/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "vision-precomp.h"	 // Precompiled headers
//
#include <cmath>
#include <iostream>

#include "polynom_solver.h"

#define CV_PI 3.14159265358979323846

int solve_deg2(double a, double b, double c, double& x1, double& x2)
{
	double delta = b * b - 4 * a * c;

	if (delta < 0) return 0;

	double inv_2a = 0.5 / a;

	if (delta == 0)
	{
		x1 = -b * inv_2a;
		x2 = x1;
		return 1;
	}

	double sqrt_delta = sqrt(delta);
	x1 = (-b + sqrt_delta) * inv_2a;
	x2 = (-b - sqrt_delta) * inv_2a;
	return 2;
}

/// Reference : Eric W. Weisstein. "Cubic Equation." From MathWorld--A Wolfram
/// Web Resource.
/// http://mathworld.wolfram.com/CubicEquation.html
/// \return Number of real roots found.
int solve_deg3(
	double a, double b, double c, double d, double& x0, double& x1, double& x2)
{
	if (a == 0)
	{
		// Solve second order sytem
		if (b == 0)
		{
			// Solve first order system
			if (c == 0) return 0;

			x0 = -d / c;
			return 1;
		}

		x2 = 0;
		return solve_deg2(b, c, d, x0, x1);
	}

	// Calculate the normalized form x^3 + a2 * x^2 + a1 * x + a0 = 0
	double inv_a = 1. / a;
	double b_a = inv_a * b, b_a2 = b_a * b_a;
	double c_a = inv_a * c;
	double d_a = inv_a * d;

	// Solve the cubic equation
	double Q = (3 * c_a - b_a2) / 9;
	double R = (9 * b_a * c_a - 27 * d_a - 2 * b_a * b_a2) / 54;
	double Q3 = Q * Q * Q;
	double D = Q3 + R * R;
	double b_a_3 = (1. / 3.) * b_a;

	if (Q == 0)
	{
		if (R == 0)
		{
			x0 = x1 = x2 = -b_a_3;
			return 3;
		}
		else
		{
			x0 = pow(2 * R, 1 / 3.0) - b_a_3;
			return 1;
		}
	}

	if (D <= 0)
	{
		// Three real roots
		double theta = acos(R / sqrt(-Q3));
		double sqrt_Q = sqrt(-Q);
		x0 = 2 * sqrt_Q * cos(theta / 3.0) - b_a_3;
		x1 = 2 * sqrt_Q * cos((theta + 2 * CV_PI) / 3.0) - b_a_3;
		x2 = 2 * sqrt_Q * cos((theta + 4 * CV_PI) / 3.0) - b_a_3;

		return 3;
	}

	// D > 0, only one real root
	double AD =
		pow(fabs(R) + sqrt(D), 1.0 / 3.0) * (R > 0 ? 1 : (R < 0 ? -1 : 0));
	double BD = (AD == 0) ? 0 : -Q / AD;

	// Calculate the only real root
	x0 = AD + BD - b_a_3;

	return 1;
}

/// Reference : Eric W. Weisstein. "Quartic Equation." From MathWorld--A Wolfram
/// Web Resource.
/// http://mathworld.wolfram.com/QuarticEquation.html
/// \return Number of real roots found.
int solve_deg4(
	double a, double b, double c, double d, double e, double& x0, double& x1,
	double& x2, double& x3)
{
	if (a == 0)
	{
		x3 = 0;
		return solve_deg3(b, c, d, e, x0, x1, x2);
	}

	// Normalize coefficients
	double inv_a = 1. / a;
	b *= inv_a;
	c *= inv_a;
	d *= inv_a;
	e *= inv_a;
	double b2 = b * b, bc = b * c, b3 = b2 * b;

	// Solve resultant cubic
	double r0, r1, r2;
	int n = solve_deg3(
		1, -c, d * b - 4 * e, 4 * c * e - d * d - b2 * e, r0, r1, r2);
	if (n == 0) return 0;

	// Calculate R^2
	double R2 = 0.25 * b2 - c + r0, R;
	if (R2 < 0) return 0;

	R = sqrt(R2);
	double inv_R = 1. / R;

	int nb_real_roots = 0;

	// Calculate D^2 and E^2
	double D2, E2;
	if (R < 10E-12)
	{
		double temp = r0 * r0 - 4 * e;
		if (temp < 0) D2 = E2 = -1;
		else
		{
			double sqrt_temp = sqrt(temp);
			D2 = 0.75 * b2 - 2 * c + 2 * sqrt_temp;
			E2 = D2 - 4 * sqrt_temp;
		}
	}
	else
	{
		double u = 0.75 * b2 - 2 * c - R2,
			   v = 0.25 * inv_R * (4 * bc - 8 * d - b3);
		D2 = u + v;
		E2 = u - v;
	}

	double b_4 = 0.25 * b, R_2 = 0.5 * R;
	if (D2 >= 0)
	{
		double D = sqrt(D2);
		nb_real_roots = 2;
		double D_2 = 0.5 * D;
		x0 = R_2 + D_2 - b_4;
		x1 = x0 - D;
	}

	// Calculate E^2
	if (E2 >= 0)
	{
		double E = sqrt(E2);
		double E_2 = 0.5 * E;
		if (nb_real_roots == 0)
		{
			x0 = -R_2 + E_2 - b_4;
			x1 = x0 - E;
			nb_real_roots = 2;
		}
		else
		{
			x2 = -R_2 + E_2 - b_4;
			x3 = x2 - E;
			nb_real_roots = 4;
		}
	}

	return nb_real_roots;
}
