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

package/lib/cjs/curve/CurveFactory.js

@@ -20,7 +20,7 @@ const PolylineOps_1 = require("../geometry3d/PolylineOps");
 const Ray3d_1 = require("../geometry3d/Ray3d");
 const Segment1d_1 = require("../geometry3d/Segment1d");
 const Transform_1 = require("../geometry3d/Transform");
-const Polynomials_1 = require("../numerics/Polynomials");
+const SmallSystem_1 = require("../numerics/SmallSystem");
 const PolyfaceBuilder_1 = require("../polyface/PolyfaceBuilder");
 const Cone_1 = require("../solid/Cone");
 const RuledSweep_1 = require("../solid/RuledSweep");
@@ -60,33 +60,16 @@ class CurveFactory {
         }
     }
     /**
-     * Create a circular arc from start point, tangent at start, and another point (endpoint) on the arc.
-     * @param pointA
-     * @param tangentA
-     * @param pointB
+     * Create a circular arc defined by start point, tangent at start point, and end point.
+     * * The circular arc is swept from start to end toward direction of the `tangentAtStart`.
+     * * If tangent is parallel to line segment from start to end, return `undefined`.
      */
-    static createArcPointTangentPoint(pointA, tangentA, pointB) {
-        const vectorV = Point3dVector3d_1.Vector3d.createStartEnd(pointA, pointB);
-        const frame = Matrix3d_1.Matrix3d.createRigidFromColumns(tangentA, vectorV, Geometry_1.AxisOrder.XYZ);
-        if (frame !== undefined) {
-            const vv = vectorV.dotProduct(vectorV);
-            const vw = frame.dotColumnY(vectorV);
-            const alpha = Geometry_1.Geometry.conditionalDivideCoordinate(vv, 2 * vw);
-            if (alpha !== undefined) {
-                const vector0 = frame.columnY();
-                vector0.scaleInPlace(-alpha);
-                const vector90 = frame.columnX();
-                vector90.scaleInPlace(alpha);
-                const centerToEnd = vector0.plus(vectorV);
-                const sweepAngle = vector0.angleTo(centerToEnd);
-                let sweepRadians = sweepAngle.radians; // That's always positive and less than PI.
-                if (tangentA.dotProduct(centerToEnd) < 0.0) // ah, sweepRadians is the wrong way
-                    sweepRadians = 2.0 * Math.PI - sweepRadians;
-                const center = pointA.plusScaled(vector0, -1.0);
-                return Arc3d_1.Arc3d.create(center, vector0, vector90, AngleSweep_1.AngleSweep.createStartEndRadians(0.0, sweepRadians));
-            }
-        }
-        return undefined;
+    static createArcPointTangentPoint(start, tangentAtStart, end) {
+        const ret = Arc3d_1.Arc3d.createCircularStartTangentEnd(start, tangentAtStart, end);
+        if (ret instanceof Arc3d_1.Arc3d)
+            return ret;
+        else
+            return undefined;
     }
     /**
      * Construct a sequence of alternating lines and arcs with the arcs creating tangent transition between consecutive edges.
@@ -404,26 +387,16 @@ class CurveFactory {
         return undefined;
     }
     /**
-     * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep
+     * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep.
      * * The vector from start point to center is in the direction of upVector crossed with tangentA.
-     * @param pointA start point
-     * @param tangentA vector in tangent direction at the start
+     * @param start start point.
+     * @param tangentAtStart vector in tangent direction at the start.
      * @param radius signed radius.
-     * @param upVector optional out-of-plane vector.  Defaults to positive Z
-     * @param sweep angular range.  If single `Angle` is given, start angle is at 0 degrees (the start point).
-     *
+     * @param upVector optional out-of-plane vector. Defaults to positive Z.
+     * @param sweep angular range. If single `Angle` is given, start angle is at 0 degrees (the start point).
      */
-    static createArcPointTangentRadius(pointA, tangentA, radius, upVector, sweep) {
-        if (upVector === undefined)
-            upVector = Point3dVector3d_1.Vector3d.unitZ();
-        const vector0 = upVector.unitCrossProduct(tangentA);
-        if (vector0 === undefined)
-            return undefined;
-        const center = pointA.plusScaled(vector0, radius);
-        // reverse the A-to-center vector and bring it up to scale ...
-        vector0.scaleInPlace(-radius);
-        const vector90 = tangentA.scaleToLength(Math.abs(radius)); // (Cannot fail -- prior unitCrossProduct would have failed first)
-        return Arc3d_1.Arc3d.create(center, vector0, vector90, AngleSweep_1.AngleSweep.create(sweep));
+    static createArcPointTangentRadius(start, tangentAtStart, radius, upVector, sweep) {
+        return Arc3d_1.Arc3d.createCircularStartTangentRadius(start, tangentAtStart, radius, upVector, sweep);
     }
     /**
      * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.
@@ -547,7 +520,7 @@ class CurveFactory {
         const vectorA = Point3dVector3d_1.Vector3d.createAdd2Scaled(unitAB, sA, unitPerpAB, tA);
         const vectorB = Point3dVector3d_1.Vector3d.createAdd2Scaled(unitCB, sB, unitPerpCB, tB);
         const uv = Point2dVector2d_1.Vector2d.create();
-        if (Polynomials_1.SmallSystem.linearSystem2d(unitAB.x, -unitCB.x, unitAB.y, -unitCB.y, vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {
+        if (SmallSystem_1.SmallSystem.linearSystem2d(unitAB.x, -unitCB.x, unitAB.y, -unitCB.y, vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {
             const tangencyAB = pointB.plusScaled(unitAB, uv.x);
             const tangencyCB = pointB.plusScaled(unitCB, uv.y);
             const frameA = Transform_1.Transform.createOriginAndMatrixColumns(tangencyAB, unitAB, unitPerpAB, Point3dVector3d_1.Vector3d.unitZ());
@@ -583,7 +556,7 @@ class CurveFactory {
         const normalCx = Geometry_1.Geometry.crossProductXYXY(normalAy, normalAz, normalBy, normalBz);
         const normalCy = Geometry_1.Geometry.crossProductXYXY(normalAz, normalAx, normalBz, normalBx);
         const normalCz = Geometry_1.Geometry.crossProductXYXY(normalAx, normalAy, normalBx, normalBy);
-        const rayOrigin = Polynomials_1.SmallSystem.linearSystem3d(normalAx, normalAy, normalAz, normalBx, normalBy, normalBz, normalCx, normalCy, normalCz, -altitudeA, -altitudeB, 0.0);
+        const rayOrigin = SmallSystem_1.SmallSystem.linearSystem3d(normalAx, normalAy, normalAz, normalBx, normalBy, normalBz, normalCx, normalCy, normalCz, -altitudeA, -altitudeB, 0.0);
         if (rayOrigin !== undefined) {
             return Ray3d_1.Ray3d.createXYZUVW(rayOrigin.x, rayOrigin.y, rayOrigin.z, normalCx, normalCy, normalCz);
         }

package/lib/cjs/curve/CurveFactory.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\n// import { Geometry, Angle, AngleSweep } from \"../Geometry\";\r\n\r\nimport { AxisIndex, AxisOrder, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { Ellipsoid, GeodesicPathPoint } from \"../geometry3d/Ellipsoid\";\r\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3dArrayCarrier } from \"../geometry3d/Point3dArrayCarrier\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { PolylineOps } from \"../geometry3d/PolylineOps\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Segment1d } from \"../geometry3d/Segment1d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY } from \"../geometry3d/XYZProps\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { IndexedPolyface } from \"../polyface/Polyface\";\r\nimport { PolyfaceBuilder } from \"../polyface/PolyfaceBuilder\";\r\nimport { Cone } from \"../solid/Cone\";\r\nimport { RuledSweep } from \"../solid/RuledSweep\";\r\nimport { TorusPipe } from \"../solid/TorusPipe\";\r\nimport { Arc3d, ArcBlendData } from \"./Arc3d\";\r\nimport { AnyCurve } from \"./CurveTypes\";\r\nimport { CurveChain } from \"./CurveCollection\";\r\nimport { CurvePrimitive } from \"./CurvePrimitive\";\r\nimport { GeometryQuery } from \"./GeometryQuery\";\r\nimport { LineSegment3d } from \"./LineSegment3d\";\r\nimport { LineString3d } from \"./LineString3d\";\r\nimport { Loop } from \"./Loop\";\r\nimport { Path } from \"./Path\";\r\nimport { IntegratedSpiral3d } from \"./spiral/IntegratedSpiral3d\";\r\nimport { IntegratedSpiralTypeName } from \"./spiral/TransitionSpiral3d\";\r\nimport { StrokeOptions } from \"./StrokeOptions\";\r\n\r\n// cspell:word CCWXY\r\n\r\n/**\r\n * Interface to carry parallel arrays of planes and sections, and optional geometry assembled from them, as returned by [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport interface SectionSequenceWithPlanes {\r\n  /** the plane of each section */\r\n  planes: Plane3dByOriginAndUnitNormal[];\r\n  /** section curve projected onto the corresponding plane */\r\n  sections: AnyCurve[];\r\n  /**\r\n   * Optional `RuledSweep` generated from the sections.\r\n   * * The `RuledSweep` and sections array refer to the same section objects.\r\n   */\r\n  ruledSweep?: RuledSweep;\r\n  /** Optional mesh generated from the `RuledSweep` generated from the sections. */\r\n  mesh?: IndexedPolyface;\r\n}\r\n\r\n/**\r\n * Enumeration of geometric output for [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport enum MiteredSweepOutputSelect {\r\n  /** Output only the parallel arrays of planes and sections. */\r\n  Sections = 0,\r\n  /** Output planes and sections, as well as the assembled ruled sweep. */\r\n  AlsoRuledSweep = 1,\r\n  /** Output planes and sections, as well as the assembled ruled sweep and its stroked mesh. */\r\n  AlsoMesh = 2,\r\n}\r\n\r\n/**\r\n * Interface bundling options for [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport interface MiteredSweepOptions {\r\n  /** Whether first and last planes are averaged and equated when the centerline is physically closed. Default value is `false`. */\r\n  wrapIfPhysicallyClosed?: boolean;\r\n  /** Whether to output sections only, or sections plus optional geometry constructed from them. Default value is `MiteredSweepOutputSelect.Sections`. */\r\n  outputSelect?: MiteredSweepOutputSelect;\r\n  /** How to stroke the ruled sweep if outputting a mesh. If undefined, default stroke options are used. */\r\n  strokeOptions?: StrokeOptions;\r\n  /** Whether to cap the ruled sweep if outputting a ruled sweep or mesh. Default value is `false`. */\r\n  capped?: boolean;\r\n}\r\n\r\n/**\r\n * The `CurveFactory` class contains methods for specialized curve constructions.\r\n * @public\r\n */\r\nexport class CurveFactory {\r\n  /** (cautiously) construct and save a line segment between fractional positions. */\r\n  private static addPartialSegment(path: Path, allowBackup: boolean, pointA: Point3d | undefined, pointB: Point3d | undefined, fraction0: number, fraction1: number) {\r\n    if (allowBackup || (fraction1 > fraction0)) {\r\n      if (pointA !== undefined && pointB !== undefined && !Geometry.isAlmostEqualNumber(fraction0, fraction1))\r\n        path.tryAddChild(LineSegment3d.create(pointA.interpolate(fraction0, pointB), pointA.interpolate(fraction1, pointB)));\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, and another point (endpoint) on the arc.\r\n   * @param pointA\r\n   * @param tangentA\r\n   * @param pointB\r\n   */\r\n  public static createArcPointTangentPoint(pointA: Point3d, tangentA: Vector3d, pointB: Point3d): Arc3d | undefined {\r\n    const vectorV = Vector3d.createStartEnd(pointA, pointB);\r\n    const frame = Matrix3d.createRigidFromColumns(tangentA, vectorV, AxisOrder.XYZ);\r\n    if (frame !== undefined) {\r\n      const vv = vectorV.dotProduct(vectorV);\r\n      const vw = frame.dotColumnY(vectorV);\r\n      const alpha = Geometry.conditionalDivideCoordinate(vv, 2 * vw);\r\n      if (alpha !== undefined) {\r\n        const vector0 = frame.columnY();\r\n        vector0.scaleInPlace(-alpha);\r\n        const vector90 = frame.columnX();\r\n        vector90.scaleInPlace(alpha);\r\n        const centerToEnd = vector0.plus(vectorV);\r\n        const sweepAngle = vector0.angleTo(centerToEnd);\r\n        let sweepRadians = sweepAngle.radians;  // That's always positive and less than PI.\r\n        if (tangentA.dotProduct(centerToEnd) < 0.0) // ah, sweepRadians is the wrong way\r\n          sweepRadians = 2.0 * Math.PI - sweepRadians;\r\n        const center = pointA.plusScaled(vector0, -1.0);\r\n        return Arc3d.create(center, vector0, vector90, AngleSweep.createStartEndRadians(0.0, sweepRadians));\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Construct a sequence of alternating lines and arcs with the arcs creating tangent transition between consecutive edges.\r\n   *  * If the radius parameter is a number, that radius is used throughout.\r\n   *  * If the radius parameter is an array of numbers, `radius[i]` is applied at `point[i]`.\r\n   *    * Note that since no fillet is constructed at the initial or final point, those entries in `radius[]` are never referenced.\r\n   *    * A zero radius for any point indicates to leave the as a simple corner.\r\n   * @param points point source\r\n   * @param radius fillet radius or array of radii indexed to correspond to the points.\r\n   * @param allowBackupAlongEdge true to allow edges to be created going \"backwards\" along edges if needed to create the blend.\r\n   */\r\n  public static createFilletsInLineString(points: LineString3d | IndexedXYZCollection | Point3d[], radius: number | number[], allowBackupAlongEdge: boolean = true): Path | undefined {\r\n    if (Array.isArray(points))\r\n      return this.createFilletsInLineString(new Point3dArrayCarrier(points), radius, allowBackupAlongEdge);\r\n    if (points instanceof LineString3d)\r\n      return this.createFilletsInLineString(points.packedPoints, radius, allowBackupAlongEdge);\r\n\r\n    const n = points.length;\r\n    if (n <= 1)\r\n      return undefined;\r\n    const pointA = points.getPoint3dAtCheckedPointIndex(0)!;\r\n    const pointB = points.getPoint3dAtCheckedPointIndex(1)!;\r\n    // remark: n=2 and n=3 cases should fall out from loop logic\r\n    const blendArray: ArcBlendData[] = [];\r\n    // build one-sided blends at each end . .\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointA.clone() });\r\n\r\n    for (let i = 1; i + 1 < n; i++) {\r\n      const pointC = points.getPoint3dAtCheckedPointIndex(i + 1)!;\r\n      let thisRadius = 0;\r\n      if (Array.isArray(radius)) {\r\n        if (i < radius.length)\r\n          thisRadius = radius[i];\r\n      } else if (Number.isFinite(radius))\r\n        thisRadius = radius;\r\n\r\n      if (thisRadius !== 0.0)\r\n        blendArray.push(Arc3d.createFilletArc(pointA, pointB, pointC, thisRadius));\r\n      else\r\n        blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n      pointA.setFromPoint3d(pointB);\r\n      pointB.setFromPoint3d(pointC);\r\n    }\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n    if (!allowBackupAlongEdge) {\r\n      // suppress arcs that have overlap with both neighbors or flood either neighbor ..\r\n      for (let i = 1; i + 1 < n; i++) {\r\n        const b = blendArray[i];\r\n        if (b.fraction10 > 1.0\r\n          || b.fraction12 > 1.0\r\n          || 1.0 - b.fraction10 < blendArray[i - 1].fraction12\r\n          || b.fraction12 > 1.0 - blendArray[i + 1].fraction10) {\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      }\r\n      /* The \"1-b\" logic above prevents this loop from ever doing anything.\r\n      // on edge with conflict, suppress the arc with larger fraction\r\n      for (let i = 1; i < n; i++) {\r\n        const b0 = blendArray[i - 1];\r\n        const b1 = blendArray[i];\r\n        if (b0.fraction12 > 1 - b1.fraction10) {\r\n          const b = b0.fraction12 > b1.fraction12 ? b1 : b0;\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      } */\r\n    }\r\n    const path = Path.create();\r\n    this.addPartialSegment(path, allowBackupAlongEdge, blendArray[0].point, blendArray[1].point, blendArray[0].fraction12, 1.0 - blendArray[1].fraction10);\r\n    // add each path and successor edge ...\r\n    for (let i = 1; i + 1 < points.length; i++) {\r\n      const b0 = blendArray[i];\r\n      const b1 = blendArray[i + 1];\r\n      path.tryAddChild(b0.arc);\r\n      this.addPartialSegment(path, allowBackupAlongEdge, b0.point, b1.point, b0.fraction12, 1.0 - b1.fraction10);\r\n    }\r\n    return path;\r\n  }\r\n\r\n  /** Create a `Loop` with given xy corners and fixed z.\r\n   * * The corners always proceed counter clockwise from lower left.\r\n   * * If the radius is too large for the outer rectangle size, it is reduced to half of the the smaller x or y size.\r\n  */\r\n  public static createRectangleXY(x0: number, y0: number, x1: number, y1: number, z: number = 0, filletRadius?: number): Loop {\r\n    let radius = Geometry.correctSmallMetricDistance(filletRadius);\r\n    const xMin = Math.min(x0, x1);\r\n    const xMax = Math.max(x0, x1);\r\n    const yMin = Math.min(y0, y1);\r\n    const yMax = Math.max(y0, y1);\r\n    radius = Math.min(Math.abs(radius), 0.5 * (xMax - xMin), 0.5 * (yMax - yMin));\r\n    if (radius === 0.0)\r\n      return Loop.createPolygon([Point3d.create(xMin, yMin, z), Point3d.create(xMax, yMin, z), Point3d.create(xMax, yMax, z), Point3d.create(xMin, yMax, z), Point3d.create(xMin, yMin, z)]);\r\n    else {\r\n      const vectorU = Vector3d.create(radius, 0, 0);\r\n      const vectorV = Vector3d.create(0, radius, 0);\r\n      const x0A = xMin + radius;\r\n      const y0A = yMin + radius;\r\n      const x1A = xMax - radius;\r\n      const y1A = yMax - radius;\r\n      const centers = [Point3d.create(x1A, y1A, z), Point3d.create(x0A, y1A, z), Point3d.create(x0A, y0A, z), Point3d.create(x1A, y0A, z)];\r\n      const loop = Loop.create();\r\n      for (let i = 0; i < 4; i++) {\r\n        const center = centers[i];\r\n        const nextCenter = centers[(i + 1) % 4];\r\n        const edgeVector = Vector3d.createStartEnd(center, nextCenter);\r\n        const arc = Arc3d.create(center, vectorU, vectorV, AngleSweep.createStartEndDegrees(0, 90));\r\n        loop.tryAddChild(arc);\r\n        const arcEnd = arc.endPoint();\r\n        if (!edgeVector.isAlmostZero)\r\n          loop.tryAddChild(LineSegment3d.create(arcEnd, arcEnd.plus(edgeVector)));\r\n        vectorU.rotate90CCWXY(vectorU);\r\n        vectorV.rotate90CCWXY(vectorV);\r\n      }\r\n      return loop;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * If `arcB` is a continuation of `arcA`, extend `arcA` (in place) to include the range of `arcB`\r\n   * * This only succeeds if the two arcs are part of identical complete arcs and end of `arcA` matches the beginning of `arcB`.\r\n   * @param arcA first arc, modified in place\r\n   * @param arcB second arc, unmodified\r\n   * @param allowReversed whether to consolidate even when second arc is reversed\r\n   * @returns whether `arcA` was modified\r\n   */\r\n  public static appendToArcInPlace(arcA: Arc3d, arcB: Arc3d, allowReverse: boolean = false): boolean {\r\n    if (arcA.center.isAlmostEqual(arcB.center)) {\r\n      const sweepSign = Geometry.split3WaySign(arcA.sweep.sweepRadians * arcB.sweep.sweepRadians, -1, 0, 1);\r\n      // evaluate derivatives wrt radians (not fraction!), but adjust direction for sweep signs\r\n      const endA = arcA.angleToPointAndDerivative(arcA.sweep.fractionToAngle(1.0));\r\n      if (arcA.sweep.sweepRadians < 0)\r\n        endA.direction.scaleInPlace(-1.0);\r\n      const startB = arcB.angleToPointAndDerivative(arcB.sweep.fractionToAngle(0.0));\r\n      if (arcB.sweep.sweepRadians < 0)\r\n        startB.direction.scaleInPlace(-1.0);\r\n\r\n      if (endA.isAlmostEqual(startB)) {\r\n        arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians + sweepSign * arcB.sweep.sweepRadians);\r\n        return true;\r\n      }\r\n      // Also ok if negated tangent . ..\r\n      if (allowReverse) {\r\n        startB.direction.scaleInPlace(-1.0);\r\n        if (endA.isAlmostEqual(startB)) {\r\n          arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians - sweepSign * arcB.sweep.sweepRadians);\r\n          return true;\r\n        }\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return a `Path` containing arcs are on the surface of an ellipsoid and pass through a sequence of points.\r\n   * * Each arc passes through the two given endpoints and in the plane containing the true surface normal at given `fractionForIntermediateNormal`\r\n   * @param ellipsoid\r\n   * @param pathPoints\r\n   * @param fractionForIntermediateNormal fractional position for surface normal used to create the section plane.\r\n   */\r\n  public static assembleArcChainOnEllipsoid(ellipsoid: Ellipsoid, pathPoints: GeodesicPathPoint[], fractionForIntermediateNormal: number = 0.5): Path {\r\n    const arcPath = Path.create();\r\n    for (let i = 0; i + 1 < pathPoints.length; i++) {\r\n      const arc = ellipsoid.sectionArcWithIntermediateNormal(\r\n        pathPoints[i].toAngles(),\r\n        fractionForIntermediateNormal,\r\n        pathPoints[i + 1].toAngles());\r\n      arcPath.tryAddChild(arc);\r\n    }\r\n    return arcPath;\r\n  }\r\n\r\n  private static appendGeometryQueryArray(candidate: GeometryQuery | GeometryQuery[] | undefined, result: GeometryQuery[]) {\r\n    if (candidate instanceof GeometryQuery)\r\n      result.push(candidate);\r\n    else if (Array.isArray(candidate)) {\r\n      for (const p of candidate)\r\n        this.appendGeometryQueryArray(p, result);\r\n    }\r\n\r\n  }\r\n\r\n  /**\r\n   * Create solid primitives for pipe segments (e.g. Cone or TorusPipe) around line and arc primitives.\r\n   * @param centerline centerline geometry/\r\n   * @param pipeRadius radius of pipe.\r\n   */\r\n  public static createPipeSegments(centerline: CurvePrimitive | CurveChain, pipeRadius: number): GeometryQuery | GeometryQuery[] | undefined {\r\n    if (centerline instanceof LineSegment3d) {\r\n      return Cone.createAxisPoints(centerline.startPoint(), centerline.endPoint(), pipeRadius, pipeRadius, false);\r\n    } else if (centerline instanceof Arc3d) {\r\n      return TorusPipe.createAlongArc(centerline, pipeRadius, false);\r\n    } else if (centerline instanceof CurvePrimitive) {\r\n      const builder = PolyfaceBuilder.create();\r\n      builder.addMiteredPipes(centerline, pipeRadius);\r\n      return builder.claimPolyface();\r\n    } else if (centerline instanceof CurveChain) {\r\n      const result: GeometryQuery[] = [];\r\n      for (const p of centerline.children) {\r\n        const pipe = this.createPipeSegments(p, pipeRadius);\r\n        this.appendGeometryQueryArray(pipe, result);\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * * Create section arcs for mitered pipe.\r\n   * * At each end of each pipe, the pipe is cut by the plane that bisects the angle between successive pipe centerlines.\r\n   * * The arc definitions are constructed so that lines between corresponding fractional positions on the arcs are\r\n   *     axial lines on the pipes.\r\n   * * This means that each arc definition axes (aka vector0 and vector90) are _not_ perpendicular to each other.\r\n   * * Circular or elliptical pipe cross sections can be specified by supplying either a radius, a pair of semi-axis lengths, or a full Arc3d.\r\n   *    * For semi-axis length input, x corresponds to an ellipse local axis nominally situated parallel to the xy-plane.\r\n   *    * The center of Arc3d input is translated to the centerline start point to act as initial cross section.\r\n   * @param centerline centerline of pipe\r\n   * @param sectionData circle radius, ellipse semi-axis lengths, or full Arc3d\r\n   */\r\n  public static createMiteredPipeSections(centerline: IndexedXYZCollection, sectionData: number | XAndY | Arc3d): Arc3d[] {\r\n    const arcs: Arc3d[] = [];\r\n    if (centerline.length < 2)\r\n      return [];\r\n\r\n    const vector0 = Vector3d.create();\r\n    const vector90 = Vector3d.create();\r\n    const vectorBC = Vector3d.create();\r\n    const currentCenter = Point3d.create();\r\n    centerline.vectorIndexIndex(0, 1, vectorBC)!;\r\n    centerline.getPoint3dAtUncheckedPointIndex(0, currentCenter);\r\n\r\n    let initialSection: Arc3d;\r\n    if (sectionData instanceof Arc3d) {\r\n      initialSection = sectionData.clone();\r\n      initialSection.center.setFrom(currentCenter);\r\n      vector0.setFrom(sectionData.vector0);\r\n      vector90.setFrom(sectionData.vector90);\r\n    } else if (typeof sectionData === \"number\" || Point3d.isXAndY(sectionData)) {\r\n      const length0 = (typeof sectionData === \"number\") ? sectionData : sectionData.x;\r\n      const length90 = (typeof sectionData === \"number\") ? sectionData : sectionData.y;\r\n      const baseFrame = Matrix3d.createRigidHeadsUp(vectorBC, AxisOrder.ZXY);\r\n      baseFrame.columnX(vector0).scaleInPlace(length0);\r\n      baseFrame.columnY(vector90).scaleInPlace(length90);\r\n      initialSection = Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360());\r\n    } else {\r\n      return [];\r\n    }\r\n    arcs.push(initialSection);\r\n\r\n    const vectorAB = Vector3d.create();\r\n    const bisector = Vector3d.create();\r\n    for (let i = 1; i < centerline.length; i++) {\r\n      vectorAB.setFromVector3d(vectorBC);\r\n      centerline.getPoint3dAtUncheckedPointIndex(i, currentCenter);\r\n      if (i + 1 < centerline.length) {\r\n        centerline.vectorIndexIndex(i, i + 1, vectorBC)!;\r\n      } else {\r\n        vectorBC.setFromVector3d(vectorAB);\r\n      }\r\n      if (vectorAB.normalizeInPlace() && vectorBC.normalizeInPlace()) {\r\n        vectorAB.interpolate(0.5, vectorBC, bisector);\r\n        // On the end ellipse for this pipe section. ..\r\n        // center comes directly from centerline[i]\r\n        // vector0 and vector90 are obtained by sweeping the corresponding vectors of the start ellipse to the split plane.\r\n        moveVectorToPlane(vector0, vectorAB, bisector, vector0);\r\n        moveVectorToPlane(vector90, vectorAB, bisector, vector90);\r\n        arcs.push(Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360()));\r\n      }\r\n    }\r\n    return arcs;\r\n  }\r\n\r\n  /**\r\n   * Sweep the initialSection along each segment of the centerLine until it hits the bisector plane at the next vertex.\r\n   * * The caller should place the initialSection on a plane perpendicular to the first edge.\r\n   *   * This plane is commonly (but not necessarily) through the start point itself.\r\n   *   * If the geometry is not \"on a perpendicular plane\", the output geometry will still be flattened onto the various planes.\r\n   * * In the \"open path\" case (i.e when wrapIfPhysicallyClosed is false or the path does not have matched first and last points)\r\n   *       the first/last output plane will be at the start/end of the first/last edge and on a perpendicular plane.\r\n   * * In the \"closed path\" case, the output plane for the first and last point is the bisector of the start and end planes from the \"open path\" case,\r\n   *    and the first/last section geometry may be different from `initialSection`.\r\n   * * The centerline path does NOT have to be planar, however twisting effects effects will appear in the various bisector planes.\r\n   * @param centerline sweep path, e.g., as stroked from a smooth centerline curve\r\n   * @param initialSection profile curve to be swept. As noted above, this should be on a plane perpendicular to the first segment of the centerline.\r\n   * @param options options for computation and output\r\n   * @return array of sections, starting with `initialSection` projected along the first edge to the first plane.\r\n   */\r\n  public static createMiteredSweepSections(centerline: IndexedXYZCollection | Point3d[], initialSection: AnyCurve, options: MiteredSweepOptions): SectionSequenceWithPlanes | undefined {\r\n    const sectionData: SectionSequenceWithPlanes = { sections: [], planes: [] };\r\n    const planes = PolylineOps.createBisectorPlanesForDistinctPoints(centerline, options.wrapIfPhysicallyClosed);\r\n    if (planes !== undefined && planes.length > 1) {\r\n      // Projection to target plane, constructing sweep direction from two given planes.\r\n      // If successful, push the target plane and swept section to the output arrays and return the swept section.\r\n      // If unsuccessful, leave the output arrays alone and return the input section.\r\n      const doSweepToPlane = function (edgePlane0: Plane3dByOriginAndUnitNormal, edgePlane1: Plane3dByOriginAndUnitNormal,\r\n        targetPlane: Plane3dByOriginAndUnitNormal,\r\n        section: AnyCurve) {\r\n        const sweepVector = Vector3d.createStartEnd(edgePlane0.getOriginRef(), edgePlane1.getOriginRef());\r\n        const transform = Transform.createFlattenAlongVectorToPlane(sweepVector, targetPlane.getOriginRef(), targetPlane.getNormalRef());\r\n        if (transform === undefined)\r\n          return section;\r\n        const section1 = section.cloneTransformed(transform);\r\n        if (section1 === undefined)\r\n          return section;\r\n        sectionData.planes.push(targetPlane);\r\n        sectionData.sections.push(section1);\r\n        return section1;\r\n      };\r\n\r\n      let currentSection = doSweepToPlane(planes[0], planes[1], planes[0], initialSection);\r\n      for (let i = 1; i < planes.length; i++) {\r\n        currentSection = doSweepToPlane(planes[i - 1], planes[i], planes[i], currentSection);\r\n      }\r\n\r\n      if (options.outputSelect) {\r\n        const ruledSweep = RuledSweep.create(sectionData.sections, options.capped ?? false);\r\n        if (ruledSweep) {\r\n          sectionData.ruledSweep = ruledSweep;\r\n          if (MiteredSweepOutputSelect.AlsoMesh === options.outputSelect) {\r\n            const builder = PolyfaceBuilder.create(options.strokeOptions);\r\n            builder.addRuledSweep(ruledSweep);\r\n            sectionData.mesh = builder.claimPolyface();\r\n          }\r\n        }\r\n      }\r\n      return sectionData;\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep\r\n   * * The vector from start point to center is in the direction of upVector crossed with tangentA.\r\n   * @param pointA start point\r\n   * @param tangentA vector in tangent direction at the start\r\n   * @param radius signed radius.\r\n   * @param upVector optional out-of-plane vector.  Defaults to positive Z\r\n   * @param sweep angular range.  If single `Angle` is given, start angle is at 0 degrees (the start point).\r\n   *\r\n   */\r\n  public static createArcPointTangentRadius(pointA: Point3d, tangentA: Vector3d, radius: number, upVector?: Vector3d, sweep?: Angle | AngleSweep): Arc3d | undefined {\r\n    if (upVector === undefined)\r\n      upVector = Vector3d.unitZ();\r\n    const vector0 = upVector.unitCrossProduct(tangentA);\r\n    if (vector0 === undefined)\r\n      return undefined;\r\n    const center = pointA.plusScaled(vector0, radius);\r\n    // reverse the A-to-center vector and bring it up to scale ...\r\n    vector0.scaleInPlace(-radius);\r\n    const vector90 = tangentA.scaleToLength(Math.abs(radius))!; // (Cannot fail -- prior unitCrossProduct would have failed first)\r\n    return Arc3d.create(center, vector0, vector90, AngleSweep.create(sweep));\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * First spiral begins at given start point.\r\n   * * first tangent aims at shoulder\r\n   * * outbound spiral joins line from shoulder to target.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param startPoint inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    startPoint: Point3d,\r\n    shoulderPoint: Point3d,\r\n    targetPoint: Point3d,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(startPoint, shoulderPoint);\r\n    const vectorBC0 = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n    const referenceLength = vectorAB.magnitude();\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnRadians = vectorAB.angleToXY(vectorBC0);\r\n    const spiralTurnRadians = 0.5 * lineTurnRadians.radians;\r\n    const radiansBC = radiansAB + lineTurnRadians.radians;\r\n    const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n    const frameA = Transform.createRefs(startPoint.clone(), axesA);\r\n    // We know how much it has to turn, and but not the length or end radius.\r\n    // make a spiral of referenceLength and scale it back to the junction line\r\n    const spiralARefLength = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n      Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength, undefined, frameA);\r\n    if (spiralARefLength) {\r\n      const midPlanePerpendicularRadians = radiansAB + spiralTurnRadians;\r\n      const midPlanePerpendicularVector = Vector3d.createPolar(1.0, Angle.createRadians(midPlanePerpendicularRadians));\r\n      const altitudeB = midPlanePerpendicularVector.dotProductStartEnd(startPoint, shoulderPoint);\r\n      const altitudeSpiralEnd = midPlanePerpendicularVector.dotProductStartEnd(startPoint, spiralARefLength.endPoint());\r\n      const scaleFactor = altitudeB / altitudeSpiralEnd;\r\n      const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n        Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength * scaleFactor, undefined, frameA)!;\r\n      const distanceAB = vectorAB.magnitude();\r\n      const vectorBC = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n      vectorBC.scaleToLength(distanceAB, vectorBC);\r\n      const pointC = shoulderPoint.plus(vectorBC);\r\n      const axesC = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansBC + Math.PI));\r\n      const frameC = Transform.createRefs(pointC, axesC);\r\n      const spiralC = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n        0, -spiralA.radius01.x1, Angle.zero(), undefined, spiralA.curveLength(), Segment1d.create(1, 0), frameC)!;\r\n      return [spiralA, spiralC];\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * Spiral length is given.\r\n   * * tangency points float on both lines.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @param spiralLength for each part of the spiral pair.\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLineWithSpiralLength(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    spiralLength: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB);\r\n    const vectorBC = Vector3d.createStartEnd(pointB, pointC);\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnAngle = vectorAB.angleToXY(vectorBC);\r\n    const spiralTurnRadians = 0.5 * lineTurnAngle.radians;\r\n    const bisectorRadians = 0.5 * (Math.PI - lineTurnAngle.radians);\r\n    const radiansCB = Math.atan2(-vectorBC.y, -vectorBC.x);\r\n    const spiralAB0 = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n      spiralLength, undefined, Transform.createIdentity());\r\n    if (spiralAB0) {\r\n      const localEndPoint = spiralAB0.fractionToPoint(1);\r\n      const distanceAB = pointA.distance(pointB);\r\n      const distanceCB = pointC.distance(pointB);\r\n      // The spiral eventually has to end on the bisector, at localEndPoint.y height from the inbound line\r\n      // distance from shoulder to projection of that point to point E on the inbound line is\r\n      const distanceBE = localEndPoint.y / Math.tan(bisectorRadians);\r\n      const xFractionAB = Geometry.conditionalDivideFraction(distanceAB - distanceBE - localEndPoint.x, distanceAB);\r\n      const xFractionCB = Geometry.conditionalDivideFraction(distanceCB - distanceBE - localEndPoint.x, distanceCB);\r\n      if (xFractionAB !== undefined && xFractionCB !== undefined) {\r\n        const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n        const frameAOrigin = pointA.interpolate(xFractionAB, pointB);\r\n        const frameA = Transform.createRefs(frameAOrigin, axesA);\r\n        const spiralAB = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n          spiralLength, undefined, frameA)!;\r\n        const axesB = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansCB));\r\n        const frameBOrigin = pointC.interpolate(xFractionCB, pointB);\r\n        const frameB = Transform.createRefs(frameBOrigin, axesB);\r\n        const spiralBC = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(-spiralTurnRadians),\r\n          spiralLength, undefined, frameB)!;\r\n        return [spiralAB, spiralBC];\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals and an arc (all in XY) for a symmetric line-to-line transition.\r\n   * Spiral lengths and arc radius are given.   (e.g. from design speed standards.)\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param pointB shoulder (target)  point for (both) spiral-to-line tangencies\r\n   * @param lengthA inbound spiral length\r\n   * @param lengthB outbound spiral length\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralArcSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    lengthA: number,\r\n    lengthB: number,\r\n    arcRadius: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB); vectorAB.z = 0;\r\n    const vectorCB = Vector3d.createStartEnd(pointC, pointB); vectorCB.z = 0;\r\n    const unitAB = vectorAB.normalize();\r\n    const unitCB = vectorCB.normalize();\r\n    if (unitAB === undefined || unitCB === undefined)\r\n      return undefined;\r\n    const unitPerpAB = unitAB.unitPerpendicularXY();\r\n    const unitPerpCB = unitCB.unitPerpendicularXY();\r\n    const thetaABC = vectorAB.angleToXY(vectorCB);\r\n    const sideA = Geometry.split3WaySign(thetaABC.radians, 1, -1, -1);\r\n    const sideB = - sideA;\r\n    const radiusA = sideA * Math.abs(arcRadius);\r\n    const radiusB = sideB * Math.abs(arcRadius);\r\n    const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusA, Angle.zero(), undefined, lengthA, undefined, Transform.createIdentity())!;\r\n    const spiralB = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusB, Angle.zero(), undefined, lengthB, undefined, Transform.createIdentity())!;\r\n    const spiralEndA = spiralA.fractionToPointAndUnitTangent(1.0);\r\n    const spiralEndB = spiralB.fractionToPointAndUnitTangent(1.0);\r\n    // From the end of spiral, step away to arc center (and this is in local coordinates of each spiral)\r\n    const sA = spiralEndA.origin.x - radiusA * spiralEndA.direction.y;\r\n    const tA = spiralEndA.origin.y + radiusA * spiralEndA.direction.x;\r\n\r\n    const sB = spiralEndB.origin.x - radiusB * spiralEndB.direction.y;\r\n    const tB = spiralEndB.origin.y + radiusB * spiralEndB.direction.x;\r\n\r\n    // Those local coordinates are rotated to unitAB and unitBC ...\r\n    const vectorA = Vector3d.createAdd2Scaled(unitAB, sA, unitPerpAB, tA);\r\n    const vectorB = Vector3d.createAdd2Scaled(unitCB, sB, unitPerpCB, tB);\r\n    const uv = Vector2d.create();\r\n    if (SmallSystem.linearSystem2d(\r\n      unitAB.x, -unitCB.x,\r\n      unitAB.y, -unitCB.y,\r\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {\r\n      const tangencyAB = pointB.plusScaled(unitAB, uv.x);\r\n      const tangencyCB = pointB.plusScaled(unitCB, uv.y);\r\n      const frameA = Transform.createOriginAndMatrixColumns(tangencyAB, unitAB, unitPerpAB, Vector3d.unitZ());\r\n      const frameB = Transform.createOriginAndMatrixColumns(tangencyCB, unitCB, unitPerpCB, Vector3d.unitZ());\r\n      spiralA.tryTransformInPlace(frameA);\r\n      spiralB.tryTransformInPlace(frameB);\r\n      const rayA1 = spiralA.fractionToPointAndUnitTangent(1.0);\r\n      const rayB0 = spiralB.fractionToPointAndUnitTangent(1.0);\r\n      rayB0.direction.scaleInPlace(-1.0);\r\n      const sweep = rayA1.direction.angleToXY(rayB0.direction);\r\n      if (radiusA < 0)\r\n        sweep.setRadians(- sweep.radians);\r\n      const arc = CurveFactory.createArcPointTangentRadius(rayA1.origin, rayA1.direction, radiusA, undefined, sweep)!;\r\n      return [spiralA, arc, spiralB];\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Return the intersection point of 3 planes.\r\n   * @param planeA\r\n   * @param planeB\r\n   * @param planeC\r\n   */\r\n  public static planePlaneIntersectionRay(\r\n    planeA: PlaneAltitudeEvaluator, planeB: PlaneAltitudeEvaluator): Ray3d | undefined {\r\n    const altitudeA = planeA.altitudeXYZ(0, 0, 0);\r\n    const altitudeB = planeB.altitudeXYZ(0, 0, 0);\r\n    const normalAx = planeA.normalX();\r\n    const normalAy = planeA.normalY();\r\n    const normalAz = planeA.normalZ();\r\n    const normalBx = planeB.normalX();\r\n    const normalBy = planeB.normalY();\r\n    const normalBz = planeB.normalZ();\r\n    const normalCx = Geometry.crossProductXYXY(normalAy, normalAz, normalBy, normalBz);\r\n    const normalCy = Geometry.crossProductXYXY(normalAz, normalAx, normalBz, normalBx);\r\n    const normalCz = Geometry.crossProductXYXY(normalAx, normalAy, normalBx, normalBy);\r\n    const rayOrigin = SmallSystem.linearSystem3d(\r\n      normalAx, normalAy, normalAz,\r\n      normalBx, normalBy, normalBz,\r\n      normalCx, normalCy, normalCz,\r\n      -altitudeA, -altitudeB, 0.0);\r\n    if (rayOrigin !== undefined) {\r\n      return Ray3d.createXYZUVW(rayOrigin.x, rayOrigin.y, rayOrigin.z, normalCx, normalCy, normalCz);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n}\r\n\r\n/**\r\n * Starting at vectorR, move parallel to vectorV until perpendicular to planeNormal\r\n */\r\nfunction moveVectorToPlane(vectorR: Vector3d, vectorV: Vector3d, planeNormal: Vector3d, result?: Vector3d): Vector3d {\r\n  // find s such that (vectorR + s * vectorV) DOT planeNormal = 0.\r\n  const dotRN = vectorR.dotProduct(planeNormal);\r\n  const dotVN = vectorV.dotProduct(planeNormal);\r\n  const s = Geometry.safeDivideFraction(dotRN, dotVN, 0.0);\r\n  return vectorR.plusScaled(vectorV, -s, result);\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\n// import { Geometry, Angle, AngleSweep } from \"../Geometry\";\r\n\r\nimport { AxisIndex, AxisOrder, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { Ellipsoid, GeodesicPathPoint } from \"../geometry3d/Ellipsoid\";\r\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3dArrayCarrier } from \"../geometry3d/Point3dArrayCarrier\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { PolylineOps } from \"../geometry3d/PolylineOps\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Segment1d } from \"../geometry3d/Segment1d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY } from \"../geometry3d/XYZProps\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { IndexedPolyface } from \"../polyface/Polyface\";\r\nimport { PolyfaceBuilder } from \"../polyface/PolyfaceBuilder\";\r\nimport { Cone } from \"../solid/Cone\";\r\nimport { RuledSweep } from \"../solid/RuledSweep\";\r\nimport { TorusPipe } from \"../solid/TorusPipe\";\r\nimport { Arc3d, ArcBlendData } from \"./Arc3d\";\r\nimport { CurveChain } from \"./CurveCollection\";\r\nimport { CurvePrimitive } from \"./CurvePrimitive\";\r\nimport { AnyCurve } from \"./CurveTypes\";\r\nimport { GeometryQuery } from \"./GeometryQuery\";\r\nimport { LineSegment3d } from \"./LineSegment3d\";\r\nimport { LineString3d } from \"./LineString3d\";\r\nimport { Loop } from \"./Loop\";\r\nimport { Path } from \"./Path\";\r\nimport { IntegratedSpiral3d } from \"./spiral/IntegratedSpiral3d\";\r\nimport { IntegratedSpiralTypeName } from \"./spiral/TransitionSpiral3d\";\r\nimport { StrokeOptions } from \"./StrokeOptions\";\r\n\r\n// cspell:word CCWXY\r\n\r\n/**\r\n * Interface to carry parallel arrays of planes and sections, and optional geometry assembled from them, as returned by [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport interface SectionSequenceWithPlanes {\r\n  /** the plane of each section */\r\n  planes: Plane3dByOriginAndUnitNormal[];\r\n  /** section curve projected onto the corresponding plane */\r\n  sections: AnyCurve[];\r\n  /**\r\n   * Optional `RuledSweep` generated from the sections.\r\n   * * The `RuledSweep` and sections array refer to the same section objects.\r\n   */\r\n  ruledSweep?: RuledSweep;\r\n  /** Optional mesh generated from the `RuledSweep` generated from the sections. */\r\n  mesh?: IndexedPolyface;\r\n}\r\n\r\n/**\r\n * Enumeration of geometric output for [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport enum MiteredSweepOutputSelect {\r\n  /** Output only the parallel arrays of planes and sections. */\r\n  Sections = 0,\r\n  /** Output planes and sections, as well as the assembled ruled sweep. */\r\n  AlsoRuledSweep = 1,\r\n  /** Output planes and sections, as well as the assembled ruled sweep and its stroked mesh. */\r\n  AlsoMesh = 2,\r\n}\r\n\r\n/**\r\n * Interface bundling options for [CurveFactory.createMiteredSweepSections].\r\n * @public\r\n */\r\nexport interface MiteredSweepOptions {\r\n  /** Whether first and last planes are averaged and equated when the centerline is physically closed. Default value is `false`. */\r\n  wrapIfPhysicallyClosed?: boolean;\r\n  /** Whether to output sections only, or sections plus optional geometry constructed from them. Default value is `MiteredSweepOutputSelect.Sections`. */\r\n  outputSelect?: MiteredSweepOutputSelect;\r\n  /** How to stroke the ruled sweep if outputting a mesh. If undefined, default stroke options are used. */\r\n  strokeOptions?: StrokeOptions;\r\n  /** Whether to cap the ruled sweep if outputting a ruled sweep or mesh. Default value is `false`. */\r\n  capped?: boolean;\r\n}\r\n\r\n/**\r\n * The `CurveFactory` class contains methods for specialized curve constructions.\r\n * @public\r\n */\r\nexport class CurveFactory {\r\n  /** (cautiously) construct and save a line segment between fractional positions. */\r\n  private static addPartialSegment(path: Path, allowBackup: boolean, pointA: Point3d | undefined, pointB: Point3d | undefined, fraction0: number, fraction1: number) {\r\n    if (allowBackup || (fraction1 > fraction0)) {\r\n      if (pointA !== undefined && pointB !== undefined && !Geometry.isAlmostEqualNumber(fraction0, fraction1))\r\n        path.tryAddChild(LineSegment3d.create(pointA.interpolate(fraction0, pointB), pointA.interpolate(fraction1, pointB)));\r\n    }\r\n  }\r\n  /**\r\n   * Create a circular arc defined by start point, tangent at start point, and end point.\r\n   * * The circular arc is swept from start to end toward direction of the `tangentAtStart`.\r\n   * * If tangent is parallel to line segment from start to end, return `undefined`.\r\n   */\r\n  public static createArcPointTangentPoint(start: Point3d, tangentAtStart: Vector3d, end: Point3d): Arc3d | undefined {\r\n    const ret = Arc3d.createCircularStartTangentEnd(start, tangentAtStart, end);\r\n    if (ret instanceof Arc3d)\r\n      return ret;\r\n    else\r\n      return undefined;\r\n  }\r\n  /**\r\n   * Construct a sequence of alternating lines and arcs with the arcs creating tangent transition between consecutive edges.\r\n   *  * If the radius parameter is a number, that radius is used throughout.\r\n   *  * If the radius parameter is an array of numbers, `radius[i]` is applied at `point[i]`.\r\n   *    * Note that since no fillet is constructed at the initial or final point, those entries in `radius[]` are never referenced.\r\n   *    * A zero radius for any point indicates to leave the as a simple corner.\r\n   * @param points point source\r\n   * @param radius fillet radius or array of radii indexed to correspond to the points.\r\n   * @param allowBackupAlongEdge true to allow edges to be created going \"backwards\" along edges if needed to create the blend.\r\n   */\r\n  public static createFilletsInLineString(points: LineString3d | IndexedXYZCollection | Point3d[], radius: number | number[], allowBackupAlongEdge: boolean = true): Path | undefined {\r\n    if (Array.isArray(points))\r\n      return this.createFilletsInLineString(new Point3dArrayCarrier(points), radius, allowBackupAlongEdge);\r\n    if (points instanceof LineString3d)\r\n      return this.createFilletsInLineString(points.packedPoints, radius, allowBackupAlongEdge);\r\n\r\n    const n = points.length;\r\n    if (n <= 1)\r\n      return undefined;\r\n    const pointA = points.getPoint3dAtCheckedPointIndex(0)!;\r\n    const pointB = points.getPoint3dAtCheckedPointIndex(1)!;\r\n    // remark: n=2 and n=3 cases should fall out from loop logic\r\n    const blendArray: ArcBlendData[] = [];\r\n    // build one-sided blends at each end . .\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointA.clone() });\r\n\r\n    for (let i = 1; i + 1 < n; i++) {\r\n      const pointC = points.getPoint3dAtCheckedPointIndex(i + 1)!;\r\n      let thisRadius = 0;\r\n      if (Array.isArray(radius)) {\r\n        if (i < radius.length)\r\n          thisRadius = radius[i];\r\n      } else if (Number.isFinite(radius))\r\n        thisRadius = radius;\r\n\r\n      if (thisRadius !== 0.0)\r\n        blendArray.push(Arc3d.createFilletArc(pointA, pointB, pointC, thisRadius));\r\n      else\r\n        blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n      pointA.setFromPoint3d(pointB);\r\n      pointB.setFromPoint3d(pointC);\r\n    }\r\n    blendArray.push({ fraction10: 0.0, fraction12: 0.0, point: pointB.clone() });\r\n    if (!allowBackupAlongEdge) {\r\n      // suppress arcs that have overlap with both neighbors or flood either neighbor ..\r\n      for (let i = 1; i + 1 < n; i++) {\r\n        const b = blendArray[i];\r\n        if (b.fraction10 > 1.0\r\n          || b.fraction12 > 1.0\r\n          || 1.0 - b.fraction10 < blendArray[i - 1].fraction12\r\n          || b.fraction12 > 1.0 - blendArray[i + 1].fraction10) {\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      }\r\n      /* The \"1-b\" logic above prevents this loop from ever doing anything.\r\n      // on edge with conflict, suppress the arc with larger fraction\r\n      for (let i = 1; i < n; i++) {\r\n        const b0 = blendArray[i - 1];\r\n        const b1 = blendArray[i];\r\n        if (b0.fraction12 > 1 - b1.fraction10) {\r\n          const b = b0.fraction12 > b1.fraction12 ? b1 : b0;\r\n          b.fraction10 = 0.0;\r\n          b.fraction12 = 0.0;\r\n          blendArray[i].arc = undefined;\r\n        }\r\n      } */\r\n    }\r\n    const path = Path.create();\r\n    this.addPartialSegment(path, allowBackupAlongEdge, blendArray[0].point, blendArray[1].point, blendArray[0].fraction12, 1.0 - blendArray[1].fraction10);\r\n    // add each path and successor edge ...\r\n    for (let i = 1; i + 1 < points.length; i++) {\r\n      const b0 = blendArray[i];\r\n      const b1 = blendArray[i + 1];\r\n      path.tryAddChild(b0.arc);\r\n      this.addPartialSegment(path, allowBackupAlongEdge, b0.point, b1.point, b0.fraction12, 1.0 - b1.fraction10);\r\n    }\r\n    return path;\r\n  }\r\n\r\n  /** Create a `Loop` with given xy corners and fixed z.\r\n   * * The corners always proceed counter clockwise from lower left.\r\n   * * If the radius is too large for the outer rectangle size, it is reduced to half of the the smaller x or y size.\r\n  */\r\n  public static createRectangleXY(x0: number, y0: number, x1: number, y1: number, z: number = 0, filletRadius?: number): Loop {\r\n    let radius = Geometry.correctSmallMetricDistance(filletRadius);\r\n    const xMin = Math.min(x0, x1);\r\n    const xMax = Math.max(x0, x1);\r\n    const yMin = Math.min(y0, y1);\r\n    const yMax = Math.max(y0, y1);\r\n    radius = Math.min(Math.abs(radius), 0.5 * (xMax - xMin), 0.5 * (yMax - yMin));\r\n    if (radius === 0.0)\r\n      return Loop.createPolygon([Point3d.create(xMin, yMin, z), Point3d.create(xMax, yMin, z), Point3d.create(xMax, yMax, z), Point3d.create(xMin, yMax, z), Point3d.create(xMin, yMin, z)]);\r\n    else {\r\n      const vectorU = Vector3d.create(radius, 0, 0);\r\n      const vectorV = Vector3d.create(0, radius, 0);\r\n      const x0A = xMin + radius;\r\n      const y0A = yMin + radius;\r\n      const x1A = xMax - radius;\r\n      const y1A = yMax - radius;\r\n      const centers = [Point3d.create(x1A, y1A, z), Point3d.create(x0A, y1A, z), Point3d.create(x0A, y0A, z), Point3d.create(x1A, y0A, z)];\r\n      const loop = Loop.create();\r\n      for (let i = 0; i < 4; i++) {\r\n        const center = centers[i];\r\n        const nextCenter = centers[(i + 1) % 4];\r\n        const edgeVector = Vector3d.createStartEnd(center, nextCenter);\r\n        const arc = Arc3d.create(center, vectorU, vectorV, AngleSweep.createStartEndDegrees(0, 90));\r\n        loop.tryAddChild(arc);\r\n        const arcEnd = arc.endPoint();\r\n        if (!edgeVector.isAlmostZero)\r\n          loop.tryAddChild(LineSegment3d.create(arcEnd, arcEnd.plus(edgeVector)));\r\n        vectorU.rotate90CCWXY(vectorU);\r\n        vectorV.rotate90CCWXY(vectorV);\r\n      }\r\n      return loop;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * If `arcB` is a continuation of `arcA`, extend `arcA` (in place) to include the range of `arcB`\r\n   * * This only succeeds if the two arcs are part of identical complete arcs and end of `arcA` matches the beginning of `arcB`.\r\n   * @param arcA first arc, modified in place\r\n   * @param arcB second arc, unmodified\r\n   * @param allowReversed whether to consolidate even when second arc is reversed\r\n   * @returns whether `arcA` was modified\r\n   */\r\n  public static appendToArcInPlace(arcA: Arc3d, arcB: Arc3d, allowReverse: boolean = false): boolean {\r\n    if (arcA.center.isAlmostEqual(arcB.center)) {\r\n      const sweepSign = Geometry.split3WaySign(arcA.sweep.sweepRadians * arcB.sweep.sweepRadians, -1, 0, 1);\r\n      // evaluate derivatives wrt radians (not fraction!), but adjust direction for sweep signs\r\n      const endA = arcA.angleToPointAndDerivative(arcA.sweep.fractionToAngle(1.0));\r\n      if (arcA.sweep.sweepRadians < 0)\r\n        endA.direction.scaleInPlace(-1.0);\r\n      const startB = arcB.angleToPointAndDerivative(arcB.sweep.fractionToAngle(0.0));\r\n      if (arcB.sweep.sweepRadians < 0)\r\n        startB.direction.scaleInPlace(-1.0);\r\n\r\n      if (endA.isAlmostEqual(startB)) {\r\n        arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians + sweepSign * arcB.sweep.sweepRadians);\r\n        return true;\r\n      }\r\n      // Also ok if negated tangent . ..\r\n      if (allowReverse) {\r\n        startB.direction.scaleInPlace(-1.0);\r\n        if (endA.isAlmostEqual(startB)) {\r\n          arcA.sweep.setStartEndRadians(arcA.sweep.startRadians, arcA.sweep.startRadians + arcA.sweep.sweepRadians - sweepSign * arcB.sweep.sweepRadians);\r\n          return true;\r\n        }\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return a `Path` containing arcs are on the surface of an ellipsoid and pass through a sequence of points.\r\n   * * Each arc passes through the two given endpoints and in the plane containing the true surface normal at given `fractionForIntermediateNormal`\r\n   * @param ellipsoid\r\n   * @param pathPoints\r\n   * @param fractionForIntermediateNormal fractional position for surface normal used to create the section plane.\r\n   */\r\n  public static assembleArcChainOnEllipsoid(ellipsoid: Ellipsoid, pathPoints: GeodesicPathPoint[], fractionForIntermediateNormal: number = 0.5): Path {\r\n    const arcPath = Path.create();\r\n    for (let i = 0; i + 1 < pathPoints.length; i++) {\r\n      const arc = ellipsoid.sectionArcWithIntermediateNormal(\r\n        pathPoints[i].toAngles(),\r\n        fractionForIntermediateNormal,\r\n        pathPoints[i + 1].toAngles());\r\n      arcPath.tryAddChild(arc);\r\n    }\r\n    return arcPath;\r\n  }\r\n\r\n  private static appendGeometryQueryArray(candidate: GeometryQuery | GeometryQuery[] | undefined, result: GeometryQuery[]) {\r\n    if (candidate instanceof GeometryQuery)\r\n      result.push(candidate);\r\n    else if (Array.isArray(candidate)) {\r\n      for (const p of candidate)\r\n        this.appendGeometryQueryArray(p, result);\r\n    }\r\n\r\n  }\r\n\r\n  /**\r\n   * Create solid primitives for pipe segments (e.g. Cone or TorusPipe) around line and arc primitives.\r\n   * @param centerline centerline geometry/\r\n   * @param pipeRadius radius of pipe.\r\n   */\r\n  public static createPipeSegments(centerline: CurvePrimitive | CurveChain, pipeRadius: number): GeometryQuery | GeometryQuery[] | undefined {\r\n    if (centerline instanceof LineSegment3d) {\r\n      return Cone.createAxisPoints(centerline.startPoint(), centerline.endPoint(), pipeRadius, pipeRadius, false);\r\n    } else if (centerline instanceof Arc3d) {\r\n      return TorusPipe.createAlongArc(centerline, pipeRadius, false);\r\n    } else if (centerline instanceof CurvePrimitive) {\r\n      const builder = PolyfaceBuilder.create();\r\n      builder.addMiteredPipes(centerline, pipeRadius);\r\n      return builder.claimPolyface();\r\n    } else if (centerline instanceof CurveChain) {\r\n      const result: GeometryQuery[] = [];\r\n      for (const p of centerline.children) {\r\n        const pipe = this.createPipeSegments(p, pipeRadius);\r\n        this.appendGeometryQueryArray(pipe, result);\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * * Create section arcs for mitered pipe.\r\n   * * At each end of each pipe, the pipe is cut by the plane that bisects the angle between successive pipe centerlines.\r\n   * * The arc definitions are constructed so that lines between corresponding fractional positions on the arcs are\r\n   *     axial lines on the pipes.\r\n   * * This means that each arc definition axes (aka vector0 and vector90) are _not_ perpendicular to each other.\r\n   * * Circular or elliptical pipe cross sections can be specified by supplying either a radius, a pair of semi-axis lengths, or a full Arc3d.\r\n   *    * For semi-axis length input, x corresponds to an ellipse local axis nominally situated parallel to the xy-plane.\r\n   *    * The center of Arc3d input is translated to the centerline start point to act as initial cross section.\r\n   * @param centerline centerline of pipe\r\n   * @param sectionData circle radius, ellipse semi-axis lengths, or full Arc3d\r\n   */\r\n  public static createMiteredPipeSections(centerline: IndexedXYZCollection, sectionData: number | XAndY | Arc3d): Arc3d[] {\r\n    const arcs: Arc3d[] = [];\r\n    if (centerline.length < 2)\r\n      return [];\r\n\r\n    const vector0 = Vector3d.create();\r\n    const vector90 = Vector3d.create();\r\n    const vectorBC = Vector3d.create();\r\n    const currentCenter = Point3d.create();\r\n    centerline.vectorIndexIndex(0, 1, vectorBC)!;\r\n    centerline.getPoint3dAtUncheckedPointIndex(0, currentCenter);\r\n\r\n    let initialSection: Arc3d;\r\n    if (sectionData instanceof Arc3d) {\r\n      initialSection = sectionData.clone();\r\n      initialSection.center.setFrom(currentCenter);\r\n      vector0.setFrom(sectionData.vector0);\r\n      vector90.setFrom(sectionData.vector90);\r\n    } else if (typeof sectionData === \"number\" || Point3d.isXAndY(sectionData)) {\r\n      const length0 = (typeof sectionData === \"number\") ? sectionData : sectionData.x;\r\n      const length90 = (typeof sectionData === \"number\") ? sectionData : sectionData.y;\r\n      const baseFrame = Matrix3d.createRigidHeadsUp(vectorBC, AxisOrder.ZXY);\r\n      baseFrame.columnX(vector0).scaleInPlace(length0);\r\n      baseFrame.columnY(vector90).scaleInPlace(length90);\r\n      initialSection = Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360());\r\n    } else {\r\n      return [];\r\n    }\r\n    arcs.push(initialSection);\r\n\r\n    const vectorAB = Vector3d.create();\r\n    const bisector = Vector3d.create();\r\n    for (let i = 1; i < centerline.length; i++) {\r\n      vectorAB.setFromVector3d(vectorBC);\r\n      centerline.getPoint3dAtUncheckedPointIndex(i, currentCenter);\r\n      if (i + 1 < centerline.length) {\r\n        centerline.vectorIndexIndex(i, i + 1, vectorBC)!;\r\n      } else {\r\n        vectorBC.setFromVector3d(vectorAB);\r\n      }\r\n      if (vectorAB.normalizeInPlace() && vectorBC.normalizeInPlace()) {\r\n        vectorAB.interpolate(0.5, vectorBC, bisector);\r\n        // On the end ellipse for this pipe section. ..\r\n        // center comes directly from centerline[i]\r\n        // vector0 and vector90 are obtained by sweeping the corresponding vectors of the start ellipse to the split plane.\r\n        moveVectorToPlane(vector0, vectorAB, bisector, vector0);\r\n        moveVectorToPlane(vector90, vectorAB, bisector, vector90);\r\n        arcs.push(Arc3d.create(currentCenter, vector0, vector90, AngleSweep.create360()));\r\n      }\r\n    }\r\n    return arcs;\r\n  }\r\n\r\n  /**\r\n   * Sweep the initialSection along each segment of the centerLine until it hits the bisector plane at the next vertex.\r\n   * * The caller should place the initialSection on a plane perpendicular to the first edge.\r\n   *   * This plane is commonly (but not necessarily) through the start point itself.\r\n   *   * If the geometry is not \"on a perpendicular plane\", the output geometry will still be flattened onto the various planes.\r\n   * * In the \"open path\" case (i.e when wrapIfPhysicallyClosed is false or the path does not have matched first and last points)\r\n   *       the first/last output plane will be at the start/end of the first/last edge and on a perpendicular plane.\r\n   * * In the \"closed path\" case, the output plane for the first and last point is the bisector of the start and end planes from the \"open path\" case,\r\n   *    and the first/last section geometry may be different from `initialSection`.\r\n   * * The centerline path does NOT have to be planar, however twisting effects effects will appear in the various bisector planes.\r\n   * @param centerline sweep path, e.g., as stroked from a smooth centerline curve\r\n   * @param initialSection profile curve to be swept. As noted above, this should be on a plane perpendicular to the first segment of the centerline.\r\n   * @param options options for computation and output\r\n   * @return array of sections, starting with `initialSection` projected along the first edge to the first plane.\r\n   */\r\n  public static createMiteredSweepSections(centerline: IndexedXYZCollection | Point3d[], initialSection: AnyCurve, options: MiteredSweepOptions): SectionSequenceWithPlanes | undefined {\r\n    const sectionData: SectionSequenceWithPlanes = { sections: [], planes: [] };\r\n    const planes = PolylineOps.createBisectorPlanesForDistinctPoints(centerline, options.wrapIfPhysicallyClosed);\r\n    if (planes !== undefined && planes.length > 1) {\r\n      // Projection to target plane, constructing sweep direction from two given planes.\r\n      // If successful, push the target plane and swept section to the output arrays and return the swept section.\r\n      // If unsuccessful, leave the output arrays alone and return the input section.\r\n      const doSweepToPlane = function (edgePlane0: Plane3dByOriginAndUnitNormal, edgePlane1: Plane3dByOriginAndUnitNormal,\r\n        targetPlane: Plane3dByOriginAndUnitNormal,\r\n        section: AnyCurve) {\r\n        const sweepVector = Vector3d.createStartEnd(edgePlane0.getOriginRef(), edgePlane1.getOriginRef());\r\n        const transform = Transform.createFlattenAlongVectorToPlane(sweepVector, targetPlane.getOriginRef(), targetPlane.getNormalRef());\r\n        if (transform === undefined)\r\n          return section;\r\n        const section1 = section.cloneTransformed(transform);\r\n        if (section1 === undefined)\r\n          return section;\r\n        sectionData.planes.push(targetPlane);\r\n        sectionData.sections.push(section1);\r\n        return section1;\r\n      };\r\n\r\n      let currentSection = doSweepToPlane(planes[0], planes[1], planes[0], initialSection);\r\n      for (let i = 1; i < planes.length; i++) {\r\n        currentSection = doSweepToPlane(planes[i - 1], planes[i], planes[i], currentSection);\r\n      }\r\n\r\n      if (options.outputSelect) {\r\n        const ruledSweep = RuledSweep.create(sectionData.sections, options.capped ?? false);\r\n        if (ruledSweep) {\r\n          sectionData.ruledSweep = ruledSweep;\r\n          if (MiteredSweepOutputSelect.AlsoMesh === options.outputSelect) {\r\n            const builder = PolyfaceBuilder.create(options.strokeOptions);\r\n            builder.addRuledSweep(ruledSweep);\r\n            sectionData.mesh = builder.claimPolyface();\r\n          }\r\n        }\r\n      }\r\n      return sectionData;\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep.\r\n   * * The vector from start point to center is in the direction of upVector crossed with tangentA.\r\n   * @param start start point.\r\n   * @param tangentAtStart vector in tangent direction at the start.\r\n   * @param radius signed radius.\r\n   * @param upVector optional out-of-plane vector. Defaults to positive Z.\r\n   * @param sweep angular range. If single `Angle` is given, start angle is at 0 degrees (the start point).\r\n   */\r\n  public static createArcPointTangentRadius(\r\n    start: Point3d, tangentAtStart: Vector3d, radius: number, upVector?: Vector3d, sweep?: Angle | AngleSweep,\r\n  ): Arc3d | undefined {\r\n    return Arc3d.createCircularStartTangentRadius(start, tangentAtStart, radius, upVector, sweep);\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * First spiral begins at given start point.\r\n   * * first tangent aims at shoulder\r\n   * * outbound spiral joins line from shoulder to target.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param startPoint inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    startPoint: Point3d,\r\n    shoulderPoint: Point3d,\r\n    targetPoint: Point3d,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(startPoint, shoulderPoint);\r\n    const vectorBC0 = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n    const referenceLength = vectorAB.magnitude();\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnRadians = vectorAB.angleToXY(vectorBC0);\r\n    const spiralTurnRadians = 0.5 * lineTurnRadians.radians;\r\n    const radiansBC = radiansAB + lineTurnRadians.radians;\r\n    const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n    const frameA = Transform.createRefs(startPoint.clone(), axesA);\r\n    // We know how much it has to turn, and but not the length or end radius.\r\n    // make a spiral of referenceLength and scale it back to the junction line\r\n    const spiralARefLength = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n      Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength, undefined, frameA);\r\n    if (spiralARefLength) {\r\n      const midPlanePerpendicularRadians = radiansAB + spiralTurnRadians;\r\n      const midPlanePerpendicularVector = Vector3d.createPolar(1.0, Angle.createRadians(midPlanePerpendicularRadians));\r\n      const altitudeB = midPlanePerpendicularVector.dotProductStartEnd(startPoint, shoulderPoint);\r\n      const altitudeSpiralEnd = midPlanePerpendicularVector.dotProductStartEnd(startPoint, spiralARefLength.endPoint());\r\n      const scaleFactor = altitudeB / altitudeSpiralEnd;\r\n      const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0.0, undefined,\r\n        Angle.createRadians(0), Angle.createRadians(spiralTurnRadians), referenceLength * scaleFactor, undefined, frameA)!;\r\n      const distanceAB = vectorAB.magnitude();\r\n      const vectorBC = Vector3d.createStartEnd(shoulderPoint, targetPoint);\r\n      vectorBC.scaleToLength(distanceAB, vectorBC);\r\n      const pointC = shoulderPoint.plus(vectorBC);\r\n      const axesC = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansBC + Math.PI));\r\n      const frameC = Transform.createRefs(pointC, axesC);\r\n      const spiralC = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n        0, -spiralA.radius01.x1, Angle.zero(), undefined, spiralA.curveLength(), Segment1d.create(1, 0), frameC)!;\r\n      return [spiralA, spiralC];\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals (all in XY) for a symmetric line-to-line transition.\r\n   * * Spiral length is given.\r\n   * * tangency points float on both lines.\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param shoulder point target point for (both) spiral-to-line tangencies\r\n   * @param spiralLength for each part of the spiral pair.\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralSpiralLineWithSpiralLength(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    spiralLength: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB);\r\n    const vectorBC = Vector3d.createStartEnd(pointB, pointC);\r\n    const radiansAB = Math.atan2(vectorAB.y, vectorAB.x);\r\n    const lineTurnAngle = vectorAB.angleToXY(vectorBC);\r\n    const spiralTurnRadians = 0.5 * lineTurnAngle.radians;\r\n    const bisectorRadians = 0.5 * (Math.PI - lineTurnAngle.radians);\r\n    const radiansCB = Math.atan2(-vectorBC.y, -vectorBC.x);\r\n    const spiralAB0 = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n      spiralLength, undefined, Transform.createIdentity());\r\n    if (spiralAB0) {\r\n      const localEndPoint = spiralAB0.fractionToPoint(1);\r\n      const distanceAB = pointA.distance(pointB);\r\n      const distanceCB = pointC.distance(pointB);\r\n      // The spiral eventually has to end on the bisector, at localEndPoint.y height from the inbound line\r\n      // distance from shoulder to projection of that point to point E on the inbound line is\r\n      const distanceBE = localEndPoint.y / Math.tan(bisectorRadians);\r\n      const xFractionAB = Geometry.conditionalDivideFraction(distanceAB - distanceBE - localEndPoint.x, distanceAB);\r\n      const xFractionCB = Geometry.conditionalDivideFraction(distanceCB - distanceBE - localEndPoint.x, distanceCB);\r\n      if (xFractionAB !== undefined && xFractionCB !== undefined) {\r\n        const axesA = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansAB));\r\n        const frameAOrigin = pointA.interpolate(xFractionAB, pointB);\r\n        const frameA = Transform.createRefs(frameAOrigin, axesA);\r\n        const spiralAB = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(spiralTurnRadians),\r\n          spiralLength, undefined, frameA)!;\r\n        const axesB = Matrix3d.createRotationAroundAxisIndex(AxisIndex.Z, Angle.createRadians(radiansCB));\r\n        const frameBOrigin = pointC.interpolate(xFractionCB, pointB);\r\n        const frameB = Transform.createRefs(frameBOrigin, axesB);\r\n        const spiralBC = IntegratedSpiral3d.createFrom4OutOf5(spiralType, 0, undefined, Angle.zero(), Angle.createRadians(-spiralTurnRadians),\r\n          spiralLength, undefined, frameB)!;\r\n        return [spiralAB, spiralBC];\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Compute 2 spirals and an arc (all in XY) for a symmetric line-to-line transition.\r\n   * Spiral lengths and arc radius are given.   (e.g. from design speed standards.)\r\n   * @param spiralType name of spiral type.  THIS MUST BE AN \"Integrated\" SPIRAL TYPE\r\n   * @param pointA inbound start point.\r\n   * @param pointB shoulder (target)  point for (both) spiral-to-line tangencies\r\n   * @param lengthA inbound spiral length\r\n   * @param lengthB outbound spiral length\r\n   * @return array with the computed spirals, or undefined if failure.\r\n   */\r\n  public static createLineSpiralArcSpiralLine(\r\n    spiralType: IntegratedSpiralTypeName,\r\n    pointA: Point3d,\r\n    pointB: Point3d,\r\n    pointC: Point3d,\r\n    lengthA: number,\r\n    lengthB: number,\r\n    arcRadius: number,\r\n  ): GeometryQuery[] | undefined {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB); vectorAB.z = 0;\r\n    const vectorCB = Vector3d.createStartEnd(pointC, pointB); vectorCB.z = 0;\r\n    const unitAB = vectorAB.normalize();\r\n    const unitCB = vectorCB.normalize();\r\n    if (unitAB === undefined || unitCB === undefined)\r\n      return undefined;\r\n    const unitPerpAB = unitAB.unitPerpendicularXY();\r\n    const unitPerpCB = unitCB.unitPerpendicularXY();\r\n    const thetaABC = vectorAB.angleToXY(vectorCB);\r\n    const sideA = Geometry.split3WaySign(thetaABC.radians, 1, -1, -1);\r\n    const sideB = - sideA;\r\n    const radiusA = sideA * Math.abs(arcRadius);\r\n    const radiusB = sideB * Math.abs(arcRadius);\r\n    const spiralA = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusA, Angle.zero(), undefined, lengthA, undefined, Transform.createIdentity())!;\r\n    const spiralB = IntegratedSpiral3d.createFrom4OutOf5(spiralType,\r\n      0, radiusB, Angle.zero(), undefined, lengthB, undefined, Transform.createIdentity())!;\r\n    const spiralEndA = spiralA.fractionToPointAndUnitTangent(1.0);\r\n    const spiralEndB = spiralB.fractionToPointAndUnitTangent(1.0);\r\n    // From the end of spiral, step away to arc center (and this is in local coordinates of each spiral)\r\n    const sA = spiralEndA.origin.x - radiusA * spiralEndA.direction.y;\r\n    const tA = spiralEndA.origin.y + radiusA * spiralEndA.direction.x;\r\n\r\n    const sB = spiralEndB.origin.x - radiusB * spiralEndB.direction.y;\r\n    const tB = spiralEndB.origin.y + radiusB * spiralEndB.direction.x;\r\n\r\n    // Those local coordinates are rotated to unitAB and unitBC ...\r\n    const vectorA = Vector3d.createAdd2Scaled(unitAB, sA, unitPerpAB, tA);\r\n    const vectorB = Vector3d.createAdd2Scaled(unitCB, sB, unitPerpCB, tB);\r\n    const uv = Vector2d.create();\r\n    if (SmallSystem.linearSystem2d(\r\n      unitAB.x, -unitCB.x,\r\n      unitAB.y, -unitCB.y,\r\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, uv)) {\r\n      const tangencyAB = pointB.plusScaled(unitAB, uv.x);\r\n      const tangencyCB = pointB.plusScaled(unitCB, uv.y);\r\n      const frameA = Transform.createOriginAndMatrixColumns(tangencyAB, unitAB, unitPerpAB, Vector3d.unitZ());\r\n      const frameB = Transform.createOriginAndMatrixColumns(tangencyCB, unitCB, unitPerpCB, Vector3d.unitZ());\r\n      spiralA.tryTransformInPlace(frameA);\r\n      spiralB.tryTransformInPlace(frameB);\r\n      const rayA1 = spiralA.fractionToPointAndUnitTangent(1.0);\r\n      const rayB0 = spiralB.fractionToPointAndUnitTangent(1.0);\r\n      rayB0.direction.scaleInPlace(-1.0);\r\n      const sweep = rayA1.direction.angleToXY(rayB0.direction);\r\n      if (radiusA < 0)\r\n        sweep.setRadians(- sweep.radians);\r\n      const arc = CurveFactory.createArcPointTangentRadius(rayA1.origin, rayA1.direction, radiusA, undefined, sweep)!;\r\n      return [spiralA, arc, spiralB];\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Return the intersection point of 3 planes.\r\n   * @param planeA\r\n   * @param planeB\r\n   * @param planeC\r\n   */\r\n  public static planePlaneIntersectionRay(\r\n    planeA: PlaneAltitudeEvaluator, planeB: PlaneAltitudeEvaluator): Ray3d | undefined {\r\n    const altitudeA = planeA.altitudeXYZ(0, 0, 0);\r\n    const altitudeB = planeB.altitudeXYZ(0, 0, 0);\r\n    const normalAx = planeA.normalX();\r\n    const normalAy = planeA.normalY();\r\n    const normalAz = planeA.normalZ();\r\n    const normalBx = planeB.normalX();\r\n    const normalBy = planeB.normalY();\r\n    const normalBz = planeB.normalZ();\r\n    const normalCx = Geometry.crossProductXYXY(normalAy, normalAz, normalBy, normalBz);\r\n    const normalCy = Geometry.crossProductXYXY(normalAz, normalAx, normalBz, normalBx);\r\n    const normalCz = Geometry.crossProductXYXY(normalAx, normalAy, normalBx, normalBy);\r\n    const rayOrigin = SmallSystem.linearSystem3d(\r\n      normalAx, normalAy, normalAz,\r\n      normalBx, normalBy, normalBz,\r\n      normalCx, normalCy, normalCz,\r\n      -altitudeA, -altitudeB, 0.0);\r\n    if (rayOrigin !== undefined) {\r\n      return Ray3d.createXYZUVW(rayOrigin.x, rayOrigin.y, rayOrigin.z, normalCx, normalCy, normalCz);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n}\r\n\r\n/**\r\n * Starting at vectorR, move parallel to vectorV until perpendicular to planeNormal\r\n */\r\nfunction moveVectorToPlane(vectorR: Vector3d, vectorV: Vector3d, planeNormal: Vector3d, result?: Vector3d): Vector3d {\r\n  // find s such that (vectorR + s * vectorV) DOT planeNormal = 0.\r\n  const dotRN = vectorR.dotProduct(planeNormal);\r\n  const dotVN = vectorV.dotProduct(planeNormal);\r\n  const s = Geometry.safeDivideFraction(dotRN, dotVN, 0.0);\r\n  return vectorR.plusScaled(vectorV, -s, result);\r\n}\r\n"]}

package/lib/cjs/curve/LineSegment3d.js

@@ -16,7 +16,7 @@ const Point3dVector3d_1 = require("../geometry3d/Point3dVector3d");
 const Range_1 = require("../geometry3d/Range");
 const Ray3d_1 = require("../geometry3d/Ray3d");
 const BezierPolynomials_1 = require("../numerics/BezierPolynomials");
-const Polynomials_1 = require("../numerics/Polynomials");
+const SmallSystem_1 = require("../numerics/SmallSystem");
 const CurveExtendMode_1 = require("./CurveExtendMode");
 const CurveLocationDetail_1 = require("./CurveLocationDetail");
 const CurvePrimitive_1 = require("./CurvePrimitive");
@@ -227,7 +227,7 @@ class LineSegment3d extends CurvePrimitive_1.CurvePrimitive {
         const unboundedFractions = Point2dVector2d_1.Vector2d.create();
         if (result === undefined)
             result = CurveLocationDetail_1.CurveLocationDetailPair.createCapture(CurveLocationDetail_1.CurveLocationDetail.create(), CurveLocationDetail_1.CurveLocationDetail.create());
-        if (Polynomials_1.SmallSystem.lineSegment3dClosestApproachUnbounded(segmentA._point0, segmentA._point1, segmentB._point0, segmentB._point1, unboundedFractions)) {
+        if (SmallSystem_1.SmallSystem.lineSegment3dClosestApproachUnbounded(segmentA._point0, segmentA._point1, segmentB._point0, segmentB._point1, unboundedFractions)) {
             // There is a simple approach between the unbounded segments.  Maybe its a really easy case ...
             const fractionA = CurveExtendMode_1.CurveExtendOptions.correctFraction(extendA, unboundedFractions.x);
             const fractionB = CurveExtendMode_1.CurveExtendOptions.correctFraction(extendB, unboundedFractions.y);