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

package/lib/esm/numerics/SmallSystem.d.ts.map

@@ -1 +1 @@
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package/lib/esm/numerics/SmallSystem.js

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

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

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

package/lib/esm/polyface/FacetOrientation.d.ts

@@ -11,7 +11,7 @@ export declare class FacetOrientationFixup {
     private constructor();
     private edgeIdToFacetOrientation;
     /**
-     * RETURN FALSE IF ANY EDGE HAS 3 ORE MORE FACETS
+     * RETURN FALSE IF ANY EDGE HAS 3 OR MORE FACETS
      */
     private setupUnoriented;
     private recordFacetInComponent;

package/lib/esm/polyface/FacetOrientation.js

@@ -47,7 +47,7 @@ export class FacetOrientationFixup {
         return this._facetOrientation[facetIndex];
     }
     /**
-     * RETURN FALSE IF ANY EDGE HAS 3 ORE MORE FACETS
+     * RETURN FALSE IF ANY EDGE HAS 3 OR MORE FACETS
      */
     setupUnoriented() {
         this._edges.sort();

package/lib/esm/polyface/FacetOrientation.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Polyface\n */\nimport { IndexedEdgeMatcher, SortableEdge } from \"./IndexedEdgeMatcher\";\nimport { IndexedPolyface, PolyfaceVisitor } from \"./Polyface\";\nimport { PolyfaceQuery } from \"./PolyfaceQuery\";\n\nclass OrientedComponentData {\n  public numPositive: number;\n  public numNegative: number;\n  public firstEdgeIndex: number;\n  public constructor(firstEdgeIndex: number) {\n    this.numPositive = this.numNegative = 0;\n    this.firstEdgeIndex = firstEdgeIndex;\n  }\n  // announce a new facet orientation.\n  public recordOrientation(orientation: number) {\n    if (orientation > 0)\n      this.numPositive++;\n    else if (orientation < 0)\n      this.numNegative++;\n  }\n}\nexport class FacetOrientationFixup {\n  private _edges: IndexedEdgeMatcher;\n  private _edgeToPartnerEdge: number[];\n  private _edgeToEdgeInComponent: number[];\n  private _facetToFirstEdgeInComponent: number[];\n  private _facetOrientation: number[];\n  private _components: OrientedComponentData[];\n  private _visitor: PolyfaceVisitor;\n  private _mesh: IndexedPolyface; // we could get by with just a Polyface/Visitor but for the call to reverseSingleFacet\n  private constructor(mesh: IndexedPolyface) {\n    this._visitor = mesh.createVisitor(1);\n    this._edges = PolyfaceQuery.createIndexedEdges(this._visitor);\n    this._edgeToPartnerEdge = [];\n    this._edgeToEdgeInComponent = [];\n    this._facetToFirstEdgeInComponent = [];\n    this._facetOrientation = [];\n    this._components = [];\n    this._mesh = mesh;\n  }\n\n  private edgeIdToFacetOrientation(edgeId: number): number {\n    const facetIndex = this._edges.edges[edgeId].facetIndex;\n    return this._facetOrientation[facetIndex];\n  }\n  /**\n   * RETURN FALSE IF ANY EDGE HAS 3 ORE MORE FACETS\n   */\n  private setupUnoriented(): boolean {\n    this._edges.sort();\n    const edgeArray = this._edges.edges;\n    // make each edge a singleton with itself as successor . .\n    let maxFacetIndex = -1;\n    const numEdges = this._edges.edges.length;\n    for (let i = 0; i < numEdges; i++) {\n      const facetIndex = this._edges.edges[i].facetIndex;\n      if (facetIndex > maxFacetIndex)\n        maxFacetIndex = facetIndex;\n      this._edgeToEdgeInComponent.push(i);\n      this._edgeToPartnerEdge.push(i);\n    }\n    for (let i = 0; i <= maxFacetIndex; i++) {\n      this._facetToFirstEdgeInComponent.push(-1);\n      this._facetOrientation.push(0);\n    }\n    // make each edge part of a component for only its own facet\n    // (This component exists only ephemerally -- it is not referenced by true component)\n    // (swapping entries in the cyclic loops merges loops.)\n    for (let i = 0; i < numEdges; i++) {\n      const facetIndex = this._edges.edges[i].facetIndex;\n      const j = this._facetToFirstEdgeInComponent[facetIndex];\n      if (j === -1)\n        this._facetToFirstEdgeInComponent[facetIndex] = i;\n      else {\n        FacetOrientationFixup.swapEntries(this._edgeToEdgeInComponent, i, j);\n      }\n    }\n    // make contiguous partner edges cycles in edgeToPartnerEdge.\n    // edge i is initially always a singleton.\n    for (let edgeIndex0 = 0; edgeIndex0 < numEdges; edgeIndex0++) {\n      let edgeIndex1 = edgeIndex0 + 1;\n      while (edgeIndex1 < numEdges && SortableEdge.areUndirectedPartners(edgeArray[edgeIndex0], edgeArray[edgeIndex1])) {\n        // splice the loops ...\n        FacetOrientationFixup.swapEntries(this._edgeToPartnerEdge, edgeIndex0, edgeIndex1);\n        edgeIndex1++;\n      }\n      // BUT .. everything else will fail if more than 2 anywhere .....\n      if (edgeIndex1 > edgeIndex0 + 2)\n        return false;\n    }\n    return true;\n  }\n  private recordFacetInComponent(facetIndex: number, orientation: number) {\n    const componentData = this._components[this._components.length - 1];\n    this._facetOrientation[facetIndex] = orientation;\n    componentData.recordOrientation(orientation);\n  }\n\n  private initializeComponent(edgeIndex: number) {\n    const facetIndex = this._edges.edges[edgeIndex].facetIndex;\n    this._components.push(new OrientedComponentData(edgeIndex));\n    this.recordFacetInComponent(facetIndex, 1);\n  }\n  private _workArray: number[] = [];\n\n  private pushFacetEdgesOnStack(seedEdge: number, stack: number[]) {\n    FacetOrientationFixup.extractCyclicIndices(this._edgeToEdgeInComponent, seedEdge, this._workArray);\n    for (const edgeIndex of this._workArray) {\n      stack.push(edgeIndex);\n    }\n  }\n  /**\n   * * Run flood search from every possible seed, assigning positive and negative orientations\n   * * Halt and return false if flood detects Klein bottle effects.\n   * @return true if flood\n   */\n  private doFlood(): boolean {\n    // Finally time for flood search.\n    const edgeStack: number[] = [];\n    const edgeArray = this._edges.edges;\n    const numEdges = edgeArray.length;\n    const neighborEdges: number[] = [];\n    for (let seedEdgeIndex = 0; seedEdgeIndex < numEdges; seedEdgeIndex++) {\n      if (this.edgeIdToFacetOrientation(seedEdgeIndex) === 0) {\n        edgeStack.length = 0;\n        this.initializeComponent(seedEdgeIndex);\n        this.pushFacetEdgesOnStack(seedEdgeIndex, edgeStack);\n        // An edge on the stack is part of the current component.\n        // Its partners may or may not have been visited.\n        let baseEdgeIndex: number | undefined;\n        while (undefined !== (baseEdgeIndex = edgeStack.pop())) {\n          const baseFacet = edgeArray[baseEdgeIndex].facetIndex;\n          const baseOrientation = this._facetOrientation[baseFacet];\n          FacetOrientationFixup.extractCyclicIndices(this._edgeToPartnerEdge, baseEdgeIndex, neighborEdges);\n          for (const neighborEdgeIndex of neighborEdges) {\n            if (neighborEdgeIndex !== baseEdgeIndex) {\n              const neighborFacet = edgeArray[neighborEdgeIndex].facetIndex;\n              const neighborOrientation = this._facetOrientation[neighborFacet];\n              if (neighborOrientation === 0) {\n                // first visit to this facet !\n                // orientations of baseEdge and neighborEdge tell us how to orient it.\n                const newOrientation = SortableEdge.areDirectedPartners(edgeArray[baseEdgeIndex], edgeArray[neighborEdgeIndex]) ? baseOrientation : -baseOrientation;\n                this.recordFacetInComponent(neighborFacet, newOrientation);\n                this.pushFacetEdgesOnStack(neighborEdgeIndex, edgeStack);\n                FacetOrientationFixup.swapEntries(this._edgeToEdgeInComponent, baseEdgeIndex, neighborEdgeIndex);\n              } else {\n                // looking across to an already-visited facet ..\n                const edgeOrientation = SortableEdge.relativeOrientation(edgeArray[baseEdgeIndex], edgeArray[neighborEdgeIndex]);\n                if (edgeOrientation * baseOrientation * neighborOrientation > 0)\n                  return false;\n              }\n            }\n          }\n        }\n      }\n    }\n    // fall through when floods have completed in all components, with no Klein bottle effects\n    return true;\n  }\n  private doFacetReversals(): number {\n    let numReverse = 0;\n    for (this._visitor.reset(); 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Polyface\n */\nimport { IndexedEdgeMatcher, SortableEdge } from \"./IndexedEdgeMatcher\";\nimport { IndexedPolyface, PolyfaceVisitor } from \"./Polyface\";\nimport { PolyfaceQuery } from \"./PolyfaceQuery\";\n\nclass OrientedComponentData {\n  public numPositive: number;\n  public numNegative: number;\n  public firstEdgeIndex: number;\n  public constructor(firstEdgeIndex: number) {\n    this.numPositive = this.numNegative = 0;\n    this.firstEdgeIndex = firstEdgeIndex;\n  }\n  // announce a new facet orientation.\n  public recordOrientation(orientation: number) {\n    if (orientation > 0)\n      this.numPositive++;\n    else if (orientation < 0)\n      this.numNegative++;\n  }\n}\nexport class FacetOrientationFixup {\n  private _edges: IndexedEdgeMatcher;\n  private _edgeToPartnerEdge: number[];\n  private _edgeToEdgeInComponent: number[];\n  private _facetToFirstEdgeInComponent: number[];\n  private _facetOrientation: number[];\n  private _components: OrientedComponentData[];\n  private _visitor: PolyfaceVisitor;\n  private _mesh: IndexedPolyface; // we could get by with just a Polyface/Visitor but for the call to reverseSingleFacet\n  private constructor(mesh: IndexedPolyface) {\n    this._visitor = mesh.createVisitor(1);\n    this._edges = PolyfaceQuery.createIndexedEdges(this._visitor);\n    this._edgeToPartnerEdge = [];\n    this._edgeToEdgeInComponent = [];\n    this._facetToFirstEdgeInComponent = [];\n    this._facetOrientation = [];\n    this._components = [];\n    this._mesh = mesh;\n  }\n\n  private edgeIdToFacetOrientation(edgeId: number): number {\n    const facetIndex = this._edges.edges[edgeId].facetIndex;\n    return this._facetOrientation[facetIndex];\n  }\n  /**\n   * RETURN FALSE IF ANY EDGE HAS 3 OR MORE FACETS\n   */\n  private setupUnoriented(): boolean {\n    this._edges.sort();\n    const edgeArray = this._edges.edges;\n    // make each edge a singleton with itself as successor . .\n    let maxFacetIndex = -1;\n    const numEdges = this._edges.edges.length;\n    for (let i = 0; i < numEdges; i++) {\n      const facetIndex = this._edges.edges[i].facetIndex;\n      if (facetIndex > maxFacetIndex)\n        maxFacetIndex = facetIndex;\n      this._edgeToEdgeInComponent.push(i);\n      this._edgeToPartnerEdge.push(i);\n    }\n    for (let i = 0; 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seedEdgeIndex < numEdges; seedEdgeIndex++) {\n      if (this.edgeIdToFacetOrientation(seedEdgeIndex) === 0) {\n        edgeStack.length = 0;\n        this.initializeComponent(seedEdgeIndex);\n        this.pushFacetEdgesOnStack(seedEdgeIndex, edgeStack);\n        // An edge on the stack is part of the current component.\n        // Its partners may or may not have been visited.\n        let baseEdgeIndex: number | undefined;\n        while (undefined !== (baseEdgeIndex = edgeStack.pop())) {\n          const baseFacet = edgeArray[baseEdgeIndex].facetIndex;\n          const baseOrientation = this._facetOrientation[baseFacet];\n          FacetOrientationFixup.extractCyclicIndices(this._edgeToPartnerEdge, baseEdgeIndex, neighborEdges);\n          for (const neighborEdgeIndex of neighborEdges) {\n            if (neighborEdgeIndex !== baseEdgeIndex) {\n              const neighborFacet = edgeArray[neighborEdgeIndex].facetIndex;\n              const neighborOrientation = this._facetOrientation[neighborFacet];\n              if (neighborOrientation === 0) {\n                // first visit to this facet !\n                // orientations of baseEdge and neighborEdge tell us how to orient it.\n                const newOrientation = SortableEdge.areDirectedPartners(edgeArray[baseEdgeIndex], edgeArray[neighborEdgeIndex]) ? baseOrientation : -baseOrientation;\n                this.recordFacetInComponent(neighborFacet, newOrientation);\n                this.pushFacetEdgesOnStack(neighborEdgeIndex, edgeStack);\n                FacetOrientationFixup.swapEntries(this._edgeToEdgeInComponent, baseEdgeIndex, neighborEdgeIndex);\n              } else {\n                // looking across to an already-visited facet ..\n                const edgeOrientation = SortableEdge.relativeOrientation(edgeArray[baseEdgeIndex], edgeArray[neighborEdgeIndex]);\n                if (edgeOrientation * baseOrientation * neighborOrientation > 0)\n                  return false;\n              }\n            }\n          }\n        }\n      }\n    }\n    // fall through when floods have completed in all components, with no Klein bottle effects\n    return true;\n  }\n  private doFacetReversals(): number {\n    let numReverse = 0;\n    for (this._visitor.reset(); 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