@itwin/core-geometry 4.3.0-dev.2 → 4.3.0-dev.20

package/lib/cjs/geometry3d/CoincidentGeometryOps.js

@@ -46,9 +46,7 @@ class CoincidentGeometryQuery {
         detail.point = pointA.interpolate(detail.fraction, pointB, detail.point);
         detail.point1 = pointA.interpolate(detail.fraction1, pointB, detail.point1);
     }
-    /** Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB`
-     *
-     */
+    /** Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB` */
     projectPointToSegmentXY(spacePoint, pointA, pointB) {
         this._vectorU = Point3dVector3d_1.Vector3d.createStartEnd(pointA, pointB, this._vectorU);
         this._vectorV = Point3dVector3d_1.Vector3d.createStartEnd(pointA, spacePoint, this._vectorV);
@@ -58,12 +56,78 @@ class CoincidentGeometryQuery {
         return CurveLocationDetail_1.CurveLocationDetail.createCurveFractionPoint(undefined, fraction, pointA.interpolate(fraction, pointB));
     }
     /**
-     * * project `pointA0` and `pointA1` onto the segment with `pointB0` and `pointB1`
-     * * In the returned detail pair, the `detailA` has fractions along segmentA, and `detailB` has fractions along segment B
+     * Given a detail pair representing the projection of each of two colinear line segments onto the other,
+     * clamp the details (in place) to the line segments' endpoints according to the given flags.
+     * @param overlap segment overlap as returned by [[coincidentSegmentRangeXY]], modified on return
+     * @param pointA0 start point of segment A
+     * @param pointA1 end point of segment A
+     * @param pointB0 start point of segment B
+     * @param pointB1 end point of segment B
+     * @param extendA0 whether to extend segment A beyond its start
+     * @param extendA1 whether to extend segment A beyond its end
+     * @param extendB0 whether to extend segment B beyond its start
+     * @param extendB1 whether to extend segment B beyond its end
+     * @return reference to the input clamped in place, or undefined (leaving interval untouched) if clamping would result in empty interval.
+     */
+    clampCoincidentOverlapToSegmentBounds(overlap, pointA0, pointA1, pointB0, pointB1, extendA0 = false, extendA1 = false, extendB0 = false, extendB1 = false) {
+        const rangeA = Segment1d_1.Segment1d.create(overlap.detailA.fraction, overlap.detailA.hasFraction1 ? overlap.detailA.fraction1 : overlap.detailA.fraction);
+        const rangeB = Segment1d_1.Segment1d.create(overlap.detailB.fraction, overlap.detailB.hasFraction1 ? overlap.detailB.fraction1 : overlap.detailB.fraction);
+        const reversed = rangeA.signedDelta() < 0.0;
+        const updateIntervalFromRangesAndInterpolatedPoints = () => {
+            const a0 = rangeA.x0;
+            const a1 = rangeA.x1;
+            const b0 = rangeB.x0;
+            const b1 = rangeB.x1;
+            CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailA, a0, a1, pointA0, pointA1, a0 > a1);
+            CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailB, b0, b1, pointB0, pointB1, b0 > b1);
+            return overlap;
+        };
+        const haveIntervalA = rangeA.clampDirectedTo01(!extendA0, !extendA1, false);
+        const haveIntervalB = rangeB.clampDirectedTo01(!extendB0, !extendB1, false);
+        if (haveIntervalA && haveIntervalB) {
+            if (Geometry_1.Geometry.isAlmostEqualNumber(rangeA.absoluteDelta(), rangeB.absoluteDelta(), Geometry_1.Geometry.smallFraction))
+                return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of partially clamped ranges
+            else if (rangeA.clampDirectedTo01(true, true, false) && rangeB.clampDirectedTo01(true, true, false))
+                return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of fully clamped ranges
+        }
+        const collapseToSingleton = (pointA, pointB, atStartA, atStartB) => {
+            pointA.clone(overlap.detailA.point);
+            pointB.clone(overlap.detailB.point);
+            overlap.detailA.fraction = atStartA ? 0.0 : 1.0;
+            overlap.detailB.fraction = atStartB ? 0.0 : 1.0;
+            overlap.detailA.collapseToStart();
+            overlap.detailB.collapseToStart();
+            return overlap;
+        };
+        const haveSingletonA = rangeA.clampDirectedTo01(true, true, true);
+        const haveSingletonB = rangeB.clampDirectedTo01(true, true, true);
+        if (haveSingletonA && haveSingletonB) { // intersection is a single point
+            const point1 = overlap.detailA.point1 ?? overlap.detailA.point;
+            if (reversed) {
+                if (overlap.detailA.point.isAlmostEqual(pointA0, this.tolerance))
+                    return collapseToSingleton(pointA0, pointB0, true, true);
+                else if (point1.isAlmostEqual(pointA1, this.tolerance))
+                    return collapseToSingleton(pointA1, pointB1, false, false);
+            }
+            else {
+                if (point1.isAlmostEqual(pointA0, this.tolerance))
+                    return collapseToSingleton(pointA0, pointB1, true, false);
+                else if (overlap.detailA.point.isAlmostEqual(pointA1, this.tolerance))
+                    return collapseToSingleton(pointA1, pointB0, false, true);
+            }
+        }
+        return undefined; // no intersection
+    }
+    /**
+     * Compute whether two line segments have a coincident overlap in xy.
+     * * Project `pointA0` and `pointA1` onto the line formed by `pointB0` and `pointB1` and vice versa
+     * * If all projection distances are sufficiently small, return a detail pair recording the coincident interval, optionally clipped to segment bounds.
      * @param pointA0 start point of segment A
      * @param pointA1 end point of segment A
      * @param pointB0 start point of segment B
      * @param pointB1 end point of segment B
+     * @param restrictToBounds whether to clip the coincident segment details to the segment bounds
+     * @return detail pair for the coincident interval (`detailA` has fractions along segment A, and `detailB` has fractions along segment B), or undefined if no coincidence
      */
     coincidentSegmentRangeXY(pointA0, pointA1, pointB0, pointB1, restrictToBounds = true) {
         const detailA0OnB = this.projectPointToSegmentXY(pointA0, pointB0, pointB1);
@@ -82,46 +146,8 @@ class CoincidentGeometryQuery {
         detailA0OnB.point1 = detailA1OnB.point; // capture -- detailA1OnB is not reused.
         detailB0OnA.fraction1 = detailB1OnA.fraction;
         detailB0OnA.point1 = detailB1OnA.point;
-        if (!restrictToBounds)
-            return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-        const segment = Segment1d_1.Segment1d.create(detailB0OnA.fraction, detailB0OnA.fraction1);
-        if (segment.clampDirectedTo01()) {
-            const f0 = segment.x0;
-            const f1 = segment.x1;
-            const h0 = detailB0OnA.inverseInterpolateFraction(f0);
-            const h1 = detailB0OnA.inverseInterpolateFraction(f1);
-            // recompute fractions and points..
-            CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(detailB0OnA, f0, f1, pointA0, pointA1, f0 > f1);
-            CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(detailA0OnB, h0, h1, pointB0, pointB1, h0 > h1);
-            return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-        }
-        else {
-            if (segment.signedDelta() < 0.0) {
-                if (detailB0OnA.point.isAlmostEqual(pointA0, this.tolerance)) {
-                    detailB0OnA.collapseToStart();
-                    detailA0OnB.collapseToStart();
-                    return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-                }
-                if (detailB0OnA.point1.isAlmostEqual(pointA1, this.tolerance)) {
-                    detailB0OnA.collapseToEnd();
-                    detailA0OnB.collapseToEnd();
-                    return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-                }
-            }
-            else {
-                if (detailB0OnA.point.isAlmostEqual(pointA1, this.tolerance)) {
-                    detailB0OnA.collapseToStart();
-                    detailA0OnB.collapseToEnd();
-                    return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-                }
-                if (detailB0OnA.point1.isAlmostEqual(pointA0, this.tolerance)) {
-                    detailB0OnA.collapseToEnd();
-                    detailA0OnB.collapseToStart();
-                    return CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
-                }
-            }
-        }
-        return undefined;
+        const interval = CurveLocationDetail_1.CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);
+        return restrictToBounds ? this.clampCoincidentOverlapToSegmentBounds(interval, pointA0, pointA1, pointB0, pointB1) : interval;
     }
     /**
      * Create a CurveLocationDetailPair for a coincident interval of two overlapping curves

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

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { AngleSweep } from \"./AngleSweep\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Segment1d } from \"./Segment1d\";\r\n\r\n/**\r\n * `CoincidentGeometryQuery` has methods useful in testing for overlapping geometry.\r\n * * Each instance carries tolerance information that can be reused over extended call sequences.\r\n * * These methods are expected to be called internally by CurveCurve intersection methods.\r\n * @internal\r\n */\r\nexport class CoincidentGeometryQuery {\r\n  private _vectorU?: Vector3d;\r\n  private _vectorV?: Vector3d;\r\n  private _point0?: Point3d;\r\n  private _point1?: Point3d;\r\n  private _tolerance: number;\r\n  public get tolerance(): number {\r\n    return this._tolerance;\r\n  }\r\n  private constructor(tolerance: number = Geometry.smallMetricDistance) {\r\n    this._tolerance = tolerance;\r\n  }\r\n  public static create(tolerance: number = Geometry.smallMetricDistance): CoincidentGeometryQuery {\r\n    return new CoincidentGeometryQuery(tolerance);\r\n  }\r\n  /**\r\n   * * Assign both the fraction and fraction1 values in the detail, possibly swapped.\r\n   * * reevaluate the points as simple interpolation between given points.\r\n   */\r\n  public static assignDetailInterpolatedFractionsAndPoints(detail: CurveLocationDetail, f0: number, f1: number,\r\n    pointA: Point3d, pointB: Point3d, swap: boolean = false) {\r\n    if (swap) {\r\n      detail.fraction = f1;\r\n      detail.fraction1 = f0;\r\n    } else {\r\n      detail.fraction = f0;\r\n      detail.fraction1 = f1;\r\n    }\r\n    detail.point = pointA.interpolate(detail.fraction, pointB, detail.point);\r\n    detail.point1 = pointA.interpolate(detail.fraction1, pointB, detail.point1);\r\n\r\n  }\r\n\r\n  /** Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB`\r\n   *\r\n   */\r\n  public projectPointToSegmentXY(spacePoint: Point3d, pointA: Point3d, pointB: Point3d): CurveLocationDetail {\r\n    this._vectorU = Vector3d.createStartEnd(pointA, pointB, this._vectorU);\r\n    this._vectorV = Vector3d.createStartEnd(pointA, spacePoint, this._vectorV);\r\n    const uDotU = this._vectorU.dotProductXY(this._vectorU);\r\n    const uDotV = this._vectorU.dotProductXY(this._vectorV);\r\n    const fraction = Geometry.safeDivideFraction(uDotV, uDotU, 0.0);\r\n    return CurveLocationDetail.createCurveFractionPoint(undefined, fraction,\r\n      pointA.interpolate(fraction, pointB));\r\n  }\r\n  /**\r\n   * * project `pointA0` and `pointA1` onto the segment with `pointB0` and `pointB1`\r\n   * * In the returned detail pair, the `detailA` has fractions along segmentA, and `detailB` has fractions along segment B\r\n   * @param pointA0 start point of segment A\r\n   * @param pointA1 end point of segment A\r\n   * @param pointB0 start point of segment B\r\n   * @param pointB1 end point of segment B\r\n   */\r\n  public coincidentSegmentRangeXY(pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d, restrictToBounds: boolean = true): CurveLocationDetailPair | undefined {\r\n    const detailA0OnB = this.projectPointToSegmentXY(pointA0, pointB0, pointB1);\r\n    if (pointA0.distanceXY(detailA0OnB.point) > this._tolerance)\r\n      return undefined;\r\n    const detailA1OnB = this.projectPointToSegmentXY(pointA1, pointB0, pointB1);\r\n    if (pointA1.distanceXY(detailA1OnB.point) > this._tolerance)\r\n      return undefined;\r\n\r\n    const detailB0OnA = this.projectPointToSegmentXY(pointB0, pointA0, pointA1);\r\n    if (pointB0.distanceXY(detailB0OnA.point) > this._tolerance)\r\n      return undefined;\r\n    const detailB1OnA = this.projectPointToSegmentXY(pointB1, pointA0, pointA1);\r\n    if (pointB1.distanceXY(detailB1OnA.point) > this._tolerance)\r\n      return undefined;\r\n\r\n    detailA0OnB.fraction1 = detailA1OnB.fraction;\r\n    detailA0OnB.point1 = detailA1OnB.point;  // capture -- detailA1OnB is not reused.\r\n    detailB0OnA.fraction1 = detailB1OnA.fraction;\r\n    detailB0OnA.point1 = detailB1OnA.point;\r\n    if (!restrictToBounds)\r\n      return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n\r\n    const segment = Segment1d.create(detailB0OnA.fraction, detailB0OnA.fraction1);\r\n    if (segment.clampDirectedTo01()) {\r\n      const f0 = segment.x0;\r\n      const f1 = segment.x1;\r\n      const h0 = detailB0OnA.inverseInterpolateFraction(f0);\r\n      const h1 = detailB0OnA.inverseInterpolateFraction(f1);\r\n      // recompute fractions and points..\r\n      CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(detailB0OnA, f0, f1, pointA0, pointA1, f0 > f1);\r\n      CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(detailA0OnB, h0, h1, pointB0, pointB1, h0 > h1);\r\n      return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n    } else {\r\n      if (segment.signedDelta() < 0.0) {\r\n        if (detailB0OnA.point.isAlmostEqual(pointA0, this.tolerance)) {\r\n          detailB0OnA.collapseToStart();\r\n          detailA0OnB.collapseToStart();\r\n          return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n        }\r\n        if (detailB0OnA.point1.isAlmostEqual(pointA1, this.tolerance)) {\r\n          detailB0OnA.collapseToEnd();\r\n          detailA0OnB.collapseToEnd();\r\n          return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n        }\r\n      } else {\r\n        if (detailB0OnA.point.isAlmostEqual(pointA1, this.tolerance)) {\r\n          detailB0OnA.collapseToStart();\r\n          detailA0OnB.collapseToEnd();\r\n          return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n        }\r\n        if (detailB0OnA.point1.isAlmostEqual(pointA0, this.tolerance)) {\r\n          detailB0OnA.collapseToEnd();\r\n          detailA0OnB.collapseToStart();\r\n          return CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n        }\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Create a CurveLocationDetailPair for a coincident interval of two overlapping curves\r\n   * @param cpA curveA\r\n   * @param cpB curveB\r\n   * @param fractionsOnA coincident interval of curveB in fraction space of curveA\r\n   * @param fractionB0 curveB start in fraction space of curveA\r\n   * @param fractionB1 curveB end in fraction space of curveA\r\n   * @param reverse whether curveB and curveA have opposite direction\r\n   */\r\n  private createDetailPair(cpA: CurvePrimitive, cpB: CurvePrimitive, fractionsOnA: Segment1d, fractionB0: number, fractionB1: number, reverse: boolean): CurveLocationDetailPair | undefined {\r\n    const deltaB = fractionB1 - fractionB0;\r\n    const g0 = Geometry.conditionalDivideFraction(fractionsOnA.x0 - fractionB0, deltaB);\r\n    const g1 = Geometry.conditionalDivideFraction(fractionsOnA.x1 - fractionB0, deltaB);\r\n    if (g0 !== undefined && g1 !== undefined) {\r\n      const detailA = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpA, fractionsOnA.x0, fractionsOnA.x1);\r\n      const detailB = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpB, g0, g1);\r\n      if (reverse)\r\n        detailA.swapFractionsAndPoints();\r\n      return CurveLocationDetailPair.createCapture(detailA, detailB);\r\n    }\r\n    return undefined;\r\n  }\r\n  private appendDetailPair(result: CurveLocationDetailPair[] | undefined, pair: CurveLocationDetailPair | undefined): CurveLocationDetailPair[] | undefined {\r\n    if (pair === undefined)\r\n      return result;\r\n    if (result === undefined)\r\n      return [pair];\r\n    result.push(pair);\r\n    return result;\r\n  }\r\n  /**\r\n   * Test if 2 arcs have coinciding portions.\r\n   * @param arcA\r\n   * @param arcB\r\n   * @param _restrictToBounds\r\n   * @return 0, 1, or 2 overlap points/intervals\r\n   */\r\n  public coincidentArcIntersectionXY(arcA: Arc3d, arcB: Arc3d, _restrictToBounds: boolean = true): CurveLocationDetailPair[] | undefined {\r\n    let result: CurveLocationDetailPair[] | undefined;\r\n    if (arcA.center.isAlmostEqual(arcB.center, this.tolerance)) {\r\n      const matrixBToA = arcA.matrixRef.multiplyMatrixInverseMatrix(arcB.matrixRef);\r\n      if (matrixBToA) {\r\n        const ux = matrixBToA.at(0, 0); const uy = matrixBToA.at(1, 0);\r\n        const vx = matrixBToA.at(0, 1); const vy = matrixBToA.at(1, 1);\r\n        const ru = Geometry.hypotenuseXY(ux, uy);\r\n        const rv = Geometry.hypotenuseXY(vx, vy);\r\n        const dot = Geometry.dotProductXYXY(ux, uy, vx, vy);\r\n        const cross = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n        if (Geometry.isAlmostEqualNumber(ru, 1.0)\r\n          && Geometry.isAlmostEqualNumber(rv, 1.0)\r\n          && Geometry.isAlmostEqualNumber(0, dot)) {\r\n          const alphaB0Radians = Math.atan2(uy, ux);        // angular position of arcB 0 point in arcA sweep\r\n          const sweepDirection = cross > 0 ? 1.0 : -1.0;    // 1 if arcB parameter space sweeps in same direction as arcA, -1 if opposite\r\n          const betaStartRadians = alphaB0Radians + sweepDirection * arcB.sweep.startRadians;   // arcB start in arcA parameter space\r\n          const betaEndRadians = alphaB0Radians + sweepDirection * arcB.sweep.endRadians;       // arcB end in arcA parameter space\r\n          const fractionSpacesReversed = (sweepDirection * arcA.sweep.sweepRadians * arcB.sweep.sweepRadians) < 0;\r\n          const sweepB = AngleSweep.createStartEndRadians(betaStartRadians, betaEndRadians);\r\n          const sweepA = arcA.sweep;\r\n          const fractionPeriodA = sweepA.fractionPeriod();\r\n          const fractionB0 = sweepA.radiansToPositivePeriodicFraction(sweepB.startRadians);   // arcB start in arcA fraction space\r\n          assert(fractionB0 >= 0.0);\r\n          const fractionSweep = sweepB.sweepRadians / sweepA.sweepRadians;                    // arcB sweep in arcA fraction space\r\n          const fractionB1 = fractionB0 + fractionSweep;                                      // arcB end in arcA fraction space\r\n          const fractionSweepB = Segment1d.create(fractionB0, fractionB1);\r\n\r\n          /** lambda to add a coincident interval or isolated intersection, given inputs in arcA fraction space\r\n           * @param arcBInArcAFractionSpace span of arcB in arcA fraction space. On return, clamped to [0,1] if nontrivial.\r\n           * @param testStartOfArcA if no nontrivial coincident interval was found, look for an isolated intersection at the start (true) or end (false) of arcA\r\n           * @returns whether a detail pair was appended to result\r\n           */\r\n          const appendCoincidentIntersection = (arcBInArcAFractionSpace: Segment1d, testStartOfArcA: boolean): boolean => {\r\n            const size = result ? result.length : 0;\r\n            const arcBStart = arcBInArcAFractionSpace.x0;\r\n            const arcBEnd = arcBInArcAFractionSpace.x1;\r\n            if (arcBInArcAFractionSpace.clampDirectedTo01() && !Geometry.isSmallRelative(arcBInArcAFractionSpace.absoluteDelta())) {\r\n              result = this.appendDetailPair(result, this.createDetailPair(arcA, arcB, arcBInArcAFractionSpace, arcBStart, arcBEnd, fractionSpacesReversed));\r\n            } else {  // test isolated intersection\r\n              const testStartOfArcB = fractionSpacesReversed ? testStartOfArcA : !testStartOfArcA;\r\n              const arcAPt = this._point0 = testStartOfArcA ? arcA.startPoint(this._point0): arcA.endPoint(this._point0);\r\n              const arcBPt = this._point1 = testStartOfArcB ? arcB.startPoint(this._point1): arcB.endPoint(this._point1);\r\n              if (arcAPt.isAlmostEqual(arcBPt, this.tolerance)) {\r\n                const detailA = CurveLocationDetail.createCurveFractionPoint(arcA, testStartOfArcA ? 0 : 1, arcAPt);\r\n                const detailB = CurveLocationDetail.createCurveFractionPoint(arcB, testStartOfArcB ? 0 : 1, arcBPt);\r\n                result = this.appendDetailPair(result, CurveLocationDetailPair.createCapture(detailA, detailB));\r\n              }\r\n            }\r\n            return result !== undefined && result.length > size;\r\n          };\r\n\r\n          appendCoincidentIntersection(fractionSweepB, false);  // compute overlap in strict interior, or at end of arcA\r\n\r\n          // check overlap at start of arcA with a periodic shift of fractionSweepB\r\n          if (fractionB1 >= fractionPeriodA)\r\n            appendCoincidentIntersection(Segment1d.create(fractionB0 - fractionPeriodA, fractionB1 - fractionPeriodA), true);\r\n          else if (fractionB0 === 0.0)\r\n            appendCoincidentIntersection(Segment1d.create(fractionB0 + fractionPeriodA, fractionB1 + fractionPeriodA), true);\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { AngleSweep } from \"./AngleSweep\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Segment1d } from \"./Segment1d\";\r\n\r\n/**\r\n * `CoincidentGeometryQuery` has methods useful in testing for overlapping geometry.\r\n * * Each instance carries tolerance information that can be reused over extended call sequences.\r\n * * These methods are expected to be called internally by CurveCurve intersection methods.\r\n * @internal\r\n */\r\nexport class CoincidentGeometryQuery {\r\n  private _vectorU?: Vector3d;\r\n  private _vectorV?: Vector3d;\r\n  private _point0?: Point3d;\r\n  private _point1?: Point3d;\r\n  private _tolerance: number;\r\n  public get tolerance(): number {\r\n    return this._tolerance;\r\n  }\r\n  private constructor(tolerance: number = Geometry.smallMetricDistance) {\r\n    this._tolerance = tolerance;\r\n  }\r\n  public static create(tolerance: number = Geometry.smallMetricDistance): CoincidentGeometryQuery {\r\n    return new CoincidentGeometryQuery(tolerance);\r\n  }\r\n  /**\r\n   * * Assign both the fraction and fraction1 values in the detail, possibly swapped.\r\n   * * reevaluate the points as simple interpolation between given points.\r\n   */\r\n  public static assignDetailInterpolatedFractionsAndPoints(detail: CurveLocationDetail, f0: number, f1: number,\r\n    pointA: Point3d, pointB: Point3d, swap: boolean = false) {\r\n    if (swap) {\r\n      detail.fraction = f1;\r\n      detail.fraction1 = f0;\r\n    } else {\r\n      detail.fraction = f0;\r\n      detail.fraction1 = f1;\r\n    }\r\n    detail.point = pointA.interpolate(detail.fraction, pointB, detail.point);\r\n    detail.point1 = pointA.interpolate(detail.fraction1, pointB, detail.point1);\r\n\r\n  }\r\n\r\n  /** Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB` */\r\n  public projectPointToSegmentXY(spacePoint: Point3d, pointA: Point3d, pointB: Point3d): CurveLocationDetail {\r\n    this._vectorU = Vector3d.createStartEnd(pointA, pointB, this._vectorU);\r\n    this._vectorV = Vector3d.createStartEnd(pointA, spacePoint, this._vectorV);\r\n    const uDotU = this._vectorU.dotProductXY(this._vectorU);\r\n    const uDotV = this._vectorU.dotProductXY(this._vectorV);\r\n    const fraction = Geometry.safeDivideFraction(uDotV, uDotU, 0.0);\r\n    return CurveLocationDetail.createCurveFractionPoint(undefined, fraction,\r\n      pointA.interpolate(fraction, pointB));\r\n  }\r\n  /**\r\n   * Given a detail pair representing the projection of each of two colinear line segments onto the other,\r\n   * clamp the details (in place) to the line segments' endpoints according to the given flags.\r\n   * @param overlap segment overlap as returned by [[coincidentSegmentRangeXY]], modified on return\r\n   * @param pointA0 start point of segment A\r\n   * @param pointA1 end point of segment A\r\n   * @param pointB0 start point of segment B\r\n   * @param pointB1 end point of segment B\r\n   * @param extendA0 whether to extend segment A beyond its start\r\n   * @param extendA1 whether to extend segment A beyond its end\r\n   * @param extendB0 whether to extend segment B beyond its start\r\n   * @param extendB1 whether to extend segment B beyond its end\r\n   * @return reference to the input clamped in place, or undefined (leaving interval untouched) if clamping would result in empty interval.\r\n   */\r\n  public clampCoincidentOverlapToSegmentBounds(overlap: CurveLocationDetailPair,\r\n    pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d,\r\n    extendA0: boolean = false, extendA1: boolean = false, extendB0: boolean = false, extendB1: boolean = false,\r\n  ): CurveLocationDetailPair | undefined {\r\n    const rangeA = Segment1d.create(overlap.detailA.fraction, overlap.detailA.hasFraction1 ? overlap.detailA.fraction1 : overlap.detailA.fraction);\r\n    const rangeB = Segment1d.create(overlap.detailB.fraction, overlap.detailB.hasFraction1 ? overlap.detailB.fraction1 : overlap.detailB.fraction);\r\n    const reversed = rangeA.signedDelta() < 0.0;\r\n\r\n    const updateIntervalFromRangesAndInterpolatedPoints = (): CurveLocationDetailPair => {\r\n      const a0 = rangeA.x0;\r\n      const a1 = rangeA.x1;\r\n      const b0 = rangeB.x0;\r\n      const b1 = rangeB.x1;\r\n      CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailA, a0, a1, pointA0, pointA1, a0 > a1);\r\n      CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailB, b0, b1, pointB0, pointB1, b0 > b1);\r\n      return overlap;\r\n    };\r\n\r\n    const haveIntervalA = rangeA.clampDirectedTo01(!extendA0, !extendA1, false);\r\n    const haveIntervalB = rangeB.clampDirectedTo01(!extendB0, !extendB1, false);\r\n    if (haveIntervalA && haveIntervalB) {\r\n      if (Geometry.isAlmostEqualNumber(rangeA.absoluteDelta(), rangeB.absoluteDelta(), Geometry.smallFraction))\r\n        return updateIntervalFromRangesAndInterpolatedPoints();  // intersection of partially clamped ranges\r\n      else if (rangeA.clampDirectedTo01(true, true, false) && rangeB.clampDirectedTo01(true, true, false))\r\n        return updateIntervalFromRangesAndInterpolatedPoints();  // intersection of fully clamped ranges\r\n    }\r\n\r\n    const collapseToSingleton = (pointA: Point3d, pointB: Point3d, atStartA: boolean, atStartB: boolean): CurveLocationDetailPair => {\r\n      pointA.clone(overlap.detailA.point);\r\n      pointB.clone(overlap.detailB.point);\r\n      overlap.detailA.fraction = atStartA ? 0.0 : 1.0;\r\n      overlap.detailB.fraction = atStartB ? 0.0 : 1.0;\r\n      overlap.detailA.collapseToStart();\r\n      overlap.detailB.collapseToStart();\r\n      return overlap;\r\n    };\r\n\r\n    const haveSingletonA = rangeA.clampDirectedTo01(true, true, true);\r\n    const haveSingletonB = rangeB.clampDirectedTo01(true, true, true);\r\n    if (haveSingletonA && haveSingletonB) { // intersection is a single point\r\n      const point1 = overlap.detailA.point1 ?? overlap.detailA.point;\r\n      if (reversed) {\r\n        if (overlap.detailA.point.isAlmostEqual(pointA0, this.tolerance))\r\n          return collapseToSingleton(pointA0, pointB0, true, true);\r\n        else if (point1.isAlmostEqual(pointA1, this.tolerance))\r\n          return collapseToSingleton(pointA1, pointB1, false, false);\r\n      } else {\r\n        if (point1.isAlmostEqual(pointA0, this.tolerance))\r\n          return collapseToSingleton(pointA0, pointB1, true, false);\r\n        else if (overlap.detailA.point.isAlmostEqual(pointA1, this.tolerance))\r\n          return collapseToSingleton(pointA1, pointB0, false, true);\r\n      }\r\n    }\r\n    return undefined; // no intersection\r\n  }\r\n  /**\r\n   * Compute whether two line segments have a coincident overlap in xy.\r\n   * * Project `pointA0` and `pointA1` onto the line formed by `pointB0` and `pointB1` and vice versa\r\n   * * If all projection distances are sufficiently small, return a detail pair recording the coincident interval, optionally clipped to segment bounds.\r\n   * @param pointA0 start point of segment A\r\n   * @param pointA1 end point of segment A\r\n   * @param pointB0 start point of segment B\r\n   * @param pointB1 end point of segment B\r\n   * @param restrictToBounds whether to clip the coincident segment details to the segment bounds\r\n   * @return detail pair for the coincident interval (`detailA` has fractions along segment A, and `detailB` has fractions along segment B), or undefined if no coincidence\r\n   */\r\n  public coincidentSegmentRangeXY(pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d, restrictToBounds: boolean = true): CurveLocationDetailPair | undefined {\r\n    const detailA0OnB = this.projectPointToSegmentXY(pointA0, pointB0, pointB1);\r\n    if (pointA0.distanceXY(detailA0OnB.point) > this._tolerance)\r\n      return undefined;\r\n    const detailA1OnB = this.projectPointToSegmentXY(pointA1, pointB0, pointB1);\r\n    if (pointA1.distanceXY(detailA1OnB.point) > this._tolerance)\r\n      return undefined;\r\n\r\n    const detailB0OnA = this.projectPointToSegmentXY(pointB0, pointA0, pointA1);\r\n    if (pointB0.distanceXY(detailB0OnA.point) > this._tolerance)\r\n      return undefined;\r\n    const detailB1OnA = this.projectPointToSegmentXY(pointB1, pointA0, pointA1);\r\n    if (pointB1.distanceXY(detailB1OnA.point) > this._tolerance)\r\n      return undefined;\r\n\r\n    detailA0OnB.fraction1 = detailA1OnB.fraction;\r\n    detailA0OnB.point1 = detailA1OnB.point;  // capture -- detailA1OnB is not reused.\r\n    detailB0OnA.fraction1 = detailB1OnA.fraction;\r\n    detailB0OnA.point1 = detailB1OnA.point;\r\n    const interval = CurveLocationDetailPair.createCapture(detailB0OnA, detailA0OnB);\r\n\r\n    return restrictToBounds ? this.clampCoincidentOverlapToSegmentBounds(interval, pointA0, pointA1, pointB0, pointB1) : interval;\r\n  }\r\n  /**\r\n   * Create a CurveLocationDetailPair for a coincident interval of two overlapping curves\r\n   * @param cpA curveA\r\n   * @param cpB curveB\r\n   * @param fractionsOnA coincident interval of curveB in fraction space of curveA\r\n   * @param fractionB0 curveB start in fraction space of curveA\r\n   * @param fractionB1 curveB end in fraction space of curveA\r\n   * @param reverse whether curveB and curveA have opposite direction\r\n   */\r\n  private createDetailPair(cpA: CurvePrimitive, cpB: CurvePrimitive, fractionsOnA: Segment1d, fractionB0: number, fractionB1: number, reverse: boolean): CurveLocationDetailPair | undefined {\r\n    const deltaB = fractionB1 - fractionB0;\r\n    const g0 = Geometry.conditionalDivideFraction(fractionsOnA.x0 - fractionB0, deltaB);\r\n    const g1 = Geometry.conditionalDivideFraction(fractionsOnA.x1 - fractionB0, deltaB);\r\n    if (g0 !== undefined && g1 !== undefined) {\r\n      const detailA = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpA, fractionsOnA.x0, fractionsOnA.x1);\r\n      const detailB = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpB, g0, g1);\r\n      if (reverse)\r\n        detailA.swapFractionsAndPoints();\r\n      return CurveLocationDetailPair.createCapture(detailA, detailB);\r\n    }\r\n    return undefined;\r\n  }\r\n  private appendDetailPair(result: CurveLocationDetailPair[] | undefined, pair: CurveLocationDetailPair | undefined): CurveLocationDetailPair[] | undefined {\r\n    if (pair === undefined)\r\n      return result;\r\n    if (result === undefined)\r\n      return [pair];\r\n    result.push(pair);\r\n    return result;\r\n  }\r\n  /**\r\n   * Test if 2 arcs have coinciding portions.\r\n   * @param arcA\r\n   * @param arcB\r\n   * @param _restrictToBounds\r\n   * @return 0, 1, or 2 overlap points/intervals\r\n   */\r\n  public coincidentArcIntersectionXY(arcA: Arc3d, arcB: Arc3d, _restrictToBounds: boolean = true): CurveLocationDetailPair[] | undefined {\r\n    let result: CurveLocationDetailPair[] | undefined;\r\n    if (arcA.center.isAlmostEqual(arcB.center, this.tolerance)) {\r\n      const matrixBToA = arcA.matrixRef.multiplyMatrixInverseMatrix(arcB.matrixRef);\r\n      if (matrixBToA) {\r\n        const ux = matrixBToA.at(0, 0); const uy = matrixBToA.at(1, 0);\r\n        const vx = matrixBToA.at(0, 1); const vy = matrixBToA.at(1, 1);\r\n        const ru = Geometry.hypotenuseXY(ux, uy);\r\n        const rv = Geometry.hypotenuseXY(vx, vy);\r\n        const dot = Geometry.dotProductXYXY(ux, uy, vx, vy);\r\n        const cross = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n        if (Geometry.isAlmostEqualNumber(ru, 1.0)\r\n          && Geometry.isAlmostEqualNumber(rv, 1.0)\r\n          && Geometry.isAlmostEqualNumber(0, dot)) {\r\n          const alphaB0Radians = Math.atan2(uy, ux);        // angular position of arcB 0 point in arcA sweep\r\n          const sweepDirection = cross > 0 ? 1.0 : -1.0;    // 1 if arcB parameter space sweeps in same direction as arcA, -1 if opposite\r\n          const betaStartRadians = alphaB0Radians + sweepDirection * arcB.sweep.startRadians;   // arcB start in arcA parameter space\r\n          const betaEndRadians = alphaB0Radians + sweepDirection * arcB.sweep.endRadians;       // arcB end in arcA parameter space\r\n          const fractionSpacesReversed = (sweepDirection * arcA.sweep.sweepRadians * arcB.sweep.sweepRadians) < 0;\r\n          const sweepB = AngleSweep.createStartEndRadians(betaStartRadians, betaEndRadians);\r\n          const sweepA = arcA.sweep;\r\n          const fractionPeriodA = sweepA.fractionPeriod();\r\n          const fractionB0 = sweepA.radiansToPositivePeriodicFraction(sweepB.startRadians);   // arcB start in arcA fraction space\r\n          assert(fractionB0 >= 0.0);\r\n          const fractionSweep = sweepB.sweepRadians / sweepA.sweepRadians;                    // arcB sweep in arcA fraction space\r\n          const fractionB1 = fractionB0 + fractionSweep;                                      // arcB end in arcA fraction space\r\n          const fractionSweepB = Segment1d.create(fractionB0, fractionB1);\r\n\r\n          /** lambda to add a coincident interval or isolated intersection, given inputs in arcA fraction space\r\n           * @param arcBInArcAFractionSpace span of arcB in arcA fraction space. On return, clamped to [0,1] if nontrivial.\r\n           * @param testStartOfArcA if no nontrivial coincident interval was found, look for an isolated intersection at the start (true) or end (false) of arcA\r\n           * @returns whether a detail pair was appended to result\r\n           */\r\n          const appendCoincidentIntersection = (arcBInArcAFractionSpace: Segment1d, testStartOfArcA: boolean): boolean => {\r\n            const size = result ? result.length : 0;\r\n            const arcBStart = arcBInArcAFractionSpace.x0;\r\n            const arcBEnd = arcBInArcAFractionSpace.x1;\r\n            if (arcBInArcAFractionSpace.clampDirectedTo01() && !Geometry.isSmallRelative(arcBInArcAFractionSpace.absoluteDelta())) {\r\n              result = this.appendDetailPair(result, this.createDetailPair(arcA, arcB, arcBInArcAFractionSpace, arcBStart, arcBEnd, fractionSpacesReversed));\r\n            } else {  // test isolated intersection\r\n              const testStartOfArcB = fractionSpacesReversed ? testStartOfArcA : !testStartOfArcA;\r\n              const arcAPt = this._point0 = testStartOfArcA ? arcA.startPoint(this._point0) : arcA.endPoint(this._point0);\r\n              const arcBPt = this._point1 = testStartOfArcB ? arcB.startPoint(this._point1) : arcB.endPoint(this._point1);\r\n              if (arcAPt.isAlmostEqual(arcBPt, this.tolerance)) {\r\n                const detailA = CurveLocationDetail.createCurveFractionPoint(arcA, testStartOfArcA ? 0 : 1, arcAPt);\r\n                const detailB = CurveLocationDetail.createCurveFractionPoint(arcB, testStartOfArcB ? 0 : 1, arcBPt);\r\n                result = this.appendDetailPair(result, CurveLocationDetailPair.createCapture(detailA, detailB));\r\n              }\r\n            }\r\n            return result !== undefined && result.length > size;\r\n          };\r\n\r\n          appendCoincidentIntersection(fractionSweepB, false);  // compute overlap in strict interior, or at end of arcA\r\n\r\n          // check overlap at start of arcA with a periodic shift of fractionSweepB\r\n          if (fractionB1 >= fractionPeriodA)\r\n            appendCoincidentIntersection(Segment1d.create(fractionB0 - fractionPeriodA, fractionB1 - fractionPeriodA), true);\r\n          else if (fractionB0 === 0.0)\r\n            appendCoincidentIntersection(Segment1d.create(fractionB0 + fractionPeriodA, fractionB1 + fractionPeriodA), true);\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}

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

@@ -34,28 +34,35 @@ export declare class PackedMatrix3dOps {
     static loadMatrix(dest: Float64Array, a00: number, a01: number, a02: number, a10: number, a11: number, a12: number, a20: number, a21: number, a22: number): void;
     /**
      * Multiply 3x3 matrix `a*b`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a left matrix in product. ASSUMED length 9.
+     * @param b right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a*b`
      */
     static multiplyMatrixMatrix(a: Float64Array, b: Float64Array, result?: Float64Array): Float64Array;
     /**
      * Multiply 3x3 matrix `a*bTranspose`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a left matrix in product. ASSUMED length 9.
+     * @param b transpose of right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a*b^T`
      */
     static multiplyMatrixMatrixTranspose(a: Float64Array, b: Float64Array, result?: Float64Array): Float64Array;
     /**
      * Multiply 3x3 matrix `aTranspose*b`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a transpose of left matrix in product. ASSUMED length 9.
+     * @param b right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a^T*b`
      */
     static multiplyMatrixTransposeMatrix(a: Float64Array, b: Float64Array, result?: Float64Array): Float64Array;
     /** Transpose 3x3 matrix `a` in place */
     static transposeInPlace(a: Float64Array): void;
     /**
-     * Returns the transpose of 3x3 matrix `a`
-     * * If `dest` is passed as argument, then the function copies the transpose of 3x3 matrix `a` into `dest`
-     * * `a` is not changed unless also passed as the dest, i.e., copyTransposed(a,a) transposes `a` in place
+     * Compute transpose of 3x3 matrix `a`, store in `dest`.
+     * @param a source matrix. ASSUMED length 9. Note that `a` is not changed unless also passed as `dest`, i.e., `copyTransposed(a,a)` transposes `a` in place.
+     * @param dest optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a`.
+     * @return matrix `a^T`
      */
     static copyTransposed(a: Float64Array, dest?: Float64Array): Float64Array;
     /** Copy matrix `a` entries into `dest` */
@@ -146,8 +153,7 @@ export declare class Matrix3d implements BeJSONFunctions {
     freeze(): Readonly<this>;
     /**
      * Constructor
-     * @param coffs optional coefficient array.
-     * * **WARNING:** coffs is captured (i.e., is now owned by the Matrix3d object and can be modified by it).
+     * @param coffs optional coefficient array of length at least 9 (CAPTURED). If undefined or insufficient length, a new array is created.
      */
     constructor(coffs?: Float64Array);
     /**
@@ -219,6 +225,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * Create a Matrix3d with caller-supplied coefficients and optional inverse coefficients.
      * * The inputs are captured into (i.e., owned by) the new Matrix3d.
      * * The caller is responsible for validity of the inverse coefficients.
+     * * If either array is insufficiently sized, it is ignored.
      * @param coffs (required) array of 9 coefficients.
      * @param inverseCoffs (optional) array of 9 coefficients.
      * @returns a Matrix3d populated by a coffs array.
@@ -769,7 +776,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param y y part of multiplied point
      * @param z z part of multiplied point
      * @param w w part of multiplied point
-     * @param result optional preallocated result.
+     * @param result optional preallocated result. If length < 4, a new array is returned.
      */
     static xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, w: number, result?: Float64Array): Float64Array;
     /**
@@ -784,7 +791,7 @@ export declare class Matrix3d implements BeJSONFunctions {
      * @param x x part of multiplied point
      * @param y y part of multiplied point
      * @param z z part of multiplied point
-     * @param result optional preallocated result.
+     * @param result optional preallocated result. If length < 3, a new array is returned.
      */
     static xyzPlusMatrixTimesCoordinatesToFloat64Array(origin: XYZ, matrix: Matrix3d, x: number, y: number, z: number, result?: Float64Array): Float64Array;
     /**

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

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

@@ -52,33 +52,39 @@ class PackedMatrix3dOps {
     }
     /**
      * Multiply 3x3 matrix `a*b`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a left matrix in product. ASSUMED length 9.
+     * @param b right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a*b`
      */
     static multiplyMatrixMatrix(a, b, result) {
-        if (!result)
+        if (!result || result.length < 9)
             result = new Float64Array(9);
         PackedMatrix3dOps.loadMatrix(result, (a[0] * b[0] + a[1] * b[3] + a[2] * b[6]), (a[0] * b[1] + a[1] * b[4] + a[2] * b[7]), (a[0] * b[2] + a[1] * b[5] + a[2] * b[8]), (a[3] * b[0] + a[4] * b[3] + a[5] * b[6]), (a[3] * b[1] + a[4] * b[4] + a[5] * b[7]), (a[3] * b[2] + a[4] * b[5] + a[5] * b[8]), (a[6] * b[0] + a[7] * b[3] + a[8] * b[6]), (a[6] * b[1] + a[7] * b[4] + a[8] * b[7]), (a[6] * b[2] + a[7] * b[5] + a[8] * b[8]));
         return result;
     }
     /**
      * Multiply 3x3 matrix `a*bTranspose`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a left matrix in product. ASSUMED length 9.
+     * @param b transpose of right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a*b^T`
      */
     static multiplyMatrixMatrixTranspose(a, b, result) {
-        if (!result)
+        if (!result || result.length < 9)
             result = new Float64Array(9);
         PackedMatrix3dOps.loadMatrix(result, (a[0] * b[0] + a[1] * b[1] + a[2] * b[2]), (a[0] * b[3] + a[1] * b[4] + a[2] * b[5]), (a[0] * b[6] + a[1] * b[7] + a[2] * b[8]), (a[3] * b[0] + a[4] * b[1] + a[5] * b[2]), (a[3] * b[3] + a[4] * b[4] + a[5] * b[5]), (a[3] * b[6] + a[4] * b[7] + a[5] * b[8]), (a[6] * b[0] + a[7] * b[1] + a[8] * b[2]), (a[6] * b[3] + a[7] * b[4] + a[8] * b[5]), (a[6] * b[6] + a[7] * b[7] + a[8] * b[8]));
         return result;
     }
     /**
      * Multiply 3x3 matrix `aTranspose*b`, store in `result`.
-     * * All params assumed length 9, allocated by caller.
-     * * c may alias either input.
+     * @param a transpose of left matrix in product. ASSUMED length 9.
+     * @param b right matrix in product. ASSUMED length 9.
+     * @param result optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a` or `b`.
+     * @return matrix product `a^T*b`
      */
     static multiplyMatrixTransposeMatrix(a, b, result) {
-        if (!result)
+        if (!result || result.length < 9)
             result = new Float64Array(9);
         PackedMatrix3dOps.loadMatrix(result, (a[0] * b[0] + a[3] * b[3] + a[6] * b[6]), (a[0] * b[1] + a[3] * b[4] + a[6] * b[7]), (a[0] * b[2] + a[3] * b[5] + a[6] * b[8]), (a[1] * b[0] + a[4] * b[3] + a[7] * b[6]), (a[1] * b[1] + a[4] * b[4] + a[7] * b[7]), (a[1] * b[2] + a[4] * b[5] + a[7] * b[8]), (a[2] * b[0] + a[5] * b[3] + a[8] * b[6]), (a[2] * b[1] + a[5] * b[4] + a[8] * b[7]), (a[2] * b[2] + a[5] * b[5] + a[8] * b[8]));
         return result;
@@ -96,16 +102,17 @@ class PackedMatrix3dOps {
         a[7] = q;
     }
     /**
-     * Returns the transpose of 3x3 matrix `a`
-     * * If `dest` is passed as argument, then the function copies the transpose of 3x3 matrix `a` into `dest`
-     * * `a` is not changed unless also passed as the dest, i.e., copyTransposed(a,a) transposes `a` in place
+     * Compute transpose of 3x3 matrix `a`, store in `dest`.
+     * @param a source matrix. ASSUMED length 9. Note that `a` is not changed unless also passed as `dest`, i.e., `copyTransposed(a,a)` transposes `a` in place.
+     * @param dest optional destination array of length 9. If insufficient length, a new array is returned. May refer to same array as `a`.
+     * @return matrix `a^T`
      */
     static copyTransposed(a, dest) {
         if (dest === a) {
             PackedMatrix3dOps.transposeInPlace(dest);
         }
         else {
-            if (!dest)
+            if (!dest || dest.length < 9)
                 dest = new Float64Array(9);
             dest[0] = a[0];
             dest[1] = a[3];
@@ -206,11 +213,10 @@ class Matrix3d {
     }
     /**
      * Constructor
-     * @param coffs optional coefficient array.
-     * * **WARNING:** coffs is captured (i.e., is now owned by the Matrix3d object and can be modified by it).
+     * @param coffs optional coefficient array of length at least 9 (CAPTURED). If undefined or insufficient length, a new array is created.
      */
     constructor(coffs) {
-        this.coffs = coffs ? coffs : new Float64Array(9);
+        this.coffs = (coffs && coffs.length >= 9) ? coffs : new Float64Array(9);
         this.inverseCoffs = undefined;
         this.inverseState = InverseMatrixState.unknown;
     }
@@ -373,13 +379,14 @@ class Matrix3d {
      * Create a Matrix3d with caller-supplied coefficients and optional inverse coefficients.
      * * The inputs are captured into (i.e., owned by) the new Matrix3d.
      * * The caller is responsible for validity of the inverse coefficients.
+     * * If either array is insufficiently sized, it is ignored.
      * @param coffs (required) array of 9 coefficients.
      * @param inverseCoffs (optional) array of 9 coefficients.
      * @returns a Matrix3d populated by a coffs array.
      */
     static createCapture(coffs, inverseCoffs) {
         const result = new Matrix3d(coffs);
-        if (inverseCoffs) {
+        if (inverseCoffs && inverseCoffs.length >= 9) {
             result.inverseCoffs = inverseCoffs;
             result.inverseState = InverseMatrixState.inverseStored;
         }
@@ -1613,10 +1620,10 @@ class Matrix3d {
      * @param y y part of multiplied point
      * @param z z part of multiplied point
      * @param w w part of multiplied point
-     * @param result optional preallocated result.
+     * @param result optional preallocated result. If length < 4, a new array is returned.
      */
     static xyzPlusMatrixTimesWeightedCoordinatesToFloat64Array(origin, matrix, x, y, z, w, result) {
-        if (!result)
+        if (!result || result.length < 4)
             result = new Float64Array(4);
         result[0] = matrix.coffs[0] * x + matrix.coffs[1] * y + matrix.coffs[2] * z + origin.x * w;
         result[1] = matrix.coffs[3] * x + matrix.coffs[4] * y + matrix.coffs[5] * z + origin.y * w;
@@ -1636,10 +1643,10 @@ class Matrix3d {
      * @param x x part of multiplied point
      * @param y y part of multiplied point
      * @param z z part of multiplied point
-     * @param result optional preallocated result.
+     * @param result optional preallocated result. If length < 3, a new array is returned.
      */
     static xyzPlusMatrixTimesCoordinatesToFloat64Array(origin, matrix, x, y, z, result) {
-        if (!result)
+        if (!result || result.length < 3)
             result = new Float64Array(3);
         result[0] = matrix.coffs[0] * x + matrix.coffs[1] * y + matrix.coffs[2] * z + origin.x;
         result[1] = matrix.coffs[3] * x + matrix.coffs[4] * y + matrix.coffs[5] * z + origin.y;