/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  Licensed 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.txt
 *
 *  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.
 *
 *=========================================================================*/
#ifndef itkVersorTransform_hxx
#define itkVersorTransform_hxx

#include "itkMath.h"

namespace itk
{

template <typename TParametersValueType>
VersorTransform<TParametersValueType>::VersorTransform()
  : Superclass(ParametersDimension)
{
  m_Versor.SetIdentity();
}

template <typename TParametersValueType>
VersorTransform<TParametersValueType>::VersorTransform(unsigned int parametersDimension)
  : Superclass(parametersDimension)
{
  m_Versor.SetIdentity();
}

#if !defined(ITK_LEGACY_REMOVE)
template <typename TParametersValueType>
VersorTransform<TParametersValueType>::VersorTransform(const MatrixType & matrix, const OutputVectorType & offset)
  : Superclass(matrix, offset)
{
  this->ComputeMatrixParameters(); // called in MatrixOffset baseclass
}
#endif

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::SetParameters(const ParametersType & parameters)
{
  itkDebugMacro("Setting parameters " << parameters);

  // Save parameters. Needed for proper operation of TransformUpdateParameters.
  if (&parameters != &(this->m_Parameters))
  {
    this->m_Parameters = parameters;
  }

  // Transfer the versor part
  AxisType rightPart;

  rightPart[0] = parameters[0];
  rightPart[1] = parameters[1];
  rightPart[2] = parameters[2];

  // The versor will compute the scalar part.
  m_Versor.Set(rightPart);

  itkDebugMacro("Versor is now " << m_Versor);

  this->ComputeMatrix();
  this->ComputeOffset();

  // Modified is always called since we just have a pointer to the
  // parameters and cannot know if the parameters have changed.
  this->Modified();

  itkDebugMacro("After setting parameters ");
}

template <typename TParametersValueType>
auto
VersorTransform<TParametersValueType>::GetParameters() const -> const ParametersType &
{
  this->m_Parameters[0] = this->m_Versor.GetRight()[0];
  this->m_Parameters[1] = this->m_Versor.GetRight()[1];
  this->m_Parameters[2] = this->m_Versor.GetRight()[2];

  return this->m_Parameters;
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::SetRotation(const VersorType & versor)
{
  m_Versor = versor;
  this->ComputeMatrix();
  this->ComputeOffset();
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::SetRotation(const AxisType & axis, AngleType angle)
{
  m_Versor.Set(axis, angle);
  this->ComputeMatrix();
  this->ComputeOffset();
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::SetIdentity()
{
  Superclass::SetIdentity();

  m_Versor.SetIdentity();

  this->Modified();
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::ComputeMatrix()
{
  this->SetVarMatrix(m_Versor.GetMatrix());
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::ComputeMatrixParameters()
{
  m_Versor.Set(this->GetMatrix());
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::ComputeJacobianWithRespectToParameters(const InputPointType & p,
                                                                              JacobianType &         jacobian) const
{
  using ValueType = typename VersorType::ValueType;

  // compute derivatives with respect to rotation
  const ValueType vx = m_Versor.GetX();
  const ValueType vy = m_Versor.GetY();
  const ValueType vz = m_Versor.GetZ();
  const ValueType vw = m_Versor.GetW();

  jacobian.SetSize(3, this->GetNumberOfLocalParameters());
  jacobian.Fill(0.0);

  const double px = p[0] - this->GetCenter()[0];
  const double py = p[1] - this->GetCenter()[1];
  const double pz = p[2] - this->GetCenter()[2];

  const double vxx = vx * vx;
  const double vyy = vy * vy;
  const double vzz = vz * vz;
  const double vww = vw * vw;

  const double vxy = vx * vy;
  const double vxz = vx * vz;
  const double vxw = vx * vw;

  const double vyz = vy * vz;
  const double vyw = vy * vw;

  const double vzw = vz * vw;

  // compute Jacobian with respect to quaternion parameters
  jacobian[0][0] = 2.0 * ((vyw + vxz) * py + (vzw - vxy) * pz) / vw;
  jacobian[1][0] = 2.0 * ((vyw - vxz) * px - 2 * vxw * py + (vxx - vww) * pz) / vw;
  jacobian[2][0] = 2.0 * ((vzw + vxy) * px + (vww - vxx) * py - 2 * vxw * pz) / vw;

  jacobian[0][1] = 2.0 * (-2 * vyw * px + (vxw + vyz) * py + (vww - vyy) * pz) / vw;
  jacobian[1][1] = 2.0 * ((vxw - vyz) * px + (vzw + vxy) * pz) / vw;
  jacobian[2][1] = 2.0 * ((vyy - vww) * px + (vzw - vxy) * py - 2 * vyw * pz) / vw;

  jacobian[0][2] = 2.0 * (-2 * vzw * px + (vzz - vww) * py + (vxw - vyz) * pz) / vw;
  jacobian[1][2] = 2.0 * ((vww - vzz) * px - 2 * vzw * py + (vyw + vxz) * pz) / vw;
  jacobian[2][2] = 2.0 * ((vxw + vyz) * px + (vyw - vxz) * py) / vw;
}

template <typename TParametersValueType>
void
VersorTransform<TParametersValueType>::PrintSelf(std::ostream & os, Indent indent) const
{
  Superclass::PrintSelf(os, indent);

  os << indent << "Versor: " << m_Versor << std::endl;
}

} // namespace itk

#endif
