@itwin/core-geometry 4.0.0-dev.68 → 4.0.0-dev.70

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Files changed (9) hide show
  1. package/lib/cjs/geometry3d/Ray3d.d.ts +50 -43
  2. package/lib/cjs/geometry3d/Ray3d.d.ts.map +1 -1
  3. package/lib/cjs/geometry3d/Ray3d.js +96 -55
  4. package/lib/cjs/geometry3d/Ray3d.js.map +1 -1
  5. package/lib/esm/geometry3d/Ray3d.d.ts +50 -43
  6. package/lib/esm/geometry3d/Ray3d.d.ts.map +1 -1
  7. package/lib/esm/geometry3d/Ray3d.js +96 -55
  8. package/lib/esm/geometry3d/Ray3d.js.map +1 -1
  9. package/package.json +3 -3
package/lib/cjs/geometry3d/Ray3d.d.ts CHANGED
@@ -8,16 +8,17 @@ import { Point3d, Vector3d } from "./Point3dVector3d";
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  import { Range1d, Range3d } from "./Range";
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  import { Transform } from "./Transform";
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  import { XYAndZ } from "./XYZProps";
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- /** A Ray3d contains
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- * * an origin point.
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- * * a direction vector. The vector is NOT required to be normalized.
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- * * an optional weight (number).
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+ /**
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+ * A Ray3d contains
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+ * * an `origin` point.
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+ * * a `direction` vector (The vector is not required to be normalized).
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+ * * an optional weight (number).
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  * @public
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  */
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  export declare class Ray3d implements BeJSONFunctions {
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  /** The ray origin */
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  origin: Point3d;
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- /** The ray direction. This is commonly (but not always) a unit vector. */
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+ /** The ray direction. This is commonly (but not always) a unit vector. */
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  direction: Vector3d;
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  /** Numeric annotation. */
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  a?: number;
@@ -31,19 +32,29 @@ export declare class Ray3d implements BeJSONFunctions {
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  static createZAxis(): Ray3d;
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  /** Create a ray with all zeros. */
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  static createZero(result?: Ray3d): Ray3d;
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- /** Test for nearly equal Ray3d objects.
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+ /**
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+ * Test for nearly equal Ray3d objects.
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  * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
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- * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.
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- */
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+ * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
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+ * directions to be scaled or opposing.
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+ */
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  isAlmostEqual(other: Ray3d): boolean;
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- /** Test for nearly equal rays, allowing origin float and direction scaling.
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+ /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
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+ dotProductToPoint(spacePoint: Point3d): number;
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+ /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
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+ pointToFraction(spacePoint: Point3d): number;
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+ /** Return the `spacePoint` projected onto the ray. */
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+ projectPointToRay(spacePoint: Point3d): Point3d;
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+ /**
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+ * Test for nearly equal rays, allowing origin float and direction scaling.
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  * * Use [[isAlmostEqual]] to require member-by-member comparison.
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- */
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+ */
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  isAlmostEqualPointSet(other: Ray3d): boolean;
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  /** Create a ray from origin and direction. */
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  static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d;
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  /**
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- * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.
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+ * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian
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+ * coordinates and derivatives.
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  * @param weightedPoint `[x,y,z,w]` parts of weighted point.
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  * @param weightedDerivative `[x,y,z,w]` derivatives
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  * @param result
@@ -55,13 +66,13 @@ export declare class Ray3d implements BeJSONFunctions {
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  static createCapture(origin: Point3d, direction: Vector3d): Ray3d;
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  /** Create from (clones of) origin, direction, and numeric weight. */
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  static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d;
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- /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
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+ /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
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  static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d;
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  /** Return a reference to the ray's origin. */
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  getOriginRef(): Point3d;
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  /** Return a reference to the ray's direction vector. */
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  getDirectionRef(): Vector3d;
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- /** copy coordinates from origin and direction. */
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+ /** Copy coordinates from origin and direction. */
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  set(origin: Point3d, direction: Vector3d): void;
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  /** Clone the ray. */
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  clone(result?: Ray3d): Ray3d;
@@ -73,33 +84,22 @@ export declare class Ray3d implements BeJSONFunctions {
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  transformInPlace(transform: Transform): void;
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  /** Copy data from another ray. */
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  setFrom(source: Ray3d): void;
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- /** * fraction 0 is the ray origin.
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+ /**
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+ * Return a point at fractional position along the ray.
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+ * * fraction 0 is the ray origin.
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  * * fraction 1 is at the end of the direction vector when placed at the origin.
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- * @returns Return a point at fractional position along the ray.
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  */
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  fractionToPoint(fraction: number, result?: Point3d): Point3d;
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- /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */
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- dotProductToPoint(spacePoint: Point3d): number;
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  /**
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- * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.
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- */
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- pointToFraction(spacePoint: Point3d): number;
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- /**
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- *
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- * Return the spacePoint projected onto the ray.
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- */
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- projectPointToRay(spacePoint: Point3d): Point3d;
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- /** Return a transform for rigid axes
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- * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)
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+ * Return a transform for rigid axes at ray origin with z in ray direction.
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+ * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])
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  */
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  toRigidZFrame(): Transform | undefined;
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- /**
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- * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.
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- */
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+ /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */
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  setFromJSON(json?: any): void;
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  /**
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- * try to scale the direction vector to a given magnitude.
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- * @returns Returns false if ray direction is a zero vector.
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+ * Try to scale the direction vector to a given magnitude.
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+ * * Returns false if ray direction is a zero vector.
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  */
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  trySetDirectionMagnitudeInPlace(magnitude?: number): boolean;
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  /**
@@ -113,11 +113,11 @@ export declare class Ray3d implements BeJSONFunctions {
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  */
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  tryNormalizeInPlaceWithAreaWeight(a: number): boolean;
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  /**
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- * Convert an Angle to a JSON object.
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+ * Construct a JSON object from this Ray3d.
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  * @return {*} [origin,normal]
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  */
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  toJSON(): any;
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- /** Create a new ray from json object. See `setFromJSON` for json structure; */
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+ /** Create a new ray from json object. See `setFromJSON` for json structure; */
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  static fromJSON(json?: any): Ray3d;
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  /** return distance from the ray to point in space */
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  distance(spacePoint: Point3d): number;
@@ -129,24 +129,31 @@ export declare class Ray3d implements BeJSONFunctions {
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  */
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  intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined;
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  /**
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- * * Find intersection of the ray with a Range3d.
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+ * Find intersection of the ray with a Range3d.
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  * * return the range of fractions (on the ray) which are "inside" the range.
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  * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`
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  */
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  intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d;
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- /** Construct a vector from `ray.origin` to target point.
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+ /**
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+ * Construct a vector from `ray.origin` to target point.
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  * * return the part of the vector that is perpendicular to `ray.direction`.
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- * * i.e. return the shortest vector from the ray to the point.
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+ * * i.e., return the shortest vector from the ray to the point.
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  */
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  perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d;
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- /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
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+ /**
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+ * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
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  * * Return a CurveLocationDetailPair which
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  * * contains fraction and point on each ray.
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- * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships
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- * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB
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- * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.
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- * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.
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- * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance
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+ * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
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+ * these relationships
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+ * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
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+ * in detailA and detailB
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+ * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
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+ * The rays are skew in space.
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+ * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The
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+ * fractions and points are a representative single common point.
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+ * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are
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+ * at the minimum distance
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  */
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  static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair;
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  /**
package/lib/cjs/geometry3d/Ray3d.d.ts.map CHANGED
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package/lib/cjs/geometry3d/Ray3d.js CHANGED
@@ -16,14 +16,15 @@ const Point2dVector2d_1 = require("./Point2dVector2d");
16
16
  const Point3dVector3d_1 = require("./Point3dVector3d");
17
17
  const Range_1 = require("./Range");
18
18
  const Transform_1 = require("./Transform");
19
- /** A Ray3d contains
20
- * * an origin point.
21
- * * a direction vector. The vector is NOT required to be normalized.
22
- * * an optional weight (number).
19
+ /**
20
+ * A Ray3d contains
21
+ * * an `origin` point.
22
+ * * a `direction` vector (The vector is not required to be normalized).
23
+ * * an optional weight (number).
23
24
  * @public
24
25
  */
25
26
  class Ray3d {
26
- // constructor captures references !!!
27
+ // constructor (captures references)
27
28
  constructor(origin, direction) {
28
29
  this.origin = origin;
29
30
  this.direction = direction;
@@ -33,11 +34,17 @@ class Ray3d {
33
34
  return new Ray3d(Point3dVector3d_1.Point3d.create(x, y, z), Point3dVector3d_1.Vector3d.create(u, v, w));
34
35
  }
35
36
  /** Create a ray on the x axis. */
36
- static createXAxis() { return Ray3d._create(0, 0, 0, 1, 0, 0); }
37
+ static createXAxis() {
38
+ return Ray3d._create(0, 0, 0, 1, 0, 0);
39
+ }
37
40
  /** Create a ray on the y axis. */
38
- static createYAxis() { return Ray3d._create(0, 0, 0, 0, 1, 0); }
41
+ static createYAxis() {
42
+ return Ray3d._create(0, 0, 0, 0, 1, 0);
43
+ }
39
44
  /** Create a ray on the z axis. */
40
- static createZAxis() { return Ray3d._create(0, 0, 0, 0, 0, 1); }
45
+ static createZAxis() {
46
+ return Ray3d._create(0, 0, 0, 0, 0, 1);
47
+ }
41
48
  /** Create a ray with all zeros. */
42
49
  static createZero(result) {
43
50
  if (result) {
@@ -47,20 +54,51 @@ class Ray3d {
47
54
  }
48
55
  return new Ray3d(Point3dVector3d_1.Point3d.createZero(), Point3dVector3d_1.Vector3d.createZero());
49
56
  }
50
- /** Test for nearly equal Ray3d objects.
57
+ /**
58
+ * Test for nearly equal Ray3d objects.
51
59
  * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
52
- * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.
53
- */
60
+ * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
61
+ * directions to be scaled or opposing.
62
+ */
54
63
  isAlmostEqual(other) {
55
64
  return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);
56
65
  }
57
- /** Test for nearly equal rays, allowing origin float and direction scaling.
66
+ /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
67
+ dotProductToPoint(spacePoint) {
68
+ return this.direction.dotProductStartEnd(this.origin, spacePoint);
69
+ }
70
+ /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
71
+ pointToFraction(spacePoint) {
72
+ return Geometry_1.Geometry.safeDivideFraction(this.dotProductToPoint(spacePoint), this.direction.magnitudeSquared(), 0);
73
+ }
74
+ /** Return the `spacePoint` projected onto the ray. */
75
+ projectPointToRay(spacePoint) {
76
+ /**
77
+ * To project a point to the ray, we can create a vector called "v" from ray origin to the spacePoint and project
78
+ * that vector to the ray direction vector "r". The projection is "((v.r)/||r||^2) r" where "v.r" is the dot
79
+ * product. Note that pointToFraction returns "(v.r)/||r||^2".
80
+ * Note: If r is the normal of a plane, then projection length "(v.r)/||r||" is the signed altitude of the
81
+ * spacePoint with respect to the plane.
82
+ */
83
+ return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));
84
+ }
85
+ /**
86
+ * Test for nearly equal rays, allowing origin float and direction scaling.
58
87
  * * Use [[isAlmostEqual]] to require member-by-member comparison.
59
- */
88
+ */
60
89
  isAlmostEqualPointSet(other) {
90
+ /**
91
+ * This function tests two rays to determine if they define the same infinite lines.
92
+ * So the origins can be different as long as they are on the infinite line (they can
93
+ * "float") but the directions must be parallel or antiparallel.
94
+ */
61
95
  if (!this.direction.isParallelTo(other.direction, true))
62
96
  return false;
63
- // In exact math, it is not possible for one origin to be on the other ray but not vice versa. But we'll test both ways.
97
+ /**
98
+ * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).
99
+ * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice
100
+ * versa. However, we test both ways because first check may pass due to round-off errors.
101
+ */
64
102
  let workPoint = this.projectPointToRay(other.origin);
65
103
  if (!other.origin.isAlmostEqualMetric(workPoint))
66
104
  return false;
@@ -78,7 +116,8 @@ class Ray3d {
78
116
  return new Ray3d(origin.clone(), direction.clone());
79
117
  }
80
118
  /**
81
- * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.
119
+ * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian
120
+ * coordinates and derivatives.
82
121
  * @param weightedPoint `[x,y,z,w]` parts of weighted point.
83
122
  * @param weightedDerivative `[x,y,z,w]` derivatives
84
123
  * @param result
@@ -123,7 +162,7 @@ class Ray3d {
123
162
  result.a = a;
124
163
  return result;
125
164
  }
126
- /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
165
+ /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
127
166
  static createStartEnd(origin, target, result) {
128
167
  if (result) {
129
168
  result.origin.setFrom(origin);
@@ -133,10 +172,14 @@ class Ray3d {
133
172
  return new Ray3d(origin.clone(), Point3dVector3d_1.Vector3d.createStartEnd(origin, target));
134
173
  }
135
174
  /** Return a reference to the ray's origin. */
136
- getOriginRef() { return this.origin; }
175
+ getOriginRef() {
176
+ return this.origin;
177
+ }
137
178
  /** Return a reference to the ray's direction vector. */
138
- getDirectionRef() { return this.direction; }
139
- /** copy coordinates from origin and direction. */
179
+ getDirectionRef() {
180
+ return this.direction;
181
+ }
182
+ /** Copy coordinates from origin and direction. */
140
183
  set(origin, direction) {
141
184
  this.origin.setFrom(origin);
142
185
  this.direction.setFrom(direction);
@@ -167,37 +210,26 @@ class Ray3d {
167
210
  transform.multiplyVector(this.direction, this.direction);
168
211
  }
169
212
  /** Copy data from another ray. */
170
- setFrom(source) { this.set(source.origin, source.direction); }
171
- /** * fraction 0 is the ray origin.
172
- * * fraction 1 is at the end of the direction vector when placed at the origin.
173
- * @returns Return a point at fractional position along the ray.
174
- */
175
- fractionToPoint(fraction, result) { return this.origin.plusScaled(this.direction, fraction, result); }
176
- /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */
177
- dotProductToPoint(spacePoint) { return this.direction.dotProductStartEnd(this.origin, spacePoint); }
178
- /**
179
- * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.
180
- */
181
- pointToFraction(spacePoint) {
182
- return Geometry_1.Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);
213
+ setFrom(source) {
214
+ this.set(source.origin, source.direction);
183
215
  }
184
216
  /**
185
- *
186
- * Return the spacePoint projected onto the ray.
217
+ * Return a point at fractional position along the ray.
218
+ * * fraction 0 is the ray origin.
219
+ * * fraction 1 is at the end of the direction vector when placed at the origin.
187
220
  */
188
- projectPointToRay(spacePoint) {
189
- return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));
221
+ fractionToPoint(fraction, result) {
222
+ return this.origin.plusScaled(this.direction, fraction, result);
190
223
  }
191
- /** Return a transform for rigid axes
192
- * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)
224
+ /**
225
+ * Return a transform for rigid axes at ray origin with z in ray direction.
226
+ * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])
193
227
  */
194
228
  toRigidZFrame() {
195
229
  const axes = Matrix3d_1.Matrix3d.createRigidHeadsUp(this.direction, Geometry_1.AxisOrder.ZXY);
196
230
  return Transform_1.Transform.createOriginAndMatrix(this.origin, axes);
197
231
  }
198
- /**
199
- * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.
200
- */
232
+ /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */
201
233
  setFromJSON(json) {
202
234
  if (!json) {
203
235
  this.origin.set(0, 0, 0);
@@ -208,8 +240,8 @@ class Ray3d {
208
240
  this.direction.setFromJSON(json.direction);
209
241
  }
210
242
  /**
211
- * try to scale the direction vector to a given magnitude.
212
- * @returns Returns false if ray direction is a zero vector.
243
+ * Try to scale the direction vector to a given magnitude.
244
+ * * Returns false if ray direction is a zero vector.
213
245
  */
214
246
  trySetDirectionMagnitudeInPlace(magnitude = 1.0) {
215
247
  if (this.direction.tryNormalizeInPlace()) {
@@ -242,11 +274,13 @@ class Ray3d {
242
274
  return false;
243
275
  }
244
276
  /**
245
- * Convert an Angle to a JSON object.
277
+ * Construct a JSON object from this Ray3d.
246
278
  * @return {*} [origin,normal]
247
279
  */
248
- toJSON() { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }
249
- /** Create a new ray from json object. See `setFromJSON` for json structure; */
280
+ toJSON() {
281
+ return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };
282
+ }
283
+ /** Create a new ray from json object. See `setFromJSON` for json structure; */
250
284
  static fromJSON(json) {
251
285
  const result = Ray3d.createXAxis();
252
286
  result.setFromJSON(json);
@@ -285,7 +319,7 @@ class Ray3d {
285
319
  return division;
286
320
  }
287
321
  /**
288
- * * Find intersection of the ray with a Range3d.
322
+ * Find intersection of the ray with a Range3d.
289
323
  * * return the range of fractions (on the ray) which are "inside" the range.
290
324
  * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`
291
325
  */
@@ -299,9 +333,10 @@ class Ray3d {
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333
  return interval;
300
334
  return interval;
301
335
  }
302
- /** Construct a vector from `ray.origin` to target point.
336
+ /**
337
+ * Construct a vector from `ray.origin` to target point.
303
338
  * * return the part of the vector that is perpendicular to `ray.direction`.
304
- * * i.e. return the shortest vector from the ray to the point.
339
+ * * i.e., return the shortest vector from the ray to the point.
305
340
  */
306
341
  perpendicularPartOfVectorToTarget(targetPoint, result) {
307
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  const vectorV = Point3dVector3d_1.Vector3d.createStartEnd(this.origin, targetPoint);
@@ -310,14 +345,20 @@ class Ray3d {
310
345
  const fraction = Geometry_1.Geometry.safeDivideFraction(uv, uu, 0.0);
311
346
  return vectorV.plusScaled(this.direction, -fraction, result);
312
347
  }
313
- /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
348
+ /**
349
+ * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
314
350
  * * Return a CurveLocationDetailPair which
315
351
  * * contains fraction and point on each ray.
316
- * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships
317
- * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB
318
- * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.
319
- * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.
320
- * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance
352
+ * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
353
+ * these relationships
354
+ * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
355
+ * in detailA and detailB
356
+ * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
357
+ * The rays are skew in space.
358
+ * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The
359
+ * fractions and points are a representative single common point.
360
+ * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are
361
+ * at the minimum distance
321
362
  */
322
363
  static closestApproachRay3dRay3d(rayA, rayB) {
323
364
  const intersectionFractions = Point2dVector2d_1.Vector2d.create();
package/lib/cjs/geometry3d/Ray3d.js.map CHANGED
@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/** A Ray3d contains\r\n * * an origin point.\r\n * * a direction vector. The vector is NOT required to be normalized.\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n /** The ray origin */\r\n public origin: Point3d;\r\n /** The ray direction. This is commonly (but not always) a unit vector. */\r\n public direction: Vector3d;\r\n /** Numeric annotation. */\r\n public a?: number; // optional, e.g. weight.\r\n // constructor captures references !!!\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /** Create a ray on the x axis. */\r\n public static createXAxis(): Ray3d { return Ray3d._create(0, 0, 0, 1, 0, 0); }\r\n /** Create a ray on the y axis. */\r\n public static createYAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 1, 0); }\r\n /** Create a ray on the z axis. */\r\n public static createZAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 0, 1); }\r\n /** Create a ray with all zeros. */\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /** Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.\r\n */\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /** Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n */\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n // In exact math, it is not possible for one origin to be on the other ray but not vice versa. But we'll test both ways.\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /** Create a ray from origin and direction. */\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /**\r\n * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n */\r\n public static createWeightedDerivative(weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d): Ray3d | undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(x * divW, y * divW, z * divW, dx * divWW, dy * divWW, dz * divWW, result);\r\n }\r\n /** Create from coordinates of the origin and direction. */\r\n public static createXYZUVW(originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /** Capture origin and direction in a new Ray3d. */\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /** Create from (clones of) origin, direction, and numeric weight. */\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /** Return a reference to the ray's origin. */\r\n public getOriginRef(): Point3d { return this.origin; }\r\n /** Return a reference to the ray's direction vector. */\r\n public getDirectionRef(): Vector3d { return this.direction; }\r\n /** copy coordinates from origin and direction. */\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /** Clone the ray. */\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /** Create a clone and return the transform of the clone. */\r\n public cloneTransformed(transform: Transform): Ray3d {\r\n return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n }\r\n\r\n /** Create a clone and return the inverse transform of the clone. */\r\n public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n const origin = transform.multiplyInversePoint3d(this.origin);\r\n const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n if (undefined !== origin && undefined !== direction)\r\n return new Ray3d(origin, direction);\r\n return undefined;\r\n }\r\n\r\n /** Apply a transform in place. */\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /** Copy data from another ray. */\r\n public setFrom(source: Ray3d): void { this.set(source.origin, source.direction); }\r\n /** * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n * @returns Return a point at fractional position along the ray.\r\n */\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d { return this.origin.plusScaled(this.direction, fraction, result); }\r\n /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */\r\n public dotProductToPoint(spacePoint: Point3d): number { return this.direction.dotProductStartEnd(this.origin, spacePoint); }\r\n /**\r\n * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.\r\n */\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);\r\n }\r\n /**\r\n *\r\n * Return the spacePoint projected onto the ray.\r\n */\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /** Return a transform for rigid axes\r\n * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)\r\n */\r\n public toRigidZFrame(): Transform | undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /**\r\n * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.\r\n */\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /**\r\n * try to scale the direction vector to a given magnitude.\r\n * @returns Returns false if ray direction is a zero vector.\r\n */\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * save the parameter `a` as the optional `a` member of the ray.\r\n * * normalize the ray's direction vector\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero\r\n * * Set the ray's direction vector to zero.\r\n * @param a area to be saved.\r\n */\r\n // input a ray and \"a\" understood as an area.\r\n // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * Convert an Angle to a JSON object.\r\n * @return {*} [origin,normal]\r\n */\r\n public toJSON(): any { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** return distance from the ray to point in space */\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /**\r\n * Return the intersection of the unbounded ray with a plane.\r\n * Stores the point of intersection in the result point given as a parameter,\r\n * and returns the parameter along the ray where the intersection occurs.\r\n * Returns undefined if the ray and plane are parallel or coplanar.\r\n */\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n\r\n /**\r\n * * Find intersection of the ray with a Range3d.\r\n * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`\r\n */\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n return interval;\r\n return interval;\r\n }\r\n\r\n /** Construct a vector from `ray.origin` to target point.\r\n * * return the part of the vector that is perpendicular to `ray.direction`.\r\n * * i.e. return the shortest vector from the ray to the point.\r\n */\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n * * Return a CurveLocationDetailPair which\r\n * * contains fraction and point on each ray.\r\n * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance\r\n */\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n\r\n /**\r\n * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction\r\n * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.\r\n * @param pt1 start point of interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 endpoint of interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n */\r\n public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
1
+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/**\r\n * A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n /** The ray origin */\r\n public origin: Point3d;\r\n /** The ray direction. This is commonly (but not always) a unit vector. */\r\n public direction: Vector3d;\r\n /** Numeric annotation. */\r\n public a?: number; // optional (e.g. weight)\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /** Create a ray on the x axis. */\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /** Create a ray on the y axis. */\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /** Create a ray on the z axis. */\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /** Create a ray with all zeros. */\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /**\r\n * Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n */\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /** Return the `spacePoint` projected onto the ray. */\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /**\r\n * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n */\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /**\r\n * Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n */\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /**\r\n * This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n */\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /**\r\n * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n */\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /** Create a ray from origin and direction. */\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /**\r\n * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n */\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d | undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. */\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /** Capture origin and direction in a new Ray3d. */\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /** Create from (clones of) origin, direction, and numeric weight. */\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /** Return a reference to the ray's origin. */\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /** Return a reference to the ray's direction vector. */\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /** Copy coordinates from origin and direction. */\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /** Clone the ray. */\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /** Create a clone and return the transform of the clone. */\r\n public cloneTransformed(transform: Transform): Ray3d {\r\n return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n }\r\n /** Create a clone and return the inverse transform of the clone. */\r\n public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n const origin = transform.multiplyInversePoint3d(this.origin);\r\n const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n if (undefined !== origin && undefined !== direction)\r\n return new Ray3d(origin, direction);\r\n return undefined;\r\n }\r\n /** Apply a transform in place. */\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /** Copy data from another ray. */\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /**\r\n * Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n */\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /**\r\n * Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n */\r\n public toRigidZFrame(): Transform | undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /**\r\n * Try to scale the direction vector to a given magnitude.\r\n * * Returns false if ray direction is a zero vector.\r\n */\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * save the parameter `a` as the optional `a` member of the ray.\r\n * * normalize the ray's direction vector\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero\r\n * * Set the ray's direction vector to zero.\r\n * @param a area to be saved.\r\n */\r\n // input a ray and \"a\" understood as an area.\r\n // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * Construct a JSON object from this Ray3d.\r\n * @return {*} [origin,normal]\r\n */\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** return distance from the ray to point in space */\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /**\r\n * Return the intersection of the unbounded ray with a plane.\r\n * Stores the point of intersection in the result point given as a parameter,\r\n * and returns the parameter along the ray where the intersection occurs.\r\n * Returns undefined if the ray and plane are parallel or coplanar.\r\n */\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /**\r\n * Find intersection of the ray with a Range3d.\r\n * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`\r\n */\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n return interval;\r\n return interval;\r\n }\r\n\r\n /**\r\n * Construct a vector from `ray.origin` to target point.\r\n * * return the part of the vector that is perpendicular to `ray.direction`.\r\n * * i.e., return the shortest vector from the ray to the point.\r\n */\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /**\r\n * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n * * Return a CurveLocationDetailPair which\r\n * * contains fraction and point on each ray.\r\n * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of\r\n * these relationships\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n */\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /**\r\n * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction\r\n * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.\r\n * @param pt1 start point of interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 endpoint of interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n */\r\n public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
package/lib/esm/geometry3d/Ray3d.d.ts CHANGED
@@ -8,16 +8,17 @@ import { Point3d, Vector3d } from "./Point3dVector3d";
8
8
  import { Range1d, Range3d } from "./Range";
9
9
  import { Transform } from "./Transform";
10
10
  import { XYAndZ } from "./XYZProps";
11
- /** A Ray3d contains
12
- * * an origin point.
13
- * * a direction vector. The vector is NOT required to be normalized.
14
- * * an optional weight (number).
11
+ /**
12
+ * A Ray3d contains
13
+ * * an `origin` point.
14
+ * * a `direction` vector (The vector is not required to be normalized).
15
+ * * an optional weight (number).
15
16
  * @public
16
17
  */
17
18
  export declare class Ray3d implements BeJSONFunctions {
18
19
  /** The ray origin */
19
20
  origin: Point3d;
20
- /** The ray direction. This is commonly (but not always) a unit vector. */
21
+ /** The ray direction. This is commonly (but not always) a unit vector. */
21
22
  direction: Vector3d;
22
23
  /** Numeric annotation. */
23
24
  a?: number;
@@ -31,19 +32,29 @@ export declare class Ray3d implements BeJSONFunctions {
31
32
  static createZAxis(): Ray3d;
32
33
  /** Create a ray with all zeros. */
33
34
  static createZero(result?: Ray3d): Ray3d;
34
- /** Test for nearly equal Ray3d objects.
35
+ /**
36
+ * Test for nearly equal Ray3d objects.
35
37
  * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
36
- * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.
37
- */
38
+ * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
39
+ * directions to be scaled or opposing.
40
+ */
38
41
  isAlmostEqual(other: Ray3d): boolean;
39
- /** Test for nearly equal rays, allowing origin float and direction scaling.
42
+ /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
43
+ dotProductToPoint(spacePoint: Point3d): number;
44
+ /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
45
+ pointToFraction(spacePoint: Point3d): number;
46
+ /** Return the `spacePoint` projected onto the ray. */
47
+ projectPointToRay(spacePoint: Point3d): Point3d;
48
+ /**
49
+ * Test for nearly equal rays, allowing origin float and direction scaling.
40
50
  * * Use [[isAlmostEqual]] to require member-by-member comparison.
41
- */
51
+ */
42
52
  isAlmostEqualPointSet(other: Ray3d): boolean;
43
53
  /** Create a ray from origin and direction. */
44
54
  static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d;
45
55
  /**
46
- * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.
56
+ * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian
57
+ * coordinates and derivatives.
47
58
  * @param weightedPoint `[x,y,z,w]` parts of weighted point.
48
59
  * @param weightedDerivative `[x,y,z,w]` derivatives
49
60
  * @param result
@@ -55,13 +66,13 @@ export declare class Ray3d implements BeJSONFunctions {
55
66
  static createCapture(origin: Point3d, direction: Vector3d): Ray3d;
56
67
  /** Create from (clones of) origin, direction, and numeric weight. */
57
68
  static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d;
58
- /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
69
+ /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
59
70
  static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d;
60
71
  /** Return a reference to the ray's origin. */
61
72
  getOriginRef(): Point3d;
62
73
  /** Return a reference to the ray's direction vector. */
63
74
  getDirectionRef(): Vector3d;
64
- /** copy coordinates from origin and direction. */
75
+ /** Copy coordinates from origin and direction. */
65
76
  set(origin: Point3d, direction: Vector3d): void;
66
77
  /** Clone the ray. */
67
78
  clone(result?: Ray3d): Ray3d;
@@ -73,33 +84,22 @@ export declare class Ray3d implements BeJSONFunctions {
73
84
  transformInPlace(transform: Transform): void;
74
85
  /** Copy data from another ray. */
75
86
  setFrom(source: Ray3d): void;
76
- /** * fraction 0 is the ray origin.
87
+ /**
88
+ * Return a point at fractional position along the ray.
89
+ * * fraction 0 is the ray origin.
77
90
  * * fraction 1 is at the end of the direction vector when placed at the origin.
78
- * @returns Return a point at fractional position along the ray.
79
91
  */
80
92
  fractionToPoint(fraction: number, result?: Point3d): Point3d;
81
- /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */
82
- dotProductToPoint(spacePoint: Point3d): number;
83
93
  /**
84
- * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.
85
- */
86
- pointToFraction(spacePoint: Point3d): number;
87
- /**
88
- *
89
- * Return the spacePoint projected onto the ray.
90
- */
91
- projectPointToRay(spacePoint: Point3d): Point3d;
92
- /** Return a transform for rigid axes
93
- * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)
94
+ * Return a transform for rigid axes at ray origin with z in ray direction.
95
+ * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])
94
96
  */
95
97
  toRigidZFrame(): Transform | undefined;
96
- /**
97
- * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.
98
- */
98
+ /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */
99
99
  setFromJSON(json?: any): void;
100
100
  /**
101
- * try to scale the direction vector to a given magnitude.
102
- * @returns Returns false if ray direction is a zero vector.
101
+ * Try to scale the direction vector to a given magnitude.
102
+ * * Returns false if ray direction is a zero vector.
103
103
  */
104
104
  trySetDirectionMagnitudeInPlace(magnitude?: number): boolean;
105
105
  /**
@@ -113,11 +113,11 @@ export declare class Ray3d implements BeJSONFunctions {
113
113
  */
114
114
  tryNormalizeInPlaceWithAreaWeight(a: number): boolean;
115
115
  /**
116
- * Convert an Angle to a JSON object.
116
+ * Construct a JSON object from this Ray3d.
117
117
  * @return {*} [origin,normal]
118
118
  */
119
119
  toJSON(): any;
120
- /** Create a new ray from json object. See `setFromJSON` for json structure; */
120
+ /** Create a new ray from json object. See `setFromJSON` for json structure; */
121
121
  static fromJSON(json?: any): Ray3d;
122
122
  /** return distance from the ray to point in space */
123
123
  distance(spacePoint: Point3d): number;
@@ -129,24 +129,31 @@ export declare class Ray3d implements BeJSONFunctions {
129
129
  */
130
130
  intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined;
131
131
  /**
132
- * * Find intersection of the ray with a Range3d.
132
+ * Find intersection of the ray with a Range3d.
133
133
  * * return the range of fractions (on the ray) which are "inside" the range.
134
134
  * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`
135
135
  */
136
136
  intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d;
137
- /** Construct a vector from `ray.origin` to target point.
137
+ /**
138
+ * Construct a vector from `ray.origin` to target point.
138
139
  * * return the part of the vector that is perpendicular to `ray.direction`.
139
- * * i.e. return the shortest vector from the ray to the point.
140
+ * * i.e., return the shortest vector from the ray to the point.
140
141
  */
141
142
  perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d;
142
- /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
143
+ /**
144
+ * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
143
145
  * * Return a CurveLocationDetailPair which
144
146
  * * contains fraction and point on each ray.
145
- * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships
146
- * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB
147
- * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.
148
- * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.
149
- * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance
147
+ * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
148
+ * these relationships
149
+ * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
150
+ * in detailA and detailB
151
+ * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
152
+ * The rays are skew in space.
153
+ * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The
154
+ * fractions and points are a representative single common point.
155
+ * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are
156
+ * at the minimum distance
150
157
  */
151
158
  static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair;
152
159
  /**
package/lib/esm/geometry3d/Ray3d.d.ts.map CHANGED
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package/lib/esm/geometry3d/Ray3d.js CHANGED
@@ -13,14 +13,15 @@ import { Vector2d } from "./Point2dVector2d";
13
13
  import { Point3d, Vector3d } from "./Point3dVector3d";
14
14
  import { Range1d } from "./Range";
15
15
  import { Transform } from "./Transform";
16
- /** A Ray3d contains
17
- * * an origin point.
18
- * * a direction vector. The vector is NOT required to be normalized.
19
- * * an optional weight (number).
16
+ /**
17
+ * A Ray3d contains
18
+ * * an `origin` point.
19
+ * * a `direction` vector (The vector is not required to be normalized).
20
+ * * an optional weight (number).
20
21
  * @public
21
22
  */
22
23
  export class Ray3d {
23
- // constructor captures references !!!
24
+ // constructor (captures references)
24
25
  constructor(origin, direction) {
25
26
  this.origin = origin;
26
27
  this.direction = direction;
@@ -30,11 +31,17 @@ export class Ray3d {
30
31
  return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));
31
32
  }
32
33
  /** Create a ray on the x axis. */
33
- static createXAxis() { return Ray3d._create(0, 0, 0, 1, 0, 0); }
34
+ static createXAxis() {
35
+ return Ray3d._create(0, 0, 0, 1, 0, 0);
36
+ }
34
37
  /** Create a ray on the y axis. */
35
- static createYAxis() { return Ray3d._create(0, 0, 0, 0, 1, 0); }
38
+ static createYAxis() {
39
+ return Ray3d._create(0, 0, 0, 0, 1, 0);
40
+ }
36
41
  /** Create a ray on the z axis. */
37
- static createZAxis() { return Ray3d._create(0, 0, 0, 0, 0, 1); }
42
+ static createZAxis() {
43
+ return Ray3d._create(0, 0, 0, 0, 0, 1);
44
+ }
38
45
  /** Create a ray with all zeros. */
39
46
  static createZero(result) {
40
47
  if (result) {
@@ -44,20 +51,51 @@ export class Ray3d {
44
51
  }
45
52
  return new Ray3d(Point3d.createZero(), Vector3d.createZero());
46
53
  }
47
- /** Test for nearly equal Ray3d objects.
54
+ /**
55
+ * Test for nearly equal Ray3d objects.
48
56
  * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
49
- * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.
50
- */
57
+ * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
58
+ * directions to be scaled or opposing.
59
+ */
51
60
  isAlmostEqual(other) {
52
61
  return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);
53
62
  }
54
- /** Test for nearly equal rays, allowing origin float and direction scaling.
63
+ /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
64
+ dotProductToPoint(spacePoint) {
65
+ return this.direction.dotProductStartEnd(this.origin, spacePoint);
66
+ }
67
+ /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
68
+ pointToFraction(spacePoint) {
69
+ return Geometry.safeDivideFraction(this.dotProductToPoint(spacePoint), this.direction.magnitudeSquared(), 0);
70
+ }
71
+ /** Return the `spacePoint` projected onto the ray. */
72
+ projectPointToRay(spacePoint) {
73
+ /**
74
+ * To project a point to the ray, we can create a vector called "v" from ray origin to the spacePoint and project
75
+ * that vector to the ray direction vector "r". The projection is "((v.r)/||r||^2) r" where "v.r" is the dot
76
+ * product. Note that pointToFraction returns "(v.r)/||r||^2".
77
+ * Note: If r is the normal of a plane, then projection length "(v.r)/||r||" is the signed altitude of the
78
+ * spacePoint with respect to the plane.
79
+ */
80
+ return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));
81
+ }
82
+ /**
83
+ * Test for nearly equal rays, allowing origin float and direction scaling.
55
84
  * * Use [[isAlmostEqual]] to require member-by-member comparison.
56
- */
85
+ */
57
86
  isAlmostEqualPointSet(other) {
87
+ /**
88
+ * This function tests two rays to determine if they define the same infinite lines.
89
+ * So the origins can be different as long as they are on the infinite line (they can
90
+ * "float") but the directions must be parallel or antiparallel.
91
+ */
58
92
  if (!this.direction.isParallelTo(other.direction, true))
59
93
  return false;
60
- // In exact math, it is not possible for one origin to be on the other ray but not vice versa. But we'll test both ways.
94
+ /**
95
+ * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).
96
+ * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice
97
+ * versa. However, we test both ways because first check may pass due to round-off errors.
98
+ */
61
99
  let workPoint = this.projectPointToRay(other.origin);
62
100
  if (!other.origin.isAlmostEqualMetric(workPoint))
63
101
  return false;
@@ -75,7 +113,8 @@ export class Ray3d {
75
113
  return new Ray3d(origin.clone(), direction.clone());
76
114
  }
77
115
  /**
78
- * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.
116
+ * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian
117
+ * coordinates and derivatives.
79
118
  * @param weightedPoint `[x,y,z,w]` parts of weighted point.
80
119
  * @param weightedDerivative `[x,y,z,w]` derivatives
81
120
  * @param result
@@ -120,7 +159,7 @@ export class Ray3d {
120
159
  result.a = a;
121
160
  return result;
122
161
  }
123
- /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
162
+ /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */
124
163
  static createStartEnd(origin, target, result) {
125
164
  if (result) {
126
165
  result.origin.setFrom(origin);
@@ -130,10 +169,14 @@ export class Ray3d {
130
169
  return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));
131
170
  }
132
171
  /** Return a reference to the ray's origin. */
133
- getOriginRef() { return this.origin; }
172
+ getOriginRef() {
173
+ return this.origin;
174
+ }
134
175
  /** Return a reference to the ray's direction vector. */
135
- getDirectionRef() { return this.direction; }
136
- /** copy coordinates from origin and direction. */
176
+ getDirectionRef() {
177
+ return this.direction;
178
+ }
179
+ /** Copy coordinates from origin and direction. */
137
180
  set(origin, direction) {
138
181
  this.origin.setFrom(origin);
139
182
  this.direction.setFrom(direction);
@@ -164,37 +207,26 @@ export class Ray3d {
164
207
  transform.multiplyVector(this.direction, this.direction);
165
208
  }
166
209
  /** Copy data from another ray. */
167
- setFrom(source) { this.set(source.origin, source.direction); }
168
- /** * fraction 0 is the ray origin.
169
- * * fraction 1 is at the end of the direction vector when placed at the origin.
170
- * @returns Return a point at fractional position along the ray.
171
- */
172
- fractionToPoint(fraction, result) { return this.origin.plusScaled(this.direction, fraction, result); }
173
- /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */
174
- dotProductToPoint(spacePoint) { return this.direction.dotProductStartEnd(this.origin, spacePoint); }
175
- /**
176
- * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.
177
- */
178
- pointToFraction(spacePoint) {
179
- return Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);
210
+ setFrom(source) {
211
+ this.set(source.origin, source.direction);
180
212
  }
181
213
  /**
182
- *
183
- * Return the spacePoint projected onto the ray.
214
+ * Return a point at fractional position along the ray.
215
+ * * fraction 0 is the ray origin.
216
+ * * fraction 1 is at the end of the direction vector when placed at the origin.
184
217
  */
185
- projectPointToRay(spacePoint) {
186
- return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));
218
+ fractionToPoint(fraction, result) {
219
+ return this.origin.plusScaled(this.direction, fraction, result);
187
220
  }
188
- /** Return a transform for rigid axes
189
- * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)
221
+ /**
222
+ * Return a transform for rigid axes at ray origin with z in ray direction.
223
+ * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])
190
224
  */
191
225
  toRigidZFrame() {
192
226
  const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);
193
227
  return Transform.createOriginAndMatrix(this.origin, axes);
194
228
  }
195
- /**
196
- * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.
197
- */
229
+ /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */
198
230
  setFromJSON(json) {
199
231
  if (!json) {
200
232
  this.origin.set(0, 0, 0);
@@ -205,8 +237,8 @@ export class Ray3d {
205
237
  this.direction.setFromJSON(json.direction);
206
238
  }
207
239
  /**
208
- * try to scale the direction vector to a given magnitude.
209
- * @returns Returns false if ray direction is a zero vector.
240
+ * Try to scale the direction vector to a given magnitude.
241
+ * * Returns false if ray direction is a zero vector.
210
242
  */
211
243
  trySetDirectionMagnitudeInPlace(magnitude = 1.0) {
212
244
  if (this.direction.tryNormalizeInPlace()) {
@@ -239,11 +271,13 @@ export class Ray3d {
239
271
  return false;
240
272
  }
241
273
  /**
242
- * Convert an Angle to a JSON object.
274
+ * Construct a JSON object from this Ray3d.
243
275
  * @return {*} [origin,normal]
244
276
  */
245
- toJSON() { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }
246
- /** Create a new ray from json object. See `setFromJSON` for json structure; */
277
+ toJSON() {
278
+ return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };
279
+ }
280
+ /** Create a new ray from json object. See `setFromJSON` for json structure; */
247
281
  static fromJSON(json) {
248
282
  const result = Ray3d.createXAxis();
249
283
  result.setFromJSON(json);
@@ -282,7 +316,7 @@ export class Ray3d {
282
316
  return division;
283
317
  }
284
318
  /**
285
- * * Find intersection of the ray with a Range3d.
319
+ * Find intersection of the ray with a Range3d.
286
320
  * * return the range of fractions (on the ray) which are "inside" the range.
287
321
  * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`
288
322
  */
@@ -296,9 +330,10 @@ export class Ray3d {
296
330
  return interval;
297
331
  return interval;
298
332
  }
299
- /** Construct a vector from `ray.origin` to target point.
333
+ /**
334
+ * Construct a vector from `ray.origin` to target point.
300
335
  * * return the part of the vector that is perpendicular to `ray.direction`.
301
- * * i.e. return the shortest vector from the ray to the point.
336
+ * * i.e., return the shortest vector from the ray to the point.
302
337
  */
303
338
  perpendicularPartOfVectorToTarget(targetPoint, result) {
304
339
  const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);
@@ -307,14 +342,20 @@ export class Ray3d {
307
342
  const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);
308
343
  return vectorV.plusScaled(this.direction, -fraction, result);
309
344
  }
310
- /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
345
+ /**
346
+ * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
311
347
  * * Return a CurveLocationDetailPair which
312
348
  * * contains fraction and point on each ray.
313
- * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships
314
- * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB
315
- * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.
316
- * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.
317
- * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance
349
+ * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
350
+ * these relationships
351
+ * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
352
+ * in detailA and detailB
353
+ * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
354
+ * The rays are skew in space.
355
+ * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The
356
+ * fractions and points are a representative single common point.
357
+ * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are
358
+ * at the minimum distance
318
359
  */
319
360
  static closestApproachRay3dRay3d(rayA, rayB) {
320
361
  const intersectionFractions = Vector2d.create();
package/lib/esm/geometry3d/Ray3d.js.map CHANGED
@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/** A Ray3d contains\r\n * * an origin point.\r\n * * a direction vector. The vector is NOT required to be normalized.\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n /** The ray origin */\r\n public origin: Point3d;\r\n /** The ray direction. This is commonly (but not always) a unit vector. */\r\n public direction: Vector3d;\r\n /** Numeric annotation. */\r\n public a?: number; // optional, e.g. weight.\r\n // constructor captures references !!!\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /** Create a ray on the x axis. */\r\n public static createXAxis(): Ray3d { return Ray3d._create(0, 0, 0, 1, 0, 0); }\r\n /** Create a ray on the y axis. */\r\n public static createYAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 1, 0); }\r\n /** Create a ray on the z axis. */\r\n public static createZAxis(): Ray3d { return Ray3d._create(0, 0, 0, 0, 0, 1); }\r\n /** Create a ray with all zeros. */\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /** Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the directions to be scaled or opposing.\r\n */\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /** Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n */\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n // In exact math, it is not possible for one origin to be on the other ray but not vice versa. But we'll test both ways.\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /** Create a ray from origin and direction. */\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /**\r\n * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n */\r\n public static createWeightedDerivative(weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d): Ray3d | undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(x * divW, y * divW, z * divW, dx * divWW, dy * divWW, dz * divWW, result);\r\n }\r\n /** Create from coordinates of the origin and direction. */\r\n public static createXYZUVW(originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /** Capture origin and direction in a new Ray3d. */\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /** Create from (clones of) origin, direction, and numeric weight. */\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /** Return a reference to the ray's origin. */\r\n public getOriginRef(): Point3d { return this.origin; }\r\n /** Return a reference to the ray's direction vector. */\r\n public getDirectionRef(): Vector3d { return this.direction; }\r\n /** copy coordinates from origin and direction. */\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /** Clone the ray. */\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /** Create a clone and return the transform of the clone. */\r\n public cloneTransformed(transform: Transform): Ray3d {\r\n return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n }\r\n\r\n /** Create a clone and return the inverse transform of the clone. */\r\n public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n const origin = transform.multiplyInversePoint3d(this.origin);\r\n const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n if (undefined !== origin && undefined !== direction)\r\n return new Ray3d(origin, direction);\r\n return undefined;\r\n }\r\n\r\n /** Apply a transform in place. */\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /** Copy data from another ray. */\r\n public setFrom(source: Ray3d): void { this.set(source.origin, source.direction); }\r\n /** * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n * @returns Return a point at fractional position along the ray.\r\n */\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d { return this.origin.plusScaled(this.direction, fraction, result); }\r\n /** Return the dot product of the ray's direction vector with a vector from the ray origin to the space point. */\r\n public dotProductToPoint(spacePoint: Point3d): number { return this.direction.dotProductStartEnd(this.origin, spacePoint); }\r\n /**\r\n * Return the fractional coordinate (along the direction vector) of the spacePoint projected to the ray.\r\n */\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(this.direction.dotProductStartEnd(this.origin, spacePoint), this.direction.magnitudeSquared(), 0);\r\n }\r\n /**\r\n *\r\n * Return the spacePoint projected onto the ray.\r\n */\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /** Return a transform for rigid axes\r\n * at ray origin with z in ray direction. If the direction vector is zero, axes default to identity (from createHeadsUpTriad)\r\n */\r\n public toRigidZFrame(): Transform | undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /**\r\n * Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d.\r\n */\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /**\r\n * try to scale the direction vector to a given magnitude.\r\n * @returns Returns false if ray direction is a zero vector.\r\n */\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * save the parameter `a` as the optional `a` member of the ray.\r\n * * normalize the ray's direction vector\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero\r\n * * Set the ray's direction vector to zero.\r\n * @param a area to be saved.\r\n */\r\n // input a ray and \"a\" understood as an area.\r\n // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * Convert an Angle to a JSON object.\r\n * @return {*} [origin,normal]\r\n */\r\n public toJSON(): any { return { origin: this.origin.toJSON(), direction: this.direction.toJSON() }; }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** return distance from the ray to point in space */\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /**\r\n * Return the intersection of the unbounded ray with a plane.\r\n * Stores the point of intersection in the result point given as a parameter,\r\n * and returns the parameter along the ray where the intersection occurs.\r\n * Returns undefined if the ray and plane are parallel or coplanar.\r\n */\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n\r\n /**\r\n * * Find intersection of the ray with a Range3d.\r\n * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`\r\n */\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n return interval;\r\n return interval;\r\n }\r\n\r\n /** Construct a vector from `ray.origin` to target point.\r\n * * return the part of the vector that is perpendicular to `ray.direction`.\r\n * * i.e. return the shortest vector from the ray to the point.\r\n */\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /** Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n * * Return a CurveLocationDetailPair which\r\n * * contains fraction and point on each ray.\r\n * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of these relationships\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach. The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are at the minimum distance\r\n */\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n\r\n /**\r\n * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction\r\n * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.\r\n * @param pt1 start point of interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 endpoint of interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n */\r\n public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
1
+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/**\r\n * A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n */\r\nexport class Ray3d implements BeJSONFunctions {\r\n /** The ray origin */\r\n public origin: Point3d;\r\n /** The ray direction. This is commonly (but not always) a unit vector. */\r\n public direction: Vector3d;\r\n /** Numeric annotation. */\r\n public a?: number; // optional (e.g. weight)\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /** Create a ray on the x axis. */\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /** Create a ray on the y axis. */\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /** Create a ray on the z axis. */\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /** Create a ray with all zeros. */\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /**\r\n * Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n */\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /** Return the `spacePoint` projected onto the ray. */\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /**\r\n * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n */\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /**\r\n * Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n */\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /**\r\n * This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n */\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /**\r\n * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n */\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /** Create a ray from origin and direction. */\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /**\r\n * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n */\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d | undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. */\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /** Capture origin and direction in a new Ray3d. */\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /** Create from (clones of) origin, direction, and numeric weight. */\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /** Return a reference to the ray's origin. */\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /** Return a reference to the ray's direction vector. */\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /** Copy coordinates from origin and direction. */\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /** Clone the ray. */\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /** Create a clone and return the transform of the clone. */\r\n public cloneTransformed(transform: Transform): Ray3d {\r\n return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));\r\n }\r\n /** Create a clone and return the inverse transform of the clone. */\r\n public cloneInverseTransformed(transform: Transform): Ray3d | undefined {\r\n const origin = transform.multiplyInversePoint3d(this.origin);\r\n const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);\r\n if (undefined !== origin && undefined !== direction)\r\n return new Ray3d(origin, direction);\r\n return undefined;\r\n }\r\n /** Apply a transform in place. */\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /** Copy data from another ray. */\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /**\r\n * Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n */\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /**\r\n * Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n */\r\n public toRigidZFrame(): Transform | undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /**\r\n * Try to scale the direction vector to a given magnitude.\r\n * * Returns false if ray direction is a zero vector.\r\n */\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * save the parameter `a` as the optional `a` member of the ray.\r\n * * normalize the ray's direction vector\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero\r\n * * Set the ray's direction vector to zero.\r\n * @param a area to be saved.\r\n */\r\n // input a ray and \"a\" understood as an area.\r\n // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.\r\n // otherwise set ray.z to zero and zero the vector of the ray and return false.\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /**\r\n * Construct a JSON object from this Ray3d.\r\n * @return {*} [origin,normal]\r\n */\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; */\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** return distance from the ray to point in space */\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /**\r\n * Return the intersection of the unbounded ray with a plane.\r\n * Stores the point of intersection in the result point given as a parameter,\r\n * and returns the parameter along the ray where the intersection occurs.\r\n * Returns undefined if the ray and plane are parallel or coplanar.\r\n */\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /**\r\n * Find intersection of the ray with a Range3d.\r\n * * return the range of fractions (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.sNull`\r\n */\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z))\r\n return interval;\r\n return interval;\r\n }\r\n\r\n /**\r\n * Construct a vector from `ray.origin` to target point.\r\n * * return the part of the vector that is perpendicular to `ray.direction`.\r\n * * i.e., return the shortest vector from the ray to the point.\r\n */\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /**\r\n * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew\r\n * * Return a CurveLocationDetailPair which\r\n * * contains fraction and point on each ray.\r\n * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of\r\n * these relationships\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n */\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z, intersectionFractions)) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /**\r\n * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction\r\n * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.\r\n * @param pt1 start point of interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 endpoint of interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n */\r\n public static interpolatePointAndTangent(pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@itwin/core-geometry",
3
- "version": "4.0.0-dev.68",
3
+ "version": "4.0.0-dev.70",
4
4
  "description": "iTwin.js Core Geometry library",
5
5
  "main": "lib/cjs/core-geometry.js",
6
6
  "module": "lib/esm/core-geometry.js",
@@ -23,7 +23,7 @@
23
23
  "url": "http://www.bentley.com"
24
24
  },
25
25
  "devDependencies": {
26
- "@itwin/build-tools": "4.0.0-dev.68",
26
+ "@itwin/build-tools": "4.0.0-dev.70",
27
27
  "@itwin/eslint-plugin": "^4.0.0-dev.32",
28
28
  "@types/chai": "4.3.1",
29
29
  "@types/flatbuffers": "~1.10.0",
@@ -39,7 +39,7 @@
39
39
  "typescript": "~5.0.2"
40
40
  },
41
41
  "dependencies": {
42
- "@itwin/core-bentley": "4.0.0-dev.68",
42
+ "@itwin/core-bentley": "4.0.0-dev.70",
43
43
  "flatbuffers": "~1.12.0"
44
44
  },
45
45
  "nyc": {