// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------

#pragma once

#include "cub/cub.cuh"
#include "open3d/core/CUDAUtils.h"
#include "open3d/core/nns/NeighborSearchCommon.h"
#include "open3d/utility/Helper.h"
#include "open3d/utility/MiniVec.h"

namespace open3d {
namespace core {
namespace nns {
namespace impl {

namespace {

template <int METRIC = L2, class T, int NDIM>
inline __device__ T NeighborsDist(const utility::MiniVec<T, NDIM> &p1,
                                  const utility::MiniVec<T, NDIM> &p2) {
    T dist;
    if (METRIC == Linf) {
        utility::MiniVec<T, NDIM> d = (p1 - p2).abs();
        dist = d[0] > d[1] ? d[0] : d[1];
        for (int i = 2; i < NDIM; ++i) {
            dist = dist > d[i] ? dist : d[i];
        }
    } else if (METRIC == L1) {
        utility::MiniVec<T, NDIM> d = (p1 - p2).abs();
        for (int i = 0; i < NDIM; ++i) {
            dist += d[i];
        }
    } else {
        utility::MiniVec<T, NDIM> d = p1 - p2;
        dist = d.dot(d);
    }
    return dist;
}

template <class T>
inline __device__ void Swap(T *x, T *y) {
    T tmp = *x;
    *x = *y;
    *y = tmp;
}

template <class T, class TIndex>
inline __device__ void Heapify(T *dist, TIndex *idx, int root, int k) {
    int child = root * 2 + 1;

    while (child < k) {
        if (child + 1 < k && dist[child + 1] > dist[child]) {
            child++;
        }
        if (dist[root] > dist[child]) {
            return;
        }
        Swap<T>(&dist[root], &dist[child]);
        Swap<TIndex>(&idx[root], &idx[child]);
        root = child;
        child = root * 2 + 1;
    }
}

template <class T, class TIndex>
__device__ void HeapSort(T *dist, TIndex *idx, int k) {
    int i;
    for (i = k - 1; i > 0; i--) {
        Swap<T>(&dist[0], &dist[i]);
        Swap<TIndex>(&idx[0], &idx[i]);
        Heapify<T, TIndex>(dist, idx, 0, i);
    }
}

template <class T, class TIndex, int METRIC = L2, int NDIM>
__global__ void KnnQueryKernel(TIndex *__restrict__ indices_ptr,
                               T *__restrict__ distances_ptr,
                               size_t num_points,
                               const T *__restrict__ points,
                               size_t num_queries,
                               const T *__restrict__ queries,
                               int knn) {
    int query_idx = blockIdx.x * blockDim.x + threadIdx.x;
    if (query_idx >= num_queries) return;

    typedef utility::MiniVec<T, NDIM> Vec_t;

    Vec_t query_pos(queries + NDIM * query_idx);

    T best_dist[100];
    int best_idx[100];

    for (int i = 0; i < knn; i++) {
        best_dist[i] = 1e10;
        best_idx[i] = 0;
    }

    for (int i = 0; i < num_points; i++) {
        Vec_t dataset_pos(points + NDIM * i);
        T dist = NeighborsDist<METRIC>(query_pos, dataset_pos);
        if (dist < best_dist[0]) {
            best_dist[0] = dist;
            best_idx[0] = i;
            Heapify(best_dist, best_idx, 0, knn);
        }
    }
    HeapSort(best_dist, best_idx, knn);
    for (int i = 0; i < knn; i++) {
        indices_ptr[i + knn * query_idx] = best_idx[i];
        distances_ptr[i + knn * query_idx] = best_dist[i];
    }
}
}  // namespace

template <class T, class TIndex, int NDIM>
void KnnQuery(const cudaStream_t &stream,
              TIndex *indices_ptr,
              T *distances_ptr,
              size_t num_points,
              const T *const points,
              size_t num_queries,
              const T *const queries,
              int knn) {
    // input: queries: (m, 3), points: (n, 3), idx: (m, knn)
    const int BLOCKSIZE = 256;
    dim3 block(BLOCKSIZE, 1, 1);
    dim3 grid(0, 1, 1);
    grid.x = utility::DivUp(num_queries, block.x);

    if (grid.x) {
        KnnQueryKernel<T, TIndex, L2, NDIM><<<grid, block, 0, stream>>>(
                indices_ptr, distances_ptr, num_points, points, num_queries,
                queries, knn);
    }
}

}  // namespace impl
}  // namespace nns
}  // namespace core
}  // namespace open3d
