@itwin/core-geometry 5.0.0-dev.6 → 5.0.0-dev.62

package/lib/esm/geometry4d/MomentData.js

@@ -5,8 +5,8 @@
 /** @packageDocumentation
  * @module Numerics
  */
-// import { Point2d } from "./Geometry2d";
 /* eslint-disable @typescript-eslint/naming-convention */
+// cspell:word ABAT
 import { Geometry } from "../Geometry";
 import { Matrix3d } from "../geometry3d/Matrix3d";
 import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
@@ -19,61 +19,84 @@ import { Point4d } from "./Point4d";
  *   * origin = local origin used as moments are summed.
  *   * sums = array of summed moments.
  *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.
- *       * axes 0,1,2 are x,y,z
+ *       * axes 0,1,2 are x,y,z.
  *         * e.g. entry [0,1] is summed product xy
  *       * axis 3 is "w", which is 1 in sums.
- *         * e.g. entry 03 is summed x
- *    * In this level,
+ *         * e.g. entry 03 is summed x.
+ *    * In this level:
  *        * the `absoluteQuantity` member is undefined.
  *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.
- *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and `radiiOfGyration` are filled in.
+ *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and
+ *    `radiiOfGyration` are filled in.
  * @public
  */
 export class MomentData {
-    /** Return the lower-right (3,3) entry in the sums.
-     * * This is the quantity (i.e. length, area, or volume) summed
+    /** Origin used for sums. */
+    origin;
+    /** Flag to request deferred origin setup. */
+    needOrigin;
+    /**
+     * Moment sums.
+     * * Set to zero at initialization and if requested later.
+     * * Accumulated during data entry phase.
+     */
+    sums;
+    /**
+     * The mapping between principal and world system.
+     * * This set up with its inverse already constructed.
      */
-    get quantitySum() { return this.sums.atIJ(3, 3); }
-    /** Return a scale factor to make these sums match the target orientation sign.
+    localToWorldMap;
+    // private variables
+    static _vectorA;
+    static _vectorB;
+    static _vectorC;
+    _point0 = Point3d.create();
+    _point1 = Point3d.create();
+    /**
+     * Return the lower-right (3,3) entry in the sums.
+     * * This is the quantity (i.e. length, area, or volume) summed.
+     */
+    get quantitySum() {
+        return this.sums.atIJ(3, 3);
+    }
+    /**
+     * Return a scale factor to make these sums match the target orientation sign.
      * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.
      * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`
      */
     signFactor(targetSign) {
         return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginIfNeeded(origin) {
         if (this.needOrigin) {
             this.origin.setFromPoint3d(origin);
             this.needOrigin = false;
         }
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginFromGrowableXYZArrayIfNeeded(points) {
         if (this.needOrigin && points.length > 0) {
             points.getPoint3dAtCheckedPointIndex(0, this.origin);
             this.needOrigin = false;
         }
     }
-    /**
-     *  If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag.
-     *
-     */
+    /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */
     setOriginXYZIfNeeded(x, y, z) {
         if (this.needOrigin) {
             this.origin.set(x, y, z);
             this.needOrigin = false;
         }
     }
+    /** Radii of gyration (square roots of principal second moments). */
+    radiusOfGyration;
+    /**
+     * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by
+     * inertiaProductsToPrincipalAxes.
+     */
+    absoluteQuantity;
+    /** Constructor. */
     constructor() {
-        this._point0 = Point3d.create();
-        this._point1 = Point3d.create();
         this.origin = Point3d.createZero();
         this.sums = Matrix4d.createZero();
         this.localToWorldMap = Transform.createIdentity();
@@ -82,12 +105,13 @@ export class MomentData {
         this.absoluteQuantity = 0.1; // so optimizer sees its type
         this.absoluteQuantity = undefined;
     }
-    /** Create moments with optional origin.
-     * * origin and needOrigin are quirky.
+    /**
+     * Create moments with optional origin.
+     * * Origin and needOrigin are quirky.
      *   * (undefined, true) sets up to use first incoming point as origin.
-     *   * (origin) sets up to use that durable origin, set needsOrigin flag false
-     *   * (origin, true) the "true" is meaningless
-     *   * (undefined, false) makes 000 the durable origin
+     *   * (origin) sets up to use that durable origin, set needsOrigin flag false.
+     *   * (origin, true) the "true" is meaningless.
+     *   * (undefined, false) makes 000 the durable origin.
     */
     static create(origin, needOrigin = false) {
         const data = new MomentData();
@@ -99,8 +123,8 @@ export class MomentData {
         return data;
     }
     /**
-     * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`
-     * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`
+     * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.
+     * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.
      */
     static momentTensorFromInertiaProducts(products) {
         const rr = products.sumDiagonal();
@@ -133,7 +157,7 @@ export class MomentData {
     }
     /**
      * Return the principal moment data for an array of points.
-     * @param points array of points
+     * @param points array of points.
      */
     static pointsToPrincipalAxes(points) {
         const moments = new MomentData();
@@ -144,12 +168,12 @@ export class MomentData {
         return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);
     }
     /**
-     * Compute principal axes from inertial products
-     * * The radii of gyration are sorted smallest to largest
-     * * Hence x axis is long direction
-     * * Hence planar data generates large moment as Z
+     * Compute principal axes from inertial products.
+     * * The radii of gyration are sorted smallest to largest.
+     * * Hence x axis is long direction.
+     * * Hence planar data generates large moment as Z.
      * @param origin The origin used for the inertia products.
-     * @param inertiaProducts The inertia products -- sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w]
+     * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
      */
     static inertiaProductsToPrincipalAxes(origin, inertiaProducts) {
         const moments = new MomentData();
@@ -177,18 +201,19 @@ export class MomentData {
         return moments;
     }
     /**
-     * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`
-     * * The members considered are
-     *   * origin of local to world map (i.e. centroid)
-     *   * radius of gyration
+     * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.
+     * * The members considered are:
+     *   * origin of local to world map (i.e. centroid),
+     *   * radius of gyration,
      *   * axes of localToWorldMap.
      * * Axis direction tests allow these quirks:
      *   * opposite orientation is considered matched.
      * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.
-     * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely.  Only Z direction is tested.
+     * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction
+     *   is tested.
      * * If either or both are undefined, returns false.
-     * @param dataA first set of moments
-     * @param dataB second set of moments
+     * @param dataA first set of moments.
+     * @param dataB second set of moments.
      */
     static areEquivalentPrincipalAxes(dataA, dataB) {
         if (dataA && dataB
@@ -236,7 +261,7 @@ export class MomentData {
             this.sums.addMomentsInPlace(p.x - this.origin.x, p.y - this.origin.y, p.z - this.origin.z, 1.0);
         }
     }
-    /** revise the accumulated sums to be "around the centroid" */
+    /** Revise the accumulated sums to be "around the centroid". */
     shiftOriginAndSumsToCentroidOfSums() {
         const xyz = this.sums.columnW().realPoint();
         if (xyz) {
@@ -245,7 +270,8 @@ export class MomentData {
         }
         return false;
     }
-    /** revise the accumulated sums
+    /**
+     * Revise the accumulated sums.
      * * add ax,ay,ax to the origin coordinates.
      * * apply the negative translation to the sums.
     */
@@ -253,11 +279,12 @@ export class MomentData {
         this.origin.addXYZInPlace(ax, ay, az);
         this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);
     }
-    /** revise the accumulated sums so they are based at a specified origin. */
+    /** Revise the accumulated sums so they are based at a specified origin. */
     shiftOriginAndSumsToNewOrigin(newOrigin) {
         this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);
     }
-    /** compute moments of a triangle from the origin to the given line.
+    /**
+     * Compute moments of a triangle from the origin to the given line.
      * Accumulate them to this.sums.
      * * If `pointA` is undefined, use `this.origin` as pointA.
      * * If `this.needOrigin` is set, pointB is used
@@ -289,7 +316,7 @@ export class MomentData {
             this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);
         }
     }
-    /** add scaled outer product of (4d, unit weight) point to this.sums */
+    /** Add scaled outer product of (4d, unit weight) point to this.sums. */
     accumulateScaledOuterProduct(point, scaleFactor) {
         this.setOriginXYZIfNeeded(point.x, point.y, 0.0);
         const vectorA = MomentData._vectorA = Point4d.create(point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA);
@@ -311,7 +338,8 @@ export class MomentData {
         this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);
         this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);
     }
-    /** compute moments of triangles from a base point to the given linestring.
+    /**
+     * Compute moments of triangles from a base point to the given linestring.
      * Accumulate them to this.sums.
      * * If `pointA` is undefined, use `this.origin` as pointA.
      * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.
@@ -328,18 +356,18 @@ export class MomentData {
             }
         }
     }
-    // cspell:word ABAT
     /**
      * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].
-     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy parts of vectors)
+     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy
+     *   parts of vectors).
      * * scale by detJ for the xy-only determinant of the vectors.
      * @param productXX
      * @param productXY
      * @param productYY
-     * @param area Area in caller's system
-     * @param origin Caller's origin
-     * @param vectorU Caller's U axis (not necessarily unit)
-     * @param vectorV Caller's V axis (not necessarily unit)
+     * @param area Area in caller's system.
+     * @param origin Caller's origin.
+     * @param vectorU Caller's U axis (not necessarily unit).
+     * @param vectorV Caller's V axis (not necessarily unit).
      */
     accumulateXYProductsInCentroidalFrame(productXX, productXY, productYY, area, origin, vectorU, vectorV) {
         const centroidalProducts = Matrix4d.createRowValues(productXX, productXY, 0, 0, productXY, productYY, 0, 0, 0, 0, 0, 0, 0, 0, 0, area);
@@ -351,27 +379,23 @@ export class MomentData {
     }
     /**
      * Accumulate sums from other moments.
-     * * scale by given scaleFactor (e.g. sign to correct orientation)
-     * * pull the origin from `other` if `this` needs an origin.
-     * *
+     * * Scale by given scaleFactor (e.g. sign to correct orientation).
+     * * Pull the origin from `other` if `this` needs an origin.
      */
     accumulateProducts(other, scale) {
         this.setOriginIfNeeded(other.origin);
         this.sums.addTranslationSandwichInPlace(other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale);
     }
     /**
-   * Accumulate sums from Matrix4d and origin.
-   * * scale by given scaleFactor (e.g. sign to correct orientation)
-   * * trap the origin if `this` needs an origin.
-   * *
-   */
+     * Accumulate sums from Matrix4d and origin.
+     * * Scale by given scaleFactor (e.g. sign to correct orientation).
+     * * Trap the origin if `this` needs an origin.
+     */
     accumulateProductsFromOrigin(origin, products, scale) {
         this.setOriginIfNeeded(origin);
         this.sums.addTranslationSandwichInPlace(products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale);
     }
-    /**
-     * Convert to a json data object with:
-     */
+    /** Convert to a json data object. */
     toJSON() {
         return {
             origin: this.origin,

package/lib/esm/geometry4d/MomentData.js.map

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

package/lib/esm/geometry4d/PlaneByOriginAndVectors4d.js

@@ -11,6 +11,12 @@ import { Point4d } from "./Point4d";
  * @public
  */
 export class PlaneByOriginAndVectors4d {
+    /** homogeneous origin */
+    origin;
+    /** homogeneous u-direction vector */
+    vectorU;
+    /** homogeneous v-direction vector */
+    vectorV;
     constructor(origin, vectorU, vectorV) {
         this.origin = origin;
         this.vectorU = vectorU;

package/lib/esm/geometry4d/PlaneByOriginAndVectors4d.js.map

@@ -1 +1 @@
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All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\r\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\r\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\r\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\r\n * @public\r\n */\r\nexport class PlaneByOriginAndVectors4d {\r\n  /** homogeneous origin */\r\n  public origin: Point4d;\r\n  /** homogeneous u-direction vector */\r\n  public vectorU: Point4d;\r\n  /** homogeneous v-direction vector */\r\n  public vectorV: Point4d;\r\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** Return a clone of this plane */\r\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setFrom(this);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /** copy all content from other plane */\r\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\r\n    this.origin.setFrom(other.origin);\r\n    this.vectorU.setFrom(other.vectorU);\r\n    this.vectorV.setFrom(other.vectorV);\r\n  }\r\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\r\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\r\n   */\r\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setOriginAndVectors(origin, vectorU, vectorV);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\r\n    this.origin.set(x0, y0, z0, w0);\r\n    this.vectorU.set(ux, uy, uz, uw);\r\n    this.vectorV.set(vx, vy, vz, vw);\r\n    return this;\r\n  }\r\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\r\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\r\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\r\n  }\r\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\r\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\r\n  }\r\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\r\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** create a new plane which maps to the cartesian xy plane. */\r\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\r\n  }\r\n}\r\n"]}
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\n * @public\n */\nexport class PlaneByOriginAndVectors4d {\n  /** homogeneous origin */\n  public origin: Point4d;\n  /** homogeneous u-direction vector */\n  public vectorU: Point4d;\n  /** homogeneous v-direction vector */\n  public vectorV: Point4d;\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\n    this.origin = origin;\n    this.vectorU = vectorU;\n    this.vectorV = vectorV;\n  }\n  /** Return a clone of this plane */\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setFrom(this);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\n  }\n  /** copy all content from other plane */\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\n    this.origin.setFrom(other.origin);\n    this.vectorU.setFrom(other.vectorU);\n    this.vectorV.setFrom(other.vectorV);\n  }\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\n    return this.origin.isAlmostEqual(other.origin)\n      && this.vectorU.isAlmostEqual(other.vectorU)\n      && this.vectorV.isAlmostEqual(other.vectorV);\n  }\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\n   */\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setOriginAndVectors(origin, vectorU, vectorV);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\n  }\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\n    this.origin.set(x0, y0, z0, w0);\n    this.vectorU.set(ux, uy, uz, uw);\n    this.vectorV.set(vx, vy, vz, vw);\n    return this;\n  }\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\n    this.origin.setFrom(origin);\n    this.vectorU.setFrom(vectorU);\n    this.vectorV.setFrom(vectorV);\n    return this;\n  }\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result)\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\n  }\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\n  }\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\n  }\n  /** create a new plane which maps to the cartesian xy plane. */\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\n  }\n}\n"]}

package/lib/esm/geometry4d/Point4d.js

@@ -34,6 +34,8 @@ function quotientDerivative2(ddg, dh, ddh, f, df, divH) {
  * @public
  */
 export class Point4d extends Plane3d {
+    /** x,y,z,w are packed into a Float64Array */
+    xyzw;
     /** Set x,y,z,w of this point.  */
     set(x = 0, y = 0, z = 0, w = 0) {
         this.xyzw[0] = x;