// Copyright (c) 2005  INRIA (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org).
// 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.
//
// Licensees holding a valid commercial license may use this file in
// accordance with the commercial license agreement provided with the software.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
//
// $URL$
// $Id$
// SPDX-License-Identifier: GPL-3.0+
//
// Author(s)     : Laurent Saboret, Pierre Alliez, Bruno Levy

#ifndef CGAL_SURFACE_MESH_PARAMETERIZATION_LSCM_PARAMETERIZER_3_H
#define CGAL_SURFACE_MESH_PARAMETERIZATION_LSCM_PARAMETERIZER_3_H

#include <CGAL/license/Surface_mesh_parameterization.h>

#include <CGAL/disable_warnings.h>

#include <CGAL/Surface_mesh_parameterization/internal/Containers_filler.h>
#include <CGAL/Surface_mesh_parameterization/internal/kernel_traits.h>
#include <CGAL/Surface_mesh_parameterization/internal/validity.h>

#include <CGAL/Surface_mesh_parameterization/Two_vertices_parameterizer_3.h>
#include <CGAL/Polygon_mesh_processing/connected_components.h>

#include <CGAL/circulator.h>
#include <CGAL/Default.h>

#ifdef CGAL_EIGEN3_ENABLED
#include <CGAL/Eigen_solver_traits.h>
#endif
#include <CGAL/OpenNL/linear_solver.h>

#include <boost/foreach.hpp>
#include <boost/function_output_iterator.hpp>
#include <boost/unordered_set.hpp>

#include <vector>

/// \file LSCM_parameterizer_3.h

namespace CGAL {

namespace Surface_mesh_parameterization {

// ------------------------------------------------------------------------------------
// Declaration
// ------------------------------------------------------------------------------------

/// \ingroup  PkgSurfaceMeshParameterizationMethods
///
/// The class `LSCM_parameterizer_3` implements the
/// *Least Squares Conformal Maps (LSCM)* parameterization \cgalCite{cgal:lprm-lscm-02}.
///
/// This is a conformal parameterization, i.e. it attempts to preserve angles.
///
/// This is a free border parameterization. There is no need to map the border
/// of the surface onto a convex polygon (only two pinned vertices are needed
/// to ensure a unique solution), but a one-to-one mapping is *not* guaranteed.
///
/// \cgalModels `Parameterizer_3`
///
/// \tparam TriangleMesh_ must be a model of `FaceGraph`.
///
/// \tparam BorderParameterizer_ is a Strategy to parameterize the surface border
///         and must be a model of `Parameterizer_3`.<br>
///         <b>%Default:</b>
/// \code
///   Two_vertices_parameterizer_3<TriangleMesh_>
/// \endcode
///
/// \tparam SolverTraits_ must be a model of `SparseLinearAlgebraTraits_d`.<br>
///         Note: We may use a symmetric definite positive solver because LSCM
///         solves the system in the least squares sense.<br>
///         <b>%Default:</b> If \ref thirdpartyEigen "Eigen" 3.1 (or greater) is available
///         and `CGAL_EIGEN3_ENABLED` is defined, then an overload of `Eigen_solver_traits`
///         is provided as default parameter:
/// \code
///   CGAL::Eigen_solver_traits<Eigen::BICGSTAB< Eigen::SparseMatrix<double> > >
/// \endcode
///         Otherwise, it uses CGAL's wrapping function to the OpenNL library:
/// \code
///   OpenNL::SymmetricLinearSolverTraits<typename TriangleMesh::NT>
/// \endcode
///
/// \sa `CGAL::Surface_mesh_parameterization::Two_vertices_parameterizer_3<TriangleMesh, BorderParameterizer, SolverTraits>`
///
template < class TriangleMesh_,
           class BorderParameterizer_ = Default,
           class SolverTraits_ = Default>
class LSCM_parameterizer_3
{
public:
#ifndef DOXYGEN_RUNNING
  typedef typename Default::Get<
    BorderParameterizer_,
    Two_vertices_parameterizer_3<TriangleMesh_> >::type  Border_parameterizer;

  typedef typename Default::Get<
    SolverTraits_,
  #if defined(CGAL_EIGEN3_ENABLED)
    // WARNING: at the moment, the choice of SolverTraits_ is completely
    // ignored (see LeastSquaresSolver typedef) and `OpenNL::LinearSolver<SolverTraits_>`
    // is used anyway. If Eigen solver traits were to be used again, there is a bug
    // in the line below to be first fixed:
    // `Eigen_sparse_symmetric_matrix<double>::EigenType` is a NON SYMMETRIC
    // Eigen sparse matrix, and thus SolverTraits_::Matrix will be a NON SYMMETRIC matrix
    // and the whole symmetry aspect will be completely ignored.
    // @fixme
    CGAL::Eigen_solver_traits<
            Eigen::SimplicialLDLT<Eigen_sparse_symmetric_matrix<double>::EigenType> >
  #else
    OpenNL::SymmetricLinearSolverTraits<typename TriangleMesh::NT>
  #endif
  >::type                                                     Solver_traits;
#else
  typedef Border_parameterizer_                               Border_parameterizer;
  typedef SolverTraits_                                       Solver_traits;
#endif

  typedef TriangleMesh_                                       TriangleMesh;

// Private types
private:
  typedef typename boost::graph_traits<TriangleMesh>::vertex_descriptor   vertex_descriptor;
  typedef typename boost::graph_traits<TriangleMesh>::halfedge_descriptor halfedge_descriptor;
  typedef typename boost::graph_traits<TriangleMesh>::face_descriptor     face_descriptor;

  typedef typename boost::graph_traits<TriangleMesh>::vertex_iterator     vertex_iterator;
  typedef typename boost::graph_traits<TriangleMesh>::face_iterator       face_iterator;

  // Traits subtypes:
  typedef typename internal::Kernel_traits<TriangleMesh>::PPM       PPM;
  typedef typename internal::Kernel_traits<TriangleMesh>::Kernel    Kernel;
  typedef typename Kernel::FT                                       NT;
  typedef typename Kernel::Point_2                                  Point_2;
  typedef typename Kernel::Point_3                                  Point_3;
  typedef typename Kernel::Vector_2                                 Vector_2;
  typedef typename Kernel::Vector_3                                 Vector_3;

  // Solver traits subtypes:
  typedef typename Solver_traits::Vector                            Vector;
  typedef typename Solver_traits::Matrix                            Matrix;

  typedef typename OpenNL::LinearSolver<Solver_traits>              LeastSquaresSolver;

// Public operations
public:
  /// Constructor
  LSCM_parameterizer_3(Border_parameterizer border_param = Border_parameterizer(),
                       ///< %Object that maps the surface's border to 2D space
                       Solver_traits sparse_la = Solver_traits())
                       ///< Traits object to access a sparse linear system
    : m_borderParameterizer(border_param), m_linearAlgebra(sparse_la)
  { }

  // Default copy constructor and operator =() are fine

  /// Check if the 3D -> 2D mapping is one-to-one.
  template <typename VertexUVMap>
  bool is_one_to_one_mapping(const TriangleMesh& mesh,
                             halfedge_descriptor bhd,
                             const VertexUVMap uvmap) const
  {
    return internal::is_one_to_one_mapping(mesh, bhd, uvmap);
  }

  /// Compute a one-to-one mapping from a triangular 3D surface mesh
  /// to a piece of the 2D space.
  /// The mapping is piecewise linear (linear in each triangle).
  /// The result is the (u,v) pair image of each vertex of the 3D surface.
  ///
  /// \tparam VertexUVmap must be a model of `ReadWritePropertyMap` with
  ///         `boost::graph_traits<TriangleMesh>::%vertex_descriptor` as key type and
  ///         %Point_2 (type deduced from `TriangleMesh` using `Kernel_traits`)
  ///         as value type.
  /// \tparam VertexIndexMap must be a model of `ReadablePropertyMap` with
  ///         `boost::graph_traits<TriangleMesh>::%vertex_descriptor` as key type and
  ///         a unique integer as value type.
  /// \tparam VertexParameterizedMap must be a model of `ReadWritePropertyMap` with
  ///         `boost::graph_traits<TriangleMesh>::%vertex_descriptor` as key type and
  ///         a Boolean as value type.
  ///
  /// \param mesh a triangulated surface.
  /// \param bhd a halfedge descriptor on the boundary of `mesh`.
  /// \param uvmap an instanciation of the class `VertexUVmap`.
  /// \param vimap an instanciation of the class `VertexIndexMap`.
  /// \param vpmap an instanciation of the class `VertexParameterizedMap`.
  ///
  /// \pre `mesh` must be a triangular mesh.
  /// \pre The vertices must be indexed (`vimap` must be initialized).
  ///
  template <typename VertexUVmap, typename VertexIndexMap, typename VertexParameterizedMap>
  Error_code parameterize(TriangleMesh& mesh,
                          halfedge_descriptor bhd,
                          VertexUVmap uvmap,
                          VertexIndexMap vimap,
                          VertexParameterizedMap vpmap)
  {
    // Fill containers
    boost::unordered_set<vertex_descriptor> ccvertices;
    std::vector<face_descriptor> ccfaces;

    internal::Containers_filler<TriangleMesh> fc(mesh, ccvertices, &ccfaces);
    Polygon_mesh_processing::connected_component(
                                      face(opposite(bhd, mesh), mesh),
                                      mesh,
                                      boost::make_function_output_iterator(fc));

    // Count vertices
    int nbVertices = static_cast<int>(ccvertices.size());

    if (ccvertices.empty() || ccfaces.empty())
      return ERROR_EMPTY_MESH;

    // Compute (u,v) for (at least two) border vertices
    // and mark them as "parameterized"
    Error_code status =
        get_border_parameterizer().parameterize(mesh, bhd, uvmap, vimap, vpmap);

    if(status != OK)
      return status;

    // Create sparse linear system "A*X = B" of size 2*nbVertices x 2*nbVertices
    // (in fact, we need only 2 lines per triangle x 1 column per vertex)
    LeastSquaresSolver solver(2 * nbVertices);
    solver.set_least_squares(true) ;

    // Initialize the "A*X = B" linear system after
    // (at least two) border vertices parameterization
    initialize_system_from_mesh_border(solver, ccvertices, uvmap, vimap, vpmap);

    // Fill the matrix for the other vertices
    solver.begin_system();

    BOOST_FOREACH(face_descriptor fd, ccfaces) {
      // Create two lines in the linear system per triangle (one for u, one for v)
      status = setup_triangle_relations(solver, mesh, fd, vimap);
      if (status != OK)
        return status;
    }

    solver.end_system();

    // Solve the "A*X = B" linear system in the least squares sense
    if(!solver.solve())
      status = ERROR_CANNOT_SOLVE_LINEAR_SYSTEM;

    if(status != OK)
      return status;

    // Copy X coordinates into the (u,v) pair of each vertex
    //set_mesh_uv_from_system(mesh, solver, uvmap);

    BOOST_FOREACH(vertex_descriptor vd, ccvertices) {
      int index = get(vimap,vd);
      NT u = solver.variable(2 * index).value();
      NT v = solver.variable(2 * index + 1).value();
      put(uvmap, vd, Point_2(u,v));
    }
    return status;
  }

// Private operations
private:
  // Initialize "A*X = B" linear system after
  // (at least two) border vertices are parameterized.
  //
  // \pre Vertices must be indexed.
  // \pre X and B must be allocated and empty.
  // \pre At least 2 border vertices must be parameterized.
  template <typename UVmap, typename VertexIndexMap, typename VertexParameterizedMap>
  void initialize_system_from_mesh_border(LeastSquaresSolver& solver,
                                          const boost::unordered_set<vertex_descriptor>& ccvertices,
                                          UVmap uvmap,
                                          VertexIndexMap vimap,
                                          VertexParameterizedMap vpmap) const
  {
    BOOST_FOREACH(vertex_descriptor v, ccvertices) {
      // Get vertex index in sparse linear system
      int index = get(vimap, v);

      // Get vertex (u,v) (meaningless if vertex is not parameterized)
      const Point_2& uv = get(uvmap, v);
      // TODO: it is meaningless but must it be called for non-border vertices??
      // Write (u,v) in X (meaningless if vertex is not parameterized)
      // Note  : 2*index     --> u
      //         2*index + 1 --> v
      solver.variable(2 * index    ).set_value(uv.x());
      solver.variable(2 * index + 1).set_value(uv.y());

      // Copy (u,v) in B if vertex is parameterized
      if (get(vpmap,v)) {
        solver.variable(2 * index    ).lock();
        solver.variable(2 * index + 1).lock();
      }
    }
  }

  // Utility for setup_triangle_relations():
  // Computes the coordinates of the vertices of a triangle
  // in a local 2D orthonormal basis of the triangle's plane.
  void project_triangle(const Point_3& p0, const Point_3& p1, const Point_3& p2, // in
                        Point_2& z0, Point_2& z1, Point_2& z2) const             // out
  {
    Vector_3 X = p1 - p0;
    NT X_norm = std::sqrt(X * X);
    if(X_norm != 0.0)
    X = X / X_norm;

    Vector_3 Z = CGAL::cross_product(X, p2 - p0);
    NT Z_norm = std::sqrt(Z * Z);
    if(Z_norm != 0.0)
    Z = Z / Z_norm;

    Vector_3 Y = CGAL::cross_product(Z, X);

    const Point_3& O = p0;

    NT x0 = 0;
    NT y0 = 0;
    NT x1 = std::sqrt( (p1 - O)*(p1 - O) );
    NT y1 = 0;
    NT x2 = (p2 - O) * X;
    NT y2 = (p2 - O) * Y;

    z0 = Point_2(x0, y0);
    z1 = Point_2(x1, y1);
    z2 = Point_2(x2, y2);
  }

  // Create two lines in the linear system per triangle (one for u, one for v).
  //
  // \pre vertices of `mesh` must be indexed.
  //
  // Implementation note: LSCM equation is:
  //       (Z1 - Z0)(U2 - U0) = (Z2 - Z0)(U1 - U0)
  // where Uk = uk + i.v_k is the complex number corresponding to (u,v) coords
  //       Zk = xk + i.yk is the complex number corresponding to local (x,y) coords
  // cool: no divide with this expression; makes it more numerically stable
  // in presence of degenerate triangles
  template <typename VertexIndexMap >
  Error_code setup_triangle_relations(LeastSquaresSolver& solver,
                                      const TriangleMesh& mesh,
                                      face_descriptor facet,
                                      VertexIndexMap vimap) const
  {
    const PPM ppmap = get(vertex_point, mesh);

    // Get the 3 vertices of the triangle
    vertex_descriptor v0, v1, v2;
    halfedge_descriptor h0 = halfedge(facet, mesh);
    v0 = target(h0, mesh);
    halfedge_descriptor h1 = next(h0, mesh);
    v1 = target(h1, mesh);
    halfedge_descriptor h2 = next(h1, mesh);
    v2 = target(h2, mesh);

    // Get the vertices index
    int id0 = get(vimap, v0);
    int id1 = get(vimap, v1);
    int id2 = get(vimap, v2);

    // Get the vertices position
    const Point_3& p0 = get(ppmap, v0);
    const Point_3& p1 = get(ppmap, v1);
    const Point_3& p2 = get(ppmap, v2);

    // Computes the coordinates of the vertices of a triangle
    // in a local 2D orthonormal basis of the triangle's plane.
    Point_2 z0, z1, z2;
    project_triangle(p0, p1, p2, //in
                     z0, z1, z2); // out
    Vector_2 z01 = z1 - z0;
    Vector_2 z02 = z2 - z0;
    NT a = z01.x();
    NT b = z01.y();
    NT c = z02.x();
    NT d = z02.y();
    CGAL_assertion(b == 0.0);

    // Create two lines in the linear system per triangle (one for u, one for v)
    // LSCM equation is:
    //       (Z1 - Z0)(U2 - U0) = (Z2 - Z0)(U1 - U0)
    // where Uk = uk + i.v_k is the complex number corresponding to (u,v) coords
    //       Zk = xk + i.yk is the complex number corresponding to local (x,y) coords
    //
    // Note  : 2*index     --> u
    //         2*index + 1 --> v
    int u0_id = 2*id0    ;
    int v0_id = 2*id0 + 1;
    int u1_id = 2*id1    ;
    int v1_id = 2*id1 + 1;
    int u2_id = 2*id2    ;
    int v2_id = 2*id2 + 1;

    // Real part
    // Note: b = 0
    solver.begin_row();
    solver.add_coefficient(u0_id, -a+c);
    solver.add_coefficient(v0_id,  b-d);
    solver.add_coefficient(u1_id,   -c);
    solver.add_coefficient(v1_id,    d);
    solver.add_coefficient(u2_id,    a);
    solver.end_row();
    //
    // Imaginary part
    // Note: b = 0
    solver.begin_row();
    solver.add_coefficient(u0_id, -b+d);
    solver.add_coefficient(v0_id, -a+c);
    solver.add_coefficient(u1_id,   -d);
    solver.add_coefficient(v1_id,   -c);
    solver.add_coefficient(v2_id,    a);
    solver.end_row();

    return OK;
  }

// Private accessors
private:
  // Get the object that maps the surface's border onto a 2D space.
  Border_parameterizer& get_border_parameterizer() { return m_borderParameterizer; }

  // Get the sparse linear algebra (traits object to access the linear system).
  Solver_traits& get_linear_algebra_traits() { return m_linearAlgebra; }

// Fields
private:
  // %Object that maps (at least two) border vertices onto a 2D space
  Border_parameterizer m_borderParameterizer;

  // Traits object to solve a sparse linear system
  Solver_traits m_linearAlgebra;
};

} // namespace Surface_mesh_parameterization

} // namespace CGAL

#include <CGAL/enable_warnings.h>

#endif // CGAL_SURFACE_MESH_PARAMETERIZATION_LSCM_PARAMETERIZER_3_H
