@itwin/core-geometry 5.2.0 → 5.2.2

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, Geometry, PlaneAltitudeEvaluator, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix4d } from \"../geometry4d/Matrix4d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { XYParitySearchContext } from \"../topology/XYParitySearchContext\";\r\nimport { FrameBuilder } from \"./FrameBuilder\";\r\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\r\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3d } from \"./Plane3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Point2d, Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3dArrayCarrier } from \"./Point3dArrayCarrier\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { PolylineOps } from \"./PolylineOps\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { SortablePolygon } from \"./SortablePolygon\";\r\nimport { XAndY, XYAndZ } from \"./XYZProps\";\r\n\r\n/**\r\n * Carries data about a point in the plane of a polygon.\r\n * @public\r\n */\r\nexport class PolygonLocationDetail {\r\n  /** The coordinates of the point p. */\r\n  public point: Point3d;\r\n  /** Application-specific number */\r\n  public a: number;\r\n  /** Application-specific vector */\r\n  public v: Vector3d;\r\n  /** A number that classifies the point's location with respect to the polygon. */\r\n  public code: PolygonLocation;\r\n  /** Index of the polygon vertex at the base of the edge closest to p. */\r\n  public closestEdgeIndex: number;\r\n  /** The parameter along the closest edge of the projection of p. */\r\n  public closestEdgeParam: number;\r\n\r\n  private constructor() {\r\n    this.point = new Point3d();\r\n    this.a = 0.0;\r\n    this.v = new Vector3d();\r\n    this.code = PolygonLocation.Unknown;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n\r\n  /** Invalidate this detail. */\r\n  public invalidate() {\r\n    this.point.setZero();\r\n    this.a = 0.0;\r\n    this.v.setZero();\r\n    this.code = PolygonLocation.Unknown;\r\n    this.closestEdgeIndex = 0;\r\n    this.closestEdgeParam = 0.0;\r\n  }\r\n\r\n  /** Create an invalid detail.\r\n   * @param result optional pre-allocated object to fill and return\r\n   */\r\n  public static create(result?: PolygonLocationDetail): PolygonLocationDetail {\r\n    if (undefined === result)\r\n      result = new PolygonLocationDetail();\r\n    else\r\n      result.invalidate();\r\n    return result;\r\n  }\r\n\r\n  /** Set the instance contents from the other detail.\r\n   * @param other detail to clone\r\n   */\r\n  public copyContentsFrom(other: PolygonLocationDetail) {\r\n    this.point.setFrom(other.point);\r\n    this.a = other.a;\r\n    this.v.setFrom(other.v);\r\n    this.code = other.code;\r\n    this.closestEdgeIndex = other.closestEdgeIndex;\r\n    this.closestEdgeParam = other.closestEdgeParam;\r\n  }\r\n\r\n  /** Whether this detail is valid. */\r\n  public get isValid(): boolean {\r\n    return this.code !== PolygonLocation.Unknown;\r\n  }\r\n\r\n  /** Whether this instance specifies a location inside or on the polygon. */\r\n  public get isInsideOrOn(): boolean {\r\n    return this.code === PolygonLocation.InsidePolygon ||\r\n      this.code === PolygonLocation.OnPolygonVertex || this.code === PolygonLocation.OnPolygonEdgeInterior ||\r\n      this.code === PolygonLocation.InsidePolygonProjectsToVertex || this.code === PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n  }\r\n  /**\r\n   * Set point, index, and fraction for an \"at vertex\" or \"along edge\" PolygonLocationDetail.\r\n   * * Point is not captured; its coordinates are copied.\r\n   */\r\n  public static createAtVertexOrEdge(point: Point3d, index: number, fraction: number = 0): PolygonLocationDetail {\r\n    const detail = new PolygonLocationDetail();\r\n    detail.point.setFrom(point);\r\n    detail.closestEdgeIndex = index;\r\n    detail.closestEdgeParam = fraction;\r\n    fraction = Geometry.clamp(fraction, 0, 1);\r\n    detail.code = (fraction > 0 && fraction < 1) ? PolygonLocation.OnPolygonEdgeInterior : PolygonLocation.OnPolygonVertex;\r\n    return detail;\r\n  }\r\n}\r\n\r\n/**\r\n * A pair of PolygonLocationDetail.\r\n * @public\r\n */\r\nexport class PolygonLocationDetailPair {\r\n  /** The first of the two details. */\r\n  public detailA: PolygonLocationDetail;\r\n  /** The second of the two details. */\r\n  public detailB: PolygonLocationDetail;\r\n\r\n  /** Constructor, captures inputs */\r\n  private constructor(detailA?: PolygonLocationDetail, detailB?: PolygonLocationDetail) {\r\n    this.detailA = detailA ? detailA : PolygonLocationDetail.create();\r\n    this.detailB = detailB ? detailB : PolygonLocationDetail.create();\r\n  }\r\n  /** Create an instance by capturing inputs */\r\n  public static create(detailA: PolygonLocationDetail, detailB: PolygonLocationDetail, result?: PolygonLocationDetailPair): PolygonLocationDetailPair {\r\n    if (!result)\r\n      return new PolygonLocationDetailPair(detailA, detailB);\r\n    result.detailA = detailA;\r\n    result.detailB = detailB;\r\n    return result;\r\n  }\r\n  /** Make a deep copy of this PolygonLocationDetailPair */\r\n  public clone(result?: PolygonLocationDetailPair): PolygonLocationDetailPair {\r\n    result = result ? result : new PolygonLocationDetailPair();\r\n    result.detailA.copyContentsFrom(this.detailA);\r\n    result.detailB.copyContentsFrom(this.detailB);\r\n    return result;\r\n  }\r\n  /** Swap the details of A, B */\r\n  public swapDetails() {\r\n    const q = this.detailA;\r\n    this.detailA = this.detailB;\r\n    this.detailB = q;\r\n  }\r\n}\r\n\r\n/**\r\n * Carrier for a loop extracted from clip operation, annotated for sorting\r\n * @internal\r\n */\r\nexport class CutLoop {\r\n  /* All points of the loop */\r\n  public xyz: GrowableXYZArray;\r\n  /* ray within point of \"on\" edge */\r\n  public edge?: Ray3d;\r\n  public sortCoordinate0: number;\r\n  public sortCoordinate1: number;\r\n  public sortDelta: number;\r\n  public isNotch: boolean;\r\n  public constructor(xyz: GrowableXYZArray) {\r\n    this.xyz = xyz;\r\n    this.edge = undefined;\r\n    this.sortCoordinate0 = this.sortCoordinate1 = 0;\r\n    this.sortDelta = 0;\r\n    this.isNotch = false;\r\n  }\r\n  /**\r\n   * Create a `CutLoop` structure annotated with the vector from last point to first.\r\n   * @param xyz coordinates to capture\r\n   */\r\n  public static createCaptureWithReturnEdge(xyz: GrowableXYZArray): CutLoop {\r\n    const result = new CutLoop(xyz);\r\n    if (xyz.length >= 2)\r\n      result.edge = Ray3d.createStartEnd(xyz.front()!, xyz.back()!);\r\n    return result;\r\n  }\r\n  /**\r\n   * Set up coordinates for sort steps:\r\n   * * Make `sortCoordinate0` and `sortCoordinate` the (algebraically sorted) start and end fractions along the ray\r\n   * * Make `sortDelta` the oriented difference of those two\r\n   * * Hence sorting on the coordinates puts loops in left-to-right order by the their edge vector leftmost point.\r\n   */\r\n  public setSortCoordinates(ray: Ray3d) {\r\n    this.sortDelta = this.edge!.direction.dotProduct(ray.direction);\r\n    const a = ray.dotProductToPoint(this.edge!.origin);\r\n    if (this.sortDelta >= 0) {\r\n      this.sortCoordinate0 = a;\r\n      this.sortCoordinate1 = a + this.sortDelta;\r\n    } else {\r\n      this.sortCoordinate0 = a + this.sortDelta;    // and sortDelta is negative !!!\r\n      this.sortCoordinate1 = a;\r\n\r\n    }\r\n  }\r\n  /** Return\r\n   * * 0 if other sort limits are not strictly contained in this.\r\n   * * 1 if other sort limits are strictly contained with same direction\r\n   * * -1 if other sort limits are strictly contained in opposite direction.\r\n   */\r\n  public containsSortLimits(other: CutLoop): number {\r\n    if (other.sortCoordinate0 >= this.sortCoordinate1\r\n      || other.sortCoordinate0 <= this.sortCoordinate0\r\n      || other.sortCoordinate1 <= this.sortCoordinate0\r\n      || other.sortCoordinate1 >= this.sortCoordinate1)\r\n      return 0;\r\n    return this.sortDelta * other.sortDelta > 0 ? 1 : -1;\r\n  }\r\n  /**\r\n   * * push coordinates from other onto this\r\n   * * reset this.sortCoordinate0 to other.sortCoordinate1\r\n   * @param other new coordinates\r\n   */\r\n  public absorb(other: CutLoop) {\r\n    this.xyz.pushFromGrowableXYZArray(other.xyz);\r\n    this.sortCoordinate0 = other.sortCoordinate1;\r\n  }\r\n  /** Comparison function for system sort function applied to an array of CutLoop .... */\r\n  public static sortFunction(loopA: CutLoop, loopB: CutLoop): number {\r\n    const q = loopA.sortCoordinate0 - loopB.sortCoordinate0;\r\n    return q > 0 ? 1 : -1;\r\n  }\r\n\r\n  /** Return first point coordinates.\r\n   * * For type checking, assume array is not empty.\r\n   */\r\n  public front(result?: Point3d): Point3d { return this.xyz.front(result)!; }\r\n  /** Return last point coordinates.\r\n   * * For type checking, assume array is not empty.\r\n   */\r\n  public back(result?: Point3d): Point3d { return this.xyz.back(result)!; }\r\n\r\n}\r\n/**\r\n * Context to hold an array of input loops and apply sort logic.\r\n * * This is used when a non-convex face is clipped by a plane\r\n * *  Simple convex clip logic in this case generates double-back edges that need to be eliminated.\r\n * * This class manages the elimination.\r\n * * Usage pattern is:\r\n * @internal\r\n */\r\nexport class CutLoopMergeContext {\r\n  /** Array (filled by user code) of loops being sorted. Contents are subject to being changed during sort. */\r\n  public inputLoops: CutLoop[];\r\n  /** Array (filled by sortAndMergeLoops) of reorganized loops. */\r\n  public outputLoops: CutLoop[];\r\n  // Initialize with empty loop arrays.\r\n  public constructor() {\r\n    this.inputLoops = [];\r\n    this.outputLoops = [];\r\n  }\r\n  /**\r\n   *  * Search all start and end points for the one most distant from point0.\r\n   */\r\n  private mostDistantPoint(point0: Point3d, workPoint: Point3d, resultPoint: Point3d) {\r\n    let dMax = -1.0;\r\n    resultPoint.setZero();\r\n    let d;\r\n    for (const loop of this.inputLoops) {\r\n      loop.front(workPoint);\r\n      d = workPoint.distanceSquared(point0);\r\n      if (d > dMax) {\r\n        dMax = d;\r\n        resultPoint.setFromPoint3d(workPoint);\r\n      }\r\n      loop.back(workPoint);\r\n      d = workPoint.distanceSquared(point0);\r\n      if (d > dMax) {\r\n        dMax = d;\r\n        resultPoint.setFromPoint3d(workPoint);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * * Find a long (probably longest) edge through start and end points of inputs.\r\n   * * Setup sortCoordinate0 and sortCoordinate1 along that edge for each loop\r\n   * * sort all inputLoop members by sortCoordinate0.\r\n   */\r\n  private sortInputs() {\r\n    if (this.inputLoops.length > 0 && this.inputLoops[0].xyz.length > 0) {\r\n      const point0 = this.inputLoops[0].xyz.front()!;\r\n      const workPoint = Point3d.create();\r\n      const point1 = Point3d.create();\r\n      // point0 could be in the middle.   Find the most distant point ...\r\n      this.mostDistantPoint(point0, workPoint, point1);\r\n      // And again from point1 to get to the other extreme .  .\r\n      this.mostDistantPoint(point1, workPoint, point0);\r\n      const sortRay = Ray3d.createStartEnd(point0, point1);\r\n      sortRay.direction.normalizeInPlace();\r\n      for (const loop of this.inputLoops)\r\n        loop.setSortCoordinates(sortRay);\r\n      this.inputLoops.sort((loopA, loopB) => CutLoop.sortFunction(loopA, loopB));\r\n\r\n    }\r\n  }\r\n  /**\r\n   * * sort all input loops by coordinate along the cut edge\r\n   * * sweep left to right, using start and end coordinates to decide if loops are outer or hole, and combine holes into their containing outer loops.\r\n   */\r\n  public sortAndMergeLoops() {\r\n    this.sortInputs();\r\n    const inputs = this.inputLoops;\r\n    const outputs = this.outputLoops;\r\n    const stack = [];\r\n    outputs.length = 0;\r\n    for (const candidate of inputs) {\r\n      candidate.isNotch = false;\r\n      // candidate must be either (a) absorbed in to of stack or (b) pushed onto stack.\r\n      // If pushed, must have indication of natch state.\r\n      for (; stack.length > 0;) {\r\n        const topOfStack = stack[stack.length - 1];\r\n        const containment = topOfStack.containsSortLimits(candidate);\r\n        if (containment === 0) {\r\n          if (!topOfStack.isNotch)\r\n            outputs.push(topOfStack);\r\n          stack.pop();\r\n          continue;   // a larger topOfStack may have appeared !\r\n          candidate.isNotch = false;\r\n        } else if (containment === 1) {\r\n          candidate.isNotch = false;\r\n          break;\r\n        } else {\r\n          topOfStack.absorb(candidate);\r\n          candidate.isNotch = true;\r\n          break;\r\n        }\r\n      }\r\n      stack.push(candidate);\r\n    }\r\n    // Anything on stack must be complete ...\r\n    for (const p of stack) {\r\n      if (!p.isNotch)\r\n        outputs.push(p);\r\n    }\r\n  }\r\n}\r\n/**\r\n * Bundle of options for [[PolygonOps.volumeBetweenPolygonAndPlane]].\r\n * @public\r\n * @see [[VolumeBetweenPolygonAndPlaneOutput]]\r\n */\r\nexport interface VolumeBetweenPolygonAndPlaneOptions {\r\n  /** Whether to skip computation of the area moments. If `true` only volume and area are returned. Default is `false`. */\r\n  skipMoments?: boolean;\r\n  /** Work point. If `skipMoments` is undefined/false, this point is returned as the area moment origin. */\r\n  workPoint0?: Point3d;\r\n  /** Another work point. */\r\n  workPoint1?: Point3d;\r\n  /** Work vector. */\r\n  workVector?: Vector3d;\r\n  /** Work matrix. If `skipMoments` is undefined/false, this matrix is returned as the area moment products. */\r\n  workMatrix?: Matrix4d;\r\n}\r\n/**\r\n * Bundle of output data for [[PolygonOps.volumeBetweenPolygonAndPlane]].\r\n * @public\r\n */\r\nexport interface VolumeBetweenPolygonAndPlaneOutput {\r\n  /** Six times the signed volume of the truncated prism between the polygon and the plane. */\r\n  volume6: number;\r\n  /** Two times the signed area of the polygon's projection onto the plane. */\r\n  area2: number;\r\n  /** Origin of the facet used to accumulate `products`. */\r\n  origin?: Point3d;\r\n  /** Raw accumulated second moment area products of the polygon's projection onto the plane. */\r\n  products?: Matrix4d;\r\n}\r\n/**\r\n * Various static methods to perform computations on an array of points interpreted as a polygon.\r\n * @public\r\n */\r\nexport class PolygonOps {\r\n  /** Sum areas of triangles from points[0] to each far edge.\r\n   * * Consider triangles from points[0] to each edge.\r\n   * * Sum the absolute areas (without regard to orientation) all these triangles.\r\n   * @returns sum of absolute triangle areas.\r\n   */\r\n  public static sumTriangleAreas(points: Point3d[] | GrowableXYZArray): number {\r\n    let s = 0;\r\n    const n = points.length;\r\n    if (Array.isArray(points)) {\r\n      if (n >= 3) {\r\n        const origin = points[0];\r\n        const vector0 = origin.vectorTo(points[1]);\r\n        let vector1 = Vector3d.create();\r\n        // This will work with or without closure edge.  If closure is given, the last vector is 000.\r\n        for (let i = 2; i < n; i++) {\r\n          vector1 = origin.vectorTo(points[i], vector1);\r\n          s += vector0.crossProductMagnitude(vector1);\r\n          vector0.setFrom(vector1);\r\n        }\r\n      }\r\n      return s * 0.5;\r\n    }\r\n    const crossVector = Vector3d.create();\r\n    for (let i = 2; i < n; i++) {\r\n      points.crossProductIndexIndexIndex(0, i - 1, i, crossVector);\r\n      s += crossVector.magnitude();\r\n    }\r\n    return s * 0.5;\r\n  }\r\n  /** Sum areas of triangles from points[0] to each far edge, as viewed with upVector pointing up.\r\n   * * Consider triangles from points[0] to each edge.\r\n   * * Sum the areas perpendicular to the upVector.\r\n   * * If the upVector is near-zero length, a simple z vector is used.\r\n   * @returns sum of triangle areas.\r\n   */\r\n  public static sumTriangleAreasPerpendicularToUpVector(points: Point3d[] | GrowableXYZArray, upVector: Vector3d): number {\r\n    let scale = upVector.magnitude();\r\n    if (scale < Geometry.smallMetricDistance) {\r\n      upVector = Vector3d.create(0, 0, 1);\r\n      scale = 1.0;\r\n    }\r\n\r\n    let s = 0;\r\n    const n = points.length;\r\n    if (Array.isArray(points)) {\r\n      if (n >= 3) {\r\n        const origin = points[0];\r\n        const vector0 = origin.vectorTo(points[1]);\r\n        let vector1 = Vector3d.create();\r\n        // This will work with or without closure edge.  If closure is given, the last vector is 000.\r\n        for (let i = 2; i < n; i++) {\r\n          vector1 = origin.vectorTo(points[i], vector1);\r\n          s += vector0.tripleProduct(vector1, upVector);\r\n          vector0.setFrom(vector1);\r\n        }\r\n      }\r\n      return s * 0.5 / scale;\r\n    }\r\n    const crossVector = Vector3d.create();\r\n    for (let i = 2; i < n; i++) {\r\n      points.crossProductIndexIndexIndex(0, i - 1, i, crossVector);\r\n      s += crossVector.dotProduct(upVector);\r\n    }\r\n    return s * 0.5 / scale;\r\n  }\r\n\r\n  /** Sum areas of triangles from points[0] to each far edge.\r\n   * * Consider triangles from points[0] to each edge.\r\n   * * Sum the signed areas of all these triangles. (An area can be negative at a concave corner.)\r\n   * @returns sum of signed triangle areas.\r\n   */\r\n  public static sumTriangleAreasXY(points: Point3d[]): number {\r\n    let s = 0.0;\r\n    const n = points.length;\r\n    if (n >= 3) {\r\n      const origin = points[0];\r\n      const vector0 = origin.vectorTo(points[1]);\r\n      let vector1 = Vector3d.create();\r\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\r\n      for (let i = 2; i < n; i++) {\r\n        vector1 = origin.vectorTo(points[i], vector1);\r\n        s += vector0.crossProductXY(vector1);\r\n        vector0.setFrom(vector1);\r\n      }\r\n    }\r\n    s *= 0.5;\r\n    return s;\r\n  }\r\n  /** These values are the integrated area moment products [xx,xy,xz, x]\r\n   * for a right triangle in the first quadrant at the origin -- (0,0),(1,0),(0,1)\r\n   */\r\n  private static readonly _triangleMomentWeights = Matrix4d.createRowValues(2.0 / 24.0, 1.0 / 24.0, 0, 4.0 / 24.0, 1.0 / 24.0, 2.0 / 24.0, 0, 4.0 / 24.0, 0, 0, 0, 0, 4.0 / 24.0, 4.0 / 24.0, 0, 12.0 / 24.0);\r\n  /** These values are the integrated volume moment products [xx,xy,xz, x, yx,yy,yz,y, zx,zy,zz,z,x,y,z,1]\r\n   * for a tetrahedron in the first quadrant at the origin -- (0,00),(1,0,0),(0,1,0),(0,0,1)\r\n   */\r\n  private static readonly _tetrahedralMomentWeights = Matrix4d.createRowValues(\r\n    1.0 / 60.0, 1.0 / 120, 1.0 / 120, 1.0 / 24.0,\r\n    1.0 / 120, 1.0 / 60.0, 1.0 / 120, 1.0 / 24.0,\r\n    1.0 / 120, 1.0 / 120, 1.0 / 60.0, 1.0 / 24.0,\r\n    1.0 / 24.0, 1.0 / 24.0, 1.0 / 24.0, 1.0 / 6.0);\r\n  // statics for shared reuse.\r\n  // many methods use these.\r\n  // only use them in \"leaf\" methods that are certain not to call other users . . .\r\n  private static _vector0 = Vector3d.create();\r\n  private static _vector1 = Vector3d.create();\r\n  private static _vector2 = Vector3d.create();\r\n  private static _vectorOrigin = Vector3d.create();\r\n  private static _normal = Vector3d.create();\r\n  private static _matrixA = Matrix4d.createIdentity();\r\n  private static _matrixB = Matrix4d.createIdentity();\r\n  private static _matrixC = Matrix4d.createIdentity();\r\n  /** return a vector which is perpendicular to the polygon and has magnitude equal to the polygon area. */\r\n  public static areaNormalGo(points: IndexedXYZCollection, result?: Vector3d): Vector3d | undefined {\r\n    if (!result)\r\n      result = new Vector3d();\r\n    else\r\n      result.setZero();\r\n    const n = points.length;\r\n    if (n === 3) {\r\n      points.crossProductIndexIndexIndex(0, 1, 2, result);\r\n    } else if (n > 3) {\r\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\r\n      for (let i = 2; i < n; i++) {\r\n        points.accumulateCrossProductIndexIndexIndex(0, i - 1, i, result);\r\n      }\r\n    }\r\n    // ALL BRANCHES SUM FULL CROSS PRODUCTS AND EXPECT SCALE HERE\r\n    result.scaleInPlace(0.5);\r\n    return result.isZero ? undefined : result;\r\n  }\r\n  /** return a vector which is perpendicular to the polygon and has magnitude equal to the polygon area. */\r\n  public static areaNormal(points: Point3d[], result?: Vector3d): Vector3d {\r\n    if (!result)\r\n      result = Vector3d.create();\r\n    PolygonOps.areaNormalGo(new Point3dArrayCarrier(points), result);\r\n    return result;\r\n  }\r\n  /** return the area of the polygon.\r\n   * * This assumes the polygon is planar\r\n   * * This does NOT assume the polygon is on the xy plane.\r\n   */\r\n  public static area(points: Point3d[]): number {\r\n    return PolygonOps.areaNormal(points).magnitude();\r\n  }\r\n  /** return the projected XY area of the polygon. */\r\n  public static areaXY(points: Point3d[] | IndexedXYZCollection): number {\r\n    let area = 0.0;\r\n    if (points instanceof IndexedXYZCollection) {\r\n      if (points.length > 2) {\r\n        const x0 = points.getXAtUncheckedPointIndex(0);\r\n        const y0 = points.getYAtUncheckedPointIndex(0);\r\n        let u1 = points.getXAtUncheckedPointIndex(1) - x0;\r\n        let v1 = points.getYAtUncheckedPointIndex(1) - y0;\r\n        let u2, v2;\r\n        for (let i = 2; i + 1 < points.length; i++, u1 = u2, v1 = v2) {\r\n          u2 = points.getXAtUncheckedPointIndex(i) - x0;\r\n          v2 = points.getYAtUncheckedPointIndex(i) - y0;\r\n          area += Geometry.crossProductXYXY(u1, v1, u2, v2);\r\n        }\r\n      }\r\n    } else {\r\n      for (let i = 1; i + 1 < points.length; i++)\r\n        area += points[0].crossProductToPointsXY(points[i], points[i + 1]);\r\n    }\r\n    return 0.5 * area;\r\n  }\r\n  /** Sum the areaXY () values for multiple polygons */\r\n  public static sumAreaXY(polygons: Point3d[][]): number {\r\n    let s = 0.0;\r\n    for (const p of polygons)\r\n      s += this.areaXY(p);\r\n    return s;\r\n  }\r\n  /**\r\n   * Return a [[Ray3d]] with:\r\n   * * `origin` is the centroid of the polygon,\r\n   * * `direction` is a unit vector perpendicular to the polygon plane,\r\n   * * `a` is the polygon area.\r\n   * @param points the polygon vertices in order. Points can lie in any plane. First and last point do not have to be equal.\r\n   * @param result optional pre-allocated result to populate and return.\r\n   */\r\n  public static centroidAreaNormal(points: IndexedXYZCollection | Point3d[], result?: Ray3d): Ray3d | undefined {\r\n    if (Array.isArray(points)) {\r\n      const carrier = new Point3dArrayCarrier(points);\r\n      return this.centroidAreaNormal(carrier, result);\r\n    }\r\n    const n = points.length;\r\n    if (n === 3) {\r\n      const normal = points.crossProductIndexIndexIndex(0, 1, 2, result?.direction)!;\r\n      const a = 0.5 * normal.magnitude();\r\n      const centroid = points.getPoint3dAtCheckedPointIndex(0, result?.origin)!;\r\n      points.accumulateScaledXYZ(1, 1.0, centroid);\r\n      points.accumulateScaledXYZ(2, 1.0, centroid);\r\n      centroid.scaleInPlace(1.0 / 3.0);\r\n      if (!result)\r\n        result = Ray3d.createCapture(centroid, normal);\r\n      if (result.tryNormalizeInPlaceWithAreaWeight(a))\r\n        return result;\r\n      return undefined;\r\n    }\r\n    if (n >= 3) {\r\n      const areaNormal = Vector3d.createZero();\r\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\r\n      for (let i = 2; i < n; i++) {\r\n        points.accumulateCrossProductIndexIndexIndex(0, i - 1, i, areaNormal);\r\n      }\r\n      areaNormal.normalizeInPlace();\r\n      const origin = points.getPoint3dAtCheckedPointIndex(0)!;\r\n      const vector0 = Vector3d.create();\r\n      const vector1 = Vector3d.create();\r\n      points.vectorXYAndZIndex(origin, 1, vector0);\r\n      let cross = Vector3d.create();\r\n      const centroidSum = Vector3d.createZero();\r\n      const normal = Vector3d.createZero(result?.direction);\r\n      let signedTriangleArea;\r\n      // This will work with or without closure edge. If closure is given, the last vector is 000.\r\n      for (let i = 2; i < n; i++) {\r\n        points.vectorXYAndZIndex(origin, i, vector1);\r\n        cross = vector0.crossProduct(vector1, cross);\r\n        signedTriangleArea = areaNormal.dotProduct(cross); // well, actually twice the area.\r\n        normal.addInPlace(cross); // this grows to twice the area\r\n        const b = signedTriangleArea / 6.0;\r\n        centroidSum.plus2Scaled(vector0, b, vector1, b, centroidSum);\r\n        vector0.setFrom(vector1);\r\n      }\r\n      const area = 0.5 * normal.magnitude();\r\n      const inverseArea = Geometry.conditionalDivideFraction(1, area);\r\n      if (inverseArea !== undefined) {\r\n        const centroid = origin.plusScaled(centroidSum, inverseArea, result?.origin);\r\n        if (!result)\r\n          result = Ray3d.createCapture(centroid, normal);\r\n        result.tryNormalizeInPlaceWithAreaWeight(area);\r\n        return result;\r\n      }\r\n    }\r\n    return undefined;\r\n  }\r\n  // Has the potential to be combined with centroidAreaNormal for point3d array and Ray3d return listed above...\r\n  // Returns undefined if given point array less than 3 or if not safe to divide at any point\r\n  /**\r\n   * * Return (in caller-allocated centroid) the centroid of the xy polygon.\r\n   * * Return (as function value)  the area\r\n   */\r\n  public static centroidAndAreaXY(points: Point2d[], centroid: Point2d): number | undefined {\r\n    let area = 0.0;\r\n    centroid.set(0, 0);\r\n    if (points.length < 3)\r\n      return undefined;\r\n    const origin = points[0];\r\n    let vectorSum = Vector2d.create(0, 0); // == sum ((U+V)/3) * (U CROSS V)/2 -- but leave out divisions\r\n    let areaSum = 0.0; // == sum (U CROSS V) / 2 -- but leave out divisions\r\n    for (let i = 1; i + 1 < points.length; i++) {\r\n      const vector0 = origin.vectorTo(points[i]);\r\n      const vector1 = origin.vectorTo(points[i + 1]);\r\n      const tempArea = vector0.crossProduct(vector1);\r\n      vectorSum = vectorSum.plus(vector0.plus(vector1).scale(tempArea));\r\n      areaSum += tempArea;\r\n    }\r\n    area = areaSum * 0.5;\r\n    const a = Geometry.conditionalDivideFraction(1.0, 6.0 * area);\r\n    if (a === undefined) {\r\n      centroid.setFrom(origin);\r\n      return undefined;\r\n    }\r\n    centroid.setFrom(origin.plusScaled(vectorSum, a));\r\n    return area;\r\n  }\r\n  /**\r\n   * Return a unit normal to the plane of the polygon.\r\n   * @param points array of points around the polygon.\r\n   * @param result caller-allocated result vector.\r\n   * @return true if and only if result has unit length\r\n   */\r\n  public static unitNormal(points: IndexedXYZCollection, result: Vector3d): boolean {\r\n    result.setZero();\r\n    let n = points.length;\r\n    if (n > 1 && points.getPoint3dAtUncheckedPointIndex(0).isExactEqual(points.getPoint3dAtUncheckedPointIndex(n - 1)))\r\n      --n;  // ignore closure point\r\n    if (n === 3) {\r\n      points.crossProductIndexIndexIndex(0, 1, 2, result);\r\n      return result.normalizeInPlace();\r\n    }\r\n    if (n === 4) {\r\n      // cross product of diagonals is more stable than from single of the points . . .\r\n      points.vectorIndexIndex(0, 2, PolygonOps._vector0);\r\n      points.vectorIndexIndex(1, 3, PolygonOps._vector1);\r\n      PolygonOps._vector0.crossProduct(PolygonOps._vector1, result);\r\n      return result.normalizeInPlace();\r\n    }\r\n    // more than 4 points  ... no shortcuts ...\r\n    PolygonOps.areaNormalGo(points, result);\r\n    return result.normalizeInPlace();\r\n  }\r\n  /** Accumulate to the matrix of area products of a polygon with respect to an origin.\r\n   * The polygon is assumed to be planar and non-self-intersecting.\r\n   */\r\n  /** Accumulate to the matrix of area products of a polygon with respect to an origin.\r\n   * * The polygon is assumed to be planar and non-self-intersecting.\r\n   * * Accumulated values are integrals over triangles from point 0 of the polygon to other edges of the polygon.\r\n   * * Integral over each triangle is transformed to integrals from the given origin.\r\n   * @param points array of points around the polygon.   Final closure point is not needed.\r\n   * @param origin origin for global accumulation.\r\n   * @param moments 4x4 matrix where products are accumulated.\r\n   */\r\n  public static addSecondMomentAreaProducts(points: IndexedXYZCollection, origin: Point3d, moments: Matrix4d) {\r\n    this.addSecondMomentTransformedProducts(PolygonOps._triangleMomentWeights, points, origin, 2, moments);\r\n  }\r\n\r\n  /** Accumulate to the matrix of volume products of a polygon with respect to an origin.\r\n   * * The polygon is assumed to be planar and non-self-intersecting.\r\n   * * Accumulated values are integrals over tetrahedra from the origin to triangles on the polygon.\r\n   * @param points array of points around the polygon.   Final closure point is not needed.\r\n   * @param origin origin for tetrahedra\r\n   * @param moments 4x4 matrix where products are accumulated.\r\n   */\r\n  public static addSecondMomentVolumeProducts(points: IndexedXYZCollection, origin: Point3d, moments: Matrix4d) {\r\n    this.addSecondMomentTransformedProducts(PolygonOps._tetrahedralMomentWeights, points, origin, 3, moments);\r\n  }\r\n  /** Return the matrix of area products of a polygon with respect to an origin.\r\n   * The polygon is assumed to be planar and non-self-intersecting.\r\n   * * `frameType===2` has xy vectors in the plane of the polygon, plus a unit normal z. (Used for area integrals)\r\n   * * `frameType===3` has vectors from origin to 3 points in the triangle. (Used for volume integrals)\r\n   */\r\n  private static addSecondMomentTransformedProducts(firstQuadrantMoments: Matrix4d, points: IndexedXYZCollection, origin: Point3d,\r\n    frameType: 2 | 3,\r\n    moments: Matrix4d) {\r\n    const unitNormal = PolygonOps._normal;\r\n    if (PolygonOps.unitNormal(points, unitNormal)) {\r\n      // The direction of the normal makes the various detJ values positive or negative so that non-convex polygons\r\n      // sum correctly.\r\n      const vector01 = PolygonOps._vector0;\r\n      const vector02 = PolygonOps._vector1;\r\n      const vector03 = PolygonOps._vector2;\r\n      const placement = PolygonOps._matrixA;\r\n      const matrixAB = PolygonOps._matrixB;\r\n      const matrixABC = PolygonOps._matrixC;\r\n      const vectorOrigin = points.vectorXYAndZIndex(origin, 0, PolygonOps._vectorOrigin)!;\r\n      const numPoints = points.length;\r\n      let detJ = 0;\r\n      for (let i2 = 2; i2 < numPoints; i2++) {\r\n        if (frameType === 2) {\r\n          points.vectorIndexIndex(0, i2 - 1, vector01);\r\n          points.vectorIndexIndex(0, i2, vector02);\r\n          detJ = unitNormal.tripleProduct(vector01, vector02);\r\n          placement.setOriginAndVectors(vectorOrigin, vector01, vector02, unitNormal);\r\n          placement.multiplyMatrixMatrix(firstQuadrantMoments, matrixAB);\r\n          matrixAB.multiplyMatrixMatrixTranspose(placement, matrixABC);\r\n          moments.addScaledInPlace(matrixABC, detJ);\r\n        } else if (frameType === 3) {\r\n          points.vectorXYAndZIndex(origin, 0, vector01);\r\n          points.vectorXYAndZIndex(origin, i2 - 1, vector02);\r\n          points.vectorXYAndZIndex(origin, i2, vector03);\r\n          detJ = vector01.tripleProduct(vector02, vector03);\r\n          placement.setOriginAndVectors(origin, vector01, vector02, vector03);\r\n          placement.multiplyMatrixMatrix(firstQuadrantMoments, matrixAB);\r\n          matrixAB.multiplyMatrixMatrixTranspose(placement, matrixABC);\r\n          moments.addScaledInPlace(matrixABC, detJ);\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Compute the signed volume of the truncated prism between a facet and a plane.\r\n   * * Useful for parallel algorithms.\r\n   * @param facetPoints input 3D polygon; on return the points are projected onto the plane. Wraparound point is optional.\r\n   * @param plane infinite plane bounding volume between the facet and (virtual) side facets perpendicular to the plane (unmodified).\r\n   * @param options optional flags and pre-allocated temporary storage.\r\n   * @returns computed data for this facet:\r\n   * * `volume6`: six times the signed volume of the truncated prism between the facet and the plane.\r\n   * * `area2`: two times the signed area of the facet's projection onto the plane.\r\n   * * `origin`: origin of the facet used to accumulate area moments.\r\n   * * `products`: raw accumulated second moment area products of the facet's projection onto the plane.\r\n   * @see [[PolyfaceQuery.sumVolumeBetweenFacetsAndPlane]]\r\n   */\r\n  public static volumeBetweenPolygonAndPlane(facetPoints: GrowableXYZArray, plane: Plane3d, options?: VolumeBetweenPolygonAndPlaneOptions): VolumeBetweenPolygonAndPlaneOutput {\r\n    let origin: Point3d | undefined;\r\n    let products: Matrix4d | undefined;\r\n    let singleProjectedFacetAreaTimes2 = 0.0;\r\n    let signedTruncatedPrismVolumeTimes6 = 0.0;\r\n    const h0 = facetPoints.evaluateUncheckedIndexPlaneAltitude(0, plane);\r\n    for (let i = 1; i + 1 < facetPoints.length; i++) {\r\n      const triangleNormal = facetPoints.crossProductIndexIndexIndex(0, i, i + 1, options?.workVector)!;\r\n      const hA = facetPoints.evaluateUncheckedIndexPlaneAltitude(i, plane);\r\n      const hB = facetPoints.evaluateUncheckedIndexPlaneAltitude(i + 1, plane);\r\n      const signedProjectedTriangleAreaTimes2 = triangleNormal.dotProductXYZ(plane.normalX(), plane.normalY(), plane.normalZ());\r\n      singleProjectedFacetAreaTimes2 += signedProjectedTriangleAreaTimes2;\r\n      signedTruncatedPrismVolumeTimes6 += signedProjectedTriangleAreaTimes2 * (h0 + hA + hB);\r\n    }\r\n    if (!options?.skipMoments) {\r\n      origin = facetPoints.getPoint3dAtUncheckedPointIndex(0, options?.workPoint0);\r\n      products = Matrix4d.createZero(options?.workMatrix);\r\n      facetPoints.mapPoint((x: number, y: number, z: number) => plane.projectXYZToPlane(x, y, z, options?.workPoint1));\r\n      PolygonOps.addSecondMomentAreaProducts(facetPoints, origin, products);\r\n    }\r\n    return { volume6: signedTruncatedPrismVolumeTimes6, area2: singleProjectedFacetAreaTimes2, origin, products };\r\n  }\r\n  /** Test the direction of turn at the vertices of the polygon, ignoring z-coordinates.\r\n   * * For a polygon without self-intersections and successive colinear edges, this is a convexity and orientation test: all positive is convex and counterclockwise, all negative is convex and clockwise.\r\n   * * Beware that a polygon which turns through more than a full turn can cross itself and close, but is not convex.\r\n   * @returns 1 if all turns are to the left, -1 if all to the right, and 0 if there are any zero or reverse turns\r\n   */\r\n  public static testXYPolygonTurningDirections(points: Point2d[] | Point3d[]): number {\r\n    // Reduce count by trailing duplicates; leaves iLast at final index\r\n    let numPoint = points.length;\r\n    let iLast = numPoint - 1;\r\n    while (iLast > 1 && points[iLast].x === points[0].x && points[iLast].y === points[0].y) {\r\n      numPoint = iLast--;\r\n    }\r\n    if (numPoint > 2) {\r\n      let vector0 = Point2d.create(points[iLast].x - points[iLast - 1].x, points[iLast].y - points[iLast - 1].y);\r\n      const vector1 = Point2d.create(points[0].x - points[iLast].x, points[0].y - points[iLast].y);\r\n      const baseArea = vector0.x * vector1.y - vector0.y * vector1.x;\r\n      // In a convex polygon, all successive-vector cross products will\r\n      // have the same sign as the base area, hence all products will be\r\n      // positive.\r\n      for (let i1 = 1; i1 < numPoint; i1++) {\r\n        vector0 = vector1.clone();\r\n        Point2d.create(points[i1].x - points[i1 - 1].x, points[i1].y - points[i1 - 1].y, vector1);\r\n        const currArea = vector0.x * vector1.y - vector0.y * vector1.x;\r\n        if (currArea * baseArea <= 0.0)\r\n          return 0;\r\n      }\r\n      // Fall out with all signs same as base area\r\n      return baseArea > 0.0 ? 1 : -1;\r\n    }\r\n    return 0;\r\n  }\r\n  /**\r\n   * Determine whether the polygon is convex.\r\n   * @param polygon vertices, closure point optional\r\n   * @returns whether the polygon is convex.\r\n   */\r\n  public static isConvex(polygon: Point3d[] | IndexedXYZCollection): boolean {\r\n    if (!(polygon instanceof IndexedXYZCollection))\r\n      return this.isConvex(new Point3dArrayCarrier(polygon));\r\n    let n = polygon.length;\r\n    if (n > 1 && polygon.getPoint3dAtUncheckedPointIndex(0).isExactEqual(polygon.getPoint3dAtUncheckedPointIndex(n - 1)))\r\n      --n;  // ignore closure point\r\n    const normal = Vector3d.create();\r\n    if (!this.unitNormal(polygon, normal))\r\n      return false;\r\n    let positiveArea = 0.0;\r\n    let negativeArea = 0.0;\r\n    const vecA = this._vector0;\r\n    let vecB = Vector3d.createStartEnd(polygon.getPoint3dAtUncheckedPointIndex(n - 1), polygon.getPoint3dAtUncheckedPointIndex(0), this._vector1);\r\n    for (let i = 1; i <= n; i++) {\r\n      // check turn through vertices i-1,i,i+1\r\n      vecA.setFromVector3d(vecB);\r\n      vecB = Vector3d.createStartEnd(polygon.getPoint3dAtUncheckedPointIndex(i - 1), polygon.getPoint3dAtUncheckedPointIndex(i % n), vecB);\r\n      const signedArea = normal.tripleProduct(vecA, vecB);\r\n      if (signedArea >= 0.0)\r\n        positiveArea += signedArea;\r\n      else\r\n        negativeArea += signedArea;\r\n    }\r\n    return Math.abs(negativeArea) < Geometry.smallMetricDistanceSquared * positiveArea;\r\n  }\r\n  /**\r\n   * Test if point (x,y) is IN, OUT or ON a polygon.\r\n   * @return (1) for in, (-1) for OUT, (0) for ON\r\n   * @param x x coordinate\r\n   * @param y y coordinate\r\n   * @param points array of xy coordinates.\r\n   */\r\n  public static classifyPointInPolygon(x: number, y: number, points: XAndY[]): number | undefined {\r\n    const context = new XYParitySearchContext(x, y);\r\n    let i0 = 0;\r\n    const n = points.length;\r\n    let i1;\r\n    let iLast = -1;\r\n    // walk to an acceptable start index ...\r\n    for (i0 = 0; i0 < n; i0++) {\r\n      i1 = i0 + 1;\r\n      if (i1 >= n)\r\n        i1 = 0;\r\n      if (context.tryStartEdge(points[i0].x, points[i0].y, points[i1].x, points[i1].y)) {\r\n        iLast = i1;\r\n        break;\r\n      }\r\n    }\r\n    if (iLast < 0)\r\n      return undefined;\r\n    for (let i = 1; i <= n; i++) {\r\n      i1 = iLast + i;\r\n      if (i1 >= n)\r\n        i1 -= n;\r\n      if (!context.advance(points[i1].x, points[i1].y))\r\n        return context.classifyCounts();\r\n    }\r\n    return context.classifyCounts();\r\n  }\r\n  /**\r\n   * Test if point (x,y) is IN, OUT or ON a polygon.\r\n   * @return (1) for in, (-1) for OUT, (0) for ON\r\n   * @param x x coordinate\r\n   * @param y y coordinate\r\n   * @param points array of xy coordinates.\r\n   */\r\n  public static classifyPointInPolygonXY(x: number, y: number, points: IndexedXYZCollection): number | undefined {\r\n    const context = new XYParitySearchContext(x, y);\r\n    let i0 = 0;\r\n    const n = points.length;\r\n    let i1;\r\n    let iLast = -1;\r\n    // walk to an acceptable start index ...\r\n    for (i0 = 0; i0 < n; i0++) {\r\n      i1 = i0 + 1;\r\n      if (i1 >= n)\r\n        i1 = 0;\r\n      if (context.tryStartEdge(points.getXAtUncheckedPointIndex(i0), points.getYAtUncheckedPointIndex(i0), points.getXAtUncheckedPointIndex(i1), points.getYAtUncheckedPointIndex(i1))) {\r\n        iLast = i1;\r\n        break;\r\n      }\r\n    }\r\n    if (iLast < 0)\r\n      return undefined;\r\n    for (let i = 1; i <= n; i++) {\r\n      i1 = iLast + i;\r\n      if (i1 >= n)\r\n        i1 -= n;\r\n      if (!context.advance(points.getXAtUncheckedPointIndex(i1), points.getYAtUncheckedPointIndex(i1)))\r\n        return context.classifyCounts();\r\n    }\r\n    return context.classifyCounts();\r\n  }\r\n\r\n  /**\r\n   * Reverse loops as necessary to make them all have CCW orientation for given outward normal.\r\n   * @param loops\r\n   * @param outwardNormal\r\n   * @return the number of loops reversed.\r\n   */\r\n  public static orientLoopsCCWForOutwardNormalInPlace(loops: IndexedReadWriteXYZCollection | IndexedReadWriteXYZCollection[], outwardNormal: Vector3d): number {\r\n    if (loops instanceof IndexedXYZCollection)\r\n      return this.orientLoopsCCWForOutwardNormalInPlace([loops], outwardNormal);\r\n    const unitNormal = Vector3d.create();\r\n    // orient individually ... (no hole analysis)\r\n    let numReverse = 0;\r\n    for (const loop of loops) {\r\n      if (this.unitNormal(loop, unitNormal)) {\r\n        const q = unitNormal.dotProduct(outwardNormal);\r\n        if (q < 0.0) {\r\n          loop.reverseInPlace();\r\n          numReverse++;\r\n        }\r\n      }\r\n    }\r\n    return numReverse;\r\n  }\r\n  /**\r\n   * Reverse and reorder loops in the xy-plane for consistent orientation and containment.\r\n   * @param loops multiple polygons in any order and orientation, z-coordinates ignored.\r\n   * * For best results, all overlaps should be containments, i.e., loop boundaries can touch, but should not cross.\r\n   * @returns array of arrays of polygons that capture the input pointers. In each first level array:\r\n   * * The first polygon is an outer loop, oriented counterclockwise.\r\n   * * Any subsequent polygons are holes of the outer loop, oriented clockwise.\r\n   * @see [[RegionOps.sortOuterAndHoleLoopsXY]]\r\n   */\r\n  public static sortOuterAndHoleLoopsXY(loops: IndexedReadWriteXYZCollection[]): IndexedReadWriteXYZCollection[][] {\r\n    const loopAndArea: SortablePolygon[] = [];\r\n    for (const loop of loops) {\r\n      SortablePolygon.pushPolygon(loopAndArea, loop);\r\n    }\r\n    return SortablePolygon.sortAsArrayOfArrayOfPolygons(loopAndArea);\r\n  }\r\n\r\n  /**\r\n   * Exactly like `sortOuterAndHoleLoopsXY` but allows loops in any plane.\r\n   * @param loops multiple loops to sort and reverse.\r\n   * @param defaultNormal optional normal for the loops, if known\r\n   * @see [[sortOuterAndHoleLoopsXY]]\r\n   */\r\n  public static sortOuterAndHoleLoops(loops: IndexedReadWriteXYZCollection[], defaultNormal: Vector3d | undefined): IndexedReadWriteXYZCollection[][] {\r\n    const localToWorld = FrameBuilder.createRightHandedFrame(defaultNormal, loops);\r\n    const worldToLocal = localToWorld?.inverse();\r\n\r\n    const xyLoops: GrowableXYZArray[] = [];\r\n    if (worldToLocal !== undefined) {\r\n      // transform into plane so we can ignore z in the sort\r\n      for (const loop of loops) {\r\n        const xyLoop = new GrowableXYZArray(loop.length);\r\n        for (const point of loop.points)\r\n          xyLoop.push(worldToLocal.multiplyPoint3d(point));\r\n        xyLoops.push(xyLoop);\r\n      }\r\n    }\r\n    const xySortedLoopsArray = PolygonOps.sortOuterAndHoleLoopsXY(xyLoops);\r\n\r\n    const sortedLoopsArray: GrowableXYZArray[][] = [];\r\n    if (localToWorld !== undefined) {\r\n      for (const xySortedLoops of xySortedLoopsArray) {\r\n        const sortedLoops: GrowableXYZArray[] = [];\r\n        for (const xySortedLoop of xySortedLoops) {\r\n          const sortedLoop = new GrowableXYZArray(xySortedLoop.length);\r\n          for (const point of xySortedLoop.points)\r\n            sortedLoop.push(localToWorld.multiplyPoint3d(point));\r\n          sortedLoops.push(sortedLoop);\r\n        }\r\n        sortedLoopsArray.push(sortedLoops);\r\n      }\r\n    }\r\n    return sortedLoopsArray;\r\n  }\r\n\r\n  /** Compute the closest point on the polygon boundary to the given point.\r\n   * * Compare to [[closestPoint]].\r\n   * @param polygon points of the polygon, closure point optional\r\n   * @param testPoint point p to project onto the polygon edges. Works best when p is in the plane of the polygon.\r\n   * @param tolerance optional tolerance(s) to determine point-vertex and point-edge coincidence. A single number\r\n   * is interpreted as distance tolerance. If an array is given, the first number is interpreted as distance tolerance;\r\n   * the second, as parametric tolerance. Default values are [[Geometry.smallMetricDistance]] for distance tolerance\r\n   * and 0.0 for parameter tolerance.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the closest point `d.point`:\r\n   * * `d.isValid()` returns true if and only if the polygon is nontrivial.\r\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point.\r\n   * * `d.code` classifies the closest point as a vertex (`PolygonLocation.OnPolygonVertex`) or as a point on an edge (`PolygonLocation.OnPolygonEdgeInterior`).\r\n   * * `d.a` is the distance from testPoint to the closest point.\r\n   * * `d.v` can be used to classify p (if p and polygon are coplanar): if n is the polygon normal then `d.v.dotProduct(n)` is +/-/0 if and only if p is inside/outside/on the polygon.\r\n  */\r\n  public static closestPointOnBoundary(\r\n    polygon: Point3d[] | IndexedXYZCollection,\r\n    testPoint: Point3d,\r\n    tolerance: number | [number, number] = Geometry.smallMetricDistance,\r\n    result?: PolygonLocationDetail,\r\n  ): PolygonLocationDetail {\r\n    if (!(polygon instanceof IndexedXYZCollection))\r\n      return this.closestPointOnBoundary(new Point3dArrayCarrier(polygon), testPoint, tolerance, result);\r\n    const distTol = Array.isArray(tolerance) ? tolerance[0] : tolerance;\r\n    const paramTol = Array.isArray(tolerance) ? Math.abs(tolerance[1]) : 0.0;\r\n    const distTol2 = distTol * distTol;\r\n\r\n    let numPoints = polygon.length;\r\n    while (numPoints > 1) {\r\n      if (polygon.distanceSquaredIndexIndex(0, numPoints - 1)! > distTol2)\r\n        break;\r\n      --numPoints; // ignore closure point\r\n    }\r\n\r\n    result = PolygonLocationDetail.create(result);\r\n    if (0 === numPoints)\r\n      return result;  // invalid\r\n\r\n    const constructSingletonPoint = (index: number): PolygonLocationDetail => {\r\n      polygon.getPoint3dAtUncheckedPointIndex(index, result.point);\r\n      result.a = result.point.distance(testPoint);\r\n      result.v.setZero();\r\n      result.code = PolygonLocation.OnPolygonVertex;\r\n      result.closestEdgeIndex = index;\r\n      result.closestEdgeParam = 0.0;\r\n      return result;\r\n    };\r\n    if (1 === numPoints)\r\n      return constructSingletonPoint(0);\r\n\r\n    // lambda for computing edge parameter at which testPoint projects onto the edge starting at iEdgeStart\r\n    const projectToEdge = (iEdgeStart: number): { isValid: boolean, edgeParam: number, uDotU: number, vDotV: number } => {\r\n      let isValid = false;\r\n      let edgeParam = 0.0;\r\n      let uDotU = 0.0;\r\n      let vDotV = 0.0;\r\n      if (iEdgeStart >= 0 && iEdgeStart < numPoints) {\r\n        let iEdgeEnd = iEdgeStart + 1;\r\n        if (iEdgeEnd === numPoints)\r\n          iEdgeEnd = 0;\r\n        uDotU = polygon.distanceSquaredIndexIndex(iEdgeStart, iEdgeEnd)!;\r\n        if (uDotU > distTol2) { // nontrivial edge\r\n          vDotV = polygon.distanceSquaredIndexXYAndZ(iEdgeStart, testPoint)!;\r\n          const uDotV = polygon.dotProductIndexIndexXYAndZ(iEdgeStart, iEdgeEnd, testPoint)!;\r\n          edgeParam = uDotV / uDotU; // param of projection of testPoint onto edge [iEdgeStart, iEdgeEnd]\r\n          isValid = true;\r\n        }\r\n      }\r\n      return { isValid, edgeParam, uDotU, vDotV };\r\n    };\r\n\r\n    // find the previous nontrivial edge's projection status before processing the first edge\r\n    let projBeyondPrevEdge = false;\r\n    let iPrev = numPoints - 1;\r\n    for (; iPrev > 0; --iPrev) {\r\n      const projData = projectToEdge(iPrev);\r\n      if (projData.isValid) {\r\n        projBeyondPrevEdge = projData.edgeParam > 1.0 + paramTol;\r\n        break;\r\n      }\r\n    }\r\n    if (iPrev <= 0)  // all segments trivial, so treat like single point case\r\n      return constructSingletonPoint(0);\r\n\r\n    let minDist2 = Geometry.largeCoordinateResult;\r\n    for (let iBase = 0; iBase < numPoints; ++iBase) {\r\n      let iNext = iBase + 1;\r\n      if (iNext === numPoints)\r\n        iNext = 0;\r\n\r\n      const projData = projectToEdge(iBase);\r\n      if (!projData.isValid)\r\n        continue; // ignore trivial polygon edge (keep iPrev, projBeyondPrevEdge)\r\n\r\n      if (projData.edgeParam <= paramTol) { // testPoint projects to/before edge start\r\n        const distToStart2 = projData.vDotV;\r\n        if (distToStart2 <= distTol2) {\r\n          // testPoint is at edge start; we are done\r\n          polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\r\n          result.a = Math.sqrt(distToStart2);\r\n          result.v.setZero();\r\n          result.code = PolygonLocation.OnPolygonVertex;\r\n          result.closestEdgeIndex = iBase;\r\n          result.closestEdgeParam = 0.0;\r\n          return result;\r\n        }\r\n        if (distToStart2 < minDist2 && projBeyondPrevEdge) {\r\n          // update candidate (to edge start) only if testPoint projected beyond previous edge end\r\n          polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\r\n          result.a = Math.sqrt(distToStart2);\r\n          polygon.crossProductIndexIndexIndex(iBase, iPrev, iNext, result.v)!;\r\n          result.code = PolygonLocation.OnPolygonVertex;\r\n          result.closestEdgeIndex = iBase;\r\n          result.closestEdgeParam = 0.0;\r\n          minDist2 = distToStart2;\r\n        }\r\n        projBeyondPrevEdge = false;\r\n      } else if (projData.edgeParam <= 1.0 + paramTol) {  // testPoint projects inside edge, or to edge end\r\n        projData.edgeParam = Geometry.clamp(projData.edgeParam, 0.0, 1.0);\r\n        const projDist2 = projData.vDotV - projData.edgeParam * projData.edgeParam * projData.uDotU;\r\n        if (projDist2 <= distTol2) {\r\n          // testPoint is on edge; we are done\r\n          const distToStart2 = projData.vDotV;\r\n          if (projData.edgeParam <= 0.5 && distToStart2 <= distTol2) {\r\n            // testPoint is at edge start\r\n            polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\r\n            result.a = Math.sqrt(distToStart2);\r\n            result.v.setZero();\r\n            result.code = PolygonLocation.OnPolygonVertex;\r\n            result.closestEdgeIndex = iBase;\r\n            result.closestEdgeParam = 0.0;\r\n            return result;\r\n          }\r\n          const distToEnd2 = projDist2 + (1.0 - projData.edgeParam) * (1.0 - projData.edgeParam) * projData.uDotU;\r\n          if (projData.edgeParam > 0.5 && distToEnd2 <= distTol2) {\r\n            // testPoint is at edge end\r\n            polygon.getPoint3dAtUncheckedPointIndex(iNext, result.point);\r\n            result.a = Math.sqrt(distToEnd2);\r\n            result.v.setZero();\r\n            result.code = PolygonLocation.OnPolygonVertex;\r\n            result.closestEdgeIndex = iNext;\r\n            result.closestEdgeParam = 0.0;\r\n            return result;\r\n          }\r\n          // testPoint is on edge interior\r\n          polygon.interpolateIndexIndex(iBase, projData.edgeParam, iNext, result.point);\r\n          result.a = Math.sqrt(projDist2);\r\n          result.v.setZero();\r\n          result.code = PolygonLocation.OnPolygonEdgeInterior;\r\n          result.closestEdgeIndex = iBase;\r\n          result.closestEdgeParam = projData.edgeParam;\r\n          return result;\r\n        }\r\n        if (projDist2 < minDist2) {\r\n          // update candidate\r\n          polygon.interpolateIndexIndex(iBase, projData.edgeParam, iNext, result.point);\r\n          result.a = Math.sqrt(projDist2);\r\n          polygon.crossProductIndexIndexXYAndZ(iBase, iNext, testPoint, result.v)!;\r\n          result.code = projData.edgeParam < 1.0 ? PolygonLocation.OnPolygonEdgeInterior : PolygonLocation.OnPolygonVertex;;\r\n          result.closestEdgeIndex = iBase;\r\n          result.closestEdgeParam = projData.edgeParam;\r\n          minDist2 = projDist2;\r\n        }\r\n        projBeyondPrevEdge = false;\r\n      } else {\r\n        projBeyondPrevEdge = true; // to be handled by next edge\r\n      }\r\n      iPrev = iBase;\r\n    }\r\n    return result;\r\n  }\r\n\r\n  /**\r\n   * Compute the closest point on the polygon boundary or its interior to the given point.\r\n   * * Compare to [[closestPointOnBoundary]].\r\n   * @param polygon points of the polygon, closure point optional\r\n   * @param testPoint point p to project onto the polygon edges. Works best when p is in the plane of the polygon.\r\n   * @param tolerance optional distance tolerance for distinguishing boundary versus interior closest point.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the closest point `d.point`:\r\n   * * `d.isValid()` returns true if and only if the polygon is nontrivial.\r\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the (nearest) boundary point.\r\n   * * `d.code` classifies the closest point: `PolygonLocation.OnPolygonVertex`, `PolygonLocation.OnPolygonEdgeInterior`, `PolygonLocation.InsidePolygonProjectsToVertex`, or `PolygonLocation.InsidePolygonProjectsToEdgeInterior`.\r\n   * * `d.a` is the distance from testPoint to the closest point.\r\n   */\r\n  public static closestPoint(polygon: Point3d[] | IndexedXYZCollection, testPoint: Point3d, tolerance: number = Geometry.smallMetricDistance, result?: PolygonLocationDetail): PolygonLocationDetail {\r\n    if (!(polygon instanceof IndexedXYZCollection))\r\n      return this.closestPoint(new Point3dArrayCarrier(polygon), testPoint, tolerance, result);\r\n    if (!this.unitNormal(polygon, this._normal))\r\n      return PolygonLocationDetail.create(result);  // invalid\r\n    const polygonPlane = this._workPlane = Plane3dByOriginAndUnitNormal.createXYZUVW(polygon.getXAtUncheckedPointIndex(0), polygon.getYAtUncheckedPointIndex(0), polygon.getZAtUncheckedPointIndex(0), this._normal.x, this._normal.y, this._normal.z, this._workPlane)!;\r\n    const planePoint = this._workXYZ = polygonPlane.projectPointToPlane(testPoint, this._workXYZ);\r\n    result = this.closestPointOnBoundary(polygon, planePoint, tolerance, result);\r\n    if (result.isValid) {\r\n      const dot = result.v.dotProduct(this._normal);\r\n      if (dot > 0.0) {  // planePoint is inside, so return it instead of the closest boundary point\r\n        result.point.setFrom(planePoint);\r\n        if (PolygonLocation.OnPolygonVertex === result.code)\r\n          result.code = PolygonLocation.InsidePolygonProjectsToVertex;\r\n        else if (PolygonLocation.OnPolygonEdgeInterior === result.code)\r\n          result.code = PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n      }\r\n      result.a = testPoint.distance(result.point);\r\n      result.v.setZero(); // not relevant\r\n    }\r\n    return result;\r\n  }\r\n\r\n  // work objects, allocated as needed\r\n  private static _workXYZ?: Point3d;\r\n  private static _workXY0?: Point2d;\r\n  private static _workXY1?: Point2d;\r\n  private static _workXY2?: Point2d;\r\n  private static _workRay?: Ray3d;\r\n  private static _workMatrix3d?: Matrix3d;\r\n  private static _workPlane?: Plane3dByOriginAndUnitNormal;\r\n\r\n  /** Compute the intersection of a line (parameterized as a ray) with the plane of this polygon.\r\n   * @param polygon points of the polygon, closure point optional\r\n   * @param ray infinite line to intersect, as a ray\r\n   * @param tolerance optional tolerance(s) to determine point-vertex and point-edge coincidence. A single number\r\n   * is interpreted as distance tolerance. If an array is given, the first number is interpreted as distance tolerance;\r\n   * the second, as parametric tolerance. Default values are [[Geometry.smallMetricDistance]] for distance tolerance\r\n   * and 0.0 for parameter tolerance.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection `d.point`:\r\n   * * `d.isValid()` returns true if and only if the line intersects the plane.\r\n   * * `d.code` indicates where the intersection lies with respect to the polygon.\r\n   * * `d.a` is the ray intersection parameter. If `d.a` >= 0, the ray intersects the plane of the polygon.\r\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point on the polygon to the intersection, within `distTol`.\r\n   */\r\n  public static intersectRay3d(\r\n    polygon: Point3d[] | IndexedXYZCollection,\r\n    ray: Ray3d,\r\n    tolerance: number | [number, number] = Geometry.smallMetricDistance,\r\n    result?: PolygonLocationDetail,\r\n  ): PolygonLocationDetail {\r\n    if (!(polygon instanceof IndexedXYZCollection))\r\n      return this.intersectRay3d(new Point3dArrayCarrier(polygon), ray, tolerance, result);\r\n    if (!this.unitNormal(polygon, this._normal))\r\n      return PolygonLocationDetail.create(result); // invalid\r\n    this._workPlane = Plane3dByOriginAndUnitNormal.createXYZUVW(\r\n      polygon.getXAtUncheckedPointIndex(0),\r\n      polygon.getYAtUncheckedPointIndex(0),\r\n      polygon.getZAtUncheckedPointIndex(0),\r\n      this._normal.x, this._normal.y, this._normal.z,\r\n      this._workPlane,\r\n    )!;\r\n    const intersectionPoint = this._workXYZ = Point3d.createZero(this._workXYZ);\r\n    const rayParam = ray.intersectionWithPlane(this._workPlane, intersectionPoint);\r\n    if (undefined === rayParam)\r\n      return PolygonLocationDetail.create(result);\r\n    result = this.closestPointOnBoundary(polygon, intersectionPoint, tolerance, result);\r\n    if (result.isValid) {\r\n      result.point.setFrom(intersectionPoint);\r\n      result.a = rayParam;\r\n      const dot = result.v.dotProduct(this._normal);\r\n      if (dot === 0.0) {\r\n        // NOOP: intersectionPoint is on the polygon, so result.code already classifies it\r\n      } else {\r\n        // intersectionPoint is not on the polygon, so result.code refers to the closest point;\r\n        // update it to refer to intersectionPoint.\r\n        if (PolygonLocation.OnPolygonVertex === result.code) {\r\n          result.code = (dot > 0.0)\r\n            ? PolygonLocation.InsidePolygonProjectsToVertex\r\n            : PolygonLocation.OutsidePolygonProjectsToVertex;\r\n        } else if (PolygonLocation.OnPolygonEdgeInterior === result.code) {\r\n          result.code = (dot > 0.0)\r\n            ? PolygonLocation.InsidePolygonProjectsToEdgeInterior\r\n            : PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n\r\n  /** Compute the intersection of a line (parameterized as a line segment) with the plane of this polygon.\r\n   * @param polygon points of the polygon, closure point optional\r\n   * @param point0 start point of segment on line to intersect\r\n   * @param point1 end point of segment on line to intersect\r\n   * @param tolerance optional distance tolerance to determine point-vertex and point-edge coincidence.\r\n   * @param result optional pre-allocated object to fill and return\r\n   * @returns details d of the line-plane intersection `d.point`:\r\n   * * `d.isValid()` returns true if and only if the line intersects the plane.\r\n   * * `d.code` indicates where the intersection lies with respect to the polygon.\r\n   * * `d.a` is the segment intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the polygon.\r\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point on the polygon to the intersection, within `distTol`.\r\n   * @see intersectRay3d\r\n   */\r\n  public static intersectSegment(\r\n    polygon: Point3d[] | IndexedXYZCollection,\r\n    point0: Point3d,\r\n    point1: Point3d,\r\n    tolerance: number = Geometry.smallMetricDistance,\r\n    result?: PolygonLocationDetail,\r\n  ): PolygonLocationDetail {\r\n    this._workRay = Ray3d.createStartEnd(point0, point1, this._workRay);\r\n    return this.intersectRay3d(polygon, this._workRay, tolerance, result);\r\n  }\r\n\r\n  /** Compute edge data for the barycentric coordinate computation, ignoring all z-coordinates.\r\n   * @param polygon points of the polygon (without closure point)\r\n   * @param edgeStartVertexIndex index of start vertex of the edge (unchecked)\r\n   * @param point point to project to the edge\r\n   * @param edgeOutwardUnitNormal pre-allocated vector to be populated on return with the unit perpendicular to the edge, facing outward, in xy-plane\r\n   * @param tolerance used to clamp outputs\r\n   * @param result optional pre-allocated result\r\n   * @returns x: signed projection distance of `point` to the edge, y: edge parameter of the projection\r\n   */\r\n  private static computeEdgeDataXY(\r\n    polygon: IndexedXYZCollection,\r\n    edgeStartVertexIndex: number,\r\n    point: XYAndZ,\r\n    edgeOutwardUnitNormal: Vector3d,\r\n    tolerance: number = Geometry.smallMetricDistance,\r\n    result?: Point2d,\r\n  ): Point2d {\r\n    const i0 = edgeStartVertexIndex % polygon.length;\r\n    const i1 = (i0 + 1) % polygon.length;\r\n    polygon.vectorIndexIndex(i0, i1, edgeOutwardUnitNormal)!.unitPerpendicularXY(edgeOutwardUnitNormal).negate(edgeOutwardUnitNormal);  // z is zero\r\n    const hypDeltaX = polygon.getXAtUncheckedPointIndex(i0) - point.x;\r\n    const hypDeltaY = polygon.getYAtUncheckedPointIndex(i0) - point.y;\r\n    let projDist = Geometry.dotProductXYXY(hypDeltaX, hypDeltaY, edgeOutwardUnitNormal.x, edgeOutwardUnitNormal.y);\r\n    const edgeDist = Geometry.crossProductXYXY(hypDeltaX, hypDeltaY, edgeOutwardUnitNormal.x, edgeOutwardUnitNormal.y);\r\n    const edgeLength = Geometry.distanceXYXY(polygon.getXAtUncheckedPointIndex(i0), polygon.getYAtUncheckedPointIndex(i0), polygon.getXAtUncheckedPointIndex(i1), polygon.getYAtUncheckedPointIndex(i1));\r\n    let edgeParam = Geometry.safeDivideFraction(edgeDist, edgeLength, 0.0);\r\n    if (Geometry.isSameCoordinate(0.0, projDist, tolerance))\r\n      projDist = 0.0;\r\n    if (Geometry.isSameCoordinate(0.0, edgeParam, tolerance))\r\n      edgeParam = 0.0;\r\n    else if (Geometry.isSameCoordinate(1.0, edgeParam, tolerance))\r\n      edgeParam = 1.0;\r\n    return Point2d.create(projDist, edgeParam, result);\r\n  }\r\n\r\n  /** Compute the barycentric coordinates for a point on either of a pair of adjacent edges of a convex polygon.\r\n   * @param polygon points of the polygon, assumed to be convex. Assumed to have no closure point.\r\n   * @param iPrev start index of previous edge\r\n   * @param prevNormal outward unit normal of previous edge\r\n   * @param prevProj x = signed distance from point to previous edge; y = edge parameter of this projection in [0,1]\r\n   * @param i start index of current edge\r\n   * @param normal outward unit normal of current edge\r\n   * @param proj x = signed distance from point to current edge; y = edge parameter of this projection in [0,1]\r\n   * @param coords pre-allocated barycentric coordinate array to return, assumed to have length at least `polygon.length`\r\n   * @returns barycentric coordinates, or undefined if not on either edge\r\n   */\r\n  private static convexBarycentricCoordinatesOnEdge(\r\n    polygon: IndexedXYZCollection,\r\n    iPrev: number,\r\n    prevNormal: Vector3d,\r\n    prevProj: XAndY,\r\n    i: number,\r\n    normal: Vector3d,\r\n    proj: XAndY,\r\n    coords: number[],\r\n  ): number[] | undefined {\r\n    // ignore degenerate edges\r\n    const pointIsOnPrevEdge = !prevNormal.isZero && (0.0 === prevProj.x) && Geometry.isIn01(prevProj.y);\r\n    const pointIsOnEdge = !normal.isZero && (0.0 === proj.x) && Geometry.isIn01(proj.y);\r\n    if (pointIsOnPrevEdge && pointIsOnEdge) { // the point is at vertex i\r\n      coords.fill(0);\r\n      coords[i] = 1.0;\r\n      return coords;\r\n    }\r\n    const n = polygon.length;\r\n    if (pointIsOnPrevEdge) { // the point is on the previous edge\r\n      coords.fill(0);\r\n      const i0 = iPrev;\r\n      const i1 = i;\r\n      const edgeParam = prevProj.y;\r\n      coords[i0] = 1.0 - edgeParam;\r\n      coords[i1] = edgeParam;\r\n      return coords;\r\n    }\r\n    if (pointIsOnEdge) { // the point is on the edge starting at the i_th vertex\r\n      coords.fill(0);\r\n      const i0 = i;\r\n      const i1 = (i + 1) % n;\r\n      const edgeParam = proj.y;\r\n      coords[i0] = 1.0 - edgeParam;\r\n      coords[i1] = edgeParam;\r\n      return coords;\r\n    }\r\n    return undefined;   // not on edge\r\n  }\r\n\r\n  // cspell:word CAGD\r\n  /** Compute the barycentric coordinates for a point inside a convex polygon.\r\n   * @param polygon points of the polygon, assumed to be convex. Closure point optional.\r\n   * @param point point assumed to be inside or on polygon\r\n   * @param tolerance distance tolerance for point to be considered on a polygon edge\r\n   * @return barycentric coordinates of the interior point, or undefined if invalid polygon or exterior point. Length is same as `polygon.length`.\r\n   * @see BarycentricTriangle.pointToFraction\r\n   */\r\n  public static convexBarycentricCoordinates(\r\n    polygon: Point3d[] | IndexedXYZCollection,\r\n    point: Point3d,\r\n    tolerance: number = Geometry.smallMetricDistance,\r\n  ): number[] | undefined {\r\n    // cf. \"Barycentric Coordinates for Convex Sets\", by Warren et al., CAGD (2003)\r\n    if (Array.isArray(polygon))\r\n      return this.convexBarycentricCoordinates(new Point3dArrayCarrier(polygon), point);\r\n    let n = polygon.length;\r\n    while (n > 1 && polygon.getPoint3dAtUncheckedPointIndex(0).isExactEqual(polygon.getPoint3dAtUncheckedPointIndex(n - 1)))\r\n      --n;  // ignore closure point(s)\r\n    if (n < 3 || !PolygonOps.unitNormal(polygon, this._normal))\r\n      return undefined;\r\n    const localToWorld = this._workMatrix3d = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY, this._workMatrix3d);\r\n    const polygonXY = new GrowableXYZArray(n);\r\n    for (let i = 0; i < n; ++i)\r\n      polygonXY.push(localToWorld.multiplyInverseXYZAsPoint3d(polygon.getXAtUncheckedPointIndex(i), polygon.getYAtUncheckedPointIndex(i), polygon.getZAtUncheckedPointIndex(i), this._workXYZ)!);\r\n    const pointXY = this._workXYZ = localToWorld.multiplyInverseXYZAsPoint3d(point.x, point.y, point.z, this._workXYZ)!;\r\n    // now we know polygon orientation is ccw, its last edge has positive length, and we can ignore z-coords\r\n    let iPrev = n - 1;\r\n    const outwardUnitNormalOfLastEdge = this._vector0;\r\n    const projToLastEdge = this._workXY0 = this.computeEdgeDataXY(polygonXY, iPrev, pointXY, outwardUnitNormalOfLastEdge, tolerance, this._workXY0);\r\n    // we can compare to exact zero because computeEdgeDataXY has chopped small distances to zero\r\n    if (projToLastEdge.x < 0.0)\r\n      return undefined; // point is outside polygon, or polygon is nonconvex\r\n    const outwardUnitNormalOfPrevEdge = Vector3d.createFrom(outwardUnitNormalOfLastEdge, this._vector1);\r\n    const projToPrevEdge = this._workXY1 = Point2d.createFrom(projToLastEdge, this._workXY1);\r\n    const coords = Array<number>(polygon.length).fill(0); // use original length\r\n    const largestResult = (tolerance > 0.0) ? 1.0 / (tolerance * tolerance) : Geometry.largeCoordinateResult;\r\n    let coordSum = 0.0;\r\n    for (let i = 0; i < n; ++i) {\r\n      const outwardUnitNormalOfEdge = Vector3d.createFrom(outwardUnitNormalOfLastEdge, this._vector2);\r\n      const projToEdge = this._workXY2 = (i < n - 1) ? this.computeEdgeDataXY(polygonXY, i, pointXY, outwardUnitNormalOfEdge, tolerance, this._workXY2) : Point2d.createFrom(projToLastEdge, this._workXY2);\r\n      if (projToEdge.x < 0.0)\r\n        return undefined; // point is outside polygon, or polygon is nonconvex\r\n      if (undefined !== this.convexBarycentricCoordinatesOnEdge(polygonXY, iPrev, outwardUnitNormalOfPrevEdge, projToPrevEdge, i, outwardUnitNormalOfEdge, projToEdge, coords))\r\n        return coords; // point is on vertex or edge; we are done\r\n      if (outwardUnitNormalOfEdge.x === 0.0 && outwardUnitNormalOfEdge.y === 0.0)\r\n        continue; // edge is degenerate; coords[i] = 0; keep previous edge data\r\n      if (0.0 === projToPrevEdge.x || 0.0 === projToEdge.x)\r\n        continue; // point is on subsequent colinear edge (ASSUMING interior point, convex polygon!); coords[i] = 0; keep previous edge data\r\n      const areaOfNormalParallelogram = Math.abs(outwardUnitNormalOfPrevEdge.crossProductXY(outwardUnitNormalOfEdge));\r\n      const coord = Geometry.conditionalDivideCoordinate(areaOfNormalParallelogram, projToPrevEdge.x * projToEdge.x, largestResult);\r\n      if (undefined === coord) {\r\n        assert(false, \"unexpectedly small projection distance to an edge\"); // shouldn't happen due to chopping in computeEdgeDataXY: area/(dist*dist) <= 1/tol^2 = largestResult\r\n      }\r\n      coords[i] = coord;\r\n      coordSum += coord;\r\n      outwardUnitNormalOfPrevEdge.setFrom(outwardUnitNormalOfEdge);\r\n      projToPrevEdge.setFrom(projToEdge);\r\n      iPrev = i;\r\n    }\r\n    const scale = Geometry.conditionalDivideCoordinate(1.0, coordSum);\r\n    if (undefined === scale) {\r\n      assert(false, \"unexpected zero barycentric coordinate sum\");\r\n    }\r\n    for (let i = 0; i < n; ++i)\r\n      coords[i] *= scale; // normalized\r\n    return coords;\r\n  }\r\n  /**\r\n   * Force the polygon to be closed.\r\n   * * If first and last points are not within tolerance, push copy of first point\r\n   * * If first and last points are within tolerance, set last point equal to first\r\n   * @param polygon input polygon\r\n   * @param tolerance closure distance tolerance\r\n   */\r\n  public static forceClosure(polygon: Point3d[] | GrowableXYZArray, tolerance: number = Geometry.smallMetricDistance): void {\r\n    if (polygon.length >= 2) {\r\n      if (polygon instanceof GrowableXYZArray) {\r\n        polygon.forceClosure(tolerance);\r\n      } else if (polygon[0].distance(polygon[polygon.length - 1]) > tolerance) {\r\n        polygon.push(polygon[0].clone());\r\n      } else {\r\n        polygon[polygon.length - 1].setFromPoint3d(polygon[0]);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Return a closed polygon, cloning only if necessary.\r\n   * * If the first and last points are not identical, call [[forceClosure]] on a clone of the polygon and return it.\r\n   * * If the first and last points are already identical, just return the input.\r\n   * @param polygon input polygon\r\n   * @param tolerance closure distance tolerance\r\n   */\r\n  public static ensureClosed(polygon: Point3d[] | IndexedXYZCollection, tolerance: number = Geometry.smallMetricDistance): Point3d[] | IndexedXYZCollection {\r\n    if (polygon.length >= 2) {\r\n      let forceClosure = false;\r\n      if (polygon instanceof IndexedXYZCollection)\r\n        forceClosure = !polygon.almostEqualIndexIndex(0, polygon.length - 1, 0.0);\r\n      else\r\n        forceClosure = !polygon[0].isExactEqual(polygon[polygon.length - 1]);\r\n      if (forceClosure) {\r\n        const cloned = GrowableXYZArray.create(polygon);\r\n        this.forceClosure(cloned, tolerance);\r\n        polygon = cloned;\r\n      }\r\n    }\r\n    return polygon;\r\n  }\r\n  private static _workCLDPair?: CurveLocationDetailPair;\r\n  /**\r\n   * Find smallest distance between polygons.\r\n   * * For efficiency, input polygons should include closure edge.\r\n   * * If searching interiors for close approaches, the polygons are assumed to be convex.\r\n   * @param polygonA first polygon\r\n   * @param polygonB second polygon\r\n   * @param dMax optional largest approach distance to consider\r\n   * @param _searchInterior If true, include (convex) polygon interiors in computations (currently unimplemented).\r\n   * If false (default): return closest approach between polygon boundaries only, using [[PolylineOps.closestApproach]].\r\n   * @return pair of details, one per polygon. The `a` field of each detail stores the closest approach distance.\r\n   */\r\n  public static closestApproach(\r\n    polygonA: Point3d[] | IndexedXYZCollection,\r\n    polygonB: Point3d[] | IndexedXYZCollection,\r\n    dMax: number = Number.MAX_VALUE,\r\n    _searchInterior: boolean = false,\r\n  ): PolygonLocationDetailPair | undefined {\r\n    // TODO: handle interior close approaches as well...\r\n    let result: PolygonLocationDetailPair | undefined;\r\n    const polyA = this.ensureClosed(polygonA);\r\n    const polyB = this.ensureClosed(polygonB);\r\n    const cld = this._workCLDPair = PolylineOps.closestApproach(polyA, false, polyB, false, dMax, this._workCLDPair);\r\n    if (cld && cld.detailA.childDetail && cld.detailB.childDetail) {\r\n      result = PolygonLocationDetailPair.create(\r\n        PolygonLocationDetail.createAtVertexOrEdge(cld.detailA.point, cld.detailA.childDetail.a, cld.detailA.childDetail.fraction),\r\n        PolygonLocationDetail.createAtVertexOrEdge(cld.detailB.point, cld.detailB.childDetail.a, cld.detailB.childDetail.fraction),\r\n      );\r\n      result.detailA.a = result.detailB.a = cld.detailA.a;\r\n    }\r\n    return result;\r\n  }\r\n}\r\n\r\n/**\r\n *  `IndexedXYZCollectionPolygonOps` class contains _static_ methods for typical operations on polygons carried as `IndexedXYZCollection`\r\n * @public\r\n */\r\nexport class IndexedXYZCollectionPolygonOps {\r\n  private static _xyz0Work: Point3d = Point3d.create();\r\n  private static _xyz1Work: Point3d = Point3d.create();\r\n  private static _xyz2Work: Point3d = Point3d.create();\r\n  /**\r\n   * Split a (convex) polygon into 2 parts based on altitude evaluations.\r\n   * * Both output arrays are cleared first.\r\n   * * This method uses only a fixed (tight) parametric tolerance for on-plane detection.\r\n   * See [[clipConvexPolygonInPlace]] for a method that takes an additional distance tolerance.\r\n   * @param plane any `PlaneAltitudeEvaluator` object that can evaluate `plane.altitude(xyz)` for distance from the plane.\r\n   * @param xyz original polygon\r\n   * @param xyzPositive array to receive inside part (altitude > 0)\r\n   * @param xyzNegative array to receive outside part\r\n   * @param altitudeRange min and max altitudes encountered.\r\n   * @see clipConvexPolygonInPlace\r\n   */\r\n  public static splitConvexPolygonInsideOutsidePlane(\r\n    plane: PlaneAltitudeEvaluator,\r\n    xyz: IndexedXYZCollection,\r\n    xyzPositive: IndexedReadWriteXYZCollection,\r\n    xyzNegative: IndexedReadWriteXYZCollection,\r\n    altitudeRange: Range1d,\r\n  ): void {\r\n    const xyz0 = IndexedXYZCollectionPolygonOps._xyz0Work;\r\n    const xyz1 = IndexedXYZCollectionPolygonOps._xyz1Work;\r\n    const xyzInterpolated = IndexedXYZCollectionPolygonOps._xyz2Work;\r\n    const n = xyz.length;\r\n    xyzPositive.clear();\r\n    xyzNegative.clear();\r\n    const fractionTol = 1.0e-8;\r\n    if (n > 2) {\r\n      xyz.back(xyz0);\r\n      let a0 = plane.altitude(xyz0), a1 = 0.0, f = 0.0;\r\n      altitudeRange.setX(a0);\r\n      for (let i1 = 0; i1 < n; i1++) {\r\n        xyz.getPoint3dAtUncheckedPointIndex(i1, xyz1);\r\n        a1 = plane.altitude(xyz1);\r\n        altitudeRange.extendX(a1);\r\n        if (a0 * a1 < 0.0) {\r\n          // simple crossing\r\n          f = - a0 / (a1 - a0);\r\n          if (f > 1.0 - fractionTol) {\r\n            // segment end is on the clip plane; push it to both sides of the plane\r\n            xyzPositive.push(xyz1);\r\n            xyzNegative.push(xyz1);\r\n          } else if (f < fractionTol) {\r\n            // segment start is on the clip plane; push it to same side as segment end, as the\r\n            // the previous segment end was already pushed to the opposite side of the plane\r\n            if (a1 > 0.0) {\r\n              xyzPositive.push(xyz0);\r\n              xyzPositive.push(xyz1);\r\n            } else {\r\n              xyzNegative.push(xyz0);\r\n              xyzNegative.push(xyz1);\r\n            }\r\n          } else {\r\n            // crossing point is on the clip plane; push it to both sides of the plane\r\n            xyz0.interpolate(f, xyz1, xyzInterpolated);\r\n            xyzPositive.push(xyzInterpolated);\r\n            xyzNegative.push(xyzInterpolated);\r\n            // save segment end to only one side of the plane\r\n            if (a1 > 0.0)\r\n              xyzPositive.push(xyz1);\r\n            else\r\n              xyzNegative.push(xyz1);\r\n          }\r\n        } else {\r\n          // no crossing\r\n          if (a1 >= 0.0)\r\n            xyzPositive.push(xyz1);\r\n          if (a1 <= 0.0)\r\n            xyzNegative.push(xyz1);\r\n        }\r\n        xyz0.setFromPoint3d(xyz1);\r\n        a0 = a1;\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Clip a polygon to one side of a plane.\r\n   * * Results with 2 or fewer points are ignored.\r\n   * * Other than ensuring capacity in the arrays, there are no object allocations during execution of this function.\r\n   * * For a convex input polygon, the output polygon is also convex.\r\n   * * For non-convex input, the output polygon may have double-back edges along plane intersections. This is still a\r\n   * valid clip in a parity sense (overlapping regions cancel).\r\n   * * This method returns only the piece of the input polygon on one side of the clipper.\r\n   * See [[splitConvexPolygonInsideOutsidePlane]] for a method that returns both sides.\r\n   * @param plane any type that has `plane.altitude`\r\n   * @param xyz input polygon, clipped on output\r\n   * @param work optional work buffer\r\n   * @param keepPositive whether the positive side of the plane survives (true, default), or negative side (false).\r\n   * @param tolerance tolerance for \"on plane\" decision. This is a distance if `plane` has unit normal (e.g., [[ClipPlane]]).\r\n   * Default value is [[Geometry.smallMetricDistance]].\r\n   * @return the number of crossings. If this is larger than 2, the input polygon was non-convex.\r\n   * @see splitConvexPolygonInsideOutsidePlane\r\n   */\r\n  public static clipConvexPolygonInPlace(\r\n    plane: PlaneAltitudeEvaluator,\r\n    xyz: GrowableXYZArray,\r\n    work?: GrowableXYZArray,\r\n    keepPositive: boolean = true,\r\n    tolerance: number = Geometry.smallMetricDistance\r\n  ): number {\r\n    if (!work)\r\n      work = new GrowableXYZArray();\r\n    work.clear();\r\n    const s = keepPositive ? 1.0 : -1.0;\r\n    const n = xyz.length;\r\n    let numNegative = 0;\r\n    const fractionTol = 1.0e-8;\r\n    const b = -tolerance;\r\n    let numCrossings = 0;\r\n    if (xyz.length > 1) { // > 2 ??\r\n      let a1;\r\n      let index0 = xyz.length - 1;\r\n      let a0 = s * xyz.evaluateUncheckedIndexPlaneAltitude(index0, plane);\r\n      if (Math.abs(a0) < tolerance)\r\n        a0 = 0;\r\n      //    if (a0 >= 0.0)\r\n      //      work.push_back (xyz0);\r\n      for (let index1 = 0; index1 < n; a0 = a1, index0 = index1++) {\r\n        a1 = s * xyz.evaluateUncheckedIndexPlaneAltitude(index1, plane);\r\n        if (Math.abs(a1) < tolerance)\r\n          a1 = 0;\r\n        if (a1 < 0)\r\n          numNegative++;\r\n        if (a0 * a1 < 0.0) {\r\n          // simple crossing . . .\r\n          const f = - a0 / (a1 - a0);\r\n          if (f > 1.0 - fractionTol && a1 >= 0.0) {\r\n            // the endpoint will be saved -- avoid the duplicate\r\n          } else {\r\n            work.pushInterpolatedFromGrowableXYZArray(xyz, index0, f, index1);\r\n            if (a1 > 0)\r\n              numCrossings++; // \"out to in\"\r\n          }\r\n        }\r\n        if (a1 >= b) {\r\n          work.pushFromGrowableXYZArray(xyz, index1);\r\n          if (a0 < -b) {\r\n            numCrossings++; // \"in to out\"\r\n          }\r\n        }\r\n        index0 = index1;\r\n        a0 = a1;\r\n      }\r\n    }\r\n\r\n    if (work.length <= 2) {\r\n      xyz.clear();\r\n    } else if (numNegative > 0) {\r\n      xyz.clear();\r\n      xyz.pushFromGrowableXYZArray(work);\r\n    }\r\n    work.clear();\r\n    return numCrossings;\r\n  }\r\n  /** Return an array containing\r\n   * * All points that are exactly on the plane.\r\n   * * Crossing points between adjacent points that are (strictly) on opposite sides.\r\n   */\r\n  public static polygonPlaneCrossings(plane: PlaneAltitudeEvaluator, xyz: IndexedXYZCollection, crossings: Point3d[]) {\r\n    crossings.length = 0;\r\n    if (xyz.length >= 2) {\r\n      const xyz0 = this._xyz0Work;\r\n      xyz.getPoint3dAtUncheckedPointIndex(xyz.length - 1, xyz0);\r\n      let a0 = plane.altitude(xyz0);\r\n      const xyz1 = this._xyz1Work;\r\n      for (let i = 0; i < xyz.length; i++) {\r\n        xyz.getPoint3dAtUncheckedPointIndex(i, xyz1);\r\n        const a1 = plane.altitude(xyz1);\r\n        if (a0 * a1 < 0.0) {\r\n          // simple crossing. . .\r\n          const f = - a0 / (a1 - a0);\r\n          crossings.push(xyz0.interpolate(f, xyz1));\r\n        }\r\n        if (a1 === 0.0) {        // IMPORTANT -- every point is directly tested here\r\n          crossings.push(xyz1.clone());\r\n        }\r\n        xyz0.setFromPoint3d(xyz1);\r\n        a0 = a1;\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * * Input a \"clipped\" polygon (from clipConvexPolygonInPlace) with more than 2 crossings, i.e. is from a non-convex polygon with configurations like:\r\n   *   * multiple distinct polygons\r\n   *   * single polygon, but cut lines overlap and cancel by parity rules.\r\n   * * return 1 or more polygons, each having first and last points \"on\" the plane and intermediate points \"off\"\r\n   * * `minChainLength` indicates the shortest chain to be returned.\r\n   * @internal\r\n   */\r\n  public static gatherCutLoopsFromPlaneClip(plane: PlaneAltitudeEvaluator, xyz: GrowableXYZArray, minChainLength: number = 3, tolerance: number = Geometry.smallMetricDistance): CutLoopMergeContext {\r\n    const result: CutLoopMergeContext = new CutLoopMergeContext();\r\n    // find the first on-plane point\r\n    let firstOnPlaneIndex = 0;\r\n    const n = xyz.length;\r\n    for (; firstOnPlaneIndex < n; firstOnPlaneIndex++) {\r\n      const a = xyz.evaluateUncheckedIndexPlaneAltitude(firstOnPlaneIndex, plane);\r\n      if (Math.abs(a) <= tolerance)\r\n        break;\r\n    }\r\n    if (firstOnPlaneIndex === n)\r\n      return result;\r\n    // find contiguous blocks of \"off plane\" points with on-plane points at their end.\r\n    let candidateA = firstOnPlaneIndex;\r\n    while (candidateA < n) {\r\n      const currentChain = new GrowableXYZArray();\r\n      currentChain.pushFromGrowableXYZArray(xyz, candidateA);\r\n      let candidateB = candidateA + 1;\r\n      while (candidateB < n) {\r\n        currentChain.pushFromGrowableXYZArray(xyz, candidateB);\r\n        const a = xyz.evaluateUncheckedIndexPlaneAltitude(candidateB, plane);\r\n        if (Math.abs(a) <= tolerance) {\r\n          break;\r\n        }\r\n        candidateB++;\r\n      }\r\n      if (candidateB === n)\r\n        for (let i = 0; i <= firstOnPlaneIndex; i++)\r\n          currentChain.pushFromGrowableXYZArray(xyz, i);\r\n      if (currentChain.length >= minChainLength)\r\n        result.inputLoops.push(CutLoop.createCaptureWithReturnEdge(currentChain));\r\n      candidateA = candidateB;\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * * Input the loops from `gatherCutLoopsFromClipPlane`\r\n   * * Consolidate loops for reentrant configurations.\r\n   * * WARNING: The output reuses and modifies input loops whenever possible.\r\n   * @internal\r\n   */\r\n  public static reorderCutLoops(loops: CutLoopMergeContext) {\r\n    // Simple case: all loops have common orientation\r\n    if (loops.inputLoops.length === 1)\r\n      return;\r\n    // Simple cases: 2 loops . . .\r\n    if (loops.inputLoops.length === 2) {\r\n      // if edges are in the same direction, it must be a pair of unrelated loop . . .\r\n      if (loops.inputLoops[0].edge!.direction.dotProduct(loops.inputLoops[1].edge!.direction) > 0) {\r\n        loops.outputLoops.push(loops.inputLoops[0]);\r\n        loops.outputLoops.push(loops.inputLoops[1]);\r\n        return;\r\n      }\r\n      // twist the two loops into 1,\r\n      const source = loops.inputLoops[1].xyz;\r\n      const dest = loops.inputLoops[0].xyz;\r\n      dest.pushFromGrowableXYZArray(source);\r\n      loops.outputLoops.push(loops.inputLoops[0]);\r\n      return;\r\n    }\r\n    // 3 or more loops.\r\n    loops.sortAndMergeLoops();\r\n    //\r\n  }\r\n  /**\r\n   * Return the intersection of the plane with a range cube.\r\n   * @param range\r\n   * @param xyzOut intersection polygon.  This is convex.\r\n   * @return reference to xyz if the polygon still has points; undefined if all points are clipped away.\r\n   */\r\n  public static intersectRangeConvexPolygonInPlace(range: Range3d, xyz: GrowableXYZArray): GrowableXYZArray | undefined {\r\n    if (range.isNull)\r\n      return undefined;\r\n    const work = new GrowableXYZArray();\r\n    const plane = Point4d.create();\r\n    plane.set(0, 0, -1, range.high.z);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    plane.set(0, 0, 1, -range.low.z);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    plane.set(0, -1, 0, range.high.y);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    plane.set(0, 1, 0, -range.low.y);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    plane.set(-1, 0, 0, range.high.x);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    plane.set(1, 0, 0, -range.low.x);\r\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\r\n    if (xyz.length === 0)\r\n      return undefined;\r\n\r\n    return xyz;\r\n  }\r\n}\r\n/**\r\n * `Point3dArrayPolygonOps` class contains _static_ methods for typical operations on polygons carried as `Point3d[]`\r\n * @public\r\n */\r\nexport class Point3dArrayPolygonOps {\r\n  private static _xyz0Work: Point3d = Point3d.create();\r\n  //  private static _xyz1Work: Point3d = Point3d.create();\r\n  //  private static _xyz2Work: Point3d = Point3d.create();\r\n  /**\r\n   * Split a (convex) polygon into 2 parts.\r\n   * @param xyz original polygon\r\n   * @param xyzIn array to receive inside part\r\n   * @param xyzOut array to receive outside part\r\n   * @param altitudeRange min and max altitudes encountered.\r\n   */\r\n  public static convexPolygonSplitInsideOutsidePlane(plane: PlaneAltitudeEvaluator, xyz: Point3d[], xyzIn: Point3d[], xyzOut: Point3d[], altitudeRange: Range1d): void {\r\n    const xyzCarrier = new Point3dArrayCarrier(xyz);\r\n    const xyzInCarrier = new Point3dArrayCarrier(xyzIn);\r\n    const xyzOutCarrier = new Point3dArrayCarrier(xyzOut);\r\n    IndexedXYZCollectionPolygonOps.splitConvexPolygonInsideOutsidePlane(plane, xyzCarrier, xyzInCarrier, xyzOutCarrier, altitudeRange);\r\n  }\r\n\r\n  /** Return an array containing\r\n   * * All points that are exactly on the plane.\r\n   * * Crossing points between adjacent points that are (strictly) on opposite sides.\r\n   */\r\n  public static polygonPlaneCrossings(plane: PlaneAltitudeEvaluator, xyz: Point3d[], crossings: Point3d[]): void {\r\n    const xyzSource = new Point3dArrayCarrier(xyz);\r\n    return IndexedXYZCollectionPolygonOps.polygonPlaneCrossings(plane, xyzSource, crossings);\r\n  }\r\n  /**\r\n   * Clip a polygon, returning the clip result in the same object.\r\n   * @param xyz input/output polygon\r\n   * @param work scratch object\r\n   * @param tolerance tolerance for on-plane decision.\r\n   */\r\n  public static convexPolygonClipInPlace(plane: PlaneAltitudeEvaluator, xyz: Point3d[], work: Point3d[] | undefined, tolerance: number = Geometry.smallMetricDistance) {\r\n    if (work === undefined)\r\n      work = [];\r\n    work.length = 0;\r\n    let numNegative = 0;\r\n    const fractionTol = 1.0e-8;\r\n    const b = -tolerance;\r\n    if (xyz.length > 2) {\r\n      let xyz0 = xyz[xyz.length - 1];\r\n      let a0 = plane.altitude(xyz0);\r\n      //    if (a0 >= 0.0)\r\n      //      work.push_back (xyz0);\r\n      for (const xyz1 of xyz) {\r\n        const a1 = plane.altitude(xyz1);\r\n        if (a1 < 0)\r\n          numNegative++;\r\n        if (a0 * a1 < 0.0) {\r\n          // simple crossing . . .\r\n          const f = - a0 / (a1 - a0);\r\n          if (f > 1.0 - fractionTol && a1 >= 0.0) {\r\n            // the endpoint will be saved -- avoid the duplicate\r\n          } else {\r\n            work.push(xyz0.interpolate(f, xyz1));\r\n          }\r\n        }\r\n        if (a1 >= b)\r\n          work.push(xyz1);\r\n        xyz0 = Point3d.createFrom(xyz1);\r\n        a0 = a1;\r\n      }\r\n    }\r\n\r\n    if (work.length <= 2) {\r\n      xyz.length = 0;\r\n    } else if (numNegative > 0) {\r\n      xyz.length = 0;\r\n      for (const xyzI of work) {\r\n        xyz.push(xyzI);\r\n      }\r\n      work.length = 0;\r\n    }\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module CartesianGeometry\n */\nimport { assert } from \"@itwin/core-bentley\";\nimport { CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\nimport { AxisOrder, Geometry, PlaneAltitudeEvaluator, PolygonLocation } from \"../Geometry\";\nimport { Matrix4d } from \"../geometry4d/Matrix4d\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { XYParitySearchContext } from \"../topology/XYParitySearchContext\";\nimport { FrameBuilder } from \"./FrameBuilder\";\nimport { GrowableXYZArray } from \"./GrowableXYZArray\";\nimport { IndexedReadWriteXYZCollection, IndexedXYZCollection } from \"./IndexedXYZCollection\";\nimport { Matrix3d } from \"./Matrix3d\";\nimport { Plane3d } from \"./Plane3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\nimport { Point2d, Vector2d } from \"./Point2dVector2d\";\nimport { Point3dArrayCarrier } from \"./Point3dArrayCarrier\";\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\nimport { PolylineOps } from \"./PolylineOps\";\nimport { Range1d, Range3d } from \"./Range\";\nimport { Ray3d } from \"./Ray3d\";\nimport { SortablePolygon } from \"./SortablePolygon\";\nimport { XAndY, XYAndZ } from \"./XYZProps\";\n\n/**\n * Carries data about a point in the plane of a polygon.\n * @public\n */\nexport class PolygonLocationDetail {\n  /** The coordinates of the point p. */\n  public point: Point3d;\n  /** Application-specific number */\n  public a: number;\n  /** Application-specific vector */\n  public v: Vector3d;\n  /** A number that classifies the point's location with respect to the polygon. */\n  public code: PolygonLocation;\n  /** Index of the polygon vertex at the base of the edge closest to p. */\n  public closestEdgeIndex: number;\n  /** The parameter along the closest edge of the projection of p. */\n  public closestEdgeParam: number;\n\n  private constructor() {\n    this.point = new Point3d();\n    this.a = 0.0;\n    this.v = new Vector3d();\n    this.code = PolygonLocation.Unknown;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n\n  /** Invalidate this detail. */\n  public invalidate() {\n    this.point.setZero();\n    this.a = 0.0;\n    this.v.setZero();\n    this.code = PolygonLocation.Unknown;\n    this.closestEdgeIndex = 0;\n    this.closestEdgeParam = 0.0;\n  }\n\n  /** Create an invalid detail.\n   * @param result optional pre-allocated object to fill and return\n   */\n  public static create(result?: PolygonLocationDetail): PolygonLocationDetail {\n    if (undefined === result)\n      result = new PolygonLocationDetail();\n    else\n      result.invalidate();\n    return result;\n  }\n\n  /** Set the instance contents from the other detail.\n   * @param other detail to clone\n   */\n  public copyContentsFrom(other: PolygonLocationDetail) {\n    this.point.setFrom(other.point);\n    this.a = other.a;\n    this.v.setFrom(other.v);\n    this.code = other.code;\n    this.closestEdgeIndex = other.closestEdgeIndex;\n    this.closestEdgeParam = other.closestEdgeParam;\n  }\n\n  /** Whether this detail is valid. */\n  public get isValid(): boolean {\n    return this.code !== PolygonLocation.Unknown;\n  }\n\n  /** Whether this instance specifies a location inside or on the polygon. */\n  public get isInsideOrOn(): boolean {\n    return this.code === PolygonLocation.InsidePolygon ||\n      this.code === PolygonLocation.OnPolygonVertex || this.code === PolygonLocation.OnPolygonEdgeInterior ||\n      this.code === PolygonLocation.InsidePolygonProjectsToVertex || this.code === PolygonLocation.InsidePolygonProjectsToEdgeInterior;\n  }\n  /**\n   * Set point, index, and fraction for an \"at vertex\" or \"along edge\" PolygonLocationDetail.\n   * * Point is not captured; its coordinates are copied.\n   */\n  public static createAtVertexOrEdge(point: Point3d, index: number, fraction: number = 0): PolygonLocationDetail {\n    const detail = new PolygonLocationDetail();\n    detail.point.setFrom(point);\n    detail.closestEdgeIndex = index;\n    detail.closestEdgeParam = fraction;\n    fraction = Geometry.clamp(fraction, 0, 1);\n    detail.code = (fraction > 0 && fraction < 1) ? PolygonLocation.OnPolygonEdgeInterior : PolygonLocation.OnPolygonVertex;\n    return detail;\n  }\n}\n\n/**\n * A pair of PolygonLocationDetail.\n * @public\n */\nexport class PolygonLocationDetailPair {\n  /** The first of the two details. */\n  public detailA: PolygonLocationDetail;\n  /** The second of the two details. */\n  public detailB: PolygonLocationDetail;\n\n  /** Constructor, captures inputs */\n  private constructor(detailA?: PolygonLocationDetail, detailB?: PolygonLocationDetail) {\n    this.detailA = detailA ? detailA : PolygonLocationDetail.create();\n    this.detailB = detailB ? detailB : PolygonLocationDetail.create();\n  }\n  /** Create an instance by capturing inputs */\n  public static create(detailA: PolygonLocationDetail, detailB: PolygonLocationDetail, result?: PolygonLocationDetailPair): PolygonLocationDetailPair {\n    if (!result)\n      return new PolygonLocationDetailPair(detailA, detailB);\n    result.detailA = detailA;\n    result.detailB = detailB;\n    return result;\n  }\n  /** Make a deep copy of this PolygonLocationDetailPair */\n  public clone(result?: PolygonLocationDetailPair): PolygonLocationDetailPair {\n    result = result ? result : new PolygonLocationDetailPair();\n    result.detailA.copyContentsFrom(this.detailA);\n    result.detailB.copyContentsFrom(this.detailB);\n    return result;\n  }\n  /** Swap the details of A, B */\n  public swapDetails() {\n    const q = this.detailA;\n    this.detailA = this.detailB;\n    this.detailB = q;\n  }\n}\n\n/**\n * Carrier for a loop extracted from clip operation, annotated for sorting\n * @internal\n */\nexport class CutLoop {\n  /* All points of the loop */\n  public xyz: GrowableXYZArray;\n  /* ray within point of \"on\" edge */\n  public edge?: Ray3d;\n  public sortCoordinate0: number;\n  public sortCoordinate1: number;\n  public sortDelta: number;\n  public isNotch: boolean;\n  public constructor(xyz: GrowableXYZArray) {\n    this.xyz = xyz;\n    this.edge = undefined;\n    this.sortCoordinate0 = this.sortCoordinate1 = 0;\n    this.sortDelta = 0;\n    this.isNotch = false;\n  }\n  /**\n   * Create a `CutLoop` structure annotated with the vector from last point to first.\n   * @param xyz coordinates to capture\n   */\n  public static createCaptureWithReturnEdge(xyz: GrowableXYZArray): CutLoop {\n    const result = new CutLoop(xyz);\n    if (xyz.length >= 2)\n      result.edge = Ray3d.createStartEnd(xyz.front()!, xyz.back()!);\n    return result;\n  }\n  /**\n   * Set up coordinates for sort steps:\n   * * Make `sortCoordinate0` and `sortCoordinate` the (algebraically sorted) start and end fractions along the ray\n   * * Make `sortDelta` the oriented difference of those two\n   * * Hence sorting on the coordinates puts loops in left-to-right order by the their edge vector leftmost point.\n   */\n  public setSortCoordinates(ray: Ray3d) {\n    this.sortDelta = this.edge!.direction.dotProduct(ray.direction);\n    const a = ray.dotProductToPoint(this.edge!.origin);\n    if (this.sortDelta >= 0) {\n      this.sortCoordinate0 = a;\n      this.sortCoordinate1 = a + this.sortDelta;\n    } else {\n      this.sortCoordinate0 = a + this.sortDelta;    // and sortDelta is negative !!!\n      this.sortCoordinate1 = a;\n\n    }\n  }\n  /** Return\n   * * 0 if other sort limits are not strictly contained in this.\n   * * 1 if other sort limits are strictly contained with same direction\n   * * -1 if other sort limits are strictly contained in opposite direction.\n   */\n  public containsSortLimits(other: CutLoop): number {\n    if (other.sortCoordinate0 >= this.sortCoordinate1\n      || other.sortCoordinate0 <= this.sortCoordinate0\n      || other.sortCoordinate1 <= this.sortCoordinate0\n      || other.sortCoordinate1 >= this.sortCoordinate1)\n      return 0;\n    return this.sortDelta * other.sortDelta > 0 ? 1 : -1;\n  }\n  /**\n   * * push coordinates from other onto this\n   * * reset this.sortCoordinate0 to other.sortCoordinate1\n   * @param other new coordinates\n   */\n  public absorb(other: CutLoop) {\n    this.xyz.pushFromGrowableXYZArray(other.xyz);\n    this.sortCoordinate0 = other.sortCoordinate1;\n  }\n  /** Comparison function for system sort function applied to an array of CutLoop .... */\n  public static sortFunction(loopA: CutLoop, loopB: CutLoop): number {\n    const q = loopA.sortCoordinate0 - loopB.sortCoordinate0;\n    return q > 0 ? 1 : -1;\n  }\n\n  /** Return first point coordinates.\n   * * For type checking, assume array is not empty.\n   */\n  public front(result?: Point3d): Point3d { return this.xyz.front(result)!; }\n  /** Return last point coordinates.\n   * * For type checking, assume array is not empty.\n   */\n  public back(result?: Point3d): Point3d { return this.xyz.back(result)!; }\n\n}\n/**\n * Context to hold an array of input loops and apply sort logic.\n * * This is used when a non-convex face is clipped by a plane\n * *  Simple convex clip logic in this case generates double-back edges that need to be eliminated.\n * * This class manages the elimination.\n * * Usage pattern is:\n * @internal\n */\nexport class CutLoopMergeContext {\n  /** Array (filled by user code) of loops being sorted. Contents are subject to being changed during sort. */\n  public inputLoops: CutLoop[];\n  /** Array (filled by sortAndMergeLoops) of reorganized loops. */\n  public outputLoops: CutLoop[];\n  // Initialize with empty loop arrays.\n  public constructor() {\n    this.inputLoops = [];\n    this.outputLoops = [];\n  }\n  /**\n   *  * Search all start and end points for the one most distant from point0.\n   */\n  private mostDistantPoint(point0: Point3d, workPoint: Point3d, resultPoint: Point3d) {\n    let dMax = -1.0;\n    resultPoint.setZero();\n    let d;\n    for (const loop of this.inputLoops) {\n      loop.front(workPoint);\n      d = workPoint.distanceSquared(point0);\n      if (d > dMax) {\n        dMax = d;\n        resultPoint.setFromPoint3d(workPoint);\n      }\n      loop.back(workPoint);\n      d = workPoint.distanceSquared(point0);\n      if (d > dMax) {\n        dMax = d;\n        resultPoint.setFromPoint3d(workPoint);\n      }\n    }\n  }\n  /**\n   * * Find a long (probably longest) edge through start and end points of inputs.\n   * * Setup sortCoordinate0 and sortCoordinate1 along that edge for each loop\n   * * sort all inputLoop members by sortCoordinate0.\n   */\n  private sortInputs() {\n    if (this.inputLoops.length > 0 && this.inputLoops[0].xyz.length > 0) {\n      const point0 = this.inputLoops[0].xyz.front()!;\n      const workPoint = Point3d.create();\n      const point1 = Point3d.create();\n      // point0 could be in the middle.   Find the most distant point ...\n      this.mostDistantPoint(point0, workPoint, point1);\n      // And again from point1 to get to the other extreme .  .\n      this.mostDistantPoint(point1, workPoint, point0);\n      const sortRay = Ray3d.createStartEnd(point0, point1);\n      sortRay.direction.normalizeInPlace();\n      for (const loop of this.inputLoops)\n        loop.setSortCoordinates(sortRay);\n      this.inputLoops.sort((loopA, loopB) => CutLoop.sortFunction(loopA, loopB));\n\n    }\n  }\n  /**\n   * * sort all input loops by coordinate along the cut edge\n   * * sweep left to right, using start and end coordinates to decide if loops are outer or hole, and combine holes into their containing outer loops.\n   */\n  public sortAndMergeLoops() {\n    this.sortInputs();\n    const inputs = this.inputLoops;\n    const outputs = this.outputLoops;\n    const stack = [];\n    outputs.length = 0;\n    for (const candidate of inputs) {\n      candidate.isNotch = false;\n      // candidate must be either (a) absorbed in to of stack or (b) pushed onto stack.\n      // If pushed, must have indication of natch state.\n      for (; stack.length > 0;) {\n        const topOfStack = stack[stack.length - 1];\n        const containment = topOfStack.containsSortLimits(candidate);\n        if (containment === 0) {\n          if (!topOfStack.isNotch)\n            outputs.push(topOfStack);\n          stack.pop();\n          continue;   // a larger topOfStack may have appeared !\n          candidate.isNotch = false;\n        } else if (containment === 1) {\n          candidate.isNotch = false;\n          break;\n        } else {\n          topOfStack.absorb(candidate);\n          candidate.isNotch = true;\n          break;\n        }\n      }\n      stack.push(candidate);\n    }\n    // Anything on stack must be complete ...\n    for (const p of stack) {\n      if (!p.isNotch)\n        outputs.push(p);\n    }\n  }\n}\n/**\n * Bundle of options for [[PolygonOps.volumeBetweenPolygonAndPlane]].\n * @public\n * @see [[VolumeBetweenPolygonAndPlaneOutput]]\n */\nexport interface VolumeBetweenPolygonAndPlaneOptions {\n  /** Whether to skip computation of the area moments. If `true` only volume and area are returned. Default is `false`. */\n  skipMoments?: boolean;\n  /** Work point. If `skipMoments` is undefined/false, this point is returned as the area moment origin. */\n  workPoint0?: Point3d;\n  /** Another work point. */\n  workPoint1?: Point3d;\n  /** Work vector. */\n  workVector?: Vector3d;\n  /** Work matrix. If `skipMoments` is undefined/false, this matrix is returned as the area moment products. */\n  workMatrix?: Matrix4d;\n}\n/**\n * Bundle of output data for [[PolygonOps.volumeBetweenPolygonAndPlane]].\n * @public\n */\nexport interface VolumeBetweenPolygonAndPlaneOutput {\n  /** Six times the signed volume of the truncated prism between the polygon and the plane. */\n  volume6: number;\n  /** Two times the signed area of the polygon's projection onto the plane. */\n  area2: number;\n  /** Origin of the facet used to accumulate `products`. */\n  origin?: Point3d;\n  /** Raw accumulated second moment area products of the polygon's projection onto the plane. */\n  products?: Matrix4d;\n}\n/**\n * Various static methods to perform computations on an array of points interpreted as a polygon.\n * @public\n */\nexport class PolygonOps {\n  /** Sum areas of triangles from points[0] to each far edge.\n   * * Consider triangles from points[0] to each edge.\n   * * Sum the absolute areas (without regard to orientation) all these triangles.\n   * @returns sum of absolute triangle areas.\n   */\n  public static sumTriangleAreas(points: Point3d[] | GrowableXYZArray): number {\n    let s = 0;\n    const n = points.length;\n    if (Array.isArray(points)) {\n      if (n >= 3) {\n        const origin = points[0];\n        const vector0 = origin.vectorTo(points[1]);\n        let vector1 = Vector3d.create();\n        // This will work with or without closure edge.  If closure is given, the last vector is 000.\n        for (let i = 2; i < n; i++) {\n          vector1 = origin.vectorTo(points[i], vector1);\n          s += vector0.crossProductMagnitude(vector1);\n          vector0.setFrom(vector1);\n        }\n      }\n      return s * 0.5;\n    }\n    const crossVector = Vector3d.create();\n    for (let i = 2; i < n; i++) {\n      points.crossProductIndexIndexIndex(0, i - 1, i, crossVector);\n      s += crossVector.magnitude();\n    }\n    return s * 0.5;\n  }\n  /** Sum areas of triangles from points[0] to each far edge, as viewed with upVector pointing up.\n   * * Consider triangles from points[0] to each edge.\n   * * Sum the areas perpendicular to the upVector.\n   * * If the upVector is near-zero length, a simple z vector is used.\n   * @returns sum of triangle areas.\n   */\n  public static sumTriangleAreasPerpendicularToUpVector(points: Point3d[] | GrowableXYZArray, upVector: Vector3d): number {\n    let scale = upVector.magnitude();\n    if (scale < Geometry.smallMetricDistance) {\n      upVector = Vector3d.create(0, 0, 1);\n      scale = 1.0;\n    }\n\n    let s = 0;\n    const n = points.length;\n    if (Array.isArray(points)) {\n      if (n >= 3) {\n        const origin = points[0];\n        const vector0 = origin.vectorTo(points[1]);\n        let vector1 = Vector3d.create();\n        // This will work with or without closure edge.  If closure is given, the last vector is 000.\n        for (let i = 2; i < n; i++) {\n          vector1 = origin.vectorTo(points[i], vector1);\n          s += vector0.tripleProduct(vector1, upVector);\n          vector0.setFrom(vector1);\n        }\n      }\n      return s * 0.5 / scale;\n    }\n    const crossVector = Vector3d.create();\n    for (let i = 2; i < n; i++) {\n      points.crossProductIndexIndexIndex(0, i - 1, i, crossVector);\n      s += crossVector.dotProduct(upVector);\n    }\n    return s * 0.5 / scale;\n  }\n\n  /** Sum areas of triangles from points[0] to each far edge.\n   * * Consider triangles from points[0] to each edge.\n   * * Sum the signed areas of all these triangles. (An area can be negative at a concave corner.)\n   * @returns sum of signed triangle areas.\n   */\n  public static sumTriangleAreasXY(points: Point3d[]): number {\n    let s = 0.0;\n    const n = points.length;\n    if (n >= 3) {\n      const origin = points[0];\n      const vector0 = origin.vectorTo(points[1]);\n      let vector1 = Vector3d.create();\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\n      for (let i = 2; i < n; i++) {\n        vector1 = origin.vectorTo(points[i], vector1);\n        s += vector0.crossProductXY(vector1);\n        vector0.setFrom(vector1);\n      }\n    }\n    s *= 0.5;\n    return s;\n  }\n  /** These values are the integrated area moment products [xx,xy,xz, x]\n   * for a right triangle in the first quadrant at the origin -- (0,0),(1,0),(0,1)\n   */\n  private static readonly _triangleMomentWeights = Matrix4d.createRowValues(2.0 / 24.0, 1.0 / 24.0, 0, 4.0 / 24.0, 1.0 / 24.0, 2.0 / 24.0, 0, 4.0 / 24.0, 0, 0, 0, 0, 4.0 / 24.0, 4.0 / 24.0, 0, 12.0 / 24.0);\n  /** These values are the integrated volume moment products [xx,xy,xz, x, yx,yy,yz,y, zx,zy,zz,z,x,y,z,1]\n   * for a tetrahedron in the first quadrant at the origin -- (0,00),(1,0,0),(0,1,0),(0,0,1)\n   */\n  private static readonly _tetrahedralMomentWeights = Matrix4d.createRowValues(\n    1.0 / 60.0, 1.0 / 120, 1.0 / 120, 1.0 / 24.0,\n    1.0 / 120, 1.0 / 60.0, 1.0 / 120, 1.0 / 24.0,\n    1.0 / 120, 1.0 / 120, 1.0 / 60.0, 1.0 / 24.0,\n    1.0 / 24.0, 1.0 / 24.0, 1.0 / 24.0, 1.0 / 6.0);\n  // statics for shared reuse.\n  // many methods use these.\n  // only use them in \"leaf\" methods that are certain not to call other users . . .\n  private static _vector0 = Vector3d.create();\n  private static _vector1 = Vector3d.create();\n  private static _vector2 = Vector3d.create();\n  private static _vectorOrigin = Vector3d.create();\n  private static _normal = Vector3d.create();\n  private static _matrixA = Matrix4d.createIdentity();\n  private static _matrixB = Matrix4d.createIdentity();\n  private static _matrixC = Matrix4d.createIdentity();\n  /** return a vector which is perpendicular to the polygon and has magnitude equal to the polygon area. */\n  public static areaNormalGo(points: IndexedXYZCollection, result?: Vector3d): Vector3d | undefined {\n    if (!result)\n      result = new Vector3d();\n    else\n      result.setZero();\n    const n = points.length;\n    if (n === 3) {\n      points.crossProductIndexIndexIndex(0, 1, 2, result);\n    } else if (n > 3) {\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\n      for (let i = 2; i < n; i++) {\n        points.accumulateCrossProductIndexIndexIndex(0, i - 1, i, result);\n      }\n    }\n    // ALL BRANCHES SUM FULL CROSS PRODUCTS AND EXPECT SCALE HERE\n    result.scaleInPlace(0.5);\n    return result.isZero ? undefined : result;\n  }\n  /** return a vector which is perpendicular to the polygon and has magnitude equal to the polygon area. */\n  public static areaNormal(points: Point3d[], result?: Vector3d): Vector3d {\n    if (!result)\n      result = Vector3d.create();\n    PolygonOps.areaNormalGo(new Point3dArrayCarrier(points), result);\n    return result;\n  }\n  /** return the area of the polygon.\n   * * This assumes the polygon is planar\n   * * This does NOT assume the polygon is on the xy plane.\n   */\n  public static area(points: Point3d[]): number {\n    return PolygonOps.areaNormal(points).magnitude();\n  }\n  /** return the projected XY area of the polygon. */\n  public static areaXY(points: Point3d[] | IndexedXYZCollection): number {\n    let area = 0.0;\n    if (points instanceof IndexedXYZCollection) {\n      if (points.length > 2) {\n        const x0 = points.getXAtUncheckedPointIndex(0);\n        const y0 = points.getYAtUncheckedPointIndex(0);\n        let u1 = points.getXAtUncheckedPointIndex(1) - x0;\n        let v1 = points.getYAtUncheckedPointIndex(1) - y0;\n        let u2, v2;\n        for (let i = 2; i + 1 < points.length; i++, u1 = u2, v1 = v2) {\n          u2 = points.getXAtUncheckedPointIndex(i) - x0;\n          v2 = points.getYAtUncheckedPointIndex(i) - y0;\n          area += Geometry.crossProductXYXY(u1, v1, u2, v2);\n        }\n      }\n    } else {\n      for (let i = 1; i + 1 < points.length; i++)\n        area += points[0].crossProductToPointsXY(points[i], points[i + 1]);\n    }\n    return 0.5 * area;\n  }\n  /** Sum the areaXY () values for multiple polygons */\n  public static sumAreaXY(polygons: Point3d[][]): number {\n    let s = 0.0;\n    for (const p of polygons)\n      s += this.areaXY(p);\n    return s;\n  }\n  /**\n   * Return a [[Ray3d]] with:\n   * * `origin` is the centroid of the polygon,\n   * * `direction` is a unit vector perpendicular to the polygon plane,\n   * * `a` is the polygon area.\n   * @param points the polygon vertices in order. Points can lie in any plane. First and last point do not have to be equal.\n   * @param result optional pre-allocated result to populate and return.\n   */\n  public static centroidAreaNormal(points: IndexedXYZCollection | Point3d[], result?: Ray3d): Ray3d | undefined {\n    if (Array.isArray(points)) {\n      const carrier = new Point3dArrayCarrier(points);\n      return this.centroidAreaNormal(carrier, result);\n    }\n    const n = points.length;\n    if (n === 3) {\n      const normal = points.crossProductIndexIndexIndex(0, 1, 2, result?.direction)!;\n      const a = 0.5 * normal.magnitude();\n      const centroid = points.getPoint3dAtCheckedPointIndex(0, result?.origin)!;\n      points.accumulateScaledXYZ(1, 1.0, centroid);\n      points.accumulateScaledXYZ(2, 1.0, centroid);\n      centroid.scaleInPlace(1.0 / 3.0);\n      if (!result)\n        result = Ray3d.createCapture(centroid, normal);\n      if (result.tryNormalizeInPlaceWithAreaWeight(a))\n        return result;\n      return undefined;\n    }\n    if (n >= 3) {\n      const areaNormal = Vector3d.createZero();\n      // This will work with or without closure edge.  If closure is given, the last vector is 000.\n      for (let i = 2; i < n; i++) {\n        points.accumulateCrossProductIndexIndexIndex(0, i - 1, i, areaNormal);\n      }\n      areaNormal.normalizeInPlace();\n      const origin = points.getPoint3dAtCheckedPointIndex(0)!;\n      const vector0 = Vector3d.create();\n      const vector1 = Vector3d.create();\n      points.vectorXYAndZIndex(origin, 1, vector0);\n      let cross = Vector3d.create();\n      const centroidSum = Vector3d.createZero();\n      const normal = Vector3d.createZero(result?.direction);\n      let signedTriangleArea;\n      // This will work with or without closure edge. If closure is given, the last vector is 000.\n      for (let i = 2; i < n; i++) {\n        points.vectorXYAndZIndex(origin, i, vector1);\n        cross = vector0.crossProduct(vector1, cross);\n        signedTriangleArea = areaNormal.dotProduct(cross); // well, actually twice the area.\n        normal.addInPlace(cross); // this grows to twice the area\n        const b = signedTriangleArea / 6.0;\n        centroidSum.plus2Scaled(vector0, b, vector1, b, centroidSum);\n        vector0.setFrom(vector1);\n      }\n      const area = 0.5 * normal.magnitude();\n      const inverseArea = Geometry.conditionalDivideFraction(1, area);\n      if (inverseArea !== undefined) {\n        const centroid = origin.plusScaled(centroidSum, inverseArea, result?.origin);\n        if (!result)\n          result = Ray3d.createCapture(centroid, normal);\n        result.tryNormalizeInPlaceWithAreaWeight(area);\n        return result;\n      }\n    }\n    return undefined;\n  }\n  // Has the potential to be combined with centroidAreaNormal for point3d array and Ray3d return listed above...\n  // Returns undefined if given point array less than 3 or if not safe to divide at any point\n  /**\n   * * Return (in caller-allocated centroid) the centroid of the xy polygon.\n   * * Return (as function value)  the area\n   */\n  public static centroidAndAreaXY(points: Point2d[], centroid: Point2d): number | undefined {\n    let area = 0.0;\n    centroid.set(0, 0);\n    if (points.length < 3)\n      return undefined;\n    const origin = points[0];\n    let vectorSum = Vector2d.create(0, 0); // == sum ((U+V)/3) * (U CROSS V)/2 -- but leave out divisions\n    let areaSum = 0.0; // == sum (U CROSS V) / 2 -- but leave out divisions\n    for (let i = 1; i + 1 < points.length; i++) {\n      const vector0 = origin.vectorTo(points[i]);\n      const vector1 = origin.vectorTo(points[i + 1]);\n      const tempArea = vector0.crossProduct(vector1);\n      vectorSum = vectorSum.plus(vector0.plus(vector1).scale(tempArea));\n      areaSum += tempArea;\n    }\n    area = areaSum * 0.5;\n    const a = Geometry.conditionalDivideFraction(1.0, 6.0 * area);\n    if (a === undefined) {\n      centroid.setFrom(origin);\n      return undefined;\n    }\n    centroid.setFrom(origin.plusScaled(vectorSum, a));\n    return area;\n  }\n  /**\n   * Return a unit normal to the plane of the polygon.\n   * @param points array of points around the polygon.\n   * @param result caller-allocated result vector.\n   * @return true if and only if result has unit length\n   */\n  public static unitNormal(points: IndexedXYZCollection, result: Vector3d): boolean {\n    result.setZero();\n    let n = points.length;\n    if (n > 1 && points.getPoint3dAtUncheckedPointIndex(0).isExactEqual(points.getPoint3dAtUncheckedPointIndex(n - 1)))\n      --n;  // ignore closure point\n    if (n === 3) {\n      points.crossProductIndexIndexIndex(0, 1, 2, result);\n      return result.normalizeInPlace();\n    }\n    if (n === 4) {\n      // cross product of diagonals is more stable than from single of the points . . .\n      points.vectorIndexIndex(0, 2, PolygonOps._vector0);\n      points.vectorIndexIndex(1, 3, PolygonOps._vector1);\n      PolygonOps._vector0.crossProduct(PolygonOps._vector1, result);\n      return result.normalizeInPlace();\n    }\n    // more than 4 points  ... no shortcuts ...\n    PolygonOps.areaNormalGo(points, result);\n    return result.normalizeInPlace();\n  }\n  /** Accumulate to the matrix of area products of a polygon with respect to an origin.\n   * The polygon is assumed to be planar and non-self-intersecting.\n   */\n  /** Accumulate to the matrix of area products of a polygon with respect to an origin.\n   * * The polygon is assumed to be planar and non-self-intersecting.\n   * * Accumulated values are integrals over triangles from point 0 of the polygon to other edges of the polygon.\n   * * Integral over each triangle is transformed to integrals from the given origin.\n   * @param points array of points around the polygon.   Final closure point is not needed.\n   * @param origin origin for global accumulation.\n   * @param moments 4x4 matrix where products are accumulated.\n   */\n  public static addSecondMomentAreaProducts(points: IndexedXYZCollection, origin: Point3d, moments: Matrix4d) {\n    this.addSecondMomentTransformedProducts(PolygonOps._triangleMomentWeights, points, origin, 2, moments);\n  }\n\n  /** Accumulate to the matrix of volume products of a polygon with respect to an origin.\n   * * The polygon is assumed to be planar and non-self-intersecting.\n   * * Accumulated values are integrals over tetrahedra from the origin to triangles on the polygon.\n   * @param points array of points around the polygon.   Final closure point is not needed.\n   * @param origin origin for tetrahedra\n   * @param moments 4x4 matrix where products are accumulated.\n   */\n  public static addSecondMomentVolumeProducts(points: IndexedXYZCollection, origin: Point3d, moments: Matrix4d) {\n    this.addSecondMomentTransformedProducts(PolygonOps._tetrahedralMomentWeights, points, origin, 3, moments);\n  }\n  /** Return the matrix of area products of a polygon with respect to an origin.\n   * The polygon is assumed to be planar and non-self-intersecting.\n   * * `frameType===2` has xy vectors in the plane of the polygon, plus a unit normal z. (Used for area integrals)\n   * * `frameType===3` has vectors from origin to 3 points in the triangle. (Used for volume integrals)\n   */\n  private static addSecondMomentTransformedProducts(firstQuadrantMoments: Matrix4d, points: IndexedXYZCollection, origin: Point3d,\n    frameType: 2 | 3,\n    moments: Matrix4d) {\n    const unitNormal = PolygonOps._normal;\n    if (PolygonOps.unitNormal(points, unitNormal)) {\n      // The direction of the normal makes the various detJ values positive or negative so that non-convex polygons\n      // sum correctly.\n      const vector01 = PolygonOps._vector0;\n      const vector02 = PolygonOps._vector1;\n      const vector03 = PolygonOps._vector2;\n      const placement = PolygonOps._matrixA;\n      const matrixAB = PolygonOps._matrixB;\n      const matrixABC = PolygonOps._matrixC;\n      const vectorOrigin = points.vectorXYAndZIndex(origin, 0, PolygonOps._vectorOrigin)!;\n      const numPoints = points.length;\n      let detJ = 0;\n      for (let i2 = 2; i2 < numPoints; i2++) {\n        if (frameType === 2) {\n          points.vectorIndexIndex(0, i2 - 1, vector01);\n          points.vectorIndexIndex(0, i2, vector02);\n          detJ = unitNormal.tripleProduct(vector01, vector02);\n          placement.setOriginAndVectors(vectorOrigin, vector01, vector02, unitNormal);\n          placement.multiplyMatrixMatrix(firstQuadrantMoments, matrixAB);\n          matrixAB.multiplyMatrixMatrixTranspose(placement, matrixABC);\n          moments.addScaledInPlace(matrixABC, detJ);\n        } else if (frameType === 3) {\n          points.vectorXYAndZIndex(origin, 0, vector01);\n          points.vectorXYAndZIndex(origin, i2 - 1, vector02);\n          points.vectorXYAndZIndex(origin, i2, vector03);\n          detJ = vector01.tripleProduct(vector02, vector03);\n          placement.setOriginAndVectors(origin, vector01, vector02, vector03);\n          placement.multiplyMatrixMatrix(firstQuadrantMoments, matrixAB);\n          matrixAB.multiplyMatrixMatrixTranspose(placement, matrixABC);\n          moments.addScaledInPlace(matrixABC, detJ);\n        }\n      }\n    }\n  }\n  /**\n   * Compute the signed volume of the truncated prism between a facet and a plane.\n   * * Useful for parallel algorithms.\n   * @param facetPoints input 3D polygon; on return the points are projected onto the plane. Wraparound point is optional.\n   * @param plane infinite plane bounding volume between the facet and (virtual) side facets perpendicular to the plane (unmodified).\n   * @param options optional flags and pre-allocated temporary storage.\n   * @returns computed data for this facet:\n   * * `volume6`: six times the signed volume of the truncated prism between the facet and the plane.\n   * * `area2`: two times the signed area of the facet's projection onto the plane.\n   * * `origin`: origin of the facet used to accumulate area moments.\n   * * `products`: raw accumulated second moment area products of the facet's projection onto the plane.\n   * @see [[PolyfaceQuery.sumVolumeBetweenFacetsAndPlane]]\n   */\n  public static volumeBetweenPolygonAndPlane(facetPoints: GrowableXYZArray, plane: Plane3d, options?: VolumeBetweenPolygonAndPlaneOptions): VolumeBetweenPolygonAndPlaneOutput {\n    let origin: Point3d | undefined;\n    let products: Matrix4d | undefined;\n    let singleProjectedFacetAreaTimes2 = 0.0;\n    let signedTruncatedPrismVolumeTimes6 = 0.0;\n    const h0 = facetPoints.evaluateUncheckedIndexPlaneAltitude(0, plane);\n    for (let i = 1; i + 1 < facetPoints.length; i++) {\n      const triangleNormal = facetPoints.crossProductIndexIndexIndex(0, i, i + 1, options?.workVector)!;\n      const hA = facetPoints.evaluateUncheckedIndexPlaneAltitude(i, plane);\n      const hB = facetPoints.evaluateUncheckedIndexPlaneAltitude(i + 1, plane);\n      const signedProjectedTriangleAreaTimes2 = triangleNormal.dotProductXYZ(plane.normalX(), plane.normalY(), plane.normalZ());\n      singleProjectedFacetAreaTimes2 += signedProjectedTriangleAreaTimes2;\n      signedTruncatedPrismVolumeTimes6 += signedProjectedTriangleAreaTimes2 * (h0 + hA + hB);\n    }\n    if (!options?.skipMoments) {\n      origin = facetPoints.getPoint3dAtUncheckedPointIndex(0, options?.workPoint0);\n      products = Matrix4d.createZero(options?.workMatrix);\n      facetPoints.mapPoint((x: number, y: number, z: number) => plane.projectXYZToPlane(x, y, z, options?.workPoint1));\n      PolygonOps.addSecondMomentAreaProducts(facetPoints, origin, products);\n    }\n    return { volume6: signedTruncatedPrismVolumeTimes6, area2: singleProjectedFacetAreaTimes2, origin, products };\n  }\n  /** Test the direction of turn at the vertices of the polygon, ignoring z-coordinates.\n   * * For a polygon without self-intersections and successive colinear edges, this is a convexity and orientation test: all positive is convex and counterclockwise, all negative is convex and clockwise.\n   * * Beware that a polygon which turns through more than a full turn can cross itself and close, but is not convex.\n   * @returns 1 if all turns are to the left, -1 if all to the right, and 0 if there are any zero or reverse turns\n   */\n  public static testXYPolygonTurningDirections(points: Point2d[] | Point3d[]): number {\n    // Reduce count by trailing duplicates; leaves iLast at final index\n    let numPoint = points.length;\n    let iLast = numPoint - 1;\n    while (iLast > 1 && points[iLast].x === points[0].x && points[iLast].y === points[0].y) {\n      numPoint = iLast--;\n    }\n    if (numPoint > 2) {\n      let vector0 = Point2d.create(points[iLast].x - points[iLast - 1].x, points[iLast].y - points[iLast - 1].y);\n      const vector1 = Point2d.create(points[0].x - points[iLast].x, points[0].y - points[iLast].y);\n      const baseArea = vector0.x * vector1.y - vector0.y * vector1.x;\n      // In a convex polygon, all successive-vector cross products will\n      // have the same sign as the base area, hence all products will be\n      // positive.\n      for (let i1 = 1; i1 < numPoint; i1++) {\n        vector0 = vector1.clone();\n        Point2d.create(points[i1].x - points[i1 - 1].x, points[i1].y - points[i1 - 1].y, vector1);\n        const currArea = vector0.x * vector1.y - vector0.y * vector1.x;\n        if (currArea * baseArea <= 0.0)\n          return 0;\n      }\n      // Fall out with all signs same as base area\n      return baseArea > 0.0 ? 1 : -1;\n    }\n    return 0;\n  }\n  /**\n   * Determine whether the polygon is convex.\n   * @param polygon vertices, closure point optional\n   * @returns whether the polygon is convex.\n   */\n  public static isConvex(polygon: Point3d[] | IndexedXYZCollection): boolean {\n    if (!(polygon instanceof IndexedXYZCollection))\n      return this.isConvex(new Point3dArrayCarrier(polygon));\n    let n = polygon.length;\n    if (n > 1 && polygon.getPoint3dAtUncheckedPointIndex(0).isExactEqual(polygon.getPoint3dAtUncheckedPointIndex(n - 1)))\n      --n;  // ignore closure point\n    const normal = Vector3d.create();\n    if (!this.unitNormal(polygon, normal))\n      return false;\n    let positiveArea = 0.0;\n    let negativeArea = 0.0;\n    const vecA = this._vector0;\n    let vecB = Vector3d.createStartEnd(polygon.getPoint3dAtUncheckedPointIndex(n - 1), polygon.getPoint3dAtUncheckedPointIndex(0), this._vector1);\n    for (let i = 1; i <= n; i++) {\n      // check turn through vertices i-1,i,i+1\n      vecA.setFromVector3d(vecB);\n      vecB = Vector3d.createStartEnd(polygon.getPoint3dAtUncheckedPointIndex(i - 1), polygon.getPoint3dAtUncheckedPointIndex(i % n), vecB);\n      const signedArea = normal.tripleProduct(vecA, vecB);\n      if (signedArea >= 0.0)\n        positiveArea += signedArea;\n      else\n        negativeArea += signedArea;\n    }\n    return Math.abs(negativeArea) < Geometry.smallMetricDistanceSquared * positiveArea;\n  }\n  /**\n   * Test if point (x,y) is IN, OUT or ON a polygon.\n   * @return (1) for in, (-1) for OUT, (0) for ON\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param points array of xy coordinates.\n   */\n  public static classifyPointInPolygon(x: number, y: number, points: XAndY[]): number | undefined {\n    const context = new XYParitySearchContext(x, y);\n    let i0 = 0;\n    const n = points.length;\n    let i1;\n    let iLast = -1;\n    // walk to an acceptable start index ...\n    for (i0 = 0; i0 < n; i0++) {\n      i1 = i0 + 1;\n      if (i1 >= n)\n        i1 = 0;\n      if (context.tryStartEdge(points[i0].x, points[i0].y, points[i1].x, points[i1].y)) {\n        iLast = i1;\n        break;\n      }\n    }\n    if (iLast < 0)\n      return undefined;\n    for (let i = 1; i <= n; i++) {\n      i1 = iLast + i;\n      if (i1 >= n)\n        i1 -= n;\n      if (!context.advance(points[i1].x, points[i1].y))\n        return context.classifyCounts();\n    }\n    return context.classifyCounts();\n  }\n  /**\n   * Test if point (x,y) is IN, OUT or ON a polygon.\n   * @return (1) for in, (-1) for OUT, (0) for ON\n   * @param x x coordinate\n   * @param y y coordinate\n   * @param points array of xy coordinates.\n   */\n  public static classifyPointInPolygonXY(x: number, y: number, points: IndexedXYZCollection): number | undefined {\n    const context = new XYParitySearchContext(x, y);\n    let i0 = 0;\n    const n = points.length;\n    let i1;\n    let iLast = -1;\n    // walk to an acceptable start index ...\n    for (i0 = 0; i0 < n; i0++) {\n      i1 = i0 + 1;\n      if (i1 >= n)\n        i1 = 0;\n      if (context.tryStartEdge(points.getXAtUncheckedPointIndex(i0), points.getYAtUncheckedPointIndex(i0), points.getXAtUncheckedPointIndex(i1), points.getYAtUncheckedPointIndex(i1))) {\n        iLast = i1;\n        break;\n      }\n    }\n    if (iLast < 0)\n      return undefined;\n    for (let i = 1; i <= n; i++) {\n      i1 = iLast + i;\n      if (i1 >= n)\n        i1 -= n;\n      if (!context.advance(points.getXAtUncheckedPointIndex(i1), points.getYAtUncheckedPointIndex(i1)))\n        return context.classifyCounts();\n    }\n    return context.classifyCounts();\n  }\n\n  /**\n   * Reverse loops as necessary to make them all have CCW orientation for given outward normal.\n   * @param loops\n   * @param outwardNormal\n   * @return the number of loops reversed.\n   */\n  public static orientLoopsCCWForOutwardNormalInPlace(loops: IndexedReadWriteXYZCollection | IndexedReadWriteXYZCollection[], outwardNormal: Vector3d): number {\n    if (loops instanceof IndexedXYZCollection)\n      return this.orientLoopsCCWForOutwardNormalInPlace([loops], outwardNormal);\n    const unitNormal = Vector3d.create();\n    // orient individually ... (no hole analysis)\n    let numReverse = 0;\n    for (const loop of loops) {\n      if (this.unitNormal(loop, unitNormal)) {\n        const q = unitNormal.dotProduct(outwardNormal);\n        if (q < 0.0) {\n          loop.reverseInPlace();\n          numReverse++;\n        }\n      }\n    }\n    return numReverse;\n  }\n  /**\n   * Reverse and reorder loops in the xy-plane for consistent orientation and containment.\n   * @param loops multiple polygons in any order and orientation, z-coordinates ignored.\n   * * For best results, all overlaps should be containments, i.e., loop boundaries can touch, but should not cross.\n   * @returns array of arrays of polygons that capture the input pointers. In each first level array:\n   * * The first polygon is an outer loop, oriented counterclockwise.\n   * * Any subsequent polygons are holes of the outer loop, oriented clockwise.\n   * @see [[RegionOps.sortOuterAndHoleLoopsXY]]\n   */\n  public static sortOuterAndHoleLoopsXY(loops: IndexedReadWriteXYZCollection[]): IndexedReadWriteXYZCollection[][] {\n    const loopAndArea: SortablePolygon[] = [];\n    for (const loop of loops) {\n      SortablePolygon.pushPolygon(loopAndArea, loop);\n    }\n    return SortablePolygon.sortAsArrayOfArrayOfPolygons(loopAndArea);\n  }\n\n  /**\n   * Exactly like `sortOuterAndHoleLoopsXY` but allows loops in any plane.\n   * @param loops multiple loops to sort and reverse.\n   * @param defaultNormal optional normal for the loops, if known\n   * @see [[sortOuterAndHoleLoopsXY]]\n   */\n  public static sortOuterAndHoleLoops(loops: IndexedReadWriteXYZCollection[], defaultNormal: Vector3d | undefined): IndexedReadWriteXYZCollection[][] {\n    const localToWorld = FrameBuilder.createRightHandedFrame(defaultNormal, loops);\n    const worldToLocal = localToWorld?.inverse();\n\n    const xyLoops: GrowableXYZArray[] = [];\n    if (worldToLocal !== undefined) {\n      // transform into plane so we can ignore z in the sort\n      for (const loop of loops) {\n        const xyLoop = new GrowableXYZArray(loop.length);\n        for (const point of loop.points)\n          xyLoop.push(worldToLocal.multiplyPoint3d(point));\n        xyLoops.push(xyLoop);\n      }\n    }\n    const xySortedLoopsArray = PolygonOps.sortOuterAndHoleLoopsXY(xyLoops);\n\n    const sortedLoopsArray: GrowableXYZArray[][] = [];\n    if (localToWorld !== undefined) {\n      for (const xySortedLoops of xySortedLoopsArray) {\n        const sortedLoops: GrowableXYZArray[] = [];\n        for (const xySortedLoop of xySortedLoops) {\n          const sortedLoop = new GrowableXYZArray(xySortedLoop.length);\n          for (const point of xySortedLoop.points)\n            sortedLoop.push(localToWorld.multiplyPoint3d(point));\n          sortedLoops.push(sortedLoop);\n        }\n        sortedLoopsArray.push(sortedLoops);\n      }\n    }\n    return sortedLoopsArray;\n  }\n\n  /** Compute the closest point on the polygon boundary to the given point.\n   * * Compare to [[closestPoint]].\n   * @param polygon points of the polygon, closure point optional\n   * @param testPoint point p to project onto the polygon edges. Works best when p is in the plane of the polygon.\n   * @param tolerance optional tolerance(s) to determine point-vertex and point-edge coincidence. A single number\n   * is interpreted as distance tolerance. If an array is given, the first number is interpreted as distance tolerance;\n   * the second, as parametric tolerance. Default values are [[Geometry.smallMetricDistance]] for distance tolerance\n   * and 0.0 for parameter tolerance.\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the closest point `d.point`:\n   * * `d.isValid()` returns true if and only if the polygon is nontrivial.\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point.\n   * * `d.code` classifies the closest point as a vertex (`PolygonLocation.OnPolygonVertex`) or as a point on an edge (`PolygonLocation.OnPolygonEdgeInterior`).\n   * * `d.a` is the distance from testPoint to the closest point.\n   * * `d.v` can be used to classify p (if p and polygon are coplanar): if n is the polygon normal then `d.v.dotProduct(n)` is +/-/0 if and only if p is inside/outside/on the polygon.\n  */\n  public static closestPointOnBoundary(\n    polygon: Point3d[] | IndexedXYZCollection,\n    testPoint: Point3d,\n    tolerance: number | [number, number] = Geometry.smallMetricDistance,\n    result?: PolygonLocationDetail,\n  ): PolygonLocationDetail {\n    if (!(polygon instanceof IndexedXYZCollection))\n      return this.closestPointOnBoundary(new Point3dArrayCarrier(polygon), testPoint, tolerance, result);\n    const distTol = Array.isArray(tolerance) ? tolerance[0] : tolerance;\n    const paramTol = Array.isArray(tolerance) ? Math.abs(tolerance[1]) : 0.0;\n    const distTol2 = distTol * distTol;\n\n    let numPoints = polygon.length;\n    while (numPoints > 1) {\n      if (polygon.distanceSquaredIndexIndex(0, numPoints - 1)! > distTol2)\n        break;\n      --numPoints; // ignore closure point\n    }\n\n    result = PolygonLocationDetail.create(result);\n    if (0 === numPoints)\n      return result;  // invalid\n\n    const constructSingletonPoint = (index: number): PolygonLocationDetail => {\n      polygon.getPoint3dAtUncheckedPointIndex(index, result.point);\n      result.a = result.point.distance(testPoint);\n      result.v.setZero();\n      result.code = PolygonLocation.OnPolygonVertex;\n      result.closestEdgeIndex = index;\n      result.closestEdgeParam = 0.0;\n      return result;\n    };\n    if (1 === numPoints)\n      return constructSingletonPoint(0);\n\n    // lambda for computing edge parameter at which testPoint projects onto the edge starting at iEdgeStart\n    const projectToEdge = (iEdgeStart: number): { isValid: boolean, edgeParam: number, uDotU: number, vDotV: number } => {\n      let isValid = false;\n      let edgeParam = 0.0;\n      let uDotU = 0.0;\n      let vDotV = 0.0;\n      if (iEdgeStart >= 0 && iEdgeStart < numPoints) {\n        let iEdgeEnd = iEdgeStart + 1;\n        if (iEdgeEnd === numPoints)\n          iEdgeEnd = 0;\n        uDotU = polygon.distanceSquaredIndexIndex(iEdgeStart, iEdgeEnd)!;\n        if (uDotU > distTol2) { // nontrivial edge\n          vDotV = polygon.distanceSquaredIndexXYAndZ(iEdgeStart, testPoint)!;\n          const uDotV = polygon.dotProductIndexIndexXYAndZ(iEdgeStart, iEdgeEnd, testPoint)!;\n          edgeParam = uDotV / uDotU; // param of projection of testPoint onto edge [iEdgeStart, iEdgeEnd]\n          isValid = true;\n        }\n      }\n      return { isValid, edgeParam, uDotU, vDotV };\n    };\n\n    // find the previous nontrivial edge's projection status before processing the first edge\n    let projBeyondPrevEdge = false;\n    let iPrev = numPoints - 1;\n    for (; iPrev > 0; --iPrev) {\n      const projData = projectToEdge(iPrev);\n      if (projData.isValid) {\n        projBeyondPrevEdge = projData.edgeParam > 1.0 + paramTol;\n        break;\n      }\n    }\n    if (iPrev <= 0)  // all segments trivial, so treat like single point case\n      return constructSingletonPoint(0);\n\n    let minDist2 = Geometry.largeCoordinateResult;\n    for (let iBase = 0; iBase < numPoints; ++iBase) {\n      let iNext = iBase + 1;\n      if (iNext === numPoints)\n        iNext = 0;\n\n      const projData = projectToEdge(iBase);\n      if (!projData.isValid)\n        continue; // ignore trivial polygon edge (keep iPrev, projBeyondPrevEdge)\n\n      if (projData.edgeParam <= paramTol) { // testPoint projects to/before edge start\n        const distToStart2 = projData.vDotV;\n        if (distToStart2 <= distTol2) {\n          // testPoint is at edge start; we are done\n          polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\n          result.a = Math.sqrt(distToStart2);\n          result.v.setZero();\n          result.code = PolygonLocation.OnPolygonVertex;\n          result.closestEdgeIndex = iBase;\n          result.closestEdgeParam = 0.0;\n          return result;\n        }\n        if (distToStart2 < minDist2 && projBeyondPrevEdge) {\n          // update candidate (to edge start) only if testPoint projected beyond previous edge end\n          polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\n          result.a = Math.sqrt(distToStart2);\n          polygon.crossProductIndexIndexIndex(iBase, iPrev, iNext, result.v)!;\n          result.code = PolygonLocation.OnPolygonVertex;\n          result.closestEdgeIndex = iBase;\n          result.closestEdgeParam = 0.0;\n          minDist2 = distToStart2;\n        }\n        projBeyondPrevEdge = false;\n      } else if (projData.edgeParam <= 1.0 + paramTol) {  // testPoint projects inside edge, or to edge end\n        projData.edgeParam = Geometry.clamp(projData.edgeParam, 0.0, 1.0);\n        const projDist2 = projData.vDotV - projData.edgeParam * projData.edgeParam * projData.uDotU;\n        if (projDist2 <= distTol2) {\n          // testPoint is on edge; we are done\n          const distToStart2 = projData.vDotV;\n          if (projData.edgeParam <= 0.5 && distToStart2 <= distTol2) {\n            // testPoint is at edge start\n            polygon.getPoint3dAtUncheckedPointIndex(iBase, result.point);\n            result.a = Math.sqrt(distToStart2);\n            result.v.setZero();\n            result.code = PolygonLocation.OnPolygonVertex;\n            result.closestEdgeIndex = iBase;\n            result.closestEdgeParam = 0.0;\n            return result;\n          }\n          const distToEnd2 = projDist2 + (1.0 - projData.edgeParam) * (1.0 - projData.edgeParam) * projData.uDotU;\n          if (projData.edgeParam > 0.5 && distToEnd2 <= distTol2) {\n            // testPoint is at edge end\n            polygon.getPoint3dAtUncheckedPointIndex(iNext, result.point);\n            result.a = Math.sqrt(distToEnd2);\n            result.v.setZero();\n            result.code = PolygonLocation.OnPolygonVertex;\n            result.closestEdgeIndex = iNext;\n            result.closestEdgeParam = 0.0;\n            return result;\n          }\n          // testPoint is on edge interior\n          polygon.interpolateIndexIndex(iBase, projData.edgeParam, iNext, result.point);\n          result.a = Math.sqrt(projDist2);\n          result.v.setZero();\n          result.code = PolygonLocation.OnPolygonEdgeInterior;\n          result.closestEdgeIndex = iBase;\n          result.closestEdgeParam = projData.edgeParam;\n          return result;\n        }\n        if (projDist2 < minDist2) {\n          // update candidate\n          polygon.interpolateIndexIndex(iBase, projData.edgeParam, iNext, result.point);\n          result.a = Math.sqrt(projDist2);\n          polygon.crossProductIndexIndexXYAndZ(iBase, iNext, testPoint, result.v)!;\n          result.code = projData.edgeParam < 1.0 ? PolygonLocation.OnPolygonEdgeInterior : PolygonLocation.OnPolygonVertex;;\n          result.closestEdgeIndex = iBase;\n          result.closestEdgeParam = projData.edgeParam;\n          minDist2 = projDist2;\n        }\n        projBeyondPrevEdge = false;\n      } else {\n        projBeyondPrevEdge = true; // to be handled by next edge\n      }\n      iPrev = iBase;\n    }\n    return result;\n  }\n\n  /**\n   * Compute the closest point on the polygon boundary or its interior to the given point.\n   * * Compare to [[closestPointOnBoundary]].\n   * @param polygon points of the polygon, closure point optional\n   * @param testPoint point p to project onto the polygon edges. Works best when p is in the plane of the polygon.\n   * @param tolerance optional distance tolerance for distinguishing boundary versus interior closest point.\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the closest point `d.point`:\n   * * `d.isValid()` returns true if and only if the polygon is nontrivial.\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the (nearest) boundary point.\n   * * `d.code` classifies the closest point: `PolygonLocation.OnPolygonVertex`, `PolygonLocation.OnPolygonEdgeInterior`, `PolygonLocation.InsidePolygonProjectsToVertex`, or `PolygonLocation.InsidePolygonProjectsToEdgeInterior`.\n   * * `d.a` is the distance from testPoint to the closest point.\n   */\n  public static closestPoint(polygon: Point3d[] | IndexedXYZCollection, testPoint: Point3d, tolerance: number = Geometry.smallMetricDistance, result?: PolygonLocationDetail): PolygonLocationDetail {\n    if (!(polygon instanceof IndexedXYZCollection))\n      return this.closestPoint(new Point3dArrayCarrier(polygon), testPoint, tolerance, result);\n    if (!this.unitNormal(polygon, this._normal))\n      return PolygonLocationDetail.create(result);  // invalid\n    const polygonPlane = this._workPlane = Plane3dByOriginAndUnitNormal.createXYZUVW(polygon.getXAtUncheckedPointIndex(0), polygon.getYAtUncheckedPointIndex(0), polygon.getZAtUncheckedPointIndex(0), this._normal.x, this._normal.y, this._normal.z, this._workPlane)!;\n    const planePoint = this._workXYZ = polygonPlane.projectPointToPlane(testPoint, this._workXYZ);\n    result = this.closestPointOnBoundary(polygon, planePoint, tolerance, result);\n    if (result.isValid) {\n      const dot = result.v.dotProduct(this._normal);\n      if (dot > 0.0) {  // planePoint is inside, so return it instead of the closest boundary point\n        result.point.setFrom(planePoint);\n        if (PolygonLocation.OnPolygonVertex === result.code)\n          result.code = PolygonLocation.InsidePolygonProjectsToVertex;\n        else if (PolygonLocation.OnPolygonEdgeInterior === result.code)\n          result.code = PolygonLocation.InsidePolygonProjectsToEdgeInterior;\n      }\n      result.a = testPoint.distance(result.point);\n      result.v.setZero(); // not relevant\n    }\n    return result;\n  }\n\n  // work objects, allocated as needed\n  private static _workXYZ?: Point3d;\n  private static _workXY0?: Point2d;\n  private static _workXY1?: Point2d;\n  private static _workXY2?: Point2d;\n  private static _workRay?: Ray3d;\n  private static _workMatrix3d?: Matrix3d;\n  private static _workPlane?: Plane3dByOriginAndUnitNormal;\n\n  /** Compute the intersection of a line (parameterized as a ray) with the plane of this polygon.\n   * @param polygon points of the polygon, closure point optional\n   * @param ray infinite line to intersect, as a ray\n   * @param tolerance optional tolerance(s) to determine point-vertex and point-edge coincidence. A single number\n   * is interpreted as distance tolerance. If an array is given, the first number is interpreted as distance tolerance;\n   * the second, as parametric tolerance. Default values are [[Geometry.smallMetricDistance]] for distance tolerance\n   * and 0.0 for parameter tolerance.\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection `d.point`:\n   * * `d.isValid()` returns true if and only if the line intersects the plane.\n   * * `d.code` indicates where the intersection lies with respect to the polygon.\n   * * `d.a` is the ray intersection parameter. If `d.a` >= 0, the ray intersects the plane of the polygon.\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point on the polygon to the intersection, within `distTol`.\n   */\n  public static intersectRay3d(\n    polygon: Point3d[] | IndexedXYZCollection,\n    ray: Ray3d,\n    tolerance: number | [number, number] = Geometry.smallMetricDistance,\n    result?: PolygonLocationDetail,\n  ): PolygonLocationDetail {\n    if (!(polygon instanceof IndexedXYZCollection))\n      return this.intersectRay3d(new Point3dArrayCarrier(polygon), ray, tolerance, result);\n    if (!this.unitNormal(polygon, this._normal))\n      return PolygonLocationDetail.create(result); // invalid\n    this._workPlane = Plane3dByOriginAndUnitNormal.createXYZUVW(\n      polygon.getXAtUncheckedPointIndex(0),\n      polygon.getYAtUncheckedPointIndex(0),\n      polygon.getZAtUncheckedPointIndex(0),\n      this._normal.x, this._normal.y, this._normal.z,\n      this._workPlane,\n    )!;\n    const intersectionPoint = this._workXYZ = Point3d.createZero(this._workXYZ);\n    const rayParam = ray.intersectionWithPlane(this._workPlane, intersectionPoint);\n    if (undefined === rayParam)\n      return PolygonLocationDetail.create(result);\n    result = this.closestPointOnBoundary(polygon, intersectionPoint, tolerance, result);\n    if (result.isValid) {\n      result.point.setFrom(intersectionPoint);\n      result.a = rayParam;\n      const dot = result.v.dotProduct(this._normal);\n      if (dot === 0.0) {\n        // NOOP: intersectionPoint is on the polygon, so result.code already classifies it\n      } else {\n        // intersectionPoint is not on the polygon, so result.code refers to the closest point;\n        // update it to refer to intersectionPoint.\n        if (PolygonLocation.OnPolygonVertex === result.code) {\n          result.code = (dot > 0.0)\n            ? PolygonLocation.InsidePolygonProjectsToVertex\n            : PolygonLocation.OutsidePolygonProjectsToVertex;\n        } else if (PolygonLocation.OnPolygonEdgeInterior === result.code) {\n          result.code = (dot > 0.0)\n            ? PolygonLocation.InsidePolygonProjectsToEdgeInterior\n            : PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\n        }\n      }\n    }\n    return result;\n  }\n\n  /** Compute the intersection of a line (parameterized as a line segment) with the plane of this polygon.\n   * @param polygon points of the polygon, closure point optional\n   * @param point0 start point of segment on line to intersect\n   * @param point1 end point of segment on line to intersect\n   * @param tolerance optional distance tolerance to determine point-vertex and point-edge coincidence.\n   * @param result optional pre-allocated object to fill and return\n   * @returns details d of the line-plane intersection `d.point`:\n   * * `d.isValid()` returns true if and only if the line intersects the plane.\n   * * `d.code` indicates where the intersection lies with respect to the polygon.\n   * * `d.a` is the segment intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the polygon.\n   * * `d.edgeIndex` and `d.edgeParam` specify the location of the closest point on the polygon to the intersection, within `distTol`.\n   * @see intersectRay3d\n   */\n  public static intersectSegment(\n    polygon: Point3d[] | IndexedXYZCollection,\n    point0: Point3d,\n    point1: Point3d,\n    tolerance: number = Geometry.smallMetricDistance,\n    result?: PolygonLocationDetail,\n  ): PolygonLocationDetail {\n    this._workRay = Ray3d.createStartEnd(point0, point1, this._workRay);\n    return this.intersectRay3d(polygon, this._workRay, tolerance, result);\n  }\n\n  /** Compute edge data for the barycentric coordinate computation, ignoring all z-coordinates.\n   * @param polygon points of the polygon (without closure point)\n   * @param edgeStartVertexIndex index of start vertex of the edge (unchecked)\n   * @param point point to project to the edge\n   * @param edgeOutwardUnitNormal pre-allocated vector to be populated on return with the unit perpendicular to the edge, facing outward, in xy-plane\n   * @param tolerance used to clamp outputs\n   * @param result optional pre-allocated result\n   * @returns x: signed projection distance of `point` to the edge, y: edge parameter of the projection\n   */\n  private static computeEdgeDataXY(\n    polygon: IndexedXYZCollection,\n    edgeStartVertexIndex: number,\n    point: XYAndZ,\n    edgeOutwardUnitNormal: Vector3d,\n    tolerance: number = Geometry.smallMetricDistance,\n    result?: Point2d,\n  ): Point2d {\n    const i0 = edgeStartVertexIndex % polygon.length;\n    const i1 = (i0 + 1) % polygon.length;\n    polygon.vectorIndexIndex(i0, i1, edgeOutwardUnitNormal)!.unitPerpendicularXY(edgeOutwardUnitNormal).negate(edgeOutwardUnitNormal);  // z is zero\n    const hypDeltaX = polygon.getXAtUncheckedPointIndex(i0) - point.x;\n    const hypDeltaY = polygon.getYAtUncheckedPointIndex(i0) - point.y;\n    let projDist = Geometry.dotProductXYXY(hypDeltaX, hypDeltaY, edgeOutwardUnitNormal.x, edgeOutwardUnitNormal.y);\n    const edgeDist = Geometry.crossProductXYXY(hypDeltaX, hypDeltaY, edgeOutwardUnitNormal.x, edgeOutwardUnitNormal.y);\n    const edgeLength = Geometry.distanceXYXY(polygon.getXAtUncheckedPointIndex(i0), polygon.getYAtUncheckedPointIndex(i0), polygon.getXAtUncheckedPointIndex(i1), polygon.getYAtUncheckedPointIndex(i1));\n    let edgeParam = Geometry.safeDivideFraction(edgeDist, edgeLength, 0.0);\n    if (Geometry.isSameCoordinate(0.0, projDist, tolerance))\n      projDist = 0.0;\n    if (Geometry.isSameCoordinate(0.0, edgeParam, tolerance))\n      edgeParam = 0.0;\n    else if (Geometry.isSameCoordinate(1.0, edgeParam, tolerance))\n      edgeParam = 1.0;\n    return Point2d.create(projDist, edgeParam, result);\n  }\n\n  /** Compute the barycentric coordinates for a point on either of a pair of adjacent edges of a convex polygon.\n   * @param polygon points of the polygon, assumed to be convex. Assumed to have no closure point.\n   * @param iPrev start index of previous edge\n   * @param prevNormal outward unit normal of previous edge\n   * @param prevProj x = signed distance from point to previous edge; y = edge parameter of this projection in [0,1]\n   * @param i start index of current edge\n   * @param normal outward unit normal of current edge\n   * @param proj x = signed distance from point to current edge; y = edge parameter of this projection in [0,1]\n   * @param coords pre-allocated barycentric coordinate array to return, assumed to have length at least `polygon.length`\n   * @returns barycentric coordinates, or undefined if not on either edge\n   */\n  private static convexBarycentricCoordinatesOnEdge(\n    polygon: IndexedXYZCollection,\n    iPrev: number,\n    prevNormal: Vector3d,\n    prevProj: XAndY,\n    i: number,\n    normal: Vector3d,\n    proj: XAndY,\n    coords: number[],\n  ): number[] | undefined {\n    // ignore degenerate edges\n    const pointIsOnPrevEdge = !prevNormal.isZero && (0.0 === prevProj.x) && Geometry.isIn01(prevProj.y);\n    const pointIsOnEdge = !normal.isZero && (0.0 === proj.x) && Geometry.isIn01(proj.y);\n    if (pointIsOnPrevEdge && pointIsOnEdge) { // the point is at vertex i\n      coords.fill(0);\n      coords[i] = 1.0;\n      return coords;\n    }\n    const n = polygon.length;\n    if (pointIsOnPrevEdge) { // the point is on the previous edge\n      coords.fill(0);\n      const i0 = iPrev;\n      const i1 = i;\n      const edgeParam = prevProj.y;\n      coords[i0] = 1.0 - edgeParam;\n      coords[i1] = edgeParam;\n      return coords;\n    }\n    if (pointIsOnEdge) { // the point is on the edge starting at the i_th vertex\n      coords.fill(0);\n      const i0 = i;\n      const i1 = (i + 1) % n;\n      const edgeParam = proj.y;\n      coords[i0] = 1.0 - edgeParam;\n      coords[i1] = edgeParam;\n      return coords;\n    }\n    return undefined;   // not on edge\n  }\n\n  // cspell:word CAGD\n  /** Compute the barycentric coordinates for a point inside a convex polygon.\n   * @param polygon points of the polygon, assumed to be convex. Closure point optional.\n   * @param point point assumed to be inside or on polygon\n   * @param tolerance distance tolerance for point to be considered on a polygon edge\n   * @return barycentric coordinates of the interior point, or undefined if invalid polygon or exterior point. Length is same as `polygon.length`.\n   * @see BarycentricTriangle.pointToFraction\n   */\n  public static convexBarycentricCoordinates(\n    polygon: Point3d[] | IndexedXYZCollection,\n    point: Point3d,\n    tolerance: number = Geometry.smallMetricDistance,\n  ): number[] | undefined {\n    // cf. \"Barycentric Coordinates for Convex Sets\", by Warren et al., CAGD (2003)\n    if (Array.isArray(polygon))\n      return this.convexBarycentricCoordinates(new Point3dArrayCarrier(polygon), point);\n    let n = polygon.length;\n    while (n > 1 && polygon.getPoint3dAtUncheckedPointIndex(0).isExactEqual(polygon.getPoint3dAtUncheckedPointIndex(n - 1)))\n      --n;  // ignore closure point(s)\n    if (n < 3 || !PolygonOps.unitNormal(polygon, this._normal))\n      return undefined;\n    const localToWorld = this._workMatrix3d = Matrix3d.createRigidHeadsUp(this._normal, AxisOrder.ZXY, this._workMatrix3d);\n    const polygonXY = new GrowableXYZArray(n);\n    for (let i = 0; i < n; ++i)\n      polygonXY.push(localToWorld.multiplyInverseXYZAsPoint3d(polygon.getXAtUncheckedPointIndex(i), polygon.getYAtUncheckedPointIndex(i), polygon.getZAtUncheckedPointIndex(i), this._workXYZ)!);\n    const pointXY = this._workXYZ = localToWorld.multiplyInverseXYZAsPoint3d(point.x, point.y, point.z, this._workXYZ)!;\n    // now we know polygon orientation is ccw, its last edge has positive length, and we can ignore z-coords\n    let iPrev = n - 1;\n    const outwardUnitNormalOfLastEdge = this._vector0;\n    const projToLastEdge = this._workXY0 = this.computeEdgeDataXY(polygonXY, iPrev, pointXY, outwardUnitNormalOfLastEdge, tolerance, this._workXY0);\n    // we can compare to exact zero because computeEdgeDataXY has chopped small distances to zero\n    if (projToLastEdge.x < 0.0)\n      return undefined; // point is outside polygon, or polygon is nonconvex\n    const outwardUnitNormalOfPrevEdge = Vector3d.createFrom(outwardUnitNormalOfLastEdge, this._vector1);\n    const projToPrevEdge = this._workXY1 = Point2d.createFrom(projToLastEdge, this._workXY1);\n    const coords = Array<number>(polygon.length).fill(0); // use original length\n    const largestResult = (tolerance > 0.0) ? 1.0 / (tolerance * tolerance) : Geometry.largeCoordinateResult;\n    let coordSum = 0.0;\n    for (let i = 0; i < n; ++i) {\n      const outwardUnitNormalOfEdge = Vector3d.createFrom(outwardUnitNormalOfLastEdge, this._vector2);\n      const projToEdge = this._workXY2 = (i < n - 1) ? this.computeEdgeDataXY(polygonXY, i, pointXY, outwardUnitNormalOfEdge, tolerance, this._workXY2) : Point2d.createFrom(projToLastEdge, this._workXY2);\n      if (projToEdge.x < 0.0)\n        return undefined; // point is outside polygon, or polygon is nonconvex\n      if (undefined !== this.convexBarycentricCoordinatesOnEdge(polygonXY, iPrev, outwardUnitNormalOfPrevEdge, projToPrevEdge, i, outwardUnitNormalOfEdge, projToEdge, coords))\n        return coords; // point is on vertex or edge; we are done\n      if (outwardUnitNormalOfEdge.x === 0.0 && outwardUnitNormalOfEdge.y === 0.0)\n        continue; // edge is degenerate; coords[i] = 0; keep previous edge data\n      if (0.0 === projToPrevEdge.x || 0.0 === projToEdge.x)\n        continue; // point is on subsequent colinear edge (ASSUMING interior point, convex polygon!); coords[i] = 0; keep previous edge data\n      const areaOfNormalParallelogram = Math.abs(outwardUnitNormalOfPrevEdge.crossProductXY(outwardUnitNormalOfEdge));\n      const coord = Geometry.conditionalDivideCoordinate(areaOfNormalParallelogram, projToPrevEdge.x * projToEdge.x, largestResult);\n      if (undefined === coord) {\n        assert(false, \"unexpectedly small projection distance to an edge\"); // shouldn't happen due to chopping in computeEdgeDataXY: area/(dist*dist) <= 1/tol^2 = largestResult\n      }\n      coords[i] = coord;\n      coordSum += coord;\n      outwardUnitNormalOfPrevEdge.setFrom(outwardUnitNormalOfEdge);\n      projToPrevEdge.setFrom(projToEdge);\n      iPrev = i;\n    }\n    const scale = Geometry.conditionalDivideCoordinate(1.0, coordSum);\n    if (undefined === scale) {\n      assert(false, \"unexpected zero barycentric coordinate sum\");\n    }\n    for (let i = 0; i < n; ++i)\n      coords[i] *= scale; // normalized\n    return coords;\n  }\n  /**\n   * Force the polygon to be closed.\n   * * If first and last points are not within tolerance, push copy of first point\n   * * If first and last points are within tolerance, set last point equal to first\n   * @param polygon input polygon\n   * @param tolerance closure distance tolerance\n   */\n  public static forceClosure(polygon: Point3d[] | GrowableXYZArray, tolerance: number = Geometry.smallMetricDistance): void {\n    if (polygon.length >= 2) {\n      if (polygon instanceof GrowableXYZArray) {\n        polygon.forceClosure(tolerance);\n      } else if (polygon[0].distance(polygon[polygon.length - 1]) > tolerance) {\n        polygon.push(polygon[0].clone());\n      } else {\n        polygon[polygon.length - 1].setFromPoint3d(polygon[0]);\n      }\n    }\n  }\n  /**\n   * Return a closed polygon, cloning only if necessary.\n   * * If the first and last points are not identical, call [[forceClosure]] on a clone of the polygon and return it.\n   * * If the first and last points are already identical, just return the input.\n   * @param polygon input polygon\n   * @param tolerance closure distance tolerance\n   */\n  public static ensureClosed(polygon: Point3d[] | IndexedXYZCollection, tolerance: number = Geometry.smallMetricDistance): Point3d[] | IndexedXYZCollection {\n    if (polygon.length >= 2) {\n      let forceClosure = false;\n      if (polygon instanceof IndexedXYZCollection)\n        forceClosure = !polygon.almostEqualIndexIndex(0, polygon.length - 1, 0.0);\n      else\n        forceClosure = !polygon[0].isExactEqual(polygon[polygon.length - 1]);\n      if (forceClosure) {\n        const cloned = GrowableXYZArray.create(polygon);\n        this.forceClosure(cloned, tolerance);\n        polygon = cloned;\n      }\n    }\n    return polygon;\n  }\n  private static _workCLDPair?: CurveLocationDetailPair;\n  /**\n   * Find smallest distance between polygons.\n   * * For efficiency, input polygons should include closure edge.\n   * * If searching interiors for close approaches, the polygons are assumed to be convex.\n   * @param polygonA first polygon\n   * @param polygonB second polygon\n   * @param dMax optional largest approach distance to consider\n   * @param _searchInterior If true, include (convex) polygon interiors in computations (currently unimplemented).\n   * If false (default): return closest approach between polygon boundaries only, using [[PolylineOps.closestApproach]].\n   * @return pair of details, one per polygon. The `a` field of each detail stores the closest approach distance.\n   */\n  public static closestApproach(\n    polygonA: Point3d[] | IndexedXYZCollection,\n    polygonB: Point3d[] | IndexedXYZCollection,\n    dMax: number = Number.MAX_VALUE,\n    _searchInterior: boolean = false,\n  ): PolygonLocationDetailPair | undefined {\n    // TODO: handle interior close approaches as well...\n    let result: PolygonLocationDetailPair | undefined;\n    const polyA = this.ensureClosed(polygonA);\n    const polyB = this.ensureClosed(polygonB);\n    const cld = this._workCLDPair = PolylineOps.closestApproach(polyA, false, polyB, false, dMax, this._workCLDPair);\n    if (cld && cld.detailA.childDetail && cld.detailB.childDetail) {\n      result = PolygonLocationDetailPair.create(\n        PolygonLocationDetail.createAtVertexOrEdge(cld.detailA.point, cld.detailA.childDetail.a, cld.detailA.childDetail.fraction),\n        PolygonLocationDetail.createAtVertexOrEdge(cld.detailB.point, cld.detailB.childDetail.a, cld.detailB.childDetail.fraction),\n      );\n      result.detailA.a = result.detailB.a = cld.detailA.a;\n    }\n    return result;\n  }\n}\n\n/**\n *  `IndexedXYZCollectionPolygonOps` class contains _static_ methods for typical operations on polygons carried as `IndexedXYZCollection`\n * @public\n */\nexport class IndexedXYZCollectionPolygonOps {\n  private static _xyz0Work: Point3d = Point3d.create();\n  private static _xyz1Work: Point3d = Point3d.create();\n  private static _xyz2Work: Point3d = Point3d.create();\n  /**\n   * Split a (convex) polygon into 2 parts based on altitude evaluations.\n   * * Both output arrays are cleared first.\n   * * This method uses only a fixed (tight) parametric tolerance for on-plane detection.\n   * See [[clipConvexPolygonInPlace]] for a method that takes an additional distance tolerance.\n   * @param plane any `PlaneAltitudeEvaluator` object that can evaluate `plane.altitude(xyz)` for distance from the plane.\n   * @param xyz original polygon\n   * @param xyzPositive array to receive inside part (altitude > 0)\n   * @param xyzNegative array to receive outside part\n   * @param altitudeRange min and max altitudes encountered.\n   * @see clipConvexPolygonInPlace\n   */\n  public static splitConvexPolygonInsideOutsidePlane(\n    plane: PlaneAltitudeEvaluator,\n    xyz: IndexedXYZCollection,\n    xyzPositive: IndexedReadWriteXYZCollection,\n    xyzNegative: IndexedReadWriteXYZCollection,\n    altitudeRange: Range1d,\n  ): void {\n    const xyz0 = IndexedXYZCollectionPolygonOps._xyz0Work;\n    const xyz1 = IndexedXYZCollectionPolygonOps._xyz1Work;\n    const xyzInterpolated = IndexedXYZCollectionPolygonOps._xyz2Work;\n    const n = xyz.length;\n    xyzPositive.clear();\n    xyzNegative.clear();\n    const fractionTol = 1.0e-8;\n    if (n > 2) {\n      xyz.back(xyz0);\n      let a0 = plane.altitude(xyz0), a1 = 0.0, f = 0.0;\n      altitudeRange.setX(a0);\n      for (let i1 = 0; i1 < n; i1++) {\n        xyz.getPoint3dAtUncheckedPointIndex(i1, xyz1);\n        a1 = plane.altitude(xyz1);\n        altitudeRange.extendX(a1);\n        if (a0 * a1 < 0.0) {\n          // simple crossing\n          f = - a0 / (a1 - a0);\n          if (f > 1.0 - fractionTol) {\n            // segment end is on the clip plane; push it to both sides of the plane\n            xyzPositive.push(xyz1);\n            xyzNegative.push(xyz1);\n          } else if (f < fractionTol) {\n            // segment start is on the clip plane; push it to same side as segment end, as the\n            // the previous segment end was already pushed to the opposite side of the plane\n            if (a1 > 0.0) {\n              xyzPositive.push(xyz0);\n              xyzPositive.push(xyz1);\n            } else {\n              xyzNegative.push(xyz0);\n              xyzNegative.push(xyz1);\n            }\n          } else {\n            // crossing point is on the clip plane; push it to both sides of the plane\n            xyz0.interpolate(f, xyz1, xyzInterpolated);\n            xyzPositive.push(xyzInterpolated);\n            xyzNegative.push(xyzInterpolated);\n            // save segment end to only one side of the plane\n            if (a1 > 0.0)\n              xyzPositive.push(xyz1);\n            else\n              xyzNegative.push(xyz1);\n          }\n        } else {\n          // no crossing\n          if (a1 >= 0.0)\n            xyzPositive.push(xyz1);\n          if (a1 <= 0.0)\n            xyzNegative.push(xyz1);\n        }\n        xyz0.setFromPoint3d(xyz1);\n        a0 = a1;\n      }\n    }\n  }\n  /**\n   * Clip a polygon to one side of a plane.\n   * * Results with 2 or fewer points are ignored.\n   * * Other than ensuring capacity in the arrays, there are no object allocations during execution of this function.\n   * * For a convex input polygon, the output polygon is also convex.\n   * * For non-convex input, the output polygon may have double-back edges along plane intersections. This is still a\n   * valid clip in a parity sense (overlapping regions cancel).\n   * * This method returns only the piece of the input polygon on one side of the clipper.\n   * See [[splitConvexPolygonInsideOutsidePlane]] for a method that returns both sides.\n   * @param plane any type that has `plane.altitude`\n   * @param xyz input polygon, clipped on output\n   * @param work optional work buffer\n   * @param keepPositive whether the positive side of the plane survives (true, default), or negative side (false).\n   * @param tolerance tolerance for \"on plane\" decision. This is a distance if `plane` has unit normal (e.g., [[ClipPlane]]).\n   * Default value is [[Geometry.smallMetricDistance]].\n   * @return the number of crossings. If this is larger than 2, the input polygon was non-convex.\n   * @see splitConvexPolygonInsideOutsidePlane\n   */\n  public static clipConvexPolygonInPlace(\n    plane: PlaneAltitudeEvaluator,\n    xyz: GrowableXYZArray,\n    work?: GrowableXYZArray,\n    keepPositive: boolean = true,\n    tolerance: number = Geometry.smallMetricDistance\n  ): number {\n    if (!work)\n      work = new GrowableXYZArray();\n    work.clear();\n    const s = keepPositive ? 1.0 : -1.0;\n    const n = xyz.length;\n    let numNegative = 0;\n    const fractionTol = 1.0e-8;\n    const b = -tolerance;\n    let numCrossings = 0;\n    if (xyz.length > 1) { // > 2 ??\n      let a1;\n      let index0 = xyz.length - 1;\n      let a0 = s * xyz.evaluateUncheckedIndexPlaneAltitude(index0, plane);\n      if (Math.abs(a0) < tolerance)\n        a0 = 0;\n      //    if (a0 >= 0.0)\n      //      work.push_back (xyz0);\n      for (let index1 = 0; index1 < n; a0 = a1, index0 = index1++) {\n        a1 = s * xyz.evaluateUncheckedIndexPlaneAltitude(index1, plane);\n        if (Math.abs(a1) < tolerance)\n          a1 = 0;\n        if (a1 < 0)\n          numNegative++;\n        if (a0 * a1 < 0.0) {\n          // simple crossing . . .\n          const f = - a0 / (a1 - a0);\n          if (f > 1.0 - fractionTol && a1 >= 0.0) {\n            // the endpoint will be saved -- avoid the duplicate\n          } else {\n            work.pushInterpolatedFromGrowableXYZArray(xyz, index0, f, index1);\n            if (a1 > 0)\n              numCrossings++; // \"out to in\"\n          }\n        }\n        if (a1 >= b) {\n          work.pushFromGrowableXYZArray(xyz, index1);\n          if (a0 < -b) {\n            numCrossings++; // \"in to out\"\n          }\n        }\n        index0 = index1;\n        a0 = a1;\n      }\n    }\n\n    if (work.length <= 2) {\n      xyz.clear();\n    } else if (numNegative > 0) {\n      xyz.clear();\n      xyz.pushFromGrowableXYZArray(work);\n    }\n    work.clear();\n    return numCrossings;\n  }\n  /** Return an array containing\n   * * All points that are exactly on the plane.\n   * * Crossing points between adjacent points that are (strictly) on opposite sides.\n   */\n  public static polygonPlaneCrossings(plane: PlaneAltitudeEvaluator, xyz: IndexedXYZCollection, crossings: Point3d[]) {\n    crossings.length = 0;\n    if (xyz.length >= 2) {\n      const xyz0 = this._xyz0Work;\n      xyz.getPoint3dAtUncheckedPointIndex(xyz.length - 1, xyz0);\n      let a0 = plane.altitude(xyz0);\n      const xyz1 = this._xyz1Work;\n      for (let i = 0; i < xyz.length; i++) {\n        xyz.getPoint3dAtUncheckedPointIndex(i, xyz1);\n        const a1 = plane.altitude(xyz1);\n        if (a0 * a1 < 0.0) {\n          // simple crossing. . .\n          const f = - a0 / (a1 - a0);\n          crossings.push(xyz0.interpolate(f, xyz1));\n        }\n        if (a1 === 0.0) {        // IMPORTANT -- every point is directly tested here\n          crossings.push(xyz1.clone());\n        }\n        xyz0.setFromPoint3d(xyz1);\n        a0 = a1;\n      }\n    }\n  }\n  /**\n   * * Input a \"clipped\" polygon (from clipConvexPolygonInPlace) with more than 2 crossings, i.e. is from a non-convex polygon with configurations like:\n   *   * multiple distinct polygons\n   *   * single polygon, but cut lines overlap and cancel by parity rules.\n   * * return 1 or more polygons, each having first and last points \"on\" the plane and intermediate points \"off\"\n   * * `minChainLength` indicates the shortest chain to be returned.\n   * @internal\n   */\n  public static gatherCutLoopsFromPlaneClip(plane: PlaneAltitudeEvaluator, xyz: GrowableXYZArray, minChainLength: number = 3, tolerance: number = Geometry.smallMetricDistance): CutLoopMergeContext {\n    const result: CutLoopMergeContext = new CutLoopMergeContext();\n    // find the first on-plane point\n    let firstOnPlaneIndex = 0;\n    const n = xyz.length;\n    for (; firstOnPlaneIndex < n; firstOnPlaneIndex++) {\n      const a = xyz.evaluateUncheckedIndexPlaneAltitude(firstOnPlaneIndex, plane);\n      if (Math.abs(a) <= tolerance)\n        break;\n    }\n    if (firstOnPlaneIndex === n)\n      return result;\n    // find contiguous blocks of \"off plane\" points with on-plane points at their end.\n    let candidateA = firstOnPlaneIndex;\n    while (candidateA < n) {\n      const currentChain = new GrowableXYZArray();\n      currentChain.pushFromGrowableXYZArray(xyz, candidateA);\n      let candidateB = candidateA + 1;\n      while (candidateB < n) {\n        currentChain.pushFromGrowableXYZArray(xyz, candidateB);\n        const a = xyz.evaluateUncheckedIndexPlaneAltitude(candidateB, plane);\n        if (Math.abs(a) <= tolerance) {\n          break;\n        }\n        candidateB++;\n      }\n      if (candidateB === n)\n        for (let i = 0; i <= firstOnPlaneIndex; i++)\n          currentChain.pushFromGrowableXYZArray(xyz, i);\n      if (currentChain.length >= minChainLength)\n        result.inputLoops.push(CutLoop.createCaptureWithReturnEdge(currentChain));\n      candidateA = candidateB;\n    }\n    return result;\n  }\n  /**\n   * * Input the loops from `gatherCutLoopsFromClipPlane`\n   * * Consolidate loops for reentrant configurations.\n   * * WARNING: The output reuses and modifies input loops whenever possible.\n   * @internal\n   */\n  public static reorderCutLoops(loops: CutLoopMergeContext) {\n    // Simple case: all loops have common orientation\n    if (loops.inputLoops.length === 1)\n      return;\n    // Simple cases: 2 loops . . .\n    if (loops.inputLoops.length === 2) {\n      // if edges are in the same direction, it must be a pair of unrelated loop . . .\n      if (loops.inputLoops[0].edge!.direction.dotProduct(loops.inputLoops[1].edge!.direction) > 0) {\n        loops.outputLoops.push(loops.inputLoops[0]);\n        loops.outputLoops.push(loops.inputLoops[1]);\n        return;\n      }\n      // twist the two loops into 1,\n      const source = loops.inputLoops[1].xyz;\n      const dest = loops.inputLoops[0].xyz;\n      dest.pushFromGrowableXYZArray(source);\n      loops.outputLoops.push(loops.inputLoops[0]);\n      return;\n    }\n    // 3 or more loops.\n    loops.sortAndMergeLoops();\n    //\n  }\n  /**\n   * Return the intersection of the plane with a range cube.\n   * @param range\n   * @param xyzOut intersection polygon.  This is convex.\n   * @return reference to xyz if the polygon still has points; undefined if all points are clipped away.\n   */\n  public static intersectRangeConvexPolygonInPlace(range: Range3d, xyz: GrowableXYZArray): GrowableXYZArray | undefined {\n    if (range.isNull)\n      return undefined;\n    const work = new GrowableXYZArray();\n    const plane = Point4d.create();\n    plane.set(0, 0, -1, range.high.z);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    plane.set(0, 0, 1, -range.low.z);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    plane.set(0, -1, 0, range.high.y);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    plane.set(0, 1, 0, -range.low.y);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    plane.set(-1, 0, 0, range.high.x);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    plane.set(1, 0, 0, -range.low.x);\n    this.clipConvexPolygonInPlace(plane, xyz, work, true);\n    if (xyz.length === 0)\n      return undefined;\n\n    return xyz;\n  }\n}\n/**\n * `Point3dArrayPolygonOps` class contains _static_ methods for typical operations on polygons carried as `Point3d[]`\n * @public\n */\nexport class Point3dArrayPolygonOps {\n  private static _xyz0Work: Point3d = Point3d.create();\n  //  private static _xyz1Work: Point3d = Point3d.create();\n  //  private static _xyz2Work: Point3d = Point3d.create();\n  /**\n   * Split a (convex) polygon into 2 parts.\n   * @param xyz original polygon\n   * @param xyzIn array to receive inside part\n   * @param xyzOut array to receive outside part\n   * @param altitudeRange min and max altitudes encountered.\n   */\n  public static convexPolygonSplitInsideOutsidePlane(plane: PlaneAltitudeEvaluator, xyz: Point3d[], xyzIn: Point3d[], xyzOut: Point3d[], altitudeRange: Range1d): void {\n    const xyzCarrier = new Point3dArrayCarrier(xyz);\n    const xyzInCarrier = new Point3dArrayCarrier(xyzIn);\n    const xyzOutCarrier = new Point3dArrayCarrier(xyzOut);\n    IndexedXYZCollectionPolygonOps.splitConvexPolygonInsideOutsidePlane(plane, xyzCarrier, xyzInCarrier, xyzOutCarrier, altitudeRange);\n  }\n\n  /** Return an array containing\n   * * All points that are exactly on the plane.\n   * * Crossing points between adjacent points that are (strictly) on opposite sides.\n   */\n  public static polygonPlaneCrossings(plane: PlaneAltitudeEvaluator, xyz: Point3d[], crossings: Point3d[]): void {\n    const xyzSource = new Point3dArrayCarrier(xyz);\n    return IndexedXYZCollectionPolygonOps.polygonPlaneCrossings(plane, xyzSource, crossings);\n  }\n  /**\n   * Clip a polygon, returning the clip result in the same object.\n   * @param xyz input/output polygon\n   * @param work scratch object\n   * @param tolerance tolerance for on-plane decision.\n   */\n  public static convexPolygonClipInPlace(plane: PlaneAltitudeEvaluator, xyz: Point3d[], work: Point3d[] | undefined, tolerance: number = Geometry.smallMetricDistance) {\n    if (work === undefined)\n      work = [];\n    work.length = 0;\n    let numNegative = 0;\n    const fractionTol = 1.0e-8;\n    const b = -tolerance;\n    if (xyz.length > 2) {\n      let xyz0 = xyz[xyz.length - 1];\n      let a0 = plane.altitude(xyz0);\n      //    if (a0 >= 0.0)\n      //      work.push_back (xyz0);\n      for (const xyz1 of xyz) {\n        const a1 = plane.altitude(xyz1);\n        if (a1 < 0)\n          numNegative++;\n        if (a0 * a1 < 0.0) {\n          // simple crossing . . .\n          const f = - a0 / (a1 - a0);\n          if (f > 1.0 - fractionTol && a1 >= 0.0) {\n            // the endpoint will be saved -- avoid the duplicate\n          } else {\n            work.push(xyz0.interpolate(f, xyz1));\n          }\n        }\n        if (a1 >= b)\n          work.push(xyz1);\n        xyz0 = Point3d.createFrom(xyz1);\n        a0 = a1;\n      }\n    }\n\n    if (work.length <= 2) {\n      xyz.length = 0;\n    } else if (numNegative > 0) {\n      xyz.length = 0;\n      for (const xyzI of work) {\n        xyz.push(xyzI);\n      }\n      work.length = 0;\n    }\n  }\n}\n"]}