@ue-too/curve 0.9.5 → 0.11.0

package/index.js.map

@@ -2,12 +2,12 @@
   "version": 3,
   "sources": ["../src/b-curve.ts", "../src/line.ts", "../src/composite-curve.ts", "../src/path.ts"],
   "sourcesContent": [
-    "import { PointCal } from \"@ue-too/math\";\nimport { Line } from \"./line\";\n\nconst T = [\n    -0.0640568928626056260850430826247450385909,\n    0.0640568928626056260850430826247450385909,\n    -0.1911188674736163091586398207570696318404,\n    0.1911188674736163091586398207570696318404,\n    -0.3150426796961633743867932913198102407864,\n    0.3150426796961633743867932913198102407864,\n    -0.4337935076260451384870842319133497124524,\n    0.4337935076260451384870842319133497124524,\n    -0.5454214713888395356583756172183723700107,\n    0.5454214713888395356583756172183723700107,\n    -0.6480936519369755692524957869107476266696,\n    0.6480936519369755692524957869107476266696,\n    -0.7401241915785543642438281030999784255232,\n    0.7401241915785543642438281030999784255232,\n    -0.8200019859739029219539498726697452080761,\n    0.8200019859739029219539498726697452080761,\n    -0.8864155270044010342131543419821967550873,\n    0.8864155270044010342131543419821967550873,\n    -0.9382745520027327585236490017087214496548,\n    0.9382745520027327585236490017087214496548,\n    -0.9747285559713094981983919930081690617411,\n    0.9747285559713094981983919930081690617411,\n    -0.9951872199970213601799974097007368118745,\n    0.9951872199970213601799974097007368118745,\n];\n\nconst C = [\n    0.1279381953467521569740561652246953718517,\n    0.1279381953467521569740561652246953718517,\n    0.1258374563468282961213753825111836887264,\n    0.1258374563468282961213753825111836887264,\n    0.121670472927803391204463153476262425607,\n    0.121670472927803391204463153476262425607,\n    0.1155056680537256013533444839067835598622,\n    0.1155056680537256013533444839067835598622,\n    0.1074442701159656347825773424466062227946,\n    0.1074442701159656347825773424466062227946,\n    0.0976186521041138882698806644642471544279,\n    0.0976186521041138882698806644642471544279,\n    0.086190161531953275917185202983742667185,\n    0.086190161531953275917185202983742667185,\n    0.0733464814110803057340336152531165181193,\n    0.0733464814110803057340336152531165181193,\n    0.0592985849154367807463677585001085845412,\n    0.0592985849154367807463677585001085845412,\n    0.0442774388174198061686027482113382288593,\n    0.0442774388174198061686027482113382288593,\n    0.0285313886289336631813078159518782864491,\n    0.0285313886289336631813078159518782864491,\n    0.0123412297999871995468056670700372915759,\n    0.0123412297999871995468056670700372915759,\n];\n\ntype ArcLengthLUT = {\n    controlPoints: Point[];\n    arcLengthLUT: {tVal: number, length: number}[];\n}\n\ntype AdvanceAtTWithLengthWithinCurveRes = {\n    type: \"withinCurve\";\n    tVal: number;\n    point: Point;\n}\n\ntype AdvanceAtWithLengthBeforeCurveRes = {\n    type: \"beforeCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtWithLengthAfterCurveRes = {\n    type: \"afterCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtTWithLengthOutofCurveRes = AdvanceAtWithLengthBeforeCurveRes | AdvanceAtWithLengthAfterCurveRes;\n\ntype AdvanceAtTWithLengthRes = AdvanceAtTWithLengthWithinCurveRes | AdvanceAtTWithLengthOutofCurveRes;\n\nexport class BCurve{\n\n    private controlPoints: Point[];\n    private dControlPoints: Point[] = [];\n    private arcLengthLUT: ArcLengthLUT = {controlPoints: [], arcLengthLUT: []};\n    private _fullLength: number;\n    private lengthCache: Map<number, number> = new Map(); // Cache for lengthAtT results\n\n    /**\n     * Gets cache statistics for performance monitoring\n     * @returns Object containing cache size and hit rate information\n     */\n    public getCacheStats(): {size: number, hitRate: number} {\n        return {\n            size: this.lengthCache.size,\n            hitRate: 0 // This would need to be tracked separately if needed\n        };\n    }\n\n    /**\n     * Pre-warms the cache with commonly used t values for better performance\n     * @param steps Number of steps to pre-cache (default: 100)\n     */\n    public preWarmCache(steps: number = 100): void {\n        const tSteps = 1 / steps;\n        for (let tVal = 0; tVal <= 1; tVal += tSteps) {\n            this.lengthAtT(tVal);\n        }\n    }\n\n    private clearCache(): void {\n        this.lengthCache.clear();\n    }\n\n    constructor(controlPoints: Point[]){\n        this.controlPoints = controlPoints;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Make arc length LUT lazy - only compute when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on initialization\n    }\n\n    public getPointbyPercentage(percentage: number){ // this is the percentage of the curve length, not the t value\n        // this leaves room for optimization\n        let controlPointsChangedSinceLastArcLengthLUT = this.arcLengthLUT.controlPoints.length != this.controlPoints.length;\n        controlPointsChangedSinceLastArcLengthLUT = controlPointsChangedSinceLastArcLengthLUT || this.arcLengthLUT.controlPoints.reduce((prevVal, curVal, index)=>{\n            return prevVal || !PointCal.isEqual(curVal, this.controlPoints[index]);\n        }, false);\n        let points: number[] = [];\n        if (controlPointsChangedSinceLastArcLengthLUT){\n            this.arcLengthLUT = this.getArcLengthLUT(1000);\n        }\n        points = [...this.arcLengthLUT.arcLengthLUT.map((item)=>item.length)];\n        let targetLength = percentage * this.fullLength;\n        let low = 0;\n        let high = points.length - 1;\n        while (low <= high){\n            let mid = Math.floor((low + high) / 2);\n            if (points[mid] == targetLength){\n                return this.get((mid + 1) / points.length);\n            } else if (points[mid] < targetLength){\n                low = mid + 1;\n            } else {\n                high = mid - 1;\n            }\n        }\n        return low >= points.length ? this.get(1) : this.get((low + 1) / points.length);\n    }\n\n    public getDerivativeControlPoints(controlPoints: Point[]): Point[]{\n        const derivativeControlPoints: Point[] = [];\n        for(let index = 1; index < controlPoints.length; index++){\n            derivativeControlPoints.push(PointCal.multiplyVectorByScalar(PointCal.subVector(controlPoints[index], controlPoints[index - 1]), controlPoints.length - 1));\n        }\n        return derivativeControlPoints;\n    }\n\n    private validateTVal(tVal: number){\n        if (tVal > 1 || tVal < 0){\n            throw new TValOutofBoundError(\"tVal is greater than 1 or less than 0\");\n        }\n    }\n\n    public getControlPoints(): Point[]{\n        return this.controlPoints;\n    }\n\n    setControlPoints(controlPoints: Point[]){\n        this.controlPoints = controlPoints;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Reset LUT to trigger lazy computation when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on control point change\n    }\n\n    setControlPointAtIndex(index: number, newPoint: Point): boolean{\n        if (index < 0 || index >= this.controlPoints.length){\n            return false;\n        }\n        this.controlPoints[index] = newPoint;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Reset LUT to trigger lazy computation when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on control point change\n        return true;\n    }\n\n    public compute(tVal: number): Point{\n        this.validateTVal(tVal);\n        let points = this.controlPoints;\n        while (points.length > 1) {\n            let lowerLevelPoints = points.slice(1);\n            for(let index = 0; index < lowerLevelPoints.length; index++){\n                lowerLevelPoints[index] = PointCal.addVector(PointCal.multiplyVectorByScalar(points[index], (1 - tVal)), PointCal.multiplyVectorByScalar(points[index + 1], tVal));\n            }\n            points = lowerLevelPoints;\n        }\n        return points[0];\n    }\n\n    public get(tVal: number): Point {\n        this.validateTVal(tVal);\n        if (this.controlPoints.length == 3) {\n            let firstTerm = PointCal.multiplyVectorByScalar(this.controlPoints[0], (1 - tVal) * (1 - tVal));\n            let secondTerm = PointCal.multiplyVectorByScalar(this.controlPoints[1], 2 * (1 - tVal) * tVal);\n            let thirdTerm = PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal);\n            let res = PointCal.addVector(PointCal.addVector(firstTerm, secondTerm), thirdTerm);\n            return res;\n        }\n        if (this.controlPoints.length == 4){\n            let firstTerm = PointCal.multiplyVectorByScalar(this.controlPoints[0], (1 - tVal) * (1 - tVal) * (1 - tVal));\n            let secondTerm = PointCal.multiplyVectorByScalar(this.controlPoints[1], 3 * (1 - tVal) * (1 - tVal) * tVal);\n            let thirdTerm = PointCal.multiplyVectorByScalar(this.controlPoints[2], 3 * (1 - tVal) * tVal * tVal);\n            let forthTerm = PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal * tVal);\n            let res = PointCal.addVector(PointCal.addVector(firstTerm, secondTerm), PointCal.addVector(thirdTerm, forthTerm));\n            return res;\n        }\n        return this.compute(tVal);\n    }\n\n    public getLUT(steps: number = 100){\n        const stepSpan = 1 / steps;\n        const res: Point[] = [];\n        let tVal = 0;\n        res.push(this.get(tVal));\n        for(let index = 0; index < steps; index += 1){\n            tVal += stepSpan;\n            if((tVal > 1 && tVal - stepSpan < 1) || index == steps - 1){\n                tVal = 1;\n            }\n            res.push(this.get(tVal));\n        }\n        return res\n    }\n\n    public getLUTWithTVal(steps?: number){\n        if (steps == undefined){\n            steps = 100;\n        }\n        const stepSpan = 1 / steps;\n        const res: {point: Point, tVal: number}[] = [];\n        let tVal = 0;\n        res.push({point: this.get(tVal), tVal: tVal});\n        for(let index = 0; index < steps; index += 1){\n            tVal += stepSpan;\n            if((tVal > 1 && tVal - stepSpan < 1) || index == steps - 1){\n                tVal = 1;\n            }\n            res.push({point: this.get(tVal), tVal: tVal});\n        }\n        return res\n    }\n\n    get fullLength(): number{\n        return this._fullLength;\n    }\n\n    private calculateFullLength(): number{\n        return this.lengthAtT(1);\n    }\n\n    public lengthAtT(tVal: number): number{\n        this.validateTVal(tVal);\n        \n        // Check cache first\n        const cacheKey = Math.round(tVal * 1000000) / 1000000; // Round to 6 decimal places for cache key\n        if (this.lengthCache.has(cacheKey)) {\n            return this.lengthCache.get(cacheKey)!;\n        }\n        \n        const z = tVal / 2, len = T.length;\n        let sum = 0;\n        for (let i = 0, t: number; i < len; i++) {\n            t = z * T[i] + z;\n            sum += C[i] * PointCal.magnitude(this.derivative(t));\n        }\n        const result = z * sum;\n        \n        // Cache the result\n        this.lengthCache.set(cacheKey, result);\n        \n        return result;\n    }\n\n    public derivative(tVal: number): Point{\n        return computeWithControlPoints(tVal, this.dControlPoints);\n    }\n\n    public derivativeNormalized(tVal: number): Point{\n        return PointCal.unitVector(computeWithControlPoints(tVal, this.dControlPoints));\n    }\n\n    public getArcLengthLUT(steps: number = 50): {controlPoints: Point[], arcLengthLUT: {tVal: number, length: number}[]}{\n        // Check if we need to recompute the LUT\n        const controlPointsChanged = this.arcLengthLUT.controlPoints.length !== this.controlPoints.length ||\n            this.arcLengthLUT.controlPoints.some((cp, index) => !PointCal.isEqual(cp, this.controlPoints[index]));\n        \n        if (controlPointsChanged || this.arcLengthLUT.arcLengthLUT.length === 0) {\n            // Clear cache when regenerating LUT to ensure consistency\n            this.clearCache();\n            \n            let res = [];\n            let tSteps = 1 / steps;\n            for(let tVal = 0; tVal <= 1; tVal += tSteps){\n                res.push({tVal: tVal, length: this.lengthAtT(tVal)});\n            }\n            this.arcLengthLUT = {controlPoints: [...this.controlPoints], arcLengthLUT: res};\n        }\n        \n        return this.arcLengthLUT;\n    }\n\n    splitIntoCurves(tVal: number): [BCurve, BCurve]{\n        const res = this.split(tVal);\n        return [new BCurve(res[0]), new BCurve(res[1])];\n    }\n\n    public split(tVal: number): [Point[], Point[]]{\n        this.validateTVal(tVal);\n        if (this.controlPoints.length == 3){\n            let newControlPoint1 = this.controlPoints[0];\n            let newControlPoint2 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[0], tVal - 1));\n            let newControlPoint3 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal), PointCal.multiplyVectorByScalar(this.controlPoints[1], 2 * tVal * (tVal - 1)));\n            newControlPoint3 = PointCal.addVector(newControlPoint3, PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1) * (tVal - 1)));\n            let newControlPoint4 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal - 1));\n            let newControlPoint5 = this.controlPoints[2];\n            return [[newControlPoint1, newControlPoint2, newControlPoint3], [newControlPoint3, newControlPoint4, newControlPoint5]];\n        }\n        let newControlPoint1 = this.controlPoints[0];\n        let newControlPoint2 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1)));\n        let newControlPoint3 = PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal), PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], -(2 * tVal * (tVal - 1))), PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1) * (tVal - 1))));\n        let term1 = PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal * tVal);\n        let term2 = PointCal.multiplyVectorByScalar(this.controlPoints[2], -(3 * tVal * tVal * (tVal - 1)));\n        let term3 = PointCal.multiplyVectorByScalar(this.controlPoints[1], 3 * tVal * (tVal - 1) * (tVal - 1));\n        let term4 = PointCal.multiplyVectorByScalar(this.controlPoints[0], -((tVal - 1) * (tVal - 1) * (tVal - 1)));\n        let newControlPoint4 = PointCal.addVector(term4, PointCal.addVector(term3, PointCal.addVector(term1, term2)));\n        let newControlPoint5 = PointCal.addVector(PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal), PointCal.multiplyVectorByScalar(this.controlPoints[2], -(2 *  tVal * (tVal - 1)))), PointCal.multiplyVectorByScalar(this.controlPoints[1], (tVal - 1) * (tVal - 1)));\n        let newControlPoint6 = PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[2], -(tVal - 1)));\n        let newControlPoint7 = this.controlPoints[3];\n\n        return [[newControlPoint1, newControlPoint2, newControlPoint3, newControlPoint4], [newControlPoint4, newControlPoint5, newControlPoint6, newControlPoint7]];\n    }\n\n   splitIn3WithControlPoints(tVal: number, tVal2: number): [Point[], Point[], Point[]]{\n        if(tVal2 < tVal){\n            console.warn(\"tVal2 is less than tVal, swapping them\");\n            [tVal, tVal2] = [tVal2, tVal];\n        }\n\n        const firstSplit = this.split(tVal);\n\n        const secondHalf = new BCurve(firstSplit[1]);\n\n        const mappedTVal2 = map(tVal2, tVal, 1, 0, 1);\n        \n        const secondSplit = secondHalf.split(mappedTVal2);\n\n        return [firstSplit[0], secondSplit[0], secondSplit[1]];\n    }\n\n   splitIn3Curves(tVal: number, tVal2: number): [BCurve, BCurve, BCurve]{\n        if(tVal2 < tVal){\n            console.warn(\"tVal2 is less than tVal, swapping them\");\n            [tVal, tVal2] = [tVal2, tVal];\n        }\n\n        const firstSplit = this.split(tVal);\n\n        const secondHalf = new BCurve(firstSplit[1]);\n        \n        const mappedTVal2 = map(tVal2, tVal, 1, 0, 1);\n        const secondSplit = secondHalf.split(mappedTVal2);\n\n        return [new BCurve(firstSplit[0]), new BCurve(secondSplit[0]), new BCurve(secondSplit[1])];\n    }\n\n    splitAndTakeMidCurve(tVal: number, tVal2: number): BCurve{\n        const [firstSplit, secondSplit, thirdSplit] = this.splitIn3Curves(tVal, tVal2);\n        return secondSplit;\n    }\n\n    getProjection(point: Point){\n        const threshold = 0.00001;\n        let distance = Number.MAX_VALUE;\n        let preliminaryProjectionTVal: number = 0;\n        let preliminaryProjectionPoint: Point = this.get(0);\n        let preliminaryProjectionIndex: number = 0;\n        const LUT = this.getLUTWithTVal(500);\n        LUT.forEach((curvePoint, index)=>{\n            const curDistance = PointCal.distanceBetweenPoints(curvePoint.point, point);\n            if(curDistance < distance){\n                distance = curDistance;\n                preliminaryProjectionPoint = {...curvePoint.point};\n                preliminaryProjectionTVal = curvePoint.tVal;\n                preliminaryProjectionIndex = index;\n            }\n        });\n        // console.log(preliminaryProjectionIndex, preliminaryProjectionPoint, preliminaryProjectionTVal);\n        let low = LUT[preliminaryProjectionIndex].tVal;\n        let high = LUT[preliminaryProjectionIndex].tVal;\n        if (preliminaryProjectionIndex < LUT.length - 1){\n            high = LUT[preliminaryProjectionIndex + 1].tVal;\n        }\n        if (preliminaryProjectionIndex > 0){\n            low = LUT[preliminaryProjectionIndex - 1].tVal;\n        }\n        while(low < high && high - low > threshold){\n            let mid = low + (high - low) / 2;\n            let halfSpan = mid - low;\n            let lowMidMid = mid + halfSpan / 2;\n            let highMidMid = mid + halfSpan / 2;\n            let prevDist = distance;\n\n            \n            if(lowMidMid <= 1 && lowMidMid >= 0){\n                let curDist = PointCal.distanceBetweenPoints(this.get(lowMidMid), point);\n                if (curDist < distance){\n                    distance = curDist;\n                    preliminaryProjectionPoint = this.get(lowMidMid);\n                    preliminaryProjectionTVal = lowMidMid;\n                    high = lowMidMid + halfSpan / 2;\n                    low = lowMidMid - halfSpan / 2;\n                }\n            }\n            if(highMidMid <= 1 && highMidMid >= 0){\n                let curDist = PointCal.distanceBetweenPoints(this.get(highMidMid), point);\n                if (curDist < distance){\n                    distance = curDist;\n                    preliminaryProjectionPoint = this.get(highMidMid);\n                    preliminaryProjectionTVal = highMidMid;\n                    high = highMidMid + halfSpan / 2;\n                    low = highMidMid - halfSpan / 2;\n                }\n            }\n            if (prevDist == distance){\n                break;\n            }\n        }\n        return {projection: preliminaryProjectionPoint, tVal: preliminaryProjectionTVal};\n    }\n\n    public findArcs(errorThreshold: number){\n        let low = 0;\n        const res: {center: Point, radius: number, startPoint: Point, startT: number, endPoint: Point, endT: number}[] = [];\n\n        while (low < 1){\n            let loopRes = this.findArcStartingAt(errorThreshold, low);\n            if (loopRes == null || loopRes.arc == undefined) {\n                break;\n            }\n            res.push(loopRes.arc);\n            low = loopRes.arc.endT;\n            if(low >= 1){\n                break;\n            }\n        }\n        return res;\n    }\n\n    public findArcStartingAt(errorThreshold: number, low: number){\n        let high = 1;\n        let mid = low + (high - low) / 2;\n        let prevArc:{good: boolean, arc?: {center: Point, radius: number, startPoint: Point, endPoint: Point, startT: number, endT: number}} = {good: false};\n        let count = 0;\n        while(true){\n            count++;\n            mid = low + (high - low) / 2;\n            if (high > 1 || mid > 1){\n                if (prevArc.good){\n                    return prevArc;\n                } else {\n                    return null;\n                }\n                \n            }\n            const lowPoint = this.get(low);\n            const highPoint = this.get(high);\n            const midPoint = this.get(mid);\n            const fitArcRes = this.fitArc(lowPoint, highPoint, midPoint);\n            if (!fitArcRes.exists || fitArcRes.center == null || fitArcRes.radius == null){\n                return null;\n            }\n            const n = high - mid;\n            const e1 = mid -  n / 2;\n            const e2 = mid + n / 2;\n            const checkPoint1 = this.get(e1);\n            const checkPoint2 = this.get(e2);\n            const checkRadius = PointCal.distanceBetweenPoints(checkPoint1, fitArcRes.center);\n            const checkRadius2 = PointCal.distanceBetweenPoints(checkPoint2, fitArcRes.center);\n            if (Math.abs(checkRadius - fitArcRes.radius) > errorThreshold || Math.abs(checkRadius2 - fitArcRes.radius) > errorThreshold){\n                // arc is bad\n                if (prevArc.good == true){\n                    return prevArc;\n                }\n                prevArc.good = false;\n                high = mid\n            } else {\n                prevArc.good = true;\n                if (fitArcRes.startPoint !== undefined && fitArcRes.endPoint !== undefined){\n                    prevArc.arc = { center: fitArcRes.center, radius: fitArcRes.radius, startPoint: fitArcRes.startPoint, endPoint: fitArcRes.endPoint, startT: low, endT: high};\n                }\n                high = high + (mid - low);\n            }\n        }\n    }\n\n    public fitArc(startPoint: Point, endPoint: Point, midPoint: Point): {exists: boolean, center?: Point, radius?: number, startPoint?: Point, endPoint?: Point}{\n        const M11 = [[startPoint.x, startPoint.y, 1], [midPoint.x, midPoint.y, 1], [endPoint.x, endPoint.y, 1]];\n        if (this.determinant3by3(M11) == 0) {\n            // three points lie on a line no circle\n            return {exists: false};\n        }\n        const M12 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.y, 1], \n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.y, 1],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.y, 1]];\n        const M13 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.x, 1],\n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.x, 1],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.x, 1]];\n        const M14 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.x, startPoint.y],\n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.x, midPoint.y],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.x, endPoint.y]]\n        const centerX = (1 / 2) * (this.determinant3by3(M12) / this.determinant3by3(M11));\n        const centerY = (-1 / 2) * (this.determinant3by3(M13) / this.determinant3by3(M11));\n        const radius = Math.sqrt(centerX * centerX + centerY * centerY + (this.determinant3by3(M14) / this.determinant3by3(M11)))\n        return {exists: true, center: {x: centerX, y:centerY}, radius: radius, startPoint: startPoint, endPoint: endPoint};\n    }\n\n    public determinant3by3(matrix: number[][]): number{\n        const a = matrix[0][0];\n        const b = matrix[0][1];\n        const c = matrix[0][2];\n        const d = matrix[1][0];\n        const e = matrix[1][1];\n        const f = matrix[1][2];\n        const g = matrix[2][0];\n        const h = matrix[2][1];\n        const i = matrix[2][2];\n        return a * (e * i - f * h) - b * (d * i - g * f) + c * (d * h - e * g);\n    }\n\n    public curvature(tVal: number): number{\n        const derivative = computeWithControlPoints(tVal, this.dControlPoints);\n        const secondDerivative = computeWithControlPoints(tVal, this.getDerivativeControlPoints(this.dControlPoints));\n        const numerator = derivative.x * secondDerivative.y - secondDerivative.x * derivative.y;\n        const denominator = Math.pow(derivative.x * derivative.x + derivative.y * derivative.y, 3 / 2);\n        if (denominator == 0) return NaN;\n        return numerator / denominator;\n    }\n\n    secondDerivative(tVal: number): Point{\n        return computeWithControlPoints(tVal, this.getDerivativeControlPoints(this.dControlPoints));\n    }\n\n    public getCoefficientOfTTerms(): Point[]{\n        return this.getCoefficientOfTTermsWithControlPoints(this.controlPoints);\n    }\n\n    public getDerivativeCoefficients(): Point[]{\n        return this.getCoefficientOfTTermsWithControlPoints(this.dControlPoints);\n    }\n\n    public getCoefficientOfTTermsWithControlPoints(controlPoints: Point[]): Point[]{\n        const terms: Point[] = [];\n        let matrix: number[][] = [];\n        if(controlPoints.length == 3){\n            matrix = [[1, 0, 0], [-2, 2, 0], [1, -2, 1]];\n        } else if (controlPoints.length == 4){\n            matrix = [[1, 0, 0, 0], [-3, 3, 0, 0], [3, -6, 3, 0], [-1, 3, -3, 1]];\n        } else if(controlPoints.length == 2){\n            matrix = [[1, 0], [-1, 1]];\n        } \n        else {\n            throw new Error(\"number of control points is wrong\");\n        }\n        for(let index = 0; index < controlPoints.length; index++){\n            terms.push(controlPoints.reduce((prevVal, curVal, jindex)=>{\n                return {x: prevVal.x + matrix[index][jindex] * curVal.x, y: prevVal.y + matrix[index][jindex] * curVal.y};\n            }, {x: 0, y: 0}));\n        }\n        return terms;\n    }\n\n    getControlPointsAlignedWithXAxis(){\n        const alignedAxis = PointCal.unitVectorFromA2B(this.controlPoints[0], this.controlPoints[this.controlPoints.length - 1]);\n        const angle = PointCal.angleFromA2B({x:1, y:0}, alignedAxis);\n        const startingPoint = this.controlPoints[0];\n        const res = [{x: 0, y: 0}];\n        for(let index = 1; index < this.controlPoints.length; index++){\n            const vector = PointCal.subVector(this.controlPoints[index], startingPoint);\n            const rotatedVector = PointCal.rotatePoint(vector, -angle);\n            res.push(rotatedVector);\n        }\n        return res;\n    }\n\n    getExtrema():{x: number[], y: number[]}{\n        const res: {x: number[], y: number[]} = {x: [], y: []};\n        const derivativeCoefficients = this.getDerivativeCoefficients();\n        let xCoefficients = [0, 0, 0, 0];\n        let yCoefficients = [0, 0, 0, 0];\n        derivativeCoefficients.forEach((coefficient, index)=>{\n            xCoefficients[3 - index] = coefficient.x;\n            yCoefficients[3 - index] = coefficient.y;\n        });\n\n        const xRoots = solveCubic(xCoefficients[0], xCoefficients[1], xCoefficients[2], xCoefficients[3]);\n        const yRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n        xRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                res.x.push(root);\n            }\n        });\n        yRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                res.y.push(root);\n            }\n        });\n        \n        if(derivativeCoefficients.length >= 3){\n            xCoefficients = [0, 0, 0, 0];\n            yCoefficients = [0, 0, 0, 0];\n            const secondDerivativeCoefficients = this.getCoefficientOfTTermsWithControlPoints(this.getDerivativeControlPoints(this.dControlPoints));\n            secondDerivativeCoefficients.forEach((coefficient, index)=>{\n                xCoefficients[3 - index] = coefficient.x;\n                yCoefficients[3 - index] = coefficient.y;\n            })\n            const secondXRoots = solveCubic(xCoefficients[0], xCoefficients[1], xCoefficients[2], xCoefficients[3]);\n            const secondYRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n            secondXRoots.forEach((root)=>{\n                if(root >= 0 && root <= 1){\n                    res.x.push(root);\n                }\n            });\n            secondYRoots.forEach((root)=>{\n                if(root >= 0 && root <= 1){\n                    res.y.push(root);\n                }\n            });\n\n        }\n        return res;        \n    }\n\n    translateRotateControlPoints(translation: Point, rotationAngle: number){\n        // rotation is in radians\n        const res: Point[] = [];\n        for(let index = 0; index < this.controlPoints.length; index++){\n            res.push(PointCal.rotatePoint(PointCal.addVector(this.controlPoints[index], translation), rotationAngle));\n        }\n        return res;\n    }\n\n    getLineIntersections(line: Line): number[]{\n        const translationRotation = line.getTranslationRotationToAlginXAxis();\n        const res: number[] = [];\n        const alignedControlPoints = this.translateRotateControlPoints(translationRotation.translation, translationRotation.rotationAngle);\n        const coefficients = this.getCoefficientOfTTermsWithControlPoints(alignedControlPoints);\n        let yCoefficients = [0, 0, 0, 0];\n        coefficients.forEach((coefficient, index)=>{\n            yCoefficients[3 - index] = coefficient.y;\n        });\n\n        const yRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n        yRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                if(line.pointInLine(this.get(root))){\n                    res.push(root);\n                }\n            }\n        });\n\n        return res;\n    }\n\n    getSelfIntersections(): {selfT: number, otherT: number}[]{\n        const [subCurveControlPoints1, subCurveControlPoints2] = this.split(0.5);\n        const subCurve1 = new BCurve(subCurveControlPoints1);\n        const subCurve2 = new BCurve(subCurveControlPoints2);\n        let initialRes = getIntersectionsBetweenCurves(subCurve1, subCurve2);\n        initialRes.forEach((intersection)=>{\n            intersection.selfT = intersection.selfT * 0.5;\n            intersection.otherT = intersection.otherT * 0.5 + 0.5;\n        });\n        initialRes.shift();\n        return initialRes;\n    }\n\n    getCircleIntersections(circleCenter: Point, circleRadius: number): {intersection: Point, tVal: number}[]{\n        const LUT = this.getLUTWithTVal(500);\n        let distanceError = Number.MAX_VALUE;\n        let preliminaryIntersectionIndex = 0;\n        let preliminaryIntersectionPoint: Point = LUT[0].point;\n        let preliminaryIntersectionTVal = LUT[0].tVal;\n        LUT.forEach((curvePoint, index)=>{\n            let curDistanceError = Math.abs(PointCal.distanceBetweenPoints(circleCenter, curvePoint.point));\n            if (curDistanceError < distanceError){\n                distanceError = curDistanceError;\n                preliminaryIntersectionIndex = index;\n            }\n        });\n        const LUTD = LUT.map((curvePoint, index)=>{\n            return {...curvePoint, distance: 0};\n        })\n        distanceError = Number.MAX_VALUE;\n        let start = 0;\n        let count = 0;\n        let indices: number[] = [];\n        while(++count < 25){\n            let i = this.findClosest(circleCenter.x, circleCenter.y, LUTD, circleRadius, 5, LUTD[start - 2]?.distance, LUTD[start - 1]?.distance);\n            if (i < start) break;\n            if (i > 0 && i == start) break;\n            indices.push(i);\n            start = i + 2;\n        }\n        const finalList: {intersection: Point, tVal: number}[] = [];\n        indices.forEach((index)=>{\n            let res = this.refineBinary(this, circleCenter.x, circleCenter.y, LUTD, index, circleRadius);\n            if (res != undefined){\n                finalList.push({intersection: res.point, tVal: res.tVal});\n            }\n        })\n        return finalList;\n    }\n\n    advanceAtTWithLength(tVal: number, length: number): AdvanceAtTWithLengthRes{\n        const currentLength = this.lengthAtT(tVal);\n        const targetLength = currentLength + length;\n        \n        // Handle edge cases first\n        if(tVal === 0 && length < 0){\n            return {type: \"beforeCurve\", remainLength: -length};\n        }\n        if(tVal === 1 && length > 0){\n            return {type: \"afterCurve\", remainLength: length};\n        }\n        if(targetLength > this.fullLength){\n            return {type: \"afterCurve\", remainLength: targetLength - this.fullLength};\n        } else if(targetLength < 0){\n            return {type: \"beforeCurve\", remainLength: -targetLength};\n        }\n\n        // Use LUT for binary search\n        if(this.arcLengthLUT.arcLengthLUT.length === 0){\n            this.arcLengthLUT = this.getArcLengthLUT(1000);\n        }\n        const points = this.arcLengthLUT.arcLengthLUT;\n        let low = 0;\n        let high = points.length - 1;\n        \n        // Binary search to find the interval containing targetLength\n        while (low <= high){\n            const mid = Math.floor((low + high) / 2);\n            const midLength = points[mid].length;\n            \n            if (approximately(midLength, targetLength, 0.01)) {\n                // Found exact match\n                const resultTVal = points[mid].tVal;\n                const point = this.get(resultTVal);\n                return {type: \"withinCurve\", tVal: resultTVal, point: point};\n            } else if (midLength < targetLength){\n                low = mid + 1;\n            } else {\n                high = mid - 1;\n            }\n        }\n        \n        // After binary search, 'high' points to the largest index with length < targetLength\n        // and 'low' points to the smallest index with length >= targetLength\n        \n        // Handle edge cases\n        if (high < 0) {\n            // targetLength is smaller than the first point's length\n            high = 1;\n            low = 0;\n        }\n        \n        if (low >= points.length) {\n            // targetLength is larger than the last point's length\n            high = points.length - 1;\n            low = points.length - 2;\n        }\n        \n        // Interpolate between points[high] and points[low]\n        const p1 = points[high];\n        const p2 = points[low];\n        \n        // Linear interpolation\n        const lengthRange = p2.length - p1.length;\n        const tRange = p2.tVal - p1.tVal;\n        \n        if (lengthRange === 0) {\n            // Both points have the same length, use the first one\n            const point = this.get(p1.tVal);\n            return {type: \"withinCurve\", tVal: p1.tVal, point: point};\n        }\n        \n        const ratio = (targetLength - p1.length) / lengthRange;\n        const interpolatedT = p1.tVal + ratio * tRange;\n        \n        // Clamp to valid range\n        const clampedT = Math.max(0, Math.min(1, interpolatedT));\n        const point = this.get(clampedT);\n        \n        return {type: \"withinCurve\", tVal: clampedT, point: point};\n    }\n\n    advanceByDistance(startT: number, distance: number): AdvanceAtTWithLengthRes {\n        let currentT = startT;\n        let remainingDistance = distance;\n        const stepSize = 0.01; // Adjust for precision vs performance\n\n        if(distance > this.fullLength){\n            return {type: \"afterCurve\", remainLength: distance - this.fullLength};\n        } else if(distance < 0){\n            return {type: \"beforeCurve\", remainLength: -distance};\n        }\n        \n        while (remainingDistance > 0 && currentT < 1) {\n            const currentPoint = this.get(currentT);\n            const nextT = Math.min(currentT + stepSize, 1);\n            const nextPoint = this.get(nextT);\n            \n            const segmentLength = Math.sqrt(\n                Math.pow(nextPoint.x - currentPoint.x, 2) + \n                Math.pow(nextPoint.y - currentPoint.y, 2)\n            );\n            \n            if (segmentLength >= remainingDistance) {\n                // Interpolate within this segment\n                const ratio = remainingDistance / segmentLength;\n                return {type: \"withinCurve\", tVal: currentT + ratio * (nextT - currentT), point: this.get(currentT + ratio * (nextT - currentT))};\n            }\n            \n            remainingDistance -= segmentLength;\n            currentT = nextT;\n        }\n        \n        return {type: \"withinCurve\", tVal: currentT, point: this.get(currentT)};\n    }\n\n    refineBinary(curve: BCurve, x: number, y: number, LUT: {point: Point, tVal: number, distance: number}[], i: number, targetDistance=0, epsilon=0.01) {\n        let q: {point: Point, tVal: number, distance: number} | undefined = LUT[i],\n          count = 1,\n          distance = Number.MAX_SAFE_INTEGER;\n      \n        do {\n          let i1 = i === 0 ? 0 : i - 1,\n              i2 = i === LUT.length - 1 ? LUT.length - 1 : i + 1,\n              t1 = LUT[i1].tVal,\n              t2 = LUT[i2].tVal,\n              lut: {point: Point, tVal: number, distance: number}[] = [],\n              step = (t2 - t1) / 4;\n      \n          if (step < 0.001) break;\n      \n          lut.push(LUT[i1]);\n          for (let j = 1; j <= 3; j++) {\n            let n = curve.get(t1 + j * step);\n            let nDistance = Math.abs(PointCal.distanceBetweenPoints(n, {x: x, y: y}) - targetDistance);\n            if (nDistance < distance) {\n              distance = nDistance;\n              q = {point: n, tVal: t1 + j * step, distance: nDistance};\n              i = j;\n            }\n            lut.push({point: n, tVal: t1 + j * step, distance: nDistance});\n          }\n          lut.push(LUT[i2]);\n      \n          // update the LUT to be our new five point LUT, and run again.\n          LUT = lut;\n      \n          // The \"count\" test is mostly a safety measure: it will\n          // never kick in, but something that _will_ terminate is\n          // always better than while(true). Never use while(true)\n        } while (count++ < 25);\n      \n        // If we're trying to hit a target, discard the result if\n        // it is not close enough to the target.\n        if (targetDistance && distance > epsilon) {\n          q = undefined;\n        }\n      \n        return q;\n    }\n\n    findClosest(x: number, y: number, LUT: {point: Point, tVal: number, distance: number}[], circleRadius: number, distanceEpsilon = 5, pd2?: number, pd1?: number) {\n        let distance = Number.MAX_SAFE_INTEGER,\n          prevDistance2 = pd2 || distance,\n          prevDistance1 = pd1 || distance,\n          i = -1;\n      \n        for (let index=0, e=LUT.length; index<e; index++){\n          let p = LUT[index].point;\n          LUT[index].distance = Math.abs(PointCal.distanceBetweenPoints({x:x, y:y}, p) - circleRadius);\n          \n          // Realistically, there's only going to be an intersection if\n          // the distance to the circle center is already approximately\n          // the circle's radius.\n          if (prevDistance1 < distanceEpsilon && prevDistance2 > prevDistance1 && prevDistance1 < LUT[index].distance) {\n            i = index - 1;\n            break;\n          }\n      \n          if (LUT[index].distance < distance) {\n            distance = LUT[index].distance;\n          }\n      \n          prevDistance2 = prevDistance1;\n          prevDistance1 = LUT[index].distance;\n        }\n      \n        return i;\n    }\n\n    getCurveIntersections(curve: BCurve, deduplicationTolerance?: number): {selfT: number, otherT: number}[]{\n        return getIntersectionsBetweenCurves(this, curve, deduplicationTolerance);\n    }\n\n    get AABB():{min: Point, max: Point}{\n        const extrema = this.getExtrema();\n        const tVals = [0, 1];\n        let min: Point = {x: Number.MAX_VALUE, y: Number.MAX_VALUE};\n        let max: Point = {x: -Number.MAX_VALUE, y: -Number.MAX_VALUE};\n        extrema.x.forEach((tVal)=>{\n            tVals.push(tVal);\n        });\n        extrema.y.forEach((tVal)=>{\n            tVals.push(tVal);\n        });\n        tVals.forEach((tVal)=>{\n            const curPoint = this.get(tVal);\n            min.x = Math.min(min.x, curPoint.x);\n            min.y = Math.min(min.y, curPoint.y);\n            max.x = Math.max(max.x, curPoint.x);\n            max.y = Math.max(max.y, curPoint.y);\n        });\n\n        return {min:min, max:max};\n    }\n\n    normal(tVal: number): {tVal: number, direction: Point} {\n        const d = this.derivative(tVal);\n        const q = Math.sqrt(d.x * d.x + d.y * d.y);\n        return {tVal, direction: {x: -d.y / q, y: d.x / q}};\n    }\n}\n\nexport function reduce(curve: BCurve) {\n    let i: number,\n      t1 = 0,\n      t2 = 0,\n      step = 0.01,\n      segment: BCurve,\n      pass1: BCurve[] = [],\n      pass2: BCurve[] = [];\n  \n    // first pass: split on extrema\n    let extrema = curve.getExtrema().x;\n    if (extrema.indexOf(0) === -1) {\n      extrema = [0].concat(extrema);\n    }\n    if (extrema.indexOf(1) === -1) {\n      extrema.push(1);\n    }\n    for (t1 = extrema[0], i = 1; i < extrema.length; i++) {\n      t2 = extrema[i];\n      segment = curve.splitAndTakeMidCurve(t1, t2);\n      pass1.push(segment);\n      t1 = t2;\n    }\n  \n    // second pass: further reduce these segments to simple segments\n    pass1.forEach(p1 => {\n      t1 = 0;\n      t2 = 0;\n      while (t2 <= 1) {\n        for (t2 = t1 + step; t2 <= 1 + step; t2 += step) {\n          // Clamp t2 to valid range\n          const clampedT2 = Math.min(t2, 1);\n          segment = p1.splitAndTakeMidCurve(t1, clampedT2);\n          if (!curveIsSimple(segment)) {\n            t2 -= step;\n            if (Math.abs(t1 - t2) < step) {\n              // we can never form a reduction\n              return [];\n            }\n            const finalT2 = Math.min(t2, 1);\n            segment = p1.splitAndTakeMidCurve(t1, finalT2);\n            pass2.push(segment);\n            t1 = finalT2;\n            break;\n          }\n        }\n      }\n      if (t1 < 1) {\n        segment = p1.splitAndTakeMidCurve(t1, 1);\n        pass2.push(segment);\n      }\n    });\n  \n    return pass2;\n}\n\nfunction raiseCurveOrder(curve: BCurve): BCurve {\n    const p = curve.getControlPoints(),\n        np = [p[0]],\n        k = p.length;\n    for (let i = 1; i < k; i++) {\n        const pi = p[i];\n        const pim = p[i - 1];\n        np[i] = {\n            x: ((k - i) / k) * pi.x + (i / k) * pim.x,\n            y: ((k - i) / k) * pi.y + (i / k) * pim.y,\n        };\n    }\n    np[k] = p[k - 1];\n    return new BCurve(np);\n}\n\n// Function overloads for different return types\nexport function offset(curve: BCurve, t: number): BCurve[];\nexport function offset(curve: BCurve, t: number, d: number): {c: Point, n: Point, x: number, y: number};\nexport function offset(curve: BCurve, t: number, d?: number | undefined) {\n    if (d !== undefined) {\n        const c = curve.get(t),\n        n = curve.normal(t).direction;\n        const ret = {\n        c: c,\n        n: n,\n        x: c.x + n.x * d,\n        y: c.y + n.y * d,\n        };\n        // if (this._3d) {\n        // ret.z = c.z + n.z * d;\n        // }\n        return ret;\n    }\n\n    // Native offset implementation based on bezier-js algorithm\n    const points = curve.getControlPoints();\n    const linear = curveIsLinear(curve);\n\n    if (linear) {\n        const nv = curve.normal(0).direction,\n        coords = points.map(function (p) {\n            const ret = {\n            x: p.x + t * nv.x,\n            y: p.y + t * nv.y,\n            };\n            return ret;\n        });\n        return [new BCurve(coords)];\n    }\n\n    // For non-linear curves, reduce to simple segments and scale each\n    return reduce(curve).map(function (s) {\n        if (curveIsLinear(s)) {\n            return offset(s, t)[0];\n        }\n        return scaleCurve(s, t);\n    });\n}\n\nexport function offset2(curve: BCurve, d: number): Point[]{\n    const lut = curve.getLUTWithTVal(100);\n\n    const res = lut.map((item)=>{\n        const derivative = PointCal.unitVector(curve.derivative(item.tVal));\n        const normal = {x: -derivative.y, y: derivative.x};\n        const offsetPoint = {x: item.point.x + normal.x * d, y: item.point.y + normal.y * d};\n        return offsetPoint;\n    });\n\n    return res;\n}\n\n// Helper function for line-line intersection (ported from bezier-js utils)\nfunction lli4(p1: Point, p2: Point, p3: Point, p4: Point): Point | false {\n    const x1 = p1.x, y1 = p1.y,\n          x2 = p2.x, y2 = p2.y,\n          x3 = p3.x, y3 = p3.y,\n          x4 = p4.x, y4 = p4.y;\n    return lli8(x1, y1, x2, y2, x3, y3, x4, y4);\n}\n\nfunction lli8(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number, x4: number, y4: number): Point | false {\n    const nx = (x1 * y2 - y1 * x2) * (x3 - x4) - (x1 - x2) * (x3 * y4 - y3 * x4);\n    const ny = (x1 * y2 - y1 * x2) * (y3 - y4) - (y1 - y2) * (x3 * y4 - y3 * x4);\n    const d = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);\n    if (d == 0) {\n        return false;\n    }\n    return { x: nx / d, y: ny / d };\n}\n\nfunction curveIsLinear(curve: BCurve): boolean{\n    const order = curve.getControlPoints().length - 1;\n    const points = curve.getControlPoints();\n    const alignedPoints = alignPointsToLine(points, {p1: points[0], p2: points[order]});\n    const baseLength = PointCal.distanceBetweenPoints(points[0], points[order]);\n\n    // Sum of distances from the line (y coordinates in aligned space)\n    const linear = alignedPoints.reduce((t, p) => t + Math.abs(p.y), 0) < baseLength / 50;\n\n    return linear;\n}\n\n\nfunction scaleCurve(curve: BCurve, d: number | ((t: number) => number)): BCurve {\n    const order = curve.getControlPoints().length - 1;\n    let distanceFn: ((t: number) => number) | undefined = undefined;\n\n    if (typeof d === \"function\") {\n        distanceFn = d;\n    }\n\n    if (distanceFn && order === 2) {\n        return scaleCurve(raiseCurveOrder(curve), distanceFn);\n    }\n\n    const points = curve.getControlPoints();\n\n    // Check if curve is linear\n    if (curveIsLinear(curve)) {\n        return translate(\n            curve,\n            curve.normal(0).direction,\n            distanceFn ? distanceFn(0) : d as number,\n            distanceFn ? distanceFn(1) : d as number\n        );\n    }\n\n    const r1 = distanceFn ? distanceFn(0) : d as number;\n    const r2 = distanceFn ? distanceFn(1) : d as number;\n    \n    // Get offset points at endpoints to find the scaling origin\n    const v = [offset(curve, 0, 10), offset(curve, 1, 10)];\n    const np: Point[] = [];\n    const o = lli4(v[0] as any, (v[0] as any).c, v[1] as any, (v[1] as any).c);\n\n    if (!o) {\n        // Fallback: use simple translation for problematic curves\n        return translate(\n            curve,\n            curve.normal(0).direction,\n            r1,\n            r2\n        );\n    }\n\n    // Move endpoint control points by distance along normal\n    [0, 1].forEach(function (t) {\n        const p = JSON.parse(JSON.stringify(points[t * order]));\n        const vt = v[t] as any;\n        p.x += (t ? r2 : r1) * vt.n.x;\n        p.y += (t ? r2 : r1) * vt.n.y;\n        np[t * order] = p;\n    });\n\n    if (!distanceFn) {\n        // Move control points to lie on the intersection of the offset\n        // derivative vector, and the origin-through-control vector\n        [0, 1].forEach((t) => {\n            if (order === 2 && !!t) return;\n            const p = np[t * order];\n            const derivativeAtT = curve.derivative(t);\n            const p2 = { x: p.x + derivativeAtT.x, y: p.y + derivativeAtT.y };\n            const intersection = lli4(p, p2, o, points[t + 1]);\n            if (intersection) {\n                np[t + 1] = intersection;\n            } else {\n                // Fallback: use original control point with simple offset\n                const originalPoint = points[t + 1];\n                const normal = curve.normal((t + 1) / order).direction;\n                np[t + 1] = {\n                    x: originalPoint.x + (t ? r2 : r1) * normal.x,\n                    y: originalPoint.y + (t ? r2 : r1) * normal.y\n                };\n            }\n        });\n        return new BCurve(np);\n    }\n\n    // For function-based distances, move control points by distance\n    // to ensure correct tangent at endpoints\n    [0, 1].forEach(function (t) {\n        if (order === 2 && !!t) return;\n        const p = points[t + 1];\n        const ov = {\n            x: p.x - o.x,\n            y: p.y - o.y,\n        };\n        let rc = distanceFn!((t + 1) / order);\n        const m = Math.sqrt(ov.x * ov.x + ov.y * ov.y);\n        ov.x /= m;\n        ov.y /= m;\n        np[t + 1] = {\n            x: p.x + rc * ov.x,\n            y: p.y + rc * ov.y,\n        };\n    });\n    return new BCurve(np);\n}\n\nfunction alignPointsToLine(points: Point[], line: {p1: Point, p2: Point}) {\n    const tx = line.p1.x,\n      ty = line.p1.y,\n      a = -Math.atan2(line.p2.y - ty, line.p2.x - tx),\n      d = function (v: Point) {\n        return {\n          x: (v.x - tx) * Math.cos(a) - (v.y - ty) * Math.sin(a),\n          y: (v.x - tx) * Math.sin(a) + (v.y - ty) * Math.cos(a),\n        };\n      };\n    return points.map(d);\n};\n\nfunction map(v: number, ds: number, de: number, ts: number, te: number): number {\n    const d1 = de - ds,      // source range size\n      d2 = te - ts,          // target range size  \n      v2 = v - ds,           // offset from source start\n      r = v2 / d1;           // ratio within source range\n    return ts + d2 * r;      // mapped value in target range\n}\n\nexport class TValOutofBoundError extends Error{\n    constructor(message: string){\n        super(message);\n    }\n}\n\nexport type Point = {\n    x: number;\n    y: number;\n    z?: number;\n}\n\nexport function AABBIntersects(AABB1: {min: Point, max: Point}, AABB2: {min: Point, max: Point}): boolean{\n    if ((AABB1.min.x <= AABB2.max.x && AABB2.min.x <= AABB1.max.x) && (AABB1.min.y <= AABB2.max.y && AABB2.min.y <= AABB1.max.y)){\n        return true;\n    }\n    return false;\n}\n\nexport function approximately (a: number, b: number, precision?: number) {\n    const epsilon = 0.000001\n    return Math.abs(a - b) <= (precision || epsilon);\n}\n\nexport function cuberoot2(v:number) {\n    if(v<0) return -Math.pow(-v,1/3);\n    return Math.pow(v,1/3);\n}\n\nexport function accept(t: number) {\n    return 0 <= t && t <=1;\n}\n\nexport function getCubicRoots(pa: number, pb: number, pc: number, pd: number) {\n    let a = (3*pa - 6*pb + 3*pc),\n        b = (-3*pa + 3*pb),\n        c = pa,\n        d = (-pa + 3*pb - 3*pc + pd);\n\n    // do a check to see whether we even need cubic solving:\n    if (approximately(d,0)) {\n        // this is not a cubic curve.\n        if (approximately(a,0)) {\n            // in fact, this is not a quadratic curve either.\n            if (approximately(b,0)) {\n                // in fact in fact, there are no solutions.\n                return [];\n            }\n            // linear solution\n            return [-c / b].filter(accept);\n        }\n        // quadratic solution\n        let q = Math.sqrt(b*b - 4*a*c), a2 = 2*a;\n        return [(q-b)/a2, (-b-q)/a2].filter(accept)\n    }\n\n    // at this point, we know we need a cubic solution.\n\n    a /= d;\n    b /= d;\n    c /= d;\n\n    let p = (3*b - a*a)/3,\n        p3 = p/3,\n        q = (2*a*a*a - 9*a*b + 27*c)/27,\n        q2 = q/2,\n        discriminant = q2*q2 + p3*p3*p3;\n\n    // and some variables we're going to use later on:\n    let u1, v1, root1, root2, root3;\n\n    // three possible real roots:\n    if (discriminant < 0) {\n        let mp3  = -p/3,\n        mp33 = mp3*mp3*mp3,\n        r    = Math.sqrt( mp33 ),\n        t    = -q / (2*r),\n        cosphi = t<-1 ? -1 : t>1 ? 1 : t,\n        phi  = Math.acos(cosphi),\n        crtr = cuberoot2(r),\n        t1   = 2*crtr;\n        root1 = t1 * Math.cos(phi/3) - a/3;\n        root2 = t1 * Math.cos((phi+2*Math.PI)/3) - a/3;\n        root3 = t1 * Math.cos((phi+4*Math.PI)/3) - a/3;\n        return [root1, root2, root3].filter(accept);\n    }\n\n    // three real roots, but two of them are equal:\n    if(discriminant === 0) {\n        u1 = q2 < 0 ? cuberoot2(-q2) : -cuberoot2(q2);\n        root1 = 2*u1 - a/3;\n        root2 = -u1 - a/3;\n        return [root1, root2].filter(accept);\n    }\n\n    // one real root, two complex roots\n    var sd = Math.sqrt(discriminant);\n    u1 = cuberoot2(sd - q2);\n    v1 = cuberoot2(sd + q2);\n    root1 = u1 - v1 - a/3;\n    return [root1].filter(accept);\n}\n\nexport function getIntersectionsBetweenCurves(curve: BCurve, curve2: BCurve, deduplicationTolerance: number = 0.01): {selfT: number, otherT: number}[]{\n    const threshold = 0.5;\n    let pairs: {curve1: {curve: BCurve, startTVal: number, endTVal: number}, curve2: {curve: BCurve, startTVal: number, endTVal: number}}[] = [{curve1: {curve: curve, startTVal: 0, endTVal: 1}, curve2: {curve: curve2, startTVal: 0, endTVal: 1}}];\n    const finalRes = [];\n    while (pairs.length > 0){\n        let curLength = pairs.length;\n        for(let index = 0; index < curLength; index++){\n            let pair = pairs.shift();\n            if (pair == undefined){\n                break;\n            }\n            let aabb1 = pair.curve1.curve.AABB;\n            let aabb2 = pair.curve2.curve.AABB;\n            let intersects = AABBIntersects(aabb1, aabb2);\n            if(pair.curve1.curve.fullLength < threshold && pair.curve2.curve.fullLength < threshold){\n                finalRes.push({intersection: pair.curve1.curve.get(0.5), tVal1: (pair.curve1.startTVal + pair.curve1.endTVal) * 0.5, tVal2: (pair.curve2.startTVal + pair.curve2.endTVal) * 0.5});\n                continue;\n            }\n            if (intersects){\n                let [subCurveControlPoints1, subCurveControlPoints2] = pair.curve1.curve.split(0.5);\n                let [subCurveControlPoints3, subCurveControlPoints4] = pair.curve2.curve.split(0.5);\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints1), \n                        startTVal: pair.curve1.startTVal, \n                        endTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5\n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints3),\n                        startTVal: pair.curve2.startTVal,\n                        endTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints1), \n                        startTVal: pair.curve1.startTVal, \n                        endTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5\n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints4),\n                        startTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5,\n                        endTVal: pair.curve2.endTVal\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints2), \n                        startTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5 ,\n                        endTVal: pair.curve1.endTVal \n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints3),\n                        startTVal: pair.curve2.startTVal,\n                        endTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints2), \n                        startTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5 ,\n                        endTVal: pair.curve1.endTVal \n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints4),\n                        startTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5,\n                        endTVal: pair.curve2.endTVal\n                }});\n            }\n\n        }\n    }\n\n    // Improved deduplication logic that handles close tvals on both curves\n    const tVals: {selfT: number, otherT: number}[] = [];\n    \n    // Sort intersections by tVal1 for more predictable deduplication\n    finalRes.sort((a, b) => a.tVal1 - b.tVal1);\n    \n    for (const intersection of finalRes) {\n        let isDuplicate = false;\n        \n        // Check against all existing intersections\n        for (const existing of tVals) {\n            // Check if this intersection is close to an existing one on either curve\n            const selfTClose = approximately(intersection.tVal1, existing.selfT, deduplicationTolerance);\n            const otherTClose = approximately(intersection.tVal2, existing.otherT, deduplicationTolerance);\n            \n            // Consider it a duplicate if both t-values are close\n            if (selfTClose && otherTClose) {\n                isDuplicate = true;\n                break;\n            }\n            \n            // Also check for cases where intersections might be very close on the same curve\n            // This handles cases where curves are nearly tangent or have very close intersections\n            const selfTVeryClose = approximately(intersection.tVal1, existing.selfT, deduplicationTolerance * 10);\n            const otherTVeryClose = approximately(intersection.tVal2, existing.otherT, deduplicationTolerance * 10);\n            \n            if (selfTVeryClose || otherTVeryClose) {\n                // Additional check: if the intersection points are very close spatially\n                const point1 = curve.get(intersection.tVal1);\n                const point2 = curve2.get(intersection.tVal2);\n                const existingPoint1 = curve.get(existing.selfT);\n                const existingPoint2 = curve2.get(existing.otherT);\n                \n                const distance1 = PointCal.distanceBetweenPoints(point1, existingPoint1);\n                const distance2 = PointCal.distanceBetweenPoints(point2, existingPoint2);\n                \n                // If both intersection points are spatially very close, consider it a duplicate\n                if (distance1 < deduplicationTolerance * 100 && distance2 < deduplicationTolerance * 100) {\n                    isDuplicate = true;\n                    break;\n                }\n            }\n        }\n        \n        if (!isDuplicate) {\n            tVals.push({selfT: intersection.tVal1, otherT: intersection.tVal2});\n        }\n    }\n    \n    return tVals;\n}\n\nexport function solveCubic(a: number, b: number, c: number, d: number) {\n    if (Math.abs(a) < 1e-8) { // Quadratic case, ax^2+bx+c=0\n        a = b; b = c; c = d;\n        if (Math.abs(a) < 1e-8) { // Linear case, ax+b=0\n            a = b; b = c;\n            if (Math.abs(a) < 1e-8) // Degenerate case\n                return [];\n            return [-b/a];\n        }\n\n        let D = b*b - 4*a*c;\n        if (Math.abs(D) < 1e-8)\n            return [-b/(2*a)];\n        else if (D > 0)\n            return [(-b+Math.sqrt(D))/(2*a), (-b-Math.sqrt(D))/(2*a)];\n        return [];\n    }\n\n    // Convert to depressed cubic t^3+pt+q = 0 (subst x = t - b/3a)\n    let p = (3*a*c - b*b)/(3*a*a);\n    let q = (2*b*b*b - 9*a*b*c + 27*a*a*d)/(27*a*a*a);\n    let roots: number[];\n\n    if (Math.abs(p) < 1e-8) { // p = 0 -> t^3 = -q -> t = -q^1/3\n        roots = [cuberoot(-q)];\n    } else if (Math.abs(q) < 1e-8) { // q = 0 -> t^3 + pt = 0 -> t(t^2+p)=0\n        roots = [0].concat(p < 0 ? [Math.sqrt(-p), -Math.sqrt(-p)] : []);\n    } else {\n        let D = q*q/4 + p*p*p/27;\n        if (Math.abs(D) < 1e-8) {       // D = 0 -> two roots\n            roots = [-1.5*q/p, 3*q/p];\n        } else if (D > 0) {             // Only one real root and two complex roots\n            let u = cuberoot(-q/2 - Math.sqrt(D));\n            let v = cuberoot(-q/2 + Math.sqrt(D));\n            //console.log(\"Complext Root 1 real:\", -(u+v)/2.0 - a / 3.0, \"imaginary:\", Math.sqrt(3) / 2.0 * (v - u));\n            //console.log(\"Complext Root 2 real:\", -(u+v)/2.0 - a / 3.0, \"imaginary:\",-1 * Math.sqrt(3) / 2.0 * (v - u));\n\n            roots = [u - p/(3*u)];\n        } else {                        // D < 0, three roots, but needs to use complex numbers/trigonometric solution\n            let u = 2*Math.sqrt(-p/3);\n            let t = Math.acos(3*q/p/u)/3;  // D < 0 implies p < 0 and acos argument in [-1..1]\n            let k = 2*Math.PI/3;\n            roots = [u*Math.cos(t), u*Math.cos(t-k), u*Math.cos(t-2*k)];\n        }\n    }\n\n    // Convert back from depressed cubic\n    for (let i = 0; i < roots.length; i++)\n        roots[i] -= b/(3*a);\n\n    return roots;\n}\n\nexport function cuberoot(x: number) {\n    var y = Math.pow(Math.abs(x), 1/3);\n    return x < 0 ? -y : y;\n}\n\nexport function computeWithControlPoints(tVal: number, controlPoints: Point[]): Point{\n    let points = [...controlPoints];\n    while (points.length > 1) {\n        let lowerLevelPoints = points.slice(1);\n        for(let index = 0; index < lowerLevelPoints.length; index++){\n            lowerLevelPoints[index] = PointCal.addVector(PointCal.multiplyVectorByScalar(points[index], (1 - tVal)), PointCal.multiplyVectorByScalar(points[index + 1], tVal));\n        }\n        points = lowerLevelPoints;\n    }\n    return points[0];\n}\n\nfunction curveIsSimple(curve: BCurve): boolean {\n    if (curve.getControlPoints().length === 4) {\n        const points = curve.getControlPoints();\n        const p0ToP3Vector = PointCal.subVector(points[3], points[0]);\n        const p0ToP1Vector = PointCal.subVector(points[1], points[0]);\n        const p0ToP2Vector = PointCal.subVector(points[2], points[0]);\n    \n        const a1 = PointCal.angleFromA2B(p0ToP3Vector, p0ToP1Vector);\n        const a2 = PointCal.angleFromA2B(p0ToP3Vector, p0ToP2Vector);\n        if ((a1 > 0 && a2 < 0) || (a1 < 0 && a2 > 0)) return false;\n    }\n    const n1 = curve.normal(0).direction;\n    const n2 = curve.normal(1).direction;\n    let s = n1.x * n2.x + n1.y * n2.y;\n    // if (this._3d) {\n    //     s += n1.z * n2.z;\n    // }\n    return Math.abs(Math.acos(s)) < Math.PI / 3;\n  }\n\n\n\nfunction translate(curve: BCurve, vector: Point, d1: number, d2: number){\n    const order = curve.getControlPoints().length - 1;\n    const points = curve.getControlPoints();\n    const d = points.map((_, i: number) => (1 - i / order) * d1 + (i / order) * d2);\n    return new BCurve(points.map((p, i) => ({x: p.x + d[i] * vector.x, y: p.y + d[i] * vector.y})));\n}\n",
-    "import { PointCal, Point } from \"@ue-too/math\";\n\nexport class Line {\n    private startPoint: Point;\n    private endPoint: Point;\n\n    constructor(startPoint: Point, endPoint: Point){\n        this.startPoint = startPoint;\n        this.endPoint = endPoint;\n    }\n\n    getStartPoint(): Point{\n        return this.startPoint;\n    }\n\n    getEndPoint(): Point{\n        return this.endPoint;\n    }\n\n    intersectionWithAnotherLine(lineToIntersect: Line){\n        return getLineIntersection(this.startPoint, this.endPoint, lineToIntersect.getStartPoint(), lineToIntersect.getEndPoint());\n    }\n\n    projectPoint(point: Point){\n        return projectPointOntoLine(point, this.getStartPoint(), this.getEndPoint());\n    }\n\n    length(): number{\n        return PointCal.distanceBetweenPoints(this.startPoint, this.endPoint);\n    }\n    \n    getTranslationRotationToAlginXAxis(){\n        const translation = PointCal.subVector({x: 0, y: 0}, this.startPoint);\n        const rotationAngle = PointCal.angleFromA2B(PointCal.subVector(this.endPoint, this.startPoint), {x: 1, y: 0});\n\n        return {translation, rotationAngle};\n    }\n\n    pointInLine(point: Point): boolean{\n        const baseVector = PointCal.unitVectorFromA2B(this.startPoint, this.endPoint);\n        const start2PointVector = PointCal.subVector(point, this.startPoint);\n        const length = PointCal.dotProduct(start2PointVector, baseVector);\n        const start2PointUnitVector = PointCal.unitVector(start2PointVector);\n        const errorThreshold = PointCal.distanceBetweenPoints(this.startPoint, this.endPoint) * 0.0001;\n        return length <= PointCal.distanceBetweenPoints(this.startPoint, this.endPoint) && length >= 0 && Math.abs(start2PointUnitVector.x - baseVector.x) < 0.0001 && Math.abs(start2PointUnitVector.y - baseVector.y) < 0.0001;\n    }\n\n    lerp(ratio: number): Point {\n        return PointCal.linearInterpolation(this.startPoint, this.endPoint, ratio);\n    }\n}\n\nexport function getLineIntersection(startPoint: Point, endPoint: Point, startPoint2: Point, endPoint2: Point):{\n    intersects: boolean,\n    intersection?: Point,\n    offset?: number\n}{\n    const numerator = (endPoint2.x - startPoint2.x) * (startPoint.y - startPoint2.y) - (endPoint2.y - startPoint2.y) * (startPoint.x - startPoint2.x);\n    const denominator = (endPoint2.y - startPoint2.y) * (endPoint.x - startPoint.x) - (endPoint2.x - startPoint2.x) * (endPoint.y - startPoint.y);\n    \n    if (denominator === 0){\n        return {intersects: false};\n    }\n    const t = numerator / denominator;\n    if (t >= 0 && t <= 1){\n        return {\n            intersects: true, \n            intersection: PointCal.linearInterpolation(startPoint, endPoint, t),\n            offset: t\n        }\n    } else {\n        return {\n            intersects: false,\n        }\n    }\n\n}\n\nexport function projectPointOntoLine(point: Point, lineStartPoint: Point, lineEndPoint: Point): {\n    within: boolean,\n    projectionPoint?: Point,\n    offset?: number\n}{\n    const baseVector = PointCal.unitVector(PointCal.subVector(lineEndPoint, lineStartPoint));\n    const vectorToPoint = PointCal.subVector(point, lineStartPoint);\n    const res = PointCal.dotProduct(vectorToPoint, baseVector);\n    if (res < 0 || res > PointCal.magnitude(PointCal.subVector(lineEndPoint, lineStartPoint))){\n        return {\n            within: false,\n        };\n    }\n    return {\n        within: true,\n        projectionPoint: PointCal.addVector(lineStartPoint, PointCal.multiplyVectorByScalar(baseVector, res)),\n        offset: res / PointCal.magnitude(PointCal.subVector(lineEndPoint, lineStartPoint))\n    };\n\n}\n",
-    "import { Point, PointCal } from \"@ue-too/math\";\n\nexport type HandleType = \"ALIGNED\" | \"VECTOR\" | \"FREE\";\n\nexport type HandlePoint = {\n    position: Point;\n    type: HandleType;\n}\n\nexport class ControlPoint {\n\n    private position: Point;\n    private leftHandle: HandlePoint;\n    private rightHandle: HandlePoint;\n\n    constructor(position: Point, leftHandle: HandlePoint, rightHandle: HandlePoint){\n        this.position = position;\n        this.leftHandle = leftHandle;\n        this.rightHandle = rightHandle;\n    }\n\n    setPosition(destinationPosition: Point, prevControlPoint: ControlPoint | undefined, nextControlPoint: ControlPoint | undefined){\n        let diff = PointCal.subVector(destinationPosition, this.position);\n        this.position = destinationPosition;\n        this.leftHandle.position = PointCal.addVector(this.leftHandle.position, diff);\n        this.rightHandle.position = PointCal.addVector(this.rightHandle.position, diff);\n        if(this.leftHandle.type == \"VECTOR\" && prevControlPoint){\n            let relativeVector = PointCal.subVector(prevControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            this.leftHandle.position = PointCal.addVector(this.position, relativeVector);\n            if(this.rightHandle.type == \"ALIGNED\"){\n                let relativeVector = PointCal.subVector(this.rightHandle.position, this.position);\n                let mag = PointCal.magnitude(relativeVector);\n                let direction = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                this.rightHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n            }\n        }\n        if(this.rightHandle.type == \"VECTOR\" && nextControlPoint){\n            let relativeVector = PointCal.subVector(nextControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            this.rightHandle.position = PointCal.addVector(this.position, relativeVector);\n            if(this.leftHandle.type == \"ALIGNED\"){\n                let mag = PointCal.distanceBetweenPoints(this.leftHandle.position, this.position);\n                let direction = PointCal.subVector(this.position, this.rightHandle.position);\n                this.leftHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n            }\n        }\n        if(prevControlPoint !== undefined && prevControlPoint.getRightHandle().type == \"VECTOR\"){\n            let relativeVector = PointCal.subVector(this.position, prevControlPoint.getPosition());\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            prevControlPoint.setRightHandlePosition(PointCal.addVector(prevControlPoint.getPosition(), relativeVector));\n        }\n        if(nextControlPoint !== undefined && nextControlPoint.getLeftHandle().type == \"VECTOR\"){\n            let relativeVector = PointCal.subVector(this.position, nextControlPoint.getPosition());\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            nextControlPoint.setLeftHandlePosition(PointCal.addVector(nextControlPoint.getPosition(), relativeVector));\n        }\n    }\n\n    getPosition(): Point{\n        return this.position;\n    }\n\n    setLeftHandleTypeVector(prevControlPoint: ControlPoint | undefined){\n        if(this.rightHandle.type != \"VECTOR\"){\n            this.rightHandle.type = \"FREE\";\n        }\n        let relativeVector: Point;\n        if(prevControlPoint == undefined){\n            relativeVector = PointCal.subVector(this.leftHandle.position, this.position);\n        } else {\n            relativeVector = PointCal.subVector(prevControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n        }\n        this.leftHandle.position = PointCal.addVector(this.position, relativeVector);\n    }\n\n    setLeftHandleTypeAligned(){\n        this.leftHandle.type = \"ALIGNED\";\n        if(this.rightHandle.type == \"VECTOR\"){\n            let direction = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n            let mag = PointCal.distanceBetweenPoints(this.position, this.leftHandle.position);\n            this.leftHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n        }\n    }\n\n    setLeftHandleTypeFree(){\n        this.leftHandle.type = \"FREE\";\n    }\n\n    setRightHandleTypeVector(nextControlPoint: ControlPoint | undefined) {\n        if(this.leftHandle.type != \"VECTOR\"){\n            this.leftHandle.type = \"FREE\";\n        }\n        let relativeVector: Point;\n        if(nextControlPoint == undefined){\n            relativeVector = PointCal.subVector(this.rightHandle.position, this.position);\n        } else {\n            relativeVector = PointCal.subVector(nextControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n        }\n        this.rightHandle.position = PointCal.addVector(this.position, relativeVector);\n    }\n\n    setRightHandleTypeAligned(){\n        this.rightHandle.type = \"ALIGNED\";\n        if(this.leftHandle.type == \"VECTOR\") {\n            let direciton = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n            let mag = PointCal.distanceBetweenPoints(this.position, this.rightHandle.position);\n            this.rightHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direciton, mag));\n        } \n    }\n\n    setRightHandleTypeFree(){\n        this.rightHandle.type = \"FREE\";\n    }\n\n    setLeftHandlePosition(destPos: Point){\n        let leftHandleType = this.leftHandle.type;\n        switch(leftHandleType){\n            case \"ALIGNED\":\n                if(this.rightHandle.type == \"VECTOR\"){\n                    let diff = PointCal.subVector(destPos, this.position);\n                    let rightHandleDiff = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n                    let resMag = PointCal.dotProduct(diff, rightHandleDiff);\n                    let res = PointCal.multiplyVectorByScalar(rightHandleDiff, resMag);\n                    this.leftHandle.position = PointCal.addVector(this.position, res);\n                } else if (this.rightHandle.type == \"ALIGNED\"){\n                    this.leftHandle.position = destPos;\n                    let mag = PointCal.distanceBetweenPoints(this.rightHandle.position, this.position);\n                    let direction = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                    let res = PointCal.multiplyVectorByScalar(direction, mag);\n                    this.rightHandle.position = PointCal.addVector(res, this.position);\n                } else {\n                    this.leftHandle.position = destPos;\n                }\n                break;\n            case \"FREE\":\n                this.leftHandle.position = destPos;\n                break;\n            case \"VECTOR\":\n                break;\n            default:\n                throw new Error(`Unknown left handle type for control point`);\n        }\n    }\n\n    setRightHandlePosition(destPos: Point){\n        let rightHandleType = this.rightHandle.type;\n        switch(rightHandleType){\n            case \"ALIGNED\":\n                if(this.leftHandle.type == \"VECTOR\"){\n                    let diff = PointCal.subVector(destPos, this.position);\n                    let leftHandleDiff = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                    let resMag = PointCal.dotProduct(diff, leftHandleDiff);\n                    let res = PointCal.multiplyVectorByScalar(leftHandleDiff, resMag);\n                    this.rightHandle.position = PointCal.addVector(this.position, res);\n                } else if (this.rightHandle.type == \"ALIGNED\"){\n                    this.rightHandle.position = destPos;\n                    let mag = PointCal.distanceBetweenPoints(this.leftHandle.position, this.position);\n                    let direction = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n                    let res = PointCal.multiplyVectorByScalar(direction, mag);\n                    this.leftHandle.position = PointCal.addVector(res, this.position);\n                } else {\n                    this.rightHandle.position = destPos;\n                }\n                break;\n            case \"FREE\":\n                this.rightHandle.position = destPos;\n                break;\n            case \"VECTOR\":\n                break;\n            default:\n                throw new Error(`Unknown left handle type for control point`);\n        }\n    }\n\n    getLeftHandle(): HandlePoint{\n        return this.leftHandle;\n    }\n\n    getRightHandle(): HandlePoint{\n        return this.rightHandle;\n    }\n}\n\nexport class CompositeBCurve{\n\n    private controlPoints: ControlPoint[];\n\n    constructor(controlPoints: ControlPoint[] = []){\n        this.controlPoints = controlPoints;\n    }\n\n    getControlPoints(): ControlPoint[]{\n        return this.controlPoints;\n    }\n\n    appendControlPoint(position: Point){\n        let leftHandlePosition = PointCal.addVector(position, {x: -100, y: 0});\n        let rightHandlePosition = PointCal.addVector(position, {x: 100, y: 0});\n        let leftHandlePoint: HandlePoint = {\n            position: leftHandlePosition,\n            type: \"FREE\"\n        }\n        let rightHandlePoint: HandlePoint = {\n            position: rightHandlePosition,\n            type: \"FREE\"\n        }\n\n        let newControlPoint = new ControlPoint(position, leftHandlePoint, rightHandlePoint);\n        this.controlPoints.push(newControlPoint);\n    }\n\n    setLeftHandlePositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        this.controlPoints[controlPointIndex].setLeftHandlePosition(destPos);\n    }\n\n    setRightHandlePositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        this.controlPoints[controlPointIndex].setRightHandlePosition(destPos);\n    }\n    \n    setPositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        let prevControlPoint = undefined;\n        let nextControlPoint = undefined;\n        if(controlPointIndex + 1 < this.controlPoints.length){\n            nextControlPoint = this.controlPoints[controlPointIndex + 1];\n        }\n        if(controlPointIndex - 1 >= 0){\n            prevControlPoint = this.controlPoints[controlPointIndex - 1];\n        }\n        this.controlPoints[controlPointIndex].setPosition(destPos, prevControlPoint, nextControlPoint);\n    }\n}\n",
-    "import { Line } from \"./line\";\nimport { Point } from \"@ue-too/math\";\n\ntype AdvanceAtTWithLengthWithinCurveRes = {\n    type: \"withinCurve\";\n    tVal: number;\n    point: Point;\n}\n\ntype AdvanceAtWithLengthBeforeCurveRes = {\n    type: \"beforeCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtWithLengthAfterCurveRes = {\n    type: \"afterCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtTWithLengthOutofCurveRes = AdvanceAtWithLengthBeforeCurveRes | AdvanceAtWithLengthAfterCurveRes;\n\ntype AdvanceAtTWithLengthRes = AdvanceAtTWithLengthWithinCurveRes | AdvanceAtTWithLengthOutofCurveRes;\nexport class Path {\n\n    private lines: Line[];\n\n    constructor(lines: Line[]){\n        this.lines = lines;\n    }\n\n    append(line: Line): void{\n        this.lines.push(line);\n    }\n\n    clear(): void{\n        this.lines = [];\n    }\n\n    prepend(line: Line): void{\n        this.lines.unshift(line);\n    }\n\n    getLines(): Line[]{\n        return this.lines;\n    }\n\n    getLength(): number{\n        let res = 0;\n        this.lines.forEach((line)=>{\n            res += line.length();\n        });\n        return res;\n    }\n\n    // advanceByDistancAtPercentage(percentage: number, distance: number): {destination: Point}\n\n    getPercentages(): {start: number, end: number}[]{\n        const length = this.getLength();\n        let currentCurvePercentage = 0;\n        const res: {start: number, end: number}[] = [];\n        this.lines.forEach((line)=>{\n            const lineLength = line.length();\n            const linePercentage = lineLength / length;\n            let start = currentCurvePercentage;\n            currentCurvePercentage += linePercentage;\n            let end = currentCurvePercentage;\n            res.push({start, end});\n        });\n        res[res.length - 1].end = 1;\n        return res;\n    }\n\n    getPointByPercentage(percentage: number): Point | never{\n        if (percentage < 0 || percentage > 1){\n            throw new Error(\"Percentage must be between 0 and 1\");\n        }\n        const percentages = this.getPercentages();\n        let left = 0;\n        let right = percentages.length - 1;\n        while (left <= right){\n            const mid = Math.floor((left + right) / 2);\n            if (percentage < percentages[mid].end){\n                right = mid - 1;\n            } else if (percentage > percentages[mid].end){\n                left = mid + 1;\n            } else {\n                left = mid;\n                break;\n            }\n        }\n        const line = this.lines[left];\n        const linePercentage = percentages[left];\n        const ratio = (percentage - linePercentage.start) / (linePercentage.end - linePercentage.start);\n        return line.lerp(ratio);\n    }\n}\n"
+    "import { PointCal } from \"@ue-too/math\";\nimport { Line } from \"./line\";\n\nconst T = [\n    -0.0640568928626056260850430826247450385909,\n    0.0640568928626056260850430826247450385909,\n    -0.1911188674736163091586398207570696318404,\n    0.1911188674736163091586398207570696318404,\n    -0.3150426796961633743867932913198102407864,\n    0.3150426796961633743867932913198102407864,\n    -0.4337935076260451384870842319133497124524,\n    0.4337935076260451384870842319133497124524,\n    -0.5454214713888395356583756172183723700107,\n    0.5454214713888395356583756172183723700107,\n    -0.6480936519369755692524957869107476266696,\n    0.6480936519369755692524957869107476266696,\n    -0.7401241915785543642438281030999784255232,\n    0.7401241915785543642438281030999784255232,\n    -0.8200019859739029219539498726697452080761,\n    0.8200019859739029219539498726697452080761,\n    -0.8864155270044010342131543419821967550873,\n    0.8864155270044010342131543419821967550873,\n    -0.9382745520027327585236490017087214496548,\n    0.9382745520027327585236490017087214496548,\n    -0.9747285559713094981983919930081690617411,\n    0.9747285559713094981983919930081690617411,\n    -0.9951872199970213601799974097007368118745,\n    0.9951872199970213601799974097007368118745,\n];\n\nconst C = [\n    0.1279381953467521569740561652246953718517,\n    0.1279381953467521569740561652246953718517,\n    0.1258374563468282961213753825111836887264,\n    0.1258374563468282961213753825111836887264,\n    0.121670472927803391204463153476262425607,\n    0.121670472927803391204463153476262425607,\n    0.1155056680537256013533444839067835598622,\n    0.1155056680537256013533444839067835598622,\n    0.1074442701159656347825773424466062227946,\n    0.1074442701159656347825773424466062227946,\n    0.0976186521041138882698806644642471544279,\n    0.0976186521041138882698806644642471544279,\n    0.086190161531953275917185202983742667185,\n    0.086190161531953275917185202983742667185,\n    0.0733464814110803057340336152531165181193,\n    0.0733464814110803057340336152531165181193,\n    0.0592985849154367807463677585001085845412,\n    0.0592985849154367807463677585001085845412,\n    0.0442774388174198061686027482113382288593,\n    0.0442774388174198061686027482113382288593,\n    0.0285313886289336631813078159518782864491,\n    0.0285313886289336631813078159518782864491,\n    0.0123412297999871995468056670700372915759,\n    0.0123412297999871995468056670700372915759,\n];\n\ntype ArcLengthLUT = {\n    controlPoints: Point[];\n    arcLengthLUT: {tVal: number, length: number}[];\n}\n\ntype AdvanceAtTWithLengthWithinCurveRes = {\n    type: \"withinCurve\";\n    tVal: number;\n    point: Point;\n}\n\ntype AdvanceAtWithLengthBeforeCurveRes = {\n    type: \"beforeCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtWithLengthAfterCurveRes = {\n    type: \"afterCurve\";\n    remainLength: number;\n}\n\ntype AdvanceAtTWithLengthOutofCurveRes = AdvanceAtWithLengthBeforeCurveRes | AdvanceAtWithLengthAfterCurveRes;\n\ntype AdvanceAtTWithLengthRes = AdvanceAtTWithLengthWithinCurveRes | AdvanceAtTWithLengthOutofCurveRes;\n\n/**\n * Bezier curve class supporting quadratic (3 points) and cubic (4 points) curves.\n *\n * @remarks\n * BCurve provides a comprehensive implementation of Bezier curves with:\n * - Curve evaluation at any parameter t (0 to 1)\n * - Arc-length calculation with caching for performance\n * - Curve splitting and subdivision\n * - Geometric queries (projection, intersection, extrema)\n * - Advanced operations (offset, arc fitting, curvature)\n *\n * ## Performance Optimizations\n * - Optimized formulas for quadratic and cubic curves\n * - Arc-length caching to avoid recomputation\n * - Lazy computation of lookup tables (LUT)\n * - Gauss-Legendre quadrature for arc-length calculation\n *\n * ## Coordinate System\n * - Parameter t ranges from 0 (start) to 1 (end)\n * - Points use {x, y} coordinates\n * - Supports 2D curves (z-coordinate optional but not used)\n *\n * @example\n * Create and evaluate a cubic Bezier curve\n * ```typescript\n * const curve = new BCurve([\n *   { x: 0, y: 0 },     // Start point\n *   { x: 33, y: 100 },  // Control point 1\n *   { x: 66, y: 100 },  // Control point 2\n *   { x: 100, y: 0 }    // End point\n * ]);\n *\n * // Evaluate at different positions\n * const start = curve.get(0);    // { x: 0, y: 0 }\n * const mid = curve.get(0.5);    // Midpoint\n * const end = curve.get(1);      // { x: 100, y: 0 }\n *\n * // Get curve length\n * console.log('Length:', curve.fullLength);\n *\n * // Get derivative (tangent vector)\n * const tangent = curve.derivative(0.5);\n * ```\n *\n * @category Core\n */\nexport class BCurve{\n\n    private controlPoints: Point[];\n    private dControlPoints: Point[] = [];\n    private arcLengthLUT: ArcLengthLUT = {controlPoints: [], arcLengthLUT: []};\n    private _fullLength: number;\n    private lengthCache: Map<number, number> = new Map(); // Cache for lengthAtT results\n\n    /**\n     * Gets cache statistics for performance monitoring\n     * @returns Object containing cache size and hit rate information\n     */\n    public getCacheStats(): {size: number, hitRate: number} {\n        return {\n            size: this.lengthCache.size,\n            hitRate: 0 // This would need to be tracked separately if needed\n        };\n    }\n\n    /**\n     * Pre-warms the cache with commonly used t values for better performance\n     * @param steps Number of steps to pre-cache (default: 100)\n     */\n    public preWarmCache(steps: number = 100): void {\n        const tSteps = 1 / steps;\n        for (let tVal = 0; tVal <= 1; tVal += tSteps) {\n            this.lengthAtT(tVal);\n        }\n    }\n\n    private clearCache(): void {\n        this.lengthCache.clear();\n    }\n\n    constructor(controlPoints: Point[]){\n        this.controlPoints = controlPoints;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Make arc length LUT lazy - only compute when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on initialization\n    }\n\n    public getPointbyPercentage(percentage: number){ // this is the percentage of the curve length, not the t value\n        // this leaves room for optimization\n        let controlPointsChangedSinceLastArcLengthLUT = this.arcLengthLUT.controlPoints.length != this.controlPoints.length;\n        controlPointsChangedSinceLastArcLengthLUT = controlPointsChangedSinceLastArcLengthLUT || this.arcLengthLUT.controlPoints.reduce((prevVal, curVal, index)=>{\n            return prevVal || !PointCal.isEqual(curVal, this.controlPoints[index]);\n        }, false);\n        let points: number[] = [];\n        if (controlPointsChangedSinceLastArcLengthLUT){\n            this.arcLengthLUT = this.getArcLengthLUT(1000);\n        }\n        points = [...this.arcLengthLUT.arcLengthLUT.map((item)=>item.length)];\n        let targetLength = percentage * this.fullLength;\n        let low = 0;\n        let high = points.length - 1;\n        while (low <= high){\n            let mid = Math.floor((low + high) / 2);\n            if (points[mid] == targetLength){\n                return this.get((mid + 1) / points.length);\n            } else if (points[mid] < targetLength){\n                low = mid + 1;\n            } else {\n                high = mid - 1;\n            }\n        }\n        return low >= points.length ? this.get(1) : this.get((low + 1) / points.length);\n    }\n\n    public getDerivativeControlPoints(controlPoints: Point[]): Point[]{\n        const derivativeControlPoints: Point[] = [];\n        for(let index = 1; index < controlPoints.length; index++){\n            derivativeControlPoints.push(PointCal.multiplyVectorByScalar(PointCal.subVector(controlPoints[index], controlPoints[index - 1]), controlPoints.length - 1));\n        }\n        return derivativeControlPoints;\n    }\n\n    private validateTVal(tVal: number){\n        if (tVal > 1 || tVal < 0){\n            throw new TValOutofBoundError(\"tVal is greater than 1 or less than 0\");\n        }\n    }\n\n    public getControlPoints(): Point[]{\n        return this.controlPoints;\n    }\n\n    setControlPoints(controlPoints: Point[]){\n        this.controlPoints = controlPoints;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Reset LUT to trigger lazy computation when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on control point change\n    }\n\n    setControlPointAtIndex(index: number, newPoint: Point): boolean{\n        if (index < 0 || index >= this.controlPoints.length){\n            return false;\n        }\n        this.controlPoints[index] = newPoint;\n        this.dControlPoints = this.getDerivativeControlPoints(this.controlPoints);\n        this._fullLength = this.calculateFullLength();\n        // Reset LUT to trigger lazy computation when needed\n        this.arcLengthLUT = { controlPoints: [], arcLengthLUT: [] };\n        this.clearCache(); // Clear cache on control point change\n        return true;\n    }\n\n    public compute(tVal: number): Point{\n        this.validateTVal(tVal);\n        let points = this.controlPoints;\n        while (points.length > 1) {\n            let lowerLevelPoints = points.slice(1);\n            for(let index = 0; index < lowerLevelPoints.length; index++){\n                lowerLevelPoints[index] = PointCal.addVector(PointCal.multiplyVectorByScalar(points[index], (1 - tVal)), PointCal.multiplyVectorByScalar(points[index + 1], tVal));\n            }\n            points = lowerLevelPoints;\n        }\n        return points[0];\n    }\n\n    public get(tVal: number): Point {\n        this.validateTVal(tVal);\n        if (this.controlPoints.length == 3) {\n            let firstTerm = PointCal.multiplyVectorByScalar(this.controlPoints[0], (1 - tVal) * (1 - tVal));\n            let secondTerm = PointCal.multiplyVectorByScalar(this.controlPoints[1], 2 * (1 - tVal) * tVal);\n            let thirdTerm = PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal);\n            let res = PointCal.addVector(PointCal.addVector(firstTerm, secondTerm), thirdTerm);\n            return res;\n        }\n        if (this.controlPoints.length == 4){\n            let firstTerm = PointCal.multiplyVectorByScalar(this.controlPoints[0], (1 - tVal) * (1 - tVal) * (1 - tVal));\n            let secondTerm = PointCal.multiplyVectorByScalar(this.controlPoints[1], 3 * (1 - tVal) * (1 - tVal) * tVal);\n            let thirdTerm = PointCal.multiplyVectorByScalar(this.controlPoints[2], 3 * (1 - tVal) * tVal * tVal);\n            let forthTerm = PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal * tVal);\n            let res = PointCal.addVector(PointCal.addVector(firstTerm, secondTerm), PointCal.addVector(thirdTerm, forthTerm));\n            return res;\n        }\n        return this.compute(tVal);\n    }\n\n    public getLUT(steps: number = 100){\n        const stepSpan = 1 / steps;\n        const res: Point[] = [];\n        let tVal = 0;\n        res.push(this.get(tVal));\n        for(let index = 0; index < steps; index += 1){\n            tVal += stepSpan;\n            if((tVal > 1 && tVal - stepSpan < 1) || index == steps - 1){\n                tVal = 1;\n            }\n            res.push(this.get(tVal));\n        }\n        return res\n    }\n\n    public getLUTWithTVal(steps?: number){\n        if (steps == undefined){\n            steps = 100;\n        }\n        const stepSpan = 1 / steps;\n        const res: {point: Point, tVal: number}[] = [];\n        let tVal = 0;\n        res.push({point: this.get(tVal), tVal: tVal});\n        for(let index = 0; index < steps; index += 1){\n            tVal += stepSpan;\n            if((tVal > 1 && tVal - stepSpan < 1) || index == steps - 1){\n                tVal = 1;\n            }\n            res.push({point: this.get(tVal), tVal: tVal});\n        }\n        return res\n    }\n\n    get fullLength(): number{\n        return this._fullLength;\n    }\n\n    private calculateFullLength(): number{\n        return this.lengthAtT(1);\n    }\n\n    public lengthAtT(tVal: number): number{\n        this.validateTVal(tVal);\n        \n        // Check cache first\n        const cacheKey = Math.round(tVal * 1000000) / 1000000; // Round to 6 decimal places for cache key\n        if (this.lengthCache.has(cacheKey)) {\n            return this.lengthCache.get(cacheKey)!;\n        }\n        \n        const z = tVal / 2, len = T.length;\n        let sum = 0;\n        for (let i = 0, t: number; i < len; i++) {\n            t = z * T[i] + z;\n            sum += C[i] * PointCal.magnitude(this.derivative(t));\n        }\n        const result = z * sum;\n        \n        // Cache the result\n        this.lengthCache.set(cacheKey, result);\n        \n        return result;\n    }\n\n    public derivative(tVal: number): Point{\n        return computeWithControlPoints(tVal, this.dControlPoints);\n    }\n\n    public derivativeNormalized(tVal: number): Point{\n        return PointCal.unitVector(computeWithControlPoints(tVal, this.dControlPoints));\n    }\n\n    public getArcLengthLUT(steps: number = 50): {controlPoints: Point[], arcLengthLUT: {tVal: number, length: number}[]}{\n        // Check if we need to recompute the LUT\n        const controlPointsChanged = this.arcLengthLUT.controlPoints.length !== this.controlPoints.length ||\n            this.arcLengthLUT.controlPoints.some((cp, index) => !PointCal.isEqual(cp, this.controlPoints[index]));\n        \n        if (controlPointsChanged || this.arcLengthLUT.arcLengthLUT.length === 0) {\n            // Clear cache when regenerating LUT to ensure consistency\n            this.clearCache();\n            \n            let res = [];\n            let tSteps = 1 / steps;\n            for(let tVal = 0; tVal <= 1; tVal += tSteps){\n                res.push({tVal: tVal, length: this.lengthAtT(tVal)});\n            }\n            this.arcLengthLUT = {controlPoints: [...this.controlPoints], arcLengthLUT: res};\n        }\n        \n        return this.arcLengthLUT;\n    }\n\n    splitIntoCurves(tVal: number): [BCurve, BCurve]{\n        const res = this.split(tVal);\n        return [new BCurve(res[0]), new BCurve(res[1])];\n    }\n\n    public split(tVal: number): [Point[], Point[]]{\n        this.validateTVal(tVal);\n        if (this.controlPoints.length == 3){\n            let newControlPoint1 = this.controlPoints[0];\n            let newControlPoint2 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[0], tVal - 1));\n            let newControlPoint3 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal), PointCal.multiplyVectorByScalar(this.controlPoints[1], 2 * tVal * (tVal - 1)));\n            newControlPoint3 = PointCal.addVector(newControlPoint3, PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1) * (tVal - 1)));\n            let newControlPoint4 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal - 1));\n            let newControlPoint5 = this.controlPoints[2];\n            return [[newControlPoint1, newControlPoint2, newControlPoint3], [newControlPoint3, newControlPoint4, newControlPoint5]];\n        }\n        let newControlPoint1 = this.controlPoints[0];\n        let newControlPoint2 = PointCal.subVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1)));\n        let newControlPoint3 = PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[2], tVal * tVal), PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[1], -(2 * tVal * (tVal - 1))), PointCal.multiplyVectorByScalar(this.controlPoints[0], (tVal - 1) * (tVal - 1))));\n        let term1 = PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal * tVal);\n        let term2 = PointCal.multiplyVectorByScalar(this.controlPoints[2], -(3 * tVal * tVal * (tVal - 1)));\n        let term3 = PointCal.multiplyVectorByScalar(this.controlPoints[1], 3 * tVal * (tVal - 1) * (tVal - 1));\n        let term4 = PointCal.multiplyVectorByScalar(this.controlPoints[0], -((tVal - 1) * (tVal - 1) * (tVal - 1)));\n        let newControlPoint4 = PointCal.addVector(term4, PointCal.addVector(term3, PointCal.addVector(term1, term2)));\n        let newControlPoint5 = PointCal.addVector(PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal * tVal), PointCal.multiplyVectorByScalar(this.controlPoints[2], -(2 *  tVal * (tVal - 1)))), PointCal.multiplyVectorByScalar(this.controlPoints[1], (tVal - 1) * (tVal - 1)));\n        let newControlPoint6 = PointCal.addVector(PointCal.multiplyVectorByScalar(this.controlPoints[3], tVal), PointCal.multiplyVectorByScalar(this.controlPoints[2], -(tVal - 1)));\n        let newControlPoint7 = this.controlPoints[3];\n\n        return [[newControlPoint1, newControlPoint2, newControlPoint3, newControlPoint4], [newControlPoint4, newControlPoint5, newControlPoint6, newControlPoint7]];\n    }\n\n   splitIn3WithControlPoints(tVal: number, tVal2: number): [Point[], Point[], Point[]]{\n        if(tVal2 < tVal){\n            console.warn(\"tVal2 is less than tVal, swapping them\");\n            [tVal, tVal2] = [tVal2, tVal];\n        }\n\n        const firstSplit = this.split(tVal);\n\n        const secondHalf = new BCurve(firstSplit[1]);\n\n        const mappedTVal2 = map(tVal2, tVal, 1, 0, 1);\n        \n        const secondSplit = secondHalf.split(mappedTVal2);\n\n        return [firstSplit[0], secondSplit[0], secondSplit[1]];\n    }\n\n   splitIn3Curves(tVal: number, tVal2: number): [BCurve, BCurve, BCurve]{\n        if(tVal2 < tVal){\n            console.warn(\"tVal2 is less than tVal, swapping them\");\n            [tVal, tVal2] = [tVal2, tVal];\n        }\n\n        const firstSplit = this.split(tVal);\n\n        const secondHalf = new BCurve(firstSplit[1]);\n        \n        const mappedTVal2 = map(tVal2, tVal, 1, 0, 1);\n        const secondSplit = secondHalf.split(mappedTVal2);\n\n        return [new BCurve(firstSplit[0]), new BCurve(secondSplit[0]), new BCurve(secondSplit[1])];\n    }\n\n    splitAndTakeMidCurve(tVal: number, tVal2: number): BCurve{\n        const [firstSplit, secondSplit, thirdSplit] = this.splitIn3Curves(tVal, tVal2);\n        return secondSplit;\n    }\n\n    getProjection(point: Point){\n        const threshold = 0.00001;\n        let distance = Number.MAX_VALUE;\n        let preliminaryProjectionTVal: number = 0;\n        let preliminaryProjectionPoint: Point = this.get(0);\n        let preliminaryProjectionIndex: number = 0;\n        const LUT = this.getLUTWithTVal(500);\n        LUT.forEach((curvePoint, index)=>{\n            const curDistance = PointCal.distanceBetweenPoints(curvePoint.point, point);\n            if(curDistance < distance){\n                distance = curDistance;\n                preliminaryProjectionPoint = {...curvePoint.point};\n                preliminaryProjectionTVal = curvePoint.tVal;\n                preliminaryProjectionIndex = index;\n            }\n        });\n        // console.log(preliminaryProjectionIndex, preliminaryProjectionPoint, preliminaryProjectionTVal);\n        let low = LUT[preliminaryProjectionIndex].tVal;\n        let high = LUT[preliminaryProjectionIndex].tVal;\n        if (preliminaryProjectionIndex < LUT.length - 1){\n            high = LUT[preliminaryProjectionIndex + 1].tVal;\n        }\n        if (preliminaryProjectionIndex > 0){\n            low = LUT[preliminaryProjectionIndex - 1].tVal;\n        }\n        while(low < high && high - low > threshold){\n            let mid = low + (high - low) / 2;\n            let halfSpan = mid - low;\n            let lowMidMid = mid + halfSpan / 2;\n            let highMidMid = mid + halfSpan / 2;\n            let prevDist = distance;\n\n            \n            if(lowMidMid <= 1 && lowMidMid >= 0){\n                let curDist = PointCal.distanceBetweenPoints(this.get(lowMidMid), point);\n                if (curDist < distance){\n                    distance = curDist;\n                    preliminaryProjectionPoint = this.get(lowMidMid);\n                    preliminaryProjectionTVal = lowMidMid;\n                    high = lowMidMid + halfSpan / 2;\n                    low = lowMidMid - halfSpan / 2;\n                }\n            }\n            if(highMidMid <= 1 && highMidMid >= 0){\n                let curDist = PointCal.distanceBetweenPoints(this.get(highMidMid), point);\n                if (curDist < distance){\n                    distance = curDist;\n                    preliminaryProjectionPoint = this.get(highMidMid);\n                    preliminaryProjectionTVal = highMidMid;\n                    high = highMidMid + halfSpan / 2;\n                    low = highMidMid - halfSpan / 2;\n                }\n            }\n            if (prevDist == distance){\n                break;\n            }\n        }\n        return {projection: preliminaryProjectionPoint, tVal: preliminaryProjectionTVal};\n    }\n\n    public findArcs(errorThreshold: number){\n        let low = 0;\n        const res: {center: Point, radius: number, startPoint: Point, startT: number, endPoint: Point, endT: number}[] = [];\n\n        while (low < 1){\n            let loopRes = this.findArcStartingAt(errorThreshold, low);\n            if (loopRes == null || loopRes.arc == undefined) {\n                break;\n            }\n            res.push(loopRes.arc);\n            low = loopRes.arc.endT;\n            if(low >= 1){\n                break;\n            }\n        }\n        return res;\n    }\n\n    public findArcStartingAt(errorThreshold: number, low: number){\n        let high = 1;\n        let mid = low + (high - low) / 2;\n        let prevArc:{good: boolean, arc?: {center: Point, radius: number, startPoint: Point, endPoint: Point, startT: number, endT: number}} = {good: false};\n        let count = 0;\n        while(true){\n            count++;\n            mid = low + (high - low) / 2;\n            if (high > 1 || mid > 1){\n                if (prevArc.good){\n                    return prevArc;\n                } else {\n                    return null;\n                }\n                \n            }\n            const lowPoint = this.get(low);\n            const highPoint = this.get(high);\n            const midPoint = this.get(mid);\n            const fitArcRes = this.fitArc(lowPoint, highPoint, midPoint);\n            if (!fitArcRes.exists || fitArcRes.center == null || fitArcRes.radius == null){\n                return null;\n            }\n            const n = high - mid;\n            const e1 = mid -  n / 2;\n            const e2 = mid + n / 2;\n            const checkPoint1 = this.get(e1);\n            const checkPoint2 = this.get(e2);\n            const checkRadius = PointCal.distanceBetweenPoints(checkPoint1, fitArcRes.center);\n            const checkRadius2 = PointCal.distanceBetweenPoints(checkPoint2, fitArcRes.center);\n            if (Math.abs(checkRadius - fitArcRes.radius) > errorThreshold || Math.abs(checkRadius2 - fitArcRes.radius) > errorThreshold){\n                // arc is bad\n                if (prevArc.good == true){\n                    return prevArc;\n                }\n                prevArc.good = false;\n                high = mid\n            } else {\n                prevArc.good = true;\n                if (fitArcRes.startPoint !== undefined && fitArcRes.endPoint !== undefined){\n                    prevArc.arc = { center: fitArcRes.center, radius: fitArcRes.radius, startPoint: fitArcRes.startPoint, endPoint: fitArcRes.endPoint, startT: low, endT: high};\n                }\n                high = high + (mid - low);\n            }\n        }\n    }\n\n    public fitArc(startPoint: Point, endPoint: Point, midPoint: Point): {exists: boolean, center?: Point, radius?: number, startPoint?: Point, endPoint?: Point}{\n        const M11 = [[startPoint.x, startPoint.y, 1], [midPoint.x, midPoint.y, 1], [endPoint.x, endPoint.y, 1]];\n        if (this.determinant3by3(M11) == 0) {\n            // three points lie on a line no circle\n            return {exists: false};\n        }\n        const M12 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.y, 1], \n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.y, 1],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.y, 1]];\n        const M13 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.x, 1],\n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.x, 1],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.x, 1]];\n        const M14 = [[startPoint.x * startPoint.x + startPoint.y * startPoint.y, startPoint.x, startPoint.y],\n                     [midPoint.x * midPoint.x + midPoint.y * midPoint.y, midPoint.x, midPoint.y],\n                     [endPoint.x * endPoint.x + endPoint.y * endPoint.y, endPoint.x, endPoint.y]]\n        const centerX = (1 / 2) * (this.determinant3by3(M12) / this.determinant3by3(M11));\n        const centerY = (-1 / 2) * (this.determinant3by3(M13) / this.determinant3by3(M11));\n        const radius = Math.sqrt(centerX * centerX + centerY * centerY + (this.determinant3by3(M14) / this.determinant3by3(M11)))\n        return {exists: true, center: {x: centerX, y:centerY}, radius: radius, startPoint: startPoint, endPoint: endPoint};\n    }\n\n    public determinant3by3(matrix: number[][]): number{\n        const a = matrix[0][0];\n        const b = matrix[0][1];\n        const c = matrix[0][2];\n        const d = matrix[1][0];\n        const e = matrix[1][1];\n        const f = matrix[1][2];\n        const g = matrix[2][0];\n        const h = matrix[2][1];\n        const i = matrix[2][2];\n        return a * (e * i - f * h) - b * (d * i - g * f) + c * (d * h - e * g);\n    }\n\n    public curvature(tVal: number): number{\n        const derivative = computeWithControlPoints(tVal, this.dControlPoints);\n        const secondDerivative = computeWithControlPoints(tVal, this.getDerivativeControlPoints(this.dControlPoints));\n        const numerator = derivative.x * secondDerivative.y - secondDerivative.x * derivative.y;\n        const denominator = Math.pow(derivative.x * derivative.x + derivative.y * derivative.y, 3 / 2);\n        if (denominator == 0) return NaN;\n        return numerator / denominator;\n    }\n\n    secondDerivative(tVal: number): Point{\n        return computeWithControlPoints(tVal, this.getDerivativeControlPoints(this.dControlPoints));\n    }\n\n    public getCoefficientOfTTerms(): Point[]{\n        return this.getCoefficientOfTTermsWithControlPoints(this.controlPoints);\n    }\n\n    public getDerivativeCoefficients(): Point[]{\n        return this.getCoefficientOfTTermsWithControlPoints(this.dControlPoints);\n    }\n\n    public getCoefficientOfTTermsWithControlPoints(controlPoints: Point[]): Point[]{\n        const terms: Point[] = [];\n        let matrix: number[][] = [];\n        if(controlPoints.length == 3){\n            matrix = [[1, 0, 0], [-2, 2, 0], [1, -2, 1]];\n        } else if (controlPoints.length == 4){\n            matrix = [[1, 0, 0, 0], [-3, 3, 0, 0], [3, -6, 3, 0], [-1, 3, -3, 1]];\n        } else if(controlPoints.length == 2){\n            matrix = [[1, 0], [-1, 1]];\n        } \n        else {\n            throw new Error(\"number of control points is wrong\");\n        }\n        for(let index = 0; index < controlPoints.length; index++){\n            terms.push(controlPoints.reduce((prevVal, curVal, jindex)=>{\n                return {x: prevVal.x + matrix[index][jindex] * curVal.x, y: prevVal.y + matrix[index][jindex] * curVal.y};\n            }, {x: 0, y: 0}));\n        }\n        return terms;\n    }\n\n    getControlPointsAlignedWithXAxis(){\n        const alignedAxis = PointCal.unitVectorFromA2B(this.controlPoints[0], this.controlPoints[this.controlPoints.length - 1]);\n        const angle = PointCal.angleFromA2B({x:1, y:0}, alignedAxis);\n        const startingPoint = this.controlPoints[0];\n        const res = [{x: 0, y: 0}];\n        for(let index = 1; index < this.controlPoints.length; index++){\n            const vector = PointCal.subVector(this.controlPoints[index], startingPoint);\n            const rotatedVector = PointCal.rotatePoint(vector, -angle);\n            res.push(rotatedVector);\n        }\n        return res;\n    }\n\n    getExtrema():{x: number[], y: number[]}{\n        const res: {x: number[], y: number[]} = {x: [], y: []};\n        const derivativeCoefficients = this.getDerivativeCoefficients();\n        let xCoefficients = [0, 0, 0, 0];\n        let yCoefficients = [0, 0, 0, 0];\n        derivativeCoefficients.forEach((coefficient, index)=>{\n            xCoefficients[3 - index] = coefficient.x;\n            yCoefficients[3 - index] = coefficient.y;\n        });\n\n        const xRoots = solveCubic(xCoefficients[0], xCoefficients[1], xCoefficients[2], xCoefficients[3]);\n        const yRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n        xRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                res.x.push(root);\n            }\n        });\n        yRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                res.y.push(root);\n            }\n        });\n        \n        if(derivativeCoefficients.length >= 3){\n            xCoefficients = [0, 0, 0, 0];\n            yCoefficients = [0, 0, 0, 0];\n            const secondDerivativeCoefficients = this.getCoefficientOfTTermsWithControlPoints(this.getDerivativeControlPoints(this.dControlPoints));\n            secondDerivativeCoefficients.forEach((coefficient, index)=>{\n                xCoefficients[3 - index] = coefficient.x;\n                yCoefficients[3 - index] = coefficient.y;\n            })\n            const secondXRoots = solveCubic(xCoefficients[0], xCoefficients[1], xCoefficients[2], xCoefficients[3]);\n            const secondYRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n            secondXRoots.forEach((root)=>{\n                if(root >= 0 && root <= 1){\n                    res.x.push(root);\n                }\n            });\n            secondYRoots.forEach((root)=>{\n                if(root >= 0 && root <= 1){\n                    res.y.push(root);\n                }\n            });\n\n        }\n        return res;        \n    }\n\n    translateRotateControlPoints(translation: Point, rotationAngle: number){\n        // rotation is in radians\n        const res: Point[] = [];\n        for(let index = 0; index < this.controlPoints.length; index++){\n            res.push(PointCal.rotatePoint(PointCal.addVector(this.controlPoints[index], translation), rotationAngle));\n        }\n        return res;\n    }\n\n    getLineIntersections(line: Line): number[]{\n        const translationRotation = line.getTranslationRotationToAlginXAxis();\n        const res: number[] = [];\n        const alignedControlPoints = this.translateRotateControlPoints(translationRotation.translation, translationRotation.rotationAngle);\n        const coefficients = this.getCoefficientOfTTermsWithControlPoints(alignedControlPoints);\n        let yCoefficients = [0, 0, 0, 0];\n        coefficients.forEach((coefficient, index)=>{\n            yCoefficients[3 - index] = coefficient.y;\n        });\n\n        const yRoots = solveCubic(yCoefficients[0], yCoefficients[1], yCoefficients[2], yCoefficients[3]);\n        yRoots.forEach((root)=>{\n            if(root >= 0 && root <= 1){\n                if(line.pointInLine(this.get(root))){\n                    res.push(root);\n                }\n            }\n        });\n\n        return res;\n    }\n\n    getSelfIntersections(): {selfT: number, otherT: number}[]{\n        const [subCurveControlPoints1, subCurveControlPoints2] = this.split(0.5);\n        const subCurve1 = new BCurve(subCurveControlPoints1);\n        const subCurve2 = new BCurve(subCurveControlPoints2);\n        let initialRes = getIntersectionsBetweenCurves(subCurve1, subCurve2);\n        initialRes.forEach((intersection)=>{\n            intersection.selfT = intersection.selfT * 0.5;\n            intersection.otherT = intersection.otherT * 0.5 + 0.5;\n        });\n        initialRes.shift();\n        return initialRes;\n    }\n\n    getCircleIntersections(circleCenter: Point, circleRadius: number): {intersection: Point, tVal: number}[]{\n        const LUT = this.getLUTWithTVal(500);\n        let distanceError = Number.MAX_VALUE;\n        let preliminaryIntersectionIndex = 0;\n        let preliminaryIntersectionPoint: Point = LUT[0].point;\n        let preliminaryIntersectionTVal = LUT[0].tVal;\n        LUT.forEach((curvePoint, index)=>{\n            let curDistanceError = Math.abs(PointCal.distanceBetweenPoints(circleCenter, curvePoint.point));\n            if (curDistanceError < distanceError){\n                distanceError = curDistanceError;\n                preliminaryIntersectionIndex = index;\n            }\n        });\n        const LUTD = LUT.map((curvePoint, index)=>{\n            return {...curvePoint, distance: 0};\n        })\n        distanceError = Number.MAX_VALUE;\n        let start = 0;\n        let count = 0;\n        let indices: number[] = [];\n        while(++count < 25){\n            let i = this.findClosest(circleCenter.x, circleCenter.y, LUTD, circleRadius, 5, LUTD[start - 2]?.distance, LUTD[start - 1]?.distance);\n            if (i < start) break;\n            if (i > 0 && i == start) break;\n            indices.push(i);\n            start = i + 2;\n        }\n        const finalList: {intersection: Point, tVal: number}[] = [];\n        indices.forEach((index)=>{\n            let res = this.refineBinary(this, circleCenter.x, circleCenter.y, LUTD, index, circleRadius);\n            if (res != undefined){\n                finalList.push({intersection: res.point, tVal: res.tVal});\n            }\n        })\n        return finalList;\n    }\n\n    advanceAtTWithLength(tVal: number, length: number): AdvanceAtTWithLengthRes{\n        const currentLength = this.lengthAtT(tVal);\n        const targetLength = currentLength + length;\n        \n        // Handle edge cases first\n        if(tVal === 0 && length < 0){\n            return {type: \"beforeCurve\", remainLength: -length};\n        }\n        if(tVal === 1 && length > 0){\n            return {type: \"afterCurve\", remainLength: length};\n        }\n        if(targetLength > this.fullLength){\n            return {type: \"afterCurve\", remainLength: targetLength - this.fullLength};\n        } else if(targetLength < 0){\n            return {type: \"beforeCurve\", remainLength: -targetLength};\n        }\n\n        // Use LUT for binary search\n        if(this.arcLengthLUT.arcLengthLUT.length === 0){\n            this.arcLengthLUT = this.getArcLengthLUT(1000);\n        }\n        const points = this.arcLengthLUT.arcLengthLUT;\n        let low = 0;\n        let high = points.length - 1;\n        \n        // Binary search to find the interval containing targetLength\n        while (low <= high){\n            const mid = Math.floor((low + high) / 2);\n            const midLength = points[mid].length;\n            \n            if (approximately(midLength, targetLength, 0.01)) {\n                // Found exact match\n                const resultTVal = points[mid].tVal;\n                const point = this.get(resultTVal);\n                return {type: \"withinCurve\", tVal: resultTVal, point: point};\n            } else if (midLength < targetLength){\n                low = mid + 1;\n            } else {\n                high = mid - 1;\n            }\n        }\n        \n        // After binary search, 'high' points to the largest index with length < targetLength\n        // and 'low' points to the smallest index with length >= targetLength\n        \n        // Handle edge cases\n        if (high < 0) {\n            // targetLength is smaller than the first point's length\n            high = 1;\n            low = 0;\n        }\n        \n        if (low >= points.length) {\n            // targetLength is larger than the last point's length\n            high = points.length - 1;\n            low = points.length - 2;\n        }\n        \n        // Interpolate between points[high] and points[low]\n        const p1 = points[high];\n        const p2 = points[low];\n        \n        // Linear interpolation\n        const lengthRange = p2.length - p1.length;\n        const tRange = p2.tVal - p1.tVal;\n        \n        if (lengthRange === 0) {\n            // Both points have the same length, use the first one\n            const point = this.get(p1.tVal);\n            return {type: \"withinCurve\", tVal: p1.tVal, point: point};\n        }\n        \n        const ratio = (targetLength - p1.length) / lengthRange;\n        const interpolatedT = p1.tVal + ratio * tRange;\n        \n        // Clamp to valid range\n        const clampedT = Math.max(0, Math.min(1, interpolatedT));\n        const point = this.get(clampedT);\n        \n        return {type: \"withinCurve\", tVal: clampedT, point: point};\n    }\n\n    advanceByDistance(startT: number, distance: number): AdvanceAtTWithLengthRes {\n        let currentT = startT;\n        let remainingDistance = distance;\n        const stepSize = 0.01; // Adjust for precision vs performance\n\n        if(distance > this.fullLength){\n            return {type: \"afterCurve\", remainLength: distance - this.fullLength};\n        } else if(distance < 0){\n            return {type: \"beforeCurve\", remainLength: -distance};\n        }\n        \n        while (remainingDistance > 0 && currentT < 1) {\n            const currentPoint = this.get(currentT);\n            const nextT = Math.min(currentT + stepSize, 1);\n            const nextPoint = this.get(nextT);\n            \n            const segmentLength = Math.sqrt(\n                Math.pow(nextPoint.x - currentPoint.x, 2) + \n                Math.pow(nextPoint.y - currentPoint.y, 2)\n            );\n            \n            if (segmentLength >= remainingDistance) {\n                // Interpolate within this segment\n                const ratio = remainingDistance / segmentLength;\n                return {type: \"withinCurve\", tVal: currentT + ratio * (nextT - currentT), point: this.get(currentT + ratio * (nextT - currentT))};\n            }\n            \n            remainingDistance -= segmentLength;\n            currentT = nextT;\n        }\n        \n        return {type: \"withinCurve\", tVal: currentT, point: this.get(currentT)};\n    }\n\n    refineBinary(curve: BCurve, x: number, y: number, LUT: {point: Point, tVal: number, distance: number}[], i: number, targetDistance=0, epsilon=0.01) {\n        let q: {point: Point, tVal: number, distance: number} | undefined = LUT[i],\n          count = 1,\n          distance = Number.MAX_SAFE_INTEGER;\n      \n        do {\n          let i1 = i === 0 ? 0 : i - 1,\n              i2 = i === LUT.length - 1 ? LUT.length - 1 : i + 1,\n              t1 = LUT[i1].tVal,\n              t2 = LUT[i2].tVal,\n              lut: {point: Point, tVal: number, distance: number}[] = [],\n              step = (t2 - t1) / 4;\n      \n          if (step < 0.001) break;\n      \n          lut.push(LUT[i1]);\n          for (let j = 1; j <= 3; j++) {\n            let n = curve.get(t1 + j * step);\n            let nDistance = Math.abs(PointCal.distanceBetweenPoints(n, {x: x, y: y}) - targetDistance);\n            if (nDistance < distance) {\n              distance = nDistance;\n              q = {point: n, tVal: t1 + j * step, distance: nDistance};\n              i = j;\n            }\n            lut.push({point: n, tVal: t1 + j * step, distance: nDistance});\n          }\n          lut.push(LUT[i2]);\n      \n          // update the LUT to be our new five point LUT, and run again.\n          LUT = lut;\n      \n          // The \"count\" test is mostly a safety measure: it will\n          // never kick in, but something that _will_ terminate is\n          // always better than while(true). Never use while(true)\n        } while (count++ < 25);\n      \n        // If we're trying to hit a target, discard the result if\n        // it is not close enough to the target.\n        if (targetDistance && distance > epsilon) {\n          q = undefined;\n        }\n      \n        return q;\n    }\n\n    findClosest(x: number, y: number, LUT: {point: Point, tVal: number, distance: number}[], circleRadius: number, distanceEpsilon = 5, pd2?: number, pd1?: number) {\n        let distance = Number.MAX_SAFE_INTEGER,\n          prevDistance2 = pd2 || distance,\n          prevDistance1 = pd1 || distance,\n          i = -1;\n      \n        for (let index=0, e=LUT.length; index<e; index++){\n          let p = LUT[index].point;\n          LUT[index].distance = Math.abs(PointCal.distanceBetweenPoints({x:x, y:y}, p) - circleRadius);\n          \n          // Realistically, there's only going to be an intersection if\n          // the distance to the circle center is already approximately\n          // the circle's radius.\n          if (prevDistance1 < distanceEpsilon && prevDistance2 > prevDistance1 && prevDistance1 < LUT[index].distance) {\n            i = index - 1;\n            break;\n          }\n      \n          if (LUT[index].distance < distance) {\n            distance = LUT[index].distance;\n          }\n      \n          prevDistance2 = prevDistance1;\n          prevDistance1 = LUT[index].distance;\n        }\n      \n        return i;\n    }\n\n    getCurveIntersections(curve: BCurve, deduplicationTolerance?: number): {selfT: number, otherT: number}[]{\n        return getIntersectionsBetweenCurves(this, curve, deduplicationTolerance);\n    }\n\n    get AABB():{min: Point, max: Point}{\n        const extrema = this.getExtrema();\n        const tVals = [0, 1];\n        let min: Point = {x: Number.MAX_VALUE, y: Number.MAX_VALUE};\n        let max: Point = {x: -Number.MAX_VALUE, y: -Number.MAX_VALUE};\n        extrema.x.forEach((tVal)=>{\n            tVals.push(tVal);\n        });\n        extrema.y.forEach((tVal)=>{\n            tVals.push(tVal);\n        });\n        tVals.forEach((tVal)=>{\n            const curPoint = this.get(tVal);\n            min.x = Math.min(min.x, curPoint.x);\n            min.y = Math.min(min.y, curPoint.y);\n            max.x = Math.max(max.x, curPoint.x);\n            max.y = Math.max(max.y, curPoint.y);\n        });\n\n        return {min:min, max:max};\n    }\n\n    normal(tVal: number): {tVal: number, direction: Point} {\n        const d = this.derivative(tVal);\n        const q = Math.sqrt(d.x * d.x + d.y * d.y);\n        return {tVal, direction: {x: -d.y / q, y: d.x / q}};\n    }\n}\n\n/**\n * Reduces a Bezier curve into simpler segments.\n * @category Utilities\n */\nexport function reduce(curve: BCurve) {\n    let i: number,\n      t1 = 0,\n      t2 = 0,\n      step = 0.01,\n      segment: BCurve,\n      pass1: BCurve[] = [],\n      pass2: BCurve[] = [];\n  \n    // first pass: split on extrema\n    let extrema = curve.getExtrema().x;\n    if (extrema.indexOf(0) === -1) {\n      extrema = [0].concat(extrema);\n    }\n    if (extrema.indexOf(1) === -1) {\n      extrema.push(1);\n    }\n    for (t1 = extrema[0], i = 1; i < extrema.length; i++) {\n      t2 = extrema[i];\n      segment = curve.splitAndTakeMidCurve(t1, t2);\n      pass1.push(segment);\n      t1 = t2;\n    }\n  \n    // second pass: further reduce these segments to simple segments\n    pass1.forEach(p1 => {\n      t1 = 0;\n      t2 = 0;\n      while (t2 <= 1) {\n        for (t2 = t1 + step; t2 <= 1 + step; t2 += step) {\n          // Clamp t2 to valid range\n          const clampedT2 = Math.min(t2, 1);\n          segment = p1.splitAndTakeMidCurve(t1, clampedT2);\n          if (!curveIsSimple(segment)) {\n            t2 -= step;\n            if (Math.abs(t1 - t2) < step) {\n              // we can never form a reduction\n              return [];\n            }\n            const finalT2 = Math.min(t2, 1);\n            segment = p1.splitAndTakeMidCurve(t1, finalT2);\n            pass2.push(segment);\n            t1 = finalT2;\n            break;\n          }\n        }\n      }\n      if (t1 < 1) {\n        segment = p1.splitAndTakeMidCurve(t1, 1);\n        pass2.push(segment);\n      }\n    });\n  \n    return pass2;\n}\n\nfunction raiseCurveOrder(curve: BCurve): BCurve {\n    const p = curve.getControlPoints(),\n        np = [p[0]],\n        k = p.length;\n    for (let i = 1; i < k; i++) {\n        const pi = p[i];\n        const pim = p[i - 1];\n        np[i] = {\n            x: ((k - i) / k) * pi.x + (i / k) * pim.x,\n            y: ((k - i) / k) * pi.y + (i / k) * pim.y,\n        };\n    }\n    np[k] = p[k - 1];\n    return new BCurve(np);\n}\n\n/**\n * Creates offset curves at a specified distance from the original curve.\n * @category Utilities\n */\n// Function overloads for different return types\nexport function offset(curve: BCurve, t: number): BCurve[];\nexport function offset(curve: BCurve, t: number, d: number): {c: Point, n: Point, x: number, y: number};\nexport function offset(curve: BCurve, t: number, d?: number | undefined) {\n    if (d !== undefined) {\n        const c = curve.get(t),\n        n = curve.normal(t).direction;\n        const ret = {\n        c: c,\n        n: n,\n        x: c.x + n.x * d,\n        y: c.y + n.y * d,\n        };\n        // if (this._3d) {\n        // ret.z = c.z + n.z * d;\n        // }\n        return ret;\n    }\n\n    // Native offset implementation based on bezier-js algorithm\n    const points = curve.getControlPoints();\n    const linear = curveIsLinear(curve);\n\n    if (linear) {\n        const nv = curve.normal(0).direction,\n        coords = points.map(function (p) {\n            const ret = {\n            x: p.x + t * nv.x,\n            y: p.y + t * nv.y,\n            };\n            return ret;\n        });\n        return [new BCurve(coords)];\n    }\n\n    // For non-linear curves, reduce to simple segments and scale each\n    return reduce(curve).map(function (s) {\n        if (curveIsLinear(s)) {\n            return offset(s, t)[0];\n        }\n        return scaleCurve(s, t);\n    });\n}\n\n/**\n * Alternative offset implementation using LUT-based approach.\n * @category Utilities\n */\nexport function offset2(curve: BCurve, d: number): Point[]{\n    const lut = curve.getLUTWithTVal(100);\n\n    const res = lut.map((item)=>{\n        const derivative = PointCal.unitVector(curve.derivative(item.tVal));\n        const normal = {x: -derivative.y, y: derivative.x};\n        const offsetPoint = {x: item.point.x + normal.x * d, y: item.point.y + normal.y * d};\n        return offsetPoint;\n    });\n\n    return res;\n}\n\n// Helper function for line-line intersection (ported from bezier-js utils)\nfunction lli4(p1: Point, p2: Point, p3: Point, p4: Point): Point | false {\n    const x1 = p1.x, y1 = p1.y,\n          x2 = p2.x, y2 = p2.y,\n          x3 = p3.x, y3 = p3.y,\n          x4 = p4.x, y4 = p4.y;\n    return lli8(x1, y1, x2, y2, x3, y3, x4, y4);\n}\n\nfunction lli8(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number, x4: number, y4: number): Point | false {\n    const nx = (x1 * y2 - y1 * x2) * (x3 - x4) - (x1 - x2) * (x3 * y4 - y3 * x4);\n    const ny = (x1 * y2 - y1 * x2) * (y3 - y4) - (y1 - y2) * (x3 * y4 - y3 * x4);\n    const d = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);\n    if (d == 0) {\n        return false;\n    }\n    return { x: nx / d, y: ny / d };\n}\n\nfunction curveIsLinear(curve: BCurve): boolean{\n    const order = curve.getControlPoints().length - 1;\n    const points = curve.getControlPoints();\n    const alignedPoints = alignPointsToLine(points, {p1: points[0], p2: points[order]});\n    const baseLength = PointCal.distanceBetweenPoints(points[0], points[order]);\n\n    // Sum of distances from the line (y coordinates in aligned space)\n    const linear = alignedPoints.reduce((t, p) => t + Math.abs(p.y), 0) < baseLength / 50;\n\n    return linear;\n}\n\n\nfunction scaleCurve(curve: BCurve, d: number | ((t: number) => number)): BCurve {\n    const order = curve.getControlPoints().length - 1;\n    let distanceFn: ((t: number) => number) | undefined = undefined;\n\n    if (typeof d === \"function\") {\n        distanceFn = d;\n    }\n\n    if (distanceFn && order === 2) {\n        return scaleCurve(raiseCurveOrder(curve), distanceFn);\n    }\n\n    const points = curve.getControlPoints();\n\n    // Check if curve is linear\n    if (curveIsLinear(curve)) {\n        return translate(\n            curve,\n            curve.normal(0).direction,\n            distanceFn ? distanceFn(0) : d as number,\n            distanceFn ? distanceFn(1) : d as number\n        );\n    }\n\n    const r1 = distanceFn ? distanceFn(0) : d as number;\n    const r2 = distanceFn ? distanceFn(1) : d as number;\n    \n    // Get offset points at endpoints to find the scaling origin\n    const v = [offset(curve, 0, 10), offset(curve, 1, 10)];\n    const np: Point[] = [];\n    const o = lli4(v[0] as any, (v[0] as any).c, v[1] as any, (v[1] as any).c);\n\n    if (!o) {\n        // Fallback: use simple translation for problematic curves\n        return translate(\n            curve,\n            curve.normal(0).direction,\n            r1,\n            r2\n        );\n    }\n\n    // Move endpoint control points by distance along normal\n    [0, 1].forEach(function (t) {\n        const p = JSON.parse(JSON.stringify(points[t * order]));\n        const vt = v[t] as any;\n        p.x += (t ? r2 : r1) * vt.n.x;\n        p.y += (t ? r2 : r1) * vt.n.y;\n        np[t * order] = p;\n    });\n\n    if (!distanceFn) {\n        // Move control points to lie on the intersection of the offset\n        // derivative vector, and the origin-through-control vector\n        [0, 1].forEach((t) => {\n            if (order === 2 && !!t) return;\n            const p = np[t * order];\n            const derivativeAtT = curve.derivative(t);\n            const p2 = { x: p.x + derivativeAtT.x, y: p.y + derivativeAtT.y };\n            const intersection = lli4(p, p2, o, points[t + 1]);\n            if (intersection) {\n                np[t + 1] = intersection;\n            } else {\n                // Fallback: use original control point with simple offset\n                const originalPoint = points[t + 1];\n                const normal = curve.normal((t + 1) / order).direction;\n                np[t + 1] = {\n                    x: originalPoint.x + (t ? r2 : r1) * normal.x,\n                    y: originalPoint.y + (t ? r2 : r1) * normal.y\n                };\n            }\n        });\n        return new BCurve(np);\n    }\n\n    // For function-based distances, move control points by distance\n    // to ensure correct tangent at endpoints\n    [0, 1].forEach(function (t) {\n        if (order === 2 && !!t) return;\n        const p = points[t + 1];\n        const ov = {\n            x: p.x - o.x,\n            y: p.y - o.y,\n        };\n        let rc = distanceFn!((t + 1) / order);\n        const m = Math.sqrt(ov.x * ov.x + ov.y * ov.y);\n        ov.x /= m;\n        ov.y /= m;\n        np[t + 1] = {\n            x: p.x + rc * ov.x,\n            y: p.y + rc * ov.y,\n        };\n    });\n    return new BCurve(np);\n}\n\nfunction alignPointsToLine(points: Point[], line: {p1: Point, p2: Point}) {\n    const tx = line.p1.x,\n      ty = line.p1.y,\n      a = -Math.atan2(line.p2.y - ty, line.p2.x - tx),\n      d = function (v: Point) {\n        return {\n          x: (v.x - tx) * Math.cos(a) - (v.y - ty) * Math.sin(a),\n          y: (v.x - tx) * Math.sin(a) + (v.y - ty) * Math.cos(a),\n        };\n      };\n    return points.map(d);\n};\n\nfunction map(v: number, ds: number, de: number, ts: number, te: number): number {\n    const d1 = de - ds,      // source range size\n      d2 = te - ts,          // target range size  \n      v2 = v - ds,           // offset from source start\n      r = v2 / d1;           // ratio within source range\n    return ts + d2 * r;      // mapped value in target range\n}\n\n/**\n * Error thrown when t-value is out of valid range [0, 1].\n * @category Types\n */\nexport class TValOutofBoundError extends Error{\n    constructor(message: string){\n        super(message);\n    }\n}\n\n/**\n * 2D/3D point type.\n * @category Types\n */\nexport type Point = {\n    x: number;\n    y: number;\n    z?: number;\n}\n\n/**\n * Tests if two axis-aligned bounding boxes intersect.\n * @category Utilities\n */\nexport function AABBIntersects(AABB1: {min: Point, max: Point}, AABB2: {min: Point, max: Point}): boolean{\n    if ((AABB1.min.x <= AABB2.max.x && AABB2.min.x <= AABB1.max.x) && (AABB1.min.y <= AABB2.max.y && AABB2.min.y <= AABB1.max.y)){\n        return true;\n    }\n    return false;\n}\n\n/**\n * Checks if two numbers are approximately equal within a precision threshold.\n * @category Utilities\n */\nexport function approximately (a: number, b: number, precision?: number) {\n    const epsilon = 0.000001\n    return Math.abs(a - b) <= (precision || epsilon);\n}\n\nexport function cuberoot2(v:number) {\n    if(v<0) return -Math.pow(-v,1/3);\n    return Math.pow(v,1/3);\n}\n\nexport function accept(t: number) {\n    return 0 <= t && t <=1;\n}\n\nexport function getCubicRoots(pa: number, pb: number, pc: number, pd: number) {\n    let a = (3*pa - 6*pb + 3*pc),\n        b = (-3*pa + 3*pb),\n        c = pa,\n        d = (-pa + 3*pb - 3*pc + pd);\n\n    // do a check to see whether we even need cubic solving:\n    if (approximately(d,0)) {\n        // this is not a cubic curve.\n        if (approximately(a,0)) {\n            // in fact, this is not a quadratic curve either.\n            if (approximately(b,0)) {\n                // in fact in fact, there are no solutions.\n                return [];\n            }\n            // linear solution\n            return [-c / b].filter(accept);\n        }\n        // quadratic solution\n        let q = Math.sqrt(b*b - 4*a*c), a2 = 2*a;\n        return [(q-b)/a2, (-b-q)/a2].filter(accept)\n    }\n\n    // at this point, we know we need a cubic solution.\n\n    a /= d;\n    b /= d;\n    c /= d;\n\n    let p = (3*b - a*a)/3,\n        p3 = p/3,\n        q = (2*a*a*a - 9*a*b + 27*c)/27,\n        q2 = q/2,\n        discriminant = q2*q2 + p3*p3*p3;\n\n    // and some variables we're going to use later on:\n    let u1, v1, root1, root2, root3;\n\n    // three possible real roots:\n    if (discriminant < 0) {\n        let mp3  = -p/3,\n        mp33 = mp3*mp3*mp3,\n        r    = Math.sqrt( mp33 ),\n        t    = -q / (2*r),\n        cosphi = t<-1 ? -1 : t>1 ? 1 : t,\n        phi  = Math.acos(cosphi),\n        crtr = cuberoot2(r),\n        t1   = 2*crtr;\n        root1 = t1 * Math.cos(phi/3) - a/3;\n        root2 = t1 * Math.cos((phi+2*Math.PI)/3) - a/3;\n        root3 = t1 * Math.cos((phi+4*Math.PI)/3) - a/3;\n        return [root1, root2, root3].filter(accept);\n    }\n\n    // three real roots, but two of them are equal:\n    if(discriminant === 0) {\n        u1 = q2 < 0 ? cuberoot2(-q2) : -cuberoot2(q2);\n        root1 = 2*u1 - a/3;\n        root2 = -u1 - a/3;\n        return [root1, root2].filter(accept);\n    }\n\n    // one real root, two complex roots\n    var sd = Math.sqrt(discriminant);\n    u1 = cuberoot2(sd - q2);\n    v1 = cuberoot2(sd + q2);\n    root1 = u1 - v1 - a/3;\n    return [root1].filter(accept);\n}\n\n/**\n * Finds all intersection points between two Bezier curves.\n * @category Utilities\n */\nexport function getIntersectionsBetweenCurves(curve: BCurve, curve2: BCurve, deduplicationTolerance: number = 0.01): {selfT: number, otherT: number}[]{\n    const threshold = 0.5;\n    let pairs: {curve1: {curve: BCurve, startTVal: number, endTVal: number}, curve2: {curve: BCurve, startTVal: number, endTVal: number}}[] = [{curve1: {curve: curve, startTVal: 0, endTVal: 1}, curve2: {curve: curve2, startTVal: 0, endTVal: 1}}];\n    const finalRes = [];\n    while (pairs.length > 0){\n        let curLength = pairs.length;\n        for(let index = 0; index < curLength; index++){\n            let pair = pairs.shift();\n            if (pair == undefined){\n                break;\n            }\n            let aabb1 = pair.curve1.curve.AABB;\n            let aabb2 = pair.curve2.curve.AABB;\n            let intersects = AABBIntersects(aabb1, aabb2);\n            if(pair.curve1.curve.fullLength < threshold && pair.curve2.curve.fullLength < threshold){\n                finalRes.push({intersection: pair.curve1.curve.get(0.5), tVal1: (pair.curve1.startTVal + pair.curve1.endTVal) * 0.5, tVal2: (pair.curve2.startTVal + pair.curve2.endTVal) * 0.5});\n                continue;\n            }\n            if (intersects){\n                let [subCurveControlPoints1, subCurveControlPoints2] = pair.curve1.curve.split(0.5);\n                let [subCurveControlPoints3, subCurveControlPoints4] = pair.curve2.curve.split(0.5);\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints1), \n                        startTVal: pair.curve1.startTVal, \n                        endTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5\n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints3),\n                        startTVal: pair.curve2.startTVal,\n                        endTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints1), \n                        startTVal: pair.curve1.startTVal, \n                        endTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5\n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints4),\n                        startTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5,\n                        endTVal: pair.curve2.endTVal\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints2), \n                        startTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5 ,\n                        endTVal: pair.curve1.endTVal \n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints3),\n                        startTVal: pair.curve2.startTVal,\n                        endTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5\n                }});\n\n                pairs.push({\n                    curve1: {\n                        curve: new BCurve(subCurveControlPoints2), \n                        startTVal: pair.curve1.startTVal + (pair.curve1.endTVal - pair.curve1.startTVal) * 0.5 ,\n                        endTVal: pair.curve1.endTVal \n                }, curve2: {\n                        curve: new BCurve(subCurveControlPoints4),\n                        startTVal: pair.curve2.startTVal + (pair.curve2.endTVal - pair.curve2.startTVal) * 0.5,\n                        endTVal: pair.curve2.endTVal\n                }});\n            }\n\n        }\n    }\n\n    // Improved deduplication logic that handles close tvals on both curves\n    const tVals: {selfT: number, otherT: number}[] = [];\n    \n    // Sort intersections by tVal1 for more predictable deduplication\n    finalRes.sort((a, b) => a.tVal1 - b.tVal1);\n    \n    for (const intersection of finalRes) {\n        let isDuplicate = false;\n        \n        // Check against all existing intersections\n        for (const existing of tVals) {\n            // Check if this intersection is close to an existing one on either curve\n            const selfTClose = approximately(intersection.tVal1, existing.selfT, deduplicationTolerance);\n            const otherTClose = approximately(intersection.tVal2, existing.otherT, deduplicationTolerance);\n            \n            // Consider it a duplicate if both t-values are close\n            if (selfTClose && otherTClose) {\n                isDuplicate = true;\n                break;\n            }\n            \n            // Also check for cases where intersections might be very close on the same curve\n            // This handles cases where curves are nearly tangent or have very close intersections\n            const selfTVeryClose = approximately(intersection.tVal1, existing.selfT, deduplicationTolerance * 10);\n            const otherTVeryClose = approximately(intersection.tVal2, existing.otherT, deduplicationTolerance * 10);\n            \n            if (selfTVeryClose || otherTVeryClose) {\n                // Additional check: if the intersection points are very close spatially\n                const point1 = curve.get(intersection.tVal1);\n                const point2 = curve2.get(intersection.tVal2);\n                const existingPoint1 = curve.get(existing.selfT);\n                const existingPoint2 = curve2.get(existing.otherT);\n                \n                const distance1 = PointCal.distanceBetweenPoints(point1, existingPoint1);\n                const distance2 = PointCal.distanceBetweenPoints(point2, existingPoint2);\n                \n                // If both intersection points are spatially very close, consider it a duplicate\n                if (distance1 < deduplicationTolerance * 100 && distance2 < deduplicationTolerance * 100) {\n                    isDuplicate = true;\n                    break;\n                }\n            }\n        }\n        \n        if (!isDuplicate) {\n            tVals.push({selfT: intersection.tVal1, otherT: intersection.tVal2});\n        }\n    }\n    \n    return tVals;\n}\n\n/**\n * Solves cubic equations.\n * @category Utilities\n */\nexport function solveCubic(a: number, b: number, c: number, d: number) {\n    if (Math.abs(a) < 1e-8) { // Quadratic case, ax^2+bx+c=0\n        a = b; b = c; c = d;\n        if (Math.abs(a) < 1e-8) { // Linear case, ax+b=0\n            a = b; b = c;\n            if (Math.abs(a) < 1e-8) // Degenerate case\n                return [];\n            return [-b/a];\n        }\n\n        let D = b*b - 4*a*c;\n        if (Math.abs(D) < 1e-8)\n            return [-b/(2*a)];\n        else if (D > 0)\n            return [(-b+Math.sqrt(D))/(2*a), (-b-Math.sqrt(D))/(2*a)];\n        return [];\n    }\n\n    // Convert to depressed cubic t^3+pt+q = 0 (subst x = t - b/3a)\n    let p = (3*a*c - b*b)/(3*a*a);\n    let q = (2*b*b*b - 9*a*b*c + 27*a*a*d)/(27*a*a*a);\n    let roots: number[];\n\n    if (Math.abs(p) < 1e-8) { // p = 0 -> t^3 = -q -> t = -q^1/3\n        roots = [cuberoot(-q)];\n    } else if (Math.abs(q) < 1e-8) { // q = 0 -> t^3 + pt = 0 -> t(t^2+p)=0\n        roots = [0].concat(p < 0 ? [Math.sqrt(-p), -Math.sqrt(-p)] : []);\n    } else {\n        let D = q*q/4 + p*p*p/27;\n        if (Math.abs(D) < 1e-8) {       // D = 0 -> two roots\n            roots = [-1.5*q/p, 3*q/p];\n        } else if (D > 0) {             // Only one real root and two complex roots\n            let u = cuberoot(-q/2 - Math.sqrt(D));\n            let v = cuberoot(-q/2 + Math.sqrt(D));\n            //console.log(\"Complext Root 1 real:\", -(u+v)/2.0 - a / 3.0, \"imaginary:\", Math.sqrt(3) / 2.0 * (v - u));\n            //console.log(\"Complext Root 2 real:\", -(u+v)/2.0 - a / 3.0, \"imaginary:\",-1 * Math.sqrt(3) / 2.0 * (v - u));\n\n            roots = [u - p/(3*u)];\n        } else {                        // D < 0, three roots, but needs to use complex numbers/trigonometric solution\n            let u = 2*Math.sqrt(-p/3);\n            let t = Math.acos(3*q/p/u)/3;  // D < 0 implies p < 0 and acos argument in [-1..1]\n            let k = 2*Math.PI/3;\n            roots = [u*Math.cos(t), u*Math.cos(t-k), u*Math.cos(t-2*k)];\n        }\n    }\n\n    // Convert back from depressed cubic\n    for (let i = 0; i < roots.length; i++)\n        roots[i] -= b/(3*a);\n\n    return roots;\n}\n\nexport function cuberoot(x: number) {\n    var y = Math.pow(Math.abs(x), 1/3);\n    return x < 0 ? -y : y;\n}\n\n/**\n * Computes point on curve using De Casteljau's algorithm.\n * @category Utilities\n */\nexport function computeWithControlPoints(tVal: number, controlPoints: Point[]): Point{\n    let points = [...controlPoints];\n    while (points.length > 1) {\n        let lowerLevelPoints = points.slice(1);\n        for(let index = 0; index < lowerLevelPoints.length; index++){\n            lowerLevelPoints[index] = PointCal.addVector(PointCal.multiplyVectorByScalar(points[index], (1 - tVal)), PointCal.multiplyVectorByScalar(points[index + 1], tVal));\n        }\n        points = lowerLevelPoints;\n    }\n    return points[0];\n}\n\nfunction curveIsSimple(curve: BCurve): boolean {\n    if (curve.getControlPoints().length === 4) {\n        const points = curve.getControlPoints();\n        const p0ToP3Vector = PointCal.subVector(points[3], points[0]);\n        const p0ToP1Vector = PointCal.subVector(points[1], points[0]);\n        const p0ToP2Vector = PointCal.subVector(points[2], points[0]);\n    \n        const a1 = PointCal.angleFromA2B(p0ToP3Vector, p0ToP1Vector);\n        const a2 = PointCal.angleFromA2B(p0ToP3Vector, p0ToP2Vector);\n        if ((a1 > 0 && a2 < 0) || (a1 < 0 && a2 > 0)) return false;\n    }\n    const n1 = curve.normal(0).direction;\n    const n2 = curve.normal(1).direction;\n    let s = n1.x * n2.x + n1.y * n2.y;\n    // if (this._3d) {\n    //     s += n1.z * n2.z;\n    // }\n    return Math.abs(Math.acos(s)) < Math.PI / 3;\n  }\n\n\n\nfunction translate(curve: BCurve, vector: Point, d1: number, d2: number){\n    const order = curve.getControlPoints().length - 1;\n    const points = curve.getControlPoints();\n    const d = points.map((_, i: number) => (1 - i / order) * d1 + (i / order) * d2);\n    return new BCurve(points.map((p, i) => ({x: p.x + d[i] * vector.x, y: p.y + d[i] * vector.y})));\n}\n",
+    "import { PointCal, Point } from \"@ue-too/math\";\n\n/**\n * Line segment class with geometric utilities.\n *\n * @remarks\n * Represents a straight line segment between two points with operations for:\n * - Line-line intersection\n * - Point projection onto line\n * - Point-in-line testing\n * - Linear interpolation (lerp)\n *\n * @example\n * ```typescript\n * const line = new Line({ x: 0, y: 0 }, { x: 100, y: 100 });\n *\n * // Get length\n * console.log('Length:', line.length());\n *\n * // Interpolate at midpoint\n * const mid = line.lerp(0.5); // { x: 50, y: 50 }\n *\n * // Project a point onto the line\n * const result = line.projectPoint({ x: 50, y: 0 });\n * if (result.within) {\n *   console.log('Projection:', result.projectionPoint);\n * }\n * ```\n *\n * @category Core\n */\nexport class Line {\n    private startPoint: Point;\n    private endPoint: Point;\n\n    constructor(startPoint: Point, endPoint: Point){\n        this.startPoint = startPoint;\n        this.endPoint = endPoint;\n    }\n\n    getStartPoint(): Point{\n        return this.startPoint;\n    }\n\n    getEndPoint(): Point{\n        return this.endPoint;\n    }\n\n    intersectionWithAnotherLine(lineToIntersect: Line){\n        return getLineIntersection(this.startPoint, this.endPoint, lineToIntersect.getStartPoint(), lineToIntersect.getEndPoint());\n    }\n\n    projectPoint(point: Point){\n        return projectPointOntoLine(point, this.getStartPoint(), this.getEndPoint());\n    }\n\n    length(): number{\n        return PointCal.distanceBetweenPoints(this.startPoint, this.endPoint);\n    }\n    \n    getTranslationRotationToAlginXAxis(){\n        const translation = PointCal.subVector({x: 0, y: 0}, this.startPoint);\n        const rotationAngle = PointCal.angleFromA2B(PointCal.subVector(this.endPoint, this.startPoint), {x: 1, y: 0});\n\n        return {translation, rotationAngle};\n    }\n\n    pointInLine(point: Point): boolean{\n        const baseVector = PointCal.unitVectorFromA2B(this.startPoint, this.endPoint);\n        const start2PointVector = PointCal.subVector(point, this.startPoint);\n        const length = PointCal.dotProduct(start2PointVector, baseVector);\n        const start2PointUnitVector = PointCal.unitVector(start2PointVector);\n        const errorThreshold = PointCal.distanceBetweenPoints(this.startPoint, this.endPoint) * 0.0001;\n        return length <= PointCal.distanceBetweenPoints(this.startPoint, this.endPoint) && length >= 0 && Math.abs(start2PointUnitVector.x - baseVector.x) < 0.0001 && Math.abs(start2PointUnitVector.y - baseVector.y) < 0.0001;\n    }\n\n    lerp(ratio: number): Point {\n        return PointCal.linearInterpolation(this.startPoint, this.endPoint, ratio);\n    }\n}\n\nexport function getLineIntersection(startPoint: Point, endPoint: Point, startPoint2: Point, endPoint2: Point):{\n    intersects: boolean,\n    intersection?: Point,\n    offset?: number\n}{\n    const numerator = (endPoint2.x - startPoint2.x) * (startPoint.y - startPoint2.y) - (endPoint2.y - startPoint2.y) * (startPoint.x - startPoint2.x);\n    const denominator = (endPoint2.y - startPoint2.y) * (endPoint.x - startPoint.x) - (endPoint2.x - startPoint2.x) * (endPoint.y - startPoint.y);\n    \n    if (denominator === 0){\n        return {intersects: false};\n    }\n    const t = numerator / denominator;\n    if (t >= 0 && t <= 1){\n        return {\n            intersects: true, \n            intersection: PointCal.linearInterpolation(startPoint, endPoint, t),\n            offset: t\n        }\n    } else {\n        return {\n            intersects: false,\n        }\n    }\n\n}\n\nexport function projectPointOntoLine(point: Point, lineStartPoint: Point, lineEndPoint: Point): {\n    within: boolean,\n    projectionPoint?: Point,\n    offset?: number\n}{\n    const baseVector = PointCal.unitVector(PointCal.subVector(lineEndPoint, lineStartPoint));\n    const vectorToPoint = PointCal.subVector(point, lineStartPoint);\n    const res = PointCal.dotProduct(vectorToPoint, baseVector);\n    if (res < 0 || res > PointCal.magnitude(PointCal.subVector(lineEndPoint, lineStartPoint))){\n        return {\n            within: false,\n        };\n    }\n    return {\n        within: true,\n        projectionPoint: PointCal.addVector(lineStartPoint, PointCal.multiplyVectorByScalar(baseVector, res)),\n        offset: res / PointCal.magnitude(PointCal.subVector(lineEndPoint, lineStartPoint))\n    };\n\n}\n",
+    "import { Point, PointCal } from \"@ue-too/math\";\n\n/**\n * Handle type for Bezier curve control points.\n * @category Types\n */\nexport type HandleType = \"ALIGNED\" | \"VECTOR\" | \"FREE\";\n\n/**\n * Handle point with position and type.\n * @category Types\n */\nexport type HandlePoint = {\n    position: Point;\n    type: HandleType;\n}\n\n/**\n * Control point with left and right handles for composite Bezier curves.\n * @category Core\n */\nexport class ControlPoint {\n\n    private position: Point;\n    private leftHandle: HandlePoint;\n    private rightHandle: HandlePoint;\n\n    constructor(position: Point, leftHandle: HandlePoint, rightHandle: HandlePoint){\n        this.position = position;\n        this.leftHandle = leftHandle;\n        this.rightHandle = rightHandle;\n    }\n\n    setPosition(destinationPosition: Point, prevControlPoint: ControlPoint | undefined, nextControlPoint: ControlPoint | undefined){\n        let diff = PointCal.subVector(destinationPosition, this.position);\n        this.position = destinationPosition;\n        this.leftHandle.position = PointCal.addVector(this.leftHandle.position, diff);\n        this.rightHandle.position = PointCal.addVector(this.rightHandle.position, diff);\n        if(this.leftHandle.type == \"VECTOR\" && prevControlPoint){\n            let relativeVector = PointCal.subVector(prevControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            this.leftHandle.position = PointCal.addVector(this.position, relativeVector);\n            if(this.rightHandle.type == \"ALIGNED\"){\n                let relativeVector = PointCal.subVector(this.rightHandle.position, this.position);\n                let mag = PointCal.magnitude(relativeVector);\n                let direction = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                this.rightHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n            }\n        }\n        if(this.rightHandle.type == \"VECTOR\" && nextControlPoint){\n            let relativeVector = PointCal.subVector(nextControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            this.rightHandle.position = PointCal.addVector(this.position, relativeVector);\n            if(this.leftHandle.type == \"ALIGNED\"){\n                let mag = PointCal.distanceBetweenPoints(this.leftHandle.position, this.position);\n                let direction = PointCal.subVector(this.position, this.rightHandle.position);\n                this.leftHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n            }\n        }\n        if(prevControlPoint !== undefined && prevControlPoint.getRightHandle().type == \"VECTOR\"){\n            let relativeVector = PointCal.subVector(this.position, prevControlPoint.getPosition());\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            prevControlPoint.setRightHandlePosition(PointCal.addVector(prevControlPoint.getPosition(), relativeVector));\n        }\n        if(nextControlPoint !== undefined && nextControlPoint.getLeftHandle().type == \"VECTOR\"){\n            let relativeVector = PointCal.subVector(this.position, nextControlPoint.getPosition());\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n            nextControlPoint.setLeftHandlePosition(PointCal.addVector(nextControlPoint.getPosition(), relativeVector));\n        }\n    }\n\n    getPosition(): Point{\n        return this.position;\n    }\n\n    setLeftHandleTypeVector(prevControlPoint: ControlPoint | undefined){\n        if(this.rightHandle.type != \"VECTOR\"){\n            this.rightHandle.type = \"FREE\";\n        }\n        let relativeVector: Point;\n        if(prevControlPoint == undefined){\n            relativeVector = PointCal.subVector(this.leftHandle.position, this.position);\n        } else {\n            relativeVector = PointCal.subVector(prevControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n        }\n        this.leftHandle.position = PointCal.addVector(this.position, relativeVector);\n    }\n\n    setLeftHandleTypeAligned(){\n        this.leftHandle.type = \"ALIGNED\";\n        if(this.rightHandle.type == \"VECTOR\"){\n            let direction = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n            let mag = PointCal.distanceBetweenPoints(this.position, this.leftHandle.position);\n            this.leftHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direction, mag));\n        }\n    }\n\n    setLeftHandleTypeFree(){\n        this.leftHandle.type = \"FREE\";\n    }\n\n    setRightHandleTypeVector(nextControlPoint: ControlPoint | undefined) {\n        if(this.leftHandle.type != \"VECTOR\"){\n            this.leftHandle.type = \"FREE\";\n        }\n        let relativeVector: Point;\n        if(nextControlPoint == undefined){\n            relativeVector = PointCal.subVector(this.rightHandle.position, this.position);\n        } else {\n            relativeVector = PointCal.subVector(nextControlPoint.getPosition(), this.position);\n            relativeVector = PointCal.multiplyVectorByScalar(relativeVector, 1 / 3);\n        }\n        this.rightHandle.position = PointCal.addVector(this.position, relativeVector);\n    }\n\n    setRightHandleTypeAligned(){\n        this.rightHandle.type = \"ALIGNED\";\n        if(this.leftHandle.type == \"VECTOR\") {\n            let direciton = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n            let mag = PointCal.distanceBetweenPoints(this.position, this.rightHandle.position);\n            this.rightHandle.position = PointCal.addVector(this.position, PointCal.multiplyVectorByScalar(direciton, mag));\n        } \n    }\n\n    setRightHandleTypeFree(){\n        this.rightHandle.type = \"FREE\";\n    }\n\n    setLeftHandlePosition(destPos: Point){\n        let leftHandleType = this.leftHandle.type;\n        switch(leftHandleType){\n            case \"ALIGNED\":\n                if(this.rightHandle.type == \"VECTOR\"){\n                    let diff = PointCal.subVector(destPos, this.position);\n                    let rightHandleDiff = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n                    let resMag = PointCal.dotProduct(diff, rightHandleDiff);\n                    let res = PointCal.multiplyVectorByScalar(rightHandleDiff, resMag);\n                    this.leftHandle.position = PointCal.addVector(this.position, res);\n                } else if (this.rightHandle.type == \"ALIGNED\"){\n                    this.leftHandle.position = destPos;\n                    let mag = PointCal.distanceBetweenPoints(this.rightHandle.position, this.position);\n                    let direction = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                    let res = PointCal.multiplyVectorByScalar(direction, mag);\n                    this.rightHandle.position = PointCal.addVector(res, this.position);\n                } else {\n                    this.leftHandle.position = destPos;\n                }\n                break;\n            case \"FREE\":\n                this.leftHandle.position = destPos;\n                break;\n            case \"VECTOR\":\n                break;\n            default:\n                throw new Error(`Unknown left handle type for control point`);\n        }\n    }\n\n    setRightHandlePosition(destPos: Point){\n        let rightHandleType = this.rightHandle.type;\n        switch(rightHandleType){\n            case \"ALIGNED\":\n                if(this.leftHandle.type == \"VECTOR\"){\n                    let diff = PointCal.subVector(destPos, this.position);\n                    let leftHandleDiff = PointCal.unitVectorFromA2B(this.leftHandle.position, this.position);\n                    let resMag = PointCal.dotProduct(diff, leftHandleDiff);\n                    let res = PointCal.multiplyVectorByScalar(leftHandleDiff, resMag);\n                    this.rightHandle.position = PointCal.addVector(this.position, res);\n                } else if (this.rightHandle.type == \"ALIGNED\"){\n                    this.rightHandle.position = destPos;\n                    let mag = PointCal.distanceBetweenPoints(this.leftHandle.position, this.position);\n                    let direction = PointCal.unitVectorFromA2B(this.rightHandle.position, this.position);\n                    let res = PointCal.multiplyVectorByScalar(direction, mag);\n                    this.leftHandle.position = PointCal.addVector(res, this.position);\n                } else {\n                    this.rightHandle.position = destPos;\n                }\n                break;\n            case \"FREE\":\n                this.rightHandle.position = destPos;\n                break;\n            case \"VECTOR\":\n                break;\n            default:\n                throw new Error(`Unknown left handle type for control point`);\n        }\n    }\n\n    getLeftHandle(): HandlePoint{\n        return this.leftHandle;\n    }\n\n    getRightHandle(): HandlePoint{\n        return this.rightHandle;\n    }\n}\n\n/**\n * Composite Bezier curve made of multiple control points with handles.\n * @category Core\n */\nexport class CompositeBCurve{\n\n    private controlPoints: ControlPoint[];\n\n    constructor(controlPoints: ControlPoint[] = []){\n        this.controlPoints = controlPoints;\n    }\n\n    getControlPoints(): ControlPoint[]{\n        return this.controlPoints;\n    }\n\n    appendControlPoint(position: Point){\n        let leftHandlePosition = PointCal.addVector(position, {x: -100, y: 0});\n        let rightHandlePosition = PointCal.addVector(position, {x: 100, y: 0});\n        let leftHandlePoint: HandlePoint = {\n            position: leftHandlePosition,\n            type: \"FREE\"\n        }\n        let rightHandlePoint: HandlePoint = {\n            position: rightHandlePosition,\n            type: \"FREE\"\n        }\n\n        let newControlPoint = new ControlPoint(position, leftHandlePoint, rightHandlePoint);\n        this.controlPoints.push(newControlPoint);\n    }\n\n    setLeftHandlePositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        this.controlPoints[controlPointIndex].setLeftHandlePosition(destPos);\n    }\n\n    setRightHandlePositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        this.controlPoints[controlPointIndex].setRightHandlePosition(destPos);\n    }\n    \n    setPositionOfControlPoint(controlPointIndex: number, destPos: Point){\n        if(controlPointIndex >= this.controlPoints.length || controlPointIndex < 0){\n            return;\n        }\n        let prevControlPoint = undefined;\n        let nextControlPoint = undefined;\n        if(controlPointIndex + 1 < this.controlPoints.length){\n            nextControlPoint = this.controlPoints[controlPointIndex + 1];\n        }\n        if(controlPointIndex - 1 >= 0){\n            prevControlPoint = this.controlPoints[controlPointIndex - 1];\n        }\n        this.controlPoints[controlPointIndex].setPosition(destPos, prevControlPoint, nextControlPoint);\n    }\n}\n",
+    "import { Line } from \"./line\";\nimport { Point } from \"@ue-too/math\";\n\n/**\n * Result type for advancing within curve bounds.\n * @category Types\n */\ntype AdvanceAtTWithLengthWithinCurveRes = {\n    type: \"withinCurve\";\n    tVal: number;\n    point: Point;\n}\n\n/**\n * Result type for advancing before curve start.\n * @category Types\n */\ntype AdvanceAtWithLengthBeforeCurveRes = {\n    type: \"beforeCurve\";\n    remainLength: number;\n}\n\n/**\n * Result type for advancing after curve end.\n * @category Types\n */\ntype AdvanceAtWithLengthAfterCurveRes = {\n    type: \"afterCurve\";\n    remainLength: number;\n}\n\n/**\n * Combined result type for advancing outside curve bounds.\n * @category Types\n */\ntype AdvanceAtTWithLengthOutofCurveRes = AdvanceAtWithLengthBeforeCurveRes | AdvanceAtWithLengthAfterCurveRes;\n\n/**\n * Result type for advancing along curve.\n * @category Types\n */\ntype AdvanceAtTWithLengthRes = AdvanceAtTWithLengthWithinCurveRes | AdvanceAtTWithLengthOutofCurveRes;\n\n/**\n * Path made of sequential line segments.\n * @category Core\n */\nexport class Path {\n\n    private lines: Line[];\n\n    constructor(lines: Line[]){\n        this.lines = lines;\n    }\n\n    append(line: Line): void{\n        this.lines.push(line);\n    }\n\n    clear(): void{\n        this.lines = [];\n    }\n\n    prepend(line: Line): void{\n        this.lines.unshift(line);\n    }\n\n    getLines(): Line[]{\n        return this.lines;\n    }\n\n    getLength(): number{\n        let res = 0;\n        this.lines.forEach((line)=>{\n            res += line.length();\n        });\n        return res;\n    }\n\n    // advanceByDistancAtPercentage(percentage: number, distance: number): {destination: Point}\n\n    getPercentages(): {start: number, end: number}[]{\n        const length = this.getLength();\n        let currentCurvePercentage = 0;\n        const res: {start: number, end: number}[] = [];\n        this.lines.forEach((line)=>{\n            const lineLength = line.length();\n            const linePercentage = lineLength / length;\n            let start = currentCurvePercentage;\n            currentCurvePercentage += linePercentage;\n            let end = currentCurvePercentage;\n            res.push({start, end});\n        });\n        res[res.length - 1].end = 1;\n        return res;\n    }\n\n    getPointByPercentage(percentage: number): Point | never{\n        if (percentage < 0 || percentage > 1){\n            throw new Error(\"Percentage must be between 0 and 1\");\n        }\n        const percentages = this.getPercentages();\n        let left = 0;\n        let right = percentages.length - 1;\n        while (left <= right){\n            const mid = Math.floor((left + right) / 2);\n            if (percentage < percentages[mid].end){\n                right = mid - 1;\n            } else if (percentage > percentages[mid].end){\n                left = mid + 1;\n            } else {\n                left = mid;\n                break;\n            }\n        }\n        const line = this.lines[left];\n        const linePercentage = percentages[left];\n        const ratio = (percentage - linePercentage.start) / (linePercentage.end - linePercentage.start);\n        return line.lerp(ratio);\n    }\n}\n"
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 }