@itwin/core-geometry 5.0.0-dev.2 → 5.0.0-dev.20

package/lib/esm/geometry4d/MomentData.js

@@ -5,8 +5,8 @@
 /** @packageDocumentation
  * @module Numerics
  */
-// import { Point2d } from "./Geometry2d";
 /* eslint-disable @typescript-eslint/naming-convention */
+// cspell:word ABAT
 import { Geometry } from "../Geometry";
 import { Matrix3d } from "../geometry3d/Matrix3d";
 import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
@@ -19,58 +19,55 @@ import { Point4d } from "./Point4d";
  *   * origin = local origin used as moments are summed.
  *   * sums = array of summed moments.
  *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.
- *       * axes 0,1,2 are x,y,z
+ *       * axes 0,1,2 are x,y,z.
  *         * e.g. entry [0,1] is summed product xy
  *       * axis 3 is "w", which is 1 in sums.
- *         * e.g. entry 03 is summed x
- *    * In this level,
+ *         * e.g. entry 03 is summed x.
+ *    * In this level:
  *        * the `absoluteQuantity` member is undefined.
  *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.
- *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and `radiiOfGyration` are filled in.
+ *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and
+ *    `radiiOfGyration` are filled in.
  * @public
  */
 export class MomentData {
-    /** Return the lower-right (3,3) entry in the sums.
-     * * This is the quantity (i.e. length, area, or volume) summed
+    /**
+     * Return the lower-right (3,3) entry in the sums.
+     * * This is the quantity (i.e. length, area, or volume) summed.
      */
-    get quantitySum() { return this.sums.atIJ(3, 3); }
-    /** Return a scale factor to make these sums match the target orientation sign.
+    get quantitySum() {
+        return this.sums.atIJ(3, 3);
+    }
+    /**
+     * Return a scale factor to make these sums match the target orientation sign.
      * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.
      * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`
      */
     signFactor(targetSign) {
         return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginIfNeeded(origin) {
         if (this.needOrigin) {
             this.origin.setFromPoint3d(origin);
             this.needOrigin = false;
         }
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginFromGrowableXYZArrayIfNeeded(points) {
         if (this.needOrigin && points.length > 0) {
             points.getPoint3dAtCheckedPointIndex(0, this.origin);
             this.needOrigin = false;
         }
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginXYZIfNeeded(x, y, z) {
         if (this.needOrigin) {
             this.origin.set(x, y, z);
             this.needOrigin = false;
         }
     }
+    /** Constructor. */
     constructor() {
         this._point0 = Point3d.create();
         this._point1 = Point3d.create();
@@ -82,12 +79,13 @@ export class MomentData {
         this.absoluteQuantity = 0.1; // so optimizer sees its type
         this.absoluteQuantity = undefined;
     }
-    /** Create moments with optional origin.
-     * * origin and needOrigin are quirky.
+    /**
+     * Create moments with optional origin.
+     * * Origin and needOrigin are quirky.
      *   * (undefined, true) sets up to use first incoming point as origin.
-     *   * (origin) sets up to use that durable origin, set needsOrigin flag false
-     *   * (origin, true) the "true" is meaningless
-     *   * (undefined, false) makes 000 the durable origin
+     *   * (origin) sets up to use that durable origin, set needsOrigin flag false.
+     *   * (origin, true) the "true" is meaningless.
+     *   * (undefined, false) makes 000 the durable origin.
     */
     static create(origin, needOrigin = false) {
         const data = new MomentData();
@@ -99,8 +97,8 @@ export class MomentData {
         return data;
     }
     /**
-     * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`
-     * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`
+     * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.
+     * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.
      */
     static momentTensorFromInertiaProducts(products) {
         const rr = products.sumDiagonal();
@@ -133,7 +131,7 @@ export class MomentData {
     }
     /**
      * Return the principal moment data for an array of points.
-     * @param points array of points
+     * @param points array of points.
      */
     static pointsToPrincipalAxes(points) {
         const moments = new MomentData();
@@ -144,12 +142,12 @@ export class MomentData {
         return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);
     }
     /**
-     * Compute principal axes from inertial products
-     * * The radii of gyration are sorted smallest to largest
-     * * Hence x axis is long direction
-     * * Hence planar data generates large moment as Z
+     * Compute principal axes from inertial products.
+     * * The radii of gyration are sorted smallest to largest.
+     * * Hence x axis is long direction.
+     * * Hence planar data generates large moment as Z.
      * @param origin The origin used for the inertia products.
-     * @param inertiaProducts The inertia products -- sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w]
+     * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
      */
     static inertiaProductsToPrincipalAxes(origin, inertiaProducts) {
         const moments = new MomentData();
@@ -177,18 +175,19 @@ export class MomentData {
         return moments;
     }
     /**
-     * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`
-     * * The members considered are
-     *   * origin of local to world map (i.e. centroid)
-     *   * radius of gyration
+     * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.
+     * * The members considered are:
+     *   * origin of local to world map (i.e. centroid),
+     *   * radius of gyration,
      *   * axes of localToWorldMap.
      * * Axis direction tests allow these quirks:
      *   * opposite orientation is considered matched.
      * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.
-     * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely.  Only Z direction is tested.
+     * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction
+     *   is tested.
      * * If either or both are undefined, returns false.
-     * @param dataA first set of moments
-     * @param dataB second set of moments
+     * @param dataA first set of moments.
+     * @param dataB second set of moments.
      */
     static areEquivalentPrincipalAxes(dataA, dataB) {
         if (dataA && dataB
@@ -236,7 +235,7 @@ export class MomentData {
             this.sums.addMomentsInPlace(p.x - this.origin.x, p.y - this.origin.y, p.z - this.origin.z, 1.0);
         }
     }
-    /** revise the accumulated sums to be "around the centroid" */
+    /** Revise the accumulated sums to be "around the centroid". */
     shiftOriginAndSumsToCentroidOfSums() {
         const xyz = this.sums.columnW().realPoint();
         if (xyz) {
@@ -245,7 +244,8 @@ export class MomentData {
         }
         return false;
     }
-    /** revise the accumulated sums
+    /**
+     * Revise the accumulated sums.
      * * add ax,ay,ax to the origin coordinates.
      * * apply the negative translation to the sums.
     */
@@ -253,11 +253,12 @@ export class MomentData {
         this.origin.addXYZInPlace(ax, ay, az);
         this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);
     }
-    /** revise the accumulated sums so they are based at a specified origin. */
+    /** Revise the accumulated sums so they are based at a specified origin. */
     shiftOriginAndSumsToNewOrigin(newOrigin) {
         this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);
     }
-    /** compute moments of a triangle from the origin to the given line.
+    /**
+     * Compute moments of a triangle from the origin to the given line.
      * Accumulate them to this.sums.
      * * If `pointA` is undefined, use `this.origin` as pointA.
      * * If `this.needOrigin` is set, pointB is used
@@ -289,7 +290,7 @@ export class MomentData {
             this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);
         }
     }
-    /** add scaled outer product of (4d, unit weight) point to this.sums */
+    /** Add scaled outer product of (4d, unit weight) point to this.sums. */
     accumulateScaledOuterProduct(point, scaleFactor) {
         this.setOriginXYZIfNeeded(point.x, point.y, 0.0);
         const vectorA = MomentData._vectorA = Point4d.create(point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA);
@@ -311,7 +312,8 @@ export class MomentData {
         this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);
         this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);
     }
-    /** compute moments of triangles from a base point to the given linestring.
+    /**
+     * Compute moments of triangles from a base point to the given linestring.
      * Accumulate them to this.sums.
      * * If `pointA` is undefined, use `this.origin` as pointA.
      * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.
@@ -328,18 +330,18 @@ export class MomentData {
             }
         }
     }
-    // cspell:word ABAT
     /**
      * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].
-     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy parts of vectors)
+     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy
+     *   parts of vectors).
      * * scale by detJ for the xy-only determinant of the vectors.
      * @param productXX
      * @param productXY
      * @param productYY
-     * @param area Area in caller's system
-     * @param origin Caller's origin
-     * @param vectorU Caller's U axis (not necessarily unit)
-     * @param vectorV Caller's V axis (not necessarily unit)
+     * @param area Area in caller's system.
+     * @param origin Caller's origin.
+     * @param vectorU Caller's U axis (not necessarily unit).
+     * @param vectorV Caller's V axis (not necessarily unit).
      */
     accumulateXYProductsInCentroidalFrame(productXX, productXY, productYY, area, origin, vectorU, vectorV) {
         const centroidalProducts = Matrix4d.createRowValues(productXX, productXY, 0, 0, productXY, productYY, 0, 0, 0, 0, 0, 0, 0, 0, 0, area);
@@ -351,27 +353,23 @@ export class MomentData {
     }
     /**
      * Accumulate sums from other moments.
-     * * scale by given scaleFactor (e.g. sign to correct orientation)
-     * * pull the origin from `other` if `this` needs an origin.
-     * *
+     * * Scale by given scaleFactor (e.g. sign to correct orientation).
+     * * Pull the origin from `other` if `this` needs an origin.
      */
     accumulateProducts(other, scale) {
         this.setOriginIfNeeded(other.origin);
         this.sums.addTranslationSandwichInPlace(other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale);
     }
     /**
-   * Accumulate sums from Matrix4d and origin.
-   * * scale by given scaleFactor (e.g. sign to correct orientation)
-   * * trap the origin if `this` needs an origin.
-   * *
-   */
+     * Accumulate sums from Matrix4d and origin.
+     * * Scale by given scaleFactor (e.g. sign to correct orientation).
+     * * Trap the origin if `this` needs an origin.
+     */
     accumulateProductsFromOrigin(origin, products, scale) {
         this.setOriginIfNeeded(origin);
         this.sums.addTranslationSandwichInPlace(products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale);
     }
-    /**
-     * Convert to a json data object with:
-     */
+    /** Convert to a json data object. */
     toJSON() {
         return {
             origin: this.origin,

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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 Numerics\r\n */\r\n\r\n// import { Point2d } from \"./Geometry2d\";\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A MomentData structure exists in several levels:\r\n * * First level: as a carrier of sums of inertial products that determine moments.\r\n *   * origin = local origin used as moments are summed.\r\n *   * sums = array of summed moments.\r\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\r\n *       * axes 0,1,2 are x,y,z\r\n *         * e.g. entry [0,1] is summed product xy\r\n *       * axis 3 is \"w\", which is 1 in sums.\r\n *         * e.g. entry 03 is summed x\r\n *    * In this level,\r\n *        * the `absoluteQuantity` member is undefined.\r\n *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.\r\n *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and `radiiOfGyration` are filled in.\r\n * @public\r\n */\r\nexport class MomentData {\r\n  /** Origin used for sums. */\r\n  public origin: Point3d;\r\n  /** flag to request deferred origin setup. */\r\n  public needOrigin: boolean;\r\n  /** Moment sums.\r\n   * * Set to zero at initialization and if requested later.\r\n   * * Accumulated during data entry phase.\r\n   */\r\n  public sums: Matrix4d;\r\n  /** the mapping between principal and world system.\r\n   * * This set up with its inverse already constructed.\r\n   */\r\n  public localToWorldMap: Transform;\r\n  /** Return the lower-right (3,3) entry in the sums.\r\n   * * This is the quantity (i.e. length, area, or volume) summed\r\n   */\r\n  public get quantitySum(): number { return this.sums.atIJ(3, 3); }\r\n  /** Return a scale factor to make these sums match the target orientation sign.\r\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\r\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\r\n   */\r\n  public signFactor(targetSign: number): number {\r\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\r\n  }\r\n\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginIfNeeded(origin: Point3d) {\r\n    if (this.needOrigin) {\r\n      this.origin.setFromPoint3d(origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\r\n    if (this.needOrigin && points.length > 0) {\r\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n\r\n  /**\r\n   *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.\r\n   *\r\n   */\r\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\r\n    if (this.needOrigin) {\r\n      this.origin.set(x, y, z);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n\r\n  /** radii of gyration (square roots of principal second moments)\r\n   */\r\n  public radiusOfGyration: Vector3d;\r\n  /** principal quantity (e.g. length, area, or volume).  This is undefined in raw moments, and becomes defined by\r\n   *\r\n   */\r\n  public absoluteQuantity?: number;\r\n\r\n  private constructor() {\r\n    this.origin = Point3d.createZero();\r\n    this.sums = Matrix4d.createZero();\r\n    this.localToWorldMap = Transform.createIdentity();\r\n    this.radiusOfGyration = Vector3d.create();\r\n    this.needOrigin = false;\r\n    this.absoluteQuantity = 0.1;   // so optimizer sees its type\r\n    this.absoluteQuantity = undefined;\r\n  }\r\n  /** Create moments with optional origin.\r\n   * * origin and needOrigin are quirky.\r\n   *   * (undefined, true) sets up to use first incoming point as origin.\r\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false\r\n   *   * (origin, true) the \"true\" is meaningless\r\n   *   * (undefined, false) makes 000 the durable origin\r\n  */\r\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\r\n    const data = new MomentData();\r\n    data.needOrigin = needOrigin;\r\n    if (origin) {\r\n      data.origin.setFromPoint3d(origin);\r\n      data.needOrigin = false;\r\n    }\r\n    return data;\r\n  }\r\n  /**\r\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`\r\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`\r\n   */\r\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\r\n    const rr = products.sumDiagonal();\r\n    const result = Matrix3d.createScale(rr, rr, rr);\r\n    result.addScaledInPlace(products, -1.0);\r\n    return result;\r\n  }\r\n  /** Sort the columns of the matrix for increasing moments. */\r\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\r\n    const points = [\r\n      axes.indexedColumnWithWeight(0, moments.x),\r\n      axes.indexedColumnWithWeight(1, moments.y),\r\n      axes.indexedColumnWithWeight(2, moments.z),\r\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\r\n      if (dataA.w < dataB.w) return -1;\r\n      if (dataA.w > dataB.w) return 1;\r\n      return 0;\r\n    });\r\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\r\n    if (axes.determinant() < 0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\r\n    // prefer x and z positive -- y falls wherever . ..\r\n    if (axes.at(0, 0) < 0.0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\r\n    if (axes.at(2, 2) < 0.0)\r\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\r\n    moments.set(points[0].w, points[1].w, points[2].w);\r\n  }\r\n\r\n  /**\r\n   * Return the principal moment data for an array of points.\r\n   * @param points array of points\r\n   */\r\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    if (points.length === 0)\r\n      return moments;\r\n    moments.clearSums(points[0]);\r\n    moments.accumulatePointMomentsFromOrigin(points);\r\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\r\n  }\r\n  /**\r\n   * Compute principal axes from inertial products\r\n   * * The radii of gyration are sorted smallest to largest\r\n   * * Hence x axis is long direction\r\n   * * Hence planar data generates large moment as Z\r\n   * @param origin The origin used for the inertia products.\r\n   * @param inertiaProducts The inertia products -- sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w]\r\n   */\r\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    moments.sums.setFrom(inertiaProducts);\r\n    moments.origin.setFrom(origin);\r\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\r\n      return undefined;\r\n    const products = moments.sums.matrixPart();\r\n    const w = moments.sums.weight();\r\n    if (w < 0.0)\r\n      products.scaleColumnsInPlace(-1, -1, -1);\r\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\r\n    const moment2 = Vector3d.create();\r\n    const axisVectors = Matrix3d.createZero();\r\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\r\n    if (moment2.x < 0.0)\r\n      return undefined;\r\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\r\n    if (w < 0.0)\r\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\r\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\r\n    moments.radiusOfGyration.set(\r\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)));\r\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\r\n    moments.absoluteQuantity = Math.abs(w);\r\n    return moments;\r\n  }\r\n  /**\r\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`\r\n   * * The members considered are\r\n   *   * origin of local to world map (i.e. centroid)\r\n   *   * radius of gyration\r\n   *   * axes of localToWorldMap.\r\n   * * Axis direction tests allow these quirks:\r\n   *   * opposite orientation is considered matched.\r\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\r\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely.  Only Z direction is tested.\r\n   * * If either or both are undefined, returns false.\r\n   * @param dataA first set of moments\r\n   * @param dataB second set of moments\r\n   */\r\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\r\n    if (dataA && dataB\r\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) {  // um.. need different tolerance for area, volume?)\r\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\r\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\r\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\r\n          // We have at least xy symmetry ....\r\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\r\n            return true;\r\n          // just xy.\r\n          // allow opposite z directions.\r\n          // If the z's are aligned, x an dy can spin freely.\r\n          const zA = dataA.localToWorldMap.matrix.columnZ();\r\n          const zB = dataB.localToWorldMap.matrix.columnZ();\r\n          if (zA.isParallelTo(zB, true))\r\n            return true;\r\n          return false;\r\n        }\r\n        // no symmetry.  Test all three axes.\r\n        const vectorA = Vector3d.create();\r\n        const vectorB = Vector3d.create();\r\n        for (let i = 0; i < 3; i++) {\r\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\r\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\r\n          if (!vectorA.isParallelTo(vectorB, true))\r\n            return false;\r\n        }\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear the MomentData sums to zero, and establish a new origin. */\r\n  public clearSums(origin?: Point3d) {\r\n    this.sums.setZero();\r\n    if (origin)\r\n      this.origin.setFrom(origin);\r\n    else\r\n      this.origin.setZero();\r\n  }\r\n  /** Accumulate products-of-components for given points. */\r\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\r\n    for (const p of points) {\r\n      this.sums.addMomentsInPlace(\r\n        p.x - this.origin.x,\r\n        p.y - this.origin.y,\r\n        p.z - this.origin.z,\r\n        1.0);\r\n    }\r\n  }\r\n  /** revise the accumulated sums to be \"around the centroid\" */\r\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\r\n    const xyz = this.sums.columnW().realPoint();\r\n    if (xyz) {\r\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /** revise the accumulated sums\r\n   * * add ax,ay,ax to the origin coordinates.\r\n   * * apply the negative translation to the sums.\r\n  */\r\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\r\n    this.origin.addXYZInPlace(ax, ay, az);\r\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\r\n  }\r\n  /** revise the accumulated sums so they are based at a specified origin. */\r\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\r\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\r\n  }\r\n  private static _vectorA?: Point4d;\r\n  private static _vectorB?: Point4d;\r\n  private static _vectorC?: Point4d;\r\n\r\n  /** compute moments of a triangle from the origin to the given line.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, pointB is used\r\n  */\r\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\r\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const vectorA = MomentData._vectorA =\r\n      pointA !== undefined ? Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA)\r\n        : Point4d.create(this.origin.x, this.origin.y, 0.0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\r\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\r\n\r\n    // accumulate Return product integrals I(0<=u<=1) I (0<=v<= u)  (w*W + u *U + v * V)(w*W + u *U + v * V)^  du dv\r\n    //  where w = 1-u-v\r\n    //  W = column vector (point00.x, point00.y, point00.z, 1.0) etc.\r\n    const detJ = Geometry.crossProductXYXY(vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y);\r\n    if (detJ !== 0.0) {\r\n      const r1_12 = detJ / 12.0;\r\n      const r1_24 = detJ / 24.0;\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\r\n    }\r\n  }\r\n  /** add scaled outer product of (4d, unit weight) point to this.sums */\r\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\r\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\r\n    const vectorA = MomentData._vectorA = Point4d.create(point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\r\n  }\r\n  /** Accumulate wire moment integral from pointA to pointB */\r\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\r\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const z0 = this.origin.z;\r\n    const vectorA = MomentData._vectorA = Point4d.create(pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB);\r\n    const detJ = pointA.distance(pointB);\r\n    const r1_3 = detJ / 3.0;\r\n    const r1_6 = detJ / 6.0;\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\r\n\r\n  }\r\n\r\n  private _point0 = Point3d.create();\r\n  private _point1 = Point3d.create();\r\n  /** compute moments of triangles from a base point to the given linestring.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.\r\n   *\r\n   */\r\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\r\n    const n = points.length;\r\n    if (n > 1) {\r\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\r\n      for (let i = 1; i < n; i++) {\r\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\r\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\r\n        this._point0.setFromPoint3d(this._point1);\r\n      }\r\n    }\r\n  }\r\n  // cspell:word ABAT\r\n  /**\r\n   * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].\r\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy parts of vectors)\r\n   * * scale by detJ for the xy-only determinant of the vectors.\r\n   * @param productXX\r\n   * @param productXY\r\n   * @param productYY\r\n   * @param area Area in caller's system\r\n   * @param origin Caller's origin\r\n   * @param vectorU Caller's U axis (not necessarily unit)\r\n   * @param vectorV Caller's V axis (not necessarily unit)\r\n   */\r\n  public accumulateXYProductsInCentroidalFrame(productXX: number, productXY: number, productYY: number, area: number,\r\n    origin: XAndY, vectorU: XAndY, vectorV: XAndY) {\r\n    const centroidalProducts = Matrix4d.createRowValues(\r\n      productXX, productXY, 0, 0,\r\n      productXY, productYY, 0, 0,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, area);\r\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\r\n    const placement = Matrix4d.createRowValues(\r\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\r\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, 1);\r\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\r\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\r\n    this.sums.addScaledInPlace(ABAT, detJ);\r\n  }\r\n  /**\r\n   * Accumulate sums from other moments.\r\n   * * scale by given scaleFactor (e.g. sign to correct orientation)\r\n   * * pull the origin from `other` if `this` needs an origin.\r\n   * *\r\n   */\r\n  public accumulateProducts(other: MomentData, scale: number) {\r\n    this.setOriginIfNeeded(other.origin);\r\n    this.sums.addTranslationSandwichInPlace(other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale);\r\n  }\r\n\r\n  /**\r\n * Accumulate sums from Matrix4d and origin.\r\n * * scale by given scaleFactor (e.g. sign to correct orientation)\r\n * * trap the origin if `this` needs an origin.\r\n * *\r\n */\r\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\r\n    this.setOriginIfNeeded(origin);\r\n    this.sums.addTranslationSandwichInPlace(products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale);\r\n  }\r\n  /**\r\n   * Convert to a json data object with:\r\n   */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin,\r\n      sums: this.sums.toJSON(),\r\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\r\n      localToWorld: this.localToWorldMap.toJSON(),\r\n    };\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 Numerics\r\n */\r\n\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n// cspell:word ABAT\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A MomentData structure exists in several levels:\r\n * * First level: as a carrier of sums of inertial products that determine moments.\r\n *   * origin = local origin used as moments are summed.\r\n *   * sums = array of summed moments.\r\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\r\n *       * axes 0,1,2 are x,y,z.\r\n *         * e.g. entry [0,1] is summed product xy\r\n *       * axis 3 is \"w\", which is 1 in sums.\r\n *         * e.g. entry 03 is summed x.\r\n *    * In this level:\r\n *        * the `absoluteQuantity` member is undefined.\r\n *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.\r\n *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and\r\n *    `radiiOfGyration` are filled in.\r\n * @public\r\n */\r\nexport class MomentData {\r\n  /** Origin used for sums. */\r\n  public origin: Point3d;\r\n  /** Flag to request deferred origin setup. */\r\n  public needOrigin: boolean;\r\n  /**\r\n   * Moment sums.\r\n   * * Set to zero at initialization and if requested later.\r\n   * * Accumulated during data entry phase.\r\n   */\r\n  public sums: Matrix4d;\r\n  /**\r\n   * The mapping between principal and world system.\r\n   * * This set up with its inverse already constructed.\r\n   */\r\n  public localToWorldMap: Transform;\r\n  // private variables\r\n  private static _vectorA?: Point4d;\r\n  private static _vectorB?: Point4d;\r\n  private static _vectorC?: Point4d;\r\n  private _point0 = Point3d.create();\r\n  private _point1 = Point3d.create();\r\n  /**\r\n   * Return the lower-right (3,3) entry in the sums.\r\n   * * This is the quantity (i.e. length, area, or volume) summed.\r\n   */\r\n  public get quantitySum(): number {\r\n    return this.sums.atIJ(3, 3);\r\n  }\r\n  /**\r\n   * Return a scale factor to make these sums match the target orientation sign.\r\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\r\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\r\n   */\r\n  public signFactor(targetSign: number): number {\r\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginIfNeeded(origin: Point3d) {\r\n    if (this.needOrigin) {\r\n      this.origin.setFromPoint3d(origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\r\n    if (this.needOrigin && points.length > 0) {\r\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\r\n    if (this.needOrigin) {\r\n      this.origin.set(x, y, z);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** Radii of gyration (square roots of principal second moments). */\r\n  public radiusOfGyration: Vector3d;\r\n  /**\r\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\r\n   * inertiaProductsToPrincipalAxes.\r\n   */\r\n  public absoluteQuantity?: number;\r\n  /** Constructor. */\r\n  private constructor() {\r\n    this.origin = Point3d.createZero();\r\n    this.sums = Matrix4d.createZero();\r\n    this.localToWorldMap = Transform.createIdentity();\r\n    this.radiusOfGyration = Vector3d.create();\r\n    this.needOrigin = false;\r\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\r\n    this.absoluteQuantity = undefined;\r\n  }\r\n  /**\r\n   * Create moments with optional origin.\r\n   * * Origin and needOrigin are quirky.\r\n   *   * (undefined, true) sets up to use first incoming point as origin.\r\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\r\n   *   * (origin, true) the \"true\" is meaningless.\r\n   *   * (undefined, false) makes 000 the durable origin.\r\n  */\r\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\r\n    const data = new MomentData();\r\n    data.needOrigin = needOrigin;\r\n    if (origin) {\r\n      data.origin.setFromPoint3d(origin);\r\n      data.needOrigin = false;\r\n    }\r\n    return data;\r\n  }\r\n  /**\r\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\r\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\r\n   */\r\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\r\n    const rr = products.sumDiagonal();\r\n    const result = Matrix3d.createScale(rr, rr, rr);\r\n    result.addScaledInPlace(products, -1.0);\r\n    return result;\r\n  }\r\n  /** Sort the columns of the matrix for increasing moments. */\r\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\r\n    const points = [\r\n      axes.indexedColumnWithWeight(0, moments.x),\r\n      axes.indexedColumnWithWeight(1, moments.y),\r\n      axes.indexedColumnWithWeight(2, moments.z),\r\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\r\n      if (dataA.w < dataB.w) return -1;\r\n      if (dataA.w > dataB.w) return 1;\r\n      return 0;\r\n    });\r\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\r\n    if (axes.determinant() < 0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\r\n    // prefer x and z positive -- y falls wherever . ..\r\n    if (axes.at(0, 0) < 0.0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\r\n    if (axes.at(2, 2) < 0.0)\r\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\r\n    moments.set(points[0].w, points[1].w, points[2].w);\r\n  }\r\n  /**\r\n   * Return the principal moment data for an array of points.\r\n   * @param points array of points.\r\n   */\r\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    if (points.length === 0)\r\n      return moments;\r\n    moments.clearSums(points[0]);\r\n    moments.accumulatePointMomentsFromOrigin(points);\r\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\r\n  }\r\n  /**\r\n   * Compute principal axes from inertial products.\r\n   * * The radii of gyration are sorted smallest to largest.\r\n   * * Hence x axis is long direction.\r\n   * * Hence planar data generates large moment as Z.\r\n   * @param origin The origin used for the inertia products.\r\n   * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\r\n   */\r\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    moments.sums.setFrom(inertiaProducts);\r\n    moments.origin.setFrom(origin);\r\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\r\n      return undefined;\r\n    const products = moments.sums.matrixPart();\r\n    const w = moments.sums.weight();\r\n    if (w < 0.0)\r\n      products.scaleColumnsInPlace(-1, -1, -1);\r\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\r\n    const moment2 = Vector3d.create();\r\n    const axisVectors = Matrix3d.createZero();\r\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\r\n    if (moment2.x < 0.0)\r\n      return undefined;\r\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\r\n    if (w < 0.0)\r\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\r\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\r\n    moments.radiusOfGyration.set(\r\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)));\r\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\r\n    moments.absoluteQuantity = Math.abs(w);\r\n    return moments;\r\n  }\r\n  /**\r\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\r\n   * * The members considered are:\r\n   *   * origin of local to world map (i.e. centroid),\r\n   *   * radius of gyration,\r\n   *   * axes of localToWorldMap.\r\n   * * Axis direction tests allow these quirks:\r\n   *   * opposite orientation is considered matched.\r\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\r\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\r\n   *   is tested.\r\n   * * If either or both are undefined, returns false.\r\n   * @param dataA first set of moments.\r\n   * @param dataB second set of moments.\r\n   */\r\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\r\n    if (dataA && dataB\r\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) {  // um.. need different tolerance for area, volume?)\r\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\r\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\r\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\r\n          // We have at least xy symmetry ....\r\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\r\n            return true;\r\n          // just xy.\r\n          // allow opposite z directions.\r\n          // If the z's are aligned, x an dy can spin freely.\r\n          const zA = dataA.localToWorldMap.matrix.columnZ();\r\n          const zB = dataB.localToWorldMap.matrix.columnZ();\r\n          if (zA.isParallelTo(zB, true))\r\n            return true;\r\n          return false;\r\n        }\r\n        // no symmetry.  Test all three axes.\r\n        const vectorA = Vector3d.create();\r\n        const vectorB = Vector3d.create();\r\n        for (let i = 0; i < 3; i++) {\r\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\r\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\r\n          if (!vectorA.isParallelTo(vectorB, true))\r\n            return false;\r\n        }\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear the MomentData sums to zero, and establish a new origin. */\r\n  public clearSums(origin?: Point3d) {\r\n    this.sums.setZero();\r\n    if (origin)\r\n      this.origin.setFrom(origin);\r\n    else\r\n      this.origin.setZero();\r\n  }\r\n  /** Accumulate products-of-components for given points. */\r\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\r\n    for (const p of points) {\r\n      this.sums.addMomentsInPlace(\r\n        p.x - this.origin.x,\r\n        p.y - this.origin.y,\r\n        p.z - this.origin.z,\r\n        1.0,\r\n      );\r\n    }\r\n  }\r\n  /** Revise the accumulated sums to be \"around the centroid\". */\r\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\r\n    const xyz = this.sums.columnW().realPoint();\r\n    if (xyz) {\r\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Revise the accumulated sums.\r\n   * * add ax,ay,ax to the origin coordinates.\r\n   * * apply the negative translation to the sums.\r\n  */\r\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\r\n    this.origin.addXYZInPlace(ax, ay, az);\r\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\r\n  }\r\n  /** Revise the accumulated sums so they are based at a specified origin. */\r\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\r\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\r\n  }\r\n  /**\r\n   * Compute moments of a triangle from the origin to the given line.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, pointB is used\r\n  */\r\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\r\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const vectorA = MomentData._vectorA =\r\n      pointA !== undefined ? Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA)\r\n        : Point4d.create(this.origin.x, this.origin.y, 0.0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\r\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\r\n    // accumulate Return product integrals I(0<=u<=1) I (0<=v<= u)  (w*W + u *U + v * V)(w*W + u *U + v * V)^  du dv\r\n    //  where w = 1-u-v\r\n    //  W = column vector (point00.x, point00.y, point00.z, 1.0) etc.\r\n    const detJ = Geometry.crossProductXYXY(vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y);\r\n    if (detJ !== 0.0) {\r\n      const r1_12 = detJ / 12.0;\r\n      const r1_24 = detJ / 24.0;\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\r\n    }\r\n  }\r\n  /** Add scaled outer product of (4d, unit weight) point to this.sums. */\r\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\r\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\r\n    );\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\r\n  }\r\n  /** Accumulate wire moment integral from pointA to pointB */\r\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\r\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const z0 = this.origin.z;\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\r\n    );\r\n    const vectorB = MomentData._vectorB = Point4d.create(\r\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\r\n    );\r\n    const detJ = pointA.distance(pointB);\r\n    const r1_3 = detJ / 3.0;\r\n    const r1_6 = detJ / 6.0;\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\r\n  }\r\n  /**\r\n   * Compute moments of triangles from a base point to the given linestring.\r\n   * Accumulate them to this.sums.\r\n   * * If `pointA` is undefined, use `this.origin` as pointA.\r\n   * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.\r\n   *\r\n   */\r\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\r\n    const n = points.length;\r\n    if (n > 1) {\r\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\r\n      for (let i = 1; i < n; i++) {\r\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\r\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\r\n        this._point0.setFromPoint3d(this._point1);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].\r\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy\r\n   *   parts of vectors).\r\n   * * scale by detJ for the xy-only determinant of the vectors.\r\n   * @param productXX\r\n   * @param productXY\r\n   * @param productYY\r\n   * @param area Area in caller's system.\r\n   * @param origin Caller's origin.\r\n   * @param vectorU Caller's U axis (not necessarily unit).\r\n   * @param vectorV Caller's V axis (not necessarily unit).\r\n   */\r\n  public accumulateXYProductsInCentroidalFrame(\r\n    productXX: number, productXY: number, productYY: number,\r\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\r\n  ) {\r\n    const centroidalProducts = Matrix4d.createRowValues(\r\n      productXX, productXY, 0, 0,\r\n      productXY, productYY, 0, 0,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, area,\r\n    );\r\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\r\n    const placement = Matrix4d.createRowValues(\r\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\r\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, 1,\r\n    );\r\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\r\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\r\n    this.sums.addScaledInPlace(ABAT, detJ);\r\n  }\r\n  /**\r\n   * Accumulate sums from other moments.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Pull the origin from `other` if `this` needs an origin.\r\n   */\r\n  public accumulateProducts(other: MomentData, scale: number) {\r\n    this.setOriginIfNeeded(other.origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Accumulate sums from Matrix4d and origin.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Trap the origin if `this` needs an origin.\r\n   */\r\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\r\n    this.setOriginIfNeeded(origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\r\n    );\r\n  }\r\n  /** Convert to a json data object. */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin,\r\n      sums: this.sums.toJSON(),\r\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\r\n      localToWorld: this.localToWorldMap.toJSON(),\r\n    };\r\n  }\r\n}\r\n"]}

package/lib/esm/numerics/Polynomials.d.ts

@@ -280,11 +280,11 @@ export declare class AnalyticRoots {
      *   * -1 -- beta, gamma are zero, alpha is not.There is no line defined.There are no solutions.
      *   * 0 -- the line is well defined, but passes completely outside the unit circle.
      *     * In this case, (c1, s1) is the circle point closest to the line and(c2, s2) is the line point closest to the circle.
-     * * 1 -- the line is tangent to the unit circle.
-     *   * Tangency is determined by tolerances, which calls a "close approach" point a tangency.
-     *    * (c1, s1) is the closest circle point
-     *    * (c2, s2) is the line point.
-     * * 2 -- two simple intersections.
+     *   * 1 -- the line is tangent to the unit circle.
+     *     * Tangency is determined by tolerances, which calls a "close approach" point a tangency.
+     *       * (c1, s1) is the closest circle point
+     *       * (c2, s2) is the line point.
+     *   * 2 -- two simple intersections.
      * @param alpha constant coefficient on line
      * @param beta x cosine coefficient on line
      * @param gamma y sine coefficient on line

package/lib/esm/numerics/Polynomials.js

@@ -921,11 +921,11 @@ export class AnalyticRoots {
      *   * -1 -- beta, gamma are zero, alpha is not.There is no line defined.There are no solutions.
      *   * 0 -- the line is well defined, but passes completely outside the unit circle.
      *     * In this case, (c1, s1) is the circle point closest to the line and(c2, s2) is the line point closest to the circle.
-     * * 1 -- the line is tangent to the unit circle.
-     *   * Tangency is determined by tolerances, which calls a "close approach" point a tangency.
-     *    * (c1, s1) is the closest circle point
-     *    * (c2, s2) is the line point.
-     * * 2 -- two simple intersections.
+     *   * 1 -- the line is tangent to the unit circle.
+     *     * Tangency is determined by tolerances, which calls a "close approach" point a tangency.
+     *       * (c1, s1) is the closest circle point
+     *       * (c2, s2) is the line point.
+     *   * 2 -- two simple intersections.
      * @param alpha constant coefficient on line
      * @param beta x cosine coefficient on line
      * @param gamma y sine coefficient on line
@@ -1057,7 +1057,7 @@ export class TrigPolynomial {
             degree--;
         const roots = new GrowableFloat64Array();
         if (degree === -1) {
-            // do nothing
+            // p(t) is identically zero (degenerate); do nothing.
         }
         else {
             if (degree === 0) {