// Created on: 1997-02-12
// Created by: Laurent BOURESCHE
// Copyright (c) 1997-1999 Matra Datavision
// Copyright (c) 1999-2014 OPEN CASCADE SAS
//
// This file is part of Open CASCADE Technology software library.
//
// This library is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License version 2.1 as published
// by the Free Software Foundation, with special exception defined in the file
// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
// distribution for complete text of the license and disclaimer of any warranty.
//
// Alternatively, this file may be used under the terms of Open CASCADE
// commercial license or contractual agreement.

#include <BRepBlend_SurfPointConstRadInv.hxx>
#include <gp_Pnt.hxx>
#include <math_Matrix.hxx>

//=================================================================================================

BRepBlend_SurfPointConstRadInv::BRepBlend_SurfPointConstRadInv(
  const occ::handle<Adaptor3d_Surface>& S,
  const occ::handle<Adaptor3d_Curve>&   C)
    : surf(S),
      curv(C),
      ray(0.0),
      choix(0)
{
}

//=================================================================================================

void BRepBlend_SurfPointConstRadInv::Set(const double R, const int Choix)
{
  choix = Choix;
  switch (choix)
  {
    case 1:
    case 2: {
      ray = -std::abs(R);
    }
    break;
    case 3:
    case 4: {
      ray = std::abs(R);
    }
    break;
    default: {
      ray = -std::abs(R);
    }
  }
}

//=================================================================================================

int BRepBlend_SurfPointConstRadInv::NbEquations() const
{
  return 3;
}

//=================================================================================================

bool BRepBlend_SurfPointConstRadInv::Value(const math_Vector& X, math_Vector& F)
{
  double theD, norm, unsurnorm;
  gp_Pnt ptcur, pts;
  gp_Vec d1cur(0., 0., 0.), d1u(0., 0., 0.), d1v(0., 0., 0.);
  gp_XYZ nplan(0., 0., 0.), ns(0., 0., 0.), ref(0., 0., 0.);
  curv->D1(X(1), ptcur, d1cur);
  nplan = d1cur.Normalized().XYZ();
  //  theD = -(nplan.Dot(ptcur.XYZ()));
  gp_XYZ ptcurXYZ(ptcur.XYZ());
  theD = nplan.Dot(ptcurXYZ);
  theD = theD * (-1.);

  surf->D1(X(2), X(3), pts, d1u, d1v);
  F(1)      = nplan.Dot(point.XYZ()) + theD;
  F(2)      = nplan.Dot(pts.XYZ()) + theD;
  ns        = d1u.Crossed(d1v).XYZ();
  norm      = nplan.Crossed(ns).Modulus();
  unsurnorm = 1. / norm;
  ns.SetLinearForm(nplan.Dot(ns), nplan, -1., ns);
  ns.Multiply(unsurnorm);
  ref = pts.XYZ() - point.XYZ();
  ref.SetLinearForm(ray, ns, ref);
  F(3) = ref.SquareModulus() - ray * ray;
  return true;
}

//=================================================================================================

bool BRepBlend_SurfPointConstRadInv::Derivatives(const math_Vector& X, math_Matrix& D)
{
  gp_Pnt ptcur, pts;
  gp_Vec d1cur, d2cur, nplan, dnplan, d1u, d1v, d2u, d2v, duv;
  double theD, dtheD, normd1cur, unsurnormd1cur;

  curv->D2(X(1), ptcur, d1cur, d2cur);
  normd1cur      = d1cur.Magnitude();
  unsurnormd1cur = 1. / normd1cur;
  nplan          = unsurnormd1cur * d1cur;
  //  theD = -(nplan.XYZ().Dot(ptcur.XYZ()));
  gp_XYZ nplanXYZ(nplan.XYZ());
  gp_XYZ ptcurXYZ(ptcur.XYZ());
  theD = nplanXYZ.Dot(ptcurXYZ);
  theD = theD * (-1.);

  dnplan.SetLinearForm(-nplan.Dot(d2cur), nplan, d2cur);
  dnplan.Multiply(unsurnormd1cur);
  dtheD   = -nplan.XYZ().Dot(d1cur.XYZ()) - dnplan.XYZ().Dot(ptcur.XYZ());
  D(1, 1) = dnplan.XYZ().Dot(point.XYZ()) + dtheD;
  D(1, 2) = D(1, 3) = 0.;
  surf->D2(X(2), X(3), pts, d1u, d1v, d2u, d2v, duv);
  D(2, 1) = dnplan.XYZ().Dot(pts.XYZ()) + dtheD;
  D(2, 2) = nplan.Dot(d1u);
  D(2, 3) = nplan.Dot(d1v);

  gp_Vec nsurf   = d1u.Crossed(d1v);
  gp_Vec dunsurf = d2u.Crossed(d1v).Added(d1u.Crossed(duv));
  gp_Vec dvnsurf = d1u.Crossed(d2v).Added(duv.Crossed(d1v));

  gp_Vec nplancrosnsurf   = nplan.Crossed(nsurf);
  gp_Vec dwnplancrosnsurf = dnplan.Crossed(nsurf);
  gp_Vec dunplancrosnsurf = nplan.Crossed(dunsurf);
  gp_Vec dvnplancrosnsurf = nplan.Crossed(dvnsurf);

  double norm2       = nplancrosnsurf.SquareMagnitude();
  double norm        = sqrt(norm2);
  double unsurnorm   = 1. / norm;
  double raysurnorm  = ray * unsurnorm;
  double unsurnorm2  = unsurnorm * unsurnorm;
  double raysurnorm2 = ray * unsurnorm2;
  double dwnorm      = unsurnorm * nplancrosnsurf.Dot(dwnplancrosnsurf);
  double dunorm      = unsurnorm * nplancrosnsurf.Dot(dunplancrosnsurf);
  double dvnorm      = unsurnorm * nplancrosnsurf.Dot(dvnplancrosnsurf);

  double nplandotnsurf   = nplan.Dot(nsurf);
  double dwnplandotnsurf = dnplan.Dot(nsurf);
  double dunplandotnsurf = nplan.Dot(dunsurf);
  double dvnplandotnsurf = nplan.Dot(dvnsurf);

  gp_Vec temp, dwtemp, dutemp, dvtemp;
  temp.SetLinearForm(nplandotnsurf, nplan, -1., nsurf);
  dwtemp.SetLinearForm(nplandotnsurf, dnplan, dwnplandotnsurf, nplan);
  dutemp.SetLinearForm(dunplandotnsurf, nplan, -1., dunsurf);
  dvtemp.SetLinearForm(dvnplandotnsurf, nplan, -1., dvnsurf);

  gp_Vec ref, dwref, duref, dvref, corde(point, pts);
  ref.SetLinearForm(raysurnorm, temp, corde);
  dwref.SetLinearForm(raysurnorm, dwtemp, -raysurnorm2 * dwnorm, temp);
  duref.SetLinearForm(raysurnorm, dutemp, -raysurnorm2 * dunorm, temp, d1u);
  dvref.SetLinearForm(raysurnorm, dvtemp, -raysurnorm2 * dvnorm, temp, d1v);

  ref.Add(ref);
  D(3, 1) = ref.Dot(dwref);
  D(3, 2) = ref.Dot(duref);
  D(3, 3) = ref.Dot(dvref);

  return true;
}

//=================================================================================================

bool BRepBlend_SurfPointConstRadInv::Values(const math_Vector& X, math_Vector& F, math_Matrix& D)
{
  gp_Pnt ptcur, pts;
  gp_Vec d1cur, d2cur, nplan, dnplan, d1u, d1v, d2u, d2v, duv;
  double theD, dtheD, normd1cur, unsurnormd1cur;

  curv->D2(X(1), ptcur, d1cur, d2cur);
  surf->D2(X(2), X(3), pts, d1u, d1v, d2u, d2v, duv);
  normd1cur      = d1cur.Magnitude();
  unsurnormd1cur = 1. / normd1cur;
  nplan          = unsurnormd1cur * d1cur;
  //  theD = -(nplan.XYZ().Dot(ptcur.XYZ()));
  gp_XYZ nplanXYZ(nplan.XYZ());
  gp_XYZ ptcurXYZ(ptcur.XYZ());
  theD = nplanXYZ.Dot(ptcurXYZ);
  theD = theD * (-1.);

  F(1) = nplan.XYZ().Dot(point.XYZ()) + theD;
  F(2) = nplan.XYZ().Dot(pts.XYZ()) + theD;

  dnplan.SetLinearForm(-nplan.Dot(d2cur), nplan, d2cur);
  dnplan.Multiply(unsurnormd1cur);
  dtheD   = -nplan.XYZ().Dot(d1cur.XYZ()) - dnplan.XYZ().Dot(ptcur.XYZ());
  D(1, 1) = dnplan.XYZ().Dot(point.XYZ()) + dtheD;
  D(1, 2) = D(1, 3) = 0.;
  D(2, 1)           = dnplan.XYZ().Dot(pts.XYZ()) + dtheD;
  D(2, 2)           = nplan.Dot(d1u);
  D(2, 3)           = nplan.Dot(d1v);

  gp_Vec nsurf   = d1u.Crossed(d1v);
  gp_Vec dunsurf = d2u.Crossed(d1v).Added(d1u.Crossed(duv));
  gp_Vec dvnsurf = d1u.Crossed(d2v).Added(duv.Crossed(d1v));

  gp_Vec nplancrosnsurf   = nplan.Crossed(nsurf);
  gp_Vec dwnplancrosnsurf = dnplan.Crossed(nsurf);
  gp_Vec dunplancrosnsurf = nplan.Crossed(dunsurf);
  gp_Vec dvnplancrosnsurf = nplan.Crossed(dvnsurf);

  double norm2       = nplancrosnsurf.SquareMagnitude();
  double norm        = sqrt(norm2);
  double unsurnorm   = 1. / norm;
  double raysurnorm  = ray * unsurnorm;
  double unsurnorm2  = unsurnorm * unsurnorm;
  double raysurnorm2 = ray * unsurnorm2;
  double dwnorm      = unsurnorm * nplancrosnsurf.Dot(dwnplancrosnsurf);
  double dunorm      = unsurnorm * nplancrosnsurf.Dot(dunplancrosnsurf);
  double dvnorm      = unsurnorm * nplancrosnsurf.Dot(dvnplancrosnsurf);

  double nplandotnsurf   = nplan.Dot(nsurf);
  double dwnplandotnsurf = dnplan.Dot(nsurf);
  double dunplandotnsurf = nplan.Dot(dunsurf);
  double dvnplandotnsurf = nplan.Dot(dvnsurf);

  gp_Vec temp, dwtemp, dutemp, dvtemp;
  temp.SetLinearForm(nplandotnsurf, nplan, -1., nsurf);
  dwtemp.SetLinearForm(nplandotnsurf, dnplan, dwnplandotnsurf, nplan);
  dutemp.SetLinearForm(dunplandotnsurf, nplan, -1., dunsurf);
  dvtemp.SetLinearForm(dvnplandotnsurf, nplan, -1., dvnsurf);

  gp_Vec ref, dwref, duref, dvref, corde(point, pts);
  ref.SetLinearForm(raysurnorm, temp, corde);
  F(3) = ref.SquareMagnitude() - ray * ray;
  dwref.SetLinearForm(raysurnorm, dwtemp, -raysurnorm2 * dwnorm, temp);
  duref.SetLinearForm(raysurnorm, dutemp, -raysurnorm2 * dunorm, temp, d1u);
  dvref.SetLinearForm(raysurnorm, dvtemp, -raysurnorm2 * dvnorm, temp, d1v);

  ref.Add(ref);
  D(3, 1) = ref.Dot(dwref);
  D(3, 2) = ref.Dot(duref);
  D(3, 3) = ref.Dot(dvref);

  return true;
}

//=================================================================================================

void BRepBlend_SurfPointConstRadInv::Set(const gp_Pnt& P)
{
  point = P;
}

//=================================================================================================

void BRepBlend_SurfPointConstRadInv::GetTolerance(math_Vector& Tolerance, const double Tol) const
{
  Tolerance(1) = curv->Resolution(Tol);
  Tolerance(2) = surf->UResolution(Tol);
  Tolerance(3) = surf->VResolution(Tol);
}

//=================================================================================================

void BRepBlend_SurfPointConstRadInv::GetBounds(math_Vector& InfBound, math_Vector& SupBound) const
{
  InfBound(1) = curv->FirstParameter();
  SupBound(1) = curv->LastParameter();
  InfBound(2) = surf->FirstUParameter();
  SupBound(2) = surf->LastUParameter();
  InfBound(3) = surf->FirstVParameter();
  SupBound(3) = surf->LastVParameter();
}

//=================================================================================================

bool BRepBlend_SurfPointConstRadInv::IsSolution(const math_Vector& Sol, const double Tol)
{
  math_Vector valsol(1, 3);
  Value(Sol, valsol);
  return std::abs(valsol(1)) <= Tol && std::abs(valsol(2)) <= Tol
         && std::abs(valsol(3)) <= 2 * Tol * std::abs(ray);
}
