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

package/lib/esm/bspline/BSplineCurveOps.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 Bspline\r\n */\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\r\nimport { Point3dArrayCarrier } from \"../geometry3d/Point3dArrayCarrier\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\r\nimport { BandedSystem } from \"../numerics/BandedSystem\";\r\nimport { BSplineCurve3d } from \"./BSplineCurve\";\r\nimport { InterpolationCurve3dOptions, InterpolationCurve3dProps } from \"./InterpolationCurve3d\";\r\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\r\n\r\n/**\r\n * A class with static methods for creating B-spline curves.\r\n * @public\r\n */\r\nexport class BSplineCurveOps {\r\n  /**\r\n   * Greville knot algorithm: alternative to traditional c2 cubic algorithm allowing for any order, but no end conditions or periodicity.\r\n   * @param points pass-through points.\r\n   * @param order bspline order (1 more than degree)\r\n   */\r\n  public static createThroughPoints(points: IndexedXYZCollection | Point3d[], order: number): BSplineCurve3d | undefined {\r\n    const numPoints = points.length;\r\n    if (order > numPoints || order < 2)\r\n      return undefined;\r\n    const degree = order - 1;\r\n    const bw = 1 + 2 * degree;    // probably less than that . . just zeros at fringe.\r\n    const matrix = new Float64Array(bw * numPoints);\r\n    const basisFunctions = new Float64Array(order);\r\n    const rhs = new GrowableXYZArray();\r\n    const knots = KnotVector.createUniformClamped(numPoints, order - 1, 0.0, 1.0);\r\n    const xyz = Point3d.create();\r\n    for (let basePointIndex = 0; basePointIndex < numPoints; basePointIndex++) {\r\n      const u = knots.grevilleKnot(basePointIndex);\r\n      const spanIndex = knots.knotToLeftKnotIndex(u);\r\n      knots.evaluateBasisFunctions(spanIndex, u, basisFunctions);\r\n      // puzzlement .. how do the max points shift within the order spots?\r\n      let maxIndex = 0;\r\n      for (let i = 1; i < order; i++)\r\n        if (basisFunctions[i] > basisFunctions[maxIndex])\r\n          maxIndex = i;\r\n      const basisFunctionStartWithinRow = degree - maxIndex;\r\n      const rowStart = basePointIndex * bw;\r\n      for (let i = 0; i < order; i++) {\r\n        const realColumn = basePointIndex - degree + basisFunctionStartWithinRow + i;\r\n        if (rowStart + realColumn >= 0 && realColumn < numPoints)\r\n          matrix[rowStart + basisFunctionStartWithinRow + i] = basisFunctions[i];\r\n      }\r\n      if (points instanceof IndexedXYZCollection) {\r\n        rhs.push(points.getPoint3dAtUncheckedPointIndex(basePointIndex, xyz));\r\n      } else {\r\n        rhs.push(points[basePointIndex].clone());\r\n      }\r\n    }\r\n    const poles = BandedSystem.solveBandedSystemMultipleRHS(numPoints, bw, matrix, 3, rhs.float64Data());\r\n    if (poles) {\r\n      return BSplineCurve3d.create(poles, knots.knots, order);\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Construct BSplineCurve3d that fit points using the C2 cubic algorithm.\r\n   * @param options curve definition, unmodified\r\n   */\r\n  public static createThroughPointsC2Cubic(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\r\n    // Work on a copy rather than installing computed knots/tangents that could become stale when fit points change\r\n    // Knots/tangents that come in, however, are used without recomputation.\r\n    const validatedOptions = options.clone();\r\n    if (!this.C2CubicFit.validateOptions(validatedOptions))\r\n      return undefined;\r\n\r\n    const poles = this.C2CubicFit.constructPoles(validatedOptions);\r\n    if (undefined === poles)\r\n      return undefined;\r\n\r\n    const fullKnots = this.C2CubicFit.convertFitParamsToCubicKnotVector(validatedOptions.knots, validatedOptions.closed);\r\n    if (undefined === fullKnots)\r\n      return undefined;\r\n\r\n    const interpolant = BSplineCurve3d.create(poles, fullKnots, validatedOptions.order);\r\n\r\n    if (validatedOptions.closed)\r\n      interpolant?.setWrappable(BSplineWrapMode.OpenByAddingControlPoints);\r\n\r\n    return interpolant;\r\n  }\r\n}\r\n\r\n/**\r\n * Namespace for collecting curve fit API\r\n * @public\r\n */\r\nexport namespace BSplineCurveOps {\r\n  /**\r\n   * A helper class for creating C2 cubic fit curves.\r\n   * Knots herein are understood to be *interior* knots (including the start/end knot),\r\n   * so that there is one knot per fit point. In other words, the knots are fit parameters.\r\n   * @private\r\n   */\r\n  export class C2CubicFit {\r\n    /** Transform fit parameters to span [0,1]\r\n     * @param knots fit parameters, normalized in place\r\n     */\r\n    private static normalizeKnots(knots: number[] | undefined): boolean {\r\n      if (undefined === knots || knots.length < 2) {\r\n        knots = undefined;\r\n        return false;\r\n      }\r\n      const myKnots = KnotVector.create(knots, 1, false); // no extra knots at start/end\r\n      if (!myKnots.normalize()) {\r\n        knots = undefined;\r\n        return false;\r\n      }\r\n      for (let i = 0; i < knots.length; ++i)\r\n        knots[i] = myKnots.knots[i];\r\n      return true;\r\n    }\r\n\r\n    /** Compute chord-length fit parameters for C2 cubic fit algorithm */\r\n    private static constructChordLengthParameters(fitPoints: Point3d[]): number[] | undefined {\r\n      if (fitPoints.length < 2)\r\n        return undefined;\r\n      const params: number[] = [0.0];\r\n      for (let i = 1; i < fitPoints.length; ++i)\r\n        params[i] = params[i - 1] + fitPoints[i].distance(fitPoints[i - 1]);\r\n      if (!this.normalizeKnots(params))\r\n        return undefined;\r\n      return params;\r\n    }\r\n\r\n    /** Compute uniform fit parameters for C2 cubic fit algorithm */\r\n    private static constructUniformParameters(numParams: number): number[] | undefined {\r\n      if (numParams < 2)\r\n        return undefined;\r\n      const knots = KnotVector.createUniformClamped(numParams + 2, 3, 0.0, 1.0);\r\n      const params: number[] = [];\r\n      for (let i = knots.leftKnotIndex; i <= knots.rightKnotIndex; ++i)\r\n        params.push(knots.knots[i]);\r\n      return params;\r\n    }\r\n\r\n    /** Remove duplicate fit points, and their given knots in parallel */\r\n    private static removeDuplicateFitPoints(options: InterpolationCurve3dOptions): boolean {\r\n      if (undefined !== options.knots && options.knots.length !== options.fitPoints.length)\r\n        options.knots = undefined;\r\n      const carrier = new Point3dArrayCarrier(options.fitPoints);\r\n      const indices = carrier.findOrderedDuplicates(undefined, true); // use default tolerance\r\n      if (indices.length > 0) {\r\n        // remove duplicate fit points, and their corresponding params\r\n        let iWrite = 0;\r\n        for (let iRead = 0, iIndex = 0; iRead < options.fitPoints.length; ++iRead) {\r\n          if (iIndex < indices.length && iRead === indices[iIndex])\r\n            ++iIndex; // skip the duplicate\r\n          else {\r\n            options.fitPoints[iWrite] = options.fitPoints[iRead];\r\n            if (options.knots)\r\n              options.knots[iWrite] = options.knots[iRead];\r\n            ++iWrite;\r\n          }\r\n        }\r\n        options.fitPoints.splice(iWrite);\r\n        if (options.knots)\r\n          options.knots.splice(iWrite);\r\n      }\r\n      return true;\r\n    }\r\n\r\n    /** Construct fit parameters for the c2 cubic fit algorithm.\r\n     * @param fitPoints validated fit points (should not contain duplicates)\r\n     * @param isChordLength whether knots are computed using distances between successive fit points\r\n     * @param closed whether curve is periodically defined\r\n     * @return fit parameters, one per fit point\r\n    */\r\n     public static constructFitParametersFromPoints(fitPoints: Point3d[], isChordLength: number | undefined, closed: boolean | undefined): number[] | undefined {\r\n      let params: number[] | undefined;\r\n      if (isChordLength || !closed)\r\n        params = this.constructChordLengthParameters(fitPoints);\r\n      if (undefined === params)\r\n        params = this.constructUniformParameters(fitPoints.length);\r\n      return params;\r\n    }\r\n\r\n    /** Construct fit parameters for the c2 cubic fit algorithm, if they are missing.\r\n     * @param options validated as per validateOptions, possibly modified\r\n     * @return whether fit parameters are valid\r\n     */\r\n     public static constructFitParameters(options: InterpolationCurve3dOptions): boolean {\r\n      if (undefined === options.knots)\r\n        options.knots = this.constructFitParametersFromPoints(options.fitPoints, options.isChordLenKnots, options.closed);\r\n      return options.knots?.length === options.fitPoints.length;\r\n    }\r\n\r\n    /** Compute a row of the tridiagonal system matrix from Farin.\r\n     * @param alpha sub-diagonal, length = # fit points\r\n     * @param beta diagonal, length = # fit points\r\n     * @param gamma super-diagonal, length = # fit points\r\n     * @param index 0-based row index to set\r\n     */\r\n    private static computeAlphaBetaGamma(alpha: number[], beta: number[], gamma: number[], index: number, deltaIPlus1: number, deltaI: number, deltaIMinus1: number, deltaIMinus2: number) {\r\n      let denomReciprocal = 1.0 / (deltaIMinus2 + deltaIMinus1 + deltaI);\r\n      alpha[index] = deltaI * deltaI * denomReciprocal;\r\n      beta[index] = deltaI * (deltaIMinus2 + deltaIMinus1) * denomReciprocal;\r\n\r\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI + deltaIPlus1);\r\n      beta[index] += deltaIMinus1 * (deltaI + deltaIPlus1) * denomReciprocal;\r\n      gamma[index] = deltaIMinus1 * deltaIMinus1 * denomReciprocal;\r\n\r\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI);\r\n      alpha[index] *= denomReciprocal;\r\n      beta[index] *= denomReciprocal;\r\n      gamma[index] *= denomReciprocal;\r\n    }\r\n\r\n    /** Setup tridiagonal system for 2 fit points\r\n     * @param alpha sub-diagonal, length = 2\r\n     * @param beta diagonal, length = 2\r\n     * @param gamma super-diagonal, length = 2\r\n     */\r\n    private static setUpSystem2Points(alpha: number[], beta: number[], gamma: number[]): boolean {\r\n      if (alpha.length !== 2 || beta.length !== 2 || gamma.length !== 2)\r\n        return false;\r\n\r\n      // identity matrix\r\n      alpha[0] = alpha[1] = gamma[0] = gamma[1] = 0.0;\r\n      beta[0] = beta[1] = 1.0;\r\n      return true;\r\n    }\r\n\r\n    /** Setup tridiagonal system for 3 fit points\r\n     * @param alpha sub-diagonal, length = 3\r\n     * @param beta diagonal, length = 3\r\n     * @param gamma super-diagonal, length = 3\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\r\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\r\n     */\r\n     private static setUpSystem3Points(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\r\n      if (undefined === options.knots)\r\n        return false;\r\n      if (alpha.length !== 3 || beta.length !== 3 || gamma.length !== 3)\r\n        return false;\r\n      if (options.knots.length !== 3 || options.fitPoints.length !== 3)\r\n        return false;\r\n\r\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\r\n\r\n      // first row\r\n      if (useNaturalStartTangent) {\r\n        alpha[0] = 0.0;\r\n        deltaI = options.knots[1] - options.knots[0];\r\n        deltaIPlus1 = options.knots[2] - options.knots[1];\r\n        sum = deltaI + deltaIPlus1;\r\n        sumReciprocal = 1.0 / sum;\r\n        beta[0] = (deltaI + sum) * sumReciprocal;\r\n        gamma[0] = -deltaI * sumReciprocal;\r\n      } else {\r\n        alpha[0] = gamma[0] = 0.0;\r\n        beta[0] = 1.0;\r\n      }\r\n\r\n      // middle row\r\n      deltaIMinus1 = options.knots[1] - options.knots[0];\r\n      deltaI = options.knots[2] - options.knots[1];\r\n      sumReciprocal = 1.0 / (deltaIMinus1 + deltaI);\r\n      sumReciprocal *= sumReciprocal;\r\n      alpha[1] = deltaI * deltaI * sumReciprocal;\r\n      beta[1]  = 2.0 * (deltaI * deltaIMinus1) * sumReciprocal;\r\n      gamma[1] = deltaIMinus1 * deltaIMinus1 * sumReciprocal;\r\n\r\n      // last row\r\n      if (useNaturalEndTangent) {\r\n        deltaIMinus1 = options.knots[2] - options.knots[1];\r\n        deltaIMinus2 = options.knots[1] - options.knots[0];\r\n        sum = deltaIMinus2 + deltaIMinus1;\r\n        sumReciprocal = 1.0 / sum;\r\n        alpha[2] = -deltaIMinus1 * sumReciprocal;\r\n        beta[2] = (deltaIMinus1 + sum) * sumReciprocal;\r\n        gamma[2] = 0.0;\r\n      } else {\r\n        alpha[2] = gamma[2] = 0.0;\r\n        beta[2] = 1.0;\r\n      }\r\n      return true;\r\n    }\r\n\r\n    /** Setup tridiagonal system for 4 fit points or more\r\n     * @param alpha sub-diagonal, length = # fit points\r\n     * @param beta diagonal, length = # fit points\r\n     * @param gamma super-diagonal, length = # fit points\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\r\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\r\n     */\r\n    private static setUpSystem4PointsOrMore(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\r\n      if (undefined === options.knots)\r\n        return false;\r\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== options.knots.length)\r\n        return false;\r\n      if (options.knots.length !== options.fitPoints.length)\r\n        return false;\r\n\r\n      const numIntervals = options.fitPoints.length - 1;\r\n      const numIntervalsMinus1 = numIntervals - 1;\r\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\r\n\r\n      if (options.closed) {\r\n        // first row\r\n        deltaI = options.knots[1] - options.knots[0];\r\n        deltaIMinus2 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\r\n        deltaIMinus1 = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\r\n        deltaIPlus1 = options.knots[2] - options.knots[1];\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 0, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n\r\n        // second row\r\n        deltaIMinus2 = deltaIMinus1;\r\n        deltaIMinus1 = deltaI;\r\n        deltaI = options.knots[2] - options.knots[1];\r\n        deltaIPlus1 = options.knots[3] - options.knots[2];\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n\r\n        // last row; there's one less equation than open case\r\n        deltaIPlus1 = deltaIMinus1;\r\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\r\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\r\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n      } else { // open\r\n        // first row\r\n        if (useNaturalStartTangent) {\r\n          alpha[0] = 0.0;\r\n          deltaI = options.knots[1] - options.knots[0];\r\n          deltaIPlus1 = options.knots[2] - options.knots[1];\r\n          sum = deltaI + deltaIPlus1;\r\n          sumReciprocal = 1.0 / sum;\r\n          beta[0] = (deltaI + sum) * sumReciprocal;\r\n          gamma[0] = -deltaI * sumReciprocal;\r\n        } else {\r\n          alpha[0] = gamma[0] = 0.0;\r\n          beta[0] = 1.0;\r\n        }\r\n\r\n        // second row\r\n        deltaI = options.knots[2] - options.knots[1];\r\n        deltaIMinus1 = options.knots[1] - options.knots[0];\r\n        deltaIMinus2 = 0.0;\r\n        deltaIPlus1 = options.knots[3] - options.knots[2];\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n\r\n        // penultimate row\r\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\r\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\r\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\r\n        deltaIPlus1 = 0.0;\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n\r\n        // last row\r\n        if (useNaturalEndTangent) {\r\n          deltaIMinus1 = options.knots[numIntervals] - options.knots[numIntervals - 1];\r\n          deltaIMinus2 = options.knots[numIntervals - 1] - options.knots[numIntervals - 2];\r\n          sum = deltaIMinus2 + deltaIMinus1;\r\n          sumReciprocal = 1.0 / sum;\r\n          alpha[numIntervals] = -deltaIMinus1 * sumReciprocal;\r\n          beta[numIntervals] = (deltaIMinus1 + sum) * sumReciprocal;\r\n          gamma[numIntervals] = 0.0;\r\n        } else {\r\n          alpha[numIntervals] = gamma[numIntervals] = 0.0;\r\n          beta[numIntervals] = 1.0;\r\n        }\r\n      }\r\n\r\n      // middle rows\r\n      for (let i = 2; i < numIntervalsMinus1; ++i) {\r\n        deltaI = options.knots[i + 1] - options.knots[i];\r\n        deltaIMinus2 = options.knots[i - 1] - options.knots[i - 2];\r\n        deltaIMinus1 = options.knots[i] - options.knots[i - 1];\r\n        deltaIPlus1 = options.knots[i + 2] - options.knots[i + 1];\r\n        this.computeAlphaBetaGamma(alpha, beta, gamma, i, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\r\n      }\r\n      return true;\r\n    }\r\n\r\n    /** Setup tridiagonal system\r\n     * @param alpha sub-diagonal, length = # fitPoints\r\n     * @param beta diagonal, length = # fitPoints\r\n     * @param gamma super-diagonal, length = # fitPoints\r\n     * @param options validated as per validateOptions, unmodified\r\n     */\r\n    private static setUpSystem(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions): boolean {\r\n      let useNaturalStartTangent = false;\r\n      let useNaturalEndTangent = false;\r\n      if (options.isNaturalTangents && !options.closed) {\r\n        useNaturalStartTangent = (undefined === options.startTangent);\r\n        useNaturalEndTangent = (undefined === options.endTangent);\r\n      }\r\n\r\n      let succeeded = false;\r\n      if (2 === options.fitPoints.length)\r\n        succeeded = this.setUpSystem2Points(alpha, beta, gamma);\r\n      else if (3 === options.fitPoints.length)\r\n        succeeded = this.setUpSystem3Points(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\r\n      else if (4 <= options.fitPoints.length)\r\n        succeeded = this.setUpSystem4PointsOrMore(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\r\n\r\n      return succeeded;\r\n    }\r\n\r\n    /** Set the Bessel end condition for the linear system.\r\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\r\n     *                2nd or penultimate point is set by this function.\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param atStart whether end condition is for start of curve (false: end of curve)\r\n     */\r\n    private static setBesselEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\r\n      if (dataPts.length !== options.fitPoints.length + 2)\r\n        return false;\r\n      if (undefined === options.knots)\r\n        return false;\r\n\r\n      const scale = 1.0/3.0;\r\n      const numIntervals = options.fitPoints.length - 1;\r\n\r\n      if (1 === numIntervals) { // linear Bezier\r\n        if (atStart)\r\n          dataPts[0].interpolate(scale, dataPts[3], dataPts[1]);\r\n        else\r\n          dataPts[3].interpolate(scale, dataPts[0], dataPts[2]);\r\n        return true;\r\n      }\r\n\r\n      if (2 === numIntervals) {\r\n        const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\r\n        const beta = 1.0 - alpha;\r\n        const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[4], -beta * beta);\r\n        if (atStart)\r\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\r\n        else\r\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[4], beta).interpolate(scale, dataPts[4], dataPts[3]);\r\n        return true;\r\n      }\r\n\r\n      // numIntervals > 2\r\n      if (atStart) {\r\n          const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\r\n          const beta = 1.0 - alpha;\r\n          const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[3], -beta * beta);\r\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\r\n      } else {\r\n          const alpha = (options.knots[numIntervals] - options.knots[numIntervals - 1]) / (options.knots[numIntervals] - options.knots[numIntervals - 2]);\r\n          const beta = 1.0 - alpha;\r\n          const temp = dataPts[numIntervals].plus2Scaled(dataPts[numIntervals - 1], -alpha * alpha, dataPts[numIntervals + 2], -beta * beta);\r\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[numIntervals + 2], beta).interpolate(scale, dataPts[numIntervals + 2], dataPts[numIntervals + 1]);\r\n      }\r\n      return true;\r\n    }\r\n\r\n    /** Set the natural end condition for the linear system.\r\n     *  This is the end condition used by ADSK for fit-splines with a given zero tangent.\r\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\r\n     *                2nd or penultimate point is set by this function.\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param atStart whether end condition is for start of curve (false: end of curve)\r\n     */\r\n    private static setNaturalEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\r\n      if (dataPts.length !== options.fitPoints.length + 2)\r\n        return false;\r\n\r\n      const numIntervals = options.fitPoints.length - 1;\r\n      if (1 === numIntervals)\r\n        return this.setBesselEndCondition(dataPts, options, atStart);\r\n\r\n      if (atStart)\r\n        dataPts[1] = dataPts[0];\r\n      else\r\n        dataPts[dataPts.length - 2] = dataPts[dataPts.length - 1];\r\n      return true;\r\n    }\r\n\r\n    /** Set the end condition for the linear system to the given tangent, scaled by chord length.\r\n     *  This is the end condition used by ADSK for fit-splines with a given nonzero tangent.\r\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\r\n     *                2nd or penultimate point is set by this function.\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param atStart whether end condition is for start of curve (false: end of curve)\r\n     */\r\n    private static setChordLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\r\n      if (dataPts.length !== options.fitPoints.length + 2)\r\n        return false;\r\n\r\n      const tangent = atStart ? options.startTangent : options.endTangent;\r\n      if (undefined === tangent)\r\n        return false;\r\n\r\n      let iExt = 0; // index of first/last fitPoint\r\n      let iSet = 0; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\r\n      let iInt = 0; // index of 2nd/penultimate fitPoint\r\n\r\n      const numIntervals = options.fitPoints.length - 1;\r\n      if (1 === numIntervals) { // no interior fit points\r\n        if (atStart) {\r\n          iExt = 0;\r\n          iSet = 1;\r\n          iInt = 3;\r\n        } else {\r\n          iExt = 3;\r\n          iSet = 2;\r\n          iInt = 0;\r\n        }\r\n      } else {\r\n        if (atStart) {\r\n          iExt = 0;\r\n          iSet = 1;\r\n          iInt = 2;\r\n        } else {\r\n          iExt = numIntervals + 2;\r\n          iSet = numIntervals + 1;\r\n          iInt = numIntervals;\r\n        }\r\n      }\r\n\r\n      // NOTE: tangent points INTO curve\r\n      const chordLength = dataPts[iInt].distance(dataPts[iExt]);\r\n      dataPts[iExt].plusScaled(tangent, chordLength / 3.0, dataPts[iSet]);\r\n      return true;\r\n    }\r\n\r\n    /** Set the end condition for the linear system to the given tangent, scaled by bessel length.\r\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\r\n     *                2nd or penultimate point is set by this function.\r\n     * @param options validated as per validateOptions, unmodified\r\n     * @param atStart whether end condition is for start of curve (false: end of curve)\r\n     */\r\n    private static setBesselLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\r\n      if (dataPts.length !== options.fitPoints.length + 2)\r\n        return false;\r\n\r\n      const tangent = atStart ? options.startTangent : options.endTangent;\r\n      if (undefined === tangent)\r\n        return false;\r\n\r\n      // temporarily set bessel end condition\r\n      if (!this.setBesselEndCondition(dataPts, options, atStart))\r\n        return false;\r\n\r\n      const numIntervals = options.fitPoints.length - 1;\r\n      const iExt = atStart ? 0 : numIntervals + 2; // index of first/last fitPoint\r\n      const iSet = atStart ? 1 : numIntervals + 1; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\r\n\r\n      // reset end condition with our tangent, but scaled to the bessel tangent's length\r\n      dataPts[iExt].plusScaled(tangent, dataPts[iExt].distance(dataPts[iSet]), dataPts[iSet]);\r\n      return true;\r\n    }\r\n\r\n    /** Set the end condition for a physically closed (non-periodic) interpolant.\r\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\r\n     *                2nd or penultimate point is set by this function.\r\n     * @param options validated as per validateOptions, unmodified\r\n     */\r\n    private static setPhysicallyClosedEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\r\n      const numIntervals = options.fitPoints.length - 1;\r\n      if (!options.isColinearTangents\r\n          || numIntervals <= 2\r\n          || (undefined !== options.startTangent && undefined !== options.endTangent)\r\n          || options.isNaturalTangents\r\n          || !dataPts[0].isAlmostEqual(dataPts[numIntervals + 2])) {\r\n        return true;\r\n        }\r\n      // force parallel start/end tangents, using chord length scale for undefined tangents\r\n      if (undefined !== options.startTangent) { // start tangent is supplied; compute a parallel end tangent\r\n        const outwardStartTangent = Vector3d.createStartEnd(dataPts[1], dataPts[0]).normalize();\r\n        if (undefined !== outwardStartTangent) {\r\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\r\n          dataPts[numIntervals + 2].plusScaled(outwardStartTangent, endTangentMag, dataPts[numIntervals + 1]);\r\n        }\r\n      } else if (undefined !== options.endTangent) {  // end tangent is supplied; compute a parallel start tangent\r\n        const outwardEndTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[numIntervals + 2]).normalize();\r\n        if (undefined !== outwardEndTangent) {\r\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\r\n          dataPts[0].plusScaled(outwardEndTangent, startTangentMag, dataPts[1]);\r\n        }\r\n      } else {  // neither tangent is supplied, compute both along same vector\r\n        const commonTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[1]).normalize();\r\n        if (undefined !== commonTangent) {\r\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\r\n          dataPts[0].plusScaled(commonTangent, startTangentMag, dataPts[1]);\r\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\r\n          dataPts[numIntervals + 2].plusScaled(commonTangent, -endTangentMag, dataPts[numIntervals + 1]);\r\n        }\r\n      }\r\n      return true;\r\n    }\r\n\r\n    /** Set end conditions for the linear system to solve for the poles of the open interpolant, as per Farin 3e/4e.\r\n     * @param dataPts array whose interior is the system rhs and whose first/last entries are the first/last fitPoints;\r\n     *                points are inserted to become the 2nd and penultimate dataPts, the first/last rows of the system rhs.\r\n     * @param options validated as per validateOptions, unmodified\r\n     */\r\n    private static setEndConditions(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\r\n      if (dataPts.length !== options.fitPoints.length)\r\n        return false;\r\n\r\n      // insert dummy points to be computed below\r\n      const dummy0 = Point3d.createZero();\r\n      const dummy1 = Point3d.createZero();\r\n      dataPts.splice(1, 0, dummy0);\r\n      dataPts.splice(dataPts.length - 1, 0, dummy1);\r\n\r\n      let succeeded = false;\r\n      if (undefined === options.startTangent) {\r\n        if (options.isNaturalTangents)\r\n          succeeded = this.setNaturalEndCondition(dataPts, options, true);\r\n        else\r\n          succeeded = this.setBesselEndCondition(dataPts, options, true);\r\n      } else { // scale startTangent\r\n        if (options.isChordLenTangents)\r\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, true);\r\n        else\r\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, true);\r\n      }\r\n\r\n      if (undefined === options.endTangent) {\r\n        if (options.isNaturalTangents)\r\n          succeeded = this.setNaturalEndCondition(dataPts, options, false);\r\n        else\r\n          succeeded = this.setBesselEndCondition(dataPts, options, false);\r\n      } else { // scale endTangent\r\n        if (options.isChordLenTangents)\r\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, false);\r\n        else\r\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, false);\r\n      }\r\n\r\n      if (succeeded)\r\n        succeeded = this.setPhysicallyClosedEndCondition(dataPts, options);\r\n\r\n      return succeeded;\r\n    }\r\n\r\n    /** Solve the near tridiagonal system for a periodic C2 cubic interpolant.\r\n     * Alpha, beta, gamma are computed by setUpSystem, have same length as fitPts, and are overwritten.\r\n     */\r\n    private static solveNearTridiagonal(fitPts: Point3d[], alpha: number[], beta: number[], gamma: number[]): Point3d[] | undefined {\r\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== fitPts.length)\r\n        return undefined;\r\n      const poles: Point3d[] = [];\r\n      const numIntervals = fitPts.length - 1;\r\n      const leftPts = fitPts.slice(0, -1);  // last fitPt is ignored\r\n      let tmp: number | undefined = 0.0;\r\n\r\n      // first forward substitution\r\n      for (let i = 1; i < numIntervals; ++i) {\r\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(- alpha[i], beta[i - 1])))\r\n          return undefined;\r\n        beta[i] += tmp * gamma[i - 1];\r\n        alpha[i] = tmp * alpha[i - 1];\r\n        leftPts[i].addScaledInPlace(leftPts[i - 1], tmp);\r\n      }\r\n\r\n      // first backward substitution\r\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[numIntervals - 1] + alpha[numIntervals - 1])))\r\n        return undefined;\r\n      gamma[numIntervals - 1] *= tmp;\r\n      leftPts[numIntervals - 1].scaleInPlace(tmp);\r\n      for (let i = numIntervals - 2; i >= 0; --i) {\r\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[i])))\r\n          return undefined;\r\n        Point3d.createScale(leftPts[i].plus2Scaled(leftPts[i + 1], - gamma[i], leftPts[numIntervals - 1], - alpha[i]), tmp, leftPts[i]);\r\n        gamma[i] = - (gamma[i] * gamma[i + 1] + alpha[i] * gamma[numIntervals - 1]) * tmp;\r\n      }\r\n\r\n      // second forward substitution\r\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, 1.0 + gamma[0])))\r\n        return undefined;\r\n      poles.push(Point3d.createScale(leftPts[0], tmp));\r\n      for (let i = 1; i < numIntervals; ++i) {\r\n        poles.push(leftPts[i].plusScaled(poles[0], - gamma[i]));\r\n      }\r\n      return poles;\r\n    }\r\n\r\n    /** Adjust options by correcting invalid combinations\r\n     * @param options curve definition, possibly modified\r\n     */\r\n    public static validateOptions(options: InterpolationCurve3dOptions): boolean {\r\n      options.order = 4;\r\n\r\n      // remove relevant exterior knots so knots and fit points align *before* we start compressing fit points.\r\n      options.knots = this.convertCubicKnotVectorToFitParams(options.knots, options.fitPoints.length, true);\r\n\r\n        // compress out duplicate fit points (and their corresponding knots)\r\n      if (!this.removeDuplicateFitPoints(options))\r\n        return false;\r\n\r\n      // if only 2 unique points, then must create open curve\r\n      let hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\r\n      if (3 === options.fitPoints.length && hasClosurePoint) {\r\n        options.fitPoints.pop();\r\n        if (undefined !== options.knots)\r\n          options.knots.pop();\r\n        hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\r\n      }\r\n      if (options.fitPoints.length <= 2) {\r\n        if (hasClosurePoint)\r\n          return false;\r\n        options.closed = false;\r\n      }\r\n\r\n      // append closure point if missing\r\n      if (options.closed) {\r\n        if (!hasClosurePoint) {\r\n          options.fitPoints.push(options.fitPoints[0].clone());\r\n          if (undefined !== options.knots) {  // best guess: uniform knots\r\n            options.knots.push(options.knots[options.knots.length - 1] + (options.knots[options.knots.length - 1] - options.knots[0]) / (options.knots.length - 1));\r\n          }\r\n        }\r\n        if (options.fitPoints.length <= 4)\r\n          options.closed = false; // can't fit cubic closed curve to 3 unique points\r\n      }\r\n\r\n      if (options.fitPoints.length < 2)\r\n        return false;\r\n\r\n      // ASSUME: tangents point INTO curve\r\n      if (undefined !== options.startTangent) {\r\n        if (options.startTangent.isAlmostZero)\r\n          options.startTangent = undefined;\r\n        else\r\n          options.startTangent.normalizeInPlace();\r\n      }\r\n      if (undefined !== options.endTangent) {\r\n        if (options.endTangent.isAlmostZero)\r\n          options.endTangent = undefined;\r\n        else\r\n          options.endTangent.normalizeInPlace();\r\n      }\r\n\r\n      return true;\r\n    }\r\n\r\n    /** Converts a full cubic knot vector of expected length into fit parameters, by removing extraneous exterior knots.\r\n     * @param knots cubic knot vector, unmodified\r\n     * @param numFitPoints number of fit points\r\n     * @return fit parameters, or undefined if unexpected input\r\n     **/\r\n    public static convertCubicKnotVectorToFitParams(knots: number[] | undefined, numFitPoints: number, normalize?: boolean): number[] | undefined {\r\n      let params = knots?.slice();\r\n      if (undefined !== params) {\r\n        const numExtraKnots = params.length - numFitPoints;\r\n        switch (numExtraKnots) {\r\n          case 0: {   // ASSUME caller passed in interior knots\r\n            break;\r\n          }\r\n          case 4:     // modern full cubic knots\r\n          case 6: {   // legacy full cubic knots\r\n            for (let i = 0; i < numExtraKnots / 2; ++i) {\r\n              params.pop();\r\n              params.shift();\r\n            }\r\n            break;\r\n          }\r\n          default: {  // other knot configurations are unusable\r\n            params = undefined;\r\n            break;\r\n          }\r\n        }\r\n        if (normalize && !this.normalizeKnots(params))\r\n          params = undefined;\r\n      }\r\n      return params;\r\n    }\r\n\r\n    /** Return fit parameters augmented to a full cubic knot vector.\r\n     * @param params fit parameters, unmodified\r\n     * @param legacy whether to create a legacy (DGN) full knot vector, or modern vector with two less knots\r\n     **/\r\n    public static convertFitParamsToCubicKnotVector(params: number[] | undefined, closed?: boolean, legacy?: boolean): number[] | undefined {\r\n      const knots = params?.slice();\r\n      if (undefined !== knots) {\r\n        const numExtraKnots = legacy ? 6 : 4;\r\n        if (closed) {\r\n          const iTail = knots.length - 2;\r\n          for (let iHead = 2; iHead <= numExtraKnots; iHead += 2) {\r\n            knots.unshift(knots[iTail] - 1.0);  // index is constant\r\n            knots.push(1.0 + knots[iHead]);     // index increments by two\r\n          }\r\n        } else {\r\n          for (let i = 0; i < numExtraKnots / 2; ++i) {\r\n            knots.unshift(0.0);\r\n            knots.push(1.0);\r\n          }\r\n        }\r\n      }\r\n      return knots;\r\n    }\r\n\r\n    /** Ensure full legacy knot vector for JSON export **/\r\n    public static convertToJsonKnots(props: InterpolationCurve3dProps) {\r\n      if (undefined !== props.knots) {\r\n        props.knots = this.convertCubicKnotVectorToFitParams(props.knots, props.fitPoints.length, false);\r\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\r\n      } else {\r\n        props.knots = this.constructFitParametersFromPoints(Point3dArray.clonePoint3dArray(props.fitPoints), props.isChordLenKnots, props.closed);\r\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\r\n      }\r\n    }\r\n\r\n    /** Construct the control points for the c2 cubic fit algorithm\r\n     * @param options validated as per validateOptions, possibly modified\r\n     */\r\n    public static constructPoles(options: InterpolationCurve3dOptions): Point3d[] | Float64Array | undefined {\r\n      if (!this.constructFitParameters(options) || (undefined === options.knots))\r\n        return undefined;\r\n\r\n      const numRow = options.fitPoints.length;\r\n      const alpha: number[] = Array(numRow);\r\n      const beta: number[] = Array(numRow);\r\n      const gamma: number[] = Array(numRow);\r\n      if (!this.setUpSystem(alpha, beta, gamma, options))\r\n        return undefined;\r\n\r\n      let poles: Point3d[] | Float64Array | undefined = [];\r\n      if (!options.closed) {\r\n        const dataPts = options.fitPoints.slice();\r\n        if (!this.setEndConditions(dataPts, options))\r\n          return undefined;\r\n        if (dataPts.length !== numRow + 2)\r\n          return undefined; // sanity check: we added 2nd/penultimate points, rhs is middle numRow entries.\r\n\r\n        // construct tridiagonal banded system components\r\n        const matrix = new Float64Array(numRow * 3);\r\n        const rhs = new Float64Array(numRow * 3);\r\n        for (let iRow = 0, iMatrixRead = 0, iRhsRead = 0; iRow < numRow; ++iRow) {\r\n          matrix[iMatrixRead++] = alpha[iRow];\r\n          matrix[iMatrixRead++] = beta[iRow];\r\n          matrix[iMatrixRead++] = gamma[iRow];\r\n          rhs[iRhsRead++] = dataPts[iRow+1].x;\r\n          rhs[iRhsRead++] = dataPts[iRow+1].y;\r\n          rhs[iRhsRead++] = dataPts[iRow+1].z;\r\n        }\r\n\r\n        const solution = BandedSystem.solveBandedSystemMultipleRHS(numRow, 3, matrix, 3, rhs);\r\n        if (undefined === solution)\r\n          return undefined;\r\n\r\n        // pre/append first/last poles/fitPoints\r\n        poles = new Float64Array(3 + solution.length + 3);\r\n        let iWrite = 0;\r\n        poles[iWrite++] = options.fitPoints[0].x;\r\n        poles[iWrite++] = options.fitPoints[0].y;\r\n        poles[iWrite++] = options.fitPoints[0].z;\r\n        for (let iRead = 0; iRead < solution.length; ) {\r\n          poles[iWrite++] = solution[iRead++];\r\n        }\r\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].x;\r\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].y;\r\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].z;\r\n      } else { // closed\r\n        if (undefined !== (poles = this.solveNearTridiagonal(options.fitPoints, alpha, beta, gamma))) {\r\n          if (poles.length > 2) {\r\n            poles.unshift(poles.pop()!);  // shift poles right to line up with the knots\r\n            for (let i = 0; i < options.order - 1; ++i)\r\n              poles.push(poles[i].clone()); // periodically extend (the modern way)\r\n          }\r\n        }\r\n      }\r\n      return poles;\r\n    }\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 Bspline\n */\n\nimport { Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { IndexedXYZCollection } from \"../geometry3d/IndexedXYZCollection\";\nimport { Point3dArrayCarrier } from \"../geometry3d/Point3dArrayCarrier\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\nimport { BandedSystem } from \"../numerics/BandedSystem\";\nimport { BSplineCurve3d } from \"./BSplineCurve\";\nimport { InterpolationCurve3dOptions, InterpolationCurve3dProps } from \"./InterpolationCurve3d\";\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\n\n/**\n * A class with static methods for creating B-spline curves.\n * @public\n */\nexport class BSplineCurveOps {\n  /**\n   * Greville knot algorithm: alternative to traditional c2 cubic algorithm allowing for any order, but no end conditions or periodicity.\n   * @param points pass-through points.\n   * @param order bspline order (1 more than degree)\n   */\n  public static createThroughPoints(points: IndexedXYZCollection | Point3d[], order: number): BSplineCurve3d | undefined {\n    const numPoints = points.length;\n    if (order > numPoints || order < 2)\n      return undefined;\n    const degree = order - 1;\n    const bw = 1 + 2 * degree;    // probably less than that . . just zeros at fringe.\n    const matrix = new Float64Array(bw * numPoints);\n    const basisFunctions = new Float64Array(order);\n    const rhs = new GrowableXYZArray();\n    const knots = KnotVector.createUniformClamped(numPoints, order - 1, 0.0, 1.0);\n    const xyz = Point3d.create();\n    for (let basePointIndex = 0; basePointIndex < numPoints; basePointIndex++) {\n      const u = knots.grevilleKnot(basePointIndex);\n      const spanIndex = knots.knotToLeftKnotIndex(u);\n      knots.evaluateBasisFunctions(spanIndex, u, basisFunctions);\n      // puzzlement .. how do the max points shift within the order spots?\n      let maxIndex = 0;\n      for (let i = 1; i < order; i++)\n        if (basisFunctions[i] > basisFunctions[maxIndex])\n          maxIndex = i;\n      const basisFunctionStartWithinRow = degree - maxIndex;\n      const rowStart = basePointIndex * bw;\n      for (let i = 0; i < order; i++) {\n        const realColumn = basePointIndex - degree + basisFunctionStartWithinRow + i;\n        if (rowStart + realColumn >= 0 && realColumn < numPoints)\n          matrix[rowStart + basisFunctionStartWithinRow + i] = basisFunctions[i];\n      }\n      if (points instanceof IndexedXYZCollection) {\n        rhs.push(points.getPoint3dAtUncheckedPointIndex(basePointIndex, xyz));\n      } else {\n        rhs.push(points[basePointIndex].clone());\n      }\n    }\n    const poles = BandedSystem.solveBandedSystemMultipleRHS(numPoints, bw, matrix, 3, rhs.float64Data());\n    if (poles) {\n      return BSplineCurve3d.create(poles, knots.knots, order);\n    }\n    return undefined;\n  }\n\n  /**\n   * Construct BSplineCurve3d that fit points using the C2 cubic algorithm.\n   * @param options curve definition, unmodified\n   */\n  public static createThroughPointsC2Cubic(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\n    // Work on a copy rather than installing computed knots/tangents that could become stale when fit points change\n    // Knots/tangents that come in, however, are used without recomputation.\n    const validatedOptions = options.clone();\n    if (!this.C2CubicFit.validateOptions(validatedOptions))\n      return undefined;\n\n    const poles = this.C2CubicFit.constructPoles(validatedOptions);\n    if (undefined === poles)\n      return undefined;\n\n    const fullKnots = this.C2CubicFit.convertFitParamsToCubicKnotVector(validatedOptions.knots, validatedOptions.closed);\n    if (undefined === fullKnots)\n      return undefined;\n\n    const interpolant = BSplineCurve3d.create(poles, fullKnots, validatedOptions.order);\n\n    if (validatedOptions.closed)\n      interpolant?.setWrappable(BSplineWrapMode.OpenByAddingControlPoints);\n\n    return interpolant;\n  }\n}\n\n/**\n * Namespace for collecting curve fit API\n * @public\n */\nexport namespace BSplineCurveOps {\n  /**\n   * A helper class for creating C2 cubic fit curves.\n   * Knots herein are understood to be *interior* knots (including the start/end knot),\n   * so that there is one knot per fit point. In other words, the knots are fit parameters.\n   * @private\n   */\n  export class C2CubicFit {\n    /** Transform fit parameters to span [0,1]\n     * @param knots fit parameters, normalized in place\n     */\n    private static normalizeKnots(knots: number[] | undefined): boolean {\n      if (undefined === knots || knots.length < 2) {\n        knots = undefined;\n        return false;\n      }\n      const myKnots = KnotVector.create(knots, 1, false); // no extra knots at start/end\n      if (!myKnots.normalize()) {\n        knots = undefined;\n        return false;\n      }\n      for (let i = 0; i < knots.length; ++i)\n        knots[i] = myKnots.knots[i];\n      return true;\n    }\n\n    /** Compute chord-length fit parameters for C2 cubic fit algorithm */\n    private static constructChordLengthParameters(fitPoints: Point3d[]): number[] | undefined {\n      if (fitPoints.length < 2)\n        return undefined;\n      const params: number[] = [0.0];\n      for (let i = 1; i < fitPoints.length; ++i)\n        params[i] = params[i - 1] + fitPoints[i].distance(fitPoints[i - 1]);\n      if (!this.normalizeKnots(params))\n        return undefined;\n      return params;\n    }\n\n    /** Compute uniform fit parameters for C2 cubic fit algorithm */\n    private static constructUniformParameters(numParams: number): number[] | undefined {\n      if (numParams < 2)\n        return undefined;\n      const knots = KnotVector.createUniformClamped(numParams + 2, 3, 0.0, 1.0);\n      const params: number[] = [];\n      for (let i = knots.leftKnotIndex; i <= knots.rightKnotIndex; ++i)\n        params.push(knots.knots[i]);\n      return params;\n    }\n\n    /** Remove duplicate fit points, and their given knots in parallel */\n    private static removeDuplicateFitPoints(options: InterpolationCurve3dOptions): boolean {\n      if (undefined !== options.knots && options.knots.length !== options.fitPoints.length)\n        options.knots = undefined;\n      const carrier = new Point3dArrayCarrier(options.fitPoints);\n      const indices = carrier.findOrderedDuplicates(undefined, true); // use default tolerance\n      if (indices.length > 0) {\n        // remove duplicate fit points, and their corresponding params\n        let iWrite = 0;\n        for (let iRead = 0, iIndex = 0; iRead < options.fitPoints.length; ++iRead) {\n          if (iIndex < indices.length && iRead === indices[iIndex])\n            ++iIndex; // skip the duplicate\n          else {\n            options.fitPoints[iWrite] = options.fitPoints[iRead];\n            if (options.knots)\n              options.knots[iWrite] = options.knots[iRead];\n            ++iWrite;\n          }\n        }\n        options.fitPoints.splice(iWrite);\n        if (options.knots)\n          options.knots.splice(iWrite);\n      }\n      return true;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm.\n     * @param fitPoints validated fit points (should not contain duplicates)\n     * @param isChordLength whether knots are computed using distances between successive fit points\n     * @param closed whether curve is periodically defined\n     * @return fit parameters, one per fit point\n    */\n     public static constructFitParametersFromPoints(fitPoints: Point3d[], isChordLength: number | undefined, closed: boolean | undefined): number[] | undefined {\n      let params: number[] | undefined;\n      if (isChordLength || !closed)\n        params = this.constructChordLengthParameters(fitPoints);\n      if (undefined === params)\n        params = this.constructUniformParameters(fitPoints.length);\n      return params;\n    }\n\n    /** Construct fit parameters for the c2 cubic fit algorithm, if they are missing.\n     * @param options validated as per validateOptions, possibly modified\n     * @return whether fit parameters are valid\n     */\n     public static constructFitParameters(options: InterpolationCurve3dOptions): boolean {\n      if (undefined === options.knots)\n        options.knots = this.constructFitParametersFromPoints(options.fitPoints, options.isChordLenKnots, options.closed);\n      return options.knots?.length === options.fitPoints.length;\n    }\n\n    /** Compute a row of the tridiagonal system matrix from Farin.\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param index 0-based row index to set\n     */\n    private static computeAlphaBetaGamma(alpha: number[], beta: number[], gamma: number[], index: number, deltaIPlus1: number, deltaI: number, deltaIMinus1: number, deltaIMinus2: number) {\n      let denomReciprocal = 1.0 / (deltaIMinus2 + deltaIMinus1 + deltaI);\n      alpha[index] = deltaI * deltaI * denomReciprocal;\n      beta[index] = deltaI * (deltaIMinus2 + deltaIMinus1) * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI + deltaIPlus1);\n      beta[index] += deltaIMinus1 * (deltaI + deltaIPlus1) * denomReciprocal;\n      gamma[index] = deltaIMinus1 * deltaIMinus1 * denomReciprocal;\n\n      denomReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      alpha[index] *= denomReciprocal;\n      beta[index] *= denomReciprocal;\n      gamma[index] *= denomReciprocal;\n    }\n\n    /** Setup tridiagonal system for 2 fit points\n     * @param alpha sub-diagonal, length = 2\n     * @param beta diagonal, length = 2\n     * @param gamma super-diagonal, length = 2\n     */\n    private static setUpSystem2Points(alpha: number[], beta: number[], gamma: number[]): boolean {\n      if (alpha.length !== 2 || beta.length !== 2 || gamma.length !== 2)\n        return false;\n\n      // identity matrix\n      alpha[0] = alpha[1] = gamma[0] = gamma[1] = 0.0;\n      beta[0] = beta[1] = 1.0;\n      return true;\n    }\n\n    /** Setup tridiagonal system for 3 fit points\n     * @param alpha sub-diagonal, length = 3\n     * @param beta diagonal, length = 3\n     * @param gamma super-diagonal, length = 3\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n     private static setUpSystem3Points(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== 3 || beta.length !== 3 || gamma.length !== 3)\n        return false;\n      if (options.knots.length !== 3 || options.fitPoints.length !== 3)\n        return false;\n\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      // first row\n      if (useNaturalStartTangent) {\n        alpha[0] = 0.0;\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        sum = deltaI + deltaIPlus1;\n        sumReciprocal = 1.0 / sum;\n        beta[0] = (deltaI + sum) * sumReciprocal;\n        gamma[0] = -deltaI * sumReciprocal;\n      } else {\n        alpha[0] = gamma[0] = 0.0;\n        beta[0] = 1.0;\n      }\n\n      // middle row\n      deltaIMinus1 = options.knots[1] - options.knots[0];\n      deltaI = options.knots[2] - options.knots[1];\n      sumReciprocal = 1.0 / (deltaIMinus1 + deltaI);\n      sumReciprocal *= sumReciprocal;\n      alpha[1] = deltaI * deltaI * sumReciprocal;\n      beta[1]  = 2.0 * (deltaI * deltaIMinus1) * sumReciprocal;\n      gamma[1] = deltaIMinus1 * deltaIMinus1 * sumReciprocal;\n\n      // last row\n      if (useNaturalEndTangent) {\n        deltaIMinus1 = options.knots[2] - options.knots[1];\n        deltaIMinus2 = options.knots[1] - options.knots[0];\n        sum = deltaIMinus2 + deltaIMinus1;\n        sumReciprocal = 1.0 / sum;\n        alpha[2] = -deltaIMinus1 * sumReciprocal;\n        beta[2] = (deltaIMinus1 + sum) * sumReciprocal;\n        gamma[2] = 0.0;\n      } else {\n        alpha[2] = gamma[2] = 0.0;\n        beta[2] = 1.0;\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system for 4 fit points or more\n     * @param alpha sub-diagonal, length = # fit points\n     * @param beta diagonal, length = # fit points\n     * @param gamma super-diagonal, length = # fit points\n     * @param options validated as per validateOptions, unmodified\n     * @param useNaturalStartTangent whether to bake the natural end condition into the first row\n     * @param useNaturalEndTangent whether to bake the natural end condition into the last row\n     */\n    private static setUpSystem4PointsOrMore(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions, useNaturalStartTangent: boolean, useNaturalEndTangent: boolean): boolean {\n      if (undefined === options.knots)\n        return false;\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== options.knots.length)\n        return false;\n      if (options.knots.length !== options.fitPoints.length)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const numIntervalsMinus1 = numIntervals - 1;\n      let deltaIPlus1 = 0, deltaI = 0, deltaIMinus1 = 0, deltaIMinus2 = 0, sum = 0, sumReciprocal = 0;\n\n      if (options.closed) {\n        // first row\n        deltaI = options.knots[1] - options.knots[0];\n        deltaIMinus2 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIPlus1 = options.knots[2] - options.knots[1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 0, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // second row\n        deltaIMinus2 = deltaIMinus1;\n        deltaIMinus1 = deltaI;\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row; there's one less equation than open case\n        deltaIPlus1 = deltaIMinus1;\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      } else { // open\n        // first row\n        if (useNaturalStartTangent) {\n          alpha[0] = 0.0;\n          deltaI = options.knots[1] - options.knots[0];\n          deltaIPlus1 = options.knots[2] - options.knots[1];\n          sum = deltaI + deltaIPlus1;\n          sumReciprocal = 1.0 / sum;\n          beta[0] = (deltaI + sum) * sumReciprocal;\n          gamma[0] = -deltaI * sumReciprocal;\n        } else {\n          alpha[0] = gamma[0] = 0.0;\n          beta[0] = 1.0;\n        }\n\n        // second row\n        deltaI = options.knots[2] - options.knots[1];\n        deltaIMinus1 = options.knots[1] - options.knots[0];\n        deltaIMinus2 = 0.0;\n        deltaIPlus1 = options.knots[3] - options.knots[2];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, 1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // penultimate row\n        deltaI = options.knots[numIntervalsMinus1 + 1] - options.knots[numIntervalsMinus1];\n        deltaIMinus1 = options.knots[numIntervalsMinus1] - options.knots[numIntervalsMinus1 - 1];\n        deltaIMinus2 = options.knots[numIntervalsMinus1 - 1] - options.knots[numIntervalsMinus1 - 2];\n        deltaIPlus1 = 0.0;\n        this.computeAlphaBetaGamma(alpha, beta, gamma, numIntervalsMinus1, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n\n        // last row\n        if (useNaturalEndTangent) {\n          deltaIMinus1 = options.knots[numIntervals] - options.knots[numIntervals - 1];\n          deltaIMinus2 = options.knots[numIntervals - 1] - options.knots[numIntervals - 2];\n          sum = deltaIMinus2 + deltaIMinus1;\n          sumReciprocal = 1.0 / sum;\n          alpha[numIntervals] = -deltaIMinus1 * sumReciprocal;\n          beta[numIntervals] = (deltaIMinus1 + sum) * sumReciprocal;\n          gamma[numIntervals] = 0.0;\n        } else {\n          alpha[numIntervals] = gamma[numIntervals] = 0.0;\n          beta[numIntervals] = 1.0;\n        }\n      }\n\n      // middle rows\n      for (let i = 2; i < numIntervalsMinus1; ++i) {\n        deltaI = options.knots[i + 1] - options.knots[i];\n        deltaIMinus2 = options.knots[i - 1] - options.knots[i - 2];\n        deltaIMinus1 = options.knots[i] - options.knots[i - 1];\n        deltaIPlus1 = options.knots[i + 2] - options.knots[i + 1];\n        this.computeAlphaBetaGamma(alpha, beta, gamma, i, deltaIPlus1, deltaI, deltaIMinus1, deltaIMinus2);\n      }\n      return true;\n    }\n\n    /** Setup tridiagonal system\n     * @param alpha sub-diagonal, length = # fitPoints\n     * @param beta diagonal, length = # fitPoints\n     * @param gamma super-diagonal, length = # fitPoints\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setUpSystem(alpha: number[], beta: number[], gamma: number[], options: InterpolationCurve3dOptions): boolean {\n      let useNaturalStartTangent = false;\n      let useNaturalEndTangent = false;\n      if (options.isNaturalTangents && !options.closed) {\n        useNaturalStartTangent = (undefined === options.startTangent);\n        useNaturalEndTangent = (undefined === options.endTangent);\n      }\n\n      let succeeded = false;\n      if (2 === options.fitPoints.length)\n        succeeded = this.setUpSystem2Points(alpha, beta, gamma);\n      else if (3 === options.fitPoints.length)\n        succeeded = this.setUpSystem3Points(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n      else if (4 <= options.fitPoints.length)\n        succeeded = this.setUpSystem4PointsOrMore(alpha, beta, gamma, options, useNaturalStartTangent, useNaturalEndTangent);\n\n      return succeeded;\n    }\n\n    /** Set the Bessel end condition for the linear system.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n      if (undefined === options.knots)\n        return false;\n\n      const scale = 1.0/3.0;\n      const numIntervals = options.fitPoints.length - 1;\n\n      if (1 === numIntervals) { // linear Bezier\n        if (atStart)\n          dataPts[0].interpolate(scale, dataPts[3], dataPts[1]);\n        else\n          dataPts[3].interpolate(scale, dataPts[0], dataPts[2]);\n        return true;\n      }\n\n      if (2 === numIntervals) {\n        const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n        const beta = 1.0 - alpha;\n        const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[4], -beta * beta);\n        if (atStart)\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n        else\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[4], beta).interpolate(scale, dataPts[4], dataPts[3]);\n        return true;\n      }\n\n      // numIntervals > 2\n      if (atStart) {\n          const alpha = (options.knots[2] - options.knots[1]) / (options.knots[2] - options.knots[0]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[2].plus2Scaled(dataPts[0], -alpha * alpha, dataPts[3], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * alpha), dataPts[0], alpha).interpolate(scale, dataPts[0], dataPts[1]);\n      } else {\n          const alpha = (options.knots[numIntervals] - options.knots[numIntervals - 1]) / (options.knots[numIntervals] - options.knots[numIntervals - 2]);\n          const beta = 1.0 - alpha;\n          const temp = dataPts[numIntervals].plus2Scaled(dataPts[numIntervals - 1], -alpha * alpha, dataPts[numIntervals + 2], -beta * beta);\n          Point3d.createAdd2Scaled(temp, 1.0 / (2.0 * beta), dataPts[numIntervals + 2], beta).interpolate(scale, dataPts[numIntervals + 2], dataPts[numIntervals + 1]);\n      }\n      return true;\n    }\n\n    /** Set the natural end condition for the linear system.\n     *  This is the end condition used by ADSK for fit-splines with a given zero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setNaturalEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals)\n        return this.setBesselEndCondition(dataPts, options, atStart);\n\n      if (atStart)\n        dataPts[1] = dataPts[0];\n      else\n        dataPts[dataPts.length - 2] = dataPts[dataPts.length - 1];\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by chord length.\n     *  This is the end condition used by ADSK for fit-splines with a given nonzero tangent.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setChordLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      let iExt = 0; // index of first/last fitPoint\n      let iSet = 0; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n      let iInt = 0; // index of 2nd/penultimate fitPoint\n\n      const numIntervals = options.fitPoints.length - 1;\n      if (1 === numIntervals) { // no interior fit points\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 3;\n        } else {\n          iExt = 3;\n          iSet = 2;\n          iInt = 0;\n        }\n      } else {\n        if (atStart) {\n          iExt = 0;\n          iSet = 1;\n          iInt = 2;\n        } else {\n          iExt = numIntervals + 2;\n          iSet = numIntervals + 1;\n          iInt = numIntervals;\n        }\n      }\n\n      // NOTE: tangent points INTO curve\n      const chordLength = dataPts[iInt].distance(dataPts[iExt]);\n      dataPts[iExt].plusScaled(tangent, chordLength / 3.0, dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for the linear system to the given tangent, scaled by bessel length.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     * @param atStart whether end condition is for start of curve (false: end of curve)\n     */\n    private static setBesselLengthScaledEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions, atStart: boolean): boolean {\n      if (dataPts.length !== options.fitPoints.length + 2)\n        return false;\n\n      const tangent = atStart ? options.startTangent : options.endTangent;\n      if (undefined === tangent)\n        return false;\n\n      // temporarily set bessel end condition\n      if (!this.setBesselEndCondition(dataPts, options, atStart))\n        return false;\n\n      const numIntervals = options.fitPoints.length - 1;\n      const iExt = atStart ? 0 : numIntervals + 2; // index of first/last fitPoint\n      const iSet = atStart ? 1 : numIntervals + 1; // index of 2nd/penultimate Bezier point to set (determines start/end tangent of the curve)\n\n      // reset end condition with our tangent, but scaled to the bessel tangent's length\n      dataPts[iExt].plusScaled(tangent, dataPts[iExt].distance(dataPts[iSet]), dataPts[iSet]);\n      return true;\n    }\n\n    /** Set the end condition for a physically closed (non-periodic) interpolant.\n     * @param dataPts array whose middle is the system rhs (augmented with first/last fitPoint at beginning/end);\n     *                2nd or penultimate point is set by this function.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setPhysicallyClosedEndCondition(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      const numIntervals = options.fitPoints.length - 1;\n      if (!options.isColinearTangents\n          || numIntervals <= 2\n          || (undefined !== options.startTangent && undefined !== options.endTangent)\n          || options.isNaturalTangents\n          || !dataPts[0].isAlmostEqual(dataPts[numIntervals + 2])) {\n        return true;\n        }\n      // force parallel start/end tangents, using chord length scale for undefined tangents\n      if (undefined !== options.startTangent) { // start tangent is supplied; compute a parallel end tangent\n        const outwardStartTangent = Vector3d.createStartEnd(dataPts[1], dataPts[0]).normalize();\n        if (undefined !== outwardStartTangent) {\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(outwardStartTangent, endTangentMag, dataPts[numIntervals + 1]);\n        }\n      } else if (undefined !== options.endTangent) {  // end tangent is supplied; compute a parallel start tangent\n        const outwardEndTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[numIntervals + 2]).normalize();\n        if (undefined !== outwardEndTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(outwardEndTangent, startTangentMag, dataPts[1]);\n        }\n      } else {  // neither tangent is supplied, compute both along same vector\n        const commonTangent = Vector3d.createStartEnd(dataPts[numIntervals + 1], dataPts[1]).normalize();\n        if (undefined !== commonTangent) {\n          const startTangentMag = dataPts[0].distance(dataPts[1]);\n          dataPts[0].plusScaled(commonTangent, startTangentMag, dataPts[1]);\n          const endTangentMag = dataPts[numIntervals + 2].distance(dataPts[numIntervals + 1]);\n          dataPts[numIntervals + 2].plusScaled(commonTangent, -endTangentMag, dataPts[numIntervals + 1]);\n        }\n      }\n      return true;\n    }\n\n    /** Set end conditions for the linear system to solve for the poles of the open interpolant, as per Farin 3e/4e.\n     * @param dataPts array whose interior is the system rhs and whose first/last entries are the first/last fitPoints;\n     *                points are inserted to become the 2nd and penultimate dataPts, the first/last rows of the system rhs.\n     * @param options validated as per validateOptions, unmodified\n     */\n    private static setEndConditions(dataPts: Point3d[], options: InterpolationCurve3dOptions): boolean {\n      if (dataPts.length !== options.fitPoints.length)\n        return false;\n\n      // insert dummy points to be computed below\n      const dummy0 = Point3d.createZero();\n      const dummy1 = Point3d.createZero();\n      dataPts.splice(1, 0, dummy0);\n      dataPts.splice(dataPts.length - 1, 0, dummy1);\n\n      let succeeded = false;\n      if (undefined === options.startTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, true);\n      } else { // scale startTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, true);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, true);\n      }\n\n      if (undefined === options.endTangent) {\n        if (options.isNaturalTangents)\n          succeeded = this.setNaturalEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselEndCondition(dataPts, options, false);\n      } else { // scale endTangent\n        if (options.isChordLenTangents)\n          succeeded = this.setChordLengthScaledEndCondition(dataPts, options, false);\n        else\n          succeeded = this.setBesselLengthScaledEndCondition(dataPts, options, false);\n      }\n\n      if (succeeded)\n        succeeded = this.setPhysicallyClosedEndCondition(dataPts, options);\n\n      return succeeded;\n    }\n\n    /** Solve the near tridiagonal system for a periodic C2 cubic interpolant.\n     * Alpha, beta, gamma are computed by setUpSystem, have same length as fitPts, and are overwritten.\n     */\n    private static solveNearTridiagonal(fitPts: Point3d[], alpha: number[], beta: number[], gamma: number[]): Point3d[] | undefined {\n      if (alpha.length !== beta.length || alpha.length !== gamma.length || alpha.length !== fitPts.length)\n        return undefined;\n      const poles: Point3d[] = [];\n      const numIntervals = fitPts.length - 1;\n      const leftPts = fitPts.slice(0, -1);  // last fitPt is ignored\n      let tmp: number | undefined = 0.0;\n\n      // first forward substitution\n      for (let i = 1; i < numIntervals; ++i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(- alpha[i], beta[i - 1])))\n          return undefined;\n        beta[i] += tmp * gamma[i - 1];\n        alpha[i] = tmp * alpha[i - 1];\n        leftPts[i].addScaledInPlace(leftPts[i - 1], tmp);\n      }\n\n      // first backward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[numIntervals - 1] + alpha[numIntervals - 1])))\n        return undefined;\n      gamma[numIntervals - 1] *= tmp;\n      leftPts[numIntervals - 1].scaleInPlace(tmp);\n      for (let i = numIntervals - 2; i >= 0; --i) {\n        if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, beta[i])))\n          return undefined;\n        Point3d.createScale(leftPts[i].plus2Scaled(leftPts[i + 1], - gamma[i], leftPts[numIntervals - 1], - alpha[i]), tmp, leftPts[i]);\n        gamma[i] = - (gamma[i] * gamma[i + 1] + alpha[i] * gamma[numIntervals - 1]) * tmp;\n      }\n\n      // second forward substitution\n      if (undefined === (tmp = Geometry.conditionalDivideFraction(1.0, 1.0 + gamma[0])))\n        return undefined;\n      poles.push(Point3d.createScale(leftPts[0], tmp));\n      for (let i = 1; i < numIntervals; ++i) {\n        poles.push(leftPts[i].plusScaled(poles[0], - gamma[i]));\n      }\n      return poles;\n    }\n\n    /** Adjust options by correcting invalid combinations\n     * @param options curve definition, possibly modified\n     */\n    public static validateOptions(options: InterpolationCurve3dOptions): boolean {\n      options.order = 4;\n\n      // remove relevant exterior knots so knots and fit points align *before* we start compressing fit points.\n      options.knots = this.convertCubicKnotVectorToFitParams(options.knots, options.fitPoints.length, true);\n\n        // compress out duplicate fit points (and their corresponding knots)\n      if (!this.removeDuplicateFitPoints(options))\n        return false;\n\n      // if only 2 unique points, then must create open curve\n      let hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      if (3 === options.fitPoints.length && hasClosurePoint) {\n        options.fitPoints.pop();\n        if (undefined !== options.knots)\n          options.knots.pop();\n        hasClosurePoint = options.fitPoints[0].isAlmostEqual(options.fitPoints[options.fitPoints.length - 1]);\n      }\n      if (options.fitPoints.length <= 2) {\n        if (hasClosurePoint)\n          return false;\n        options.closed = false;\n      }\n\n      // append closure point if missing\n      if (options.closed) {\n        if (!hasClosurePoint) {\n          options.fitPoints.push(options.fitPoints[0].clone());\n          if (undefined !== options.knots) {  // best guess: uniform knots\n            options.knots.push(options.knots[options.knots.length - 1] + (options.knots[options.knots.length - 1] - options.knots[0]) / (options.knots.length - 1));\n          }\n        }\n        if (options.fitPoints.length <= 4)\n          options.closed = false; // can't fit cubic closed curve to 3 unique points\n      }\n\n      if (options.fitPoints.length < 2)\n        return false;\n\n      // ASSUME: tangents point INTO curve\n      if (undefined !== options.startTangent) {\n        if (options.startTangent.isAlmostZero)\n          options.startTangent = undefined;\n        else\n          options.startTangent.normalizeInPlace();\n      }\n      if (undefined !== options.endTangent) {\n        if (options.endTangent.isAlmostZero)\n          options.endTangent = undefined;\n        else\n          options.endTangent.normalizeInPlace();\n      }\n\n      return true;\n    }\n\n    /** Converts a full cubic knot vector of expected length into fit parameters, by removing extraneous exterior knots.\n     * @param knots cubic knot vector, unmodified\n     * @param numFitPoints number of fit points\n     * @return fit parameters, or undefined if unexpected input\n     **/\n    public static convertCubicKnotVectorToFitParams(knots: number[] | undefined, numFitPoints: number, normalize?: boolean): number[] | undefined {\n      let params = knots?.slice();\n      if (undefined !== params) {\n        const numExtraKnots = params.length - numFitPoints;\n        switch (numExtraKnots) {\n          case 0: {   // ASSUME caller passed in interior knots\n            break;\n          }\n          case 4:     // modern full cubic knots\n          case 6: {   // legacy full cubic knots\n            for (let i = 0; i < numExtraKnots / 2; ++i) {\n              params.pop();\n              params.shift();\n            }\n            break;\n          }\n          default: {  // other knot configurations are unusable\n            params = undefined;\n            break;\n          }\n        }\n        if (normalize && !this.normalizeKnots(params))\n          params = undefined;\n      }\n      return params;\n    }\n\n    /** Return fit parameters augmented to a full cubic knot vector.\n     * @param params fit parameters, unmodified\n     * @param legacy whether to create a legacy (DGN) full knot vector, or modern vector with two less knots\n     **/\n    public static convertFitParamsToCubicKnotVector(params: number[] | undefined, closed?: boolean, legacy?: boolean): number[] | undefined {\n      const knots = params?.slice();\n      if (undefined !== knots) {\n        const numExtraKnots = legacy ? 6 : 4;\n        if (closed) {\n          const iTail = knots.length - 2;\n          for (let iHead = 2; iHead <= numExtraKnots; iHead += 2) {\n            knots.unshift(knots[iTail] - 1.0);  // index is constant\n            knots.push(1.0 + knots[iHead]);     // index increments by two\n          }\n        } else {\n          for (let i = 0; i < numExtraKnots / 2; ++i) {\n            knots.unshift(0.0);\n            knots.push(1.0);\n          }\n        }\n      }\n      return knots;\n    }\n\n    /** Ensure full legacy knot vector for JSON export **/\n    public static convertToJsonKnots(props: InterpolationCurve3dProps) {\n      if (undefined !== props.knots) {\n        props.knots = this.convertCubicKnotVectorToFitParams(props.knots, props.fitPoints.length, false);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      } else {\n        props.knots = this.constructFitParametersFromPoints(Point3dArray.clonePoint3dArray(props.fitPoints), props.isChordLenKnots, props.closed);\n        props.knots = this.convertFitParamsToCubicKnotVector(props.knots, props.closed, true);\n      }\n    }\n\n    /** Construct the control points for the c2 cubic fit algorithm\n     * @param options validated as per validateOptions, possibly modified\n     */\n    public static constructPoles(options: InterpolationCurve3dOptions): Point3d[] | Float64Array | undefined {\n      if (!this.constructFitParameters(options) || (undefined === options.knots))\n        return undefined;\n\n      const numRow = options.fitPoints.length;\n      const alpha: number[] = Array(numRow);\n      const beta: number[] = Array(numRow);\n      const gamma: number[] = Array(numRow);\n      if (!this.setUpSystem(alpha, beta, gamma, options))\n        return undefined;\n\n      let poles: Point3d[] | Float64Array | undefined = [];\n      if (!options.closed) {\n        const dataPts = options.fitPoints.slice();\n        if (!this.setEndConditions(dataPts, options))\n          return undefined;\n        if (dataPts.length !== numRow + 2)\n          return undefined; // sanity check: we added 2nd/penultimate points, rhs is middle numRow entries.\n\n        // construct tridiagonal banded system components\n        const matrix = new Float64Array(numRow * 3);\n        const rhs = new Float64Array(numRow * 3);\n        for (let iRow = 0, iMatrixRead = 0, iRhsRead = 0; iRow < numRow; ++iRow) {\n          matrix[iMatrixRead++] = alpha[iRow];\n          matrix[iMatrixRead++] = beta[iRow];\n          matrix[iMatrixRead++] = gamma[iRow];\n          rhs[iRhsRead++] = dataPts[iRow+1].x;\n          rhs[iRhsRead++] = dataPts[iRow+1].y;\n          rhs[iRhsRead++] = dataPts[iRow+1].z;\n        }\n\n        const solution = BandedSystem.solveBandedSystemMultipleRHS(numRow, 3, matrix, 3, rhs);\n        if (undefined === solution)\n          return undefined;\n\n        // pre/append first/last poles/fitPoints\n        poles = new Float64Array(3 + solution.length + 3);\n        let iWrite = 0;\n        poles[iWrite++] = options.fitPoints[0].x;\n        poles[iWrite++] = options.fitPoints[0].y;\n        poles[iWrite++] = options.fitPoints[0].z;\n        for (let iRead = 0; iRead < solution.length; ) {\n          poles[iWrite++] = solution[iRead++];\n        }\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].x;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].y;\n        poles[iWrite++] = options.fitPoints[options.fitPoints.length - 1].z;\n      } else { // closed\n        if (undefined !== (poles = this.solveNearTridiagonal(options.fitPoints, alpha, beta, gamma))) {\n          if (poles.length > 2) {\n            poles.unshift(poles.pop()!);  // shift poles right to line up with the knots\n            for (let i = 0; i < options.order - 1; ++i)\n              poles.push(poles[i].clone()); // periodically extend (the modern way)\n          }\n        }\n      }\n      return poles;\n    }\n  }\n}\n"]}