@itwin/core-geometry 4.10.0-dev.3 → 4.10.0-dev.30

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Files changed (208) hide show
  1. package/CHANGELOG.md +31 -1
  2. package/lib/cjs/Geometry.d.ts +2 -2
  3. package/lib/cjs/Geometry.js +2 -2
  4. package/lib/cjs/Geometry.js.map +1 -1
  5. package/lib/cjs/clipping/ClipPrimitive.d.ts +7 -7
  6. package/lib/cjs/clipping/ClipPrimitive.d.ts.map +1 -1
  7. package/lib/cjs/clipping/ClipPrimitive.js +1 -1
  8. package/lib/cjs/clipping/ClipPrimitive.js.map +1 -1
  9. package/lib/cjs/core-geometry.d.ts +1 -1
  10. package/lib/cjs/core-geometry.d.ts.map +1 -1
  11. package/lib/cjs/core-geometry.js +1 -1
  12. package/lib/cjs/core-geometry.js.map +1 -1
  13. package/lib/cjs/curve/Arc3d.d.ts +21 -10
  14. package/lib/cjs/curve/Arc3d.d.ts.map +1 -1
  15. package/lib/cjs/curve/Arc3d.js +66 -38
  16. package/lib/cjs/curve/Arc3d.js.map +1 -1
  17. package/lib/cjs/curve/CurveChainWithDistanceIndex.d.ts +27 -8
  18. package/lib/cjs/curve/CurveChainWithDistanceIndex.d.ts.map +1 -1
  19. package/lib/cjs/curve/CurveChainWithDistanceIndex.js +44 -25
  20. package/lib/cjs/curve/CurveChainWithDistanceIndex.js.map +1 -1
  21. package/lib/cjs/curve/CurveFactory.d.ts +11 -13
  22. package/lib/cjs/curve/CurveFactory.d.ts.map +1 -1
  23. package/lib/cjs/curve/CurveFactory.js +19 -46
  24. package/lib/cjs/curve/CurveFactory.js.map +1 -1
  25. package/lib/cjs/curve/LineSegment3d.js +2 -2
  26. package/lib/cjs/curve/LineSegment3d.js.map +1 -1
  27. package/lib/cjs/curve/internalContexts/CurveCurveCloseApproachXY.d.ts.map +1 -1
  28. package/lib/cjs/curve/internalContexts/CurveCurveCloseApproachXY.js +5 -4
  29. package/lib/cjs/curve/internalContexts/CurveCurveCloseApproachXY.js.map +1 -1
  30. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXY.d.ts +1 -0
  31. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXY.d.ts.map +1 -1
  32. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXY.js +40 -65
  33. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXY.js.map +1 -1
  34. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXYZ.d.ts +22 -7
  35. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXYZ.d.ts.map +1 -1
  36. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXYZ.js +131 -70
  37. package/lib/cjs/curve/internalContexts/CurveCurveIntersectXYZ.js.map +1 -1
  38. package/lib/cjs/curve/internalContexts/EllipticalArcApproximationContext.d.ts.map +1 -1
  39. package/lib/cjs/curve/internalContexts/EllipticalArcApproximationContext.js +14 -11
  40. package/lib/cjs/curve/internalContexts/EllipticalArcApproximationContext.js.map +1 -1
  41. package/lib/cjs/geometry3d/Angle.d.ts +5 -5
  42. package/lib/cjs/geometry3d/Angle.js +5 -5
  43. package/lib/cjs/geometry3d/Angle.js.map +1 -1
  44. package/lib/cjs/geometry3d/AngleSweep.d.ts +101 -13
  45. package/lib/cjs/geometry3d/AngleSweep.d.ts.map +1 -1
  46. package/lib/cjs/geometry3d/AngleSweep.js +156 -57
  47. package/lib/cjs/geometry3d/AngleSweep.js.map +1 -1
  48. package/lib/cjs/geometry3d/BilinearPatch.js +4 -4
  49. package/lib/cjs/geometry3d/BilinearPatch.js.map +1 -1
  50. package/lib/cjs/geometry3d/Matrix3d.d.ts +35 -31
  51. package/lib/cjs/geometry3d/Matrix3d.d.ts.map +1 -1
  52. package/lib/cjs/geometry3d/Matrix3d.js +55 -31
  53. package/lib/cjs/geometry3d/Matrix3d.js.map +1 -1
  54. package/lib/cjs/geometry3d/Point3dVector3d.d.ts +6 -5
  55. package/lib/cjs/geometry3d/Point3dVector3d.d.ts.map +1 -1
  56. package/lib/cjs/geometry3d/Point3dVector3d.js +6 -5
  57. package/lib/cjs/geometry3d/Point3dVector3d.js.map +1 -1
  58. package/lib/cjs/geometry3d/PolygonOps.js +2 -2
  59. package/lib/cjs/geometry3d/PolygonOps.js.map +1 -1
  60. package/lib/cjs/geometry3d/Ray3d.js +2 -2
  61. package/lib/cjs/geometry3d/Ray3d.js.map +1 -1
  62. package/lib/cjs/geometry3d/Transform.d.ts +4 -2
  63. package/lib/cjs/geometry3d/Transform.d.ts.map +1 -1
  64. package/lib/cjs/geometry3d/Transform.js +4 -2
  65. package/lib/cjs/geometry3d/Transform.js.map +1 -1
  66. package/lib/cjs/geometry4d/Map4d.d.ts +5 -5
  67. package/lib/cjs/geometry4d/Map4d.js +5 -5
  68. package/lib/cjs/geometry4d/Map4d.js.map +1 -1
  69. package/lib/cjs/geometry4d/Matrix4d.d.ts +4 -7
  70. package/lib/cjs/geometry4d/Matrix4d.d.ts.map +1 -1
  71. package/lib/cjs/geometry4d/Matrix4d.js +4 -7
  72. package/lib/cjs/geometry4d/Matrix4d.js.map +1 -1
  73. package/lib/cjs/geometry4d/Point4d.d.ts.map +1 -1
  74. package/lib/cjs/geometry4d/Point4d.js +2 -1
  75. package/lib/cjs/geometry4d/Point4d.js.map +1 -1
  76. package/lib/cjs/numerics/Newton.d.ts +3 -0
  77. package/lib/cjs/numerics/Newton.d.ts.map +1 -1
  78. package/lib/cjs/numerics/Newton.js +2 -5
  79. package/lib/cjs/numerics/Newton.js.map +1 -1
  80. package/lib/cjs/numerics/Polynomials.d.ts +46 -201
  81. package/lib/cjs/numerics/Polynomials.d.ts.map +1 -1
  82. package/lib/cjs/numerics/Polynomials.js +132 -445
  83. package/lib/cjs/numerics/Polynomials.js.map +1 -1
  84. package/lib/cjs/numerics/SmallSystem.d.ts +164 -0
  85. package/lib/cjs/numerics/SmallSystem.d.ts.map +1 -0
  86. package/lib/cjs/numerics/SmallSystem.js +321 -0
  87. package/lib/cjs/numerics/SmallSystem.js.map +1 -0
  88. package/lib/cjs/polyface/PolyfaceClip.d.ts +3 -3
  89. package/lib/cjs/polyface/PolyfaceClip.d.ts.map +1 -1
  90. package/lib/cjs/polyface/PolyfaceClip.js +1 -1
  91. package/lib/cjs/polyface/PolyfaceClip.js.map +1 -1
  92. package/lib/cjs/polyface/multiclip/OffsetMeshContext.d.ts +1 -1
  93. package/lib/cjs/polyface/multiclip/OffsetMeshContext.d.ts.map +1 -1
  94. package/lib/cjs/polyface/multiclip/OffsetMeshContext.js +7 -7
  95. package/lib/cjs/polyface/multiclip/OffsetMeshContext.js.map +1 -1
  96. package/lib/cjs/topology/Graph.d.ts.map +1 -1
  97. package/lib/cjs/topology/Graph.js +2 -2
  98. package/lib/cjs/topology/Graph.js.map +1 -1
  99. package/lib/cjs/topology/InsertAndRetriangulateContext.js +2 -2
  100. package/lib/cjs/topology/InsertAndRetriangulateContext.js.map +1 -1
  101. package/lib/cjs/topology/Merging.d.ts +1 -1
  102. package/lib/cjs/topology/Merging.d.ts.map +1 -1
  103. package/lib/cjs/topology/Merging.js +2 -2
  104. package/lib/cjs/topology/Merging.js.map +1 -1
  105. package/lib/esm/Geometry.d.ts +2 -2
  106. package/lib/esm/Geometry.js +2 -2
  107. package/lib/esm/Geometry.js.map +1 -1
  108. package/lib/esm/clipping/ClipPrimitive.d.ts +7 -7
  109. package/lib/esm/clipping/ClipPrimitive.d.ts.map +1 -1
  110. package/lib/esm/clipping/ClipPrimitive.js +1 -1
  111. package/lib/esm/clipping/ClipPrimitive.js.map +1 -1
  112. package/lib/esm/core-geometry.d.ts +1 -1
  113. package/lib/esm/core-geometry.d.ts.map +1 -1
  114. package/lib/esm/core-geometry.js +1 -1
  115. package/lib/esm/core-geometry.js.map +1 -1
  116. package/lib/esm/curve/Arc3d.d.ts +21 -10
  117. package/lib/esm/curve/Arc3d.d.ts.map +1 -1
  118. package/lib/esm/curve/Arc3d.js +66 -38
  119. package/lib/esm/curve/Arc3d.js.map +1 -1
  120. package/lib/esm/curve/CurveChainWithDistanceIndex.d.ts +27 -8
  121. package/lib/esm/curve/CurveChainWithDistanceIndex.d.ts.map +1 -1
  122. package/lib/esm/curve/CurveChainWithDistanceIndex.js +44 -25
  123. package/lib/esm/curve/CurveChainWithDistanceIndex.js.map +1 -1
  124. package/lib/esm/curve/CurveFactory.d.ts +11 -13
  125. package/lib/esm/curve/CurveFactory.d.ts.map +1 -1
  126. package/lib/esm/curve/CurveFactory.js +17 -44
  127. package/lib/esm/curve/CurveFactory.js.map +1 -1
  128. package/lib/esm/curve/LineSegment3d.js +1 -1
  129. package/lib/esm/curve/LineSegment3d.js.map +1 -1
  130. package/lib/esm/curve/internalContexts/CurveCurveCloseApproachXY.d.ts.map +1 -1
  131. package/lib/esm/curve/internalContexts/CurveCurveCloseApproachXY.js +4 -3
  132. package/lib/esm/curve/internalContexts/CurveCurveCloseApproachXY.js.map +1 -1
  133. package/lib/esm/curve/internalContexts/CurveCurveIntersectXY.d.ts +1 -0
  134. package/lib/esm/curve/internalContexts/CurveCurveIntersectXY.d.ts.map +1 -1
  135. package/lib/esm/curve/internalContexts/CurveCurveIntersectXY.js +35 -60
  136. package/lib/esm/curve/internalContexts/CurveCurveIntersectXY.js.map +1 -1
  137. package/lib/esm/curve/internalContexts/CurveCurveIntersectXYZ.d.ts +22 -7
  138. package/lib/esm/curve/internalContexts/CurveCurveIntersectXYZ.d.ts.map +1 -1
  139. package/lib/esm/curve/internalContexts/CurveCurveIntersectXYZ.js +130 -69
  140. package/lib/esm/curve/internalContexts/CurveCurveIntersectXYZ.js.map +1 -1
  141. package/lib/esm/curve/internalContexts/EllipticalArcApproximationContext.d.ts.map +1 -1
  142. package/lib/esm/curve/internalContexts/EllipticalArcApproximationContext.js +14 -11
  143. package/lib/esm/curve/internalContexts/EllipticalArcApproximationContext.js.map +1 -1
  144. package/lib/esm/geometry3d/Angle.d.ts +5 -5
  145. package/lib/esm/geometry3d/Angle.js +5 -5
  146. package/lib/esm/geometry3d/Angle.js.map +1 -1
  147. package/lib/esm/geometry3d/AngleSweep.d.ts +101 -13
  148. package/lib/esm/geometry3d/AngleSweep.d.ts.map +1 -1
  149. package/lib/esm/geometry3d/AngleSweep.js +156 -57
  150. package/lib/esm/geometry3d/AngleSweep.js.map +1 -1
  151. package/lib/esm/geometry3d/BilinearPatch.js +1 -1
  152. package/lib/esm/geometry3d/BilinearPatch.js.map +1 -1
  153. package/lib/esm/geometry3d/Matrix3d.d.ts +35 -31
  154. package/lib/esm/geometry3d/Matrix3d.d.ts.map +1 -1
  155. package/lib/esm/geometry3d/Matrix3d.js +55 -31
  156. package/lib/esm/geometry3d/Matrix3d.js.map +1 -1
  157. package/lib/esm/geometry3d/Point3dVector3d.d.ts +6 -5
  158. package/lib/esm/geometry3d/Point3dVector3d.d.ts.map +1 -1
  159. package/lib/esm/geometry3d/Point3dVector3d.js +6 -5
  160. package/lib/esm/geometry3d/Point3dVector3d.js.map +1 -1
  161. package/lib/esm/geometry3d/PolygonOps.js +2 -2
  162. package/lib/esm/geometry3d/PolygonOps.js.map +1 -1
  163. package/lib/esm/geometry3d/Ray3d.js +1 -1
  164. package/lib/esm/geometry3d/Ray3d.js.map +1 -1
  165. package/lib/esm/geometry3d/Transform.d.ts +4 -2
  166. package/lib/esm/geometry3d/Transform.d.ts.map +1 -1
  167. package/lib/esm/geometry3d/Transform.js +4 -2
  168. package/lib/esm/geometry3d/Transform.js.map +1 -1
  169. package/lib/esm/geometry4d/Map4d.d.ts +5 -5
  170. package/lib/esm/geometry4d/Map4d.js +5 -5
  171. package/lib/esm/geometry4d/Map4d.js.map +1 -1
  172. package/lib/esm/geometry4d/Matrix4d.d.ts +4 -7
  173. package/lib/esm/geometry4d/Matrix4d.d.ts.map +1 -1
  174. package/lib/esm/geometry4d/Matrix4d.js +4 -7
  175. package/lib/esm/geometry4d/Matrix4d.js.map +1 -1
  176. package/lib/esm/geometry4d/Point4d.d.ts.map +1 -1
  177. package/lib/esm/geometry4d/Point4d.js +2 -1
  178. package/lib/esm/geometry4d/Point4d.js.map +1 -1
  179. package/lib/esm/numerics/Newton.d.ts +3 -0
  180. package/lib/esm/numerics/Newton.d.ts.map +1 -1
  181. package/lib/esm/numerics/Newton.js +1 -4
  182. package/lib/esm/numerics/Newton.js.map +1 -1
  183. package/lib/esm/numerics/Polynomials.d.ts +46 -201
  184. package/lib/esm/numerics/Polynomials.d.ts.map +1 -1
  185. package/lib/esm/numerics/Polynomials.js +132 -444
  186. package/lib/esm/numerics/Polynomials.js.map +1 -1
  187. package/lib/esm/numerics/SmallSystem.d.ts +164 -0
  188. package/lib/esm/numerics/SmallSystem.d.ts.map +1 -0
  189. package/lib/esm/numerics/SmallSystem.js +317 -0
  190. package/lib/esm/numerics/SmallSystem.js.map +1 -0
  191. package/lib/esm/polyface/PolyfaceClip.d.ts +3 -3
  192. package/lib/esm/polyface/PolyfaceClip.d.ts.map +1 -1
  193. package/lib/esm/polyface/PolyfaceClip.js +1 -1
  194. package/lib/esm/polyface/PolyfaceClip.js.map +1 -1
  195. package/lib/esm/polyface/multiclip/OffsetMeshContext.d.ts +1 -1
  196. package/lib/esm/polyface/multiclip/OffsetMeshContext.d.ts.map +1 -1
  197. package/lib/esm/polyface/multiclip/OffsetMeshContext.js +4 -4
  198. package/lib/esm/polyface/multiclip/OffsetMeshContext.js.map +1 -1
  199. package/lib/esm/topology/Graph.d.ts.map +1 -1
  200. package/lib/esm/topology/Graph.js +1 -1
  201. package/lib/esm/topology/Graph.js.map +1 -1
  202. package/lib/esm/topology/InsertAndRetriangulateContext.js +1 -1
  203. package/lib/esm/topology/InsertAndRetriangulateContext.js.map +1 -1
  204. package/lib/esm/topology/Merging.d.ts +1 -1
  205. package/lib/esm/topology/Merging.d.ts.map +1 -1
  206. package/lib/esm/topology/Merging.js +1 -1
  207. package/lib/esm/topology/Merging.js.map +1 -1
  208. package/package.json +7 -19
package/lib/esm/geometry4d/Point4d.js CHANGED
@@ -363,7 +363,8 @@ export class Point4d extends Plane3d {
363
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  projectPointToPlane(spacePoint, result) {
364
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  const h = this.altitude(spacePoint);
365
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  const nn = this.magnitudeSquaredXYZ();
366
- const alpha = Geometry.conditionalDivideCoordinate(-h, nn);
366
+ // this unusual tol is needed so that toPlane3dByOriginAndUnitNormal agrees with its original implementation
367
+ const alpha = Geometry.conditionalDivideCoordinate(-h, nn, Geometry.largeFractionResult * Geometry.largeFractionResult);
367
368
  if (alpha === undefined)
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  return spacePoint.clone(result);
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  return spacePoint.plusXYZ(alpha * this.x, alpha * this.y, alpha * this.z, result);
package/lib/esm/geometry4d/Point4d.js.map CHANGED
@@ -1 +1 @@
1
- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\nimport { BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Plane3d } from \"../geometry3d/Plane3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\n\r\n/**\r\n * 4d point packed in an array of 4 numbers.\r\n * @public\r\n */\r\nexport type Point4dProps = number[];\r\n/**\r\n *\r\n * @param ddg numerator second derivative\r\n * @param dh denominator derivative\r\n * @param ddh denominator second derivative\r\n * @param f primary function (g/h)\r\n * @param df derivative of (g/h)\r\n * @param divH = (1/h)\r\n * @internal\r\n */\r\nfunction quotientDerivative2(ddg: number, dh: number, ddh: number,\r\n f: number, df: number, divH: number): number {\r\n return divH * (ddg - 2.0 * df * dh - f * ddh);\r\n}\r\n\r\n/** 4 Dimensional point (x,y,z,w) used in perspective calculations.\r\n * * the coordinates are stored in a Float64Array of length 4.\r\n * * properties `x`, `y`, `z`, `w` access array members.\r\n * *\r\n * * The coordinates are physically stored as a single Float64Array with 4 entries. (w last)\r\n * *\r\n * @public\r\n */\r\nexport class Point4d extends Plane3d implements BeJSONFunctions {\r\n /** x,y,z,w are packed into a Float64Array */\r\n public xyzw: Float64Array;\r\n /** Set x,y,z,w of this point. */\r\n public set(x: number = 0, y: number = 0, z: number = 0, w: number = 0): Point4d {\r\n this.xyzw[0] = x;\r\n this.xyzw[1] = y;\r\n this.xyzw[2] = z;\r\n this.xyzw[3] = w;\r\n return this;\r\n }\r\n /** Set a component by index.\r\n * * No change if index is out of range.\r\n */\r\n public setComponent(index: number, value: number) {\r\n if (index >= 0 && index < 4) {\r\n this.xyzw[index] = value;\r\n }\r\n }\r\n /** The x component. */\r\n public get x() { return this.xyzw[0]; }\r\n public set x(val: number) { this.xyzw[0] = val; }\r\n /** The y component. */\r\n public get y() { return this.xyzw[1]; }\r\n public set y(val: number) { this.xyzw[1] = val; }\r\n /** The z component. */\r\n public get z() { return this.xyzw[2]; }\r\n public set z(val: number) { this.xyzw[2] = val; }\r\n /** The w component of this point. */\r\n public get w() { return this.xyzw[3]; }\r\n public set w(val: number) { this.xyzw[3] = val; }\r\n /** Construct from coordinates. */\r\n protected constructor(x: number = 0, y: number = 0, z: number = 0, w: number = 0) {\r\n super();\r\n this.xyzw = new Float64Array(4);\r\n this.xyzw[0] = x;\r\n this.xyzw[1] = y;\r\n this.xyzw[2] = z;\r\n this.xyzw[3] = w;\r\n }\r\n /** Return a Point4d with specified x,y,z,w */\r\n public static create(x: number = 0, y: number = 0, z: number = 0, w: number = 0, result?: Point4d): Point4d {\r\n return result ? result.set(x, y, z, w) : new Point4d(x, y, z, w);\r\n }\r\n /**\r\n * Create a \"Point4d as a plane\" from \"any\" other [[PlaneAltitudeEvaluator]] type.\r\n * @param source\r\n * @returns\r\n */\r\n public static createPlaneFrom(source: PlaneAltitudeEvaluator): Point4d | undefined {\r\n return new Point4d(source.normalX(), source.normalY(), source.normalZ(), source.altitudeXYZ(0, 0, 0));\r\n }\r\n /** Copy coordinates from `other`. */\r\n public setFrom(other: Point4d): Point4d {\r\n this.xyzw[0] = other.xyzw[0];\r\n this.xyzw[1] = other.xyzw[1];\r\n this.xyzw[2] = other.xyzw[2];\r\n this.xyzw[3] = other.xyzw[3];\r\n return this;\r\n }\r\n /** Clone this point */\r\n public clone(result?: Point4d): Point4d {\r\n return result ? result.setFrom(this) : new Point4d(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n }\r\n /** Set this point's xyzw from a json array `[x,y,z,w]` */\r\n public setFromJSON(json?: Point4dProps) {\r\n if (Geometry.isNumberArray(json, 4))\r\n this.set(json[0], json[1], json[2], json[3]);\r\n else\r\n this.set(0, 0, 0, 0);\r\n }\r\n\r\n /** Create a new point with coordinates from a json array `[x,y,z,w]` */\r\n public static fromJSON(json?: Point4dProps): Point4d {\r\n const result = new Point4d();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** Near-equality test, using `Geometry.isSameCoordinate` on all 4 x,y,z,w */\r\n public isAlmostEqual(other: Point4d): boolean {\r\n return Geometry.isSameCoordinate(this.x, other.x)\r\n && Geometry.isSameCoordinate(this.y, other.y)\r\n && Geometry.isSameCoordinate(this.z, other.z)\r\n && Geometry.isSameCoordinate(this.w, other.w);\r\n }\r\n /**\r\n * Test for same coordinate by direct x,y,z,w args\r\n * @param x x to test\r\n * @param y y to test\r\n * @param z z to test\r\n * @param w w to test\r\n */\r\n public isAlmostEqualXYZW(x: number, y: number, z: number, w: number): boolean {\r\n return Geometry.isSameCoordinate(this.x, x)\r\n && Geometry.isSameCoordinate(this.y, y)\r\n && Geometry.isSameCoordinate(this.z, z)\r\n && Geometry.isSameCoordinate(this.w, w);\r\n }\r\n\r\n /**\r\n * Convert an Angle to a JSON object.\r\n * @return {*} [x,y,z,w]\r\n */\r\n public toJSON(): Point4dProps {\r\n return [this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]];\r\n }\r\n /** Return the 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public distanceXYZW(other: Point4d): number {\r\n return Geometry.hypotenuseXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** Return the squared 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public distanceSquaredXYZW(other: Point4d): number {\r\n return Geometry.hypotenuseSquaredXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** Return the distance between the instance and other after normalizing by weights\r\n */\r\n public realDistanceXY(other: Point4d): number | undefined {\r\n const wA = this.w;\r\n const wB = other.w;\r\n if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\r\n return undefined;\r\n return Geometry.hypotenuseXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\r\n }\r\n /** Return the largest absolute distance between corresponding components\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public maxDiff(other: Point4d): number {\r\n return Math.max(Math.abs(other.xyzw[0] - this.xyzw[0]), Math.abs(other.xyzw[1] - this.xyzw[1]), Math.abs(other.xyzw[2] - this.xyzw[2]), Math.abs(other.xyzw[3] - this.xyzw[3]));\r\n }\r\n /** Return the largest absolute entry of all 4 components x,y,z,w */\r\n public maxAbs(): number {\r\n return Math.max(Math.abs(this.xyzw[0]), Math.abs(this.xyzw[1]), Math.abs(this.xyzw[2]), Math.abs(this.xyzw[3]));\r\n }\r\n /** Returns the magnitude including all 4 components x,y,z,w */\r\n public magnitudeXYZW(): number {\r\n return Geometry.hypotenuseXYZW(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n }\r\n /** Returns the magnitude of the leading xyz components. w is ignored. (i.e. the leading xyz are NOT divided by w.) */\r\n public magnitudeSquaredXYZ(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.xyzw[0], this.xyzw[1], this.xyzw[2]);\r\n }\r\n\r\n /** Return the difference (this-other) using all 4 components x,y,z,w */\r\n public minus(other: Point4d, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] - other.xyzw[0], this.xyzw[1] - other.xyzw[1], this.xyzw[2] - other.xyzw[2], this.xyzw[3] - other.xyzw[3], result);\r\n }\r\n /** Return `((other.w * this) - (this.w * other))` */\r\n public crossWeightedMinus(other: Point4d, result?: Vector3d): Vector3d {\r\n const wa = this.xyzw[3];\r\n const wb = other.xyzw[3];\r\n return Vector3d.create(wb * this.xyzw[0] - wa * other.xyzw[0], wb * this.xyzw[1] - wa * other.xyzw[1], wb * this.xyzw[2] - wa * other.xyzw[2], result);\r\n }\r\n /** Return `((other.w * this) - (this.w * other))`, with other.w known to be 1 */\r\n public crossWeightedMinusPoint3d(other: Point3d, result?: Vector3d): Vector3d {\r\n const wa = this.xyzw[3];\r\n return Vector3d.create(this.xyzw[0] - wa * other.x, this.xyzw[1] - wa * other.y, this.xyzw[2] - wa * other.z, result);\r\n }\r\n /** Return the sum of this and other, using all 4 components x,y,z,w */\r\n public plus(other: Point4d, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + other.xyzw[0], this.xyzw[1] + other.xyzw[1], this.xyzw[2] + other.xyzw[2], this.xyzw[3] + other.xyzw[3], result);\r\n }\r\n /** Test if all components are nearly zero. */\r\n public get isAlmostZero(): boolean {\r\n return Geometry.isSmallMetricDistance(this.maxAbs());\r\n }\r\n /** Create a point with zero in all coordinates. */\r\n public static createZero(): Point4d { return new Point4d(0, 0, 0, 0); }\r\n /**\r\n * Create plane coefficients for the plane containing pointA, pointB, and 0010.\r\n * @param pointA first point\r\n * @param pointB second point\r\n */\r\n public static createPlanePointPointZ(pointA: Point4d, pointB: Point4d, result?: Point4d) {\r\n return Point4d.create(pointA.y * pointB.w - pointA.w * pointB.y, pointA.w * pointB.x - pointA.x * pointB.w, 0.0, pointA.x * pointB.y - pointA.y * pointB.x, result);\r\n }\r\n /**\r\n * extract 3 consecutive numbers from a Float64Array into the xyz values of a Point4d with w = 1.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z sequence\r\n */\r\n public static createFromPackedXYZ(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n if (xIndex >= 0 && xIndex + 2 < data.length)\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], 1.0, result);\r\n return undefined;\r\n }\r\n /**\r\n * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z,w sequence\r\n */\r\n public static createFromPacked(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n if (xIndex >= 0 && xIndex + 3 < data.length)\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n return undefined;\r\n }\r\n /**\r\n * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z,w sequence. Assumed to be a valid index!\r\n * @deprecated in 4.x. Use createFromPacked instead.\r\n */\r\n public static createFromPackedXYZW(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d {\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n }\r\n /** Create a `Point4d` with x,y,z from an `XYAndZ` input, and w from a separate number. */\r\n public static createFromPointAndWeight(xyz: XYAndZ, w: number): Point4d {\r\n return new Point4d(xyz.x, xyz.y, xyz.z, w);\r\n }\r\n /** Create a `Point4d` from\r\n * * Point2d, Point3d, or Point4d\r\n * * other structure with members x,y and optional z,w\r\n * * array of numbers\r\n * * default z is 0.0\r\n * * default w is 1.0 (array[3] can replace)\r\n */\r\n public static createFromPoint(point: XAndY | XYAndZ | Point4d | number[]): Point4d {\r\n if (point instanceof Point2d)\r\n return new Point4d(point.x, point.y, 0, 1);\r\n if (point instanceof Point3d)\r\n return new Point4d(point.x, point.y, point.z, 1);\r\n if (point instanceof Point4d)\r\n return point.clone();\r\n // hm ... some flavor of x,y,z subset ...\r\n if (Array.isArray(point)) {\r\n const x1 = point.length > 0 ? point[0] : 0.0;\r\n const y1 = point.length > 1 ? point[1] : 0.0;\r\n const z1 = point.length > 2 ? point[2] : 0.0;\r\n const w1 = point.length > 3 ? point[3] : 1.0;\r\n return new Point4d(x1, y1, z1, w1);\r\n }\r\n const x = point.x;\r\n const y = point.y;\r\n const z = point.hasOwnProperty(\"z\") ? (point as any).z : 0.0;\r\n const w = point.hasOwnProperty(\"w\") ? (point as any).w : 1.0;\r\n return new Point4d(x, y, z, w);\r\n\r\n }\r\n /** Return `point + vector * scalar` */\r\n public plusScaled(vector: Point4d, scaleFactor: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vector.xyzw[0] * scaleFactor, this.xyzw[1] + vector.xyzw[1] * scaleFactor, this.xyzw[2] + vector.xyzw[2] * scaleFactor, this.xyzw[3] + vector.xyzw[3] * scaleFactor, result);\r\n }\r\n /** Return interpolation between instance and pointB at fraction\r\n */\r\n public interpolate(fraction: number, pointB: Point4d, result?: Point4d): Point4d {\r\n const v = 1.0 - fraction;\r\n return Point4d.create(this.xyzw[0] * v + pointB.xyzw[0] * fraction, this.xyzw[1] * v + pointB.xyzw[1] * fraction, this.xyzw[2] * v + pointB.xyzw[2] * fraction, this.xyzw[3] * v + pointB.xyzw[3] * fraction, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n public plus2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n public plus3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n public static createAdd2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n }\r\n /** Return `point + vectorA \\ scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n public static createAdd3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n }\r\n /** Return dot product of (4d) vectors from the instance to targetA and targetB */\r\n public dotVectorsToTargets(targetA: Point4d, targetB: Point4d): number {\r\n return (targetA.xyzw[0] - this.xyzw[0]) * (targetB.xyzw[0] - this.xyzw[0]) +\r\n (targetA.xyzw[1] - this.xyzw[1]) * (targetB.xyzw[1] - this.xyzw[1]) +\r\n (targetA.xyzw[2] - this.xyzw[2]) * (targetB.xyzw[2] - this.xyzw[2]) +\r\n (targetA.xyzw[3] - this.xyzw[3]) * (targetB.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** return (4d) dot product of the instance and other point. */\r\n public dotProduct(other: Point4d): number {\r\n return this.xyzw[0] * other.xyzw[0] + this.xyzw[1] * other.xyzw[1] + this.xyzw[2] * other.xyzw[2] + this.xyzw[3] * other.xyzw[3];\r\n }\r\n /** return (4d) dot product of the instance with xyzw */\r\n public dotProductXYZW(x: number, y: number, z: number, w: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3] * w;\r\n }\r\n /** dotProduct with (point.x, point.y, point.z, 1) Used in PlaneAltitudeEvaluator interface */\r\n public altitude(point: Point3d): number {\r\n return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3];\r\n }\r\n /** dotProduct with (x, y, z, 1) Used in PlaneAltitudeEvaluator interface */\r\n public altitudeXYZ(x: number, y: number, z: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3];\r\n }\r\n /** dotProduct with (point.x, point.y, point.z, point.w) Used in PlaneAltitudeEvaluator interface */\r\n public weightedAltitude(point: Point4d): number {\r\n return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3] * point.w;\r\n }\r\n /** dotProduct with (vector.x, vector.y, vector.z, 0). Used in PlaneAltitudeEvaluator interface */\r\n public velocity(vector: Vector3d): number {\r\n return this.xyzw[0] * vector.x + this.xyzw[1] * vector.y + this.xyzw[2] * vector.z;\r\n }\r\n /** dotProduct with (x,y,z, 0). Used in PlaneAltitudeEvaluator interface */\r\n public velocityXYZ(x: number, y: number, z: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z;\r\n }\r\n /**\r\n * Return the x component of the normal used to evaluate altitude.\r\n */\r\n public normalX(): number { return this.x; }\r\n /**\r\n * Return the x component of the normal used to evaluate altitude.\r\n */\r\n public normalY(): number { return this.y; }\r\n /**\r\n * Return the z component of the normal used to evaluate altitude.\r\n */\r\n public normalZ(): number { return this.z; }\r\n\r\n /** unit X vector */\r\n public static unitX(): Point4d { return new Point4d(1, 0, 0, 0); }\r\n /** unit Y vector */\r\n public static unitY(): Point4d { return new Point4d(0, 1, 0, 0); }\r\n /** unit Z vector */\r\n public static unitZ(): Point4d { return new Point4d(0, 0, 1, 0); }\r\n /** unit W vector */\r\n public static unitW(): Point4d { return new Point4d(0, 0, 0, 1); }\r\n /** Divide by denominator, but return undefined if denominator is zero. */\r\n public safeDivideOrNull(denominator: number, result?: Point4d): Point4d | undefined {\r\n if (denominator !== 0.0) {\r\n return this.scale(1.0 / denominator, result);\r\n }\r\n return undefined;\r\n }\r\n /**\r\n * * Return xyz projection of spacePoint to the plane (this Point4d is understood as plane coefficients, not point coordinates)\r\n * * If the xyz part of `this` are all zero, (a clone of) `spacePoint` is returned.\r\n */\r\n public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n const h = this.altitude(spacePoint);\r\n const nn = this.magnitudeSquaredXYZ();\r\n const alpha = Geometry.conditionalDivideCoordinate(-h, nn);\r\n if (alpha === undefined)\r\n return spacePoint.clone(result);\r\n return spacePoint.plusXYZ(alpha * this.x, alpha * this.y, alpha * this.z, result);\r\n }\r\n /** scale all components (including w!!) */\r\n public scale(scale: number, result?: Point4d): Point4d {\r\n result = result ? result : new Point4d();\r\n result.xyzw[0] = this.xyzw[0] * scale;\r\n result.xyzw[1] = this.xyzw[1] * scale;\r\n result.xyzw[2] = this.xyzw[2] * scale;\r\n result.xyzw[3] = this.xyzw[3] * scale;\r\n return result;\r\n }\r\n /** Negate components (including w!!) */\r\n public negate(result?: Point4d): Point4d {\r\n result = result ? result : new Point4d();\r\n result.xyzw[0] = -this.xyzw[0];\r\n result.xyzw[1] = -this.xyzw[1];\r\n result.xyzw[2] = -this.xyzw[2];\r\n result.xyzw[3] = -this.xyzw[3];\r\n return result;\r\n }\r\n /**\r\n * If `this.w` is nonzero, return a 4d point `(x/w,y/w,z/w, 1)`\r\n * If `this.w` is zero, return undefined.\r\n * @param result optional result\r\n */\r\n public normalizeWeight(result?: Point4d): Point4d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n result = result ? result : new Point4d();\r\n return this.safeDivideOrNull(mag, result);\r\n }\r\n /**\r\n * If `this.w` is nonzero, return a 3d point `(x/w,y/w,z/w)`\r\n * If `this.w` is zero, return undefined.\r\n * @param result optional result\r\n */\r\n public realPoint(result?: Point3d): Point3d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return undefined;\r\n const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n }\r\n\r\n /** Convert the homogeneous point to a (strongly typed) point or vector.\r\n * * If `this.w` is nonzero, return a Point3d `(x/w,y/w,z/w)`\r\n * * If `this.w` is zero, return a Vector3d `(x,y,z)`\r\n */\r\n public realPointOrVector(): Point3d | Vector3d {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return Vector3d.create(this.x, this.y, this.z);\r\n const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(this.x * a, this.y * a, this.z * a);\r\n }\r\n /**\r\n * * If w is nonzero, return Point3d with x/w,y/w,z/w.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param result optional result\r\n */\r\n public static createRealPoint3dDefault000(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\r\n const mag = Geometry.correctSmallFraction(w);\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(x * a, y * a, z * a, result);\r\n }\r\n /**\r\n * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param dx x coordinate of derivative\r\n * @param dy y coordinate of derivative\r\n * @param dz z coordinate of derivative\r\n * @param dw w coordinate of derivative\r\n * @param result optional result\r\n */\r\n public static createRealDerivativeRay3dDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, result?: Ray3d): Ray3d {\r\n const mag = Geometry.correctSmallFraction(w);\r\n // real point is X/w.\r\n // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n const aa = a * a;\r\n return Ray3d.createXYZUVW(x * a, y * a, z * a, (dx * w - dw * x) * aa, (dy * w - dw * y) * aa, (dz * w - dw * z) * aa, result);\r\n }\r\n /**\r\n * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param dx x coordinate of derivative\r\n * @param dy y coordinate of derivative\r\n * @param dz z coordinate of derivative\r\n * @param dw w coordinate of derivative\r\n * @param result optional result\r\n */\r\n public static createRealDerivativePlane3dByOriginAndVectorsDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, ddx: number, ddy: number, ddz: number, ddw: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n const mag = Geometry.correctSmallFraction(w);\r\n // real point is X/w.\r\n // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n const aa = a * a;\r\n const fx = x * a;\r\n const fy = y * a;\r\n const fz = z * a;\r\n const dfx = (dx * w - dw * x) * aa;\r\n const dfy = (dy * w - dw * y) * aa;\r\n const dfz = (dz * w - dw * z) * aa;\r\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(fx, fy, fz, dfx, dfy, dfz, quotientDerivative2(ddx, dw, ddw, fx, dfx, a), quotientDerivative2(ddy, dw, ddw, fy, dfy, a), quotientDerivative2(ddz, dw, ddw, fz, dfz, a), result);\r\n }\r\n /**\r\n * * If this.w is nonzero, return Point3d with x/w,y/w,z/w.\r\n * * If this.w is zero, return 000\r\n */\r\n public realPointDefault000(result?: Point3d): Point3d {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return Point3d.create(0, 0, 0, result);\r\n result = result ? result : new Point3d();\r\n const a = 1.0 / mag;\r\n return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n }\r\n /** divide all components (x,y,z,w) by the 4d magnitude.\r\n *\r\n * * This is appropriate for normalizing a quaternion\r\n * * Use normalizeWeight to divide by the w component.\r\n */\r\n public normalizeXYZW(result?: Point4d): Point4d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.magnitudeXYZW());\r\n result = result ? result : new Point4d();\r\n return this.safeDivideOrNull(mag, result);\r\n }\r\n\r\n /**\r\n * Return the determinant of the 3x3 matrix using components i,j,k of the 3 inputs.\r\n */\r\n public static determinantIndexed3X3(pointA: Point4d, pointB: Point4d, pointC: Point4d, i: number, j: number, k: number) {\r\n return Geometry.tripleProduct(\r\n pointA.xyzw[i], pointA.xyzw[j], pointA.xyzw[k],\r\n pointB.xyzw[i], pointB.xyzw[j], pointB.xyzw[k],\r\n pointC.xyzw[i], pointC.xyzw[j], pointC.xyzw[k]);\r\n }\r\n /**\r\n * Return a Point4d perpendicular to all 3 inputs. (A higher level cross product concept)\r\n * @param pointA first point\r\n * @param pointB second point\r\n * @param pointC third point\r\n */\r\n public static perpendicularPoint4dPlane(pointA: Point4d, pointB: Point4d, pointC: Point4d): Point4d {\r\n return Point4d.create(\r\n Point4d.determinantIndexed3X3(pointA, pointB, pointC, 1, 2, 3),\r\n -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 2, 3, 0),\r\n Point4d.determinantIndexed3X3(pointA, pointB, pointC, 3, 0, 1),\r\n -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 0, 1, 2));\r\n }\r\n /** Treating this Point4d as plane coefficients, convert to origin and normal form. */\r\n public toPlane3dByOriginAndUnitNormal(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined {\r\n return Plane3dByOriginAndUnitNormal.createFrom(this, result);\r\n }\r\n /** Normalize so sum of squares of all 4 coordinates is 1. */\r\n public normalizeQuaternion() {\r\n const magnitude = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\r\n\r\n if (magnitude > 0.0) {\r\n const f = 1.0 / magnitude;\r\n this.x *= f;\r\n this.y *= f;\r\n this.z *= f;\r\n this.w *= f;\r\n }\r\n return magnitude;\r\n }\r\n /** Return a (normalized) quaternion interpolated between two quaternions. */\r\n public static interpolateQuaternions(quaternion0: Point4d, fractionParameter: number, quaternion1: Point4d, result?: Point4d): Point4d {\r\n if (!result)\r\n result = new Point4d();\r\n const maxSafeCosine = 0.9995;\r\n\r\n // return exact quaternions for special values\r\n if (0.0 === fractionParameter) {\r\n result = quaternion0;\r\n return result;\r\n }\r\n if (1.0 === fractionParameter) {\r\n result = quaternion1;\r\n return result;\r\n }\r\n if (0.5 === fractionParameter) {\r\n quaternion0.plus(quaternion1, result);\r\n result.normalizeQuaternion();\r\n return result;\r\n }\r\n\r\n const q0 = quaternion0.clone();\r\n const q1 = quaternion1.clone();\r\n let dot = quaternion0.dotProduct(quaternion1);\r\n\r\n // prevent interpolation through the longer great arc\r\n if (dot < 0.0) {\r\n q1.negate(q1);\r\n dot = -dot;\r\n }\r\n\r\n // if nearly parallel, use interpolate and renormalize .\r\n if (dot > maxSafeCosine) {\r\n q0.interpolate(fractionParameter, q1, result);\r\n result.normalizeQuaternion();\r\n return result;\r\n }\r\n\r\n // safety check\r\n if (dot < -1.0)\r\n dot = -1.0;\r\n else if (dot > 1.0)\r\n dot = 1.0;\r\n\r\n // create orthonormal basis {q0, q2}\r\n const q2 = new Point4d();\r\n q1.plusScaled(q0, -dot, q2); // bsiDPoint4d_addScaledDPoint4d(& q2, & q1, & q0, -dot);\r\n q2.normalizeQuaternion();\r\n\r\n const angle = Math.acos(dot);\r\n const angleOfInterpolation = angle * fractionParameter;\r\n result = Point4d.createAdd2Scaled(q0, Math.cos(angleOfInterpolation), q2, Math.sin(angleOfInterpolation));\r\n return result;\r\n }\r\n /** Measure the \"angle\" between two points, using all 4 components in the dot product that\r\n * gives the cosine of the angle.\r\n */\r\n public radiansToPoint4dXYZW(other: Point4d): number | undefined {\r\n const magA = this.magnitudeXYZW();\r\n const magB = other.magnitudeXYZW();\r\n const dot = this.dotProduct(other); // == cos (theta) * magA * magB\r\n const cos = Geometry.conditionalDivideFraction(dot, magA * magB);\r\n if (cos === undefined)\r\n return undefined;\r\n return Math.acos(cos);\r\n }\r\n}\r\n"]}
1
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\nimport { BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Plane3d } from \"../geometry3d/Plane3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\n\r\n/**\r\n * 4d point packed in an array of 4 numbers.\r\n * @public\r\n */\r\nexport type Point4dProps = number[];\r\n/**\r\n *\r\n * @param ddg numerator second derivative\r\n * @param dh denominator derivative\r\n * @param ddh denominator second derivative\r\n * @param f primary function (g/h)\r\n * @param df derivative of (g/h)\r\n * @param divH = (1/h)\r\n * @internal\r\n */\r\nfunction quotientDerivative2(ddg: number, dh: number, ddh: number,\r\n f: number, df: number, divH: number): number {\r\n return divH * (ddg - 2.0 * df * dh - f * ddh);\r\n}\r\n\r\n/** 4 Dimensional point (x,y,z,w) used in perspective calculations.\r\n * * the coordinates are stored in a Float64Array of length 4.\r\n * * properties `x`, `y`, `z`, `w` access array members.\r\n * *\r\n * * The coordinates are physically stored as a single Float64Array with 4 entries. (w last)\r\n * *\r\n * @public\r\n */\r\nexport class Point4d extends Plane3d implements BeJSONFunctions {\r\n /** x,y,z,w are packed into a Float64Array */\r\n public xyzw: Float64Array;\r\n /** Set x,y,z,w of this point. */\r\n public set(x: number = 0, y: number = 0, z: number = 0, w: number = 0): Point4d {\r\n this.xyzw[0] = x;\r\n this.xyzw[1] = y;\r\n this.xyzw[2] = z;\r\n this.xyzw[3] = w;\r\n return this;\r\n }\r\n /** Set a component by index.\r\n * * No change if index is out of range.\r\n */\r\n public setComponent(index: number, value: number) {\r\n if (index >= 0 && index < 4) {\r\n this.xyzw[index] = value;\r\n }\r\n }\r\n /** The x component. */\r\n public get x() { return this.xyzw[0]; }\r\n public set x(val: number) { this.xyzw[0] = val; }\r\n /** The y component. */\r\n public get y() { return this.xyzw[1]; }\r\n public set y(val: number) { this.xyzw[1] = val; }\r\n /** The z component. */\r\n public get z() { return this.xyzw[2]; }\r\n public set z(val: number) { this.xyzw[2] = val; }\r\n /** The w component of this point. */\r\n public get w() { return this.xyzw[3]; }\r\n public set w(val: number) { this.xyzw[3] = val; }\r\n /** Construct from coordinates. */\r\n protected constructor(x: number = 0, y: number = 0, z: number = 0, w: number = 0) {\r\n super();\r\n this.xyzw = new Float64Array(4);\r\n this.xyzw[0] = x;\r\n this.xyzw[1] = y;\r\n this.xyzw[2] = z;\r\n this.xyzw[3] = w;\r\n }\r\n /** Return a Point4d with specified x,y,z,w */\r\n public static create(x: number = 0, y: number = 0, z: number = 0, w: number = 0, result?: Point4d): Point4d {\r\n return result ? result.set(x, y, z, w) : new Point4d(x, y, z, w);\r\n }\r\n /**\r\n * Create a \"Point4d as a plane\" from \"any\" other [[PlaneAltitudeEvaluator]] type.\r\n * @param source\r\n * @returns\r\n */\r\n public static createPlaneFrom(source: PlaneAltitudeEvaluator): Point4d | undefined {\r\n return new Point4d(source.normalX(), source.normalY(), source.normalZ(), source.altitudeXYZ(0, 0, 0));\r\n }\r\n /** Copy coordinates from `other`. */\r\n public setFrom(other: Point4d): Point4d {\r\n this.xyzw[0] = other.xyzw[0];\r\n this.xyzw[1] = other.xyzw[1];\r\n this.xyzw[2] = other.xyzw[2];\r\n this.xyzw[3] = other.xyzw[3];\r\n return this;\r\n }\r\n /** Clone this point */\r\n public clone(result?: Point4d): Point4d {\r\n return result ? result.setFrom(this) : new Point4d(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n }\r\n /** Set this point's xyzw from a json array `[x,y,z,w]` */\r\n public setFromJSON(json?: Point4dProps) {\r\n if (Geometry.isNumberArray(json, 4))\r\n this.set(json[0], json[1], json[2], json[3]);\r\n else\r\n this.set(0, 0, 0, 0);\r\n }\r\n\r\n /** Create a new point with coordinates from a json array `[x,y,z,w]` */\r\n public static fromJSON(json?: Point4dProps): Point4d {\r\n const result = new Point4d();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /** Near-equality test, using `Geometry.isSameCoordinate` on all 4 x,y,z,w */\r\n public isAlmostEqual(other: Point4d): boolean {\r\n return Geometry.isSameCoordinate(this.x, other.x)\r\n && Geometry.isSameCoordinate(this.y, other.y)\r\n && Geometry.isSameCoordinate(this.z, other.z)\r\n && Geometry.isSameCoordinate(this.w, other.w);\r\n }\r\n /**\r\n * Test for same coordinate by direct x,y,z,w args\r\n * @param x x to test\r\n * @param y y to test\r\n * @param z z to test\r\n * @param w w to test\r\n */\r\n public isAlmostEqualXYZW(x: number, y: number, z: number, w: number): boolean {\r\n return Geometry.isSameCoordinate(this.x, x)\r\n && Geometry.isSameCoordinate(this.y, y)\r\n && Geometry.isSameCoordinate(this.z, z)\r\n && Geometry.isSameCoordinate(this.w, w);\r\n }\r\n\r\n /**\r\n * Convert an Angle to a JSON object.\r\n * @return {*} [x,y,z,w]\r\n */\r\n public toJSON(): Point4dProps {\r\n return [this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]];\r\n }\r\n /** Return the 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public distanceXYZW(other: Point4d): number {\r\n return Geometry.hypotenuseXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** Return the squared 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public distanceSquaredXYZW(other: Point4d): number {\r\n return Geometry.hypotenuseSquaredXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** Return the distance between the instance and other after normalizing by weights\r\n */\r\n public realDistanceXY(other: Point4d): number | undefined {\r\n const wA = this.w;\r\n const wB = other.w;\r\n if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\r\n return undefined;\r\n return Geometry.hypotenuseXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\r\n }\r\n /** Return the largest absolute distance between corresponding components\r\n * * x,y,z,w all participate without normalization.\r\n */\r\n public maxDiff(other: Point4d): number {\r\n return Math.max(Math.abs(other.xyzw[0] - this.xyzw[0]), Math.abs(other.xyzw[1] - this.xyzw[1]), Math.abs(other.xyzw[2] - this.xyzw[2]), Math.abs(other.xyzw[3] - this.xyzw[3]));\r\n }\r\n /** Return the largest absolute entry of all 4 components x,y,z,w */\r\n public maxAbs(): number {\r\n return Math.max(Math.abs(this.xyzw[0]), Math.abs(this.xyzw[1]), Math.abs(this.xyzw[2]), Math.abs(this.xyzw[3]));\r\n }\r\n /** Returns the magnitude including all 4 components x,y,z,w */\r\n public magnitudeXYZW(): number {\r\n return Geometry.hypotenuseXYZW(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n }\r\n /** Returns the magnitude of the leading xyz components. w is ignored. (i.e. the leading xyz are NOT divided by w.) */\r\n public magnitudeSquaredXYZ(): number {\r\n return Geometry.hypotenuseSquaredXYZ(this.xyzw[0], this.xyzw[1], this.xyzw[2]);\r\n }\r\n\r\n /** Return the difference (this-other) using all 4 components x,y,z,w */\r\n public minus(other: Point4d, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] - other.xyzw[0], this.xyzw[1] - other.xyzw[1], this.xyzw[2] - other.xyzw[2], this.xyzw[3] - other.xyzw[3], result);\r\n }\r\n /** Return `((other.w * this) - (this.w * other))` */\r\n public crossWeightedMinus(other: Point4d, result?: Vector3d): Vector3d {\r\n const wa = this.xyzw[3];\r\n const wb = other.xyzw[3];\r\n return Vector3d.create(wb * this.xyzw[0] - wa * other.xyzw[0], wb * this.xyzw[1] - wa * other.xyzw[1], wb * this.xyzw[2] - wa * other.xyzw[2], result);\r\n }\r\n /** Return `((other.w * this) - (this.w * other))`, with other.w known to be 1 */\r\n public crossWeightedMinusPoint3d(other: Point3d, result?: Vector3d): Vector3d {\r\n const wa = this.xyzw[3];\r\n return Vector3d.create(this.xyzw[0] - wa * other.x, this.xyzw[1] - wa * other.y, this.xyzw[2] - wa * other.z, result);\r\n }\r\n /** Return the sum of this and other, using all 4 components x,y,z,w */\r\n public plus(other: Point4d, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + other.xyzw[0], this.xyzw[1] + other.xyzw[1], this.xyzw[2] + other.xyzw[2], this.xyzw[3] + other.xyzw[3], result);\r\n }\r\n /** Test if all components are nearly zero. */\r\n public get isAlmostZero(): boolean {\r\n return Geometry.isSmallMetricDistance(this.maxAbs());\r\n }\r\n /** Create a point with zero in all coordinates. */\r\n public static createZero(): Point4d { return new Point4d(0, 0, 0, 0); }\r\n /**\r\n * Create plane coefficients for the plane containing pointA, pointB, and 0010.\r\n * @param pointA first point\r\n * @param pointB second point\r\n */\r\n public static createPlanePointPointZ(pointA: Point4d, pointB: Point4d, result?: Point4d) {\r\n return Point4d.create(pointA.y * pointB.w - pointA.w * pointB.y, pointA.w * pointB.x - pointA.x * pointB.w, 0.0, pointA.x * pointB.y - pointA.y * pointB.x, result);\r\n }\r\n /**\r\n * extract 3 consecutive numbers from a Float64Array into the xyz values of a Point4d with w = 1.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z sequence\r\n */\r\n public static createFromPackedXYZ(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n if (xIndex >= 0 && xIndex + 2 < data.length)\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], 1.0, result);\r\n return undefined;\r\n }\r\n /**\r\n * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z,w sequence\r\n */\r\n public static createFromPacked(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n if (xIndex >= 0 && xIndex + 3 < data.length)\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n return undefined;\r\n }\r\n /**\r\n * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n * @param data buffer of numbers\r\n * @param xIndex first index for x,y,z,w sequence. Assumed to be a valid index!\r\n * @deprecated in 4.x. Use createFromPacked instead.\r\n */\r\n public static createFromPackedXYZW(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d {\r\n return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n }\r\n /** Create a `Point4d` with x,y,z from an `XYAndZ` input, and w from a separate number. */\r\n public static createFromPointAndWeight(xyz: XYAndZ, w: number): Point4d {\r\n return new Point4d(xyz.x, xyz.y, xyz.z, w);\r\n }\r\n /** Create a `Point4d` from\r\n * * Point2d, Point3d, or Point4d\r\n * * other structure with members x,y and optional z,w\r\n * * array of numbers\r\n * * default z is 0.0\r\n * * default w is 1.0 (array[3] can replace)\r\n */\r\n public static createFromPoint(point: XAndY | XYAndZ | Point4d | number[]): Point4d {\r\n if (point instanceof Point2d)\r\n return new Point4d(point.x, point.y, 0, 1);\r\n if (point instanceof Point3d)\r\n return new Point4d(point.x, point.y, point.z, 1);\r\n if (point instanceof Point4d)\r\n return point.clone();\r\n // hm ... some flavor of x,y,z subset ...\r\n if (Array.isArray(point)) {\r\n const x1 = point.length > 0 ? point[0] : 0.0;\r\n const y1 = point.length > 1 ? point[1] : 0.0;\r\n const z1 = point.length > 2 ? point[2] : 0.0;\r\n const w1 = point.length > 3 ? point[3] : 1.0;\r\n return new Point4d(x1, y1, z1, w1);\r\n }\r\n const x = point.x;\r\n const y = point.y;\r\n const z = point.hasOwnProperty(\"z\") ? (point as any).z : 0.0;\r\n const w = point.hasOwnProperty(\"w\") ? (point as any).w : 1.0;\r\n return new Point4d(x, y, z, w);\r\n\r\n }\r\n /** Return `point + vector * scalar` */\r\n public plusScaled(vector: Point4d, scaleFactor: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vector.xyzw[0] * scaleFactor, this.xyzw[1] + vector.xyzw[1] * scaleFactor, this.xyzw[2] + vector.xyzw[2] * scaleFactor, this.xyzw[3] + vector.xyzw[3] * scaleFactor, result);\r\n }\r\n /** Return interpolation between instance and pointB at fraction\r\n */\r\n public interpolate(fraction: number, pointB: Point4d, result?: Point4d): Point4d {\r\n const v = 1.0 - fraction;\r\n return Point4d.create(this.xyzw[0] * v + pointB.xyzw[0] * fraction, this.xyzw[1] * v + pointB.xyzw[1] * fraction, this.xyzw[2] * v + pointB.xyzw[2] * fraction, this.xyzw[3] * v + pointB.xyzw[3] * fraction, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n public plus2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n public plus3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n }\r\n /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n public static createAdd2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n }\r\n /** Return `point + vectorA \\ scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n public static createAdd3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n }\r\n /** Return dot product of (4d) vectors from the instance to targetA and targetB */\r\n public dotVectorsToTargets(targetA: Point4d, targetB: Point4d): number {\r\n return (targetA.xyzw[0] - this.xyzw[0]) * (targetB.xyzw[0] - this.xyzw[0]) +\r\n (targetA.xyzw[1] - this.xyzw[1]) * (targetB.xyzw[1] - this.xyzw[1]) +\r\n (targetA.xyzw[2] - this.xyzw[2]) * (targetB.xyzw[2] - this.xyzw[2]) +\r\n (targetA.xyzw[3] - this.xyzw[3]) * (targetB.xyzw[3] - this.xyzw[3]);\r\n }\r\n /** return (4d) dot product of the instance and other point. */\r\n public dotProduct(other: Point4d): number {\r\n return this.xyzw[0] * other.xyzw[0] + this.xyzw[1] * other.xyzw[1] + this.xyzw[2] * other.xyzw[2] + this.xyzw[3] * other.xyzw[3];\r\n }\r\n /** return (4d) dot product of the instance with xyzw */\r\n public dotProductXYZW(x: number, y: number, z: number, w: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3] * w;\r\n }\r\n /** dotProduct with (point.x, point.y, point.z, 1) Used in PlaneAltitudeEvaluator interface */\r\n public altitude(point: Point3d): number {\r\n return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3];\r\n }\r\n /** dotProduct with (x, y, z, 1) Used in PlaneAltitudeEvaluator interface */\r\n public altitudeXYZ(x: number, y: number, z: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3];\r\n }\r\n /** dotProduct with (point.x, point.y, point.z, point.w) Used in PlaneAltitudeEvaluator interface */\r\n public weightedAltitude(point: Point4d): number {\r\n return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3] * point.w;\r\n }\r\n /** dotProduct with (vector.x, vector.y, vector.z, 0). Used in PlaneAltitudeEvaluator interface */\r\n public velocity(vector: Vector3d): number {\r\n return this.xyzw[0] * vector.x + this.xyzw[1] * vector.y + this.xyzw[2] * vector.z;\r\n }\r\n /** dotProduct with (x,y,z, 0). Used in PlaneAltitudeEvaluator interface */\r\n public velocityXYZ(x: number, y: number, z: number): number {\r\n return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z;\r\n }\r\n /**\r\n * Return the x component of the normal used to evaluate altitude.\r\n */\r\n public normalX(): number { return this.x; }\r\n /**\r\n * Return the x component of the normal used to evaluate altitude.\r\n */\r\n public normalY(): number { return this.y; }\r\n /**\r\n * Return the z component of the normal used to evaluate altitude.\r\n */\r\n public normalZ(): number { return this.z; }\r\n\r\n /** unit X vector */\r\n public static unitX(): Point4d { return new Point4d(1, 0, 0, 0); }\r\n /** unit Y vector */\r\n public static unitY(): Point4d { return new Point4d(0, 1, 0, 0); }\r\n /** unit Z vector */\r\n public static unitZ(): Point4d { return new Point4d(0, 0, 1, 0); }\r\n /** unit W vector */\r\n public static unitW(): Point4d { return new Point4d(0, 0, 0, 1); }\r\n /** Divide by denominator, but return undefined if denominator is zero. */\r\n public safeDivideOrNull(denominator: number, result?: Point4d): Point4d | undefined {\r\n if (denominator !== 0.0) {\r\n return this.scale(1.0 / denominator, result);\r\n }\r\n return undefined;\r\n }\r\n /**\r\n * * Return xyz projection of spacePoint to the plane (this Point4d is understood as plane coefficients, not point coordinates)\r\n * * If the xyz part of `this` are all zero, (a clone of) `spacePoint` is returned.\r\n */\r\n public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n const h = this.altitude(spacePoint);\r\n const nn = this.magnitudeSquaredXYZ();\r\n // this unusual tol is needed so that toPlane3dByOriginAndUnitNormal agrees with its original implementation\r\n const alpha = Geometry.conditionalDivideCoordinate(-h, nn, Geometry.largeFractionResult * Geometry.largeFractionResult);\r\n if (alpha === undefined)\r\n return spacePoint.clone(result);\r\n return spacePoint.plusXYZ(alpha * this.x, alpha * this.y, alpha * this.z, result);\r\n }\r\n /** scale all components (including w!!) */\r\n public scale(scale: number, result?: Point4d): Point4d {\r\n result = result ? result : new Point4d();\r\n result.xyzw[0] = this.xyzw[0] * scale;\r\n result.xyzw[1] = this.xyzw[1] * scale;\r\n result.xyzw[2] = this.xyzw[2] * scale;\r\n result.xyzw[3] = this.xyzw[3] * scale;\r\n return result;\r\n }\r\n /** Negate components (including w!!) */\r\n public negate(result?: Point4d): Point4d {\r\n result = result ? result : new Point4d();\r\n result.xyzw[0] = -this.xyzw[0];\r\n result.xyzw[1] = -this.xyzw[1];\r\n result.xyzw[2] = -this.xyzw[2];\r\n result.xyzw[3] = -this.xyzw[3];\r\n return result;\r\n }\r\n /**\r\n * If `this.w` is nonzero, return a 4d point `(x/w,y/w,z/w, 1)`\r\n * If `this.w` is zero, return undefined.\r\n * @param result optional result\r\n */\r\n public normalizeWeight(result?: Point4d): Point4d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n result = result ? result : new Point4d();\r\n return this.safeDivideOrNull(mag, result);\r\n }\r\n /**\r\n * If `this.w` is nonzero, return a 3d point `(x/w,y/w,z/w)`\r\n * If `this.w` is zero, return undefined.\r\n * @param result optional result\r\n */\r\n public realPoint(result?: Point3d): Point3d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return undefined;\r\n const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n }\r\n\r\n /** Convert the homogeneous point to a (strongly typed) point or vector.\r\n * * If `this.w` is nonzero, return a Point3d `(x/w,y/w,z/w)`\r\n * * If `this.w` is zero, return a Vector3d `(x,y,z)`\r\n */\r\n public realPointOrVector(): Point3d | Vector3d {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return Vector3d.create(this.x, this.y, this.z);\r\n const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(this.x * a, this.y * a, this.z * a);\r\n }\r\n /**\r\n * * If w is nonzero, return Point3d with x/w,y/w,z/w.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param result optional result\r\n */\r\n public static createRealPoint3dDefault000(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\r\n const mag = Geometry.correctSmallFraction(w);\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n return Point3d.create(x * a, y * a, z * a, result);\r\n }\r\n /**\r\n * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param dx x coordinate of derivative\r\n * @param dy y coordinate of derivative\r\n * @param dz z coordinate of derivative\r\n * @param dw w coordinate of derivative\r\n * @param result optional result\r\n */\r\n public static createRealDerivativeRay3dDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, result?: Ray3d): Ray3d {\r\n const mag = Geometry.correctSmallFraction(w);\r\n // real point is X/w.\r\n // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n const aa = a * a;\r\n return Ray3d.createXYZUVW(x * a, y * a, z * a, (dx * w - dw * x) * aa, (dy * w - dw * y) * aa, (dz * w - dw * z) * aa, result);\r\n }\r\n /**\r\n * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n * * If w is zero, return 000\r\n * @param x x coordinate\r\n * @param y y coordinate\r\n * @param z z coordinate\r\n * @param w w coordinate\r\n * @param dx x coordinate of derivative\r\n * @param dy y coordinate of derivative\r\n * @param dz z coordinate of derivative\r\n * @param dw w coordinate of derivative\r\n * @param result optional result\r\n */\r\n public static createRealDerivativePlane3dByOriginAndVectorsDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, ddx: number, ddy: number, ddz: number, ddw: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n const mag = Geometry.correctSmallFraction(w);\r\n // real point is X/w.\r\n // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n const aa = a * a;\r\n const fx = x * a;\r\n const fy = y * a;\r\n const fz = z * a;\r\n const dfx = (dx * w - dw * x) * aa;\r\n const dfy = (dy * w - dw * y) * aa;\r\n const dfz = (dz * w - dw * z) * aa;\r\n return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(fx, fy, fz, dfx, dfy, dfz, quotientDerivative2(ddx, dw, ddw, fx, dfx, a), quotientDerivative2(ddy, dw, ddw, fy, dfy, a), quotientDerivative2(ddz, dw, ddw, fz, dfz, a), result);\r\n }\r\n /**\r\n * * If this.w is nonzero, return Point3d with x/w,y/w,z/w.\r\n * * If this.w is zero, return 000\r\n */\r\n public realPointDefault000(result?: Point3d): Point3d {\r\n const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n if (mag === 0.0)\r\n return Point3d.create(0, 0, 0, result);\r\n result = result ? result : new Point3d();\r\n const a = 1.0 / mag;\r\n return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n }\r\n /** divide all components (x,y,z,w) by the 4d magnitude.\r\n *\r\n * * This is appropriate for normalizing a quaternion\r\n * * Use normalizeWeight to divide by the w component.\r\n */\r\n public normalizeXYZW(result?: Point4d): Point4d | undefined {\r\n const mag = Geometry.correctSmallFraction(this.magnitudeXYZW());\r\n result = result ? result : new Point4d();\r\n return this.safeDivideOrNull(mag, result);\r\n }\r\n\r\n /**\r\n * Return the determinant of the 3x3 matrix using components i,j,k of the 3 inputs.\r\n */\r\n public static determinantIndexed3X3(pointA: Point4d, pointB: Point4d, pointC: Point4d, i: number, j: number, k: number) {\r\n return Geometry.tripleProduct(\r\n pointA.xyzw[i], pointA.xyzw[j], pointA.xyzw[k],\r\n pointB.xyzw[i], pointB.xyzw[j], pointB.xyzw[k],\r\n pointC.xyzw[i], pointC.xyzw[j], pointC.xyzw[k]);\r\n }\r\n /**\r\n * Return a Point4d perpendicular to all 3 inputs. (A higher level cross product concept)\r\n * @param pointA first point\r\n * @param pointB second point\r\n * @param pointC third point\r\n */\r\n public static perpendicularPoint4dPlane(pointA: Point4d, pointB: Point4d, pointC: Point4d): Point4d {\r\n return Point4d.create(\r\n Point4d.determinantIndexed3X3(pointA, pointB, pointC, 1, 2, 3),\r\n -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 2, 3, 0),\r\n Point4d.determinantIndexed3X3(pointA, pointB, pointC, 3, 0, 1),\r\n -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 0, 1, 2));\r\n }\r\n /** Treating this Point4d as plane coefficients, convert to origin and normal form. */\r\n public toPlane3dByOriginAndUnitNormal(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined {\r\n return Plane3dByOriginAndUnitNormal.createFrom(this, result);\r\n }\r\n /** Normalize so sum of squares of all 4 coordinates is 1. */\r\n public normalizeQuaternion() {\r\n const magnitude = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\r\n\r\n if (magnitude > 0.0) {\r\n const f = 1.0 / magnitude;\r\n this.x *= f;\r\n this.y *= f;\r\n this.z *= f;\r\n this.w *= f;\r\n }\r\n return magnitude;\r\n }\r\n /** Return a (normalized) quaternion interpolated between two quaternions. */\r\n public static interpolateQuaternions(quaternion0: Point4d, fractionParameter: number, quaternion1: Point4d, result?: Point4d): Point4d {\r\n if (!result)\r\n result = new Point4d();\r\n const maxSafeCosine = 0.9995;\r\n\r\n // return exact quaternions for special values\r\n if (0.0 === fractionParameter) {\r\n result = quaternion0;\r\n return result;\r\n }\r\n if (1.0 === fractionParameter) {\r\n result = quaternion1;\r\n return result;\r\n }\r\n if (0.5 === fractionParameter) {\r\n quaternion0.plus(quaternion1, result);\r\n result.normalizeQuaternion();\r\n return result;\r\n }\r\n\r\n const q0 = quaternion0.clone();\r\n const q1 = quaternion1.clone();\r\n let dot = quaternion0.dotProduct(quaternion1);\r\n\r\n // prevent interpolation through the longer great arc\r\n if (dot < 0.0) {\r\n q1.negate(q1);\r\n dot = -dot;\r\n }\r\n\r\n // if nearly parallel, use interpolate and renormalize .\r\n if (dot > maxSafeCosine) {\r\n q0.interpolate(fractionParameter, q1, result);\r\n result.normalizeQuaternion();\r\n return result;\r\n }\r\n\r\n // safety check\r\n if (dot < -1.0)\r\n dot = -1.0;\r\n else if (dot > 1.0)\r\n dot = 1.0;\r\n\r\n // create orthonormal basis {q0, q2}\r\n const q2 = new Point4d();\r\n q1.plusScaled(q0, -dot, q2); // bsiDPoint4d_addScaledDPoint4d(& q2, & q1, & q0, -dot);\r\n q2.normalizeQuaternion();\r\n\r\n const angle = Math.acos(dot);\r\n const angleOfInterpolation = angle * fractionParameter;\r\n result = Point4d.createAdd2Scaled(q0, Math.cos(angleOfInterpolation), q2, Math.sin(angleOfInterpolation));\r\n return result;\r\n }\r\n /** Measure the \"angle\" between two points, using all 4 components in the dot product that\r\n * gives the cosine of the angle.\r\n */\r\n public radiansToPoint4dXYZW(other: Point4d): number | undefined {\r\n const magA = this.magnitudeXYZW();\r\n const magB = other.magnitudeXYZW();\r\n const dot = this.dotProduct(other); // == cos (theta) * magA * magB\r\n const cos = Geometry.conditionalDivideFraction(dot, magA * magB);\r\n if (cos === undefined)\r\n return undefined;\r\n return Math.acos(cos);\r\n }\r\n}\r\n"]}
package/lib/esm/numerics/Newton.d.ts CHANGED
@@ -1,3 +1,6 @@
1
+ /** @packageDocumentation
2
+ * @module Numerics
3
+ */
1
4
  import { CurvePrimitive } from "../curve/CurvePrimitive";
2
5
  import { Plane3dByOriginAndVectors } from "../geometry3d/Plane3dByOriginAndVectors";
3
6
  import { Point3d } from "../geometry3d/Point3dVector3d";
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package/lib/esm/numerics/Newton.js CHANGED
@@ -2,14 +2,11 @@
2
2
  * Copyright (c) Bentley Systems, Incorporated. All rights reserved.
3
3
  * See LICENSE.md in the project root for license terms and full copyright notice.
4
4
  *--------------------------------------------------------------------------------------------*/
5
- /** @packageDocumentation
6
- * @module Numerics
7
- */
8
5
  import { Geometry } from "../Geometry";
9
6
  import { Plane3dByOriginAndVectors } from "../geometry3d/Plane3dByOriginAndVectors";
10
7
  import { Point2d, Vector2d } from "../geometry3d/Point2dVector2d";
11
8
  import { Ray3d } from "../geometry3d/Ray3d";
12
- import { SmallSystem } from "./Polynomials";
9
+ import { SmallSystem } from "./SmallSystem";
13
10
  // cspell:word currentdFdX XYRR
14
11
  /**
15
12
  * Base class for Newton iterations in various dimensions.
package/lib/esm/numerics/Newton.js.map CHANGED
@@ -1 +1 @@
1
- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { SmallSystem } from \"./Polynomials\";\r\n\r\n// cspell:word currentdFdX XYRR\r\n\r\n/**\r\n * Base class for Newton iterations in various dimensions.\r\n * Dimension-specific classes carry all dimension-related data and answer generalized queries from this base class.\r\n * @internal\r\n */\r\nexport abstract class AbstractNewtonIterator {\r\n /** Compute a step. The current x and function values must be retained for use in later method calls. */\r\n public abstract computeStep(): boolean;\r\n /**\r\n * Return the current step size, scaled for use in tolerance tests.\r\n * * This is a single number, typically the max of various per-dimension `dx/(1+x)` for the x and dx of that dimension.\r\n */\r\n public abstract currentStepSize(): number;\r\n /**\r\n * Apply the current step (in all dimensions).\r\n * @param isFinalStep true if this is a final step.\r\n */\r\n public abstract applyCurrentStep(isFinalStep: boolean): boolean;\r\n /**\r\n * The constructor.\r\n * @param stepSizeTarget tolerance to consider a single step converged.\r\n * This number should be \"moderately\" strict. Because 2 successive convergences are required,\r\n * it is expected that a first \"accept\" for (say) 10 to 14 digit step will be followed by another\r\n * iteration. A well behaved newton would then hypothetically double the number of digits to\r\n * 20 to 28. Since the IEEE double only carries 16 digits, this second-convergence step will\r\n * typically achieve full precision.\r\n * @param successiveConvergenceTarget number of successive convergences required for acceptance.\r\n * @param maxIterations max number of iterations. A typical newton step converges in 3 to 6 iterations.\r\n * Allow 15 to 20 to catch difficult cases.\r\n */\r\n protected constructor(\r\n stepSizeTolerance: number = 1.0e-11,\r\n successiveConvergenceTarget: number = 2,\r\n maxIterations: number = 15,\r\n ) {\r\n this._stepSizeTolerance = stepSizeTolerance;\r\n this._successiveConvergenceTarget = successiveConvergenceTarget;\r\n this._maxIterations = maxIterations;\r\n }\r\n /** Number of consecutive steps which passed convergence condition. */\r\n protected _numAccepted: number = 0;\r\n /** Target number of successive convergences. */\r\n protected _successiveConvergenceTarget: number;\r\n /** Convergence target (the implementation-specific currentStepSize is compared to this). */\r\n protected _stepSizeTolerance: number;\r\n /** Max iterations allowed. */\r\n protected _maxIterations: number;\r\n /** Number of iterations (incremented at each step). */\r\n public numIterations: number = 0;\r\n /**\r\n * Test if a step is converged.\r\n * * Convergence is accepted with enough (_successiveConvergenceTarget) small steps (according to _stepSizeTolerance)\r\n * occur in succession.\r\n * @param delta step size as reported by currentStepSize.\r\n */\r\n public testConvergence(delta: number): boolean {\r\n if (Math.abs(delta) < this._stepSizeTolerance) {\r\n this._numAccepted++;\r\n return this._numAccepted >= this._successiveConvergenceTarget;\r\n }\r\n this._numAccepted = 0;\r\n return false;\r\n }\r\n /**\r\n * Run iterations, calling various methods from base and derived classes:\r\n * * computeStep -- typically evaluate derivatives and solve linear system.\r\n * * currentStepSize -- return numeric measure of the step just computed by computeStep.\r\n * * testConvergence -- test if the step from currentStepSize (along with recent steps) is converged.\r\n * * applyCurrentStep -- apply the step to the independent variables.\r\n */\r\n public runIterations(): boolean {\r\n this._numAccepted = 0;\r\n this.numIterations = 0;\r\n while (this.numIterations++ < this._maxIterations && this.computeStep()) {\r\n if (this.testConvergence(this.currentStepSize()) && this.applyCurrentStep(true)) {\r\n // console.log(\"iter: \" + this.numIterations); // print number of Newton iterations for debug\r\n return true;\r\n }\r\n this.applyCurrentStep(false);\r\n }\r\n return false;\r\n }\r\n}\r\n/**\r\n * Object to evaluate a newton function. The object must retain most-recent function and derivative\r\n * values for immediate query.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoRD {\r\n /** Evaluate the function and its derivative at x. */\r\n public abstract evaluate(x: number): boolean;\r\n /** Most recent function value, i.e., f(x_n). */\r\n public currentF!: number;\r\n /** Most recent evaluated derivative, i.e., f'(x_n). */\r\n public currentdFdX!: number;\r\n}\r\n/**\r\n * Newton iterator for use when both function and derivative can be evaluated.\r\n * To solve `f(x) = 0`, the Newton iteration is `x_{n+1} = x_n - dx = x_n - f(x_n)/f'(x_n)`.\r\n * To solve `f(x) = target` which is equivalent to solving `g(x) = f(x) - target = 0`, the Newton iteration is\r\n * `x_{n+1} = x_n - dx = x_n - g(x_n)/g'(x_n) = x_n - (f(x_n)-target)/f'(x_n)`.\r\n * @internal\r\n */\r\nexport class Newton1dUnbounded extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRtoRD;\r\n /** Current step is dx. */\r\n private _currentStep!: number;\r\n /** Current X is x_n. */\r\n private _currentX!: number;\r\n /** The target */\r\n private _target!: number;\r\n /**\r\n * Constructor for 1D newton iteration with derivatives.\r\n * @param func function that returns both function value and derivative.\r\n */\r\n public constructor(func: NewtonEvaluatorRtoRD, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this.setTarget(0);\r\n }\r\n /** Set the independent variable, i.e., x_n. */\r\n public setX(x: number): boolean {\r\n this._currentX = x;\r\n return true;\r\n }\r\n /** Get the independent variable, i.e., x_n. */\r\n public getX(): number {\r\n return this._currentX;\r\n }\r\n /** Set the target function value. */\r\n public setTarget(y: number): void {\r\n this._target = y;\r\n }\r\n /** Move the current X by the just-computed step, i.e., `x_n - dx`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(this._currentX - this._currentStep); // print approximations for debug\r\n return this.setX(this._currentX - this._currentStep);\r\n }\r\n /** Compute the univariate newton step dx. */\r\n public computeStep(): boolean {\r\n if (this._func.evaluate(this._currentX)) {\r\n const dx = Geometry.conditionalDivideFraction(this._func.currentF - this._target, this._func.currentdFdX);\r\n if (dx !== undefined) {\r\n this._currentStep = dx;\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */\r\n public currentStepSize(): number {\r\n return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n }\r\n}\r\n\r\n/**\r\n * Object to evaluate a newton function (without derivative). The object must retain most-recent function value.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoR {\r\n /** Evaluate function value into member currentF */\r\n public abstract evaluate(x: number): boolean;\r\n /** Most recent function evaluation, i.e., f(x_n). */\r\n public currentF!: number;\r\n}\r\n\r\n/**\r\n * Newton iteration for a univariate function, using approximate derivatives.\r\n * To approximate the derivatives we use a small step `h`, i.e., `f'(x_n) = (f(x_n + h) - f(x_n)) / h`.\r\n * Therefore, to solve `f(x) = 0`, the iteration is\r\n * `x_{n+1} = x_n - dx = x_n - f(x_n)/f'(x_n) = x_n - f(x_n) * h / (f(x_n + h) - f(x_n))`.\r\n * @internal\r\n */\r\nexport class Newton1dUnboundedApproximateDerivative extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRtoR;\r\n /** Current step is dx. */\r\n private _currentStep!: number;\r\n /** Current X is x_n. */\r\n private _currentX!: number;\r\n /**\r\n * Step size for approximate derivative for the iteration.\r\n * * Initialized to 1e-8, which is appropriate for iteration in fraction space.\r\n * * Should be larger for iteration with real distance as x.\r\n */\r\n public derivativeH: number; // h\r\n\r\n /**\r\n * Constructor for 1D newton iteration with approximate derivatives.\r\n * @param func function that only returns function value (and not derivative).\r\n */\r\n public constructor(func: NewtonEvaluatorRtoR, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this.derivativeH = 1.0e-8;\r\n }\r\n /** Set the independent variable, i.e., x_n. */\r\n public setX(x: number): boolean {\r\n this._currentX = x;\r\n return true;\r\n }\r\n /** Get the independent variable, i.e., x_n. */\r\n public getX(): number {\r\n return this._currentX;\r\n }\r\n /** Move the current X by the just-computed step, i.e., `x_n - dx`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(this._currentX - this._currentStep); // print approximations for debug\r\n return this.setX(this._currentX - this._currentStep);\r\n }\r\n /** Univariate newton step dx, computed with approximate derivative. */\r\n public computeStep(): boolean {\r\n if (this._func.evaluate(this._currentX)) {\r\n const fA = this._func.currentF; // f(x_n)\r\n if (this._func.evaluate(this._currentX + this.derivativeH)) {\r\n const fB = this._func.currentF; // f(x_n + h)\r\n const dx = Geometry.conditionalDivideFraction(fA, (fB - fA) / this.derivativeH);\r\n if (dx !== undefined) {\r\n this._currentStep = dx;\r\n return true;\r\n }\r\n }\r\n }\r\n return false;\r\n }\r\n /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */\r\n public currentStepSize(): number {\r\n return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n }\r\n}\r\n\r\n/**\r\n * Object to evaluate a 2-parameter newton function with derivatives.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRRtoRRD {\r\n /**\r\n * Iteration controller calls this to ask for evaluation of the function and its two partial derivatives.\r\n * * The implementation returns true, it must set the currentF object.\r\n */\r\n public abstract evaluate(x: number, y: number): boolean;\r\n /**\r\n * Most recent function evaluation as parts of the plane.\r\n * * See doc of [[Newton2dUnboundedWithDerivative]] class for info on 2d newton method.\r\n * * For `F(u,v) := (x(u,v), y(u,v))` the returned plane stores the following evaluations at current value `X := (u,v)`:\r\n * * `origin` = F(X) = (x(X), y(X))\r\n * * `vectorU` = F_u(X) = partial deriv of F wrt u at X = (x_u(X), y_u(X)) = 1st col of Jacobian matrix evaluated at X\r\n * * `vectorV` = F_v(X) = partial deriv of F wrt v at X = (x_v(X), y_v(X)) = 2nd col of Jacobian matrix evaluated at X\r\n */\r\n public currentF!: Plane3dByOriginAndVectors;\r\n /**\r\n * Constructor.\r\n * * This creates a currentF object to (repeatedly) receive function and derivatives.\r\n */\r\n public constructor() {\r\n this.currentF = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n}\r\n\r\n/**\r\n * Implement evaluation steps for newton iteration in 2 dimensions, using caller supplied NewtonEvaluatorRRtoRRD object.\r\n * * Suppose we want to find the roots of `F(u,v) := (x(u,v), y(u,v))`. Writing `X := (u,v)` and `F(X)` as column vectors,\r\n * the 2D Newton's iteration to find a root of `F` is given by:\r\n * `X_{n+1} = X_n - dX = X_n - JInv(X_n)F(X_n)`, where `JInv` is the inverse of the Jacobian matrix `J`, and `J` is\r\n * defined by the partial derivatives of the component functions of F:\r\n *\r\n * `[dx/du dx/dv]`\r\n *\r\n * `[dy/du dy/dv]`\r\n * @internal\r\n */\r\nexport class Newton2dUnboundedWithDerivative extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRRtoRRD;\r\n /** Current step, or dX = (du, dv). */\r\n private _currentStep: Vector2d;\r\n /** Current uv parameters, or X_n = (u_n, v_n). */\r\n private _currentUV: Point2d;\r\n /**\r\n * Constructor for 2D newton iteration with derivatives.\r\n * @param func function that returns both function value and derivative.\r\n */\r\n public constructor(func: NewtonEvaluatorRRtoRRD, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this._currentStep = Vector2d.createZero();\r\n this._currentUV = Point2d.createZero();\r\n }\r\n /** Set the current uv parameters, i.e., `X_n = (u_n, v_n)`. */\r\n public setUV(u: number, v: number): boolean {\r\n this._currentUV.set(u, v);\r\n return true;\r\n }\r\n /** Get the current u parameter of X_n, i.e., u_n. */\r\n public getU(): number {\r\n return this._currentUV.x;\r\n }\r\n /** Get the current v parameter of X_n, i.e., v_n. */\r\n public getV(): number {\r\n return this._currentUV.y;\r\n }\r\n /** Update the current uv parameter by currentStep, i.e., compute `X_{n+1} := X_n - dX = (u_n - du, v_n - dv)`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(\"(\" + (this._currentUV.x - this._currentStep.x) + \",\" + (this._currentUV.y - this._currentStep.y) + \")\");\r\n return this.setUV(this._currentUV.x - this._currentStep.x, this._currentUV.y - this._currentStep.y);\r\n }\r\n /**\r\n * Evaluate the functions and derivatives at `X_n = (u_n, v_n)`, and solve the Jacobian matrix equation to\r\n * compute `dX = (du, dv)`.\r\n */\r\n public computeStep(): boolean {\r\n if (!this._func.evaluate(this._currentUV.x, this._currentUV.y))\r\n return false;\r\n const fA = this._func.currentF;\r\n const jCol0 = fA.vectorU;\r\n const jCol1 = fA.vectorV;\r\n const fX = fA.origin;\r\n // Given X_{n+1} = X_n - dX = X_n - JInv(X_n) F(X_n), we solve J(X_n) dX = F(X_n) for dX:\r\n if (SmallSystem.linearSystem2d(jCol0.x, jCol1.x, jCol0.y, jCol1.y, fX.x, fX.y, this._currentStep))\r\n return true;\r\n return false;\r\n }\r\n /**\r\n * Return the current relative step size, i.e., the larger absolute component of `dX / (1 + |X_n|)`\r\n */\r\n public currentStepSize(): number {\r\n return Geometry.maxAbsXY(\r\n this._currentStep.x / (1.0 + Math.abs(this._currentUV.x)),\r\n this._currentStep.y / (1.0 + Math.abs(this._currentUV.y)),\r\n );\r\n }\r\n}\r\n/**\r\n * SimpleNewton has static methods for newton methods with evaluated functions presented as immediate arguments\r\n * (not function object).\r\n * @internal\r\n */\r\nexport class SimpleNewton {\r\n /**\r\n * Run a one-dimensional newton iteration with separate functions for function and derivative.\r\n * * Completion is at 2 (TWO) successive passes at `absoluteTolerance + relTol * abs(x)`, where relTol is\r\n * chosen internally.\r\n * * `absoluteTolerance` is usually aggressively tight -- should come into play only for x near zero.\r\n * * The `relTol` is fluffy (for instance around 1e-11) but in properly converging cases the extra pass after\r\n * first success normally moves to full machine precision.\r\n * * This is an open-loop newton -- it just runs, and returns undefined if anything bad happens.\r\n */\r\n public static runNewton1D(\r\n x: number,\r\n func: (x: number) => number | undefined,\r\n derivative: (x: number) => number | undefined,\r\n absoluteTolerance: number = Geometry.smallFloatingPoint,\r\n ): number | undefined {\r\n let numConverged = 0;\r\n let tolerance: number;\r\n const relTol = 1.0e-11;\r\n for (let iteration = 0; iteration < 20; iteration++) {\r\n const f = func(x);\r\n const df = derivative(x);\r\n if (f !== undefined && df !== undefined) {\r\n const dx = Geometry.conditionalDivideCoordinate(f, df);\r\n if (dx === undefined)\r\n return undefined;\r\n x -= dx;\r\n // console.log(x); // print approximations for debug\r\n tolerance = absoluteTolerance + Math.abs(x) * relTol;\r\n if (Math.abs(dx) < tolerance) {\r\n numConverged++;\r\n if (dx === 0.0 || numConverged > 1) // bypass convergence count on true 0 dx\r\n return x;\r\n } else {\r\n numConverged = 0;\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY intersection between 2 curve primitives using the Newton method.\r\n * @internal\r\n */\r\nexport class CurveCurveIntersectionXYRRToRRD extends NewtonEvaluatorRRtoRRD {\r\n private _curveP: CurvePrimitive;\r\n private _curveQ: CurvePrimitive;\r\n private _rayP: Ray3d;\r\n private _rayQ: Ray3d;\r\n constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive) {\r\n super();\r\n this._curveP = curveP;\r\n this._curveQ = curveQ;\r\n this._rayP = Ray3d.createZero();\r\n this._rayQ = Ray3d.createZero();\r\n }\r\n public evaluate(fractionU: number, fractionV: number): boolean {\r\n /**\r\n * To find an intersection between xy-curves P(u) = (x_p(u), y_p(u)) and Q(v) = (x_q(v), y_q(v)) we should solve\r\n * F(u,v) := P(u) - Q(v) = (0,0)\r\n * Using the Newton method we can find the fractions u and v at the intersection via\r\n * [u_{n+1}] [u_n] [x_p'(u_n) -x_q'(v_n)] [x_p(u_n) - x_q(v_n)]\r\n * = - Inv( )\r\n * [v_{n+1}] [v_n] [y_p'(u_n) -y_q'(v_n)] [y_p(u_n) - y_q(v_n)]\r\n * Note that this is xy intersection so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAndDerivative(fractionU, this._rayP);\r\n this._curveQ.fractionToPointAndDerivative(fractionV, this._rayQ);\r\n this.currentF.setOriginAndVectorsXYZ(\r\n this._rayP.origin.x - this._rayQ.origin.x, this._rayP.origin.y - this._rayQ.origin.y, 0.0,\r\n this._rayP.direction.x, this._rayP.direction.y, 0.0,\r\n -this._rayQ.direction.x, -this._rayQ.direction.y, 0.0,\r\n );\r\n return true;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY close approach between a curve primitive and a point using the Newton method.\r\n * @internal\r\n */\r\nexport class CurvePointCloseApproachXYRtoRD extends NewtonEvaluatorRtoRD {\r\n private _curveP: CurvePrimitive;\r\n private _pointQ: Point3d;\r\n private _planeP: Plane3dByOriginAndVectors;\r\n constructor(curveP: CurvePrimitive, pointQ: Point3d) {\r\n super();\r\n this._curveP = curveP;\r\n this._pointQ = pointQ;\r\n this._planeP = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n public evaluate(fractionU: number): boolean {\r\n /**\r\n * To find a close approach between xy-curve P(u) and xy-point q we should solve\r\n * F(u) := P'(u).(P(u) - q) = 0\r\n * For a solution u, the segment S(u) := P(u) - q is perpendicular to the curve tangent P'(u), which means S(u) is a close approach.\r\n * Using the Newton method we can find the fractions u at the close approach location via\r\n * u_{n+1} = u_n + F(u_n)/F'(u_n) = u_n + [ P'(u_n).S(u_n) ]/[ P''(u_n).S(u_n) + P'(u_n).P'(u_n) ]\r\n * Note that this is xy close approach so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);\r\n const segX = this._planeP.origin.x - this._pointQ.x;\r\n const segY = this._planeP.origin.y - this._pointQ.y;\r\n const pDerivX = this._planeP.vectorU.x;\r\n const pDerivY = this._planeP.vectorU.y;\r\n const p2DerivX = this._planeP.vectorV.x;\r\n const p2DerivY = this._planeP.vectorV.y;\r\n this.currentF = pDerivX * segX + pDerivY * segY;\r\n this.currentdFdX = p2DerivX * segX + pDerivX * pDerivX + p2DerivY * segY + pDerivY * pDerivY;\r\n return true;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY close approach between 2 curve primitives using the Newton method.\r\n * @internal\r\n */\r\nexport class CurveCurveCloseApproachXYRRtoRRD extends NewtonEvaluatorRRtoRRD {\r\n private _curveP: CurvePrimitive;\r\n private _curveQ: CurvePrimitive;\r\n private _planeP: Plane3dByOriginAndVectors;\r\n private _planeQ: Plane3dByOriginAndVectors;\r\n constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive) {\r\n super();\r\n this._curveP = curveP;\r\n this._curveQ = curveQ;\r\n this._planeP = Plane3dByOriginAndVectors.createXYPlane();\r\n this._planeQ = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n public evaluate(fractionU: number, fractionV: number): boolean {\r\n /**\r\n * To find a close approach between xy-curves P(u) and Q(v) we should solve\r\n * F(u,v) := (P'(u).(P(u) - Q(v)), Q'(v).(P(u) - Q(v))) = (0,0)\r\n * For a solution (u,v), the segment S(u,v) := P(u) - Q(v) is perpendicular to the curve tangents P'(u) and Q'(v),\r\n * which means S(u,v) is a close approach.\r\n * Using the Newton method we can find the fractions u and v at the close approach location via\r\n * [u_{n+1}] [u_n] [P''(u_n).S(u_n,v_n) + P'(u_n).P'(u_n) -P'(u_n).Q'(v_n)] [P'(u_n).S(u_n,v_n)]\r\n * = - Inv( )\r\n * [v_{n+1}] [v_n] [Q'(v_n).P'(u_n) Q''(v_n).S(u_n,v_n) - Q'(v_n).Q'(v_n)] [Q'(v_n).S(u_n,v_n)]\r\n * Note that this is xy close approach so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);\r\n this._curveQ.fractionToPointAnd2Derivatives(fractionV, this._planeQ);\r\n const segX = this._planeP.origin.x - this._planeQ.origin.x;\r\n const segY = this._planeP.origin.y - this._planeQ.origin.y;\r\n const pDerivX = this._planeP.vectorU.x;\r\n const pDerivY = this._planeP.vectorU.y;\r\n const qDerivX = this._planeQ.vectorU.x;\r\n const qDerivY = this._planeQ.vectorU.y;\r\n const p2DerivX = this._planeP.vectorV.x;\r\n const p2DerivY = this._planeP.vectorV.y;\r\n const q2DerivX = this._planeQ.vectorV.x;\r\n const q2DerivY = this._planeQ.vectorV.y;\r\n this.currentF.setOriginAndVectorsXYZ(\r\n pDerivX * segX + pDerivY * segY,\r\n qDerivX * segX + qDerivY * segY,\r\n 0.0,\r\n p2DerivX * segX + p2DerivY * segY + pDerivX * pDerivX + pDerivY * pDerivY,\r\n qDerivX * pDerivX + qDerivY * pDerivY,\r\n 0.0,\r\n -(pDerivX * qDerivX + pDerivY * qDerivY),\r\n q2DerivX * segX + q2DerivY * segY - qDerivX * qDerivX - qDerivY * qDerivY,\r\n 0.0,\r\n );\r\n return true;\r\n }\r\n}\r\n"]}
1
+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { SmallSystem } from \"./SmallSystem\";\r\n\r\n// cspell:word currentdFdX XYRR\r\n\r\n/**\r\n * Base class for Newton iterations in various dimensions.\r\n * Dimension-specific classes carry all dimension-related data and answer generalized queries from this base class.\r\n * @internal\r\n */\r\nexport abstract class AbstractNewtonIterator {\r\n /** Compute a step. The current x and function values must be retained for use in later method calls. */\r\n public abstract computeStep(): boolean;\r\n /**\r\n * Return the current step size, scaled for use in tolerance tests.\r\n * * This is a single number, typically the max of various per-dimension `dx/(1+x)` for the x and dx of that dimension.\r\n */\r\n public abstract currentStepSize(): number;\r\n /**\r\n * Apply the current step (in all dimensions).\r\n * @param isFinalStep true if this is a final step.\r\n */\r\n public abstract applyCurrentStep(isFinalStep: boolean): boolean;\r\n /**\r\n * The constructor.\r\n * @param stepSizeTarget tolerance to consider a single step converged.\r\n * This number should be \"moderately\" strict. Because 2 successive convergences are required,\r\n * it is expected that a first \"accept\" for (say) 10 to 14 digit step will be followed by another\r\n * iteration. A well behaved newton would then hypothetically double the number of digits to\r\n * 20 to 28. Since the IEEE double only carries 16 digits, this second-convergence step will\r\n * typically achieve full precision.\r\n * @param successiveConvergenceTarget number of successive convergences required for acceptance.\r\n * @param maxIterations max number of iterations. A typical newton step converges in 3 to 6 iterations.\r\n * Allow 15 to 20 to catch difficult cases.\r\n */\r\n protected constructor(\r\n stepSizeTolerance: number = 1.0e-11,\r\n successiveConvergenceTarget: number = 2,\r\n maxIterations: number = 15,\r\n ) {\r\n this._stepSizeTolerance = stepSizeTolerance;\r\n this._successiveConvergenceTarget = successiveConvergenceTarget;\r\n this._maxIterations = maxIterations;\r\n }\r\n /** Number of consecutive steps which passed convergence condition. */\r\n protected _numAccepted: number = 0;\r\n /** Target number of successive convergences. */\r\n protected _successiveConvergenceTarget: number;\r\n /** Convergence target (the implementation-specific currentStepSize is compared to this). */\r\n protected _stepSizeTolerance: number;\r\n /** Max iterations allowed. */\r\n protected _maxIterations: number;\r\n /** Number of iterations (incremented at each step). */\r\n public numIterations: number = 0;\r\n /**\r\n * Test if a step is converged.\r\n * * Convergence is accepted with enough (_successiveConvergenceTarget) small steps (according to _stepSizeTolerance)\r\n * occur in succession.\r\n * @param delta step size as reported by currentStepSize.\r\n */\r\n public testConvergence(delta: number): boolean {\r\n if (Math.abs(delta) < this._stepSizeTolerance) {\r\n this._numAccepted++;\r\n return this._numAccepted >= this._successiveConvergenceTarget;\r\n }\r\n this._numAccepted = 0;\r\n return false;\r\n }\r\n /**\r\n * Run iterations, calling various methods from base and derived classes:\r\n * * computeStep -- typically evaluate derivatives and solve linear system.\r\n * * currentStepSize -- return numeric measure of the step just computed by computeStep.\r\n * * testConvergence -- test if the step from currentStepSize (along with recent steps) is converged.\r\n * * applyCurrentStep -- apply the step to the independent variables.\r\n */\r\n public runIterations(): boolean {\r\n this._numAccepted = 0;\r\n this.numIterations = 0;\r\n while (this.numIterations++ < this._maxIterations && this.computeStep()) {\r\n if (this.testConvergence(this.currentStepSize()) && this.applyCurrentStep(true)) {\r\n // console.log(\"iter: \" + this.numIterations); // print number of Newton iterations for debug\r\n return true;\r\n }\r\n this.applyCurrentStep(false);\r\n }\r\n return false;\r\n }\r\n}\r\n/**\r\n * Object to evaluate a newton function. The object must retain most-recent function and derivative\r\n * values for immediate query.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoRD {\r\n /** Evaluate the function and its derivative at x. */\r\n public abstract evaluate(x: number): boolean;\r\n /** Most recent function value, i.e., f(x_n). */\r\n public currentF!: number;\r\n /** Most recent evaluated derivative, i.e., f'(x_n). */\r\n public currentdFdX!: number;\r\n}\r\n/**\r\n * Newton iterator for use when both function and derivative can be evaluated.\r\n * To solve `f(x) = 0`, the Newton iteration is `x_{n+1} = x_n - dx = x_n - f(x_n)/f'(x_n)`.\r\n * To solve `f(x) = target` which is equivalent to solving `g(x) = f(x) - target = 0`, the Newton iteration is\r\n * `x_{n+1} = x_n - dx = x_n - g(x_n)/g'(x_n) = x_n - (f(x_n)-target)/f'(x_n)`.\r\n * @internal\r\n */\r\nexport class Newton1dUnbounded extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRtoRD;\r\n /** Current step is dx. */\r\n private _currentStep!: number;\r\n /** Current X is x_n. */\r\n private _currentX!: number;\r\n /** The target */\r\n private _target!: number;\r\n /**\r\n * Constructor for 1D newton iteration with derivatives.\r\n * @param func function that returns both function value and derivative.\r\n */\r\n public constructor(func: NewtonEvaluatorRtoRD, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this.setTarget(0);\r\n }\r\n /** Set the independent variable, i.e., x_n. */\r\n public setX(x: number): boolean {\r\n this._currentX = x;\r\n return true;\r\n }\r\n /** Get the independent variable, i.e., x_n. */\r\n public getX(): number {\r\n return this._currentX;\r\n }\r\n /** Set the target function value. */\r\n public setTarget(y: number): void {\r\n this._target = y;\r\n }\r\n /** Move the current X by the just-computed step, i.e., `x_n - dx`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(this._currentX - this._currentStep); // print approximations for debug\r\n return this.setX(this._currentX - this._currentStep);\r\n }\r\n /** Compute the univariate newton step dx. */\r\n public computeStep(): boolean {\r\n if (this._func.evaluate(this._currentX)) {\r\n const dx = Geometry.conditionalDivideFraction(this._func.currentF - this._target, this._func.currentdFdX);\r\n if (dx !== undefined) {\r\n this._currentStep = dx;\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */\r\n public currentStepSize(): number {\r\n return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n }\r\n}\r\n\r\n/**\r\n * Object to evaluate a newton function (without derivative). The object must retain most-recent function value.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRtoR {\r\n /** Evaluate function value into member currentF */\r\n public abstract evaluate(x: number): boolean;\r\n /** Most recent function evaluation, i.e., f(x_n). */\r\n public currentF!: number;\r\n}\r\n\r\n/**\r\n * Newton iteration for a univariate function, using approximate derivatives.\r\n * To approximate the derivatives we use a small step `h`, i.e., `f'(x_n) = (f(x_n + h) - f(x_n)) / h`.\r\n * Therefore, to solve `f(x) = 0`, the iteration is\r\n * `x_{n+1} = x_n - dx = x_n - f(x_n)/f'(x_n) = x_n - f(x_n) * h / (f(x_n + h) - f(x_n))`.\r\n * @internal\r\n */\r\nexport class Newton1dUnboundedApproximateDerivative extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRtoR;\r\n /** Current step is dx. */\r\n private _currentStep!: number;\r\n /** Current X is x_n. */\r\n private _currentX!: number;\r\n /**\r\n * Step size for approximate derivative for the iteration.\r\n * * Initialized to 1e-8, which is appropriate for iteration in fraction space.\r\n * * Should be larger for iteration with real distance as x.\r\n */\r\n public derivativeH: number; // h\r\n\r\n /**\r\n * Constructor for 1D newton iteration with approximate derivatives.\r\n * @param func function that only returns function value (and not derivative).\r\n */\r\n public constructor(func: NewtonEvaluatorRtoR, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this.derivativeH = 1.0e-8;\r\n }\r\n /** Set the independent variable, i.e., x_n. */\r\n public setX(x: number): boolean {\r\n this._currentX = x;\r\n return true;\r\n }\r\n /** Get the independent variable, i.e., x_n. */\r\n public getX(): number {\r\n return this._currentX;\r\n }\r\n /** Move the current X by the just-computed step, i.e., `x_n - dx`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(this._currentX - this._currentStep); // print approximations for debug\r\n return this.setX(this._currentX - this._currentStep);\r\n }\r\n /** Univariate newton step dx, computed with approximate derivative. */\r\n public computeStep(): boolean {\r\n if (this._func.evaluate(this._currentX)) {\r\n const fA = this._func.currentF; // f(x_n)\r\n if (this._func.evaluate(this._currentX + this.derivativeH)) {\r\n const fB = this._func.currentF; // f(x_n + h)\r\n const dx = Geometry.conditionalDivideFraction(fA, (fB - fA) / this.derivativeH);\r\n if (dx !== undefined) {\r\n this._currentStep = dx;\r\n return true;\r\n }\r\n }\r\n }\r\n return false;\r\n }\r\n /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */\r\n public currentStepSize(): number {\r\n return Math.abs(this._currentStep / (1.0 + Math.abs(this._currentX)));\r\n }\r\n}\r\n\r\n/**\r\n * Object to evaluate a 2-parameter newton function with derivatives.\r\n * @internal\r\n */\r\nexport abstract class NewtonEvaluatorRRtoRRD {\r\n /**\r\n * Iteration controller calls this to ask for evaluation of the function and its two partial derivatives.\r\n * * The implementation returns true, it must set the currentF object.\r\n */\r\n public abstract evaluate(x: number, y: number): boolean;\r\n /**\r\n * Most recent function evaluation as parts of the plane.\r\n * * See doc of [[Newton2dUnboundedWithDerivative]] class for info on 2d newton method.\r\n * * For `F(u,v) := (x(u,v), y(u,v))` the returned plane stores the following evaluations at current value `X := (u,v)`:\r\n * * `origin` = F(X) = (x(X), y(X))\r\n * * `vectorU` = F_u(X) = partial deriv of F wrt u at X = (x_u(X), y_u(X)) = 1st col of Jacobian matrix evaluated at X\r\n * * `vectorV` = F_v(X) = partial deriv of F wrt v at X = (x_v(X), y_v(X)) = 2nd col of Jacobian matrix evaluated at X\r\n */\r\n public currentF!: Plane3dByOriginAndVectors;\r\n /**\r\n * Constructor.\r\n * * This creates a currentF object to (repeatedly) receive function and derivatives.\r\n */\r\n public constructor() {\r\n this.currentF = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n}\r\n\r\n/**\r\n * Implement evaluation steps for newton iteration in 2 dimensions, using caller supplied NewtonEvaluatorRRtoRRD object.\r\n * * Suppose we want to find the roots of `F(u,v) := (x(u,v), y(u,v))`. Writing `X := (u,v)` and `F(X)` as column vectors,\r\n * the 2D Newton's iteration to find a root of `F` is given by:\r\n * `X_{n+1} = X_n - dX = X_n - JInv(X_n)F(X_n)`, where `JInv` is the inverse of the Jacobian matrix `J`, and `J` is\r\n * defined by the partial derivatives of the component functions of F:\r\n *\r\n * `[dx/du dx/dv]`\r\n *\r\n * `[dy/du dy/dv]`\r\n * @internal\r\n */\r\nexport class Newton2dUnboundedWithDerivative extends AbstractNewtonIterator {\r\n private _func: NewtonEvaluatorRRtoRRD;\r\n /** Current step, or dX = (du, dv). */\r\n private _currentStep: Vector2d;\r\n /** Current uv parameters, or X_n = (u_n, v_n). */\r\n private _currentUV: Point2d;\r\n /**\r\n * Constructor for 2D newton iteration with derivatives.\r\n * @param func function that returns both function value and derivative.\r\n */\r\n public constructor(func: NewtonEvaluatorRRtoRRD, maxIterations?: number) {\r\n super(undefined, undefined, maxIterations);\r\n this._func = func;\r\n this._currentStep = Vector2d.createZero();\r\n this._currentUV = Point2d.createZero();\r\n }\r\n /** Set the current uv parameters, i.e., `X_n = (u_n, v_n)`. */\r\n public setUV(u: number, v: number): boolean {\r\n this._currentUV.set(u, v);\r\n return true;\r\n }\r\n /** Get the current u parameter of X_n, i.e., u_n. */\r\n public getU(): number {\r\n return this._currentUV.x;\r\n }\r\n /** Get the current v parameter of X_n, i.e., v_n. */\r\n public getV(): number {\r\n return this._currentUV.y;\r\n }\r\n /** Update the current uv parameter by currentStep, i.e., compute `X_{n+1} := X_n - dX = (u_n - du, v_n - dv)`. */\r\n public applyCurrentStep(): boolean {\r\n // console.log(\"(\" + (this._currentUV.x - this._currentStep.x) + \",\" + (this._currentUV.y - this._currentStep.y) + \")\");\r\n return this.setUV(this._currentUV.x - this._currentStep.x, this._currentUV.y - this._currentStep.y);\r\n }\r\n /**\r\n * Evaluate the functions and derivatives at `X_n = (u_n, v_n)`, and solve the Jacobian matrix equation to\r\n * compute `dX = (du, dv)`.\r\n */\r\n public computeStep(): boolean {\r\n if (!this._func.evaluate(this._currentUV.x, this._currentUV.y))\r\n return false;\r\n const fA = this._func.currentF;\r\n const jCol0 = fA.vectorU;\r\n const jCol1 = fA.vectorV;\r\n const fX = fA.origin;\r\n // Given X_{n+1} = X_n - dX = X_n - JInv(X_n) F(X_n), we solve J(X_n) dX = F(X_n) for dX:\r\n if (SmallSystem.linearSystem2d(jCol0.x, jCol1.x, jCol0.y, jCol1.y, fX.x, fX.y, this._currentStep))\r\n return true;\r\n return false;\r\n }\r\n /**\r\n * Return the current relative step size, i.e., the larger absolute component of `dX / (1 + |X_n|)`\r\n */\r\n public currentStepSize(): number {\r\n return Geometry.maxAbsXY(\r\n this._currentStep.x / (1.0 + Math.abs(this._currentUV.x)),\r\n this._currentStep.y / (1.0 + Math.abs(this._currentUV.y)),\r\n );\r\n }\r\n}\r\n/**\r\n * SimpleNewton has static methods for newton methods with evaluated functions presented as immediate arguments\r\n * (not function object).\r\n * @internal\r\n */\r\nexport class SimpleNewton {\r\n /**\r\n * Run a one-dimensional newton iteration with separate functions for function and derivative.\r\n * * Completion is at 2 (TWO) successive passes at `absoluteTolerance + relTol * abs(x)`, where relTol is\r\n * chosen internally.\r\n * * `absoluteTolerance` is usually aggressively tight -- should come into play only for x near zero.\r\n * * The `relTol` is fluffy (for instance around 1e-11) but in properly converging cases the extra pass after\r\n * first success normally moves to full machine precision.\r\n * * This is an open-loop newton -- it just runs, and returns undefined if anything bad happens.\r\n */\r\n public static runNewton1D(\r\n x: number,\r\n func: (x: number) => number | undefined,\r\n derivative: (x: number) => number | undefined,\r\n absoluteTolerance: number = Geometry.smallFloatingPoint,\r\n ): number | undefined {\r\n let numConverged = 0;\r\n let tolerance: number;\r\n const relTol = 1.0e-11;\r\n for (let iteration = 0; iteration < 20; iteration++) {\r\n const f = func(x);\r\n const df = derivative(x);\r\n if (f !== undefined && df !== undefined) {\r\n const dx = Geometry.conditionalDivideCoordinate(f, df);\r\n if (dx === undefined)\r\n return undefined;\r\n x -= dx;\r\n // console.log(x); // print approximations for debug\r\n tolerance = absoluteTolerance + Math.abs(x) * relTol;\r\n if (Math.abs(dx) < tolerance) {\r\n numConverged++;\r\n if (dx === 0.0 || numConverged > 1) // bypass convergence count on true 0 dx\r\n return x;\r\n } else {\r\n numConverged = 0;\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY intersection between 2 curve primitives using the Newton method.\r\n * @internal\r\n */\r\nexport class CurveCurveIntersectionXYRRToRRD extends NewtonEvaluatorRRtoRRD {\r\n private _curveP: CurvePrimitive;\r\n private _curveQ: CurvePrimitive;\r\n private _rayP: Ray3d;\r\n private _rayQ: Ray3d;\r\n constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive) {\r\n super();\r\n this._curveP = curveP;\r\n this._curveQ = curveQ;\r\n this._rayP = Ray3d.createZero();\r\n this._rayQ = Ray3d.createZero();\r\n }\r\n public evaluate(fractionU: number, fractionV: number): boolean {\r\n /**\r\n * To find an intersection between xy-curves P(u) = (x_p(u), y_p(u)) and Q(v) = (x_q(v), y_q(v)) we should solve\r\n * F(u,v) := P(u) - Q(v) = (0,0)\r\n * Using the Newton method we can find the fractions u and v at the intersection via\r\n * [u_{n+1}] [u_n] [x_p'(u_n) -x_q'(v_n)] [x_p(u_n) - x_q(v_n)]\r\n * = - Inv( )\r\n * [v_{n+1}] [v_n] [y_p'(u_n) -y_q'(v_n)] [y_p(u_n) - y_q(v_n)]\r\n * Note that this is xy intersection so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAndDerivative(fractionU, this._rayP);\r\n this._curveQ.fractionToPointAndDerivative(fractionV, this._rayQ);\r\n this.currentF.setOriginAndVectorsXYZ(\r\n this._rayP.origin.x - this._rayQ.origin.x, this._rayP.origin.y - this._rayQ.origin.y, 0.0,\r\n this._rayP.direction.x, this._rayP.direction.y, 0.0,\r\n -this._rayQ.direction.x, -this._rayQ.direction.y, 0.0,\r\n );\r\n return true;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY close approach between a curve primitive and a point using the Newton method.\r\n * @internal\r\n */\r\nexport class CurvePointCloseApproachXYRtoRD extends NewtonEvaluatorRtoRD {\r\n private _curveP: CurvePrimitive;\r\n private _pointQ: Point3d;\r\n private _planeP: Plane3dByOriginAndVectors;\r\n constructor(curveP: CurvePrimitive, pointQ: Point3d) {\r\n super();\r\n this._curveP = curveP;\r\n this._pointQ = pointQ;\r\n this._planeP = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n public evaluate(fractionU: number): boolean {\r\n /**\r\n * To find a close approach between xy-curve P(u) and xy-point q we should solve\r\n * F(u) := P'(u).(P(u) - q) = 0\r\n * For a solution u, the segment S(u) := P(u) - q is perpendicular to the curve tangent P'(u), which means S(u) is a close approach.\r\n * Using the Newton method we can find the fractions u at the close approach location via\r\n * u_{n+1} = u_n + F(u_n)/F'(u_n) = u_n + [ P'(u_n).S(u_n) ]/[ P''(u_n).S(u_n) + P'(u_n).P'(u_n) ]\r\n * Note that this is xy close approach so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);\r\n const segX = this._planeP.origin.x - this._pointQ.x;\r\n const segY = this._planeP.origin.y - this._pointQ.y;\r\n const pDerivX = this._planeP.vectorU.x;\r\n const pDerivY = this._planeP.vectorU.y;\r\n const p2DerivX = this._planeP.vectorV.x;\r\n const p2DerivY = this._planeP.vectorV.y;\r\n this.currentF = pDerivX * segX + pDerivY * segY;\r\n this.currentdFdX = p2DerivX * segX + pDerivX * pDerivX + p2DerivY * segY + pDerivY * pDerivY;\r\n return true;\r\n }\r\n}\r\n\r\n/**\r\n * Class to evaluate XY close approach between 2 curve primitives using the Newton method.\r\n * @internal\r\n */\r\nexport class CurveCurveCloseApproachXYRRtoRRD extends NewtonEvaluatorRRtoRRD {\r\n private _curveP: CurvePrimitive;\r\n private _curveQ: CurvePrimitive;\r\n private _planeP: Plane3dByOriginAndVectors;\r\n private _planeQ: Plane3dByOriginAndVectors;\r\n constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive) {\r\n super();\r\n this._curveP = curveP;\r\n this._curveQ = curveQ;\r\n this._planeP = Plane3dByOriginAndVectors.createXYPlane();\r\n this._planeQ = Plane3dByOriginAndVectors.createXYPlane();\r\n }\r\n public evaluate(fractionU: number, fractionV: number): boolean {\r\n /**\r\n * To find a close approach between xy-curves P(u) and Q(v) we should solve\r\n * F(u,v) := (P'(u).(P(u) - Q(v)), Q'(v).(P(u) - Q(v))) = (0,0)\r\n * For a solution (u,v), the segment S(u,v) := P(u) - Q(v) is perpendicular to the curve tangents P'(u) and Q'(v),\r\n * which means S(u,v) is a close approach.\r\n * Using the Newton method we can find the fractions u and v at the close approach location via\r\n * [u_{n+1}] [u_n] [P''(u_n).S(u_n,v_n) + P'(u_n).P'(u_n) -P'(u_n).Q'(v_n)] [P'(u_n).S(u_n,v_n)]\r\n * = - Inv( )\r\n * [v_{n+1}] [v_n] [Q'(v_n).P'(u_n) Q''(v_n).S(u_n,v_n) - Q'(v_n).Q'(v_n)] [Q'(v_n).S(u_n,v_n)]\r\n * Note that this is xy close approach so we can ignore z.\r\n */\r\n this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);\r\n this._curveQ.fractionToPointAnd2Derivatives(fractionV, this._planeQ);\r\n const segX = this._planeP.origin.x - this._planeQ.origin.x;\r\n const segY = this._planeP.origin.y - this._planeQ.origin.y;\r\n const pDerivX = this._planeP.vectorU.x;\r\n const pDerivY = this._planeP.vectorU.y;\r\n const qDerivX = this._planeQ.vectorU.x;\r\n const qDerivY = this._planeQ.vectorU.y;\r\n const p2DerivX = this._planeP.vectorV.x;\r\n const p2DerivY = this._planeP.vectorV.y;\r\n const q2DerivX = this._planeQ.vectorV.x;\r\n const q2DerivY = this._planeQ.vectorV.y;\r\n this.currentF.setOriginAndVectorsXYZ(\r\n pDerivX * segX + pDerivY * segY,\r\n qDerivX * segX + qDerivY * segY,\r\n 0.0,\r\n p2DerivX * segX + p2DerivY * segY + pDerivX * pDerivX + pDerivY * pDerivY,\r\n qDerivX * pDerivX + qDerivY * pDerivY,\r\n 0.0,\r\n -(pDerivX * qDerivX + pDerivY * qDerivY),\r\n q2DerivX * segX + q2DerivY * segY - qDerivX * qDerivX - qDerivY * qDerivY,\r\n 0.0,\r\n );\r\n return true;\r\n }\r\n}\r\n"]}