/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#include "imstkPbdEdgeEdgeConstraint.h"

namespace imstk
{
void
PbdEdgeEdgeConstraint::initConstraint(
    VertexMassPair ptA1, VertexMassPair ptA2,
    VertexMassPair ptB1, VertexMassPair ptB2,
    double stiffnessA, double stiffnessB)
{
    m_stiffnessA = stiffnessA;
    m_stiffnessB = stiffnessB;

    m_bodiesFirst[0] = ptA1;
    m_bodiesFirst[1] = ptA2;

    m_bodiesSecond[0] = ptB1;
    m_bodiesSecond[1] = ptB2;
}

bool
PbdEdgeEdgeConstraint::computeValueAndGradient(double&             c,
                                               std::vector<Vec3d>& dcdxA,
                                               std::vector<Vec3d>& dcdxB) const
{
    const Vec3d& x0 = *m_bodiesFirst[0].vertex;
    const Vec3d& x1 = *m_bodiesFirst[1].vertex;
    const Vec3d& x2 = *m_bodiesSecond[0].vertex;
    const Vec3d& x3 = *m_bodiesSecond[1].vertex;

    const double a  = (x3 - x2).dot(x1 - x0);
    const double b  = (x1 - x0).dot(x1 - x0);
    const double cc = (x0 - x2).dot(x1 - x0);
    const double d  = (x3 - x2).dot(x3 - x2);
    const double e  = a;
    const double f  = (x0 - x2).dot(x3 - x2);

    const double det = a * e - d * b;
    double       s   = 0.5;
    double       t   = 0.5;
    if (fabs(det) > 1e-12)
    {
        s = (cc * e - b * f) / det;
        t = (cc * d - a * f) / det;
        if (s < 0 || s > 1.0 || t < 0 || t > 1.0)
        {
            c = 0.0;
            return false;
        }
    }
    else
    {
        //LOG(WARNING) << "det is null";
    }

    // Two closest points on the line segments
    const Vec3d P = x0 + t * (x1 - x0);
    const Vec3d Q = x2 + s * (x3 - x2);

    // Distance between nearest points on line segments
    Vec3d        n = (Q - P);
    const double l = n.norm();
    n /= l;

    if (l <= 0.0)
    {
        c = 0.0;
        return false;
    }

    dcdxA[0] = (1 - t) * n;
    dcdxA[1] = t * n;
    dcdxB[0] = -(1 - s) * n;
    dcdxB[1] = -s * n;

    c = l;

    return true;
}
} // namespace imstk