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

  Program:   Visualization Toolkit
  Module:    vtkWarpTransform.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 "vtkWarpTransform.h"
#include "vtkMath.h"


//----------------------------------------------------------------------------
void vtkWarpTransform::PrintSelf(ostream& os, vtkIndent indent)
{
  this->Superclass::PrintSelf(os, indent);

  os << indent << "InverseFlag: " << this->InverseFlag << "\n";
  os << indent << "InverseTolerance: " << this->InverseTolerance << "\n";
  os << indent << "InverseIterations: " << this->InverseIterations << "\n";
}

//----------------------------------------------------------------------------
vtkWarpTransform::vtkWarpTransform()
{
  this->InverseFlag = 0;
  this->InverseTolerance = 0.001;
  this->InverseIterations = 500;
}

//----------------------------------------------------------------------------
vtkWarpTransform::~vtkWarpTransform()
{
}

//------------------------------------------------------------------------
// Check the InverseFlag, and perform a forward or reverse transform
// as appropriate.
template<class T>
void vtkWarpTransformPoint(vtkWarpTransform *self, int inverse,
                           const T input[3], T output[3])
{
  if (inverse)
    {
    self->TemplateTransformInverse(input,output);
    }
  else
    {
    self->TemplateTransformPoint(input,output);
    }
}

void vtkWarpTransform::InternalTransformPoint(const float input[3],
                                              float output[3])
{
  vtkWarpTransformPoint(this,this->InverseFlag,input,output);
}

void vtkWarpTransform::InternalTransformPoint(const double input[3],
                                              double output[3])
{
  vtkWarpTransformPoint(this,this->InverseFlag,input,output);
}

//------------------------------------------------------------------------
// Check the InverseFlag, and set the output point and derivative as
// appropriate.
template<class T>
void vtkWarpTransformDerivative(vtkWarpTransform *self,
                                       int inverse,
                                       const T input[3], T output[3],
                                       T derivative[3][3])
{
  if (inverse)
    {
    self->TemplateTransformInverse(input,output,derivative);
    vtkMath::Invert3x3(derivative,derivative);
    }
  else
    {
    self->TemplateTransformPoint(input,output,derivative);
    }
}

void vtkWarpTransform::InternalTransformDerivative(const float input[3],
                                                   float output[3],
                                                   float derivative[3][3])
{
  vtkWarpTransformDerivative(this,this->InverseFlag,input,output,derivative);
}

void vtkWarpTransform::InternalTransformDerivative(const double input[3],
                                                   double output[3],
                                                   double derivative[3][3])
{
  vtkWarpTransformDerivative(this,this->InverseFlag,input,output,derivative);
}

//----------------------------------------------------------------------------
// We use Newton's method to iteratively invert the transformation.
// This is actally quite robust as long as the Jacobian matrix is never
// singular.
template<class T>
void vtkWarpInverseTransformPoint(vtkWarpTransform *self,
                                  const T point[3],
                                  T output[3],
                                  T derivative[3][3])
{
  T inverse[3], lastInverse[3];
  T deltaP[3], deltaI[3];

  double functionValue = 0;
  double functionDerivative = 0;
  double lastFunctionValue = VTK_DOUBLE_MAX;

  double errorSquared = 0;
  double toleranceSquared = self->GetInverseTolerance();
  toleranceSquared *= toleranceSquared;

  T f = 1.0;
  T a;

  // first guess at inverse point: invert the displacement
  self->TemplateTransformPoint(point,inverse);

  inverse[0] -= 2*(inverse[0]-point[0]);
  inverse[1] -= 2*(inverse[1]-point[1]);
  inverse[2] -= 2*(inverse[2]-point[2]);

  lastInverse[0] = inverse[0];
  lastInverse[1] = inverse[1];
  lastInverse[2] = inverse[2];

  // do a maximum 500 iterations, usually less than 10 are required
  int n = self->GetInverseIterations();
  int i;

  for (i = 0; i < n; i++)
    {
    // put the inverse point back through the transform
    self->TemplateTransformPoint(inverse,deltaP,derivative);

    // how far off are we?
    deltaP[0] -= point[0];
    deltaP[1] -= point[1];
    deltaP[2] -= point[2];

    // get the current function value
    functionValue = (deltaP[0]*deltaP[0] +
                     deltaP[1]*deltaP[1] +
                     deltaP[2]*deltaP[2]);

    // if the function value is decreasing, do next Newton step
    // (the check on f is to ensure that we don't do too many
    // reduction steps between the Newton steps)
    if (functionValue < lastFunctionValue || f < 0.05)
      {
      // here is the critical step in Newton's method
      vtkMath::LinearSolve3x3(derivative,deltaP,deltaI);

      // get the error value in the output coord space
      errorSquared = (deltaI[0]*deltaI[0] +
                      deltaI[1]*deltaI[1] +
                      deltaI[2]*deltaI[2]);

      // break if less than tolerance in both coordinate systems
      if (errorSquared < toleranceSquared &&
          functionValue < toleranceSquared)
        {
        break;
        }

      // save the last inverse point
      lastInverse[0] = inverse[0];
      lastInverse[1] = inverse[1];
      lastInverse[2] = inverse[2];

      // save the function value at that point
      lastFunctionValue = functionValue;

      // derivative of functionValue at last inverse point
      functionDerivative = (deltaP[0]*derivative[0][0]*deltaI[0] +
                            deltaP[1]*derivative[1][1]*deltaI[1] +
                            deltaP[2]*derivative[2][2]*deltaI[2])*2;

      // calculate new inverse point
      inverse[0] -= deltaI[0];
      inverse[1] -= deltaI[1];
      inverse[2] -= deltaI[2];

      // reset f to 1.0
      f = 1.0;

      continue;
      }

    // the error is increasing, so take a partial step
    // (see Numerical Recipes 9.7 for rationale, this code
    //  is a simplification of the algorithm provided there)

    // quadratic approximation to find best fractional distance
    a = -functionDerivative/(2*(functionValue -
                                lastFunctionValue -
                                functionDerivative));

    // clamp to range [0.1,0.5]
    f *= (a < 0.1 ? 0.1 : (a > 0.5 ? 0.5 : a));

    // re-calculate inverse using fractional distance
    inverse[0] = lastInverse[0] - f*deltaI[0];
    inverse[1] = lastInverse[1] - f*deltaI[1];
    inverse[2] = lastInverse[2] - f*deltaI[2];
    }

  vtkDebugWithObjectMacro(self, "Inverse Iterations: " << (i+1));

  if (i >= n)
    {
    // didn't converge: back up to last good result
    inverse[0] = lastInverse[0];
    inverse[1] = lastInverse[1];
    inverse[2] = lastInverse[2];

    // print warning: Newton's method didn't converge
    vtkErrorWithObjectMacro(self,
         "InverseTransformPoint: no convergence (" <<
         point[0] << ", " << point[1] << ", " << point[2] <<
         ") error = " << sqrt(errorSquared) << " after " <<
         i << " iterations.");
    }

  output[0] = inverse[0];
  output[1] = inverse[1];
  output[2] = inverse[2];
}

void vtkWarpTransform::InverseTransformPoint(const float point[3],
                                             float output[3])
{
  float derivative[3][3];
  vtkWarpInverseTransformPoint(this, point, output, derivative);
}

void vtkWarpTransform::InverseTransformPoint(const double point[3],
                                             double output[3])
{
  double derivative[3][3];
  vtkWarpInverseTransformPoint(this, point, output, derivative);
}

//----------------------------------------------------------------------------
void vtkWarpTransform::InverseTransformDerivative(const float point[3],
                                                  float output[3],
                                                  float derivative[3][3])
{
  vtkWarpInverseTransformPoint(this, point, output, derivative);
}

void vtkWarpTransform::InverseTransformDerivative(const double point[3],
                                                  double output[3],
                                                  double derivative[3][3])
{
  vtkWarpInverseTransformPoint(this, point, output, derivative);
}

//----------------------------------------------------------------------------
// To invert the transformation, just set the InverseFlag.
void vtkWarpTransform::Inverse()
{
  this->InverseFlag = !this->InverseFlag;
  this->Modified();
}







