@itwin/core-geometry 4.1.0-dev.7 → 4.1.0-dev.71

package/lib/esm/geometry3d/Plane3dByOriginAndVectors.js

@@ -18,10 +18,12 @@ import { Matrix3d } from "./Matrix3d";
  *   * are NOT required to be unit vectors.
  *   * are NOT required to be perpendicular vectors.
  * * The skewed, non-uniform scaling of the grid directions is the primary focus of this class.
- * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU and vectorV as plane normal.
+ * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU
+ * and vectorV as plane normal.
  *   * Hence these are cartesian distances.
  *   * If numerous calls to these are expected, the repeated normalization may be a performance issue.
- *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide better performance.
+ *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide
+ * better performance.
  * @public
  */
 export class Plane3dByOriginAndVectors extends Plane3d {
@@ -31,7 +33,7 @@ export class Plane3dByOriginAndVectors extends Plane3d {
         this.vectorU = vectorU;
         this.vectorV = vectorV;
     }
-    /** create a new plane from origin and 2 in-plane vectors. */
+    /** Create a new plane from origin and 2 in-plane vectors. */
     static createOriginAndVectors(origin, vectorU, vectorV, result) {
         if (result) {
             result.origin.setFrom(origin);
@@ -41,13 +43,14 @@ export class Plane3dByOriginAndVectors extends Plane3d {
         }
         return new Plane3dByOriginAndVectors(origin.clone(), vectorU.clone(), vectorV.clone());
     }
-    /** clone to a new plane. */
+    /** Clone to a new plane. */
     clone(result) {
         if (result !== undefined)
             result.setOriginAndVectors(this.origin, this.vectorU, this.vectorV);
         return new Plane3dByOriginAndVectors(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());
     }
-    /** create a new Plane3dByOriginAndVectors from a variety of plane types.
+    /**
+     * Create a new Plane3dByOriginAndVectors from a variety of plane types.
      * * The input is NOT captured.
      */
     static createFrom(source, result) {
@@ -106,7 +109,8 @@ export class Plane3dByOriginAndVectors extends Plane3d {
         this.vectorV.set(vx, vy, vz);
         return this;
     }
-    /** Set all origin and both vectors from coordinates in given origin and vectors.
+    /**
+     * Set all origin and both vectors from coordinates in given origin and vectors.
      * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.
      */
     setOriginAndVectors(origin, vectorU, vectorV) {
@@ -121,7 +125,8 @@ export class Plane3dByOriginAndVectors extends Plane3d {
             return result.setOriginAndVectorsXYZ(x0, y0, z0, ux, uy, uz, vx, vy, vz);
         return new Plane3dByOriginAndVectors(Point3d.create(x0, y0, z0), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz));
     }
-    /** Define a plane by three points in the plane.
+    /**
+     * Define a plane by three points in the plane.
      * @param origin origin for the parameterization.
      * @param targetU target point for the vectorU starting at the origin.
      * @param targetV target point for the vectorV originating at the origin.
@@ -134,7 +139,8 @@ export class Plane3dByOriginAndVectors extends Plane3d {
     static createXYPlane(result) {
         return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(0, 0, 0, 1, 0, 0, 0, 1, 0, result);
     }
-    /** create a plane from data presented as Float64Arrays.
+    /**
+     * Create a plane from data presented as Float64Arrays.
      * @param origin x,y,z of origin.
      * @param vectorU x,y,z of vectorU
      * @param vectorV x,y,z of vectorV
@@ -142,7 +148,8 @@ export class Plane3dByOriginAndVectors extends Plane3d {
     static createOriginAndVectorsArrays(origin, vectorU, vectorV, result) {
         return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin[0], origin[1], origin[2], vectorU[0], vectorU[1], vectorU[2], vectorV[0], vectorV[1], vectorV[2], result);
     }
-    /** create a plane from data presented as Float64Array with weights
+    /**
+     * Create a plane from data presented as Float64Array with weights
      * @param origin x,y,z,w of origin.
      * @param vectorU x,y,z,w of vectorU
      * @param vectorV x,y,z,w of vectorV
@@ -206,7 +213,7 @@ export class Plane3dByOriginAndVectors extends Plane3d {
             vectorV: this.vectorV.toJSON(),
         };
     }
-    /** create a new plane.   See `setFromJSON` for layout example. */
+    /** Create a new plane.   See `setFromJSON` for layout example. */
     static fromJSON(json) {
         const result = Plane3dByOriginAndVectors.createXYPlane();
         result.setFromJSON(json);
@@ -218,7 +225,8 @@ export class Plane3dByOriginAndVectors extends Plane3d {
             && this.vectorU.isAlmostEqual(other.vectorU)
             && this.vectorV.isAlmostEqual(other.vectorV);
     }
-    /** Normalize both `vectorU` and `vectorV` in place.  This does NOT make them perpendicular.
+    /**
+     * Normalize both `vectorU` and `vectorV` in place. This does NOT make them perpendicular.
      * * Return true if both succeeded.
      */
     normalizeInPlace() {
@@ -226,9 +234,7 @@ export class Plane3dByOriginAndVectors extends Plane3d {
         const okV = this.vectorV.normalizeInPlace();
         return okU && okV;
     }
-    /**
-     * Return (if possible) a unit normal to the plane.
-     */
+    /** Return (if possible) a unit normal to the plane */
     getUnitNormal(result) {
         return this.vectorU.unitCrossProduct(this.vectorV, result);
     }
@@ -243,11 +249,11 @@ export class Plane3dByOriginAndVectors extends Plane3d {
      * Return some point on the plane.
      */
     getAnyPointOnPlane(result) {
+        // This function returns the plane origin. In general, a point x is on the plane if
+        // and only if x = o + a*u + b*v, where a and b are scalars.
         return this.origin.clone(result);
     }
-    /**
-     * Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane.
-     */
+    /** Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane */
     unitNormalRay(result) {
         if (!Plane3dByOriginAndVectors._workVector)
             Plane3dByOriginAndVectors._workVector = Vector3d.create();
@@ -267,27 +273,24 @@ export class Plane3dByOriginAndVectors extends Plane3d {
     toRigidFrame(result) {
         return Transform.createRigidFromOriginAndColumns(this.origin, this.vectorU, this.vectorV, AxisOrder.XYZ, result);
     }
-    /**
-     * Apply the transform to the origin and vectors in place.
-     */
+    /** Apply the transform to the origin and vectors in place */
     transformInPlace(transform) {
         transform.multiplyPoint3d(this.origin, this.origin);
         transform.multiplyVector(this.vectorU, this.vectorU);
         transform.multiplyVector(this.vectorV, this.vectorV);
     }
-    // Implement PlaneAltitudeEvaluator methods . . .
     /**
      * Return x component of the (normalized!) {vectorU CROSS vectorV}.
      * Return 0 if the cross product is zero.
-     * */
+     */
     normalX() {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         return unitNormal !== undefined ? unitNormal.x : 0.0;
     }
     /**
-  * Return y component of the (normalized!) {vectorU CROSS vectorV}.
-  * Return 0 if the cross product is zero.
-  * */
+     * Return y component of the (normalized!) {vectorU CROSS vectorV}.
+     * Return 0 if the cross product is zero.
+     */
     normalY() {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         return unitNormal !== undefined ? unitNormal.y : 0.0;
@@ -295,41 +298,43 @@ export class Plane3dByOriginAndVectors extends Plane3d {
     /**
      * Return z component of the (normalized!) {vectorU CROSS vectorV}.
      * Return 0 if the cross product is zero.
-     * */
+     */
     normalZ() {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         return unitNormal !== undefined ? unitNormal.z : 0.0;
     }
-    /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */
+    /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */
     altitude(xyz) {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         if (unitNormal === undefined)
             return 0.0;
         return Geometry.dotProductXYZXYZ((xyz.x - this.origin.x), (xyz.y - this.origin.y), (xyz.z - this.origin.z), unitNormal.x, unitNormal.y, unitNormal.z);
     }
-    /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */
+    /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */
     altitudeXYZ(x, y, z) {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         if (unitNormal === undefined)
             return 0.0;
         return Geometry.dotProductXYZXYZ((x - this.origin.x), (y - this.origin.y), (z - this.origin.z), unitNormal.x, unitNormal.y, unitNormal.z);
     }
-    /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */
+    /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */
     velocity(xyzVector) {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         if (unitNormal === undefined)
             return 0.0;
         return Geometry.dotProductXYZXYZ(xyzVector.x, xyzVector.y, xyzVector.z, unitNormal.x, unitNormal.y, unitNormal.z);
     }
-    /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */
+    /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */
     velocityXYZ(x, y, z) {
         const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);
         if (unitNormal === undefined)
             return 0.0;
         return Geometry.dotProductXYZXYZ(x, y, z, unitNormal.x, unitNormal.y, unitNormal.z);
     }
-    /** Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.
-     * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the plane but is not a physical distance.
+    /**
+     * Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.
+     * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the
+     * plane but is not a physical distance.
      */
     weightedAltitude(xyzw) {
         const w = xyzw.w;

package/lib/esm/geometry3d/Plane3dByOriginAndVectors.js.map

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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 { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Plane3d } from \"./Plane3d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\n\r\n/**\r\n * A Plane3dByOriginAndVectors is an origin and a pair of vectors.\r\n * This defines a plane with a (possibly skewed) uv coordinate grid\r\n * * The grid directions (`vectorU` and `vectorV`)\r\n *   * are NOT required to be unit vectors.\r\n *   * are NOT required to be perpendicular vectors.\r\n * * The skewed, non-uniform scaling of the grid directions is the primary focus of this class.\r\n * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU and vectorV as plane normal.\r\n *   * Hence these are cartesian distances.\r\n *   * If numerous calls to these are expected, the repeated normalization may be a performance issue.\r\n *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide better performance.\r\n * @public\r\n */\r\nexport class Plane3dByOriginAndVectors extends Plane3d implements BeJSONFunctions {\r\n  /** origin of plane grid */\r\n  public origin: Point3d;\r\n  /** u direction in plane grid */\r\n  public vectorU: Vector3d;\r\n  /** v direction in plane grid */\r\n  public vectorV: Vector3d;\r\n  private constructor(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d) {\r\n    super();\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** create a new plane from origin and 2 in-plane vectors. */\r\n  public static createOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.vectorU.setFrom(vectorU);\r\n      result.vectorV.setFrom(vectorV);\r\n      return result;\r\n    }\r\n    return new Plane3dByOriginAndVectors(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** clone to a new plane. */\r\n  public clone(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (result !== undefined)\r\n      result.setOriginAndVectors(this.origin, this.vectorU, this.vectorV);\r\n    return new Plane3dByOriginAndVectors(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /** create a new Plane3dByOriginAndVectors from a variety of plane types.\r\n   * * The input is NOT captured.\r\n   */\r\n  public static createFrom(source: Plane3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors | undefined {\r\n    if (source instanceof Plane3dByOriginAndVectors)\r\n      return source.clone(result);\r\n    const normal = source.getUnitNormal();\r\n    if (normal === undefined)\r\n      return undefined;\r\n    const origin = source.getAnyPointOnPlane();\r\n    const vectorU = Matrix3d.createPerpendicularVectorFavorXYPlane(normal);\r\n    if (vectorU.tryNormalizeInPlace()) {\r\n      const vectorV = normal.unitCrossProduct(vectorU);\r\n      if (vectorV !== undefined)\r\n        return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return a Plane3dByOriginAndVectors, with\r\n   * * origin is the translation (aka origin) from the Transform\r\n   * * vectorU is the X column of the transform\r\n   * * vectorV is the Y column of the transform.\r\n   * @param transform source transform\r\n   * @param xLength optional length to impose on vectorU.\r\n   * @param yLength optional length to impose on vectorV.\r\n   * @param result optional preexisting result\r\n   */\r\n  public static createFromTransformColumnsXYAndLengths(transform: Transform,\r\n    xLength: number | undefined, yLength: number | undefined,\r\n    result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (result) {\r\n      result.origin.setFrom(transform.getOrigin());\r\n      transform.matrix.columnX(result.vectorU);\r\n      transform.matrix.columnY(result.vectorV);\r\n    } else {\r\n      result = new Plane3dByOriginAndVectors(\r\n        transform.getOrigin(),\r\n        transform.matrix.columnX(),\r\n        transform.matrix.columnY());\r\n    }\r\n    if (xLength !== undefined)\r\n      result.vectorU.scaleToLength(xLength, result.vectorU);\r\n    if (yLength !== undefined)\r\n      result.vectorV.scaleToLength(yLength, result.vectorV);\r\n    return result;\r\n  }\r\n  /** Capture origin and directions in a new plane. */\r\n  public static createCapture(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (!result)\r\n      return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\r\n    result.origin = origin;\r\n    result.vectorU = vectorU;\r\n    result.vectorV = vectorV;\r\n    return result;\r\n  }\r\n\r\n  /** Set all origin and both vectors from direct numeric parameters */\r\n  public setOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number): Plane3dByOriginAndVectors {\r\n    this.origin.set(x0, y0, z0);\r\n    this.vectorU.set(ux, uy, uz);\r\n    this.vectorV.set(vx, vy, vz);\r\n    return this;\r\n  }\r\n  /** Set all origin and both vectors from coordinates in given origin and vectors.\r\n   * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.\r\n   */\r\n  public setOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d): Plane3dByOriginAndVectors {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create a new plane from direct numeric parameters */\r\n  public static createOriginAndVectorsXYZ(x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZ(x0, y0, z0, ux, uy, uz, vx, vy, vz);\r\n    return new Plane3dByOriginAndVectors(Point3d.create(x0, y0, z0), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz));\r\n  }\r\n  /** Define a plane by three points in the plane.\r\n   * @param origin origin for the parameterization.\r\n   * @param targetU target point for the vectorU starting at the origin.\r\n   * @param targetV target point for the vectorV originating at the origin.\r\n   * @param result optional result.\r\n   */\r\n  public static createOriginAndTargets(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin.x, origin.y, origin.z, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, result);\r\n  }\r\n  /** Create a plane with origin at 000, unit vectorU in x direction, and unit vectorV in the y direction. */\r\n  public static createXYPlane(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(0, 0, 0, 1, 0, 0, 0, 1, 0, result);\r\n  }\r\n  /** create a plane from data presented as Float64Arrays.\r\n   * @param origin x,y,z of origin.\r\n   * @param vectorU x,y,z of vectorU\r\n   * @param vectorV x,y,z of vectorV\r\n   */\r\n  public static createOriginAndVectorsArrays(origin: Float64Array, vectorU: Float64Array, vectorV: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(origin[0], origin[1], origin[2], vectorU[0], vectorU[1], vectorU[2], vectorV[0], vectorV[1], vectorV[2], result);\r\n  }\r\n  /** create a plane from data presented as Float64Array with weights\r\n   * @param origin x,y,z,w of origin.\r\n   * @param vectorU x,y,z,w of vectorU\r\n   * @param vectorV x,y,z,w of vectorV\r\n   */\r\n  public static createOriginAndVectorsWeightedArrays(originW: Float64Array, vectorUw: Float64Array, vectorVw: Float64Array, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const w = originW[3];\r\n    result = Plane3dByOriginAndVectors.createXYPlane(result);\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return result;\r\n    const dw = 1.0 / w;\r\n    const au = vectorUw[3] * dw * dw;\r\n    const av = vectorVw[3] * dw * dw;\r\n    // for homogeneous function X, with w its weight:\r\n    // (X/w) is the cartesian point.\r\n    // (X/w)' = (X' w - X w')/(w*w)\r\n    //        = X'/w  - (X/w)(w'/w)\r\n    //        = X'/w  - X w'/w^2)\r\n    // The w parts of the formal xyzw sums are identically 0.\r\n    // Here the X' and its w' are taken from each vectorUw and vectorVw\r\n    result.origin.set(originW[0] * dw, originW[1] * dw, originW[2] * dw);\r\n    Vector3d.createAdd2ScaledXYZ(vectorUw[0], vectorUw[1], vectorUw[2], dw, originW[0], originW[1], originW[2], -au, result.vectorU);\r\n    Vector3d.createAdd2ScaledXYZ(vectorVw[0], vectorVw[1], vectorVw[2], dw, originW[0], originW[1], originW[2], -av, result.vectorV);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate a point a grid coordinates on the plane.\r\n   * * The computed point is `origin + vectorU * u + vectorV * v`\r\n   * @param u coordinate along vectorU\r\n   * @param v coordinate along vectorV\r\n   * @param result optional result destination.\r\n   * @returns Return the computed coordinate.\r\n   */\r\n  public fractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** Return the vector from the plane origin to parametric coordinate (u.v) */\r\n  public fractionToVector(u: number, v: number, result?: Vector3d): Vector3d {\r\n    return Vector3d.createAdd2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** Set coordinates from a json object such as `{origin: [1,2,3], vectorU:[4,5,6], vectorV[3,2,1]}` */\r\n  public setFromJSON(json?: any) {\r\n    if (!json || !json.origin || !json.vectorV) {\r\n      this.origin.set(0, 0, 0);\r\n      this.vectorU.set(1, 0, 0);\r\n      this.vectorV.set(0, 1, 0);\r\n    } else {\r\n      this.origin.setFromJSON(json.origin);\r\n      this.vectorU.setFromJSON(json.vectorU);\r\n      this.vectorV.setFromJSON(json.vectorV);\r\n    }\r\n  }\r\n  /**\r\n   * Convert an Angle to a JSON object.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin.toJSON(),\r\n      vectorU: this.vectorU.toJSON(),\r\n      vectorV: this.vectorV.toJSON(),\r\n    };\r\n  }\r\n  /** create a new plane.   See `setFromJSON` for layout example. */\r\n  public static fromJSON(json?: any): Plane3dByOriginAndVectors {\r\n    const result = Plane3dByOriginAndVectors.createXYPlane();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Test origin and vectors for isAlmostEqual with `other` */\r\n  public isAlmostEqual(other: Plane3dByOriginAndVectors): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /** Normalize both `vectorU` and `vectorV` in place.  This does NOT make them perpendicular.\r\n   * * Return true if both succeeded.\r\n   */\r\n  public normalizeInPlace(): boolean {\r\n    const okU = this.vectorU.normalizeInPlace();\r\n    const okV = this.vectorV.normalizeInPlace();\r\n    return okU && okV;\r\n  }\r\n  /**\r\n   * Return (if possible) a unit normal to the plane.\r\n   */\r\n  public override getUnitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return this.vectorU.unitCrossProduct(this.vectorV, result);\r\n  }\r\n  /**\r\n   * Return (if possible) a unit normal to the plane.\r\n   * * This method is the same as getUnitNormal, which was created later as part of the abstract base class Plane3d.\r\n   */\r\n  public unitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return this.vectorU.unitCrossProduct(this.vectorV, result);\r\n  }\r\n\r\n  /**\r\n   * Return some point on the plane.\r\n   */\r\n  public override getAnyPointOnPlane(result?: Point3d): Point3d {\r\n    return this.origin.clone(result);\r\n  }\r\n  private static _workVector: Vector3d;\r\n  /**\r\n   * Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane.\r\n   */\r\n  public unitNormalRay(result?: Ray3d): Ray3d | undefined {\r\n    if (!Plane3dByOriginAndVectors._workVector)\r\n      Plane3dByOriginAndVectors._workVector = Vector3d.create();\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV, Plane3dByOriginAndVectors._workVector);\r\n    if (unitNormal === undefined)\r\n      return undefined;\r\n    return Ray3d.create(this.origin, unitNormal, result);\r\n  }\r\n\r\n  /**\r\n   * Create a rigid frame (i.e. frenet frame) with\r\n   * * origin at the plane origin\r\n   * * x axis along the (normalized) vectorU\r\n   * * y axis normalized vectorU to vectorV plane, and perpendicular to x axis\r\n   * * z axis perpendicular to both.\r\n   * @param result optional result\r\n   */\r\n  public toRigidFrame(result?: Transform): Transform | undefined {\r\n    return Transform.createRigidFromOriginAndColumns(this.origin, this.vectorU, this.vectorV, AxisOrder.XYZ, result);\r\n  }\r\n\r\n  /**\r\n   * Apply the transform to the origin and vectors in place.\r\n   */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.vectorU, this.vectorU);\r\n    transform.multiplyVector(this.vectorV, this.vectorV);\r\n  }\r\n  // Implement PlaneAltitudeEvaluator methods . . .\r\n  /**\r\n   * Return x component of the (normalized!) {vectorU CROSS vectorV}.\r\n   * Return 0 if the cross product is zero.\r\n   * */\r\n  public normalX(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.x : 0.0;\r\n  }\r\n  /**\r\n* Return y component of the (normalized!) {vectorU CROSS vectorV}.\r\n* Return 0 if the cross product is zero.\r\n* */\r\n  public normalY(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.y : 0.0;\r\n  }\r\n  /**\r\n   * Return z component of the (normalized!) {vectorU CROSS vectorV}.\r\n   * Return 0 if the cross product is zero.\r\n   * */\r\n  public normalZ(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.z : 0.0;\r\n  }\r\n  /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */\r\n  public altitude(xyz: XYAndZ): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      (xyz.x - this.origin.x), (xyz.y - this.origin.y), (xyz.z - this.origin.z),\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed cartesian altitude perpendicular to the plane.  This uses the normalized cross product as normal. */\r\n  public altitudeXYZ(x: number, y: number, z: number): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      (x - this.origin.x), (y - this.origin.y), (z - this.origin.z),\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */\r\n  public velocity(xyzVector: XYAndZ): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      xyzVector.x, xyzVector.y, xyzVector.z,\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed projection of the input vector to the plane normal.  This uses the normalized cross product as normal. */\r\n  public velocityXYZ(x: number, y: number, z: number): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      x, y, z,\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.\r\n   * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the plane but is not a physical distance.\r\n   */\r\n  public weightedAltitude(xyzw: Point4d) {\r\n    const w = xyzw.w;\r\n    return Geometry.tripleProduct(\r\n      (xyzw.x - this.origin.x * w), (xyzw.y - this.origin.y * w), (xyzw.z - this.origin.z * w),\r\n      this.vectorU.x, this.vectorU.y, this.vectorU.z,\r\n      this.vectorV.x, this.vectorV.y, this.vectorV.z);\r\n  }\r\n  /**\r\n   * Return the projection of spacePoint onto the plane.\r\n   * If the plane is degenerate to a ray, project to the ray.\r\n   * If the plane is degenerate to its origin, return the point\r\n   */\r\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal !== undefined) {\r\n      const w = unitNormal.dotProductStartEnd(this.origin, spacePoint);\r\n      return spacePoint.plusScaled(unitNormal, -w, result);\r\n    }\r\n    // uh oh.   vectorU and vectorV are colinear or zero.\r\n    // project to ray defined by the longer one, or just to origin.\r\n    const dotUU = this.vectorU.magnitudeSquared();\r\n    const dotVV = this.vectorV.magnitudeSquared();\r\n    if (dotUU >= dotVV) {\r\n      const dotUW = this.vectorU.dotProductStartEnd(this.origin, spacePoint);\r\n      const f = Geometry.conditionalDivideCoordinate(dotUW, dotUU, 0.0);\r\n      if (f !== undefined)\r\n        return spacePoint.plusScaled(this.vectorU, f, result);\r\n    } else {\r\n      const dotVW = this.vectorV.dotProductStartEnd(this.origin, spacePoint);\r\n      const f = Geometry.conditionalDivideCoordinate(dotVW, dotVV, 0.0);\r\n      if (f !== undefined)\r\n        return spacePoint.plusScaled(this.vectorV, f, result);\r\n    }\r\n    return this.origin.clone(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 { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { Plane3d } from \"./Plane3d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\n\r\n/**\r\n * A Plane3dByOriginAndVectors is an origin and a pair of vectors.\r\n * This defines a plane with a (possibly skewed) uv coordinate grid\r\n * * The grid directions (`vectorU` and `vectorV`)\r\n *   * are NOT required to be unit vectors.\r\n *   * are NOT required to be perpendicular vectors.\r\n * * The skewed, non-uniform scaling of the grid directions is the primary focus of this class.\r\n * * Queries of altitude, velocity, normalX, normalY, and normalZ use the NORMALIZED cross product of vectorU\r\n * and vectorV as plane normal.\r\n *   * Hence these are cartesian distances.\r\n *   * If numerous calls to these are expected, the repeated normalization may be a performance issue.\r\n *   * Using a [[Plane3dByOriginAndUnitNormal]] or the rigid transform returned by [[toRigidFrame]] would provide\r\n * better performance.\r\n * @public\r\n */\r\nexport class Plane3dByOriginAndVectors extends Plane3d implements BeJSONFunctions {\r\n  /** Origin of plane grid */\r\n  public origin: Point3d;\r\n  /** u direction in plane grid */\r\n  public vectorU: Vector3d;\r\n  /** v direction in plane grid */\r\n  public vectorV: Vector3d;\r\n  private constructor(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d) {\r\n    super();\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** Create a new plane from origin and 2 in-plane vectors. */\r\n  public static createOriginAndVectors(\r\n    origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    if (result) {\r\n      result.origin.setFrom(origin);\r\n      result.vectorU.setFrom(vectorU);\r\n      result.vectorV.setFrom(vectorV);\r\n      return result;\r\n    }\r\n    return new Plane3dByOriginAndVectors(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** Clone to a new plane. */\r\n  public clone(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    if (result !== undefined)\r\n      result.setOriginAndVectors(this.origin, this.vectorU, this.vectorV);\r\n    return new Plane3dByOriginAndVectors(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /**\r\n   * Create a new Plane3dByOriginAndVectors from a variety of plane types.\r\n   * * The input is NOT captured.\r\n   */\r\n  public static createFrom(source: Plane3d, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors | undefined {\r\n    if (source instanceof Plane3dByOriginAndVectors)\r\n      return source.clone(result);\r\n    const normal = source.getUnitNormal();\r\n    if (normal === undefined)\r\n      return undefined;\r\n    const origin = source.getAnyPointOnPlane();\r\n    const vectorU = Matrix3d.createPerpendicularVectorFavorXYPlane(normal);\r\n    if (vectorU.tryNormalizeInPlace()) {\r\n      const vectorV = normal.unitCrossProduct(vectorU);\r\n      if (vectorV !== undefined)\r\n        return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return a Plane3dByOriginAndVectors, with\r\n   * * origin is the translation (aka origin) from the Transform\r\n   * * vectorU is the X column of the transform\r\n   * * vectorV is the Y column of the transform.\r\n   * @param transform source transform\r\n   * @param xLength optional length to impose on vectorU.\r\n   * @param yLength optional length to impose on vectorV.\r\n   * @param result optional preexisting result\r\n   */\r\n  public static createFromTransformColumnsXYAndLengths(\r\n    transform: Transform, xLength: number | undefined, yLength: number | undefined, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    if (result) {\r\n      result.origin.setFrom(transform.getOrigin());\r\n      transform.matrix.columnX(result.vectorU);\r\n      transform.matrix.columnY(result.vectorV);\r\n    } else {\r\n      result = new Plane3dByOriginAndVectors(\r\n        transform.getOrigin(),\r\n        transform.matrix.columnX(),\r\n        transform.matrix.columnY());\r\n    }\r\n    if (xLength !== undefined)\r\n      result.vectorU.scaleToLength(xLength, result.vectorU);\r\n    if (yLength !== undefined)\r\n      result.vectorV.scaleToLength(yLength, result.vectorV);\r\n    return result;\r\n  }\r\n  /** Capture origin and directions in a new plane. */\r\n  public static createCapture(\r\n    origin: Point3d, vectorU: Vector3d, vectorV: Vector3d, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    if (!result)\r\n      return new Plane3dByOriginAndVectors(origin, vectorU, vectorV);\r\n    result.origin = origin;\r\n    result.vectorU = vectorU;\r\n    result.vectorV = vectorV;\r\n    return result;\r\n  }\r\n\r\n  /** Set all origin and both vectors from direct numeric parameters */\r\n  public setOriginAndVectorsXYZ(\r\n    x0: number, y0: number, z0: number, ux: number, uy: number, uz: number, vx: number, vy: number, vz: number,\r\n  ): Plane3dByOriginAndVectors {\r\n    this.origin.set(x0, y0, z0);\r\n    this.vectorU.set(ux, uy, uz);\r\n    this.vectorV.set(vx, vy, vz);\r\n    return this;\r\n  }\r\n  /**\r\n   * Set all origin and both vectors from coordinates in given origin and vectors.\r\n   * * Note that coordinates are copied out of the parameters -- the given parameters are NOT retained by reference.\r\n   */\r\n  public setOriginAndVectors(origin: Point3d, vectorU: Vector3d, vectorV: Vector3d): Plane3dByOriginAndVectors {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create a new plane from direct numeric parameters */\r\n  public static createOriginAndVectorsXYZ(\r\n    x0: number, y0: number, z0: number,\r\n    ux: number, uy: number, uz: number,\r\n    vx: number, vy: number, vz: number,\r\n    result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZ(x0, y0, z0, ux, uy, uz, vx, vy, vz);\r\n    return new Plane3dByOriginAndVectors(\r\n      Point3d.create(x0, y0, z0), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz),\r\n    );\r\n  }\r\n  /**\r\n   * Define a plane by three points in the plane.\r\n   * @param origin origin for the parameterization.\r\n   * @param targetU target point for the vectorU starting at the origin.\r\n   * @param targetV target point for the vectorV originating at the origin.\r\n   * @param result optional result.\r\n   */\r\n  public static createOriginAndTargets(\r\n    origin: Point3d, targetU: Point3d, targetV: Point3d, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      origin.x, origin.y, origin.z,\r\n      targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z,\r\n      targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z,\r\n      result,\r\n    );\r\n  }\r\n  /** Create a plane with origin at 000, unit vectorU in x direction, and unit vectorV in the y direction. */\r\n  public static createXYPlane(result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(0, 0, 0, 1, 0, 0, 0, 1, 0, result);\r\n  }\r\n  /**\r\n   * Create a plane from data presented as Float64Arrays.\r\n   * @param origin x,y,z of origin.\r\n   * @param vectorU x,y,z of vectorU\r\n   * @param vectorV x,y,z of vectorV\r\n   */\r\n  public static createOriginAndVectorsArrays(\r\n    origin: Float64Array, vectorU: Float64Array, vectorV: Float64Array, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      origin[0], origin[1], origin[2],\r\n      vectorU[0], vectorU[1], vectorU[2],\r\n      vectorV[0], vectorV[1], vectorV[2],\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Create a plane from data presented as Float64Array with weights\r\n   * @param origin x,y,z,w of origin.\r\n   * @param vectorU x,y,z,w of vectorU\r\n   * @param vectorV x,y,z,w of vectorV\r\n   */\r\n  public static createOriginAndVectorsWeightedArrays(\r\n    originW: Float64Array, vectorUw: Float64Array, vectorVw: Float64Array, result?: Plane3dByOriginAndVectors,\r\n  ): Plane3dByOriginAndVectors {\r\n    const w = originW[3];\r\n    result = Plane3dByOriginAndVectors.createXYPlane(result);\r\n    if (Geometry.isSmallMetricDistance(w))\r\n      return result;\r\n    const dw = 1.0 / w;\r\n    const au = vectorUw[3] * dw * dw;\r\n    const av = vectorVw[3] * dw * dw;\r\n    // for homogeneous function X, with w its weight:\r\n    // (X/w) is the cartesian point.\r\n    // (X/w)' = (X' w - X w')/(w*w)\r\n    //        = X'/w  - (X/w)(w'/w)\r\n    //        = X'/w  - X w'/w^2)\r\n    // The w parts of the formal xyzw sums are identically 0.\r\n    // Here the X' and its w' are taken from each vectorUw and vectorVw\r\n    result.origin.set(originW[0] * dw, originW[1] * dw, originW[2] * dw);\r\n    Vector3d.createAdd2ScaledXYZ(\r\n      vectorUw[0], vectorUw[1], vectorUw[2], dw, originW[0], originW[1], originW[2], -au, result.vectorU,\r\n    );\r\n    Vector3d.createAdd2ScaledXYZ(\r\n      vectorVw[0], vectorVw[1], vectorVw[2], dw, originW[0], originW[1], originW[2], -av, result.vectorV,\r\n    );\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate a point a grid coordinates on the plane.\r\n   * * The computed point is `origin + vectorU * u + vectorV * v`\r\n   * @param u coordinate along vectorU\r\n   * @param v coordinate along vectorV\r\n   * @param result optional result destination.\r\n   * @returns Return the computed coordinate.\r\n   */\r\n  public fractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** Return the vector from the plane origin to parametric coordinate (u.v) */\r\n  public fractionToVector(u: number, v: number, result?: Vector3d): Vector3d {\r\n    return Vector3d.createAdd2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** Set coordinates from a json object such as `{origin: [1,2,3], vectorU:[4,5,6], vectorV[3,2,1]}` */\r\n  public setFromJSON(json?: any) {\r\n    if (!json || !json.origin || !json.vectorV) {\r\n      this.origin.set(0, 0, 0);\r\n      this.vectorU.set(1, 0, 0);\r\n      this.vectorV.set(0, 1, 0);\r\n    } else {\r\n      this.origin.setFromJSON(json.origin);\r\n      this.vectorU.setFromJSON(json.vectorU);\r\n      this.vectorV.setFromJSON(json.vectorV);\r\n    }\r\n  }\r\n  /**\r\n   * Convert an Angle to a JSON object.\r\n   * @return {*} [origin,normal]\r\n   */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin.toJSON(),\r\n      vectorU: this.vectorU.toJSON(),\r\n      vectorV: this.vectorV.toJSON(),\r\n    };\r\n  }\r\n  /** Create a new plane.   See `setFromJSON` for layout example. */\r\n  public static fromJSON(json?: any): Plane3dByOriginAndVectors {\r\n    const result = Plane3dByOriginAndVectors.createXYPlane();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Test origin and vectors for isAlmostEqual with `other` */\r\n  public isAlmostEqual(other: Plane3dByOriginAndVectors): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /**\r\n   * Normalize both `vectorU` and `vectorV` in place. This does NOT make them perpendicular.\r\n   * * Return true if both succeeded.\r\n   */\r\n  public normalizeInPlace(): boolean {\r\n    const okU = this.vectorU.normalizeInPlace();\r\n    const okV = this.vectorV.normalizeInPlace();\r\n    return okU && okV;\r\n  }\r\n  /** Return (if possible) a unit normal to the plane */\r\n  public override getUnitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return this.vectorU.unitCrossProduct(this.vectorV, result);\r\n  }\r\n  /**\r\n   * Return (if possible) a unit normal to the plane.\r\n   * * This method is the same as getUnitNormal, which was created later as part of the abstract base class Plane3d.\r\n   */\r\n  public unitNormal(result?: Vector3d): Vector3d | undefined {\r\n    return this.vectorU.unitCrossProduct(this.vectorV, result);\r\n  }\r\n  /**\r\n   * Return some point on the plane.\r\n   */\r\n  public override getAnyPointOnPlane(result?: Point3d): Point3d {\r\n    // This function returns the plane origin. In general, a point x is on the plane if\r\n    // and only if x = o + a*u + b*v, where a and b are scalars.\r\n    return this.origin.clone(result);\r\n  }\r\n  private static _workVector: Vector3d;\r\n  /** Return (if possible) a ray with origin at plane origin, direction as unit normal to the plane */\r\n  public unitNormalRay(result?: Ray3d): Ray3d | undefined {\r\n    if (!Plane3dByOriginAndVectors._workVector)\r\n      Plane3dByOriginAndVectors._workVector = Vector3d.create();\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV, Plane3dByOriginAndVectors._workVector);\r\n    if (unitNormal === undefined)\r\n      return undefined;\r\n    return Ray3d.create(this.origin, unitNormal, result);\r\n  }\r\n  /**\r\n   * Create a rigid frame (i.e. frenet frame) with\r\n   * * origin at the plane origin\r\n   * * x axis along the (normalized) vectorU\r\n   * * y axis normalized vectorU to vectorV plane, and perpendicular to x axis\r\n   * * z axis perpendicular to both.\r\n   * @param result optional result\r\n   */\r\n  public toRigidFrame(result?: Transform): Transform | undefined {\r\n    return Transform.createRigidFromOriginAndColumns(this.origin, this.vectorU, this.vectorV, AxisOrder.XYZ, result);\r\n  }\r\n  /** Apply the transform to the origin and vectors in place */\r\n  public transformInPlace(transform: Transform) {\r\n    transform.multiplyPoint3d(this.origin, this.origin);\r\n    transform.multiplyVector(this.vectorU, this.vectorU);\r\n    transform.multiplyVector(this.vectorV, this.vectorV);\r\n  }\r\n  /**\r\n   * Return x component of the (normalized!) {vectorU CROSS vectorV}.\r\n   * Return 0 if the cross product is zero.\r\n   */\r\n  public normalX(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.x : 0.0;\r\n  }\r\n  /**\r\n   * Return y component of the (normalized!) {vectorU CROSS vectorV}.\r\n   * Return 0 if the cross product is zero.\r\n   */\r\n  public normalY(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.y : 0.0;\r\n  }\r\n  /**\r\n   * Return z component of the (normalized!) {vectorU CROSS vectorV}.\r\n   * Return 0 if the cross product is zero.\r\n   */\r\n  public normalZ(): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    return unitNormal !== undefined ? unitNormal.z : 0.0;\r\n  }\r\n  /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */\r\n  public altitude(xyz: XYAndZ): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      (xyz.x - this.origin.x), (xyz.y - this.origin.y), (xyz.z - this.origin.z),\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed cartesian altitude perpendicular to the plane. This uses the normalized cross product as normal. */\r\n  public altitudeXYZ(x: number, y: number, z: number): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      (x - this.origin.x), (y - this.origin.y), (z - this.origin.z),\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */\r\n  public velocity(xyzVector: XYAndZ): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      xyzVector.x, xyzVector.y, xyzVector.z,\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /** Return signed projection of the input vector to the plane normal. This uses the normalized cross product as normal. */\r\n  public velocityXYZ(x: number, y: number, z: number): number {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal === undefined)\r\n      return 0.0;\r\n    return Geometry.dotProductXYZXYZ(\r\n      x, y, z,\r\n      unitNormal.x, unitNormal.y, unitNormal.z);\r\n  }\r\n  /**\r\n   * Return triple product of homogeneous difference {(xyzw - w * origin)} with vectorU and vectorV.\r\n   * * In the usual manner of homogeneous calculations, this is proportional to true cartesian distance from the\r\n   * plane but is not a physical distance.\r\n   */\r\n  public weightedAltitude(xyzw: Point4d) {\r\n    const w = xyzw.w;\r\n    return Geometry.tripleProduct(\r\n      (xyzw.x - this.origin.x * w), (xyzw.y - this.origin.y * w), (xyzw.z - this.origin.z * w),\r\n      this.vectorU.x, this.vectorU.y, this.vectorU.z,\r\n      this.vectorV.x, this.vectorV.y, this.vectorV.z);\r\n  }\r\n  /**\r\n   * Return the projection of spacePoint onto the plane.\r\n   * If the plane is degenerate to a ray, project to the ray.\r\n   * If the plane is degenerate to its origin, return the point\r\n   */\r\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n    const unitNormal = this.vectorU.unitCrossProduct(this.vectorV);\r\n    if (unitNormal !== undefined) {\r\n      const w = unitNormal.dotProductStartEnd(this.origin, spacePoint);\r\n      return spacePoint.plusScaled(unitNormal, -w, result);\r\n    }\r\n    // uh oh.   vectorU and vectorV are colinear or zero.\r\n    // project to ray defined by the longer one, or just to origin.\r\n    const dotUU = this.vectorU.magnitudeSquared();\r\n    const dotVV = this.vectorV.magnitudeSquared();\r\n    if (dotUU >= dotVV) {\r\n      const dotUW = this.vectorU.dotProductStartEnd(this.origin, spacePoint);\r\n      const f = Geometry.conditionalDivideCoordinate(dotUW, dotUU, 0.0);\r\n      if (f !== undefined)\r\n        return spacePoint.plusScaled(this.vectorU, f, result);\r\n    } else {\r\n      const dotVW = this.vectorV.dotProductStartEnd(this.origin, spacePoint);\r\n      const f = Geometry.conditionalDivideCoordinate(dotVW, dotVV, 0.0);\r\n      if (f !== undefined)\r\n        return spacePoint.plusScaled(this.vectorV, f, result);\r\n    }\r\n    return this.origin.clone(result);\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry3d/Point2dVector2d.d.ts

@@ -97,13 +97,13 @@ export declare class Point2d extends XY implements BeJSONFunctions {
     /** Create a Point2d with both coordinates zero. */
     static createZero(result?: Point2d): Point2d;
     /**
-     * Starting at this point, move along vector by tangentFraction of the vector length, and then
-     * to the left by leftFraction of the perpendicular vector length.
-     * @param tangentFraction distance to move along the vector, as a fraction of vector
-     * @param leftFraction distance to move perpendicular to the vector, as a fraction of the rotated vector
+     * Starting at this point, move along `vector` by `tangentFraction` of its length, and then
+     * by `leftFraction` of its length along the left perpendicular.
+     * @param tangentFraction distance to move along `vector`, as a fraction of its length
+     * @param leftFraction distance to move perpendicular to `vector`, as a fraction of its length
      * @param vector the other vector
      */
-    addForwardLeft(tangentFraction: number, leftFraction: number, vector: Vector2d): Point2d;
+    addForwardLeft(tangentFraction: number, leftFraction: number, vector: Vector2d, result?: Point2d): Point2d;
     /**
      * Interpolate at tangentFraction between this instance and point, and then Move by leftFraction
      * along the xy perpendicular of the vector between the points.
@@ -197,11 +197,10 @@ export declare class Vector2d extends XY implements BeJSONFunctions {
     /** Return a unit vector in direction of this instance (undefined if this instance has near zero length) */
     normalize(result?: Vector2d): Vector2d | undefined;
     /**
-     * Return fractional projection of target vector onto this
-     * * It's returning the signed projection magnitude divided by the target magnitude. In other words,
-     * it's returning the length of the projection as a fraction of the target magnitude.
+     * Return fractional length of the projection of the instance onto the target vector.
      * @param target the target vector
-     * @param defaultFraction the returned value in case magnitude square of target vector is very small
+     * @param defaultFraction the returned value in case the magnitude of `target` is too small
+     * @returns the signed length of the projection divided by the length of `target`
      */
     fractionOfProjectionToVector(target: Vector2d, defaultFraction?: number): number;
     /** Return a new vector with components negated from this instance. */

package/lib/esm/geometry3d/Point2dVector2d.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Point2dVector2d.d.ts","sourceRoot":"","sources":["../../../src/geometry3d/Point2dVector2d.ts"],"names":[],"mappings":"AAKA;;GAEG;AAIH,OAAO,EAAE,eAAe,EAAY,mBAAmB,EAAE,MAAM,aAAa,CAAC;AAC7E,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAC;AAChC,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,YAAY,CAAC;AAE5C;;;;;;;GAOG;AACH,qBAAa,EAAG,YAAW,KAAK;IAC9B,kBAAkB;IACX,CAAC,EAAE,MAAM,CAAC;IACjB,kBAAkB;IACX,CAAC,EAAE,MAAM,CAAC;IACjB,wBAAwB;IACjB,GAAG,CAAC,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU;IAIvC,+BAA+B;IACxB,OAAO;IAId,SAAS,aAAa,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU;IAIlD,mCAAmC;IAC5B,OAAO,CAAC,KAAK,CAAC,EAAE,KAAK;IAS5B,8CAA8C;IACvC,MAAM,IAAI,QAAQ,CAAC,IAAI,CAAC;IAG/B,+FAA+F;IACxF,aAAa,CAAC,KAAK,EAAE,KAAK,EAAE,GAAG,CAAC,EAAE,MAAM,GAAG,OAAO;IAGzD,+FAA+F;IACxF,eAAe,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,GAAG,CAAC,EAAE,MAAM,GAAG,OAAO;IAGnE,qCAAqC;IAC9B,MAAM,IAAI,OAAO;IAGxB,0CAA0C;IACnC,QAAQ,IAAI,OAAO;IAG1B;;;;OAIG;IACI,WAAW,CAAC,IAAI,CAAC,EAAE,OAAO,GAAG,IAAI;IAWxC,mDAAmD;IAC5C,QAAQ,CAAC,KAAK,EAAE,KAAK,GAAG,MAAM;IAKrC,uDAAuD;IAChD,eAAe,CAAC,KAAK,EAAE,KAAK,GAAG,MAAM;IAK5C,4EAA4E;IACrE,OAAO,CAAC,KAAK,EAAE,KAAK,GAAG,MAAM;IAGpC,oDAAoD;IAC7C,EAAE,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM;IAKhC,gCAAgC;IACzB,KAAK,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,IAAI;IAMhD,8EAA8E;IACvE,aAAa,IAAI,MAAM;IAS9B,mFAAmF;IACnF,IAAW,YAAY,IAAI,OAAO,CAEjC;IACD,yDAAyD;IAClD,MAAM,IAAI,MAAM;IAGvB,yCAAyC;IAClC,SAAS,IAAI,MAAM;IAG1B,mDAAmD;IAC5C,gBAAgB,IAAI,MAAM;IAGjC,4DAA4D;IACrD,YAAY,CAAC,KAAK,EAAE,KAAK,GAAG,OAAO;IAG1C,gEAAgE;IACzD,mBAAmB,CAAC,KAAK,EAAE,KAAK,EAAE,WAAW,GAAE,MAAqC,GAAG,OAAO;IAGrG,6DAA6D;IACtD,QAAQ,CAAC,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAM1D,oDAAoD;IAC7C,YAAY,CAAC,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ,GAAG,SAAS;IAG1E,sDAAsD;WACxC,oBAAoB,CAAC,MAAM,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,GAAG,MAAM;CAI1F;AAED;;GAEG;AACH,qBAAa,OAAQ,SAAQ,EAAG,YAAW,eAAe;IACxD,8BAA8B;gBAClB,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU;IAGxC,2DAA2D;IACpD,KAAK,CAAC,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAGvC;;;;;OAKG;WACW,MAAM,CAAC,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAQ7E;;;;OAIG;WACW,QAAQ,CAAC,IAAI,CAAC,EAAE,OAAO,GAAG,OAAO;IAK/C,qFAAqF;WACvE,UAAU,CAAC,EAAE,EAAE,KAAK,GAAG,SAAS,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAK1E,mDAAmD;WACrC,UAAU,CAAC,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAGnD;;;;;;OAMG;IACI,cAAc,CAAC,eAAe,EAAE,MAAM,EAAE,YAAY,EAAE,MAAM,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IASjH;;;OAGG;IACI,sBAAsB,CAAC,eAAe,EAAE,MAAM,EAAE,YAAY,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,GAAG,OAAO;IAQnG,0EAA0E;IACnE,WAAW,CAAC,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAc7E,oEAAoE;IAC7D,aAAa,CAAC,SAAS,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAOnG,qCAAqC;IAC9B,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAOtD,+BAA+B;IACxB,IAAI,CAAC,MAAM,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAOrD,+BAA+B;IACxB,MAAM,CAAC,EAAE,GAAE,MAAU,EAAE,EAAE,GAAE,MAAU,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAMxE,qCAAqC;IAC9B,UAAU,CAAC,MAAM,EAAE,KAAK,EAAE,WAAW,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAOhF,2DAA2D;IACpD,WAAW,CAAC,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAO/G,+EAA+E;IACxE,WAAW,CAAC,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EACjF,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,OAAO,GAAG,OAAO;IAO7D;;;;OAIG;IACI,mBAAmB,CAAC,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,GAAG,MAAM;IAGlE;;;;OAIG;IACI,oBAAoB,CAAC,OAAO,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,GAAG,MAAM;IAOnE;;;;;;OAMG;IACI,0BAA0B,CAAC,UAAU,EAAE,OAAO,EAAE,QAAQ,EAAE,OAAO,EAAE,eAAe,GAAE,MAAU,GAAG,MAAM;CAO/G;AAED;;;GAGG;AACH,qBAAa,QAAS,SAAQ,EAAG,YAAW,eAAe;gBAC7C,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU;IAGxC,8CAA8C;IACvC,KAAK,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAGzC,+CAA+C;WACjC,MAAM,CAAC,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAQ/E;;;OAGG;WACW,KAAK,CAAC,KAAK,GAAE,MAAU,GAAG,QAAQ;IAGhD;;;OAGG;WACW,KAAK,CAAC,KAAK,GAAE,MAAU,GAAG,QAAQ;IAGhD,4CAA4C;WAC9B,UAAU,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAGrD,6GAA6G;WAC/F,UAAU,CAAC,IAAI,EAAE,KAAK,GAAG,YAAY,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAUjF;;;;OAIG;WACW,QAAQ,CAAC,IAAI,CAAC,EAAE,OAAO,GAAG,QAAQ;IAKhD,oFAAoF;WACtE,WAAW,CAAC,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,GAAG,QAAQ;IAG5D,4DAA4D;WAC9C,cAAc,CAAC,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAGvF;;;;;;;OAOG;WACW,oBAAoB,CAAC,SAAS,EAAE,QAAQ,EAAE,SAAS,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,GAAG,QAAQ,GAAG,SAAS;IAUlH;;;OAGG;IACI,gBAAgB,CAAC,WAAW,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ,GAAG,SAAS;IAMrF,2GAA2G;IACpG,SAAS,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ,GAAG,SAAS;IAKzD;;;;;OAKG;IACI,4BAA4B,CAAC,MAAM,EAAE,QAAQ,EAAE,eAAe,CAAC,EAAE,MAAM,GAAG,MAAM;IAWvF,sEAAsE;IAC/D,MAAM,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAM1C,mFAAmF;IAC5E,aAAa,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IASjD,2EAA2E;IACpE,YAAY,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAShD,2DAA2D;IACpD,mBAAmB,CAAC,MAAM,CAAC,EAAE,QAAQ,GAAG,QAAQ;IAevD,uDAAuD;IACh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package/lib/esm/geometry3d/Point2dVector2d.js

@@ -202,16 +202,16 @@ export class Point2d extends XY {
         return Point2d.create(0, 0, result);
     }
     /**
-     * Starting at this point, move along vector by tangentFraction of the vector length, and then
-     * to the left by leftFraction of the perpendicular vector length.
-     * @param tangentFraction distance to move along the vector, as a fraction of vector
-     * @param leftFraction distance to move perpendicular to the vector, as a fraction of the rotated vector
+     * Starting at this point, move along `vector` by `tangentFraction` of its length, and then
+     * by `leftFraction` of its length along the left perpendicular.
+     * @param tangentFraction distance to move along `vector`, as a fraction of its length
+     * @param leftFraction distance to move perpendicular to `vector`, as a fraction of its length
      * @param vector the other vector
      */
-    addForwardLeft(tangentFraction, leftFraction, vector) {
+    addForwardLeft(tangentFraction, leftFraction, vector, result) {
         const dx = vector.x;
         const dy = vector.y;
-        return Point2d.create(this.x + tangentFraction * dx - leftFraction * dy, this.y + tangentFraction * dy + leftFraction * dx);
+        return Point2d.create(this.x + tangentFraction * dx - leftFraction * dy, this.y + tangentFraction * dy + leftFraction * dx, result);
     }
     /**
      * Interpolate at tangentFraction between this instance and point, and then Move by leftFraction
@@ -395,11 +395,10 @@ export class Vector2d extends XY {
         return this.safeDivideOrNull(mag, result);
     }
     /**
-     * Return fractional projection of target vector onto this
-     * * It's returning the signed projection magnitude divided by the target magnitude. In other words,
-     * it's returning the length of the projection as a fraction of the target magnitude.
+     * Return fractional length of the projection of the instance onto the target vector.
      * @param target the target vector
-     * @param defaultFraction the returned value in case magnitude square of target vector is very small
+     * @param defaultFraction the returned value in case the magnitude of `target` is too small
+     * @returns the signed length of the projection divided by the length of `target`
      */
     fractionOfProjectionToVector(target, defaultFraction) {
         /*