/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
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 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
 *   conditions are met:
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 */

#include "dart/lcpsolver/Lemke.hpp"

#include <cmath>
#include <iostream>
#include <vector>

#include "dart/math/Helpers.hpp"

namespace dart {
namespace lcpsolver {

// double RandDouble(double _low, double _high) {
//  double temp;

//  /* swap low & high around if the user makes no sense */
//  if (_low > _high) {
//    temp = _low;
//    _low = _high;
//    _high = temp;
//  }

//  /* calculate the random number & return it */
//  temp = (rand() / (static_cast<double>(RAND_MAX) + 1.0))
//         * (_high - _low) + _low;
//  return temp;
// }

//==============================================================================
int Lemke(
    const Eigen::MatrixXd& _M, const Eigen::VectorXd& _q, Eigen::VectorXd* _z)
{
  int n = _q.size();

  const double zer_tol = 1e-5;
  const double piv_tol = 1e-8;
  int maxiter = 1000;
  int err = 0;

  if (_q.minCoeff() >= 0)
  {
    // LOG(INFO) << "Trivial solution exists.";
    *_z = Eigen::VectorXd::Zero(n);
    return err;
  }

  // solve trivial case for n=1
  //   if (n==1){
  //     if (_M(0)>0){
  //         *_z = (- _q(0)/_M(0) )*Eigen::VectorXd::Ones(n);
  //         return err;
  //     } else {
  //         *_z = Eigen::VectorXd::Zero(n);
  //         err = 4; // no solution
  //         return err;
  //     }
  //   }

  *_z = Eigen::VectorXd::Zero(2 * n);
  int iter = 0;
  // double theta = 0;
  double ratio = 0;
  int leaving = 0;
  Eigen::VectorXd Be = Eigen::VectorXd::Constant(n, 1);
  Eigen::VectorXd x = _q;
  std::vector<int> bas;
  std::vector<int> nonbas;

  int t = 2 * n;
  int entering = t;

  bas.clear();
  nonbas.clear();

  // TODO: here suppose initial guess z0 is [0,0,0,...], this contradicts to
  // ODE's w always initilized as 0
  for (int i = 0; i < n; ++i)
  {
    nonbas.push_back(i);
  }

  Eigen::MatrixXd B = -Eigen::MatrixXd::Identity(n, n);

  if (!bas.empty())
  {
    Eigen::MatrixXd B_copy = B;
    for (std::size_t i = 0; i < bas.size(); ++i)
    {
      B.col(i) = _M.col(bas[i]);
    }
    for (std::size_t i = 0; i < nonbas.size(); ++i)
    {
      B.col(bas.size() + i) = B_copy.col(nonbas[i]);
    }
    // TODO: check the condition number to return err = 3
    Eigen::JacobiSVD<Eigen::MatrixXd> svd(B);
    double cond = svd.singularValues()(0)
                  / svd.singularValues()(svd.singularValues().size() - 1);
    if (cond > 1e16)
    {
      (*_z) = Eigen::VectorXd::Zero(n);
      err = 3;
      return err;
    }
    x = -B.householderQr().solve(_q);
  }

  // Check if initial basis provides solution
  if (x.minCoeff() >= 0)
  {
    Eigen::VectorXd __z = Eigen::VectorXd::Zero(2 * n);
    for (std::size_t i = 0; i < bas.size(); ++i)
    {
      (__z).row(bas[i]) = x.row(i);
    }
    (*_z) = __z.head(n);
    return err;
  }

  // Determine initial leaving variable
  Eigen::VectorXd minuxX = -x;
  int lvindex;
  double tval = minuxX.maxCoeff(&lvindex);
  for (std::size_t i = 0; i < nonbas.size(); ++i)
  {
    bas.push_back(nonbas[i] + n);
  }
  leaving = bas[lvindex];

  bas[lvindex] = t; // pivoting in the artificial variable

  Eigen::VectorXd U = Eigen::VectorXd::Zero(n);
  for (int i = 0; i < n; ++i)
  {
    if (x[i] < 0)
      U[i] = 1;
  }
  Be = -(B * U);
  x += tval * U;
  x[lvindex] = tval;
  B.col(lvindex) = Be;

  for (iter = 0; iter < maxiter; ++iter)
  {
    if (leaving == t)
    {
      break;
    }
    else if (leaving < n)
    {
      entering = n + leaving;
      Be = Eigen::VectorXd::Zero(n);
      Be[leaving] = -1;
    }
    else
    {
      entering = leaving - n;
      Be = _M.col(entering);
    }

    Eigen::VectorXd d = B.householderQr().solve(Be);

    // Find new leaving variable
    std::vector<int> j;
    for (int i = 0; i < n; ++i)
    {
      if (d[i] > piv_tol)
        j.push_back(i);
    }
    if (j.empty()) // no new pivots - ray termination
    {
      err = 2;
      break;
    }

    std::size_t jSize = j.size();
    Eigen::VectorXd minRatio(jSize);
    for (std::size_t i = 0; i < jSize; ++i)
    {
      minRatio[i] = (x[j[i]] + zer_tol) / d[j[i]];
    }
    double theta = minRatio.minCoeff();

    std::vector<int> tmpJ;
    std::vector<double> tmpd;
    for (std::size_t i = 0; i < jSize; ++i)
    {
      if (x[j[i]] / d[j[i]] <= theta)
      {
        tmpJ.push_back(j[i]);
        tmpd.push_back(d[j[i]]);
      }
    }

    //    if (tmpJ.empty())
    //    {
    //      LOG(WARNING) << "tmpJ should never be empty!!!";
    //      LOG(WARNING) << "dumping data:";
    //      LOG(WARNING) << "theta:" << theta;
    //      for (int i = 0; i < jSize; ++i)
    //      {
    //        LOG(WARNING) << "x(" << j[i] << "): " << x[j[i]] << "d: " <<
    //        d[j[i]];
    //      }
    //    }

    j = tmpJ;
    jSize = j.size();
    if (jSize == 0)
    {
      err = 4;
      break;
    }
    lvindex = -1;

    // Check if artificial among these
    for (std::size_t i = 0; i < jSize; ++i)
    {
      if (bas[j[i]] == t)
        lvindex = i;
    }

    if (lvindex != -1)
    {
      lvindex = j[lvindex]; // Always use artificial if possible
    }
    else
    {
      theta = tmpd[0];
      lvindex = 0;
      for (std::size_t i = 0; i < jSize; ++i)
      {
        if (tmpd[i] - theta > piv_tol)
        { // Bubble sorting
          theta = tmpd[i];
          lvindex = i;
        }
      }
      lvindex = j[lvindex]; // choose the first if there are multiple
    }

    leaving = bas[lvindex];

    ratio = x[lvindex] / d[lvindex];

    //    bool bDiverged = false;
    //    for (int i = 0; i < n; ++i) {
    //      if (isnan(x[i]) || isinf(x[i])) {
    //        bDiverged = true;
    //        break;
    //      }
    //    }
    //    if (bDiverged) {
    //      err = 4;
    //      break;
    //    }

    // Perform pivot
    x = x - ratio * d;
    x[lvindex] = ratio;
    B.col(lvindex) = Be;
    bas[lvindex] = entering;
  }

  if (iter >= maxiter && leaving != t)
  {
    err = 1;
  }

  if (err == 0)
  {
    for (std::size_t i = 0; i < bas.size(); ++i)
    {
      if (bas[i] < _z->size())
      {
        (*_z)[bas[i]] = x[i];
      }
    }

    Eigen::VectorXd __z = _z->head(n);
    *_z = __z;

    if (!validate(_M, *_z, _q))
    {
      // _z = VectorXd::Zero(n);
      err = 3;
    }
  }
  else
  {
    *_z = Eigen::VectorXd::Zero(n); // solve failed, return a 0 vector
  }

  //  if (err == 1)
  //    LOG(ERROR) << "LCP Solver: Iterations exceeded limit";
  //  else if (err == 2)
  //    LOG(ERROR) << "LCP Solver: Unbounded ray";
  //  else if (err == 3)
  //    LOG(ERROR) << "LCP Solver: Solver converged with numerical issues. "
  //               << "Validation failed.";
  //  else if (err == 4)
  //    LOG(ERROR) << "LCP Solver: Iteration diverged.";

  return err;
}

//==============================================================================
bool validate(
    const Eigen::MatrixXd& _M,
    const Eigen::VectorXd& _z,
    const Eigen::VectorXd& _q)
{
  const double threshold = 1e-4;
  int n = _z.size();

  Eigen::VectorXd w = _M * _z + _q;
  for (int i = 0; i < n; ++i)
  {
    if (w(i) < -threshold || _z(i) < -threshold)
      return false;
    if (std::abs(w(i) * _z(i)) > threshold)
      return false;
  }
  return true;
}

} // namespace lcpsolver
} // namespace dart
