very Bad.  Return origin and x axis.   Should be undefined, but usual cartesian types do not allow that\r\n    return Ray3d.createXAxis();\r\n  }\r\n  /** Construct a plane with\r\n   * * origin at the fractional position along the arc\r\n   * * x axis is the first derivative, i.e. tangent along the arc\r\n   * * y axis is the second derivative, i.e. in the plane and on the center side of the tangent.\r\n   * If the arc is circular, the second derivative is directly towards the center\r\n   */\r\n  public fractionToPointAnd2Derivatives(fraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const epsilon = 1.0e-8;\r\n    const a = 1.0 / (2.0 * epsilon);\r\n    if (!result)\r\n      result = Plane3dByOriginAndVectors.createXYPlane();\r\n    const ray = this.fractionToPointAndDerivative(fraction, this._workRay0);\r\n    result.origin.setFrom(ray.origin);\r\n    result.vectorU.setFrom(ray.direction);\r\n    const ray0 = this.fractionToPointAndDerivative(fraction - epsilon, this._workRay0);\r\n    const ray1 = this.fractionToPointAndDerivative(fraction + epsilon, this._workRay1);\r\n    Vector3d.createAdd2Scaled(ray0.direction, -a, ray1.direction, a, result.vectorV);\r\n    return result;\r\n  }\r\n  /** test for nearly equal control points */\r\n  public override isAlmostEqual(other: any): boolean {\r\n    if (other instanceof BezierCurve3dH) {\r\n      return this._polygon.isAlmostEqual(other._polygon);\r\n    }\r\n    return false;\r\n  }\r\n  /** Second step of double dispatch:  call `handler.handleBezierCurve3dH(this)` */\r\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\r\n    return handler.handleBezierCurve3dH(this);\r\n  }\r\n  /**\r\n   * Form dot products of each pole with given coefficients. Return as entries in products array.\r\n   * @param products array of (scalar) dot products\r\n   * @param ax x coefficient\r\n   * @param ay y coefficient\r\n   * @param az z coefficient\r\n   * @param aw w coefficient\r\n   */\r\n  public poleProductsXYZW(products: Float64Array, ax: number, ay: number, az: number, aw: number) {\r\n    const n = this.numPoles;\r\n    const data = this._polygon.packedData;\r\n    for (let i = 0, k = 0; i < n; i++, k += 4)\r\n      products[i] = ax * data[k] + ay * data[k + 1] + az * data[k + 2] + aw * data[k + 3];\r\n  }\r\n  /** Find the closest point within the bezier span, using true perpendicular test (but no endpoint test)\r\n   * * If closer than previously recorded, update the CurveLocationDetail\r\n   * * This assumes this bezier is saturated.\r\n   * @param spacePoint point being projected\r\n   * @param detail pre-allocated detail to record (evolving) closest point.\r\n   * @returns true if an updated occurred, false if either (a) no perpendicular projections or (b) perpendiculars were not closer.\r\n   */\r\n  public updateClosestPointByTruePerpendicular(spacePoint: Point3d, detail: CurveLocationDetail): boolean {\r\n    let numUpdates = 0;\r\n    let roots: number[] | undefined;\r\n    if (this.isUnitWeight()) {\r\n      // unweighted !!!\r\n      const productOrder = 2 * this.order - 2;\r\n      this.allocateAndZeroBezierWorkData(productOrder, 0, 0);\r\n      const bezier = this._workBezier!;\r\n      // closestPoint condition is:\r\n      //   (spacePoint - curvePoint) DOT curveTangent = 0;\r\n      // Each product (x,y,z) of the DOT is the product of two bezier polynomials\r\n      BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 0, -spacePoint.x, 0);\r\n      BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 1, -spacePoint.y, 1);\r\n      BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(bezier.coffs, this._polygon.packedData, 4, this.order, 1.0, 2, -spacePoint.z, 2);\r\n      roots = bezier.roots(0.0, true);\r\n    } else {\r\n      // This bezier has weights.\r\n      // The pure cartesian closest point condition is\r\n      //   (spacePoint - X/w) DOT (X' w - w' X)/ w^2 = 0\r\n      // ignoring denominator and using bezier coefficient differences for the derivative, making the numerator 0 is\r\n      //   (w * spacePoint - X) DOT ( DELTA X * w - DELTA w * X) = 0\r\n      const orderA = this.order;\r\n      const orderB = 2 * this.order - 2; // products of component and component difference.\r\n      const productOrder = orderA + orderB - 1;\r\n      this.allocateAndZeroBezierWorkData(productOrder, orderA, orderB);\r\n      const bezier = this._workBezier!;\r\n      const workA = this._workCoffsA!;\r\n      const workB = this._workCoffsB!;\r\n      const packedData = this._polygon.packedData;\r\n      for (let i = 0; i < 3; i++) {\r\n        // x representing loop pass:   (w * spacePoint.x - curve.x(s), 1.0) * (curveDelta.x(s) * curve.w(s) - curve.x(s) * curveDelta.w(s))\r\n        // (and p.w is always 1)\r\n        BezierPolynomialAlgebra.scaledComponentSum(workA, packedData, 4, orderA, 3, spacePoint.at(i), // w * spacePoint.x\r\n          i, -1.0); // curve.x(s) * 1.0\r\n        BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(workB, packedData, 4, orderA, 1.0, 3, 1.0, i);\r\n        BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(workB, packedData, 4, orderA, -1.0, i, 1.0, 3);\r\n        BezierPolynomialAlgebra.accumulateProduct(bezier.coffs, workA, workB);\r\n      }\r\n      roots = bezier.roots(0.0, true);\r\n    }\r\n    if (roots) {\r\n      for (const fraction of roots) {\r\n        const xyz = this.fractionToPoint(fraction);\r\n        const a = xyz.distance(spacePoint);\r\n        numUpdates += detail.updateIfCloserCurveFractionPointDistance(this, fraction, xyz, a) ? 1 : 0;\r\n      }\r\n    }\r\n    return numUpdates > 0;\r\n  }\r\n  /** Extend `rangeToExtend`, using candidate extrema at\r\n   * * both end points\r\n   * * any internal extrema in x,y,z\r\n   */\r\n  public extendRange(rangeToExtend: Range3d, transform?: Transform) {\r\n    const order = this.order;\r\n    if (!transform) {\r\n      this.allocateAndZeroBezierWorkData(order * 2 - 2, 0, 0);\r\n      const bezier = this._workBezier!;\r\n      const data = this._polygon.packedData;\r\n      this.getPolePoint3d(0, this._workPoint0);\r\n      rangeToExtend.extend(this._workPoint0);\r\n      this.getPolePoint3d(order - 1, this._workPoint0);\r\n      rangeToExtend.extend(this._workPoint0);\r\n      // Example:\r\n      // For x component ...\r\n      //     coefficients of (weighted x) are at axisIndex=0\r\n      //     deweighted polynomial is (x(s)/w(s))\r\n      //    its derivative (to be zeroed) is\r\n      //              (x'(s)*w(s) -x(s) * w'(s)) / w^2(s)\r\n      // The coefficients of the derivatives are (degree times) differences of successive coffs.\r\n      // Make the numerator zero to get extrema\r\n      for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n        bezier.zero();\r\n        BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(\r\n          bezier.coffs,\r\n          data, 4, order,\r\n          1.0,\r\n          axisIndex, 0.0,\r\n          3);\r\n        BezierPolynomialAlgebra.accumulateScaledShiftedComponentTimesComponentDelta(\r\n          bezier.coffs,\r\n          data, 4, order,\r\n          -1.0,\r\n          3, 0.0,\r\n          axisIndex);\r\n        const roots = bezier.roots(0.0, true);\r\n        if (roots) {\r\n          for (const r of roots) {\r\n            this.fractionToPoint(r, this._workPoint0);\r\n            rangeToExtend.extend(this._workPoint0);\r\n          }\r\n        }\r\n      }\r\n    } else {\r\n      this.allocateAndZeroBezierWorkData(order * 2 - 2, order, order);\r\n      const componentCoffs = this._workCoffsA!;   // to hold transformed copy of x,y,z in turn.\r\n      const weightCoffs = this._workCoffsB!;    // to hold weights\r\n      const bezier = this._workBezier!;\r\n\r\n      this.getPolePoint3d(0, this._workPoint0);\r\n      rangeToExtend.extendTransformedPoint(transform, this._workPoint0);\r\n      this.getPolePoint3d(order - 1, this._workPoint0);\r\n      rangeToExtend.extendTransformedPoint(transform, this._workPoint0);\r\n\r\n      const data = this._polygon.packedData;      // Example:\r\n      // For x component ...\r\n      //     coefficients of (weighted x) are at axisIndex=0\r\n      //     deweighted polynomial is (x(s)/w(s))\r\n      //    its derivative (to be zeroed) is\r\n      //              (x'(s)*w(s) -x(s) * w'(s)) / w^2(s)\r\n      // The coefficients of the derivatives are (degree times) differences of successive coffs.\r\n      // Make the numerator zero to get extrema\r\n      // apply one row of the transform to get the transformed coff by itself\r\n      let weight;\r\n      for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n        bezier.zero();\r\n        for (let i = 0, k = 0; i < order; i++, k += 4) {\r\n          weight = data[k + 3];\r\n          componentCoffs[i] = transform.multiplyComponentXYZW(axisIndex, data[k], data[k + 1], data[k + 2], weight);\r\n          weightCoffs[i] = weight;\r\n        }\r\n        BezierPolynomialAlgebra.accumulateProductWithDifferences(bezier.coffs, componentCoffs, weightCoffs, 1.0);\r\n        BezierPolynomialAlgebra.accumulateProductWithDifferences(bezier.coffs, weightCoffs, componentCoffs, -1.0);\r\n        const roots = bezier.roots(0.0, true);\r\n        if (roots && roots.length > 0) {\r\n          for (const r of roots) {\r\n            this.fractionToPoint(r, this._workPoint0);\r\n            rangeToExtend.extendTransformedPoint(transform, this._workPoint0);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n"]}

package/lib/esm/bspline/BezierCurveBase.d.ts

@@ -0,0 +1,111 @@
+/** @packageDocumentation
+ * @module Bspline
+ */
+import { CurvePrimitive } from "../curve/CurvePrimitive";
+import { LineString3d } from "../curve/LineString3d";
+import { StrokeOptions } from "../curve/StrokeOptions";
+import { IStrokeHandler } from "../geometry3d/GeometryHandler";
+import { Plane3dByOriginAndUnitNormal } from "../geometry3d/Plane3dByOriginAndUnitNormal";
+import { Point3d } from "../geometry3d/Point3dVector3d";
+import { Range3d } from "../geometry3d/Range";
+import { Transform } from "../geometry3d/Transform";
+import { Point4d } from "../geometry4d/Point4d";
+import { UnivariateBezier } from "../numerics/BezierPolynomials";
+import { Bezier1dNd } from "./Bezier1dNd";
+import { KnotVector } from "./KnotVector";
+/**
+ * Base class for CurvePrimitive (necessarily 3D) with _polygon.
+ * * This has a Bezier1dNd polygon as a member, and implements dimension-independent methods
+ * * This exists to support
+ *    * BezierCurve3d -- 3 coordinates x,y,z per block in the Bezier1dNd poles
+ *    * BezierCurve3dH -- 4 coordinates x,y,z,w per block in the Bezier1dNd poles
+ * * The implementations of "pure 3d" queries is based on calling `getPolePoint3d`.
+ * * This has the subtle failure difference that `getPolePoint3d` call with a valid index on on a 3d curve always succeeds, but on 3dH curve fails when weight is zero.
+ * @public
+ */
+export declare abstract class BezierCurveBase extends CurvePrimitive {
+    /** String name for schema properties */
+    readonly curvePrimitiveType = "bezierCurve";
+    /** Control points */
+    protected _polygon: Bezier1dNd;
+    /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */
+    protected _workData0: Float64Array;
+    /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */
+    protected _workData1: Float64Array;
+    /** Scratch xyz point accessible by derived classes. */
+    protected _workPoint0: Point3d;
+    /** Scratch xyz point accessible by derived classes. */
+    protected _workPoint1: Point3d;
+    protected constructor(blockSize: number, data: Float64Array);
+    /** reverse the poles in place */
+    reverseInPlace(): void;
+    /** saturate the pole in place, using knot intervals from `spanIndex` of the `knotVector` */
+    saturateInPlace(knotVector: KnotVector, spanIndex: number): boolean;
+    /** (property accessor) Return the polynomial degree (one less than order) */
+    get degree(): number;
+    /** (property accessor) Return the polynomial order */
+    get order(): number;
+    /** (property accessor) Return the number of poles (aka control points) */
+    get numPoles(): number;
+    /** Get pole `i` as a Point3d.
+     * * For 3d curve, this is simple a pole access, and only fails (return `undefined`) for invalid index
+     * * For 4d curve, this deweights the homogeneous pole and can fail due to 0 weight.
+     */
+    abstract getPolePoint3d(i: number, point?: Point3d): Point3d | undefined;
+    /** Get pole `i` as a Point4d.
+     * * For 3d curve, this accesses the simple pole and returns with weight 1.
+     * * For 4d curve, this accesses the (weighted) pole.
+     */
+    abstract getPolePoint4d(i: number, point?: Point4d): Point4d | undefined;
+    /** Set mapping to parent curve (e.g. if this bezier is a span extracted from a bspline, this is the knot interval of the span) */
+    setInterval(a: number, b: number): void;
+    /** map `fraction` from this Bezier curves inherent 0..1 range to the (a,b) range of parent
+     * * ( The parent range should have been previously defined with `setInterval`)
+     */
+    fractionToParentFraction(fraction: number): number;
+    /** append stroke points to a linestring, based on `strokeCount` and `fractionToPoint` from derived class*/
+    emitStrokes(dest: LineString3d, options?: StrokeOptions): void;
+    /** announce intervals with stroke counts */
+    emitStrokableParts(handler: IStrokeHandler, _options?: StrokeOptions): void;
+    /** Return a simple array of arrays with the control points as `[[x,y,z],[x,y,z],..]` */
+    copyPolesAsJsonArray(): any[];
+    /** return true if all poles are on a plane. */
+    isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean;
+    /** Return the length of the control polygon. */
+    polygonLength(): number;
+    /** Return the start point.  (first control point) */
+    startPoint(): Point3d;
+    /** Return the end point.  (last control point) */
+    endPoint(): Point3d;
+    /** Return the control polygon length as a quick length estimate. */
+    quickLength(): number;
+    /** Concrete classes must implement extendRange . . .  */
+    abstract extendRange(rangeToExtend: Range3d, transform?: Transform): void;
+    /**
+     * 1D bezier coefficients for use in range computations.
+     * @internal
+     */
+    protected _workBezier?: UnivariateBezier;
+    /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */
+    protected _workCoffsA?: Float64Array;
+    /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */
+    protected _workCoffsB?: Float64Array;
+    /**
+     * set up the _workBezier members with specific order.
+     * * Try to reuse existing members if their sizes match.
+     * * Ignore members corresponding to args that are 0 or negative.
+     * @param primaryBezierOrder order of expected bezier
+     * @param orderA length of _workCoffsA (simple array)
+     * @param orderB length of _workCoffsB (simple array)
+     */
+    protected allocateAndZeroBezierWorkData(primaryBezierOrder: number, orderA: number, orderB: number): void;
+    /**
+     * Assess length and turn to determine a stroke count.
+     * * this method is used by both BSplineCurve3d and BSplineCurve3dH.
+     * * points are accessed via getPolePoint3d.
+     *   * Hence a zero-weight pole will be a problem
+     * @param options stroke options structure.
+     */
+    computeStrokeCountForOptions(options?: StrokeOptions): number;
+}
+//# sourceMappingURL=BezierCurveBase.d.ts.map

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