/*
    PIP - Platform Independent Primitives
    Class for geo position storage and conversions
    Andrey Bychkov work.a.b@yandex.ru

    This program is free software: 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.

    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 Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "pigeoposition.h"

const double PIGeoPosition::one_cm_tolerance = 0.01;                            // One centimeter tolerance.
const double PIGeoPosition::one_mm_tolerance = 0.001;                           // One milimeter tolerance.
const double PIGeoPosition::one_um_tolerance = 0.000001;                        // One micron tolerance.
double PIGeoPosition::position_tolerance     = PIGeoPosition::one_mm_tolerance; // Default tolerance in meters.


PIGeoPosition::PIGeoPosition() {
	initialize(PIMathVectorT3d());
}


PIGeoPosition::PIGeoPosition(double a, double b, double c, PIGeoPosition::CoordinateSystem s, PIEllipsoidModel ell) {
	PIMathVectorT3d v;
	v[0] = a;
	v[1] = b;
	v[2] = c;
	initialize(v, s, ell);
}


PIGeoPosition::PIGeoPosition(PIMathVectorT3d v, PIGeoPosition::CoordinateSystem s, PIEllipsoidModel ell) {
	initialize(v, s, ell);
}


PIGeoPosition & PIGeoPosition::transformTo(PIGeoPosition::CoordinateSystem sys) {
	if (sys == Unknown || sys == s) return *this;
	PIGeoPosition tmp(*this);
	switch (s) {
	case Unknown: return *this;
	case Geodetic:
		switch (sys) {
		case Unknown:
		case Geodetic: return *this;
		case Geocentric:
			convertGeodeticToGeocentric(*this, tmp, el);
			tmp.s = Geocentric;
			break;
		case Cartesian:
			convertGeodeticToCartesian(*this, tmp, el);
			tmp.s = Cartesian;
			break;
		case Spherical:
			convertGeodeticToGeocentric(*this, tmp, el);
			tmp[0] = 90 - tmp[0]; // geocen -> sph
			tmp.s  = Spherical;
			break;
		}
		break;
	case Geocentric:
		switch (sys) {
		case Unknown:
		case Geocentric: return *this;
		case Geodetic:
			convertGeocentricToGeodetic(*this, tmp, el);
			tmp.s = Geodetic;
			break;
		case Cartesian:
			convertGeocentricToCartesian(*this, tmp);
			tmp.s = Cartesian;
			break;
		case Spherical:
			tmp[0] = 90 - tmp[0]; // geocen -> sph
			tmp.s  = Spherical;
			break;
		}
		break;
	case Cartesian:
		switch (sys) {
		case Unknown:
		case Cartesian: return *this;
		case Geodetic:
			convertCartesianToGeodetic(*this, tmp, el);
			tmp.s = Geodetic;
			break;
		case Geocentric:
			convertCartesianToGeocentric(*this, tmp);
			tmp.s = Geocentric;
			break;
		case Spherical:
			convertCartesianToSpherical(*this, tmp);
			tmp.s = Spherical;
			break;
		}
		break;
	case Spherical:
		switch (sys) {
		case Unknown:
		case Spherical: return *this;
		case Geodetic:
			(*this)[0] = 90 - (*this)[0]; // sph -> geocen
			convertGeocentricToGeodetic(*this, tmp, el);
			tmp.s = Geodetic;
			break;
		case Geocentric:
			tmp[0] = 90 - tmp[0]; // sph -> geocen
			tmp.s  = Geocentric;
			break;
		case Cartesian:
			convertSphericalToCartesian(*this, tmp);
			tmp.s = Cartesian;
			break;
		}
		break;
	}
	*this = tmp;
	return *this;
}

double PIGeoPosition::x() const {
	if (s == Cartesian) return (*this)[0];
	PIGeoPosition t(*this);
	t.transformTo(Cartesian);
	return t[0];
}


double PIGeoPosition::y() const {
	if (s == Cartesian) return (*this)[1];
	PIGeoPosition t(*this);
	t.transformTo(Cartesian);
	return t[1];
}


double PIGeoPosition::z() const {
	if (s == Cartesian) return (*this)[2];
	PIGeoPosition t(*this);
	t.transformTo(Cartesian);
	return t[2];
}


double PIGeoPosition::latitudeGeodetic() const {
	if (s == Geodetic) return (*this)[0];
	PIGeoPosition t(*this);
	t.transformTo(Geodetic);
	return t[0];
}


double PIGeoPosition::latitudeGeocentric() const {
	if (s == Geocentric) return (*this)[0];
	PIGeoPosition t(*this);
	t.transformTo(Geocentric);
	return t[0];
}


double PIGeoPosition::longitude() const {
	if (s != Cartesian) return (*this)[1];
	PIGeoPosition t(*this);
	t.transformTo(Spherical);
	return t[1];
}


double PIGeoPosition::theta() const {
	if (s == Spherical) return (*this)[0];
	PIGeoPosition t(*this);
	t.transformTo(Spherical);
	return t[0];
}


double PIGeoPosition::phi() const {
	return longitude();
}


double PIGeoPosition::radius() const {
	if (s == Spherical || s == Geocentric) return (*this)[2];
	PIGeoPosition t(*this);
	t.transformTo(Spherical);
	return t[2];
}


double PIGeoPosition::height() const {
	if (s == Geodetic) return (*this)[2];
	PIGeoPosition t(*this);
	t.transformTo(Geodetic);
	return t[2];
}


PIGeoPosition & PIGeoPosition::setGeodetic(double lat, double lon, double ht, PIEllipsoidModel ell) {
	assertm(lat <= 90 && lat >= -90, "Achtung! Invalid latitude in setGeodetic");
	(*this)[0] = lat;
	(*this)[1] = lon;
	if ((*this)[1] < 0)
		(*this)[1] += 360 * (1 + (unsigned long)((*this)[1] / 360));
	else if ((*this)[1] >= 360)
		(*this)[1] -= 360 * (unsigned long)((*this)[1] / 360);
	(*this)[2] = ht;
	el         = ell;
	s          = Geodetic;
	return *this;
}


PIGeoPosition & PIGeoPosition::setGeocentric(double lat, double lon, double rad) {
	assertm(lat <= 90 && lat >= -90, "Achtung! Invalid latitude in setGeocentric");
	assertm(rad >= 0, "Achtung! Invalid radius in setGeocentric");
	(*this)[0] = lat;
	(*this)[1] = lon;
	(*this)[2] = rad;
	if ((*this)[1] < 0)
		(*this)[1] += 360 * (1 + (unsigned long)((*this)[1] / 360));
	else if ((*this)[1] >= 360)
		(*this)[1] -= 360 * (unsigned long)((*this)[1] / 360);
	s = Geocentric;
	return *this;
}


PIGeoPosition & PIGeoPosition::setSpherical(double theta, double phi, double rad) {
	assertm(theta <= 180 && theta >= 0, "Achtung! Invalid theta in setSpherical");
	assertm(rad >= 0, "Achtung! Invalid radius in setSpherical");
	(*this)[0] = theta;
	(*this)[1] = phi;
	(*this)[2] = rad;
	if ((*this)[1] < 0)
		(*this)[1] += 360 * (1 + (unsigned long)((*this)[1] / 360));
	else if ((*this)[1] >= 360)
		(*this)[1] -= 360 * (unsigned long)((*this)[1] / 360);
	s = Spherical;
	return *this;
}


PIGeoPosition & PIGeoPosition::setECEF(double x, double y, double z) {
	(*this)[0] = x;
	(*this)[1] = y;
	(*this)[2] = z;
	s          = Cartesian;
	return *this;
}


void PIGeoPosition::convertSphericalToCartesian(const PIMathVectorT3d & tpr, PIMathVectorT3d & xyz) {
	double st = sin(toRad(tpr[0]));
	xyz[0]    = tpr[2] * st * cos(toRad(tpr[1]));
	xyz[1]    = tpr[2] * st * sin(toRad(tpr[1]));
	xyz[2]    = tpr[2] * cos(toRad(tpr[0]));
}


void PIGeoPosition::convertCartesianToSpherical(const PIMathVectorT3d & xyz, PIMathVectorT3d & tpr) {
	tpr[2] = xyz.length();
	if (tpr[2] <= PIGeoPosition::position_tolerance / 5) { // zero-length Cartesian vector
		tpr[0] = 90.0;
		tpr[1] = 0.0;
		return;
	}
	tpr[0] = acos(xyz[2] / tpr[2]) * rad2deg;
	if (sqrt(xyz[0] * xyz[0] + xyz[1] * xyz[1]) < PIGeoPosition::position_tolerance / 5) { // pole
		tpr[1] = 0.0;
		return;
	}
	tpr[1] = atan2(xyz[1], xyz[0]) * rad2deg;
	if (tpr[1] < 0.0) tpr[1] += 360.0;
}


void PIGeoPosition::convertCartesianToGeodetic(const PIMathVectorT3d & xyz, PIMathVectorT3d & llh, PIEllipsoidModel ell) {
	double p, slat, nn, htold, latold;
	p = sqrt(xyz[0] * xyz[0] + xyz[1] * xyz[1]);
	if (p < PIGeoPosition::position_tolerance / 5) { // pole or origin
		llh[0] = (xyz[2] > 0.0 ? 90.0 : -90.0);
		llh[1] = 0.0;                                // lon undefined, really
		llh[2] = piAbsd(xyz[2]) - ell.a * sqrt(1.0 - ell.eccSquared());
		return;
	}
	llh[0] = atan2(xyz[2], p * (1.0 - ell.eccSquared()));
	llh[2] = 0;
	for (int i = 0; i < 5; i++) {
		slat   = sin(llh[0]);
		nn     = ell.a / sqrt(1.0 - ell.eccSquared() * slat * slat);
		htold  = llh[2];
		llh[2] = p / cos(llh[0]) - nn;
		latold = llh[0];
		llh[0] = atan2(xyz[2], p * (1.0 - ell.eccSquared() * (nn / (nn + llh[2]))));
		if (piAbsd(llh[0] - latold) < 1.0e-9 && piAbsd(llh[2] - htold) < 1.0e-9 * ell.a) break;
	}
	llh[1] = atan2(xyz[1], xyz[0]);
	if (llh[1] < 0.0) llh[1] += M_2PI;
	llh[0] *= rad2deg;
	llh[1] *= rad2deg;
}


void PIGeoPosition::convertGeodeticToCartesian(const PIMathVectorT3d & llh, PIMathVectorT3d & xyz, PIEllipsoidModel ell) {
	double slat = sin(toRad(llh[0]));
	double clat = cos(toRad(llh[0]));
	double nn   = ell.a / sqrt(1.0 - ell.eccSquared() * slat * slat);
	xyz[0]      = (nn + llh[2]) * clat * cos(toRad(llh[1]));
	xyz[1]      = (nn + llh[2]) * clat * sin(toRad(llh[1]));
	xyz[2]      = (nn * (1.0 - ell.eccSquared()) + llh[2]) * slat;
}


void PIGeoPosition::convertCartesianToGeocentric(const PIMathVectorT3d & xyz, PIMathVectorT3d & llr) {
	convertCartesianToSpherical(xyz, llr);
	llr[0] = 90.0 - llr[0]; // convert theta to latitude
}


void PIGeoPosition::convertGeocentricToCartesian(const PIMathVectorT3d & llr, PIMathVectorT3d & xyz) {
	PIMathVectorT3d llh(llr);
	llh[0] = 90.0 - llh[0]; // convert latitude to theta
	convertSphericalToCartesian(llh, xyz);
}


void PIGeoPosition::convertGeocentricToGeodetic(const PIMathVectorT3d & llr, PIMathVectorT3d & llh, PIEllipsoidModel ell) {
	double cl, p, sl, slat, nn, htold, latold;
	llh[1] = llr[1]; // longitude is unchanged
	cl     = sin(toRad(90.0 - llr[0]));
	sl     = cos(toRad(90.0 - llr[0]));
	if (llr[2] <= PIGeoPosition::position_tolerance /
	                  5) { // radius is below tolerance, hence assign zero-length, arbitrarily set latitude = longitude = 0
		llh[0] = llh[1] = 0.0;
		llh[2]          = -ell.a;
		return;
	} else if (cl < 1.e-10) { // near pole ... note that 1mm/radius(Earth) = 1.5e-10
		if (llr[0] < 0.0)
			llh[0] = -90.0;
		else
			llh[0] = 90.0;
		llh[1] = 0.0;
		llh[2] = llr[2] - ell.a * sqrt(1.0 - ell.eccSquared());
		return;
	}
	llh[0] = atan2(sl, cl * (1.0 - ell.eccSquared()));
	p      = cl * llr[2];
	llh[2] = 0.0;
	for (int i = 0; i < 5; i++) {
		slat   = sin(llh[0]);
		nn     = ell.a / sqrt(1.0 - ell.eccSquared() * slat * slat);
		htold  = llh[2];
		llh[2] = p / cos(llh[0]) - nn;
		latold = llh[0];
		llh[0] = atan2(sl, cl * (1.0 - ell.eccSquared() * (nn / (nn + llh[2]))));
		if (piAbsd(llh[0] - latold) < 1.0e-9 && piAbsd(llh[2] - htold) < 1.0e-9 * ell.a) break;
	}
	llh[0] *= rad2deg;
}


void PIGeoPosition::convertGeodeticToGeocentric(const PIMathVectorT3d & llh, PIMathVectorT3d & llr, PIEllipsoidModel ell) {
	double slat = sin(toRad(llh[0]));
	double nn   = ell.a / sqrt(1.0 - ell.eccSquared() * slat * slat);
	llr[1]      = llh[1]; // longitude is unchanged
	llr[2] =
		sqrt((nn + llh[2]) * (nn + llh[2]) + nn * ell.eccSquared() * (nn * ell.eccSquared() - 2 * (nn + llh[2])) * slat * slat); // radius
	if (llr[2] <= PIGeoPosition::position_tolerance / 5) { // radius is below tolerance, hence assign zero-length
		llr[0] = llr[1] = llr[2] = 0;                      // arbitrarily set latitude = longitude = 0
		return;
	}
	if (1 - piAbsd(slat) < 1.e-10) { // at the pole
		if (slat < 0)
			llr[0] = -90.0;
		else
			llr[0] = 90.0;
		llr[1] = 0.0;
		return;
	}
	llr[0] = acos((nn * (1.0 - ell.eccSquared()) + llh[2]) * slat / llr[2]); // theta
	llr[0] *= rad2deg;
	llr[0] = 90.0 - llr[0];
}


double PIGeoPosition::radiusEarth(double geolat, PIEllipsoidModel ell) {
	double slat = sin(toRad(geolat));
	double e    = (1.0 - ell.eccSquared());
	double f    = (1.0 + (e * e - 1.0) * slat * slat) / (1.0 - ell.eccSquared() * slat * slat);
	return (ell.a * sqrt(f));
}


PIGeoPosition & PIGeoPosition::operator=(const PIMathVectorT3d & v) {
	*((PIMathVectorT3d *)(this)) = v;
	return *this;
}


PIGeoPosition & PIGeoPosition::operator-=(const PIGeoPosition & right) {
	PIGeoPosition r(right);
	CoordinateSystem saves = s;
	transformTo(Cartesian);
	r.transformTo(Cartesian);
	(*(PIMathVectorT3d *)(this)) -= r;
	transformTo(saves);
	return *this;
}


PIGeoPosition & PIGeoPosition::operator+=(const PIGeoPosition & right) {
	PIGeoPosition r(right);
	CoordinateSystem saves = s;
	transformTo(Cartesian);
	r.transformTo(Cartesian);
	(*(PIMathVectorT3d *)(this)) += r;
	transformTo(saves);
	return *this;
}


bool PIGeoPosition::operator==(const PIGeoPosition & right) const {
	if (el.a != right.el.a || el.eccSquared() != right.el.eccSquared()) return false;
	if (range(*this, right) < position_tolerance)
		return true;
	else
		return false;
}


void PIGeoPosition::initialize(PIMathVectorT3d v, PIGeoPosition::CoordinateSystem sys, PIEllipsoidModel ell) {
	double a(v[0]), b(v[1]), c(v[2]);
	if (sys == Geodetic || sys == Geocentric) {
		assertm(a <= 90 && a >= -90, "Achtung! Invalid latitude in constructor");
		if (b < 0)
			b += 360 * (1 + (unsigned long)(b / 360));
		else if (b >= 360)
			b -= 360 * (unsigned long)(b / 360);
	}
	if (sys == Geocentric || sys == Spherical) {
		assertm(c >= 0, "Achtung! Invalid radius in constructor");
	}
	if (sys == Spherical) {
		assertm(a >= 0 && a <= 180, "Achtung! Invalid theta in constructor");
		if (b < 0)
			b += 360 * (1 + (unsigned long)(b / 360));
		else if (b >= 360)
			b -= 360 * (unsigned long)(b / 360);
	}
	(*this)[0] = a;
	(*this)[1] = b;
	(*this)[2] = c;
	el         = ell;
	s          = sys;
}


double PIGeoPosition::range(const PIGeoPosition & a, const PIGeoPosition & b) {
	PIGeoPosition l(a), r(b);
	l.transformTo(PIGeoPosition::Cartesian);
	r.transformTo(PIGeoPosition::Cartesian);
	return (l - r).length();
}


double PIGeoPosition::elevation(const PIGeoPosition & p) const {
	PIGeoPosition r(*this), s(p);
	r.transformTo(Cartesian);
	s.transformTo(Cartesian);
	return r.angleElevation(s);
}


double PIGeoPosition::elevationGeodetic(const PIGeoPosition & p) const {
	PIGeoPosition r(*this), s(p);
	double lat = toRad(r.latitudeGeodetic());
	double lng = toRad(r.longitude());
	double local_up;
	double cos_up;
	r.transformTo(Cartesian);
	s.transformTo(Cartesian);
	PIMathVectorT3d z = s - r;
	assertm(z.length() > 1e-4, "Positions are within .1 millimeter");
	PIMathVectorT3d kv; // Compute k vector in local North-East-Up (NEU) system
	kv[0]    = cos(lat) * cos(lng);
	kv[1]    = cos(lat) * sin(lng);
	kv[2]    = sin(lat);
	local_up = z.dot(kv);             // Take advantage of dot method to get Up coordinate in local NEU system
	cos_up   = local_up / z.length(); // Let's get cos(z), being z the angle with respect to local vertical (Up);
	return 90.0 - toDeg(acos(cos_up));
}


double PIGeoPosition::azimuth(const PIGeoPosition & p) const {
	PIGeoPosition r(*this), s(p);
	r.transformTo(Cartesian);
	s.transformTo(Cartesian);
	double xy, xyz, cosl, sinl, sint, xn1, xn2, xn3, xe1, xe2;
	double z1, z2, z3, p1, p2, alpha;
	xy  = r[0] * r[0] + r[1] * r[1];
	xyz = xy + r[2] * r[2];
	xy  = sqrt(xy);
	xyz = sqrt(xyz);
	assertm(xy > 1e-14 && xyz > 1e-14, "Divide by Zero Error");
	cosl = r[0] / xy;
	sinl = r[1] / xy;
	sint = r[2] / xyz;
	xn1  = -sint * cosl;
	xn2  = -sint * sinl;
	xn3  = xy / xyz;
	xe1  = -sinl;
	xe2  = cosl;
	z1   = s[0] - r[0];
	z2   = s[1] - r[1];
	z3   = s[2] - r[2];
	p1   = (xn1 * z1) + (xn2 * z2) + (xn3 * z3);
	p2   = (xe1 * z1) + (xe2 * z2);
	assertm((piAbsd(p1) + piAbsd(p2)) >= 1.0e-16, "azAngle(), failed p1+p2 test");
	alpha = 90 - toDeg(atan2(p1, p2));
	if (alpha < 0)
		return alpha + 360;
	else
		return alpha;
}


double PIGeoPosition::azimuthGeodetic(const PIGeoPosition & p) const {
	PIGeoPosition r(*this), s(p);
	double lat = toRad(r.latitudeGeodetic());
	double lng = toRad(r.longitude());
	r.transformTo(Cartesian);
	s.transformTo(Cartesian);
	PIMathVectorT3d z;
	z = s - r;
	assertm(z.length() > 1e-4, "Positions are within 0.1 millimeter");
	PIMathVectorT3d iv; // Compute i vector in local North-East-Up (NEU) system
	iv[0] = -sin(lat) * cos(lng);
	iv[1] = -sin(lat) * sin(lng);
	iv[2] = cos(lat);
	PIMathVectorT3d jv; // Compute j vector in local North-East-Up (NEU) system
	jv[0]          = -sin(lng);
	jv[1]          = cos(lng);
	jv[2]          = 0.0;
	double local_n = z.dot(iv) / z.length();            // Now, let's use dot product to get localN unitary vectors
	double local_e = z.dot(jv) / z.length();            // Now, let's use dot product to get localE unitary vector
	double test    = piAbsd(local_n) + piAbsd(local_e); // Let's test if computing azimuth has any sense
	if (test < 1.0e-16) return 0.0;                     // Warning: If elevation is very close to 90 degrees, we will return azimuth = 0.0
	double alpha = toDeg(atan2(local_e, local_n));
	if (alpha < 0.0)
		return alpha + 360.0;
	else
		return alpha;
}

double PIGeoPosition::getCurvMeridian() const {
	double slat = sin(toRad(latitudeGeodetic()));
	double w    = 1.0 / sqrt(1.0 - el.eccSquared() * slat * slat);
	return el.a * (1.0 - el.eccSquared()) * w * w * w;
}


double PIGeoPosition::getCurvPrimeVertical() const {
	double slat = sin(toRad(latitudeGeodetic()));
	return el.a / sqrt(1.0 - el.eccSquared() * slat * slat);
}