plotboilerplate 1.27.0 → 1.28.0

package/src/_esm/src/ts/CubicBezierCurve.js

@@ -0,0 +1,1053 @@
+/**
+ * @author   Ikaros Kappler
+ * @date     2013-08-15
+ * @modified 2018-08-16 Added a closure. Removed the wrapper class 'IKRS'. Replaced class THREE.Vector2 by Vertex class.
+ * @modified 2018-11-19 Added the fromArray(Array) function.
+ * @modified 2018-11-28 Added the locateCurveByPoint(Vertex) function.
+ * @modified 2018-12-04 Added the toSVGPathData() function.
+ * @modified 2019-03-20 Added JSDoc tags.
+ * @modified 2019-03-23 Changed the signatures of getPoint, getPointAt and getTangent (!version 2.0).
+ * @modified 2019-12-02 Fixed the updateArcLength function. It used the wrong pointAt function (was renamed before).
+ * @modified 2020-02-06 Added the getSubCurveAt(number,number) function.
+ * @modified 2020-02-06 Fixed a serious bug in the arc lenght calculation (length was never reset, urgh).
+ * @modified 2020-02-07 Added the isInstance(any) function.
+ * @modified 2020-02-10 Added the reverse() function.
+ * @modified 2020-02-10 Fixed the translate(...) function (returning 'this' was missing).
+ * @modified 2020-03-24 Ported this class from vanilla JS to Typescript.
+ * @modified 2020-06-03 Added the getBounds() function.
+ * @modified 2020-07-14 Changed the moveCurvePoint(...,Vertex) to moveCurvePoint(...,XYCoords), which is more generic.
+ * @modified 2020-07-24 Added the getClosestT function and the helper function locateIntervalByDistance(...).
+ * @modified 2021-01-20 Added UID.
+ * @modified 2022-02-02 Added the `destroy` method.
+ * @modified 2022-02-02 Cleared the `toSVGPathData` function (deprecated). Use `drawutilssvg` instead.
+ * @modified 2022-10-17 The `CubicBezierCurve` class now implements the new `PathSegment` interface.
+ * @modified 2023-09-30 Added the function `CubicbezierCurve.getSubCurve(number,number)` – similar to `getSubCurveAt(...)` but with absolute position parameters.
+ * @modified 2023-10-07 Added the `trimEnd`, `trimEndAt`, `trimStart`, `trimStartAt` methods.
+ * @modified 2025-04-09 Added the `CubicBezierCurve.move` method to match the convention – which just calls `translate`.
+ * @modified 2025-04-09 Modified the `CubicBezierCurve.translate` method: chaning parameter `Vertex` to more generalized `XYCoords`.
+ * @modified 2025-04-13 Changed visibility of `CubicBezierCurve.utils` from 'private' to  'public'.
+ * @modified 2025-04-13 Added helper function `CubicBezierCurve.utils.bezierCoeffs`.
+ * @modified 2025-04-13 Added helper functopn `CubicBezierCurve.utils.sgn(number)` for division safe sign calculation.
+ * @modified 2025-03-13 Class `CubicBezierCurve` is now implementing interface `Intersectable`.
+ * @modified 2025-04-18 Added evaluation method for cubic Bézier curves `CubicBezierCurve.utils.evaluateT`.
+ * @modified 2025-04-18 Refactored method `CubicBezierCurve.getPointAt` to use `evaluateT`.
+ * @modified 2025-04-18 Fixed the `CubicBezierCurve.getBounds` method: now returning the real bounding box. Before it was an approximated one.
+ * @modified 2025-ß4-18 Added helper methods for bounding box calculation `CubucBezierCurve.util.cubicPolyMinMax` and `cubicPoly`.
+ * @version 2.9.0
+ *
+ * @file CubicBezierCurve
+ * @public
+ **/
+import { Bounds } from "./Bounds";
+import { UIDGenerator } from "./UIDGenerator";
+import { Vertex } from "./Vertex";
+import { Vector } from "./Vector";
+/**
+ * @classdesc A refactored cubic bezier curve class.
+ *
+ * @requires Bounds
+ * @requires Vertex
+ * @requires Vector
+ * @requires XYCoords
+ * @requires UID
+ * @requires UIDGenerator
+ */
+export class CubicBezierCurve {
+    /**
+     * The constructor.
+     *
+     * @constructor
+     * @name CubicBezierCurve
+     * @param {Vertex} startPoint - The Bézier curve's start point.
+     * @param {Vertex} endPoint   - The Bézier curve's end point.
+     * @param {Vertex} startControlPoint - The Bézier curve's start control point.
+     * @param {Vertex} endControlPoint   - The Bézier curve's end control point.
+     **/
+    constructor(startPoint, endPoint, startControlPoint, endControlPoint) {
+        /** @constant {number} */
+        this.START_POINT = CubicBezierCurve.START_POINT;
+        /** @constant {number} */
+        this.START_CONTROL_POINT = CubicBezierCurve.START_CONTROL_POINT;
+        /** @constant {number} */
+        this.END_CONTROL_POINT = CubicBezierCurve.END_CONTROL_POINT;
+        /** @constant {number} */
+        this.END_POINT = CubicBezierCurve.END_POINT;
+        this.uid = UIDGenerator.next();
+        this.startPoint = startPoint;
+        this.startControlPoint = startControlPoint;
+        this.endPoint = endPoint;
+        this.endControlPoint = endControlPoint;
+        this.curveIntervals = 30;
+        // An array of vertices
+        this.segmentCache = [];
+        // An array of floats
+        this.segmentLengths = [];
+        // float
+        // this.arcLength = null;
+        this.updateArcLengths();
+    }
+    /**
+     * Move the given curve point (the start point, end point or one of the two
+     * control points).
+     *
+     * @method moveCurvePoint
+     * @param {number} pointID - The numeric identicator of the point to move. Use one of the four eBezierPoint constants.
+     * @param {XYCoords} moveAmount - The amount to move the specified point by.
+     * @param {boolean} moveControlPoint - Move the control points along with their path point (if specified point is a path point).
+     * @param {boolean} updateArcLengths - Specifiy if the internal arc segment buffer should be updated.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {void}
+     **/
+    moveCurvePoint(pointID, moveAmount, moveControlPoint, updateArcLengths) {
+        if (pointID == this.START_POINT) {
+            this.getStartPoint().add(moveAmount);
+            if (moveControlPoint)
+                this.getStartControlPoint().add(moveAmount);
+        }
+        else if (pointID == this.START_CONTROL_POINT) {
+            this.getStartControlPoint().add(moveAmount);
+        }
+        else if (pointID == this.END_CONTROL_POINT) {
+            this.getEndControlPoint().add(moveAmount);
+        }
+        else if (pointID == this.END_POINT) {
+            this.getEndPoint().add(moveAmount);
+            if (moveControlPoint)
+                this.getEndControlPoint().add(moveAmount);
+        }
+        else {
+            console.log(`[CubicBezierCurve.moveCurvePoint] pointID '${pointID}' invalid.`);
+        }
+        if (updateArcLengths)
+            this.updateArcLengths();
+    }
+    /**
+     * Translate the whole curve by the given {x,y} amount: moves all four points.
+     *
+     * @method translate
+     * @param {XYCoords} amount - The amount to translate this curve by.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} this (for chaining).
+     **/
+    translate(amount) {
+        this.startPoint.add(amount);
+        this.startControlPoint.add(amount);
+        this.endControlPoint.add(amount);
+        this.endPoint.add(amount);
+        return this;
+    }
+    /**
+     * Translate the whole curve by the given {x,y} amount: moves all four points.
+     *
+     * @method translate
+     * @param {XYCoords} amount - The amount to translate this curve by.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} this (for chaining).
+     **/
+    move(amount) {
+        return this.translate(amount);
+    }
+    /**
+     * Reverse this curve, means swapping start- and end-point and swapping
+     * start-control- and end-control-point.
+     *
+     * @method reverse
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} this (for chaining).
+     **/
+    reverse() {
+        let tmp = this.startPoint;
+        this.startPoint = this.endPoint;
+        this.endPoint = tmp;
+        tmp = this.startControlPoint;
+        this.startControlPoint = this.endControlPoint;
+        this.endControlPoint = tmp;
+        return this;
+    }
+    /**
+     * Get the total curve length.<br>
+     * <br>
+     * As not all Bézier curved have a closed formula to calculate their lengths, this
+     * implementation uses a segment buffer (with a length of 30 segments). So the
+     * returned length is taken from the arc segment buffer.<br>
+     * <br>
+     * Note that if the curve points were changed and the segment buffer was not
+     * updated this function might return wrong (old) values.
+     *
+     * @method getLength
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {number} >= 0
+     **/
+    getLength() {
+        return this.arcLength;
+    }
+    /**
+     * Uptate the internal arc segment buffer and their lengths.<br>
+     * <br>
+     * All class functions update the buffer automatically; if any
+     * curve point is changed by other reasons you should call this
+     * function to keep actual values in the buffer.
+     *
+     * @method updateArcLengths
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {void}
+     **/
+    updateArcLengths() {
+        let pointA = this.startPoint.clone();
+        let pointB = new Vertex(0, 0);
+        let curveStep = 1.0 / this.curveIntervals;
+        // Clear segment cache
+        this.segmentCache = [];
+        // Push start point into buffer
+        this.segmentCache.push(this.startPoint);
+        this.segmentLengths = [];
+        let newLength = 0.0;
+        var t = 0.0;
+        let tmpLength;
+        while (t <= 1.0) {
+            pointB = this.getPointAt(t);
+            // Store point into cache
+            this.segmentCache.push(pointB);
+            // Calculate segment length
+            tmpLength = pointA.distance(pointB);
+            this.segmentLengths.push(tmpLength);
+            newLength += tmpLength;
+            pointA = pointB;
+            t += curveStep;
+        }
+        this.arcLength = newLength;
+    }
+    /**
+     * Get a 't' (relative position on curve) with the closest distance to point 'p'.
+     *
+     * The returned number is 0.0 <= t <= 1.0. Use the getPointAt(t) function to retrieve the actual curve point.
+     *
+     * This function uses a recursive approach by cutting the curve into several linear segments.
+     *
+     * @method getClosestT
+     * @instance
+     * @memberof CubicBezierCurve
+     * @param {Vertex} p - The point to find the closest position ('t' on the curve).
+     * @return {number}
+     **/
+    getClosestT(p) {
+        // We would like to have an error that's not larger than 1.0.
+        var desiredEpsilon = 1.0;
+        var result = { t: 0, tPrev: 0.0, tNext: 1.0 };
+        var iteration = 0;
+        do {
+            result = this.locateIntervalByDistance(p, result.tPrev, result.tNext, this.curveIntervals);
+            iteration++;
+            // Be sure: stop after 4 iterations
+        } while (iteration < 4 && this.getPointAt(result.tPrev).distance(this.getPointAt(result.tNext)) > desiredEpsilon);
+        return result.t;
+    }
+    /**
+     * This helper function locates the 't' on a fixed step interval with the minimal distance
+     * between the curve (at 't') and the given point.
+     *
+     * Furthermore you must specify a sub curve (start 't' and end 't') you want to search on.
+     * Using tStart=0.0 and tEnd=1.0 will search on the full curve.
+     *
+     * @param {Vertex} p - The point to find the closest curve point for.
+     * @param {number} tStart - The start position (start 't' of the sub curve). Should be >= 0.0.
+     * @param {number} tEnd - The end position (end 't' of the sub curve). Should be <= 1.0.
+     * @param {number} stepCount - The number of steps to check within the interval.
+     *
+     * @return {object} - An object with t, tPrev and tNext (numbers).
+     **/
+    locateIntervalByDistance(p, tStart, tEnd, stepCount) {
+        var minIndex = -1;
+        var minDist = 0;
+        var t = 0.0;
+        const tDiff = tEnd - tStart;
+        for (var i = 0; i <= stepCount; i++) {
+            t = tStart + tDiff * (i / stepCount);
+            var vert = this.getPointAt(t);
+            var dist = vert.distance(p);
+            if (minIndex == -1 || dist < minDist) {
+                minIndex = i;
+                minDist = dist;
+            }
+        }
+        return {
+            t: tStart + tDiff * (minIndex / stepCount),
+            tPrev: tStart + tDiff * (Math.max(0, minIndex - 1) / stepCount),
+            tNext: tStart + tDiff * (Math.min(stepCount, minIndex + 1) / stepCount)
+        };
+    }
+    //--- BEGIN --- Implement interface `IBounded`
+    /**
+     * Get the bounds of this bezier curve.
+     *
+     * The bounds are approximated by the underlying segment buffer; the more segment there are,
+     * the more accurate will be the returned bounds.
+     *
+     * @method getClosestT
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Bounds} The bounds of this ellipse.
+     **/
+    getBounds() {
+        // Thanks to Richard "RM" for the Bézier bounds calculatin
+        //    https://jsfiddle.net/SalixAlba/QQnvm/4/
+        const xMinMax = CubicBezierCurve.utils.cubicPolyMinMax(this.startPoint.x, this.startControlPoint.x, this.endControlPoint.x, this.endPoint.x);
+        const xl = xMinMax.min;
+        const xh = xMinMax.max;
+        const yMinMax = CubicBezierCurve.utils.cubicPolyMinMax(this.startPoint.y, this.startControlPoint.y, this.endControlPoint.y, this.endPoint.y);
+        const yl = yMinMax.min;
+        const yh = yMinMax.max;
+        return Bounds.computeFromVertices([
+            { x: xl, y: yl },
+            { x: xl, y: yh },
+            { x: xh, y: yh },
+            { x: xh, y: yl }
+        ]);
+    }
+    //--- END --- Implement interface `IBounded`
+    /**
+     * Get the start point of the curve.<br>
+     * <br>
+     * This function just returns this.startPoint.
+     *
+     * @method getStartPoint
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex} this.startPoint
+     **/
+    getStartPoint() {
+        return this.startPoint;
+    }
+    /**
+     * Get the end point of the curve.<br>
+     * <br>
+     * This function just returns this.endPoint.
+     *
+     * @method getEndPoint
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex} this.endPoint
+     **/
+    getEndPoint() {
+        return this.endPoint;
+    }
+    /**
+     * Get the start control point of the curve.<br>
+     * <br>
+     * This function just returns this.startControlPoint.
+     *
+     * @method getStartControlPoint
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex} this.startControlPoint
+     **/
+    getStartControlPoint() {
+        return this.startControlPoint;
+    }
+    /**
+     * Get the end control point of the curve.<br>
+     * <br>
+     * This function just returns this.endControlPoint.
+     *
+     * @method getEndControlPoint
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex} this.endControlPoint
+     **/
+    getEndControlPoint() {
+        return this.endControlPoint;
+    }
+    /**
+     * Get one of the four curve points specified by the passt point ID.
+     *
+     * @method getEndControlPoint
+     * @param {number} id - One of START_POINT, START_CONTROL_POINT, END_CONTROL_POINT or END_POINT.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getPointByID(id) {
+        if (id == this.START_POINT)
+            return this.startPoint;
+        if (id == this.END_POINT)
+            return this.endPoint;
+        if (id == this.START_CONTROL_POINT)
+            return this.startControlPoint;
+        if (id == this.END_CONTROL_POINT)
+            return this.endControlPoint;
+        throw new Error(`Invalid point ID '${id}'.`);
+    }
+    /**
+     * Get the curve point at a given position t, where t is in [0,1].<br>
+     * <br>
+     * @see Line.pointAt
+     *
+     * @method getPointAt
+     * @param {number} t - The position on the curve in [0,1] (0 means at
+     *                     start point, 1 means at end point, other values address points in bertween).
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getPointAt(t) {
+        // Perform some powerful math magic
+        // TODO: cleanup
+        // const x: number =
+        //   this.startPoint.x * Math.pow(1.0 - t, 3) +
+        //   this.startControlPoint.x * 3 * t * Math.pow(1.0 - t, 2) +
+        //   this.endControlPoint.x * 3 * Math.pow(t, 2) * (1.0 - t) +
+        //   this.endPoint.x * Math.pow(t, 3);
+        // const y: number =
+        //   this.startPoint.y * Math.pow(1.0 - t, 3) +
+        //   this.startControlPoint.y * 3 * t * Math.pow(1.0 - t, 2) +
+        //   this.endControlPoint.y * 3 * Math.pow(t, 2) * (1.0 - t) +
+        //   this.endPoint.y * Math.pow(t, 3);
+        const x = CubicBezierCurve.utils.evaluateT(this.startPoint.x, this.startControlPoint.x, this.endControlPoint.x, this.endPoint.x, t);
+        const y = CubicBezierCurve.utils.evaluateT(this.startPoint.y, this.startControlPoint.y, this.endControlPoint.y, this.endPoint.y, t);
+        return new Vertex(x, y);
+    }
+    /**
+     * Get the curve point at a given position u, where u is in [0,arcLength].<br>
+     * <br>
+     * @see CubicBezierCurve.getPointAt
+     *
+     * @method getPoint
+     * @param {number} u - The position on the curve in [0,arcLength] (0 means at
+     *                     start point, arcLength means at end point, other values address points in bertween).
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getPoint(u) {
+        return this.getPointAt(u / this.arcLength);
+    }
+    /**
+     * Get the curve tangent vector at a given absolute curve position t in [0,1].<br>
+     * <br>
+     * Note that the returned tangent vector (end point) is not normalized and relative to (0,0).
+     *
+     * @method getTangent
+     * @param {number} t - The position on the curve in [0,1].
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getTangentAt(t) {
+        const a = this.getStartPoint();
+        const b = this.getStartControlPoint();
+        const c = this.getEndControlPoint();
+        const d = this.getEndPoint();
+        // This is the shortened one
+        const t2 = t * t;
+        // (1 - t)^2 = (1-t)*(1-t) = 1 - t - t + t^2 = 1 - 2*t + t^2
+        const nt2 = 1 - 2 * t + t2;
+        const tX = -3 * a.x * nt2 + b.x * (3 * nt2 - 6 * (t - t2)) + c.x * (6 * (t - t2) - 3 * t2) + 3 * d.x * t2;
+        const tY = -3 * a.y * nt2 + b.y * (3 * nt2 - 6 * (t - t2)) + c.y * (6 * (t - t2) - 3 * t2) + 3 * d.y * t2;
+        // Note: my implementation does NOT normalize tangent vectors!
+        return new Vertex(tX, tY);
+    }
+    /**
+     * Trim off a start section of this curve. The position parameter `uValue` is the absolute position on the
+     * curve in `[0...arcLength]`.
+     * The remaining curve will be the one in the bounds `[uValue,1]` (so `[0.0,uValue]` is cut off).
+     *
+     * Note this function just converts the absolute parameter to a relative one and call `trimStartAt`.
+     *
+     * @method trimStart
+     * @instance
+     * @memberof CubicBezierCurve
+     * @param {number} uValue - The absolute position parameter where to cut off the head curve.
+     * @returns {CubicBezierCurve} `this` for chanining.
+     */
+    trimStart(uValue) {
+        return this.trimStartAt(this.convertU2T(uValue));
+    }
+    /**
+     * Trim off a start section of this curve. The position parameter `t` is the relative position in [0..1].
+     * The remaining curve will be the one in the bounds `[uValue,1]` (so `[0.0,uValue]` is cut off).
+     *
+     * @method trimStartAt
+     * @instance
+     * @memberof CubicBezierCurve
+     * @param {number} t - The relative position parameter where to cut off the head curve.
+     * @returns {CubicBezierCurve} `this` for chanining.
+     */
+    trimStartAt(t) {
+        const subCurbePoints = CubicBezierCurve.utils.getSubCurvePointsAt(this, t, 1.0);
+        this.startPoint.set(subCurbePoints[0]);
+        this.startControlPoint.set(subCurbePoints[2]);
+        this.endPoint.set(subCurbePoints[1]);
+        this.endControlPoint.set(subCurbePoints[3]);
+        this.updateArcLengths();
+        return this;
+    }
+    /**
+     * Trim off the end of this curve. The position parameter `uValue` is the absolute position on the
+     * curve in `[0...arcLength]`.
+     * The remaining curve will be the one in the bounds `[0,uValue]` (so `[1.0-uValue,1.0]` is cut off).
+     *
+     * Note this function just converts the absolute parameter to a relative one and call `trimEndAt`.
+     *
+     * @method trimEnd
+     * @instance
+     * @memberof CubicBezierCurve
+     * @param {number} uValue - The absolute position parameter where to cut off the tail curve.
+     * @returns {CubicBezierCurve} `this` for chanining.
+     */
+    trimEnd(uValue) {
+        return this.trimEndAt(this.convertU2T(uValue));
+    }
+    /**
+     * Trim off the end of this curve. The position parameter `t` is the relative position in [0..1].
+     * The remaining curve will be the one in the bounds `[0,t]` (so `[1.0-t,1.0]` is cut off).
+     *
+     * @method trimEndAt
+     * @instance
+     * @memberof CubicBezierCurve
+     * @param {number} t - The relative position parameter where to cut off the tail curve.
+     * @returns {CubicBezierCurve} `this` for chanining.
+     */
+    trimEndAt(t) {
+        const subCurbePoints = CubicBezierCurve.utils.getSubCurvePointsAt(this, 0.0, t);
+        this.startPoint.set(subCurbePoints[0]);
+        this.startControlPoint.set(subCurbePoints[2]);
+        this.endPoint.set(subCurbePoints[1]);
+        this.endControlPoint.set(subCurbePoints[3]);
+        this.updateArcLengths();
+        return this;
+    }
+    /**
+     * Get a sub curve at the given start end end positions (values on the curve's length, between 0 and curve.arcLength).
+     *
+     * tStart >= tEnd is allowed, you will get a reversed sub curve then.
+     *
+     * @method getSubCurve
+     * @param {number} tStart – The start position of the desired sub curve (must be in [0..arcLength]).
+     * @param {number} tEnd – The end position if the desired cub curve (must be in [0..arcLength]).
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} The sub curve as a new curve.
+     **/
+    getSubCurve(uStart, uEnd) {
+        return this.getSubCurveAt(this.convertU2T(uStart), this.convertU2T(uEnd));
+    }
+    /**
+     * Get a sub curve at the given start end end offsets (values between 0.0 and 1.0).
+     *
+     * tStart >= tEnd is allowed, you will get a reversed sub curve then.
+     *
+     * @method getSubCurveAt
+     * @param {number} tStart – The start offset of the desired sub curve (must be in [0..1]).
+     * @param {number} tEnd – The end offset if the desired cub curve (must be in [0..1]).
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} The sub curve as a new curve.
+     **/
+    getSubCurveAt(tStart, tEnd) {
+        // This 'splits' the curve at the given point at t.
+        const subCurbePoints = CubicBezierCurve.utils.getSubCurvePointsAt(this, tStart, tEnd);
+        return new CubicBezierCurve(subCurbePoints[0], subCurbePoints[1], subCurbePoints[2], subCurbePoints[3]);
+    }
+    /**
+     * Convert a relative curve position u to the absolute curve position t.
+     *
+     * @method convertU2t
+     * @param {number} u - The relative position on the curve in [0,arcLength].
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {number}
+     **/
+    convertU2T(u) {
+        return Math.max(0.0, Math.min(1.0, u / this.arcLength));
+    }
+    /**
+     * Get the curve tangent vector at a given relative position u in [0,arcLength].<br>
+     * <br>
+     * Note that the returned tangent vector (end point) is not normalized.
+     *
+     * @method getTangent
+     * @param {number} u - The position on the curve in [0,arcLength].
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getTangent(u) {
+        return this.getTangentAt(this.convertU2T(u));
+    }
+    /**
+     * Get the curve perpendicular at a given relative position u in [0,arcLength] as a vector.<br>
+     * <br>
+     * Note that the returned vector (end point) is not normalized.
+     *
+     * @method getPerpendicular
+     * @param {number} u - The relative position on the curve in [0,arcLength].
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getPerpendicular(u) {
+        return this.getPerpendicularAt(this.convertU2T(u));
+    }
+    /**
+     * Get the curve perpendicular at a given absolute position t in [0,1] as a vector.<br>
+     * <br>
+     * Note that the returned vector (end point) is not normalized.
+     *
+     * @method getPerpendicularAt
+     * @param {number} u - The absolute position on the curve in [0,1].
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {Vertex}
+     **/
+    getPerpendicularAt(t) {
+        const tangentVector = this.getTangentAt(t);
+        return new Vertex(tangentVector.y, -tangentVector.x);
+    }
+    /**
+     * Clone this Bézier curve (deep clone).
+     *
+     * @method clone
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve}
+     **/
+    clone() {
+        return new CubicBezierCurve(this.getStartPoint().clone(), this.getEndPoint().clone(), this.getStartControlPoint().clone(), this.getEndControlPoint().clone());
+    }
+    //---BEGIN PathSegment-------------------------
+    /**
+     * Get the tangent's end point at the start point of this segment.
+     *
+     * @method getStartTangent
+     * @memberof PathSegment
+     * @return {Vertex} The end point of the starting point's tangent.
+     */
+    getStartTangent() {
+        return this.startControlPoint;
+    }
+    /**
+     * Get the tangent's end point at the end point of this segment.
+     *
+     * @method getEndTangent
+     * @memberof PathSegment
+     * @return {Vertex} The end point of the ending point's tangent.
+     */
+    getEndTangent() {
+        return this.endControlPoint;
+    }
+    //---END PathSegment-------------------------
+    //--- BEGIN --- Implement interface `Intersectable`
+    /**
+     * Get all line intersections with this shape.
+     *
+     * This method returns all intersections (as vertices) with this shape. The returned array of vertices is in no specific order.
+     *
+     * @param {VertTuple} line - The line to find intersections with.
+     * @param {boolean} inVectorBoundsOnly - If set to true only intersecion points on the passed vector are returned (located strictly between start and end vertex).
+     * @returns {Array<Vertex>} - An array of all intersections with the shape outline.
+     */
+    lineIntersections(line, inVectorBoundsOnly = false) {
+        const intersectionTs = this.lineIntersectionTs(line);
+        const intersectionPoints = intersectionTs.map((t) => {
+            return this.getPointAt(t);
+        });
+        if (inVectorBoundsOnly) {
+            // const maxDist = line.length();
+            return intersectionPoints.filter((vert) => line.hasPoint(vert, true));
+        }
+        else {
+            return intersectionPoints;
+        }
+    }
+    /**
+     * Get all line intersections of this polygon and their tangents along the shape.
+     *
+     * This method returns all intersection tangents (as vectors) with this shape. The returned array of vectors is in no specific order.
+     *
+     * @param line
+     * @param lineIntersectionTangents
+     * @returns
+     */
+    lineIntersectionTangents(line, inVectorBoundsOnly = false) {
+        const intersectionTs = this.lineIntersectionTs(line);
+        const intersectionTangents = intersectionTs.map((t) => {
+            const startPoint = this.getPointAt(t);
+            const endPoint = this.getTangentAt(t);
+            return new Vector(startPoint, endPoint.add(startPoint));
+        });
+        if (inVectorBoundsOnly) {
+            return intersectionTangents.filter((vec) => line.hasPoint(vec.a, true));
+        }
+        else {
+            return intersectionTangents;
+        }
+    }
+    //--- END --- Implement interface `Intersectable`
+    lineIntersectionTs(line) {
+        var A = line.b.y - line.a.y; // A=y2-y1
+        var B = line.a.x - line.b.x; // B=x1-x2
+        var C = line.a.x * (line.a.y - line.b.y) + line.a.y * (line.b.x - line.a.x); //C=x1*(y1-y2)+y1*(x2-x1)
+        // var bx = bezierCoeffs(px[0], px[1], px[2], px[3]);
+        // var by = bezierCoeffs(py[0], py[1], py[2], py[3]);
+        var bx = CubicBezierCurve.utils.bezierCoeffs(this.startPoint.x, this.startControlPoint.x, this.endControlPoint.x, this.endPoint.x);
+        var by = CubicBezierCurve.utils.bezierCoeffs(this.startPoint.y, this.startControlPoint.y, this.endControlPoint.y, this.endPoint.y);
+        const poly = Array(4);
+        poly[0] = A * bx[0] + B * by[0]; /*t^3*/
+        poly[1] = A * bx[1] + B * by[1]; /*t^2*/
+        poly[2] = A * bx[2] + B * by[2]; /*t*/
+        poly[3] = A * bx[3] + B * by[3] + C; /*1*/
+        var roots = CubicBezierCurve.utils.cubicRoots(poly);
+        return roots.filter((root) => root != -1);
+    }
+    /**
+     * Check if this and the specified curve are equal.<br>
+     * <br>
+     * All four points need to be equal for this, the Vertex.equals function is used.<br>
+     * <br>
+     * Please note that this function is not type safe (comparison with any object will fail).
+     *
+     * @method clone
+     * @param {CubicBezierCurve} curve - The curve to compare with.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {boolean}
+     **/
+    equals(curve) {
+        // Note: in the earlier vanilla-JS version this was callable with plain objects.
+        //       Let's see if this restricted version works out.
+        if (!curve)
+            return false;
+        if (!curve.startPoint || !curve.endPoint || !curve.startControlPoint || !curve.endControlPoint)
+            return false;
+        return (this.startPoint.equals(curve.startPoint) &&
+            this.endPoint.equals(curve.endPoint) &&
+            this.startControlPoint.equals(curve.startControlPoint) &&
+            this.endControlPoint.equals(curve.endControlPoint));
+    }
+    /**
+     * This function should invalidate any installed listeners and invalidate this object.
+     * After calling this function the object might not hold valid data any more and
+     * should not be used.
+     */
+    destroy() {
+        this.startPoint.destroy();
+        this.endPoint.destroy();
+        this.startControlPoint.destroy();
+        this.endControlPoint.destroy();
+        this.isDestroyed = true;
+    }
+    /**
+     * Quick check for class instance.
+     * Is there a better way?
+     *
+     * @method isInstance
+     * @param {any} obj - Check if the passed object/value is an instance of CubicBezierCurve.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {boolean}
+     **/
+    static isInstance(obj) {
+        // Note: check this again
+        /* OLD VANILLA JS IMPLEMENTATION */
+        /* if( typeof obj != "object" )
+            return false;
+        function hasXY(v) {
+            return typeof v != "undefined" && typeof v.x == "number" && typeof v.y == "number";
+        }
+        return typeof obj.startPoint == "object" && hasXY(obj.startPoint)
+            && typeof obj.endPoint == "object" && hasXY(obj.endPoint)
+            && typeof obj.startControlPoint == "object" && hasXY(obj.startControlPoint)
+            && typeof obj.endControlPoint == "object" && hasXY(obj.endControlPoint);
+        */
+        return obj instanceof CubicBezierCurve;
+    }
+    /**
+     * Convert this curve to a JSON string.
+     *
+     * @method toJSON
+     * @param {boolean=} [prettyFormat=false] - If set to true the function will add line breaks.
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {string} The JSON data.
+     **/
+    toJSON(prettyFormat) {
+        var jsonString = "{ " + // begin object
+            (prettyFormat ? "\n\t" : "") +
+            '"startPoint" : [' +
+            this.getStartPoint().x +
+            "," +
+            this.getStartPoint().y +
+            "], " +
+            (prettyFormat ? "\n\t" : "") +
+            '"endPoint" : [' +
+            this.getEndPoint().x +
+            "," +
+            this.getEndPoint().y +
+            "], " +
+            (prettyFormat ? "\n\t" : "") +
+            '"startControlPoint": [' +
+            this.getStartControlPoint().x +
+            "," +
+            this.getStartControlPoint().y +
+            "], " +
+            (prettyFormat ? "\n\t" : "") +
+            '"endControlPoint" : [' +
+            this.getEndControlPoint().x +
+            "," +
+            this.getEndControlPoint().y +
+            "]" +
+            (prettyFormat ? "\n\t" : "") +
+            " }"; // end object
+        return jsonString;
+    }
+    /**
+     * Parse a Bézier curve from the given JSON string.
+     *
+     * @method fromJSON
+     * @param {string} jsonString - The JSON data to parse.
+     * @memberof CubicBezierCurve
+     * @static
+     * @throws An exception if the JSON string is malformed.
+     * @return {CubicBezierCurve}
+     **/
+    static fromJSON(jsonString) {
+        var obj = JSON.parse(jsonString);
+        return CubicBezierCurve.fromObject(obj);
+    }
+    /**
+     * Try to convert the passed object to a CubicBezierCurve.
+     *
+     * @method fromObject
+     * @param {object} obj - The object to convert.
+     * @memberof CubicBezierCurve
+     * @static
+     * @throws An exception if the passed object is malformed.
+     * @return {CubicBezierCurve}
+     **/
+    static fromObject(obj) {
+        if (typeof obj !== "object")
+            throw "Can only build from object.";
+        if (!obj.startPoint)
+            throw 'Object member "startPoint" missing.';
+        if (!obj.endPoint)
+            throw 'Object member "endPoint" missing.';
+        if (!obj.startControlPoint)
+            throw 'Object member "startControlPoint" missing.';
+        if (!obj.endControlPoint)
+            throw 'Object member "endControlPoint" missing.';
+        return new CubicBezierCurve(new Vertex(obj.startPoint[0], obj.startPoint[1]), new Vertex(obj.endPoint[0], obj.endPoint[1]), new Vertex(obj.startControlPoint[0], obj.startControlPoint[1]), new Vertex(obj.endControlPoint[0], obj.endControlPoint[1]));
+    }
+    /**
+     * Convert a 4-element array of vertices to a cubic bézier curve.
+     *
+     * @method fromArray
+     * @param {Vertex[]} arr -  [ startVertex, endVertex, startControlVertex, endControlVertex ]
+     * @memberof CubicBezierCurve
+     * @throws An exception if the passed array is malformed.
+     * @return {CubicBezierCurve}
+     **/
+    static fromArray(arr) {
+        if (!Array.isArray(arr))
+            throw "Can only build from object.";
+        if (arr.length != 4)
+            throw "Can only build from array with four elements.";
+        return new CubicBezierCurve(arr[0], arr[1], arr[2], arr[3]);
+    }
+}
+/** @constant {number} */
+CubicBezierCurve.START_POINT = 0;
+/** @constant {number} */
+CubicBezierCurve.START_CONTROL_POINT = 1;
+/** @constant {number} */
+CubicBezierCurve.END_CONTROL_POINT = 2;
+/** @constant {number} */
+CubicBezierCurve.END_POINT = 3;
+/**
+ * Helper utils.
+ */
+CubicBezierCurve.utils = {
+    evaluateT: (p0, p1, p2, p3, t) => {
+        return p0 * Math.pow(1.0 - t, 3) +
+            p1 * 3 * t * Math.pow(1.0 - t, 2) +
+            p2 * 3 * Math.pow(t, 2) * (1.0 - t) +
+            p3 * Math.pow(t, 3);
+    },
+    cubicPolyMinMax: (p0, p1, p2, p3) => {
+        // var polyX = CubicBezierCurve.utils.cubicPoly2(
+        //   p0, // P[0].X, // bezierCurve.startPoint.x,
+        //   p1, // P[1].X, // bezierCurve.startControlPoint.x,
+        //   p2, // P[2].X, // bezierCurve.endControlPoint.x,
+        //   p3 // P[3].X // bezierCurve.endPoint.x
+        // );
+        // var a = polyX.a;
+        // var b = polyX.b;
+        // var c = polyX.c;
+        // var disc = polyX.b * polyX.b - 4 * polyX.a * polyX.c;
+        var polyX = CubicBezierCurve.utils.cubicPoly(p0, // P[0].X, // bezierCurve.startPoint.x,
+        p1, // P[1].X, // bezierCurve.startControlPoint.x,
+        p2, // P[2].X, // bezierCurve.endControlPoint.x,
+        p3 // P[3].X // bezierCurve.endPoint.x
+        );
+        var a = polyX[0]; // .a;
+        var b = polyX[1]; // .b;
+        var c = polyX[2]; // .c;
+        //alert("a "+a+" "+b+" "+c);
+        // var disc = b * b - 4 * a * c;
+        var disc = polyX[1] * polyX[1] - 4 * polyX[0] * polyX[2];
+        // var polyX = CubicBezierCurve.utils.bezierCoeffs(p3,p2,p1,p0);
+        // var a = polyX[0]; //polyX.a;
+        // var b = polyX[1]; // .b;
+        // var c = polyX[2]; //.c;
+        // var disc = polyX[1] * polyX[1] - 4 * polyX[0] * polyX[2];
+        // var xl = Math.min(bCurve.endPoint.x, bCurve.startPoint.x); // P[0].X;
+        // var xh = Math.max(bCurve.endPoint.x, bCurve.startPoint.x); // P[0].X;
+        var xl = Math.min(p3, p0); // P[0].X;
+        var xh = Math.max(p3, p0); // P[0].X;
+        // if (P[3].X < xl) xl = P[3].X;
+        // if (P[3].X > xh) xh = P[3].X;
+        if (disc >= 0) {
+            var t1 = (-b + Math.sqrt(disc)) / (2 * a);
+            // alert("t1 " + t1);
+            if (t1 > 0 && t1 < 1) {
+                // var x1 = evalBez(PX, t1);
+                // var x1 = bCurve.getPointAt(t1).x;
+                var x1 = CubicBezierCurve.utils.evaluateT(p0, p1, p2, p3, t1); // bCurve.getPointAt(t1).x;
+                if (x1 < xl)
+                    xl = x1;
+                if (x1 > xh)
+                    xh = x1;
+            }
+            var t2 = (-b - Math.sqrt(disc)) / (2 * a);
+            // alert("t2 " + t2);
+            if (t2 > 0 && t2 < 1) {
+                // var x2 = evalBez(PX, t2);
+                // var x2 = bCurve.getPointAt(t2).x;
+                var x2 = CubicBezierCurve.utils.evaluateT(p0, p1, p2, p3, t2); //
+                if (x2 < xl)
+                    xl = x2;
+                if (x2 > xh)
+                    xh = x2;
+            }
+        }
+        return { min: xl, max: xh };
+    },
+    /**
+     * Get the points of a sub curve at the given start end end offsets (values between 0.0 and 1.0).
+     *
+     * tStart >= tEnd is allowed, you will get a reversed sub curve then.
+     *
+     * @method getSubCurvePointsAt
+     * @param {CubicBezierCurve} curve – The curve to get the sub curve points from.
+     * @param {number} tStart – The start offset of the desired sub curve (must be in [0..1]).
+     * @param {number} tEnd – The end offset if the desired cub curve (must be in [0..1]).
+     * @instance
+     * @memberof CubicBezierCurve
+     * @return {CubicBezierCurve} The sub curve as a new curve.
+     **/
+    getSubCurvePointsAt: (curve, tStart, tEnd) => {
+        const startVec = new Vector(curve.getPointAt(tStart), curve.getTangentAt(tStart));
+        const endVec = new Vector(curve.getPointAt(tEnd), curve.getTangentAt(tEnd).inv());
+        // Tangents are relative. Make absolute.
+        startVec.b.add(startVec.a);
+        endVec.b.add(endVec.a);
+        // This 'splits' the curve at the given point at t.
+        startVec.scale(0.33333333 * (tEnd - tStart));
+        endVec.scale(0.33333333 * (tEnd - tStart));
+        return [startVec.a, endVec.a, startVec.b, endVec.b];
+    },
+    /**
+     * Compute the cubic roots for the given cubic polynomial coefficients.
+     *
+     * Based on
+     *   http://mysite.verizon.net/res148h4j/javascript/script_exact_cubic.html#the%20source%20code
+     * Inspired by
+     *   https://www.particleincell.com/2013/cubic-line-intersection/
+     * Thanks to Stephan Schmitt and Particle-In-Cell!
+     *
+     * @param poly
+     * @returns
+     */
+    cubicRoots: (poly) => {
+        const a = poly[0];
+        const b = poly[1];
+        const c = poly[2];
+        const d = poly[3];
+        const A = b / a;
+        const B = c / a;
+        const C = d / a;
+        var S, T, Im;
+        const Q = (3 * B - Math.pow(A, 2)) / 9;
+        const R = (9 * A * B - 27 * C - 2 * Math.pow(A, 3)) / 54;
+        const D = Math.pow(Q, 3) + Math.pow(R, 2); // polynomial discriminant
+        const ts = []; // Array();
+        if (D >= 0) {
+            // complex or duplicate roots
+            S = CubicBezierCurve.utils.sgn(R + Math.sqrt(D)) * Math.pow(Math.abs(R + Math.sqrt(D)), 1 / 3);
+            T = CubicBezierCurve.utils.sgn(R - Math.sqrt(D)) * Math.pow(Math.abs(R - Math.sqrt(D)), 1 / 3);
+            ts[0] = -A / 3 + (S + T); // real root
+            ts[1] = -A / 3 - (S + T) / 2; // real part of complex root
+            ts[2] = -A / 3 - (S + T) / 2; // real part of complex root
+            Im = Math.abs((Math.sqrt(3) * (S - T)) / 2); // complex part of root pair
+            // Mark complex roots to be discarded
+            if (Im != 0) {
+                ts[1] = -1;
+                ts[2] = -1;
+            }
+        } // distinct real roots
+        else {
+            const th = Math.acos(R / Math.sqrt(-Math.pow(Q, 3)));
+            ts[0] = 2 * Math.sqrt(-Q) * Math.cos(th / 3) - A / 3;
+            ts[1] = 2 * Math.sqrt(-Q) * Math.cos((th + 2 * Math.PI) / 3) - A / 3;
+            ts[2] = 2 * Math.sqrt(-Q) * Math.cos((th + 4 * Math.PI) / 3) - A / 3;
+            Im = 0.0;
+        }
+        // Discard all t's out of spec and sort the rest
+        return ts.filter((t) => t >= 0 && t <= 1.0).sort();
+    },
+    /**
+     * Compute the Bézier coefficients from the given Bézier point coordinates.
+     *
+     * @param {number} p0 - The start point coordinate.
+     * @param {number} p1 - The start control point coordinate.
+     * @param {number} p2 - The end control point coordinate.
+     * @param {number} p3 - The end point coordinate.
+     * @returns {[number,number,number,number]}
+     */
+    bezierCoeffs: (p0, p1, p2, p3) => {
+        const coeffs = [NaN, NaN, NaN, NaN]; //Array(4);
+        coeffs[0] = -p0 + 3 * p1 + -3 * p2 + p3;
+        coeffs[1] = 3 * p0 - 6 * p1 + 3 * p2;
+        coeffs[2] = -3 * p0 + 3 * p1;
+        coeffs[3] = p0;
+        return coeffs;
+    },
+    /**
+     * Calculate the cubic polynomial coefficients used to find the bounding box.
+     *
+     * @param {number} p0 - The start point coordinate.
+     * @param {number} p1 - The start control point coordinate.
+     * @param {number} p2 - The end control point coordinate.
+     * @param {number} p3 - The end point coordinate.
+     * @returns {[number,number,number]}
+     */
+    cubicPoly: (p0, p1, p2, p3) => {
+        return [
+            3 * p3 - 9 * p2 + 9 * p1 - 3 * p0,
+            6 * p0 - 12 * p1 + 6 * p2,
+            3 * p1 - 3 * p0
+        ];
+    },
+    /**
+     * sign of number, but is division safe: no zero returned :)
+     */
+    sgn(x) {
+        return x < 0.0 ? -1 : 1;
+    }
+};
+//# sourceMappingURL=CubicBezierCurve.js.map