// Copyright (c) 2014
// INRIA Saclay-Ile de France (France)
//
// This file is part of CGAL (www.cgal.org)
//
// $URL: https://github.com/CGAL/cgal/blob/v6.2-beta1/NewKernel_d/include/CGAL/NewKernel_d/Coaffine.h $
// $Id: include/CGAL/NewKernel_d/Coaffine.h 431cfb5357d $
// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial
//
// Author(s)     : Marc Glisse

#ifndef CGAL_KD_COAFFINE_H
#define CGAL_KD_COAFFINE_H
#include <vector>
#include <algorithm>
#include <iterator>
#include <CGAL/Dimension.h>
#include <CGAL/NewKernel_d/functor_tags.h>

namespace CGAL {
namespace CartesianDKernelFunctors {
struct Flat_orientation {
        std::vector<int> proj;
        std::vector<int> rest;
        bool reverse;
};

// For debugging purposes
inline std::ostream& operator<< (std::ostream& o, Flat_orientation const& f) {
  o << "Proj: ";
  for(int i : f.proj)
    o << i << ' ';
  o << "\nRest: ";
  for(int i : f.rest)
    o << i << ' ';
  o << "\nInv: " << f.reverse;
  return o << '\n';
}

namespace internal {
namespace coaffine {
template<class Mat>
inline void debug_matrix(std::ostream& o, Mat const&mat) {
  for(int i=0;i<mat.rows();++i){
  for(int j=0;j<mat.cols();++j){
    o<<mat(i,j)<<' ';
  }
  o<<'\n';
  }
}
}
}

template<class R_> struct Construct_flat_orientation : private Store_kernel<R_> {
        CGAL_FUNCTOR_INIT_STORE(Construct_flat_orientation)
        typedef R_ R;
        typedef typename Get_type<R, FT_tag>::type FT;
        typedef typename Get_type<R, Point_tag>::type Point;
        typedef typename Increment_dimension<typename R::Max_ambient_dimension>::type Dplusone;
        typedef typename R::LA::template Rebind_dimension<Dynamic_dimension_tag,Dplusone>::Other LA;
        typedef typename LA::Square_matrix Matrix;
        typedef typename Get_functor<R, Compute_point_cartesian_coordinate_tag>::type CCC;
        typedef typename Get_functor<R, Point_dimension_tag>::type PD;
        typedef Flat_orientation result_type;

        // This implementation is going to suck. Maybe we should push the
        // functionality into LA. And we should check (in debug mode) that
        // the points are affinely independent.
        template<class Iter>
        result_type operator()(Iter f, Iter e)const{
                Iter f_save = f;
                PD pd (this->kernel());
                CCC ccc (this->kernel());
                int dim = pd(*f);
                Matrix coord (dim+1, dim+1); // use distance(f,e)? This matrix doesn't need to be square.
                int col = 0;
                Flat_orientation o;
                std::vector<int>& proj=o.proj;
                std::vector<int>& rest=o.rest; rest.reserve(dim+1);
                for(int i=0; i<dim+1; ++i) rest.push_back(i);
                for( ; f != e ; ++col, ++f ) {
      //std::cerr << "(*f)[0]=" << (*f)[0] << std::endl;
                        Point const&p=*f;
                        // use a coordinate iterator instead?
                        for(int i=0; i<dim; ++i) coord(col, i) = ccc(p, i);
                        coord(col,dim)=1;
                        int d = (int)proj.size()+1;
                        Matrix m (d, d);
                        // Fill the matrix with what we already have
                        for(int i=0; i<d; ++i)
                        for(int j=0; j<d-1; ++j)
                                m(i,j) = coord(i, proj[j]);
                        // Try to complete with any other coordinate
                        // TODO: iterate on rest by the end, or use a (forward_)list.
                        for(std::vector<int>::iterator it=rest.begin();;++it) {
                                CGAL_assertion(it!=rest.end());
                                for(int i=0; i<d; ++i) m(i,d-1) = coord(i, *it);
                                if(LA::sign_of_determinant(m)!=0) {
                                        proj.push_back(*it);
                                        rest.erase(it);
                                        break;
                                }
                        }
                }
                std::sort(proj.begin(),proj.end());
                typename Get_functor<R, In_flat_orientation_tag>::type ifo(this->kernel());
                o.reverse = false;
                o.reverse = ifo(o, f_save, e) != CGAL::POSITIVE;
                return o;
        }
};

template<class R_> struct Contained_in_affine_hull : private Store_kernel<R_> {
        CGAL_FUNCTOR_INIT_STORE(Contained_in_affine_hull)
        typedef R_ R;
        typedef typename Get_type<R, FT_tag>::type FT;
        typedef typename Get_type<R, Point_tag>::type Point;
        typedef typename Get_type<R, Bool_tag>::type result_type;
        typedef typename Get_functor<R, Compute_point_cartesian_coordinate_tag>::type CCC;
        typedef typename Get_functor<R, Point_dimension_tag>::type PD;
        //typedef typename Increment_dimension<typename R::Default_ambient_dimension>::type D1;
        //typedef typename Increment_dimension<typename R::Max_ambient_dimension>::type D2;
        //typedef typename R::LA::template Rebind_dimension<D1,D2>::Other LA;
        typedef typename Increment_dimension<typename R::Max_ambient_dimension>::type Dplusone;
        typedef typename R::LA::template Rebind_dimension<Dynamic_dimension_tag,Dplusone>::Other LA;
        typedef typename LA::Square_matrix Matrix;

        // mostly copied from Construct_flat_orientation. TODO: dedup this code or use LA.
        template<class Iter>
        result_type operator()(Iter f, Iter e, Point const&x) const {
          // FIXME: are the points in (f,e) required to be affinely independent?
                PD pd (this->kernel());
                CCC ccc (this->kernel());
                int dim=pd(*f);
                Matrix coord (dim+1, dim+1); // use distance
                int col = 0;
                std::vector<int> proj;
                std::vector<int> rest; rest.reserve(dim+1);
                for(int i=0; i<dim+1; ++i) rest.push_back(i);
                for( ; f != e ; ++col, ++f ) {
                        Point const&p=*f;
                        for(int i=0; i<dim; ++i) coord(col, i) = ccc(p, i);
                        coord(col,dim)=1;
                        int d = (int)proj.size()+1;
                        Matrix m (d, d);
                        for(int i=0; i<d; ++i)
                          for(int j=0; j<d-1; ++j)
                            m(i,j) = coord(i, proj[j]);
                        for(std::vector<int>::iterator it=rest.begin();it!=rest.end();++it) {
                                for(int i=0; i<d; ++i) m(i,d-1) = coord(i, *it);
                                if(LA::sign_of_determinant(m)!=0) {
                                        proj.push_back(*it);
                                        rest.erase(it);
                                        break;
                                }
                        }
                }
                        for(int i=0; i<dim; ++i) coord(col, i) = ccc(x, i);
                        coord(col,dim)=1;
                        int d = (int)proj.size()+1;
                        Matrix m (d, d);
                        for(int i=0; i<d; ++i)
                          for(int j=0; j<d-1; ++j)
                            m(i,j) = coord(i, proj[j]);
                        for(int j : rest) {
                                for(int i=0; i<d; ++i) m(i,d-1) = coord(i, j);
                                if(LA::sign_of_determinant(m)!=0) return false;
                        }
                        return true;
        }
};

template<class R_> struct In_flat_orientation : private Store_kernel<R_> {
        CGAL_FUNCTOR_INIT_STORE(In_flat_orientation)
        typedef R_ R;
        typedef typename Get_type<R, FT_tag>::type FT;
        typedef typename Get_type<R, Point_tag>::type Point;
        typedef typename Get_type<R, Orientation_tag>::type result_type;
        typedef typename Increment_dimension<typename R::Default_ambient_dimension>::type D1;
        typedef typename Increment_dimension<typename R::Max_ambient_dimension>::type D2;
        typedef typename R::LA::template Rebind_dimension<D1,D2>::Other LA;
        typedef typename LA::Square_matrix Matrix;

        template<class Iter>
        result_type operator()(Flat_orientation const&o, Iter f, Iter e) const {
                // TODO: work in the projection instead of the ambient space.
                typename Get_functor<R, Compute_point_cartesian_coordinate_tag>::type c(this->kernel());
                typename Get_functor<R, Point_dimension_tag>::type pd(this->kernel());
                int d=pd(*f);
                Matrix m(d+1,d+1);
                int i=0;
                for(;f!=e;++f,++i) {
                        Point const& p=*f;
                        m(i,0)=1;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=c(p,j);
                        }
                }
                for(std::vector<int>::const_iterator it = o.rest.begin(); it != o.rest.end() /* i<d+1 */; ++i, ++it) {
                        m(i,0)=1;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=0; // unneeded if the matrix is initialized to 0
                        }
                        if(*it != d) m(i,1+*it)=1;
                }

                result_type ret = LA::sign_of_determinant(std::move(m));
                if(o.reverse) ret=-ret;
                return ret;
        }
};

template<class R_> struct In_flat_side_of_oriented_sphere : private Store_kernel<R_> {
        CGAL_FUNCTOR_INIT_STORE(In_flat_side_of_oriented_sphere)
        typedef R_ R;
        typedef typename Get_type<R, FT_tag>::type FT;
        typedef typename Get_type<R, Point_tag>::type Point;
        typedef typename Get_type<R, Orientation_tag>::type result_type;
        typedef typename Increment_dimension<typename R::Default_ambient_dimension,2>::type D1;
        typedef typename Increment_dimension<typename R::Max_ambient_dimension,2>::type D2;
        typedef typename R::LA::template Rebind_dimension<D1,D2>::Other LA;
        typedef typename LA::Square_matrix Matrix;

        template<class Iter>
        result_type operator()(Flat_orientation const&o, Iter f, Iter e, Point const&x) const {
                // TODO: can't work in the projection, but we should at least remove the row of 1s.
                typename Get_functor<R, Compute_point_cartesian_coordinate_tag>::type c(this->kernel());
                typename Get_functor<R, Point_dimension_tag>::type pd(this->kernel());
                int d=pd(*f);
                Matrix m(d+2,d+2);
                int i=0;
                for(;f!=e;++f,++i) {
                        Point const& p=*f;
                        m(i,0)=1;
                        m(i,d+1)=0;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=c(p,j);
                                m(i,d+1)+=CGAL_NTS square(m(i,j+1));
                        }
                }
                for(std::vector<int>::const_iterator it = o.rest.begin(); it != o.rest.end() /* i<d+1 */; ++i, ++it) {
                        m(i,0)=1;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=0; // unneeded if the matrix is initialized to 0
                        }
                        if(*it != d) m(i,d+1)=m(i,1+*it)=1;
                        else m(i,d+1)=0;
                }
                m(d+1,0)=1;
                m(d+1,d+1)=0;
                for(int j=0;j<d;++j){
                        m(d+1,j+1)=c(x,j);
                        m(d+1,d+1)+=CGAL_NTS square(m(d+1,j+1));
                }

                result_type ret = -LA::sign_of_determinant(std::move(m));
                if(o.reverse) ret=-ret;
                return ret;
        }
};

template<class R_> struct In_flat_power_side_of_power_sphere_raw : private Store_kernel<R_> {
        CGAL_FUNCTOR_INIT_STORE(In_flat_power_side_of_power_sphere_raw)
        typedef R_ R;
        typedef typename Get_type<R, FT_tag>::type FT;
        typedef typename Get_type<R, Point_tag>::type Point;
        typedef typename Get_type<R, Orientation_tag>::type result_type;
        typedef typename Increment_dimension<typename R::Default_ambient_dimension,2>::type D1;
        typedef typename Increment_dimension<typename R::Max_ambient_dimension,2>::type D2;
        typedef typename R::LA::template Rebind_dimension<D1,D2>::Other LA;
        typedef typename LA::Square_matrix Matrix;

        template<class Iter, class IterW, class Wt>
        result_type operator()(Flat_orientation const&o, Iter f, Iter const&e, IterW fw, IterW const&/*ew*/, Point const&x, Wt const&w) const {
                // TODO: can't work in the projection, but we should at least remove the row of 1s.
                typename Get_functor<R, Compute_point_cartesian_coordinate_tag>::type c(this->kernel());
                typename Get_functor<R, Point_dimension_tag>::type pd(this->kernel());
                int d=pd(*f);
                Matrix m(d+2,d+2);
                int i=0;
                for(;f!=e;++f,++fw,++i) {
                        Point const& p=*f;
                        m(i,0)=1;
                        m(i,d+1)=-*fw;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=c(p,j);
                                m(i,d+1)+=CGAL_NTS square(m(i,j+1));
                        }
                }
                for(std::vector<int>::const_iterator it = o.rest.begin(); it != o.rest.end() /* i<d+1 */; ++i, ++it) {
                        m(i,0)=1;
                        for(int j=0;j<d;++j){
                                m(i,j+1)=0; // unneeded if the matrix is initialized to 0
                        }
                        if(*it != d) m(i,d+1)=m(i,1+*it)=1;
                        else m(i,d+1)=0;
                }
                m(d+1,0)=1;
                m(d+1,d+1)=-w;
                for(int j=0;j<d;++j){
                        m(d+1,j+1)=c(x,j);
                        m(d+1,d+1)+=CGAL_NTS square(m(d+1,j+1));
                }

                result_type ret = -LA::sign_of_determinant(std::move(m));
                if(o.reverse) ret=-ret;
                return ret;
        }
};


}

// For the lazy kernel
inline CartesianDKernelFunctors::Flat_orientation const& exact(CartesianDKernelFunctors::Flat_orientation const& o){return o;}
inline CartesianDKernelFunctors::Flat_orientation const& approx(CartesianDKernelFunctors::Flat_orientation const& o){return o;}
inline unsigned depth(CartesianDKernelFunctors::Flat_orientation const&){return 0;}

CGAL_KD_DEFAULT_TYPE(Flat_orientation_tag,(CGAL::CartesianDKernelFunctors::Flat_orientation),(),());
CGAL_KD_DEFAULT_FUNCTOR(In_flat_orientation_tag,(CartesianDKernelFunctors::In_flat_orientation<K>),(Point_tag),(Compute_point_cartesian_coordinate_tag,Point_dimension_tag));
CGAL_KD_DEFAULT_FUNCTOR(In_flat_side_of_oriented_sphere_tag,(CartesianDKernelFunctors::In_flat_side_of_oriented_sphere<K>),(Point_tag),(Compute_point_cartesian_coordinate_tag,Point_dimension_tag));
CGAL_KD_DEFAULT_FUNCTOR(In_flat_power_side_of_power_sphere_raw_tag,(CartesianDKernelFunctors::In_flat_power_side_of_power_sphere_raw<K>),(Point_tag),(Compute_point_cartesian_coordinate_tag,Point_dimension_tag));
CGAL_KD_DEFAULT_FUNCTOR(Construct_flat_orientation_tag,(CartesianDKernelFunctors::Construct_flat_orientation<K>),(Point_tag),(Compute_point_cartesian_coordinate_tag,Point_dimension_tag,In_flat_orientation_tag));
CGAL_KD_DEFAULT_FUNCTOR(Contained_in_affine_hull_tag,(CartesianDKernelFunctors::Contained_in_affine_hull<K>),(Point_tag),(Compute_point_cartesian_coordinate_tag,Point_dimension_tag));
}
#endif
