@itwin/core-geometry 5.3.0-dev.16 → 5.3.0-dev.18

package/lib/cjs/curve/Arc3d.js.map

@@ -1 +1 @@
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module Curve\r\n */\r\n\r\nimport { Clipper } from \"../clipping/ClipUtils\";\r\nimport { Constant } from \"../Constant\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { Angle } from \"../geometry3d/Angle\";\r\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\r\nimport { GeometryHandler, IStrokeHandler } from \"../geometry3d/GeometryHandler\";\r\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\r\nimport { Matrix4d } from \"../geometry4d/Matrix4d\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { SineCosinePolynomial, TrigPolynomial } from \"../numerics/Polynomials\";\r\nimport { SmallSystem } from \"../numerics/SmallSystem\";\r\nimport { CurveChain } from \"./CurveCollection\";\r\nimport { CurveExtendMode, CurveExtendOptions, VariantCurveExtendParameter } from \"./CurveExtendMode\";\r\nimport { CurveIntervalRole, CurveLocationDetail, CurveSearchStatus } from \"./CurveLocationDetail\";\r\nimport { AnnounceNumberNumberCurvePrimitive, CurvePrimitive, TangentOptions } from \"./CurvePrimitive\";\r\nimport { GeometryQuery } from \"./GeometryQuery\";\r\nimport { CurveOffsetXYHandler } from \"./internalContexts/CurveOffsetXYHandler\";\r\nimport { EllipticalArcApproximationContext } from \"./internalContexts/EllipticalArcApproximationContext\";\r\nimport { PlaneAltitudeRangeContext } from \"./internalContexts/PlaneAltitudeRangeContext\";\r\nimport { LineSegment3d } from \"./LineSegment3d\";\r\nimport { LineString3d } from \"./LineString3d\";\r\nimport { OffsetOptions } from \"./OffsetOptions\";\r\nimport { Path } from \"./Path\";\r\nimport { StrokeOptions } from \"./StrokeOptions\";\r\n\r\n// cspell:words binormal\r\n\r\n/**\r\n * Compact vector form of an elliptic arc defined by center, vectors at 0 and 90 degrees, and angular sweep.\r\n * * @see [Curve Collections]($docs/learning/geometry/CurvePrimitive.md) learning article for further details of the\r\n * parameterization and meaning of the vectors.\r\n * @public\r\n */\r\nexport interface ArcVectors {\r\n  /** Center point of arc. */\r\n  center: Point3d;\r\n  /** Vector from the arc center to the arc point at parameter 0 degrees. */\r\n  vector0: Vector3d;\r\n  /** Vector from the arc center to the arc point at parameter 90 degrees. */\r\n  vector90: Vector3d;\r\n  /** Angular range swept by the arc, of length less than 2*pi if not a full ellipse. */\r\n  sweep: AngleSweep;\r\n}\r\n\r\n/**\r\n * Carrier structure for an arc with fractional data on incoming, outgoing curves.\r\n * @public\r\n */\r\nexport interface ArcBlendData {\r\n  /** Constructed arc. */\r\n  arc?: Arc3d;\r\n  /** Fraction \"moving backward\" on the inbound curve. */\r\n  fraction10: number;\r\n  /** Fraction \"moving forward\" on the outbound curve. */\r\n  fraction12: number;\r\n  /** Optional reference point. */\r\n  point?: Point3d;\r\n}\r\n\r\n/**\r\n * Enumeration of methods used to sample an elliptical arc in [[Arc3d.constructCircularArcChainApproximation]].\r\n * * Because ellipses have two axes of symmetry, samples are computed for one quadrant and reflected across each\r\n * axis to the other quadrants. Any samples that fall outside the arc sweep are filtered out.\r\n * @public\r\n */\r\nexport enum EllipticalArcSampleMethod {\r\n  /** Generate n samples uniformly interpolated between the min and max parameters of a full ellipse quadrant. */\r\n  UniformParameter = 0,\r\n  /** Generate n samples uniformly interpolated between the min and max curvatures of a full ellipse quadrant. */\r\n  UniformCurvature = 1,\r\n  /**\r\n   * Generate n samples interpolated between the min and max curvatures of a full ellipse quadrant, using a\r\n   * [[FractionMapper]] callback to generate the interpolation weights.\r\n   */\r\n  NonUniformCurvature = 2,\r\n  /**\r\n   * Generate samples by subdividing parameter space until the approximation has less than a given max\r\n   * distance to the elliptical arc.\r\n   */\r\n  AdaptiveSubdivision = 3,\r\n}\r\n\r\n/**\r\n * A function that maps [0,1]->[0,1].\r\n * @public\r\n */\r\nexport type FractionMapper = (f: number) => number;\r\n\r\n/**\r\n * Options for generating samples for the construction of an approximation to an elliptical arc.\r\n * * Used by [[Arc3d.constructCircularArcChainApproximation]].\r\n * @public\r\n */\r\nexport class EllipticalArcApproximationOptions {\r\n  private _sampleMethod: EllipticalArcSampleMethod;\r\n  private _numSamplesInQuadrant: number;\r\n  private _maxError: number;\r\n  private _remapFunction: FractionMapper;\r\n  private _forcePath: boolean;\r\n\r\n  /** Default error tolerance. */\r\n  public static defaultMaxError = Constant.oneCentimeter;\r\n\r\n  private constructor(\r\n    method: EllipticalArcSampleMethod,\r\n    numSamplesInQuadrant: number,\r\n    maxError: number,\r\n    remapFunction: FractionMapper,\r\n    forcePath: boolean,\r\n  ) {\r\n    this._sampleMethod = method;\r\n    this._numSamplesInQuadrant = numSamplesInQuadrant;\r\n    this._maxError = maxError;\r\n    this._remapFunction = remapFunction;\r\n    this._forcePath = forcePath;\r\n  }\r\n  /**\r\n   * Construct options with optional defaults.\r\n   * @param method sample method, default [[EllipticalArcSampleMethod.AdaptiveSubdivision]].\r\n   * @param numSamplesInQuadrant samples in each full quadrant for interpolation methods, default 4.\r\n   * @param maxError positive maximum distance to ellipse for the subdivision method, default 1cm.\r\n   * @param remapFunction optional callback to remap fraction space for [[EllipticalArcSampleMethod.NonUniformCurvature]],\r\n   * default quadratic. For best results, this function should be a bijection.\r\n   * @param forcePath whether to return a [[Path]] instead of a [[Loop]] when approximating a full elliptical arc,\r\n   * default false.\r\n   */\r\n  public static create(\r\n    method: EllipticalArcSampleMethod = EllipticalArcSampleMethod.AdaptiveSubdivision,\r\n    numSamplesInQuadrant: number = 4,\r\n    maxError: number = this.defaultMaxError,\r\n    remapFunction: FractionMapper = (x: number) => x * x,\r\n    forcePath: boolean = false,\r\n  ) {\r\n    if (numSamplesInQuadrant < 2)\r\n      numSamplesInQuadrant = 2;\r\n    if (maxError <= 0)\r\n      maxError = this.defaultMaxError;\r\n    return new EllipticalArcApproximationOptions(method, numSamplesInQuadrant, maxError, remapFunction, forcePath);\r\n  }\r\n  /** Clone the options. */\r\n  public clone(): EllipticalArcApproximationOptions {\r\n    return new EllipticalArcApproximationOptions(\r\n      this.sampleMethod, this.numSamplesInQuadrant, this.maxError, this.remapFunction, this.forcePath,\r\n    );\r\n  }\r\n  /** Method used to sample the elliptical arc. */\r\n  public get sampleMethod(): EllipticalArcSampleMethod {\r\n    return this._sampleMethod;\r\n  }\r\n  public set sampleMethod(method: EllipticalArcSampleMethod) {\r\n    this._sampleMethod = method;\r\n  }\r\n  /**\r\n   * Number of samples to return in each full quadrant, including endpoint(s).\r\n   * * Used by interpolation sample methods.\r\n   * * In general, for n samples, the approximating [[Path]] consists of n-1 primitives,\r\n   * and the approximating [[Loop]] consists of n primitives.\r\n   * * Minimum value is 2.\r\n   */\r\n  public get numSamplesInQuadrant(): number {\r\n    return this._numSamplesInQuadrant;\r\n  }\r\n  public set numSamplesInQuadrant(numSamples: number) {\r\n    this._numSamplesInQuadrant = numSamples;\r\n  }\r\n  /**\r\n   * Maximum distance (in meters) of the computed approximation to the elliptical arc.\r\n   * * Used by [[EllipticalArcSampleMethod.AdaptiveSubdivision]].\r\n   */\r\n  public get maxError(): number {\r\n    return this._maxError;\r\n  }\r\n  public set maxError(error: number) {\r\n    this._maxError = error;\r\n  }\r\n  /**\r\n   * Callback function to remap fraction space to fraction space.\r\n   * * Used by [[EllipticalArcSampleMethod.NonUniformCurvature]].\r\n   */\r\n  public get remapFunction(): FractionMapper {\r\n    return this._remapFunction;\r\n  }\r\n  public set remapFunction(f: FractionMapper) {\r\n    this._remapFunction = f;\r\n  }\r\n  /** Whether to return a [[Path]] instead of a [[Loop]] when approximating a full (closed) ellipse. */\r\n  public get forcePath(): boolean {\r\n    return this._forcePath;\r\n  }\r\n  public set forcePath(value: boolean) {\r\n    this._forcePath = value;\r\n  }\r\n}\r\n\r\n/**\r\n * Circular or elliptic arc.\r\n * * The angle to point equation is:\r\n *   * `X = center + cos(theta) * vector0 + sin(theta) * vector90`\r\n * * The arc's `sweep` determines the range of theta values (angles). In particular:\r\n *   * The point at `theta = n*360` degrees is `center + vector0` for any integer n.\r\n *   * The point at `theta = 90 + n*360` degrees is `center + vector90` for any integer n.\r\n * * The arc's `sweep` _together with_ `vector0` and `vector90` determine the arc's orientation:\r\n *   * If `sweep.startDegrees < sweep.endDegrees`, the arc's orientation is counterclockwise with respect to its\r\n * `perpendicularVector` (i.e., looking at the arc from the head of this vector).\r\n *   * Similarly, if `sweep.startDegrees > sweep.endDegrees`, the arc's orientation is clockwise with respect to\r\n * its `perpendicularVector`.\r\n *   * The arc's orientation is _always_ counterclockwise with respect to its `binormalVector`.\r\n * * When `vector0` and `vector90` are perpendicular and have equal length, the arc is circular.\r\n *   * When they are non-perpendicular, the arc is always elliptic.\r\n *   * When they have unequal length, the arc is always elliptic.\r\n * * To create an ellipse in standard major-minor axis form:\r\n *   * `vector0` is the vector from the center to the major axis extreme.\r\n *   * `vector90` is the vector from the center to the minor axis extreme.\r\n *   * Note that constructing these vectors to the extreme points makes them perpendicular.\r\n * * The method [[Arc3d.toScaledMatrix3d]] can be called to convert an arc with unrestricted `vector0` and `vector90`\r\n * to an arc in standard major-minor axis form.\r\n * * The unrestricted form is much easier to work with for common calculations: stroking, projection to 2d,\r\n * intersection with plane.\r\n * @public\r\n */\r\nexport class Arc3d extends CurvePrimitive implements BeJSONFunctions {\r\n  /** String name for schema properties. */\r\n  public readonly curvePrimitiveType = \"arc\";\r\n  /** Test if this and other are both instances of Arc3d. */\r\n  public isSameGeometryClass(other: GeometryQuery): boolean {\r\n    return other instanceof Arc3d;\r\n  }\r\n  private _center: Point3d;\r\n  private _matrix: Matrix3d; // columns are [vector0, vector90, unit normal]\r\n  private _sweep: AngleSweep; // sweep limits\r\n  private static _workPointA = Point3d.create();\r\n  private static _workPointB = Point3d.create();\r\n  private static _workPointC = Point3d.create();\r\n  private static _workVectorU = Vector3d.create();\r\n  private static _workVectorV = Vector3d.create();\r\n  private static _workVectorW = Vector3d.create();\r\n  /** Read/write the center. Getter returns clone. */\r\n  public get center(): Point3d {\r\n    return this._center.clone();\r\n  }\r\n  public set center(center: XYAndZ) {\r\n    this._center.setFrom(center);\r\n  }\r\n  /** Read property for (reference to) the arc center. */\r\n  public get centerRef(): Point3d {\r\n    return this._center;\r\n  }\r\n  /**\r\n   * Read property for (clone of) the x-column of the arc matrix.\r\n   * * This vector determines the point on the arc corresponding to angles n*360 degrees.\r\n   */\r\n  public get vector0(): Vector3d {\r\n    return this._matrix.columnX();\r\n  }\r\n  /**\r\n   * Read property for (clone of) the y-column of the arc matrix.\r\n   * * This vector determines the point on the arc corresponding to angles 90 + n*360 degrees.\r\n   */\r\n  public get vector90(): Vector3d {\r\n    return this._matrix.columnY();\r\n  }\r\n  /**\r\n   * Compute an arc binormal vector with arbitrary length.\r\n   * * The arc parameterization is counterclockwise with respect to this vector.\r\n   * * This vector is parallel to [[perpendicularVector]] and possibly opposite.\r\n   */\r\n  public binormalVector(result?: Vector3d): Vector3d {\r\n    const plane = this.fractionToPointAnd2Derivatives(0.0);\r\n    return plane.vectorU.crossProduct(plane.vectorV, result);\r\n  }\r\n  /**\r\n   * Read property for (clone of) the z-column of the arc matrix.\r\n   * * This vector is nominally the normalized cross product: `vector0 x vector90`.\r\n   * * To compute a vector with respect to which the arc sweep is counterclockwise, use [[binormalVector]].\r\n   */\r\n  public get perpendicularVector(): Vector3d {\r\n    return this._matrix.columnZ();\r\n  }\r\n  /** Return a clone of the arc matrix. */\r\n  public matrixClone(): Matrix3d {\r\n    return this._matrix.clone();\r\n  }\r\n  /** Read property for (reference to) the arc matrix. */\r\n  public get matrixRef(): Matrix3d {\r\n    return this._matrix;\r\n  }\r\n  /** Read/write the sweep. Getter returns reference. */\r\n  public get sweep(): AngleSweep {\r\n    return this._sweep;\r\n  }\r\n  public set sweep(value: AngleSweep) {\r\n    this._sweep.setFrom(value);\r\n  }\r\n  /** An Arc3d extends along its complete elliptic arc. */\r\n  public override get isExtensibleFractionSpace(): boolean {\r\n    return true;\r\n  }\r\n  /** Constructor. Captures the inputs. */\r\n  private constructor(center: Point3d, matrix: Matrix3d, sweep: AngleSweep) {\r\n    super();\r\n    this._center = center;\r\n    this._matrix = matrix;\r\n    this._sweep = sweep.clampToFullCircle(sweep);\r\n  }\r\n  /** Return a clone of the arc, with transform applied. */\r\n  public cloneTransformed(transform: Transform): Arc3d {  // we know tryTransformInPlace succeeds.\r\n    const c = this.clone();\r\n    c.tryTransformInPlace(transform);\r\n    return c;\r\n  }\r\n  /**\r\n   * Redefine the arc with (captured references to) given data.\r\n   * @param center arc center.\r\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product.\r\n   * @param sweep angle sweep.\r\n   */\r\n  public setRefs(center: Point3d, matrix: Matrix3d, sweep: AngleSweep) {\r\n    this._center = center;\r\n    this._matrix = matrix;\r\n    sweep.clampToFullCircle(this._sweep);\r\n  }\r\n  /**\r\n   * Redefine the arc with (copies of) the given data.\r\n   * * Even if an input is omitted, the corresponding instance data is set to the default value.\r\n   * * For example, all default inputs result in a unit circle centered at the origin in the xy-plane.\r\n   * @param center arc center. Default is zero.\r\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product. Default is identity.\r\n   * @param sweep angle sweep. Default is full sweep.\r\n   * @returns the instance\r\n   */\r\n  public set(center?: Point3d, matrix?: Matrix3d, sweep?: AngleSweep): Arc3d {\r\n    if (center)\r\n      this._center.setFrom(center);\r\n    else\r\n      this._center.setZero();\r\n    if (matrix)\r\n      this._matrix.setFrom(matrix);\r\n    else\r\n      this._matrix.setIdentity();\r\n    if (sweep)\r\n      sweep.clampToFullCircle(this._sweep);\r\n    else\r\n      AngleSweep.create360(0, this._sweep);\r\n    return this;\r\n  }\r\n  /** Copy center, matrix, and sweep from other Arc3d. */\r\n  public setFrom(other: Arc3d) {\r\n    this._center.setFrom(other._center);\r\n    this._matrix.setFrom(other._matrix);\r\n    this._sweep.setFrom(other._sweep);\r\n  }\r\n  /** Return a clone of this arc. */\r\n  public clone(): Arc3d {\r\n    return new Arc3d(this._center.clone(), this._matrix.clone(), this._sweep.clone());\r\n  }\r\n  /**\r\n   * Create an arc, capturing references to center, matrix and sweep.\r\n   * * Default inputs construct a unit circle centered at the origin in the xy-plane.\r\n   * @param center center point. Default is zero.\r\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product. Default is identity.\r\n   * @param sweep sweep limits. Default is full sweep.\r\n   * @param result optional preallocated result to receive copies of the inputs (or default values) and return.\r\n   */\r\n  public static createRefs(center?: Point3d, matrix?: Matrix3d, sweep?: AngleSweep, result?: Arc3d): Arc3d {\r\n    if (result)\r\n      return result.set(center, matrix, sweep);\r\n    return new Arc3d(center ?? Point3d.createZero(), matrix ?? Matrix3d.createIdentity(), sweep ?? AngleSweep.create360());\r\n  }\r\n  /**\r\n   * Create an arc from center, x column to be scaled, and y column to be scaled.\r\n   * @param center center of ellipse.\r\n   * @param matrix the x-column and y-column of this matrix are scaled by `radius0` and `radius90` to define the\r\n   * arc's `vector0` and `vector90`.\r\n   * @param radius0 radius along `vector0`.\r\n   * @param radius90 radius along `vector90`.\r\n   * @param sweep sweep limits.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public static createScaledXYColumns(\r\n    center: Point3d | undefined, matrix: Matrix3d, radius0: number, radius90: number, sweep?: AngleSweep, result?: Arc3d,\r\n  ): Arc3d {\r\n    const vector0 = matrix.columnX();\r\n    const vector90 = matrix.columnY();\r\n    return Arc3d.create(center, vector0.scale(radius0, vector0), vector90.scale(radius90, vector90), sweep, result);\r\n  }\r\n  /**\r\n   * Create a full circle from center, normal and radius.\r\n   * @param center center of circle. If undefined, use 000.\r\n   * @param normal normal vector.\r\n   * @param radius radius of the circle.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public static createCenterNormalRadius(\r\n    center: Point3d | undefined, normal: Vector3d, radius: number, result?: Arc3d,\r\n  ): Arc3d {\r\n    const frame = Matrix3d.createRigidHeadsUp(normal);\r\n    return Arc3d.createScaledXYColumns(center, frame, radius, radius, undefined, result);\r\n  }\r\n  /**\r\n   * Create an elliptical arc by center with vectors to points at 0 and 90 degrees in parameter space.\r\n   * @param center arc center.\r\n   * @param vector0 vector to 0 degrees (commonly major axis).\r\n   * @param vector90 vector to 90 degree point (commonly minor axis).\r\n   * @param sweep sweep limits; defaults to full sweep.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public static create(\r\n    center: Point3d | undefined, vector0: Vector3d, vector90: Vector3d, sweep?: AngleSweep, result?: Arc3d,\r\n  ): Arc3d {\r\n    const normal = vector0.unitCrossProductWithDefault(vector90, 0, 0, 0); // normal will be 000 for degenerate case\r\n    const matrix = Matrix3d.createColumns(vector0, vector90, normal, result?._matrix);\r\n    if (result)\r\n      return result.set(center, matrix, sweep);\r\n    return this.createRefs(center?.clone(), matrix, sweep?.clone());\r\n  }\r\n  /**\r\n   * Create an elliptical arc from three points on the ellipse: two points on an axis and one in between.\r\n   * @param start start of arc, on an axis.\r\n   * @param middle point on arc somewhere between `start` and `end`.\r\n   * @param end point on arc directly opposite `start`.\r\n   * @param sweep angular sweep, measured from `start` in the direction of `middle`.\r\n   *  For a half-ellipse from `start` to `end` passing through `middle`, pass `AngleSweep.createStartEndDegrees(0,180)`.\r\n   *  Default value is full sweep to create the entire ellipse.\r\n   * @param result optional preallocated result.\r\n   * @returns elliptical arc, or undefined if construction impossible.\r\n   */\r\n  public static createStartMiddleEnd(\r\n    start: XYAndZ, middle: XYAndZ, end: XYAndZ, sweep?: AngleSweep, result?: Arc3d,\r\n  ): Arc3d | undefined {\r\n    const center = Point3d.createAdd2Scaled(start, 0.5, end, 0.5);\r\n    const vector0 = Vector3d.createStartEnd(center, start);\r\n    const vector1 = Vector3d.createStartEnd(center, middle);\r\n    const v0DotV1 = vector0.dotProduct(vector1);\r\n    const v0Len2 = vector0.magnitudeSquared();\r\n    if (Math.abs(v0DotV1) >= v0Len2)\r\n      return undefined; // middle point projects to end of axis or beyond (rules out negative under the radical below)\r\n    const normal = vector0.crossProduct(vector1);\r\n    const vector90 = normal.unitCrossProductWithDefault(vector0, 0, 0, 0);\r\n    const v1DotV90 = vector1.dotProduct(vector90);\r\n    // solve the standard ellipse equation for the unknown axis length, given local coords of middle (v0.v1/||v0||, v90.v1)\r\n    const v90Len = Geometry.safeDivideFraction(v0Len2 * v1DotV90, Math.sqrt(v0Len2 * v0Len2 - v0DotV1 * v0DotV1), 0);\r\n    if (Geometry.isSmallMetricDistanceSquared(v90Len)) // tighter than smallMetricDistance to allow flatter long elliptical arcs\r\n      return undefined;\r\n    vector90.scaleInPlace(v90Len);\r\n    return Arc3d.create(center, vector0, vector90, sweep, result);\r\n  }\r\n  /**\r\n   * Create a circular arc defined by start point, tangent at start point, and end point.\r\n   * * The circular arc is swept from `start` to `end` in the direction of `tangentAtStart`.\r\n   * * If `tangentAtStart` is parallel to the line segment from `start` to `end`, return the line segment.\r\n   */\r\n  public static createCircularStartTangentEnd(\r\n    start: Point3d, tangentAtStart: Vector3d, end: Point3d, result?: Arc3d,\r\n  ): Arc3d | LineSegment3d {\r\n    // see itwinjs-core\\core\\geometry\\internaldocs\\Arc3d.md to clarify below algorithm\r\n    const startToEnd = Vector3d.createStartEnd(start, end);\r\n    const frame = Matrix3d.createRigidFromColumns(tangentAtStart, startToEnd, AxisOrder.XYZ);\r\n    if (frame !== undefined) {\r\n      const vv = startToEnd.dotProduct(startToEnd);\r\n      const vw = frame.dotColumnY(startToEnd);\r\n      const radius = Geometry.conditionalDivideCoordinate(vv, 2 * vw);\r\n      if (radius !== undefined) {\r\n        const vector0 = frame.columnY();\r\n        vector0.scaleInPlace(-radius); // center to start\r\n        const vector90 = frame.columnX();\r\n        vector90.scaleInPlace(radius);\r\n        const centerToEnd = vector0.plus(startToEnd);\r\n        const sweepAngle = vector0.angleTo(centerToEnd);\r\n        let sweepRadians = sweepAngle.radians; // always positive and less than PI\r\n        if (tangentAtStart.dotProduct(centerToEnd) < 0.0) // sweepRadians is the wrong way\r\n          sweepRadians = 2.0 * Math.PI - sweepRadians;\r\n        const center = start.plusScaled(vector0, -1.0);\r\n        const sweep = AngleSweep.createStartEndRadians(0.0, sweepRadians);\r\n        return Arc3d.create(center, vector0, vector90, sweep, result);\r\n      }\r\n    }\r\n    return LineSegment3d.create(start, end);\r\n  }\r\n  /**\r\n   * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep.\r\n   * * The vector from start point to center is in the direction of upVector crossed with tangentA.\r\n   * @param start start point.\r\n   * @param tangentAtStart vector in tangent direction at the start.\r\n   * @param radius signed radius.\r\n   * @param upVector optional out-of-plane vector. Defaults to positive Z.\r\n   * @param sweep angular range. If single `Angle` is given, start angle is at 0 degrees (the start point).\r\n   */\r\n  public static createCircularStartTangentRadius(\r\n    start: Point3d, tangentAtStart: Vector3d, radius: number, upVector?: Vector3d, sweep?: Angle | AngleSweep,\r\n  ): Arc3d | undefined {\r\n    if (upVector === undefined)\r\n      upVector = Vector3d.unitZ();\r\n    const vector0 = upVector.unitCrossProduct(tangentAtStart);\r\n    if (vector0 === undefined)\r\n      return undefined;\r\n    const center = start.plusScaled(vector0, radius);\r\n    // reverse the A-to-center vector and bring it up to scale\r\n    vector0.scaleInPlace(-radius);\r\n    const vector90 = tangentAtStart.scaleToLength(Math.abs(radius))!; // cannot fail; prior unitCrossProduct would have failed first\r\n    return Arc3d.create(center, vector0, vector90, AngleSweep.create(sweep));\r\n  }\r\n  /**\r\n   * Create a circular arc defined by start and end points and radius.\r\n   * @param start start point of the arc.\r\n   * @param end end point of the arc.\r\n   * @param helper a third point near the arc in its plane, or a vector in the direction of the arc normal.\r\n   * @param result optional preallocated result to populate and return.\r\n   * @returns the constructed arc, or undefined if desired arc cannot be constructed.\r\n   */\r\n  public static createCircularStartEndRadius(start: Point3d, end: Point3d, radius: number, helper: Point3d | Vector3d, result?: Arc3d): Arc3d | undefined {\r\n    // Construct a line segment from start to end. It is a chord of the circle,\r\n    // so the circle center is on its perpendicular bisector.\r\n    const semiChordLen2 = 0.25 * start.distanceSquared(end);\r\n    const radius2 = radius * radius;\r\n    if (radius2 < semiChordLen2)\r\n      return undefined;\r\n    const height = Math.sqrt(radius2 - semiChordLen2); // Pythagoras gives us distance from chord to center\r\n    const normal = Vector3d.createZero(this._workVectorU);\r\n    const vecToCenter = Vector3d.createZero(this._workVectorV);\r\n    // the helper gives us the circle normal\r\n    if (helper instanceof Point3d)\r\n      start.crossProductToPoints(helper, end, normal);\r\n    else\r\n      normal.setFrom(helper);\r\n    // the normal and chord direction give us the side of the chord on which the center resides\r\n    if (!normal.normalizeInPlace() || !normal.crossProductStartEnd(start, end, vecToCenter).scaleToLength(height, vecToCenter))\r\n      return undefined;\r\n    const center = Point3d.createZero(result?.centerRef);\r\n    start.interpolate(0.5, end, center).addInPlace(vecToCenter);\r\n    const vector0 = Vector3d.createStartEnd(center, start, this._workVectorW);\r\n    const endVector = Vector3d.createStartEnd(center, end, this._workVectorV); // reuse static\r\n    const sweep = AngleSweep.createStartEndRadians(0, vector0.signedRadiansTo(endVector, normal), result?.sweep);\r\n    const vector90 = normal.crossProduct(vector0, this._workVectorV); // has length radius (reuse static)\r\n    const matrix = Matrix3d.createColumns(vector0, vector90, normal, result?.matrixRef);\r\n    return this.createRefs(center, matrix, sweep, result);\r\n  }\r\n\r\n  /**\r\n   * Return a clone of this arc, projected to given z value.\r\n   * * If `z` is omitted, the clone is at the z of the center.\r\n   * * This function projects the arc into a plane parallel to xy-plane.\r\n   * * Note that projection to fixed z can change circle into ellipse (and (rarely) ellipse to circle).\r\n   */\r\n  public cloneAtZ(z?: number): Arc3d {\r\n    if (z === undefined)\r\n      z = this._center.z;\r\n    return Arc3d.createXYZXYZXYZ(\r\n      this._center.x, this._center.y, z,\r\n      this._matrix.coffs[0], this._matrix.coffs[3], 0,\r\n      this._matrix.coffs[1], this._matrix.coffs[4], 0,\r\n      this._sweep,\r\n    );\r\n  }\r\n  /**\r\n   * Create an arc by center (cx,cy,xz) with vectors (ux,uy,uz) and (vx,vy,vz) to points at 0 and 90 degrees in\r\n   * parameter space.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public static createXYZXYZXYZ(\r\n    cx: number, cy: number, cz: number,\r\n    ux: number, uy: number, uz: number,\r\n    vx: number, vy: number, vz: number,\r\n    sweep?: AngleSweep, result?: Arc3d,\r\n  ): Arc3d {\r\n    return Arc3d.create(\r\n      Point3d.create(cx, cy, cz), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz), sweep, result,\r\n    );\r\n  }\r\n  /**\r\n   * Return a quick estimate of the eccentricity of the ellipse.\r\n   * * The estimator is the cross magnitude of the product of vectors U and V, divided by square of the larger magnitude\r\n   * * for typical Arc3d with perpendicular UV, this is exactly the small axis divided by large.\r\n   * * note that the eccentricity is AT MOST ONE.\r\n   */\r\n  public quickEccentricity(): number {\r\n    const magX = this._matrix.columnXMagnitude();\r\n    const magY = this._matrix.columnYMagnitude();\r\n    const jacobian = this._matrix.columnXYCrossProductMagnitude();\r\n    const largeAxis = Geometry.maxXY(magX, magY);\r\n    return jacobian / (largeAxis * largeAxis);\r\n  }\r\n  /**\r\n   * Create a circular arc defined by start point, any intermediate point, and end point.\r\n   * If the points are colinear, assemble them into a linestring.\r\n   */\r\n  public static createCircularStartMiddleEnd(\r\n    pointA: XYAndZ, pointB: XYAndZ, pointC: XYAndZ, result?: Arc3d,\r\n  ): Arc3d | LineString3d {\r\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB);\r\n    const vectorAC = Vector3d.createStartEnd(pointA, pointC);\r\n    const ab2 = vectorAB.magnitudeSquared();\r\n    const ac2 = vectorAC.magnitudeSquared();\r\n    const normal = vectorAB.sizedCrossProduct(vectorAC, Math.sqrt(Math.sqrt(ab2 * ac2)));\r\n    if (normal) {\r\n      const vectorToCenter = SmallSystem.linearSystem3d(\r\n        normal.x, normal.y, normal.z,\r\n        vectorAB.x, vectorAB.y, vectorAB.z,\r\n        vectorAC.x, vectorAC.y, vectorAC.z,\r\n        0,         // vectorToCenter DOT normal = 0 (ensure normal is perp to the plane of the 3 points)\r\n        0.5 * ab2, // vectorToCenter DOT vectorAB = ab2 / 2 (ensure the projection of vectorToCenter on AB bisects AB)\r\n        0.5 * ac2, // vectorToCenter DOT vectorAC = ac2 / 2 (ensure the projection of vectorToCenter on AC bisects AC)\r\n      );\r\n      if (vectorToCenter) { // i.e., the negative of vectorX\r\n        const center = Point3d.create(pointA.x, pointA.y, pointA.z).plus(vectorToCenter);\r\n        const vectorX = Vector3d.createStartEnd(center, pointA);\r\n        const vectorY = Vector3d.createRotateVectorAroundVector(vectorX, normal, Angle.createDegrees(90));\r\n        if (vectorY) {\r\n          const vectorCenterToC = Vector3d.createStartEnd(center, pointC);\r\n          const sweepAngle = vectorX.signedAngleTo(vectorCenterToC, normal);\r\n          if (sweepAngle.radians < 0.0)\r\n            sweepAngle.addMultipleOf2PiInPlace(1.0);\r\n          return Arc3d.create(\r\n            center, vectorX, vectorY, AngleSweep.createStartEndRadians(0.0, sweepAngle.radians), result,\r\n          );\r\n        }\r\n      }\r\n    }\r\n    return LineString3d.create(pointA, pointB, pointC);\r\n  }\r\n  /** The arc has simple proportional arc length if and only if it is a circular arc. */\r\n  public override getFractionToDistanceScale(): number | undefined {\r\n    const radius = this.circularRadius();\r\n    if (radius !== undefined)\r\n      return Math.abs(radius * this._sweep.sweepRadians);\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Convert a fractional position to xyz coordinates.\r\n   * @param fraction fractional position on arc.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    const radians = this._sweep.fractionToRadians(fraction);\r\n    return this._matrix.originPlusMatrixTimesXY(this._center, Math.cos(radians), Math.sin(radians), result);\r\n  }\r\n  /**\r\n   * Convert fractional arc and radial positions to xyz coordinates.\r\n   * @param fraction fractional position on arc.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public fractionAndRadialFractionToPoint(arcFraction: number, radialFraction: number, result?: Point3d): Point3d {\r\n    const radians = this._sweep.fractionToRadians(arcFraction);\r\n    return this._matrix.originPlusMatrixTimesXY(\r\n      this._center, radialFraction * Math.cos(radians), radialFraction * Math.sin(radians), result,\r\n    );\r\n  }\r\n  /**\r\n   * Convert a fractional position to xyz coordinates and derivative with respect to fraction.\r\n   * @param fraction fractional position on arc.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public fractionToPointAndDerivative(fraction: number, result?: Ray3d): Ray3d {\r\n    result = this.radiansToPointAndDerivative(this._sweep.fractionToRadians(fraction), result);\r\n    result.direction.scaleInPlace(this._sweep.sweepRadians);\r\n    return result;\r\n  }\r\n  /**\r\n   * Construct a plane with\r\n   * * origin at the fractional position along the arc.\r\n   * * x axis is the first derivative, i.e. tangent along the arc.\r\n   * * y axis is the second derivative, i.e. in the plane and on the center side of the tangent.\r\n   * If the arc is circular, the second derivative is directly towards the center.\r\n   */\r\n  public fractionToPointAnd2Derivatives(fraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const radians = this._sweep.fractionToRadians(fraction);\r\n    if (!result)\r\n      result = Plane3dByOriginAndVectors.createXYPlane();\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\r\n    const a = this._sweep.sweepRadians;\r\n    this._matrix.multiplyXY(-a * s, a * c, result.vectorU);\r\n    const aa = a * a;\r\n    this._matrix.multiplyXY(-aa * c, -aa * s, result.vectorV);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate the point and derivative with respect to the angle (in radians).\r\n   * @param radians angular position.\r\n   * @param result optional preallocated ray.\r\n   */\r\n  public radiansToPointAndDerivative(radians: number, result?: Ray3d): Ray3d {\r\n    result = result ? result : Ray3d.createZero();\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\r\n    this._matrix.multiplyXY(-s, c, result.direction);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate the point with respect to the angle (in radians).\r\n   * @param radians angular position.\r\n   * @param result optional preallocated ray.\r\n   */\r\n  public radiansToPoint(radians: number, result?: Point3d): Point3d {\r\n    result = result ? result : Point3d.create();\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return a parametric plane with\r\n   * * origin at arc center.\r\n   * * vectorU from center to arc at angle (in radians).\r\n   * * vectorV from center to arc at 90 degrees past the angle.\r\n   * @param radians angular position.\r\n   * @param result optional preallocated plane.\r\n   */\r\n  public radiansToRotatedBasis(radians: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    result = result ? result : Plane3dByOriginAndVectors.createXYPlane();\r\n    const c = Math.cos(radians);\r\n    const s = Math.sin(radians);\r\n    result.origin.setFromPoint3d(this.center);\r\n    this._matrix.multiplyXY(c, s, result.vectorU);\r\n    this._matrix.multiplyXY(-s, c, result.vectorV);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate the point and derivative with respect to the angle (in radians).\r\n   * @param theta angular position.\r\n   * @param result optional preallocated ray.\r\n   */\r\n  public angleToPointAndDerivative(theta: Angle, result?: Ray3d): Ray3d {\r\n    result = result ? result : Ray3d.createZero();\r\n    const c = theta.cos();\r\n    const s = theta.sin();\r\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\r\n    this._matrix.multiplyXY(-s, c, result.direction);\r\n    return result;\r\n  }\r\n  /**\r\n   * Return the start point of the arc.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public override startPoint(result?: Point3d): Point3d {\r\n    return this.fractionToPoint(0.0, result);\r\n  }\r\n  /**\r\n   * Return the end point of the arc.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public override endPoint(result?: Point3d): Point3d {\r\n    return this.fractionToPoint(1.0, result);\r\n  }\r\n  /** * If this is a circular arc, return the simple length derived from radius and sweep.\r\n   * * Otherwise (i.e. if this elliptical) fall through to CurvePrimitive base implementation which\r\n   *     Uses quadrature.\r\n   */\r\n  public override curveLength(): number {\r\n    return this.curveLengthBetweenFractions(0, 1);\r\n  }\r\n  /**\r\n   * Gauss point quadrature count for evaluating curve length. (The number of intervals is adjusted to the arc sweep).\r\n   * @deprecated in 5.0 - will not be removed until after 2026-06-13. Use correct spelling quadratureGaussCount.\r\n   */\r\n  public static readonly quadratureGuassCount = 5;\r\n  /** Gauss point quadrature count for evaluating curve length. (The number of intervals is adjusted to the arc sweep). */\r\n  public static readonly quadratureGaussCount = 5;\r\n  /** In quadrature for arc length, use this interval (divided by quickEccentricity). */\r\n  public static readonly quadratureIntervalAngleDegrees = 10.0;\r\n  /**\r\n   * * If this is a circular arc, return the simple length derived from radius and sweep.\r\n   * * Otherwise (i.e. if this elliptical) fall through CurvePrimitive integrator.\r\n   */\r\n  public override curveLengthBetweenFractions(fraction0: number, fraction1: number): number {\r\n    const simpleLength = this.getFractionToDistanceScale();\r\n    if (simpleLength !== undefined)\r\n      return simpleLength * Math.abs(fraction1 - fraction0);\r\n    // fall through for true ellipse . .. stroke and accumulate quadrature with typical count .  ..\r\n    let f0 = fraction0;\r\n    let f1 = fraction1;\r\n    if (fraction0 > fraction1) {\r\n      f0 = fraction1;\r\n      f1 = fraction0;\r\n    }\r\n    const sweepDegrees = (f1 - f0) * this._sweep.sweepDegrees;\r\n    let eccentricity = this.quickEccentricity();\r\n    if (eccentricity < 0.00001)\r\n      eccentricity = 0.00001;\r\n    let numInterval = Math.ceil(sweepDegrees / (eccentricity * Arc3d.quadratureIntervalAngleDegrees));\r\n    if (numInterval > 400)\r\n      numInterval = 400;\r\n    if (numInterval < 1)\r\n      numInterval = 1;\r\n    return super.curveLengthWithFixedIntervalCountQuadrature(f0, f1, numInterval, Arc3d.quadratureGaussCount);\r\n  }\r\n  /**\r\n   * Return an approximate (but easy to compute) arc length.\r\n   * The estimate is:\r\n   * * Form 8 chords on full circle, proportionally fewer for partials (but 2 extras if less than half circle).\r\n   * * Sum the chord lengths.\r\n   * * For a circle, we know this crude approximation has to be increased by a factor (theta/(2*sin(theta/2))).\r\n   * * Apply that factor.\r\n   * * Experiments confirm that this is within 3 percent for a variety of eccentricities and arc sweeps.\r\n   */\r\n  public quickLength(): number {\r\n    const totalSweep = Math.abs(this._sweep.sweepRadians);\r\n    let numInterval = Math.ceil(4 * totalSweep / Math.PI);\r\n    if (numInterval < 1)\r\n      numInterval = 1;\r\n    if (numInterval < 4)\r\n      numInterval += 3;\r\n    else if (numInterval < 6)\r\n      numInterval += 2;   // force extras for short arcs\r\n    const pointA = Arc3d._workPointA;\r\n    const pointB = Arc3d._workPointB;\r\n    let chordSum = 0.0;\r\n    this.fractionToPoint(0.0, pointA);\r\n    for (let i = 1; i <= numInterval; i++) {\r\n      this.fractionToPoint(i / numInterval, pointB);\r\n      chordSum += pointA.distance(pointB);\r\n      pointA.setFromPoint3d(pointB);\r\n    }\r\n    // The chord sum is always shorter.\r\n    // if it is a true circular arc, the ratio of correct over sum is easy ...\r\n    const dTheta = totalSweep / numInterval;\r\n    const factor = dTheta / (2.0 * Math.sin(0.5 * dTheta));\r\n    return chordSum * factor;\r\n  }\r\n  /**\r\n   * * See extended comments on `CurvePrimitive.moveSignedDistanceFromFraction`.\r\n   * * A zero length line generates `CurveSearchStatus.error`.\r\n   * * Nonzero length line generates `CurveSearchStatus.success` or `CurveSearchStatus.stoppedAtBoundary`.\r\n   */\r\n  public override moveSignedDistanceFromFraction(\r\n    startFraction: number, signedDistance: number, allowExtension: false, result?: CurveLocationDetail,\r\n  ): CurveLocationDetail {\r\n    if (!this.isCircular) // suppress extension !!!\r\n      return super.moveSignedDistanceFromFractionGeneric(startFraction, signedDistance, allowExtension, result);\r\n    const totalLength = this.curveLength();\r\n    const signedFractionMove = Geometry.conditionalDivideFraction(signedDistance, totalLength);\r\n    if (signedFractionMove === undefined) {\r\n      return CurveLocationDetail.createCurveFractionPointDistanceCurveSearchStatus(\r\n        this, startFraction, this.fractionToPoint(startFraction), 0.0, CurveSearchStatus.error);\r\n    }\r\n    return CurveLocationDetail.createConditionalMoveSignedDistance(\r\n      allowExtension,\r\n      this,\r\n      startFraction,\r\n      startFraction + signedFractionMove,\r\n      signedDistance,\r\n      result);\r\n  }\r\n  /**\r\n   * Return all radian angles where the ellipse tangent is perpendicular to the vector to a spacePoint.\r\n   * @param spacePoint point of origin of vectors to the ellipse.\r\n   * @param _extend always true. Sweep is ignored: perpendiculars for the full ellipse are returned.\r\n   * @param endpoints if true, force the end radians into the result.\r\n   */\r\n  public allPerpendicularAngles(spacePoint: Point3d, _extend: boolean = true, endpoints: boolean = false): number[] {\r\n    const radians: number[] = [];\r\n    const vectorQ = spacePoint.vectorTo(this.center);\r\n    const uu = this._matrix.columnXMagnitudeSquared();\r\n    const uv = this._matrix.columnXDotColumnY();\r\n    const vv = this._matrix.columnYMagnitudeSquared();\r\n    TrigPolynomial.solveUnitCircleImplicitQuadricIntersection(\r\n      uv,\r\n      vv - uu,\r\n      -uv,\r\n      this._matrix.dotColumnY(vectorQ),\r\n      -this._matrix.dotColumnX(vectorQ),\r\n      0.0,\r\n      radians,\r\n    );\r\n    if (endpoints) {\r\n      radians.push(this.sweep.startRadians);\r\n      radians.push(this.sweep.endRadians);\r\n    }\r\n    return radians;\r\n  }\r\n  /**\r\n   * Return details of the closest point on the arc, optionally extending to full ellipse.\r\n   * @param spacePoint search for point closest to this point.\r\n   * @param extend if true, consider projections to the complete ellipse. If false, consider only endpoints and\r\n   * projections within the arc sweep.\r\n   * @param result optional preallocated result.\r\n   */\r\n  public override closestPoint(\r\n    spacePoint: Point3d, extend: VariantCurveExtendParameter, result?: CurveLocationDetail,\r\n  ): CurveLocationDetail {\r\n    result = CurveLocationDetail.create(this, result);\r\n    const allRadians = this.allPerpendicularAngles(spacePoint, true, true);\r\n    let extend0 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extend, 0);\r\n    let extend1 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extend, 1);\r\n    // distinct extends for cyclic space are awkward ....\r\n    if (this._sweep.isFullCircle) {\r\n      extend0 = CurveExtendMode.None;\r\n      extend1 = CurveExtendMode.None;\r\n    }\r\n    if (extend0 !== CurveExtendMode.None && extend1 !== CurveExtendMode.None) {\r\n      allRadians.push(this._sweep.startRadians);\r\n      allRadians.push(this._sweep.endRadians);\r\n    }\r\n    // hm... logically there must at least two angles there ...  but if it happens return the start point ...\r\n    const workRay = Ray3d.createZero();\r\n    if (allRadians.length === 0) {\r\n      result.setFR(0.0, this.radiansToPointAndDerivative(this._sweep.startRadians, workRay));\r\n      result.a = spacePoint.distance(result.point);\r\n    } else {\r\n      let dMin = Number.MAX_VALUE;\r\n      let d = 0;\r\n      for (const radians of allRadians) {\r\n        const fraction = CurveExtendOptions.resolveRadiansToSweepFraction(extend, radians, this.sweep);\r\n        if (fraction !== undefined) {\r\n          this.fractionToPointAndDerivative(fraction, workRay);\r\n\r\n          d = spacePoint.distance(workRay.origin);\r\n          if (d < dMin) {\r\n            dMin = d;\r\n            result.setFR(fraction, workRay);\r\n            result.a = d;\r\n          }\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /** Override of [[CurvePrimitive.emitTangents]] for Arc3d. */\r\n  public override emitTangents(\r\n    spacePoint: Point3d, announceTangent: (tangent: CurveLocationDetail) => any, options?: TangentOptions,\r\n  ): void {\r\n    const centerToPoint = Vector3d.createStartEnd(this.centerRef, spacePoint);\r\n    let centerToLocalPoint: Vector3d | undefined;\r\n    if (options?.vectorToEye) {\r\n      const arcToView = Matrix3d.createColumns(this.matrixRef.getColumn(0), this.matrixRef.getColumn(1), options.vectorToEye);\r\n      centerToLocalPoint = arcToView.multiplyInverse(centerToPoint);\r\n    } else {\r\n      centerToLocalPoint = this.matrixRef.multiplyInverse(centerToPoint)!;\r\n    }\r\n    if (centerToLocalPoint === undefined)\r\n      return;\r\n    // centerToLocalPoint is a vector in the local coordinate system of the as-viewed arc.\r\n    // In other words, the local arc is the unit circle.\r\n    // alpha is the angle from the local x-axis to centerToLocalPoint.\r\n    // beta is the nonnegative angle from centerToLocalPoint to a tangency radial.\r\n    // Tangency angles are preserved by local <-> world transformation.\r\n    if (centerToLocalPoint !== undefined) {\r\n      const hypotenuseSquared = centerToLocalPoint.magnitudeSquaredXY();\r\n      if (hypotenuseSquared >= 1.0) { // localPoint lies outside or on the unit circle...\r\n        // ...and forms a right triangle with unit radial leg to tangent point\r\n        const distanceToTangency = Math.sqrt(hypotenuseSquared - 1.0);\r\n        const alpha = Math.atan2(centerToLocalPoint.y, centerToLocalPoint.x);\r\n        const beta = Math.atan2(distanceToTangency, 1);\r\n        const angles = Geometry.isSmallAngleRadians(beta) ? [alpha] : [alpha + beta, alpha - beta];\r\n        for (const theta of angles) {\r\n          const f = CurveExtendOptions.resolveRadiansToValidSweepFraction(options?.extend ?? false, theta, this.sweep);\r\n          if (f.isValid) {\r\n            const tangent = CurveLocationDetail.createCurveFractionPoint(this, f.fraction, this.fractionToPoint(f.fraction));\r\n            announceTangent(tangent);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /** Reverse the sweep  of the arc. */\r\n  public reverseInPlace(): void {\r\n    this._sweep.reverseInPlace();\r\n  }\r\n  /**\r\n   * Apply a transform to the arc basis vectors.\r\n   * * nonuniform (i.e. skewing) transforms are allowed.\r\n   * * The transformed vector0 and vector90 are NOT squared up as major minor axes (this is a good feature).\r\n   */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    this._center = transform.multiplyPoint3d(this._center, this._center);\r\n    this._matrix = transform.matrix.multiplyMatrixMatrix(this._matrix, this._matrix);\r\n    // force re-normalization of columnZ.\r\n    this.setVector0Vector90(this._matrix.columnX(), this._matrix.columnY());\r\n    return true;\r\n  }\r\n  /** Return true if the ellipse center and basis vectors are in the plane. */\r\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\r\n    const normal = plane.getNormalRef();\r\n    // The ellipse vectors are full-length  -- true distance comparisons say things.\r\n    return Geometry.isSmallMetricDistance(plane.altitude(this._center))\r\n      && Geometry.isSmallMetricDistance(this._matrix.dotColumnX(normal))\r\n      && Geometry.isSmallMetricDistance(this._matrix.dotColumnY(normal));\r\n  }\r\n  /** Return true if the vector0 and vector90 are of equal length and perpendicular. */\r\n  public get isCircular(): boolean {\r\n    const axx = this._matrix.columnXMagnitudeSquared();\r\n    const ayy = this._matrix.columnYMagnitudeSquared();\r\n    const axy = this._matrix.columnXDotColumnY();\r\n    return Angle.isPerpendicularDotSet(axx, ayy, axy) && Geometry.isSameCoordinateSquared(axx, ayy);\r\n  }\r\n  /** Return radius if the vector0 and vector90 are of equal length and perpendicular. Ignores z. */\r\n  public circularRadiusXY(): number | undefined {\r\n    const ux = this._matrix.at(0, 0);\r\n    const uy = this._matrix.at(1, 0);\r\n    const vx = this._matrix.at(0, 1);\r\n    const vy = this._matrix.at(1, 1);\r\n    const dotUU = Geometry.dotProductXYXY(ux, uy, ux, uy);\r\n    const dotVV = Geometry.dotProductXYXY(vx, vy, vx, vy);\r\n    const dotUV = Geometry.dotProductXYXY(ux, uy, vx, vy);\r\n    if (Angle.isPerpendicularDotSet(dotUU, dotVV, dotUV) && Geometry.isSameCoordinateSquared(dotUU, dotVV))\r\n      return Geometry.hypotenuseXY(ux, uy);\r\n    return undefined;\r\n  }\r\n  /** If the arc is circular, return its radius. Otherwise return undefined. */\r\n  public circularRadius(): number | undefined {\r\n    return this.isCircular ? this._matrix.columnXMagnitude() : undefined;\r\n  }\r\n\r\n  /** Return the larger length of the two defining vectors. */\r\n  public maxVectorLength(): number {\r\n    return Math.max(this._matrix.columnXMagnitude(), this._matrix.columnYMagnitude());\r\n  }\r\n  /**\r\n   * Compute intersections with a plane.\r\n   * @param plane plane to intersect.\r\n   * @param result array of locations on the curve.\r\n   */\r\n  public override appendPlaneIntersectionPoints(plane: PlaneAltitudeEvaluator, result: CurveLocationDetail[]): number {\r\n    const constCoff = plane.altitude(this._center);\r\n    const coffs = this._matrix.coffs;\r\n    const cosCoff = plane.velocityXYZ(coffs[0], coffs[3], coffs[6]);\r\n    const sinCoff = plane.velocityXYZ(coffs[1], coffs[4], coffs[7]);\r\n    const trigPoints = Geometry.solveTrigForm(constCoff, cosCoff, sinCoff);\r\n    let numIntersection = 0;\r\n    if (trigPoints !== undefined) {\r\n      numIntersection = trigPoints.length;\r\n      let xy;\r\n      for (xy of trigPoints) {\r\n        const radians = Math.atan2(xy.y, xy.x);\r\n        const fraction = this._sweep.radiansToPositivePeriodicFraction(radians);\r\n        const detail = CurveLocationDetail.createCurveFractionPoint(this, fraction, this.fractionToPoint(fraction));\r\n        detail.intervalRole = CurveIntervalRole.isolated;\r\n        if (Angle.isAlmostEqualRadiansAllowPeriodShift(radians, this._sweep.startRadians))\r\n          detail.intervalRole = CurveIntervalRole.isolatedAtVertex;\r\n        else if (Angle.isAlmostEqualRadiansAllowPeriodShift(radians, this._sweep.endRadians))\r\n          detail.intervalRole = CurveIntervalRole.isolatedAtVertex;\r\n        result.push(detail);\r\n      }\r\n    }\r\n    return numIntersection;\r\n  }\r\n  /**\r\n   * Extend a range to include the range of the arc.\r\n   * @param range range being extended.\r\n   * @param transform optional transform to apply to the arc.\r\n   */\r\n  public extendRange(range: Range3d, transform?: Transform): void {\r\n    this.extendRangeInSweep(range, this._sweep, transform);\r\n  }\r\n  /**\r\n   * Extend a range to include the range of the arc, using specified range in place of the arc range.\r\n   * @param range range being extended.\r\n   * @param transform optional transform to apply to the arc.\r\n   */\r\n  public extendRangeInSweep(range: Range3d, sweep: AngleSweep, transform?: Transform): void {\r\n    const trigForm = new SineCosinePolynomial(0, 0, 0);\r\n    const center = this._center.clone(Arc3d._workPointA);\r\n    const vectorU = this._matrix.columnX(Arc3d._workVectorU);\r\n    const vectorV = this._matrix.columnY(Arc3d._workVectorV);\r\n    if (transform) {\r\n      transform.multiplyPoint3d(center, center);\r\n      transform.multiplyVector(vectorU, vectorU);\r\n      transform.multiplyVector(vectorV, vectorV);\r\n    }\r\n    const lowPoint = Arc3d._workPointB;\r\n    const highPoint = Arc3d._workPointC;\r\n    const range1 = Range1d.createNull();\r\n    for (let i = 0; i < 3; i++) {\r\n      trigForm.set(center.at(i), vectorU.at(i), vectorV.at(i));\r\n      trigForm.rangeInSweep(sweep, range1);\r\n      lowPoint.setAt(i, range1.low);\r\n      highPoint.setAt(i, range1.high);\r\n    }\r\n    range.extend(lowPoint);\r\n    range.extend(highPoint);\r\n  }\r\n  /**\r\n   * Returns a (high accuracy) range of the curve between fractional positions.\r\n   * * Default implementation returns teh range of the curve from clonePartialCurve.\r\n   */\r\n  public override rangeBetweenFractions(fraction0: number, fraction1: number, transform?: Transform): Range3d {\r\n    const sweep = AngleSweep.createStartEndRadians(\r\n      this.sweep.fractionToRadians(fraction0), this.sweep.fractionToRadians(fraction1),\r\n    );\r\n    const range = Range3d.create();\r\n    this.extendRangeInSweep(range, sweep, transform);\r\n    return range;\r\n  }\r\n  /**\r\n   * Set up a SineCosinePolynomial as the function c+u*cos(theta)+v*sin(theta) where\r\n   * c,u,v are coefficients obtained by evaluating altitude and velocity relative to the plane.\r\n   * @param plane plane for altitude calculation.\r\n   * @param result optional result.\r\n   * @internal\r\n   */\r\n  public getPlaneAltitudeSineCosinePolynomial(\r\n    plane: PlaneAltitudeEvaluator, result?: SineCosinePolynomial,\r\n  ): SineCosinePolynomial {\r\n    if (!result)\r\n      result = new SineCosinePolynomial(0, 0, 0);\r\n    // altitude function of angle t, given plane with origin o and unit normal n:\r\n    //  A(t) = (c + u cos(t) + v sin(t)) . n = (c-o).n + u.n cos(t) + v.n sin(t)\r\n    // Note the different functions for computing dot product against a point vs. a vector!\r\n    result.set(plane.altitude(this._center),\r\n      plane.velocityXYZ(this._matrix.coffs[0], this._matrix.coffs[3], this._matrix.coffs[6]),\r\n      plane.velocityXYZ(this._matrix.coffs[1], this._matrix.coffs[4], this._matrix.coffs[7]));\r\n    return result;\r\n  }\r\n  /**\r\n   * Create a new arc which is a unit circle in the xy-plane centered at the origin.\r\n   * @param result optional preallocated object to populate and return.\r\n   */\r\n  public static createUnitCircle(result?: Arc3d): Arc3d {\r\n    return Arc3d.createRefs(undefined, undefined, undefined, result);\r\n  }\r\n  /**\r\n   * Create a new arc which is parallel to the xy plane, with given center and radius and optional angle sweep.\r\n   * @param center center of arc.\r\n   * @param radius radius of arc.\r\n   * @param sweep sweep limits; defaults to full circle.\r\n   * @param result optional preallocated object to populate and return.\r\n   */\r\n  public static createXY(center: Point3d, radius: number, sweep?: AngleSweep, result?: Arc3d): Arc3d {\r\n    const matrix = Matrix3d.createScale(radius, radius, 1.0, result?.matrixRef);\r\n    if (result)\r\n      return result.set(center, matrix, sweep);\r\n    return Arc3d.createRefs(center.clone(), matrix, sweep?.clone());\r\n  }\r\n  /**\r\n   * Create a new arc which is parallel to the xy plane, with given center and x,y radii, and optional angle sweep\r\n   * @param center center of ellipse.\r\n   * @param radiusA x axis radius.\r\n   * @param radiusB y axis radius.\r\n   * @param sweep angle sweep. Default is full circle.\r\n   * @param result optional preallocated object to populate and return.\r\n   */\r\n  public static createXYEllipse(center: Point3d, radiusA: number, radiusB: number, sweep?: AngleSweep, result?: Arc3d): Arc3d {\r\n    const matrix = Matrix3d.createScale(radiusA, radiusB, 1.0, result?.matrixRef);\r\n    if (result)\r\n      return result.set(center, matrix, sweep);\r\n    return Arc3d.createRefs(center.clone(), matrix, sweep?.clone());\r\n  }\r\n  /**\r\n   * Replace the arc's 0 and 90 degree vectors.\r\n   * @param vector0 vector from center to ellipse point at 0 degrees in parameter space.\r\n   * @param vector90 vector from center to ellipse point at 90 degrees in parameter space.\r\n   */\r\n  public setVector0Vector90(vector0: Vector3d, vector90: Vector3d) {\r\n    this._matrix.setColumns(vector0, vector90,\r\n      vector0.unitCrossProductWithDefault(vector90, 0, 0, 0), // normal will be 000 for degenerate case\r\n    );\r\n  }\r\n  /**\r\n   * Return the symmetric definition of the arc, with rigid axes and radii.\r\n   * * The caller can send the returned data into [[createScaledXYColumns]] to construct the major-minor axis\r\n   * version of the instance arc. This formulation of the arc has the same shape, but has perpendicular axes,\r\n   * from which the arc's symmetry is readily apparent.\r\n   */\r\n  public toScaledMatrix3d(): { center: Point3d, axes: Matrix3d, r0: number, r90: number, sweep: AngleSweep } {\r\n    const angleData = Angle.dotProductsToHalfAngleTrigValues(\r\n      this._matrix.columnXMagnitudeSquared(),\r\n      this._matrix.columnYMagnitudeSquared(),\r\n      this._matrix.columnXDotColumnY(),\r\n      true,\r\n    );\r\n    const vector0A = this._matrix.multiplyXY(angleData.c, angleData.s);\r\n    const vector90A = this._matrix.multiplyXY(-angleData.s, angleData.c);\r\n    const axes = Matrix3d.createRigidFromColumns(vector0A, vector90A, AxisOrder.XYZ);\r\n    return {\r\n      center: this._center.clone(),\r\n      axes: (axes ? axes : Matrix3d.createIdentity()),\r\n      r0: vector0A.magnitude(),\r\n      r90: vector90A.magnitude(),\r\n      sweep: this.sweep.cloneMinusRadians(angleData.radians),\r\n    };\r\n  }\r\n  /** Return the arc definition with center, two vectors, and angle sweep. */\r\n  public toVectors(): ArcVectors {\r\n    return {\r\n      center: this.center.clone(),\r\n      vector0: this._matrix.columnX(),\r\n      vector90: this._matrix.columnY(),\r\n      sweep: this.sweep.clone(),\r\n    };\r\n  }\r\n  /** Return the arc definition with center, two vectors, and angle sweep, optionally transformed. */\r\n  public toTransformedVectors(\r\n    transform?: Transform,\r\n  ): { center: Point3d, vector0: Vector3d, vector90: Vector3d, sweep: AngleSweep } {\r\n    return transform ? {\r\n      center: transform.multiplyPoint3d(this._center),\r\n      vector0: transform.multiplyVector(this._matrix.columnX()),\r\n      vector90: transform.multiplyVector(this._matrix.columnY()),\r\n      sweep: this.sweep.clone(),\r\n    }\r\n      : {\r\n        center: this._center.clone(),\r\n        vector0: this._matrix.columnX(),\r\n        vector90: this._matrix.columnY(),\r\n        sweep: this.sweep.clone(),\r\n      };\r\n  }\r\n  /** Return the arc definition with center, two vectors, and angle sweep, transformed to 4d points. */\r\n  public toTransformedPoint4d(\r\n    matrix: Matrix4d,\r\n  ): { center: Point4d, vector0: Point4d, vector90: Point4d, sweep: AngleSweep } {\r\n    return {\r\n      center: matrix.multiplyPoint3d(this._center, 1.0),\r\n      vector0: matrix.multiplyPoint3d(this._matrix.columnX(), 0.0),\r\n      vector90: matrix.multiplyPoint3d(this._matrix.columnY(), 0.0),\r\n      sweep: this.sweep.clone(),\r\n    };\r\n  }\r\n  /**\r\n   * Set this arc from a json object with these values:\r\n   * * center center point.\r\n   * * vector0 vector from center to 0 degree point in parameter space (commonly but not always the major axis vector).\r\n   * * vector90 vector from center to 90 degree point in parameter space (commonly but not always the minor axis vector).\r\n   * @param json\r\n   */\r\n  public setFromJSON(json?: any) {\r\n    if (json && json.center && json.vector0 && json.vector90 && json.sweep) {\r\n      this._center.setFromJSON(json.center);\r\n      const vector0 = Vector3d.create();\r\n      const vector90 = Vector3d.create();\r\n      vector0.setFromJSON(json.vector0);\r\n      vector90.setFromJSON(json.vector90);\r\n      this.setVector0Vector90(vector0, vector90);\r\n      this._sweep.setFromJSON(json.sweep);\r\n    } else {\r\n      this._center.set(0, 0, 0);\r\n      this._matrix.setFrom(Matrix3d.identity);\r\n      this._sweep.setStartEndRadians();\r\n    }\r\n  }\r\n  /**\r\n   * Convert to a JSON object.\r\n   * @return {*} [center:  [], vector0:[], vector90:[], sweep []}\r\n   */\r\n  public toJSON(): any {\r\n    return {\r\n      center: this._center.toJSON(),\r\n      sweep: this._sweep.toJSON(),\r\n      vector0: this._matrix.columnX().toJSON(),\r\n      vector90: this._matrix.columnY().toJSON(),\r\n    };\r\n  }\r\n  /** Test if this arc is almost equal to another GeometryQuery object. */\r\n  public override isAlmostEqual(otherGeometry: GeometryQuery, distanceTol: number = Geometry.smallMetricDistance, radianTol: number = Geometry.smallAngleRadians): boolean {\r\n    if (otherGeometry instanceof Arc3d) {\r\n      const other = otherGeometry;\r\n      return this._center.isAlmostEqual(other._center, distanceTol)\r\n        && this._matrix.isAlmostEqual(other._matrix, distanceTol)\r\n        && this._sweep.isAlmostEqualAllowPeriodShift(other._sweep, radianTol);\r\n    }\r\n    return false;\r\n  }\r\n  /** Emit strokes to caller-supplied linestring. */\r\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\r\n    const numStrokes = this.computeStrokeCountForOptions(options);\r\n    dest.appendFractionalStrokePoints(this, numStrokes, 0.0, 1.0, true);\r\n  }\r\n  /** Emit strokes to caller-supplied handler. */\r\n  public emitStrokableParts(handler: IStrokeHandler, options?: StrokeOptions): void {\r\n    const numStrokes = this.computeStrokeCountForOptions(options);\r\n    handler.startCurvePrimitive(this);\r\n    handler.announceIntervalForUniformStepStrokes(this, numStrokes, 0.0, 1.0);\r\n    handler.endCurvePrimitive(this);\r\n  }\r\n  /**\r\n   * Return the stroke count required for given options.\r\n   * @param options StrokeOptions that determine count.\r\n   */\r\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\r\n    let numStroke;\r\n    if (options) {\r\n      const rMax = this.maxVectorLength();\r\n      numStroke = options.applyTolerancesToArc(rMax, this._sweep.sweepRadians);\r\n    } else {\r\n      numStroke = StrokeOptions.applyAngleTol(undefined, 1, this._sweep.sweepRadians);\r\n    }\r\n    return numStroke;\r\n  }\r\n  /** Second step of double dispatch: call `handler.handleArc3d(this)` */\r\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\r\n    return handler.handleArc3d(this);\r\n  }\r\n  /**\r\n   * Return (if possible) an arc which is a portion of this curve.\r\n   * @param fractionA start fraction.\r\n   * @param fractionB end fraction.\r\n   */\r\n  public override clonePartialCurve(fractionA: number, fractionB: number): Arc3d {\r\n    if (fractionB < fractionA) {\r\n      const arcA = this.clonePartialCurve(fractionB, fractionA);\r\n      arcA.reverseInPlace();\r\n      return arcA;\r\n    }\r\n    const arcB = this.clone();\r\n    arcB.sweep.setStartEndRadians(\r\n      this.sweep.fractionToRadians(fractionA),\r\n      this.sweep.fractionToRadians(fractionB),\r\n    );\r\n    return arcB;\r\n  }\r\n  /**\r\n   * Return an arc whose basis vectors are rotated by given angle within the current basis space.\r\n   * * The returned arc will have `vector0 = this.vector0 * cos(theta) + this.vector90 * sin(theta)`.\r\n   * * The returned arc has the same shape as the instance.\r\n   *   * In other words, the arc's sweep is adjusted so that all fractional parameters evaluate to the same points.\r\n   *   * Specifically, theta is subtracted from the original start and end angles.\r\n   * @param theta the angle (in the input arc space) which is to become the 0-degree point in the new arc.\r\n   */\r\n  public cloneInRotatedBasis(theta: Angle): Arc3d {\r\n    const c = theta.cos();\r\n    const s = theta.sin();\r\n    const vector0 = this._matrix.multiplyXY(c, s);\r\n    const vector90 = this._matrix.multiplyXY(-s, c);\r\n    const newSweep = AngleSweep.createStartEndRadians(\r\n      this._sweep.startRadians - theta.radians, this._sweep.endRadians - theta.radians,\r\n    );\r\n    const arcB = Arc3d.create(this._center.clone(), vector0, vector90, newSweep);\r\n    return arcB;\r\n  }\r\n  /**\r\n   * Return a cloned arc with basis rotated to align with the global axes. The arc's shape is unchanged.\r\n   * * This method is most useful when the instance is an xy-circular arc, for then the aligned arc's stored sweep\r\n   * angles can be understood as being measured from the global positive x-axis to the arc's start/end. This is *not*\r\n   * the case for xy-elliptical arcs: the parameter angle difference between two points on an ellipse is in general\r\n   * not the same as the angle measured between their radials.\r\n   * * For an xy instance, the output arc will have:\r\n   *   * vector0 is in the same direction as the positive x-axis\r\n   *   * perpendicularVector is in the same direction as the positive z-axis\r\n   * * For a general instance, the output arc will have:\r\n   *   * vector0 is in the same direction as the projection of the positive x-axis vector onto the arc plane\r\n   *   * perpendicularVector lies in the halfspace z >= 0\r\n   * @returns cloned arc, or undefined (if the instance normal is parallel to the x-axis, or its matrix is singular)\r\n   */\r\n  public cloneAxisAligned(): Arc3d | undefined {\r\n    const plane = Plane3dByOriginAndUnitNormal.create(this.center, this.perpendicularVector.crossProduct(Vector3d.unitX()));\r\n    if (!plane)\r\n      return undefined;\r\n    const axisPts: CurveLocationDetail[] = [];\r\n    if (2 !== this.appendPlaneIntersectionPoints(plane, axisPts))\r\n      return undefined;\r\n    const iAxisPt = plane.getNormalRef().dotProduct(this.perpendicularVector.crossProductStartEnd(this.center, axisPts[0].point)) > 0.0 ? 0 : 1;\r\n    const toUnitX = this.sweep.fractionToAngle(axisPts[iAxisPt].fraction);\r\n    const arc1 = this.cloneInRotatedBasis(toUnitX); // rotate in arc's plane\r\n    if (this.perpendicularVector.dotProduct(Vector3d.unitZ()) < -Geometry.smallAngleRadians) {\r\n      if (this.matrixRef.isSingular())\r\n        return undefined;\r\n      const flip = Matrix3d.createRowValues(1, 0, 0, 0, -1, 0, 0, 0, -1); // rotate 180 degrees around arc's local x-axis\r\n      arc1.matrixRef.multiplyMatrixMatrix(flip, arc1.matrixRef);\r\n      arc1.sweep.setStartEndDegrees(-arc1.sweep.startDegrees, -arc1.sweep.endDegrees); // rotation alone is insufficient to flip\r\n    }\r\n    return arc1;\r\n  }\r\n  /**\r\n   * Find intervals of this CurvePrimitive that are interior to a clipper.\r\n   * @param clipper clip structure (e.g.clip planes).\r\n   * @param announce (optional) function to be called announcing fractional intervals\r\n   * `announce(fraction0, fraction1, curvePrimitive)`.\r\n   * @returns true if any \"in\" segments are announced.\r\n   */\r\n  public override announceClipIntervals(clipper: Clipper, announce?: AnnounceNumberNumberCurvePrimitive): boolean {\r\n    return clipper.announceClippedArcIntervals(this, announce);\r\n  }\r\n  /** Compute the center and vectors of another arc as local coordinates within this arc's frame. */\r\n  public otherArcAsLocalVectors(other: Arc3d): ArcVectors | undefined {\r\n    const otherOrigin = this._matrix.multiplyInverseXYZAsPoint3d(\r\n      other.center.x - this.center.x,\r\n      other.center.y - this.center.y,\r\n      other.center.z - this.center.z,\r\n    );\r\n    const otherVector0 = this._matrix.multiplyInverse(other.vector0);\r\n    const otherVector90 = this._matrix.multiplyInverse(other.vector90);\r\n    if (otherOrigin && otherVector0 && otherVector90) {\r\n      return {\r\n        center: otherOrigin,\r\n        vector0: otherVector0,\r\n        vector90: otherVector90,\r\n        sweep: this.sweep.clone(),\r\n      };\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Determine an arc \"at a point of inflection\" of a point sequence.\r\n   * * Return the arc along with the fractional positions of the tangency points.\r\n   * * In the returned object:\r\n   *   * `arc` is the (bounded) arc.\r\n   *   * `fraction10` is the tangency point's position as an interpolating fraction of the line segment from\r\n   * `point1` (backwards) to `point0`.\r\n   *   * `fraction12` is the tangency point's position as an interpolating fraction of the line segment from\r\n   * `point1` (forward) to `point2`.\r\n   *   * `point` is the `point1` input.\r\n   * * If unable to construct the arc:\r\n   *   * `point` is the `point1` input.\r\n   *   * both fractions are zero.\r\n   *   * `arc` is undefined.\r\n   * @param point0 first point of path (the point before the point of inflection).\r\n   * @param point1 second point of path (the point of inflection).\r\n   * @param point2 third point of path (the point after the point of inflection).\r\n   * @param radius arc radius.\r\n   *\r\n   */\r\n  public static createFilletArc(point0: Point3d, point1: Point3d, point2: Point3d, radius: number): ArcBlendData {\r\n    const vector10 = Vector3d.createStartEnd(point1, point0);\r\n    const vector12 = Vector3d.createStartEnd(point1, point2);\r\n    const d10 = vector10.magnitude();\r\n    const d12 = vector12.magnitude();\r\n    if (vector10.normalizeInPlace() && vector12.normalizeInPlace()) {\r\n      const bisector = vector10.plus(vector12);\r\n      if (bisector.normalizeInPlace()) {\r\n        // const theta = vector12.angleTo(bisector);\r\n        // vector10, vector12, and bisector are UNIT vectors\r\n        // bisector splits the angle between vector10 and vector12\r\n        const perpendicular = vector12.minus(vector10);\r\n        const perpendicularMagnitude = perpendicular.magnitude();  // == 2 * sin(theta)\r\n        const sinTheta = 0.5 * perpendicularMagnitude;\r\n        if (!Geometry.isSmallAngleRadians(sinTheta)) {  // (for small theta, sinTheta is almost equal to theta)\r\n          const cosTheta = Math.sqrt(1 - sinTheta * sinTheta);\r\n          const tanTheta = sinTheta / cosTheta;\r\n          const alphaRadians = Math.acos(sinTheta);\r\n          const distanceToCenter = radius / sinTheta;\r\n          const distanceToTangency = radius / tanTheta;\r\n          const f10 = distanceToTangency / d10;\r\n          const f12 = distanceToTangency / d12;\r\n          const center = point1.plusScaled(bisector, distanceToCenter);\r\n          bisector.scaleInPlace(-radius);\r\n          perpendicular.scaleInPlace(radius / perpendicularMagnitude);\r\n          const arc02 = Arc3d.create(center, bisector, perpendicular, AngleSweep.createStartEndRadians(-alphaRadians, alphaRadians));\r\n          return { arc: arc02, fraction10: f10, fraction12: f12, point: point1.clone() };\r\n        }\r\n      }\r\n    }\r\n    return { fraction10: 0.0, fraction12: 0.0, point: point1.clone() };\r\n  }\r\n  /** Scale the vector0 and vector90 vectors by `scaleFactor`. */\r\n  public scaleAboutCenterInPlace(scaleFactor: number) {\r\n    this._matrix.scaleColumnsInPlace(scaleFactor, scaleFactor, 1.0);\r\n  }\r\n  /** Return the (signed) area between (a fractional portion of) the arc and the chord between those points. */\r\n  public areaToChordXY(fraction0: number, fraction1: number): number {\r\n    const detJ = Geometry.crossProductXYXY(\r\n      this._matrix.coffs[0], this._matrix.coffs[3],\r\n      this._matrix.coffs[1], this._matrix.coffs[4],\r\n    ); // area scale factor from local to world\r\n    const radians0 = this._sweep.fractionToRadians(fraction0);\r\n    const radians1 = this._sweep.fractionToRadians(fraction1);\r\n    const alpha = 0.5 * (radians1 - radians0); // signed area of local sector\r\n    // Compute signed area of local triangle (\"wedge\") formed by origin and arc endpoints p0, p1:\r\n    // (p0 x p1)/2 = (cos(r0)sin(r1)-cos(r1)sin(r0))/2 = sin(r1-r0)/2 = cos(a)sin(a)\r\n    const wedgeArea = Math.cos(alpha) * Math.sin(alpha);\r\n    return (alpha - wedgeArea) * detJ; // to world\r\n  }\r\n  /**\r\n   * Construct an offset of the instance curve as viewed in the xy-plane (ignoring z).\r\n   * @param offsetDistanceOrOptions offset distance (positive to left of the instance curve), or options object.\r\n   */\r\n  public override constructOffsetXY(\r\n    offsetDistanceOrOptions: number | OffsetOptions,\r\n  ): CurvePrimitive | CurvePrimitive[] | undefined {\r\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\r\n    if (this.isCircular || options.preserveEllipticalArcs) {\r\n      const arcXY = this.cloneAtZ();\r\n      const sign = arcXY.sweep.sweepRadians * arcXY.matrixRef.coffs[8] >= 0.0 ? 1.0 : -1.0;\r\n      const r0 = arcXY.matrixRef.columnXMagnitude();\r\n      const r0new = r0 - sign * options.leftOffsetDistance;\r\n      const r90 = this.isCircular ? r0 : arcXY.matrixRef.columnYMagnitude();\r\n      const r90new = this.isCircular ? r0new : r90 - sign * options.leftOffsetDistance;\r\n      if (\r\n        !Geometry.isSmallMetricDistance(r0new)\r\n        && (r0 * r0new > 0.0)\r\n        && (this.isCircular || (!Geometry.isSmallMetricDistance(r90new) && (r90 * r90new > 0.0)))\r\n      ) {\r\n        const factor0 = r0new / r0;\r\n        const factor90 = this.isCircular ? factor0 : r90new / r90;\r\n        arcXY.matrixRef.scaleColumnsInPlace(factor0, factor90, 1.0);\r\n        return arcXY;\r\n      }\r\n      return undefined; // zero radius\r\n    }\r\n    // default impl\r\n    const handler = new CurveOffsetXYHandler(this, options.leftOffsetDistance);\r\n    this.emitStrokableParts(handler, options.strokeOptions);\r\n    return handler.claimResult();\r\n  }\r\n  /**\r\n   * Project instance geometry (via dispatch) onto the given ray, and return the extreme fractional parameters of projection.\r\n   * @param ray ray onto which the instance is projected. A `Vector3d` is treated as a `Ray3d` with zero origin.\r\n   * @param lowHigh optional receiver for output.\r\n   * @returns range of fractional projection parameters onto the ray, where 0.0 is start of the ray and 1.0 is the end of the ray.\r\n   */\r\n  public override projectedParameterRange(ray: Vector3d | Ray3d, lowHigh?: Range1d): Range1d | undefined {\r\n    return PlaneAltitudeRangeContext.findExtremeFractionsAlongDirection(this, ray, lowHigh);\r\n  }\r\n  /**\r\n   * Construct a circular arc chain approximation to the instance elliptical arc.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximationGeneral and\r\n   *  https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximation\r\n   * @param options bundle of options for sampling an elliptical arc (use default options if undefined).\r\n   * @returns the approximating curve chain, the circular instance, or undefined if construction fails.\r\n   */\r\n  public constructCircularArcChainApproximation(options?: EllipticalArcApproximationOptions): CurveChain | Arc3d | undefined {\r\n    if (!options)\r\n      options = EllipticalArcApproximationOptions.create();\r\n    const context = EllipticalArcApproximationContext.create(this);\r\n    const result = context.constructCircularArcChainApproximation(options);\r\n    if (!result && this.isCircular)\r\n      return (this.sweep.isFullCircle && options.forcePath) ? Path.create(this) : this;\r\n    return result;\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\n* See LICENSE.md in the project root for license terms and full copyright notice.\n*--------------------------------------------------------------------------------------------*/\n\n/** @packageDocumentation\n * @module Curve\n */\n\nimport { Clipper } from \"../clipping/ClipUtils\";\nimport { Constant } from \"../Constant\";\nimport { AxisOrder, BeJSONFunctions, Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\nimport { Angle } from \"../geometry3d/Angle\";\nimport { AngleSweep } from \"../geometry3d/AngleSweep\";\nimport { GeometryHandler, IStrokeHandler } from \"../geometry3d/GeometryHandler\";\nimport { Matrix3d } from \"../geometry3d/Matrix3d\";\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\nimport { Ray3d } from \"../geometry3d/Ray3d\";\nimport { Transform } from \"../geometry3d/Transform\";\nimport { XYAndZ } from \"../geometry3d/XYZProps\";\nimport { Matrix4d } from \"../geometry4d/Matrix4d\";\nimport { Point4d } from \"../geometry4d/Point4d\";\nimport { SineCosinePolynomial, TrigPolynomial } from \"../numerics/Polynomials\";\nimport { SmallSystem } from \"../numerics/SmallSystem\";\nimport { CurveChain } from \"./CurveCollection\";\nimport { CurveExtendMode, CurveExtendOptions, VariantCurveExtendParameter } from \"./CurveExtendMode\";\nimport { CurveIntervalRole, CurveLocationDetail, CurveSearchStatus } from \"./CurveLocationDetail\";\nimport { AnnounceNumberNumberCurvePrimitive, CurvePrimitive, TangentOptions } from \"./CurvePrimitive\";\nimport { GeometryQuery } from \"./GeometryQuery\";\nimport { CurveOffsetXYHandler } from \"./internalContexts/CurveOffsetXYHandler\";\nimport { EllipticalArcApproximationContext } from \"./internalContexts/EllipticalArcApproximationContext\";\nimport { PlaneAltitudeRangeContext } from \"./internalContexts/PlaneAltitudeRangeContext\";\nimport { LineSegment3d } from \"./LineSegment3d\";\nimport { LineString3d } from \"./LineString3d\";\nimport { OffsetOptions } from \"./OffsetOptions\";\nimport { Path } from \"./Path\";\nimport { StrokeOptions } from \"./StrokeOptions\";\n\n// cspell:words binormal\n\n/**\n * Compact vector form of an elliptic arc defined by center, vectors at 0 and 90 degrees, and angular sweep.\n * * @see [Curve Collections]($docs/learning/geometry/CurvePrimitive.md) learning article for further details of the\n * parameterization and meaning of the vectors.\n * @public\n */\nexport interface ArcVectors {\n  /** Center point of arc. */\n  center: Point3d;\n  /** Vector from the arc center to the arc point at parameter 0 degrees. */\n  vector0: Vector3d;\n  /** Vector from the arc center to the arc point at parameter 90 degrees. */\n  vector90: Vector3d;\n  /** Angular range swept by the arc, of length less than 2*pi if not a full ellipse. */\n  sweep: AngleSweep;\n}\n\n/**\n * Carrier structure for an arc with fractional data on incoming, outgoing curves.\n * @public\n */\nexport interface ArcBlendData {\n  /** Constructed arc. */\n  arc?: Arc3d;\n  /** Fraction \"moving backward\" on the inbound curve. */\n  fraction10: number;\n  /** Fraction \"moving forward\" on the outbound curve. */\n  fraction12: number;\n  /** Optional reference point. */\n  point?: Point3d;\n}\n\n/**\n * Enumeration of methods used to sample an elliptical arc in [[Arc3d.constructCircularArcChainApproximation]].\n * * Because ellipses have two axes of symmetry, samples are computed for one quadrant and reflected across each\n * axis to the other quadrants. Any samples that fall outside the arc sweep are filtered out.\n * @public\n */\nexport enum EllipticalArcSampleMethod {\n  /** Generate n samples uniformly interpolated between the min and max parameters of a full ellipse quadrant. */\n  UniformParameter = 0,\n  /** Generate n samples uniformly interpolated between the min and max curvatures of a full ellipse quadrant. */\n  UniformCurvature = 1,\n  /**\n   * Generate n samples interpolated between the min and max curvatures of a full ellipse quadrant, using a\n   * [[FractionMapper]] callback to generate the interpolation weights.\n   */\n  NonUniformCurvature = 2,\n  /**\n   * Generate samples by subdividing parameter space until the approximation has less than a given max\n   * distance to the elliptical arc.\n   */\n  AdaptiveSubdivision = 3,\n}\n\n/**\n * A function that maps [0,1]->[0,1].\n * @public\n */\nexport type FractionMapper = (f: number) => number;\n\n/**\n * Options for generating samples for the construction of an approximation to an elliptical arc.\n * * Used by [[Arc3d.constructCircularArcChainApproximation]].\n * @public\n */\nexport class EllipticalArcApproximationOptions {\n  private _sampleMethod: EllipticalArcSampleMethod;\n  private _numSamplesInQuadrant: number;\n  private _maxError: number;\n  private _remapFunction: FractionMapper;\n  private _forcePath: boolean;\n\n  /** Default error tolerance. */\n  public static defaultMaxError = Constant.oneCentimeter;\n\n  private constructor(\n    method: EllipticalArcSampleMethod,\n    numSamplesInQuadrant: number,\n    maxError: number,\n    remapFunction: FractionMapper,\n    forcePath: boolean,\n  ) {\n    this._sampleMethod = method;\n    this._numSamplesInQuadrant = numSamplesInQuadrant;\n    this._maxError = maxError;\n    this._remapFunction = remapFunction;\n    this._forcePath = forcePath;\n  }\n  /**\n   * Construct options with optional defaults.\n   * @param method sample method, default [[EllipticalArcSampleMethod.AdaptiveSubdivision]].\n   * @param numSamplesInQuadrant samples in each full quadrant for interpolation methods, default 4.\n   * @param maxError positive maximum distance to ellipse for the subdivision method, default 1cm.\n   * @param remapFunction optional callback to remap fraction space for [[EllipticalArcSampleMethod.NonUniformCurvature]],\n   * default quadratic. For best results, this function should be a bijection.\n   * @param forcePath whether to return a [[Path]] instead of a [[Loop]] when approximating a full elliptical arc,\n   * default false.\n   */\n  public static create(\n    method: EllipticalArcSampleMethod = EllipticalArcSampleMethod.AdaptiveSubdivision,\n    numSamplesInQuadrant: number = 4,\n    maxError: number = this.defaultMaxError,\n    remapFunction: FractionMapper = (x: number) => x * x,\n    forcePath: boolean = false,\n  ) {\n    if (numSamplesInQuadrant < 2)\n      numSamplesInQuadrant = 2;\n    if (maxError <= 0)\n      maxError = this.defaultMaxError;\n    return new EllipticalArcApproximationOptions(method, numSamplesInQuadrant, maxError, remapFunction, forcePath);\n  }\n  /** Clone the options. */\n  public clone(): EllipticalArcApproximationOptions {\n    return new EllipticalArcApproximationOptions(\n      this.sampleMethod, this.numSamplesInQuadrant, this.maxError, this.remapFunction, this.forcePath,\n    );\n  }\n  /** Method used to sample the elliptical arc. */\n  public get sampleMethod(): EllipticalArcSampleMethod {\n    return this._sampleMethod;\n  }\n  public set sampleMethod(method: EllipticalArcSampleMethod) {\n    this._sampleMethod = method;\n  }\n  /**\n   * Number of samples to return in each full quadrant, including endpoint(s).\n   * * Used by interpolation sample methods.\n   * * In general, for n samples, the approximating [[Path]] consists of n-1 primitives,\n   * and the approximating [[Loop]] consists of n primitives.\n   * * Minimum value is 2.\n   */\n  public get numSamplesInQuadrant(): number {\n    return this._numSamplesInQuadrant;\n  }\n  public set numSamplesInQuadrant(numSamples: number) {\n    this._numSamplesInQuadrant = numSamples;\n  }\n  /**\n   * Maximum distance (in meters) of the computed approximation to the elliptical arc.\n   * * Used by [[EllipticalArcSampleMethod.AdaptiveSubdivision]].\n   */\n  public get maxError(): number {\n    return this._maxError;\n  }\n  public set maxError(error: number) {\n    this._maxError = error;\n  }\n  /**\n   * Callback function to remap fraction space to fraction space.\n   * * Used by [[EllipticalArcSampleMethod.NonUniformCurvature]].\n   */\n  public get remapFunction(): FractionMapper {\n    return this._remapFunction;\n  }\n  public set remapFunction(f: FractionMapper) {\n    this._remapFunction = f;\n  }\n  /** Whether to return a [[Path]] instead of a [[Loop]] when approximating a full (closed) ellipse. */\n  public get forcePath(): boolean {\n    return this._forcePath;\n  }\n  public set forcePath(value: boolean) {\n    this._forcePath = value;\n  }\n}\n\n/**\n * Circular or elliptic arc.\n * * The angle to point equation is:\n *   * `X = center + cos(theta) * vector0 + sin(theta) * vector90`\n * * The arc's `sweep` determines the range of theta values (angles). In particular:\n *   * The point at `theta = n*360` degrees is `center + vector0` for any integer n.\n *   * The point at `theta = 90 + n*360` degrees is `center + vector90` for any integer n.\n * * The arc's `sweep` _together with_ `vector0` and `vector90` determine the arc's orientation:\n *   * If `sweep.startDegrees < sweep.endDegrees`, the arc's orientation is counterclockwise with respect to its\n * `perpendicularVector` (i.e., looking at the arc from the head of this vector).\n *   * Similarly, if `sweep.startDegrees > sweep.endDegrees`, the arc's orientation is clockwise with respect to\n * its `perpendicularVector`.\n *   * The arc's orientation is _always_ counterclockwise with respect to its `binormalVector`.\n * * When `vector0` and `vector90` are perpendicular and have equal length, the arc is circular.\n *   * When they are non-perpendicular, the arc is always elliptic.\n *   * When they have unequal length, the arc is always elliptic.\n * * To create an ellipse in standard major-minor axis form:\n *   * `vector0` is the vector from the center to the major axis extreme.\n *   * `vector90` is the vector from the center to the minor axis extreme.\n *   * Note that constructing these vectors to the extreme points makes them perpendicular.\n * * The method [[Arc3d.toScaledMatrix3d]] can be called to convert an arc with unrestricted `vector0` and `vector90`\n * to an arc in standard major-minor axis form.\n * * The unrestricted form is much easier to work with for common calculations: stroking, projection to 2d,\n * intersection with plane.\n * @public\n */\nexport class Arc3d extends CurvePrimitive implements BeJSONFunctions {\n  /** String name for schema properties. */\n  public readonly curvePrimitiveType = \"arc\";\n  /** Test if this and other are both instances of Arc3d. */\n  public isSameGeometryClass(other: GeometryQuery): boolean {\n    return other instanceof Arc3d;\n  }\n  private _center: Point3d;\n  private _matrix: Matrix3d; // columns are [vector0, vector90, unit normal]\n  private _sweep: AngleSweep; // sweep limits\n  private static _workPointA = Point3d.create();\n  private static _workPointB = Point3d.create();\n  private static _workPointC = Point3d.create();\n  private static _workVectorU = Vector3d.create();\n  private static _workVectorV = Vector3d.create();\n  private static _workVectorW = Vector3d.create();\n  private static _workRay0 = Ray3d.createZero();\n  private static _workRay1 = Ray3d.createZero();\n  private static _workRay2 = Ray3d.createZero();\n  /** Read/write the center. Getter returns clone. */\n  public get center(): Point3d {\n    return this._center.clone();\n  }\n  public set center(center: XYAndZ) {\n    this._center.setFrom(center);\n  }\n  /** Read property for (reference to) the arc center. */\n  public get centerRef(): Point3d {\n    return this._center;\n  }\n  /**\n   * Read property for (clone of) the x-column of the arc matrix.\n   * * This vector determines the point on the arc corresponding to angles n*360 degrees.\n   */\n  public get vector0(): Vector3d {\n    return this._matrix.columnX();\n  }\n  /**\n   * Read property for (clone of) the y-column of the arc matrix.\n   * * This vector determines the point on the arc corresponding to angles 90 + n*360 degrees.\n   */\n  public get vector90(): Vector3d {\n    return this._matrix.columnY();\n  }\n  /**\n   * Compute an arc binormal vector with arbitrary length.\n   * * The arc parameterization is counterclockwise with respect to this vector.\n   * * This vector is parallel to [[perpendicularVector]] and possibly opposite.\n   */\n  public binormalVector(result?: Vector3d): Vector3d {\n    const plane = this.fractionToPointAnd2Derivatives(0.0);\n    return plane.vectorU.crossProduct(plane.vectorV, result);\n  }\n  /**\n   * Read property for (clone of) the z-column of the arc matrix.\n   * * This vector is nominally the normalized cross product: `vector0 x vector90`.\n   * * To compute a vector with respect to which the arc sweep is counterclockwise, use [[binormalVector]].\n   */\n  public get perpendicularVector(): Vector3d {\n    return this._matrix.columnZ();\n  }\n  /** Return a clone of the arc matrix. */\n  public matrixClone(): Matrix3d {\n    return this._matrix.clone();\n  }\n  /** Read property for (reference to) the arc matrix. */\n  public get matrixRef(): Matrix3d {\n    return this._matrix;\n  }\n  /** Read/write the sweep. Getter returns reference. */\n  public get sweep(): AngleSweep {\n    return this._sweep;\n  }\n  public set sweep(value: AngleSweep) {\n    this._sweep.setFrom(value);\n  }\n  /** An Arc3d extends along its complete elliptic arc. */\n  public override get isExtensibleFractionSpace(): boolean {\n    return true;\n  }\n  /** Constructor. Captures the inputs. */\n  private constructor(center: Point3d, matrix: Matrix3d, sweep: AngleSweep) {\n    super();\n    this._center = center;\n    this._matrix = matrix;\n    this._sweep = sweep.clampToFullCircle(sweep);\n  }\n  /** Return a clone of the arc, with transform applied. */\n  public cloneTransformed(transform: Transform): Arc3d {  // we know tryTransformInPlace succeeds.\n    const c = this.clone();\n    c.tryTransformInPlace(transform);\n    return c;\n  }\n  /**\n   * Redefine the arc with (captured references to) given data.\n   * @param center arc center.\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product.\n   * @param sweep angle sweep.\n   */\n  public setRefs(center: Point3d, matrix: Matrix3d, sweep: AngleSweep) {\n    this._center = center;\n    this._matrix = matrix;\n    sweep.clampToFullCircle(this._sweep);\n  }\n  /**\n   * Redefine the arc with (copies of) the given data.\n   * * Even if an input is omitted, the corresponding instance data is set to the default value.\n   * * For example, all default inputs result in a unit circle centered at the origin in the xy-plane.\n   * @param center arc center. Default is zero.\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product. Default is identity.\n   * @param sweep angle sweep. Default is full sweep.\n   * @returns the instance\n   */\n  public set(center?: Point3d, matrix?: Matrix3d, sweep?: AngleSweep): Arc3d {\n    if (center)\n      this._center.setFrom(center);\n    else\n      this._center.setZero();\n    if (matrix)\n      this._matrix.setFrom(matrix);\n    else\n      this._matrix.setIdentity();\n    if (sweep)\n      sweep.clampToFullCircle(this._sweep);\n    else\n      AngleSweep.create360(0, this._sweep);\n    return this;\n  }\n  /** Copy center, matrix, and sweep from other Arc3d. */\n  public setFrom(other: Arc3d) {\n    this._center.setFrom(other._center);\n    this._matrix.setFrom(other._matrix);\n    this._sweep.setFrom(other._sweep);\n  }\n  /** Return a clone of this arc. */\n  public clone(): Arc3d {\n    return new Arc3d(this._center.clone(), this._matrix.clone(), this._sweep.clone());\n  }\n  /**\n   * Create an arc, capturing references to center, matrix and sweep.\n   * * Default inputs construct a unit circle centered at the origin in the xy-plane.\n   * @param center center point. Default is zero.\n   * @param matrix matrix with columns vector0, vector90, and their unit cross product. Default is identity.\n   * @param sweep sweep limits. Default is full sweep.\n   * @param result optional preallocated result to receive copies of the inputs (or default values) and return.\n   */\n  public static createRefs(center?: Point3d, matrix?: Matrix3d, sweep?: AngleSweep, result?: Arc3d): Arc3d {\n    if (result)\n      return result.set(center, matrix, sweep);\n    return new Arc3d(center ?? Point3d.createZero(), matrix ?? Matrix3d.createIdentity(), sweep ?? AngleSweep.create360());\n  }\n  /**\n   * Create an arc from center, x column to be scaled, and y column to be scaled.\n   * @param center center of ellipse.\n   * @param matrix the x-column and y-column of this matrix are scaled by `radius0` and `radius90` to define the\n   * arc's `vector0` and `vector90`.\n   * @param radius0 radius along `vector0`.\n   * @param radius90 radius along `vector90`.\n   * @param sweep sweep limits.\n   * @param result optional preallocated result.\n   */\n  public static createScaledXYColumns(\n    center: Point3d | undefined, matrix: Matrix3d, radius0: number, radius90: number, sweep?: AngleSweep, result?: Arc3d,\n  ): Arc3d {\n    const vector0 = matrix.columnX();\n    const vector90 = matrix.columnY();\n    return Arc3d.create(center, vector0.scale(radius0, vector0), vector90.scale(radius90, vector90), sweep, result);\n  }\n  /**\n   * Create a full circle from center, normal and radius.\n   * @param center center of circle. If undefined, use 000.\n   * @param normal normal vector.\n   * @param radius radius of the circle.\n   * @param result optional preallocated result.\n   */\n  public static createCenterNormalRadius(\n    center: Point3d | undefined, normal: Vector3d, radius: number, result?: Arc3d,\n  ): Arc3d {\n    const frame = Matrix3d.createRigidHeadsUp(normal);\n    return Arc3d.createScaledXYColumns(center, frame, radius, radius, undefined, result);\n  }\n  /**\n   * Create an elliptical arc by center with vectors to points at 0 and 90 degrees in parameter space.\n   * @param center arc center.\n   * @param vector0 vector to 0 degrees (commonly major axis).\n   * @param vector90 vector to 90 degree point (commonly minor axis).\n   * @param sweep sweep limits; defaults to full sweep.\n   * @param result optional preallocated result.\n   */\n  public static create(\n    center: Point3d | undefined, vector0: Vector3d, vector90: Vector3d, sweep?: AngleSweep, result?: Arc3d,\n  ): Arc3d {\n    const normal = vector0.unitCrossProductWithDefault(vector90, 0, 0, 0); // normal will be 000 for degenerate case\n    const matrix = Matrix3d.createColumns(vector0, vector90, normal, result?._matrix);\n    if (result)\n      return result.set(center, matrix, sweep);\n    return this.createRefs(center?.clone(), matrix, sweep?.clone());\n  }\n  /**\n   * Create an elliptical arc from three points on the ellipse: two points on an axis and one in between.\n   * @param start start of arc, on an axis.\n   * @param middle point on arc somewhere between `start` and `end`.\n   * @param end point on arc directly opposite `start`.\n   * @param sweep angular sweep, measured from `start` in the direction of `middle`.\n   *  For a half-ellipse from `start` to `end` passing through `middle`, pass `AngleSweep.createStartEndDegrees(0,180)`.\n   *  Default value is full sweep to create the entire ellipse.\n   * @param result optional preallocated result.\n   * @returns elliptical arc, or undefined if construction impossible.\n   */\n  public static createStartMiddleEnd(\n    start: XYAndZ, middle: XYAndZ, end: XYAndZ, sweep?: AngleSweep, result?: Arc3d,\n  ): Arc3d | undefined {\n    const center = Point3d.createAdd2Scaled(start, 0.5, end, 0.5);\n    const vector0 = Vector3d.createStartEnd(center, start);\n    const vector1 = Vector3d.createStartEnd(center, middle);\n    const v0DotV1 = vector0.dotProduct(vector1);\n    const v0Len2 = vector0.magnitudeSquared();\n    if (Math.abs(v0DotV1) >= v0Len2)\n      return undefined; // middle point projects to end of axis or beyond (rules out negative under the radical below)\n    const normal = vector0.crossProduct(vector1);\n    const vector90 = normal.unitCrossProductWithDefault(vector0, 0, 0, 0);\n    const v1DotV90 = vector1.dotProduct(vector90);\n    // solve the standard ellipse equation for the unknown axis length, given local coords of middle (v0.v1/||v0||, v90.v1)\n    const v90Len = Geometry.safeDivideFraction(v0Len2 * v1DotV90, Math.sqrt(v0Len2 * v0Len2 - v0DotV1 * v0DotV1), 0);\n    if (Geometry.isSmallMetricDistanceSquared(v90Len)) // tighter than smallMetricDistance to allow flatter long elliptical arcs\n      return undefined;\n    vector90.scaleInPlace(v90Len);\n    return Arc3d.create(center, vector0, vector90, sweep, result);\n  }\n  /**\n   * Create a circular arc defined by start point, tangent at start point, and end point.\n   * * The circular arc is swept from `start` to `end` in the direction of `tangentAtStart`.\n   * * If `tangentAtStart` is parallel to the line segment from `start` to `end`, return the line segment.\n   */\n  public static createCircularStartTangentEnd(\n    start: Point3d, tangentAtStart: Vector3d, end: Point3d, result?: Arc3d,\n  ): Arc3d | LineSegment3d {\n    // see itwinjs-core\\core\\geometry\\internaldocs\\Arc3d.md to clarify below algorithm\n    const startToEnd = Vector3d.createStartEnd(start, end);\n    const frame = Matrix3d.createRigidFromColumns(tangentAtStart, startToEnd, AxisOrder.XYZ);\n    if (frame !== undefined) {\n      const vv = startToEnd.dotProduct(startToEnd);\n      const vw = frame.dotColumnY(startToEnd);\n      const radius = Geometry.conditionalDivideCoordinate(vv, 2 * vw);\n      if (radius !== undefined) {\n        const vector0 = frame.columnY();\n        vector0.scaleInPlace(-radius); // center to start\n        const vector90 = frame.columnX();\n        vector90.scaleInPlace(radius);\n        const centerToEnd = vector0.plus(startToEnd);\n        const sweepAngle = vector0.angleTo(centerToEnd);\n        let sweepRadians = sweepAngle.radians; // always positive and less than PI\n        if (tangentAtStart.dotProduct(centerToEnd) < 0.0) // sweepRadians is the wrong way\n          sweepRadians = 2.0 * Math.PI - sweepRadians;\n        const center = start.plusScaled(vector0, -1.0);\n        const sweep = AngleSweep.createStartEndRadians(0.0, sweepRadians);\n        return Arc3d.create(center, vector0, vector90, sweep, result);\n      }\n    }\n    return LineSegment3d.create(start, end);\n  }\n  /**\n   * Create a circular arc from start point, tangent at start, radius, optional plane normal, arc sweep.\n   * * The vector from start point to center is in the direction of upVector crossed with tangentA.\n   * @param start start point.\n   * @param tangentAtStart vector in tangent direction at the start.\n   * @param radius signed radius.\n   * @param upVector optional out-of-plane vector. Defaults to positive Z.\n   * @param sweep angular range. If single `Angle` is given, start angle is at 0 degrees (the start point).\n   */\n  public static createCircularStartTangentRadius(\n    start: Point3d, tangentAtStart: Vector3d, radius: number, upVector?: Vector3d, sweep?: Angle | AngleSweep,\n  ): Arc3d | undefined {\n    if (upVector === undefined)\n      upVector = Vector3d.unitZ();\n    const vector0 = upVector.unitCrossProduct(tangentAtStart);\n    if (vector0 === undefined)\n      return undefined;\n    const center = start.plusScaled(vector0, radius);\n    // reverse the A-to-center vector and bring it up to scale\n    vector0.scaleInPlace(-radius);\n    const vector90 = tangentAtStart.scaleToLength(Math.abs(radius))!; // cannot fail; prior unitCrossProduct would have failed first\n    return Arc3d.create(center, vector0, vector90, AngleSweep.create(sweep));\n  }\n  /**\n   * Create a circular arc defined by start and end points and radius.\n   * @param start start point of the arc.\n   * @param end end point of the arc.\n   * @param helper a third point near the arc in its plane, or a vector in the direction of the arc normal.\n   * @param result optional preallocated result to populate and return.\n   * @returns the constructed arc, or undefined if desired arc cannot be constructed.\n   */\n  public static createCircularStartEndRadius(start: Point3d, end: Point3d, radius: number, helper: Point3d | Vector3d, result?: Arc3d): Arc3d | undefined {\n    // Construct a line segment from start to end. It is a chord of the circle,\n    // so the circle center is on its perpendicular bisector.\n    const semiChordLen2 = 0.25 * start.distanceSquared(end);\n    const radius2 = radius * radius;\n    if (radius2 < semiChordLen2)\n      return undefined;\n    const height = Math.sqrt(radius2 - semiChordLen2); // Pythagoras gives us distance from chord to center\n    const normal = Vector3d.createZero(this._workVectorU);\n    const vecToCenter = Vector3d.createZero(this._workVectorV);\n    // the helper gives us the circle normal\n    if (helper instanceof Point3d)\n      start.crossProductToPoints(helper, end, normal);\n    else\n      normal.setFrom(helper);\n    // the normal and chord direction give us the side of the chord on which the center resides\n    if (!normal.normalizeInPlace() || !normal.crossProductStartEnd(start, end, vecToCenter).scaleToLength(height, vecToCenter))\n      return undefined;\n    const center = Point3d.createZero(result?.centerRef);\n    start.interpolate(0.5, end, center).addInPlace(vecToCenter);\n    const vector0 = Vector3d.createStartEnd(center, start, this._workVectorW);\n    const endVector = Vector3d.createStartEnd(center, end, this._workVectorV); // reuse static\n    const sweep = AngleSweep.createStartEndRadians(0, vector0.signedRadiansTo(endVector, normal), result?.sweep);\n    const vector90 = normal.crossProduct(vector0, this._workVectorV); // has length radius (reuse static)\n    const matrix = Matrix3d.createColumns(vector0, vector90, normal, result?.matrixRef);\n    return this.createRefs(center, matrix, sweep, result);\n  }\n\n  /**\n   * Return a clone of this arc, projected to given z value.\n   * * If `z` is omitted, the clone is at the z of the center.\n   * * This function projects the arc into a plane parallel to xy-plane.\n   * * Note that projection to fixed z can change circle into ellipse (and (rarely) ellipse to circle).\n   */\n  public cloneAtZ(z?: number): Arc3d {\n    if (z === undefined)\n      z = this._center.z;\n    return Arc3d.createXYZXYZXYZ(\n      this._center.x, this._center.y, z,\n      this._matrix.coffs[0], this._matrix.coffs[3], 0,\n      this._matrix.coffs[1], this._matrix.coffs[4], 0,\n      this._sweep,\n    );\n  }\n  /**\n   * Create an arc by center (cx,cy,xz) with vectors (ux,uy,uz) and (vx,vy,vz) to points at 0 and 90 degrees in\n   * parameter space.\n   * @param result optional preallocated result.\n   */\n  public static createXYZXYZXYZ(\n    cx: number, cy: number, cz: number,\n    ux: number, uy: number, uz: number,\n    vx: number, vy: number, vz: number,\n    sweep?: AngleSweep, result?: Arc3d,\n  ): Arc3d {\n    return Arc3d.create(\n      Point3d.create(cx, cy, cz), Vector3d.create(ux, uy, uz), Vector3d.create(vx, vy, vz), sweep, result,\n    );\n  }\n  /**\n   * Return a quick estimate of the eccentricity of the ellipse.\n   * * The estimator is the cross magnitude of the product of vectors U and V, divided by square of the larger magnitude\n   * * for typical Arc3d with perpendicular UV, this is exactly the small axis divided by large.\n   * * note that the eccentricity is AT MOST ONE.\n   */\n  public quickEccentricity(): number {\n    const magX = this._matrix.columnXMagnitude();\n    const magY = this._matrix.columnYMagnitude();\n    const jacobian = this._matrix.columnXYCrossProductMagnitude();\n    const largeAxis = Geometry.maxXY(magX, magY);\n    return jacobian / (largeAxis * largeAxis);\n  }\n  /**\n   * Create a circular arc defined by start point, any intermediate point, and end point.\n   * If the points are colinear, assemble them into a linestring.\n   */\n  public static createCircularStartMiddleEnd(\n    pointA: XYAndZ, pointB: XYAndZ, pointC: XYAndZ, result?: Arc3d,\n  ): Arc3d | LineString3d {\n    const vectorAB = Vector3d.createStartEnd(pointA, pointB);\n    const vectorAC = Vector3d.createStartEnd(pointA, pointC);\n    const ab2 = vectorAB.magnitudeSquared();\n    const ac2 = vectorAC.magnitudeSquared();\n    const normal = vectorAB.sizedCrossProduct(vectorAC, Math.sqrt(Math.sqrt(ab2 * ac2)));\n    if (normal) {\n      const vectorToCenter = SmallSystem.linearSystem3d(\n        normal.x, normal.y, normal.z,\n        vectorAB.x, vectorAB.y, vectorAB.z,\n        vectorAC.x, vectorAC.y, vectorAC.z,\n        0,         // vectorToCenter DOT normal = 0 (ensure normal is perp to the plane of the 3 points)\n        0.5 * ab2, // vectorToCenter DOT vectorAB = ab2 / 2 (ensure the projection of vectorToCenter on AB bisects AB)\n        0.5 * ac2, // vectorToCenter DOT vectorAC = ac2 / 2 (ensure the projection of vectorToCenter on AC bisects AC)\n      );\n      if (vectorToCenter) { // i.e., the negative of vectorX\n        const center = Point3d.create(pointA.x, pointA.y, pointA.z).plus(vectorToCenter);\n        const vectorX = Vector3d.createStartEnd(center, pointA);\n        const vectorY = Vector3d.createRotateVectorAroundVector(vectorX, normal, Angle.createDegrees(90));\n        if (vectorY) {\n          const vectorCenterToC = Vector3d.createStartEnd(center, pointC);\n          const sweepAngle = vectorX.signedAngleTo(vectorCenterToC, normal);\n          if (sweepAngle.radians < 0.0)\n            sweepAngle.addMultipleOf2PiInPlace(1.0);\n          return Arc3d.create(\n            center, vectorX, vectorY, AngleSweep.createStartEndRadians(0.0, sweepAngle.radians), result,\n          );\n        }\n      }\n    }\n    return LineString3d.create(pointA, pointB, pointC);\n  }\n  /** The arc has simple proportional arc length if and only if it is a circular arc. */\n  public override getFractionToDistanceScale(): number | undefined {\n    const radius = this.circularRadius();\n    if (radius !== undefined)\n      return Math.abs(radius * this._sweep.sweepRadians);\n    return undefined;\n  }\n  /**\n   * Convert a fractional position to xyz coordinates.\n   * @param fraction fractional position on arc.\n   * @param result optional preallocated result.\n   */\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\n    const radians = this._sweep.fractionToRadians(fraction);\n    return this._matrix.originPlusMatrixTimesXY(this._center, Math.cos(radians), Math.sin(radians), result);\n  }\n  /**\n   * Convert fractional arc and radial positions to xyz coordinates.\n   * @param fraction fractional position on arc.\n   * @param result optional preallocated result.\n   */\n  public fractionAndRadialFractionToPoint(arcFraction: number, radialFraction: number, result?: Point3d): Point3d {\n    const radians = this._sweep.fractionToRadians(arcFraction);\n    return this._matrix.originPlusMatrixTimesXY(\n      this._center, radialFraction * Math.cos(radians), radialFraction * Math.sin(radians), result,\n    );\n  }\n  /**\n   * Convert a fractional position to xyz coordinates and derivative with respect to fraction.\n   * @param fraction fractional position on arc.\n   * @param result optional preallocated result.\n   */\n  public fractionToPointAndDerivative(fraction: number, result?: Ray3d): Ray3d {\n    result = this.radiansToPointAndDerivative(this._sweep.fractionToRadians(fraction), result);\n    result.direction.scaleInPlace(this._sweep.sweepRadians);\n    return result;\n  }\n  /**\n   * Construct a plane with\n   * * origin at the fractional position along the arc.\n   * * x axis is the first derivative, i.e. tangent along the arc.\n   * * y axis is the second derivative, i.e. in the plane and on the center side of the tangent.\n   * If the arc is circular, the second derivative is directly towards the center.\n   */\n  public fractionToPointAnd2Derivatives(fraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    const radians = this._sweep.fractionToRadians(fraction);\n    if (!result)\n      result = Plane3dByOriginAndVectors.createXYPlane();\n    const c = Math.cos(radians);\n    const s = Math.sin(radians);\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\n    const a = this._sweep.sweepRadians;\n    this._matrix.multiplyXY(-a * s, a * c, result.vectorU);\n    const aa = a * a;\n    this._matrix.multiplyXY(-aa * c, -aa * s, result.vectorV);\n    return result;\n  }\n  /**\n   * Evaluate the point and derivative with respect to the angle (in radians).\n   * @param radians angular position.\n   * @param result optional preallocated ray.\n   */\n  public radiansToPointAndDerivative(radians: number, result?: Ray3d): Ray3d {\n    result = result ? result : Ray3d.createZero();\n    const c = Math.cos(radians);\n    const s = Math.sin(radians);\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\n    this._matrix.multiplyXY(-s, c, result.direction);\n    return result;\n  }\n  /**\n   * Evaluate the point with respect to the angle (in radians).\n   * @param radians angular position.\n   * @param result optional preallocated ray.\n   */\n  public radiansToPoint(radians: number, result?: Point3d): Point3d {\n    result = result ? result : Point3d.create();\n    const c = Math.cos(radians);\n    const s = Math.sin(radians);\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result);\n    return result;\n  }\n  /**\n   * Return a parametric plane with\n   * * origin at arc center.\n   * * vectorU from center to arc at angle (in radians).\n   * * vectorV from center to arc at 90 degrees past the angle.\n   * @param radians angular position.\n   * @param result optional preallocated plane.\n   */\n  public radiansToRotatedBasis(radians: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\n    result = result ? result : Plane3dByOriginAndVectors.createXYPlane();\n    const c = Math.cos(radians);\n    const s = Math.sin(radians);\n    result.origin.setFromPoint3d(this.center);\n    this._matrix.multiplyXY(c, s, result.vectorU);\n    this._matrix.multiplyXY(-s, c, result.vectorV);\n    return result;\n  }\n  /**\n   * Evaluate the point and derivative with respect to the angle (in radians).\n   * @param theta angular position.\n   * @param result optional preallocated ray.\n   */\n  public angleToPointAndDerivative(theta: Angle, result?: Ray3d): Ray3d {\n    result = result ? result : Ray3d.createZero();\n    const c = theta.cos();\n    const s = theta.sin();\n    this._matrix.originPlusMatrixTimesXY(this._center, c, s, result.origin);\n    this._matrix.multiplyXY(-s, c, result.direction);\n    return result;\n  }\n  /**\n   * Return the start point of the arc.\n   * @param result optional preallocated result.\n   */\n  public override startPoint(result?: Point3d): Point3d {\n    return this.fractionToPoint(0.0, result);\n  }\n  /**\n   * Return the end point of the arc.\n   * @param result optional preallocated result.\n   */\n  public override endPoint(result?: Point3d): Point3d {\n    return this.fractionToPoint(1.0, result);\n  }\n  /** * If this is a circular arc, return the simple length derived from radius and sweep.\n   * * Otherwise (i.e. if this elliptical) fall through to CurvePrimitive base implementation which\n   *     Uses quadrature.\n   */\n  public override curveLength(): number {\n    return this.curveLengthBetweenFractions(0, 1);\n  }\n  /**\n   * Gauss point quadrature count for evaluating curve length. (The number of intervals is adjusted to the arc sweep).\n   * @deprecated in 5.0 - will not be removed until after 2026-06-13. Use correct spelling quadratureGaussCount.\n   */\n  public static readonly quadratureGuassCount = 5;\n  /** Gauss point quadrature count for evaluating curve length. (The number of intervals is adjusted to the arc sweep). */\n  public static readonly quadratureGaussCount = 5;\n  /** In quadrature for arc length, use this interval (divided by quickEccentricity). */\n  public static readonly quadratureIntervalAngleDegrees = 10.0;\n  /**\n   * * If this is a circular arc, return the simple length derived from radius and sweep.\n   * * Otherwise (i.e. if this elliptical) fall through CurvePrimitive integrator.\n   */\n  public override curveLengthBetweenFractions(fraction0: number, fraction1: number): number {\n    const simpleLength = this.getFractionToDistanceScale();\n    if (simpleLength !== undefined)\n      return simpleLength * Math.abs(fraction1 - fraction0);\n    // fall through for true ellipse . .. stroke and accumulate quadrature with typical count .  ..\n    let f0 = fraction0;\n    let f1 = fraction1;\n    if (fraction0 > fraction1) {\n      f0 = fraction1;\n      f1 = fraction0;\n    }\n    const sweepDegrees = (f1 - f0) * this._sweep.sweepDegrees;\n    let eccentricity = this.quickEccentricity();\n    if (eccentricity < 0.00001)\n      eccentricity = 0.00001;\n    let numInterval = Math.ceil(sweepDegrees / (eccentricity * Arc3d.quadratureIntervalAngleDegrees));\n    if (numInterval > 400)\n      numInterval = 400;\n    if (numInterval < 1)\n      numInterval = 1;\n    return super.curveLengthWithFixedIntervalCountQuadrature(f0, f1, numInterval, Arc3d.quadratureGaussCount);\n  }\n  /**\n   * Return an approximate (but easy to compute) arc length.\n   * The estimate is:\n   * * Form 8 chords on full circle, proportionally fewer for partials (but 2 extras if less than half circle).\n   * * Sum the chord lengths.\n   * * For a circle, we know this crude approximation has to be increased by a factor (theta/(2*sin(theta/2))).\n   * * Apply that factor.\n   * * Experiments confirm that this is within 3 percent for a variety of eccentricities and arc sweeps.\n   */\n  public quickLength(): number {\n    const totalSweep = Math.abs(this._sweep.sweepRadians);\n    let numInterval = Math.ceil(4 * totalSweep / Math.PI);\n    if (numInterval < 1)\n      numInterval = 1;\n    if (numInterval < 4)\n      numInterval += 3;\n    else if (numInterval < 6)\n      numInterval += 2;   // force extras for short arcs\n    const pointA = Arc3d._workPointA;\n    const pointB = Arc3d._workPointB;\n    let chordSum = 0.0;\n    this.fractionToPoint(0.0, pointA);\n    for (let i = 1; i <= numInterval; i++) {\n      this.fractionToPoint(i / numInterval, pointB);\n      chordSum += pointA.distance(pointB);\n      pointA.setFromPoint3d(pointB);\n    }\n    // The chord sum is always shorter.\n    // if it is a true circular arc, the ratio of correct over sum is easy ...\n    const dTheta = totalSweep / numInterval;\n    const factor = dTheta / (2.0 * Math.sin(0.5 * dTheta));\n    return chordSum * factor;\n  }\n  /**\n   * * See extended comments on `CurvePrimitive.moveSignedDistanceFromFraction`.\n   * * A zero length line generates `CurveSearchStatus.error`.\n   * * Nonzero length line generates `CurveSearchStatus.success` or `CurveSearchStatus.stoppedAtBoundary`.\n   */\n  public override moveSignedDistanceFromFraction(\n    startFraction: number, signedDistance: number, allowExtension: false, result?: CurveLocationDetail,\n  ): CurveLocationDetail {\n    if (!this.isCircular) // suppress extension !!!\n      return super.moveSignedDistanceFromFractionGeneric(startFraction, signedDistance, allowExtension, result);\n    const totalLength = this.curveLength();\n    const signedFractionMove = Geometry.conditionalDivideFraction(signedDistance, totalLength);\n    if (signedFractionMove === undefined) {\n      return CurveLocationDetail.createCurveFractionPointDistanceCurveSearchStatus(\n        this, startFraction, this.fractionToPoint(startFraction), 0.0, CurveSearchStatus.error);\n    }\n    return CurveLocationDetail.createConditionalMoveSignedDistance(\n      allowExtension,\n      this,\n      startFraction,\n      startFraction + signedFractionMove,\n      signedDistance,\n      result);\n  }\n  /**\n   * Return all radian angles where the ellipse tangent is perpendicular to the vector to a spacePoint.\n   * @param spacePoint point of origin of vectors to the ellipse.\n   * @param _extend always true. Sweep is ignored: perpendiculars for the full ellipse are returned.\n   * @param endpoints if true, force the end radians into the result.\n   */\n  public allPerpendicularAngles(spacePoint: Point3d, _extend: boolean = true, endpoints: boolean = false): number[] {\n    const radians: number[] = [];\n    const vectorQ = spacePoint.vectorTo(this.center);\n    const uu = this._matrix.columnXMagnitudeSquared();\n    const uv = this._matrix.columnXDotColumnY();\n    const vv = this._matrix.columnYMagnitudeSquared();\n    TrigPolynomial.solveUnitCircleImplicitQuadricIntersection(\n      uv,\n      vv - uu,\n      -uv,\n      this._matrix.dotColumnY(vectorQ),\n      -this._matrix.dotColumnX(vectorQ),\n      0.0,\n      radians,\n    );\n    if (endpoints) {\n      radians.push(this.sweep.startRadians);\n      radians.push(this.sweep.endRadians);\n    }\n    return radians;\n  }\n  /**\n   * Return details of the closest point on the arc, optionally extending to full ellipse.\n   * @param spacePoint search for point closest to this point.\n   * @param extend if true, consider projections to the complete ellipse. If false, consider only endpoints and\n   * projections within the arc sweep.\n   * @param result optional preallocated result.\n   */\n  public override closestPoint(\n    spacePoint: Point3d, extend: VariantCurveExtendParameter, result?: CurveLocationDetail,\n  ): CurveLocationDetail {\n    result = CurveLocationDetail.create(this, result);\n    const allRadians = this.allPerpendicularAngles(spacePoint, true, true);\n    let extend0 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extend, 0);\n    let extend1 = CurveExtendOptions.resolveVariantCurveExtendParameterToCurveExtendMode(extend, 1);\n    // distinct extends for cyclic space are awkward ....\n    if (this._sweep.isFullCircle) {\n      extend0 = CurveExtendMode.None;\n      extend1 = CurveExtendMode.None;\n    }\n    if (extend0 !== CurveExtendMode.None && extend1 !== CurveExtendMode.None) {\n      allRadians.push(this._sweep.startRadians);\n      allRadians.push(this._sweep.endRadians);\n    }\n    // hm... logically there must at least two angles there ...  but if it happens return the start point ...\n    const workRay = Ray3d.createZero();\n    if (allRadians.length === 0) {\n      result.setFR(0.0, this.radiansToPointAndDerivative(this._sweep.startRadians, workRay));\n      result.a = spacePoint.distance(result.point);\n    } else {\n      let dMin = Number.MAX_VALUE;\n      let d = 0;\n      for (const radians of allRadians) {\n        const fraction = CurveExtendOptions.resolveRadiansToSweepFraction(extend, radians, this.sweep);\n        if (fraction !== undefined) {\n          this.fractionToPointAndDerivative(fraction, workRay);\n\n          d = spacePoint.distance(workRay.origin);\n          if (d < dMin) {\n            dMin = d;\n            result.setFR(fraction, workRay);\n            result.a = d;\n          }\n        }\n      }\n    }\n    return result;\n  }\n  /** Override of [[CurvePrimitive.emitTangents]] for Arc3d. */\n  public override emitTangents(\n    spacePoint: Point3d, announceTangent: (tangent: CurveLocationDetail) => any, options?: TangentOptions,\n  ): void {\n    const centerToPoint = Vector3d.createStartEnd(this.centerRef, spacePoint);\n    let centerToLocalPoint: Vector3d | undefined;\n    if (options?.vectorToEye) {\n      const arcToView = Matrix3d.createColumns(this.matrixRef.getColumn(0), this.matrixRef.getColumn(1), options.vectorToEye);\n      centerToLocalPoint = arcToView.multiplyInverse(centerToPoint);\n    } else {\n      centerToLocalPoint = this.matrixRef.multiplyInverse(centerToPoint)!;\n    }\n    if (centerToLocalPoint === undefined)\n      return;\n    // centerToLocalPoint is a vector in the local coordinate system of the as-viewed arc.\n    // In other words, the local arc is the unit circle.\n    // alpha is the angle from the local x-axis to centerToLocalPoint.\n    // beta is the nonnegative angle from centerToLocalPoint to a tangency radial.\n    // Tangency angles are preserved by local <-> world transformation.\n    if (centerToLocalPoint !== undefined) {\n      const hypotenuseSquared = centerToLocalPoint.magnitudeSquaredXY();\n      if (hypotenuseSquared >= 1.0) { // localPoint lies outside or on the unit circle...\n        // ...and forms a right triangle with unit radial leg to tangent point\n        const distanceToTangency = Math.sqrt(hypotenuseSquared - 1.0);\n        const alpha = Math.atan2(centerToLocalPoint.y, centerToLocalPoint.x);\n        const beta = Math.atan2(distanceToTangency, 1);\n        const angles = Geometry.isSmallAngleRadians(beta) ? [alpha] : [alpha + beta, alpha - beta];\n        for (const theta of angles) {\n          const f = CurveExtendOptions.resolveRadiansToValidSweepFraction(options?.extend ?? false, theta, this.sweep);\n          if (f.isValid) {\n            const tangent = CurveLocationDetail.createCurveFractionPoint(this, f.fraction, this.fractionToPoint(f.fraction));\n            announceTangent(tangent);\n          }\n        }\n      }\n    }\n  }\n  /** Reverse the sweep  of the arc. */\n  public reverseInPlace(): void {\n    this._sweep.reverseInPlace();\n  }\n  /**\n   * Apply a transform to the arc basis vectors.\n   * * nonuniform (i.e. skewing) transforms are allowed.\n   * * The transformed vector0 and vector90 are NOT squared up as major minor axes (this is a good feature).\n   */\n  public tryTransformInPlace(transform: Transform): boolean {\n    this._center = transform.multiplyPoint3d(this._center, this._center);\n    this._matrix = transform.matrix.multiplyMatrixMatrix(this._matrix, this._matrix);\n    // force re-normalization of columnZ.\n    this.setVector0Vector90(this._matrix.columnX(), this._matrix.columnY());\n    return true;\n  }\n  /** Return true if the ellipse center and basis vectors are in the plane. */\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\n    const normal = plane.getNormalRef();\n    // The ellipse vectors are full-length  -- true distance comparisons say things.\n    return Geometry.isSmallMetricDistance(plane.altitude(this._center))\n      && Geometry.isSmallMetricDistance(this._matrix.dotColumnX(normal))\n      && Geometry.isSmallMetricDistance(this._matrix.dotColumnY(normal));\n  }\n  /** Return true if the vector0 and vector90 are of equal length and perpendicular. */\n  public get isCircular(): boolean {\n    const axx = this._matrix.columnXMagnitudeSquared();\n    const ayy = this._matrix.columnYMagnitudeSquared();\n    const axy = this._matrix.columnXDotColumnY();\n    return Angle.isPerpendicularDotSet(axx, ayy, axy) && Geometry.isSameCoordinateSquared(axx, ayy);\n  }\n  /** Return radius if the vector0 and vector90 are of equal length and perpendicular. Ignores z. */\n  public circularRadiusXY(): number | undefined {\n    const ux = this._matrix.at(0, 0);\n    const uy = this._matrix.at(1, 0);\n    const vx = this._matrix.at(0, 1);\n    const vy = this._matrix.at(1, 1);\n    const dotUU = Geometry.dotProductXYXY(ux, uy, ux, uy);\n    const dotVV = Geometry.dotProductXYXY(vx, vy, vx, vy);\n    const dotUV = Geometry.dotProductXYXY(ux, uy, vx, vy);\n    if (Angle.isPerpendicularDotSet(dotUU, dotVV, dotUV) && Geometry.isSameCoordinateSquared(dotUU, dotVV))\n      return Geometry.hypotenuseXY(ux, uy);\n    return undefined;\n  }\n  /** If the arc is circular, return its radius. Otherwise return undefined. */\n  public circularRadius(): number | undefined {\n    return this.isCircular ? this._matrix.columnXMagnitude() : undefined;\n  }\n\n  /** Return the larger length of the two defining vectors. */\n  public maxVectorLength(): number {\n    return Math.max(this._matrix.columnXMagnitude(), this._matrix.columnYMagnitude());\n  }\n  /**\n   * Compute intersections with a plane.\n   * @param plane plane to intersect.\n   * @param result array of locations on the curve.\n   */\n  public override appendPlaneIntersectionPoints(plane: PlaneAltitudeEvaluator, result: CurveLocationDetail[]): number {\n    const constCoff = plane.altitude(this._center);\n    const coffs = this._matrix.coffs;\n    const cosCoff = plane.velocityXYZ(coffs[0], coffs[3], coffs[6]);\n    const sinCoff = plane.velocityXYZ(coffs[1], coffs[4], coffs[7]);\n    const trigPoints = Geometry.solveTrigForm(constCoff, cosCoff, sinCoff);\n    let numIntersection = 0;\n    if (trigPoints !== undefined) {\n      numIntersection = trigPoints.length;\n      let xy;\n      for (xy of trigPoints) {\n        const radians = Math.atan2(xy.y, xy.x);\n        const fraction = this._sweep.radiansToPositivePeriodicFraction(radians);\n        const detail = CurveLocationDetail.createCurveFractionPoint(this, fraction, this.fractionToPoint(fraction));\n        detail.intervalRole = CurveIntervalRole.isolated;\n        if (Angle.isAlmostEqualRadiansAllowPeriodShift(radians, this._sweep.startRadians))\n          detail.intervalRole = CurveIntervalRole.isolatedAtVertex;\n        else if (Angle.isAlmostEqualRadiansAllowPeriodShift(radians, this._sweep.endRadians))\n          detail.intervalRole = CurveIntervalRole.isolatedAtVertex;\n        result.push(detail);\n      }\n    }\n    return numIntersection;\n  }\n  /**\n   * Extend a range to include the range of the arc.\n   * @param range range being extended.\n   * @param transform optional transform to apply to the arc.\n   */\n  public extendRange(range: Range3d, transform?: Transform): void {\n    this.extendRangeInSweep(range, this._sweep, transform);\n  }\n  /**\n   * Extend a range to include the range of the arc, using specified range in place of the arc range.\n   * @param range range being extended.\n   * @param transform optional transform to apply to the arc.\n   */\n  public extendRangeInSweep(range: Range3d, sweep: AngleSweep, transform?: Transform): void {\n    const trigForm = new SineCosinePolynomial(0, 0, 0);\n    const center = this._center.clone(Arc3d._workPointA);\n    const vectorU = this._matrix.columnX(Arc3d._workVectorU);\n    const vectorV = this._matrix.columnY(Arc3d._workVectorV);\n    if (transform) {\n      transform.multiplyPoint3d(center, center);\n      transform.multiplyVector(vectorU, vectorU);\n      transform.multiplyVector(vectorV, vectorV);\n    }\n    const lowPoint = Arc3d._workPointB;\n    const highPoint = Arc3d._workPointC;\n    const range1 = Range1d.createNull();\n    for (let i = 0; i < 3; i++) {\n      trigForm.set(center.at(i), vectorU.at(i), vectorV.at(i));\n      trigForm.rangeInSweep(sweep, range1);\n      lowPoint.setAt(i, range1.low);\n      highPoint.setAt(i, range1.high);\n    }\n    range.extend(lowPoint);\n    range.extend(highPoint);\n  }\n  /**\n   * Returns a (high accuracy) range of the curve between fractional positions.\n   * * Default implementation returns teh range of the curve from clonePartialCurve.\n   */\n  public override rangeBetweenFractions(fraction0: number, fraction1: number, transform?: Transform): Range3d {\n    const sweep = AngleSweep.createStartEndRadians(\n      this.sweep.fractionToRadians(fraction0), this.sweep.fractionToRadians(fraction1),\n    );\n    const range = Range3d.create();\n    this.extendRangeInSweep(range, sweep, transform);\n    return range;\n  }\n  /**\n   * Set up a SineCosinePolynomial as the function c+u*cos(theta)+v*sin(theta) where\n   * c,u,v are coefficients obtained by evaluating altitude and velocity relative to the plane.\n   * @param plane plane for altitude calculation.\n   * @param result optional result.\n   * @internal\n   */\n  public getPlaneAltitudeSineCosinePolynomial(\n    plane: PlaneAltitudeEvaluator, result?: SineCosinePolynomial,\n  ): SineCosinePolynomial {\n    if (!result)\n      result = new SineCosinePolynomial(0, 0, 0);\n    // altitude function of angle t, given plane with origin o and unit normal n:\n    //  A(t) = (c + u cos(t) + v sin(t)) . n = (c-o).n + u.n cos(t) + v.n sin(t)\n    // Note the different functions for computing dot product against a point vs. a vector!\n    result.set(plane.altitude(this._center),\n      plane.velocityXYZ(this._matrix.coffs[0], this._matrix.coffs[3], this._matrix.coffs[6]),\n      plane.velocityXYZ(this._matrix.coffs[1], this._matrix.coffs[4], this._matrix.coffs[7]));\n    return result;\n  }\n  /**\n   * Create a new arc which is a unit circle in the xy-plane centered at the origin.\n   * @param result optional preallocated object to populate and return.\n   */\n  public static createUnitCircle(result?: Arc3d): Arc3d {\n    return Arc3d.createRefs(undefined, undefined, undefined, result);\n  }\n  /**\n   * Create a new arc which is parallel to the xy plane, with given center and radius and optional angle sweep.\n   * @param center center of arc.\n   * @param radius radius of arc.\n   * @param sweep sweep limits; defaults to full circle.\n   * @param result optional preallocated object to populate and return.\n   */\n  public static createXY(center: Point3d, radius: number, sweep?: AngleSweep, result?: Arc3d): Arc3d {\n    const matrix = Matrix3d.createScale(radius, radius, 1.0, result?.matrixRef);\n    if (result)\n      return result.set(center, matrix, sweep);\n    return Arc3d.createRefs(center.clone(), matrix, sweep?.clone());\n  }\n  /**\n   * Create a new arc which is parallel to the xy plane, with given center and x,y radii, and optional angle sweep\n   * @param center center of ellipse.\n   * @param radiusA x axis radius.\n   * @param radiusB y axis radius.\n   * @param sweep angle sweep. Default is full circle.\n   * @param result optional preallocated object to populate and return.\n   */\n  public static createXYEllipse(center: Point3d, radiusA: number, radiusB: number, sweep?: AngleSweep, result?: Arc3d): Arc3d {\n    const matrix = Matrix3d.createScale(radiusA, radiusB, 1.0, result?.matrixRef);\n    if (result)\n      return result.set(center, matrix, sweep);\n    return Arc3d.createRefs(center.clone(), matrix, sweep?.clone());\n  }\n  /**\n   * Replace the arc's 0 and 90 degree vectors.\n   * @param vector0 vector from center to ellipse point at 0 degrees in parameter space.\n   * @param vector90 vector from center to ellipse point at 90 degrees in parameter space.\n   */\n  public setVector0Vector90(vector0: Vector3d, vector90: Vector3d) {\n    this._matrix.setColumns(vector0, vector90,\n      vector0.unitCrossProductWithDefault(vector90, 0, 0, 0), // normal will be 000 for degenerate case\n    );\n  }\n  /**\n   * Return the symmetric definition of the arc, with rigid axes and radii.\n   * * The caller can send the returned data into [[createScaledXYColumns]] to construct the major-minor axis\n   * version of the instance arc. This formulation of the arc has the same shape, but has perpendicular axes,\n   * from which the arc's symmetry is readily apparent.\n   */\n  public toScaledMatrix3d(): { center: Point3d, axes: Matrix3d, r0: number, r90: number, sweep: AngleSweep } {\n    const angleData = Angle.dotProductsToHalfAngleTrigValues(\n      this._matrix.columnXMagnitudeSquared(),\n      this._matrix.columnYMagnitudeSquared(),\n      this._matrix.columnXDotColumnY(),\n      true,\n    );\n    const vector0A = this._matrix.multiplyXY(angleData.c, angleData.s);\n    const vector90A = this._matrix.multiplyXY(-angleData.s, angleData.c);\n    const axes = Matrix3d.createRigidFromColumns(vector0A, vector90A, AxisOrder.XYZ);\n    return {\n      center: this._center.clone(),\n      axes: (axes ? axes : Matrix3d.createIdentity()),\n      r0: vector0A.magnitude(),\n      r90: vector90A.magnitude(),\n      sweep: this.sweep.cloneMinusRadians(angleData.radians),\n    };\n  }\n  /** Return the arc definition with center, two vectors, and angle sweep. */\n  public toVectors(): ArcVectors {\n    return {\n      center: this.center.clone(),\n      vector0: this._matrix.columnX(),\n      vector90: this._matrix.columnY(),\n      sweep: this.sweep.clone(),\n    };\n  }\n  /** Return the arc definition with center, two vectors, and angle sweep, optionally transformed. */\n  public toTransformedVectors(\n    transform?: Transform,\n  ): { center: Point3d, vector0: Vector3d, vector90: Vector3d, sweep: AngleSweep } {\n    return transform ? {\n      center: transform.multiplyPoint3d(this._center),\n      vector0: transform.multiplyVector(this._matrix.columnX()),\n      vector90: transform.multiplyVector(this._matrix.columnY()),\n      sweep: this.sweep.clone(),\n    }\n      : {\n        center: this._center.clone(),\n        vector0: this._matrix.columnX(),\n        vector90: this._matrix.columnY(),\n        sweep: this.sweep.clone(),\n      };\n  }\n  /** Return the arc definition with center, two vectors, and angle sweep, transformed to 4d points. */\n  public toTransformedPoint4d(\n    matrix: Matrix4d,\n  ): { center: Point4d, vector0: Point4d, vector90: Point4d, sweep: AngleSweep } {\n    return {\n      center: matrix.multiplyPoint3d(this._center, 1.0),\n      vector0: matrix.multiplyPoint3d(this._matrix.columnX(), 0.0),\n      vector90: matrix.multiplyPoint3d(this._matrix.columnY(), 0.0),\n      sweep: this.sweep.clone(),\n    };\n  }\n  /**\n   * Set this arc from a json object with these values:\n   * * center center point.\n   * * vector0 vector from center to 0 degree point in parameter space (commonly but not always the major axis vector).\n   * * vector90 vector from center to 90 degree point in parameter space (commonly but not always the minor axis vector).\n   * @param json\n   */\n  public setFromJSON(json?: any) {\n    if (json && json.center && json.vector0 && json.vector90 && json.sweep) {\n      this._center.setFromJSON(json.center);\n      const vector0 = Vector3d.create();\n      const vector90 = Vector3d.create();\n      vector0.setFromJSON(json.vector0);\n      vector90.setFromJSON(json.vector90);\n      this.setVector0Vector90(vector0, vector90);\n      this._sweep.setFromJSON(json.sweep);\n    } else {\n      this._center.set(0, 0, 0);\n      this._matrix.setFrom(Matrix3d.identity);\n      this._sweep.setStartEndRadians();\n    }\n  }\n  /**\n   * Convert to a JSON object.\n   * @return {*} [center:  [], vector0:[], vector90:[], sweep []}\n   */\n  public toJSON(): any {\n    return {\n      center: this._center.toJSON(),\n      sweep: this._sweep.toJSON(),\n      vector0: this._matrix.columnX().toJSON(),\n      vector90: this._matrix.columnY().toJSON(),\n    };\n  }\n  /** Test if this arc is almost equal to another GeometryQuery object. */\n  public override isAlmostEqual(otherGeometry: GeometryQuery, distanceTol: number = Geometry.smallMetricDistance, radianTol: number = Geometry.smallAngleRadians): boolean {\n    if (otherGeometry instanceof Arc3d) {\n      const other = otherGeometry;\n      return this._center.isAlmostEqual(other._center, distanceTol)\n        && this._matrix.isAlmostEqual(other._matrix, distanceTol)\n        && this._sweep.isAlmostEqualAllowPeriodShift(other._sweep, radianTol);\n    }\n    return false;\n  }\n  /** Emit strokes to caller-supplied linestring. */\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\n    const numStrokes = this.computeStrokeCountForOptions(options);\n    dest.appendFractionalStrokePoints(this, numStrokes, 0.0, 1.0, true);\n  }\n  /** Emit strokes to caller-supplied handler. */\n  public emitStrokableParts(handler: IStrokeHandler, options?: StrokeOptions): void {\n    const numStrokes = this.computeStrokeCountForOptions(options);\n    handler.startCurvePrimitive(this);\n    handler.announceIntervalForUniformStepStrokes(this, numStrokes, 0.0, 1.0);\n    handler.endCurvePrimitive(this);\n  }\n  /**\n   * Return the stroke count required for given options.\n   * @param options StrokeOptions that determine count.\n   */\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\n    let numStroke;\n    if (options) {\n      const rMax = this.maxVectorLength();\n      numStroke = options.applyTolerancesToArc(rMax, this._sweep.sweepRadians);\n    } else {\n      numStroke = StrokeOptions.applyAngleTol(undefined, 1, this._sweep.sweepRadians);\n    }\n    return numStroke;\n  }\n  /** Second step of double dispatch: call `handler.handleArc3d(this)` */\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\n    return handler.handleArc3d(this);\n  }\n  /**\n   * Return (if possible) an arc which is a portion of this curve.\n   * @param fractionA start fraction.\n   * @param fractionB end fraction.\n   */\n  public override clonePartialCurve(fractionA: number, fractionB: number): Arc3d {\n    if (fractionB < fractionA) {\n      const arcA = this.clonePartialCurve(fractionB, fractionA);\n      arcA.reverseInPlace();\n      return arcA;\n    }\n    const arcB = this.clone();\n    arcB.sweep.setStartEndRadians(\n      this.sweep.fractionToRadians(fractionA),\n      this.sweep.fractionToRadians(fractionB),\n    );\n    return arcB;\n  }\n  /**\n   * Return an arc whose basis vectors are rotated by given angle within the current basis space.\n   * * The returned arc will have `vector0 = this.vector0 * cos(theta) + this.vector90 * sin(theta)`.\n   * * The returned arc has the same shape as the instance.\n   *   * In other words, the arc's sweep is adjusted so that all fractional parameters evaluate to the same points.\n   *   * Specifically, theta is subtracted from the original start and end angles.\n   * @param theta the angle (in the input arc space) which is to become the 0-degree point in the new arc.\n   */\n  public cloneInRotatedBasis(theta: Angle): Arc3d {\n    const c = theta.cos();\n    const s = theta.sin();\n    const vector0 = this._matrix.multiplyXY(c, s);\n    const vector90 = this._matrix.multiplyXY(-s, c);\n    const newSweep = AngleSweep.createStartEndRadians(\n      this._sweep.startRadians - theta.radians, this._sweep.endRadians - theta.radians,\n    );\n    const arcB = Arc3d.create(this._center.clone(), vector0, vector90, newSweep);\n    return arcB;\n  }\n  /**\n   * Return a cloned arc with basis rotated to align with the global axes. The arc's shape is unchanged.\n   * * This method is most useful when the instance is an xy-circular arc, for then the aligned arc's stored sweep\n   * angles can be understood as being measured from the global positive x-axis to the arc's start/end. This is *not*\n   * the case for xy-elliptical arcs: the parameter angle difference between two points on an ellipse is in general\n   * not the same as the angle measured between their radials.\n   * * For an xy instance, the output arc will have:\n   *   * vector0 is in the same direction as the positive x-axis\n   *   * perpendicularVector is in the same direction as the positive z-axis\n   * * For a general instance, the output arc will have:\n   *   * vector0 is in the same direction as the projection of the positive x-axis vector onto the arc plane\n   *   * perpendicularVector lies in the halfspace z >= 0\n   * @returns cloned arc, or undefined (if the instance normal is parallel to the x-axis, or its matrix is singular)\n   */\n  public cloneAxisAligned(): Arc3d | undefined {\n    const plane = Plane3dByOriginAndUnitNormal.create(this.center, this.perpendicularVector.crossProduct(Vector3d.unitX()));\n    if (!plane)\n      return undefined;\n    const axisPts: CurveLocationDetail[] = [];\n    if (2 !== this.appendPlaneIntersectionPoints(plane, axisPts))\n      return undefined;\n    const iAxisPt = plane.getNormalRef().dotProduct(this.perpendicularVector.crossProductStartEnd(this.center, axisPts[0].point)) > 0.0 ? 0 : 1;\n    const toUnitX = this.sweep.fractionToAngle(axisPts[iAxisPt].fraction);\n    const arc1 = this.cloneInRotatedBasis(toUnitX); // rotate in arc's plane\n    if (this.perpendicularVector.dotProduct(Vector3d.unitZ()) < -Geometry.smallAngleRadians) {\n      if (this.matrixRef.isSingular())\n        return undefined;\n      const flip = Matrix3d.createRowValues(1, 0, 0, 0, -1, 0, 0, 0, -1); // rotate 180 degrees around arc's local x-axis\n      arc1.matrixRef.multiplyMatrixMatrix(flip, arc1.matrixRef);\n      arc1.sweep.setStartEndDegrees(-arc1.sweep.startDegrees, -arc1.sweep.endDegrees); // rotation alone is insufficient to flip\n    }\n    return arc1;\n  }\n  /**\n   * Find intervals of this CurvePrimitive that are interior to a clipper.\n   * @param clipper clip structure (e.g.clip planes).\n   * @param announce (optional) function to be called announcing fractional intervals\n   * `announce(fraction0, fraction1, curvePrimitive)`.\n   * @returns true if any \"in\" segments are announced.\n   */\n  public override announceClipIntervals(clipper: Clipper, announce?: AnnounceNumberNumberCurvePrimitive): boolean {\n    return clipper.announceClippedArcIntervals(this, announce);\n  }\n  /** Compute the center and vectors of another arc as local coordinates within this arc's frame. */\n  public otherArcAsLocalVectors(other: Arc3d): ArcVectors | undefined {\n    const otherOrigin = this._matrix.multiplyInverseXYZAsPoint3d(\n      other.center.x - this.center.x,\n      other.center.y - this.center.y,\n      other.center.z - this.center.z,\n    );\n    const otherVector0 = this._matrix.multiplyInverse(other.vector0);\n    const otherVector90 = this._matrix.multiplyInverse(other.vector90);\n    if (otherOrigin && otherVector0 && otherVector90) {\n      return {\n        center: otherOrigin,\n        vector0: otherVector0,\n        vector90: otherVector90,\n        sweep: this.sweep.clone(),\n      };\n    }\n    return undefined;\n  }\n  /**\n   * Determine an arc \"at a point of inflection\" of a point sequence.\n   * * Return the arc along with the fractional positions of the tangency points.\n   * * In the returned object:\n   *   * `arc` is the (bounded) arc.\n   *   * `fraction10` is the tangency point's position as an interpolating fraction of the line segment from\n   * `point1` (backwards) to `point0`.\n   *   * `fraction12` is the tangency point's position as an interpolating fraction of the line segment from\n   * `point1` (forward) to `point2`.\n   *   * `point` is the `point1` input.\n   * * If unable to construct the arc:\n   *   * `point` is the `point1` input.\n   *   * both fractions are zero.\n   *   * `arc` is undefined.\n   * @param point0 first point of path (the point before the point of inflection).\n   * @param point1 second point of path (the point of inflection).\n   * @param point2 third point of path (the point after the point of inflection).\n   * @param radius arc radius.\n   */\n  public static createFilletArc(point0: Point3d, point1: Point3d, point2: Point3d, radius: number): ArcBlendData {\n    const vector10 = Vector3d.createStartEnd(point1, point0);\n    const vector12 = Vector3d.createStartEnd(point1, point2);\n    const d10 = vector10.magnitude();\n    const d12 = vector12.magnitude();\n    if (vector10.normalizeInPlace() && vector12.normalizeInPlace()) {\n      const bisector = vector10.plus(vector12);\n      if (bisector.normalizeInPlace()) {\n        // const theta = vector12.angleTo(bisector);\n        // vector10, vector12, and bisector are UNIT vectors\n        // bisector splits the angle between vector10 and vector12\n        const perpendicular = vector12.minus(vector10);\n        const perpendicularMagnitude = perpendicular.magnitude(); // == 2 * sin(theta)\n        const sinTheta = 0.5 * perpendicularMagnitude;\n        if (!Geometry.isSmallAngleRadians(sinTheta)) {  // for small theta, sinTheta is almost equal to theta\n          const cosTheta = Math.sqrt(1 - sinTheta * sinTheta);\n          const tanTheta = sinTheta / cosTheta;\n          const alphaRadians = Math.acos(sinTheta);\n          const distanceToCenter = radius / sinTheta;\n          const distanceToTangency = radius / tanTheta;\n          const f10 = distanceToTangency / d10;\n          const f12 = distanceToTangency / d12;\n          const center = point1.plusScaled(bisector, distanceToCenter);\n          bisector.scaleInPlace(-radius);\n          perpendicular.scaleInPlace(radius / perpendicularMagnitude);\n          const arc02 = Arc3d.create(\n            center, bisector, perpendicular, AngleSweep.createStartEndRadians(-alphaRadians, alphaRadians),\n          );\n          return { arc: arc02, fraction10: f10, fraction12: f12, point: point1.clone() };\n        }\n      }\n    }\n    return { fraction10: 0.0, fraction12: 0.0, point: point1.clone() };\n  }\n  /** Scale the vector0 and vector90 vectors by `scaleFactor`. */\n  public scaleAboutCenterInPlace(scaleFactor: number) {\n    this._matrix.scaleColumnsInPlace(scaleFactor, scaleFactor, 1.0);\n  }\n  /** Return the (signed) area between (a fractional portion of) the arc and the chord between those points. */\n  public areaToChordXY(fraction0: number, fraction1: number): number {\n    const detJ = Geometry.crossProductXYXY(\n      this._matrix.coffs[0], this._matrix.coffs[3],\n      this._matrix.coffs[1], this._matrix.coffs[4],\n    ); // area scale factor from local to world\n    const radians0 = this._sweep.fractionToRadians(fraction0);\n    const radians1 = this._sweep.fractionToRadians(fraction1);\n    const alpha = 0.5 * (radians1 - radians0); // signed area of local sector\n    // Compute signed area of local triangle (\"wedge\") formed by origin and arc endpoints p0, p1:\n    // (p0 x p1)/2 = (cos(r0)sin(r1)-cos(r1)sin(r0))/2 = sin(r1-r0)/2 = cos(a)sin(a)\n    const wedgeArea = Math.cos(alpha) * Math.sin(alpha);\n    return (alpha - wedgeArea) * detJ; // to world\n  }\n  /**\n   * Construct an offset of the instance curve as viewed in the xy-plane (ignoring z).\n   * @param offsetDistanceOrOptions offset distance (positive to left of the instance curve), or options object.\n   */\n  public override constructOffsetXY(\n    offsetDistanceOrOptions: number | OffsetOptions,\n  ): CurvePrimitive | CurvePrimitive[] | undefined {\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\n    if (this.isCircular || options.preserveEllipticalArcs) {\n      const arcXY = this.cloneAtZ();\n      const sign = arcXY.sweep.sweepRadians * arcXY.matrixRef.coffs[8] >= 0.0 ? 1.0 : -1.0;\n      const r0 = arcXY.matrixRef.columnXMagnitude();\n      const r0new = r0 - sign * options.leftOffsetDistance;\n      const r90 = this.isCircular ? r0 : arcXY.matrixRef.columnYMagnitude();\n      const r90new = this.isCircular ? r0new : r90 - sign * options.leftOffsetDistance;\n      if (\n        !Geometry.isSmallMetricDistance(r0new)\n        && (r0 * r0new > 0.0)\n        && (this.isCircular || (!Geometry.isSmallMetricDistance(r90new) && (r90 * r90new > 0.0)))\n      ) {\n        const factor0 = r0new / r0;\n        const factor90 = this.isCircular ? factor0 : r90new / r90;\n        arcXY.matrixRef.scaleColumnsInPlace(factor0, factor90, 1.0);\n        return arcXY;\n      }\n      return undefined; // zero radius\n    }\n    // default impl\n    const handler = new CurveOffsetXYHandler(this, options.leftOffsetDistance);\n    this.emitStrokableParts(handler, options.strokeOptions);\n    return handler.claimResult();\n  }\n  /**\n   * Project instance geometry (via dispatch) onto the given ray, and return the extreme fractional parameters of projection.\n   * @param ray ray onto which the instance is projected. A `Vector3d` is treated as a `Ray3d` with zero origin.\n   * @param lowHigh optional receiver for output.\n   * @returns range of fractional projection parameters onto the ray, where 0.0 is start of the ray and 1.0 is the end of the ray.\n   */\n  public override projectedParameterRange(ray: Vector3d | Ray3d, lowHigh?: Range1d): Range1d | undefined {\n    return PlaneAltitudeRangeContext.findExtremeFractionsAlongDirection(this, ray, lowHigh);\n  }\n  /**\n   * Construct a circular arc chain approximation to the instance elliptical arc.\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximationGeneral and\n   *  https://www.itwinjs.org/sandbox/SaeedTorabi/ArcApproximation\n   * @param options bundle of options for sampling an elliptical arc (use default options if undefined).\n   * @returns the approximating curve chain, the circular instance, or undefined if construction fails.\n   */\n  public constructCircularArcChainApproximation(options?: EllipticalArcApproximationOptions): CurveChain | Arc3d | undefined {\n    if (!options)\n      options = EllipticalArcApproximationOptions.create();\n    const context = EllipticalArcApproximationContext.create(this);\n    const result = context.constructCircularArcChainApproximation(options);\n    if (!result && this.isCircular)\n      return (this.sweep.isFullCircle && options.forcePath) ? Path.create(this) : this;\n    return result;\n  }\n  /**\n   * Compute the intersection of the tangent vectors at two fractional parameters along the arc.\n   * * In the civil design context of filleting a line string, the default values yield a fillet arc's \"point of\n   * intersection\", aka _PI_. This point is the line string vertex that was rounded by the fillet arc placed\n   * between the vertex's adjacent segments. In other words, the original line string vertices can be recovered\n   * from the fillets with this method.\n   * @param f0 fractional parameter of one tangent. Default is 0 (the arc's start tangent).\n   * @param f1 fractional parameter of the other tangent. Default is 1 (the arc's end tangent).\n   * @param result optional point to populate and return.\n   * @returns intersection point, or undefined if tangents are zero or parallel.\n   */\n  public computeTangentIntersection(f0: number = 0, f1: number = 1, result?: Point3d): Point3d | undefined {\n    const localRay0 = this.fractionToPointAndDerivative(f0, Arc3d._workRay0);\n    const localRay1 = this.fractionToPointAndDerivative(f1, Arc3d._workRay1);\n    if (localRay0.direction.isParallelTo(localRay1.direction, true, true))\n      return undefined;\n    const worldRay0 = localRay0.clone(Arc3d._workRay2);\n    if (this.matrixRef.multiplyInverseXYZAsPoint3d(localRay0.origin.x, localRay0.origin.y, localRay0.origin.z, localRay0.origin)\n      && this.matrixRef.multiplyInverseXYZAsPoint3d(localRay1.origin.x, localRay1.origin.y, localRay1.origin.z, localRay1.origin)\n      && this.matrixRef.multiplyInverseXYZAsVector3d(localRay0.direction.x, localRay0.direction.y, localRay0.direction.z, localRay0.direction)\n      && this.matrixRef.multiplyInverseXYZAsVector3d(localRay1.direction.x, localRay1.direction.y, localRay1.direction.z, localRay1.direction)\n    ) { // conversion to local coordinates allows us to intersect without z\n      const intersection = SmallSystem.lineXYUVTransverseIntersection(localRay0.origin, localRay0.direction, localRay1.origin, localRay1.direction);\n      if (intersection)\n        return worldRay0.fractionToPoint(intersection.x, result); // intersection parameter is an affine invariant\n    }\n    return undefined;\n  }\n}\n"]}