/*
   Copyright (C) 1999-2006 Id Software, Inc. and contributors.
   For a list of contributors, see the accompanying CONTRIBUTORS file.

   This file is part of GtkRadiant.

   GtkRadiant 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 2 of the License, or
   (at your option) any later version.

   GtkRadiant 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 GtkRadiant; if not, write to the Free Software
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */

#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include <string.h>
#include <math.h>

static double at,bt,ct;
#define PYTHAG( a,b ) ( ( at = fabs( a ) ) > ( bt = fabs( b ) ) ? \
						( ct = bt / at,at * sqrt( 1.0 + ct * ct ) ) : ( bt ? ( ct = at / bt,bt * sqrt( 1.0 + ct * ct ) ) : 0.0 ) )

static double maxarg1,maxarg2;
#define MAX( a,b ) ( maxarg1 = ( a ),maxarg2 = ( b ),( maxarg1 ) > ( maxarg2 ) ? \
					 ( maxarg1 ) : ( maxarg2 ) )
#define SIGN( a,b ) ( ( b ) >= 0.0 ? fabs( a ) : -fabs( a ) )

void ntrerror( char *s ){
	printf( "%s\n",s );
	exit( 1 );
}

double *allocVect( int sz ){
	double *ret;

	ret = calloc( sizeof( double ), (size_t)sz );
	return ret;
}

void freeVect( double *ret ){
	free( ret );
}

double **allocMatrix( int r,int c ){
	double **ret;

	ret = calloc( sizeof( double ), (size_t)( r * c ) );
	return ret;
}

void freeMatrix( double **ret,int r ){
	free( ret );
}

void svdcmp( double** a, int m, int n, double* w, double** v ){
	int flag,i,its,j,jj,k,l,nm;
	double c,f,h,s,x,y,z;
	double anorm = 0.0,g = 0.0,scale = 0.0;
	double *rv1;
	void nrerror();

	if ( m < n ) {
		ntrerror( "SVDCMP: You must augment A with extra zero rows" );
	}
	rv1 = allocVect( n );
	for ( i = 1; i <= n; i++ ) {
		l = i + 1;
		rv1[i] = scale * g;
		g = s = scale = 0.0;
		if ( i <= m ) {
			for ( k = i; k <= m; k++ ) scale += fabs( a[k][i] );
			if ( scale ) {
				for ( k = i; k <= m; k++ ) {
					a[k][i] /= scale;
					s += a[k][i] * a[k][i];
				}
				f = a[i][i];
				g = -SIGN( sqrt( s ),f );
				h = f * g - s;
				a[i][i] = f - g;
				if ( i != n ) {
					for ( j = l; j <= n; j++ ) {
						for ( s = 0.0,k = i; k <= m; k++ ) s += a[k][i] * a[k][j];
						f = s / h;
						for ( k = i; k <= m; k++ ) a[k][j] += f * a[k][i];
					}
				}
				for ( k = i; k <= m; k++ ) a[k][i] *= scale;
			}
		}
		w[i] = scale * g;
		g = s = scale = 0.0;
		if ( i <= m && i != n ) {
			for ( k = l; k <= n; k++ ) scale += fabs( a[i][k] );
			if ( scale ) {
				for ( k = l; k <= n; k++ ) {
					a[i][k] /= scale;
					s += a[i][k] * a[i][k];
				}
				f = a[i][l];
				g = -SIGN( sqrt( s ),f );
				h = f * g - s;
				a[i][l] = f - g;
				for ( k = l; k <= n; k++ ) rv1[k] = a[i][k] / h;
				if ( i != m ) {
					for ( j = l; j <= m; j++ ) {
						for ( s = 0.0,k = l; k <= n; k++ ) s += a[j][k] * a[i][k];
						for ( k = l; k <= n; k++ ) a[j][k] += s * rv1[k];
					}
				}
				for ( k = l; k <= n; k++ ) a[i][k] *= scale;
			}
		}
		anorm = MAX( anorm,( fabs( w[i] ) + fabs( rv1[i] ) ) );
	}
	for ( i = n; i >= 1; i-- ) {
		if ( i < n ) {
			if ( g ) {
				for ( j = l; j <= n; j++ )
					v[j][i] = ( a[i][j] / a[i][l] ) / g;
				for ( j = l; j <= n; j++ ) {
					for ( s = 0.0,k = l; k <= n; k++ ) s += a[i][k] * v[k][j];
					for ( k = l; k <= n; k++ ) v[k][j] += s * v[k][i];
				}
			}
			for ( j = l; j <= n; j++ ) v[i][j] = v[j][i] = 0.0;
		}
		v[i][i] = 1.0;
		g = rv1[i];
		l = i;
	}
	for ( i = n; i >= 1; i-- ) {
		l = i + 1;
		g = w[i];
		if ( i < n ) {
			for ( j = l; j <= n; j++ ) a[i][j] = 0.0;
		}
		if ( g ) {
			g = 1.0 / g;
			if ( i != n ) {
				for ( j = l; j <= n; j++ ) {
					for ( s = 0.0,k = l; k <= m; k++ ) s += a[k][i] * a[k][j];
					f = ( s / a[i][i] ) * g;
					for ( k = i; k <= m; k++ ) a[k][j] += f * a[k][i];
				}
			}
			for ( j = i; j <= m; j++ ) a[j][i] *= g;
		}
		else {
			for ( j = i; j <= m; j++ ) a[j][i] = 0.0;
		}
		++a[i][i];
	}
	for ( k = n; k >= 1; k-- ) {
		for ( its = 1; its <= 30; its++ ) {
			flag = 1;
			for ( l = k; l >= 1; l-- ) {
				nm = l - 1;
				if ( fabs( rv1[l] ) + anorm == anorm ) {
					flag = 0;
					break;
				}
				if ( fabs( w[nm] ) + anorm == anorm ) {
					break;
				}
			}
			if ( flag ) {
				c = 0.0;
				s = 1.0;
				for ( i = l; i <= k; i++ ) {
					f = s * rv1[i];
					if ( fabs( f ) + anorm != anorm ) {
						g = w[i];
						h = PYTHAG( f,g );
						w[i] = h;
						h = 1.0 / h;
						c = g * h;
						s = ( -f * h );
						for ( j = 1; j <= m; j++ ) {
							y = a[j][nm];
							z = a[j][i];
							a[j][nm] = y * c + z * s;
							a[j][i] = z * c - y * s;
						}
					}
				}
			}
			z = w[k];
			if ( l == k ) {
				if ( z < 0.0 ) {
					w[k] = -z;
					for ( j = 1; j <= n; j++ ) v[j][k] = ( -v[j][k] );
				}
				break;
			}
			if ( its == 30 ) {
				ntrerror( "No convergence in 30 SVDCMP iterations" );
			}
			x = w[l];
			nm = k - 1;
			y = w[nm];
			g = rv1[nm];
			h = rv1[k];
			f = ( ( y - z ) * ( y + z ) + ( g - h ) * ( g + h ) ) / ( 2.0 * h * y );
			g = PYTHAG( f,1.0 );
			f = ( ( x - z ) * ( x + z ) + h * ( ( y / ( f + SIGN( g,f ) ) ) - h ) ) / x;
			c = s = 1.0;
			for ( j = l; j <= nm; j++ ) {
				i = j + 1;
				g = rv1[i];
				y = w[i];
				h = s * g;
				g = c * g;
				z = PYTHAG( f,h );
				rv1[j] = z;
				c = f / z;
				s = h / z;
				f = x * c + g * s;
				g = g * c - x * s;
				h = y * s;
				y = y * c;
				for ( jj = 1; jj <= n; jj++ ) {
					x = v[jj][j];
					z = v[jj][i];
					v[jj][j] = x * c + z * s;
					v[jj][i] = z * c - x * s;
				}
				z = PYTHAG( f,h );
				w[j] = z;
				if ( z ) {
					z = 1.0 / z;
					c = f * z;
					s = h * z;
				}
				f = ( c * g ) + ( s * y );
				x = ( c * y ) - ( s * g );
				for ( jj = 1; jj <= m; jj++ ) {
					y = a[jj][j];
					z = a[jj][i];
					a[jj][j] = y * c + z * s;
					a[jj][i] = z * c - y * s;
				}
			}
			rv1[l] = 0.0;
			rv1[k] = f;
			w[k] = x;
		}
	}
	freeVect( rv1 );
}



void svbksb( double** u, double* w, double** v,int m, int n, double* b, double* x ){
	int jj,j,i;
	double s,*tmp;
	tmp = allocVect( n );
	for ( j = 1; j <= n; j++ )
	{
		s = 0.0;
		if ( w[j] ) {
			for ( i = 1; i <= m; i++ )
				s += u[i][j] * b[i];
			s /= w[j];
		}
		tmp[j] = s;
	}
	for ( j = 1; j <= n; j++ )
	{
		s = 0.0;
		for ( jj = 1; jj <= n; jj++ )
			s += v[j][jj] * tmp[jj];
		x[j] = s;
	}
	freeVect( tmp );
}

#undef SIGN
#undef MAX
#undef PYTHAG


#if 1
void DOsvd( float *a,float *res,float *comp,float *values,int nframes,int framesize,int compressedsize ){
	int usedfs;
	int *remap;
	int i,j;
	double **da;
	double **v;
	double *w;
	int DOFerr;
	float mx;
	int bestat;

	if ( nframes > framesize ) {
		usedfs = nframes;
	}
	else{
		usedfs = framesize;
	}

	da = allocMatrix( usedfs,nframes );
	v = allocMatrix( nframes,nframes );
	w = allocVect( nframes );

	DOFerr = 0; //false
	for ( i = 0; i < nframes; i++ )
	{
		for ( j = 0; j < framesize; j++ )
			da[j + 1][i + 1] = a[i * framesize + j];
		for (; j < usedfs; j++ )
			da[j + 1][i + 1] = 0.0;
	}

	svdcmp( da,usedfs,nframes,w,v );

	remap = calloc( sizeof( int ), (size_t)nframes );


	for ( i = 0; i < nframes; i++ )
		remap[i] = -1;
	for ( j = 0; j < compressedsize; j++ )
	{
		mx = -1.0f;
		for ( i = 0; i < nframes; i++ )
		{
			if ( remap[i] < 0 && fabs( w[i + 1] ) > mx ) {
				mx = (float) fabs( w[i + 1] );
				bestat = i;
			}
		}

		if ( mx > 0 ) {
			remap[bestat] = j;
		}
		else
		{
			DOFerr = 1; //true
		}
	}

	if ( DOFerr ) {
		printf( "Warning:  To many degrees of freedom!  File size may increase\n" );

		for ( i = 0; i < compressedsize; i++ )
		{
			values[i] = 0;
			for ( j = 0; j < framesize; j++ )
				res[i * framesize + j] = 0;
		}
	}

	for ( i = 0; i < nframes; i++ )
	{
		if ( remap[i] < 0 ) {
			w[i + 1] = 0.0;
		}
		else
		{
			values[remap[i]] = (float) w[i + 1];
			for ( j = 0; j < framesize; j++ )
				res[remap[i] * framesize + j] = (float) da[j + 1][i + 1];
		}
	}
	freeVect( w );
	freeMatrix( v,nframes );
	freeMatrix( da,framesize );
	free( remap );
}

#else

void DOsvd( float *a,float *res,float *comp,float *values,int nframes,int framesize,int compressedsize ){
	int *remap;
	int i,j;
	int nrows;
	nrows = nframes;
	if ( nrows < framesize ) {
		nrows = framesize;
	}
	double **da = allocMatrix( nrows,framesize );
	double **v = allocMatrix( framesize,framesize );
	double *w = allocVect( framesize );
	float mx;
	int bestat;

	for ( j = 0; j < framesize; j++ )
	{
		for ( i = 0; i < nframes; i++ )
			da[j + 1][i + 1] = a[i * framesize + j];
		for (; i < nrows; i++ )
			da[j + 1][i + 1] = 0.0;
	}

	svdcmp( da,nrows,framesize,w,v );

	remap = new int[framesize];


	for ( i = 0; i < framesize; i++ )
		remap[i] = -1;
	for ( j = 0; j < compressedsize; j++ )
	{
		mx = -1.0f;
		for ( i = 0; i < framesize; i++ )
		{
			if ( remap[i] < 0 && fabs( w[i + 1] ) > mx ) {
				mx = fabs( w[i + 1] );
				bestat = i;
			}
		}
		assert( mx > -.5f );
		remap[bestat] = j;
	}
	// josh **DO NOT** put your dof>nframes mod here
	for ( i = 0; i < framesize; i++ )
	{
		if ( remap[i] < 0 ) {
			w[i + 1] = 0.0;
		}
		else
		{
			values[remap[i]] = w[i + 1];
			for ( j = 0; j < framesize; j++ )
				res[remap[i] * framesize + j] = v[j + 1][i + 1];
		}
	}
	freeVect( w );
	freeMatrix( v,framesize );
	freeMatrix( da,nrows );
	delete[] remap;
}

#endif

void DOsvdPlane( float *pnts,int npnts,float *n,float *base ){
	int i,j;
	double **da = allocMatrix( npnts,3 );
	double **v = allocMatrix( 3,3 );
	double *w = allocVect( 3 );
	float mn = 1E30f;
	int bestat;


	assert( npnts >= 3 );
	base[0] = pnts[0];
	base[1] = pnts[1];
	base[2] = pnts[2];
	for ( i = 1; i < npnts; i++ )
	{
		for ( j = 0; j < 3; j++ )
			base[j] += pnts[i * 3 + j];
	}
	base[0] /= (float)( npnts );
	base[1] /= (float)( npnts );
	base[2] /= (float)( npnts );

	for ( i = 0; i < 3; i++ )
	{
		for ( j = 0; j < npnts; j++ )
			da[j + 1][i + 1] = pnts[j * 3 + i] - base[i];
	}

	svdcmp( da,npnts,3,w,v );
	for ( i = 0; i < 3; i++ )
	{
		if ( fabs( w[i + 1] ) < mn ) {
			mn = (float) fabs( w[i + 1] );
			bestat = i;
		}
	}
	n[0] = (float) v[1][bestat + 1];
	n[1] = (float) v[2][bestat + 1];
	n[2] = (float) v[3][bestat + 1];
	freeVect( w );
	freeMatrix( v,3 );
	freeMatrix( da,npnts );
}