@itwin/core-geometry 5.2.3 → 5.2.4

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

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Numerics\n */\n\nimport { assert } from \"@itwin/core-bentley\";\nimport { Geometry } from \"../Geometry\";\nimport { Angle } from \"../geometry3d/Angle\";\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\nimport { GrowableFloat64Array, OptionalGrowableFloat64Array } from \"../geometry3d/GrowableFloat64Array\";\nimport { LongitudeLatitudeNumber } from \"../geometry3d/LongitudeLatitudeAltitude\";\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\nimport { Ray3d } from \"../geometry3d/Ray3d\";\nimport { XAndY } from \"../geometry3d/XYZProps\";\n\n// cspell:words Cardano internaldocs\n\n/**\n * degree 2 (quadratic) polynomial in for y = c0 + c1*x + c2*x^2\n * @internal\n */\nexport class Degree2PowerPolynomial {\n  /** The three coefficients for the quadratic */\n  public coffs: number[];\n\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0) {\n    this.coffs = [c0, c1, c2];\n  }\n\n  /**\n   * * Return 2 duplicate roots in double root case.\n   * * The solutions are always in algebraic order.\n   * @returns 0, 1, or 2 solutions of the usual quadratic (a*x*x + b * x + c = 0)\n   */\n  public static solveQuadratic(a: number, b: number, c: number): number[] | undefined {\n    const b1 = Geometry.conditionalDivideFraction(b, a);\n    const c1 = Geometry.conditionalDivideFraction(c, a);\n    if (b1 !== undefined && c1 !== undefined) {\n      // now solving xx + b1*x + c1 = 0 -- i.e. implied \"a\" coefficient is 1 . .\n      const q = b1 * b1 - 4 * c1;\n      if (q > 0) {\n        const e = Math.sqrt(q);\n        // e is positive, so this sorts algebraically\n        return [0.5 * (-b1 - e), 0.5 * (-b1 + e)];\n      }\n      if (q < 0)\n        return undefined;\n      const root = -0.5 * b1;\n      return [root, root];\n    }\n    // \"divide by a\" failed.  solve bx + c = 0\n    const x = Geometry.conditionalDivideFraction(-c, b);\n    if (x !== undefined)\n      return [x];\n    return undefined;\n  }\n  /** Add `a` to the constant term. */\n  public addConstant(a: number) {\n    this.coffs[0] += a;\n  }\n\n  /** Add  `s * (a + b*x)^2` to the quadratic coefficients */\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\n    this.coffs[0] += s * (a * a);\n    this.coffs[1] += s * (2.0 * a * b);\n    this.coffs[2] += s * (b * b);\n  }\n  /** Return the real roots of this polynomial */\n  public realRoots(): number[] | undefined {\n    const ss = Degree2PowerPolynomial.solveQuadratic(this.coffs[2], this.coffs[1], this.coffs[0]);\n    if (ss && ss.length > 1) {\n      if (ss[0] > ss[1]) {\n        const temp = ss[0];\n        ss[0] = ss[1];\n        ss[1] = temp;\n      }\n    }\n    return ss;\n  }\n\n  /** Evaluate the quadratic at x. */\n  public evaluate(x: number): number {\n    return this.coffs[0] + x * (this.coffs[1] + x * this.coffs[2]);\n  }\n\n  /**\n   * Evaluate the bezier function at a parameter value.  (i.e. sum the basis functions times coefficients)\n   * @param u parameter for evaluation\n   */\n  public evaluateDerivative(x: number): number {\n    return this.coffs[1] + 2 * x * this.coffs[2];\n  }\n\n  /** Factor the polynomial in to the form `y0 + c * (x-x0)^2)`, i.e. complete the square. */\n  public tryGetVertexFactorization(): { x0: number, y0: number, c: number } | undefined {\n    const x = Geometry.conditionalDivideFraction(-this.coffs[1], 2.0 * this.coffs[2]);\n    if (x !== undefined) {\n      const y = this.evaluate(x);\n      return { c: this.coffs[2], x0: x, y0: y };\n    }\n    return undefined;\n  }\n  /** Construct a quadratic from input form `c2 * (x-root0) * (x-root1)` */\n  public static fromRootsAndC2(root0: number, root1: number, c2: number = 1): Degree2PowerPolynomial {\n    return new Degree2PowerPolynomial(\n      c2 * root0 * root1,\n      - c2 * (root0 + root1),\n      c2);\n  }\n\n}\n/**\n * degree 3 (cubic) polynomial in for y = c0 + c1*x + c2*x^2 + c3*x^3\n * @internal\n */\nexport class Degree3PowerPolynomial {\n  /** polynomial coefficients, index corresponds to power */\n  public coffs: number[];\n\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 1) {\n    this.coffs = [c0, c1, c2, c3];\n  }\n  /** Add `a` to the constant term. */\n  public addConstant(a: number) {\n    this.coffs[0] += a;\n  }\n\n  /** Add `s * (a + b*x)^2` to the cubic */\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\n    this.coffs[0] += s * (a * a);\n    this.coffs[1] += s * (2.0 * a * b);\n    this.coffs[2] += s * (b * b);\n  }\n\n  /**\n   * Evaluate the polynomial at x\n   * @param u parameter for evaluation\n   */\n  public evaluate(x: number): number {\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * this.coffs[3]));\n  }\n\n  /**\n   * Evaluate the polynomial derivative\n   * @param u parameter for evaluation\n   */\n  public evaluateDerivative(x: number): number {\n    return this.coffs[1] + x * (2.0 * this.coffs[2] + x * 3.0 * this.coffs[3]);\n  }\n  /** Construct a cubic from the form `c3 * (x-root0) * (x - root1) * (x- root2)` */\n  public static fromRootsAndC3(root0: number, root1: number, root2: number, c3: number = 1.0): Degree3PowerPolynomial {\n    return new Degree3PowerPolynomial(\n      -c3 * root0 * root1 * root2,\n      c3 * (root0 * root1 + root1 * root2 + root0 * root2),\n      - c3 * (root0 + root1 + root2),\n      c3);\n  }\n}\n/**\n * degree 4 (quartic) polynomial in for y = c0 + c1*x + c2*x^2 + c4*x^4\n * @internal\n */\nexport class Degree4PowerPolynomial {\n  /** polynomial coefficients, index corresponds to power */\n  public coffs: number[];\n\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 0, c4: number = 0) {\n    this.coffs = [c0, c1, c2, c3, c4];\n  }\n  /** Add `a` to the constant term. */\n  public addConstant(a: number) {\n    this.coffs[0] += a;\n  }\n\n  /**\n   * Evaluate the polynomial\n   * @param x x coordinate for evaluation\n   */\n  public evaluate(x: number): number {\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * (this.coffs[3] + x * this.coffs[4])));\n  }\n\n  /**\n   * Evaluate the derivative\n   * @param x x coordinate for evaluation\n   */\n  public evaluateDerivative(x: number): number {\n    return (this.coffs[1] + x * (2.0 * this.coffs[2] + x * (3.0 * this.coffs[3] + x * 4.0 * this.coffs[4])));\n  }\n\n  /** Construct a quartic from the form `c3 * (x-root0) * (x - root1) * (x- root2) * (x-root3)` */\n  public static fromRootsAndC4(root0: number, root1: number, root2: number, root3: number, c4: number = 1): Degree4PowerPolynomial {\n    return new Degree4PowerPolynomial(\n      c4 * (root0 * root1 * root2 * root3),\n      -c4 * (root0 * root1 * root2 + root0 * root1 * root3 + root0 * root2 * root3 + root1 * root2 * root3),\n      c4 * (root0 * root1 + root0 * root2 + root0 * root3 + root1 * root2 + root1 * root3 + root2 * root3),\n      -c4 * (root0 + root1 + root2 + root3),\n      c4);\n  }\n\n}\n/**\n * polynomial services for an implicit torus with\n * * z axis is \"through the donut hole\"\n * * `majorRadius` is the radius of the circle \"around the z axis\"\n * * `minorRadius` is the radius of circles around the major circle\n * * for simple xyz the implicit form is\n *   * `(x^2+y^2+z^2+(R^2-r^2))^2 = 4 R^2(x^2+y^2)`\n * * In weighted form\n *   * `(x^2+y^2+z^2+(R^2-r^2)w^2)^2 = 4 R^2 w^2 (x^2+y^2)`\n * @internal\n */\nexport class TorusImplicit {\n  /** major (xy plane) radius */\n  public majorRadius: number;\n  /** hoop (perpendicular to major circle) radius */\n  public minorRadius: number;\n\n  constructor(majorRadius: number, minorRadius: number) {\n    this.majorRadius = majorRadius;\n    this.minorRadius = minorRadius;\n  }\n\n  /** Return sum of (absolute) major and minor radii, which is (half) the box size in x and y directions */\n  public boxSize() {\n    return (Math.abs(this.majorRadius) + Math.abs(this.minorRadius));\n  }\n  /** Return scale factor appropriate to control the magnitude of the implicit function. */\n  public implicitFunctionScale(): number {\n    const a = this.boxSize();\n    if (a === 0.0)\n      return 1.0;\n    return 1.0 / (a * a * a * a);\n  }\n\n  /**\n   * At space point (x,y,z) evaluate the implicit form of the torus (See `ImplicitTorus`)\n   */\n  public evaluateImplicitFunctionXYZ(x: number, y: number, z: number): number {\n    const rho2 = x * x + y * y;\n    const z2 = z * z;\n    const R2 = this.majorRadius * this.majorRadius;\n    const r2 = this.minorRadius * this.minorRadius;\n    const f = rho2 + z2 + (R2 - r2);\n    const g = 4.0 * R2 * rho2;\n    return (f * f - g) * this.implicitFunctionScale();\n  }\n  /** Evaluate the implicit function at a point. */\n  public evaluateImplicitFunctionPoint(xyz: Point3d): number {\n    return this.evaluateImplicitFunctionXYZ(xyz.x, xyz.y, xyz.z);\n  }\n  /** Evaluate the implicit function at homogeneous coordinates */\n  public evaluateImplicitFunctionXYZW(x: number, y: number, z: number, w: number) {\n    const rho2 = x * x + y * y;\n    const z2 = z * z;\n    const w2 = w * w;\n    const R2 = this.majorRadius * this.majorRadius;\n    const r2 = this.minorRadius * this.minorRadius;\n    const f = rho2 + z2 + w2 * (R2 - r2);\n    const g = w2 * 4.0 * R2 * rho2;\n    return (f * f - g) * this.implicitFunctionScale();\n  }\n\n  /** Evaluate the surface point at angles (in radians) on the major and minor circles. */\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number): Point3d {\n    const c = Math.cos(thetaRadians);\n    const s = Math.sin(thetaRadians);\n    // theta=0 point\n    const x0 = this.majorRadius + this.minorRadius * Math.cos(phiRadians);\n    const z0 = this.minorRadius * Math.sin(phiRadians);\n    return Point3d.create(c * x0, s * x0, z0);\n  }\n\n  /** Evaluate partial derivatives at angles (int radians) on major and minor circles. */\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\n    const cTheta = Math.cos(thetaRadians);\n    const sTheta = Math.sin(thetaRadians);\n    const bx = this.minorRadius * Math.cos(phiRadians);\n    const bz = this.minorRadius * Math.sin(phiRadians);\n    const x0 = this.majorRadius + bx;\n    Vector3d.create(-x0 * sTheta, x0 * cTheta, 0.0, dxdTheta);\n    Vector3d.create(-cTheta * bz, -sTheta * bz, bx, dxdPhi);\n  }\n\n  /** Evaluate space point at major and minor angles (in radians) and distance from major hoop. */\n  public evaluateThetaPhiDistance(thetaRadians: number, phiRadians: number, distance: number): Point3d {\n    const c = Math.cos(thetaRadians);\n    const s = Math.sin(thetaRadians);\n    // theta=0 point\n    const x0 = this.majorRadius + distance * Math.cos(phiRadians);\n    const z0 = distance * Math.sin(phiRadians);\n    return Point3d.create(c * x0, s * x0, z0);\n  }\n  /** Given an xyz coordinate in the local system of the toroid, compute the torus parametrization\n   * * theta = angular coordinate in xy plane\n   * * phi = angular coordinate in minor circle.\n   * * distance = distance from major circle\n   * * rho = distance from origin to xy part of the input.\n   * @param xyz space point in local coordinates.\n   * @return object with properties theta, phi, distance, rho\n   */\n  public xyzToThetaPhiDistance(xyz: Point3d): { theta: number, phi: number, distance: number, rho: number, safePhi: boolean } {\n    const rho = xyz.magnitudeXY();\n    const majorRadiusFactor = Geometry.conditionalDivideFraction(this.majorRadius, rho);\n    let safeMajor;\n    let majorCirclePoint;\n    if (majorRadiusFactor) {\n      safeMajor = true;\n      majorCirclePoint = Point3d.create(majorRadiusFactor * xyz.x, majorRadiusFactor * xyz.y, 0.0);\n    } else {\n      safeMajor = false;\n      majorCirclePoint = Point3d.create(xyz.x, xyz.y, 0.0);\n    }\n    const theta = safeMajor ? Math.atan2(xyz.y, xyz.x) : 0.0;\n    const vectorFromMajorCircle = Vector3d.createStartEnd(majorCirclePoint, xyz);\n    const distance = vectorFromMajorCircle.magnitude();\n    const dRho = rho - this.majorRadius;\n    let safePhi;\n    let phi;\n    if (xyz.z === 0.0 && dRho === 0.0) {\n      phi = 0.0;\n      safePhi = false;\n    } else {\n      phi = Math.atan2(xyz.z, dRho);\n      safePhi = true;\n    }\n    return { theta, phi, distance, rho, safePhi: safeMajor && safePhi };\n  }\n  /*\n    public minorCircle(theta: Angle): Arc3d {\n      const c = Math.cos(theta.radians);\n      const s = Math.sin(theta.radians);\n      return Arc3d.create(\n        Point3d.create(c * this.majorRadius, s * this.majorRadius, 0.0),\n        Vector3d.create(c * this.minorRadius, s * this.minorRadius, 0.0),\n        Vector3d.create(0.0, 0.0, this.minorRadius),\n        AngleSweep.create360()) as Arc3d;\n    }\n\n    public majorCircle(phi: Angle): Arc3d {\n      const c = Math.cos(phi.radians);\n      const s = Math.sin(phi.radians);\n      const a = this.majorRadius + c * this.minorRadius;\n      return Arc3d.create(\n        Point3d.create(0.0, 0.0, this.minorRadius * s),\n        Vector3d.create(a, 0.0, 0.0),\n        Vector3d.create(0.0, a, 0.0),\n        AngleSweep.create360()) as Arc3d;\n    }\n  */\n}\n/**\n * evaluation methods for an implicit sphere\n * * xyz function `x*x + y*y + z*z - r*r = 0`.\n * * xyzw function `x*x + y*y + z*z - r*r*w*w = 0`.\n * @internal\n */\nexport class SphereImplicit {\n  /** Radius of sphere. */\n  public radius: number;\n  constructor(r: number) { this.radius = r; }\n\n  /** Evaluate the implicit function at coordinates x,y,z */\n  public evaluateImplicitFunction(x: number, y: number, z: number): number {\n    return x * x + y * y + z * z - this.radius * this.radius;\n  }\n\n  /** Evaluate the implicit function at homogeneous coordinates x,y,z,w */\n  public evaluateImplicitFunctionXYZW(wx: number, wy: number, wz: number, w: number): number {\n    return (wx * wx + wy * wy + wz * wz) - this.radius * this.radius * w * w;\n  }\n\n  /** Given an xyz coordinate in the local system of the toroid, compute the sphere parametrization\n   * * theta = angular coordinate in xy plane\n   * * phi = rotation from xy plane towards z axis.\n   * @param xyz space point in local coordinates.\n   * @return object with properties thetaRadians, phi, r\n   */\n  public xyzToThetaPhiR(xyz: Point3d): { thetaRadians: number, phiRadians: number, r: number, valid: boolean } {\n    const rhoSquared = xyz.x * xyz.x + xyz.y * xyz.y;\n    const rho = Math.sqrt(rhoSquared);\n    const r = Math.sqrt(rhoSquared + xyz.z * xyz.z);\n    let theta;\n    let phi;\n    let valid;\n    if (r === 0.0) {\n      theta = phi = 0.0;\n      valid = false;\n    } else {\n      phi = Math.atan2(xyz.z, rho); // At least one of these is nonzero\n      if (rhoSquared !== 0.0) {\n        theta = Math.atan2(xyz.y, xyz.x);\n        valid = true;\n      } else {\n        theta = 0.0;\n        valid = false;\n      }\n    }\n    return { thetaRadians: (theta), phiRadians: (phi), r, valid };\n  }\n  /** Return the range of a uv-aligned patch of the sphere. */\n  public static patchRangeStartEndRadians(center: Point3d, radius: number, theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number, result?: Range3d): Range3d {\n    const thetaSweep = AngleSweep.createStartEndRadians(theta0Radians, theta1Radians);\n    const phiSweep = AngleSweep.createStartEndRadians(phi0Radians, phi1Radians);\n    const range = Range3d.createNull(result);\n    const xyz = Point3d.create();\n    if (thetaSweep.isFullCircle && phiSweep.isFullLatitudeSweep) {\n      // full sphere, no trimming -- build directly\n      range.extendPoint(center);\n      range.expandInPlace(Math.abs(radius));\n    } else {\n      const sphere = new SphereImplicit(radius);\n      // construct range for ORIGIN CENTERED sphere ...\n      const pi = Math.PI;\n      const piOver2 = 0.5 * Math.PI;\n      let phi, theta;\n      // 6 candidate interior extreme points on equator and 0, 90 degree meridians\n      for (const thetaPhi of [\n        [0.0, 0.0],\n        [pi, 0.0],\n        [piOver2, 0.0],\n        [-piOver2, 0.0],\n        [theta0Radians, piOver2],\n        [theta0Radians, -piOver2]]) {\n        theta = thetaPhi[0];\n        phi = thetaPhi[1];\n        if (thetaSweep.isRadiansInSweep(theta) && phiSweep.isRadiansInSweep(phi))\n          range.extendPoint(sphere.evaluateThetaPhi(theta, phi, xyz));\n      }\n\n      // 4 boundary curves, each with 3 components ...\n      // BUT: phi should not extend beyond poles. Hence z extremes on constant theta curve will never be different from z of constant phi curve or of poles as tested above.\n      const axisRange = Range1d.createNull();\n      const cosPhi0 = Math.cos(phi0Radians);\n      const cosPhi1 = Math.cos(phi1Radians);\n      const sinPhi0 = Math.sin(phi0Radians);\n      const sinPhi1 = Math.sin(phi1Radians);\n      const trigForm = new SineCosinePolynomial(0, 0, 0);\n      // constant phi curves at phi0 and phi1\n      for (const cosPhi of [cosPhi0, cosPhi1]) {\n        trigForm.set(0, cosPhi * radius, 0);\n        trigForm.rangeInSweep(thetaSweep, axisRange);\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\n        trigForm.set(0, 0, cosPhi * radius);\n        trigForm.rangeInSweep(thetaSweep, axisRange);\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\n      }\n      range.extendZOnly(sinPhi0 * radius);\n      range.extendZOnly(sinPhi1 * radius);\n\n      // constant theta curves as theta0 and theta1:\n      for (const thetaRadians of [theta0Radians, theta1Radians]) {\n        const cosThetaR = Math.cos(thetaRadians) * radius;\n        const sinThetaR = Math.sin(thetaRadians) * radius;\n        trigForm.set(0, cosThetaR, 0);\n        trigForm.rangeInSweep(phiSweep, axisRange);\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\n\n        trigForm.set(0, sinThetaR, 0);\n        trigForm.rangeInSweep(phiSweep, axisRange);\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\n      }\n      range.cloneTranslated(center, range);\n    }\n    return range;\n  }\n  /** Compute intersections with a ray.\n   * * Return the number of intersections\n   * * Fill any combinations of arrays of\n   *    * rayFractions = fractions along the ray\n   *    * xyz = xyz intersection coordinates points in space\n   *    * thetaPhiRadians = sphere longitude and latitude in radians.\n   * * For each optional array, caller must of course initialize an array (usually empty)\n   */\n  public static intersectSphereRay(center: Point3d, radius: number, ray: Ray3d, rayFractions: number[] | undefined, xyz: Point3d[] | undefined, thetaPhiRadians: LongitudeLatitudeNumber[] | undefined): number {\n    const vx = ray.origin.x - center.x;\n    const vy = ray.origin.y - center.y;\n    const vz = ray.origin.z - center.z;\n    const ux = ray.direction.x;\n    const uy = ray.direction.y;\n    const uz = ray.direction.z;\n    const a0 = Geometry.hypotenuseSquaredXYZ(vx, vy, vz) - radius * radius;\n    const a1 = 2.0 * Geometry.dotProductXYZXYZ(ux, uy, uz, vx, vy, vz);\n    const a2 = Geometry.hypotenuseSquaredXYZ(ux, uy, uz);\n    const parameters = Degree2PowerPolynomial.solveQuadratic(a2, a1, a0);\n    if (rayFractions !== undefined)\n      rayFractions.length = 0;\n    if (xyz !== undefined)\n      xyz.length = 0;\n    if (thetaPhiRadians !== undefined)\n      thetaPhiRadians.length = 0;\n\n    if (parameters === undefined) {\n      return 0;\n    }\n    const sphere = new SphereImplicit(radius);\n    if (rayFractions !== undefined)\n      for (const f of parameters) rayFractions.push(f);\n    if (xyz !== undefined || thetaPhiRadians !== undefined) {\n      for (const f of parameters) {\n        const point = ray.fractionToPoint(f);\n        if (xyz !== undefined)\n          xyz.push(point);\n        if (thetaPhiRadians !== undefined) {\n          const data = sphere.xyzToThetaPhiR(point);\n          thetaPhiRadians.push(LongitudeLatitudeNumber.createRadians(data.thetaRadians, data.phiRadians));\n        }\n      }\n    }\n    return parameters.length;\n  }\n\n  // public intersectRay(ray: Ray3d, maxHit: number): {rayFractions: number, points: Point3d} {\n  //   const q = new Degree2PowerPolynomial();\n  //   // Ray is (origin.x + s * direction.x, etc)\n  //   // squared distance from origin is (origin.x + s*direction.x)^2 + etc\n  //   // sphere radius in local system is 1.\n  //   q.addSquaredLinearTerm(ray.origin.x, ray.direction.x);\n  //   q.addSquaredLinearTerm(ray.origin.y, ray.direction.y);\n  //   q.addSquaredLinearTerm(ray.origin.z, ray.direction.z);\n  //   q.addConstant(-this.radius * this.radius);\n  //   let ss = [];\n  //   let n = q.realRoots(ss);\n  //   if (n > maxHit)\n  //     n = maxHit;\n  //   let rayFractions;\n  //   let points;\n  //   for (let i = 0; i < n; i++) {\n  //     rayFractions[i] = ss[i];\n  //     points[i] = Point3d. // What is the equivalent of FromSumOf in TS?\n  //   }\n  /** Compute the point on a sphere at angular coordinates.\n   * @param thetaRadians latitude angle\n   * @param phiRadians longitude angle\n   */\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number, result?: Point3d): Point3d {\n    const rc = this.radius * Math.cos(thetaRadians);\n    const rs = this.radius * Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    return Point3d.create(rc * cosPhi, rs * cosPhi, this.radius * sinPhi, result);\n  }\n  /**\n   * * convert radians to xyz on unit sphere\n   * * Note that there is no radius used -- implicitly radius is 1\n   * * Evaluation is always to a preallocated xyz.\n   */\n  public static radiansToUnitSphereXYZ(thetaRadians: number, phiRadians: number, xyz: XYZ) {\n    const cosTheta = Math.cos(thetaRadians);\n    const sinTheta = Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    xyz.x = cosTheta * cosPhi;\n    xyz.y = sinTheta * cosPhi;\n    xyz.z = sinPhi;\n  }\n  /** Compute the derivatives with respect to spherical angles.\n   * @param thetaRadians latitude angle\n   * @param phiRadians longitude angle\n   */\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\n    const rc = this.radius * Math.cos(thetaRadians);\n    const rs = this.radius * Math.sin(thetaRadians);\n    const cosPhi = Math.cos(phiRadians);\n    const sinPhi = Math.sin(phiRadians);\n    Vector3d.create(-rs * cosPhi, rc * cosPhi, 0.0, dxdTheta);\n    Vector3d.create(-rc * sinPhi, -rs * sinPhi, this.radius * cosPhi, dxdPhi);\n  }\n  /*\n    public meridianCircle(theta: number): Arc3d {\n      const rc = this.radius * Math.cos(theta);\n      const rs = this.radius * Math.sin(theta);\n      return Arc3d.create(\n        Point3d.create(0.0, 0.0, 0.0),\n        Vector3d.create(rc, rs, 0),\n        Vector3d.create(0, 0, this.radius),\n        AngleSweep.create360()) as Arc3d;\n    }\n\n    public parallelCircle(phi: number): Arc3d {\n      const cr = this.radius * Math.cos(phi);\n      const sr = this.radius * Math.sin(phi);\n      return Arc3d.create(\n        Point3d.create(0, 0, sr),\n        Vector3d.create(cr, 0, 0),\n        Vector3d.create(0, cr, 0),\n        AngleSweep.create360()) as Arc3d;\n    }\n    */\n}\n/** AnalyticRoots has static methods for solving quadratic, cubic, and quartic equations.\n * @internal\n *\n */\nexport class AnalyticRoots {\n  private static readonly _EQN_EPS = 1.0e-9;\n  private static readonly _safeDivideFactor = 1.0e-14;\n  /** Absolute zero test with a tolerance that has worked well for the analytic root use case . . . */\n  private static isZero(x: number): boolean {\n    return Math.abs(x) < this._EQN_EPS;\n  }\n  /** Without actually doing a division, test if (x/y) is small.\n   * @param x numerator\n   * @param y denominator\n   * @param absTol absolute tolerance\n   * @param relTol relative tolerance\n   */\n  private static isSmallRatio(x: number, y: number, absTol: number = 1.0e-9, relTol: number = 8.0e-16) {\n    return Math.abs(x) <= absTol || Math.abs(x) < relTol * Math.abs(y);\n  }\n  /** Return the (real, signed) principal cube root of x */\n  public static cbrt(x: number): number {\n    return ((x) > 0.0\n      ? Math.pow((x), 1.0 / 3.0)\n      : ((x) < 0.0\n        ? -Math.pow(-(x), 1.0 / 3.0)\n        : 0.0));\n  }\n  /**\n   * Try to divide `numerator/denominator` and place the result (or defaultValue) in `values[offset]`\n   * @param values array of values.  `values[offset]` will be replaced.\n   * @param numerator numerator for division.\n   * @param denominator denominator for division.\n   * @param defaultValue value to save if denominator is too small to divide.\n   * @param offset index of value to replace.\n   */\n  private static safeDivide(values: Float64Array, numerator: number, denominator: number, defaultValue: number = 0.0, offset: number): boolean {\n    if (Math.abs(denominator) > (this._safeDivideFactor * Math.abs(numerator))) {\n      values[offset] = numerator / denominator;\n      return true;\n    }\n    values[offset] = defaultValue;\n    return false;\n  }\n  // Used in NewtonMethod for testing if a root has been adjusted past its bounding region\n  private static checkRootProximity(roots: GrowableFloat64Array, i: number): boolean {\n    if (i === 0) { // Case 1: Beginning Root (check root following it)\n      return roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1);\n    } else if (i > 0 && i + 1 < roots.length) { // Case 2: Middle Root (check roots before and after)\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1)) && (roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1));\n    } else { // Case 3: End root (check preceding root)\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1));\n    }\n  }\n  private static newtonMethodAdjustment(coffs: Float64Array | number[], root: number, degree: number): number | undefined {\n    let p = coffs[degree];\n    let q = 0.0;\n    for (let i = degree - 1; i >= 0; i--) {\n      q = p + root * q;\n      p = coffs[i] + root * p;\n    }\n    if (Math.abs(q) >= 1.0e-14 * (1.0 + Math.abs(root))) {\n      return p / q;\n    }\n    return undefined;\n  }\n  private static improveRoots(\n    coffs: Float64Array | number[], degree: number, roots: GrowableFloat64Array, restrictOrderChanges: boolean,\n  ) {\n    const relTol = 1.0e-10;\n    // Loop through each root\n    for (let i = 0; i < roots.length; i++) {\n      let dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\n      if (dx === undefined || dx === 0.0) continue;  // skip if newton step had divide by zero.\n      const originalValue = roots.atUncheckedIndex(i);\n      let counter = 0;\n      let convergenceCounter = 0;\n      // Loop through applying changes to found root until dx is diminished or counter is hit\n      while (dx !== undefined && dx !== 0.0 && (counter < 12)) {\n        // consider it converged if two successive iterations satisfy the (not too demanding) tolerance.\n        if (Math.abs(dx) < relTol * (1.0 + Math.abs(roots.atUncheckedIndex(i)))) {\n          if (++convergenceCounter > 1)\n            break;\n        } else {\n          convergenceCounter = 0;\n        }\n        const rootDX = roots.atUncheckedIndex(i) - dx;\n        roots.reassign(i, rootDX);\n        // If root is thrown past one of its neighboring roots, unstable condition is assumed.. revert\n        // to originally found root\n        if (restrictOrderChanges && !this.checkRootProximity(roots, i)) {\n          roots.reassign(i, originalValue);\n          break;\n        }\n        dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\n        counter++;\n      }\n    }\n  }\n  /**\n   * Append (if defined) value to results.\n   * @param value optional value to append\n   * @param results growing array\n   */\n  private static appendSolution(value: number | undefined, results: GrowableFloat64Array) {\n    if (value !== undefined) {\n      results.push(value);\n    }\n  }\n  /**\n   * Append 2 solutions -- note that both are required args, no option of omitting as in single solution case\n   * @param value1\n   * @param value2\n   * @param results\n   */\n  private static append2Solutions(valueA: number, valueB: number, results: GrowableFloat64Array) {\n    results.push(valueA);\n    results.push(valueB);\n  }\n\n  /**\n   * If `co/c1` is a safe division, append it to the values array.\n   * @param c0 numerator\n   * @param c1 denominator\n   * @param values array to expand\n   */\n  public static appendLinearRoot(c0: number, c1: number, values: GrowableFloat64Array) {\n    AnalyticRoots.appendSolution(Geometry.conditionalDivideFraction(-c0, c1), values);\n  }\n  /**\n   * * Compute the mean of all the entries in `data`\n   * * Return the data value that is farthest away\n   */\n  public static mostDistantFromMean(data: GrowableFloat64Array | undefined): number {\n    if (!data || data.length === 0) return 0;\n    let a = 0.0;  // to become the sum and finally the average.\n    for (let i = 0; i < data.length; i++) a += data.atUncheckedIndex(i);\n    a /= data.length;\n    let dMax = 0.0;\n    let result = data.atUncheckedIndex(0);\n    for (let i = 0; i < data.length; i++) {\n      const d = Math.abs(data.atUncheckedIndex(i) - a);\n      if (d > dMax) {\n        dMax = d;\n        result = data.atUncheckedIndex(i);\n      }\n    }\n    return result;\n  }\n  /**\n   * Append 0, 1, or 2 solutions of a quadratic to the values array.\n   * @param c array of coefficients for quadratic `c[0] + c[1] * x + c[2] * x*x`\n   * @param values array to be expanded.\n   */\n  public static appendQuadraticRoots(c: Float64Array | number[], values: GrowableFloat64Array) {\n    // Normal form: x^2 + 2px + q = 0\n\n    const divFactor = Geometry.conditionalDivideFraction(1.0, c[2]);\n    if (!divFactor) {\n      this.appendLinearRoot(c[0], c[1], values);\n      return;\n    }\n\n    const p = 0.5 * c[1] * divFactor;\n    const q = c[0] * divFactor;\n\n    const D = p * p - q;\n\n    if (this.isZero(D)) {\n      this.appendSolution(-p, values);\n      return;\n    } else if (D < 0) {\n      return;\n    } else if (D > 0) {\n      const sqrtD = Math.sqrt(D);\n      this.append2Solutions(sqrtD - p, - sqrtD - p, values);\n      return;\n    }\n    return;\n  }\n  /** Add `a` to the constant term. */\n  private static addConstant(value: number, data: GrowableFloat64Array) {\n    for (let i = 0; i < data.length; i++) data.reassign(i, data.atUncheckedIndex(i) + value);\n  }\n\n  private static signedCubeRoot(y: number): number {\n    if (y >= 0.0)\n      return Math.pow(y, 1.0 / 3.0);\n    return -Math.pow(-y, 1.0 / 3.0);\n  }\n  /**\n   * RWD Nickalls Cubic solution\n   * The Mathematical Gazette (1993) (vol 77) pp 354-359\n   * * ASSUME a is nonzero.\n   */\n  // Solve full cubic ASSUMING a3 is nonzero.\n  private static appendFullCubicSolutions(a: number, b: number, c: number, d: number, result: GrowableFloat64Array) {\n    const q = b * b - 3.0 * a * c;\n    const aa = a * a;\n    const delta2 = q / (9.0 * aa);\n    const xN = - b / (3.0 * a);\n    const yN = d + xN * (c + xN * (b + xN * a));\n    const yN2 = yN * yN;\n    const h2 = 4.0 * a * a * delta2 * delta2 * delta2;\n    const discriminant = yN2 - h2;\n    if (discriminant > 0) {\n      // 1 real root\n      const r = Math.sqrt(discriminant);\n      const f = 0.5 / a;\n      result.push(xN + this.signedCubeRoot(f * (-yN + r)) + this.signedCubeRoot(f * (-yN - r)));\n    } else if (discriminant < 0) {\n      // 3 real roots\n      let h = Math.sqrt(h2);\n      // I don't see comment in Nickalls about sign of h -- but this sign change is needed ...\n      if (a < 0)\n        h = -h;\n      // sign of h?\n      const thetaRadians = Math.acos(-yN / h) / 3.0;\n      const g = 2.0 * Math.sqrt(delta2);\n      const shift = 2.0 * Math.PI / 3.0;\n      result.push(xN + g * Math.cos(thetaRadians));\n      result.push(xN + g * Math.cos(thetaRadians + shift));\n      result.push(xN + g * Math.cos(thetaRadians - shift));\n    } else {\n      // NOTE: The double-root case is not toleranced.\n      // double root + single root\n      const delta = this.signedCubeRoot(0.5 * yN / a);\n      const minMaxRoot = xN + delta;\n      result.push(xN - 2 * delta);\n      result.push(minMaxRoot);\n      result.push(minMaxRoot);\n    }\n  }\n\n  /* return roots of a cubic c0 + c1 *x + c2 * x^2 + c2 * x3.\n   * In the usual case where c0 is non-zero, there are either 1 or 3 roots.\n   * But if c0 is zero the (0, 1, or 2) roots of the lower order equation\n   */\n  /*\n  private static _appendCubicRootsUnsorted(c: Float64Array | number[], results: GrowableFloat64Array) {\n    let AA: number;\n    let p: number;\n    let q: number;\n\n    // normal form: x^3 + Ax^2 + Bx + C = 0\n\n    const scaleFactor = Geometry.conditionalDivideFraction(1.0, c[3]);\n    if (!scaleFactor) {\n      this.appendQuadraticRoots(c, results);\n      return;\n    }\n    // It is a real cubic.  There MUST be at least one real solution . . .\n    const A: number = c[2] * scaleFactor;\n    const B: number = c[1] * scaleFactor;\n    const C: number = c[0] * scaleFactor;\n\n    //  substitute x = y - A/3 to eliminate quadric term:\n    //    f = y^3 +3py + 2q = 0\n    //    f' = 3y^2 + p\n    //        local min/max at Y = +-sqrt (-p)\n    //        f(+Y) = -p sqrt(-p) + 3p sqrt (-p) + 2q = 2 p sqrt (-p) + 2q\n    AA = A * A;\n    p = (3.0 * B - AA) / 9.0;\n    q = 1.0 / 2 * (2.0 / 27 * A * AA - 1.0 / 3 * A * B + C);\n\n    // Use Cardano formula\n    const cb_p: number = p * p * p;\n    const D: number = q * q + cb_p;\n    const origin = A / (-3.0);\n    if (D >= 0.0 && this.isZero(D)) {\n      if (this.isZero(q)) {\n        // One triple solution\n        results.push(origin);\n        results.push(origin);\n        results.push(origin);\n        return;\n      } else {\n        // One single and one double solution\n        const u = this.cbrt(-q);\n        if (u < 0) {\n          results.push(origin + 2 * u);\n          results.push(origin - u);\n          results.push(origin - u);\n          return;\n        } else {\n          results.push(origin - u);\n          results.push(origin - u);\n          results.push(origin + 2 * u);\n          return;\n        }\n      }\n    } else if (D <= 0) {      // three real solutions\n      const phi = 1.0 / 3 * Math.acos(-q / Math.sqrt(-cb_p));\n      const t = 2 * Math.sqrt(-p);\n      results.push(origin + t * Math.cos(phi));\n      results.push(origin - t * Math.cos(phi + Math.PI / 3));\n      results.push(origin - t * Math.cos(phi - Math.PI / 3));\n      this.improveRoots(c, 3, results, false);\n\n      return;\n    } else {    // One real solution\n      const sqrtD = Math.sqrt(D);\n      const u = this.cbrt(sqrtD - q);\n      const v = -(this.cbrt(sqrtD + q));\n      results.push(origin + u + v);\n      this.improveRoots(c, 3, results, false);\n      return;\n    }\n  }\n  */\n  /** Compute roots of cubic 'c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 */\n  public static appendCubicRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\n    if (Geometry.conditionalDivideCoordinate(1.0, c[3]) !== undefined) {\n      this.appendFullCubicSolutions(c[3], c[2], c[1], c[0], results);\n      // EDL April 5, 2020 replace classic GraphicsGems solver by RWDNickalls.\n      // Don't know if improveRoots is needed.\n      // Breaks in AnalyticRoots.test.ts checkQuartic suggest it indeed converts many e-16 errors to zero.\n      // e-13 cases are unaffected\n      this.improveRoots(c, 3, results, false);\n    } else {\n      this.appendQuadraticRoots(c, results);\n    }\n    // this.appendCubicRootsUnsorted(c, results);\n    results.sort();\n  }\n  /** Compute roots of quartic `c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 + c[4] * x^4` */\n  public static appendQuarticRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\n    // for details, see core\\geometry\\internaldocs\\quarticRoots.md\n    const coffs = new Float64Array(4);\n    let u: number;\n    let v: number;\n    const coffScale = new Float64Array(1);\n    if (!this.safeDivide(coffScale, 1.0, c[4], 0.0, 0)) {\n      this.appendCubicRoots(c, results);\n      return;\n    }\n    // normal form: x^4 + Ax^3 + Bx^2 + Cx + D = 0\n    const A: number = c[3] * coffScale[0];\n    const B: number = c[2] * coffScale[0];\n    const C: number = c[1] * coffScale[0];\n    const D: number = c[0] * coffScale[0];\n    const origin = -0.25 * A;\n    // substitute x = y - A/4 to eliminate cubic term: y^4 + py^2 + qy + r = 0\n    const AA: number = A * A;\n    const p: number = -0.375 * AA + B;\n    const q: number = 0.125 * AA * A - 0.5 * A * B + C;\n    const r: number = -0.01171875 * AA * AA + 0.0625 * AA * B - 0.25 * A * C + D;\n    const cubicSolutions = new GrowableFloat64Array();\n    if (this.isZero(r)) { // no absolute term: y(y^3 + py + q) = 0\n      coffs[0] = q;\n      coffs[1] = p;\n      coffs[2] = 0;\n      coffs[3] = 1;\n      this.appendCubicRoots(coffs, results);\n      results.push(0);\n      this.addConstant(origin, results); // apply origin\n      return;\n    } else { // solve the resolvent cubic\n      coffs[0] = 0.5 * r * p - 0.125 * q * q;\n      coffs[1] = -r;\n      coffs[2] = -0.5 * p;\n      coffs[3] = 1;\n      this.appendCubicRoots(coffs, cubicSolutions);\n      const z = this.mostDistantFromMean(cubicSolutions);\n      u = z * z - r;\n      v = 2 * z - p;\n      if (this.isSmallRatio(u, r)) {\n        u = 0;\n      } else if (u > 0) {\n        u = Math.sqrt(u);\n      } else {\n        return;\n      }\n      if (this.isSmallRatio(v, p)) {\n        v = 0;\n      } else if (v > 0) {\n        v = Math.sqrt(v);\n      } else {\n        return;\n      }\n      // the two quadratic equations\n      coffs[0] = z - u;\n      coffs[1] = ((q < 0) ? (-v) : (v));\n      coffs[2] = 1;\n      this.appendQuadraticRoots(coffs, results);\n      coffs[0] = z + u;\n      coffs[1] = ((q < 0) ? (v) : (-v));\n      coffs[2] = 1;\n      this.appendQuadraticRoots(coffs, results);\n    }\n    this.addConstant(origin, results); // apply origin\n    results.sort();\n    this.improveRoots(c, 4, results, true);\n    return;\n  }\n\n  private static appendCosSinRadians(c: number, s: number, cosValues: OptionalGrowableFloat64Array, sinValues: OptionalGrowableFloat64Array,\n    radiansValues: OptionalGrowableFloat64Array) {\n    if (cosValues) cosValues.push(c);\n    if (sinValues) sinValues.push(s);\n    if (radiansValues) radiansValues.push(Math.atan2(s, c));\n  }\n\n  /**\n   * * Solve the simultaneous equations in variables`c` and`s`:\n   *   * A line: `alpha + beta*c + gamma*s = 0`\n   *   * The unit circle `c*c + s*s = 1`\n   * * Solution values are returned as 0, 1, or 2(c, s) pairs\n   * * Return value indicates one of these solution states:\n   *   * -2 -- all coefficients identically 0.   The entire c, s plane-- and therefore the entire unit circle-- is a solution.\n   *   * -1 -- beta, gamma are zero, alpha is not.There is no line defined.There are no solutions.\n   *   * 0 -- the line is well defined, but passes completely outside the unit circle.\n   *     * In this case, (c1, s1) is the circle point closest to the line and(c2, s2) is the line point closest to the circle.\n   *   * 1 -- the line is tangent to the unit circle.\n   *     * Tangency is determined by tolerances, which calls a \"close approach\" point a tangency.\n   *       * (c1, s1) is the closest circle point\n   *       * (c2, s2) is the line point.\n   *   * 2 -- two simple intersections.\n   * @param alpha constant coefficient on line\n   * @param beta x cosine coefficient on line\n   * @param gamma y sine coefficient on line\n   * @param relTol relative tolerance for tangencies\n   * @param cosValues (caller allocated) array to receive solution `c` values\n   * @param sinValues (caller allocated) array to receive solution `s` values\n   * @param radiansValues (caller allocated) array to receive solution radians values.\n   */\n  public static appendImplicitLineUnitCircleIntersections(\n    alpha: number,\n    beta: number,\n    gamma: number,\n    cosValues: OptionalGrowableFloat64Array,\n    sinValues: OptionalGrowableFloat64Array,\n    radiansValues: OptionalGrowableFloat64Array,\n    relTol: number = 1.0e-14,\n  ): number {\n    let twoTol: number;\n    const delta2 = beta * beta + gamma * gamma;\n    const alpha2 = alpha * alpha;\n    let solutionType = 0;\n    if (relTol < 0.0) {\n      twoTol = 0.0;\n    } else {\n      twoTol = 2.0 * relTol;\n    }\n    if (delta2 <= 0.0) {\n      solutionType = (alpha === 0) ? -2 : -1;\n    } else {\n      const lambda = - alpha / delta2;\n      const a2 = alpha2 / delta2;\n      const D2 = 1.0 - a2;\n      if (D2 < -twoTol) {\n        const delta = Math.sqrt(delta2);\n        const iota = (alpha < 0) ? (1.0 / delta) : (-1.0 / delta);\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\n        solutionType = 0;\n      } else if (D2 < twoTol) {\n        const delta = Math.sqrt(delta2);\n        const iota = (alpha < 0) ? (1.0 / delta) : (- 1.0 / delta);\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\n        solutionType = 1;\n      } else {\n        const mu = Math.sqrt(D2 / delta2);\n        /* c0,s0 = closest approach of line to origin */\n        const c0 = lambda * beta;\n        const s0 = lambda * gamma;\n        this.appendCosSinRadians(c0 - mu * gamma, s0 + mu * beta, cosValues, sinValues, radiansValues);\n        this.appendCosSinRadians(c0 + mu * gamma, s0 - mu * beta, cosValues, sinValues, radiansValues);\n        solutionType = 2;\n      }\n    }\n    return solutionType;\n  }\n}\n/**\n * Manipulations of polynomials with where `coff[i]` multiplies x^i\n * @internal\n */\nexport class PowerPolynomial {\n  /** Evaluate a standard basis polynomial at `x`, with `degree` possibly less than `coff.length` */\n  public static degreeKnownEvaluate(coff: Float64Array, degree: number, x: number): number {\n    if (degree < 0) {\n      return 0.0;\n    }\n    let p = coff[degree];\n    for (let i = degree - 1; i >= 0; i--)\n      p = x * p + coff[i];\n    return p;\n  }\n  /** Evaluate the standard basis polynomial of degree `coff.length` at `x` */\n  public static evaluate(coff: Float64Array, x: number): number {\n    const degree = coff.length - 1;\n    return this.degreeKnownEvaluate(coff, degree, x);\n  }\n  /**\n   * Accumulate `coffQ*scaleQ` into `coffP`.\n   * * The length of `coffP` must be at least length of `coffQ`.\n   * * Returns degree of result as determined by comparing trailing coefficients to zero.\n   */\n  public static accumulate(coffP: Float64Array, coffQ: Float64Array, scaleQ: number): number {\n    let degreeP = coffP.length - 1;\n    const degreeQ = coffQ.length - 1;\n    for (let i = 0; i <= degreeQ; i++)\n      coffP[i] += scaleQ * coffQ[i];\n    while (degreeP >= 0 && coffP[degreeP] === 0.0)\n      degreeP--;\n    return degreeP;\n  }\n  /** Zero all coefficients */\n  public static zero(coff: Float64Array) {\n    for (let i = 0; i < coff.length; i++) {\n      coff[i] = 0.0;\n    }\n  }\n}\n/**\n * manipulation of polynomials with powers of sine and cosine\n * @internal\n */\nexport class TrigPolynomial {\n  // tolerance for small angle decision.\n  private static readonly _smallAngle: number = 1.0e-11;\n\n  // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients.\n  /** Standard Basis coefficients for the numerator of the y-coordinate y(t) = S(t)/W(t) in the rational semicircle parameterization. */\n  public static readonly S = Float64Array.from([0.0, 2.0, -2.0]);\n  /** Standard Basis coefficients for the numerator of the x-coordinate x(t) = C(t)/W(t) in the rational semicircle parameterization. */\n  public static readonly C = Float64Array.from([1.0, -2.0]);\n  /** Standard Basis coefficients for the denominator of x(t) and y(t) in the rational semicircle parameterization. */\n  public static readonly W = Float64Array.from([1.0, -2.0, 2.0]);\n  /** Standard Basis coefficients for C(t) * W(t). */\n  public static readonly CW = Float64Array.from([1.0, -4.0, 6.0, -4.0]);\n  /** Standard Basis coefficients for S(t) * W(t). */\n  public static readonly SW = Float64Array.from([0.0, 2.0, -6.0, 8.0, -4.0]);\n  /** Standard Basis coefficients for S(t) * C(t). */\n  public static readonly SC = Float64Array.from([0.0, 2.0, -6.0, 4.0]);\n  /** Standard Basis coefficients for S(t) * S(t). */\n  public static readonly SS = Float64Array.from([0.0, 0.0, 4.0, -8.0, 4.0]);\n  /** Standard Basis coefficients for C(t) * C(t). */\n  public static readonly CC = Float64Array.from([1.0, -4.0, 4.0]);\n  /** Standard Basis coefficients for W(t) * W(t). */\n  public static readonly WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]);\n  /** Standard Basis coefficients for C(t) * C(t) - S(t) * S(t). */\n  public static readonly CCMinusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]); // eslint-disable-line @typescript-eslint/naming-convention\n\n  /**\n   * Find the roots of a univariate polynomial created from substituting the rational parameterization of the unit\n   * circle into a trigonometric polynomial. Roots are returned as radian angles.\n   * * Currently implemented for polynomials of degree <= 4.\n   * * For example, the ellipse-ellipse intersection problem reduces to finding the roots of a quartic polynomial:\n   * `p(t) = coff[0] + coff[1] t + coff[2] t^2 + coff[3] t^3 + coff[4] t^4`.\n   * * Particular care is given to report a root at t = +/-infinity, which corresponds to the returned angle -pi/2.\n   * @param coff coefficients in the power basis\n   * @param nominalDegree degree of the polynomial under the most complex root case.\n   * @param referenceCoefficient a number which represents the size of coefficients at various stages of computation.\n   * A small fraction of this number will be used as a zero tolerance.\n   * @param radians roots are placed here.\n   * @return false if equation is all zeros. This usually means any angle is a solution.\n   */\n  public static solveAngles(\n    coff: Float64Array, nominalDegree: number, referenceCoefficient: number, radians: number[],\n  ): boolean {\n    let maxCoff = Math.abs(referenceCoefficient);\n    let a;\n    radians.length = 0;\n    const relTol = this._smallAngle;\n    for (let i = 0; i <= nominalDegree; i++) {\n      a = Math.abs(coff[i]);\n      if (a > maxCoff)\n        maxCoff = a;\n    }\n    const coffTol = relTol * maxCoff;\n    let degree = nominalDegree;\n    while (degree > 0 && (Math.abs(coff[degree]) <= coffTol))\n      degree--;\n    const roots = new GrowableFloat64Array();\n    if (degree === -1) {\n      // p(t) is identically zero (degenerate); do nothing.\n    } else {\n      if (degree === 0) {\n        // p(t) is a nonzero constant; no roots but not degenerate.\n      } else if (degree === 1) {\n        roots.push(-coff[0] / coff[1]); // p(t) = coff[0] + coff[1] * t\n      } else if (degree === 2) {\n        AnalyticRoots.appendQuadraticRoots(coff, roots);\n      } else if (degree === 3) {\n        AnalyticRoots.appendCubicRoots(coff, roots);\n      } else if (degree === 4) {\n        AnalyticRoots.appendQuarticRoots(coff, roots);\n      } else {\n        // TODO: WORK WITH BEZIER SOLVER\n        assert(false, \"Unimplemented degree in trig solver\");\n      }\n      if (roots.length > 0) {\n        // each solution t represents an angle with Math.Cos(theta) = C(t)/W(t) and sin(theta) = S(t)/W(t)\n        // division by W has no effect on atan2 calculations, so we just compute S(t),C(t)\n        for (let i = 0; i < roots.length; i++) {\n          const ss = PowerPolynomial.evaluate(this.S, roots.atUncheckedIndex(i));\n          const cc = PowerPolynomial.evaluate(this.C, roots.atUncheckedIndex(i));\n          radians.push(Math.atan2(ss, cc));\n        }\n      }\n      // If the tail of the coff array is zero, we solved a polynomial of lesser degree above, and\n      // we report the skipped \"root at infinity\" as the corresponding angle -pi/2 (without multiplicity).\n      // See core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for details.\n      if (degree < nominalDegree)\n        radians.push(-0.5 * Math.PI);\n    }\n    return radians.length > 0;\n  }\n  private static readonly _coefficientRelTol = 1.0e-12;\n  /**\n   * Compute intersections of the unit circle `x^2 + y^2 = 1` with the general quadric (conic)\n   * `axx x^2 + axy xy + ayy y^2 + ax x + ay y + a = 0`.\n   * @param axx coefficient of x^2\n   * @param axy coefficient of xy\n   * @param ayy coefficient of y^2\n   * @param ax coefficient of x\n   * @param ay coefficient of y\n   * @param a constant coefficient\n   * @param radians up to 4 solution angles t in the quadric parameterization: x = cos(t), y = sin(t)\n   */\n  public static solveUnitCircleImplicitQuadricIntersection(\n    axx: number, axy: number, ayy: number, ax: number, ay: number, a: number, radians: number[],\n  ): boolean {\n    const coffs = new Float64Array(5);\n    PowerPolynomial.zero(coffs);\n    let degree;\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients\n    if (Geometry.hypotenuseXYZ(axx, axy, ayy) > TrigPolynomial._coefficientRelTol * Geometry.hypotenuseXYZ(ax, ay, a)) {\n      PowerPolynomial.accumulate(coffs, this.CW, ax);\n      PowerPolynomial.accumulate(coffs, this.SW, ay);\n      PowerPolynomial.accumulate(coffs, this.WW, a);\n      PowerPolynomial.accumulate(coffs, this.SS, ayy);\n      PowerPolynomial.accumulate(coffs, this.CC, axx);\n      PowerPolynomial.accumulate(coffs, this.SC, axy);\n      degree = 4;\n    } else {\n      PowerPolynomial.accumulate(coffs, this.C, ax);\n      PowerPolynomial.accumulate(coffs, this.S, ay);\n      PowerPolynomial.accumulate(coffs, this.W, a);\n      degree = 2;\n    }\n    const maxCoff = Math.max(Math.abs(axx), Math.abs(ayy), Math.abs(axy), Math.abs(ax), Math.abs(ay), Math.abs(a));\n    const b = this.solveAngles(coffs, degree, maxCoff, radians);\n    /*\n    for (const theta of angles) {\n      const c = theta.cos();\n      const s = theta.sin();\n      GeometryCoreTestIO.consoleLog({\n        angle: theta, co: c, si: s,\n        f: axx * c * c + axy * c * s + ayy * s * s + ax * c + ay * s + a,\n      });\n    } */\n    return b;\n  }\n  /**\n   * Compute intersections of unit circle x^2 + y 2 = 1 with the ellipse\n   *         (x,y) = (cx + ux Math.Cos + vx sin, cy + uy Math.Cos + vy sin)\n   * Solutions are returned as angles in the ellipse space.\n   * @param cx center x\n   * @param cy center y\n   * @param ux 0 degree vector x\n   * @param uy 0 degree vector y\n   * @param vx 90 degree vector x\n   * @param vy 90 degree vector y\n   * @param ellipseRadians solution angles in ellipse parameter space\n   * @param circleRadians solution angles in circle parameter space\n   */\n  public static solveUnitCircleEllipseIntersection(\n    cx: number, cy: number,\n    ux: number, uy: number,\n    vx: number, vy: number,\n    ellipseRadians: number[], circleRadians: number[],\n  ): boolean {\n    circleRadians.length = 0;\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients:\n    const acc = ux * ux + uy * uy;\n    const acs = 2.0 * (ux * vx + uy * vy);\n    const ass = vx * vx + vy * vy;\n    const ac = 2.0 * (ux * cx + uy * cy);\n    const as = 2.0 * (vx * cx + vy * cy);\n    const a = cx * cx + cy * cy - 1.0;\n    const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, as, a, ellipseRadians);\n    for (const radians of ellipseRadians) {\n      const cc = Math.cos(radians);\n      const ss = Math.sin(radians);\n      const x = cx + ux * cc + vx * ss;\n      const y = cy + uy * cc + vy * ss;\n      circleRadians.push(Math.atan2(y, x));\n    }\n    return status;\n  }\n  /**\n   * Compute intersections of unit circle `x^2 + y^2 = w^2` (in homogeneous coordinates) with the ellipse\n   * `F(t) = (cx + ux cos(t) + vx sin(t), cy + uy cos(t) + vy sin(t)) / (cw + uw cos(t) + vw sin(t))`.\n   * @param cx center x\n   * @param cy center y\n   * @param cw center w\n   * @param ux 0 degree vector x\n   * @param uy 0 degree vector y\n   * @param uw 0 degree vector w\n   * @param vx 90 degree vector x\n   * @param vy 90 degree vector y\n   * @param vw 90 degree vector w\n   * @param ellipseRadians solution angles in ellipse parameter space\n   * @param circleRadians solution angles in circle parameter space\n   */\n  public static solveUnitCircleHomogeneousEllipseIntersection(\n    cx: number, cy: number, cw: number,\n    ux: number, uy: number, uw: number,\n    vx: number, vy: number, vw: number,\n    ellipseRadians: number[], circleRadians: number[],\n  ): boolean {\n    circleRadians.length = 0;\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients:\n    const acc = ux * ux + uy * uy - uw * uw;\n    const acs = 2.0 * (ux * vx + uy * vy - uw * vw);\n    const ass = vx * vx + vy * vy - vw * vw;\n    const ac = 2.0 * (ux * cx + uy * cy - uw * cw);\n    const as = 2.0 * (vx * cx + vy * cy - vw * cw);\n    const a = cx * cx + cy * cy - cw * cw;\n    const status = this.solveUnitCircleImplicitQuadricIntersection(\n      acc, acs, ass, ac, as, a, ellipseRadians,\n    );\n    for (const radians of ellipseRadians) {\n      const cc = Math.cos(radians);\n      const ss = Math.sin(radians);\n      const x = cx + ux * cc + vx * ss;\n      const y = cy + uy * cc + vy * ss;\n      circleRadians.push(Math.atan2(y, x));\n    }\n    return status;\n  }\n}\n\n/**\n * * bilinear expression\n * * `f(u,v) = a + b * u * c * v + d * u * v`\n * @internal\n */\nexport class BilinearPolynomial {\n  /** constant coefficient */\n  public a: number;\n  /** u coefficient */\n  public b: number;\n  /** v coefficient */\n  public c: number;\n  /** uv coefficient */\n  public d: number;\n  /**\n   *\n   * @param a constant coefficient\n   * @param b `u` coefficient\n   * @param c `v` coefficient\n   * @param d `u*v` coefficient\n   */\n  public constructor(a: number, b: number, c: number, d: number) {\n    this.a = a;\n    this.b = b;\n    this.c = c;\n    this.d = d;\n  }\n  /**\n   * Evaluate the bilinear expression at u,v\n   */\n  public evaluate(u: number, v: number): number {\n    return this.a + this.b * u + v * (this.c + this.d * u);\n  }\n  /** Create a bilinear polynomial z=f(u,v) given z values at 00, 10, 01, 11.\n   */\n  public static createUnitSquareValues(f00: number, f10: number, f01: number, f11: number): BilinearPolynomial {\n    return new BilinearPolynomial(f00, f10, f10, f11 - f10 - f01);\n  }\n  /**\n   * Solve a pair of bilinear equations\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\n   * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`\n   */\n  public static solveBilinearPair(\n    a0: number, b0: number, c0: number, d0: number,\n    a1: number, b1: number, c1: number, d1: number,\n  ): Point2d[] | undefined {\n    // constant linear, and quadratic coefficients for c0 + c1 * u + c2 * u*u = 0\n    const e0 = Geometry.crossProductXYXY(a0, a1, c0, c1);\n    const e1 = Geometry.crossProductXYXY(b0, b1, c0, c1) + Geometry.crossProductXYXY(a0, a1, d0, d1);\n    const e2 = Geometry.crossProductXYXY(b0, b1, d0, d1);\n    const uRoots = Degree2PowerPolynomial.solveQuadratic(e2, e1, e0);\n    if (uRoots === undefined)\n      return undefined;\n    const uv = [];\n    for (const u of uRoots) {\n      const v0 = Geometry.conditionalDivideFraction(-(a0 + b0 * u), c0 + d0 * u);\n      const v1 = Geometry.conditionalDivideFraction(-(a1 + b1 * u), c1 + d1 * u);\n      if (v0 !== undefined)\n        uv.push(Point2d.create(u, v0));\n      else if (v1 !== undefined)\n        uv.push(Point2d.create(u, v1));\n    }\n    return uv;\n  }\n  /**\n   * Solve the simultaneous equations\n   * * `p(u,v) = pValue`\n   * * `q(u,v) = qValue`\n   * @param p\n   * @param pValue\n   * @param q\n   * @param qValue\n   */\n  public static solvePair(p: BilinearPolynomial, pValue: number, q: BilinearPolynomial, qValue: number): Point2d[] | undefined {\n    return BilinearPolynomial.solveBilinearPair(p.a - pValue, p.b, p.c, p.d, q.a - qValue, q.b, q.c, q.d);\n  }\n}\n\n/**\n * * trigonometric expresses `f(theta) = a + cosineCoff * cos(theta) + sineCoff * sin(theta)`\n * @internal\n */\nexport class SineCosinePolynomial {\n  /** constant coefficient */\n  public a: number;\n  /** cosine coefficient */\n  public cosineCoff: number;\n  /** sine coefficient */\n  public sineCoff: number;\n  /**\n   *\n   * @param a constant coefficient\n   * @param cosineCoff `cos(theta)` coefficient\n   * @param sinCoff `sin(theta)` coefficient\n   */\n  public constructor(a: number, cosCoff: number, sinCoff: number) {\n    this.a = a;\n    this.cosineCoff = cosCoff;\n    this.sineCoff = sinCoff;\n  }\n  /** set all coefficients */\n  public set(a: number, cosCoff: number, sinCoff: number) {\n    this.a = a;\n    this.cosineCoff = cosCoff;\n    this.sineCoff = sinCoff;\n  }\n  /** Return the function value at given angle in radians */\n  public evaluateRadians(theta: number): number {\n    return this.a + this.cosineCoff * Math.cos(theta) + this.sineCoff * Math.sin(theta);\n  }\n  /** Return the range of function values over the entire angle range. */\n  public range(result?: Range1d): Range1d {\n    const q = Geometry.hypotenuseXY(this.cosineCoff, this.sineCoff);\n    return Range1d.createXX(this.a - q, this.a + q, result);\n  }\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\n  public rangeInStartEndRadians(radians0: number, radians1: number, result?: Range1d): Range1d {\n    if (Angle.isFullCircleRadians(radians1 - radians0))\n      return this.range(result);\n    result = Range1d.createXX(this.evaluateRadians(radians0), this.evaluateRadians(radians1), result);\n    // angles of min and max ...\n    // angles for min and max of the sine wave . ..\n    const alphaA = Math.atan2(this.sineCoff, this.cosineCoff);\n    const alphaB = alphaA + Math.PI;\n    if (AngleSweep.isRadiansInStartEnd(alphaA, radians0, radians1))\n      result.extendX(this.evaluateRadians(alphaA));\n    if (AngleSweep.isRadiansInStartEnd(alphaB, radians0, radians1))\n      result.extendX(this.evaluateRadians(alphaB));\n    return result;\n  }\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\n  public rangeInSweep(sweep: AngleSweep, result?: Range1d): Range1d {\n    return this.rangeInStartEndRadians(sweep.startRadians, sweep.endRadians, result);\n  }\n  /**\n   * Return a representative angle (in radians) for min and max values.\n   * * The radians value is atan2(sineCoff, cosineCoff)\n   * * Hence the candidates for min and max of the function are at this value and this value plus PI\n   */\n  public referenceMinMaxRadians(): number {\n    return Math.atan2(this.sineCoff, this.cosineCoff);\n  }\n}\n/**\n * Support for an implicit linear equation (half space)\n * f(x,y) = a0 + x * ax + y * ay\n * @internal\n */\nexport class ImplicitLineXY {\n  /**\n   * constant coefficient\n   */\n  public a: number;\n  /**\n  * x coefficient\n  */\n  public ax: number;\n  /**\n   * y coefficient\n   */\n  public ay: number;\n  /** construct the ImplicitLineXY from coefficients */\n  public constructor(a: number, ax: number, ay: number) {\n    this.a = a;\n    this.ax = ax;\n    this.ay = ay;\n  }\n  /** Compute 2 points of a line segment with\n   * * the segment is on the zero-line of this ImplicitLineXY\n   * * the start and endpoints are distance `b` from the projection of the origin onto the ImplicitLineXY\n   * @returns undefined if ax,ay are both zero.   Otherwise the two points of the segment.\n   */\n  public convertToSegmentPoints(b: number): Point3d[] | undefined {\n    const q = Math.sqrt(this.ax * this.ax + this.ay * this.ay);\n    const alpha = Geometry.conditionalDivideCoordinate(1.0, q, 1.0e10);\n    if (alpha === undefined)\n      return undefined;\n    const ux = alpha * this.ax;\n    const uy = alpha * this.ay;\n    const px = -alpha * ux;\n    const py = -alpha * uy;\n    return [Point3d.create(px - b * uy, py + b * ux), Point3d.create(px + b * uy, py - b * ux)];\n  }\n  /**\n   * Evaluate the half-space function at an xy point\n   * @param xy xy values for evaluation\n   * @returns evaluation.\n   */\n  public evaluatePoint(xy: XAndY): number {\n    return this.a + xy.x * this.ax + xy.y * this.ay;\n  }\n  /**\n   * add scale * (a,ax,ay) to the respective coefficients.\n   */\n  public addScaledCoefficientsInPlace(a: number, ax: number, ay: number, scale: number) {\n    this.a += scale * a;\n    this.ax += scale * ax;\n    this.ay += scale * ay;\n  }\n}\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Numerics\r\n */\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\nimport { Geometry } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { GrowableFloat64Array, OptionalGrowableFloat64Array } from \"../geometry3d/GrowableFloat64Array\";\r\nimport { LongitudeLatitudeNumber } from \"../geometry3d/LongitudeLatitudeAltitude\";\r\nimport { Point2d } from \"../geometry3d/Point2dVector2d\";\r\nimport { Point3d, Vector3d, XYZ } from \"../geometry3d/Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { XAndY } from \"../geometry3d/XYZProps\";\r\n\r\n// cspell:words Cardano internaldocs\r\n\r\n/**\r\n * degree 2 (quadratic) polynomial in for y = c0 + c1*x + c2*x^2\r\n * @internal\r\n */\r\nexport class Degree2PowerPolynomial {\r\n  /** The three coefficients for the quadratic */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0) {\r\n    this.coffs = [c0, c1, c2];\r\n  }\r\n\r\n  /**\r\n   * * Return 2 duplicate roots in double root case.\r\n   * * The solutions are always in algebraic order.\r\n   * @returns 0, 1, or 2 solutions of the usual quadratic (a*x*x + b * x + c = 0)\r\n   */\r\n  public static solveQuadratic(a: number, b: number, c: number): number[] | undefined {\r\n    const b1 = Geometry.conditionalDivideFraction(b, a);\r\n    const c1 = Geometry.conditionalDivideFraction(c, a);\r\n    if (b1 !== undefined && c1 !== undefined) {\r\n      // now solving xx + b1*x + c1 = 0 -- i.e. implied \"a\" coefficient is 1 . .\r\n      const q = b1 * b1 - 4 * c1;\r\n      if (q > 0) {\r\n        const e = Math.sqrt(q);\r\n        // e is positive, so this sorts algebraically\r\n        return [0.5 * (-b1 - e), 0.5 * (-b1 + e)];\r\n      }\r\n      if (q < 0)\r\n        return undefined;\r\n      const root = -0.5 * b1;\r\n      return [root, root];\r\n    }\r\n    // \"divide by a\" failed.  solve bx + c = 0\r\n    const x = Geometry.conditionalDivideFraction(-c, b);\r\n    if (x !== undefined)\r\n      return [x];\r\n    return undefined;\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /** Add  `s * (a + b*x)^2` to the quadratic coefficients */\r\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\r\n    this.coffs[0] += s * (a * a);\r\n    this.coffs[1] += s * (2.0 * a * b);\r\n    this.coffs[2] += s * (b * b);\r\n  }\r\n  /** Return the real roots of this polynomial */\r\n  public realRoots(): number[] | undefined {\r\n    const ss = Degree2PowerPolynomial.solveQuadratic(this.coffs[2], this.coffs[1], this.coffs[0]);\r\n    if (ss && ss.length > 1) {\r\n      if (ss[0] > ss[1]) {\r\n        const temp = ss[0];\r\n        ss[0] = ss[1];\r\n        ss[1] = temp;\r\n      }\r\n    }\r\n    return ss;\r\n  }\r\n\r\n  /** Evaluate the quadratic at x. */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * this.coffs[2]);\r\n  }\r\n\r\n  /**\r\n   * Evaluate the bezier function at a parameter value.  (i.e. sum the basis functions times coefficients)\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return this.coffs[1] + 2 * x * this.coffs[2];\r\n  }\r\n\r\n  /** Factor the polynomial in to the form `y0 + c * (x-x0)^2)`, i.e. complete the square. */\r\n  public tryGetVertexFactorization(): { x0: number, y0: number, c: number } | undefined {\r\n    const x = Geometry.conditionalDivideFraction(-this.coffs[1], 2.0 * this.coffs[2]);\r\n    if (x !== undefined) {\r\n      const y = this.evaluate(x);\r\n      return { c: this.coffs[2], x0: x, y0: y };\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Construct a quadratic from input form `c2 * (x-root0) * (x-root1)` */\r\n  public static fromRootsAndC2(root0: number, root1: number, c2: number = 1): Degree2PowerPolynomial {\r\n    return new Degree2PowerPolynomial(\r\n      c2 * root0 * root1,\r\n      - c2 * (root0 + root1),\r\n      c2);\r\n  }\r\n\r\n}\r\n/**\r\n * degree 3 (cubic) polynomial in for y = c0 + c1*x + c2*x^2 + c3*x^3\r\n * @internal\r\n */\r\nexport class Degree3PowerPolynomial {\r\n  /** polynomial coefficients, index corresponds to power */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 1) {\r\n    this.coffs = [c0, c1, c2, c3];\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /** Add `s * (a + b*x)^2` to the cubic */\r\n  public addSquaredLinearTerm(a: number, b: number, s: number = 1): void {\r\n    this.coffs[0] += s * (a * a);\r\n    this.coffs[1] += s * (2.0 * a * b);\r\n    this.coffs[2] += s * (b * b);\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial at x\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * this.coffs[3]));\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial derivative\r\n   * @param u parameter for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return this.coffs[1] + x * (2.0 * this.coffs[2] + x * 3.0 * this.coffs[3]);\r\n  }\r\n  /** Construct a cubic from the form `c3 * (x-root0) * (x - root1) * (x- root2)` */\r\n  public static fromRootsAndC3(root0: number, root1: number, root2: number, c3: number = 1.0): Degree3PowerPolynomial {\r\n    return new Degree3PowerPolynomial(\r\n      -c3 * root0 * root1 * root2,\r\n      c3 * (root0 * root1 + root1 * root2 + root0 * root2),\r\n      - c3 * (root0 + root1 + root2),\r\n      c3);\r\n  }\r\n}\r\n/**\r\n * degree 4 (quartic) polynomial in for y = c0 + c1*x + c2*x^2 + c4*x^4\r\n * @internal\r\n */\r\nexport class Degree4PowerPolynomial {\r\n  /** polynomial coefficients, index corresponds to power */\r\n  public coffs: number[];\r\n\r\n  constructor(c0: number = 0, c1: number = 0, c2: number = 0, c3: number = 0, c4: number = 0) {\r\n    this.coffs = [c0, c1, c2, c3, c4];\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  public addConstant(a: number) {\r\n    this.coffs[0] += a;\r\n  }\r\n\r\n  /**\r\n   * Evaluate the polynomial\r\n   * @param x x coordinate for evaluation\r\n   */\r\n  public evaluate(x: number): number {\r\n    return this.coffs[0] + x * (this.coffs[1] + x * (this.coffs[2] + x * (this.coffs[3] + x * this.coffs[4])));\r\n  }\r\n\r\n  /**\r\n   * Evaluate the derivative\r\n   * @param x x coordinate for evaluation\r\n   */\r\n  public evaluateDerivative(x: number): number {\r\n    return (this.coffs[1] + x * (2.0 * this.coffs[2] + x * (3.0 * this.coffs[3] + x * 4.0 * this.coffs[4])));\r\n  }\r\n\r\n  /** Construct a quartic from the form `c3 * (x-root0) * (x - root1) * (x- root2) * (x-root3)` */\r\n  public static fromRootsAndC4(root0: number, root1: number, root2: number, root3: number, c4: number = 1): Degree4PowerPolynomial {\r\n    return new Degree4PowerPolynomial(\r\n      c4 * (root0 * root1 * root2 * root3),\r\n      -c4 * (root0 * root1 * root2 + root0 * root1 * root3 + root0 * root2 * root3 + root1 * root2 * root3),\r\n      c4 * (root0 * root1 + root0 * root2 + root0 * root3 + root1 * root2 + root1 * root3 + root2 * root3),\r\n      -c4 * (root0 + root1 + root2 + root3),\r\n      c4);\r\n  }\r\n\r\n}\r\n/**\r\n * polynomial services for an implicit torus with\r\n * * z axis is \"through the donut hole\"\r\n * * `majorRadius` is the radius of the circle \"around the z axis\"\r\n * * `minorRadius` is the radius of circles around the major circle\r\n * * for simple xyz the implicit form is\r\n *   * `(x^2+y^2+z^2+(R^2-r^2))^2 = 4 R^2(x^2+y^2)`\r\n * * In weighted form\r\n *   * `(x^2+y^2+z^2+(R^2-r^2)w^2)^2 = 4 R^2 w^2 (x^2+y^2)`\r\n * @internal\r\n */\r\nexport class TorusImplicit {\r\n  /** major (xy plane) radius */\r\n  public majorRadius: number;\r\n  /** hoop (perpendicular to major circle) radius */\r\n  public minorRadius: number;\r\n\r\n  constructor(majorRadius: number, minorRadius: number) {\r\n    this.majorRadius = majorRadius;\r\n    this.minorRadius = minorRadius;\r\n  }\r\n\r\n  /** Return sum of (absolute) major and minor radii, which is (half) the box size in x and y directions */\r\n  public boxSize() {\r\n    return (Math.abs(this.majorRadius) + Math.abs(this.minorRadius));\r\n  }\r\n  /** Return scale factor appropriate to control the magnitude of the implicit function. */\r\n  public implicitFunctionScale(): number {\r\n    const a = this.boxSize();\r\n    if (a === 0.0)\r\n      return 1.0;\r\n    return 1.0 / (a * a * a * a);\r\n  }\r\n\r\n  /**\r\n   * At space point (x,y,z) evaluate the implicit form of the torus (See `ImplicitTorus`)\r\n   */\r\n  public evaluateImplicitFunctionXYZ(x: number, y: number, z: number): number {\r\n    const rho2 = x * x + y * y;\r\n    const z2 = z * z;\r\n    const R2 = this.majorRadius * this.majorRadius;\r\n    const r2 = this.minorRadius * this.minorRadius;\r\n    const f = rho2 + z2 + (R2 - r2);\r\n    const g = 4.0 * R2 * rho2;\r\n    return (f * f - g) * this.implicitFunctionScale();\r\n  }\r\n  /** Evaluate the implicit function at a point. */\r\n  public evaluateImplicitFunctionPoint(xyz: Point3d): number {\r\n    return this.evaluateImplicitFunctionXYZ(xyz.x, xyz.y, xyz.z);\r\n  }\r\n  /** Evaluate the implicit function at homogeneous coordinates */\r\n  public evaluateImplicitFunctionXYZW(x: number, y: number, z: number, w: number) {\r\n    const rho2 = x * x + y * y;\r\n    const z2 = z * z;\r\n    const w2 = w * w;\r\n    const R2 = this.majorRadius * this.majorRadius;\r\n    const r2 = this.minorRadius * this.minorRadius;\r\n    const f = rho2 + z2 + w2 * (R2 - r2);\r\n    const g = w2 * 4.0 * R2 * rho2;\r\n    return (f * f - g) * this.implicitFunctionScale();\r\n  }\r\n\r\n  /** Evaluate the surface point at angles (in radians) on the major and minor circles. */\r\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number): Point3d {\r\n    const c = Math.cos(thetaRadians);\r\n    const s = Math.sin(thetaRadians);\r\n    // theta=0 point\r\n    const x0 = this.majorRadius + this.minorRadius * Math.cos(phiRadians);\r\n    const z0 = this.minorRadius * Math.sin(phiRadians);\r\n    return Point3d.create(c * x0, s * x0, z0);\r\n  }\r\n\r\n  /** Evaluate partial derivatives at angles (int radians) on major and minor circles. */\r\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\r\n    const cTheta = Math.cos(thetaRadians);\r\n    const sTheta = Math.sin(thetaRadians);\r\n    const bx = this.minorRadius * Math.cos(phiRadians);\r\n    const bz = this.minorRadius * Math.sin(phiRadians);\r\n    const x0 = this.majorRadius + bx;\r\n    Vector3d.create(-x0 * sTheta, x0 * cTheta, 0.0, dxdTheta);\r\n    Vector3d.create(-cTheta * bz, -sTheta * bz, bx, dxdPhi);\r\n  }\r\n\r\n  /** Evaluate space point at major and minor angles (in radians) and distance from major hoop. */\r\n  public evaluateThetaPhiDistance(thetaRadians: number, phiRadians: number, distance: number): Point3d {\r\n    const c = Math.cos(thetaRadians);\r\n    const s = Math.sin(thetaRadians);\r\n    // theta=0 point\r\n    const x0 = this.majorRadius + distance * Math.cos(phiRadians);\r\n    const z0 = distance * Math.sin(phiRadians);\r\n    return Point3d.create(c * x0, s * x0, z0);\r\n  }\r\n  /** Given an xyz coordinate in the local system of the toroid, compute the torus parametrization\r\n   * * theta = angular coordinate in xy plane\r\n   * * phi = angular coordinate in minor circle.\r\n   * * distance = distance from major circle\r\n   * * rho = distance from origin to xy part of the input.\r\n   * @param xyz space point in local coordinates.\r\n   * @return object with properties theta, phi, distance, rho\r\n   */\r\n  public xyzToThetaPhiDistance(xyz: Point3d): { theta: number, phi: number, distance: number, rho: number, safePhi: boolean } {\r\n    const rho = xyz.magnitudeXY();\r\n    const majorRadiusFactor = Geometry.conditionalDivideFraction(this.majorRadius, rho);\r\n    let safeMajor;\r\n    let majorCirclePoint;\r\n    if (majorRadiusFactor) {\r\n      safeMajor = true;\r\n      majorCirclePoint = Point3d.create(majorRadiusFactor * xyz.x, majorRadiusFactor * xyz.y, 0.0);\r\n    } else {\r\n      safeMajor = false;\r\n      majorCirclePoint = Point3d.create(xyz.x, xyz.y, 0.0);\r\n    }\r\n    const theta = safeMajor ? Math.atan2(xyz.y, xyz.x) : 0.0;\r\n    const vectorFromMajorCircle = Vector3d.createStartEnd(majorCirclePoint, xyz);\r\n    const distance = vectorFromMajorCircle.magnitude();\r\n    const dRho = rho - this.majorRadius;\r\n    let safePhi;\r\n    let phi;\r\n    if (xyz.z === 0.0 && dRho === 0.0) {\r\n      phi = 0.0;\r\n      safePhi = false;\r\n    } else {\r\n      phi = Math.atan2(xyz.z, dRho);\r\n      safePhi = true;\r\n    }\r\n    return { theta, phi, distance, rho, safePhi: safeMajor && safePhi };\r\n  }\r\n  /*\r\n    public minorCircle(theta: Angle): Arc3d {\r\n      const c = Math.cos(theta.radians);\r\n      const s = Math.sin(theta.radians);\r\n      return Arc3d.create(\r\n        Point3d.create(c * this.majorRadius, s * this.majorRadius, 0.0),\r\n        Vector3d.create(c * this.minorRadius, s * this.minorRadius, 0.0),\r\n        Vector3d.create(0.0, 0.0, this.minorRadius),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n\r\n    public majorCircle(phi: Angle): Arc3d {\r\n      const c = Math.cos(phi.radians);\r\n      const s = Math.sin(phi.radians);\r\n      const a = this.majorRadius + c * this.minorRadius;\r\n      return Arc3d.create(\r\n        Point3d.create(0.0, 0.0, this.minorRadius * s),\r\n        Vector3d.create(a, 0.0, 0.0),\r\n        Vector3d.create(0.0, a, 0.0),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n  */\r\n}\r\n/**\r\n * evaluation methods for an implicit sphere\r\n * * xyz function `x*x + y*y + z*z - r*r = 0`.\r\n * * xyzw function `x*x + y*y + z*z - r*r*w*w = 0`.\r\n * @internal\r\n */\r\nexport class SphereImplicit {\r\n  /** Radius of sphere. */\r\n  public radius: number;\r\n  constructor(r: number) { this.radius = r; }\r\n\r\n  /** Evaluate the implicit function at coordinates x,y,z */\r\n  public evaluateImplicitFunction(x: number, y: number, z: number): number {\r\n    return x * x + y * y + z * z - this.radius * this.radius;\r\n  }\r\n\r\n  /** Evaluate the implicit function at homogeneous coordinates x,y,z,w */\r\n  public evaluateImplicitFunctionXYZW(wx: number, wy: number, wz: number, w: number): number {\r\n    return (wx * wx + wy * wy + wz * wz) - this.radius * this.radius * w * w;\r\n  }\r\n\r\n  /** Given an xyz coordinate in the local system of the toroid, compute the sphere parametrization\r\n   * * theta = angular coordinate in xy plane\r\n   * * phi = rotation from xy plane towards z axis.\r\n   * @param xyz space point in local coordinates.\r\n   * @return object with properties thetaRadians, phi, r\r\n   */\r\n  public xyzToThetaPhiR(xyz: Point3d): { thetaRadians: number, phiRadians: number, r: number, valid: boolean } {\r\n    const rhoSquared = xyz.x * xyz.x + xyz.y * xyz.y;\r\n    const rho = Math.sqrt(rhoSquared);\r\n    const r = Math.sqrt(rhoSquared + xyz.z * xyz.z);\r\n    let theta;\r\n    let phi;\r\n    let valid;\r\n    if (r === 0.0) {\r\n      theta = phi = 0.0;\r\n      valid = false;\r\n    } else {\r\n      phi = Math.atan2(xyz.z, rho); // At least one of these is nonzero\r\n      if (rhoSquared !== 0.0) {\r\n        theta = Math.atan2(xyz.y, xyz.x);\r\n        valid = true;\r\n      } else {\r\n        theta = 0.0;\r\n        valid = false;\r\n      }\r\n    }\r\n    return { thetaRadians: (theta), phiRadians: (phi), r, valid };\r\n  }\r\n  /** Return the range of a uv-aligned patch of the sphere. */\r\n  public static patchRangeStartEndRadians(center: Point3d, radius: number, theta0Radians: number, theta1Radians: number, phi0Radians: number, phi1Radians: number, result?: Range3d): Range3d {\r\n    const thetaSweep = AngleSweep.createStartEndRadians(theta0Radians, theta1Radians);\r\n    const phiSweep = AngleSweep.createStartEndRadians(phi0Radians, phi1Radians);\r\n    const range = Range3d.createNull(result);\r\n    const xyz = Point3d.create();\r\n    if (thetaSweep.isFullCircle && phiSweep.isFullLatitudeSweep) {\r\n      // full sphere, no trimming -- build directly\r\n      range.extendPoint(center);\r\n      range.expandInPlace(Math.abs(radius));\r\n    } else {\r\n      const sphere = new SphereImplicit(radius);\r\n      // construct range for ORIGIN CENTERED sphere ...\r\n      const pi = Math.PI;\r\n      const piOver2 = 0.5 * Math.PI;\r\n      let phi, theta;\r\n      // 6 candidate interior extreme points on equator and 0, 90 degree meridians\r\n      for (const thetaPhi of [\r\n        [0.0, 0.0],\r\n        [pi, 0.0],\r\n        [piOver2, 0.0],\r\n        [-piOver2, 0.0],\r\n        [theta0Radians, piOver2],\r\n        [theta0Radians, -piOver2]]) {\r\n        theta = thetaPhi[0];\r\n        phi = thetaPhi[1];\r\n        if (thetaSweep.isRadiansInSweep(theta) && phiSweep.isRadiansInSweep(phi))\r\n          range.extendPoint(sphere.evaluateThetaPhi(theta, phi, xyz));\r\n      }\r\n\r\n      // 4 boundary curves, each with 3 components ...\r\n      // BUT: phi should not extend beyond poles. Hence z extremes on constant theta curve will never be different from z of constant phi curve or of poles as tested above.\r\n      const axisRange = Range1d.createNull();\r\n      const cosPhi0 = Math.cos(phi0Radians);\r\n      const cosPhi1 = Math.cos(phi1Radians);\r\n      const sinPhi0 = Math.sin(phi0Radians);\r\n      const sinPhi1 = Math.sin(phi1Radians);\r\n      const trigForm = new SineCosinePolynomial(0, 0, 0);\r\n      // constant phi curves at phi0 and phi1\r\n      for (const cosPhi of [cosPhi0, cosPhi1]) {\r\n        trigForm.set(0, cosPhi * radius, 0);\r\n        trigForm.rangeInSweep(thetaSweep, axisRange);\r\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\r\n        trigForm.set(0, 0, cosPhi * radius);\r\n        trigForm.rangeInSweep(thetaSweep, axisRange);\r\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\r\n      }\r\n      range.extendZOnly(sinPhi0 * radius);\r\n      range.extendZOnly(sinPhi1 * radius);\r\n\r\n      // constant theta curves as theta0 and theta1:\r\n      for (const thetaRadians of [theta0Radians, theta1Radians]) {\r\n        const cosThetaR = Math.cos(thetaRadians) * radius;\r\n        const sinThetaR = Math.sin(thetaRadians) * radius;\r\n        trigForm.set(0, cosThetaR, 0);\r\n        trigForm.rangeInSweep(phiSweep, axisRange);\r\n        range.extendXOnly(axisRange.low); range.extendXOnly(axisRange.high);\r\n\r\n        trigForm.set(0, sinThetaR, 0);\r\n        trigForm.rangeInSweep(phiSweep, axisRange);\r\n        range.extendYOnly(axisRange.low); range.extendYOnly(axisRange.high);\r\n      }\r\n      range.cloneTranslated(center, range);\r\n    }\r\n    return range;\r\n  }\r\n  /** Compute intersections with a ray.\r\n   * * Return the number of intersections\r\n   * * Fill any combinations of arrays of\r\n   *    * rayFractions = fractions along the ray\r\n   *    * xyz = xyz intersection coordinates points in space\r\n   *    * thetaPhiRadians = sphere longitude and latitude in radians.\r\n   * * For each optional array, caller must of course initialize an array (usually empty)\r\n   */\r\n  public static intersectSphereRay(center: Point3d, radius: number, ray: Ray3d, rayFractions: number[] | undefined, xyz: Point3d[] | undefined, thetaPhiRadians: LongitudeLatitudeNumber[] | undefined): number {\r\n    const vx = ray.origin.x - center.x;\r\n    const vy = ray.origin.y - center.y;\r\n    const vz = ray.origin.z - center.z;\r\n    const ux = ray.direction.x;\r\n    const uy = ray.direction.y;\r\n    const uz = ray.direction.z;\r\n    const a0 = Geometry.hypotenuseSquaredXYZ(vx, vy, vz) - radius * radius;\r\n    const a1 = 2.0 * Geometry.dotProductXYZXYZ(ux, uy, uz, vx, vy, vz);\r\n    const a2 = Geometry.hypotenuseSquaredXYZ(ux, uy, uz);\r\n    const parameters = Degree2PowerPolynomial.solveQuadratic(a2, a1, a0);\r\n    if (rayFractions !== undefined)\r\n      rayFractions.length = 0;\r\n    if (xyz !== undefined)\r\n      xyz.length = 0;\r\n    if (thetaPhiRadians !== undefined)\r\n      thetaPhiRadians.length = 0;\r\n\r\n    if (parameters === undefined) {\r\n      return 0;\r\n    }\r\n    const sphere = new SphereImplicit(radius);\r\n    if (rayFractions !== undefined)\r\n      for (const f of parameters) rayFractions.push(f);\r\n    if (xyz !== undefined || thetaPhiRadians !== undefined) {\r\n      for (const f of parameters) {\r\n        const point = ray.fractionToPoint(f);\r\n        if (xyz !== undefined)\r\n          xyz.push(point);\r\n        if (thetaPhiRadians !== undefined) {\r\n          const data = sphere.xyzToThetaPhiR(point);\r\n          thetaPhiRadians.push(LongitudeLatitudeNumber.createRadians(data.thetaRadians, data.phiRadians));\r\n        }\r\n      }\r\n    }\r\n    return parameters.length;\r\n  }\r\n\r\n  // public intersectRay(ray: Ray3d, maxHit: number): {rayFractions: number, points: Point3d} {\r\n  //   const q = new Degree2PowerPolynomial();\r\n  //   // Ray is (origin.x + s * direction.x, etc)\r\n  //   // squared distance from origin is (origin.x + s*direction.x)^2 + etc\r\n  //   // sphere radius in local system is 1.\r\n  //   q.addSquaredLinearTerm(ray.origin.x, ray.direction.x);\r\n  //   q.addSquaredLinearTerm(ray.origin.y, ray.direction.y);\r\n  //   q.addSquaredLinearTerm(ray.origin.z, ray.direction.z);\r\n  //   q.addConstant(-this.radius * this.radius);\r\n  //   let ss = [];\r\n  //   let n = q.realRoots(ss);\r\n  //   if (n > maxHit)\r\n  //     n = maxHit;\r\n  //   let rayFractions;\r\n  //   let points;\r\n  //   for (let i = 0; i < n; i++) {\r\n  //     rayFractions[i] = ss[i];\r\n  //     points[i] = Point3d. // What is the equivalent of FromSumOf in TS?\r\n  //   }\r\n  /** Compute the point on a sphere at angular coordinates.\r\n   * @param thetaRadians latitude angle\r\n   * @param phiRadians longitude angle\r\n   */\r\n  public evaluateThetaPhi(thetaRadians: number, phiRadians: number, result?: Point3d): Point3d {\r\n    const rc = this.radius * Math.cos(thetaRadians);\r\n    const rs = this.radius * Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    return Point3d.create(rc * cosPhi, rs * cosPhi, this.radius * sinPhi, result);\r\n  }\r\n  /**\r\n   * * convert radians to xyz on unit sphere\r\n   * * Note that there is no radius used -- implicitly radius is 1\r\n   * * Evaluation is always to a preallocated xyz.\r\n   */\r\n  public static radiansToUnitSphereXYZ(thetaRadians: number, phiRadians: number, xyz: XYZ) {\r\n    const cosTheta = Math.cos(thetaRadians);\r\n    const sinTheta = Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    xyz.x = cosTheta * cosPhi;\r\n    xyz.y = sinTheta * cosPhi;\r\n    xyz.z = sinPhi;\r\n  }\r\n  /** Compute the derivatives with respect to spherical angles.\r\n   * @param thetaRadians latitude angle\r\n   * @param phiRadians longitude angle\r\n   */\r\n  public evaluateDerivativesThetaPhi(thetaRadians: number, phiRadians: number, dxdTheta: Vector3d, dxdPhi: Vector3d) {\r\n    const rc = this.radius * Math.cos(thetaRadians);\r\n    const rs = this.radius * Math.sin(thetaRadians);\r\n    const cosPhi = Math.cos(phiRadians);\r\n    const sinPhi = Math.sin(phiRadians);\r\n    Vector3d.create(-rs * cosPhi, rc * cosPhi, 0.0, dxdTheta);\r\n    Vector3d.create(-rc * sinPhi, -rs * sinPhi, this.radius * cosPhi, dxdPhi);\r\n  }\r\n  /*\r\n    public meridianCircle(theta: number): Arc3d {\r\n      const rc = this.radius * Math.cos(theta);\r\n      const rs = this.radius * Math.sin(theta);\r\n      return Arc3d.create(\r\n        Point3d.create(0.0, 0.0, 0.0),\r\n        Vector3d.create(rc, rs, 0),\r\n        Vector3d.create(0, 0, this.radius),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n\r\n    public parallelCircle(phi: number): Arc3d {\r\n      const cr = this.radius * Math.cos(phi);\r\n      const sr = this.radius * Math.sin(phi);\r\n      return Arc3d.create(\r\n        Point3d.create(0, 0, sr),\r\n        Vector3d.create(cr, 0, 0),\r\n        Vector3d.create(0, cr, 0),\r\n        AngleSweep.create360()) as Arc3d;\r\n    }\r\n    */\r\n}\r\n/** AnalyticRoots has static methods for solving quadratic, cubic, and quartic equations.\r\n * @internal\r\n *\r\n */\r\nexport class AnalyticRoots {\r\n  private static readonly _EQN_EPS = 1.0e-9;\r\n  private static readonly _safeDivideFactor = 1.0e-14;\r\n  /** Absolute zero test with a tolerance that has worked well for the analytic root use case . . . */\r\n  private static isZero(x: number): boolean {\r\n    return Math.abs(x) < this._EQN_EPS;\r\n  }\r\n  /** Without actually doing a division, test if (x/y) is small.\r\n   * @param x numerator\r\n   * @param y denominator\r\n   * @param absTol absolute tolerance\r\n   * @param relTol relative tolerance\r\n   */\r\n  private static isSmallRatio(x: number, y: number, absTol: number = 1.0e-9, relTol: number = 8.0e-16) {\r\n    return Math.abs(x) <= absTol || Math.abs(x) < relTol * Math.abs(y);\r\n  }\r\n  /** Return the (real, signed) principal cube root of x */\r\n  public static cbrt(x: number): number {\r\n    return ((x) > 0.0\r\n      ? Math.pow((x), 1.0 / 3.0)\r\n      : ((x) < 0.0\r\n        ? -Math.pow(-(x), 1.0 / 3.0)\r\n        : 0.0));\r\n  }\r\n  /**\r\n   * Try to divide `numerator/denominator` and place the result (or defaultValue) in `values[offset]`\r\n   * @param values array of values.  `values[offset]` will be replaced.\r\n   * @param numerator numerator for division.\r\n   * @param denominator denominator for division.\r\n   * @param defaultValue value to save if denominator is too small to divide.\r\n   * @param offset index of value to replace.\r\n   */\r\n  private static safeDivide(values: Float64Array, numerator: number, denominator: number, defaultValue: number = 0.0, offset: number): boolean {\r\n    if (Math.abs(denominator) > (this._safeDivideFactor * Math.abs(numerator))) {\r\n      values[offset] = numerator / denominator;\r\n      return true;\r\n    }\r\n    values[offset] = defaultValue;\r\n    return false;\r\n  }\r\n  // Used in NewtonMethod for testing if a root has been adjusted past its bounding region\r\n  private static checkRootProximity(roots: GrowableFloat64Array, i: number): boolean {\r\n    if (i === 0) { // Case 1: Beginning Root (check root following it)\r\n      return roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1);\r\n    } else if (i > 0 && i + 1 < roots.length) { // Case 2: Middle Root (check roots before and after)\r\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1)) && (roots.atUncheckedIndex(i) < roots.atUncheckedIndex(i + 1));\r\n    } else { // Case 3: End root (check preceding root)\r\n      return (roots.atUncheckedIndex(i) > roots.atUncheckedIndex(i - 1));\r\n    }\r\n  }\r\n  private static newtonMethodAdjustment(coffs: Float64Array | number[], root: number, degree: number): number | undefined {\r\n    let p = coffs[degree];\r\n    let q = 0.0;\r\n    for (let i = degree - 1; i >= 0; i--) {\r\n      q = p + root * q;\r\n      p = coffs[i] + root * p;\r\n    }\r\n    if (Math.abs(q) >= 1.0e-14 * (1.0 + Math.abs(root))) {\r\n      return p / q;\r\n    }\r\n    return undefined;\r\n  }\r\n  private static improveRoots(\r\n    coffs: Float64Array | number[], degree: number, roots: GrowableFloat64Array, restrictOrderChanges: boolean,\r\n  ) {\r\n    const relTol = 1.0e-10;\r\n    // Loop through each root\r\n    for (let i = 0; i < roots.length; i++) {\r\n      let dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\r\n      if (dx === undefined || dx === 0.0) continue;  // skip if newton step had divide by zero.\r\n      const originalValue = roots.atUncheckedIndex(i);\r\n      let counter = 0;\r\n      let convergenceCounter = 0;\r\n      // Loop through applying changes to found root until dx is diminished or counter is hit\r\n      while (dx !== undefined && dx !== 0.0 && (counter < 12)) {\r\n        // consider it converged if two successive iterations satisfy the (not too demanding) tolerance.\r\n        if (Math.abs(dx) < relTol * (1.0 + Math.abs(roots.atUncheckedIndex(i)))) {\r\n          if (++convergenceCounter > 1)\r\n            break;\r\n        } else {\r\n          convergenceCounter = 0;\r\n        }\r\n        const rootDX = roots.atUncheckedIndex(i) - dx;\r\n        roots.reassign(i, rootDX);\r\n        // If root is thrown past one of its neighboring roots, unstable condition is assumed.. revert\r\n        // to originally found root\r\n        if (restrictOrderChanges && !this.checkRootProximity(roots, i)) {\r\n          roots.reassign(i, originalValue);\r\n          break;\r\n        }\r\n        dx = this.newtonMethodAdjustment(coffs, roots.atUncheckedIndex(i), degree);\r\n        counter++;\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Append (if defined) value to results.\r\n   * @param value optional value to append\r\n   * @param results growing array\r\n   */\r\n  private static appendSolution(value: number | undefined, results: GrowableFloat64Array) {\r\n    if (value !== undefined) {\r\n      results.push(value);\r\n    }\r\n  }\r\n  /**\r\n   * Append 2 solutions -- note that both are required args, no option of omitting as in single solution case\r\n   * @param value1\r\n   * @param value2\r\n   * @param results\r\n   */\r\n  private static append2Solutions(valueA: number, valueB: number, results: GrowableFloat64Array) {\r\n    results.push(valueA);\r\n    results.push(valueB);\r\n  }\r\n\r\n  /**\r\n   * If `co/c1` is a safe division, append it to the values array.\r\n   * @param c0 numerator\r\n   * @param c1 denominator\r\n   * @param values array to expand\r\n   */\r\n  public static appendLinearRoot(c0: number, c1: number, values: GrowableFloat64Array) {\r\n    AnalyticRoots.appendSolution(Geometry.conditionalDivideFraction(-c0, c1), values);\r\n  }\r\n  /**\r\n   * * Compute the mean of all the entries in `data`\r\n   * * Return the data value that is farthest away\r\n   */\r\n  public static mostDistantFromMean(data: GrowableFloat64Array | undefined): number {\r\n    if (!data || data.length === 0) return 0;\r\n    let a = 0.0;  // to become the sum and finally the average.\r\n    for (let i = 0; i < data.length; i++) a += data.atUncheckedIndex(i);\r\n    a /= data.length;\r\n    let dMax = 0.0;\r\n    let result = data.atUncheckedIndex(0);\r\n    for (let i = 0; i < data.length; i++) {\r\n      const d = Math.abs(data.atUncheckedIndex(i) - a);\r\n      if (d > dMax) {\r\n        dMax = d;\r\n        result = data.atUncheckedIndex(i);\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * Append 0, 1, or 2 solutions of a quadratic to the values array.\r\n   * @param c array of coefficients for quadratic `c[0] + c[1] * x + c[2] * x*x`\r\n   * @param values array to be expanded.\r\n   */\r\n  public static appendQuadraticRoots(c: Float64Array | number[], values: GrowableFloat64Array) {\r\n    // Normal form: x^2 + 2px + q = 0\r\n\r\n    const divFactor = Geometry.conditionalDivideFraction(1.0, c[2]);\r\n    if (!divFactor) {\r\n      this.appendLinearRoot(c[0], c[1], values);\r\n      return;\r\n    }\r\n\r\n    const p = 0.5 * c[1] * divFactor;\r\n    const q = c[0] * divFactor;\r\n\r\n    const D = p * p - q;\r\n\r\n    if (this.isZero(D)) {\r\n      this.appendSolution(-p, values);\r\n      return;\r\n    } else if (D < 0) {\r\n      return;\r\n    } else if (D > 0) {\r\n      const sqrtD = Math.sqrt(D);\r\n      this.append2Solutions(sqrtD - p, - sqrtD - p, values);\r\n      return;\r\n    }\r\n    return;\r\n  }\r\n  /** Add `a` to the constant term. */\r\n  private static addConstant(value: number, data: GrowableFloat64Array) {\r\n    for (let i = 0; i < data.length; i++) data.reassign(i, data.atUncheckedIndex(i) + value);\r\n  }\r\n\r\n  private static signedCubeRoot(y: number): number {\r\n    if (y >= 0.0)\r\n      return Math.pow(y, 1.0 / 3.0);\r\n    return -Math.pow(-y, 1.0 / 3.0);\r\n  }\r\n  /**\r\n   * RWD Nickalls Cubic solution\r\n   * The Mathematical Gazette (1993) (vol 77) pp 354-359\r\n   * * ASSUME a is nonzero.\r\n   */\r\n  // Solve full cubic ASSUMING a3 is nonzero.\r\n  private static appendFullCubicSolutions(a: number, b: number, c: number, d: number, result: GrowableFloat64Array) {\r\n    const q = b * b - 3.0 * a * c;\r\n    const aa = a * a;\r\n    const delta2 = q / (9.0 * aa);\r\n    const xN = - b / (3.0 * a);\r\n    const yN = d + xN * (c + xN * (b + xN * a));\r\n    const yN2 = yN * yN;\r\n    const h2 = 4.0 * a * a * delta2 * delta2 * delta2;\r\n    const discriminant = yN2 - h2;\r\n    if (discriminant > 0) {\r\n      // 1 real root\r\n      const r = Math.sqrt(discriminant);\r\n      const f = 0.5 / a;\r\n      result.push(xN + this.signedCubeRoot(f * (-yN + r)) + this.signedCubeRoot(f * (-yN - r)));\r\n    } else if (discriminant < 0) {\r\n      // 3 real roots\r\n      let h = Math.sqrt(h2);\r\n      // I don't see comment in Nickalls about sign of h -- but this sign change is needed ...\r\n      if (a < 0)\r\n        h = -h;\r\n      // sign of h?\r\n      const thetaRadians = Math.acos(-yN / h) / 3.0;\r\n      const g = 2.0 * Math.sqrt(delta2);\r\n      const shift = 2.0 * Math.PI / 3.0;\r\n      result.push(xN + g * Math.cos(thetaRadians));\r\n      result.push(xN + g * Math.cos(thetaRadians + shift));\r\n      result.push(xN + g * Math.cos(thetaRadians - shift));\r\n    } else {\r\n      // NOTE: The double-root case is not toleranced.\r\n      // double root + single root\r\n      const delta = this.signedCubeRoot(0.5 * yN / a);\r\n      const minMaxRoot = xN + delta;\r\n      result.push(xN - 2 * delta);\r\n      result.push(minMaxRoot);\r\n      result.push(minMaxRoot);\r\n    }\r\n  }\r\n\r\n  /* return roots of a cubic c0 + c1 *x + c2 * x^2 + c2 * x3.\r\n   * In the usual case where c0 is non-zero, there are either 1 or 3 roots.\r\n   * But if c0 is zero the (0, 1, or 2) roots of the lower order equation\r\n   */\r\n  /*\r\n  private static _appendCubicRootsUnsorted(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    let AA: number;\r\n    let p: number;\r\n    let q: number;\r\n\r\n    // normal form: x^3 + Ax^2 + Bx + C = 0\r\n\r\n    const scaleFactor = Geometry.conditionalDivideFraction(1.0, c[3]);\r\n    if (!scaleFactor) {\r\n      this.appendQuadraticRoots(c, results);\r\n      return;\r\n    }\r\n    // It is a real cubic.  There MUST be at least one real solution . . .\r\n    const A: number = c[2] * scaleFactor;\r\n    const B: number = c[1] * scaleFactor;\r\n    const C: number = c[0] * scaleFactor;\r\n\r\n    //  substitute x = y - A/3 to eliminate quadric term:\r\n    //    f = y^3 +3py + 2q = 0\r\n    //    f' = 3y^2 + p\r\n    //        local min/max at Y = +-sqrt (-p)\r\n    //        f(+Y) = -p sqrt(-p) + 3p sqrt (-p) + 2q = 2 p sqrt (-p) + 2q\r\n    AA = A * A;\r\n    p = (3.0 * B - AA) / 9.0;\r\n    q = 1.0 / 2 * (2.0 / 27 * A * AA - 1.0 / 3 * A * B + C);\r\n\r\n    // Use Cardano formula\r\n    const cb_p: number = p * p * p;\r\n    const D: number = q * q + cb_p;\r\n    const origin = A / (-3.0);\r\n    if (D >= 0.0 && this.isZero(D)) {\r\n      if (this.isZero(q)) {\r\n        // One triple solution\r\n        results.push(origin);\r\n        results.push(origin);\r\n        results.push(origin);\r\n        return;\r\n      } else {\r\n        // One single and one double solution\r\n        const u = this.cbrt(-q);\r\n        if (u < 0) {\r\n          results.push(origin + 2 * u);\r\n          results.push(origin - u);\r\n          results.push(origin - u);\r\n          return;\r\n        } else {\r\n          results.push(origin - u);\r\n          results.push(origin - u);\r\n          results.push(origin + 2 * u);\r\n          return;\r\n        }\r\n      }\r\n    } else if (D <= 0) {      // three real solutions\r\n      const phi = 1.0 / 3 * Math.acos(-q / Math.sqrt(-cb_p));\r\n      const t = 2 * Math.sqrt(-p);\r\n      results.push(origin + t * Math.cos(phi));\r\n      results.push(origin - t * Math.cos(phi + Math.PI / 3));\r\n      results.push(origin - t * Math.cos(phi - Math.PI / 3));\r\n      this.improveRoots(c, 3, results, false);\r\n\r\n      return;\r\n    } else {    // One real solution\r\n      const sqrtD = Math.sqrt(D);\r\n      const u = this.cbrt(sqrtD - q);\r\n      const v = -(this.cbrt(sqrtD + q));\r\n      results.push(origin + u + v);\r\n      this.improveRoots(c, 3, results, false);\r\n      return;\r\n    }\r\n  }\r\n  */\r\n  /** Compute roots of cubic 'c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 */\r\n  public static appendCubicRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    if (Geometry.conditionalDivideCoordinate(1.0, c[3]) !== undefined) {\r\n      this.appendFullCubicSolutions(c[3], c[2], c[1], c[0], results);\r\n      // EDL April 5, 2020 replace classic GraphicsGems solver by RWDNickalls.\r\n      // Don't know if improveRoots is needed.\r\n      // Breaks in AnalyticRoots.test.ts checkQuartic suggest it indeed converts many e-16 errors to zero.\r\n      // e-13 cases are unaffected\r\n      this.improveRoots(c, 3, results, false);\r\n    } else {\r\n      this.appendQuadraticRoots(c, results);\r\n    }\r\n    // this.appendCubicRootsUnsorted(c, results);\r\n    results.sort();\r\n  }\r\n  /** Compute roots of quartic `c[0] + c[1] * x + c[2] * x^2 + c[3] * x^3 + c[4] * x^4` */\r\n  public static appendQuarticRoots(c: Float64Array | number[], results: GrowableFloat64Array) {\r\n    // for details, see core\\geometry\\internaldocs\\quarticRoots.md\r\n    const coffs = new Float64Array(4);\r\n    let u: number;\r\n    let v: number;\r\n    const coffScale = new Float64Array(1);\r\n    if (!this.safeDivide(coffScale, 1.0, c[4], 0.0, 0)) {\r\n      this.appendCubicRoots(c, results);\r\n      return;\r\n    }\r\n    // normal form: x^4 + Ax^3 + Bx^2 + Cx + D = 0\r\n    const A: number = c[3] * coffScale[0];\r\n    const B: number = c[2] * coffScale[0];\r\n    const C: number = c[1] * coffScale[0];\r\n    const D: number = c[0] * coffScale[0];\r\n    const origin = -0.25 * A;\r\n    // substitute x = y - A/4 to eliminate cubic term: y^4 + py^2 + qy + r = 0\r\n    const AA: number = A * A;\r\n    const p: number = -0.375 * AA + B;\r\n    const q: number = 0.125 * AA * A - 0.5 * A * B + C;\r\n    const r: number = -0.01171875 * AA * AA + 0.0625 * AA * B - 0.25 * A * C + D;\r\n    const cubicSolutions = new GrowableFloat64Array();\r\n    if (this.isZero(r)) { // no absolute term: y(y^3 + py + q) = 0\r\n      coffs[0] = q;\r\n      coffs[1] = p;\r\n      coffs[2] = 0;\r\n      coffs[3] = 1;\r\n      this.appendCubicRoots(coffs, results);\r\n      results.push(0);\r\n      this.addConstant(origin, results); // apply origin\r\n      return;\r\n    } else { // solve the resolvent cubic\r\n      coffs[0] = 0.5 * r * p - 0.125 * q * q;\r\n      coffs[1] = -r;\r\n      coffs[2] = -0.5 * p;\r\n      coffs[3] = 1;\r\n      this.appendCubicRoots(coffs, cubicSolutions);\r\n      const z = this.mostDistantFromMean(cubicSolutions);\r\n      u = z * z - r;\r\n      v = 2 * z - p;\r\n      if (this.isSmallRatio(u, r)) {\r\n        u = 0;\r\n      } else if (u > 0) {\r\n        u = Math.sqrt(u);\r\n      } else {\r\n        return;\r\n      }\r\n      if (this.isSmallRatio(v, p)) {\r\n        v = 0;\r\n      } else if (v > 0) {\r\n        v = Math.sqrt(v);\r\n      } else {\r\n        return;\r\n      }\r\n      // the two quadratic equations\r\n      coffs[0] = z - u;\r\n      coffs[1] = ((q < 0) ? (-v) : (v));\r\n      coffs[2] = 1;\r\n      this.appendQuadraticRoots(coffs, results);\r\n      coffs[0] = z + u;\r\n      coffs[1] = ((q < 0) ? (v) : (-v));\r\n      coffs[2] = 1;\r\n      this.appendQuadraticRoots(coffs, results);\r\n    }\r\n    this.addConstant(origin, results); // apply origin\r\n    results.sort();\r\n    this.improveRoots(c, 4, results, true);\r\n    return;\r\n  }\r\n\r\n  private static appendCosSinRadians(c: number, s: number, cosValues: OptionalGrowableFloat64Array, sinValues: OptionalGrowableFloat64Array,\r\n    radiansValues: OptionalGrowableFloat64Array) {\r\n    if (cosValues) cosValues.push(c);\r\n    if (sinValues) sinValues.push(s);\r\n    if (radiansValues) radiansValues.push(Math.atan2(s, c));\r\n  }\r\n\r\n  /**\r\n   * * Solve the simultaneous equations in variables`c` and`s`:\r\n   *   * A line: `alpha + beta*c + gamma*s = 0`\r\n   *   * The unit circle `c*c + s*s = 1`\r\n   * * Solution values are returned as 0, 1, or 2(c, s) pairs\r\n   * * Return value indicates one of these solution states:\r\n   *   * -2 -- all coefficients identically 0.   The entire c, s plane-- and therefore the entire unit circle-- is a solution.\r\n   *   * -1 -- beta, gamma are zero, alpha is not.There is no line defined.There are no solutions.\r\n   *   * 0 -- the line is well defined, but passes completely outside the unit circle.\r\n   *     * In this case, (c1, s1) is the circle point closest to the line and(c2, s2) is the line point closest to the circle.\r\n   *   * 1 -- the line is tangent to the unit circle.\r\n   *     * Tangency is determined by tolerances, which calls a \"close approach\" point a tangency.\r\n   *       * (c1, s1) is the closest circle point\r\n   *       * (c2, s2) is the line point.\r\n   *   * 2 -- two simple intersections.\r\n   * @param alpha constant coefficient on line\r\n   * @param beta x cosine coefficient on line\r\n   * @param gamma y sine coefficient on line\r\n   * @param relTol relative tolerance for tangencies\r\n   * @param cosValues (caller allocated) array to receive solution `c` values\r\n   * @param sinValues (caller allocated) array to receive solution `s` values\r\n   * @param radiansValues (caller allocated) array to receive solution radians values.\r\n   */\r\n  public static appendImplicitLineUnitCircleIntersections(\r\n    alpha: number,\r\n    beta: number,\r\n    gamma: number,\r\n    cosValues: OptionalGrowableFloat64Array,\r\n    sinValues: OptionalGrowableFloat64Array,\r\n    radiansValues: OptionalGrowableFloat64Array,\r\n    relTol: number = 1.0e-14,\r\n  ): number {\r\n    let twoTol: number;\r\n    const delta2 = beta * beta + gamma * gamma;\r\n    const alpha2 = alpha * alpha;\r\n    let solutionType = 0;\r\n    if (relTol < 0.0) {\r\n      twoTol = 0.0;\r\n    } else {\r\n      twoTol = 2.0 * relTol;\r\n    }\r\n    if (delta2 <= 0.0) {\r\n      solutionType = (alpha === 0) ? -2 : -1;\r\n    } else {\r\n      const lambda = - alpha / delta2;\r\n      const a2 = alpha2 / delta2;\r\n      const D2 = 1.0 - a2;\r\n      if (D2 < -twoTol) {\r\n        const delta = Math.sqrt(delta2);\r\n        const iota = (alpha < 0) ? (1.0 / delta) : (-1.0 / delta);\r\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\r\n        solutionType = 0;\r\n      } else if (D2 < twoTol) {\r\n        const delta = Math.sqrt(delta2);\r\n        const iota = (alpha < 0) ? (1.0 / delta) : (- 1.0 / delta);\r\n        this.appendCosSinRadians(lambda * beta, lambda * gamma, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(beta * iota, gamma * iota, cosValues, sinValues, radiansValues);\r\n        solutionType = 1;\r\n      } else {\r\n        const mu = Math.sqrt(D2 / delta2);\r\n        /* c0,s0 = closest approach of line to origin */\r\n        const c0 = lambda * beta;\r\n        const s0 = lambda * gamma;\r\n        this.appendCosSinRadians(c0 - mu * gamma, s0 + mu * beta, cosValues, sinValues, radiansValues);\r\n        this.appendCosSinRadians(c0 + mu * gamma, s0 - mu * beta, cosValues, sinValues, radiansValues);\r\n        solutionType = 2;\r\n      }\r\n    }\r\n    return solutionType;\r\n  }\r\n}\r\n/**\r\n * Manipulations of polynomials with where `coff[i]` multiplies x^i\r\n * @internal\r\n */\r\nexport class PowerPolynomial {\r\n  /** Evaluate a standard basis polynomial at `x`, with `degree` possibly less than `coff.length` */\r\n  public static degreeKnownEvaluate(coff: Float64Array, degree: number, x: number): number {\r\n    if (degree < 0) {\r\n      return 0.0;\r\n    }\r\n    let p = coff[degree];\r\n    for (let i = degree - 1; i >= 0; i--)\r\n      p = x * p + coff[i];\r\n    return p;\r\n  }\r\n  /** Evaluate the standard basis polynomial of degree `coff.length` at `x` */\r\n  public static evaluate(coff: Float64Array, x: number): number {\r\n    const degree = coff.length - 1;\r\n    return this.degreeKnownEvaluate(coff, degree, x);\r\n  }\r\n  /**\r\n   * Accumulate `coffQ*scaleQ` into `coffP`.\r\n   * * The length of `coffP` must be at least length of `coffQ`.\r\n   * * Returns degree of result as determined by comparing trailing coefficients to zero.\r\n   */\r\n  public static accumulate(coffP: Float64Array, coffQ: Float64Array, scaleQ: number): number {\r\n    let degreeP = coffP.length - 1;\r\n    const degreeQ = coffQ.length - 1;\r\n    for (let i = 0; i <= degreeQ; i++)\r\n      coffP[i] += scaleQ * coffQ[i];\r\n    while (degreeP >= 0 && coffP[degreeP] === 0.0)\r\n      degreeP--;\r\n    return degreeP;\r\n  }\r\n  /** Zero all coefficients */\r\n  public static zero(coff: Float64Array) {\r\n    for (let i = 0; i < coff.length; i++) {\r\n      coff[i] = 0.0;\r\n    }\r\n  }\r\n}\r\n/**\r\n * manipulation of polynomials with powers of sine and cosine\r\n * @internal\r\n */\r\nexport class TrigPolynomial {\r\n  // tolerance for small angle decision.\r\n  private static readonly _smallAngle: number = 1.0e-11;\r\n\r\n  // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients.\r\n  /** Standard Basis coefficients for the numerator of the y-coordinate y(t) = S(t)/W(t) in the rational semicircle parameterization. */\r\n  public static readonly S = Float64Array.from([0.0, 2.0, -2.0]);\r\n  /** Standard Basis coefficients for the numerator of the x-coordinate x(t) = C(t)/W(t) in the rational semicircle parameterization. */\r\n  public static readonly C = Float64Array.from([1.0, -2.0]);\r\n  /** Standard Basis coefficients for the denominator of x(t) and y(t) in the rational semicircle parameterization. */\r\n  public static readonly W = Float64Array.from([1.0, -2.0, 2.0]);\r\n  /** Standard Basis coefficients for C(t) * W(t). */\r\n  public static readonly CW = Float64Array.from([1.0, -4.0, 6.0, -4.0]);\r\n  /** Standard Basis coefficients for S(t) * W(t). */\r\n  public static readonly SW = Float64Array.from([0.0, 2.0, -6.0, 8.0, -4.0]);\r\n  /** Standard Basis coefficients for S(t) * C(t). */\r\n  public static readonly SC = Float64Array.from([0.0, 2.0, -6.0, 4.0]);\r\n  /** Standard Basis coefficients for S(t) * S(t). */\r\n  public static readonly SS = Float64Array.from([0.0, 0.0, 4.0, -8.0, 4.0]);\r\n  /** Standard Basis coefficients for C(t) * C(t). */\r\n  public static readonly CC = Float64Array.from([1.0, -4.0, 4.0]);\r\n  /** Standard Basis coefficients for W(t) * W(t). */\r\n  public static readonly WW = Float64Array.from([1.0, -4.0, 8.0, -8.0, 4.0]);\r\n  /** Standard Basis coefficients for C(t) * C(t) - S(t) * S(t). */\r\n  public static readonly CCMinusSS = Float64Array.from([1.0, -4.0, 0.0, 8.0, -4.0]); // eslint-disable-line @typescript-eslint/naming-convention\r\n\r\n  /**\r\n   * Find the roots of a univariate polynomial created from substituting the rational parameterization of the unit\r\n   * circle into a trigonometric polynomial. Roots are returned as radian angles.\r\n   * * Currently implemented for polynomials of degree <= 4.\r\n   * * For example, the ellipse-ellipse intersection problem reduces to finding the roots of a quartic polynomial:\r\n   * `p(t) = coff[0] + coff[1] t + coff[2] t^2 + coff[3] t^3 + coff[4] t^4`.\r\n   * * Particular care is given to report a root at t = +/-infinity, which corresponds to the returned angle -pi/2.\r\n   * @param coff coefficients in the power basis\r\n   * @param nominalDegree degree of the polynomial under the most complex root case.\r\n   * @param referenceCoefficient a number which represents the size of coefficients at various stages of computation.\r\n   * A small fraction of this number will be used as a zero tolerance.\r\n   * @param radians roots are placed here.\r\n   * @return false if equation is all zeros. This usually means any angle is a solution.\r\n   */\r\n  public static solveAngles(\r\n    coff: Float64Array, nominalDegree: number, referenceCoefficient: number, radians: number[],\r\n  ): boolean {\r\n    let maxCoff = Math.abs(referenceCoefficient);\r\n    let a;\r\n    radians.length = 0;\r\n    const relTol = this._smallAngle;\r\n    for (let i = 0; i <= nominalDegree; i++) {\r\n      a = Math.abs(coff[i]);\r\n      if (a > maxCoff)\r\n        maxCoff = a;\r\n    }\r\n    const coffTol = relTol * maxCoff;\r\n    let degree = nominalDegree;\r\n    while (degree > 0 && (Math.abs(coff[degree]) <= coffTol))\r\n      degree--;\r\n    const roots = new GrowableFloat64Array();\r\n    if (degree === -1) {\r\n      // p(t) is identically zero (degenerate); do nothing.\r\n    } else {\r\n      if (degree === 0) {\r\n        // p(t) is a nonzero constant; no roots but not degenerate.\r\n      } else if (degree === 1) {\r\n        roots.push(-coff[0] / coff[1]); // p(t) = coff[0] + coff[1] * t\r\n      } else if (degree === 2) {\r\n        AnalyticRoots.appendQuadraticRoots(coff, roots);\r\n      } else if (degree === 3) {\r\n        AnalyticRoots.appendCubicRoots(coff, roots);\r\n      } else if (degree === 4) {\r\n        AnalyticRoots.appendQuarticRoots(coff, roots);\r\n      } else {\r\n        // TODO: WORK WITH BEZIER SOLVER\r\n        assert(false, \"Unimplemented degree in trig solver\");\r\n      }\r\n      if (roots.length > 0) {\r\n        // each solution t represents an angle with Math.Cos(theta) = C(t)/W(t) and sin(theta) = S(t)/W(t)\r\n        // division by W has no effect on atan2 calculations, so we just compute S(t),C(t)\r\n        for (let i = 0; i < roots.length; i++) {\r\n          const ss = PowerPolynomial.evaluate(this.S, roots.atUncheckedIndex(i));\r\n          const cc = PowerPolynomial.evaluate(this.C, roots.atUncheckedIndex(i));\r\n          radians.push(Math.atan2(ss, cc));\r\n        }\r\n      }\r\n      // If the tail of the coff array is zero, we solved a polynomial of lesser degree above, and\r\n      // we report the skipped \"root at infinity\" as the corresponding angle -pi/2 (without multiplicity).\r\n      // See core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for details.\r\n      if (degree < nominalDegree)\r\n        radians.push(-0.5 * Math.PI);\r\n    }\r\n    return radians.length > 0;\r\n  }\r\n  private static readonly _coefficientRelTol = 1.0e-12;\r\n  /**\r\n   * Compute intersections of the unit circle `x^2 + y^2 = 1` with the general quadric (conic)\r\n   * `axx x^2 + axy xy + ayy y^2 + ax x + ay y + a = 0`.\r\n   * @param axx coefficient of x^2\r\n   * @param axy coefficient of xy\r\n   * @param ayy coefficient of y^2\r\n   * @param ax coefficient of x\r\n   * @param ay coefficient of y\r\n   * @param a constant coefficient\r\n   * @param radians up to 4 solution angles t in the quadric parameterization: x = cos(t), y = sin(t)\r\n   */\r\n  public static solveUnitCircleImplicitQuadricIntersection(\r\n    axx: number, axy: number, ayy: number, ax: number, ay: number, a: number, radians: number[],\r\n  ): boolean {\r\n    const coffs = new Float64Array(5);\r\n    PowerPolynomial.zero(coffs);\r\n    let degree;\r\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients\r\n    if (Geometry.hypotenuseXYZ(axx, axy, ayy) > TrigPolynomial._coefficientRelTol * Geometry.hypotenuseXYZ(ax, ay, a)) {\r\n      PowerPolynomial.accumulate(coffs, this.CW, ax);\r\n      PowerPolynomial.accumulate(coffs, this.SW, ay);\r\n      PowerPolynomial.accumulate(coffs, this.WW, a);\r\n      PowerPolynomial.accumulate(coffs, this.SS, ayy);\r\n      PowerPolynomial.accumulate(coffs, this.CC, axx);\r\n      PowerPolynomial.accumulate(coffs, this.SC, axy);\r\n      degree = 4;\r\n    } else {\r\n      PowerPolynomial.accumulate(coffs, this.C, ax);\r\n      PowerPolynomial.accumulate(coffs, this.S, ay);\r\n      PowerPolynomial.accumulate(coffs, this.W, a);\r\n      degree = 2;\r\n    }\r\n    const maxCoff = Math.max(Math.abs(axx), Math.abs(ayy), Math.abs(axy), Math.abs(ax), Math.abs(ay), Math.abs(a));\r\n    const b = this.solveAngles(coffs, degree, maxCoff, radians);\r\n    /*\r\n    for (const theta of angles) {\r\n      const c = theta.cos();\r\n      const s = theta.sin();\r\n      GeometryCoreTestIO.consoleLog({\r\n        angle: theta, co: c, si: s,\r\n        f: axx * c * c + axy * c * s + ayy * s * s + ax * c + ay * s + a,\r\n      });\r\n    } */\r\n    return b;\r\n  }\r\n  /**\r\n   * Compute intersections of unit circle x^2 + y 2 = 1 with the ellipse\r\n   *         (x,y) = (cx + ux Math.Cos + vx sin, cy + uy Math.Cos + vy sin)\r\n   * Solutions are returned as angles in the ellipse space.\r\n   * @param cx center x\r\n   * @param cy center y\r\n   * @param ux 0 degree vector x\r\n   * @param uy 0 degree vector y\r\n   * @param vx 90 degree vector x\r\n   * @param vy 90 degree vector y\r\n   * @param ellipseRadians solution angles in ellipse parameter space\r\n   * @param circleRadians solution angles in circle parameter space\r\n   */\r\n  public static solveUnitCircleEllipseIntersection(\r\n    cx: number, cy: number,\r\n    ux: number, uy: number,\r\n    vx: number, vy: number,\r\n    ellipseRadians: number[], circleRadians: number[],\r\n  ): boolean {\r\n    circleRadians.length = 0;\r\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients:\r\n    const acc = ux * ux + uy * uy;\r\n    const acs = 2.0 * (ux * vx + uy * vy);\r\n    const ass = vx * vx + vy * vy;\r\n    const ac = 2.0 * (ux * cx + uy * cy);\r\n    const as = 2.0 * (vx * cx + vy * cy);\r\n    const a = cx * cx + cy * cy - 1.0;\r\n    const status = this.solveUnitCircleImplicitQuadricIntersection(acc, acs, ass, ac, as, a, ellipseRadians);\r\n    for (const radians of ellipseRadians) {\r\n      const cc = Math.cos(radians);\r\n      const ss = Math.sin(radians);\r\n      const x = cx + ux * cc + vx * ss;\r\n      const y = cy + uy * cc + vy * ss;\r\n      circleRadians.push(Math.atan2(y, x));\r\n    }\r\n    return status;\r\n  }\r\n  /**\r\n   * Compute intersections of unit circle `x^2 + y^2 = w^2` (in homogeneous coordinates) with the ellipse\r\n   * `F(t) = (cx + ux cos(t) + vx sin(t), cy + uy cos(t) + vy sin(t)) / (cw + uw cos(t) + vw sin(t))`.\r\n   * @param cx center x\r\n   * @param cy center y\r\n   * @param cw center w\r\n   * @param ux 0 degree vector x\r\n   * @param uy 0 degree vector y\r\n   * @param uw 0 degree vector w\r\n   * @param vx 90 degree vector x\r\n   * @param vy 90 degree vector y\r\n   * @param vw 90 degree vector w\r\n   * @param ellipseRadians solution angles in ellipse parameter space\r\n   * @param circleRadians solution angles in circle parameter space\r\n   */\r\n  public static solveUnitCircleHomogeneousEllipseIntersection(\r\n    cx: number, cy: number, cw: number,\r\n    ux: number, uy: number, uw: number,\r\n    vx: number, vy: number, vw: number,\r\n    ellipseRadians: number[], circleRadians: number[],\r\n  ): boolean {\r\n    circleRadians.length = 0;\r\n    // see core\\geometry\\internaldocs\\unitCircleEllipseIntersection.md for derivation of these coefficients:\r\n    const acc = ux * ux + uy * uy - uw * uw;\r\n    const acs = 2.0 * (ux * vx + uy * vy - uw * vw);\r\n    const ass = vx * vx + vy * vy - vw * vw;\r\n    const ac = 2.0 * (ux * cx + uy * cy - uw * cw);\r\n    const as = 2.0 * (vx * cx + vy * cy - vw * cw);\r\n    const a = cx * cx + cy * cy - cw * cw;\r\n    const status = this.solveUnitCircleImplicitQuadricIntersection(\r\n      acc, acs, ass, ac, as, a, ellipseRadians,\r\n    );\r\n    for (const radians of ellipseRadians) {\r\n      const cc = Math.cos(radians);\r\n      const ss = Math.sin(radians);\r\n      const x = cx + ux * cc + vx * ss;\r\n      const y = cy + uy * cc + vy * ss;\r\n      circleRadians.push(Math.atan2(y, x));\r\n    }\r\n    return status;\r\n  }\r\n}\r\n\r\n/**\r\n * * bilinear expression\r\n * * `f(u,v) = a + b * u * c * v + d * u * v`\r\n * @internal\r\n */\r\nexport class BilinearPolynomial {\r\n  /** constant coefficient */\r\n  public a: number;\r\n  /** u coefficient */\r\n  public b: number;\r\n  /** v coefficient */\r\n  public c: number;\r\n  /** uv coefficient */\r\n  public d: number;\r\n  /**\r\n   *\r\n   * @param a constant coefficient\r\n   * @param b `u` coefficient\r\n   * @param c `v` coefficient\r\n   * @param d `u*v` coefficient\r\n   */\r\n  public constructor(a: number, b: number, c: number, d: number) {\r\n    this.a = a;\r\n    this.b = b;\r\n    this.c = c;\r\n    this.d = d;\r\n  }\r\n  /**\r\n   * Evaluate the bilinear expression at u,v\r\n   */\r\n  public evaluate(u: number, v: number): number {\r\n    return this.a + this.b * u + v * (this.c + this.d * u);\r\n  }\r\n  /** Create a bilinear polynomial z=f(u,v) given z values at 00, 10, 01, 11.\r\n   */\r\n  public static createUnitSquareValues(f00: number, f10: number, f01: number, f11: number): BilinearPolynomial {\r\n    return new BilinearPolynomial(f00, f10, f10, f11 - f10 - f01);\r\n  }\r\n  /**\r\n   * Solve a pair of bilinear equations\r\n   * * First equation: `a0 + b0 * u + c0 * v + d0 * u * v = 0`\r\n   * * Second equation: `a1 + b1 * u + c1 * v + d1 * u * v = 0`\r\n   */\r\n  public static solveBilinearPair(\r\n    a0: number, b0: number, c0: number, d0: number,\r\n    a1: number, b1: number, c1: number, d1: number,\r\n  ): Point2d[] | undefined {\r\n    // constant linear, and quadratic coefficients for c0 + c1 * u + c2 * u*u = 0\r\n    const e0 = Geometry.crossProductXYXY(a0, a1, c0, c1);\r\n    const e1 = Geometry.crossProductXYXY(b0, b1, c0, c1) + Geometry.crossProductXYXY(a0, a1, d0, d1);\r\n    const e2 = Geometry.crossProductXYXY(b0, b1, d0, d1);\r\n    const uRoots = Degree2PowerPolynomial.solveQuadratic(e2, e1, e0);\r\n    if (uRoots === undefined)\r\n      return undefined;\r\n    const uv = [];\r\n    for (const u of uRoots) {\r\n      const v0 = Geometry.conditionalDivideFraction(-(a0 + b0 * u), c0 + d0 * u);\r\n      const v1 = Geometry.conditionalDivideFraction(-(a1 + b1 * u), c1 + d1 * u);\r\n      if (v0 !== undefined)\r\n        uv.push(Point2d.create(u, v0));\r\n      else if (v1 !== undefined)\r\n        uv.push(Point2d.create(u, v1));\r\n    }\r\n    return uv;\r\n  }\r\n  /**\r\n   * Solve the simultaneous equations\r\n   * * `p(u,v) = pValue`\r\n   * * `q(u,v) = qValue`\r\n   * @param p\r\n   * @param pValue\r\n   * @param q\r\n   * @param qValue\r\n   */\r\n  public static solvePair(p: BilinearPolynomial, pValue: number, q: BilinearPolynomial, qValue: number): Point2d[] | undefined {\r\n    return BilinearPolynomial.solveBilinearPair(p.a - pValue, p.b, p.c, p.d, q.a - qValue, q.b, q.c, q.d);\r\n  }\r\n}\r\n\r\n/**\r\n * * trigonometric expresses `f(theta) = a + cosineCoff * cos(theta) + sineCoff * sin(theta)`\r\n * @internal\r\n */\r\nexport class SineCosinePolynomial {\r\n  /** constant coefficient */\r\n  public a: number;\r\n  /** cosine coefficient */\r\n  public cosineCoff: number;\r\n  /** sine coefficient */\r\n  public sineCoff: number;\r\n  /**\r\n   *\r\n   * @param a constant coefficient\r\n   * @param cosineCoff `cos(theta)` coefficient\r\n   * @param sinCoff `sin(theta)` coefficient\r\n   */\r\n  public constructor(a: number, cosCoff: number, sinCoff: number) {\r\n    this.a = a;\r\n    this.cosineCoff = cosCoff;\r\n    this.sineCoff = sinCoff;\r\n  }\r\n  /** set all coefficients */\r\n  public set(a: number, cosCoff: number, sinCoff: number) {\r\n    this.a = a;\r\n    this.cosineCoff = cosCoff;\r\n    this.sineCoff = sinCoff;\r\n  }\r\n  /** Return the function value at given angle in radians */\r\n  public evaluateRadians(theta: number): number {\r\n    return this.a + this.cosineCoff * Math.cos(theta) + this.sineCoff * Math.sin(theta);\r\n  }\r\n  /** Return the range of function values over the entire angle range. */\r\n  public range(result?: Range1d): Range1d {\r\n    const q = Geometry.hypotenuseXY(this.cosineCoff, this.sineCoff);\r\n    return Range1d.createXX(this.a - q, this.a + q, result);\r\n  }\r\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\r\n  public rangeInStartEndRadians(radians0: number, radians1: number, result?: Range1d): Range1d {\r\n    if (Angle.isFullCircleRadians(radians1 - radians0))\r\n      return this.range(result);\r\n    result = Range1d.createXX(this.evaluateRadians(radians0), this.evaluateRadians(radians1), result);\r\n    // angles of min and max ...\r\n    // angles for min and max of the sine wave . ..\r\n    const alphaA = Math.atan2(this.sineCoff, this.cosineCoff);\r\n    const alphaB = alphaA + Math.PI;\r\n    if (AngleSweep.isRadiansInStartEnd(alphaA, radians0, radians1))\r\n      result.extendX(this.evaluateRadians(alphaA));\r\n    if (AngleSweep.isRadiansInStartEnd(alphaB, radians0, radians1))\r\n      result.extendX(this.evaluateRadians(alphaB));\r\n    return result;\r\n  }\r\n  /** Return the min and max values of the function over theta range from radians0 to radians1  inclusive. */\r\n  public rangeInSweep(sweep: AngleSweep, result?: Range1d): Range1d {\r\n    return this.rangeInStartEndRadians(sweep.startRadians, sweep.endRadians, result);\r\n  }\r\n  /**\r\n   * Return a representative angle (in radians) for min and max values.\r\n   * * The radians value is atan2(sineCoff, cosineCoff)\r\n   * * Hence the candidates for min and max of the function are at this value and this value plus PI\r\n   */\r\n  public referenceMinMaxRadians(): number {\r\n    return Math.atan2(this.sineCoff, this.cosineCoff);\r\n  }\r\n}\r\n/**\r\n * Support for an implicit linear equation (half space)\r\n * f(x,y) = a0 + x * ax + y * ay\r\n * @internal\r\n */\r\nexport class ImplicitLineXY {\r\n  /**\r\n   * constant coefficient\r\n   */\r\n  public a: number;\r\n  /**\r\n  * x coefficient\r\n  */\r\n  public ax: number;\r\n  /**\r\n   * y coefficient\r\n   */\r\n  public ay: number;\r\n  /** construct the ImplicitLineXY from coefficients */\r\n  public constructor(a: number, ax: number, ay: number) {\r\n    this.a = a;\r\n    this.ax = ax;\r\n    this.ay = ay;\r\n  }\r\n  /** Compute 2 points of a line segment with\r\n   * * the segment is on the zero-line of this ImplicitLineXY\r\n   * * the start and endpoints are distance `b` from the projection of the origin onto the ImplicitLineXY\r\n   * @returns undefined if ax,ay are both zero.   Otherwise the two points of the segment.\r\n   */\r\n  public convertToSegmentPoints(b: number): Point3d[] | undefined {\r\n    const q = Math.sqrt(this.ax * this.ax + this.ay * this.ay);\r\n    const alpha = Geometry.conditionalDivideCoordinate(1.0, q, 1.0e10);\r\n    if (alpha === undefined)\r\n      return undefined;\r\n    const ux = alpha * this.ax;\r\n    const uy = alpha * this.ay;\r\n    const px = -alpha * ux;\r\n    const py = -alpha * uy;\r\n    return [Point3d.create(px - b * uy, py + b * ux), Point3d.create(px + b * uy, py - b * ux)];\r\n  }\r\n  /**\r\n   * Evaluate the half-space function at an xy point\r\n   * @param xy xy values for evaluation\r\n   * @returns evaluation.\r\n   */\r\n  public evaluatePoint(xy: XAndY): number {\r\n    return this.a + xy.x * this.ax + xy.y * this.ay;\r\n  }\r\n  /**\r\n   * add scale * (a,ax,ay) to the respective coefficients.\r\n   */\r\n  public addScaledCoefficientsInPlace(a: number, ax: number, ay: number, scale: number) {\r\n    this.a += scale * a;\r\n    this.ax += scale * ax;\r\n    this.ay += scale * ay;\r\n  }\r\n}\r\n"]}