/****************************************************************************

 Copyright (C) 2010-2012 the Office National des Forêts (ONF), France
                     and the Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Marseille, France.
                     All rights reserved.

 Contact : alexandre.piboule@onf.fr
           alexandra.bac@esil.univmed.fr

 Developers : Joris Ravaglia (ONF/LSIS)
 With modifications by : Alexandre PIBOULE (ONF)

 This file is part of PluginONFLSIS library 2.0.

 PluginONFLSIS is free library: you can redistribute it and/or modify
 it under the terms of the GNU Lesser General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 PluginShared 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 Lesser General Public License
 along with PluginShared.  If not, see <http://www.gnu.org/licenses/lgpl.html>.

*****************************************************************************/

#ifndef OL_STEPTHROWPARTICULES05_H
#define OL_STEPTHROWPARTICULES05_H

#include "ct_step/abstract/ct_abstractstep.h"

#include "ct_itemdrawable/ct_pointcluster.h"
#include "ct_itemdrawable/abstract/ct_abstractitemgroup.h"
#include "ct_pointcloudindex/ct_pointcloudindexvector.h"

#ifdef USE_PCL
    #include "pcl/octree/octree_search.h"
#endif

class OL_StepThrowParticules05 : public CT_AbstractStep
{
    // IMPORTANT pour avoir le nom de l'étape
    Q_OBJECT

public:

    OL_StepThrowParticules05();

    QString description() const override;

    CT_VirtualAbstractStep* createNewInstance() const final;

protected:

    void declareInputModels(CT_StepInModelStructureManager& manager) final;

    void fillPostInputConfigurationDialog(CT_StepConfigurableDialog* postInputConfigDialog) final;

    void declareOutputModels(CT_StepOutModelStructureManager& manager) final;

    void compute() final;

private:

    CT_AutoRenameModels             _outParticulesModelName;
    CT_ResultGroup*                 _outRes;

    int		_nbPtsMin;              /** Nombre de points a partir duquel on opere une simplification sur le groupe */
    double  _distanceBetweenPoints; /** Distance entre deux points sur l'arc */
    int		_kNeighborsParticle;    /** Nombre de voisins a prendre en compte lors de la projection des particules sur le nuage. */
    double	_radiusRepulsion;       /** Rayon d'effet de la repulsion d'une particule sur les autres. */
    int		_kRepulsion;            /** Constante entrant en jeu dans le calcul de la repulsion des particules entre elles. */
    double	_convergeThresh;        /** Seuil pour dire si les particules ont converge ou non */
    int		_nbIterMax;             /** Nombre d'iteration maximum sans convergence lors de la recherche des k-voisins */
    bool    _multiThread;
    bool	_useOfOctree;           /** Booleen qui indique si on souhaite utiliser un octree pour les gros groupes ou non */
    double	_octreeResolution;      /** Resolution de l'octree pour la recherche des k-voisins */
    int		_nbPtsForUsingOctree;   /** Nombre de points au dela duquel on utilise un octree lors de la simplification */

    CT_PointCluster* simplifyPointCluster (const CT_PointCluster *inputGrp, double length);

    QList<QPair<CT_Point, size_t> > createParticles(const CT_PointCluster *group, size_t n);

#ifdef USE_PCL
    void projectParticles(const CT_PointCluster *inCluster, QList<QPair<CT_Point, size_t> > &particles, size_t kNeighbors, pcl::octree::OctreePointCloudSearch<CT_Point> *octree);
#else
    void projectParticles(const CT_PointCluster *inCluster, QList<QPair<CT_Point, size_t> > &particles, size_t kNeighbors);
#endif

    void relaxParticles(QList<QPair<CT_Point, size_t> > &particles, const double _repulsionRadius, const size_t kRepulsion);
    CT_Point computeParticleToParticleRepulsion(const CT_Point &query, const CT_Point &repulser, const double repulsionRadius, const size_t kRepulsion);

    bool hasConverged(const QList<QPair<CT_Point, size_t> > &before, const QList<QPair<CT_Point, size_t> > &after, const double convergeThresh);

    static void staticSimplifyPointCluster(CT_AbstractItemGroup *group);

};

#endif // OL_STEPTHROWPARTICULES05_H