@itwin/core-geometry 4.2.0-dev.9 → 4.3.0-dev.1

package/lib/cjs/geometry3d/BarycentricTriangle.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/**\r\n * Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n *\r\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n */\r\nexport class TriangleLocationDetail {\r\n  /** The Cartesian coordinates of the point p. */\r\n  public world: Point3d;\r\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\r\n  public local: Point3d;\r\n  /** Application-specific number */\r\n  public a: number;\r\n  /** Index of the triangle vertex at the start of the closest edge to p. */\r\n  public closestEdgeIndex: number;\r\n  /**\r\n   * The parameter f along the closest edge to p of its projection q.\r\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n   * * Note that 0 <= f <= 1.\r\n   */\r\n  public closestEdgeParam: number;\r\n\r\n  private constructor() {\r\n    this.world = new Point3d();\r\n    this.local = new Point3d();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /** Invalidate this detail (set all attributes to zero) . */\r\n  public invalidate() {\r\n    this.world.setZero();\r\n    this.local.setZero();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /**\r\n   * Create an invalid detail.\r\n   * @param result optional pre-allocated object to fill and return\r\n   */\r\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    if (undefined === result)\r\n      result = new TriangleLocationDetail();\r\n    else\r\n      result.invalidate();\r\n    return result;\r\n  }\r\n  /**\r\n   * Set the instance contents from the `other` detail.\r\n   * @param other detail to clone\r\n   */\r\n  public copyContentsFrom(other: TriangleLocationDetail) {\r\n    this.world.setFrom(other.world);\r\n    this.local.setFrom(other.local);\r\n    this.a = other.a;\r\n    this.closestEdgeIndex = other.closestEdgeIndex;\r\n    this.closestEdgeParam = other.closestEdgeParam;\r\n  }\r\n  /** Whether this detail is invalid. */\r\n  public get isValid(): boolean {\r\n    return !this.local.isZero;\r\n  }\r\n  /**\r\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n   * on the triangle.\r\n   * @see classify\r\n   */\r\n  public get isInsideOrOn(): boolean {\r\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n  }\r\n  /**\r\n   * Queries this detail to classify the location of this instance with respect to the triangle.\r\n   * @returns location code\r\n   * @see isInsideOrOn\r\n   */\r\n  public get classify(): PolygonLocation {\r\n    if (!this.isValid)\r\n      return PolygonLocation.Unknown;\r\n    if (this.isInsideOrOn) {\r\n      let numZero = 0;\r\n      if (Math.abs(this.local.x) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.y) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.z) === 0.0)\r\n        ++numZero;\r\n      if (2 === numZero)\r\n        return PolygonLocation.OnPolygonVertex;\r\n      if (1 === numZero)\r\n        return PolygonLocation.OnPolygonEdgeInterior;\r\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n    }\r\n    return (this.closestEdgeParam === 0.0) ?\r\n      PolygonLocation.OutsidePolygonProjectsToVertex :\r\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n  }\r\n}\r\n\r\n/**\r\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n */\r\nexport class BarycentricTriangle {\r\n  /** Array of 3 point coordinates for the triangle. */\r\n  public points: Point3d[];\r\n  /** Edge length squared cache, indexed by opposite vertex index */\r\n  protected edgeLength2: number[];\r\n  // private attributes\r\n  private static _workPoint?: Point3d;\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workRay?: Ray3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  /**\r\n   * Constructor.\r\n   * * Point references are CAPTURED\r\n   */\r\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n    this.points = [];\r\n    this.points.push(point0);\r\n    this.points.push(point1);\r\n    this.points.push(point2);\r\n    this.edgeLength2 = [];\r\n    this.edgeLength2.push(point1.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point1));\r\n  }\r\n  /**\r\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n   * is undefined.\r\n   */\r\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\r\n    this.points[0].setFromPoint3d(point0);\r\n    this.points[1].setFromPoint3d(point1);\r\n    this.points[2].setFromPoint3d(point2);\r\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n  }\r\n  /** Copy all values from `other` */\r\n  public setFrom(other: BarycentricTriangle) {\r\n    for (let i = 0; i < 3; ++i) {\r\n      this.points[i].setFromPoint3d(other.points[i]);\r\n      this.edgeLength2[i] = other.edgeLength2[i];\r\n    }\r\n  }\r\n  /**\r\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n   * @param result optional pre-allocated triangle.\r\n   */\r\n  public static createXYZXYZXYZ(\r\n    x0: number, y0: number, z0: number,\r\n    x1: number, y1: number, z1: number,\r\n    x2: number, y2: number, z2: number,\r\n    result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n    result.points[0].set(x0, y0, z0);\r\n    result.points[1].set(x1, y1, z1);\r\n    result.points[2].set(x2, y2, z2);\r\n    return result;\r\n  }\r\n  /** Create a triangle with coordinates cloned from given points. */\r\n  public static create(\r\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(point0.clone(), point1.clone(), point2.clone());\r\n    result.set(point0, point1, point2);\r\n    return result;\r\n  }\r\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\r\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n  }\r\n  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(\r\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n      result,\r\n    );\r\n  }\r\n  /** Return the area of the triangle. */\r\n  public get area(): number {\r\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n  }\r\n  /**\r\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n  }\r\n  /**\r\n   * Compute length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLength(oppositeVertexIndex: number): number {\r\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n  }\r\n  /** Return area divided by sum of squared lengths. */\r\n  public get aspectRatio(): number {\r\n    return Geometry.safeDivideFraction(\r\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\r\n    );\r\n  }\r\n  /** Return the perimeter of the triangle. */\r\n  public get perimeter(): number {\r\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n  }\r\n  /**\r\n   * Return the unit normal of the triangle.\r\n   * @param result optional pre-allocated vector to fill and return.\r\n   * @returns unit normal, or undefined if cross product length is too small.\r\n   */\r\n  public normal(result?: Vector3d): Vector3d | undefined {\r\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n    if (cross.tryNormalizeInPlace())\r\n      return cross;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Sum the triangle points with given scales.\r\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n   * @param b0 scale to apply to vertex 0\r\n   * @param b1 scale to apply to vertex 1\r\n   * @param b2 scale to apply to vertex 2\r\n   * @param result optional pre-allocated point to fill and return\r\n   * @return linear combination of the vertices of this triangle\r\n   * @see [[pointToFraction]]\r\n   */\r\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n    // p = b0 * v0 + b1 * v1 + b2 * v2\r\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n  }\r\n  /**\r\n   * Compute the projection of the given `point` onto the plane of this triangle.\r\n   * @param point point p to project\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the projection point `P = d.world`:\r\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\r\n   * @see [[fractionToPoint]]\r\n   */\r\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n    if (undefined === normal)\r\n      return TriangleLocationDetail.create(result);\r\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n  }\r\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\r\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n  }\r\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\r\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n   */\r\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 > 0 && b1 > 0 && b2 > 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n   */\r\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n      return 0;\r\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n      return 1;\r\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n    if (b1 < 0 && b2 < 0)\r\n      return 0;\r\n    if (b0 < 0 && b2 < 0)\r\n      return 1;\r\n    if (b0 < 0 && b1 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 1 && b1 === 0 && b2 === 0)\r\n      return 0;\r\n    if (b0 === 0 && b1 === 1 && b2 === 0)\r\n      return 1;\r\n    if (b0 === 0 && b1 === 0 && b2 === 1)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 0 && b1 > 0 && b2 > 0)\r\n      return 0;\r\n    if (b0 > 0 && b1 === 0 && b2 > 0)\r\n      return 1;\r\n    if (b0 > 0 && b1 > 0 && b2 === 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\r\n  private static indexOfMinimum(fn: (index: number) => number): number {\r\n    let i = 0;\r\n    let min = fn(0);\r\n    const val = fn(1);\r\n    if (min > val) {\r\n      i = 1;\r\n      min = val;\r\n    }\r\n    if (min > fn(2))\r\n      i = 2;\r\n    return i;\r\n  }\r\n  /**\r\n   * Compute the squared distance between two points given by their barycentric coordinates.\r\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n   */\r\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n    // The barycentric displacement vector distance formula\r\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\r\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n  }\r\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\r\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n    });\r\n  }\r\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\r\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    const k = Geometry.cyclic3dAxis(j + 1);\r\n    return Geometry.dotProductXYZXYZ(\r\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\r\n    );\r\n  }\r\n  /**\r\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n   * @param k vertex v_k is opposite the edge e_k\r\n   * @param b barycentric coordinates of point to project\r\n   * @returns parameter f along e_k, such that:\r\n   * * the projection point is q = v_i + f * (v_j - v_i)\r\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n   */\r\n  private computeProjectionToEdge(k: number, b: number[]): number {\r\n    /**\r\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\r\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n     * First we prove P = b_jU + b_kV.\r\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\r\n     *         = (b_j * U) + (b_k * V)\r\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n     * Therefore, 0 = (p - q).(v_j - v_i)\r\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n     *              = (b_jU + b_kV - fU).U\r\n     *              = b_jU.U + b_kU.V - fU.U\r\n     * Thus f = b_j + b_k(U.V/U.U)\r\n     */\r\n    k = Geometry.cyclic3dAxis(k);\r\n    const i = Geometry.cyclic3dAxis(k + 1);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n  }\r\n  /**\r\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n   * @param b0 barycentric coordinate of p corresponding to v_0\r\n   * @param b1 barycentric coordinate of p corresponding to v_1\r\n   * @param b2 barycentric coordinate of p corresponding to v_2\r\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n   * q = v_i + f * (v_j - v_i).\r\n   */\r\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n    const b: number[] = [b0, b1, b2];\r\n    let edgeIndex = -1;  // opposite-vertex index\r\n    let edgeParam = 0.0;\r\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n        // We want smallest projection distance d_i of p to e_i.\r\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\r\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n      });\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0 || edgeParam > 1) {\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n        if (edgeParam < 0 || edgeParam > 1) {\r\n          edgeParam = 0.0;\r\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n        }\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0) {\r\n        edgeParam = 0.0;  // start of this edge\r\n      } else if (edgeParam > 1) {\r\n        edgeParam = 0.0;\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n      edgeParam = 0.0;\r\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n    }\r\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\r\n    return {\r\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n      closestEdgeParam: edgeParam,\r\n    };\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n   * @param ray infinite line to intersect, as a ray\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection point `d.world`:\r\n   * * `d.a` is the intersection parameter along the ray.\r\n   * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n   * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n   * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n   * returns true.\r\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n   * @see [[pointToFraction]]\r\n  */\r\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    result = TriangleLocationDetail.create(result);\r\n    /**\r\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\r\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n     *              b1*u + b2*v - s*d = c\r\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n     */\r\n    const r0 = ray.origin;\r\n    const d = ray.direction;\r\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\r\n    );\r\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\r\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\r\n    if (undefined === M.multiplyInverse(c, solution))\r\n      return result;  // invalid\r\n    result.a = -solution.z; // = -(-s) = s\r\n    ray.fractionToPoint(result.a, result.world);\r\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n    result.closestEdgeIndex = proj.closestEdgeIndex;\r\n    result.closestEdgeParam = proj.closestEdgeParam;\r\n    return result;\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n   * @param point0 start point of segment on line to intersect\r\n   * @param point1 end point of segment on line to intersect\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection point `d.world`:\r\n   * * `d.isValid` returns true if and only if the line intersects the plane.\r\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n   * @see [[intersectRay3d]]\r\n  */\r\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n  }\r\n  /**\r\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n   * `location.world` possibly updated to lie on the triangle closest edge)\r\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n   * @return whether the location was adjusted\r\n   */\r\n  public snapLocationToEdge(\r\n    location: TriangleLocationDetail,\r\n    distanceTolerance: number = Geometry.smallMetricDistance,\r\n    parameterTolerance: number = Geometry.smallFloatingPoint,\r\n  ): boolean {\r\n    if (!location.isValid)\r\n      return false;\r\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n    if (parameterTolerance > 0.0) {\r\n      let numSnapped = 0;\r\n      let newSum = 0.0;\r\n      for (let i = 0; i < 3; i++) {\r\n        const barycentricDist = Math.abs(location.local.at(i));\r\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n          location.local.setAt(i, 0.0);\r\n          numSnapped++;\r\n        }\r\n        newSum += location.local.at(i);\r\n      }\r\n      if (numSnapped > 0 && newSum > 0.0) {\r\n        location.local.scaleInPlace(1.0 / newSum);\r\n        if (1 === numSnapped) {\r\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\r\n          );\r\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n        } else {  // 2 snapped, at vertex\r\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n            location.local.x, location.local.y, location.local.z,\r\n          );\r\n          location.closestEdgeParam = 0.0;\r\n        }\r\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n        return true;\r\n      }\r\n    }\r\n    // failing that, try distance tol to closest edge projection\r\n    if (distanceTolerance > 0.0) {\r\n      const i = location.closestEdgeIndex;\r\n      const j = (i + 1) % 3;\r\n      const k = (j + 1) % 3;\r\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\r\n      );\r\n      const dist = location.world.distance(edgeProjection);\r\n      if (dist > 0.0 && dist < distanceTolerance) {\r\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n        location.local.setAt(j, location.closestEdgeParam);\r\n        location.local.setAt(k, 0.0);\r\n        location.world.setFrom(edgeProjection);\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Return the dot product of the scaled normals of the two triangles.\r\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n   * one of the triangles' planes; zero means the triangles are perpendicular.\r\n   */\r\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\r\n    );\r\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n  }\r\n  /** Return the centroid of the 3 points. */\r\n  public centroid(result?: Point3d): Point3d {\r\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n    return Point3d.create(\r\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n      result,\r\n    );\r\n  }\r\n  /** Return the incenter of the triangle. */\r\n  public incenter(result?: Point3d): Point3d {\r\n    const a = this.edgeLength(0);\r\n    const b = this.edgeLength(1);\r\n    const c = this.edgeLength(2);\r\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\r\n  }\r\n  /** Return the circumcenter of the triangle. */\r\n  public circumcenter(result?: Point3d): Point3d {\r\n    const a2 = this.edgeLengthSquared(0);\r\n    const b2 = this.edgeLengthSquared(1);\r\n    const c2 = this.edgeLengthSquared(2);\r\n    const x = a2 * (b2 + c2 - a2);\r\n    const y = b2 * (c2 + a2 - b2);\r\n    const z = c2 * (a2 + b2 - c2);\r\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n  }\r\n  /** Test for point-by-point `isAlmostEqual` relationship. */\r\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n    return this.points[0].isAlmostEqual(other.points[0], tol)\r\n      && this.points[1].isAlmostEqual(other.points[1], tol)\r\n      && this.points[2].isAlmostEqual(other.points[2], tol);\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/**\r\n * Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n *\r\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n */\r\nexport class TriangleLocationDetail {\r\n  /** The Cartesian coordinates of the point p. */\r\n  public world: Point3d;\r\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\r\n  public local: Point3d;\r\n  /** Application-specific number */\r\n  public a: number;\r\n  /** Index of the triangle vertex at the start of the closest edge to p. */\r\n  public closestEdgeIndex: number;\r\n  /**\r\n   * The parameter f along the closest edge to p of its projection q.\r\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n   * * Note that 0 <= f <= 1.\r\n   */\r\n  public closestEdgeParam: number;\r\n\r\n  private constructor() {\r\n    this.world = new Point3d();\r\n    this.local = new Point3d();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /** Invalidate this detail (set all attributes to zero) . */\r\n  public invalidate() {\r\n    this.world.setZero();\r\n    this.local.setZero();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /**\r\n   * Create an invalid detail.\r\n   * @param result optional pre-allocated object to fill and return\r\n   */\r\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    if (undefined === result)\r\n      result = new TriangleLocationDetail();\r\n    else\r\n      result.invalidate();\r\n    return result;\r\n  }\r\n  /**\r\n   * Set the instance contents from the `other` detail.\r\n   * @param other detail to clone\r\n   */\r\n  public copyContentsFrom(other: TriangleLocationDetail) {\r\n    this.world.setFrom(other.world);\r\n    this.local.setFrom(other.local);\r\n    this.a = other.a;\r\n    this.closestEdgeIndex = other.closestEdgeIndex;\r\n    this.closestEdgeParam = other.closestEdgeParam;\r\n  }\r\n  /** Whether this detail is invalid. */\r\n  public get isValid(): boolean {\r\n    return !this.local.isZero;\r\n  }\r\n  /**\r\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n   * on the triangle.\r\n   * @see classify\r\n   */\r\n  public get isInsideOrOn(): boolean {\r\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n  }\r\n  /**\r\n   * Queries this detail to classify the location of this instance with respect to the triangle.\r\n   * @returns location code\r\n   * @see isInsideOrOn\r\n   */\r\n  public get classify(): PolygonLocation {\r\n    if (!this.isValid)\r\n      return PolygonLocation.Unknown;\r\n    if (this.isInsideOrOn) {\r\n      let numZero = 0;\r\n      if (Math.abs(this.local.x) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.y) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.z) === 0.0)\r\n        ++numZero;\r\n      if (2 === numZero)\r\n        return PolygonLocation.OnPolygonVertex;\r\n      if (1 === numZero)\r\n        return PolygonLocation.OnPolygonEdgeInterior;\r\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n    }\r\n    return (this.closestEdgeParam === 0.0) ?\r\n      PolygonLocation.OutsidePolygonProjectsToVertex :\r\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n  }\r\n}\r\n\r\n/**\r\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n */\r\nexport class BarycentricTriangle {\r\n  /** Array of 3 point coordinates for the triangle. */\r\n  public points: Point3d[];\r\n  /** Edge length squared cache, indexed by opposite vertex index */\r\n  protected edgeLength2: number[];\r\n  // private attributes\r\n  private static _workPoint?: Point3d;\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workRay?: Ray3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  /**\r\n   * Constructor.\r\n   * * Point references are CAPTURED\r\n   */\r\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n    this.points = [];\r\n    this.points.push(point0);\r\n    this.points.push(point1);\r\n    this.points.push(point2);\r\n    this.edgeLength2 = [];\r\n    this.edgeLength2.push(point1.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point1));\r\n  }\r\n  /**\r\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n   * is undefined.\r\n   */\r\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\r\n    this.points[0].setFromPoint3d(point0);\r\n    this.points[1].setFromPoint3d(point1);\r\n    this.points[2].setFromPoint3d(point2);\r\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n  }\r\n  /** Copy all values from `other` */\r\n  public setFrom(other: BarycentricTriangle) {\r\n    for (let i = 0; i < 3; ++i) {\r\n      this.points[i].setFromPoint3d(other.points[i]);\r\n      this.edgeLength2[i] = other.edgeLength2[i];\r\n    }\r\n  }\r\n  /**\r\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n   * @param result optional pre-allocated triangle.\r\n   */\r\n  public static createXYZXYZXYZ(\r\n    x0: number, y0: number, z0: number,\r\n    x1: number, y1: number, z1: number,\r\n    x2: number, y2: number, z2: number,\r\n    result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n    result.points[0].set(x0, y0, z0);\r\n    result.points[1].set(x1, y1, z1);\r\n    result.points[2].set(x2, y2, z2);\r\n    return result;\r\n  }\r\n  /** Create a triangle with coordinates cloned from given points. */\r\n  public static create(\r\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(point0.clone(), point1.clone(), point2.clone());\r\n    result.set(point0, point1, point2);\r\n    return result;\r\n  }\r\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\r\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n  }\r\n  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(\r\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n      result,\r\n    );\r\n  }\r\n  /** Return the area of the triangle. */\r\n  public get area(): number {\r\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n  }\r\n  /**\r\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n  }\r\n  /**\r\n   * Compute length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLength(oppositeVertexIndex: number): number {\r\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n  }\r\n  /** Return area divided by sum of squared lengths. */\r\n  public get aspectRatio(): number {\r\n    return Geometry.safeDivideFraction(\r\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\r\n    );\r\n  }\r\n  /** Return the perimeter of the triangle. */\r\n  public get perimeter(): number {\r\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n  }\r\n  /**\r\n   * Return the unit normal of the triangle.\r\n   * @param result optional pre-allocated vector to fill and return.\r\n   * @returns unit normal, or undefined if cross product length is too small.\r\n   */\r\n  public normal(result?: Vector3d): Vector3d | undefined {\r\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n    if (cross.tryNormalizeInPlace())\r\n      return cross;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Sum the triangle points with given scales.\r\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n   * @param b0 scale to apply to vertex 0\r\n   * @param b1 scale to apply to vertex 1\r\n   * @param b2 scale to apply to vertex 2\r\n   * @param result optional pre-allocated point to fill and return\r\n   * @return linear combination of the vertices of this triangle\r\n   * @see [[pointToFraction]]\r\n   */\r\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n    // p = b0 * v0 + b1 * v1 + b2 * v2\r\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n  }\r\n  /**\r\n   * Compute the projection of the given `point` onto the plane of this triangle.\r\n   * @param point point p to project\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the projection point `P = d.world`:\r\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\r\n   * @see [[fractionToPoint]]\r\n   */\r\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n    if (undefined === normal)\r\n      return TriangleLocationDetail.create(result);\r\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n  }\r\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\r\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n  }\r\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\r\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n   */\r\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 > 0 && b1 > 0 && b2 > 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n   */\r\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n      return 0;\r\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n      return 1;\r\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n    if (b1 < 0 && b2 < 0)\r\n      return 0;\r\n    if (b0 < 0 && b2 < 0)\r\n      return 1;\r\n    if (b0 < 0 && b1 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 1 && b1 === 0 && b2 === 0)\r\n      return 0;\r\n    if (b0 === 0 && b1 === 1 && b2 === 0)\r\n      return 1;\r\n    if (b0 === 0 && b1 === 0 && b2 === 1)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 0 && b1 > 0 && b2 > 0)\r\n      return 0;\r\n    if (b0 > 0 && b1 === 0 && b2 > 0)\r\n      return 1;\r\n    if (b0 > 0 && b1 > 0 && b2 === 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\r\n  private static indexOfMinimum(fn: (index: number) => number): number {\r\n    let i = 0;\r\n    let min = fn(0);\r\n    const val = fn(1);\r\n    if (min > val) {\r\n      i = 1;\r\n      min = val;\r\n    }\r\n    if (min > fn(2))\r\n      i = 2;\r\n    return i;\r\n  }\r\n  /**\r\n   * Compute the squared distance between two points given by their barycentric coordinates.\r\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n   */\r\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n    // The barycentric displacement vector distance formula\r\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\r\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n  }\r\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\r\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n    });\r\n  }\r\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\r\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    const k = Geometry.cyclic3dAxis(j + 1);\r\n    return Geometry.dotProductXYZXYZ(\r\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\r\n    );\r\n  }\r\n  /**\r\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n   * @param k vertex v_k is opposite the edge e_k\r\n   * @param b barycentric coordinates of point to project\r\n   * @returns parameter f along e_k, such that:\r\n   * * the projection point is q = v_i + f * (v_j - v_i)\r\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n   */\r\n  private computeProjectionToEdge(k: number, b: number[]): number {\r\n    /**\r\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\r\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n     * First we prove P = b_jU + b_kV.\r\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\r\n     *         = (b_j * U) + (b_k * V)\r\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n     * Therefore, 0 = (p - q).(v_j - v_i)\r\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n     *              = (b_jU + b_kV - fU).U\r\n     *              = b_jU.U + b_kU.V - fU.U\r\n     * Thus f = b_j + b_k(U.V/U.U)\r\n     */\r\n    k = Geometry.cyclic3dAxis(k);\r\n    const i = Geometry.cyclic3dAxis(k + 1);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n  }\r\n  /**\r\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n   * @param b0 barycentric coordinate of p corresponding to v_0\r\n   * @param b1 barycentric coordinate of p corresponding to v_1\r\n   * @param b2 barycentric coordinate of p corresponding to v_2\r\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n   * q = v_i + f * (v_j - v_i).\r\n   */\r\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n    const b: number[] = [b0, b1, b2];\r\n    let edgeIndex = -1;  // opposite-vertex index\r\n    let edgeParam = 0.0;\r\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n        // We want smallest projection distance d_i of p to e_i.\r\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\r\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n      });\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0 || edgeParam > 1) {\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n        if (edgeParam < 0 || edgeParam > 1) {\r\n          edgeParam = 0.0;\r\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n        }\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0) {\r\n        edgeParam = 0.0;  // start of this edge\r\n      } else if (edgeParam > 1) {\r\n        edgeParam = 0.0;\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n      edgeParam = 0.0;\r\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n    }\r\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\r\n    return {\r\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n      closestEdgeParam: edgeParam,\r\n    };\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n   * * This method is slower than `Ray3d.intersectionWithTriangle`.\r\n   * @param ray infinite line to intersect, as a ray\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection point `d.world`:\r\n   * * `d.a` is the intersection parameter along the ray.\r\n   * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n   * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n   * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n   * returns true.\r\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n   * @see [[pointToFraction]]\r\n  */\r\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    result = TriangleLocationDetail.create(result);\r\n    /**\r\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\r\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n     *              b1*u + b2*v - s*d = c\r\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n     */\r\n    const r0 = ray.origin;\r\n    const d = ray.direction;\r\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\r\n    );\r\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\r\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\r\n    if (undefined === M.multiplyInverse(c, solution))\r\n      return result;  // invalid\r\n    result.a = -solution.z; // = -(-s) = s\r\n    ray.fractionToPoint(result.a, result.world);\r\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n    result.closestEdgeIndex = proj.closestEdgeIndex;\r\n    result.closestEdgeParam = proj.closestEdgeParam;\r\n    return result;\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n   * @param point0 start point of segment on line to intersect\r\n   * @param point1 end point of segment on line to intersect\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection point `d.world`:\r\n   * * `d.isValid` returns true if and only if the line intersects the plane.\r\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n   * @see [[intersectRay3d]]\r\n  */\r\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n  }\r\n  /**\r\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n   * `location.world` possibly updated to lie on the triangle closest edge)\r\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n   * @return whether the location was adjusted\r\n   */\r\n  public snapLocationToEdge(\r\n    location: TriangleLocationDetail,\r\n    distanceTolerance: number = Geometry.smallMetricDistance,\r\n    parameterTolerance: number = Geometry.smallFloatingPoint,\r\n  ): boolean {\r\n    if (!location.isValid)\r\n      return false;\r\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n    if (parameterTolerance > 0.0) {\r\n      let numSnapped = 0;\r\n      let newSum = 0.0;\r\n      for (let i = 0; i < 3; i++) {\r\n        const barycentricDist = Math.abs(location.local.at(i));\r\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n          location.local.setAt(i, 0.0);\r\n          numSnapped++;\r\n        }\r\n        newSum += location.local.at(i);\r\n      }\r\n      if (numSnapped > 0 && newSum > 0.0) {\r\n        location.local.scaleInPlace(1.0 / newSum);\r\n        if (1 === numSnapped) {\r\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\r\n          );\r\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n        } else {  // 2 snapped, at vertex\r\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n            location.local.x, location.local.y, location.local.z,\r\n          );\r\n          location.closestEdgeParam = 0.0;\r\n        }\r\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n        return true;\r\n      }\r\n    }\r\n    // failing that, try distance tol to closest edge projection\r\n    if (distanceTolerance > 0.0) {\r\n      const i = location.closestEdgeIndex;\r\n      const j = (i + 1) % 3;\r\n      const k = (j + 1) % 3;\r\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\r\n      );\r\n      const dist = location.world.distance(edgeProjection);\r\n      if (dist > 0.0 && dist < distanceTolerance) {\r\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n        location.local.setAt(j, location.closestEdgeParam);\r\n        location.local.setAt(k, 0.0);\r\n        location.world.setFrom(edgeProjection);\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Return the dot product of the scaled normals of the two triangles.\r\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n   * one of the triangles' planes; zero means the triangles are perpendicular.\r\n   */\r\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\r\n    );\r\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n  }\r\n  /** Return the centroid of the 3 points. */\r\n  public centroid(result?: Point3d): Point3d {\r\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n    return Point3d.create(\r\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n      result,\r\n    );\r\n  }\r\n  /** Return the incenter of the triangle. */\r\n  public incenter(result?: Point3d): Point3d {\r\n    const a = this.edgeLength(0);\r\n    const b = this.edgeLength(1);\r\n    const c = this.edgeLength(2);\r\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\r\n  }\r\n  /** Return the circumcenter of the triangle. */\r\n  public circumcenter(result?: Point3d): Point3d {\r\n    const a2 = this.edgeLengthSquared(0);\r\n    const b2 = this.edgeLengthSquared(1);\r\n    const c2 = this.edgeLengthSquared(2);\r\n    const x = a2 * (b2 + c2 - a2);\r\n    const y = b2 * (c2 + a2 - b2);\r\n    const z = c2 * (a2 + b2 - c2);\r\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n  }\r\n  /** Test for point-by-point `isAlmostEqual` relationship. */\r\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n    return this.points[0].isAlmostEqual(other.points[0], tol)\r\n      && this.points[1].isAlmostEqual(other.points[1], tol)\r\n      && this.points[2].isAlmostEqual(other.points[2], tol);\r\n  }\r\n}\r\n"]}

package/lib/cjs/geometry3d/FrameBuilder.d.ts

@@ -23,6 +23,10 @@ export declare class FrameBuilder {
     private _vector0;
     private _vector1;
     private _vector2;
+    private static _workMatrix?;
+    private static _workVector0?;
+    private static _workVector1?;
+    private static _workPoint?;
     private areStronglyIndependentVectors;
     /** Clear all accumulated point and vector data */
     clear(): void;
@@ -32,7 +36,7 @@ export declare class FrameBuilder {
      * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.
      * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.
      */
-    getValidatedFrame(allowLeftHanded?: boolean): Transform | undefined;
+    getValidatedFrame(allowLeftHanded?: boolean, result?: Transform): Transform | undefined;
     /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */
     applyDefaultUpVector(vector?: Vector3d): void;
     /** Ask if there is a defined origin for the evolving frame */
@@ -57,6 +61,11 @@ export declare class FrameBuilder {
      * * origin is at first point.
      * * x axis in direction of first nonzero vector present or implied by the input.
      * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.
+     * * The calculation favors the first points found. It does not try to get a "best" plane.
+     * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown
+     * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.
+     * If the last argument is a `Transform`, it is populated with the computed frame and returned.
+     * @returns computed localToWorld frame, or undefined if insufficient data.
      */
     static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined;
     /**
@@ -64,6 +73,9 @@ export declare class FrameBuilder {
      * * The xy columns of the transform contain the first points or vectors of the data.
      * * The z column is perpendicular to that xy plane.
      * * The calculation favors the first points found. It does not try to get a "best" plane.
+     * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.
+     * If the last argument is a `Transform`, it is populated with the computed frame and returned.
+     * @returns computed localToWorld frame, or undefined if insufficient data.
      */
     static createRightHandedLocalToWorld(...params: any[]): Transform | undefined;
     /**
@@ -71,25 +83,30 @@ export declare class FrameBuilder {
      * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y
      * direction is toward the point most distant from that line.
      * @param points array of points
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the points, or undefined if insufficient data
      */
-    static createFrameToDistantPoints(points: Point3d[]): Transform | undefined;
+    static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined;
     /**
      * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.
-     *
      * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y
      * direction is toward the point most distant from that line.
      * @param points array of points
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the points, or undefined if insufficient data
      */
-    static createFrameWithCCWPolygon(points: Point3d[]): Transform | undefined;
+    static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined;
     /**
      * Create the localToWorld transform from a range to axes of its parent coordinate system.
-     * @param range [in] range to inspect
-     * @param fractionX  [in] fractional coordinate of frame origin x
-     * @param fractionY [in] fractional coordinate of frame origin y
-     * @param fractionZ [in] fractional coordinate of frame origin z
-     * @param scaleSelect [in] selects size of localToWorld axes.
-     * @param defaultAxisLength [in] if true and any axis length is 0, that axis vector takes this physical length.
+     * @param range range to inspect
+     * @param scaleSelect selects size of localToWorld axes.
+     * @param fractionX fractional coordinate of frame origin x
+     * @param fractionY fractional coordinate of frame origin y
+     * @param fractionZ fractional coordinate of frame origin z
+     * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the range
      */
-    static createLocalToWorldTransformInRange(range: Range3d, scaleSelect?: AxisScaleSelect, fractionX?: number, fractionY?: number, fractionZ?: number, defaultAxisLength?: number): Transform;
+    static createLocalToWorldTransformInRange(range: Range3d, scaleSelect?: AxisScaleSelect, fractionX?: number, fractionY?: number, fractionZ?: number, defaultAxisLength?: number, result?: Transform): Transform;
 }
 //# sourceMappingURL=FrameBuilder.d.ts.map

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

@@ -1 +1 @@
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package/lib/cjs/geometry3d/FrameBuilder.js

@@ -64,21 +64,24 @@ class FrameBuilder {
      * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.
      * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.
      */
-    getValidatedFrame(allowLeftHanded = false) {
+    getValidatedFrame(allowLeftHanded = false, result) {
         if (this._origin && this._vector0 && this._vector1) {
+            const createRigidMatrix = (v0, v1) => {
+                return FrameBuilder._workMatrix = Matrix3d_1.Matrix3d.createRigidFromColumns(v0, v1, Geometry_1.AxisOrder.XYZ, FrameBuilder._workMatrix);
+            };
             if (!allowLeftHanded) {
-                const matrix = Matrix3d_1.Matrix3d.createRigidFromColumns(this._vector0, this._vector1, Geometry_1.AxisOrder.XYZ);
+                const matrix = createRigidMatrix(this._vector0, this._vector1);
                 if (matrix)
-                    return Transform_1.Transform.createOriginAndMatrix(this._origin, matrix);
+                    return Transform_1.Transform.createOriginAndMatrix(this._origin, matrix, result);
                 // uh oh -- vector1 was not really independent.  clear everything after vector0.
                 this._vector1 = this._vector2 = undefined;
             }
             else if (this._vector2) {
-                const matrix = Matrix3d_1.Matrix3d.createRigidFromColumns(this._vector0, this._vector1, Geometry_1.AxisOrder.XYZ);
+                const matrix = createRigidMatrix(this._vector0, this._vector1);
                 if (matrix) {
                     if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)
                         matrix.scaleColumns(1.0, 1.0, -1.0);
-                    return Transform_1.Transform.createOriginAndMatrix(this._origin, matrix);
+                    return Transform_1.Transform.createOriginAndMatrix(this._origin, matrix, result);
                 }
                 // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??
                 const vector2 = this._vector2;
@@ -157,6 +160,8 @@ class FrameBuilder {
     announce(data) {
         if (this.savedVectorCount() > 1)
             return;
+        if (data === undefined)
+            return;
         if (data instanceof Point3dVector3d_1.Point3d)
             this.announcePoint(data);
         else if (data instanceof Point3dVector3d_1.Vector3d)
@@ -238,35 +243,40 @@ class FrameBuilder {
      * * origin is at first point.
      * * x axis in direction of first nonzero vector present or implied by the input.
      * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.
+     * * The calculation favors the first points found. It does not try to get a "best" plane.
+     * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown
+     * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.
+     * If the last argument is a `Transform`, it is populated with the computed frame and returned.
+     * @returns computed localToWorld frame, or undefined if insufficient data.
      */
     static createRightHandedFrame(defaultUpVector, ...params) {
+        // if last arg is a Transform, remove it from the array and use for the return value
+        let frame = (params.length > 0 && params[params.length - 1] instanceof Transform_1.Transform) ? params.pop() : undefined;
         const builder = new FrameBuilder();
         for (const data of params) {
             builder.announce(data);
             builder.applyDefaultUpVector(defaultUpVector);
-            const result = builder.getValidatedFrame(false);
-            if (result !== undefined) {
+            if (frame = builder.getValidatedFrame(false, frame)) {
                 if (defaultUpVector) {
-                    if (result.matrix.dotColumnZ(defaultUpVector) < 0.0)
-                        result.matrix.scaleColumnsInPlace(1, -1, -1);
+                    if (frame.matrix.dotColumnZ(defaultUpVector) < 0.0)
+                        frame.matrix.scaleColumnsInPlace(1, -1, -1);
                 }
-                return result;
+                return frame;
             }
         }
-        const evaluatePrimitiveFrame = (curve) => {
-            return curve.fractionToFrenetFrame(0.0);
+        const evaluatePrimitiveFrame = (curve, result) => {
+            return curve.fractionToFrenetFrame(0.0, result);
         };
         // try direct evaluation of curve primitives using the above lambda
         for (const data of params) {
             if (data instanceof CurvePrimitive_1.CurvePrimitive) {
-                return evaluatePrimitiveFrame(data);
+                return evaluatePrimitiveFrame(data, frame);
             }
             else if (data instanceof CurveCollection_1.CurveCollection) {
                 const children = data.collectCurvePrimitives();
                 for (const curve of children) {
-                    const frenetFrame = evaluatePrimitiveFrame(curve);
-                    if (frenetFrame)
-                        return frenetFrame;
+                    if (frame = evaluatePrimitiveFrame(curve, frame))
+                        return frame;
                 }
             }
         }
@@ -277,64 +287,64 @@ class FrameBuilder {
      * * The xy columns of the transform contain the first points or vectors of the data.
      * * The z column is perpendicular to that xy plane.
      * * The calculation favors the first points found. It does not try to get a "best" plane.
+     * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.
+     * If the last argument is a `Transform`, it is populated with the computed frame and returned.
+     * @returns computed localToWorld frame, or undefined if insufficient data.
      */
     static createRightHandedLocalToWorld(...params) {
-        const builder = new FrameBuilder();
-        for (const data of params) {
-            builder.announce(data);
-            const localToWorld = builder.getValidatedFrame(false);
-            if (localToWorld !== undefined)
-                return localToWorld;
-        }
-        return undefined;
+        return this.createRightHandedFrame(undefined, params);
     }
     /**
      * Try to create a frame whose xy plane is through points.
      * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y
      * direction is toward the point most distant from that line.
      * @param points array of points
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the points, or undefined if insufficient data
      */
-    static createFrameToDistantPoints(points) {
+    static createFrameToDistantPoints(points, result) {
         if (points.length > 2) {
-            const origin = points[0].clone();
-            const vector01 = Point3dVector3d_1.Vector3d.create();
+            const origin = points[0];
+            const vector01 = FrameBuilder._workVector0 ?? Point3dVector3d_1.Vector3d.create();
             PointHelpers_1.Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);
-            const vector02 = Point3dVector3d_1.Vector3d.create();
+            const vector02 = FrameBuilder._workVector1 ?? Point3dVector3d_1.Vector3d.create();
             PointHelpers_1.Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);
-            const matrix = Matrix3d_1.Matrix3d.createRigidFromColumns(vector01, vector02, Geometry_1.AxisOrder.XYZ);
+            const matrix = FrameBuilder._workMatrix = Matrix3d_1.Matrix3d.createRigidFromColumns(vector01, vector02, Geometry_1.AxisOrder.XYZ, FrameBuilder._workMatrix);
             if (matrix)
-                return Transform_1.Transform.createRefs(origin, matrix);
+                return Transform_1.Transform.createOriginAndMatrix(origin, matrix, result);
         }
         return undefined;
     }
     /**
      * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.
-     *
      * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y
      * direction is toward the point most distant from that line.
      * @param points array of points
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the points, or undefined if insufficient data
      */
-    static createFrameWithCCWPolygon(points) {
+    static createFrameWithCCWPolygon(points, result) {
         if (points.length > 2) {
-            const ray = PolygonOps_1.PolygonOps.centroidAreaNormal(points);
-            if (ray) {
-                return ray.toRigidZFrame();
-            }
+            const ray = PolygonOps_1.PolygonOps.centroidAreaNormal(points); // can't pass pre-allocated ray...
+            if (ray)
+                return ray.toRigidZFrame(result);
         }
         return undefined;
     }
     /**
      * Create the localToWorld transform from a range to axes of its parent coordinate system.
-     * @param range [in] range to inspect
-     * @param fractionX  [in] fractional coordinate of frame origin x
-     * @param fractionY [in] fractional coordinate of frame origin y
-     * @param fractionZ [in] fractional coordinate of frame origin z
-     * @param scaleSelect [in] selects size of localToWorld axes.
-     * @param defaultAxisLength [in] if true and any axis length is 0, that axis vector takes this physical length.
+     * @param range range to inspect
+     * @param scaleSelect selects size of localToWorld axes.
+     * @param fractionX fractional coordinate of frame origin x
+     * @param fractionY fractional coordinate of frame origin y
+     * @param fractionZ fractional coordinate of frame origin z
+     * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.
+     * @param result optional pre-allocated Transform to populate and return
+     * @returns localToWorld frame for the range
      */
-    static createLocalToWorldTransformInRange(range, scaleSelect = Geometry_1.AxisScaleSelect.NonUniformRangeContainment, fractionX = 0, fractionY = 0, fractionZ = 0, defaultAxisLength = 1.0) {
+    static createLocalToWorldTransformInRange(range, scaleSelect = Geometry_1.AxisScaleSelect.NonUniformRangeContainment, fractionX = 0, fractionY = 0, fractionZ = 0, defaultAxisLength = 1.0, result) {
         if (range.isNull)
-            return Transform_1.Transform.createIdentity();
+            return Transform_1.Transform.createIdentity(result);
         let a = 1.0;
         let b = 1.0;
         let c = 1.0;
@@ -346,7 +356,9 @@ class FrameBuilder {
             b = Geometry_1.Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry_1.Geometry.maxAbsDiff(fractionY, 0, 1);
             c = Geometry_1.Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry_1.Geometry.maxAbsDiff(fractionZ, 0, 1);
         }
-        return Transform_1.Transform.createRefs(range.fractionToPoint(fractionX, fractionY, fractionZ), Matrix3d_1.Matrix3d.createScale(a, b, c));
+        const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);
+        const matrix = FrameBuilder._workMatrix = Matrix3d_1.Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);
+        return Transform_1.Transform.createOriginAndMatrix(origin, matrix, result);
     }
 }
 exports.FrameBuilder = FrameBuilder;