/*
    * Licensed to the Apache Software Foundation (ASF) under one or more
    * contributor license agreements.  See the NOTICE file distributed with
    * this work for additional information regarding copyright ownership.
    * The ASF licenses this file to You under the Apache License, Version 2.0
    * (the "License"); you may not use this file except in compliance with
    * the License.  You may obtain a copy of the License at
    *
    *      https://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  /*
   * This is not the original file distributed by the Apache Software Foundation
   * It has been modified by the Hipparchus project
   */
  package org.hipparchus.geometry.euclidean.threed;
  
  import org.hipparchus.exception.LocalizedCoreFormats;
  import org.hipparchus.exception.MathRuntimeException;
  import org.hipparchus.geometry.euclidean.oned.Vector1D;
  import org.hipparchus.geometry.euclidean.twod.Euclidean2D;
  import org.hipparchus.geometry.euclidean.twod.PolygonsSet;
  import org.hipparchus.geometry.euclidean.twod.SubLine;
  import org.hipparchus.geometry.euclidean.twod.Vector2D;
  import org.hipparchus.geometry.partitioning.Embedding;
  import org.hipparchus.geometry.partitioning.Hyperplane;
  import org.hipparchus.geometry.partitioning.RegionFactory;
  import org.hipparchus.util.FastMath;
  
  /** The class represent planes in a three dimensional space.
   */
  public class Plane
      implements Hyperplane<Euclidean3D, Vector3D, Plane, SubPlane>,
                 Embedding<Euclidean3D, Vector3D,  Euclidean2D, Vector2D> {
  
      /** Offset of the origin with respect to the plane. */
      private double originOffset;
  
      /** Origin of the plane frame. */
      private Vector3D origin;
  
      /** First vector of the plane frame (in plane). */
      private Vector3D u;
  
      /** Second vector of the plane frame (in plane). */
      private Vector3D v;
  
      /** Third vector of the plane frame (plane normal). */
      private Vector3D w;
  
      /** Tolerance below which points are considered identical. */
      private final double tolerance;
  
      /** Build a plane normal to a given direction and containing the origin.
       * @param normal normal direction to the plane
       * @param tolerance tolerance below which points are considered identical
       * @exception MathRuntimeException if the normal norm is too small
       */
      public Plane(final Vector3D normal, final double tolerance)
          throws MathRuntimeException {
          setNormal(normal);
          this.tolerance = tolerance;
          originOffset = 0;
          setFrame();
      }
  
      /** Build a plane from a point and a normal.
       * @param p point belonging to the plane
       * @param normal normal direction to the plane
       * @param tolerance tolerance below which points are considered identical
       * @exception MathRuntimeException if the normal norm is too small
       */
      public Plane(final Vector3D p, final Vector3D normal, final double tolerance)
          throws MathRuntimeException {
          setNormal(normal);
          this.tolerance = tolerance;
          originOffset = -p.dotProduct(w);
          setFrame();
      }
  
      /** Build a plane from three points.
       * <p>The plane is oriented in the direction of
       * {@code (p2-p1) ^ (p3-p1)}</p>
       * @param p1 first point belonging to the plane
       * @param p2 second point belonging to the plane
       * @param p3 third point belonging to the plane
       * @param tolerance tolerance below which points are considered identical
       * @exception MathRuntimeException if the points do not constitute a plane
       */
      public Plane(final Vector3D p1, final Vector3D p2, final Vector3D p3, final double tolerance)
          throws MathRuntimeException {
          this(p1, p2.subtract(p1).crossProduct(p3.subtract(p1)), tolerance);
      }
 
     /** Copy constructor.
      * <p>The instance created is completely independent of the original
      * one. A deep copy is used, none of the underlying object are
      * shared.</p>
      * @param plane plane to copy
      */
     public Plane(final Plane plane) {
         originOffset = plane.originOffset;
         origin       = plane.origin;
         u            = plane.u;
         v            = plane.v;
         w            = plane.w;
         tolerance    = plane.tolerance;
     }
 
     /** Copy the instance.
      * <p>The instance created is completely independant of the original
      * one. A deep copy is used, none of the underlying objects are
      * shared (except for immutable objects).</p>
      * @return a new hyperplane, copy of the instance
      */
     @Override
     public Plane copySelf() {
         return new Plane(this);
     }
 
     /** Reset the instance as if built from a point and a normal.
      * @param p point belonging to the plane
      * @param normal normal direction to the plane
      * @exception MathRuntimeException if the normal norm is too small
      */
     public void reset(final Vector3D p, final Vector3D normal) throws MathRuntimeException {
         setNormal(normal);
         originOffset = -p.dotProduct(w);
         setFrame();
     }
 
     /** Reset the instance from another one.
      * <p>The updated instance is completely independant of the original
      * one. A deep reset is used none of the underlying object is
      * shared.</p>
      * @param original plane to reset from
      */
     public void reset(final Plane original) {
         originOffset = original.originOffset;
         origin       = original.origin;
         u            = original.u;
         v            = original.v;
         w            = original.w;
     }
 
     /** Set the normal vactor.
      * @param normal normal direction to the plane (will be copied)
      * @exception MathRuntimeException if the normal norm is too small
      */
     private void setNormal(final Vector3D normal) throws MathRuntimeException {
         final double norm = normal.getNorm();
         if (norm < 1.0e-10) {
             throw new MathRuntimeException(LocalizedCoreFormats.ZERO_NORM);
         }
         w = new Vector3D(1.0 / norm, normal);
     }
 
     /** Reset the plane frame.
      */
     private void setFrame() {
         origin = new Vector3D(-originOffset, w);
         u = w.orthogonal();
         v = Vector3D.crossProduct(w, u);
     }
 
     /** Get the origin point of the plane frame.
      * <p>The point returned is the orthogonal projection of the
      * 3D-space origin in the plane.</p>
      * @return the origin point of the plane frame (point closest to the
      * 3D-space origin)
      */
     public Vector3D getOrigin() {
         return origin;
     }
 
     /** Get the normalized normal vector.
      * <p>The frame defined by ({@link #getU() getU()}, {@link #getV() getV()},
      * {@code getNormal()}) is a right-handed orthonormalized
      * frame).</p>
      * @return normalized normal vector
      * @see #getU
      * @see #getV
      */
     public Vector3D getNormal() {
         return w;
     }
 
     /** Get the plane first canonical vector.
      * <p>The frame defined by ({@code getU()}, {@link #getV() getV()},
      * {@link #getNormal() getNormal()}) is a right-handed orthonormalized
      * frame).</p>
      * @return normalized first canonical vector
      * @see #getV
      * @see #getNormal
      */
     public Vector3D getU() {
         return u;
     }
 
     /** Get the plane second canonical vector.
      * <p>The frame defined by ({@link #getU() getU()}, {@code getV()},
      * {@link #getNormal() getNormal()}) is a right-handed orthonormalized
      * frame).</p>
      * @return normalized second canonical vector
      * @see #getU
      * @see #getNormal
      */
     public Vector3D getV() {
         return v;
     }
 
     /** {@inheritDoc}
      */
     @Override
     public Vector3D project(Vector3D point) {
         return toSpace(toSubSpace(point));
     }
 
     /** {@inheritDoc}
      */
     @Override
     public double getTolerance() {
         return tolerance;
     }
 
     /** Revert the plane.
      * <p>Replace the instance by a similar plane with opposite orientation.</p>
      * <p>The new plane frame is chosen in such a way that a 3D point that had
      * {@code (x, y)} in-plane coordinates and {@code z} offset with
      * respect to the plane and is unaffected by the change will have
      * {@code (y, x)} in-plane coordinates and {@code -z} offset with
      * respect to the new plane. This means that the {@code u} and {@code v}
      * vectors returned by the {@link #getU} and {@link #getV} methods are exchanged,
      * and the {@code w} vector returned by the {@link #getNormal} method is
      * reversed.</p>
      */
     public void revertSelf() {
         final Vector3D tmp = u;
         u = v;
         v = tmp;
         w = w.negate();
         originOffset = -originOffset;
     }
 
     /** Transform a 3D space point into an in-plane point.
      * @param point point of the space (must be a {@link Vector3D
      * Vector3D} instance)
      * @return in-plane point (really a {@link
      * org.hipparchus.geometry.euclidean.twod.Vector2D Vector2D} instance)
      * @see #toSpace
      */
     @Override
     public Vector2D toSubSpace(final Vector3D point) {
         return new Vector2D(point.dotProduct(u), point.dotProduct(v));
     }
 
     /** Transform an in-plane point into a 3D space point.
      * @param point in-plane point (must be a {@link
      * org.hipparchus.geometry.euclidean.twod.Vector2D Vector2D} instance)
      * @return 3D space point (really a {@link Vector3D Vector3D} instance)
      * @see #toSubSpace
      */
     @Override
     public Vector3D toSpace(final Vector2D point) {
         return new Vector3D(point.getX(), u, point.getY(), v, -originOffset, w);
     }
 
     /** Get one point from the 3D-space.
      * @param inPlane desired in-plane coordinates for the point in the
      * plane
      * @param offset desired offset for the point
      * @return one point in the 3D-space, with given coordinates and offset
      * relative to the plane
      */
     public Vector3D getPointAt(final Vector2D inPlane, final double offset) {
         return new Vector3D(inPlane.getX(), u, inPlane.getY(), v, offset - originOffset, w);
     }
 
     /** Check if the instance is similar to another plane.
      * <p>Planes are considered similar if they contain the same
      * points. This does not mean they are equal since they can have
      * opposite normals.</p>
      * @param plane plane to which the instance is compared
      * @return true if the planes are similar
      */
     public boolean isSimilarTo(final Plane plane) {
         final double angle = Vector3D.angle(w, plane.w);
         return ((angle < 1.0e-10) && (FastMath.abs(originOffset - plane.originOffset) < tolerance)) ||
                ((angle > (FastMath.PI - 1.0e-10)) && (FastMath.abs(originOffset + plane.originOffset) < tolerance));
     }
 
     /** Rotate the plane around the specified point.
      * <p>The instance is not modified, a new instance is created.</p>
      * @param center rotation center
      * @param rotation vectorial rotation operator
      * @return a new plane
      */
     public Plane rotate(final Vector3D center, final Rotation rotation) {
 
         final Vector3D delta = origin.subtract(center);
         final Plane plane = new Plane(center.add(rotation.applyTo(delta)),
                                       rotation.applyTo(w), tolerance);
 
         // make sure the frame is transformed as desired
         plane.u = rotation.applyTo(u);
         plane.v = rotation.applyTo(v);
 
         return plane;
 
     }
 
     /** Translate the plane by the specified amount.
      * <p>The instance is not modified, a new instance is created.</p>
      * @param translation translation to apply
      * @return a new plane
      */
     public Plane translate(final Vector3D translation) {
 
         final Plane plane = new Plane(origin.add(translation), w, tolerance);
 
         // make sure the frame is transformed as desired
         plane.u = u;
         plane.v = v;
 
         return plane;
 
     }
 
     /** Get the intersection of a line with the instance.
      * @param line line intersecting the instance
      * @return intersection point between between the line and the
      * instance (null if the line is parallel to the instance)
      */
     public Vector3D intersection(final Line line) {
         final Vector3D direction = line.getDirection();
         final double   dot       = w.dotProduct(direction);
         if (FastMath.abs(dot) < 1.0e-10) {
             return null;
         }
         final Vector3D point = line.toSpace(Vector1D.ZERO);
         final double   k     = -(originOffset + w.dotProduct(point)) / dot;
         return new Vector3D(1.0, point, k, direction);
     }
 
     /** Build the line shared by the instance and another plane.
      * @param other other plane
      * @return line at the intersection of the instance and the
      * other plane (really a {@link Line Line} instance)
      */
     public Line intersection(final Plane other) {
         final Vector3D direction = Vector3D.crossProduct(w, other.w);
         if (direction.getNorm() < tolerance) {
             return null;
         }
         final Vector3D point = intersection(this, other, new Plane(direction, tolerance));
         return new Line(point, point.add(direction), tolerance);
     }
 
     /** Get the intersection point of three planes.
      * @param plane1 first plane1
      * @param plane2 second plane2
      * @param plane3 third plane2
      * @return intersection point of three planes, null if some planes are parallel
      */
     public static Vector3D intersection(final Plane plane1, final Plane plane2, final Plane plane3) {
 
         // coefficients of the three planes linear equations
         final double a1 = plane1.w.getX();
         final double b1 = plane1.w.getY();
         final double c1 = plane1.w.getZ();
         final double d1 = plane1.originOffset;
 
         final double a2 = plane2.w.getX();
         final double b2 = plane2.w.getY();
         final double c2 = plane2.w.getZ();
         final double d2 = plane2.originOffset;
 
         final double a3 = plane3.w.getX();
         final double b3 = plane3.w.getY();
         final double c3 = plane3.w.getZ();
         final double d3 = plane3.originOffset;
 
         // direct Cramer resolution of the linear system
         // (this is still feasible for a 3x3 system)
         final double a23         = b2 * c3 - b3 * c2;
         final double b23         = c2 * a3 - c3 * a2;
         final double c23         = a2 * b3 - a3 * b2;
         final double determinant = a1 * a23 + b1 * b23 + c1 * c23;
         if (FastMath.abs(determinant) < 1.0e-10) {
             return null;
         }
 
         final double r = 1.0 / determinant;
         return new Vector3D(
                             (-a23 * d1 - (c1 * b3 - c3 * b1) * d2 - (c2 * b1 - c1 * b2) * d3) * r,
                             (-b23 * d1 - (c3 * a1 - c1 * a3) * d2 - (c1 * a2 - c2 * a1) * d3) * r,
                             (-c23 * d1 - (b1 * a3 - b3 * a1) * d2 - (b2 * a1 - b1 * a2) * d3) * r);
 
     }
 
     /** Build a region covering the whole hyperplane.
      * @return a region covering the whole hyperplane
      */
     @Override
     public SubPlane wholeHyperplane() {
         return new SubPlane(this, new PolygonsSet(tolerance));
     }
 
     /** {@inheritDoc} */
     @Override
     public SubPlane emptyHyperplane() {
         final RegionFactory<Euclidean2D, Vector2D, org.hipparchus.geometry.euclidean.twod.Line, SubLine> factory = new RegionFactory<>();
         return new SubPlane(this, factory.getComplement(new PolygonsSet(tolerance)));
     }
 
     /** Build a region covering the whole space.
      * @return a region containing the instance (really a {@link
      * PolyhedronsSet PolyhedronsSet} instance)
      */
     @Override
     public PolyhedronsSet wholeSpace() {
         return new PolyhedronsSet(tolerance);
     }
 
     /** Check if the instance contains a point.
      * @param p point to check
      * @return true if p belongs to the plane
      */
     public boolean contains(final Vector3D p) {
         return FastMath.abs(getOffset(p)) < tolerance;
     }
 
     /** Get the offset (oriented distance) of a parallel plane.
      * <p>This method should be called only for parallel planes otherwise
      * the result is not meaningful.</p>
      * <p>The offset is 0 if both planes are the same, it is
      * positive if the plane is on the plus side of the instance and
      * negative if it is on the minus side, according to its natural
      * orientation.</p>
      * @param plane plane to check
      * @return offset of the plane
      */
     public double getOffset(final Plane plane) {
         return originOffset + (sameOrientationAs(plane) ? -plane.originOffset : plane.originOffset);
     }
 
     /** Get the offset (oriented distance) of a point.
      * <p>The offset is 0 if the point is on the underlying hyperplane,
      * it is positive if the point is on one particular side of the
      * hyperplane, and it is negative if the point is on the other side,
      * according to the hyperplane natural orientation.</p>
      * @param point point to check
      * @return offset of the point
      */
     @Override
     public double getOffset(final Vector3D point) {
         return point.dotProduct(w) + originOffset;
     }
 
     /** {@inheritDoc} */
     @Override
     public Vector3D moveToOffset(final Vector3D point, final double offset) {
         final double delta = offset - getOffset(point);
         return new Vector3D(point.getX() + delta * w.getX(),
                             point.getY() + delta * w.getY(),
                             point.getZ() + delta * w.getZ());
     }
 
     /** {@inheritDoc} */
     @Override
     public Vector3D arbitraryPoint() {
         return origin;
     }
 
     /** Check if the instance has the same orientation as another hyperplane.
      * @param other other hyperplane to check against the instance
      * @return true if the instance and the other hyperplane have
      * the same orientation
      */
     @Override
     public boolean sameOrientationAs(final Plane other) {
         return other.w.dotProduct(w) > 0.0;
     }
 
 }