/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     | Website:  https://openfoam.org
    \\  /    A nd           | Copyright (C) 2020 OpenFOAM Foundation
     \\/     M anipulation  |
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.

    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.

\*---------------------------------------------------------------------------*/

#include "cyclicTransform.H"
#include "unitConversion.H"
#include "IOmanip.H"

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

namespace Foam
{
    template<>
    const char* NamedEnum<cyclicTransform::transformTypes, 4>::names[] =
    {
        "unspecified",
        "none",
        "rotational",
        "translational"
    };

    const NamedEnum<cyclicTransform::transformTypes, 4>
        cyclicTransform::transformTypeNames;

    defineTypeNameAndDebug(cyclicTransform, 0);
}


// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //

void Foam::cyclicTransform::update()
{
    if (!transformComplete_)
    {
        return;
    }

    switch (transformType_)
    {
        case UNSPECIFIED:
            break;

        case NONE:
            transform_ = transformer();
            break;

        case ROTATIONAL:
            if (rotationAngle_ == 0)
            {
                transform_ = transformer();
            }
            else
            {
                const tensor R =
                    quaternion(rotationAxis_, degToRad(rotationAngle_)).R();

                if (mag(rotationCentre_) == 0)
                {
                    transform_ = transformer::rotation(R);
                }
                else
                {
                    transform_ =
                        transformer::translation(rotationCentre_)
                      & transformer::rotation(R)
                      & transformer::translation(- rotationCentre_);
                }
            }
            break;

        case TRANSLATIONAL:
            if (mag(separation_) == 0)
            {
                transform_ = transformer();
            }
            else
            {
                transform_ = transformer::translation(separation_);
            }
            break;
    }
}


bool Foam::cyclicTransform::set
(
    const cyclicTransform& t,
    const scalar lengthScale,
    const scalar matchTolerance
)
{
    // If the supplied transform is unspecified then there is nothing to do
    if (t.transformType_ == UNSPECIFIED)
    {
        return true;
    }

    // If this transform is specified then we need to check that it is
    // compatible with the supplied transform
    if (transformType_ != UNSPECIFIED)
    {
        // If the transforms are of different types then they are incompatible
        if (transformType_ != t.transformType_)
        {
            return false;
        }

        // Length-tolerance
        const scalar lengthTolerance = lengthScale*matchTolerance;

        // If the transforms are both rotational then the axes must be in the
        // same direction, the centre points must lie on the same line, and the
        // angles (if available) must be opposing.
        if (transformType_ == ROTATIONAL)
        {
            const scalar dot = rotationAxis_ & t.rotationAxis_;

            if (mag(dot) < 1 - matchTolerance)
            {
                return false;
            }

            if
            (
                (rotationAxis_ & (rotationCentre_ - t.rotationCentre_))
              > lengthTolerance
            )
            {
                return false;
            }

            if (transformComplete_ && t.transformComplete_)
            {
                if
                (
                    mag(degToRad(rotationAngle_ - sign(dot)*t.rotationAngle_))
                  > matchTolerance
                )
                {
                    return false;
                }
            }
        }

        // If the transforms are both translational then the separations must
        // be opposing
        if (transformType_ == TRANSLATIONAL)
        {
            if (transformComplete_ && t.transformComplete_)
            {
                if (mag(separation_ - t.separation_) > lengthTolerance)
                {
                    return false;
                }
            }
        }
    }

    // If the supplied transform is more complete then overwrite this with it
    if (!transformComplete_ && t.transformComplete_)
    {
        *this = t;
    }

    return true;
}


// * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * * //

Foam::cyclicTransform::cyclicTransform
(
    const bool defaultIsNone
)
:
    transformType_(defaultIsNone ? NONE : UNSPECIFIED),
    rotationAxis_(vector::uniform(NaN)),
    rotationCentre_(vector::uniform(NaN)),
    rotationAngle_(NaN),
    separation_(vector::uniform(NaN)),
    transformComplete_(transformType_ == NONE),
    transform_()
{}


Foam::cyclicTransform::cyclicTransform
(
    const dictionary& dict,
    const bool defaultIsNone
)
:
    transformType_
    (
        // Lookup the new "transformType" keyword first, then for backwards
        // compatibility try "transform", then finally assume the default
        // transform type
        dict.found("transformType")
      ? transformTypeNames.read(dict.lookup("transformType"))
      : dict.found("transform")
      ? transformTypeNames.read(dict.lookup("transform"))
      : (defaultIsNone ? NONE : UNSPECIFIED)
    ),
    rotationAxis_
    (
        transformType_ == ROTATIONAL
      ? normalised(dict.lookup<vector>("rotationAxis"))
      : vector::uniform(NaN)
    ),
    rotationCentre_
    (
        transformType_ == ROTATIONAL
      ? dict.lookup<point>("rotationCentre")
      : point::uniform(NaN)
    ),
    rotationAngle_(dict.lookupOrDefault<scalar>("rotationAngle", NaN)),
    separation_
    (
        transformType_ == TRANSLATIONAL
      ? (
            // Lookup the new "separation" keyword first, then for backwards
            // compatibility try "separationVector", then finally spit an error
            // that the new "separation" keyword is not present
            dict.found("separation")
          ? dict.lookup<vector>("separation")
          : dict.found("separationVector")
          ? dict.lookup<vector>("separationVector")
          : dict.lookup<vector>("separation")
        )
      : vector::uniform(NaN)
    ),
    transformComplete_
    (
        transformType_ == NONE
     || (
            transformType_ == ROTATIONAL
         && dict.found("rotationAngle")
        )
     || (
            transformType_ == TRANSLATIONAL
         && (dict.found("separation") || dict.found("separationVector"))
        )
    ),
    transform_()
{
    if (transformComplete_)
    {
        update();
    }
}


Foam::cyclicTransform::cyclicTransform
(
    const word& name,
    const vectorField& areas,
    const cyclicTransform& transform,
    const word& nbrName,
    const cyclicTransform& nbrTransform,
    const scalar matchTolerance
)
:
    cyclicTransform(transform)
{
    // Calculate the total (vector) areas for the supplied patch data
    const vector area = sum(areas);

    // Calculate patch length scales
    const scalar lengthScale = sqrt(mag(area));

    // Copy as much data from the neighbour as possible
    if (!transformComplete_ && nbrTransform.transformType_ != UNSPECIFIED)
    {
        if (!set(inv(nbrTransform), lengthScale, matchTolerance))
        {
            FatalErrorInFunction
                << "Patch " << name
                << " and neighbour patch " << nbrName
                << " have incompatible transforms:" << nl << nl << incrIndent;

            FatalErrorInFunction
                << indent << name << nl << indent << token::BEGIN_BLOCK << nl
                << incrIndent;

            cyclicTransform::write(FatalError);

            FatalErrorInFunction
                << decrIndent << indent << token::END_BLOCK << nl << nl;

            FatalErrorInFunction
                << indent << nbrName << nl << indent << token::BEGIN_BLOCK << nl
                << incrIndent;

            nbrTransform.write(FatalError);

            FatalErrorInFunction
                << decrIndent << indent << token::END_BLOCK << nl << nl;

            FatalErrorInFunction
                << decrIndent << exit(FatalError);
        }
    }
}


Foam::cyclicTransform::cyclicTransform
(
    const word& name,
    const pointField& ctrs,
    const vectorField& areas,
    const cyclicTransform& transform,
    const word& nbrName,
    const pointField& nbrCtrs,
    const vectorField& nbrAreas,
    const cyclicTransform& nbrTransform,
    const scalar matchTolerance
)
:
    cyclicTransform
    (
        name,
        areas,
        transform,
        nbrName,
        nbrTransform,
        matchTolerance
    )
{
    // If there is no geometry from which to calculate the transform then
    // nothing can be calculated
    if (areas.size() == 0 || nbrAreas.size() == 0) return;

    // Calculate the total (vector) areas for the supplied patch data
    const vector area = sum(areas);
    const vector nbrArea = sum(nbrAreas);

    // Calculate the centroids for the supplied patch data
    const scalarField magAreas(mag(areas));
    const scalarField magNbrAreas(mag(nbrAreas));
    const point ctr = sum(ctrs*magAreas)/sum(magAreas);
    const point nbrCtr = sum(nbrCtrs*magNbrAreas)/sum(magNbrAreas);

    // Calculate patch length scales
    const scalar lengthScale = sqrt(sum(magAreas));

    // Calculate the transformation from the patch geometry
    if (!transformComplete_)
    {
        // Store the old transformation type
        const transformTypes oldTransformType = transformType_;

        // Calculate the average patch normals
        const vector normal = normalised(area);
        const vector negNbrNormal = - normalised(nbrArea);

        // Calculate the angle and distance separations
        const scalar dot = normal & negNbrNormal;
        const vector delta = ctr - nbrCtr;

        // Determine the type of transformation if it has not been specified
        if (transformType_ == UNSPECIFIED)
        {
            transformType_ =
                dot < 1 - rootSmall
              ? ROTATIONAL
              : mag(delta) > lengthScale*rootSmall
              ? TRANSLATIONAL
              : NONE;
        }

        // If the transformation is known to be rotational, then we need to
        // calculate the angle. If the transformation was previously
        // unspecified then we also need to calculate the axis and the centre
        // of rotation.
        if (transformType_ == ROTATIONAL)
        {
            // Calculate the axis, if necessary
            if (transformType_ != oldTransformType)
            {
                const vector midNormal = normalised(normal + negNbrNormal);
                const vector axis =
                    (ctr - nbrCtr)
                  ^ (
                        normal*(negNbrNormal & midNormal)
                      - negNbrNormal*(normal & midNormal)
                    );
                const vector axis180 =
                    (ctr - nbrCtr)
                  ^ (normal - negNbrNormal);

                rotationAxis_ =
                    normalised
                    (
                        mag(axis) > lengthScale*rootSmall
                      ? axis
                      : axis180
                    );
            }

            // Calculate the angle
            const tensor PerpA = tensor::I - sqr(rotationAxis_);
            const vector normalPerpA = normalised(PerpA & normal);
            const vector negNbrNormalPerpA = normalised(PerpA & negNbrNormal);
            const scalar theta =
                acos(min(max(normalPerpA & negNbrNormalPerpA, -1), 1));
            rotationAngle_ =
              - sign((normalPerpA ^ negNbrNormalPerpA) & rotationAxis_)
               *radToDeg(theta);

            // Calculate the centre of rotation, if necessary
            if (transformType_ != oldTransformType)
            {
                const tensor R = quaternion(rotationAxis_, theta).R();
                tensor A = tensor::I - R;
                vector b = ctr - (R & nbrCtr);
                const label i = findMax(cmptMag(rotationAxis_));
                forAll(b, j)
                {
                    A(i, j) = j == i;
                }
                b[i] = 0;
                rotationCentre_ = inv(A) & b;
            }
        }

        // If the transformation is known to be translational then we just need
        // to set the separation.
        if (transformType_ == TRANSLATIONAL)
        {
            separation_ = delta;
        }

        // Update the transform object
        transformComplete_ = true;
        update();

        // Print results of calculation
        if (debug)
        {
            Info<< "Transformation calculated between patches " << name
                << " and " << nbrName << ":" << nl << token::BEGIN_BLOCK << nl
                << incrIndent;

            cyclicTransform::write(Info);

            Info<< decrIndent << token::END_BLOCK << nl << endl;
        }
    }

    // Check the transformation is correct to within the matching tolerance
    const point nbrCtrT =
        transform_.transformPosition(nbrCtr);

    const scalar ctrNbrCtrTDistance = mag(ctr - nbrCtrT);

    if (ctrNbrCtrTDistance > lengthScale*matchTolerance)
    {
        FatalErrorInFunction
            << "The distance between the centre of patch " << name
            << " and the transformed centre of patch " << nbrName << " is "
            << ctrNbrCtrTDistance << "."
            << nl
            << "This is greater than the match tolerance of "
            << lengthScale*matchTolerance << " for the patch."
            << nl
            << "Check that the patches are geometrically similar and that any "
            << "transformations defined between them are correct"
            << nl
            << "It might be possible to fix this problem by increasing the "
            << "\"matchTolerance\" setting for this patch in the boundary "
            << exit(FatalError);
    }
}


// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //

Foam::cyclicTransform::~cyclicTransform()
{}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

void Foam::cyclicTransform::write(Ostream& os) const
{
    const label oldPrecision = os.precision();

    os.precision(16);

    if (transformType_ != UNSPECIFIED)
    {
        writeEntry(os, "transformType", transformTypeNames[transformType_]);
    }

    if (transformType_ == ROTATIONAL)
    {
        writeEntry(os, "rotationAxis", rotationAxis_);
        writeEntry(os, "rotationCentre", rotationCentre_);

        if (transformComplete_)
        {
            writeEntry(os, "rotationAngle", rotationAngle_);
        }
    }

    if (transformType_ == TRANSLATIONAL)
    {
        if (transformComplete_)
        {
            writeEntry(os, "separation", separation_);
        }
    }

    os.precision(oldPrecision);
}


// * * * * * * * * * * * * * * * Global Operators  * * * * * * * * * * * * * //

Foam::cyclicTransform Foam::operator&
(
    const transformer& t,
    const cyclicTransform& c0
)
{
    cyclicTransform c1(c0);

    if (c1.transformType_ == cyclicTransform::ROTATIONAL)
    {
        c1.rotationAxis_ = normalised(t.transform(c1.rotationAxis_));
        c1.rotationCentre_ = t.transformPosition(c1.rotationCentre_);
    }

    if (c1.transformType_ == cyclicTransform::TRANSLATIONAL)
    {
        if (c1.transformComplete_)
        {
            c1.separation_ = t.transform(c1.separation_);
        }
    }

    if (c1.transformComplete_)
    {
        c1.update();
    }

    return c1;
}


Foam::cyclicTransform Foam::inv(const cyclicTransform& c0)
{
    cyclicTransform c1(c0);

    if (c1.transformType_ == cyclicTransform::ROTATIONAL)
    {
        if (c1.transformComplete_)
        {
            c1.rotationAngle_ = - c1.rotationAngle_;
        }
    }

    if (c1.transformType_ == cyclicTransform::TRANSLATIONAL)
    {
        if (c1.transformComplete_)
        {
            c1.separation_ = - c1.separation_;
        }
    }

    if (c1.transformComplete_)
    {
        c1.update();
    }

    return c1;
}


// ************************************************************************* //
