/* 
 * PROJECT: NyARToolkit
 * --------------------------------------------------------------------------------
 * This work is based on the original ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 *
 * The NyARToolkit is Java edition ARToolKit class library.
 * Copyright (C)2008-2009 Ryo Iizuka
 *
 * This program 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.
 * 
 * This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
 * 
 */
package jp.nyatla.nyartoolkit.core.transmat.optimize.artoolkit;


import jp.nyatla.nyartoolkit.core.NyARException;
import jp.nyatla.nyartoolkit.core.param.*;
import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.*;
import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;
import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;
/**
 * このクラスは、高速化したARToolKit由来の姿勢行列最適化処理を実装します。
 */
public class NyARRotMatrixOptimize_O2 implements INyARRotMatrixOptimize
{
	private final NyARPerspectiveProjectionMatrix _projection_mat_ref;
	/**
	 * コンストラクタです。
	 * 射影変換オブジェクトの参照値を設定して、インスタンスを生成します。
	 * @param i_projection_mat_ref
	 * 射影変換オブジェクトの参照値。
	 */	
	public NyARRotMatrixOptimize_O2(NyARPerspectiveProjectionMatrix i_projection_mat_ref)
	{
		this._projection_mat_ref=i_projection_mat_ref;
		return;
	}
	private final double[][] __modifyMatrix_double1D = new double[8][3];
	/**
	 * この関数は、回転行列を最適化します。
	 * ARToolKitのarGetRotに相当します。
	 */
	public double modifyMatrix(NyARRotMatrix_ARToolKit io_rot,NyARDoublePoint3d trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d) throws NyARException
	{
		double factor;
		double a2, b2, c2;
		double h, x, y;
		double err, minerr = 0;
		int t1, t2, t3;
		int best_idx=0;

		factor = 10.0 * Math.PI / 180.0;
		double rot0, rot1, rot2;
		double combo00, combo01, combo02, combo03, combo10, combo11, combo12, combo13, combo20, combo21, combo22, combo23;
		double combo02_2, combo02_5, combo02_8, combo02_11;
		double combo22_2, combo22_5, combo22_8, combo22_11;
		double combo12_2, combo12_5, combo12_8, combo12_11;
		// vertex展開
		final double VX00, VX01, VX02, VX10, VX11, VX12, VX20, VX21, VX22, VX30, VX31, VX32;
		VX00 = i_vertex3d[0].x;
		VX01 = i_vertex3d[0].y;
		VX02 = i_vertex3d[0].z;
		VX10 = i_vertex3d[1].x;
		VX11 = i_vertex3d[1].y;
		VX12 = i_vertex3d[1].z;
		VX20 = i_vertex3d[2].x;
		VX21 = i_vertex3d[2].y;
		VX22 = i_vertex3d[2].z;
		VX30 = i_vertex3d[3].x;
		VX31 = i_vertex3d[3].y;
		VX32 = i_vertex3d[3].z;
		final double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
		P2D00 = i_vertex2d[0].x;
		P2D01 = i_vertex2d[0].y;
		P2D10 = i_vertex2d[1].x;
		P2D11 = i_vertex2d[1].y;
		P2D20 = i_vertex2d[2].x;
		P2D21 = i_vertex2d[2].y;
		P2D30 = i_vertex2d[3].x;
		P2D31 = i_vertex2d[3].y;
		final NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
		final double CP0 = prjmat.m00,CP1 = prjmat.m01,CP2 = prjmat.m02,CP4 = prjmat.m10,CP5 = prjmat.m11,CP6 = prjmat.m12,CP8 = prjmat.m20,CP9 = prjmat.m21,CP10 = prjmat.m22;
		combo03 = CP0 * trans.x + CP1 * trans.y + CP2 * trans.z + prjmat.m03;
		combo13 = CP4 * trans.x + CP5 * trans.y + CP6 * trans.z + prjmat.m13;
		combo23 = CP8 * trans.x + CP9 * trans.y + CP10 * trans.z + prjmat.m23;
		double CACA, SASA, SACA, CA, SA;
		double CACACB, SACACB, SASACB, CASB, SASB;
		double SACASC, SACACBSC, SACACBCC, SACACC;
		final double[][] double1D = this.__modifyMatrix_double1D;

		final double[] a_factor = double1D[1];
		final double[] sinb = double1D[2];
		final double[] cosb = double1D[3];
		final double[] b_factor = double1D[4];
		final double[] sinc = double1D[5];
		final double[] cosc = double1D[6];
		final double[] c_factor = double1D[7];
		double w, w2;
		double wsin, wcos;
		
		final NyARDoublePoint3d angle = io_rot.getAngle();
		a2 = angle.x;
		b2 = angle.y;
		c2 = angle.z;

		// comboの3行目を先に計算
		for (int i = 0; i < 10; i++) {
			minerr = 1000000000.0;
			// sin-cosテーブルを計算(これが外に出せるとは…。)
			for (int j = 0; j < 3; j++) {
				w2 = factor * (j - 1);
				w = a2 + w2;
				a_factor[j] = w;
				w = b2 + w2;
				b_factor[j] = w;
				sinb[j] = Math.sin(w);
				cosb[j] = Math.cos(w);
				w = c2 + w2;
				c_factor[j] = w;
				sinc[j] = Math.sin(w);
				cosc[j] = Math.cos(w);
			}
			//
			for (t1 = 0; t1 < 3; t1++) {
				SA = Math.sin(a_factor[t1]);
				CA = Math.cos(a_factor[t1]);
				// Optimize
				CACA = CA * CA;
				SASA = SA * SA;
				SACA = SA * CA;
				for (t2 = 0; t2 < 3; t2++) {
					wsin = sinb[t2];
					wcos = cosb[t2];
					CACACB = CACA * wcos;
					SACACB = SACA * wcos;
					SASACB = SASA * wcos;
					CASB = CA * wsin;
					SASB = SA * wsin;
					// comboの計算1
					combo02 = CP0 * CASB + CP1 * SASB + CP2 * wcos;
					combo12 = CP4 * CASB + CP5 * SASB + CP6 * wcos;
					combo22 = CP8 * CASB + CP9 * SASB + CP10 * wcos;

					combo02_2 = combo02 * VX02 + combo03;
					combo02_5 = combo02 * VX12 + combo03;
					combo02_8 = combo02 * VX22 + combo03;
					combo02_11 = combo02 * VX32 + combo03;
					combo12_2 = combo12 * VX02 + combo13;
					combo12_5 = combo12 * VX12 + combo13;
					combo12_8 = combo12 * VX22 + combo13;
					combo12_11 = combo12 * VX32 + combo13;
					combo22_2 = combo22 * VX02 + combo23;
					combo22_5 = combo22 * VX12 + combo23;
					combo22_8 = combo22 * VX22 + combo23;
					combo22_11 = combo22 * VX32 + combo23;
					for (t3 = 0; t3 < 3; t3++) {
						wsin = sinc[t3];
						wcos = cosc[t3];
						SACASC = SACA * wsin;
						SACACC = SACA * wcos;
						SACACBSC = SACACB * wsin;
						SACACBCC = SACACB * wcos;

						rot0 = CACACB * wcos + SASA * wcos + SACACBSC - SACASC;
						rot1 = SACACBCC - SACACC + SASACB * wsin + CACA * wsin;
						rot2 = -CASB * wcos - SASB * wsin;
						combo00 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
						combo10 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
						combo20 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;

						rot0 = -CACACB * wsin - SASA * wsin + SACACBCC - SACACC;
						rot1 = -SACACBSC + SACASC + SASACB * wcos + CACA * wcos;
						rot2 = CASB * wsin - SASB * wcos;
						combo01 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
						combo11 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
						combo21 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
						//
						err = 0.0;
						h = combo20 * VX00 + combo21 * VX01 + combo22_2;
						x = P2D00 - (combo00 * VX00 + combo01 * VX01 + combo02_2) / h;
						y = P2D01 - (combo10 * VX00 + combo11 * VX01 + combo12_2) / h;
						err += x * x + y * y;
						h = combo20 * VX10 + combo21 * VX11 + combo22_5;
						x = P2D10 - (combo00 * VX10 + combo01 * VX11 + combo02_5) / h;
						y = P2D11 - (combo10 * VX10 + combo11 * VX11 + combo12_5) / h;
						err += x * x + y * y;
						h = combo20 * VX20 + combo21 * VX21 + combo22_8;
						x = P2D20 - (combo00 * VX20 + combo01 * VX21 + combo02_8) / h;
						y = P2D21 - (combo10 * VX20 + combo11 * VX21 + combo12_8) / h;
						err += x * x + y * y;
						h = combo20 * VX30 + combo21 * VX31 + combo22_11;
						x = P2D30 - (combo00 * VX30 + combo01 * VX31 + combo02_11) / h;
						y = P2D31 - (combo10 * VX30 + combo11 * VX31 + combo12_11) / h;
						err += x * x + y * y;
						if (err < minerr) {
							minerr = err;
							a2 = a_factor[t1];
							b2 = b_factor[t2];
							c2 = c_factor[t3];
							best_idx=t1+t2*3+t3*9;
						}
					}
				}
			}
			if (best_idx==(1+3+9)) {
				factor *= 0.5;
			}
		}
		io_rot.setAngle(a2, b2, c2);
		/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
		return minerr /4;
	}	
	
	
}
