@itwin/core-geometry 4.3.0-dev.22 → 4.3.0-dev.23

package/lib/cjs/curve/internalContexts/CurveCurveIntersectXYZ.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { BSplineCurve3d, BSplineCurve3dBase } from \"../../bspline/BSplineCurve\";\r\nimport { BSplineCurve3dH } from \"../../bspline/BSplineCurve3dH\";\r\nimport { Geometry } from \"../../Geometry\";\r\nimport { RecurseToCurvesGeometryHandler } from \"../../geometry3d/GeometryHandler\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"../../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../../geometry3d/Point3dVector3d\";\r\nimport { SmallSystem, TrigPolynomial } from \"../../numerics/Polynomials\";\r\nimport { Arc3d } from \"../Arc3d\";\r\nimport { CurveChainWithDistanceIndex } from \"../CurveChainWithDistanceIndex\";\r\nimport { CurveCollection } from \"../CurveCollection\";\r\nimport { CurveIntervalRole, CurveLocationDetail, CurveLocationDetailPair } from \"../CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../CurvePrimitive\";\r\nimport { AnyCurve } from \"../CurveTypes\";\r\nimport { LineSegment3d } from \"../LineSegment3d\";\r\nimport { LineString3d } from \"../LineString3d\";\r\n\r\n// cspell:word XYRR\r\n\r\n/**\r\n * Handler class for XYZ intersections between _geometryB and another geometry.\r\n * * Instances are initialized and called from CurveCurve.\r\n * * geometryB is saved for later reference.\r\n * @internal\r\n */\r\nexport class CurveCurveIntersectXYZ extends RecurseToCurvesGeometryHandler {\r\n  private _extendA: boolean;\r\n  private _geometryB: AnyCurve;\r\n  private _extendB: boolean;\r\n  private _results: CurveLocationDetailPair[];\r\n  private static _workVector2dA = Vector2d.create();\r\n  private static _workPointAA0 = Point3d.create();\r\n  private static _workPointAA1 = Point3d.create();\r\n  private static _workPointBB0 = Point3d.create();\r\n  private static _workPointBB1 = Point3d.create();\r\n  /**\r\n   * @param extendA flag to enable using extension of the other geometry.\r\n   * @param geometryB second curve for intersection.  Saved for reference by specific handler methods.\r\n   * @param extendB flag for extension of geometryB.\r\n   */\r\n  public constructor(extendA: boolean, geometryB: AnyCurve, extendB: boolean) {\r\n    super();\r\n    this._extendA = extendA;\r\n    this._geometryB = geometryB;\r\n    this._extendB = extendB;\r\n    this._results = [];\r\n  }\r\n  /** Reset the geometry, leaving all other parts unchanged (and preserving accumulated intersections). */\r\n  public resetGeometry(geometryB: AnyCurve): void {\r\n    this._geometryB = geometryB;\r\n  }\r\n  /**\r\n   * Return the results structure for the intersection calculation, structured as an array of CurveLocationDetailPair.\r\n   * @param reinitialize if true, a new results structure is created for use by later calls.\r\n   */\r\n  public grabPairedResults(reinitialize: boolean = false): CurveLocationDetailPair[] {\r\n    const result = this._results;\r\n    if (reinitialize)\r\n      this._results = [];\r\n    return result;\r\n  }\r\n  private acceptFraction(extend0: boolean, fraction: number, extend1: boolean) {\r\n    if (!extend0 && fraction < 0.0)\r\n      return false;\r\n    if (!extend1 && fraction > 1.0)\r\n      return false;\r\n    return true;\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Reject if evaluated points do not match coordinates (e.g. close approach point).\r\n   * Record with fraction mapping.\r\n   */\r\n  private recordPointWithLocalFractions(\r\n    localFractionA: number,\r\n    cpA: CurvePrimitive,\r\n    fractionA0: number,\r\n    fractionA1: number,\r\n    localFractionB: number,\r\n    cpB: CurvePrimitive,\r\n    fractionB0: number,\r\n    fractionB1: number,\r\n    reversed: boolean,\r\n  ): void {\r\n    const globalFractionA = Geometry.interpolate(fractionA0, localFractionA, fractionA1);\r\n    const globalFractionB = Geometry.interpolate(fractionB0, localFractionB, fractionB1);\r\n    // ignore duplicate of most recent point\r\n    const numPrevious = this._results.length;\r\n    if (numPrevious > 0) {\r\n      const oldDetailA = this._results[numPrevious - 1].detailA;\r\n      const oldDetailB = this._results[numPrevious - 1].detailB;\r\n      if (reversed) {\r\n        if (oldDetailB.isSameCurveAndFraction({curve: cpA, fraction: globalFractionA}) &&\r\n          oldDetailA.isSameCurveAndFraction({curve: cpB, fraction: globalFractionB}))\r\n          return;\r\n      } else {\r\n        if (oldDetailA.isSameCurveAndFraction({curve: cpA, fraction: globalFractionA}) &&\r\n          oldDetailB.isSameCurveAndFraction({curve: cpB, fraction: globalFractionB}))\r\n          return;\r\n      }\r\n    }\r\n    const pointA = cpA.fractionToPoint(globalFractionA);\r\n    const pointB = cpB.fractionToPoint(globalFractionB);\r\n    if (!pointA.isAlmostEqualMetric(pointB))\r\n      return;\r\n    const detailA = CurveLocationDetail.createCurveFractionPoint(cpA, globalFractionA, pointA);\r\n    detailA.setIntervalRole(CurveIntervalRole.isolated);\r\n    const detailB = CurveLocationDetail.createCurveFractionPoint(cpB, globalFractionB, pointB);\r\n    detailB.setIntervalRole(CurveIntervalRole.isolated);\r\n    if (reversed) {\r\n      const pair = new CurveLocationDetailPair(detailB, detailA);\r\n      this._results.push(pair);\r\n    } else {\r\n      const pair = new CurveLocationDetailPair(detailA, detailB);\r\n      this._results.push(pair);\r\n    }\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Record with fraction mapping.\r\n   */\r\n  private computeSegmentSegment3D(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const uv = CurveCurveIntersectXYZ._workVector2dA;\r\n    if (SmallSystem.lineSegment3dClosestApproachUnbounded(pointA0, pointA1, pointB0, pointB1, uv) &&\r\n      this.acceptFraction(extendA0, uv.x, extendA1) && this.acceptFraction(extendB0, uv.y, extendB1)) {\r\n      this.recordPointWithLocalFractions(uv.x, cpA, fractionA0, fractionA1, uv.y, cpB, fractionB0, fractionB1, reversed);\r\n    }\r\n  }\r\n  // Caller accesses data from a line segment and passes to here.\r\n  // The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.\r\n  // The fraction and extend parameters allow all combinations to be passed in.\r\n  // This method applies transform.\r\n  private dispatchSegmentSegment(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    this.computeSegmentSegment3D(\r\n      cpA, extendA0, pointA0, fractionA0, pointA1, fractionA1, extendA1,\r\n      cpB, extendB0, pointB0, fractionB0, pointB1, fractionB1, extendB1,\r\n      reversed,\r\n    );\r\n  }\r\n  /**\r\n   * Create a plane whose normal is the \"better\" cross product: `vectorA.crossProduct(vectorB)` or\r\n   * `vectorA.crossProduct(vectorC)`\r\n   * * The heuristic for \"better\" is:\r\n   *   * first choice is cross product with `vectorB`, if `vectorA` and `vectorB` are sufficiently far from parallel\r\n   * (or anti-parallel).\r\n   *   * otherwise use vectorC\r\n   * @param origin plane origin\r\n   * @param vectorA vector which must be in the plane.\r\n   * @param cosineValue largest cosine of the angle theta between vectorA and vectorB to prefer their cross product, e.g.\r\n   * passing 0.94 ~ cos(20deg) will switch to using vectorC in the cross product if theta < ~20deg or theta > ~160deg.\r\n   * @param vectorB first candidate for additional in-plane vector\r\n   * @param vectorC second candidate for additional in-plane vector\r\n   */\r\n  public createPlaneWithPreferredPerpendicular(\r\n    origin: Point3d, vectorA: Vector3d, cosineValue: number, vectorB: Vector3d, vectorC: Vector3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    cosineValue = Geometry.restrictToInterval(Math.abs(cosineValue), 0.0, 1.0 - Geometry.smallFraction);\r\n    const dotAA = vectorA.magnitudeSquared();\r\n    const dotBB = vectorB.magnitudeSquared();\r\n    const dotAB = Math.abs(vectorA.dotProduct(vectorB));\r\n    const cross = vectorA.unitCrossProduct(\r\n      dotAB * dotAB <= cosineValue * cosineValue * dotAA * dotBB ? vectorB : vectorC,\r\n    );\r\n    if (cross)\r\n      return Plane3dByOriginAndUnitNormal.create(origin, cross);\r\n    return undefined;\r\n  }\r\n  // Caller accesses data from a linestring or segment and passes it here.\r\n  // The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.\r\n  // The fraction and extend parameters allow all combinations to be passed in.\r\n  private dispatchSegmentArc(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    arc: Arc3d,\r\n    extendB0: boolean,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const lineVector = Vector3d.createStartEnd(pointA0, pointA1);\r\n    const plane = this.createPlaneWithPreferredPerpendicular(\r\n      pointA0, lineVector, 0.94, arc.perpendicularVector, arc.vector0);\r\n    if (plane !== undefined) {\r\n      const candidates: CurveLocationDetail[] = [];\r\n      arc.appendPlaneIntersectionPoints(plane, candidates);\r\n      let lineFraction;\r\n      let linePoint: Point3d | undefined;\r\n      for (const c of candidates) {\r\n        if (this.acceptFraction(extendB0, c.fraction, extendB1)) {\r\n          lineFraction = SmallSystem.lineSegment3dClosestPointUnbounded(pointA0, pointA1, c.point);\r\n          if (lineFraction !== undefined) {\r\n            linePoint = pointA0.interpolate(lineFraction, pointA1, linePoint);\r\n            if (linePoint.isAlmostEqualMetric(c.point)\r\n              && this.acceptFraction(extendA0, lineFraction, extendA1)) {\r\n              this.recordPointWithLocalFractions(\r\n                lineFraction, cpA, fractionA0, fractionA1, c.fraction, arc, 0, 1, reversed,\r\n              );\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller promises arcs are coplanar.\r\n  // Passes \"other\" as {center, vector0, vector90} in local xy space of cpA\r\n  // Solves the arc-arc equations for that local ellipse with unit circle.\r\n  // Solution fractions map directly to original arcs.\r\n  private dispatchArcArcInPlane(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    const otherVectors = cpA.otherArcAsLocalVectors(cpB);\r\n    if (otherVectors !== undefined) {\r\n      const ellipseRadians: number[] = [];\r\n      const circleRadians: number[] = [];\r\n      TrigPolynomial.solveUnitCircleHomogeneousEllipseIntersection(\r\n        otherVectors.center.x, otherVectors.center.y, 1.0,\r\n        otherVectors.vector0.x, otherVectors.vector0.y, 0.0,\r\n        otherVectors.vector90.x, otherVectors.vector90.y, 0.0,\r\n        ellipseRadians, circleRadians,\r\n      );\r\n      for (let i = 0; i < ellipseRadians.length; i++) {\r\n        const fractionA = cpA.sweep.radiansToSignedPeriodicFraction(circleRadians[i]);\r\n        const fractionB = cpB.sweep.radiansToSignedPeriodicFraction(ellipseRadians[i]);\r\n        // hm .. do we really need to check the fractions?  We know they are internal to the beziers\r\n        if (this.acceptFraction(extendA, fractionA, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(fractionA, cpA, 0, 1, fractionB, cpB, 0, 1, reversed);\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchArcArc(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    // If arcs are in different planes:\r\n    // 1) Intersect each plane with the other arc (quadratic)\r\n    // 2) accept points that appear in both intersection sets.\r\n    // If arcs are in parallel planes -- no intersections.\r\n    // If arcs are in the same plane -- xy intersection in that plane.\r\n    const planeA = Plane3dByOriginAndUnitNormal.create(cpA.center, cpA.perpendicularVector);\r\n    const planeB = Plane3dByOriginAndUnitNormal.create(cpB.center, cpB.perpendicularVector);\r\n    if (planeA === undefined || planeB === undefined)\r\n      return;\r\n    if (planeA.getNormalRef().isParallelTo(planeB.getNormalRef())) {\r\n      if (planeA.isPointInPlane(planeB.getOriginRef()) && planeB.isPointInPlane(planeA.getOriginRef())) {\r\n        // coplanar\r\n        this.dispatchArcArcInPlane(cpA, extendA, cpB, extendB, reversed);\r\n      }\r\n    } else {\r\n      const arcBPoints: CurveLocationDetail[] = [];\r\n      cpB.appendPlaneIntersectionPoints(planeA, arcBPoints);\r\n      const arcAPoints: CurveLocationDetail[] = [];\r\n      cpA.appendPlaneIntersectionPoints(planeB, arcAPoints);\r\n      for (const detailB of arcBPoints) {\r\n        for (const detailA of arcAPoints) {\r\n          if (detailA.point.isAlmostEqual(detailB.point)) {\r\n            if (this.acceptFraction(extendA, detailA.fraction, extendA)\r\n              && this.acceptFraction(extendB, detailB.fraction, extendB)) {\r\n              this.recordPointWithLocalFractions(detailA.fraction, cpA, 0, 1, detailB.fraction, cpB, 0, 1, reversed);\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchArcBsplineCurve3d(\r\n    _arc: Arc3d, _extendA: boolean, _cpB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    // Arc: X = C + cU + sV\r\n    // implicitize the arc as viewed.  This \"3d\" matrix is homogeneous \"XYW\" not \"xyz\"\r\n    let matrixA: Matrix3d;\r\n    if (this._worldToLocalPerspective) {\r\n      const dataA = cpA.toTransformedPoint4d(this._worldToLocalPerspective);\r\n      matrixA = Matrix3d.createColumnsXYW(\r\n        dataA.vector0, dataA.vector0.w, dataA.vector90, dataA.vector90.w, dataA.center, dataA.center.w,\r\n      );\r\n    } else {\r\n      const dataA = cpA.toTransformedVectors(this._worldToLocalAffine);\r\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, 0, dataA.vector90, 0, dataA.center, 1);\r\n    }\r\n    // The worldToLocal has moved the arc vectors into local space.\r\n    // matrixA captures the xyw parts (ignoring z)\r\n    // for any point in world space,\r\n    // THIS CODE ONLY WORKS FOR\r\n    const matrixAInverse = matrixA.inverse();\r\n    if (matrixAInverse) {\r\n      const orderF = cpB.order; // order of the beziers for simple coordinates\r\n      const orderG = 2 * orderF - 1; // order of the (single) bezier for squared coordinates.\r\n      const coffF = new Float64Array(orderF);\r\n      const univariateBezierG = new UnivariateBezier(orderG);\r\n      const axx = matrixAInverse.at(0, 0);\r\n      const axy = matrixAInverse.at(0, 1);\r\n      const axz = 0.0;\r\n      const axw = matrixAInverse.at(0, 2);\r\n      const ayx = matrixAInverse.at(1, 0);\r\n      const ayy = matrixAInverse.at(1, 1);\r\n      const ayz = 0.0;\r\n      const ayw = matrixAInverse.at(1, 2);\r\n      const awx = matrixAInverse.at(2, 0);\r\n      const awy = matrixAInverse.at(2, 1);\r\n      const awz = 0.0;\r\n      const aww = matrixAInverse.at(2, 2);\r\n\r\n      if (matrixAInverse) {\r\n        let bezier: BezierCurve3dH | undefined;\r\n        for (let spanIndex = 0; ; spanIndex++) {\r\n          bezier = cpB.getSaturatedBezierSpan3dH(spanIndex, bezier);\r\n          if (!bezier) break;\r\n          if (this._worldToLocalPerspective)\r\n            bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n          else if (this._worldToLocalAffine)\r\n            bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n          univariateBezierG.zero();\r\n          bezier.poleProductsXYZW(coffF, axx, axy, axz, axw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, ayx, ayy, ayz, ayw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, awx, awy, awz, aww);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, -1.0);\r\n          const roots = univariateBezierG.roots(0.0, true);\r\n          if (roots) {\r\n            for (const root of roots) {\r\n              const fractionB = bezier.fractionToParentFraction(root);\r\n              // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n              const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n              const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n              const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n              const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n              if (this.acceptFraction(extendA, arcFraction, extendA) &&\r\n                this.acceptFraction(extendB, fractionB, extendB)) {\r\n                this.recordPointWithLocalFractions(\r\n                  arcFraction, cpA, 0, 1, fractionB, cpB, 0, 1, reversed,\r\n                );\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  // Apply the transformation to bezier curves. Optionally construct ranges.\r\n  private transformBeziers(beziers: BezierCurve3dH[]): void {\r\n    if (this._worldToLocalAffine) {\r\n      for (const bezier of beziers) bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n    } else if (this._worldToLocalPerspective) {\r\n      for (const bezier of beziers) bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n    }\r\n  }\r\n  */\r\n  /*\r\n  private getRanges(beziers: BezierCurveBase[]): Range3d[] {\r\n    const ranges: Range3d[] = [];\r\n    ranges.length = 0;\r\n    for (const b of beziers) {\r\n      ranges.push(b.range());\r\n    }\r\n    return ranges;\r\n  }\r\n  private dispatchBezierBezierStrokeFirst(\r\n    bezierA: BezierCurve3dH,\r\n    bcurveA: BSplineCurve3dBase,\r\n    strokeCountA: number,\r\n    bezierB: BezierCurve3dH,\r\n    bcurveB: BSplineCurve3dBase,\r\n    _strokeCountB: number,\r\n    univariateBezierB: UnivariateBezier,  // caller-allocated for univariate coefficients.\r\n    reversed: boolean,\r\n  ) {\r\n    if (!this._xyzwA0)\r\n      this._xyzwA0 = Point4d.create();\r\n    if (!this._xyzwA1)\r\n      this._xyzwA1 = Point4d.create();\r\n    if (!this._xyzwPlane)\r\n      this._xyzwPlane = Point4d.create();\r\n    if (!this._xyzwB)\r\n      this._xyzwB = Point4d.create();\r\n    const roots = univariateBezierG.roots(0.0, true);\r\n    if (roots) {\r\n      for (const root of roots) {\r\n        const fractionB = bezier.fractionToParentFraction(root);\r\n        // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n        const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n        const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n        const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n        const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n        if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(\r\n            arcFraction, cpA, 0, 1, fractionB, cpB, 0, 1, reversed,\r\n          );\r\n        }\r\n      }\r\n    bezierA.fractionToPoint4d(0.0, this._xyzwA0);\r\n    let f0 = 0.0;\r\n    let f1 = 1.0;\r\n    const intervalTolerance = 1.0e-5;\r\n    const df = 1.0 / strokeCountA;\r\n    for (let i = 1; i <= strokeCountA; i++ , f0 = f1, this._xyzwA0.setFrom(this._xyzwA1)) {\r\n      f1 = i * df;\r\n      bezierA.fractionToPoint4d(f1, this._xyzwA1);\r\n      Point4d.createPlanePointPointZ(this._xyzwA0, this._xyzwA1, this._xyzwPlane);\r\n      bezierB.poleProductsXYZW(\r\n        univariateBezierB.coffs, this._xyzwPlane.x, this._xyzwPlane.y, this._xyzwPlane.z, this._xyzwPlane.w,\r\n      );\r\n      let errors = 0;\r\n      const roots = univariateBezierB.roots(0.0, true);\r\n      if (roots)\r\n        for (const r of roots) {\r\n          const bezierBFraction = r;\r\n          bezierB.fractionToPoint4d(bezierBFraction, this._xyzwB);\r\n          const segmentAFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(this._xyzwA0, this._xyzwA1, this._xyzwB);\r\n          if (segmentAFraction && Geometry.isIn01WithTolerance(segmentAFraction, intervalTolerance)) {\r\n            const bezierAFraction = Geometry.interpolate(f0, segmentAFraction, f1);\r\n            // TODO implement newton search\r\n            const xyMatchingFunction = new BezierBezierIntersectionXYRRToRRD(bezierA, bezierB);\r\n            const newtonSearcher = new Newton2dUnboundedWithDerivative(xyMatchingFunction);\r\n            newtonSearcher.setUV(bezierAFraction, bezierBFraction);\r\n            if (newtonSearcher.runIterations()) {\r\n              bezierAFraction = newtonSearcher.getU();\r\n              bezierBFraction = newtonSearcher.getV();\r\n            }\r\n            // We have a near intersection at fractions on the two beziers !!!\r\n            // Iterate on the curves for a true intersection ....\r\n            // NEEDS WORK -- just accept . . .\r\n            const bcurveAFraction = bezierA.fractionToParentFraction(bezierAFraction);\r\n            const bcurveBFraction = bezierB.fractionToParentFraction(bezierBFraction);\r\n            const xyzA0 = bezierA.fractionToPoint(bezierAFraction);\r\n            const xyzA1 = bcurveA.fractionToPoint(bcurveAFraction);\r\n            const xyzB0 = bezierB.fractionToPoint(bezierBFraction);\r\n            const xyzB1 = bcurveB.fractionToPoint(bcurveBFraction);\r\n            if (!xyzA0.isAlmostEqualXY(xyzA1))\r\n              errors++;\r\n            if (!xyzB0.isAlmostEqualXY(xyzB1))\r\n              errors++;\r\n            if (errors > 0 && !xyzA0.isAlmostEqual(xyzB0))\r\n              errors++;\r\n            if (errors > 0 && !xyzA1.isAlmostEqual(xyzB1))\r\n              errors++;\r\n            if (this.acceptFraction(false, bcurveAFraction, false) &&\r\n              this.acceptFraction(false, bcurveBFraction, false)) {\r\n              this.recordPointWithLocalFractions(\r\n                bcurveAFraction, bcurveA, 0, 1, bcurveBFraction, bcurveB, 0, 1, reversed,\r\n              );\r\n            }\r\n          }\r\n        }\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchBSplineCurve3dBSplineCurve3d(\r\n    _bcurveA: BSplineCurve3dBase, _bcurveB: BSplineCurve3dBase, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const bezierSpanA = bcurveA.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const bezierSpanB = bcurveB.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const numA = bezierSpanA.length;\r\n    const numB = bezierSpanB.length;\r\n    this.transformBeziers(bezierSpanA);\r\n    this.transformBeziers(bezierSpanB);\r\n    const rangeA = this.getRanges(bezierSpanA);\r\n    const rangeB = this.getRanges(bezierSpanB);\r\n    const orderA = bcurveA.order;\r\n    const orderB = bcurveB.order;\r\n    const univariateCoffsA = new UnivariateBezier(orderA);\r\n    const univariateCoffsB = new UnivariateBezier(orderB);\r\n    for (let a = 0; a < numA; a++) {\r\n      for (let b = 0; b < numB; b++) {\r\n        if (rangeA[a].intersectsRangeXY(rangeB[b])) {\r\n          const strokeCountA = bezierSpanA[a].computeStrokeCountForOptions();\r\n          const strokeCountB = bezierSpanB[b].computeStrokeCountForOptions();\r\n          if (strokeCountA < strokeCountB)\r\n            this.dispatchBezierBezierStrokeFirst(\r\n              bezierSpanA[a], bcurveA, strokeCountA, bezierSpanB[b], bcurveB, strokeCountB, univariateCoffsB, _reversed,\r\n            );\r\n          else\r\n            this.dispatchBezierBezierStrokeFirst(\r\n              bezierSpanB[b], bcurveB, strokeCountB, bezierSpanA[a], bcurveA, strokeCountA, univariateCoffsA, !_reversed,\r\n            );\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  /**\r\n   * Apply the projection transform (if any) to (xyz, w).\r\n   * @param xyz xyz parts of input point.\r\n   * @param w weight to use for homogeneous effects.\r\n   */\r\n  /*\r\n  private projectPoint(xyz: XYAndZ, w: number = 1.0): Point4d {\r\n    if (this._worldToLocalPerspective)\r\n      return this._worldToLocalPerspective.multiplyPoint3d(xyz, w);\r\n    if (this._worldToLocalAffine)\r\n      return this._worldToLocalAffine.multiplyXYZW(xyz.x, xyz.y, xyz.z, w);\r\n    return Point4d.createFromPointAndWeight(xyz, w);\r\n  }\r\n  private mapNPCPlaneToWorld(npcPlane: Point4d, worldPlane: Point4d) {\r\n    // for NPC pointY, Y^ * H = 0 is \"on\" plane H.  (Hat is transpose)\r\n    // NPC Y is A*X for our transform A and worldPointX.\r\n    // hence (A X)^ * H = 0\r\n    // hence X^ * A^ * H = 0\r\n    // hence K = A^ * H\r\n    if (this._worldToLocalAffine) {\r\n      this._worldToLocalAffine.multiplyTransposeXYZW(npcPlane.x, npcPlane.y, npcPlane.z, npcPlane.w, worldPlane);\r\n    } else if (this._worldToLocalPerspective) {\r\n      this._worldToLocalPerspective.multiplyTransposePoint4d(npcPlane, worldPlane);\r\n    } else {\r\n      npcPlane.clone(worldPlane);\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from segment and bsplineCurve\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchSegmentBsplineCurve(\r\n    _cpA: CurvePrimitive,\r\n    _extendA0: boolean,\r\n    _pointA0: Point3d,\r\n    _fractionA0: number,\r\n    _pointA1: Point3d,\r\n    _fractionA1: number,\r\n    _extendA1: boolean,\r\n    _bcurve: BSplineCurve3d,\r\n    _extendB: boolean,\r\n    _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const pointA0H = this.projectPoint(pointA0);\r\n    const pointA1H = this.projectPoint(pointA1);\r\n    const planeCoffs = Point4d.createPlanePointPointZ(pointA0H, pointA1H);\r\n    this.mapNPCPlaneToWorld(planeCoffs, planeCoffs);\r\n      // NOW .. we have a plane in world space.  Intersect it with the bspline:\r\n    const intersections: CurveLocationDetail[] = [];\r\n    bcurve.appendPlaneIntersectionPoints(planeCoffs, intersections);\r\n      // intersections has WORLD points with bspline fractions.\r\n      // (the bspline fractions are all good 0..1 fractions within the spline).\r\n      // accept those that are within the segment range.\r\n    for (const detail of intersections) {\r\n      const fractionB = detail.fraction;\r\n      const curvePoint = detail.point;\r\n      const curvePointH = this.projectPoint(curvePoint);\r\n      const lineFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(pointA0H, pointA1H, curvePointH);\r\n      if (lineFraction !== undefined && this.acceptFraction(extendA0, lineFraction, extendA1) &&\r\n        this.acceptFraction(extendB, fractionB, extendB)) {\r\n        this.recordPointWithLocalFractions(\r\n          lineFraction, cpA, fractionA0, fractionA1, fractionB, bcurve, 0, 1, reversed,\r\n        );\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /** Low level dispatch of linestring with (beziers of) a bspline curve */\r\n  public dispatchLineStringBSplineCurve(\r\n    _lsA: LineString3d, _extendA: boolean, _curveB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): any {\r\n    /*\r\n    const numA = lsA.numPoints();\r\n    if (numA > 1) {\r\n      const dfA = 1.0 / (numA - 1);\r\n      let fA0;\r\n      let fA1;\r\n      fA0 = 0.0;\r\n      const pointA0 = CurveCurveIntersectXYZ._workPointA0;\r\n      const pointA1 = CurveCurveIntersectXYZ._workPointA1;\r\n      lsA.pointAt(0, pointA0);\r\n      for (let iA = 1; iA < numA; iA++, pointA0.setFrom(pointA1), fA0 = fA1) {\r\n        lsA.pointAt(iA, pointA1);\r\n        fA1 = iA * dfA;\r\n        this.dispatchSegmentBsplineCurve(\r\n          lsA, iA === 1 && extendA, pointA0, fA0, pointA1, fA1, (iA + 1) === numA && extendA,\r\n          curveB, extendB, reversed);\r\n      }\r\n    }\r\n    return undefined;\r\n    */\r\n  }\r\n  /** Detail computation for segment intersecting linestring. */\r\n  public computeSegmentLineString(\r\n    lsA: LineSegment3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointA0 = lsA.point0Ref;\r\n    const pointA1 = lsA.point1Ref;\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentSegment(\r\n          lsA, extendA, pointA0, 0.0, pointA1, 1.0, extendA,\r\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\r\n          reversed,\r\n        );\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Detail computation for arc intersecting linestring. */\r\n  public computeArcLineString(\r\n    arcA: Arc3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentArc(\r\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1,\r\n          (ib + 1) === numB && extendB, arcA, extendA, extendA, !reversed,\r\n        );\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Detail computation for linestring intersecting linestring. */\r\n  private computeLineStringLineString(lsA: LineString3d, lsB: LineString3d, reversed: boolean): void {\r\n    const pointA0 = CurveCurveIntersectXYZ._workPointAA0;\r\n    const pointA1 = CurveCurveIntersectXYZ._workPointAA1;\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numA = lsA.numPoints();\r\n    const numB = lsB.numPoints();\r\n    if (numA > 1 && numB > 1) {\r\n      lsA.pointAt(0, pointA0);\r\n      const dfA = 1.0 / (numA - 1);\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fA0 = 0.0;\r\n      let fB0;\r\n      let fA1;\r\n      let fB1;\r\n      const extendA = this._extendA;\r\n      const extendB = this._extendB;\r\n      lsA.pointAt(0, pointA0);\r\n      for (let ia = 1; ia < numA; ia++, pointA0.setFrom(pointA1), fA0 = fA1) {\r\n        fA1 = ia * dfA;\r\n        fB0 = 0.0;\r\n        lsA.pointAt(ia, pointA1);\r\n        lsB.pointAt(0, pointB0);\r\n        for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n          lsB.pointAt(ib, pointB1);\r\n          fB1 = ib * dfB;\r\n          this.dispatchSegmentSegment(\r\n            lsA, ia === 1 && extendA, pointA0, fA0, pointA1, fA1, (ia + 1) === numA && extendA,\r\n            lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\r\n            reversed,\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /** Low level dispatch of curve collection. */\r\n  private dispatchCurveCollection(geomA: AnyCurve, geomAHandler: (geomA: any) => any): void {\r\n    const geomB = this._geometryB;  // save\r\n    if (!geomB || !geomB.children || !(geomB instanceof CurveCollection))\r\n      return;\r\n    for (const child of geomB.children) {\r\n      this.resetGeometry(child);\r\n      geomAHandler(geomA);\r\n    }\r\n    this._geometryB = geomB;  // restore\r\n  }\r\n  /** Low level dispatch to geomA given a CurveChainWithDistanceIndex in geometryB. */\r\n  private dispatchCurveChainWithDistanceIndex(geomA: AnyCurve, geomAHandler: (geomA: any) => any): void {\r\n    if (!this._geometryB || !(this._geometryB instanceof CurveChainWithDistanceIndex))\r\n      return;\r\n    if (geomA instanceof CurveChainWithDistanceIndex) {\r\n      assert(!!\"call handleCurveChainWithDistanceIndex(geomA) instead\");\r\n      return;\r\n    }\r\n    const index0 = this._results.length;\r\n    const geomB = this._geometryB;  // save\r\n    for (const child of geomB.path.children) {\r\n      this.resetGeometry(child);\r\n      geomAHandler(geomA);\r\n    }\r\n    this.resetGeometry(geomB);  // restore\r\n    this._results = CurveChainWithDistanceIndex.convertChildDetailToChainDetail(this._results, index0, undefined, geomB, true);\r\n  }\r\n  /** Double dispatch handler for strongly typed segment. */\r\n  public override handleLineSegment3d(segmentA: LineSegment3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      const segmentB = this._geometryB;\r\n      this.dispatchSegmentSegment(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref, 1.0, this._extendA,\r\n        segmentB, this._extendB, segmentB.point0Ref, 0.0, segmentB.point1Ref, 1.0, this._extendB,\r\n        false,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeSegmentLineString(segmentA, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchSegmentArc(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, this._extendB, false,\r\n      );\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, false,\r\n      );\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(segmentA, this.handleLineSegment3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(segmentA, this.handleLineSegment3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** double dispatch handler for strongly typed linestring. */\r\n  public override handleLineString3d(lsA: LineString3d): any {\r\n    if (this._geometryB instanceof LineString3d) {\r\n      const lsB = this._geometryB;\r\n      this.computeLineStringLineString(lsA, lsB, false);\r\n    } else if (this._geometryB instanceof LineSegment3d) {\r\n      this.computeSegmentLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.computeArcLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchLineStringBSplineCurve(lsA, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(lsA, this.handleLineString3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(lsA, this.handleLineString3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed arc. */\r\n  public override handleArc3d(arc0: Arc3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentArc(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, arc0, this._extendA, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeArcLineString(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcArc(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchArcBsplineCurve3d(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(arc0, this.handleArc3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(arc0, this.handleArc3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed bspline curve. */\r\n  public override handleBSplineCurve3d(curve: BSplineCurve3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, curve, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3dBase) {\r\n      this.dispatchBSplineCurve3dBSplineCurve3d(curve, this._geometryB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(curve, this.handleBSplineCurve3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(curve, this.handleBSplineCurve3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed CurveChainWithDistanceIndex. */\r\n  public override handleCurveChainWithDistanceIndex(chain: CurveChainWithDistanceIndex): any {\r\n    super.handleCurveChainWithDistanceIndex(chain);\r\n    // if _geometryB is also a CurveChainWithDistanceIndex, it will already have been converted by dispatchCurveChainWithDistanceIndex\r\n    this._results = CurveChainWithDistanceIndex.convertChildDetailToChainDetail(this._results, 0, chain, undefined, true);\r\n  }\r\n  /** Double dispatch handler for strongly typed homogeneous bspline curve. */\r\n  public override handleBSplineCurve3dH(_curve: BSplineCurve3dH): any {\r\n    /*\r\n    // NEEDS WORK -- make \"dispatch\" methods tolerant of both 3d and 3dH\r\n    // \"easy\" if both present BezierCurve3dH span loaders\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref, 1.0, this._extendB,\r\n        curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    }\r\n    */\r\n    return undefined;\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { BSplineCurve3d, BSplineCurve3dBase } from \"../../bspline/BSplineCurve\";\r\nimport { BSplineCurve3dH } from \"../../bspline/BSplineCurve3dH\";\r\nimport { Geometry } from \"../../Geometry\";\r\nimport { RecurseToCurvesGeometryHandler } from \"../../geometry3d/GeometryHandler\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"../../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../../geometry3d/Point3dVector3d\";\r\nimport { SmallSystem, TrigPolynomial } from \"../../numerics/Polynomials\";\r\nimport { Arc3d } from \"../Arc3d\";\r\nimport { CurveChainWithDistanceIndex } from \"../CurveChainWithDistanceIndex\";\r\nimport { CurveCollection } from \"../CurveCollection\";\r\nimport { CurveIntervalRole, CurveLocationDetail, CurveLocationDetailPair } from \"../CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../CurvePrimitive\";\r\nimport { AnyCurve } from \"../CurveTypes\";\r\nimport { LineSegment3d } from \"../LineSegment3d\";\r\nimport { LineString3d } from \"../LineString3d\";\r\n\r\n// cspell:word XYRR\r\n\r\n/**\r\n * Handler class for XYZ intersections between _geometryB and another geometry.\r\n * * Instances are initialized and called from CurveCurve.\r\n * * geometryB is saved for later reference.\r\n * @internal\r\n */\r\nexport class CurveCurveIntersectXYZ extends RecurseToCurvesGeometryHandler {\r\n  private _extendA: boolean;\r\n  private _geometryB: AnyCurve;\r\n  private _extendB: boolean;\r\n  private _results: CurveLocationDetailPair[];\r\n  private static _workVector2dA = Vector2d.create();\r\n  private static _workPointAA0 = Point3d.create();\r\n  private static _workPointAA1 = Point3d.create();\r\n  private static _workPointBB0 = Point3d.create();\r\n  private static _workPointBB1 = Point3d.create();\r\n  /**\r\n   * @param extendA flag to enable using extension of the other geometry.\r\n   * @param geometryB second curve for intersection.  Saved for reference by specific handler methods.\r\n   * @param extendB flag for extension of geometryB.\r\n   */\r\n  public constructor(extendA: boolean, geometryB: AnyCurve, extendB: boolean) {\r\n    super();\r\n    this._extendA = extendA;\r\n    this._geometryB = geometryB;\r\n    this._extendB = extendB;\r\n    this._results = [];\r\n  }\r\n  /** Reset the geometry, leaving all other parts unchanged (and preserving accumulated intersections). */\r\n  public resetGeometry(geometryB: AnyCurve): void {\r\n    this._geometryB = geometryB;\r\n  }\r\n  /**\r\n   * Return the results structure for the intersection calculation, structured as an array of CurveLocationDetailPair.\r\n   * @param reinitialize if true, a new results structure is created for use by later calls.\r\n   */\r\n  public grabPairedResults(reinitialize: boolean = false): CurveLocationDetailPair[] {\r\n    const result = this._results;\r\n    if (reinitialize)\r\n      this._results = [];\r\n    return result;\r\n  }\r\n  private acceptFraction(extend0: boolean, fraction: number, extend1: boolean) {\r\n    if (!extend0 && fraction < 0.0)\r\n      return false;\r\n    if (!extend1 && fraction > 1.0)\r\n      return false;\r\n    return true;\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Reject if evaluated points do not match coordinates (e.g. close approach point).\r\n   * Record with fraction mapping.\r\n   */\r\n  private recordPointWithLocalFractions(\r\n    localFractionA: number,\r\n    cpA: CurvePrimitive,\r\n    fractionA0: number,\r\n    fractionA1: number,\r\n    localFractionB: number,\r\n    cpB: CurvePrimitive,\r\n    fractionB0: number,\r\n    fractionB1: number,\r\n    reversed: boolean,\r\n  ): void {\r\n    const globalFractionA = Geometry.interpolate(fractionA0, localFractionA, fractionA1);\r\n    const globalFractionB = Geometry.interpolate(fractionB0, localFractionB, fractionB1);\r\n    // ignore duplicate of most recent point\r\n    const numPrevious = this._results.length;\r\n    if (numPrevious > 0) {\r\n      const oldDetailA = this._results[numPrevious - 1].detailA;\r\n      const oldDetailB = this._results[numPrevious - 1].detailB;\r\n      if (reversed) {\r\n        if (oldDetailB.isSameCurveAndFraction({ curve: cpA, fraction: globalFractionA }) &&\r\n          oldDetailA.isSameCurveAndFraction({ curve: cpB, fraction: globalFractionB }))\r\n          return;\r\n      } else {\r\n        if (oldDetailA.isSameCurveAndFraction({ curve: cpA, fraction: globalFractionA }) &&\r\n          oldDetailB.isSameCurveAndFraction({ curve: cpB, fraction: globalFractionB }))\r\n          return;\r\n      }\r\n    }\r\n    const pointA = cpA.fractionToPoint(globalFractionA);\r\n    const pointB = cpB.fractionToPoint(globalFractionB);\r\n    if (!pointA.isAlmostEqualMetric(pointB))\r\n      return;\r\n    const detailA = CurveLocationDetail.createCurveFractionPoint(cpA, globalFractionA, pointA);\r\n    detailA.setIntervalRole(CurveIntervalRole.isolated);\r\n    const detailB = CurveLocationDetail.createCurveFractionPoint(cpB, globalFractionB, pointB);\r\n    detailB.setIntervalRole(CurveIntervalRole.isolated);\r\n    if (reversed) {\r\n      const pair = new CurveLocationDetailPair(detailB, detailA);\r\n      this._results.push(pair);\r\n    } else {\r\n      const pair = new CurveLocationDetailPair(detailA, detailB);\r\n      this._results.push(pair);\r\n    }\r\n  }\r\n  /**\r\n   * Compute intersection of two line segments.\r\n   * Filter by extension rules.\r\n   * Record with fraction mapping.\r\n   */\r\n  private computeSegmentSegment3D(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const uv = CurveCurveIntersectXYZ._workVector2dA;\r\n    if (SmallSystem.lineSegment3dClosestApproachUnbounded(pointA0, pointA1, pointB0, pointB1, uv) &&\r\n      this.acceptFraction(extendA0, uv.x, extendA1) && this.acceptFraction(extendB0, uv.y, extendB1)) {\r\n      this.recordPointWithLocalFractions(uv.x, cpA, fractionA0, fractionA1, uv.y, cpB, fractionB0, fractionB1, reversed);\r\n    }\r\n  }\r\n  // Caller accesses data from a line segment and passes to here.\r\n  // The line segment in question might be (a) a full line segment or (b) a fragment within a linestring.\r\n  // The fraction and extend parameters allow all combinations to be passed in.\r\n  // This method applies transform.\r\n  private dispatchSegmentSegment(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    cpB: CurvePrimitive,\r\n    extendB0: boolean,\r\n    pointB0: Point3d,\r\n    fractionB0: number,\r\n    pointB1: Point3d,\r\n    fractionB1: number,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    this.computeSegmentSegment3D(\r\n      cpA, extendA0, pointA0, fractionA0, pointA1, fractionA1, extendA1,\r\n      cpB, extendB0, pointB0, fractionB0, pointB1, fractionB1, extendB1,\r\n      reversed,\r\n    );\r\n  }\r\n  /**\r\n   * Create a plane whose normal is the \"better\" cross product: `vectorA.crossProduct(vectorB)` or\r\n   * `vectorA.crossProduct(vectorC)`\r\n   * * The heuristic for \"better\" is:\r\n   *   * first choice is cross product with `vectorB`, if `vectorA` and `vectorB` are sufficiently far from parallel\r\n   * (or anti-parallel).\r\n   *   * otherwise use vectorC\r\n   * @param origin plane origin\r\n   * @param vectorA vector which must be in the plane.\r\n   * @param cosineValue largest cosine of the angle theta between vectorA and vectorB to prefer their cross product, e.g.\r\n   * passing 0.94 ~ cos(20deg) will switch to using vectorC in the cross product if theta < ~20deg or theta > ~160deg.\r\n   * @param vectorB first candidate for additional in-plane vector\r\n   * @param vectorC second candidate for additional in-plane vector\r\n   */\r\n  public createPlaneWithPreferredPerpendicular(\r\n    origin: Point3d, vectorA: Vector3d, cosineValue: number, vectorB: Vector3d, vectorC: Vector3d,\r\n  ): Plane3dByOriginAndUnitNormal | undefined {\r\n    cosineValue = Geometry.restrictToInterval(Math.abs(cosineValue), 0.0, 1.0 - Geometry.smallFraction);\r\n    const dotAA = vectorA.magnitudeSquared();\r\n    const dotBB = vectorB.magnitudeSquared();\r\n    const dotAB = Math.abs(vectorA.dotProduct(vectorB));\r\n    const cross = vectorA.unitCrossProduct(\r\n      dotAB * dotAB <= cosineValue * cosineValue * dotAA * dotBB ? vectorB : vectorC,\r\n    );\r\n    if (cross)\r\n      return Plane3dByOriginAndUnitNormal.create(origin, cross);\r\n    return undefined;\r\n  }\r\n  // Caller accesses data from a linestring or segment and passes it here.\r\n  // The line in question might be (a) a full line segment or (b) a fragment within a linestring.\r\n  // The fraction and extend parameters allow all combinations to be passed in.\r\n  private dispatchSegmentArc(\r\n    cpA: CurvePrimitive,\r\n    extendA0: boolean,\r\n    pointA0: Point3d,\r\n    fractionA0: number,\r\n    pointA1: Point3d,\r\n    fractionA1: number,\r\n    extendA1: boolean,\r\n    arc: Arc3d,\r\n    extendB0: boolean,\r\n    extendB1: boolean,\r\n    reversed: boolean,\r\n  ): void {\r\n    const lineVector = Vector3d.createStartEnd(pointA0, pointA1);\r\n    const cosValue = 0.94; // cosine of 20 degrees\r\n    const plane = this.createPlaneWithPreferredPerpendicular(\r\n      pointA0, lineVector, cosValue, arc.perpendicularVector, arc.vector0,\r\n    );\r\n    if (plane !== undefined) {\r\n      const candidates: CurveLocationDetail[] = [];\r\n      arc.appendPlaneIntersectionPoints(plane, candidates);\r\n      let lineFraction;\r\n      let linePoint: Point3d | undefined;\r\n      for (const c of candidates) {\r\n        if (this.acceptFraction(extendB0, c.fraction, extendB1)) {\r\n          lineFraction = SmallSystem.lineSegment3dClosestPointUnbounded(pointA0, pointA1, c.point);\r\n          if (lineFraction !== undefined) {\r\n            linePoint = pointA0.interpolate(lineFraction, pointA1, linePoint);\r\n            if (linePoint.isAlmostEqualMetric(c.point)\r\n              && this.acceptFraction(extendA0, lineFraction, extendA1)) {\r\n              this.recordPointWithLocalFractions(\r\n                lineFraction, cpA, fractionA0, fractionA1, c.fraction, arc, 0, 1, reversed,\r\n              );\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller promises arcs are coplanar.\r\n  // Passes \"other\" as {center, vector0, vector90} in local xy space of cpA\r\n  // Solves the arc-arc equations for that local ellipse with unit circle.\r\n  // Solution fractions map directly to original arcs.\r\n  private dispatchArcArcInPlane(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    const otherVectors = cpA.otherArcAsLocalVectors(cpB);\r\n    if (otherVectors !== undefined) {\r\n      const ellipseRadians: number[] = [];\r\n      const circleRadians: number[] = [];\r\n      TrigPolynomial.solveUnitCircleHomogeneousEllipseIntersection(\r\n        otherVectors.center.x, otherVectors.center.y, 1.0,\r\n        otherVectors.vector0.x, otherVectors.vector0.y, 0.0,\r\n        otherVectors.vector90.x, otherVectors.vector90.y, 0.0,\r\n        ellipseRadians, circleRadians,\r\n      );\r\n      for (let i = 0; i < ellipseRadians.length; i++) {\r\n        const fractionA = cpA.sweep.radiansToSignedPeriodicFraction(circleRadians[i]);\r\n        const fractionB = cpB.sweep.radiansToSignedPeriodicFraction(ellipseRadians[i]);\r\n        // hm .. do we really need to check the fractions?  We know they are internal to the beziers\r\n        if (this.acceptFraction(extendA, fractionA, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(fractionA, cpA, 0, 1, fractionB, cpB, 0, 1, reversed);\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchArcArc(\r\n    cpA: Arc3d, extendA: boolean, cpB: Arc3d, extendB: boolean, reversed: boolean,\r\n  ): void {\r\n    // If arcs are in different planes:\r\n    // 1) Intersect each plane with the other arc (quadratic)\r\n    // 2) accept points that appear in both intersection sets.\r\n    // If arcs are in parallel planes -- no intersections.\r\n    // If arcs are in the same plane -- xy intersection in that plane.\r\n    const planeA = Plane3dByOriginAndUnitNormal.create(cpA.center, cpA.perpendicularVector);\r\n    const planeB = Plane3dByOriginAndUnitNormal.create(cpB.center, cpB.perpendicularVector);\r\n    if (planeA === undefined || planeB === undefined)\r\n      return;\r\n    if (planeA.getNormalRef().isParallelTo(planeB.getNormalRef())) {\r\n      if (planeA.isPointInPlane(planeB.getOriginRef()) && planeB.isPointInPlane(planeA.getOriginRef())) {\r\n        // coplanar\r\n        this.dispatchArcArcInPlane(cpA, extendA, cpB, extendB, reversed);\r\n      }\r\n    } else {\r\n      const arcBPoints: CurveLocationDetail[] = [];\r\n      cpB.appendPlaneIntersectionPoints(planeA, arcBPoints);\r\n      const arcAPoints: CurveLocationDetail[] = [];\r\n      cpA.appendPlaneIntersectionPoints(planeB, arcAPoints);\r\n      for (const detailB of arcBPoints) {\r\n        for (const detailA of arcAPoints) {\r\n          if (detailA.point.isAlmostEqual(detailB.point)) {\r\n            if (this.acceptFraction(extendA, detailA.fraction, extendA)\r\n              && this.acceptFraction(extendB, detailB.fraction, extendB)) {\r\n              this.recordPointWithLocalFractions(detailA.fraction, cpA, 0, 1, detailB.fraction, cpB, 0, 1, reversed);\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchArcBsplineCurve3d(\r\n    _arc: Arc3d, _extendA: boolean, _cpB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    // Arc: X = C + cU + sV\r\n    // implicitize the arc as viewed.  This \"3d\" matrix is homogeneous \"XYW\" not \"xyz\"\r\n    let matrixA: Matrix3d;\r\n    if (this._worldToLocalPerspective) {\r\n      const dataA = cpA.toTransformedPoint4d(this._worldToLocalPerspective);\r\n      matrixA = Matrix3d.createColumnsXYW(\r\n        dataA.vector0, dataA.vector0.w, dataA.vector90, dataA.vector90.w, dataA.center, dataA.center.w,\r\n      );\r\n    } else {\r\n      const dataA = cpA.toTransformedVectors(this._worldToLocalAffine);\r\n      matrixA = Matrix3d.createColumnsXYW(dataA.vector0, 0, dataA.vector90, 0, dataA.center, 1);\r\n    }\r\n    // The worldToLocal has moved the arc vectors into local space.\r\n    // matrixA captures the xyw parts (ignoring z)\r\n    // for any point in world space,\r\n    // THIS CODE ONLY WORKS FOR\r\n    const matrixAInverse = matrixA.inverse();\r\n    if (matrixAInverse) {\r\n      const orderF = cpB.order; // order of the beziers for simple coordinates\r\n      const orderG = 2 * orderF - 1; // order of the (single) bezier for squared coordinates.\r\n      const coffF = new Float64Array(orderF);\r\n      const univariateBezierG = new UnivariateBezier(orderG);\r\n      const axx = matrixAInverse.at(0, 0);\r\n      const axy = matrixAInverse.at(0, 1);\r\n      const axz = 0.0;\r\n      const axw = matrixAInverse.at(0, 2);\r\n      const ayx = matrixAInverse.at(1, 0);\r\n      const ayy = matrixAInverse.at(1, 1);\r\n      const ayz = 0.0;\r\n      const ayw = matrixAInverse.at(1, 2);\r\n      const awx = matrixAInverse.at(2, 0);\r\n      const awy = matrixAInverse.at(2, 1);\r\n      const awz = 0.0;\r\n      const aww = matrixAInverse.at(2, 2);\r\n\r\n      if (matrixAInverse) {\r\n        let bezier: BezierCurve3dH | undefined;\r\n        for (let spanIndex = 0; ; spanIndex++) {\r\n          bezier = cpB.getSaturatedBezierSpan3dH(spanIndex, bezier);\r\n          if (!bezier) break;\r\n          if (this._worldToLocalPerspective)\r\n            bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n          else if (this._worldToLocalAffine)\r\n            bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n          univariateBezierG.zero();\r\n          bezier.poleProductsXYZW(coffF, axx, axy, axz, axw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, ayx, ayy, ayz, ayw);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, 1.0);\r\n          bezier.poleProductsXYZW(coffF, awx, awy, awz, aww);\r\n          univariateBezierG.addSquaredSquaredBezier(coffF, -1.0);\r\n          const roots = univariateBezierG.roots(0.0, true);\r\n          if (roots) {\r\n            for (const root of roots) {\r\n              const fractionB = bezier.fractionToParentFraction(root);\r\n              // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n              const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n              const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n              const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n              const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n              if (this.acceptFraction(extendA, arcFraction, extendA) &&\r\n                this.acceptFraction(extendB, fractionB, extendB)) {\r\n                this.recordPointWithLocalFractions(\r\n                  arcFraction, cpA, 0, 1, fractionB, cpB, 0, 1, reversed,\r\n                );\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  // Apply the transformation to bezier curves. Optionally construct ranges.\r\n  private transformBeziers(beziers: BezierCurve3dH[]): void {\r\n    if (this._worldToLocalAffine) {\r\n      for (const bezier of beziers) bezier.tryTransformInPlace(this._worldToLocalAffine);\r\n    } else if (this._worldToLocalPerspective) {\r\n      for (const bezier of beziers) bezier.tryMultiplyMatrix4dInPlace(this._worldToLocalPerspective);\r\n    }\r\n  }\r\n  */\r\n  /*\r\n  private getRanges(beziers: BezierCurveBase[]): Range3d[] {\r\n    const ranges: Range3d[] = [];\r\n    ranges.length = 0;\r\n    for (const b of beziers) {\r\n      ranges.push(b.range());\r\n    }\r\n    return ranges;\r\n  }\r\n  private dispatchBezierBezierStrokeFirst(\r\n    bezierA: BezierCurve3dH,\r\n    bcurveA: BSplineCurve3dBase,\r\n    strokeCountA: number,\r\n    bezierB: BezierCurve3dH,\r\n    bcurveB: BSplineCurve3dBase,\r\n    _strokeCountB: number,\r\n    univariateBezierB: UnivariateBezier,  // caller-allocated for univariate coefficients.\r\n    reversed: boolean,\r\n  ) {\r\n    if (!this._xyzwA0)\r\n      this._xyzwA0 = Point4d.create();\r\n    if (!this._xyzwA1)\r\n      this._xyzwA1 = Point4d.create();\r\n    if (!this._xyzwPlane)\r\n      this._xyzwPlane = Point4d.create();\r\n    if (!this._xyzwB)\r\n      this._xyzwB = Point4d.create();\r\n    const roots = univariateBezierG.roots(0.0, true);\r\n    if (roots) {\r\n      for (const root of roots) {\r\n        const fractionB = bezier.fractionToParentFraction(root);\r\n        // The univariate bezier (which has been transformed by the view transform) evaluates into xyw space\r\n        const bcurvePoint4d = bezier.fractionToPoint4d(root);\r\n        const c = bcurvePoint4d.dotProductXYZW(axx, axy, axz, axw);\r\n        const s = bcurvePoint4d.dotProductXYZW(ayx, ayy, ayz, ayw);\r\n        const arcFraction = cpA.sweep.radiansToSignedPeriodicFraction(Math.atan2(s, c));\r\n        if (this.acceptFraction(extendA, arcFraction, extendA) && this.acceptFraction(extendB, fractionB, extendB)) {\r\n          this.recordPointWithLocalFractions(\r\n            arcFraction, cpA, 0, 1, fractionB, cpB, 0, 1, reversed,\r\n          );\r\n        }\r\n      }\r\n    bezierA.fractionToPoint4d(0.0, this._xyzwA0);\r\n    let f0 = 0.0;\r\n    let f1 = 1.0;\r\n    const intervalTolerance = 1.0e-5;\r\n    const df = 1.0 / strokeCountA;\r\n    for (let i = 1; i <= strokeCountA; i++ , f0 = f1, this._xyzwA0.setFrom(this._xyzwA1)) {\r\n      f1 = i * df;\r\n      bezierA.fractionToPoint4d(f1, this._xyzwA1);\r\n      Point4d.createPlanePointPointZ(this._xyzwA0, this._xyzwA1, this._xyzwPlane);\r\n      bezierB.poleProductsXYZW(\r\n        univariateBezierB.coffs, this._xyzwPlane.x, this._xyzwPlane.y, this._xyzwPlane.z, this._xyzwPlane.w,\r\n      );\r\n      let errors = 0;\r\n      const roots = univariateBezierB.roots(0.0, true);\r\n      if (roots)\r\n        for (const r of roots) {\r\n          const bezierBFraction = r;\r\n          bezierB.fractionToPoint4d(bezierBFraction, this._xyzwB);\r\n          const segmentAFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(this._xyzwA0, this._xyzwA1, this._xyzwB);\r\n          if (segmentAFraction && Geometry.isIn01WithTolerance(segmentAFraction, intervalTolerance)) {\r\n            const bezierAFraction = Geometry.interpolate(f0, segmentAFraction, f1);\r\n            // TODO implement newton search\r\n            const xyMatchingFunction = new BezierBezierIntersectionXYRRToRRD(bezierA, bezierB);\r\n            const newtonSearcher = new Newton2dUnboundedWithDerivative(xyMatchingFunction);\r\n            newtonSearcher.setUV(bezierAFraction, bezierBFraction);\r\n            if (newtonSearcher.runIterations()) {\r\n              bezierAFraction = newtonSearcher.getU();\r\n              bezierBFraction = newtonSearcher.getV();\r\n            }\r\n            // We have a near intersection at fractions on the two beziers !!!\r\n            // Iterate on the curves for a true intersection ....\r\n            // NEEDS WORK -- just accept . . .\r\n            const bcurveAFraction = bezierA.fractionToParentFraction(bezierAFraction);\r\n            const bcurveBFraction = bezierB.fractionToParentFraction(bezierBFraction);\r\n            const xyzA0 = bezierA.fractionToPoint(bezierAFraction);\r\n            const xyzA1 = bcurveA.fractionToPoint(bcurveAFraction);\r\n            const xyzB0 = bezierB.fractionToPoint(bezierBFraction);\r\n            const xyzB1 = bcurveB.fractionToPoint(bcurveBFraction);\r\n            if (!xyzA0.isAlmostEqualXY(xyzA1))\r\n              errors++;\r\n            if (!xyzB0.isAlmostEqualXY(xyzB1))\r\n              errors++;\r\n            if (errors > 0 && !xyzA0.isAlmostEqual(xyzB0))\r\n              errors++;\r\n            if (errors > 0 && !xyzA1.isAlmostEqual(xyzB1))\r\n              errors++;\r\n            if (this.acceptFraction(false, bcurveAFraction, false) &&\r\n              this.acceptFraction(false, bcurveBFraction, false)) {\r\n              this.recordPointWithLocalFractions(\r\n                bcurveAFraction, bcurveA, 0, 1, bcurveBFraction, bcurveB, 0, 1, reversed,\r\n              );\r\n            }\r\n          }\r\n        }\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from two arcs.\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\".\r\n  // Solves the arc-arc equations.\r\n  private dispatchBSplineCurve3dBSplineCurve3d(\r\n    _bcurveA: BSplineCurve3dBase, _bcurveB: BSplineCurve3dBase, _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const bezierSpanA = bcurveA.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const bezierSpanB = bcurveB.collectBezierSpans(true) as BezierCurve3dH[];\r\n    const numA = bezierSpanA.length;\r\n    const numB = bezierSpanB.length;\r\n    this.transformBeziers(bezierSpanA);\r\n    this.transformBeziers(bezierSpanB);\r\n    const rangeA = this.getRanges(bezierSpanA);\r\n    const rangeB = this.getRanges(bezierSpanB);\r\n    const orderA = bcurveA.order;\r\n    const orderB = bcurveB.order;\r\n    const univariateCoffsA = new UnivariateBezier(orderA);\r\n    const univariateCoffsB = new UnivariateBezier(orderB);\r\n    for (let a = 0; a < numA; a++) {\r\n      for (let b = 0; b < numB; b++) {\r\n        if (rangeA[a].intersectsRangeXY(rangeB[b])) {\r\n          const strokeCountA = bezierSpanA[a].computeStrokeCountForOptions();\r\n          const strokeCountB = bezierSpanB[b].computeStrokeCountForOptions();\r\n          if (strokeCountA < strokeCountB)\r\n            this.dispatchBezierBezierStrokeFirst(\r\n              bezierSpanA[a], bcurveA, strokeCountA, bezierSpanB[b], bcurveB, strokeCountB, univariateCoffsB, _reversed,\r\n            );\r\n          else\r\n            this.dispatchBezierBezierStrokeFirst(\r\n              bezierSpanB[b], bcurveB, strokeCountB, bezierSpanA[a], bcurveA, strokeCountA, univariateCoffsA, !_reversed,\r\n            );\r\n        }\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /*\r\n  /**\r\n   * Apply the projection transform (if any) to (xyz, w).\r\n   * @param xyz xyz parts of input point.\r\n   * @param w weight to use for homogeneous effects.\r\n   */\r\n  /*\r\n  private projectPoint(xyz: XYAndZ, w: number = 1.0): Point4d {\r\n    if (this._worldToLocalPerspective)\r\n      return this._worldToLocalPerspective.multiplyPoint3d(xyz, w);\r\n    if (this._worldToLocalAffine)\r\n      return this._worldToLocalAffine.multiplyXYZW(xyz.x, xyz.y, xyz.z, w);\r\n    return Point4d.createFromPointAndWeight(xyz, w);\r\n  }\r\n  private mapNPCPlaneToWorld(npcPlane: Point4d, worldPlane: Point4d) {\r\n    // for NPC pointY, Y^ * H = 0 is \"on\" plane H.  (Hat is transpose)\r\n    // NPC Y is A*X for our transform A and worldPointX.\r\n    // hence (A X)^ * H = 0\r\n    // hence X^ * A^ * H = 0\r\n    // hence K = A^ * H\r\n    if (this._worldToLocalAffine) {\r\n      this._worldToLocalAffine.multiplyTransposeXYZW(npcPlane.x, npcPlane.y, npcPlane.z, npcPlane.w, worldPlane);\r\n    } else if (this._worldToLocalPerspective) {\r\n      this._worldToLocalPerspective.multiplyTransposePoint4d(npcPlane, worldPlane);\r\n    } else {\r\n      npcPlane.clone(worldPlane);\r\n    }\r\n  }\r\n  */\r\n  // Caller accesses data from segment and bsplineCurve\r\n  // Selects the best conditioned arc (in xy parts) as \"circle after inversion\"\r\n  // Solves the arc-arc equations\r\n  private dispatchSegmentBsplineCurve(\r\n    _cpA: CurvePrimitive,\r\n    _extendA0: boolean,\r\n    _pointA0: Point3d,\r\n    _fractionA0: number,\r\n    _pointA1: Point3d,\r\n    _fractionA1: number,\r\n    _extendA1: boolean,\r\n    _bcurve: BSplineCurve3d,\r\n    _extendB: boolean,\r\n    _reversed: boolean,\r\n  ): void {\r\n    /*\r\n    const pointA0H = this.projectPoint(pointA0);\r\n    const pointA1H = this.projectPoint(pointA1);\r\n    const planeCoffs = Point4d.createPlanePointPointZ(pointA0H, pointA1H);\r\n    this.mapNPCPlaneToWorld(planeCoffs, planeCoffs);\r\n      // NOW .. we have a plane in world space.  Intersect it with the bspline:\r\n    const intersections: CurveLocationDetail[] = [];\r\n    bcurve.appendPlaneIntersectionPoints(planeCoffs, intersections);\r\n      // intersections has WORLD points with bspline fractions.\r\n      // (the bspline fractions are all good 0..1 fractions within the spline).\r\n      // accept those that are within the segment range.\r\n    for (const detail of intersections) {\r\n      const fractionB = detail.fraction;\r\n      const curvePoint = detail.point;\r\n      const curvePointH = this.projectPoint(curvePoint);\r\n      const lineFraction = SmallSystem.lineSegment3dHXYClosestPointUnbounded(pointA0H, pointA1H, curvePointH);\r\n      if (lineFraction !== undefined && this.acceptFraction(extendA0, lineFraction, extendA1) &&\r\n        this.acceptFraction(extendB, fractionB, extendB)) {\r\n        this.recordPointWithLocalFractions(\r\n          lineFraction, cpA, fractionA0, fractionA1, fractionB, bcurve, 0, 1, reversed,\r\n        );\r\n      }\r\n    }\r\n    */\r\n  }\r\n  /** Low level dispatch of linestring with (beziers of) a bspline curve */\r\n  public dispatchLineStringBSplineCurve(\r\n    _lsA: LineString3d, _extendA: boolean, _curveB: BSplineCurve3d, _extendB: boolean, _reversed: boolean,\r\n  ): any {\r\n    /*\r\n    const numA = lsA.numPoints();\r\n    if (numA > 1) {\r\n      const dfA = 1.0 / (numA - 1);\r\n      let fA0;\r\n      let fA1;\r\n      fA0 = 0.0;\r\n      const pointA0 = CurveCurveIntersectXYZ._workPointA0;\r\n      const pointA1 = CurveCurveIntersectXYZ._workPointA1;\r\n      lsA.pointAt(0, pointA0);\r\n      for (let iA = 1; iA < numA; iA++, pointA0.setFrom(pointA1), fA0 = fA1) {\r\n        lsA.pointAt(iA, pointA1);\r\n        fA1 = iA * dfA;\r\n        this.dispatchSegmentBsplineCurve(\r\n          lsA, iA === 1 && extendA, pointA0, fA0, pointA1, fA1, (iA + 1) === numA && extendA,\r\n          curveB, extendB, reversed);\r\n      }\r\n    }\r\n    return undefined;\r\n    */\r\n  }\r\n  /** Detail computation for segment intersecting linestring. */\r\n  public computeSegmentLineString(\r\n    lsA: LineSegment3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointA0 = lsA.point0Ref;\r\n    const pointA1 = lsA.point1Ref;\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentSegment(\r\n          lsA, extendA, pointA0, 0.0, pointA1, 1.0, extendA,\r\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\r\n          reversed,\r\n        );\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Detail computation for arc intersecting linestring. */\r\n  public computeArcLineString(\r\n    arcA: Arc3d, extendA: boolean, lsB: LineString3d, extendB: boolean, reversed: boolean,\r\n  ): any {\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numB = lsB.numPoints();\r\n    if (numB > 1) {\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fB0;\r\n      let fB1;\r\n      fB0 = 0.0;\r\n      lsB.pointAt(0, pointB0);\r\n      for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n        lsB.pointAt(ib, pointB1);\r\n        fB1 = ib * dfB;\r\n        this.dispatchSegmentArc(\r\n          lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1,\r\n          (ib + 1) === numB && extendB, arcA, extendA, extendA, !reversed,\r\n        );\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Detail computation for linestring intersecting linestring. */\r\n  private computeLineStringLineString(lsA: LineString3d, lsB: LineString3d, reversed: boolean): void {\r\n    const pointA0 = CurveCurveIntersectXYZ._workPointAA0;\r\n    const pointA1 = CurveCurveIntersectXYZ._workPointAA1;\r\n    const pointB0 = CurveCurveIntersectXYZ._workPointBB0;\r\n    const pointB1 = CurveCurveIntersectXYZ._workPointBB1;\r\n    const numA = lsA.numPoints();\r\n    const numB = lsB.numPoints();\r\n    if (numA > 1 && numB > 1) {\r\n      lsA.pointAt(0, pointA0);\r\n      const dfA = 1.0 / (numA - 1);\r\n      const dfB = 1.0 / (numB - 1);\r\n      let fA0 = 0.0;\r\n      let fB0;\r\n      let fA1;\r\n      let fB1;\r\n      const extendA = this._extendA;\r\n      const extendB = this._extendB;\r\n      lsA.pointAt(0, pointA0);\r\n      for (let ia = 1; ia < numA; ia++, pointA0.setFrom(pointA1), fA0 = fA1) {\r\n        fA1 = ia * dfA;\r\n        fB0 = 0.0;\r\n        lsA.pointAt(ia, pointA1);\r\n        lsB.pointAt(0, pointB0);\r\n        for (let ib = 1; ib < numB; ib++, pointB0.setFrom(pointB1), fB0 = fB1) {\r\n          lsB.pointAt(ib, pointB1);\r\n          fB1 = ib * dfB;\r\n          this.dispatchSegmentSegment(\r\n            lsA, ia === 1 && extendA, pointA0, fA0, pointA1, fA1, (ia + 1) === numA && extendA,\r\n            lsB, ib === 1 && extendB, pointB0, fB0, pointB1, fB1, (ib + 1) === numB && extendB,\r\n            reversed,\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /** Low level dispatch of curve collection. */\r\n  private dispatchCurveCollection(geomA: AnyCurve, geomAHandler: (geomA: any) => any): void {\r\n    const geomB = this._geometryB;  // save\r\n    if (!geomB || !geomB.children || !(geomB instanceof CurveCollection))\r\n      return;\r\n    for (const child of geomB.children) {\r\n      this.resetGeometry(child);\r\n      geomAHandler(geomA);\r\n    }\r\n    this._geometryB = geomB;  // restore\r\n  }\r\n  /** Low level dispatch to geomA given a CurveChainWithDistanceIndex in geometryB. */\r\n  private dispatchCurveChainWithDistanceIndex(geomA: AnyCurve, geomAHandler: (geomA: any) => any): void {\r\n    if (!this._geometryB || !(this._geometryB instanceof CurveChainWithDistanceIndex))\r\n      return;\r\n    if (geomA instanceof CurveChainWithDistanceIndex) {\r\n      assert(!!\"call handleCurveChainWithDistanceIndex(geomA) instead\");\r\n      return;\r\n    }\r\n    const index0 = this._results.length;\r\n    const geomB = this._geometryB;  // save\r\n    for (const child of geomB.path.children) {\r\n      this.resetGeometry(child);\r\n      geomAHandler(geomA);\r\n    }\r\n    this.resetGeometry(geomB);  // restore\r\n    this._results = CurveChainWithDistanceIndex.convertChildDetailToChainDetail(this._results, index0, undefined, geomB, true);\r\n  }\r\n  /** Double dispatch handler for strongly typed segment. */\r\n  public override handleLineSegment3d(segmentA: LineSegment3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      const segmentB = this._geometryB;\r\n      this.dispatchSegmentSegment(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref, 1.0, this._extendA,\r\n        segmentB, this._extendB, segmentB.point0Ref, 0.0, segmentB.point1Ref, 1.0, this._extendB,\r\n        false,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeSegmentLineString(segmentA, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchSegmentArc(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, this._extendB, false,\r\n      );\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        segmentA, this._extendA, segmentA.point0Ref, 0.0, segmentA.point1Ref,\r\n        1.0, this._extendA, this._geometryB, this._extendB, false,\r\n      );\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(segmentA, this.handleLineSegment3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(segmentA, this.handleLineSegment3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** double dispatch handler for strongly typed linestring. */\r\n  public override handleLineString3d(lsA: LineString3d): any {\r\n    if (this._geometryB instanceof LineString3d) {\r\n      const lsB = this._geometryB;\r\n      this.computeLineStringLineString(lsA, lsB, false);\r\n    } else if (this._geometryB instanceof LineSegment3d) {\r\n      this.computeSegmentLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.computeArcLineString(this._geometryB, this._extendB, lsA, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchLineStringBSplineCurve(lsA, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(lsA, this.handleLineString3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(lsA, this.handleLineString3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed arc. */\r\n  public override handleArc3d(arc0: Arc3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentArc(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, arc0, this._extendA, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.computeArcLineString(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcArc(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof BSplineCurve3d) {\r\n      this.dispatchArcBsplineCurve3d(arc0, this._extendA, this._geometryB, this._extendB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(arc0, this.handleArc3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(arc0, this.handleArc3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed bspline curve. */\r\n  public override handleBSplineCurve3d(curve: BSplineCurve3d): any {\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref,\r\n        1.0, this._extendB, curve, this._extendA, true,\r\n      );\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof BSplineCurve3dBase) {\r\n      this.dispatchBSplineCurve3dBSplineCurve3d(curve, this._geometryB, false);\r\n    } else if (this._geometryB instanceof CurveCollection) {\r\n      this.dispatchCurveCollection(curve, this.handleBSplineCurve3d.bind(this));\r\n    } else if (this._geometryB instanceof CurveChainWithDistanceIndex) {\r\n      this.dispatchCurveChainWithDistanceIndex(curve, this.handleBSplineCurve3d.bind(this));\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Double dispatch handler for strongly typed CurveChainWithDistanceIndex. */\r\n  public override handleCurveChainWithDistanceIndex(chain: CurveChainWithDistanceIndex): any {\r\n    super.handleCurveChainWithDistanceIndex(chain);\r\n    // if _geometryB is also a CurveChainWithDistanceIndex, it will already have been converted by dispatchCurveChainWithDistanceIndex\r\n    this._results = CurveChainWithDistanceIndex.convertChildDetailToChainDetail(this._results, 0, chain, undefined, true);\r\n  }\r\n  /** Double dispatch handler for strongly typed homogeneous bspline curve. */\r\n  public override handleBSplineCurve3dH(_curve: BSplineCurve3dH): any {\r\n    /*\r\n    // NEEDS WORK -- make \"dispatch\" methods tolerant of both 3d and 3dH\r\n    // \"easy\" if both present BezierCurve3dH span loaders\r\n    if (this._geometryB instanceof LineSegment3d) {\r\n      this.dispatchSegmentBsplineCurve(\r\n        this._geometryB, this._extendB, this._geometryB.point0Ref, 0.0, this._geometryB.point1Ref, 1.0, this._extendB,\r\n        curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof LineString3d) {\r\n      this.dispatchLineStringBSplineCurve(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    } else if (this._geometryB instanceof Arc3d) {\r\n      this.dispatchArcBsplineCurve3d(this._geometryB, this._extendB, curve, this._extendA, true);\r\n    }\r\n    */\r\n    return undefined;\r\n  }\r\n}\r\n"]}

package/lib/cjs/numerics/Newton.d.ts

@@ -1,4 +1,6 @@
+import { CurvePrimitive } from "../curve/CurvePrimitive";
 import { Plane3dByOriginAndVectors } from "../geometry3d/Plane3dByOriginAndVectors";
+import { Point3d } from "../geometry3d/Point3dVector3d";
 /**
  * Base class for Newton iterations in various dimensions.
  * Dimension-specific classes carry all dimension-related data and answer generalized queries from this base class.
@@ -97,7 +99,7 @@ export declare class Newton1dUnbounded extends AbstractNewtonIterator {
     setTarget(y: number): void;
     /** Move the current X by the just-computed step, i.e., `x_n - dx`. */
     applyCurrentStep(): boolean;
-    /** Compute the univariate newton step. */
+    /** Compute the univariate newton step dx. */
     computeStep(): boolean;
     /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */
     currentStepSize(): number;
@@ -142,7 +144,7 @@ export declare class Newton1dUnboundedApproximateDerivative extends AbstractNewt
     getX(): number;
     /** Move the current X by the just-computed step, i.e., `x_n - dx`. */
     applyCurrentStep(): boolean;
-    /** Univariate newton step computed with approximate derivative. */
+    /** Univariate newton step dx, computed with approximate derivative. */
     computeStep(): boolean;
     /** Return the current step size as a relative number, i.e., `|dx / (1 + |x_n|)|`. */
     currentStepSize(): number;
@@ -160,20 +162,10 @@ export declare abstract class NewtonEvaluatorRRtoRRD {
     /**
      * Most recent function evaluation as parts of the plane.
      * * See doc of [[Newton2dUnboundedWithDerivative]] class for info on 2d newton method.
-     * * For current value (u,v) of the independent variable, and `F(u,v) := (x(u,v), y(u,v)), the returned plane has:
-     * * `origin.x` = x(u,v)
-     * * `origin.y` = y(u,v)
-     * * `vectorU.x` = dx/du
-     * * `vectorU.y` = dy/du
-     * * `vectorV.x` = dx/dv
-     * * `vectorV.y` = dy/dv
-     * * In other words, the plane stores the columns of the Jacobian matrix J of F: `vectorU` stores the partials
-     * of F with respect to u (the first column of J), and `vectorV` stores the partials of F with respect to v
-     * (the second column of J):
-     *
-     * `[vectorU.x   vectorV.x]`
-     *
-     * `[vectorU.y   vectorV.y]`
+     * * For `F(u,v) := (x(u,v), y(u,v))` the returned plane stores the following evaluations at current value `X := (u,v)`:
+     * * `origin` = F(X) = (x(X), y(X))
+     * * `vectorU` = F_u(X) = partial deriv of F wrt u at X = (x_u(X), y_u(X)) = 1st col of Jacobian matrix evaluated at X
+     * * `vectorV` = F_v(X) = partial deriv of F wrt v at X = (x_v(X), y_v(X)) = 2nd col of Jacobian matrix evaluated at X
      */
     currentF: Plane3dByOriginAndVectors;
     /**
@@ -187,7 +179,7 @@ export declare abstract class NewtonEvaluatorRRtoRRD {
  * * Suppose we want to find the roots of `F(u,v) := (x(u,v), y(u,v))`. Writing `X := (u,v)` and `F(X)` as column vectors,
  *  the 2D Newton's iteration to find a root of `F` is given by:
  * `X_{n+1} = X_n - dX = X_n - JInv(X_n)F(X_n)`, where `JInv` is the inverse of the Jacobian matrix `J`, and `J` is
- * defined as:
+ * defined by the partial derivatives of the component functions of F:
  *
  * `[dx/du   dx/dv]`
  *
@@ -240,4 +232,39 @@ export declare class SimpleNewton {
      */
     static runNewton1D(x: number, func: (x: number) => number | undefined, derivative: (x: number) => number | undefined, absoluteTolerance?: number): number | undefined;
 }
+/**
+ * Class to evaluate XY intersection between 2 curve primitives using the Newton method.
+ * @internal
+ */
+export declare class CurveCurveIntersectionXYRRToRRD extends NewtonEvaluatorRRtoRRD {
+    private _curveP;
+    private _curveQ;
+    private _rayP;
+    private _rayQ;
+    constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive);
+    evaluate(fractionU: number, fractionV: number): boolean;
+}
+/**
+ * Class to evaluate XY close approach between a curve primitive and a point using the Newton method.
+ * @internal
+ */
+export declare class CurvePointCloseApproachXYRtoRD extends NewtonEvaluatorRtoRD {
+    private _curveP;
+    private _pointQ;
+    private _planeP;
+    constructor(curveP: CurvePrimitive, pointQ: Point3d);
+    evaluate(fractionU: number): boolean;
+}
+/**
+ * Class to evaluate XY close approach between 2 curve primitives using the Newton method.
+ * @internal
+ */
+export declare class CurveCurveCloseApproachXYRRtoRRD extends NewtonEvaluatorRRtoRRD {
+    private _curveP;
+    private _curveQ;
+    private _planeP;
+    private _planeQ;
+    constructor(curveP: CurvePrimitive, curveQ: CurvePrimitive);
+    evaluate(fractionU: number, fractionV: number): boolean;
+}
 //# sourceMappingURL=Newton.d.ts.map

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package/lib/cjs/numerics/Newton.js

@@ -4,15 +4,16 @@
 * See LICENSE.md in the project root for license terms and full copyright notice.
 *--------------------------------------------------------------------------------------------*/
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.SimpleNewton = exports.Newton2dUnboundedWithDerivative = exports.NewtonEvaluatorRRtoRRD = exports.Newton1dUnboundedApproximateDerivative = exports.NewtonEvaluatorRtoR = exports.Newton1dUnbounded = exports.NewtonEvaluatorRtoRD = exports.AbstractNewtonIterator = void 0;
+exports.CurveCurveCloseApproachXYRRtoRRD = exports.CurvePointCloseApproachXYRtoRD = exports.CurveCurveIntersectionXYRRToRRD = exports.SimpleNewton = exports.Newton2dUnboundedWithDerivative = exports.NewtonEvaluatorRRtoRRD = exports.Newton1dUnboundedApproximateDerivative = exports.NewtonEvaluatorRtoR = exports.Newton1dUnbounded = exports.NewtonEvaluatorRtoRD = exports.AbstractNewtonIterator = void 0;
 /** @packageDocumentation
  * @module Numerics
  */
 const Geometry_1 = require("../Geometry");
 const Plane3dByOriginAndVectors_1 = require("../geometry3d/Plane3dByOriginAndVectors");
 const Point2dVector2d_1 = require("../geometry3d/Point2dVector2d");
+const Ray3d_1 = require("../geometry3d/Ray3d");
 const Polynomials_1 = require("./Polynomials");
-// cspell:word currentdFdX
+// cspell:word currentdFdX XYRR
 /**
  * Base class for Newton iterations in various dimensions.
  * Dimension-specific classes carry all dimension-related data and answer generalized queries from this base class.
@@ -66,6 +67,7 @@ class AbstractNewtonIterator {
         this.numIterations = 0;
         while (this.numIterations++ < this._maxIterations && this.computeStep()) {
             if (this.testConvergence(this.currentStepSize()) && this.applyCurrentStep(true)) {
+                // console.log("iter: " + this.numIterations); // print number of Newton iterations for debug
                 return true;
             }
             this.applyCurrentStep(false);
@@ -117,7 +119,7 @@ class Newton1dUnbounded extends AbstractNewtonIterator {
         // console.log(this._currentX - this._currentStep); // print approximations for debug
         return this.setX(this._currentX - this._currentStep);
     }
-    /** Compute the univariate newton step. */
+    /** Compute the univariate newton step dx. */
     computeStep() {
         if (this._func.evaluate(this._currentX)) {
             const dx = Geometry_1.Geometry.conditionalDivideFraction(this._func.currentF - this._target, this._func.currentdFdX);
@@ -172,7 +174,7 @@ class Newton1dUnboundedApproximateDerivative extends AbstractNewtonIterator {
         // console.log(this._currentX - this._currentStep); // print approximations for debug
         return this.setX(this._currentX - this._currentStep);
     }
-    /** Univariate newton step computed with approximate derivative. */
+    /** Univariate newton step dx, computed with approximate derivative. */
     computeStep() {
         if (this._func.evaluate(this._currentX)) {
             const fA = this._func.currentF; // f(x_n)
@@ -212,7 +214,7 @@ exports.NewtonEvaluatorRRtoRRD = NewtonEvaluatorRRtoRRD;
  * * Suppose we want to find the roots of `F(u,v) := (x(u,v), y(u,v))`. Writing `X := (u,v)` and `F(X)` as column vectors,
  *  the 2D Newton's iteration to find a root of `F` is given by:
  * `X_{n+1} = X_n - dX = X_n - JInv(X_n)F(X_n)`, where `JInv` is the inverse of the Jacobian matrix `J`, and `J` is
- * defined as:
+ * defined by the partial derivatives of the component functions of F:
  *
  * `[dx/du   dx/dv]`
  *
@@ -225,7 +227,8 @@ class Newton2dUnboundedWithDerivative extends AbstractNewtonIterator {
      * @param func function that returns both function value and derivative.
      */
     constructor(func) {
-        super();
+        const maxIterations = 100; // Was default (15). We observed 49 iters to achieve 1e-11 tol with tangent geometry.
+        super(undefined, undefined, maxIterations);
         this._func = func;
         this._currentStep = Point2dVector2d_1.Vector2d.createZero();
         this._currentUV = Point2dVector2d_1.Point2d.createZero();
@@ -257,7 +260,10 @@ class Newton2dUnboundedWithDerivative extends AbstractNewtonIterator {
         if (this._func.evaluate(this._currentUV.x, this._currentUV.y)) {
             const fA = this._func.currentF;
             if ( // Given X_{n+1} = X_n - dX = X_n - JInv(X_n) F(X_n), we solve J(X_n) dX = F(X_n) for dX:
-            Polynomials_1.SmallSystem.linearSystem2d(fA.vectorU.x, fA.vectorV.x, fA.vectorU.y, fA.vectorV.y, fA.origin.x, fA.origin.y, this._currentStep))
+            Polynomials_1.SmallSystem.linearSystem2d(fA.vectorU.x, fA.vectorV.x, // x_u(X_n), x_v(X_n): 1st row of J evaluated at X_n
+            fA.vectorU.y, fA.vectorV.y, // y_u(X_n), y_v(X_n): 2nd row of J evaluated at X_n
+            fA.origin.x, fA.origin.y, // F(X_n) := (x(X_n), y(X_n))
+            this._currentStep))
                 return true;
         }
         return false;
@@ -313,4 +319,107 @@ class SimpleNewton {
     }
 }
 exports.SimpleNewton = SimpleNewton;
+/**
+ * Class to evaluate XY intersection between 2 curve primitives using the Newton method.
+ * @internal
+ */
+class CurveCurveIntersectionXYRRToRRD extends NewtonEvaluatorRRtoRRD {
+    constructor(curveP, curveQ) {
+        super();
+        this._curveP = curveP;
+        this._curveQ = curveQ;
+        this._rayP = Ray3d_1.Ray3d.createZero();
+        this._rayQ = Ray3d_1.Ray3d.createZero();
+    }
+    evaluate(fractionU, fractionV) {
+        /**
+         * To find an intersection between xy-curves P(u) = (x_p(u), y_p(u)) and Q(v) = (x_q(v), y_q(v)) we should solve
+         *   F(u,v) := P(u) - Q(v) = (0,0)
+         * Using the Newton method we can find the fractions u and v at the intersection via
+         *   [u_{n+1}]     [u_n]          [x_p'(u_n)  -x_q'(v_n)]    [x_p(u_n) - x_q(v_n)]
+         *              =         -  Inv(                         )
+         *   [v_{n+1}]     [v_n]          [y_p'(u_n)  -y_q'(v_n)]    [y_p(u_n) - y_q(v_n)]
+         * Note that this is xy intersection so we can ignore z.
+         */
+        this._curveP.fractionToPointAndDerivative(fractionU, this._rayP);
+        this._curveQ.fractionToPointAndDerivative(fractionV, this._rayQ);
+        this.currentF.setOriginAndVectorsXYZ(this._rayP.origin.x - this._rayQ.origin.x, this._rayP.origin.y - this._rayQ.origin.y, 0.0, this._rayP.direction.x, this._rayP.direction.y, 0.0, -this._rayQ.direction.x, -this._rayQ.direction.y, 0.0);
+        return true;
+    }
+}
+exports.CurveCurveIntersectionXYRRToRRD = CurveCurveIntersectionXYRRToRRD;
+/**
+ * Class to evaluate XY close approach between a curve primitive and a point using the Newton method.
+ * @internal
+ */
+class CurvePointCloseApproachXYRtoRD extends NewtonEvaluatorRtoRD {
+    constructor(curveP, pointQ) {
+        super();
+        this._curveP = curveP;
+        this._pointQ = pointQ;
+        this._planeP = Plane3dByOriginAndVectors_1.Plane3dByOriginAndVectors.createXYPlane();
+    }
+    evaluate(fractionU) {
+        /**
+         * To find a close approach between xy-curve P(u) and xy-point q we should solve
+         *    F(u) := P'(u).(P(u) - q) = 0
+         * For a solution u, the segment S(u) := P(u) - q is perpendicular to the curve tangent P'(u), which means S(u) is a close approach.
+         * Using the Newton method we can find the fractions u at the close approach location via
+         *    u_{n+1} = u_n + F(u_n)/F'(u_n) = u_n + [ P'(u_n).S(u_n) ]/[ P''(u_n).S(u_n) + P'(u_n).P'(u_n) ]
+         * Note that this is xy close approach so we can ignore z.
+         */
+        this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);
+        const segX = this._planeP.origin.x - this._pointQ.x;
+        const segY = this._planeP.origin.y - this._pointQ.y;
+        const pDerivX = this._planeP.vectorU.x;
+        const pDerivY = this._planeP.vectorU.y;
+        const p2DerivX = this._planeP.vectorV.x;
+        const p2DerivY = this._planeP.vectorV.y;
+        this.currentF = pDerivX * segX + pDerivY * segY;
+        this.currentdFdX = p2DerivX * segX + pDerivX * pDerivX + p2DerivY * segY + pDerivY * pDerivY;
+        return true;
+    }
+}
+exports.CurvePointCloseApproachXYRtoRD = CurvePointCloseApproachXYRtoRD;
+/**
+ * Class to evaluate XY close approach between 2 curve primitives using the Newton method.
+ * @internal
+ */
+class CurveCurveCloseApproachXYRRtoRRD extends NewtonEvaluatorRRtoRRD {
+    constructor(curveP, curveQ) {
+        super();
+        this._curveP = curveP;
+        this._curveQ = curveQ;
+        this._planeP = Plane3dByOriginAndVectors_1.Plane3dByOriginAndVectors.createXYPlane();
+        this._planeQ = Plane3dByOriginAndVectors_1.Plane3dByOriginAndVectors.createXYPlane();
+    }
+    evaluate(fractionU, fractionV) {
+        /**
+         * To find a close approach between xy-curves P(u) and Q(v) we should solve
+         *    F(u,v) := (P'(u).(P(u) - Q(v)), Q'(v).(P(u) - Q(v))) = (0,0)
+         * For a solution (u,v), the segment S(u,v) := P(u) - Q(v) is perpendicular to the curve tangents P'(u) and Q'(v),
+         * which means S(u,v) is a close approach.
+         * Using the Newton method we can find the fractions u and v at the close approach location via
+         *   [u_{n+1}]     [u_n]          [P''(u_n).S(u_n,v_n) + P'(u_n).P'(u_n)    -P'(u_n).Q'(v_n)]    [P'(u_n).S(u_n,v_n)]
+         *              =         -  Inv(                                                            )
+         *   [v_{n+1}]     [v_n]          [Q'(v_n).P'(u_n)     Q''(v_n).S(u_n,v_n) - Q'(v_n).Q'(v_n)]    [Q'(v_n).S(u_n,v_n)]
+         * Note that this is xy close approach so we can ignore z.
+         */
+        this._curveP.fractionToPointAnd2Derivatives(fractionU, this._planeP);
+        this._curveQ.fractionToPointAnd2Derivatives(fractionV, this._planeQ);
+        const segX = this._planeP.origin.x - this._planeQ.origin.x;
+        const segY = this._planeP.origin.y - this._planeQ.origin.y;
+        const pDerivX = this._planeP.vectorU.x;
+        const pDerivY = this._planeP.vectorU.y;
+        const qDerivX = this._planeQ.vectorU.x;
+        const qDerivY = this._planeQ.vectorU.y;
+        const p2DerivX = this._planeP.vectorV.x;
+        const p2DerivY = this._planeP.vectorV.y;
+        const q2DerivX = this._planeQ.vectorV.x;
+        const q2DerivY = this._planeQ.vectorV.y;
+        this.currentF.setOriginAndVectorsXYZ(pDerivX * segX + pDerivY * segY, qDerivX * segX + qDerivY * segY, 0.0, p2DerivX * segX + p2DerivY * segY + pDerivX * pDerivX + pDerivY * pDerivY, qDerivX * pDerivX + qDerivY * pDerivY, 0.0, -(pDerivX * qDerivX + pDerivY * qDerivY), q2DerivX * segX + q2DerivY * segY - qDerivX * qDerivX - qDerivY * qDerivY, 0.0);
+        return true;
+    }
+}
+exports.CurveCurveCloseApproachXYRRtoRRD = CurveCurveCloseApproachXYRRtoRRD;
 //# sourceMappingURL=Newton.js.map