@itwin/core-geometry 5.5.0-dev.4 → 5.5.0-dev.6

package/lib/cjs/bspline/BSplineCurve.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/** @packageDocumentation\r\n * @module Bspline\r\n */\r\n\r\nimport { VariantCurveExtendParameter } from \"../curve/CurveExtendMode\";\r\nimport { CurveIntervalRole, CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { CurveOffsetXYHandler } from \"../curve/internalContexts/CurveOffsetXYHandler\";\r\nimport { PlaneAltitudeRangeContext } from \"../curve/internalContexts/PlaneAltitudeRangeContext\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { OffsetOptions } from \"../curve/OffsetOptions\";\r\nimport { StrokeCountMap } from \"../curve/Query/StrokeCountMap\";\r\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\r\nimport { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { GeometryHandler, IStrokeHandler } from \"../geometry3d/GeometryHandler\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\r\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { UnivariateBezier } from \"../numerics/BezierPolynomials\";\r\nimport { AkimaCurve3dOptions } from \"./AkimaCurve3d\";\r\nimport { Bezier1dNd } from \"./Bezier1dNd\";\r\nimport { BezierCurve3d } from \"./BezierCurve3d\";\r\nimport { BezierCurve3dH } from \"./BezierCurve3dH\";\r\nimport { BezierCurveBase } from \"./BezierCurveBase\";\r\nimport { BSpline1dNd } from \"./BSpline1dNd\";\r\nimport { BSplineCurveOps } from \"./BSplineCurveOps\";\r\nimport { InterpolationCurve3dOptions } from \"./InterpolationCurve3d\";\r\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\r\n\r\n/**\r\n * Base class for BSplineCurve3d and BSplineCurve3dH.\r\n * * A B-spline curve consists of an array of `knots`, an array of `poles`, and a `degree`.\r\n * * The knot array is a non-decreasing sequence of numbers. It is also called a \"knot vector\".\r\n *   * The curve is a parametric function whose domain is a sub-range of its knots.\r\n *   * The API sometimes refers to a domain parameter `u` as a \"knot\", even if `u` is not actually an entry in the\r\n * knot array.\r\n * * The curve loosely \"follows\" the line string formed by the poles, aka the \"control polygon\".\r\n * * The curve is a chain of polynomial segments, aka \"spans\" or \"fragments\". B-spline theory identifies these as\r\n * Bezier curves.\r\n * * The polynomial spans all have same `degree`.\r\n * * Each span is controlled by `order = degree + 1` contiguous points in the pole array.\r\n * * There is a strict relationship between knot and poles counts: `numPoles + order = numKnots + 2'.\r\n * * The number of spans is `numSpan = numPoles - degree`.\r\n * * For a span with index `spanIndex`:\r\n *   * The `order` relevant poles begin at pole index `spanIndex`.\r\n *   * The `2*degree` relevant knots begin at knot index `spanIndex`.\r\n *   * The span domain is the knot range `[knot[spanIndex+degree-1], knot[spanIndex+degree]]`.\r\n * * The curve domain is the knot range `[knot[degree-1], knot[numSpan+degree-1]]`, or equivalently\r\n * `[knot[degree-1], knot[numPoles-1]]`. The API refers to this domain as the \"active knot interval\" of the curve.\r\n *\r\n * Nearly all B-spline curves are \"clamped\".\r\n * * This means that in the `knots` array, the first `degree` knots are equal, and the last `degree` knots are equal.\r\n * We say the smallest knot and the largest knot have multiplicity `degree`.\r\n * * Clamping make the curve pass through its first and last poles, with tangents directed along the first and\r\n * last edges of the control polygon.\r\n * * For instance, a cubic B-spline curve with knot vector `[0,0,0,1,2,3,3,3]`\r\n *   * can be evaluated at parameter values in the range `[0, 3]`\r\n *   * has 3 spans, with domains `[0, 1]`, `[1, 2]`, and `[2, 3]`\r\n *   * has 6 poles\r\n *   * passes through its first and last poles.\r\n * * The `create` methods may allow the classic convention that has an extra knot at the beginning and end of the\r\n * knot vector.\r\n *   * These two extra knots are not actually needed to define the B-spline curve.\r\n *   * When the `create` methods recognize the classic setup (`numPoles + order = numKnots`), the extra knots are\r\n * not saved with the BSplineCurve3dBase knots.\r\n *\r\n * * The weighted variant [[BSplineCurve3dH]] has the problem that `CurvePrimitive` 3D typing does not allow the\r\n *  undefined result where a homogeneous pole has zero weight; the convention in this case is to return 000.\r\n *\r\n * * Note the class relationships:\r\n *   * [[BSpline1dNd]] knows the definitional B-spline recurrence relation with no physical interpretation for the poles.\r\n *   * BsplineCurve3dBase owns a protected BSpline1dNd.\r\n *   * `BsplineCurve3dBase` is derived from [[CurvePrimitive]], which creates obligation to act as a 3D curve, e.g.,\r\n *     * evaluate fraction to point and derivatives wrt fraction.\r\n *     * compute intersection with plane.\r\n *   * [[BSplineCurve3d]] and [[BSplineCurve3dH]] have variant logic driven by whether or not there are \"weights\" on the poles.\r\n *     * For `BSplineCurve3d`, the xyz value of pole calculations are \"final\" values for 3d evaluation.\r\n *     * For `BSplineCurve3dH`, various `BSpline1dNd` results with xyzw have to be normalized back to xyz.\r\n *\r\n * * These classes do not support \"periodic\" variants.\r\n *   * Periodic curves historically have carried a flag (e.g., \"closed\") indicating that certain un-stored\r\n * leading/trailing knots and poles are understood to wrap around periodically.\r\n *   * Instead, these classes carry no such flag. They represent such curves with explicitly wrapped knots/poles.\r\n *\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BSpline/\r\n * @public\r\n */\r\nexport abstract class BSplineCurve3dBase extends CurvePrimitive {\r\n  /** String name for schema properties. */\r\n  public readonly curvePrimitiveType = \"bsplineCurve\";\r\n  /** The underlying blocked-pole spline, with simple x,y,z poles. */\r\n  protected _bcurve: BSpline1dNd;\r\n  private _definitionData?: any;\r\n  public set definitionData(data: any) {\r\n    this._definitionData = data;\r\n  }\r\n  public get definitionData(): any {\r\n    return this._definitionData;\r\n  }\r\n  protected constructor(poleDimension: number, numPoles: number, order: number, knots: KnotVector) {\r\n    super();\r\n    this._bcurve = BSpline1dNd.create(numPoles, poleDimension, order, knots);\r\n  }\r\n  /** Return the degree (one less than the order) of the curve. */\r\n  public get degree(): number {\r\n    return this._bcurve.degree;\r\n  }\r\n  /** Return the order (one more than degree) of the curve. */\r\n  public get order(): number {\r\n    return this._bcurve.order;\r\n  }\r\n  /**\r\n   * Return the number of Bezier spans in the curve. Note that this number includes the number of null\r\n   * spans at repeated knows.\r\n   */\r\n  public get numSpan(): number {\r\n    return this._bcurve.numSpan;\r\n  }\r\n  /** Return the number of poles. */\r\n  public get numPoles(): number {\r\n    return this._bcurve.numPoles;\r\n  }\r\n  /** Return live reference to the poles of the curve. */\r\n  public get polesRef(): Float64Array {\r\n    return this._bcurve.packedData;\r\n  }\r\n  /** Return live reference to the knots of the curve. */\r\n  public get knotsRef(): Float64Array {\r\n    return this._bcurve.knots.knots;\r\n  }\r\n  /**\r\n   * Number of components per pole, e.g.,\r\n   * * 3 for conventional (x,y,z) curve.\r\n   * * 4 for weighted (wx,wy,wz,w) curve.\r\n   */\r\n  public get poleDimension(): number {\r\n    return this._bcurve.poleLength;\r\n  }\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    return this._bcurve.knots.copyKnots(includeExtraEndKnot);\r\n  }\r\n  /** Get the flag indicating the curve might be suitable for having wrapped \"closed\" interpretation. */\r\n  public getWrappable(): BSplineWrapMode {\r\n    return this._bcurve.knots.wrappable;\r\n  }\r\n  /** Set the flag indicating the curve might be suitable for having wrapped \"closed\" interpretation. */\r\n  public setWrappable(value: BSplineWrapMode) {\r\n    this._bcurve.knots.wrappable = value;\r\n  }\r\n  /**\r\n   * Test knots and poles to determine if it is possible to close (aka \"wrap\") the curve.\r\n   * @returns the manner in which it is possible to close the curve. See `BSplineWrapMode` for particulars of each mode.\r\n   */\r\n  public get isClosableCurve(): BSplineWrapMode {\r\n    const mode = this._bcurve.knots.wrappable;\r\n    if (mode === BSplineWrapMode.None)\r\n      return BSplineWrapMode.None;\r\n    if (!this._bcurve.knots.testClosable(mode))\r\n      return BSplineWrapMode.None;\r\n    if (!this._bcurve.testClosablePolygon(mode))\r\n      return BSplineWrapMode.None;\r\n    return mode;\r\n  }\r\n  /** Evaluate the curve at a fractional position within a given span. */\r\n  public abstract evaluatePointInSpan(spanIndex: number, spanFraction: number, result?: Point3d): Point3d;\r\n  /**\r\n   * Evaluate the curve and derivative at a fractional position within a given span.\r\n   * * The derivative is with respect to the span fractional parameter, _not_ to the curve's parameter or fractional parameter.\r\n  */\r\n  public abstract evaluatePointAndDerivativeInSpan(spanIndex: number, spanFraction: number, result?: Ray3d): Ray3d;\r\n  /** Evaluate the curve at the given parameter. */\r\n  public abstract knotToPoint(knot: number, result?: Point3d): Point3d;\r\n  /** Evaluate the curve and derivative at the given parameter. */\r\n  public abstract knotToPointAndDerivative(knot: number, result?: Ray3d): Ray3d;\r\n  /** Evaluate the curve and two derivatives at the given parameter. */\r\n  public abstract knotToPointAnd2Derivatives(knot: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;\r\n  /** Evaluate the curve point at the given fractional parameter. */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    return this.knotToPoint(this._bcurve.knots.fractionToKnot(fraction), result);\r\n  }\r\n  /** Evaluate the curve and derivative at the given fractional parameter. */\r\n  public fractionToPointAndDerivative(fraction: number, result?: Ray3d): Ray3d {\r\n    const knot = this._bcurve.knots.fractionToKnot(fraction);\r\n    result = this.knotToPointAndDerivative(knot, result);\r\n    result.direction.scaleInPlace(this._bcurve.knots.knotLength01);\r\n    return result;\r\n  }\r\n  /** Evaluate the curve and two derivatives at the given fractional parameter. */\r\n  public fractionToPointAnd2Derivatives(fraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const knot = this._bcurve.knots.fractionToKnot(fraction);\r\n    result = this.knotToPointAnd2Derivatives(knot, result);\r\n    const a = this._bcurve.knots.knotLength01;\r\n    result.vectorU.scaleInPlace(a);\r\n    result.vectorV.scaleInPlace(a * a);\r\n    return result;\r\n  }\r\n  /** Return the start point of the curve. */\r\n  public override startPoint(result?: Point3d): Point3d {\r\n    return this.evaluatePointInSpan(0, 0.0, result);\r\n  }\r\n  /** Return the end point of the curve. */\r\n  public override endPoint(result?: Point3d): Point3d {\r\n    return this.evaluatePointInSpan(this.numSpan - 1, 1.0, result);\r\n  }\r\n  /**\r\n   * Reverse the curve in place.\r\n   * * Poles are reversed.\r\n   * * Knot values are mirrored around the middle of the knot array.\r\n   */\r\n  public reverseInPlace(): void {\r\n    this._bcurve.reverseInPlace();\r\n  }\r\n  /** Return an array with this curve's Bezier fragments. */\r\n  public collectBezierSpans(prefer3dH: boolean): BezierCurveBase[] {\r\n    const result: BezierCurveBase[] = [];\r\n    const numSpans = this.numSpan;\r\n    for (let i = 0; i < numSpans; i++) {\r\n      if (this._bcurve.knots.isIndexOfRealSpan(i)) {\r\n        const span = this.getSaturatedBezierSpan3dOr3dH(i, prefer3dH);\r\n        if (span)\r\n          result.push(span);\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * * The concrete return type may be [[BezierCurve3d]] or [[BezierCurve3dH]] according to the instance type and `prefer3dH`.\r\n   * @param spanIndex index of span.\r\n   * @param prefer3dH true to force promotion to homogeneous.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public abstract getSaturatedBezierSpan3dOr3dH(\r\n    spanIndex: number, prefer3dH: boolean, result?: BezierCurveBase,\r\n  ): BezierCurveBase | undefined;\r\n  /**\r\n   * Return a specified pole as a Point4d.\r\n   * * BSplineCurve3d appends weight 1 to its xyz.\r\n   * * BSplineCurve3dH with pole whose \"normalized\" point is (x,y,z) but has weight w returns the weighted form (wx,wy,wz,w).\r\n   */\r\n  public abstract getPolePoint4d(poleIndex: number, result?: Point4d): Point4d | undefined;\r\n  /**\r\n   * Return a specified pole as a Point3d.\r\n   * * BSplineCurve3d returns its simple xyz.\r\n   * * BSplineCurve3dH attempts to normalize its (wx,wy,wz,w) back to (x,y,z), and returns undefined if weight is zero.\r\n   * @param poleIndex index of the pole.\r\n   * @param result optional result.\r\n   */\r\n  public abstract getPolePoint3d(poleIndex: number, result?: Point3d): Point3d | undefined;\r\n  /** Given a pole index, return the starting index for the contiguous array. */\r\n  public poleIndexToDataIndex(poleIndex: number): number | undefined {\r\n    if (poleIndex >= 0 && poleIndex < this.numPoles)\r\n      return poleIndex * this._bcurve.poleLength;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Search for the curve point that is closest to the spacePoint.\r\n   * * If the space point is exactly on the curve, this is the reverse of fractionToPoint.\r\n   * * Since CurvePrimitive should always have start and end available as candidate points, this method should always\r\n   * succeed.\r\n   * @param spacePoint point in space.\r\n   * @param _extend ignored (pass false). A BSplineCurve3dBase cannot be extended.\r\n   * @param result optional pre-allocated detail to populate and return.\r\n   * @returns details of the closest point.\r\n   */\r\n  public override closestPoint(\r\n    spacePoint: Point3d, _extend: VariantCurveExtendParameter, result?: CurveLocationDetail,\r\n  ): CurveLocationDetail | undefined {\r\n    // seed at start point; final point comes with final bezier perpendicular step\r\n    const point = this.fractionToPoint(0);\r\n    result = CurveLocationDetail.createCurveFractionPointDistance(this, 0.0, point, point.distance(spacePoint), result);\r\n    let span: BezierCurve3dH | undefined;\r\n    const numSpans = this.numSpan;\r\n    for (let i = 0; i < numSpans; i++) {\r\n      if (this._bcurve.knots.isIndexOfRealSpan(i)) {\r\n        span = this.getSaturatedBezierSpan3dOr3dH(i, true, span) as BezierCurve3dH;\r\n        if (span) {\r\n          // if the B-spline is discontinuous, both ends should be tested; ignore that possibility\r\n          if (span.updateClosestPointByTruePerpendicular(spacePoint, result, false, true)) {\r\n            // the detail records the span bezier; promote it to the parent curve\r\n            result.curve = this;\r\n            result.fraction = span.fractionToParentFraction(result.fraction);\r\n          }\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /** Return a deep clone. */\r\n  public abstract override clone(): BSplineCurve3dBase;\r\n  /** Return a transformed deep clone. */\r\n  public override cloneTransformed(transform: Transform): BSplineCurve3dBase {\r\n    const curve = this.clone();\r\n    curve.tryTransformInPlace(transform);\r\n    return curve;\r\n  }\r\n  /**\r\n   * Return a curve primitive 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): BSplineCurve3dBase {\r\n    let clone: BSplineCurve3dBase;\r\n    if (fractionA > fractionB) {\r\n      clone = this.clonePartialCurve(fractionB, fractionA);\r\n      clone.reverseInPlace();\r\n      return clone;\r\n    }\r\n    clone = this.clone();\r\n    const origNumKnots = clone._bcurve.knots.knots.length;\r\n    let knotA = clone._bcurve.knots.fractionToKnot(fractionA);\r\n    let knotB = clone._bcurve.knots.fractionToKnot(fractionB);\r\n    clone._bcurve.addKnot(knotA, clone.degree);\r\n    clone._bcurve.addKnot(knotB, clone.degree);\r\n    if (origNumKnots === clone._bcurve.knots.knots.length)\r\n      return clone; // full curve\r\n    if (knotA > knotB)\r\n      [knotA, knotB] = [knotB, knotA];\r\n    // choose first/last knot and pole such that knotA/knotB has degree multiplicity in the new knot sequence\r\n    const iStartKnot = clone._bcurve.knots.knotToLeftKnotIndex(knotA) - clone.degree + 1;\r\n    const iStartPole = iStartKnot * clone._bcurve.poleLength;\r\n    const iLastKnot = clone._bcurve.knots.knotToLeftKnotIndex(knotB);\r\n    let iLastKnotLeftMultiple = iLastKnot - clone._bcurve.knots.getKnotMultiplicityAtIndex(iLastKnot) + 1;\r\n    if (clone._bcurve.knots.knots[iLastKnot] < knotB)\r\n      iLastKnotLeftMultiple = iLastKnot + 1;\r\n    const iEndPole = (iLastKnotLeftMultiple + 1) * clone._bcurve.poleLength; // one past last pole\r\n    const iEndKnot = iLastKnotLeftMultiple + clone.degree; // one past last knot\r\n    // trim the arrays (leave knots unnormalized)\r\n    clone._bcurve.knots.setKnotsCapture(clone._bcurve.knots.knots.slice(iStartKnot, iEndKnot));\r\n    clone._bcurve.packedData = clone._bcurve.packedData.slice(iStartPole, iEndPole);\r\n    clone.setWrappable(BSplineWrapMode.None); // always open\r\n    return clone;\r\n  }\r\n  /**\r\n   * Implement `CurvePrimitive.appendPlaneIntersections` to compute intersections of the curve with a plane.\r\n   * @param plane the plane with which to intersect the curve. Concrete types include [[Plane3dByOriginAndUnitNormal]],\r\n   * [[Point4d]], etc.\r\n   * @param result growing array of plane intersections.\r\n   * @return number of intersections appended to the array.\r\n  */\r\n  public override appendPlaneIntersectionPoints(plane: PlaneAltitudeEvaluator, result: CurveLocationDetail[]): number {\r\n    const numPole = this.numPoles;\r\n    const order = this.order;\r\n    const allCoffs = new Float64Array(numPole);\r\n    const numSpan = this.numSpan;\r\n    const point4d = Point4d.create();\r\n    // compute all pole altitudes from the plane\r\n    const minMax = Range1d.createNull();\r\n    // put the altitudes of all the B-spline poles in one array\r\n    for (let i = 0; i < numPole; i++) {\r\n      allCoffs[i] = plane.weightedAltitude(this.getPolePoint4d(i, point4d)!);\r\n      minMax.extendX(allCoffs[i]);\r\n    }\r\n    // A univariate B-spline through the altitude poles gives altitude as function of the B-spline knot.\r\n    // The (bspline) altitude function for each span is `order` consecutive altitudes.\r\n    // If those altitudes bracket zero, the span may potentially have a crossing.\r\n    let univariateBezier: UnivariateBezier | undefined;\r\n    let numFound = 0;\r\n    let previousFraction = -1000.0;\r\n    if (minMax.containsX(0.0)) {\r\n      for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n        if (this._bcurve.knots.isIndexOfRealSpan(spanIndex)) { // ignore trivial knot intervals\r\n          // outer range test ...\r\n          minMax.setNull();\r\n          minMax.extendArraySubset(allCoffs, spanIndex, order);\r\n          if (minMax.containsX(0.0)) {\r\n            // pack the B-spline support into a univariate bezier\r\n            univariateBezier = UnivariateBezier.createArraySubset(allCoffs, spanIndex, order, univariateBezier)!;\r\n            // saturate and solve the bezier\r\n            Bezier1dNd.saturate1dInPlace(univariateBezier.coffs, this._bcurve.knots, spanIndex);\r\n            const roots = univariateBezier.roots(0.0, true);\r\n            if (roots) {\r\n              for (const spanFraction of roots) {\r\n                // promote each local bezier fraction to global fraction and save the curve evaluation at that fraction\r\n                numFound++;\r\n                const fraction = this._bcurve.knots.spanFractionToFraction(spanIndex, spanFraction);\r\n                if (!Geometry.isAlmostEqualNumber(fraction, previousFraction)) {\r\n                  const detail = CurveLocationDetail.createCurveEvaluatedFraction(this, fraction);\r\n                  detail.intervalRole = CurveIntervalRole.isolated;\r\n                  result.push(detail);\r\n                  previousFraction = fraction;\r\n                }\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n    return numFound;\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(offsetDistanceOrOptions: number | OffsetOptions): BSplineCurve3d | undefined {\r\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\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\r\n   * 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\r\n   * 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/**\r\n * A BSplineCurve3d is a B-spline curve whose poles are Point3d.\r\n * See BSplineCurve3dBase for description of knots, order, degree, and poles.\r\n * @public\r\n */\r\nexport class BSplineCurve3d extends BSplineCurve3dBase {\r\n  private _workBezier?: BezierCurve3d;\r\n  private initializeWorkBezier(): BezierCurve3d {\r\n    if (this._workBezier === undefined)\r\n      this._workBezier = BezierCurve3d.createOrder(this.order);\r\n    return this._workBezier;\r\n  }\r\n  private constructor(numPoles: number, order: number, knots: KnotVector) {\r\n    super(3, numPoles, order, knots);\r\n  }\r\n  /** Test if `other` is an instance of BSplineCurve3d. */\r\n  public isSameGeometryClass(other: any): boolean {\r\n    return other instanceof BSplineCurve3d;\r\n  }\r\n  /** Apply `transform` to the poles. */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    Point3dArray.multiplyInPlace(transform, this._bcurve.packedData);\r\n    return true;\r\n  }\r\n  /** Get a pole as a simple Point3d. */\r\n  public getPolePoint3d(poleIndex: number, result?: Point3d): Point3d | undefined {\r\n    const k = this.poleIndexToDataIndex(poleIndex);\r\n    if (k !== undefined) {\r\n      const data = this._bcurve.packedData;\r\n      return Point3d.create(data[k], data[k + 1], data[k + 2], result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Get a pole as Point4d with weight 1. */\r\n  public getPolePoint4d(poleIndex: number, result?: Point4d): Point4d | undefined {\r\n    const k = this.poleIndexToDataIndex(poleIndex);\r\n    if (k !== undefined) {\r\n      const data = this._bcurve.packedData;\r\n      return Point4d.create(data[k], data[k + 1], data[k + 2], 1.0, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Convert the fractional position in the given span to a knot.\r\n   * * The returned value is not necessarily a knot, but it is a valid parameter in the domain of the B-spline curve.\r\n   */\r\n  public spanFractionToKnot(spanIndex: number, spanFraction: number): number {\r\n    return this._bcurve.spanFractionToKnot(spanIndex, spanFraction);\r\n  }\r\n  /** Return a simple array of arrays with the poles as `[[x,y,z],[x,y,z],..]`. */\r\n  public copyPoints(): any[] {\r\n    return Point3dArray.unpackNumbersToNestedArrays(this._bcurve.packedData, 3);\r\n  }\r\n  /** Return a simple array of poles' coordinates. */\r\n  public copyPointsFloat64Array(): Float64Array {\r\n    return this._bcurve.packedData.slice();\r\n  }\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public override copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    return this._bcurve.knots.copyKnots(includeExtraEndKnot);\r\n  }\r\n  /** Create a B-spline with uniform knots. */\r\n  public static createUniformKnots(\r\n    poles: Point3d[] | Float64Array | GrowableXYZArray, order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    const numPoles = poles instanceof Float64Array ? poles.length / 3 : poles.length;\r\n    if (order < 2 || numPoles < order)\r\n      return undefined;\r\n    const knots = KnotVector.createUniformClamped(numPoles, order - 1, 0.0, 1.0);\r\n    const curve = new BSplineCurve3d(numPoles, order, knots);\r\n    if (poles instanceof Float64Array) {\r\n      for (let i = 0; i < 3 * numPoles; i++)\r\n        curve._bcurve.packedData[i] = poles[i];\r\n    } else if (poles instanceof GrowableXYZArray) {\r\n      curve._bcurve.packedData = poles.float64Data().slice(0, 3 * numPoles);\r\n    } else {\r\n      let i = 0;\r\n      for (const p of poles) {\r\n        curve._bcurve.packedData[i++] = p.x;\r\n        curve._bcurve.packedData[i++] = p.y;\r\n        curve._bcurve.packedData[i++] = p.z;\r\n      }\r\n    }\r\n    return curve;\r\n  }\r\n  /**\r\n   * Create a smoothly closed B-spline curve with uniform knots.\r\n   * * Note that the curve does not start at the first pole.\r\n   */\r\n  public static createPeriodicUniformKnots(\r\n    poles: Point3d[] | Float64Array | GrowableXYZArray, order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    if (order < 2)\r\n      return undefined;\r\n    let numPoles = poles instanceof Float64Array ? poles.length / 3 : poles.length;\r\n    if (numPoles < 2)\r\n      return undefined;\r\n    const startPoint = Point3d.createZero();\r\n    const endPoint = Point3d.createZero();\r\n    let hasClosurePoint = false;\r\n    do {\r\n      if (poles instanceof Float64Array) {\r\n        startPoint.set(poles[0], poles[1], poles[2]);\r\n        endPoint.set(poles[3 * numPoles - 3], poles[3 * numPoles - 2], poles[3 * numPoles - 1]);\r\n      } else if (poles instanceof GrowableXYZArray) {\r\n        poles.getPoint3dAtUncheckedPointIndex(0, startPoint);\r\n        poles.getPoint3dAtUncheckedPointIndex(numPoles - 1, endPoint);\r\n      } else {\r\n        startPoint.setFromPoint3d(poles[0]);\r\n        endPoint.setFromPoint3d(poles[numPoles - 1]);\r\n      }\r\n      if (hasClosurePoint = startPoint.isAlmostEqual(endPoint))\r\n        --numPoles; // remove wraparound pole if found\r\n    } while (hasClosurePoint && numPoles > 1);\r\n    if (numPoles < order)\r\n      return undefined;\r\n    const degree = order - 1;\r\n    const numIntervals = numPoles;\r\n    const knots = KnotVector.createUniformWrapped(numIntervals, degree, 0.0, 1.0);\r\n    knots.wrappable = BSplineWrapMode.OpenByAddingControlPoints;\r\n    // append degree wraparound poles\r\n    const curve = new BSplineCurve3d(numPoles + degree, order, knots);\r\n    if (poles instanceof Float64Array) {\r\n      let i = 0;\r\n      for (let j = 0; j < 3 * numPoles; j++)\r\n        curve._bcurve.packedData[i++] = poles[j];\r\n      for (let j = 0; j < 3 * degree; j++)\r\n        curve._bcurve.packedData[i++] = poles[j];\r\n    } else if (poles instanceof GrowableXYZArray) {\r\n      let i = 0;\r\n      for (let j = 0; j < 3 * numPoles; j++)\r\n        curve._bcurve.packedData[i++] = poles.float64Data()[j];\r\n      for (let j = 0; j < 3 * degree; j++)\r\n        curve._bcurve.packedData[i++] = poles.float64Data()[j];\r\n    } else {\r\n      let i = 0;\r\n      for (let j = 0; j < numPoles; j++) {\r\n        curve._bcurve.packedData[i++] = poles[j].x;\r\n        curve._bcurve.packedData[i++] = poles[j].y;\r\n        curve._bcurve.packedData[i++] = poles[j].z;\r\n      }\r\n      for (let j = 0; j < degree; j++) {\r\n        curve._bcurve.packedData[i++] = poles[j].x;\r\n        curve._bcurve.packedData[i++] = poles[j].y;\r\n        curve._bcurve.packedData[i++] = poles[j].z;\r\n      }\r\n    }\r\n    return curve;\r\n  }\r\n  /**\r\n   * Create a C2 cubic B-spline curve that interpolates the given points and optional end tangents.\r\n   * @param options collection of points and end conditions.\r\n   */\r\n  public static createFromInterpolationCurve3dOptions(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\r\n    return BSplineCurveOps.createThroughPointsC2Cubic(options);\r\n  }\r\n  /**\r\n   * Create a B-spline curve from an Akima curve.\r\n   * @param options collection of points and end conditions.\r\n   */\r\n  public static createFromAkimaCurve3dOptions(options: AkimaCurve3dOptions): BSplineCurve3d | undefined {\r\n    return BSplineCurveOps.createThroughPoints(options.fitPoints, 4);  // temporary\r\n  }\r\n  /**\r\n   * Create a B-spline curve with given knots.\r\n   * * The poles have several variants:\r\n   *    * Float64Array(3 * numPoles) in blocks of [x,y,z].\r\n   *    * Point3d[].\r\n   *    * number[][], with inner dimension 3.\r\n   * * Two count conditions are recognized:\r\n   *    * If poleArray.length + order === knotArray.length, the first and last are assumed to be the extraneous knots\r\n   *      of classic clamping.\r\n   *    * If poleArray.length + order === knotArray.length + 2, the knots are in modern form.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BSpline/\r\n   */\r\n  public static create(\r\n    poleArray: Float64Array | Point3d[] | number[][], knotArray: Float64Array | number[], order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    if (order < 2)\r\n      return undefined;\r\n    let numPoles = poleArray.length;\r\n    if (poleArray instanceof Float64Array)\r\n      numPoles = Math.floor(numPoles / 3); // blocked as xyz\r\n    if (numPoles < order)\r\n      return undefined;\r\n    const numKnots = knotArray.length;\r\n    const skipFirstAndLast = (numPoles + order === numKnots); // classic over-clamped input knots\r\n    if (!skipFirstAndLast && numPoles + order !== numKnots + 2) // modern knots\r\n      return undefined;\r\n    const knots = KnotVector.create(knotArray, order - 1, skipFirstAndLast);\r\n    const curve = new BSplineCurve3d(numPoles, order, knots);\r\n    let i = 0;\r\n    if (poleArray instanceof Float64Array) {\r\n      for (const coordinate of poleArray)\r\n        curve._bcurve.packedData[i++] = coordinate;\r\n    } else if (poleArray[0] instanceof Point3d) {\r\n      for (const p of poleArray as Point3d[]) {\r\n        curve._bcurve.packedData[i++] = p.x;\r\n        curve._bcurve.packedData[i++] = p.y;\r\n        curve._bcurve.packedData[i++] = p.z;\r\n      }\r\n    } else if (Array.isArray(poleArray[0]) && poleArray[0].length === 3) {\r\n      for (const point of poleArray as number[][])\r\n        for (const coord of point)\r\n          curve._bcurve.packedData[i++] = coord;\r\n    } else {\r\n      return undefined; // unexpected poleArray type\r\n    }\r\n    return curve;\r\n  }\r\n  /** Return a deep clone. */\r\n  public override clone(): BSplineCurve3d {\r\n    const knotVector = this._bcurve.knots.clone();\r\n    const curve = new BSplineCurve3d(this.numPoles, this.order, knotVector);\r\n    curve._bcurve.packedData = this._bcurve.packedData.slice();\r\n    return curve;\r\n  }\r\n  /** Evaluate the curve at a fractional position within a given span. */\r\n  public evaluatePointInSpan(spanIndex: number, spanFraction: number, result?: Point3d): Point3d {\r\n    this._bcurve.evaluateBuffersInSpan(spanIndex, spanFraction);\r\n    return Point3d.createFrom(this._bcurve.poleBuffer, result);\r\n  }\r\n  /**\r\n   * Evaluate the curve and derivative at a fractional position within a given span.\r\n   * * The derivative is with respect to the span fractional parameter, _not_ to the curve's parameter or fractional parameter.\r\n   */\r\n  public evaluatePointAndDerivativeInSpan(spanIndex: number, spanFraction: number): Ray3d {\r\n    this._bcurve.evaluateBuffersInSpan1(spanIndex, spanFraction);\r\n    return Ray3d.createCapture(\r\n      Point3d.createFrom(this._bcurve.poleBuffer),\r\n      Vector3d.createFrom(this._bcurve.poleBuffer1),\r\n    );\r\n  }\r\n  /**\r\n   * Evaluate the curve at the given parameter.\r\n   * @param u parameter in curve domain.\r\n   * @param result optional result.\r\n   * @returns the point on the curve.\r\n   */\r\n  public knotToPoint(u: number, result?: Point3d): Point3d {\r\n    this._bcurve.evaluateBuffersAtKnot(u);\r\n    return Point3d.createFrom(this._bcurve.poleBuffer, result);\r\n  }\r\n  /**\r\n   * Evaluate the curve and derivative at the given parameter.\r\n   * @param u parameter in curve domain.\r\n   * @param result optional result.\r\n   * @returns the ray with origin at the curve point and direction as the derivative.\r\n   */\r\n  public knotToPointAndDerivative(u: number, result?: Ray3d): Ray3d {\r\n    this._bcurve.evaluateBuffersAtKnot(u, 1);\r\n    if (!result)\r\n      return Ray3d.createCapture(\r\n        Point3d.createFrom(this._bcurve.poleBuffer),\r\n        Vector3d.createFrom(this._bcurve.poleBuffer1),\r\n      );\r\n    result.origin.setFrom(this._bcurve.poleBuffer);\r\n    result.direction.setFrom(this._bcurve.poleBuffer1);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate the curve and two derivatives at the given parameter.\r\n   * @param u parameter in the curve domain.\r\n   * @param result optional result.\r\n   * @returns the plane with origin at the curve point, vectorU as the 1st derivative, and vectorV as the 2nd derivative.\r\n   */\r\n  public knotToPointAnd2Derivatives(u: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    this._bcurve.evaluateBuffersAtKnot(u, 2);\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      this._bcurve.poleBuffer[0], this._bcurve.poleBuffer[1], this._bcurve.poleBuffer[2],\r\n      this._bcurve.poleBuffer1[0], this._bcurve.poleBuffer1[1], this._bcurve.poleBuffer1[2],\r\n      this._bcurve.poleBuffer2[0], this._bcurve.poleBuffer2[1], this._bcurve.poleBuffer2[2],\r\n      result,\r\n    );\r\n  }\r\n  /** Test if `this` is almost the same curve as `other`. */\r\n  public override isAlmostEqual(other: any): boolean {\r\n    if (other instanceof BSplineCurve3d) {\r\n      return this._bcurve.knots.isAlmostEqual(other._bcurve.knots)\r\n        && Point3dArray.isAlmostEqual(this._bcurve.packedData, other._bcurve.packedData);\r\n    }\r\n    return false;\r\n  }\r\n  /** Test if this curve lies entirely in the given plane. */\r\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\r\n    return Point3dArray.isCloseToPlane(this._bcurve.packedData, plane);\r\n  }\r\n  /**\r\n   * Return the control polygon length as an approximation to the curve length.\r\n   * * The returned length is always an overestimate.\r\n   */\r\n  public quickLength(): number {\r\n    return Point3dArray.sumEdgeLengths(this._bcurve.packedData);\r\n  }\r\n  /** Emit Beziers or strokes (selected by the stroke options) to the handler. */\r\n  public emitStrokableParts(handler: IStrokeHandler, options?: StrokeOptions): void {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    let numStrokes;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3dOr3dH(spanIndex, false, workBezier);\r\n      if (bezier) {\r\n        numStrokes = bezier.computeStrokeCountForOptions(options);\r\n        if (handler.announceBezierCurve) {\r\n          handler.announceBezierCurve(\r\n            bezier,\r\n            numStrokes,\r\n            this,\r\n            spanIndex,\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 0.0),\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 1.0),\r\n          );\r\n\r\n        } else {\r\n          handler.announceIntervalForUniformStepStrokes(\r\n            this,\r\n            numStrokes,\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 0.0),\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 1.0),\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Assess length and turn to determine a stroke count.\r\n   * @param options stroke options structure.\r\n   */\r\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    let numStroke = 0;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier)\r\n        numStroke += bezier.computeStrokeCountForOptions(options);\r\n    }\r\n    return numStroke;\r\n  }\r\n  /**\r\n   * Compute individual segment stroke counts. Attach in a StrokeCountMap.\r\n   * @param options StrokeOptions that determine count\r\n   * @param parentStrokeMap evolving parent map.\r\n   * @alpha\r\n   */\r\n  public override computeAndAttachRecursiveStrokeCounts(options?: StrokeOptions, parentStrokeMap?: StrokeCountMap) {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    const myData = StrokeCountMap.createWithCurvePrimitiveAndOptionalParent(this, parentStrokeMap, []);\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier) {\r\n        const segmentLength = workBezier.curveLength();\r\n        const numStrokeOnSegment = workBezier.computeStrokeCountForOptions(options);\r\n        myData.addToCountAndLength(numStrokeOnSegment, segmentLength);\r\n      }\r\n    }\r\n    CurvePrimitive.installStrokeCountMap(this, myData, parentStrokeMap);\r\n  }\r\n  /** Append strokes to the given linestring. */\r\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier)\r\n        bezier.emitStrokes(dest, options);\r\n    }\r\n  }\r\n  /**\r\n   * Test knots and poles to determine if it is possible to close (aka \"wrap\") the curve.\r\n   * @returns the manner in which it is possible to close the curve. See `BSplineWrapMode` for particulars of each mode.\r\n   */\r\n  public get isClosable(): BSplineWrapMode {\r\n    return this.isClosableCurve;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * * The concrete return type may be [[BezierCurve3d]] or [[BezierCurve3dH]] according to the instance type and `prefer3dH`.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3dOr3dH(\r\n    spanIndex: number, prefer3dH: boolean, result?: BezierCurveBase,\r\n  ): BezierCurveBase | undefined {\r\n    if (prefer3dH)\r\n      return this.getSaturatedBezierSpan3dH(spanIndex, result);\r\n    return this.getSaturatedBezierSpan3d(spanIndex, result);\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3d(spanIndex: number, result?: BezierCurveBase): BezierCurve3d | undefined {\r\n    if (spanIndex < 0 || spanIndex >= this.numSpan)\r\n      return undefined;\r\n    const order = this.order;\r\n    if (result === undefined || !(result instanceof BezierCurve3d) || result.order !== order)\r\n      result = BezierCurve3d.createOrder(order);\r\n    const bezier = result as BezierCurve3d;\r\n    bezier.loadSpanPoles(this._bcurve.packedData, spanIndex);\r\n    if (bezier.saturateInPlace(this._bcurve.knots, spanIndex))\r\n      return bezier;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3dH(spanIndex: number, result?: BezierCurveBase): BezierCurve3dH | undefined {\r\n    if (spanIndex < 0 || spanIndex >= this.numSpan)\r\n      return undefined;\r\n    const order = this.order;\r\n    if (result === undefined || !(result instanceof BezierCurve3dH) || result.order !== order)\r\n      result = BezierCurve3dH.createOrder(order);\r\n    const bezier = result as BezierCurve3dH;\r\n    bezier.loadSpan3dPolesWithWeight(this._bcurve.packedData, spanIndex, 1.0);\r\n    if (bezier.saturateInPlace(this._bcurve.knots, spanIndex))\r\n      return bezier;\r\n    return undefined;\r\n  }\r\n  /** Second step of double dispatch: call `handler.handleBSplineCurve3d(this)`. */\r\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\r\n    return handler.handleBSplineCurve3d(this);\r\n  }\r\n  /**\r\n   * Extend a range so it contains the range of this curve.\r\n   * * This computation is based on the poles, not the curve itself, so the returned range is generally larger than the\r\n   * tightest possible range.\r\n   * @param rangeToExtend range to extend.\r\n   * @param transform transform to apply to the poles as they are entered into the range.\r\n   */\r\n  public extendRange(rangeToExtend: Range3d, transform?: Transform): void {\r\n    const buffer = this._bcurve.packedData;\r\n    const n = buffer.length - 2;\r\n    if (transform) {\r\n      for (let i0 = 0; i0 < n; i0 += 3)\r\n        rangeToExtend.extendTransformedXYZ(transform, buffer[i0], buffer[i0 + 1], buffer[i0 + 2]);\r\n    } else {\r\n      for (let i0 = 0; i0 < n; i0 += 3)\r\n        rangeToExtend.extendXYZ(buffer[i0], buffer[i0 + 1], buffer[i0 + 2]);\r\n    }\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n/** @packageDocumentation\r\n * @module Bspline\r\n */\r\n\r\nimport { VariantCurveExtendParameter } from \"../curve/CurveExtendMode\";\r\nimport { CurveIntervalRole, CurveLocationDetail } from \"../curve/CurveLocationDetail\";\r\nimport { CurvePrimitive } from \"../curve/CurvePrimitive\";\r\nimport { CurveOffsetXYHandler } from \"../curve/internalContexts/CurveOffsetXYHandler\";\r\nimport { PlaneAltitudeRangeContext } from \"../curve/internalContexts/PlaneAltitudeRangeContext\";\r\nimport { LineString3d } from \"../curve/LineString3d\";\r\nimport { OffsetOptions } from \"../curve/OffsetOptions\";\r\nimport { StrokeCountMap } from \"../curve/Query/StrokeCountMap\";\r\nimport { StrokeOptions } from \"../curve/StrokeOptions\";\r\nimport { Geometry, PlaneAltitudeEvaluator } from \"../Geometry\";\r\nimport { GeometryHandler, IStrokeHandler } from \"../geometry3d/GeometryHandler\";\r\nimport { GrowableXYZArray } from \"../geometry3d/GrowableXYZArray\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"../geometry3d/Plane3dByOriginAndUnitNormal\";\r\nimport { Plane3dByOriginAndVectors } from \"../geometry3d/Plane3dByOriginAndVectors\";\r\nimport { Point3d, Vector3d } from \"../geometry3d/Point3dVector3d\";\r\nimport { Point3dArray } from \"../geometry3d/PointHelpers\";\r\nimport { Range1d, Range3d } from \"../geometry3d/Range\";\r\nimport { Ray3d } from \"../geometry3d/Ray3d\";\r\nimport { Transform } from \"../geometry3d/Transform\";\r\nimport { Point4d } from \"../geometry4d/Point4d\";\r\nimport { UnivariateBezier } from \"../numerics/BezierPolynomials\";\r\nimport { AkimaCurve3dOptions } from \"./AkimaCurve3d\";\r\nimport { Bezier1dNd } from \"./Bezier1dNd\";\r\nimport { BezierCurve3d } from \"./BezierCurve3d\";\r\nimport { BezierCurve3dH } from \"./BezierCurve3dH\";\r\nimport { BezierCurveBase } from \"./BezierCurveBase\";\r\nimport { BSpline1dNd } from \"./BSpline1dNd\";\r\nimport { BSplineCurveOps } from \"./BSplineCurveOps\";\r\nimport { InterpolationCurve3dOptions } from \"./InterpolationCurve3d\";\r\nimport { BSplineWrapMode, KnotVector } from \"./KnotVector\";\r\n\r\n/**\r\n * Base class for BSplineCurve3d and BSplineCurve3dH.\r\n * * A B-spline curve consists of an array of `knots`, an array of `poles`, and a `degree`.\r\n * * The knot array is a non-decreasing sequence of numbers. It is also called a \"knot vector\".\r\n *   * The curve is a parametric function whose domain is a sub-range of its knots.\r\n *   * The API sometimes refers to a domain parameter `u` as a \"knot\", even if `u` is not actually an entry in the\r\n * knot array.\r\n * * The curve loosely \"follows\" the line string formed by the poles, aka the \"control polygon\".\r\n * * The curve is a chain of polynomial segments, aka \"spans\" or \"fragments\". B-spline theory identifies these as\r\n * Bezier curves.\r\n * * The polynomial spans all have same `degree`.\r\n * * Each span is controlled by `order = degree + 1` contiguous points in the pole array.\r\n * * There is a strict relationship between knot and poles counts: `numPoles + order = numKnots + 2'.\r\n * * The number of spans is `numSpan = numPoles - degree`.\r\n * * For a span with index `spanIndex`:\r\n *   * The `order` relevant poles begin at pole index `spanIndex`.\r\n *   * The `2*degree` relevant knots begin at knot index `spanIndex`.\r\n *   * The span domain is the knot range `[knot[spanIndex+degree-1], knot[spanIndex+degree]]`.\r\n * * The curve domain is the knot range `[knot[degree-1], knot[numSpan+degree-1]]`, or equivalently\r\n * `[knot[degree-1], knot[numPoles-1]]`. The API refers to this domain as the \"active knot interval\" of the curve.\r\n *\r\n * Nearly all B-spline curves are \"clamped\".\r\n * * This means that in the `knots` array, the first `degree` knots are equal, and the last `degree` knots are equal.\r\n * We say the smallest knot and the largest knot have multiplicity `degree`.\r\n * * Clamping make the curve pass through its first and last poles, with tangents directed along the first and\r\n * last edges of the control polygon.\r\n * * For instance, a cubic B-spline curve with knot vector `[0,0,0,1,2,3,3,3]`\r\n *   * can be evaluated at parameter values in the range `[0, 3]`\r\n *   * has 3 spans, with domains `[0, 1]`, `[1, 2]`, and `[2, 3]`\r\n *   * has 6 poles\r\n *   * passes through its first and last poles.\r\n * * The `create` methods may allow the classic convention that has an extra knot at the beginning and end of the\r\n * knot vector.\r\n *   * These two extra knots are not actually needed to define the B-spline curve.\r\n *   * When the `create` methods recognize the classic setup (`numPoles + order = numKnots`), the extra knots are\r\n * not saved with the BSplineCurve3dBase knots.\r\n *\r\n * * The weighted variant [[BSplineCurve3dH]] has the problem that `CurvePrimitive` 3D typing does not allow the\r\n *  undefined result where a homogeneous pole has zero weight; the convention in this case is to return 000.\r\n *\r\n * * Note the class relationships:\r\n *   * [[BSpline1dNd]] knows the definitional B-spline recurrence relation with no physical interpretation for the poles.\r\n *   * BsplineCurve3dBase owns a protected BSpline1dNd.\r\n *   * `BsplineCurve3dBase` is derived from [[CurvePrimitive]], which creates obligation to act as a 3D curve, e.g.,\r\n *     * evaluate fraction to point and derivatives wrt fraction.\r\n *     * compute intersection with plane.\r\n *   * [[BSplineCurve3d]] and [[BSplineCurve3dH]] have variant logic driven by whether or not there are \"weights\" on the poles.\r\n *     * For `BSplineCurve3d`, the xyz value of pole calculations are \"final\" values for 3d evaluation.\r\n *     * For `BSplineCurve3dH`, various `BSpline1dNd` results with xyzw have to be normalized back to xyz.\r\n *\r\n * * These classes do not support \"periodic\" variants.\r\n *   * Periodic curves historically have carried a flag (e.g., \"closed\") indicating that certain un-stored\r\n * leading/trailing knots and poles are understood to wrap around periodically.\r\n *   * Instead, these classes carry no such flag. They represent such curves with explicitly wrapped knots/poles.\r\n *\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BSpline/\r\n * @public\r\n */\r\nexport abstract class BSplineCurve3dBase extends CurvePrimitive {\r\n  /** String name for schema properties. */\r\n  public readonly curvePrimitiveType = \"bsplineCurve\";\r\n  /** The underlying blocked-pole spline, with simple x,y,z poles. */\r\n  protected _bcurve: BSpline1dNd;\r\n  private _definitionData?: any;\r\n  public set definitionData(data: any) {\r\n    this._definitionData = data;\r\n  }\r\n  public get definitionData(): any {\r\n    return this._definitionData;\r\n  }\r\n  protected constructor(poleDimension: number, numPoles: number, order: number, knots: KnotVector) {\r\n    super();\r\n    this._bcurve = BSpline1dNd.create(numPoles, poleDimension, order, knots);\r\n  }\r\n  /** Return the degree (one less than the order) of the curve. */\r\n  public get degree(): number {\r\n    return this._bcurve.degree;\r\n  }\r\n  /** Return the order (one more than degree) of the curve. */\r\n  public get order(): number {\r\n    return this._bcurve.order;\r\n  }\r\n  /**\r\n   * Return the number of Bezier spans in the curve. Note that this number includes the number of null\r\n   * spans at repeated knows.\r\n   */\r\n  public get numSpan(): number {\r\n    return this._bcurve.numSpan;\r\n  }\r\n  /** Return the number of poles. */\r\n  public get numPoles(): number {\r\n    return this._bcurve.numPoles;\r\n  }\r\n  /** Return live reference to the poles of the curve. */\r\n  public get polesRef(): Float64Array {\r\n    return this._bcurve.packedData;\r\n  }\r\n  /** Return live reference to the knots of the curve. */\r\n  public get knotsRef(): Float64Array {\r\n    return this._bcurve.knots.knots;\r\n  }\r\n  /**\r\n   * Number of components per pole, e.g.,\r\n   * * 3 for conventional (x,y,z) curve.\r\n   * * 4 for weighted (wx,wy,wz,w) curve.\r\n   */\r\n  public get poleDimension(): number {\r\n    return this._bcurve.poleLength;\r\n  }\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    return this._bcurve.knots.copyKnots(includeExtraEndKnot);\r\n  }\r\n  /** Get the flag indicating the curve might be suitable for having wrapped \"closed\" interpretation. */\r\n  public getWrappable(): BSplineWrapMode {\r\n    return this._bcurve.knots.wrappable;\r\n  }\r\n  /** Set the flag indicating the curve might be suitable for having wrapped \"closed\" interpretation. */\r\n  public setWrappable(value: BSplineWrapMode) {\r\n    this._bcurve.knots.wrappable = value;\r\n  }\r\n  /**\r\n   * Test knots and poles to determine if it is possible to close (aka \"wrap\") the curve.\r\n   * @returns the manner in which it is possible to close the curve. See `BSplineWrapMode` for particulars of each mode.\r\n   */\r\n  public get isClosableCurve(): BSplineWrapMode {\r\n    const mode = this._bcurve.knots.wrappable;\r\n    if (mode === BSplineWrapMode.None)\r\n      return BSplineWrapMode.None;\r\n    if (!this._bcurve.knots.testClosable(mode))\r\n      return BSplineWrapMode.None;\r\n    if (!this._bcurve.testClosablePolygon(mode))\r\n      return BSplineWrapMode.None;\r\n    return mode;\r\n  }\r\n  /** Evaluate the curve at a fractional position within a given span. */\r\n  public abstract evaluatePointInSpan(spanIndex: number, spanFraction: number, result?: Point3d): Point3d;\r\n  /**\r\n   * Evaluate the curve and derivative at a fractional position within a given span.\r\n   * * The derivative is with respect to the span fractional parameter, _not_ to the curve's parameter or fractional parameter.\r\n  */\r\n  public abstract evaluatePointAndDerivativeInSpan(spanIndex: number, spanFraction: number, result?: Ray3d): Ray3d;\r\n  /** Evaluate the curve at the given parameter. */\r\n  public abstract knotToPoint(knot: number, result?: Point3d): Point3d;\r\n  /** Evaluate the curve and derivative at the given parameter. */\r\n  public abstract knotToPointAndDerivative(knot: number, result?: Ray3d): Ray3d;\r\n  /** Evaluate the curve and two derivatives at the given parameter. */\r\n  public abstract knotToPointAnd2Derivatives(knot: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors;\r\n  /** Evaluate the curve point at the given fractional parameter. */\r\n  public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n    return this.knotToPoint(this._bcurve.knots.fractionToKnot(fraction), result);\r\n  }\r\n  /** Evaluate the curve and derivative at the given fractional parameter. */\r\n  public fractionToPointAndDerivative(fraction: number, result?: Ray3d): Ray3d {\r\n    const knot = this._bcurve.knots.fractionToKnot(fraction);\r\n    result = this.knotToPointAndDerivative(knot, result);\r\n    result.direction.scaleInPlace(this._bcurve.knots.knotLength01);\r\n    return result;\r\n  }\r\n  /** Evaluate the curve and two derivatives at the given fractional parameter. */\r\n  public fractionToPointAnd2Derivatives(fraction: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    const knot = this._bcurve.knots.fractionToKnot(fraction);\r\n    result = this.knotToPointAnd2Derivatives(knot, result);\r\n    const a = this._bcurve.knots.knotLength01;\r\n    result.vectorU.scaleInPlace(a);\r\n    result.vectorV.scaleInPlace(a * a);\r\n    return result;\r\n  }\r\n  /** Return the start point of the curve. */\r\n  public override startPoint(result?: Point3d): Point3d {\r\n    return this.evaluatePointInSpan(0, 0.0, result);\r\n  }\r\n  /** Return the end point of the curve. */\r\n  public override endPoint(result?: Point3d): Point3d {\r\n    return this.evaluatePointInSpan(this.numSpan - 1, 1.0, result);\r\n  }\r\n  /**\r\n   * Reverse the curve in place.\r\n   * * Poles are reversed.\r\n   * * Knot values are mirrored around the middle of the knot array.\r\n   */\r\n  public reverseInPlace(): void {\r\n    this._bcurve.reverseInPlace();\r\n  }\r\n  /** Return an array with this curve's Bezier fragments. */\r\n  public collectBezierSpans(prefer3dH: boolean): BezierCurveBase[] {\r\n    const result: BezierCurveBase[] = [];\r\n    const numSpans = this.numSpan;\r\n    for (let i = 0; i < numSpans; i++) {\r\n      if (this._bcurve.knots.isIndexOfRealSpan(i)) {\r\n        const span = this.getSaturatedBezierSpan3dOr3dH(i, prefer3dH);\r\n        if (span)\r\n          result.push(span);\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * * The concrete return type may be [[BezierCurve3d]] or [[BezierCurve3dH]] according to the instance type and `prefer3dH`.\r\n   * @param spanIndex index of span.\r\n   * @param prefer3dH true to force promotion to homogeneous.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public abstract getSaturatedBezierSpan3dOr3dH(\r\n    spanIndex: number, prefer3dH: boolean, result?: BezierCurveBase,\r\n  ): BezierCurveBase | undefined;\r\n  /**\r\n   * Return a specified pole as a Point4d.\r\n   * * BSplineCurve3d appends weight 1 to its xyz.\r\n   * * BSplineCurve3dH with pole whose \"normalized\" point is (x,y,z) but has weight w returns the weighted form (wx,wy,wz,w).\r\n   */\r\n  public abstract getPolePoint4d(poleIndex: number, result?: Point4d): Point4d | undefined;\r\n  /**\r\n   * Return a specified pole as a Point3d.\r\n   * * BSplineCurve3d returns its simple xyz.\r\n   * * BSplineCurve3dH attempts to normalize its (wx,wy,wz,w) back to (x,y,z), and returns undefined if weight is zero.\r\n   * @param poleIndex index of the pole.\r\n   * @param result optional result.\r\n   */\r\n  public abstract getPolePoint3d(poleIndex: number, result?: Point3d): Point3d | undefined;\r\n  /** Given a pole index, return the starting index for the contiguous array. */\r\n  public poleIndexToDataIndex(poleIndex: number): number | undefined {\r\n    if (poleIndex >= 0 && poleIndex < this.numPoles)\r\n      return poleIndex * this._bcurve.poleLength;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Search for the curve point that is closest to the spacePoint.\r\n   * * If the space point is exactly on the curve, this is the reverse of fractionToPoint.\r\n   * * Since CurvePrimitive should always have start and end available as candidate points, this method should always\r\n   * succeed.\r\n   * @param spacePoint point in space.\r\n   * @param _extend ignored (pass false). A BSplineCurve3dBase cannot be extended.\r\n   * @param result optional pre-allocated detail to populate and return.\r\n   * @returns details of the closest point.\r\n   */\r\n  public override closestPoint(\r\n    spacePoint: Point3d, _extend: VariantCurveExtendParameter, result?: CurveLocationDetail,\r\n  ): CurveLocationDetail | undefined {\r\n    // seed at start point; final point comes with final bezier perpendicular step\r\n    const point = this.fractionToPoint(0);\r\n    result = CurveLocationDetail.createCurveFractionPointDistance(this, 0.0, point, point.distance(spacePoint), result);\r\n    let span: BezierCurve3dH | undefined;\r\n    const numSpans = this.numSpan;\r\n    for (let i = 0; i < numSpans; i++) {\r\n      if (this._bcurve.knots.isIndexOfRealSpan(i)) {\r\n        span = this.getSaturatedBezierSpan3dOr3dH(i, true, span) as BezierCurve3dH;\r\n        if (span) {\r\n          // if the B-spline is discontinuous, both ends should be tested; ignore that possibility\r\n          if (span.updateClosestPointByTruePerpendicular(spacePoint, result, false, true)) {\r\n            // the detail records the span bezier; promote it to the parent curve\r\n            result.curve = this;\r\n            result.fraction = span.fractionToParentFraction(result.fraction);\r\n          }\r\n        }\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  /** Return a deep clone. */\r\n  public abstract override clone(): BSplineCurve3dBase;\r\n  /** Return a transformed deep clone. */\r\n  public override cloneTransformed(transform: Transform): BSplineCurve3dBase {\r\n    const curve = this.clone();\r\n    curve.tryTransformInPlace(transform);\r\n    return curve;\r\n  }\r\n  /**\r\n   * Return a curve primitive 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): BSplineCurve3dBase {\r\n    let clone: BSplineCurve3dBase;\r\n    if (fractionA > fractionB) {\r\n      clone = this.clonePartialCurve(fractionB, fractionA);\r\n      clone.reverseInPlace();\r\n      return clone;\r\n    }\r\n    clone = this.clone();\r\n    const origNumKnots = clone._bcurve.knots.knots.length;\r\n    let knotA = clone._bcurve.knots.fractionToKnot(fractionA);\r\n    let knotB = clone._bcurve.knots.fractionToKnot(fractionB);\r\n    clone._bcurve.addKnot(knotA, clone.degree);\r\n    clone._bcurve.addKnot(knotB, clone.degree);\r\n    if (origNumKnots === clone._bcurve.knots.knots.length)\r\n      return clone; // full curve\r\n    if (knotA > knotB)\r\n      [knotA, knotB] = [knotB, knotA];\r\n    // choose first/last knot and pole such that knotA/knotB has degree multiplicity in the new knot sequence\r\n    const iStartKnot = clone._bcurve.knots.knotToLeftKnotIndex(knotA) - clone.degree + 1;\r\n    const iStartPole = iStartKnot * clone._bcurve.poleLength;\r\n    const iLastKnot = clone._bcurve.knots.knotToLeftKnotIndex(knotB);\r\n    let iLastKnotLeftMultiple = iLastKnot - clone._bcurve.knots.getKnotMultiplicityAtIndex(iLastKnot) + 1;\r\n    if (clone._bcurve.knots.knots[iLastKnot] < knotB)\r\n      iLastKnotLeftMultiple = iLastKnot + 1;\r\n    const iEndPole = (iLastKnotLeftMultiple + 1) * clone._bcurve.poleLength; // one past last pole\r\n    const iEndKnot = iLastKnotLeftMultiple + clone.degree; // one past last knot\r\n    // trim the arrays (leave knots unnormalized)\r\n    clone._bcurve.knots.setKnotsCapture(clone._bcurve.knots.knots.slice(iStartKnot, iEndKnot));\r\n    clone._bcurve.packedData = clone._bcurve.packedData.slice(iStartPole, iEndPole);\r\n    clone.setWrappable(BSplineWrapMode.None); // always open\r\n    return clone;\r\n  }\r\n  /**\r\n   * Implement `CurvePrimitive.appendPlaneIntersections` to compute intersections of the curve with a plane.\r\n   * @param plane the plane with which to intersect the curve. Concrete types include [[Plane3dByOriginAndUnitNormal]],\r\n   * [[Point4d]], etc.\r\n   * @param result growing array of plane intersections.\r\n   * @return number of intersections appended to the array.\r\n  */\r\n  public override appendPlaneIntersectionPoints(plane: PlaneAltitudeEvaluator, result: CurveLocationDetail[]): number {\r\n    const numPole = this.numPoles;\r\n    const order = this.order;\r\n    const allCoffs = new Float64Array(numPole);\r\n    const numSpan = this.numSpan;\r\n    const point4d = Point4d.create();\r\n    // compute all pole altitudes from the plane\r\n    const minMax = Range1d.createNull();\r\n    // put the altitudes of all the B-spline poles in one array\r\n    for (let i = 0; i < numPole; i++) {\r\n      this.getPolePoint4d(i, point4d);\r\n      allCoffs[i] = plane.weightedAltitude(point4d);\r\n      minMax.extendX(allCoffs[i]);\r\n    }\r\n    // A univariate B-spline through the altitude poles gives altitude as function of the B-spline knot.\r\n    // The (bspline) altitude function for each span is `order` consecutive altitudes.\r\n    // If those altitudes bracket zero, the span may potentially have a crossing.\r\n    let univariateBezier: UnivariateBezier | undefined;\r\n    let numFound = 0;\r\n    let previousFraction = -1000.0;\r\n    if (minMax.containsX(0.0)) {\r\n      for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n        if (this._bcurve.knots.isIndexOfRealSpan(spanIndex)) { // ignore trivial knot intervals\r\n          // outer range test ...\r\n          minMax.setNull();\r\n          minMax.extendArraySubset(allCoffs, spanIndex, order);\r\n          if (minMax.containsX(0.0)) {\r\n            // pack the B-spline support into a univariate bezier\r\n            univariateBezier = UnivariateBezier.createArraySubset(allCoffs, spanIndex, order, univariateBezier);\r\n            // saturate and solve the bezier\r\n            Bezier1dNd.saturate1dInPlace(univariateBezier.coffs, this._bcurve.knots, spanIndex);\r\n            const roots = univariateBezier.roots(0.0, true);\r\n            if (roots) {\r\n              for (const spanFraction of roots) {\r\n                // promote each local bezier fraction to global fraction and save the curve evaluation at that fraction\r\n                numFound++;\r\n                const fraction = this._bcurve.knots.spanFractionToFraction(spanIndex, spanFraction);\r\n                if (!Geometry.isAlmostEqualNumber(fraction, previousFraction)) {\r\n                  const detail = CurveLocationDetail.createCurveEvaluatedFraction(this, fraction);\r\n                  detail.intervalRole = CurveIntervalRole.isolated;\r\n                  result.push(detail);\r\n                  previousFraction = fraction;\r\n                }\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n    return numFound;\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(offsetDistanceOrOptions: number | OffsetOptions): BSplineCurve3d | undefined {\r\n    const options = OffsetOptions.create(offsetDistanceOrOptions);\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\r\n   * 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\r\n   * 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/**\r\n * A BSplineCurve3d is a B-spline curve whose poles are Point3d.\r\n * See BSplineCurve3dBase for description of knots, order, degree, and poles.\r\n * @public\r\n */\r\nexport class BSplineCurve3d extends BSplineCurve3dBase {\r\n  private _workBezier?: BezierCurve3d;\r\n  private initializeWorkBezier(): BezierCurve3d {\r\n    if (this._workBezier === undefined)\r\n      this._workBezier = BezierCurve3d.createOrder(this.order);\r\n    return this._workBezier;\r\n  }\r\n  private constructor(numPoles: number, order: number, knots: KnotVector) {\r\n    super(3, numPoles, order, knots);\r\n  }\r\n  /** Test if `other` is an instance of BSplineCurve3d. */\r\n  public isSameGeometryClass(other: any): boolean {\r\n    return other instanceof BSplineCurve3d;\r\n  }\r\n  /** Apply `transform` to the poles. */\r\n  public tryTransformInPlace(transform: Transform): boolean {\r\n    Point3dArray.multiplyInPlace(transform, this._bcurve.packedData);\r\n    return true;\r\n  }\r\n  /** Get a pole as a simple Point3d. */\r\n  public getPolePoint3d(poleIndex: number, result?: Point3d): Point3d | undefined {\r\n    const k = this.poleIndexToDataIndex(poleIndex);\r\n    if (k !== undefined) {\r\n      const data = this._bcurve.packedData;\r\n      return Point3d.create(data[k], data[k + 1], data[k + 2], result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /** Get a pole as Point4d with weight 1. */\r\n  public getPolePoint4d(poleIndex: number, result?: Point4d): Point4d | undefined {\r\n    const k = this.poleIndexToDataIndex(poleIndex);\r\n    if (k !== undefined) {\r\n      const data = this._bcurve.packedData;\r\n      return Point4d.create(data[k], data[k + 1], data[k + 2], 1.0, result);\r\n    }\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Convert the fractional position in the given span to a knot.\r\n   * * The returned value is not necessarily a knot, but it is a valid parameter in the domain of the B-spline curve.\r\n   */\r\n  public spanFractionToKnot(spanIndex: number, spanFraction: number): number {\r\n    return this._bcurve.spanFractionToKnot(spanIndex, spanFraction);\r\n  }\r\n  /** Return a simple array of arrays with the poles as `[[x,y,z],[x,y,z],..]`. */\r\n  public copyPoints(): any[] {\r\n    return Point3dArray.unpackNumbersToNestedArrays(this._bcurve.packedData, 3);\r\n  }\r\n  /** Return a simple array of poles' coordinates. */\r\n  public copyPointsFloat64Array(): Float64Array {\r\n    return this._bcurve.packedData.slice();\r\n  }\r\n  /** Return a simple array form of the knots. Optionally replicate the first and last in classic over-clamped manner. */\r\n  public override copyKnots(includeExtraEndKnot: boolean): number[] {\r\n    return this._bcurve.knots.copyKnots(includeExtraEndKnot);\r\n  }\r\n  /** Create a B-spline with uniform knots. */\r\n  public static createUniformKnots(\r\n    poles: Point3d[] | Float64Array | GrowableXYZArray, order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    const numPoles = poles instanceof Float64Array ? poles.length / 3 : poles.length;\r\n    if (order < 2 || numPoles < order)\r\n      return undefined;\r\n    const knots = KnotVector.createUniformClamped(numPoles, order - 1, 0.0, 1.0);\r\n    const curve = new BSplineCurve3d(numPoles, order, knots);\r\n    if (poles instanceof Float64Array) {\r\n      for (let i = 0; i < 3 * numPoles; i++)\r\n        curve._bcurve.packedData[i] = poles[i];\r\n    } else if (poles instanceof GrowableXYZArray) {\r\n      curve._bcurve.packedData = poles.float64Data().slice(0, 3 * numPoles);\r\n    } else {\r\n      let i = 0;\r\n      for (const p of poles) {\r\n        curve._bcurve.packedData[i++] = p.x;\r\n        curve._bcurve.packedData[i++] = p.y;\r\n        curve._bcurve.packedData[i++] = p.z;\r\n      }\r\n    }\r\n    return curve;\r\n  }\r\n  /**\r\n   * Create a smoothly closed B-spline curve with uniform knots.\r\n   * * Note that the curve does not start at the first pole.\r\n   */\r\n  public static createPeriodicUniformKnots(\r\n    poles: Point3d[] | Float64Array | GrowableXYZArray, order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    if (order < 2)\r\n      return undefined;\r\n    let numPoles = poles instanceof Float64Array ? poles.length / 3 : poles.length;\r\n    if (numPoles < 2)\r\n      return undefined;\r\n    const startPoint = Point3d.createZero();\r\n    const endPoint = Point3d.createZero();\r\n    let hasClosurePoint = false;\r\n    do {\r\n      if (poles instanceof Float64Array) {\r\n        startPoint.set(poles[0], poles[1], poles[2]);\r\n        endPoint.set(poles[3 * numPoles - 3], poles[3 * numPoles - 2], poles[3 * numPoles - 1]);\r\n      } else if (poles instanceof GrowableXYZArray) {\r\n        poles.getPoint3dAtUncheckedPointIndex(0, startPoint);\r\n        poles.getPoint3dAtUncheckedPointIndex(numPoles - 1, endPoint);\r\n      } else {\r\n        startPoint.setFromPoint3d(poles[0]);\r\n        endPoint.setFromPoint3d(poles[numPoles - 1]);\r\n      }\r\n      if (hasClosurePoint = startPoint.isAlmostEqual(endPoint))\r\n        --numPoles; // remove wraparound pole if found\r\n    } while (hasClosurePoint && numPoles > 1);\r\n    if (numPoles < order)\r\n      return undefined;\r\n    const degree = order - 1;\r\n    const numIntervals = numPoles;\r\n    const knots = KnotVector.createUniformWrapped(numIntervals, degree, 0.0, 1.0);\r\n    knots.wrappable = BSplineWrapMode.OpenByAddingControlPoints;\r\n    // append degree wraparound poles\r\n    const curve = new BSplineCurve3d(numPoles + degree, order, knots);\r\n    if (poles instanceof Float64Array) {\r\n      let i = 0;\r\n      for (let j = 0; j < 3 * numPoles; j++)\r\n        curve._bcurve.packedData[i++] = poles[j];\r\n      for (let j = 0; j < 3 * degree; j++)\r\n        curve._bcurve.packedData[i++] = poles[j];\r\n    } else if (poles instanceof GrowableXYZArray) {\r\n      let i = 0;\r\n      for (let j = 0; j < 3 * numPoles; j++)\r\n        curve._bcurve.packedData[i++] = poles.float64Data()[j];\r\n      for (let j = 0; j < 3 * degree; j++)\r\n        curve._bcurve.packedData[i++] = poles.float64Data()[j];\r\n    } else {\r\n      let i = 0;\r\n      for (let j = 0; j < numPoles; j++) {\r\n        curve._bcurve.packedData[i++] = poles[j].x;\r\n        curve._bcurve.packedData[i++] = poles[j].y;\r\n        curve._bcurve.packedData[i++] = poles[j].z;\r\n      }\r\n      for (let j = 0; j < degree; j++) {\r\n        curve._bcurve.packedData[i++] = poles[j].x;\r\n        curve._bcurve.packedData[i++] = poles[j].y;\r\n        curve._bcurve.packedData[i++] = poles[j].z;\r\n      }\r\n    }\r\n    return curve;\r\n  }\r\n  /**\r\n   * Create a C2 cubic B-spline curve that interpolates the given points and optional end tangents.\r\n   * @param options collection of points and end conditions.\r\n   */\r\n  public static createFromInterpolationCurve3dOptions(options: InterpolationCurve3dOptions): BSplineCurve3d | undefined {\r\n    return BSplineCurveOps.createThroughPointsC2Cubic(options);\r\n  }\r\n  /**\r\n   * Create a B-spline curve from an Akima curve.\r\n   * @param options collection of points and end conditions.\r\n   */\r\n  public static createFromAkimaCurve3dOptions(options: AkimaCurve3dOptions): BSplineCurve3d | undefined {\r\n    return BSplineCurveOps.createThroughPoints(options.fitPoints, 4);  // temporary\r\n  }\r\n  /**\r\n   * Create a B-spline curve with given knots.\r\n   * * The poles have several variants:\r\n   *    * Float64Array(3 * numPoles) in blocks of [x,y,z].\r\n   *    * Point3d[].\r\n   *    * number[][], with inner dimension 3.\r\n   * * Two count conditions are recognized:\r\n   *    * If poleArray.length + order === knotArray.length, the first and last are assumed to be the extraneous knots\r\n   *      of classic clamping.\r\n   *    * If poleArray.length + order === knotArray.length + 2, the knots are in modern form.\r\n   * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BSpline/\r\n   */\r\n  public static create(\r\n    poleArray: Float64Array | Point3d[] | number[][], knotArray: Float64Array | number[], order: number,\r\n  ): BSplineCurve3d | undefined {\r\n    if (order < 2)\r\n      return undefined;\r\n    let numPoles = poleArray.length;\r\n    if (poleArray instanceof Float64Array)\r\n      numPoles = Math.floor(numPoles / 3); // blocked as xyz\r\n    if (numPoles < order)\r\n      return undefined;\r\n    const numKnots = knotArray.length;\r\n    const skipFirstAndLast = (numPoles + order === numKnots); // classic over-clamped input knots\r\n    if (!skipFirstAndLast && numPoles + order !== numKnots + 2) // modern knots\r\n      return undefined;\r\n    const knots = KnotVector.create(knotArray, order - 1, skipFirstAndLast);\r\n    const curve = new BSplineCurve3d(numPoles, order, knots);\r\n    let i = 0;\r\n    if (poleArray instanceof Float64Array) {\r\n      for (const coordinate of poleArray)\r\n        curve._bcurve.packedData[i++] = coordinate;\r\n    } else if (poleArray[0] instanceof Point3d) {\r\n      for (const p of poleArray as Point3d[]) {\r\n        curve._bcurve.packedData[i++] = p.x;\r\n        curve._bcurve.packedData[i++] = p.y;\r\n        curve._bcurve.packedData[i++] = p.z;\r\n      }\r\n    } else if (Array.isArray(poleArray[0]) && poleArray[0].length === 3) {\r\n      for (const point of poleArray as number[][])\r\n        for (const coord of point)\r\n          curve._bcurve.packedData[i++] = coord;\r\n    } else {\r\n      return undefined; // unexpected poleArray type\r\n    }\r\n    return curve;\r\n  }\r\n  /** Return a deep clone. */\r\n  public override clone(): BSplineCurve3d {\r\n    const knotVector = this._bcurve.knots.clone();\r\n    const curve = new BSplineCurve3d(this.numPoles, this.order, knotVector);\r\n    curve._bcurve.packedData = this._bcurve.packedData.slice();\r\n    return curve;\r\n  }\r\n  /** Evaluate the curve at a fractional position within a given span. */\r\n  public evaluatePointInSpan(spanIndex: number, spanFraction: number, result?: Point3d): Point3d {\r\n    this._bcurve.evaluateBuffersInSpan(spanIndex, spanFraction);\r\n    return Point3d.createFrom(this._bcurve.poleBuffer, result);\r\n  }\r\n  /**\r\n   * Evaluate the curve and derivative at a fractional position within a given span.\r\n   * * The derivative is with respect to the span fractional parameter, _not_ to the curve's parameter or fractional parameter.\r\n   */\r\n  public evaluatePointAndDerivativeInSpan(spanIndex: number, spanFraction: number): Ray3d {\r\n    this._bcurve.evaluateBuffersInSpan1(spanIndex, spanFraction);\r\n    return Ray3d.createCapture(\r\n      Point3d.createFrom(this._bcurve.poleBuffer),\r\n      Vector3d.createFrom(this._bcurve.poleBuffer1),\r\n    );\r\n  }\r\n  /**\r\n   * Evaluate the curve at the given parameter.\r\n   * @param u parameter in curve domain.\r\n   * @param result optional result.\r\n   * @returns the point on the curve.\r\n   */\r\n  public knotToPoint(u: number, result?: Point3d): Point3d {\r\n    this._bcurve.evaluateBuffersAtKnot(u);\r\n    return Point3d.createFrom(this._bcurve.poleBuffer, result);\r\n  }\r\n  /**\r\n   * Evaluate the curve and derivative at the given parameter.\r\n   * @param u parameter in curve domain.\r\n   * @param result optional result.\r\n   * @returns the ray with origin at the curve point and direction as the derivative.\r\n   */\r\n  public knotToPointAndDerivative(u: number, result?: Ray3d): Ray3d {\r\n    this._bcurve.evaluateBuffersAtKnot(u, 1);\r\n    if (!result)\r\n      return Ray3d.createCapture(\r\n        Point3d.createFrom(this._bcurve.poleBuffer),\r\n        Vector3d.createFrom(this._bcurve.poleBuffer1),\r\n      );\r\n    result.origin.setFrom(this._bcurve.poleBuffer);\r\n    result.direction.setFrom(this._bcurve.poleBuffer1);\r\n    return result;\r\n  }\r\n  /**\r\n   * Evaluate the curve and two derivatives at the given parameter.\r\n   * @param u parameter in the curve domain.\r\n   * @param result optional result.\r\n   * @returns the plane with origin at the curve point, vectorU as the 1st derivative, and vectorV as the 2nd derivative.\r\n   */\r\n  public knotToPointAnd2Derivatives(u: number, result?: Plane3dByOriginAndVectors): Plane3dByOriginAndVectors {\r\n    this._bcurve.evaluateBuffersAtKnot(u, 2);\r\n    return Plane3dByOriginAndVectors.createOriginAndVectorsXYZ(\r\n      this._bcurve.poleBuffer[0], this._bcurve.poleBuffer[1], this._bcurve.poleBuffer[2],\r\n      this._bcurve.poleBuffer1[0], this._bcurve.poleBuffer1[1], this._bcurve.poleBuffer1[2],\r\n      this._bcurve.poleBuffer2[0], this._bcurve.poleBuffer2[1], this._bcurve.poleBuffer2[2],\r\n      result,\r\n    );\r\n  }\r\n  /** Test if `this` is almost the same curve as `other`. */\r\n  public override isAlmostEqual(other: any): boolean {\r\n    if (other instanceof BSplineCurve3d) {\r\n      return this._bcurve.knots.isAlmostEqual(other._bcurve.knots)\r\n        && Point3dArray.isAlmostEqual(this._bcurve.packedData, other._bcurve.packedData);\r\n    }\r\n    return false;\r\n  }\r\n  /** Test if this curve lies entirely in the given plane. */\r\n  public isInPlane(plane: Plane3dByOriginAndUnitNormal): boolean {\r\n    return Point3dArray.isCloseToPlane(this._bcurve.packedData, plane);\r\n  }\r\n  /**\r\n   * Return the control polygon length as an approximation to the curve length.\r\n   * * The returned length is always an overestimate.\r\n   */\r\n  public quickLength(): number {\r\n    return Point3dArray.sumEdgeLengths(this._bcurve.packedData);\r\n  }\r\n  /** Emit Beziers or strokes (selected by the stroke options) to the handler. */\r\n  public emitStrokableParts(handler: IStrokeHandler, options?: StrokeOptions): void {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    let numStrokes;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3dOr3dH(spanIndex, false, workBezier);\r\n      if (bezier) {\r\n        numStrokes = bezier.computeStrokeCountForOptions(options);\r\n        if (handler.announceBezierCurve) {\r\n          handler.announceBezierCurve(\r\n            bezier,\r\n            numStrokes,\r\n            this,\r\n            spanIndex,\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 0.0),\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 1.0),\r\n          );\r\n\r\n        } else {\r\n          handler.announceIntervalForUniformStepStrokes(\r\n            this,\r\n            numStrokes,\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 0.0),\r\n            this._bcurve.knots.spanFractionToFraction(spanIndex, 1.0),\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Assess length and turn to determine a stroke count.\r\n   * @param options stroke options structure.\r\n   */\r\n  public computeStrokeCountForOptions(options?: StrokeOptions): number {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    let numStroke = 0;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier)\r\n        numStroke += bezier.computeStrokeCountForOptions(options);\r\n    }\r\n    return numStroke;\r\n  }\r\n  /**\r\n   * Compute individual segment stroke counts. Attach in a StrokeCountMap.\r\n   * @param options StrokeOptions that determine count\r\n   * @param parentStrokeMap evolving parent map.\r\n   * @alpha\r\n   */\r\n  public override computeAndAttachRecursiveStrokeCounts(options?: StrokeOptions, parentStrokeMap?: StrokeCountMap) {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    const myData = StrokeCountMap.createWithCurvePrimitiveAndOptionalParent(this, parentStrokeMap, []);\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier) {\r\n        const segmentLength = workBezier.curveLength();\r\n        const numStrokeOnSegment = workBezier.computeStrokeCountForOptions(options);\r\n        myData.addToCountAndLength(numStrokeOnSegment, segmentLength);\r\n      }\r\n    }\r\n    CurvePrimitive.installStrokeCountMap(this, myData, parentStrokeMap);\r\n  }\r\n  /** Append strokes to the given linestring. */\r\n  public emitStrokes(dest: LineString3d, options?: StrokeOptions): void {\r\n    const workBezier = this.initializeWorkBezier();\r\n    const numSpan = this.numSpan;\r\n    for (let spanIndex = 0; spanIndex < numSpan; spanIndex++) {\r\n      const bezier = this.getSaturatedBezierSpan3d(spanIndex, workBezier);\r\n      if (bezier)\r\n        bezier.emitStrokes(dest, options);\r\n    }\r\n  }\r\n  /**\r\n   * Test knots and poles to determine if it is possible to close (aka \"wrap\") the curve.\r\n   * @returns the manner in which it is possible to close the curve. See `BSplineWrapMode` for particulars of each mode.\r\n   */\r\n  public get isClosable(): BSplineWrapMode {\r\n    return this.isClosableCurve;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * * The concrete return type may be [[BezierCurve3d]] or [[BezierCurve3dH]] according to the instance type and `prefer3dH`.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3dOr3dH(\r\n    spanIndex: number, prefer3dH: boolean, result?: BezierCurveBase,\r\n  ): BezierCurveBase | undefined {\r\n    if (prefer3dH)\r\n      return this.getSaturatedBezierSpan3dH(spanIndex, result);\r\n    return this.getSaturatedBezierSpan3d(spanIndex, result);\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3d(spanIndex: number, result?: BezierCurveBase): BezierCurve3d | undefined {\r\n    if (spanIndex < 0 || spanIndex >= this.numSpan)\r\n      return undefined;\r\n    const order = this.order;\r\n    if (result === undefined || !(result instanceof BezierCurve3d) || result.order !== order)\r\n      result = BezierCurve3d.createOrder(order);\r\n    const bezier = result as BezierCurve3d;\r\n    bezier.loadSpanPoles(this._bcurve.packedData, spanIndex);\r\n    if (bezier.saturateInPlace(this._bcurve.knots, spanIndex))\r\n      return bezier;\r\n    return undefined;\r\n  }\r\n  /**\r\n   * Return the Bezier fragment corresponding to the given span of this curve.\r\n   * @param spanIndex index of span.\r\n   * @param result optional reusable curve. This will only be reused if its type and order matches.\r\n   */\r\n  public getSaturatedBezierSpan3dH(spanIndex: number, result?: BezierCurveBase): BezierCurve3dH | undefined {\r\n    if (spanIndex < 0 || spanIndex >= this.numSpan)\r\n      return undefined;\r\n    const order = this.order;\r\n    if (result === undefined || !(result instanceof BezierCurve3dH) || result.order !== order)\r\n      result = BezierCurve3dH.createOrder(order);\r\n    const bezier = result as BezierCurve3dH;\r\n    bezier.loadSpan3dPolesWithWeight(this._bcurve.packedData, spanIndex, 1.0);\r\n    if (bezier.saturateInPlace(this._bcurve.knots, spanIndex))\r\n      return bezier;\r\n    return undefined;\r\n  }\r\n  /** Second step of double dispatch: call `handler.handleBSplineCurve3d(this)`. */\r\n  public dispatchToGeometryHandler(handler: GeometryHandler): any {\r\n    return handler.handleBSplineCurve3d(this);\r\n  }\r\n  /**\r\n   * Extend a range so it contains the range of this curve.\r\n   * * This computation is based on the poles, not the curve itself, so the returned range is generally larger than the\r\n   * tightest possible range.\r\n   * @param rangeToExtend range to extend.\r\n   * @param transform transform to apply to the poles as they are entered into the range.\r\n   */\r\n  public extendRange(rangeToExtend: Range3d, transform?: Transform): void {\r\n    const buffer = this._bcurve.packedData;\r\n    const n = buffer.length - 2;\r\n    if (transform) {\r\n      for (let i0 = 0; i0 < n; i0 += 3)\r\n        rangeToExtend.extendTransformedXYZ(transform, buffer[i0], buffer[i0 + 1], buffer[i0 + 2]);\r\n    } else {\r\n      for (let i0 = 0; i0 < n; i0 += 3)\r\n        rangeToExtend.extendXYZ(buffer[i0], buffer[i0 + 1], buffer[i0 + 2]);\r\n    }\r\n  }\r\n}\r\n"]}

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

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package/lib/cjs/bspline/BSplineCurveOps.js

@@ -8,6 +8,7 @@
  */
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.BSplineCurveOps = void 0;
+const core_bentley_1 = require("@itwin/core-bentley");
 const Geometry_1 = require("../Geometry");
 const GrowableXYZArray_1 = require("../geometry3d/GrowableXYZArray");
 const IndexedXYZCollection_1 = require("../geometry3d/IndexedXYZCollection");
@@ -803,7 +804,9 @@ exports.BSplineCurveOps = BSplineCurveOps;
             else { // closed
                 if (undefined !== (poles = this.solveNearTridiagonal(options.fitPoints, alpha, beta, gamma))) {
                     if (poles.length > 2) {
-                        poles.unshift(poles.pop()); // shift poles right to line up with the knots
+                        const pole = poles.pop();
+                        (0, core_bentley_1.assert)(pole !== undefined, "expect pop to succeed since length > 2");
+                        poles.unshift(pole); // shift poles right to line up with the knots
                         for (let i = 0; i < options.order - 1; ++i)
                             poles.push(poles[i].clone()); // periodically extend (the modern way)
                     }