@itwin/core-geometry 5.2.0-dev.29 → 5.2.0-dev.30

package/lib/esm/geometry4d/MomentData.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\n/* eslint-disable @typescript-eslint/naming-convention */\n// cspell:word ABAT\n\nimport { Geometry } from \"../Geometry\";\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Matrix4d } from \"./Matrix4d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A MomentData structure exists in several levels:\n * * First level: as a carrier of sums of inertial products that determine moments.\n *   * origin = local origin used as moments are summed.\n *   * sums = array of summed moments.\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\n *       * axes 0,1,2 are x,y,z.\n *         * e.g. entry [0,1] is summed product xy\n *       * axis 3 is \"w\", which is 1 in sums.\n *         * e.g. entry 03 is summed x.\n *    * In this level:\n *        * the `absoluteQuantity` member is undefined.\n *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.\n *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and\n *    `radiiOfGyration` are filled in.\n * @public\n */\nexport class MomentData {\n  /** Origin used for sums. */\n  public origin: Point3d;\n  /** Flag to request deferred origin setup. */\n  public needOrigin: boolean;\n  /**\n   * Moment sums.\n   * * Set to zero at initialization and if requested later.\n   * * Accumulated during data entry phase.\n   */\n  public sums: Matrix4d;\n  /**\n   * The mapping between principal and world system.\n   * * This set up with its inverse already constructed.\n   */\n  public localToWorldMap: Transform;\n  /** Radii of gyration (square roots of principal second moments). */\n  public radiusOfGyration: Vector3d;\n  /**\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\n   * inertiaProductsToPrincipalAxes.\n   */\n  public absoluteQuantity?: number;\n  // private variables\n  private static _vectorA?: Point4d;\n  private static _vectorB?: Point4d;\n  private static _vectorC?: Point4d;\n  private _point0 = Point3d.create();\n  private _point1 = Point3d.create();\n  /** Constructor. */\n  private constructor() {\n    this.origin = Point3d.createZero();\n    this.needOrigin = false;\n    this.sums = Matrix4d.createZero();\n    this.localToWorldMap = Transform.createIdentity();\n    this.radiusOfGyration = Vector3d.create();\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\n    this.absoluteQuantity = undefined;\n  }\n  /**\n   * Return the lower-right (3,3) entry in the sums.\n   * * This is the quantity (i.e. length, area, or volume) summed.\n   */\n  public get quantitySum(): number {\n    return this.sums.weight();\n  }\n  /**\n   * Return a scale factor to make these sums match the target orientation sign.\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\n   */\n  public signFactor(targetSign: number): number {\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginIfNeeded(origin: Point3d) {\n    if (this.needOrigin) {\n      this.origin.setFromPoint3d(origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\n    if (this.needOrigin && points.length > 0) {\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\n      this.needOrigin = false;\n    }\n  }\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\n    if (this.needOrigin) {\n      this.origin.set(x, y, z);\n      this.needOrigin = false;\n    }\n  }\n  /**\n   * Create moments with optional origin.\n   * * Origin and needOrigin are quirky.\n   *   * (undefined, true) sets up to use first incoming point as origin.\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\n   *   * (origin, true) the \"true\" is meaningless.\n   *   * (undefined, false) makes 000 the durable origin.\n  */\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\n    const data = new MomentData();\n    data.needOrigin = needOrigin;\n    if (origin) {\n      data.origin.setFromPoint3d(origin);\n      data.needOrigin = false;\n    }\n    return data;\n  }\n  /**\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\n   */\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\n    const rr = products.sumDiagonal();\n    const result = Matrix3d.createScale(rr, rr, rr);\n    result.addScaledInPlace(products, -1.0);\n    return result;\n  }\n  /** Sort the columns of the matrix for increasing moments. */\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\n    const points = [\n      axes.indexedColumnWithWeight(0, moments.x),\n      axes.indexedColumnWithWeight(1, moments.y),\n      axes.indexedColumnWithWeight(2, moments.z),\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\n      if (dataA.w < dataB.w) return -1;\n      if (dataA.w > dataB.w) return 1;\n      return 0;\n    });\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\n    if (axes.determinant() < 0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\n    // prefer x and z positive; y falls wherever\n    if (axes.at(0, 0) < 0.0)\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\n    if (axes.at(2, 2) < 0.0)\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\n    moments.set(points[0].w, points[1].w, points[2].w);\n  }\n  /**\n   * Return the principal moment data for an array of points.\n   * @param points array of points.\n   */\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\n    const moments = new MomentData();\n    if (points.length === 0)\n      return moments;\n    moments.clearSums(points[0]);\n    moments.accumulatePointMomentsFromOrigin(points);\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\n  }\n  /**\n   * Compute principal axes from inertial products.\n   * * The radii of gyration are sorted smallest to largest.\n   * * Hence x axis is long direction.\n   * * Hence planar data generates large moment as Z.\n   * @param origin The origin used for the inertia products.\n   * @param inertiaProducts The inertia products: sums or integrals of\n   * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\n   */\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\n    const moments = new MomentData();\n    moments.sums.setFrom(inertiaProducts);\n    moments.origin.setFrom(origin);\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\n      return undefined;\n    const products = moments.sums.matrixPart();\n    const w = moments.sums.weight();\n    if (w < 0.0)\n      products.scaleColumnsInPlace(-1, -1, -1);\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\n    const moment2 = Vector3d.create();\n    const axisVectors = Matrix3d.createZero();\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\n    if (moment2.x < 0.0)\n      return undefined;\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\n    if (w < 0.0)\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\n    moments.radiusOfGyration.set(\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)),\n    );\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\n    moments.absoluteQuantity = Math.abs(w);\n    return moments;\n  }\n  /**\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\n   * * The members considered are:\n   *   * origin of local to world map (i.e. centroid),\n   *   * radius of gyration,\n   *   * axes of localToWorldMap.\n   * * Axis direction tests allow these quirks:\n   *   * opposite orientation is considered matched.\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\n   *   is tested.\n   * * If either or both are undefined, returns false.\n   * @param dataA first set of moments.\n   * @param dataB second set of moments.\n   */\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\n    if (dataA && dataB\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\n          // we have at least xy symmetry\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\n            return true;\n          // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely\n          const zA = dataA.localToWorldMap.matrix.columnZ();\n          const zB = dataB.localToWorldMap.matrix.columnZ();\n          if (zA.isParallelTo(zB, true))\n            return true;\n          return false;\n        }\n        // no symmetry; test all three axes\n        const vectorA = Vector3d.create();\n        const vectorB = Vector3d.create();\n        for (let i = 0; i < 3; i++) {\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\n          if (!vectorA.isParallelTo(vectorB, true))\n            return false;\n        }\n        return true;\n      }\n    }\n    return false;\n  }\n  /** Clear the MomentData sums to zero, and establish a new origin. */\n  public clearSums(origin?: Point3d) {\n    this.sums.setZero();\n    if (origin)\n      this.origin.setFrom(origin);\n    else\n      this.origin.setZero();\n  }\n  /** Accumulate products-of-components for given points. */\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\n    for (const p of points) {\n      this.sums.addMomentsInPlace(\n        p.x - this.origin.x,\n        p.y - this.origin.y,\n        p.z - this.origin.z,\n        1.0,\n      );\n    }\n  }\n  /** Revise the accumulated sums to be \"around the centroid\". */\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\n    const xyz = this.sums.columnW().realPoint(); // centroid of the geometry\n    if (xyz) {\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\n      return true;\n    }\n    return false;\n  }\n  /**\n   * Revise the accumulated sums.\n   * * Add (ax,ay,az) to the origin coordinates.\n   * * Apply the negative translation to the sums.\n   */\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\n    this.origin.addXYZInPlace(ax, ay, az);\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\n  }\n  /** Revise the accumulated sums so they are based at a specified origin. */\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\n  }\n  /**\n   * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.\n   * * If `pointA` is undefined, use `this.origin` as `pointA`.\n   */\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const vectorA = MomentData._vectorA = (pointA !== undefined) ?\n      Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :\n      Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\n    // Below we calculate 16 double integrals: \\iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).\n    // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric\n    // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.\n    // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,\n    // \\iint_T x^2 dT = detJ \\int_0^1 \\int_0^{1-u} u^2 dv du = detJ / 12, and similarly \\iint_T xy dT = detJ / 24.\n    const detJ = Geometry.crossProductXYXY(\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y,\n    );\n    if (detJ !== 0.0) {\n      const r1_12 = detJ / 12.0;\n      const r1_24 = detJ / 24.0;\n\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\n\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\n    }\n  }\n  /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\n    const vectorA = MomentData._vectorA = Point4d.create(\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\n    );\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\n  }\n  /** Accumulate wire moment integral from pointA to pointB */\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\n    const x0 = this.origin.x;\n    const y0 = this.origin.y;\n    const z0 = this.origin.z;\n    const vectorA = MomentData._vectorA = Point4d.create(\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\n    );\n    const vectorB = MomentData._vectorB = Point4d.create(\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\n    );\n    const detJ = pointA.distance(pointB);\n    const r1_3 = detJ / 3.0;\n    const r1_6 = detJ / 6.0;\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\n  }\n  /**\n   * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.\n   * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.\n   * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.\n   */\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\n    const n = points.length;\n    if (n > 1) {\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\n      // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.\n      for (let i = 1; i < n; i++) {\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\n        this._point0.setFromPoint3d(this._point1);\n      }\n    }\n  }\n  /**\n   * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].\n   *   (column weights 0001; only xy parts of vectors).\n   * * Scale by detJ for the xy-only determinant of the vectors.\n   * @param productXX\n   * @param productXY\n   * @param productYY\n   * @param area area in caller's system.\n   * @param origin caller's origin.\n   * @param vectorU caller's U axis (not necessarily unit).\n   * @param vectorV caller's V axis (not necessarily unit).\n   */\n  public accumulateXYProductsInCentroidalFrame(\n    productXX: number, productXY: number, productYY: number,\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\n  ) {\n    const centroidalProducts = Matrix4d.createRowValues(\n      productXX, productXY, 0, 0,\n      productXY, productYY, 0, 0,\n      0, 0, 0, 0,\n      0, 0, 0, area,\n    );\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\n    const placement = Matrix4d.createRowValues(\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\n      0, 0, 0, 0,\n      0, 0, 0, 1,\n    );\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\n    this.sums.addScaledInPlace(ABAT, detJ);\n  }\n  /**\n   * Accumulate sums from other moments.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Pull the origin from `other` if `this` needs an origin.\n   */\n  public accumulateProducts(other: MomentData, scale: number) {\n    this.setOriginIfNeeded(other.origin);\n    this.sums.addTranslationSandwichInPlace(\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\n    );\n  }\n  /**\n   * Accumulate sums from Matrix4d and origin.\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\n   * * Trap the origin if `this` needs an origin.\n   */\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\n    this.setOriginIfNeeded(origin);\n    this.sums.addTranslationSandwichInPlace(\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\n    );\n  }\n  /** Convert to a json data object. */\n  public toJSON(): any {\n    return {\n      origin: this.origin,\n      sums: this.sums.toJSON(),\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\n      localToWorld: this.localToWorldMap.toJSON(),\n    };\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\n/* eslint-disable @typescript-eslint/naming-convention */\r\n// cspell:word ABAT\r\n\r\nimport { Geometry } from \"../Geometry\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"./Matrix4d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A MomentData structure exists in several levels:\r\n * * First level: as a carrier of sums of inertial products that determine moments.\r\n *   * origin = local origin used as moments are summed.\r\n *   * sums = array of summed moments.\r\n *     * The [i,j] entry of the sums is a summed or integrated moment for product of axis i and j.\r\n *       * axes 0,1,2 are x,y,z.\r\n *         * e.g. entry [0,1] is summed product xy\r\n *       * axis 3 is \"w\", which is 1 in sums.\r\n *         * e.g. entry 03 is summed x.\r\n *    * In this level:\r\n *        * the `absoluteQuantity` member is undefined.\r\n *        * the `localToWorldMap` and `radiiOfGyration` are created but have undefined contents.\r\n *  * Second level: after a call to `inertiaProductsToPrincipalAxes`, the `localToWorldMap`, `absoluteQuantity` and\r\n *    `radiiOfGyration` are filled in.\r\n * @public\r\n */\r\nexport class MomentData {\r\n  /** Origin used for sums. */\r\n  public origin: Point3d;\r\n  /** Flag to request deferred origin setup. */\r\n  public needOrigin: boolean;\r\n  /**\r\n   * Moment sums.\r\n   * * Set to zero at initialization and if requested later.\r\n   * * Accumulated during data entry phase.\r\n   */\r\n  public sums: Matrix4d;\r\n  /**\r\n   * The mapping between principal and world system.\r\n   * * This set up with its inverse already constructed.\r\n   */\r\n  public localToWorldMap: Transform;\r\n  /** Radii of gyration (square roots of principal second moments). */\r\n  public radiusOfGyration: Vector3d;\r\n  /**\r\n   * Principal quantity (e.g. length, area, or volume). This is undefined in raw moments, and becomes defined by\r\n   * inertiaProductsToPrincipalAxes.\r\n   */\r\n  public absoluteQuantity?: number;\r\n  // private variables\r\n  private static _vectorA?: Point4d;\r\n  private static _vectorB?: Point4d;\r\n  private static _vectorC?: Point4d;\r\n  private _point0 = Point3d.create();\r\n  private _point1 = Point3d.create();\r\n  /** Constructor. */\r\n  private constructor() {\r\n    this.origin = Point3d.createZero();\r\n    this.needOrigin = false;\r\n    this.sums = Matrix4d.createZero();\r\n    this.localToWorldMap = Transform.createIdentity();\r\n    this.radiusOfGyration = Vector3d.create();\r\n    this.absoluteQuantity = 0.1; // so optimizer sees its type\r\n    this.absoluteQuantity = undefined;\r\n  }\r\n  /**\r\n   * Return the lower-right (3,3) entry in the sums.\r\n   * * This is the quantity (i.e. length, area, or volume) summed.\r\n   */\r\n  public get quantitySum(): number {\r\n    return this.sums.weight();\r\n  }\r\n  /**\r\n   * Return a scale factor to make these sums match the target orientation sign.\r\n   * * 1.0 if `this.quantitySum` has the same sign as `targetSign`.\r\n   * * -1.0 if `this.quantitySum` has the opposite sign from `targetSign`\r\n   */\r\n  public signFactor(targetSign: number): number {\r\n    return targetSign * this.quantitySum > 0 ? 1.0 : -1.0;\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginIfNeeded(origin: Point3d) {\r\n    if (this.needOrigin) {\r\n      this.origin.setFromPoint3d(origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginFromGrowableXYZArrayIfNeeded(points: GrowableXYZArray) {\r\n    if (this.needOrigin && points.length > 0) {\r\n      points.getPoint3dAtCheckedPointIndex(0, this.origin);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /** If `this.needOrigin` flag is set, copy `origin` to `this.origin` and clear the flag. */\r\n  public setOriginXYZIfNeeded(x: number, y: number, z: number) {\r\n    if (this.needOrigin) {\r\n      this.origin.set(x, y, z);\r\n      this.needOrigin = false;\r\n    }\r\n  }\r\n  /**\r\n   * Create moments with optional origin.\r\n   * * Origin and needOrigin are quirky.\r\n   *   * (undefined, true) sets up to use first incoming point as origin.\r\n   *   * (origin) sets up to use that durable origin, set needsOrigin flag false.\r\n   *   * (origin, true) the \"true\" is meaningless.\r\n   *   * (undefined, false) makes 000 the durable origin.\r\n  */\r\n  public static create(origin?: Point3d | undefined, needOrigin: boolean = false): MomentData {\r\n    const data = new MomentData();\r\n    data.needOrigin = needOrigin;\r\n    if (origin) {\r\n      data.origin.setFromPoint3d(origin);\r\n      data.needOrigin = false;\r\n    }\r\n    return data;\r\n  }\r\n  /**\r\n   * Return the formal tensor of integrated values `[yy+zz,xy,xz][yx,xx+zz,yz][zx,xy,xx+yy]`.\r\n   * @param products matrix of (integrated) `[xx,xy,xz][yx,yy,yz][zx,xy,zz]`.\r\n   */\r\n  public static momentTensorFromInertiaProducts(products: Matrix3d): Matrix3d {\r\n    const rr = products.sumDiagonal();\r\n    const result = Matrix3d.createScale(rr, rr, rr);\r\n    result.addScaledInPlace(products, -1.0);\r\n    return result;\r\n  }\r\n  /** Sort the columns of the matrix for increasing moments. */\r\n  public static sortColumnsForIncreasingMoments(axes: Matrix3d, moments: Vector3d) {\r\n    const points = [\r\n      axes.indexedColumnWithWeight(0, moments.x),\r\n      axes.indexedColumnWithWeight(1, moments.y),\r\n      axes.indexedColumnWithWeight(2, moments.z),\r\n    ].sort((dataA: Point4d, dataB: Point4d): number => {\r\n      if (dataA.w < dataB.w) return -1;\r\n      if (dataA.w > dataB.w) return 1;\r\n      return 0;\r\n    });\r\n    axes.setColumnsPoint4dXYZ(points[0], points[1], points[2]);\r\n    if (axes.determinant() < 0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, -1.0);\r\n    // prefer x and z positive; y falls wherever\r\n    if (axes.at(0, 0) < 0.0)\r\n      axes.scaleColumnsInPlace(-1.0, -1.0, 1.0);\r\n    if (axes.at(2, 2) < 0.0)\r\n      axes.scaleColumnsInPlace(1.0, -1.0, -1.0);\r\n    moments.set(points[0].w, points[1].w, points[2].w);\r\n  }\r\n  /**\r\n   * Return the principal moment data for an array of points.\r\n   * @param points array of points.\r\n   */\r\n  public static pointsToPrincipalAxes(points: Point3d[]): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    if (points.length === 0)\r\n      return moments;\r\n    moments.clearSums(points[0]);\r\n    moments.accumulatePointMomentsFromOrigin(points);\r\n    return this.inertiaProductsToPrincipalAxes(moments.origin, moments.sums);\r\n  }\r\n  /**\r\n   * Compute principal axes from inertial products.\r\n   * * The radii of gyration are sorted smallest to largest.\r\n   * * Hence x axis is long direction.\r\n   * * Hence planar data generates large moment as Z.\r\n   * @param origin The origin used for the inertia products.\r\n   * @param inertiaProducts The inertia products: sums or integrals of\r\n   * [xx,xy,xz,xw; yx,yy,yz,yw; zx,zy,zz,zw; wx,wy,wz,w].\r\n   */\r\n  public static inertiaProductsToPrincipalAxes(origin: XYZ, inertiaProducts: Matrix4d): MomentData | undefined {\r\n    const moments = new MomentData();\r\n    moments.sums.setFrom(inertiaProducts);\r\n    moments.origin.setFrom(origin);\r\n    if (!moments.shiftOriginAndSumsToCentroidOfSums())\r\n      return undefined;\r\n    const products = moments.sums.matrixPart();\r\n    const w = moments.sums.weight();\r\n    if (w < 0.0)\r\n      products.scaleColumnsInPlace(-1, -1, -1);\r\n    const tensor = MomentData.momentTensorFromInertiaProducts(products);\r\n    const moment2 = Vector3d.create();\r\n    const axisVectors = Matrix3d.createZero();\r\n    tensor.fastSymmetricEigenvalues(axisVectors, moment2);\r\n    if (moment2.x < 0.0)\r\n      return undefined;\r\n    MomentData.sortColumnsForIncreasingMoments(axisVectors, moment2);\r\n    if (w < 0.0)\r\n      axisVectors.scaleColumnsInPlace(1, -1, -1);\r\n    moments.localToWorldMap = Transform.createOriginAndMatrix(moments.origin, axisVectors);\r\n    moments.radiusOfGyration.set(\r\n      Math.sqrt(Math.abs(moment2.x)), Math.sqrt(Math.abs(moment2.y)), Math.sqrt(Math.abs(moment2.z)),\r\n    );\r\n    moments.radiusOfGyration.scaleInPlace(1.0 / Math.sqrt(Math.abs(w)));\r\n    moments.absoluteQuantity = Math.abs(w);\r\n    return moments;\r\n  }\r\n  /**\r\n   * Test for match among selected members as they exist after `inertiaProductsToPrincipalAxes`.\r\n   * * The members considered are:\r\n   *   * origin of local to world map (i.e. centroid),\r\n   *   * radius of gyration,\r\n   *   * axes of localToWorldMap.\r\n   * * Axis direction tests allow these quirks:\r\n   *   * opposite orientation is considered matched.\r\n   * * Full xyz symmetry: If x,y,z radii are matched, axes are not tested.\r\n   * * Symmetry in xy plane: If x and y radii are matched, the x and y axes area allowed to spin freely. Only Z direction\r\n   *   is tested.\r\n   * * If either or both are undefined, returns false.\r\n   * @param dataA first set of moments.\r\n   * @param dataB second set of moments.\r\n   */\r\n  public static areEquivalentPrincipalAxes(dataA: MomentData | undefined, dataB: MomentData | undefined): boolean {\r\n    if (dataA && dataB\r\n      && Geometry.isSameCoordinate(dataA.quantitySum, dataB.quantitySum)) { // TODO: need different tolerance for area, volume?\r\n      if (dataA.localToWorldMap.getOrigin().isAlmostEqual(dataB.localToWorldMap.getOrigin())\r\n        && dataA.radiusOfGyration.isAlmostEqual(dataB.radiusOfGyration)) {\r\n        if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.y)) {\r\n          // we have at least xy symmetry\r\n          if (Geometry.isSameCoordinate(dataA.radiusOfGyration.x, dataA.radiusOfGyration.z))\r\n            return true;\r\n          // just xy; allow opposite z directions; if the z's are aligned, x and y can spin freely\r\n          const zA = dataA.localToWorldMap.matrix.columnZ();\r\n          const zB = dataB.localToWorldMap.matrix.columnZ();\r\n          if (zA.isParallelTo(zB, true))\r\n            return true;\r\n          return false;\r\n        }\r\n        // no symmetry; test all three axes\r\n        const vectorA = Vector3d.create();\r\n        const vectorB = Vector3d.create();\r\n        for (let i = 0; i < 3; i++) {\r\n          dataA.localToWorldMap.matrix.getColumn(i, vectorA);\r\n          dataB.localToWorldMap.matrix.getColumn(i, vectorB);\r\n          if (!vectorA.isParallelTo(vectorB, true))\r\n            return false;\r\n        }\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  /** Clear the MomentData sums to zero, and establish a new origin. */\r\n  public clearSums(origin?: Point3d) {\r\n    this.sums.setZero();\r\n    if (origin)\r\n      this.origin.setFrom(origin);\r\n    else\r\n      this.origin.setZero();\r\n  }\r\n  /** Accumulate products-of-components for given points. */\r\n  public accumulatePointMomentsFromOrigin(points: Point3d[]) {\r\n    for (const p of points) {\r\n      this.sums.addMomentsInPlace(\r\n        p.x - this.origin.x,\r\n        p.y - this.origin.y,\r\n        p.z - this.origin.z,\r\n        1.0,\r\n      );\r\n    }\r\n  }\r\n  /** Revise the accumulated sums to be \"around the centroid\". */\r\n  public shiftOriginAndSumsToCentroidOfSums(): boolean {\r\n    const xyz = this.sums.columnW().realPoint(); // centroid of the geometry\r\n    if (xyz) {\r\n      this.shiftOriginAndSumsByXYZ(xyz.x, xyz.y, xyz.z);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n  /**\r\n   * Revise the accumulated sums.\r\n   * * Add (ax,ay,az) to the origin coordinates.\r\n   * * Apply the negative translation to the sums.\r\n   */\r\n  public shiftOriginAndSumsByXYZ(ax: number, ay: number, az: number) {\r\n    this.origin.addXYZInPlace(ax, ay, az);\r\n    this.sums.multiplyTranslationSandwichInPlace(-ax, -ay, -az);\r\n  }\r\n  /** Revise the accumulated sums so they are based at a specified origin. */\r\n  public shiftOriginAndSumsToNewOrigin(newOrigin: XYAndZ) {\r\n    this.shiftOriginAndSumsByXYZ(newOrigin.x - this.origin.x, newOrigin.y - this.origin.y, newOrigin.z - this.origin.z);\r\n  }\r\n  /**\r\n   * Compute moments of a triangle from the origin. Accumulate them to `this.sums`.\r\n   * * If `this.needOrigin` is set, `this.origin` is set to `pointB`.\r\n   * * If `pointA` is undefined, use `this.origin` as `pointA`.\r\n   */\r\n  public accumulateTriangleMomentsXY(pointA: XAndY | undefined, pointB: XAndY, pointC: XAndY) {\r\n    this.setOriginXYZIfNeeded(pointB.x, pointB.y, 0.0);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const vectorA = MomentData._vectorA = (pointA !== undefined) ?\r\n      Point4d.create(pointA.x - x0, pointA.y - y0, 0.0, 1.0, MomentData._vectorA) :\r\n      Point4d.create(0.0, 0.0, 0.0, 1.0, MomentData._vectorA);\r\n    const vectorB = MomentData._vectorB = Point4d.create(pointB.x - x0, pointB.y - y0, 0.0, 1.0, MomentData._vectorB);\r\n    const vectorC = MomentData._vectorC = Point4d.create(pointC.x - x0, pointC.y - y0, 0.0, 1.0, MomentData._vectorC);\r\n    // Below we calculate 16 double integrals: \\iint_T [x y 0 1]^ [x y 0 1] dT over triangle T=(A,B,C).\r\n    // Each accumulates contributions from 9 scaled outer products. Integration computations use the barycentric\r\n    // change of variables [B-A C-A][u,v]^ = [x,y]^ with Jacobian detJ = B-A x C-A = twice the area of T.\r\n    // This converts the integration domain from T to the triangle bounded by u=0, v=0 and v=1-u, yielding e.g.,\r\n    // \\iint_T x^2 dT = detJ \\int_0^1 \\int_0^{1-u} u^2 dv du = detJ / 12, and similarly \\iint_T xy dT = detJ / 24.\r\n    const detJ = Geometry.crossProductXYXY(\r\n      vectorB.x - vectorA.x, vectorB.y - vectorA.y, vectorC.x - vectorA.x, vectorC.y - vectorA.y,\r\n    );\r\n    if (detJ !== 0.0) {\r\n      const r1_12 = detJ / 12.0;\r\n      const r1_24 = detJ / 24.0;\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorA, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_12);\r\n      this.sums.addScaledOuterProductInPlace(vectorB, vectorC, r1_24);\r\n\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorA, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorB, r1_24);\r\n      this.sums.addScaledOuterProductInPlace(vectorC, vectorC, r1_12);\r\n    }\r\n  }\r\n  /** Add scaled outer product of (4d, unit weight) point to `this.sums`. */\r\n  public accumulateScaledOuterProduct(point: XYAndZ, scaleFactor: number) {\r\n    this.setOriginXYZIfNeeded(point.x, point.y, 0.0);\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      point.x - this.origin.x, point.y - this.origin.y, point.z - this.origin.z, 1.0, MomentData._vectorA,\r\n    );\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, scaleFactor);\r\n  }\r\n  /** Accumulate wire moment integral from pointA to pointB */\r\n  public accumulateLineMomentsXYZ(pointA: Point3d, pointB: Point3d) {\r\n    this.setOriginXYZIfNeeded(pointA.x, pointA.y, pointA.z);\r\n    const x0 = this.origin.x;\r\n    const y0 = this.origin.y;\r\n    const z0 = this.origin.z;\r\n    const vectorA = MomentData._vectorA = Point4d.create(\r\n      pointA.x - x0, pointA.y - y0, pointA.z - z0, 1.0, MomentData._vectorA,\r\n    );\r\n    const vectorB = MomentData._vectorB = Point4d.create(\r\n      pointB.x - x0, pointB.y - y0, pointB.z - z0, 1.0, MomentData._vectorB,\r\n    );\r\n    const detJ = pointA.distance(pointB);\r\n    const r1_3 = detJ / 3.0;\r\n    const r1_6 = detJ / 6.0;\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorA, r1_3);\r\n    this.sums.addScaledOuterProductInPlace(vectorA, vectorB, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorA, r1_6);\r\n    this.sums.addScaledOuterProductInPlace(vectorB, vectorB, r1_3);\r\n  }\r\n  /**\r\n   * Compute moments of triangles from a base point to the given linestring. Accumulate them to `this.sums`.\r\n   * * If `this.needOrigin` is set, `this.origin` is set to the first point of the array.\r\n   * * If `sweepBase` is undefined, use `this.origin` as `sweepBase`.\r\n   */\r\n  public accumulateTriangleToLineStringMomentsXY(sweepBase: XAndY | undefined, points: GrowableXYZArray) {\r\n    const n = points.length;\r\n    if (n > 1) {\r\n      points.getPoint3dAtUncheckedPointIndex(0, this._point0);\r\n      // The linestring forms a polygon with sweepBase. Integrate over this polygon using Shoelace algorithm.\r\n      for (let i = 1; i < n; i++) {\r\n        points.getPoint3dAtUncheckedPointIndex(i, this._point1);\r\n        this.accumulateTriangleMomentsXY(sweepBase, this._point0, this._point1);\r\n        this._point0.setFromPoint3d(this._point1);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Assemble XX, YY, XY products into a full matrix form [xx,xy,0,0; xy,yy,0,0; 0,0,0,0; 0,0,0,1].\r\n   * * Sandwich this between transforms with columns [vectorU, vectorV, 0000, origin].\r\n   *   (column weights 0001; only xy parts of vectors).\r\n   * * Scale by detJ for the xy-only determinant of the vectors.\r\n   * @param productXX\r\n   * @param productXY\r\n   * @param productYY\r\n   * @param area area in caller's system.\r\n   * @param origin caller's origin.\r\n   * @param vectorU caller's U axis (not necessarily unit).\r\n   * @param vectorV caller's V axis (not necessarily unit).\r\n   */\r\n  public accumulateXYProductsInCentroidalFrame(\r\n    productXX: number, productXY: number, productYY: number,\r\n    area: number, origin: XAndY, vectorU: XAndY, vectorV: XAndY,\r\n  ) {\r\n    const centroidalProducts = Matrix4d.createRowValues(\r\n      productXX, productXY, 0, 0,\r\n      productXY, productYY, 0, 0,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, area,\r\n    );\r\n    const detJ = Geometry.crossProductXYXY(vectorU.x, vectorV.x, vectorU.y, vectorV.y);\r\n    const placement = Matrix4d.createRowValues(\r\n      vectorU.x, vectorV.x, 0, origin.x - this.origin.x,\r\n      vectorU.y, vectorV.y, 0, origin.y - this.origin.y,\r\n      0, 0, 0, 0,\r\n      0, 0, 0, 1,\r\n    );\r\n    const AB = placement.multiplyMatrixMatrix(centroidalProducts);\r\n    const ABAT = AB.multiplyMatrixMatrixTranspose(placement);\r\n    this.sums.addScaledInPlace(ABAT, detJ);\r\n  }\r\n  /**\r\n   * Accumulate sums from other moments.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Pull the origin from `other` if `this` needs an origin.\r\n   */\r\n  public accumulateProducts(other: MomentData, scale: number) {\r\n    this.setOriginIfNeeded(other.origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      other.sums, this.origin.x - other.origin.x, this.origin.y - other.origin.y, this.origin.z - other.origin.z, scale,\r\n    );\r\n  }\r\n  /**\r\n   * Accumulate sums from Matrix4d and origin.\r\n   * * Scale by given scaleFactor (e.g. sign to correct orientation).\r\n   * * Trap the origin if `this` needs an origin.\r\n   */\r\n  public accumulateProductsFromOrigin(origin: Point3d, products: Matrix4d, scale: number) {\r\n    this.setOriginIfNeeded(origin);\r\n    this.sums.addTranslationSandwichInPlace(\r\n      products, this.origin.x - origin.x, this.origin.y - origin.y, this.origin.z - origin.z, scale,\r\n    );\r\n  }\r\n  /** Convert to a json data object. */\r\n  public toJSON(): any {\r\n    return {\r\n      origin: this.origin,\r\n      sums: this.sums.toJSON(),\r\n      radiusOfGyration: this.radiusOfGyration.toJSON(),\r\n      localToWorld: this.localToWorldMap.toJSON(),\r\n    };\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry4d/PlaneByOriginAndVectors4d.js.map

@@ -1 +1 @@
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All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\nimport { Point4d } from \"./Point4d\";\n\n/**\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\n * @public\n */\nexport class PlaneByOriginAndVectors4d {\n  /** homogeneous origin */\n  public origin: Point4d;\n  /** homogeneous u-direction vector */\n  public vectorU: Point4d;\n  /** homogeneous v-direction vector */\n  public vectorV: Point4d;\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\n    this.origin = origin;\n    this.vectorU = vectorU;\n    this.vectorV = vectorV;\n  }\n  /** Return a clone of this plane */\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setFrom(this);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\n  }\n  /** copy all content from other plane */\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\n    this.origin.setFrom(other.origin);\n    this.vectorU.setFrom(other.vectorU);\n    this.vectorV.setFrom(other.vectorV);\n  }\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\n    return this.origin.isAlmostEqual(other.origin)\n      && this.vectorU.isAlmostEqual(other.vectorU)\n      && this.vectorV.isAlmostEqual(other.vectorV);\n  }\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\n   */\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result) {\n      result.setOriginAndVectors(origin, vectorU, vectorV);\n      return result;\n    }\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\n  }\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\n    this.origin.set(x0, y0, z0, w0);\n    this.vectorU.set(ux, uy, uz, uw);\n    this.vectorV.set(vx, vy, vz, vw);\n    return this;\n  }\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\n    this.origin.setFrom(origin);\n    this.vectorU.setFrom(vectorU);\n    this.vectorV.setFrom(vectorV);\n    return this;\n  }\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    if (result)\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\n  }\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\n  }\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\n  }\n  /** create a new plane which maps to the cartesian xy plane. */\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\n  }\n}\n"]}
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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 Numerics\r\n */\r\n\r\nimport { Point3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point4d } from \"./Point4d\";\r\n\r\n/**\r\n * A PlaneByOriginAndVectors4d is a 4d origin and pair of 4d \"vectors\" defining a 4d plane.\r\n * * The parameterization of the plane is    `X = origin + vectorU * u + vectorV * v`\r\n * * With particular weight values `origin.w === 1, vectorU.w === 0, vectorV.w === 0` this is like `Plane3dByOriginAndVectors`\r\n * * With other weights, the deweighted xyz coordinates of points on the 4d plane still form a 3d plane.\r\n * @public\r\n */\r\nexport class PlaneByOriginAndVectors4d {\r\n  /** homogeneous origin */\r\n  public origin: Point4d;\r\n  /** homogeneous u-direction vector */\r\n  public vectorU: Point4d;\r\n  /** homogeneous v-direction vector */\r\n  public vectorV: Point4d;\r\n  private constructor(origin: Point4d, vectorU: Point4d, vectorV: Point4d) {\r\n    this.origin = origin;\r\n    this.vectorU = vectorU;\r\n    this.vectorV = vectorV;\r\n  }\r\n  /** Return a clone of this plane */\r\n  public clone(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setFrom(this);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(this.origin.clone(), this.vectorU.clone(), this.vectorV.clone());\r\n  }\r\n  /** copy all content from other plane */\r\n  public setFrom(other: PlaneByOriginAndVectors4d): void {\r\n    this.origin.setFrom(other.origin);\r\n    this.vectorU.setFrom(other.vectorU);\r\n    this.vectorV.setFrom(other.vectorV);\r\n  }\r\n  /** Return true if origin, vectorU, and vectorV pass isAlmostEqual. */\r\n  public isAlmostEqual(other: PlaneByOriginAndVectors4d): boolean {\r\n    return this.origin.isAlmostEqual(other.origin)\r\n      && this.vectorU.isAlmostEqual(other.vectorU)\r\n      && this.vectorV.isAlmostEqual(other.vectorV);\r\n  }\r\n  /** Create a plane with (copies of) origin, vectorU, vectorV parameters, all given as full 4d points.\r\n   */\r\n  public static createOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result) {\r\n      result.setOriginAndVectors(origin, vectorU, vectorV);\r\n      return result;\r\n    }\r\n    return new PlaneByOriginAndVectors4d(origin.clone(), vectorU.clone(), vectorV.clone());\r\n  }\r\n  /** Set all numeric data from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public setOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number): PlaneByOriginAndVectors4d {\r\n    this.origin.set(x0, y0, z0, w0);\r\n    this.vectorU.set(ux, uy, uz, uw);\r\n    this.vectorV.set(vx, vy, vz, vw);\r\n    return this;\r\n  }\r\n  /** Copy the contents of origin, vectorU, vectorV parameters to respective member variables */\r\n  public setOriginAndVectors(origin: Point4d, vectorU: Point4d, vectorV: Point4d): PlaneByOriginAndVectors4d {\r\n    this.origin.setFrom(origin);\r\n    this.vectorU.setFrom(vectorU);\r\n    this.vectorV.setFrom(vectorV);\r\n    return this;\r\n  }\r\n  /** Create from complete list of (x,y,z,w) in origin, vectorU, and vectorV */\r\n  public static createOriginAndVectorsXYZW(x0: number, y0: number, z0: number, w0: number, ux: number, uy: number, uz: number, uw: number, vx: number, vy: number, vz: number, vw: number, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    if (result)\r\n      return result.setOriginAndVectorsXYZW(x0, y0, z0, w0, ux, uy, uz, uw, vx, vy, vz, vw);\r\n    return new PlaneByOriginAndVectors4d(Point4d.create(x0, y0, z0, w0), Point4d.create(ux, uy, uz, uw), Point4d.create(vx, vy, vz, uw));\r\n  }\r\n  /** create from origin point, (u=1,v=0) point, and (u=0,v=1) point. */\r\n  public static createOriginAndTargets3d(origin: Point3d, targetU: Point3d, targetV: Point3d, result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(origin.x, origin.y, origin.z, 1.0, targetU.x - origin.x, targetU.y - origin.y, targetU.z - origin.z, 0.0, targetV.x - origin.x, targetV.y - origin.y, targetV.z - origin.z, 0.0, result);\r\n  }\r\n  /** evaluate plane point (full 3d) at given (u,v) coordinate. */\r\n  public fractionToPoint(u: number, v: number, result?: Point4d): Point4d {\r\n    return this.origin.plus2Scaled(this.vectorU, u, this.vectorV, v, result);\r\n  }\r\n  /** create a new plane which maps to the cartesian xy plane. */\r\n  public static createXYPlane(result?: PlaneByOriginAndVectors4d): PlaneByOriginAndVectors4d {\r\n    return PlaneByOriginAndVectors4d.createOriginAndVectorsXYZW(0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, result);\r\n  }\r\n}\r\n"]}

package/lib/esm/geometry4d/Point4d.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\nimport { BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\nimport { Plane3d } from \"../geometry3d/Plane3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Ray3d } from \"../geometry3d/Ray3d\";\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\n\n/**\n * 4d point packed in an array of 4 numbers.\n * @public\n */\nexport type Point4dProps = number[];\n/**\n *\n * @param ddg numerator second derivative\n * @param dh denominator derivative\n * @param ddh denominator second derivative\n * @param f primary function (g/h)\n * @param df derivative of (g/h)\n * @param divH = (1/h)\n * @internal\n */\nfunction quotientDerivative2(ddg: number, dh: number, ddh: number,\n  f: number, df: number, divH: number): number {\n  return divH * (ddg - 2.0 * df * dh - f * ddh);\n}\n\n/** 4 Dimensional point (x,y,z,w) used in perspective calculations.\n * * the coordinates are stored in a Float64Array of length 4.\n * * properties `x`, `y`, `z`, `w` access array members.\n * *\n * * The coordinates are physically stored as a single Float64Array with 4 entries. (w last)\n * *\n * @public\n */\nexport class Point4d extends Plane3d implements BeJSONFunctions {\n  /** x,y,z,w are packed into a Float64Array */\n  public xyzw: Float64Array;\n  /** Set x,y,z,w of this point.  */\n  public set(x: number = 0, y: number = 0, z: number = 0, w: number = 0): Point4d {\n    this.xyzw[0] = x;\n    this.xyzw[1] = y;\n    this.xyzw[2] = z;\n    this.xyzw[3] = w;\n    return this;\n  }\n  /** Set a component by index.\n   * * No change if index is out of range.\n   */\n  public setComponent(index: number, value: number) {\n    if (index >= 0 && index < 4) {\n      this.xyzw[index] = value;\n    }\n  }\n  /** The x component. */\n  public get x() { return this.xyzw[0]; }\n  public set x(val: number) { this.xyzw[0] = val; }\n  /** The y component. */\n  public get y() { return this.xyzw[1]; }\n  public set y(val: number) { this.xyzw[1] = val; }\n  /** The z component. */\n  public get z() { return this.xyzw[2]; }\n  public set z(val: number) { this.xyzw[2] = val; }\n  /** The w component of this point. */\n  public get w() { return this.xyzw[3]; }\n  public set w(val: number) { this.xyzw[3] = val; }\n  /** Construct from coordinates. */\n  protected constructor(x: number = 0, y: number = 0, z: number = 0, w: number = 0) {\n    super();\n    this.xyzw = new Float64Array(4);\n    this.xyzw[0] = x;\n    this.xyzw[1] = y;\n    this.xyzw[2] = z;\n    this.xyzw[3] = w;\n  }\n  /** Return a Point4d with specified x,y,z,w */\n  public static create(x: number = 0, y: number = 0, z: number = 0, w: number = 0, result?: Point4d): Point4d {\n    return result ? result.set(x, y, z, w) : new Point4d(x, y, z, w);\n  }\n  /**\n   * Create a \"Point4d as a plane\" from \"any\" other [[PlaneAltitudeEvaluator]] type.\n   * @param source\n   * @returns\n   */\n  public static createPlaneFrom(source: PlaneAltitudeEvaluator): Point4d | undefined {\n    return new Point4d(source.normalX(), source.normalY(), source.normalZ(), source.altitudeXYZ(0, 0, 0));\n  }\n  /** Copy coordinates from `other`. */\n  public setFrom(other: Point4d): Point4d {\n    this.xyzw[0] = other.xyzw[0];\n    this.xyzw[1] = other.xyzw[1];\n    this.xyzw[2] = other.xyzw[2];\n    this.xyzw[3] = other.xyzw[3];\n    return this;\n  }\n  /** Clone this point */\n  public clone(result?: Point4d): Point4d {\n    return result ? result.setFrom(this) : new Point4d(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\n  }\n  /** Set this point's xyzw from a json array `[x,y,z,w]` */\n  public setFromJSON(json?: Point4dProps) {\n    if (Geometry.isNumberArray(json, 4))\n      this.set(json[0], json[1], json[2], json[3]);\n    else\n      this.set(0, 0, 0, 0);\n  }\n\n  /** Create a new point with coordinates from a json array `[x,y,z,w]` */\n  public static fromJSON(json?: Point4dProps): Point4d {\n    const result = new Point4d();\n    result.setFromJSON(json);\n    return result;\n  }\n  /** Near-equality test, using `Geometry.isSameCoordinate` on all 4 x,y,z,w */\n  public isAlmostEqual(other: Point4d, tolerance: number = Geometry.smallMetricDistance): boolean {\n    return Geometry.isSameCoordinate(this.x, other.x, tolerance)\n      && Geometry.isSameCoordinate(this.y, other.y, tolerance)\n      && Geometry.isSameCoordinate(this.z, other.z, tolerance)\n      && Geometry.isSameCoordinate(this.w, other.w, tolerance);\n  }\n  /**\n   * Test for same coordinate by direct x,y,z,w args\n   * @param x x to test\n   * @param y y to test\n   * @param z z to test\n   * @param w w to test\n   */\n  public isAlmostEqualXYZW(x: number, y: number, z: number, w: number, tolerance: number = Geometry.smallMetricDistance): boolean {\n    return Geometry.isSameCoordinate(this.x, x, tolerance)\n      && Geometry.isSameCoordinate(this.y, y, tolerance)\n      && Geometry.isSameCoordinate(this.z, z, tolerance)\n      && Geometry.isSameCoordinate(this.w, w, tolerance);\n  }\n\n  /**\n   * Convert an Angle to a JSON object.\n   * @return {*} [x,y,z,w]\n   */\n  public toJSON(): Point4dProps {\n    return [this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]];\n  }\n  /** Return the 4d distance from this point to other, with all 4 components squared into the hypotenuse.\n   * * x,y,z,w all participate without normalization.\n   */\n  public distanceXYZW(other: Point4d): number {\n    return Geometry.hypotenuseXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\n  }\n  /** Return the squared 4d distance from this point to other, with all 4 components squared into the hypotenuse.\n   * * x,y,z,w all participate without normalization.\n   */\n  public distanceSquaredXYZW(other: Point4d): number {\n    return Geometry.hypotenuseSquaredXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\n  }\n  /** Return the xy distance between the instance and `other` after normalizing by weights */\n  public realDistanceXY(other: Point4d): number | undefined {\n    const wA = this.w;\n    const wB = other.w;\n    if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\n      return undefined;\n    return Geometry.hypotenuseXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\n  }\n  /** Return the xy squared distance between the instance and `other` after normalizing by weights */\n  public realDistanceSquaredXY(other: Point4d): number | undefined {\n    const wA = this.w;\n    const wB = other.w;\n    if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\n      return undefined;\n    return Geometry.hypotenuseSquaredXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\n  }\n  /** Return the largest absolute distance between corresponding components\n   * * x,y,z,w all participate without normalization.\n   */\n  public maxDiff(other: Point4d): number {\n    return Math.max(Math.abs(other.xyzw[0] - this.xyzw[0]), Math.abs(other.xyzw[1] - this.xyzw[1]), Math.abs(other.xyzw[2] - this.xyzw[2]), Math.abs(other.xyzw[3] - this.xyzw[3]));\n  }\n  /** Return the largest absolute entry of all 4 components x,y,z,w */\n  public maxAbs(): number {\n    return Math.max(Math.abs(this.xyzw[0]), Math.abs(this.xyzw[1]), Math.abs(this.xyzw[2]), Math.abs(this.xyzw[3]));\n  }\n  /** Returns the magnitude including all 4 components x,y,z,w */\n  public magnitudeXYZW(): number {\n    return Geometry.hypotenuseXYZW(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\n  }\n  /** Returns the magnitude of the leading xyz components.  w is ignored.  (i.e. the leading xyz are NOT divided by w.) */\n  public magnitudeSquaredXYZ(): number {\n    return Geometry.hypotenuseSquaredXYZ(this.xyzw[0], this.xyzw[1], this.xyzw[2]);\n  }\n\n  /** Return the difference (this-other) using all 4 components x,y,z,w */\n  public minus(other: Point4d, result?: Point4d): Point4d {\n    return Point4d.create(this.xyzw[0] - other.xyzw[0], this.xyzw[1] - other.xyzw[1], this.xyzw[2] - other.xyzw[2], this.xyzw[3] - other.xyzw[3], result);\n  }\n  /** Return `((other.w * this) -  (this.w * other))` */\n  public crossWeightedMinus(other: Point4d, result?: Vector3d): Vector3d {\n    const wa = this.xyzw[3];\n    const wb = other.xyzw[3];\n    return Vector3d.create(wb * this.xyzw[0] - wa * other.xyzw[0], wb * this.xyzw[1] - wa * other.xyzw[1], wb * this.xyzw[2] - wa * other.xyzw[2], result);\n  }\n  /** Return `((other.w * this) -  (this.w * other))`, with other.w known to be 1 */\n  public crossWeightedMinusPoint3d(other: Point3d, result?: Vector3d): Vector3d {\n    const wa = this.xyzw[3];\n    return Vector3d.create(this.xyzw[0] - wa * other.x, this.xyzw[1] - wa * other.y, this.xyzw[2] - wa * other.z, result);\n  }\n  /** Return the sum of this and other, using all 4 components x,y,z,w */\n  public plus(other: Point4d, result?: Point4d): Point4d {\n    return Point4d.create(this.xyzw[0] + other.xyzw[0], this.xyzw[1] + other.xyzw[1], this.xyzw[2] + other.xyzw[2], this.xyzw[3] + other.xyzw[3], result);\n  }\n  /** Test if all components are nearly zero. */\n  public get isAlmostZero(): boolean {\n    return Geometry.isSmallMetricDistance(this.maxAbs());\n  }\n  /** Create a point with zero in all coordinates. */\n  public static createZero(): Point4d { return new Point4d(0, 0, 0, 0); }\n  /**\n   * Create plane coefficients for the plane containing pointA, pointB, and 0010.\n   * @param pointA first point\n   * @param pointB second point\n   */\n  public static createPlanePointPointZ(pointA: Point4d, pointB: Point4d, result?: Point4d) {\n    return Point4d.create(pointA.y * pointB.w - pointA.w * pointB.y, pointA.w * pointB.x - pointA.x * pointB.w, 0.0, pointA.x * pointB.y - pointA.y * pointB.x, result);\n  }\n  /**\n   * extract 3 consecutive numbers from a Float64Array into the xyz values of a Point4d with w = 1.\n   * @param data buffer of numbers\n   * @param xIndex first index for x,y,z sequence\n   */\n  public static createFromPackedXYZ(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\n    if (xIndex >= 0 && xIndex + 2 < data.length)\n      return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], 1.0, result);\n    return undefined;\n  }\n  /**\n   * extract 4 consecutive numbers from a Float64Array into a Point4d.\n   * @param data buffer of numbers\n   * @param xIndex first index for x,y,z,w sequence\n   */\n  public static createFromPacked(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\n    if (xIndex >= 0 && xIndex + 3 < data.length)\n      return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\n    return undefined;\n  }\n  /**\n   * extract 4 consecutive numbers from a Float64Array into a Point4d.\n   * @param data buffer of numbers\n   * @param xIndex first index for x,y,z,w sequence. Assumed to be a valid index!\n   * @deprecated in 4.3.0 - will not be removed until after 2026-06-13. Use createFromPacked instead.\n   */\n  public static createFromPackedXYZW(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d {\n    return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\n  }\n  /** Create a `Point4d` with x,y,z from an `XYAndZ` input, and w from a separate number. */\n  public static createFromPointAndWeight(xyz: XYAndZ, w: number): Point4d {\n    return new Point4d(xyz.x, xyz.y, xyz.z, w);\n  }\n  /** Create a `Point4d` from\n   * * Point2d, Point3d, or Point4d\n   * * other structure with members x,y and optional z,w\n   * * array of numbers\n   * * default z is 0.0\n   * * default w is 1.0  (array[3] can replace)\n   */\n  public static createFromPoint(point: XAndY | XYAndZ | Point4d | number[]): Point4d {\n    if (point instanceof Point2d)\n      return new Point4d(point.x, point.y, 0, 1);\n    if (point instanceof Point3d)\n      return new Point4d(point.x, point.y, point.z, 1);\n    if (point instanceof Point4d)\n      return point.clone();\n    // hm ... some flavor of x,y,z subset ...\n    if (Array.isArray(point)) {\n      const x1 = point.length > 0 ? point[0] : 0.0;\n      const y1 = point.length > 1 ? point[1] : 0.0;\n      const z1 = point.length > 2 ? point[2] : 0.0;\n      const w1 = point.length > 3 ? point[3] : 1.0;\n      return new Point4d(x1, y1, z1, w1);\n    }\n    const x = point.x;\n    const y = point.y;\n    const z = point.hasOwnProperty(\"z\") ? (point as any).z : 0.0;\n    const w = point.hasOwnProperty(\"w\") ? (point as any).w : 1.0;\n    return new Point4d(x, y, z, w);\n\n  }\n  /** Return `point + vector * scalar` */\n  public plusScaled(vector: Point4d, scaleFactor: number, result?: Point4d): Point4d {\n    return Point4d.create(this.xyzw[0] + vector.xyzw[0] * scaleFactor, this.xyzw[1] + vector.xyzw[1] * scaleFactor, this.xyzw[2] + vector.xyzw[2] * scaleFactor, this.xyzw[3] + vector.xyzw[3] * scaleFactor, result);\n  }\n  /** Return interpolation between instance and pointB at fraction\n   */\n  public interpolate(fraction: number, pointB: Point4d, result?: Point4d): Point4d {\n    const v = 1.0 - fraction;\n    return Point4d.create(this.xyzw[0] * v + pointB.xyzw[0] * fraction, this.xyzw[1] * v + pointB.xyzw[1] * fraction, this.xyzw[2] * v + pointB.xyzw[2] * fraction, this.xyzw[3] * v + pointB.xyzw[3] * fraction, result);\n  }\n  /** Return `point + vectorA * scalarA + vectorB * scalarB` */\n  public plus2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\n    return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\n  }\n  /** Return `point + vectorA * scalarA + vectorB * scalarB + vectorC * scalarC` */\n  public plus3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\n    return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\n  }\n  /** Return `point + vectorA * scalarA + vectorB * scalarB` */\n  public static createAdd2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\n    return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\n  }\n  /** Return `point + vectorA \\ scalarA + vectorB * scalarB + vectorC * scalarC` */\n  public static createAdd3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\n    return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\n  }\n  /** Return dot product of (4d) vectors from the instance to targetA and targetB */\n  public dotVectorsToTargets(targetA: Point4d, targetB: Point4d): number {\n    return (targetA.xyzw[0] - this.xyzw[0]) * (targetB.xyzw[0] - this.xyzw[0]) +\n      (targetA.xyzw[1] - this.xyzw[1]) * (targetB.xyzw[1] - this.xyzw[1]) +\n      (targetA.xyzw[2] - this.xyzw[2]) * (targetB.xyzw[2] - this.xyzw[2]) +\n      (targetA.xyzw[3] - this.xyzw[3]) * (targetB.xyzw[3] - this.xyzw[3]);\n  }\n  /** return (4d) dot product of the instance and other point. */\n  public dotProduct(other: Point4d): number {\n    return this.xyzw[0] * other.xyzw[0] + this.xyzw[1] * other.xyzw[1] + this.xyzw[2] * other.xyzw[2] + this.xyzw[3] * other.xyzw[3];\n  }\n  /** return (4d) dot product of the instance with xyzw */\n  public dotProductXYZW(x: number, y: number, z: number, w: number): number {\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3] * w;\n  }\n  /** dotProduct with (point.x, point.y, point.z, 1) Used in PlaneAltitudeEvaluator interface */\n  public altitude(point: Point3d): number {\n    return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3];\n  }\n  /** dotProduct with (x, y, z, 1) Used in PlaneAltitudeEvaluator interface */\n  public altitudeXYZ(x: number, y: number, z: number): number {\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3];\n  }\n  /** dotProduct with (point.x, point.y, point.z, point.w) Used in PlaneAltitudeEvaluator interface */\n  public weightedAltitude(point: Point4d): number {\n    return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3] * point.w;\n  }\n  /** dotProduct with (vector.x, vector.y, vector.z, 0).  Used in PlaneAltitudeEvaluator interface */\n  public velocity(vector: Vector3d): number {\n    return this.xyzw[0] * vector.x + this.xyzw[1] * vector.y + this.xyzw[2] * vector.z;\n  }\n  /** dotProduct with (x,y,z, 0).  Used in PlaneAltitudeEvaluator interface */\n  public velocityXYZ(x: number, y: number, z: number): number {\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z;\n  }\n  /**\n   * Return the x component of the normal used to evaluate altitude.\n   */\n  public normalX(): number { return this.x; }\n  /**\n  * Return the x component of the normal used to evaluate altitude.\n  */\n  public normalY(): number { return this.y; }\n  /**\n  * Return the z component of the normal used to evaluate altitude.\n  */\n  public normalZ(): number { return this.z; }\n\n  /** unit X vector */\n  public static unitX(): Point4d { return new Point4d(1, 0, 0, 0); }\n  /** unit Y vector */\n  public static unitY(): Point4d { return new Point4d(0, 1, 0, 0); }\n  /** unit Z vector */\n  public static unitZ(): Point4d { return new Point4d(0, 0, 1, 0); }\n  /** unit W vector */\n  public static unitW(): Point4d { return new Point4d(0, 0, 0, 1); }\n  /** Divide by denominator, but return undefined if denominator is zero. */\n  public safeDivideOrNull(denominator: number, result?: Point4d): Point4d | undefined {\n    if (denominator !== 0.0) {\n      return this.scale(1.0 / denominator, result);\n    }\n    return undefined;\n  }\n  /**\n   * * Return xyz projection of spacePoint to the plane (this Point4d is understood as plane coefficients, not point coordinates)\n   * * If the xyz part of `this` are all zero, (a clone of) `spacePoint` is returned.\n   */\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\n    return this.projectXYZToPlane(spacePoint.x, spacePoint.y, spacePoint.z, result);\n  }\n  /** Return the projection of (x,y,z) onto the plane. */\n  public override projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d {\n    const h = this.altitudeXYZ(x, y, z);\n    const nn = this.magnitudeSquaredXYZ();\n    // this unusual tol is needed so that toPlane3dByOriginAndUnitNormal agrees with its original implementation\n    const alpha = Geometry.conditionalDivideCoordinate(-h, nn, Geometry.largeFractionResult * Geometry.largeFractionResult);\n    if (alpha === undefined)\n      return Point3d.create(x, y, z, result);\n    return Point3d.create(x + alpha * this.x, y + alpha * this.y, z + alpha * this.z, result);\n  }\n  /** scale all components (including w!!) */\n  public scale(scale: number, result?: Point4d): Point4d {\n    result = result ? result : new Point4d();\n    result.xyzw[0] = this.xyzw[0] * scale;\n    result.xyzw[1] = this.xyzw[1] * scale;\n    result.xyzw[2] = this.xyzw[2] * scale;\n    result.xyzw[3] = this.xyzw[3] * scale;\n    return result;\n  }\n  /** Negate components (including w!!) */\n  public negate(result?: Point4d): Point4d {\n    result = result ? result : new Point4d();\n    result.xyzw[0] = -this.xyzw[0];\n    result.xyzw[1] = -this.xyzw[1];\n    result.xyzw[2] = -this.xyzw[2];\n    result.xyzw[3] = -this.xyzw[3];\n    return result;\n  }\n  /**\n   * If `this.w` is nonzero, return a 4d point `(x/w,y/w,z/w, 1)`\n   * If `this.w` is zero, return undefined.\n   * @param result optional result\n   */\n  public normalizeWeight(result?: Point4d): Point4d | undefined {\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\n    result = result ? result : new Point4d();\n    return this.safeDivideOrNull(mag, result);\n  }\n  /**\n   * If `this.w` is nonzero, return a 3d point `(x/w,y/w,z/w)`\n   * If `this.w` is zero, return undefined.\n   * @param result optional result\n   */\n  public realPoint(result?: Point3d): Point3d | undefined {\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\n    if (mag === 0.0)\n      return undefined;\n    const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\n    return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\n  }\n\n  /** Convert the homogeneous point to a (strongly typed) point or vector.\n   * * If `this.w` is nonzero, return a Point3d `(x/w,y/w,z/w)`\n   * * If `this.w` is zero, return a Vector3d `(x,y,z)`\n   */\n  public realPointOrVector(): Point3d | Vector3d {\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\n    if (mag === 0.0)\n      return Vector3d.create(this.x, this.y, this.z);\n    const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\n    return Point3d.create(this.x * a, this.y * a, this.z * a);\n  }\n  /**\n   * * If w is nonzero, return Point3d with x/w,y/w,z/w.\n   * * If w is zero, return 000\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param z z coordinate\n   * @param w w coordinate\n   * @param result optional result\n   */\n  public static createRealPoint3dDefault000(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\n    const mag = Geometry.correctSmallFraction(w);\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\n    return Point3d.create(x * a, y * a, z * a, result);\n  }\n  /**\n   * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\n   * * If w is zero, return 000\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param z z coordinate\n   * @param w w coordinate\n   * @param dx x coordinate of derivative\n   * @param dy y coordinate of derivative\n   * @param dz z coordinate of derivative\n   * @param dw w coordinate of derivative\n   * @param result optional result\n   */\n  public static createRealDerivativeRay3dDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, result?: Ray3d): Ray3d {\n    const mag = Geometry.correctSmallFraction(w);\n    // real point is X/w.\n    // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\n    const aa = a * a;\n    return Ray3d.createXYZUVW(x * a, y * a, z * a, (dx * w - dw * x) * aa, (dy * w - dw * y) * aa, (dz * w - dw * z) * aa, result);\n  }\n  /**\n   * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\n   * * If w is zero, return 000\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param z z coordinate\n   * @param w w coordinate\n   * @param dx x coordinate of derivative\n   * @param dy y coordinate of derivative\n   * @param dz z coordinate of derivative\n   * @param dw w coordinate of derivative\n   * @param result optional result\n   */\n  public static createRealDerivativePlane3dByOriginAndVectorsDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, ddx: number, ddy: number, ddz: number, ddw: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    const mag = Geometry.correctSmallFraction(w);\n    // real point is X/w.\n    // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\n    const aa = a * a;\n    const fx = x * a;\n    const fy = y * a;\n    const fz = z * a;\n    const dfx = (dx * w - dw * x) * aa;\n    const dfy = (dy * w - dw * y) * aa;\n    const dfz = (dz * w - dw * z) * aa;\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(fx, fy, fz, dfx, dfy, dfz, quotientDerivative2(ddx, dw, ddw, fx, dfx, a), quotientDerivative2(ddy, dw, ddw, fy, dfy, a), quotientDerivative2(ddz, dw, ddw, fz, dfz, a), result);\n  }\n  /**\n   * * If this.w is nonzero, return Point3d with x/w,y/w,z/w.\n   * * If this.w is zero, return 000\n   */\n  public realPointDefault000(result?: Point3d): Point3d {\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\n    if (mag === 0.0)\n      return Point3d.create(0, 0, 0, result);\n    result = result ? result : new Point3d();\n    const a = 1.0 / mag;\n    return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\n  }\n  /** divide all components (x,y,z,w) by the 4d magnitude.\n   *\n   * * This is appropriate for normalizing a quaternion\n   * * Use normalizeWeight to divide by the w component.\n   */\n  public normalizeXYZW(result?: Point4d): Point4d | undefined {\n    const mag = Geometry.correctSmallFraction(this.magnitudeXYZW());\n    result = result ? result : new Point4d();\n    return this.safeDivideOrNull(mag, result);\n  }\n\n  /**\n   * Return the determinant of the 3x3 matrix using components i,j,k of the 3 inputs.\n   */\n  public static determinantIndexed3X3(pointA: Point4d, pointB: Point4d, pointC: Point4d, i: number, j: number, k: number) {\n    return Geometry.tripleProduct(\n      pointA.xyzw[i], pointA.xyzw[j], pointA.xyzw[k],\n      pointB.xyzw[i], pointB.xyzw[j], pointB.xyzw[k],\n      pointC.xyzw[i], pointC.xyzw[j], pointC.xyzw[k]);\n  }\n  /**\n   * Return a Point4d perpendicular to all 3 inputs. (A higher level cross product concept)\n   * @param pointA first point\n   * @param pointB second point\n   * @param pointC third point\n   */\n  public static perpendicularPoint4dPlane(pointA: Point4d, pointB: Point4d, pointC: Point4d): Point4d {\n    return Point4d.create(\n      Point4d.determinantIndexed3X3(pointA, pointB, pointC, 1, 2, 3),\n      -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 2, 3, 0),\n      Point4d.determinantIndexed3X3(pointA, pointB, pointC, 3, 0, 1),\n      -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 0, 1, 2));\n  }\n  /** Treating this Point4d as plane coefficients, convert to origin and normal form. */\n  public toPlane3dByOriginAndUnitNormal(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined {\n    return Plane3dByOriginAndUnitNormal.createFrom(this, result);\n  }\n  /** Normalize so sum of squares of all 4 coordinates is 1. */\n  public normalizeQuaternion() {\n    const magnitude = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\n\n    if (magnitude > 0.0) {\n      const f = 1.0 / magnitude;\n      this.x *= f;\n      this.y *= f;\n      this.z *= f;\n      this.w *= f;\n    }\n    return magnitude;\n  }\n  /** Return a (normalized) quaternion interpolated between two quaternions. */\n  public static interpolateQuaternions(quaternion0: Point4d, fractionParameter: number, quaternion1: Point4d, result?: Point4d): Point4d {\n    if (!result)\n      result = new Point4d();\n    const maxSafeCosine = 0.9995;\n\n    // return exact quaternions for special values\n    if (0.0 === fractionParameter) {\n      result = quaternion0;\n      return result;\n    }\n    if (1.0 === fractionParameter) {\n      result = quaternion1;\n      return result;\n    }\n    if (0.5 === fractionParameter) {\n      quaternion0.plus(quaternion1, result);\n      result.normalizeQuaternion();\n      return result;\n    }\n\n    const q0 = quaternion0.clone();\n    const q1 = quaternion1.clone();\n    let dot = quaternion0.dotProduct(quaternion1);\n\n    // prevent interpolation through the longer great arc\n    if (dot < 0.0) {\n      q1.negate(q1);\n      dot = -dot;\n    }\n\n    // if nearly parallel, use interpolate and renormalize .\n    if (dot > maxSafeCosine) {\n      q0.interpolate(fractionParameter, q1, result);\n      result.normalizeQuaternion();\n      return result;\n    }\n\n    // safety check\n    if (dot < -1.0)\n      dot = -1.0;\n    else if (dot > 1.0)\n      dot = 1.0;\n\n    // create orthonormal basis {q0, q2}\n    const q2 = new Point4d();\n    q1.plusScaled(q0, -dot, q2);  //  bsiDPoint4d_addScaledDPoint4d(& q2, & q1, & q0, -dot);\n    q2.normalizeQuaternion();\n\n    const angle = Math.acos(dot);\n    const angleOfInterpolation = angle * fractionParameter;\n    result = Point4d.createAdd2Scaled(q0, Math.cos(angleOfInterpolation), q2, Math.sin(angleOfInterpolation));\n    return result;\n  }\n  /** Measure the \"angle\" between two points, using all 4 components in the dot product that\n   * gives the cosine of the angle.\n   */\n  public radiansToPoint4dXYZW(other: Point4d): number | undefined {\n    const magA = this.magnitudeXYZW();\n    const magB = other.magnitudeXYZW();\n    const dot = this.dotProduct(other);  // == cos (theta) * magA * magB\n    const cos = Geometry.conditionalDivideFraction(dot, magA * magB);\n    if (cos === undefined)\n      return undefined;\n    return Math.acos(cos);\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\nimport { BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Plane3d } from \"../geometry3d/Plane3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { XAndY, XYAndZ } from \"../geometry3d/XYZProps\";\r\n\r\n/**\r\n * 4d point packed in an array of 4 numbers.\r\n * @public\r\n */\r\nexport type Point4dProps = number[];\r\n/**\r\n *\r\n * @param ddg numerator second derivative\r\n * @param dh denominator derivative\r\n * @param ddh denominator second derivative\r\n * @param f primary function (g/h)\r\n * @param df derivative of (g/h)\r\n * @param divH = (1/h)\r\n * @internal\r\n */\r\nfunction quotientDerivative2(ddg: number, dh: number, ddh: number,\r\n  f: number, df: number, divH: number): number {\r\n  return divH * (ddg - 2.0 * df * dh - f * ddh);\r\n}\r\n\r\n/** 4 Dimensional point (x,y,z,w) used in perspective calculations.\r\n * * the coordinates are stored in a Float64Array of length 4.\r\n * * properties `x`, `y`, `z`, `w` access array members.\r\n * *\r\n * * The coordinates are physically stored as a single Float64Array with 4 entries. (w last)\r\n * *\r\n * @public\r\n */\r\nexport class Point4d extends Plane3d implements BeJSONFunctions {\r\n  /** x,y,z,w are packed into a Float64Array */\r\n  public xyzw: Float64Array;\r\n  /** Set x,y,z,w of this point.  */\r\n  public set(x: number = 0, y: number = 0, z: number = 0, w: number = 0): Point4d {\r\n    this.xyzw[0] = x;\r\n    this.xyzw[1] = y;\r\n    this.xyzw[2] = z;\r\n    this.xyzw[3] = w;\r\n    return this;\r\n  }\r\n  /** Set a component by index.\r\n   * * No change if index is out of range.\r\n   */\r\n  public setComponent(index: number, value: number) {\r\n    if (index >= 0 && index < 4) {\r\n      this.xyzw[index] = value;\r\n    }\r\n  }\r\n  /** The x component. */\r\n  public get x() { return this.xyzw[0]; }\r\n  public set x(val: number) { this.xyzw[0] = val; }\r\n  /** The y component. */\r\n  public get y() { return this.xyzw[1]; }\r\n  public set y(val: number) { this.xyzw[1] = val; }\r\n  /** The z component. */\r\n  public get z() { return this.xyzw[2]; }\r\n  public set z(val: number) { this.xyzw[2] = val; }\r\n  /** The w component of this point. */\r\n  public get w() { return this.xyzw[3]; }\r\n  public set w(val: number) { this.xyzw[3] = val; }\r\n  /** Construct from coordinates. */\r\n  protected constructor(x: number = 0, y: number = 0, z: number = 0, w: number = 0) {\r\n    super();\r\n    this.xyzw = new Float64Array(4);\r\n    this.xyzw[0] = x;\r\n    this.xyzw[1] = y;\r\n    this.xyzw[2] = z;\r\n    this.xyzw[3] = w;\r\n  }\r\n  /** Return a Point4d with specified x,y,z,w */\r\n  public static create(x: number = 0, y: number = 0, z: number = 0, w: number = 0, result?: Point4d): Point4d {\r\n    return result ? result.set(x, y, z, w) : new Point4d(x, y, z, w);\r\n  }\r\n  /**\r\n   * Create a \"Point4d as a plane\" from \"any\" other [[PlaneAltitudeEvaluator]] type.\r\n   * @param source\r\n   * @returns\r\n   */\r\n  public static createPlaneFrom(source: PlaneAltitudeEvaluator): Point4d | undefined {\r\n    return new Point4d(source.normalX(), source.normalY(), source.normalZ(), source.altitudeXYZ(0, 0, 0));\r\n  }\r\n  /** Copy coordinates from `other`. */\r\n  public setFrom(other: Point4d): Point4d {\r\n    this.xyzw[0] = other.xyzw[0];\r\n    this.xyzw[1] = other.xyzw[1];\r\n    this.xyzw[2] = other.xyzw[2];\r\n    this.xyzw[3] = other.xyzw[3];\r\n    return this;\r\n  }\r\n  /** Clone this point */\r\n  public clone(result?: Point4d): Point4d {\r\n    return result ? result.setFrom(this) : new Point4d(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n  }\r\n  /** Set this point's xyzw from a json array `[x,y,z,w]` */\r\n  public setFromJSON(json?: Point4dProps) {\r\n    if (Geometry.isNumberArray(json, 4))\r\n      this.set(json[0], json[1], json[2], json[3]);\r\n    else\r\n      this.set(0, 0, 0, 0);\r\n  }\r\n\r\n  /** Create a new point with coordinates from a json array `[x,y,z,w]` */\r\n  public static fromJSON(json?: Point4dProps): Point4d {\r\n    const result = new Point4d();\r\n    result.setFromJSON(json);\r\n    return result;\r\n  }\r\n  /** Near-equality test, using `Geometry.isSameCoordinate` on all 4 x,y,z,w */\r\n  public isAlmostEqual(other: Point4d, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n    return Geometry.isSameCoordinate(this.x, other.x, tolerance)\r\n      && Geometry.isSameCoordinate(this.y, other.y, tolerance)\r\n      && Geometry.isSameCoordinate(this.z, other.z, tolerance)\r\n      && Geometry.isSameCoordinate(this.w, other.w, tolerance);\r\n  }\r\n  /**\r\n   * Test for same coordinate by direct x,y,z,w args\r\n   * @param x x to test\r\n   * @param y y to test\r\n   * @param z z to test\r\n   * @param w w to test\r\n   */\r\n  public isAlmostEqualXYZW(x: number, y: number, z: number, w: number, tolerance: number = Geometry.smallMetricDistance): boolean {\r\n    return Geometry.isSameCoordinate(this.x, x, tolerance)\r\n      && Geometry.isSameCoordinate(this.y, y, tolerance)\r\n      && Geometry.isSameCoordinate(this.z, z, tolerance)\r\n      && Geometry.isSameCoordinate(this.w, w, tolerance);\r\n  }\r\n\r\n  /**\r\n   * Convert an Angle to a JSON object.\r\n   * @return {*} [x,y,z,w]\r\n   */\r\n  public toJSON(): Point4dProps {\r\n    return [this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]];\r\n  }\r\n  /** Return the 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n   * * x,y,z,w all participate without normalization.\r\n   */\r\n  public distanceXYZW(other: Point4d): number {\r\n    return Geometry.hypotenuseXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n  }\r\n  /** Return the squared 4d distance from this point to other, with all 4 components squared into the hypotenuse.\r\n   * * x,y,z,w all participate without normalization.\r\n   */\r\n  public distanceSquaredXYZW(other: Point4d): number {\r\n    return Geometry.hypotenuseSquaredXYZW(other.xyzw[0] - this.xyzw[0], other.xyzw[1] - this.xyzw[1], other.xyzw[2] - this.xyzw[2], other.xyzw[3] - this.xyzw[3]);\r\n  }\r\n  /** Return the xy distance between the instance and `other` after normalizing by weights */\r\n  public realDistanceXY(other: Point4d): number | undefined {\r\n    const wA = this.w;\r\n    const wB = other.w;\r\n    if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\r\n      return undefined;\r\n    return Geometry.hypotenuseXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\r\n  }\r\n  /** Return the xy squared distance between the instance and `other` after normalizing by weights */\r\n  public realDistanceSquaredXY(other: Point4d): number | undefined {\r\n    const wA = this.w;\r\n    const wB = other.w;\r\n    if (Geometry.isSmallMetricDistance(wA) || Geometry.isSmallMetricDistance(wB))\r\n      return undefined;\r\n    return Geometry.hypotenuseSquaredXY(other.xyzw[0] / wB - this.xyzw[0] / wA, other.xyzw[1] / wB - this.xyzw[1] / wA);\r\n  }\r\n  /** Return the largest absolute distance between corresponding components\r\n   * * x,y,z,w all participate without normalization.\r\n   */\r\n  public maxDiff(other: Point4d): number {\r\n    return Math.max(Math.abs(other.xyzw[0] - this.xyzw[0]), Math.abs(other.xyzw[1] - this.xyzw[1]), Math.abs(other.xyzw[2] - this.xyzw[2]), Math.abs(other.xyzw[3] - this.xyzw[3]));\r\n  }\r\n  /** Return the largest absolute entry of all 4 components x,y,z,w */\r\n  public maxAbs(): number {\r\n    return Math.max(Math.abs(this.xyzw[0]), Math.abs(this.xyzw[1]), Math.abs(this.xyzw[2]), Math.abs(this.xyzw[3]));\r\n  }\r\n  /** Returns the magnitude including all 4 components x,y,z,w */\r\n  public magnitudeXYZW(): number {\r\n    return Geometry.hypotenuseXYZW(this.xyzw[0], this.xyzw[1], this.xyzw[2], this.xyzw[3]);\r\n  }\r\n  /** Returns the magnitude of the leading xyz components.  w is ignored.  (i.e. the leading xyz are NOT divided by w.) */\r\n  public magnitudeSquaredXYZ(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.xyzw[0], this.xyzw[1], this.xyzw[2]);\r\n  }\r\n\r\n  /** Return the difference (this-other) using all 4 components x,y,z,w */\r\n  public minus(other: Point4d, result?: Point4d): Point4d {\r\n    return Point4d.create(this.xyzw[0] - other.xyzw[0], this.xyzw[1] - other.xyzw[1], this.xyzw[2] - other.xyzw[2], this.xyzw[3] - other.xyzw[3], result);\r\n  }\r\n  /** Return `((other.w * this) -  (this.w * other))` */\r\n  public crossWeightedMinus(other: Point4d, result?: Vector3d): Vector3d {\r\n    const wa = this.xyzw[3];\r\n    const wb = other.xyzw[3];\r\n    return Vector3d.create(wb * this.xyzw[0] - wa * other.xyzw[0], wb * this.xyzw[1] - wa * other.xyzw[1], wb * this.xyzw[2] - wa * other.xyzw[2], result);\r\n  }\r\n  /** Return `((other.w * this) -  (this.w * other))`, with other.w known to be 1 */\r\n  public crossWeightedMinusPoint3d(other: Point3d, result?: Vector3d): Vector3d {\r\n    const wa = this.xyzw[3];\r\n    return Vector3d.create(this.xyzw[0] - wa * other.x, this.xyzw[1] - wa * other.y, this.xyzw[2] - wa * other.z, result);\r\n  }\r\n  /** Return the sum of this and other, using all 4 components x,y,z,w */\r\n  public plus(other: Point4d, result?: Point4d): Point4d {\r\n    return Point4d.create(this.xyzw[0] + other.xyzw[0], this.xyzw[1] + other.xyzw[1], this.xyzw[2] + other.xyzw[2], this.xyzw[3] + other.xyzw[3], result);\r\n  }\r\n  /** Test if all components are nearly zero. */\r\n  public get isAlmostZero(): boolean {\r\n    return Geometry.isSmallMetricDistance(this.maxAbs());\r\n  }\r\n  /** Create a point with zero in all coordinates. */\r\n  public static createZero(): Point4d { return new Point4d(0, 0, 0, 0); }\r\n  /**\r\n   * Create plane coefficients for the plane containing pointA, pointB, and 0010.\r\n   * @param pointA first point\r\n   * @param pointB second point\r\n   */\r\n  public static createPlanePointPointZ(pointA: Point4d, pointB: Point4d, result?: Point4d) {\r\n    return Point4d.create(pointA.y * pointB.w - pointA.w * pointB.y, pointA.w * pointB.x - pointA.x * pointB.w, 0.0, pointA.x * pointB.y - pointA.y * pointB.x, result);\r\n  }\r\n  /**\r\n   * extract 3 consecutive numbers from a Float64Array into the xyz values of a Point4d with w = 1.\r\n   * @param data buffer of numbers\r\n   * @param xIndex first index for x,y,z sequence\r\n   */\r\n  public static createFromPackedXYZ(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n    if (xIndex >= 0 && xIndex + 2 < data.length)\r\n      return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], 1.0, result);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n   * @param data buffer of numbers\r\n   * @param xIndex first index for x,y,z,w sequence\r\n   */\r\n  public static createFromPacked(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d | undefined {\r\n    if (xIndex >= 0 && xIndex + 3 < data.length)\r\n      return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * extract 4 consecutive numbers from a Float64Array into a Point4d.\r\n   * @param data buffer of numbers\r\n   * @param xIndex first index for x,y,z,w sequence. Assumed to be a valid index!\r\n   * @deprecated in 4.3.0 - will not be removed until after 2026-06-13. Use createFromPacked instead.\r\n   */\r\n  public static createFromPackedXYZW(data: Float64Array, xIndex: number = 0, result?: Point4d): Point4d {\r\n    return Point4d.create(data[xIndex], data[xIndex + 1], data[xIndex + 2], data[xIndex + 3], result);\r\n  }\r\n  /** Create a `Point4d` with x,y,z from an `XYAndZ` input, and w from a separate number. */\r\n  public static createFromPointAndWeight(xyz: XYAndZ, w: number): Point4d {\r\n    return new Point4d(xyz.x, xyz.y, xyz.z, w);\r\n  }\r\n  /** Create a `Point4d` from\r\n   * * Point2d, Point3d, or Point4d\r\n   * * other structure with members x,y and optional z,w\r\n   * * array of numbers\r\n   * * default z is 0.0\r\n   * * default w is 1.0  (array[3] can replace)\r\n   */\r\n  public static createFromPoint(point: XAndY | XYAndZ | Point4d | number[]): Point4d {\r\n    if (point instanceof Point2d)\r\n      return new Point4d(point.x, point.y, 0, 1);\r\n    if (point instanceof Point3d)\r\n      return new Point4d(point.x, point.y, point.z, 1);\r\n    if (point instanceof Point4d)\r\n      return point.clone();\r\n    // hm ... some flavor of x,y,z subset ...\r\n    if (Array.isArray(point)) {\r\n      const x1 = point.length > 0 ? point[0] : 0.0;\r\n      const y1 = point.length > 1 ? point[1] : 0.0;\r\n      const z1 = point.length > 2 ? point[2] : 0.0;\r\n      const w1 = point.length > 3 ? point[3] : 1.0;\r\n      return new Point4d(x1, y1, z1, w1);\r\n    }\r\n    const x = point.x;\r\n    const y = point.y;\r\n    const z = point.hasOwnProperty(\"z\") ? (point as any).z : 0.0;\r\n    const w = point.hasOwnProperty(\"w\") ? (point as any).w : 1.0;\r\n    return new Point4d(x, y, z, w);\r\n\r\n  }\r\n  /** Return `point + vector * scalar` */\r\n  public plusScaled(vector: Point4d, scaleFactor: number, result?: Point4d): Point4d {\r\n    return Point4d.create(this.xyzw[0] + vector.xyzw[0] * scaleFactor, this.xyzw[1] + vector.xyzw[1] * scaleFactor, this.xyzw[2] + vector.xyzw[2] * scaleFactor, this.xyzw[3] + vector.xyzw[3] * scaleFactor, result);\r\n  }\r\n  /** Return interpolation between instance and pointB at fraction\r\n   */\r\n  public interpolate(fraction: number, pointB: Point4d, result?: Point4d): Point4d {\r\n    const v = 1.0 - fraction;\r\n    return Point4d.create(this.xyzw[0] * v + pointB.xyzw[0] * fraction, this.xyzw[1] * v + pointB.xyzw[1] * fraction, this.xyzw[2] * v + pointB.xyzw[2] * fraction, this.xyzw[3] * v + pointB.xyzw[3] * fraction, result);\r\n  }\r\n  /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n  public plus2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n    return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n  }\r\n  /** Return `point + vectorA * scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n  public plus3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n    return Point4d.create(this.xyzw[0] + vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, this.xyzw[1] + vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, this.xyzw[2] + vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, this.xyzw[3] + vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n  }\r\n  /** Return `point + vectorA * scalarA + vectorB * scalarB` */\r\n  public static createAdd2Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, result?: Point4d): Point4d {\r\n    return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB, result);\r\n  }\r\n  /** Return `point + vectorA \\ scalarA + vectorB * scalarB + vectorC * scalarC` */\r\n  public static createAdd3Scaled(vectorA: Point4d, scalarA: number, vectorB: Point4d, scalarB: number, vectorC: Point4d, scalarC: number, result?: Point4d): Point4d {\r\n    return Point4d.create(vectorA.xyzw[0] * scalarA + vectorB.xyzw[0] * scalarB + vectorC.xyzw[0] * scalarC, vectorA.xyzw[1] * scalarA + vectorB.xyzw[1] * scalarB + vectorC.xyzw[1] * scalarC, vectorA.xyzw[2] * scalarA + vectorB.xyzw[2] * scalarB + vectorC.xyzw[2] * scalarC, vectorA.xyzw[3] * scalarA + vectorB.xyzw[3] * scalarB + vectorC.xyzw[3] * scalarC, result);\r\n  }\r\n  /** Return dot product of (4d) vectors from the instance to targetA and targetB */\r\n  public dotVectorsToTargets(targetA: Point4d, targetB: Point4d): number {\r\n    return (targetA.xyzw[0] - this.xyzw[0]) * (targetB.xyzw[0] - this.xyzw[0]) +\r\n      (targetA.xyzw[1] - this.xyzw[1]) * (targetB.xyzw[1] - this.xyzw[1]) +\r\n      (targetA.xyzw[2] - this.xyzw[2]) * (targetB.xyzw[2] - this.xyzw[2]) +\r\n      (targetA.xyzw[3] - this.xyzw[3]) * (targetB.xyzw[3] - this.xyzw[3]);\r\n  }\r\n  /** return (4d) dot product of the instance and other point. */\r\n  public dotProduct(other: Point4d): number {\r\n    return this.xyzw[0] * other.xyzw[0] + this.xyzw[1] * other.xyzw[1] + this.xyzw[2] * other.xyzw[2] + this.xyzw[3] * other.xyzw[3];\r\n  }\r\n  /** return (4d) dot product of the instance with xyzw */\r\n  public dotProductXYZW(x: number, y: number, z: number, w: number): number {\r\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3] * w;\r\n  }\r\n  /** dotProduct with (point.x, point.y, point.z, 1) Used in PlaneAltitudeEvaluator interface */\r\n  public altitude(point: Point3d): number {\r\n    return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3];\r\n  }\r\n  /** dotProduct with (x, y, z, 1) Used in PlaneAltitudeEvaluator interface */\r\n  public altitudeXYZ(x: number, y: number, z: number): number {\r\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z + this.xyzw[3];\r\n  }\r\n  /** dotProduct with (point.x, point.y, point.z, point.w) Used in PlaneAltitudeEvaluator interface */\r\n  public weightedAltitude(point: Point4d): number {\r\n    return this.xyzw[0] * point.x + this.xyzw[1] * point.y + this.xyzw[2] * point.z + this.xyzw[3] * point.w;\r\n  }\r\n  /** dotProduct with (vector.x, vector.y, vector.z, 0).  Used in PlaneAltitudeEvaluator interface */\r\n  public velocity(vector: Vector3d): number {\r\n    return this.xyzw[0] * vector.x + this.xyzw[1] * vector.y + this.xyzw[2] * vector.z;\r\n  }\r\n  /** dotProduct with (x,y,z, 0).  Used in PlaneAltitudeEvaluator interface */\r\n  public velocityXYZ(x: number, y: number, z: number): number {\r\n    return this.xyzw[0] * x + this.xyzw[1] * y + this.xyzw[2] * z;\r\n  }\r\n  /**\r\n   * Return the x component of the normal used to evaluate altitude.\r\n   */\r\n  public normalX(): number { return this.x; }\r\n  /**\r\n  * Return the x component of the normal used to evaluate altitude.\r\n  */\r\n  public normalY(): number { return this.y; }\r\n  /**\r\n  * Return the z component of the normal used to evaluate altitude.\r\n  */\r\n  public normalZ(): number { return this.z; }\r\n\r\n  /** unit X vector */\r\n  public static unitX(): Point4d { return new Point4d(1, 0, 0, 0); }\r\n  /** unit Y vector */\r\n  public static unitY(): Point4d { return new Point4d(0, 1, 0, 0); }\r\n  /** unit Z vector */\r\n  public static unitZ(): Point4d { return new Point4d(0, 0, 1, 0); }\r\n  /** unit W vector */\r\n  public static unitW(): Point4d { return new Point4d(0, 0, 0, 1); }\r\n  /** Divide by denominator, but return undefined if denominator is zero. */\r\n  public safeDivideOrNull(denominator: number, result?: Point4d): Point4d | undefined {\r\n    if (denominator !== 0.0) {\r\n      return this.scale(1.0 / denominator, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * * Return xyz projection of spacePoint to the plane (this Point4d is understood as plane coefficients, not point coordinates)\r\n   * * If the xyz part of `this` are all zero, (a clone of) `spacePoint` is returned.\r\n   */\r\n  public projectPointToPlane(spacePoint: Point3d, result?: Point3d): Point3d {\r\n    return this.projectXYZToPlane(spacePoint.x, spacePoint.y, spacePoint.z, result);\r\n  }\r\n  /** Return the projection of (x,y,z) onto the plane. */\r\n  public override projectXYZToPlane(x: number, y: number, z: number, result?: Point3d): Point3d {\r\n    const h = this.altitudeXYZ(x, y, z);\r\n    const nn = this.magnitudeSquaredXYZ();\r\n    // this unusual tol is needed so that toPlane3dByOriginAndUnitNormal agrees with its original implementation\r\n    const alpha = Geometry.conditionalDivideCoordinate(-h, nn, Geometry.largeFractionResult * Geometry.largeFractionResult);\r\n    if (alpha === undefined)\r\n      return Point3d.create(x, y, z, result);\r\n    return Point3d.create(x + alpha * this.x, y + alpha * this.y, z + alpha * this.z, result);\r\n  }\r\n  /** scale all components (including w!!) */\r\n  public scale(scale: number, result?: Point4d): Point4d {\r\n    result = result ? result : new Point4d();\r\n    result.xyzw[0] = this.xyzw[0] * scale;\r\n    result.xyzw[1] = this.xyzw[1] * scale;\r\n    result.xyzw[2] = this.xyzw[2] * scale;\r\n    result.xyzw[3] = this.xyzw[3] * scale;\r\n    return result;\r\n  }\r\n  /** Negate components (including w!!) */\r\n  public negate(result?: Point4d): Point4d {\r\n    result = result ? result : new Point4d();\r\n    result.xyzw[0] = -this.xyzw[0];\r\n    result.xyzw[1] = -this.xyzw[1];\r\n    result.xyzw[2] = -this.xyzw[2];\r\n    result.xyzw[3] = -this.xyzw[3];\r\n    return result;\r\n  }\r\n  /**\r\n   * If `this.w` is nonzero, return a 4d point `(x/w,y/w,z/w, 1)`\r\n   * If `this.w` is zero, return undefined.\r\n   * @param result optional result\r\n   */\r\n  public normalizeWeight(result?: Point4d): Point4d | undefined {\r\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n    result = result ? result : new Point4d();\r\n    return this.safeDivideOrNull(mag, result);\r\n  }\r\n  /**\r\n   * If `this.w` is nonzero, return a 3d point `(x/w,y/w,z/w)`\r\n   * If `this.w` is zero, return undefined.\r\n   * @param result optional result\r\n   */\r\n  public realPoint(result?: Point3d): Point3d | undefined {\r\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n    if (mag === 0.0)\r\n      return undefined;\r\n    const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n    return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n  }\r\n\r\n  /** Convert the homogeneous point to a (strongly typed) point or vector.\r\n   * * If `this.w` is nonzero, return a Point3d `(x/w,y/w,z/w)`\r\n   * * If `this.w` is zero, return a Vector3d `(x,y,z)`\r\n   */\r\n  public realPointOrVector(): Point3d | Vector3d {\r\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n    if (mag === 0.0)\r\n      return Vector3d.create(this.x, this.y, this.z);\r\n    const a = 1.0 / mag; // in zero case everything multiplies right back to true zero.\r\n    return Point3d.create(this.x * a, this.y * a, this.z * a);\r\n  }\r\n  /**\r\n   * * If w is nonzero, return Point3d with x/w,y/w,z/w.\r\n   * * If w is zero, return 000\r\n   * @param x x coordinate\r\n   * @param y y coordinate\r\n   * @param z z coordinate\r\n   * @param w w coordinate\r\n   * @param result optional result\r\n   */\r\n  public static createRealPoint3dDefault000(x: number, y: number, z: number, w: number, result?: Point3d): Point3d {\r\n    const mag = Geometry.correctSmallFraction(w);\r\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n    return Point3d.create(x * a, y * a, z * a, result);\r\n  }\r\n  /**\r\n   * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n   * * If w is zero, return 000\r\n   * @param x x coordinate\r\n   * @param y y coordinate\r\n   * @param z z coordinate\r\n   * @param w w coordinate\r\n   * @param dx x coordinate of derivative\r\n   * @param dy y coordinate of derivative\r\n   * @param dz z coordinate of derivative\r\n   * @param dw w coordinate of derivative\r\n   * @param result optional result\r\n   */\r\n  public static createRealDerivativeRay3dDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, result?: Ray3d): Ray3d {\r\n    const mag = Geometry.correctSmallFraction(w);\r\n    // real point is X/w.\r\n    // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n    const aa = a * a;\r\n    return Ray3d.createXYZUVW(x * a, y * a, z * a, (dx * w - dw * x) * aa, (dy * w - dw * y) * aa, (dz * w - dw * z) * aa, result);\r\n  }\r\n  /**\r\n   * * If w is nonzero, return Vector3d which is the derivative of the projected xyz with given w and 4d derivatives.\r\n   * * If w is zero, return 000\r\n   * @param x x coordinate\r\n   * @param y y coordinate\r\n   * @param z z coordinate\r\n   * @param w w coordinate\r\n   * @param dx x coordinate of derivative\r\n   * @param dy y coordinate of derivative\r\n   * @param dz z coordinate of derivative\r\n   * @param dw w coordinate of derivative\r\n   * @param result optional result\r\n   */\r\n  public static createRealDerivativePlane3dByOriginAndVectorsDefault000(x: number, y: number, z: number, w: number, dx: number, dy: number, dz: number, dw: number, ddx: number, ddy: number, ddz: number, ddw: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const mag = Geometry.correctSmallFraction(w);\r\n    // real point is X/w.\r\n    // real derivative is (X' * w - X *w) / ww, and weight is always 0 by cross products.\r\n    const a = mag === 0 ? 0.0 : (1.0 / mag); // in zero case everything multiplies right back to true zero.\r\n    const aa = a * a;\r\n    const fx = x * a;\r\n    const fy = y * a;\r\n    const fz = z * a;\r\n    const dfx = (dx * w - dw * x) * aa;\r\n    const dfy = (dy * w - dw * y) * aa;\r\n    const dfz = (dz * w - dw * z) * aa;\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(fx, fy, fz, dfx, dfy, dfz, quotientDerivative2(ddx, dw, ddw, fx, dfx, a), quotientDerivative2(ddy, dw, ddw, fy, dfy, a), quotientDerivative2(ddz, dw, ddw, fz, dfz, a), result);\r\n  }\r\n  /**\r\n   * * If this.w is nonzero, return Point3d with x/w,y/w,z/w.\r\n   * * If this.w is zero, return 000\r\n   */\r\n  public realPointDefault000(result?: Point3d): Point3d {\r\n    const mag = Geometry.correctSmallFraction(this.xyzw[3]);\r\n    if (mag === 0.0)\r\n      return Point3d.create(0, 0, 0, result);\r\n    result = result ? result : new Point3d();\r\n    const a = 1.0 / mag;\r\n    return Point3d.create(this.xyzw[0] * a, this.xyzw[1] * a, this.xyzw[2] * a, result);\r\n  }\r\n  /** divide all components (x,y,z,w) by the 4d magnitude.\r\n   *\r\n   * * This is appropriate for normalizing a quaternion\r\n   * * Use normalizeWeight to divide by the w component.\r\n   */\r\n  public normalizeXYZW(result?: Point4d): Point4d | undefined {\r\n    const mag = Geometry.correctSmallFraction(this.magnitudeXYZW());\r\n    result = result ? result : new Point4d();\r\n    return this.safeDivideOrNull(mag, result);\r\n  }\r\n\r\n  /**\r\n   * Return the determinant of the 3x3 matrix using components i,j,k of the 3 inputs.\r\n   */\r\n  public static determinantIndexed3X3(pointA: Point4d, pointB: Point4d, pointC: Point4d, i: number, j: number, k: number) {\r\n    return Geometry.tripleProduct(\r\n      pointA.xyzw[i], pointA.xyzw[j], pointA.xyzw[k],\r\n      pointB.xyzw[i], pointB.xyzw[j], pointB.xyzw[k],\r\n      pointC.xyzw[i], pointC.xyzw[j], pointC.xyzw[k]);\r\n  }\r\n  /**\r\n   * Return a Point4d perpendicular to all 3 inputs. (A higher level cross product concept)\r\n   * @param pointA first point\r\n   * @param pointB second point\r\n   * @param pointC third point\r\n   */\r\n  public static perpendicularPoint4dPlane(pointA: Point4d, pointB: Point4d, pointC: Point4d): Point4d {\r\n    return Point4d.create(\r\n      Point4d.determinantIndexed3X3(pointA, pointB, pointC, 1, 2, 3),\r\n      -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 2, 3, 0),\r\n      Point4d.determinantIndexed3X3(pointA, pointB, pointC, 3, 0, 1),\r\n      -Point4d.determinantIndexed3X3(pointA, pointB, pointC, 0, 1, 2));\r\n  }\r\n  /** Treating this Point4d as plane coefficients, convert to origin and normal form. */\r\n  public toPlane3dByOriginAndUnitNormal(result?: Plane3dByOriginAndUnitNormal): Plane3dByOriginAndUnitNormal | undefined {\r\n    return Plane3dByOriginAndUnitNormal.createFrom(this, result);\r\n  }\r\n  /** Normalize so sum of squares of all 4 coordinates is 1. */\r\n  public normalizeQuaternion() {\r\n    const magnitude = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\r\n\r\n    if (magnitude > 0.0) {\r\n      const f = 1.0 / magnitude;\r\n      this.x *= f;\r\n      this.y *= f;\r\n      this.z *= f;\r\n      this.w *= f;\r\n    }\r\n    return magnitude;\r\n  }\r\n  /** Return a (normalized) quaternion interpolated between two quaternions. */\r\n  public static interpolateQuaternions(quaternion0: Point4d, fractionParameter: number, quaternion1: Point4d, result?: Point4d): Point4d {\r\n    if (!result)\r\n      result = new Point4d();\r\n    const maxSafeCosine = 0.9995;\r\n\r\n    // return exact quaternions for special values\r\n    if (0.0 === fractionParameter) {\r\n      result = quaternion0;\r\n      return result;\r\n    }\r\n    if (1.0 === fractionParameter) {\r\n      result = quaternion1;\r\n      return result;\r\n    }\r\n    if (0.5 === fractionParameter) {\r\n      quaternion0.plus(quaternion1, result);\r\n      result.normalizeQuaternion();\r\n      return result;\r\n    }\r\n\r\n    const q0 = quaternion0.clone();\r\n    const q1 = quaternion1.clone();\r\n    let dot = quaternion0.dotProduct(quaternion1);\r\n\r\n    // prevent interpolation through the longer great arc\r\n    if (dot < 0.0) {\r\n      q1.negate(q1);\r\n      dot = -dot;\r\n    }\r\n\r\n    // if nearly parallel, use interpolate and renormalize .\r\n    if (dot > maxSafeCosine) {\r\n      q0.interpolate(fractionParameter, q1, result);\r\n      result.normalizeQuaternion();\r\n      return result;\r\n    }\r\n\r\n    // safety check\r\n    if (dot < -1.0)\r\n      dot = -1.0;\r\n    else if (dot > 1.0)\r\n      dot = 1.0;\r\n\r\n    // create orthonormal basis {q0, q2}\r\n    const q2 = new Point4d();\r\n    q1.plusScaled(q0, -dot, q2);  //  bsiDPoint4d_addScaledDPoint4d(& q2, & q1, & q0, -dot);\r\n    q2.normalizeQuaternion();\r\n\r\n    const angle = Math.acos(dot);\r\n    const angleOfInterpolation = angle * fractionParameter;\r\n    result = Point4d.createAdd2Scaled(q0, Math.cos(angleOfInterpolation), q2, Math.sin(angleOfInterpolation));\r\n    return result;\r\n  }\r\n  /** Measure the \"angle\" between two points, using all 4 components in the dot product that\r\n   * gives the cosine of the angle.\r\n   */\r\n  public radiansToPoint4dXYZW(other: Point4d): number | undefined {\r\n    const magA = this.magnitudeXYZW();\r\n    const magB = other.magnitudeXYZW();\r\n    const dot = this.dotProduct(other);  // == cos (theta) * magA * magB\r\n    const cos = Geometry.conditionalDivideFraction(dot, magA * magB);\r\n    if (cos === undefined)\r\n      return undefined;\r\n    return Math.acos(cos);\r\n  }\r\n}\r\n"]}

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

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\nimport { Geometry } from \"../Geometry\";\n/**\n * `BandedSystem` is a class with static methods for solving banded linear systems, such as in computing\n * Bspline poles for pass-through points\n * @internal\n */\nexport class BandedSystem {\n  /** apply LU decomposition to a banded system */\n  public static decomposeLU(\n    numRow: number,\n    bw: number,   /* band width */\n    data: Float64Array,\n  ): boolean {\n    const n = numRow - 1;\n    const sbw = Math.floor(bw / 2); // ASSUMES bw is odd?\n    let sum;\n    // Phase 1:\n    //   [A b C]\n    //   [d q f]\n    //   [G h I]\n    // q is a diagonal (pivot\n    // d, f are row vectors\n    // A,C,I are blocks\n    // b,h are column vectors.\n    // Phase 1:  [q,f] -= d * [b,C]\n    // Phase 2: h = (h- G*b)/q\n    // This is standard gaussian elimination, but in row-think rather than the usual column-think\n    for (let i = 0; i <= n; i++) {\n      const jh = Math.min(n, i + sbw);\n      for (let j = i; j <= jh; j++) {\n        const kl = Math.max(0, j - sbw);\n        sum = 0.0;\n        for (let k = kl; k < i; k++)\n          sum += data[i * bw + k - i + sbw] * data[k * bw + j - k + sbw];\n        data[i * bw + j - i + sbw] -= sum;\n      }\n\n      for (let j = i + 1; j <= jh; j++) {\n        const kl = Math.max(0, j - sbw);\n        sum = 0.0;\n        for (let k = kl; k < i; k++)\n          sum += data[j * bw + k - j + sbw] * data[k * bw + i - k + sbw];\n\n        if (Math.abs(data[i * bw + sbw]) < 1e-9)   // TODO -- tolerance !!!\n          return false;\n\n        data[j * bw + i - j + sbw] = (data[j * bw + i - j + sbw] - sum) / data[i * bw + sbw];\n      }\n    }\n    return true;\n  }\n\n  /**\n   *\n   * @param sum evolving sum.  sum.length\n   * @param source data being added\n   * @param sourceRow row in source.  Plain offset is sourceRow * sum.length\n   * @param scale scale factor to apply.\n   */\n  private static arrayAddScaledBlock(sum: Float64Array, source: Float64Array, sourceRow: number, scale: number) {\n    const n = sum.length;\n    let k = n * sourceRow;\n    for (let i = 0; i < n; i++, k++) {\n      sum[i] += source[k] * scale;\n    }\n  }\n  //   dest[destRow][*] = sourceA[sourceRow][*] - sourceB[*]\n  private static blockAssignBlockMinusArray(dest: Float64Array, destRow: number, sourceA: Float64Array, sourceARow: number, sourceB: Float64Array) {\n    const n = sourceB.length;\n    let destIndex = destRow * n;\n    let sourceIndex = sourceARow * n;\n    for (let i = 0; i < n; i++, sourceIndex++, destIndex++) {\n      dest[destIndex] = sourceA[sourceIndex] - sourceB[i];\n    }\n  }\n  //   dest[destRow][*] = sourceA[sourceBRow][*] * scaleA - sourceB[*] * scaleB\n  private static blockSumOfScaledBlockScaledArray(dest: Float64Array, destRow: number, sourceA: Float64Array, sourceBRow: number, scaleA: number, sourceB: Float64Array, scaleB: number) {\n    const n = sourceB.length;\n    let destIndex = destRow * n;\n    let sourceBIndex = sourceBRow * n;\n    for (let i = 0; i < n; i++, sourceBIndex++, destIndex++) {\n      dest[destIndex] = sourceA[sourceBIndex] * scaleA + sourceB[i] * scaleB;\n    }\n  }\n\n  /**\n   * Solve a linear system A*X=B where\n   * * A is nominally an `numRow*numRow` matrix, but is stored in banded row-major form\n   * * The band storage is `bw` numbers per row, with the middle value being the diagonal of that row.\n   *    * Hence rows near top and bottom have band values `outside` the matrix.\n   * * The right hand side is an `numRow*numRHS` matrix in row-major order.\n   * @param numRow number of rows (and columns) of the nominal full matrix.\n   * @param bw total bandwidth (diagonal + equal number of values to left and right)\n   * @param matrix the banded matrix, as packed row-major\n   * @param numRHS the number of right hand sides.\n   * @param rhs the right hand sides\n   */\n  public static solveBandedSystemMultipleRHS(\n    numRow: number,\n    bw: number,   /* band width */\n    matrix: Float64Array,\n    numRHS: number, // number of components in each RHS row.\n    rhs: Float64Array, // RHS data, packed, overwritten by solution\n  ): Float64Array | undefined {\n    if (!this.decomposeLU(numRow, bw, matrix))\n      return undefined;\n\n    const n = numRow - 1;\n    const sbw = Math.floor(bw / 2);\n    const rhsRowS = new Float64Array(numRHS);\n\n    /* Compute solution vector */\n    // Z is solution vector . . .\n    const reducedRHS = new Float64Array(numRHS * numRow);\n    const result = new Float64Array(numRHS * numRow);\n\n    for (let i = 0; i <= n; i++) {\n      rhsRowS.fill(0);\n\n      const jl = Math.max(0, i - sbw);\n      for (let j = jl; j < i; j++) {\n        this.arrayAddScaledBlock(rhsRowS, reducedRHS, j, matrix[i * bw + j - i + sbw]);\n        // S.SumOf(S, Z[j], data[i * bw + j - i + sbw]);\n      }\n      this.blockAssignBlockMinusArray(reducedRHS, i, rhs, i, rhsRowS);\n    }\n    for (let i = n; i >= 0; i--) {\n      const fact = Geometry.conditionalDivideCoordinate(1.0, matrix[i * bw + sbw]);\n      if (fact === undefined)\n        return undefined;\n\n      rhsRowS.fill(0);\n\n      const jh = Math.min(n, i + sbw);\n      for (let j = i + 1; j <= jh; j++) {\n        // S.SumOf(S, Q[j], data[i * bw + j - i + sbw]);\n        this.arrayAddScaledBlock(rhsRowS, result, j, matrix[i * bw + j - i + sbw]);\n      }\n      this.blockSumOfScaledBlockScaledArray(result, i, reducedRHS, i, fact, rhsRowS, -fact);\n      // Q[i].SumOf(O, Z[i], fact, S, -fact);\n    }\n\n    return result;\n  }\n  /**\n   * Multiply a banded numRow*numRow matrix times a full numRow*numRHS, return as new matrix\n   */\n  public static multiplyBandedTimesFull(\n    numRow: number,\n    bw: number,   /* band width */\n    bandedMatrix: Float64Array,\n    numRHS: number, // number of components in each RHS row.\n    rhs: Float64Array, // RHS data, packed, overwritten by solution\n  ): Float64Array {\n    const result = new Float64Array(rhs.length);\n    const halfBandWidth = Math.floor(bw / 2);\n    let sum, k0, k1, kRef;\n\n    for (let pivot = 0; pivot < numRow; pivot++) {\n      // \"k\" vars are nominal column indices in the matrix, and nominal row indices in the rhs.\n      k0 = pivot - halfBandWidth;\n      if (k0 < 0) k0 = 0;\n      k1 = pivot + halfBandWidth + 1;\n      if (k1 > numRow) k1 = numRow;\n      kRef = halfBandWidth + pivot * (bw - 1);\n      for (let m = 0; m < numRHS; m++) {\n        sum = 0;\n        for (let k = k0; k < k1; k++) {\n          sum += bandedMatrix[kRef + k] * rhs[k * numRHS + m];\n        }\n        result[pivot * numRHS + m] = sum;\n      }\n    }\n    return result;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\nimport { Geometry } from \"../Geometry\";\r\n/**\r\n * `BandedSystem` is a class with static methods for solving banded linear systems, such as in computing\r\n * Bspline poles for pass-through points\r\n * @internal\r\n */\r\nexport class BandedSystem {\r\n  /** apply LU decomposition to a banded system */\r\n  public static decomposeLU(\r\n    numRow: number,\r\n    bw: number,   /* band width */\r\n    data: Float64Array,\r\n  ): boolean {\r\n    const n = numRow - 1;\r\n    const sbw = Math.floor(bw / 2); // ASSUMES bw is odd?\r\n    let sum;\r\n    // Phase 1:\r\n    //   [A b C]\r\n    //   [d q f]\r\n    //   [G h I]\r\n    // q is a diagonal (pivot\r\n    // d, f are row vectors\r\n    // A,C,I are blocks\r\n    // b,h are column vectors.\r\n    // Phase 1:  [q,f] -= d * [b,C]\r\n    // Phase 2: h = (h- G*b)/q\r\n    // This is standard gaussian elimination, but in row-think rather than the usual column-think\r\n    for (let i = 0; i <= n; i++) {\r\n      const jh = Math.min(n, i + sbw);\r\n      for (let j = i; j <= jh; j++) {\r\n        const kl = Math.max(0, j - sbw);\r\n        sum = 0.0;\r\n        for (let k = kl; k < i; k++)\r\n          sum += data[i * bw + k - i + sbw] * data[k * bw + j - k + sbw];\r\n        data[i * bw + j - i + sbw] -= sum;\r\n      }\r\n\r\n      for (let j = i + 1; j <= jh; j++) {\r\n        const kl = Math.max(0, j - sbw);\r\n        sum = 0.0;\r\n        for (let k = kl; k < i; k++)\r\n          sum += data[j * bw + k - j + sbw] * data[k * bw + i - k + sbw];\r\n\r\n        if (Math.abs(data[i * bw + sbw]) < 1e-9)   // TODO -- tolerance !!!\r\n          return false;\r\n\r\n        data[j * bw + i - j + sbw] = (data[j * bw + i - j + sbw] - sum) / data[i * bw + sbw];\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   *\r\n   * @param sum evolving sum.  sum.length\r\n   * @param source data being added\r\n   * @param sourceRow row in source.  Plain offset is sourceRow * sum.length\r\n   * @param scale scale factor to apply.\r\n   */\r\n  private static arrayAddScaledBlock(sum: Float64Array, source: Float64Array, sourceRow: number, scale: number) {\r\n    const n = sum.length;\r\n    let k = n * sourceRow;\r\n    for (let i = 0; i < n; i++, k++) {\r\n      sum[i] += source[k] * scale;\r\n    }\r\n  }\r\n  //   dest[destRow][*] = sourceA[sourceRow][*] - sourceB[*]\r\n  private static blockAssignBlockMinusArray(dest: Float64Array, destRow: number, sourceA: Float64Array, sourceARow: number, sourceB: Float64Array) {\r\n    const n = sourceB.length;\r\n    let destIndex = destRow * n;\r\n    let sourceIndex = sourceARow * n;\r\n    for (let i = 0; i < n; i++, sourceIndex++, destIndex++) {\r\n      dest[destIndex] = sourceA[sourceIndex] - sourceB[i];\r\n    }\r\n  }\r\n  //   dest[destRow][*] = sourceA[sourceBRow][*] * scaleA - sourceB[*] * scaleB\r\n  private static blockSumOfScaledBlockScaledArray(dest: Float64Array, destRow: number, sourceA: Float64Array, sourceBRow: number, scaleA: number, sourceB: Float64Array, scaleB: number) {\r\n    const n = sourceB.length;\r\n    let destIndex = destRow * n;\r\n    let sourceBIndex = sourceBRow * n;\r\n    for (let i = 0; i < n; i++, sourceBIndex++, destIndex++) {\r\n      dest[destIndex] = sourceA[sourceBIndex] * scaleA + sourceB[i] * scaleB;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solve a linear system A*X=B where\r\n   * * A is nominally an `numRow*numRow` matrix, but is stored in banded row-major form\r\n   * * The band storage is `bw` numbers per row, with the middle value being the diagonal of that row.\r\n   *    * Hence rows near top and bottom have band values `outside` the matrix.\r\n   * * The right hand side is an `numRow*numRHS` matrix in row-major order.\r\n   * @param numRow number of rows (and columns) of the nominal full matrix.\r\n   * @param bw total bandwidth (diagonal + equal number of values to left and right)\r\n   * @param matrix the banded matrix, as packed row-major\r\n   * @param numRHS the number of right hand sides.\r\n   * @param rhs the right hand sides\r\n   */\r\n  public static solveBandedSystemMultipleRHS(\r\n    numRow: number,\r\n    bw: number,   /* band width */\r\n    matrix: Float64Array,\r\n    numRHS: number, // number of components in each RHS row.\r\n    rhs: Float64Array, // RHS data, packed, overwritten by solution\r\n  ): Float64Array | undefined {\r\n    if (!this.decomposeLU(numRow, bw, matrix))\r\n      return undefined;\r\n\r\n    const n = numRow - 1;\r\n    const sbw = Math.floor(bw / 2);\r\n    const rhsRowS = new Float64Array(numRHS);\r\n\r\n    /* Compute solution vector */\r\n    // Z is solution vector . . .\r\n    const reducedRHS = new Float64Array(numRHS * numRow);\r\n    const result = new Float64Array(numRHS * numRow);\r\n\r\n    for (let i = 0; i <= n; i++) {\r\n      rhsRowS.fill(0);\r\n\r\n      const jl = Math.max(0, i - sbw);\r\n      for (let j = jl; j < i; j++) {\r\n        this.arrayAddScaledBlock(rhsRowS, reducedRHS, j, matrix[i * bw + j - i + sbw]);\r\n        // S.SumOf(S, Z[j], data[i * bw + j - i + sbw]);\r\n      }\r\n      this.blockAssignBlockMinusArray(reducedRHS, i, rhs, i, rhsRowS);\r\n    }\r\n    for (let i = n; i >= 0; i--) {\r\n      const fact = Geometry.conditionalDivideCoordinate(1.0, matrix[i * bw + sbw]);\r\n      if (fact === undefined)\r\n        return undefined;\r\n\r\n      rhsRowS.fill(0);\r\n\r\n      const jh = Math.min(n, i + sbw);\r\n      for (let j = i + 1; j <= jh; j++) {\r\n        // S.SumOf(S, Q[j], data[i * bw + j - i + sbw]);\r\n        this.arrayAddScaledBlock(rhsRowS, result, j, matrix[i * bw + j - i + sbw]);\r\n      }\r\n      this.blockSumOfScaledBlockScaledArray(result, i, reducedRHS, i, fact, rhsRowS, -fact);\r\n      // Q[i].SumOf(O, Z[i], fact, S, -fact);\r\n    }\r\n\r\n    return result;\r\n  }\r\n  /**\r\n   * Multiply a banded numRow*numRow matrix times a full numRow*numRHS, return as new matrix\r\n   */\r\n  public static multiplyBandedTimesFull(\r\n    numRow: number,\r\n    bw: number,   /* band width */\r\n    bandedMatrix: Float64Array,\r\n    numRHS: number, // number of components in each RHS row.\r\n    rhs: Float64Array, // RHS data, packed, overwritten by solution\r\n  ): Float64Array {\r\n    const result = new Float64Array(rhs.length);\r\n    const halfBandWidth = Math.floor(bw / 2);\r\n    let sum, k0, k1, kRef;\r\n\r\n    for (let pivot = 0; pivot < numRow; pivot++) {\r\n      // \"k\" vars are nominal column indices in the matrix, and nominal row indices in the rhs.\r\n      k0 = pivot - halfBandWidth;\r\n      if (k0 < 0) k0 = 0;\r\n      k1 = pivot + halfBandWidth + 1;\r\n      if (k1 > numRow) k1 = numRow;\r\n      kRef = halfBandWidth + pivot * (bw - 1);\r\n      for (let m = 0; m < numRHS; m++) {\r\n        sum = 0;\r\n        for (let k = k0; k < k1; k++) {\r\n          sum += bandedMatrix[kRef + k] * rhs[k * numRHS + m];\r\n        }\r\n        result[pivot * numRHS + m] = sum;\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n}\r\n"]}