@itwin/core-geometry 4.2.0-dev.0 → 4.2.0-dev.3

package/lib/esm/curve/CurveCurveIntersectXYZ.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Curve\n */\n\nimport { BSplineCurve3d, BSplineCurve3dBase } from \"../bspline/BSplineCurve\";\nimport { BSplineCurve3dH } from \"../bspline/BSplineCurve3dH\";\nimport { Geometry } from \"../Geometry\";\nimport { NullGeometryHandler } from \"../geometry3d/GeometryHandler\";\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\nimport { Vector2d } from \"../geometry3d/Point2dVector2d\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { SmallSystem, TrigPolynomial } from \"../numerics/Polynomials\";\nimport { Arc3d } from \"./Arc3d\";\nimport { CurveLocationDetailArrayPair } from \"./CurveCurveIntersectXY\";\nimport { CurveIntervalRole, CurveLocationDetail } from \"./CurveLocationDetail\";\nimport { CurvePrimitive } from \"./CurvePrimitive\";\nimport { GeometryQuery } from \"./GeometryQuery\";\nimport { LineSegment3d } from \"./LineSegment3d\";\nimport { LineString3d } from \"./LineString3d\";\n\n// cspell:word XYRR\n\n/**\n * Handler class for XYZ intersections between _geometryB and another geometry.\n * * **NOTE:** GeometryQuery input (_geometryB) should really be AnyCurve.\n * * Instances are initialized and called from CurveCurve.\n * * geometryB is saved for later reference.\n * @internal\n */\nexport class CurveCurveIntersectXYZ extends NullGeometryHandler {\n  private _extendA: boolean;\n  private _geometryB: GeometryQuery;\n  private _extendB: boolean;\n  private _results!: CurveLocationDetailArrayPair;\n\n  private static _workVector2dA = Vector2d.create();\n  private static _workPointAA0 = Point3d.create();\n  private static _workPointAA1 = Point3d.create();\n  private static _workPointBB0 = Point3d.create();\n  private static _workPointBB1 = Point3d.create();\n\n  private reinitialize() {\n    this._results = new CurveLocationDetailArrayPair();\n  }\n  /**\n   * @param extendA flag to enable using extension of the other geometry.\n   * @param geometryB second curve for intersection.  Saved for reference by specific handler methods.\n   * @param extendB flag for extension of geometryB.\n   */\n  public constructor(extendA: boolean, geometryB: GeometryQuery, extendB: boolean) {\n    super();\n    this._extendA = extendA;\n    this._geometryB = geometryB;\n    this._extendB = extendB;\n    this.reinitialize();\n  }\n  /**\n   * * Return the results structure for the intersection calculation.\n   * @param reinitialize if true, a new results structure is created for use by later calls.\n   */\n  public grabResults(reinitialize: boolean = false): CurveLocationDetailArrayPair {\n    const result = this._results;\n    if (reinitialize)\n      this.reinitialize();\n    return result;\n  }\n  private acceptFraction(extend0: boolean, fraction: number, extend1: boolean) {\n    if (!extend0 && fraction < 0.0)\n      return false;\n    if (!extend1 && fraction > 1.0)\n      return false;\n    return true;\n  }\n  /**\n   * Compute intersection of two line segments.\n   * Filter by extension rules.\n   * Reject if evaluated points do not match coordinates (e.g. close approach point).\n   * Record with fraction mapping.\n   */\n  private recordPointWithLocalFractions(\n    localFractionA: number,\n    cpA: CurvePrimitive,\n    fractionA0: number,\n    fractionA1: number,\n    localFractionB: number,   // Computed intersection fraction\n    cpB: CurvePrimitive,\n    fractionB0: number,\n    fractionB1: number,\n    reversed: boolean,\n  ): void {\n    const globalFractionA = Geometry.interpolate(fractionA0, localFractionA, fractionA1);\n    const globalFractionB = Geometry.interpolate(fractionB0, localFractionB, fractionB1);\n    // ignore duplicate of most recent point .  ..\n    const numPrevious = this._results.dataA.length;\n    if (numPrevious > 0) {\n      const topFractionA = this._results.dataA[numPrevious - 1].fraction;\n      const topFractionB = this._results.dataB[numPrevious - 1].fraction;\n      if (reversed) {\n        if (Geometry.isAlmostEqualNumber(topFractionA, globalFractionB) &&\n          Geometry.isAlmostEqualNumber(topFractionB, globalFractionA))\n          return;\n      } else {\n        if (Geometry.isAlmostEqualNumber(topFractionA, globalFractionA) &&\n          Geometry.isAlmostEqualNumber(topFractionB, globalFractionB))\n          return;\n      }\n    }\n    const pointA = cpA.fractionToPoint(globalFractionA);\n    const pointB = cpB.fractionToPoint(globalFractionB);\n    if (!pointA.isAlmostEqualMetric(pointB))\n      return;\n\n    const detailA = CurveLocationDetail.createCurveFractionPoint(cpA, globalFractionA, pointA);\n    detailA.setIntervalRole(CurveIntervalRole.isolated);\n    const detailB = CurveLocationDetail.createCurveFractionPoint(cpB, globalFractionB, pointB);\n    detailB.setIntervalRole(CurveIntervalRole.isolated);\n    if (reversed) {\n      this._results.dataA.push(detailB);\n      this._results.dataB.push(detailA);\n    } else {\n      this._results.dataA.push(detailA);\n      this._results.dataB.push(detailB);\n    }\n  }\n  /**\n   * Compute intersection of two line segments.\n   * Filter by extension rules.\n   * Record with fraction mapping.\n   */\n  private computeSegmentSegment3D(\n    cpA: CurvePrimitive,\n    extendA0: boolean,\n    pointA0: Point3d,\n    fractionA0: number,\n    pointA1: Point3d,\n    fractionA1: number,\n    extendA1: boolean,\n    cpB: CurvePrimitive,\n    extendB0: boolean,\n    pointB0: Point3d,\n    fractionB0: number,\n    pointB1: Point3d,\n    fractionB1: number,\n    extendB1: boolean,\n    reversed: boolean,\n  ): void {\n    const uv = CurveCurveIntersectXYZ._workVector2dA;\n    if (SmallSystem.lineSegment3dClosestApproachUnbounded(pointA0, pointA1, pointB0, pointB1, uv) &&\n      this.acceptFraction(extendA0, uv.x, extendA1) && this.acceptFraction(extendB0, uv.y, extendB1)) {\n      this.recordPointWithLocalFractions(uv.x, cpA, fractionA0, fractionA1, uv.y, cpB, fractionB0, fractionB1, reversed);\n    }\n  }\n  // Caller accesses data from a line segment and passes to here.\n  // (The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.  The fraction and extend parameters\n  // allow all combinations to be passed in)\n  // This method applies transform.\n  private dispatchSegmentSegment(\n    cpA: CurvePrimitive,\n    extendA0: boolean,\n    pointA0: Point3d,\n    fractionA0: number,\n    pointA1: Point3d,\n    fractionA1: number,\n    extendA1: boolean,\n    cpB: CurvePrimitive,\n    extendB0: boolean,\n    pointB0: Point3d,\n    fractionB0: number,\n    pointB1: Point3d,\n    fractionB1: number,\n    extendB1: boolean,\n    reversed: boolean,\n  ): void {\n    this.computeSegmentSegment3D(\n      cpA, extendA0, pointA0, fractionA0, pointA1, fractionA1, extendA1,\n      cpB, extendB0, pointB0, fractionB0, pointB1, fractionB1, extendB1,\n      reversed,\n    );\n  }\n  /**\n   * Create a plane whose normal is the \"better\" cross product: `vectorA.crossProduct(vectorB)` or\n   * `vectorA.crossProduct(vectorC)`\n   * * The heuristic for \"better\" is:\n   *   * first choice is cross product with `vectorB`, if `vectorA` and `vectorB` are sufficiently far from parallel\n   * (or anti-parallel).\n   *   * otherwise use vectorC\n   * @param origin plane origin\n   * @param vectorA vector which must be in the plane.\n   * @param cosineValue largest cosine of the angle theta between vectorA and vectorB to prefer their cross product, e.g.\n   *  passing 0.94 ~ cos(20deg) will switch to using vectorC in the cross product if theta < ~20deg or theta > ~160deg.\n   * @param vectorB first candidate for additional in-plane vector\n   * @param vectorC second candidate for additional in-plane vector\n   */\n  public createPlaneWithPreferredPerpendicular(\n    origin: Point3d, vectorA: Vector3d, cosineValue: number, vectorB: Vector3d, vectorC: Vector3d,\n  ): Plane3dByOriginAndUnitNormal | undefined {\n    cosineValue = Geometry.restrictToInterval(Math.abs(cosineValue), 0.0, 1.0 - Geometry.smallFraction);\n    const dotAA = vectorA.magnitudeSquared();\n    const dotBB = vectorB.magnitudeSquared();\n    const dotAB = Math.abs(vectorA.dotProduct(vectorB));\n    const cross = vectorA.unitCrossProduct(dotAB * dotAB <= cosineValue * cosineValue * dotAA * dotBB ? vectorB : vectorC);\n    if (cross)\n      return Plane3dByOriginAndUnitNormal.create(origin, cross);\n    return undefined;\n  }\n  // Caller accesses data from a linestring or segment and passes it here.\n  // (The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.  The fraction and extend parameters\n  // allow all combinations to be passed in)\n  private dispatchSegmentArc(\n    cpA: CurvePrimitive,\n    extendA0: boolean,\n    pointA0: Point3d,\n    fractionA0: number,\n    pointA1: Point3d,\n    fractionA1: number,\n    extendA1: boolean,\n    arc: Arc3d,\n    extendB0: boolean,\n    extendB1: boolean,\n    reversed: boolean,\n  ): void {\n    const lineVector = Vector3d.createStartEnd(pointA0, pointA1);\n    const plane = this.createPlaneWithPreferredPerpendicular(\n      pointA0, lineVector, 0.94, arc.perpendicularVector, arc.vector0);\n    if (plane !== undefined) {\n      const candidates: CurveLocationDetail[] = [];\n      arc.appendPlaneIntersectionPoints(plane, candidates);\n      let lineFraction;\n      let linePoint: Point3d | undefined;\n      for (const c of candidates) {\n        if (this.acceptFraction(extendB0, c.fraction, extendB1)) {\n          lineFraction = SmallSystem.lineSegment3dClosestPointUnbounded(pointA0, pointA1, c.point);\n          if (lineFraction !== undefined) {\n            linePoint = pointA0.interpolate(lineFraction, pointA1, linePoint);\n            if (linePoint.isAlmostEqualMetric(c.point)\n              && this.acceptFraction(extendA0, lineFraction, extendA1)) {\n              this.recordPointWithLocalFractions(lineFraction, cpA, fractionA0, fractionA1,\n                c.fraction, arc, 0, 1, reversed);\n\n            }\n          }\n        }\n      }\n    }\n  }\n  // Caller promises arcs are coplanar.\n  // Passes \"other\" as {center, vector0, vector90} in local xy space of cpA\n  // Solves the arc-arc equations for that local ellipse with unit circle.\n  // Solution fractions map directly to original arcs.\n  private dispatchArcArcInPlane(\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\n  ): void {\n    const otherVectors = cpA.otherArcAsLocalVectors(cpB);\n    if (otherVectors !== undefined) {\n      const ellipseRadians: number[] = [];\n      const circleRadians: number[] = [];\n      TrigPolynomial.solveUnitCircleHomogeneousEllipseIntersection(\n        otherVectors.center.x, otherVectors.center.y, 1.0,\n        otherVectors.vector0.x, otherVectors.vector0.y, 0.0,\n        otherVectors.vector90.x, otherVectors.vector90.y, 0.0,\n        ellipseRadians, circleRadians,\n      );\n      for (let i = 0; i < ellipseRadians.length; i++) {\n        const fractionA = cpA.sweep.radiansToSignedPeriodicFraction(circleRadians[i]);\n        const fractionB = cpA.sweep.radiansToSignedPeriodicFraction(ellipseRadians[i]);\n        // hm .. do we really need to check the fractions?  We know they are internal to the beziers\n        if (this.acceptFraction(extendA, fractionA, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\n          this.recordPointWithLocalFractions(fractionA, cpA, 0, 1, fractionB, cpB, 0, 1, reversed);\n        }\n      }\n    }\n  }\n  // Caller accesses data from two arcs.\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\n  // Solves the arc-arc equations\n  private dispatchArcArc(\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\n  ): void {\n    // If arcs are in different planes:\n    // 1) Intersect each plane with the other arc (quadratic)\n    // 2) accept points that appear in both intersection sets.\n    // If arcs are in parallel planes -- no intersections\n    // If arcs are in the same plane -- xy intersection in that plane.\n    const planeA = Plane3dByOriginAndUnitNormal.create(cpA.center, cpA.perpendicularVector);\n    const planeB = Plane3dByOriginAndUnitNormal.create(cpB.center, cpB.perpendicularVector);\n    if (planeA === undefined || planeB === undefined)\n      return;\n    if (planeA.getNormalRef().isParallelTo(planeB.getNormalRef())) {\n      if (planeA.isPointInPlane(planeB.getOriginRef()) && planeB.isPointInPlane(planeA.getOriginRef())) {\n        // coplanar !!!\n        this.dispatchArcArcInPlane(cpA, extendA, cpB, extendB, reversed);\n      }\n    } else {\n      const arcBPoints: CurveLocationDetail[] = [];\n      cpB.appendPlaneIntersectionPoints(planeA, arcBPoints);\n      const arcAPoints: CurveLocationDetail[] = [];\n      cpA.appendPlaneIntersectionPoints(planeB, arcAPoints);\n      for (const detailB of arcBPoints) {\n        for (const detailA of arcAPoints) {\n          if (detailA.point.isAlmostEqual(detailB.point)) {\n            if (this.acceptFraction(extendA, detailA.fraction, extendA)\n              && this.acceptFraction(extendB, detailB.fraction, extendB)) {\n              this.recordPointWithLocalFractions(detailA.fraction, cpA, 0, 1, detailB.fraction, cpB, 0, 1, reversed);\n            }\n          }\n        }\n      }\n    }\n  }\n  // Caller accesses data from two arcs.\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\n  // Solves the arc-arc equations\n  private dispatchArcBsplineCurve3d(\n    _arc: Arc3d, _extendA: boolean, _cpB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\n  ): void {\n    /*\n    // Arc: X = C + cU + sV\n    // implicitize the arc as viewed.  This \"3d\" matrix is homogeneous \"XYW\" not \"xyz\"\n    let matrixA: Matrix3d;\n    if (this._worldToLocalPerspective) {\n      const dataA = cpA.toTransformedPoint4d(this._worldToLocalPerspective);\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, dataA.vector0.w, dataA.vector90, dataA.vector90.w, dataA.center, dataA.center.w);\n    } else {\n      const dataA = cpA.toTransformedVectors(this._worldToLocalAffine);\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, 0, dataA.vector90, 0, dataA.center, 1);\n    }\n    // The worldToLocal has moved the arc vectors into local space.\n    // matrixA captures the xyw parts (ignoring z)\n    // for any point in world space,\n    // THIS CODE ONLY WORKS FOR\n    const matrixAInverse = matrixA.inverse();\n    if (matrixAInverse) {\n      const orderF = cpB.order; // order of the beziers for simple coordinates\n      const orderG = 2 * orderF - 1;  // order of the (single) bezier for squared coordinates.\n      const coffF = new Float64Array(orderF);\n      const univariateBezierG = new UnivariateBezier(orderG);\n      const axx = matrixAInverse.at(0, 0); const axy = matrixAInverse.at(0, 1); const axz = 0.0; const axw = matrixAInverse.at(0, 2);\n      const ayx = matrixAInverse.at(1, 0); const ayy = matrixAInverse.at(1, 1); const ayz = 0.0; const ayw = matrixAInverse.at(1, 2);\n      const awx = matrixAInverse.at(2, 0); const awy = matrixAInverse.at(2, 1); const awz = 0.0; const aww = matrixAInverse.at(2, 2);\n\n      if (matrixAInverse) {\n        let bezier: BezierCurve3dH | undefined;\n        for (let spanIndex = 0; ; spanIndex++) {\n          bezier = cpB.getSaturatedBezierSpan3dH(spanIndex, bezier);\n          if (!bezier) break;\n          if (this._worldToLocalPerspective)\n            bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\n          else if (this._worldToLocalAffine)\n            bezier.tryTransformInPlace(this._worldToLocalAffine);\n          univariateBezierG.zero();\n          bezier.poleProductsXYZW(coffF, axx, axy, axz, axw);\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\n          bezier.poleProductsXYZW(coffF, ayx, ayy, ayz, ayw);\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\n          bezier.poleProductsXYZW(coffF, awx, awy, awz, aww);\n          univariateBezierG.addSquaredSquaredBezier(coffF, -1.0);\n          const roots = univariateBezierG.roots(0.0, true);\n          if (roots) {\n            for (const root of roots) {\n              const fractionB = bezier.fractionToParentFraction(root);\n              // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\n              const bcurvePoint4d = bezier.fractionToPoint4d(root);\n              const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\n              const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\n              const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\n              if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\n                this.recordPointWithLocalFractions(arcFraction, cpA, 0, 1,\n                  fractionB, cpB, 0, 1, reversed);\n              }\n            }\n          }\n        }\n      }\n    }\n    */\n  }\n  /*\n  // apply the transformation to bezier curves. optionally construct ranges.\n  private transformBeziers(beziers: BezierCurve3dH[]) {\n    if (this._worldToLocalAffine) {\n      for (const bezier of beziers) bezier.tryTransformInPlace(this._worldToLocalAffine);\n    } else if (this._worldToLocalPerspective) {\n      for (const bezier of beziers) bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\n    }\n  }\n  */\n  /*\n  private getRanges(beziers: BezierCurveBase[]): Range3d[] {\n    const ranges: Range3d[] = [];\n    ranges.length = 0;\n    for (const b of beziers) {\n      ranges.push(b.range());\n    }\n    return ranges;\n  }\n  private _xyzwA0?: Point4d;\n  private _xyzwA1?: Point4d;\n  private _xyzwPlane?: Point4d;\n  private _xyzwB?: Point4d;\n\n  private dispatchBezierBezierStrokeFirst(\n    bezierA: BezierCurve3dH,\n    bcurveA: BSplineCurve3dBase,\n    strokeCountA: number,\n    bezierB: BezierCurve3dH,\n    bcurveB: BSplineCurve3dBase,\n    _strokeCountB: number,\n    univariateBezierB: UnivariateBezier,  // caller-allocated for univariate coefficients.\n    reversed: boolean) {\n    if (!this._xyzwA0) this._xyzwA0 = Point4d.create();\n    if (!this._xyzwA1) this._xyzwA1 = Point4d.create();\n    if (!this._xyzwPlane) this._xyzwPlane = Point4d.create();\n    if (!this._xyzwB) this._xyzwB = Point4d.create();\n    const roots = univariateBezierG.roots(0.0, true);\n    if (roots) {\n      for (const root of roots) {\n        const fractionB = bezier.fractionToParentFraction(root);\n        // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\n        const bcurvePoint4d = bezier.fractionToPoint4d(root);\n        const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\n        const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\n        const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\n        if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\n          this.recordPointWithLocalFractions(arcFraction, cpA, 0, 1,\n            fractionB, cpB, 0, 1, reversed);\n        }\n      }\n    bezierA.fractionToPoint4d(0.0, this._xyzwA0);\n    let f0 = 0.0;\n    let f1 = 1.0;\n    const intervalTolerance = 1.0e-5;\n    const df = 1.0 / strokeCountA;\n    for (let i = 1; i <= strokeCountA; i++ , f0 = f1, this._xyzwA0.setFrom(this._xyzwA1)) {\n      f1 = i * df;\n      bezierA.fractionToPoint4d(f1, this._xyzwA1);\n      Point4d.createPlanePointPointZ(this._xyzwA0, this._xyzwA1, this._xyzwPlane);\n      bezierB.poleProductsXYZW(univariateBezierB.coffs, this._xyzwPlane.x, this._xyzwPlane.y, this._xyzwPlane.z, this._xyzwPlane.w);\n      let errors = 0;\n      const roots = univariateBezierB.roots(0.0, true);\n      if (roots)\n        for (const r of roots) {\n          const bezierBFraction = r;\n          bezierB.fractionToPoint4d(bezierBFraction, this._xyzwB);\n          const segmentAFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(this._xyzwA0, this._xyzwA1, this._xyzwB);\n          if (segmentAFraction && Geometry.isIn01WithTolerance(segmentAFraction, intervalTolerance)) {\n            const bezierAFraction = Geometry.interpolate(f0, segmentAFraction, f1);\n            /*- TODO implement newton search\n            const xyMatchingFunction = new BezierBezierIntersectionXYRRToRRD(bezierA, bezierB);\n            const newtonSearcher = new Newton2dUnboundedWithDerivative(xyMatchingFunction);\n            newtonSearcher.setUV(bezierAFraction, bezierBFraction);\n            if (newtonSearcher.runIterations()) {\n              bezierAFraction = newtonSearcher.getU();\n              bezierBFraction = newtonSearcher.getV();\n            }\n            // We have a near intersection at fractions on the two beziers !!!\n            // Iterate on the curves for a true intersection ....\n            // NEEDS WORK -- just accept . . .\n            const bcurveAFraction = bezierA.fractionToParentFraction(bezierAFraction);\n            const bcurveBFraction = bezierB.fractionToParentFraction(bezierBFraction);\n            const xyzA0 = bezierA.fractionToPoint(bezierAFraction);\n            const xyzA1 = bcurveA.fractionToPoint(bcurveAFraction);\n            const xyzB0 = bezierB.fractionToPoint(bezierBFraction);\n            const xyzB1 = bcurveB.fractionToPoint(bcurveBFraction);\n            if (!xyzA0.isAlmostEqualXY(xyzA1))\n              errors++;\n            if (!xyzB0.isAlmostEqualXY(xyzB1))\n              errors++;\n            if (errors > 0 && !xyzA0.isAlmostEqual(xyzB0))\n              errors++;\n            if (errors > 0 && !xyzA1.isAlmostEqual(xyzB1))\n              errors++;\n            if (this.acceptFraction(false, bcurveAFraction, false) && this.acceptFraction(false, bcurveBFraction, false)) {\n              this.recordPointWithLocalFractions(bcurveAFraction, bcurveA, 0, 1,\n                bcurveBFraction, bcurveB, 0, 1, reversed);\n            }\n          }\n        }\n    }\n  }\n  */\n  // Caller accesses data from two arcs.\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\n  // Solves the arc-arc equations\n  private dispatchBSplineCurve3dBSplineCurve3d(\n    _bcurveA: BSplineCurve3dBase, _bcurveB: BSplineCurve3dBase, _reversed: boolean,\n  ): void {\n    /*\n    const bezierSpanA = bcurveA.collectBezierSpans(true) as BezierCurve3dH[];\n    const bezierSpanB = bcurveB.collectBezierSpans(true) as BezierCurve3dH[];\n    const numA = bezierSpanA.length;\n    const numB = bezierSpanB.length;\n    this.transformBeziers(bezierSpanA);\n    this.transformBeziers(bezierSpanB);\n    const rangeA = this.getRanges(bezierSpanA);\n    const rangeB = this.getRanges(bezierSpanB);\n    const orderA = bcurveA.order;\n    const orderB = bcurveB.order;\n    const univariateCoffsA = new UnivariateBezier(orderA);\n    const univariateCoffsB = new UnivariateBezier(orderB);\n    for (let a = 0; a < numA; a++) {\n      for (let b = 0; b < numB; b++) {\n        if (rangeA[a].intersectsRangeXY(rangeB[b])) {\n          const strokeCountA = bezierSpanA[a].computeStrokeCountForOptions();\n          const strokeCountB = bezierSpanB[b].computeStrokeCountForOptions();\n          if (strokeCountA < strokeCountB)\n            this.dispatchBezierBezierStrokeFirst(bezierSpanA[a], bcurveA, strokeCountA, bezierSpanB[b], bcurveB, strokeCountB, univariateCoffsB, !_reversed);\n          else\n            this.dispatchBezierBezierStrokeFirst(bezierSpanB[b], bcurveB, strokeCountB, bezierSpanA[a], bcurveA, strokeCountA, univariateCoffsA, _reversed);\n        }\n      }\n    }\n    */\n  }\n  /*\n  /**\n   * Apply the projection transform (if any) to (xyz, w)\n   * @param xyz xyz parts of input point.\n   * @param w   weight to use for homogeneous effects\n   */\n  /*\n  private projectPoint(xyz: XYAndZ, w: number = 1.0): Point4d {\n    if (this._worldToLocalPerspective)\n      return this._worldToLocalPerspective.multiplyPoint3d(xyz, w);\n    if (this._worldToLocalAffine)\n      return this._worldToLocalAffine.multiplyXYZW(xyz.x, xyz.y, xyz.z, w);\n    return Point4d.createFromPointAndWeight(xyz, w);\n  }\n  private mapNPCPlaneToWorld(npcPlane: Point4d, worldPlane: Point4d) {\n    // for NPC pointY, Y^ * H = 0 is \"on\" plane H.  (Hat is transpose)\n    // NPC Y is A*X for our transform A and worldPointX.\n    // hence (A X)^ * H = 0\n    // hence X^ * A^ * H = 0\n    // hence K = A^ * H\n    if (this._worldToLocalAffine) {\n      this._worldToLocalAffine.multiplyTransposeXYZW(npcPlane.x, npcPlane.y, npcPlane.z, npcPlane.w, worldPlane);\n    } else if (this._worldToLocalPerspective) {\n      this._worldToLocalPerspective.multiplyTransposePoint4d(npcPlane, worldPlane);\n    } else {\n      npcPlane.clone(worldPlane);\n    }\n  }\n  */\n  // Caller accesses data from segment and bsplineCurve\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\n  // Solves the arc-arc equations\n  private dispatchSegmentBsplineCurve(\n    _cpA: CurvePrimitive,\n    _extendA0: boolean,\n    _pointA0: Point3d,\n    _fractionA0: number,\n    _pointA1: Point3d,\n    _fractionA1: number,\n    _extendA1: boolean,\n    _bcurve: BSplineCurve3d,\n    _extendB: boolean,\n    _reversed: boolean,\n  ): void {\n    /*\n    const pointA0H = this.projectPoint(pointA0);\n    const pointA1H = this.projectPoint(pointA1);\n    const planeCoffs = Point4d.createPlanePointPointZ(pointA0H, pointA1H);\n    this.mapNPCPlaneToWorld(planeCoffs, planeCoffs);\n      // NOW .. we have a plane in world space.  Intersect it with the bspline:\n    const intersections: CurveLocationDetail[] = [];\n    bcurve.appendPlaneIntersectionPoints(planeCoffs, intersections);\n      // intersections has WORLD points with bspline fractions.   (The bspline fractions are all good 0..1 fractions within the spline.)\n      // accept those that are within the segment range.\n    for (const detail of intersections) {\n      const fractionB = detail.fraction;\n      const curvePoint = detail.point;\n      const curvePointH = this.projectPoint(curvePoint);\n      const lineFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(pointA0H, pointA1H, curvePointH);\n      if (lineFraction !== undefined && this.acceptFraction(extendA0, lineFraction, extendA1) && this.acceptFraction(extendB, fractionB, extendB)) {\n        this.recordPointWithLocalFractions(lineFraction, cpA, fractionA0, fractionA1,\n          fractionB, bcurve, 0, 1, reversed);\n      }\n    }\n    */\n  }\n  /** Low level dispatch of linestring with (beziers of) a bspline curve */\n  public dispatchLineStringBSplineCurve(\n    _lsA: LineString3d, _extendA: boolean, _curveB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\n  ): any {\n    /*\n    const numA = lsA.numPoints();\n    if (numA > 1) {\n      const dfA = 1.0 / (numA - 1);\n      let fA0;\n      let fA1;\n      fA0 = 0.0;\n      const pointA0 = CurveCurveIntersectXYZ._workPointA0;\n      const pointA1 = CurveCurveIntersectXYZ._workPointA1;\n      lsA.pointAt(0, pointA0);\n      for (let iA = 1; iA < numA; iA++ , pointA0.setFrom(pointA1), fA0 = fA1) {\n        lsA.pointAt(iA, pointA1);\n        fA1 = iA * dfA;\n        this.dispatchSegmentBsplineCurve(\n          lsA, iA === 1 && extendA, pointA0, fA0, pointA1, fA1, (iA + 1) === numA && extendA,\n          curveB, extendB, reversed);\n      }\n    }\n    return undefined;\n    */\n  }\n  /** Detail computation for segment intersecting linestring. */\n  public computeSegmentLineString(\n    lsA: LineSegment3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\n  ): any {\n    const pointA0 = lsA.point0Ref;\n    const pointA1 = lsA.point1Ref;\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\n    const numB = lsB.numPoints();\n    if (numB > 1) {\n      const dfB = 1.0 / (numB - 1);\n      let fB0;\n      let fB1;\n      fB0 = 0.0;\n      lsB.pointAt(0, pointB0);\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\n        lsB.pointAt(ib, pointB1);\n        fB1 = ib * dfB;\n        this.dispatchSegmentSegment(\n          lsA, extendA, pointA0, 0.0, pointA1, 1.0, extendA, lsB, ib === 1 && extendB,\n          pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB, reversed,\n        );\n      }\n    }\n    return undefined;\n  }\n  /** Detail computation for arc intersecting linestring. */\n  public computeArcLineString(\n    arcA: Arc3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\n  ): any {\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\n    const numB = lsB.numPoints();\n    if (numB > 1) {\n      const dfB = 1.0 / (numB - 1);\n      let fB0;\n      let fB1;\n      fB0 = 0.0;\n      lsB.pointAt(0, pointB0);\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\n        lsB.pointAt(ib, pointB1);\n        fB1 = ib * dfB;\n        this.dispatchSegmentArc(\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1,\n          (ib + 1) === numB && extendB, arcA, extendA, extendA, !reversed);\n      }\n    }\n    return undefined;\n  }\n  /** Double dispatch handler for strongly typed segment. */\n  public override handleLineSegment3d(segmentA: LineSegment3d): any {\n    if (this._geometryB instanceof LineSegment3d) {\n      const segmentB = this._geometryB;\n      this.dispatchSegmentSegment(\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref, 1.0, this._extendA,\n        segmentB, this._extendB, segmentB.point0Ref, 0.0, segmentB.point1Ref, 1.0, this._extendB,\n        false,\n      );\n    } else if (this._geometryB instanceof LineString3d) {\n      this.computeSegmentLineString(segmentA, this._extendA, this._geometryB, this._extendB, false);\n    } else if (this._geometryB instanceof Arc3d) {\n      this.dispatchSegmentArc(\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\n        1.0, this._extendA, this._geometryB, this._extendB, this._extendB, false,\n      );\n    } else if (this._geometryB instanceof BSplineCurve3d) {\n      this.dispatchSegmentBsplineCurve(\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\n        1.0, this._extendA, this._geometryB, this._extendB, false,\n      );\n    }\n  }\n  /** double dispatch handler for strongly typed linestring .. */\n  public override handleLineString3d(lsA: LineString3d): any {\n    if (this._geometryB instanceof LineString3d) {\n      const lsB = this._geometryB;\n      const pointA0 = CurveCurveIntersectXYZ._workPointAA0;\n      const pointA1 = CurveCurveIntersectXYZ._workPointAA1;\n      const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\n      const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\n      const numA = lsA.numPoints();\n      const numB = lsB.numPoints();\n      if (numA > 1 && numB > 1) {\n        lsA.pointAt(0, pointA0);\n        const dfA = 1.0 / (numA - 1);\n        const dfB = 1.0 / (numB - 1);\n        let fA0 = 0.0;\n        let fA1, fB0, fB1;\n        const extendA = this._extendA;\n        const extendB = this._extendB;\n        lsA.pointAt(0, pointA0);\n        for (let ia = 1; ia < numA; ia++, pointA0.setFrom(pointA1), fA0 = fA1) {\n          fA1 = ia * dfA;\n          fB0 = 0.0;\n          lsA.pointAt(ia, pointA1);\n          lsB.pointAt(0, pointB0);\n          for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\n            lsB.pointAt(ib, pointB1);\n            fB1 = ib * dfB;\n            this.dispatchSegmentSegment(\n              lsA, ia === 1 && extendA, pointA0, fA0, pointA1, fA1, (ia + 1) === numA && extendA,\n              lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\n              false,\n            );\n          }\n        }\n      }\n    } else if (this._geometryB instanceof LineSegment3d) {\n      this.computeSegmentLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\n    } else if (this._geometryB instanceof Arc3d) {\n      this.computeArcLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\n    } else if (this._geometryB instanceof BSplineCurve3d) {\n      this.dispatchLineStringBSplineCurve(lsA, this._extendA, this._geometryB, this._extendB, false);\n    }\n    return undefined;\n  }\n  /** Double dispatch handler for strongly typed arc. */\n  public override handleArc3d(arc0: Arc3d): any {\n    if (this._geometryB instanceof LineSegment3d) {\n      this.dispatchSegmentArc(\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\n        1.0, this._extendB, arc0, this._extendA, this._extendA, true,\n      );\n    } else if (this._geometryB instanceof LineString3d) {\n      this.computeArcLineString(arc0, this._extendA, this._geometryB, this._extendB, false);\n    } else if (this._geometryB instanceof Arc3d) {\n      this.dispatchArcArc(arc0, this._extendA, this._geometryB, this._extendB, false);\n    } else if (this._geometryB instanceof BSplineCurve3d) {\n      this.dispatchArcBsplineCurve3d(arc0, this._extendA, this._geometryB, this._extendB, false);\n    }\n    return undefined;\n  }\n  /** Double dispatch handler for strongly typed bspline curve.. */\n  public override handleBSplineCurve3d(curve: BSplineCurve3d): any {\n    if (this._geometryB instanceof LineSegment3d) {\n      this.dispatchSegmentBsplineCurve(\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\n        1.0, this._extendB, curve, this._extendA, true,\n      );\n    } else if (this._geometryB instanceof LineString3d) {\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\n    } else if (this._geometryB instanceof Arc3d) {\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\n    } else if (this._geometryB instanceof BSplineCurve3dBase) {\n      this.dispatchBSplineCurve3dBSplineCurve3d(curve, this._geometryB, false);\n    }\n    return undefined;\n  }\n  /** Double dispatch handler for strongly typed homogeneous bspline curve. */\n  public override handleBSplineCurve3dH(_curve: BSplineCurve3dH): any {\n    /*\n    // NEEDS WORK -- make \"dispatch\" methods tolerant of both 3d and 3dH\n    // \"easy\" if both present BezierCurve3dH span loaders\n    if (this._geometryB instanceof LineSegment3d) {\n      this.dispatchSegmentBsplineCurve(\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref, 1.0, this._extendB,\n        curve, this._extendA, true);\n    } else if (this._geometryB instanceof LineString3d) {\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\n    } else if (this._geometryB instanceof Arc3d) {\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\n    }\n    */\n    return undefined;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { BSplineCurve3d, BSplineCurve3dBase } from \"../bspline/BSplineCurve\";\r\nimport { BSplineCurve3dH } from \"../bspline/BSplineCurve3dH\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { NullGeometryHandler } from \"../geometry3d/GeometryHandler\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { SmallSystem, TrigPolynomial } from \"../numerics/Polynomials\";\r\nimport { Arc3d } from \"./Arc3d\";\r\nimport { CurveLocationDetailArrayPair } from \"./CurveCurveIntersectXY\";\r\nimport { CurveIntervalRole, CurveLocationDetail } from \"./CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"./CurvePrimitive\";\r\nimport { GeometryQuery } from \"./GeometryQuery\";\r\nimport { LineSegment3d } from \"./LineSegment3d\";\r\nimport { LineString3d } from \"./LineString3d\";\r\n\r\n// cspell:word XYRR\r\n\r\n/**\r\n * Handler class for XYZ intersections between _geometryB and another geometry.\r\n * * **NOTE:** GeometryQuery input (_geometryB) should really be AnyCurve.\r\n * * Instances are initialized and called from CurveCurve.\r\n * * geometryB is saved for later reference.\r\n * @internal\r\n */\r\nexport class CurveCurveIntersectXYZ extends NullGeometryHandler {\r\n  private _extendA: boolean;\r\n  private _geometryB: GeometryQuery;\r\n  private _extendB: boolean;\r\n  private _results!: CurveLocationDetailArrayPair;\r\n\r\n  private static _workVector2dA = Vector2d.create();\r\n  private static _workPointAA0 = Point3d.create();\r\n  private static _workPointAA1 = Point3d.create();\r\n  private static _workPointBB0 = Point3d.create();\r\n  private static _workPointBB1 = Point3d.create();\r\n\r\n  private reinitialize() {\r\n    this._results = new CurveLocationDetailArrayPair();\r\n  }\r\n  /**\r\n   * @param extendA flag to enable using extension of the other geometry.\r\n   * @param geometryB second curve for intersection.  Saved for reference by specific handler methods.\r\n   * @param extendB flag for extension of geometryB.\r\n   */\r\n  public constructor(extendA: boolean, geometryB: GeometryQuery, extendB: boolean) {\r\n    super();\r\n    this._extendA = extendA;\r\n    this._geometryB = geometryB;\r\n    this._extendB = extendB;\r\n    this.reinitialize();\r\n  }\r\n  /**\r\n   * * Return the results structure for the intersection calculation.\r\n   * @param reinitialize if true, a new results structure is created for use by later calls.\r\n   */\r\n  public grabResults(reinitialize: boolean = false): CurveLocationDetailArrayPair {\r\n    const result = this._results;\r\n    if (reinitialize)\r\n      this.reinitialize();\r\n    return result;\r\n  }\r\n  private acceptFraction(extend0: boolean, fraction: number, extend1: boolean) {\r\n    if (!extend0 && fraction < 0.0)\r\n      return false;\r\n    if (!extend1 && fraction > 1.0)\r\n      return false;\r\n    return true;\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Reject if evaluated points do not match coordinates (e.g. close approach point).\r\n   * Record with fraction mapping.\r\n   */\r\n  private recordPointWithLocalFractions(\r\n    localFractionA: number,\r\n    cpA: CurvePrimitive,\r\n    fractionA0: number,\r\n    fractionA1: number,\r\n    localFractionB: number,   // Computed intersection fraction\r\n    cpB: CurvePrimitive,\r\n    fractionB0: number,\r\n    fractionB1: number,\r\n    reversed: boolean,\r\n  ): void {\r\n    const globalFractionA = Geometry.interpolate(fractionA0, localFractionA, fractionA1);\r\n    const globalFractionB = Geometry.interpolate(fractionB0, localFractionB, fractionB1);\r\n    // ignore duplicate of most recent point .  ..\r\n    const numPrevious = this._results.dataA.length;\r\n    if (numPrevious > 0) {\r\n      const topFractionA = this._results.dataA[numPrevious - 1].fraction;\r\n      const topFractionB = this._results.dataB[numPrevious - 1].fraction;\r\n      if (reversed) {\r\n        if (Geometry.isAlmostEqualNumber(topFractionA, globalFractionB) &&\r\n          Geometry.isAlmostEqualNumber(topFractionB, globalFractionA))\r\n          return;\r\n      } else {\r\n        if (Geometry.isAlmostEqualNumber(topFractionA, globalFractionA) &&\r\n          Geometry.isAlmostEqualNumber(topFractionB, globalFractionB))\r\n          return;\r\n      }\r\n    }\r\n    const pointA = cpA.fractionToPoint(globalFractionA);\r\n    const pointB = cpB.fractionToPoint(globalFractionB);\r\n    if (!pointA.isAlmostEqualMetric(pointB))\r\n      return;\r\n\r\n    const detailA = CurveLocationDetail.createCurveFractionPoint(cpA, globalFractionA, pointA);\r\n    detailA.setIntervalRole(CurveIntervalRole.isolated);\r\n    const detailB = CurveLocationDetail.createCurveFractionPoint(cpB, globalFractionB, pointB);\r\n    detailB.setIntervalRole(CurveIntervalRole.isolated);\r\n    if (reversed) {\r\n      this._results.dataA.push(detailB);\r\n      this._results.dataB.push(detailA);\r\n    } else {\r\n      this._results.dataA.push(detailA);\r\n      this._results.dataB.push(detailB);\r\n    }\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Record with fraction mapping.\r\n   */\r\n  private computeSegmentSegment3D(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const uv = CurveCurveIntersectXYZ._workVector2dA;\r\n    if (SmallSystem.lineSegment3dClosestApproachUnbounded(pointA0, pointA1, pointB0, pointB1, uv) &&\r\n      this.acceptFraction(extendA0, uv.x, extendA1) && this.acceptFraction(extendB0, uv.y, extendB1)) {\r\n      this.recordPointWithLocalFractions(uv.x, cpA, fractionA0, fractionA1, uv.y, cpB, fractionB0, fractionB1, reversed);\r\n    }\r\n  }\r\n  // Caller accesses data from a line segment and passes to here.\r\n  // (The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.  The fraction and extend parameters\r\n  // allow all combinations to be passed in)\r\n  // This method applies transform.\r\n  private dispatchSegmentSegment(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    this.computeSegmentSegment3D(\r\n      cpA, extendA0, pointA0, fractionA0, pointA1, fractionA1, extendA1,\r\n      cpB, extendB0, pointB0, fractionB0, pointB1, fractionB1, extendB1,\r\n      reversed,\r\n    );\r\n  }\r\n  /**\r\n   * Create a plane whose normal is the \"better\" cross product: `vectorA.crossProduct(vectorB)` or\r\n   * `vectorA.crossProduct(vectorC)`\r\n   * * The heuristic for \"better\" is:\r\n   *   * first choice is cross product with `vectorB`, if `vectorA` and `vectorB` are sufficiently far from parallel\r\n   * (or anti-parallel).\r\n   *   * otherwise use vectorC\r\n   * @param origin plane origin\r\n   * @param vectorA vector which must be in the plane.\r\n   * @param cosineValue largest cosine of the angle theta between vectorA and vectorB to prefer their cross product, e.g.\r\n   *  passing 0.94 ~ cos(20deg) will switch to using vectorC in the cross product if theta < ~20deg or theta > ~160deg.\r\n   * @param vectorB first candidate for additional in-plane vector\r\n   * @param vectorC second candidate for additional in-plane vector\r\n   */\r\n  public createPlaneWithPreferredPerpendicular(\r\n    origin: Point3d, vectorA: Vector3d, cosineValue: number, vectorB: Vector3d, vectorC: Vector3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    cosineValue = Geometry.restrictToInterval(Math.abs(cosineValue), 0.0, 1.0 - Geometry.smallFraction);\r\n    const dotAA = vectorA.magnitudeSquared();\r\n    const dotBB = vectorB.magnitudeSquared();\r\n    const dotAB = Math.abs(vectorA.dotProduct(vectorB));\r\n    const cross = vectorA.unitCrossProduct(dotAB * dotAB <= cosineValue * cosineValue * dotAA * dotBB ? vectorB : vectorC);\r\n    if (cross)\r\n      return Plane3dByOriginAndUnitNormal.create(origin, cross);\r\n    return undefined;\r\n  }\r\n  // Caller accesses data from a linestring or segment and passes it here.\r\n  // (The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.  The fraction and extend parameters\r\n  // allow all combinations to be passed in)\r\n  private dispatchSegmentArc(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    arc: Arc3d,\r\n    extendB0: boolean,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const lineVector = Vector3d.createStartEnd(pointA0, pointA1);\r\n    const plane = this.createPlaneWithPreferredPerpendicular(\r\n      pointA0, lineVector, 0.94, arc.perpendicularVector, arc.vector0);\r\n    if (plane !== undefined) {\r\n      const candidates: CurveLocationDetail[] = [];\r\n      arc.appendPlaneIntersectionPoints(plane, candidates);\r\n      let lineFraction;\r\n      let linePoint: Point3d | undefined;\r\n      for (const c of candidates) {\r\n        if (this.acceptFraction(extendB0, c.fraction, extendB1)) {\r\n          lineFraction = SmallSystem.lineSegment3dClosestPointUnbounded(pointA0, pointA1, c.point);\r\n          if (lineFraction !== undefined) {\r\n            linePoint = pointA0.interpolate(lineFraction, pointA1, linePoint);\r\n            if (linePoint.isAlmostEqualMetric(c.point)\r\n              && this.acceptFraction(extendA0, lineFraction, extendA1)) {\r\n              this.recordPointWithLocalFractions(lineFraction, cpA, fractionA0, fractionA1,\r\n                c.fraction, arc, 0, 1, reversed);\r\n\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller promises arcs are coplanar.\r\n  // Passes \"other\" as {center, vector0, vector90} in local xy space of cpA\r\n  // Solves the arc-arc equations for that local ellipse with unit circle.\r\n  // Solution fractions map directly to original arcs.\r\n  private dispatchArcArcInPlane(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    const otherVectors = cpA.otherArcAsLocalVectors(cpB);\r\n    if (otherVectors !== undefined) {\r\n      const ellipseRadians: number[] = [];\r\n      const circleRadians: number[] = [];\r\n      TrigPolynomial.solveUnitCircleHomogeneousEllipseIntersection(\r\n        otherVectors.center.x, otherVectors.center.y, 1.0,\r\n        otherVectors.vector0.x, otherVectors.vector0.y, 0.0,\r\n        otherVectors.vector90.x, otherVectors.vector90.y, 0.0,\r\n        ellipseRadians, circleRadians,\r\n      );\r\n      for (let i = 0; i < ellipseRadians.length; i++) {\r\n        const fractionA = cpA.sweep.radiansToSignedPeriodicFraction(circleRadians[i]);\r\n        const fractionB = cpA.sweep.radiansToSignedPeriodicFraction(ellipseRadians[i]);\r\n        // hm .. do we really need to check the fractions?  We know they are internal to the beziers\r\n        if (this.acceptFraction(extendA, fractionA, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(fractionA, cpA, 0, 1, fractionB, cpB, 0, 1, reversed);\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchArcArc(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    // If arcs are in different planes:\r\n    // 1) Intersect each plane with the other arc (quadratic)\r\n    // 2) accept points that appear in both intersection sets.\r\n    // If arcs are in parallel planes -- no intersections\r\n    // If arcs are in the same plane -- xy intersection in that plane.\r\n    const planeA = Plane3dByOriginAndUnitNormal.create(cpA.center, cpA.perpendicularVector);\r\n    const planeB = Plane3dByOriginAndUnitNormal.create(cpB.center, cpB.perpendicularVector);\r\n    if (planeA === undefined || planeB === undefined)\r\n      return;\r\n    if (planeA.getNormalRef().isParallelTo(planeB.getNormalRef())) {\r\n      if (planeA.isPointInPlane(planeB.getOriginRef()) && planeB.isPointInPlane(planeA.getOriginRef())) {\r\n        // coplanar !!!\r\n        this.dispatchArcArcInPlane(cpA, extendA, cpB, extendB, reversed);\r\n      }\r\n    } else {\r\n      const arcBPoints: CurveLocationDetail[] = [];\r\n      cpB.appendPlaneIntersectionPoints(planeA, arcBPoints);\r\n      const arcAPoints: CurveLocationDetail[] = [];\r\n      cpA.appendPlaneIntersectionPoints(planeB, arcAPoints);\r\n      for (const detailB of arcBPoints) {\r\n        for (const detailA of arcAPoints) {\r\n          if (detailA.point.isAlmostEqual(detailB.point)) {\r\n            if (this.acceptFraction(extendA, detailA.fraction, extendA)\r\n              && this.acceptFraction(extendB, detailB.fraction, extendB)) {\r\n              this.recordPointWithLocalFractions(detailA.fraction, cpA, 0, 1, detailB.fraction, cpB, 0, 1, reversed);\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchArcBsplineCurve3d(\r\n    _arc: Arc3d, _extendA: boolean, _cpB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    // Arc: X = C + cU + sV\r\n    // implicitize the arc as viewed.  This \"3d\" matrix is homogeneous \"XYW\" not \"xyz\"\r\n    let matrixA: Matrix3d;\r\n    if (this._worldToLocalPerspective) {\r\n      const dataA = cpA.toTransformedPoint4d(this._worldToLocalPerspective);\r\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, dataA.vector0.w, dataA.vector90, dataA.vector90.w, dataA.center, dataA.center.w);\r\n    } else {\r\n      const dataA = cpA.toTransformedVectors(this._worldToLocalAffine);\r\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, 0, dataA.vector90, 0, dataA.center, 1);\r\n    }\r\n    // The worldToLocal has moved the arc vectors into local space.\r\n    // matrixA captures the xyw parts (ignoring z)\r\n    // for any point in world space,\r\n    // THIS CODE ONLY WORKS FOR\r\n    const matrixAInverse = matrixA.inverse();\r\n    if (matrixAInverse) {\r\n      const orderF = cpB.order; // order of the beziers for simple coordinates\r\n      const orderG = 2 * orderF - 1;  // order of the (single) bezier for squared coordinates.\r\n      const coffF = new Float64Array(orderF);\r\n      const univariateBezierG = new UnivariateBezier(orderG);\r\n      const axx = matrixAInverse.at(0, 0); const axy = matrixAInverse.at(0, 1); const axz = 0.0; const axw = matrixAInverse.at(0, 2);\r\n      const ayx = matrixAInverse.at(1, 0); const ayy = matrixAInverse.at(1, 1); const ayz = 0.0; const ayw = matrixAInverse.at(1, 2);\r\n      const awx = matrixAInverse.at(2, 0); const awy = matrixAInverse.at(2, 1); const awz = 0.0; const aww = matrixAInverse.at(2, 2);\r\n\r\n      if (matrixAInverse) {\r\n        let bezier: BezierCurve3dH | undefined;\r\n        for (let spanIndex = 0; ; spanIndex++) {\r\n          bezier = cpB.getSaturatedBezierSpan3dH(spanIndex, bezier);\r\n          if (!bezier) break;\r\n          if (this._worldToLocalPerspective)\r\n            bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n          else if (this._worldToLocalAffine)\r\n            bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n          univariateBezierG.zero();\r\n          bezier.poleProductsXYZW(coffF, axx, axy, axz, axw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, ayx, ayy, ayz, ayw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, awx, awy, awz, aww);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, -1.0);\r\n          const roots = univariateBezierG.roots(0.0, true);\r\n          if (roots) {\r\n            for (const root of roots) {\r\n              const fractionB = bezier.fractionToParentFraction(root);\r\n              // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n              const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n              const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n              const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n              const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n              if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n                this.recordPointWithLocalFractions(arcFraction, cpA, 0, 1,\r\n                  fractionB, cpB, 0, 1, reversed);\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  // apply the transformation to bezier curves. optionally construct ranges.\r\n  private transformBeziers(beziers: BezierCurve3dH[]) {\r\n    if (this._worldToLocalAffine) {\r\n      for (const bezier of beziers) bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n    } else if (this._worldToLocalPerspective) {\r\n      for (const bezier of beziers) bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n    }\r\n  }\r\n  */\r\n  /*\r\n  private getRanges(beziers: BezierCurveBase[]): Range3d[] {\r\n    const ranges: Range3d[] = [];\r\n    ranges.length = 0;\r\n    for (const b of beziers) {\r\n      ranges.push(b.range());\r\n    }\r\n    return ranges;\r\n  }\r\n  private _xyzwA0?: Point4d;\r\n  private _xyzwA1?: Point4d;\r\n  private _xyzwPlane?: Point4d;\r\n  private _xyzwB?: Point4d;\r\n\r\n  private dispatchBezierBezierStrokeFirst(\r\n    bezierA: BezierCurve3dH,\r\n    bcurveA: BSplineCurve3dBase,\r\n    strokeCountA: number,\r\n    bezierB: BezierCurve3dH,\r\n    bcurveB: BSplineCurve3dBase,\r\n    _strokeCountB: number,\r\n    univariateBezierB: UnivariateBezier,  // caller-allocated for univariate coefficients.\r\n    reversed: boolean) {\r\n    if (!this._xyzwA0) this._xyzwA0 = Point4d.create();\r\n    if (!this._xyzwA1) this._xyzwA1 = Point4d.create();\r\n    if (!this._xyzwPlane) this._xyzwPlane = Point4d.create();\r\n    if (!this._xyzwB) this._xyzwB = Point4d.create();\r\n    const roots = univariateBezierG.roots(0.0, true);\r\n    if (roots) {\r\n      for (const root of roots) {\r\n        const fractionB = bezier.fractionToParentFraction(root);\r\n        // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n        const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n        const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n        const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n        const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n        if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(arcFraction, cpA, 0, 1,\r\n            fractionB, cpB, 0, 1, reversed);\r\n        }\r\n      }\r\n    bezierA.fractionToPoint4d(0.0, this._xyzwA0);\r\n    let f0 = 0.0;\r\n    let f1 = 1.0;\r\n    const intervalTolerance = 1.0e-5;\r\n    const df = 1.0 / strokeCountA;\r\n    for (let i = 1; i <= strokeCountA; i++ , f0 = f1, this._xyzwA0.setFrom(this._xyzwA1)) {\r\n      f1 = i * df;\r\n      bezierA.fractionToPoint4d(f1, this._xyzwA1);\r\n      Point4d.createPlanePointPointZ(this._xyzwA0, this._xyzwA1, this._xyzwPlane);\r\n      bezierB.poleProductsXYZW(univariateBezierB.coffs, this._xyzwPlane.x, this._xyzwPlane.y, this._xyzwPlane.z, this._xyzwPlane.w);\r\n      let errors = 0;\r\n      const roots = univariateBezierB.roots(0.0, true);\r\n      if (roots)\r\n        for (const r of roots) {\r\n          const bezierBFraction = r;\r\n          bezierB.fractionToPoint4d(bezierBFraction, this._xyzwB);\r\n          const segmentAFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(this._xyzwA0, this._xyzwA1, this._xyzwB);\r\n          if (segmentAFraction && Geometry.isIn01WithTolerance(segmentAFraction, intervalTolerance)) {\r\n            const bezierAFraction = Geometry.interpolate(f0, segmentAFraction, f1);\r\n            /*- TODO implement newton search\r\n            const xyMatchingFunction = new BezierBezierIntersectionXYRRToRRD(bezierA, bezierB);\r\n            const newtonSearcher = new Newton2dUnboundedWithDerivative(xyMatchingFunction);\r\n            newtonSearcher.setUV(bezierAFraction, bezierBFraction);\r\n            if (newtonSearcher.runIterations()) {\r\n              bezierAFraction = newtonSearcher.getU();\r\n              bezierBFraction = newtonSearcher.getV();\r\n            }\r\n            // We have a near intersection at fractions on the two beziers !!!\r\n            // Iterate on the curves for a true intersection ....\r\n            // NEEDS WORK -- just accept . . .\r\n            const bcurveAFraction = bezierA.fractionToParentFraction(bezierAFraction);\r\n            const bcurveBFraction = bezierB.fractionToParentFraction(bezierBFraction);\r\n            const xyzA0 = bezierA.fractionToPoint(bezierAFraction);\r\n            const xyzA1 = bcurveA.fractionToPoint(bcurveAFraction);\r\n            const xyzB0 = bezierB.fractionToPoint(bezierBFraction);\r\n            const xyzB1 = bcurveB.fractionToPoint(bcurveBFraction);\r\n            if (!xyzA0.isAlmostEqualXY(xyzA1))\r\n              errors++;\r\n            if (!xyzB0.isAlmostEqualXY(xyzB1))\r\n              errors++;\r\n            if (errors > 0 && !xyzA0.isAlmostEqual(xyzB0))\r\n              errors++;\r\n            if (errors > 0 && !xyzA1.isAlmostEqual(xyzB1))\r\n              errors++;\r\n            if (this.acceptFraction(false, bcurveAFraction, false) && this.acceptFraction(false, bcurveBFraction, false)) {\r\n              this.recordPointWithLocalFractions(bcurveAFraction, bcurveA, 0, 1,\r\n                bcurveBFraction, bcurveB, 0, 1, reversed);\r\n            }\r\n          }\r\n        }\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchBSplineCurve3dBSplineCurve3d(\r\n    _bcurveA: BSplineCurve3dBase, _bcurveB: BSplineCurve3dBase, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const bezierSpanA = bcurveA.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const bezierSpanB = bcurveB.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const numA = bezierSpanA.length;\r\n    const numB = bezierSpanB.length;\r\n    this.transformBeziers(bezierSpanA);\r\n    this.transformBeziers(bezierSpanB);\r\n    const rangeA = this.getRanges(bezierSpanA);\r\n    const rangeB = this.getRanges(bezierSpanB);\r\n    const orderA = bcurveA.order;\r\n    const orderB = bcurveB.order;\r\n    const univariateCoffsA = new UnivariateBezier(orderA);\r\n    const univariateCoffsB = new UnivariateBezier(orderB);\r\n    for (let a = 0; a < numA; a++) {\r\n      for (let b = 0; b < numB; b++) {\r\n        if (rangeA[a].intersectsRangeXY(rangeB[b])) {\r\n          const strokeCountA = bezierSpanA[a].computeStrokeCountForOptions();\r\n          const strokeCountB = bezierSpanB[b].computeStrokeCountForOptions();\r\n          if (strokeCountA < strokeCountB)\r\n            this.dispatchBezierBezierStrokeFirst(bezierSpanA[a], bcurveA, strokeCountA, bezierSpanB[b], bcurveB, strokeCountB, univariateCoffsB, !_reversed);\r\n          else\r\n            this.dispatchBezierBezierStrokeFirst(bezierSpanB[b], bcurveB, strokeCountB, bezierSpanA[a], bcurveA, strokeCountA, univariateCoffsA, _reversed);\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  /**\r\n   * Apply the projection transform (if any) to (xyz, w)\r\n   * @param xyz xyz parts of input point.\r\n   * @param w   weight to use for homogeneous effects\r\n   */\r\n  /*\r\n  private projectPoint(xyz: XYAndZ, w: number = 1.0): Point4d {\r\n    if (this._worldToLocalPerspective)\r\n      return this._worldToLocalPerspective.multiplyPoint3d(xyz, w);\r\n    if (this._worldToLocalAffine)\r\n      return this._worldToLocalAffine.multiplyXYZW(xyz.x, xyz.y, xyz.z, w);\r\n    return Point4d.createFromPointAndWeight(xyz, w);\r\n  }\r\n  private mapNPCPlaneToWorld(npcPlane: Point4d, worldPlane: Point4d) {\r\n    // for NPC pointY, Y^ * H = 0 is \"on\" plane H.  (Hat is transpose)\r\n    // NPC Y is A*X for our transform A and worldPointX.\r\n    // hence (A X)^ * H = 0\r\n    // hence X^ * A^ * H = 0\r\n    // hence K = A^ * H\r\n    if (this._worldToLocalAffine) {\r\n      this._worldToLocalAffine.multiplyTransposeXYZW(npcPlane.x, npcPlane.y, npcPlane.z, npcPlane.w, worldPlane);\r\n    } else if (this._worldToLocalPerspective) {\r\n      this._worldToLocalPerspective.multiplyTransposePoint4d(npcPlane, worldPlane);\r\n    } else {\r\n      npcPlane.clone(worldPlane);\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from segment and bsplineCurve\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchSegmentBsplineCurve(\r\n    _cpA: CurvePrimitive,\r\n    _extendA0: boolean,\r\n    _pointA0: Point3d,\r\n    _fractionA0: number,\r\n    _pointA1: Point3d,\r\n    _fractionA1: number,\r\n    _extendA1: boolean,\r\n    _bcurve: BSplineCurve3d,\r\n    _extendB: boolean,\r\n    _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const pointA0H = this.projectPoint(pointA0);\r\n    const pointA1H = this.projectPoint(pointA1);\r\n    const planeCoffs = Point4d.createPlanePointPointZ(pointA0H, pointA1H);\r\n    this.mapNPCPlaneToWorld(planeCoffs, planeCoffs);\r\n      // NOW .. we have a plane in world space.  Intersect it with the bspline:\r\n    const intersections: CurveLocationDetail[] = [];\r\n    bcurve.appendPlaneIntersectionPoints(planeCoffs, intersections);\r\n      // intersections has WORLD points with bspline fractions.   (The bspline fractions are all good 0..1 fractions within the spline.)\r\n      // accept those that are within the segment range.\r\n    for (const detail of intersections) {\r\n      const fractionB = detail.fraction;\r\n      const curvePoint = detail.point;\r\n      const curvePointH = this.projectPoint(curvePoint);\r\n      const lineFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(pointA0H, pointA1H, curvePointH);\r\n      if (lineFraction !== undefined && this.acceptFraction(extendA0, lineFraction, extendA1) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n        this.recordPointWithLocalFractions(lineFraction, cpA, fractionA0, fractionA1,\r\n          fractionB, bcurve, 0, 1, reversed);\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /** Low level dispatch of linestring with (beziers of) a bspline curve */\r\n  public dispatchLineStringBSplineCurve(\r\n    _lsA: LineString3d, _extendA: boolean, _curveB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): any {\r\n    /*\r\n    const numA = lsA.numPoints();\r\n    if (numA > 1) {\r\n      const dfA = 1.0 / (numA - 1);\r\n      let fA0;\r\n      let fA1;\r\n      fA0 = 0.0;\r\n      const pointA0 = CurveCurveIntersectXYZ._workPointA0;\r\n      const pointA1 = CurveCurveIntersectXYZ._workPointA1;\r\n      lsA.pointAt(0, pointA0);\r\n      for (let iA = 1; iA < numA; iA++ , pointA0.setFrom(pointA1), fA0 = fA1) {\r\n        lsA.pointAt(iA, pointA1);\r\n        fA1 = iA * dfA;\r\n        this.dispatchSegmentBsplineCurve(\r\n          lsA, iA === 1 && extendA, pointA0, fA0, pointA1, fA1, (iA + 1) === numA && extendA,\r\n          curveB, extendB, reversed);\r\n      }\r\n    }\r\n    return undefined;\r\n    */\r\n  }\r\n  /** Detail computation for segment intersecting linestring. */\r\n  public computeSegmentLineString(\r\n    lsA: LineSegment3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointA0 = lsA.point0Ref;\r\n    const pointA1 = lsA.point1Ref;\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentSegment(\r\n          lsA, extendA, pointA0, 0.0, pointA1, 1.0, extendA, lsB, ib === 1 && extendB,\r\n          pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB, reversed,\r\n        );\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Detail computation for arc intersecting linestring. */\r\n  public computeArcLineString(\r\n    arcA: Arc3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentArc(\r\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1,\r\n          (ib + 1) === numB && extendB, arcA, extendA, extendA, !reversed);\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed segment. */\r\n  public override handleLineSegment3d(segmentA: LineSegment3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      const segmentB = this._geometryB;\r\n      this.dispatchSegmentSegment(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref, 1.0, this._extendA,\r\n        segmentB, this._extendB, segmentB.point0Ref, 0.0, segmentB.point1Ref, 1.0, this._extendB,\r\n        false,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeSegmentLineString(segmentA, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchSegmentArc(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, this._extendB, false,\r\n      );\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, false,\r\n      );\r\n    }\r\n  }\r\n  /** double dispatch handler for strongly typed linestring .. */\r\n  public override handleLineString3d(lsA: LineString3d): any {\r\n    if (this._geometryB instanceof LineString3d) {\r\n      const lsB = this._geometryB;\r\n      const pointA0 = CurveCurveIntersectXYZ._workPointAA0;\r\n      const pointA1 = CurveCurveIntersectXYZ._workPointAA1;\r\n      const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n      const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n      const numA = lsA.numPoints();\r\n      const numB = lsB.numPoints();\r\n      if (numA > 1 && numB > 1) {\r\n        lsA.pointAt(0, pointA0);\r\n        const dfA = 1.0 / (numA - 1);\r\n        const dfB = 1.0 / (numB - 1);\r\n        let fA0 = 0.0;\r\n        let fA1, fB0, fB1;\r\n        const extendA = this._extendA;\r\n        const extendB = this._extendB;\r\n        lsA.pointAt(0, pointA0);\r\n        for (let ia = 1; ia < numA; ia++, pointA0.setFrom(pointA1), fA0 = fA1) {\r\n          fA1 = ia * dfA;\r\n          fB0 = 0.0;\r\n          lsA.pointAt(ia, pointA1);\r\n          lsB.pointAt(0, pointB0);\r\n          for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n            lsB.pointAt(ib, pointB1);\r\n            fB1 = ib * dfB;\r\n            this.dispatchSegmentSegment(\r\n              lsA, ia === 1 && extendA, pointA0, fA0, pointA1, fA1, (ia + 1) === numA && extendA,\r\n              lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\r\n              false,\r\n            );\r\n          }\r\n        }\r\n      }\r\n    } else if (this._geometryB instanceof LineSegment3d) {\r\n      this.computeSegmentLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.computeArcLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchLineStringBSplineCurve(lsA, this._extendA, this._geometryB, this._extendB, false);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed arc. */\r\n  public override handleArc3d(arc0: Arc3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentArc(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, arc0, this._extendA, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeArcLineString(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcArc(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchArcBsplineCurve3d(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed bspline curve.. */\r\n  public override handleBSplineCurve3d(curve: BSplineCurve3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, curve, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3dBase) {\r\n      this.dispatchBSplineCurve3dBSplineCurve3d(curve, this._geometryB, false);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed homogeneous bspline curve. */\r\n  public override handleBSplineCurve3dH(_curve: BSplineCurve3dH): any {\r\n    /*\r\n    // NEEDS WORK -- make \"dispatch\" methods tolerant of both 3d and 3dH\r\n    // \"easy\" if both present BezierCurve3dH span loaders\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref, 1.0, this._extendB,\r\n        curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    }\r\n    */\r\n    return undefined;\r\n  }\r\n}\r\n"]}

package/lib/esm/curve/CurveExtendMode.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Curve\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\n\n/** module Curve */\n/** enumeration of condition for extending a curve beyond start or end point.\n * * Not all CurvePrimitives support these modes.\n * @public\n */\nexport enum CurveExtendMode {\n  /** No extension allowed. */\n  None = 0,\n  /** Extend along continuation of the end tangent */\n  OnTangent = 1,\n  /** Extend along continuation of the curve. */\n  OnCurve = 2,\n}\n/** Logic for deciding how a curve may be extended for closest point or intersection searches.\n * @public\n */\nexport class CurveExtendOptions {\n  /** Given an ExtendParameter, isolate the particular CurveExtendOptions in effect at an end.\n   * * Return undefined if `param === false`\n   * * return the (strongly typed) pointer to the param if it is a single CurveExtendOptions.\n   * * Return dereferenced array entry 0 or 1 if the param is an array of CurveExtendOptions.\n   */\n  public static resolveVariantCurveExtendParameterToCurveExtendMode(param: VariantCurveExtendParameter, endIndex: 0 | 1): CurveExtendMode {\n    if (param === false)\n      return CurveExtendMode.None;\n    if (param === true)\n      return CurveExtendMode.OnCurve;\n    if (Array.isArray(param))\n      return param[endIndex];\n    return param;\n  }\n  /**\n   *\n   * * if fraction is between 0 and 1 return it unchanged.\n   * * if fraction is less than 0 use the variant param to choose the fraction or 0\n   * * if fraction is greater than 1 use the variant param to choose the fraction or 1\n   *\n   */\n  public static correctFraction(extendParam: VariantCurveExtendParameter, fraction: number): number {\n    if (fraction < 0) {\n      const mode = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 0);\n      if (mode === CurveExtendMode.None)\n        fraction = 0.0;\n    } else if (fraction > 1.0) {\n      const mode = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 1);\n      if (mode === CurveExtendMode.None)\n        fraction = 1.0;\n    }\n    return fraction;\n  }\n  /**\n   * Adjust a radians value to an angle sweep, allowing the extendParam to affect choice among periodic fractions.\n   * * if radians is within the sweep, convert it to a fraction of the sweep.\n   * * if radians is outside, use the extendParam to choose among:\n   *    * fraction below 0\n   *    * fraction above 1\n   */\n  public static resolveRadiansToSweepFraction(extendParam: VariantCurveExtendParameter, radians: number, sweep: AngleSweep): number {\n    let fraction = sweep.radiansToSignedPeriodicFraction(radians);\n    if (!sweep.isRadiansInSweep(radians)) {\n      const fractionPeriod = sweep.fractionPeriod();\n      const mode0 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 0);\n      const mode1 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 1);\n      if (mode0 !== CurveExtendMode.None) {\n        if (mode1 !== CurveExtendMode.None) {\n          // both extensions possible ... let the sweep resolve to the \"closer\" end\n          fraction = sweep.radiansToSignedPeriodicFraction(radians);\n        } else {\n          // only extend to negative .....\n          if (fraction > 1.0)\n            fraction -= fractionPeriod;\n        }\n      } else if (mode1 !== CurveExtendMode.None) {\n        if (fraction < 0.0)\n          fraction += fractionPeriod;\n      } else {    // both clamped !!!!\n        fraction = Geometry.clamp(fraction, 0, 1);\n      }\n    }\n    return fraction;\n  }\n}\n/** Variants of a single parameter.\n * Use this type in a function signature where caller may want simple true, false, or same extend mode for both ends.\n * @public\n */\nexport type VariantCurveExtendParameter = boolean | CurveExtendMode | CurveExtendMode[];\n"]}
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\n\r\n/** module Curve */\r\n/** enumeration of condition for extending a curve beyond start or end point.\r\n * * Not all CurvePrimitives support these modes.\r\n * @public\r\n */\r\nexport enum CurveExtendMode {\r\n  /** No extension allowed. */\r\n  None = 0,\r\n  /** Extend along continuation of the end tangent */\r\n  OnTangent = 1,\r\n  /** Extend along continuation of the curve. */\r\n  OnCurve = 2,\r\n}\r\n/** Logic for deciding how a curve may be extended for closest point or intersection searches.\r\n * @public\r\n */\r\nexport class CurveExtendOptions {\r\n  /** Given an ExtendParameter, isolate the particular CurveExtendOptions in effect at an end.\r\n   * * Return undefined if `param === false`\r\n   * * return the (strongly typed) pointer to the param if it is a single CurveExtendOptions.\r\n   * * Return dereferenced array entry 0 or 1 if the param is an array of CurveExtendOptions.\r\n   */\r\n  public static resolveVariantCurveExtendParameterToCurveExtendMode(param: VariantCurveExtendParameter, endIndex: 0 | 1): CurveExtendMode {\r\n    if (param === false)\r\n      return CurveExtendMode.None;\r\n    if (param === true)\r\n      return CurveExtendMode.OnCurve;\r\n    if (Array.isArray(param))\r\n      return param[endIndex];\r\n    return param;\r\n  }\r\n  /**\r\n   *\r\n   * * if fraction is between 0 and 1 return it unchanged.\r\n   * * if fraction is less than 0 use the variant param to choose the fraction or 0\r\n   * * if fraction is greater than 1 use the variant param to choose the fraction or 1\r\n   *\r\n   */\r\n  public static correctFraction(extendParam: VariantCurveExtendParameter, fraction: number): number {\r\n    if (fraction < 0) {\r\n      const mode = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 0);\r\n      if (mode === CurveExtendMode.None)\r\n        fraction = 0.0;\r\n    } else if (fraction > 1.0) {\r\n      const mode = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 1);\r\n      if (mode === CurveExtendMode.None)\r\n        fraction = 1.0;\r\n    }\r\n    return fraction;\r\n  }\r\n  /**\r\n   * Adjust a radians value to an angle sweep, allowing the extendParam to affect choice among periodic fractions.\r\n   * * if radians is within the sweep, convert it to a fraction of the sweep.\r\n   * * if radians is outside, use the extendParam to choose among:\r\n   *    * fraction below 0\r\n   *    * fraction above 1\r\n   */\r\n  public static resolveRadiansToSweepFraction(extendParam: VariantCurveExtendParameter, radians: number, sweep: AngleSweep): number {\r\n    let fraction = sweep.radiansToSignedPeriodicFraction(radians);\r\n    if (!sweep.isRadiansInSweep(radians)) {\r\n      const fractionPeriod = sweep.fractionPeriod();\r\n      const mode0 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 0);\r\n      const mode1 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extendParam, 1);\r\n      if (mode0 !== CurveExtendMode.None) {\r\n        if (mode1 !== CurveExtendMode.None) {\r\n          // both extensions possible ... let the sweep resolve to the \"closer\" end\r\n          fraction = sweep.radiansToSignedPeriodicFraction(radians);\r\n        } else {\r\n          // only extend to negative .....\r\n          if (fraction > 1.0)\r\n            fraction -= fractionPeriod;\r\n        }\r\n      } else if (mode1 !== CurveExtendMode.None) {\r\n        if (fraction < 0.0)\r\n          fraction += fractionPeriod;\r\n      } else {    // both clamped !!!!\r\n        fraction = Geometry.clamp(fraction, 0, 1);\r\n      }\r\n    }\r\n    return fraction;\r\n  }\r\n}\r\n/** Variants of a single parameter.\r\n * Use this type in a function signature where caller may want simple true, false, or same extend mode for both ends.\r\n * @public\r\n */\r\nexport type VariantCurveExtendParameter = boolean | CurveExtendMode | CurveExtendMode[];\r\n"]}

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

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