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

package/lib/cjs/bspline/KnotVector.js

@@ -11,39 +11,35 @@ exports.KnotVector = exports.BSplineWrapMode = void 0;
 const Geometry_1 = require("../Geometry");
 const PointHelpers_1 = require("../geometry3d/PointHelpers");
 /**
- * Enumeration of the possible ways of converting a "periodic" knot vector to an open knot vector.
- * None (0) ==> no wrap possible
- * OpenByAddingControlPoints (1)  ==> wrapped by adding poles
- * OpenByRemovingKnots (2)  ==> wrapped by deleting extreme knots.
+ * B-spline curve and surface types in this library are non-periodic. But they can be created from legacy periodic data.
+ * This enumeration lists the possible ways a B-spline object can have been created from legacy periodic data.
  * @public
  */
 var BSplineWrapMode;
 (function (BSplineWrapMode) {
-    /** No conversion to periodic */
+    /** No conversion performed. */
     BSplineWrapMode[BSplineWrapMode["None"] = 0] = "None";
-    /** Convert to periodic by removing control points.  This is typical for closed bcurve constructed by control points with maximum continuity.
-     * * Knots stay the same in open and periodic form.
-     * * Periodic form omits {degree} control points.
+    /** The B-spline was opened up by adding degree wrap-around control points to the legacy periodic data.
+     * * This is typical of B-splines constructed with maximum (degree - 1) continuity.
+     * * Knots are unaffected by this conversion.
      */
     BSplineWrapMode[BSplineWrapMode["OpenByAddingControlPoints"] = 1] = "OpenByAddingControlPoints";
-    /** Convert to periodic by adding special knots.  This is typical of closed bcurve constructed as exact circular or elliptic arc
-     * * 2 knots on each end are omitted in open form
-     * * poles stay the same.
+    /** The B-spline was opened up by removing degree extreme knots from the legacy periodic data.
+     * * This is typical of rational B-spline curves representing full circles and ellipses.
+     * * Poles are unaffected by this conversion.
      */
     BSplineWrapMode[BSplineWrapMode["OpenByRemovingKnots"] = 2] = "OpenByRemovingKnots";
 })(BSplineWrapMode = exports.BSplineWrapMode || (exports.BSplineWrapMode = {}));
 /**
- * Array of non-decreasing numbers acting as a knot array for bsplines.
+ * Array of non-decreasing numbers acting as a knot array for B-splines.
  *
  * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1
- * * Various bspline libraries have confusion over how many "end knots" are needed. "Many" libraries (including MicroStation)
- *     incorrectly demand "order" knots at each end for clamping.   But only "order - 1" are really needed.
- * * This class uses the "order-1" convention.
- * * This class provides queries to convert among spanIndex and knotIndex
+ * * Various B-spline libraries have confusion over how many "end knots" are needed. Many libraries (including MicroStation and Parasolid)
+ * demand order knots at each end for clamping. But only order-1 are really needed. This class uses the order-1 convention.
  * * A span is a single interval of the knots.
- * * The left knot of span {k} is knot {k+degree-1}
- * * This class provides queries to convert among spanFraction, fraction of knot range, and knot
- * * core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to
+ * * The left knot of span {k} is knot {k+degree-1}.
+ * * This class provides queries to convert among spanIndex, knotIndex, spanFraction, fraction of knot range, and knot.
+ * * Core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to
  * know their primary values (global knot, spanFraction).
  * @public
  */
@@ -56,7 +52,7 @@ class KnotVector {
     get leftKnotIndex() { return this.degree - 1; }
     /** Return the index of the rightmost knot of the active interval */
     get rightKnotIndex() { return this.knots.length - this.degree; }
-    /** Whether the bspline was created by adding poles into "closed" structure. This is used by serialize/deserialize to mark knotVector's that were converted from periodic style. */
+    /** Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used is specified by BSplineWrapMode, and is reversed at serialization time. */
     get wrappable() { return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode; }
     set wrappable(value) { this._wrapMode = value; }
     /** Return the number of bezier spans.  Note that this includes zero-length spans if there are repeated knots. */
@@ -71,7 +67,7 @@ class KnotVector {
     constructor(knots, degree, wrapMode) {
         this.degree = degree;
         this._wrapMode = wrapMode;
-        // default values to satisfy compiler -- real values hapn setupFixedValues or final else defers to user
+        // default values to satisfy compiler -- real values happen in setupFixedValues, or final else defers to user
         this._knot0 = 0.0;
         this._knot1 = 1.0;
         // satisfy the initialize checker ..
@@ -91,43 +87,43 @@ class KnotVector {
     /** copy degree and knots to a new KnotVector. */
     clone() { return new KnotVector(this.knots, this.degree, this.wrappable); }
     setupFixedValues() {
-        // These should be read-only . ..
-        this._knot0 = this.knots[this.degree - 1];
-        this._knot1 = this.knots[this.knots.length - this.degree];
+        if (this.degree > 0 && this.knots.length > this.degree) {
+            this._knot0 = this.knots[this.degree - 1];
+            this._knot1 = this.knots[this.knots.length - this.degree];
+        }
     }
     /** Return the total knot distance from beginning to end. */
     get knotLength01() { return this._knot1 - this._knot0; }
     /**
-     * Returns true if all numeric values have wraparound conditions for "closed" knotVector with specified wrap mode
-     * @param mode optional test mode.  If undefined, use the this.wrappable.
+     * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified wrap mode.
+     * @param mode optional test mode.  If undefined, use this.wrappable.
      */
     testClosable(mode) {
         if (mode === undefined)
             mode = this.wrappable;
+        const degree = this.degree;
         const leftKnotIndex = this.leftKnotIndex;
         const rightKnotIndex = this.rightKnotIndex;
-        const period = this.rightKnot - this.leftKnot;
-        const degree = this.degree;
-        const indexDelta = rightKnotIndex - leftKnotIndex;
-        // maximum continuity mode .  . .
         if (mode === BSplineWrapMode.OpenByAddingControlPoints) {
-            for (let k0 = leftKnotIndex - degree + 1; k0 < leftKnotIndex + degree - 1; k0++) {
+            // maximum continuity mode: we expect degree periodically extended knots at each end
+            const period = this.rightKnot - this.leftKnot;
+            const indexDelta = rightKnotIndex - leftKnotIndex;
+            for (let k0 = 0; k0 < leftKnotIndex + degree; k0++) {
                 const k1 = k0 + indexDelta;
-                if (!Geometry_1.Geometry.isSameCoordinate(this.knots[k0] + period, this.knots[k1]))
+                if (Math.abs(this.knots[k0] + period - this.knots[k1]) >= KnotVector.knotTolerance)
                     return false;
             }
             return true;
         }
-        // arc mode ...
         if (mode === BSplineWrapMode.OpenByRemovingKnots) {
-            // we expect {degree} replicated knots at each end . . .
+            // legacy periodic mode: we expect multiplicity degree knots at each end
             const numRepeated = degree - 1;
-            const leftKnot = this.knots[leftKnotIndex];
-            const rightKnot = this.knots[rightKnotIndex];
+            const leftKnot = this.leftKnot;
+            const rightKnot = this.rightKnot;
             for (let i = 0; i < numRepeated; i++) {
-                if (!Geometry_1.Geometry.isSameCoordinate(leftKnot, this.knots[leftKnotIndex - i - 1]))
+                if (Math.abs(leftKnot - this.knots[leftKnotIndex - i - 1]) >= KnotVector.knotTolerance)
                     return false;
-                if (!Geometry_1.Geometry.isSameCoordinate(rightKnot, this.knots[rightKnotIndex + i + 1]))
+                if (Math.abs(rightKnot - this.knots[rightKnotIndex + i + 1]) >= KnotVector.knotTolerance)
                     return false;
             }
             return true;
@@ -209,7 +205,7 @@ class KnotVector {
         }
         this.setupFixedValues();
     }
-    /** install knot values from an array, optionally ignoring first and last. */
+    /** Set knots to input array (CAPTURED)  */
     setKnotsCapture(knots) {
         this.knots = knots;
         this.setupFixedValues();
@@ -303,19 +299,22 @@ class KnotVector {
      * Evaluate basis functions f[] at knot value u.
      *
      * @param u knot value for evaluation
-     * @param f array of order basis function values
+     * @param f preallocated output array of order basis function values
+     * @returns true if and only if output array is sufficiently sized
      */
     evaluateBasisFunctions(knotIndex0, u, f) {
+        if (f.length < this.degree + 1)
+            return false;
         f[0] = 1.0;
         if (this.degree < 1)
-            return;
+            return true;
         // direct compute for linear part ...
         const u0 = this.knots[knotIndex0];
         const u1 = this.knots[knotIndex0 + 1];
         f[1] = (u - u0) / (u1 - u0);
         f[0] = 1.0 - f[1];
         if (this.degree < 2)
-            return;
+            return true;
         for (let depth = 1; depth < this.degree; depth++) {
             let kLeft = knotIndex0 - depth;
             let kRight = kLeft + depth + 1;
@@ -331,20 +330,28 @@ class KnotVector {
             }
             f[depth + 1] = gCarry;
         }
+        return true;
     }
     /**
      * Evaluate basis functions f[], derivatives df[], and optional second derivatives ddf[] at knot value u.
      *
      * @param u knot value for evaluation
-     * @param f array of order basis function values
-     * @param df array of order basis derivative values
-     * @param ddf array of order basis second derivative values
+     * @param f preallocated output array of order basis function values
+     * @param df preallocated output array of order basis derivative values
+     * @param ddf optional preallocated output array of order basis second derivative values
+     * @returns true if and only if output arrays are sufficiently sized
      */
     evaluateBasisFunctions1(knotIndex0, u, f, df, ddf) {
+        if (f.length < this.degree + 1)
+            return false;
+        if (df.length < this.degree + 1)
+            return false;
+        if (ddf && ddf.length < this.degree + 1)
+            return false;
         f[0] = 1.0;
         df[0] = 0.0;
         if (this.degree < 1)
-            return;
+            return true;
         // direct compute for linear part ...
         const u0 = this.knots[knotIndex0];
         const u1 = this.knots[knotIndex0 + 1];
@@ -360,7 +367,7 @@ class KnotVector {
             ddf[1] = 0.0;
         }
         if (this.degree < 2)
-            return;
+            return true;
         for (let depth = 1; depth < this.degree; depth++) {
             let kLeft = knotIndex0 - depth;
             let kRight = kLeft + depth + 1;
@@ -402,6 +409,7 @@ class KnotVector {
             if (ddf)
                 ddf[depth + 1] = ddgCarry;
         }
+        return true;
     }
     /** Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.
      * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.
@@ -453,38 +461,37 @@ class KnotVector {
             this.knots[i] = a + (b - this.knots[i]);
         this.knots.reverse();
     }
-    /**
-     * return a simple array form of the knots.  optionally replicate the first and last
-     * in classic over-clamped manner
-     */
-    copyKnots(includeExtraEndKnot) {
-        const wrap = this.wrappable === BSplineWrapMode.OpenByAddingControlPoints && this.testClosable();
-        const leftIndex = this.leftKnotIndex;
-        const rightIndex = this.rightKnotIndex;
-        const a0 = this.leftKnot;
-        const a1 = this.rightKnot;
+    /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */
+    static copyKnots(knots, degree, includeExtraEndKnot, wrapMode) {
+        const isExtraEndKnotPeriodic = (includeExtraEndKnot && wrapMode === BSplineWrapMode.OpenByAddingControlPoints);
+        const leftIndex = degree - 1;
+        const rightIndex = knots.length - degree;
+        const a0 = knots[leftIndex];
+        const a1 = knots[rightIndex];
         const delta = a1 - a0;
-        const degree = this.degree;
         const values = [];
         if (includeExtraEndKnot) {
-            if (wrap) {
-                values.push(this.knots[rightIndex - degree] - delta);
-            }
-            else {
-                values.push(this.knots[0]);
-            }
+            if (isExtraEndKnotPeriodic)
+                values.push(knots[rightIndex - degree] - delta);
+            else
+                values.push(knots[0]);
         }
-        for (const u of this.knots)
+        for (const u of knots) {
             values.push(u);
+        }
         if (includeExtraEndKnot) {
-            if (wrap) {
-                values.push(this.knots[leftIndex + degree] + delta);
-            }
+            if (isExtraEndKnotPeriodic)
+                values.push(knots[leftIndex + degree] + delta);
             else
-                values.push(values[values.length - 1]);
+                values.push(knots[knots.length - 1]);
         }
         return values;
     }
+    /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */
+    copyKnots(includeExtraEndKnot) {
+        const wrapMode = (includeExtraEndKnot && this.testClosable()) ? this.wrappable : undefined;
+        return KnotVector.copyKnots(this.knots, this.degree, includeExtraEndKnot, wrapMode);
+    }
 }
 /** tolerance for considering two knots to be the same. */
 KnotVector.knotTolerance = 1.0e-9;

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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 Bspline\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { NumberArray } from \"../geometry3d/PointHelpers\";\r\n\r\n/**\r\n * Enumeration of the possible ways of converting a \"periodic\" knot vector to an open knot vector.\r\n * None (0) ==> no wrap possible\r\n * OpenByAddingControlPoints (1)  ==> wrapped by adding poles\r\n * OpenByRemovingKnots (2)  ==> wrapped by deleting extreme knots.\r\n * @public\r\n */\r\nexport enum BSplineWrapMode {\r\n  /** No conversion to periodic */\r\n  None = 0,\r\n  /** Convert to periodic by removing control points.  This is typical for closed bcurve constructed by control points with maximum continuity.\r\n   * * Knots stay the same in open and periodic form.\r\n   * * Periodic form omits {degree} control points.\r\n   */\r\n  OpenByAddingControlPoints = 1,\r\n  /** Convert to periodic by adding special knots.  This is typical of closed bcurve constructed as exact circular or elliptic arc\r\n   * * 2 knots on each end are omitted in open form\r\n   * * poles stay the same.\r\n   */\r\n  OpenByRemovingKnots = 2,\r\n}\r\n/**\r\n * Array of non-decreasing numbers acting as a knot array for bsplines.\r\n *\r\n * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1\r\n * * Various bspline libraries have confusion over how many \"end knots\" are needed. \"Many\" libraries (including MicroStation)\r\n *     incorrectly demand \"order\" knots at each end for clamping.   But only \"order - 1\" are really needed.\r\n * * This class uses the \"order-1\" convention.\r\n * * This class provides queries to convert among spanIndex and knotIndex\r\n * * A span is a single interval of the knots.\r\n * * The left knot of span {k} is knot {k+degree-1}\r\n * * This class provides queries to convert among spanFraction, fraction of knot range, and knot\r\n * * core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to\r\n * know their primary values (global knot, spanFraction).\r\n * @public\r\n */\r\nexport class KnotVector {\r\n  /** The simple array of knot values. */\r\n  public knots: Float64Array;\r\n  /** Return the degree of basis functions defined in these knots. */\r\n  public degree: number;\r\n  private _knot0: number;\r\n  private _knot1: number;\r\n\r\n  private _wrapMode?: BSplineWrapMode;\r\n  /** tolerance for considering two knots to be the same. */\r\n  public static readonly knotTolerance = 1.0e-9;\r\n  /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots)*/\r\n  public get leftKnot() { return this._knot0; }\r\n  /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots)*/\r\n  public get rightKnot() { return this._knot1; }\r\n  /** Return the index of the leftmost knot of the active interval */\r\n  public get leftKnotIndex() { return this.degree - 1; }\r\n  /** Return the index of the rightmost knot of the active interval */\r\n  public get rightKnotIndex() { return this.knots.length - this.degree; }\r\n  /** Whether the bspline was created by adding poles into \"closed\" structure. This is used by serialize/deserialize to mark knotVector's that were converted from periodic style. */\r\n  public get wrappable() { return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode; }\r\n  public set wrappable(value: BSplineWrapMode) { this._wrapMode = value; }\r\n  /** Return the number of bezier spans.  Note that this includes zero-length spans if there are repeated knots. */\r\n  public get numSpans() { return this.rightKnotIndex - this.leftKnotIndex; }\r\n  /**\r\n   *\r\n   * * If knots is a number array or Float64Array, the those values become the local knot array.\r\n   * * If knots is a simple number, the local knot array is allocated to that size but left as zeros.\r\n   * @param knots\r\n   * @param degree\r\n   */\r\n  private constructor(knots: number[] | Float64Array | number, degree: number, wrapMode?: BSplineWrapMode) {\r\n    this.degree = degree;\r\n    this._wrapMode = wrapMode;\r\n    // default values to satisfy compiler -- real values hapn setupFixedValues or final else defers to user\r\n    this._knot0 = 0.0;\r\n    this._knot1 = 1.0;\r\n    // satisfy the initialize checker ..\r\n    if (Array.isArray(knots)) { // remark:  This ctor is private.  The callers (as of April 2019) do not use this path.\r\n      this.knots = new Float64Array(knots.length);\r\n      this.setKnots(knots);\r\n      this.setupFixedValues();\r\n    } else if (knots instanceof Float64Array) {\r\n      this.knots = knots.slice();\r\n      this.setupFixedValues();\r\n    } else { // caller is responsible for filling array separately ...\r\n      this.knots = new Float64Array(knots);\r\n    }\r\n  }\r\n  /** copy degree and knots to a new KnotVector. */\r\n  public clone(): KnotVector { return new KnotVector(this.knots, this.degree, this.wrappable); }\r\n  private setupFixedValues() {\r\n    // These should be read-only . ..\r\n    this._knot0 = this.knots[this.degree - 1];\r\n    this._knot1 = this.knots[this.knots.length - this.degree];\r\n  }\r\n  /** Return the total knot distance from beginning to end. */\r\n  public get knotLength01(): number { return this._knot1 - this._knot0; }\r\n  /**\r\n   * Returns true if all numeric values have wraparound conditions for \"closed\" knotVector with specified wrap mode\r\n   * @param mode optional test mode.  If undefined, use the this.wrappable.\r\n   */\r\n  public testClosable(mode?: BSplineWrapMode): boolean {\r\n    if (mode === undefined)\r\n      mode = this.wrappable;\r\n    const leftKnotIndex = this.leftKnotIndex;\r\n    const rightKnotIndex = this.rightKnotIndex;\r\n    const period = this.rightKnot - this.leftKnot;\r\n    const degree = this.degree;\r\n    const indexDelta = rightKnotIndex - leftKnotIndex;\r\n    // maximum continuity mode .  . .\r\n    if (mode === BSplineWrapMode.OpenByAddingControlPoints) {\r\n      for (let k0 = leftKnotIndex - degree + 1; k0 < leftKnotIndex + degree - 1; k0++) {\r\n        const k1 = k0 + indexDelta;\r\n        if (!Geometry.isSameCoordinate(this.knots[k0] + period, this.knots[k1]))\r\n          return false;\r\n      }\r\n      return true;\r\n    }\r\n    // arc mode ...\r\n    if (mode === BSplineWrapMode.OpenByRemovingKnots) {\r\n      // we expect {degree} replicated knots at each end . . .\r\n      const numRepeated = degree - 1;\r\n      const leftKnot = this.knots[leftKnotIndex];\r\n      const rightKnot = this.knots[rightKnotIndex];\r\n      for (let i = 0; i < numRepeated; i++) {\r\n        if (!Geometry.isSameCoordinate(leftKnot, this.knots[leftKnotIndex - i - 1]))\r\n          return false;\r\n        if (!Geometry.isSameCoordinate(rightKnot, this.knots[rightKnotIndex + i + 1]))\r\n          return false;\r\n      }\r\n      return true;\r\n    }\r\n\r\n    return false;\r\n  }\r\n  /** Test matching degree and knot values */\r\n  public isAlmostEqual(other: KnotVector): boolean {\r\n    if (this.degree !== other.degree) return false;\r\n    return NumberArray.isAlmostEqual(this.knots, other.knots, KnotVector.knotTolerance);\r\n  }\r\n\r\n  /** Compute the multiplicity of the input knot, or zero if not a knot. */\r\n  public getKnotMultiplicity(knot: number): number {\r\n    let m = 0;\r\n    for (const k of this.knots) {\r\n      if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n        ++m;\r\n      else if (knot < k)\r\n        break;\r\n    }\r\n    return m;\r\n  }\r\n\r\n  /** Compute the multiplicity of the knot at the given index. */\r\n  public getKnotMultiplicityAtIndex(knotIndex: number): number {\r\n    let m = 0;\r\n    if (knotIndex >= 0 && knotIndex < this.knots.length) {\r\n      const knot = this.knots[knotIndex];\r\n      ++m;  // count this knot\r\n      for (let i = knotIndex - 1; i >= 0; --i) {\r\n        const k = this.knots[i];\r\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n          ++m;  // found multiple to left of knot\r\n        else if (knot > k)\r\n          break;\r\n      }\r\n      for (let i = knotIndex + 1; i < this.knots.length; ++i) {\r\n        const k = this.knots[i];\r\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n          ++m;  // found multiple to right of knot\r\n        else if (knot < k)\r\n          break;\r\n      }\r\n    }\r\n    return m;\r\n  }\r\n\r\n  /** Transform knots to span [0,1].\r\n   * @returns false if and only if this.knotLength01 is trivial\r\n   */\r\n  public normalize(): boolean {\r\n    if (this.knotLength01 < KnotVector.knotTolerance)\r\n      return false;\r\n    const divisor = 1.0 / this.knotLength01;\r\n    const leftKnot = this.leftKnot;\r\n    for (let i = 0; i < this.knots.length; ++i)\r\n      this.knots[i] = (this.knots[i] - leftKnot) * divisor;\r\n    // explicitly set rightKnot and its multiples to 1.0 to avoid round-off\r\n    for (let i = this.rightKnotIndex - 1; i > this.leftKnotIndex && (this.knots[i] === this.knots[this.rightKnotIndex]); --i) this.knots[i] = 1.0;\r\n    for (let i = this.rightKnotIndex + 1; i < this.knots.length && (this.knots[i] === this.knots[this.rightKnotIndex]); ++i) this.knots[i] = 1.0;\r\n    this.knots[this.rightKnotIndex] = 1.0;\r\n    this.setupFixedValues();\r\n    return true;\r\n  }\r\n\r\n  /** install knot values from an array, optionally ignoring first and last.\r\n   */\r\n  public setKnots(knots: number[] | Float64Array, skipFirstAndLast?: boolean) {\r\n    const numAllocate = skipFirstAndLast ? knots.length - 2 : knots.length;\r\n    if (numAllocate !== this.knots.length)\r\n      this.knots = new Float64Array(numAllocate);\r\n    if (skipFirstAndLast) {\r\n      for (let i = 1; i + 1 < knots.length; i++)\r\n        this.knots[i - 1] = knots[i];\r\n\r\n    } else {\r\n      for (let i = 0; i < knots.length; i++)\r\n        this.knots[i] = knots[i];\r\n    }\r\n    this.setupFixedValues();\r\n  }\r\n\r\n  /** install knot values from an array, optionally ignoring first and last. */\r\n  public setKnotsCapture(knots: Float64Array) {\r\n    this.knots = knots;\r\n    this.setupFixedValues();\r\n  }\r\n\r\n  /**\r\n   * Create knot vector with {degree-1} replicated knots at start and end, and uniform knots between.\r\n   * @param numPoles Number of poles\r\n   * @param degree degree of polynomial\r\n   * @param a0 left knot value for active interval\r\n   * @param a1 right knot value for active interval\r\n   */\r\n  public static createUniformClamped(numPoles: number, degree: number, a0: number, a1: number): KnotVector {\r\n    const knots = new KnotVector(numPoles + degree - 1, degree);\r\n    let k = 0;\r\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a0;\r\n    const du = 1.0 / (numPoles - degree);\r\n    for (let i = 1; i + degree < numPoles; i++)\r\n      knots.knots[k++] = a0 + i * du * (a1 - a0);\r\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a1;\r\n    knots.setupFixedValues();\r\n    return knots;\r\n  }\r\n  /**\r\n   * Create knot vector with wraparound knots at start and end, and uniform knots between.\r\n   * @param  numInterval number of intervals in knot space.  (NOT POLE COUNT)\r\n   * @param degree degree of polynomial\r\n   * @param a0 left knot value for active interval\r\n   * @param a1 right knot value for active interval\r\n   */\r\n  public static createUniformWrapped(numInterval: number, degree: number, a0: number, a1: number): KnotVector {\r\n    const knots = new KnotVector(numInterval + 2 * degree - 1, degree);\r\n    const du = 1.0 / numInterval;\r\n    for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++) {\r\n      knots.knots[k] = Geometry.interpolate(a0, i * du, a1);\r\n    }\r\n    knots.setupFixedValues();\r\n    return knots;\r\n  }\r\n\r\n  /**\r\n   * Create knot vector with given knot values and degree.\r\n   * @param knotArray knot values\r\n   * @param degree degree of polynomial\r\n   * @param skipFirstAndLast true to skip copying the first and last knot values.\r\n   */\r\n  public static create(knotArray: number[] | Float64Array, degree: number, skipFirstAndLast?: boolean): KnotVector {\r\n    const numAllocate = skipFirstAndLast ? knotArray.length - 2 : knotArray.length;\r\n    const knots = new KnotVector(numAllocate, degree);\r\n    knots.setKnots(knotArray, skipFirstAndLast);\r\n    return knots;\r\n  }\r\n\r\n  /**\r\n   * Return the average of degree consecutive knots beginning at knotIndex.\r\n   */\r\n  public grevilleKnot(knotIndex: number): number {\r\n    if (knotIndex < 0) return this.leftKnot;\r\n    if (knotIndex > this.rightKnotIndex) return this.rightKnot;\r\n    let sum = 0.0;\r\n    for (let i = knotIndex; i < knotIndex + this.degree; i++)\r\n      sum += this.knots[i];\r\n    return sum / this.degree;\r\n  }\r\n  /** Return an array sized for a set of the basis function values. */\r\n  public createBasisArray(): Float64Array { return new Float64Array(this.degree + 1); }\r\n  /** Convert localFraction within the interval following an indexed knot to a knot value. */\r\n  public baseKnotFractionToKnot(knotIndex0: number, localFraction: number): number {\r\n    const knot0 = this.knots[knotIndex0];\r\n    localFraction = Geometry.clamp(localFraction, 0, 1);\r\n    return knot0 + localFraction * (this.knots[knotIndex0 + 1] - knot0);\r\n  }\r\n  /** Convert localFraction within an indexed bezier span to a knot value. */\r\n  public spanFractionToKnot(spanIndex: number, localFraction: number): number {\r\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\r\n    localFraction = Geometry.clamp(localFraction, 0, 1);\r\n    return this.knots[k] + localFraction * (this.knots[k + 1] - this.knots[k]);\r\n  }\r\n  /** Convert localFraction within an indexed bezier span to fraction of active knot range. */\r\n  public spanFractionToFraction(spanIndex: number, localFraction: number): number {\r\n    const knot = this.spanFractionToKnot(spanIndex, localFraction);\r\n    return (knot - this.leftKnot) / (this.rightKnot - this.leftKnot);\r\n  }\r\n  /** Return fraction of active knot range to knot value. */\r\n  public fractionToKnot(fraction: number): number {\r\n    fraction = Geometry.clamp(fraction, 0, 1);   // B-splines are not extendable\r\n    return Geometry.interpolate(this.knots[this.degree - 1], fraction, this.knots[this.knots.length - this.degree]);\r\n  }\r\n  /**\r\n   * Evaluate basis functions f[] at knot value u.\r\n   *\r\n   * @param u knot value for evaluation\r\n   * @param f array of order basis function values\r\n   */\r\n  public evaluateBasisFunctions(knotIndex0: number, u: number, f: Float64Array) {\r\n    f[0] = 1.0;\r\n    if (this.degree < 1) return;\r\n    // direct compute for linear part ...\r\n    const u0 = this.knots[knotIndex0];\r\n    const u1 = this.knots[knotIndex0 + 1];\r\n    f[1] = (u - u0) / (u1 - u0);\r\n    f[0] = 1.0 - f[1];\r\n    if (this.degree < 2) return;\r\n\r\n    for (let depth = 1; depth < this.degree; depth++) {\r\n      let kLeft = knotIndex0 - depth;\r\n      let kRight = kLeft + depth + 1;\r\n      let gCarry = 0.0;\r\n      for (let step = 0; step <= depth; step++) {\r\n        const tLeft = this.knots[kLeft++];\r\n        const tRight = this.knots[kRight++];\r\n        const fraction = (u - tLeft) / (tRight - tLeft);\r\n        const g1 = f[step] * fraction;\r\n        const g0 = f[step] * (1.0 - fraction);\r\n        f[step] = gCarry + g0;\r\n        gCarry = g1;\r\n      }\r\n      f[depth + 1] = gCarry;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Evaluate basis functions f[], derivatives df[], and optional second derivatives ddf[] at knot value u.\r\n   *\r\n   * @param u knot value for evaluation\r\n   * @param f array of order basis function values\r\n   * @param df array of order basis derivative values\r\n   * @param ddf array of order basis second derivative values\r\n   */\r\n  public evaluateBasisFunctions1(knotIndex0: number, u: number, f: Float64Array, df: Float64Array, ddf?: Float64Array) {\r\n    f[0] = 1.0; df[0] = 0.0;\r\n    if (this.degree < 1) return;\r\n    // direct compute for linear part ...\r\n    const u0 = this.knots[knotIndex0];\r\n    const u1 = this.knots[knotIndex0 + 1];\r\n    // ah = 1/(u1-u0)      is the derivative of fraction0\r\n    // (-ah) is the derivative of fraction1.\r\n    let ah = 1.0 / (u1 - u0);\r\n    f[1] = (u - u0) * ah;\r\n    f[0] = 1.0 - f[1];\r\n    df[0] = -ah; df[1] = ah;\r\n    if (ddf) {  // first derivative started constant, second derivative started zero.\r\n      ddf[0] = 0.0; ddf[1] = 0.0;\r\n    }\r\n    if (this.degree < 2) return;\r\n    for (let depth = 1; depth < this.degree; depth++) {\r\n      let kLeft = knotIndex0 - depth;\r\n      let kRight = kLeft + depth + 1;\r\n      let gCarry = 0.0;\r\n      let dgCarry = 0.0;\r\n      let ddgCarry = 0.0;\r\n      // f, df, ddf, are each row vectors with product of `step` linear terms.\r\n      // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1)  (0,0,1-fraction, fraction,0,0,0)\r\n      //    Each row of the derivative dV is two entries (0,0, -1/h, 1/h,0,0,0)\r\n      // Hence fnew = f * V\r\n      //      dfnew = df * V + f * dV\r\n      //      ddfnew = ddf * V + df*dV + df * dV + f * ddV\r\n      // but ddV is zero so\r\n      //      ddfnew = ddf * V + 2 * df * dV\r\n      for (let step = 0; step <= depth; step++) {\r\n        const tLeft = this.knots[kLeft++];\r\n        const tRight = this.knots[kRight++];\r\n        ah = 1.0 / (tRight - tLeft);\r\n        const fraction = (u - tLeft) * ah;\r\n        const fraction1 = 1.0 - fraction;\r\n        const g1 = f[step] * fraction;\r\n        const g0 = f[step] * fraction1;\r\n        const dg1 = df[step] * fraction + f[step] * ah;\r\n        const dg0 = df[step] * fraction1 - f[step] * ah;\r\n        const dfSave = 2.0 * df[step] * ah;\r\n        f[step] = gCarry + g0;\r\n        df[step] = dgCarry + dg0;\r\n        gCarry = g1;\r\n        dgCarry = dg1;\r\n        if (ddf) {  // do the backward reference to df before rewriting df !!!\r\n          const ddg1 = ddf[step] * fraction + dfSave;\r\n          const ddg0 = ddf[step] * fraction1 - dfSave;\r\n          ddf[step] = ddgCarry + ddg0;\r\n          ddgCarry = ddg1;\r\n        }\r\n      }\r\n      f[depth + 1] = gCarry;\r\n      df[depth + 1] = dgCarry;\r\n      if (ddf)\r\n        ddf[depth + 1] = ddgCarry;\r\n    }\r\n  }\r\n  /** Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.\r\n   * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.\r\n   * @param u value to bracket\r\n   */\r\n  public knotToLeftKnotIndex(u: number): number {\r\n    for (let i = this.leftKnotIndex; i < this.rightKnotIndex; ++i) {\r\n      if (u < this.knots[i + 1])\r\n        return i;\r\n    }\r\n    // for u >= rightKnot, return left index of last nontrivial span\r\n    for (let i = this.rightKnotIndex; i > this.leftKnotIndex; --i) {\r\n      if (this.knots[i] - this.knots[i - 1] >= KnotVector.knotTolerance)\r\n        return i - 1;\r\n    }\r\n    return this.rightKnotIndex - 1; // shouldn't get here\r\n  }\r\n  /**\r\n   * Given a span index, return the index of the knot at its left.\r\n   * @param spanIndex index of span\r\n   */\r\n  public spanIndexToLeftKnotIndex(spanIndex: number): number {\r\n    const d = this.degree;\r\n    if (spanIndex <= 0.0) return d - 1;\r\n    return Math.min(spanIndex + d - 1, this.knots.length - d - 1);\r\n  }\r\n  /** Return the knot interval length of indexed bezier span. */\r\n  public spanIndexToSpanLength(spanIndex: number): number {\r\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\r\n    return this.knots[k + 1] - this.knots[k];\r\n  }\r\n  /**\r\n   * Given a span index, test if it is within range and has nonzero length.\r\n   * * note that a false return does not imply there are no more spans.  This may be a double knot (zero length span) followed by more real spans\r\n   * @param spanIndex index of span to test.\r\n   */\r\n  public isIndexOfRealSpan(spanIndex: number): boolean {\r\n    if (spanIndex >= 0 && spanIndex < this.numSpans)\r\n      return !Geometry.isSmallMetricDistance(this.spanIndexToSpanLength(spanIndex));\r\n    return false;\r\n  }\r\n  /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths reverse. */\r\n  public reflectKnots() {\r\n    const a = this.leftKnot;\r\n    const b = this.rightKnot;\r\n    const numKnots = this.knots.length;\r\n    for (let i = 0; i < numKnots; i++)\r\n      this.knots[i] = a + (b - this.knots[i]);\r\n    this.knots.reverse();\r\n  }\r\n  /**\r\n   * return a simple array form of the knots.  optionally replicate the first and last\r\n   * in classic over-clamped manner\r\n   */\r\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    const wrap = this.wrappable === BSplineWrapMode.OpenByAddingControlPoints && this.testClosable();\r\n    const leftIndex = this.leftKnotIndex;\r\n    const rightIndex = this.rightKnotIndex;\r\n    const a0 = this.leftKnot;\r\n    const a1 = this.rightKnot;\r\n    const delta = a1 - a0;\r\n    const degree = this.degree;\r\n    const values: number[] = [];\r\n    if (includeExtraEndKnot) {\r\n      if (wrap) {\r\n        values.push(this.knots[rightIndex - degree] - delta);\r\n      } else {\r\n        values.push(this.knots[0]);\r\n      }\r\n    }\r\n    for (const u of this.knots) values.push(u);\r\n    if (includeExtraEndKnot) {\r\n      if (wrap) {\r\n        values.push(this.knots[leftIndex + degree] + delta);\r\n      } else\r\n        values.push(values[values.length - 1]);\r\n    }\r\n    return values;\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 Bspline\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { NumberArray } from \"../geometry3d/PointHelpers\";\r\n\r\n/**\r\n * B-spline curve and surface types in this library are non-periodic. But they can be created from legacy periodic data.\r\n * This enumeration lists the possible ways a B-spline object can have been created from legacy periodic data.\r\n * @public\r\n */\r\nexport enum BSplineWrapMode {\r\n  /** No conversion performed. */\r\n  None = 0,\r\n  /** The B-spline was opened up by adding degree wrap-around control points to the legacy periodic data.\r\n   * * This is typical of B-splines constructed with maximum (degree - 1) continuity.\r\n   * * Knots are unaffected by this conversion.\r\n   */\r\n  OpenByAddingControlPoints = 1,\r\n  /** The B-spline was opened up by removing degree extreme knots from the legacy periodic data.\r\n   * * This is typical of rational B-spline curves representing full circles and ellipses.\r\n   * * Poles are unaffected by this conversion.\r\n   */\r\n  OpenByRemovingKnots = 2,\r\n}\r\n/**\r\n * Array of non-decreasing numbers acting as a knot array for B-splines.\r\n *\r\n * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1\r\n * * Various B-spline libraries have confusion over how many \"end knots\" are needed. Many libraries (including MicroStation and Parasolid)\r\n * demand order knots at each end for clamping. But only order-1 are really needed. This class uses the order-1 convention.\r\n * * A span is a single interval of the knots.\r\n * * The left knot of span {k} is knot {k+degree-1}.\r\n * * This class provides queries to convert among spanIndex, knotIndex, spanFraction, fraction of knot range, and knot.\r\n * * Core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to\r\n * know their primary values (global knot, spanFraction).\r\n * @public\r\n */\r\nexport class KnotVector {\r\n  /** The simple array of knot values. */\r\n  public knots: Float64Array;\r\n  /** Return the degree of basis functions defined in these knots. */\r\n  public degree: number;\r\n  private _knot0: number;\r\n  private _knot1: number;\r\n\r\n  private _wrapMode?: BSplineWrapMode;\r\n  /** tolerance for considering two knots to be the same. */\r\n  public static readonly knotTolerance = 1.0e-9;\r\n  /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots)*/\r\n  public get leftKnot() { return this._knot0; }\r\n  /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots)*/\r\n  public get rightKnot() { return this._knot1; }\r\n  /** Return the index of the leftmost knot of the active interval */\r\n  public get leftKnotIndex() { return this.degree - 1; }\r\n  /** Return the index of the rightmost knot of the active interval */\r\n  public get rightKnotIndex() { return this.knots.length - this.degree; }\r\n  /** Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used is specified by BSplineWrapMode, and is reversed at serialization time. */\r\n  public get wrappable() { return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode; }\r\n  public set wrappable(value: BSplineWrapMode) { this._wrapMode = value; }\r\n  /** Return the number of bezier spans.  Note that this includes zero-length spans if there are repeated knots. */\r\n  public get numSpans() { return this.rightKnotIndex - this.leftKnotIndex; }\r\n  /**\r\n   *\r\n   * * If knots is a number array or Float64Array, the those values become the local knot array.\r\n   * * If knots is a simple number, the local knot array is allocated to that size but left as zeros.\r\n   * @param knots\r\n   * @param degree\r\n   */\r\n  private constructor(knots: number[] | Float64Array | number, degree: number, wrapMode?: BSplineWrapMode) {\r\n    this.degree = degree;\r\n    this._wrapMode = wrapMode;\r\n    // default values to satisfy compiler -- real values happen in setupFixedValues, or final else defers to user\r\n    this._knot0 = 0.0;\r\n    this._knot1 = 1.0;\r\n    // satisfy the initialize checker ..\r\n    if (Array.isArray(knots)) { // remark:  This ctor is private.  The callers (as of April 2019) do not use this path.\r\n      this.knots = new Float64Array(knots.length);\r\n      this.setKnots(knots);\r\n      this.setupFixedValues();\r\n    } else if (knots instanceof Float64Array) {\r\n      this.knots = knots.slice();\r\n      this.setupFixedValues();\r\n    } else { // caller is responsible for filling array separately ...\r\n      this.knots = new Float64Array(knots);\r\n    }\r\n  }\r\n  /** copy degree and knots to a new KnotVector. */\r\n  public clone(): KnotVector { return new KnotVector(this.knots, this.degree, this.wrappable); }\r\n  private setupFixedValues() {\r\n    if (this.degree > 0 && this.knots.length > this.degree) {\r\n      this._knot0 = this.knots[this.degree - 1];\r\n      this._knot1 = this.knots[this.knots.length - this.degree];\r\n    }\r\n  }\r\n  /** Return the total knot distance from beginning to end. */\r\n  public get knotLength01(): number { return this._knot1 - this._knot0; }\r\n  /**\r\n   * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified wrap mode.\r\n   * @param mode optional test mode.  If undefined, use this.wrappable.\r\n   */\r\n  public testClosable(mode?: BSplineWrapMode): boolean {\r\n    if (mode === undefined)\r\n      mode = this.wrappable;\r\n    const degree = this.degree;\r\n    const leftKnotIndex = this.leftKnotIndex;\r\n    const rightKnotIndex = this.rightKnotIndex;\r\n    if (mode === BSplineWrapMode.OpenByAddingControlPoints) {\r\n      // maximum continuity mode: we expect degree periodically extended knots at each end\r\n      const period = this.rightKnot - this.leftKnot;\r\n      const indexDelta = rightKnotIndex - leftKnotIndex;\r\n      for (let k0 = 0; k0 < leftKnotIndex + degree; k0++) {\r\n        const k1 = k0 + indexDelta;\r\n        if (Math.abs(this.knots[k0] + period - this.knots[k1]) >= KnotVector.knotTolerance)\r\n          return false;\r\n      }\r\n      return true;\r\n    }\r\n    if (mode === BSplineWrapMode.OpenByRemovingKnots) {\r\n      // legacy periodic mode: we expect multiplicity degree knots at each end\r\n      const numRepeated = degree - 1;\r\n      const leftKnot = this.leftKnot;\r\n      const rightKnot = this.rightKnot;\r\n      for (let i = 0; i < numRepeated; i++) {\r\n        if (Math.abs(leftKnot - this.knots[leftKnotIndex - i - 1]) >= KnotVector.knotTolerance)\r\n          return false;\r\n        if (Math.abs(rightKnot - this.knots[rightKnotIndex + i + 1]) >= KnotVector.knotTolerance)\r\n          return false;\r\n      }\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n  /** Test matching degree and knot values */\r\n  public isAlmostEqual(other: KnotVector): boolean {\r\n    if (this.degree !== other.degree) return false;\r\n    return NumberArray.isAlmostEqual(this.knots, other.knots, KnotVector.knotTolerance);\r\n  }\r\n\r\n  /** Compute the multiplicity of the input knot, or zero if not a knot. */\r\n  public getKnotMultiplicity(knot: number): number {\r\n    let m = 0;\r\n    for (const k of this.knots) {\r\n      if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n        ++m;\r\n      else if (knot < k)\r\n        break;\r\n    }\r\n    return m;\r\n  }\r\n\r\n  /** Compute the multiplicity of the knot at the given index. */\r\n  public getKnotMultiplicityAtIndex(knotIndex: number): number {\r\n    let m = 0;\r\n    if (knotIndex >= 0 && knotIndex < this.knots.length) {\r\n      const knot = this.knots[knotIndex];\r\n      ++m;  // count this knot\r\n      for (let i = knotIndex - 1; i >= 0; --i) {\r\n        const k = this.knots[i];\r\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n          ++m;  // found multiple to left of knot\r\n        else if (knot > k)\r\n          break;\r\n      }\r\n      for (let i = knotIndex + 1; i < this.knots.length; ++i) {\r\n        const k = this.knots[i];\r\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\r\n          ++m;  // found multiple to right of knot\r\n        else if (knot < k)\r\n          break;\r\n      }\r\n    }\r\n    return m;\r\n  }\r\n\r\n  /** Transform knots to span [0,1].\r\n   * @returns false if and only if this.knotLength01 is trivial\r\n   */\r\n  public normalize(): boolean {\r\n    if (this.knotLength01 < KnotVector.knotTolerance)\r\n      return false;\r\n    const divisor = 1.0 / this.knotLength01;\r\n    const leftKnot = this.leftKnot;\r\n    for (let i = 0; i < this.knots.length; ++i)\r\n      this.knots[i] = (this.knots[i] - leftKnot) * divisor;\r\n    // explicitly set rightKnot and its multiples to 1.0 to avoid round-off\r\n    for (let i = this.rightKnotIndex - 1; i > this.leftKnotIndex && (this.knots[i] === this.knots[this.rightKnotIndex]); --i) this.knots[i] = 1.0;\r\n    for (let i = this.rightKnotIndex + 1; i < this.knots.length && (this.knots[i] === this.knots[this.rightKnotIndex]); ++i) this.knots[i] = 1.0;\r\n    this.knots[this.rightKnotIndex] = 1.0;\r\n    this.setupFixedValues();\r\n    return true;\r\n  }\r\n\r\n  /** install knot values from an array, optionally ignoring first and last.\r\n   */\r\n  public setKnots(knots: number[] | Float64Array, skipFirstAndLast?: boolean) {\r\n    const numAllocate = skipFirstAndLast ? knots.length - 2 : knots.length;\r\n    if (numAllocate !== this.knots.length)\r\n      this.knots = new Float64Array(numAllocate);\r\n    if (skipFirstAndLast) {\r\n      for (let i = 1; i + 1 < knots.length; i++)\r\n        this.knots[i - 1] = knots[i];\r\n\r\n    } else {\r\n      for (let i = 0; i < knots.length; i++)\r\n        this.knots[i] = knots[i];\r\n    }\r\n    this.setupFixedValues();\r\n  }\r\n\r\n  /** Set knots to input array (CAPTURED)  */\r\n  public setKnotsCapture(knots: Float64Array) {\r\n    this.knots = knots;\r\n    this.setupFixedValues();\r\n  }\r\n\r\n  /**\r\n   * Create knot vector with {degree-1} replicated knots at start and end, and uniform knots between.\r\n   * @param numPoles Number of poles\r\n   * @param degree degree of polynomial\r\n   * @param a0 left knot value for active interval\r\n   * @param a1 right knot value for active interval\r\n   */\r\n  public static createUniformClamped(numPoles: number, degree: number, a0: number, a1: number): KnotVector {\r\n    const knots = new KnotVector(numPoles + degree - 1, degree);\r\n    let k = 0;\r\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a0;\r\n    const du = 1.0 / (numPoles - degree);\r\n    for (let i = 1; i + degree < numPoles; i++)\r\n      knots.knots[k++] = a0 + i * du * (a1 - a0);\r\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a1;\r\n    knots.setupFixedValues();\r\n    return knots;\r\n  }\r\n  /**\r\n   * Create knot vector with wraparound knots at start and end, and uniform knots between.\r\n   * @param  numInterval number of intervals in knot space.  (NOT POLE COUNT)\r\n   * @param degree degree of polynomial\r\n   * @param a0 left knot value for active interval\r\n   * @param a1 right knot value for active interval\r\n   */\r\n  public static createUniformWrapped(numInterval: number, degree: number, a0: number, a1: number): KnotVector {\r\n    const knots = new KnotVector(numInterval + 2 * degree - 1, degree);\r\n    const du = 1.0 / numInterval;\r\n    for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++) {\r\n      knots.knots[k] = Geometry.interpolate(a0, i * du, a1);\r\n    }\r\n    knots.setupFixedValues();\r\n    return knots;\r\n  }\r\n\r\n  /**\r\n   * Create knot vector with given knot values and degree.\r\n   * @param knotArray knot values\r\n   * @param degree degree of polynomial\r\n   * @param skipFirstAndLast true to skip copying the first and last knot values.\r\n   */\r\n  public static create(knotArray: number[] | Float64Array, degree: number, skipFirstAndLast?: boolean): KnotVector {\r\n    const numAllocate = skipFirstAndLast ? knotArray.length - 2 : knotArray.length;\r\n    const knots = new KnotVector(numAllocate, degree);\r\n    knots.setKnots(knotArray, skipFirstAndLast);\r\n    return knots;\r\n  }\r\n\r\n  /**\r\n   * Return the average of degree consecutive knots beginning at knotIndex.\r\n   */\r\n  public grevilleKnot(knotIndex: number): number {\r\n    if (knotIndex < 0) return this.leftKnot;\r\n    if (knotIndex > this.rightKnotIndex) return this.rightKnot;\r\n    let sum = 0.0;\r\n    for (let i = knotIndex; i < knotIndex + this.degree; i++)\r\n      sum += this.knots[i];\r\n    return sum / this.degree;\r\n  }\r\n  /** Return an array sized for a set of the basis function values. */\r\n  public createBasisArray(): Float64Array { return new Float64Array(this.degree + 1); }\r\n  /** Convert localFraction within the interval following an indexed knot to a knot value. */\r\n  public baseKnotFractionToKnot(knotIndex0: number, localFraction: number): number {\r\n    const knot0 = this.knots[knotIndex0];\r\n    localFraction = Geometry.clamp(localFraction, 0, 1);\r\n    return knot0 + localFraction * (this.knots[knotIndex0 + 1] - knot0);\r\n  }\r\n  /** Convert localFraction within an indexed bezier span to a knot value. */\r\n  public spanFractionToKnot(spanIndex: number, localFraction: number): number {\r\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\r\n    localFraction = Geometry.clamp(localFraction, 0, 1);\r\n    return this.knots[k] + localFraction * (this.knots[k + 1] - this.knots[k]);\r\n  }\r\n  /** Convert localFraction within an indexed bezier span to fraction of active knot range. */\r\n  public spanFractionToFraction(spanIndex: number, localFraction: number): number {\r\n    const knot = this.spanFractionToKnot(spanIndex, localFraction);\r\n    return (knot - this.leftKnot) / (this.rightKnot - this.leftKnot);\r\n  }\r\n  /** Return fraction of active knot range to knot value. */\r\n  public fractionToKnot(fraction: number): number {\r\n    fraction = Geometry.clamp(fraction, 0, 1);   // B-splines are not extendable\r\n    return Geometry.interpolate(this.knots[this.degree - 1], fraction, this.knots[this.knots.length - this.degree]);\r\n  }\r\n  /**\r\n   * Evaluate basis functions f[] at knot value u.\r\n   *\r\n   * @param u knot value for evaluation\r\n   * @param f preallocated output array of order basis function values\r\n   * @returns true if and only if output array is sufficiently sized\r\n   */\r\n  public evaluateBasisFunctions(knotIndex0: number, u: number, f: Float64Array): boolean {\r\n    if (f.length < this.degree + 1)\r\n      return false;\r\n    f[0] = 1.0;\r\n    if (this.degree < 1)\r\n      return true;\r\n    // direct compute for linear part ...\r\n    const u0 = this.knots[knotIndex0];\r\n    const u1 = this.knots[knotIndex0 + 1];\r\n    f[1] = (u - u0) / (u1 - u0);\r\n    f[0] = 1.0 - f[1];\r\n    if (this.degree < 2)\r\n      return true;\r\n    for (let depth = 1; depth < this.degree; depth++) {\r\n      let kLeft = knotIndex0 - depth;\r\n      let kRight = kLeft + depth + 1;\r\n      let gCarry = 0.0;\r\n      for (let step = 0; step <= depth; step++) {\r\n        const tLeft = this.knots[kLeft++];\r\n        const tRight = this.knots[kRight++];\r\n        const fraction = (u - tLeft) / (tRight - tLeft);\r\n        const g1 = f[step] * fraction;\r\n        const g0 = f[step] * (1.0 - fraction);\r\n        f[step] = gCarry + g0;\r\n        gCarry = g1;\r\n      }\r\n      f[depth + 1] = gCarry;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Evaluate basis functions f[], derivatives df[], and optional second derivatives ddf[] at knot value u.\r\n   *\r\n   * @param u knot value for evaluation\r\n   * @param f preallocated output array of order basis function values\r\n   * @param df preallocated output array of order basis derivative values\r\n   * @param ddf optional preallocated output array of order basis second derivative values\r\n   * @returns true if and only if output arrays are sufficiently sized\r\n   */\r\n  public evaluateBasisFunctions1(knotIndex0: number, u: number, f: Float64Array, df: Float64Array, ddf?: Float64Array): boolean {\r\n    if (f.length < this.degree + 1)\r\n      return false;\r\n    if (df.length < this.degree + 1)\r\n      return false;\r\n    if (ddf && ddf.length < this.degree + 1)\r\n      return false;\r\n    f[0] = 1.0; df[0] = 0.0;\r\n    if (this.degree < 1)\r\n      return true;\r\n    // direct compute for linear part ...\r\n    const u0 = this.knots[knotIndex0];\r\n    const u1 = this.knots[knotIndex0 + 1];\r\n    // ah = 1/(u1-u0)      is the derivative of fraction0\r\n    // (-ah) is the derivative of fraction1.\r\n    let ah = 1.0 / (u1 - u0);\r\n    f[1] = (u - u0) * ah;\r\n    f[0] = 1.0 - f[1];\r\n    df[0] = -ah; df[1] = ah;\r\n    if (ddf) {  // first derivative started constant, second derivative started zero.\r\n      ddf[0] = 0.0; ddf[1] = 0.0;\r\n    }\r\n    if (this.degree < 2)\r\n      return true;\r\n    for (let depth = 1; depth < this.degree; depth++) {\r\n      let kLeft = knotIndex0 - depth;\r\n      let kRight = kLeft + depth + 1;\r\n      let gCarry = 0.0;\r\n      let dgCarry = 0.0;\r\n      let ddgCarry = 0.0;\r\n      // f, df, ddf, are each row vectors with product of `step` linear terms.\r\n      // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1)  (0,0,1-fraction, fraction,0,0,0)\r\n      //    Each row of the derivative dV is two entries (0,0, -1/h, 1/h,0,0,0)\r\n      // Hence fnew = f * V\r\n      //      dfnew = df * V + f * dV\r\n      //      ddfnew = ddf * V + df*dV + df * dV + f * ddV\r\n      // but ddV is zero so\r\n      //      ddfnew = ddf * V + 2 * df * dV\r\n      for (let step = 0; step <= depth; step++) {\r\n        const tLeft = this.knots[kLeft++];\r\n        const tRight = this.knots[kRight++];\r\n        ah = 1.0 / (tRight - tLeft);\r\n        const fraction = (u - tLeft) * ah;\r\n        const fraction1 = 1.0 - fraction;\r\n        const g1 = f[step] * fraction;\r\n        const g0 = f[step] * fraction1;\r\n        const dg1 = df[step] * fraction + f[step] * ah;\r\n        const dg0 = df[step] * fraction1 - f[step] * ah;\r\n        const dfSave = 2.0 * df[step] * ah;\r\n        f[step] = gCarry + g0;\r\n        df[step] = dgCarry + dg0;\r\n        gCarry = g1;\r\n        dgCarry = dg1;\r\n        if (ddf) {  // do the backward reference to df before rewriting df !!!\r\n          const ddg1 = ddf[step] * fraction + dfSave;\r\n          const ddg0 = ddf[step] * fraction1 - dfSave;\r\n          ddf[step] = ddgCarry + ddg0;\r\n          ddgCarry = ddg1;\r\n        }\r\n      }\r\n      f[depth + 1] = gCarry;\r\n      df[depth + 1] = dgCarry;\r\n      if (ddf)\r\n        ddf[depth + 1] = ddgCarry;\r\n    }\r\n    return true;\r\n  }\r\n  /** Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.\r\n   * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.\r\n   * @param u value to bracket\r\n   */\r\n  public knotToLeftKnotIndex(u: number): number {\r\n    for (let i = this.leftKnotIndex; i < this.rightKnotIndex; ++i) {\r\n      if (u < this.knots[i + 1])\r\n        return i;\r\n    }\r\n    // for u >= rightKnot, return left index of last nontrivial span\r\n    for (let i = this.rightKnotIndex; i > this.leftKnotIndex; --i) {\r\n      if (this.knots[i] - this.knots[i - 1] >= KnotVector.knotTolerance)\r\n        return i - 1;\r\n    }\r\n    return this.rightKnotIndex - 1; // shouldn't get here\r\n  }\r\n  /**\r\n   * Given a span index, return the index of the knot at its left.\r\n   * @param spanIndex index of span\r\n   */\r\n  public spanIndexToLeftKnotIndex(spanIndex: number): number {\r\n    const d = this.degree;\r\n    if (spanIndex <= 0.0) return d - 1;\r\n    return Math.min(spanIndex + d - 1, this.knots.length - d - 1);\r\n  }\r\n  /** Return the knot interval length of indexed bezier span. */\r\n  public spanIndexToSpanLength(spanIndex: number): number {\r\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\r\n    return this.knots[k + 1] - this.knots[k];\r\n  }\r\n  /**\r\n   * Given a span index, test if it is within range and has nonzero length.\r\n   * * note that a false return does not imply there are no more spans.  This may be a double knot (zero length span) followed by more real spans\r\n   * @param spanIndex index of span to test.\r\n   */\r\n  public isIndexOfRealSpan(spanIndex: number): boolean {\r\n    if (spanIndex >= 0 && spanIndex < this.numSpans)\r\n      return !Geometry.isSmallMetricDistance(this.spanIndexToSpanLength(spanIndex));\r\n    return false;\r\n  }\r\n  /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths reverse. */\r\n  public reflectKnots() {\r\n    const a = this.leftKnot;\r\n    const b = this.rightKnot;\r\n    const numKnots = this.knots.length;\r\n    for (let i = 0; i < numKnots; i++)\r\n      this.knots[i] = a + (b - this.knots[i]);\r\n    this.knots.reverse();\r\n  }\r\n\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public static copyKnots(knots: number[] | Float64Array, degree: number, includeExtraEndKnot?: boolean, wrapMode?: BSplineWrapMode): number[] {\r\n    const isExtraEndKnotPeriodic = (includeExtraEndKnot && wrapMode === BSplineWrapMode.OpenByAddingControlPoints);\r\n    const leftIndex = degree - 1;\r\n    const rightIndex = knots.length - degree;\r\n    const a0 = knots[leftIndex];\r\n    const a1 = knots[rightIndex];\r\n    const delta = a1 - a0;\r\n    const values: number[] = [];\r\n    if (includeExtraEndKnot) {\r\n      if (isExtraEndKnotPeriodic)\r\n        values.push(knots[rightIndex - degree] - delta);\r\n      else\r\n        values.push(knots[0]);\r\n    }\r\n    for (const u of knots) {\r\n      values.push(u);\r\n    }\r\n    if (includeExtraEndKnot) {\r\n      if (isExtraEndKnotPeriodic)\r\n        values.push(knots[leftIndex + degree] + delta);\r\n      else\r\n        values.push(knots[knots.length - 1]);\r\n    }\r\n    return values;\r\n  }\r\n\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    const wrapMode = (includeExtraEndKnot && this.testClosable()) ? this.wrappable : undefined;\r\n    return KnotVector.copyKnots(this.knots, this.degree, includeExtraEndKnot, wrapMode);\r\n  }\r\n}\r\n"]}