@itwin/core-geometry 5.0.0-dev.3 → 5.0.0-dev.34

package/lib/cjs/numerics/PolarData.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\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CoordinateXYZ } from \"../curve/CoordinateXYZ\";\r\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\r\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\n\r\n/** Enumeration of how constraints have been resolved\r\n * @internal\r\n */\r\nexport enum ConstraintState {\r\n  unknown = 0,\r\n  singlePoint = 1,\r\n  impossibleValues = -1,\r\n  onCurve = 2,\r\n\r\n}\r\n\r\n/**\r\n * PolarData carries (possibly incomplete) data for converting among polar and cartesian coordinates.\r\n * @internal\r\n */\r\nexport class PolarData {\r\n  private static _defaultRadius = 1.0;\r\n  public static get defaultRadius(): number { return PolarData._defaultRadius; }\r\n  /** x coordinate, possibly unknown */\r\n  public x?: number;\r\n  /** y coordinate, possibly unknown */\r\n  public y?: number;\r\n  /** radius, possibly unknown */\r\n  public r?: number;\r\n  /** angle, possibly unknown */\r\n  public theta?: Angle;\r\n  /** point, line, or arc geometry, as determined by  solveFromScalars */\r\n  public geometry?: GeometryQuery;\r\n  /** enumeration of resolved state validity conditions. */\r\n  public state?: ConstraintState;\r\n  /** Count the number of defined values among x,y,r, theta */\r\n  public get numberOfConstrainedScalars(): number {\r\n    let n = 0;\r\n    if (this.x !== undefined) n++;\r\n    if (this.y !== undefined) n++;\r\n    if (this.r !== undefined) n++;\r\n    if (this.theta !== undefined) n++;\r\n    return n;\r\n  }\r\n  /** Create with any combination of known and unknown scalars. */\r\n  public static createMixedScalars(state?: ConstraintState, x?: number, y?: number, r?: number, theta?: Angle): PolarData {\r\n    const result = new PolarData();\r\n    result.x = x;\r\n    result.y = y;\r\n    result.r = r;\r\n    result.theta = theta !== undefined ? theta.clone() : undefined;\r\n    result.state = state;\r\n    return result;\r\n  }\r\n\r\n  /** Clone the scalar data, replace the state.\r\n   * * Geometry is NOT cloned.\r\n   */\r\n  public cloneScalarsWithState(newState: ConstraintState): PolarData {\r\n    const result = new PolarData();\r\n    result.x = this.x;\r\n    result.y = this.y;\r\n    result.r = this.r;\r\n    result.theta = this.theta !== undefined ? this.theta.clone() : undefined;\r\n    result.state = newState;\r\n    return result;\r\n  }\r\n\r\n  /** Given a possibly incomplete set of x,y,r,theta, determine the possible completions. */\r\n  public static solveFromScalars(known: PolarData): PolarData[] {\r\n    const result = [];\r\n    // .. fill out known combinations (x,y) (x,r) etc.\r\n    // .. any \"singlePoints\" gets created with no geometry, but geometry fills in at end.\r\n    // .. \"free on curve\" has curve filled in, with finite curve range controlled by PolarData.defaultRadius.\r\n    if (known.x !== undefined) {\r\n      if (known.y !== undefined) {\r\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, known.y, Geometry.hypotenuseXY(known.x, known.y), Angle.createAtan2(known.y, known.x)));\r\n      } else if (known.r !== undefined) {\r\n        const rr = known.r * known.r;\r\n        const xx = known.x * known.x;\r\n        const yy = rr - xx;\r\n        if (yy < 0.0) {\r\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\r\n        } else {\r\n          const y = Math.sqrt(yy);\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, known.r, Angle.createAtan2(y, known.x)));\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, -y, known.r, Angle.createAtan2(-y, known.x)));\r\n        }\r\n      } else if (known.theta !== undefined) {\r\n        const r = Geometry.conditionalDivideFraction(known.x, known.theta.cos());\r\n        // test 4*theta to isolate either positive or negative PI/2 case ...\r\n        if (r === undefined) {\r\n          // Anywhere on y axis does has x=0, this angle . . .\r\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n          q.geometry = LineSegment3d.createXYXY(0, PolarData._defaultRadius, 0, PolarData._defaultRadius);\r\n        } else {\r\n          const y = r * known.theta.sin();\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, r, known.theta));\r\n        }\r\n      } else {  // only x known --- fill out a vertical line\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = LineSegment3d.createXYZXYZ(known.x, PolarData._defaultRadius, 0, known.x, PolarData._defaultRadius, 0);\r\n      }\r\n    } else if (known.y !== undefined) {   // and we already know x is undefined .....\r\n      if (known.r !== undefined) {\r\n        const rr = known.r * known.r;\r\n        const yy = known.y * known.y;\r\n        const xx = rr - yy;\r\n        if (xx < 0.0) {\r\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\r\n        } else {\r\n          const x = Math.sqrt(xx);\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, known.r, Angle.createAtan2(known.y, x)));\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, -x, known.y, known.r, Angle.createAtan2(known.y, -x)));\r\n        }\r\n      } else if (known.theta !== undefined) {\r\n        const r = Geometry.conditionalDivideFraction(known.y, known.theta.sin());\r\n        // test 4*theta to isolate either positive or negative PI/2 case ...\r\n        if (r === undefined) {\r\n          // Anywhere on y axis does has x=0, this angle . . .\r\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n          q.geometry = LineSegment3d.createXYZXYZ(0, PolarData._defaultRadius, 0, 0, PolarData._defaultRadius, 0);\r\n        } else {\r\n          const x = r * known.theta.cos();\r\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, r, known.theta));\r\n        }\r\n      } else {  // only x known --- fill out a horizontal line\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = LineSegment3d.createXYZXYZ(PolarData._defaultRadius, known.y, 0, PolarData._defaultRadius, known.y, 0);\r\n      }\r\n    } else if (known.r !== undefined) {\r\n      if (known.theta !== undefined) {\r\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.r * known.theta.cos(), known.r * known.theta.sin(), known.r, known.theta));\r\n      } else {\r\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n        q.geometry = Arc3d.createXY(Point3d.create(0, 0, 0), known.r);\r\n        result.push(q);\r\n      }\r\n    } else if (known.theta !== undefined) {\r\n      const q = known.cloneScalarsWithState(ConstraintState.onCurve);\r\n      const x = PolarData._defaultRadius * known.theta.cos();\r\n      const y = PolarData._defaultRadius * known.theta.sin();\r\n      q.geometry = LineSegment3d.createXYXY(-x, -y, x, y);\r\n      result.push(q);\r\n    }\r\n    // ----------------------------------------------------------------------------------------\r\n    // add tangible geometry to single points ...\r\n    for (const r of result) {\r\n      if (r.state === ConstraintState.singlePoint && r.geometry === undefined)\r\n        r.geometry = CoordinateXYZ.createXYZ(r.x, r.y, 0.0);\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CoordinateXYZ } from \"../curve/CoordinateXYZ\";\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"../geometry3d/Angle\";\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\n\n/** Enumeration of how constraints have been resolved\n * @internal\n */\nexport enum ConstraintState {\n  unknown = 0,\n  singlePoint = 1,\n  impossibleValues = -1,\n  onCurve = 2,\n\n}\n\n/**\n * PolarData carries (possibly incomplete) data for converting among polar and cartesian coordinates.\n * @internal\n */\nexport class PolarData {\n  private static _defaultRadius = 1.0;\n  public static get defaultRadius(): number { return PolarData._defaultRadius; }\n  /** x coordinate, possibly unknown */\n  public x?: number;\n  /** y coordinate, possibly unknown */\n  public y?: number;\n  /** radius, possibly unknown */\n  public r?: number;\n  /** angle, possibly unknown */\n  public theta?: Angle;\n  /** point, line, or arc geometry, as determined by  solveFromScalars */\n  public geometry?: GeometryQuery;\n  /** enumeration of resolved state validity conditions. */\n  public state?: ConstraintState;\n  /** Count the number of defined values among x,y,r, theta */\n  public get numberOfConstrainedScalars(): number {\n    let n = 0;\n    if (this.x !== undefined) n++;\n    if (this.y !== undefined) n++;\n    if (this.r !== undefined) n++;\n    if (this.theta !== undefined) n++;\n    return n;\n  }\n  /** Create with any combination of known and unknown scalars. */\n  public static createMixedScalars(state?: ConstraintState, x?: number, y?: number, r?: number, theta?: Angle): PolarData {\n    const result = new PolarData();\n    result.x = x;\n    result.y = y;\n    result.r = r;\n    result.theta = theta !== undefined ? theta.clone() : undefined;\n    result.state = state;\n    return result;\n  }\n\n  /** Clone the scalar data, replace the state.\n   * * Geometry is NOT cloned.\n   */\n  public cloneScalarsWithState(newState: ConstraintState): PolarData {\n    const result = new PolarData();\n    result.x = this.x;\n    result.y = this.y;\n    result.r = this.r;\n    result.theta = this.theta !== undefined ? this.theta.clone() : undefined;\n    result.state = newState;\n    return result;\n  }\n\n  /** Given a possibly incomplete set of x,y,r,theta, determine the possible completions. */\n  public static solveFromScalars(known: PolarData): PolarData[] {\n    const result = [];\n    // .. fill out known combinations (x,y) (x,r) etc.\n    // .. any \"singlePoints\" gets created with no geometry, but geometry fills in at end.\n    // .. \"free on curve\" has curve filled in, with finite curve range controlled by PolarData.defaultRadius.\n    if (known.x !== undefined) {\n      if (known.y !== undefined) {\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, known.y, Geometry.hypotenuseXY(known.x, known.y), Angle.createAtan2(known.y, known.x)));\n      } else if (known.r !== undefined) {\n        const rr = known.r * known.r;\n        const xx = known.x * known.x;\n        const yy = rr - xx;\n        if (yy < 0.0) {\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\n        } else {\n          const y = Math.sqrt(yy);\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, known.r, Angle.createAtan2(y, known.x)));\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, -y, known.r, Angle.createAtan2(-y, known.x)));\n        }\n      } else if (known.theta !== undefined) {\n        const r = Geometry.conditionalDivideFraction(known.x, known.theta.cos());\n        // test 4*theta to isolate either positive or negative PI/2 case ...\n        if (r === undefined) {\n          // Anywhere on y axis does has x=0, this angle . . .\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n          q.geometry = LineSegment3d.createXYXY(0, PolarData._defaultRadius, 0, PolarData._defaultRadius);\n        } else {\n          const y = r * known.theta.sin();\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.x, y, r, known.theta));\n        }\n      } else {  // only x known --- fill out a vertical line\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n        q.geometry = LineSegment3d.createXYZXYZ(known.x, PolarData._defaultRadius, 0, known.x, PolarData._defaultRadius, 0);\n      }\n    } else if (known.y !== undefined) {   // and we already know x is undefined .....\n      if (known.r !== undefined) {\n        const rr = known.r * known.r;\n        const yy = known.y * known.y;\n        const xx = rr - yy;\n        if (xx < 0.0) {\n          result.push(known.cloneScalarsWithState(ConstraintState.impossibleValues));\n        } else {\n          const x = Math.sqrt(xx);\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, known.r, Angle.createAtan2(known.y, x)));\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, -x, known.y, known.r, Angle.createAtan2(known.y, -x)));\n        }\n      } else if (known.theta !== undefined) {\n        const r = Geometry.conditionalDivideFraction(known.y, known.theta.sin());\n        // test 4*theta to isolate either positive or negative PI/2 case ...\n        if (r === undefined) {\n          // Anywhere on y axis does has x=0, this angle . . .\n          const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n          q.geometry = LineSegment3d.createXYZXYZ(0, PolarData._defaultRadius, 0, 0, PolarData._defaultRadius, 0);\n        } else {\n          const x = r * known.theta.cos();\n          result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, x, known.y, r, known.theta));\n        }\n      } else {  // only x known --- fill out a horizontal line\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n        q.geometry = LineSegment3d.createXYZXYZ(PolarData._defaultRadius, known.y, 0, PolarData._defaultRadius, known.y, 0);\n      }\n    } else if (known.r !== undefined) {\n      if (known.theta !== undefined) {\n        result.push(PolarData.createMixedScalars(ConstraintState.singlePoint, known.r * known.theta.cos(), known.r * known.theta.sin(), known.r, known.theta));\n      } else {\n        const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n        q.geometry = Arc3d.createXY(Point3d.create(0, 0, 0), known.r);\n        result.push(q);\n      }\n    } else if (known.theta !== undefined) {\n      const q = known.cloneScalarsWithState(ConstraintState.onCurve);\n      const x = PolarData._defaultRadius * known.theta.cos();\n      const y = PolarData._defaultRadius * known.theta.sin();\n      q.geometry = LineSegment3d.createXYXY(-x, -y, x, y);\n      result.push(q);\n    }\n    // ----------------------------------------------------------------------------------------\n    // add tangible geometry to single points ...\n    for (const r of result) {\n      if (r.state === ConstraintState.singlePoint && r.geometry === undefined)\n        r.geometry = CoordinateXYZ.createXYZ(r.x, r.y, 0.0);\n    }\n    return result;\n  }\n}\n"]}

package/lib/cjs/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/cjs/numerics/Polynomials.js

@@ -515,6 +515,8 @@ exports.SphereImplicit = SphereImplicit;
  *
  */
 class AnalyticRoots {
+    static { this._EQN_EPS = 1.0e-9; }
+    static { this._safeDivideFactor = 1.0e-14; }
     /** Absolute zero test with a tolerance that has worked well for the analytic root use case . . . */
     static isZero(x) {
         return Math.abs(x) < this._EQN_EPS;
@@ -929,11 +931,11 @@ 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
@@ -988,8 +990,6 @@ class AnalyticRoots {
     }
 }
 exports.AnalyticRoots = AnalyticRoots;
-AnalyticRoots._EQN_EPS = 1.0e-9;
-AnalyticRoots._safeDivideFactor = 1.0e-14;
 /**
  * Manipulations of polynomials with where `coff[i]` multiplies x^i
  * @internal
@@ -1037,6 +1037,29 @@ exports.PowerPolynomial = PowerPolynomial;
  * @internal
  */
 class TrigPolynomial {
+    // tolerance for small angle decision.
+    static { this._smallAngle = 1.0e-11; }
+    // see core\geometry\internaldocs\unitCircleEllipseIntersection.md for derivation of these coefficients.
+    /** Standard Basis coefficients for the numerator of the y-coordinate y(t) = S(t)/W(t) in the rational semicircle parameterization. */
+    static { this.S = Float64Array.from([0.0, 2.0, -2.0]); }
+    /** Standard Basis coefficients for the numerator of the x-coordinate x(t) = C(t)/W(t) in the rational semicircle parameterization. */
+    static { this.C = Float64Array.from([1.0, -2.0]); }
+    /** Standard Basis coefficients for the denominator of x(t) and y(t) in the rational semicircle parameterization. */
+    static { this.W = Float64Array.from([1.0, -2.0, 2.0]); }
+    /** Standard Basis coefficients for C(t) * W(t). */
+    static { this.CW = Float64Array.from([1.0, -4.0, 6.0, -4.0]); }
+    /** Standard Basis coefficients for S(t) * W(t). */
+    static { this.SW = Float64Array.from([0.0, 2.0, -6.0, 8.0, -4.0]); }
+    /** Standard Basis coefficients for S(t) * C(t). */
+    static { this.SC = Float64Array.from([0.0, 2.0, -6.0, 4.0]); }
+    /** Standard Basis coefficients for S(t) * S(t). */
+    static { this.SS = Float64Array.from([0.0, 0.0, 4.0, -8.0, 4.0]); }
+    /** Standard Basis coefficients for C(t) * C(t). */
+    static { this.CC = Float64Array.from([1.0, -4.0, 4.0]); }
+    /** Standard Basis coefficients for W(t) * W(t). */
+    static { this.WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]); }
+    /** Standard Basis coefficients for C(t) * C(t) - S(t) * S(t). */
+    static { this.CCMinusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]); } // eslint-disable-line @typescript-eslint/naming-convention
     /**
      * Find the roots of a univariate polynomial created from substituting the rational parameterization of the unit
      * circle into a trigonometric polynomial. Roots are returned as radian angles.
@@ -1067,7 +1090,7 @@ class TrigPolynomial {
             degree--;
         const roots = new GrowableFloat64Array_1.GrowableFloat64Array();
         if (degree === -1) {
-            // do nothing
+            // p(t) is identically zero (degenerate); do nothing.
         }
         else {
             if (degree === 0) {
@@ -1106,6 +1129,7 @@ class TrigPolynomial {
         }
         return radians.length > 0;
     }
+    static { this._coefficientRelTol = 1.0e-12; }
     /**
      * Compute intersections of the unit circle `x^2 + y^2 = 1` with the general quadric (conic)
      * `axx x^2 + axy xy + ayy y^2 + ax x + ay y + a = 0`.
@@ -1218,30 +1242,6 @@ class TrigPolynomial {
     }
 }
 exports.TrigPolynomial = TrigPolynomial;
-// tolerance for small angle decision.
-TrigPolynomial._smallAngle = 1.0e-11;
-// see core\geometry\internaldocs\unitCircleEllipseIntersection.md for derivation of these coefficients.
-/** Standard Basis coefficients for the numerator of the y-coordinate y(t) = S(t)/W(t) in the rational semicircle parameterization. */
-TrigPolynomial.S = Float64Array.from([0.0, 2.0, -2.0]);
-/** Standard Basis coefficients for the numerator of the x-coordinate x(t) = C(t)/W(t) in the rational semicircle parameterization. */
-TrigPolynomial.C = Float64Array.from([1.0, -2.0]);
-/** Standard Basis coefficients for the denominator of x(t) and y(t) in the rational semicircle parameterization. */
-TrigPolynomial.W = Float64Array.from([1.0, -2.0, 2.0]);
-/** Standard Basis coefficients for C(t) * W(t). */
-TrigPolynomial.CW = Float64Array.from([1.0, -4.0, 6.0, -4.0]);
-/** Standard Basis coefficients for S(t) * W(t). */
-TrigPolynomial.SW = Float64Array.from([0.0, 2.0, -6.0, 8.0, -4.0]);
-/** Standard Basis coefficients for S(t) * C(t). */
-TrigPolynomial.SC = Float64Array.from([0.0, 2.0, -6.0, 4.0]);
-/** Standard Basis coefficients for S(t) * S(t). */
-TrigPolynomial.SS = Float64Array.from([0.0, 0.0, 4.0, -8.0, 4.0]);
-/** Standard Basis coefficients for C(t) * C(t). */
-TrigPolynomial.CC = Float64Array.from([1.0, -4.0, 4.0]);
-/** Standard Basis coefficients for W(t) * W(t). */
-TrigPolynomial.WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]);
-/** Standard Basis coefficients for C(t) * C(t) - S(t) * S(t). */
-TrigPolynomial.CCMinusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]); // eslint-disable-line @typescript-eslint/naming-convention
-TrigPolynomial._coefficientRelTol = 1.0e-12;
 /**
  * * bilinear expression
  * * `f(u,v) = a + b * u * c * v + d * u * v`