/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#include "imstkPbdModel.h"
#include "imstkGraph.h"
#include "imstkLineMesh.h"
#include "imstkLogger.h"
#include "imstkParallelUtils.h"
#include "imstkPbdSolver.h"
#include "imstkSurfaceMesh.h"
#include "imstkTaskGraph.h"
#include "imstkTetrahedralMesh.h"
#include "imstkPbdConstraintFunctor.h"

namespace imstk
{
void
PbdModelConfig::computeElasticConstants()
{
    if (std::abs(m_femParams->m_mu) < std::numeric_limits<double>::min()
        && std::abs(m_femParams->m_lambda) < std::numeric_limits<double>::min())
    {
        const double E  = m_femParams->m_YoungModulus;
        const double nu = m_femParams->m_PoissonRatio;
        m_femParams->m_mu     = E / 2.0 / (1.0 + nu);
        m_femParams->m_lambda = E * nu / ((1.0 + nu) * (1.0 - 2.0 * nu));
    }
    else
    {
        const double mu     = m_femParams->m_mu;
        const double lambda = m_femParams->m_lambda;
        m_femParams->m_YoungModulus = mu * (3.0 * lambda + 2.0 * mu) / (lambda + mu);
        m_femParams->m_PoissonRatio = lambda / 2.0 / (lambda + mu);
    }
}

void
PbdModelConfig::enableConstraint(ConstraintGenType type, double stiffness)
{
    auto& funcs = m_functors[type];
    if (type == ConstraintGenType::Distance)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdDistanceConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdDistanceConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
    }
    else if (type == ConstraintGenType::Volume)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdVolumeConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdVolumeConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
    }
    else if (type == ConstraintGenType::Area)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdAreaConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdAreaConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
    }
    else if (type == ConstraintGenType::Bend)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdBendConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdBendConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
        functor->setStride(1);
    }
    else if (type == ConstraintGenType::Dihedral)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdDihedralConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdDihedralConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
    }
    else if (type == ConstraintGenType::ConstantDensity)
    {
        if (funcs.size() == 0)
        {
            funcs.push_back(std::make_shared<PbdConstantDensityConstraintFunctor>());
        }
        auto functor = std::dynamic_pointer_cast<PbdConstantDensityConstraintFunctor>(funcs.front());
        functor->setStiffness(stiffness);
    }
    else
    {
        LOG(FATAL) << "There exists no standard constraint functor for the ConstraintGenType";
    }
}

void
PbdModelConfig::enableBendConstraint(const double stiffness, const int stride)
{
    auto& funcs = m_functors[ConstraintGenType::Bend];

    // Find the functor with the same stride
    std::shared_ptr<PbdBendConstraintFunctor> foundFunctor = nullptr;
    for (auto functor : funcs)
    {
        auto bendFunctor =
            std::dynamic_pointer_cast<PbdBendConstraintFunctor>(functor);
        if (bendFunctor->getStride() == stride)
        {
            foundFunctor = bendFunctor;
            break;
        }
    }

    // If one with stride not found, create our own
    if (foundFunctor == nullptr)
    {
        foundFunctor = std::make_shared<PbdBendConstraintFunctor>();
        funcs.push_back(foundFunctor);
    }

    foundFunctor->setStiffness(stiffness);
    foundFunctor->setStride(stride);
}

void
PbdModelConfig::enableFemConstraint(PbdFemConstraint::MaterialType material)
{
    auto& funcs = m_functors[ConstraintGenType::FemTet];
    if (funcs.size() == 0)
    {
        funcs.push_back(std::make_shared<PbdFemTetConstraintFunctor>());
    }
    auto functor = std::dynamic_pointer_cast<PbdFemTetConstraintFunctor>(funcs.front());
    functor->setFemConfig(m_femParams);
    functor->setMaterialType(material);
}

PbdModel::PbdModel() : DynamicalModel(DynamicalModelType::PositionBasedDynamics),
    m_mass(std::make_shared<DataArray<double>>()),
    m_invMass(std::make_shared<DataArray<double>>()),
    m_fixedNodeInvMass(std::make_shared<std::unordered_map<size_t, double>>()),
    m_config(std::make_shared<PbdModelConfig>())
{
    m_validGeometryTypes = {
        "PointSet",
        "LineMesh",
        "SurfaceMesh",
        "TetrahedralMesh",
        "HexahedralMesh"
    };

    // Setup PBD compute nodes
    m_integrationPositionNode = m_taskGraph->addFunction("PbdModel_IntegratePosition", std::bind(&PbdModel::integratePosition, this));
    m_solveConstraintsNode    = m_taskGraph->addFunction("PbdModel_SolveConstraints", [&]() { m_pbdSolver->solve(); }); // Avoids rebinding on solver swap
    m_updateVelocityNode      = m_taskGraph->addFunction("PbdModel_UpdateVelocity", std::bind(&PbdModel::updateVelocity, this));
}

void
PbdModel::configure(std::shared_ptr<PbdModelConfig> config)
{
    m_config = config;
}

bool
PbdModel::initialize()
{
    LOG_IF(FATAL, (!this->getModelGeometry())) << "Model geometry is not yet set! Cannot initialize without model geometry.";

    initState();

    // Initialize constraints
    {
        m_constraints = std::make_shared<PbdConstraintContainer>();

        m_config->computeElasticConstants();

        auto pointSet = std::dynamic_pointer_cast<PointSet>(getModelGeometry());
        for (auto functorVec : m_config->m_functors)
        {
            for (auto functorPtr : functorVec.second)
            {
                PbdConstraintFunctor& functor = *functorPtr;
                functor.setGeometry(pointSet);
                functor(*m_constraints);
            }
        }

        // Partition constraints for parallel computation
        if (m_config->m_doPartitioning)
        {
            m_constraints->partitionConstraints(static_cast<int>(m_partitionThreshold));
        }
        else
        {
            m_constraints->clearPartitions();
        }
    }

    // Setup the default pbd solver if none exists
    if (m_pbdSolver == nullptr)
    {
        m_pbdSolver = std::make_shared<PbdSolver>();
        m_pbdSolver->setIterations(m_config->m_iterations);
        m_pbdSolver->setSolverType(m_config->m_solverType);
    }
    m_pbdSolver->setPositions(getCurrentState()->getPositions());
    m_pbdSolver->setInvMasses(getInvMasses());
    m_pbdSolver->setConstraints(getConstraints());
    m_pbdSolver->setTimeStep(m_config->m_dt);

    this->setTimeStepSizeType(m_timeStepSizeType);

    return true;
}

void
PbdModel::initState()
{
    // Get the mesh
    m_mesh = std::dynamic_pointer_cast<PointSet>(m_geometry);
    const int numParticles = m_mesh->getNumVertices();

    m_initialState  = std::make_shared<PbdState>(numParticles);
    m_previousState = std::make_shared<PbdState>(numParticles);
    m_currentState  = std::make_shared<PbdState>(numParticles);

    // Set the positional values (by ptr reference)
    m_initialState->setPositions(m_mesh->getInitialVertexPositions());
    m_currentState->setPositions(m_mesh->getVertexPositions());
    m_previousState->setPositions(std::make_shared<VecDataArray<double, 3>>(*m_mesh->getVertexPositions()));

    // Initialize Mass+InvMass
    {
        // If the input mesh has masses defined, use those
        std::shared_ptr<AbstractDataArray> masses = m_mesh->getVertexAttribute("Mass");
        if (masses != nullptr && masses->getNumberOfComponents() == 1 && masses->getScalarType() == IMSTK_DOUBLE && masses->size() == numParticles)
        {
            m_mass = std::dynamic_pointer_cast<DataArray<double>>(masses);
            m_invMass->resize(m_mass->size());
            for (int i = 0; i < m_mass->size(); i++)
            {
                (*m_invMass)[i] = ((*m_mass)[i] == 0.0) ? 0.0 : 1.0 / (*m_mass)[i];
            }
        }
        // If not, initialize as uniform and put on mesh
        else
        {
            // Initialize as uniform
            m_mass->resize(numParticles);
            m_invMass->resize(numParticles);

            const double uniformMass = m_config->m_uniformMassValue;
            std::fill(m_mass->begin(), m_mass->end(), uniformMass);
            std::fill(m_invMass->begin(), m_invMass->end(), (uniformMass != 0.0) ? 1.0 / uniformMass : 0.0);

            m_mesh->setVertexAttribute("Mass", m_mass);
        }
        m_mesh->setVertexAttribute("InvMass", m_invMass);
    }

    // Initialize Velocities
    {
        // If the input mesh has per vertex velocities, use those
        std::shared_ptr<AbstractDataArray> velocities = m_mesh->getVertexAttribute("Velocities");
        if (velocities != nullptr && velocities->getNumberOfComponents() == 3 && velocities->getScalarType() == IMSTK_DOUBLE
            && std::dynamic_pointer_cast<VecDataArray<double, 3>>(velocities)->size() == numParticles)
        {
            m_currentState->setVelocities(std::dynamic_pointer_cast<VecDataArray<double, 3>>(velocities));
        }
        // If not, put existing (0 initialized velocities) on mesh
        else
        {
            m_mesh->setVertexAttribute("Velocities", m_currentState->getVelocities());
        }
    }

    // Define accelerations on the geometry
    m_mesh->setVertexAttribute("Accelerations", m_currentState->getAccelerations());

    // Overwrite some masses for specified fixed points
    for (auto i : m_config->m_fixedNodeIds)
    {
        setFixedPoint(i);
    }
}

void
PbdModel::initGraphEdges(std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink)
{
    // Setup graph connectivity
    m_taskGraph->addEdge(source, m_integrationPositionNode);
    m_taskGraph->addEdge(m_integrationPositionNode, m_solveConstraintsNode);
    m_taskGraph->addEdge(m_solveConstraintsNode, m_updateVelocityNode);
    m_taskGraph->addEdge(m_updateVelocityNode, sink);
}

void
PbdModel::addConstraints(std::shared_ptr<std::unordered_set<size_t>> vertices)
{
    for (const auto& functorVec : m_config->m_functors)
    {
        for (const auto& functor : functorVec.second)
        {
            functor->addConstraints(*m_constraints, vertices);
        }
    }
}

void
PbdModel::setParticleMass(const double val, const size_t idx)
{
    DataArray<double>& masses    = *m_mass;
    DataArray<double>& invMasses = *m_invMass;
    if (idx < m_mesh->getNumVertices())
    {
        masses[idx]    = val;
        invMasses[idx] = 1.0 / val;
    }
}

void
PbdModel::setFixedPoint(const size_t idx)
{
    DataArray<double>&                  invMasses = *m_invMass;
    std::unordered_map<size_t, double>& fixedNodeInvMass = *m_fixedNodeInvMass;
    if (idx < m_mesh->getNumVertices())
    {
        fixedNodeInvMass[idx] = invMasses[idx];
        invMasses[idx] = 0.0;
    }
}

void
PbdModel::setPointUnfixed(const size_t idx)
{
    DataArray<double>&                  invMasses = *m_invMass;
    std::unordered_map<size_t, double>& fixedNodeInvMass = *m_fixedNodeInvMass;
    if (fixedNodeInvMass.find(idx) != fixedNodeInvMass.end())
    {
        invMasses[idx] = fixedNodeInvMass[idx];
        fixedNodeInvMass.erase(idx);
    }
}

void
PbdModel::integratePosition()
{
    std::shared_ptr<VecDataArray<double, 3>> prevPosPtr = m_previousState->getPositions();
    VecDataArray<double, 3>&                 prevPos    = *prevPosPtr;

    std::shared_ptr<VecDataArray<double, 3>> posPtr = m_currentState->getPositions();
    VecDataArray<double, 3>&                 pos    = *posPtr;

    std::shared_ptr<VecDataArray<double, 3>> velPtr = m_currentState->getVelocities();
    VecDataArray<double, 3>&                 vel    = *velPtr;

    std::shared_ptr<VecDataArray<double, 3>> accnPtr   = m_currentState->getAccelerations();
    VecDataArray<double, 3>&                 accn      = *accnPtr;
    const DataArray<double>&                 invMasses = *m_invMass;

    ParallelUtils::parallelFor(m_mesh->getNumVertices(),
        [&](const size_t i)
        {
            if (std::abs(invMasses[i]) > 0.0)
            {
                vel[i]    += (accn[i] + m_config->m_gravity) * m_config->m_dt;
                accn[i]    = Vec3d::Zero();
                prevPos[i] = pos[i];
                pos[i]    += (1.0 - m_config->m_viscousDampingCoeff) * vel[i] * m_config->m_dt;
            }
        }, m_mesh->getNumVertices() > 50);
}

void
PbdModel::updateVelocity()
{
    std::shared_ptr<VecDataArray<double, 3>> prevPosPtr = m_previousState->getPositions();
    const VecDataArray<double, 3>&           prevPos    = *prevPosPtr;
    std::shared_ptr<VecDataArray<double, 3>> posPtr     = m_currentState->getPositions();
    const VecDataArray<double, 3>&           pos       = *posPtr;
    std::shared_ptr<VecDataArray<double, 3>> velPtr    = m_currentState->getVelocities();
    VecDataArray<double, 3>&                 vel       = *velPtr;
    const DataArray<double>&                 invMasses = *m_invMass;

    if (m_config->m_dt > 0.0)
    {
        const double invDt = 1.0 / m_config->m_dt;
        ParallelUtils::parallelFor(m_mesh->getNumVertices(),
            [&](const size_t i)
            {
                if (std::abs(invMasses[i]) > 0.0)
                {
                    vel[i] = (pos[i] - prevPos[i]) * invDt;
                }
            }, m_mesh->getNumVertices() > 50);
    }
}
} // namespace imstk