// Created on: 1997-07-11
// Created by: Philippe MANGIN
// 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 <Adaptor3d_Curve.hxx>
#include <GCPnts_QuasiUniformDeflection.hxx>
#include <GeomFill.hxx>
#include <GeomFill_CircularBlendFunc.hxx>
#include <gp_Pnt.hxx>
#include <Precision.hxx>
#include <Standard_Type.hxx>
#include <NCollection_Array1.hxx>
#include <NCollection_Sequence.hxx>

IMPLEMENT_STANDARD_RTTIEXT(GeomFill_CircularBlendFunc, Approx_SweepFunction)

static const double TolAng = 1.e-6;

static GeomAbs_Shape GeomFillNextShape(const GeomAbs_Shape S)
{
  switch (S)
  {
    case GeomAbs_C0:
      return GeomAbs_C1;
    case GeomAbs_C1:
      return GeomAbs_C2;
    case GeomAbs_C2:
      return GeomAbs_C3;
    case GeomAbs_C3:
      return GeomAbs_CN;
    default:
      return GeomAbs_CN;
  }
}

static void GeomFillFusInt(const NCollection_Array1<double>& I1,
                           const NCollection_Array1<double>& I2,
                           NCollection_Sequence<double>&     Seq)
{
  int              ind1 = 1, ind2 = 1;
  constexpr double Epspar = Precision::PConfusion() * 0.99;
  // en suposant que le positionement fonctionne a PConfusion()/2
  double v1, v2;
  // Initialisations : les IND1 et IND2 pointent sur le 1er element
  // de chacune des 2 tables a traiter.

  //--- On remplit TABSOR en parcourant TABLE1 et TABLE2 simultanement ---
  //------------------ en eliminant les occurrences multiples ------------

  while ((ind1 <= I1.Upper()) && (ind2 <= I2.Upper()))
  {
    v1 = I1(ind1);
    v2 = I2(ind2);
    if (std::abs(v1 - v2) <= Epspar)
    {
      // Ici les elements de I1 et I2 conviennent .
      Seq.Append((v1 + v2) / 2);
      ind1++;
      ind2++;
    }
    else if (v1 < v2)
    {
      // Ici l' element de I1 convient.
      Seq.Append(v1);
      ind1++;
    }
    else
    {
      // Ici l' element de TABLE2 convient.
      Seq.Append(v2);
      ind2++;
    }
  }

  if (ind1 > I1.Upper())
  {
    //----- Ici I1 est epuise, on complete avec la fin de TABLE2 -------

    for (; ind2 <= I2.Upper(); ind2++)
    {
      Seq.Append(I2(ind2));
    }
  }

  if (ind2 > I2.Upper())
  {
    //----- Ici I2 est epuise, on complete avec la fin de I1 -------

    for (; ind1 <= I1.Upper(); ind1++)
    {
      Seq.Append(I1(ind1));
    }
  }
}

GeomFill_CircularBlendFunc::GeomFill_CircularBlendFunc(const occ::handle<Adaptor3d_Curve>& Path,
                                                       const occ::handle<Adaptor3d_Curve>& Curve1,
                                                       const occ::handle<Adaptor3d_Curve>& Curve2,
                                                       const double                        Radius,
                                                       const bool Polynomial)
    : maxang(RealFirst()),
      minang(RealLast()),
      distmin(RealLast())
{
  // Recopie des arguments
  myPath = myTPath = Path;
  myCurve1 = myTCurve1 = Curve1;
  myCurve2 = myTCurve2 = Curve2;
  myRadius             = Radius;

  // Estimations numeriques
  Discret();

  // Type de convertion ?
  if (Polynomial)
  {
    myTConv = Convert_Polynomial;
  }
  else if (maxang > 0.65 * M_PI)
  {
    myTConv = Convert_QuasiAngular; // car c'est Continue
  }
  else
  {
    myTConv = Convert_TgtThetaOver2;
  }
  // car c'est le plus performant

  // On en deduit la structure
  GeomFill::GetShape(maxang, myNbPoles, myNbKnots, myDegree, myTConv);
}

void GeomFill_CircularBlendFunc::Discret()
{
  double                       TFirst = myPath->FirstParameter();
  double                       TLast  = myPath->LastParameter(), T;
  int                          ii;
  double                       L1, L2, L;
  occ::handle<Adaptor3d_Curve> C;
  gp_Pnt                       P1, P2, P3, Center;
  gp_Vec                       DCenter;

  P1 = myCurve1->Value(TFirst);
  P2 = myCurve1->Value((TFirst + TLast) / 2.);
  P3 = myCurve1->Value(TLast);
  L1 = P1.Distance(P2) + P2.Distance(P3);

  P1 = myCurve2->Value(TFirst);
  P2 = myCurve2->Value((TFirst + TLast) / 2.);
  P3 = myCurve2->Value(TLast);
  L2 = P1.Distance(P2) + P2.Distance(P3);

  if (L1 > L2)
  {
    L = L1;
    C = myCurve1;
  }
  else
  {
    L = L2;
    C = myCurve2;
  }

  double                        Fleche = 1.e-2 * L;
  double                        Angle, Cosa, Percent;
  GCPnts_QuasiUniformDeflection Samp;
  Samp.Initialize(*C, Fleche);
  myBary.SetCoord(0., 0., 0.);
  gp_Vec ns1, ns2;

  if (Samp.IsDone())
  {
    Percent = ((double)1) / (2 * Samp.NbPoints());
    //    char name[100];
    for (ii = 1; ii <= Samp.NbPoints(); ii++)
    {
      T = Samp.Parameter(ii);
      myCurve1->D0(T, P1);
      myCurve2->D0(T, P2);
      /*
            Sprintf(name,"PNT_%d",NbSections++);
            DrawTrSurf::Set(name, P1);
            Sprintf(name,"PNT_%d",NbSections++);
            DrawTrSurf::Set(name, P2);*/
      myPath->D0(T, Center);
      ns1.SetXYZ(Center.XYZ() - P1.XYZ());
      ns2.SetXYZ(Center.XYZ() - P2.XYZ());
      ns1.Normalize();
      ns2.Normalize();
      Cosa = ns1.Dot(ns2);
      if (Cosa > 1.)
      {
        Cosa = 1.;
      }
      Angle = std::abs(std::acos(Cosa));
      if (Angle > maxang)
      {
        maxang = Angle;
      }
      if (Angle < minang)
      {
        minang = Angle;
      }
      distmin = std::min(distmin, P1.Distance(P2));
      myBary.ChangeCoord() += (P1.XYZ() + P2.XYZ());
    }
  }
  else
  {
    double Delta = (TLast - TFirst) / 20;
    Percent      = ((double)1) / 42;
    for (ii = 0, T = TFirst; ii <= 20; ii++, T += Delta)
    {
      myCurve1->D0(T, P1);
      myCurve2->D0(T, P2);
      myPath->D0(T, Center);

      ns1.SetXYZ(Center.XYZ() - P1.XYZ());
      ns2.SetXYZ(Center.XYZ() - P2.XYZ());
      ns1.Normalize();
      ns2.Normalize();
      Cosa = ns1.Dot(ns2);
      if (Cosa > 1.)
      {
        Cosa = 1.;
      }
      Angle = std::abs(std::acos(Cosa));

      if (Angle > maxang)
      {
        maxang = Angle;
      }
      if (Angle < minang)
      {
        minang = Angle;
      }
      distmin = std::min(distmin, P1.Distance(P2));
      myBary.ChangeCoord() += (P1.XYZ() + P2.XYZ());
    }
  }
  myBary.ChangeCoord() *= Percent;

  // Faut il inverser la trajectoire ?
  T = (TFirst + TLast) / 2;
  myCurve1->D0(T, P1);
  myCurve2->D0(T, P2);
  myPath->D1(T, Center, DCenter);

  ns1.SetXYZ(Center.XYZ() - P1.XYZ());
  ns2.SetXYZ(Center.XYZ() - P2.XYZ());

  // myreverse = (DCenter.Dot(ns1.Crossed(ns2)) < 0);
  myreverse = false;
}

bool GeomFill_CircularBlendFunc::D0(const double Param,
                                    const double,
                                    const double,
                                    NCollection_Array1<gp_Pnt>& Poles,
                                    NCollection_Array1<gp_Pnt2d>&,
                                    NCollection_Array1<double>& Weigths)
{
  gp_Pnt P1, P2, Center;
  gp_Vec ns1, ns2, nplan;
  gp_XYZ temp;

  // Positionnement
  myTPath->D0(Param, Center);
  myTCurve1->D0(Param, P1);
  myTCurve2->D0(Param, P2);
  ns1.SetXYZ(Center.XYZ() - P1.XYZ());
  ns2.SetXYZ(Center.XYZ() - P2.XYZ());
  if (!ns1.IsParallel(ns2, TolAng))
  {
    nplan = ns1.Crossed(ns2);
  }
  else
  {
    myTPath->D1(Param, Center, nplan);
    if (myreverse)
    {
      nplan.Reverse();
    }
  }

  // Normalisation
  ns1.Normalize();
  ns2.Normalize();
  nplan.Normalize();

  temp.SetLinearForm(myRadius, ns1.XYZ(), myRadius, ns2.XYZ(), 1, P1.XYZ(), P2.XYZ());
  Center.ChangeCoord() = 0.5 * temp;

  // Section
  GeomFill::GetCircle(myTConv, ns1, ns2, nplan, P1, P2, myRadius, Center, Poles, Weigths);

  return true;
}

bool GeomFill_CircularBlendFunc::D1(const double Param,
                                    //						const double First,
                                    const double,
                                    //						const double Last,
                                    const double,
                                    NCollection_Array1<gp_Pnt>& Poles,
                                    NCollection_Array1<gp_Vec>& DPoles,
                                    //						NCollection_Array1<gp_Pnt2d>& Poles2d,
                                    NCollection_Array1<gp_Pnt2d>&,
                                    //						NCollection_Array1<gp_Vec2d>& DPoles2d,
                                    NCollection_Array1<gp_Vec2d>&,
                                    NCollection_Array1<double>& Weigths,
                                    NCollection_Array1<double>& DWeigths)
{
  gp_Pnt P1, P2, Center;
  double invnorm1, invnorm2, invnormp;
  //  gp_Vec DCenter, D2Center, nplan, dnplan, DP1, DP2;
  gp_Vec DCenter, nplan, dnplan, DP1, DP2;
  //  gp_Vec ns1, ns2, Dns1, Dns2, vtmp;
  gp_Vec ns1, ns2, Dns1, Dns2;
  gp_XYZ temp;

  // Positionemment
  myTPath->D1(Param, Center, DCenter);
  myTCurve1->D1(Param, P1, DP1);
  myTCurve2->D1(Param, P2, DP2);

  ns1.SetXYZ(Center.XYZ() - P1.XYZ());
  ns2.SetXYZ(Center.XYZ() - P2.XYZ());
  Dns1 = DCenter - DP1;
  Dns2 = DCenter - DP2;

  if (!ns1.IsParallel(ns2, TolAng))
  {
    nplan  = ns1.Crossed(ns2);
    dnplan = Dns1.Crossed(ns2).Added(ns1.Crossed(Dns2));
  }
  else
  {
    myTPath->D2(Param, Center, nplan, dnplan);
    if (myreverse)
    {
      nplan.Reverse();
      dnplan.Reverse();
    }
  }

  // Normalisation
  invnorm1 = ((double)1) / ns1.Magnitude();
  invnorm2 = ((double)1) / ns2.Magnitude();

  ns1 *= invnorm1;
  Dns1.SetLinearForm(-Dns1.Dot(ns1), ns1, Dns1);
  Dns1 *= invnorm1;

  ns2 *= invnorm2;
  Dns2.SetLinearForm(-Dns2.Dot(ns2), ns2, Dns2);
  Dns2 *= invnorm2;

  temp.SetLinearForm(myRadius, ns1.XYZ(), myRadius, ns2.XYZ(), 1, P1.XYZ(), P2.XYZ());
  Center.ChangeCoord() = 0.5 * temp;
  DCenter.SetLinearForm(myRadius, Dns1, myRadius, Dns2, 1, DP1, DP2);
  DCenter *= 0.5;

  invnormp = ((double)1) / nplan.Magnitude();
  nplan *= invnormp;
  dnplan.SetLinearForm(-dnplan.Dot(nplan), nplan, dnplan);
  dnplan *= invnormp;

  GeomFill::GetCircle(myTConv,
                      ns1,
                      ns2,
                      Dns1,
                      Dns2,
                      nplan,
                      dnplan,
                      P1,
                      P2,
                      DP1,
                      DP2,
                      myRadius,
                      0,
                      Center,
                      DCenter,
                      Poles,
                      DPoles,
                      Weigths,
                      DWeigths);
  return true;
}

bool GeomFill_CircularBlendFunc::D2(const double Param,
                                    //						const double First,
                                    const double,
                                    //						const double Last,
                                    const double,
                                    NCollection_Array1<gp_Pnt>& Poles,
                                    NCollection_Array1<gp_Vec>& DPoles,
                                    NCollection_Array1<gp_Vec>& D2Poles,
                                    //						NCollection_Array1<gp_Pnt2d>& Poles2d,
                                    NCollection_Array1<gp_Pnt2d>&,
                                    //						NCollection_Array1<gp_Vec2d>& DPoles2d,
                                    NCollection_Array1<gp_Vec2d>&,
                                    //						NCollection_Array1<gp_Vec2d>& D2Poles2d,
                                    NCollection_Array1<gp_Vec2d>&,
                                    NCollection_Array1<double>& Weigths,
                                    NCollection_Array1<double>& DWeigths,
                                    NCollection_Array1<double>& D2Weigths)
{
  gp_Pnt P1, P2, Center;
  double invnorm1, invnorm2, invnormp, sc;
  gp_Vec DCenter, D2Center, DP1, DP2, D2P1, D2P2;
  gp_Vec nplan, dnplan, d2nplan;
  gp_Vec ns1, ns2, Dns1, Dns2, D2ns1, D2ns2;
  gp_XYZ temp;

  // Positionement
  myTPath->D2(Param, Center, DCenter, D2Center);
  myTCurve1->D2(Param, P1, DP1, D2P1);
  myTCurve2->D2(Param, P2, DP2, D2P2);

  ns1.SetXYZ(Center.XYZ() - P1.XYZ());
  Dns1  = DCenter - DP1;
  D2ns1 = D2Center - D2P1;
  ns2.SetXYZ(Center.XYZ() - P2.XYZ());
  Dns2  = DCenter - DP2;
  D2ns2 = D2Center - D2P2;

  if (!ns1.IsParallel(ns2, TolAng))
  {
    nplan  = ns1.Crossed(ns2);
    dnplan = Dns1.Crossed(ns2).Added(ns1.Crossed(Dns2));
    d2nplan.SetLinearForm(1, D2ns1.Crossed(ns2), 2, Dns1.Crossed(Dns2), ns1.Crossed(D2ns2));
  }
  else
  {
    myTPath->D3(Param, Center, nplan, dnplan, d2nplan);
    if (myreverse)
    {
      nplan.Reverse();
      dnplan.Reverse();
      d2nplan.Reverse();
    }
  }

  // Normalisation
  invnorm1 = ((double)1) / ns1.Magnitude();
  invnorm2 = ((double)1) / ns2.Magnitude();

  ns1 *= invnorm1;
  sc = Dns1.Dot(ns1);
  D2ns1.SetLinearForm(3 * sc * sc * invnorm1 - D2ns1.Dot(ns1) - invnorm1 * Dns1.SquareMagnitude(),
                      ns1,
                      -2 * sc * invnorm1,
                      Dns1,
                      D2ns1);
  Dns1.SetLinearForm(-Dns1.Dot(ns1), ns1, Dns1);
  D2ns1 *= invnorm1;
  Dns1 *= invnorm1;

  ns2 *= invnorm2;
  sc = Dns2.Dot(ns2);
  D2ns2.SetLinearForm(3 * sc * sc * invnorm2 - D2ns2.Dot(ns2) - invnorm2 * Dns2.SquareMagnitude(),
                      ns2,
                      -2 * sc * invnorm2,
                      Dns2,
                      D2ns2);
  Dns2.SetLinearForm(-sc, ns2, Dns2);
  D2ns2 *= invnorm2;
  Dns2 *= invnorm2;

  temp.SetLinearForm(myRadius, ns1.XYZ(), myRadius, ns2.XYZ(), 1, P1.XYZ(), P2.XYZ());
  Center.ChangeCoord() = 0.5 * temp;
  DCenter.SetLinearForm(myRadius, Dns1, myRadius, Dns2, 1, DP1, DP2);
  DCenter *= 0.5;
  D2Center.SetLinearForm(myRadius, D2ns1, myRadius, D2ns2, 1, D2P1, D2P2);
  D2Center *= 0.5;

  invnormp = ((double)1) / nplan.Magnitude();
  nplan *= invnormp;
  sc = dnplan.Dot(nplan);
  d2nplan.SetLinearForm(3 * sc * sc * invnormp - d2nplan.Dot(nplan)
                          - invnormp * dnplan.SquareMagnitude(),
                        nplan,
                        -2 * sc * invnormp,
                        dnplan,
                        d2nplan);
  dnplan.SetLinearForm(-sc, nplan, dnplan);
  dnplan *= invnormp;
  d2nplan *= invnormp;

  GeomFill::GetCircle(myTConv,
                      ns1,
                      ns2,
                      Dns1,
                      Dns2,
                      D2ns1,
                      D2ns2,
                      nplan,
                      dnplan,
                      d2nplan,
                      P1,
                      P2,
                      DP1,
                      DP2,
                      D2P1,
                      D2P2,
                      myRadius,
                      0,
                      0,
                      Center,
                      DCenter,
                      D2Center,
                      Poles,
                      DPoles,
                      D2Poles,
                      Weigths,
                      DWeigths,
                      D2Weigths);
  return true;
}

int GeomFill_CircularBlendFunc::Nb2dCurves() const
{
  return 0;
}

void GeomFill_CircularBlendFunc::SectionShape(int& NbPoles, int& NbKnots, int& Degree) const
{
  NbPoles = myNbPoles;
  NbKnots = myNbKnots;
  Degree  = myDegree;
}

void GeomFill_CircularBlendFunc::Knots(NCollection_Array1<double>& TKnots) const
{
  GeomFill::Knots(myTConv, TKnots);
}

void GeomFill_CircularBlendFunc::Mults(NCollection_Array1<int>& TMults) const
{
  GeomFill::Mults(myTConv, TMults);
}

bool GeomFill_CircularBlendFunc::IsRational() const
{
  return (myTConv != Convert_Polynomial);
}

int GeomFill_CircularBlendFunc::NbIntervals(const GeomAbs_Shape S) const
{
  int NbI_Center, NbI_Cb1, NbI_Cb2, ii;
  NbI_Center = myPath->NbIntervals(GeomFillNextShape(S));
  NbI_Cb1    = myCurve1->NbIntervals(S);
  NbI_Cb2    = myCurve2->NbIntervals(S);

  NCollection_Array1<double>   ICenter(1, NbI_Center + 1);
  NCollection_Array1<double>   ICb1(1, NbI_Cb1 + 1);
  NCollection_Array1<double>   ICb2(1, NbI_Cb2 + 1);
  NCollection_Sequence<double> Inter;

  myPath->Intervals(ICenter, GeomFillNextShape(S));
  myCurve1->Intervals(ICb1, S);
  myCurve2->Intervals(ICb2, S);
  /* std::cout << "Intervals : " << S << std::endl;
   std::cout << "-- Center-> " << std::endl;
   for (ii=1; ii<=ICenter.Length(); ii++) std::cout << " , "<< ICenter(ii);
   std::cout << std::endl; std::cout << std::endl;
   std::cout << "-- Cb1-> " << std::endl;
   for (ii=1; ii<=ICb1.Length(); ii++) std::cout << " , "<< ICb1(ii);
   std::cout << std::endl; std::cout << std::endl;
   std::cout << "-- Cb2-> " << std::endl;
   for (ii=1; ii<=ICb2.Length(); ii++) std::cout << " , "<< ICb1(ii);
   std::cout << std::endl; std::cout << std::endl;*/

  GeomFillFusInt(ICb1, ICb2, Inter);

  NCollection_Array1<double> ICbs(1, Inter.Length());
  for (ii = 1; ii <= ICbs.Length(); ii++)
  {
    ICbs(ii) = Inter(ii);
  }

  Inter.Clear();
  GeomFillFusInt(ICenter, ICbs, Inter);

  return Inter.Length() - 1;
}

void GeomFill_CircularBlendFunc::Intervals(NCollection_Array1<double>& T,
                                           const GeomAbs_Shape         S) const
{
  int NbI_Center, NbI_Cb1, NbI_Cb2, ii;
  NbI_Center = myPath->NbIntervals(GeomFillNextShape(S));
  NbI_Cb1    = myCurve1->NbIntervals(S);
  NbI_Cb2    = myCurve2->NbIntervals(S);

  NCollection_Array1<double>   ICenter(1, NbI_Center + 1);
  NCollection_Array1<double>   ICb1(1, NbI_Cb1 + 1);
  NCollection_Array1<double>   ICb2(1, NbI_Cb2 + 1);
  NCollection_Sequence<double> Inter;

  myPath->Intervals(ICenter, GeomFillNextShape(S));
  myCurve1->Intervals(ICb1, S);
  myCurve2->Intervals(ICb2, S);

  GeomFillFusInt(ICb1, ICb2, Inter);

  NCollection_Array1<double> ICbs(1, Inter.Length());
  for (ii = 1; ii <= ICbs.Length(); ii++)
  {
    ICbs(ii) = Inter(ii);
  }

  Inter.Clear();
  GeomFillFusInt(ICenter, ICbs, Inter);

  // Recopie du resultat
  for (ii = 1; ii <= Inter.Length(); ii++)
  {
    T(ii) = Inter(ii);
  }
}

void GeomFill_CircularBlendFunc::SetInterval(const double First, const double Last)
{
  constexpr double Eps = Precision::PConfusion();
  myTPath              = myPath->Trim(First, Last, Eps);
  myTCurve1            = myCurve1->Trim(First, Last, Eps);
  myTCurve2            = myCurve2->Trim(First, Last, Eps);
}

void GeomFill_CircularBlendFunc::GetTolerance(const double                BoundTol,
                                              const double                SurfTol,
                                              const double                AngleTol,
                                              NCollection_Array1<double>& Tol3d) const
{
  int    low = Tol3d.Lower(), up = Tol3d.Upper();
  double Tol;

  Tol = GeomFill::GetTolerance(myTConv, minang, myRadius, AngleTol, SurfTol);
  Tol3d.Init(SurfTol);
  Tol3d(low + 1) = Tol3d(up - 1) = std::min(Tol, SurfTol);
  Tol3d(low) = Tol3d(up) = std::min(Tol, BoundTol);
}

void GeomFill_CircularBlendFunc::SetTolerance(const double, const double)
{
  // y rien a faire !
}

gp_Pnt GeomFill_CircularBlendFunc::BarycentreOfSurf() const
{
  return myBary;
}

double GeomFill_CircularBlendFunc::MaximalSection() const
{
  return maxang * myRadius;
}

void GeomFill_CircularBlendFunc::GetMinimalWeight(NCollection_Array1<double>& Weigths) const
{
  GeomFill::GetMinimalWeights(myTConv, minang, maxang, Weigths);
}
