/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     |
    \\  /    A nd           | Copyright (C) 2011 OpenFOAM Foundation
     \\/     M anipulation  |
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.

    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.

\*----------------------------------------------------------------------------*/

#include "searchableSurfacesQueries.H"
#include "ListOps.H"
#include "OFstream.H"
#include "meshTools.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

defineTypeNameAndDebug(Foam::searchableSurfacesQueries, 0);

// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //

Foam::pointIndexHit Foam::searchableSurfacesQueries::tempFindNearest
(
    const searchableSurface& surf,
    const point& pt,
    const scalar initDistSqr
)
{
    pointField onePoint(1, pt);
    scalarField oneDist(1, initDistSqr);
    List<pointIndexHit> oneHit(1);
    surf.findNearest(onePoint, oneDist, oneHit);
    return oneHit[0];
}


// Calculate sum of distance to surfaces.
Foam::scalar Foam::searchableSurfacesQueries::sumDistSqr
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const scalar initDistSqr,
    const point& pt
)
{
    scalar sum = 0;

    forAll(surfacesToTest, testI)
    {
        label surfI = surfacesToTest[testI];

        pointIndexHit hit
        (
            tempFindNearest(allSurfaces[surfI], pt, initDistSqr)
        );

        // Note: make it fall over if not hit.
        sum += magSqr(hit.hitPoint()-pt);
    }
    return sum;
}


// Reflects the point furthest away around the triangle centre by a factor fac.
// (triangle centre is the average of all points but the ihi. pSum is running
//  sum of all points)
Foam::scalar Foam::searchableSurfacesQueries::tryMorphTet
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const scalar initDistSqr,
    List<vector>& p,
    List<scalar>& y,
    vector& pSum,
    const label ihi,
    const scalar fac
)
{
    scalar fac1 = (1.0-fac)/vector::nComponents;
    scalar fac2 = fac1-fac;

    vector ptry = pSum*fac1-p[ihi]*fac2;

    scalar ytry = sumDistSqr(allSurfaces, surfacesToTest, initDistSqr, ptry);

    if (ytry < y[ihi])
    {
        y[ihi] = ytry;
        pSum += ptry - p[ihi];
        p[ihi] = ptry;
    }
    return ytry;
}


bool Foam::searchableSurfacesQueries::morphTet
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const scalar initDistSqr,
    const scalar convergenceDistSqr,
    const label maxIter,
    List<vector>& p,
    List<scalar>& y
)
{
    vector pSum = sum(p);

    autoPtr<OFstream> str;
    label vertI = 0;
    if (debug)
    {
        wordList names(surfacesToTest.size());
        forAll(surfacesToTest, i)
        {
            names[i] = allSurfaces[surfacesToTest[i]].name();
        }
        Pout<< "searchableSurfacesQueries::morphTet : intersection of "
            << names << " starting from points:" << p << endl;
        str.reset(new OFstream("track.obj"));
        meshTools::writeOBJ(str(), p[0]);
        vertI++;
    }

    for (label iter = 0; iter < maxIter; iter++)
    {
        // Get the indices of lowest, highest and second-highest values.
        label ilo, ihi, inhi;
        {
            labelList sortedIndices;
            sortedOrder(y, sortedIndices);
            ilo  = sortedIndices[0];
            ihi  = sortedIndices[sortedIndices.size()-1];
            inhi = sortedIndices[sortedIndices.size()-2];
        }

        if (debug)
        {
            Pout<< "Iteration:" << iter
                << " lowest:" << y[ilo] << " highest:" << y[ihi]
                << " points:" << p << endl;

            meshTools::writeOBJ(str(), p[ilo]);
            vertI++;
            str()<< "l " << vertI-1 << ' ' << vertI << nl;
        }

        if (y[ihi] < convergenceDistSqr)
        {
            // Get point on 0th surface.
            Swap(p[0], p[ilo]);
            Swap(y[0], y[ilo]);
            return true;
        }

        // Reflection: point furthest away gets reflected.
        scalar ytry = tryMorphTet
        (
            allSurfaces,
            surfacesToTest,
            10*y[ihi],             // search box.
            p,
            y,
            pSum,
            ihi,
            -1.0
        );

        if (ytry <= y[ilo])
        {
            // If in right direction (y lower) expand by two.
            ytry = tryMorphTet
            (
                allSurfaces,
                surfacesToTest,
                10*y[ihi],
                p,
                y,
                pSum,
                ihi,
                2.0
            );
        }
        else if (ytry >= y[inhi])
        {
            // If inside tet try contraction.

            scalar ysave = y[ihi];

            ytry = tryMorphTet
            (
                allSurfaces,
                surfacesToTest,
                10*y[ihi],
                p,
                y,
                pSum,
                ihi,
                0.5
            );

            if (ytry >= ysave)
            {
                // Contract around lowest point.
                forAll(p, i)
                {
                    if (i != ilo)
                    {
                        p[i] = 0.5*(p[i] + p[ilo]);
                        y[i] = sumDistSqr
                        (
                            allSurfaces,
                            surfacesToTest,
                            y[ihi],
                            p[i]
                        );
                    }
                }
                pSum = sum(p);
            }
        }
    }

    if (debug)
    {
        meshTools::writeOBJ(str(), p[0]);
        vertI++;
        str()<< "l " << vertI-1 << ' ' << vertI << nl;
    }

    // Failure to converge. Return best guess so far.
    label ilo = findMin(y);
    Swap(p[0], p[ilo]);
    Swap(y[0], y[ilo]);
    return false;
}


//// Get all intersections (in order) for single surface.
//void Foam::searchableSurfacesQueries::findAllIntersections
//(
//    const searchableSurface& s,
//    const pointField& start,
//    const pointField& end,
//    const vectorField& smallVec,
//    List<List<pointIndexHit> >& surfaceHitInfo
//)
//{
//    surfaceHitInfo.setSize(start.size());
//
//    // Current start point of vector
//    pointField p0(start);
//
//    List<pointIndexHit> intersectInfo(start.size());
//
//    // For test whether finished doing vector.
//    const vectorField dirVec(end-start);
//    const scalarField magSqrDirVec(magSqr(dirVec));
//
//    while (true)
//    {
//        // Find first intersection. Synced.
//        s.findLine(p0, end, intersectInfo);
//
//        label nHits = 0;
//
//        forAll(intersectInfo, i)
//        {
//            if (intersectInfo[i].hit())
//            {
//                nHits++;
//
//                label sz = surfaceHitInfo[i].size();
//                surfaceHitInfo[i].setSize(sz+1);
//                surfaceHitInfo[i][sz] = intersectInfo[i];
//
//                p0[i] = intersectInfo[i].hitPoint() + smallVec[i];
//
//                // If beyond endpoint set to endpoint so as not to pick up
//                // any intersections. Could instead just filter out hits.
//                if (((p0[i]-start[i])&dirVec[i]) > magSqrDirVec[i])
//                {
//                    p0[i] = end[i];
//                }
//            }
//            else
//            {
//                // Set to endpoint to stop intersection test. See above.
//                p0[i] = end[i];
//            }
//        }
//
//        // returnReduce(nHits) ?
//        if (nHits == 0)
//        {
//            break;
//        }
//    }
//}


// Given current set of hits (allSurfaces, allInfo) merge in those coming from
// surface surfI.
void Foam::searchableSurfacesQueries::mergeHits
(
    const point& start,
    const scalar mergeDist,

    const label testI,                          // index of surface
    const List<pointIndexHit>& surfHits,  // hits on surface

    labelList& allSurfaces,
    List<pointIndexHit>& allInfo,
    scalarList& allDistSqr
)
{
    // Precalculate distances
    scalarList surfDistSqr(surfHits.size());
    forAll(surfHits, i)
    {
        surfDistSqr[i] = magSqr(surfHits[i].hitPoint()-start);
    }

    forAll(surfDistSqr, i)
    {
        label index = findLower(allDistSqr, surfDistSqr[i]);

        // Check if equal to lower.
        if
        (
            index >= 0
         && (mag(allDistSqr[index]-surfDistSqr[i]) < mergeDist)
        )
        {
            // Same. Do not count.
            //Pout<< "point:" << surfHits[i].hitPoint()
            //    << " considered same as:" << allInfo[index].hitPoint()
            //    << " within tol:" << mergeDist
            //    << endl;
        }
        else
        {
            // Check if equal to higher
            label next = index+1;
            if
            (
                next < allDistSqr.size()
             && (mag(allDistSqr[next]-surfDistSqr[i]) < mergeDist)
            )
            {
                //Pout<< "point:" << surfHits[i].hitPoint()
                //    << " considered same as:" << allInfo[next].hitPoint()
                //    << " within tol:" << mergeDist
                //    << endl;
            }
            else
            {
                // Insert after index
                label sz = allSurfaces.size();
                allSurfaces.setSize(sz+1);
                allInfo.setSize(allSurfaces.size());
                allDistSqr.setSize(allSurfaces.size());
                // Make space.
                for (label j = sz-1; j > index; --j)
                {
                    allSurfaces[j+1] = allSurfaces[j];
                    allInfo[j+1] = allInfo[j];
                    allDistSqr[j+1] = allDistSqr[j];
                }
                // Insert new value
                allSurfaces[index+1] = testI;
                allInfo[index+1] = surfHits[i];
                allDistSqr[index+1] = surfDistSqr[i];
            }
        }
    }
}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

// Find any intersection
void Foam::searchableSurfacesQueries::findAnyIntersection
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const pointField& start,
    const pointField& end,
    labelList& hitSurfaces,
    List<pointIndexHit>& hitInfo
)
{
    hitSurfaces.setSize(start.size());
    hitSurfaces = -1;
    hitInfo.setSize(start.size());

    // Work arrays
    labelList hitMap(identity(start.size()));
    pointField p0(start);
    pointField p1(end);
    List<pointIndexHit> intersectInfo(start.size());

    forAll(surfacesToTest, testI)
    {
        // Do synchronised call to all surfaces.
        allSurfaces[surfacesToTest[testI]].findLineAny(p0, p1, intersectInfo);

        // Copy all hits into arguments, continue with misses
        label newI = 0;
        forAll(intersectInfo, i)
        {
            if (intersectInfo[i].hit())
            {
                hitInfo[hitMap[i]] = intersectInfo[i];
                hitSurfaces[hitMap[i]] = testI;
            }
            else
            {
                if (i != newI)
                {
                    hitMap[newI] = hitMap[i];
                    p0[newI] = p0[i];
                    p1[newI] = p1[i];
                }
                newI++;
            }
        }

        // All done? Note that this decision should be synchronised
        if (newI == 0)
        {
            break;
        }

        // Trim and continue
        hitMap.setSize(newI);
        p0.setSize(newI);
        p1.setSize(newI);
        intersectInfo.setSize(newI);
    }
}


void Foam::searchableSurfacesQueries::findAllIntersections
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const pointField& start,
    const pointField& end,
    labelListList& hitSurfaces,
    List<List<pointIndexHit> >& hitInfo
)
{
    // Note: maybe move the single-surface all intersections test into
    // searchable surface? Some of the tolerance issues might be
    // lessened.

    // 2. Currently calling searchableSurface::findLine with start==end
    //    is expected to find no intersection. Problem if it does.

    hitSurfaces.setSize(start.size());
    hitInfo.setSize(start.size());

    if (surfacesToTest.empty())
    {
        return;
    }

    // Test first surface
    allSurfaces[surfacesToTest[0]].findLineAll(start, end, hitInfo);

    // Set hitSurfaces and distance
    List<scalarList> hitDistSqr(hitInfo.size());
    forAll(hitInfo, pointI)
    {
        const List<pointIndexHit>& pHits = hitInfo[pointI];

        labelList& pSurfaces = hitSurfaces[pointI];
        pSurfaces.setSize(pHits.size());
        pSurfaces = 0;

        scalarList& pDistSqr = hitDistSqr[pointI];
        pDistSqr.setSize(pHits.size());
        forAll(pHits, i)
        {
            pDistSqr[i] = magSqr(pHits[i].hitPoint() - start[pointI]);
        }
    }


    if (surfacesToTest.size() > 1)
    {
        // Small vector to increment start vector by to find next intersection
        // along line. Constant factor added to make sure that start==end still
        // ends iteration in findAllIntersections. Also SMALL is just slightly
        // too small.
        const vectorField smallVec
        (
            1E2*SMALL*(end-start)
          + vector(ROOTVSMALL,ROOTVSMALL,ROOTVSMALL)
        );

        // Tolerance used to check whether points are equal. Note: used to
        // compare distance^2. Note that we use the maximum possible tolerance
        // (reached at intersections close to the end point)
        const scalarField mergeDist(2*mag(smallVec)*mag(end-start));

        // Test the other surfaces and merge (according to distance from start).
        for (label testI = 1; testI < surfacesToTest.size(); testI++)
        {
            List<List<pointIndexHit> > surfHits;
            allSurfaces[surfacesToTest[testI]].findLineAll
            (
                start,
                end,
                surfHits
            );

            forAll(surfHits, pointI)
            {
                mergeHits
                (
                    start[pointI],          // Current segment
                    mergeDist[pointI],

                    testI,                  // Surface and its hits
                    surfHits[pointI],

                    hitSurfaces[pointI],    // Merge into overall hit info
                    hitInfo[pointI],
                    hitDistSqr[pointI]
                );
            }
        }
    }
}


//Find intersections of edge nearest to both endpoints.
void Foam::searchableSurfacesQueries::findNearestIntersection
(
   const PtrList<searchableSurface>& allSurfaces,
   const labelList& surfacesToTest,
   const pointField& start,
   const pointField& end,
   labelList& surface1,
   List<pointIndexHit>& hit1,
   labelList& surface2,
   List<pointIndexHit>& hit2
)
{
   // 1. intersection from start to end
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   // Initialize arguments
   surface1.setSize(start.size());
   surface1 = -1;
   hit1.setSize(start.size());

   // Current end of segment to test.
   pointField nearest(end);
   // Work array
   List<pointIndexHit> nearestInfo(start.size());

   forAll(surfacesToTest, testI)
   {
       // See if any intersection between start and current nearest
       allSurfaces[surfacesToTest[testI]].findLine
       (
           start,
           nearest,
           nearestInfo
       );

       forAll(nearestInfo, pointI)
       {
           if (nearestInfo[pointI].hit())
           {
               hit1[pointI] = nearestInfo[pointI];
               surface1[pointI] = testI;
               nearest[pointI] = hit1[pointI].hitPoint();
           }
       }
   }


   // 2. intersection from end to last intersection
   // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   // Find the nearest intersection from end to start. Note that we
   // initialize to the first intersection (if any).
   surface2 = surface1;
   hit2 = hit1;

   // Set current end of segment to test.
   forAll(nearest, pointI)
   {
       if (hit1[pointI].hit())
       {
           nearest[pointI] = hit1[pointI].hitPoint();
       }
       else
       {
           // Disable testing by setting to end.
           nearest[pointI] = end[pointI];
       }
   }

   forAll(surfacesToTest, testI)
   {
       // See if any intersection between end and current nearest
       allSurfaces[surfacesToTest[testI]].findLine(end, nearest, nearestInfo);

       forAll(nearestInfo, pointI)
       {
           if (nearestInfo[pointI].hit())
           {
               hit2[pointI] = nearestInfo[pointI];
               surface2[pointI] = testI;
               nearest[pointI] = hit2[pointI].hitPoint();
           }
       }
   }
}


// Find nearest. Return -1 or nearest point
void Foam::searchableSurfacesQueries::findNearest
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const pointField& samples,
    const scalarField& nearestDistSqr,
    labelList& nearestSurfaces,
    List<pointIndexHit>& nearestInfo
)
{
    // Initialise
    nearestSurfaces.setSize(samples.size());
    nearestSurfaces = -1;
    nearestInfo.setSize(samples.size());

    // Work arrays
    scalarField minDistSqr(nearestDistSqr);
    List<pointIndexHit> hitInfo(samples.size());

    forAll(surfacesToTest, testI)
    {
        allSurfaces[surfacesToTest[testI]].findNearest
        (
            samples,
            minDistSqr,
            hitInfo
        );

        // Update minDistSqr and arguments
        forAll(hitInfo, pointI)
        {
            if (hitInfo[pointI].hit())
            {
                minDistSqr[pointI] = magSqr
                (
                    hitInfo[pointI].hitPoint()
                  - samples[pointI]
                );
                nearestInfo[pointI] = hitInfo[pointI];
                nearestSurfaces[pointI] = testI;
            }
        }
    }
}


Foam::boundBox Foam::searchableSurfacesQueries::bounds
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest
)
{
    pointField bbPoints(2*surfacesToTest.size());

    forAll(surfacesToTest, testI)
    {
        const searchableSurface& surface(allSurfaces[surfacesToTest[testI]]);

        bbPoints[2*testI] = surface.bounds().min();

        bbPoints[2*testI + 1] = surface.bounds().max();
    }

    return boundBox(bbPoints);
}


//- Calculate point which is on a set of surfaces.
Foam::pointIndexHit Foam::searchableSurfacesQueries::facesIntersection
(
    const PtrList<searchableSurface>& allSurfaces,
    const labelList& surfacesToTest,
    const scalar initDistSqr,
    const scalar convergenceDistSqr,
    const point& start
)
{
    // Get four starting points. Take these as the projection of the
    // starting point onto the surfaces and the mid point
    List<point> nearest(surfacesToTest.size()+1);

    point sumNearest = vector::zero;

    forAll(surfacesToTest, i)
    {
        pointIndexHit hit
        (
            tempFindNearest(allSurfaces[surfacesToTest[i]], start, initDistSqr)
        );

        if (hit.hit())
        {
            nearest[i] = hit.hitPoint();
            sumNearest += nearest[i];
        }
        else
        {
            FatalErrorIn
            (
                "searchableSurfacesQueries::facesIntersection"
                "(const labelList&, const scalar, const scalar, const point&)"
            )   << "Did not find point within distance "
                << initDistSqr << " of starting point " << start
                << " on surface "
                << allSurfaces[surfacesToTest[i]].IOobject::name()
                << abort(FatalError);
        }
    }

    nearest.last() = sumNearest / surfacesToTest.size();


    // Get the sum of distances (initial evaluation)
    List<scalar> nearestDist(nearest.size());

    forAll(nearestDist, i)
    {
        nearestDist[i] = sumDistSqr
        (
            allSurfaces,
            surfacesToTest,
            initDistSqr,
            nearest[i]
        );
    }


    //- Downhill Simplex method

    bool converged = morphTet
    (
        allSurfaces,
        surfacesToTest,
        initDistSqr,
        convergenceDistSqr,
        2000,
        nearest,
        nearestDist
    );


    pointIndexHit intersection;

    if (converged)
    {
        // Project nearest onto 0th surface.
        intersection = tempFindNearest
        (
            allSurfaces[surfacesToTest[0]],
            nearest[0],
            nearestDist[0]
        );
    }

    //if (!intersection.hit())
    //{
    //    // Restart
    //    scalar smallDist = Foam::sqr(convergenceDistSqr);
    //    nearest[0] = intersection.hitPoint();
    //    nearest[1] = nearest[0];
    //    nearest[1].x() += smallDist;
    //    nearest[2] = nearest[0];
    //    nearest[2].y() += smallDist;
    //    nearest[3] = nearest[0];
    //    nearest[3].z() += smallDist;
    //
    //    forAll(nearestDist, i)
    //    {
    //        nearestDist[i] = sumDistSqr
    //        (
    //            surfacesToTest,
    //            initDistSqr,
    //            nearest[i]
    //        );
    //    }
    //
    //    intersection = morphTet
    //    (
    //        allSurfaces,
    //        surfacesToTest,
    //        initDistSqr,
    //        convergenceDistSqr,
    //        1000,
    //        nearest,
    //        nearestDist
    //    );
    //}

    return intersection;
}



// ************************************************************************* //
