@itwin/core-geometry 5.1.1 → 5.1.3-experimental.1

package/lib/cjs/geometry3d/Ellipsoid.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 */\n\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\nimport { Clipper } from \"../clipping/ClipUtils\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\nimport { AnnounceNumberNumber, AnnounceNumberNumberCurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { AxisIndex, AxisOrder, Geometry } from \"../Geometry\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { Order3Bezier } from \"../numerics/BezierPolynomials\";\nimport { Newton2dUnboundedWithDerivative, NewtonEvaluatorRRtoRRD } from \"../numerics/Newton\";\nimport { SineCosinePolynomial, SphereImplicit, TrigPolynomial } from \"../numerics/Polynomials\";\nimport { TriDiagonalSystem } from \"../numerics/TriDiagonalSystem\";\nimport { Angle } from \"./Angle\";\nimport { AngleSweep } from \"./AngleSweep\";\nimport { UVSurface } from \"./GeometryHandler\";\nimport { LongitudeLatitudeNumber } from \"./LongitudeLatitudeAltitude\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Range1d, Range3d } from \"./Range\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\nimport { XYAndZ } from \"./XYZProps\";\n\n/**\n * For one component (x,y, or z) on the sphere\n *    f(theta,phi) = c + (u * cos(theta) + v * sin(theta)) * cos(phi) + w * sin(phi)\n *\n * For the equator circle, phi=0, cos(phi) = 1, sin(phi)=0\n *           f = u * cos(theta) + v * sin(theta).\n * with derivative\n *          df / dTheta = - u * sin(theta) + v * cos(theta)\n * whose zero is            tan(theta) = v/u\n * (and that has two solutions 180 degrees apart)\n * Then with that theta let      A = u * cos(theta) + v * sin(theta)\n *           f = A * cos(phi) + w * sin(phi)\n *          df/dPhi = - A * sin(phi) + w * cos(phi)\n *            tan(phi) = w / A\n * @internal\n */\nclass EllipsoidComponentExtrema {\n  public c: number;\n  public u: number;\n  public v: number;\n  public w: number;\n  public axisIndex: AxisIndex;\n  public theta0Radians: number;\n  public phi0Radians: number;\n  public cosTheta0: number;\n  public sinTheta0: number;\n  public cosPhi0: number;\n  public sinPhi0: number;\n  // temp vars used in arc range evaluation:\n  private _axisRange: Range1d;\n  private _trigForm: SineCosinePolynomial;\n  public constructor(c: number, u: number, v: number, w: number, axisIndex: AxisIndex) {\n    this.c = c;\n    this.u = u;\n    this.v = v;\n    this.w = w;\n    this.axisIndex = axisIndex;\n    this.theta0Radians = Math.atan2(v, u);\n    this.cosTheta0 = Math.cos(this.theta0Radians);\n    this.sinTheta0 = Math.sin(this.theta0Radians);\n    const A0 = u * this.cosTheta0 + v * this.sinTheta0;\n    this.phi0Radians = Math.atan2(w, A0);\n    this.cosPhi0 = Math.cos(this.phi0Radians);\n    this.sinPhi0 = Math.sin(this.phi0Radians);\n    this._axisRange = Range1d.createNull();\n    this._trigForm = new SineCosinePolynomial(0, 0, 0);\n\n  }\n  /**\n   * Create a component object with coefficients from a row of a `Transform`.\n   * @param transform source transform.\n   * @param axisIndex row index within the transform.\n   */\n  public static createTransformRow(transform: Transform, axisIndex: AxisIndex): EllipsoidComponentExtrema {\n    const matrix = transform.matrix;\n    return new EllipsoidComponentExtrema(transform.origin.at(axisIndex), matrix.at(axisIndex, 0), matrix.at(axisIndex, 1), matrix.at(axisIndex, 2), axisIndex);\n  }\n  public extendRangeForSmoothSurfacePoints(range: Range3d, theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number) {\n    const delta = (this.u * this.cosTheta0 + this.v * this.sinTheta0) * this.cosPhi0 + this.w * this.sinPhi0;\n    if (AngleSweep.isRadiansInStartEnd(this.theta0Radians, theta0Radians, theta1Radians)\n      && AngleSweep.isRadiansInStartEnd(this.phi0Radians, phi0Radians, phi1Radians, false)) {\n      range.extendSingleAxis(this.c + delta, this.axisIndex);\n    }\n    const thetaRadians = this.theta0Radians + Math.PI;\n    const phiRadians = -this.phi0Radians;\n    if (AngleSweep.isRadiansInStartEnd(thetaRadians, theta0Radians, theta1Radians)\n      && AngleSweep.isRadiansInStartEnd(phiRadians, phi0Radians, phi1Radians, false)) {\n      // cosTheta and sinTheta are both negated\n      // sinPhi is negated\n      // delta is negated\n      range.extendSingleAxis(this.c - delta, this.axisIndex);\n    }\n  }\n  /**\n   * Extend range to include extrema of a phi-bounded arc at constant theta (i.e. a polar circle)\n   * @param range range to extend\n   * @param thetaRadians theta for arc\n   * @param phi0Radians limit value on arc sweep\n   * @param phi1Radians limit value on arc sweep\n   */\n  public extendRangeForConstantThetaArc(range: Range3d, thetaRadians: number, phi0Radians: number, phi1Radians: number) {\n    const cosTheta = Math.cos(thetaRadians);\n    const sinTheta = Math.sin(thetaRadians);\n    this._trigForm.set(this.c, (this.u * cosTheta + this.v * sinTheta), this.w);\n    this._trigForm.rangeInStartEndRadians(phi0Radians, phi1Radians, this._axisRange);\n    range.extendSingleAxis(this._axisRange.low, this.axisIndex);\n    range.extendSingleAxis(this._axisRange.high, this.axisIndex);\n  }\n\n  /**\n   * Extend range to include extrema of a theta-bounded arc at constant phi (i.e. a circle parallel to the equator)\n   * @param range range to extend\n   * @param phiRadians phi for arc\n   * @param theta0Radians limit value on arc sweep\n   * @param theta1Radians limit value on arc sweep\n   */\n  public extendRangeForConstantPhiArc(range: Range3d, theta0Radians: number, theta1Radians: number, phiRadians: number) {\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    this._trigForm.set(this.c + this.w * sinPhi, this.u * cosPhi, this.v * cosPhi);\n    this._trigForm.rangeInStartEndRadians(theta0Radians, theta1Radians, this._axisRange);\n    range.extendSingleAxis(this._axisRange.low, this.axisIndex);\n    range.extendSingleAxis(this._axisRange.high, this.axisIndex);\n  }\n}\n\n/**\n * A complete unit sphere mapped by an arbitrary [[Transform]].\n * * The (unit) sphere parameterization with respect to longitude `theta` and latitude `phi` is\n *    * `u = cos(theta) * cos (phi)`\n *    * `v = sin(theta) * cos(phi)`\n *    * `w = sin(phi)`\n * * The sphere (u,v,w) multiply the x,y,z columns of the Ellipsoid transform.\n * * Compare to [[Sphere]], which has the same parameterization, but is a [[SolidPrimitive]] with latitude sweep.\n * @public\n */\nexport class Ellipsoid implements Clipper {\n  private _transform: Transform;\n  private _workUnitVectorA: Vector3d;\n  private _workUnitVectorB: Vector3d;\n  private _workPointA: Point3d;\n  private _workPointB: Point3d;\n  private constructor(transform: Transform) {\n    this._transform = transform;\n    this._workUnitVectorA = Vector3d.create();\n    this._workUnitVectorB = Vector3d.create();\n    this._workPointA = Point3d.create();\n    this._workPointB = Point3d.create();\n  }\n  /** Create with a clone (not capture) with given transform.\n   * * If transform is undefined, create a unit sphere.\n   */\n  public static create(matrixOrTransform?: Transform | Matrix3d): Ellipsoid {\n    if (matrixOrTransform instanceof Transform)\n      return new Ellipsoid(matrixOrTransform);\n    else if (matrixOrTransform instanceof Matrix3d)\n      return new Ellipsoid(Transform.createOriginAndMatrix(undefined, matrixOrTransform));\n    else\n      return new Ellipsoid(Transform.createIdentity());\n  }\n  /**\n   * Create a transform with given center and directions, applying the radii as multipliers for the respective columns of the axes.\n   * @param center center of ellipsoid\n   * @param axes x,y,z directions are columns of this matrix\n   * @param radiusX multiplier to be applied to the x direction\n   * @param radiusY multiplier to be applied to the y direction\n   * @param radiusZ  multiplier to be applied to the z direction\n   */\n  public static createCenterMatrixRadii(center: Point3d, axes: Matrix3d | undefined, radiusX: number, radiusY: number, radiusZ: number): Ellipsoid {\n    let scaledAxes;\n    if (axes === undefined)\n      scaledAxes = Matrix3d.createScale(radiusX, radiusY, radiusZ)!;\n    else\n      scaledAxes = axes.scaleColumns(radiusX, radiusY, radiusZ);\n    return new Ellipsoid(Transform.createOriginAndMatrix(center, scaledAxes));\n  }\n  /** Return a (REFERENCE TO) the transform from world space to the mapped sphere space.\n   * * This maps coordinates \"relative to the sphere\" to world.\n   * * Its inverse maps world coordinates into the sphere space.\n   *   * In the sphere space, an xyz (vector from origin) with magnitude equal to 1 is ON the sphere (hence its world image is ON the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude less than 1 is INSIDE the sphere (hence its world image is INSIDE the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude greater than 1 is OUTSIDE the sphere (hence its world image is OUTSIDE the ellipsoid)\n   */\n  public get transformRef(): Transform { return this._transform; }\n  /**\n   * * Convert a world point to point within the underlying mapped sphere space.\n   *   * In the sphere space, an xyz (vector from origin) with magnitude equal to 1 is ON the sphere (hence its world image is ON the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude less than 1 is INSIDE the sphere (hence its world image is INSIDE the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude greater than 1 is OUTSIDE the sphere (hence its world image is OUTSIDE the ellipsoid)\n   * * This is undefined in the highly unusual case that the ellipsoid frame is singular.\n   */\n  public worldToLocal(worldPoint: XYAndZ, result?: Point3d): Point3d | undefined {\n    return this._transform.multiplyInversePoint3d(worldPoint, result);\n  }\n  /**\n   * * Convert a point within the underlying mapped sphere space to world coordinates.\n   *   * In the sphere space, an xyz (vector from origin) with magnitude equal to 1 is ON the sphere (hence its world image is ON the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude less than 1 is INSIDE the sphere (hence its world image is INSIDE the ellipsoid)\n   *   * In the sphere space, an xyz (vector from origin) with magnitude greater than 1 is OUTSIDE the sphere (hence its world image is OUTSIDE the ellipsoid)\n   */\n  public localToWorld(localPoint: XYAndZ, result?: Point3d): Point3d {\n    return this._transform.multiplyPoint3d(localPoint, result);\n  }\n\n  /** return a clone with same coordinates */\n  public clone(): Ellipsoid {\n    return new Ellipsoid(this._transform.clone());\n  }\n  /** test equality of the 4 points */\n  public isAlmostEqual(other: Ellipsoid): boolean {\n    return this._transform.isAlmostEqual(other._transform);\n  }\n  /** Apply the transform to each point */\n  public tryTransformInPlace(transform: Transform): boolean {\n    transform.multiplyTransformTransform(this._transform, this._transform);\n    return true;\n  }\n  /**\n   * return a cloned and transformed ellipsoid.\n   * @param transform\n   */\n  public cloneTransformed(transform: Transform): Ellipsoid | undefined {\n    const result = this.clone();\n    result.tryTransformInPlace(transform);\n    return result;\n  }\n  /** Find the closest point of the (patch of the) ellipsoid.\n   * * In general there are multiple points where a space point projects onto an ellipse.\n   * * This searches for only one point, using heuristics which are reliable for points close to the surface but not for points distant from highly skewed ellipsoid\n   */\n  public projectPointToSurface(spacePoint: Point3d): LongitudeLatitudeNumber | undefined {\n    const searcher = new EllipsoidClosestPoint(this);\n    return searcher.searchClosestPoint(spacePoint);\n  }\n\n  /** Find the silhouette of the ellipsoid as viewed from a homogeneous eyepoint.\n   * * Returns undefined if the eyepoint is inside the ellipsoid\n   */\n  public silhouetteArc(eyePoint: Point4d): Arc3d | undefined {\n    const localEyePoint = this._transform.multiplyInversePoint4d(eyePoint);\n    if (localEyePoint !== undefined) {\n      // localEyePoint is now looking at a unit sphere centered at the origin.\n      // the plane through the silhouette is the eye point with z negated ...\n      const localPlaneA = Point4d.create(localEyePoint.x, localEyePoint.y, localEyePoint.z, -localEyePoint.w);\n      const localPlaneB = localPlaneA.toPlane3dByOriginAndUnitNormal();\n      // if the silhouette plane has origin inside the sphere, there is a silhouette with center at the plane origin.\n      if (localPlaneB) {\n        const rr = 1.0 - localPlaneB.getOriginRef().magnitudeSquared();  // squared distance radius of silhouette arc\n        if (rr > 0.0 && rr <= 1.0) {\n          const arc = Arc3d.createCenterNormalRadius(localPlaneB.getOriginRef(), localPlaneB.getNormalRef(), Math.sqrt(rr));\n          if (arc.tryTransformInPlace(this._transform))\n            return arc;\n        }\n      }\n    }\n    return undefined;\n  }\n\n  /** Compute intersections with a ray.\n   * * Return the number of intersections\n   * * Fill any combinations of arrays of\n   *    * rayFractions = fractions along the ray\n   *    * xyz = xyz intersection coordinates points in space\n   *    * thetaPhiRadians = sphere longitude and latitude in radians.\n   * * For each optional array, caller must of course initialize an array (usually empty)\n   * * return 0 if ray length is too small.\n   */\n  public intersectRay(ray: Ray3d, rayFractions: number[] | undefined, xyz: Point3d[] | undefined, thetaPhiRadians: LongitudeLatitudeNumber[] | undefined): number {\n    if (xyz)\n      xyz.length = 0;\n    if (thetaPhiRadians !== undefined)\n      thetaPhiRadians.length = 0;\n    if (rayFractions)\n      rayFractions.length = 0;\n    // if ray comes in unit vector in large ellipsoid, localRay direction is minuscule.\n    // use a ray scaled up so its direction vector magnitude is comparable to the ellipsoid radiusX\n    const ray1 = ray.clone();\n    const a0 = ray.direction.magnitude();\n    const aX = this._transform.matrix.columnXMagnitude();\n    const scale = Geometry.conditionalDivideCoordinate(aX, a0);\n    if (scale === undefined)\n      return 0;\n    ray1.direction.scaleInPlace(scale);\n    const localRay = ray1.cloneInverseTransformed(this._transform);\n    if (localRay !== undefined) {\n      const n = SphereImplicit.intersectSphereRay(Point3d.create(0, 0, 0), 1.0, localRay, rayFractions, xyz, thetaPhiRadians);\n      if (rayFractions !== undefined) {\n        for (let i = 0; i < rayFractions.length; i++)\n          rayFractions[i] *= scale;\n      }\n      if (xyz !== undefined) {\n        this._transform.multiplyPoint3dArrayInPlace(xyz);\n      }\n      return n;\n    }\n    return 0;\n  }\n\n  /** Return the range of a uv-aligned patch of the sphere. */\n  public patchRangeStartEndRadians(theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number, result?: Range3d): Range3d {\n    const xExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 0);\n    const yExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 1);\n    const zExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 2);\n    if (!result)\n      result = Range3d.createNull();\n    else\n      result.setNull();\n    // Range extrema can occur at:\n    //  * 2 smooth surface points in each direction\n    //  * along low and high phi boundary arcs\n    //  * along low and high theta boundary arcs\n    // smooth surface extrema . ..\n    xExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\n    yExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\n    zExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\n    //\n    if (!Angle.isFullCircleRadians(theta1Radians - theta0Radians)) {\n      xExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\n      yExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\n      zExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\n\n      xExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\n      yExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\n      zExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\n    }\n    if (!Angle.isHalfCircleRadians(phi1Radians - phi0Radians)) {\n      xExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\n      yExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\n      zExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\n\n      xExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\n      yExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\n      zExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\n    }\n    return result;\n  }\n  /**\n   * Evaluate a point on the ellipsoid at angles give in radians.\n   * @param thetaRadians longitude, in radians\n   * @param phiRadians latitude, in radians\n   * @param result optional point result\n   */\n  public radiansToPoint(thetaRadians: number, phiRadians: number, result?: Point3d): Point3d {\n    const cosTheta = Math.cos(thetaRadians);\n    const sinTheta = Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    return this._transform.multiplyXYZ(cosTheta * cosPhi, sinTheta * cosPhi, sinPhi, result);\n  }\n\n  /**\n   * * For a given pair of points on an ellipsoid, construct an arc (possibly elliptical) which\n   *   * passes through both points\n   *   * is completely within the ellipsoid surface\n   *   * has its centerEvaluate a point on the ellipsoid at angles give in radians.\n   * * If the ellipsoid is a sphere, this is the shortest great-circle arc between the two points.\n   * * If the ellipsoid is not a sphere, this is close to but not precisely the shortest path.\n   * @param thetaARadians longitude, in radians, for pointA\n   * @param phiARadians latitude, in radians, for pointA\n   * @param thetaBRadians longitude, in radians, for pointB\n   * @param phiBRadians latitude, in radians, for pointB\n   * @param result optional preallocated result\n   */\n  public radiansPairToGreatArc(\n    thetaARadians: number, phiARadians: number,\n    thetaBRadians: number, phiBRadians: number,\n    result?: Arc3d): Arc3d | undefined {\n    SphereImplicit.radiansToUnitSphereXYZ(thetaARadians, phiARadians, this._workUnitVectorA);\n    SphereImplicit.radiansToUnitSphereXYZ(thetaBRadians, phiBRadians, this._workUnitVectorB);\n    const sweepAngle = this._workUnitVectorA.angleTo(this._workUnitVectorB);\n    // the unit vectors (on unit sphere) are never 0, so this cannot fail.\n    const matrix = Matrix3d.createRigidFromColumns(this._workUnitVectorA, this._workUnitVectorB, AxisOrder.XYZ)!;\n    if (matrix !== undefined) {\n      const matrix1 = this._transform.matrix.multiplyMatrixMatrix(matrix);\n      return Arc3d.create(this._transform.getOrigin(), matrix1.columnX(), matrix1.columnY(),\n        AngleSweep.createStartEndRadians(0.0, sweepAngle.radians), result);\n    }\n    return undefined;\n  }\n  /**\n   * See radiansPairToGreatArc, which does this computation with positions from `angleA` and `angleB` directly as radians\n   */\n  public anglePairToGreatArc(angleA: LongitudeLatitudeNumber, angleB: LongitudeLatitudeNumber, result?: Arc3d): Arc3d | undefined {\n    return this.radiansPairToGreatArc(\n      angleA.longitudeRadians, angleA.latitudeRadians, angleB.longitudeRadians, angleB.latitudeRadians, result);\n  }\n  /**\n   * Construct an arc for the section cut of a plane with the ellipsoid.\n   * * this is undefined if the plane does not intersect the ellipsoid.\n   */\n  public createPlaneSection(plane: Plane3dByOriginAndUnitNormal): Arc3d | undefined {\n    const localPlane = plane.cloneTransformed(this._transform, true);\n    if (localPlane !== undefined) {\n      // construct center and arc vectors in the local system --- later transform them out to global.\n      const center = localPlane.projectPointToPlane(Point3d.createZero());\n      const d = center.magnitude();\n      if (d < 1.0) {\n        const frame = Matrix3d.createRigidHeadsUp(localPlane.getNormalRef(), AxisOrder.ZYX);\n        const vector0 = frame.columnX();\n        const vector90 = frame.columnY();\n        const sectionRadius = Math.sqrt(1.0 - d * d);\n        vector0.scaleInPlace(sectionRadius);\n        vector90.scaleInPlace(sectionRadius);\n\n        this._transform.multiplyPoint3d(center, center);\n        this._transform.multiplyVector(vector0, vector0);\n        this._transform.multiplyVector(vector90, vector90);\n        return Arc3d.create(center, vector0, vector90, undefined);\n      }\n    }\n    return undefined;\n  }\n  /**\n   * Construct an arc which\n   *  * start at pointA (defined by its angle position)\n   *  * ends at pointB (defined by its angle position)\n   *  * contains the 3rd vector as an in-plane point.\n   */\n  public createSectionArcPointPointVectorInPlane(pointAnglesA: LongitudeLatitudeNumber, pointAnglesB: LongitudeLatitudeNumber, inPlaneVector: Vector3d,\n    result?: Arc3d): Arc3d | undefined {\n    const xyzA = this.radiansToPoint(pointAnglesA.longitudeRadians, pointAnglesA.latitudeRadians);\n    const xyzB = this.radiansToPoint(pointAnglesB.longitudeRadians, pointAnglesB.latitudeRadians);\n    const localA = this._transform.multiplyInversePoint3d(xyzA);\n    const localB = this._transform.multiplyInversePoint3d(xyzB);\n    const a = this._transform.matrix.maxAbs();\n    const scaledInPlaneVector = inPlaneVector.scaleToLength(a);\n    if (scaledInPlaneVector === undefined)\n      return undefined;\n    const localInPlaneVector = this._transform.matrix.multiplyInverse(scaledInPlaneVector);\n    if (localA !== undefined && localB !== undefined && localInPlaneVector !== undefined) {\n      const localPlane = Plane3dByOriginAndUnitNormal.createPointPointVectorInPlane(localA, localB, localInPlaneVector);\n      if (localPlane !== undefined) {\n        // construct center and arc vectors in the local system --- later transform them out to global.\n        const center = localPlane.projectPointToPlane(Point3d.createZero());\n        const vector0 = Vector3d.createStartEnd(center, localA);\n        const vectorB = Vector3d.createStartEnd(center, localB);\n        const vector90 = Vector3d.createRotateVectorAroundVector(vector0, localPlane.getNormalRef(), undefined);\n        if (vector90 !== undefined) {\n          const sweepRadians = vector0.planarRadiansTo(vectorB, localPlane.getNormalRef());\n          this._transform.multiplyPoint3d(center, center);\n          this._transform.multiplyVector(vector0, vector0);\n          this._transform.multiplyVector(vector90, vector90);\n          return Arc3d.create(center, vector0, vector90, AngleSweep.createStartEndRadians(0, sweepRadians), result);\n        }\n      }\n    }\n    return undefined;\n  }\n  /**\n   * * For a given pair of points on an ellipsoid, construct another ellipsoid\n   *   * touches the same xyz points in space\n   *   * has transformation modified so that the original two points are on the equator.\n   * * Note that except for true sphere inputs, the result axes can be both non-perpendicular axes and of different lengths.\n   * @param thetaARadians longitude, in radians, for pointA\n   * @param phiARadians latitude, in radians, for pointA\n   * @param thetaBRadians longitude, in radians, for pointB\n   * @param phiBRadians latitude, in radians, for pointB\n   * @param result optional preallocated result\n   */\n  public radiansPairToEquatorialEllipsoid(\n    thetaARadians: number, phiARadians: number,\n    thetaBRadians: number, phiBRadians: number,\n    result?: Ellipsoid): Ellipsoid | undefined {\n    SphereImplicit.radiansToUnitSphereXYZ(thetaARadians, phiARadians, this._workUnitVectorA);\n    SphereImplicit.radiansToUnitSphereXYZ(thetaBRadians, phiBRadians, this._workUnitVectorB);\n\n    const matrix = Matrix3d.createRigidFromColumns(this._workUnitVectorA, this._workUnitVectorB, AxisOrder.XYZ);\n    if (matrix) {\n      if (result) {\n        this._transform.multiplyTransformMatrix3d(matrix, result._transform);\n        return result;\n      }\n      return Ellipsoid.create(this._transform.multiplyTransformMatrix3d(matrix));\n    }\n    return undefined;\n  }\n  /**\n   * Return an arc (circular or elliptical) at constant longitude\n   * @param longitude (strongly typed) longitude\n   * @param latitude latitude sweep angles\n   * @param result\n   */\n  public constantLongitudeArc(longitude: Angle, latitudeSweep: AngleSweep, result?: Arc3d): Arc3d | undefined {\n    if (Angle.isAlmostEqualRadiansNoPeriodShift(0, latitudeSweep.sweepRadians))\n      return undefined;\n    const cosTheta = longitude.cos();\n    const sinTheta = longitude.sin();\n    const vector0 = this._transform.matrix.multiplyXY(cosTheta, sinTheta);\n    const vector90 = this._transform.matrix.columnZ();\n    const center = this._transform.getOrigin();\n    return Arc3d.create(center, vector0, vector90, latitudeSweep, result);\n  }\n  /**\n   * Return an arc (circular or elliptical) at constant longitude\n   * @param latitude sweep angles\n   * @param latitude (strongly typed) latitude\n   * @param result\n   */\n  public constantLatitudeArc(longitudeSweep: AngleSweep, latitude: Angle, result?: Arc3d): Arc3d | undefined {\n    if (Angle.isAlmostEqualRadiansNoPeriodShift(0, longitudeSweep.sweepRadians))\n      return undefined;\n    if (latitude.isAlmostNorthOrSouthPole)\n      return undefined;\n    const cosPhi = latitude.cos();\n    const sinPhi = latitude.sin();\n    const vector0 = this._transform.matrix.columnX(); vector0.scaleInPlace(cosPhi);\n    const vector90 = this._transform.matrix.columnY(); vector90.scaleInPlace(cosPhi);\n    const center = this._transform.multiplyXYZ(0, 0, sinPhi);\n    return Arc3d.create(center, vector0, vector90, longitudeSweep, result);\n  }\n  /**\n   * * create a section arc with and end at positions A and B, and in plane with the normal at a fractional\n   *    interpolation between.\n   * @param angleA start point of arc (given as angles on this ellipsoid)\n   * @param intermediateNormalFraction\n   * @param angleB end point of arc (given as angles on this ellipsoid)\n   */\n  public sectionArcWithIntermediateNormal(\n    angleA: LongitudeLatitudeNumber,\n    intermediateNormalFraction: number,\n    angleB: LongitudeLatitudeNumber): Arc3d {\n    const normalA = this.radiansToUnitNormalRay(angleA.longitudeRadians, angleA.latitudeRadians)!;\n    const normalB = this.radiansToUnitNormalRay(angleB.longitudeRadians, angleB.latitudeRadians)!;\n    const normal = normalA.direction.interpolate(intermediateNormalFraction, normalB.direction);\n    const arc = this.createSectionArcPointPointVectorInPlane(angleA, angleB, normal);\n    return arc!;\n  }\n\n  /**\n   * Evaluate a point and derivatives with respect to angle on the ellipsoid at angles give in radians.\n   * * \"u direction\" vector of the returned plane is derivative with respect to longitude.\n   * * \"v direction\" vector fo the returned plane is derivative with respect ot latitude.\n   * @param thetaRadians longitude, in radians\n   * @param phiRadians latitude, in radians\n   * @param applyCosPhiFactor selector for handling of theta (around equator derivative)\n   *   * if true, compute the properly scaled derivative, which goes to zero at the poles.\n   *    * If false, omit he cos(phi) factor on the derivative wrt theta.  This ensures it is always nonzero and can be safely used in cross product for surface normal.\n   * @param result optional plane result\n   */\n  public radiansToPointAndDerivatives(thetaRadians: number, phiRadians: number, applyCosPhiFactor = true, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    const cosTheta = Math.cos(thetaRadians);\n    const sinTheta = Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const cosPhiA = applyCosPhiFactor ? cosPhi : 1.0;\n    const sinPhi = Math.sin(phiRadians);\n    const matrix = this._transform.matrix;\n    if (!result)\n      return Plane3dByOriginAndVectors.createCapture(\n        this._transform.multiplyXYZ(cosTheta * cosPhi, sinTheta * cosPhi, sinPhi),\n        matrix.multiplyXYZ(-sinTheta * cosPhiA, cosTheta * cosPhiA, 0),\n        matrix.multiplyXYZ(-sinPhi * cosTheta, -sinPhi * sinTheta, cosPhi));\n    // in place modification requires direct reference to members of the result ...\n    this._transform.multiplyXYZ(cosTheta * cosPhi, sinTheta * cosPhi, sinPhi, result.origin);\n    matrix.multiplyXYZ(-sinTheta * cosPhiA, cosTheta * cosPhiA, 0, result.vectorU);\n    matrix.multiplyXYZ(-sinPhi * cosTheta, -sinPhi * sinTheta, cosPhi, result.vectorV);\n    return result;\n  }\n  /**\n   * Evaluate a point and derivatives wrt to theta, phi, thetaTheta, phiPhi, and thetaPhi.\n   * All outputs are to caller-allocated points and vectors.\n   * @param thetaRadians longitude, in radians\n   * @param phiRadians latitude, in radians\n   * @param point (returned) surface point\n   * @param d1Theta (returned) derivative wrt theta\n   * @param d1Phi (returned) derivative wrt phi\n   * @param d2ThetaTheta (returned) second derivative wrt theta twice\n   * @param d2PhiPhi (returned) second derivative wrt phi twice\n   * @param d2ThetaPhi (returned) second derivative wrt theta and phi\n   * @param result optional plane result\n   */\n  public radiansToPointAnd2Derivatives(thetaRadians: number, phiRadians: number,\n    point: Point3d,\n    d1Theta: Vector3d,\n    d1Phi: Vector3d,\n    d2ThetaTheta: Vector3d,\n    d2PhiPhi: Vector3d,\n    d2ThetaPhi: Vector3d) {\n    const cosTheta = Math.cos(thetaRadians);\n    const sinTheta = Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    const matrix = this._transform.matrix;\n    this._transform.multiplyXYZ(cosTheta * cosPhi, sinTheta * cosPhi, sinPhi, point);\n    // theta derivatives\n    matrix.multiplyXYZ(-sinTheta * cosPhi, cosTheta * cosPhi, 0, d1Theta);\n    matrix.multiplyXYZ(-cosTheta * cosPhi, -sinTheta * cosPhi, 0, d2ThetaTheta);\n\n    // phi derivatives\n    matrix.multiplyXYZ(-cosTheta * sinPhi, -sinTheta * sinPhi, cosPhi, d1Phi);\n    matrix.multiplyXYZ(-cosTheta * cosPhi, -sinTheta * cosPhi, -sinPhi, d2PhiPhi);\n\n    // mixed derivative\n    matrix.multiplyXYZ(sinTheta * sinPhi, -cosTheta * sinPhi, 0, d2ThetaPhi);\n  }\n\n  /**\n   * Evaluate a point and rigid local coordinate frame the ellipsoid at angles give in radians.\n   * * The undefined return is only possible if the placement transform is singular (and even then only at critical angles)\n   * @param thetaRadians longitude, in radians\n   * @param phiRadians latitude, in radians\n   * @param result optional transform result\n   *\n   */\n  public radiansToFrenetFrame(thetaRadians: number, phiRadians: number, result?: Transform): Transform | undefined {\n    const plane = this.radiansToPointAndDerivatives(thetaRadians, phiRadians, false);\n    return plane.toRigidFrame(result);\n  }\n  /**\n   * Evaluate a point and unit normal at given angles.\n   * @param thetaRadians longitude, in radians\n   * @param phiRadians latitude, in radians\n   * @param result optional transform result\n   *\n   */\n  public radiansToUnitNormalRay(thetaRadians: number, phiRadians: number, result?: Ray3d): Ray3d | undefined {\n    const plane = this.radiansToPointAndDerivatives(thetaRadians, phiRadians, false);\n    return plane.unitNormalRay(result);\n  }\n\n  /**\n   * Find the (unique) extreme point for a given true surface perpendicular vector (outward)\n   */\n  public surfaceNormalToAngles(normal: Vector3d, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber {\n    const matrix = this._transform.matrix;\n    const conjugateVector = matrix.multiplyTransposeVector(normal);\n    const thetaRadians = Math.atan2(conjugateVector.y, conjugateVector.x);\n    // For that phi arc,\n    const axy = -(conjugateVector.x * Math.cos(thetaRadians) + conjugateVector.y * Math.sin(thetaRadians));\n    const az = conjugateVector.z;\n    const phiRadians = Math.atan2(az, -axy);\n    return LongitudeLatitudeNumber.createRadians(thetaRadians, phiRadians, 0.0, result);\n  }\n\n  /**\n   * * Evaluate the surface normal on `other` ellipsoid at given angles\n   *    * If `other` is undefined, default to unit sphere.\n   * * Find the angles for the same normal on `this` ellipsoid\n   */\n  public otherEllipsoidAnglesToThisEllipsoidAngles(otherEllipsoid: Ellipsoid | undefined, otherAngles: LongitudeLatitudeNumber, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber | undefined {\n    const normal = Ellipsoid.radiansToUnitNormalRay(otherEllipsoid, otherAngles.longitudeRadians, otherAngles.latitudeRadians);\n    if (normal !== undefined)\n      return this.surfaceNormalToAngles(normal.direction, result);\n    return undefined;\n  }\n  /**\n   * * if ellipsoid is given, return its surface point and unit normal as a Ray3d.\n   * * if not given, return surface point and unit normal for unit sphere.\n   */\n  public static radiansToUnitNormalRay(ellipsoid: Ellipsoid | undefined, thetaRadians: number, phiRadians: number, result?: Ray3d): Ray3d | undefined {\n    if (ellipsoid) {\n      return ellipsoid.radiansToUnitNormalRay(thetaRadians, phiRadians, result);\n    }\n    if (!result)\n      result = Ray3d.createZAxis();\n    // for unit sphere, the vector from center to surface point is identical to the unit normal.\n    SphereImplicit.radiansToUnitSphereXYZ(thetaRadians, phiRadians, result.origin);\n    result.direction.setFromPoint3d(result.origin);\n    return result;\n  }\n  /** Implementation of [[Clipper.isPointOnOrInside]]. */\n  public isPointOnOrInside(point: Point3d): boolean {\n    const localPoint = this._transform.multiplyInversePoint3d(point, this._workPointA);\n    if (localPoint !== undefined)\n      return localPoint.magnitude() <= 1.0;\n    return false;\n  }\n  /** Announce \"in\" portions of a line segment. Implementation of [[Clipper.announceClippedSegmentIntervals]]. */\n  public announceClippedSegmentIntervals(f0: number, f1: number, pointA: Point3d, pointB: Point3d, announce?: AnnounceNumberNumber): boolean {\n    const localA = this._transform.multiplyInversePoint3d(pointA, this._workPointA);\n    const localB = this._transform.multiplyInversePoint3d(pointB, this._workPointB);\n    if (localA && localB) {\n      const dotAA = Vector3d.dotProductAsXYAndZ(this._workPointA, this._workPointA);\n      const dotAB = Vector3d.dotProductAsXYAndZ(this._workPointA, this._workPointB);\n      const dotBB = Vector3d.dotProductAsXYAndZ(this._workPointB, this._workPointB);\n      const bezier = new Order3Bezier(dotAA, dotAB, dotBB);\n      const roots = bezier.roots(1.0, false);\n      if (roots !== undefined && roots.length === 2) {\n        // we know the roots are sorted.  The f0,f1 might not be ..\n        if (f0 < f1) {\n          if (roots[0] < f0)\n            roots[0] = f0;\n          if (f1 < roots[1])\n            roots[1] = f1;\n          if (roots[0] < roots[1]) {\n            if (announce)\n              announce(roots[0], roots[1]);\n            return true;\n          }\n        } else {\n          // f0,f1 are reversed. do the outputs in the same sense\n          if (roots[1] > f0)\n            roots[1] = f0;\n          if (roots[0] < f1)\n            roots[0] = f1;\n          if (roots[1] > roots[0]) {\n            if (announce)\n              announce(roots[1], roots[0]);\n            return true;\n          }\n        }\n      }\n    }\n    return false;\n  }\n  /** Announce \"in\" portions of a line segment. Implementation of [[Clipper.announceClippedArcIntervals]] */\n  public announceClippedArcIntervals(arc: Arc3d, announce?: AnnounceNumberNumberCurvePrimitive): boolean {\n    const arcData = arc.toVectors();\n    let numAnnounce = 0;\n    if (this._transform.multiplyInversePoint3d(arcData.center, arcData.center)\n      && this._transform.matrix.multiplyInverse(arcData.vector0, arcData.vector0)\n      && this._transform.matrix.multiplyInverse(arcData.vector90, arcData.vector90)) {\n      // in local coordinates the arc parameterization is   X = center + vector0 * cos(theta) + vector90 * sin(theta)\n      //  We want X DOT X === 1, viz\n      //    center DOT center + 2 * cos(theta) * center DOT vector0 + 2 * sin(theta) * center DOT vector90 + cos(theta) ^2 * vector0 DOT vector0 + sin (theta)^2 * vector90 DOT vector90 = 1\n      const cc = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.center);\n      const cu = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.vector0);\n      const cv = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.vector90);\n      const uv = Vector3d.dotProductAsXYAndZ(arcData.vector0, arcData.vector90);\n      const uu = Vector3d.dotProductAsXYAndZ(arcData.vector0, arcData.vector0);\n      const vv = Vector3d.dotProductAsXYAndZ(arcData.vector90, arcData.vector90);\n      const intersectionRadians: number[] = [];\n\n      if (TrigPolynomial.solveUnitCircleImplicitQuadricIntersection(\n        uu, 2.0 * uv, vv,\n        2.0 * cu, 2.0 * cv, cc - 1.0,\n        intersectionRadians)) {\n        const fractions = [0.0, 1.0];\n        for (const radians of intersectionRadians) {\n          const fraction = arc.sweep.radiansToSignedPeriodicFraction(radians);\n          if (Geometry.isIn01(fraction))\n            fractions.push(fraction);\n        }\n        fractions.sort();\n        let f0, f1;\n        for (let i1 = 1; i1 < fractions.length; i1++) {\n          f0 = fractions[i1 - 1];\n          f1 = fractions[i1];\n          if (f1 > f0) {\n            const xyz = arc.fractionToPoint(Geometry.interpolate(fractions[i1 - 1], 0.5, fractions[i1]));\n            if (this.isPointOnOrInside(xyz)) {\n              if (announce)\n                announce(fractions[i1 - 1], fractions[i1], arc);\n              numAnnounce++;\n            }\n          }\n        }\n      }\n    }\n    return numAnnounce > 0;\n  }\n}\n/**\n * * An `EllipsoidPatch` is\n *   * An underlying (full) `Ellipsoid` object\n *   * an angular range (`AngleSweep`) of longitudes around the equator\n *   * an angular range (`AngleSweep`) of latitudes, with 0 at the equator, +90 degrees at north pole.\n * * The `EllipsoidPatch` implements `UVSurface` methods, so a `PolyfaceBuilder` can generate facets in its method `addUVGridBody`\n * @public\n */\nexport class EllipsoidPatch implements UVSurface {\n  public ellipsoid: Ellipsoid;\n  public longitudeSweep: AngleSweep;\n  public latitudeSweep: AngleSweep;\n  /**\n   * CAPTURE ellipsoid and sweeps as an EllipsoidPatch.\n   * @param ellipsoid\n   * @param longitudeSweep\n   * @param latitudeSweep\n   */\n  private constructor(ellipsoid: Ellipsoid, longitudeSweep: AngleSweep, latitudeSweep: AngleSweep) {\n    this.ellipsoid = ellipsoid;\n    this.longitudeSweep = longitudeSweep;\n    this.latitudeSweep = latitudeSweep;\n  }\n  /**\n   * Create a new EllipsoidPatch, capturing (not cloning) all input object references.\n   * @param ellipsoid  full ellipsoid\n   * @param longitudeSweep sweep of longitudes in the active patch\n   * @param latitudeSweep sweep of latitudes in the active patch.\n   */\n  public static createCapture(ellipsoid: Ellipsoid, longitudeSweep: AngleSweep, latitudeSweep: AngleSweep): EllipsoidPatch {\n    return new EllipsoidPatch(ellipsoid, longitudeSweep, latitudeSweep);\n  }\n  /** Return the point on the ellipsoid at fractional positions in the angular ranges. */\n  public uvFractionToPoint(longitudeFraction: number, latitudeFraction: number, result?: Point3d): Point3d {\n    return this.ellipsoid.radiansToPoint(this.longitudeSweep.fractionToRadians(longitudeFraction), this.latitudeSweep.fractionToRadians(latitudeFraction), result);\n  }\n  /** Return the point and derivative vectors on the ellipsoid at fractional positions in the angular ranges.\n   * * Derivatives are with respect to fractional position.\n   */\n  public uvFractionToPointAndTangents(longitudeFraction: number, latitudeFraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    result = this.ellipsoid.radiansToPointAndDerivatives(\n      this.longitudeSweep.fractionToRadians(longitudeFraction),\n      this.latitudeSweep.fractionToRadians(latitudeFraction),\n      true,\n      result);\n    result.vectorU.scale(this.longitudeSweep.sweepRadians);\n    result.vectorV.scale(this.latitudeSweep.sweepRadians);\n    return result;\n  }\n  /** Return the range of the patch, considering both boundary and internal extrema. */\n  public range(result?: Range3d): Range3d {\n    return this.ellipsoid.patchRangeStartEndRadians(this.longitudeSweep.startRadians, this.longitudeSweep.endRadians, this.latitudeSweep.startRadians, this.latitudeSweep.endRadians, result);\n  }\n  /** Return intersections of the ray and surface.\n   * * uv values in the intersections are in radians unless `convertIntersectionRadiansToFractions` is true requesting conversion to patch fractions.\n   */\n  public intersectRay(ray: Ray3d, restrictToPatch: boolean, convertIntersectionRadiansToFractions: boolean = false): CurveAndSurfaceLocationDetail[] {\n    const result: CurveAndSurfaceLocationDetail[] = [];\n    const rayFractions: number[] = [];\n    const xyz: Point3d[] = [];\n    const thetaPhi: LongitudeLatitudeNumber[] = [];\n    const n = this.ellipsoid.intersectRay(ray, rayFractions, xyz, thetaPhi);\n    for (let i = 0; i < n; i++) {\n      const longitudeRadians = thetaPhi[i].longitudeRadians;\n      const latitudeRadians = thetaPhi[i].latitudeRadians;\n\n      if (!restrictToPatch\n        || (this.longitudeSweep.isRadiansInSweep(longitudeRadians)\n          && this.latitudeSweep.isRadiansInSweep(latitudeRadians))) {\n        if (convertIntersectionRadiansToFractions) {\n          const uFraction = this.longitudeSweep.radiansToSignedPeriodicFraction(longitudeRadians);\n          const vFraction = this.latitudeSweep.radiansToSignedPeriodicFraction(latitudeRadians);\n          result.push(new CurveAndSurfaceLocationDetail(\n            CurveLocationDetail.createRayFractionPoint(ray, rayFractions[i], xyz[i]),\n            UVSurfaceLocationDetail.createSurfaceUVNumbersPoint(this, uFraction, vFraction, xyz[i])));\n        } else {\n          result.push(new CurveAndSurfaceLocationDetail(\n            CurveLocationDetail.createRayFractionPoint(ray, rayFractions[i], xyz[i]),\n            UVSurfaceLocationDetail.createSurfaceUVNumbersPoint(this, longitudeRadians, latitudeRadians, xyz[i])));\n        }\n      }\n    }\n    return result;\n  }\n  /**\n   * test if the angles of the `LongitudeLatitudeNumber` are within the sweep ranges.\n   * @param position longitude and latitude to test.\n   * @param `allowPeriodicLongitude` true to allow the longitude to be in when shifted by a multiple of 2 PI\n   *    (latitude is never periodic for patches)\n   */\n  public containsAngles(position: LongitudeLatitudeNumber, allowPeriodicLongitude: boolean = true): boolean {\n    return this.latitudeSweep.isRadiansInSweep(position.latitudeRadians, false)\n      && this.longitudeSweep.isRadiansInSweep(position.longitudeRadians, allowPeriodicLongitude);\n  }\n\n  /**\n   * Compute point (with altitude) at given angles and altitude.\n   * * Never fails for non-singular ellipsoid.\n   * * In the returned ray,\n   *    * ray.origin is the point at requested altitude.\n   *    * ray.direction is an outward-directed unit vector\n   * @param position longitude, latitude, and height\n   *\n   */\n  public anglesToUnitNormalRay(position: LongitudeLatitudeNumber, result?: Ray3d): Ray3d | undefined {\n    const ray = this.ellipsoid.radiansToUnitNormalRay(position.longitudeRadians, position.latitudeRadians, result);\n    if (!ray)\n      return undefined;\n    ray.origin = ray.fractionToPoint(position.altitude, ray.origin);\n    return ray;\n  }\n  /**\n   * Return simple angles of a fractional position in the patch.\n   * @param thetaFraction fractional position in longitude (theta) interval\n   * @param phiFraction fractional position in latitude (phi) interval\n   * @param h optional altitude\n   * @param result optional preallocated result.\n   */\n  public uvFractionToAngles(longitudeFraction: number, phiFraction: number, h: number = 0, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber {\n    return LongitudeLatitudeNumber.createRadians(this.longitudeSweep.fractionToRadians(longitudeFraction), this.latitudeSweep.fractionToRadians(phiFraction), h, result);\n  }\n  /** Find the closest point of the (patch of the) ellipsoid. */\n  public projectPointToSurface(spacePoint: Point3d): LongitudeLatitudeNumber | undefined {\n    return this.ellipsoid.projectPointToSurface(spacePoint);\n  }\n}\n/**\n * Internal class for searching for the closest point (projection of spacePoint) on an ellipsoid.\n */\nclass EllipsoidClosestPoint extends NewtonEvaluatorRRtoRRD {\n  private _ellipsoid: Ellipsoid;\n  private _spacePoint!: Point3d;\n  private _surfacePoint: Point3d;\n  private _d1Theta: Vector3d;\n  private _d2Theta: Vector3d;\n  private _d1Phi: Vector3d;\n  private _d2Phi: Vector3d;\n  private _d2ThetaPhi: Vector3d;\n  private _delta: Vector3d;\n  public constructor(ellipsoid: Ellipsoid) {\n    super();\n    this._ellipsoid = ellipsoid;\n    this._surfacePoint = Point3d.create();\n    this._d1Theta = Vector3d.create();\n    this._d1Phi = Vector3d.create();\n    this._d2Theta = Vector3d.create();\n    this._d2Phi = Vector3d.create();\n    this._d2ThetaPhi = Vector3d.create();\n\n    this._delta = Vector3d.create();\n  }\n  public searchClosestPoint(spacePoint: Point3d): LongitudeLatitudeNumber | undefined {\n    this._spacePoint = spacePoint;\n    const localPoint = this._ellipsoid.transformRef.multiplyInversePoint3d(spacePoint);\n    if (!localPoint)\n      return undefined;\n    const sphere = new SphereImplicit(1.0);\n    const uv = sphere.xyzToThetaPhiR(localPoint);\n    const newtonSearcher = new Newton2dUnboundedWithDerivative(this);\n    newtonSearcher.setUV(uv.thetaRadians, uv.phiRadians);\n    if (newtonSearcher.runIterations()) {\n      uv.thetaRadians = newtonSearcher.getU();\n      uv.phiRadians = newtonSearcher.getV();\n    }\n    return LongitudeLatitudeNumber.createRadians(uv.thetaRadians, uv.phiRadians, 0.0);\n  }\n  public evaluate(thetaRadians: number, phiRadians: number): boolean {\n    this._ellipsoid.radiansToPointAnd2Derivatives(thetaRadians, phiRadians,\n      this._surfacePoint,\n      this._d1Theta, this._d1Phi,\n      this._d2Theta, this._d2Phi,\n      this._d2ThetaPhi);\n    Vector3d.createStartEnd(this._spacePoint, this._surfacePoint, this._delta);\n    const q = this._d1Theta.dotProduct(this._d1Phi) + this._delta.dotProduct(this._d2ThetaPhi);\n    this.currentF.setOriginAndVectorsXYZ(\n      // f,g,0\n      this._delta.dotProduct(this._d1Theta), this._delta.dotProduct(this._d1Phi), 0,\n      // df/dTheta, dg/dTheta, 0\n      this._d1Theta.dotProduct(this._d1Theta) + this._delta.dotProduct(this._d2Theta), q, 0,\n      // df/dPhi, dg/dPhi, 0\n      q, this._d1Phi.dotProduct(this._d1Phi) + this._delta.dotProduct(this._d2Phi), 0);\n\n    return true;\n  }\n}\n/**\n * Detailed data for a point on a 2-angle parameter space.\n * @public\n */\nexport class GeodesicPathPoint {\n  /** First angle, in radians */\n  public thetaRadians: number;\n  /** Second angle, in radians */\n  public phiRadians: number;\n  public point: Point3d;\n  public dTheta: Vector3d;\n  public dPhi: Vector3d;\n  public d2Theta: Vector3d;\n  public d2Phi: Vector3d;\n  public d2ThetaPhi: Vector3d;\n  public d1Cross: Vector3d;\n  public constructor() {\n    this.thetaRadians = 0;\n    this.phiRadians = 0;\n    this.point = Point3d.create();\n    this.dTheta = Vector3d.create();\n    this.dPhi = Vector3d.create();\n    this.d2Theta = Vector3d.create();\n    this.d2Phi = Vector3d.create();\n    this.d2ThetaPhi = Vector3d.create();\n    this.d1Cross = Vector3d.create();\n  }\n  /** Fill all evaluations at given theta and phi. */\n  public evaluateDerivativesAtCurrentAngles(ellipsoid: Ellipsoid) {\n    ellipsoid.radiansToPointAnd2Derivatives(this.thetaRadians, this.phiRadians, this.point, this.dTheta, this.dPhi, this.d2Theta, this.d2Phi, this.d2ThetaPhi);\n    this.dTheta.crossProduct(this.dPhi, this.d1Cross);\n  }\n  private static _vectorAB?: Vector3d;\n  private static _vectorCB?: Vector3d;\n  private static _vectorCross?: Vector3d;\n  /** Evaluate the newton function and derivatives:\n   *          `(UAB cross UCB) dot d1cross`\n   * with as the central data, UAB = vector from pointA to pointB, UCB = vector from pointC to pointB.\n   * * Return order is:\n   *   * values[0] = the function\n   *   * values[1] = derivative wrt pointA.phi\n   *   * values[2] = derivative wrt pointB.phi\n   *   * values[3] = derivative wrt pointC.phi\n   */\n  public static evaluateNewtonFunction(pointA: GeodesicPathPoint, pointB: GeodesicPathPoint, pointC: GeodesicPathPoint, values: Float64Array) {\n    this._vectorAB = Vector3d.createStartEnd(pointA.point, pointB.point, this._vectorAB);\n    this._vectorCB = Vector3d.createStartEnd(pointC.point, pointB.point, this._vectorCB);\n    this._vectorCross = this._vectorAB.crossProduct(this._vectorCB);\n    // this._vectorCross is the cross product of vectors from A to B and C to B\n    // it should be perpendicular to (have zero dot product with) the surface normal, which is sitting in pointB as d1Cross\n    values[0] = this._vectorCross.dotProduct(pointB.d1Cross);\n    // Derivatives wrt phi at A, B, C creates derivatives of values[0] wrt each.\n    // derivatives at neighbor appear only on their point-to-point vector, and with negative sign ..\n    values[1] = - pointA.dPhi.tripleProduct(this._vectorCB, pointB.d1Cross);\n    values[3] = - this._vectorAB.tripleProduct(pointC.dPhi, pointB.d1Cross);\n    // values from pointB appear with positive sign everywhere . ..\n    values[2] = pointB.dPhi.tripleProduct(this._vectorCB, pointB.d1Cross)\n      + this._vectorAB.tripleProduct(pointB.dPhi, pointB.d1Cross)\n      + this._vectorCross.tripleProduct(pointB.d2ThetaPhi, pointB.dPhi)\n      + this._vectorCross.tripleProduct(pointB.dTheta, pointB.d2Phi);\n    // CRUNCH CRUNCH CRUNCH\n  }\n  /**\n   * Extract the two angles form this structure to a LongitudeLatitudeNumber structure.\n   */\n  public toAngles(): LongitudeLatitudeNumber {\n    return LongitudeLatitudeNumber.createRadians(this.thetaRadians, this.phiRadians);\n  }\n}\n/**\n * Algorithm implementation class for computing approximate optimal (shortest) path points.\n * * Call the static method `createGeodesicPath` to compute path points.\n * @public\n */\nexport class GeodesicPathSolver {\n  private _defaultArc: Arc3d;\n  private _pathPoints: GeodesicPathPoint[];\n  private _tridiagonalSolver!: TriDiagonalSystem;\n  private constructor(defaultArc: Arc3d) {\n    this._pathPoints = [];\n    this._defaultArc = defaultArc;\n  }\n  /**\n   *\n   * @param originalEllipsoid Given start and endpoints on an ellipsoid, compute points along a near-optimal shortest path.\n   * * The points are located so that at each point the local surface normal is contained in the plane of the point and its two neighbors.\n   * @param startAngles angles for the start of the path\n   * @param endAngles angles for the end of the path\n   * @param density If this is a number, it is the requested edge count.  If this is an angle, it ias an angular spacing measured in the great arc through the two points.\n   */\n  public static createGeodesicPath(originalEllipsoid: Ellipsoid,\n    startAngles: LongitudeLatitudeNumber, endAngles: LongitudeLatitudeNumber, density: number | Angle): GeodesicPathPoint[] | undefined {\n    const workEllipsoid1 = originalEllipsoid.radiansPairToEquatorialEllipsoid(startAngles.longitudeRadians, startAngles.latitudeRadians,\n      endAngles.longitudeRadians, endAngles.latitudeRadians);\n    const workArc = originalEllipsoid.radiansPairToGreatArc(startAngles.longitudeRadians, startAngles.latitudeRadians,\n      endAngles.longitudeRadians, endAngles.latitudeRadians);\n    if (workEllipsoid1 === undefined || workArc === undefined)\n      return undefined;\n    let numEdges = 4;\n    if (density instanceof Angle) {\n      numEdges = Geometry.stepCount(density.radians, workArc.sweep.sweepRadians, 4, 180);\n    } else if (Number.isFinite(density)) {\n      numEdges = Math.max(numEdges, density);\n    }\n    if (numEdges > 180)\n      numEdges = 180;\n    const scaledMatrix = workEllipsoid1.transformRef.matrix.clone();\n    const largestCoordinate = scaledMatrix.maxAbs();\n    const inverseLargestCoordinate = 1.0 / largestCoordinate;\n    scaledMatrix.scaleColumnsInPlace(inverseLargestCoordinate, inverseLargestCoordinate, inverseLargestCoordinate);\n    const workEllipsoid = Ellipsoid.create(Transform.createOriginAndMatrix(undefined, scaledMatrix));\n\n    const solver = new GeodesicPathSolver(workArc);\n    solver.createInitialPointsAndTridiagonalSystem(numEdges);\n\n    let numConverged = 0;\n    let previousMaxDPhi = 10000.0;\n    let numStep = 0;\n    const dPhiTolerance = 1.0e-8;\n    solver.setupStep(workEllipsoid);\n    while (numStep < 15 && numConverged < 2) {\n      if (!solver.solve())\n        break;\n      previousMaxDPhi = solver.applyUpdate(0.1);\n      solver.setupStep(workEllipsoid);\n      if (previousMaxDPhi < dPhiTolerance)\n        numConverged++;\n      else\n        numConverged = 0;\n      numStep++;\n    }\n    if (numConverged > 0) {\n      const workAngles = LongitudeLatitudeNumber.createRadians(0, 0);\n      const originalAngles = LongitudeLatitudeNumber.createRadians(0, 0);\n      for (const p of solver._pathPoints) {\n        LongitudeLatitudeNumber.createRadians(p.thetaRadians, p.phiRadians, 0, workAngles);\n        originalEllipsoid.otherEllipsoidAnglesToThisEllipsoidAngles(workEllipsoid, workAngles, originalAngles);\n        p.thetaRadians = originalAngles.longitudeRadians;\n        p.phiRadians = originalAngles.latitudeRadians;\n        p.evaluateDerivativesAtCurrentAngles(originalEllipsoid);\n      }\n      return solver._pathPoints;\n    }\n    return numConverged > 0 ? solver._pathPoints : undefined;\n  }\n  private createInitialPointsAndTridiagonalSystem(numEdges: number) {\n    if (numEdges < 2)\n      numEdges = 2;\n    let f, thetaRadians;\n    for (let i = 0; i <= numEdges; i++) {\n      f = i / numEdges;\n      thetaRadians = this._defaultArc.sweep.fractionToRadians(f);\n      const p = new GeodesicPathPoint();\n      p.thetaRadians = thetaRadians;\n      p.phiRadians = 0.0;\n      this._pathPoints.push(p);\n    }\n    this._tridiagonalSolver = new TriDiagonalSystem(this._pathPoints.length);\n  }\n  private applyUpdate(maxDPhiRadians: number): number {\n    let dPhiMax = 0;\n    for (let i = 0; i < this._pathPoints.length; i++) {\n      const dPhi = Geometry.clampToStartEnd(this._tridiagonalSolver.getX(i), -maxDPhiRadians, maxDPhiRadians);\n      this._pathPoints[i].phiRadians -= dPhi;\n      dPhiMax = Geometry.maxAbsXY(dPhiMax, dPhi);\n    }\n    return dPhiMax;\n  }\n\n  /**\n   * Set up a step with specified ellipsoid.\n   * * ASSUME angles in _pathPoints are valid on given ellipsoid.\n   * @param ellipsoid\n   */\n  private setupStep(ellipsoid: Ellipsoid) {\n    for (const p of this._pathPoints) {\n      p.evaluateDerivativesAtCurrentAngles(ellipsoid);\n    }\n    const lastRow = this._pathPoints.length - 1;\n    // first and last points get trivial dPhi=0 equations:\n    this._tridiagonalSolver.reset();\n    this._tridiagonalSolver.addToRow(0, 0, 1, 0);\n    this._tridiagonalSolver.addToB(0, 0);\n    this._tridiagonalSolver.addToRow(lastRow, 0, 1, 0);\n    this._tridiagonalSolver.addToB(lastRow, 0);\n\n    // interior points get proper newton equations\n    const values = new Float64Array(4);\n    for (let i = 1; i < lastRow; i++) {\n      GeodesicPathPoint.evaluateNewtonFunction(this._pathPoints[i - 1], this._pathPoints[i], this._pathPoints[i + 1], values);\n      this._tridiagonalSolver.addToRow(i, values[1], values[2], values[3]);\n      this._tridiagonalSolver.addToB(i, values[0]);\n    }\n  }\n\n  private solve(): boolean {\n    return this._tridiagonalSolver.factorAndBackSubstitute();\n  }\n  /**\n   * Construct various section arcs (on the ellipsoid), using planes that (a) pass through the two given points and (b) have in-plane vector sampled between the normals of the two points.\n   * * Each candidate ellipse has is in a plane with ellipsoid normal at vector constructed \"between\" the endpoint normals.\n   * * The intermediate construction is by interpolation between stated fractions (which maybe outside 0 to 1)\n   * @param ellipsoid\n   * @param angleA start point of all candidates\n   * @param angleB end point of all candidates\n   * @param numSample number of ellipses to construct as candidates.\n   * @param normalInterpolationFraction0\n   * @param normalInterpolationFraction1\n   */\n  public static approximateMinimumLengthSectionArc(ellipsoid: Ellipsoid,\n    angleA: LongitudeLatitudeNumber,\n    angleB: LongitudeLatitudeNumber, numSample: number,\n    normalInterpolationFraction0: number,\n    normalInterpolationFraction1: number): { minLengthArc: Arc3d, minLengthNormalInterpolationFraction: number } | undefined {\n    numSample = Geometry.clampToStartEnd(numSample, 2, 200);\n    const normalA = ellipsoid.radiansToUnitNormalRay(angleA.longitudeRadians, angleA.latitudeRadians);\n    const normalB = ellipsoid.radiansToUnitNormalRay(angleB.longitudeRadians, angleB.latitudeRadians);\n    if (normalA !== undefined && normalB !== undefined) {\n      let normalC;\n      let resultArc;\n      let lengthC;\n      let fractionC;\n\n      for (let i = 1; i <= numSample; i++) {\n        const f = Geometry.interpolate(normalInterpolationFraction0, i / numSample, normalInterpolationFraction1);\n        normalC = normalA.direction.interpolate(f, normalB.direction, normalC);\n        const candidateArc = ellipsoid.createSectionArcPointPointVectorInPlane(angleA, angleB, normalC);\n        if (candidateArc !== undefined) {\n          const candidateLength = candidateArc.curveLength();\n          if (lengthC === undefined || candidateLength < lengthC) {\n            lengthC = candidateLength;\n            resultArc = candidateArc;\n            fractionC = f;\n          }\n        }\n      }\n      if (resultArc !== undefined && fractionC !== undefined)\n        return { minLengthArc: resultArc, minLengthNormalInterpolationFraction: fractionC };\n    }\n    return undefined;\n  }\n\n}\n"]}
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package/lib/cjs/geometry3d/FrameBuilder.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 */\n\n// import { Point2d } from \"./Geometry2d\";\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CurveCollection } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { AxisOrder, AxisScaleSelect, Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Point3dArray } from \"./PointHelpers\";\nimport { PolygonOps } from \"./PolygonOps\";\nimport { Range3d } from \"./Range\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Helper class to accumulate points and vectors until there is enough data to define a coordinate system.\n *\n * * For the common case of building a right handed frame:\n *   * create the FrameBuilder and make calls to announcePoint and announceVector.\n *   * the frame will be fully determined by an origin and two vectors.\n *   * the first call to announcePoint will set the origin.\n *   * additional calls to announcePoint will produce announceVector call with the vector from the origin.\n *   * after each announcement, call getValidatedFrame(false)\n *   * getValidatedFrame will succeed when it has two independent vectors.\n * *  To build a left handed frame,\n *   *  an origin and 3 independent vectors are required.\n *   *  announce as above, but query with getValidatedFrame (true).\n *   *  this will use the third vector to select right or left handed frame.\n * @public\n */\nexport class FrameBuilder {\n  private _origin: undefined | Point3d;\n  private _vector0: undefined | Vector3d;\n  private _vector1: undefined | Vector3d;\n  private _vector2: undefined | Vector3d;\n  private static _workMatrix?: Matrix3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workPoint?: Point3d;\n  // test if both vectors are defined and have significant angle between.\n  private areStronglyIndependentVectors(\n    vector0: Vector3d, vector1: Vector3d, radiansTolerance: number = Geometry.smallAngleRadians,\n  ): boolean {\n    if (vector0 !== undefined && vector1 !== undefined) {\n      const q = vector0.smallerUnorientedRadiansTo(vector1);\n      return q > radiansTolerance;\n    }\n    return false;\n  }\n  /** Clear all accumulated point and vector data */\n  public clear() {\n    this._origin = undefined;\n    this._vector0 = undefined;\n    this._vector1 = undefined;\n    this._vector2 = undefined;\n  }\n  constructor() {\n    this.clear();\n  }\n  /**\n   * Try to assemble the data into a non-singular transform.\n   * * If allowLeftHanded is false, vector0 and vector1 determine a right handed coordinate system.\n   * * if allowLeftHanded is true, the z vector of the right handed system can be flipped to agree with vector2 direction.\n   */\n  public getValidatedFrame(allowLeftHanded: boolean = false, result?: Transform): Transform | undefined {\n    if (this._origin && this._vector0 && this._vector1) {\n      const createRigidMatrix = (v0: Vector3d, v1: Vector3d): Matrix3d | undefined => {\n        return FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(v0, v1, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      };\n      if (!allowLeftHanded) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix)\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        // uh oh -- vector1 was not really independent.  clear everything after vector0.\n        this._vector1 = this._vector2 = undefined;\n      } else if (this._vector2) {\n        const matrix = createRigidMatrix(this._vector0, this._vector1);\n        if (matrix) {\n          if (this._vector0.tripleProduct(this._vector1, this._vector2) < 0)\n            matrix.scaleColumns(1.0, 1.0, -1.0);\n          return Transform.createOriginAndMatrix(this._origin, matrix, result);\n        }\n        // uh oh again -- clear vector1 and vector2, re-announce vector2 as possible vector1??\n        const vector2 = this._vector2;\n        this._vector1 = this._vector2 = undefined;\n        this.announceVector(vector2);\n      }\n    }\n    return undefined;\n  }\n  /** If vector0 is known but vector1 is not, make vector1 the cross of the up-vector and vector0 */\n  public applyDefaultUpVector(vector?: Vector3d) {\n    if (vector && this._vector0 && !this._vector1 && !vector.isParallelTo(this._vector0)) {\n      this._vector1 = vector.crossProduct(this._vector0);\n    }\n  }\n  /** Ask if there is a defined origin for the evolving frame */\n  public get hasOrigin(): boolean {\n    return this._origin !== undefined;\n  }\n  /**\n   * Return the number of vectors saved. Because the save process checks numerics, this should be the rank of the system.\n   */\n  public savedVectorCount(): number {\n    if (!this._vector0)\n      return 0;\n    if (!this._vector1)\n      return 1;\n    if (!this._vector2)\n      return 2;\n    return 3;\n  }\n  /**\n   * Announce a new point. If this point is different from the origin, also compute and announce the vector from the origin.\n   */\n  public announcePoint(point: Point3d): number {\n    if (!this._origin) {\n      this._origin = point.clone();\n      return this.savedVectorCount();\n    }\n    // the new point may provide an additional vector\n    if (this._origin.isAlmostEqual(point))\n      return this.savedVectorCount();\n    return this.announceVector(this._origin.vectorTo(point));\n  }\n  /** Announce a new vector. */\n  public announceVector(vector: Vector3d): number {\n    if (vector.isAlmostZero)\n      return this.savedVectorCount();\n    if (!this._vector0) {\n      this._vector0 = vector.clone(this._vector0);\n      return 1;\n    }\n    if (!this._vector1) {\n      if (this.areStronglyIndependentVectors(vector, this._vector0, 1.0e-5)) {\n        this._vector1 = vector.clone(this._vector1);\n        return 2;\n      }\n      return 1;\n    }\n    // vector0 and vector1 are independent.\n    if (!this._vector2) {\n      const unitPerpendicular = this._vector0.unitCrossProduct(this._vector1);\n      if (unitPerpendicular && !Geometry.isSameCoordinate(0, unitPerpendicular.dotProduct(vector))) {\n        this._vector2 = vector.clone(this._vector2);\n        return 3;\n      }\n      return 2;\n    }\n    // fall through if prior vectors are all there -- no need for the new one.\n    return 3;\n  }\n  /**\n   * Inspect the content of the data.  Announce points and vectors. Return when savedVectorCount becomes sufficient\n   * for a coordinate system.\n   */\n  public announce(data: any) {\n    if (this.savedVectorCount() > 1)\n      return;\n    if (data === undefined)\n      return;\n    if (data instanceof Point3d)\n      this.announcePoint(data);\n    else if (data instanceof Vector3d)\n      this.announceVector(data);\n    else if (Array.isArray(data)) {\n      for (const child of data) {\n        if (this.savedVectorCount() > 1)\n          break;\n        this.announce(child);\n      }\n    } else if (data instanceof CurvePrimitive) {\n      if (data instanceof LineSegment3d) {\n        this.announcePoint(data.startPoint());\n        this.announcePoint(data.endPoint());\n      } else if (data instanceof Arc3d) {\n        const plane = data.fractionToPointAnd2Derivatives(0.0);\n        this.announcePoint(plane.origin);\n        this.announceVector(plane.vectorU);\n        this.announceVector(plane.vectorV);\n      } else if (data instanceof LineString3d) {\n        for (const point of data.points) {\n          this.announcePoint(point);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n      } else if (data instanceof BSplineCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (data.getPolePoint3d(i, point) instanceof Point3d)\n            this.announcePoint(point);\n          else break;\n        }\n      } else if (data instanceof InterpolationCurve3d) {\n        const point = Point3d.create();\n        for (let i = 0; this.savedVectorCount() < 2; i++) {\n          if (i < data.options.fitPoints.length) {\n            point.setFrom(data.options.fitPoints[i]);\n            this.announcePoint(point);\n          } else break;\n        }\n      } else { // unimplemented CurvePrimitive type\n        const frame = data.fractionToFrenetFrame(0.0);\n        if (undefined !== frame) {\n          this.announcePoint(frame.getOrigin());\n          this.announceVector(frame.matrix.getColumn(0));\n          this.announceVector(frame.matrix.getColumn(1));\n        }\n      }\n    } else if (data instanceof CurveCollection) {\n      if (data.children)\n        for (const child of data.children) {\n          this.announce(child);\n          if (this.savedVectorCount() > 1)\n            break;\n        }\n    } else if (data instanceof GrowableXYZArray) {\n      const point = Point3d.create();\n      for (let i = 0; this.savedVectorCount() < 2; i++) {\n        if (data.getPoint3dAtCheckedPointIndex(i, point) instanceof Point3d)\n          this.announcePoint(point);\n        else break;\n      }\n    } else if (data.hasOwnProperty(\"x\") && data.hasOwnProperty(\"y\") && data.hasOwnProperty(\"z\")) {\n      this.announcePoint(Point3d.create(data.x, data.y, data.z));\n    }\n  }\n  /**\n   * Create a localToWorld frame for the given data.\n   * * origin is at first point.\n   * * x axis in direction of first nonzero vector present or implied by the input.\n   * * y axis is perpendicular to x and contains (in positive side) the next vector present or implied by the input.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param defaultUpVector optional vector to cross with vector0 to create vector1 when it is unknown.\n   * The z-column of the returned frame points into the same halfspace as this vector.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedFrame(defaultUpVector: Vector3d | undefined, ...params: any[]): Transform | undefined {\n    // if last arg is a Transform, remove it from the array and use for the return value\n    let frame = (params.length > 0 && params[params.length - 1] instanceof Transform) ? params.pop() as Transform : undefined;\n    const flipFrame = (f: Transform): Transform => {\n      if (defaultUpVector && f.matrix.dotColumnZ(defaultUpVector) < 0.0)\n        f.matrix.scaleColumnsInPlace(1, -1, -1);\n      return f;\n    };\n    const builder = new FrameBuilder();\n    for (const data of params) {\n      builder.announce(data);\n      builder.applyDefaultUpVector(defaultUpVector);\n      if (frame = builder.getValidatedFrame(false, frame))\n        return flipFrame(frame);\n    }\n    const evaluatePrimitiveFrame = (curve: CurvePrimitive, result?: Transform): Transform | undefined => {\n      return curve.fractionToFrenetFrame(0.0, result);\n    };\n    // try direct evaluation of curve primitives using the above lambda\n    for (const data of params) {\n      if (data instanceof CurvePrimitive) {\n        if (frame = evaluatePrimitiveFrame(data, frame))\n          return flipFrame(frame);\n      } else if (data instanceof CurveCollection) {\n        const children = data.collectCurvePrimitives();\n        for (const curve of children) {\n          if (frame = evaluatePrimitiveFrame(curve, frame))\n            return flipFrame(frame);\n        }\n      }\n    }\n    return undefined;\n  }\n  /**\n   * Create a transform containing points or vectors in the given data.\n   * * The xy columns of the transform contain the first points or vectors of the data.\n   * * The z column is perpendicular to that xy plane.\n   * * The calculation favors the first points found. It does not try to get a \"best\" plane.\n   * @param params any number of geometric objects to examine in [[announce]] for point/vector data sufficient to construct a frame.\n   * If the last argument is a `Transform`, it is populated with the computed frame and returned.\n   * @returns computed localToWorld frame, or undefined if insufficient data.\n   */\n  public static createRightHandedLocalToWorld(...params: any[]): Transform | undefined {\n    return this.createRightHandedFrame(undefined, params);\n  }\n\n  /**\n   * Try to create a frame whose xy plane is through points.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameToDistantPoints(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const origin = points[0];\n      const vector01 = FrameBuilder._workVector0 ?? Vector3d.create();\n      Point3dArray.indexOfMostDistantPoint(points, points[0], vector01);\n      const vector02 = FrameBuilder._workVector1 ?? Vector3d.create();\n      Point3dArray.indexOfPointWithMaxCrossProductMagnitude(points, origin, vector01, vector02);\n      const matrix = FrameBuilder._workMatrix = Matrix3d.createRigidFromColumns(vector01, vector02, AxisOrder.XYZ, FrameBuilder._workMatrix);\n      if (matrix)\n        return Transform.createOriginAndMatrix(origin, matrix, result);\n    }\n    return undefined;\n  }\n  /**\n   * Try to create a frame whose xy plane is through points, with the points appearing CCW in the local frame.\n   * * If 3 or more distinct points are present, the x axis is from the first point to the most distant, and y\n   * direction is toward the point most distant from that line.\n   * @param points array of points\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the points, or undefined if insufficient data\n   */\n  public static createFrameWithCCWPolygon(points: Point3d[], result?: Transform): Transform | undefined {\n    if (points.length > 2) {\n      const ray = PolygonOps.centroidAreaNormal(points);  // can't pass pre-allocated ray...\n      if (ray)\n        return ray.toRigidZFrame(result);\n    }\n    return undefined;\n  }\n  /**\n   * Create the localToWorld transform from a range to axes of its parent coordinate system.\n   * @param range range to inspect\n   * @param scaleSelect selects size of localToWorld axes.\n   * @param fractionX fractional coordinate of frame origin x\n   * @param fractionY fractional coordinate of frame origin y\n   * @param fractionZ fractional coordinate of frame origin z\n   * @param defaultAxisLength if true and any axis length is 0, that axis vector takes this physical length.\n   * @param result optional pre-allocated Transform to populate and return\n   * @returns localToWorld frame for the range\n   */\n  public static createLocalToWorldTransformInRange(\n    range: Range3d,\n    scaleSelect: AxisScaleSelect = AxisScaleSelect.NonUniformRangeContainment,\n    fractionX: number = 0,\n    fractionY: number = 0,\n    fractionZ: number = 0,\n    defaultAxisLength: number = 1.0,\n    result?: Transform,\n  ): Transform {\n    if (range.isNull)\n      return Transform.createIdentity(result);\n    let a = 1.0;\n    let b = 1.0;\n    let c = 1.0;\n    if (scaleSelect === AxisScaleSelect.LongestRangeDirection) {\n      a = b = c = Geometry.correctSmallMetricDistance(range.maxLength(), defaultAxisLength);\n    } else if (scaleSelect === AxisScaleSelect.NonUniformRangeContainment) {\n      a = Geometry.correctSmallMetricDistance(range.xLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionX, 0, 1);\n      b = Geometry.correctSmallMetricDistance(range.yLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionY, 0, 1);\n      c = Geometry.correctSmallMetricDistance(range.zLength(), defaultAxisLength) * Geometry.maxAbsDiff(fractionZ, 0, 1);\n    }\n    const origin = FrameBuilder._workPoint = range.fractionToPoint(fractionX, fractionY, fractionZ, FrameBuilder._workPoint);\n    const matrix = FrameBuilder._workMatrix = Matrix3d.createScale(a, b, c, FrameBuilder._workMatrix);\n    return Transform.createOriginAndMatrix(origin, matrix, result);\n  }\n}\n"]}
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package/lib/cjs/geometry3d/FrustumAnimation.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Solid\n */\n\nimport { AxisOrder, Geometry } from \"../Geometry\";\nimport { Angle } from \"./Angle\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Point3dArray } from \"./PointHelpers\";\nimport { Transform } from \"./Transform\";\n\n/**\n * context for constructing smooth motion a startFrustum and endFrustum.\n * The externally interesting calls are\n * * Create a context to shift corner0 to corner1, with the(NPC coordinate) point(fractionU, fractionV, fractionW) moving along its connecting segment, all other points rotating smoothly from the start orientation to end orientation:\n * `const context = SmoothTransformBetweenFrusta (cornerA, cornerB)`\n *  * Get any intermediate 8 corners(at fraction) with `context.fractionToWorldCorners(fraction)`\n * * Frustum corners are ordered by \"x varies fastest, then y, then z\", hence (xyz) order on nondimensional space is\n *   * (left lower rear) (000)\n *   * (right lower rear) (100)\n *   * (left upper rear) (010)\n *   * (right upper rear) (100)\n *   * (left lower front) (001)\n *   * (right lower front) (101)\n *   * (left upper front) (011)\n *   * (right upper front) (101)\n * * which uses names\n *    * (left,right) for horizontal (x)\n *    * (bottom, top) for vertical (y)\n *    * (rear, front) for back and front planes (z)\n * @public\n */\nexport class SmoothTransformBetweenFrusta {\n  // raw frusta:\n  private _localCornerA: Point3d[];\n  private _localCornerB: Point3d[];\n\n  private _localToWorldA: Transform;\n  private _localToWorldB: Transform;\n  /** (property accessor) rigid frame at start of motion */\n  public get localToWorldA(): Transform { return this._localToWorldA; }\n  /** (property accessor) rigid frame at end of motion */\n  public get localToWorldB(): Transform { return this._localToWorldB; }\n  private _rotationAxis: Vector3d;\n  private _rotationAngle: Angle;\n\n  /**\n   * CAPTURE local corners, pickup and putdown frames, and rotation-around-vector data\n   * @param localCornerA\n   * @param localCornerB\n   * @param localToWordA\n   * @param localToWordB\n   * @param rotationAxis\n   * @param rotationAngle\n   */\n  private constructor(localToWorldA: Transform, localCornerA: Point3d[], localToWorldB: Transform, localCornerB: Point3d[], rotationAxis: Vector3d, rotationAngle: Angle) {\n    this._localCornerA = localCornerA;\n    this._localCornerB = localCornerB;\n    this._localToWorldA = localToWorldA;\n    this._localToWorldB = localToWorldB;\n    this._rotationAxis = rotationAxis;\n    this._rotationAngle = rotationAngle;\n  }\n\n  /**\n   * Set up rotation data for smooth transition from 8 point frusta cornerA and cornerB\n   * @param cornerA\n   * @param cornerB\n   */\n  public static create(cornerA: Point3d[], cornerB: Point3d[], preferSimpleRotation: boolean = true): SmoothTransformBetweenFrusta | undefined {\n    const localToWorldA = Point3dArray.evaluateTrilinearDerivativeTransform(cornerA, 0.5, 0.5, 0.5);\n    const localToWorldB = Point3dArray.evaluateTrilinearDerivativeTransform(cornerB, 0.5, 0.5, 0.5);\n    const rigidA = Transform.createOriginAndMatrix(localToWorldA.origin, Matrix3d.createRigidFromMatrix3d(localToWorldA.matrix, AxisOrder.ZXY));\n    const rigidB = Transform.createOriginAndMatrix(localToWorldB.origin, Matrix3d.createRigidFromMatrix3d(localToWorldB.matrix, AxisOrder.ZXY));\n    if (rigidA.matrix.computeCachedInverse(true) && rigidB.matrix.computeCachedInverse(true)) {\n      const spinMatrix = rigidB.matrix.multiplyMatrixMatrixInverse(rigidA.matrix)!;\n      const spinAxis = spinMatrix.getAxisAndAngleOfRotation();\n      const localCornerA = rigidA.multiplyInversePoint3dArray(cornerA)!;\n      const localCornerB = rigidB.multiplyInversePoint3dArray(cornerB)!;\n      /** Is this a pure rotation -- i.e. no clip volume resizing for camera or clip changes */\n      if (preferSimpleRotation && Point3dArray.isAlmostEqual(localCornerA, localCornerB) && !spinAxis.angle.isAlmostZero) {\n        // world vectors\n        const worldOriginShift = Vector3d.createStartEnd(localToWorldA.origin, localToWorldB.origin);\n        const chordMidPoint = localToWorldA.getOrigin().interpolate(0.5, localToWorldB.getOrigin());\n        const bisector = spinAxis.axis.unitCrossProduct(worldOriginShift);\n        if (bisector) {\n          const halfChordLength = 0.5 * worldOriginShift.magnitude();\n          const alpha = Geometry.conditionalDivideFraction(halfChordLength, Math.tan(spinAxis.angle.radians * 0.5));\n          if (alpha !== undefined) {\n            const spinCenter = chordMidPoint.plusScaled(bisector, alpha);\n            const rigidA1 = Transform.createOriginAndMatrix(spinCenter, rigidA.matrix);\n            const rigidB1 = Transform.createOriginAndMatrix(spinCenter, rigidB.matrix);\n            const localCornerA1 = rigidA1.multiplyInversePoint3dArray(cornerA)!;\n            const localCornerB1 = rigidB1.multiplyInversePoint3dArray(cornerB)!;\n            return new SmoothTransformBetweenFrusta(rigidA1, localCornerA1, rigidB1, localCornerB1,\n              spinAxis.axis, spinAxis.angle);\n          }\n        }\n      }\n      return new SmoothTransformBetweenFrusta(rigidA, localCornerA, rigidB, localCornerB,\n        spinAxis.axis, spinAxis.angle);\n    }\n    return undefined;\n  }\n\n  /** interpolate local corner coordinates at fractional move from m_localFrustum0 to m_localFrustum1 */\n  public interpolateLocalCorners(fraction: number, result?: Point3d[]): Point3d[] {\n    result = result || [];\n    result.length = 0;\n    const n = this._localCornerA.length;\n    for (let i = 0; i < n; i++) {\n      result.push(this._localCornerA[i].interpolate(fraction, this._localCornerB[i]));\n    }\n    return result;\n  }\n  /**\n   * After initialization, call this for various intermediate fractions.\n   * The returned corner points are in world coordinates \"between\" start and end positions.\n   */\n  public fractionToWorldCorners(fraction: number, result?: Point3d[]): Point3d[] {\n    const corners = this.interpolateLocalCorners(fraction, result);\n    const fractionalRotation = Matrix3d.createRotationAroundVector(this._rotationAxis,\n      this._rotationAngle.cloneScaled(fraction))!;\n    const axes0 = this._localToWorldA.matrix;\n    const fractionalAxes = fractionalRotation.multiplyMatrixMatrix(axes0);\n    const fractionalOrigin = this._localToWorldA.getOrigin().interpolate(fraction, this._localToWorldB.origin);\n    const putdownFrame = Transform.createOriginAndMatrix(fractionalOrigin, fractionalAxes);\n    putdownFrame.multiplyPoint3dArray(corners, corners);\n    return corners;\n  }\n}\n"]}
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package/lib/cjs/geometry3d/GeometryHandler.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module ArraysAndInterfaces\n */\n\nimport { AkimaCurve3d } from \"../bspline/AkimaCurve3d\";\nimport { BezierCurve3d } from \"../bspline/BezierCurve3d\";\nimport { BezierCurve3dH } from \"../bspline/BezierCurve3dH\";\nimport { BezierCurveBase } from \"../bspline/BezierCurveBase\";\nimport { BSplineCurve3d } from \"../bspline/BSplineCurve\";\nimport { BSplineCurve3dH } from \"../bspline/BSplineCurve3dH\";\nimport { BSplineSurface3d, BSplineSurface3dH } from \"../bspline/BSplineSurface\";\nimport { InterpolationCurve3d } from \"../bspline/InterpolationCurve3d\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CoordinateXYZ } from \"../curve/CoordinateXYZ\";\nimport { CurveChainWithDistanceIndex } from \"../curve/CurveChainWithDistanceIndex\";\nimport { BagOfCurves, CurveCollection } from \"../curve/CurveCollection\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { GeometryQuery } from \"../curve/GeometryQuery\";\nimport { LineSegment3d } from \"../curve/LineSegment3d\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { Loop } from \"../curve/Loop\";\nimport { ParityRegion } from \"../curve/ParityRegion\";\nimport { Path } from \"../curve/Path\";\nimport { PointString3d } from \"../curve/PointString3d\";\nimport { TransitionSpiral3d } from \"../curve/spiral/TransitionSpiral3d\";\nimport { UnionRegion } from \"../curve/UnionRegion\";\nimport { IndexedPolyface } from \"../polyface/Polyface\";\nimport { Box } from \"../solid/Box\";\nimport { Cone } from \"../solid/Cone\";\nimport { LinearSweep } from \"../solid/LinearSweep\";\nimport { RotationalSweep } from \"../solid/RotationalSweep\";\nimport { RuledSweep } from \"../solid/RuledSweep\";\nimport { Sphere } from \"../solid/Sphere\";\nimport { TorusPipe } from \"../solid/TorusPipe\";\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\nimport { Vector2d } from \"./Point2dVector2d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\n\n/**\n * `GeometryHandler` defines the base abstract methods for double-dispatch geometry computation.\n * * User code that wants to handle one or all of the commonly known geometry types implements a handler class.\n * * User code that does not handle all types is most likely to start with `NullGeometryHandler`, which will provide\n * No-action implementations for all types.\n * @public\n */\nexport abstract class GeometryHandler {\n  /** Handle strongly typed [[LineSegment3d]] */\n  public abstract handleLineSegment3d(g: LineSegment3d): any;\n  /** Handle strongly typed  [[LineString3d]]  */\n  public abstract handleLineString3d(g: LineString3d): any;\n  /** Handle strongly typed  [[Arc3d]]  */\n  public abstract handleArc3d(g: Arc3d): any;\n  /** Handle strongly typed  [[CurveCollection]]  */\n  public handleCurveCollection(_g: CurveCollection): any { }\n  /** Handle strongly typed  [[BSplineCurve3d]]  */\n  public abstract handleBSplineCurve3d(g: BSplineCurve3d): any;\n  /** Handle strongly typed  [[InterpolationCurve3d]]  */\n  public abstract handleInterpolationCurve3d(g: InterpolationCurve3d): any;\n  /** Handle strongly typed  [[AkimaCurve3d]]  */\n  public abstract handleAkimaCurve3d(g: AkimaCurve3d): any;\n  /** Handle strongly typed  [[BSplineCurve3dH]]  */\n  public abstract handleBSplineCurve3dH(g: BSplineCurve3dH): any;\n  /** Handle strongly typed  [[BSplineSurface3d]]  */\n  public abstract handleBSplineSurface3d(g: BSplineSurface3d): any;\n  /** Handle strongly typed  [[CoordinateXYZ]]  */\n  public abstract handleCoordinateXYZ(g: CoordinateXYZ): any;\n  /** Handle strongly typed  [[BSplineSurface3dH]]  */\n  public abstract handleBSplineSurface3dH(g: BSplineSurface3dH): any;\n  /** Handle strongly typed  [[IndexedPolyface]]  */\n  public abstract handleIndexedPolyface(g: IndexedPolyface): any;\n  /** handle strongly typed [[TransitionSpiral3d]] */\n  public abstract handleTransitionSpiral(g: TransitionSpiral3d): any;\n  /** Handle strongly typed [[Path]] (base class method calls [[handleCurveCollection]]) */\n  public handlePath(g: Path): any {\n    return this.handleCurveCollection(g);\n  }\n  /** Handle strongly typed [[Loop]] (base class method calls [[handleCurveCollection]]) */\n  public handleLoop(g: Loop): any {\n    return this.handleCurveCollection(g);\n  }\n  /** Handle strongly typed [[ParityRegion]] (base class method calls [[handleCurveCollection]]) */\n  public handleParityRegion(g: ParityRegion): any {\n    return this.handleCurveCollection(g);\n  }\n  /** Handle strongly typed [[UnionRegion]] (base class method calls [[handleCurveCollection]]) */\n  public handleUnionRegion(g: UnionRegion): any {\n    return this.handleCurveCollection(g);\n  }\n  /** Handle strongly typed [[BagOfCurves]] (base class method calls [[handleCurveCollection]]) */\n  public handleBagOfCurves(g: BagOfCurves): any {\n    return this.handleCurveCollection(g);\n  }\n  /** Handle strongly typed [[CurveChainWithDistanceIndex]] (base class method calls [[handlePath]] or [[handleLoop]]) */\n  public handleCurveChainWithDistanceIndex(g: CurveChainWithDistanceIndex): any {\n    return this.handlePath(g.path);\n  }\n  /** Handle strongly typed  Sphere */\n  public abstract handleSphere(g: Sphere): any;\n  /** Handle strongly typed  Cone */\n  public abstract handleCone(g: Cone): any;\n  /** Handle strongly typed  Box */\n  public abstract handleBox(g: Box): any;\n  /** Handle strongly typed  TorusPipe */\n  public abstract handleTorusPipe(g: TorusPipe): any;\n  /** Handle strongly typed  LinearSweep */\n  public abstract handleLinearSweep(g: LinearSweep): any;\n  /** Handle strongly typed  RotationalSweep */\n  public abstract handleRotationalSweep(g: RotationalSweep): any;\n  /** Handle strongly typed  RuledSweep */\n  public abstract handleRuledSweep(g: RuledSweep): any;\n  /** Handle strongly typed  PointString3d */\n  public abstract handlePointString3d(g: PointString3d): any;\n  /** Handle strongly typed  BezierCurve3d */\n  public abstract handleBezierCurve3d(g: BezierCurve3d): any;\n  /** Handle strongly typed  BezierCurve3dH */\n  public abstract handleBezierCurve3dH(g: BezierCurve3dH): any;\n}\n/**\n * `NullGeometryHandler` is a base class for dispatching various geometry types to application specific implementation\n * of some service.\n * To use:\n * * Derive a class from `NullGeometryHandler`\n * * Re-implement any or all of the specific `handleXXXX` methods\n * * Create a handler instance `myHandler`\n * * To send a `GeometryQuery` object `candidateGeometry` through the (fast) dispatch, invoke\n * `candidateGeometry.dispatchToHandler (myHandler).\n * * The appropriate method or methods will get called with a strongly typed `_g ` value.\n * @public\n */\nexport class NullGeometryHandler extends GeometryHandler {\n  /** No-action implementation */\n  public handleLineSegment3d(_g: LineSegment3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleLineString3d(_g: LineString3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleArc3d(_g: Arc3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleCurveCollection(_g: CurveCollection): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleCurveChainWithDistanceIndex(_g: CurveChainWithDistanceIndex): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineCurve3d(_g: BSplineCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleInterpolationCurve3d(_g: InterpolationCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleAkimaCurve3d(_g: AkimaCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineCurve3dH(_g: BSplineCurve3dH): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineSurface3d(_g: BSplineSurface3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleCoordinateXYZ(_g: CoordinateXYZ): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineSurface3dH(_g: BSplineSurface3dH): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleIndexedPolyface(_g: IndexedPolyface): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleTransitionSpiral(_g: TransitionSpiral3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handlePath(_g: Path): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleLoop(_g: Loop): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleParityRegion(_g: ParityRegion): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleUnionRegion(_g: UnionRegion): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public override handleBagOfCurves(_g: BagOfCurves): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleSphere(_g: Sphere): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleCone(_g: Cone): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBox(_g: Box): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleTorusPipe(_g: TorusPipe): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleLinearSweep(_g: LinearSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleRotationalSweep(_g: RotationalSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleRuledSweep(_g: RuledSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handlePointString3d(_g: PointString3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBezierCurve3d(_g: BezierCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBezierCurve3dH(_g: BezierCurve3dH): any {\n    return undefined;\n  }\n}\n/**\n * Implement GeometryHandler methods, but override `handleCurveCollection` so that all methods\n * that operate on a [[CurveCollection]] recurse to their children.\n * @public\n */\nexport class RecurseToCurvesGeometryHandler extends GeometryHandler {\n  /** No-action implementation */\n  public handleLineSegment3d(_g: LineSegment3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleLineString3d(_g: LineString3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleArc3d(_g: Arc3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineCurve3d(_g: BSplineCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleInterpolationCurve3d(_g: InterpolationCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleAkimaCurve3d(_g: AkimaCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineCurve3dH(_g: BSplineCurve3dH): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineSurface3d(_g: BSplineSurface3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleCoordinateXYZ(_g: CoordinateXYZ): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBSplineSurface3dH(_g: BSplineSurface3dH): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleIndexedPolyface(_g: IndexedPolyface): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleTransitionSpiral(_g: TransitionSpiral3d): any {\n    return undefined;\n  }\n  /** Invoke `child.dispatchToGeometryHandler(this)` for each child in the array returned by the query `g.children` */\n  public handleChildren(g: GeometryQuery): any {\n    const children = g.children;\n    if (children)\n      for (const child of children) {\n        child.dispatchToGeometryHandler(this);\n      }\n  }\n  /** Recurse to children */\n  public override handleCurveCollection(g: CurveCollection): any {\n    return this.handleChildren(g);\n  }\n  /** No-action implementation */\n  public handleSphere(_g: Sphere): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleCone(_g: Cone): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBox(_g: Box): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleTorusPipe(_g: TorusPipe): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleLinearSweep(_g: LinearSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleRotationalSweep(_g: RotationalSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleRuledSweep(_g: RuledSweep): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handlePointString3d(_g: PointString3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBezierCurve3d(_g: BezierCurve3d): any {\n    return undefined;\n  }\n  /** No-action implementation */\n  public handleBezierCurve3dH(_g: BezierCurve3dH): any {\n    return undefined;\n  }\n}\n\n/**\n * IStrokeHandler is an interface with methods to receive data about curves being stroked.\n * CurvePrimitives emitStrokes() methods emit calls to a handler object with these methods.\n * The various CurvePrimitive types are free to announce either single points (announcePoint), linear fragments,\n * or fractional intervals of the parent curve.\n * * startCurvePrimitive(cp) -- announce the curve primitive whose strokes will follow.\n * * announcePointTangent(xyz, fraction, tangent) -- announce a single point on the curve.\n * * announceIntervalForUniformStepStrokes(cp, numStrokes, fraction0, fraction1) -- announce a fraction\n * interval in which the curve can be evaluated (e.g., the handler can call cp->fractionToPointAndDerivative())\n * * announceSegmentInterval(cp, point0, point1, numStrokes, fraction0, fraction1) -- announce that the\n * fractional interval fraction0, fraction1 is a straight line which should be broken into numStrokes strokes.\n *   * A LineSegment would make a single call to this.\n *   * A LineString would make one call to this for each of its segments, with fractions indicating position\n * within the linestring.\n * * endCurvePrimitive(cp) -- announce the end of the curve primitive.\n * @public\n */\nexport interface IStrokeHandler {\n  /**\n   * Announce a parent curve primitive.\n   * * startParentCurvePrimitive() and endParentCurvePrimitive() are wrapped around startCurvePrimitive and\n   * endCurvePrimitive when the interior primitive is a proxy.\n   */\n  startParentCurvePrimitive(cp: CurvePrimitive): void;\n  /** Announce the curve primitive that will be described in subsequent calls. */\n  startCurvePrimitive(cp: CurvePrimitive): void;\n  /**\n   * Announce a single point with its fraction and tangent.\n   * * (IMPORTANT) the same Point3d and Vector3d will be reset and passed on multiple calls.\n   * * (THEREFORE) if the implementation is saving coordinates, it must copy the xyz data out into its own data\n   * structure rather than save the references.\n   */\n  announcePointTangent(xyz: Point3d, fraction: number, tangent: Vector3d): void;\n  /**\n   * Announce that curve primitive `cp` should be evaluated in the specified fraction interval.\n   * * Note that this method is permitted (expected) to provide pre-stroked data if available.\n   * * In the pre-stroked case, the `cp` passed to the handler will be the stroked image, not the original.\n   * * Callers that want summary data should implement (and return true from) needPrimaryDataForStrokes.\n  */\n  announceIntervalForUniformStepStrokes(\n    cp: CurvePrimitive, numStrokes: number, fraction0: number, fraction1: number,\n  ): void;\n  /**\n   * OPTIONAL method for a handler to indicate that it wants primary geometry (e.g. spirals) rather than strokes.\n   * @returns true if primary geometry should be passed (rather than stroked or otherwise simplified)\n  */\n  needPrimaryGeometryForStrokes?(): boolean;\n  /** Announce numPoints interpolated between point0 and point1, with associated fractions */\n  announceSegmentInterval(\n    cp: CurvePrimitive, point0: Point3d, point1: Point3d, numStrokes: number, fraction0: number, fraction1: number,\n  ): void;\n  /** Announce that all data about `cp` has been announced. */\n  endCurvePrimitive(cp: CurvePrimitive): void;\n  /** Announce that all data about the parent primitive has been announced. */\n  endParentCurvePrimitive(cp: CurvePrimitive): void;\n  /**\n   * OPTIONAL method to announce a bezier curve fragment.\n   * * This is usually a section of BsplineCurve.\n   * * If this function is missing, the same interval will be passed to announceIntervalForUniformSteps.\n   * @param bezier bezier fragment\n   * @param numStrokes suggested number of strokes (uniform in bezier interval 0..1)\n   * @param parent parent curve\n   * @param spanIndex spanIndex within parent\n   * @param fraction0 start fraction on parent curve\n   * @param fraction1 end fraction on parent curve\n   */\n  announceBezierCurve?(\n    bezier: BezierCurveBase, numStrokes: number, parent: CurvePrimitive, spandex: number, fraction0: number, fraction1: number,\n  ): void;\n}\n\n/**\n * Interface with methods for mapping (u,v) fractional coordinates to surface xyz and derivatives.\n * @public\n */\nexport interface UVSurface {\n  /**\n   * Convert fractional u and v coordinates to surface point.\n   * @param uFraction fractional coordinate in u direction\n   * @param vFraction fractional coordinate in v direction\n   * @param result optional pre-allocated point\n   */\n  uvFractionToPoint(uFraction: number, vFraction: number, result?: Point3d): Point3d;\n  /**\n   * Convert fractional u and v coordinates to surface point and in-surface tangent directions.\n   * * The vectors are expected to be non-zero tangents which can be crossed to get a normal.\n   * * Hence they are not necessarily (a) partial derivatives or (b) Frenet vectors.\n   * @param uFraction fractional coordinate in u direction\n   * @param vFraction fractional coordinate in v direction\n   * @param result optional pre-allocated carrier for point and vectors\n   */\n  uvFractionToPointAndTangents(\n    uFraction: number, vFraction: number, result?: Plane3dByOriginAndVectors,\n  ): Plane3dByOriginAndVectors;\n}\n/**\n * Interface for queries of distance-along in u and v directions\n * @public\n */\nexport interface UVSurfaceIsoParametricDistance {\n  /**\n   * * Return a vector whose x and y parts are \"size\" of the surface in the u and v directions.\n   * * Sizes are use for applying scaling to mesh parameters\n   * * These sizes are (reasonable approximations of) the max curve length along u and v isoparameter lines.\n   *   * e.g. for a sphere, these are:\n   *      * u direction = distance around the equator\n   *      * v direction = distance from south pole to north pole.\n   */\n  maxIsoParametricDistance(): Vector2d;\n}\n"]}
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package/lib/cjs/geometry3d/GrowableBlockedArray.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 ArraysAndInterfaces\n */\n\nimport { BlockComparisonFunction } from \"./GrowableFloat64Array\";\n\n/**\n * Array of contiguous doubles, indexed by block number and index within block.\n * * This is essentially a rectangular matrix (two dimensional array), with each block being a row of the matrix.\n * @public\n */\nexport class GrowableBlockedArray {\n  /** underlying contiguous, oversized buffer. */\n  protected _data: Float64Array;\n  /** Number of blocks (matrix rows) in use. */\n  protected _inUse: number;\n  /** number of numbers per block in the array.\n   * * If viewing the array as a two dimensional array, this is the row size.\n   */\n  protected _blockSize: number;  // positive integer !!!\n  /**\n   * multiplier used by ensureBlockCapacity to expand requested reallocation size\n   */\n  protected _growthFactor: number;\n\n  /**\n   * Construct an array whose contents are in blocked (row-major) order, possibly with extra capacity.\n   * * Total capacity is `this._data.length`\n   * * Actual in-use count is `this._inUse * this._blockSize`\n   * @param blockSize number of entries in each block, i.e., row size\n   * @param initialBlocks initial capacity in blocks (default 8)\n   * @param growthFactor used by ensureBlockCapacity to expand requested reallocation size (default 1.5)\n   */\n  public constructor(blockSize: number, initialBlocks: number = 8, growthFactor?: number) {\n    this._data = new Float64Array(initialBlocks * blockSize);\n    this._inUse = 0;\n    this._blockSize = blockSize > 0 ? blockSize : 1;\n    this._growthFactor = (undefined !== growthFactor && growthFactor >= 1.0) ? growthFactor : 1.5;\n  }\n\n  /** Copy data from source array. Does not reallocate or change active block count.\n   * @param source array to copy from\n   * @param sourceCount copy the first sourceCount blocks; all blocks if undefined\n   * @param destOffset copy to instance array starting at this block index; zero if undefined\n   * @return count and offset of blocks copied\n   */\n  protected copyData(source: Float64Array | number[], sourceCount?: number, destOffset?: number): {count: number, offset: number} {\n    // validate inputs and convert from blocks to entries\n    let myOffset = (undefined !== destOffset) ? destOffset * this.numPerBlock : 0;\n    if (myOffset < 0)\n      myOffset = 0;\n    if (myOffset >= this._data.length)\n      return {count: 0, offset: 0};\n    let myCount = (undefined !== sourceCount) ? sourceCount * this.numPerBlock : source.length;\n    if (myCount > 0) {\n      if (myCount > source.length)\n        myCount = source.length;\n      if (myOffset + myCount > this._data.length)\n        myCount = this._data.length - myOffset;\n      if (myCount % this.numPerBlock !== 0)\n        myCount -= myCount % this.numPerBlock;\n    }\n    if (myCount <= 0)\n      return {count: 0, offset: 0};\n    if (myCount === source.length)\n      this._data.set(source, myOffset);\n    else if (source instanceof Float64Array)\n      this._data.set(source.subarray(0, myCount), myOffset);\n    else\n      this._data.set(source.slice(0, myCount), myOffset);\n    return {count: myCount / this.numPerBlock, offset: myOffset / this.numPerBlock};\n  }\n\n  /**\n   * Make a copy of the (active) blocks in this array.\n   * (The clone does NOT get excess capacity)\n   */\n  public clone(): GrowableBlockedArray {\n    const newBlocks = new GrowableBlockedArray(this.numPerBlock, this.numBlocks, this._growthFactor);\n    newBlocks.copyData(this._data, this.numBlocks);\n    newBlocks._inUse = this.numBlocks;\n    return newBlocks;\n  }\n\n  /** computed property: length (in blocks, not doubles) */\n  public get length(): number { return this._inUse; }\n  /** computed property: length (in blocks, not doubles) */\n  public get numBlocks(): number { return this._inUse; }\n  /** property: number of data values per block */\n  public get numPerBlock(): number { return this._blockSize; }\n  /**\n   * Return a single value indexed within a block. Indices are unchecked.\n   * @param blockIndex index of block to read\n   * @param indexInBlock  offset within the block\n   */\n  public getWithinBlock(blockIndex: number, indexWithinBlock: number): number {\n    return this._data[blockIndex * this._blockSize + indexWithinBlock];\n  }\n  /** clear the block count to zero, but maintain the allocated memory */\n  public clear() { this._inUse = 0; }\n  /** Return the capacity in blocks (not doubles) */\n  public blockCapacity() {\n    return this._data.length / this._blockSize;\n  }\n  /** ensure capacity (in blocks, not doubles) */\n  public ensureBlockCapacity(blockCapacity: number, applyGrowthFactor: boolean = true) {\n    if (blockCapacity > this.blockCapacity()) {\n      if (applyGrowthFactor)\n        blockCapacity *= this._growthFactor;\n      const prevData = this._data;\n      this._data = new Float64Array(blockCapacity * this._blockSize);\n      this.copyData(prevData, this._inUse);\n      }\n  }\n  /** Add a new block of data.\n   * * If newData has fewer than numPerBlock entries, the remaining part of the new block is zeros.\n   * * If newData has more entries, only the first numPerBlock are taken.\n   */\n  public addBlock(newData: number[]) {\n    const k0 = this.newBlockIndex();\n    let numValue = newData.length;\n    if (numValue > this._blockSize)\n      numValue = this._blockSize;\n    for (let i = 0; i < numValue; i++)\n      this._data[k0 + i] = newData[i];\n  }\n  /**\n   * Return the starting index of a block of (zero-initialized) doubles at the end.\n   *\n   * * this.data is reallocated if needed to include the new block.\n   * * The inUse count is incremented to include the new block.\n   * * The returned block is an index to the Float64Array (not a block index)\n   */\n  protected newBlockIndex(): number {\n    const index = this._blockSize * this._inUse;\n    if ((index + 1) > this._data.length)\n      this.ensureBlockCapacity(1 + this._inUse);\n    this._inUse++;\n    for (let i = index; i < index + this._blockSize; i++)\n      this._data[i] = 0.0;\n    return index;\n  }\n  /** reduce the block count by one. */\n  public popBlock() {\n    if (this._inUse > 0)\n      this._inUse--;\n  }\n  /** convert a block index to the simple index to the underlying Float64Array. */\n  protected blockIndexToDoubleIndex(blockIndex: number) { return this._blockSize * blockIndex; }\n  /** Access a single double at offset within a block, with index checking and return undefined if indexing is invalid. */\n  public checkedComponent(blockIndex: number, componentIndex: number): number | undefined {\n    if (blockIndex >= this._inUse || blockIndex < 0 || componentIndex < 0 || componentIndex >= this._blockSize)\n      return undefined;\n    return this._data[this._blockSize * blockIndex + componentIndex];\n  }\n  /** Access a single double at offset within a block.  This has no index checking. */\n  public component(blockIndex: number, componentIndex: number): number {\n    return this._data[this._blockSize * blockIndex + componentIndex];\n  }\n  /** compare two blocks in simple lexical order.\n   * @param data data array\n   * @param blockSize number of items to compare\n   * @param ia raw index (not block index) of first block\n   * @param ib raw index (not block index) of second block\n   */\n  public static compareLexicalBlock(data: Float64Array, blockSize: number, ia: number, ib: number): number {\n    let ax = 0;\n    let bx = 0;\n    for (let i = 0; i < blockSize; i++) {\n      ax = data[ia + i];\n      bx = data[ib + i];\n      if (ax > bx) return 1;\n      if (ax < bx) return -1;\n    }\n    return ia - ib; // so original order is maintained among duplicates !!!!\n  }\n  /** Return an array of block indices sorted per compareLexicalBlock function */\n  public sortIndicesLexical(compareBlocks: BlockComparisonFunction = (dataArray, size, iA, iB) => GrowableBlockedArray.compareLexicalBlock(dataArray, size, iA, iB)): Uint32Array {\n    const n = this._inUse;\n    // let numCompare = 0;\n    const result = new Uint32Array(n);\n    const data = this._data;\n    const blockSize = this._blockSize;\n    for (let i = 0; i < n; i++)result[i] = i;\n    result.sort(\n      (blockIndexA: number, blockIndexB: number) => {\n        // numCompare++;\n        return compareBlocks(data, blockSize, blockIndexA * blockSize, blockIndexB * blockSize);\n      });\n    // console.log (n, numCompare);\n    return result;\n  }\n  /** Return the distance (hypotenuse=sqrt(summed squares)) between indicated blocks */\n  public distanceBetweenBlocks(blockIndexA: number, blockIndexB: number): number {\n    let dd = 0.0;\n    let iA = this.blockIndexToDoubleIndex(blockIndexA);\n    let iB = this.blockIndexToDoubleIndex(blockIndexB);\n    let a = 0;\n    const data = this._data;\n    for (let i = 0; i < this._blockSize; i++) {\n      a = data[iA++] - data[iB++];\n      dd += a * a;\n    }\n    return Math.sqrt(dd);\n  }\n\n  /** Return the distance (hypotenuse=sqrt(summed squares)) between block entries `iBegin <= i < iEnd` of indicated blocks */\n  public distanceBetweenSubBlocks(blockIndexA: number, blockIndexB: number, iBegin: number, iEnd: number): number {\n    let dd = 0.0;\n    const iA = this.blockIndexToDoubleIndex(blockIndexA);\n    const iB = this.blockIndexToDoubleIndex(blockIndexB);\n    let a = 0;\n    const data = this._data;\n    for (let i = iBegin; i < iEnd; i++) {\n      a = data[iA + i] - data[iB + i];\n      dd += a * a;\n    }\n    return Math.sqrt(dd);\n  }\n}\n"]}
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