@itwin/core-geometry 5.0.0-dev.62 → 5.0.0-dev.65

package/lib/esm/bspline/KnotVector.js

@@ -5,6 +5,7 @@
 /** @packageDocumentation
  * @module Bspline
  */
+import { assert } from "@itwin/core-bentley";
 import { Geometry } from "../Geometry";
 import { NumberArray } from "../geometry3d/PointHelpers";
 /**
@@ -16,68 +17,89 @@ export var BSplineWrapMode;
 (function (BSplineWrapMode) {
     /** No conversion performed. */
     BSplineWrapMode[BSplineWrapMode["None"] = 0] = "None";
-    /** The B-spline was opened up by adding degree wrap-around control points to the legacy periodic data.
-     * * This is typical of B-splines constructed with maximum (degree - 1) continuity.
+    /**
+     * The legacy periodic B-spline data was opened up by adding `degree` wrap-around poles.
+     * * This is typical of B-spline curves and surfaces constructed with maximum `degree - 1` continuity.
      * * Knots are unaffected by this conversion.
      */
     BSplineWrapMode[BSplineWrapMode["OpenByAddingControlPoints"] = 1] = "OpenByAddingControlPoints";
-    /** The B-spline was opened up by removing degree extreme knots from the legacy periodic data.
+    /**
+     * The legacy periodic B-spline data was opened up by removing `degree` exterior knots.
      * * This is typical of rational B-spline curves representing full circles and ellipses.
      * * Poles are unaffected by this conversion.
      */
     BSplineWrapMode[BSplineWrapMode["OpenByRemovingKnots"] = 2] = "OpenByRemovingKnots";
 })(BSplineWrapMode || (BSplineWrapMode = {}));
 /**
- * Array of non-decreasing numbers acting as a knot array for B-splines.
+ * Array of non-decreasing numbers acting as a knot vector for B-spline curves and surfaces.
  *
  * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1
- * * Various B-spline libraries have confusion over how many "end knots" are needed. Many libraries (including MicroStation and Parasolid)
- * demand order knots at each end for clamping. But only order-1 are really needed. This class uses the order-1 convention.
+ * * Various B-spline libraries have confusion over how many "end knots" are needed. Many libraries (including MicroStation
+ * and Parasolid) demand order knots at each end for clamping. However, only order-1 are really needed. This class uses the
+ * order-1 convention.
  * * A span is a single interval of the knots.
- * * The left knot of span {k} is knot {k+degree-1}.
+ * * The left knot of the span with index `k>=0` is the knot with index `k+degree-1`.
+ * * A knot vector is clamped when the first `degree` knots are equal and the last `degree` knots are equal.
+ * * The "active knot interval" is the subset of the knot vector sans its first and last `degree-1` knots, and serves as
+ * the parametric domain of the associated B-spline object.
  * * This class provides queries to convert among spanIndex, knotIndex, spanFraction, fraction of knot range, and knot.
- * * Core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to
- * know their primary values (global knot, spanFraction).
+ * * Callers need to distinguish core computational inputs such as left knot index, knot value, span index, and span fraction.
  * @public
  */
 export class KnotVector {
     /** The simple array of knot values. */
     knots;
-    /** Return the degree of basis functions defined in these knots. */
+    /** The degree of basis functions defined in these knots. */
     degree;
+    /** The leftmost knot value (of the active interval, ignoring unclamped leading knots). */
     _knot0;
+    /** The rightmost knot value (of the active interval, ignoring unclamped leading knots). */
     _knot1;
     _wrapMode;
-    /** tolerance for considering two knots to be the same. */
+    /** Tolerance for considering two knots to be the same. */
     static knotTolerance = 1.0e-9;
-    /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots)*/
-    get leftKnot() { return this._knot0; }
-    /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots)*/
-    get rightKnot() { return this._knot1; }
-    /** Return the index of the leftmost knot of the active interval */
-    get leftKnotIndex() { return this.degree - 1; }
-    /** Return the index of the rightmost knot of the active interval */
-    get rightKnotIndex() { return this.knots.length - this.degree; }
-    /** Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used is specified by BSplineWrapMode, and is reversed at serialization time. */
-    get wrappable() { return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode; }
-    set wrappable(value) { this._wrapMode = value; }
-    /** Return the number of bezier spans.  Note that this includes zero-length spans if there are repeated knots. */
-    get numSpans() { return this.rightKnotIndex - this.leftKnotIndex; }
+    /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots). */
+    get leftKnot() {
+        return this._knot0;
+    }
+    /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots). */
+    get rightKnot() {
+        return this._knot1;
+    }
+    /** Return the index of the leftmost knot of the active interval. */
+    get leftKnotIndex() {
+        return this.degree - 1;
+    }
+    /** Return the index of the rightmost knot of the active interval. */
+    get rightKnotIndex() {
+        return this.knots.length - this.degree;
+    }
+    /**
+     * Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used
+     * is specified by BSplineWrapMode, and is reversed at serialization time.
+     */
+    get wrappable() {
+        return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode;
+    }
+    set wrappable(value) {
+        this._wrapMode = value;
+    }
+    /** Return the number of Bezier spans. Note that this includes zero-length spans if there are repeated knots. */
+    get numSpans() {
+        return this.rightKnotIndex - this.leftKnotIndex;
+    }
     /**
-     *
-     * * If knots is a number array or Float64Array, the those values become the local knot array.
-     * * If knots is a simple number, the local knot array is allocated to that size but left as zeros.
-     * @param knots
-     * @param degree
+     * Private constructor.
+     * * If `knots` is a number array or Float64Array, then its values are copied to the instance array.
+     * * If `knots` is a number, the instance array is allocated to this size but left as zeros.
      */
     constructor(knots, degree, wrapMode) {
         this.degree = degree;
         this._wrapMode = wrapMode;
-        // default values to satisfy compiler -- real values happen in setupFixedValues, or final else defers to user
+        // default values to satisfy compiler; real values happen in setupFixedValues or the final else clause defers to user
         this._knot0 = 0.0;
         this._knot1 = 1.0;
-        // satisfy the initialize checker ..
-        if (Array.isArray(knots)) { // remark:  This ctor is private.  The callers (as of April 2019) do not use this path.
+        if (Array.isArray(knots)) {
             this.knots = new Float64Array(knots.length);
             this.setKnots(knots);
             this.setupFixedValues();
@@ -86,23 +108,32 @@ export class KnotVector {
             this.knots = knots.slice();
             this.setupFixedValues();
         }
-        else { // caller is responsible for filling array separately ...
-            this.knots = new Float64Array(knots);
+        else { // caller is responsible for filling array separately
+            const knotSize = knots;
+            this.knots = new Float64Array(knotSize);
         }
     }
-    /** copy degree and knots to a new KnotVector. */
-    clone() { return new KnotVector(this.knots, this.degree, this.wrappable); }
+    /** Copy degree and knots to a new KnotVector. */
+    clone() {
+        return new KnotVector(this.knots, this.degree, this.wrappable);
+    }
     setupFixedValues() {
         if (this.degree > 0 && this.knots.length > this.degree) {
             this._knot0 = this.knots[this.degree - 1];
             this._knot1 = this.knots[this.knots.length - this.degree];
         }
     }
-    /** Return the total knot distance from beginning to end. */
-    get knotLength01() { return this._knot1 - this._knot0; }
     /**
-     * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified wrap mode.
-     * @param mode optional test mode.  If undefined, use this.wrappable.
+     * Return the length of the active knot interval.
+     * * This is the size of (one dimension of) the parametric domain for the associated B-spline object.
+     */
+    get knotLength01() {
+        return this._knot1 - this._knot0;
+    }
+    /**
+     * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified
+     * wrap mode.
+     * @param mode optional test mode. If undefined, use this.wrappable.
      */
     testClosable(mode) {
         if (mode === undefined)
@@ -136,7 +167,7 @@ export class KnotVector {
         }
         return false;
     }
-    /** Test matching degree and knot values */
+    /** Test matching degree and knot values. */
     isAlmostEqual(other) {
         if (this.degree !== other.degree)
             return false;
@@ -176,8 +207,9 @@ export class KnotVector {
         }
         return m;
     }
-    /** Transform knots to span [0,1].
-     * @returns false if and only if this.knotLength01 is trivial
+    /**
+     * Transform knots such that the active knot range becomes [0,1].
+     * @returns false if and only if `this.knotLength01` is trivial.
      */
     normalize() {
         if (this.knotLength01 < KnotVector.knotTolerance)
@@ -195,8 +227,7 @@ export class KnotVector {
         this.setupFixedValues();
         return true;
     }
-    /** install knot values from an array, optionally ignoring first and last.
-     */
+    /** Install knot values from an array, optionally ignoring first and last. */
     setKnots(knots, skipFirstAndLast) {
         const numAllocate = skipFirstAndLast ? knots.length - 2 : knots.length;
         if (numAllocate !== this.knots.length)
@@ -211,17 +242,17 @@ export class KnotVector {
         }
         this.setupFixedValues();
     }
-    /** Set knots to input array (CAPTURED)  */
+    /** Set knots to input array (CAPTURED).  */
     setKnotsCapture(knots) {
         this.knots = knots;
         this.setupFixedValues();
     }
     /**
      * Create knot vector with {degree-1} replicated knots at start and end, and uniform knots between.
-     * @param numPoles Number of poles
-     * @param degree degree of polynomial
-     * @param a0 left knot value for active interval
-     * @param a1 right knot value for active interval
+     * @param numPoles number of poles.
+     * @param degree degree of polynomial.
+     * @param a0 left knot value for active interval.
+     * @param a1 right knot value for active interval.
      */
     static createUniformClamped(numPoles, degree, a0, a1) {
         const knots = new KnotVector(numPoles + degree - 1, degree);
@@ -238,24 +269,26 @@ export class KnotVector {
     }
     /**
      * Create knot vector with wraparound knots at start and end, and uniform knots between.
-     * @param  numInterval number of intervals in knot space.  (NOT POLE COUNT)
-     * @param degree degree of polynomial
-     * @param a0 left knot value for active interval
-     * @param a1 right knot value for active interval
+     * @param numInterval the number of intervals into which to uniformly divide the active knot interval `[a0,a1]`,
+     * creating `numInterval-1` equally spaced interior knots between `a0` and `a1`.
+     * This number is equal to the number of Bezier spans in the associated B-spline object.
+     * It is _not_ the pole count.
+     * @param degree degree of polynomial.
+     * @param a0 left knot value for active interval.
+     * @param a1 right knot value for active interval.
      */
     static createUniformWrapped(numInterval, degree, a0, a1) {
         const knots = new KnotVector(numInterval + 2 * degree - 1, degree);
         const du = 1.0 / numInterval;
-        for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++) {
+        for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++)
             knots.knots[k] = Geometry.interpolate(a0, i * du, a1);
-        }
         knots.setupFixedValues();
         return knots;
     }
     /**
      * Create knot vector with given knot values and degree.
-     * @param knotArray knot values
-     * @param degree degree of polynomial
+     * @param knotArray knot values.
+     * @param degree degree of polynomial.
      * @param skipFirstAndLast true to skip copying the first and last knot values.
      */
     static create(knotArray, degree, skipFirstAndLast) {
@@ -266,19 +299,24 @@ export class KnotVector {
     }
     /**
      * Return the average of degree consecutive knots beginning at knotIndex.
+     * * If `knotIndex` is negative, return `leftKnot`.
+     * * If `knotIndex > rightKnotIndex` return `rightKnot`.
      */
     grevilleKnot(knotIndex) {
         if (knotIndex < 0)
             return this.leftKnot;
         if (knotIndex > this.rightKnotIndex)
             return this.rightKnot;
+        knotIndex = Math.floor(knotIndex);
         let sum = 0.0;
         for (let i = knotIndex; i < knotIndex + this.degree; i++)
             sum += this.knots[i];
         return sum / this.degree;
     }
-    /** Return an array sized for a set of the basis function values. */
-    createBasisArray() { return new Float64Array(this.degree + 1); }
+    /** Return an array of size `degree + 1`, e.g., to hold the set of relevant basis function values at a parameter. */
+    createBasisArray() {
+        return new Float64Array(this.degree + 1);
+    }
     /** Convert localFraction within the interval following an indexed knot to a knot value. */
     baseKnotFractionToKnot(knotIndex0, localFraction) {
         const knot0 = this.knots[knotIndex0];
@@ -301,32 +339,38 @@ export class KnotVector {
         fraction = Geometry.clamp(fraction, 0, 1); // B-splines are not extendable
         return Geometry.interpolate(this.knots[this.degree - 1], fraction, this.knots[this.knots.length - this.degree]);
     }
+    isKnotInValidSpan(knotIndex0, u) {
+        const spanIsValid = knotIndex0 >= this.degree - 1 && knotIndex0 + this.degree < this.knots.length;
+        const uIsInSpan = this.knots[knotIndex0] <= u && u <= this.knots[knotIndex0 + 1];
+        return spanIsValid && uIsInSpan;
+    }
     /**
      * Evaluate the B-spline basis functions f[] at a parameter u in a knot span.
      * * This method implements the Mansfield-Cox-de Boor recurrence relation.
      * @param knotIndex0 index of the left knot of the span.
      * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].
-     * @param f preallocated output array of order basis function values
-     * @returns true if and only if output array is sufficiently sized
+     * @param f preallocated output array of order basis function values.
+     * @returns true if and only if output array is sufficiently sized.
      */
     evaluateBasisFunctions(knotIndex0, u, f) {
         if (f.length < this.degree + 1)
             return false;
+        assert(() => this.isKnotInValidSpan(knotIndex0, u), "knot is in a valid span");
         f[0] = 1.0;
         if (this.degree < 1)
             return true;
-        // direct compute for linear part ...
+        // direct compute for linear part
         const u0 = this.knots[knotIndex0];
         const u1 = this.knots[knotIndex0 + 1];
         f[1] = (u - u0) / (u1 - u0);
         f[0] = 1.0 - f[1];
         if (this.degree < 2)
             return true;
-        // Each iteration of the outer loop evaluates the basis functions of degree depth+1 using
-        // one or two values of the basis functions of one less degree from the preceding iteration.
+        // each iteration of the outer loop evaluates the basis functions of degree depth+1 using
+        // one or two values of the basis functions of one less degree from the preceding iteration
         for (let depth = 1; depth < this.degree; depth++) {
             let kLeft = knotIndex0 - depth;
-            let kRight = kLeft + depth + 1;
+            let kRight = knotIndex0 + 1;
             let gCarry = 0.0;
             for (let step = 0; step <= depth; step++) {
                 const tLeft = this.knots[kLeft++];
@@ -348,10 +392,10 @@ export class KnotVector {
      * in a knot span.
      * @param knotIndex0 index of the left knot of the span.
      * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].
-     * @param f preallocated output array of order basis function values
-     * @param df preallocated output array of order basis derivative values
-     * @param ddf optional preallocated output array of order basis second derivative values
-     * @returns true if and only if output arrays are sufficiently sized
+     * @param f preallocated output array of order basis function values.
+     * @param df preallocated output array of order basis derivative values.
+     * @param ddf optional preallocated output array of order basis second derivative values.
+     * @returns true if and only if output arrays are sufficiently sized.
      */
     evaluateBasisFunctions1(knotIndex0, u, f, df, ddf) {
         if (f.length < this.degree + 1)
@@ -360,15 +404,16 @@ export class KnotVector {
             return false;
         if (ddf && ddf.length < this.degree + 1)
             return false;
+        assert(() => this.isKnotInValidSpan(knotIndex0, u), "knot is in a valid span");
         f[0] = 1.0;
         df[0] = 0.0;
         if (this.degree < 1)
             return true;
-        // direct compute for linear part ...
+        // direct compute for linear part
         const u0 = this.knots[knotIndex0];
         const u1 = this.knots[knotIndex0 + 1];
-        // ah = 1/(u1-u0)      is the derivative of fraction0
-        // (-ah) is the derivative of fraction1.
+        // ah = 1/(u1-u0) is the derivative of fraction0
+        // -ah is the derivative of fraction1
         let ah = 1.0 / (u1 - u0);
         f[1] = (u - u0) * ah;
         f[0] = 1.0 - f[1];
@@ -387,7 +432,7 @@ export class KnotVector {
             let dgCarry = 0.0;
             let ddgCarry = 0.0;
             // f, df, ddf, are each row vectors with product of `step` linear terms.
-            // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1)  (0,0,1-fraction, fraction,0,0,0)
+            // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1) (0,0,1-fraction, fraction,0,0,0)
             //    Each row of the derivative dV is two entries (0,0, -1/h, 1/h,0,0,0)
             // Hence fnew = f * V
             //      dfnew = df * V + f * dV
@@ -409,7 +454,7 @@ export class KnotVector {
                 df[step] = dgCarry + dg0;
                 gCarry = g1;
                 dgCarry = dg1;
-                if (ddf) { // do the backward reference to df before rewriting df !!!
+                if (ddf) { // do the backward reference to df before rewriting df
                     const ddg1 = ddf[step] * fraction + dfSave;
                     const ddg0 = ddf[step] * fraction1 - dfSave;
                     ddf[step] = ddgCarry + ddg0;
@@ -423,9 +468,10 @@ export class KnotVector {
         }
         return true;
     }
-    /** Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.
+    /**
+     * Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.
      * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.
-     * @param u value to bracket
+     * @param u value to bracket.
      */
     knotToLeftKnotIndex(u) {
         for (let i = this.leftKnotIndex; i < this.rightKnotIndex; ++i) {
@@ -441,7 +487,7 @@ export class KnotVector {
     }
     /**
      * Given a span index, return the index of the knot at its left.
-     * @param spanIndex index of span
+     * @param spanIndex index of span.
      */
     spanIndexToLeftKnotIndex(spanIndex) {
         const d = this.degree;
@@ -456,7 +502,8 @@ export class KnotVector {
     }
     /**
      * Given a span index, test if it is within range and has nonzero length.
-     * * note that a false return does not imply there are no more spans.  This may be a double knot (zero length span) followed by more real spans
+     * * note that a false return does not imply there are no more spans. This may be a double knot (zero length span)
+     * followed by more real spans
      * @param spanIndex index of span to test.
      */
     isIndexOfRealSpan(spanIndex) {
@@ -464,7 +511,7 @@ export class KnotVector {
             return !Geometry.isSmallMetricDistance(this.spanIndexToSpanLength(spanIndex));
         return false;
     }
-    /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths reverse. */
+    /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths are reversed. */
     reflectKnots() {
         const a = this.leftKnot;
         const b = this.rightKnot;

package/lib/esm/bspline/KnotVector.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 Bspline\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { NumberArray } from \"../geometry3d/PointHelpers\";\n\n/**\n * B-spline curve and surface types in this library are non-periodic. But they can be created from legacy periodic data.\n * This enumeration lists the possible ways a B-spline object can have been created from legacy periodic data.\n * @public\n */\nexport enum BSplineWrapMode {\n  /** No conversion performed. */\n  None = 0,\n  /** The B-spline was opened up by adding degree wrap-around control points to the legacy periodic data.\n   * * This is typical of B-splines constructed with maximum (degree - 1) continuity.\n   * * Knots are unaffected by this conversion.\n   */\n  OpenByAddingControlPoints = 1,\n  /** The B-spline was opened up by removing degree extreme knots from the legacy periodic data.\n   * * This is typical of rational B-spline curves representing full circles and ellipses.\n   * * Poles are unaffected by this conversion.\n   */\n  OpenByRemovingKnots = 2,\n}\n/**\n * Array of non-decreasing numbers acting as a knot array for B-splines.\n *\n * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1\n * * Various B-spline libraries have confusion over how many \"end knots\" are needed. Many libraries (including MicroStation and Parasolid)\n * demand order knots at each end for clamping. But only order-1 are really needed. This class uses the order-1 convention.\n * * A span is a single interval of the knots.\n * * The left knot of span {k} is knot {k+degree-1}.\n * * This class provides queries to convert among spanIndex, knotIndex, spanFraction, fraction of knot range, and knot.\n * * Core computations (evaluateBasisFunctions) have leftKnotIndex and global knot value as inputs.  Callers need to\n * know their primary values (global knot, spanFraction).\n * @public\n */\nexport class KnotVector {\n  /** The simple array of knot values. */\n  public knots: Float64Array;\n  /** Return the degree of basis functions defined in these knots. */\n  public degree: number;\n  private _knot0: number;\n  private _knot1: number;\n\n  private _wrapMode?: BSplineWrapMode;\n  /** tolerance for considering two knots to be the same. */\n  public static readonly knotTolerance = 1.0e-9;\n  /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots)*/\n  public get leftKnot() { return this._knot0; }\n  /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots)*/\n  public get rightKnot() { return this._knot1; }\n  /** Return the index of the leftmost knot of the active interval */\n  public get leftKnotIndex() { return this.degree - 1; }\n  /** Return the index of the rightmost knot of the active interval */\n  public get rightKnotIndex() { return this.knots.length - this.degree; }\n  /** Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used is specified by BSplineWrapMode, and is reversed at serialization time. */\n  public get wrappable() { return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode; }\n  public set wrappable(value: BSplineWrapMode) { this._wrapMode = value; }\n  /** Return the number of bezier spans.  Note that this includes zero-length spans if there are repeated knots. */\n  public get numSpans() { return this.rightKnotIndex - this.leftKnotIndex; }\n  /**\n   *\n   * * If knots is a number array or Float64Array, the those values become the local knot array.\n   * * If knots is a simple number, the local knot array is allocated to that size but left as zeros.\n   * @param knots\n   * @param degree\n   */\n  private constructor(knots: number[] | Float64Array | number, degree: number, wrapMode?: BSplineWrapMode) {\n    this.degree = degree;\n    this._wrapMode = wrapMode;\n    // default values to satisfy compiler -- real values happen in setupFixedValues, or final else defers to user\n    this._knot0 = 0.0;\n    this._knot1 = 1.0;\n    // satisfy the initialize checker ..\n    if (Array.isArray(knots)) { // remark:  This ctor is private.  The callers (as of April 2019) do not use this path.\n      this.knots = new Float64Array(knots.length);\n      this.setKnots(knots);\n      this.setupFixedValues();\n    } else if (knots instanceof Float64Array) {\n      this.knots = knots.slice();\n      this.setupFixedValues();\n    } else { // caller is responsible for filling array separately ...\n      this.knots = new Float64Array(knots);\n    }\n  }\n  /** copy degree and knots to a new KnotVector. */\n  public clone(): KnotVector { return new KnotVector(this.knots, this.degree, this.wrappable); }\n  private setupFixedValues() {\n    if (this.degree > 0 && this.knots.length > this.degree) {\n      this._knot0 = this.knots[this.degree - 1];\n      this._knot1 = this.knots[this.knots.length - this.degree];\n    }\n  }\n  /** Return the total knot distance from beginning to end. */\n  public get knotLength01(): number { return this._knot1 - this._knot0; }\n  /**\n   * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified wrap mode.\n   * @param mode optional test mode.  If undefined, use this.wrappable.\n   */\n  public testClosable(mode?: BSplineWrapMode): boolean {\n    if (mode === undefined)\n      mode = this.wrappable;\n    const degree = this.degree;\n    const leftKnotIndex = this.leftKnotIndex;\n    const rightKnotIndex = this.rightKnotIndex;\n    if (mode === BSplineWrapMode.OpenByAddingControlPoints) {\n      // maximum continuity mode: we expect degree periodically extended knots at each end\n      const period = this.rightKnot - this.leftKnot;\n      const indexDelta = rightKnotIndex - leftKnotIndex;\n      for (let k0 = 0; k0 < leftKnotIndex + degree; k0++) {\n        const k1 = k0 + indexDelta;\n        if (Math.abs(this.knots[k0] + period - this.knots[k1]) >= KnotVector.knotTolerance)\n          return false;\n      }\n      return true;\n    }\n    if (mode === BSplineWrapMode.OpenByRemovingKnots) {\n      // legacy periodic mode: we expect multiplicity degree knots at each end\n      const numRepeated = degree - 1;\n      const leftKnot = this.leftKnot;\n      const rightKnot = this.rightKnot;\n      for (let i = 0; i < numRepeated; i++) {\n        if (Math.abs(leftKnot - this.knots[leftKnotIndex - i - 1]) >= KnotVector.knotTolerance)\n          return false;\n        if (Math.abs(rightKnot - this.knots[rightKnotIndex + i + 1]) >= KnotVector.knotTolerance)\n          return false;\n      }\n      return true;\n    }\n    return false;\n  }\n  /** Test matching degree and knot values */\n  public isAlmostEqual(other: KnotVector): boolean {\n    if (this.degree !== other.degree) return false;\n    return NumberArray.isAlmostEqual(this.knots, other.knots, KnotVector.knotTolerance);\n  }\n\n  /** Compute the multiplicity of the input knot, or zero if not a knot. */\n  public getKnotMultiplicity(knot: number): number {\n    let m = 0;\n    for (const k of this.knots) {\n      if (Math.abs(k - knot) < KnotVector.knotTolerance)\n        ++m;\n      else if (knot < k)\n        break;\n    }\n    return m;\n  }\n\n  /** Compute the multiplicity of the knot at the given index. */\n  public getKnotMultiplicityAtIndex(knotIndex: number): number {\n    let m = 0;\n    if (knotIndex >= 0 && knotIndex < this.knots.length) {\n      const knot = this.knots[knotIndex];\n      ++m;  // count this knot\n      for (let i = knotIndex - 1; i >= 0; --i) {\n        const k = this.knots[i];\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\n          ++m;  // found multiple to left of knot\n        else if (knot > k)\n          break;\n      }\n      for (let i = knotIndex + 1; i < this.knots.length; ++i) {\n        const k = this.knots[i];\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\n          ++m;  // found multiple to right of knot\n        else if (knot < k)\n          break;\n      }\n    }\n    return m;\n  }\n\n  /** Transform knots to span [0,1].\n   * @returns false if and only if this.knotLength01 is trivial\n   */\n  public normalize(): boolean {\n    if (this.knotLength01 < KnotVector.knotTolerance)\n      return false;\n    const divisor = 1.0 / this.knotLength01;\n    const leftKnot = this.leftKnot;\n    for (let i = 0; i < this.knots.length; ++i)\n      this.knots[i] = (this.knots[i] - leftKnot) * divisor;\n    // explicitly set rightKnot and its multiples to 1.0 to avoid round-off\n    for (let i = this.rightKnotIndex - 1; i > this.leftKnotIndex && (this.knots[i] === this.knots[this.rightKnotIndex]); --i) this.knots[i] = 1.0;\n    for (let i = this.rightKnotIndex + 1; i < this.knots.length && (this.knots[i] === this.knots[this.rightKnotIndex]); ++i) this.knots[i] = 1.0;\n    this.knots[this.rightKnotIndex] = 1.0;\n    this.setupFixedValues();\n    return true;\n  }\n\n  /** install knot values from an array, optionally ignoring first and last.\n   */\n  public setKnots(knots: number[] | Float64Array, skipFirstAndLast?: boolean) {\n    const numAllocate = skipFirstAndLast ? knots.length - 2 : knots.length;\n    if (numAllocate !== this.knots.length)\n      this.knots = new Float64Array(numAllocate);\n    if (skipFirstAndLast) {\n      for (let i = 1; i + 1 < knots.length; i++)\n        this.knots[i - 1] = knots[i];\n\n    } else {\n      for (let i = 0; i < knots.length; i++)\n        this.knots[i] = knots[i];\n    }\n    this.setupFixedValues();\n  }\n\n  /** Set knots to input array (CAPTURED)  */\n  public setKnotsCapture(knots: Float64Array) {\n    this.knots = knots;\n    this.setupFixedValues();\n  }\n\n  /**\n   * Create knot vector with {degree-1} replicated knots at start and end, and uniform knots between.\n   * @param numPoles Number of poles\n   * @param degree degree of polynomial\n   * @param a0 left knot value for active interval\n   * @param a1 right knot value for active interval\n   */\n  public static createUniformClamped(numPoles: number, degree: number, a0: number, a1: number): KnotVector {\n    const knots = new KnotVector(numPoles + degree - 1, degree);\n    let k = 0;\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a0;\n    const du = 1.0 / (numPoles - degree);\n    for (let i = 1; i + degree < numPoles; i++)\n      knots.knots[k++] = a0 + i * du * (a1 - a0);\n    for (let m = 0; m < degree; m++)knots.knots[k++] = a1;\n    knots.setupFixedValues();\n    return knots;\n  }\n  /**\n   * Create knot vector with wraparound knots at start and end, and uniform knots between.\n   * @param  numInterval number of intervals in knot space.  (NOT POLE COUNT)\n   * @param degree degree of polynomial\n   * @param a0 left knot value for active interval\n   * @param a1 right knot value for active interval\n   */\n  public static createUniformWrapped(numInterval: number, degree: number, a0: number, a1: number): KnotVector {\n    const knots = new KnotVector(numInterval + 2 * degree - 1, degree);\n    const du = 1.0 / numInterval;\n    for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++) {\n      knots.knots[k] = Geometry.interpolate(a0, i * du, a1);\n    }\n    knots.setupFixedValues();\n    return knots;\n  }\n\n  /**\n   * Create knot vector with given knot values and degree.\n   * @param knotArray knot values\n   * @param degree degree of polynomial\n   * @param skipFirstAndLast true to skip copying the first and last knot values.\n   */\n  public static create(knotArray: number[] | Float64Array, degree: number, skipFirstAndLast?: boolean): KnotVector {\n    const numAllocate = skipFirstAndLast ? knotArray.length - 2 : knotArray.length;\n    const knots = new KnotVector(numAllocate, degree);\n    knots.setKnots(knotArray, skipFirstAndLast);\n    return knots;\n  }\n\n  /**\n   * Return the average of degree consecutive knots beginning at knotIndex.\n   */\n  public grevilleKnot(knotIndex: number): number {\n    if (knotIndex < 0) return this.leftKnot;\n    if (knotIndex > this.rightKnotIndex) return this.rightKnot;\n    let sum = 0.0;\n    for (let i = knotIndex; i < knotIndex + this.degree; i++)\n      sum += this.knots[i];\n    return sum / this.degree;\n  }\n  /** Return an array sized for a set of the basis function values. */\n  public createBasisArray(): Float64Array { return new Float64Array(this.degree + 1); }\n  /** Convert localFraction within the interval following an indexed knot to a knot value. */\n  public baseKnotFractionToKnot(knotIndex0: number, localFraction: number): number {\n    const knot0 = this.knots[knotIndex0];\n    localFraction = Geometry.clamp(localFraction, 0, 1);\n    return knot0 + localFraction * (this.knots[knotIndex0 + 1] - knot0);\n  }\n  /** Convert localFraction within an indexed bezier span to a knot value. */\n  public spanFractionToKnot(spanIndex: number, localFraction: number): number {\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\n    localFraction = Geometry.clamp(localFraction, 0, 1);\n    return this.knots[k] + localFraction * (this.knots[k + 1] - this.knots[k]);\n  }\n  /** Convert localFraction within an indexed bezier span to fraction of active knot range. */\n  public spanFractionToFraction(spanIndex: number, localFraction: number): number {\n    const knot = this.spanFractionToKnot(spanIndex, localFraction);\n    return (knot - this.leftKnot) / (this.rightKnot - this.leftKnot);\n  }\n  /** Return fraction of active knot range to knot value. */\n  public fractionToKnot(fraction: number): number {\n    fraction = Geometry.clamp(fraction, 0, 1);   // B-splines are not extendable\n    return Geometry.interpolate(this.knots[this.degree - 1], fraction, this.knots[this.knots.length - this.degree]);\n  }\n  /**\n   * Evaluate the B-spline basis functions f[] at a parameter u in a knot span.\n   * * This method implements the Mansfield-Cox-de Boor recurrence relation.\n   * @param knotIndex0 index of the left knot of the span.\n   * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].\n   * @param f preallocated output array of order basis function values\n   * @returns true if and only if output array is sufficiently sized\n   */\n  public evaluateBasisFunctions(knotIndex0: number, u: number, f: Float64Array): boolean {\n    if (f.length < this.degree + 1)\n      return false;\n    f[0] = 1.0;\n    if (this.degree < 1)\n      return true;\n    // direct compute for linear part ...\n    const u0 = this.knots[knotIndex0];\n    const u1 = this.knots[knotIndex0 + 1];\n    f[1] = (u - u0) / (u1 - u0);\n    f[0] = 1.0 - f[1];\n    if (this.degree < 2)\n      return true;\n    // Each iteration of the outer loop evaluates the basis functions of degree depth+1 using\n    // one or two values of the basis functions of one less degree from the preceding iteration.\n    for (let depth = 1; depth < this.degree; depth++) {\n      let kLeft = knotIndex0 - depth;\n      let kRight = kLeft + depth + 1;\n      let gCarry = 0.0;\n      for (let step = 0; step <= depth; step++) {\n        const tLeft = this.knots[kLeft++];\n        const tRight = this.knots[kRight++];\n        const fraction = (u - tLeft) / (tRight - tLeft);\n        const g1 = f[step] * fraction;\n        const g0 = f[step] * (1.0 - fraction);\n        f[step] = gCarry + g0;\n        gCarry = g1;\n      }\n      f[depth + 1] = gCarry;\n      // at this point, the head of f[] contains the depth+2 values at u\n      // of the basis functions of degree depth+1 with support over [u0,u1)\n    }\n    return true;\n  }\n\n  /**\n   * Evaluate basis functions f[], derivatives df[], and optional second derivatives ddf[] at a parameter u\n   * in a knot span.\n   * @param knotIndex0 index of the left knot of the span.\n   * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].\n   * @param f preallocated output array of order basis function values\n   * @param df preallocated output array of order basis derivative values\n   * @param ddf optional preallocated output array of order basis second derivative values\n   * @returns true if and only if output arrays are sufficiently sized\n   */\n  public evaluateBasisFunctions1(knotIndex0: number, u: number, f: Float64Array, df: Float64Array, ddf?: Float64Array): boolean {\n    if (f.length < this.degree + 1)\n      return false;\n    if (df.length < this.degree + 1)\n      return false;\n    if (ddf && ddf.length < this.degree + 1)\n      return false;\n    f[0] = 1.0; df[0] = 0.0;\n    if (this.degree < 1)\n      return true;\n    // direct compute for linear part ...\n    const u0 = this.knots[knotIndex0];\n    const u1 = this.knots[knotIndex0 + 1];\n    // ah = 1/(u1-u0)      is the derivative of fraction0\n    // (-ah) is the derivative of fraction1.\n    let ah = 1.0 / (u1 - u0);\n    f[1] = (u - u0) * ah;\n    f[0] = 1.0 - f[1];\n    df[0] = -ah; df[1] = ah;\n    if (ddf) {  // first derivative started constant, second derivative started zero.\n      ddf[0] = 0.0; ddf[1] = 0.0;\n    }\n    if (this.degree < 2)\n      return true;\n    for (let depth = 1; depth < this.degree; depth++) {\n      let kLeft = knotIndex0 - depth;\n      let kRight = kLeft + depth + 1;\n      let gCarry = 0.0;\n      let dgCarry = 0.0;\n      let ddgCarry = 0.0;\n      // f, df, ddf, are each row vectors with product of `step` linear terms.\n      // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1)  (0,0,1-fraction, fraction,0,0,0)\n      //    Each row of the derivative dV is two entries (0,0, -1/h, 1/h,0,0,0)\n      // Hence fnew = f * V\n      //      dfnew = df * V + f * dV\n      //      ddfnew = ddf * V + df*dV + df * dV + f * ddV\n      // but ddV is zero so\n      //      ddfnew = ddf * V + 2 * df * dV\n      for (let step = 0; step <= depth; step++) {\n        const tLeft = this.knots[kLeft++];\n        const tRight = this.knots[kRight++];\n        ah = 1.0 / (tRight - tLeft);\n        const fraction = (u - tLeft) * ah;\n        const fraction1 = 1.0 - fraction;\n        const g1 = f[step] * fraction;\n        const g0 = f[step] * fraction1;\n        const dg1 = df[step] * fraction + f[step] * ah;\n        const dg0 = df[step] * fraction1 - f[step] * ah;\n        const dfSave = 2.0 * df[step] * ah;\n        f[step] = gCarry + g0;\n        df[step] = dgCarry + dg0;\n        gCarry = g1;\n        dgCarry = dg1;\n        if (ddf) {  // do the backward reference to df before rewriting df !!!\n          const ddg1 = ddf[step] * fraction + dfSave;\n          const ddg0 = ddf[step] * fraction1 - dfSave;\n          ddf[step] = ddgCarry + ddg0;\n          ddgCarry = ddg1;\n        }\n      }\n      f[depth + 1] = gCarry;\n      df[depth + 1] = dgCarry;\n      if (ddf)\n        ddf[depth + 1] = ddgCarry;\n    }\n    return true;\n  }\n  /** Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.\n   * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.\n   * @param u value to bracket\n   */\n  public knotToLeftKnotIndex(u: number): number {\n    for (let i = this.leftKnotIndex; i < this.rightKnotIndex; ++i) {\n      if (u < this.knots[i + 1])\n        return i;\n    }\n    // for u >= rightKnot, return left index of last nontrivial span\n    for (let i = this.rightKnotIndex; i > this.leftKnotIndex; --i) {\n      if (this.knots[i] - this.knots[i - 1] >= KnotVector.knotTolerance)\n        return i - 1;\n    }\n    return this.rightKnotIndex - 1; // shouldn't get here\n  }\n  /**\n   * Given a span index, return the index of the knot at its left.\n   * @param spanIndex index of span\n   */\n  public spanIndexToLeftKnotIndex(spanIndex: number): number {\n    const d = this.degree;\n    if (spanIndex <= 0.0) return d - 1;\n    return Math.min(spanIndex + d - 1, this.knots.length - d - 1);\n  }\n  /** Return the knot interval length of indexed bezier span. */\n  public spanIndexToSpanLength(spanIndex: number): number {\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\n    return this.knots[k + 1] - this.knots[k];\n  }\n  /**\n   * Given a span index, test if it is within range and has nonzero length.\n   * * note that a false return does not imply there are no more spans.  This may be a double knot (zero length span) followed by more real spans\n   * @param spanIndex index of span to test.\n   */\n  public isIndexOfRealSpan(spanIndex: number): boolean {\n    if (spanIndex >= 0 && spanIndex < this.numSpans)\n      return !Geometry.isSmallMetricDistance(this.spanIndexToSpanLength(spanIndex));\n    return false;\n  }\n  /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths reverse. */\n  public reflectKnots() {\n    const a = this.leftKnot;\n    const b = this.rightKnot;\n    const numKnots = this.knots.length;\n    for (let i = 0; i < numKnots; i++)\n      this.knots[i] = a + (b - this.knots[i]);\n    this.knots.reverse();\n  }\n\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\n  public static copyKnots(knots: number[] | Float64Array, degree: number, includeExtraEndKnot?: boolean, wrapMode?: BSplineWrapMode): number[] {\n    const isExtraEndKnotPeriodic = (includeExtraEndKnot && wrapMode === BSplineWrapMode.OpenByAddingControlPoints);\n    const leftIndex = degree - 1;\n    const rightIndex = knots.length - degree;\n    const a0 = knots[leftIndex];\n    const a1 = knots[rightIndex];\n    const delta = a1 - a0;\n    const values: number[] = [];\n    if (includeExtraEndKnot) {\n      if (isExtraEndKnotPeriodic)\n        values.push(knots[rightIndex - degree] - delta);\n      else\n        values.push(knots[0]);\n    }\n    for (const u of knots) {\n      values.push(u);\n    }\n    if (includeExtraEndKnot) {\n      if (isExtraEndKnotPeriodic)\n        values.push(knots[leftIndex + degree] + delta);\n      else\n        values.push(knots[knots.length - 1]);\n    }\n    return values;\n  }\n\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\n    const wrapMode = (includeExtraEndKnot && this.testClosable()) ? this.wrappable : undefined;\n    return KnotVector.copyKnots(this.knots, this.degree, includeExtraEndKnot, wrapMode);\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 Bspline\n */\n\nimport { assert } from \"@itwin/core-bentley\";\nimport { Geometry } from \"../Geometry\";\nimport { NumberArray } from \"../geometry3d/PointHelpers\";\n\n/**\n * B-spline curve and surface types in this library are non-periodic. But they can be created from legacy periodic data.\n * This enumeration lists the possible ways a B-spline object can have been created from legacy periodic data.\n * @public\n */\nexport enum BSplineWrapMode {\n  /** No conversion performed. */\n  None = 0,\n  /**\n   * The legacy periodic B-spline data was opened up by adding `degree` wrap-around poles.\n   * * This is typical of B-spline curves and surfaces constructed with maximum `degree - 1` continuity.\n   * * Knots are unaffected by this conversion.\n   */\n  OpenByAddingControlPoints = 1,\n  /**\n   * The legacy periodic B-spline data was opened up by removing `degree` exterior knots.\n   * * This is typical of rational B-spline curves representing full circles and ellipses.\n   * * Poles are unaffected by this conversion.\n   */\n  OpenByRemovingKnots = 2,\n}\n/**\n * Array of non-decreasing numbers acting as a knot vector for B-spline curves and surfaces.\n *\n * * Essential identity: numKnots = numPoles + order - 2 = numPoles + degree - 1\n * * Various B-spline libraries have confusion over how many \"end knots\" are needed. Many libraries (including MicroStation\n * and Parasolid) demand order knots at each end for clamping. However, only order-1 are really needed. This class uses the\n * order-1 convention.\n * * A span is a single interval of the knots.\n * * The left knot of the span with index `k>=0` is the knot with index `k+degree-1`.\n * * A knot vector is clamped when the first `degree` knots are equal and the last `degree` knots are equal.\n * * The \"active knot interval\" is the subset of the knot vector sans its first and last `degree-1` knots, and serves as\n * the parametric domain of the associated B-spline object.\n * * This class provides queries to convert among spanIndex, knotIndex, spanFraction, fraction of knot range, and knot.\n * * Callers need to distinguish core computational inputs such as left knot index, knot value, span index, and span fraction.\n * @public\n */\nexport class KnotVector {\n  /** The simple array of knot values. */\n  public knots: Float64Array;\n  /** The degree of basis functions defined in these knots. */\n  public degree: number;\n  /** The leftmost knot value (of the active interval, ignoring unclamped leading knots). */\n  private _knot0: number;\n  /** The rightmost knot value (of the active interval, ignoring unclamped leading knots). */\n  private _knot1: number;\n  private _wrapMode?: BSplineWrapMode;\n  /** Tolerance for considering two knots to be the same. */\n  public static readonly knotTolerance = 1.0e-9;\n  /** Return the leftmost knot value (of the active interval, ignoring unclamped leading knots). */\n  public get leftKnot() {\n    return this._knot0;\n  }\n  /** Return the rightmost knot value (of the active interval, ignoring unclamped leading knots). */\n  public get rightKnot() {\n    return this._knot1;\n  }\n  /** Return the index of the leftmost knot of the active interval. */\n  public get leftKnotIndex() {\n    return this.degree - 1;\n  }\n  /** Return the index of the rightmost knot of the active interval. */\n  public get rightKnotIndex() {\n    return this.knots.length - this.degree;\n  }\n  /**\n   * Whether this KnotVector was created by converting legacy periodic data during deserialization. The conversion used\n   * is specified by BSplineWrapMode, and is reversed at serialization time.\n   */\n  public get wrappable() {\n    return this._wrapMode === undefined ? BSplineWrapMode.None : this._wrapMode;\n  }\n  public set wrappable(value: BSplineWrapMode) {\n    this._wrapMode = value;\n  }\n  /** Return the number of Bezier spans. Note that this includes zero-length spans if there are repeated knots. */\n  public get numSpans() {\n    return this.rightKnotIndex - this.leftKnotIndex;\n  }\n  /**\n   * Private constructor.\n   * * If `knots` is a number array or Float64Array, then its values are copied to the instance array.\n   * * If `knots` is a number, the instance array is allocated to this size but left as zeros.\n   */\n  private constructor(knots: number[] | Float64Array | number, degree: number, wrapMode?: BSplineWrapMode) {\n    this.degree = degree;\n    this._wrapMode = wrapMode;\n    // default values to satisfy compiler; real values happen in setupFixedValues or the final else clause defers to user\n    this._knot0 = 0.0;\n    this._knot1 = 1.0;\n    if (Array.isArray(knots)) {\n      this.knots = new Float64Array(knots.length);\n      this.setKnots(knots);\n      this.setupFixedValues();\n    } else if (knots instanceof Float64Array) {\n      this.knots = knots.slice();\n      this.setupFixedValues();\n    } else { // caller is responsible for filling array separately\n      const knotSize = knots;\n      this.knots = new Float64Array(knotSize);\n    }\n  }\n  /** Copy degree and knots to a new KnotVector. */\n  public clone(): KnotVector {\n    return new KnotVector(this.knots, this.degree, this.wrappable);\n  }\n  private setupFixedValues() {\n    if (this.degree > 0 && this.knots.length > this.degree) {\n      this._knot0 = this.knots[this.degree - 1];\n      this._knot1 = this.knots[this.knots.length - this.degree];\n    }\n  }\n  /**\n   * Return the length of the active knot interval.\n   * * This is the size of (one dimension of) the parametric domain for the associated B-spline object.\n   */\n  public get knotLength01(): number {\n    return this._knot1 - this._knot0;\n  }\n  /**\n   * Returns true if all numeric values have wraparound conditions that allow the knots to be closed with specified\n   * wrap mode.\n   * @param mode optional test mode. If undefined, use this.wrappable.\n   */\n  public testClosable(mode?: BSplineWrapMode): boolean {\n    if (mode === undefined)\n      mode = this.wrappable;\n    const degree = this.degree;\n    const leftKnotIndex = this.leftKnotIndex;\n    const rightKnotIndex = this.rightKnotIndex;\n    if (mode === BSplineWrapMode.OpenByAddingControlPoints) {\n      // maximum continuity mode: we expect degree periodically extended knots at each end\n      const period = this.rightKnot - this.leftKnot;\n      const indexDelta = rightKnotIndex - leftKnotIndex;\n      for (let k0 = 0; k0 < leftKnotIndex + degree; k0++) {\n        const k1 = k0 + indexDelta;\n        if (Math.abs(this.knots[k0] + period - this.knots[k1]) >= KnotVector.knotTolerance)\n          return false;\n      }\n      return true;\n    }\n    if (mode === BSplineWrapMode.OpenByRemovingKnots) {\n      // legacy periodic mode: we expect multiplicity degree knots at each end\n      const numRepeated = degree - 1;\n      const leftKnot = this.leftKnot;\n      const rightKnot = this.rightKnot;\n      for (let i = 0; i < numRepeated; i++) {\n        if (Math.abs(leftKnot - this.knots[leftKnotIndex - i - 1]) >= KnotVector.knotTolerance)\n          return false;\n        if (Math.abs(rightKnot - this.knots[rightKnotIndex + i + 1]) >= KnotVector.knotTolerance)\n          return false;\n      }\n      return true;\n    }\n    return false;\n  }\n  /** Test matching degree and knot values. */\n  public isAlmostEqual(other: KnotVector): boolean {\n    if (this.degree !== other.degree)\n      return false;\n    return NumberArray.isAlmostEqual(this.knots, other.knots, KnotVector.knotTolerance);\n  }\n  /** Compute the multiplicity of the input knot, or zero if not a knot. */\n  public getKnotMultiplicity(knot: number): number {\n    let m = 0;\n    for (const k of this.knots) {\n      if (Math.abs(k - knot) < KnotVector.knotTolerance)\n        ++m;\n      else if (knot < k)\n        break;\n    }\n    return m;\n  }\n  /** Compute the multiplicity of the knot at the given index. */\n  public getKnotMultiplicityAtIndex(knotIndex: number): number {\n    let m = 0;\n    if (knotIndex >= 0 && knotIndex < this.knots.length) {\n      const knot = this.knots[knotIndex];\n      ++m; // count this knot\n      for (let i = knotIndex - 1; i >= 0; --i) {\n        const k = this.knots[i];\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\n          ++m; // found multiple to left of knot\n        else if (knot > k)\n          break;\n      }\n      for (let i = knotIndex + 1; i < this.knots.length; ++i) {\n        const k = this.knots[i];\n        if (Math.abs(k - knot) < KnotVector.knotTolerance)\n          ++m; // found multiple to right of knot\n        else if (knot < k)\n          break;\n      }\n    }\n    return m;\n  }\n  /**\n   * Transform knots such that the active knot range becomes [0,1].\n   * @returns false if and only if `this.knotLength01` is trivial.\n   */\n  public normalize(): boolean {\n    if (this.knotLength01 < KnotVector.knotTolerance)\n      return false;\n    const divisor = 1.0 / this.knotLength01;\n    const leftKnot = this.leftKnot;\n    for (let i = 0; i < this.knots.length; ++i)\n      this.knots[i] = (this.knots[i] - leftKnot) * divisor;\n    // explicitly set rightKnot and its multiples to 1.0 to avoid round-off\n    for (let i = this.rightKnotIndex - 1; i > this.leftKnotIndex && (this.knots[i] === this.knots[this.rightKnotIndex]); --i)\n      this.knots[i] = 1.0;\n    for (let i = this.rightKnotIndex + 1; i < this.knots.length && (this.knots[i] === this.knots[this.rightKnotIndex]); ++i)\n      this.knots[i] = 1.0;\n    this.knots[this.rightKnotIndex] = 1.0;\n    this.setupFixedValues();\n    return true;\n  }\n  /** Install knot values from an array, optionally ignoring first and last. */\n  public setKnots(knots: number[] | Float64Array, skipFirstAndLast?: boolean) {\n    const numAllocate = skipFirstAndLast ? knots.length - 2 : knots.length;\n    if (numAllocate !== this.knots.length)\n      this.knots = new Float64Array(numAllocate);\n    if (skipFirstAndLast) {\n      for (let i = 1; i + 1 < knots.length; i++)\n        this.knots[i - 1] = knots[i];\n    } else {\n      for (let i = 0; i < knots.length; i++)\n        this.knots[i] = knots[i];\n    }\n    this.setupFixedValues();\n  }\n  /** Set knots to input array (CAPTURED).  */\n  public setKnotsCapture(knots: Float64Array) {\n    this.knots = knots;\n    this.setupFixedValues();\n  }\n  /**\n   * Create knot vector with {degree-1} replicated knots at start and end, and uniform knots between.\n   * @param numPoles number of poles.\n   * @param degree degree of polynomial.\n   * @param a0 left knot value for active interval.\n   * @param a1 right knot value for active interval.\n   */\n  public static createUniformClamped(numPoles: number, degree: number, a0: number, a1: number): KnotVector {\n    const knots = new KnotVector(numPoles + degree - 1, degree);\n    let k = 0;\n    for (let m = 0; m < degree; m++)\n      knots.knots[k++] = a0;\n    const du = 1.0 / (numPoles - degree);\n    for (let i = 1; i + degree < numPoles; i++)\n      knots.knots[k++] = a0 + i * du * (a1 - a0);\n    for (let m = 0; m < degree; m++)\n      knots.knots[k++] = a1;\n    knots.setupFixedValues();\n    return knots;\n  }\n  /**\n   * Create knot vector with wraparound knots at start and end, and uniform knots between.\n   * @param numInterval the number of intervals into which to uniformly divide the active knot interval `[a0,a1]`,\n   * creating `numInterval-1` equally spaced interior knots between `a0` and `a1`.\n   * This number is equal to the number of Bezier spans in the associated B-spline object.\n   * It is _not_ the pole count.\n   * @param degree degree of polynomial.\n   * @param a0 left knot value for active interval.\n   * @param a1 right knot value for active interval.\n   */\n  public static createUniformWrapped(numInterval: number, degree: number, a0: number, a1: number): KnotVector {\n    const knots = new KnotVector(numInterval + 2 * degree - 1, degree);\n    const du = 1.0 / numInterval;\n    for (let i = 1 - degree, k = 0; i < numInterval + degree; i++, k++)\n      knots.knots[k] = Geometry.interpolate(a0, i * du, a1);\n    knots.setupFixedValues();\n    return knots;\n  }\n  /**\n   * Create knot vector with given knot values and degree.\n   * @param knotArray knot values.\n   * @param degree degree of polynomial.\n   * @param skipFirstAndLast true to skip copying the first and last knot values.\n   */\n  public static create(knotArray: number[] | Float64Array, degree: number, skipFirstAndLast?: boolean): KnotVector {\n    const numAllocate = skipFirstAndLast ? knotArray.length - 2 : knotArray.length;\n    const knots = new KnotVector(numAllocate, degree);\n    knots.setKnots(knotArray, skipFirstAndLast);\n    return knots;\n  }\n  /**\n   * Return the average of degree consecutive knots beginning at knotIndex.\n   * * If `knotIndex` is negative, return `leftKnot`.\n   * * If `knotIndex > rightKnotIndex` return `rightKnot`.\n   */\n  public grevilleKnot(knotIndex: number): number {\n    if (knotIndex < 0)\n      return this.leftKnot;\n    if (knotIndex > this.rightKnotIndex)\n      return this.rightKnot;\n    knotIndex = Math.floor(knotIndex);\n    let sum = 0.0;\n    for (let i = knotIndex; i < knotIndex + this.degree; i++)\n      sum += this.knots[i];\n    return sum / this.degree;\n  }\n  /** Return an array of size `degree + 1`, e.g., to hold the set of relevant basis function values at a parameter. */\n  public createBasisArray(): Float64Array {\n    return new Float64Array(this.degree + 1);\n  }\n  /** Convert localFraction within the interval following an indexed knot to a knot value. */\n  public baseKnotFractionToKnot(knotIndex0: number, localFraction: number): number {\n    const knot0 = this.knots[knotIndex0];\n    localFraction = Geometry.clamp(localFraction, 0, 1);\n    return knot0 + localFraction * (this.knots[knotIndex0 + 1] - knot0);\n  }\n  /** Convert localFraction within an indexed bezier span to a knot value. */\n  public spanFractionToKnot(spanIndex: number, localFraction: number): number {\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\n    localFraction = Geometry.clamp(localFraction, 0, 1);\n    return this.knots[k] + localFraction * (this.knots[k + 1] - this.knots[k]);\n  }\n  /** Convert localFraction within an indexed bezier span to fraction of active knot range. */\n  public spanFractionToFraction(spanIndex: number, localFraction: number): number {\n    const knot = this.spanFractionToKnot(spanIndex, localFraction);\n    return (knot - this.leftKnot) / (this.rightKnot - this.leftKnot);\n  }\n  /** Return fraction of active knot range to knot value. */\n  public fractionToKnot(fraction: number): number {\n    fraction = Geometry.clamp(fraction, 0, 1); // B-splines are not extendable\n    return Geometry.interpolate(this.knots[this.degree - 1], fraction, this.knots[this.knots.length - this.degree]);\n  }\n  private isKnotInValidSpan(knotIndex0: number, u: number): boolean {\n    const spanIsValid = knotIndex0 >= this.degree - 1 && knotIndex0 + this.degree < this.knots.length;\n    const uIsInSpan = this.knots[knotIndex0] <= u && u <= this.knots[knotIndex0 + 1];\n    return spanIsValid && uIsInSpan;\n  }\n  /**\n   * Evaluate the B-spline basis functions f[] at a parameter u in a knot span.\n   * * This method implements the Mansfield-Cox-de Boor recurrence relation.\n   * @param knotIndex0 index of the left knot of the span.\n   * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].\n   * @param f preallocated output array of order basis function values.\n   * @returns true if and only if output array is sufficiently sized.\n   */\n  public evaluateBasisFunctions(knotIndex0: number, u: number, f: Float64Array): boolean {\n    if (f.length < this.degree + 1)\n      return false;\n    assert(() => this.isKnotInValidSpan(knotIndex0, u), \"knot is in a valid span\");\n    f[0] = 1.0;\n    if (this.degree < 1)\n      return true;\n    // direct compute for linear part\n    const u0 = this.knots[knotIndex0];\n    const u1 = this.knots[knotIndex0 + 1];\n    f[1] = (u - u0) / (u1 - u0);\n    f[0] = 1.0 - f[1];\n    if (this.degree < 2)\n      return true;\n    // each iteration of the outer loop evaluates the basis functions of degree depth+1 using\n    // one or two values of the basis functions of one less degree from the preceding iteration\n    for (let depth = 1; depth < this.degree; depth++) {\n      let kLeft = knotIndex0 - depth;\n      let kRight = knotIndex0 + 1;\n      let gCarry = 0.0;\n      for (let step = 0; step <= depth; step++) {\n        const tLeft = this.knots[kLeft++];\n        const tRight = this.knots[kRight++];\n        const fraction = (u - tLeft) / (tRight - tLeft);\n        const g1 = f[step] * fraction;\n        const g0 = f[step] * (1.0 - fraction);\n        f[step] = gCarry + g0;\n        gCarry = g1;\n      }\n      f[depth + 1] = gCarry;\n      // at this point, the head of f[] contains the depth+2 values at u\n      // of the basis functions of degree depth+1 with support over [u0,u1)\n    }\n    return true;\n  }\n  /**\n   * Evaluate basis functions f[], derivatives df[], and optional second derivatives ddf[] at a parameter u\n   * in a knot span.\n   * @param knotIndex0 index of the left knot of the span.\n   * @param u value in the knot span: knot[knotIndex0] <= u <= knot[knotIndex0 + 1].\n   * @param f preallocated output array of order basis function values.\n   * @param df preallocated output array of order basis derivative values.\n   * @param ddf optional preallocated output array of order basis second derivative values.\n   * @returns true if and only if output arrays are sufficiently sized.\n   */\n  public evaluateBasisFunctions1(\n    knotIndex0: number, u: number, f: Float64Array, df: Float64Array, ddf?: Float64Array,\n  ): boolean {\n    if (f.length < this.degree + 1)\n      return false;\n    if (df.length < this.degree + 1)\n      return false;\n    if (ddf && ddf.length < this.degree + 1)\n      return false;\n    assert(() => this.isKnotInValidSpan(knotIndex0, u), \"knot is in a valid span\");\n    f[0] = 1.0;\n    df[0] = 0.0;\n    if (this.degree < 1)\n      return true;\n    // direct compute for linear part\n    const u0 = this.knots[knotIndex0];\n    const u1 = this.knots[knotIndex0 + 1];\n    // ah = 1/(u1-u0) is the derivative of fraction0\n    // -ah is the derivative of fraction1\n    let ah = 1.0 / (u1 - u0);\n    f[1] = (u - u0) * ah;\n    f[0] = 1.0 - f[1];\n    df[0] = -ah; df[1] = ah;\n    if (ddf) { // first derivative started constant, second derivative started zero.\n      ddf[0] = 0.0;\n      ddf[1] = 0.0;\n    }\n    if (this.degree < 2)\n      return true;\n    for (let depth = 1; depth < this.degree; depth++) {\n      let kLeft = knotIndex0 - depth;\n      let kRight = kLeft + depth + 1;\n      let gCarry = 0.0;\n      let dgCarry = 0.0;\n      let ddgCarry = 0.0;\n      // f, df, ddf, are each row vectors with product of `step` linear terms.\n      // f is multiplied on the right by matrix V.  Each row has 2 nonzero entries (which sum to 1) (0,0,1-fraction, fraction,0,0,0)\n      //    Each row of the derivative dV is two entries (0,0, -1/h, 1/h,0,0,0)\n      // Hence fnew = f * V\n      //      dfnew = df * V + f * dV\n      //      ddfnew = ddf * V + df*dV + df * dV + f * ddV\n      // but ddV is zero so\n      //      ddfnew = ddf * V + 2 * df * dV\n      for (let step = 0; step <= depth; step++) {\n        const tLeft = this.knots[kLeft++];\n        const tRight = this.knots[kRight++];\n        ah = 1.0 / (tRight - tLeft);\n        const fraction = (u - tLeft) * ah;\n        const fraction1 = 1.0 - fraction;\n        const g1 = f[step] * fraction;\n        const g0 = f[step] * fraction1;\n        const dg1 = df[step] * fraction + f[step] * ah;\n        const dg0 = df[step] * fraction1 - f[step] * ah;\n        const dfSave = 2.0 * df[step] * ah;\n        f[step] = gCarry + g0;\n        df[step] = dgCarry + dg0;\n        gCarry = g1;\n        dgCarry = dg1;\n        if (ddf) { // do the backward reference to df before rewriting df\n          const ddg1 = ddf[step] * fraction + dfSave;\n          const ddg0 = ddf[step] * fraction1 - dfSave;\n          ddf[step] = ddgCarry + ddg0;\n          ddgCarry = ddg1;\n        }\n      }\n      f[depth + 1] = gCarry;\n      df[depth + 1] = dgCarry;\n      if (ddf)\n        ddf[depth + 1] = ddgCarry;\n    }\n    return true;\n  }\n  /**\n   * Find the knot span bracketing knots[i] <= u < knots[i+1] and return i.\n   * * If u has no such bracket, return the smaller index of the closest nontrivial bracket.\n   * @param u value to bracket.\n   */\n  public knotToLeftKnotIndex(u: number): number {\n    for (let i = this.leftKnotIndex; i < this.rightKnotIndex; ++i) {\n      if (u < this.knots[i + 1])\n        return i;\n    }\n    // for u >= rightKnot, return left index of last nontrivial span\n    for (let i = this.rightKnotIndex; i > this.leftKnotIndex; --i) {\n      if (this.knots[i] - this.knots[i - 1] >= KnotVector.knotTolerance)\n        return i - 1;\n    }\n    return this.rightKnotIndex - 1; // shouldn't get here\n  }\n  /**\n   * Given a span index, return the index of the knot at its left.\n   * @param spanIndex index of span.\n   */\n  public spanIndexToLeftKnotIndex(spanIndex: number): number {\n    const d = this.degree;\n    if (spanIndex <= 0.0)\n      return d - 1;\n    return Math.min(spanIndex + d - 1, this.knots.length - d - 1);\n  }\n  /** Return the knot interval length of indexed bezier span. */\n  public spanIndexToSpanLength(spanIndex: number): number {\n    const k = this.spanIndexToLeftKnotIndex(spanIndex);\n    return this.knots[k + 1] - this.knots[k];\n  }\n  /**\n   * Given a span index, test if it is within range and has nonzero length.\n   * * note that a false return does not imply there are no more spans. This may be a double knot (zero length span)\n   * followed by more real spans\n   * @param spanIndex index of span to test.\n   */\n  public isIndexOfRealSpan(spanIndex: number): boolean {\n    if (spanIndex >= 0 && spanIndex < this.numSpans)\n      return !Geometry.isSmallMetricDistance(this.spanIndexToSpanLength(spanIndex));\n    return false;\n  }\n  /** Reflect all knots so `leftKnot` and `rightKnot` are maintained but interval lengths are reversed. */\n  public reflectKnots(): void {\n    const a = this.leftKnot;\n    const b = this.rightKnot;\n    const numKnots = this.knots.length;\n    for (let i = 0; i < numKnots; i++)\n      this.knots[i] = a + (b - this.knots[i]);\n    this.knots.reverse();\n  }\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\n  public static copyKnots(\n    knots: number[] | Float64Array, degree: number, includeExtraEndKnot?: boolean, wrapMode?: BSplineWrapMode,\n  ): number[] {\n    const isExtraEndKnotPeriodic = (includeExtraEndKnot && wrapMode === BSplineWrapMode.OpenByAddingControlPoints);\n    const leftIndex = degree - 1;\n    const rightIndex = knots.length - degree;\n    const a0 = knots[leftIndex];\n    const a1 = knots[rightIndex];\n    const delta = a1 - a0;\n    const values: number[] = [];\n    if (includeExtraEndKnot) {\n      if (isExtraEndKnotPeriodic)\n        values.push(knots[rightIndex - degree] - delta);\n      else\n        values.push(knots[0]);\n    }\n    for (const u of knots) {\n      values.push(u);\n    }\n    if (includeExtraEndKnot) {\n      if (isExtraEndKnotPeriodic)\n        values.push(knots[leftIndex + degree] + delta);\n      else\n        values.push(knots[knots.length - 1]);\n    }\n    return values;\n  }\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\n    const wrapMode = (includeExtraEndKnot && this.testClosable()) ? this.wrappable : undefined;\n    return KnotVector.copyKnots(this.knots, this.degree, includeExtraEndKnot, wrapMode);\n  }\n}\n"]}

package/lib/esm/curve/Arc3d.d.ts

@@ -632,6 +632,8 @@ export declare class Arc3d extends CurvePrimitive implements BeJSONFunctions {
     projectedParameterRange(ray: Vector3d | Ray3d, lowHigh?: Range1d): Range1d | undefined;
     /**
      * Construct a circular arc chain approximation to the instance elliptical arc.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximationGeneral and
+     *  https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximation
      * @param options bundle of options for sampling an elliptical arc (use default options if undefined).
      * @returns the approximating curve chain, the circular instance, or undefined if construction fails.
      */