@itwin/core-geometry 4.0.0-dev.23 → 4.0.0-dev.28

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\n/* eslint-disable @typescript-eslint/naming-convention, no-empty, no-console*/\n\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\nimport { Geometry } from \"../Geometry\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { BandedSystem } from \"../numerics/BandedSystem\";\nimport { BSplineCurve3d } from \"./BSplineCurve\";\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\nimport { InterpolationCurve3dOptions, InterpolationCurve3dProps } from \"./InterpolationCurve3d\";\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\n\n/**\n * A class with static methods for creating B-spline curves.\n * @public\n */\nexport class BSplineCurveOps {\n  /**\n   * Greville knot algorithm: alternative to traditional c2 cubic algorithm allowing for any order, but no end conditions or periodicity.\n   * @param points pass-through points.\n   * @param order bspline order (1 more than degree)\n   */\n  public static createThroughPoints(points: IndexedXYZCollection | Point3d[], order: number): BSplineCurve3d | undefined {\n    const numPoints = points.length;\n    if (order > numPoints || order < 2)\n      return undefined;\n    const degree = order - 1;\n    const bw = 1 + 2 * degree;    // probably less than that . . just zeros at fringe.\n    const matrix = new Float64Array(bw * numPoints);\n    const basisFunctions = new Float64Array(order);\n    const rhs = new GrowableXYZArray();\n    const knots = KnotVector.createUniformClamped(numPoints, order - 1, 0.0, 1.0);\n    const xyz = Point3d.create();\n    for (let basePointIndex = 0; basePointIndex < numPoints; basePointIndex++) {\n      const u = knots.grevilleKnot(basePointIndex);\n      const spanIndex = knots.knotToLeftKnotIndex(u);\n      knots.evaluateBasisFunctions(spanIndex, u, basisFunctions);\n      // puzzlement .. how do the max points shift within the order spots?\n      let maxIndex = 0;\n      for (let i = 1; i < order; i++)\n        if (basisFunctions[i] > basisFunctions[maxIndex])\n          maxIndex = i;\n      const basisFunctionStartWithinRow = degree - maxIndex;\n      const rowStart = basePointIndex * bw;\n      for (let i = 0; i < order; i++) {\n        const realColumn = basePointIndex - degree + basisFunctionStartWithinRow + i;\n        if (rowStart + realColumn >= 0 && realColumn < numPoints)\n          matrix[rowStart + basisFunctionStartWithinRow + i] = basisFunctions[i];\n      }\n      if (points instanceof IndexedXYZCollection) {\n        rhs.push(points.getPoint3dAtUncheckedPointIndex(basePointIndex, xyz));\n      } else {\n        rhs.push(points[basePointIndex].clone());\n      }\n    }\n    const poles = BandedSystem.solveBandedSystemMultipleRHS(numPoints, bw, matrix, 3, rhs.float64Data());\n    if (poles) {\n      return BSplineCurve3d.create(poles, knots.knots, order);\n    }\n    return undefined;\n  }\n\n  /**\n   * Construct BSplineCurve3d that fit points using the C2 cubic algorithm.\n   * @param options curve definition, unmodified\n   */\n  public static createThroughPointsC2Cubic(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\n    // Work on a copy rather than installing computed knots/tangents that could become stale when fit points change\n    // Knots/tangents that come in, however, are used without recomputation.\n    const validatedOptions = options.clone();\n    if (!this.C2CubicFit.validateOptions(validatedOptions))\n      return undefined;\n\n    const poles = this.C2CubicFit.constructPoles(validatedOptions);\n    if (undefined === poles)\n      return undefined;\n\n    const fullKnots = this.C2CubicFit.convertFitParamsToCubicKnotVector(validatedOptions.knots, validatedOptions.closed);\n    if (undefined === fullKnots)\n      return undefined;\n\n    const interpolant = BSplineCurve3d.create(poles, fullKnots, validatedOptions.order);\n\n    if (validatedOptions.closed)\n      interpolant?.setWrappable(BSplineWrapMode.OpenByAddingControlPoints);\n\n    return interpolant;\n  }\n}\n\n/**\n * Namespace for collecting curve fit API\n * @public\n */\nexport namespace BSplineCurveOps {\n  /**\n   * A helper class for creating C2 cubic fit curves.\n   * Knots herein are understood to be *interior* knots (including the start/end knot),\n   * so that there is one knot per fit point. In other words, the knots are fit parameters.\n   * @private\n   */\n  export class C2CubicFit {\n    /** Transform fit parameters to span [0,1]\n     * @param knots fit parameters, normalized in place\n     */\n    private static normalizeKnots(knots: number[] | undefined): boolean {\n      if (undefined === knots || knots.length < 2) {\n        knots = undefined;\n        return false;\n      }\n      const myKnots = KnotVector.create(knots, 1, false); // no extra knots at start/end\n      if (!myKnots.normalize()) {\n        knots = undefined;\n        return false;\n      }\n      for (let i = 0; i < knots.length; ++i)\n        knots[i] = myKnots.knots[i];\n      return true;\n    }\n\n    /** Compute chord-length fit parameters for C2 cubic fit algorithm */\n    private static constructChordLengthParameters(fitPoints: Point3d[]): number[] | undefined {\n      if (fitPoints.length < 2)\n        return undefined;\n      const params: number[] = [0.0];\n      for (let i = 1; i < fitPoints.length; ++i)\n        params[i] = params[i - 1] + fitPoints[i].distance(fitPoints[i - 1]);\n      if (!this.normalizeKnots(params))\n        return undefined;\n      return params;\n    }\n\n    /** Compute uniform fit parameters for C2 cubic fit algorithm */\n    private static constructUniformParameters(numParams: number): number[] | undefined {\n      if (numParams < 2)\n        return undefined;\n      const knots = KnotVector.createUniformClamped(numParams + 2, 3, 0.0, 1.0);\n      const params: number[] = [];\n      for (let i = knots.leftKnotIndex; i <= knots.rightKnotIndex; ++i)\n        params.push(knots.knots[i]);\n      return params;\n    }\n\n    /** Remove duplicate fit points, and their given knots in parallel */\n    private static removeDuplicateFitPoints(options: InterpolationCurve3dOptions): boolean {\n      if (undefined !== options.knots && options.knots.length !== options.fitPoints.length)\n        options.knots = undefined;\n\n      // get indices of duplicate points to be removed\n      const newPts = GrowableXYZArray.create(options.fitPoints);\n      const indices = newPts.findOrderedDuplicates();\n      newPts.clear();\n\n      // remove duplicate fit points\n      for (let iRead = 0, iIndex = 0; iRead < options.fitPoints.length; ++iRead) {\n        if (iRead === indices[iIndex])\n          ++iIndex; // skip the duplicate\n        else\n          newPts.push(options.fitPoints[iRead].clone());\n      }\n      options.fitPoints = newPts.getPoint3dArray();\n\n      // remove params corresponding to removed fit points\n      if (undefined !== options.knots) {\n        const newKnots: number[] = [];\n        for (let iRead = 0, iIndex = 0; iRead < options.knots.length; ++iRead) {\n          if (iRead === indices[iIndex])\n            ++iIndex; // skip\n          else\n            newKnots.push(options.knots[iRead]);\n        }\n        options.knots = newKnots.slice();\n      }\n      return true;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm.\n     * @param fitPoints validated fit points (should not contain duplicates)\n     * @param isChordLength whether knots are computed using distances between successive fit points\n     * @param closed whether curve is periodically defined\n     * @return fit parameters, one per fit point\n    */\n     public static constructFitParametersFromPoints(fitPoints: Point3d[], isChordLength: number | undefined, closed: boolean | undefined): number[] | undefined {\n      let params: number[] | undefined;\n      if (isChordLength || !closed)\n        params = this.constructChordLengthParameters(fitPoints);\n      if (undefined === params)\n        params = this.constructUniformParameters(fitPoints.length);\n      return params;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm, if they are missing.\n     * @param options validated as per validateOptions, possibly modified\n     * @return whether fit parameters are valid\n     */\n     public static constructFitParameters(options: InterpolationCurve3dOptions): boolean {\n      if (undefined === options.knots)\n        options.knots = this.constructFitParametersFromPoints(options.fitPoints, options.isChordLenKnots, options.closed);\n      return options.knots?.length === options.fitPoints.length;\n    }\n\n    /** Compute a row of the tridiagonal system matrix from Farin.\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param index 0-based row index to set\n     */\n    private static computeAlphaBetaGamma(alpha: number[], beta: number[], gamma: number[], index: number, deltaIPlus1: number, deltaI: number, deltaIMinus1: number, deltaIMinus2: number) {\n      let denomReciprocal = 1.0 / (deltaIMinus2 + deltaIMinus1 + deltaI);\n      alpha[index] = deltaI * deltaI * denomReciprocal;\n      beta[index] = deltaI * (deltaIMinus2 + deltaIMinus1) * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI + deltaIPlus1);\n      beta[index] += deltaIMinus1 * (deltaI + deltaIPlus1) * denomReciprocal;\n      gamma[index] = deltaIMinus1 * deltaIMinus1 * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      alpha[index] *= denomReciprocal;\n      beta[index] *= denomReciprocal;\n      gamma[index] *= denomReciprocal;\n    }\n\n    /** Setup tridiagonal system for 2 fit points\n     * @param alpha sub-diagonal, length = 2\n     * @param beta diagonal, length = 2\n     * @param gamma super-diagonal, length = 2\n     */\n    private static setUpSystem2Points(alpha: number[], beta: number[], gamma: number[]): boolean {\n      if (alpha.length !== 2 || beta.length !== 2 || gamma.length !== 2)\n        return false;\n\n      // identity matrix\n      alpha[0] = alpha[1] = gamma[0] = gamma[1] = 0.0;\n      beta[0] = beta[1] = 1.0;\n      return true;\n    }\n\n    /** Setup tridiagonal system for 3 fit points\n     * @param alpha sub-diagonal, length = 3\n     * @param beta diagonal, length = 3\n     * @param gamma super-diagonal, length = 3\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n     private static setUpSystem3Points(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== 3 || beta.length !== 3 || gamma.length !== 3)\n        return false;\n      if (options.knots.length !== 3 || options.fitPoints.length !== 3)\n        return false;\n\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      // first row\n      if (useNaturalStartTangent) {\n        alpha[0] = 0.0;\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        sum = deltaI + deltaIPlus1;\n        sumReciprocal = 1.0 / sum;\n        beta[0] = (deltaI + sum) * sumReciprocal;\n        gamma[0] = -deltaI * sumReciprocal;\n      } else {\n        alpha[0] = gamma[0] = 0.0;\n        beta[0] = 1.0;\n      }\n\n      // middle row\n      deltaIMinus1 = options.knots[1] - options.knots[0];\n      deltaI = options.knots[2] - options.knots[1];\n      sumReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      sumReciprocal *= sumReciprocal;\n      alpha[1] = deltaI * deltaI * sumReciprocal;\n      beta[1]  = 2.0 * (deltaI * deltaIMinus1) * sumReciprocal;\n      gamma[1] = deltaIMinus1 * deltaIMinus1 * sumReciprocal;\n\n      // last row\n      if (useNaturalEndTangent) {\n        deltaIMinus1 = options.knots[2] - options.knots[1];\n        deltaIMinus2 = options.knots[1] - options.knots[0];\n        sum = deltaIMinus2 + deltaIMinus1;\n        sumReciprocal = 1.0 / sum;\n        alpha[2] = -deltaIMinus1 * sumReciprocal;\n        beta[2] = (deltaIMinus1 + sum) * sumReciprocal;\n        gamma[2] = 0.0;\n      } else {\n        alpha[2] = gamma[2] = 0.0;\n        beta[2] = 1.0;\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system for 4 fit points or more\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n    private static setUpSystem4PointsOrMore(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== options.knots.length)\n        return false;\n      if (options.knots.length !== options.fitPoints.length)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const numIntervalsMinus1 = numIntervals - 1;\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      if (options.closed) {\n        // first row\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIMinus2 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 0, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // second row\n        deltaIMinus2 = deltaIMinus1;\n        deltaIMinus1 = deltaI;\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row; there's one less equation than open case\n        deltaIPlus1 = deltaIMinus1;\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      } else { // open\n        // first row\n        if (useNaturalStartTangent) {\n          alpha[0] = 0.0;\n          deltaI = options.knots[1] - options.knots[0];\n          deltaIPlus1 = options.knots[2] - options.knots[1];\n          sum = deltaI + deltaIPlus1;\n          sumReciprocal = 1.0 / sum;\n          beta[0] = (deltaI + sum) * sumReciprocal;\n          gamma[0] = -deltaI * sumReciprocal;\n        } else {\n          alpha[0] = gamma[0] = 0.0;\n          beta[0] = 1.0;\n        }\n\n        // second row\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIMinus1 = options.knots[1] - options.knots[0];\n        deltaIMinus2 = 0.0;\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // penultimate row\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIPlus1 = 0.0;\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row\n        if (useNaturalEndTangent) {\n          deltaIMinus1 = options.knots[numIntervals] - options.knots[numIntervals - 1];\n          deltaIMinus2 = options.knots[numIntervals - 1] - options.knots[numIntervals - 2];\n          sum = deltaIMinus2 + deltaIMinus1;\n          sumReciprocal = 1.0 / sum;\n          alpha[numIntervals] = -deltaIMinus1 * sumReciprocal;\n          beta[numIntervals] = (deltaIMinus1 + sum) * sumReciprocal;\n          gamma[numIntervals] = 0.0;\n        } else {\n          alpha[numIntervals] = gamma[numIntervals] = 0.0;\n          beta[numIntervals] = 1.0;\n        }\n      }\n\n      // middle rows\n      for (let i = 2; i < numIntervalsMinus1; ++i) {\n        deltaI = options.knots[i + 1] - options.knots[i];\n        deltaIMinus2 = options.knots[i - 1] - options.knots[i - 2];\n        deltaIMinus1 = options.knots[i] - options.knots[i - 1];\n        deltaIPlus1 = options.knots[i + 2] - options.knots[i + 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, i, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system\n     * @param alpha sub-diagonal, length = # fitPoints\n     * @param beta diagonal, length = # fitPoints\n     * @param gamma super-diagonal, length = # fitPoints\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setUpSystem(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions): boolean {\n      let useNaturalStartTangent = false;\n      let useNaturalEndTangent = false;\n      if (options.isNaturalTangents && !options.closed) {\n        useNaturalStartTangent = (undefined === options.startTangent);\n        useNaturalEndTangent = (undefined === options.endTangent);\n      }\n\n      let succeeded = false;\n      if (2 === options.fitPoints.length)\n        succeeded = this.setUpSystem2Points(alpha, beta, gamma);\n      else if (3 === options.fitPoints.length)\n        succeeded = this.setUpSystem3Points(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n      else if (4 <= options.fitPoints.length)\n        succeeded = this.setUpSystem4PointsOrMore(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n\n      return succeeded;\n    }\n\n    /** Set the Bessel end condition for the linear system.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n      if (undefined === options.knots)\n        return false;\n\n      const scale = 1.0/3.0;\n      const numIntervals = options.fitPoints.length - 1;\n\n      if (1 === numIntervals) { // linear Bezier\n        if (atStart)\n          dataPts[0].interpolate(scale, dataPts[3], dataPts[1]);\n        else\n          dataPts[3].interpolate(scale, dataPts[0], dataPts[2]);\n        return true;\n      }\n\n      if (2 === numIntervals) {\n        const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n        const beta = 1.0 - alpha;\n        const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[4], -beta * beta);\n        if (atStart)\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n        else\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[4], beta).interpolate(scale, dataPts[4], dataPts[3]);\n        return true;\n      }\n\n      // numIntervals > 2\n      if (atStart) {\n          const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[3], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n      } else {\n          const alpha = (options.knots[numIntervals] - options.knots[numIntervals - 1]) / (options.knots[numIntervals] - options.knots[numIntervals - 2]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[numIntervals].plus2Scaled(dataPts[numIntervals - 1], -alpha * alpha, dataPts[numIntervals + 2], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[numIntervals + 2], beta).interpolate(scale, dataPts[numIntervals + 2], dataPts[numIntervals + 1]);\n      }\n      return true;\n    }\n\n    /** Set the natural end condition for the linear system.\n     *  This is the end condition used by ADSK for fit-splines with a given zero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setNaturalEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals)\n        return this.setBesselEndCondition(dataPts, options, atStart);\n\n      if (atStart)\n        dataPts[1] = dataPts[0];\n      else\n        dataPts[dataPts.length - 2] = dataPts[dataPts.length - 1];\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by chord length.\n     *  This is the end condition used by ADSK for fit-splines with a given nonzero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setChordLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      let iExt = 0; // index of first/last fitPoint\n      let iSet = 0; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n      let iInt = 0; // index of 2nd/penultimate fitPoint\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals) { // no interior fit points\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 3;\n        } else {\n          iExt = 3;\n          iSet = 2;\n          iInt = 0;\n        }\n      } else {\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 2;\n        } else {\n          iExt = numIntervals + 2;\n          iSet = numIntervals + 1;\n          iInt = numIntervals;\n        }\n      }\n\n      // NOTE: tangent points INTO curve\n      const chordLength = dataPts[iInt].distance(dataPts[iExt]);\n      dataPts[iExt].plusScaled(tangent, chordLength / 3.0, dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by bessel length.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      // temporarily set bessel end condition\n      if (!this.setBesselEndCondition(dataPts, options, atStart))\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const iExt = atStart ? 0 : numIntervals + 2; // index of first/last fitPoint\n      const iSet = atStart ? 1 : numIntervals + 1; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n\n      // reset end condition with our tangent, but scaled to the bessel tangent's length\n      dataPts[iExt].plusScaled(tangent, dataPts[iExt].distance(dataPts[iSet]), dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for a physically closed (non-periodic) interpolant.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setPhysicallyClosedEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      const numIntervals = options.fitPoints.length - 1;\n      if (!options.isColinearTangents\n          || numIntervals <= 2\n          || (undefined !== options.startTangent && undefined !== options.endTangent)\n          || options.isNaturalTangents\n          || !dataPts[0].isAlmostEqual(dataPts[numIntervals + 2])) {\n        return true;\n        }\n      // force parallel start/end tangents, using chord length scale for undefined tangents\n      if (undefined !== options.startTangent) { // start tangent is supplied; compute a parallel end tangent\n        const outwardStartTangent = Vector3d.createStartEnd(dataPts[1], dataPts[0]).normalize();\n        if (undefined !== outwardStartTangent) {\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(outwardStartTangent, endTangentMag, dataPts[numIntervals + 1]);\n        }\n      } else if (undefined !== options.endTangent) {  // end tangent is supplied; compute a parallel start tangent\n        const outwardEndTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[numIntervals + 2]).normalize();\n        if (undefined !== outwardEndTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(outwardEndTangent, startTangentMag, dataPts[1]);\n        }\n      } else {  // neither tangent is supplied, compute both along same vector\n        const commonTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[1]).normalize();\n        if (undefined !== commonTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(commonTangent, startTangentMag, dataPts[1]);\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(commonTangent, -endTangentMag, dataPts[numIntervals + 1]);\n        }\n      }\n      return true;\n    }\n\n    /** Set end conditions for the linear system to solve for the poles of the open interpolant, as per Farin 3e/4e.\n     * @param dataPts array whose interior is the system rhs and whose first/last entries are the first/last fitPoints;\n     *                points are inserted to become the 2nd and penultimate dataPts, the first/last rows of the system rhs.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setEndConditions(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      if (dataPts.length !== options.fitPoints.length)\n        return false;\n\n      // insert dummy points to be computed below\n      const dummy0 = Point3d.createZero();\n      const dummy1 = Point3d.createZero();\n      dataPts.splice(1, 0, dummy0);\n      dataPts.splice(dataPts.length - 1, 0, dummy1);\n\n      let succeeded = false;\n      if (undefined === options.startTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, true);\n      } else { // scale startTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, true);\n      }\n\n      if (undefined === options.endTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, false);\n      } else { // scale endTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, false);\n      }\n\n      if (succeeded)\n        succeeded = this.setPhysicallyClosedEndCondition(dataPts, options);\n\n      return succeeded;\n    }\n\n    /** Solve the near tridiagonal system for a periodic C2 cubic interpolant.\n     * Alpha, beta, gamma are computed by setUpSystem, have same length as fitPts, and are overwritten.\n     */\n    private static solveNearTridiagonal(fitPts: Point3d[], alpha: number[], beta: number[], gamma: number[]): Point3d[] | undefined {\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== fitPts.length)\n        return undefined;\n      const poles: Point3d[] = [];\n      const numIntervals = fitPts.length - 1;\n      const leftPts = fitPts.slice(0, -1);  // last fitPt is ignored\n      let tmp: number | undefined = 0.0;\n\n      // first forward substitution\n      for (let i = 1; i < numIntervals; ++i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(- alpha[i], beta[i - 1])))\n          return undefined;\n        beta[i] += tmp * gamma[i - 1];\n        alpha[i] = tmp * alpha[i - 1];\n        leftPts[i].addScaledInPlace(leftPts[i - 1], tmp);\n      }\n\n      // first backward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[numIntervals - 1] + alpha[numIntervals - 1])))\n        return undefined;\n      gamma[numIntervals - 1] *= tmp;\n      leftPts[numIntervals - 1].scaleInPlace(tmp);\n      for (let i = numIntervals - 2; i >= 0; --i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[i])))\n          return undefined;\n        Point3d.createScale(leftPts[i].plus2Scaled(leftPts[i + 1], - gamma[i], leftPts[numIntervals - 1], - alpha[i]), tmp, leftPts[i]);\n        gamma[i] = - (gamma[i] * gamma[i + 1] + alpha[i] * gamma[numIntervals - 1]) * tmp;\n      }\n\n      // second forward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, 1.0 + gamma[0])))\n        return undefined;\n      poles.push(Point3d.createScale(leftPts[0], tmp));\n      for (let i = 1; i < numIntervals; ++i) {\n        poles.push(leftPts[i].plusScaled(poles[0], - gamma[i]));\n      }\n      return poles;\n    }\n\n    /** Adjust options by correcting invalid combinations\n     * @param options curve definition, possibly modified\n     */\n    public static validateOptions(options: InterpolationCurve3dOptions): boolean {\n      options.order = 4;\n\n      // remove relevant exterior knots so knots and fit points align *before* we start compressing fit points.\n      options.knots = this.convertCubicKnotVectorToFitParams(options.knots, options.fitPoints.length, true);\n\n        // compress out duplicate fit points (and their corresponding knots)\n      if (!this.removeDuplicateFitPoints(options))\n        return false;\n\n      // if only 2 unique points, then must create open curve\n      let hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      if (3 === options.fitPoints.length && hasClosurePoint) {\n        options.fitPoints.pop();\n        if (undefined !== options.knots)\n          options.knots.pop();\n        hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      }\n      if (options.fitPoints.length <= 2) {\n        if (hasClosurePoint)\n          return false;\n        options.closed = false;\n      }\n\n      // append closure point if missing\n      if (options.closed) {\n        if (!hasClosurePoint) {\n          options.fitPoints.push(options.fitPoints[0].clone());\n          if (undefined !== options.knots) {  // best guess: uniform knots\n            options.knots.push(options.knots[options.knots.length - 1] + (options.knots[options.knots.length - 1] - options.knots[0]) / (options.knots.length - 1));\n          }\n        }\n        if (options.fitPoints.length <= 4)\n          options.closed = false; // can't fit cubic closed curve to 3 unique points\n      }\n\n      if (options.fitPoints.length < 2)\n        return false;\n\n      // ASSUME: tangents point INTO curve\n      if (undefined !== options.startTangent) {\n        if (options.startTangent.isAlmostZero)\n          options.startTangent = undefined;\n        else\n          options.startTangent.normalizeInPlace();\n      }\n      if (undefined !== options.endTangent) {\n        if (options.endTangent.isAlmostZero)\n          options.endTangent = undefined;\n        else\n          options.endTangent.normalizeInPlace();\n      }\n\n      return true;\n    }\n\n    /** Converts a full cubic knot vector of expected length into fit parameters, by removing extraneous exterior knots.\n     * @param knots cubic knot vector, unmodified\n     * @param numFitPoints number of fit points\n     * @return fit parameters, or undefined if unexpected input\n     **/\n    public static convertCubicKnotVectorToFitParams(knots: number[] | undefined, numFitPoints: number, normalize?: boolean): number[] | undefined {\n      let params = knots?.slice();\n      if (undefined !== params) {\n        const numExtraKnots = params.length - numFitPoints;\n        switch (numExtraKnots) {\n          case 0: {   // ASSUME caller passed in interior knots\n            break;\n          }\n          case 4:     // modern full cubic knots\n          case 6: {   // legacy full cubic knots\n            for (let i = 0; i < numExtraKnots / 2; ++i) {\n              params.pop();\n              params.shift();\n            }\n            break;\n          }\n          default: {  // other knot configurations are unusable\n            params = undefined;\n            break;\n          }\n        }\n        if (normalize && !this.normalizeKnots(params))\n          params = undefined;\n      }\n      return params;\n    }\n\n    /** Return fit parameters augmented to a full cubic knot vector.\n     * @param params fit parameters, unmodified\n     * @param legacy whether to create a legacy (DGN) full knot vector, or modern vector with two less knots\n     **/\n    public static convertFitParamsToCubicKnotVector(params: number[] | undefined, closed?: boolean, legacy?: boolean): number[] | undefined {\n      const knots = params?.slice();\n      if (undefined !== knots) {\n        const numExtraKnots = legacy ? 6 : 4;\n        if (closed) {\n          const iTail = knots.length - 2;\n          for (let iHead = 2; iHead <= numExtraKnots; iHead += 2) {\n            knots.unshift(knots[iTail] - 1.0);  // index is constant\n            knots.push(1.0 + knots[iHead]);     // index increments by two\n          }\n        } else {\n          for (let i = 0; i < numExtraKnots / 2; ++i) {\n            knots.unshift(0.0);\n            knots.push(1.0);\n          }\n        }\n      }\n      return knots;\n    }\n\n    /** Ensure full legacy knot vector for JSON export **/\n    public static convertToJsonKnots(props: InterpolationCurve3dProps) {\n      if (undefined !== props.knots) {\n        props.knots = this.convertCubicKnotVectorToFitParams(props.knots, props.fitPoints.length, false);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      } else {\n        props.knots = this.constructFitParametersFromPoints(Point3dArray.clonePoint3dArray(props.fitPoints), props.isChordLenKnots, props.closed);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      }\n    }\n\n    /** Construct the control points for the c2 cubic fit algorithm\n     * @param options validated as per validateOptions, possibly modified\n     */\n    public static constructPoles(options: InterpolationCurve3dOptions): Point3d[] | Float64Array | undefined {\n      if (!this.constructFitParameters(options) || (undefined === options.knots))\n        return undefined;\n\n      const numRow = options.fitPoints.length;\n      const alpha: number[] = Array(numRow);\n      const beta: number[] = Array(numRow);\n      const gamma: number[] = Array(numRow);\n      if (!this.setUpSystem(alpha, beta, gamma, options))\n        return undefined;\n\n      let poles: Point3d[] | Float64Array | undefined = [];\n      if (!options.closed) {\n        const dataPts = options.fitPoints.slice();\n        if (!this.setEndConditions(dataPts, options))\n          return undefined;\n        if (dataPts.length !== numRow + 2)\n          return undefined; // sanity check: we added 2nd/penultimate points, rhs is middle numRow entries.\n\n        // construct tridiagonal banded system components\n        const matrix = new Float64Array(numRow * 3);\n        const rhs = new Float64Array(numRow * 3);\n        for (let iRow = 0, iMatrixRead = 0, iRhsRead = 0; iRow < numRow; ++iRow) {\n          matrix[iMatrixRead++] = alpha[iRow];\n          matrix[iMatrixRead++] = beta[iRow];\n          matrix[iMatrixRead++] = gamma[iRow];\n          rhs[iRhsRead++] = dataPts[iRow+1].x;\n          rhs[iRhsRead++] = dataPts[iRow+1].y;\n          rhs[iRhsRead++] = dataPts[iRow+1].z;\n        }\n\n        const solution = BandedSystem.solveBandedSystemMultipleRHS(numRow, 3, matrix, 3, rhs);\n        if (undefined === solution)\n          return undefined;\n\n        // pre/append first/last poles/fitPoints\n        poles = new Float64Array(3 + solution.length + 3);\n        let iWrite = 0;\n        poles[iWrite++] = options.fitPoints[0].x;\n        poles[iWrite++] = options.fitPoints[0].y;\n        poles[iWrite++] = options.fitPoints[0].z;\n        for (let iRead = 0; iRead < solution.length; ) {\n          poles[iWrite++] = solution[iRead++];\n        }\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].x;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].y;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].z;\n      } else { // closed\n        if (undefined !== (poles = this.solveNearTridiagonal(options.fitPoints, alpha, beta, gamma))) {\n          if (poles.length > 2) {\n            poles.unshift(poles.pop()!);  // shift poles right to line up with the knots\n            for (let i = 0; i < options.order - 1; ++i)\n              poles.push(poles[i].clone()); // periodically extend (the modern way)\n          }\n        }\n      }\n      return poles;\n    }\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\n/* eslint-disable @typescript-eslint/naming-convention, no-empty, no-console*/\n\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\nimport { Geometry } from \"../Geometry\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { BandedSystem } from \"../numerics/BandedSystem\";\nimport { BSplineCurve3d } from \"./BSplineCurve\";\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\nimport { InterpolationCurve3dOptions, InterpolationCurve3dProps } from \"./InterpolationCurve3d\";\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\n\n/**\n * A class with static methods for creating B-spline curves.\n * @public\n */\nexport class BSplineCurveOps {\n  /**\n   * Greville knot algorithm: alternative to traditional c2 cubic algorithm allowing for any order, but no end conditions or periodicity.\n   * @param points pass-through points.\n   * @param order bspline order (1 more than degree)\n   */\n  public static createThroughPoints(points: IndexedXYZCollection | Point3d[], order: number): BSplineCurve3d | undefined {\n    const numPoints = points.length;\n    if (order > numPoints || order < 2)\n      return undefined;\n    const degree = order - 1;\n    const bw = 1 + 2 * degree;    // probably less than that . . just zeros at fringe.\n    const matrix = new Float64Array(bw * numPoints);\n    const basisFunctions = new Float64Array(order);\n    const rhs = new GrowableXYZArray();\n    const knots = KnotVector.createUniformClamped(numPoints, order - 1, 0.0, 1.0);\n    const xyz = Point3d.create();\n    for (let basePointIndex = 0; basePointIndex < numPoints; basePointIndex++) {\n      const u = knots.grevilleKnot(basePointIndex);\n      const spanIndex = knots.knotToLeftKnotIndex(u);\n      knots.evaluateBasisFunctions(spanIndex, u, basisFunctions);\n      // puzzlement .. how do the max points shift within the order spots?\n      let maxIndex = 0;\n      for (let i = 1; i < order; i++)\n        if (basisFunctions[i] > basisFunctions[maxIndex])\n          maxIndex = i;\n      const basisFunctionStartWithinRow = degree - maxIndex;\n      const rowStart = basePointIndex * bw;\n      for (let i = 0; i < order; i++) {\n        const realColumn = basePointIndex - degree + basisFunctionStartWithinRow + i;\n        if (rowStart + realColumn >= 0 && realColumn < numPoints)\n          matrix[rowStart + basisFunctionStartWithinRow + i] = basisFunctions[i];\n      }\n      if (points instanceof IndexedXYZCollection) {\n        rhs.push(points.getPoint3dAtUncheckedPointIndex(basePointIndex, xyz));\n      } else {\n        rhs.push(points[basePointIndex].clone());\n      }\n    }\n    const poles = BandedSystem.solveBandedSystemMultipleRHS(numPoints, bw, matrix, 3, rhs.float64Data());\n    if (poles) {\n      return BSplineCurve3d.create(poles, knots.knots, order);\n    }\n    return undefined;\n  }\n\n  /**\n   * Construct BSplineCurve3d that fit points using the C2 cubic algorithm.\n   * @param options curve definition, unmodified\n   */\n  public static createThroughPointsC2Cubic(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\n    // Work on a copy rather than installing computed knots/tangents that could become stale when fit points change\n    // Knots/tangents that come in, however, are used without recomputation.\n    const validatedOptions = options.clone();\n    if (!this.C2CubicFit.validateOptions(validatedOptions))\n      return undefined;\n\n    const poles = this.C2CubicFit.constructPoles(validatedOptions);\n    if (undefined === poles)\n      return undefined;\n\n    const fullKnots = this.C2CubicFit.convertFitParamsToCubicKnotVector(validatedOptions.knots, validatedOptions.closed);\n    if (undefined === fullKnots)\n      return undefined;\n\n    const interpolant = BSplineCurve3d.create(poles, fullKnots, validatedOptions.order);\n\n    if (validatedOptions.closed)\n      interpolant?.setWrappable(BSplineWrapMode.OpenByAddingControlPoints);\n\n    return interpolant;\n  }\n}\n\n/**\n * Namespace for collecting curve fit API\n * @public\n */\nexport namespace BSplineCurveOps {\n  /**\n   * A helper class for creating C2 cubic fit curves.\n   * Knots herein are understood to be *interior* knots (including the start/end knot),\n   * so that there is one knot per fit point. In other words, the knots are fit parameters.\n   * @private\n   */\n  export class C2CubicFit {\n    /** Transform fit parameters to span [0,1]\n     * @param knots fit parameters, normalized in place\n     */\n    private static normalizeKnots(knots: number[] | undefined): boolean {\n      if (undefined === knots || knots.length < 2) {\n        knots = undefined;\n        return false;\n      }\n      const myKnots = KnotVector.create(knots, 1, false); // no extra knots at start/end\n      if (!myKnots.normalize()) {\n        knots = undefined;\n        return false;\n      }\n      for (let i = 0; i < knots.length; ++i)\n        knots[i] = myKnots.knots[i];\n      return true;\n    }\n\n    /** Compute chord-length fit parameters for C2 cubic fit algorithm */\n    private static constructChordLengthParameters(fitPoints: Point3d[]): number[] | undefined {\n      if (fitPoints.length < 2)\n        return undefined;\n      const params: number[] = [0.0];\n      for (let i = 1; i < fitPoints.length; ++i)\n        params[i] = params[i - 1] + fitPoints[i].distance(fitPoints[i - 1]);\n      if (!this.normalizeKnots(params))\n        return undefined;\n      return params;\n    }\n\n    /** Compute uniform fit parameters for C2 cubic fit algorithm */\n    private static constructUniformParameters(numParams: number): number[] | undefined {\n      if (numParams < 2)\n        return undefined;\n      const knots = KnotVector.createUniformClamped(numParams + 2, 3, 0.0, 1.0);\n      const params: number[] = [];\n      for (let i = knots.leftKnotIndex; i <= knots.rightKnotIndex; ++i)\n        params.push(knots.knots[i]);\n      return params;\n    }\n\n    /** Remove duplicate fit points, and their given knots in parallel */\n    private static removeDuplicateFitPoints(options: InterpolationCurve3dOptions): boolean {\n      if (undefined !== options.knots && options.knots.length !== options.fitPoints.length)\n        options.knots = undefined;\n\n      // get indices of duplicate points to be removed\n      const newPts = GrowableXYZArray.create(options.fitPoints);\n      const indices = newPts.findOrderedDuplicates();\n      newPts.clear();\n\n      // remove duplicate fit points\n      for (let iRead = 0, iIndex = 0; iRead < options.fitPoints.length; ++iRead) {\n        if (iRead === indices[iIndex])\n          ++iIndex; // skip the duplicate\n        else\n          newPts.push(options.fitPoints[iRead].clone());\n      }\n      options.fitPoints = newPts.getPoint3dArray();\n\n      // remove params corresponding to removed fit points\n      if (undefined !== options.knots) {\n        const newKnots: number[] = [];\n        for (let iRead = 0, iIndex = 0; iRead < options.knots.length; ++iRead) {\n          if (iRead === indices[iIndex])\n            ++iIndex; // skip\n          else\n            newKnots.push(options.knots[iRead]);\n        }\n        options.knots = newKnots.slice();\n      }\n      return true;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm.\n     * @param fitPoints validated fit points (should not contain duplicates)\n     * @param isChordLength whether knots are computed using distances between successive fit points\n     * @param closed whether curve is periodically defined\n     * @return fit parameters, one per fit point\n    */\n     public static constructFitParametersFromPoints(fitPoints: Point3d[], isChordLength: number | undefined, closed: boolean | undefined): number[] | undefined {\n      let params: number[] | undefined;\n      if (isChordLength || !closed)\n        params = this.constructChordLengthParameters(fitPoints);\n      if (undefined === params)\n        params = this.constructUniformParameters(fitPoints.length);\n      return params;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm, if they are missing.\n     * @param options validated as per validateOptions, possibly modified\n     * @return whether fit parameters are valid\n     */\n     public static constructFitParameters(options: InterpolationCurve3dOptions): boolean {\n      if (undefined === options.knots)\n        options.knots = this.constructFitParametersFromPoints(options.fitPoints, options.isChordLenKnots, options.closed);\n      return options.knots?.length === options.fitPoints.length;\n    }\n\n    /** Compute a row of the tridiagonal system matrix from Farin.\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param index 0-based row index to set\n     */\n    private static computeAlphaBetaGamma(alpha: number[], beta: number[], gamma: number[], index: number, deltaIPlus1: number, deltaI: number, deltaIMinus1: number, deltaIMinus2: number) {\n      let denomReciprocal = 1.0 / (deltaIMinus2 + deltaIMinus1 + deltaI);\n      alpha[index] = deltaI * deltaI * denomReciprocal;\n      beta[index] = deltaI * (deltaIMinus2 + deltaIMinus1) * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI + deltaIPlus1);\n      beta[index] += deltaIMinus1 * (deltaI + deltaIPlus1) * denomReciprocal;\n      gamma[index] = deltaIMinus1 * deltaIMinus1 * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      alpha[index] *= denomReciprocal;\n      beta[index] *= denomReciprocal;\n      gamma[index] *= denomReciprocal;\n    }\n\n    /** Setup tridiagonal system for 2 fit points\n     * @param alpha sub-diagonal, length = 2\n     * @param beta diagonal, length = 2\n     * @param gamma super-diagonal, length = 2\n     */\n    private static setUpSystem2Points(alpha: number[], beta: number[], gamma: number[]): boolean {\n      if (alpha.length !== 2 || beta.length !== 2 || gamma.length !== 2)\n        return false;\n\n      // identity matrix\n      alpha[0] = alpha[1] = gamma[0] = gamma[1] = 0.0;\n      beta[0] = beta[1] = 1.0;\n      return true;\n    }\n\n    /** Setup tridiagonal system for 3 fit points\n     * @param alpha sub-diagonal, length = 3\n     * @param beta diagonal, length = 3\n     * @param gamma super-diagonal, length = 3\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n     private static setUpSystem3Points(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== 3 || beta.length !== 3 || gamma.length !== 3)\n        return false;\n      if (options.knots.length !== 3 || options.fitPoints.length !== 3)\n        return false;\n\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      // first row\n      if (useNaturalStartTangent) {\n        alpha[0] = 0.0;\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        sum = deltaI + deltaIPlus1;\n        sumReciprocal = 1.0 / sum;\n        beta[0] = (deltaI + sum) * sumReciprocal;\n        gamma[0] = -deltaI * sumReciprocal;\n      } else {\n        alpha[0] = gamma[0] = 0.0;\n        beta[0] = 1.0;\n      }\n\n      // middle row\n      deltaIMinus1 = options.knots[1] - options.knots[0];\n      deltaI = options.knots[2] - options.knots[1];\n      sumReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      sumReciprocal *= sumReciprocal;\n      alpha[1] = deltaI * deltaI * sumReciprocal;\n      beta[1]  = 2.0 * (deltaI * deltaIMinus1) * sumReciprocal;\n      gamma[1] = deltaIMinus1 * deltaIMinus1 * sumReciprocal;\n\n      // last row\n      if (useNaturalEndTangent) {\n        deltaIMinus1 = options.knots[2] - options.knots[1];\n        deltaIMinus2 = options.knots[1] - options.knots[0];\n        sum = deltaIMinus2 + deltaIMinus1;\n        sumReciprocal = 1.0 / sum;\n        alpha[2] = -deltaIMinus1 * sumReciprocal;\n        beta[2] = (deltaIMinus1 + sum) * sumReciprocal;\n        gamma[2] = 0.0;\n      } else {\n        alpha[2] = gamma[2] = 0.0;\n        beta[2] = 1.0;\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system for 4 fit points or more\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n    private static setUpSystem4PointsOrMore(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== options.knots.length)\n        return false;\n      if (options.knots.length !== options.fitPoints.length)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const numIntervalsMinus1 = numIntervals - 1;\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      if (options.closed) {\n        // first row\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIMinus2 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 0, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // second row\n        deltaIMinus2 = deltaIMinus1;\n        deltaIMinus1 = deltaI;\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row; there's one less equation than open case\n        deltaIPlus1 = deltaIMinus1;\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      } else { // open\n        // first row\n        if (useNaturalStartTangent) {\n          alpha[0] = 0.0;\n          deltaI = options.knots[1] - options.knots[0];\n          deltaIPlus1 = options.knots[2] - options.knots[1];\n          sum = deltaI + deltaIPlus1;\n          sumReciprocal = 1.0 / sum;\n          beta[0] = (deltaI + sum) * sumReciprocal;\n          gamma[0] = -deltaI * sumReciprocal;\n        } else {\n          alpha[0] = gamma[0] = 0.0;\n          beta[0] = 1.0;\n        }\n\n        // second row\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIMinus1 = options.knots[1] - options.knots[0];\n        deltaIMinus2 = 0.0;\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // penultimate row\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIPlus1 = 0.0;\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row\n        if (useNaturalEndTangent) {\n          deltaIMinus1 = options.knots[numIntervals] - options.knots[numIntervals - 1];\n          deltaIMinus2 = options.knots[numIntervals - 1] - options.knots[numIntervals - 2];\n          sum = deltaIMinus2 + deltaIMinus1;\n          sumReciprocal = 1.0 / sum;\n          alpha[numIntervals] = -deltaIMinus1 * sumReciprocal;\n          beta[numIntervals] = (deltaIMinus1 + sum) * sumReciprocal;\n          gamma[numIntervals] = 0.0;\n        } else {\n          alpha[numIntervals] = gamma[numIntervals] = 0.0;\n          beta[numIntervals] = 1.0;\n        }\n      }\n\n      // middle rows\n      for (let i = 2; i < numIntervalsMinus1; ++i) {\n        deltaI = options.knots[i + 1] - options.knots[i];\n        deltaIMinus2 = options.knots[i - 1] - options.knots[i - 2];\n        deltaIMinus1 = options.knots[i] - options.knots[i - 1];\n        deltaIPlus1 = options.knots[i + 2] - options.knots[i + 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, i, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system\n     * @param alpha sub-diagonal, length = # fitPoints\n     * @param beta diagonal, length = # fitPoints\n     * @param gamma super-diagonal, length = # fitPoints\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setUpSystem(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions): boolean {\n      let useNaturalStartTangent = false;\n      let useNaturalEndTangent = false;\n      if (options.isNaturalTangents && !options.closed) {\n        useNaturalStartTangent = (undefined === options.startTangent);\n        useNaturalEndTangent = (undefined === options.endTangent);\n      }\n\n      let succeeded = false;\n      if (2 === options.fitPoints.length)\n        succeeded = this.setUpSystem2Points(alpha, beta, gamma);\n      else if (3 === options.fitPoints.length)\n        succeeded = this.setUpSystem3Points(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n      else if (4 <= options.fitPoints.length)\n        succeeded = this.setUpSystem4PointsOrMore(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n\n      return succeeded;\n    }\n\n    /** Set the Bessel end condition for the linear system.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n      if (undefined === options.knots)\n        return false;\n\n      const scale = 1.0/3.0;\n      const numIntervals = options.fitPoints.length - 1;\n\n      if (1 === numIntervals) { // linear Bezier\n        if (atStart)\n          dataPts[0].interpolate(scale, dataPts[3], dataPts[1]);\n        else\n          dataPts[3].interpolate(scale, dataPts[0], dataPts[2]);\n        return true;\n      }\n\n      if (2 === numIntervals) {\n        const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n        const beta = 1.0 - alpha;\n        const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[4], -beta * beta);\n        if (atStart)\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n        else\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[4], beta).interpolate(scale, dataPts[4], dataPts[3]);\n        return true;\n      }\n\n      // numIntervals > 2\n      if (atStart) {\n          const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[3], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n      } else {\n          const alpha = (options.knots[numIntervals] - options.knots[numIntervals - 1]) / (options.knots[numIntervals] - options.knots[numIntervals - 2]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[numIntervals].plus2Scaled(dataPts[numIntervals - 1], -alpha * alpha, dataPts[numIntervals + 2], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[numIntervals + 2], beta).interpolate(scale, dataPts[numIntervals + 2], dataPts[numIntervals + 1]);\n      }\n      return true;\n    }\n\n    /** Set the natural end condition for the linear system.\n     *  This is the end condition used by ADSK for fit-splines with a given zero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setNaturalEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals)\n        return this.setBesselEndCondition(dataPts, options, atStart);\n\n      if (atStart)\n        dataPts[1] = dataPts[0];\n      else\n        dataPts[dataPts.length - 2] = dataPts[dataPts.length - 1];\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by chord length.\n     *  This is the end condition used by ADSK for fit-splines with a given nonzero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setChordLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      let iExt = 0; // index of first/last fitPoint\n      let iSet = 0; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n      let iInt = 0; // index of 2nd/penultimate fitPoint\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals) { // no interior fit points\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 3;\n        } else {\n          iExt = 3;\n          iSet = 2;\n          iInt = 0;\n        }\n      } else {\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 2;\n        } else {\n          iExt = numIntervals + 2;\n          iSet = numIntervals + 1;\n          iInt = numIntervals;\n        }\n      }\n\n      // NOTE: tangent points INTO curve\n      const chordLength = dataPts[iInt].distance(dataPts[iExt]);\n      dataPts[iExt].plusScaled(tangent, chordLength / 3.0, dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by bessel length.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      // temporarily set bessel end condition\n      if (!this.setBesselEndCondition(dataPts, options, atStart))\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const iExt = atStart ? 0 : numIntervals + 2; // index of first/last fitPoint\n      const iSet = atStart ? 1 : numIntervals + 1; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n\n      // reset end condition with our tangent, but scaled to the bessel tangent's length\n      dataPts[iExt].plusScaled(tangent, dataPts[iExt].distance(dataPts[iSet]), dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for a physically closed (non-periodic) interpolant.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setPhysicallyClosedEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      const numIntervals = options.fitPoints.length - 1;\n      if (!options.isColinearTangents\n          || numIntervals <= 2\n          || (undefined !== options.startTangent && undefined !== options.endTangent)\n          || options.isNaturalTangents\n          || !dataPts[0].isAlmostEqual(dataPts[numIntervals + 2])) {\n        return true;\n        }\n      // force parallel start/end tangents, using chord length scale for undefined tangents\n      if (undefined !== options.startTangent) { // start tangent is supplied; compute a parallel end tangent\n        const outwardStartTangent = Vector3d.createStartEnd(dataPts[1], dataPts[0]).normalize();\n        if (undefined !== outwardStartTangent) {\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(outwardStartTangent, endTangentMag, dataPts[numIntervals + 1]);\n        }\n      } else if (undefined !== options.endTangent) {  // end tangent is supplied; compute a parallel start tangent\n        const outwardEndTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[numIntervals + 2]).normalize();\n        if (undefined !== outwardEndTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(outwardEndTangent, startTangentMag, dataPts[1]);\n        }\n      } else {  // neither tangent is supplied, compute both along same vector\n        const commonTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[1]).normalize();\n        if (undefined !== commonTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(commonTangent, startTangentMag, dataPts[1]);\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(commonTangent, -endTangentMag, dataPts[numIntervals + 1]);\n        }\n      }\n      return true;\n    }\n\n    /** Set end conditions for the linear system to solve for the poles of the open interpolant, as per Farin 3e/4e.\n     * @param dataPts array whose interior is the system rhs and whose first/last entries are the first/last fitPoints;\n     *                points are inserted to become the 2nd and penultimate dataPts, the first/last rows of the system rhs.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setEndConditions(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      if (dataPts.length !== options.fitPoints.length)\n        return false;\n\n      // insert dummy points to be computed below\n      const dummy0 = Point3d.createZero();\n      const dummy1 = Point3d.createZero();\n      dataPts.splice(1, 0, dummy0);\n      dataPts.splice(dataPts.length - 1, 0, dummy1);\n\n      let succeeded = false;\n      if (undefined === options.startTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, true);\n      } else { // scale startTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, true);\n      }\n\n      if (undefined === options.endTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, false);\n      } else { // scale endTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, false);\n      }\n\n      if (succeeded)\n        succeeded = this.setPhysicallyClosedEndCondition(dataPts, options);\n\n      return succeeded;\n    }\n\n    /** Solve the near tridiagonal system for a periodic C2 cubic interpolant.\n     * Alpha, beta, gamma are computed by setUpSystem, have same length as fitPts, and are overwritten.\n     */\n    private static solveNearTridiagonal(fitPts: Point3d[], alpha: number[], beta: number[], gamma: number[]): Point3d[] | undefined {\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== fitPts.length)\n        return undefined;\n      const poles: Point3d[] = [];\n      const numIntervals = fitPts.length - 1;\n      const leftPts = fitPts.slice(0, -1);  // last fitPt is ignored\n      let tmp: number | undefined = 0.0;\n\n      // first forward substitution\n      for (let i = 1; i < numIntervals; ++i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(- alpha[i], beta[i - 1])))\n          return undefined;\n        beta[i] += tmp * gamma[i - 1];\n        alpha[i] = tmp * alpha[i - 1];\n        leftPts[i].addScaledInPlace(leftPts[i - 1], tmp);\n      }\n\n      // first backward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[numIntervals - 1] + alpha[numIntervals - 1])))\n        return undefined;\n      gamma[numIntervals - 1] *= tmp;\n      leftPts[numIntervals - 1].scaleInPlace(tmp);\n      for (let i = numIntervals - 2; i >= 0; --i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[i])))\n          return undefined;\n        Point3d.createScale(leftPts[i].plus2Scaled(leftPts[i + 1], - gamma[i], leftPts[numIntervals - 1], - alpha[i]), tmp, leftPts[i]);\n        gamma[i] = - (gamma[i] * gamma[i + 1] + alpha[i] * gamma[numIntervals - 1]) * tmp;\n      }\n\n      // second forward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, 1.0 + gamma[0])))\n        return undefined;\n      poles.push(Point3d.createScale(leftPts[0], tmp));\n      for (let i = 1; i < numIntervals; ++i) {\n        poles.push(leftPts[i].plusScaled(poles[0], - gamma[i]));\n      }\n      return poles;\n    }\n\n    /** Adjust options by correcting invalid combinations\n     * @param options curve definition, possibly modified\n     */\n    public static validateOptions(options: InterpolationCurve3dOptions): boolean {\n      options.order = 4;\n\n      // remove relevant exterior knots so knots and fit points align *before* we start compressing fit points.\n      options.knots = this.convertCubicKnotVectorToFitParams(options.knots, options.fitPoints.length, true);\n\n        // compress out duplicate fit points (and their corresponding knots)\n      if (!this.removeDuplicateFitPoints(options))\n        return false;\n\n      // if only 2 unique points, then must create open curve\n      let hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      if (3 === options.fitPoints.length && hasClosurePoint) {\n        options.fitPoints.pop();\n        if (undefined !== options.knots)\n          options.knots.pop();\n        hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      }\n      if (options.fitPoints.length <= 2) {\n        if (hasClosurePoint)\n          return false;\n        options.closed = false;\n      }\n\n      // append closure point if missing\n      if (options.closed) {\n        if (!hasClosurePoint) {\n          options.fitPoints.push(options.fitPoints[0].clone());\n          if (undefined !== options.knots) {  // best guess: uniform knots\n            options.knots.push(options.knots[options.knots.length - 1] + (options.knots[options.knots.length - 1] - options.knots[0]) / (options.knots.length - 1));\n          }\n        }\n        if (options.fitPoints.length <= 4)\n          options.closed = false; // can't fit cubic closed curve to 3 unique points\n      }\n\n      if (options.fitPoints.length < 2)\n        return false;\n\n      // ASSUME: tangents point INTO curve\n      if (undefined !== options.startTangent) {\n        if (options.startTangent.isAlmostZero)\n          options.startTangent = undefined;\n        else\n          options.startTangent.normalizeInPlace();\n      }\n      if (undefined !== options.endTangent) {\n        if (options.endTangent.isAlmostZero)\n          options.endTangent = undefined;\n        else\n          options.endTangent.normalizeInPlace();\n      }\n\n      return true;\n    }\n\n    /** Converts a full cubic knot vector of expected length into fit parameters, by removing extraneous exterior knots.\n     * @param knots cubic knot vector, unmodified\n     * @param numFitPoints number of fit points\n     * @return fit parameters, or undefined if unexpected input\n     **/\n    public static convertCubicKnotVectorToFitParams(knots: number[] | undefined, numFitPoints: number, normalize?: boolean): number[] | undefined {\n      let params = knots?.slice();\n      if (undefined !== params) {\n        const numExtraKnots = params.length - numFitPoints;\n        switch (numExtraKnots) {\n          case 0: {   // ASSUME caller passed in interior knots\n            break;\n          }\n          case 4:     // modern full cubic knots\n          case 6: {   // legacy full cubic knots\n            for (let i = 0; i < numExtraKnots / 2; ++i) {\n              params.pop();\n              params.shift();\n            }\n            break;\n          }\n          default: {  // other knot configurations are unusable\n            params = undefined;\n            break;\n          }\n        }\n        if (normalize && !this.normalizeKnots(params))\n          params = undefined;\n      }\n      return params;\n    }\n\n    /** Return fit parameters augmented to a full cubic knot vector.\n     * @param params fit parameters, unmodified\n     * @param legacy whether to create a legacy (DGN) full knot vector, or modern vector with two less knots\n     **/\n    public static convertFitParamsToCubicKnotVector(params: number[] | undefined, closed?: boolean, legacy?: boolean): number[] | undefined {\n      const knots = params?.slice();\n      if (undefined !== knots) {\n        const numExtraKnots = legacy ? 6 : 4;\n        if (closed) {\n          const iTail = knots.length - 2;\n          for (let iHead = 2; iHead <= numExtraKnots; iHead += 2) {\n            knots.unshift(knots[iTail] - 1.0);  // index is constant\n            knots.push(1.0 + knots[iHead]);     // index increments by two\n          }\n        } else {\n          for (let i = 0; i < numExtraKnots / 2; ++i) {\n            knots.unshift(0.0);\n            knots.push(1.0);\n          }\n        }\n      }\n      return knots;\n    }\n\n    /** Ensure full legacy knot vector for JSON export **/\n    public static convertToJsonKnots(props: InterpolationCurve3dProps) {\n      if (undefined !== props.knots) {\n        props.knots = this.convertCubicKnotVectorToFitParams(props.knots, props.fitPoints.length, false);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      } else {\n        props.knots = this.constructFitParametersFromPoints(Point3dArray.clonePoint3dArray(props.fitPoints), props.isChordLenKnots, props.closed);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      }\n    }\n\n    /** Construct the control points for the c2 cubic fit algorithm\n     * @param options validated as per validateOptions, possibly modified\n     */\n    public static constructPoles(options: InterpolationCurve3dOptions): Point3d[] | Float64Array | undefined {\n      if (!this.constructFitParameters(options) || (undefined === options.knots))\n        return undefined;\n\n      const numRow = options.fitPoints.length;\n      const alpha: number[] = Array(numRow);\n      const beta: number[] = Array(numRow);\n      const gamma: number[] = Array(numRow);\n      if (!this.setUpSystem(alpha, beta, gamma, options))\n        return undefined;\n\n      let poles: Point3d[] | Float64Array | undefined = [];\n      if (!options.closed) {\n        const dataPts = options.fitPoints.slice();\n        if (!this.setEndConditions(dataPts, options))\n          return undefined;\n        if (dataPts.length !== numRow + 2)\n          return undefined; // sanity check: we added 2nd/penultimate points, rhs is middle numRow entries.\n\n        // construct tridiagonal banded system components\n        const matrix = new Float64Array(numRow * 3);\n        const rhs = new Float64Array(numRow * 3);\n        for (let iRow = 0, iMatrixRead = 0, iRhsRead = 0; iRow < numRow; ++iRow) {\n          matrix[iMatrixRead++] = alpha[iRow];\n          matrix[iMatrixRead++] = beta[iRow];\n          matrix[iMatrixRead++] = gamma[iRow];\n          rhs[iRhsRead++] = dataPts[iRow+1].x;\n          rhs[iRhsRead++] = dataPts[iRow+1].y;\n          rhs[iRhsRead++] = dataPts[iRow+1].z;\n        }\n\n        const solution = BandedSystem.solveBandedSystemMultipleRHS(numRow, 3, matrix, 3, rhs);\n        if (undefined === solution)\n          return undefined;\n\n        // pre/append first/last poles/fitPoints\n        poles = new Float64Array(3 + solution.length + 3);\n        let iWrite = 0;\n        poles[iWrite++] = options.fitPoints[0].x;\n        poles[iWrite++] = options.fitPoints[0].y;\n        poles[iWrite++] = options.fitPoints[0].z;\n        for (let iRead = 0; iRead < solution.length; ) {\n          poles[iWrite++] = solution[iRead++];\n        }\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].x;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].y;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].z;\n      } else { // closed\n        if (undefined !== (poles = this.solveNearTridiagonal(options.fitPoints, alpha, beta, gamma))) {\n          if (poles.length > 2) {\n            poles.unshift(poles.pop()!);  // shift poles right to line up with the knots\n            for (let i = 0; i < options.order - 1; ++i)\n              poles.push(poles[i].clone()); // periodically extend (the modern way)\n          }\n        }\n      }\n      return poles;\n    }\n  }\n}\n"]}

package/lib/esm/bspline/InterpolationCurve3d.js

@@ -73,10 +73,9 @@ export class InterpolationCurve3dOptions {
     }
     /** Clone with strongly typed members reduced to simple json, with "undefined" members omitted */
     cloneAsInterpolationCurve3dProps() {
-        var _a, _b, _c;
         const props = {
             fitPoints: Point3dArray.cloneDeepJSONNumberArrays(this.fitPoints),
-            knots: (_a = this._knots) === null || _a === void 0 ? void 0 : _a.slice(),
+            knots: this._knots?.slice(),
         };
         if (this._order !== undefined)
             props.order = this._order;
@@ -91,29 +90,27 @@ export class InterpolationCurve3dOptions {
         if (this._isNaturalTangents !== undefined)
             props.isNaturalTangents = this._isNaturalTangents;
         if (this._startTangent !== undefined)
-            props.startTangent = (_b = this._startTangent) === null || _b === void 0 ? void 0 : _b.toArray();
+            props.startTangent = this._startTangent?.toArray();
         if (this._endTangent !== undefined)
-            props.endTangent = (_c = this._endTangent) === null || _c === void 0 ? void 0 : _c.toArray();
+            props.endTangent = this._endTangent?.toArray();
         return props;
     }
     /** Clone with strongly typed members reduced to simple json. */
     clone() {
-        var _a, _b, _c;
-        const clone = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(this.fitPoints), (_a = this.knots) === null || _a === void 0 ? void 0 : _a.slice());
+        const clone = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(this.fitPoints), this.knots?.slice());
         clone._order = this.order;
         clone._closed = this.closed;
         clone._isChordLenKnots = this.isChordLenKnots;
         clone._isColinearTangents = this.isColinearTangents;
         clone._isChordLenTangents = this.isChordLenTangents;
         clone._isNaturalTangents = this.isNaturalTangents;
-        clone._startTangent = (_b = this._startTangent) === null || _b === void 0 ? void 0 : _b.clone();
-        clone._endTangent = (_c = this._endTangent) === null || _c === void 0 ? void 0 : _c.clone();
+        clone._startTangent = this._startTangent?.clone();
+        clone._endTangent = this._endTangent?.clone();
         return clone;
     }
     /** Clone with strongly typed members reduced to simple json. */
     static create(source) {
-        var _a;
-        const result = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(source.fitPoints), (_a = source.knots) === null || _a === void 0 ? void 0 : _a.slice());
+        const result = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(source.fitPoints), source.knots?.slice());
         result._order = source.order;
         result._closed = source.closed;
         result._isChordLenKnots = source.isChordLenKnots;

package/lib/esm/bspline/InterpolationCurve3d.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Geometry } from \"../Geometry\";\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\nimport { ProxyCurve } from \"../curve/ProxyCurve\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { BSplineCurveOps } from \"../bspline/BSplineCurveOps\";\nimport { BSplineCurve3d } from \"./BSplineCurve\";\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { GeometryHandler } from \"../geometry3d/GeometryHandler\";\nimport { XYZProps } from \"../geometry3d/XYZProps\";\n\n/**\n * fitPoints and end condition data for [[InterpolationCurve3d]]\n * * This is a \"json compatible\" version of [[InterpolationCurve3dOptions]]\n * @public\n */\nexport interface InterpolationCurve3dProps {\n  /** order of the computed bspline (one more than degree) */\n  order?: number;\n  /** true if the B-spline construction should be periodic */\n  closed?: boolean;\n  /** if closed and no knots, compute chord length knots (1) or uniform knots (0). Chord length knots give best fit. */\n  isChordLenKnots?: number;\n  /** if !closed but first and last fitPoints are equal, pivot computed start/end tangent(s) so that they are colinear (1) or leave them be (0). */\n  isColinearTangents?: number;\n  /** if !closed and start/endTangent is given, set its magnitude to the first/last fit point chord length (1) or to the magnitude of the Bessel tangent (0). Bessel gives best fit. */\n  isChordLenTangents?: number;\n  /** if !closed and start/endTangent is absent, compute it using the natural end condition (1) or Bessel (0). Bessel gives best fit. */\n  isNaturalTangents?: number;\n  /** optional start tangent, pointing into curve. Magnitude is ignored. */\n  startTangent?: XYZProps;\n  /** optional end tangent, pointing into curve. Magnitude is ignored. */\n  endTangent?: XYZProps;\n  /** points that the curve must pass through */\n  fitPoints: XYZProps[];\n  /** parameters for curve fitting, one per fit point */\n  knots?: number[];\n}\n\n/**\n * fitPoints and end condition data for [[InterpolationCurve3d]]\n * * This is a \"typed object\" version of the serializer-friendly [[InterpolationCurve3dProps]]\n * * Typical use cases rarely require all parameters, so the constructor does not itemize them as parameters.\n * @public\n */\nexport class InterpolationCurve3dOptions {\n  /**\n   * Constructor.\n   * @param fitPoints points to CAPTURE\n   * @param knots array to CAPTURE\n   */\n  public constructor(fitPoints?: Point3d[], knots?: number[]) {\n    this._fitPoints = fitPoints ? fitPoints : [];\n    this._knots = knots;\n  }\n\n  private _order?: number;\n  private _closed?: boolean;\n  private _isChordLenKnots?: number;\n  private _isColinearTangents?: number;\n  private _isChordLenTangents?: number;\n  private _isNaturalTangents?: number;\n  private _startTangent?: Vector3d;\n  private _endTangent?: Vector3d;\n  private _fitPoints: Point3d[];\n  private _knots?: number[];\n\n  /** `order` as property */\n  public get order(): number { return Geometry.resolveNumber(this._order, 4); }\n  public set order(val: number) { this._order = val; }\n  /** `closed` as property */\n  public get closed(): boolean { return Geometry.resolveValue(this._closed, false); }\n  public set closed(val: boolean) { this._closed = val; }\n  /** `isChordLenKnots` as property */\n  public get isChordLenKnots(): number { return Geometry.resolveNumber(this._isChordLenKnots, 0); }\n  public set isChordLenKnots(val: number) { this._isChordLenKnots = val; }\n  /** `isColinearTangents` as property */\n  public get isColinearTangents(): number { return Geometry.resolveNumber(this._isColinearTangents, 0); }\n  public set isColinearTangents(val: number) { this._isColinearTangents = val; }\n  /** `isChordLenTangents` as property */\n  public get isChordLenTangents(): number { return Geometry.resolveNumber(this._isChordLenTangents, 0); }\n  public set isChordLenTangents(val: number) { this._isChordLenTangents = val; }\n  /** `isNaturalTangents` as property */\n  public get isNaturalTangents(): number { return Geometry.resolveNumber(this._isNaturalTangents, 0); }\n  public set isNaturalTangents(val: number) { this._isNaturalTangents = val; }\n  /** access POSSIBLY UNDEFINED start tangent. Setter CAPTURES. */\n  public get startTangent(): Vector3d | undefined { return this._startTangent; }\n  public set startTangent(val: Vector3d | undefined) { this._startTangent = val; }\n  /** access POSSIBLY UNDEFINED end tangent. Setter CAPTURES. */\n  public get endTangent(): Vector3d | undefined { return this._endTangent; }\n  public set endTangent(val: Vector3d | undefined) { this._endTangent = val; }\n  /** access POINTER TO fit points. Setter CAPTURES. */\n  public get fitPoints(): Point3d[] { return this._fitPoints; }\n  public set fitPoints(val: Point3d[]) { this._fitPoints = val; }\n  /** access POSSIBLY UNDEFINED knots array. Setter CAPTURES. */\n  public get knots(): number[] | undefined { return this._knots; }\n  public set knots(val: number[] | undefined) { this._knots = val; }\n\n  /** One step setup of properties not named in constructor.\n   * * CAPTURE pointers to tangents.\n   * * OPTIONALLY downgrade \"0\" values to undefined.\n   */\n  public captureOptionalProps(\n    order: number | undefined,\n    closed: boolean | undefined,\n    isChordLenKnots: number | undefined,\n    isColinearTangents: number | undefined,\n    isChordLenTangent: number | undefined,\n    isNaturalTangents: number | undefined,\n    startTangent: Vector3d | undefined,\n    endTangent: Vector3d | undefined\n  ) {\n    this._order = Geometry.resolveToUndefined(order, 0);\n    this._closed = Geometry.resolveToUndefined(closed, false);\n    this._isChordLenKnots = Geometry.resolveToUndefined(isChordLenKnots, 0);\n    this._isColinearTangents = Geometry.resolveToUndefined(isColinearTangents, 0);\n    this._isChordLenTangents = Geometry.resolveToUndefined(isChordLenTangent, 0);\n    this._isNaturalTangents = Geometry.resolveToUndefined(isNaturalTangents, 0);\n    this._startTangent = startTangent;\n    this._endTangent = endTangent;\n\n  }\n  /** Clone with strongly typed members reduced to simple json, with \"undefined\" members omitted */\n  public cloneAsInterpolationCurve3dProps(): InterpolationCurve3dProps {\n    const props: InterpolationCurve3dProps = {\n      fitPoints: Point3dArray.cloneDeepJSONNumberArrays(this.fitPoints),\n      knots: this._knots?.slice(),\n    };\n    if (this._order !== undefined)\n      props.order = this._order;\n    if (this._closed !== undefined)\n      props.closed = this._closed;\n    if (this._isChordLenKnots !== undefined)\n      props.isChordLenKnots = this._isChordLenKnots;\n    if (this._isColinearTangents !== undefined)\n      props.isColinearTangents = this._isColinearTangents;\n    if (this._isChordLenTangents !== undefined)\n      props.isChordLenTangents = this._isChordLenTangents;\n    if (this._isNaturalTangents !== undefined)\n      props.isNaturalTangents = this._isNaturalTangents;\n    if (this._startTangent !== undefined)\n      props.startTangent = this._startTangent?.toArray();\n    if (this._endTangent !== undefined)\n      props.endTangent = this._endTangent?.toArray();\n    return props;\n  }\n  /** Clone with strongly typed members reduced to simple json. */\n  public clone(): InterpolationCurve3dOptions {\n    const clone = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(this.fitPoints), this.knots?.slice());\n    clone._order = this.order;\n    clone._closed = this.closed;\n    clone._isChordLenKnots = this.isChordLenKnots;\n    clone._isColinearTangents = this.isColinearTangents;\n    clone._isChordLenTangents = this.isChordLenTangents;\n    clone._isNaturalTangents = this.isNaturalTangents;\n    clone._startTangent = this._startTangent?.clone();\n    clone._endTangent = this._endTangent?.clone();\n    return clone;\n  }\n\n  /** Clone with strongly typed members reduced to simple json. */\n  public static create(source: InterpolationCurve3dProps): InterpolationCurve3dOptions {\n    const result = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(source.fitPoints), source.knots?.slice());\n    result._order = source.order;\n    result._closed = source.closed;\n    result._isChordLenKnots = source.isChordLenKnots;\n    result._isColinearTangents = source.isColinearTangents;\n    result._isChordLenTangents = source.isChordLenTangents;\n    result._isNaturalTangents = source.isNaturalTangents;\n    result._startTangent = source.startTangent ? Vector3d.fromJSON(source.startTangent) : undefined;\n    result._endTangent = source.endTangent ? Vector3d.fromJSON(source.endTangent) : undefined;\n    return result;\n  }\n  // ugh.\n  // vector equality test with awkward rule that 000 matches undefined.\n  private static areAlmostEqualAllow000AsUndefined(a: Vector3d | undefined, b: Vector3d | undefined): boolean {\n    if (a !== undefined && a.maxAbs() === 0)\n      a = undefined;\n    if (b !== undefined && b.maxAbs() === 0)\n      b = undefined;\n    if (a !== undefined && b !== undefined)\n      return a.isAlmostEqual(b);\n    return a === undefined && b === undefined;\n  }\n  public static areAlmostEqual(dataA: InterpolationCurve3dOptions | undefined, dataB: InterpolationCurve3dOptions | undefined): boolean {\n    if (dataA === undefined && dataB === undefined)\n      return true;\n    if (dataA !== undefined && dataB !== undefined) {\n      if (Geometry.areEqualAllowUndefined(dataA.order, dataB.order)\n        && Geometry.areEqualAllowUndefined(dataA.closed, dataB.closed)\n        && Geometry.areEqualAllowUndefined(dataA.isChordLenKnots, dataB.isChordLenKnots)\n        && Geometry.areEqualAllowUndefined(dataA.isColinearTangents, dataB.isColinearTangents)\n        && Geometry.areEqualAllowUndefined(dataA.isNaturalTangents, dataB.isNaturalTangents)\n        && this.areAlmostEqualAllow000AsUndefined(dataA.startTangent, dataB.startTangent)\n        && this.areAlmostEqualAllow000AsUndefined(dataA.endTangent, dataB.endTangent)\n        && Geometry.almostEqualArrays(dataA.fitPoints, dataB.fitPoints, (a: Point3d, b: Point3d) => a.isAlmostEqual(b))) {\n        if (Geometry.almostEqualNumberArrays(dataA.knots, dataB.knots, (a: number, b: number) => a === b))\n          return true;\n        if (dataA.knots === undefined && dataB.knots === undefined)\n          return true;\n        /* alas .. need to allow tricky mismatch of end replication */\n        let knotsA = dataA.knots, knotsB = dataB.knots;\n        if (dataA.knots === undefined)  // construct undefined knots to compare against defined knots\n          knotsA = BSplineCurveOps.C2CubicFit.constructFitParametersFromPoints(dataA.fitPoints, dataA.isChordLenKnots, dataA.closed);\n        else if (dataB.knots === undefined)\n          knotsB = BSplineCurveOps.C2CubicFit.constructFitParametersFromPoints(dataB.fitPoints, dataB.isChordLenKnots, dataB.closed);\n        knotsA = BSplineCurveOps.C2CubicFit.convertCubicKnotVectorToFitParams(knotsA, dataA.fitPoints.length, false);\n        knotsB = BSplineCurveOps.C2CubicFit.convertCubicKnotVectorToFitParams(knotsB, dataB.fitPoints.length, false);\n        return Geometry.almostEqualNumberArrays(knotsA, knotsB, (a: number, b: number) => Geometry.isAlmostEqualNumber(a, b));\n      }\n    }\n    return false;\n  }\n  /** reverse the order or sense of all start-to-end related properties. */\n  public reverseInPlace() {\n    this.fitPoints.reverse();\n    if (this.knots)\n      this.knots.reverse();\n    // Swap pointers to tangents. They don't need to be negated because they point into the curve.\n    const oldStart = this._startTangent;\n    this._startTangent = this.endTangent;\n    this._endTangent = oldStart;\n  }\n}\n\n/**\n * Interpolating curve.\n * * Derive from [[ProxyCurve]]\n * * Use a [[BSplineCurve3d]] as the proxy\n * *\n * @public\n */\nexport class InterpolationCurve3d extends ProxyCurve {\n  public readonly curvePrimitiveType = \"interpolationCurve\";\n  private _options: InterpolationCurve3dOptions;\n  /**\n   * CAPTURE properties and proxy curve.\n   */\n  private constructor(properties: InterpolationCurve3dOptions, proxyCurve: CurvePrimitive) {\n    super(proxyCurve);\n    this._options = properties;\n  }\n\n  public override dispatchToGeometryHandler(handler: GeometryHandler): any {\n    let result = handler.handleInterpolationCurve3d(this);\n    if (undefined === result) // if handler doesn't specialize on interpolation curves, default to proxy\n      result = this._proxyCurve.dispatchToGeometryHandler(handler);\n    return result;\n  }\n  /**\n   * Create an [[InterpolationCurve3d]] based on points, knots, and other properties in the [[InterpolationCurve3dProps]] or [[InterpolationCurve3dOptions]].\n   * * This saves a COPY OF the options or props.\n   * * Use createCapture () if the options or props can be used without copy\n   */\n  public static create(options: InterpolationCurve3dOptions | InterpolationCurve3dProps): InterpolationCurve3d | undefined {\n    let optionsCopy;\n    if (options instanceof InterpolationCurve3dOptions) {\n      optionsCopy = options.clone();\n    } else {\n      optionsCopy = InterpolationCurve3dOptions.create(options);\n    }\n    return InterpolationCurve3d.createCapture(optionsCopy);\n  }\n  /** Create an [[InterpolationCurve3d]]\n   * * The options object is captured into the new curve object (not copied)\n   */\n  public static createCapture(options: InterpolationCurve3dOptions): InterpolationCurve3d | undefined {\n    const proxyCurve = BSplineCurve3d.createFromInterpolationCurve3dOptions(options);\n    if (proxyCurve)\n      return new InterpolationCurve3d(options, proxyCurve);\n    return undefined;\n  }\n  /** Return a (copy of) the defining points, packed as a Float64Array */\n  public copyFitPointsFloat64Array(): Float64Array {\n    return Point3dArray.cloneXYZPropsAsFloat64Array(this._options.fitPoints);\n  }\n\n  /**\n   * Return json key-value pairs for for this [[InterpolationCurve3d]].\n   * @returns\n   */\n  public toJSON(): any {\n    return this._options.cloneAsInterpolationCurve3dProps();\n  }\n  /** Clone the [[InterpolationCurve3dProps]] object in this [[InterpolationCurve3d]] */\n  public cloneProps(): InterpolationCurve3dProps {\n    return this._options.cloneAsInterpolationCurve3dProps();\n  }\n\n  /** return the options pointer */\n  public get options(): InterpolationCurve3dOptions { return this._options; }\n\n  /**\n   * Reverse the curve direction.\n   * * This updates both the defining properties and the proxy bspline.\n   */\n  public reverseInPlace(): void {\n    this._proxyCurve.reverseInPlace();\n    this._options.reverseInPlace();\n  }\n  /**\n   * Transform this [[InterpolationCurve3d]] and its defining data in place\n   */\n  public tryTransformInPlace(transform: Transform): boolean {\n    const proxyOk = this._proxyCurve.tryTransformInPlace(transform);\n    if (proxyOk) {\n      transform.multiplyPoint3dArrayInPlace(this._options.fitPoints);\n      if (this._options.startTangent)\n        transform.multiplyVectorInPlace(this._options.startTangent);\n      if (this._options.endTangent)\n        transform.multiplyVectorInPlace(this._options.endTangent);\n    }\n    return proxyOk;\n  }\n\n  /** Return a deep clone */\n  public override clone(): InterpolationCurve3d {\n    return new InterpolationCurve3d(this._options.clone(), this._proxyCurve.clone());\n  }\n\n  public override isAlmostEqual(other: GeometryQuery): boolean {\n    if (other instanceof InterpolationCurve3d) {\n      return InterpolationCurve3dOptions.areAlmostEqual(this._options, other._options);\n    }\n    return false;\n  }\n\n  /** Test if `other` is also an [[InterpolationCurve3d]] */\n  public isSameGeometryClass(other: GeometryQuery): boolean { return other instanceof InterpolationCurve3d; }\n\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Geometry } from \"../Geometry\";\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\nimport { ProxyCurve } from \"../curve/ProxyCurve\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { BSplineCurveOps } from \"../bspline/BSplineCurveOps\";\nimport { BSplineCurve3d } from \"./BSplineCurve\";\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { GeometryHandler } from \"../geometry3d/GeometryHandler\";\nimport { XYZProps } from \"../geometry3d/XYZProps\";\n\n/**\n * fitPoints and end condition data for [[InterpolationCurve3d]]\n * * This is a \"json compatible\" version of [[InterpolationCurve3dOptions]]\n * @public\n */\nexport interface InterpolationCurve3dProps {\n  /** order of the computed bspline (one more than degree) */\n  order?: number;\n  /** true if the B-spline construction should be periodic */\n  closed?: boolean;\n  /** if closed and no knots, compute chord length knots (1) or uniform knots (0). Chord length knots give best fit. */\n  isChordLenKnots?: number;\n  /** if !closed but first and last fitPoints are equal, pivot computed start/end tangent(s) so that they are colinear (1) or leave them be (0). */\n  isColinearTangents?: number;\n  /** if !closed and start/endTangent is given, set its magnitude to the first/last fit point chord length (1) or to the magnitude of the Bessel tangent (0). Bessel gives best fit. */\n  isChordLenTangents?: number;\n  /** if !closed and start/endTangent is absent, compute it using the natural end condition (1) or Bessel (0). Bessel gives best fit. */\n  isNaturalTangents?: number;\n  /** optional start tangent, pointing into curve. Magnitude is ignored. */\n  startTangent?: XYZProps;\n  /** optional end tangent, pointing into curve. Magnitude is ignored. */\n  endTangent?: XYZProps;\n  /** points that the curve must pass through */\n  fitPoints: XYZProps[];\n  /** parameters for curve fitting, one per fit point */\n  knots?: number[];\n}\n\n/**\n * fitPoints and end condition data for [[InterpolationCurve3d]]\n * * This is a \"typed object\" version of the serializer-friendly [[InterpolationCurve3dProps]]\n * * Typical use cases rarely require all parameters, so the constructor does not itemize them as parameters.\n * @public\n */\nexport class InterpolationCurve3dOptions {\n  /**\n   * Constructor.\n   * @param fitPoints points to CAPTURE\n   * @param knots array to CAPTURE\n   */\n  public constructor(fitPoints?: Point3d[], knots?: number[]) {\n    this._fitPoints = fitPoints ? fitPoints : [];\n    this._knots = knots;\n  }\n\n  private _order?: number;\n  private _closed?: boolean;\n  private _isChordLenKnots?: number;\n  private _isColinearTangents?: number;\n  private _isChordLenTangents?: number;\n  private _isNaturalTangents?: number;\n  private _startTangent?: Vector3d;\n  private _endTangent?: Vector3d;\n  private _fitPoints: Point3d[];\n  private _knots?: number[];\n\n  /** `order` as property */\n  public get order(): number { return Geometry.resolveNumber(this._order, 4); }\n  public set order(val: number) { this._order = val; }\n  /** `closed` as property */\n  public get closed(): boolean { return Geometry.resolveValue(this._closed, false); }\n  public set closed(val: boolean) { this._closed = val; }\n  /** `isChordLenKnots` as property */\n  public get isChordLenKnots(): number { return Geometry.resolveNumber(this._isChordLenKnots, 0); }\n  public set isChordLenKnots(val: number) { this._isChordLenKnots = val; }\n  /** `isColinearTangents` as property */\n  public get isColinearTangents(): number { return Geometry.resolveNumber(this._isColinearTangents, 0); }\n  public set isColinearTangents(val: number) { this._isColinearTangents = val; }\n  /** `isChordLenTangents` as property */\n  public get isChordLenTangents(): number { return Geometry.resolveNumber(this._isChordLenTangents, 0); }\n  public set isChordLenTangents(val: number) { this._isChordLenTangents = val; }\n  /** `isNaturalTangents` as property */\n  public get isNaturalTangents(): number { return Geometry.resolveNumber(this._isNaturalTangents, 0); }\n  public set isNaturalTangents(val: number) { this._isNaturalTangents = val; }\n  /** access POSSIBLY UNDEFINED start tangent. Setter CAPTURES. */\n  public get startTangent(): Vector3d | undefined { return this._startTangent; }\n  public set startTangent(val: Vector3d | undefined) { this._startTangent = val; }\n  /** access POSSIBLY UNDEFINED end tangent. Setter CAPTURES. */\n  public get endTangent(): Vector3d | undefined { return this._endTangent; }\n  public set endTangent(val: Vector3d | undefined) { this._endTangent = val; }\n  /** access POINTER TO fit points. Setter CAPTURES. */\n  public get fitPoints(): Point3d[] { return this._fitPoints; }\n  public set fitPoints(val: Point3d[]) { this._fitPoints = val; }\n  /** access POSSIBLY UNDEFINED knots array. Setter CAPTURES. */\n  public get knots(): number[] | undefined { return this._knots; }\n  public set knots(val: number[] | undefined) { this._knots = val; }\n\n  /** One step setup of properties not named in constructor.\n   * * CAPTURE pointers to tangents.\n   * * OPTIONALLY downgrade \"0\" values to undefined.\n   */\n  public captureOptionalProps(\n    order: number | undefined,\n    closed: boolean | undefined,\n    isChordLenKnots: number | undefined,\n    isColinearTangents: number | undefined,\n    isChordLenTangent: number | undefined,\n    isNaturalTangents: number | undefined,\n    startTangent: Vector3d | undefined,\n    endTangent: Vector3d | undefined\n  ) {\n    this._order = Geometry.resolveToUndefined(order, 0);\n    this._closed = Geometry.resolveToUndefined(closed, false);\n    this._isChordLenKnots = Geometry.resolveToUndefined(isChordLenKnots, 0);\n    this._isColinearTangents = Geometry.resolveToUndefined(isColinearTangents, 0);\n    this._isChordLenTangents = Geometry.resolveToUndefined(isChordLenTangent, 0);\n    this._isNaturalTangents = Geometry.resolveToUndefined(isNaturalTangents, 0);\n    this._startTangent = startTangent;\n    this._endTangent = endTangent;\n\n  }\n  /** Clone with strongly typed members reduced to simple json, with \"undefined\" members omitted */\n  public cloneAsInterpolationCurve3dProps(): InterpolationCurve3dProps {\n    const props: InterpolationCurve3dProps = {\n      fitPoints: Point3dArray.cloneDeepJSONNumberArrays(this.fitPoints),\n      knots: this._knots?.slice(),\n    };\n    if (this._order !== undefined)\n      props.order = this._order;\n    if (this._closed !== undefined)\n      props.closed = this._closed;\n    if (this._isChordLenKnots !== undefined)\n      props.isChordLenKnots = this._isChordLenKnots;\n    if (this._isColinearTangents !== undefined)\n      props.isColinearTangents = this._isColinearTangents;\n    if (this._isChordLenTangents !== undefined)\n      props.isChordLenTangents = this._isChordLenTangents;\n    if (this._isNaturalTangents !== undefined)\n      props.isNaturalTangents = this._isNaturalTangents;\n    if (this._startTangent !== undefined)\n      props.startTangent = this._startTangent?.toArray();\n    if (this._endTangent !== undefined)\n      props.endTangent = this._endTangent?.toArray();\n    return props;\n  }\n  /** Clone with strongly typed members reduced to simple json. */\n  public clone(): InterpolationCurve3dOptions {\n    const clone = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(this.fitPoints), this.knots?.slice());\n    clone._order = this.order;\n    clone._closed = this.closed;\n    clone._isChordLenKnots = this.isChordLenKnots;\n    clone._isColinearTangents = this.isColinearTangents;\n    clone._isChordLenTangents = this.isChordLenTangents;\n    clone._isNaturalTangents = this.isNaturalTangents;\n    clone._startTangent = this._startTangent?.clone();\n    clone._endTangent = this._endTangent?.clone();\n    return clone;\n  }\n\n  /** Clone with strongly typed members reduced to simple json. */\n  public static create(source: InterpolationCurve3dProps): InterpolationCurve3dOptions {\n    const result = new InterpolationCurve3dOptions(Point3dArray.clonePoint3dArray(source.fitPoints), source.knots?.slice());\n    result._order = source.order;\n    result._closed = source.closed;\n    result._isChordLenKnots = source.isChordLenKnots;\n    result._isColinearTangents = source.isColinearTangents;\n    result._isChordLenTangents = source.isChordLenTangents;\n    result._isNaturalTangents = source.isNaturalTangents;\n    result._startTangent = source.startTangent ? Vector3d.fromJSON(source.startTangent) : undefined;\n    result._endTangent = source.endTangent ? Vector3d.fromJSON(source.endTangent) : undefined;\n    return result;\n  }\n  // ugh.\n  // vector equality test with awkward rule that 000 matches undefined.\n  private static areAlmostEqualAllow000AsUndefined(a: Vector3d | undefined, b: Vector3d | undefined): boolean {\n    if (a !== undefined && a.maxAbs() === 0)\n      a = undefined;\n    if (b !== undefined && b.maxAbs() === 0)\n      b = undefined;\n    if (a !== undefined && b !== undefined)\n      return a.isAlmostEqual(b);\n    return a === undefined && b === undefined;\n  }\n  public static areAlmostEqual(dataA: InterpolationCurve3dOptions | undefined, dataB: InterpolationCurve3dOptions | undefined): boolean {\n    if (dataA === undefined && dataB === undefined)\n      return true;\n    if (dataA !== undefined && dataB !== undefined) {\n      if (Geometry.areEqualAllowUndefined(dataA.order, dataB.order)\n        && Geometry.areEqualAllowUndefined(dataA.closed, dataB.closed)\n        && Geometry.areEqualAllowUndefined(dataA.isChordLenKnots, dataB.isChordLenKnots)\n        && Geometry.areEqualAllowUndefined(dataA.isColinearTangents, dataB.isColinearTangents)\n        && Geometry.areEqualAllowUndefined(dataA.isNaturalTangents, dataB.isNaturalTangents)\n        && this.areAlmostEqualAllow000AsUndefined(dataA.startTangent, dataB.startTangent)\n        && this.areAlmostEqualAllow000AsUndefined(dataA.endTangent, dataB.endTangent)\n        && Geometry.almostEqualArrays(dataA.fitPoints, dataB.fitPoints, (a: Point3d, b: Point3d) => a.isAlmostEqual(b))) {\n        if (Geometry.almostEqualNumberArrays(dataA.knots, dataB.knots, (a: number, b: number) => a === b))\n          return true;\n        if (dataA.knots === undefined && dataB.knots === undefined)\n          return true;\n        /* alas .. need to allow tricky mismatch of end replication */\n        let knotsA = dataA.knots, knotsB = dataB.knots;\n        if (dataA.knots === undefined)  // construct undefined knots to compare against defined knots\n          knotsA = BSplineCurveOps.C2CubicFit.constructFitParametersFromPoints(dataA.fitPoints, dataA.isChordLenKnots, dataA.closed);\n        else if (dataB.knots === undefined)\n          knotsB = BSplineCurveOps.C2CubicFit.constructFitParametersFromPoints(dataB.fitPoints, dataB.isChordLenKnots, dataB.closed);\n        knotsA = BSplineCurveOps.C2CubicFit.convertCubicKnotVectorToFitParams(knotsA, dataA.fitPoints.length, false);\n        knotsB = BSplineCurveOps.C2CubicFit.convertCubicKnotVectorToFitParams(knotsB, dataB.fitPoints.length, false);\n        return Geometry.almostEqualNumberArrays(knotsA, knotsB, (a: number, b: number) => Geometry.isAlmostEqualNumber(a, b));\n      }\n    }\n    return false;\n  }\n  /** reverse the order or sense of all start-to-end related properties. */\n  public reverseInPlace() {\n    this.fitPoints.reverse();\n    if (this.knots)\n      this.knots.reverse();\n    // Swap pointers to tangents. They don't need to be negated because they point into the curve.\n    const oldStart = this._startTangent;\n    this._startTangent = this.endTangent;\n    this._endTangent = oldStart;\n  }\n}\n\n/**\n * Interpolating curve.\n * * Derive from [[ProxyCurve]]\n * * Use a [[BSplineCurve3d]] as the proxy\n * *\n * @public\n */\nexport class InterpolationCurve3d extends ProxyCurve {\n  public readonly curvePrimitiveType = \"interpolationCurve\";\n  private _options: InterpolationCurve3dOptions;\n  /**\n   * CAPTURE properties and proxy curve.\n   */\n  private constructor(properties: InterpolationCurve3dOptions, proxyCurve: CurvePrimitive) {\n    super(proxyCurve);\n    this._options = properties;\n  }\n\n  public override dispatchToGeometryHandler(handler: GeometryHandler): any {\n    let result = handler.handleInterpolationCurve3d(this);\n    if (undefined === result) // if handler doesn't specialize on interpolation curves, default to proxy\n      result = this._proxyCurve.dispatchToGeometryHandler(handler);\n    return result;\n  }\n  /**\n   * Create an [[InterpolationCurve3d]] based on points, knots, and other properties in the [[InterpolationCurve3dProps]] or [[InterpolationCurve3dOptions]].\n   * * This saves a COPY OF the options or props.\n   * * Use createCapture () if the options or props can be used without copy\n   */\n  public static create(options: InterpolationCurve3dOptions | InterpolationCurve3dProps): InterpolationCurve3d | undefined {\n    let optionsCopy;\n    if (options instanceof InterpolationCurve3dOptions) {\n      optionsCopy = options.clone();\n    } else {\n      optionsCopy = InterpolationCurve3dOptions.create(options);\n    }\n    return InterpolationCurve3d.createCapture(optionsCopy);\n  }\n  /** Create an [[InterpolationCurve3d]]\n   * * The options object is captured into the new curve object (not copied)\n   */\n  public static createCapture(options: InterpolationCurve3dOptions): InterpolationCurve3d | undefined {\n    const proxyCurve = BSplineCurve3d.createFromInterpolationCurve3dOptions(options);\n    if (proxyCurve)\n      return new InterpolationCurve3d(options, proxyCurve);\n    return undefined;\n  }\n  /** Return a (copy of) the defining points, packed as a Float64Array */\n  public copyFitPointsFloat64Array(): Float64Array {\n    return Point3dArray.cloneXYZPropsAsFloat64Array(this._options.fitPoints);\n  }\n\n  /**\n   * Return json key-value pairs for for this [[InterpolationCurve3d]].\n   * @returns\n   */\n  public toJSON(): any {\n    return this._options.cloneAsInterpolationCurve3dProps();\n  }\n  /** Clone the [[InterpolationCurve3dProps]] object in this [[InterpolationCurve3d]] */\n  public cloneProps(): InterpolationCurve3dProps {\n    return this._options.cloneAsInterpolationCurve3dProps();\n  }\n\n  /** return the options pointer */\n  public get options(): InterpolationCurve3dOptions { return this._options; }\n\n  /**\n   * Reverse the curve direction.\n   * * This updates both the defining properties and the proxy bspline.\n   */\n  public reverseInPlace(): void {\n    this._proxyCurve.reverseInPlace();\n    this._options.reverseInPlace();\n  }\n  /**\n   * Transform this [[InterpolationCurve3d]] and its defining data in place\n   */\n  public tryTransformInPlace(transform: Transform): boolean {\n    const proxyOk = this._proxyCurve.tryTransformInPlace(transform);\n    if (proxyOk) {\n      transform.multiplyPoint3dArrayInPlace(this._options.fitPoints);\n      if (this._options.startTangent)\n        transform.multiplyVectorInPlace(this._options.startTangent);\n      if (this._options.endTangent)\n        transform.multiplyVectorInPlace(this._options.endTangent);\n    }\n    return proxyOk;\n  }\n\n  /** Return a deep clone */\n  public override clone(): InterpolationCurve3d {\n    return new InterpolationCurve3d(this._options.clone(), this._proxyCurve.clone());\n  }\n\n  public override isAlmostEqual(other: GeometryQuery): boolean {\n    if (other instanceof InterpolationCurve3d) {\n      return InterpolationCurve3dOptions.areAlmostEqual(this._options, other._options);\n    }\n    return false;\n  }\n\n  /** Test if `other` is also an [[InterpolationCurve3d]] */\n  public isSameGeometryClass(other: GeometryQuery): boolean { return other instanceof InterpolationCurve3d; }\n\n}\n"]}

package/lib/esm/clipping/ClipPrimitive.js

@@ -237,7 +237,7 @@ export class ClipPrimitive {
     }
     /** Specific converter producing the base class ClipPrimitive. */
     static fromJSONClipPrimitive(json) {
-        const planes = json === null || json === void 0 ? void 0 : json.planes;
+        const planes = json?.planes;
         if (!planes)
             return undefined;
         const clipPlanes = planes.clips ? UnionOfConvexClipPlaneSets.fromJSON(planes.clips) : undefined;
@@ -356,7 +356,7 @@ export class ClipShape extends ClipPrimitive {
     }
     /** parse `json` to a clip shape. */
     static fromClipShapeJSON(json, result) {
-        const shape = json === null || json === void 0 ? void 0 : json.shape;
+        const shape = json?.shape;
         if (!shape)
             return undefined;
         const points = shape.points ? shape.points.map((pt) => Point3d.fromJSON(pt)) : [];