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

package/lib/esm/numerics/SmallSystem.d.ts

@@ -0,0 +1,164 @@
+import { Point2d, Vector2d } from "../geometry3d/Point2dVector2d";
+import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
+import { XAndY } from "../geometry3d/XYZProps";
+import { Point4d } from "../geometry4d/Point4d";
+/**
+ * static methods for commonly appearing sets of equations in 2 or 3 variables
+ * @public
+ */
+export declare class SmallSystem {
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment2dXYTransverseIntersectionUnbounded(a0: Point2d, a1: Point2d, b0: Point2d, b1: Point2d, result: Vector2d): boolean;
+    /**
+     * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.
+     * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.
+     * * Return true if the lines have a simple intersection.
+     * * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegmentXYUVTransverseIntersectionUnbounded(ax0: number, ay0: number, ux: number, uy: number, bx0: number, by0: number, vx: number, vy: number, result: Vector2d): boolean;
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dXYTransverseIntersectionUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d, result: Vector2d): boolean;
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param hA0 homogeneous start point of line a
+     * @param hA1 homogeneous end point of line a
+     * @param hB0 homogeneous start point of line b
+     * @param hB1 homogeneous end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dHXYTransverseIntersectionUnbounded(hA0: Point4d, hA1: Point4d, hB0: Point4d, hB1: Point4d, result?: Vector2d): Vector2d | undefined;
+    /**
+     * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.
+     * @param hA0 homogeneous start point of line a
+     * @param hA1 homogeneous end point of line a
+     * @param spacePoint homogeneous point in space
+     */
+    static lineSegment3dHXYClosestPointUnbounded(hA0: Point4d, hA1: Point4d, spacePoint: Point4d): number | undefined;
+    /**
+     * Return the line fraction at which the line is closest to a space point as viewed in xy only.
+     * @param pointA0 start point
+     * @param pointA1 end point
+     * @param spacePoint point in space
+     */
+    static lineSegment3dXYClosestPointUnbounded(pointA0: XAndY, pointA1: XAndY, spacePoint: XAndY): number | undefined;
+    /**
+     * Return the line fraction at which the line is closest to a space point
+     * @param pointA0 start point
+     * @param pointA1 end point
+     * @param spacePoint point in space
+     */
+    static lineSegment3dClosestPointUnbounded(pointA0: Point3d, pointA1: Point3d, spacePoint: Point3d): number | undefined;
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dClosestApproachUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d, result: Vector2d): boolean;
+    /**
+     * Return true if the given rays have closest approach (go by each other) in 3d
+     * Return the fractional (not xy) coordinates as x and y parts of a Point2d.
+     * @param ax x-coordinate of the origin of the first ray
+     * @param ay y-coordinate of the origin of the first ray
+     * @param az z-coordinate of the origin of the first ray
+     * @param au x-coordinate of the direction vector of the first ray
+     * @param av y-coordinate of the direction vector of the first ray
+     * @param aw z-coordinate of the direction vector of the first ray
+     * @param bx x-coordinate of the origin of the second ray
+     * @param by y-coordinate of the origin of the second ray
+     * @param bz z-coordinate of the origin of the second ray
+     * @param bu x-coordinate of the direction vector of the second ray
+     * @param bv y-coordinate of the direction vector of the second ray
+     * @param bw z-coordinate of the direction vector of the second ray
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static ray3dXYZUVWClosestApproachUnbounded(ax: number, ay: number, az: number, au: number, av: number, aw: number, bx: number, by: number, bz: number, bu: number, bv: number, bw: number, result: Vector2d): boolean;
+    /**
+     * Solve the pair of linear equations
+     * * `ux * x + vx * y = cx`
+     * * `uy * x + vy * y = cy`
+     * @param ux xx coefficient
+     * @param vx xy coefficient
+     * @param uy yx coefficient
+     * @param vy yy coefficient
+     * @param cx x right hand side
+     * @param cy y right hand side
+     * @param result (x,y) solution (MUST be preallocated by caller)
+     */
+    static linearSystem2d(ux: number, vx: number, // first row of matrix
+    uy: number, vy: number, // second row of matrix
+    cx: number, cy: number, // right side
+    result: Vector2d): boolean;
+    /**
+     * Solve a linear system:
+     * * x equation: `axx * u + axy * v + axz * w = cx`
+     * * y equation: `ayx * u + ayy * v + ayz * w = cy`
+     * * z equation: `azx * u + azy * v + azz * w = cz`
+     * @param axx row 0, column 0 coefficient
+     * @param axy row 0, column 1 coefficient
+     * @param axz row 0, column 1 coefficient
+     * @param ayx row 1, column 0 coefficient
+     * @param ayy row 1, column 1 coefficient
+     * @param ayz row 1, column 2 coefficient
+     * @param azx row 2, column 0 coefficient
+     * @param azy row 2, column 1 coefficient
+     * @param azz row 2, column 2 coefficient
+     * @param cx right hand side row 0 coefficient
+     * @param cy right hand side row 1 coefficient
+     * @param cz right hand side row 2 coefficient
+     * @param result optional result.
+     * @returns solution vector (u,v,w) or `undefined` if system is singular.
+     */
+    static linearSystem3d(axx: number, axy: number, axz: number, // first row of matrix
+    ayx: number, ayy: number, ayz: number, // second row of matrix
+    azx: number, azy: number, azz: number, // second row of matrix
+    cx: number, cy: number, cz: number, // right side
+    result?: Vector3d): Vector3d | undefined;
+    /**
+     * Compute the intersection of three planes.
+     * @param xyzA point on the first plane
+     * @param normalA normal of the first plane
+     * @param xyzB point on the second plane
+     * @param normalB normal of the second plane
+     * @param xyzC point on the third plane
+     * @param normalC normal of the third plane
+     * @param result optional result
+     * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.
+     */
+    static intersect3Planes(xyzA: Point3d, normalA: Vector3d, xyzB: Point3d, normalB: Vector3d, xyzC: Point3d, normalC: Vector3d, result?: Vector3d): Vector3d | undefined;
+    /**
+     * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`
+     * @param rowA row that does not change
+     * @param pivotIndex index of pivot (divisor) in rowA.
+     * @param rowB row where elimination occurs.
+     */
+    static eliminateFromPivot(rowA: Float64Array, pivotIndex: number, rowB: Float64Array, a: number): boolean;
+    /**
+     * Solve a pair of bilinear equations
+     * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`
+     * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`
+     */
+    static solveBilinearPair(a0: number, b0: number, c0: number, d0: number, a1: number, b1: number, c1: number, d1: number): Point2d[] | undefined;
+}
+//# sourceMappingURL=SmallSystem.d.ts.map

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package/lib/esm/numerics/SmallSystem.js

@@ -0,0 +1,317 @@
+/*---------------------------------------------------------------------------------------------
+* Copyright (c) Bentley Systems, Incorporated. All rights reserved.
+* See LICENSE.md in the project root for license terms and full copyright notice.
+*--------------------------------------------------------------------------------------------*/
+/** @packageDocumentation
+ * @module Numerics
+ */
+import { Geometry } from "../Geometry";
+import { Vector2d } from "../geometry3d/Point2dVector2d";
+import { Vector3d } from "../geometry3d/Point3dVector3d";
+import { BilinearPolynomial } from "./Polynomials";
+// cspell:word XYUV
+/**
+ * static methods for commonly appearing sets of equations in 2 or 3 variables
+ * @public
+ */
+export class SmallSystem {
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment2dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
+        const ux = a1.x - a0.x;
+        const uy = a1.y - a0.y;
+        const vx = b1.x - b0.x;
+        const vy = b1.y - b0.y;
+        const cx = b0.x - a0.x;
+        const cy = b0.y - a0.y;
+        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
+        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
+        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
+        const s = Geometry.conditionalDivideFraction(cv, uv);
+        const t = Geometry.conditionalDivideFraction(cu, uv);
+        if (s !== undefined && t !== undefined) {
+            result.set(s, -t);
+            return true;
+        }
+        result.set(0, 0);
+        return false;
+    }
+    /**
+     * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.
+     * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.
+     * * Return true if the lines have a simple intersection.
+     * * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegmentXYUVTransverseIntersectionUnbounded(ax0, ay0, ux, uy, bx0, by0, vx, vy, result) {
+        const cx = bx0 - ax0;
+        const cy = by0 - ay0;
+        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
+        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
+        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
+        const s = Geometry.conditionalDivideFraction(cv, uv);
+        const t = Geometry.conditionalDivideFraction(cu, uv);
+        if (s !== undefined && t !== undefined) {
+            result.set(s, -t);
+            return true;
+        }
+        result.set(0, 0);
+        return false;
+    }
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
+        const ux = a1.x - a0.x;
+        const uy = a1.y - a0.y;
+        const vx = b1.x - b0.x;
+        const vy = b1.y - b0.y;
+        const cx = b0.x - a0.x;
+        const cy = b0.y - a0.y;
+        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
+        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
+        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
+        const s = Geometry.conditionalDivideFraction(cv, uv);
+        const t = Geometry.conditionalDivideFraction(cu, uv);
+        if (s !== undefined && t !== undefined) {
+            result.set(s, -t);
+            return true;
+        }
+        result.set(0, 0);
+        return false;
+    }
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param hA0 homogeneous start point of line a
+     * @param hA1 homogeneous end point of line a
+     * @param hB0 homogeneous start point of line b
+     * @param hB1 homogeneous end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dHXYTransverseIntersectionUnbounded(hA0, hA1, hB0, hB1, result) {
+        // Considering only x,y,w parts....
+        // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`
+        // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)
+        const alpha0 = Geometry.tripleProduct(hA0.x, hA1.x, hB0.x, hA0.y, hA1.y, hB0.y, hA0.w, hA1.w, hB0.w);
+        const alpha1 = Geometry.tripleProduct(hA0.x, hA1.x, hB1.x, hA0.y, hA1.y, hB1.y, hA0.w, hA1.w, hB1.w);
+        const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);
+        if (fractionB !== undefined) {
+            const beta0 = Geometry.tripleProduct(hB0.x, hB1.x, hA0.x, hB0.y, hB1.y, hA0.y, hB0.w, hB1.w, hA0.w);
+            const beta1 = Geometry.tripleProduct(hB0.x, hB1.x, hA1.x, hB0.y, hB1.y, hA1.y, hB0.w, hB1.w, hA1.w);
+            const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);
+            if (fractionA !== undefined)
+                return Vector2d.create(fractionA, fractionB, result);
+        }
+        return undefined;
+    }
+    /**
+     * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.
+     * @param hA0 homogeneous start point of line a
+     * @param hA1 homogeneous end point of line a
+     * @param spacePoint homogeneous point in space
+     */
+    static lineSegment3dHXYClosestPointUnbounded(hA0, hA1, spacePoint) {
+        // Considering only x,y,w parts....
+        // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.
+        // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection
+        // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`
+        // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.
+        const tx = hA1.x * hA0.w - hA0.x * hA1.w;
+        const ty = hA1.y * hA0.w - hA0.y * hA1.w;
+        const det0 = Geometry.tripleProduct(hA0.x, -ty, spacePoint.x, hA0.y, tx, spacePoint.y, hA0.w, 0, spacePoint.w);
+        const det1 = Geometry.tripleProduct(hA1.x, -ty, spacePoint.x, hA1.y, tx, spacePoint.y, hA1.w, 0, spacePoint.w);
+        return Geometry.conditionalDivideFraction(-det0, det1 - det0);
+    }
+    /**
+     * Return the line fraction at which the line is closest to a space point as viewed in xy only.
+     * @param pointA0 start point
+     * @param pointA1 end point
+     * @param spacePoint point in space
+     */
+    static lineSegment3dXYClosestPointUnbounded(pointA0, pointA1, spacePoint) {
+        // Considering only x,y parts....
+        const ux = pointA1.x - pointA0.x;
+        const uy = pointA1.y - pointA0.y;
+        const uu = ux * ux + uy * uy;
+        const vx = spacePoint.x - pointA0.x;
+        const vy = spacePoint.y - pointA0.y;
+        const uv = ux * vx + uy * vy;
+        return Geometry.conditionalDivideFraction(uv, uu);
+    }
+    /**
+     * Return the line fraction at which the line is closest to a space point
+     * @param pointA0 start point
+     * @param pointA1 end point
+     * @param spacePoint point in space
+     */
+    static lineSegment3dClosestPointUnbounded(pointA0, pointA1, spacePoint) {
+        const ux = pointA1.x - pointA0.x;
+        const uy = pointA1.y - pointA0.y;
+        const uz = pointA1.z - pointA0.z;
+        const uu = ux * ux + uy * uy + uz * uz;
+        const vx = spacePoint.x - pointA0.x;
+        const vy = spacePoint.y - pointA0.y;
+        const vz = spacePoint.z - pointA0.z;
+        const uv = ux * vx + uy * vy + uz * vz;
+        return Geometry.conditionalDivideFraction(uv, uu);
+    }
+    /**
+     * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d
+     * Return the fractional (not xy) coordinates in result.x, result.y
+     * @param a0 start point of line a
+     * @param a1  end point of line a
+     * @param b0  start point of line b
+     * @param b1 end point of line b
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static lineSegment3dClosestApproachUnbounded(a0, a1, b0, b1, result) {
+        return this.ray3dXYZUVWClosestApproachUnbounded(a0.x, a0.y, a0.z, a1.x - a0.x, a1.y - a0.y, a1.z - a0.z, b0.x, b0.y, b0.z, b1.x - b0.x, b1.y - b0.y, b1.z - b0.z, result);
+    }
+    /**
+     * Return true if the given rays have closest approach (go by each other) in 3d
+     * Return the fractional (not xy) coordinates as x and y parts of a Point2d.
+     * @param ax x-coordinate of the origin of the first ray
+     * @param ay y-coordinate of the origin of the first ray
+     * @param az z-coordinate of the origin of the first ray
+     * @param au x-coordinate of the direction vector of the first ray
+     * @param av y-coordinate of the direction vector of the first ray
+     * @param aw z-coordinate of the direction vector of the first ray
+     * @param bx x-coordinate of the origin of the second ray
+     * @param by y-coordinate of the origin of the second ray
+     * @param bz z-coordinate of the origin of the second ray
+     * @param bu x-coordinate of the direction vector of the second ray
+     * @param bv y-coordinate of the direction vector of the second ray
+     * @param bw z-coordinate of the direction vector of the second ray
+     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     */
+    static ray3dXYZUVWClosestApproachUnbounded(ax, ay, az, au, av, aw, bx, by, bz, bu, bv, bw, result) {
+        const cx = bx - ax;
+        const cy = by - ay;
+        const cz = bz - az;
+        const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);
+        const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);
+        const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);
+        const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);
+        const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);
+        return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);
+    }
+    /**
+     * Solve the pair of linear equations
+     * * `ux * x + vx * y = cx`
+     * * `uy * x + vy * y = cy`
+     * @param ux xx coefficient
+     * @param vx xy coefficient
+     * @param uy yx coefficient
+     * @param vy yy coefficient
+     * @param cx x right hand side
+     * @param cy y right hand side
+     * @param result (x,y) solution (MUST be preallocated by caller)
+     */
+    static linearSystem2d(ux, vx, // first row of matrix
+    uy, vy, // second row of matrix
+    cx, cy, // right side
+    result) {
+        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
+        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
+        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
+        const s = Geometry.conditionalDivideFraction(cv, uv);
+        const t = Geometry.conditionalDivideFraction(cu, uv);
+        if (s !== undefined && t !== undefined) {
+            result.set(s, t);
+            return true;
+        }
+        result.set(0, 0);
+        return false;
+    }
+    /**
+     * Solve a linear system:
+     * * x equation: `axx * u + axy * v + axz * w = cx`
+     * * y equation: `ayx * u + ayy * v + ayz * w = cy`
+     * * z equation: `azx * u + azy * v + azz * w = cz`
+     * @param axx row 0, column 0 coefficient
+     * @param axy row 0, column 1 coefficient
+     * @param axz row 0, column 1 coefficient
+     * @param ayx row 1, column 0 coefficient
+     * @param ayy row 1, column 1 coefficient
+     * @param ayz row 1, column 2 coefficient
+     * @param azx row 2, column 0 coefficient
+     * @param azy row 2, column 1 coefficient
+     * @param azz row 2, column 2 coefficient
+     * @param cx right hand side row 0 coefficient
+     * @param cy right hand side row 1 coefficient
+     * @param cz right hand side row 2 coefficient
+     * @param result optional result.
+     * @returns solution vector (u,v,w) or `undefined` if system is singular.
+     */
+    static linearSystem3d(axx, axy, axz, // first row of matrix
+    ayx, ayy, ayz, // second row of matrix
+    azx, azy, azz, // second row of matrix
+    cx, cy, cz, // right side
+    result) {
+        // determinants of various combinations of columns ...
+        const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);
+        const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);
+        const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);
+        const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);
+        const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);
+        const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);
+        const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);
+        if (s !== undefined && t !== undefined && u !== undefined) {
+            return Vector3d.create(s, t, u, result);
+        }
+        return undefined;
+    }
+    /**
+     * Compute the intersection of three planes.
+     * @param xyzA point on the first plane
+     * @param normalA normal of the first plane
+     * @param xyzB point on the second plane
+     * @param normalB normal of the second plane
+     * @param xyzC point on the third plane
+     * @param normalC normal of the third plane
+     * @param result optional result
+     * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.
+     */
+    static intersect3Planes(xyzA, normalA, xyzB, normalB, xyzC, normalC, result) {
+        return this.linearSystem3d(normalA.x, normalA.y, normalA.z, normalB.x, normalB.y, normalB.z, normalC.x, normalC.y, normalC.z, Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z), Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z), Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);
+    }
+    /**
+     * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`
+     * @param rowA row that does not change
+     * @param pivotIndex index of pivot (divisor) in rowA.
+     * @param rowB row where elimination occurs.
+     */
+    static eliminateFromPivot(rowA, pivotIndex, rowB, a) {
+        const n = rowA.length;
+        let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);
+        if (q === undefined)
+            return false;
+        q *= a;
+        for (let j = pivotIndex + 1; j < n; j++)
+            rowB[j] += q * rowA[j];
+        return true;
+    }
+    /**
+     * Solve a pair of bilinear equations
+     * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`
+     * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`
+     */
+    static solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1) {
+        return BilinearPolynomial.solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1);
+    }
+}
+//# sourceMappingURL=SmallSystem.js.map

package/lib/esm/numerics/SmallSystem.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { XAndY } from \"../geometry3d/XYZProps\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { BilinearPolynomial } from \"./Polynomials\";\r\n\r\n// cspell:word XYUV\r\n\r\n/**\r\n * static methods for commonly appearing sets of equations in 2 or 3 variables\r\n * @public\r\n */\r\nexport class SmallSystem {\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment2dXYTransverseIntersectionUnbounded(a0: Point2d, a1: Point2d, b0: Point2d, b1: Point2d,\r\n    result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n\r\n    const cx = b0.x - a0.x;\r\n    const cy = b0.y - a0.y;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n  /**\r\n   * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.\r\n   * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.\r\n   * * Return true if the lines have a simple intersection.\r\n   * * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegmentXYUVTransverseIntersectionUnbounded(\r\n    ax0: number, ay0: number, ux: number, uy: number,\r\n    bx0: number, by0: number, vx: number, vy: number,\r\n    result: Vector2d): boolean {\r\n\r\n    const cx = bx0 - ax0;\r\n    const cy = by0 - ay0;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dXYTransverseIntersectionUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\r\n    result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n\r\n    const cx = b0.x - a0.x;\r\n    const cy = b0.y - a0.y;\r\n\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, -t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param hA0 homogeneous start point of line a\r\n   * @param hA1 homogeneous end point of line a\r\n   * @param hB0 homogeneous start point of line b\r\n   * @param hB1 homogeneous end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dHXYTransverseIntersectionUnbounded(hA0: Point4d, hA1: Point4d, hB0: Point4d, hB1: Point4d, result?: Vector2d): Vector2d | undefined {\r\n    // Considering only x,y,w parts....\r\n    // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`\r\n    // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)\r\n    const alpha0 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB0.x,\r\n      hA0.y, hA1.y, hB0.y,\r\n      hA0.w, hA1.w, hB0.w);\r\n    const alpha1 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB1.x,\r\n      hA0.y, hA1.y, hB1.y,\r\n      hA0.w, hA1.w, hB1.w);\r\n    const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);\r\n    if (fractionB !== undefined) {\r\n      const beta0 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA0.x,\r\n        hB0.y, hB1.y, hA0.y,\r\n        hB0.w, hB1.w, hA0.w);\r\n      const beta1 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA1.x,\r\n        hB0.y, hB1.y, hA1.y,\r\n        hB0.w, hB1.w, hA1.w);\r\n      const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);\r\n      if (fractionA !== undefined)\r\n        return Vector2d.create(fractionA, fractionB, result);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.\r\n   * @param hA0 homogeneous start point of line a\r\n   * @param hA1 homogeneous end point of line a\r\n   * @param spacePoint homogeneous point in space\r\n   */\r\n  public static lineSegment3dHXYClosestPointUnbounded(hA0: Point4d, hA1: Point4d, spacePoint: Point4d): number | undefined {\r\n    // Considering only x,y,w parts....\r\n    // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.\r\n    // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection\r\n    // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`\r\n    // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.\r\n    const tx = hA1.x * hA0.w - hA0.x * hA1.w;\r\n    const ty = hA1.y * hA0.w - hA0.y * hA1.w;\r\n    const det0 = Geometry.tripleProduct(\r\n      hA0.x, -ty, spacePoint.x,\r\n      hA0.y, tx, spacePoint.y,\r\n      hA0.w, 0, spacePoint.w);\r\n    const det1 = Geometry.tripleProduct(\r\n      hA1.x, -ty, spacePoint.x,\r\n      hA1.y, tx, spacePoint.y,\r\n      hA1.w, 0, spacePoint.w);\r\n    return Geometry.conditionalDivideFraction(-det0, det1 - det0);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point as viewed in xy only.\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint point in space\r\n   */\r\n  public static lineSegment3dXYClosestPointUnbounded(pointA0: XAndY, pointA1: XAndY, spacePoint: XAndY): number | undefined {\r\n    // Considering only x,y parts....\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uu = ux * ux + uy * uy;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const uv = ux * vx + uy * vy;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint point in space\r\n   */\r\n  public static lineSegment3dClosestPointUnbounded(pointA0: Point3d, pointA1: Point3d, spacePoint: Point3d): number | undefined {\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uz = pointA1.z - pointA0.z;\r\n    const uu = ux * ux + uy * uy + uz * uz;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const vz = spacePoint.z - pointA0.z;\r\n    const uv = ux * vx + uy * vy + uz * vz;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d\r\n   * Return the fractional (not xy) coordinates in result.x, result.y\r\n   * @param a0 start point of line a\r\n   * @param a1  end point of line a\r\n   * @param b0  start point of line b\r\n   * @param b1 end point of line b\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static lineSegment3dClosestApproachUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\r\n    result: Vector2d): boolean {\r\n    return this.ray3dXYZUVWClosestApproachUnbounded(\r\n      a0.x, a0.y, a0.z,\r\n      a1.x - a0.x, a1.y - a0.y, a1.z - a0.z,\r\n      b0.x, b0.y, b0.z,\r\n      b1.x - b0.x, b1.y - b0.y, b1.z - b0.z,\r\n      result);\r\n  }\r\n  /**\r\n   * Return true if the given rays have closest approach (go by each other) in 3d\r\n   * Return the fractional (not xy) coordinates as x and y parts of a Point2d.\r\n   * @param ax x-coordinate of the origin of the first ray\r\n   * @param ay y-coordinate of the origin of the first ray\r\n   * @param az z-coordinate of the origin of the first ray\r\n   * @param au x-coordinate of the direction vector of the first ray\r\n   * @param av y-coordinate of the direction vector of the first ray\r\n   * @param aw z-coordinate of the direction vector of the first ray\r\n   * @param bx x-coordinate of the origin of the second ray\r\n   * @param by y-coordinate of the origin of the second ray\r\n   * @param bz z-coordinate of the origin of the second ray\r\n   * @param bu x-coordinate of the direction vector of the second ray\r\n   * @param bv y-coordinate of the direction vector of the second ray\r\n   * @param bw z-coordinate of the direction vector of the second ray\r\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\r\n   */\r\n  public static ray3dXYZUVWClosestApproachUnbounded(\r\n    ax: number, ay: number, az: number, au: number, av: number, aw: number,\r\n    bx: number, by: number, bz: number, bu: number, bv: number, bw: number,\r\n    result: Vector2d): boolean {\r\n\r\n    const cx = bx - ax;\r\n    const cy = by - ay;\r\n    const cz = bz - az;\r\n\r\n    const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);\r\n    const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);\r\n    const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);\r\n    const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);\r\n    const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);\r\n    return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);\r\n  }\r\n  /**\r\n   * Solve the pair of linear equations\r\n   * * `ux * x + vx * y = cx`\r\n   * * `uy * x + vy * y = cy`\r\n   * @param ux xx coefficient\r\n   * @param vx xy coefficient\r\n   * @param uy yx coefficient\r\n   * @param vy yy coefficient\r\n   * @param cx x right hand side\r\n   * @param cy y right hand side\r\n   * @param result (x,y) solution (MUST be preallocated by caller)\r\n   */\r\n  public static linearSystem2d(\r\n    ux: number, vx: number, // first row of matrix\r\n    uy: number, vy: number, // second row of matrix\r\n    cx: number, cy: number, // right side\r\n    result: Vector2d,\r\n  ): boolean {\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n  /**\r\n   * Solve a linear system:\r\n   * * x equation: `axx * u + axy * v + axz * w = cx`\r\n   * * y equation: `ayx * u + ayy * v + ayz * w = cy`\r\n   * * z equation: `azx * u + azy * v + azz * w = cz`\r\n   * @param axx row 0, column 0 coefficient\r\n   * @param axy row 0, column 1 coefficient\r\n   * @param axz row 0, column 1 coefficient\r\n   * @param ayx row 1, column 0 coefficient\r\n   * @param ayy row 1, column 1 coefficient\r\n   * @param ayz row 1, column 2 coefficient\r\n   * @param azx row 2, column 0 coefficient\r\n   * @param azy row 2, column 1 coefficient\r\n   * @param azz row 2, column 2 coefficient\r\n   * @param cx right hand side row 0 coefficient\r\n   * @param cy right hand side row 1 coefficient\r\n   * @param cz right hand side row 2 coefficient\r\n   * @param result optional result.\r\n   * @returns solution vector (u,v,w) or `undefined` if system is singular.\r\n   */\r\n  public static linearSystem3d(\r\n    axx: number, axy: number, axz: number, // first row of matrix\r\n    ayx: number, ayy: number, ayz: number, // second row of matrix\r\n    azx: number, azy: number, azz: number, // second row of matrix\r\n    cx: number, cy: number, cz: number,    // right side\r\n    result?: Vector3d,\r\n  ): Vector3d | undefined {\r\n    // determinants of various combinations of columns ...\r\n    const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);\r\n    const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);\r\n    const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);\r\n    const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);\r\n    const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);\r\n    const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);\r\n    const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);\r\n    if (s !== undefined && t !== undefined && u !== undefined) {\r\n      return Vector3d.create(s, t, u, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Compute the intersection of three planes.\r\n   * @param xyzA point on the first plane\r\n   * @param normalA normal of the first plane\r\n   * @param xyzB point on the second plane\r\n   * @param normalB normal of the second plane\r\n   * @param xyzC point on the third plane\r\n   * @param normalC normal of the third plane\r\n   * @param result optional result\r\n   * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.\r\n   */\r\n  public static intersect3Planes(\r\n    xyzA: Point3d, normalA: Vector3d,\r\n    xyzB: Point3d, normalB: Vector3d,\r\n    xyzC: Point3d, normalC: Vector3d, result?: Vector3d): Vector3d | undefined {\r\n    return this.linearSystem3d(\r\n      normalA.x, normalA.y, normalA.z,\r\n      normalB.x, normalB.y, normalB.z,\r\n      normalC.x, normalC.y, normalC.z,\r\n      Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z),\r\n      Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z),\r\n      Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);\r\n  }\r\n\r\n  /**\r\n   * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`\r\n   * @param rowA row that does not change\r\n   * @param pivotIndex index of pivot (divisor) in rowA.\r\n   * @param rowB row where elimination occurs.\r\n   */\r\n  public static eliminateFromPivot(rowA: Float64Array, pivotIndex: number, rowB: Float64Array, a: number): boolean {\r\n    const n = rowA.length;\r\n    let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);\r\n    if (q === undefined) return false;\r\n    q *= a;\r\n    for (let j = pivotIndex + 1; j < n; j++)\r\n      rowB[j] += q * rowA[j];\r\n    return true;\r\n  }\r\n  /**\r\n   * Solve a pair of bilinear equations\r\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\r\n   * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`\r\n   */\r\n  public static solveBilinearPair(\r\n    a0: number, b0: number, c0: number, d0: number,\r\n    a1: number, b1: number, c1: number, d1: number,\r\n  ): Point2d[] | undefined {\r\n    return BilinearPolynomial.solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1);\r\n  }\r\n}\r\n"]}

package/lib/esm/polyface/AuxData.d.ts.map

@@ -1 +1 @@
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