@itwin/core-geometry 5.0.0-dev.4 → 5.0.0-dev.40

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

@@ -1 +1 @@
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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*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { assert } from \"@itwin/core-bentley\";\n\nimport { Geometry, PolygonLocation } from \"../Geometry\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Carries data about a location in the plane of a triangle.\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\n * services on the latter.\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\n * if they lie within a distance or parametric tolerance.\n *\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\n * `T` with vertices `v0, v1, v2`:\n * * `1 = b0 + b1 + b2`\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\n * be written `P = b1 * U + b2 * V`.\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\n * NOT sum to 1, then `p` is not coplanar with `T`\n * @public\n */\nexport class TriangleLocationDetail {\n  /** The Cartesian coordinates of the point p. */\n  public world: Point3d;\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\n  public local: Point3d;\n  /** Application-specific number */\n  public a: number;\n  /** Index of the triangle vertex at the start of the closest edge to p. */\n  public closestEdgeIndex: number;\n  /**\n   * The parameter f along the closest edge to p of its projection q.\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\n   * * Note that 0 <= f <= 1.\n   */\n  public closestEdgeParam: number;\n\n  private constructor() {\n    this.world = new Point3d();\n    this.local = new Point3d();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /** Invalidate this detail (set all attributes to zero) . */\n  public invalidate() {\n    this.world.setZero();\n    this.local.setZero();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /**\n   * Create an invalid detail.\n   * @param result optional pre-allocated object to fill and return\n   */\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\n    if (undefined === result)\n      result = new TriangleLocationDetail();\n    else\n      result.invalidate();\n    return result;\n  }\n  /**\n   * Set the instance contents from the `other` detail.\n   * @param other detail to clone\n   */\n  public copyContentsFrom(other: TriangleLocationDetail) {\n    this.world.setFrom(other.world);\n    this.local.setFrom(other.local);\n    this.a = other.a;\n    this.closestEdgeIndex = other.closestEdgeIndex;\n    this.closestEdgeParam = other.closestEdgeParam;\n  }\n  /** Whether this detail is invalid. */\n  public get isValid(): boolean {\n    return !this.local.isZero;\n  }\n  /**\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\n   * on the triangle.\n   * @see classify\n   */\n  public get isInsideOrOn(): boolean {\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\n  }\n  /**\n   * Queries this detail to classify the location of this instance with respect to the triangle.\n   * @returns location code\n   * @see isInsideOrOn\n   */\n  public get classify(): PolygonLocation {\n    if (!this.isValid)\n      return PolygonLocation.Unknown;\n    if (this.isInsideOrOn) {\n      let numZero = 0;\n      if (Math.abs(this.local.x) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.y) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.z) === 0.0)\n        ++numZero;\n      if (2 === numZero)\n        return PolygonLocation.OnPolygonVertex;\n      if (1 === numZero)\n        return PolygonLocation.OnPolygonEdgeInterior;\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\n    }\n    return (this.closestEdgeParam === 0.0) ?\n      PolygonLocation.OutsidePolygonProjectsToVertex :\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\n  }\n}\n\n/**\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\n * @public\n */\nexport class BarycentricTriangle {\n  /** Array of 3 point coordinates for the triangle. */\n  public points: Point3d[];\n  /** Edge length squared cache, indexed by opposite vertex index */\n  protected edgeLength2: number[];\n  // private attributes\n  private static _workPoint?: Point3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workRay?: Ray3d;\n  private static _workMatrix?: Matrix3d;\n  /**\n   * Constructor.\n   * * Point references are CAPTURED\n   */\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\n    this.points = [];\n    this.points.push(point0);\n    this.points.push(point1);\n    this.points.push(point2);\n    this.edgeLength2 = [];\n    this.edgeLength2.push(point1.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point1));\n  }\n  /**\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\n   * is undefined.\n   */\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\n    this.points[0].setFromPoint3d(point0);\n    this.points[1].setFromPoint3d(point1);\n    this.points[2].setFromPoint3d(point2);\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\n  }\n  /** Copy all values from `other` */\n  public setFrom(other: BarycentricTriangle) {\n    for (let i = 0; i < 3; ++i) {\n      this.points[i].setFromPoint3d(other.points[i]);\n      this.edgeLength2[i] = other.edgeLength2[i];\n    }\n  }\n  /**\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\n   * @param result optional pre-allocated triangle.\n   */\n  public static createXYZXYZXYZ(\n    x0: number, y0: number, z0: number,\n    x1: number, y1: number, z1: number,\n    x2: number, y2: number, z2: number,\n    result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\n    result.points[0].set(x0, y0, z0);\n    result.points[1].set(x1, y1, z1);\n    result.points[2].set(x2, y2, z2);\n    return result;\n  }\n  /** Create a triangle with coordinates cloned from given points. */\n  public static create(\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(point0.clone(), point1.clone(), point2.clone());\n    result.set(point0, point1, point2);\n    return result;\n  }\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\n  }\n  /** Return a clone of the transformed instance */\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\n      result,\n    );\n  }\n  /** Return the area of the triangle. */\n  public get area(): number {\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\n  }\n  /**\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\n  }\n  /**\n   * Compute length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLength(oppositeVertexIndex: number): number {\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\n  }\n  /** Return area divided by sum of squared lengths. */\n  public get aspectRatio(): number {\n    return Geometry.safeDivideFraction(\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\n    );\n  }\n  /** Return the perimeter of the triangle. */\n  public get perimeter(): number {\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\n  }\n  /**\n   * Return the unit normal of the triangle.\n   * @param result optional pre-allocated vector to fill and return.\n   * @returns unit normal, or undefined if cross product length is too small.\n   */\n  public normal(result?: Vector3d): Vector3d | undefined {\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\n    if (cross.tryNormalizeInPlace())\n      return cross;\n    return undefined;\n  }\n  /**\n   * Sum the triangle points with given scales.\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\n   * @param b0 scale to apply to vertex 0\n   * @param b1 scale to apply to vertex 1\n   * @param b2 scale to apply to vertex 2\n   * @param result optional pre-allocated point to fill and return\n   * @return linear combination of the vertices of this triangle\n   * @see [[pointToFraction]]\n   */\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\n    // p = b0 * v0 + b1 * v1 + b2 * v2\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\n  }\n  /**\n   * Compute the projection of the given `point` onto the plane of this triangle.\n   * @param point point p to project\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the projection point `P = d.world`:\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\n   * @see [[fractionToPoint]]\n   */\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\n    if (undefined === normal)\n      return TriangleLocationDetail.create(result);\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\n  }\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\n  }\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\n   */\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 > 0 && b1 > 0 && b2 > 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\n   */\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\n      return 0;\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\n      return 1;\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\n    if (b1 < 0 && b2 < 0)\n      return 0;\n    if (b0 < 0 && b2 < 0)\n      return 1;\n    if (b0 < 0 && b1 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\n   */\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\n    if (b0 === 1 && b1 === 0 && b2 === 0)\n      return 0;\n    if (b0 === 0 && b1 === 1 && b2 === 0)\n      return 1;\n    if (b0 === 0 && b1 === 0 && b2 === 1)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\n   */\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\n    if (b0 === 0 && b1 > 0 && b2 > 0)\n      return 0;\n    if (b0 > 0 && b1 === 0 && b2 > 0)\n      return 1;\n    if (b0 > 0 && b1 > 0 && b2 === 0)\n      return 2;\n    return -1;\n  }\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\n  private static indexOfMinimum(fn: (index: number) => number): number {\n    let i = 0;\n    let min = fn(0);\n    const val = fn(1);\n    if (min > val) {\n      i = 1;\n      min = val;\n    }\n    if (min > fn(2))\n      i = 2;\n    return i;\n  }\n  /**\n   * Compute the squared distance between two points given by their barycentric coordinates.\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\n   */\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\n    // The barycentric displacement vector distance formula\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\n  }\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\n    });\n  }\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    const k = Geometry.cyclic3dAxis(j + 1);\n    return Geometry.dotProductXYZXYZ(\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\n    );\n  }\n  /**\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\n   * @param k vertex v_k is opposite the edge e_k\n   * @param b barycentric coordinates of point to project\n   * @returns parameter f along e_k, such that:\n   * * the projection point is q = v_i + f * (v_j - v_i)\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\n   */\n  private computeProjectionToEdge(k: number, b: number[]): number {\n    /**\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\n     * First we prove P = b_jU + b_kV.\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\n     *         = (b_j * U) + (b_k * V)\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\n     * Therefore, 0 = (p - q).(v_j - v_i)\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\n     *              = (b_jU + b_kV - fU).U\n     *              = b_jU.U + b_kU.V - fU.U\n     * Thus f = b_j + b_k(U.V/U.U)\n     */\n    k = Geometry.cyclic3dAxis(k);\n    const i = Geometry.cyclic3dAxis(k + 1);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\n  }\n  /**\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\n   * @param b0 barycentric coordinate of p corresponding to v_0\n   * @param b1 barycentric coordinate of p corresponding to v_1\n   * @param b2 barycentric coordinate of p corresponding to v_2\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\n   * q = v_i + f * (v_j - v_i).\n   */\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\n    const b: number[] = [b0, b1, b2];\n    let edgeIndex = -1;  // opposite-vertex index\n    let edgeParam = 0.0;\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\n        // We want smallest projection distance d_i of p to e_i.\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\n      });\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0 || edgeParam > 1) {\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n        if (edgeParam < 0 || edgeParam > 1) {\n          edgeParam = 0.0;\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\n        }\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0) {\n        edgeParam = 0.0;  // start of this edge\n      } else if (edgeParam > 1) {\n        edgeParam = 0.0;\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\n      edgeParam = 0.0;\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\n    }\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\n    return {\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\n      closestEdgeParam: edgeParam,\n    };\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\n   * * This method is slower than `Ray3d.intersectionWithTriangle`.\n   * @param ray infinite line to intersect, as a ray\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection point `d.world`:\n   * * `d.a` is the intersection parameter along the ray.\n   * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\n   * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\n   * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\n   * returns true.\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\n   * @see [[pointToFraction]]\n  */\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    result = TriangleLocationDetail.create(result);\n    /**\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\n     *              b1*u + b2*v - s*d = c\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\n     */\n    const r0 = ray.origin;\n    const d = ray.direction;\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\n    );\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\n    );\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\n    if (undefined === M.multiplyInverse(c, solution))\n      return result;  // invalid\n    result.a = -solution.z; // = -(-s) = s\n    ray.fractionToPoint(result.a, result.world);\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\n    result.closestEdgeIndex = proj.closestEdgeIndex;\n    result.closestEdgeParam = proj.closestEdgeParam;\n    return result;\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\n   * @param point0 start point of segment on line to intersect\n   * @param point1 end point of segment on line to intersect\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection point `d.world`:\n   * * `d.isValid` returns true if and only if the line intersects the plane.\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\n   * @see [[intersectRay3d]]\n  */\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\n  }\n  /**\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\n   * `location.world` possibly updated to lie on the triangle closest edge)\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\n   * @return whether the location was adjusted\n   */\n  public snapLocationToEdge(\n    location: TriangleLocationDetail,\n    distanceTolerance: number = Geometry.smallMetricDistance,\n    parameterTolerance: number = Geometry.smallFloatingPoint,\n  ): boolean {\n    if (!location.isValid)\n      return false;\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\n    if (parameterTolerance > 0.0) {\n      let numSnapped = 0;\n      let newSum = 0.0;\n      for (let i = 0; i < 3; i++) {\n        const barycentricDist = Math.abs(location.local.at(i));\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\n          location.local.setAt(i, 0.0);\n          numSnapped++;\n        }\n        newSum += location.local.at(i);\n      }\n      if (numSnapped > 0 && newSum > 0.0) {\n        location.local.scaleInPlace(1.0 / newSum);\n        if (1 === numSnapped) {\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\n          );\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\n        } else {  // 2 snapped, at vertex\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\n            location.local.x, location.local.y, location.local.z,\n          );\n          location.closestEdgeParam = 0.0;\n        }\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\n        return true;\n      }\n    }\n    // failing that, try distance tol to closest edge projection\n    if (distanceTolerance > 0.0) {\n      const i = location.closestEdgeIndex;\n      const j = (i + 1) % 3;\n      const k = (j + 1) % 3;\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\n      );\n      const dist = location.world.distance(edgeProjection);\n      if (dist > 0.0 && dist < distanceTolerance) {\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\n        location.local.setAt(j, location.closestEdgeParam);\n        location.local.setAt(k, 0.0);\n        location.world.setFrom(edgeProjection);\n        return true;\n      }\n    }\n    return false;\n  }\n  /**\n   * Return the dot product of the scaled normals of the two triangles.\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\n   * one of the triangles' planes; zero means the triangles are perpendicular.\n   */\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\n    );\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\n    );\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\n  }\n  /** Return the centroid of the 3 points. */\n  public centroid(result?: Point3d): Point3d {\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\n    return Point3d.create(\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\n      result,\n    );\n  }\n  /** Return the incenter of the triangle. */\n  public incenter(result?: Point3d): Point3d {\n    const a = this.edgeLength(0);\n    const b = this.edgeLength(1);\n    const c = this.edgeLength(2);\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\n  }\n  /** Return the circumcenter of the triangle. */\n  public circumcenter(result?: Point3d): Point3d {\n    const a2 = this.edgeLengthSquared(0);\n    const b2 = this.edgeLengthSquared(1);\n    const c2 = this.edgeLengthSquared(2);\n    const x = a2 * (b2 + c2 - a2);\n    const y = b2 * (c2 + a2 - b2);\n    const z = c2 * (a2 + b2 - c2);\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\n  }\n  /** Test for point-by-point `isAlmostEqual` relationship. */\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\n    return this.points[0].isAlmostEqual(other.points[0], tol)\n      && this.points[1].isAlmostEqual(other.points[1], tol)\n      && this.points[2].isAlmostEqual(other.points[2], tol);\n  }\n}\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*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { assert } from \"@itwin/core-bentley\";\n\nimport { Geometry, PolygonLocation } from \"../Geometry\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Carries data about a location in the plane of a triangle.\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\n * services on the latter.\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\n * if they lie within a distance or parametric tolerance.\n *\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\n * `T` with vertices `v0, v1, v2`:\n * * `1 = b0 + b1 + b2`\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\n * be written `P = b1 * U + b2 * V`.\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\n * NOT sum to 1, then `p` is not coplanar with `T`\n * @public\n */\nexport class TriangleLocationDetail {\n  /** The Cartesian coordinates of the point p. */\n  public world: Point3d;\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\n  public local: Point3d;\n  /** Application-specific number */\n  public a: number;\n  /** Index of the triangle vertex at the start of the closest edge to p. */\n  public closestEdgeIndex: number;\n  /**\n   * The parameter f along the closest edge to p of its projection q.\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\n   * * Note that 0 <= f <= 1.\n   */\n  public closestEdgeParam: number;\n\n  private constructor() {\n    this.world = new Point3d();\n    this.local = new Point3d();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /** Invalidate this detail (set all attributes to zero) . */\n  public invalidate() {\n    this.world.setZero();\n    this.local.setZero();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /**\n   * Create an invalid detail.\n   * @param result optional pre-allocated object to fill and return\n   */\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\n    if (undefined === result)\n      result = new TriangleLocationDetail();\n    else\n      result.invalidate();\n    return result;\n  }\n  /**\n   * Set the instance contents from the `other` detail.\n   * @param other detail to clone\n   */\n  public copyContentsFrom(other: TriangleLocationDetail) {\n    this.world.setFrom(other.world);\n    this.local.setFrom(other.local);\n    this.a = other.a;\n    this.closestEdgeIndex = other.closestEdgeIndex;\n    this.closestEdgeParam = other.closestEdgeParam;\n  }\n  /** Whether this detail is invalid. */\n  public get isValid(): boolean {\n    return !this.local.isZero;\n  }\n  /**\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\n   * on the triangle.\n   * @see classify\n   */\n  public get isInsideOrOn(): boolean {\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\n  }\n  /**\n   * Queries this detail to classify the location of this instance with respect to the triangle.\n   * @returns location code\n   * @see isInsideOrOn\n   */\n  public get classify(): PolygonLocation {\n    if (!this.isValid)\n      return PolygonLocation.Unknown;\n    if (this.isInsideOrOn) {\n      let numZero = 0;\n      if (Math.abs(this.local.x) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.y) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.z) === 0.0)\n        ++numZero;\n      if (2 === numZero)\n        return PolygonLocation.OnPolygonVertex;\n      if (1 === numZero)\n        return PolygonLocation.OnPolygonEdgeInterior;\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\n    }\n    return (this.closestEdgeParam === 0.0) ?\n      PolygonLocation.OutsidePolygonProjectsToVertex :\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\n  }\n}\n\n/**\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\n * @public\n */\nexport class BarycentricTriangle {\n  /** Array of 3 point coordinates for the triangle. */\n  public points: Point3d[];\n  /** Edge length squared cache, indexed by opposite vertex index */\n  protected edgeLength2: number[];\n  // private attributes\n  private static _workPoint?: Point3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workRay?: Ray3d;\n  private static _workMatrix?: Matrix3d;\n  /**\n   * Constructor.\n   * * Point references are CAPTURED\n   */\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\n    this.points = [];\n    this.points.push(point0);\n    this.points.push(point1);\n    this.points.push(point2);\n    this.edgeLength2 = [];\n    this.edgeLength2.push(point1.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point1));\n  }\n  /**\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\n   * is undefined.\n   */\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\n    this.points[0].setFromPoint3d(point0);\n    this.points[1].setFromPoint3d(point1);\n    this.points[2].setFromPoint3d(point2);\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\n  }\n  /** Copy all values from `other` */\n  public setFrom(other: BarycentricTriangle) {\n    for (let i = 0; i < 3; ++i) {\n      this.points[i].setFromPoint3d(other.points[i]);\n      this.edgeLength2[i] = other.edgeLength2[i];\n    }\n  }\n  /**\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\n   * @param result optional pre-allocated triangle.\n   */\n  public static createXYZXYZXYZ(\n    x0: number, y0: number, z0: number,\n    x1: number, y1: number, z1: number,\n    x2: number, y2: number, z2: number,\n    result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\n    result.points[0].set(x0, y0, z0);\n    result.points[1].set(x1, y1, z1);\n    result.points[2].set(x2, y2, z2);\n    return result;\n  }\n  /** Create a triangle with coordinates cloned from given points. */\n  public static create(\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(point0.clone(), point1.clone(), point2.clone());\n    result.set(point0, point1, point2);\n    return result;\n  }\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\n  }\n  /** Return a clone of the transformed instance */\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\n      result,\n    );\n  }\n  /** Return the area of the triangle. */\n  public get area(): number {\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\n  }\n  /**\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\n  }\n  /**\n   * Compute length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLength(oppositeVertexIndex: number): number {\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\n  }\n  /** Return area divided by sum of squared lengths. */\n  public get aspectRatio(): number {\n    return Geometry.safeDivideFraction(\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\n    );\n  }\n  /** Return the perimeter of the triangle. */\n  public get perimeter(): number {\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\n  }\n  /**\n   * Return the unit normal of the triangle.\n   * @param result optional pre-allocated vector to fill and return.\n   * @returns unit normal, or undefined if cross product length is too small.\n   */\n  public normal(result?: Vector3d): Vector3d | undefined {\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\n    if (cross.tryNormalizeInPlace())\n      return cross;\n    return undefined;\n  }\n  /**\n   * Sum the triangle points with given scales.\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\n   * @param b0 scale to apply to vertex 0\n   * @param b1 scale to apply to vertex 1\n   * @param b2 scale to apply to vertex 2\n   * @param result optional pre-allocated point to fill and return\n   * @return linear combination of the vertices of this triangle\n   * @see [[pointToFraction]]\n   */\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\n    // p = b0 * v0 + b1 * v1 + b2 * v2\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\n  }\n  /**\n   * Compute the projection of the given `point` onto the plane of this triangle.\n   * @param point point p to project\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the projection point `P = d.world`:\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\n   * @see [[fractionToPoint]]\n   */\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\n    if (undefined === normal)\n      return TriangleLocationDetail.create(result);\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\n  }\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\n  }\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\n   */\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 > 0 && b1 > 0 && b2 > 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\n   */\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\n      return 0;\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\n      return 1;\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\n    if (b1 < 0 && b2 < 0)\n      return 0;\n    if (b0 < 0 && b2 < 0)\n      return 1;\n    if (b0 < 0 && b1 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\n   */\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\n    if (b0 === 1 && b1 === 0 && b2 === 0)\n      return 0;\n    if (b0 === 0 && b1 === 1 && b2 === 0)\n      return 1;\n    if (b0 === 0 && b1 === 0 && b2 === 1)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\n   */\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\n    if (b0 === 0 && b1 > 0 && b2 > 0)\n      return 0;\n    if (b0 > 0 && b1 === 0 && b2 > 0)\n      return 1;\n    if (b0 > 0 && b1 > 0 && b2 === 0)\n      return 2;\n    return -1;\n  }\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\n  private static indexOfMinimum(fn: (index: number) => number): number {\n    let i = 0;\n    let min = fn(0);\n    const val = fn(1);\n    if (min > val) {\n      i = 1;\n      min = val;\n    }\n    if (min > fn(2))\n      i = 2;\n    return i;\n  }\n  /**\n   * Compute the squared distance between two points given by their barycentric coordinates.\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\n   */\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\n    // The barycentric displacement vector distance formula\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\n  }\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\n    });\n  }\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    const k = Geometry.cyclic3dAxis(j + 1);\n    return Geometry.dotProductXYZXYZ(\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\n    );\n  }\n  /**\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\n   * @param k vertex v_k is opposite the edge e_k\n   * @param b barycentric coordinates of point to project\n   * @returns parameter f along e_k, such that:\n   * * the projection point is q = v_i + f * (v_j - v_i)\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\n   */\n  private computeProjectionToEdge(k: number, b: number[]): number {\n    /**\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\n     * First we prove P = b_jU + b_kV.\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\n     *         = (b_j * U) + (b_k * V)\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\n     * Therefore, 0 = (p - q).(v_j - v_i)\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\n     *              = (b_jU + b_kV - fU).U\n     *              = b_jU.U + b_kU.V - fU.U\n     * Thus f = b_j + b_k(U.V/U.U)\n     */\n    k = Geometry.cyclic3dAxis(k);\n    const i = Geometry.cyclic3dAxis(k + 1);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\n  }\n  /**\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\n   * @param b0 barycentric coordinate of p corresponding to v_0\n   * @param b1 barycentric coordinate of p corresponding to v_1\n   * @param b2 barycentric coordinate of p corresponding to v_2\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\n   * q = v_i + f * (v_j - v_i).\n   */\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\n    const b: number[] = [b0, b1, b2];\n    let edgeIndex = -1;  // opposite-vertex index\n    let edgeParam = 0.0;\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\n        // We want smallest projection distance d_i of p to e_i.\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\n      });\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0 || edgeParam > 1) {\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n        if (edgeParam < 0 || edgeParam > 1) {\n          edgeParam = 0.0;\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\n        }\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0) {\n        edgeParam = 0.0;  // start of this edge\n      } else if (edgeParam > 1) {\n        edgeParam = 0.0;\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\n      edgeParam = 0.0;\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\n    }\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\n    return {\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\n      closestEdgeParam: edgeParam,\n    };\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\n   * * Intersection data is returned for the line-plane intersection.\n   * * No intersection is returned if the line is parallel to the plane.\n   * * As for the *ray*, it intersects this triangle if and only if the returned detail `d` has\n   * `d.isValid === true` and `d.a >= 0` and `d.isInsideOrOn === true`.\n   * * This method is slower than `Ray3d.intersectionWithTriangle` but returns more information about the intersection.\n   * @param ray infinite line to intersect, as a ray\n   * @param result optional pre-allocated object to fill and return\n   * @returns details `d` of the intersection point `p` of the line and the plane of this triangle:\n   * * `d.isValid`: false if and only if `ray.direction` is parallel to the plane, or the ray or triangle is degenerate.\n   * * `d.world`: coordinates of `p`.\n   * * `d.local`: barycentric coordinates of `p`.\n   * * `d.a`: the intersection parameter of `p` along the ray. Negative means `p` is behind the ray origin.\n   * * `d.classify`: where `p` lies with respect to the triangle.\n   * * `d.isInsideOrOn`: whether `p` is inside or on the triangle.\n   * * `d.closestEdgeIndex`: the index of the triangle edge `e` onto which `p` projects.\n   * * `d.closestEdgeParam`: the edge parameter at which `p` projects onto `e`.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\n   * @see [[pointToFraction]]\n  */\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    result = TriangleLocationDetail.create(result);\n    /**\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\n     *              b1*u + b2*v - s*d = c\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\n     */\n    const r0 = ray.origin;\n    const d = ray.direction;\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\n    );\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\n    );\n    const scaledVolume = d.tripleProduct(u, v);\n    if (scaledVolume * scaledVolume <= u.dotProduct(u) * v.dotProduct(v) * d.dotProduct(d) * Geometry.smallAngleRadiansSquared)\n      return result; // parallel (no solution)\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\n    if (undefined === M.multiplyInverse(c, solution))\n      return result;  // invalid\n    result.a = -solution.z; // = -(-s) = s\n    ray.fractionToPoint(result.a, result.world);\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\n    result.closestEdgeIndex = proj.closestEdgeIndex;\n    result.closestEdgeParam = proj.closestEdgeParam;\n    return result;\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\n   * @param point0 start point of segment on line to intersect\n   * @param point1 end point of segment on line to intersect\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection point `d.world`:\n   * * `d.isValid` returns true if and only if the line intersects the plane.\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\n   * @see [[intersectRay3d]]\n  */\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\n  }\n  /**\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\n   * `location.world` possibly updated to lie on the triangle closest edge)\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\n   * @return whether the location was adjusted\n   */\n  public snapLocationToEdge(\n    location: TriangleLocationDetail,\n    distanceTolerance: number = Geometry.smallMetricDistance,\n    parameterTolerance: number = Geometry.smallFloatingPoint,\n  ): boolean {\n    if (!location.isValid)\n      return false;\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\n    if (parameterTolerance > 0.0) {\n      let numSnapped = 0;\n      let newSum = 0.0;\n      for (let i = 0; i < 3; i++) {\n        const barycentricDist = Math.abs(location.local.at(i));\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\n          location.local.setAt(i, 0.0);\n          numSnapped++;\n        }\n        newSum += location.local.at(i);\n      }\n      if (numSnapped > 0 && newSum > 0.0) {\n        location.local.scaleInPlace(1.0 / newSum);\n        if (1 === numSnapped) {\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\n          );\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\n        } else {  // 2 snapped, at vertex\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\n            location.local.x, location.local.y, location.local.z,\n          );\n          location.closestEdgeParam = 0.0;\n        }\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\n        return true;\n      }\n    }\n    // failing that, try distance tol to closest edge projection\n    if (distanceTolerance > 0.0) {\n      const i = location.closestEdgeIndex;\n      const j = (i + 1) % 3;\n      const k = (j + 1) % 3;\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\n      );\n      const dist = location.world.distance(edgeProjection);\n      if (dist > 0.0 && dist < distanceTolerance) {\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\n        location.local.setAt(j, location.closestEdgeParam);\n        location.local.setAt(k, 0.0);\n        location.world.setFrom(edgeProjection);\n        return true;\n      }\n    }\n    return false;\n  }\n  /**\n   * Return the dot product of the scaled normals of the two triangles.\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\n   * one of the triangles' planes; zero means the triangles are perpendicular.\n   */\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\n    );\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\n    );\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\n  }\n  /** Return the centroid of the 3 points. */\n  public centroid(result?: Point3d): Point3d {\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\n    return Point3d.create(\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\n      result,\n    );\n  }\n  /** Return the incenter of the triangle. */\n  public incenter(result?: Point3d): Point3d {\n    const a = this.edgeLength(0);\n    const b = this.edgeLength(1);\n    const c = this.edgeLength(2);\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\n  }\n  /** Return the circumcenter of the triangle. */\n  public circumcenter(result?: Point3d): Point3d {\n    const a2 = this.edgeLengthSquared(0);\n    const b2 = this.edgeLengthSquared(1);\n    const c2 = this.edgeLengthSquared(2);\n    const x = a2 * (b2 + c2 - a2);\n    const y = b2 * (c2 + a2 - b2);\n    const z = c2 * (a2 + b2 - c2);\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\n  }\n  /** Test for point-by-point `isAlmostEqual` relationship. */\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\n    return this.points[0].isAlmostEqual(other.points[0], tol)\n      && this.points[1].isAlmostEqual(other.points[1], tol)\n      && this.points[2].isAlmostEqual(other.points[2], tol);\n  }\n}\n"]}

package/lib/cjs/geometry3d/FrameBuilder.js

@@ -178,10 +178,10 @@ class FrameBuilder {
                 this.announcePoint(data.endPoint());
             }
             else if (data instanceof Arc3d_1.Arc3d) {
-                const ray = data.fractionToPointAndDerivative(0.0);
-                this.announcePoint(ray.origin);
-                this.announceVector(ray.direction);
-                this.announceVector(data.matrixRef.columnZCrossVector(ray.direction));
+                const plane = data.fractionToPointAnd2Derivatives(0.0);
+                this.announcePoint(plane.origin);
+                this.announceVector(plane.vectorU);
+                this.announceVector(plane.vectorV);
             }
             else if (data instanceof LineString3d_1.LineString3d) {
                 for (const point of data.points) {

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

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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*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\n// import { Point2d } from \"./Geometry2d\";\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CurveCollection } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { AxisOrder, AxisScaleSelect, Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Point3dArray } from \"./PointHelpers\";\nimport { PolygonOps } from \"./PolygonOps\";\nimport { Range3d } from \"./Range\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.\n *\n * * For the common case of building a right handed frame:\n *   * create the FrameBuilder and make calls to announcePoint and announceVector.\n *   * the frame will be fully determined by an origin and two vectors.\n *   * the first call to announcePoint will set the origin.\n *   * additional calls to announcePoint will produce announceVector call with the vector from the origin.\n *   * after each announcement, call getValidatedFrame(false)\n *   * getValidatedFrame will succeed when it has two independent vectors.\n * *  To build a left handed frame,\n *   *  an origin and 3 independent vectors are required.\n *   *  announce as above, but query with getValidatedFrame (true).\n *   *  this will use the third vector to select right or left handed frame.\n * @public\n */\nexport class FrameBuilder {\n  private _origin: undefined | Point3d;\n  private _vector0: undefined | Vector3d;\n  private _vector1: undefined | Vector3d;\n  private _vector2: undefined | Vector3d;\n  private static _workMatrix?: Matrix3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workPoint?: Point3d;\n  // test if both vectors are defined and have significant angle between.\n  private areStronglyIndependentVectors(\n    vector0: Vector3d, vector1: Vector3d, radiansTolerance: number = Geometry.smallAngleRadians,\n  ): boolean {\n    if (vector0 !== undefined && vector1 !== undefined) {\n      const q = vector0.smallerUnorientedRadiansTo(vector1);\n      return q > radiansTolerance;\n    }\n    return false;\n  }\n  /** Clear all accumulated point and vector data */\n  public clear() {\n    this._origin = undefined;\n    this._vector0 = undefined;\n    this._vector1 = undefined;\n    this._vector2 = undefined;\n  }\n  constructor() {\n    this.clear();\n  }\n  /**\n   * Try to assemble the data into a non-singular transform.\n   * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.\n   * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.\n   */\n  public getValidatedFrame(allowLeftHanded: boolean = false, result?: Transform): Transform | undefined {\n    if (this._origin && this._vector0 && this._vector1) {\n      const createRigidMatrix = (v0: Vector3d, v1: Vector3d): Matrix3d | undefined => {\n        return FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(v0, v1, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      };\n      if (!allowLeftHanded) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix)\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        // uh oh -- vector1 was not really independent.  clear everything after vector0.\n        this._vector1 = this._vector2 = undefined;\n      } else if (this._vector2) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix) {\n          if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)\n            matrix.scaleColumns(1.0, 1.0, -1.0);\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        }\n        // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??\n        const vector2 = this._vector2;\n        this._vector1 = this._vector2 = undefined;\n        this.announceVector(vector2);\n      }\n    }\n    return undefined;\n  }\n  /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */\n  public applyDefaultUpVector(vector?: Vector3d) {\n    if (vector && this._vector0 && !this._vector1 && !vector.isParallelTo(this._vector0)) {\n      this._vector1 = vector.crossProduct(this._vector0);\n    }\n  }\n  /** Ask if there is a defined origin for the evolving frame */\n  public get hasOrigin(): boolean {\n    return this._origin !== undefined;\n  }\n  /**\n   * Return the number of vectors saved. Because the save process checks numerics, this should be the rank of the system.\n   */\n  public savedVectorCount(): number {\n    if (!this._vector0)\n      return 0;\n    if (!this._vector1)\n      return 1;\n    if (!this._vector2)\n      return 2;\n    return 3;\n  }\n  /**\n   * Announce a new point. If this point is different from the origin, also compute and announce the vector from the origin.\n   */\n  public announcePoint(point: Point3d): number {\n    if (!this._origin) {\n      this._origin = point.clone();\n      return this.savedVectorCount();\n    }\n    // the new point may provide an additional vector\n    if (this._origin.isAlmostEqual(point))\n      return this.savedVectorCount();\n    return this.announceVector(this._origin.vectorTo(point));\n  }\n  /** Announce a new vector. */\n  public announceVector(vector: Vector3d): number {\n    if (vector.isAlmostZero)\n      return this.savedVectorCount();\n    if (!this._vector0) {\n      this._vector0 = vector.clone(this._vector0);\n      return 1;\n    }\n    if (!this._vector1) {\n      if (this.areStronglyIndependentVectors(vector, this._vector0, 1.0e-5)) {\n        this._vector1 = vector.clone(this._vector1);\n        return 2;\n      }\n      return 1;\n    }\n    // vector0 and vector1 are independent.\n    if (!this._vector2) {\n      const unitPerpendicular = this._vector0.unitCrossProduct(this._vector1);\n      if (unitPerpendicular && !Geometry.isSameCoordinate(0, unitPerpendicular.dotProduct(vector))) {\n        this._vector2 = vector.clone(this._vector2);\n        return 3;\n      }\n      return 2;\n    }\n    // fall through if prior vectors are all there -- no need for the new one.\n    return 3;\n  }\n  /**\n   * Inspect the content of the data.  Announce points and vectors. Return when savedVectorCount becomes sufficient\n   * for a coordinate system.\n   */\n  public announce(data: any) {\n    if (this.savedVectorCount() > 1)\n      return;\n    if (data === undefined)\n      return;\n    if (data instanceof Point3d)\n      this.announcePoint(data);\n    else if (data instanceof Vector3d)\n      this.announceVector(data);\n    else if (Array.isArray(data)) {\n      for (const child of data) {\n        if (this.savedVectorCount() > 1)\n          break;\n        this.announce(child);\n      }\n    } else if (data instanceof CurvePrimitive) {\n      if (data instanceof LineSegment3d) {\n        this.announcePoint(data.startPoint());\n        this.announcePoint(data.endPoint());\n      } else if (data instanceof Arc3d) {\n        const ray = data.fractionToPointAndDerivative(0.0);\n        this.announcePoint(ray.origin);\n        this.announceVector(ray.direction);\n        this.announceVector(data.matrixRef.columnZCrossVector(ray.direction));\n      } else if (data instanceof LineString3d) {\n        for (const point of data.points) {\n          this.announcePoint(point);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n      } else if (data instanceof BSplineCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (data.getPolePoint3d(i, point) instanceof Point3d)\n            this.announcePoint(point);\n          else break;\n        }\n      } else if (data instanceof InterpolationCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (i < data.options.fitPoints.length) {\n            point.setFrom(data.options.fitPoints[i]);\n            this.announcePoint(point);\n          } else break;\n        }\n      } else { // unimplemented CurvePrimitive type\n        const frame = data.fractionToFrenetFrame(0.0);\n        if (undefined !== frame) {\n          this.announcePoint(frame.getOrigin());\n          this.announceVector(frame.matrix.getColumn(0));\n          this.announceVector(frame.matrix.getColumn(1));\n        }\n      }\n    } else if (data instanceof CurveCollection) {\n      if (data.children)\n        for (const child of data.children) {\n          this.announce(child);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n    } else if (data instanceof GrowableXYZArray) {\n      const point = Point3d.create();\n      for (let i = 0; this.savedVectorCount() < 2; i++) {\n        if (data.getPoint3dAtCheckedPointIndex(i, point) instanceof Point3d)\n          this.announcePoint(point);\n        else break;\n      }\n    } else if (data.hasOwnProperty(\"x\") && data.hasOwnProperty(\"y\") && data.hasOwnProperty(\"z\")) {\n      this.announcePoint(Point3d.create(data.x, data.y, data.z));\n    }\n  }\n  /**\n   * Create a localToWorld frame for the given data.\n   * * origin is at first point.\n   * * x axis in direction of first nonzero vector present or implied by the input.\n   * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown.\n   * The z-column of the returned frame points into the same halfspace as this vector.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined {\n    // if last arg is a Transform, remove it from the array and use for the return value\n    let frame = (params.length > 0 && params[params.length - 1] instanceof Transform) ? params.pop() as Transform : undefined;\n    const flipFrame = (f: Transform): Transform => {\n      if (defaultUpVector && f.matrix.dotColumnZ(defaultUpVector) < 0.0)\n        f.matrix.scaleColumnsInPlace(1, -1, -1);\n      return f;\n    };\n    const builder = new FrameBuilder();\n    for (const data of params) {\n      builder.announce(data);\n      builder.applyDefaultUpVector(defaultUpVector);\n      if (frame = builder.getValidatedFrame(false, frame))\n        return flipFrame(frame);\n    }\n    const evaluatePrimitiveFrame = (curve: CurvePrimitive, result?: Transform): Transform | undefined => {\n      return curve.fractionToFrenetFrame(0.0, result);\n    };\n    // try direct evaluation of curve primitives using the above lambda\n    for (const data of params) {\n      if (data instanceof CurvePrimitive) {\n        if (frame = evaluatePrimitiveFrame(data, frame))\n          return flipFrame(frame);\n      } else if (data instanceof CurveCollection) {\n        const children = data.collectCurvePrimitives();\n        for (const curve of children) {\n          if (frame = evaluatePrimitiveFrame(curve, frame))\n            return flipFrame(frame);\n        }\n      }\n    }\n    return undefined;\n  }\n  /**\n   * Create a transform containing points or vectors in the given data.\n   * * The xy columns of the transform contain the first points or vectors of the data.\n   * * The z column is perpendicular to that xy plane.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedLocalToWorld(...params: any[]): Transform | undefined {\n    return this.createRightHandedFrame(undefined, params);\n  }\n\n  /**\n   * Try to create a frame whose xy plane is through points.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const origin = points[0];\n      const vector01 = FrameBuilder._workVector0 ?? Vector3d.create();\n      Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);\n      const vector02 = FrameBuilder._workVector1 ?? Vector3d.create();\n      Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);\n      const matrix = FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(vector01, vector02, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      if (matrix)\n        return Transform.createOriginAndMatrix(origin, matrix, result);\n    }\n    return undefined;\n  }\n  /**\n   * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const ray = PolygonOps.centroidAreaNormal(points);  // can't pass pre-allocated ray...\n      if (ray)\n        return ray.toRigidZFrame(result);\n    }\n    return undefined;\n  }\n  /**\n   * Create the localToWorld transform from a range to axes of its parent coordinate system.\n   * @param range range to inspect\n   * @param scaleSelect selects size of localToWorld axes.\n   * @param fractionX fractional coordinate of frame origin x\n   * @param fractionY fractional coordinate of frame origin y\n   * @param fractionZ fractional coordinate of frame origin z\n   * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the range\n   */\n  public static createLocalToWorldTransformInRange(\n    range: Range3d,\n    scaleSelect: AxisScaleSelect = AxisScaleSelect.NonUniformRangeContainment,\n    fractionX: number = 0,\n    fractionY: number = 0,\n    fractionZ: number = 0,\n    defaultAxisLength: number = 1.0,\n    result?: Transform,\n  ): Transform {\n    if (range.isNull)\n      return Transform.createIdentity(result);\n    let a = 1.0;\n    let b = 1.0;\n    let c = 1.0;\n    if (scaleSelect === AxisScaleSelect.LongestRangeDirection) {\n      a = b = c = Geometry.correctSmallMetricDistance(range.maxLength(), defaultAxisLength);\n    } else if (scaleSelect === AxisScaleSelect.NonUniformRangeContainment) {\n      a = Geometry.correctSmallMetricDistance(range.xLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionX, 0, 1);\n      b = Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionY, 0, 1);\n      c = Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionZ, 0, 1);\n    }\n    const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);\n    const matrix = FrameBuilder._workMatrix = Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);\n    return Transform.createOriginAndMatrix(origin, matrix, result);\n  }\n}\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*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\n// import { Point2d } from \"./Geometry2d\";\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CurveCollection } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { AxisOrder, AxisScaleSelect, Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Point3dArray } from \"./PointHelpers\";\nimport { PolygonOps } from \"./PolygonOps\";\nimport { Range3d } from \"./Range\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.\n *\n * * For the common case of building a right handed frame:\n *   * create the FrameBuilder and make calls to announcePoint and announceVector.\n *   * the frame will be fully determined by an origin and two vectors.\n *   * the first call to announcePoint will set the origin.\n *   * additional calls to announcePoint will produce announceVector call with the vector from the origin.\n *   * after each announcement, call getValidatedFrame(false)\n *   * getValidatedFrame will succeed when it has two independent vectors.\n * *  To build a left handed frame,\n *   *  an origin and 3 independent vectors are required.\n *   *  announce as above, but query with getValidatedFrame (true).\n *   *  this will use the third vector to select right or left handed frame.\n * @public\n */\nexport class FrameBuilder {\n  private _origin: undefined | Point3d;\n  private _vector0: undefined | Vector3d;\n  private _vector1: undefined | Vector3d;\n  private _vector2: undefined | Vector3d;\n  private static _workMatrix?: Matrix3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workPoint?: Point3d;\n  // test if both vectors are defined and have significant angle between.\n  private areStronglyIndependentVectors(\n    vector0: Vector3d, vector1: Vector3d, radiansTolerance: number = Geometry.smallAngleRadians,\n  ): boolean {\n    if (vector0 !== undefined && vector1 !== undefined) {\n      const q = vector0.smallerUnorientedRadiansTo(vector1);\n      return q > radiansTolerance;\n    }\n    return false;\n  }\n  /** Clear all accumulated point and vector data */\n  public clear() {\n    this._origin = undefined;\n    this._vector0 = undefined;\n    this._vector1 = undefined;\n    this._vector2 = undefined;\n  }\n  constructor() {\n    this.clear();\n  }\n  /**\n   * Try to assemble the data into a non-singular transform.\n   * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.\n   * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.\n   */\n  public getValidatedFrame(allowLeftHanded: boolean = false, result?: Transform): Transform | undefined {\n    if (this._origin && this._vector0 && this._vector1) {\n      const createRigidMatrix = (v0: Vector3d, v1: Vector3d): Matrix3d | undefined => {\n        return FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(v0, v1, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      };\n      if (!allowLeftHanded) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix)\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        // uh oh -- vector1 was not really independent.  clear everything after vector0.\n        this._vector1 = this._vector2 = undefined;\n      } else if (this._vector2) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix) {\n          if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)\n            matrix.scaleColumns(1.0, 1.0, -1.0);\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        }\n        // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??\n        const vector2 = this._vector2;\n        this._vector1 = this._vector2 = undefined;\n        this.announceVector(vector2);\n      }\n    }\n    return undefined;\n  }\n  /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */\n  public applyDefaultUpVector(vector?: Vector3d) {\n    if (vector && this._vector0 && !this._vector1 && !vector.isParallelTo(this._vector0)) {\n      this._vector1 = vector.crossProduct(this._vector0);\n    }\n  }\n  /** Ask if there is a defined origin for the evolving frame */\n  public get hasOrigin(): boolean {\n    return this._origin !== undefined;\n  }\n  /**\n   * Return the number of vectors saved. Because the save process checks numerics, this should be the rank of the system.\n   */\n  public savedVectorCount(): number {\n    if (!this._vector0)\n      return 0;\n    if (!this._vector1)\n      return 1;\n    if (!this._vector2)\n      return 2;\n    return 3;\n  }\n  /**\n   * Announce a new point. If this point is different from the origin, also compute and announce the vector from the origin.\n   */\n  public announcePoint(point: Point3d): number {\n    if (!this._origin) {\n      this._origin = point.clone();\n      return this.savedVectorCount();\n    }\n    // the new point may provide an additional vector\n    if (this._origin.isAlmostEqual(point))\n      return this.savedVectorCount();\n    return this.announceVector(this._origin.vectorTo(point));\n  }\n  /** Announce a new vector. */\n  public announceVector(vector: Vector3d): number {\n    if (vector.isAlmostZero)\n      return this.savedVectorCount();\n    if (!this._vector0) {\n      this._vector0 = vector.clone(this._vector0);\n      return 1;\n    }\n    if (!this._vector1) {\n      if (this.areStronglyIndependentVectors(vector, this._vector0, 1.0e-5)) {\n        this._vector1 = vector.clone(this._vector1);\n        return 2;\n      }\n      return 1;\n    }\n    // vector0 and vector1 are independent.\n    if (!this._vector2) {\n      const unitPerpendicular = this._vector0.unitCrossProduct(this._vector1);\n      if (unitPerpendicular && !Geometry.isSameCoordinate(0, unitPerpendicular.dotProduct(vector))) {\n        this._vector2 = vector.clone(this._vector2);\n        return 3;\n      }\n      return 2;\n    }\n    // fall through if prior vectors are all there -- no need for the new one.\n    return 3;\n  }\n  /**\n   * Inspect the content of the data.  Announce points and vectors. Return when savedVectorCount becomes sufficient\n   * for a coordinate system.\n   */\n  public announce(data: any) {\n    if (this.savedVectorCount() > 1)\n      return;\n    if (data === undefined)\n      return;\n    if (data instanceof Point3d)\n      this.announcePoint(data);\n    else if (data instanceof Vector3d)\n      this.announceVector(data);\n    else if (Array.isArray(data)) {\n      for (const child of data) {\n        if (this.savedVectorCount() > 1)\n          break;\n        this.announce(child);\n      }\n    } else if (data instanceof CurvePrimitive) {\n      if (data instanceof LineSegment3d) {\n        this.announcePoint(data.startPoint());\n        this.announcePoint(data.endPoint());\n      } else if (data instanceof Arc3d) {\n        const plane = data.fractionToPointAnd2Derivatives(0.0);\n        this.announcePoint(plane.origin);\n        this.announceVector(plane.vectorU);\n        this.announceVector(plane.vectorV);\n      } else if (data instanceof LineString3d) {\n        for (const point of data.points) {\n          this.announcePoint(point);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n      } else if (data instanceof BSplineCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (data.getPolePoint3d(i, point) instanceof Point3d)\n            this.announcePoint(point);\n          else break;\n        }\n      } else if (data instanceof InterpolationCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (i < data.options.fitPoints.length) {\n            point.setFrom(data.options.fitPoints[i]);\n            this.announcePoint(point);\n          } else break;\n        }\n      } else { // unimplemented CurvePrimitive type\n        const frame = data.fractionToFrenetFrame(0.0);\n        if (undefined !== frame) {\n          this.announcePoint(frame.getOrigin());\n          this.announceVector(frame.matrix.getColumn(0));\n          this.announceVector(frame.matrix.getColumn(1));\n        }\n      }\n    } else if (data instanceof CurveCollection) {\n      if (data.children)\n        for (const child of data.children) {\n          this.announce(child);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n    } else if (data instanceof GrowableXYZArray) {\n      const point = Point3d.create();\n      for (let i = 0; this.savedVectorCount() < 2; i++) {\n        if (data.getPoint3dAtCheckedPointIndex(i, point) instanceof Point3d)\n          this.announcePoint(point);\n        else break;\n      }\n    } else if (data.hasOwnProperty(\"x\") && data.hasOwnProperty(\"y\") && data.hasOwnProperty(\"z\")) {\n      this.announcePoint(Point3d.create(data.x, data.y, data.z));\n    }\n  }\n  /**\n   * Create a localToWorld frame for the given data.\n   * * origin is at first point.\n   * * x axis in direction of first nonzero vector present or implied by the input.\n   * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown.\n   * The z-column of the returned frame points into the same halfspace as this vector.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined {\n    // if last arg is a Transform, remove it from the array and use for the return value\n    let frame = (params.length > 0 && params[params.length - 1] instanceof Transform) ? params.pop() as Transform : undefined;\n    const flipFrame = (f: Transform): Transform => {\n      if (defaultUpVector && f.matrix.dotColumnZ(defaultUpVector) < 0.0)\n        f.matrix.scaleColumnsInPlace(1, -1, -1);\n      return f;\n    };\n    const builder = new FrameBuilder();\n    for (const data of params) {\n      builder.announce(data);\n      builder.applyDefaultUpVector(defaultUpVector);\n      if (frame = builder.getValidatedFrame(false, frame))\n        return flipFrame(frame);\n    }\n    const evaluatePrimitiveFrame = (curve: CurvePrimitive, result?: Transform): Transform | undefined => {\n      return curve.fractionToFrenetFrame(0.0, result);\n    };\n    // try direct evaluation of curve primitives using the above lambda\n    for (const data of params) {\n      if (data instanceof CurvePrimitive) {\n        if (frame = evaluatePrimitiveFrame(data, frame))\n          return flipFrame(frame);\n      } else if (data instanceof CurveCollection) {\n        const children = data.collectCurvePrimitives();\n        for (const curve of children) {\n          if (frame = evaluatePrimitiveFrame(curve, frame))\n            return flipFrame(frame);\n        }\n      }\n    }\n    return undefined;\n  }\n  /**\n   * Create a transform containing points or vectors in the given data.\n   * * The xy columns of the transform contain the first points or vectors of the data.\n   * * The z column is perpendicular to that xy plane.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedLocalToWorld(...params: any[]): Transform | undefined {\n    return this.createRightHandedFrame(undefined, params);\n  }\n\n  /**\n   * Try to create a frame whose xy plane is through points.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const origin = points[0];\n      const vector01 = FrameBuilder._workVector0 ?? Vector3d.create();\n      Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);\n      const vector02 = FrameBuilder._workVector1 ?? Vector3d.create();\n      Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);\n      const matrix = FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(vector01, vector02, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      if (matrix)\n        return Transform.createOriginAndMatrix(origin, matrix, result);\n    }\n    return undefined;\n  }\n  /**\n   * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const ray = PolygonOps.centroidAreaNormal(points);  // can't pass pre-allocated ray...\n      if (ray)\n        return ray.toRigidZFrame(result);\n    }\n    return undefined;\n  }\n  /**\n   * Create the localToWorld transform from a range to axes of its parent coordinate system.\n   * @param range range to inspect\n   * @param scaleSelect selects size of localToWorld axes.\n   * @param fractionX fractional coordinate of frame origin x\n   * @param fractionY fractional coordinate of frame origin y\n   * @param fractionZ fractional coordinate of frame origin z\n   * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the range\n   */\n  public static createLocalToWorldTransformInRange(\n    range: Range3d,\n    scaleSelect: AxisScaleSelect = AxisScaleSelect.NonUniformRangeContainment,\n    fractionX: number = 0,\n    fractionY: number = 0,\n    fractionZ: number = 0,\n    defaultAxisLength: number = 1.0,\n    result?: Transform,\n  ): Transform {\n    if (range.isNull)\n      return Transform.createIdentity(result);\n    let a = 1.0;\n    let b = 1.0;\n    let c = 1.0;\n    if (scaleSelect === AxisScaleSelect.LongestRangeDirection) {\n      a = b = c = Geometry.correctSmallMetricDistance(range.maxLength(), defaultAxisLength);\n    } else if (scaleSelect === AxisScaleSelect.NonUniformRangeContainment) {\n      a = Geometry.correctSmallMetricDistance(range.xLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionX, 0, 1);\n      b = Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionY, 0, 1);\n      c = Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionZ, 0, 1);\n    }\n    const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);\n    const matrix = FrameBuilder._workMatrix = Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);\n    return Transform.createOriginAndMatrix(origin, matrix, result);\n  }\n}\n"]}

package/lib/cjs/geometry3d/GrowableFloat64Array.d.ts

@@ -144,5 +144,7 @@ export declare class GrowableFloat64Array {
      * * this is done in the current order of the array.
      */
     compressAdjacentDuplicates(tolerance?: number): void;
+    /** reverse the order of values. */
+    reverseInPlace(): void;
 }
 //# sourceMappingURL=GrowableFloat64Array.d.ts.map

package/lib/cjs/geometry3d/GrowableFloat64Array.d.ts.map

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package/lib/cjs/geometry3d/GrowableFloat64Array.js

@@ -266,6 +266,10 @@ class GrowableFloat64Array {
         }
         this._inUse = numAccepted;
     }
+    /** reverse the order of values. */
+    reverseInPlace() {
+        this._data.reverse();
+    }
 }
 exports.GrowableFloat64Array = GrowableFloat64Array;
 //# sourceMappingURL=GrowableFloat64Array.js.map

package/lib/cjs/geometry3d/GrowableFloat64Array.js.map

@@ -1 +1 @@
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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*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module ArraysAndInterfaces\n */\n\n/**\n * Type for a OptionalGrowableFloat64Array or undefined.\n * @public\n */\nexport type OptionalGrowableFloat64Array = GrowableFloat64Array | undefined;\n/**\n * Signature for a function which does lexical comparison of `blockSize` consecutive values as 2 starting indices.\n * @public\n */\nexport type BlockComparisonFunction = (data: Float64Array, blockSize: number, index0: number, index1: number) => number;\n/**\n * A `GrowableFloat64Array` is Float64Array accompanied by a count of how many of the array's entries are considered in use.\n * * In C++ terms, this is like an std::vector\n * * As entries are added to the array, the buffer is reallocated as needed to accommodate.\n * * The reallocations leave unused space to accept further additional entries without reallocation.\n * * The `length` property returns the number of entries in use.\n * * the `capacity` property returns the (usually larger) length of the (over-allocated) Float64Array.\n * @public\n */\nexport class GrowableFloat64Array {\n  private _data: Float64Array;\n  private _inUse: number;\n  private _growthFactor: number;\n\n  /** Construct a GrowableFloat64Array.\n   * @param initialCapacity initial capacity (default 8)\n   * @param growthFactor used by ensureCapacity to expand requested reallocation size (default 1.5)\n   */\n  constructor(initialCapacity: number = 8, growthFactor?: number) {\n    this._data = new Float64Array(initialCapacity);\n    this._inUse = 0;\n    this._growthFactor = (undefined !== growthFactor && growthFactor >= 1.0) ? growthFactor : 1.5;\n  }\n\n  /** Copy data from source array. Does not reallocate or change active entry count.\n   * @param source array to copy from\n   * @param sourceCount copy the first sourceCount entries; all entries if undefined\n   * @param destOffset copy to instance array starting at this index; zero if undefined\n   * @return count and offset of entries copied\n   */\n  protected copyData(source: Float64Array | number[], sourceCount?: number, destOffset?: number): {count: number, offset: number} {\n    let myOffset = destOffset ?? 0;\n    if (myOffset < 0)\n      myOffset = 0;\n    if (myOffset >= this._data.length)\n      return {count: 0, offset: 0};\n    let myCount = sourceCount ?? source.length;\n    if (myCount > 0) {\n      if (myCount > source.length)\n        myCount = source.length;\n      if (myOffset + myCount > this._data.length)\n        myCount = this._data.length - myOffset;\n    }\n    if (myCount <= 0)\n      return {count: 0, offset: 0};\n    if (myCount === source.length)\n      this._data.set(source, myOffset);\n    else if (source instanceof Float64Array)\n      this._data.set(source.subarray(0, myCount), myOffset);\n    else\n      this._data.set(source.slice(0, myCount), myOffset);\n    return {count: myCount, offset: myOffset};\n  }\n\n  /**\n   * Create a GrowableFloat64Array with given contents.\n   * @param contents data to copy into the array\n   */\n  public static create(contents: Float64Array | number[]): GrowableFloat64Array {\n    const out = new GrowableFloat64Array(contents.length);\n    out.copyData(contents);\n    out._inUse = contents.length;\n    return out;\n  }\n  /** sort-compatible comparison.\n   * * Returns `(a-b)` which is\n   *   * negative if `a<b`\n   *   * zero if `a === b` (with exact equality)\n   *   * positive if `a>b`\n   */\n  public static compare(a: any, b: any): number {\n    return a - b;\n  }\n  /** Return a new array with\n   * * All active entries copied from this instance\n   * * optionally trimmed capacity to the active length or replicate the capacity and unused space.\n   */\n  public clone(maintainExcessCapacity: boolean = false): GrowableFloat64Array {\n    const out = new GrowableFloat64Array(maintainExcessCapacity ? this.capacity() : this._inUse);\n    out.copyData(this._data, this._inUse);\n    out._inUse = this._inUse;\n    return out;\n  }\n  /**\n   * Returns the number of entries in use.\n   * * Note that this is typically smaller than the length of the length of the supporting `Float64Array`\n   */\n  public get length() {\n    return this._inUse;\n  }\n  /**\n   * Set the value at specified index.\n   * @param index index of entry to set\n   * @param value value to set\n   */\n  public setAtUncheckedIndex(index: number, value: number) {\n    this._data[index] = value;\n  }\n\n  /**\n   * Move the value at index i to index j.\n   * @param i source index\n   * @param j destination index.\n   */\n  public move(i: number, j: number) {\n    this._data[j] = this._data[i];\n  }\n  /**\n   * swap the values at indices i and j\n   * @param i first index\n   * @param j second index\n   */\n  public swap(i: number, j: number) {\n    const a = this._data[i];\n    this._data[i] = this._data[j];\n    this._data[j] = a;\n  }\n\n  /**\n   * append a single value to the array.\n   * @param toPush value to append to the active array.\n   */\n  public push(toPush: number) {\n    this.ensureCapacity(this._inUse + 1);\n    this._data[this._inUse] = toPush;\n    this._inUse++;\n  }\n  /**\n   * Push each value from an array.\n   * @param data array of values to push\n   */\n  public pushArray(data: Float64Array | number[]) {\n    this.ensureCapacity(this._inUse + data.length);\n    this.copyData(data, data.length, this._inUse);\n    this._inUse += data.length;\n  }\n  /** Push `numToCopy` consecutive values starting at `copyFromIndex`. */\n  public pushBlockCopy(copyFromIndex: number, numToCopy: number) {\n    if (copyFromIndex >= 0 && copyFromIndex < this._inUse && numToCopy > 0 && copyFromIndex + numToCopy <= this._inUse) {\n      this.ensureCapacity(this._inUse + numToCopy);\n      this._data.copyWithin(this._inUse, copyFromIndex, copyFromIndex + numToCopy);\n      this._inUse += numToCopy;\n    }\n  }\n  /** Clear the array to 0 length.  The underlying memory remains allocated for reuse. */\n  public clear() {\n    this._inUse = 0;\n  }\n  /**\n   * Returns the number of entries in the supporting Float64Array buffer.\n   * * This number can be larger than the `length` property.\n   */\n  public capacity() {\n    return this._data.length;\n  }\n  /**\n   * * If the capacity (Float64Array length) is less than or equal to the requested newCapacity, do nothing.\n   * * If the requested newCapacity is larger than the existing capacity, reallocate to larger capacity, and copy existing values.\n   * @param newCapacity size of new array\n   * @param applyGrowthFactor whether to apply the growth factor to newCapacity when reallocating\n   */\n  public ensureCapacity(newCapacity: number, applyGrowthFactor: boolean = true) {\n    if (newCapacity > this.capacity()) {\n      if (applyGrowthFactor)\n        newCapacity *= this._growthFactor;\n      const prevData = this._data;\n      this._data = new Float64Array(newCapacity);\n      this.copyData(prevData, this._inUse);\n    }\n  }\n  /**\n   * * If newLength is less than current length, just reset current length to newLength, effectively trimming active entries but preserving original capacity.\n   * * If newLength is greater than current length, reallocate to (exactly) newLength, copy existing entries, and pad with padValue up to newLength.\n   * @param newLength new data count\n   * @param padValue value to use for padding if the length increases.\n   */\n  public resize(newLength: number, padValue: number = 0) {\n    if (newLength >= 0 && newLength < this._inUse)\n      this._inUse = newLength;\n    else if (newLength > this._inUse) {\n      this.ensureCapacity(newLength, false);\n      this._data.fill(padValue, this._inUse);\n      this._inUse = newLength;\n    }\n  }\n  /**\n   * * Reduce the length by one.\n   * * Note that there is no method return value -- use `back` to get that value before `pop()`\n   * * (As with std::vector, separating the `pop` from the value access eliminates error testing from `pop` call)\n   */\n  public pop() {\n    // Could technically access outside of array, if filled and then reduced using pop (similar to C\n    // and accessing out of bounds), but with adjusted inUse counter, that data will eventually be overwritten\n    if (this._inUse > 0) {\n      this._inUse--;\n    }\n  }\n  /** Access by index, without bounds check */\n  public atUncheckedIndex(index: number): number {\n    return this._data[index];\n  }\n  /** Access the 0-index member, without bounds check */\n  public front() {\n    return this._data[0];\n  }\n  /** Access the final member, without bounds check */\n  public back() {\n    return this._data[this._inUse - 1];\n  }\n  /** set a value by index */\n  public reassign(index: number, value: number) {\n    this._data[index] = value;\n  }\n\n  /**\n   * * Sort the array entries.\n   * * Uses insertion sort -- fine for small arrays (less than 30), slow for larger arrays\n   * @param compareMethod comparison method\n   */\n  public sort(compareMethod: (a: any, b: any) => number = (a, b) => GrowableFloat64Array.compare(a, b)) {\n    for (let i = 0; i < this._inUse; i++) {\n      for (let j = i + 1; j < this._inUse; j++) {\n        const tempI = this._data[i];\n        const tempJ = this._data[j];\n        if (compareMethod(tempI, tempJ) > 0) {\n          this._data[i] = tempJ;\n          this._data[j] = tempI;\n        }\n      }\n    }\n  }\n\n  /**\n   * * compress out values not within the [a,b] interval.\n   * * Note that if a is greater than b all values are rejected.\n   * @param a low value for accepted interval\n   * @param b high value for accepted interval\n   */\n  public restrictToInterval(a: number, b: number) {\n    const data = this._data;\n    const n = data.length;\n    let numAccept = 0;\n    let q = 0;\n    for (let i = 0; i < n; i++) {\n      q = data[i];\n      if (q >= a && q <= b)\n        data[numAccept++] = q;\n    }\n    this._inUse = numAccept;\n  }\n\n  /**\n   * * compress out multiple copies of values.\n   * * this is done in the current order of the array.\n   */\n  public compressAdjacentDuplicates(tolerance: number = 0.0) {\n    const data = this._data;\n    const n = this._inUse;\n    if (n === 0)\n      return;\n\n    let numAccepted = 1;\n    let a = data[0];\n    let b;\n    for (let i = 1; i < n; i++) {\n      b = data[i];\n      if (Math.abs(b - a) > tolerance) {\n        data[numAccepted++] = b;\n        a = b;\n      }\n    }\n    this._inUse = numAccepted;\n  }\n\n}\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*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module ArraysAndInterfaces\n */\n\n/**\n * Type for a OptionalGrowableFloat64Array or undefined.\n * @public\n */\nexport type OptionalGrowableFloat64Array = GrowableFloat64Array | undefined;\n/**\n * Signature for a function which does lexical comparison of `blockSize` consecutive values as 2 starting indices.\n * @public\n */\nexport type BlockComparisonFunction = (data: Float64Array, blockSize: number, index0: number, index1: number) => number;\n/**\n * A `GrowableFloat64Array` is Float64Array accompanied by a count of how many of the array's entries are considered in use.\n * * In C++ terms, this is like an std::vector\n * * As entries are added to the array, the buffer is reallocated as needed to accommodate.\n * * The reallocations leave unused space to accept further additional entries without reallocation.\n * * The `length` property returns the number of entries in use.\n * * the `capacity` property returns the (usually larger) length of the (over-allocated) Float64Array.\n * @public\n */\nexport class GrowableFloat64Array {\n  private _data: Float64Array;\n  private _inUse: number;\n  private _growthFactor: number;\n\n  /** Construct a GrowableFloat64Array.\n   * @param initialCapacity initial capacity (default 8)\n   * @param growthFactor used by ensureCapacity to expand requested reallocation size (default 1.5)\n   */\n  constructor(initialCapacity: number = 8, growthFactor?: number) {\n    this._data = new Float64Array(initialCapacity);\n    this._inUse = 0;\n    this._growthFactor = (undefined !== growthFactor && growthFactor >= 1.0) ? growthFactor : 1.5;\n  }\n\n  /** Copy data from source array. Does not reallocate or change active entry count.\n   * @param source array to copy from\n   * @param sourceCount copy the first sourceCount entries; all entries if undefined\n   * @param destOffset copy to instance array starting at this index; zero if undefined\n   * @return count and offset of entries copied\n   */\n  protected copyData(source: Float64Array | number[], sourceCount?: number, destOffset?: number): {count: number, offset: number} {\n    let myOffset = destOffset ?? 0;\n    if (myOffset < 0)\n      myOffset = 0;\n    if (myOffset >= this._data.length)\n      return {count: 0, offset: 0};\n    let myCount = sourceCount ?? source.length;\n    if (myCount > 0) {\n      if (myCount > source.length)\n        myCount = source.length;\n      if (myOffset + myCount > this._data.length)\n        myCount = this._data.length - myOffset;\n    }\n    if (myCount <= 0)\n      return {count: 0, offset: 0};\n    if (myCount === source.length)\n      this._data.set(source, myOffset);\n    else if (source instanceof Float64Array)\n      this._data.set(source.subarray(0, myCount), myOffset);\n    else\n      this._data.set(source.slice(0, myCount), myOffset);\n    return {count: myCount, offset: myOffset};\n  }\n\n  /**\n   * Create a GrowableFloat64Array with given contents.\n   * @param contents data to copy into the array\n   */\n  public static create(contents: Float64Array | number[]): GrowableFloat64Array {\n    const out = new GrowableFloat64Array(contents.length);\n    out.copyData(contents);\n    out._inUse = contents.length;\n    return out;\n  }\n  /** sort-compatible comparison.\n   * * Returns `(a-b)` which is\n   *   * negative if `a<b`\n   *   * zero if `a === b` (with exact equality)\n   *   * positive if `a>b`\n   */\n  public static compare(a: any, b: any): number {\n    return a - b;\n  }\n  /** Return a new array with\n   * * All active entries copied from this instance\n   * * optionally trimmed capacity to the active length or replicate the capacity and unused space.\n   */\n  public clone(maintainExcessCapacity: boolean = false): GrowableFloat64Array {\n    const out = new GrowableFloat64Array(maintainExcessCapacity ? this.capacity() : this._inUse);\n    out.copyData(this._data, this._inUse);\n    out._inUse = this._inUse;\n    return out;\n  }\n  /**\n   * Returns the number of entries in use.\n   * * Note that this is typically smaller than the length of the length of the supporting `Float64Array`\n   */\n  public get length() {\n    return this._inUse;\n  }\n  /**\n   * Set the value at specified index.\n   * @param index index of entry to set\n   * @param value value to set\n   */\n  public setAtUncheckedIndex(index: number, value: number) {\n    this._data[index] = value;\n  }\n\n  /**\n   * Move the value at index i to index j.\n   * @param i source index\n   * @param j destination index.\n   */\n  public move(i: number, j: number) {\n    this._data[j] = this._data[i];\n  }\n  /**\n   * swap the values at indices i and j\n   * @param i first index\n   * @param j second index\n   */\n  public swap(i: number, j: number) {\n    const a = this._data[i];\n    this._data[i] = this._data[j];\n    this._data[j] = a;\n  }\n\n  /**\n   * append a single value to the array.\n   * @param toPush value to append to the active array.\n   */\n  public push(toPush: number) {\n    this.ensureCapacity(this._inUse + 1);\n    this._data[this._inUse] = toPush;\n    this._inUse++;\n  }\n  /**\n   * Push each value from an array.\n   * @param data array of values to push\n   */\n  public pushArray(data: Float64Array | number[]) {\n    this.ensureCapacity(this._inUse + data.length);\n    this.copyData(data, data.length, this._inUse);\n    this._inUse += data.length;\n  }\n  /** Push `numToCopy` consecutive values starting at `copyFromIndex`. */\n  public pushBlockCopy(copyFromIndex: number, numToCopy: number) {\n    if (copyFromIndex >= 0 && copyFromIndex < this._inUse && numToCopy > 0 && copyFromIndex + numToCopy <= this._inUse) {\n      this.ensureCapacity(this._inUse + numToCopy);\n      this._data.copyWithin(this._inUse, copyFromIndex, copyFromIndex + numToCopy);\n      this._inUse += numToCopy;\n    }\n  }\n  /** Clear the array to 0 length.  The underlying memory remains allocated for reuse. */\n  public clear() {\n    this._inUse = 0;\n  }\n  /**\n   * Returns the number of entries in the supporting Float64Array buffer.\n   * * This number can be larger than the `length` property.\n   */\n  public capacity() {\n    return this._data.length;\n  }\n  /**\n   * * If the capacity (Float64Array length) is less than or equal to the requested newCapacity, do nothing.\n   * * If the requested newCapacity is larger than the existing capacity, reallocate to larger capacity, and copy existing values.\n   * @param newCapacity size of new array\n   * @param applyGrowthFactor whether to apply the growth factor to newCapacity when reallocating\n   */\n  public ensureCapacity(newCapacity: number, applyGrowthFactor: boolean = true) {\n    if (newCapacity > this.capacity()) {\n      if (applyGrowthFactor)\n        newCapacity *= this._growthFactor;\n      const prevData = this._data;\n      this._data = new Float64Array(newCapacity);\n      this.copyData(prevData, this._inUse);\n    }\n  }\n  /**\n   * * If newLength is less than current length, just reset current length to newLength, effectively trimming active entries but preserving original capacity.\n   * * If newLength is greater than current length, reallocate to (exactly) newLength, copy existing entries, and pad with padValue up to newLength.\n   * @param newLength new data count\n   * @param padValue value to use for padding if the length increases.\n   */\n  public resize(newLength: number, padValue: number = 0) {\n    if (newLength >= 0 && newLength < this._inUse)\n      this._inUse = newLength;\n    else if (newLength > this._inUse) {\n      this.ensureCapacity(newLength, false);\n      this._data.fill(padValue, this._inUse);\n      this._inUse = newLength;\n    }\n  }\n  /**\n   * * Reduce the length by one.\n   * * Note that there is no method return value -- use `back` to get that value before `pop()`\n   * * (As with std::vector, separating the `pop` from the value access eliminates error testing from `pop` call)\n   */\n  public pop() {\n    // Could technically access outside of array, if filled and then reduced using pop (similar to C\n    // and accessing out of bounds), but with adjusted inUse counter, that data will eventually be overwritten\n    if (this._inUse > 0) {\n      this._inUse--;\n    }\n  }\n  /** Access by index, without bounds check */\n  public atUncheckedIndex(index: number): number {\n    return this._data[index];\n  }\n  /** Access the 0-index member, without bounds check */\n  public front() {\n    return this._data[0];\n  }\n  /** Access the final member, without bounds check */\n  public back() {\n    return this._data[this._inUse - 1];\n  }\n  /** set a value by index */\n  public reassign(index: number, value: number) {\n    this._data[index] = value;\n  }\n\n  /**\n   * * Sort the array entries.\n   * * Uses insertion sort -- fine for small arrays (less than 30), slow for larger arrays\n   * @param compareMethod comparison method\n   */\n  public sort(compareMethod: (a: any, b: any) => number = (a, b) => GrowableFloat64Array.compare(a, b)) {\n    for (let i = 0; i < this._inUse; i++) {\n      for (let j = i + 1; j < this._inUse; j++) {\n        const tempI = this._data[i];\n        const tempJ = this._data[j];\n        if (compareMethod(tempI, tempJ) > 0) {\n          this._data[i] = tempJ;\n          this._data[j] = tempI;\n        }\n      }\n    }\n  }\n\n  /**\n   * * compress out values not within the [a,b] interval.\n   * * Note that if a is greater than b all values are rejected.\n   * @param a low value for accepted interval\n   * @param b high value for accepted interval\n   */\n  public restrictToInterval(a: number, b: number) {\n    const data = this._data;\n    const n = data.length;\n    let numAccept = 0;\n    let q = 0;\n    for (let i = 0; i < n; i++) {\n      q = data[i];\n      if (q >= a && q <= b)\n        data[numAccept++] = q;\n    }\n    this._inUse = numAccept;\n  }\n\n  /**\n   * * compress out multiple copies of values.\n   * * this is done in the current order of the array.\n   */\n  public compressAdjacentDuplicates(tolerance: number = 0.0) {\n    const data = this._data;\n    const n = this._inUse;\n    if (n === 0)\n      return;\n\n    let numAccepted = 1;\n    let a = data[0];\n    let b;\n    for (let i = 1; i < n; i++) {\n      b = data[i];\n      if (Math.abs(b - a) > tolerance) {\n        data[numAccepted++] = b;\n        a = b;\n      }\n    }\n    this._inUse = numAccepted;\n  }\n\n  /** reverse the order of values. */\n  public reverseInPlace() {\n    this._data.reverse();\n  }\n}\n"]}