/***************************************************************************
 *   Copyright (c) 2011 Werner Mayer <wmayer[at]users.sourceforge.net>     *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

#include "PreCompiled.h"

#ifndef _PreComp_
#include <numeric>

#include <gp_Pnt.hxx>
#include <BRepExtrema_DistShapeShape.hxx>
#include <BRepBuilderAPI_MakeVertex.hxx>
#include <BRepClass3d_SolidClassifier.hxx>
#include <BRepGProp_Face.hxx>
#include <TopoDS.hxx>

#include <QtConcurrentMap>
#include <QEventLoop>
#include <QFuture>
#include <QFutureWatcher>

#include <boost_bind_bind.hpp>
#endif

#include <App/Application.h>
#include <Base/Console.h>
#include <Base/FutureWatcherProgress.h>
#include <Base/Parameter.h>
#include <Base/Sequencer.h>
#include <Base/Stream.h>

#include <Mod/Mesh/App/MeshFeature.h>
#include <Mod/Mesh/App/Core/Algorithm.h>
#include <Mod/Mesh/App/Core/Grid.h>
#include <Mod/Mesh/App/Core/Iterator.h>
#include <Mod/Mesh/App/Core/MeshKernel.h>
#include <Mod/Points/App/PointsFeature.h>
#include <Mod/Points/App/PointsGrid.h>
#include <Mod/Part/App/PartFeature.h>

#include "InspectionFeature.h"


using namespace Inspection;
namespace bp = boost::placeholders;

InspectActualMesh::InspectActualMesh(const Mesh::MeshObject& rMesh) : _mesh(rMesh.getKernel())
{
    Base::Matrix4D tmp;
    _clTrf = rMesh.getTransform();
    _bApply = _clTrf != tmp;
}

InspectActualMesh::~InspectActualMesh()
{
}

unsigned long InspectActualMesh::countPoints() const
{
    return _mesh.CountPoints();
}

Base::Vector3f InspectActualMesh::getPoint(unsigned long index) const
{
    Base::Vector3f point = _mesh.GetPoint(index);
    if (_bApply)
        _clTrf.multVec(point, point);
    return point;
}

// ----------------------------------------------------------------

InspectActualPoints::InspectActualPoints(const Points::PointKernel& rPoints) : _rKernel(rPoints)
{
}

unsigned long InspectActualPoints::countPoints() const
{
    return _rKernel.size();
}

Base::Vector3f InspectActualPoints::getPoint(unsigned long index) const
{
    Base::Vector3d p = _rKernel.getPoint(index);
    return Base::Vector3f(float(p.x), float(p.y), float(p.z));
}

// ----------------------------------------------------------------

InspectActualShape::InspectActualShape(const Part::TopoShape& shape) : _rShape(shape)
{
    ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath
        ("User parameter:BaseApp/Preferences/Mod/Part");
    float deviation = hGrp->GetFloat("MeshDeviation",0.2);

    Base::BoundBox3d bbox = _rShape.getBoundBox();
    Standard_Real deflection = (bbox.LengthX() + bbox.LengthY() + bbox.LengthZ())/300.0 * deviation;

    std::vector<Data::ComplexGeoData::Facet> f;
    _rShape.getFaces(points, f, (float)deflection);
}

unsigned long InspectActualShape::countPoints() const
{
    return points.size();
}

Base::Vector3f InspectActualShape::getPoint(unsigned long index) const
{
    return Base::toVector<float>(points[index]);
}

// ----------------------------------------------------------------

namespace Inspection {
    class MeshInspectGrid : public MeshCore::MeshGrid
    {
    public:
        MeshInspectGrid (const MeshCore::MeshKernel &mesh, float fGridLen, const Base::Matrix4D& m)
            : MeshCore::MeshGrid(mesh), _transform(m)
        {
            Base::BoundBox3f clBBMesh = _pclMesh->GetBoundBox().Transformed(m);
            Rebuild(std::max<unsigned long>((unsigned long)(clBBMesh.LengthX() / fGridLen), 1),
                    std::max<unsigned long>((unsigned long)(clBBMesh.LengthY() / fGridLen), 1),
                    std::max<unsigned long>((unsigned long)(clBBMesh.LengthZ() / fGridLen), 1));
        }

        void Validate (const MeshCore::MeshKernel&)
        {
            // do nothing
        }

        void Validate (void)
        {
            // do nothing
        }

        bool Verify() const
        {
            // do nothing
            return true;
        }

    protected:
        void CalculateGridLength (unsigned long /*ulCtGrid*/, unsigned long /*ulMaxGrids*/)
        {
            // do nothing
        }

        void CalculateGridLength (int /*iCtGridPerAxis*/)
        {
            // do nothing
        }

        unsigned long HasElements (void) const
        {
            return _pclMesh->CountFacets();
        }

        void Pos (const Base::Vector3f &rclPoint, unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const
        {
            rulX = (unsigned long)((rclPoint.x - _fMinX) / _fGridLenX);
            rulY = (unsigned long)((rclPoint.y - _fMinY) / _fGridLenY);
            rulZ = (unsigned long)((rclPoint.z - _fMinZ) / _fGridLenZ);

            assert((rulX < _ulCtGridsX) && (rulY < _ulCtGridsY) && (rulZ < _ulCtGridsZ));
        }

        void AddFacet (const MeshCore::MeshGeomFacet &rclFacet, unsigned long ulFacetIndex)
        {
            unsigned long ulX, ulY, ulZ;
            unsigned long ulX1, ulY1, ulZ1, ulX2, ulY2, ulZ2;

            Base::BoundBox3f clBB;
            clBB.Add(rclFacet._aclPoints[0]);
            clBB.Add(rclFacet._aclPoints[1]);
            clBB.Add(rclFacet._aclPoints[2]);

            Pos(Base::Vector3f(clBB.MinX,clBB.MinY,clBB.MinZ), ulX1, ulY1, ulZ1);
            Pos(Base::Vector3f(clBB.MaxX,clBB.MaxY,clBB.MaxZ), ulX2, ulY2, ulZ2);
  

            if ((ulX1 < ulX2) || (ulY1 < ulY2) || (ulZ1 < ulZ2)) {
                for (ulX = ulX1; ulX <= ulX2; ulX++) {
                    for (ulY = ulY1; ulY <= ulY2; ulY++) {
                        for (ulZ = ulZ1; ulZ <= ulZ2; ulZ++) {
                            if (rclFacet.IntersectBoundingBox(GetBoundBox(ulX, ulY, ulZ)))
                                _aulGrid[ulX][ulY][ulZ].insert(ulFacetIndex);
                        }
                    }
                }
            }
            else
                _aulGrid[ulX1][ulY1][ulZ1].insert(ulFacetIndex);
        }

        void InitGrid (void)
        {
            unsigned long i, j;

            Base::BoundBox3f clBBMesh = _pclMesh->GetBoundBox().Transformed(_transform);

            float fLengthX = clBBMesh.LengthX(); 
            float fLengthY = clBBMesh.LengthY();
            float fLengthZ = clBBMesh.LengthZ();

            _fGridLenX = (1.0f + fLengthX) / float(_ulCtGridsX);
            _fMinX = clBBMesh.MinX - 0.5f;

            _fGridLenY = (1.0f + fLengthY) / float(_ulCtGridsY);
            _fMinY = clBBMesh.MinY - 0.5f;

            _fGridLenZ = (1.0f + fLengthZ) / float(_ulCtGridsZ);
            _fMinZ = clBBMesh.MinZ - 0.5f;

            _aulGrid.clear();
            _aulGrid.resize(_ulCtGridsX);
            for (i = 0; i < _ulCtGridsX; i++) {
                _aulGrid[i].resize(_ulCtGridsY);
                for (j = 0; j < _ulCtGridsY; j++)
                    _aulGrid[i][j].resize(_ulCtGridsZ);
            }
        }

        void RebuildGrid (void)
        {
            _ulCtElements = _pclMesh->CountFacets();
            InitGrid();
 
            unsigned long i = 0;
            MeshCore::MeshFacetIterator clFIter(*_pclMesh);
            clFIter.Transform(_transform);
            for (clFIter.Init(); clFIter.More(); clFIter.Next()) {
                AddFacet(*clFIter, i++);
            }
        }

    private:
        Base::Matrix4D _transform;
    };
}

InspectNominalMesh::InspectNominalMesh(const Mesh::MeshObject& rMesh, float offset) : _mesh(rMesh.getKernel())
{
    Base::Matrix4D tmp;
    _clTrf = rMesh.getTransform();
    _bApply = _clTrf != tmp;

    // Max. limit of grid elements
    float fMaxGridElements=8000000.0f;
    Base::BoundBox3f box = _mesh.GetBoundBox().Transformed(rMesh.getTransform());

    // estimate the minimum allowed grid length
    float fMinGridLen = (float)pow((box.LengthX()*box.LengthY()*box.LengthZ()/fMaxGridElements), 0.3333f);
    float fGridLen = 5.0f * MeshCore::MeshAlgorithm(_mesh).GetAverageEdgeLength();

    // We want to avoid to get too small grid elements otherwise building up the grid structure would take
    // too much time and memory. 
    // Having quite a dense grid speeds up more the following algorithms extremely. Due to the issue above it's
    // always a compromise between speed and memory usage.
    fGridLen = std::max<float>(fMinGridLen, fGridLen);

    // build up grid structure to speed up algorithms
    _pGrid = new MeshInspectGrid(_mesh, fGridLen, rMesh.getTransform());
    _box = box;
    _box.Enlarge(offset);
}

InspectNominalMesh::~InspectNominalMesh()
{
    delete this->_pGrid;
}

float InspectNominalMesh::getDistance(const Base::Vector3f& point) const
{
    if (!_box.IsInBox(point))
        return FLT_MAX; // must be inside bbox

    std::vector<unsigned long> indices;
    //_pGrid->GetElements(point, indices);
    if (indices.empty()) {
        std::set<unsigned long> inds;
        _pGrid->MeshGrid::SearchNearestFromPoint(point, inds);
        indices.insert(indices.begin(), inds.begin(), inds.end());
    }

    float fMinDist=FLT_MAX;
    bool positive = true;
    for (std::vector<unsigned long>::iterator it = indices.begin(); it != indices.end(); ++it) {
        MeshCore::MeshGeomFacet geomFace = _mesh.GetFacet(*it);
        if (_bApply) {
            geomFace.Transform(_clTrf);
        }

        float fDist = geomFace.DistanceToPoint(point);
        if (fabs(fDist) < fabs(fMinDist)) {
            fMinDist = fDist;
            positive = point.DistanceToPlane(geomFace._aclPoints[0], geomFace.GetNormal()) > 0;
        }
    }

    if (!positive)
        fMinDist = -fMinDist;
    return fMinDist;
}

// ----------------------------------------------------------------

InspectNominalFastMesh::InspectNominalFastMesh(const Mesh::MeshObject& rMesh, float offset) : _mesh(rMesh.getKernel())
{
    const MeshCore::MeshKernel& kernel = rMesh.getKernel();

    Base::Matrix4D tmp;
    _clTrf = rMesh.getTransform();
    _bApply = _clTrf != tmp;

    // Max. limit of grid elements
    float fMaxGridElements=8000000.0f;
    Base::BoundBox3f box = kernel.GetBoundBox().Transformed(rMesh.getTransform());

    // estimate the minimum allowed grid length
    float fMinGridLen = (float)pow((box.LengthX()*box.LengthY()*box.LengthZ()/fMaxGridElements), 0.3333f);
    float fGridLen = 5.0f * MeshCore::MeshAlgorithm(kernel).GetAverageEdgeLength();

    // We want to avoid to get too small grid elements otherwise building up the grid structure would take
    // too much time and memory. 
    // Having quite a dense grid speeds up more the following algorithms extremely. Due to the issue above it's
    // always a compromise between speed and memory usage.
    fGridLen = std::max<float>(fMinGridLen, fGridLen);

    // build up grid structure to speed up algorithms
    _pGrid = new MeshInspectGrid(kernel, fGridLen, rMesh.getTransform());
    _box = box;
    _box.Enlarge(offset);
    max_level = (unsigned long)(offset/fGridLen);
}

InspectNominalFastMesh::~InspectNominalFastMesh()
{
    delete this->_pGrid;
}

/**
 * This algorithm is not that exact as that from InspectNominalMesh but is by
 * factors faster and sufficient for many cases.
 */
float InspectNominalFastMesh::getDistance(const Base::Vector3f& point) const
{
    if (!_box.IsInBox(point))
        return FLT_MAX; // must be inside bbox

    std::set<unsigned long> indices;
#if 0 // a point in a neighbour grid can be nearer
    std::vector<unsigned long> elements;
    _pGrid->GetElements(point, elements);
    indices.insert(elements.begin(), elements.end());
#else
    unsigned long ulX, ulY, ulZ;
    _pGrid->Position(point, ulX, ulY, ulZ);
    unsigned long ulLevel = 0;
    while (indices.size() == 0 && ulLevel <= max_level)
        _pGrid->GetHull(ulX, ulY, ulZ, ulLevel++, indices);
    if (indices.size() == 0 || ulLevel==1)
        _pGrid->GetHull(ulX, ulY, ulZ, ulLevel, indices);
#endif

    float fMinDist=FLT_MAX;
    bool positive = true;
    for (std::set<unsigned long>::iterator it = indices.begin(); it != indices.end(); ++it) {
        MeshCore::MeshGeomFacet geomFace = _mesh.GetFacet(*it);
        if (_bApply) {
            geomFace.Transform(_clTrf);
        }

        float fDist = geomFace.DistanceToPoint(point);
        if (fabs(fDist) < fabs(fMinDist)) {
            fMinDist = fDist;
            positive = point.DistanceToPlane(geomFace._aclPoints[0], geomFace.GetNormal()) > 0;
        }
    }

    if (!positive)
        fMinDist = -fMinDist;
    return fMinDist;
}

// ----------------------------------------------------------------

InspectNominalPoints::InspectNominalPoints(const Points::PointKernel& Kernel, float /*offset*/)
  : _rKernel(Kernel)
{
    int uGridPerAxis = 50; // totally 125.000 grid elements 
    this->_pGrid = new Points::PointsGrid (Kernel, uGridPerAxis);
}

InspectNominalPoints::~InspectNominalPoints()
{
    delete this->_pGrid;
}

float InspectNominalPoints::getDistance(const Base::Vector3f& point) const
{
    //TODO: Make faster
    std::set<unsigned long> indices;
    unsigned long x,y,z;
    Base::Vector3d pointd(point.x,point.y,point.z);
    _pGrid->Position(pointd, x, y, z);
    _pGrid->GetElements(x,y,z,indices);

    double fMinDist=DBL_MAX;
    for (std::set<unsigned long>::iterator it = indices.begin(); it != indices.end(); ++it) {
        Base::Vector3d pt = _rKernel.getPoint(*it);
        double fDist = Base::Distance(pointd, pt);
        if (fDist < fMinDist) {
            fMinDist = fDist;
        }
    }

    return (float)fMinDist;
}

// ----------------------------------------------------------------

InspectNominalShape::InspectNominalShape(const TopoDS_Shape& shape, float /*radius*/)
    : _rShape(shape)
    , isSolid(false)
{
    distss = new BRepExtrema_DistShapeShape();
    distss->LoadS1(_rShape);

    // When having a solid then use its shell because otherwise the distance
    // for inner points will always be zero
    if (!_rShape.IsNull() && _rShape.ShapeType() == TopAbs_SOLID) {
        TopExp_Explorer xp;
        xp.Init(_rShape, TopAbs_SHELL);
        if (xp.More()) {
           distss->LoadS1(xp.Current());
           isSolid = true;
        }

    }
    //distss->SetDeflection(radius);
}

InspectNominalShape::~InspectNominalShape()
{
    delete distss;
}

float InspectNominalShape::getDistance(const Base::Vector3f& point) const
{
    gp_Pnt pnt3d(point.x,point.y,point.z);
    BRepBuilderAPI_MakeVertex mkVert(pnt3d);
    distss->LoadS2(mkVert.Vertex());

    float fMinDist=FLT_MAX;
    if (distss->Perform() && distss->NbSolution() > 0) {
        fMinDist = (float)distss->Value();
        // the shape is a solid, check if the vertex is inside
        if (isSolid) {
            const Standard_Real tol = 0.001;
            BRepClass3d_SolidClassifier classifier(_rShape);
            classifier.Perform(pnt3d, tol);
            if (classifier.State() == TopAbs_IN) {
                fMinDist = -fMinDist;
            }

        }
        else if (fMinDist > 0) {
            // check if the distance was compued from a face
            for (Standard_Integer index = 1; index <= distss->NbSolution(); index++) {
                if (distss->SupportTypeShape1(index) == BRepExtrema_IsInFace) {
                    TopoDS_Shape face = distss->SupportOnShape1(index);
                    Standard_Real u, v;
                    distss->ParOnFaceS1(index, u, v);
                    //gp_Pnt pnt = distss->PointOnShape1(index);
                    BRepGProp_Face props(TopoDS::Face(face));
                    gp_Vec normal;
                    gp_Pnt center;
                    props.Normal(u, v, center, normal);
                    gp_Vec dir(center, pnt3d);
                    Standard_Real scalar = normal.Dot(dir);
                    if (scalar < 0) {
                        fMinDist = -fMinDist;
                    }
                    break;
                }
            }
        }
    }
    return fMinDist;
}

// ----------------------------------------------------------------

TYPESYSTEM_SOURCE(Inspection::PropertyDistanceList, App::PropertyLists)

PropertyDistanceList::PropertyDistanceList()
{

}

PropertyDistanceList::~PropertyDistanceList()
{

}

void PropertyDistanceList::setSize(int newSize)
{
    _lValueList.resize(newSize);
}

int PropertyDistanceList::getSize(void) const
{
    return static_cast<int>(_lValueList.size());
}

void PropertyDistanceList::setValue(float lValue)
{
    aboutToSetValue();
    _lValueList.resize(1);
    _lValueList[0]=lValue;
    hasSetValue();
}

void PropertyDistanceList::setValues(const std::vector<float>& values)
{
    aboutToSetValue();
    _lValueList = values;
    hasSetValue();
}

PyObject *PropertyDistanceList::getPyObject(void)
{
    PyObject* list = PyList_New(getSize());
    for (int i = 0;i<getSize(); i++)
         PyList_SetItem( list, i, PyFloat_FromDouble(_lValueList[i]));
    return list;
}

void PropertyDistanceList::setPyObject(PyObject *value)
{ 
    if (PyList_Check(value)) {
        Py_ssize_t nSize = PyList_Size(value);
        std::vector<float> values;
        values.resize(nSize);

        for (Py_ssize_t i=0; i<nSize;++i) {
            PyObject* item = PyList_GetItem(value, i);
            if (!PyFloat_Check(item)) {
                std::string error = std::string("type in list must be float, not ");
                error += item->ob_type->tp_name;
                throw Py::TypeError(error);
            }
            
            values[i] = (float)PyFloat_AsDouble(item);
        }

        setValues(values);
    }
    else if (PyFloat_Check(value)) {
        setValue((float)PyFloat_AsDouble(value));
    } 
    else {
        std::string error = std::string("type must be float or list of float, not ");
        error += value->ob_type->tp_name;
        throw Py::TypeError(error);
    }
}

void PropertyDistanceList::Save (Base::Writer &writer) const
{
    if (writer.isForceXML()) {
        writer.Stream() << writer.ind() << "<FloatList count=\"" <<  getSize() <<"\">" << std::endl;
        writer.incInd();
        for(int i = 0;i<getSize(); i++)
            writer.Stream() << writer.ind() << "<F v=\"" <<  _lValueList[i] <<"\"/>" << std::endl;
        writer.decInd();
        writer.Stream() << writer.ind() <<"</FloatList>" << std::endl;
    }
    else {
        writer.Stream() << writer.ind() << "<FloatList file=\"" << 
        writer.addFile(getName(), this) << "\"/>" << std::endl;
    }
}

void PropertyDistanceList::Restore(Base::XMLReader &reader)
{
    reader.readElement("FloatList");
    std::string file (reader.getAttribute("file") );

    if (!file.empty()) {
        // initiate a file read
        reader.addFile(file.c_str(),this);
    }
}

void PropertyDistanceList::SaveDocFile (Base::Writer &writer) const
{
    Base::OutputStream str(writer.Stream());
    uint32_t uCt = (uint32_t)getSize();
    str << uCt;
    for (std::vector<float>::const_iterator it = _lValueList.begin(); it != _lValueList.end(); ++it) {
        str << *it;
    }
}

void PropertyDistanceList::RestoreDocFile(Base::Reader &reader)
{
    Base::InputStream str(reader);
    uint32_t uCt=0;
    str >> uCt;
    std::vector<float> values(uCt);
    for (std::vector<float>::iterator it = values.begin(); it != values.end(); ++it) {
        str >> *it;
    }
    setValues(values);
}

App::Property *PropertyDistanceList::Copy(void) const
{
    PropertyDistanceList *p= new PropertyDistanceList();
    p->_lValueList = _lValueList;
    return p;
}

void PropertyDistanceList::Paste(const App::Property &from)
{
    aboutToSetValue();
    _lValueList = dynamic_cast<const PropertyDistanceList&>(from)._lValueList;
    hasSetValue();
}

unsigned int PropertyDistanceList::getMemSize (void) const
{
    return static_cast<unsigned int>(_lValueList.size() * sizeof(float));
}

// ----------------------------------------------------------------

namespace Inspection {
// helper class to use Qt's concurrent framework
struct DistanceInspection
{

    DistanceInspection(float radius, InspectActualGeometry*  a,
                       std::vector<InspectNominalGeometry*> n)
                    : radius(radius), actual(a), nominal(n)
    {
    }
    float mapped(unsigned long index) const
    {
        Base::Vector3f pnt = actual->getPoint(index);

        float fMinDist=FLT_MAX;
        for (std::vector<InspectNominalGeometry*>::const_iterator it = nominal.begin(); it != nominal.end(); ++it) {
            float fDist = (*it)->getDistance(pnt);
            if (fabs(fDist) < fabs(fMinDist))
                fMinDist = fDist;
        }

        if (fMinDist > this->radius)
            fMinDist = FLT_MAX;
        else if (-fMinDist > this->radius)
            fMinDist = -FLT_MAX;

        return fMinDist;
    }

    float radius;
    InspectActualGeometry*  actual;
    std::vector<InspectNominalGeometry*> nominal;
};

// Helper internal class for QtConcurrent map operation. Holds sums-of-squares and counts for RMS calculation
class DistanceInspectionRMS {
public:
    DistanceInspectionRMS() : m_numv(0), m_sumsq(0.0) {}
    DistanceInspectionRMS& operator += (const DistanceInspectionRMS& rhs)
    {
        this->m_numv += rhs.m_numv;
        this->m_sumsq += rhs.m_sumsq;
        return *this;
    }
    double getRMS()
    {
        return sqrt(this->m_sumsq / (double)this->m_numv);
    }
    int m_numv;
    double m_sumsq;
};
}

PROPERTY_SOURCE(Inspection::Feature, App::DocumentObject)

Feature::Feature()
{
    ADD_PROPERTY(SearchRadius,(0.05));
    ADD_PROPERTY(Thickness,(0.0));
    ADD_PROPERTY(Actual,(nullptr));
    ADD_PROPERTY(Nominals,(nullptr));
    ADD_PROPERTY(Distances,(0.0));
}

Feature::~Feature()
{
}

short Feature::mustExecute() const
{
    if (SearchRadius.isTouched())
        return 1;
    if (Thickness.isTouched())
        return 1;
    if (Actual.isTouched())
        return 1;
    if (Nominals.isTouched())
        return 1;
    return 0;
}

App::DocumentObjectExecReturn* Feature::execute(void)
{
    bool useMultithreading = true;

    App::DocumentObject* pcActual = Actual.getValue();
    if (!pcActual)
        throw Base::ValueError("No actual geometry to inspect specified");

    InspectActualGeometry* actual = nullptr;
    if (pcActual->getTypeId().isDerivedFrom(Mesh::Feature::getClassTypeId())) {
        Mesh::Feature* mesh = static_cast<Mesh::Feature*>(pcActual);
        actual = new InspectActualMesh(mesh->Mesh.getValue());
    }
    else if (pcActual->getTypeId().isDerivedFrom(Points::Feature::getClassTypeId())) {
        Points::Feature* pts = static_cast<Points::Feature*>(pcActual);
        actual = new InspectActualPoints(pts->Points.getValue());
    }
    else if (pcActual->getTypeId().isDerivedFrom(Part::Feature::getClassTypeId())) {
        useMultithreading = false;
        Part::Feature* part = static_cast<Part::Feature*>(pcActual);
        actual = new InspectActualShape(part->Shape.getShape());
    }
    else {
        throw Base::TypeError("Unknown geometric type");
    }

    // get a list of nominals
    std::vector<InspectNominalGeometry*> inspectNominal;
    const std::vector<App::DocumentObject*>& nominals = Nominals.getValues();
    for (std::vector<App::DocumentObject*>::const_iterator it = nominals.begin(); it != nominals.end(); ++it) {
        InspectNominalGeometry* nominal = nullptr;
        if ((*it)->getTypeId().isDerivedFrom(Mesh::Feature::getClassTypeId())) {
            Mesh::Feature* mesh = static_cast<Mesh::Feature*>(*it);
            nominal = new InspectNominalMesh(mesh->Mesh.getValue(), this->SearchRadius.getValue());
        }
        else if ((*it)->getTypeId().isDerivedFrom(Points::Feature::getClassTypeId())) {
            Points::Feature* pts = static_cast<Points::Feature*>(*it);
            nominal = new InspectNominalPoints(pts->Points.getValue(), this->SearchRadius.getValue());
        }
        else if ((*it)->getTypeId().isDerivedFrom(Part::Feature::getClassTypeId())) {
            useMultithreading = false;
            Part::Feature* part = static_cast<Part::Feature*>(*it);
            nominal = new InspectNominalShape(part->Shape.getValue(), this->SearchRadius.getValue());
        }

        if (nominal)
            inspectNominal.push_back(nominal);
    }

#if 0
#if 1 // test with some huge data sets
    std::vector<unsigned long> index(actual->countPoints());
    std::generate(index.begin(), index.end(), Base::iotaGen<unsigned long>(0));
    DistanceInspection check(this->SearchRadius.getValue(), actual, inspectNominal);
    QFuture<float> future = QtConcurrent::mapped
        (index, boost::bind(&DistanceInspection::mapped, &check, bp::_1));
    //future.waitForFinished(); // blocks the GUI
    Base::FutureWatcherProgress progress("Inspecting...", actual->countPoints());
    QFutureWatcher<float> watcher;
    QObject::connect(&watcher, SIGNAL(progressValueChanged(int)),
                     &progress, SLOT(progressValueChanged(int)));

    // keep it responsive during computation
    QEventLoop loop;
    QObject::connect(&watcher, SIGNAL(finished()), &loop, SLOT(quit()));
    watcher.setFuture(future);
    loop.exec();

    std::vector<float> vals;
    vals.insert(vals.end(), future.begin(), future.end());
#else
    DistanceInspection insp(this->SearchRadius.getValue(), actual, inspectNominal);
    unsigned long count = actual->countPoints();
    std::stringstream str;
    str << "Inspecting " << this->Label.getValue() << "...";
    Base::SequencerLauncher seq(str.str().c_str(), count);

    std::vector<float> vals(count);
    for (unsigned long index = 0; index < count; index++) {
        float fMinDist = insp.mapped(index);
        vals[index] = fMinDist;
        seq.next();
    }
#endif

    Distances.setValues(vals);

    float fRMS = 0;
    int countRMS = 0;
    for (std::vector<float>::iterator it = vals.begin(); it != vals.end(); ++it) {
        if (fabs(*it) < FLT_MAX) {
            fRMS += (*it) * (*it);
            countRMS++;
        }
    }

    if (countRMS > 0) {
        fRMS = fRMS / countRMS;
        fRMS = sqrt(fRMS);
    }

    Base::Console().Message("RMS value for '%s' with search radius [%.4f,%.4f] is: %.4f\n",
        this->Label.getValue(), -this->SearchRadius.getValue(), this->SearchRadius.getValue(), fRMS);
#else
    unsigned long count = actual->countPoints();
    std::vector<float> vals(count);
    std::function<DistanceInspectionRMS(int)> fMap = [&](unsigned int index)
    {
        DistanceInspectionRMS res;
        Base::Vector3f pnt = actual->getPoint(index);

        float fMinDist = FLT_MAX;
        for (std::vector<InspectNominalGeometry*>::iterator it = inspectNominal.begin(); it != inspectNominal.end(); ++it) {
            float fDist = (*it)->getDistance(pnt);
            if (fabs(fDist) < fabs(fMinDist))
                fMinDist = fDist;
        }

        if (fMinDist > this->SearchRadius.getValue()) {
            fMinDist = FLT_MAX;
        }
        else if (-fMinDist > this->SearchRadius.getValue()) {
            fMinDist = -FLT_MAX;
        }
        else {
            res.m_sumsq += fMinDist * fMinDist;
            res.m_numv++;
        }

        vals[index] = fMinDist;
        return res;
    };

    DistanceInspectionRMS res;

    if (useMultithreading) {
        // Build vector of increasing indices
        std::vector<unsigned long> index(count);
        std::iota(index.begin(), index.end(), 0);
        // Perform map-reduce operation : compute distances and update sum of squares for RMS computation
        QFuture<DistanceInspectionRMS> future = QtConcurrent::mappedReduced(
            index, fMap, &DistanceInspectionRMS::operator+=);
        // Setup progress bar
        Base::FutureWatcherProgress progress("Inspecting...", actual->countPoints());
        QFutureWatcher<DistanceInspectionRMS> watcher;
        QObject::connect(&watcher, SIGNAL(progressValueChanged(int)),
            &progress, SLOT(progressValueChanged(int)));
        // Keep UI responsive during computation
        QEventLoop loop;
        QObject::connect(&watcher, SIGNAL(finished()), &loop, SLOT(quit()));
        watcher.setFuture(future);
        loop.exec();
        res = future.result();
    }
    else {
        // Single-threaded operation
        std::stringstream str;
        str << "Inspecting " << this->Label.getValue() << "...";
        Base::SequencerLauncher seq(str.str().c_str(), count);

        for (unsigned int i = 0; i < count; i++)
            res += fMap(i);
    }

    Base::Console().Message("RMS value for '%s' with search radius [%.4f,%.4f] is: %.4f\n",
        this->Label.getValue(), -this->SearchRadius.getValue(), this->SearchRadius.getValue(), res.getRMS());
    Distances.setValues(vals);
#endif

    delete actual;
    for (std::vector<InspectNominalGeometry*>::iterator it = inspectNominal.begin(); it != inspectNominal.end(); ++it)
        delete *it;

    return nullptr;
}

// ----------------------------------------------------------------

PROPERTY_SOURCE(Inspection::Group, App::DocumentObjectGroup)


Group::Group()
{
}

Group::~Group()
{
}