npm - @itwin/core-geometry - Versions diffs - 5.2.0-dev.20 → 5.2.0-dev.21 - Mend

@itwin/core-geometry 5.2.0-dev.20 → 5.2.0-dev.21

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Files changed (450) hide show

package/lib/cjs/geometry3d/CoincidentGeometryOps.js.map CHANGED Viewed

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\nimport { assert } from \"@itwin/core-bentley\";\nimport { Arc3d } from \"../curve/Arc3d\";\nimport { CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { Geometry } from \"../Geometry\";\nimport { SmallSystem } from \"../numerics/SmallSystem\";\nimport { AngleSweep } from \"./AngleSweep\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Segment1d } from \"./Segment1d\";\n\n/\n `CoincidentGeometryQuery` has methods useful in testing for overlapping geometry.\n * * Each instance carries tolerance information that can be reused over extended call sequences.\n * * These methods are expected to be called internally by CurveCurve intersection methods.\n * @internal\n /\nexport class CoincidentGeometryQuery {\n private _vectorU?: Vector3d;\n private _vectorV?: Vector3d;\n private _point0?: Point3d;\n private _point1?: Point3d;\n private _tolerance: number;\n public get tolerance(): number {\n return this._tolerance;\n }\n private constructor(tolerance: number = Geometry.smallMetricDistance) {\n this._tolerance = tolerance;\n }\n public static create(tolerance: number = Geometry.smallMetricDistance): CoincidentGeometryQuery {\n return new CoincidentGeometryQuery(tolerance);\n }\n /\n * Assign both the fraction and fraction1 values in the detail, possibly swapped.\n * * reevaluate the points as simple interpolation between given points.\n /\n public static assignDetailInterpolatedFractionsAndPoints(detail: CurveLocationDetail, f0: number, f1: number,\n pointA: Point3d, pointB: Point3d, swap: boolean = false) {\n if (swap) {\n detail.fraction = f1;\n detail.fraction1 = f0;\n } else {\n detail.fraction = f0;\n detail.fraction1 = f1;\n }\n detail.point = pointA.interpolate(detail.fraction, pointB, detail.point);\n detail.point1 = pointA.interpolate(detail.fraction1, pointB, detail.point1);\n\n }\n\n /* Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB` /\n public projectPointToSegmentXY(spacePoint: Point3d, pointA: Point3d, pointB: Point3d): CurveLocationDetail {\n this._vectorU = Vector3d.createStartEnd(pointA, pointB, this._vectorU);\n this._vectorV = Vector3d.createStartEnd(pointA, spacePoint, this._vectorV);\n const uDotU = this._vectorU.dotProductXY(this._vectorU);\n const uDotV = this._vectorU.dotProductXY(this._vectorV);\n const fraction = Geometry.safeDivideFraction(uDotV, uDotU, 0.0);\n return CurveLocationDetail.createCurveFractionPoint(undefined, fraction,\n pointA.interpolate(fraction, pointB));\n }\n /\n Given a detail pair representing the projection of each of two colinear line segments onto the other,\n * clamp the details (in place) to the line segments' endpoints according to the given flags.\n * @param overlap unbounded segment overlap as returned by [[coincidentSegmentRangeXY]], modified and returned\n * @param pointA0 start point of segment A\n * @param pointA1 end point of segment A\n * @param pointB0 start point of segment B\n * @param pointB1 end point of segment B\n * @param extendA0 whether to extend segment A beyond its start\n * @param extendA1 whether to extend segment A beyond its end\n * @param extendB0 whether to extend segment B beyond its start\n * @param extendB1 whether to extend segment B beyond its end\n * @return reference to the modified input, or undefined (leaving input untouched) if clamping would result in empty interval.\n /\n public clampCoincidentOverlapToSegmentBounds(overlap: CurveLocationDetailPair,\n pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d,\n extendA0: boolean = false, extendA1: boolean = false, extendB0: boolean = false, extendB1: boolean = false,\n ): CurveLocationDetailPair \| undefined {\n const rangeA = Segment1d.create(overlap.detailA.fraction, overlap.detailA.hasFraction1 ? overlap.detailA.fraction1 : overlap.detailA.fraction);\n const rangeB = Segment1d.create(overlap.detailB.fraction, overlap.detailB.hasFraction1 ? overlap.detailB.fraction1 : overlap.detailB.fraction);\n const reversed = rangeA.signedDelta() < 0.0;\n\n const updateIntervalFromRangesAndInterpolatedPoints = (): CurveLocationDetailPair => {\n const a0 = rangeA.x0;\n const a1 = rangeA.x1;\n const b0 = rangeB.x0;\n const b1 = rangeB.x1;\n CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailA, a0, a1, pointA0, pointA1, a0 > a1);\n CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailB, b0, b1, pointB0, pointB1, b0 > b1);\n return overlap;\n };\n\n const haveIntervalA = rangeA.clampDirectedTo01(!extendA0, !extendA1, false);\n const haveIntervalB = rangeB.clampDirectedTo01(!extendB0, !extendB1, false);\n if (haveIntervalA && haveIntervalB) {\n if (Geometry.isAlmostEqualNumber(rangeA.absoluteDelta(), rangeB.absoluteDelta(), Geometry.smallFraction))\n return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of partially clamped ranges\n else if (rangeA.clampDirectedTo01(true, true, false) && rangeB.clampDirectedTo01(true, true, false))\n return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of fully clamped ranges\n }\n\n const collapseToSingleton = (pointA: Point3d, pointB: Point3d, atStartA: boolean, atStartB: boolean): CurveLocationDetailPair => {\n pointA.clone(overlap.detailA.point);\n pointB.clone(overlap.detailB.point);\n overlap.detailA.fraction = atStartA ? 0.0 : 1.0;\n overlap.detailB.fraction = atStartB ? 0.0 : 1.0;\n overlap.detailA.collapseToStart();\n overlap.detailB.collapseToStart();\n return overlap;\n };\n\n const haveSingletonA = rangeA.clampDirectedTo01(true, true, true);\n const haveSingletonB = rangeB.clampDirectedTo01(true, true, true);\n if (haveSingletonA && haveSingletonB) { // intersection is a single point\n const point1 = overlap.detailA.point1 ?? overlap.detailA.point;\n if (reversed) {\n if (overlap.detailA.point.isAlmostEqual(pointA0, this.tolerance))\n return collapseToSingleton(pointA0, pointB0, true, true);\n else if (point1.isAlmostEqual(pointA1, this.tolerance))\n return collapseToSingleton(pointA1, pointB1, false, false);\n } else {\n if (point1.isAlmostEqual(pointA0, this.tolerance))\n return collapseToSingleton(pointA0, pointB1, true, false);\n else if (overlap.detailA.point.isAlmostEqual(pointA1, this.tolerance))\n return collapseToSingleton(pointA1, pointB0, false, true);\n }\n }\n return undefined; // no intersection\n }\n /\n Compute whether two line segments have a coincident overlap in xy.\n * * Project `pointA0` and `pointA1` onto the (infinite) line formed by `pointB0` and `pointB1` and vice versa.\n * * If all projection distances are sufficiently small, return a detail pair recording the coincident interval.\n * * Caller can follow up with [[clampCoincidentOverlapToSegmentBounds]] to restrict the returned interval by the segments' ranges.\n * @param pointA0 start point of segment A\n * @param pointA1 end point of segment A\n * @param pointB0 start point of segment B\n * @param pointB1 end point of segment B\n * @return detail pair for the coincident interval (`detailA` has fractions along segment A, and `detailB` has\n * fractions along segment B), or `undefined` if no coincidence.\n /\n public coincidentSegmentRangeXY(pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d): CurveLocationDetailPair \| undefined {\n const aDir = { x: pointA1.x - pointA0.x, y: pointA1.y - pointA0.y };\n const bDir = { x: pointB1.x - pointB0.x, y: pointB1.y - pointB0.y };\n const fractions = SmallSystem.lineSegmentXYUVOverlapUnbounded(pointA0, aDir, pointB0, bDir, this._tolerance);\n if (!fractions \|\| !fractions.f1)\n return undefined; // no overlap\n const detailA = CurveLocationDetail.createCurveFractionPoint(undefined, fractions.f0.x, pointA0.interpolate(fractions.f0.x, pointA1));\n detailA.captureFraction1Point1(fractions.f1.x, pointA0.interpolate(fractions.f1.x, pointA1));\n const detailB = CurveLocationDetail.createCurveFractionPoint(undefined, fractions.f0.y, pointB0.interpolate(fractions.f0.y, pointB1));\n detailB.captureFraction1Point1(fractions.f1.y, pointB0.interpolate(fractions.f1.y, pointB1));\n return CurveLocationDetailPair.createCapture(detailA, detailB);\n }\n /\n Create a CurveLocationDetailPair for a coincident interval of two overlapping curves\n * @param cpA curveA\n * @param cpB curveB\n * @param fractionsOnA coincident interval of curveB in fraction space of curveA\n * @param fractionB0 curveB start in fraction space of curveA\n * @param fractionB1 curveB end in fraction space of curveA\n * @param reverse whether curveB and curveA have opposite direction\n /\n private createDetailPair(cpA: CurvePrimitive, cpB: CurvePrimitive, fractionsOnA: Segment1d, fractionB0: number, fractionB1: number, reverse: boolean): CurveLocationDetailPair \| undefined {\n const deltaB = fractionB1 - fractionB0;\n const g0 = Geometry.conditionalDivideFraction(fractionsOnA.x0 - fractionB0, deltaB);\n const g1 = Geometry.conditionalDivideFraction(fractionsOnA.x1 - fractionB0, deltaB);\n if (g0 !== undefined && g1 !== undefined) {\n const detailA = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpA, fractionsOnA.x0, fractionsOnA.x1);\n const detailB = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpB, g0, g1);\n if (reverse)\n detailA.swapFractionsAndPoints();\n return CurveLocationDetailPair.createCapture(detailA, detailB);\n }\n return undefined;\n }\n private appendDetailPair(result: CurveLocationDetailPair[] \| undefined, pair: CurveLocationDetailPair \| undefined): CurveLocationDetailPair[] \| undefined {\n if (pair === undefined)\n return result;\n if (result === undefined)\n return [pair];\n result.push(pair);\n return result;\n }\n /\n Test if 2 arcs have coinciding portions.\n * @param arcA\n * @param arcB\n * @param _restrictToBounds\n * @return 0, 1, or 2 overlap points/intervals\n /\n public coincidentArcIntersectionXY(arcA: Arc3d, arcB: Arc3d, _restrictToBounds: boolean = true): CurveLocationDetailPair[] \| undefined {\n let result: CurveLocationDetailPair[] \| undefined;\n if (arcA.center.isAlmostEqual(arcB.center, this.tolerance)) {\n const matrixBToA = arcA.matrixRef.multiplyMatrixInverseMatrix(arcB.matrixRef);\n if (matrixBToA) {\n const ux = matrixBToA.at(0, 0); const uy = matrixBToA.at(1, 0);\n const vx = matrixBToA.at(0, 1); const vy = matrixBToA.at(1, 1);\n const ru = Geometry.hypotenuseXY(ux, uy);\n const rv = Geometry.hypotenuseXY(vx, vy);\n const dot = Geometry.dotProductXYXY(ux, uy, vx, vy);\n const cross = Geometry.crossProductXYXY(ux, uy, vx, vy);\n if (Geometry.isAlmostEqualNumber(ru, 1.0)\n && Geometry.isAlmostEqualNumber(rv, 1.0)\n && Geometry.isAlmostEqualNumber(0, dot)) {\n const alphaB0Radians = Math.atan2(uy, ux); // angular position of arcB 0 point in arcA sweep\n const sweepDirection = cross > 0 ? 1.0 : -1.0; // 1 if arcB parameter space sweeps in same direction as arcA, -1 if opposite\n const betaStartRadians = alphaB0Radians + sweepDirection arcB.sweep.startRadians; // arcB start in arcA parameter space\n const betaEndRadians = alphaB0Radians + sweepDirection * arcB.sweep.endRadians; // arcB end in arcA parameter space\n const fractionSpacesReversed = (sweepDirection * arcA.sweep.sweepRadians * arcB.sweep.sweepRadians) < 0;\n const sweepB = AngleSweep.createStartEndRadians(betaStartRadians, betaEndRadians);\n const sweepA = arcA.sweep;\n const fractionPeriodA = sweepA.fractionPeriod();\n const fractionB0 = sweepA.radiansToPositivePeriodicFraction(sweepB.startRadians); // arcB start in arcA fraction space\n assert(fractionB0 >= 0.0);\n const fractionSweep = sweepB.sweepRadians / sweepA.sweepRadians; // arcB sweep in arcA fraction space\n const fractionB1 = fractionB0 + fractionSweep; // arcB end in arcA fraction space\n const fractionSweepB = Segment1d.create(fractionB0, fractionB1);\n\n /** lambda to add a coincident interval or isolated intersection, given inputs in arcA fraction space\n * @param arcBInArcAFractionSpace span of arcB in arcA fraction space. On return, clamped to [0,1] if nontrivial.\n * @param testStartOfArcA if no nontrivial coincident interval was found, look for an isolated intersection at the start (true) or end (false) of arcA\n * @returns whether a detail pair was appended to result\n */\n const appendCoincidentIntersection = (arcBInArcAFractionSpace: Segment1d, testStartOfArcA: boolean): boolean => {\n const size = result ? result.length : 0;\n const arcBStart = arcBInArcAFractionSpace.x0;\n const arcBEnd = arcBInArcAFractionSpace.x1;\n if (arcBInArcAFractionSpace.clampDirectedTo01() && !Geometry.isSmallRelative(arcBInArcAFractionSpace.absoluteDelta())) {\n result = this.appendDetailPair(result, this.createDetailPair(arcA, arcB, arcBInArcAFractionSpace, arcBStart, arcBEnd, fractionSpacesReversed));\n } else { // test isolated intersection\n const testStartOfArcB = fractionSpacesReversed ? testStartOfArcA : !testStartOfArcA;\n const arcAPt = this._point0 = testStartOfArcA ? arcA.startPoint(this._point0) : arcA.endPoint(this._point0);\n const arcBPt = this._point1 = testStartOfArcB ? arcB.startPoint(this._point1) : arcB.endPoint(this._point1);\n if (arcAPt.isAlmostEqual(arcBPt, this.tolerance)) {\n const detailA = CurveLocationDetail.createCurveFractionPoint(arcA, testStartOfArcA ? 0 : 1, arcAPt);\n const detailB = CurveLocationDetail.createCurveFractionPoint(arcB, testStartOfArcB ? 0 : 1, arcBPt);\n result = this.appendDetailPair(result, CurveLocationDetailPair.createCapture(detailA, detailB));\n }\n }\n return result !== undefined && result.length > size;\n };\n\n appendCoincidentIntersection(fractionSweepB, false); // compute overlap in strict interior, or at end of arcA\n\n // check overlap at start of arcA with a periodic shift of fractionSweepB\n if (fractionB1 >= fractionPeriodA)\n appendCoincidentIntersection(Segment1d.create(fractionB0 - fractionPeriodA, fractionB1 - fractionPeriodA), true);\n else if (fractionB0 === 0.0)\n appendCoincidentIntersection(Segment1d.create(fractionB0 + fractionPeriodA, fractionB1 + fractionPeriodA), true);\n }\n }\n }\n return result;\n }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { AngleSweep } from \"./AngleSweep\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Segment1d } from \"./Segment1d\";\r\n\r\n/\r\n `CoincidentGeometryQuery` has methods useful in testing for overlapping geometry.\r\n * * Each instance carries tolerance information that can be reused over extended call sequences.\r\n * * These methods are expected to be called internally by CurveCurve intersection methods.\r\n * @internal\r\n /\r\nexport class CoincidentGeometryQuery {\r\n private _vectorU?: Vector3d;\r\n private _vectorV?: Vector3d;\r\n private _point0?: Point3d;\r\n private _point1?: Point3d;\r\n private _tolerance: number;\r\n public get tolerance(): number {\r\n return this._tolerance;\r\n }\r\n private constructor(tolerance: number = Geometry.smallMetricDistance) {\r\n this._tolerance = tolerance;\r\n }\r\n public static create(tolerance: number = Geometry.smallMetricDistance): CoincidentGeometryQuery {\r\n return new CoincidentGeometryQuery(tolerance);\r\n }\r\n /\r\n * Assign both the fraction and fraction1 values in the detail, possibly swapped.\r\n * * reevaluate the points as simple interpolation between given points.\r\n /\r\n public static assignDetailInterpolatedFractionsAndPoints(detail: CurveLocationDetail, f0: number, f1: number,\r\n pointA: Point3d, pointB: Point3d, swap: boolean = false) {\r\n if (swap) {\r\n detail.fraction = f1;\r\n detail.fraction1 = f0;\r\n } else {\r\n detail.fraction = f0;\r\n detail.fraction1 = f1;\r\n }\r\n detail.point = pointA.interpolate(detail.fraction, pointB, detail.point);\r\n detail.point1 = pointA.interpolate(detail.fraction1, pointB, detail.point1);\r\n\r\n }\r\n\r\n /* Return a curve location detail with projection of a `spacePoint` to the line segment with `pointA` and `pointB` /\r\n public projectPointToSegmentXY(spacePoint: Point3d, pointA: Point3d, pointB: Point3d): CurveLocationDetail {\r\n this._vectorU = Vector3d.createStartEnd(pointA, pointB, this._vectorU);\r\n this._vectorV = Vector3d.createStartEnd(pointA, spacePoint, this._vectorV);\r\n const uDotU = this._vectorU.dotProductXY(this._vectorU);\r\n const uDotV = this._vectorU.dotProductXY(this._vectorV);\r\n const fraction = Geometry.safeDivideFraction(uDotV, uDotU, 0.0);\r\n return CurveLocationDetail.createCurveFractionPoint(undefined, fraction,\r\n pointA.interpolate(fraction, pointB));\r\n }\r\n /\r\n Given a detail pair representing the projection of each of two colinear line segments onto the other,\r\n * clamp the details (in place) to the line segments' endpoints according to the given flags.\r\n * @param overlap unbounded segment overlap as returned by [[coincidentSegmentRangeXY]], modified and returned\r\n * @param pointA0 start point of segment A\r\n * @param pointA1 end point of segment A\r\n * @param pointB0 start point of segment B\r\n * @param pointB1 end point of segment B\r\n * @param extendA0 whether to extend segment A beyond its start\r\n * @param extendA1 whether to extend segment A beyond its end\r\n * @param extendB0 whether to extend segment B beyond its start\r\n * @param extendB1 whether to extend segment B beyond its end\r\n * @return reference to the modified input, or undefined (leaving input untouched) if clamping would result in empty interval.\r\n /\r\n public clampCoincidentOverlapToSegmentBounds(overlap: CurveLocationDetailPair,\r\n pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d,\r\n extendA0: boolean = false, extendA1: boolean = false, extendB0: boolean = false, extendB1: boolean = false,\r\n ): CurveLocationDetailPair \| undefined {\r\n const rangeA = Segment1d.create(overlap.detailA.fraction, overlap.detailA.hasFraction1 ? overlap.detailA.fraction1 : overlap.detailA.fraction);\r\n const rangeB = Segment1d.create(overlap.detailB.fraction, overlap.detailB.hasFraction1 ? overlap.detailB.fraction1 : overlap.detailB.fraction);\r\n const reversed = rangeA.signedDelta() < 0.0;\r\n\r\n const updateIntervalFromRangesAndInterpolatedPoints = (): CurveLocationDetailPair => {\r\n const a0 = rangeA.x0;\r\n const a1 = rangeA.x1;\r\n const b0 = rangeB.x0;\r\n const b1 = rangeB.x1;\r\n CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailA, a0, a1, pointA0, pointA1, a0 > a1);\r\n CoincidentGeometryQuery.assignDetailInterpolatedFractionsAndPoints(overlap.detailB, b0, b1, pointB0, pointB1, b0 > b1);\r\n return overlap;\r\n };\r\n\r\n const haveIntervalA = rangeA.clampDirectedTo01(!extendA0, !extendA1, false);\r\n const haveIntervalB = rangeB.clampDirectedTo01(!extendB0, !extendB1, false);\r\n if (haveIntervalA && haveIntervalB) {\r\n if (Geometry.isAlmostEqualNumber(rangeA.absoluteDelta(), rangeB.absoluteDelta(), Geometry.smallFraction))\r\n return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of partially clamped ranges\r\n else if (rangeA.clampDirectedTo01(true, true, false) && rangeB.clampDirectedTo01(true, true, false))\r\n return updateIntervalFromRangesAndInterpolatedPoints(); // intersection of fully clamped ranges\r\n }\r\n\r\n const collapseToSingleton = (pointA: Point3d, pointB: Point3d, atStartA: boolean, atStartB: boolean): CurveLocationDetailPair => {\r\n pointA.clone(overlap.detailA.point);\r\n pointB.clone(overlap.detailB.point);\r\n overlap.detailA.fraction = atStartA ? 0.0 : 1.0;\r\n overlap.detailB.fraction = atStartB ? 0.0 : 1.0;\r\n overlap.detailA.collapseToStart();\r\n overlap.detailB.collapseToStart();\r\n return overlap;\r\n };\r\n\r\n const haveSingletonA = rangeA.clampDirectedTo01(true, true, true);\r\n const haveSingletonB = rangeB.clampDirectedTo01(true, true, true);\r\n if (haveSingletonA && haveSingletonB) { // intersection is a single point\r\n const point1 = overlap.detailA.point1 ?? overlap.detailA.point;\r\n if (reversed) {\r\n if (overlap.detailA.point.isAlmostEqual(pointA0, this.tolerance))\r\n return collapseToSingleton(pointA0, pointB0, true, true);\r\n else if (point1.isAlmostEqual(pointA1, this.tolerance))\r\n return collapseToSingleton(pointA1, pointB1, false, false);\r\n } else {\r\n if (point1.isAlmostEqual(pointA0, this.tolerance))\r\n return collapseToSingleton(pointA0, pointB1, true, false);\r\n else if (overlap.detailA.point.isAlmostEqual(pointA1, this.tolerance))\r\n return collapseToSingleton(pointA1, pointB0, false, true);\r\n }\r\n }\r\n return undefined; // no intersection\r\n }\r\n /\r\n Compute whether two line segments have a coincident overlap in xy.\r\n * * Project `pointA0` and `pointA1` onto the (infinite) line formed by `pointB0` and `pointB1` and vice versa.\r\n * * If all projection distances are sufficiently small, return a detail pair recording the coincident interval.\r\n * * Caller can follow up with [[clampCoincidentOverlapToSegmentBounds]] to restrict the returned interval by the segments' ranges.\r\n * @param pointA0 start point of segment A\r\n * @param pointA1 end point of segment A\r\n * @param pointB0 start point of segment B\r\n * @param pointB1 end point of segment B\r\n * @return detail pair for the coincident interval (`detailA` has fractions along segment A, and `detailB` has\r\n * fractions along segment B), or `undefined` if no coincidence.\r\n /\r\n public coincidentSegmentRangeXY(pointA0: Point3d, pointA1: Point3d, pointB0: Point3d, pointB1: Point3d): CurveLocationDetailPair \| undefined {\r\n const aDir = { x: pointA1.x - pointA0.x, y: pointA1.y - pointA0.y };\r\n const bDir = { x: pointB1.x - pointB0.x, y: pointB1.y - pointB0.y };\r\n const fractions = SmallSystem.lineSegmentXYUVOverlapUnbounded(pointA0, aDir, pointB0, bDir, this._tolerance);\r\n if (!fractions \|\| !fractions.f1)\r\n return undefined; // no overlap\r\n const detailA = CurveLocationDetail.createCurveFractionPoint(undefined, fractions.f0.x, pointA0.interpolate(fractions.f0.x, pointA1));\r\n detailA.captureFraction1Point1(fractions.f1.x, pointA0.interpolate(fractions.f1.x, pointA1));\r\n const detailB = CurveLocationDetail.createCurveFractionPoint(undefined, fractions.f0.y, pointB0.interpolate(fractions.f0.y, pointB1));\r\n detailB.captureFraction1Point1(fractions.f1.y, pointB0.interpolate(fractions.f1.y, pointB1));\r\n return CurveLocationDetailPair.createCapture(detailA, detailB);\r\n }\r\n /\r\n Create a CurveLocationDetailPair for a coincident interval of two overlapping curves\r\n * @param cpA curveA\r\n * @param cpB curveB\r\n * @param fractionsOnA coincident interval of curveB in fraction space of curveA\r\n * @param fractionB0 curveB start in fraction space of curveA\r\n * @param fractionB1 curveB end in fraction space of curveA\r\n * @param reverse whether curveB and curveA have opposite direction\r\n /\r\n private createDetailPair(cpA: CurvePrimitive, cpB: CurvePrimitive, fractionsOnA: Segment1d, fractionB0: number, fractionB1: number, reverse: boolean): CurveLocationDetailPair \| undefined {\r\n const deltaB = fractionB1 - fractionB0;\r\n const g0 = Geometry.conditionalDivideFraction(fractionsOnA.x0 - fractionB0, deltaB);\r\n const g1 = Geometry.conditionalDivideFraction(fractionsOnA.x1 - fractionB0, deltaB);\r\n if (g0 !== undefined && g1 !== undefined) {\r\n const detailA = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpA, fractionsOnA.x0, fractionsOnA.x1);\r\n const detailB = CurveLocationDetail.createCurveEvaluatedFractionFraction(cpB, g0, g1);\r\n if (reverse)\r\n detailA.swapFractionsAndPoints();\r\n return CurveLocationDetailPair.createCapture(detailA, detailB);\r\n }\r\n return undefined;\r\n }\r\n private appendDetailPair(result: CurveLocationDetailPair[] \| undefined, pair: CurveLocationDetailPair \| undefined): CurveLocationDetailPair[] \| undefined {\r\n if (pair === undefined)\r\n return result;\r\n if (result === undefined)\r\n return [pair];\r\n result.push(pair);\r\n return result;\r\n }\r\n /\r\n Test if 2 arcs have coinciding portions.\r\n * @param arcA\r\n * @param arcB\r\n * @param _restrictToBounds\r\n * @return 0, 1, or 2 overlap points/intervals\r\n /\r\n public coincidentArcIntersectionXY(arcA: Arc3d, arcB: Arc3d, _restrictToBounds: boolean = true): CurveLocationDetailPair[] \| undefined {\r\n let result: CurveLocationDetailPair[] \| undefined;\r\n if (arcA.center.isAlmostEqual(arcB.center, this.tolerance)) {\r\n const matrixBToA = arcA.matrixRef.multiplyMatrixInverseMatrix(arcB.matrixRef);\r\n if (matrixBToA) {\r\n const ux = matrixBToA.at(0, 0); const uy = matrixBToA.at(1, 0);\r\n const vx = matrixBToA.at(0, 1); const vy = matrixBToA.at(1, 1);\r\n const ru = Geometry.hypotenuseXY(ux, uy);\r\n const rv = Geometry.hypotenuseXY(vx, vy);\r\n const dot = Geometry.dotProductXYXY(ux, uy, vx, vy);\r\n const cross = Geometry.crossProductXYXY(ux, uy, vx, vy);\r\n if (Geometry.isAlmostEqualNumber(ru, 1.0)\r\n && Geometry.isAlmostEqualNumber(rv, 1.0)\r\n && Geometry.isAlmostEqualNumber(0, dot)) {\r\n const alphaB0Radians = Math.atan2(uy, ux); // angular position of arcB 0 point in arcA sweep\r\n const sweepDirection = cross > 0 ? 1.0 : -1.0; // 1 if arcB parameter space sweeps in same direction as arcA, -1 if opposite\r\n const betaStartRadians = alphaB0Radians + sweepDirection arcB.sweep.startRadians; // arcB start in arcA parameter space\r\n const betaEndRadians = alphaB0Radians + sweepDirection * arcB.sweep.endRadians; // arcB end in arcA parameter space\r\n const fractionSpacesReversed = (sweepDirection * arcA.sweep.sweepRadians * arcB.sweep.sweepRadians) < 0;\r\n const sweepB = AngleSweep.createStartEndRadians(betaStartRadians, betaEndRadians);\r\n const sweepA = arcA.sweep;\r\n const fractionPeriodA = sweepA.fractionPeriod();\r\n const fractionB0 = sweepA.radiansToPositivePeriodicFraction(sweepB.startRadians); // arcB start in arcA fraction space\r\n assert(fractionB0 >= 0.0);\r\n const fractionSweep = sweepB.sweepRadians / sweepA.sweepRadians; // arcB sweep in arcA fraction space\r\n const fractionB1 = fractionB0 + fractionSweep; // arcB end in arcA fraction space\r\n const fractionSweepB = Segment1d.create(fractionB0, fractionB1);\r\n\r\n /** lambda to add a coincident interval or isolated intersection, given inputs in arcA fraction space\r\n * @param arcBInArcAFractionSpace span of arcB in arcA fraction space. On return, clamped to [0,1] if nontrivial.\r\n * @param testStartOfArcA if no nontrivial coincident interval was found, look for an isolated intersection at the start (true) or end (false) of arcA\r\n * @returns whether a detail pair was appended to result\r\n */\r\n const appendCoincidentIntersection = (arcBInArcAFractionSpace: Segment1d, testStartOfArcA: boolean): boolean => {\r\n const size = result ? result.length : 0;\r\n const arcBStart = arcBInArcAFractionSpace.x0;\r\n const arcBEnd = arcBInArcAFractionSpace.x1;\r\n if (arcBInArcAFractionSpace.clampDirectedTo01() && !Geometry.isSmallRelative(arcBInArcAFractionSpace.absoluteDelta())) {\r\n result = this.appendDetailPair(result, this.createDetailPair(arcA, arcB, arcBInArcAFractionSpace, arcBStart, arcBEnd, fractionSpacesReversed));\r\n } else { // test isolated intersection\r\n const testStartOfArcB = fractionSpacesReversed ? testStartOfArcA : !testStartOfArcA;\r\n const arcAPt = this._point0 = testStartOfArcA ? arcA.startPoint(this._point0) : arcA.endPoint(this._point0);\r\n const arcBPt = this._point1 = testStartOfArcB ? arcB.startPoint(this._point1) : arcB.endPoint(this._point1);\r\n if (arcAPt.isAlmostEqual(arcBPt, this.tolerance)) {\r\n const detailA = CurveLocationDetail.createCurveFractionPoint(arcA, testStartOfArcA ? 0 : 1, arcAPt);\r\n const detailB = CurveLocationDetail.createCurveFractionPoint(arcB, testStartOfArcB ? 0 : 1, arcBPt);\r\n result = this.appendDetailPair(result, CurveLocationDetailPair.createCapture(detailA, detailB));\r\n }\r\n }\r\n return result !== undefined && result.length > size;\r\n };\r\n\r\n appendCoincidentIntersection(fractionSweepB, false); // compute overlap in strict interior, or at end of arcA\r\n\r\n // check overlap at start of arcA with a periodic shift of fractionSweepB\r\n if (fractionB1 >= fractionPeriodA)\r\n appendCoincidentIntersection(Segment1d.create(fractionB0 - fractionPeriodA, fractionB1 - fractionPeriodA), true);\r\n else if (fractionB0 === 0.0)\r\n appendCoincidentIntersection(Segment1d.create(fractionB0 + fractionPeriodA, fractionB1 + fractionPeriodA), true);\r\n }\r\n }\r\n }\r\n return result;\r\n }\r\n}\r\n"]}

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n--------------------------------------------------------------------------------------------/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n /\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"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\r\nimport { Clipper } from \"../clipping/ClipUtils\";\r\nimport { Arc3d } from \"../curve/Arc3d\";\r\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { AnnounceNumberNumber, AnnounceNumberNumberCurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { AxisIndex, AxisOrder, Geometry } from \"../Geometry\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { Order3Bezier } from \"../numerics/BezierPolynomials\";\r\nimport { Newton2dUnboundedWithDerivative, NewtonEvaluatorRRtoRRD } from \"../numerics/Newton\";\r\nimport { SineCosinePolynomial, SphereImplicit, TrigPolynomial } from \"../numerics/Polynomials\";\r\nimport { TriDiagonalSystem } from \"../numerics/TriDiagonalSystem\";\r\nimport { Angle } from \"./Angle\";\r\nimport { AngleSweep } from \"./AngleSweep\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { LongitudeLatitudeNumber } from \"./LongitudeLatitudeAltitude\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n/\r\n For one component (x,y, or z) on the sphere\r\n * f(theta,phi) = c + (u * cos(theta) + v * sin(theta)) * cos(phi) + w * sin(phi)\r\n \r\n For the equator circle, phi=0, cos(phi) = 1, sin(phi)=0\r\n * f = u * cos(theta) + v * sin(theta).\r\n * with derivative\r\n * df / dTheta = - u * sin(theta) + v * cos(theta)\r\n * whose zero is tan(theta) = v/u\r\n * (and that has two solutions 180 degrees apart)\r\n * Then with that theta let A = u * cos(theta) + v * sin(theta)\r\n * f = A * cos(phi) + w * sin(phi)\r\n * df/dPhi = - A * sin(phi) + w * cos(phi)\r\n * tan(phi) = w / A\r\n * @internal\r\n /\r\nclass EllipsoidComponentExtrema {\r\n public c: number;\r\n public u: number;\r\n public v: number;\r\n public w: number;\r\n public axisIndex: AxisIndex;\r\n public theta0Radians: number;\r\n public phi0Radians: number;\r\n public cosTheta0: number;\r\n public sinTheta0: number;\r\n public cosPhi0: number;\r\n public sinPhi0: number;\r\n // temp vars used in arc range evaluation:\r\n private _axisRange: Range1d;\r\n private _trigForm: SineCosinePolynomial;\r\n public constructor(c: number, u: number, v: number, w: number, axisIndex: AxisIndex) {\r\n this.c = c;\r\n this.u = u;\r\n this.v = v;\r\n this.w = w;\r\n this.axisIndex = axisIndex;\r\n this.theta0Radians = Math.atan2(v, u);\r\n this.cosTheta0 = Math.cos(this.theta0Radians);\r\n this.sinTheta0 = Math.sin(this.theta0Radians);\r\n const A0 = u this.cosTheta0 + v * this.sinTheta0;\r\n this.phi0Radians = Math.atan2(w, A0);\r\n this.cosPhi0 = Math.cos(this.phi0Radians);\r\n this.sinPhi0 = Math.sin(this.phi0Radians);\r\n this._axisRange = Range1d.createNull();\r\n this._trigForm = new SineCosinePolynomial(0, 0, 0);\r\n\r\n }\r\n /*\r\n Create a component object with coefficients from a row of a `Transform`.\r\n * @param transform source transform.\r\n * @param axisIndex row index within the transform.\r\n /\r\n public static createTransformRow(transform: Transform, axisIndex: AxisIndex): EllipsoidComponentExtrema {\r\n const matrix = transform.matrix;\r\n return new EllipsoidComponentExtrema(transform.origin.at(axisIndex), matrix.at(axisIndex, 0), matrix.at(axisIndex, 1), matrix.at(axisIndex, 2), axisIndex);\r\n }\r\n public extendRangeForSmoothSurfacePoints(range: Range3d, theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number) {\r\n const delta = (this.u this.cosTheta0 + this.v * this.sinTheta0) * this.cosPhi0 + this.w * this.sinPhi0;\r\n if (AngleSweep.isRadiansInStartEnd(this.theta0Radians, theta0Radians, theta1Radians)\r\n && AngleSweep.isRadiansInStartEnd(this.phi0Radians, phi0Radians, phi1Radians, false)) {\r\n range.extendSingleAxis(this.c + delta, this.axisIndex);\r\n }\r\n const thetaRadians = this.theta0Radians + Math.PI;\r\n const phiRadians = -this.phi0Radians;\r\n if (AngleSweep.isRadiansInStartEnd(thetaRadians, theta0Radians, theta1Radians)\r\n && AngleSweep.isRadiansInStartEnd(phiRadians, phi0Radians, phi1Radians, false)) {\r\n // cosTheta and sinTheta are both negated\r\n // sinPhi is negated\r\n // delta is negated\r\n range.extendSingleAxis(this.c - delta, this.axisIndex);\r\n }\r\n }\r\n /*\r\n Extend range to include extrema of a phi-bounded arc at constant theta (i.e. a polar circle)\r\n * @param range range to extend\r\n * @param thetaRadians theta for arc\r\n * @param phi0Radians limit value on arc sweep\r\n * @param phi1Radians limit value on arc sweep\r\n /\r\n public extendRangeForConstantThetaArc(range: Range3d, thetaRadians: number, phi0Radians: number, phi1Radians: number) {\r\n const cosTheta = Math.cos(thetaRadians);\r\n const sinTheta = Math.sin(thetaRadians);\r\n this._trigForm.set(this.c, (this.u cosTheta + this.v * sinTheta), this.w);\r\n this._trigForm.rangeInStartEndRadians(phi0Radians, phi1Radians, this._axisRange);\r\n range.extendSingleAxis(this._axisRange.low, this.axisIndex);\r\n range.extendSingleAxis(this._axisRange.high, this.axisIndex);\r\n }\r\n\r\n /*\r\n Extend range to include extrema of a theta-bounded arc at constant phi (i.e. a circle parallel to the equator)\r\n * @param range range to extend\r\n * @param phiRadians phi for arc\r\n * @param theta0Radians limit value on arc sweep\r\n * @param theta1Radians limit value on arc sweep\r\n /\r\n public extendRangeForConstantPhiArc(range: Range3d, theta0Radians: number, theta1Radians: number, phiRadians: number) {\r\n const cosPhi = Math.cos(phiRadians);\r\n const sinPhi = Math.sin(phiRadians);\r\n this._trigForm.set(this.c + this.w sinPhi, this.u * cosPhi, this.v * cosPhi);\r\n this._trigForm.rangeInStartEndRadians(theta0Radians, theta1Radians, this._axisRange);\r\n range.extendSingleAxis(this._axisRange.low, this.axisIndex);\r\n range.extendSingleAxis(this._axisRange.high, this.axisIndex);\r\n }\r\n}\r\n\r\n/*\r\n A complete unit sphere mapped by an arbitrary [[Transform]].\r\n * * The (unit) sphere parameterization with respect to longitude `theta` and latitude `phi` is\r\n * * `u = cos(theta) * cos (phi)`\r\n * * `v = sin(theta) * cos(phi)`\r\n * * `w = sin(phi)`\r\n * * The sphere (u,v,w) multiply the x,y,z columns of the Ellipsoid transform.\r\n * * Compare to [[Sphere]], which has the same parameterization, but is a [[SolidPrimitive]] with latitude sweep.\r\n * @public\r\n /\r\nexport class Ellipsoid implements Clipper {\r\n private _transform: Transform;\r\n private _workUnitVectorA: Vector3d;\r\n private _workUnitVectorB: Vector3d;\r\n private _workPointA: Point3d;\r\n private _workPointB: Point3d;\r\n private constructor(transform: Transform) {\r\n this._transform = transform;\r\n this._workUnitVectorA = Vector3d.create();\r\n this._workUnitVectorB = Vector3d.create();\r\n this._workPointA = Point3d.create();\r\n this._workPointB = Point3d.create();\r\n }\r\n /* Create with a clone (not capture) with given transform.\r\n * * If transform is undefined, create a unit sphere.\r\n /\r\n public static create(matrixOrTransform?: Transform \| Matrix3d): Ellipsoid {\r\n if (matrixOrTransform instanceof Transform)\r\n return new Ellipsoid(matrixOrTransform);\r\n else if (matrixOrTransform instanceof Matrix3d)\r\n return new Ellipsoid(Transform.createOriginAndMatrix(undefined, matrixOrTransform));\r\n else\r\n return new Ellipsoid(Transform.createIdentity());\r\n }\r\n /\r\n Create a transform with given center and directions, applying the radii as multipliers for the respective columns of the axes.\r\n * @param center center of ellipsoid\r\n * @param axes x,y,z directions are columns of this matrix\r\n * @param radiusX multiplier to be applied to the x direction\r\n * @param radiusY multiplier to be applied to the y direction\r\n * @param radiusZ multiplier to be applied to the z direction\r\n /\r\n public static createCenterMatrixRadii(center: Point3d, axes: Matrix3d \| undefined, radiusX: number, radiusY: number, radiusZ: number): Ellipsoid {\r\n let scaledAxes;\r\n if (axes === undefined)\r\n scaledAxes = Matrix3d.createScale(radiusX, radiusY, radiusZ)!;\r\n else\r\n scaledAxes = axes.scaleColumns(radiusX, radiusY, radiusZ);\r\n return new Ellipsoid(Transform.createOriginAndMatrix(center, scaledAxes));\r\n }\r\n /* Return a (REFERENCE TO) the transform from world space to the mapped sphere space.\r\n * * This maps coordinates \"relative to the sphere\" to world.\r\n * * Its inverse maps world coordinates into the sphere space.\r\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)\r\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)\r\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)\r\n /\r\n public get transformRef(): Transform { return this._transform; }\r\n /\r\n * Convert a world point to point within the underlying mapped sphere space.\r\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)\r\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)\r\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)\r\n * * This is undefined in the highly unusual case that the ellipsoid frame is singular.\r\n /\r\n public worldToLocal(worldPoint: XYAndZ, result?: Point3d): Point3d \| undefined {\r\n return this._transform.multiplyInversePoint3d(worldPoint, result);\r\n }\r\n /\r\n * Convert a point within the underlying mapped sphere space to world coordinates.\r\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)\r\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)\r\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)\r\n /\r\n public localToWorld(localPoint: XYAndZ, result?: Point3d): Point3d {\r\n return this._transform.multiplyPoint3d(localPoint, result);\r\n }\r\n\r\n /* return a clone with same coordinates /\r\n public clone(): Ellipsoid {\r\n return new Ellipsoid(this._transform.clone());\r\n }\r\n /* test equality of the 4 points /\r\n public isAlmostEqual(other: Ellipsoid): boolean {\r\n return this._transform.isAlmostEqual(other._transform);\r\n }\r\n /* Apply the transform to each point /\r\n public tryTransformInPlace(transform: Transform): boolean {\r\n transform.multiplyTransformTransform(this._transform, this._transform);\r\n return true;\r\n }\r\n /\r\n return a cloned and transformed ellipsoid.\r\n * @param transform\r\n /\r\n public cloneTransformed(transform: Transform): Ellipsoid \| undefined {\r\n const result = this.clone();\r\n result.tryTransformInPlace(transform);\r\n return result;\r\n }\r\n /* Find the closest point of the (patch of the) ellipsoid.\r\n * * In general there are multiple points where a space point projects onto an ellipse.\r\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\r\n /\r\n public projectPointToSurface(spacePoint: Point3d): LongitudeLatitudeNumber \| undefined {\r\n const searcher = new EllipsoidClosestPoint(this);\r\n return searcher.searchClosestPoint(spacePoint);\r\n }\r\n\r\n /* Find the silhouette of the ellipsoid as viewed from a homogeneous eyepoint.\r\n * * Returns undefined if the eyepoint is inside the ellipsoid\r\n /\r\n public silhouetteArc(eyePoint: Point4d): Arc3d \| undefined {\r\n const localEyePoint = this._transform.multiplyInversePoint4d(eyePoint);\r\n if (localEyePoint !== undefined) {\r\n // localEyePoint is now looking at a unit sphere centered at the origin.\r\n // the plane through the silhouette is the eye point with z negated ...\r\n const localPlaneA = Point4d.create(localEyePoint.x, localEyePoint.y, localEyePoint.z, -localEyePoint.w);\r\n const localPlaneB = localPlaneA.toPlane3dByOriginAndUnitNormal();\r\n // if the silhouette plane has origin inside the sphere, there is a silhouette with center at the plane origin.\r\n if (localPlaneB) {\r\n const rr = 1.0 - localPlaneB.getOriginRef().magnitudeSquared(); // squared distance radius of silhouette arc\r\n if (rr > 0.0 && rr <= 1.0) {\r\n const arc = Arc3d.createCenterNormalRadius(localPlaneB.getOriginRef(), localPlaneB.getNormalRef(), Math.sqrt(rr));\r\n if (arc.tryTransformInPlace(this._transform))\r\n return arc;\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n\r\n /* Compute intersections with a ray.\r\n * * Return the number of intersections\r\n * * Fill any combinations of arrays of\r\n * * rayFractions = fractions along the ray\r\n * * xyz = xyz intersection coordinates points in space\r\n * * thetaPhiRadians = sphere longitude and latitude in radians.\r\n * * For each optional array, caller must of course initialize an array (usually empty)\r\n * * return 0 if ray length is too small.\r\n /\r\n public intersectRay(ray: Ray3d, rayFractions: number[] \| undefined, xyz: Point3d[] \| undefined, thetaPhiRadians: LongitudeLatitudeNumber[] \| undefined): number {\r\n if (xyz)\r\n xyz.length = 0;\r\n if (thetaPhiRadians !== undefined)\r\n thetaPhiRadians.length = 0;\r\n if (rayFractions)\r\n rayFractions.length = 0;\r\n // if ray comes in unit vector in large ellipsoid, localRay direction is minuscule.\r\n // use a ray scaled up so its direction vector magnitude is comparable to the ellipsoid radiusX\r\n const ray1 = ray.clone();\r\n const a0 = ray.direction.magnitude();\r\n const aX = this._transform.matrix.columnXMagnitude();\r\n const scale = Geometry.conditionalDivideCoordinate(aX, a0);\r\n if (scale === undefined)\r\n return 0;\r\n ray1.direction.scaleInPlace(scale);\r\n const localRay = ray1.cloneInverseTransformed(this._transform);\r\n if (localRay !== undefined) {\r\n const n = SphereImplicit.intersectSphereRay(Point3d.create(0, 0, 0), 1.0, localRay, rayFractions, xyz, thetaPhiRadians);\r\n if (rayFractions !== undefined) {\r\n for (let i = 0; i < rayFractions.length; i++)\r\n rayFractions[i] = scale;\r\n }\r\n if (xyz !== undefined) {\r\n this._transform.multiplyPoint3dArrayInPlace(xyz);\r\n }\r\n return n;\r\n }\r\n return 0;\r\n }\r\n\r\n /** Return the range of a uv-aligned patch of the sphere. /\r\n public patchRangeStartEndRadians(theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number, result?: Range3d): Range3d {\r\n const xExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 0);\r\n const yExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 1);\r\n const zExtreme = EllipsoidComponentExtrema.createTransformRow(this._transform, 2);\r\n if (!result)\r\n result = Range3d.createNull();\r\n else\r\n result.setNull();\r\n // Range extrema can occur at:\r\n // 2 smooth surface points in each direction\r\n // * along low and high phi boundary arcs\r\n // * along low and high theta boundary arcs\r\n // smooth surface extrema . ..\r\n xExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\r\n yExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\r\n zExtreme.extendRangeForSmoothSurfacePoints(result, theta0Radians, theta1Radians, phi0Radians, phi1Radians);\r\n //\r\n if (!Angle.isFullCircleRadians(theta1Radians - theta0Radians)) {\r\n xExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\r\n yExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\r\n zExtreme.extendRangeForConstantThetaArc(result, theta0Radians, phi0Radians, phi1Radians);\r\n\r\n xExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\r\n yExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\r\n zExtreme.extendRangeForConstantThetaArc(result, theta1Radians, phi0Radians, phi1Radians);\r\n }\r\n if (!Angle.isHalfCircleRadians(phi1Radians - phi0Radians)) {\r\n xExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\r\n yExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\r\n zExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi0Radians);\r\n\r\n xExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\r\n yExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\r\n zExtreme.extendRangeForConstantPhiArc(result, theta0Radians, theta1Radians, phi1Radians);\r\n }\r\n return result;\r\n }\r\n /*\r\n Evaluate a point on the ellipsoid at angles give in radians.\r\n * @param thetaRadians longitude, in radians\r\n * @param phiRadians latitude, in radians\r\n * @param result optional point result\r\n /\r\n public radiansToPoint(thetaRadians: number, phiRadians: number, result?: Point3d): Point3d {\r\n const cosTheta = Math.cos(thetaRadians);\r\n const sinTheta = Math.sin(thetaRadians);\r\n const cosPhi = Math.cos(phiRadians);\r\n const sinPhi = Math.sin(phiRadians);\r\n return this._transform.multiplyXYZ(cosTheta cosPhi, sinTheta * cosPhi, sinPhi, result);\r\n }\r\n\r\n /*\r\n * For a given pair of points on an ellipsoid, construct an arc (possibly elliptical) which\r\n * * passes through both points\r\n * * is completely within the ellipsoid surface\r\n * * has its centerEvaluate a point on the ellipsoid at angles give in radians.\r\n * * If the ellipsoid is a sphere, this is the shortest great-circle arc between the two points.\r\n * * If the ellipsoid is not a sphere, this is close to but not precisely the shortest path.\r\n * @param thetaARadians longitude, in radians, for pointA\r\n * @param phiARadians latitude, in radians, for pointA\r\n * @param thetaBRadians longitude, in radians, for pointB\r\n * @param phiBRadians latitude, in radians, for pointB\r\n * @param result optional preallocated result\r\n /\r\n public radiansPairToGreatArc(\r\n thetaARadians: number, phiARadians: number,\r\n thetaBRadians: number, phiBRadians: number,\r\n result?: Arc3d): Arc3d \| undefined {\r\n SphereImplicit.radiansToUnitSphereXYZ(thetaARadians, phiARadians, this._workUnitVectorA);\r\n SphereImplicit.radiansToUnitSphereXYZ(thetaBRadians, phiBRadians, this._workUnitVectorB);\r\n const sweepAngle = this._workUnitVectorA.angleTo(this._workUnitVectorB);\r\n // the unit vectors (on unit sphere) are never 0, so this cannot fail.\r\n const matrix = Matrix3d.createRigidFromColumns(this._workUnitVectorA, this._workUnitVectorB, AxisOrder.XYZ)!;\r\n if (matrix !== undefined) {\r\n const matrix1 = this._transform.matrix.multiplyMatrixMatrix(matrix);\r\n return Arc3d.create(this._transform.getOrigin(), matrix1.columnX(), matrix1.columnY(),\r\n AngleSweep.createStartEndRadians(0.0, sweepAngle.radians), result);\r\n }\r\n return undefined;\r\n }\r\n /\r\n See radiansPairToGreatArc, which does this computation with positions from `angleA` and `angleB` directly as radians\r\n /\r\n public anglePairToGreatArc(angleA: LongitudeLatitudeNumber, angleB: LongitudeLatitudeNumber, result?: Arc3d): Arc3d \| undefined {\r\n return this.radiansPairToGreatArc(\r\n angleA.longitudeRadians, angleA.latitudeRadians, angleB.longitudeRadians, angleB.latitudeRadians, result);\r\n }\r\n /\r\n Construct an arc for the section cut of a plane with the ellipsoid.\r\n * * this is undefined if the plane does not intersect the ellipsoid.\r\n /\r\n public createPlaneSection(plane: Plane3dByOriginAndUnitNormal): Arc3d \| undefined {\r\n const localPlane = plane.cloneTransformed(this._transform, true);\r\n if (localPlane !== undefined) {\r\n // construct center and arc vectors in the local system --- later transform them out to global.\r\n const center = localPlane.projectPointToPlane(Point3d.createZero());\r\n const d = center.magnitude();\r\n if (d < 1.0) {\r\n const frame = Matrix3d.createRigidHeadsUp(localPlane.getNormalRef(), AxisOrder.ZYX);\r\n const vector0 = frame.columnX();\r\n const vector90 = frame.columnY();\r\n const sectionRadius = Math.sqrt(1.0 - d d);\r\n vector0.scaleInPlace(sectionRadius);\r\n vector90.scaleInPlace(sectionRadius);\r\n\r\n this._transform.multiplyPoint3d(center, center);\r\n this._transform.multiplyVector(vector0, vector0);\r\n this._transform.multiplyVector(vector90, vector90);\r\n return Arc3d.create(center, vector0, vector90, undefined);\r\n }\r\n }\r\n return undefined;\r\n }\r\n /*\r\n Construct an arc which\r\n * * start at pointA (defined by its angle position)\r\n * * ends at pointB (defined by its angle position)\r\n * * contains the 3rd vector as an in-plane point.\r\n /\r\n public createSectionArcPointPointVectorInPlane(pointAnglesA: LongitudeLatitudeNumber, pointAnglesB: LongitudeLatitudeNumber, inPlaneVector: Vector3d,\r\n result?: Arc3d): Arc3d \| undefined {\r\n const xyzA = this.radiansToPoint(pointAnglesA.longitudeRadians, pointAnglesA.latitudeRadians);\r\n const xyzB = this.radiansToPoint(pointAnglesB.longitudeRadians, pointAnglesB.latitudeRadians);\r\n const localA = this._transform.multiplyInversePoint3d(xyzA);\r\n const localB = this._transform.multiplyInversePoint3d(xyzB);\r\n const a = this._transform.matrix.maxAbs();\r\n const scaledInPlaneVector = inPlaneVector.scaleToLength(a);\r\n if (scaledInPlaneVector === undefined)\r\n return undefined;\r\n const localInPlaneVector = this._transform.matrix.multiplyInverse(scaledInPlaneVector);\r\n if (localA !== undefined && localB !== undefined && localInPlaneVector !== undefined) {\r\n const localPlane = Plane3dByOriginAndUnitNormal.createPointPointVectorInPlane(localA, localB, localInPlaneVector);\r\n if (localPlane !== undefined) {\r\n // construct center and arc vectors in the local system --- later transform them out to global.\r\n const center = localPlane.projectPointToPlane(Point3d.createZero());\r\n const vector0 = Vector3d.createStartEnd(center, localA);\r\n const vectorB = Vector3d.createStartEnd(center, localB);\r\n const vector90 = Vector3d.createRotateVectorAroundVector(vector0, localPlane.getNormalRef(), undefined);\r\n if (vector90 !== undefined) {\r\n const sweepRadians = vector0.planarRadiansTo(vectorB, localPlane.getNormalRef());\r\n this._transform.multiplyPoint3d(center, center);\r\n this._transform.multiplyVector(vector0, vector0);\r\n this._transform.multiplyVector(vector90, vector90);\r\n return Arc3d.create(center, vector0, vector90, AngleSweep.createStartEndRadians(0, sweepRadians), result);\r\n }\r\n }\r\n }\r\n return undefined;\r\n }\r\n /\r\n * For a given pair of points on an ellipsoid, construct another ellipsoid\r\n * * touches the same xyz points in space\r\n * * has transformation modified so that the original two points are on the equator.\r\n * * Note that except for true sphere inputs, the result axes can be both non-perpendicular axes and of different lengths.\r\n * @param thetaARadians longitude, in radians, for pointA\r\n * @param phiARadians latitude, in radians, for pointA\r\n * @param thetaBRadians longitude, in radians, for pointB\r\n * @param phiBRadians latitude, in radians, for pointB\r\n * @param result optional preallocated result\r\n /\r\n public radiansPairToEquatorialEllipsoid(\r\n thetaARadians: number, phiARadians: number,\r\n thetaBRadians: number, phiBRadians: number,\r\n result?: Ellipsoid): Ellipsoid \| undefined {\r\n SphereImplicit.radiansToUnitSphereXYZ(thetaARadians, phiARadians, this._workUnitVectorA);\r\n SphereImplicit.radiansToUnitSphereXYZ(thetaBRadians, phiBRadians, this._workUnitVectorB);\r\n\r\n const matrix = Matrix3d.createRigidFromColumns(this._workUnitVectorA, this._workUnitVectorB, AxisOrder.XYZ);\r\n if (matrix) {\r\n if (result) {\r\n this._transform.multiplyTransformMatrix3d(matrix, result._transform);\r\n return result;\r\n }\r\n return Ellipsoid.create(this._transform.multiplyTransformMatrix3d(matrix));\r\n }\r\n return undefined;\r\n }\r\n /\r\n Return an arc (circular or elliptical) at constant longitude\r\n * @param longitude (strongly typed) longitude\r\n * @param latitude latitude sweep angles\r\n * @param result\r\n /\r\n public constantLongitudeArc(longitude: Angle, latitudeSweep: AngleSweep, result?: Arc3d): Arc3d \| undefined {\r\n if (Angle.isAlmostEqualRadiansNoPeriodShift(0, latitudeSweep.sweepRadians))\r\n return undefined;\r\n const cosTheta = longitude.cos();\r\n const sinTheta = longitude.sin();\r\n const vector0 = this._transform.matrix.multiplyXY(cosTheta, sinTheta);\r\n const vector90 = this._transform.matrix.columnZ();\r\n const center = this._transform.getOrigin();\r\n return Arc3d.create(center, vector0, vector90, latitudeSweep, result);\r\n }\r\n /\r\n Return an arc (circular or elliptical) at constant longitude\r\n * @param latitude sweep angles\r\n * @param latitude (strongly typed) latitude\r\n * @param result\r\n /\r\n public constantLatitudeArc(longitudeSweep: AngleSweep, latitude: Angle, result?: Arc3d): Arc3d \| undefined {\r\n if (Angle.isAlmostEqualRadiansNoPeriodShift(0, longitudeSweep.sweepRadians))\r\n return undefined;\r\n if (latitude.isAlmostNorthOrSouthPole)\r\n return undefined;\r\n const cosPhi = latitude.cos();\r\n const sinPhi = latitude.sin();\r\n const vector0 = this._transform.matrix.columnX(); vector0.scaleInPlace(cosPhi);\r\n const vector90 = this._transform.matrix.columnY(); vector90.scaleInPlace(cosPhi);\r\n const center = this._transform.multiplyXYZ(0, 0, sinPhi);\r\n return Arc3d.create(center, vector0, vector90, longitudeSweep, result);\r\n }\r\n /\r\n * create a section arc with and end at positions A and B, and in plane with the normal at a fractional\r\n * interpolation between.\r\n * @param angleA start point of arc (given as angles on this ellipsoid)\r\n * @param intermediateNormalFraction\r\n * @param angleB end point of arc (given as angles on this ellipsoid)\r\n /\r\n public sectionArcWithIntermediateNormal(\r\n angleA: LongitudeLatitudeNumber,\r\n intermediateNormalFraction: number,\r\n angleB: LongitudeLatitudeNumber): Arc3d {\r\n const normalA = this.radiansToUnitNormalRay(angleA.longitudeRadians, angleA.latitudeRadians)!;\r\n const normalB = this.radiansToUnitNormalRay(angleB.longitudeRadians, angleB.latitudeRadians)!;\r\n const normal = normalA.direction.interpolate(intermediateNormalFraction, normalB.direction);\r\n const arc = this.createSectionArcPointPointVectorInPlane(angleA, angleB, normal);\r\n return arc!;\r\n }\r\n\r\n /\r\n Evaluate a point and derivatives with respect to angle on the ellipsoid at angles give in radians.\r\n * * \"u direction\" vector of the returned plane is derivative with respect to longitude.\r\n * * \"v direction\" vector fo the returned plane is derivative with respect ot latitude.\r\n * @param thetaRadians longitude, in radians\r\n * @param phiRadians latitude, in radians\r\n * @param applyCosPhiFactor selector for handling of theta (around equator derivative)\r\n * * if true, compute the properly scaled derivative, which goes to zero at the poles.\r\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.\r\n * @param result optional plane result\r\n /\r\n public radiansToPointAndDerivatives(thetaRadians: number, phiRadians: number, applyCosPhiFactor = true, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n const cosTheta = Math.cos(thetaRadians);\r\n const sinTheta = Math.sin(thetaRadians);\r\n const cosPhi = Math.cos(phiRadians);\r\n const cosPhiA = applyCosPhiFactor ? cosPhi : 1.0;\r\n const sinPhi = Math.sin(phiRadians);\r\n const matrix = this._transform.matrix;\r\n if (!result)\r\n return Plane3dByOriginAndVectors.createCapture(\r\n this._transform.multiplyXYZ(cosTheta cosPhi, sinTheta * cosPhi, sinPhi),\r\n matrix.multiplyXYZ(-sinTheta * cosPhiA, cosTheta * cosPhiA, 0),\r\n matrix.multiplyXYZ(-sinPhi * cosTheta, -sinPhi * sinTheta, cosPhi));\r\n // in place modification requires direct reference to members of the result ...\r\n this._transform.multiplyXYZ(cosTheta * cosPhi, sinTheta * cosPhi, sinPhi, result.origin);\r\n matrix.multiplyXYZ(-sinTheta * cosPhiA, cosTheta * cosPhiA, 0, result.vectorU);\r\n matrix.multiplyXYZ(-sinPhi * cosTheta, -sinPhi * sinTheta, cosPhi, result.vectorV);\r\n return result;\r\n }\r\n /*\r\n Evaluate a point and derivatives wrt to theta, phi, thetaTheta, phiPhi, and thetaPhi.\r\n * All outputs are to caller-allocated points and vectors.\r\n * @param thetaRadians longitude, in radians\r\n * @param phiRadians latitude, in radians\r\n * @param point (returned) surface point\r\n * @param d1Theta (returned) derivative wrt theta\r\n * @param d1Phi (returned) derivative wrt phi\r\n * @param d2ThetaTheta (returned) second derivative wrt theta twice\r\n * @param d2PhiPhi (returned) second derivative wrt phi twice\r\n * @param d2ThetaPhi (returned) second derivative wrt theta and phi\r\n * @param result optional plane result\r\n /\r\n public radiansToPointAnd2Derivatives(thetaRadians: number, phiRadians: number,\r\n point: Point3d,\r\n d1Theta: Vector3d,\r\n d1Phi: Vector3d,\r\n d2ThetaTheta: Vector3d,\r\n d2PhiPhi: Vector3d,\r\n d2ThetaPhi: Vector3d) {\r\n const cosTheta = Math.cos(thetaRadians);\r\n const sinTheta = Math.sin(thetaRadians);\r\n const cosPhi = Math.cos(phiRadians);\r\n const sinPhi = Math.sin(phiRadians);\r\n const matrix = this._transform.matrix;\r\n this._transform.multiplyXYZ(cosTheta cosPhi, sinTheta * cosPhi, sinPhi, point);\r\n // theta derivatives\r\n matrix.multiplyXYZ(-sinTheta * cosPhi, cosTheta * cosPhi, 0, d1Theta);\r\n matrix.multiplyXYZ(-cosTheta * cosPhi, -sinTheta * cosPhi, 0, d2ThetaTheta);\r\n\r\n // phi derivatives\r\n matrix.multiplyXYZ(-cosTheta * sinPhi, -sinTheta * sinPhi, cosPhi, d1Phi);\r\n matrix.multiplyXYZ(-cosTheta * cosPhi, -sinTheta * cosPhi, -sinPhi, d2PhiPhi);\r\n\r\n // mixed derivative\r\n matrix.multiplyXYZ(sinTheta * sinPhi, -cosTheta * sinPhi, 0, d2ThetaPhi);\r\n }\r\n\r\n /*\r\n Evaluate a point and rigid local coordinate frame the ellipsoid at angles give in radians.\r\n * * The undefined return is only possible if the placement transform is singular (and even then only at critical angles)\r\n * @param thetaRadians longitude, in radians\r\n * @param phiRadians latitude, in radians\r\n * @param result optional transform result\r\n \r\n /\r\n public radiansToFrenetFrame(thetaRadians: number, phiRadians: number, result?: Transform): Transform \| undefined {\r\n const plane = this.radiansToPointAndDerivatives(thetaRadians, phiRadians, false);\r\n return plane.toRigidFrame(result);\r\n }\r\n /*\r\n Evaluate a point and unit normal at given angles.\r\n * @param thetaRadians longitude, in radians\r\n * @param phiRadians latitude, in radians\r\n * @param result optional transform result\r\n \r\n /\r\n public radiansToUnitNormalRay(thetaRadians: number, phiRadians: number, result?: Ray3d): Ray3d \| undefined {\r\n const plane = this.radiansToPointAndDerivatives(thetaRadians, phiRadians, false);\r\n return plane.unitNormalRay(result);\r\n }\r\n\r\n /*\r\n Find the (unique) extreme point for a given true surface perpendicular vector (outward)\r\n /\r\n public surfaceNormalToAngles(normal: Vector3d, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber {\r\n const matrix = this._transform.matrix;\r\n const conjugateVector = matrix.multiplyTransposeVector(normal);\r\n const thetaRadians = Math.atan2(conjugateVector.y, conjugateVector.x);\r\n // For that phi arc,\r\n const axy = -(conjugateVector.x Math.cos(thetaRadians) + conjugateVector.y * Math.sin(thetaRadians));\r\n const az = conjugateVector.z;\r\n const phiRadians = Math.atan2(az, -axy);\r\n return LongitudeLatitudeNumber.createRadians(thetaRadians, phiRadians, 0.0, result);\r\n }\r\n\r\n /*\r\n * Evaluate the surface normal on `other` ellipsoid at given angles\r\n * * If `other` is undefined, default to unit sphere.\r\n * * Find the angles for the same normal on `this` ellipsoid\r\n /\r\n public otherEllipsoidAnglesToThisEllipsoidAngles(otherEllipsoid: Ellipsoid \| undefined, otherAngles: LongitudeLatitudeNumber, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber \| undefined {\r\n const normal = Ellipsoid.radiansToUnitNormalRay(otherEllipsoid, otherAngles.longitudeRadians, otherAngles.latitudeRadians);\r\n if (normal !== undefined)\r\n return this.surfaceNormalToAngles(normal.direction, result);\r\n return undefined;\r\n }\r\n /\r\n * if ellipsoid is given, return its surface point and unit normal as a Ray3d.\r\n * * if not given, return surface point and unit normal for unit sphere.\r\n /\r\n public static radiansToUnitNormalRay(ellipsoid: Ellipsoid \| undefined, thetaRadians: number, phiRadians: number, result?: Ray3d): Ray3d \| undefined {\r\n if (ellipsoid) {\r\n return ellipsoid.radiansToUnitNormalRay(thetaRadians, phiRadians, result);\r\n }\r\n if (!result)\r\n result = Ray3d.createZAxis();\r\n // for unit sphere, the vector from center to surface point is identical to the unit normal.\r\n SphereImplicit.radiansToUnitSphereXYZ(thetaRadians, phiRadians, result.origin);\r\n result.direction.setFromPoint3d(result.origin);\r\n return result;\r\n }\r\n /* Implementation of [[Clipper.isPointOnOrInside]]. /\r\n public isPointOnOrInside(point: Point3d): boolean {\r\n const localPoint = this._transform.multiplyInversePoint3d(point, this._workPointA);\r\n if (localPoint !== undefined)\r\n return localPoint.magnitude() <= 1.0;\r\n return false;\r\n }\r\n /* Announce \"in\" portions of a line segment. Implementation of [[Clipper.announceClippedSegmentIntervals]]. /\r\n public announceClippedSegmentIntervals(f0: number, f1: number, pointA: Point3d, pointB: Point3d, announce?: AnnounceNumberNumber): boolean {\r\n const localA = this._transform.multiplyInversePoint3d(pointA, this._workPointA);\r\n const localB = this._transform.multiplyInversePoint3d(pointB, this._workPointB);\r\n if (localA && localB) {\r\n const dotAA = Vector3d.dotProductAsXYAndZ(this._workPointA, this._workPointA);\r\n const dotAB = Vector3d.dotProductAsXYAndZ(this._workPointA, this._workPointB);\r\n const dotBB = Vector3d.dotProductAsXYAndZ(this._workPointB, this._workPointB);\r\n const bezier = new Order3Bezier(dotAA, dotAB, dotBB);\r\n const roots = bezier.roots(1.0, false);\r\n if (roots !== undefined && roots.length === 2) {\r\n // we know the roots are sorted. The f0,f1 might not be ..\r\n if (f0 < f1) {\r\n if (roots[0] < f0)\r\n roots[0] = f0;\r\n if (f1 < roots[1])\r\n roots[1] = f1;\r\n if (roots[0] < roots[1]) {\r\n if (announce)\r\n announce(roots[0], roots[1]);\r\n return true;\r\n }\r\n } else {\r\n // f0,f1 are reversed. do the outputs in the same sense\r\n if (roots[1] > f0)\r\n roots[1] = f0;\r\n if (roots[0] < f1)\r\n roots[0] = f1;\r\n if (roots[1] > roots[0]) {\r\n if (announce)\r\n announce(roots[1], roots[0]);\r\n return true;\r\n }\r\n }\r\n }\r\n }\r\n return false;\r\n }\r\n /* Announce \"in\" portions of a line segment. Implementation of [[Clipper.announceClippedArcIntervals]] /\r\n public announceClippedArcIntervals(arc: Arc3d, announce?: AnnounceNumberNumberCurvePrimitive): boolean {\r\n const arcData = arc.toVectors();\r\n let numAnnounce = 0;\r\n if (this._transform.multiplyInversePoint3d(arcData.center, arcData.center)\r\n && this._transform.matrix.multiplyInverse(arcData.vector0, arcData.vector0)\r\n && this._transform.matrix.multiplyInverse(arcData.vector90, arcData.vector90)) {\r\n // in local coordinates the arc parameterization is X = center + vector0 cos(theta) + vector90 * sin(theta)\r\n // We want X DOT X === 1, viz\r\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\r\n const cc = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.center);\r\n const cu = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.vector0);\r\n const cv = Vector3d.dotProductAsXYAndZ(arcData.center, arcData.vector90);\r\n const uv = Vector3d.dotProductAsXYAndZ(arcData.vector0, arcData.vector90);\r\n const uu = Vector3d.dotProductAsXYAndZ(arcData.vector0, arcData.vector0);\r\n const vv = Vector3d.dotProductAsXYAndZ(arcData.vector90, arcData.vector90);\r\n const intersectionRadians: number[] = [];\r\n\r\n if (TrigPolynomial.solveUnitCircleImplicitQuadricIntersection(\r\n uu, 2.0 * uv, vv,\r\n 2.0 * cu, 2.0 * cv, cc - 1.0,\r\n intersectionRadians)) {\r\n const fractions = [0.0, 1.0];\r\n for (const radians of intersectionRadians) {\r\n const fraction = arc.sweep.radiansToSignedPeriodicFraction(radians);\r\n if (Geometry.isIn01(fraction))\r\n fractions.push(fraction);\r\n }\r\n fractions.sort();\r\n let f0, f1;\r\n for (let i1 = 1; i1 < fractions.length; i1++) {\r\n f0 = fractions[i1 - 1];\r\n f1 = fractions[i1];\r\n if (f1 > f0) {\r\n const xyz = arc.fractionToPoint(Geometry.interpolate(fractions[i1 - 1], 0.5, fractions[i1]));\r\n if (this.isPointOnOrInside(xyz)) {\r\n if (announce)\r\n announce(fractions[i1 - 1], fractions[i1], arc);\r\n numAnnounce++;\r\n }\r\n }\r\n }\r\n }\r\n }\r\n return numAnnounce > 0;\r\n }\r\n}\r\n/*\r\n * An `EllipsoidPatch` is\r\n * * An underlying (full) `Ellipsoid` object\r\n * * an angular range (`AngleSweep`) of longitudes around the equator\r\n * * an angular range (`AngleSweep`) of latitudes, with 0 at the equator, +90 degrees at north pole.\r\n * * The `EllipsoidPatch` implements `UVSurface` methods, so a `PolyfaceBuilder` can generate facets in its method `addUVGridBody`\r\n * @public\r\n /\r\nexport class EllipsoidPatch implements UVSurface {\r\n public ellipsoid: Ellipsoid;\r\n public longitudeSweep: AngleSweep;\r\n public latitudeSweep: AngleSweep;\r\n /\r\n CAPTURE ellipsoid and sweeps as an EllipsoidPatch.\r\n * @param ellipsoid\r\n * @param longitudeSweep\r\n * @param latitudeSweep\r\n /\r\n private constructor(ellipsoid: Ellipsoid, longitudeSweep: AngleSweep, latitudeSweep: AngleSweep) {\r\n this.ellipsoid = ellipsoid;\r\n this.longitudeSweep = longitudeSweep;\r\n this.latitudeSweep = latitudeSweep;\r\n }\r\n /\r\n Create a new EllipsoidPatch, capturing (not cloning) all input object references.\r\n * @param ellipsoid full ellipsoid\r\n * @param longitudeSweep sweep of longitudes in the active patch\r\n * @param latitudeSweep sweep of latitudes in the active patch.\r\n /\r\n public static createCapture(ellipsoid: Ellipsoid, longitudeSweep: AngleSweep, latitudeSweep: AngleSweep): EllipsoidPatch {\r\n return new EllipsoidPatch(ellipsoid, longitudeSweep, latitudeSweep);\r\n }\r\n /* Return the point on the ellipsoid at fractional positions in the angular ranges. /\r\n public uvFractionToPoint(longitudeFraction: number, latitudeFraction: number, result?: Point3d): Point3d {\r\n return this.ellipsoid.radiansToPoint(this.longitudeSweep.fractionToRadians(longitudeFraction), this.latitudeSweep.fractionToRadians(latitudeFraction), result);\r\n }\r\n /* Return the point and derivative vectors on the ellipsoid at fractional positions in the angular ranges.\r\n * * Derivatives are with respect to fractional position.\r\n /\r\n public uvFractionToPointAndTangents(longitudeFraction: number, latitudeFraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n result = this.ellipsoid.radiansToPointAndDerivatives(\r\n this.longitudeSweep.fractionToRadians(longitudeFraction),\r\n this.latitudeSweep.fractionToRadians(latitudeFraction),\r\n true,\r\n result);\r\n result.vectorU.scale(this.longitudeSweep.sweepRadians);\r\n result.vectorV.scale(this.latitudeSweep.sweepRadians);\r\n return result;\r\n }\r\n /* Return the range of the patch, considering both boundary and internal extrema. /\r\n public range(result?: Range3d): Range3d {\r\n return this.ellipsoid.patchRangeStartEndRadians(this.longitudeSweep.startRadians, this.longitudeSweep.endRadians, this.latitudeSweep.startRadians, this.latitudeSweep.endRadians, result);\r\n }\r\n /* Return intersections of the ray and surface.\r\n * * uv values in the intersections are in radians unless `convertIntersectionRadiansToFractions` is true requesting conversion to patch fractions.\r\n /\r\n public intersectRay(ray: Ray3d, restrictToPatch: boolean, convertIntersectionRadiansToFractions: boolean = false): CurveAndSurfaceLocationDetail[] {\r\n const result: CurveAndSurfaceLocationDetail[] = [];\r\n const rayFractions: number[] = [];\r\n const xyz: Point3d[] = [];\r\n const thetaPhi: LongitudeLatitudeNumber[] = [];\r\n const n = this.ellipsoid.intersectRay(ray, rayFractions, xyz, thetaPhi);\r\n for (let i = 0; i < n; i++) {\r\n const longitudeRadians = thetaPhi[i].longitudeRadians;\r\n const latitudeRadians = thetaPhi[i].latitudeRadians;\r\n\r\n if (!restrictToPatch\r\n \|\| (this.longitudeSweep.isRadiansInSweep(longitudeRadians)\r\n && this.latitudeSweep.isRadiansInSweep(latitudeRadians))) {\r\n if (convertIntersectionRadiansToFractions) {\r\n const uFraction = this.longitudeSweep.radiansToSignedPeriodicFraction(longitudeRadians);\r\n const vFraction = this.latitudeSweep.radiansToSignedPeriodicFraction(latitudeRadians);\r\n result.push(new CurveAndSurfaceLocationDetail(\r\n CurveLocationDetail.createRayFractionPoint(ray, rayFractions[i], xyz[i]),\r\n UVSurfaceLocationDetail.createSurfaceUVNumbersPoint(this, uFraction, vFraction, xyz[i])));\r\n } else {\r\n result.push(new CurveAndSurfaceLocationDetail(\r\n CurveLocationDetail.createRayFractionPoint(ray, rayFractions[i], xyz[i]),\r\n UVSurfaceLocationDetail.createSurfaceUVNumbersPoint(this, longitudeRadians, latitudeRadians, xyz[i])));\r\n }\r\n }\r\n }\r\n return result;\r\n }\r\n /\r\n test if the angles of the `LongitudeLatitudeNumber` are within the sweep ranges.\r\n * @param position longitude and latitude to test.\r\n * @param `allowPeriodicLongitude` true to allow the longitude to be in when shifted by a multiple of 2 PI\r\n * (latitude is never periodic for patches)\r\n /\r\n public containsAngles(position: LongitudeLatitudeNumber, allowPeriodicLongitude: boolean = true): boolean {\r\n return this.latitudeSweep.isRadiansInSweep(position.latitudeRadians, false)\r\n && this.longitudeSweep.isRadiansInSweep(position.longitudeRadians, allowPeriodicLongitude);\r\n }\r\n\r\n /\r\n Compute point (with altitude) at given angles and altitude.\r\n * * Never fails for non-singular ellipsoid.\r\n * * In the returned ray,\r\n * * ray.origin is the point at requested altitude.\r\n * * ray.direction is an outward-directed unit vector\r\n * @param position longitude, latitude, and height\r\n \r\n /\r\n public anglesToUnitNormalRay(position: LongitudeLatitudeNumber, result?: Ray3d): Ray3d \| undefined {\r\n const ray = this.ellipsoid.radiansToUnitNormalRay(position.longitudeRadians, position.latitudeRadians, result);\r\n if (!ray)\r\n return undefined;\r\n ray.origin = ray.fractionToPoint(position.altitude, ray.origin);\r\n return ray;\r\n }\r\n /*\r\n Return simple angles of a fractional position in the patch.\r\n * @param thetaFraction fractional position in longitude (theta) interval\r\n * @param phiFraction fractional position in latitude (phi) interval\r\n * @param h optional altitude\r\n * @param result optional preallocated result.\r\n /\r\n public uvFractionToAngles(longitudeFraction: number, phiFraction: number, h: number = 0, result?: LongitudeLatitudeNumber): LongitudeLatitudeNumber {\r\n return LongitudeLatitudeNumber.createRadians(this.longitudeSweep.fractionToRadians(longitudeFraction), this.latitudeSweep.fractionToRadians(phiFraction), h, result);\r\n }\r\n /* Find the closest point of the (patch of the) ellipsoid. /\r\n public projectPointToSurface(spacePoint: Point3d): LongitudeLatitudeNumber \| undefined {\r\n return this.ellipsoid.projectPointToSurface(spacePoint);\r\n }\r\n}\r\n/\r\n Internal class for searching for the closest point (projection of spacePoint) on an ellipsoid.\r\n /\r\nclass EllipsoidClosestPoint extends NewtonEvaluatorRRtoRRD {\r\n private _ellipsoid: Ellipsoid;\r\n private _spacePoint!: Point3d;\r\n private _surfacePoint: Point3d;\r\n private _d1Theta: Vector3d;\r\n private _d2Theta: Vector3d;\r\n private _d1Phi: Vector3d;\r\n private _d2Phi: Vector3d;\r\n private _d2ThetaPhi: Vector3d;\r\n private _delta: Vector3d;\r\n public constructor(ellipsoid: Ellipsoid) {\r\n super();\r\n this._ellipsoid = ellipsoid;\r\n this._surfacePoint = Point3d.create();\r\n this._d1Theta = Vector3d.create();\r\n this._d1Phi = Vector3d.create();\r\n this._d2Theta = Vector3d.create();\r\n this._d2Phi = Vector3d.create();\r\n this._d2ThetaPhi = Vector3d.create();\r\n\r\n this._delta = Vector3d.create();\r\n }\r\n public searchClosestPoint(spacePoint: Point3d): LongitudeLatitudeNumber \| undefined {\r\n this._spacePoint = spacePoint;\r\n const localPoint = this._ellipsoid.transformRef.multiplyInversePoint3d(spacePoint);\r\n if (!localPoint)\r\n return undefined;\r\n const sphere = new SphereImplicit(1.0);\r\n const uv = sphere.xyzToThetaPhiR(localPoint);\r\n const newtonSearcher = new Newton2dUnboundedWithDerivative(this);\r\n newtonSearcher.setUV(uv.thetaRadians, uv.phiRadians);\r\n if (newtonSearcher.runIterations()) {\r\n uv.thetaRadians = newtonSearcher.getU();\r\n uv.phiRadians = newtonSearcher.getV();\r\n }\r\n return LongitudeLatitudeNumber.createRadians(uv.thetaRadians, uv.phiRadians, 0.0);\r\n }\r\n public evaluate(thetaRadians: number, phiRadians: number): boolean {\r\n this._ellipsoid.radiansToPointAnd2Derivatives(thetaRadians, phiRadians,\r\n this._surfacePoint,\r\n this._d1Theta, this._d1Phi,\r\n this._d2Theta, this._d2Phi,\r\n this._d2ThetaPhi);\r\n Vector3d.createStartEnd(this._spacePoint, this._surfacePoint, this._delta);\r\n const q = this._d1Theta.dotProduct(this._d1Phi) + this._delta.dotProduct(this._d2ThetaPhi);\r\n this.currentF.setOriginAndVectorsXYZ(\r\n // f,g,0\r\n this._delta.dotProduct(this._d1Theta), this._delta.dotProduct(this._d1Phi), 0,\r\n // df/dTheta, dg/dTheta, 0\r\n this._d1Theta.dotProduct(this._d1Theta) + this._delta.dotProduct(this._d2Theta), q, 0,\r\n // df/dPhi, dg/dPhi, 0\r\n q, this._d1Phi.dotProduct(this._d1Phi) + this._delta.dotProduct(this._d2Phi), 0);\r\n\r\n return true;\r\n }\r\n}\r\n/\r\n Detailed data for a point on a 2-angle parameter space.\r\n * @public\r\n /\r\nexport class GeodesicPathPoint {\r\n /* First angle, in radians /\r\n public thetaRadians: number;\r\n /* Second angle, in radians /\r\n public phiRadians: number;\r\n public point: Point3d;\r\n public dTheta: Vector3d;\r\n public dPhi: Vector3d;\r\n public d2Theta: Vector3d;\r\n public d2Phi: Vector3d;\r\n public d2ThetaPhi: Vector3d;\r\n public d1Cross: Vector3d;\r\n public constructor() {\r\n this.thetaRadians = 0;\r\n this.phiRadians = 0;\r\n this.point = Point3d.create();\r\n this.dTheta = Vector3d.create();\r\n this.dPhi = Vector3d.create();\r\n this.d2Theta = Vector3d.create();\r\n this.d2Phi = Vector3d.create();\r\n this.d2ThetaPhi = Vector3d.create();\r\n this.d1Cross = Vector3d.create();\r\n }\r\n /* Fill all evaluations at given theta and phi. /\r\n public evaluateDerivativesAtCurrentAngles(ellipsoid: Ellipsoid) {\r\n ellipsoid.radiansToPointAnd2Derivatives(this.thetaRadians, this.phiRadians, this.point, this.dTheta, this.dPhi, this.d2Theta, this.d2Phi, this.d2ThetaPhi);\r\n this.dTheta.crossProduct(this.dPhi, this.d1Cross);\r\n }\r\n private static _vectorAB?: Vector3d;\r\n private static _vectorCB?: Vector3d;\r\n private static _vectorCross?: Vector3d;\r\n /* Evaluate the newton function and derivatives:\r\n * `(UAB cross UCB) dot d1cross`\r\n * with as the central data, UAB = vector from pointA to pointB, UCB = vector from pointC to pointB.\r\n * * Return order is:\r\n * * values[0] = the function\r\n * * values[1] = derivative wrt pointA.phi\r\n * * values[2] = derivative wrt pointB.phi\r\n * * values[3] = derivative wrt pointC.phi\r\n /\r\n public static evaluateNewtonFunction(pointA: GeodesicPathPoint, pointB: GeodesicPathPoint, pointC: GeodesicPathPoint, values: Float64Array) {\r\n this._vectorAB = Vector3d.createStartEnd(pointA.point, pointB.point, this._vectorAB);\r\n this._vectorCB = Vector3d.createStartEnd(pointC.point, pointB.point, this._vectorCB);\r\n this._vectorCross = this._vectorAB.crossProduct(this._vectorCB);\r\n // this._vectorCross is the cross product of vectors from A to B and C to B\r\n // it should be perpendicular to (have zero dot product with) the surface normal, which is sitting in pointB as d1Cross\r\n values[0] = this._vectorCross.dotProduct(pointB.d1Cross);\r\n // Derivatives wrt phi at A, B, C creates derivatives of values[0] wrt each.\r\n // derivatives at neighbor appear only on their point-to-point vector, and with negative sign ..\r\n values[1] = - pointA.dPhi.tripleProduct(this._vectorCB, pointB.d1Cross);\r\n values[3] = - this._vectorAB.tripleProduct(pointC.dPhi, pointB.d1Cross);\r\n // values from pointB appear with positive sign everywhere . ..\r\n values[2] = pointB.dPhi.tripleProduct(this._vectorCB, pointB.d1Cross)\r\n + this._vectorAB.tripleProduct(pointB.dPhi, pointB.d1Cross)\r\n + this._vectorCross.tripleProduct(pointB.d2ThetaPhi, pointB.dPhi)\r\n + this._vectorCross.tripleProduct(pointB.dTheta, pointB.d2Phi);\r\n // CRUNCH CRUNCH CRUNCH\r\n }\r\n /\r\n Extract the two angles form this structure to a LongitudeLatitudeNumber structure.\r\n /\r\n public toAngles(): LongitudeLatitudeNumber {\r\n return LongitudeLatitudeNumber.createRadians(this.thetaRadians, this.phiRadians);\r\n }\r\n}\r\n/\r\n Algorithm implementation class for computing approximate optimal (shortest) path points.\r\n * * Call the static method `createGeodesicPath` to compute path points.\r\n * @public\r\n /\r\nexport class GeodesicPathSolver {\r\n private _defaultArc: Arc3d;\r\n private _pathPoints: GeodesicPathPoint[];\r\n private _tridiagonalSolver!: TriDiagonalSystem;\r\n private constructor(defaultArc: Arc3d) {\r\n this._pathPoints = [];\r\n this._defaultArc = defaultArc;\r\n }\r\n /\r\n \r\n * @param originalEllipsoid Given start and endpoints on an ellipsoid, compute points along a near-optimal shortest path.\r\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.\r\n * @param startAngles angles for the start of the path\r\n * @param endAngles angles for the end of the path\r\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.\r\n /\r\n public static createGeodesicPath(originalEllipsoid: Ellipsoid,\r\n startAngles: LongitudeLatitudeNumber, endAngles: LongitudeLatitudeNumber, density: number \| Angle): GeodesicPathPoint[] \| undefined {\r\n const workEllipsoid1 = originalEllipsoid.radiansPairToEquatorialEllipsoid(startAngles.longitudeRadians, startAngles.latitudeRadians,\r\n endAngles.longitudeRadians, endAngles.latitudeRadians);\r\n const workArc = originalEllipsoid.radiansPairToGreatArc(startAngles.longitudeRadians, startAngles.latitudeRadians,\r\n endAngles.longitudeRadians, endAngles.latitudeRadians);\r\n if (workEllipsoid1 === undefined \|\| workArc === undefined)\r\n return undefined;\r\n let numEdges = 4;\r\n if (density instanceof Angle) {\r\n numEdges = Geometry.stepCount(density.radians, workArc.sweep.sweepRadians, 4, 180);\r\n } else if (Number.isFinite(density)) {\r\n numEdges = Math.max(numEdges, density);\r\n }\r\n if (numEdges > 180)\r\n numEdges = 180;\r\n const scaledMatrix = workEllipsoid1.transformRef.matrix.clone();\r\n const largestCoordinate = scaledMatrix.maxAbs();\r\n const inverseLargestCoordinate = 1.0 / largestCoordinate;\r\n scaledMatrix.scaleColumnsInPlace(inverseLargestCoordinate, inverseLargestCoordinate, inverseLargestCoordinate);\r\n const workEllipsoid = Ellipsoid.create(Transform.createOriginAndMatrix(undefined, scaledMatrix));\r\n\r\n const solver = new GeodesicPathSolver(workArc);\r\n solver.createInitialPointsAndTridiagonalSystem(numEdges);\r\n\r\n let numConverged = 0;\r\n let previousMaxDPhi = 10000.0;\r\n let numStep = 0;\r\n const dPhiTolerance = 1.0e-8;\r\n solver.setupStep(workEllipsoid);\r\n while (numStep < 15 && numConverged < 2) {\r\n if (!solver.solve())\r\n break;\r\n previousMaxDPhi = solver.applyUpdate(0.1);\r\n solver.setupStep(workEllipsoid);\r\n if (previousMaxDPhi < dPhiTolerance)\r\n numConverged++;\r\n else\r\n numConverged = 0;\r\n numStep++;\r\n }\r\n if (numConverged > 0) {\r\n const workAngles = LongitudeLatitudeNumber.createRadians(0, 0);\r\n const originalAngles = LongitudeLatitudeNumber.createRadians(0, 0);\r\n for (const p of solver._pathPoints) {\r\n LongitudeLatitudeNumber.createRadians(p.thetaRadians, p.phiRadians, 0, workAngles);\r\n originalEllipsoid.otherEllipsoidAnglesToThisEllipsoidAngles(workEllipsoid, workAngles, originalAngles);\r\n p.thetaRadians = originalAngles.longitudeRadians;\r\n p.phiRadians = originalAngles.latitudeRadians;\r\n p.evaluateDerivativesAtCurrentAngles(originalEllipsoid);\r\n }\r\n return solver._pathPoints;\r\n }\r\n return numConverged > 0 ? solver._pathPoints : undefined;\r\n }\r\n private createInitialPointsAndTridiagonalSystem(numEdges: number) {\r\n if (numEdges < 2)\r\n numEdges = 2;\r\n let f, thetaRadians;\r\n for (let i = 0; i <= numEdges; i++) {\r\n f = i / numEdges;\r\n thetaRadians = this._defaultArc.sweep.fractionToRadians(f);\r\n const p = new GeodesicPathPoint();\r\n p.thetaRadians = thetaRadians;\r\n p.phiRadians = 0.0;\r\n this._pathPoints.push(p);\r\n }\r\n this._tridiagonalSolver = new TriDiagonalSystem(this._pathPoints.length);\r\n }\r\n private applyUpdate(maxDPhiRadians: number): number {\r\n let dPhiMax = 0;\r\n for (let i = 0; i < this._pathPoints.length; i++) {\r\n const dPhi = Geometry.clampToStartEnd(this._tridiagonalSolver.getX(i), -maxDPhiRadians, maxDPhiRadians);\r\n this._pathPoints[i].phiRadians -= dPhi;\r\n dPhiMax = Geometry.maxAbsXY(dPhiMax, dPhi);\r\n }\r\n return dPhiMax;\r\n }\r\n\r\n /\r\n Set up a step with specified ellipsoid.\r\n * * ASSUME angles in _pathPoints are valid on given ellipsoid.\r\n * @param ellipsoid\r\n /\r\n private setupStep(ellipsoid: Ellipsoid) {\r\n for (const p of this._pathPoints) {\r\n p.evaluateDerivativesAtCurrentAngles(ellipsoid);\r\n }\r\n const lastRow = this._pathPoints.length - 1;\r\n // first and last points get trivial dPhi=0 equations:\r\n this._tridiagonalSolver.reset();\r\n this._tridiagonalSolver.addToRow(0, 0, 1, 0);\r\n this._tridiagonalSolver.addToB(0, 0);\r\n this._tridiagonalSolver.addToRow(lastRow, 0, 1, 0);\r\n this._tridiagonalSolver.addToB(lastRow, 0);\r\n\r\n // interior points get proper newton equations\r\n const values = new Float64Array(4);\r\n for (let i = 1; i < lastRow; i++) {\r\n GeodesicPathPoint.evaluateNewtonFunction(this._pathPoints[i - 1], this._pathPoints[i], this._pathPoints[i + 1], values);\r\n this._tridiagonalSolver.addToRow(i, values[1], values[2], values[3]);\r\n this._tridiagonalSolver.addToB(i, values[0]);\r\n }\r\n }\r\n\r\n private solve(): boolean {\r\n return this._tridiagonalSolver.factorAndBackSubstitute();\r\n }\r\n /\r\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.\r\n * * Each candidate ellipse has is in a plane with ellipsoid normal at vector constructed \"between\" the endpoint normals.\r\n * * The intermediate construction is by interpolation between stated fractions (which maybe outside 0 to 1)\r\n * @param ellipsoid\r\n * @param angleA start point of all candidates\r\n * @param angleB end point of all candidates\r\n * @param numSample number of ellipses to construct as candidates.\r\n * @param normalInterpolationFraction0\r\n * @param normalInterpolationFraction1\r\n */\r\n public static approximateMinimumLengthSectionArc(ellipsoid: Ellipsoid,\r\n angleA: LongitudeLatitudeNumber,\r\n angleB: LongitudeLatitudeNumber, numSample: number,\r\n normalInterpolationFraction0: number,\r\n normalInterpolationFraction1: number): { minLengthArc: Arc3d, minLengthNormalInterpolationFraction: number } \| undefined {\r\n numSample = Geometry.clampToStartEnd(numSample, 2, 200);\r\n const normalA = ellipsoid.radiansToUnitNormalRay(angleA.longitudeRadians, angleA.latitudeRadians);\r\n const normalB = ellipsoid.radiansToUnitNormalRay(angleB.longitudeRadians, angleB.latitudeRadians);\r\n if (normalA !== undefined && normalB !== undefined) {\r\n let normalC;\r\n let resultArc;\r\n let lengthC;\r\n let fractionC;\r\n\r\n for (let i = 1; i <= numSample; i++) {\r\n const f = Geometry.interpolate(normalInterpolationFraction0, i / numSample, normalInterpolationFraction1);\r\n normalC = normalA.direction.interpolate(f, normalB.direction, normalC);\r\n const candidateArc = ellipsoid.createSectionArcPointPointVectorInPlane(angleA, angleB, normalC);\r\n if (candidateArc !== undefined) {\r\n const candidateLength = candidateArc.curveLength();\r\n if (lengthC === undefined \|\| candidateLength < lengthC) {\r\n lengthC = candidateLength;\r\n resultArc = candidateArc;\r\n fractionC = f;\r\n }\r\n }\r\n }\r\n if (resultArc !== undefined && fractionC !== undefined)\r\n return { minLengthArc: resultArc, minLengthNormalInterpolationFraction: fractionC };\r\n }\r\n return undefined;\r\n }\r\n\r\n}\r\n"]}