@itwin/core-geometry 5.1.0-dev.3 → 5.1.0-dev.32

package/lib/esm/numerics/SmallSystem.js

@@ -15,92 +15,150 @@ import { BilinearPolynomial } from "./Polynomials";
  * @public
  */
 export class SmallSystem {
+    /**
+     * Intersect two transverse 2D lines.
+     * * If the lines are parallel and overlap, the returned intersection is of dubious use.
+     * @param a0 start point of line A
+     * @param aDir direction vector of line A
+     * @param b0 start point of line B
+     * @param bDir direction vector of line B
+     * @returns intersection fractions, `x` along line A and `y` along line B; or `undefined` if no intersection.
+     * @see [[lineSegmentXYUVOverlapUnbounded]], [[lineSegmentXYUVIntersectionUnbounded]]
+     */
+    static lineXYUVTransverseIntersection(a0, aDir, b0, bDir) {
+        const cx = b0.x - a0.x;
+        const cy = b0.y - a0.y;
+        const aCrossB = Geometry.crossProductXYXY(aDir.x, aDir.y, bDir.x, bDir.y);
+        const cCrossB = Geometry.crossProductXYXY(cx, cy, bDir.x, bDir.y);
+        const cCrossA = Geometry.crossProductXYXY(cx, cy, aDir.x, aDir.y);
+        const x = Geometry.conditionalDivideFraction(cCrossB, aCrossB);
+        const y = Geometry.conditionalDivideFraction(cCrossA, aCrossB);
+        if (x !== undefined && y !== undefined)
+            return { x, y };
+        return undefined;
+    }
     /**
      * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * Return the fractional (not xy) coordinates in result.x, result.y.
+     * @param a0 start point of line A
+     * @param a1 end point of line A
+     * @param b0 start point of line B
+     * @param b1 end point of line B
+     * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.
      */
     static lineSegment2dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
         const ux = a1.x - a0.x;
         const uy = a1.y - a0.y;
         const vx = b1.x - b0.x;
         const vy = b1.y - b0.y;
-        const cx = b0.x - a0.x;
-        const cy = b0.y - a0.y;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
+        return this.lineSegmentXYUVTransverseIntersectionUnbounded(a0.x, a0.y, ux, uy, b0.x, b0.y, vx, vy, result);
     }
     /**
-     * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.
-     * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.
-     * * Return true if the lines have a simple intersection.
-     * * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * Return true if the lines have a simple intersection.
+     * * Points (ax0,ay0) to (ax0+ux,ay0+uy) are at fractions 0 and 1 of line A.
+     * * Points (bx0,by0) to (bx0+vx,by0+vy) are at fractions 0 and 1 of line B.
+     * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.
      */
     static lineSegmentXYUVTransverseIntersectionUnbounded(ax0, ay0, ux, uy, bx0, by0, vx, vy, result) {
-        const cx = bx0 - ax0;
-        const cy = by0 - ay0;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
+        const transverse = this.lineXYUVTransverseIntersection({ x: ax0, y: ay0 }, { x: ux, y: uy }, { x: bx0, y: by0 }, { x: vx, y: vy });
+        if (transverse) {
+            result.set(transverse.x, transverse.y);
             return true;
         }
         result.set(0, 0);
         return false;
     }
     /**
-     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts.
+     * @param a0 start point of line A
+     * @param a1 end point of line A
+     * @param b0 start point of line B
+     * @param b1 end point of line B
+     * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.
      */
     static lineSegment3dXYTransverseIntersectionUnbounded(a0, a1, b0, b1, result) {
         const ux = a1.x - a0.x;
         const uy = a1.y - a0.y;
         const vx = b1.x - b0.x;
         const vy = b1.y - b0.y;
-        const cx = b0.x - a0.x;
-        const cy = b0.y - a0.y;
-        const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);
-        const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);
-        const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);
-        const s = Geometry.conditionalDivideFraction(cv, uv);
-        const t = Geometry.conditionalDivideFraction(cu, uv);
-        if (s !== undefined && t !== undefined) {
-            result.set(s, -t);
-            return true;
-        }
-        result.set(0, 0);
-        return false;
+        return this.lineSegmentXYUVTransverseIntersectionUnbounded(a0.x, a0.y, ux, uy, b0.x, b0.y, vx, vy, result);
+    }
+    /**
+     * Intersect two overlapping unbounded 2D lines.
+     * @param a0 start point of line A
+     * @param aDir direction vector of line A; end point of line segment A is `a0 + aDir`
+     * @param b0 start point of line B
+     * @param bDir direction vector of line B; end point of line segment B is `b0 + bDir`
+     * @param tol overlap distance tolerance
+     * @returns `undefined` if the lines have a simple (transverse) intersection, or are parallel without overlap.
+     * Otherwise, return the fractions at which each segment overlaps the other line:
+     * * segment B maps to fractions in the range f0.x < f1.x on line A.
+     * * segment A maps to fractions in the range f0.y < f1.y on line B.
+     * @see [[lineXYUVTransverseIntersection]], [[lineSegmentXYUVIntersectionUnbounded]]
+     */
+    static lineSegmentXYUVOverlapUnbounded(a0, aDir, b0, bDir, tol = Geometry.smallMetricDistance) {
+        const tol2 = tol * tol;
+        const projectToSegment = (s, e0, eDir) => {
+            const eDotE = Geometry.dotProductXYXY(eDir.x, eDir.y, eDir.x, eDir.y);
+            const sDotE = Geometry.dotProductXYXY(s.x - e0.x, s.y - e0.y, eDir.x, eDir.y);
+            const f = Geometry.safeDivideFraction(sDotE, eDotE, 0.0);
+            return { f, p: { x: e0.x + f * eDir.x, y: e0.y + f * eDir.y } };
+        };
+        const a0OnB = projectToSegment(a0, b0, bDir);
+        if (Geometry.distanceSquaredXYXY(a0.x, a0.y, a0OnB.p.x, a0OnB.p.y) > tol2)
+            return undefined;
+        const a1x = a0.x + aDir.x;
+        const a1y = a0.y + aDir.y;
+        const a1OnB = projectToSegment({ x: a1x, y: a1y }, b0, bDir);
+        if (Geometry.distanceSquaredXYXY(a1x, a1y, a1OnB.p.x, a1OnB.p.y) > tol2)
+            return undefined;
+        const b0OnA = projectToSegment(b0, a0, aDir);
+        if (Geometry.distanceSquaredXYXY(b0.x, b0.y, b0OnA.p.x, b0OnA.p.y) > tol2)
+            return undefined;
+        const b1x = b0.x + bDir.x;
+        const b1y = b0.y + bDir.y;
+        const b1OnA = projectToSegment({ x: b1x, y: b1y }, a0, aDir);
+        if (Geometry.distanceSquaredXYXY(b1x, b1y, b1OnA.p.x, b1OnA.p.y) > tol2)
+            return undefined;
+        if (b0OnA.f > b1OnA.f)
+            [b0OnA.f, b1OnA.f] = [b1OnA.f, b0OnA.f];
+        if (a0OnB.f > a1OnB.f)
+            [a0OnB.f, a1OnB.f] = [a1OnB.f, a0OnB.f];
+        return { f0: { x: b0OnA.f, y: a0OnB.f }, f1: { x: b1OnA.f, y: a1OnB.f } };
+    }
+    /**
+     * Intersect two transverse or overlapping unbounded 2D line segments.
+     * @param a0 start point of line A
+     * @param aDir direction vector of line A; end point of line segment A is `a0 + aDir`
+     * @param b0 start point of line B
+     * @param bDir direction vector of line B; end point of line segment B is `b0 + bDir`
+     * @param tol overlap distance tolerance
+     * @returns intersection fractions:
+     * * If `f1` is undefined, the intersection occurs at fraction f0.x along line A and f0.y along line B.
+     * * If `f1` is defined, the line segments are parallel and overlap:
+     * segment B maps to fractions in the range f0.x < f1.x on line A;
+     * segment A maps to fractions in the range f0.y < f1.y on line B.
+     * * If `undefined`, the lines are parallel without overlap.
+     */
+    static lineSegmentXYUVIntersectionUnbounded(a0, aDir, b0, bDir, tol = Geometry.smallMetricDistance) {
+        // Normal practice is to do the (quick, simple) transverse intersection first, but the transverse intersector's
+        // notion of coincidence is based on the determinant ratios, which are hard to relate to physical tolerance.
+        // So do the overlap first. This should do a quick exit in non-coincident case.
+        const overlap = this.lineSegmentXYUVOverlapUnbounded(a0, aDir, b0, bDir, tol);
+        if (overlap)
+            return overlap;
+        const transverse = this.lineXYUVTransverseIntersection(a0, aDir, b0, bDir);
+        if (transverse)
+            return { f0: transverse };
+        return undefined;
     }
     /**
      * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param hA0 homogeneous start point of line a
-     * @param hA1 homogeneous end point of line a
-     * @param hB0 homogeneous start point of line b
-     * @param hB1 homogeneous end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * @param hA0 homogeneous start point of line A
+     * @param hA1 homogeneous end point of line A
+     * @param hB0 homogeneous start point of line B
+     * @param hB1 homogeneous end point of line B
+     * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.
      */
     static lineSegment3dHXYTransverseIntersectionUnbounded(hA0, hA1, hB0, hB1, result) {
         // Considering only x,y,w parts....
@@ -120,15 +178,15 @@ export class SmallSystem {
     }
     /**
      * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.
-     * @param hA0 homogeneous start point of line a
-     * @param hA1 homogeneous end point of line a
+     * @param hA0 homogeneous start point of the line
+     * @param hA1 homogeneous end point of the line
      * @param spacePoint homogeneous point in space
      */
     static lineSegment3dHXYClosestPointUnbounded(hA0, hA1, spacePoint) {
-        // Considering only x,y,w parts....
+        // Considering only x,y,w parts.
         // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.
-        // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection
-        // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`
+        // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection.
+        // Point Q along A is (in full homogeneous) `(1-lambda) A0 + lambda 1 A1`.
         // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.
         const tx = hA1.x * hA0.w - hA0.x * hA1.w;
         const ty = hA1.y * hA0.w - hA0.y * hA1.w;
@@ -171,19 +229,17 @@ export class SmallSystem {
     }
     /**
      * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d
-     * Return the fractional (not xy) coordinates in result.x, result.y
-     * @param a0 start point of line a
-     * @param a1  end point of line a
-     * @param b0  start point of line b
-     * @param b1 end point of line b
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * @param a0 start point of line A
+     * @param a1 end point of line A
+     * @param b0 start point of line B
+     * @param b1 end point of line B
+     * @param result vector to receive fractional coordinates of closest approach: result.x is fraction on line A, result.y is fraction on line B.
      */
     static lineSegment3dClosestApproachUnbounded(a0, a1, b0, b1, result) {
         return this.ray3dXYZUVWClosestApproachUnbounded(a0.x, a0.y, a0.z, a1.x - a0.x, a1.y - a0.y, a1.z - a0.z, b0.x, b0.y, b0.z, b1.x - b0.x, b1.y - b0.y, b1.z - b0.z, result);
     }
     /**
      * Return true if the given rays have closest approach (go by each other) in 3d
-     * Return the fractional (not xy) coordinates as x and y parts of a Point2d.
      * @param ax x-coordinate of the origin of the first ray
      * @param ay y-coordinate of the origin of the first ray
      * @param az z-coordinate of the origin of the first ray
@@ -196,7 +252,7 @@ export class SmallSystem {
      * @param bu x-coordinate of the direction vector of the second ray
      * @param bv y-coordinate of the direction vector of the second ray
      * @param bw z-coordinate of the direction vector of the second ray
-     * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.
+     * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.
      */
     static ray3dXYZUVWClosestApproachUnbounded(ax, ay, az, au, av, aw, bx, by, bz, bu, bv, bw, result) {
         const cx = bx - ax;
@@ -290,7 +346,7 @@ export class SmallSystem {
         return this.linearSystem3d(normalA.x, normalA.y, normalA.z, normalB.x, normalB.y, normalB.z, normalC.x, normalC.y, normalC.z, Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z), Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z), Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);
     }
     /**
-     * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`
+     * In rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j > pivot`
      * @param rowA row that does not change
      * @param pivotIndex index of pivot (divisor) in rowA.
      * @param rowB row where elimination occurs.

package/lib/esm/numerics/SmallSystem.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { XAndY } from \"../geometry3d/XYZProps\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { BilinearPolynomial } from \"./Polynomials\";\n\n// cspell:word XYUV\n\n/**\n * static methods for commonly appearing sets of equations in 2 or 3 variables\n * @public\n */\nexport class SmallSystem {\n  /**\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.\n   * Return the fractional (not xy) coordinates in result.x, result.y\n   * @param a0 start point of line a\n   * @param a1  end point of line a\n   * @param b0  start point of line b\n   * @param b1 end point of line b\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static lineSegment2dXYTransverseIntersectionUnbounded(a0: Point2d, a1: Point2d, b0: Point2d, b1: Point2d,\n    result: Vector2d): boolean {\n    const ux = a1.x - a0.x;\n    const uy = a1.y - a0.y;\n\n    const vx = b1.x - b0.x;\n    const vy = b1.y - b0.y;\n\n    const cx = b0.x - a0.x;\n    const cy = b0.y - a0.y;\n\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\n    const s = Geometry.conditionalDivideFraction(cv, uv);\n    const t = Geometry.conditionalDivideFraction(cu, uv);\n    if (s !== undefined && t !== undefined) {\n      result.set(s, -t);\n      return true;\n    }\n    result.set(0, 0);\n    return false;\n  }\n  /**\n   * * (ax0,ay0) to (ax0+ux,ay0+uy) are line A.\n   * * (bx0,by0) to (bx0+vx,by0+vy) are lineB.\n   * * Return true if the lines have a simple intersection.\n   * * Return the fractional (not xy) coordinates in result.x, result.y\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static lineSegmentXYUVTransverseIntersectionUnbounded(\n    ax0: number, ay0: number, ux: number, uy: number,\n    bx0: number, by0: number, vx: number, vy: number,\n    result: Vector2d): boolean {\n\n    const cx = bx0 - ax0;\n    const cy = by0 - ay0;\n\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\n    const s = Geometry.conditionalDivideFraction(cv, uv);\n    const t = Geometry.conditionalDivideFraction(cu, uv);\n    if (s !== undefined && t !== undefined) {\n      result.set(s, -t);\n      return true;\n    }\n    result.set(0, 0);\n    return false;\n  }\n\n  /**\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts\n   * Return the fractional (not xy) coordinates in result.x, result.y\n   * @param a0 start point of line a\n   * @param a1  end point of line a\n   * @param b0  start point of line b\n   * @param b1 end point of line b\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static lineSegment3dXYTransverseIntersectionUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\n    result: Vector2d): boolean {\n    const ux = a1.x - a0.x;\n    const uy = a1.y - a0.y;\n\n    const vx = b1.x - b0.x;\n    const vy = b1.y - b0.y;\n\n    const cx = b0.x - a0.x;\n    const cy = b0.y - a0.y;\n\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\n    const s = Geometry.conditionalDivideFraction(cv, uv);\n    const t = Geometry.conditionalDivideFraction(cu, uv);\n    if (s !== undefined && t !== undefined) {\n      result.set(s, -t);\n      return true;\n    }\n    result.set(0, 0);\n    return false;\n  }\n\n  /**\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points\n   * Return the fractional (not xy) coordinates in result.x, result.y\n   * @param hA0 homogeneous start point of line a\n   * @param hA1 homogeneous end point of line a\n   * @param hB0 homogeneous start point of line b\n   * @param hB1 homogeneous end point of line b\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static lineSegment3dHXYTransverseIntersectionUnbounded(hA0: Point4d, hA1: Point4d, hB0: Point4d, hB1: Point4d, result?: Vector2d): Vector2d | undefined {\n    // Considering only x,y,w parts....\n    // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`\n    // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)\n    const alpha0 = Geometry.tripleProduct(\n      hA0.x, hA1.x, hB0.x,\n      hA0.y, hA1.y, hB0.y,\n      hA0.w, hA1.w, hB0.w);\n    const alpha1 = Geometry.tripleProduct(\n      hA0.x, hA1.x, hB1.x,\n      hA0.y, hA1.y, hB1.y,\n      hA0.w, hA1.w, hB1.w);\n    const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);\n    if (fractionB !== undefined) {\n      const beta0 = Geometry.tripleProduct(\n        hB0.x, hB1.x, hA0.x,\n        hB0.y, hB1.y, hA0.y,\n        hB0.w, hB1.w, hA0.w);\n      const beta1 = Geometry.tripleProduct(\n        hB0.x, hB1.x, hA1.x,\n        hB0.y, hB1.y, hA1.y,\n        hB0.w, hB1.w, hA1.w);\n      const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);\n      if (fractionA !== undefined)\n        return Vector2d.create(fractionA, fractionB, result);\n    }\n    return undefined;\n  }\n\n  /**\n   * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.\n   * @param hA0 homogeneous start point of line a\n   * @param hA1 homogeneous end point of line a\n   * @param spacePoint homogeneous point in space\n   */\n  public static lineSegment3dHXYClosestPointUnbounded(hA0: Point4d, hA1: Point4d, spacePoint: Point4d): number | undefined {\n    // Considering only x,y,w parts....\n    // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.\n    // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection\n    // Point Q along A is (in full homogeneous)  `(1-lambda) A0 + lambda 1 A1`\n    // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.\n    const tx = hA1.x * hA0.w - hA0.x * hA1.w;\n    const ty = hA1.y * hA0.w - hA0.y * hA1.w;\n    const det0 = Geometry.tripleProduct(\n      hA0.x, -ty, spacePoint.x,\n      hA0.y, tx, spacePoint.y,\n      hA0.w, 0, spacePoint.w);\n    const det1 = Geometry.tripleProduct(\n      hA1.x, -ty, spacePoint.x,\n      hA1.y, tx, spacePoint.y,\n      hA1.w, 0, spacePoint.w);\n    return Geometry.conditionalDivideFraction(-det0, det1 - det0);\n  }\n\n  /**\n   * Return the line fraction at which the line is closest to a space point as viewed in xy only.\n   * @param pointA0 start point\n   * @param pointA1 end point\n   * @param spacePoint point in space\n   */\n  public static lineSegment3dXYClosestPointUnbounded(pointA0: XAndY, pointA1: XAndY, spacePoint: XAndY): number | undefined {\n    // Considering only x,y parts....\n    const ux = pointA1.x - pointA0.x;\n    const uy = pointA1.y - pointA0.y;\n    const uu = ux * ux + uy * uy;\n    const vx = spacePoint.x - pointA0.x;\n    const vy = spacePoint.y - pointA0.y;\n    const uv = ux * vx + uy * vy;\n    return Geometry.conditionalDivideFraction(uv, uu);\n  }\n\n  /**\n   * Return the line fraction at which the line is closest to a space point\n   * @param pointA0 start point\n   * @param pointA1 end point\n   * @param spacePoint point in space\n   */\n  public static lineSegment3dClosestPointUnbounded(pointA0: Point3d, pointA1: Point3d, spacePoint: Point3d): number | undefined {\n    const ux = pointA1.x - pointA0.x;\n    const uy = pointA1.y - pointA0.y;\n    const uz = pointA1.z - pointA0.z;\n    const uu = ux * ux + uy * uy + uz * uz;\n    const vx = spacePoint.x - pointA0.x;\n    const vy = spacePoint.y - pointA0.y;\n    const vz = spacePoint.z - pointA0.z;\n    const uv = ux * vx + uy * vy + uz * vz;\n    return Geometry.conditionalDivideFraction(uv, uu);\n  }\n\n  /**\n   * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d\n   * Return the fractional (not xy) coordinates in result.x, result.y\n   * @param a0 start point of line a\n   * @param a1  end point of line a\n   * @param b0  start point of line b\n   * @param b1 end point of line b\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static lineSegment3dClosestApproachUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\n    result: Vector2d): boolean {\n    return this.ray3dXYZUVWClosestApproachUnbounded(\n      a0.x, a0.y, a0.z,\n      a1.x - a0.x, a1.y - a0.y, a1.z - a0.z,\n      b0.x, b0.y, b0.z,\n      b1.x - b0.x, b1.y - b0.y, b1.z - b0.z,\n      result);\n  }\n  /**\n   * Return true if the given rays have closest approach (go by each other) in 3d\n   * Return the fractional (not xy) coordinates as x and y parts of a Point2d.\n   * @param ax x-coordinate of the origin of the first ray\n   * @param ay y-coordinate of the origin of the first ray\n   * @param az z-coordinate of the origin of the first ray\n   * @param au x-coordinate of the direction vector of the first ray\n   * @param av y-coordinate of the direction vector of the first ray\n   * @param aw z-coordinate of the direction vector of the first ray\n   * @param bx x-coordinate of the origin of the second ray\n   * @param by y-coordinate of the origin of the second ray\n   * @param bz z-coordinate of the origin of the second ray\n   * @param bu x-coordinate of the direction vector of the second ray\n   * @param bv y-coordinate of the direction vector of the second ray\n   * @param bw z-coordinate of the direction vector of the second ray\n   * @param result point to receive fractional coordinates of intersection.   result.x is fraction on line a. result.y is fraction on line b.\n   */\n  public static ray3dXYZUVWClosestApproachUnbounded(\n    ax: number, ay: number, az: number, au: number, av: number, aw: number,\n    bx: number, by: number, bz: number, bu: number, bv: number, bw: number,\n    result: Vector2d): boolean {\n\n    const cx = bx - ax;\n    const cy = by - ay;\n    const cz = bz - az;\n\n    const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);\n    const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);\n    const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);\n    const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);\n    const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);\n    return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);\n  }\n  /**\n   * Solve the pair of linear equations\n   * * `ux * x + vx * y = cx`\n   * * `uy * x + vy * y = cy`\n   * @param ux xx coefficient\n   * @param vx xy coefficient\n   * @param uy yx coefficient\n   * @param vy yy coefficient\n   * @param cx x right hand side\n   * @param cy y right hand side\n   * @param result (x,y) solution (MUST be preallocated by caller)\n   */\n  public static linearSystem2d(\n    ux: number, vx: number, // first row of matrix\n    uy: number, vy: number, // second row of matrix\n    cx: number, cy: number, // right side\n    result: Vector2d,\n  ): boolean {\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\n    const s = Geometry.conditionalDivideFraction(cv, uv);\n    const t = Geometry.conditionalDivideFraction(cu, uv);\n    if (s !== undefined && t !== undefined) {\n      result.set(s, t);\n      return true;\n    }\n    result.set(0, 0);\n    return false;\n  }\n  /**\n   * Solve a linear system:\n   * * x equation: `axx * u + axy * v + axz * w = cx`\n   * * y equation: `ayx * u + ayy * v + ayz * w = cy`\n   * * z equation: `azx * u + azy * v + azz * w = cz`\n   * @param axx row 0, column 0 coefficient\n   * @param axy row 0, column 1 coefficient\n   * @param axz row 0, column 1 coefficient\n   * @param ayx row 1, column 0 coefficient\n   * @param ayy row 1, column 1 coefficient\n   * @param ayz row 1, column 2 coefficient\n   * @param azx row 2, column 0 coefficient\n   * @param azy row 2, column 1 coefficient\n   * @param azz row 2, column 2 coefficient\n   * @param cx right hand side row 0 coefficient\n   * @param cy right hand side row 1 coefficient\n   * @param cz right hand side row 2 coefficient\n   * @param result optional result.\n   * @returns solution vector (u,v,w) or `undefined` if system is singular.\n   */\n  public static linearSystem3d(\n    axx: number, axy: number, axz: number, // first row of matrix\n    ayx: number, ayy: number, ayz: number, // second row of matrix\n    azx: number, azy: number, azz: number, // second row of matrix\n    cx: number, cy: number, cz: number,    // right side\n    result?: Vector3d,\n  ): Vector3d | undefined {\n    // determinants of various combinations of columns ...\n    const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);\n    const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);\n    const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);\n    const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);\n    const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);\n    const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);\n    const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);\n    if (s !== undefined && t !== undefined && u !== undefined) {\n      return Vector3d.create(s, t, u, result);\n    }\n    return undefined;\n  }\n  /**\n   * Compute the intersection of three planes.\n   * @param xyzA point on the first plane\n   * @param normalA normal of the first plane\n   * @param xyzB point on the second plane\n   * @param normalB normal of the second plane\n   * @param xyzC point on the third plane\n   * @param normalC normal of the third plane\n   * @param result optional result\n   * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.\n   */\n  public static intersect3Planes(\n    xyzA: Point3d, normalA: Vector3d,\n    xyzB: Point3d, normalB: Vector3d,\n    xyzC: Point3d, normalC: Vector3d, result?: Vector3d): Vector3d | undefined {\n    return this.linearSystem3d(\n      normalA.x, normalA.y, normalA.z,\n      normalB.x, normalB.y, normalB.z,\n      normalC.x, normalC.y, normalC.z,\n      Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z),\n      Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z),\n      Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);\n  }\n\n  /**\n   * * in rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j>pivot`\n   * @param rowA row that does not change\n   * @param pivotIndex index of pivot (divisor) in rowA.\n   * @param rowB row where elimination occurs.\n   */\n  public static eliminateFromPivot(rowA: Float64Array, pivotIndex: number, rowB: Float64Array, a: number): boolean {\n    const n = rowA.length;\n    let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);\n    if (q === undefined) return false;\n    q *= a;\n    for (let j = pivotIndex + 1; j < n; j++)\n      rowB[j] += q * rowA[j];\n    return true;\n  }\n  /**\n   * Solve a pair of bilinear equations\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\n   * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`\n   */\n  public static solveBilinearPair(\n    a0: number, b0: number, c0: number, d0: number,\n    a1: number, b1: number, c1: number, d1: number,\n  ): Point2d[] | undefined {\n    return BilinearPolynomial.solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1);\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { WritableXAndY, XAndY } from \"../geometry3d/XYZProps\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { BilinearPolynomial } from \"./Polynomials\";\r\n\r\n// cspell:word XYUV\r\n\r\n/**\r\n * static methods for commonly appearing sets of equations in 2 or 3 variables\r\n * @public\r\n */\r\nexport class SmallSystem {\r\n  /**\r\n   * Intersect two transverse 2D lines.\r\n   * * If the lines are parallel and overlap, the returned intersection is of dubious use.\r\n   * @param a0 start point of line A\r\n   * @param aDir direction vector of line A\r\n   * @param b0 start point of line B\r\n   * @param bDir direction vector of line B\r\n   * @returns intersection fractions, `x` along line A and `y` along line B; or `undefined` if no intersection.\r\n   * @see [[lineSegmentXYUVOverlapUnbounded]], [[lineSegmentXYUVIntersectionUnbounded]]\r\n   */\r\n  public static lineXYUVTransverseIntersection(a0: XAndY, aDir: XAndY, b0: XAndY, bDir: XAndY): WritableXAndY | undefined {\r\n    const cx = b0.x - a0.x;\r\n    const cy = b0.y - a0.y;\r\n    const aCrossB = Geometry.crossProductXYXY(aDir.x, aDir.y, bDir.x, bDir.y);\r\n    const cCrossB = Geometry.crossProductXYXY(cx, cy, bDir.x, bDir.y);\r\n    const cCrossA = Geometry.crossProductXYXY(cx, cy, aDir.x, aDir.y);\r\n    const x = Geometry.conditionalDivideFraction(cCrossB, aCrossB);\r\n    const y = Geometry.conditionalDivideFraction(cCrossA, aCrossB);\r\n    if (x !== undefined && y !== undefined)\r\n      return { x, y };\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection.\r\n   * Return the fractional (not xy) coordinates in result.x, result.y.\r\n   * @param a0 start point of line A\r\n   * @param a1 end point of line A\r\n   * @param b0 start point of line B\r\n   * @param b1 end point of line B\r\n   * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static lineSegment2dXYTransverseIntersectionUnbounded(a0: Point2d, a1: Point2d, b0: Point2d, b1: Point2d, result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n    return this.lineSegmentXYUVTransverseIntersectionUnbounded(a0.x, a0.y, ux, uy, b0.x, b0.y, vx, vy, result);\r\n  }\r\n\r\n  /**\r\n   * Return true if the lines have a simple intersection.\r\n   * * Points (ax0,ay0) to (ax0+ux,ay0+uy) are at fractions 0 and 1 of line A.\r\n   * * Points (bx0,by0) to (bx0+vx,by0+vy) are at fractions 0 and 1 of line B.\r\n   * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static lineSegmentXYUVTransverseIntersectionUnbounded(ax0: number, ay0: number, ux: number, uy: number, bx0: number, by0: number, vx: number, vy: number, result: Vector2d): boolean {\r\n    const transverse = this.lineXYUVTransverseIntersection({ x: ax0, y: ay0 }, { x: ux, y: uy } , { x: bx0, y: by0 }, { x: vx, y: vy });\r\n    if (transverse) {\r\n      result.set(transverse.x, transverse.y);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts.\r\n   * @param a0 start point of line A\r\n   * @param a1 end point of line A\r\n   * @param b0 start point of line B\r\n   * @param b1 end point of line B\r\n   * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static lineSegment3dXYTransverseIntersectionUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d, result: Vector2d): boolean {\r\n    const ux = a1.x - a0.x;\r\n    const uy = a1.y - a0.y;\r\n    const vx = b1.x - b0.x;\r\n    const vy = b1.y - b0.y;\r\n    return this.lineSegmentXYUVTransverseIntersectionUnbounded(a0.x, a0.y, ux, uy, b0.x, b0.y, vx, vy, result);\r\n  }\r\n\r\n  /**\r\n   * Intersect two overlapping unbounded 2D lines.\r\n   * @param a0 start point of line A\r\n   * @param aDir direction vector of line A; end point of line segment A is `a0 + aDir`\r\n   * @param b0 start point of line B\r\n   * @param bDir direction vector of line B; end point of line segment B is `b0 + bDir`\r\n   * @param tol overlap distance tolerance\r\n   * @returns `undefined` if the lines have a simple (transverse) intersection, or are parallel without overlap.\r\n   * Otherwise, return the fractions at which each segment overlaps the other line:\r\n   * * segment B maps to fractions in the range f0.x < f1.x on line A.\r\n   * * segment A maps to fractions in the range f0.y < f1.y on line B.\r\n   * @see [[lineXYUVTransverseIntersection]], [[lineSegmentXYUVIntersectionUnbounded]]\r\n   */\r\n  public static lineSegmentXYUVOverlapUnbounded(\r\n    a0: XAndY, aDir: XAndY,\r\n    b0: XAndY, bDir: XAndY,\r\n    tol: number = Geometry.smallMetricDistance\r\n  ): { f0: WritableXAndY, f1: WritableXAndY } | undefined {\r\n    const tol2 = tol * tol;\r\n    const projectToSegment = (s: XAndY, e0: XAndY, eDir: XAndY): { f: number, p: XAndY } => {\r\n      const eDotE = Geometry.dotProductXYXY(eDir.x, eDir.y, eDir.x, eDir.y);\r\n      const sDotE = Geometry.dotProductXYXY(s.x - e0.x, s.y - e0.y, eDir.x, eDir.y);\r\n      const f = Geometry.safeDivideFraction(sDotE, eDotE, 0.0);\r\n      return { f, p: { x: e0.x + f * eDir.x, y: e0.y + f * eDir.y } };\r\n    };\r\n    const a0OnB = projectToSegment(a0, b0, bDir);\r\n    if (Geometry.distanceSquaredXYXY(a0.x, a0.y, a0OnB.p.x, a0OnB.p.y) > tol2)\r\n      return undefined;\r\n    const a1x = a0.x + aDir.x;\r\n    const a1y = a0.y + aDir.y;\r\n    const a1OnB = projectToSegment({ x: a1x, y: a1y }, b0, bDir);\r\n    if (Geometry.distanceSquaredXYXY(a1x, a1y, a1OnB.p.x, a1OnB.p.y) > tol2)\r\n      return undefined;\r\n    const b0OnA = projectToSegment(b0, a0, aDir);\r\n    if (Geometry.distanceSquaredXYXY(b0.x, b0.y, b0OnA.p.x, b0OnA.p.y) > tol2)\r\n      return undefined;\r\n    const b1x = b0.x + bDir.x;\r\n    const b1y = b0.y + bDir.y;\r\n    const b1OnA = projectToSegment({ x: b1x, y: b1y }, a0, aDir);\r\n    if (Geometry.distanceSquaredXYXY(b1x, b1y, b1OnA.p.x, b1OnA.p.y) > tol2)\r\n      return undefined;\r\n    if (b0OnA.f > b1OnA.f)\r\n      [b0OnA.f, b1OnA.f] = [b1OnA.f, b0OnA.f];\r\n    if (a0OnB.f > a1OnB.f)\r\n      [a0OnB.f, a1OnB.f] = [a1OnB.f, a0OnB.f];\r\n    return { f0: { x: b0OnA.f, y: a0OnB.f }, f1: { x: b1OnA.f, y: a1OnB.f } };\r\n  }\r\n\r\n  /**\r\n   * Intersect two transverse or overlapping unbounded 2D line segments.\r\n   * @param a0 start point of line A\r\n   * @param aDir direction vector of line A; end point of line segment A is `a0 + aDir`\r\n   * @param b0 start point of line B\r\n   * @param bDir direction vector of line B; end point of line segment B is `b0 + bDir`\r\n   * @param tol overlap distance tolerance\r\n   * @returns intersection fractions:\r\n   * * If `f1` is undefined, the intersection occurs at fraction f0.x along line A and f0.y along line B.\r\n   * * If `f1` is defined, the line segments are parallel and overlap:\r\n   * segment B maps to fractions in the range f0.x < f1.x on line A;\r\n   * segment A maps to fractions in the range f0.y < f1.y on line B.\r\n   * * If `undefined`, the lines are parallel without overlap.\r\n   */\r\n  public static lineSegmentXYUVIntersectionUnbounded(\r\n    a0: XAndY, aDir: XAndY,\r\n    b0: XAndY, bDir: XAndY,\r\n    tol: number = Geometry.smallMetricDistance\r\n  ): { f0: WritableXAndY, f1?: WritableXAndY } | undefined {\r\n    // Normal practice is to do the (quick, simple) transverse intersection first, but the transverse intersector's\r\n    // notion of coincidence is based on the determinant ratios, which are hard to relate to physical tolerance.\r\n    // So do the overlap first. This should do a quick exit in non-coincident case.\r\n    const overlap = this.lineSegmentXYUVOverlapUnbounded(a0, aDir, b0, bDir, tol);\r\n    if (overlap)\r\n      return overlap;\r\n    const transverse = this.lineXYUVTransverseIntersection(a0, aDir, b0, bDir);\r\n    if (transverse)\r\n      return { f0: transverse };\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have a simple intersection using only xy parts of WEIGHTED 4D Points\r\n   * @param hA0 homogeneous start point of line A\r\n   * @param hA1 homogeneous end point of line A\r\n   * @param hB0 homogeneous start point of line B\r\n   * @param hB1 homogeneous end point of line B\r\n   * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static lineSegment3dHXYTransverseIntersectionUnbounded(hA0: Point4d, hA1: Point4d, hB0: Point4d, hB1: Point4d, result?: Vector2d): Vector2d | undefined {\r\n    // Considering only x,y,w parts....\r\n    // Point Q along B is (in full homogeneous)  `(1-lambda) B0 + lambda 1`\r\n    // PointQ is colinear with A0,A1 when the determinant det (A0,A1,Q) is zero.  (Each column takes xyw parts)\r\n    const alpha0 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB0.x,\r\n      hA0.y, hA1.y, hB0.y,\r\n      hA0.w, hA1.w, hB0.w);\r\n    const alpha1 = Geometry.tripleProduct(\r\n      hA0.x, hA1.x, hB1.x,\r\n      hA0.y, hA1.y, hB1.y,\r\n      hA0.w, hA1.w, hB1.w);\r\n    const fractionB = Geometry.conditionalDivideFraction(-alpha0, alpha1 - alpha0);\r\n    if (fractionB !== undefined) {\r\n      const beta0 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA0.x,\r\n        hB0.y, hB1.y, hA0.y,\r\n        hB0.w, hB1.w, hA0.w);\r\n      const beta1 = Geometry.tripleProduct(\r\n        hB0.x, hB1.x, hA1.x,\r\n        hB0.y, hB1.y, hA1.y,\r\n        hB0.w, hB1.w, hA1.w);\r\n      const fractionA = Geometry.conditionalDivideFraction(-beta0, beta1 - beta0);\r\n      if (fractionA !== undefined)\r\n        return Vector2d.create(fractionA, fractionB, result);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the (homogeneous) line is closest to a space point as viewed in xy only.\r\n   * @param hA0 homogeneous start point of the line\r\n   * @param hA1 homogeneous end point of the line\r\n   * @param spacePoint homogeneous point in space\r\n   */\r\n  public static lineSegment3dHXYClosestPointUnbounded(hA0: Point4d, hA1: Point4d, spacePoint: Point4d): number | undefined {\r\n    // Considering only x,y,w parts.\r\n    // weighted difference of (A1 w0 - A0 w1) is (cartesian) tangent vector along the line as viewed.\r\n    // The perpendicular (pure vector) W = (-y,x) flip is the direction of projection.\r\n    // Point Q along A is (in full homogeneous) `(1-lambda) A0 + lambda 1 A1`.\r\n    // PointQ is colinear with spacePoint and and W when the xyw homogeneous determinant | Q W spacePoint | is zero.\r\n    const tx = hA1.x * hA0.w - hA0.x * hA1.w;\r\n    const ty = hA1.y * hA0.w - hA0.y * hA1.w;\r\n    const det0 = Geometry.tripleProduct(\r\n      hA0.x, -ty, spacePoint.x,\r\n      hA0.y, tx, spacePoint.y,\r\n      hA0.w, 0, spacePoint.w,\r\n    );\r\n    const det1 = Geometry.tripleProduct(\r\n      hA1.x, -ty, spacePoint.x,\r\n      hA1.y, tx, spacePoint.y,\r\n      hA1.w, 0, spacePoint.w,\r\n    );\r\n    return Geometry.conditionalDivideFraction(-det0, det1 - det0);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point as viewed in xy only.\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint point in space\r\n   */\r\n  public static lineSegment3dXYClosestPointUnbounded(pointA0: XAndY, pointA1: XAndY, spacePoint: XAndY): number | undefined {\r\n    // Considering only x,y parts....\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uu = ux * ux + uy * uy;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const uv = ux * vx + uy * vy;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return the line fraction at which the line is closest to a space point\r\n   * @param pointA0 start point\r\n   * @param pointA1 end point\r\n   * @param spacePoint point in space\r\n   */\r\n  public static lineSegment3dClosestPointUnbounded(pointA0: Point3d, pointA1: Point3d, spacePoint: Point3d): number | undefined {\r\n    const ux = pointA1.x - pointA0.x;\r\n    const uy = pointA1.y - pointA0.y;\r\n    const uz = pointA1.z - pointA0.z;\r\n    const uu = ux * ux + uy * uy + uz * uz;\r\n    const vx = spacePoint.x - pointA0.x;\r\n    const vy = spacePoint.y - pointA0.y;\r\n    const vz = spacePoint.z - pointA0.z;\r\n    const uv = ux * vx + uy * vy + uz * vz;\r\n    return Geometry.conditionalDivideFraction(uv, uu);\r\n  }\r\n\r\n  /**\r\n   * Return true if lines (a0,a1) to (b0, b1) have closest approach (go by each other) in 3d\r\n   * @param a0 start point of line A\r\n   * @param a1 end point of line A\r\n   * @param b0 start point of line B\r\n   * @param b1 end point of line B\r\n   * @param result vector to receive fractional coordinates of closest approach: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static lineSegment3dClosestApproachUnbounded(a0: Point3d, a1: Point3d, b0: Point3d, b1: Point3d,\r\n    result: Vector2d): boolean {\r\n    return this.ray3dXYZUVWClosestApproachUnbounded(\r\n      a0.x, a0.y, a0.z,\r\n      a1.x - a0.x, a1.y - a0.y, a1.z - a0.z,\r\n      b0.x, b0.y, b0.z,\r\n      b1.x - b0.x, b1.y - b0.y, b1.z - b0.z,\r\n      result);\r\n  }\r\n  /**\r\n   * Return true if the given rays have closest approach (go by each other) in 3d\r\n   * @param ax x-coordinate of the origin of the first ray\r\n   * @param ay y-coordinate of the origin of the first ray\r\n   * @param az z-coordinate of the origin of the first ray\r\n   * @param au x-coordinate of the direction vector of the first ray\r\n   * @param av y-coordinate of the direction vector of the first ray\r\n   * @param aw z-coordinate of the direction vector of the first ray\r\n   * @param bx x-coordinate of the origin of the second ray\r\n   * @param by y-coordinate of the origin of the second ray\r\n   * @param bz z-coordinate of the origin of the second ray\r\n   * @param bu x-coordinate of the direction vector of the second ray\r\n   * @param bv y-coordinate of the direction vector of the second ray\r\n   * @param bw z-coordinate of the direction vector of the second ray\r\n   * @param result vector to receive fractional coordinates of intersection: result.x is fraction on line A, result.y is fraction on line B.\r\n   */\r\n  public static ray3dXYZUVWClosestApproachUnbounded(\r\n    ax: number, ay: number, az: number, au: number, av: number, aw: number,\r\n    bx: number, by: number, bz: number, bu: number, bv: number, bw: number,\r\n    result: Vector2d): boolean {\r\n\r\n    const cx = bx - ax;\r\n    const cy = by - ay;\r\n    const cz = bz - az;\r\n\r\n    const uu = Geometry.hypotenuseSquaredXYZ(au, av, aw);\r\n    const vv = Geometry.hypotenuseSquaredXYZ(bu, bv, bw);\r\n    const uv = Geometry.dotProductXYZXYZ(au, av, aw, bu, bv, bw);\r\n    const cu = Geometry.dotProductXYZXYZ(cx, cy, cz, au, av, aw);\r\n    const cv = Geometry.dotProductXYZXYZ(cx, cy, cz, bu, bv, bw);\r\n    return SmallSystem.linearSystem2d(uu, -uv, uv, -vv, cu, cv, result);\r\n  }\r\n  /**\r\n   * Solve the pair of linear equations\r\n   * * `ux * x + vx * y = cx`\r\n   * * `uy * x + vy * y = cy`\r\n   * @param ux xx coefficient\r\n   * @param vx xy coefficient\r\n   * @param uy yx coefficient\r\n   * @param vy yy coefficient\r\n   * @param cx x right hand side\r\n   * @param cy y right hand side\r\n   * @param result (x,y) solution (MUST be preallocated by caller)\r\n   */\r\n  public static linearSystem2d(\r\n    ux: number, vx: number, // first row of matrix\r\n    uy: number, vy: number, // second row of matrix\r\n    cx: number, cy: number, // right side\r\n    result: Vector2d,\r\n  ): boolean {\r\n    const uv = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n    const cv = Geometry.crossProductXYXY(cx, cy, vx, vy);\r\n    const cu = Geometry.crossProductXYXY(ux, uy, cx, cy);\r\n    const s = Geometry.conditionalDivideFraction(cv, uv);\r\n    const t = Geometry.conditionalDivideFraction(cu, uv);\r\n    if (s !== undefined && t !== undefined) {\r\n      result.set(s, t);\r\n      return true;\r\n    }\r\n    result.set(0, 0);\r\n    return false;\r\n  }\r\n  /**\r\n   * Solve a linear system:\r\n   * * x equation: `axx * u + axy * v + axz * w = cx`\r\n   * * y equation: `ayx * u + ayy * v + ayz * w = cy`\r\n   * * z equation: `azx * u + azy * v + azz * w = cz`\r\n   * @param axx row 0, column 0 coefficient\r\n   * @param axy row 0, column 1 coefficient\r\n   * @param axz row 0, column 1 coefficient\r\n   * @param ayx row 1, column 0 coefficient\r\n   * @param ayy row 1, column 1 coefficient\r\n   * @param ayz row 1, column 2 coefficient\r\n   * @param azx row 2, column 0 coefficient\r\n   * @param azy row 2, column 1 coefficient\r\n   * @param azz row 2, column 2 coefficient\r\n   * @param cx right hand side row 0 coefficient\r\n   * @param cy right hand side row 1 coefficient\r\n   * @param cz right hand side row 2 coefficient\r\n   * @param result optional result.\r\n   * @returns solution vector (u,v,w) or `undefined` if system is singular.\r\n   */\r\n  public static linearSystem3d(\r\n    axx: number, axy: number, axz: number, // first row of matrix\r\n    ayx: number, ayy: number, ayz: number, // second row of matrix\r\n    azx: number, azy: number, azz: number, // second row of matrix\r\n    cx: number, cy: number, cz: number,    // right side\r\n    result?: Vector3d,\r\n  ): Vector3d | undefined {\r\n    // determinants of various combinations of columns ...\r\n    const detXYZ = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, axz, ayz, azz);\r\n    const detCYZ = Geometry.tripleProduct(cx, cy, cz, axy, ayy, azy, axz, ayz, azz);\r\n    const detXCZ = Geometry.tripleProduct(axx, ayx, azx, cx, cy, cz, axz, ayz, azz);\r\n    const detXYC = Geometry.tripleProduct(axx, ayx, azx, axy, ayy, azy, cx, cy, cz);\r\n    const s = Geometry.conditionalDivideFraction(detCYZ, detXYZ);\r\n    const t = Geometry.conditionalDivideFraction(detXCZ, detXYZ);\r\n    const u = Geometry.conditionalDivideFraction(detXYC, detXYZ);\r\n    if (s !== undefined && t !== undefined && u !== undefined) {\r\n      return Vector3d.create(s, t, u, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Compute the intersection of three planes.\r\n   * @param xyzA point on the first plane\r\n   * @param normalA normal of the first plane\r\n   * @param xyzB point on the second plane\r\n   * @param normalB normal of the second plane\r\n   * @param xyzC point on the third plane\r\n   * @param normalC normal of the third plane\r\n   * @param result optional result\r\n   * @returns intersection point of the three planes (as a Vector3d), or undefined if at least two planes are parallel.\r\n   */\r\n  public static intersect3Planes(\r\n    xyzA: Point3d, normalA: Vector3d,\r\n    xyzB: Point3d, normalB: Vector3d,\r\n    xyzC: Point3d, normalC: Vector3d, result?: Vector3d): Vector3d | undefined {\r\n    return this.linearSystem3d(\r\n      normalA.x, normalA.y, normalA.z,\r\n      normalB.x, normalB.y, normalB.z,\r\n      normalC.x, normalC.y, normalC.z,\r\n      Geometry.dotProductXYZXYZ(xyzA.x, xyzA.y, xyzA.z, normalA.x, normalA.y, normalA.z),\r\n      Geometry.dotProductXYZXYZ(xyzB.x, xyzB.y, xyzB.z, normalB.x, normalB.y, normalB.z),\r\n      Geometry.dotProductXYZXYZ(xyzC.x, xyzC.y, xyzC.z, normalC.x, normalC.y, normalC.z), result);\r\n  }\r\n\r\n  /**\r\n   * In rowB, replace `rowB[j] += a * rowB[pivot] * rowA[j] / rowA[pivot]` for `j > pivot`\r\n   * @param rowA row that does not change\r\n   * @param pivotIndex index of pivot (divisor) in rowA.\r\n   * @param rowB row where elimination occurs.\r\n   */\r\n  public static eliminateFromPivot(rowA: Float64Array, pivotIndex: number, rowB: Float64Array, a: number): boolean {\r\n    const n = rowA.length;\r\n    let q = Geometry.conditionalDivideFraction(rowB[pivotIndex], rowA[pivotIndex]);\r\n    if (q === undefined) return false;\r\n    q *= a;\r\n    for (let j = pivotIndex + 1; j < n; j++)\r\n      rowB[j] += q * rowA[j];\r\n    return true;\r\n  }\r\n  /**\r\n   * Solve a pair of bilinear equations\r\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\r\n   * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`\r\n   */\r\n  public static solveBilinearPair(\r\n    a0: number, b0: number, c0: number, d0: number,\r\n    a1: number, b1: number, c1: number, d1: number,\r\n  ): Point2d[] | undefined {\r\n    return BilinearPolynomial.solveBilinearPair(a0, b0, c0, d0, a1, b1, c1, d1);\r\n  }\r\n}\r\n"]}

package/lib/esm/numerics/TriDiagonalSystem.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\n\n// Enumerated type lies outside of TriDiagonalSystem, as TSLint prevented declaration within class\nenum DataState {\n  RawMatrix,\n  FactorOK,\n  FactorFailed,\n}\n/**\n * Linear system operations on a matrix with data only on the diagonal and its immediate left and right neighbors\n * @internal\n */\nexport class TriDiagonalSystem {\n\n  // Lower diagonal, indexed by rows\n  private _aLeft: Float64Array;\n  // Upper diagonal, indexed by rows\n  private _aRight: Float64Array;\n  // Main diagonal, indexed by rows\n  private _aDiag: Float64Array;\n  // Right side vector\n  private _b: Float64Array;\n  // Solution vector\n  private _x: Float64Array;\n\n  private _dataState!: DataState;\n\n  constructor(n: number) {\n    this._aLeft = new Float64Array(n);\n    this._aDiag = new Float64Array(n);\n    this._aRight = new Float64Array(n);\n    this._b = new Float64Array(n);\n    this._x = new Float64Array(n);\n    this.reset();\n  }\n\n  /** Reset to RawMatrix state with all coefficients zero */\n  public reset() {\n    this._dataState = DataState.RawMatrix;\n    const n = this._aDiag.length;\n    for (let i = 0; i < n; i++) {\n      this._aLeft[i] = this._aRight[i] = this._aDiag[i] = this._b[i] = this._x[i] = 0.0;\n    }\n  }\n  /** Install data in a row of the matrix */\n  public setRow(row: number, left: number, diag: number, right: number) {\n    this._aLeft[row] = left;\n    this._aDiag[row] = diag;\n    this._aRight[row] = right;\n  }\n  /** Add to row of matrix */\n  public addToRow(row: number, left: number, diag: number, right: number) {\n    this._aLeft[row] += left;\n    this._aDiag[row] += diag;\n    this._aRight[row] += right;\n  }\n  /** Install data in the right side (B) vector */\n  public setB(row: number, bb: number) {\n    this._b[row] = bb;\n  }\n  /** Add to an entry in the right side (B) vector */\n  public addToB(row: number, bb: number) {\n    this._b[row] += bb;\n  }\n  /** Access data from the right side (B) vector */\n  public getB(row: number): number {\n    return this._b[row];\n  }\n  /** Install data in the solution (X) vector */\n  public setX(row: number, xx: number) {\n    this._x[row] = xx;\n  }\n  /** Access data from the solution (X) vector */\n  public getX(row: number): number {\n    return this._x[row];\n  }\n  /** Get method for matrix and vector order */\n  public order(): number {\n    return this._aDiag.length;\n  }\n  /** Compute product of AX and save as B */\n  public multiplyAX(): boolean {\n    if (this._dataState === DataState.FactorFailed) {\n      return false;\n    } else if (this._dataState === DataState.FactorOK) {\n      const n = this._aDiag.length;\n      const nm1 = n - 1;\n      for (let i = 0; i < nm1; i++) {\n        this._b[i] = this._aDiag[i] * this._x[i] + this._aRight[i] * this._x[i + 1];\n      }\n      this._b[nm1] = this._aDiag[nm1] * this._x[nm1];\n\n      for (let i = nm1; i > 0; i--) {\n        this._b[i] += this._aLeft[i] * this._b[i - 1];\n      }\n\n      return true;\n    } else {\n      const n = this._aDiag.length;\n      const nm1 = n - 1;\n      this._b[0] = this._aDiag[0] * this._x[0] + this._aRight[0] * this._x[1];\n      let i;\n      for (i = 1; i < nm1; i++) {\n        this._b[i] = this._aLeft[i] * this._x[i - 1] + this._aDiag[i] * this._x[i] + this._aRight[i] * this._x[i + 1];\n      }\n      this._b[nm1] = this._aLeft[nm1] * this._x[n - 2] + this._aDiag[i] * this._x[nm1];\n      return true;\n    }\n  }\n\n  /** Compute product of AX and save as B */\n  public multiplyAXPoints(pointX: Point3d[], pointB: Point3d[]): boolean {\n    pointB.length = 0;\n    while (pointB.length < pointX.length)\n      pointB.push(Point3d.create());\n    pointB.length = pointX.length;\n\n    if (this._dataState === DataState.FactorFailed) {\n      return false;\n    } else if (this._dataState === DataState.FactorOK) {\n\n      const n = this._aDiag.length;\n      const nm1 = n - 1;\n      for (let i = 0; i < nm1; i++) {\n        Point3d.createAdd2Scaled(pointX[i], this._aDiag[i], pointX[i + 1], this._aRight[i], pointB[i]);\n      }\n      Point3d.createScale(pointX[nm1], this._aDiag[nm1], pointB[nm1]);\n\n      for (let i = nm1; i > 0; i--) {\n        pointB[i].plusScaled(pointB[i - 1], this._aLeft[i], pointB[i]);\n      }\n\n      return true;\n    } else {\n      const n = this._aDiag.length;\n      const nm1 = n - 1;\n      Point3d.createAdd2Scaled(pointX[0], this._aDiag[0], pointX[1], this._aRight[0], pointB[0]);\n      let i;\n      for (i = 1; i < nm1; i++) {\n        Point3d.createAdd3Scaled(\n          pointX[i - 1], this._aLeft[i], pointX[i], this._aDiag[i],\n          pointX[i + 1], this._aRight[i],\n          pointB[i]);\n      }\n      Point3d.createAdd2Scaled(pointX[n - 2], this._aLeft[nm1], pointX[nm1], this._aDiag[nm1], pointB[nm1]);\n      return true;\n    }\n  }\n\n  /** Multiply the stored factors together to return to plain matrix form */\n  public defactor(): boolean {\n    if (this._dataState === DataState.RawMatrix) {\n      return true;\n    }\n    if (this._dataState === DataState.FactorFailed) {\n      return false;\n    }\n    const n = this._aDiag.length;\n    const nm1 = n - 1;\n\n    for (let i = nm1; i > 0; i--) {\n      this._aDiag[i] += this._aLeft[i] * this._aRight[i - 1];\n      this._aLeft[i] *= this._aDiag[i - 1];\n    }\n    this._dataState = DataState.RawMatrix;\n    return true;\n  }\n  /** Factor the tridiagonal matrix to LU parts. b, x, not altered */\n  public factor(): boolean {\n    if (this._dataState === DataState.FactorOK) {\n      return true;\n    }\n    if (this._dataState !== DataState.RawMatrix) {\n      return false;\n    }\n    this._dataState = DataState.FactorFailed;\n\n    const n1 = this._aDiag.length - 1;    // Last pivot index\n    // Eliminate in subdiagonal.\n    for (let i = 0; i < n1; i++) {\n      const r = Geometry.conditionalDivideFraction(this._aLeft[i + 1], this._aDiag[i]);\n      if (r === undefined)\n        return false;\n      this._aLeft[i + 1] = r;\n      this._aDiag[i + 1] -= r * this._aRight[i];\n    }\n    this._dataState = DataState.FactorOK;\n    return true;\n  }\n  /** Solve AX=B. A is left in factored state. B unchanged. */\n  public factorAndBackSubstitute(): boolean {\n    const n = this._aDiag.length;\n    const n1 = n - 1;\n    if (!this.factor())\n      return false;\n\n    // Apply L inverse to B, same sequence as was done to A:\n    for (let i = 0; i < n; i++) {\n      this._x[i] = this._b[i];\n    }\n    for (let i = 1; i < n; i++) {\n      this._x[i] -= this._aLeft[i] * this._x[i - 1];\n    }\n\n    // Print (\"LU  L Inverse B B\");\n    // overwrite X with solution of U * X = L inverse B, where RHS is already in X...\n    // All diagonals are known to be nonzero. Really.  Really???\n    this._x[n1] /= this._aDiag[n1];\n\n    for (let i = n1 - 1; i >= 0; i--) {\n      this._x[i] = (this._x[i] - this._aRight[i] * this._x[i + 1]) / this._aDiag[i];\n    }\n\n    return true;\n  }\n  /** Solve AX=B. A is left in factored state. B unchanged. vectorB and vectorX may be the same array */\n  public factorAndBackSubstitutePointArrays(vectorB: Point3d[], vectorX: Point3d[]): boolean {\n    const n = this._aDiag.length;\n    if (vectorB.length < n)\n      return false;\n\n    while (vectorX.length < n)\n      vectorX.push(Point3d.create(0, 0, 0));\n    vectorX.length = n;\n    const n1 = n - 1;\n    if (!this.factor())\n      return false;\n\n    // Apply L inverse to B, same sequence as was done to A:\n    if (vectorB !== vectorX) {\n      for (let i = 0; i < n; i++) {\n        vectorX[i].setFrom(vectorB[i]);\n      }\n    }\n\n    let a: number;\n    let b: number;\n    for (let i = 1; i < n; i++) {\n      a = this._aLeft[i];\n      vectorX[i].x -= a * vectorX[i - 1].x;\n      vectorX[i].y -= a * vectorX[i - 1].y;\n      vectorX[i].z -= a * vectorX[i - 1].z;\n    }\n\n    // Print (\"LU  L inverse B\");\n    // overwrite X with solution of U * X = L inverse B, where RHS is already in X...\n    // All diagonals are known to be nonzero. Really.  Really???\n    b = 1.0 / this._aDiag[n1];\n    vectorX[n1].x *= b;\n    vectorX[n1].y *= b;\n    vectorX[n1].z *= b;\n\n    for (let i = n1 - 1; i >= 0; i--) {\n      a = this._aRight[i];\n      b = 1.0 / this._aDiag[i];\n      vectorX[i].x = (vectorX[i].x - a * vectorX[i + 1].x) * b;\n      vectorX[i].y = (vectorX[i].y - a * vectorX[i + 1].y) * b;\n      vectorX[i].z = (vectorX[i].z - a * vectorX[i + 1].z) * b;\n    }\n\n    return true;\n  }\n  /** Allocate a complete copy */\n  public copy(): TriDiagonalSystem {\n    const n = this._aDiag.length;\n    const B = new TriDiagonalSystem(n);\n    for (let i = 0; i < n; i++) {\n      B._aLeft[i] = this._aLeft[i];\n      B._aDiag[i] = this._aDiag[i];\n      B._aRight[i] = this._aRight[i];\n      B._x[i] = this._x[i];\n      B._b[i] = this._b[i];\n    }\n    B._dataState = this._dataState;\n    return B;\n  }\n\n  /** return an array form that may be useful for display ... */\n  public flatten(): any {\n    const n = this._aDiag.length;\n    const data = [];\n\n    for (let i = 0; i < n; i++) {\n      data.push(\n        [i, [this._aLeft[i], this._aDiag[i], this._aRight[i]], this._x[i], this._b[i]]);\n    }\n    return data;\n  }\n\n  /** return an array form that may be useful for display ... */\n  public flattenWithPoints(xyzB: Point3d[]): any {\n    const n = this._aDiag.length;\n    const data = [];\n\n    for (let i = 0; i < n; i++) {\n      data.push(\n        [i, [this._aLeft[i], this._aDiag[i], this._aRight[i]], this._x[i], xyzB[i].toJSON()]);\n    }\n    return data;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\n\r\n// Enumerated type lies outside of TriDiagonalSystem, as TSLint prevented declaration within class\r\nenum DataState {\r\n  RawMatrix,\r\n  FactorOK,\r\n  FactorFailed,\r\n}\r\n/**\r\n * Linear system operations on a matrix with data only on the diagonal and its immediate left and right neighbors\r\n * @internal\r\n */\r\nexport class TriDiagonalSystem {\r\n\r\n  // Lower diagonal, indexed by rows\r\n  private _aLeft: Float64Array;\r\n  // Upper diagonal, indexed by rows\r\n  private _aRight: Float64Array;\r\n  // Main diagonal, indexed by rows\r\n  private _aDiag: Float64Array;\r\n  // Right side vector\r\n  private _b: Float64Array;\r\n  // Solution vector\r\n  private _x: Float64Array;\r\n\r\n  private _dataState!: DataState;\r\n\r\n  constructor(n: number) {\r\n    this._aLeft = new Float64Array(n);\r\n    this._aDiag = new Float64Array(n);\r\n    this._aRight = new Float64Array(n);\r\n    this._b = new Float64Array(n);\r\n    this._x = new Float64Array(n);\r\n    this.reset();\r\n  }\r\n\r\n  /** Reset to RawMatrix state with all coefficients zero */\r\n  public reset() {\r\n    this._dataState = DataState.RawMatrix;\r\n    const n = this._aDiag.length;\r\n    for (let i = 0; i < n; i++) {\r\n      this._aLeft[i] = this._aRight[i] = this._aDiag[i] = this._b[i] = this._x[i] = 0.0;\r\n    }\r\n  }\r\n  /** Install data in a row of the matrix */\r\n  public setRow(row: number, left: number, diag: number, right: number) {\r\n    this._aLeft[row] = left;\r\n    this._aDiag[row] = diag;\r\n    this._aRight[row] = right;\r\n  }\r\n  /** Add to row of matrix */\r\n  public addToRow(row: number, left: number, diag: number, right: number) {\r\n    this._aLeft[row] += left;\r\n    this._aDiag[row] += diag;\r\n    this._aRight[row] += right;\r\n  }\r\n  /** Install data in the right side (B) vector */\r\n  public setB(row: number, bb: number) {\r\n    this._b[row] = bb;\r\n  }\r\n  /** Add to an entry in the right side (B) vector */\r\n  public addToB(row: number, bb: number) {\r\n    this._b[row] += bb;\r\n  }\r\n  /** Access data from the right side (B) vector */\r\n  public getB(row: number): number {\r\n    return this._b[row];\r\n  }\r\n  /** Install data in the solution (X) vector */\r\n  public setX(row: number, xx: number) {\r\n    this._x[row] = xx;\r\n  }\r\n  /** Access data from the solution (X) vector */\r\n  public getX(row: number): number {\r\n    return this._x[row];\r\n  }\r\n  /** Get method for matrix and vector order */\r\n  public order(): number {\r\n    return this._aDiag.length;\r\n  }\r\n  /** Compute product of AX and save as B */\r\n  public multiplyAX(): boolean {\r\n    if (this._dataState === DataState.FactorFailed) {\r\n      return false;\r\n    } else if (this._dataState === DataState.FactorOK) {\r\n      const n = this._aDiag.length;\r\n      const nm1 = n - 1;\r\n      for (let i = 0; i < nm1; i++) {\r\n        this._b[i] = this._aDiag[i] * this._x[i] + this._aRight[i] * this._x[i + 1];\r\n      }\r\n      this._b[nm1] = this._aDiag[nm1] * this._x[nm1];\r\n\r\n      for (let i = nm1; i > 0; i--) {\r\n        this._b[i] += this._aLeft[i] * this._b[i - 1];\r\n      }\r\n\r\n      return true;\r\n    } else {\r\n      const n = this._aDiag.length;\r\n      const nm1 = n - 1;\r\n      this._b[0] = this._aDiag[0] * this._x[0] + this._aRight[0] * this._x[1];\r\n      let i;\r\n      for (i = 1; i < nm1; i++) {\r\n        this._b[i] = this._aLeft[i] * this._x[i - 1] + this._aDiag[i] * this._x[i] + this._aRight[i] * this._x[i + 1];\r\n      }\r\n      this._b[nm1] = this._aLeft[nm1] * this._x[n - 2] + this._aDiag[i] * this._x[nm1];\r\n      return true;\r\n    }\r\n  }\r\n\r\n  /** Compute product of AX and save as B */\r\n  public multiplyAXPoints(pointX: Point3d[], pointB: Point3d[]): boolean {\r\n    pointB.length = 0;\r\n    while (pointB.length < pointX.length)\r\n      pointB.push(Point3d.create());\r\n    pointB.length = pointX.length;\r\n\r\n    if (this._dataState === DataState.FactorFailed) {\r\n      return false;\r\n    } else if (this._dataState === DataState.FactorOK) {\r\n\r\n      const n = this._aDiag.length;\r\n      const nm1 = n - 1;\r\n      for (let i = 0; i < nm1; i++) {\r\n        Point3d.createAdd2Scaled(pointX[i], this._aDiag[i], pointX[i + 1], this._aRight[i], pointB[i]);\r\n      }\r\n      Point3d.createScale(pointX[nm1], this._aDiag[nm1], pointB[nm1]);\r\n\r\n      for (let i = nm1; i > 0; i--) {\r\n        pointB[i].plusScaled(pointB[i - 1], this._aLeft[i], pointB[i]);\r\n      }\r\n\r\n      return true;\r\n    } else {\r\n      const n = this._aDiag.length;\r\n      const nm1 = n - 1;\r\n      Point3d.createAdd2Scaled(pointX[0], this._aDiag[0], pointX[1], this._aRight[0], pointB[0]);\r\n      let i;\r\n      for (i = 1; i < nm1; i++) {\r\n        Point3d.createAdd3Scaled(\r\n          pointX[i - 1], this._aLeft[i], pointX[i], this._aDiag[i],\r\n          pointX[i + 1], this._aRight[i],\r\n          pointB[i]);\r\n      }\r\n      Point3d.createAdd2Scaled(pointX[n - 2], this._aLeft[nm1], pointX[nm1], this._aDiag[nm1], pointB[nm1]);\r\n      return true;\r\n    }\r\n  }\r\n\r\n  /** Multiply the stored factors together to return to plain matrix form */\r\n  public defactor(): boolean {\r\n    if (this._dataState === DataState.RawMatrix) {\r\n      return true;\r\n    }\r\n    if (this._dataState === DataState.FactorFailed) {\r\n      return false;\r\n    }\r\n    const n = this._aDiag.length;\r\n    const nm1 = n - 1;\r\n\r\n    for (let i = nm1; i > 0; i--) {\r\n      this._aDiag[i] += this._aLeft[i] * this._aRight[i - 1];\r\n      this._aLeft[i] *= this._aDiag[i - 1];\r\n    }\r\n    this._dataState = DataState.RawMatrix;\r\n    return true;\r\n  }\r\n  /** Factor the tridiagonal matrix to LU parts. b, x, not altered */\r\n  public factor(): boolean {\r\n    if (this._dataState === DataState.FactorOK) {\r\n      return true;\r\n    }\r\n    if (this._dataState !== DataState.RawMatrix) {\r\n      return false;\r\n    }\r\n    this._dataState = DataState.FactorFailed;\r\n\r\n    const n1 = this._aDiag.length - 1;    // Last pivot index\r\n    // Eliminate in subdiagonal.\r\n    for (let i = 0; i < n1; i++) {\r\n      const r = Geometry.conditionalDivideFraction(this._aLeft[i + 1], this._aDiag[i]);\r\n      if (r === undefined)\r\n        return false;\r\n      this._aLeft[i + 1] = r;\r\n      this._aDiag[i + 1] -= r * this._aRight[i];\r\n    }\r\n    this._dataState = DataState.FactorOK;\r\n    return true;\r\n  }\r\n  /** Solve AX=B. A is left in factored state. B unchanged. */\r\n  public factorAndBackSubstitute(): boolean {\r\n    const n = this._aDiag.length;\r\n    const n1 = n - 1;\r\n    if (!this.factor())\r\n      return false;\r\n\r\n    // Apply L inverse to B, same sequence as was done to A:\r\n    for (let i = 0; i < n; i++) {\r\n      this._x[i] = this._b[i];\r\n    }\r\n    for (let i = 1; i < n; i++) {\r\n      this._x[i] -= this._aLeft[i] * this._x[i - 1];\r\n    }\r\n\r\n    // Print (\"LU  L Inverse B B\");\r\n    // overwrite X with solution of U * X = L inverse B, where RHS is already in X...\r\n    // All diagonals are known to be nonzero. Really.  Really???\r\n    this._x[n1] /= this._aDiag[n1];\r\n\r\n    for (let i = n1 - 1; i >= 0; i--) {\r\n      this._x[i] = (this._x[i] - this._aRight[i] * this._x[i + 1]) / this._aDiag[i];\r\n    }\r\n\r\n    return true;\r\n  }\r\n  /** Solve AX=B. A is left in factored state. B unchanged. vectorB and vectorX may be the same array */\r\n  public factorAndBackSubstitutePointArrays(vectorB: Point3d[], vectorX: Point3d[]): boolean {\r\n    const n = this._aDiag.length;\r\n    if (vectorB.length < n)\r\n      return false;\r\n\r\n    while (vectorX.length < n)\r\n      vectorX.push(Point3d.create(0, 0, 0));\r\n    vectorX.length = n;\r\n    const n1 = n - 1;\r\n    if (!this.factor())\r\n      return false;\r\n\r\n    // Apply L inverse to B, same sequence as was done to A:\r\n    if (vectorB !== vectorX) {\r\n      for (let i = 0; i < n; i++) {\r\n        vectorX[i].setFrom(vectorB[i]);\r\n      }\r\n    }\r\n\r\n    let a: number;\r\n    let b: number;\r\n    for (let i = 1; i < n; i++) {\r\n      a = this._aLeft[i];\r\n      vectorX[i].x -= a * vectorX[i - 1].x;\r\n      vectorX[i].y -= a * vectorX[i - 1].y;\r\n      vectorX[i].z -= a * vectorX[i - 1].z;\r\n    }\r\n\r\n    // Print (\"LU  L inverse B\");\r\n    // overwrite X with solution of U * X = L inverse B, where RHS is already in X...\r\n    // All diagonals are known to be nonzero. Really.  Really???\r\n    b = 1.0 / this._aDiag[n1];\r\n    vectorX[n1].x *= b;\r\n    vectorX[n1].y *= b;\r\n    vectorX[n1].z *= b;\r\n\r\n    for (let i = n1 - 1; i >= 0; i--) {\r\n      a = this._aRight[i];\r\n      b = 1.0 / this._aDiag[i];\r\n      vectorX[i].x = (vectorX[i].x - a * vectorX[i + 1].x) * b;\r\n      vectorX[i].y = (vectorX[i].y - a * vectorX[i + 1].y) * b;\r\n      vectorX[i].z = (vectorX[i].z - a * vectorX[i + 1].z) * b;\r\n    }\r\n\r\n    return true;\r\n  }\r\n  /** Allocate a complete copy */\r\n  public copy(): TriDiagonalSystem {\r\n    const n = this._aDiag.length;\r\n    const B = new TriDiagonalSystem(n);\r\n    for (let i = 0; i < n; i++) {\r\n      B._aLeft[i] = this._aLeft[i];\r\n      B._aDiag[i] = this._aDiag[i];\r\n      B._aRight[i] = this._aRight[i];\r\n      B._x[i] = this._x[i];\r\n      B._b[i] = this._b[i];\r\n    }\r\n    B._dataState = this._dataState;\r\n    return B;\r\n  }\r\n\r\n  /** return an array form that may be useful for display ... */\r\n  public flatten(): any {\r\n    const n = this._aDiag.length;\r\n    const data = [];\r\n\r\n    for (let i = 0; i < n; i++) {\r\n      data.push(\r\n        [i, [this._aLeft[i], this._aDiag[i], this._aRight[i]], this._x[i], this._b[i]]);\r\n    }\r\n    return data;\r\n  }\r\n\r\n  /** return an array form that may be useful for display ... */\r\n  public flattenWithPoints(xyzB: Point3d[]): any {\r\n    const n = this._aDiag.length;\r\n    const data = [];\r\n\r\n    for (let i = 0; i < n; i++) {\r\n      data.push(\r\n        [i, [this._aLeft[i], this._aDiag[i], this._aRight[i]], this._x[i], xyzB[i].toJSON()]);\r\n    }\r\n    return data;\r\n  }\r\n}\r\n"]}

package/lib/esm/numerics/UnionFind.js.map

@@ -1 +1 @@
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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 * Implement the classic UnionFind algorithm, viz https://en.wikipedia.org/wiki/Disjoint-set_data_structure\n * * Each of the entities being merged exists as an entry in an array.\n * * The index in the array is the (only!) identification of the entity.\n * * The array entry is the index of a parent in the merge process.\n * * New entries are created as singletons pointing to themselves.\n * * Merge (i,j) merges the collections containing entries (i) and (j) into a single collection.\n * * The merge process updates the indices \"above\" (i) and (j)\n * * The whole process is extraordinarily efficient regardless of the order that the (i,j) merges are announced.\n * @internal\n */\nexport class UnionFindContext {\n  private _parentArray: number[];\n  /** Create a set initialized with numLeaf singleton subsets */\n  public constructor(numLeaf: number = 0) {\n    this._parentArray = [];\n    for (let i = 0; i < numLeaf; i++)\n      this._parentArray.push(i);\n  }\n  /** Return the number of leaves. */\n  public get length(): number { return this._parentArray.length; }\n  /** test if index is within the valid index range. */\n  public isValidIndex(index: number): boolean {\n    return 0 <= index && index < this._parentArray.length;\n  }\n  /** Return the index of a new singleton set */\n  public addLeaf(): number {\n    const index = this._parentArray.length;\n    this._parentArray.push(index);\n    return index;\n  }\n  /**\n   * * follow links to parent\n   * * after finding the parent, repeat the search and reset parents along the way.\n   * * If index is invalid, return index unchanged.\n   * @param index start of search\n   */\n  public findRoot(index: number): number {\n    if (!this.isValidIndex(index))\n      return index;\n    let currentIndex = index;\n    let nextIndex = this._parentArray[index];\n    while (nextIndex !== currentIndex) {\n      currentIndex = nextIndex;\n      nextIndex = this._parentArray[currentIndex];\n    }\n    const rootIndex = currentIndex;\n    // sweep up again and shorten the paths.\n    currentIndex = index;\n    while (currentIndex !== rootIndex) {\n      nextIndex = this._parentArray[currentIndex];\n      this._parentArray[currentIndex] = rootIndex;\n      currentIndex = nextIndex;\n    }\n    return rootIndex;\n  }\n\n  /** Merge the subsets containing index (i) and (j)\n   * * Look up the root of each.\n   * * Fix up the path to the root so it points to the root.\n   * * Return the root index of the merged set.\n   * * If either index is invalid return index i with no changes.\n   */\n  public mergeSubsets(i: number, j: number): number {\n    if (!this.isValidIndex(i) || !this.isValidIndex(j))\n      return i;\n    const rootIndexI = this.findRoot(i);\n    const rootIndexJ = this.findRoot(j);\n    if (rootIndexI !== rootIndexJ)\n      this._parentArray[rootIndexI] = rootIndexJ;\n    // cleanup a little more ...\n    return this.findRoot(i);\n  }\n  /** Return the immediate parent of index (i), with no fixups\n   * * If index is invalid, return it.\n   */\n  public askParent(index: number): number {\n    if (!this.isValidIndex(index))\n      return index;\n    return this._parentArray[index];\n  }\n  /** Return the number of entries which are their own parent. */\n  public countRoots(): number {\n    let numRoot = 0;\n    const numLeaf = this._parentArray.length;\n    for (let i = 0; i < numLeaf; i++)\n      if (this._parentArray[i] === i)\n        numRoot++;\n    return numRoot;\n  }\n  /** Return the number of entries whose parent is not a root. */\n  public countNonTrivialPaths(): number {\n    let numLong = 0;\n    const numLeaf = this._parentArray.length;\n    for (let i = 0; i < numLeaf; i++) {\n      const j = this._parentArray[i];\n      if (j !== i && this._parentArray[j] !== j)\n        numLong++;\n    }\n    return numLong;\n  }\n  /** Return an array of all root indices.\n   * * This array is sorted.\n   */\n  public collectRootIndices(): number[] {\n    const roots = [];\n    const numLeaf = this._parentArray.length;\n    for (let i = 0; i < numLeaf; i++) {\n      if (this._parentArray[i] === i)\n        roots.push(i);\n    }\n    return roots;\n  }\n}\n"]}
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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 * Implement the classic UnionFind algorithm, viz https://en.wikipedia.org/wiki/Disjoint-set_data_structure\r\n * * Each of the entities being merged exists as an entry in an array.\r\n * * The index in the array is the (only!) identification of the entity.\r\n * * The array entry is the index of a parent in the merge process.\r\n * * New entries are created as singletons pointing to themselves.\r\n * * Merge (i,j) merges the collections containing entries (i) and (j) into a single collection.\r\n * * The merge process updates the indices \"above\" (i) and (j)\r\n * * The whole process is extraordinarily efficient regardless of the order that the (i,j) merges are announced.\r\n * @internal\r\n */\r\nexport class UnionFindContext {\r\n  private _parentArray: number[];\r\n  /** Create a set initialized with numLeaf singleton subsets */\r\n  public constructor(numLeaf: number = 0) {\r\n    this._parentArray = [];\r\n    for (let i = 0; i < numLeaf; i++)\r\n      this._parentArray.push(i);\r\n  }\r\n  /** Return the number of leaves. */\r\n  public get length(): number { return this._parentArray.length; }\r\n  /** test if index is within the valid index range. */\r\n  public isValidIndex(index: number): boolean {\r\n    return 0 <= index && index < this._parentArray.length;\r\n  }\r\n  /** Return the index of a new singleton set */\r\n  public addLeaf(): number {\r\n    const index = this._parentArray.length;\r\n    this._parentArray.push(index);\r\n    return index;\r\n  }\r\n  /**\r\n   * * follow links to parent\r\n   * * after finding the parent, repeat the search and reset parents along the way.\r\n   * * If index is invalid, return index unchanged.\r\n   * @param index start of search\r\n   */\r\n  public findRoot(index: number): number {\r\n    if (!this.isValidIndex(index))\r\n      return index;\r\n    let currentIndex = index;\r\n    let nextIndex = this._parentArray[index];\r\n    while (nextIndex !== currentIndex) {\r\n      currentIndex = nextIndex;\r\n      nextIndex = this._parentArray[currentIndex];\r\n    }\r\n    const rootIndex = currentIndex;\r\n    // sweep up again and shorten the paths.\r\n    currentIndex = index;\r\n    while (currentIndex !== rootIndex) {\r\n      nextIndex = this._parentArray[currentIndex];\r\n      this._parentArray[currentIndex] = rootIndex;\r\n      currentIndex = nextIndex;\r\n    }\r\n    return rootIndex;\r\n  }\r\n\r\n  /** Merge the subsets containing index (i) and (j)\r\n   * * Look up the root of each.\r\n   * * Fix up the path to the root so it points to the root.\r\n   * * Return the root index of the merged set.\r\n   * * If either index is invalid return index i with no changes.\r\n   */\r\n  public mergeSubsets(i: number, j: number): number {\r\n    if (!this.isValidIndex(i) || !this.isValidIndex(j))\r\n      return i;\r\n    const rootIndexI = this.findRoot(i);\r\n    const rootIndexJ = this.findRoot(j);\r\n    if (rootIndexI !== rootIndexJ)\r\n      this._parentArray[rootIndexI] = rootIndexJ;\r\n    // cleanup a little more ...\r\n    return this.findRoot(i);\r\n  }\r\n  /** Return the immediate parent of index (i), with no fixups\r\n   * * If index is invalid, return it.\r\n   */\r\n  public askParent(index: number): number {\r\n    if (!this.isValidIndex(index))\r\n      return index;\r\n    return this._parentArray[index];\r\n  }\r\n  /** Return the number of entries which are their own parent. */\r\n  public countRoots(): number {\r\n    let numRoot = 0;\r\n    const numLeaf = this._parentArray.length;\r\n    for (let i = 0; i < numLeaf; i++)\r\n      if (this._parentArray[i] === i)\r\n        numRoot++;\r\n    return numRoot;\r\n  }\r\n  /** Return the number of entries whose parent is not a root. */\r\n  public countNonTrivialPaths(): number {\r\n    let numLong = 0;\r\n    const numLeaf = this._parentArray.length;\r\n    for (let i = 0; i < numLeaf; i++) {\r\n      const j = this._parentArray[i];\r\n      if (j !== i && this._parentArray[j] !== j)\r\n        numLong++;\r\n    }\r\n    return numLong;\r\n  }\r\n  /** Return an array of all root indices.\r\n   * * This array is sorted.\r\n   */\r\n  public collectRootIndices(): number[] {\r\n    const roots = [];\r\n    const numLeaf = this._parentArray.length;\r\n    for (let i = 0; i < numLeaf; i++) {\r\n      if (this._parentArray[i] === i)\r\n        roots.push(i);\r\n    }\r\n    return roots;\r\n  }\r\n}\r\n"]}