// File:	BRepBlend_SurfRstConstRad.cxx
// Created:	Mon Feb 10 10:32:10 1997
// Author:	Laurent BOURESCHE
// Author:	Jacques GOUSSARD
//		<lbo@pomalox.paris1.matra-dtv.fr>
// Modif : jlr le 28/07/97 modif de section pour Edge/Face
//         modif de set (courbe bornee)
#include <BRepBlend_SurfRstConstRad.ixx>
#include <math_Gauss.hxx>
#include <math_SVD.hxx>

#include <ElCLib.hxx>
#include <gp.hxx>
#include <BlendFunc.hxx>
#include <GeomFill.hxx>
#include <Standard_DomainError.hxx>
#include <Standard_NotImplemented.hxx>
#include <Precision.hxx>

#define Eps 1.e-15

static void t3dto2d(Standard_Real& a,
		    Standard_Real& b,
		    const gp_Vec& A,
		    const gp_Vec& B,
		    const gp_Vec& C)
{
  Standard_Real AB = A.Dot(B);
  Standard_Real AC = A.Dot(C);
  Standard_Real BC = B.Dot(C);
  Standard_Real BB = B.Dot(B);
  Standard_Real CC = C.Dot(C);
  Standard_Real deno = (BB*CC-BC*BC);
  a = (AB*CC-AC*BC)/deno;
  b = (AC*BB-AB*BC)/deno;
}

//=======================================================================
//function : BRepBlend_SurfRstConstRad
//purpose  : 
//=======================================================================

BRepBlend_SurfRstConstRad::BRepBlend_SurfRstConstRad
(const Handle(Adaptor3d_HSurface)& Surf,
 const Handle(Adaptor3d_HSurface)& SurfRst,
 const Handle(Adaptor2d_HCurve2d)& Rst,
 const Handle(Adaptor3d_HCurve)&   CGuide):
 surf(Surf), surfrst(SurfRst), rst(Rst), cons(Rst,SurfRst), 
 guide(CGuide), tguide(CGuide),
 istangent(Standard_True), theD(0.), maxang(RealFirst()), minang(RealLast()),
 distmin(RealLast()),
 mySShape(BlendFunc_Rational)
{}

//=======================================================================
//function : NbVariables
//purpose  : 
//=======================================================================

Standard_Integer BRepBlend_SurfRstConstRad::NbVariables() const
{
  return 3;
}

//=======================================================================
//function : NbEquations
//purpose  : 
//=======================================================================

Standard_Integer BRepBlend_SurfRstConstRad::NbEquations() const
{
  return 3;
}

//=======================================================================
//function : Value
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Value(const math_Vector& X,
						  math_Vector&       F)
{
  gp_Vec d1u1,d1v1,ns,vref;
  Standard_Real norm;
  
  surf->D1(X(1),X(2),pts,d1u1,d1v1);
  ptrst = cons.Value(X(3));
  
  F(1) = nplan.XYZ().Dot(pts.XYZ()) + theD;
  F(2) = nplan.XYZ().Dot(ptrst.XYZ()) + theD;
  
  ns = d1u1.Crossed(d1v1);
  norm = nplan.Crossed(ns).Magnitude();
  ns.SetLinearForm(nplan.Dot(ns)/norm,nplan, -1./norm,ns);
  vref.SetLinearForm(ray,ns,gp_Vec(ptrst,pts));
  vref /= ray;
  F(3) = (vref.SquareMagnitude() - 1)*ray*ray;
  return Standard_True;
}

//=======================================================================
//function : Derivatives
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Derivatives(const math_Vector& X,
							math_Matrix&       D)
{
  gp_Vec d1u1,d1v1,d2u1,d2v1,d2uv1,d1;
  gp_Vec ns,ncrossns,resul,temp, vref;
  
  Standard_Real norm,ndotns,grosterme;
  
  surf->D2(X(1),X(2),pts,d1u1,d1v1,d2u1,d2v1,d2uv1);
  cons.D1(X(3),ptrst,d1);
  
  D(1,1) = nplan.Dot(d1u1);
  D(1,2) = nplan.Dot(d1v1);
  D(1,3) = 0.;
  
  D(2,1) = 0.;
  D(2,2) = 0.;
  D(2,3) = nplan.Dot(d1);
  
  
  ns = d1u1.Crossed(d1v1);
  ncrossns = nplan.Crossed(ns);
  norm = ncrossns.Magnitude();
  ndotns = nplan.Dot(ns);
  
  vref.SetLinearForm(ndotns,nplan,-1.,ns);
  vref.Divide(norm);
  vref.SetLinearForm(ray,vref,gp_Vec(ptrst,pts));
  
  // Derivee par rapport a u1
  temp = d2u1.Crossed(d1v1).Added(d1u1.Crossed(d2uv1));
  grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
  resul.SetLinearForm(-ray/norm*(grosterme*ndotns-nplan.Dot(temp)),nplan,
		      ray*grosterme/norm,ns,
		      -ray/norm,temp,
		      d1u1);
  
  D(3,1) = resul.Dot(vref);
  D(3,1) = D(3,1) * 2.;
  
  
  // Derivee par rapport a v1
  temp = d2uv1.Crossed(d1v1).Added(d1u1.Crossed(d2v1));
  grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
  resul.SetLinearForm(-ray/norm*(grosterme*ndotns-nplan.Dot(temp)),nplan,
		      ray*grosterme/norm,ns,
		      -ray/norm,temp,
		      d1v1);
  
  D(3,2) = resul.Dot(vref);
  D(3,2) =  D(3,2) * 2.;
  
  D(3,3) = d1.Dot(vref);
  D(3,3) = D(3,3) * (-2.);
  
  return Standard_True;
}

//=======================================================================
//function : Values
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Values(const math_Vector& X,
						   math_Vector&       F,
						   math_Matrix&       D)
{
  gp_Vec d1u1,d1v1,d1;
  gp_Vec d2u1,d2v1,d2uv1;
  gp_Vec ns,ncrossns,resul,temp,vref;
  
  Standard_Real norm,ndotns,grosterme;

  surf->D2(X(1),X(2),pts,d1u1,d1v1,d2u1,d2v1,d2uv1);
  cons.D1(X(3),ptrst,d1);
  
  F(1) = nplan.XYZ().Dot(pts.XYZ()) + theD;
  F(2) = nplan.XYZ().Dot(ptrst.XYZ()) + theD;
  
  D(1,1) = nplan.Dot(d1u1);
  D(1,2) = nplan.Dot(d1v1);
  D(1,3) = 0.;
  
  D(2,1) = 0.;
  D(2,2) = 0.;
  D(2,3) = nplan.Dot(d1);
  
  ns = d1u1.Crossed(d1v1);
  ncrossns = nplan.Crossed(ns);
  norm = ncrossns.Magnitude();
  ndotns = nplan.Dot(ns);
  
  vref.SetLinearForm(ndotns,nplan,-1.,ns);
  vref.Divide(norm);
  vref.SetLinearForm(ray,vref,gp_Vec(ptrst,pts));
  
  temp = vref/ray;
//  F(3) = vref.SquareMagnitude() - ray*ray;
  F(3) = (temp.SquareMagnitude() - 1)*ray*ray; // plus stable numeriquement
  
  // Derivee par rapport a u1
  temp = d2u1.Crossed(d1v1).Added(d1u1.Crossed(d2uv1));
  grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
  resul.SetLinearForm(-ray/norm*(grosterme*ndotns-nplan.Dot(temp)),nplan,
		      ray*grosterme/norm,ns,
		      -ray/norm,temp,
		      d1u1);
  
  D(3,1) = resul.Dot(vref);
  D(3,1) = D(3,1)*2.;

  
  
  // Derivee par rapport a v1
  temp = d2uv1.Crossed(d1v1).Added(d1u1.Crossed(d2v1));
  grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
  resul.SetLinearForm(-ray/norm*(grosterme*ndotns-nplan.Dot(temp)),nplan,
		      ray*grosterme/norm,ns,
		      -ray/norm,temp,
		      d1v1);
  
  D(3,2) = resul.Dot(vref);
  D(3,2) = D(3,2)*2.;

  D(3,3) = d1.Dot(vref);
  D(3,3) = D(3,3)*(-2.);

  return Standard_True;
}

//=======================================================================
//function : Set
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Set(const Handle(Adaptor3d_HSurface)& SurfRef,
				    const Handle(Adaptor2d_HCurve2d)& RstRef)
{
  surfref = SurfRef;
  rstref = RstRef;
}

//=======================================================================
//function : Set
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Set(const Standard_Real Param)
{
  d1gui = gp_Vec(0.,0.,0.);
  nplan = gp_Vec(0.,0.,0.);
  tguide->D2(Param,ptgui,d1gui,d2gui);
  normtg = d1gui.Magnitude();
  nplan.SetXYZ(d1gui.Normalized().XYZ());
  gp_XYZ nplanXYZ(nplan.XYZ());
  gp_XYZ ptguiXYZ(ptgui.XYZ());
  theD =  nplanXYZ.Dot(ptguiXYZ)  ;
  theD = theD  * (-1.) ;
}

//=======================================================================
//function : Set
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Set(const Standard_Real First,
				    const Standard_Real Last)
{ 
 tguide = guide->Trim(First, Last, 1.e-12);
}

//=======================================================================
//function : GetTolerance
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::GetTolerance(math_Vector&        Tolerance,
					     const Standard_Real Tol) const
{
  Tolerance(1) = surf->UResolution(Tol);
  Tolerance(2) = surf->VResolution(Tol);
  Tolerance(3) = cons.Resolution(Tol);
}

//=======================================================================
//function : GetBounds
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::GetBounds(math_Vector& InfBound,
					  math_Vector& SupBound) const
{
  InfBound(1) = surf->FirstUParameter();
  InfBound(2) = surf->FirstVParameter();
  InfBound(3) = cons.FirstParameter();
  SupBound(1) = surf->LastUParameter();
  SupBound(2) = surf->LastVParameter();
  SupBound(3) = cons.LastParameter();
  
  if(!Precision::IsInfinite(InfBound(1)) &&
     !Precision::IsInfinite(SupBound(1))) {
    Standard_Real range = (SupBound(1) - InfBound(1));
    InfBound(1) -= range;
    SupBound(1) += range;
  }
  if(!Precision::IsInfinite(InfBound(2)) &&
     !Precision::IsInfinite(SupBound(2))) {
    Standard_Real range = (SupBound(2) - InfBound(2));
    InfBound(2) -= range;
    SupBound(2) += range;
  }
}

//=======================================================================
//function : IsSolution
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::IsSolution(const math_Vector&  Sol,
						       const Standard_Real Tol)
     
     
{
  math_Vector valsol(1,3),secmember(1,3);
  math_Matrix gradsol(1,3,1,3);
  
  gp_Vec dnplan,d1u1,d1v1,d1urst,d1vrst,d1,temp,ns,ns2,ncrossns,resul;
  gp_Pnt bid;
  Standard_Real norm,ndotns,grosterme;
  Standard_Real Cosa,Sina,Angle;
  
  Values(Sol,valsol,gradsol);
  if (Abs(valsol(1)) <= Tol &&
      Abs(valsol(2)) <= Tol &&
      Abs(valsol(3)) <= 2*Tol*Abs(ray) ) {
    
    // Calcul des tangentes
    
    pt2ds  = gp_Pnt2d(Sol(1),Sol(2));
    prmrst = Sol(3);
    pt2drst = rst->Value(prmrst);
    surf->D1(Sol(1),Sol(2),pts,d1u1,d1v1);
    cons.D1(Sol(3),ptrst,d1);
    dnplan.SetLinearForm(1./normtg,d2gui,
			 -1./normtg*(nplan.Dot(d2gui)),nplan);
    
    temp.SetXYZ(pts.XYZ() - ptgui.XYZ());
    secmember(1) = normtg - dnplan.Dot(temp);
    
    temp.SetXYZ(ptrst.XYZ() - ptgui.XYZ());
    secmember(2) = normtg - dnplan.Dot(temp);
    
    ns = d1u1.Crossed(d1v1);
    ncrossns = nplan.Crossed(ns);
    ndotns = nplan.Dot(ns);
    norm = ncrossns.Magnitude();
    
    grosterme = ncrossns.Dot(dnplan.Crossed(ns))/norm/norm;
    temp.SetLinearForm(ray/norm*(dnplan.Dot(ns)-grosterme*ndotns),nplan,
		       ray*ndotns/norm,dnplan,
		       ray*grosterme/norm,ns);
    
    ns.SetLinearForm(ndotns/norm,nplan, -1./norm,ns);
    resul.SetLinearForm(ray,ns,gp_Vec(ptrst,pts));
    secmember(3) = -2.*(temp.Dot(resul));
    
    math_Gauss Resol(gradsol);
    if (Resol.IsDone()) {    
      Resol.Solve(secmember);
      istangent = Standard_False;
    }
  else {
    math_SVD SingRS (gradsol);
    if (SingRS.IsDone()) {
      math_Vector DEDT(1,3);
      DEDT = secmember;
      SingRS.Solve(DEDT, secmember, 1.e-6);
       istangent = Standard_False;
    }
    else istangent = Standard_True;
  }

    if (!istangent) {      
      tgs.SetLinearForm(secmember(1),d1u1,secmember(2),d1v1);
      tgrst = secmember(3)*d1;
      tg2ds.SetCoord(secmember(1),secmember(2));
      surfrst->D1(pt2drst.X(),pt2drst.Y(),bid,d1urst,d1vrst);
      Standard_Real a, b;
      t3dto2d(a,b,tgrst,d1urst,d1vrst);
      tg2drst.SetCoord(a,b);
    }

    // mise a jour de maxang
    if(ray>0.) ns.Reverse();
    ns2 = -resul.Normalized();
    
    Cosa = ns.Dot(ns2);
    Sina = nplan.Dot(ns.Crossed(ns2));
    if (choix%2 != 0) {
      Sina = -Sina;  //nplan est change en -nplan
    }
    
    Angle = ACos(Cosa);
    if (Sina <0.) {
      Angle = 2.*PI - Angle;
    }
    
    if (Angle>maxang) {maxang = Angle;}
    if (Angle<minang) {minang = Angle;}
    distmin = Min( distmin, pts.Distance(ptrst));

    return Standard_True;
  }
  istangent = Standard_True;
  return Standard_False;
}

//=======================================================================
//function : GetMinimalDistance
//purpose  : 
//=======================================================================

Standard_Real BRepBlend_SurfRstConstRad::GetMinimalDistance() const
{
  return distmin;
}

//=======================================================================
//function : PointOnS
//purpose  : 
//=======================================================================

const gp_Pnt& BRepBlend_SurfRstConstRad::PointOnS() const
{
  return pts;
}

//=======================================================================
//function : PointOnRst
//purpose  : 
//=======================================================================

const gp_Pnt& BRepBlend_SurfRstConstRad::PointOnRst() const
{
  return ptrst ;
}

//=======================================================================
//function : Pnt2dOnS
//purpose  : 
//=======================================================================

const gp_Pnt2d& BRepBlend_SurfRstConstRad::Pnt2dOnS() const
{
  return pt2ds;
}

//=======================================================================
//function : Pnt2dOnRst
//purpose  : 
//=======================================================================

const gp_Pnt2d& BRepBlend_SurfRstConstRad::Pnt2dOnRst() const
{
  return pt2drst;
}

//=======================================================================
//function : ParameterOnRst
//purpose  : 
//=======================================================================

Standard_Real BRepBlend_SurfRstConstRad::ParameterOnRst() const
{
  return prmrst;
}

//=======================================================================
//function : IsTangencyPoint
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::IsTangencyPoint() const
{
  return istangent;
}

//=======================================================================
//function : TangentOnS
//purpose  : 
//=======================================================================

const gp_Vec& BRepBlend_SurfRstConstRad::TangentOnS() const
{
  if (istangent) {Standard_DomainError::Raise();}
  return tgs;
}

//=======================================================================
//function : Tangent2dOnS
//purpose  : 
//=======================================================================

const gp_Vec2d& BRepBlend_SurfRstConstRad::Tangent2dOnS() const
{
  if (istangent) {Standard_DomainError::Raise();}
  return tg2ds;
}

//=======================================================================
//function : TangentOnRst
//purpose  : 
//=======================================================================

const gp_Vec& BRepBlend_SurfRstConstRad::TangentOnRst() const
{
  if (istangent) {Standard_DomainError::Raise();}
  return tgrst;
}

//=======================================================================
//function : Tangent2dOnRst
//purpose  : 
//=======================================================================

const gp_Vec2d& BRepBlend_SurfRstConstRad::Tangent2dOnRst() const
{
  if (istangent) {Standard_DomainError::Raise();}
  return tg2drst;
}

//=======================================================================
//function : Decroch
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Decroch(const math_Vector& Sol,
						    gp_Vec&            NS,
						    gp_Vec&            TgS)const
{
  gp_Vec TgRst, NRst, NRstInPlane, NSInPlane;
  gp_Pnt bid,Center;
  gp_Vec d1u,d1v;
  Standard_Real norm,unsurnorm;
  
  surf->D1(Sol(1),Sol(2),bid,d1u,d1v);
  NS = NSInPlane = d1u.Crossed(d1v);
  
  norm = nplan.Crossed(NS).Magnitude();
  unsurnorm = 1./norm;
  NSInPlane.SetLinearForm(nplan.Dot(NS)*unsurnorm,nplan,-unsurnorm,NS);
  
  Center.SetXYZ(bid.XYZ()+ray*NSInPlane.XYZ());
  if(choix>2) NSInPlane.Reverse();
  TgS = nplan.Crossed(gp_Vec(Center,bid));
  if (choix%2 == 1) {
    TgS.Reverse();
  }
  Standard_Real u,v;
  rstref->Value(Sol(3)).Coord(u,v);
  surfref->D1(u,v,bid,d1u,d1v);
  NRst = d1u.Crossed(d1v);
  norm = nplan.Crossed(NRst).Magnitude();
  unsurnorm = 1./norm;
  NRstInPlane.SetLinearForm(nplan.Dot(NRst)*unsurnorm,nplan,-unsurnorm,NRst);
  gp_Vec centptrst(Center,bid);
  if(centptrst.Dot(NRstInPlane) < 0.) NRstInPlane.Reverse();
  TgRst = nplan.Crossed(centptrst);
  if (choix%2 == 1) {
    TgRst.Reverse();
  }
  
  Standard_Real dot, NT = NRstInPlane.Magnitude();
  NT *= TgRst.Magnitude();
  if (Abs(NT) < 1.e-7) {
    return Standard_False; // Singularite ou Incoherence.
  }
  dot = NRstInPlane.Dot(TgRst);
  dot /= NT;
	 
  return (dot < 1.e-10);
}

//=======================================================================
//function : Set
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Set(const Standard_Real    Radius,
				    const Standard_Integer Choix)
{
  choix = Choix;
  switch (choix) {
  case 1 :
  case 2 :
    ray = -Abs(Radius);
    break;
  case 3 :
  case 4 :
    ray = Abs(Radius);
    break;
  default :
    ray = -Abs(Radius);
    break;
  }
}

//=======================================================================
//function : Set
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Set(const BlendFunc_SectionShape TypeSection)
{
  mySShape = TypeSection;
}

//=======================================================================
//function : Section
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Section(const Standard_Real Param,
					const Standard_Real U,
					const Standard_Real V,
					const Standard_Real W,
					Standard_Real& Pdeb,
					Standard_Real& Pfin,
					gp_Circ& C)
{
  gp_Vec d1u1,d1v1;
  gp_Vec ns, np;
  Standard_Real norm;
  gp_Pnt Center;
  
  tguide->D1(Param,ptgui,d1gui);
  np  = d1gui.Normalized();
  
  surf->D1(U,V,pts,d1u1,d1v1);
  ptrst = cons.Value(W);
  
  ns = d1u1.Crossed(d1v1);
  
  norm = nplan.Crossed(ns).Magnitude();
  ns.SetLinearForm(nplan.Dot(ns)/norm,nplan, -1./norm,ns);
  Center.SetXYZ(pts.XYZ()+ray*ns.XYZ());
  C.SetRadius(Abs(ray));

  if (ray > 0) {
    ns.Reverse();
  }
  
  if (choix%2 != 0) {
    np.Reverse();
  }

  C.SetPosition(gp_Ax2(Center,np,ns));
  Pdeb = 0; //ElCLib::Parameter(C,pts);
  Pfin = ElCLib::Parameter(C,ptrst);

  // Test des angles negatif et quasi null : Cas Singulier
  if (Pfin>1.5*PI) {
    np.Reverse();
    C.SetPosition(gp_Ax2(Center,np,ns));
    Pfin = ElCLib::Parameter(C,ptrst);
  }
  if (Pfin < Precision::PConfusion()) Pfin += Precision::PConfusion();
}

//=======================================================================
//function : IsRational
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::IsRational () const
{
  return  (mySShape==BlendFunc_Rational || mySShape==BlendFunc_QuasiAngular);
}

//=======================================================================
//function : GetSectionSize
//purpose  :
//=======================================================================

Standard_Real BRepBlend_SurfRstConstRad::GetSectionSize() const 
{
  return maxang*Abs(ray);
}

//=======================================================================
//function : GetMinimalWeight
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::GetMinimalWeight(TColStd_Array1OfReal& Weights) const 
{
  BlendFunc::GetMinimalWeights(mySShape, myTConv, minang, maxang, Weights );
  // On suppose que cela ne depend pas du Rayon! 
}

//=======================================================================
//function : NbIntervals
//purpose  : 
//=======================================================================

Standard_Integer BRepBlend_SurfRstConstRad::NbIntervals (const GeomAbs_Shape S) const
{
  return guide->NbIntervals(BlendFunc::NextShape(S));
}

//=======================================================================
//function : Intervals
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Intervals (TColStd_Array1OfReal& T,
					   const GeomAbs_Shape S) const
{
  guide->Intervals(T, BlendFunc::NextShape(S));
}

//=======================================================================
//function : GetShape
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::GetShape (Standard_Integer& NbPoles,
					  Standard_Integer& NbKnots,
					  Standard_Integer& Degree,
					  Standard_Integer& NbPoles2d)
{
  NbPoles2d = 2;
  BlendFunc::GetShape(mySShape,maxang,NbPoles,NbKnots,Degree,myTConv);
}

//=======================================================================
//function : GetTolerance
//purpose  : Determine les Tolerance a utiliser dans les approximations.
//=======================================================================

void BRepBlend_SurfRstConstRad::GetTolerance(const Standard_Real BoundTol, 
					     const Standard_Real SurfTol, 
					     const Standard_Real AngleTol, 
					     math_Vector& Tol3d, 
					     math_Vector& Tol1d) const
{
  Standard_Integer low = Tol3d.Lower() , up=Tol3d.Upper();
  Standard_Real Tol;
  Tol= GeomFill::GetTolerance(myTConv, minang, Abs(ray), 
			       AngleTol, SurfTol);
  Tol1d.Init(SurfTol);
  Tol3d.Init(SurfTol);
  Tol3d(low+1) = Tol3d(up-1) = Min( Tol, SurfTol);
  Tol3d(low) = Tol3d(up) = Min( Tol, BoundTol);
}

//=======================================================================
//function : Knots
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Knots(TColStd_Array1OfReal& TKnots)
{
  GeomFill::Knots(myTConv,TKnots);
}

//=======================================================================
//function : Mults
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Mults(TColStd_Array1OfInteger& TMults)
{
  GeomFill::Mults(myTConv, TMults);
}

//=======================================================================
//function : Section
//purpose  : 
//=======================================================================

void BRepBlend_SurfRstConstRad::Section(const Blend_Point& P,
					TColgp_Array1OfPnt& Poles,
					TColgp_Array1OfPnt2d& Poles2d,
					TColStd_Array1OfReal& Weights)
{
  gp_Vec d1u1,d1v1;//,,d1;
  gp_Vec ns,ns2;//,temp,np2;
  gp_Pnt Center;
  
  Standard_Real norm,u1,v1,w;
  
  Standard_Real prm = P.Parameter();
  Standard_Integer low = Poles.Lower();
  Standard_Integer upp = Poles.Upper();
  
  tguide->D1(prm,ptgui,d1gui);
  nplan  = d1gui.Normalized();
  
  P.ParametersOnS(u1,v1);
  w = P.ParameterOnC(); //jlr : point sur courbe pas sur surface
  gp_Pnt2d  pt2d = rst->Value(w);

  surf->D1(u1,v1,pts,d1u1,d1v1);
  ptrst = cons.Value(w);
  distmin = Min (distmin, pts.Distance(ptrst)); 

  Poles2d(Poles2d.Lower()).SetCoord(u1,v1);
  Poles2d(Poles2d.Upper()).SetCoord(pt2d.X(),pt2d.Y());
  
  // Cas Linear
  if (mySShape == BlendFunc_Linear) {
    Poles(low) = pts;
    Poles(upp) = ptrst;
    Weights(low) = 1.0;
    Weights(upp) = 1.0;
    return;
  }
  
  ns = d1u1.Crossed(d1v1);
  norm = nplan.Crossed(ns).Magnitude();
  
  ns.SetLinearForm(nplan.Dot(ns)/norm,nplan, -1./norm,ns);
  
  Center.SetXYZ(pts.XYZ()+ray*ns.XYZ());
  
  ns2 = gp_Vec(Center,ptrst).Normalized();
  if(ray>0) ns.Reverse();
  if (choix%2 != 0) {
    nplan.Reverse();
  }
  
  GeomFill::GetCircle(myTConv,
		     ns, ns2, 
		     nplan, pts, ptrst,
		     Abs(ray), Center, 
		     Poles, Weights);
}

//=======================================================================
//function : Section
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Section
(const Blend_Point& P,
 TColgp_Array1OfPnt& Poles,
 TColgp_Array1OfVec& DPoles,
 TColgp_Array1OfPnt2d& Poles2d,
 TColgp_Array1OfVec2d& DPoles2d,
 TColStd_Array1OfReal& Weights,
 TColStd_Array1OfReal& DWeights)
{
  
  gp_Vec d1u1,d1v1,d2u1,d2v1,d2uv1,d1;
  gp_Vec ns,ns2,dnplan,dnw,dn2w; //,np2,dnp2;
  gp_Vec ncrossns;;
  gp_Vec resulu,resulv,temp,tgct,resul;
  gp_Vec d1urst,d1vrst;
  gp_Pnt Center,bid;
  
  Standard_Real norm,ndotns,grosterme;
  
  math_Vector sol(1,3),valsol(1,3),secmember(1,3);
  math_Matrix gradsol(1,3,1,3);
  
  Standard_Real prm = P.Parameter();
#ifdef DEB
  Standard_Integer NbSpan=(Poles.Length()-1)/2;
#endif
  Standard_Integer low = Poles.Lower();
  Standard_Integer upp = Poles.Upper();
  Standard_Boolean istgt;
  
  tguide->D2(prm,ptgui,d1gui,d2gui);
  normtg = d1gui.Magnitude();
  nplan  = d1gui.Normalized();
  dnplan.SetLinearForm(1./normtg,d2gui,
		       -1./normtg*(nplan.Dot(d2gui)),nplan);
  
  P.ParametersOnS(sol(1),sol(2));
  sol(3) = prmrst = P.ParameterOnC();
  pt2drst = rst->Value(prmrst);
  
  Values(sol,valsol,gradsol);
  
  surf->D2(sol(1),sol(2),pts,d1u1,d1v1,d2u1,d2v1,d2uv1);
  cons.D1(sol(3),ptrst,d1);
  
  temp.SetXYZ(pts.XYZ()- ptgui.XYZ());
  secmember(1) = normtg - dnplan.Dot(temp);
  
  temp.SetXYZ(ptrst.XYZ()- ptgui.XYZ());
  secmember(2) = normtg - dnplan.Dot(temp);
  
  ns = d1u1.Crossed(d1v1);
  ncrossns = nplan.Crossed(ns);
  ndotns = nplan.Dot(ns);
  norm = ncrossns.Magnitude();
  if (norm < Eps)  {
    norm = 1; // Insufisant, mais il ne faut pas planter
#if DEB
    cout << " SurfRstConstRad : Surface singuliere " << endl;
#endif
  }  
  
  // Derivee de n1 par rapport a w
  
  grosterme = ncrossns.Dot(dnplan.Crossed(ns))/norm/norm;
  dnw.SetLinearForm((dnplan.Dot(ns)-grosterme*ndotns)/norm,nplan,
		    ndotns/norm,dnplan,
		    grosterme/norm,ns);
  
  temp.SetLinearForm(ndotns/norm,nplan, -1./norm,ns);
  resul.SetLinearForm(ray,temp,gp_Vec(ptrst,pts));
  secmember(3) = dnw.Dot(resul); // jag 950105 il manquait ray
  secmember(3) = -2.*ray*secmember(3); // jag 950105 il manquait ray
  
  math_Gauss Resol(gradsol, 1.e-9);

  
  if (Resol.IsDone()) {
    istgt = Standard_False;
    Resol.Solve(secmember);
  }
  else {
    math_SVD SingRS (gradsol);
    if (SingRS.IsDone()) {
      math_Vector DEDT(1,3);
      DEDT = secmember;
      SingRS.Solve(DEDT, secmember, 1.e-6);
      istgt = Standard_False;
    }
    else istgt = Standard_True;
  }

  if (!istgt) {  
    tgs.SetLinearForm(secmember(1),d1u1,secmember(2),d1v1);
    tgrst = secmember(3)*d1;
    
    // Derivee de n1 par rapport a u1
    temp = d2u1.Crossed(d1v1).Added(d1u1.Crossed(d2uv1));
    grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
    resulu.SetLinearForm(-(grosterme*ndotns-nplan.Dot(temp))/norm,nplan,
			 grosterme/norm,ns,
			 -1./norm,temp);
    
    // Derivee de n1 par rapport a v1
    temp = d2uv1.Crossed(d1v1).Added(d1u1.Crossed(d2v1));
    grosterme = ncrossns.Dot(nplan.Crossed(temp))/norm/norm;
    resulv.SetLinearForm(-(grosterme*ndotns-nplan.Dot(temp))/norm,nplan,
			 grosterme/norm,ns,
			 -1./norm,temp);
    
    
    dnw.SetLinearForm(secmember(1),resulu,secmember(2),resulv,dnw);
    ns.SetLinearForm(ndotns/norm,nplan, -1./norm,ns);
    
    dn2w.SetLinearForm(ray, dnw, -1., tgrst, tgs);
    norm = resul.Magnitude();
    dn2w.Divide(norm);
    ns2 = -resul.Normalized();
    dn2w.SetLinearForm(ns2.Dot(dn2w),ns2,-1.,dn2w);
  }
  else {   
    ns.SetLinearForm(ndotns/norm,nplan, -1./norm,ns);
    ns2 = -resul.Normalized();
  }
  
  // Les poles 2d
  
  Poles2d(Poles2d.Lower()).SetCoord(sol(1),sol(2));
  Poles2d(Poles2d.Upper()).SetCoord(pt2drst.X(),pt2drst.Y());
  if (!istgt) {
    DPoles2d(Poles2d.Lower()).SetCoord(secmember(1),secmember(2));
    surfrst->D1(pt2drst.X(),pt2drst.Y(),bid,d1urst,d1vrst);
    Standard_Real a, b;
    t3dto2d(a,b,tgrst,d1urst,d1vrst);
    DPoles2d(Poles2d.Upper()).SetCoord(a,b);
  }
  
  // Cas Linear
  if (mySShape == BlendFunc_Linear) {
    Poles(low) = pts;
    Poles(upp) = ptrst;
    Weights(low) = 1.0;
    Weights(upp) = 1.0;
    if (!istgt) {
      DPoles(low) = tgs;
      DPoles(upp) = tgrst;
      DWeights(low) = 0.0;
      DWeights(upp) = 0.0;
    }
    return (!istgt);
  }
  
  // Cas du cercle
  Center.SetXYZ(pts.XYZ()+ray*ns.XYZ());
  if (!istgt) {
    tgct = tgs.Added(ray*dnw);
  }
  
  if (ray > 0.) {
    ns.Reverse();
    if (!istgt) {
      dnw.Reverse();
    }
  }
  if (choix%2 != 0) {
    nplan.Reverse();
    dnplan.Reverse();
  }
  if (!istgt) {
    return GeomFill::GetCircle(myTConv, 
			      ns, ns2, 
			      dnw, dn2w, 
			      nplan, dnplan, 
			      pts, ptrst, 
			      tgs, tgrst, 
			      Abs(ray), 0, 
			      Center, tgct, 
			      Poles, 
			      DPoles,
			      Weights, 
			      DWeights); 
  }
  else {
    GeomFill::GetCircle(myTConv,
		       ns, ns2, 
		       nplan, pts, ptrst,
		       Abs(ray), Center, 
		       Poles, Weights);
    return Standard_False;
  }
}

//=======================================================================
//function : Section
//purpose  : 
//=======================================================================

Standard_Boolean BRepBlend_SurfRstConstRad::Section
(const Blend_Point&,
 TColgp_Array1OfPnt&,
 TColgp_Array1OfVec&,
 TColgp_Array1OfVec&,
 TColgp_Array1OfPnt2d&,
 TColgp_Array1OfVec2d&,
 TColgp_Array1OfVec2d&,
 TColStd_Array1OfReal&,
 TColStd_Array1OfReal&,
 TColStd_Array1OfReal&)
{
  return Standard_False;
}

void BRepBlend_SurfRstConstRad::Resolution(const Standard_Integer IC2d,
					   const Standard_Real Tol,
					   Standard_Real& TolU,
					   Standard_Real& TolV) const
{
  if(IC2d == 1){
    TolU = surf->UResolution(Tol);
    TolV = surf->VResolution(Tol);
  }
  else {
    TolU = surfrst->UResolution(Tol);
    TolV = surfrst->VResolution(Tol);
  }
}

