@itwin/core-geometry 5.1.0-dev.3 → 5.1.0-dev.4

package/lib/esm/geometry4d/MomentData.js

@@ -25,8 +25,8 @@ import { Point4d } from "./Point4d";
  *         * e.g. entry 03 is summed x.
  *    * In this level:
  *        * the `absoluteQuantity` member is undefined.
- *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.
- *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and
+ *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.
+ *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and
  *    `radiiOfGyration` are filled in.
  * @public
  */
@@ -46,18 +46,35 @@ export class MomentData {
      * * This set up with its inverse already constructed.
      */
     localToWorldMap;
+    /** Radii of gyration (square roots of principal second moments). */
+    radiusOfGyration;
+    /**
+     * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by
+     * inertiaProductsToPrincipalAxes.
+     */
+    absoluteQuantity;
     // private variables
     static _vectorA;
     static _vectorB;
     static _vectorC;
     _point0 = Point3d.create();
     _point1 = Point3d.create();
+    /** Constructor. */
+    constructor() {
+        this.origin = Point3d.createZero();
+        this.needOrigin = false;
+        this.sums = Matrix4d.createZero();
+        this.localToWorldMap = Transform.createIdentity();
+        this.radiusOfGyration = Vector3d.create();
+        this.absoluteQuantity = 0.1; // so optimizer sees its type
+        this.absoluteQuantity = undefined;
+    }
     /**
      * Return the lower-right (3,3) entry in the sums.
      * * This is the quantity (i.e. length, area, or volume) summed.
      */
     get quantitySum() {
-        return this.sums.atIJ(3, 3);
+        return this.sums.weight();
     }
     /**
      * Return a scale factor to make these sums match the target orientation sign.
@@ -88,23 +105,6 @@ export class MomentData {
             this.needOrigin = false;
         }
     }
-    /** Radii of gyration (square roots of principal second moments). */
-    radiusOfGyration;
-    /**
-     * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by
-     * inertiaProductsToPrincipalAxes.
-     */
-    absoluteQuantity;
-    /** Constructor. */
-    constructor() {
-        this.origin = Point3d.createZero();
-        this.sums = Matrix4d.createZero();
-        this.localToWorldMap = Transform.createIdentity();
-        this.radiusOfGyration = Vector3d.create();
-        this.needOrigin = false;
-        this.absoluteQuantity = 0.1; // so optimizer sees its type
-        this.absoluteQuantity = undefined;
-    }
     /**
      * Create moments with optional origin.
      * * Origin and needOrigin are quirky.
@@ -148,7 +148,7 @@ export class MomentData {
         axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);
         if (axes.determinant() < 0)
             axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);
-        // prefer x and z positive -- y falls wherever . ..
+        // prefer x and z positive; y falls wherever
         if (axes.at(0, 0) < 0.0)
             axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);
         if (axes.at(2, 2) < 0.0)
@@ -173,7 +173,8 @@ export class MomentData {
      * * Hence x axis is long direction.
      * * Hence planar data generates large moment as Z.
      * @param origin The origin used for the inertia products.
-     * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
+     * @param inertiaProducts The inertia products: sums or integrals of
+     * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].
      */
     static inertiaProductsToPrincipalAxes(origin, inertiaProducts) {
         const moments = new MomentData();
@@ -217,23 +218,21 @@ export class MomentData {
      */
     static areEquivalentPrincipalAxes(dataA, dataB) {
         if (dataA && dataB
-            && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // um.. need different tolerance for area, volume?)
+            && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?
             if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())
                 && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {
                 if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {
-                    // We have at least xy symmetry ....
+                    // we have at least xy symmetry
                     if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))
                         return true;
-                    // just xy.
-                    // allow opposite z directions.
-                    // If the z's are aligned, x an dy can spin freely.
+                    // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely
                     const zA = dataA.localToWorldMap.matrix.columnZ();
                     const zB = dataB.localToWorldMap.matrix.columnZ();
                     if (zA.isParallelTo(zB, true))
                         return true;
                     return false;
                 }
-                // no symmetry.  Test all three axes.
+                // no symmetry; test all three axes
                 const vectorA = Vector3d.create();
                 const vectorB = Vector3d.create();
                 for (let i = 0; i < 3; i++) {
@@ -263,7 +262,7 @@ export class MomentData {
     }
     /** Revise the accumulated sums to be "around the centroid". */
     shiftOriginAndSumsToCentroidOfSums() {
-        const xyz = this.sums.columnW().realPoint();
+        const xyz = this.sums.columnW().realPoint(); // centroid of the geometry
         if (xyz) {
             this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);
             return true;
@@ -272,9 +271,9 @@ export class MomentData {
     }
     /**
      * Revise the accumulated sums.
-     * * add ax,ay,ax to the origin coordinates.
-     * * apply the negative translation to the sums.
-    */
+     * * Add (ax,ay,az) to the origin coordinates.
+     * * Apply the negative translation to the sums.
+     */
     shiftOriginAndSumsByXYZ(ax, ay, az) {
         this.origin.addXYZInPlace(ax, ay, az);
         this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);
@@ -284,23 +283,24 @@ export class MomentData {
         this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);
     }
     /**
-     * Compute moments of a triangle from the origin to the given line.
-     * Accumulate them to this.sums.
-     * * If `pointA` is undefined, use `this.origin` as pointA.
-     * * If `this.needOrigin` is set, pointB is used
-    */
+     * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.
+     * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.
+     * * If `pointA` is undefined, use `this.origin` as `pointA`.
+     */
     accumulateTriangleMomentsXY(pointA, pointB, pointC) {
         this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);
         const x0 = this.origin.x;
         const y0 = this.origin.y;
-        const vectorA = MomentData._vectorA =
-            pointA !== undefined ? Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA)
-                : Point4d.create(this.origin.x, this.origin.y, 0.0, 1.0, MomentData._vectorA);
+        const vectorA = MomentData._vectorA = (pointA !== undefined) ?
+            Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :
+            Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);
         const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);
         const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);
-        // accumulate Return product integrals I(0<=u<=1) I (0<=v<= u)  (w*W + u *U + v * V)(w*W + u *U + v * V)^  du dv
-        //  where w = 1-u-v
-        //  W = column vector (point00.x, point00.y, point00.z, 1.0) etc.
+        // Below we calculate 16 double integrals: \iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).
+        // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric
+        // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.
+        // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,
+        // \iint_T x^2 dT = detJ \int_0^1 \int_0^{1-u} u^2 dv du = detJ / 12, and similarly \iint_T xy dT = detJ / 24.
         const detJ = Geometry.crossProductXYXY(vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y);
         if (detJ !== 0.0) {
             const r1_12 = detJ / 12.0;
@@ -316,7 +316,7 @@ export class MomentData {
             this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);
         }
     }
-    /** Add scaled outer product of (4d, unit weight) point to this.sums. */
+    /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */
     accumulateScaledOuterProduct(point, scaleFactor) {
         this.setOriginXYZIfNeeded(point.x, point.y, 0.0);
         const vectorA = MomentData._vectorA = Point4d.create(point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA);
@@ -339,16 +339,15 @@ export class MomentData {
         this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);
     }
     /**
-     * Compute moments of triangles from a base point to the given linestring.
-     * Accumulate them to this.sums.
-     * * If `pointA` is undefined, use `this.origin` as pointA.
-     * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.
-     *
+     * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.
+     * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.
+     * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.
      */
     accumulateTriangleToLineStringMomentsXY(sweepBase, points) {
         const n = points.length;
         if (n > 1) {
             points.getPoint3dAtUncheckedPointIndex(0, this._point0);
+            // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.
             for (let i = 1; i < n; i++) {
                 points.getPoint3dAtUncheckedPointIndex(i, this._point1);
                 this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);
@@ -357,17 +356,17 @@ export class MomentData {
         }
     }
     /**
-     * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].
-     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy
-     *   parts of vectors).
-     * * scale by detJ for the xy-only determinant of the vectors.
+     * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].
+     * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].
+     *   (column weights 0001; only xy parts of vectors).
+     * * Scale by detJ for the xy-only determinant of the vectors.
      * @param productXX
      * @param productXY
      * @param productYY
-     * @param area Area in caller's system.
-     * @param origin Caller's origin.
-     * @param vectorU Caller's U axis (not necessarily unit).
-     * @param vectorV Caller's V axis (not necessarily unit).
+     * @param area area in caller's system.
+     * @param origin caller's origin.
+     * @param vectorU caller's U axis (not necessarily unit).
+     * @param vectorV caller's V axis (not necessarily unit).
      */
     accumulateXYProductsInCentroidalFrame(productXX, productXY, productYY, area, origin, vectorU, vectorV) {
         const centroidalProducts = Matrix4d.createRowValues(productXX, productXY, 0, 0, productXY, productYY, 0, 0, 0, 0, 0, 0, 0, 0, 0, area);

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

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\n/* eslint-disable @typescript-eslint/naming-convention */\n// cspell:word ABAT\n\nimport { Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Matrix4d } from \"./Matrix4d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A MomentData structure exists in several levels:\n * * First level: as a carrier of sums of inertial products that determine moments.\n *   * origin = local origin used as moments are summed.\n *   * sums = array of summed moments.\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\n *       * axes 0,1,2 are x,y,z.\n *         * e.g. entry [0,1] is summed product xy\n *       * axis 3 is \"w\", which is 1 in sums.\n *         * e.g. entry 03 is summed x.\n *    * In this level:\n *        * the `absoluteQuantity` member is undefined.\n *        * the `localToWorldMap` and `radiiOfGyration` are created by have undefined contents.\n *  * Second level: after a call to inertiaProductsToPrincipalAxes, the `localToWorldMap`, `absoluteQuantity` and\n *    `radiiOfGyration` are filled in.\n * @public\n */\nexport class MomentData {\n  /** Origin used for sums. */\n  public origin: Point3d;\n  /** Flag to request deferred origin setup. */\n  public needOrigin: boolean;\n  /**\n   * Moment sums.\n   * * Set to zero at initialization and if requested later.\n   * * Accumulated during data entry phase.\n   */\n  public sums: Matrix4d;\n  /**\n   * The mapping between principal and world system.\n   * * This set up with its inverse already constructed.\n   */\n  public localToWorldMap: Transform;\n  // private variables\n  private static _vectorA?: Point4d;\n  private static _vectorB?: Point4d;\n  private static _vectorC?: Point4d;\n  private _point0 = Point3d.create();\n  private _point1 = Point3d.create();\n  /**\n   * Return the lower-right (3,3) entry in the sums.\n   * * This is the quantity (i.e. length, area, or volume) summed.\n   */\n  public get quantitySum(): number {\n    return this.sums.atIJ(3, 3);\n  }\n  /**\n   * Return a scale factor to make these sums match the target orientation sign.\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\n   */\n  public signFactor(targetSign: number): number {\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginIfNeeded(origin: Point3d) {\n    if (this.needOrigin) {\n      this.origin.setFromPoint3d(origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\n    if (this.needOrigin && points.length > 0) {\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\n    if (this.needOrigin) {\n      this.origin.set(x, y, z);\n      this.needOrigin = false;\n    }\n  }\n  /** Radii of gyration (square roots of principal second moments). */\n  public radiusOfGyration: Vector3d;\n  /**\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\n   * inertiaProductsToPrincipalAxes.\n   */\n  public absoluteQuantity?: number;\n  /** Constructor. */\n  private constructor() {\n    this.origin = Point3d.createZero();\n    this.sums = Matrix4d.createZero();\n    this.localToWorldMap = Transform.createIdentity();\n    this.radiusOfGyration = Vector3d.create();\n    this.needOrigin = false;\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\n    this.absoluteQuantity = undefined;\n  }\n  /**\n   * Create moments with optional origin.\n   * * Origin and needOrigin are quirky.\n   *   * (undefined, true) sets up to use first incoming point as origin.\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\n   *   * (origin, true) the \"true\" is meaningless.\n   *   * (undefined, false) makes 000 the durable origin.\n  */\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\n    const data = new MomentData();\n    data.needOrigin = needOrigin;\n    if (origin) {\n      data.origin.setFromPoint3d(origin);\n      data.needOrigin = false;\n    }\n    return data;\n  }\n  /**\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\n   */\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\n    const rr = products.sumDiagonal();\n    const result = Matrix3d.createScale(rr, rr, rr);\n    result.addScaledInPlace(products, -1.0);\n    return result;\n  }\n  /** Sort the columns of the matrix for increasing moments. */\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\n    const points = [\n      axes.indexedColumnWithWeight(0, moments.x),\n      axes.indexedColumnWithWeight(1, moments.y),\n      axes.indexedColumnWithWeight(2, moments.z),\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\n      if (dataA.w < dataB.w) return -1;\n      if (dataA.w > dataB.w) return 1;\n      return 0;\n    });\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\n    if (axes.determinant() < 0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\n    // prefer x and z positive -- y falls wherever . ..\n    if (axes.at(0, 0) < 0.0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\n    if (axes.at(2, 2) < 0.0)\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\n    moments.set(points[0].w, points[1].w, points[2].w);\n  }\n  /**\n   * Return the principal moment data for an array of points.\n   * @param points array of points.\n   */\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\n    const moments = new MomentData();\n    if (points.length === 0)\n      return moments;\n    moments.clearSums(points[0]);\n    moments.accumulatePointMomentsFromOrigin(points);\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\n  }\n  /**\n   * Compute principal axes from inertial products.\n   * * The radii of gyration are sorted smallest to largest.\n   * * Hence x axis is long direction.\n   * * Hence planar data generates large moment as Z.\n   * @param origin The origin used for the inertia products.\n   * @param inertiaProducts The inertia products: sums or integrals of [xx,xy,xz,xw; yx,yy, yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\n   */\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\n    const moments = new MomentData();\n    moments.sums.setFrom(inertiaProducts);\n    moments.origin.setFrom(origin);\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\n      return undefined;\n    const products = moments.sums.matrixPart();\n    const w = moments.sums.weight();\n    if (w < 0.0)\n      products.scaleColumnsInPlace(-1, -1, -1);\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\n    const moment2 = Vector3d.create();\n    const axisVectors = Matrix3d.createZero();\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\n    if (moment2.x < 0.0)\n      return undefined;\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\n    if (w < 0.0)\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\n    moments.radiusOfGyration.set(\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)));\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\n    moments.absoluteQuantity = Math.abs(w);\n    return moments;\n  }\n  /**\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\n   * * The members considered are:\n   *   * origin of local to world map (i.e. centroid),\n   *   * radius of gyration,\n   *   * axes of localToWorldMap.\n   * * Axis direction tests allow these quirks:\n   *   * opposite orientation is considered matched.\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\n   *   is tested.\n   * * If either or both are undefined, returns false.\n   * @param dataA first set of moments.\n   * @param dataB second set of moments.\n   */\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\n    if (dataA && dataB\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) {  // um.. need different tolerance for area, volume?)\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\n          // We have at least xy symmetry ....\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\n            return true;\n          // just xy.\n          // allow opposite z directions.\n          // If the z's are aligned, x an dy can spin freely.\n          const zA = dataA.localToWorldMap.matrix.columnZ();\n          const zB = dataB.localToWorldMap.matrix.columnZ();\n          if (zA.isParallelTo(zB, true))\n            return true;\n          return false;\n        }\n        // no symmetry.  Test all three axes.\n        const vectorA = Vector3d.create();\n        const vectorB = Vector3d.create();\n        for (let i = 0; i < 3; i++) {\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\n          if (!vectorA.isParallelTo(vectorB, true))\n            return false;\n        }\n        return true;\n      }\n    }\n    return false;\n  }\n  /** Clear the MomentData sums to zero, and establish a new origin. */\n  public clearSums(origin?: Point3d) {\n    this.sums.setZero();\n    if (origin)\n      this.origin.setFrom(origin);\n    else\n      this.origin.setZero();\n  }\n  /** Accumulate products-of-components for given points. */\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\n    for (const p of points) {\n      this.sums.addMomentsInPlace(\n        p.x - this.origin.x,\n        p.y - this.origin.y,\n        p.z - this.origin.z,\n        1.0,\n      );\n    }\n  }\n  /** Revise the accumulated sums to be \"around the centroid\". */\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\n    const xyz = this.sums.columnW().realPoint();\n    if (xyz) {\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\n      return true;\n    }\n    return false;\n  }\n\n  /**\n   * Revise the accumulated sums.\n   * * add ax,ay,ax to the origin coordinates.\n   * * apply the negative translation to the sums.\n  */\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\n    this.origin.addXYZInPlace(ax, ay, az);\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\n  }\n  /** Revise the accumulated sums so they are based at a specified origin. */\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\n  }\n  /**\n   * Compute moments of a triangle from the origin to the given line.\n   * Accumulate them to this.sums.\n   * * If `pointA` is undefined, use `this.origin` as pointA.\n   * * If `this.needOrigin` is set, pointB is used\n  */\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const vectorA = MomentData._vectorA =\n      pointA !== undefined ? Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA)\n        : Point4d.create(this.origin.x, this.origin.y, 0.0, 1.0, MomentData._vectorA);\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\n    // accumulate Return product integrals I(0<=u<=1) I (0<=v<= u)  (w*W + u *U + v * V)(w*W + u *U + v * V)^  du dv\n    //  where w = 1-u-v\n    //  W = column vector (point00.x, point00.y, point00.z, 1.0) etc.\n    const detJ = Geometry.crossProductXYXY(vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y);\n    if (detJ !== 0.0) {\n      const r1_12 = detJ / 12.0;\n      const r1_24 = detJ / 24.0;\n\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\n    }\n  }\n  /** Add scaled outer product of (4d, unit weight) point to this.sums. */\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\n    const vectorA = MomentData._vectorA = Point4d.create(\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\n    );\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\n  }\n  /** Accumulate wire moment integral from pointA to pointB */\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const z0 = this.origin.z;\n    const vectorA = MomentData._vectorA = Point4d.create(\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\n    );\n    const vectorB = MomentData._vectorB = Point4d.create(\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\n    );\n    const detJ = pointA.distance(pointB);\n    const r1_3 = detJ / 3.0;\n    const r1_6 = detJ / 6.0;\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\n  }\n  /**\n   * Compute moments of triangles from a base point to the given linestring.\n   * Accumulate them to this.sums.\n   * * If `pointA` is undefined, use `this.origin` as pointA.\n   * * If `this.needOrigin` is set, the first point of the array is captured as local origin for subsequent sums.\n   *\n   */\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\n    const n = points.length;\n    if (n > 1) {\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\n      for (let i = 1; i < n; i++) {\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\n        this._point0.setFromPoint3d(this._point1);\n      }\n    }\n  }\n  /**\n   * * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0;0,0,0,0;0,0,0,1].\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].  (Column weights 0001) (only xy\n   *   parts of vectors).\n   * * scale by detJ for the xy-only determinant of the vectors.\n   * @param productXX\n   * @param productXY\n   * @param productYY\n   * @param area Area in caller's system.\n   * @param origin Caller's origin.\n   * @param vectorU Caller's U axis (not necessarily unit).\n   * @param vectorV Caller's V axis (not necessarily unit).\n   */\n  public accumulateXYProductsInCentroidalFrame(\n    productXX: number, productXY: number, productYY: number,\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\n  ) {\n    const centroidalProducts = Matrix4d.createRowValues(\n      productXX, productXY, 0, 0,\n      productXY, productYY, 0, 0,\n      0, 0, 0, 0,\n      0, 0, 0, area,\n    );\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\n    const placement = Matrix4d.createRowValues(\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\n      0, 0, 0, 0,\n      0, 0, 0, 1,\n    );\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\n    this.sums.addScaledInPlace(ABAT, detJ);\n  }\n  /**\n   * Accumulate sums from other moments.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Pull the origin from `other` if `this` needs an origin.\n   */\n  public accumulateProducts(other: MomentData, scale: number) {\n    this.setOriginIfNeeded(other.origin);\n    this.sums.addTranslationSandwichInPlace(\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\n    );\n  }\n\n  /**\n   * Accumulate sums from Matrix4d and origin.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Trap the origin if `this` needs an origin.\n   */\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\n    this.setOriginIfNeeded(origin);\n    this.sums.addTranslationSandwichInPlace(\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\n    );\n  }\n  /** Convert to a json data object. */\n  public toJSON(): any {\n    return {\n      origin: this.origin,\n      sums: this.sums.toJSON(),\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\n      localToWorld: this.localToWorldMap.toJSON(),\n    };\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\n/* eslint-disable @typescript-eslint/naming-convention */\n// cspell:word ABAT\n\nimport { Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Matrix4d } from \"./Matrix4d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A MomentData structure exists in several levels:\n * * First level: as a carrier of sums of inertial products that determine moments.\n *   * origin = local origin used as moments are summed.\n *   * sums = array of summed moments.\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\n *       * axes 0,1,2 are x,y,z.\n *         * e.g. entry [0,1] is summed product xy\n *       * axis 3 is \"w\", which is 1 in sums.\n *         * e.g. entry 03 is summed x.\n *    * In this level:\n *        * the `absoluteQuantity` member is undefined.\n *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.\n *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and\n *    `radiiOfGyration` are filled in.\n * @public\n */\nexport class MomentData {\n  /** Origin used for sums. */\n  public origin: Point3d;\n  /** Flag to request deferred origin setup. */\n  public needOrigin: boolean;\n  /**\n   * Moment sums.\n   * * Set to zero at initialization and if requested later.\n   * * Accumulated during data entry phase.\n   */\n  public sums: Matrix4d;\n  /**\n   * The mapping between principal and world system.\n   * * This set up with its inverse already constructed.\n   */\n  public localToWorldMap: Transform;\n  /** Radii of gyration (square roots of principal second moments). */\n  public radiusOfGyration: Vector3d;\n  /**\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\n   * inertiaProductsToPrincipalAxes.\n   */\n  public absoluteQuantity?: number;\n  // private variables\n  private static _vectorA?: Point4d;\n  private static _vectorB?: Point4d;\n  private static _vectorC?: Point4d;\n  private _point0 = Point3d.create();\n  private _point1 = Point3d.create();\n  /** Constructor. */\n  private constructor() {\n    this.origin = Point3d.createZero();\n    this.needOrigin = false;\n    this.sums = Matrix4d.createZero();\n    this.localToWorldMap = Transform.createIdentity();\n    this.radiusOfGyration = Vector3d.create();\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\n    this.absoluteQuantity = undefined;\n  }\n  /**\n   * Return the lower-right (3,3) entry in the sums.\n   * * This is the quantity (i.e. length, area, or volume) summed.\n   */\n  public get quantitySum(): number {\n    return this.sums.weight();\n  }\n  /**\n   * Return a scale factor to make these sums match the target orientation sign.\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\n   */\n  public signFactor(targetSign: number): number {\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginIfNeeded(origin: Point3d) {\n    if (this.needOrigin) {\n      this.origin.setFromPoint3d(origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\n    if (this.needOrigin && points.length > 0) {\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\n    if (this.needOrigin) {\n      this.origin.set(x, y, z);\n      this.needOrigin = false;\n    }\n  }\n  /**\n   * Create moments with optional origin.\n   * * Origin and needOrigin are quirky.\n   *   * (undefined, true) sets up to use first incoming point as origin.\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\n   *   * (origin, true) the \"true\" is meaningless.\n   *   * (undefined, false) makes 000 the durable origin.\n  */\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\n    const data = new MomentData();\n    data.needOrigin = needOrigin;\n    if (origin) {\n      data.origin.setFromPoint3d(origin);\n      data.needOrigin = false;\n    }\n    return data;\n  }\n  /**\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\n   */\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\n    const rr = products.sumDiagonal();\n    const result = Matrix3d.createScale(rr, rr, rr);\n    result.addScaledInPlace(products, -1.0);\n    return result;\n  }\n  /** Sort the columns of the matrix for increasing moments. */\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\n    const points = [\n      axes.indexedColumnWithWeight(0, moments.x),\n      axes.indexedColumnWithWeight(1, moments.y),\n      axes.indexedColumnWithWeight(2, moments.z),\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\n      if (dataA.w < dataB.w) return -1;\n      if (dataA.w > dataB.w) return 1;\n      return 0;\n    });\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\n    if (axes.determinant() < 0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\n    // prefer x and z positive; y falls wherever\n    if (axes.at(0, 0) < 0.0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\n    if (axes.at(2, 2) < 0.0)\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\n    moments.set(points[0].w, points[1].w, points[2].w);\n  }\n  /**\n   * Return the principal moment data for an array of points.\n   * @param points array of points.\n   */\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\n    const moments = new MomentData();\n    if (points.length === 0)\n      return moments;\n    moments.clearSums(points[0]);\n    moments.accumulatePointMomentsFromOrigin(points);\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\n  }\n  /**\n   * Compute principal axes from inertial products.\n   * * The radii of gyration are sorted smallest to largest.\n   * * Hence x axis is long direction.\n   * * Hence planar data generates large moment as Z.\n   * @param origin The origin used for the inertia products.\n   * @param inertiaProducts The inertia products: sums or integrals of\n   * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\n   */\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\n    const moments = new MomentData();\n    moments.sums.setFrom(inertiaProducts);\n    moments.origin.setFrom(origin);\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\n      return undefined;\n    const products = moments.sums.matrixPart();\n    const w = moments.sums.weight();\n    if (w < 0.0)\n      products.scaleColumnsInPlace(-1, -1, -1);\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\n    const moment2 = Vector3d.create();\n    const axisVectors = Matrix3d.createZero();\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\n    if (moment2.x < 0.0)\n      return undefined;\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\n    if (w < 0.0)\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\n    moments.radiusOfGyration.set(\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)),\n    );\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\n    moments.absoluteQuantity = Math.abs(w);\n    return moments;\n  }\n  /**\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\n   * * The members considered are:\n   *   * origin of local to world map (i.e. centroid),\n   *   * radius of gyration,\n   *   * axes of localToWorldMap.\n   * * Axis direction tests allow these quirks:\n   *   * opposite orientation is considered matched.\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\n   *   is tested.\n   * * If either or both are undefined, returns false.\n   * @param dataA first set of moments.\n   * @param dataB second set of moments.\n   */\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\n    if (dataA && dataB\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\n          // we have at least xy symmetry\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\n            return true;\n          // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely\n          const zA = dataA.localToWorldMap.matrix.columnZ();\n          const zB = dataB.localToWorldMap.matrix.columnZ();\n          if (zA.isParallelTo(zB, true))\n            return true;\n          return false;\n        }\n        // no symmetry; test all three axes\n        const vectorA = Vector3d.create();\n        const vectorB = Vector3d.create();\n        for (let i = 0; i < 3; i++) {\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\n          if (!vectorA.isParallelTo(vectorB, true))\n            return false;\n        }\n        return true;\n      }\n    }\n    return false;\n  }\n  /** Clear the MomentData sums to zero, and establish a new origin. */\n  public clearSums(origin?: Point3d) {\n    this.sums.setZero();\n    if (origin)\n      this.origin.setFrom(origin);\n    else\n      this.origin.setZero();\n  }\n  /** Accumulate products-of-components for given points. */\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\n    for (const p of points) {\n      this.sums.addMomentsInPlace(\n        p.x - this.origin.x,\n        p.y - this.origin.y,\n        p.z - this.origin.z,\n        1.0,\n      );\n    }\n  }\n  /** Revise the accumulated sums to be \"around the centroid\". */\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\n    const xyz = this.sums.columnW().realPoint(); // centroid of the geometry\n    if (xyz) {\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\n      return true;\n    }\n    return false;\n  }\n  /**\n   * Revise the accumulated sums.\n   * * Add (ax,ay,az) to the origin coordinates.\n   * * Apply the negative translation to the sums.\n   */\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\n    this.origin.addXYZInPlace(ax, ay, az);\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\n  }\n  /** Revise the accumulated sums so they are based at a specified origin. */\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\n  }\n  /**\n   * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.\n   * * If `pointA` is undefined, use `this.origin` as `pointA`.\n   */\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const vectorA = MomentData._vectorA = (pointA !== undefined) ?\n      Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :\n      Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\n    // Below we calculate 16 double integrals: \\iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).\n    // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric\n    // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.\n    // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,\n    // \\iint_T x^2 dT = detJ \\int_0^1 \\int_0^{1-u} u^2 dv du = detJ / 12, and similarly \\iint_T xy dT = detJ / 24.\n    const detJ = Geometry.crossProductXYXY(\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y,\n    );\n    if (detJ !== 0.0) {\n      const r1_12 = detJ / 12.0;\n      const r1_24 = detJ / 24.0;\n\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\n    }\n  }\n  /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\n    const vectorA = MomentData._vectorA = Point4d.create(\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\n    );\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\n  }\n  /** Accumulate wire moment integral from pointA to pointB */\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const z0 = this.origin.z;\n    const vectorA = MomentData._vectorA = Point4d.create(\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\n    );\n    const vectorB = MomentData._vectorB = Point4d.create(\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\n    );\n    const detJ = pointA.distance(pointB);\n    const r1_3 = detJ / 3.0;\n    const r1_6 = detJ / 6.0;\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\n  }\n  /**\n   * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.\n   * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.\n   */\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\n    const n = points.length;\n    if (n > 1) {\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\n      // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.\n      for (let i = 1; i < n; i++) {\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\n        this._point0.setFromPoint3d(this._point1);\n      }\n    }\n  }\n  /**\n   * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].\n   *   (column weights 0001; only xy parts of vectors).\n   * * Scale by detJ for the xy-only determinant of the vectors.\n   * @param productXX\n   * @param productXY\n   * @param productYY\n   * @param area area in caller's system.\n   * @param origin caller's origin.\n   * @param vectorU caller's U axis (not necessarily unit).\n   * @param vectorV caller's V axis (not necessarily unit).\n   */\n  public accumulateXYProductsInCentroidalFrame(\n    productXX: number, productXY: number, productYY: number,\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\n  ) {\n    const centroidalProducts = Matrix4d.createRowValues(\n      productXX, productXY, 0, 0,\n      productXY, productYY, 0, 0,\n      0, 0, 0, 0,\n      0, 0, 0, area,\n    );\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\n    const placement = Matrix4d.createRowValues(\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\n      0, 0, 0, 0,\n      0, 0, 0, 1,\n    );\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\n    this.sums.addScaledInPlace(ABAT, detJ);\n  }\n  /**\n   * Accumulate sums from other moments.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Pull the origin from `other` if `this` needs an origin.\n   */\n  public accumulateProducts(other: MomentData, scale: number) {\n    this.setOriginIfNeeded(other.origin);\n    this.sums.addTranslationSandwichInPlace(\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\n    );\n  }\n  /**\n   * Accumulate sums from Matrix4d and origin.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Trap the origin if `this` needs an origin.\n   */\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\n    this.setOriginIfNeeded(origin);\n    this.sums.addTranslationSandwichInPlace(\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\n    );\n  }\n  /** Convert to a json data object. */\n  public toJSON(): any {\n    return {\n      origin: this.origin,\n      sums: this.sums.toJSON(),\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\n      localToWorld: this.localToWorldMap.toJSON(),\n    };\n  }\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@itwin/core-geometry",
-  "version": "5.1.0-dev.3",
+  "version": "5.1.0-dev.4",
   "description": "iTwin.js Core Geometry library",
   "main": "lib/cjs/core-geometry.js",
   "module": "lib/esm/core-geometry.js",
@@ -31,11 +31,11 @@
     "rimraf": "^6.0.1",
     "typescript": "~5.6.2",
     "vitest": "^3.0.6",
-    "@itwin/build-tools": "5.1.0-dev.3"
+    "@itwin/build-tools": "5.1.0-dev.4"
   },
   "dependencies": {
     "flatbuffers": "~1.12.0",
-    "@itwin/core-bentley": "5.1.0-dev.3"
+    "@itwin/core-bentley": "5.1.0-dev.4"
   },
   "scripts": {
     "build": "npm run -s build:cjs && npm run -s build:esm",