node-red-contrib-tak-registration 0.2.2 → 0.3.2

package/node_modules/robust-predicates/umd/insphere.js

@@ -0,0 +1,925 @@
+(function (global, factory) {
+typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports) :
+typeof define === 'function' && define.amd ? define(['exports'], factory) :
+(global = global || self, factory(global.predicates = {}));
+}(this, function (exports) { 'use strict';
+
+const epsilon = 1.1102230246251565e-16;
+const splitter = 134217729;
+const resulterrbound = (3 + 8 * epsilon) * epsilon;
+
+// fast_expansion_sum_zeroelim routine from oritinal code
+function sum(elen, e, flen, f, h) {
+    let Q, Qnew, hh, bvirt;
+    let enow = e[0];
+    let fnow = f[0];
+    let eindex = 0;
+    let findex = 0;
+    if ((fnow > enow) === (fnow > -enow)) {
+        Q = enow;
+        enow = e[++eindex];
+    } else {
+        Q = fnow;
+        fnow = f[++findex];
+    }
+    let hindex = 0;
+    if (eindex < elen && findex < flen) {
+        if ((fnow > enow) === (fnow > -enow)) {
+            Qnew = enow + Q;
+            hh = Q - (Qnew - enow);
+            enow = e[++eindex];
+        } else {
+            Qnew = fnow + Q;
+            hh = Q - (Qnew - fnow);
+            fnow = f[++findex];
+        }
+        Q = Qnew;
+        if (hh !== 0) {
+            h[hindex++] = hh;
+        }
+        while (eindex < elen && findex < flen) {
+            if ((fnow > enow) === (fnow > -enow)) {
+                Qnew = Q + enow;
+                bvirt = Qnew - Q;
+                hh = Q - (Qnew - bvirt) + (enow - bvirt);
+                enow = e[++eindex];
+            } else {
+                Qnew = Q + fnow;
+                bvirt = Qnew - Q;
+                hh = Q - (Qnew - bvirt) + (fnow - bvirt);
+                fnow = f[++findex];
+            }
+            Q = Qnew;
+            if (hh !== 0) {
+                h[hindex++] = hh;
+            }
+        }
+    }
+    while (eindex < elen) {
+        Qnew = Q + enow;
+        bvirt = Qnew - Q;
+        hh = Q - (Qnew - bvirt) + (enow - bvirt);
+        enow = e[++eindex];
+        Q = Qnew;
+        if (hh !== 0) {
+            h[hindex++] = hh;
+        }
+    }
+    while (findex < flen) {
+        Qnew = Q + fnow;
+        bvirt = Qnew - Q;
+        hh = Q - (Qnew - bvirt) + (fnow - bvirt);
+        fnow = f[++findex];
+        Q = Qnew;
+        if (hh !== 0) {
+            h[hindex++] = hh;
+        }
+    }
+    if (Q !== 0 || hindex === 0) {
+        h[hindex++] = Q;
+    }
+    return hindex;
+}
+
+function sum_three(alen, a, blen, b, clen, c, tmp, out) {
+    return sum(sum(alen, a, blen, b, tmp), tmp, clen, c, out);
+}
+
+// scale_expansion_zeroelim routine from oritinal code
+function scale(elen, e, b, h) {
+    let Q, sum, hh, product1, product0;
+    let bvirt, c, ahi, alo, bhi, blo;
+
+    c = splitter * b;
+    bhi = c - (c - b);
+    blo = b - bhi;
+    let enow = e[0];
+    Q = enow * b;
+    c = splitter * enow;
+    ahi = c - (c - enow);
+    alo = enow - ahi;
+    hh = alo * blo - (Q - ahi * bhi - alo * bhi - ahi * blo);
+    let hindex = 0;
+    if (hh !== 0) {
+        h[hindex++] = hh;
+    }
+    for (let i = 1; i < elen; i++) {
+        enow = e[i];
+        product1 = enow * b;
+        c = splitter * enow;
+        ahi = c - (c - enow);
+        alo = enow - ahi;
+        product0 = alo * blo - (product1 - ahi * bhi - alo * bhi - ahi * blo);
+        sum = Q + product0;
+        bvirt = sum - Q;
+        hh = Q - (sum - bvirt) + (product0 - bvirt);
+        if (hh !== 0) {
+            h[hindex++] = hh;
+        }
+        Q = product1 + sum;
+        hh = sum - (Q - product1);
+        if (hh !== 0) {
+            h[hindex++] = hh;
+        }
+    }
+    if (Q !== 0 || hindex === 0) {
+        h[hindex++] = Q;
+    }
+    return hindex;
+}
+
+function negate(elen, e) {
+    for (let i = 0; i < elen; i++) e[i] = -e[i];
+    return elen;
+}
+
+function estimate(elen, e) {
+    let Q = e[0];
+    for (let i = 1; i < elen; i++) Q += e[i];
+    return Q;
+}
+
+function vec(n) {
+    return new Float64Array(n);
+}
+
+const isperrboundA = (16 + 224 * epsilon) * epsilon;
+const isperrboundB = (5 + 72 * epsilon) * epsilon;
+const isperrboundC = (71 + 1408 * epsilon) * epsilon * epsilon;
+
+const ab = vec(4);
+const bc = vec(4);
+const cd = vec(4);
+const de = vec(4);
+const ea = vec(4);
+const ac = vec(4);
+const bd = vec(4);
+const ce = vec(4);
+const da = vec(4);
+const eb = vec(4);
+
+const abc = vec(24);
+const bcd = vec(24);
+const cde = vec(24);
+const dea = vec(24);
+const eab = vec(24);
+const abd = vec(24);
+const bce = vec(24);
+const cda = vec(24);
+const deb = vec(24);
+const eac = vec(24);
+
+const adet = vec(1152);
+const bdet = vec(1152);
+const cdet = vec(1152);
+const ddet = vec(1152);
+const edet = vec(1152);
+const abdet = vec(2304);
+const cddet = vec(2304);
+const cdedet = vec(3456);
+const deter = vec(5760);
+
+const _8 = vec(8);
+const _8b = vec(8);
+const _8c = vec(8);
+const _16 = vec(16);
+const _24 = vec(24);
+const _48 = vec(48);
+const _48b = vec(48);
+const _96 = vec(96);
+const _192 = vec(192);
+const _384x = vec(384);
+const _384y = vec(384);
+const _384z = vec(384);
+const _768 = vec(768);
+
+function sum_three_scale(a, b, c, az, bz, cz, out) {
+    return sum_three(
+        scale(4, a, az, _8), _8,
+        scale(4, b, bz, _8b), _8b,
+        scale(4, c, cz, _8c), _8c, _16, out);
+}
+
+function liftexact(alen, a, blen, b, clen, c, dlen, d, x, y, z, out) {
+    const len = sum(
+        sum(alen, a, blen, b, _48), _48,
+        negate(sum(clen, c, dlen, d, _48b), _48b), _48b, _96);
+
+    return sum_three(
+        scale(scale(len, _96, x, _192), _192, x, _384x), _384x,
+        scale(scale(len, _96, y, _192), _192, y, _384y), _384y,
+        scale(scale(len, _96, z, _192), _192, z, _384z), _384z, _768, out);
+}
+
+function insphereexact(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz, ex, ey, ez) {
+    let bvirt, c, ahi, alo, bhi, blo, _i, _j, _0, s1, s0, t1, t0, u3;
+
+    s1 = ax * by;
+    c = splitter * ax;
+    ahi = c - (c - ax);
+    alo = ax - ahi;
+    c = splitter * by;
+    bhi = c - (c - by);
+    blo = by - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = bx * ay;
+    c = splitter * bx;
+    ahi = c - (c - bx);
+    alo = bx - ahi;
+    c = splitter * ay;
+    bhi = c - (c - ay);
+    blo = ay - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ab[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ab[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    ab[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    ab[3] = u3;
+    s1 = bx * cy;
+    c = splitter * bx;
+    ahi = c - (c - bx);
+    alo = bx - ahi;
+    c = splitter * cy;
+    bhi = c - (c - cy);
+    blo = cy - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = cx * by;
+    c = splitter * cx;
+    ahi = c - (c - cx);
+    alo = cx - ahi;
+    c = splitter * by;
+    bhi = c - (c - by);
+    blo = by - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    bc[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    bc[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    bc[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    bc[3] = u3;
+    s1 = cx * dy;
+    c = splitter * cx;
+    ahi = c - (c - cx);
+    alo = cx - ahi;
+    c = splitter * dy;
+    bhi = c - (c - dy);
+    blo = dy - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = dx * cy;
+    c = splitter * dx;
+    ahi = c - (c - dx);
+    alo = dx - ahi;
+    c = splitter * cy;
+    bhi = c - (c - cy);
+    blo = cy - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    cd[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    cd[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    cd[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    cd[3] = u3;
+    s1 = dx * ey;
+    c = splitter * dx;
+    ahi = c - (c - dx);
+    alo = dx - ahi;
+    c = splitter * ey;
+    bhi = c - (c - ey);
+    blo = ey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = ex * dy;
+    c = splitter * ex;
+    ahi = c - (c - ex);
+    alo = ex - ahi;
+    c = splitter * dy;
+    bhi = c - (c - dy);
+    blo = dy - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    de[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    de[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    de[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    de[3] = u3;
+    s1 = ex * ay;
+    c = splitter * ex;
+    ahi = c - (c - ex);
+    alo = ex - ahi;
+    c = splitter * ay;
+    bhi = c - (c - ay);
+    blo = ay - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = ax * ey;
+    c = splitter * ax;
+    ahi = c - (c - ax);
+    alo = ax - ahi;
+    c = splitter * ey;
+    bhi = c - (c - ey);
+    blo = ey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ea[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ea[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    ea[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    ea[3] = u3;
+    s1 = ax * cy;
+    c = splitter * ax;
+    ahi = c - (c - ax);
+    alo = ax - ahi;
+    c = splitter * cy;
+    bhi = c - (c - cy);
+    blo = cy - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = cx * ay;
+    c = splitter * cx;
+    ahi = c - (c - cx);
+    alo = cx - ahi;
+    c = splitter * ay;
+    bhi = c - (c - ay);
+    blo = ay - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ac[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ac[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    ac[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    ac[3] = u3;
+    s1 = bx * dy;
+    c = splitter * bx;
+    ahi = c - (c - bx);
+    alo = bx - ahi;
+    c = splitter * dy;
+    bhi = c - (c - dy);
+    blo = dy - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = dx * by;
+    c = splitter * dx;
+    ahi = c - (c - dx);
+    alo = dx - ahi;
+    c = splitter * by;
+    bhi = c - (c - by);
+    blo = by - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    bd[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    bd[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    bd[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    bd[3] = u3;
+    s1 = cx * ey;
+    c = splitter * cx;
+    ahi = c - (c - cx);
+    alo = cx - ahi;
+    c = splitter * ey;
+    bhi = c - (c - ey);
+    blo = ey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = ex * cy;
+    c = splitter * ex;
+    ahi = c - (c - ex);
+    alo = ex - ahi;
+    c = splitter * cy;
+    bhi = c - (c - cy);
+    blo = cy - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ce[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ce[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    ce[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    ce[3] = u3;
+    s1 = dx * ay;
+    c = splitter * dx;
+    ahi = c - (c - dx);
+    alo = dx - ahi;
+    c = splitter * ay;
+    bhi = c - (c - ay);
+    blo = ay - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = ax * dy;
+    c = splitter * ax;
+    ahi = c - (c - ax);
+    alo = ax - ahi;
+    c = splitter * dy;
+    bhi = c - (c - dy);
+    blo = dy - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    da[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    da[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    da[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    da[3] = u3;
+    s1 = ex * by;
+    c = splitter * ex;
+    ahi = c - (c - ex);
+    alo = ex - ahi;
+    c = splitter * by;
+    bhi = c - (c - by);
+    blo = by - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = bx * ey;
+    c = splitter * bx;
+    ahi = c - (c - bx);
+    alo = bx - ahi;
+    c = splitter * ey;
+    bhi = c - (c - ey);
+    blo = ey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    eb[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    eb[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    u3 = _j + _i;
+    bvirt = u3 - _j;
+    eb[2] = _j - (u3 - bvirt) + (_i - bvirt);
+    eb[3] = u3;
+
+    const abclen = sum_three_scale(ab, bc, ac, cz, az, -bz, abc);
+    const bcdlen = sum_three_scale(bc, cd, bd, dz, bz, -cz, bcd);
+    const cdelen = sum_three_scale(cd, de, ce, ez, cz, -dz, cde);
+    const dealen = sum_three_scale(de, ea, da, az, dz, -ez, dea);
+    const eablen = sum_three_scale(ea, ab, eb, bz, ez, -az, eab);
+    const abdlen = sum_three_scale(ab, bd, da, dz, az, bz, abd);
+    const bcelen = sum_three_scale(bc, ce, eb, ez, bz, cz, bce);
+    const cdalen = sum_three_scale(cd, da, ac, az, cz, dz, cda);
+    const deblen = sum_three_scale(de, eb, bd, bz, dz, ez, deb);
+    const eaclen = sum_three_scale(ea, ac, ce, cz, ez, az, eac);
+
+    const deterlen = sum_three(
+        liftexact(cdelen, cde, bcelen, bce, deblen, deb, bcdlen, bcd, ax, ay, az, adet), adet,
+        liftexact(dealen, dea, cdalen, cda, eaclen, eac, cdelen, cde, bx, by, bz, bdet), bdet,
+        sum_three(
+            liftexact(eablen, eab, deblen, deb, abdlen, abd, dealen, dea, cx, cy, cz, cdet), cdet,
+            liftexact(abclen, abc, eaclen, eac, bcelen, bce, eablen, eab, dx, dy, dz, ddet), ddet,
+            liftexact(bcdlen, bcd, abdlen, abd, cdalen, cda, abclen, abc, ex, ey, ez, edet), edet, cddet, cdedet), cdedet, abdet, deter);
+
+    return deter[deterlen - 1];
+}
+
+const xdet = vec(96);
+const ydet = vec(96);
+const zdet = vec(96);
+const fin = vec(1152);
+
+function liftadapt(a, b, c, az, bz, cz, x, y, z, out) {
+    const len = sum_three_scale(a, b, c, az, bz, cz, _24);
+    return sum_three(
+        scale(scale(len, _24, x, _48), _48, x, xdet), xdet,
+        scale(scale(len, _24, y, _48), _48, y, ydet), ydet,
+        scale(scale(len, _24, z, _48), _48, z, zdet), zdet, _192, out);
+}
+
+function insphereadapt(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz, ex, ey, ez, permanent) {
+    let ab3, bc3, cd3, da3, ac3, bd3;
+
+    let aextail, bextail, cextail, dextail;
+    let aeytail, beytail, ceytail, deytail;
+    let aeztail, beztail, ceztail, deztail;
+
+    let bvirt, c, ahi, alo, bhi, blo, _i, _j, _0, s1, s0, t1, t0;
+
+    const aex = ax - ex;
+    const bex = bx - ex;
+    const cex = cx - ex;
+    const dex = dx - ex;
+    const aey = ay - ey;
+    const bey = by - ey;
+    const cey = cy - ey;
+    const dey = dy - ey;
+    const aez = az - ez;
+    const bez = bz - ez;
+    const cez = cz - ez;
+    const dez = dz - ez;
+
+    s1 = aex * bey;
+    c = splitter * aex;
+    ahi = c - (c - aex);
+    alo = aex - ahi;
+    c = splitter * bey;
+    bhi = c - (c - bey);
+    blo = bey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = bex * aey;
+    c = splitter * bex;
+    ahi = c - (c - bex);
+    alo = bex - ahi;
+    c = splitter * aey;
+    bhi = c - (c - aey);
+    blo = aey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ab[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ab[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    ab3 = _j + _i;
+    bvirt = ab3 - _j;
+    ab[2] = _j - (ab3 - bvirt) + (_i - bvirt);
+    ab[3] = ab3;
+    s1 = bex * cey;
+    c = splitter * bex;
+    ahi = c - (c - bex);
+    alo = bex - ahi;
+    c = splitter * cey;
+    bhi = c - (c - cey);
+    blo = cey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = cex * bey;
+    c = splitter * cex;
+    ahi = c - (c - cex);
+    alo = cex - ahi;
+    c = splitter * bey;
+    bhi = c - (c - bey);
+    blo = bey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    bc[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    bc[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    bc3 = _j + _i;
+    bvirt = bc3 - _j;
+    bc[2] = _j - (bc3 - bvirt) + (_i - bvirt);
+    bc[3] = bc3;
+    s1 = cex * dey;
+    c = splitter * cex;
+    ahi = c - (c - cex);
+    alo = cex - ahi;
+    c = splitter * dey;
+    bhi = c - (c - dey);
+    blo = dey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = dex * cey;
+    c = splitter * dex;
+    ahi = c - (c - dex);
+    alo = dex - ahi;
+    c = splitter * cey;
+    bhi = c - (c - cey);
+    blo = cey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    cd[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    cd[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    cd3 = _j + _i;
+    bvirt = cd3 - _j;
+    cd[2] = _j - (cd3 - bvirt) + (_i - bvirt);
+    cd[3] = cd3;
+    s1 = dex * aey;
+    c = splitter * dex;
+    ahi = c - (c - dex);
+    alo = dex - ahi;
+    c = splitter * aey;
+    bhi = c - (c - aey);
+    blo = aey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = aex * dey;
+    c = splitter * aex;
+    ahi = c - (c - aex);
+    alo = aex - ahi;
+    c = splitter * dey;
+    bhi = c - (c - dey);
+    blo = dey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    da[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    da[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    da3 = _j + _i;
+    bvirt = da3 - _j;
+    da[2] = _j - (da3 - bvirt) + (_i - bvirt);
+    da[3] = da3;
+    s1 = aex * cey;
+    c = splitter * aex;
+    ahi = c - (c - aex);
+    alo = aex - ahi;
+    c = splitter * cey;
+    bhi = c - (c - cey);
+    blo = cey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = cex * aey;
+    c = splitter * cex;
+    ahi = c - (c - cex);
+    alo = cex - ahi;
+    c = splitter * aey;
+    bhi = c - (c - aey);
+    blo = aey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    ac[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    ac[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    ac3 = _j + _i;
+    bvirt = ac3 - _j;
+    ac[2] = _j - (ac3 - bvirt) + (_i - bvirt);
+    ac[3] = ac3;
+    s1 = bex * dey;
+    c = splitter * bex;
+    ahi = c - (c - bex);
+    alo = bex - ahi;
+    c = splitter * dey;
+    bhi = c - (c - dey);
+    blo = dey - bhi;
+    s0 = alo * blo - (s1 - ahi * bhi - alo * bhi - ahi * blo);
+    t1 = dex * bey;
+    c = splitter * dex;
+    ahi = c - (c - dex);
+    alo = dex - ahi;
+    c = splitter * bey;
+    bhi = c - (c - bey);
+    blo = bey - bhi;
+    t0 = alo * blo - (t1 - ahi * bhi - alo * bhi - ahi * blo);
+    _i = s0 - t0;
+    bvirt = s0 - _i;
+    bd[0] = s0 - (_i + bvirt) + (bvirt - t0);
+    _j = s1 + _i;
+    bvirt = _j - s1;
+    _0 = s1 - (_j - bvirt) + (_i - bvirt);
+    _i = _0 - t1;
+    bvirt = _0 - _i;
+    bd[1] = _0 - (_i + bvirt) + (bvirt - t1);
+    bd3 = _j + _i;
+    bvirt = bd3 - _j;
+    bd[2] = _j - (bd3 - bvirt) + (_i - bvirt);
+    bd[3] = bd3;
+
+    const finlen = sum(
+        sum(
+            negate(liftadapt(bc, cd, bd, dez, bez, -cez, aex, aey, aez, adet), adet), adet,
+            liftadapt(cd, da, ac, aez, cez, dez, bex, bey, bez, bdet), bdet, abdet), abdet,
+        sum(
+            negate(liftadapt(da, ab, bd, bez, dez, aez, cex, cey, cez, cdet), cdet), cdet,
+            liftadapt(ab, bc, ac, cez, aez, -bez, dex, dey, dez, ddet), ddet, cddet), cddet, fin);
+
+    let det = estimate(finlen, fin);
+    let errbound = isperrboundB * permanent;
+    if (det >= errbound || -det >= errbound) {
+        return det;
+    }
+
+    bvirt = ax - aex;
+    aextail = ax - (aex + bvirt) + (bvirt - ex);
+    bvirt = ay - aey;
+    aeytail = ay - (aey + bvirt) + (bvirt - ey);
+    bvirt = az - aez;
+    aeztail = az - (aez + bvirt) + (bvirt - ez);
+    bvirt = bx - bex;
+    bextail = bx - (bex + bvirt) + (bvirt - ex);
+    bvirt = by - bey;
+    beytail = by - (bey + bvirt) + (bvirt - ey);
+    bvirt = bz - bez;
+    beztail = bz - (bez + bvirt) + (bvirt - ez);
+    bvirt = cx - cex;
+    cextail = cx - (cex + bvirt) + (bvirt - ex);
+    bvirt = cy - cey;
+    ceytail = cy - (cey + bvirt) + (bvirt - ey);
+    bvirt = cz - cez;
+    ceztail = cz - (cez + bvirt) + (bvirt - ez);
+    bvirt = dx - dex;
+    dextail = dx - (dex + bvirt) + (bvirt - ex);
+    bvirt = dy - dey;
+    deytail = dy - (dey + bvirt) + (bvirt - ey);
+    bvirt = dz - dez;
+    deztail = dz - (dez + bvirt) + (bvirt - ez);
+    if (aextail === 0 && aeytail === 0 && aeztail === 0 &&
+        bextail === 0 && beytail === 0 && beztail === 0 &&
+        cextail === 0 && ceytail === 0 && ceztail === 0 &&
+        dextail === 0 && deytail === 0 && deztail === 0) {
+        return det;
+    }
+
+    errbound = isperrboundC * permanent + resulterrbound * Math.abs(det);
+
+    const abeps = (aex * beytail + bey * aextail) - (aey * bextail + bex * aeytail);
+    const bceps = (bex * ceytail + cey * bextail) - (bey * cextail + cex * beytail);
+    const cdeps = (cex * deytail + dey * cextail) - (cey * dextail + dex * ceytail);
+    const daeps = (dex * aeytail + aey * dextail) - (dey * aextail + aex * deytail);
+    const aceps = (aex * ceytail + cey * aextail) - (aey * cextail + cex * aeytail);
+    const bdeps = (bex * deytail + dey * bextail) - (bey * dextail + dex * beytail);
+    det +=
+        (((bex * bex + bey * bey + bez * bez) * ((cez * daeps + dez * aceps + aez * cdeps) +
+        (ceztail * da3 + deztail * ac3 + aeztail * cd3)) + (dex * dex + dey * dey + dez * dez) *
+        ((aez * bceps - bez * aceps + cez * abeps) + (aeztail * bc3 - beztail * ac3 + ceztail * ab3))) -
+        ((aex * aex + aey * aey + aez * aez) * ((bez * cdeps - cez * bdeps + dez * bceps) +
+        (beztail * cd3 - ceztail * bd3 + deztail * bc3)) + (cex * cex + cey * cey + cez * cez) *
+        ((dez * abeps + aez * bdeps + bez * daeps) + (deztail * ab3 + aeztail * bd3 + beztail * da3)))) +
+        2 * (((bex * bextail + bey * beytail + bez * beztail) * (cez * da3 + dez * ac3 + aez * cd3) +
+        (dex * dextail + dey * deytail + dez * deztail) * (aez * bc3 - bez * ac3 + cez * ab3)) -
+        ((aex * aextail + aey * aeytail + aez * aeztail) * (bez * cd3 - cez * bd3 + dez * bc3) +
+        (cex * cextail + cey * ceytail + cez * ceztail) * (dez * ab3 + aez * bd3 + bez * da3)));
+
+    if (det >= errbound || -det >= errbound) {
+        return det;
+    }
+
+    return insphereexact(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz, ex, ey, ez);
+}
+
+function insphere(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz, ex, ey, ez) {
+    const aex = ax - ex;
+    const bex = bx - ex;
+    const cex = cx - ex;
+    const dex = dx - ex;
+    const aey = ay - ey;
+    const bey = by - ey;
+    const cey = cy - ey;
+    const dey = dy - ey;
+    const aez = az - ez;
+    const bez = bz - ez;
+    const cez = cz - ez;
+    const dez = dz - ez;
+
+    const aexbey = aex * bey;
+    const bexaey = bex * aey;
+    const ab = aexbey - bexaey;
+    const bexcey = bex * cey;
+    const cexbey = cex * bey;
+    const bc = bexcey - cexbey;
+    const cexdey = cex * dey;
+    const dexcey = dex * cey;
+    const cd = cexdey - dexcey;
+    const dexaey = dex * aey;
+    const aexdey = aex * dey;
+    const da = dexaey - aexdey;
+    const aexcey = aex * cey;
+    const cexaey = cex * aey;
+    const ac = aexcey - cexaey;
+    const bexdey = bex * dey;
+    const dexbey = dex * bey;
+    const bd = bexdey - dexbey;
+
+    const abc = aez * bc - bez * ac + cez * ab;
+    const bcd = bez * cd - cez * bd + dez * bc;
+    const cda = cez * da + dez * ac + aez * cd;
+    const dab = dez * ab + aez * bd + bez * da;
+
+    const alift = aex * aex + aey * aey + aez * aez;
+    const blift = bex * bex + bey * bey + bez * bez;
+    const clift = cex * cex + cey * cey + cez * cez;
+    const dlift = dex * dex + dey * dey + dez * dez;
+
+    const det = (clift * dab - dlift * abc) + (alift * bcd - blift * cda);
+
+    const aezplus = Math.abs(aez);
+    const bezplus = Math.abs(bez);
+    const cezplus = Math.abs(cez);
+    const dezplus = Math.abs(dez);
+    const aexbeyplus = Math.abs(aexbey);
+    const bexaeyplus = Math.abs(bexaey);
+    const bexceyplus = Math.abs(bexcey);
+    const cexbeyplus = Math.abs(cexbey);
+    const cexdeyplus = Math.abs(cexdey);
+    const dexceyplus = Math.abs(dexcey);
+    const dexaeyplus = Math.abs(dexaey);
+    const aexdeyplus = Math.abs(aexdey);
+    const aexceyplus = Math.abs(aexcey);
+    const cexaeyplus = Math.abs(cexaey);
+    const bexdeyplus = Math.abs(bexdey);
+    const dexbeyplus = Math.abs(dexbey);
+    const permanent =
+        ((cexdeyplus + dexceyplus) * bezplus + (dexbeyplus + bexdeyplus) * cezplus + (bexceyplus + cexbeyplus) * dezplus) * alift +
+        ((dexaeyplus + aexdeyplus) * cezplus + (aexceyplus + cexaeyplus) * dezplus + (cexdeyplus + dexceyplus) * aezplus) * blift +
+        ((aexbeyplus + bexaeyplus) * dezplus + (bexdeyplus + dexbeyplus) * aezplus + (dexaeyplus + aexdeyplus) * bezplus) * clift +
+        ((bexceyplus + cexbeyplus) * aezplus + (cexaeyplus + aexceyplus) * bezplus + (aexbeyplus + bexaeyplus) * cezplus) * dlift;
+
+    const errbound = isperrboundA * permanent;
+    if (det > errbound || -det > errbound) {
+        return det;
+    }
+    return -insphereadapt(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz, ex, ey, ez, permanent);
+}
+
+function inspherefast(pax, pay, paz, pbx, pby, pbz, pcx, pcy, pcz, pdx, pdy, pdz, pex, pey, pez) {
+    const aex = pax - pex;
+    const bex = pbx - pex;
+    const cex = pcx - pex;
+    const dex = pdx - pex;
+    const aey = pay - pey;
+    const bey = pby - pey;
+    const cey = pcy - pey;
+    const dey = pdy - pey;
+    const aez = paz - pez;
+    const bez = pbz - pez;
+    const cez = pcz - pez;
+    const dez = pdz - pez;
+
+    const ab = aex * bey - bex * aey;
+    const bc = bex * cey - cex * bey;
+    const cd = cex * dey - dex * cey;
+    const da = dex * aey - aex * dey;
+    const ac = aex * cey - cex * aey;
+    const bd = bex * dey - dex * bey;
+
+    const abc = aez * bc - bez * ac + cez * ab;
+    const bcd = bez * cd - cez * bd + dez * bc;
+    const cda = cez * da + dez * ac + aez * cd;
+    const dab = dez * ab + aez * bd + bez * da;
+
+    const alift = aex * aex + aey * aey + aez * aez;
+    const blift = bex * bex + bey * bey + bez * bez;
+    const clift = cex * cex + cey * cey + cez * cez;
+    const dlift = dex * dex + dey * dey + dez * dez;
+
+    return (clift * dab - dlift * abc) + (alift * bcd - blift * cda);
+}
+
+exports.insphere = insphere;
+exports.inspherefast = inspherefast;
+
+Object.defineProperty(exports, '__esModule', { value: true });
+
+}));