// Copyright (c) 2002,2011 Utrecht University (The Netherlands).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org).
//
// $URL: https://github.com/CGAL/cgal/blob/v6.1.2/Spatial_searching/include/CGAL/Incremental_neighbor_search.h $
// $Id: include/CGAL/Incremental_neighbor_search.h 37e2b278910 $
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
//
//
// Author(s)     : Hans Tangelder (<hanst@cs.uu.nl>)
//                 Clement Jamin (clement.jamin.pro@gmail.com)

#ifndef CGAL_INCREMENTAL_NEIGHBOR_SEARCH_H
#define CGAL_INCREMENTAL_NEIGHBOR_SEARCH_H

#include <CGAL/license/Spatial_searching.h>

#include <CGAL/disable_warnings.h>
#include <CGAL/Kd_tree.h>
#include <CGAL/Kd_tree_node.h>
#include <CGAL/Kd_tree_rectangle.h>
#include <CGAL/Euclidean_distance.h>
#include <CGAL/Spatial_searching/internal/Search_helpers.h>

#include <cstring>
#include <list>
#include <queue>
#include <memory>
#include <iterator> // for std::distance

namespace CGAL {

  template <class SearchTraits,
            class Distance_=typename internal::Spatial_searching_default_distance<SearchTraits>::type,
            class Splitter_ = Sliding_midpoint<SearchTraits>,
            class Tree_=Kd_tree<SearchTraits, Splitter_, Tag_false, Tag_false> >
  class Incremental_neighbor_search {

  public:

    typedef Distance_ Distance;
    typedef Tree_     Tree;
    typedef typename SearchTraits::Point_d Point_d;
    typedef typename SearchTraits::FT FT;
    typedef typename SearchTraits::Dimension Dimension;
    typedef typename Tree::Point_d_iterator Point_d_iterator;
    typedef typename Tree::Node_const_handle Node_const_handle;
    typedef typename Tree::Splitter Splitter;
    typedef Kd_tree_rectangle<FT,Dimension> Node_box;
    typedef typename Distance::Query_item Query_item;

    class Cell {

    private:

      Node_box* the_box;
      Node_const_handle the_node;

    public:

      // constructor
      Cell (Node_box* Nb, Node_const_handle N)
      :the_box(Nb), the_node(N)
      {}

      Node_box*
      box()
      {
        return the_box;
      }

      Node_const_handle
      node()
      {
        return the_node;
      }
    };



    typedef std::pair<Point_d,FT> Point_with_transformed_distance;
    typedef std::pair<Cell*,FT> Cell_with_distance;


    typedef std::vector<Cell_with_distance*> Cell_with_distance_vector;
    typedef std::vector<Point_with_transformed_distance*> Point_with_distance_vector;
    typedef std::vector<FT> Distance_vector;

    //data members
    const Tree& m_tree;
    Query_item m_query;
    Distance m_dist;
    FT m_Eps;
    bool m_search_nearest;

  public:

    class iterator;
    typedef iterator const_iterator;

    // constructor
    Incremental_neighbor_search(const Tree& tree, const Query_item& q,
                                FT Eps=FT(0.0), bool search_nearest=true,
                                const Distance& tr=Distance()):
          m_tree(tree),m_query(q),m_dist(tr),m_Eps(Eps),m_search_nearest(search_nearest)
    {}

    iterator
    begin() const
    {
      return iterator(m_tree,m_query,m_dist,m_Eps,m_search_nearest);
    }

    iterator
    end() const
    {
      return iterator();
    }

    std::ostream&
    statistics(std::ostream& s)
    {
      begin()->statistics(s);
      return s;
    }


    template<class T>
    struct Object_wrapper
    {
      T object;
      Object_wrapper(const T& t):object(t){}
      const T& operator* () const { return object; }
      const T* operator-> () const { return &object; }
    };


    class iterator {

    public:

      typedef std::input_iterator_tag iterator_category;
      typedef Point_with_transformed_distance       value_type;
      typedef const Point_with_transformed_distance*      pointer;
      typedef const Point_with_transformed_distance&      reference;
      typedef std::size_t               size_type;
      typedef std::ptrdiff_t            difference_type;
      typedef int distance_type;


      class Iterator_implementation;
      Iterator_implementation *ptr;


      // default constructor
      iterator()
        : ptr(0)
      {}

      int
      the_number_of_items_visited()
      {
        return ptr->number_of_items_visited;
      }

      // constructor
      iterator(const Tree& tree, const Query_item& q, const Distance& tr, FT eps,
               bool search_nearest)
        : ptr(new Iterator_implementation(tree, q, tr, eps, search_nearest))
      {}

      // copy constructor
      iterator(const iterator& Iter)
        : ptr(Iter.ptr)
      {
        if (ptr != 0) ptr->reference_count++;
      }

      iterator& operator=(const iterator& Iter)
      {
        if (ptr!=Iter.ptr){
          if (ptr != 0 && --(ptr->reference_count)==0) {
              delete ptr;
          }
          ptr = Iter.ptr;
          if (ptr != 0) ptr->reference_count++;
        }
        return *this;
      }

      const Point_with_transformed_distance&
      operator* () const
      {
        return *(*ptr);
      }

      // -> operator
      const Point_with_transformed_distance*
      operator-> () const
      {
        return &*(*ptr);
      }

      // prefix operator
      iterator& operator++()
      {
        ++(*ptr);
        return *this;
      }

      // postfix operator
      Object_wrapper<Point_with_transformed_distance>
      operator++(int)
      {
        return (*ptr)++;
      }

      bool
      operator==(const iterator& It) const
      {
        if ( ((ptr == 0) ||
              ptr->Item_PriorityQueue.empty()) &&
             ((It.ptr == 0) ||
              It.ptr->Item_PriorityQueue.empty())
             )
          return true;
        // else
        return (ptr == It.ptr);
      }

      bool
      operator!=(const iterator& It) const
      {
        return !(*this == It);
      }

      std::ostream&
      statistics (std::ostream& s)
      {
            ptr->statistics(s);
        return s;
      }

      ~iterator()
      {
        if (ptr != 0) {
          ptr->reference_count--;
          if (ptr->reference_count==0) {
            delete ptr;
            ptr = 0;
          }
        }
      }


      class Iterator_implementation {

      private:

        FT multiplication_factor;

        Query_item query_point;

        FT distance_to_root;

        bool search_nearest_neighbor;

        FT rd;

        internal::Distance_helper<Distance, SearchTraits> m_distance_helper;
        int m_dim;
        Tree const& m_tree;

        class Priority_higher {

        public:

          bool search_nearest;

          Priority_higher(bool search_the_nearest_neighbor)
            : search_nearest(search_the_nearest_neighbor)
          {}

          //highest priority is smallest distance
          bool operator() (Cell_with_distance* n1, Cell_with_distance* n2) const
          {
            return (search_nearest)? (n1->second > n2->second) : (n2->second > n1->second);
          }
        };


        class Distance_smaller {

        public:

          bool search_nearest;

          Distance_smaller(bool search_the_nearest_neighbor)
            :search_nearest(search_the_nearest_neighbor)
          {}

          //highest priority is smallest distance
          bool
          operator() (Point_with_transformed_distance* p1, Point_with_transformed_distance* p2) const
          {
            return (search_nearest) ? (p1->second > p2->second) : (p2->second > p1->second);
          }
        };


        std::priority_queue<Cell_with_distance*, Cell_with_distance_vector,
                            Priority_higher> PriorityQueue;
      public:
        std::priority_queue<Point_with_transformed_distance*, Point_with_distance_vector,
                            Distance_smaller> Item_PriorityQueue;


        Distance distance;

      public:

        int reference_count;

        int number_of_internal_nodes_visited;
        int number_of_leaf_nodes_visited;
        int number_of_items_visited;
        int number_of_neighbors_computed;

        // constructor
        Iterator_implementation(const Tree& tree, const Query_item& q,const Distance& tr,
                                FT Eps, bool search_nearest)
          : query_point(q), search_nearest_neighbor(search_nearest),
          m_distance_helper(tr, tree.traits()),
          m_tree(tree),
          PriorityQueue(Priority_higher(search_nearest)),
          Item_PriorityQueue(Distance_smaller(search_nearest)),
          distance(tr), reference_count(1), number_of_internal_nodes_visited(0),
          number_of_leaf_nodes_visited(0), number_of_items_visited(0),
          number_of_neighbors_computed(0)
        {
          if (tree.empty()) return;

          typename SearchTraits::Construct_cartesian_const_iterator_d construct_it =
            m_tree.traits().construct_cartesian_const_iterator_d_object();
          const Point_d& p = *m_tree.begin();
          m_dim = static_cast<int>(std::distance(construct_it(p), construct_it(p, 0)));

          multiplication_factor= distance.transformed_distance(FT(1)+Eps);

          Node_box *bounding_box = new Node_box((tree.bounding_box()));

          if (search_nearest) distance_to_root=
                                distance.min_distance_to_rectangle(q,*bounding_box);
          else distance_to_root=
                 distance.max_distance_to_rectangle(q,*bounding_box);



          Cell *Root_Cell = new Cell(bounding_box,tree.root());
          Cell_with_distance  *The_Root =
            new Cell_with_distance(Root_Cell,distance_to_root);

          PriorityQueue.push(The_Root);

          // rd is the distance of the top of the priority queue to q
          rd=The_Root->second;
          Compute_the_next_nearest_neighbor();
        }

        // * operator
        const Point_with_transformed_distance&
        operator* () const
        {
          return *(Item_PriorityQueue.top());
        }

        // prefix operator
        Iterator_implementation&
        operator++()
        {
          Delete_the_current_item_top();
          Compute_the_next_nearest_neighbor();
          return *this;
        }

        // postfix operator
        Object_wrapper<Point_with_transformed_distance>
        operator++(int)
        {
          Object_wrapper<Point_with_transformed_distance> result( *(Item_PriorityQueue.top()) );
          ++*this;
          return result;
        }

        // Print statistics of the general priority search process.
        std::ostream&
        statistics (std::ostream& s) const
        {
          s << "General priority search statistics:" << std::endl;
          s << "Number of internal nodes visited:" <<
            number_of_internal_nodes_visited << std::endl;
          s << "Number of leaf nodes visited:" <<
            number_of_leaf_nodes_visited << std::endl;
          s << "Number of points visited:" <<
            number_of_items_visited << std::endl;
          s << "Number of neighbors computed:" <<
            number_of_neighbors_computed << std::endl;
          return s;
        }

        //destructor
        ~Iterator_implementation()
        {
          while (! PriorityQueue.empty()) {
            Cell_with_distance* The_top=PriorityQueue.top();
            PriorityQueue.pop();
            delete The_top->first->box();
            delete The_top->first;
            delete The_top;
          }
          while (! Item_PriorityQueue.empty()) {
            Point_with_transformed_distance* The_top=Item_PriorityQueue.top();
            Item_PriorityQueue.pop();
            delete The_top;
          }
        }

      private:

        void
        Delete_the_current_item_top()
        {
          Point_with_transformed_distance* The_item_top=Item_PriorityQueue.top();
          Item_PriorityQueue.pop();
          delete The_item_top;
        }


        // With cache
        bool search_in_leaf(typename Tree::Leaf_node_const_handle node, Tag_true, bool search_furthest)
        {
          typename Tree::iterator it_node_point = node->begin(), it_node_point_end = node->end();
          typename std::vector<FT>::const_iterator cache_point_begin = m_tree.cache_begin() + m_dim*(it_node_point - m_tree.begin());

          for (; it_node_point != node->end(); ++it_node_point)
          {
            number_of_items_visited++;
            FT distance_to_query_point =
              m_distance_helper.transformed_distance_from_coordinates(
                query_point, *it_node_point, cache_point_begin, cache_point_begin + m_dim);

            Point_with_transformed_distance *NN_Candidate =
              new Point_with_transformed_distance(*it_node_point, distance_to_query_point);
            Item_PriorityQueue.push(NN_Candidate);

            cache_point_begin += m_dim;
          }
          // old top of PriorityQueue has been processed,
          // hence update rd

          bool next_neighbor_found;
          if (!(PriorityQueue.empty()))
          {
            rd = PriorityQueue.top()->second;
            next_neighbor_found = (search_furthest ?
              multiplication_factor*rd < Item_PriorityQueue.top()->second
              : multiplication_factor*rd > Item_PriorityQueue.top()->second);
          }
          else // priority queue empty => last neighbor found
          {
            next_neighbor_found = true;
          }

          number_of_neighbors_computed++;
          return next_neighbor_found;
        }

        // Without cache
        bool search_in_leaf(typename Tree::Leaf_node_const_handle node, Tag_false, bool search_furthest)
        {
          typename Tree::iterator it_node_point = node->begin(), it_node_point_end = node->end();

          for (; it_node_point != it_node_point_end; ++it_node_point)
          {
            number_of_items_visited++;
            FT distance_to_query_point =
              distance.transformed_distance(query_point, *it_node_point);

            Point_with_transformed_distance *NN_Candidate =
              new Point_with_transformed_distance(*it_node_point, distance_to_query_point);
            Item_PriorityQueue.push(NN_Candidate);
          }
          // old top of PriorityQueue has been processed,
          // hence update rd

          bool next_neighbor_found;
          if (!(PriorityQueue.empty()))
          {
            rd = PriorityQueue.top()->second;
            next_neighbor_found = (search_furthest ?
              multiplication_factor*rd < Item_PriorityQueue.top()->second
              : multiplication_factor*rd > Item_PriorityQueue.top()->second);
          }
          else // priority queue empty => last neighbor found
          {
            next_neighbor_found = true;
          }

          number_of_neighbors_computed++;
          return next_neighbor_found;
        }

        void
        Compute_the_next_nearest_neighbor()
        {
          // compute the next item
          bool next_neighbor_found=false;
          if (!(Item_PriorityQueue.empty())) {
            if (search_nearest_neighbor)
              next_neighbor_found =
                (multiplication_factor*rd > Item_PriorityQueue.top()->second);
            else
              next_neighbor_found =
                (rd < multiplication_factor*Item_PriorityQueue.top()->second);
          }
          while ((!next_neighbor_found) && (!PriorityQueue.empty())) {

            Cell_with_distance* The_node_top = PriorityQueue.top();
            Node_const_handle N = The_node_top->first->node();
            Node_box* B = The_node_top->first->box();
            PriorityQueue.pop();
            delete The_node_top->first;
            delete The_node_top;

            while (!(N->is_leaf())) {
              typename Tree::Internal_node_const_handle node =
                static_cast<typename Tree::Internal_node_const_handle>(N);
              number_of_internal_nodes_visited++;
              int new_cut_dim = node->cutting_dimension();
              FT  new_cut_val = node->cutting_value();

              Node_box* lower_box = new Node_box(*B);
              Node_box* upper_box = new Node_box(*B);
                lower_box->split(*upper_box,new_cut_dim, new_cut_val);
              delete B;
              if (search_nearest_neighbor) {
                FT distance_to_box_lower =
                  distance.min_distance_to_rectangle(query_point, *lower_box);
                FT distance_to_box_upper =
                  distance.min_distance_to_rectangle(query_point, *upper_box);
                if (distance_to_box_lower <= distance_to_box_upper) {

                  Cell* C_upper = new Cell(upper_box, node->upper());
                  Cell_with_distance *Upper_Child =
                    new Cell_with_distance(C_upper,distance_to_box_upper);
                  PriorityQueue.push(Upper_Child);
                  N=node->lower();
                  B=lower_box;
                } else {
                  Cell* C_lower = new Cell(lower_box, node->lower());
                  Cell_with_distance *Lower_Child =
                    new Cell_with_distance(C_lower,distance_to_box_lower);
                  PriorityQueue.push(Lower_Child);
                  N=node->upper();
                  B=upper_box;
                }
              }
              else { // search furthest
                FT distance_to_box_lower =
                  distance.max_distance_to_rectangle(query_point, *lower_box);
                FT distance_to_box_upper =
                  distance.max_distance_to_rectangle(query_point, *upper_box);
                if (distance_to_box_lower >= distance_to_box_upper) {
                  Cell* C_upper = new Cell(upper_box, node->upper());
                  Cell_with_distance *Upper_Child =
                    new Cell_with_distance(C_upper,distance_to_box_upper);
                  PriorityQueue.push(Upper_Child);
                  N=node->lower();
                  B=lower_box;
                }
                else {
                  Cell* C_lower = new Cell(lower_box, node->lower());
                  Cell_with_distance *Lower_Child =
                    new Cell_with_distance(C_lower,distance_to_box_lower);
                  PriorityQueue.push(Lower_Child);
                  N=node->upper();
                  B=upper_box;
                }
              }
            }
            delete B;

            // N is a leaf
            typename Tree::Leaf_node_const_handle node =
              static_cast<typename Tree::Leaf_node_const_handle>(N);
            number_of_leaf_nodes_visited++;
            if (node->size() > 0) {
              typename internal::Has_points_cache<Tree, internal::has_Enable_points_cache<Tree>::type::value>::type dummy;
              next_neighbor_found = search_in_leaf(node, dummy, !search_nearest_neighbor);
            }
          }   // next_neighbor_found or priority queue is empty
          // in the latter case also the item priority queue is empty

        }

        CGAL_DEPRECATED void Compute_the_next_nearest_neighbour()
        { void Compute_the_next_nearest_neighbor(); }
      }; // class Iterator_implementation
    }; // class iterator
  }; // class

} // namespace CGAL

#include <CGAL/enable_warnings.h>

#endif  // CGAL_INCREMENTAL_NEIGHBOR_SEARCH_H
