BREP_kernel 0.5.0

use crate::topology::BrepSolid;
use crate::{NurbsCurve, NurbsSurface, Vec3, Vec4};

#[derive(Clone, Copy, Debug)]
pub struct AffineTransform {
    pub elements: [f64; 16],
}

impl AffineTransform {
    pub fn new(elements: [f64; 16]) -> Result<Self, String> {
        if elements.iter().any(|value| !value.is_finite()) {
            return Err("AffineTransform: matrix must be finite".into());
        }
        if elements[12].abs() > 1e-12
            || elements[13].abs() > 1e-12
            || elements[14].abs() > 1e-12
            || (elements[15] - 1.0).abs() > 1e-12
        {
            return Err("AffineTransform: projective matrices are unsupported".into());
        }
        if (Self { elements }).determinant3().abs() <= 1e-14 {
            return Err("AffineTransform: singular matrix".into());
        }
        Ok(Self { elements })
    }

    /// Invert a rigid map as `[Rᵀ | −Rᵀ·t]`. The caller must verify rigidity.
    pub(crate) fn rigid_inverse(&self) -> Result<Self, String> {
        let m = &self.elements;
        let r = [[m[0], m[1], m[2]], [m[4], m[5], m[6]], [m[8], m[9], m[10]]];
        let t = [m[3], m[7], m[11]];
        let mut out = [0.0f64; 16];
        for row in 0..3 {
            for col in 0..3 {
                out[row * 4 + col] = r[col][row]; // Rᵀ
            }
            out[row * 4 + 3] = -(0..3).map(|k| r[k][row] * t[k]).sum::<f64>();
        }
        out[15] = 1.0;
        AffineTransform::new(out)
    }

    pub fn determinant3(self) -> f64 {
        let m = self.elements;
        m[0] * (m[5] * m[10] - m[6] * m[9]) - m[1] * (m[4] * m[10] - m[6] * m[8])
            + m[2] * (m[4] * m[9] - m[5] * m[8])
    }

    pub fn point(self, point: Vec3) -> Vec3 {
        let m = self.elements;
        Vec3::new(
            m[0] * point.x + m[1] * point.y + m[2] * point.z + m[3],
            m[4] * point.x + m[5] * point.y + m[6] * point.z + m[7],
            m[8] * point.x + m[9] * point.y + m[10] * point.z + m[11],
        )
    }

    fn homogeneous(self, point: Vec4) -> Result<Vec4, String> {
        Ok(Vec4::from_point(self.point(point.point()?), point.w))
    }
}

pub(crate) fn transform_curve(
    curve: &NurbsCurve,
    transform: AffineTransform,
) -> Result<NurbsCurve, String> {
    NurbsCurve::new(
        curve.degree,
        curve.knots.clone(),
        curve
            .control_points
            .iter()
            .map(|point| transform.homogeneous(*point))
            .collect::<Result<_, _>>()?,
    )
}

pub(crate) fn transform_surface(
    surface: &NurbsSurface,
    transform: AffineTransform,
) -> Result<NurbsSurface, String> {
    NurbsSurface::new(
        surface.degree_u,
        surface.degree_v,
        surface.knots_u.clone(),
        surface.knots_v.clone(),
        surface
            .control_points
            .iter()
            .map(|row| {
                row.iter()
                    .map(|point| transform.homogeneous(*point))
                    .collect::<Result<Vec<_>, _>>()
            })
            .collect::<Result<_, _>>()?,
    )
}

/// Transform exact BREP geometry without changing entity IDs or parameter
/// ranges. `reverse_orientation` is required for negative-determinant maps.
pub fn transform_brep(
    solid: &BrepSolid,
    transform: AffineTransform,
    reverse_orientation: bool,
) -> Result<BrepSolid, String> {
    let determinant = transform.determinant3();
    if determinant < 0.0 && !reverse_orientation {
        return Err("transformSolid: reflection requires orientation reversal".into());
    }
    if determinant > 0.0 && reverse_orientation {
        return Err("transformSolid: orientation reversal requires a reflection".into());
    }
    let mut result = solid.clone();
    for vertex in &mut result.vertices {
        vertex.point = transform.point(vertex.point);
    }
    for edge in &mut result.edges {
        edge.curve = transform_curve(&edge.curve, transform)?;
    }
    for shell in &mut result.shells {
        for face in &mut shell.faces {
            face.surface = transform_surface(&face.surface, transform)?;
            if reverse_orientation {
                face.same_sense = !face.same_sense;
                for loop_record in &mut face.loops {
                    loop_record.coedges.reverse();
                    for coedge in &mut loop_record.coedges {
                        coedge.forward = !coedge.forward;
                        coedge.pcurve = coedge.pcurve.reversed()?;
                    }
                }
            }
        }
    }
    let issues = result.validate();
    if issues.is_empty() {
        Ok(result)
    } else {
        Err(format!("transformed BREP is invalid: {issues:?}"))
    }
}

/// Reflect an exact BREP across the plane through `plane_point` with unit
/// normal `n = plane_normal.normalized()`. The reflection is the affine map
/// `p' = R p + t` with linear part `R = I - 2 n nᵀ` and translation
/// `t = 2 (plane_point·n) n`, so points on the plane map to themselves. A
/// reflection has negative determinant (it flips handedness), so faces are
/// re-oriented via the existing transform with `reverse_orientation = true`,
/// keeping outward normals.
pub fn mirror_brep(
    solid: &BrepSolid,
    plane_point: Vec3,
    plane_normal: Vec3,
) -> Result<BrepSolid, String> {
    let n = plane_normal.normalized()?;
    let (nx, ny, nz) = (n.x, n.y, n.z);
    let d = plane_point.dot(n);
    let (tx, ty, tz) = (2.0 * d * nx, 2.0 * d * ny, 2.0 * d * nz);
    let matrix = [
        1.0 - 2.0 * nx * nx,
        -2.0 * nx * ny,
        -2.0 * nx * nz,
        tx,
        -2.0 * ny * nx,
        1.0 - 2.0 * ny * ny,
        -2.0 * ny * nz,
        ty,
        -2.0 * nz * nx,
        -2.0 * nz * ny,
        1.0 - 2.0 * nz * nz,
        tz,
        0.0,
        0.0,
        0.0,
        1.0,
    ];
    let transform = AffineTransform::new(matrix)?;
    transform_brep(solid, transform, true)
}

// BREP private tests: 3908a150c7552e06