@itwin/core-geometry 4.10.0-dev.9 → 5.0.0-dev.0

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Solid\r\n */\r\n\r\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\r\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word uparrow, rightarrow\r\n\r\n/**\r\n * A bilinear patch is a surface defined by its 4 corner points.\r\n * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.\r\n * ```\r\n * equation\r\n * \\begin{matrix}\r\n * v\\text{-direction}\\\\\r\n * \\uparrow\\\\\r\n * \\text{point01} &\\cdots &\\text{A1} &\\cdots &\\text{point11}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{B0} &\\cdots &\\text{X} &\\cdots &\\text{B1}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{point00} &\\cdots &\\text{A0} &\\cdots &\\text{point10} &\\rightarrow~u\\text{-direction}\r\n * \\end{matrix}\r\n * ```\r\n * * To evaluate the point at (u,v), the following are equivalent:\r\n *   * interpolate first with u then with v:\r\n *      * A0 = interpolate between point00 and point10 at fraction u\r\n *      * A1 = interpolate between point01 and point11 at fraction u\r\n *      * X = interpolate between A0 and A1 at fraction v\r\n *   * interpolate first with v then with u:\r\n *      * B0 = interpolate between point00 and point01 at fraction v\r\n *      * B1 = interpolate between point10 and point11 at fraction v\r\n *      * X = interpolate between B0 and B1 at fraction u\r\n *   * sum all at once:\r\n *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11\r\n * @public\r\n */\r\nexport class BilinearPatch implements UVSurface {\r\n  /** corner at parametric coordinate (0,0) */\r\n  public point00: Point3d;\r\n  /** corner at parametric coordinate (1,0) */\r\n  public point10: Point3d;\r\n  /** corner at parametric coordinate (0,1) */\r\n  public point01: Point3d;\r\n  /** corner at parametric coordinate (1,1) */\r\n  public point11: Point3d;\r\n  /**\r\n   * Capture (not clone) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public constructor(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    this.point00 = point00;\r\n    this.point10 = point10;\r\n    this.point01 = point01;\r\n    this.point11 = point11;\r\n  }\r\n  /**\r\n   * Clone (not capture) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public static create(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    return new BilinearPatch(point00.clone(), point10.clone(), point01.clone(), point11.clone());\r\n  }\r\n  /** Create a patch from xyz values of the 4 corners. */\r\n  public static createXYZ(\r\n    x00: number, y00: number, z00: number,\r\n    x10: number, y10: number, z10: number,\r\n    x01: number, y01: number, z01: number,\r\n    x11: number, y11: number, z11: number,\r\n  ) {\r\n    return new BilinearPatch(\r\n      Point3d.create(x00, y00, z00),\r\n      Point3d.create(x10, y10, z10),\r\n      Point3d.create(x01, y01, z01),\r\n      Point3d.create(x11, y11, z11),\r\n    );\r\n  }\r\n  /** Return a cloned patch. */\r\n  public clone(): BilinearPatch {\r\n    return new BilinearPatch(\r\n      this.point00.clone(),\r\n      this.point10.clone(),\r\n      this.point01.clone(),\r\n      this.point11.clone(),\r\n    );\r\n  }\r\n  /** Test equality of the 4 points. */\r\n  public isAlmostEqual(other: BilinearPatch): boolean {\r\n    return this.point00.isAlmostEqual(other.point00)\r\n      && this.point10.isAlmostEqual(other.point10)\r\n      && this.point01.isAlmostEqual(other.point01)\r\n      && this.point11.isAlmostEqual(other.point11);\r\n  }\r\n  /** Apply the transform to each point. */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    transform.multiplyPoint3d(this.point00, this.point00);\r\n    transform.multiplyPoint3d(this.point10, this.point10);\r\n    transform.multiplyPoint3d(this.point01, this.point01);\r\n    transform.multiplyPoint3d(this.point11, this.point11);\r\n    return true;\r\n  }\r\n  /** Return a cloned and transformed patch. */\r\n  public cloneTransformed(transform: Transform): BilinearPatch | undefined {\r\n    const result = this.clone();\r\n    result.tryTransformInPlace(transform);\r\n    return result;\r\n  }\r\n  /** Extend a range by the range of the (optionally transformed) patch. */\r\n  public extendRange(range: Range3d, transform?: Transform) {\r\n    if (transform) {\r\n      range.extendTransformedPoint(transform, this.point00);\r\n      range.extendTransformedPoint(transform, this.point10);\r\n      range.extendTransformedPoint(transform, this.point01);\r\n      range.extendTransformedPoint(transform, this.point11);\r\n    } else {\r\n      range.extendPoint(this.point00);\r\n      range.extendPoint(this.point10);\r\n      range.extendPoint(this.point01);\r\n      range.extendPoint(this.point11);\r\n    }\r\n  }\r\n  /**\r\n   * Convert fractional u and v coordinates to surface point\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated point\r\n   */\r\n  public uvFractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n    const f00 = (1.0 - u) * (1.0 - v);\r\n    const f10 = u * (1.0 - v);\r\n    const f01 = (1.0 - u) * v;\r\n    const f11 = u * v;\r\n    return Point3d.create(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      result,\r\n    );\r\n  }\r\n  /** Evaluate as a uv surface, returning point and two derivative vectors.\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated carrier for point and vectors\r\n   */\r\n  public uvFractionToPointAndTangents(u: number, v: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const u0 = 1.0 - u;\r\n    const v0 = 1.0 - v;\r\n    const f00 = u0 * v0;\r\n    const f10 = u * v0;\r\n    const f01 = u0 * v;\r\n    const f11 = u * v;\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      // u derivative ..\r\n      v0 * (this.point10.x - this.point00.x) + v * (this.point11.x - this.point01.x),\r\n      v0 * (this.point10.y - this.point00.y) + v * (this.point11.y - this.point01.y),\r\n      v0 * (this.point10.z - this.point00.z) + v * (this.point11.z - this.point01.z),\r\n      // v derivative ..\r\n      u0 * (this.point01.x - this.point00.x) + u * (this.point11.x - this.point10.x),\r\n      u0 * (this.point01.y - this.point00.y) + u * (this.point11.y - this.point10.y),\r\n      u0 * (this.point01.z - this.point00.z) + u * (this.point11.z - this.point10.z),\r\n      result,\r\n    );\r\n  }\r\n  /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */\r\n  private static conditionalPivot(pivotColumn: number, data: Float64Array[], iA: number, iB: number) {\r\n    if (Math.abs(data[iB][pivotColumn]) > Math.abs(data[iA][pivotColumn])) {\r\n      const q = data[iA];\r\n      data[iA] = data[iB];\r\n      data[iB] = q;\r\n    }\r\n  }\r\n  /**\r\n   * Compute the points of intersection with a ray.\r\n   * @param ray ray in space\r\n   * @returns 1 or 2 points if there are intersections, undefined if no intersections\r\n   */\r\n  public intersectRay(ray: Ray3d): CurveAndSurfaceLocationDetail[] | undefined {\r\n    const vectorU = this.point10.minus(this.point00);\r\n    const vectorV = this.point01.minus(this.point00);\r\n    const vectorW = this.point11.minus(this.point10);\r\n    vectorW.subtractInPlace(vectorV);\r\n    // We seek t, u, v such that:\r\n    //    `ray.origin + t*ray.direction = point00 + u*vectorU + v*vectorV + u*v*vectorW`\r\n    // For typical direction as x, the scalar equation with coefficient order for arrays is:\r\n    //    `0 = -t*ray.direction.x + (point00.x - ray.origin.x) + u*vectorU.x + v*vectorV.x + u*v*vectorW.x`\r\n    // and this particular equation is invoked to compute t when u and v are known.\r\n    const coffs = [\r\n      new Float64Array([-ray.direction.x, this.point00.x - ray.origin.x, vectorU.x, vectorV.x, vectorW.x]),\r\n      new Float64Array([-ray.direction.y, this.point00.y - ray.origin.y, vectorU.y, vectorV.y, vectorW.y]),\r\n      new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z]),\r\n    ];\r\n    // swap rows so that the equation with largest ray.direction coefficient is first.\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 1);\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 2);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[1], -1.0);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[2], -1.0);\r\n    const uvArray = SmallSystem.solveBilinearPair(\r\n      coffs[1][1], coffs[1][2], coffs[1][3], coffs[1][4],\r\n      coffs[2][1], coffs[2][2], coffs[2][3], coffs[2][4],\r\n    );\r\n    if (uvArray) {\r\n      const result: CurveAndSurfaceLocationDetail[] = [];\r\n      for (const uv of uvArray) {\r\n        const t = -(coffs[0][1] + coffs[0][2] * uv.x + (coffs[0][3] + coffs[0][4] * uv.x) * uv.y) / coffs[0][0];\r\n        const point = ray.fractionToPoint(t);\r\n        result.push(new CurveAndSurfaceLocationDetail(\r\n          CurveLocationDetail.createRayFractionPoint(ray, t, point),\r\n          UVSurfaceLocationDetail.createSurfaceUVPoint(this, uv, point)),\r\n        );\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */\r\n  public maxUEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point10), this.point01.distance(this.point11));\r\n  }\r\n  /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */\r\n  public maxVEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point01), this.point10.distance(this.point11));\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Solid\r\n */\r\n\r\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\r\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word uparrow, rightarrow\r\n\r\n/**\r\n * A bilinear patch is a surface defined by its 4 corner points.\r\n * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.\r\n * ```\r\n * equation\r\n * \\begin{matrix}\r\n * v\\text{-direction}\\\\\r\n * \\uparrow\\\\\r\n * \\text{point01} &\\cdots &\\text{A1} &\\cdots &\\text{point11}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{B0} &\\cdots &\\text{X} &\\cdots &\\text{B1}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{point00} &\\cdots &\\text{A0} &\\cdots &\\text{point10} &\\rightarrow~u\\text{-direction}\r\n * \\end{matrix}\r\n * ```\r\n * * To evaluate the point at (u,v), the following are equivalent:\r\n *   * interpolate first with u then with v:\r\n *      * A0 = interpolate between point00 and point10 at fraction u\r\n *      * A1 = interpolate between point01 and point11 at fraction u\r\n *      * X = interpolate between A0 and A1 at fraction v\r\n *   * interpolate first with v then with u:\r\n *      * B0 = interpolate between point00 and point01 at fraction v\r\n *      * B1 = interpolate between point10 and point11 at fraction v\r\n *      * X = interpolate between B0 and B1 at fraction u\r\n *   * sum all at once:\r\n *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11\r\n * @public\r\n */\r\nexport class BilinearPatch implements UVSurface {\r\n  /** corner at parametric coordinate (0,0) */\r\n  public point00: Point3d;\r\n  /** corner at parametric coordinate (1,0) */\r\n  public point10: Point3d;\r\n  /** corner at parametric coordinate (0,1) */\r\n  public point01: Point3d;\r\n  /** corner at parametric coordinate (1,1) */\r\n  public point11: Point3d;\r\n  /**\r\n   * Capture (not clone) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public constructor(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    this.point00 = point00;\r\n    this.point10 = point10;\r\n    this.point01 = point01;\r\n    this.point11 = point11;\r\n  }\r\n  /**\r\n   * Clone (not capture) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public static create(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    return new BilinearPatch(point00.clone(), point10.clone(), point01.clone(), point11.clone());\r\n  }\r\n  /** Create a patch from xyz values of the 4 corners. */\r\n  public static createXYZ(\r\n    x00: number, y00: number, z00: number,\r\n    x10: number, y10: number, z10: number,\r\n    x01: number, y01: number, z01: number,\r\n    x11: number, y11: number, z11: number,\r\n  ) {\r\n    return new BilinearPatch(\r\n      Point3d.create(x00, y00, z00),\r\n      Point3d.create(x10, y10, z10),\r\n      Point3d.create(x01, y01, z01),\r\n      Point3d.create(x11, y11, z11),\r\n    );\r\n  }\r\n  /** Return a cloned patch. */\r\n  public clone(): BilinearPatch {\r\n    return new BilinearPatch(\r\n      this.point00.clone(),\r\n      this.point10.clone(),\r\n      this.point01.clone(),\r\n      this.point11.clone(),\r\n    );\r\n  }\r\n  /** Test equality of the 4 points. */\r\n  public isAlmostEqual(other: BilinearPatch): boolean {\r\n    return this.point00.isAlmostEqual(other.point00)\r\n      && this.point10.isAlmostEqual(other.point10)\r\n      && this.point01.isAlmostEqual(other.point01)\r\n      && this.point11.isAlmostEqual(other.point11);\r\n  }\r\n  /** Apply the transform to each point. */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    transform.multiplyPoint3d(this.point00, this.point00);\r\n    transform.multiplyPoint3d(this.point10, this.point10);\r\n    transform.multiplyPoint3d(this.point01, this.point01);\r\n    transform.multiplyPoint3d(this.point11, this.point11);\r\n    return true;\r\n  }\r\n  /** Return a cloned and transformed patch. */\r\n  public cloneTransformed(transform: Transform): BilinearPatch | undefined {\r\n    const result = this.clone();\r\n    result.tryTransformInPlace(transform);\r\n    return result;\r\n  }\r\n  /** Extend a range by the range of the (optionally transformed) patch. */\r\n  public extendRange(range: Range3d, transform?: Transform) {\r\n    if (transform) {\r\n      range.extendTransformedPoint(transform, this.point00);\r\n      range.extendTransformedPoint(transform, this.point10);\r\n      range.extendTransformedPoint(transform, this.point01);\r\n      range.extendTransformedPoint(transform, this.point11);\r\n    } else {\r\n      range.extendPoint(this.point00);\r\n      range.extendPoint(this.point10);\r\n      range.extendPoint(this.point01);\r\n      range.extendPoint(this.point11);\r\n    }\r\n  }\r\n  /**\r\n   * Convert fractional u and v coordinates to surface point\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated point\r\n   */\r\n  public uvFractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n    const f00 = (1.0 - u) * (1.0 - v);\r\n    const f10 = u * (1.0 - v);\r\n    const f01 = (1.0 - u) * v;\r\n    const f11 = u * v;\r\n    return Point3d.create(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      result,\r\n    );\r\n  }\r\n  /** Evaluate as a uv surface, returning point and two derivative vectors.\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated carrier for point and vectors\r\n   */\r\n  public uvFractionToPointAndTangents(u: number, v: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const u0 = 1.0 - u;\r\n    const v0 = 1.0 - v;\r\n    const f00 = u0 * v0;\r\n    const f10 = u * v0;\r\n    const f01 = u0 * v;\r\n    const f11 = u * v;\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      // u derivative ..\r\n      v0 * (this.point10.x - this.point00.x) + v * (this.point11.x - this.point01.x),\r\n      v0 * (this.point10.y - this.point00.y) + v * (this.point11.y - this.point01.y),\r\n      v0 * (this.point10.z - this.point00.z) + v * (this.point11.z - this.point01.z),\r\n      // v derivative ..\r\n      u0 * (this.point01.x - this.point00.x) + u * (this.point11.x - this.point10.x),\r\n      u0 * (this.point01.y - this.point00.y) + u * (this.point11.y - this.point10.y),\r\n      u0 * (this.point01.z - this.point00.z) + u * (this.point11.z - this.point10.z),\r\n      result,\r\n    );\r\n  }\r\n  /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */\r\n  private static conditionalPivot(pivotColumn: number, data: Float64Array[], iA: number, iB: number) {\r\n    if (Math.abs(data[iB][pivotColumn]) > Math.abs(data[iA][pivotColumn])) {\r\n      const q = data[iA];\r\n      data[iA] = data[iB];\r\n      data[iB] = q;\r\n    }\r\n  }\r\n  /**\r\n   * Compute the points of intersection with a ray.\r\n   * @param ray ray in space\r\n   * @returns 1 or 2 points if there are intersections, undefined if no intersections\r\n   */\r\n  public intersectRay(ray: Ray3d): CurveAndSurfaceLocationDetail[] | undefined {\r\n    const vectorU = this.point10.minus(this.point00);\r\n    const vectorV = this.point01.minus(this.point00);\r\n    const vectorW = this.point11.minus(this.point10);\r\n    vectorW.subtractInPlace(vectorV);\r\n    // We seek t, u, v such that:\r\n    //    `ray.origin + t*ray.direction = point00 + u*vectorU + v*vectorV + u*v*vectorW`\r\n    // For typical direction as x, the scalar equation with coefficient order for arrays is:\r\n    //    `0 = -t*ray.direction.x + (point00.x - ray.origin.x) + u*vectorU.x + v*vectorV.x + u*v*vectorW.x`\r\n    // and this particular equation is invoked to compute t when u and v are known.\r\n    const coffs = [\r\n      new Float64Array([-ray.direction.x, this.point00.x - ray.origin.x, vectorU.x, vectorV.x, vectorW.x]),\r\n      new Float64Array([-ray.direction.y, this.point00.y - ray.origin.y, vectorU.y, vectorV.y, vectorW.y]),\r\n      new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z]),\r\n    ];\r\n    // swap rows so that the equation with largest ray.direction coefficient is first.\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 1);\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 2);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[1], -1.0);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[2], -1.0);\r\n    const uvArray = SmallSystem.solveBilinearPair(\r\n      coffs[1][1], coffs[1][2], coffs[1][3], coffs[1][4],\r\n      coffs[2][1], coffs[2][2], coffs[2][3], coffs[2][4],\r\n    );\r\n    if (uvArray) {\r\n      const result: CurveAndSurfaceLocationDetail[] = [];\r\n      for (const uv of uvArray) {\r\n        const t = -(coffs[0][1] + coffs[0][2] * uv.x + (coffs[0][3] + coffs[0][4] * uv.x) * uv.y) / coffs[0][0];\r\n        const point = ray.fractionToPoint(t);\r\n        result.push(new CurveAndSurfaceLocationDetail(\r\n          CurveLocationDetail.createRayFractionPoint(ray, t, point),\r\n          UVSurfaceLocationDetail.createSurfaceUVPoint(this, uv, point)),\r\n        );\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */\r\n  public maxUEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point10), this.point01.distance(this.point11));\r\n  }\r\n  /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */\r\n  public maxVEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point01), this.point10.distance(this.point11));\r\n  }\r\n}\r\n"]}

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

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package/lib/esm/geometry3d/FrameBuilder.js

@@ -20,7 +20,6 @@ import { Point3d, Vector3d } from "./Point3dVector3d";
 import { Point3dArray } from "./PointHelpers";
 import { PolygonOps } from "./PolygonOps";
 import { Transform } from "./Transform";
-/* eslint-disable @typescript-eslint/naming-convention, no-empty */
 /**
  * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.
  *

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\n// import { Point2d } from \"./Geometry2d\";\r\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\r\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveCollection } from \"../curve/CurveCollection\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { AxisOrder, AxisScaleSelect, Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Point3dArray } from \"./PointHelpers\";\r\nimport { PolygonOps } from \"./PolygonOps\";\r\nimport { Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/* eslint-disable @typescript-eslint/naming-convention, no-empty */\r\n\r\n/**\r\n * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.\r\n *\r\n * * For the common case of building a right handed frame:\r\n *   * create the FrameBuilder and make calls to announcePoint and announceVector.\r\n *   * the frame will be fully determined by an origin and two vectors.\r\n *   * the first call to announcePoint will set the origin.\r\n *   * additional calls to announcePoint will produce announceVector call with the vector from the origin.\r\n *   * after each announcement, call getValidatedFrame(false)\r\n *   * getValidatedFrame will succeed when it has two independent vectors.\r\n * *  To build a left handed frame,\r\n *   *  an origin and 3 independent vectors are required.\r\n *   *  announce as above, but query with getValidatedFrame (true).\r\n *   *  this will use the third vector to select right or left handed frame.\r\n * @public\r\n */\r\nexport class FrameBuilder {\r\n  private _origin: undefined | Point3d;\r\n  private _vector0: undefined | Vector3d;\r\n  private _vector1: undefined | Vector3d;\r\n  private _vector2: undefined | Vector3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workPoint?: Point3d;\r\n  // test if both vectors are defined and have significant angle between.\r\n  private areStronglyIndependentVectors(\r\n    vector0: Vector3d, vector1: Vector3d, radiansTolerance: number = Geometry.smallAngleRadians,\r\n  ): boolean {\r\n    if (vector0 !== undefined && vector1 !== undefined) {\r\n      const q = vector0.smallerUnorientedRadiansTo(vector1);\r\n      return q > radiansTolerance;\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear all accumulated point and vector data */\r\n  public clear() {\r\n    this._origin = undefined;\r\n    this._vector0 = undefined;\r\n    this._vector1 = undefined;\r\n    this._vector2 = undefined;\r\n  }\r\n  constructor() {\r\n    this.clear();\r\n  }\r\n  /**\r\n   * Try to assemble the data into a non-singular transform.\r\n   * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.\r\n   * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.\r\n   */\r\n  public getValidatedFrame(allowLeftHanded: boolean = false, result?: Transform): Transform | undefined {\r\n    if (this._origin && this._vector0 && this._vector1) {\r\n      const createRigidMatrix = (v0: Vector3d, v1: Vector3d): Matrix3d | undefined => {\r\n        return FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(v0, v1, AxisOrder.XYZ, FrameBuilder._workMatrix);\r\n      };\r\n      if (!allowLeftHanded) {\r\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\r\n        if (matrix)\r\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\r\n        // uh oh -- vector1 was not really independent.  clear everything after vector0.\r\n        this._vector1 = this._vector2 = undefined;\r\n      } else if (this._vector2) {\r\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\r\n        if (matrix) {\r\n          if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)\r\n            matrix.scaleColumns(1.0, 1.0, -1.0);\r\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\r\n        }\r\n        // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??\r\n        const vector2 = this._vector2;\r\n        this._vector1 = this._vector2 = undefined;\r\n        this.announceVector(vector2);\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */\r\n  public applyDefaultUpVector(vector?: Vector3d) {\r\n    if (vector && this._vector0 && !this._vector1 && !vector.isParallelTo(this._vector0)) {\r\n      this._vector1 = vector.crossProduct(this._vector0);\r\n    }\r\n  }\r\n  /** Ask if there is a defined origin for the evolving frame */\r\n  public get hasOrigin(): boolean {\r\n    return this._origin !== undefined;\r\n  }\r\n  /**\r\n   * Return the number of vectors saved. Because the save process checks numerics, this should be the rank of the system.\r\n   */\r\n  public savedVectorCount(): number {\r\n    if (!this._vector0)\r\n      return 0;\r\n    if (!this._vector1)\r\n      return 1;\r\n    if (!this._vector2)\r\n      return 2;\r\n    return 3;\r\n  }\r\n  /**\r\n   * Announce a new point. If this point is different from the origin, also compute and announce the vector from the origin.\r\n   */\r\n  public announcePoint(point: Point3d): number {\r\n    if (!this._origin) {\r\n      this._origin = point.clone();\r\n      return this.savedVectorCount();\r\n    }\r\n    // the new point may provide an additional vector\r\n    if (this._origin.isAlmostEqual(point))\r\n      return this.savedVectorCount();\r\n    return this.announceVector(this._origin.vectorTo(point));\r\n  }\r\n  /** Announce a new vector. */\r\n  public announceVector(vector: Vector3d): number {\r\n    if (vector.isAlmostZero)\r\n      return this.savedVectorCount();\r\n    if (!this._vector0) {\r\n      this._vector0 = vector.clone(this._vector0);\r\n      return 1;\r\n    }\r\n    if (!this._vector1) {\r\n      if (this.areStronglyIndependentVectors(vector, this._vector0, 1.0e-5)) {\r\n        this._vector1 = vector.clone(this._vector1);\r\n        return 2;\r\n      }\r\n      return 1;\r\n    }\r\n    // vector0 and vector1 are independent.\r\n    if (!this._vector2) {\r\n      const unitPerpendicular = this._vector0.unitCrossProduct(this._vector1);\r\n      if (unitPerpendicular && !Geometry.isSameCoordinate(0, unitPerpendicular.dotProduct(vector))) {\r\n        this._vector2 = vector.clone(this._vector2);\r\n        return 3;\r\n      }\r\n      return 2;\r\n    }\r\n    // fall through if prior vectors are all there -- no need for the new one.\r\n    return 3;\r\n  }\r\n  /**\r\n   * Inspect the content of the data.  Announce points and vectors. Return when savedVectorCount becomes sufficient\r\n   * for a coordinate system.\r\n   */\r\n  public announce(data: any) {\r\n    if (this.savedVectorCount() > 1)\r\n      return;\r\n    if (data === undefined)\r\n      return;\r\n    if (data instanceof Point3d)\r\n      this.announcePoint(data);\r\n    else if (data instanceof Vector3d)\r\n      this.announceVector(data);\r\n    else if (Array.isArray(data)) {\r\n      for (const child of data) {\r\n        if (this.savedVectorCount() > 1)\r\n          break;\r\n        this.announce(child);\r\n      }\r\n    } else if (data instanceof CurvePrimitive) {\r\n      if (data instanceof LineSegment3d) {\r\n        this.announcePoint(data.startPoint());\r\n        this.announcePoint(data.endPoint());\r\n      } else if (data instanceof Arc3d) {\r\n        const ray = data.fractionToPointAndDerivative(0.0);\r\n        this.announcePoint(ray.origin);\r\n        this.announceVector(ray.direction);\r\n        this.announceVector(data.matrixRef.columnZCrossVector(ray.direction));\r\n      } else if (data instanceof LineString3d) {\r\n        for (const point of data.points) {\r\n          this.announcePoint(point);\r\n          if (this.savedVectorCount() > 1)\r\n            break;\r\n        }\r\n      } else if (data instanceof BSplineCurve3d) {\r\n        const point = Point3d.create();\r\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n          if (data.getPolePoint3d(i, point) instanceof Point3d)\r\n            this.announcePoint(point);\r\n          else break;\r\n        }\r\n      } else if (data instanceof InterpolationCurve3d) {\r\n        const point = Point3d.create();\r\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n          if (i < data.options.fitPoints.length) {\r\n            point.setFrom(data.options.fitPoints[i]);\r\n            this.announcePoint(point);\r\n          } else break;\r\n        }\r\n      } else { // unimplemented CurvePrimitive type\r\n        const frame = data.fractionToFrenetFrame(0.0);\r\n        if (undefined !== frame) {\r\n          this.announcePoint(frame.getOrigin());\r\n          this.announceVector(frame.matrix.getColumn(0));\r\n          this.announceVector(frame.matrix.getColumn(1));\r\n        }\r\n      }\r\n    } else if (data instanceof CurveCollection) {\r\n      if (data.children)\r\n        for (const child of data.children) {\r\n          this.announce(child);\r\n          if (this.savedVectorCount() > 1)\r\n            break;\r\n        }\r\n    } else if (data instanceof GrowableXYZArray) {\r\n      const point = Point3d.create();\r\n      for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n        if (data.getPoint3dAtCheckedPointIndex(i, point) instanceof Point3d)\r\n          this.announcePoint(point);\r\n        else break;\r\n      }\r\n    } else if (data.hasOwnProperty(\"x\") && data.hasOwnProperty(\"y\") && data.hasOwnProperty(\"z\")) {\r\n      this.announcePoint(Point3d.create(data.x, data.y, data.z));\r\n    }\r\n  }\r\n  /**\r\n   * Create a localToWorld frame for the given data.\r\n   * * origin is at first point.\r\n   * * x axis in direction of first nonzero vector present or implied by the input.\r\n   * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.\r\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\r\n   * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown.\r\n   * The z-column of the returned frame points into the same halfspace as this vector.\r\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\r\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\r\n   * @returns computed localToWorld frame, or undefined if insufficient data.\r\n   */\r\n  public static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined {\r\n    // if last arg is a Transform, remove it from the array and use for the return value\r\n    let frame = (params.length > 0 && params[params.length - 1] instanceof Transform) ? params.pop() as Transform : undefined;\r\n    const flipFrame = (f: Transform): Transform => {\r\n      if (defaultUpVector && f.matrix.dotColumnZ(defaultUpVector) < 0.0)\r\n        f.matrix.scaleColumnsInPlace(1, -1, -1);\r\n      return f;\r\n    };\r\n    const builder = new FrameBuilder();\r\n    for (const data of params) {\r\n      builder.announce(data);\r\n      builder.applyDefaultUpVector(defaultUpVector);\r\n      if (frame = builder.getValidatedFrame(false, frame))\r\n        return flipFrame(frame);\r\n    }\r\n    const evaluatePrimitiveFrame = (curve: CurvePrimitive, result?: Transform): Transform | undefined => {\r\n      return curve.fractionToFrenetFrame(0.0, result);\r\n    };\r\n    // try direct evaluation of curve primitives using the above lambda\r\n    for (const data of params) {\r\n      if (data instanceof CurvePrimitive) {\r\n        if (frame = evaluatePrimitiveFrame(data, frame))\r\n          return flipFrame(frame);\r\n      } else if (data instanceof CurveCollection) {\r\n        const children = data.collectCurvePrimitives();\r\n        for (const curve of children) {\r\n          if (frame = evaluatePrimitiveFrame(curve, frame))\r\n            return flipFrame(frame);\r\n        }\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create a transform containing points or vectors in the given data.\r\n   * * The xy columns of the transform contain the first points or vectors of the data.\r\n   * * The z column is perpendicular to that xy plane.\r\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\r\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\r\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\r\n   * @returns computed localToWorld frame, or undefined if insufficient data.\r\n   */\r\n  public static createRightHandedLocalToWorld(...params: any[]): Transform | undefined {\r\n    return this.createRightHandedFrame(undefined, params);\r\n  }\r\n\r\n  /**\r\n   * Try to create a frame whose xy plane is through points.\r\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\r\n   * direction is toward the point most distant from that line.\r\n   * @param points array of points\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the points, or undefined if insufficient data\r\n   */\r\n  public static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined {\r\n    if (points.length > 2) {\r\n      const origin = points[0];\r\n      const vector01 = FrameBuilder._workVector0 ?? Vector3d.create();\r\n      Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);\r\n      const vector02 = FrameBuilder._workVector1 ?? Vector3d.create();\r\n      Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);\r\n      const matrix = FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(vector01, vector02, AxisOrder.XYZ, FrameBuilder._workMatrix);\r\n      if (matrix)\r\n        return Transform.createOriginAndMatrix(origin, matrix, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.\r\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\r\n   * direction is toward the point most distant from that line.\r\n   * @param points array of points\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the points, or undefined if insufficient data\r\n   */\r\n  public static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined {\r\n    if (points.length > 2) {\r\n      const ray = PolygonOps.centroidAreaNormal(points);  // can't pass pre-allocated ray...\r\n      if (ray)\r\n        return ray.toRigidZFrame(result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create the localToWorld transform from a range to axes of its parent coordinate system.\r\n   * @param range range to inspect\r\n   * @param scaleSelect selects size of localToWorld axes.\r\n   * @param fractionX fractional coordinate of frame origin x\r\n   * @param fractionY fractional coordinate of frame origin y\r\n   * @param fractionZ fractional coordinate of frame origin z\r\n   * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the range\r\n   */\r\n  public static createLocalToWorldTransformInRange(\r\n    range: Range3d,\r\n    scaleSelect: AxisScaleSelect = AxisScaleSelect.NonUniformRangeContainment,\r\n    fractionX: number = 0,\r\n    fractionY: number = 0,\r\n    fractionZ: number = 0,\r\n    defaultAxisLength: number = 1.0,\r\n    result?: Transform,\r\n  ): Transform {\r\n    if (range.isNull)\r\n      return Transform.createIdentity(result);\r\n    let a = 1.0;\r\n    let b = 1.0;\r\n    let c = 1.0;\r\n    if (scaleSelect === AxisScaleSelect.LongestRangeDirection) {\r\n      a = b = c = Geometry.correctSmallMetricDistance(range.maxLength(), defaultAxisLength);\r\n    } else if (scaleSelect === AxisScaleSelect.NonUniformRangeContainment) {\r\n      a = Geometry.correctSmallMetricDistance(range.xLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionX, 0, 1);\r\n      b = Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionY, 0, 1);\r\n      c = Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionZ, 0, 1);\r\n    }\r\n    const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);\r\n    const matrix = FrameBuilder._workMatrix = Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);\r\n    return Transform.createOriginAndMatrix(origin, matrix, result);\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\n// import { Point2d } from \"./Geometry2d\";\r\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\r\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveCollection } from \"../curve/CurveCollection\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { AxisOrder, AxisScaleSelect, Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Point3dArray } from \"./PointHelpers\";\r\nimport { PolygonOps } from \"./PolygonOps\";\r\nimport { Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/**\r\n * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.\r\n *\r\n * * For the common case of building a right handed frame:\r\n *   * create the FrameBuilder and make calls to announcePoint and announceVector.\r\n *   * the frame will be fully determined by an origin and two vectors.\r\n *   * the first call to announcePoint will set the origin.\r\n *   * additional calls to announcePoint will produce announceVector call with the vector from the origin.\r\n *   * after each announcement, call getValidatedFrame(false)\r\n *   * getValidatedFrame will succeed when it has two independent vectors.\r\n * *  To build a left handed frame,\r\n *   *  an origin and 3 independent vectors are required.\r\n *   *  announce as above, but query with getValidatedFrame (true).\r\n *   *  this will use the third vector to select right or left handed frame.\r\n * @public\r\n */\r\nexport class FrameBuilder {\r\n  private _origin: undefined | Point3d;\r\n  private _vector0: undefined | Vector3d;\r\n  private _vector1: undefined | Vector3d;\r\n  private _vector2: undefined | Vector3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workPoint?: Point3d;\r\n  // test if both vectors are defined and have significant angle between.\r\n  private areStronglyIndependentVectors(\r\n    vector0: Vector3d, vector1: Vector3d, radiansTolerance: number = Geometry.smallAngleRadians,\r\n  ): boolean {\r\n    if (vector0 !== undefined && vector1 !== undefined) {\r\n      const q = vector0.smallerUnorientedRadiansTo(vector1);\r\n      return q > radiansTolerance;\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear all accumulated point and vector data */\r\n  public clear() {\r\n    this._origin = undefined;\r\n    this._vector0 = undefined;\r\n    this._vector1 = undefined;\r\n    this._vector2 = undefined;\r\n  }\r\n  constructor() {\r\n    this.clear();\r\n  }\r\n  /**\r\n   * Try to assemble the data into a non-singular transform.\r\n   * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.\r\n   * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.\r\n   */\r\n  public getValidatedFrame(allowLeftHanded: boolean = false, result?: Transform): Transform | undefined {\r\n    if (this._origin && this._vector0 && this._vector1) {\r\n      const createRigidMatrix = (v0: Vector3d, v1: Vector3d): Matrix3d | undefined => {\r\n        return FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(v0, v1, AxisOrder.XYZ, FrameBuilder._workMatrix);\r\n      };\r\n      if (!allowLeftHanded) {\r\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\r\n        if (matrix)\r\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\r\n        // uh oh -- vector1 was not really independent.  clear everything after vector0.\r\n        this._vector1 = this._vector2 = undefined;\r\n      } else if (this._vector2) {\r\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\r\n        if (matrix) {\r\n          if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)\r\n            matrix.scaleColumns(1.0, 1.0, -1.0);\r\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\r\n        }\r\n        // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??\r\n        const vector2 = this._vector2;\r\n        this._vector1 = this._vector2 = undefined;\r\n        this.announceVector(vector2);\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */\r\n  public applyDefaultUpVector(vector?: Vector3d) {\r\n    if (vector && this._vector0 && !this._vector1 && !vector.isParallelTo(this._vector0)) {\r\n      this._vector1 = vector.crossProduct(this._vector0);\r\n    }\r\n  }\r\n  /** Ask if there is a defined origin for the evolving frame */\r\n  public get hasOrigin(): boolean {\r\n    return this._origin !== undefined;\r\n  }\r\n  /**\r\n   * Return the number of vectors saved. Because the save process checks numerics, this should be the rank of the system.\r\n   */\r\n  public savedVectorCount(): number {\r\n    if (!this._vector0)\r\n      return 0;\r\n    if (!this._vector1)\r\n      return 1;\r\n    if (!this._vector2)\r\n      return 2;\r\n    return 3;\r\n  }\r\n  /**\r\n   * Announce a new point. If this point is different from the origin, also compute and announce the vector from the origin.\r\n   */\r\n  public announcePoint(point: Point3d): number {\r\n    if (!this._origin) {\r\n      this._origin = point.clone();\r\n      return this.savedVectorCount();\r\n    }\r\n    // the new point may provide an additional vector\r\n    if (this._origin.isAlmostEqual(point))\r\n      return this.savedVectorCount();\r\n    return this.announceVector(this._origin.vectorTo(point));\r\n  }\r\n  /** Announce a new vector. */\r\n  public announceVector(vector: Vector3d): number {\r\n    if (vector.isAlmostZero)\r\n      return this.savedVectorCount();\r\n    if (!this._vector0) {\r\n      this._vector0 = vector.clone(this._vector0);\r\n      return 1;\r\n    }\r\n    if (!this._vector1) {\r\n      if (this.areStronglyIndependentVectors(vector, this._vector0, 1.0e-5)) {\r\n        this._vector1 = vector.clone(this._vector1);\r\n        return 2;\r\n      }\r\n      return 1;\r\n    }\r\n    // vector0 and vector1 are independent.\r\n    if (!this._vector2) {\r\n      const unitPerpendicular = this._vector0.unitCrossProduct(this._vector1);\r\n      if (unitPerpendicular && !Geometry.isSameCoordinate(0, unitPerpendicular.dotProduct(vector))) {\r\n        this._vector2 = vector.clone(this._vector2);\r\n        return 3;\r\n      }\r\n      return 2;\r\n    }\r\n    // fall through if prior vectors are all there -- no need for the new one.\r\n    return 3;\r\n  }\r\n  /**\r\n   * Inspect the content of the data.  Announce points and vectors. Return when savedVectorCount becomes sufficient\r\n   * for a coordinate system.\r\n   */\r\n  public announce(data: any) {\r\n    if (this.savedVectorCount() > 1)\r\n      return;\r\n    if (data === undefined)\r\n      return;\r\n    if (data instanceof Point3d)\r\n      this.announcePoint(data);\r\n    else if (data instanceof Vector3d)\r\n      this.announceVector(data);\r\n    else if (Array.isArray(data)) {\r\n      for (const child of data) {\r\n        if (this.savedVectorCount() > 1)\r\n          break;\r\n        this.announce(child);\r\n      }\r\n    } else if (data instanceof CurvePrimitive) {\r\n      if (data instanceof LineSegment3d) {\r\n        this.announcePoint(data.startPoint());\r\n        this.announcePoint(data.endPoint());\r\n      } else if (data instanceof Arc3d) {\r\n        const ray = data.fractionToPointAndDerivative(0.0);\r\n        this.announcePoint(ray.origin);\r\n        this.announceVector(ray.direction);\r\n        this.announceVector(data.matrixRef.columnZCrossVector(ray.direction));\r\n      } else if (data instanceof LineString3d) {\r\n        for (const point of data.points) {\r\n          this.announcePoint(point);\r\n          if (this.savedVectorCount() > 1)\r\n            break;\r\n        }\r\n      } else if (data instanceof BSplineCurve3d) {\r\n        const point = Point3d.create();\r\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n          if (data.getPolePoint3d(i, point) instanceof Point3d)\r\n            this.announcePoint(point);\r\n          else break;\r\n        }\r\n      } else if (data instanceof InterpolationCurve3d) {\r\n        const point = Point3d.create();\r\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n          if (i < data.options.fitPoints.length) {\r\n            point.setFrom(data.options.fitPoints[i]);\r\n            this.announcePoint(point);\r\n          } else break;\r\n        }\r\n      } else { // unimplemented CurvePrimitive type\r\n        const frame = data.fractionToFrenetFrame(0.0);\r\n        if (undefined !== frame) {\r\n          this.announcePoint(frame.getOrigin());\r\n          this.announceVector(frame.matrix.getColumn(0));\r\n          this.announceVector(frame.matrix.getColumn(1));\r\n        }\r\n      }\r\n    } else if (data instanceof CurveCollection) {\r\n      if (data.children)\r\n        for (const child of data.children) {\r\n          this.announce(child);\r\n          if (this.savedVectorCount() > 1)\r\n            break;\r\n        }\r\n    } else if (data instanceof GrowableXYZArray) {\r\n      const point = Point3d.create();\r\n      for (let i = 0; this.savedVectorCount() < 2; i++) {\r\n        if (data.getPoint3dAtCheckedPointIndex(i, point) instanceof Point3d)\r\n          this.announcePoint(point);\r\n        else break;\r\n      }\r\n    } else if (data.hasOwnProperty(\"x\") && data.hasOwnProperty(\"y\") && data.hasOwnProperty(\"z\")) {\r\n      this.announcePoint(Point3d.create(data.x, data.y, data.z));\r\n    }\r\n  }\r\n  /**\r\n   * Create a localToWorld frame for the given data.\r\n   * * origin is at first point.\r\n   * * x axis in direction of first nonzero vector present or implied by the input.\r\n   * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.\r\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\r\n   * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown.\r\n   * The z-column of the returned frame points into the same halfspace as this vector.\r\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\r\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\r\n   * @returns computed localToWorld frame, or undefined if insufficient data.\r\n   */\r\n  public static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined {\r\n    // if last arg is a Transform, remove it from the array and use for the return value\r\n    let frame = (params.length > 0 && params[params.length - 1] instanceof Transform) ? params.pop() as Transform : undefined;\r\n    const flipFrame = (f: Transform): Transform => {\r\n      if (defaultUpVector && f.matrix.dotColumnZ(defaultUpVector) < 0.0)\r\n        f.matrix.scaleColumnsInPlace(1, -1, -1);\r\n      return f;\r\n    };\r\n    const builder = new FrameBuilder();\r\n    for (const data of params) {\r\n      builder.announce(data);\r\n      builder.applyDefaultUpVector(defaultUpVector);\r\n      if (frame = builder.getValidatedFrame(false, frame))\r\n        return flipFrame(frame);\r\n    }\r\n    const evaluatePrimitiveFrame = (curve: CurvePrimitive, result?: Transform): Transform | undefined => {\r\n      return curve.fractionToFrenetFrame(0.0, result);\r\n    };\r\n    // try direct evaluation of curve primitives using the above lambda\r\n    for (const data of params) {\r\n      if (data instanceof CurvePrimitive) {\r\n        if (frame = evaluatePrimitiveFrame(data, frame))\r\n          return flipFrame(frame);\r\n      } else if (data instanceof CurveCollection) {\r\n        const children = data.collectCurvePrimitives();\r\n        for (const curve of children) {\r\n          if (frame = evaluatePrimitiveFrame(curve, frame))\r\n            return flipFrame(frame);\r\n        }\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create a transform containing points or vectors in the given data.\r\n   * * The xy columns of the transform contain the first points or vectors of the data.\r\n   * * The z column is perpendicular to that xy plane.\r\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\r\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\r\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\r\n   * @returns computed localToWorld frame, or undefined if insufficient data.\r\n   */\r\n  public static createRightHandedLocalToWorld(...params: any[]): Transform | undefined {\r\n    return this.createRightHandedFrame(undefined, params);\r\n  }\r\n\r\n  /**\r\n   * Try to create a frame whose xy plane is through points.\r\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\r\n   * direction is toward the point most distant from that line.\r\n   * @param points array of points\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the points, or undefined if insufficient data\r\n   */\r\n  public static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined {\r\n    if (points.length > 2) {\r\n      const origin = points[0];\r\n      const vector01 = FrameBuilder._workVector0 ?? Vector3d.create();\r\n      Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);\r\n      const vector02 = FrameBuilder._workVector1 ?? Vector3d.create();\r\n      Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);\r\n      const matrix = FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(vector01, vector02, AxisOrder.XYZ, FrameBuilder._workMatrix);\r\n      if (matrix)\r\n        return Transform.createOriginAndMatrix(origin, matrix, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.\r\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\r\n   * direction is toward the point most distant from that line.\r\n   * @param points array of points\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the points, or undefined if insufficient data\r\n   */\r\n  public static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined {\r\n    if (points.length > 2) {\r\n      const ray = PolygonOps.centroidAreaNormal(points);  // can't pass pre-allocated ray...\r\n      if (ray)\r\n        return ray.toRigidZFrame(result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create the localToWorld transform from a range to axes of its parent coordinate system.\r\n   * @param range range to inspect\r\n   * @param scaleSelect selects size of localToWorld axes.\r\n   * @param fractionX fractional coordinate of frame origin x\r\n   * @param fractionY fractional coordinate of frame origin y\r\n   * @param fractionZ fractional coordinate of frame origin z\r\n   * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.\r\n   * @param result optional pre-allocated Transform to populate and return\r\n   * @returns localToWorld frame for the range\r\n   */\r\n  public static createLocalToWorldTransformInRange(\r\n    range: Range3d,\r\n    scaleSelect: AxisScaleSelect = AxisScaleSelect.NonUniformRangeContainment,\r\n    fractionX: number = 0,\r\n    fractionY: number = 0,\r\n    fractionZ: number = 0,\r\n    defaultAxisLength: number = 1.0,\r\n    result?: Transform,\r\n  ): Transform {\r\n    if (range.isNull)\r\n      return Transform.createIdentity(result);\r\n    let a = 1.0;\r\n    let b = 1.0;\r\n    let c = 1.0;\r\n    if (scaleSelect === AxisScaleSelect.LongestRangeDirection) {\r\n      a = b = c = Geometry.correctSmallMetricDistance(range.maxLength(), defaultAxisLength);\r\n    } else if (scaleSelect === AxisScaleSelect.NonUniformRangeContainment) {\r\n      a = Geometry.correctSmallMetricDistance(range.xLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionX, 0, 1);\r\n      b = Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionY, 0, 1);\r\n      c = Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionZ, 0, 1);\r\n    }\r\n    const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);\r\n    const matrix = FrameBuilder._workMatrix = Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);\r\n    return Transform.createOriginAndMatrix(origin, matrix, result);\r\n  }\r\n}\r\n"]}

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

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

@@ -1 +1 @@
-{"version":3,"file":"IndexedXYCollection.js","sourceRoot":"","sources":["../../../src/geometry3d/IndexedXYCollection.ts"],"names":[],"mappings":"AAAA;;;+FAG+F;AAE/F;;GAEG;AAEH,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAM,MAAM,mBAAmB,CAAC;AAI1D;;;;;;;;GAQG;AACH,MAAM,OAAgB,mBAAmB;IA0DvC;;OAEG;IACI,yBAAyB,CAAC,UAAkB;QACjD,MAAM,EAAE,GAAG,IAAI,CAAC,6BAA6B,CAAC,UAAU,EAAE,mBAAmB,CAAC,UAAU,CAAC,CAAC;QAC1F,IAAI,SAAS,KAAK,mBAAmB,CAAC,UAAU;YAC9C,mBAAmB,CAAC,UAAU,GAAG,EAAE,CAAC,CAAE,qBAAqB;QAC7D,OAAO,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;IACzB,CAAC;IAED;;OAEG;IACI,yBAAyB,CAAC,UAAkB;QACjD,MAAM,EAAE,GAAG,IAAI,CAAC,6BAA6B,CAAC,UAAU,EAAE,mBAAmB,CAAC,UAAU,CAAC,CAAC;QAC1F,IAAI,SAAS,KAAK,mBAAmB,CAAC,UAAU;YAC9C,mBAAmB,CAAC,UAAU,GAAG,EAAE,CAAC,CAAE,qBAAqB;QAC7D,OAAO,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;IACzB,CAAC;IAED;;;;OAIG;IACI,iBAAiB,CAAC,MAAgB,EAAE,MAA2B;QACpE,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,CAAC,CAAC;QAC/C,MAAM,GAAG,GAAG,CAAC,MAAM,YAAY,QAAQ,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC;QACpG,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC;YAC3B,GAAG,CAAC,CAAC,IAAI,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,yBAAyB,CAAC,CAAC,CAAC,CAAC;YACvD,GAAG,CAAC,CAAC,IAAI,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,yBAAyB,CAAC,CAAC,CAAC,CAAC;QACzD,CAAC;QACD,OAAO,GAAG,CAAC;IACb,CAAC;CACF","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* 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 ArraysAndInterfaces\r\n */\r\n\r\nimport { Point2d, Vector2d, XY } from \"./Point2dVector2d\";\r\n/* eslint-disable @typescript-eslint/naming-convention, no-empty */\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/**\r\n * abstract base class for access to XY data with indexed reference.\r\n * * This allows algorithms to work with Point2d[] or GrowableXY.\r\n *   * GrowableXYArray implements these for its data.\r\n *   * Point2dArrayCarrier carries a (reference to) a Point2d[] and implements the methods with calls on that array reference.\r\n * * In addition to \"point by point\" accessors, other abstract members compute commonly useful vector data \"between points\".\r\n * * Methods that create vectors among multiple indices allow callers to avoid creating temporaries.\r\n * @public\r\n */\r\nexport abstract class IndexedXYCollection {\r\n  /**\r\n   * Get from `index` as a `Point2d`\r\n   * @param index index of point within the array\r\n   * @param result optional caller-allocated destination\r\n   * @returns undefined if the index is out of bounds\r\n   */\r\n  public abstract getPoint2dAtCheckedPointIndex(index: number, result?: Point2d): Point2d | undefined;\r\n  /**\r\n   * Get from `index` as a `Vector2d`\r\n   * @param index index of point within the array\r\n   * @param result optional caller-allocated destination\r\n   * @returns undefined if the index is out of bounds\r\n   */\r\n  public abstract getVector2dAtCheckedVectorIndex(index: number, result?: Vector2d): Vector2d | undefined;\r\n  /**\r\n   * Return a vector from the point at `indexA` to the point at `indexB`\r\n   * @param indexA index of point within the array\r\n   * @param indexB index of point within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if either index is out of bounds\r\n   */\r\n  public abstract vectorIndexIndex(indexA: number, indexB: number, result?: Vector2d): Vector2d | undefined;\r\n  /**\r\n   * Return a vector from given origin to the point at `indexB`\r\n   * @param origin origin for vector\r\n   * @param indexB index of point within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if index is out of bounds\r\n   */\r\n  public abstract vectorXAndYIndex(origin: XAndY, indexB: number, result?: Vector2d): Vector2d | undefined;\r\n\r\n  /**\r\n   * Return the cross product of vectors from `origin` to points at `indexA` and `indexB`\r\n   * @param origin origin for vector\r\n   * @param indexA index of first target within the array\r\n   * @param indexB index of second target within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if either index is out of bounds\r\n   */\r\n  public abstract crossProductXAndYIndexIndex(origin: XAndY, indexA: number, indexB: number): number | undefined;\r\n  /**\r\n   * Return the cross product of vectors from origin point at `indexA` to target points at `indexB` and `indexC`\r\n   * @param origin index of origin\r\n   * @param indexA index of first target within the array\r\n   * @param indexB index of second target within the array\r\n   * @param result optional caller - allocated vector.\r\n   * @returns return true if indexA, indexB both valid\r\n   */\r\n  public abstract crossProductIndexIndexIndex(origin: number, indexA: number, indexB: number): number | undefined;\r\n\r\n  /**\r\n   * read-only property for number of XY in the collection.\r\n   */\r\n  public abstract get length(): number;\r\n\r\n  private static _workPoint?: Point2d;\r\n\r\n  /** access x of indexed point\r\n   * * Subclasses may wish to override with a more efficient implementation.\r\n   */\r\n  public getXAtUncheckedPointIndex(pointIndex: number): number {\r\n    const pt = this.getPoint2dAtCheckedPointIndex(pointIndex, IndexedXYCollection._workPoint);\r\n    if (undefined === IndexedXYCollection._workPoint)\r\n      IndexedXYCollection._workPoint = pt;  // allocate the cache\r\n    return pt ? pt.x : 0.0;\r\n  }\r\n\r\n  /** access y of indexed point\r\n   * * Subclasses may wish to override with a more efficient implementation.\r\n   */\r\n  public getYAtUncheckedPointIndex(pointIndex: number): number {\r\n    const pt = this.getPoint2dAtCheckedPointIndex(pointIndex, IndexedXYCollection._workPoint);\r\n    if (undefined === IndexedXYCollection._workPoint)\r\n      IndexedXYCollection._workPoint = pt;  // allocate the cache\r\n    return pt ? pt.y : 0.0;\r\n  }\r\n\r\n  /** Compute the linear combination s of the indexed p_i and given scales s_i.\r\n   * @param scales array of scales. For best results, scales should have same length as the instance.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @return s = sum(p_i * s_i), where i ranges from 0 to min(this.length, scales.length).\r\n   */\r\n  public linearCombination(scales: number[], result?: Point2d | Vector2d): XY {\r\n    const n = Math.min(this.length, scales.length);\r\n    const sum = (result instanceof Vector2d) ? Vector2d.createZero(result) : Point2d.createZero(result);\r\n    for (let i = 0; i < n; ++i) {\r\n      sum.x += scales[i] * this.getXAtUncheckedPointIndex(i);\r\n      sum.y += scales[i] * this.getYAtUncheckedPointIndex(i);\r\n    }\r\n    return sum;\r\n  }\r\n}\r\n"]}
+{"version":3,"file":"IndexedXYCollection.js","sourceRoot":"","sources":["../../../src/geometry3d/IndexedXYCollection.ts"],"names":[],"mappings":"AAAA;;;+FAG+F;AAE/F;;GAEG;AAEH,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAM,MAAM,mBAAmB,CAAC;AAG1D;;;;;;;;GAQG;AACH,MAAM,OAAgB,mBAAmB;IA0DvC;;OAEG;IACI,yBAAyB,CAAC,UAAkB;QACjD,MAAM,EAAE,GAAG,IAAI,CAAC,6BAA6B,CAAC,UAAU,EAAE,mBAAmB,CAAC,UAAU,CAAC,CAAC;QAC1F,IAAI,SAAS,KAAK,mBAAmB,CAAC,UAAU;YAC9C,mBAAmB,CAAC,UAAU,GAAG,EAAE,CAAC,CAAE,qBAAqB;QAC7D,OAAO,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;IACzB,CAAC;IAED;;OAEG;IACI,yBAAyB,CAAC,UAAkB;QACjD,MAAM,EAAE,GAAG,IAAI,CAAC,6BAA6B,CAAC,UAAU,EAAE,mBAAmB,CAAC,UAAU,CAAC,CAAC;QAC1F,IAAI,SAAS,KAAK,mBAAmB,CAAC,UAAU;YAC9C,mBAAmB,CAAC,UAAU,GAAG,EAAE,CAAC,CAAE,qBAAqB;QAC7D,OAAO,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;IACzB,CAAC;IAED;;;;OAIG;IACI,iBAAiB,CAAC,MAAgB,EAAE,MAA2B;QACpE,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,CAAC,CAAC;QAC/C,MAAM,GAAG,GAAG,CAAC,MAAM,YAAY,QAAQ,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC;QACpG,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC;YAC3B,GAAG,CAAC,CAAC,IAAI,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,yBAAyB,CAAC,CAAC,CAAC,CAAC;YACvD,GAAG,CAAC,CAAC,IAAI,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,yBAAyB,CAAC,CAAC,CAAC,CAAC;QACzD,CAAC;QACD,OAAO,GAAG,CAAC;IACb,CAAC;CACF","sourcesContent":["/*---------------------------------------------------------------------------------------------\r\n* 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 ArraysAndInterfaces\r\n */\r\n\r\nimport { Point2d, Vector2d, XY } from \"./Point2dVector2d\";\r\nimport { XAndY } from \"./XYZProps\";\r\n\r\n/**\r\n * abstract base class for access to XY data with indexed reference.\r\n * * This allows algorithms to work with Point2d[] or GrowableXY.\r\n *   * GrowableXYArray implements these for its data.\r\n *   * Point2dArrayCarrier carries a (reference to) a Point2d[] and implements the methods with calls on that array reference.\r\n * * In addition to \"point by point\" accessors, other abstract members compute commonly useful vector data \"between points\".\r\n * * Methods that create vectors among multiple indices allow callers to avoid creating temporaries.\r\n * @public\r\n */\r\nexport abstract class IndexedXYCollection {\r\n  /**\r\n   * Get from `index` as a `Point2d`\r\n   * @param index index of point within the array\r\n   * @param result optional caller-allocated destination\r\n   * @returns undefined if the index is out of bounds\r\n   */\r\n  public abstract getPoint2dAtCheckedPointIndex(index: number, result?: Point2d): Point2d | undefined;\r\n  /**\r\n   * Get from `index` as a `Vector2d`\r\n   * @param index index of point within the array\r\n   * @param result optional caller-allocated destination\r\n   * @returns undefined if the index is out of bounds\r\n   */\r\n  public abstract getVector2dAtCheckedVectorIndex(index: number, result?: Vector2d): Vector2d | undefined;\r\n  /**\r\n   * Return a vector from the point at `indexA` to the point at `indexB`\r\n   * @param indexA index of point within the array\r\n   * @param indexB index of point within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if either index is out of bounds\r\n   */\r\n  public abstract vectorIndexIndex(indexA: number, indexB: number, result?: Vector2d): Vector2d | undefined;\r\n  /**\r\n   * Return a vector from given origin to the point at `indexB`\r\n   * @param origin origin for vector\r\n   * @param indexB index of point within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if index is out of bounds\r\n   */\r\n  public abstract vectorXAndYIndex(origin: XAndY, indexB: number, result?: Vector2d): Vector2d | undefined;\r\n\r\n  /**\r\n   * Return the cross product of vectors from `origin` to points at `indexA` and `indexB`\r\n   * @param origin origin for vector\r\n   * @param indexA index of first target within the array\r\n   * @param indexB index of second target within the array\r\n   * @param result optional caller-allocated vector.\r\n   * @returns undefined if either index is out of bounds\r\n   */\r\n  public abstract crossProductXAndYIndexIndex(origin: XAndY, indexA: number, indexB: number): number | undefined;\r\n  /**\r\n   * Return the cross product of vectors from origin point at `indexA` to target points at `indexB` and `indexC`\r\n   * @param origin index of origin\r\n   * @param indexA index of first target within the array\r\n   * @param indexB index of second target within the array\r\n   * @param result optional caller - allocated vector.\r\n   * @returns return true if indexA, indexB both valid\r\n   */\r\n  public abstract crossProductIndexIndexIndex(origin: number, indexA: number, indexB: number): number | undefined;\r\n\r\n  /**\r\n   * read-only property for number of XY in the collection.\r\n   */\r\n  public abstract get length(): number;\r\n\r\n  private static _workPoint?: Point2d;\r\n\r\n  /** access x of indexed point\r\n   * * Subclasses may wish to override with a more efficient implementation.\r\n   */\r\n  public getXAtUncheckedPointIndex(pointIndex: number): number {\r\n    const pt = this.getPoint2dAtCheckedPointIndex(pointIndex, IndexedXYCollection._workPoint);\r\n    if (undefined === IndexedXYCollection._workPoint)\r\n      IndexedXYCollection._workPoint = pt;  // allocate the cache\r\n    return pt ? pt.x : 0.0;\r\n  }\r\n\r\n  /** access y of indexed point\r\n   * * Subclasses may wish to override with a more efficient implementation.\r\n   */\r\n  public getYAtUncheckedPointIndex(pointIndex: number): number {\r\n    const pt = this.getPoint2dAtCheckedPointIndex(pointIndex, IndexedXYCollection._workPoint);\r\n    if (undefined === IndexedXYCollection._workPoint)\r\n      IndexedXYCollection._workPoint = pt;  // allocate the cache\r\n    return pt ? pt.y : 0.0;\r\n  }\r\n\r\n  /** Compute the linear combination s of the indexed p_i and given scales s_i.\r\n   * @param scales array of scales. For best results, scales should have same length as the instance.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @return s = sum(p_i * s_i), where i ranges from 0 to min(this.length, scales.length).\r\n   */\r\n  public linearCombination(scales: number[], result?: Point2d | Vector2d): XY {\r\n    const n = Math.min(this.length, scales.length);\r\n    const sum = (result instanceof Vector2d) ? Vector2d.createZero(result) : Point2d.createZero(result);\r\n    for (let i = 0; i < n; ++i) {\r\n      sum.x += scales[i] * this.getXAtUncheckedPointIndex(i);\r\n      sum.y += scales[i] * this.getYAtUncheckedPointIndex(i);\r\n    }\r\n    return sum;\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry3d/Matrix3d.d.ts

@@ -408,7 +408,8 @@ export declare class Matrix3d implements BeJSONFunctions {
      * ```
      */
     static createColumns(vectorU: Vector3d, vectorV: Vector3d, vectorW: Vector3d, result?: Matrix3d): Matrix3d;
-    /** Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
+    /**
+     * Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
      * ```
      * equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ u & v & w \end{bmatrix}
@@ -1146,37 +1147,47 @@ export declare class Matrix3d implements BeJSONFunctions {
     /** Test if the above diagonal entries (1,2,5) are all nearly zero */
     get isLowerTriangular(): boolean;
     /**
-     * If the matrix is diagonal and all diagonals are almost equal, return the first diagonal (entry 0
-     * which is same as entry 4 and 8). Otherwise return `undefined`.
+     * If the matrix is diagonal with almost equal diagonal entries, return the first diagonal entry.
+     * Otherwise return `undefined`.
      */
     sameDiagonalScale(): number | undefined;
     /**
-     * Test if all rows and columns are unit length and are perpendicular to each other, i.e., the matrix is either
-     * a `pure rotation` (determinant is +1) or is a `mirror` (determinant is -1).
-     * * **Note:** such a matrix is called `orthogonal` and its inverse is its transpose.
+     * Test if all rows and columns are unit length and perpendicular to each other.
+     * * If so, the matrix is either a rotation (determinant is +1) or a mirror (determinant is -1).
+     * * Such a matrix is called "orthogonal" and its inverse is its transpose.
      */
     testPerpendicularUnitRowsAndColumns(): boolean;
     /**
-     * Test if the matrix is a `rigid` matrix (or `pure rotation`, i.e., columns and rows are unit length and
-     * pairwise perpendicular and determinant is +1).
-     * @param allowMirror whether to widen the test to return true if the matrix is a `mirror` (determinant is -1).
+     * Test if the matrix is a rigid matrix.
+     * * A rigid matrix is a rotation: its columns and rows are unit length and pairwise perpendicular, and its
+     * determinant is +1.
+     * @param allowMirror whether to widen the test to also return true if the matrix is a mirror (determinant is -1).
     */
     isRigid(allowMirror?: boolean): boolean;
     /**
-     * Test if all rows and columns are perpendicular to each other and have equal length.
-     * If so, the length (or its negative) is the `scale` factor from a set of `orthonormal axes` to
-     * the set of axes created by columns of `this` matrix. Otherwise, returns `undefined`.
+     * Test if the instance is the product of a rigid matrix and a signed scale, and return both.
+     * * Specifically, this is a test of whether the instance rows and columns are pairwise perpendicular and have equal
+     * length. If so, the scale factor is this length, or its negative if the instance is a mirror, and dividing the
+     * columns by this scale factor produces a rigid matrix (a rotation).
      * @param result optional pre-allocated object to populate and return
-     * @returns returns `{ rigidAxes, scale }` where `rigidAxes` is a Matrix3d with its columns as the rigid axes
-     * (with the scale factor removed) and `scale` is the scale factor.
-     * * Note that determinant of a rigid matrix is +1.
-     * * The context for this method is to determine if the matrix is the product a `rotation` matrix and a uniform
-     * `scale` matrix (diagonal matrix with all diagonal entries the same nonzero number).
+     * @returns the factorization `{ rigidAxes, scale }` where `rigidAxes` is the instance matrix with `scale` factor
+     * removed, or undefined if the factorization failed.
      */
     factorRigidWithSignedScale(result?: Matrix3d): {
         rigidAxes: Matrix3d;
         scale: number;
     } | undefined;
+    /**
+     * Compute the factorization M = R*G, where R is rigid (a rotation) and G is whatever is left over (skew, scale,
+     * mirror, etc).
+     * * The rotation is computed from the instance by passing `axisOrder` into [[createRigidFromMatrix3d]].
+     * @param rotation the rigid factor R
+     * @param skew the non-rotation factor G = R^t * M (since R transposed is its inverse)
+     * @param axisOrder optional cross product ordering for computing R
+     * @return whether [[createRigidFromMatrix3d]] succeeded; if not, `rotation` is set to the identity, and `skew` is
+     * set to this instance.
+     */
+    factorRigidSkew(rotation: Matrix3d, skew: Matrix3d, axisOrder?: AxisOrder): boolean;
     /** Test if `this` matrix reorders and/or negates the columns of the `identity` matrix. */
     get isSignedPermutation(): boolean;
     /**

package/lib/esm/geometry3d/Matrix3d.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/Matrix3d.js

@@ -766,7 +766,8 @@ export class Matrix3d {
     static createColumns(vectorU, vectorV, vectorW, result) {
         return Matrix3d.createRowValues(vectorU.x, vectorV.x, vectorW.x, vectorU.y, vectorV.y, vectorW.y, vectorU.z, vectorV.z, vectorW.z, result);
     }
-    /** Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
+    /**
+     * Create a matrix with each column's _x,y_ parts given `XAndY` and separate numeric z values.
      * ```
      * equation
      * \begin{bmatrix}U_x & V_x & W_x \\ U_y & V_y & W_y \\ u & v & w \end{bmatrix}
@@ -2496,8 +2497,8 @@ export class Matrix3d {
         return Math.sqrt(sumLow) <= Geometry.smallAngleRadians * (1.0 + Math.sqrt(sumAll));
     }
     /**
-     * If the matrix is diagonal and all diagonals are almost equal, return the first diagonal (entry 0
-     * which is same as entry 4 and 8). Otherwise return `undefined`.
+     * If the matrix is diagonal with almost equal diagonal entries, return the first diagonal entry.
+     * Otherwise return `undefined`.
      */
     sameDiagonalScale() {
         const sumAll = this.sumSquares();
@@ -2510,32 +2511,31 @@ export class Matrix3d {
         return undefined;
     }
     /**
-     * Test if all rows and columns are unit length and are perpendicular to each other, i.e., the matrix is either
-     * a `pure rotation` (determinant is +1) or is a `mirror` (determinant is -1).
-     * * **Note:** such a matrix is called `orthogonal` and its inverse is its transpose.
+     * Test if all rows and columns are unit length and perpendicular to each other.
+     * * If so, the matrix is either a rotation (determinant is +1) or a mirror (determinant is -1).
+     * * Such a matrix is called "orthogonal" and its inverse is its transpose.
      */
     testPerpendicularUnitRowsAndColumns() {
         const product = this.multiplyMatrixMatrixTranspose(this);
         return product.isIdentity;
     }
     /**
-     * Test if the matrix is a `rigid` matrix (or `pure rotation`, i.e., columns and rows are unit length and
-     * pairwise perpendicular and determinant is +1).
-     * @param allowMirror whether to widen the test to return true if the matrix is a `mirror` (determinant is -1).
+     * Test if the matrix is a rigid matrix.
+     * * A rigid matrix is a rotation: its columns and rows are unit length and pairwise perpendicular, and its
+     * determinant is +1.
+     * @param allowMirror whether to widen the test to also return true if the matrix is a mirror (determinant is -1).
     */
     isRigid(allowMirror = false) {
         return this.testPerpendicularUnitRowsAndColumns() && (allowMirror || this.determinant() > 0);
     }
     /**
-     * Test if all rows and columns are perpendicular to each other and have equal length.
-     * If so, the length (or its negative) is the `scale` factor from a set of `orthonormal axes` to
-     * the set of axes created by columns of `this` matrix. Otherwise, returns `undefined`.
+     * Test if the instance is the product of a rigid matrix and a signed scale, and return both.
+     * * Specifically, this is a test of whether the instance rows and columns are pairwise perpendicular and have equal
+     * length. If so, the scale factor is this length, or its negative if the instance is a mirror, and dividing the
+     * columns by this scale factor produces a rigid matrix (a rotation).
      * @param result optional pre-allocated object to populate and return
-     * @returns returns `{ rigidAxes, scale }` where `rigidAxes` is a Matrix3d with its columns as the rigid axes
-     * (with the scale factor removed) and `scale` is the scale factor.
-     * * Note that determinant of a rigid matrix is +1.
-     * * The context for this method is to determine if the matrix is the product a `rotation` matrix and a uniform
-     * `scale` matrix (diagonal matrix with all diagonal entries the same nonzero number).
+     * @returns the factorization `{ rigidAxes, scale }` where `rigidAxes` is the instance matrix with `scale` factor
+     * removed, or undefined if the factorization failed.
      */
     factorRigidWithSignedScale(result) {
         const product = this.multiplyMatrixMatrixTranspose(this);
@@ -2546,6 +2546,25 @@ export class Matrix3d {
         const scaleInverse = 1.0 / scale;
         return { rigidAxes: this.scaleColumns(scaleInverse, scaleInverse, scaleInverse, result), scale };
     }
+    /**
+     * Compute the factorization M = R*G, where R is rigid (a rotation) and G is whatever is left over (skew, scale,
+     * mirror, etc).
+     * * The rotation is computed from the instance by passing `axisOrder` into [[createRigidFromMatrix3d]].
+     * @param rotation the rigid factor R
+     * @param skew the non-rotation factor G = R^t * M (since R transposed is its inverse)
+     * @param axisOrder optional cross product ordering for computing R
+     * @return whether [[createRigidFromMatrix3d]] succeeded; if not, `rotation` is set to the identity, and `skew` is
+     * set to this instance.
+     */
+    factorRigidSkew(rotation, skew, axisOrder = AxisOrder.XYZ) {
+        if (Matrix3d.createRigidFromMatrix3d(this, axisOrder, rotation)) {
+            rotation.multiplyMatrixTransposeMatrix(this, skew);
+            return true;
+        }
+        rotation.setIdentity();
+        skew.setFrom(this);
+        return false;
+    }
     /** Test if `this` matrix reorders and/or negates the columns of the `identity` matrix. */
     get isSignedPermutation() {
         let count = 0;