npm - @itwin/core-geometry - Versions diffs - 4.0.0-dev.70 → 4.0.0-dev.73 - Mend

@itwin/core-geometry 4.0.0-dev.70 → 4.0.0-dev.73

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (32) hide show

package/CHANGELOG.md +36 -3
package/lib/cjs/curve/Query/PlanarSubdivision.d.ts +7 -1
package/lib/cjs/curve/Query/PlanarSubdivision.d.ts.map +1 -1
package/lib/cjs/curve/Query/PlanarSubdivision.js +14 -12
package/lib/cjs/curve/Query/PlanarSubdivision.js.map +1 -1
package/lib/cjs/curve/RegionOps.d.ts +2 -2
package/lib/cjs/curve/RegionOps.js +2 -2
package/lib/cjs/curve/RegionOps.js.map +1 -1
package/lib/cjs/geometry3d/BarycentricTriangle.d.ts +134 -90
package/lib/cjs/geometry3d/BarycentricTriangle.d.ts.map +1 -1
package/lib/cjs/geometry3d/BarycentricTriangle.js +192 -129
package/lib/cjs/geometry3d/BarycentricTriangle.js.map +1 -1
package/lib/cjs/geometry3d/Ray3d.d.ts +38 -34
package/lib/cjs/geometry3d/Ray3d.d.ts.map +1 -1
package/lib/cjs/geometry3d/Ray3d.js +48 -45
package/lib/cjs/geometry3d/Ray3d.js.map +1 -1
package/lib/esm/curve/Query/PlanarSubdivision.d.ts +7 -1
package/lib/esm/curve/Query/PlanarSubdivision.d.ts.map +1 -1
package/lib/esm/curve/Query/PlanarSubdivision.js +14 -12
package/lib/esm/curve/Query/PlanarSubdivision.js.map +1 -1
package/lib/esm/curve/RegionOps.d.ts +2 -2
package/lib/esm/curve/RegionOps.js +2 -2
package/lib/esm/curve/RegionOps.js.map +1 -1
package/lib/esm/geometry3d/BarycentricTriangle.d.ts +134 -90
package/lib/esm/geometry3d/BarycentricTriangle.d.ts.map +1 -1
package/lib/esm/geometry3d/BarycentricTriangle.js +192 -129
package/lib/esm/geometry3d/BarycentricTriangle.js.map +1 -1
package/lib/esm/geometry3d/Ray3d.d.ts +38 -34
package/lib/esm/geometry3d/Ray3d.d.ts.map +1 -1
package/lib/esm/geometry3d/Ray3d.js +48 -45
package/lib/esm/geometry3d/Ray3d.js.map +1 -1
package/package.json +5 -5

package/lib/esm/geometry3d/BarycentricTriangle.js.map CHANGED Viewed

	@@ -1 +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/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use `snapLocalToEdge`\r\n * to adjust the barycentric coordinates to a triangle edge if they lie within a parametric tolerance.\r\n \r\n Properties of the barycentric coordinates (b0, b1, b2) of a point p in the plane of a triangle T with vertices p0, p1, p2:\r\n * * 1 = b0 + b1 + b2\r\n * * p = b0 * p0 + b1 * p1 + b2 * p2\r\n * * If T is spanned by the vectors U=p1-p0 and V=p2-p0, then the vector P=p-p0 can be written P = b1 * U + b2 * V.\r\n * * The coordinates are all nonnegative if and only if p is inside or on T.\r\n * * Exactly one coordinate is zero if and only if p lies on an (infinitely extended) edge of T.\r\n * * Exactly two coordinates are zero if and only if p coincides with a vertex of T.\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the base of the edge closest to p. /\r\n public closestEdgeIndex: number;\r\n /* The parameter along the closest edge of the projection of p. /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail. /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /* Set the instance contents from the other detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /* Queries the barycentric coordinates to determine whether this instance specifies a location inside or on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /* Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ? PolygonLocation.OutsidePolygonProjectsToVertex : PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n\r\n /* Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n\r\n /\r\n Return a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(x0: number, y0: number, z0: number, x1: number, y1: number, z1: number, x2: number, y2: number, z2: number, result?: BarycentricTriangle): BarycentricTriangle {\r\n if (!result) return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* create a triangle with coordinates cloned from given points. /\r\n public static create(point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0);\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n\r\n /** Return the perimeter of the triangle /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n\r\n /* Sum the points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of the triangle.\r\n * * If the scales do not sum to 1, the point is in the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see pointToFraction\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n\r\n /* Compute the projection of the given point onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point P = `d.point`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: P = p + a * `this.normal()`.\r\n * @see fractionToPoint\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // is free to use workVector0\r\n }\r\n\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies \"outside\" an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex/edge i for which b_i < 0 and b_j >= 0 and b_k >= 0, or -1\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies \"outside\" a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which and b_j < 0 and b_k < 0, or -1\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0, or -1\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n\r\n /* Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex/edge i for which b_i = 0 and b_j > 0 and b_k > 0, or -1\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (edgeIndex: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n\r\n /* Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0);\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2);\r\n });\r\n }\r\n\r\n /* Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter s along e_k, such that:\r\n * * the projection point is q = v_i + s * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - s, s, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n // Let U=v_j-v_i and V=v_k-v_i. Then\r\n // 0 = (p-q).(v_j-v_i) = ((p-v_i)-(q-v_i)).(v_j-v_i) = (b[j]U + b[k]V - sU).U = b[j]U.U + b[k]U.V - sU.U\r\n // Thus s = b[j] + b[k]U.V/U.U\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n\r\n /** Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter u such that the projection q = v_i + u * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b[i]=d_i\|e_i\|/2A we can compare quantities b[i]/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /** Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection `d.point`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` >= 0, the ray intersects the plane of the triangle.\r\n * @see pointToFraction\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n // Let r0 = ray.origin, d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n // r0 + sd = p = b0p0 + b1p1 + b2p2\r\n // Subtract p0 from both ends, let u=p1-p0, v=p2-p0, c=r0-p0, and enforce b0+b1+b2=1:\r\n // b1u + b2v - sd = c\r\n // This is a linear system Mx=c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(this.points[0], this.points[1], BarycentricTriangle._workVector0);\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(this.points[0], this.points[2], BarycentricTriangle._workVector1);\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z;\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y);\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n\r\n /** Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection `d.point`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see intersectRay3d\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n\r\n /* Adjust the location to an edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle, `location.local` and `location.world` possibly updated to lie on a triangle edge\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(location: TriangleLocationDetail, distanceTolerance: number = Geometry.smallMetricDistance, parameterTolerance: number = Geometry.smallFraction): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z));\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(location.local.x, location.local.y, location.local.z);\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint);\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n\r\n /* Copy all values from `other`\r\n /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /* Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point is undefined. /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /\r\n * For `this` and `other` BarycentricTriangles, compute cross products of vectors from point0 to point1 and from point0 to point2.\r\n * * return the dot product of those two\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(this.points[1], this.points[2], BarycentricTriangle._workVector0);\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(other.points[1], other.points[2], BarycentricTriangle._workVector1);\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // write it out to get single scale application.\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result);\r\n }\r\n\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n\r\n /** Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n\r\n /* test for point-by-point `isAlmostEqual` relationship. /\r\n public isAlmostEqual(other: BarycentricTriangle): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0])\r\n && this.points[1].isAlmostEqual(other.points[1])\r\n && this.points[2].isAlmostEqual(other.points[2]);\r\n }\r\n\r\n /* Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see edgeStartVertexIndexToOppositeVertexIndex\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n\r\n /* Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see edgeStartVertexIndexToOppositeVertexIndex\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z);\r\n }\r\n\r\n /* Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // the barycentric displacement vector distance formula\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2) - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0) - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n \r\n Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the start of the closest edge to p. /\r\n public closestEdgeIndex: number;\r\n /\r\n The parameter f along the closest edge to p of its projection q.\r\n * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n * * Note that 0 <= f <= 1.\r\n /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail (set all attributes to zero) . /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /\r\n Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /\r\n Set the instance contents from the `other` detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /\r\n Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n * on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /\r\n Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ?\r\n PolygonLocation.OutsidePolygonProjectsToVertex :\r\n PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n // private attributes\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n /\r\n Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n /\r\n Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n * is undefined.\r\n /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /* Copy all values from `other` /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /\r\n Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(\r\n x0: number, y0: number, z0: number,\r\n x1: number, y1: number, z1: number,\r\n x2: number, y2: number, z2: number,\r\n result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* Create a triangle with coordinates cloned from given points. /\r\n public static create(\r\n point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n /*\r\n Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n /\r\n Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(\r\n this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0\r\n );\r\n }\r\n /* Return the perimeter of the triangle. /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n /\r\n Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n /\r\n Sum the triangle points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see [[pointToFraction]]\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n // p = b0 v0 + b1 * v1 + b2 * v2\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n /*\r\n Compute the projection of the given `point` onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point `P = d.world`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n * @see [[fractionToPoint]]\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n }\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (index: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n /\r\n Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // The barycentric displacement vector distance formula\r\n // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2)\r\n - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n });\r\n }\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(\r\n this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z\r\n );\r\n }\r\n /\r\n Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter f along e_k, such that:\r\n * * the projection point is q = v_i + f * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n /\r\n We know p = (b_iv_i) + (b_jv_j) + (b_kv_k) and 1 = b_i + b_j + b_k.\r\n Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n * First we prove P = b_jU + b_kV.\r\n * P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n * = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n * = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + v_i - v_i\r\n * = (b_j * U) + (b_k * V)\r\n * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n * Therefore, 0 = (p - q).(v_j - v_i)\r\n * = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n * = (b_jU + b_kV - fU).U\r\n * = b_jU.U + b_kU.V - fU.U\r\n * Thus f = b_j + b_k(U.V/U.U)\r\n /\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n /*\r\n Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n * q = v_i + f * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b_i=d_i\|e_i\|/2A we can compare quantities b_i/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.a` is the intersection parameter along the ray.\r\n * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n * returns true.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * @see [[pointToFraction]]\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n // Let r0 = ray.origin, d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n // r0 + sd = p = b0v0 + b1v1 + b2v2\r\n // Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n // b1u + b2v - sd = c\r\n // This is a linear system Mx=c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n this.points[0], this.points[1], BarycentricTriangle._workVector0\r\n );\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n this.points[0], this.points[2], BarycentricTriangle._workVector1\r\n );\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z;\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y);\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see [[intersectRay3d]]\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n /\r\n Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n * `location.world` possibly updated to lie on the triangle closest edge)\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(\r\n location: TriangleLocationDetail,\r\n distanceTolerance: number = Geometry.smallMetricDistance,\r\n parameterTolerance: number = Geometry.smallFraction\r\n ): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z)\r\n );\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n location.local.x, location.local.y, location.local.z\r\n );\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint\r\n );\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /\r\n Return the dot product of the scaled normals of the two triangles.\r\n * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n * one of the triangles' planes; zero means the triangles are perpendicular.\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n this.points[1], this.points[2], BarycentricTriangle._workVector0\r\n );\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n other.points[1], other.points[2], BarycentricTriangle._workVector1\r\n );\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result\r\n );\r\n }\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n /** Test for point-by-point `isAlmostEqual` relationship. */\r\n public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0], tol)\r\n && this.points[1].isAlmostEqual(other.points[1], tol)\r\n && this.points[2].isAlmostEqual(other.points[2], tol);\r\n }\r\n}\r\n"]}

package/lib/esm/geometry3d/Ray3d.d.ts CHANGED Viewed

@@ -98,54 +98,58 @@ export declare class Ray3d implements BeJSONFunctions {
     /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */
     setFromJSON(json?: any): void;
     /**
-     * Try to scale the direction vector to a given magnitude.
-     * * Returns false if ray direction is a zero vector.
+     * Construct a JSON object from this Ray3d.
+     * @return {*} [origin,normal]
+     */
+    toJSON(): any;
+    /** Create a new ray from json object. See `setFromJSON` for json structure; */
+    static fromJSON(json?: any): Ray3d;
+    /**
+     * Try to scale the direction vector to a given `magnitude`.
+     * * Returns `false` if the ray direction is a zero vector.
      */
     trySetDirectionMagnitudeInPlace(magnitude?: number): boolean;
     /**
+     * Normalize the ray direction in place.
      * * If parameter `a` is clearly nonzero and the direction vector can be normalized,
-     *    * save the parameter `a` as the optional `a` member of the ray.
-     *    * normalize the ray's direction vector
+     *    * Save the parameter `a` as the optional `a` member of the ray.
+     *    * Normalize the ray's direction vector.
      * * If parameter `a` is nearly zero,
-     *   * Set the `a` member to zero
-     *   * Set the ray's direction vector to zero.
-     * @param a area to be saved.
+     *    * Set the `a` member to zero.
+     *    * Set the ray's direction vector to zero.
+     * @param a value to be saved (e.g,. area).
+     * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.
      */
     tryNormalizeInPlaceWithAreaWeight(a: number): boolean;
-    /**
-     * Construct a JSON object from this Ray3d.
-     * @return {*} [origin,normal]
-     */
-    toJSON(): any;
-    /** Create a new ray from json object. See `setFromJSON` for json structure; */
-    static fromJSON(json?: any): Ray3d;
-    /** return distance from the ray to point in space */
+    /** Return distance from the ray to point in space. */
     distance(spacePoint: Point3d): number;
     /**
-     * Return the intersection of the unbounded ray with a plane.
-     * Stores the point of intersection in the result point given as a parameter,
-     * and returns the parameter along the ray where the intersection occurs.
-     * Returns undefined if the ray and plane are parallel or coplanar.
+     * Return the intersection parameter of the line defined by the ray with a `plane`.
+     * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter
+     * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would
+     * be `ray.origin + f * ray.direction`. Therefore:
+     *    * if ray intersects the plane at its origin, the function returns f = 0.
+     *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.
+     *    * if intersects behind the ray origin, the function returns f < 0.
+     *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.
+     * * Returns `undefined` if the ray and plane are parallel or coplanar.
      */
     intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined;
     /**
-     * Find intersection of the ray with a Range3d.
-     * * return the range of fractions (on the ray) which are "inside" the range.
-     * * Note that a range is always returned;  if there is no intersection it is indicated by the test `result.sNull`
+     * Find the intersection of the line defined by the ray with a Range3d.
+     * * Return the range of parameters (on the ray) which are "inside" the range.
+     * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.
      */
     intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d;
     /**
-     * Construct a vector from `ray.origin` to target point.
-     * * return the part of the vector that is perpendicular to `ray.direction`.
-     * * i.e., return the shortest vector from the ray to the point.
+     * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.
+     * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.
      */
     perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d;
     /**
-     * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
-     * * Return a CurveLocationDetailPair which
-     * * contains fraction and point on each ray.
-     * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
-     * these relationships
+     * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.
+     * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has
+     * annotation (in member `approachType`) indicating one of these relationships:
      *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
      * in detailA and detailB
      *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
@@ -157,11 +161,11 @@ export declare class Ray3d implements BeJSONFunctions {
      */
     static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair;
     /**
-     * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction
-     * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.
-     * @param pt1 start point of interpolation.
+     * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`
+     * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.
+     * @param pt1 start point of the interpolation.
      * @param fraction fractional position between points.
-     * @param pt2 endpoint of interpolation.
+     * @param pt2 end point of the interpolation.
      * @param tangentScale scale factor to apply to the startToEnd vector.
      * @param result optional receiver.
      */

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package/lib/esm/geometry3d/Ray3d.js CHANGED Viewed

@@ -237,8 +237,21 @@ export class Ray3d {
         this.direction.setFromJSON(json.direction);
     }
     /**
-     * Try to scale the direction vector to a given magnitude.
-     * * Returns false if ray direction is a zero vector.
+     * Construct a JSON object from this Ray3d.
+     * @return {*} [origin,normal]
+     */
+    toJSON() {
+        return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };
+    }
+    /** Create a new ray from json object. See `setFromJSON` for json structure; */
+    static fromJSON(json) {
+        const result = Ray3d.createXAxis();
+        result.setFromJSON(json);
+        return result;
+    }
+    /**
+     * Try to scale the direction vector to a given `magnitude`.
+     * * Returns `false` if the ray direction is a zero vector.
      */
     trySetDirectionMagnitudeInPlace(magnitude = 1.0) {
         if (this.direction.tryNormalizeInPlace()) {
@@ -250,17 +263,16 @@ export class Ray3d {
         return false;
     }
     /**
+     * Normalize the ray direction in place.
      * * If parameter `a` is clearly nonzero and the direction vector can be normalized,
-     *    * save the parameter `a` as the optional `a` member of the ray.
-     *    * normalize the ray's direction vector
+     *    * Save the parameter `a` as the optional `a` member of the ray.
+     *    * Normalize the ray's direction vector.
      * * If parameter `a` is nearly zero,
-     *   * Set the `a` member to zero
-     *   * Set the ray's direction vector to zero.
-     * @param a area to be saved.
+     *    * Set the `a` member to zero.
+     *    * Set the ray's direction vector to zero.
+     * @param a value to be saved (e.g,. area).
+     * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.
      */
-    // input a ray and "a" understood as an area.
-    // if a is clearly nonzero metric squared and the vector can be normalized, install those and return true.
-    // otherwise set ray.z to zero and zero the vector of the ray and return false.
     tryNormalizeInPlaceWithAreaWeight(a) {
         const tolerance = Geometry.smallMetricDistanceSquared;
         this.a = a;
@@ -270,20 +282,7 @@ export class Ray3d {
         this.a = 0.0;
         return false;
     }
-    /**
-     * Construct a JSON object from this Ray3d.
-     * @return {*} [origin,normal]
-     */
-    toJSON() {
-        return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };
-    }
-    /** Create a new ray from json object. See `setFromJSON` for json structure; */
-    static fromJSON(json) {
-        const result = Ray3d.createXAxis();
-        result.setFromJSON(json);
-        return result;
-    }
-    /** return distance from the ray to point in space */
+    /** Return distance from the ray to point in space. */
     distance(spacePoint) {
         const uu = this.direction.magnitudeSquared();
         const uv = this.dotProductToPoint(spacePoint);
@@ -294,10 +293,15 @@ export class Ray3d {
             return Math.sqrt(this.origin.distanceSquared(spacePoint));
     }
     /**
-     * Return the intersection of the unbounded ray with a plane.
-     * Stores the point of intersection in the result point given as a parameter,
-     * and returns the parameter along the ray where the intersection occurs.
-     * Returns undefined if the ray and plane are parallel or coplanar.
+     * Return the intersection parameter of the line defined by the ray with a `plane`.
+     * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter
+     * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would
+     * be `ray.origin + f * ray.direction`. Therefore:
+     *    * if ray intersects the plane at its origin, the function returns f = 0.
+     *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.
+     *    * if intersects behind the ray origin, the function returns f < 0.
+     *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.
+     * * Returns `undefined` if the ray and plane are parallel or coplanar.
      */
     intersectionWithPlane(plane, result) {
         const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);
@@ -316,9 +320,9 @@ export class Ray3d {
         return division;
     }
     /**
-     * Find intersection of the ray with a Range3d.
-     * * return the range of fractions (on the ray) which are "inside" the range.
-     * * Note that a range is always returned;  if there is no intersection it is indicated by the test `result.sNull`
+     * Find the intersection of the line defined by the ray with a Range3d.
+     * * Return the range of parameters (on the ray) which are "inside" the range.
+     * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.
      */
     intersectionWithRange3d(range, result) {
         if (range.isNull)
@@ -331,9 +335,8 @@ export class Ray3d {
         return interval;
     }
     /**
-     * Construct a vector from `ray.origin` to target point.
-     * * return the part of the vector that is perpendicular to `ray.direction`.
-     * * i.e., return the shortest vector from the ray to the point.
+     * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.
+     * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.
      */
     perpendicularPartOfVectorToTarget(targetPoint, result) {
         const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);
@@ -343,11 +346,9 @@ export class Ray3d {
         return vectorV.plusScaled(this.direction, -fraction, result);
     }
     /**
-     * Determine if two rays intersect, are fully overlapped, parallel but no coincident, or skew
-     * * Return a CurveLocationDetailPair which
-     * * contains fraction and point on each ray.
-     * * has (in the CurveLocationDetailPair structure, as member approachType) annotation indicating one of
-     * these relationships
+     * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.
+     * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has
+     * annotation (in member `approachType`) indicating one of these relationships:
      *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated
      * in detailA and detailB
      *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.
@@ -367,25 +368,27 @@ export class Ray3d {
             fractionB = intersectionFractions.y;
             pointA = rayA.fractionToPoint(fractionA);
             pointB = rayB.fractionToPoint(fractionB);
-            pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;
+            pairType = pointA.isAlmostEqualMetric(pointB) ?
+                CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;
         }
         else {
             fractionB = 0.0;
             fractionA = rayA.pointToFraction(rayB.origin);
             pointA = rayA.fractionToPoint(fractionA);
             pointB = rayB.fractionToPoint(fractionB);
-            pairType = pointA.isAlmostEqualMetric(pointB) ? CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;
+            pairType = pointA.isAlmostEqualMetric(pointB) ?
+                CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;
         }
         const pair = CurveLocationDetailPair.createCapture(CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)), CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));
         pair.approachType = pairType;
         return pair;
     }
     /**
-     * Return a ray with `ray.origin` interpolated between pt1 and pt2 at the given fraction
-     * and `ray.direction` set to the vector from pt1 to pt2 multiplied by the given scale factor.
-     * @param pt1 start point of interpolation.
+     * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`
+     * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.
+     * @param pt1 start point of the interpolation.
      * @param fraction fractional position between points.
-     * @param pt2 endpoint of interpolation.
+     * @param pt2 end point of the interpolation.
      * @param tangentScale scale factor to apply to the startToEnd vector.
      * @param result optional receiver.
      */