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

package/lib/esm/curve/CurveFactory.js

@@ -0,0 +1,491 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module Curve
+ */
+// import { Geometry, Angle, AngleSweep } from "../Geometry";
+import { AxisIndex, AxisOrder, Geometry } from "../Geometry";
+import { AngleSweep } from "../geometry3d/AngleSweep";
+import { Matrix3d } from "../geometry3d/Matrix3d";
+import { Point3dArrayCarrier } from "../geometry3d/Point3dArrayCarrier";
+import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
+import { PolyfaceBuilder } from "../polyface/PolyfaceBuilder";
+import { Cone } from "../solid/Cone";
+import { TorusPipe } from "../solid/TorusPipe";
+import { Arc3d } from "./Arc3d";
+import { CurveChain } from "./CurveCollection";
+import { CurvePrimitive } from "./CurvePrimitive";
+import { GeometryQuery } from "./GeometryQuery";
+import { LineSegment3d } from "./LineSegment3d";
+import { LineString3d } from "./LineString3d";
+import { Loop } from "./Loop";
+import { Path } from "./Path";
+import { Angle } from "../geometry3d/Angle";
+import { Transform } from "../geometry3d/Transform";
+import { IntegratedSpiral3d } from "./spiral/IntegratedSpiral3d";
+import { Segment1d } from "../geometry3d/Segment1d";
+import { SmallSystem } from "../numerics/Polynomials";
+import { Vector2d } from "../geometry3d/Point2dVector2d";
+/**
+ * The `CurveFactory` class contains methods for specialized curve constructions.
+ * @public
+ */
+export class CurveFactory {
+    /** (cautiously) construct and save a line segment between fractional positions. */
+    static addPartialSegment(path, allowBackup, pointA, pointB, fraction0, fraction1) {
+        if (allowBackup || (fraction1 > fraction0)) {
+            if (pointA !== undefined && pointB !== undefined && !Geometry.isAlmostEqualNumber(fraction0, fraction1))
+                path.tryAddChild(LineSegment3d.create(pointA.interpolate(fraction0, pointB), pointA.interpolate(fraction1, pointB)));
+        }
+    }
+    /**
+     * Create a circular arc from start point, tangent at start, and another point (endpoint) on the arc.
+     * @param pointA
+     * @param tangentA
+     * @param pointB
+     */
+    static createArcPointTangentPoint(pointA, tangentA, pointB) {
+        const vectorV = Vector3d.createStartEnd(pointA, pointB);
+        const frame = Matrix3d.createRigidFromColumns(tangentA, vectorV, AxisOrder.XYZ);
+        if (frame !== undefined) {
+            const vv = vectorV.dotProduct(vectorV);
+            const vw = frame.dotColumnY(vectorV);
+            const alpha = Geometry.conditionalDivideCoordinate(vv, 2 * vw);
+            if (alpha !== undefined) {
+                const vector0 = frame.columnY();
+                vector0.scaleInPlace(-alpha);
+                const vector90 = frame.columnX();
+                vector90.scaleInPlace(alpha);
+                const centerToEnd = vector0.plus(vectorV);
+                const sweepAngle = vector0.angleTo(centerToEnd);
+                let sweepRadians = sweepAngle.radians; // That's always positive and less than PI.
+                if (tangentA.dotProduct(centerToEnd) < 0.0) // ah, sweepRadians is the wrong way
+                    sweepRadians = 2.0 * Math.PI - sweepRadians;
+                const center = pointA.plusScaled(vector0, -1.0);
+                return Arc3d.create(center, vector0, vector90, AngleSweep.createStartEndRadians(0.0, sweepRadians));
+            }
+        }
+        return undefined;
+    }
+    /**
+     * Construct a sequence of alternating lines and arcs with the arcs creating tangent transition between consecutive edges.
+     *  * If the radius parameter is a number, that radius is used throughout.
+     *  * If the radius parameter is an array of numbers, `radius[i]` is applied at `point[i]`.
+     *    * Note that since no fillet is constructed at the initial or final point, those entries in `radius[]` are never referenced.
+     *    * A zero radius for any point indicates to leave the as a simple corner.
+     * @param points point source
+     * @param radius fillet radius or array of radii indexed to correspond to the points.
+     * @param allowBackupAlongEdge true to allow edges to be created going "backwards" along edges if needed to create the blend.
+     */
+    static createFilletsInLineString(points, radius, allowBackupAlongEdge = true) {
+        if (Array.isArray(points))
+            return this.createFilletsInLineString(new Point3dArrayCarrier(points), radius, allowBackupAlongEdge);
+        if (points instanceof LineString3d)
+            return this.createFilletsInLineString(points.packedPoints, radius, allowBackupAlongEdge);
+        const n = points.length;
+        if (n <= 1)
+            return undefined;
+        const pointA = points.getPoint3dAtCheckedPointIndex(0);
+        const pointB = points.getPoint3dAtCheckedPointIndex(1);
+        // remark: n=2 and n=3 cases should fall out from loop logic
+        const blendArray = [];
+        // build one-sided blends at each end . .
+        blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointA.clone() });
+        for (let i = 1; i + 1 < n; i++) {
+            const pointC = points.getPoint3dAtCheckedPointIndex(i + 1);
+            let thisRadius = 0;
+            if (Array.isArray(radius)) {
+                if (i < radius.length)
+                    thisRadius = radius[i];
+            }
+            else if (Number.isFinite(radius))
+                thisRadius = radius;
+            if (thisRadius !== 0.0)
+                blendArray.push(Arc3d.createFilletArc(pointA, pointB, pointC, thisRadius));
+            else
+                blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });
+            pointA.setFromPoint3d(pointB);
+            pointB.setFromPoint3d(pointC);
+        }
+        blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });
+        if (!allowBackupAlongEdge) {
+            // suppress arcs that have overlap with both neighbors or flood either neighbor ..
+            for (let i = 1; i + 1 < n; i++) {
+                const b = blendArray[i];
+                if (b.fraction10 > 1.0
+                    || b.fraction12 > 1.0
+                    || 1.0 - b.fraction10 < blendArray[i - 1].fraction12
+                    || b.fraction12 > 1.0 - blendArray[i + 1].fraction10) {
+                    b.fraction10 = 0.0;
+                    b.fraction12 = 0.0;
+                    blendArray[i].arc = undefined;
+                }
+            }
+            /* The "1-b" logic above prevents this loop from ever doing anything.
+            // on edge with conflict, suppress the arc with larger fraction
+            for (let i = 1; i < n; i++) {
+              const b0 = blendArray[i - 1];
+              const b1 = blendArray[i];
+              if (b0.fraction12 > 1 - b1.fraction10) {
+                const b = b0.fraction12 > b1.fraction12 ? b1 : b0;
+                b.fraction10 = 0.0;
+                b.fraction12 = 0.0;
+                blendArray[i].arc = undefined;
+              }
+            } */
+        }
+        const path = Path.create();
+        this.addPartialSegment(path, allowBackupAlongEdge, blendArray[0].point, blendArray[1].point, blendArray[0].fraction12, 1.0 - blendArray[1].fraction10);
+        // add each path and successor edge ...
+        for (let i = 1; i + 1 < points.length; i++) {
+            const b0 = blendArray[i];
+            const b1 = blendArray[i + 1];
+            path.tryAddChild(b0.arc);
+            this.addPartialSegment(path, allowBackupAlongEdge, b0.point, b1.point, b0.fraction12, 1.0 - b1.fraction10);
+        }
+        return path;
+    }
+    /** Create a `Loop` with given xy corners and fixed z.
+     * * The corners always proceed counter clockwise from lower left.
+     * * If the radius is too large for the outer rectangle size, it is reduced to half of the the smaller x or y size.
+    */
+    static createRectangleXY(x0, y0, x1, y1, z = 0, filletRadius) {
+        let radius = Geometry.correctSmallMetricDistance(filletRadius);
+        const xMin = Math.min(x0, x1);
+        const xMax = Math.max(x0, x1);
+        const yMin = Math.min(y0, y1);
+        const yMax = Math.max(y0, y1);
+        radius = Math.min(Math.abs(radius), 0.5 * (xMax - xMin), 0.5 * (yMax - yMin));
+        if (radius === 0.0)
+            return Loop.createPolygon([Point3d.create(xMin, yMin, z), Point3d.create(xMax, yMin, z), Point3d.create(xMax, yMax, z), Point3d.create(xMin, yMax, z), Point3d.create(xMin, yMin, z)]);
+        else {
+            const vectorU = Vector3d.create(radius, 0, 0);
+            const vectorV = Vector3d.create(0, radius, 0);
+            const x0A = xMin + radius;
+            const y0A = yMin + radius;
+            const x1A = xMax - radius;
+            const y1A = yMax - radius;
+            const centers = [Point3d.create(x1A, y1A, z), Point3d.create(x0A, y1A, z), Point3d.create(x0A, y0A, z), Point3d.create(x1A, y0A, z)];
+            const loop = Loop.create();
+            for (let i = 0; i < 4; i++) {
+                const center = centers[i];
+                const nextCenter = centers[(i + 1) % 4];
+                const edgeVector = Vector3d.createStartEnd(center, nextCenter);
+                const arc = Arc3d.create(center, vectorU, vectorV, AngleSweep.createStartEndDegrees(0, 90));
+                loop.tryAddChild(arc);
+                const arcEnd = arc.endPoint();
+                if (!edgeVector.isAlmostZero)
+                    loop.tryAddChild(LineSegment3d.create(arcEnd, arcEnd.plus(edgeVector)));
+                vectorU.rotate90CCWXY(vectorU);
+                vectorV.rotate90CCWXY(vectorV);
+            }
+            return loop;
+        }
+    }
+    /**
+     * If `arcB` is a continuation of `arcA`, extend `arcA` (in place) to include the range of `arcB`
+     * * This only succeeds if the two arcs are part of identical complete arcs and end of `arcA` matches the beginning of `arcB`.
+     * * "Reversed"
+     * @param arcA
+     * @param arcB
+     */
+    static appendToArcInPlace(arcA, arcB, allowReverse = false) {
+        if (arcA.center.isAlmostEqual(arcB.center)) {
+            const sweepSign = Geometry.split3WaySign(arcA.sweep.sweepRadians * arcB.sweep.sweepRadians, -1, 0, 1);
+            // evaluate derivatives wrt radians (not fraction!), but adjust direction for sweep signs
+            const endA = arcA.angleToPointAndDerivative(arcA.sweep.fractionToAngle(1.0));
+            if (arcA.sweep.sweepRadians < 0)
+                endA.direction.scaleInPlace(-1.0);
+            const startB = arcB.angleToPointAndDerivative(arcB.sweep.fractionToAngle(0.0));
+            if (arcB.sweep.sweepRadians < 0)
+                startB.direction.scaleInPlace(-1.0);
+            if (endA.isAlmostEqual(startB)) {
+                arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians + sweepSign * arcB.sweep.sweepRadians);
+                return true;
+            }
+            // Also ok if negated tangent . ..
+            if (allowReverse) {
+                startB.direction.scaleInPlace(-1.0);
+                if (endA.isAlmostEqual(startB)) {
+                    arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians - sweepSign * arcB.sweep.sweepRadians);
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+    /**
+     * Return a `Path` containing arcs are on the surface of an ellipsoid and pass through a sequence of points.
+     * * Each arc passes through the two given endpoints and in the plane containing the true surface normal at given `fractionForIntermediateNormal`
+     * @param ellipsoid
+     * @param pathPoints
+     * @param fractionForIntermediateNormal fractional position for surface normal used to create the section plane.
+     */
+    static assembleArcChainOnEllipsoid(ellipsoid, pathPoints, fractionForIntermediateNormal = 0.5) {
+        const arcPath = Path.create();
+        for (let i = 0; i + 1 < pathPoints.length; i++) {
+            const arc = ellipsoid.sectionArcWithIntermediateNormal(pathPoints[i].toAngles(), fractionForIntermediateNormal, pathPoints[i + 1].toAngles());
+            arcPath.tryAddChild(arc);
+        }
+        return arcPath;
+    }
+    static appendGeometryQueryArray(candidate, result) {
+        if (candidate instanceof GeometryQuery)
+            result.push(candidate);
+        else if (Array.isArray(candidate)) {
+            for (const p of candidate)
+                this.appendGeometryQueryArray(p, result);
+        }
+    }
+    /**
+     * Create solid primitives for pipe segments (e.g. Cone or TorusPipe) around line and arc primitives.
+     * @param centerline centerline geometry/
+     * @param pipeRadius radius of pipe.
+     */
+    static createPipeSegments(centerline, pipeRadius) {
+        if (centerline instanceof LineSegment3d) {
+            return Cone.createAxisPoints(centerline.startPoint(), centerline.endPoint(), pipeRadius, pipeRadius, false);
+        }
+        else if (centerline instanceof Arc3d) {
+            return TorusPipe.createAlongArc(centerline, pipeRadius, false);
+        }
+        else if (centerline instanceof CurvePrimitive) {
+            const builder = PolyfaceBuilder.create();
+            builder.addMiteredPipes(centerline, pipeRadius);
+            return builder.claimPolyface();
+        }
+        else if (centerline instanceof CurveChain) {
+            const result = [];
+            for (const p of centerline.children) {
+                const pipe = this.createPipeSegments(p, pipeRadius);
+                this.appendGeometryQueryArray(pipe, result);
+            }
+            return result;
+        }
+        return undefined;
+    }
+    /**
+     * * Create section arcs for mitered pipe.
+     * * At each end of each pipe, the pipe is cut by the plane that bisects the angle between successive pipe centerlines.
+     * * The arc definitions are constructed so that lines between corresponding fractional positions on the arcs are
+     *     axial lines on the pipes.
+     *   * This means that each arc definition axes (aka vector0 and vector90) are _not_ perpendicular to each other.
+     * @param centerline centerline of pipe
+     * @param radius radius of arcs
+     */
+    static createMiteredPipeSections(centerline, radius) {
+        const arcs = [];
+        if (centerline.length < 2)
+            return [];
+        const vectorAB = Vector3d.create();
+        const vectorBC = Vector3d.create();
+        const bisector = Vector3d.create();
+        const vector0 = Vector3d.create();
+        const vector90 = Vector3d.create();
+        const currentCenter = centerline.getPoint3dAtUncheckedPointIndex(0);
+        centerline.vectorIndexIndex(0, 1, vectorBC);
+        const baseFrame = Matrix3d.createRigidHeadsUp(vectorBC, AxisOrder.ZXY);
+        baseFrame.columnX(vector0);
+        baseFrame.columnY(vector90);
+        vector0.scaleInPlace(radius);
+        vector90.scaleInPlace(radius);
+        // circular section on base plane ....
+        const ellipseA = Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360());
+        arcs.push(ellipseA);
+        for (let i = 1; i < centerline.length; i++) {
+            vectorAB.setFromVector3d(vectorBC);
+            centerline.getPoint3dAtUncheckedPointIndex(i, currentCenter);
+            if (i + 1 < centerline.length) {
+                centerline.vectorIndexIndex(i, i + 1, vectorBC);
+            }
+            else {
+                vectorBC.setFromVector3d(vectorAB);
+            }
+            if (vectorAB.normalizeInPlace() && vectorBC.normalizeInPlace()) {
+                vectorAB.interpolate(0.5, vectorBC, bisector);
+                // On the end ellipse for this pipe section. ..
+                // center comes directly from centerline[i]
+                // vector0 and vector90 are obtained by sweeping the corresponding vectors of the start ellipse to the split plane.
+                moveVectorToPlane(vector0, vectorAB, bisector, vector0);
+                moveVectorToPlane(vector90, vectorAB, bisector, vector90);
+                arcs.push(Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360()));
+            }
+        }
+        return arcs;
+    }
+    /**
+     * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep
+     * * The vector from start point to center is in the direction of upVector crossed with tangentA.
+     * @param pointA start point
+     * @param tangentA vector in tangent direction at the start
+     * @param radius signed radius.
+     * @param upVector optional out-of-plane vector.  Defaults to positive Z
+     * @param sweep angular range.  If single `Angle` is given, start angle is at 0 degrees (the start point).
+     *
+     */
+    static createArcPointTangentRadius(pointA, tangentA, radius, upVector, sweep) {
+        if (upVector === undefined)
+            upVector = Vector3d.unitZ();
+        const vector0 = upVector.unitCrossProduct(tangentA);
+        if (vector0 === undefined)
+            return undefined;
+        const center = pointA.plusScaled(vector0, radius);
+        // reverse the A-to-center vector and bring it up to scale ...
+        vector0.scaleInPlace(-radius);
+        const vector90 = tangentA.scaleToLength(Math.abs(radius)); // (Cannot fail -- prior unitCrossProduct would have failed first)
+        return Arc3d.create(center, vector0, vector90, AngleSweep.create(sweep));
+    }
+    /**
+     * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.
+     * * First spiral begins at given start point.
+     * * first tangent aims at shoulder
+     * * outbound spiral joins line from shoulder to target.
+     * @param spiralType name of spiral type.  THIS MUST BE AN "Integrated" SPIRAL TYPE
+     * @param startPoint inbound start point.
+     * @param shoulder point target point for (both) spiral-to-line tangencies
+     * @return array with the computed spirals, or undefined if failure.
+     */
+    static createLineSpiralSpiralLine(spiralType, startPoint, shoulderPoint, targetPoint) {
+        const vectorAB = Vector3d.createStartEnd(startPoint, shoulderPoint);
+        const vectorBC0 = Vector3d.createStartEnd(shoulderPoint, targetPoint);
+        const referenceLength = vectorAB.magnitude();
+        const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);
+        const lineTurnRadians = vectorAB.angleToXY(vectorBC0);
+        const spiralTurnRadians = 0.5 * lineTurnRadians.radians;
+        const radiansBC = radiansAB + lineTurnRadians.radians;
+        const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));
+        const frameA = Transform.createRefs(startPoint.clone(), axesA);
+        // We know how much it has to turn, and but not the length or end radius.
+        // make a spiral of referenceLength and scale it back to the junction line
+        const spiralARefLength = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined, Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength, undefined, frameA);
+        if (spiralARefLength) {
+            const midPlanePerpendicularRadians = radiansAB + spiralTurnRadians;
+            const midPlanePerpendicularVector = Vector3d.createPolar(1.0, Angle.createRadians(midPlanePerpendicularRadians));
+            const altitudeB = midPlanePerpendicularVector.dotProductStartEnd(startPoint, shoulderPoint);
+            const altitudeSpiralEnd = midPlanePerpendicularVector.dotProductStartEnd(startPoint, spiralARefLength.endPoint());
+            const scaleFactor = altitudeB / altitudeSpiralEnd;
+            const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined, Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength * scaleFactor, undefined, frameA);
+            const distanceAB = vectorAB.magnitude();
+            const vectorBC = Vector3d.createStartEnd(shoulderPoint, targetPoint);
+            vectorBC.scaleToLength(distanceAB, vectorBC);
+            const pointC = shoulderPoint.plus(vectorBC);
+            const axesC = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansBC + Math.PI));
+            const frameC = Transform.createRefs(pointC, axesC);
+            const spiralC = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, -spiralA.radius01.x1, Angle.zero(), undefined, spiralA.curveLength(), Segment1d.create(1, 0), frameC);
+            return [spiralA, spiralC];
+        }
+        return undefined;
+    }
+    /**
+     * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.
+     * * Spiral length is given.
+     * * tangency points float on both lines.
+     * @param spiralType name of spiral type.  THIS MUST BE AN "Integrated" SPIRAL TYPE
+     * @param pointA inbound start point.
+     * @param shoulder point target point for (both) spiral-to-line tangencies
+     * @param spiralLength for each part of the spiral pair.
+     * @return array with the computed spirals, or undefined if failure.
+     */
+    static createLineSpiralSpiralLineWithSpiralLength(spiralType, pointA, pointB, pointC, spiralLength) {
+        const vectorAB = Vector3d.createStartEnd(pointA, pointB);
+        const vectorBC = Vector3d.createStartEnd(pointB, pointC);
+        const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);
+        const lineTurnAngle = vectorAB.angleToXY(vectorBC);
+        const spiralTurnRadians = 0.5 * lineTurnAngle.radians;
+        const bisectorRadians = 0.5 * (Math.PI - lineTurnAngle.radians);
+        const radiansCB = Math.atan2(-vectorBC.y, -vectorBC.x);
+        const spiralAB0 = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians), spiralLength, undefined, Transform.createIdentity());
+        if (spiralAB0) {
+            const localEndPoint = spiralAB0.fractionToPoint(1);
+            const distanceAB = pointA.distance(pointB);
+            const distanceCB = pointC.distance(pointB);
+            // The spiral eventually has to end on the bisector, at localEndPoint.y height from the inbound line
+            // distance from shoulder to projection of that point to point E on the inbound line is
+            const distanceBE = localEndPoint.y / Math.tan(bisectorRadians);
+            const xFractionAB = Geometry.conditionalDivideFraction(distanceAB - distanceBE - localEndPoint.x, distanceAB);
+            const xFractionCB = Geometry.conditionalDivideFraction(distanceCB - distanceBE - localEndPoint.x, distanceCB);
+            if (xFractionAB !== undefined && xFractionCB !== undefined) {
+                const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));
+                const frameAOrigin = pointA.interpolate(xFractionAB, pointB);
+                const frameA = Transform.createRefs(frameAOrigin, axesA);
+                const spiralAB = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians), spiralLength, undefined, frameA);
+                const axesB = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansCB));
+                const frameBOrigin = pointC.interpolate(xFractionCB, pointB);
+                const frameB = Transform.createRefs(frameBOrigin, axesB);
+                const spiralBC = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(-spiralTurnRadians), spiralLength, undefined, frameB);
+                return [spiralAB, spiralBC];
+            }
+        }
+        return undefined;
+    }
+    /**
+     * Compute 2 spirals and an arc (all in XY) for a symmetric line-to-line transition.
+     * Spiral lengths and arc radius are given.   (e.g. from design speed standards.)
+     * @param spiralType name of spiral type.  THIS MUST BE AN "Integrated" SPIRAL TYPE
+     * @param pointA inbound start point.
+     * @param pointB shoulder (target)  point for (both) spiral-to-line tangencies
+     * @param lengthA inbound spiral length
+     * @param lengthB outbound spiral length
+     * @return array with the computed spirals, or undefined if failure.
+     */
+    static createLineSpiralArcSpiralLine(spiralType, pointA, pointB, pointC, lengthA, lengthB, arcRadius) {
+        const vectorAB = Vector3d.createStartEnd(pointA, pointB);
+        vectorAB.z = 0;
+        const vectorCB = Vector3d.createStartEnd(pointC, pointB);
+        vectorCB.z = 0;
+        const unitAB = vectorAB.normalize();
+        const unitCB = vectorCB.normalize();
+        if (unitAB === undefined || unitCB === undefined)
+            return undefined;
+        const unitPerpAB = unitAB.unitPerpendicularXY();
+        const unitPerpCB = unitCB.unitPerpendicularXY();
+        const thetaABC = vectorAB.angleToXY(vectorCB);
+        const sideA = Geometry.split3WaySign(thetaABC.radians, 1, -1, -1);
+        const sideB = -sideA;
+        const radiusA = sideA * Math.abs(arcRadius);
+        const radiusB = sideB * Math.abs(arcRadius);
+        const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, radiusA, Angle.zero(), undefined, lengthA, undefined, Transform.createIdentity());
+        const spiralB = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, radiusB, Angle.zero(), undefined, lengthB, undefined, Transform.createIdentity());
+        const spiralEndA = spiralA.fractionToPointAndUnitTangent(1.0);
+        const spiralEndB = spiralB.fractionToPointAndUnitTangent(1.0);
+        // From the end of spiral, step away to arc center (and this is in local coordinates of each spiral)
+        const sA = spiralEndA.origin.x - radiusA * spiralEndA.direction.y;
+        const tA = spiralEndA.origin.y + radiusA * spiralEndA.direction.x;
+        const sB = spiralEndB.origin.x - radiusB * spiralEndB.direction.y;
+        const tB = spiralEndB.origin.y + radiusB * spiralEndB.direction.x;
+        // Those local coordinates are rotated to unitAB and unitBC ...
+        const vectorA = Vector3d.createAdd2Scaled(unitAB, sA, unitPerpAB, tA);
+        const vectorB = Vector3d.createAdd2Scaled(unitCB, sB, unitPerpCB, tB);
+        const uv = Vector2d.create();
+        if (SmallSystem.linearSystem2d(unitAB.x, -unitCB.x, unitAB.y, -unitCB.y, vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {
+            const tangencyAB = pointB.plusScaled(unitAB, uv.x);
+            const tangencyCB = pointB.plusScaled(unitCB, uv.y);
+            const frameA = Transform.createOriginAndMatrixColumns(tangencyAB, unitAB, unitPerpAB, Vector3d.unitZ());
+            const frameB = Transform.createOriginAndMatrixColumns(tangencyCB, unitCB, unitPerpCB, Vector3d.unitZ());
+            spiralA.tryTransformInPlace(frameA);
+            spiralB.tryTransformInPlace(frameB);
+            const rayA1 = spiralA.fractionToPointAndUnitTangent(1.0);
+            const rayB0 = spiralB.fractionToPointAndUnitTangent(1.0);
+            rayB0.direction.scaleInPlace(-1.0);
+            const sweep = rayA1.direction.angleToXY(rayB0.direction);
+            if (radiusA < 0)
+                sweep.setRadians(-sweep.radians);
+            const arc = CurveFactory.createArcPointTangentRadius(rayA1.origin, rayA1.direction, radiusA, undefined, sweep);
+            return [spiralA, arc, spiralB];
+        }
+        return undefined;
+    }
+}
+/**
+ * Starting at vectorR, move parallel to vectorV until perpendicular to planeNormal
+ */
+function moveVectorToPlane(vectorR, vectorV, planeNormal, result) {
+    // find s such that (vectorR + s * vectorV) DOT planeNormal = 0.
+    const dotRN = vectorR.dotProduct(planeNormal);
+    const dotVN = vectorV.dotProduct(planeNormal);
+    const s = Geometry.safeDivideFraction(dotRN, dotVN, 0.0);
+    return vectorR.plusScaled(vectorV, -s, result);
+}
+//# sourceMappingURL=CurveFactory.js.map

package/lib/esm/curve/CurveFactory.js.map

@@ -0,0 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\n// import { Geometry, Angle, AngleSweep } from \"../Geometry\";\r\n\r\nimport { AxisIndex, AxisOrder, Geometry } from \"../Geometry\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { Ellipsoid, GeodesicPathPoint } from \"../geometry3d/Ellipsoid\";\r\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3dArrayCarrier } from \"../geometry3d/Point3dArrayCarrier\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { PolyfaceBuilder } from \"../polyface/PolyfaceBuilder\";\r\nimport { Cone } from \"../solid/Cone\";\r\nimport { TorusPipe } from \"../solid/TorusPipe\";\r\nimport { Arc3d, ArcBlendData } from \"./Arc3d\";\r\nimport { CurveChain } from \"./CurveCollection\";\r\nimport { CurvePrimitive } from \"./CurvePrimitive\";\r\nimport { GeometryQuery } from \"./GeometryQuery\";\r\nimport { LineSegment3d } from \"./LineSegment3d\";\r\nimport { LineString3d } from \"./LineString3d\";\r\nimport { Loop } from \"./Loop\";\r\nimport { Path } from \"./Path\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { IntegratedSpiralTypeName } from \"./spiral/TransitionSpiral3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { IntegratedSpiral3d } from \"./spiral/IntegratedSpiral3d\";\r\nimport { Segment1d } from \"../geometry3d/Segment1d\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Vector2d } from \"../geometry3d/Point2dVector2d\";\r\n\r\n/**\r\n * The `CurveFactory` class contains methods for specialized curve constructions.\r\n * @public\r\n */\r\nexport class CurveFactory {\r\n  /** (cautiously) construct and save a line segment between fractional positions. */\r\n  private static addPartialSegment(path: Path, allowBackup: boolean, pointA: Point3d | undefined, pointB: Point3d | undefined, fraction0: number, fraction1: number) {\r\n    if (allowBackup || (fraction1 > fraction0)) {\r\n      if (pointA !== undefined && pointB !== undefined && !Geometry.isAlmostEqualNumber(fraction0, fraction1))\r\n        path.tryAddChild(LineSegment3d.create(pointA.interpolate(fraction0, pointB), pointA.interpolate(fraction1, pointB)));\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, and another point (endpoint) on the arc.\r\n   * @param pointA\r\n   * @param tangentA\r\n   * @param pointB\r\n   */\r\n  public static createArcPointTangentPoint(pointA: Point3d, tangentA: Vector3d, pointB: Point3d): Arc3d | undefined {\r\n    const vectorV = Vector3d.createStartEnd(pointA, pointB);\r\n    const frame = Matrix3d.createRigidFromColumns(tangentA, vectorV, AxisOrder.XYZ);\r\n    if (frame !== undefined) {\r\n      const vv = vectorV.dotProduct(vectorV);\r\n      const vw = frame.dotColumnY(vectorV);\r\n      const alpha = Geometry.conditionalDivideCoordinate(vv, 2 * vw);\r\n      if (alpha !== undefined) {\r\n        const vector0 = frame.columnY();\r\n        vector0.scaleInPlace(-alpha);\r\n        const vector90 = frame.columnX();\r\n        vector90.scaleInPlace(alpha);\r\n        const centerToEnd = vector0.plus(vectorV);\r\n        const sweepAngle = vector0.angleTo(centerToEnd);\r\n        let sweepRadians = sweepAngle.radians;  // That's always positive and less than PI.\r\n        if (tangentA.dotProduct(centerToEnd) < 0.0) // ah, sweepRadians is the wrong way\r\n          sweepRadians = 2.0 * Math.PI - sweepRadians;\r\n        const center = pointA.plusScaled(vector0, -1.0);\r\n        return Arc3d.create(center, vector0, vector90, AngleSweep.createStartEndRadians(0.0, sweepRadians));\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Construct a sequence of alternating lines and arcs with the arcs creating tangent transition between consecutive edges.\r\n   *  * If the radius parameter is a number, that radius is used throughout.\r\n   *  * If the radius parameter is an array of numbers, `radius[i]` is applied at `point[i]`.\r\n   *    * Note that since no fillet is constructed at the initial or final point, those entries in `radius[]` are never referenced.\r\n   *    * A zero radius for any point indicates to leave the as a simple corner.\r\n   * @param points point source\r\n   * @param radius fillet radius or array of radii indexed to correspond to the points.\r\n   * @param allowBackupAlongEdge true to allow edges to be created going \"backwards\" along edges if needed to create the blend.\r\n   */\r\n  public static createFilletsInLineString(points: LineString3d | IndexedXYZCollection | Point3d[], radius: number | number[], allowBackupAlongEdge: boolean = true): Path | undefined {\r\n    if (Array.isArray(points))\r\n      return this.createFilletsInLineString(new Point3dArrayCarrier(points), radius, allowBackupAlongEdge);\r\n    if (points instanceof LineString3d)\r\n      return this.createFilletsInLineString(points.packedPoints, radius, allowBackupAlongEdge);\r\n\r\n    const n = points.length;\r\n    if (n <= 1)\r\n      return undefined;\r\n    const pointA = points.getPoint3dAtCheckedPointIndex(0)!;\r\n    const pointB = points.getPoint3dAtCheckedPointIndex(1)!;\r\n    // remark: n=2 and n=3 cases should fall out from loop logic\r\n    const blendArray: ArcBlendData[] = [];\r\n    // build one-sided blends at each end . .\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointA.clone() });\r\n\r\n    for (let i = 1; i + 1 < n; i++) {\r\n      const pointC = points.getPoint3dAtCheckedPointIndex(i + 1)!;\r\n      let thisRadius = 0;\r\n      if (Array.isArray(radius)) {\r\n        if (i < radius.length)\r\n          thisRadius = radius[i];\r\n      } else if (Number.isFinite(radius))\r\n        thisRadius = radius;\r\n\r\n      if (thisRadius !== 0.0)\r\n        blendArray.push(Arc3d.createFilletArc(pointA, pointB, pointC, thisRadius));\r\n      else\r\n        blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n      pointA.setFromPoint3d(pointB);\r\n      pointB.setFromPoint3d(pointC);\r\n    }\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n    if (!allowBackupAlongEdge) {\r\n      // suppress arcs that have overlap with both neighbors or flood either neighbor ..\r\n      for (let i = 1; i + 1 < n; i++) {\r\n        const b = blendArray[i];\r\n        if (b.fraction10 > 1.0\r\n          || b.fraction12 > 1.0\r\n          || 1.0 - b.fraction10 < blendArray[i - 1].fraction12\r\n          || b.fraction12 > 1.0 - blendArray[i + 1].fraction10) {\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      }\r\n      /* The \"1-b\" logic above prevents this loop from ever doing anything.\r\n      // on edge with conflict, suppress the arc with larger fraction\r\n      for (let i = 1; i < n; i++) {\r\n        const b0 = blendArray[i - 1];\r\n        const b1 = blendArray[i];\r\n        if (b0.fraction12 > 1 - b1.fraction10) {\r\n          const b = b0.fraction12 > b1.fraction12 ? b1 : b0;\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      } */\r\n    }\r\n    const path = Path.create();\r\n    this.addPartialSegment(path, allowBackupAlongEdge, blendArray[0].point, blendArray[1].point, blendArray[0].fraction12, 1.0 - blendArray[1].fraction10);\r\n    // add each path and successor edge ...\r\n    for (let i = 1; i + 1 < points.length; i++) {\r\n      const b0 = blendArray[i];\r\n      const b1 = blendArray[i + 1];\r\n      path.tryAddChild(b0.arc);\r\n      this.addPartialSegment(path, allowBackupAlongEdge, b0.point, b1.point, b0.fraction12, 1.0 - b1.fraction10);\r\n    }\r\n    return path;\r\n  }\r\n\r\n  /** Create a `Loop` with given xy corners and fixed z.\r\n   * * The corners always proceed counter clockwise from lower left.\r\n   * * If the radius is too large for the outer rectangle size, it is reduced to half of the the smaller x or y size.\r\n  */\r\n  public static createRectangleXY(x0: number, y0: number, x1: number, y1: number, z: number = 0, filletRadius?: number): Loop {\r\n    let radius = Geometry.correctSmallMetricDistance(filletRadius);\r\n    const xMin = Math.min(x0, x1);\r\n    const xMax = Math.max(x0, x1);\r\n    const yMin = Math.min(y0, y1);\r\n    const yMax = Math.max(y0, y1);\r\n    radius = Math.min(Math.abs(radius), 0.5 * (xMax - xMin), 0.5 * (yMax - yMin));\r\n    if (radius === 0.0)\r\n      return Loop.createPolygon([Point3d.create(xMin, yMin, z), Point3d.create(xMax, yMin, z), Point3d.create(xMax, yMax, z), Point3d.create(xMin, yMax, z), Point3d.create(xMin, yMin, z)]);\r\n    else {\r\n      const vectorU = Vector3d.create(radius, 0, 0);\r\n      const vectorV = Vector3d.create(0, radius, 0);\r\n      const x0A = xMin + radius;\r\n      const y0A = yMin + radius;\r\n      const x1A = xMax - radius;\r\n      const y1A = yMax - radius;\r\n      const centers = [Point3d.create(x1A, y1A, z), Point3d.create(x0A, y1A, z), Point3d.create(x0A, y0A, z), Point3d.create(x1A, y0A, z)];\r\n      const loop = Loop.create();\r\n      for (let i = 0; i < 4; i++) {\r\n        const center = centers[i];\r\n        const nextCenter = centers[(i + 1) % 4];\r\n        const edgeVector = Vector3d.createStartEnd(center, nextCenter);\r\n        const arc = Arc3d.create(center, vectorU, vectorV, AngleSweep.createStartEndDegrees(0, 90));\r\n        loop.tryAddChild(arc);\r\n        const arcEnd = arc.endPoint();\r\n        if (!edgeVector.isAlmostZero)\r\n          loop.tryAddChild(LineSegment3d.create(arcEnd, arcEnd.plus(edgeVector)));\r\n        vectorU.rotate90CCWXY(vectorU);\r\n        vectorV.rotate90CCWXY(vectorV);\r\n      }\r\n      return loop;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * If `arcB` is a continuation of `arcA`, extend `arcA` (in place) to include the range of `arcB`\r\n   * * This only succeeds if the two arcs are part of identical complete arcs and end of `arcA` matches the beginning of `arcB`.\r\n   * * \"Reversed\"\r\n   * @param arcA\r\n   * @param arcB\r\n   */\r\n  public static appendToArcInPlace(arcA: Arc3d, arcB: Arc3d, allowReverse: boolean = false): boolean {\r\n    if (arcA.center.isAlmostEqual(arcB.center)) {\r\n      const sweepSign = Geometry.split3WaySign(arcA.sweep.sweepRadians * arcB.sweep.sweepRadians, -1, 0, 1);\r\n      // evaluate derivatives wrt radians (not fraction!), but adjust direction for sweep signs\r\n      const endA = arcA.angleToPointAndDerivative(arcA.sweep.fractionToAngle(1.0));\r\n      if (arcA.sweep.sweepRadians < 0)\r\n        endA.direction.scaleInPlace(-1.0);\r\n      const startB = arcB.angleToPointAndDerivative(arcB.sweep.fractionToAngle(0.0));\r\n      if (arcB.sweep.sweepRadians < 0)\r\n        startB.direction.scaleInPlace(-1.0);\r\n\r\n      if (endA.isAlmostEqual(startB)) {\r\n        arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians + sweepSign * arcB.sweep.sweepRadians);\r\n        return true;\r\n      }\r\n      // Also ok if negated tangent . ..\r\n      if (allowReverse) {\r\n        startB.direction.scaleInPlace(-1.0);\r\n        if (endA.isAlmostEqual(startB)) {\r\n          arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians - sweepSign * arcB.sweep.sweepRadians);\r\n          return true;\r\n        }\r\n      }\r\n\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return a `Path` containing arcs are on the surface of an ellipsoid and pass through a sequence of points.\r\n   * * Each arc passes through the two given endpoints and in the plane containing the true surface normal at given `fractionForIntermediateNormal`\r\n   * @param ellipsoid\r\n   * @param pathPoints\r\n   * @param fractionForIntermediateNormal fractional position for surface normal used to create the section plane.\r\n   */\r\n  public static assembleArcChainOnEllipsoid(ellipsoid: Ellipsoid, pathPoints: GeodesicPathPoint[], fractionForIntermediateNormal: number = 0.5): Path {\r\n    const arcPath = Path.create();\r\n    for (let i = 0; i + 1 < pathPoints.length; i++) {\r\n      const arc = ellipsoid.sectionArcWithIntermediateNormal(\r\n        pathPoints[i].toAngles(),\r\n        fractionForIntermediateNormal,\r\n        pathPoints[i + 1].toAngles());\r\n      arcPath.tryAddChild(arc);\r\n    }\r\n    return arcPath;\r\n  }\r\n\r\n  private static appendGeometryQueryArray(candidate: GeometryQuery | GeometryQuery[] | undefined, result: GeometryQuery[]) {\r\n    if (candidate instanceof GeometryQuery)\r\n      result.push(candidate);\r\n    else if (Array.isArray(candidate)) {\r\n      for (const p of candidate)\r\n        this.appendGeometryQueryArray(p, result);\r\n    }\r\n\r\n  }\r\n\r\n  /**\r\n   * Create solid primitives for pipe segments (e.g. Cone or TorusPipe) around line and arc primitives.\r\n   * @param centerline centerline geometry/\r\n   * @param pipeRadius radius of pipe.\r\n   */\r\n  public static createPipeSegments(centerline: CurvePrimitive | CurveChain, pipeRadius: number): GeometryQuery | GeometryQuery[] | undefined {\r\n    if (centerline instanceof LineSegment3d) {\r\n      return Cone.createAxisPoints(centerline.startPoint(), centerline.endPoint(), pipeRadius, pipeRadius, false);\r\n    } else if (centerline instanceof Arc3d) {\r\n      return TorusPipe.createAlongArc(centerline, pipeRadius, false);\r\n    } else if (centerline instanceof CurvePrimitive) {\r\n      const builder = PolyfaceBuilder.create();\r\n      builder.addMiteredPipes(centerline, pipeRadius);\r\n      return builder.claimPolyface();\r\n    } else if (centerline instanceof CurveChain) {\r\n      const result: GeometryQuery[] = [];\r\n      for (const p of centerline.children) {\r\n        const pipe = this.createPipeSegments(p, pipeRadius);\r\n        this.appendGeometryQueryArray(pipe, result);\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * * Create section arcs for mitered pipe.\r\n   * * At each end of each pipe, the pipe is cut by the plane that bisects the angle between successive pipe centerlines.\r\n   * * The arc definitions are constructed so that lines between corresponding fractional positions on the arcs are\r\n   *     axial lines on the pipes.\r\n   *   * This means that each arc definition axes (aka vector0 and vector90) are _not_ perpendicular to each other.\r\n   * @param centerline centerline of pipe\r\n   * @param radius radius of arcs\r\n   */\r\n  public static createMiteredPipeSections(centerline: IndexedXYZCollection, radius: number): Arc3d[] {\r\n    const arcs: Arc3d[] = [];\r\n    if (centerline.length < 2)\r\n      return [];\r\n    const vectorAB = Vector3d.create();\r\n    const vectorBC = Vector3d.create();\r\n    const bisector = Vector3d.create();\r\n    const vector0 = Vector3d.create();\r\n    const vector90 = Vector3d.create();\r\n    const currentCenter = centerline.getPoint3dAtUncheckedPointIndex(0);\r\n    centerline.vectorIndexIndex(0, 1, vectorBC)!;\r\n    const baseFrame = Matrix3d.createRigidHeadsUp(vectorBC, AxisOrder.ZXY);\r\n    baseFrame.columnX(vector0);\r\n    baseFrame.columnY(vector90);\r\n    vector0.scaleInPlace(radius);\r\n    vector90.scaleInPlace(radius);\r\n    // circular section on base plane ....\r\n    const ellipseA = Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360());\r\n    arcs.push(ellipseA);\r\n    for (let i = 1; i < centerline.length; i++) {\r\n      vectorAB.setFromVector3d(vectorBC);\r\n      centerline.getPoint3dAtUncheckedPointIndex(i, currentCenter);\r\n      if (i + 1 < centerline.length) {\r\n        centerline.vectorIndexIndex(i, i + 1, vectorBC)!;\r\n      } else {\r\n        vectorBC.setFromVector3d(vectorAB);\r\n      }\r\n      if (vectorAB.normalizeInPlace() && vectorBC.normalizeInPlace()) {\r\n        vectorAB.interpolate(0.5, vectorBC, bisector);\r\n        // On the end ellipse for this pipe section. ..\r\n        // center comes directly from centerline[i]\r\n        // vector0 and vector90 are obtained by sweeping the corresponding vectors of the start ellipse to the split plane.\r\n        moveVectorToPlane(vector0, vectorAB, bisector, vector0);\r\n        moveVectorToPlane(vector90, vectorAB, bisector, vector90);\r\n        arcs.push(Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360()));\r\n      }\r\n    }\r\n    return arcs;\r\n  }\r\n\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep\r\n   * * The vector from start point to center is in the direction of upVector crossed with tangentA.\r\n   * @param pointA start point\r\n   * @param tangentA vector in tangent direction at the start\r\n   * @param radius signed radius.\r\n   * @param upVector optional out-of-plane vector.  Defaults to positive Z\r\n   * @param sweep angular range.  If single `Angle` is given, start angle is at 0 degrees (the start point).\r\n   *\r\n   */\r\n  public static createArcPointTangentRadius(pointA: Point3d, tangentA: Vector3d, radius: number, upVector?: Vector3d, sweep?: Angle | AngleSweep): Arc3d | undefined {\r\n    if (upVector === undefined)\r\n      upVector = Vector3d.unitZ();\r\n    const vector0 = upVector.unitCrossProduct(tangentA);\r\n    if (vector0 === undefined)\r\n      return undefined;\r\n    const center = pointA.plusScaled(vector0, radius);\r\n    // reverse the A-to-center vector and bring it up to scale ...\r\n    vector0.scaleInPlace(-radius);\r\n    const vector90 = tangentA.scaleToLength(Math.abs(radius))!; // (Cannot fail -- prior unitCrossProduct would have failed first)\r\n    return Arc3d.create(center, vector0, vector90, AngleSweep.create(sweep));\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * First spiral begins at given start point.\r\n   * * first tangent aims at shoulder\r\n   * * outbound spiral joins line from shoulder to target.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param startPoint inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    startPoint: Point3d,\r\n    shoulderPoint: Point3d,\r\n    targetPoint: Point3d,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(startPoint, shoulderPoint);\r\n    const vectorBC0 = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n    const referenceLength = vectorAB.magnitude();\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnRadians = vectorAB.angleToXY(vectorBC0);\r\n    const spiralTurnRadians = 0.5 * lineTurnRadians.radians;\r\n    const radiansBC = radiansAB + lineTurnRadians.radians;\r\n    const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n    const frameA = Transform.createRefs(startPoint.clone(), axesA);\r\n    // We know how much it has to turn, and but not the length or end radius.\r\n    // make a spiral of referenceLength and scale it back to the junction line\r\n    const spiralARefLength = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n      Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength, undefined, frameA);\r\n    if (spiralARefLength) {\r\n      const midPlanePerpendicularRadians = radiansAB + spiralTurnRadians;\r\n      const midPlanePerpendicularVector = Vector3d.createPolar(1.0, Angle.createRadians(midPlanePerpendicularRadians));\r\n      const altitudeB = midPlanePerpendicularVector.dotProductStartEnd(startPoint, shoulderPoint);\r\n      const altitudeSpiralEnd = midPlanePerpendicularVector.dotProductStartEnd(startPoint, spiralARefLength.endPoint());\r\n      const scaleFactor = altitudeB / altitudeSpiralEnd;\r\n      const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n        Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength * scaleFactor, undefined, frameA)!;\r\n      const distanceAB = vectorAB.magnitude();\r\n      const vectorBC = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n      vectorBC.scaleToLength(distanceAB, vectorBC);\r\n      const pointC = shoulderPoint.plus(vectorBC);\r\n      const axesC = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansBC + Math.PI));\r\n      const frameC = Transform.createRefs(pointC, axesC);\r\n      const spiralC = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n        0, -spiralA.radius01.x1, Angle.zero(), undefined, spiralA.curveLength(), Segment1d.create(1, 0), frameC)!;\r\n      return [spiralA, spiralC];\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * Spiral length is given.\r\n   * * tangency points float on both lines.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @param spiralLength for each part of the spiral pair.\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLineWithSpiralLength(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    spiralLength: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB);\r\n    const vectorBC = Vector3d.createStartEnd(pointB, pointC);\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnAngle = vectorAB.angleToXY(vectorBC);\r\n    const spiralTurnRadians = 0.5 * lineTurnAngle.radians;\r\n    const bisectorRadians = 0.5 * (Math.PI - lineTurnAngle.radians);\r\n    const radiansCB = Math.atan2(-vectorBC.y, -vectorBC.x);\r\n    const spiralAB0 = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n      spiralLength, undefined, Transform.createIdentity());\r\n    if (spiralAB0) {\r\n      const localEndPoint = spiralAB0.fractionToPoint(1);\r\n      const distanceAB = pointA.distance(pointB);\r\n      const distanceCB = pointC.distance(pointB);\r\n      // The spiral eventually has to end on the bisector, at localEndPoint.y height from the inbound line\r\n      // distance from shoulder to projection of that point to point E on the inbound line is\r\n      const distanceBE = localEndPoint.y / Math.tan(bisectorRadians);\r\n      const xFractionAB = Geometry.conditionalDivideFraction(distanceAB - distanceBE - localEndPoint.x, distanceAB);\r\n      const xFractionCB = Geometry.conditionalDivideFraction(distanceCB - distanceBE - localEndPoint.x, distanceCB);\r\n      if (xFractionAB !== undefined && xFractionCB !== undefined) {\r\n        const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n        const frameAOrigin = pointA.interpolate(xFractionAB, pointB);\r\n        const frameA = Transform.createRefs(frameAOrigin, axesA);\r\n        const spiralAB = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n          spiralLength, undefined, frameA)!;\r\n        const axesB = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansCB));\r\n        const frameBOrigin = pointC.interpolate(xFractionCB, pointB);\r\n        const frameB = Transform.createRefs(frameBOrigin, axesB);\r\n        const spiralBC = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(-spiralTurnRadians),\r\n          spiralLength, undefined, frameB)!;\r\n        return [spiralAB, spiralBC];\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals and an arc (all in XY) for a symmetric line-to-line transition.\r\n   * Spiral lengths and arc radius are given.   (e.g. from design speed standards.)\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param pointB shoulder (target)  point for (both) spiral-to-line tangencies\r\n   * @param lengthA inbound spiral length\r\n   * @param lengthB outbound spiral length\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralArcSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    lengthA: number,\r\n    lengthB: number,\r\n    arcRadius: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB); vectorAB.z = 0;\r\n    const vectorCB = Vector3d.createStartEnd(pointC, pointB); vectorCB.z = 0;\r\n    const unitAB = vectorAB.normalize();\r\n    const unitCB = vectorCB.normalize();\r\n    if (unitAB === undefined || unitCB === undefined)\r\n      return undefined;\r\n    const unitPerpAB = unitAB.unitPerpendicularXY();\r\n    const unitPerpCB = unitCB.unitPerpendicularXY();\r\n    const thetaABC = vectorAB.angleToXY(vectorCB);\r\n    const sideA = Geometry.split3WaySign(thetaABC.radians, 1, -1, -1);\r\n    const sideB = - sideA;\r\n    const radiusA = sideA * Math.abs(arcRadius);\r\n    const radiusB = sideB * Math.abs(arcRadius);\r\n    const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusA, Angle.zero(), undefined, lengthA, undefined, Transform.createIdentity())!;\r\n    const spiralB = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusB, Angle.zero(), undefined, lengthB, undefined, Transform.createIdentity())!;\r\n    const spiralEndA = spiralA.fractionToPointAndUnitTangent(1.0);\r\n    const spiralEndB = spiralB.fractionToPointAndUnitTangent(1.0);\r\n    // From the end of spiral, step away to arc center (and this is in local coordinates of each spiral)\r\n    const sA = spiralEndA.origin.x - radiusA * spiralEndA.direction.y;\r\n    const tA = spiralEndA.origin.y + radiusA * spiralEndA.direction.x;\r\n\r\n    const sB = spiralEndB.origin.x - radiusB * spiralEndB.direction.y;\r\n    const tB = spiralEndB.origin.y + radiusB * spiralEndB.direction.x;\r\n\r\n    // Those local coordinates are rotated to unitAB and unitBC ...\r\n    const vectorA = Vector3d.createAdd2Scaled(unitAB, sA, unitPerpAB, tA);\r\n    const vectorB = Vector3d.createAdd2Scaled(unitCB, sB, unitPerpCB, tB);\r\n    const uv = Vector2d.create();\r\n    if (SmallSystem.linearSystem2d(\r\n      unitAB.x, -unitCB.x,\r\n      unitAB.y, -unitCB.y,\r\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {\r\n      const tangencyAB = pointB.plusScaled(unitAB, uv.x);\r\n      const tangencyCB = pointB.plusScaled(unitCB, uv.y);\r\n      const frameA = Transform.createOriginAndMatrixColumns(tangencyAB, unitAB, unitPerpAB, Vector3d.unitZ());\r\n      const frameB = Transform.createOriginAndMatrixColumns(tangencyCB, unitCB, unitPerpCB, Vector3d.unitZ());\r\n      spiralA.tryTransformInPlace(frameA);\r\n      spiralB.tryTransformInPlace(frameB);\r\n      const rayA1 = spiralA.fractionToPointAndUnitTangent(1.0);\r\n      const rayB0 = spiralB.fractionToPointAndUnitTangent(1.0);\r\n      rayB0.direction.scaleInPlace(-1.0);\r\n      const sweep = rayA1.direction.angleToXY(rayB0.direction);\r\n      if (radiusA < 0)\r\n        sweep.setRadians(- sweep.radians);\r\n      const arc = CurveFactory.createArcPointTangentRadius(rayA1.origin, rayA1.direction, radiusA, undefined, sweep)!;\r\n      return [spiralA, arc, spiralB];\r\n    }\r\n    return undefined;\r\n  }\r\n}\r\n\r\n/**\r\n * Starting at vectorR, move parallel to vectorV until perpendicular to planeNormal\r\n */\r\nfunction moveVectorToPlane(vectorR: Vector3d, vectorV: Vector3d, planeNormal: Vector3d, result?: Vector3d): Vector3d {\r\n  // find s such that (vectorR + s * vectorV) DOT planeNormal = 0.\r\n  const dotRN = vectorR.dotProduct(planeNormal);\r\n  const dotVN = vectorV.dotProduct(planeNormal);\r\n  const s = Geometry.safeDivideFraction(dotRN, dotVN, 0.0);\r\n  return vectorR.plusScaled(vectorV, -s, result);\r\n}\r\n"]}