@itwin/core-geometry 4.10.0-dev.3 → 4.10.0-dev.31

package/lib/cjs/curve/Arc3d.js

@@ -15,6 +15,7 @@ const Point3dVector3d_1 = require("../geometry3d/Point3dVector3d");
 const Range_1 = require("../geometry3d/Range");
 const Ray3d_1 = require("../geometry3d/Ray3d");
 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");
@@ -291,19 +292,19 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
     }
     /**
      * Create an elliptical arc from three points on the ellipse: two points on an axis and one in between.
-     * @param point0 start of arc, on an axis
-     * @param point1 point on arc somewhere between `point0` and `point2`
-     * @param point2 point on arc directly opposite `point0`
-     * @param sweep angular sweep, measured from `point0` in the direction of `point1`.
-     *  For a half-ellipse from `point0` to `point2` passing through `point1`, pass `AngleSweep.createStartEndDegrees(0,180)`.
+     * @param start start of arc, on an axis
+     * @param middle point on arc somewhere between `start` and `end`
+     * @param end point on arc directly opposite `start`
+     * @param sweep angular sweep, measured from `start` in the direction of `middle`.
+     *  For a half-ellipse from `start` to `end` passing through `middle`, pass `AngleSweep.createStartEndDegrees(0,180)`.
      *  Default value is full sweep to create the entire ellipse.
      * @param result optional preallocated result
      * @returns elliptical arc, or undefined if construction impossible.
      */
-    static createStartMiddleEnd(point0, point1, point2, sweep, result) {
-        const center = Point3dVector3d_1.Point3d.createAdd2Scaled(point0, 0.5, point2, 0.5);
-        const vector0 = Point3dVector3d_1.Vector3d.createStartEnd(center, point0);
-        const vector1 = Point3dVector3d_1.Vector3d.createStartEnd(center, point1);
+    static createStartMiddleEnd(start, middle, end, sweep, result) {
+        const center = Point3dVector3d_1.Point3d.createAdd2Scaled(start, 0.5, end, 0.5);
+        const vector0 = Point3dVector3d_1.Vector3d.createStartEnd(center, start);
+        const vector1 = Point3dVector3d_1.Vector3d.createStartEnd(center, middle);
         const v0DotV1 = vector0.dotProduct(vector1);
         const v0Len2 = vector0.magnitudeSquared();
         if (Math.abs(v0DotV1) >= v0Len2)
@@ -311,7 +312,7 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
         const normal = vector0.crossProduct(vector1);
         const vector90 = normal.unitCrossProductWithDefault(vector0, 0, 0, 0);
         const v1DotV90 = vector1.dotProduct(vector90);
-        // Solve the standard ellipse equation for the unknown axis length, given local coords of point1 (v0.v1/||v0||, v90.v1)
+        // solve the standard ellipse equation for the unknown axis length, given local coords of middle (v0.v1/||v0||, v90.v1)
         const v90Len = Geometry_1.Geometry.safeDivideFraction(v0Len2 * v1DotV90, Math.sqrt(v0Len2 * v0Len2 - v0DotV1 * v0DotV1), 0);
         if (Geometry_1.Geometry.isSmallMetricDistanceSquared(v90Len))
             return undefined;
@@ -320,33 +321,55 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
     }
     /**
      * Create a circular arc defined by start point, tangent at start point, and end point.
-     * If tangent is parallel to line segment from start to end, return the line segment.
+     * * The circular arc is swept from `start` to `end` in the direction of `tangentAtStart`.
+     * * If `tangentAtStart` is parallel to the line segment from `start` to `end`, return the line segment.
      */
     static createCircularStartTangentEnd(start, tangentAtStart, end, result) {
-        // To find the circle passing through start and end with tangentAtStart at start:
-        //      - find line 1: the perpendicular bisector of the line from start to end.
-        //      - find line 2: the perpendicular to the tangentAtStart.
-        //      - intersection of the two lines would be the circle center.
-        const vector = Point3dVector3d_1.Vector3d.createStartEnd(start, end);
-        const normal = tangentAtStart.crossProduct(vector).normalize();
-        if (normal) {
-            const vectorPerp = normal.crossProduct(vector);
-            const tangentPerp = normal.crossProduct(tangentAtStart);
-            const midPoint = start.plusScaled(vector, 0.5);
-            const lineSeg1 = LineSegment3d_1.LineSegment3d.create(start, start.plusScaled(tangentPerp, 1));
-            const lineSeg2 = LineSegment3d_1.LineSegment3d.create(midPoint, midPoint.plusScaled(vectorPerp, 1));
-            const intersection = LineSegment3d_1.LineSegment3d.closestApproach(lineSeg1, true, lineSeg2, true);
-            if (intersection) {
-                const center = intersection.detailA.point;
-                const vector0 = Point3dVector3d_1.Vector3d.createStartEnd(center, start);
-                const vector90 = normal.crossProduct(vector0);
-                const endVector = Point3dVector3d_1.Vector3d.createStartEnd(center, end);
-                const sweep = AngleSweep_1.AngleSweep.create(vector0.signedAngleTo(endVector, normal));
+        // see itwinjs-core\core\geometry\internaldocs\Arc3d.md to clarify below algorithm
+        const startToEnd = Point3dVector3d_1.Vector3d.createStartEnd(start, end);
+        const frame = Matrix3d_1.Matrix3d.createRigidFromColumns(tangentAtStart, startToEnd, Geometry_1.AxisOrder.XYZ);
+        if (frame !== undefined) {
+            const vv = startToEnd.dotProduct(startToEnd);
+            const vw = frame.dotColumnY(startToEnd);
+            const radius = Geometry_1.Geometry.conditionalDivideCoordinate(vv, 2 * vw);
+            if (radius !== undefined) {
+                const vector0 = frame.columnY();
+                vector0.scaleInPlace(-radius); // center to start
+                const vector90 = frame.columnX();
+                vector90.scaleInPlace(radius);
+                const centerToEnd = vector0.plus(startToEnd);
+                const sweepAngle = vector0.angleTo(centerToEnd);
+                let sweepRadians = sweepAngle.radians; // always positive and less than PI
+                if (tangentAtStart.dotProduct(centerToEnd) < 0.0) // sweepRadians is the wrong way
+                    sweepRadians = 2.0 * Math.PI - sweepRadians;
+                const center = start.plusScaled(vector0, -1.0);
+                const sweep = AngleSweep_1.AngleSweep.createStartEndRadians(0.0, sweepRadians);
                 return Arc3d.create(center, vector0, vector90, sweep, result);
             }
         }
         return LineSegment3d_1.LineSegment3d.create(start, end);
     }
+    /**
+     * 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 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).
+     */
+    static createCircularStartTangentRadius(start, tangentAtStart, radius, upVector, sweep) {
+        if (upVector === undefined)
+            upVector = Point3dVector3d_1.Vector3d.unitZ();
+        const vector0 = upVector.unitCrossProduct(tangentAtStart);
+        if (vector0 === undefined)
+            return undefined;
+        const center = start.plusScaled(vector0, radius);
+        // reverse the A-to-center vector and bring it up to scale
+        vector0.scaleInPlace(-radius);
+        const vector90 = tangentAtStart.scaleToLength(Math.abs(radius)); // cannot fail; prior unitCrossProduct would have failed first
+        return Arc3d.create(center, vector0, vector90, AngleSweep_1.AngleSweep.create(sweep));
+    }
     /**
      * Create a circular arc defined by start and end points and radius.
      * @param start start point of the arc
@@ -423,7 +446,7 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
         const ac2 = vectorAC.magnitudeSquared();
         const normal = vectorAB.sizedCrossProduct(vectorAC, Math.sqrt(Math.sqrt(ab2 * ac2)));
         if (normal) {
-            const vectorToCenter = Polynomials_1.SmallSystem.linearSystem3d(normal.x, normal.y, normal.z, vectorAB.x, vectorAB.y, vectorAB.z, vectorAC.x, vectorAC.y, vectorAC.z, 0, // vectorToCenter DOT normal = 0 (ensure normal is perp to the plane of the 3 points)
+            const vectorToCenter = SmallSystem_1.SmallSystem.linearSystem3d(normal.x, normal.y, normal.z, vectorAB.x, vectorAB.y, vectorAB.z, vectorAC.x, vectorAC.y, vectorAC.z, 0, // vectorToCenter DOT normal = 0 (ensure normal is perp to the plane of the 3 points)
             0.5 * ab2, // vectorToCenter DOT vectorAB = ab2 / 2 (ensure the projection of vectorToCenter on AB bisects AB)
             0.5 * ac2);
             if (vectorToCenter) { // i.e., the negative of vectorX
@@ -761,7 +784,7 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
     circularRadius() {
         return this.isCircular ? this._matrix.columnXMagnitude() : undefined;
     }
-    /** Return the larger of the two defining vectors. */
+    /** Return the larger length of the two defining vectors. */
     maxVectorLength() {
         return Math.max(this._matrix.columnXMagnitude(), this._matrix.columnYMagnitude());
     }
@@ -969,12 +992,12 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
         };
     }
     /** Test if this arc is almost equal to another GeometryQuery object */
-    isAlmostEqual(otherGeometry) {
+    isAlmostEqual(otherGeometry, distanceTol = Geometry_1.Geometry.smallMetricDistance, radianTol = Geometry_1.Geometry.smallAngleRadians) {
         if (otherGeometry instanceof Arc3d) {
             const other = otherGeometry;
-            return this._center.isAlmostEqual(other._center)
-                && this._matrix.isAlmostEqual(other._matrix)
-                && this._sweep.isAlmostEqualAllowPeriodShift(other._sweep);
+            return this._center.isAlmostEqual(other._center, distanceTol)
+                && this._matrix.isAlmostEqual(other._matrix, distanceTol)
+                && this._sweep.isAlmostEqualAllowPeriodShift(other._sweep, radianTol);
         }
         return false;
     }
@@ -1057,7 +1080,12 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
         const otherVector0 = this._matrix.multiplyInverse(other.vector0);
         const otherVector90 = this._matrix.multiplyInverse(other.vector90);
         if (otherOrigin && otherVector0 && otherVector90) {
-            return { center: otherOrigin, vector0: otherVector0, vector90: otherVector90, sweep: this.sweep.clone() };
+            return {
+                center: otherOrigin,
+                vector0: otherVector0,
+                vector90: otherVector90,
+                sweep: this.sweep.clone(),
+            };
         }
         return undefined;
     }
@@ -1075,7 +1103,7 @@ class Arc3d extends CurvePrimitive_1.CurvePrimitive {
      *   * `point` is the `point1` input.
      *   * both fractions are zero
      *   * `arc` is undefined.
-     * @param point0 first point of path. (the point before the point of inflection)
+     * @param point0 first point of path (the point before the point of inflection)
      * @param point1 second point of path (the point of inflection)
      * @param point2 third point of path (the point after the point of inflection)
      * @param radius arc radius