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

  Program:   Visualization Toolkit
  Module:    vtkHomogeneousTransform.cxx

  Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
  All rights reserved.
  See Copyright.txt or http://www.kitware.com/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notice for more information.

=========================================================================*/
#include "vtkHomogeneousTransform.h"

#include "vtkMath.h"
#include "vtkMatrix4x4.h"
#include "vtkPoints.h"

VTK_ABI_NAMESPACE_BEGIN
namespace
{
void TransformVector(double M[4][4], double* outPnt, double f, double* inVec, double* outVec)
{
  // do the linear homogeneous transformation
  outVec[0] = M[0][0] * inVec[0] + M[0][1] * inVec[1] + M[0][2] * inVec[2];
  outVec[1] = M[1][0] * inVec[0] + M[1][1] * inVec[1] + M[1][2] * inVec[2];
  outVec[2] = M[2][0] * inVec[0] + M[2][1] * inVec[1] + M[2][2] * inVec[2];
  double w = M[3][0] * inVec[0] + M[3][1] * inVec[1] + M[3][2] * inVec[2];

  // apply homogeneous correction: note that the f we are using
  // is the one we calculated in the point transformation
  outVec[0] = (outVec[0] - w * outPnt[0]) * f;
  outVec[1] = (outVec[1] - w * outPnt[1]) * f;
  outVec[2] = (outVec[2] - w * outPnt[2]) * f;
}
}
//------------------------------------------------------------------------------
vtkHomogeneousTransform::vtkHomogeneousTransform()
{
  this->Matrix = vtkMatrix4x4::New();
}

//------------------------------------------------------------------------------
vtkHomogeneousTransform::~vtkHomogeneousTransform()
{
  if (this->Matrix)
  {
    this->Matrix->Delete();
  }
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::PrintSelf(ostream& os, vtkIndent indent)
{
  this->Superclass::PrintSelf(os, indent);
  os << indent << "Matrix: (" << this->Matrix << ")\n";
  if (this->Matrix)
  {
    this->Matrix->PrintSelf(os, indent.GetNextIndent());
  }
}

//------------------------------------------------------------------------------
template <class T1, class T2, class T3>
inline double vtkHomogeneousTransformPoint(T1 M[4][4], T2 in[3], T3 out[3])
{
  double x = M[0][0] * in[0] + M[0][1] * in[1] + M[0][2] * in[2] + M[0][3];
  double y = M[1][0] * in[0] + M[1][1] * in[1] + M[1][2] * in[2] + M[1][3];
  double z = M[2][0] * in[0] + M[2][1] * in[1] + M[2][2] * in[2] + M[2][3];
  double w = M[3][0] * in[0] + M[3][1] * in[1] + M[3][2] * in[2] + M[3][3];

  double f = 1.0 / w;
  out[0] = static_cast<T3>(x * f);
  out[1] = static_cast<T3>(y * f);
  out[2] = static_cast<T3>(z * f);

  return f;
}

//------------------------------------------------------------------------------
// computes a coordinate transformation and also returns the Jacobian matrix
template <class T1, class T2, class T3, class T4>
inline void vtkHomogeneousTransformDerivative(T1 M[4][4], T2 in[3], T3 out[3], T4 derivative[3][3])
{
  double f = vtkHomogeneousTransformPoint(M, in, out);

  for (int i = 0; i < 3; i++)
  {
    derivative[0][i] = static_cast<T4>((M[0][i] - M[3][i] * out[0]) * f);
    derivative[1][i] = static_cast<T4>((M[1][i] - M[3][i] * out[1]) * f);
    derivative[2][i] = static_cast<T4>((M[2][i] - M[3][i] * out[2]) * f);
  }
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::InternalTransformPoint(const float in[3], float out[3])
{
  vtkHomogeneousTransformPoint(this->Matrix->Element, in, out);
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::InternalTransformPoint(const double in[3], double out[3])
{
  vtkHomogeneousTransformPoint(this->Matrix->Element, in, out);
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::InternalTransformDerivative(
  const float in[3], float out[3], float derivative[3][3])
{
  vtkHomogeneousTransformDerivative(this->Matrix->Element, in, out, derivative);
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::InternalTransformDerivative(
  const double in[3], double out[3], double derivative[3][3])
{
  vtkHomogeneousTransformDerivative(this->Matrix->Element, in, out, derivative);
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::TransformPoints(vtkPoints* inPts, vtkPoints* outPts)
{
  vtkIdType n = inPts->GetNumberOfPoints();
  double(*M)[4] = this->Matrix->Element;
  double point[3];

  this->Update();

  for (int i = 0; i < n; i++)
  {
    inPts->GetPoint(i, point);

    vtkHomogeneousTransformPoint(M, point, point);

    outPts->InsertNextPoint(point);
  }
}

//------------------------------------------------------------------------------
// Transform the normals and vectors using the derivative of the
// transformation.  Either inNms or inVrs can be set to nullptr.
// Normals are multiplied by the inverse transpose of the transform
// derivative, while vectors are simply multiplied by the derivative.
// Note that the derivative of the inverse transform is simply the
// inverse of the derivative of the forward transform.
void vtkHomogeneousTransform::TransformPointsNormalsVectors(vtkPoints* inPts, vtkPoints* outPts,
  vtkDataArray* inNms, vtkDataArray* outNms, vtkDataArray* inVrs, vtkDataArray* outVrs,
  int nOptionalVectors, vtkDataArray** inVrsArr, vtkDataArray** outVrsArr)
{
  vtkIdType n = inPts->GetNumberOfPoints();
  double(*M)[4] = this->Matrix->Element;
  double L[4][4];
  double inPnt[3], outPnt[3], inNrm[3], outNrm[3], inVec[3], outVec[3];
  double w;

  this->Update();

  if (inNms)
  { // need inverse of the matrix to calculate normals
    vtkMatrix4x4::DeepCopy(*L, this->Matrix);
    vtkMatrix4x4::Invert(*L, *L);
    vtkMatrix4x4::Transpose(*L, *L);
  }

  for (int i = 0; i < n; i++)
  {
    inPts->GetPoint(i, inPnt);

    // do the coordinate transformation, get 1/w
    double f = vtkHomogeneousTransformPoint(M, inPnt, outPnt);
    outPts->InsertNextPoint(outPnt);

    if (inVrs)
    {
      inVrs->GetTuple(i, inVec);
      TransformVector(M, outPnt, f, inVec, outVec);
      outVrs->InsertNextTuple(outVec);
    }

    if (inVrsArr)
    {
      for (int iArr = 0; iArr < nOptionalVectors; iArr++)
      {
        inVrsArr[iArr]->GetTuple(i, inVec);
        TransformVector(M, outPnt, f, inVec, outVec);
        outVrsArr[iArr]->InsertNextTuple(outVec);
      }
    }

    if (inNms)
    {
      inNms->GetTuple(i, inNrm);

      // calculate the w component of the normal
      w = -(inNrm[0] * inPnt[0] + inNrm[1] * inPnt[1] + inNrm[2] * inPnt[2]);

      // perform the transformation in homogeneous coordinates
      outNrm[0] = L[0][0] * inNrm[0] + L[0][1] * inNrm[1] + L[0][2] * inNrm[2] + L[0][3] * w;
      outNrm[1] = L[1][0] * inNrm[0] + L[1][1] * inNrm[1] + L[1][2] * inNrm[2] + L[1][3] * w;
      outNrm[2] = L[2][0] * inNrm[0] + L[2][1] * inNrm[1] + L[2][2] * inNrm[2] + L[2][3] * w;

      // re-normalize
      vtkMath::Normalize(outNrm);
      outNms->InsertNextTuple(outNrm);
    }
  }
}

//------------------------------------------------------------------------------
// update and copy out the current matrix
void vtkHomogeneousTransform::GetMatrix(vtkMatrix4x4* m)
{
  this->Update();
  m->DeepCopy(this->Matrix);
}

//------------------------------------------------------------------------------
void vtkHomogeneousTransform::InternalDeepCopy(vtkAbstractTransform* transform)
{
  vtkHomogeneousTransform* t = static_cast<vtkHomogeneousTransform*>(transform);

  this->Matrix->DeepCopy(t->Matrix);
}
VTK_ABI_NAMESPACE_END
