package org.opentrafficsim.core.geometry;
   
   import java.awt.geom.Line2D;
   import java.awt.geom.Path2D;
   import java.awt.geom.PathIterator;
   import java.awt.geom.Point2D;
   import java.io.Serializable;
   import java.util.ArrayList;
   import java.util.Arrays;
  import java.util.List;
  
  import javax.media.j3d.Bounds;
  
  import nl.tudelft.simulation.dsol.animation.Locatable;
  import nl.tudelft.simulation.language.d3.BoundingBox;
  import nl.tudelft.simulation.language.d3.DirectedPoint;
  
  import org.djunits.unit.LengthUnit;
  import org.djunits.value.vdouble.scalar.Direction;
  import org.djunits.value.vdouble.scalar.Length;
  
  import com.vividsolutions.jts.geom.Coordinate;
  import com.vividsolutions.jts.geom.CoordinateSequence;
  import com.vividsolutions.jts.geom.Envelope;
  import com.vividsolutions.jts.geom.Geometry;
  import com.vividsolutions.jts.geom.GeometryFactory;
  import com.vividsolutions.jts.geom.LineString;
  import com.vividsolutions.jts.linearref.LengthIndexedLine;
  
  import edu.umd.cs.findbugs.annotations.SuppressFBWarnings;
  
  /**
   * Line with OTSPoint3D points, a cached length indexed line, a cahced length, and a cached centroid (all calculated on first
   * use).
   * <p>
   * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
   * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
   * <p>
   * $LastChangedDate: 2015-07-16 10:20:53 +0200 (Thu, 16 Jul 2015) $, @version $Revision: 1124 $, by $Author: pknoppers $,
   * initial version Jul 22, 2015 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   * @author <a href="http://www.citg.tudelft.nl">Guus Tamminga</a>
   * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
   */
  public class OTSLine3D implements Locatable, Serializable
  {
      /** */
      private static final long serialVersionUID = 20150722L;
  
      /** The points of the line. */
      private OTSPoint3D[] points;
  
      /** The cumulative length of the line at point 'i'. */
      private double[] lengthIndexedLine = null;
  
      /** The cached length; will be calculated when needed for the first time. */
      private double length = Double.NaN;
  
      /** The cached centroid; will be calculated when needed for the first time. */
      private OTSPoint3D centroid = null;
  
      /** The cached bounds; will be calculated when needed for the first time. */
      private Bounds bounds = null;
  
      /** The cached helper points for fractional projection; will be calculated when needed for the first time. */
      private OTSPoint3D[] fractionalHelperCenters = null;
  
      /** The cached helper directions for fractional projection; will be calculated when needed for the first time. */
      private Point2D.Double[] fractionalHelperDirections = null;
  
      /** Intersection of unit offset lines of first two segments. */
      private OTSPoint3D firstOffsetIntersection;
  
      /** Intersection of unit offset lines of last two segments. */
      private OTSPoint3D lastOffsetIntersection;
  
      /** Precision for fractional projection algorithm. */
      private static final double FRAC_PROJ_PRECISION = 1e-6;
  
      /** Bounding of this OTSLine3D. */
      private Envelope envelope;
  
      /**
       * Construct a new OTSLine3D.
       * @param points the array of points to construct this OTSLine3D from.
       * @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
       *             adjacent points)
       */
      public OTSLine3D(final OTSPoint3D... points) throws OTSGeometryException
      {
          init(points);
      }
  
      /**
       * Construct a new OTSLine3D.
       * @param pts the array of points to construct this OTSLine3D from.
       * @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
       *             adjacent points)
      */
     private void init(final OTSPoint3D... pts) throws OTSGeometryException
     {
         if (pts.length < 2)
         {
             throw new OTSGeometryException("Degenerate OTSLine3D; has " + pts.length + " point"
                 + (pts.length != 1 ? "s" : ""));
         }
         for (int i = 1; i < pts.length; i++)
         {
             if (pts[i - 1].x == pts[i].x && pts[i - 1].y == pts[i].y && pts[i - 1].z == pts[i].z)
             {
                 throw new OTSGeometryException("Degenerate OTSLine3D; point " + (i - 1)
                     + " has the same x, y and z as point " + i);
             }
         }
         this.points = pts;
     }
 
     /** Which offsetLine method to use... */
     public enum OffsetMethod
     {
         /** Via JTS buffer. */
         JTS,
 
         /** Peter Knoppers. */
         PK,
 
         /** Alexander Verbraeck. */
         AV;
     };
 
     /** Which offset line method to use... */
     public static final OffsetMethod OFFSETMETHOD = OffsetMethod.PK;
 
     /**
      * Construct parallel line.<br>
      * TODO Let the Z-component of the result follow the Z-values of the reference line.
      * @param offset double; offset distance from the reference line; positive is LEFT, negative is RIGHT
      * @return OTSLine3D; the line that has the specified offset from the reference line
      */
     public final OTSLine3D offsetLine(final double offset)
     {
         try
         {
             switch (OFFSETMETHOD)
             {
                 case PK:
                     return OTSOffsetLinePK.offsetLine(this, offset);
 
                 case AV:
                     return OTSBufferingAV.offsetLine(this, offset);
 
                 case JTS:
                     return OTSBufferingJTS.offsetGeometryOLD(this, offset);
 
                 default:
                     return null;
             }
         }
         catch (OTSGeometryException exception)
         {
             exception.printStackTrace();
             return null;
         }
     }
 
     /**
      * Construct a line that is equal to this line except for segments that are shorter than the <cite>noiseLevel</cite>. The
      * result is guaranteed to start with the first point of this line and end with the last point of this line.
      * @param noiseLevel double; the minimum segment length that is <b>not</b> removed
      * @return OTSLine3D; the filtered line
      */
     public final OTSLine3D noiseFilteredLine(final double noiseLevel)
     {
         if (this.size() <= 2)
         {
             return this; // Except for some cached fields; an OTSLine3D is immutable; so safe to return
         }
         OTSPoint3D prevPoint = null;
         List<OTSPoint3D> list = null;
         for (int index = 0; index < this.size(); index++)
         {
             OTSPoint3D currentPoint = this.points[index];
             if (null != prevPoint && prevPoint.distanceSI(currentPoint) < noiseLevel)
             {
                 if (null == list)
                 {
                     // Found something to filter; copy this up to (and including) prevPoint
                     list = new ArrayList<OTSPoint3D>();
                     for (int i = 0; i < index; i++)
                     {
                         list.add(this.points[i]);
                     }
                 }
                 if (index == this.size() - 1)
                 {
                     if (list.size() > 1)
                     {
                         // Replace the last point of the result by the last point of this OTSLine3D
                         list.set(list.size() - 1, currentPoint);
                     }
                     else
                     {
                         // Append the last point of this even though it is close to the first point than the noise value to
                         // comply with the requirement that first and last point of this are ALWAYS included in the result.
                         list.add(currentPoint);
                     }
                 }
                 continue; // Do not replace prevPoint by currentPoint
             }
             else if (null != list)
             {
                 list.add(currentPoint);
             }
             prevPoint = currentPoint;
         }
         if (null == list)
         {
             return this;
         }
         try
         {
             return new OTSLine3D(list);
         }
         catch (OTSGeometryException exception)
         {
             System.err.println("CANNOT HAPPEN");
             exception.printStackTrace();
             throw new Error(exception);
         }
     }
 
     /**
      * Clean up a list of points that describe a polyLine by removing points that lie within epsilon distance of a more
      * straightened version of the line. <br>
      * TODO Test this code (currently untested).
      * @param epsilon double; maximal deviation
      * @param useHorizontalDistance boolean; if true; the horizontal distance is used; if false; the 3D distance is used
      * @return OTSLine3D; a new OTSLine3D containing all the remaining points
      */
     public final OTSLine3D noiseFilterRamerDouglasPeuker(final double epsilon, final boolean useHorizontalDistance)
     {
         try
         {
             // Apply the Ramer-Douglas-Peucker algorithm to the buffered points.
             // Adapted from https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm
             double maxDeviation = 0;
             int splitIndex = -1;
             int pointCount = size();
             OTSLine3D straight = new OTSLine3D(get(0), get(pointCount - 1));
             // Find the point with largest deviation from the straight line from start point to end point
             for (int i = 1; i < pointCount - 1; i++)
             {
                 OTSPoint3D point = get(i);
                 OTSPoint3D closest =
                         useHorizontalDistance ? point.closestPointOnLine2D(straight) : point.closestPointOnLine(straight);
                 double deviation = useHorizontalDistance ? closest.horizontalDistanceSI(point) : closest.distanceSI(point);
                 if (deviation > maxDeviation)
                 {
                     splitIndex = i;
                     maxDeviation = deviation;
                 }
             }
             if (maxDeviation <= epsilon)
             {
                 // All intermediate points can be dropped. Return a new list containing only the first and last point.
                 return straight;
             }
             // The largest deviation is larger than epsilon.
             // Split the polyLine at the point with the maximum deviation. Process each sub list recursively and concatenate the
             // results
             OTSLine3D first =
                     new OTSLine3D(Arrays.copyOfRange(this.points, 0, splitIndex + 1)).noiseFilterRamerDouglasPeuker(epsilon,
                             useHorizontalDistance);
             OTSLine3D second =
                     new OTSLine3D(Arrays.copyOfRange(this.points, splitIndex, this.points.length))
                             .noiseFilterRamerDouglasPeuker(epsilon, useHorizontalDistance);
             return concatenate(epsilon, first, second);
         }
         catch (OTSGeometryException exception)
         {
             exception.printStackTrace(); // Peter thinks this cannot happen ...
             return null;
         }
     }
 
     /**
      * Create a line at linearly varying offset from this line. The offset may change linearly from its initial value at the
      * start of the reference line to its final offset value at the end of the reference line.
      * @param offsetAtStart double; offset at the start of the reference line (positive value is Left, negative value is Right)
      * @param offsetAtEnd double; offset at the end of the reference line (positive value is Left, negative value is Right)
      * @return Geometry; the Geometry of the line at linearly changing offset of the reference line
      * @throws OTSGeometryException when this method fails to create the offset line
      */
     public final OTSLine3D offsetLine(final double offsetAtStart, final double offsetAtEnd) throws OTSGeometryException
     {
         // System.out.println(OTSGeometry.printCoordinates("#referenceLine: \nc1,0,0\n# offset at start is " + offsetAtStart
         // + " at end is " + offsetAtEnd + "\n#", referenceLine, "\n   "));
 
         OTSLine3D offsetLineAtStart = offsetLine(offsetAtStart);
         if (offsetAtStart == offsetAtEnd)
         {
             return offsetLineAtStart; // offset does not change
         }
         // System.out.println(OTSGeometry.printCoordinates("#offset line at start: \nc0,0,0\n#", offsetLineAtStart, "\n   "));
         OTSLine3D offsetLineAtEnd = offsetLine(offsetAtEnd);
         // System.out.println(OTSGeometry.printCoordinates("#offset line at end: \nc0.7,0.7,0.7\n#", offsetLineAtEnd, "\n   "));
         Geometry startGeometry = offsetLineAtStart.getLineString();
         Geometry endGeometry = offsetLineAtEnd.getLineString();
         LengthIndexedLine first = new LengthIndexedLine(startGeometry);
         double firstLength = startGeometry.getLength();
         LengthIndexedLine second = new LengthIndexedLine(endGeometry);
         double secondLength = endGeometry.getLength();
         ArrayList<Coordinate> out = new ArrayList<Coordinate>();
         Coordinate[] firstCoordinates = startGeometry.getCoordinates();
         Coordinate[] secondCoordinates = endGeometry.getCoordinates();
         int firstIndex = 0;
         int secondIndex = 0;
         Coordinate prevCoordinate = null;
         final double tooClose = 0.05; // 5 cm
         while (firstIndex < firstCoordinates.length && secondIndex < secondCoordinates.length)
         {
             double firstRatio =
                 firstIndex < firstCoordinates.length ? first.indexOf(firstCoordinates[firstIndex]) / firstLength
                     : Double.MAX_VALUE;
             double secondRatio =
                 secondIndex < secondCoordinates.length ? second.indexOf(secondCoordinates[secondIndex]) / secondLength
                     : Double.MAX_VALUE;
             double ratio;
             if (firstRatio < secondRatio)
             {
                 ratio = firstRatio;
                 firstIndex++;
             }
             else
             {
                 ratio = secondRatio;
                 secondIndex++;
             }
             Coordinate firstCoordinate = first.extractPoint(ratio * firstLength);
             Coordinate secondCoordinate = second.extractPoint(ratio * secondLength);
             Coordinate resultCoordinate =
                 new Coordinate((1 - ratio) * firstCoordinate.x + ratio * secondCoordinate.x, (1 - ratio) * firstCoordinate.y
                     + ratio * secondCoordinate.y);
             if (null == prevCoordinate || resultCoordinate.distance(prevCoordinate) > tooClose)
             {
                 out.add(resultCoordinate);
                 prevCoordinate = resultCoordinate;
             }
         }
         Coordinate[] resultCoordinates = new Coordinate[out.size()];
         for (int index = 0; index < out.size(); index++)
         {
             resultCoordinates[index] = out.get(index);
         }
         return new OTSLine3D(resultCoordinates);
     }
 
     /**
      * Create a line at linearly varying offset from this line. The offset may change linearly from its initial value at the
      * start of the reference line via a number of intermediate offsets at intermediate positions to its final offset value at
      * the end of the reference line.
      * @param relativeFractions double[]; positional fractions for which the offsets have to be generated
      * @param offsets double[]; offsets at the relative positions (positive value is Left, negative value is Right)
      * @return Geometry; the Geometry of the line at linearly changing offset of the reference line
      * @throws OTSGeometryException when this method fails to create the offset line
      */
     public final OTSLine3D offsetLine(final double[] relativeFractions, final double[] offsets) throws OTSGeometryException
     {
         OTSLine3D[] offsetLine = new OTSLine3D[relativeFractions.length];
         for (int i = 0; i < offsets.length; i++)
         {
             offsetLine[i] = offsetLine(offsets[i]);
             // System.out.println(offsetLine[i].toExcel());
             // System.out.println();
         }
 
         ArrayList<Coordinate> out = new ArrayList<Coordinate>();
         Coordinate prevCoordinate = null;
         final double tooClose = 0.05; // 5 cm
         for (int i = 0; i < offsets.length - 1; i++)
         {
             Geometry startGeometry =
                 offsetLine[i].extractFractional(relativeFractions[i], relativeFractions[i + 1]).getLineString();
             Geometry endGeometry =
                 offsetLine[i + 1].extractFractional(relativeFractions[i], relativeFractions[i + 1]).getLineString();
             LengthIndexedLine first = new LengthIndexedLine(startGeometry);
             double firstLength = startGeometry.getLength();
             LengthIndexedLine second = new LengthIndexedLine(endGeometry);
             double secondLength = endGeometry.getLength();
             Coordinate[] firstCoordinates = startGeometry.getCoordinates();
             Coordinate[] secondCoordinates = endGeometry.getCoordinates();
             int firstIndex = 0;
             int secondIndex = 0;
             while (firstIndex < firstCoordinates.length && secondIndex < secondCoordinates.length)
             {
                 double firstRatio =
                     firstIndex < firstCoordinates.length ? first.indexOf(firstCoordinates[firstIndex]) / firstLength
                         : Double.MAX_VALUE;
                 double secondRatio =
                     secondIndex < secondCoordinates.length ? second.indexOf(secondCoordinates[secondIndex]) / secondLength
                         : Double.MAX_VALUE;
                 double ratio;
                 if (firstRatio < secondRatio)
                 {
                     ratio = firstRatio;
                     firstIndex++;
                 }
                 else
                 {
                     ratio = secondRatio;
                     secondIndex++;
                 }
                 Coordinate firstCoordinate = first.extractPoint(ratio * firstLength);
                 Coordinate secondCoordinate = second.extractPoint(ratio * secondLength);
                 Coordinate resultCoordinate =
                     new Coordinate((1 - ratio) * firstCoordinate.x + ratio * secondCoordinate.x, (1 - ratio)
                         * firstCoordinate.y + ratio * secondCoordinate.y);
                 if (null == prevCoordinate || resultCoordinate.distance(prevCoordinate) > tooClose)
                 {
                     out.add(resultCoordinate);
                     prevCoordinate = resultCoordinate;
                 }
             }
         }
 
         Coordinate[] resultCoordinates = new Coordinate[out.size()];
         for (int index = 0; index < out.size(); index++)
         {
             resultCoordinates[index] = out.get(index);
         }
         return new OTSLine3D(resultCoordinates);
     }
 
     /**
      * Concatenate several OTSLine3D instances.
      * @param lines OTSLine3D... one or more OTSLine3D. The last point of the first <strong>must</strong> match the first of the
      *            second, etc.
      * @return OTSLine3D
      * @throws OTSGeometryException if zero lines are given, or when there is a gap between consecutive lines
      */
     public static OTSLine3D concatenate(final OTSLine3D... lines) throws OTSGeometryException
     {
         return concatenate(0.0, lines);
     }
 
     /**
      * Concatenate several OTSLine3D instances.
      * @param toleranceSI the tolerance between the end point of a line and the first point of the next line
      * @param lines OTSLine3D... one or more OTSLine3D. The last point of the first <strong>must</strong> match the first of the
      *            second, etc.
      * @return OTSLine3D
      * @throws OTSGeometryException if zero lines are given, or when there is a gap between consecutive lines
      */
     public static OTSLine3D concatenate(final double toleranceSI, final OTSLine3D... lines) throws OTSGeometryException
     {
         if (0 == lines.length)
         {
             throw new OTSGeometryException("Empty argument list");
         }
         else if (1 == lines.length)
         {
             return lines[0];
         }
         int size = lines[0].size();
         for (int i = 1; i < lines.length; i++)
         {
             if (lines[i - 1].getLast().distance(lines[i].getFirst()).si > toleranceSI)
             {
                 throw new OTSGeometryException("Lines are not connected: " + lines[i - 1].getLast() + " to "
                     + lines[i].getFirst() + " distance is " + lines[i - 1].getLast().distance(lines[i].getFirst()).si
                     + " > " + toleranceSI);
             }
             size += lines[i].size() - 1;
         }
         OTSPoint3D[] points = new OTSPoint3D[size];
         int nextIndex = 0;
         for (int i = 0; i < lines.length; i++)
         {
             OTSLine3D line = lines[i];
             for (int j = 0 == i ? 0 : 1; j < line.size(); j++)
             {
                 points[nextIndex++] = line.get(j);
             }
         }
         return new OTSLine3D(points);
     }
 
     /**
      * Construct a new OTSLine3D with all points of this OTSLine3D in reverse order.
      * @return OTSLine3D; the new OTSLine3D
      */
     public final OTSLine3D reverse()
     {
         OTSPoint3D[] resultPoints = new OTSPoint3D[size()];
         int nextIndex = size();
         for (OTSPoint3D p : getPoints())
         {
             resultPoints[--nextIndex] = p;
         }
         try
         {
             return new OTSLine3D(resultPoints);
         }
         catch (OTSGeometryException exception)
         {
             // Cannot happen
             throw new RuntimeException(exception);
         }
     }
 
     /**
      * Construct a new OTSLine3D covering the indicated fraction of this OTSLine3D.
      * @param start double; starting point, valid range [0..<cite>end</cite>)
      * @param end double; ending point, valid range (<cite>start</cite>..1]
      * @return OTSLine3D; the new OTSLine3D
      * @throws OTSGeometryException when start &gt;= end, or start &lt; 0, or end &gt; 1
      */
     public final OTSLine3D extractFractional(final double start, final double end) throws OTSGeometryException
     {
         if (start < 0 || start >= end || end > 1)
         {
             throw new OTSGeometryException("Bad interval");
         }
         getLength(); // computes and sets the length field
         return extract(start * this.length, end * this.length);
     }
 
     /**
      * Create a new OTSLine3D that covers a sub-section of this OTSLine3D.
      * @param start Length; the length along this OTSLine3D where the sub-section starts, valid range [0..<cite>end</cite>)
      * @param end Length; length along this OTSLine3D where the sub-section ends, valid range
      *            (<cite>start</cite>..<cite>length</cite> (length is the length of this OTSLine3D)
      * @return OTSLine3D; the selected sub-section
      * @throws OTSGeometryException when start &gt;= end, or start &lt; 0, or end &gt; length
      */
     public final OTSLine3D extract(final Length start, final Length end) throws OTSGeometryException
     {
         return extract(start.si, end.si);
     }
 
     /**
      * Create a new OTSLine3D that covers a sub-section of this OTSLine3D.
      * @param start double; length along this OTSLine3D where the sub-section starts, valid range [0..<cite>end</cite>)
      * @param end double; length along this OTSLine3D where the sub-section ends, valid range
      *            (<cite>start</cite>..<cite>length</cite> (length is the length of this OTSLine3D)
      * @return OTSLine3D; the selected sub-section
      * @throws OTSGeometryException when start &gt;= end, or start &lt; 0, or end &gt; length
      */
     @SuppressFBWarnings("FE_FLOATING_POINT_EQUALITY")
     public final OTSLine3D extract(final double start, final double end) throws OTSGeometryException
     {
         if (Double.isNaN(start) || Double.isNaN(end) || start < 0 || start >= end || end > getLengthSI())
         {
             throw new OTSGeometryException("Bad interval (" + start + ".." + end + "; length of this OTSLine3D is "
                 + this.getLengthSI() + ")");
         }
         double cumulativeLength = 0;
         double nextCumulativeLength = 0;
         double segmentLength = 0;
         int index = 0;
         List<OTSPoint3D> pointList = new ArrayList<>();
         // System.err.println("interval " + start + ".." + end);
         while (start > cumulativeLength)
         {
             OTSPoint3D fromPoint = this.points[index];
             index++;
             OTSPoint3D toPoint = this.points[index];
             segmentLength = fromPoint.distanceSI(toPoint);
             cumulativeLength = nextCumulativeLength;
             nextCumulativeLength = cumulativeLength + segmentLength;
             if (nextCumulativeLength >= start)
             {
                 break;
             }
         }
         if (start == nextCumulativeLength)
         {
             pointList.add(this.points[index]);
         }
         else
         {
             pointList.add(OTSPoint3D.interpolate((start - cumulativeLength) / segmentLength, this.points[index - 1],
                 this.points[index]));
             if (end > nextCumulativeLength)
             {
                 pointList.add(this.points[index]);
             }
         }
         while (end > nextCumulativeLength)
         {
             OTSPoint3D fromPoint = this.points[index];
             index++;
             if (index >= this.points.length)
             {
                 break; // rounding error
             }
             OTSPoint3D toPoint = this.points[index];
             segmentLength = fromPoint.distanceSI(toPoint);
             cumulativeLength = nextCumulativeLength;
             nextCumulativeLength = cumulativeLength + segmentLength;
             if (nextCumulativeLength >= end)
             {
                 break;
             }
             pointList.add(toPoint);
         }
         if (end == nextCumulativeLength)
         {
             pointList.add(this.points[index]);
         }
         else
         {
             pointList.add(OTSPoint3D.interpolate((end - cumulativeLength) / segmentLength, this.points[index - 1],
                 this.points[index]));
         }
         try
         {
             return new OTSLine3D(pointList);
         }
         catch (OTSGeometryException exception)
         {
             System.err.println("interval " + start + ".." + end + "too short");
             throw new OTSGeometryException("interval " + start + ".." + end + "too short");
         }
     }
 
     /**
      * Build an array of OTSPoint3D from an array of Coordinate.
      * @param coordinates Coordinate[]; the coordinates
      * @return OTSPoint3D[]
      */
     private static OTSPoint3D[] coordinatesToOTSPoint3D(final Coordinate[] coordinates)
     {
         OTSPoint3D[] result = new OTSPoint3D[coordinates.length];
         for (int i = 0; i < coordinates.length; i++)
         {
             result[i] = new OTSPoint3D(coordinates[i]);
         }
         return result;
     }
 
     /**
      * Create an OTSLine3D, while cleaning repeating successive points.
      * @param points the coordinates of the line as OTSPoint3D
      * @return the line
      * @throws OTSGeometryException when number of points &lt; 2
      */
     public static OTSLine3D createAndCleanOTSLine3D(final OTSPoint3D[] points) throws OTSGeometryException
     {
         if (points.length < 2)
         {
             throw new OTSGeometryException("Degenerate OTSLine3D; has " + points.length + " point"
                 + (points.length != 1 ? "s" : ""));
         }
         return createAndCleanOTSLine3D(new ArrayList<>(Arrays.asList(points)));
     }
 
     /**
      * Create an OTSLine3D, while cleaning repeating successive points.
      * @param pointList List&lt;OTSPoint3D&gt;; list of the coordinates of the line as OTSPoint3D; any duplicate points in this
      *            list are removed (this method may modify the provided list)
      * @return OTSLine3D; the line
      * @throws OTSGeometryException when number of non-equal points &lt; 2
      */
     public static OTSLine3D createAndCleanOTSLine3D(final List<OTSPoint3D> pointList) throws OTSGeometryException
     {
         // clean successive equal points
         int i = 1;
         while (i < pointList.size())
         {
             if (pointList.get(i - 1).equals(pointList.get(i)))
             {
                 pointList.remove(i);
             }
             else
             {
                 i++;
             }
         }
         return new OTSLine3D(pointList);
     }
 
     /**
      * Construct a new OTSLine3D from an array of Coordinate.
      * @param coordinates the array of coordinates to construct this OTSLine3D from
      * @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
      *             adjacent points)
      */
     public OTSLine3D(final Coordinate[] coordinates) throws OTSGeometryException
     {
         this(coordinatesToOTSPoint3D(coordinates));
     }
 
     /**
      * Construct a new OTSLine3D from a LineString.
      * @param lineString the lineString to construct this OTSLine3D from.
      * @throws OTSGeometryException when the provided LineString does not constitute a valid line (too few points or identical
      *             adjacent points)
      */
     public OTSLine3D(final LineString lineString) throws OTSGeometryException
     {
         this(lineString.getCoordinates());
     }
 
     /**
      * Construct a new OTSLine3D from a Geometry.
      * @param geometry the geometry to construct this OTSLine3D from
      * @throws OTSGeometryException when the provided Geometry do not constitute a valid line (too few points or identical
      *             adjacent points)
      */
     public OTSLine3D(final Geometry geometry) throws OTSGeometryException
     {
         this(geometry.getCoordinates());
     }
 
     /**
      * Construct a new OTSLine3D from a List&lt;OTSPoint3D&gt;.
      * @param pointList the list of points to construct this OTSLine3D from.
      * @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
      *             adjacent points)
      */
     public OTSLine3D(final List<OTSPoint3D> pointList) throws OTSGeometryException
     {
         this(pointList.toArray(new OTSPoint3D[pointList.size()]));
     }
 
     /**
      * Construct a new OTSShape (closed shape) from a Path2D.
      * @param path the Path2D to construct this OTSLine3D from.
      * @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
      *             adjacent points)
      */
     public OTSLine3D(final Path2D path) throws OTSGeometryException
     {
         List<OTSPoint3D> pl = new ArrayList<>();
         for (PathIterator pi = path.getPathIterator(null); !pi.isDone(); pi.next())
         {
             double[] p = new double[6];
             int segType = pi.currentSegment(p);
             if (segType == PathIterator.SEG_MOVETO || segType == PathIterator.SEG_LINETO)
             {
                 pl.add(new OTSPoint3D(p[0], p[1]));
             }
             else if (segType == PathIterator.SEG_CLOSE)
             {
                 if (!pl.get(0).equals(pl.get(pl.size() - 1)))
                 {
                     pl.add(new OTSPoint3D(pl.get(0).x, pl.get(0).y));
                 }
                 break;
             }
         }
         init(pl.toArray(new OTSPoint3D[pl.size() - 1]));
     }
 
     /**
      * Construct a Coordinate array and fill it with the points of this OTSLine3D.
      * @return an array of Coordinates corresponding to this OTSLine
      */
     public final Coordinate[] getCoordinates()
     {
         Coordinate[] result = new Coordinate[size()];
         for (int i = 0; i < size(); i++)
         {
             result[i] = this.points[i].getCoordinate();
         }
         return result;
     }
 
     /**
      * Construct a LineString from this OTSLine3D.
      * @return a LineString corresponding to this OTSLine
      */
     public final LineString getLineString()
     {
         GeometryFactory factory = new GeometryFactory();
         Coordinate[] coordinates = getCoordinates();
         CoordinateSequence cs = factory.getCoordinateSequenceFactory().create(coordinates);
         return new LineString(cs, factory);
     }
 
     /**
      * Return the number of points in this OTSLine3D.
      * @return the number of points on the line
      */
     public final int size()
     {
         return this.points.length;
     }
 
     /**
      * Return the first point of this OTSLine3D.
      * @return the first point on the line
      */
     public final OTSPoint3D getFirst()
     {
         return this.points[0];
     }
 
     /**
      * Return the last point of this OTSLine3D.
      * @return the last point on the line
      */
     public final OTSPoint3D getLast()
     {
         return this.points[size() - 1];
     }
 
     /**
      * Return one point of this OTSLine3D.
      * @param i int; the index of the point to retrieve
      * @return OTSPoint3d; the i-th point of the line
      * @throws OTSGeometryException when i &lt; 0 or i &gt; the number of points
      */
     public final OTSPoint3D get(final int i) throws OTSGeometryException
     {
         if (i < 0 || i > size() - 1)
         {
             throw new OTSGeometryException("OTSLine3D.get(i=" + i + "); i<0 or i>=size(), which is " + size());
         }
         return this.points[i];
     }
 
     /**
      * Return the length of this OTSLine3D as a double value in SI units. (Assumes that the coordinates of the points
      * constituting this line are expressed in meters.)
      * @return the length of the line in SI units
      */
     public final synchronized double getLengthSI()
     {
         if (Double.isNaN(this.length))
         {
             this.length = 0.0;
             for (int i = 0; i < size() - 1; i++)
             {
                 this.length += this.points[i].distanceSI(this.points[i + 1]);
             }
         }
         return this.length;
     }
 
     /**
      * Return the length of this OTSLine3D in meters. (Assuming that the coordinates of the points constituting this line are
      * expressed in meters.)
      * @return the length of the line
      */
     public final Length getLength()
     {
         return new Length(getLengthSI(), LengthUnit.SI);
     }
 
     /**
      * Return an array of OTSPoint3D that represents this OTSLine3D. <strong>Do not modify the result.</strong>
      * @return the points of this line
      */
     public final OTSPoint3D[] getPoints()
     {
         return this.points;
     }
 
     /**
      * Make the length indexed line if it does not exist yet, and cache it.
      */
     private void makeLengthIndexedLine()
     {
         if (this.lengthIndexedLine == null)
         {
             this.lengthIndexedLine = new double[this.points.length];
             this.lengthIndexedLine[0] = 0.0;
             for (int i = 1; i < this.points.length; i++)
             {
                 this.lengthIndexedLine[i] = this.lengthIndexedLine[i - 1] + this.points[i - 1].distanceSI(this.points[i]);
             }
         }
     }
 
     /**
      * Get the location at a position on the line, with its direction. Position can be below 0 or more than the line length. In
      * that case, the position will be extrapolated in the direction of the line at its start or end.
      * @param position the position on the line for which to calculate the point on, before, of after the line
      * @return a directed point
      */
     public final DirectedPoint getLocationExtended(final Length position)
     {
         return getLocationExtendedSI(position.getSI());
     }
 
     /**
      * Get the location at a position on the line, with its direction. Position can be below 0 or more than the line length. In
      * that case, the position will be extrapolated in the direction of the line at its start or end.
      * @param positionSI the position on the line for which to calculate the point on, before, of after the line, in SI units
      * @return a directed point
      */
     public final DirectedPoint getLocationExtendedSI(final double positionSI)
     {
         makeLengthIndexedLine();
         if (positionSI >= 0.0 && positionSI <= getLengthSI())
         {
             try
             {
                 return getLocationSI(positionSI);
             }
             catch (OTSGeometryException exception)
             {
                 // cannot happen
             }
         }
 
         // position before start point -- extrapolate
         if (positionSI < 0.0)
         {
             double len = positionSI;
             double fraction = len / (this.lengthIndexedLine[1] - this.lengthIndexedLine[0]);
             OTSPoint3D p1 = this.points[0];
             OTSPoint3D p2 = this.points[1];
             return new DirectedPoint(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction
                 * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
         }
 
         // position beyond end point -- extrapolate
         int n1 = this.lengthIndexedLine.length - 1;
         int n2 = this.lengthIndexedLine.length - 2;
         double len = positionSI - getLengthSI();
         double fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
         OTSPoint3D p1 = this.points[n2];
         OTSPoint3D p2 = this.points[n1];
         return new DirectedPoint(p2.x + fraction * (p2.x - p1.x), p2.y + fraction * (p2.y - p1.y), p2.z + fraction
             * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
     }
 
     /**
      * Get the location at a fraction of the line, with its direction. Fraction should be between 0.0 and 1.0.
      * @param fraction the fraction for which to calculate the point on the line
      * @return a directed point
      * @throws OTSGeometryException when fraction less than 0.0 or more than 1.0.
      */
     public final DirectedPoint getLocationFraction(final double fraction) throws OTSGeometryException
     {
         if (fraction < 0.0 || fraction > 1.0)
         {
             throw new OTSGeometryException("getLocationFraction for line: fraction < 0.0 or > 1.0. fraction = " + fraction);
         }
         return getLocationSI(fraction * getLengthSI());
     }
 
     /**
      * Get the location at a fraction of the line, with its direction. Fraction should be between 0.0 and 1.0.
      * @param fraction the fraction for which to calculate the point on the line
      * @param tolerance the delta from 0.0 and 1.0 that will be forgiven
      * @return a directed point
      * @throws OTSGeometryException when fraction less than 0.0 or more than 1.0.
      */
     public final DirectedPoint getLocationFraction(final double fraction, final double tolerance)
         throws OTSGeometryException
     {
         if (fraction < -tolerance || fraction > 1.0 + tolerance)
         {
             throw new OTSGeometryException(
                 "getLocationFraction for line: fraction < 0.0 - tolerance or > 1.0 + tolerance; fraction = " + fraction);
         }
         double f = fraction < 0 ? 0.0 : fraction > 1.0 ? 1.0 : fraction;
         return getLocationSI(f * getLengthSI());
     }
 
     /**
      * Get the location at a fraction of the line (or outside the line), with its direction.
      * @param fraction the fraction for which to calculate the point on the line
      * @return a directed point
      */
     public final DirectedPoint getLocationFractionExtended(final double fraction)
     {
         return getLocationExtendedSI(fraction * getLengthSI());
     }
 
     /**
      * Get the location at a position on the line, with its direction. Position should be between 0.0 and line length.
      * @param position the position on the line for which to calculate the point on the line
      * @return a directed point
      * @throws OTSGeometryException when position less than 0.0 or more than line length.
      */
     public final DirectedPoint getLocation(final Length position) throws OTSGeometryException
     {
         return getLocationSI(position.getSI());
     }
 
     /**
      * Binary search for a position on the line.
      * @param pos the position to look for.
      * @return the index below the position; the position is between points[index] and points[index+1]
      * @throws OTSGeometryException when index could not be found
      */
     private int find(final double pos) throws OTSGeometryException
     {
         if (pos == 0)
         {
             return 0;
         }
 
         for (int i = 0; i < this.lengthIndexedLine.length - 2; i++)
         {
             if (pos > this.lengthIndexedLine[i] && pos <= this.lengthIndexedLine[i + 1])
             {
                 return i;
             }
         }
 
         return this.lengthIndexedLine.length - 2;
 
         /*- binary variant
         int lo = 0;
         int hi = this.lengthIndexedLine.length - 1;
         while (lo <= hi)
         {
             if (hi - lo <= 1)
             {
                 return lo;
             }
             int mid = lo + (hi - lo) / 2;
             if (pos < this.lengthIndexedLine[mid])
             {
                 hi = mid - 1;
             }
             else if (pos > this.lengthIndexedLine[mid])
             {
                 lo = mid + 1;
             }
         }
         throw new OTSGeometryException("Could not find position " + pos + " on line with length indexes: "
             + this.lengthIndexedLine);
          */
     }
 
     /**
      * Get the location at a position on the line, with its direction. Position should be between 0.0 and line length.
      * @param positionSI the position on the line for which to calculate the point on the line
      * @return a directed point
      * @throws OTSGeometryException when position less than 0.0 or more than line length.
      */
     public final DirectedPoint getLocationSI(final double positionSI) throws OTSGeometryException
     {
         makeLengthIndexedLine();
         if (positionSI < 0.0 || positionSI > getLengthSI())
         {
             throw new OTSGeometryException("getLocationSI for line: position < 0.0 or > line length. Position = "
                 + positionSI + " m. Length = " + getLengthSI() + " m.");
         }
 
         // handle special cases: position == 0.0, or position == length
         if (positionSI == 0.0)
         {
             OTSPoint3D p1 = this.points[0];
             OTSPoint3D p2 = this.points[1];
             return new DirectedPoint(p1.x, p1.y, p1.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
         }
         if (positionSI == getLengthSI())
         {
             OTSPoint3D p1 = this.points[this.points.length - 2];
             OTSPoint3D p2 = this.points[this.points.length - 1];
             return new DirectedPoint(p2.x, p2.y, p2.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
         }
 
         // find the index of the line segment, use binary search
         int index = find(positionSI);
         double remainder = positionSI - this.lengthIndexedLine[index];
         double fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
         OTSPoint3D p1 = this.points[index];
         OTSPoint3D p2 = this.points[index + 1];
         return new DirectedPoint(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction
             * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
     }
 
     /**
      * Truncate a line at the given length (less than the length of the line, and larger than zero) and return a new line.
      * @param lengthSI the location where to truncate the line
      * @return a new OTSLine3D truncated at the exact position where line.getLength() == lengthSI
      * @throws OTSGeometryException when position less than 0.0 or more than line length.
      */
     public final OTSLine3D truncate(final double lengthSI) throws OTSGeometryException
     {
         makeLengthIndexedLine();
         if (lengthSI <= 0.0 || lengthSI > getLengthSI())
         {
             throw new OTSGeometryException("truncate for line: position <= 0.0 or > line length. Position = " + lengthSI
                 + " m. Length = " + getLengthSI() + " m.");
         }
 
         // handle special case: position == length
         if (lengthSI == getLengthSI())
         {
             return new OTSLine3D(getPoints());
         }
 
         // find the index of the line segment
         int index = find(lengthSI);
         double remainder = lengthSI - this.lengthIndexedLine[index];
         double fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
         OTSPoint3D p1 = this.points[index];
         OTSPoint3D p2 = this.points[index + 1];
         OTSPoint3D newLastPoint =
             new OTSPoint3D(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction * (p2.z - p1.z));
         OTSPoint3D[] coords = new OTSPoint3D[index + 2];
         for (int i = 0; i <= index; i++)
         {
             coords[i] = this.points[i];
         }
         coords[index + 1] = newLastPoint;
         return new OTSLine3D(coords);
     }
 
     /*-
      * TODO finish this method if it is needed; remove otherwise.
      * Calculate the first point on this line that intersects somewhere with the provided line, or NaN if no intersection was
      * found.
      * @param line the line to test the intersection with
      * @return the fraction of the first intersection point
      *
     public final double firstIntersectionFraction(final OTSLine3D line)
     {
         List<Line2D.Double> segs = new ArrayList<>();
         for (int j = 1; j < line.getPoints().length; j++)
         {
             Line2D.Double seg =
                 new Line2D.Double(this.points[j - 1].x, this.points[j - 1].y, this.points[j].x, this.points[j].y);
             segs.add(seg);
 
         }
         for (int i = 1; i < this.points.length; i++)
         {
             Line2D.Double thisSeg =
                 new Line2D.Double(this.points[i - 1].x, this.points[i - 1].y, this.points[i].x, this.points[i].y);
             for (Line2D.Double seg : segs)
             {
                 if (thisSeg.intersectsLine(seg))
                 {
                     // Point2D.Double intersectionPoint = thisSeg.
                     
                 }
             }
         }
         return Double.NaN;
     }
      */
 
     /**
      * Returns the fractional position along this line of the orthogonal projection of point (x, y) on this line. If the point
      * is not orthogonal to the closest line segment, the nearest point is selected.
      * @param x x-coordinate of point to project
      * @param y y-coordinate of point to project
      * @return fractional position along this line of the orthogonal projection on this line of a point
      */
     public final double projectOrthogonal(final double x, final double y)
     {
 
         // prepare
         makeLengthIndexedLine();
         double minDistance = Double.POSITIVE_INFINITY;
         double minSegmentFraction = 0;
         int minSegment = -1;
 
         // code based on Line2D.ptSegDistSq(...)
         for (int i = 0; i < size() - 1; i++)
         {
             double dx = this.points[i + 1].x - this.points[i].x;
             double dy = this.points[i + 1].y - this.points[i].y;
             // vector relative to (x(i), y(i))
             double px = x - this.points[i].x;
             double py = y - this.points[i].y;
             // dot product
             double dot1 = px * dx + py * dy;
             double f;
             double distance;
             if (dot1 > 0)
             {
                 // vector relative to (x(i+1), y(i+1))
                 px = dx - px;
                 py = dy - py;
                 // dot product
                 double dot2 = px * dx + py * dy;
                 if (dot2 > 0)
                 {
                     // projection on line segment
                     double len2 = dx * dx + dy * dy;
                     double proj = dot2 * dot2 / len2;
                     f = dot1 / len2;
                     distance = px * px + py * py - proj;
                 }
                 else
                 {
                     // dot<=0 projection 'after' line segment
                     f = 1;
                     distance = px * px + py * py;
                 }
             }
             else
             {
                 // dot<=0 projection 'before' line segment
                 f = 0;
                 distance = px * px + py * py;
             }
             // check if closer than previous
             if (distance < minDistance)
             {
                 minDistance = distance;
                 minSegmentFraction = f;
                 minSegment = i;
             }
         }
 
         // return
         double segLen = this.lengthIndexedLine[minSegment + 1] - this.lengthIndexedLine[minSegment];
         return (this.lengthIndexedLine[minSegment] + segLen * minSegmentFraction) / getLengthSI();
 
     }
 
     /**
      * Returns the fractional projection of a point to a line. The projection works by taking slices in space per line segment
      * as shown below. A point is always projected to the nearest segment, but not necessarily to the closest point on that
      * segment. The slices in space are analogous to a Voronoi diagram, but for the line segments instead of points. If
      * fractional projection fails, the orthogonal projection is returned.<br>
      * <br>
      * The point 'A' is projected to point 'B' on the 3rd segment of line 'C-D'. The line from 'A' to 'B' extends towards point
      * 'E', which is the intersection of lines 'E-F' and 'E-G'. Line 'E-F' cuts the first bend of the 3rd segment (at point 'H')
      * in half, while the line 'E-G' cuts the second bend of the 3rd segment (at point 'I') in half.
      * 
      * <pre>
      *            ____________________________     G                   .
      * .         |                            |    .                 .
      *   .       |  . . . .  helper lines     |    .               .
      *     .     |  _.._.._  projection line  |   I.             .
      *       .   |____________________________|  _.'._         .       L
      *        F.                              _.'  .  '-.    .
      *          ..                       B _.'     .     '-.
      *           . .                    _.\        .     .  D
      *            .  .               _.'   :       .   .
      *     J       .   .          _.'      \       . .
      *             ..    .     _.'          :      .                M
      *            .  .     ..-'             \      .
      *           .    .    /H.               A     .
      *          .      .  /    .                   .
      *        C _________/       .                 .
      *        .          .         .               .
      *   K   .            .          .             .
      *      .              .           .           .
      *     .                .            .         .           N
      *    .                  .             .       .
      *   .                    .              .     .
      *  .                      .               .   .
      * .                        .                . .
      *                           .                 .E
      *                            .                  .
      *                             .                   .
      *                              .                    .
      * </pre>
      * 
      * Fractional projection may fail in three cases.
      * <ol>
      * <li>Numerical difficulties at slight bend, orthogonal projection returns the correct point.</li>
      * <li>Fractional projection is possible only to segments that aren't the nearest segment(s).</li>
      * <li>Fractional projection is possible for no segment.</li>
      * </ol>
      * In the latter two cases the projection is undefined and a orthogonal projection is returned.
      * @param start direction in first point
      * @param end direction in last point
      * @param x x-coordinate of point to project
      * @param y y-coordinate of point to project
      * @return fractional position along this line of the fractional projection on that line of a point
      */
     public final double projectFractional(final Direction start, final Direction end, final double x, final double y)
     {
 
         // prepare
         makeLengthIndexedLine();
         double minDistance = Double.POSITIVE_INFINITY;
         double minSegmentFraction = 0;
         int minSegment = -1;
         OTSPoint3D point = new OTSPoint3D(x, y);
 
         // determine helpers (centers and directions)
         determineFractionalHelpers(start, end);
 
         // get distance of point to each segment
         double[] d = new double[this.points.length - 1];
         double minD = Double.POSITIVE_INFINITY;
         for (int i = 0; i < this.points.length - 1; i++)
         {
             d[i] = Line2D.ptSegDist(this.points[i].x, this.points[i].y, this.points[i + 1].x, this.points[i + 1].y, x, y);
             minD = d[i] < minD ? d[i] : minD;
         }
 
         // loop over segments for projection
         double distance;
         for (int i = 0; i < this.points.length - 1; i++)
         {
             // skip if not the closest segment, note that often two segments are equally close in their shared end point
             if (d[i] > minD + FRAC_PROJ_PRECISION)
             {
                 continue;
             }
             OTSPoint3D center = this.fractionalHelperCenters[i];
             OTSPoint3D p;
             if (center != null)
             {
                 // get intersection of line "center - (x, y)" and the segment
                 p = OTSPoint3D.intersectionOfLines(center, point, this.points[i], this.points[i + 1]);
                 if (p == null || (x < center.x + FRAC_PROJ_PRECISION && center.x + FRAC_PROJ_PRECISION < p.x)
                     || (x > center.x - FRAC_PROJ_PRECISION && center.x - FRAC_PROJ_PRECISION > p.x)
                     || (y < center.y + FRAC_PROJ_PRECISION && center.y + FRAC_PROJ_PRECISION < p.y)
                     || (y > center.y - FRAC_PROJ_PRECISION && center.y - FRAC_PROJ_PRECISION > p.y))
                 {
                     // projected point may not be 'beyond' segment center (i.e. center may not be between (x, y) and (p.x, p.y)
                     continue;
                 }
             }
             else
             {
                 // parallel helper lines, project along direction
                 OTSPoint3D offsetPoint =
                     new OTSPoint3D(x + this.fractionalHelperDirections[i].x, y + this.fractionalHelperDirections[i].y);
                 p = OTSPoint3D.intersectionOfLines(point, offsetPoint, this.points[i], this.points[i + 1]);
             }
             if (p == null || p.x < Math.min(this.points[i].x, this.points[i + 1].x) - FRAC_PROJ_PRECISION
                 || p.x > Math.max(this.points[i].x, this.points[i + 1].x) + FRAC_PROJ_PRECISION
                 || p.y < Math.min(this.points[i].y, this.points[i + 1].y) - FRAC_PROJ_PRECISION
                 || p.y > Math.max(this.points[i].y, this.points[i + 1].y) + FRAC_PROJ_PRECISION)
             {
                 // intersection must be on the segment
                 // in case of p == null, the length of the fractional helper direction falls away due to precision
                 continue;
             }
             // distance from (x, y) to intersection on segment
             double dx = x - p.x;
             double dy = y - p.y;
             distance = Math.sqrt(dx * dx + dy * dy);
             // distance from start of segment to point on segment
             if (distance < minDistance)
             {
                 dx = p.x - this.points[i].x;
                 dy = p.y - this.points[i].y;
                 double dFrac = Math.sqrt(dx * dx + dy * dy);
                 // fraction to point on segment
                 minDistance = distance;
                 minSegmentFraction = dFrac / (this.lengthIndexedLine[i + 1] - this.lengthIndexedLine[i]);
                 minSegment = i;
             }
         }
 
         // return
         if (minSegment == -1)
         {
             /*
              * If fractional projection fails (x, y) is either outside of the applicable area for fractional projection, or is
              * inside an area where numerical difficulties arise (i.e. far away outside of very slight bend which is considered
              * parallel).
              */
             return projectOrthogonal(x, y);
         }
         double segLen = this.lengthIndexedLine[minSegment + 1] - this.lengthIndexedLine[minSegment];
         return (this.lengthIndexedLine[minSegment] + segLen * minSegmentFraction) / getLengthSI();
 
     }
 
     /**
      * Determines all helpers (points and/or directions) for fractional projection and stores fixed information in properties
      * while returning the first and last center points (.
      * @param start direction in first point
      * @param end direction in last point
      */
     private void determineFractionalHelpers(final Direction start, final Direction end)
     {
 
         final int n = this.points.length - 1;
 
         // calculate fixed helpers if not done yet
         if (this.fractionalHelperCenters == null)
         {
             this.fractionalHelperCenters = new OTSPoint3D[n];
             this.fractionalHelperDirections = new Point2D.Double[n];
             if (this.points.length > 2)
             {
                 // intersection of parallel lines of first and second segment
                 OTSLine3D prevOfsSeg = unitOffsetSegment(0);
                 OTSLine3D nextOfsSeg = unitOffsetSegment(1);
                 OTSPoint3D parStartPoint;
                 try
                 {
                     parStartPoint =
                         OTSPoint3D.intersectionOfLines(prevOfsSeg.get(0), prevOfsSeg.get(1), nextOfsSeg.get(0), nextOfsSeg
                             .get(1));
                     if (parStartPoint == null)
                     {
                         parStartPoint =
                             new OTSPoint3D((prevOfsSeg.get(1).x + nextOfsSeg.get(0).x) / 2,
                                 (prevOfsSeg.get(1).y + nextOfsSeg.get(0).y) / 2);
                     }
                 }
                 catch (OTSGeometryException oge)
                 {
                     // cannot happen as only the first and second point (which are always present) are requested
                     throw new RuntimeException(oge);
                 }
                 // remember the intersection of the first two unit offset segments
                 this.firstOffsetIntersection = parStartPoint;
                 // loop segments
                 for (int i = 1; i < this.points.length - 2; i++)
                 {
                     prevOfsSeg = nextOfsSeg;
                     nextOfsSeg = unitOffsetSegment(i + 1);
                     OTSPoint3D parEndPoint;
                     try
                     {
                         parEndPoint =
                             OTSPoint3D.intersectionOfLines(prevOfsSeg.get(0), prevOfsSeg.get(1), nextOfsSeg.get(0),
                                 nextOfsSeg.get(1));
                         if (parEndPoint == null)
                         {
                             parEndPoint =
                                 new OTSPoint3D((prevOfsSeg.get(1).x + nextOfsSeg.get(0).x) / 2,
                                     (prevOfsSeg.get(1).y + nextOfsSeg.get(0).y) / 2);
                         }
                     }
                     catch (OTSGeometryException oge)
                     {
                         // cannot happen as only the first and second point (which are always present) are requested
                         throw new RuntimeException(oge);
                     }
                     // center = intersections of helper lines
                     this.fractionalHelperCenters[i] =
                         OTSPoint3D.intersectionOfLines(this.points[i], parStartPoint, this.points[i + 1], parEndPoint);
                     if (this.fractionalHelperCenters[i] == null)
                     {
                         // parallel helper lines, parallel segments or /\/ cause parallel helper lines, use direction
                         this.fractionalHelperDirections[i] =
                             new Point2D.Double(parStartPoint.x - this.points[i].x, parStartPoint.y - this.points[i].y);
                     }
                     parStartPoint = parEndPoint;
                 }
                 // remember the intersection of the last two unit offset segments
                 this.lastOffsetIntersection = parStartPoint;
             }
         }
 
         // use directions at start and end to get unit offset points to the left at a distance of 1
         double ang = start.si + Math.PI / 2;
         OTSPoint3D p1 = new OTSPoint3D(this.points[0].x + Math.cos(ang), this.points[0].y + Math.sin(ang));
         ang = end.si + Math.PI / 2;
         OTSPoint3D p2 = new OTSPoint3D(this.points[n].x + Math.cos(ang), this.points[n].y + Math.sin(ang));
 
         // calculate first and last center (i.e. intersection of unit offset segments), which depend on inputs 'start' and 'end'
         if (this.points.length > 2)
         {
             this.fractionalHelperCenters[0] =
                 OTSPoint3D.intersectionOfLines(this.points[0], p1, this.points[1], this.firstOffsetIntersection);
             this.fractionalHelperCenters[n - 1] =
                 OTSPoint3D.intersectionOfLines(this.points[n - 1], this.lastOffsetIntersection, this.points[n], p2);
             if (this.fractionalHelperCenters[n - 1] == null)
             {
                 // parallel helper lines, use direction for projection
                 this.fractionalHelperDirections[n - 1] =
                     new Point2D.Double(p2.x - this.points[n].x, p2.y - this.points[n].y);
             }
         }
         else
         {
             // only a single segment
             this.fractionalHelperCenters[0] = OTSPoint3D.intersectionOfLines(this.points[0], p1, this.points[1], p2);
             this.fractionalHelperCenters[n - 1] = null;
         }
         if (this.fractionalHelperCenters[0] == null)
         {
             // parallel helper lines, use direction for projection
             this.fractionalHelperDirections[0] = new Point2D.Double(p1.x - this.points[0].x, p1.y - this.points[0].y);
         }
 
     }
 
     /**
      * Helper method for fractional projection which returns an offset line to the left of a segment at a distance of 1.
      * @param segment segment number
      * @return parallel line to the left of a segment at a distance of 1
      */
     private OTSLine3D unitOffsetSegment(final int segment)
     {
         OTSPoint3D from = new OTSPoint3D(this.points[segment].x, this.points[segment].y);
         OTSPoint3D to = new OTSPoint3D(this.points[segment + 1].x, this.points[segment + 1].y);
         try
         {
             OTSLine3D line = new OTSLine3D(from, to);
             return line.offsetLine(1.0);
         }
         catch (OTSGeometryException oge)
         {
             // cannot happen as points are from this OTSLine3D which performed the same checks and 2 points are given
             throw new RuntimeException(oge);
         }
     }
 
     /**
      * Calculate the centroid of this line, and the bounds, and cache for later use. Make sure the dx, dy and dz are at least
      * 0.5 m wide.
      */
     private void calcCentroidBounds()
     {
         double minX = Double.POSITIVE_INFINITY;
         double minY = Double.POSITIVE_INFINITY;
         double minZ = Double.POSITIVE_INFINITY;
         double maxX = Double.NEGATIVE_INFINITY;
         double maxY = Double.NEGATIVE_INFINITY;
         double maxZ = Double.NEGATIVE_INFINITY;
         for (OTSPoint3D p : this.points)
         {
             minX = Math.min(minX, p.x);
             minY = Math.min(minY, p.y);
             minZ = Math.min(minZ, p.z);
             maxX = Math.max(maxX, p.x);
             maxY = Math.max(maxY, p.y);
             maxZ = Math.max(maxZ, p.z);
         }
         this.centroid = new OTSPoint3D((maxX + minX) / 2, (maxY + minY) / 2, (maxZ + minZ) / 2);
         double deltaX = Math.max(maxX - minX, 0.5);
         double deltaY = Math.max(maxY - minY, 0.5);
         double deltaZ = Math.max(maxZ - minZ, 0.5);
         this.bounds = new BoundingBox(deltaX, deltaY, deltaZ);
         this.envelope = new Envelope(minX, maxX, minY, maxY);
     }
 
     /**
      * Retrieve the centroid of this OTSLine3D.
      * @return OTSPoint3D; the centroid of this OTSLine3D
      */
     public final OTSPoint3D getCentroid()
     {
         if (this.centroid == null)
         {
             calcCentroidBounds();
         }
         return this.centroid;
     }
 
     /**
      * Get the bounding rectangle of this OTSLine3D.
      * @return Rectangle2D; the bounding rectangle of this OTSLine3D
      */
     public final Envelope getEnvelope()
     {
         if (this.envelope == null)
         {
             calcCentroidBounds();
         }
         return this.envelope;
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public DirectedPoint getLocation()
     {
         if (this.centroid == null)
         {
             calcCentroidBounds();
         }
         return this.centroid.getDirectedPoint();
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public Bounds getBounds()
     {
         if (this.bounds == null)
         {
             calcCentroidBounds();
         }
         return this.bounds;
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public String toString()
     {
         return Arrays.toString(this.points);
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public int hashCode()
     {
         final int prime = 31;
         int result = 1;
         result = prime * result + Arrays.hashCode(this.points);
         return result;
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings({"checkstyle:designforextension", "checkstyle:needbraces"})
     public boolean equals(final Object obj)
     {
         if (this == obj)
             return true;
         if (obj == null)
             return false;
         if (getClass() != obj.getClass())
             return false;
         OTSLine3D other = (OTSLine3D) obj;
         if (!Arrays.equals(this.points, other.points))
             return false;
         return true;
     }
 
     /**
      * @return excel XY plottable output
      */
     public final String toExcel()
     {
         StringBuffer s = new StringBuffer();
         for (OTSPoint3D p : this.points)
         {
             s.append(p.x + "\t" + p.y + "\n");
         }
         return s.toString();
     }
 
     /**
      * @param args String[]; the command line arguments (not used)
      * @throws OTSGeometryException in case of error
      */
     public static void main(final String[] args) throws OTSGeometryException
     {
         OTSLine3D line =
             new OTSLine3D(new OTSPoint3D(-263.811, -86.551, 1.180), new OTSPoint3D(-262.945, -84.450, 1.180),
                 new OTSPoint3D(-261.966, -82.074, 1.180), new OTSPoint3D(-260.890, -79.464, 1.198), new OTSPoint3D(-259.909,
                     -76.955, 1.198), new OTSPoint3D(-258.911, -74.400, 1.198), new OTSPoint3D(-257.830, -71.633, 1.234));
         System.out.println(line.toExcel());
         double[] relativeFractions =
             new double[] {0.0, 0.19827228089475762, 0.30549496392494213, 0.5824753163948581, 0.6815307752261827,
                 0.7903990449840241, 0.8942375145295614, 1.0};
         double[] offsets =
             new double[] {2.9779999256134, 4.6029999256134, 3.886839156071996, 2.3664845198627207, 1.7858981925396709,
                 1.472348149010167, 2.0416709053157285, 2.798692100483229};
         System.out.println(line.offsetLine(relativeFractions, offsets).toExcel());
     }
 }