@itwin/core-geometry 5.1.0-dev.9 → 5.2.0-dev.2

package/lib/esm/geometry3d/Ray2d.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/Ray2d.js

@@ -6,7 +6,6 @@
  * @module CartesianGeometry
  */
 import { Geometry } from "../Geometry";
-// cspell:word CCWXY, CWXY
 /**
  * Ray with xy origin and direction
  * @public

package/lib/esm/geometry3d/Ray2d.js.map

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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\n\n// cspell:word CCWXY, CWXY\n\n/**\n * Ray with xy origin and direction\n * @public\n */\nexport class Ray2d {\n  private _origin: Point2d;\n  private _direction: Vector2d;\n\n  private constructor(origin: Point2d, direction: Vector2d) {\n    this._origin = origin;\n    this._direction = direction;\n  }\n  /** Copy coordinates from origin and direction. */\n  public set(origin: Point2d, direction: Vector2d): void {\n    this._origin.setFrom(origin);\n    this._direction.setFrom(direction);\n  }\n  /**\n   * Create from `origin` and `target` points.\n   * @param origin ray origin, cloned\n   * @param target end of ray direction vector. The direction vector is `target - origin`.\n   * @param result optional pre-allocated object to return\n   */\n  public static createOriginAndTarget(origin: Point2d, target: Point2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(origin);\n      result._direction.set(target.x - origin.x, target.y - origin.y);\n      return result;\n    }\n    return new Ray2d(origin.clone(), origin.vectorTo(target));\n  }\n  /**\n   * Create by copying coordinates from `origin` and `direction`.\n   * @param origin ray origin\n   * @param direction ray direction\n   * @param result optional pre-allocated object to return\n   */\n  public static createOriginAndDirection(origin: Point2d, direction: Vector2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result.set(origin, direction);\n      return result;\n    }\n    return new Ray2d(origin.clone(), direction.clone());\n  }\n  /** Create from captured `origin` and `direction`. */\n  public static createOriginAndDirectionCapture(origin: Point2d, direction: Vector2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin = origin;\n      result._direction = direction;\n      return result;\n    }\n    return new Ray2d(origin, direction);\n  }\n  /** Get the reference to the ray origin. */\n  public get origin() { return this._origin; }\n  /** Get the reference to the ray direction. */\n  public get direction() { return this._direction; }\n  /**\n   * Return a parallel ray to the left of this ray.\n   * @param leftFraction distance between rays, as a fraction of the magnitude of this ray's direction vector\n   */\n  public parallelRay(leftFraction: number, result?: Ray2d): Ray2d {\n    if (result) {\n      this._origin.addForwardLeft(0.0, leftFraction, this._direction, result._origin);\n      result._direction.setFrom(this._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.addForwardLeft(0.0, leftFraction, this._direction), this._direction.clone());\n  }\n  /** Return a ray with cloned origin and with direction rotated 90 degrees counterclockwise */\n  public ccwPerpendicularRay(result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(this._origin);\n      this._direction.rotate90CCWXY(result._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.clone(), this._direction.rotate90CCWXY());\n  }\n  /** Return a ray with cloned origin and with direction rotated 90 degrees clockwise */\n  public cwPerpendicularRay(result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(this._origin);\n      this._direction.rotate90CWXY(result._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.clone(), this._direction.rotate90CWXY());\n  }\n  /**\n   * Normalize the direction vector in place.\n   * @param defaultX value to set `this.direction.x` if normalization fails. Default value 1.\n   * @param defaultY value to set `this.direction.y` if normalization fails. Default value 0.\n   * @returns whether normalization succeeded (i.e., direction is nonzero)\n   */\n  public normalizeDirectionInPlace(defaultX: number = 1, defaultY: number = 0): boolean {\n    if (this._direction.normalize(this._direction))\n      return true;\n    this._direction.x = defaultX;\n    this._direction.y = defaultY;\n    return false;\n  }\n  /**\n   * Intersect this ray with the unbounded line defined by the given points.\n   * @param linePointA start of the line\n   * @param linePointB end of the line\n   * @returns object with named values:\n   * * `hasIntersection`: whether the intersection exists.\n   * * `fraction`: ray parameter of intersection, or 0.0 if `!hasIntersection`. If the instance is normalized, this is the signed distance along the ray to the intersection point.\n   * * `cross`: the 2D cross product `this.direction x (linePointB - linePointA)`, useful for determining orientation of the line and ray.\n   */\n  public intersectUnboundedLine(linePointA: Point2d, linePointB: Point2d): { hasIntersection: boolean, fraction: number, cross: number } {\n    const lineDirection = linePointA.vectorTo(linePointB);\n    const vector0 = linePointA.vectorTo(this._origin);\n    const h0 = vector0.crossProduct(lineDirection);\n    const dHds = this._direction.crossProduct(lineDirection);\n    // h = h0 + s * dh\n    const ff = Geometry.conditionalDivideFraction(-h0, dHds);\n    const hasIntersection = ff !== undefined;\n    return { hasIntersection, fraction: hasIntersection ? ff : 0.0, cross: dHds };\n  }\n  /** Return the ray fraction where the given point projects onto the ray. */\n  public projectionFraction(point: Point2d): number {\n    return this._origin.vectorTo(point).fractionOfProjectionToVector(this._direction);\n  }\n  /** Return the ray fraction where the given point projects onto the perpendicular ray. */\n  public perpendicularProjectionFraction(point: Point2d): number {\n    const uv = this._direction.crossProduct(this._origin.vectorTo(point));\n    const uu = this._direction.magnitudeSquared();\n    // Want zero returned if failure case, not undefined\n    return Geometry.safeDivideFraction(uv, uu, 0.0);\n  }\n  /** Compute and return origin plus scaled direction. */\n  public fractionToPoint(f: number, result?: Point2d): Point2d {\n    return this._origin.plusScaled(this._direction, f, result);\n  }\n}\n"]}
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { Point2d, Vector2d } from \"../geometry3d/Point2dVector2d\";\n\n/**\n * Ray with xy origin and direction\n * @public\n */\nexport class Ray2d {\n  private _origin: Point2d;\n  private _direction: Vector2d;\n\n  private constructor(origin: Point2d, direction: Vector2d) {\n    this._origin = origin;\n    this._direction = direction;\n  }\n  /** Copy coordinates from origin and direction. */\n  public set(origin: Point2d, direction: Vector2d): void {\n    this._origin.setFrom(origin);\n    this._direction.setFrom(direction);\n  }\n  /**\n   * Create from `origin` and `target` points.\n   * @param origin ray origin, cloned\n   * @param target end of ray direction vector. The direction vector is `target - origin`.\n   * @param result optional pre-allocated object to return\n   */\n  public static createOriginAndTarget(origin: Point2d, target: Point2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(origin);\n      result._direction.set(target.x - origin.x, target.y - origin.y);\n      return result;\n    }\n    return new Ray2d(origin.clone(), origin.vectorTo(target));\n  }\n  /**\n   * Create by copying coordinates from `origin` and `direction`.\n   * @param origin ray origin\n   * @param direction ray direction\n   * @param result optional pre-allocated object to return\n   */\n  public static createOriginAndDirection(origin: Point2d, direction: Vector2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result.set(origin, direction);\n      return result;\n    }\n    return new Ray2d(origin.clone(), direction.clone());\n  }\n  /** Create from captured `origin` and `direction`. */\n  public static createOriginAndDirectionCapture(origin: Point2d, direction: Vector2d, result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin = origin;\n      result._direction = direction;\n      return result;\n    }\n    return new Ray2d(origin, direction);\n  }\n  /** Get the reference to the ray origin. */\n  public get origin() { return this._origin; }\n  /** Get the reference to the ray direction. */\n  public get direction() { return this._direction; }\n  /**\n   * Return a parallel ray to the left of this ray.\n   * @param leftFraction distance between rays, as a fraction of the magnitude of this ray's direction vector\n   */\n  public parallelRay(leftFraction: number, result?: Ray2d): Ray2d {\n    if (result) {\n      this._origin.addForwardLeft(0.0, leftFraction, this._direction, result._origin);\n      result._direction.setFrom(this._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.addForwardLeft(0.0, leftFraction, this._direction), this._direction.clone());\n  }\n  /** Return a ray with cloned origin and with direction rotated 90 degrees counterclockwise */\n  public ccwPerpendicularRay(result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(this._origin);\n      this._direction.rotate90CCWXY(result._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.clone(), this._direction.rotate90CCWXY());\n  }\n  /** Return a ray with cloned origin and with direction rotated 90 degrees clockwise */\n  public cwPerpendicularRay(result?: Ray2d): Ray2d {\n    if (result) {\n      result._origin.setFrom(this._origin);\n      this._direction.rotate90CWXY(result._direction);\n      return result;\n    }\n    return new Ray2d(this._origin.clone(), this._direction.rotate90CWXY());\n  }\n  /**\n   * Normalize the direction vector in place.\n   * @param defaultX value to set `this.direction.x` if normalization fails. Default value 1.\n   * @param defaultY value to set `this.direction.y` if normalization fails. Default value 0.\n   * @returns whether normalization succeeded (i.e., direction is nonzero)\n   */\n  public normalizeDirectionInPlace(defaultX: number = 1, defaultY: number = 0): boolean {\n    if (this._direction.normalize(this._direction))\n      return true;\n    this._direction.x = defaultX;\n    this._direction.y = defaultY;\n    return false;\n  }\n  /**\n   * Intersect this ray with the unbounded line defined by the given points.\n   * @param linePointA start of the line\n   * @param linePointB end of the line\n   * @returns object with named values:\n   * * `hasIntersection`: whether the intersection exists.\n   * * `fraction`: ray parameter of intersection, or 0.0 if `!hasIntersection`. If the instance is normalized, this is the signed distance along the ray to the intersection point.\n   * * `cross`: the 2D cross product `this.direction x (linePointB - linePointA)`, useful for determining orientation of the line and ray.\n   */\n  public intersectUnboundedLine(linePointA: Point2d, linePointB: Point2d): { hasIntersection: boolean, fraction: number, cross: number } {\n    const lineDirection = linePointA.vectorTo(linePointB);\n    const vector0 = linePointA.vectorTo(this._origin);\n    const h0 = vector0.crossProduct(lineDirection);\n    const dHds = this._direction.crossProduct(lineDirection);\n    // h = h0 + s * dh\n    const ff = Geometry.conditionalDivideFraction(-h0, dHds);\n    const hasIntersection = ff !== undefined;\n    return { hasIntersection, fraction: hasIntersection ? ff : 0.0, cross: dHds };\n  }\n  /** Return the ray fraction where the given point projects onto the ray. */\n  public projectionFraction(point: Point2d): number {\n    return this._origin.vectorTo(point).fractionOfProjectionToVector(this._direction);\n  }\n  /** Return the ray fraction where the given point projects onto the perpendicular ray. */\n  public perpendicularProjectionFraction(point: Point2d): number {\n    const uv = this._direction.crossProduct(this._origin.vectorTo(point));\n    const uu = this._direction.magnitudeSquared();\n    // Want zero returned if failure case, not undefined\n    return Geometry.safeDivideFraction(uv, uu, 0.0);\n  }\n  /** Compute and return origin plus scaled direction. */\n  public fractionToPoint(f: number, result?: Point2d): Point2d {\n    return this._origin.plusScaled(this._direction, f, result);\n  }\n}\n"]}

package/lib/esm/geometry3d/Ray3d.d.ts

@@ -2,7 +2,7 @@
  * @module CartesianGeometry
  */
 import { CurveLocationDetailPair } from "../curve/CurveLocationDetail";
-import { BeJSONFunctions } from "../Geometry";
+import { BeJSONFunctions, PerpParallelOptions } from "../Geometry";
 import { Plane3dByOriginAndUnitNormal } from "./Plane3dByOriginAndUnitNormal";
 import { Point3d, Vector3d } from "./Point3dVector3d";
 import { Range1d, Range3d } from "./Range";
@@ -39,12 +39,10 @@ export declare class Ray3d implements BeJSONFunctions {
     /** Create a ray with all zeros. */
     static createZero(result?: Ray3d): Ray3d;
     /**
-     * Test for nearly equal Ray3d objects.
-     * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
-     * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
-     * directions to be scaled or opposing.
+     * Test for nearly equal Ray3d objects by comparing their origin and direction members.
+     * @see [[isAlmostEqualPointSet]] to test for rays on the same infinite line.
      */
-    isAlmostEqual(other: Ray3d): boolean;
+    isAlmostEqual(other: Ray3d, tolerance?: number): boolean;
     /**
      * Return the dot product of the ray's direction vector with a vector from the ray origin
      * to the `spacePoint`.
@@ -58,10 +56,10 @@ export declare class Ray3d implements BeJSONFunctions {
     /** Return the `spacePoint` projected onto the ray. */
     projectPointToRay(spacePoint: Point3d): Point3d;
     /**
-     * Test for nearly equal rays, allowing origin float and direction scaling.
-     * * Use [[isAlmostEqual]] to require member-by-member comparison.
+     * Test for rays that describe the same infinite line.
+     * @see [[isAlmostEqual]] for member-by-member comparison.
      */
-    isAlmostEqualPointSet(other: Ray3d): boolean;
+    isAlmostEqualPointSet(other: Ray3d, options?: PerpParallelOptions): boolean;
     /** Create a ray from origin and direction. */
     static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d;
     /**

package/lib/esm/geometry3d/Ray3d.d.ts.map

@@ -1 +1 @@
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package/lib/esm/geometry3d/Ray3d.js

@@ -65,13 +65,11 @@ export class Ray3d {
         return new Ray3d(Point3d.createZero(), Vector3d.createZero());
     }
     /**
-     * Test for nearly equal Ray3d objects.
-     * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.
-     * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the
-     * directions to be scaled or opposing.
+     * Test for nearly equal Ray3d objects by comparing their origin and direction members.
+     * @see [[isAlmostEqualPointSet]] to test for rays on the same infinite line.
      */
-    isAlmostEqual(other) {
-        return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);
+    isAlmostEqual(other, tolerance = Geometry.smallMetricDistance) {
+        return this.origin.isAlmostEqual(other.origin, tolerance) && this.direction.isAlmostEqual(other.direction, tolerance);
     }
     /**
      * Return the dot product of the ray's direction vector with a vector from the ray origin
@@ -99,27 +97,19 @@ export class Ray3d {
         return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));
     }
     /**
-     * Test for nearly equal rays, allowing origin float and direction scaling.
-     * * Use [[isAlmostEqual]] to require member-by-member comparison.
+     * Test for rays that describe the same infinite line.
+     * @see [[isAlmostEqual]] for member-by-member comparison.
      */
-    isAlmostEqualPointSet(other) {
-        /**
-         * This function tests two rays to determine if they define the same infinite lines.
-         * So the origins can be different as long as they are on the infinite line (they can
-         * "float") but the directions must be parallel or antiparallel.
-         */
-        if (!this.direction.isParallelTo(other.direction, true))
+    isAlmostEqualPointSet(other, options) {
+        if (!this.direction.isParallelTo(other.direction, true, false, options))
             return false;
-        /**
-         * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).
-         * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice
-         * versa. However, we test both ways because first check may pass due to round-off errors.
-         */
+        const tol2 = options?.distanceSquaredTol ?? Geometry.smallMetricDistanceSquared;
+        // theoretically, one test below is sufficient, but perform both in case the first passes because of round-off
         let workPoint = this.projectPointToRay(other.origin);
-        if (!other.origin.isAlmostEqualMetric(workPoint))
+        if (other.origin.distanceSquared(workPoint) > tol2)
             return false;
         workPoint = other.projectPointToRay(this.origin);
-        if (!this.origin.isAlmostEqualMetric(workPoint))
+        if (this.origin.distanceSquared(workPoint) > tol2)
             return false;
         return true;
     }
@@ -366,41 +356,29 @@ export class Ray3d {
     */
     intersectionWithTriangle(vertex0, vertex1, vertex2, distanceTol, parameterTol, result) {
         /**
-         * Suppose ray is shown by "rayOrigin + t*rayVector" and barycentric coordinate of point
+         * Let (w,u,v) be the barycentric coordinates of point P wrt the triangle (v0,v1,v2), such that
          * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)
          *
-         * Then if ray intersects triangle at a point we have
+         * Then if the ray given by rayOrigin + t*rayVector intersects the triangle at P, we have
          * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector
-         * or
-         * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0
          *
          * This equation can be reformulated as the following linear system:
          *
          * [    |          |      |  ] [t]   [      |       ]
          * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]
-         * [   |          |      |   ] [v]   [      |       ]
-         *
-         * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then
-         * det(A) = c1.(c2 x c3) which leads to
-         *
-         * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]
-         * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]
-         * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]
+         * [    |          |      |  ] [v]   [      |       ]
          *
-         * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:
-         * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)
+         * Then to find t, u, and v, use Cramer's Rule, the formulation of matrix determinant as column triple product,
+         * and the fact that swapping any 2 vectors in the triple product negates it:
          *
-         * This leads to the final formulas used in the following code:
-         * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]
-         * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]
-         * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]
+         * t = (v2-v0).(rayOrigin - v0) x (v1-v0) / (v1-v0).rayVector x (v2-v0)
+         * u = (rayOrigin - v0).rayVector x (v2-v0) / (v1-v0).rayVector x (v2-v0)
+         * v = -rayVector.(rayOrigin - v0) x (v1-v0) / (v1-v0).rayVector x (v2-v0)
          *
-         * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.
-         * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so
-         * 0 <= w <= 1.
+         * Note that we verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1:
+         * these 4 checks guarantee that v <= 1 and 0 <= u+v, and so with w = 1-(u+v), we have 0 <= w <= 1.
          *
-         * More info be found at
-         * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+         * More info be found at https://en.wikipedia.org/wiki/Moller-Trumbore_intersection_algorithm.
          */
         if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance
             distanceTol = Geometry.smallMetricDistance;

package/lib/esm/geometry3d/Ray3d.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 CartesianGeometry\n */\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\nimport { SmallSystem } from \"../numerics/SmallSystem\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\nimport { Vector2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Range1d, Range3d } from \"./Range\";\nimport { Transform } from \"./Transform\";\nimport { XYAndZ } from \"./XYZProps\";\n\n// cspell:word Cramer\n/**\n * A Ray3d contains\n * * an `origin` point.\n * * a `direction` vector (The vector is not required to be normalized).\n * * an optional weight (number).\n * @public\n */\nexport class Ray3d implements BeJSONFunctions {\n  /** The ray origin */\n  public origin: Point3d;\n  /** The ray direction. This is commonly (but not always) a unit vector. */\n  public direction: Vector3d;\n  /** Numeric annotation. */\n  public a?: number; // optional (e.g. weight)\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workVector2?: Vector3d;\n  private static _workVector3?: Vector3d;\n  private static _workVector4?: Vector3d;\n  private static _workMatrix?: Matrix3d;\n  // constructor (captures references)\n  private constructor(origin: Point3d, direction: Vector3d) {\n    this.origin = origin;\n    this.direction = direction;\n    this.a = undefined;\n  }\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\n  }\n  /** Create a ray on the x axis. */\n  public static createXAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 1, 0, 0);\n  }\n  /** Create a ray on the y axis. */\n  public static createYAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 0, 1, 0);\n  }\n  /** Create a ray on the z axis. */\n  public static createZAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 0, 0, 1);\n  }\n  /** Create a ray with all zeros. */\n  public static createZero(result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setZero();\n      result.direction.setZero();\n      return result;\n    }\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\n  }\n  /**\n   * Test for nearly equal Ray3d objects.\n   * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\n   * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\n   * directions to be scaled or opposing.\n   */\n  public isAlmostEqual(other: Ray3d): boolean {\n    return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\n  }\n  /**\n   * Return the dot product of the ray's direction vector with a vector from the ray origin\n   * to the `spacePoint`.\n   * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\n   * of `spacePoint` with respect to the plane.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\n   */\n  public dotProductToPoint(spacePoint: Point3d): number {\n    return this.direction.dotProductStartEnd(this.origin, spacePoint);\n  }\n  /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\n  public pointToFraction(spacePoint: Point3d): number {\n    return Geometry.safeDivideFraction(\n      this.dotProductToPoint(spacePoint),\n      this.direction.magnitudeSquared(),\n      0,\n    );\n  }\n  /** Return the `spacePoint` projected onto the ray. */\n  public projectPointToRay(spacePoint: Point3d): Point3d {\n    /**\n     * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\n     * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\n     * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\n     * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\n     * spacePoint with respect to the plane.\n     */\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\n  }\n  /**\n   * Test for nearly equal rays, allowing origin float and direction scaling.\n   * * Use [[isAlmostEqual]] to require member-by-member comparison.\n   */\n  public isAlmostEqualPointSet(other: Ray3d): boolean {\n    /**\n     * This function tests two rays to determine if they define the same infinite lines.\n     * So the origins can be different as long as they are on the infinite line (they can\n     * \"float\") but the directions must be parallel or antiparallel.\n     */\n    if (!this.direction.isParallelTo(other.direction, true))\n      return false;\n    /**\n     * In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\n     * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\n     * versa. However, we test both ways because first check may pass due to round-off errors.\n     */\n    let workPoint = this.projectPointToRay(other.origin);\n    if (!other.origin.isAlmostEqualMetric(workPoint))\n      return false;\n    workPoint = other.projectPointToRay(this.origin);\n    if (!this.origin.isAlmostEqualMetric(workPoint))\n      return false;\n    return true;\n  }\n  /** Create a ray from origin and direction. */\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\n    if (result) {\n      result.set(origin, direction);\n      return result;\n    }\n    return new Ray3d(origin.clone(), direction.clone());\n  }\n  /**\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\n   * coordinates and derivatives.\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\n   * @param weightedDerivative `[x,y,z,w]` derivatives\n   * @param result\n   */\n  public static createWeightedDerivative(\n    weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d,\n  ): Ray3d | undefined {\n    const w = weightedPoint[3];\n    const dw = weightedDerivative[3];\n    const x = weightedPoint[0];\n    const y = weightedPoint[1];\n    const z = weightedPoint[2];\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\n    if (Geometry.isSmallMetricDistance(w))\n      return undefined;\n    const divW = 1.0 / w;\n    const divWW = divW * divW;\n    return Ray3d.createXYZUVW(\n      x * divW, y * divW, z * divW,\n      dx * divWW, dy * divWW, dz * divWW,\n      result,\n    );\n  }\n  /** Create from coordinates of the origin and direction. */\n  public static createXYZUVW(\n    originX: number, originY: number, originZ: number,\n    directionX: number, directionY: number, directionZ: number,\n    result?: Ray3d,\n  ): Ray3d {\n    if (result) {\n      result.getOriginRef().set(originX, originY, originZ);\n      result.getDirectionRef().set(directionX, directionY, directionZ);\n      return result;\n    }\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\n  }\n  /** Capture origin and direction in a new Ray3d. */\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\n    return new Ray3d(origin, direction);\n  }\n  /** Create from (clones of) origin, direction, and numeric weight. */\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setFrom(origin);\n      result.direction.setFrom(direction);\n      result.a = a;\n      return result;\n    }\n    result = new Ray3d(origin.clone(), direction.clone());\n    result.a = a;\n    return result;\n  }\n  /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setFrom(origin);\n      result.direction.setStartEnd(origin, target);\n      return result;\n    }\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\n  }\n  /** Return a reference to the ray's origin. */\n  public getOriginRef(): Point3d {\n    return this.origin;\n  }\n  /** Return a reference to the ray's direction vector. */\n  public getDirectionRef(): Vector3d {\n    return this.direction;\n  }\n  /** Copy coordinates from origin and direction. */\n  public set(origin: Point3d, direction: Vector3d): void {\n    this.origin.setFrom(origin);\n    this.direction.setFrom(direction);\n  }\n  /** Clone the ray. */\n  public clone(result?: Ray3d): Ray3d {\n    if (result) {\n      result.set(this.origin.clone(), this.direction.clone());\n      return result;\n    }\n    return new Ray3d(this.origin.clone(), this.direction.clone());\n  }\n  /** Return a clone of the transformed instance */\n  public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\n    return Ray3d.create(\n      transform.multiplyPoint3d(this.origin, result?.origin),\n      transform.multiplyVector(this.direction, result?.direction),\n      result,\n    );\n  }\n  /** Create a clone and return the inverse transform of the clone. */\n  public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined {\n    if (!transform.computeCachedInverse(true))\n      return undefined;\n    return Ray3d.create(\n      transform.multiplyInversePoint3d(this.origin, result?.origin)!,\n      transform.matrix.multiplyInverseXYZAsVector3d(\n        this.direction.x, this.direction.y, this.direction.z, result?.direction,\n      )!,\n      result,\n    );\n  }\n  /** Apply a transform in place. */\n  public transformInPlace(transform: Transform) {\n    transform.multiplyPoint3d(this.origin, this.origin);\n    transform.multiplyVector(this.direction, this.direction);\n  }\n  /** Copy data from another ray. */\n  public setFrom(source: Ray3d): void {\n    this.set(source.origin, source.direction);\n  }\n  /**\n   * Return a point at fractional position along the ray.\n   * * fraction 0 is the ray origin.\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\n   */\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\n    return this.origin.plusScaled(this.direction, fraction, result);\n  }\n  /**\n   * Return a transform for rigid axes at ray origin with z in ray direction.\n   * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\n   */\n  public toRigidZFrame(result?: Transform): Transform {\n    const axes = Ray3d._workMatrix = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY, Ray3d._workMatrix);\n    return Transform.createOriginAndMatrix(this.origin, axes, result);\n  }\n  /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\n  public setFromJSON(json?: any) {\n    if (!json) {\n      this.origin.set(0, 0, 0);\n      this.direction.set(0, 0, 1);\n      return;\n    }\n    this.origin.setFromJSON(json.origin);\n    this.direction.setFromJSON(json.direction);\n  }\n  /**\n   * Construct a JSON object from this Ray3d.\n   * @return {*} [origin,normal]\n   */\n  public toJSON(): any {\n    return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\n  }\n  /** Create a new ray from json object. See `setFromJSON` for json structure; */\n  public static fromJSON(json?: any) {\n    const result = Ray3d.createXAxis();\n    result.setFromJSON(json);\n    return result;\n  }\n  /**\n   * Try to scale the direction vector to a given `magnitude`.\n   * * Returns `false` if the ray direction is a zero vector.\n   */\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\n    if (this.direction.tryNormalizeInPlace()) {\n      this.direction.scaleInPlace(magnitude);\n      return true;\n    }\n    this.direction.setZero();\n    this.a = 0.0;\n    return false;\n  }\n  /**\n   * Normalize the ray direction in place.\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\n   *    * Save the parameter `a` as the optional `a` member of the ray.\n   *    * Normalize the ray's direction vector.\n   * * If parameter `a` is nearly zero,\n   *    * Set the `a` member to zero.\n   *    * Set the ray's direction vector to zero.\n   * @param a value to be saved (e.g,. area).\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\n   */\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\n    const tolerance = Geometry.smallMetricDistanceSquared;\n    this.a = a;\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\n      return true;\n    this.direction.setZero();\n    this.a = 0.0;\n    return false;\n  }\n  /** Return distance from the ray to point in space. */\n  public distance(spacePoint: Point3d): number {\n    const uu = this.direction.magnitudeSquared();\n    const uv = this.dotProductToPoint(spacePoint);\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\n    if (aa)\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\n    else\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\n  }\n  /**\n   * Return the intersection parameter of the line defined by the ray with a `plane`.\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\n   * be `ray.origin + f * ray.direction`. Therefore:\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\n   *    * if intersects behind the ray origin, the function returns f < 0.\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\n   * * Returns `undefined` if the ray and plane are parallel or coplanar.\n   */\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\n    const nDotN = this.direction.magnitudeSquared();\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\n    if (undefined === division)\n      return undefined;\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\n    if (undefined === division1)\n      return undefined;\n    if (result) {\n      this.origin.plusScaled(this.direction, division, result);\n    }\n    return division;\n  }\n  /**\n   * Find the intersection of the line defined by the ray with a Range3d.\n   * * Return the range of parameters (on the ray) which are \"inside\" the range.\n   * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\n   */\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\n    if (range.isNull)\n      return Range1d.createNull(result);\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\n    )\n      return interval;\n    return interval;\n  }\n  /**\n   * Compute the intersection of the ray with a triangle.\n   * * This method is faster than `BarycentricTriangle.intersectRay3d`.\n   * @param vertex0 first vertex of the triangle\n   * @param vertex1 second vertex of the triangle\n   * @param vertex2 third vertex of the triangle\n   * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\n   * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\n   * @param parameterTol optional tolerance used to allow intersections just beyond an edge/vertex in barycentric\n   * coordinate space (if tolerance is not provided, Geometry.smallFloatingPoint is used)\n   * @param result optional pre-allocated object to fill and return\n   * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\n  */\n  public intersectionWithTriangle(\n    vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d,\n  ): Point3d | undefined {\n    /**\n     * Suppose ray is shown by \"rayOrigin + t*rayVector\" and barycentric coordinate of point\n     * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)\n     *\n     * Then if ray intersects triangle at a point we have\n     * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector\n     * or\n     * -t*rayVector + u*(v1-v0) + v*(v2-v0) = rayOrigin - v0\n     *\n     * This equation can be reformulated as the following linear system:\n     *\n     * [    |          |      |  ] [t]   [      |       ]\n     * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]\n     * [   |          |      |   ] [v]   [      |       ]\n     *\n     * Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\n     * det(A) = c1.(c2 x c3) which leads to\n     *\n     * t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\n     * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\n     * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\n     *\n     * Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\n     * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\n     *\n     * This leads to the final formulas used in the following code:\n     * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\n     * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\n     * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\n     *\n     * Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\n     * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\n     * 0 <= w <= 1.\n     *\n     * More info be found at\n     * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\n     */\n    if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance\n      distanceTol = Geometry.smallMetricDistance;\n    if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance\n      parameterTol = Geometry.smallFloatingPoint;\n    const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\n    const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\n    const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\n    const a = edge1.dotProduct(h);\n    if (a >= -distanceTol && a <= distanceTol)\n      return undefined; // ray is parallel to the triangle (includes coplanar case)\n    const f = 1.0 / a;\n    const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\n    let u = f * s.dotProduct(h);\n    if (u < 0.0) {\n      if (u >= -parameterTol)\n        u = 0.0;\n      else\n        return undefined; // ray does not intersect the triangle\n    } else if (u > 1.0) {\n      if (u <= 1.0 + parameterTol)\n        u = 1.0;\n      else\n        return undefined; // ray does not intersect the triangle\n    }\n    const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\n    let v = f * this.direction.dotProduct(q);\n    if (v < 0.0) {\n      if (v >= -parameterTol)\n        v = 0.0;\n      else\n        return undefined;  // ray does not intersect the triangle\n    } else if (u + v > 1.0 + parameterTol) {\n      return undefined;  // ray does not intersect the triangle\n    }\n    // at this stage, we know the line (parameterized as the ray) intersects the triangle\n    const t = f * edge2.dotProduct(q);\n    if (t < -distanceTol) // line intersection but not ray intersection\n      return undefined;\n    return this.origin.plusScaled(this.direction, t, result); // ray intersection\n  }\n  /**\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\n   */\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\n    const uu = this.direction.magnitudeSquared();\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\n    return vectorV.plusScaled(this.direction, -fraction, result);\n  }\n  /**\n   * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\n   * annotation (in member `approachType`) indicating one of these relationships:\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\n   * in detailA and detailB\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\n   * The rays are skew in space.\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\n   * fractions and points are a representative single common point.\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\n   * at the minimum distance\n   */\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\n    const intersectionFractions = Vector2d.create();\n    let fractionA, fractionB;\n    let pointA, pointB;\n    let pairType;\n    if (\n      SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\n        rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\n        rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\n        intersectionFractions,\n      )\n    ) {\n      fractionA = intersectionFractions.x;\n      fractionB = intersectionFractions.y;\n      pointA = rayA.fractionToPoint(fractionA);\n      pointB = rayB.fractionToPoint(fractionB);\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\n        CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\n    } else {\n      fractionB = 0.0;\n      fractionA = rayA.pointToFraction(rayB.origin);\n      pointA = rayA.fractionToPoint(fractionA);\n      pointB = rayB.fractionToPoint(fractionB);\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\n        CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\n    }\n    const pair = CurveLocationDetailPair.createCapture(\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\n    pair.approachType = pairType;\n    return pair;\n  }\n  /**\n   * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\n   * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\n   * @param pt1 start point of the interpolation.\n   * @param fraction fractional position between points.\n   * @param pt2 end point of the interpolation.\n   * @param tangentScale scale factor to apply to the startToEnd vector.\n   * @param result optional receiver.\n   */\n  public static interpolatePointAndTangent(\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d,\n  ): Ray3d {\n    result = result ?? Ray3d.createZero();\n    const dx = pt2.x - pt1.x;\n    const dy = pt2.y - pt1.y;\n    const dz = pt2.z - pt1.z;\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\n    if (fraction <= 0.5)\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\n    else {\n      const t: number = fraction - 1.0;\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\n    }\n    return result;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\nimport { AxisOrder, BeJSONFunctions, Geometry, PerpParallelOptions } from \"../Geometry\";\nimport { SmallSystem } from \"../numerics/SmallSystem\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\nimport { Vector2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Range1d, Range3d } from \"./Range\";\nimport { Transform } from \"./Transform\";\nimport { XYAndZ } from \"./XYZProps\";\n\n// cspell:word Cramer\n/**\n * A Ray3d contains\n * * an `origin` point.\n * * a `direction` vector (The vector is not required to be normalized).\n * * an optional weight (number).\n * @public\n */\nexport class Ray3d implements BeJSONFunctions {\n  /** The ray origin */\n  public origin: Point3d;\n  /** The ray direction. This is commonly (but not always) a unit vector. */\n  public direction: Vector3d;\n  /** Numeric annotation. */\n  public a?: number; // optional (e.g. weight)\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workVector2?: Vector3d;\n  private static _workVector3?: Vector3d;\n  private static _workVector4?: Vector3d;\n  private static _workMatrix?: Matrix3d;\n  // constructor (captures references)\n  private constructor(origin: Point3d, direction: Vector3d) {\n    this.origin = origin;\n    this.direction = direction;\n    this.a = undefined;\n  }\n  private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\n    return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\n  }\n  /** Create a ray on the x axis. */\n  public static createXAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 1, 0, 0);\n  }\n  /** Create a ray on the y axis. */\n  public static createYAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 0, 1, 0);\n  }\n  /** Create a ray on the z axis. */\n  public static createZAxis(): Ray3d {\n    return Ray3d._create(0, 0, 0, 0, 0, 1);\n  }\n  /** Create a ray with all zeros. */\n  public static createZero(result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setZero();\n      result.direction.setZero();\n      return result;\n    }\n    return new Ray3d(Point3d.createZero(), Vector3d.createZero());\n  }\n  /**\n   * Test for nearly equal Ray3d objects by comparing their origin and direction members.\n   * @see [[isAlmostEqualPointSet]] to test for rays on the same infinite line.\n   */\n  public isAlmostEqual(other: Ray3d, tolerance: number = Geometry.smallMetricDistance): boolean {\n    return this.origin.isAlmostEqual(other.origin, tolerance) && this.direction.isAlmostEqual(other.direction, tolerance);\n  }\n  /**\n   * Return the dot product of the ray's direction vector with a vector from the ray origin\n   * to the `spacePoint`.\n   * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\n   * of `spacePoint` with respect to the plane.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\n   */\n  public dotProductToPoint(spacePoint: Point3d): number {\n    return this.direction.dotProductStartEnd(this.origin, spacePoint);\n  }\n  /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */\n  public pointToFraction(spacePoint: Point3d): number {\n    return Geometry.safeDivideFraction(\n      this.dotProductToPoint(spacePoint),\n      this.direction.magnitudeSquared(),\n      0,\n    );\n  }\n  /** Return the `spacePoint` projected onto the ray. */\n  public projectPointToRay(spacePoint: Point3d): Point3d {\n    /**\n     * To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\n     * that vector to the ray direction vector \"r\". The projection is \"((v.r)/||r||^2) r\" where \"v.r\" is the dot\n     * product. Note that pointToFraction returns \"(v.r)/||r||^2\".\n     * Note: If r is the normal of a plane, then projection length \"(v.r)/||r||\" is the signed altitude of the\n     * spacePoint with respect to the plane.\n     */\n    return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\n  }\n  /**\n   * Test for rays that describe the same infinite line.\n   * @see [[isAlmostEqual]] for member-by-member comparison.\n   */\n  public isAlmostEqualPointSet(other: Ray3d, options?: PerpParallelOptions): boolean {\n    if (!this.direction.isParallelTo(other.direction, true, false, options))\n      return false;\n    const tol2 = options?.distanceSquaredTol ?? Geometry.smallMetricDistanceSquared;\n    // theoretically, one test below is sufficient, but perform both in case the first passes because of round-off\n    let workPoint = this.projectPointToRay(other.origin);\n    if (other.origin.distanceSquared(workPoint) > tol2)\n      return false;\n    workPoint = other.projectPointToRay(this.origin);\n    if (this.origin.distanceSquared(workPoint) > tol2)\n      return false;\n    return true;\n  }\n  /** Create a ray from origin and direction. */\n  public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\n    if (result) {\n      result.set(origin, direction);\n      return result;\n    }\n    return new Ray3d(origin.clone(), direction.clone());\n  }\n  /**\n   * Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\n   * coordinates and derivatives.\n   * @param weightedPoint `[x,y,z,w]` parts of weighted point.\n   * @param weightedDerivative `[x,y,z,w]` derivatives\n   * @param result\n   */\n  public static createWeightedDerivative(\n    weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d,\n  ): Ray3d | undefined {\n    const w = weightedPoint[3];\n    const dw = weightedDerivative[3];\n    const x = weightedPoint[0];\n    const y = weightedPoint[1];\n    const z = weightedPoint[2];\n    const dx = weightedDerivative[0] * w - weightedPoint[0] * dw;\n    const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\n    const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\n    if (Geometry.isSmallMetricDistance(w))\n      return undefined;\n    const divW = 1.0 / w;\n    const divWW = divW * divW;\n    return Ray3d.createXYZUVW(\n      x * divW, y * divW, z * divW,\n      dx * divWW, dy * divWW, dz * divWW,\n      result,\n    );\n  }\n  /** Create from coordinates of the origin and direction. */\n  public static createXYZUVW(\n    originX: number, originY: number, originZ: number,\n    directionX: number, directionY: number, directionZ: number,\n    result?: Ray3d,\n  ): Ray3d {\n    if (result) {\n      result.getOriginRef().set(originX, originY, originZ);\n      result.getDirectionRef().set(directionX, directionY, directionZ);\n      return result;\n    }\n    return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\n  }\n  /** Capture origin and direction in a new Ray3d. */\n  public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\n    return new Ray3d(origin, direction);\n  }\n  /** Create from (clones of) origin, direction, and numeric weight. */\n  public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setFrom(origin);\n      result.direction.setFrom(direction);\n      result.a = a;\n      return result;\n    }\n    result = new Ray3d(origin.clone(), direction.clone());\n    result.a = a;\n    return result;\n  }\n  /** Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. */\n  public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\n    if (result) {\n      result.origin.setFrom(origin);\n      result.direction.setStartEnd(origin, target);\n      return result;\n    }\n    return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\n  }\n  /** Return a reference to the ray's origin. */\n  public getOriginRef(): Point3d {\n    return this.origin;\n  }\n  /** Return a reference to the ray's direction vector. */\n  public getDirectionRef(): Vector3d {\n    return this.direction;\n  }\n  /** Copy coordinates from origin and direction. */\n  public set(origin: Point3d, direction: Vector3d): void {\n    this.origin.setFrom(origin);\n    this.direction.setFrom(direction);\n  }\n  /** Clone the ray. */\n  public clone(result?: Ray3d): Ray3d {\n    if (result) {\n      result.set(this.origin.clone(), this.direction.clone());\n      return result;\n    }\n    return new Ray3d(this.origin.clone(), this.direction.clone());\n  }\n  /** Return a clone of the transformed instance */\n  public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\n    return Ray3d.create(\n      transform.multiplyPoint3d(this.origin, result?.origin),\n      transform.multiplyVector(this.direction, result?.direction),\n      result,\n    );\n  }\n  /** Create a clone and return the inverse transform of the clone. */\n  public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d | undefined {\n    if (!transform.computeCachedInverse(true))\n      return undefined;\n    return Ray3d.create(\n      transform.multiplyInversePoint3d(this.origin, result?.origin)!,\n      transform.matrix.multiplyInverseXYZAsVector3d(\n        this.direction.x, this.direction.y, this.direction.z, result?.direction,\n      )!,\n      result,\n    );\n  }\n  /** Apply a transform in place. */\n  public transformInPlace(transform: Transform) {\n    transform.multiplyPoint3d(this.origin, this.origin);\n    transform.multiplyVector(this.direction, this.direction);\n  }\n  /** Copy data from another ray. */\n  public setFrom(source: Ray3d): void {\n    this.set(source.origin, source.direction);\n  }\n  /**\n   * Return a point at fractional position along the ray.\n   * * fraction 0 is the ray origin.\n   * * fraction 1 is at the end of the direction vector when placed at the origin.\n   */\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\n    return this.origin.plusScaled(this.direction, fraction, result);\n  }\n  /**\n   * Return a transform for rigid axes at ray origin with z in ray direction.\n   * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\n   */\n  public toRigidZFrame(result?: Transform): Transform {\n    const axes = Ray3d._workMatrix = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY, Ray3d._workMatrix);\n    return Transform.createOriginAndMatrix(this.origin, axes, result);\n  }\n  /** Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. */\n  public setFromJSON(json?: any) {\n    if (!json) {\n      this.origin.set(0, 0, 0);\n      this.direction.set(0, 0, 1);\n      return;\n    }\n    this.origin.setFromJSON(json.origin);\n    this.direction.setFromJSON(json.direction);\n  }\n  /**\n   * Construct a JSON object from this Ray3d.\n   * @return {*} [origin,normal]\n   */\n  public toJSON(): any {\n    return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\n  }\n  /** Create a new ray from json object. See `setFromJSON` for json structure; */\n  public static fromJSON(json?: any) {\n    const result = Ray3d.createXAxis();\n    result.setFromJSON(json);\n    return result;\n  }\n  /**\n   * Try to scale the direction vector to a given `magnitude`.\n   * * Returns `false` if the ray direction is a zero vector.\n   */\n  public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\n    if (this.direction.tryNormalizeInPlace()) {\n      this.direction.scaleInPlace(magnitude);\n      return true;\n    }\n    this.direction.setZero();\n    this.a = 0.0;\n    return false;\n  }\n  /**\n   * Normalize the ray direction in place.\n   * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\n   *    * Save the parameter `a` as the optional `a` member of the ray.\n   *    * Normalize the ray's direction vector.\n   * * If parameter `a` is nearly zero,\n   *    * Set the `a` member to zero.\n   *    * Set the ray's direction vector to zero.\n   * @param a value to be saved (e.g,. area).\n   * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\n   */\n  public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\n    const tolerance = Geometry.smallMetricDistanceSquared;\n    this.a = a;\n    if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\n      return true;\n    this.direction.setZero();\n    this.a = 0.0;\n    return false;\n  }\n  /** Return distance from the ray to point in space. */\n  public distance(spacePoint: Point3d): number {\n    const uu = this.direction.magnitudeSquared();\n    const uv = this.dotProductToPoint(spacePoint);\n    const aa = Geometry.inverseMetricDistanceSquared(uu);\n    if (aa)\n      return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv * uv * aa);\n    else\n      return Math.sqrt(this.origin.distanceSquared(spacePoint));\n  }\n  /**\n   * Return the intersection parameter of the line defined by the ray with a `plane`.\n   * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\n   * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\n   * be `ray.origin + f * ray.direction`. Therefore:\n   *    * if ray intersects the plane at its origin, the function returns f = 0.\n   *    * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\n   *    * if intersects behind the ray origin, the function returns f < 0.\n   *    * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\n   * * Returns `undefined` if the ray and plane are parallel or coplanar.\n   */\n  public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number | undefined {\n    const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\n    const uDotN = this.direction.dotProduct(plane.getNormalRef());\n    const nDotN = this.direction.magnitudeSquared();\n    const aDotN = vectorA.dotProduct(plane.getNormalRef());\n    const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\n    if (undefined === division)\n      return undefined;\n    const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\n    if (undefined === division1)\n      return undefined;\n    if (result) {\n      this.origin.plusScaled(this.direction, division, result);\n    }\n    return division;\n  }\n  /**\n   * Find the intersection of the line defined by the ray with a Range3d.\n   * * Return the range of parameters (on the ray) which are \"inside\" the range.\n   * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\n   */\n  public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\n    if (range.isNull)\n      return Range1d.createNull(result);\n    const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\n    if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\n      && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\n      && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\n    )\n      return interval;\n    return interval;\n  }\n  /**\n   * Compute the intersection of the ray with a triangle.\n   * * This method is faster than `BarycentricTriangle.intersectRay3d`.\n   * @param vertex0 first vertex of the triangle\n   * @param vertex1 second vertex of the triangle\n   * @param vertex2 third vertex of the triangle\n   * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\n   * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\n   * @param parameterTol optional tolerance used to allow intersections just beyond an edge/vertex in barycentric\n   * coordinate space (if tolerance is not provided, Geometry.smallFloatingPoint is used)\n   * @param result optional pre-allocated object to fill and return\n   * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\n  */\n  public intersectionWithTriangle(\n    vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d,\n  ): Point3d | undefined {\n    /**\n     * Let (w,u,v) be the barycentric coordinates of point P wrt the triangle (v0,v1,v2), such that\n     * P = w*v0 + u*v1 + v*v2 = (1-u-v)*v0 + u*v1 + v*v2 = v0 + u*(v1-v0) + v*(v2-v0)\n     *\n     * Then if the ray given by rayOrigin + t*rayVector intersects the triangle at P, we have\n     * v0 + u*(v1-v0) + v*(v2-v0) = rayOrigin + t*rayVector\n     *\n     * This equation can be reformulated as the following linear system:\n     *\n     * [    |          |      |  ] [t]   [      |       ]\n     * [-rayVector  v1-v0   v2-v0] [u] = [rayOrigin - v0]\n     * [    |          |      |  ] [v]   [      |       ]\n     *\n     * Then to find t, u, and v, use Cramer's Rule, the formulation of matrix determinant as column triple product,\n     * and the fact that swapping any 2 vectors in the triple product negates it:\n     *\n     * t = (v2-v0).(rayOrigin - v0) x (v1-v0) / (v1-v0).rayVector x (v2-v0)\n     * u = (rayOrigin - v0).rayVector x (v2-v0) / (v1-v0).rayVector x (v2-v0)\n     * v = -rayVector.(rayOrigin - v0) x (v1-v0) / (v1-v0).rayVector x (v2-v0)\n     *\n     * Note that we verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1:\n     * these 4 checks guarantee that v <= 1 and 0 <= u+v, and so with w = 1-(u+v), we have 0 <= w <= 1.\n     *\n     * More info be found at https://en.wikipedia.org/wiki/Moller-Trumbore_intersection_algorithm.\n     */\n    if (distanceTol === undefined || distanceTol < 0) // we explicitly allow zero tolerance\n      distanceTol = Geometry.smallMetricDistance;\n    if (parameterTol === undefined || parameterTol < 0) // we explicitly allow zero tolerance\n      parameterTol = Geometry.smallFloatingPoint;\n    const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\n    const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\n    const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\n    const a = edge1.dotProduct(h);\n    if (a >= -distanceTol && a <= distanceTol)\n      return undefined; // ray is parallel to the triangle (includes coplanar case)\n    const f = 1.0 / a;\n    const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\n    let u = f * s.dotProduct(h);\n    if (u < 0.0) {\n      if (u >= -parameterTol)\n        u = 0.0;\n      else\n        return undefined; // ray does not intersect the triangle\n    } else if (u > 1.0) {\n      if (u <= 1.0 + parameterTol)\n        u = 1.0;\n      else\n        return undefined; // ray does not intersect the triangle\n    }\n    const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\n    let v = f * this.direction.dotProduct(q);\n    if (v < 0.0) {\n      if (v >= -parameterTol)\n        v = 0.0;\n      else\n        return undefined;  // ray does not intersect the triangle\n    } else if (u + v > 1.0 + parameterTol) {\n      return undefined;  // ray does not intersect the triangle\n    }\n    // at this stage, we know the line (parameterized as the ray) intersects the triangle\n    const t = f * edge2.dotProduct(q);\n    if (t < -distanceTol) // line intersection but not ray intersection\n      return undefined;\n    return this.origin.plusScaled(this.direction, t, result); // ray intersection\n  }\n  /**\n   * Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\n   * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v  = targetPoint - q`.\n   */\n  public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\n    const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\n    const uu = this.direction.magnitudeSquared();\n    const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\n    const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\n    return vectorV.plusScaled(this.direction, -fraction, result);\n  }\n  /**\n   * Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\n   * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\n   * annotation (in member `approachType`) indicating one of these relationships:\n   *   * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\n   * in detailA and detailB\n   *   * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\n   * The rays are skew in space.\n   *   * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\n   * fractions and points are a representative single common point.\n   *   * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\n   * at the minimum distance\n   */\n  public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\n    const intersectionFractions = Vector2d.create();\n    let fractionA, fractionB;\n    let pointA, pointB;\n    let pairType;\n    if (\n      SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\n        rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\n        rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\n        intersectionFractions,\n      )\n    ) {\n      fractionA = intersectionFractions.x;\n      fractionB = intersectionFractions.y;\n      pointA = rayA.fractionToPoint(fractionA);\n      pointB = rayB.fractionToPoint(fractionB);\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\n        CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\n    } else {\n      fractionB = 0.0;\n      fractionA = rayA.pointToFraction(rayB.origin);\n      pointA = rayA.fractionToPoint(fractionA);\n      pointB = rayB.fractionToPoint(fractionB);\n      pairType = pointA.isAlmostEqualMetric(pointB) ?\n        CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\n    }\n    const pair = CurveLocationDetailPair.createCapture(\n      CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\n      CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\n    pair.approachType = pairType;\n    return pair;\n  }\n  /**\n   * Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\n   * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\n   * @param pt1 start point of the interpolation.\n   * @param fraction fractional position between points.\n   * @param pt2 end point of the interpolation.\n   * @param tangentScale scale factor to apply to the startToEnd vector.\n   * @param result optional receiver.\n   */\n  public static interpolatePointAndTangent(\n    pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d,\n  ): Ray3d {\n    result = result ?? Ray3d.createZero();\n    const dx = pt2.x - pt1.x;\n    const dy = pt2.y - pt1.y;\n    const dz = pt2.z - pt1.z;\n    result.direction.set(tangentScale * dx, tangentScale * dy, tangentScale * dz);\n    if (fraction <= 0.5)\n      result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\n    else {\n      const t: number = fraction - 1.0;\n      result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\n    }\n    return result;\n  }\n}\n"]}

package/lib/esm/geometry3d/ReusableObjectCache.d.ts

@@ -1,55 +1,65 @@
-import { GrowableXYZArray } from "./GrowableXYZArray";
-import { IndexedXYZCollection } from "./IndexedXYZCollection";
 /** @packageDocumentation
  * @module ArraysAndInterfaces
  */
+import { GrowableXYZArray } from "./GrowableXYZArray";
+import { IndexedXYZCollection } from "./IndexedXYZCollection";
 /**
- * abstract class managing an array of objects of type T, available for reuse by trusted callers.
- * * Derived class must implement these methods:
- *   * `createForCache()` -- create a new, ready-to-use object
- *   * `clearForCache (data: T)` -- tidy up `data` so it can be reused.
- * @internal
+ * Abstract class managing an array of objects of type T, available for reuse by trusted callers.
+ * * Derived class must implement `createForCache` and `clearForCache`.
+ * @public
  */
 export declare abstract class ReusableObjectCache<T> {
-    protected abstract clearForCache(data: T): void;
-    protected abstract createForCache(): T;
     private _cachedObjects;
-    numDrop: number;
-    numCreate: number;
-    numReuse: number;
+    private _numDrop;
+    private _numCreate;
+    private _numReuse;
     /**
-     * create a new cache for objects of type T
+     * Create a new cache for objects of type T.
      */
     protected constructor();
-    /** Present `data` for storage in the cache, and hence reuse by any subsequent `grabFromCache`
-     *   * `data` will be sent to `clearForCache`.
-     *   * caller should never refer to this instance again.
+    /** Create a new, ready-to-use object. */
+    protected abstract createForCache(): T;
+    /** Tidy up `data` so it can be reused. */
+    protected abstract clearForCache(data: T): void;
+    /**
+     * Present `data` for storage in the cache, and hence reuse by any subsequent [[grabFromCache]].
+     * * `data` will be sent to [[clearForCache]].
+     * * The caller should never refer to `data` again.
+     * @param data object to return to the cache.
      */
     dropToCache(data: T | undefined): void;
     /**
-     * grab an object from the cache.
-     *  * The returned object becomes property of the caller.
-     *  * That is, the cache does not remember it for any further management
-     * @param data
+     * Grab an object from the cache.
+     * * The returned object becomes property of the caller: the cache does not remember it for any further management.
      */
     grabFromCache(): T;
-    /** Drop all entries of data[] to the cache.
-     * @param data on input, the data to drop. on output, data is an empty array.
+    /**
+     * Drop multiple objects to the cache.
+     * @param data on input, the data to drop. On output, data is an empty array.
      */
     dropAllToCache(data: T[]): void;
 }
 /**
- * Cache of GrowableXYZArray.
- * Intended for use by (for instance) clipping methods that can be structured to have disciplined reuse of a small number of arrays for a large number of steps.
- * @internal
+ * Cache of [[GrowableXYZArray]].
+ * * Example usage includes clipping methods that can be structured to have disciplined reuse of a small number of arrays for a large number of steps.
+ * @public
  */
 export declare class GrowableXYZArrayCache extends ReusableObjectCache<GrowableXYZArray> {
-    protected clearForCache(data: GrowableXYZArray): void;
-    protected createForCache(): GrowableXYZArray;
+    /**
+     * Create a new cache for [[GrowableXYZArray]] objects.
+     */
     constructor();
     /**
-     * Grab an array from the cache and immediately fill from a source
-     * @param source
+     * Create a new, ready-to-use [[GrowableXYZArray]].
+     * @param numPoints initial capacity in xyz triples (default 10)
+     * @param growthFactor reallocation expansion (default 1.5)
+    */
+    protected createForCache(numPoints?: number, growthFactor?: number): GrowableXYZArray;
+    /** Tidy up `data` so it can be reused. */
+    protected clearForCache(data: GrowableXYZArray): void;
+    /**
+     * Grab an array from the cache and immediately fill from a source.
+     * @param source xyz to copy into the returned array.
      */
     grabAndFill(source: IndexedXYZCollection): GrowableXYZArray;
 }

package/lib/esm/geometry3d/ReusableObjectCache.d.ts.map

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