@itwin/core-geometry 4.10.0-dev.26 → 4.10.0-dev.28

package/lib/esm/numerics/Polynomials.js

@@ -5,17 +5,16 @@
 /** @packageDocumentation
  * @module Numerics
  */
+import { assert } from "@itwin/core-bentley";
 import { Geometry } from "../Geometry";
 import { Angle } from "../geometry3d/Angle";
 import { AngleSweep } from "../geometry3d/AngleSweep";
 import { GrowableFloat64Array } from "../geometry3d/GrowableFloat64Array";
 import { LongitudeLatitudeNumber } from "../geometry3d/LongitudeLatitudeAltitude";
-import { Point2d, Vector2d } from "../geometry3d/Point2dVector2d";
+import { Point2d } from "../geometry3d/Point2dVector2d";
 import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
 import { Range1d, Range3d } from "../geometry3d/Range";
-// cspell:word Cardano
-// cspell:word CCminusSS
-/* eslint-disable @typescript-eslint/naming-convention */
+// cspell:words Cardano internaldocs
 /**
  * degree 2 (quadratic) polynomial in for y = c0 + c1*x + c2*x^2
  * @internal
@@ -676,8 +675,8 @@ export class AnalyticRoots {
             return;
         }
         else if (D > 0) {
-            const sqrt_D = Math.sqrt(D);
-            this.append2Solutions(sqrt_D - p, -sqrt_D - p, values);
+            const sqrtD = Math.sqrt(D);
+            this.append2Solutions(sqrtD - p, -sqrtD - p, values);
             return;
         }
         return;
@@ -743,7 +742,7 @@ export class AnalyticRoots {
      */
     /*
     private static _appendCubicRootsUnsorted(c: Float64Array | number[], results: GrowableFloat64Array) {
-      let sq_A: number;
+      let AA: number;
       let p: number;
       let q: number;
   
@@ -764,9 +763,9 @@ export class AnalyticRoots {
       //    f' = 3y^2 + p
       //        local min/max at Y = +-sqrt (-p)
       //        f(+Y) = -p sqrt(-p) + 3p sqrt (-p) + 2q = 2 p sqrt (-p) + 2q
-      sq_A = A * A;
-      p = (3.0 * B - sq_A) / 9.0;
-      q = 1.0 / 2 * (2.0 / 27 * A * sq_A - 1.0 / 3 * A * B + C);
+      AA = A * A;
+      p = (3.0 * B - AA) / 9.0;
+      q = 1.0 / 2 * (2.0 / 27 * A * AA - 1.0 / 3 * A * B + C);
   
       // Use Cardano formula
       const cb_p: number = p * p * p;
@@ -804,9 +803,9 @@ export class AnalyticRoots {
   
         return;
       } else {    // One real solution
-        const sqrt_D = Math.sqrt(D);
-        const u = this.cbrt(sqrt_D - q);
-        const v = -(this.cbrt(sqrt_D + q));
+        const sqrtD = Math.sqrt(D);
+        const u = this.cbrt(sqrtD - q);
+        const v = -(this.cbrt(sqrtD + q));
         results.push(origin + u + v);
         this.improveRoots(c, 3, results, false);
         return;
@@ -847,10 +846,10 @@ export class AnalyticRoots {
         const D = c[0] * coffScale[0];
         const origin = -0.25 * A;
         // substitute x = y - A/4 to eliminate cubic term: y^4 + py^2 + qy + r = 0
-        const sq_A = A * A;
-        const p = -0.375 * sq_A + B;
-        const q = 0.125 * sq_A * A - 0.5 * A * B + C;
-        const r = -0.01171875 * sq_A * sq_A + 0.0625 * sq_A * B - 0.25 * A * C + D;
+        const AA = A * A;
+        const p = -0.375 * AA + B;
+        const q = 0.125 * AA * A - 0.5 * A * B + C;
+        const r = -0.01171875 * AA * AA + 0.0625 * AA * B - 0.25 * A * C + D;
         const cubicSolutions = new GrowableFloat64Array();
         if (this.isZero(r)) { // no absolute term: y(y^3 + py + q) = 0
             coffs[0] = q;
@@ -1029,17 +1028,16 @@ export class PowerPolynomial {
  */
 export class TrigPolynomial {
     /**
-     * Solve a polynomial created from trigonometric condition using Trig.S, Trig.C, Trig.W.
-     * * Polynomial is of degree 4:
-     * `p(t) = coff[0] + coff[1] * t + coff[2] * t^2 + coff[3] * t^3 + coff[4] * t^4`
-     * * Solution logic includes inferring angular roots corresponding zero leading coefficients
-     * (roots at infinity).
-     * @param coff coefficients.
-     * @param nominalDegree degree of the polynomial under most complex root case. If there are
-     * any zero coefficients up to this degree, a single root "at infinity" is recorded as its
-     * corresponding angular parameter at negative pi/2.
-     * @param referenceCoefficient a number which represents the size of coefficients at various
-     * stages of computation. A small fraction of this will be used as a zero tolerance
+     * Find the roots of a univariate polynomial created from substituting the rational parameterization of the unit
+     * circle into a trigonometric polynomial. Roots are returned as radian angles.
+     * * Currently implemented for polynomials of degree <= 4.
+     * * For example, the ellipse-ellipse intersection problem reduces to finding the roots of a quartic polynomial:
+     * `p(t) = coff[0] + coff[1] t + coff[2] t^2 + coff[3] t^3 + coff[4] t^4`.
+     * * Particular care is given to report a root at t = +/-infinity, which corresponds to the returned angle -pi/2.
+     * @param coff coefficients in the power basis
+     * @param nominalDegree degree of the polynomial under the most complex root case.
+     * @param referenceCoefficient a number which represents the size of coefficients at various stages of computation.
+     * A small fraction of this number will be used as a zero tolerance.
      * @param radians roots are placed here.
      * @return false if equation is all zeros. This usually means any angle is a solution.
      */
@@ -1079,34 +1077,35 @@ export class TrigPolynomial {
             }
             else {
                 // TODO: WORK WITH BEZIER SOLVER
+                assert(false, "Unimplemented degree in trig solver");
             }
             if (roots.length > 0) {
-                // Each solution t represents an angle with Math.Cos(theta) = C(t)/W(t) and sin(theta) = S(t)/W(t)
-                // Division by W has no effect on atan2 calculations, so we just compute S(t),C(t)
+                // each solution t represents an angle with Math.Cos(theta) = C(t)/W(t) and sin(theta) = S(t)/W(t)
+                // division by W has no effect on atan2 calculations, so we just compute S(t),C(t)
                 for (let i = 0; i < roots.length; i++) {
                     const ss = PowerPolynomial.evaluate(this.S, roots.atUncheckedIndex(i));
                     const cc = PowerPolynomial.evaluate(this.C, roots.atUncheckedIndex(i));
                     radians.push(Math.atan2(ss, cc));
                 }
-                // each leading zero at the front of the coefficient array corresponds to a root at -PI/2.
-                // only make one entry because we don't report multiplicity.
-                if (degree < nominalDegree)
-                    radians.push(-0.5 * Math.PI);
             }
+            // If the tail of the coff array is zero, we solved a polynomial of lesser degree above, and
+            // we report the skipped "root at infinity" as the corresponding angle -pi/2 (without multiplicity).
+            // See core\geometry\internaldocs\unitCircleEllipseIntersection.md for details.
+            if (degree < nominalDegree)
+                radians.push(-0.5 * Math.PI);
         }
         return radians.length > 0;
     }
     /**
-     * Compute intersections of unit circle `x^2 + y^2 = 1` with general quadric
-     * `axx * x^2 + axy * x * y + ayy * y^2 + ax * x + ay * y + a = 0`
-     * Solutions are returned as angles. Sine and Cosine of the angles are the x, y results.
+     * Compute intersections of the unit circle `x^2 + y^2 = 1` with the general quadric (conic)
+     * `axx x^2 + axy xy + ayy y^2 + ax x + ay y + a = 0`.
      * @param axx coefficient of x^2
      * @param axy coefficient of xy
      * @param ayy coefficient of y^2
      * @param ax coefficient of x
      * @param ay coefficient of y
      * @param a constant coefficient
-     * @param radians solution angles
+     * @param radians up to 4 solution angles t in the quadric parameterization: x = cos(t), y = sin(t)
      */
     static solveUnitCircleImplicitQuadricIntersection(axx, axy, ayy, ax, ay, a, radians) {
         const coffs = new Float64Array(5);
@@ -1161,9 +1160,9 @@ export class TrigPolynomial {
         const acs = 2.0 * (ux * vx + uy * vy);
         const ass = vx * vx + vy * vy;
         const ac = 2.0 * (ux * cx + uy * cy);
-        const asi = 2.0 * (vx * cx + vy * cy);
+        const as = 2.0 * (vx * cx + vy * cy);
         const a = cx * cx + cy * cy - 1.0;
-        const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, asi, a, ellipseRadians);
+        const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, as, a, ellipseRadians);
         for (const radians of ellipseRadians) {
             const cc = Math.cos(radians);
             const ss = Math.sin(radians);
@@ -1230,307 +1229,42 @@ TrigPolynomial.CC = Float64Array.from([1.0, -4.0, 4.0]);
 /** Standard Basis coefficients for W(t) * W(t). */
 TrigPolynomial.WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]);
 /** Standard Basis coefficients for C(t) * C(t) - S(t) * S(t). */
-TrigPolynomial.CCminusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]);
+TrigPolynomial.CCMinusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]); // eslint-disable-line @typescript-eslint/naming-convention
 TrigPolynomial._coefficientRelTol = 1.0e-12;
 /**
- * static methods for commonly appearing sets of equations in 2 or 3 variables
- * @public
+ * * bilinear expression
+ * * `f(u,v) = a + b * u * c * v + d * u * v`
+ * @internal
  */
-export class SmallSystem {
-    /**
-     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static lineSegment2dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
-        const ux = a1.x - a0.x;
-        const uy = a1.y - a0.y;
-        const vx = b1.x - b0.x;
-        const vy = b1.y - b0.y;
-        const cx = b0.x - a0.x;
-        const cy = b0.y - a0.y;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
-    }
-    /**
-     * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.
-     * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.
-     * * Return true if the lines have a simple intersection.
-     * * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static lineSegmentXYUVTransverseIntersectionUnbounded(ax0, ay0, ux, uy, bx0, by0, vx, vy, result) {
-        const cx = bx0 - ax0;
-        const cy = by0 - ay0;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
-    }
-    /**
-     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static lineSegment3dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
-        const ux = a1.x - a0.x;
-        const uy = a1.y - a0.y;
-        const vx = b1.x - b0.x;
-        const vy = b1.y - b0.y;
-        const cx = b0.x - a0.x;
-        const cy = b0.y - a0.y;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
-    }
-    /**
-     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param hA0 homogeneous start point of line a
-     * @param hA1 homogeneous end point of line a
-     * @param hB0 homogeneous start point of line b
-     * @param hB1 homogeneous end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static lineSegment3dHXYTransverseIntersectionUnbounded(hA0, hA1, hB0, hB1, result) {
-        // Considering only x,y,w parts....
-        // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`
-        // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)
-        const alpha0 = Geometry.tripleProduct(hA0.x, hA1.x, hB0.x, hA0.y, hA1.y, hB0.y, hA0.w, hA1.w, hB0.w);
-        const alpha1 = Geometry.tripleProduct(hA0.x, hA1.x, hB1.x, hA0.y, hA1.y, hB1.y, hA0.w, hA1.w, hB1.w);
-        const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);
-        if (fractionB !== undefined) {
-            const beta0 = Geometry.tripleProduct(hB0.x, hB1.x, hA0.x, hB0.y, hB1.y, hA0.y, hB0.w, hB1.w, hA0.w);
-            const beta1 = Geometry.tripleProduct(hB0.x, hB1.x, hA1.x, hB0.y, hB1.y, hA1.y, hB0.w, hB1.w, hA1.w);
-            const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);
-            if (fractionA !== undefined)
-                return Vector2d.create(fractionA, fractionB, result);
-        }
-        return undefined;
-    }
-    /**
-     * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.
-     * @param hA0 homogeneous start point of line a
-     * @param hA1 homogeneous end point of line a
-     * @param spacePoint homogeneous point in space
-     */
-    static lineSegment3dHXYClosestPointUnbounded(hA0, hA1, spacePoint) {
-        // Considering only x,y,w parts....
-        // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.
-        // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection
-        // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`
-        // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.
-        const tx = hA1.x * hA0.w - hA0.x * hA1.w;
-        const ty = hA1.y * hA0.w - hA0.y * hA1.w;
-        const det0 = Geometry.tripleProduct(hA0.x, -ty, spacePoint.x, hA0.y, tx, spacePoint.y, hA0.w, 0, spacePoint.w);
-        const det1 = Geometry.tripleProduct(hA1.x, -ty, spacePoint.x, hA1.y, tx, spacePoint.y, hA1.w, 0, spacePoint.w);
-        return Geometry.conditionalDivideFraction(-det0, det1 - det0);
-    }
-    /**
-     * Return the line fraction at which the line is closest to a space point as viewed in xy only.
-     * @param pointA0 start point
-     * @param pointA1 end point
-     * @param spacePoint point in space
-     */
-    static lineSegment3dXYClosestPointUnbounded(pointA0, pointA1, spacePoint) {
-        // Considering only x,y parts....
-        const ux = pointA1.x - pointA0.x;
-        const uy = pointA1.y - pointA0.y;
-        const uu = ux * ux + uy * uy;
-        const vx = spacePoint.x - pointA0.x;
-        const vy = spacePoint.y - pointA0.y;
-        const uv = ux * vx + uy * vy;
-        return Geometry.conditionalDivideFraction(uv, uu);
-    }
-    /**
-     * Return the line fraction at which the line is closest to a space point
-     * @param pointA0 start point
-     * @param pointA1 end point
-     * @param spacePoint point in space
-     */
-    static lineSegment3dClosestPointUnbounded(pointA0, pointA1, spacePoint) {
-        const ux = pointA1.x - pointA0.x;
-        const uy = pointA1.y - pointA0.y;
-        const uz = pointA1.z - pointA0.z;
-        const uu = ux * ux + uy * uy + uz * uz;
-        const vx = spacePoint.x - pointA0.x;
-        const vy = spacePoint.y - pointA0.y;
-        const vz = spacePoint.z - pointA0.z;
-        const uv = ux * vx + uy * vy + uz * vz;
-        return Geometry.conditionalDivideFraction(uv, uu);
-    }
-    /**
-     * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static lineSegment3dClosestApproachUnbounded(a0, a1, b0, b1, result) {
-        return this.ray3dXYZUVWClosestApproachUnbounded(a0.x, a0.y, a0.z, a1.x - a0.x, a1.y - a0.y, a1.z - a0.z, b0.x, b0.y, b0.z, b1.x - b0.x, b1.y - b0.y, b1.z - b0.z, result);
-    }
-    /**
-     * Return true if the given rays have closest approach (go by each other) in 3d
-     * Return the fractional (not xy) coordinates as x and y parts of a Point2d.
-     * @param ax x-coordinate of the origin of the first ray
-     * @param ay y-coordinate of the origin of the first ray
-     * @param az z-coordinate of the origin of the first ray
-     * @param au x-coordinate of the direction vector of the first ray
-     * @param av y-coordinate of the direction vector of the first ray
-     * @param aw z-coordinate of the direction vector of the first ray
-     * @param bx x-coordinate of the origin of the second ray
-     * @param by y-coordinate of the origin of the second ray
-     * @param bz z-coordinate of the origin of the second ray
-     * @param bu x-coordinate of the direction vector of the second ray
-     * @param bv y-coordinate of the direction vector of the second ray
-     * @param bw z-coordinate of the direction vector of the second ray
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
-     */
-    static ray3dXYZUVWClosestApproachUnbounded(ax, ay, az, au, av, aw, bx, by, bz, bu, bv, bw, result) {
-        const cx = bx - ax;
-        const cy = by - ay;
-        const cz = bz - az;
-        const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);
-        const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);
-        const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);
-        const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);
-        const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);
-        return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);
-    }
-    /**
-     * Solve the pair of linear equations
-     * * `ux * x + vx * y = cx`
-     * * `uy * x + vy * y = cy`
-     * @param ux xx coefficient
-     * @param vx xy coefficient
-     * @param uy yx coefficient
-     * @param vy yy coefficient
-     * @param cx x right hand side
-     * @param cy y right hand side
-     * @param result (x,y) solution (MUST be preallocated by caller)
-     */
-    static linearSystem2d(ux, vx, // first row of matrix
-    uy, vy, // second row of matrix
-    cx, cy, // right side
-    result) {
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
-    }
+export class BilinearPolynomial {
     /**
-     * Solve a linear system:
-     * * x equation: `axx * u + axy * v + axz * w = cx`
-     * * y equation: `ayx * u + ayy * v + ayz * w = cy`
-     * * z equation: `azx * u + azy * v + azz * w = cz`
-     * @param axx row 0, column 0 coefficient
-     * @param axy row 0, column 1 coefficient
-     * @param axz row 0, column 1 coefficient
-     * @param ayx row 1, column 0 coefficient
-     * @param ayy row 1, column 1 coefficient
-     * @param ayz row 1, column 2 coefficient
-     * @param azx row 2, column 0 coefficient
-     * @param azy row 2, column 1 coefficient
-     * @param azz row 2, column 2 coefficient
-     * @param cx right hand side row 0 coefficient
-     * @param cy right hand side row 1 coefficient
-     * @param cz right hand side row 2 coefficient
-     * @param result optional result.
-     * @returns solution vector (u,v,w) or `undefined` if system is singular.
+     *
+     * @param a constant coefficient
+     * @param b `u` coefficient
+     * @param c `v` coefficient
+     * @param d `u*v` coefficient
      */
-    static linearSystem3d(axx, axy, axz, // first row of matrix
-    ayx, ayy, ayz, // second row of matrix
-    azx, azy, azz, // second row of matrix
-    cx, cy, cz, // right side
-    result) {
-        // determinants of various combinations of columns ...
-        const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);
-        const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);
-        const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);
-        const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);
-        const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);
-        const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);
-        const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);
-        if (s !== undefined && t !== undefined && u !== undefined) {
-            return Vector3d.create(s, t, u, result);
-        }
-        return undefined;
+    constructor(a, b, c, d) {
+        this.a = a;
+        this.b = b;
+        this.c = c;
+        this.d = d;
     }
     /**
-     * Compute the intersection of three planes.
-     * @param xyzA point on the first plane
-     * @param normalA normal of the first plane
-     * @param xyzB point on the second plane
-     * @param normalB normal of the second plane
-     * @param xyzC point on the third plane
-     * @param normalC normal of the third plane
-     * @param result optional result
-     * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.
+     * Evaluate the bilinear expression at u,v
      */
-    static intersect3Planes(xyzA, normalA, xyzB, normalB, xyzC, normalC, result) {
-        return this.linearSystem3d(normalA.x, normalA.y, normalA.z, normalB.x, normalB.y, normalB.z, normalC.x, normalC.y, normalC.z, Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z), Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z), Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);
+    evaluate(u, v) {
+        return this.a + this.b * u + v * (this.c + this.d * u);
     }
-    /**
-     * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`
-     * @param rowA row that does not change
-     * @param pivotIndex index of pivot (divisor) in rowA.
-     * @param rowB row where elimination occurs.
+    /** Create a bilinear polynomial z=f(u,v) given z values at 00, 10, 01, 11.
      */
-    static eliminateFromPivot(rowA, pivotIndex, rowB, a) {
-        const n = rowA.length;
-        let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);
-        if (q === undefined)
-            return false;
-        q *= a;
-        for (let j = pivotIndex + 1; j < n; j++)
-            rowB[j] += q * rowA[j];
-        return true;
+    static createUnitSquareValues(f00, f10, f01, f11) {
+        return new BilinearPolynomial(f00, f10, f10, f11 - f10 - f01);
     }
     /**
      * Solve a pair of bilinear equations
      * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`
-     * * Second equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`
+     * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`
      */
     static solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1) {
         // constant linear, and quadratic coefficients for c0 + c1 * u + c2 * u*u = 0
@@ -1551,37 +1285,6 @@ export class SmallSystem {
         }
         return uv;
     }
-}
-/**
- * * bilinear expression
- * * `f(u,v) = a + b * u * c * v + d * u * v`
- * @internal
- */
-export class BilinearPolynomial {
-    /**
-     *
-     * @param a constant coefficient
-     * @param b `u` coefficient
-     * @param c `v` coefficient
-     * @param d `u*v` coefficient
-     */
-    constructor(a, b, c, d) {
-        this.a = a;
-        this.b = b;
-        this.c = c;
-        this.d = d;
-    }
-    /**
-     * Evaluate the bilinear expression at u,v
-     */
-    evaluate(u, v) {
-        return this.a + this.b * u + v * (this.c + this.d * u);
-    }
-    /** Create a bilinear polynomial z=f(u,v) given z values at 00, 10, 01, 11.
-     */
-    static createUnitSquareValues(f00, f10, f01, f11) {
-        return new BilinearPolynomial(f00, f10, f10, f11 - f10 - f01);
-    }
     /**
      * Solve the simultaneous equations
      * * `p(u,v) = pValue`
@@ -1592,7 +1295,7 @@ export class BilinearPolynomial {
      * @param qValue
      */
     static solvePair(p, pValue, q, qValue) {
-        return SmallSystem.solveBilinearPair(p.a - pValue, p.b, p.c, p.d, q.a - qValue, q.b, q.c, q.d);
+        return BilinearPolynomial.solveBilinearPair(p.a - pValue, p.b, p.c, p.d, q.a - qValue, q.b, q.c, q.d);
     }
 }
 /**