#include <iostream></iostream>

#include "generatorradial.h"

void GeneratorRadialXYZ::tool_point(Track &track, const TrackPoint &p) const {

    if (!track.points.empty()) {

        TrackPoint &last = track.points.back();

        if ( (last.position - p.position).len() <= precision

          && fabs(last.angle - p.angle) <= precision )

        {

            last.speed = p.speed;

            return;

        }

    }

    track.points.push_back(p);

}

void GeneratorRadialXYZ::tool_up(Track &track, Real safe_z) const {

    if (track.points.empty()) return;

    const TrackPoint &prev = track.points.back();

    if (prev.position.z == safe_z) return;

    TrackPoint p;

    p.position = prev.position;

    p.position.z = safe_z;

    p.speed = move_speed/60.0;

    tool_point(track, p);

}

void GeneratorRadialXYZ::tool_feed(Track &track, Real safe_z, Real z1, Real z, Real x, Real y) const {

    TrackPoint p;

    p.position = Vector3(x, y, safe_z);

    if (track.points.empty() || track.points.back().position.z == safe_z) {

        p.speed = move_speed/60.0;

        tool_point(track, p);

        if (safe_z > z1 && z1 > z) {

            p.position.z = z1;

            tool_point(track, p);

        }

    }

    p.position.z = z;

    p.speed = feed_speed/60.0;

    tool_point(track, p);

}

void GeneratorRadialXYZ::touch(

    const Collider &collider,

    Track &track,

    Real safe_z, Real z1, Real z0,

    Real x, Real y,

    bool skip_z0 ) const

{

    Vector3 dir(0, 0, -1);

    Vector3 pos(x, y, 0);

    Real z = collider.distance_to_model(pos, dir);

    if (std::isinf(z))

        z = -z0;

    z = std::max(-z, z0);

    if (z > z1 || (skip_z0 && z == z0))

        tool_up(track, safe_z);

    else

        tool_feed(track, safe_z, z1, z, x, y);

}

bool GeneratorRadialXYZ::generate(const Collider &collider, Track &track) const {

    track.points.clear();

    const Real precision = 1e-3;

    if (collider.model.triangles.empty()) return false;

    if (step_z != 0 && step_z <= precision) return false;

    if (step_a <= precision) return false;

    if (step_r <= precision) return false;

    if (feed_speed <= precision) return false;

    if (move_speed <= precision) return false;

    std::cout << "GeneratorRadialXYZ::generate" << std::endl;

    unsigned long long max_count = 100ull*1024*1024/sizeof(track.points.front());

    Real min_r = this->min_r;

    Real max_r = this->max_r;

    Real min_z = this->min_z;

    Real max_z = this->max_z;

    Real safe_z = this->safe_z;

    const TriangleList &triangles = collider.model.triangles;

    // calc bounds

    Real br1 = 0, bz0 = INFINITY, bz1 = -INFINITY;

    for(TriangleList::const_iterator i = triangles.begin(); i != triangles.end(); ++i) {

        for(int j = 0; j < 3; ++j) {

            const Vector3 &v = i->vertices[j];

            const Real r = sqrt(v.x*v.x + v.y*v.y);

            br1 = std::max(br1, r);

            bz0 = std::min(bz0, v.z);

            bz1 = std::max(bz1, v.z);

        }

    }

    if (br1 < step_a || bz1 + precision <= bz0) {

        std::cout << "GeneratorRadialXYZ::generate: zero model size" << std::endl;

        return false;

    }

    br1 += collider.tool.get_radius() + 0.5*step_r;

    if (max_r <= min_r) { min_r = 0; max_r = br1; }

    if (max_z <= min_z) { min_z = bz0; max_z = bz1; }

    max_z = std::max(max_z, bz1);

    if (max_r - precision <= min_r || max_z - precision <= min_z) {

        std::cout << "GeneratorRadialXYZ::generate: zero bounds" << std::endl;

        return false;

    }

    min_r = std::max(min_r - collider.tool.get_radius(), step_a*0.5);

    safe_z = std::max(safe_z, max_z + 1);

    int count_z = step_z ? std::max(1, (int)ceil((max_z - min_z)/step_z - precision)) : 1;

    int count_rl = full_radius ? 1 : std::max(1, (int)ceil(log2(max_r/min_r) - precision) + 1);

    Real kr = pow(max_r/min_r, -1/Real(count_rl));

    Real z1 = max_z + precision;

    int forward_rl = true;

    for(int iz = 0; iz < count_z; ++iz) {

        Real z0 = iz == count_z-1 ? min_z : max_z - (iz+1)*(max_z - min_z)/count_z;

        for(int irl = 0; irl < count_rl; ++irl) {

            int iirl = forward_rl ? irl : count_rl - irl - 1;

            Real r1 = max_r*pow(kr, Real(iirl));

            Real r0 = r1*kr;

            int count_a = std::max(3, (int)ceil(2*M_PI/step_a*r1 - precision));

            if (count_a%2 == 0) ++count_a;

            double sa = 2*M_PI/count_a;

            int count_aa0 = std::max(1, (int)ceil(sa*r0/step_r - precision));

            int count_aa1 = std::max(1, (int)ceil(sa*r1/step_r - precision));

            int count_r = std::max(1, (int)ceil((r1-r0)/step_r - precision));

            int forward_r = !forward_rl;

            for(int ia = 0; ia < count_a; ++ia) {

                Real a = ia*sa;

                if (ia > 0) {

                    int count_aa = forward_r ? count_aa0 : count_aa1;

                    Real r = forward_r ? r0 : r1;

                    for(int iaa = 1; iaa < count_aa; ++iaa) {

                        Real aa = a - (sa - sa*iaa/count_a);

                        Real x = cos(aa)*r;

                        Real y = sin(aa)*r;

                        touch(collider, track, safe_z, z1, z0, x, y, skip_middle_layers);

                        if (track.points.size() >= max_count) break;

                    }

                }

                Real c = cos(a);

                Real s = sin(a);

                for(int ir = 0; ir < count_r; ++ir) {

                    int iir = forward_r ? ir : count_r - ir - 1;

                    Real r = r0 + iir*(r1 - r0)/(count_r - 1);

                    touch(collider, track, safe_z, z1, z0, c*r, s*r, skip_middle_layers);

                    if (track.points.size() >= max_count) break;

                }

                if (track.points.size() >= max_count) break;

                forward_r = !forward_r;

            }

            assert(forward_r == forward_rl);

            if (track.points.size() >= max_count) break;

            std::cout << "." << std::flush;

            r1 = r0;

        }

        if (track.points.size() >= max_count) break;

        std::cout << std::endl << std::flush;

        forward_rl = !forward_rl;

        z1 = z0;

    }

    tool_up(track, safe_z);

    if (track.points.size() >= max_count) {

        std::cout << "GeneratorRadialXYZ::generate: reached memory limit" << std::endl;

        return false;

    }

    if (track.points.size() <= 1) {

        std::cout << "GeneratorRadialXYZ::generate: generated track is empty" << std::endl;

        return false;

    }

    track.calc_length();

    track.split(0, 0.1, 0);

    std::cout << "GeneratorRadialXYZ::generate: track duration " << (track.points.back().time/60) << std::endl;

    std::cout << "GeneratorRadialXYZ::generate: done" << std::endl;

    return true;

}