@math.gl/geospatial 5.0.0-alpha.19 → 5.0.0-alpha.20

package/src/geodesic-intersections.ts

@@ -0,0 +1,598 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// SPDX-FileCopyrightText: Copyright (c) Charles Karney (2011-2023)
+// SPDX-FileCopyrightText: Copyright (c) vis.gl contributors
+// SPDX-FileComment: Global capture tiling, characteristic bounds, conjugates and spherical correction adapted from GeographicLib 2.7 Intersect.cpp (MIT, Karney 2024). Geodesic.hpp ambiguity catalog; original adaptive coverage, typed reporting and analytic sphere enumeration. See ../GEOGRAPHICLIB-LICENSE.txt.
+import {EllipsoidGeodesic, type GeodesicParameters, type GeodesicLine} from './ellipsoid-geodesic';
+import {IntersectionBounds} from './ellipsoid-helpers/intersection-bounds';
+import {geodesic} from './vendor/geographiclib-geodesic/runtime';
+export type GeodesicPath = {latitude: number; longitude: number; azimuth: number};
+export type IntersectionPoint = {
+  s: number;
+  t: number;
+  latitude: number;
+  longitude: number;
+  residual: number;
+  crossingAngle: number;
+  iterations: number;
+  /** Continuum representative; next() uses the native conjugate-point convention. */
+  coincidence?: 1 | -1;
+};
+export type IntersectionSearchOptions = {maxDistance: number; origin?: readonly [number, number]};
+export type IntersectionSearch = {
+  intersections: IntersectionPoint[];
+  coincidences: {s: number; t: number; direction: 1 | -1}[];
+  /** Every tile/candidate is covered and all output residuals pass. */
+  complete: boolean;
+  attemptedSeeds: number;
+  /** Failed refinement/candidate attempts, including recovered tiles. */
+  failedSeeds: number;
+};
+export type ClosestIntersection = IntersectionSearch & {intersection?: IntersectionPoint};
+export type SegmentIntersection =
+  | {status: 'intersection'; point: IntersectionPoint; complete: boolean}
+  | {status: 'overlap'; intervalA: [number, number]; intervalB: [number, number]; complete: boolean}
+  | {status: 'disjoint' | 'not-found' | 'ambiguous'; complete: boolean};
+const DEG = Math.PI / 180,
+  EPS = 3 * Number.EPSILON;
+const math = geodesic.Math as unknown as {
+  AngDiff(a: number, b: number): {d: number; e: number};
+  sincosde(a: number, b: number): {s: number; c: number};
+};
+type CoincidenceDirection = 1 | -1;
+type Root = {x: number; y: number; c: 0 | 1 | -1; iterations: number};
+type Vec = [number, number, number];
+
+/** Global geodesic intersection search in the declared numerical profile.
+ * All finite L1 search tiles use GeographicLib capture bounds and a boundary
+ * margin. Completeness is withheld on unresolved convergence or residual failure.
+ */
+export class GeodesicIntersections {
+  private readonly a: number;
+  private readonly r: number;
+  private readonly radius: number;
+  private readonly solver: EllipsoidGeodesic;
+  private readonly bounds: IntersectionBounds;
+  private readonly tolerance = 5e-14;
+  constructor({semiMajorAxis: a, semiMinorAxis: b}: GeodesicParameters) {
+    const r = b / a;
+    if (!(Number.isFinite(a) && Number.isFinite(b) && a > 0 && b > 0 && r >= 0.99 && r <= 1.01))
+      throw new RangeError('Intersections require finite positive axes with 0.99 <= b/a <= 1.01');
+    this.a = a;
+    this.r = r;
+    this.solver = new EllipsoidGeodesic({semiMajorAxis: 1, semiMinorAxis: r});
+    this.radius = Math.sqrt(this.solver.surfaceArea / (4 * Math.PI));
+    this.bounds = new IntersectionBounds(this.solver, r, this.radius);
+    Object.freeze(this);
+  }
+
+  /** Find all discovered roots in the L1 ball |s-originS|+|t-originT| <= maxDistance. */
+  all(a: GeodesicPath, b: GeodesicPath, options: IntersectionSearchOptions): IntersectionSearch {
+    return this.search(a, b, options, false);
+  }
+
+  private search(
+    a: GeodesicPath,
+    b: GeodesicPath,
+    options: IntersectionSearchOptions,
+    normalized: boolean
+  ): IntersectionSearch {
+    const A = this.solver.line(a.latitude, a.longitude, a.azimuth),
+      B = this.solver.line(b.latitude, b.longitude, b.azimuth);
+    const d = normalized ? options.maxDistance : options.maxDistance / this.a,
+      origin = options.origin ?? [0, 0];
+    const x = origin[0] / this.a,
+      y = origin[1] / this.a;
+    if (
+      !(
+        Number.isFinite(d) &&
+        d > 0 &&
+        (normalized
+          ? d <= 4 * this.bounds.halfCircumference
+          : options.maxDistance <= 4 * this.bounds.halfCircumference * this.a) &&
+        Number.isFinite(x) &&
+        Number.isFinite(y) &&
+        Math.max(Math.abs(origin[0]), Math.abs(origin[1])) <=
+          4 * this.bounds.halfCircumference * this.a
+      )
+    )
+      throw new RangeError(
+        'Intersection search requires finite bounds within four half-circumferences'
+      );
+    if (this.r === 1) {
+      const analytic = this.sphere(a, b, A, B, d, x, y);
+      if (analytic) return analytic;
+    }
+    // GeographicLib AllInt0 capture-radius tiling, without its optional seed
+    // pruning: every tile is refined. Extend by delta before tiling so roots
+    // at the requested boundary still lie inside a capture region.
+    const extended = d + this.bounds.margin;
+    const m = Math.ceil(extended / this.bounds.spacing),
+      n = m - 1;
+    const spacing = extended / m;
+    const seeds: [number, number, number, number][] = [[x, y, spacing, 0]];
+    for (let i = -n; i <= n; i += 2)
+      for (let j = -n; j <= n; j += 2)
+        if (i || j)
+          seeds.push([x + (spacing * (i + j)) / 2, y + (spacing * (i - j)) / 2, spacing, 0]);
+    let failed = 0,
+      unresolved = 0;
+    const isolated: Root[] = [],
+      lines: Root[] = [];
+    const equal = (p: Root, q: Root) =>
+      Math.abs(p.x - q.x) + Math.abs(p.y - q.y) <= this.bounds.margin;
+    const canonical = (p: Root, c: CoincidenceDirection) => {
+      const shift = (x + c * y - (p.x + c * p.y)) / 2;
+      return {...p, x: p.x + shift, y: p.y + c * shift, c};
+    };
+    const retry = (seed: [number, number, number, number]) => {
+      ++failed;
+      if (seed[3] === 3) {
+        ++unresolved;
+        return;
+      }
+      // Four half-radius L1 diamonds exactly cover their parent. A failed
+      // coarse refinement is not evidence of an empty tile: cover it again.
+      const half = seed[2] / 2,
+        depth = seed[3] + 1;
+      for (const [dx, dy] of [
+        [half, 0],
+        [-half, 0],
+        [0, half],
+        [0, -half]
+      ])
+        seeds.push([seed[0] + dx, seed[1] + dy, half, depth]);
+    };
+    for (const seed of seeds) {
+      const root = this.refine(A, B, seed[0], seed[1]);
+      if (!root) {
+        retry(seed);
+        continue;
+      }
+      if (root.c) {
+        const q = canonical(root, root.c);
+        if (!this.point(A, B, q)) {
+          retry(seed);
+          continue;
+        }
+        if (!lines.some(p => p.c === q.c && equal(p, q))) lines.push(q);
+      } else if (!isolated.some(p => equal(p, root))) isolated.push(root);
+    }
+    const roots: IntersectionPoint[] = [],
+      coincidences: IntersectionSearch['coincidences'] = [];
+    for (const p of isolated) {
+      if (lines.some(q => equal(canonical(p, q.c as CoincidenceDirection), q))) continue;
+      if (Math.abs(p.x - x) + Math.abs(p.y - y) > d + this.tolerance) continue;
+      const point = this.point(A, B, p);
+      if (point) roots.push(point);
+      else {
+        ++failed;
+        ++unresolved;
+      }
+    }
+    for (const p of lines) {
+      if (Math.abs(p.x - x) + Math.abs(p.y - y) <= d + this.tolerance)
+        coincidences.push({
+          s: p.x * this.a,
+          t: p.y * this.a,
+          direction: p.c as CoincidenceDirection
+        });
+    }
+    this.sort(roots, origin);
+    this.sort(coincidences, origin);
+    return {
+      intersections: roots,
+      coincidences,
+      complete: unresolved === 0,
+      attemptedSeeds: seeds.length,
+      failedSeeds: failed
+    };
+  }
+
+  /** Without an explicit radius, search the full native global profile.
+   * A returned root from any complete centered L1 search is globally closest:
+   * every point outside that ball is farther from its center.
+   */
+  closest(
+    a: GeodesicPath,
+    b: GeodesicPath,
+    options: Partial<IntersectionSearchOptions> = {}
+  ): ClosestIntersection {
+    const settings = {
+      ...options,
+      maxDistance: options.maxDistance ?? 4 * this.bounds.halfCircumference
+    };
+    const search = this.search(a, b, settings, options.maxDistance === undefined);
+    const candidates = [...search.intersections];
+    for (const c of search.coincidences) {
+      const point = this.coincidencePoint(a, b, c);
+      if (point) candidates.push(point);
+      else {
+        search.complete = false;
+        ++search.failedSeeds;
+      }
+    }
+    this.sort(candidates, settings.origin ?? [0, 0]);
+    return {...search, intersection: candidates[0]};
+  }
+
+  /** Global next crossing, excluding the shared parameter origin. For a
+   * coincident continuum use GeographicLib's nearest-conjugate convention.
+   */
+  next(
+    latitude: number,
+    longitude: number,
+    azimuthA: number,
+    azimuthB: number,
+    maxDistance?: number
+  ): ClosestIntersection {
+    const a = {latitude, longitude, azimuth: azimuthA},
+      b = {latitude, longitude, azimuth: azimuthB};
+    const bound =
+      maxDistance === undefined ? 4 * this.bounds.halfCircumference : maxDistance / this.a;
+    const search = this.search(
+      a,
+      b,
+      {maxDistance: maxDistance ?? bound},
+      maxDistance === undefined
+    );
+    search.intersections = search.intersections.filter(
+      p => Math.abs(p.s / this.a) + Math.abs(p.t / this.a) > this.bounds.margin
+    );
+    const candidates = [...search.intersections];
+    const A = this.solver.line(latitude, longitude, azimuthA);
+    for (const c of search.coincidences) {
+      if (Math.abs(c.s / this.a) + Math.abs(c.t / this.a) > this.bounds.margin) {
+        const point = this.coincidencePoint(a, b, c);
+        if (point) candidates.push(point);
+        else {
+          search.complete = false;
+          ++search.failedSeeds;
+        }
+      } else {
+        for (const sign of [-1, 1]) {
+          try {
+            const s = this.bounds.conjugate(A, sign * this.bounds.halfCircumference);
+            const point = this.coincidencePoint(a, b, {
+              s: s * this.a,
+              t: c.direction * s * this.a,
+              direction: c.direction
+            });
+            if (point) candidates.push(point);
+            else {
+              search.complete = false;
+              ++search.failedSeeds;
+            }
+          } catch {
+            search.complete = false;
+            ++search.failedSeeds;
+          }
+        }
+      }
+    }
+    const bounded = candidates.filter(
+      p => Math.abs(p.s / this.a) + Math.abs(p.t / this.a) <= bound + this.tolerance
+    );
+    this.sort(bounded, [0, 0]);
+    return {...search, intersection: bounded[0]};
+  }
+
+  private coincidencePoint(
+    a: GeodesicPath,
+    b: GeodesicPath,
+    c: {s: number; t: number; direction: 1 | -1}
+  ): IntersectionPoint | undefined {
+    return this.point(
+      this.solver.line(a.latitude, a.longitude, a.azimuth),
+      this.solver.line(b.latitude, b.longitude, b.azimuth),
+      {x: c.s / this.a, y: c.t / this.a, c: c.direction, iterations: 0}
+    );
+  }
+
+  segments(
+    a0: readonly [number, number],
+    a1: readonly [number, number],
+    b0: readonly [number, number],
+    b1: readonly [number, number]
+  ): SegmentIntersection {
+    const ia = this.solver.inverse(...a0, ...a1),
+      ib = this.solver.inverse(...b0, ...b1);
+    if (this.ambiguous(a0, a1, ia) || this.ambiguous(b0, b1, ib))
+      return {status: 'ambiguous', complete: false};
+    const sa = ia.s12,
+      sb = ib.s12;
+    if (sa === 0 || sb === 0) {
+      const p = sa === 0 ? a0 : b0,
+        start = sa === 0 ? b0 : a0,
+        end = sa === 0 ? b1 : a1,
+        len = sa === 0 ? sb : sa;
+      const ip = this.solver.inverse(...start, ...p);
+      const d0 = ip.s12;
+      const route = this.solver.inverse(...start, ...end);
+      const projected = this.solver.direct(start[0], start[1], route.azi1, d0);
+      const residual = this.solver.inverse(projected.lat2, projected.lon2, ...p).s12;
+      if (d0 > len + this.tolerance || residual > this.tolerance)
+        return {status: 'disjoint', complete: true};
+      return {
+        status: 'intersection',
+        complete: true,
+        point: {
+          s: (sa === 0 ? 0 : d0) * this.a,
+          t: (sb === 0 ? 0 : d0) * this.a,
+          latitude: p[0],
+          longitude: p[1],
+          residual: residual * this.a,
+          crossingAngle: 0,
+          iterations: 0
+        }
+      };
+    }
+    const search = this.all(
+      {latitude: a0[0], longitude: a0[1], azimuth: ia.azi1},
+      {latitude: b0[0], longitude: b0[1], azimuth: ib.azi1},
+      {
+        origin: [(sa * this.a) / 2, (sb * this.a) / 2],
+        maxDistance: ((sa + sb) * this.a) / 2 + this.tolerance * this.a
+      }
+    );
+    for (const c of search.coincidences) {
+      const offset = c.t / this.a - (c.direction * c.s) / this.a;
+      const lo = Math.max(0, c.direction === 1 ? -offset : offset - sb),
+        hi = Math.min(sa, c.direction === 1 ? sb - offset : offset);
+      if (hi >= lo - this.tolerance) {
+        if (hi - lo > this.tolerance)
+          return {
+            status: 'overlap',
+            intervalA: [lo * this.a, hi * this.a],
+            intervalB: [(c.direction * lo + offset) * this.a, (c.direction * hi + offset) * this.a],
+            complete: search.complete
+          };
+        const s = (lo + hi) / 2,
+          t = c.direction * s + offset;
+        const A = this.solver.line(a0[0], a0[1], ia.azi1),
+          B = this.solver.line(b0[0], b0[1], ib.azi1);
+        const point = this.point(A, B, {x: s, y: t, c: 0, iterations: 0});
+        if (point) return {status: 'intersection', point, complete: search.complete};
+        search.complete = false;
+        ++search.failedSeeds;
+      }
+    }
+    const point = search.intersections.find(
+      p =>
+        p.s / this.a >= -this.tolerance &&
+        p.s / this.a <= sa + this.tolerance &&
+        p.t / this.a >= -this.tolerance &&
+        p.t / this.a <= sb + this.tolerance
+    );
+    return point
+      ? {status: 'intersection', point, complete: search.complete}
+      : {status: search.complete ? 'disjoint' : 'not-found', complete: search.complete};
+  }
+
+  private ambiguous(
+    start: readonly [number, number],
+    end: readonly [number, number],
+    path: {a12: number; azi1: number; azi2: number}
+  ): boolean {
+    if (path.a12 > 180 - 1e-10) return true;
+    if (Math.abs(start[0]) === 90 || Math.abs(end[0]) === 90) return false;
+    // GeographicLib's nonunique shortest-path catalog is distinct from arc
+    // length: on prolate ellipsoids the cut locus can have a12 well below 180.
+    if (start[0] === -end[0] && math.AngDiff(path.azi1, path.azi2).d !== 0) return true;
+    const longitude = math.AngDiff(start[1], end[1]);
+    return (
+      Math.abs(longitude.d) === 180 &&
+      longitude.e === 0 &&
+      path.azi1 !== 0 &&
+      Math.abs(path.azi1) !== 180
+    );
+  }
+
+  private refine(A: GeodesicLine, B: GeodesicLine, x: number, y: number): Root | undefined {
+    for (let i = 0; i < 100; i++) {
+      const a = A.position(x),
+        b = B.position(y),
+        v = this.solver.inverse(a.lat2, a.lon2, b.lat2, b.lon2);
+      const X = math.AngDiff(a.azi2, v.azi1),
+        Y = math.AngDiff(b.azi2, v.azi2),
+        XY = math.AngDiff(X.d, Y.d);
+      const orientation = XY.d + (XY.e + Y.e - X.e) < 0 ? -1 : 1;
+      const sx = math.sincosde(orientation * X.d, orientation * X.e),
+        sy = math.sincosde(orientation * Y.d, orientation * Y.e);
+      let dx: number,
+        dy: number,
+        c: Root['c'] = 0;
+      if (v.s12 <= EPS * this.radius) {
+        if (Math.abs(sx.s - sy.s) <= EPS && Math.abs(sx.c - sy.c) <= EPS) c = 1;
+        else if (Math.abs(sx.s + sy.s) <= EPS && Math.abs(sx.c + sy.c) <= EPS) c = -1;
+        return {x, y, c, iterations: i};
+      }
+      if (Math.abs(sx.s) <= EPS && Math.abs(sy.s) <= EPS) {
+        c = sx.c * sy.c > 0 ? 1 : -1;
+        dx = (sx.c * v.s12) / 2;
+        dy = (-sy.c * v.s12) / 2;
+      } else {
+        const sz = Math.sin(v.s12 / this.radius),
+          cz = Math.cos(v.s12 / this.radius);
+        dx = this.radius * Math.atan2(sy.s * sz, sy.s * sx.c * cz - sy.c * sx.s);
+        dy = this.radius * Math.atan2(sx.s * sz, -sx.s * sy.c * cz + sx.c * sy.s);
+      }
+      if (!(Number.isFinite(dx) && Number.isFinite(dy))) return undefined;
+      x += dx;
+      y += dy;
+      if (Math.max(Math.abs(x), Math.abs(y)) > 12 * Math.PI * this.radius) return undefined;
+      if (c) return {x, y, c, iterations: i + 1};
+      if (Math.abs(dx) + Math.abs(dy) <= this.tolerance) {
+        const root = {x, y, c, iterations: i + 1};
+        if (this.point(A, B, root)) return root;
+      }
+    }
+    return undefined;
+  }
+
+  private point(A: GeodesicLine, B: GeodesicLine, p: Root): IntersectionPoint | undefined {
+    const s = p.x * this.a,
+      t = p.y * this.a;
+    if (
+      !(Number.isFinite(s) && Number.isFinite(t)) ||
+      Math.abs(s / this.a - p.x) > this.tolerance ||
+      Math.abs(t / this.a - p.y) > this.tolerance
+    )
+      return undefined;
+    const a = A.position(p.x),
+      b = B.position(p.y),
+      v = this.solver.inverse(a.lat2, a.lon2, b.lat2, b.lon2);
+    if (
+      !(
+        Number.isFinite(v.s12) &&
+        v.s12 <= this.tolerance &&
+        Number.isFinite(p.x * this.a) &&
+        Number.isFinite(p.y * this.a)
+      )
+    )
+      return undefined;
+    // Azimuths at a pole can use different longitude reference frames.
+    const ta = frame({latitude: a.lat2, longitude: a.lon2, azimuth: a.azi2})[1];
+    const tb = frame({latitude: b.lat2, longitude: b.lon2, azimuth: b.azi2})[1];
+    const angle = Math.atan2(Math.hypot(...cross(ta, tb)), Math.abs(dot(ta, tb))) / DEG;
+    return {
+      s: p.x * this.a,
+      t: p.y * this.a,
+      latitude: a.lat2,
+      longitude: a.lon2,
+      residual: v.s12 * this.a,
+      crossingAngle: angle,
+      iterations: p.iterations,
+      ...(p.c ? {coincidence: p.c} : {})
+    };
+  }
+
+  private sphere(
+    a: GeodesicPath,
+    b: GeodesicPath,
+    A: GeodesicLine,
+    B: GeodesicLine,
+    d: number,
+    x: number,
+    y: number
+  ): IntersectionSearch | undefined {
+    const [pa, ta, na] = frame(a),
+      [pb, tb, nb] = frame(b),
+      crossing = cross(na, nb),
+      length = Math.hypot(...crossing);
+    // Almost dependent plane normals amplify their floating-point error.
+    // Resolve these through capture-bound geodesic refinement and the native
+    // coincidence convention instead of normalizing an unreliable cross product.
+    if (length > 0 && length < Math.sqrt(Number.EPSILON)) return undefined;
+    if (length <= EPS) {
+      const sign = dot(na, nb) >= 0 ? 1 : -1;
+      const offset = Math.atan2(dot(pa, tb), dot(pa, pb));
+      const coincidences: IntersectionSearch['coincidences'] = [];
+      for (
+        let k = Math.ceil((y - sign * x - d - offset) / (2 * Math.PI));
+        k <= Math.floor((y - sign * x + d - offset) / (2 * Math.PI));
+        k++
+      ) {
+        const shift = offset + 2 * Math.PI * k;
+        const sx = (x + sign * (y - shift)) / 2;
+        const sy = sign * sx + shift;
+        if (Math.abs(sx - x) + Math.abs(sy - y) <= d + this.tolerance)
+          coincidences.push({s: sx * this.a, t: sy * this.a, direction: sign});
+      }
+      let failed = 0;
+      const checked = coincidences.filter(c => {
+        const p = this.point(A, B, {
+          x: c.s / this.a,
+          y: c.t / this.a,
+          c: c.direction,
+          iterations: 0
+        });
+        if (!p) ++failed;
+        return Boolean(p);
+      });
+      return {
+        intersections: [],
+        coincidences: checked,
+        complete: failed === 0,
+        attemptedSeeds: 0,
+        failedSeeds: failed
+      };
+    }
+    const result: IntersectionPoint[] = [];
+    let failed = 0;
+    for (const sign of [-1, 1]) {
+      const p = crossing.map(v => (sign * v) / length) as Vec;
+      const s = Math.atan2(dot(p, ta), dot(p, pa)),
+        t = Math.atan2(dot(p, tb), dot(p, pb));
+      const k0 = Math.ceil((x - d - s) / (2 * Math.PI)),
+        k1 = Math.floor((x + d - s) / (2 * Math.PI));
+      const l0 = Math.ceil((y - d - t) / (2 * Math.PI)),
+        l1 = Math.floor((y + d - t) / (2 * Math.PI));
+      for (let k = k0; k <= k1; k++)
+        for (let l = l0; l <= l1; l++) {
+          const sx = s + 2 * Math.PI * k,
+            sy = t + 2 * Math.PI * l;
+          if (Math.abs(sx - x) + Math.abs(sy - y) > d + this.tolerance) continue;
+          const point = this.point(A, B, {x: sx, y: sy, c: 0, iterations: 0});
+          if (point) result.push(point);
+          else ++failed;
+        }
+    }
+    this.sort(result, [x * this.a, y * this.a]);
+    return {
+      intersections: result,
+      coincidences: [],
+      complete: failed === 0,
+      attemptedSeeds: 0,
+      failedSeeds: failed
+    };
+  }
+  private sort<T extends {s: number; t: number}>(
+    points: T[],
+    origin: readonly [number, number]
+  ): void {
+    const x = origin[0] / this.a,
+      y = origin[1] / this.a;
+    points.sort(
+      (p, q) =>
+        Math.abs(p.s / this.a - x) +
+          Math.abs(p.t / this.a - y) -
+          (Math.abs(q.s / this.a - x) + Math.abs(q.t / this.a - y)) ||
+        p.s / this.a - q.s / this.a ||
+        p.t / this.a - q.t / this.a
+    );
+  }
+}
+function frame(p: GeodesicPath): [Vec, Vec, Vec] {
+  const [s, c] = sincos(p.latitude),
+    [sl, cl] = sincos(p.longitude),
+    [sa, ca] = sincos(p.azimuth);
+  const point: Vec = [c * cl, c * sl, s],
+    north: Vec = [-s * cl, -s * sl, c],
+    east: Vec = [-sl, cl, 0];
+  const tangent = north.map((v, i) => ca * v + sa * east[i]) as Vec;
+  return [point, tangent, cross(point, tangent)];
+}
+function sincos(degrees: number): [number, number] {
+  const a = degrees % 360,
+    q = Math.round(a / 90),
+    d = (a - 90 * q) * DEG,
+    s = Math.sin(d),
+    c = Math.cos(d);
+  switch (((q % 4) + 4) % 4) {
+    case 0:
+      return [s, c];
+    case 1:
+      return [c, -s];
+    case 2:
+      return [-s, -c];
+    default:
+      return [-c, s];
+  }
+}
+function dot(a: Vec, b: Vec): number {
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function cross(a: Vec, b: Vec): Vec {
+  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+}