@itwin/core-geometry 4.0.0-dev.90 → 4.0.0-dev.92

package/lib/cjs/geometry3d/Ray3d.d.ts

@@ -22,6 +22,11 @@ export declare class Ray3d implements BeJSONFunctions {
     direction: Vector3d;
     /** Numeric annotation. */
     a?: number;
+    private static _workVector0?;
+    private static _workVector1?;
+    private static _workVector2?;
+    private static _workVector3?;
+    private static _workVector4?;
     private constructor();
     private static _create;
     /** Create a ray on the x axis. */
@@ -76,10 +81,10 @@ export declare class Ray3d implements BeJSONFunctions {
     set(origin: Point3d, direction: Vector3d): void;
     /** Clone the ray. */
     clone(result?: Ray3d): Ray3d;
-    /** Create a clone and return the transform of the clone. */
-    cloneTransformed(transform: Transform): Ray3d;
+    /** Return a clone of the transformed instance */
+    cloneTransformed(transform: Transform, result?: Ray3d): Ray3d;
     /** Create a clone and return the inverse transform of the clone. */
-    cloneInverseTransformed(transform: Transform): Ray3d | undefined;
+    cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined;
     /** Apply a transform in place. */
     transformInPlace(transform: Transform): void;
     /** Copy data from another ray. */
@@ -141,6 +146,19 @@ export declare class Ray3d implements BeJSONFunctions {
      * * 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;
+    /**
+     * Compute the intersection of the ray with a triangle.
+     * @param vertex0 first vertex of the triangle
+     * @param vertex1 second vertex of the triangle
+     * @param vertex2 third vertex of the triangle
+     * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line
+     * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)
+     * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to
+     * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)
+     * @param result optional pre-allocated object to fill and return
+     * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.
+    */
+    intersectionWithTriangle(vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d): Point3d | undefined;
     /**
      * 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`.

package/lib/cjs/geometry3d/Ray3d.d.ts.map

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package/lib/cjs/geometry3d/Ray3d.js

@@ -16,6 +16,7 @@ const Point2dVector2d_1 = require("./Point2dVector2d");
 const Point3dVector3d_1 = require("./Point3dVector3d");
 const Range_1 = require("./Range");
 const Transform_1 = require("./Transform");
+// cspell:word Cramer
 /**
  * A Ray3d contains
  * * an `origin` point.
@@ -192,17 +193,15 @@ class Ray3d {
         }
         return new Ray3d(this.origin.clone(), this.direction.clone());
     }
-    /** Create a clone and return the transform of the clone. */
-    cloneTransformed(transform) {
-        return new Ray3d(transform.multiplyPoint3d(this.origin), transform.multiplyVector(this.direction));
+    /** Return a clone of the transformed instance */
+    cloneTransformed(transform, result) {
+        return Ray3d.create(transform.multiplyPoint3d(this.origin, result?.origin), transform.multiplyVector(this.direction, result?.direction), result);
     }
     /** Create a clone and return the inverse transform of the clone. */
-    cloneInverseTransformed(transform) {
-        const origin = transform.multiplyInversePoint3d(this.origin);
-        const direction = transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z);
-        if (undefined !== origin && undefined !== direction)
-            return new Ray3d(origin, direction);
-        return undefined;
+    cloneInverseTransformed(transform, result) {
+        if (!transform.computeCachedInverse(true))
+            return undefined;
+        return Ray3d.create(transform.multiplyInversePoint3d(this.origin, result?.origin), transform.matrix.multiplyInverseXYZAsVector3d(this.direction.x, this.direction.y, this.direction.z, result?.direction), result);
     }
     /** Apply a transform in place. */
     transformInPlace(transform) {
@@ -337,6 +336,101 @@ class Ray3d {
             return interval;
         return interval;
     }
+    /**
+     * Compute the intersection of the ray with a triangle.
+     * @param vertex0 first vertex of the triangle
+     * @param vertex1 second vertex of the triangle
+     * @param vertex2 third vertex of the triangle
+     * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line
+     * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)
+     * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to
+     * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)
+     * @param result optional pre-allocated object to fill and return
+     * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.
+    */
+    intersectionWithTriangle(vertex0, vertex1, vertex2, distanceTol, parameterTol, result) {
+        /**
+         * Suppose ray is shown by "rayOrigin + t*rayVector" and barycentric coordinate of point
+         * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)
+         *
+         * Then if ray intersects triangle at a point we have
+         * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector
+         * or
+         * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0
+         *
+         * This equation can be reformulated as the following linear system:
+         *
+         * [    |          |      |  ] [t]   [      |       ]
+         * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]
+         * [   |          |      |   ] [v]   [      |       ]
+         *
+         * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then
+         * det(A) = c1.(c2 x c3) which leads to
+         *
+         * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]
+         * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]
+         * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]
+         *
+         * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:
+         * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)
+         *
+         * This leads to the final formulas used in the following code:
+         * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]
+         * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]
+         * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]
+         *
+         * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.
+         * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so
+         * 0 <= w <= 1.
+         *
+         * More info be found at
+         * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+         */
+        if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance
+            distanceTol = Geometry_1.Geometry.smallMetricDistance;
+        if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance
+            parameterTol = Geometry_1.Geometry.smallFloatingPoint;
+        const edge1 = Ray3d._workVector0 = Point3dVector3d_1.Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);
+        const edge2 = Ray3d._workVector1 = Point3dVector3d_1.Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);
+        const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);
+        const a = edge1.dotProduct(h);
+        if (a >= -distanceTol && a <= distanceTol)
+            return undefined; // ray is parallel to the triangle (includes coplanar case)
+        const f = 1.0 / a;
+        const s = Ray3d._workVector3 = Point3dVector3d_1.Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);
+        let u = f * s.dotProduct(h);
+        if (u < 0.0) {
+            if (u > -parameterTol)
+                u = 0.0;
+            else
+                return undefined; // ray does not intersect the triangle
+        }
+        else if (u > 1.0) {
+            if (u < 1.0 + parameterTol)
+                u = 1.0;
+            else
+                return undefined; // ray does not intersect the triangle
+        }
+        const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);
+        let v = f * this.direction.dotProduct(q);
+        if (v < 0.0) {
+            if (v > -parameterTol)
+                v = 0.0;
+            else
+                return undefined; // ray does not intersect the triangle
+        }
+        else if (u + v > 1.0) {
+            if (u + v < 1.0 + parameterTol)
+                v = 1.0 - u;
+            else
+                return undefined; // ray does not intersect the triangle
+        }
+        // at this stage, we know the line (parameterized as the ray) intersects the triangle
+        const t = f * edge2.dotProduct(q);
+        if (t <= distanceTol) // line intersection but not ray intersection
+            return undefined;
+        return this.origin.plusScaled(this.direction, t, result); // ray intersection
+    }
     /**
      * 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`.

package/lib/cjs/geometry3d/Ray3d.js.map

@@ -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/**\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(\r\n      this.direction.x, this.direction.y, this.direction.z\r\n    );\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   * 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  /**\r\n   * Try to scale the direction vector to a given `magnitude`.\r\n   * * Returns `false` if the 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   * Normalize the ray direction in place.\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 value to be saved (e.g,. area).\r\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n   */\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  /** 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 parameter of the line defined by the ray with a `plane`.\r\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n   * be `ray.origin + f * ray.direction`. Therefore:\r\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\r\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n   *    * if intersects behind the ray origin, the function returns f < 0.\r\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\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 the intersection of the line defined by the ray with a Range3d.\r\n   * * Return the range of parameters (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.isNull`.\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    )\r\n      return interval;\r\n    return interval;\r\n  }\r\n  /**\r\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\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, or are fully overlapped, or parallel but not coincident, or skew.\r\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n   * annotation (in member `approachType`) indicating one of 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,\r\n      intersectionFractions)\r\n    ) {\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) ?\r\n        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) ?\r\n        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 `tangentScale`.\r\n   * @param pt1 start point of the interpolation.\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 end point of the 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(\r\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n  ): 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"]}
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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// cspell:word Cramer\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  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workVector2?: Vector3d;\r\n  private static _workVector3?: Vector3d;\r\n  private static _workVector4?: Vector3d;\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  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n    return Ray3d.create(\r\n      transform.multiplyPoint3d(this.origin, result?.origin),\r\n      transform.multiplyVector(this.direction, result?.direction),\r\n      result\r\n    );\r\n  }\r\n  /** Create a clone and return the inverse transform of the clone. */\r\n  public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined {\r\n    if (!transform.computeCachedInverse(true))\r\n      return undefined;\r\n    return Ray3d.create(\r\n      transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n      transform.matrix.multiplyInverseXYZAsVector3d(\r\n        this.direction.x, this.direction.y, this.direction.z, result?.direction\r\n      )!,\r\n      result\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 {\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   * 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  /**\r\n   * Try to scale the direction vector to a given `magnitude`.\r\n   * * Returns `false` if the 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   * Normalize the ray direction in place.\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 value to be saved (e.g,. area).\r\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n   */\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  /** 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 parameter of the line defined by the ray with a `plane`.\r\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n   * be `ray.origin + f * ray.direction`. Therefore:\r\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\r\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n   *    * if intersects behind the ray origin, the function returns f < 0.\r\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\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 the intersection of the line defined by the ray with a Range3d.\r\n   * * Return the range of parameters (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.isNull`.\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    )\r\n      return interval;\r\n    return interval;\r\n  }\r\n  /**\r\n   * Compute the intersection of the ray with a triangle.\r\n   * @param vertex0 first vertex of the triangle\r\n   * @param vertex1 second vertex of the triangle\r\n   * @param vertex2 third vertex of the triangle\r\n   * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n   * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n   * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n   * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n  */\r\n  public intersectionWithTriangle(\r\n    vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d\r\n  ): Point3d | undefined {\r\n    /**\r\n     * Suppose ray is shown by \"rayOrigin + t*rayVector\" and barycentric coordinate of point\r\n     * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)\r\n     *\r\n     * Then if ray intersects triangle at a point we have\r\n     * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector\r\n     * or\r\n     * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0\r\n     *\r\n     * This equation can be reformulated as the following linear system:\r\n     *\r\n     * [    |          |      |  ] [t]   [      |       ]\r\n     * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]\r\n     * [   |          |      |   ] [v]   [      |       ]\r\n     *\r\n     * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n     * det(A) = c1.(c2 x c3) which leads to\r\n     *\r\n     * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n     *\r\n     * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n     * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n     *\r\n     * This leads to the final formulas used in the following code:\r\n     * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n     *\r\n     * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n     * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n     * 0 <= w <= 1.\r\n     *\r\n     * More info be found at\r\n     * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n     */\r\n    if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance\r\n      distanceTol = Geometry.smallMetricDistance;\r\n    if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance\r\n      parameterTol = Geometry.smallFloatingPoint;\r\n    const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n    const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n    const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n    const a = edge1.dotProduct(h);\r\n    if (a >= -distanceTol && a <= distanceTol)\r\n      return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n    const f = 1.0 / a;\r\n    const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n    let u = f * s.dotProduct(h);\r\n    if (u < 0.0) {\r\n      if (u > -parameterTol)\r\n        u = 0.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    } else if (u > 1.0) {\r\n      if (u < 1.0 + parameterTol)\r\n        u = 1.0;\r\n      else\r\n        return undefined; // ray does not intersect the triangle\r\n    }\r\n    const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n    let v = f * this.direction.dotProduct(q);\r\n    if (v < 0.0) {\r\n      if (v > -parameterTol)\r\n        v = 0.0;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    } else if (u + v > 1.0) {\r\n      if (u + v < 1.0 + parameterTol)\r\n        v = 1.0 - u;\r\n      else\r\n        return undefined;  // ray does not intersect the triangle\r\n    }\r\n    // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n    const t = f * edge2.dotProduct(q);\r\n    if (t <= distanceTol) // line intersection but not ray intersection\r\n      return undefined;\r\n    return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n  }\r\n  /**\r\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\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, or are fully overlapped, or parallel but not coincident, or skew.\r\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n   * annotation (in member `approachType`) indicating one of 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,\r\n      intersectionFractions)\r\n    ) {\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) ?\r\n        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) ?\r\n        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 `tangentScale`.\r\n   * @param pt1 start point of the interpolation.\r\n   * @param fraction fractional position between points.\r\n   * @param pt2 end point of the 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(\r\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n  ): 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/cjs/geometry3d/Transform.d.ts

@@ -90,7 +90,7 @@ export declare class Transform implements BeJSONFunctions {
     /**
      * Create a Transform with translation provided by x,y,z parts.
      * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeMove
      * @param x x part of translation
      * @param y y part of translation
      * @param z z part of translation
@@ -101,7 +101,7 @@ export declare class Transform implements BeJSONFunctions {
     /**
      * Create a Transform with specified `translation` part.
      * * Translation Transform maps any vector `v` to `v + translation`
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeMove
      * @param translation x,y,z parts of the translation
      * @param result optional pre-allocated Transform
      * @returns new or updated transform
@@ -154,7 +154,7 @@ export declare class Transform implements BeJSONFunctions {
      * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by
      * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`
      * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ScaleCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeScale
      */
     static createScaleAboutPoint(fixedPoint: Point3d, scale: number, result?: Transform): Transform;
     /**

package/lib/cjs/geometry3d/Transform.js

@@ -180,7 +180,7 @@ class Transform {
     /**
      * Create a Transform with translation provided by x,y,z parts.
      * * Translation Transform maps any vector `v` to `v + p` where `p = (x,y,z)`
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeMove
      * @param x x part of translation
      * @param y y part of translation
      * @param z z part of translation
@@ -193,7 +193,7 @@ class Transform {
     /**
      * Create a Transform with specified `translation` part.
      * * Translation Transform maps any vector `v` to `v + translation`
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/MoveCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeMove
      * @param translation x,y,z parts of the translation
      * @param result optional pre-allocated Transform
      * @returns new or updated transform
@@ -316,7 +316,7 @@ class Transform {
      * Create a Transform which leaves the fixedPoint unchanged and scales everything else around it by
      * a single scale factor. The returned Transform maps a point `p` to `M*p + (f - M*f)`
      * where `f` is the fixedPoint and M is the scale matrix (i.e., `Tp = M*(p-f) + f`).
-     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ScaleCube
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/CubeScale
      */
     static createScaleAboutPoint(fixedPoint, scale, result) {
         const matrix = Matrix3d_1.Matrix3d.createScale(scale, scale, scale);