@itwin/core-geometry 5.2.0-dev.26 → 5.2.0-dev.29

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

@@ -1 +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/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/**\r\n * Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n *\r\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n */\r\nexport class TriangleLocationDetail {\r\n  /** The Cartesian coordinates of the point p. */\r\n  public world: Point3d;\r\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\r\n  public local: Point3d;\r\n  /** Application-specific number */\r\n  public a: number;\r\n  /** Index of the triangle vertex at the start of the closest edge to p. */\r\n  public closestEdgeIndex: number;\r\n  /**\r\n   * The parameter f along the closest edge to p of its projection q.\r\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n   * * Note that 0 <= f <= 1.\r\n   */\r\n  public closestEdgeParam: number;\r\n\r\n  private constructor() {\r\n    this.world = new Point3d();\r\n    this.local = new Point3d();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /** Invalidate this detail (set all attributes to zero) . */\r\n  public invalidate() {\r\n    this.world.setZero();\r\n    this.local.setZero();\r\n    this.a = 0.0;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n  /**\r\n   * Create an invalid detail.\r\n   * @param result optional pre-allocated object to fill and return\r\n   */\r\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    if (undefined === result)\r\n      result = new TriangleLocationDetail();\r\n    else\r\n      result.invalidate();\r\n    return result;\r\n  }\r\n  /**\r\n   * Set the instance contents from the `other` detail.\r\n   * @param other detail to clone\r\n   */\r\n  public copyContentsFrom(other: TriangleLocationDetail) {\r\n    this.world.setFrom(other.world);\r\n    this.local.setFrom(other.local);\r\n    this.a = other.a;\r\n    this.closestEdgeIndex = other.closestEdgeIndex;\r\n    this.closestEdgeParam = other.closestEdgeParam;\r\n  }\r\n  /** Whether this detail is invalid. */\r\n  public get isValid(): boolean {\r\n    return !this.local.isZero;\r\n  }\r\n  /**\r\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n   * on the triangle.\r\n   * @see classify\r\n   */\r\n  public get isInsideOrOn(): boolean {\r\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n  }\r\n  /**\r\n   * Queries this detail to classify the location of this instance with respect to the triangle.\r\n   * @returns location code\r\n   * @see isInsideOrOn\r\n   */\r\n  public get classify(): PolygonLocation {\r\n    if (!this.isValid)\r\n      return PolygonLocation.Unknown;\r\n    if (this.isInsideOrOn) {\r\n      let numZero = 0;\r\n      if (Math.abs(this.local.x) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.y) === 0.0)\r\n        ++numZero;\r\n      if (Math.abs(this.local.z) === 0.0)\r\n        ++numZero;\r\n      if (2 === numZero)\r\n        return PolygonLocation.OnPolygonVertex;\r\n      if (1 === numZero)\r\n        return PolygonLocation.OnPolygonEdgeInterior;\r\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n    }\r\n    return (this.closestEdgeParam === 0.0) ?\r\n      PolygonLocation.OutsidePolygonProjectsToVertex :\r\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n  }\r\n}\r\n\r\n/**\r\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n */\r\nexport class BarycentricTriangle {\r\n  /** Array of 3 point coordinates for the triangle. */\r\n  public points: Point3d[];\r\n  /** Edge length squared cache, indexed by opposite vertex index */\r\n  protected edgeLength2: number[];\r\n  // private attributes\r\n  private static _workPoint?: Point3d;\r\n  private static _workVector0?: Vector3d;\r\n  private static _workVector1?: Vector3d;\r\n  private static _workRay?: Ray3d;\r\n  private static _workMatrix?: Matrix3d;\r\n  /**\r\n   * Constructor.\r\n   * * Point references are CAPTURED\r\n   */\r\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n    this.points = [];\r\n    this.points.push(point0);\r\n    this.points.push(point1);\r\n    this.points.push(point2);\r\n    this.edgeLength2 = [];\r\n    this.edgeLength2.push(point1.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point2));\r\n    this.edgeLength2.push(point0.distanceSquared(point1));\r\n  }\r\n  /**\r\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n   * is undefined.\r\n   */\r\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\r\n    this.points[0].setFromPoint3d(point0);\r\n    this.points[1].setFromPoint3d(point1);\r\n    this.points[2].setFromPoint3d(point2);\r\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n  }\r\n  /** Copy all values from `other` */\r\n  public setFrom(other: BarycentricTriangle) {\r\n    for (let i = 0; i < 3; ++i) {\r\n      this.points[i].setFromPoint3d(other.points[i]);\r\n      this.edgeLength2[i] = other.edgeLength2[i];\r\n    }\r\n  }\r\n  /**\r\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n   * @param result optional pre-allocated triangle.\r\n   */\r\n  public static createXYZXYZXYZ(\r\n    x0: number, y0: number, z0: number,\r\n    x1: number, y1: number, z1: number,\r\n    x2: number, y2: number, z2: number,\r\n    result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n    result.points[0].set(x0, y0, z0);\r\n    result.points[1].set(x1, y1, z1);\r\n    result.points[2].set(x2, y2, z2);\r\n    return result;\r\n  }\r\n  /** Create a triangle with coordinates cloned from given points. */\r\n  public static create(\r\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\r\n  ): BarycentricTriangle {\r\n    if (!result)\r\n      return new this(point0.clone(), point1.clone(), point2.clone());\r\n    result.set(point0, point1, point2);\r\n    return result;\r\n  }\r\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\r\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n  }\r\n  /** Return a clone of the transformed instance */\r\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n    return BarycentricTriangle.create(\r\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n      result,\r\n    );\r\n  }\r\n  /** Return the area of the triangle. */\r\n  public get area(): number {\r\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n  }\r\n  /**\r\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n  }\r\n  /**\r\n   * Compute length of the triangle edge opposite the vertex with the given index.\r\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n   */\r\n  public edgeLength(oppositeVertexIndex: number): number {\r\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n  }\r\n  /** Return area divided by sum of squared lengths. */\r\n  public get aspectRatio(): number {\r\n    return Geometry.safeDivideFraction(\r\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\r\n    );\r\n  }\r\n  /** Return the perimeter of the triangle. */\r\n  public get perimeter(): number {\r\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n  }\r\n  /**\r\n   * Return the unit normal of the triangle.\r\n   * @param result optional pre-allocated vector to fill and return.\r\n   * @returns unit normal, or undefined if cross product length is too small.\r\n   */\r\n  public normal(result?: Vector3d): Vector3d | undefined {\r\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n    if (cross.tryNormalizeInPlace())\r\n      return cross;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Sum the triangle points with given scales.\r\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n   * @param b0 scale to apply to vertex 0\r\n   * @param b1 scale to apply to vertex 1\r\n   * @param b2 scale to apply to vertex 2\r\n   * @param result optional pre-allocated point to fill and return\r\n   * @return linear combination of the vertices of this triangle\r\n   * @see [[pointToFraction]]\r\n   */\r\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n    // p = b0 * v0 + b1 * v1 + b2 * v2\r\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n  }\r\n  /**\r\n   * Compute the projection of the given `point` onto the plane of this triangle.\r\n   * @param point point p to project\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the projection point `P = d.world`:\r\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\r\n   * @see [[fractionToPoint]]\r\n   */\r\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n    if (undefined === normal)\r\n      return TriangleLocationDetail.create(result);\r\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n  }\r\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\r\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n  }\r\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\r\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n   */\r\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 > 0 && b1 > 0 && b2 > 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n   */\r\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n      return 0;\r\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n      return 1;\r\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n   */\r\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n    if (b1 < 0 && b2 < 0)\r\n      return 0;\r\n    if (b0 < 0 && b2 < 0)\r\n      return 1;\r\n    if (b0 < 0 && b1 < 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 1 && b1 === 0 && b2 === 0)\r\n      return 0;\r\n    if (b0 === 0 && b1 === 1 && b2 === 0)\r\n      return 1;\r\n    if (b0 === 0 && b1 === 0 && b2 === 1)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /**\r\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n   * * No parametric tolerance is used.\r\n   * * It is assumed b0 + b1 + b2 = 1.\r\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n   */\r\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n    if (b0 === 0 && b1 > 0 && b2 > 0)\r\n      return 0;\r\n    if (b0 > 0 && b1 === 0 && b2 > 0)\r\n      return 1;\r\n    if (b0 > 0 && b1 > 0 && b2 === 0)\r\n      return 2;\r\n    return -1;\r\n  }\r\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\r\n  private static indexOfMinimum(fn: (index: number) => number): number {\r\n    let i = 0;\r\n    let min = fn(0);\r\n    const val = fn(1);\r\n    if (min > val) {\r\n      i = 1;\r\n      min = val;\r\n    }\r\n    if (min > fn(2))\r\n      i = 2;\r\n    return i;\r\n  }\r\n  /**\r\n   * Compute the squared distance between two points given by their barycentric coordinates.\r\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n   */\r\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n    // The barycentric displacement vector distance formula\r\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\r\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n  }\r\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\r\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n    });\r\n  }\r\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\r\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    const k = Geometry.cyclic3dAxis(j + 1);\r\n    return Geometry.dotProductXYZXYZ(\r\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\r\n    );\r\n  }\r\n  /**\r\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n   * @param k vertex v_k is opposite the edge e_k\r\n   * @param b barycentric coordinates of point to project\r\n   * @returns parameter f along e_k, such that:\r\n   * * the projection point is q = v_i + f * (v_j - v_i)\r\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n   */\r\n  private computeProjectionToEdge(k: number, b: number[]): number {\r\n    /**\r\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\r\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n     * First we prove P = b_jU + b_kV.\r\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\r\n     *         = (b_j * U) + (b_k * V)\r\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n     * Therefore, 0 = (p - q).(v_j - v_i)\r\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n     *              = (b_jU + b_kV - fU).U\r\n     *              = b_jU.U + b_kU.V - fU.U\r\n     * Thus f = b_j + b_k(U.V/U.U)\r\n     */\r\n    k = Geometry.cyclic3dAxis(k);\r\n    const i = Geometry.cyclic3dAxis(k + 1);\r\n    const j = Geometry.cyclic3dAxis(i + 1);\r\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n  }\r\n  /**\r\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n   * @param b0 barycentric coordinate of p corresponding to v_0\r\n   * @param b1 barycentric coordinate of p corresponding to v_1\r\n   * @param b2 barycentric coordinate of p corresponding to v_2\r\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n   * q = v_i + f * (v_j - v_i).\r\n   */\r\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n    const b: number[] = [b0, b1, b2];\r\n    let edgeIndex = -1;  // opposite-vertex index\r\n    let edgeParam = 0.0;\r\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n        // We want smallest projection distance d_i of p to e_i.\r\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\r\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n      });\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0 || edgeParam > 1) {\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n        if (edgeParam < 0 || edgeParam > 1) {\r\n          edgeParam = 0.0;\r\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n        }\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n      if (edgeParam < 0) {\r\n        edgeParam = 0.0;  // start of this edge\r\n      } else if (edgeParam > 1) {\r\n        edgeParam = 0.0;\r\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n      }\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n      edgeParam = 0.0;\r\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n    }\r\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\r\n    return {\r\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n      closestEdgeParam: edgeParam,\r\n    };\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n   * * Intersection data is returned for the line-plane intersection.\r\n   * * No intersection is returned if the line is parallel to the plane.\r\n   * * As for the *ray*, it intersects this triangle if and only if the returned detail `d` has\r\n   * `d.isValid === true` and `d.a >= 0` and `d.isInsideOrOn === true`.\r\n   * * This method is slower than `Ray3d.intersectionWithTriangle` but returns more information about the intersection.\r\n   * @param ray infinite line to intersect, as a ray\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details `d` of the intersection point `p` of the line and the plane of this triangle:\r\n   * * `d.isValid`: false if and only if `ray.direction` is parallel to the plane, or the ray or triangle is degenerate.\r\n   * * `d.world`: coordinates of `p`.\r\n   * * `d.local`: barycentric coordinates of `p`.\r\n   * * `d.a`: the intersection parameter of `p` along the ray. Negative means `p` is behind the ray origin.\r\n   * * `d.classify`: where `p` lies with respect to the triangle.\r\n   * * `d.isInsideOrOn`: whether `p` is inside or on the triangle.\r\n   * * `d.closestEdgeIndex`: the index of the triangle edge `e` onto which `p` projects.\r\n   * * `d.closestEdgeParam`: the edge parameter at which `p` projects onto `e`.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n   * @see [[pointToFraction]]\r\n  */\r\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    result = TriangleLocationDetail.create(result);\r\n    /**\r\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\r\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n     *              b1*u + b2*v - s*d = c\r\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n     */\r\n    const r0 = ray.origin;\r\n    const d = ray.direction;\r\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\r\n    );\r\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    const scaledVolume = d.tripleProduct(u, v);\r\n    if (scaledVolume * scaledVolume <= u.dotProduct(u) * v.dotProduct(v) * d.dotProduct(d) * Geometry.smallAngleRadiansSquared)\r\n      return result; // parallel (no solution)\r\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\r\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\r\n    if (undefined === M.multiplyInverse(c, solution))\r\n      return result;  // invalid\r\n    result.a = -solution.z; // = -(-s) = s\r\n    ray.fractionToPoint(result.a, result.world);\r\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n    result.closestEdgeIndex = proj.closestEdgeIndex;\r\n    result.closestEdgeParam = proj.closestEdgeParam;\r\n    return result;\r\n  }\r\n  /**\r\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n   * @param point0 start point of segment on line to intersect\r\n   * @param point1 end point of segment on line to intersect\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection point `d.world`:\r\n   * * `d.isValid` returns true if and only if the line intersects the plane.\r\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n   * @see [[intersectRay3d]]\r\n  */\r\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n  }\r\n  /**\r\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n   * `location.world` possibly updated to lie on the triangle closest edge)\r\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n   * @return whether the location was adjusted\r\n   */\r\n  public snapLocationToEdge(\r\n    location: TriangleLocationDetail,\r\n    distanceTolerance: number = Geometry.smallMetricDistance,\r\n    parameterTolerance: number = Geometry.smallFloatingPoint,\r\n  ): boolean {\r\n    if (!location.isValid)\r\n      return false;\r\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n    if (parameterTolerance > 0.0) {\r\n      let numSnapped = 0;\r\n      let newSum = 0.0;\r\n      for (let i = 0; i < 3; i++) {\r\n        const barycentricDist = Math.abs(location.local.at(i));\r\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n          location.local.setAt(i, 0.0);\r\n          numSnapped++;\r\n        }\r\n        newSum += location.local.at(i);\r\n      }\r\n      if (numSnapped > 0 && newSum > 0.0) {\r\n        location.local.scaleInPlace(1.0 / newSum);\r\n        if (1 === numSnapped) {\r\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\r\n          );\r\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n        } else {  // 2 snapped, at vertex\r\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n            location.local.x, location.local.y, location.local.z,\r\n          );\r\n          location.closestEdgeParam = 0.0;\r\n        }\r\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n        return true;\r\n      }\r\n    }\r\n    // failing that, try distance tol to closest edge projection\r\n    if (distanceTolerance > 0.0) {\r\n      const i = location.closestEdgeIndex;\r\n      const j = (i + 1) % 3;\r\n      const k = (j + 1) % 3;\r\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\r\n      );\r\n      const dist = location.world.distance(edgeProjection);\r\n      if (dist > 0.0 && dist < distanceTolerance) {\r\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n        location.local.setAt(j, location.closestEdgeParam);\r\n        location.local.setAt(k, 0.0);\r\n        location.world.setFrom(edgeProjection);\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Return the dot product of the scaled normals of the two triangles.\r\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n   * one of the triangles' planes; zero means the triangles are perpendicular.\r\n   */\r\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\r\n    );\r\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\r\n    );\r\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n  }\r\n  /** Return the centroid of the 3 points. */\r\n  public centroid(result?: Point3d): Point3d {\r\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n    return Point3d.create(\r\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n      result,\r\n    );\r\n  }\r\n  /** Return the incenter of the triangle. */\r\n  public incenter(result?: Point3d): Point3d {\r\n    const a = this.edgeLength(0);\r\n    const b = this.edgeLength(1);\r\n    const c = this.edgeLength(2);\r\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\r\n  }\r\n  /** Return the circumcenter of the triangle. */\r\n  public circumcenter(result?: Point3d): Point3d {\r\n    const a2 = this.edgeLengthSquared(0);\r\n    const b2 = this.edgeLengthSquared(1);\r\n    const c2 = this.edgeLengthSquared(2);\r\n    const x = a2 * (b2 + c2 - a2);\r\n    const y = b2 * (c2 + a2 - b2);\r\n    const z = c2 * (a2 + b2 - c2);\r\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n  }\r\n  /** Test for point-by-point `isAlmostEqual` relationship. */\r\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n    return this.points[0].isAlmostEqual(other.points[0], tol)\r\n      && this.points[1].isAlmostEqual(other.points[1], tol)\r\n      && this.points[2].isAlmostEqual(other.points[2], tol);\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/** @packageDocumentation\n * @module CartesianGeometry\n */\n\nimport { assert } from \"@itwin/core-bentley\";\n\nimport { Geometry, PolygonLocation } from \"../Geometry\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\n\n/**\n * Carries data about a location in the plane of a triangle.\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\n * services on the latter.\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\n * if they lie within a distance or parametric tolerance.\n *\n * Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\n * `T` with vertices `v0, v1, v2`:\n * * `1 = b0 + b1 + b2`\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\n * be written `P = b1 * U + b2 * V`.\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\n * NOT sum to 1, then `p` is not coplanar with `T`\n * @public\n */\nexport class TriangleLocationDetail {\n  /** The Cartesian coordinates of the point p. */\n  public world: Point3d;\n  /** The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. */\n  public local: Point3d;\n  /** Application-specific number */\n  public a: number;\n  /** Index of the triangle vertex at the start of the closest edge to p. */\n  public closestEdgeIndex: number;\n  /**\n   * The parameter f along the closest edge to p of its projection q.\n   * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\n   * of the start vertex v_i and end vertex v_j of the closest edge to p.\n   * * Note that 0 <= f <= 1.\n   */\n  public closestEdgeParam: number;\n\n  private constructor() {\n    this.world = new Point3d();\n    this.local = new Point3d();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /** Invalidate this detail (set all attributes to zero) . */\n  public invalidate() {\n    this.world.setZero();\n    this.local.setZero();\n    this.a = 0.0;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n  /**\n   * Create an invalid detail.\n   * @param result optional pre-allocated object to fill and return\n   */\n  public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\n    if (undefined === result)\n      result = new TriangleLocationDetail();\n    else\n      result.invalidate();\n    return result;\n  }\n  /**\n   * Set the instance contents from the `other` detail.\n   * @param other detail to clone\n   */\n  public copyContentsFrom(other: TriangleLocationDetail) {\n    this.world.setFrom(other.world);\n    this.local.setFrom(other.local);\n    this.a = other.a;\n    this.closestEdgeIndex = other.closestEdgeIndex;\n    this.closestEdgeParam = other.closestEdgeParam;\n  }\n  /** Whether this detail is invalid. */\n  public get isValid(): boolean {\n    return !this.local.isZero;\n  }\n  /**\n   * Queries the barycentric coordinates to determine whether this instance specifies a location inside or\n   * on the triangle.\n   * @see classify\n   */\n  public get isInsideOrOn(): boolean {\n    return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\n  }\n  /**\n   * Queries this detail to classify the location of this instance with respect to the triangle.\n   * @returns location code\n   * @see isInsideOrOn\n   */\n  public get classify(): PolygonLocation {\n    if (!this.isValid)\n      return PolygonLocation.Unknown;\n    if (this.isInsideOrOn) {\n      let numZero = 0;\n      if (Math.abs(this.local.x) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.y) === 0.0)\n        ++numZero;\n      if (Math.abs(this.local.z) === 0.0)\n        ++numZero;\n      if (2 === numZero)\n        return PolygonLocation.OnPolygonVertex;\n      if (1 === numZero)\n        return PolygonLocation.OnPolygonEdgeInterior;\n      return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\n    }\n    return (this.closestEdgeParam === 0.0) ?\n      PolygonLocation.OutsidePolygonProjectsToVertex :\n      PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\n  }\n}\n\n/**\n * 3 points defining a triangle to be evaluated with barycentric coordinates.\n * @public\n */\nexport class BarycentricTriangle {\n  /** Array of 3 point coordinates for the triangle. */\n  public points: Point3d[];\n  /** Edge length squared cache, indexed by opposite vertex index */\n  protected edgeLength2: number[];\n  // private attributes\n  private static _workPoint?: Point3d;\n  private static _workVector0?: Vector3d;\n  private static _workVector1?: Vector3d;\n  private static _workRay?: Ray3d;\n  private static _workMatrix?: Matrix3d;\n  /**\n   * Constructor.\n   * * Point references are CAPTURED\n   */\n  protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\n    this.points = [];\n    this.points.push(point0);\n    this.points.push(point1);\n    this.points.push(point2);\n    this.edgeLength2 = [];\n    this.edgeLength2.push(point1.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point2));\n    this.edgeLength2.push(point0.distanceSquared(point1));\n  }\n  /**\n   * Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\n   * is undefined.\n   */\n  public set(point0: Point3d | undefined, point1: Point3d | undefined, point2: Point3d | undefined) {\n    this.points[0].setFromPoint3d(point0);\n    this.points[1].setFromPoint3d(point1);\n    this.points[2].setFromPoint3d(point2);\n    this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\n    this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\n    this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\n  }\n  /** Copy all values from `other` */\n  public setFrom(other: BarycentricTriangle) {\n    for (let i = 0; i < 3; ++i) {\n      this.points[i].setFromPoint3d(other.points[i]);\n      this.edgeLength2[i] = other.edgeLength2[i];\n    }\n  }\n  /**\n   * Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\n   * @param result optional pre-allocated triangle.\n   */\n  public static createXYZXYZXYZ(\n    x0: number, y0: number, z0: number,\n    x1: number, y1: number, z1: number,\n    x2: number, y2: number, z2: number,\n    result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\n    result.points[0].set(x0, y0, z0);\n    result.points[1].set(x1, y1, z1);\n    result.points[2].set(x2, y2, z2);\n    return result;\n  }\n  /** Create a triangle with coordinates cloned from given points. */\n  public static create(\n    point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle,\n  ): BarycentricTriangle {\n    if (!result)\n      return new this(point0.clone(), point1.clone(), point2.clone());\n    result.set(point0, point1, point2);\n    return result;\n  }\n  /** Return a new `BarycentricTriangle` with the same coordinates. */\n  public clone(result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\n  }\n  /** Return a clone of the transformed instance */\n  public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\n    return BarycentricTriangle.create(\n      transform.multiplyPoint3d(this.points[0], result?.points[0]),\n      transform.multiplyPoint3d(this.points[1], result?.points[1]),\n      transform.multiplyPoint3d(this.points[2], result?.points[2]),\n      result,\n    );\n  }\n  /** Return the area of the triangle. */\n  public get area(): number {\n    // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\n    return 0.5 * this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\n  }\n  /**\n   * Compute squared length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLengthSquared(oppositeVertexIndex: number): number {\n    return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\n  }\n  /**\n   * Compute length of the triangle edge opposite the vertex with the given index.\n   * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\n   */\n  public edgeLength(oppositeVertexIndex: number): number {\n    return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\n  }\n  /** Return area divided by sum of squared lengths. */\n  public get aspectRatio(): number {\n    return Geometry.safeDivideFraction(\n      this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0,\n    );\n  }\n  /** Return the perimeter of the triangle. */\n  public get perimeter(): number {\n    return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\n  }\n  /**\n   * Return the unit normal of the triangle.\n   * @param result optional pre-allocated vector to fill and return.\n   * @returns unit normal, or undefined if cross product length is too small.\n   */\n  public normal(result?: Vector3d): Vector3d | undefined {\n    const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\n    if (cross.tryNormalizeInPlace())\n      return cross;\n    return undefined;\n  }\n  /**\n   * Sum the triangle points with given scales.\n   * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\n   * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\n   * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\n   * @param b0 scale to apply to vertex 0\n   * @param b1 scale to apply to vertex 1\n   * @param b2 scale to apply to vertex 2\n   * @param result optional pre-allocated point to fill and return\n   * @return linear combination of the vertices of this triangle\n   * @see [[pointToFraction]]\n   */\n  public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\n    // p = b0 * v0 + b1 * v1 + b2 * v2\n    return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\n  }\n  /**\n   * Compute the projection of the given `point` onto the plane of this triangle.\n   * @param point point p to project\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the projection point `P = d.world`:\n   * * `d.isValid` returns true if and only if `this.normal()` is defined.\n   * * `d.classify` can be used to determine where P lies with respect to the triangle.\n   * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\n   * @see [[fractionToPoint]]\n   */\n  public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\n    if (undefined === normal)\n      return TriangleLocationDetail.create(result);\n    const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\n    return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\n  }\n  /** Convert from opposite-vertex to start-vertex edge indexing. */\n  public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\n    return Geometry.cyclic3dAxis(edgeIndex + 1);\n  }\n  /** Convert from start-vertex to opposite-vertex edge indexing. */\n  public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\n    return Geometry.cyclic3dAxis(startVertexIndex - 1);\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is strictly inside the triangle.\n   */\n  public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 > 0 && b1 > 0 && b2 > 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns whether the point with barycentric coordinates is inside or on the triangle.\n   */\n  public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\n    return b0 >= 0 && b1 >= 0 && b2 >= 0;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\n    if (b0 < 0 && b1 >= 0 && b2 >= 0)\n      return 0;\n    if (b0 >= 0 && b1 < 0 && b2 >= 0)\n      return 1;\n    if (b0 >= 0 && b1 >= 0 && b2 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\n   */\n  private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\n    // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\n    // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\n    if (b1 < 0 && b2 < 0)\n      return 0;\n    if (b0 < 0 && b2 < 0)\n      return 1;\n    if (b0 < 0 && b1 < 0)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\n   */\n  private static isOnVertex(b0: number, b1: number, b2: number): number {\n    if (b0 === 1 && b1 === 0 && b2 === 0)\n      return 0;\n    if (b0 === 0 && b1 === 1 && b2 === 0)\n      return 1;\n    if (b0 === 0 && b1 === 0 && b2 === 1)\n      return 2;\n    return -1;\n  }\n  /**\n   * Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\n   * * No parametric tolerance is used.\n   * * It is assumed b0 + b1 + b2 = 1.\n   * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\n   */\n  private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\n    if (b0 === 0 && b1 > 0 && b2 > 0)\n      return 0;\n    if (b0 > 0 && b1 === 0 && b2 > 0)\n      return 1;\n    if (b0 > 0 && b1 > 0 && b2 === 0)\n      return 2;\n    return -1;\n  }\n  /** @returns edge/vertex index (0,1,2) for which the function has a minimum value */\n  private static indexOfMinimum(fn: (index: number) => number): number {\n    let i = 0;\n    let min = fn(0);\n    const val = fn(1);\n    if (min > val) {\n      i = 1;\n      min = val;\n    }\n    if (min > fn(2))\n      i = 2;\n    return i;\n  }\n  /**\n   * Compute the squared distance between two points given by their barycentric coordinates.\n   * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\n   */\n  public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\n    // The barycentric displacement vector distance formula\n    // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\n    return -this.edgeLengthSquared(0) * (b1 - a1) * (b2 - a2)\n      - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\n      - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\n  }\n  /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. */\n  public closestVertexIndex(b0: number, b1: number, b2: number): number {\n    return BarycentricTriangle.indexOfMinimum((i: number) => {\n      const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\n      a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\n      return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\n    });\n  }\n  /** Compute dot product of the edge vectors based at the vertex with the given index. */\n  public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\n    const i = Geometry.cyclic3dAxis(baseVertexIndex);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    const k = Geometry.cyclic3dAxis(j + 1);\n    return Geometry.dotProductXYZXYZ(\n      this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\n      this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z,\n    );\n  }\n  /**\n   * Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\n   * @param k vertex v_k is opposite the edge e_k\n   * @param b barycentric coordinates of point to project\n   * @returns parameter f along e_k, such that:\n   * * the projection point is q = v_i + f * (v_j - v_i)\n   * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\n   */\n  private computeProjectionToEdge(k: number, b: number[]): number {\n    /**\n     * We know p = (b_i*v_i) + (b_j*v_j) + (b_k*v_k) and 1 = b_i + b_j + b_k.\n     * Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\n     * First we prove P = b_jU + b_kV.\n     *       P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\n     *         = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\n     *         = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\n     *         = (b_j * U) + (b_k * V) + v_i - v_i\n     *         = (b_j * U) + (b_k * V)\n     * So we know p - v_i = b_jU + b_kV and q - v_i = fU\n     * Therefore, 0 = (p - q).(v_j - v_i)\n     *              = ((p-v_i) - (q-v_i)).(v_j - v_i)\n     *              = (b_jU + b_kV - fU).U\n     *              = b_jU.U + b_kU.V - fU.U\n     * Thus f = b_j + b_k(U.V/U.U)\n     */\n    k = Geometry.cyclic3dAxis(k);\n    const i = Geometry.cyclic3dAxis(k + 1);\n    const j = Geometry.cyclic3dAxis(i + 1);\n    return b[j] + b[k] * this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\n  }\n  /**\n   * Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\n   * @param b0 barycentric coordinate of p corresponding to v_0\n   * @param b1 barycentric coordinate of p corresponding to v_1\n   * @param b2 barycentric coordinate of p corresponding to v_2\n   * @returns closest edge start vertex index i and projection parameter f such that the projection\n   * q = v_i + f * (v_j - v_i).\n   */\n  public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\n    const b: number[] = [b0, b1, b2];\n    let edgeIndex = -1;  // opposite-vertex index\n    let edgeParam = 0.0;\n    if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\n      edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\n        // We want smallest projection distance d_i of p to e_i.\n        // Since b_i=d_i|e_i|/2A we can compare quantities b_i/|e_i|.\n        return b[i] * b[i] / this.edgeLengthSquared(i); // avoid sqrt\n      });\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\n      edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0 || edgeParam > 1) {\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\n        edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n        if (edgeParam < 0 || edgeParam > 1) {\n          edgeParam = 0.0;\n          edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\n        }\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\n      edgeParam = this.computeProjectionToEdge(edgeIndex, b);\n      if (edgeParam < 0) {\n        edgeParam = 0.0;  // start of this edge\n      } else if (edgeParam > 1) {\n        edgeParam = 0.0;\n        edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\n      }\n    } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\n      edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\n    } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\n      edgeParam = 0.0;\n      edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\n    }\n    // invalid edgeIndex shouldn't happen, but propagate it anyway\n    assert(edgeIndex === 0 || edgeIndex === 1 || edgeIndex === 2);\n    return {\n      closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\n      closestEdgeParam: edgeParam,\n    };\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\n   * * Intersection data is returned for the line-plane intersection.\n   * * No intersection is returned if the line is parallel to the plane.\n   * * As for the *ray*, it intersects this triangle if and only if the returned detail `d` has\n   * `d.isValid === true` and `d.a >= 0` and `d.isInsideOrOn === true`.\n   * * This method is slower than `Ray3d.intersectionWithTriangle` but returns more information about the intersection.\n   * @param ray infinite line to intersect, as a ray\n   * @param result optional pre-allocated object to fill and return\n   * @returns details `d` of the intersection point `p` of the line and the plane of this triangle:\n   * * `d.isValid`: false if and only if `ray.direction` is parallel to the plane, or the ray or triangle is degenerate.\n   * * `d.world`: coordinates of `p`.\n   * * `d.local`: barycentric coordinates of `p`.\n   * * `d.a`: the intersection parameter of `p` along the ray. Negative means `p` is behind the ray origin.\n   * * `d.classify`: where `p` lies with respect to the triangle.\n   * * `d.isInsideOrOn`: whether `p` is inside or on the triangle.\n   * * `d.closestEdgeIndex`: the index of the triangle edge `e` onto which `p` projects.\n   * * `d.closestEdgeParam`: the edge parameter at which `p` projects onto `e`.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\n   * @see [[pointToFraction]]\n  */\n  public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    result = TriangleLocationDetail.create(result);\n    /**\n     * Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\n     *         r0 + s*d = p = b0*v0 + b1*v1 + b2*v2\n     * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\n     *              b1*u + b2*v - s*d = c\n     * This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\n     */\n    const r0 = ray.origin;\n    const d = ray.direction;\n    const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\n      this.points[0], this.points[1], BarycentricTriangle._workVector0,\n    );\n    const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\n      this.points[0], this.points[2], BarycentricTriangle._workVector1,\n    );\n    const scaledVolume = d.tripleProduct(u, v);\n    if (scaledVolume * scaledVolume <= u.dotProduct(u) * v.dotProduct(v) * d.dotProduct(d) * Geometry.smallAngleRadiansSquared)\n      return result; // parallel (no solution)\n    const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\n    const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0);  // reuse workVector0\n    const solution = BarycentricTriangle._workVector1;  // reuse workVector1\n    if (undefined === M.multiplyInverse(c, solution))\n      return result;  // invalid\n    result.a = -solution.z; // = -(-s) = s\n    ray.fractionToPoint(result.a, result.world);\n    result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\n    const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\n    result.closestEdgeIndex = proj.closestEdgeIndex;\n    result.closestEdgeParam = proj.closestEdgeParam;\n    return result;\n  }\n  /**\n   * Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\n   * @param point0 start point of segment on line to intersect\n   * @param point1 end point of segment on line to intersect\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection point `d.world`:\n   * * `d.isValid` returns true if and only if the line intersects the plane.\n   * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\n   * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\n   * @see [[intersectRay3d]]\n  */\n  public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\n    BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\n    return this.intersectRay3d(BarycentricTriangle._workRay, result);\n  }\n  /**\n   * Adjust the location to the closest edge of the triangle if within either given tolerance.\n   * @param location details of a point in the plane of the triangle (note that `location.local` and\n   * `location.world` possibly updated to lie on the triangle closest edge)\n   * @param distanceTolerance absolute distance tolerance (or zero to ignore)\n   * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\n   * @return whether the location was adjusted\n   */\n  public snapLocationToEdge(\n    location: TriangleLocationDetail,\n    distanceTolerance: number = Geometry.smallMetricDistance,\n    parameterTolerance: number = Geometry.smallFloatingPoint,\n  ): boolean {\n    if (!location.isValid)\n      return false;\n    // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\n    if (parameterTolerance > 0.0) {\n      let numSnapped = 0;\n      let newSum = 0.0;\n      for (let i = 0; i < 3; i++) {\n        const barycentricDist = Math.abs(location.local.at(i));\n        if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\n          location.local.setAt(i, 0.0);\n          numSnapped++;\n        }\n        newSum += location.local.at(i);\n      }\n      if (numSnapped > 0 && newSum > 0.0) {\n        location.local.scaleInPlace(1.0 / newSum);\n        if (1 === numSnapped) {\n          location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\n            BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z),\n          );\n          location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\n        } else {  // 2 snapped, at vertex\n          location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\n            location.local.x, location.local.y, location.local.z,\n          );\n          location.closestEdgeParam = 0.0;\n        }\n        this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\n        return true;\n      }\n    }\n    // failing that, try distance tol to closest edge projection\n    if (distanceTolerance > 0.0) {\n      const i = location.closestEdgeIndex;\n      const j = (i + 1) % 3;\n      const k = (j + 1) % 3;\n      const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\n        location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint,\n      );\n      const dist = location.world.distance(edgeProjection);\n      if (dist > 0.0 && dist < distanceTolerance) {\n        location.local.setAt(i, 1.0 - location.closestEdgeParam);\n        location.local.setAt(j, location.closestEdgeParam);\n        location.local.setAt(k, 0.0);\n        location.world.setFrom(edgeProjection);\n        return true;\n      }\n    }\n    return false;\n  }\n  /**\n   * Return the dot product of the scaled normals of the two triangles.\n   * * The sign of the return value is useful for determining the triangles' relative orientation:\n   * positive (negative) means the normals point into the same (opposite) half-space determined by\n   * one of the triangles' planes; zero means the triangles are perpendicular.\n   */\n  public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\n    BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\n      this.points[1], this.points[2], BarycentricTriangle._workVector0,\n    );\n    BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\n      other.points[1], other.points[2], BarycentricTriangle._workVector1,\n    );\n    return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\n  }\n  /** Return the centroid of the 3 points. */\n  public centroid(result?: Point3d): Point3d {\n    // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\n    return Point3d.create(\n      (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\n      (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\n      (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\n      result,\n    );\n  }\n  /** Return the incenter of the triangle. */\n  public incenter(result?: Point3d): Point3d {\n    const a = this.edgeLength(0);\n    const b = this.edgeLength(1);\n    const c = this.edgeLength(2);\n    const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\n    return this.fractionToPoint(scale * a, scale * b, scale * c, result);\n  }\n  /** Return the circumcenter of the triangle. */\n  public circumcenter(result?: Point3d): Point3d {\n    const a2 = this.edgeLengthSquared(0);\n    const b2 = this.edgeLengthSquared(1);\n    const c2 = this.edgeLengthSquared(2);\n    const x = a2 * (b2 + c2 - a2);\n    const y = b2 * (c2 + a2 - b2);\n    const z = c2 * (a2 + b2 - c2);\n    const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\n    return this.fractionToPoint(scale * x, scale * y, scale * z, result);\n  }\n  /** Test for point-by-point `isAlmostEqual` relationship. */\n  public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\n    return this.points[0].isAlmostEqual(other.points[0], tol)\n      && this.points[1].isAlmostEqual(other.points[1], tol)\n      && this.points[2].isAlmostEqual(other.points[2], tol);\n  }\n}\n"]}

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

@@ -1 +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 Solid\r\n */\r\n\r\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\r\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { UVSurface } from \"./GeometryHandler\";\r\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Range3d } from \"./Range\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word uparrow, rightarrow\r\n\r\n/**\r\n * A bilinear patch is a surface defined by its 4 corner points.\r\n * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.\r\n * ```\r\n * equation\r\n * \\begin{matrix}\r\n * v\\text{-direction}\\\\\r\n * \\uparrow\\\\\r\n * \\text{point01} &\\cdots &\\text{A1} &\\cdots &\\text{point11}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{B0} &\\cdots &\\text{X} &\\cdots &\\text{B1}\\\\\r\n * \\vdots &&\\vdots &&\\vdots\\\\\r\n * \\text{point00} &\\cdots &\\text{A0} &\\cdots &\\text{point10} &\\rightarrow~u\\text{-direction}\r\n * \\end{matrix}\r\n * ```\r\n * * To evaluate the point at (u,v), the following are equivalent:\r\n *   * interpolate first with u then with v:\r\n *      * A0 = interpolate between point00 and point10 at fraction u\r\n *      * A1 = interpolate between point01 and point11 at fraction u\r\n *      * X = interpolate between A0 and A1 at fraction v\r\n *   * interpolate first with v then with u:\r\n *      * B0 = interpolate between point00 and point01 at fraction v\r\n *      * B1 = interpolate between point10 and point11 at fraction v\r\n *      * X = interpolate between B0 and B1 at fraction u\r\n *   * sum all at once:\r\n *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11\r\n * @public\r\n */\r\nexport class BilinearPatch implements UVSurface {\r\n  /** corner at parametric coordinate (0,0) */\r\n  public point00: Point3d;\r\n  /** corner at parametric coordinate (1,0) */\r\n  public point10: Point3d;\r\n  /** corner at parametric coordinate (0,1) */\r\n  public point01: Point3d;\r\n  /** corner at parametric coordinate (1,1) */\r\n  public point11: Point3d;\r\n  /**\r\n   * Capture (not clone) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public constructor(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    this.point00 = point00;\r\n    this.point10 = point10;\r\n    this.point01 = point01;\r\n    this.point11 = point11;\r\n  }\r\n  /**\r\n   * Clone (not capture) corners to create a new BilinearPatch.\r\n   * @param point00 Point at uv=0,0\r\n   * @param point10 Point at uv=1,0\r\n   * @param point10 Point at uv=0,1\r\n   * @param point11 Point at uv=1,1\r\n   */\r\n  public static create(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\r\n    return new BilinearPatch(point00.clone(), point10.clone(), point01.clone(), point11.clone());\r\n  }\r\n  /** Create a patch from xyz values of the 4 corners. */\r\n  public static createXYZ(\r\n    x00: number, y00: number, z00: number,\r\n    x10: number, y10: number, z10: number,\r\n    x01: number, y01: number, z01: number,\r\n    x11: number, y11: number, z11: number,\r\n  ) {\r\n    return new BilinearPatch(\r\n      Point3d.create(x00, y00, z00),\r\n      Point3d.create(x10, y10, z10),\r\n      Point3d.create(x01, y01, z01),\r\n      Point3d.create(x11, y11, z11),\r\n    );\r\n  }\r\n  /** Return a cloned patch. */\r\n  public clone(): BilinearPatch {\r\n    return new BilinearPatch(\r\n      this.point00.clone(),\r\n      this.point10.clone(),\r\n      this.point01.clone(),\r\n      this.point11.clone(),\r\n    );\r\n  }\r\n  /** Test equality of the 4 points. */\r\n  public isAlmostEqual(other: BilinearPatch): boolean {\r\n    return this.point00.isAlmostEqual(other.point00)\r\n      && this.point10.isAlmostEqual(other.point10)\r\n      && this.point01.isAlmostEqual(other.point01)\r\n      && this.point11.isAlmostEqual(other.point11);\r\n  }\r\n  /** Apply the transform to each point. */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    transform.multiplyPoint3d(this.point00, this.point00);\r\n    transform.multiplyPoint3d(this.point10, this.point10);\r\n    transform.multiplyPoint3d(this.point01, this.point01);\r\n    transform.multiplyPoint3d(this.point11, this.point11);\r\n    return true;\r\n  }\r\n  /** Return a cloned and transformed patch. */\r\n  public cloneTransformed(transform: Transform): BilinearPatch | undefined {\r\n    const result = this.clone();\r\n    result.tryTransformInPlace(transform);\r\n    return result;\r\n  }\r\n  /** Extend a range by the range of the (optionally transformed) patch. */\r\n  public extendRange(range: Range3d, transform?: Transform) {\r\n    if (transform) {\r\n      range.extendTransformedPoint(transform, this.point00);\r\n      range.extendTransformedPoint(transform, this.point10);\r\n      range.extendTransformedPoint(transform, this.point01);\r\n      range.extendTransformedPoint(transform, this.point11);\r\n    } else {\r\n      range.extendPoint(this.point00);\r\n      range.extendPoint(this.point10);\r\n      range.extendPoint(this.point01);\r\n      range.extendPoint(this.point11);\r\n    }\r\n  }\r\n  /**\r\n   * Convert fractional u and v coordinates to surface point\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated point\r\n   */\r\n  public uvFractionToPoint(u: number, v: number, result?: Point3d): Point3d {\r\n    const f00 = (1.0 - u) * (1.0 - v);\r\n    const f10 = u * (1.0 - v);\r\n    const f01 = (1.0 - u) * v;\r\n    const f11 = u * v;\r\n    return Point3d.create(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      result,\r\n    );\r\n  }\r\n  /** Evaluate as a uv surface, returning point and two derivative vectors.\r\n   * @param u fractional coordinate in u direction\r\n   * @param v fractional coordinate in v direction\r\n   * @param result optional pre-allocated carrier for point and vectors\r\n   */\r\n  public uvFractionToPointAndTangents(u: number, v: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const u0 = 1.0 - u;\r\n    const v0 = 1.0 - v;\r\n    const f00 = u0 * v0;\r\n    const f10 = u * v0;\r\n    const f01 = u0 * v;\r\n    const f11 = u * v;\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\r\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\r\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\r\n      // u derivative ..\r\n      v0 * (this.point10.x - this.point00.x) + v * (this.point11.x - this.point01.x),\r\n      v0 * (this.point10.y - this.point00.y) + v * (this.point11.y - this.point01.y),\r\n      v0 * (this.point10.z - this.point00.z) + v * (this.point11.z - this.point01.z),\r\n      // v derivative ..\r\n      u0 * (this.point01.x - this.point00.x) + u * (this.point11.x - this.point10.x),\r\n      u0 * (this.point01.y - this.point00.y) + u * (this.point11.y - this.point10.y),\r\n      u0 * (this.point01.z - this.point00.z) + u * (this.point11.z - this.point10.z),\r\n      result,\r\n    );\r\n  }\r\n  /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */\r\n  private static conditionalPivot(pivotColumn: number, data: Float64Array[], iA: number, iB: number) {\r\n    if (Math.abs(data[iB][pivotColumn]) > Math.abs(data[iA][pivotColumn])) {\r\n      const q = data[iA];\r\n      data[iA] = data[iB];\r\n      data[iB] = q;\r\n    }\r\n  }\r\n  /**\r\n   * Compute the points of intersection with a ray.\r\n   * @param ray ray in space\r\n   * @returns 1 or 2 points if there are intersections, undefined if no intersections\r\n   */\r\n  public intersectRay(ray: Ray3d): CurveAndSurfaceLocationDetail[] | undefined {\r\n    const vectorU = this.point10.minus(this.point00);\r\n    const vectorV = this.point01.minus(this.point00);\r\n    const vectorW = this.point11.minus(this.point10);\r\n    vectorW.subtractInPlace(vectorV);\r\n    // We seek t, u, v such that:\r\n    //    `ray.origin + t*ray.direction = point00 + u*vectorU + v*vectorV + u*v*vectorW`\r\n    // For typical direction as x, the scalar equation with coefficient order for arrays is:\r\n    //    `0 = -t*ray.direction.x + (point00.x - ray.origin.x) + u*vectorU.x + v*vectorV.x + u*v*vectorW.x`\r\n    // and this particular equation is invoked to compute t when u and v are known.\r\n    const coffs = [\r\n      new Float64Array([-ray.direction.x, this.point00.x - ray.origin.x, vectorU.x, vectorV.x, vectorW.x]),\r\n      new Float64Array([-ray.direction.y, this.point00.y - ray.origin.y, vectorU.y, vectorV.y, vectorW.y]),\r\n      new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z]),\r\n    ];\r\n    // swap rows so that the equation with largest ray.direction coefficient is first.\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 1);\r\n    BilinearPatch.conditionalPivot(0, coffs, 0, 2);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[1], -1.0);\r\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[2], -1.0);\r\n    const uvArray = SmallSystem.solveBilinearPair(\r\n      coffs[1][1], coffs[1][2], coffs[1][3], coffs[1][4],\r\n      coffs[2][1], coffs[2][2], coffs[2][3], coffs[2][4],\r\n    );\r\n    if (uvArray) {\r\n      const result: CurveAndSurfaceLocationDetail[] = [];\r\n      for (const uv of uvArray) {\r\n        const t = -(coffs[0][1] + coffs[0][2] * uv.x + (coffs[0][3] + coffs[0][4] * uv.x) * uv.y) / coffs[0][0];\r\n        const point = ray.fractionToPoint(t);\r\n        result.push(new CurveAndSurfaceLocationDetail(\r\n          CurveLocationDetail.createRayFractionPoint(ray, t, point),\r\n          UVSurfaceLocationDetail.createSurfaceUVPoint(this, uv, point)),\r\n        );\r\n      }\r\n      return result;\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */\r\n  public maxUEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point10), this.point01.distance(this.point11));\r\n  }\r\n  /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */\r\n  public maxVEdgeLength(): number {\r\n    return Geometry.maxXY(this.point00.distance(this.point01), this.point10.distance(this.point11));\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 Solid\n */\n\nimport { CurveAndSurfaceLocationDetail, UVSurfaceLocationDetail } from \"../bspline/SurfaceLocationDetail\";\nimport { CurveLocationDetail } from \"../curve/CurveLocationDetail\";\nimport { Geometry } from \"../Geometry\";\nimport { SmallSystem } from \"../numerics/SmallSystem\";\nimport { UVSurface } from \"./GeometryHandler\";\nimport { Plane3dByOriginAndVectors } from \"./Plane3dByOriginAndVectors\";\nimport { Point3d } from \"./Point3dVector3d\";\nimport { Range3d } from \"./Range\";\nimport { Ray3d } from \"./Ray3d\";\nimport { Transform } from \"./Transform\";\n\n// cspell:word uparrow, rightarrow\n\n/**\n * A bilinear patch is a surface defined by its 4 corner points.\n * * The corner points do not have to be coplanar, but if they are, the quadrilateral should be convex to avoid a self-intersecting surface.\n * ```\n * equation\n * \\begin{matrix}\n * v\\text{-direction}\\\\\n * \\uparrow\\\\\n * \\text{point01} &\\cdots &\\text{A1} &\\cdots &\\text{point11}\\\\\n * \\vdots &&\\vdots &&\\vdots\\\\\n * \\text{B0} &\\cdots &\\text{X} &\\cdots &\\text{B1}\\\\\n * \\vdots &&\\vdots &&\\vdots\\\\\n * \\text{point00} &\\cdots &\\text{A0} &\\cdots &\\text{point10} &\\rightarrow~u\\text{-direction}\n * \\end{matrix}\n * ```\n * * To evaluate the point at (u,v), the following are equivalent:\n *   * interpolate first with u then with v:\n *      * A0 = interpolate between point00 and point10 at fraction u\n *      * A1 = interpolate between point01 and point11 at fraction u\n *      * X = interpolate between A0 and A1 at fraction v\n *   * interpolate first with v then with u:\n *      * B0 = interpolate between point00 and point01 at fraction v\n *      * B1 = interpolate between point10 and point11 at fraction v\n *      * X = interpolate between B0 and B1 at fraction u\n *   * sum all at once:\n *      * X = (1-u)(1-v)point00 + (1-u)(v)point01 + (u)(1-v)point10 + (u)(v)point11\n * @public\n */\nexport class BilinearPatch implements UVSurface {\n  /** corner at parametric coordinate (0,0) */\n  public point00: Point3d;\n  /** corner at parametric coordinate (1,0) */\n  public point10: Point3d;\n  /** corner at parametric coordinate (0,1) */\n  public point01: Point3d;\n  /** corner at parametric coordinate (1,1) */\n  public point11: Point3d;\n  /**\n   * Capture (not clone) corners to create a new BilinearPatch.\n   * @param point00 Point at uv=0,0\n   * @param point10 Point at uv=1,0\n   * @param point10 Point at uv=0,1\n   * @param point11 Point at uv=1,1\n   */\n  public constructor(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\n    this.point00 = point00;\n    this.point10 = point10;\n    this.point01 = point01;\n    this.point11 = point11;\n  }\n  /**\n   * Clone (not capture) corners to create a new BilinearPatch.\n   * @param point00 Point at uv=0,0\n   * @param point10 Point at uv=1,0\n   * @param point10 Point at uv=0,1\n   * @param point11 Point at uv=1,1\n   */\n  public static create(point00: Point3d, point10: Point3d, point01: Point3d, point11: Point3d) {\n    return new BilinearPatch(point00.clone(), point10.clone(), point01.clone(), point11.clone());\n  }\n  /** Create a patch from xyz values of the 4 corners. */\n  public static createXYZ(\n    x00: number, y00: number, z00: number,\n    x10: number, y10: number, z10: number,\n    x01: number, y01: number, z01: number,\n    x11: number, y11: number, z11: number,\n  ) {\n    return new BilinearPatch(\n      Point3d.create(x00, y00, z00),\n      Point3d.create(x10, y10, z10),\n      Point3d.create(x01, y01, z01),\n      Point3d.create(x11, y11, z11),\n    );\n  }\n  /** Return a cloned patch. */\n  public clone(): BilinearPatch {\n    return new BilinearPatch(\n      this.point00.clone(),\n      this.point10.clone(),\n      this.point01.clone(),\n      this.point11.clone(),\n    );\n  }\n  /** Test equality of the 4 points. */\n  public isAlmostEqual(other: BilinearPatch): boolean {\n    return this.point00.isAlmostEqual(other.point00)\n      && this.point10.isAlmostEqual(other.point10)\n      && this.point01.isAlmostEqual(other.point01)\n      && this.point11.isAlmostEqual(other.point11);\n  }\n  /** Apply the transform to each point. */\n  public tryTransformInPlace(transform: Transform): boolean {\n    transform.multiplyPoint3d(this.point00, this.point00);\n    transform.multiplyPoint3d(this.point10, this.point10);\n    transform.multiplyPoint3d(this.point01, this.point01);\n    transform.multiplyPoint3d(this.point11, this.point11);\n    return true;\n  }\n  /** Return a cloned and transformed patch. */\n  public cloneTransformed(transform: Transform): BilinearPatch | undefined {\n    const result = this.clone();\n    result.tryTransformInPlace(transform);\n    return result;\n  }\n  /** Extend a range by the range of the (optionally transformed) patch. */\n  public extendRange(range: Range3d, transform?: Transform) {\n    if (transform) {\n      range.extendTransformedPoint(transform, this.point00);\n      range.extendTransformedPoint(transform, this.point10);\n      range.extendTransformedPoint(transform, this.point01);\n      range.extendTransformedPoint(transform, this.point11);\n    } else {\n      range.extendPoint(this.point00);\n      range.extendPoint(this.point10);\n      range.extendPoint(this.point01);\n      range.extendPoint(this.point11);\n    }\n  }\n  /**\n   * Convert fractional u and v coordinates to surface point\n   * @param u fractional coordinate in u direction\n   * @param v fractional coordinate in v direction\n   * @param result optional pre-allocated point\n   */\n  public uvFractionToPoint(u: number, v: number, result?: Point3d): Point3d {\n    const f00 = (1.0 - u) * (1.0 - v);\n    const f10 = u * (1.0 - v);\n    const f01 = (1.0 - u) * v;\n    const f11 = u * v;\n    return Point3d.create(\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\n      result,\n    );\n  }\n  /** Evaluate as a uv surface, returning point and two derivative vectors.\n   * @param u fractional coordinate in u direction\n   * @param v fractional coordinate in v direction\n   * @param result optional pre-allocated carrier for point and vectors\n   */\n  public uvFractionToPointAndTangents(u: number, v: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    const u0 = 1.0 - u;\n    const v0 = 1.0 - v;\n    const f00 = u0 * v0;\n    const f10 = u * v0;\n    const f01 = u0 * v;\n    const f11 = u * v;\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\n      f00 * this.point00.x + f10 * this.point10.x + f01 * this.point01.x + f11 * this.point11.x,\n      f00 * this.point00.y + f10 * this.point10.y + f01 * this.point01.y + f11 * this.point11.y,\n      f00 * this.point00.z + f10 * this.point10.z + f01 * this.point01.z + f11 * this.point11.z,\n      // u derivative ..\n      v0 * (this.point10.x - this.point00.x) + v * (this.point11.x - this.point01.x),\n      v0 * (this.point10.y - this.point00.y) + v * (this.point11.y - this.point01.y),\n      v0 * (this.point10.z - this.point00.z) + v * (this.point11.z - this.point01.z),\n      // v derivative ..\n      u0 * (this.point01.x - this.point00.x) + u * (this.point11.x - this.point10.x),\n      u0 * (this.point01.y - this.point00.y) + u * (this.point11.y - this.point10.y),\n      u0 * (this.point01.z - this.point00.z) + u * (this.point11.z - this.point10.z),\n      result,\n    );\n  }\n  /** If data[iB][pivotColumn] is larger in absolute value than data[iA][pivotColumn], then swap rows iA and iB. */\n  private static conditionalPivot(pivotColumn: number, data: Float64Array[], iA: number, iB: number) {\n    if (Math.abs(data[iB][pivotColumn]) > Math.abs(data[iA][pivotColumn])) {\n      const q = data[iA];\n      data[iA] = data[iB];\n      data[iB] = q;\n    }\n  }\n  /**\n   * Compute the points of intersection with a ray.\n   * @param ray ray in space\n   * @returns 1 or 2 points if there are intersections, undefined if no intersections\n   */\n  public intersectRay(ray: Ray3d): CurveAndSurfaceLocationDetail[] | undefined {\n    const vectorU = this.point10.minus(this.point00);\n    const vectorV = this.point01.minus(this.point00);\n    const vectorW = this.point11.minus(this.point10);\n    vectorW.subtractInPlace(vectorV);\n    // We seek t, u, v such that:\n    //    `ray.origin + t*ray.direction = point00 + u*vectorU + v*vectorV + u*v*vectorW`\n    // For typical direction as x, the scalar equation with coefficient order for arrays is:\n    //    `0 = -t*ray.direction.x + (point00.x - ray.origin.x) + u*vectorU.x + v*vectorV.x + u*v*vectorW.x`\n    // and this particular equation is invoked to compute t when u and v are known.\n    const coffs = [\n      new Float64Array([-ray.direction.x, this.point00.x - ray.origin.x, vectorU.x, vectorV.x, vectorW.x]),\n      new Float64Array([-ray.direction.y, this.point00.y - ray.origin.y, vectorU.y, vectorV.y, vectorW.y]),\n      new Float64Array([-ray.direction.z, this.point00.z - ray.origin.z, vectorU.z, vectorV.z, vectorW.z]),\n    ];\n    // swap rows so that the equation with largest ray.direction coefficient is first.\n    BilinearPatch.conditionalPivot(0, coffs, 0, 1);\n    BilinearPatch.conditionalPivot(0, coffs, 0, 2);\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[1], -1.0);\n    SmallSystem.eliminateFromPivot(coffs[0], 0, coffs[2], -1.0);\n    const uvArray = SmallSystem.solveBilinearPair(\n      coffs[1][1], coffs[1][2], coffs[1][3], coffs[1][4],\n      coffs[2][1], coffs[2][2], coffs[2][3], coffs[2][4],\n    );\n    if (uvArray) {\n      const result: CurveAndSurfaceLocationDetail[] = [];\n      for (const uv of uvArray) {\n        const t = -(coffs[0][1] + coffs[0][2] * uv.x + (coffs[0][3] + coffs[0][4] * uv.x) * uv.y) / coffs[0][0];\n        const point = ray.fractionToPoint(t);\n        result.push(new CurveAndSurfaceLocationDetail(\n          CurveLocationDetail.createRayFractionPoint(ray, t, point),\n          UVSurfaceLocationDetail.createSurfaceUVPoint(this, uv, point)),\n        );\n      }\n      return result;\n    }\n    return undefined;\n  }\n  /** Returns the larger of the u-direction edge lengths at v=0 and v=1. */\n  public maxUEdgeLength(): number {\n    return Geometry.maxXY(this.point00.distance(this.point10), this.point01.distance(this.point11));\n  }\n  /** Returns the larger of the v-direction edge lengths at u=0 and u=1. */\n  public maxVEdgeLength(): number {\n    return Geometry.maxXY(this.point00.distance(this.point01), this.point10.distance(this.point11));\n  }\n}\n"]}

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

@@ -1 +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\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 */\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"]}