@itwin/core-geometry 4.1.0-dev.7 → 4.1.0-dev.70

package/lib/esm/geometry3d/BarycentricTriangle.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/** @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\nimport { Transform } from \"./Transform\";\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 a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(\r\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n      result\r\n    );\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   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\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_i*v_i) + (b_j*v_j) + (b_k*v_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   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n   * @see [[pointToFraction]]\r\n  */\r\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    result = TriangleLocationDetail.create(result);\r\n    /**\r\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\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     *              b1*u + b2*v - s*d = 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     */\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; // = -(-s) = s\r\n    ray.fractionToPoint(result.a, result.world);\r\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\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.smallFloatingPoint\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"]}
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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\nimport { Transform } from \"./Transform\";\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 a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(\r\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n      result,\r\n    );\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   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\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_i*v_i) + (b_j*v_j) + (b_k*v_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   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n   * @see [[pointToFraction]]\r\n  */\r\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    result = TriangleLocationDetail.create(result);\r\n    /**\r\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\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     *              b1*u + b2*v - s*d = 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     */\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; // = -(-s) = s\r\n    ray.fractionToPoint(result.a, result.world);\r\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\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.smallFloatingPoint,\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/BilinearPatch.d.ts

@@ -9,32 +9,32 @@ import { Range3d } from "./Range";
 import { Ray3d } from "./Ray3d";
 import { Transform } from "./Transform";
 /**
- * * A Bilinear patch is defined by its 4 corner points.
- * * the corner points do not have to be coplanar
- *
- * *    v direction (up)
- *      |
- *      |
- *      |
- *  point01---A1-----------point11
- *      |     |             |
- *      B0----X------------B1
- *      |     |             |
- *  point00--A0-----------point10 -----------> u direction
- *
- * * To evaluate aa point at (u,v), the following are equivalent:
- *   * interpolate with u to get both A0 and A1, viz
+ * A bilinear patch is a surface defined by its 4 corner points.
+ * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.
+ * ```
+ * equation
+ * \begin{matrix}
+ * v\text{-direction}\\
+ * \uparrow\\
+ * \text{point01} &\cdots &\text{A1} &\cdots &\text{point11}\\
+ * \vdots &&\vdots &&\vdots\\
+ * \text{B0} &\cdots &\text{X} &\cdots &\text{B1}\\
+ * \vdots &&\vdots &&\vdots\\
+ * \text{point00} &\cdots &\text{A0} &\cdots &\text{point10} &\rightarrow~u\text{-direction}
+ * \end{matrix}
+ * ```
+ * * To evaluate the point at (u,v), the following are equivalent:
+ *   * interpolate first with u then with v:
  *      * A0 = interpolate between point00 and point10 at fraction u
  *      * A1 = interpolate between point01 and point11 at fraction u
  *      * X = interpolate between A0 and A1 at fraction v
- *   * interpolate first with v to get B0 and B1, viz
+ *   * interpolate first with v then with u:
  *      * B0 = interpolate between point00 and point01 at fraction v
  *      * B1 = interpolate between point10 and point11 at fraction v
  *      * X = interpolate between B0 and B1 at fraction u
- *   * sum all at once as
- *      * X = (1-u)* (1-v) *point00 + (1-u)*v * point01 + u * (1-v) *point10 + u* v * point11
- *
- * @internal
+ *   * sum all at once:
+ *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11
+ * @public
  */
 export declare class BilinearPatch implements UVSurface {
     /** corner at parametric coordinate (0,0) */
@@ -46,62 +46,57 @@ export declare class BilinearPatch implements UVSurface {
     /** corner at parametric coordinate (1,1) */
     point11: Point3d;
     /**
-     * Capture (not clone) corner points, in u direction at v=0, then in same direction at v=1
+     * Capture (not clone) corners to create a new BilinearPatch.
      * @param point00 Point at uv=0,0
      * @param point10 Point at uv=1,0
      * @param point10 Point at uv=0,1
-     * @param point11 Point at uv=11
+     * @param point11 Point at uv=1,1
      */
     constructor(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d);
-    /** clone (not capture) corners to create a new BilinearPatch
+    /**
+     * Clone (not capture) corners to create a new BilinearPatch.
      * @param point00 Point at uv=0,0
      * @param point10 Point at uv=1,0
      * @param point10 Point at uv=0,1
-     * @param point11 Point at uv=11
+     * @param point11 Point at uv=1,1
      */
     static create(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d): BilinearPatch;
-    /** create a patch with from xyz values of the 4 corners
-     */
+    /** Create a patch from xyz values of the 4 corners. */
     static createXYZ(x00: number, y00: number, z00: number, x10: number, y10: number, z10: number, x01: number, y01: number, z01: number, x11: number, y11: number, z11: number): BilinearPatch;
-    /** return a clone with same coordinates */
+    /** Return a cloned patch. */
     clone(): BilinearPatch;
-    /** test equality of the 4 points */
+    /** Test equality of the 4 points. */
     isAlmostEqual(other: BilinearPatch): boolean;
-    /** Apply the transform to each point */
+    /** Apply the transform to each point. */
     tryTransformInPlace(transform: Transform): boolean;
-    /**
-     * return a cloned and transformed patch.
-     * @param transform
-     */
+    /** Return a cloned and transformed patch. */
     cloneTransformed(transform: Transform): BilinearPatch | undefined;
-    /** Extend a range by the range of the(optionally transformed) patch
-     */
+    /** Extend a range by the range of the (optionally transformed) patch. */
     extendRange(range: Range3d, transform?: Transform): void;
-    /** Evaluate as a uv surface
-     * @param u fractional position in minor (phi)
-     * @param v fractional position on major (theta) arc
+    /**
+     * Convert fractional u and v coordinates to surface point
+     * @param u fractional coordinate in u direction
+     * @param v fractional coordinate in v direction
+     * @param result optional pre-allocated point
      */
     uvFractionToPoint(u: number, v: number, result?: Point3d): Point3d;
     /** Evaluate as a uv surface, returning point and two derivative vectors.
-     * @param u fractional position
-     * @param v fractional position
+     * @param u fractional coordinate in u direction
+     * @param v fractional coordinate in v direction
+     * @param result optional pre-allocated carrier for point and vectors
      */
     uvFractionToPointAndTangents(u: number, v: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;
-    /** if data[ib][pivotColumn] is larger (abs) than data[ia][pivotColumn] swap the iA and iB arrays */
+    /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */
     private static conditionalPivot;
     /**
-     * Compute the (points of) intersection with a ray.
+     * Compute the points of intersection with a ray.
      * @param ray ray in space
      * @returns 1 or 2 points if there are intersections, undefined if no intersections
      */
     intersectRay(ray: Ray3d): CurveAndSurfaceLocationDetail[] | undefined;
-    /**
-     * Returns the larger of the u-direction edge lengths at v=0 and v=1
-     */
+    /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */
     maxUEdgeLength(): number;
-    /**
-     * Returns the larger of the v-direction edge lengths at u=0 and u=1
-     */
+    /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */
     maxVEdgeLength(): number;
 }
 //# sourceMappingURL=BilinearPatch.d.ts.map

package/lib/esm/geometry3d/BilinearPatch.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/BilinearPatch.js

@@ -11,41 +11,42 @@ import { Geometry } from "../Geometry";
 import { SmallSystem } from "../numerics/Polynomials";
 import { Plane3dByOriginAndVectors } from "./Plane3dByOriginAndVectors";
 import { Point3d } from "./Point3dVector3d";
+// cspell:word uparrow, rightarrow
 /**
- * * A Bilinear patch is defined by its 4 corner points.
- * * the corner points do not have to be coplanar
- *
- * *    v direction (up)
- *      |
- *      |
- *      |
- *  point01---A1-----------point11
- *      |     |             |
- *      B0----X------------B1
- *      |     |             |
- *  point00--A0-----------point10 -----------> u direction
- *
- * * To evaluate aa point at (u,v), the following are equivalent:
- *   * interpolate with u to get both A0 and A1, viz
+ * A bilinear patch is a surface defined by its 4 corner points.
+ * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.
+ * ```
+ * equation
+ * \begin{matrix}
+ * v\text{-direction}\\
+ * \uparrow\\
+ * \text{point01} &\cdots &\text{A1} &\cdots &\text{point11}\\
+ * \vdots &&\vdots &&\vdots\\
+ * \text{B0} &\cdots &\text{X} &\cdots &\text{B1}\\
+ * \vdots &&\vdots &&\vdots\\
+ * \text{point00} &\cdots &\text{A0} &\cdots &\text{point10} &\rightarrow~u\text{-direction}
+ * \end{matrix}
+ * ```
+ * * To evaluate the point at (u,v), the following are equivalent:
+ *   * interpolate first with u then with v:
  *      * A0 = interpolate between point00 and point10 at fraction u
  *      * A1 = interpolate between point01 and point11 at fraction u
  *      * X = interpolate between A0 and A1 at fraction v
- *   * interpolate first with v to get B0 and B1, viz
+ *   * interpolate first with v then with u:
  *      * B0 = interpolate between point00 and point01 at fraction v
  *      * B1 = interpolate between point10 and point11 at fraction v
  *      * X = interpolate between B0 and B1 at fraction u
- *   * sum all at once as
- *      * X = (1-u)* (1-v) *point00 + (1-u)*v * point01 + u * (1-v) *point10 + u* v * point11
- *
- * @internal
+ *   * sum all at once:
+ *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11
+ * @public
  */
 export class BilinearPatch {
     /**
-     * Capture (not clone) corner points, in u direction at v=0, then in same direction at v=1
+     * Capture (not clone) corners to create a new BilinearPatch.
      * @param point00 Point at uv=0,0
      * @param point10 Point at uv=1,0
      * @param point10 Point at uv=0,1
-     * @param point11 Point at uv=11
+     * @param point11 Point at uv=1,1
      */
     constructor(point00, point10, point01, point11) {
         this.point00 = point00;
@@ -53,32 +54,32 @@ export class BilinearPatch {
         this.point01 = point01;
         this.point11 = point11;
     }
-    /** clone (not capture) corners to create a new BilinearPatch
+    /**
+     * Clone (not capture) corners to create a new BilinearPatch.
      * @param point00 Point at uv=0,0
      * @param point10 Point at uv=1,0
      * @param point10 Point at uv=0,1
-     * @param point11 Point at uv=11
+     * @param point11 Point at uv=1,1
      */
     static create(point00, point10, point01, point11) {
         return new BilinearPatch(point00.clone(), point10.clone(), point01.clone(), point11.clone());
     }
-    /** create a patch with from xyz values of the 4 corners
-     */
+    /** Create a patch from xyz values of the 4 corners. */
     static createXYZ(x00, y00, z00, x10, y10, z10, x01, y01, z01, x11, y11, z11) {
         return new BilinearPatch(Point3d.create(x00, y00, z00), Point3d.create(x10, y10, z10), Point3d.create(x01, y01, z01), Point3d.create(x11, y11, z11));
     }
-    /** return a clone with same coordinates */
+    /** Return a cloned patch. */
     clone() {
         return new BilinearPatch(this.point00.clone(), this.point10.clone(), this.point01.clone(), this.point11.clone());
     }
-    /** test equality of the 4 points */
+    /** Test equality of the 4 points. */
     isAlmostEqual(other) {
         return this.point00.isAlmostEqual(other.point00)
             && this.point10.isAlmostEqual(other.point10)
             && this.point01.isAlmostEqual(other.point01)
             && this.point11.isAlmostEqual(other.point11);
     }
-    /** Apply the transform to each point */
+    /** Apply the transform to each point. */
     tryTransformInPlace(transform) {
         transform.multiplyPoint3d(this.point00, this.point00);
         transform.multiplyPoint3d(this.point10, this.point10);
@@ -86,17 +87,13 @@ export class BilinearPatch {
         transform.multiplyPoint3d(this.point11, this.point11);
         return true;
     }
-    /**
-     * return a cloned and transformed patch.
-     * @param transform
-     */
+    /** Return a cloned and transformed patch. */
     cloneTransformed(transform) {
         const result = this.clone();
         result.tryTransformInPlace(transform);
         return result;
     }
-    /** Extend a range by the range of the(optionally transformed) patch
-     */
+    /** Extend a range by the range of the (optionally transformed) patch. */
     extendRange(range, transform) {
         if (transform) {
             range.extendTransformedPoint(transform, this.point00);
@@ -111,9 +108,11 @@ export class BilinearPatch {
             range.extendPoint(this.point11);
         }
     }
-    /** Evaluate as a uv surface
-     * @param u fractional position in minor (phi)
-     * @param v fractional position on major (theta) arc
+    /**
+     * Convert fractional u and v coordinates to surface point
+     * @param u fractional coordinate in u direction
+     * @param v fractional coordinate in v direction
+     * @param result optional pre-allocated point
      */
     uvFractionToPoint(u, v, result) {
         const f00 = (1.0 - u) * (1.0 - v);
@@ -123,8 +122,9 @@ export class BilinearPatch {
         return Point3d.create(f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x, f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y, f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z, result);
     }
     /** Evaluate as a uv surface, returning point and two derivative vectors.
-     * @param u fractional position
-     * @param v fractional position
+     * @param u fractional coordinate in u direction
+     * @param v fractional coordinate in v direction
+     * @param result optional pre-allocated carrier for point and vectors
      */
     uvFractionToPointAndTangents(u, v, result) {
         const u0 = 1.0 - u;
@@ -139,7 +139,7 @@ export class BilinearPatch {
         // v derivative ..
         u0 * (this.point01.x - this.point00.x) + u * (this.point11.x - this.point10.x), u0 * (this.point01.y - this.point00.y) + u * (this.point11.y - this.point10.y), u0 * (this.point01.z - this.point00.z) + u * (this.point11.z - this.point10.z), result);
     }
-    /** if data[ib][pivotColumn] is larger (abs) than data[ia][pivotColumn] swap the iA and iB arrays */
+    /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */
     static conditionalPivot(pivotColumn, data, iA, iB) {
         if (Math.abs(data[iB][pivotColumn]) > Math.abs(data[iA][pivotColumn])) {
             const q = data[iA];
@@ -148,7 +148,7 @@ export class BilinearPatch {
         }
     }
     /**
-     * Compute the (points of) intersection with a ray.
+     * Compute the points of intersection with a ray.
      * @param ray ray in space
      * @returns 1 or 2 points if there are intersections, undefined if no intersections
      */
@@ -157,17 +157,17 @@ export class BilinearPatch {
         const vectorV = this.point01.minus(this.point00);
         const vectorW = this.point11.minus(this.point10);
         vectorW.subtractInPlace(vectorV);
-        // coefficients of (each component of)
-        //    `ray.origin + t * ray.direction = point00 + u * vectorU + v * vectorV + u*v*vectorW`
-        // for x as typical direction as x, the scalar equation with coefficient order for arrays is
-        //    `0 = -ray.origin.x * t + (point00.x - ray.origin.x) + u * vectorU.x + v * vectorV.x + u * v * vectorW.x`
-        // (and that particular equation is invoked to isolate t when uv is known)
+        // We seek t, u, v such that:
+        //    `ray.origin + t*ray.direction = point00 + u*vectorU + v*vectorV + u*v*vectorW`
+        // For typical direction as x, the scalar equation with coefficient order for arrays is:
+        //    `0 = -t*ray.direction.x + (point00.x - ray.origin.x) + u*vectorU.x + v*vectorV.x + u*v*vectorW.x`
+        // and this particular equation is invoked to compute t when u and v are known.
         const coffs = [
             new Float64Array([-ray.direction.x, this.point00.x - ray.origin.x, vectorU.x, vectorV.x, vectorW.x]),
             new Float64Array([-ray.direction.y, this.point00.y - ray.origin.y, vectorU.y, vectorV.y, vectorW.y]),
-            new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z])
+            new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z]),
         ];
-        // bring the largest ray.direction coefficient to the 0 equation.
+        // swap rows so that the equation with largest ray.direction coefficient is first.
         BilinearPatch.conditionalPivot(0, coffs, 0, 1);
         BilinearPatch.conditionalPivot(0, coffs, 0, 2);
         SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[1], -1.0);
@@ -184,15 +184,11 @@ export class BilinearPatch {
         }
         return undefined;
     }
-    /**
-     * Returns the larger of the u-direction edge lengths at v=0 and v=1
-     */
+    /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */
     maxUEdgeLength() {
         return Geometry.maxXY(this.point00.distance(this.point10), this.point01.distance(this.point11));
     }
-    /**
-     * Returns the larger of the v-direction edge lengths at u=0 and u=1
-     */
+    /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */
     maxVEdgeLength() {
         return Geometry.maxXY(this.point00.distance(this.point01), this.point10.distance(this.point11));
     }