@itwin/core-geometry 5.2.0-dev.8 → 5.3.0-dev.1

package/lib/cjs/bspline/BSplineCurveOps.js.map

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

package/lib/cjs/bspline/BezierCurveBase.d.ts

@@ -76,9 +76,9 @@ export declare abstract class BezierCurveBase extends CurvePrimitive {
     /** Return the length of the control polygon. */
     polygonLength(): number;
     /** Return the start point.  (first control point) */
-    startPoint(): Point3d;
+    startPoint(result?: Point3d): Point3d;
     /** Return the end point.  (last control point) */
-    endPoint(): Point3d;
+    endPoint(result?: Point3d): Point3d;
     /** Return the control polygon length as a quick length estimate. */
     quickLength(): number;
     /** Concrete classes must implement extendRange . . .  */

package/lib/cjs/bspline/BezierCurveBase.d.ts.map

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package/lib/cjs/bspline/BezierCurveBase.js

@@ -115,14 +115,12 @@ class BezierCurveBase extends CurvePrimitive_1.CurvePrimitive {
         return sum;
     }
     /** Return the start point.  (first control point) */
-    startPoint() {
-        const result = this.getPolePoint3d(0); // ASSUME non-trivial pole set -- if null comes back, it bubbles out
-        return result;
+    startPoint(result) {
+        return this.getPolePoint3d(0, result); // ASSUME non-trivial pole set -- if null comes back, it bubbles out
     }
     /** Return the end point.  (last control point) */
-    endPoint() {
-        const result = this.getPolePoint3d(this.order - 1); // ASSUME non-trivial pole set
-        return result;
+    endPoint(result) {
+        return this.getPolePoint3d(this.order - 1, result); // ASSUME non-trivial pole set
     }
     /** Return the control polygon length as a quick length estimate. */
     quickLength() { return this.polygonLength(); }

package/lib/cjs/bspline/BezierCurveBase.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { CurveOffsetXYHandler } from \"../curve/internalContexts/CurveOffsetXYHandler\";\nimport { PlaneAltitudeRangeContext } from \"../curve/internalContexts/PlaneAltitudeRangeContext\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { OffsetOptions } from \"../curve/OffsetOptions\";\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"../geometry3d/Angle\";\nimport { IStrokeHandler } from \"../geometry3d/GeometryHandler\";\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\nimport { Ray3d } from \"../geometry3d/Ray3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { UnivariateBezier } from \"../numerics/BezierPolynomials\";\nimport { Bezier1dNd } from \"./Bezier1dNd\";\nimport { KnotVector } from \"./KnotVector\";\n\n/**\n * Base class for CurvePrimitive (necessarily 3D) with _polygon.\n * * This has a Bezier1dNd polygon as a member, and implements dimension-independent methods\n * * This exists to support\n *    * BezierCurve3d -- 3 coordinates x,y,z per block in the Bezier1dNd poles\n *    * BezierCurve3dH -- 4 coordinates x,y,z,w per block in the Bezier1dNd poles\n * * The implementations of \"pure 3d\" queries is based on calling `getPolePoint3d`.\n * * This has the subtle failure difference that `getPolePoint3d` call with a valid index on on a 3d curve always succeeds, but on 3dH curve fails when weight is zero.\n * @public\n */\nexport abstract class BezierCurveBase extends CurvePrimitive {\n  /** String name for schema properties */\n  public readonly curvePrimitiveType = \"bezierCurve\";\n\n  /** Control points */\n  protected _polygon: Bezier1dNd;\n  /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */\n  protected _workData0: Float64Array;\n  /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */\n  protected _workData1: Float64Array;\n  /** Scratch xyz point accessible by derived classes. */\n  protected _workPoint0: Point3d;\n  /** Scratch xyz point accessible by derived classes. */\n  protected _workPoint1: Point3d;\n\n  protected constructor(blockSize: number, data: Float64Array) {\n    super();\n    this._polygon = new Bezier1dNd(blockSize, data);\n    this._workPoint0 = Point3d.create();\n    this._workPoint1 = Point3d.create();\n    this._workData0 = new Float64Array(blockSize);\n    this._workData1 = new Float64Array(blockSize);\n\n  }\n  /** reverse the poles in place */\n  public reverseInPlace(): void { this._polygon.reverseInPlace(); }\n  /** saturate the pole in place, using knot intervals from `spanIndex` of the `knotVector` */\n  public saturateInPlace(knotVector: KnotVector, spanIndex: number): boolean {\n    const boolStat = this._polygon.saturateInPlace(knotVector, spanIndex);\n    if (boolStat) {\n      this.setInterval(\n        knotVector.spanFractionToFraction(spanIndex, 0.0),\n        knotVector.spanFractionToFraction(spanIndex, 1.0));\n    }\n    return boolStat;\n  }\n  /** (property accessor) Return the polynomial degree (one less than order) */\n  public get degree(): number {\n    return this._polygon.order - 1;\n  }\n  /** (property accessor) Return the polynomial order */\n  public get order(): number { return this._polygon.order; }\n  /** (property accessor) Return the number of poles (aka control points) */\n  public get numPoles(): number { return this._polygon.order; }\n  /** Get pole `i` as a Point3d.\n   * * For 3d curve, this is simple a pole access, and only fails (return `undefined`) for invalid index\n   * * For 4d curve, this deweights the homogeneous pole and can fail due to 0 weight.\n   */\n  public abstract getPolePoint3d(i: number, point?: Point3d): Point3d | undefined;\n\n  /** Get pole `i` as a Point4d.\n   * * For 3d curve, this accesses the simple pole and returns with weight 1.\n   * * For 4d curve, this accesses the (weighted) pole.\n   */\n  public abstract getPolePoint4d(i: number, point?: Point4d): Point4d | undefined;\n  /** Set mapping to parent curve (e.g. if this bezier is a span extracted from a bspline, this is the knot interval of the span) */\n  public setInterval(a: number, b: number) { this._polygon.setInterval(a, b); }\n  /** map `fraction` from this Bezier curves inherent 0..1 range to the (a,b) range of parent\n   * * ( The parent range should have been previously defined with `setInterval`)\n   */\n  public fractionToParentFraction(fraction: number): number { return this._polygon.fractionToParentFraction(fraction); }\n\n  /** append stroke points to a linestring, based on `strokeCount` and `fractionToPoint` from derived class*/\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\n    const numPerSpan = this.computeStrokeCountForOptions(options);\n    const fractionStep = 1.0 / numPerSpan;\n    for (let i = 0; i <= numPerSpan; i++) {\n      const fraction = i * fractionStep;\n      this.fractionToPoint(fraction, this._workPoint0);\n      dest.appendStrokePoint(this._workPoint0);\n    }\n  }\n  /** announce intervals with stroke counts */\n  public emitStrokableParts(handler: IStrokeHandler, _options?: StrokeOptions): void {\n    const numPerSpan = this.computeStrokeCountForOptions(_options);\n    handler.announceIntervalForUniformStepStrokes(this, numPerSpan, 0.0, 1.0);\n  }\n  /** Return a simple array of arrays with the control points as `[[x,y,z],[x,y,z],..]` */\n  public copyPolesAsJsonArray(): any[] { return this._polygon.unpackToJsonArrays(); }\n\n  /** return true if all poles are on a plane. */\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\n    let point: Point3d | undefined = this._workPoint0;\n    for (let i = 0; ; i++) {\n      point = this.getPolePoint3d(i, point);\n      if (!point)\n        return true;\n      if (!plane.isPointInPlane(point))\n        break;    // which gets to return false, which is otherwise unreachable . . .\n    }\n    return false;\n  }\n  /** Return the length of the control polygon. */\n  public polygonLength(): number {\n    if (!this.getPolePoint3d(0, this._workPoint0))\n      return 0.0;\n    let i = 0;\n    let sum = 0.0;\n    while (this.getPolePoint3d(++i, this._workPoint1)) {\n      sum += this._workPoint0.distance(this._workPoint1);\n      this._workPoint0.setFrom(this._workPoint1);\n    }\n    return sum;\n  }\n  /** Return the start point.  (first control point) */\n  public override startPoint(): Point3d {\n    const result = this.getPolePoint3d(0)!;   // ASSUME non-trivial pole set -- if null comes back, it bubbles out\n    return result;\n  }\n  /** Return the end point.  (last control point) */\n  public override endPoint(): Point3d {\n    const result = this.getPolePoint3d(this.order - 1)!;    // ASSUME non-trivial pole set\n    return result;\n  }\n  /** Return the control polygon length as a quick length estimate. */\n  public quickLength(): number { return this.polygonLength(); }\n  /** Concrete classes must implement extendRange . . .  */\n  public abstract override extendRange(rangeToExtend: Range3d, transform?: Transform): void;\n  /**\n   * 1D bezier coefficients for use in range computations.\n   * @internal\n   */\n  protected _workBezier?: UnivariateBezier; // available for bezier logic within a method\n  /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */\n  protected _workCoffsA?: Float64Array;\n  /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */\n  protected _workCoffsB?: Float64Array;\n\n  /**\n   * set up the _workBezier members with specific order.\n   * * Try to reuse existing members if their sizes match.\n   * * Ignore members corresponding to args that are 0 or negative.\n   * @param primaryBezierOrder order of expected bezier\n   * @param orderA length of _workCoffsA (simple array)\n   * @param orderB length of _workCoffsB (simple array)\n   */\n  protected allocateAndZeroBezierWorkData(primaryBezierOrder: number, orderA: number, orderB: number) {\n    if (primaryBezierOrder > 0) {\n      if (this._workBezier !== undefined && this._workBezier.order === primaryBezierOrder) {\n        this._workBezier.zero();\n      } else\n        this._workBezier = new UnivariateBezier(primaryBezierOrder);\n    }\n    if (orderA > 0) {\n      if (this._workCoffsA !== undefined && this._workCoffsA.length === orderA)\n        this._workCoffsA.fill(0);\n      else\n        this._workCoffsA = new Float64Array(orderA);\n    }\n    if (orderB > 0) {\n      if (this._workCoffsB !== undefined && this._workCoffsB.length === orderB)\n        this._workCoffsB.fill(0);\n      else\n        this._workCoffsB = new Float64Array(orderB);\n    }\n  }\n  /**\n   * Assess length and turn to determine a stroke count.\n   * * this method is used by both BSplineCurve3d and BSplineCurve3dH.\n   * * points are accessed via getPolePoint3d.\n   *   * Hence a zero-weight pole will be a problem\n   * @param options stroke options structure.\n   */\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\n\n    this.getPolePoint3d(0, this._workPoint0);\n    this.getPolePoint3d(1, this._workPoint1);\n    let numStrokes = 1;\n    if (this._workPoint0 && this._workPoint1) {\n      let dx0 = this._workPoint1.x - this._workPoint0.x;\n      let dy0 = this._workPoint1.y - this._workPoint0.y;\n      let dz0 = this._workPoint1.z - this._workPoint0.z;\n      let dx1, dy1, dz1; // first differences of leading edge\n      let sumRadians = 0.0;\n      let thisLength = Geometry.hypotenuseXYZ(dx0, dy0, dz0);\n      this._workPoint1.setFromPoint3d(this._workPoint0);\n      let sumLength = thisLength;\n      let maxLength = thisLength;\n      let maxRadians = 0.0;\n      let thisRadians;\n      for (let i = 2; this.getPolePoint3d(i, this._workPoint1); i++) {\n        dx1 = this._workPoint1.x - this._workPoint0.x;\n        dy1 = this._workPoint1.y - this._workPoint0.y;\n        dz1 = this._workPoint1.z - this._workPoint0.z;\n        thisRadians = Angle.radiansBetweenVectorsXYZ(dx0, dy0, dz0, dx1, dy1, dz1);\n        sumRadians += thisRadians;\n        maxRadians = Geometry.maxAbsXY(thisRadians, maxRadians);\n        thisLength = Geometry.hypotenuseXYZ(dx1, dy1, dz1);\n        sumLength += thisLength;\n        maxLength = Geometry.maxXY(maxLength, thisLength);\n        dx0 = dx1;\n        dy0 = dy1;\n        dz0 = dz1;\n        this._workPoint0.setFrom(this._workPoint1);\n      }\n      const length1 = maxLength * this.degree;    // This may be larger than sumLength\n      const length2 = Math.sqrt(length1 * sumLength);  // This is in between\n      let radians1 = maxRadians * (this.degree - 1);  // As if worst case keeps happening.\n      if (this.degree < 3)\n        radians1 *= 3;  // so quadratics aren't under-stroked\n      const radians2 = Math.sqrt(radians1 * sumRadians);\n      const minCount = this.degree; // NOTE: this means 1) a small, nontrivial, straight Bezier is over-stroked, and 2) options.minStrokesPerPrimitive is ignored\n      numStrokes = StrokeOptions.applyAngleTol(\n        options, StrokeOptions.applyMaxEdgeLength(options, minCount, length2), radians2, 0.1,\n      );\n      if (options) {\n        numStrokes = options.applyChordTolToLengthAndRadians(numStrokes, sumLength, radians1);\n      }\n    }\n    return numStrokes;\n  }\n\n  /** Return a deep clone. */\n  public abstract override clone(): BezierCurveBase;\n\n  /** Return a transformed deep clone. */\n  public override cloneTransformed(transform: Transform): BezierCurveBase {\n    const curve1 = this.clone();\n    curve1.tryTransformInPlace(transform);\n    return curve1;\n  }\n\n  /**\n   * Construct an offset of the instance curve as viewed in the xy-plane (ignoring z).\n   * * No attempt is made to join the offsets of smaller constituent primitives. To construct a fully joined offset\n   *   for an aggregate instance (e.g., LineString3d, CurveChainWithDistanceIndex), use RegionOps.constructCurveXYOffset() instead.\n   * @param offsetDistanceOrOptions offset distance (positive to left of the instance curve), or options object\n   */\n  public override constructOffsetXY(offsetDistanceOrOptions: number | OffsetOptions): CurvePrimitive | CurvePrimitive[] | undefined {\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\n    const handler = new CurveOffsetXYHandler(this, options.leftOffsetDistance);\n    this.emitStrokableParts(handler, options.strokeOptions);\n    return handler.claimResult();\n  }\n\n  /** Return a curve primitive which is a portion of this curve.\n   * @param fractionA [in] start fraction\n   * @param fractionB [in] end fraction\n   */\n  public override clonePartialCurve(fractionA: number, fractionB: number): BezierCurveBase {\n    const partialCurve = this.clone();\n    partialCurve._polygon.subdivideToIntervalInPlace(fractionA, fractionB);\n    return partialCurve;\n  }\n\n  /** Project instance geometry (via dispatch) onto the given ray, and return the extreme fractional parameters of projection.\n   * @param ray ray onto which the instance is projected. A `Vector3d` is treated as a `Ray3d` with zero origin.\n   * @param lowHigh optional receiver for output\n   * @returns range of fractional projection parameters onto the ray, where 0.0 is start of the ray and 1.0 is the end of the ray.\n   */\n  public override projectedParameterRange(ray: Vector3d | Ray3d, lowHigh?: Range1d): Range1d | undefined {\n    return PlaneAltitudeRangeContext.findExtremeFractionsAlongDirection(this, ray, lowHigh);\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n/** @packageDocumentation\n * @module Bspline\n */\n\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\nimport { CurveOffsetXYHandler } from \"../curve/internalContexts/CurveOffsetXYHandler\";\nimport { PlaneAltitudeRangeContext } from \"../curve/internalContexts/PlaneAltitudeRangeContext\";\nimport { LineString3d } from \"../curve/LineString3d\";\nimport { OffsetOptions } from \"../curve/OffsetOptions\";\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"../geometry3d/Angle\";\nimport { IStrokeHandler } from \"../geometry3d/GeometryHandler\";\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\nimport { Ray3d } from \"../geometry3d/Ray3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { UnivariateBezier } from \"../numerics/BezierPolynomials\";\nimport { Bezier1dNd } from \"./Bezier1dNd\";\nimport { KnotVector } from \"./KnotVector\";\n\n/**\n * Base class for CurvePrimitive (necessarily 3D) with _polygon.\n * * This has a Bezier1dNd polygon as a member, and implements dimension-independent methods\n * * This exists to support\n *    * BezierCurve3d -- 3 coordinates x,y,z per block in the Bezier1dNd poles\n *    * BezierCurve3dH -- 4 coordinates x,y,z,w per block in the Bezier1dNd poles\n * * The implementations of \"pure 3d\" queries is based on calling `getPolePoint3d`.\n * * This has the subtle failure difference that `getPolePoint3d` call with a valid index on on a 3d curve always succeeds, but on 3dH curve fails when weight is zero.\n * @public\n */\nexport abstract class BezierCurveBase extends CurvePrimitive {\n  /** String name for schema properties */\n  public readonly curvePrimitiveType = \"bezierCurve\";\n\n  /** Control points */\n  protected _polygon: Bezier1dNd;\n  /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */\n  protected _workData0: Float64Array;\n  /** scratch data blocks accessible by concrete class.   Initialized to correct blockSize in constructor. */\n  protected _workData1: Float64Array;\n  /** Scratch xyz point accessible by derived classes. */\n  protected _workPoint0: Point3d;\n  /** Scratch xyz point accessible by derived classes. */\n  protected _workPoint1: Point3d;\n\n  protected constructor(blockSize: number, data: Float64Array) {\n    super();\n    this._polygon = new Bezier1dNd(blockSize, data);\n    this._workPoint0 = Point3d.create();\n    this._workPoint1 = Point3d.create();\n    this._workData0 = new Float64Array(blockSize);\n    this._workData1 = new Float64Array(blockSize);\n\n  }\n  /** reverse the poles in place */\n  public reverseInPlace(): void { this._polygon.reverseInPlace(); }\n  /** saturate the pole in place, using knot intervals from `spanIndex` of the `knotVector` */\n  public saturateInPlace(knotVector: KnotVector, spanIndex: number): boolean {\n    const boolStat = this._polygon.saturateInPlace(knotVector, spanIndex);\n    if (boolStat) {\n      this.setInterval(\n        knotVector.spanFractionToFraction(spanIndex, 0.0),\n        knotVector.spanFractionToFraction(spanIndex, 1.0));\n    }\n    return boolStat;\n  }\n  /** (property accessor) Return the polynomial degree (one less than order) */\n  public get degree(): number {\n    return this._polygon.order - 1;\n  }\n  /** (property accessor) Return the polynomial order */\n  public get order(): number { return this._polygon.order; }\n  /** (property accessor) Return the number of poles (aka control points) */\n  public get numPoles(): number { return this._polygon.order; }\n  /** Get pole `i` as a Point3d.\n   * * For 3d curve, this is simple a pole access, and only fails (return `undefined`) for invalid index\n   * * For 4d curve, this deweights the homogeneous pole and can fail due to 0 weight.\n   */\n  public abstract getPolePoint3d(i: number, point?: Point3d): Point3d | undefined;\n\n  /** Get pole `i` as a Point4d.\n   * * For 3d curve, this accesses the simple pole and returns with weight 1.\n   * * For 4d curve, this accesses the (weighted) pole.\n   */\n  public abstract getPolePoint4d(i: number, point?: Point4d): Point4d | undefined;\n  /** Set mapping to parent curve (e.g. if this bezier is a span extracted from a bspline, this is the knot interval of the span) */\n  public setInterval(a: number, b: number) { this._polygon.setInterval(a, b); }\n  /** map `fraction` from this Bezier curves inherent 0..1 range to the (a,b) range of parent\n   * * ( The parent range should have been previously defined with `setInterval`)\n   */\n  public fractionToParentFraction(fraction: number): number { return this._polygon.fractionToParentFraction(fraction); }\n\n  /** append stroke points to a linestring, based on `strokeCount` and `fractionToPoint` from derived class*/\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\n    const numPerSpan = this.computeStrokeCountForOptions(options);\n    const fractionStep = 1.0 / numPerSpan;\n    for (let i = 0; i <= numPerSpan; i++) {\n      const fraction = i * fractionStep;\n      this.fractionToPoint(fraction, this._workPoint0);\n      dest.appendStrokePoint(this._workPoint0);\n    }\n  }\n  /** announce intervals with stroke counts */\n  public emitStrokableParts(handler: IStrokeHandler, _options?: StrokeOptions): void {\n    const numPerSpan = this.computeStrokeCountForOptions(_options);\n    handler.announceIntervalForUniformStepStrokes(this, numPerSpan, 0.0, 1.0);\n  }\n  /** Return a simple array of arrays with the control points as `[[x,y,z],[x,y,z],..]` */\n  public copyPolesAsJsonArray(): any[] { return this._polygon.unpackToJsonArrays(); }\n\n  /** return true if all poles are on a plane. */\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\n    let point: Point3d | undefined = this._workPoint0;\n    for (let i = 0; ; i++) {\n      point = this.getPolePoint3d(i, point);\n      if (!point)\n        return true;\n      if (!plane.isPointInPlane(point))\n        break;    // which gets to return false, which is otherwise unreachable . . .\n    }\n    return false;\n  }\n  /** Return the length of the control polygon. */\n  public polygonLength(): number {\n    if (!this.getPolePoint3d(0, this._workPoint0))\n      return 0.0;\n    let i = 0;\n    let sum = 0.0;\n    while (this.getPolePoint3d(++i, this._workPoint1)) {\n      sum += this._workPoint0.distance(this._workPoint1);\n      this._workPoint0.setFrom(this._workPoint1);\n    }\n    return sum;\n  }\n  /** Return the start point.  (first control point) */\n  public override startPoint(result?: Point3d): Point3d {\n    return this.getPolePoint3d(0, result)!;   // ASSUME non-trivial pole set -- if null comes back, it bubbles out\n  }\n  /** Return the end point.  (last control point) */\n  public override endPoint(result?: Point3d): Point3d {\n    return this.getPolePoint3d(this.order - 1, result)!;    // ASSUME non-trivial pole set\n  }\n  /** Return the control polygon length as a quick length estimate. */\n  public quickLength(): number { return this.polygonLength(); }\n  /** Concrete classes must implement extendRange . . .  */\n  public abstract override extendRange(rangeToExtend: Range3d, transform?: Transform): void;\n  /**\n   * 1D bezier coefficients for use in range computations.\n   * @internal\n   */\n  protected _workBezier?: UnivariateBezier; // available for bezier logic within a method\n  /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */\n  protected _workCoffsA?: Float64Array;\n  /** scratch array for use by derived classes, using allocateAndZeroBezierWorkData for sizing. */\n  protected _workCoffsB?: Float64Array;\n\n  /**\n   * set up the _workBezier members with specific order.\n   * * Try to reuse existing members if their sizes match.\n   * * Ignore members corresponding to args that are 0 or negative.\n   * @param primaryBezierOrder order of expected bezier\n   * @param orderA length of _workCoffsA (simple array)\n   * @param orderB length of _workCoffsB (simple array)\n   */\n  protected allocateAndZeroBezierWorkData(primaryBezierOrder: number, orderA: number, orderB: number) {\n    if (primaryBezierOrder > 0) {\n      if (this._workBezier !== undefined && this._workBezier.order === primaryBezierOrder) {\n        this._workBezier.zero();\n      } else\n        this._workBezier = new UnivariateBezier(primaryBezierOrder);\n    }\n    if (orderA > 0) {\n      if (this._workCoffsA !== undefined && this._workCoffsA.length === orderA)\n        this._workCoffsA.fill(0);\n      else\n        this._workCoffsA = new Float64Array(orderA);\n    }\n    if (orderB > 0) {\n      if (this._workCoffsB !== undefined && this._workCoffsB.length === orderB)\n        this._workCoffsB.fill(0);\n      else\n        this._workCoffsB = new Float64Array(orderB);\n    }\n  }\n  /**\n   * Assess length and turn to determine a stroke count.\n   * * this method is used by both BSplineCurve3d and BSplineCurve3dH.\n   * * points are accessed via getPolePoint3d.\n   *   * Hence a zero-weight pole will be a problem\n   * @param options stroke options structure.\n   */\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\n\n    this.getPolePoint3d(0, this._workPoint0);\n    this.getPolePoint3d(1, this._workPoint1);\n    let numStrokes = 1;\n    if (this._workPoint0 && this._workPoint1) {\n      let dx0 = this._workPoint1.x - this._workPoint0.x;\n      let dy0 = this._workPoint1.y - this._workPoint0.y;\n      let dz0 = this._workPoint1.z - this._workPoint0.z;\n      let dx1, dy1, dz1; // first differences of leading edge\n      let sumRadians = 0.0;\n      let thisLength = Geometry.hypotenuseXYZ(dx0, dy0, dz0);\n      this._workPoint1.setFromPoint3d(this._workPoint0);\n      let sumLength = thisLength;\n      let maxLength = thisLength;\n      let maxRadians = 0.0;\n      let thisRadians;\n      for (let i = 2; this.getPolePoint3d(i, this._workPoint1); i++) {\n        dx1 = this._workPoint1.x - this._workPoint0.x;\n        dy1 = this._workPoint1.y - this._workPoint0.y;\n        dz1 = this._workPoint1.z - this._workPoint0.z;\n        thisRadians = Angle.radiansBetweenVectorsXYZ(dx0, dy0, dz0, dx1, dy1, dz1);\n        sumRadians += thisRadians;\n        maxRadians = Geometry.maxAbsXY(thisRadians, maxRadians);\n        thisLength = Geometry.hypotenuseXYZ(dx1, dy1, dz1);\n        sumLength += thisLength;\n        maxLength = Geometry.maxXY(maxLength, thisLength);\n        dx0 = dx1;\n        dy0 = dy1;\n        dz0 = dz1;\n        this._workPoint0.setFrom(this._workPoint1);\n      }\n      const length1 = maxLength * this.degree;    // This may be larger than sumLength\n      const length2 = Math.sqrt(length1 * sumLength);  // This is in between\n      let radians1 = maxRadians * (this.degree - 1);  // As if worst case keeps happening.\n      if (this.degree < 3)\n        radians1 *= 3;  // so quadratics aren't under-stroked\n      const radians2 = Math.sqrt(radians1 * sumRadians);\n      const minCount = this.degree; // NOTE: this means 1) a small, nontrivial, straight Bezier is over-stroked, and 2) options.minStrokesPerPrimitive is ignored\n      numStrokes = StrokeOptions.applyAngleTol(\n        options, StrokeOptions.applyMaxEdgeLength(options, minCount, length2), radians2, 0.1,\n      );\n      if (options) {\n        numStrokes = options.applyChordTolToLengthAndRadians(numStrokes, sumLength, radians1);\n      }\n    }\n    return numStrokes;\n  }\n\n  /** Return a deep clone. */\n  public abstract override clone(): BezierCurveBase;\n\n  /** Return a transformed deep clone. */\n  public override cloneTransformed(transform: Transform): BezierCurveBase {\n    const curve1 = this.clone();\n    curve1.tryTransformInPlace(transform);\n    return curve1;\n  }\n\n  /**\n   * Construct an offset of the instance curve as viewed in the xy-plane (ignoring z).\n   * * No attempt is made to join the offsets of smaller constituent primitives. To construct a fully joined offset\n   *   for an aggregate instance (e.g., LineString3d, CurveChainWithDistanceIndex), use RegionOps.constructCurveXYOffset() instead.\n   * @param offsetDistanceOrOptions offset distance (positive to left of the instance curve), or options object\n   */\n  public override constructOffsetXY(offsetDistanceOrOptions: number | OffsetOptions): CurvePrimitive | CurvePrimitive[] | undefined {\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\n    const handler = new CurveOffsetXYHandler(this, options.leftOffsetDistance);\n    this.emitStrokableParts(handler, options.strokeOptions);\n    return handler.claimResult();\n  }\n\n  /** Return a curve primitive which is a portion of this curve.\n   * @param fractionA [in] start fraction\n   * @param fractionB [in] end fraction\n   */\n  public override clonePartialCurve(fractionA: number, fractionB: number): BezierCurveBase {\n    const partialCurve = this.clone();\n    partialCurve._polygon.subdivideToIntervalInPlace(fractionA, fractionB);\n    return partialCurve;\n  }\n\n  /** Project instance geometry (via dispatch) onto the given ray, and return the extreme fractional parameters of projection.\n   * @param ray ray onto which the instance is projected. A `Vector3d` is treated as a `Ray3d` with zero origin.\n   * @param lowHigh optional receiver for output\n   * @returns range of fractional projection parameters onto the ray, where 0.0 is start of the ray and 1.0 is the end of the ray.\n   */\n  public override projectedParameterRange(ray: Vector3d | Ray3d, lowHigh?: Range1d): Range1d | undefined {\n    return PlaneAltitudeRangeContext.findExtremeFractionsAlongDirection(this, ray, lowHigh);\n  }\n}\n"]}

package/lib/cjs/bspline/InterpolationCurve3d.d.ts

@@ -1,11 +1,13 @@
 /** @packageDocumentation
  * @module Bspline
  */
-import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
-import { ProxyCurve } from "../curve/ProxyCurve";
+import { Clipper } from "../clipping/ClipUtils";
+import { AnnounceNumberNumberCurvePrimitive } from "../curve/CurvePrimitive";
 import { GeometryQuery } from "../curve/GeometryQuery";
-import { Transform } from "../geometry3d/Transform";
+import { ProxyCurve } from "../curve/ProxyCurve";
 import { GeometryHandler } from "../geometry3d/GeometryHandler";
+import { Point3d, Vector3d } from "../geometry3d/Point3dVector3d";
+import { Transform } from "../geometry3d/Transform";
 import { XYZProps } from "../geometry3d/XYZProps";
 /**
  * fitPoints and end condition data for [[InterpolationCurve3d]]
@@ -13,25 +15,25 @@ import { XYZProps } from "../geometry3d/XYZProps";
  * @public
  */
 export interface InterpolationCurve3dProps {
-    /** order of the computed bspline (one more than degree) */
+    /** The order of the computed B-spline curve (one more than its degree). */
     order?: number;
-    /** true if the B-spline construction should be periodic */
+    /** Whether the B-spline construction should be periodic. Default is `false`. */
     closed?: boolean;
-    /** if closed and no knots, compute chord length knots (1) or uniform knots (0). Chord length knots give best fit. */
+    /** If closed and no knots, compute chord length knots (1) or uniform knots (0, default). Chord length knots give best fit. */
     isChordLenKnots?: number;
-    /** if !closed but first and last fitPoints are equal, pivot computed start/end tangent(s) so that they are colinear (1) or leave them be (0). */
+    /** If !closed but first and last fitPoints are equal, pivot computed start/end tangent(s) so that they are colinear (1) or leave them be (0, default). */
     isColinearTangents?: number;
-    /** if !closed and start/endTangent is given, set its magnitude to the first/last fit point chord length (1) or to the magnitude of the Bessel tangent (0). Bessel gives best fit. */
+    /** If !closed and start/endTangent is defined, set its magnitude to the first/last fit point chord length (1) or to the magnitude of the Bessel tangent (0, default). Bessel gives best fit. */
     isChordLenTangents?: number;
-    /** if !closed and start/endTangent is absent, compute it using the natural end condition (1) or Bessel (0). Bessel gives best fit. */
+    /** If !closed and start/endTangent is `undefined`, compute it using the natural end condition (1) or Bessel (0, default). Bessel gives best fit. */
     isNaturalTangents?: number;
-    /** optional start tangent, pointing into curve. Magnitude is ignored. */
+    /** Optional start tangent, pointing into curve. Magnitude is ignored. */
     startTangent?: XYZProps;
-    /** optional end tangent, pointing into curve. Magnitude is ignored. */
+    /** Optional end tangent, pointing into curve. Magnitude is ignored. */
     endTangent?: XYZProps;
-    /** points that the curve must pass through */
+    /** Points that the curve must pass through. */
     fitPoints: XYZProps[];
-    /** parameters for curve fitting, one per fit point */
+    /** Optional parameters for curve fitting, one per fit point. If `undefined`, knots are computed. */
     knots?: number[];
 }
 /**
@@ -113,10 +115,9 @@ export declare class InterpolationCurve3dOptions {
 export declare class InterpolationCurve3d extends ProxyCurve {
     readonly curvePrimitiveType = "interpolationCurve";
     private _options;
-    /**
-     * CAPTURE properties and proxy curve.
-     */
+    /** CAPTURE properties and proxy curve. */
     private constructor();
+    /** Second step of double dispatch: call `handler.handleInterpolationCurve3d(this)` */
     dispatchToGeometryHandler(handler: GeometryHandler): any;
     /**
      * Create an [[InterpolationCurve3d]] based on points, knots, and other properties in the [[InterpolationCurve3dProps]] or [[InterpolationCurve3dOptions]].
@@ -124,7 +125,8 @@ export declare class InterpolationCurve3d extends ProxyCurve {
      * * Use createCapture () if the options or props can be used without copy
      */
     static create(options: InterpolationCurve3dOptions | InterpolationCurve3dProps): InterpolationCurve3d | undefined;
-    /** Create an [[InterpolationCurve3d]]
+    /**
+     * Create an [[InterpolationCurve3d]]
      * * The options object is captured into the new curve object (not copied)
      */
     static createCapture(options: InterpolationCurve3dOptions): InterpolationCurve3d | undefined;
@@ -148,6 +150,14 @@ export declare class InterpolationCurve3d extends ProxyCurve {
      * Transform this [[InterpolationCurve3d]] and its defining data in place
      */
     tryTransformInPlace(transform: Transform): boolean;
+    /**
+     * Find intervals of this CurvePrimitive that are interior to a clipper.
+     * * This implementation simply passes the call to the proxy curve.
+     * @param clipper clip structure (e.g. clip planes).
+     * @param announce (optional) function to be called announcing fractional intervals of the input curve.
+     * @returns true if any "in" segments are announced.
+     */
+    announceClipIntervals(clipper: Clipper, announce?: AnnounceNumberNumberCurvePrimitive): boolean;
     /** Return a deep clone */
     clone(): InterpolationCurve3d;
     isAlmostEqual(other: GeometryQuery): boolean;