// Copyright (c) 1995-1999 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.

//26-04-1997 modified by pmn : Initialisation plus fine de la resolution

Standard_Integer Blend_Walking::ArcToRecadre(const Standard_Boolean OnFirst,
					     const math_Vector& theSol,
					     const Standard_Integer PrevIndex,
					     gp_Pnt2d& lastpt2d,
					     gp_Pnt2d& pt2d,
					     Standard_Real& ponarc)
{
  Standard_Integer IndexSol = 0,  nbarc = 0;
  Standard_Boolean ok = Standard_False;
  Standard_Boolean byinter = (line->NbPoints() != 0), okinter = 0;
  Standard_Real distmin = RealLast();
  Standard_Real uprev = 0.,vprev = 0., prm = 0., dist = 0.;
  Handle(TheTopolTool) Iter;

  if (OnFirst) {
    if(byinter) previousP.ParametersOnS1(uprev,vprev);
    pt2d.SetCoord(theSol(1),theSol(2));
    Iter = recdomain1;
  }
  else {
    if(byinter) previousP.ParametersOnS2(uprev,vprev);
    pt2d.SetCoord(theSol(3),theSol(4));
    Iter = recdomain2;
  }
  lastpt2d.SetCoord(uprev,vprev);
  Iter->Init();
  while (Iter->More()) {
    nbarc++; ok = 0;
    if (OnFirst) {
      if(byinter) { 
	ok = okinter = TheBlendTool::Inters(pt2d,lastpt2d,
					    surf1,Iter->Value(),prm,dist); 
      }
      if(!ok) ok = TheBlendTool::Project(pt2d,surf1,Iter->Value(),prm,dist);
    }
    else {
      if(byinter) { 
	ok = okinter = TheBlendTool::Inters(pt2d,lastpt2d,
					    surf2,Iter->Value(),prm,dist); 
      }
      if(!ok) ok = TheBlendTool::Project(pt2d,surf2,Iter->Value(),prm,dist);
    }
    if (ok && (nbarc != PrevIndex) ) {
      if (dist<distmin || okinter) {
	distmin = dist;
	ponarc = prm;
	IndexSol = nbarc;
	if(okinter && (PrevIndex==0)) break;
      }
    }
    Iter->Next();
  }
  return IndexSol;
}

Standard_Boolean Blend_Walking::Recadre(Blend_FuncInv& FuncInv,
					const Standard_Boolean OnFirst,
					const math_Vector& theSol,
					math_Vector& solrst,
					Standard_Integer& Indexsol,
					Standard_Boolean& IsVtx,
					TheVertex& Vtx,
					const Standard_Real Extrap)

{
  Standard_Boolean jalons_Trouve = Standard_False;
  Standard_Boolean recadre = Standard_True, ok;
  Standard_Boolean byinter = (line->NbPoints() != 0);
  Standard_Integer LeJalon = 0;

  Standard_Integer nbarc;
  Standard_Real dist,prm,pmin, vtol;
  gp_Pnt2d pt2d, lastpt2d;

  math_Vector toler(1,4),infb(1,4),supb(1,4),valsol(1,4);

  Handle(Adaptor2d_Curve2d) thecur;
  Handle(TheTopolTool) Iter;

  if (OnFirst) Iter = recdomain1;
  else         Iter = recdomain2;

  Indexsol = ArcToRecadre(OnFirst, theSol, 0,
			  lastpt2d, pt2d, pmin);
  IsVtx = Standard_False;
  if (Indexsol == 0) {
    return Standard_False;
  }

  Iter->Init();
  nbarc = 1;
  while (nbarc < Indexsol) {
    nbarc++;
    Iter->Next();
  }

  TheArc thearc = Iter->Value();

  if (OnFirst) {
    thecur = TheBlendTool::CurveOnSurf(thearc,surf1);
  }
  else {
    thecur = TheBlendTool::CurveOnSurf(thearc,surf2);
  }

// Le probleme a resoudre
  FuncInv.Set(OnFirst,thecur);
  FuncInv.GetBounds(infb,supb);
  infb(2) -= Extrap;
  supb(2) += Extrap;
  
  FuncInv.GetTolerance(toler,0.1 * tolpoint3d);//Il vaut mieux garder un peu de marge
  math_FunctionSetRoot rsnld(FuncInv,toler,35);
  toler *= 10; // Mais on fait les tests correctements

// Calcul d'un point d'init
  Standard_Real ufirst,ulast;
  TheBlendTool::Bounds(thecur, ufirst,ulast);
  // Pour aider a trouver les coins singuliers on recadre eventuelement le paramtere
  if (Abs(pmin-ufirst) < Abs(ulast-ufirst)/1000) {
    pmin = ufirst;
  }
  if (Abs(pmin-ulast) < Abs(ulast-ufirst)/1000) {
    pmin = ulast;
  }

  if (byinter) { 
    Standard_Real lastParam = previousP.Parameter();
    // Verifie que le recadrage n'est pas un jalons
    if (jalons.Length()!=0) {
      Standard_Real t1, t2, t;
      Standard_Boolean Cherche=Standard_True;
      Standard_Integer ii;
      if (lastParam < param) {
	t1 = lastParam; t2 = param;
      }
      else {
	t1 = param; t2 = lastParam;
      }
      for (ii=1; ii<=jalons.Length() && Cherche; ii++) {
	t = jalons.Value(ii).Parameter();
        if  (((t1 < t) && (t2 > t)) || (t==param)) {
	 jalons_Trouve = Standard_True;
	 LeJalon = ii;
	 Cherche = Standard_False; //Ne marche que si l'on sort simultanement
       }
	else Cherche = t < t2; // On s'arrete si t>=t2;
      }
    }
    if (!jalons_Trouve) {
      //Initialisation par Interpolation
      Standard_Real lambda, u, v;
      gp_Pnt2d Pnt, Pnt1, Pnt2;//,  POnC;
      thecur->D0(pmin, Pnt);    
      if (OnFirst) {
	previousP.ParametersOnS2(u,v);
	Pnt1.SetCoord(u, v);
	Pnt2.SetCoord(theSol(3), theSol(4));
      }
      else {
	previousP.ParametersOnS1(u,v);
	Pnt1.SetCoord(u, v);
	Pnt2.SetCoord(theSol(1), theSol(2));
      }

      lambda = Pnt.Distance(lastpt2d);
      if (lambda > 1.e-12) lambda /=  Pnt.Distance(lastpt2d) + Pnt.Distance(pt2d);
      else lambda = 0;
      solrst(1) = pmin;
      solrst(2) = (1-lambda)*lastParam + lambda*param;
      solrst(3) = (1-lambda)*Pnt1.X()  + lambda*Pnt2.X();
      solrst(4) = (1-lambda)*Pnt1.Y()  + lambda*Pnt2.Y();
    }
  }
  else { // sinon on initialise par le dernier point calcule
    solrst(1) = pmin;
    solrst(2) = param; 
    if (OnFirst) {
      solrst(3) = theSol(3);
      solrst(4) = theSol(4);
    }
    else {
      solrst(3) = theSol(1);
      solrst(4) = theSol(2);
    }
  }

  if (jalons_Trouve) { // On recupere le jalon
    Blend_Point MonJalon;
    Standard_Boolean periodic;
    Standard_Real uperiod = 0, vperiod = 0;
    gp_Pnt2d Pnt;
    Standard_Real distaux;
    MonJalon = jalons.Value(LeJalon);
    solrst(2) =  MonJalon.Parameter();
    if (OnFirst) {
      MonJalon.ParametersOnS2(solrst(3), solrst(4));
      periodic = (surf2->IsUPeriodic() || surf2->IsVPeriodic());
    }
    else  {
       MonJalon.ParametersOnS1(solrst(3), solrst(4));
       periodic = (surf1->IsUPeriodic() || surf1->IsVPeriodic());
     }

    // Recadrage eventuelle pour le cas periodique
    if (periodic) {
      Handle(Adaptor3d_Surface) surf;
      if (OnFirst) surf = surf2;
      else surf = surf1;

      lastpt2d = thecur->Value(pmin);      

      if (surf->IsUPeriodic()) {
	uperiod =  surf->UPeriod();
	if (solrst(3)-lastpt2d.X() >  uperiod*0.6) solrst(3) -= uperiod;
	if (solrst(3)-lastpt2d.X() < -uperiod*0.6) solrst(3) += uperiod;
      }
      if (surf->IsVPeriodic()) {
	vperiod =  surf->VPeriod();
	if (solrst(4)-lastpt2d.Y() >  vperiod*0.6) solrst(4) -= vperiod;
	if (solrst(4)-lastpt2d.Y() < -vperiod*0.6) solrst(4) += vperiod;
      }	
    }

    // Pour le parametre sur arc il faut projeter...
    pt2d.SetCoord(solrst(3), solrst(4));
    Pnt = thecur->Value(ufirst);
    dist = pt2d.Distance(Pnt);
    solrst(1) = ufirst;
    Pnt = thecur->Value(ulast);
    distaux = pt2d.Distance(Pnt);
    if ( distaux < dist) {
      solrst(1) = ulast;
      dist = distaux;
    }

    if (dist>Precision::PConfusion()) {
      prm = pmin;
      if (OnFirst) { 
	ok = TheBlendTool::Project(pt2d,surf1,thearc,prm,distaux);
      }
      else {
	ok = TheBlendTool::Project(pt2d,surf2,thearc,prm,distaux);
      }
      if (ok && (pt2d.Distance(thecur->Value(prm)) < dist)) solrst(1) = prm;
      else solrst(1) = pmin;
    }
    // On verifie le jalon
    jalons_Trouve = (FuncInv.IsSolution(solrst,tolpoint3d));
  }

  if (!jalons_Trouve) {
    // Resolution...
    rsnld.Perform(FuncInv,solrst,infb,supb);  
    if (!rsnld.IsDone()) {
#ifdef OCCT_DEBUG
      std::cout << "Walking::Recadre : RSNLD not done " << std::endl;
#endif
      recadre = Standard_False;
    }
    else {
      rsnld.Root(solrst);
      recadre = FuncInv.IsSolution(solrst,tolpoint3d);
    }
  }

  // En cas d'echecs, on regarde si un autre arc 
  // peut faire l'affaire (cas des sorties a proximite d'un vertex)
  dist = (ulast - ufirst)/100;
  if ((!recadre) && 
      ((Abs(pmin-ulast) < dist) || (Abs(pmin-ufirst) < dist)) ) {

    Indexsol =  ArcToRecadre(OnFirst, theSol, Indexsol,
			     lastpt2d, pt2d, pmin);
    if (Indexsol == 0) {
      return Standard_False;
    }

    Iter->Init();
    nbarc = 1;
    while (nbarc < Indexsol) {
      nbarc++;
      Iter->Next();
    }
    thearc = Iter->Value();
 
    if (OnFirst) {
      thecur = TheBlendTool::CurveOnSurf(thearc,surf1);
    }
    else {
      thecur = TheBlendTool::CurveOnSurf(thearc,surf2);
    }
    solrst(1) = pmin;
    // Le probleme a resoudre
    FuncInv.Set(OnFirst,thecur);
    FuncInv.GetBounds(infb,supb);
    FuncInv.GetTolerance(toler,0.1 * tolpoint3d);//Il vaut mieux garder un peu de marge
    math_FunctionSetRoot aRsnld(FuncInv,toler,35);
    toler *= 10; // Mais on fait les tests correctements
    // Resolution...
    aRsnld.Perform(FuncInv,solrst,infb,supb);
  
    if (!aRsnld.IsDone()) {
#ifdef OCCT_DEBUG
      std::cout << "Walking::Recadre : RSNLD not done " << std::endl;
#endif
      recadre = Standard_False;
    }
    else {
      aRsnld.Root(solrst);
      recadre = FuncInv.IsSolution(solrst,tolpoint3d);
    }
  }

  if (recadre) {
    // Classification topologique  
    if (OnFirst) {
      thecur = TheBlendTool::CurveOnSurf(thearc,surf1);
    }
    else {
      thecur = TheBlendTool::CurveOnSurf(thearc,surf2);
    }
    TheBlendTool::Bounds(thecur, ufirst,ulast);    

    Iter->Initialize(thearc);
    Iter->InitVertexIterator();
    IsVtx = !Iter->MoreVertex();
    while (!IsVtx) {
      Vtx = Iter->Vertex();
      vtol = 0.4*Abs(ulast-ufirst); // Un majorant de la tolerance
      if (vtol > Max(TheBlendTool::Tolerance(Vtx,thearc), toler(1)))
	vtol = Max(TheBlendTool::Tolerance(Vtx,thearc), toler(1));
      if (Abs(TheBlendTool::Parameter(Vtx,thearc)-solrst(1)) <= vtol) {
	IsVtx = Standard_True; // On est dans la boule du vertex ou 
	                       // le vertex est dans la "boule" du recadrage
      }
      else {
	Iter->NextVertex();
	IsVtx = !Iter->MoreVertex();
      }
    }
    if (!Iter->MoreVertex()) {
      IsVtx = Standard_False;
    }
    return Standard_True;
  }
  return Standard_False;
}


void Blend_Walking::Transition(const Standard_Boolean OnFirst,
			       const TheArc& A,
			       const Standard_Real Param,
			       IntSurf_Transition& TLine,
			       IntSurf_Transition& TArc)
{
  Standard_Boolean computetranstionaveclacorde = 0;
  gp_Vec tgline;
  Blend_Point prevprev;

  if(previousP.IsTangencyPoint()){
    if(line->NbPoints() < 2) return;
    computetranstionaveclacorde = 1;
    if(sens < 0){
      prevprev = line->Point(2);
    }
    else {
      prevprev = line->Point(line->NbPoints() - 1);
    }
  }
  gp_Pnt2d p2d;
  gp_Vec2d dp2d;

  gp_Pnt pbid;
  gp_Vec d1u,d1v,normale,tgrst;
  gp_Dir thenormal;
  CSLib_NormalStatus stat;

  TheArcTool::D1(A,Param,p2d,dp2d);
  if (OnFirst) {
    TheSurfaceTool::D1(surf1,p2d.X(),p2d.Y(),pbid,d1u,d1v);
    if(!computetranstionaveclacorde) tgline = previousP.TangentOnS1();
    else tgline = gp_Vec(prevprev.PointOnS1(),previousP.PointOnS1());
  }
  else {
    TheSurfaceTool::D1(surf2,p2d.X(),p2d.Y(),pbid,d1u,d1v);
    if(!computetranstionaveclacorde) tgline = previousP.TangentOnS2();
    else tgline = gp_Vec(prevprev.PointOnS2(),previousP.PointOnS2());
  }

  tgrst.SetLinearForm(dp2d.X(),d1u,dp2d.Y(),d1v);

  CSLib::Normal(d1u, d1v, 1.e-9, stat, thenormal);
  if (stat ==  CSLib_Defined) normale.SetXYZ(thenormal.XYZ());
  else {
    Handle(Adaptor3d_Surface) surf;
    if (OnFirst) surf = surf1;
    else         surf = surf2;
    Standard_Integer iu, iv;
    TColgp_Array2OfVec Der(0, 2 , 0, 2);
    TheSurfaceTool::D2(surf,p2d.X(),p2d.Y(),pbid, Der(1,0), Der(0,1), 
		       Der(2,0), Der(0,2), Der(1,1));
    Der(2,1) = TheSurfaceTool::DN(surf, p2d.X(), p2d.Y(), 2,1);
    Der(1,2) = TheSurfaceTool::DN(surf,p2d.X(),p2d.Y(), 1,2);
    Der(2,2) = TheSurfaceTool::DN(surf,p2d.X(),p2d.Y(), 2,2);
    CSLib::Normal(2, Der, 1.e-9,  
		  p2d.X(), p2d.Y(), 
		  TheSurfaceTool::FirstUParameter(surf),
		  TheSurfaceTool::LastUParameter(surf),
		  TheSurfaceTool::FirstVParameter(surf),
		  TheSurfaceTool::LastVParameter(surf),
		  stat, thenormal, iu, iv);
    normale.SetXYZ(thenormal.XYZ());
#ifdef OCCT_DEBUG
    if (stat == CSLib_InfinityOfSolutions)
      std::cout << "Blend_Walking::Transition : Infinite de Normal" << std::endl;
#endif 
  }

  IntSurf::MakeTransition(tgline,tgrst,normale,TLine,TArc);

}


void Blend_Walking::MakeExtremity(TheExtremity& Extrem,
				  const Standard_Boolean OnFirst,
				  const Standard_Integer Index,
				  const Standard_Real Param,
				  const Standard_Boolean IsVtx,
				  const TheVertex& Vtx)
{

  IntSurf_Transition Tline,Tarc;
  Standard_Integer nbarc;
  Handle(TheTopolTool) Iter;

  if (OnFirst) {
    Extrem.SetValue(previousP.PointOnS1(),
		    sol(1),sol(2),
		    previousP.Parameter(), tolpoint3d);
    if (!previousP.IsTangencyPoint())  
      Extrem.SetTangent(previousP.TangentOnS1());
    Iter = recdomain1;
  }
  else {
    Extrem.SetValue(previousP.PointOnS2(),
		    sol(3),sol(4),
		    previousP.Parameter(), tolpoint3d);
    if (!previousP.IsTangencyPoint())  
      Extrem.SetTangent(previousP.TangentOnS2());
    Iter = recdomain2;
  }

  Iter->Init();
  nbarc = 1;

  while (nbarc < Index) {
    nbarc++;
    Iter->Next();
  }

  Transition(OnFirst,Iter->Value(),Param,Tline,Tarc);
  Extrem.AddArc(Iter->Value(),Param,Tline,Tarc);
  if (IsVtx) Extrem.SetVertex(Vtx);
}

void  Blend_Walking::MakeSingularExtremity( TheExtremity& Extrem,
					   const Standard_Boolean OnFirst,
					   const TheVertex& Vtx)
{
  IntSurf_Transition Tline,Tarc;
  Handle(TheTopolTool) Iter;
  Standard_Real prm;

  if (OnFirst) {
    Iter = recdomain1;
    if (!previousP.IsTangencyPoint())
      Extrem.SetTangent(previousP.TangentOnS1());
  }
  else {
    if (!previousP.IsTangencyPoint()) 
      Extrem.SetTangent(previousP.TangentOnS2());
    Iter = recdomain2;
  }
  
  Iter->Init(); 
  Extrem.SetVertex(Vtx);
  while (Iter->More()) {
    TheArc arc = Iter->Value();
    Iter->Initialize(arc);
    Iter->InitVertexIterator();
    while (Iter->MoreVertex()) {
      if (Iter->Identical(Vtx,Iter->Vertex())) {
	prm = TheBlendTool::Parameter(Vtx,arc);
	Transition(OnFirst,arc,prm,Tline,Tarc);
	Extrem.AddArc(arc,prm,Tline,Tarc);
      }
      Iter->NextVertex();
    }
    Iter->Next();
  }   
}