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

   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 "imstkGeometryUtilities.h"
#include "imstkHexahedralMesh.h"
#include "imstkImageData.h"
#include "imstkLineMesh.h"
#include "imstkLogger.h"
#include "imstkOrientedBox.h"
#include "imstkParallelUtils.h"
#include "imstkPlane.h"
#include "imstkSphere.h"
#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"

#include <vtkCellData.h>
#include <vtkCharArray.h>
#include <vtkCleanPolyData.h>
#include <vtkCubeSource.h>
#include <vtkDoubleArray.h>
#include <vtkFeatureEdges.h>
#include <vtkFloatArray.h>
#include <vtkImageData.h>
#include <vtkMassProperties.h>
#include <vtkPlaneSource.h>
#include <vtkPointData.h>
#include <vtkShortArray.h>
#include <vtkSphereSource.h>
#include <vtkTransform.h>
#include <vtkTransformFilter.h>
#include <vtkTriangleFilter.h>
#include <vtkUnsignedCharArray.h>
#include <vtkUnsignedIntArray.h>
#include <vtkUnsignedLongArray.h>
#include <vtkUnsignedShortArray.h>
#include <vtkUnstructuredGrid.h>

static vtkSmartPointer<vtkDataArray>
makeVtkDataArray(unsigned char type)
{
    vtkSmartPointer<vtkDataArray> arr = nullptr;
    switch (type)
    {
    case VTK_CHAR:
        arr = vtkSmartPointer<vtkCharArray>::New();
        break;
    case VTK_UNSIGNED_CHAR:
        arr = vtkSmartPointer<vtkUnsignedCharArray>::New();
        break;
    case VTK_SHORT:
        arr = vtkSmartPointer<vtkShortArray>::New();
        break;
    case VTK_UNSIGNED_SHORT:
        arr = vtkSmartPointer<vtkUnsignedShortArray>::New();
        break;
    case VTK_INT:
        arr = vtkSmartPointer<vtkIntArray>::New();
        break;
    case VTK_UNSIGNED_INT:
        arr = vtkSmartPointer<vtkUnsignedIntArray>::New();
        break;
    case VTK_FLOAT:
        arr = vtkSmartPointer<vtkFloatArray>::New();
        break;
    case VTK_DOUBLE:
        arr = vtkSmartPointer<vtkDoubleArray>::New();
        break;
    case VTK_LONG_LONG:
        arr = vtkSmartPointer<vtkLongLongArray>::New();
        break;
    case VTK_UNSIGNED_LONG_LONG:
        arr = vtkSmartPointer<vtkUnsignedLongArray>::New();
        break;
    default:
        LOG(WARNING) << "Unknown scalar type";
        break;
    }
    ;
    return arr;
}

namespace imstk
{
vtkSmartPointer<vtkDataArray>
GeometryUtils::coupleVtkDataArray(std::shared_ptr<AbstractDataArray> imstkArray)
{
    CHECK(imstkArray != nullptr) << "AbstractDataArray provided is not valid!";
    CHECK(imstkArray->getVoidPointer() != nullptr) << "AbstractDataArray data provided is not valid!";

    // Create corresponding data array
    vtkSmartPointer<vtkDataArray> arr = makeVtkDataArray(imstkToVtkScalarType[imstkArray->getScalarType()]);
    arr->SetNumberOfComponents(imstkArray->getNumberOfComponents());
    arr->SetVoidArray(imstkArray->getVoidPointer(), imstkArray->size(), 1);

    return arr;
}

vtkSmartPointer<vtkImageData>
GeometryUtils::coupleVtkImageData(std::shared_ptr<ImageData> imageData)
{
    CHECK(imageData != nullptr) << "ImageData provided is not valid!";

    // VTK puts center of min voxel at origin of world space, we put min of bot voxel at origin
    std::shared_ptr<AbstractDataArray> arr    = imageData->getScalars();
    vtkSmartPointer<vtkDataArray>      vtkArr = coupleVtkDataArray(arr);

    vtkSmartPointer<vtkImageData> imageDataVtk = vtkSmartPointer<vtkImageData>::New();
    imageDataVtk->SetDimensions(imageData->getDimensions().data());
    imageDataVtk->SetSpacing(imageData->getSpacing().data());
    const Vec3d vtkOrigin = imageData->getOrigin() + imageData->getSpacing() * 0.5;
    imageDataVtk->SetOrigin(vtkOrigin.data());
    imageDataVtk->SetNumberOfScalarComponents(imageData->getNumComponents(), imageDataVtk->GetInformation());
    imageDataVtk->SetScalarType(imstkToVtkScalarType[arr->getScalarType()], imageDataVtk->GetInformation());
    imageDataVtk->GetPointData()->SetScalars(vtkArr);
    return imageDataVtk;
}

vtkSmartPointer<vtkDataArray>
GeometryUtils::copyToVtkDataArray(std::shared_ptr<AbstractDataArray> imstkArray)
{
    CHECK(imstkArray != nullptr) << "AbstractDataArray provided is not valid!";

    // Create resulting data array
    vtkSmartPointer<vtkDataArray> arr = makeVtkDataArray(imstkToVtkScalarType[imstkArray->getScalarType()]);
    arr->SetNumberOfComponents(imstkArray->getNumberOfComponents());
    arr->SetNumberOfTuples(imstkArray->size() / imstkArray->getNumberOfComponents());
    switch (imstkArray->getScalarType())
    {
        TemplateMacro(std::copy_n(static_cast<IMSTK_TT*>(imstkArray->getVoidPointer()), imstkArray->size(), static_cast<IMSTK_TT*>(arr->GetVoidPointer(0))); );
    default:
        LOG(WARNING) << "Unknown scalar type";
        break;
    }

    return arr;
}

std::shared_ptr<AbstractDataArray>
GeometryUtils::copyToDataArray(vtkSmartPointer<vtkDataArray> vtkArray)
{
    CHECK(vtkArray != nullptr) << "vtkDataArray provided is not valid!";

    std::shared_ptr<AbstractDataArray> arr = nullptr;

    const int numComps = vtkArray->GetNumberOfComponents();

    // Create and copy the array
    switch (vtkToImstkScalarType[vtkArray->GetDataType()])
    {
        TemplateMacro(
            // We enumerate a number of different common # of components
            // There's long reasoning but ultimately this is because we use eigen for DataArrays. limiting
            if (numComps == 1)
            {
                arr = std::make_shared<DataArray<IMSTK_TT>>(vtkArray->GetNumberOfTuples() * vtkArray->GetNumberOfComponents());
                std::copy_n(static_cast<IMSTK_TT*>(vtkArray->GetVoidPointer(0)), vtkArray->GetNumberOfValues(), static_cast<IMSTK_TT*>(arr->getVoidPointer()));
            }
            else if (numComps == 2)
            {
                arr = (std::make_shared<VecDataArray<IMSTK_TT, 2>>(vtkArray->GetNumberOfTuples()));
                std::copy_n(static_cast<IMSTK_TT*>(vtkArray->GetVoidPointer(0)), vtkArray->GetNumberOfValues(), static_cast<IMSTK_TT*>(arr->getVoidPointer()));
            }
            else if (numComps == 3)
            {
                arr = (std::make_shared<VecDataArray<IMSTK_TT, 3>>(vtkArray->GetNumberOfTuples()));
                std::copy_n(static_cast<IMSTK_TT*>(vtkArray->GetVoidPointer(0)), vtkArray->GetNumberOfValues(), static_cast<IMSTK_TT*>(arr->getVoidPointer()));
            }
            else if (numComps == 4)
            {
                arr = (std::make_shared<VecDataArray<IMSTK_TT, 4>>(vtkArray->GetNumberOfTuples()));
                std::copy_n(static_cast<IMSTK_TT*>(vtkArray->GetVoidPointer(0)), vtkArray->GetNumberOfValues(), static_cast<IMSTK_TT*>(arr->getVoidPointer()));
            }
            );
    default:
        LOG(WARNING) << "Unknown scalar type";
        break;
    }
    return arr;
}

std::shared_ptr<ImageData>
GeometryUtils::copyToImageData(vtkSmartPointer<vtkImageData> vtkImage)
{
    CHECK(vtkImage != nullptr) << "vtkImageData provided is not valid!";

    double*     spacingPtr = vtkImage->GetSpacing();
    const Vec3d spacing    = Vec3d(spacingPtr[0], spacingPtr[1], spacingPtr[2]);
    // vtk origin is not bounds and vtk origin is not actual origin
    double* bounds = vtkImage->GetBounds();
    // image data origin starts at center of first voxel
    const Vec3d origin = Vec3d(bounds[0], bounds[2], bounds[4]) - spacing * 0.5;

    std::unique_ptr<ImageData> imageData = std::make_unique<ImageData>();
    imageData->setScalars(copyToDataArray(vtkImage->GetPointData()->GetScalars()),
        vtkImage->GetNumberOfScalarComponents(), vtkImage->GetDimensions());
    imageData->setSpacing(spacing);
    imageData->setOrigin(origin);
    return imageData;
}

vtkSmartPointer<vtkImageData>
GeometryUtils::copyToVtkImageData(std::shared_ptr<ImageData> imageData)
{
    CHECK(imageData != nullptr) << "ImageData provided is not valid!";

    // Our image data does not use vtk extents
    const Vec3i& dim = imageData->getDimensions();

    vtkSmartPointer<vtkImageData> imageDataVtk = vtkSmartPointer<vtkImageData>::New();
    imageDataVtk->SetSpacing(imageData->getSpacing().data());
    const Vec3d vtkOrigin = imageData->getOrigin() + imageData->getSpacing() * 0.5;
    imageDataVtk->SetOrigin(vtkOrigin.data());
    imageDataVtk->SetExtent(0, dim[0] - 1, 0, dim[1] - 1, 0, dim[2] - 1);
    imageDataVtk->AllocateScalars(imstkToVtkScalarType[imageData->getScalarType()], imageData->getNumComponents());
    imageDataVtk->GetPointData()->SetScalars(copyToVtkDataArray(imageData->getScalars()));
    return imageDataVtk;
}

std::shared_ptr<PointSet>
GeometryUtils::copyToPointSet(vtkSmartPointer<vtkPointSet> vtkMesh)
{
    CHECK(vtkMesh != nullptr) << "vtkPolyData provided is not valid!";

    std::shared_ptr<VecDataArray<double, 3>> vertices = copyToVecDataArray(vtkMesh->GetPoints());

    auto mesh = std::make_unique<PointSet>();
    mesh->initialize(vertices);

    // Point Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> dataMap;
    copyToDataMap(vtkMesh->GetPointData(), dataMap);
    if (!dataMap.empty())
    {
        mesh->setVertexAttributes(dataMap);
        vtkPointData* pointData = vtkMesh->GetPointData();
        vtkDataArray* normals   = pointData->GetNormals();
        vtkDataArray* tCoords   = pointData->GetTCoords();
        vtkDataArray* scalars   = pointData->GetScalars();
        vtkDataArray* tangents  = pointData->GetTangents();
        if (normals != nullptr)
        {
            mesh->setVertexNormals(std::string(normals->GetName()));
        }
        if (tCoords != nullptr)
        {
            mesh->setVertexTCoords(std::string(tCoords->GetName()));
        }
        if (scalars != nullptr)
        {
            mesh->setVertexScalars(std::string(scalars->GetName()));
        }
        if (tangents != nullptr)
        {
            mesh->setVertexTangents(std::string(tangents->GetName()));
        }
    }

    return mesh;
}

std::shared_ptr<SurfaceMesh>
GeometryUtils::copyToSurfaceMesh(vtkSmartPointer<vtkPolyData> vtkMesh)
{
    CHECK(vtkMesh != nullptr) << "vtkPolyData provided is not valid!";

    std::shared_ptr<VecDataArray<double, 3>> vertices = copyToVecDataArray(vtkMesh->GetPoints());
    std::shared_ptr<VecDataArray<int, 3>>    cells    = copyToVecDataArray<3>(vtkMesh->GetPolys());

    auto mesh = std::make_unique<SurfaceMesh>();
    mesh->initialize(vertices, cells, true);

    // Point Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> vertexDataMap;
    copyToDataMap(vtkMesh->GetPointData(), vertexDataMap);
    if (!vertexDataMap.empty())
    {
        mesh->setVertexAttributes(vertexDataMap);
        vtkPointData* pointData = vtkMesh->GetPointData();
        vtkDataArray* normals   = pointData->GetNormals();
        vtkDataArray* tCoords   = pointData->GetTCoords();
        vtkDataArray* scalars   = pointData->GetScalars();
        vtkDataArray* tangents  = pointData->GetTangents();
        if (normals != nullptr)
        {
            mesh->setVertexNormals(std::string(normals->GetName()));
        }
        if (tCoords != nullptr)
        {
            mesh->setVertexTCoords(std::string(tCoords->GetName()));
        }
        if (scalars != nullptr)
        {
            mesh->setVertexScalars(std::string(scalars->GetName()));
        }
        if (tangents != nullptr)
        {
            mesh->setVertexTangents(std::string(tangents->GetName()));
        }
    }

    // Cell Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> cellDataMap;
    copyToDataMap(vtkMesh->GetCellData(), cellDataMap);
    if (!cellDataMap.empty())
    {
        mesh->setCellAttributes(cellDataMap);
        vtkCellData*  cellData = vtkMesh->GetCellData();
        vtkDataArray* normals  = cellData->GetNormals();
        vtkDataArray* scalars  = cellData->GetScalars();
        vtkDataArray* tangents = cellData->GetTangents();
        if (normals != nullptr)
        {
            mesh->setCellNormals(std::string(normals->GetName()));
        }
        if (scalars != nullptr)
        {
            mesh->setCellScalars(std::string(scalars->GetName()));
        }
        if (tangents != nullptr)
        {
            mesh->setCellTangents(std::string(tangents->GetName()));
        }
    }

    // Active Texture
    if (auto pointData = vtkMesh->GetPointData())
    {
        if (auto tcoords = pointData->GetTCoords())
        {
            mesh->setVertexTCoords(tcoords->GetName());
        }
    }

    return mesh;
}

std::shared_ptr<LineMesh>
GeometryUtils::copyToLineMesh(vtkSmartPointer<vtkPolyData> vtkMesh)
{
    CHECK(vtkMesh != nullptr) << "vtkPolyData provided is not valid!";

    std::shared_ptr<VecDataArray<double, 3>> vertices = copyToVecDataArray(vtkMesh->GetPoints());
    std::shared_ptr<VecDataArray<int, 2>>    cells    = copyToVecDataArray<2>(vtkMesh->GetPolys());

    // If polys is empty use lines instead
    if (cells->size() == 0)
    {
        cells = copyToVecDataArray<2>(vtkMesh->GetLines());
    }

    auto mesh = std::make_unique<LineMesh>();
    mesh->initialize(vertices, cells);

    // Point Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> dataMap;
    copyToDataMap(vtkMesh->GetPointData(), dataMap);
    if (!dataMap.empty())
    {
        mesh->setVertexAttributes(dataMap);
        vtkPointData* pointData = vtkMesh->GetPointData();
        vtkDataArray* normals   = pointData->GetNormals();
        vtkDataArray* tCoords   = pointData->GetTCoords();
        vtkDataArray* scalars   = pointData->GetScalars();
        vtkDataArray* tangents  = pointData->GetTangents();
        if (normals != nullptr)
        {
            mesh->setVertexNormals(std::string(normals->GetName()));
        }
        if (tCoords != nullptr)
        {
            mesh->setVertexTCoords(std::string(tCoords->GetName()));
        }
        if (scalars != nullptr)
        {
            mesh->setVertexScalars(std::string(scalars->GetName()));
        }
        if (tangents != nullptr)
        {
            mesh->setVertexTangents(std::string(tangents->GetName()));
        }
    }

    // Cell Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> cellDataMap;
    copyToDataMap(vtkMesh->GetCellData(), cellDataMap);
    if (!cellDataMap.empty())
    {
        mesh->setCellAttributes(cellDataMap);
        vtkCellData*  cellData = vtkMesh->GetCellData();
        vtkDataArray* scalars  = cellData->GetScalars();
        if (scalars != nullptr)
        {
            mesh->setCellScalars(std::string(scalars->GetName()));
        }
    }

    return mesh;
}

std::shared_ptr<VolumetricMesh>
GeometryUtils::copyToVolumetricMesh(vtkSmartPointer<vtkUnstructuredGrid> vtkMesh)
{
    CHECK(vtkMesh != nullptr) << "vtkUnstructuredGrid provided is not valid!";

    std::shared_ptr<VecDataArray<double, 3>> vertices = copyToVecDataArray(vtkMesh->GetPoints());

    const int                       cellType = vtkMesh->GetCellType(vtkMesh->GetNumberOfCells() - 1);
    std::shared_ptr<VolumetricMesh> vMesh    = nullptr;
    if (cellType == VTK_TETRA)
    {
        std::shared_ptr<VecDataArray<int, 4>> cells = copyToVecDataArray<4>(vtkMesh->GetCells());

        std::shared_ptr<TetrahedralMesh> mesh = std::make_unique<TetrahedralMesh>();
        vMesh = mesh;
        mesh->initialize(vertices, cells);
    }
    else if (cellType == VTK_HEXAHEDRON)
    {
        std::shared_ptr<VecDataArray<int, 8>> cells = copyToVecDataArray<8>(vtkMesh->GetCells());

        std::shared_ptr<HexahedralMesh> mesh = std::make_unique<HexahedralMesh>();
        vMesh = mesh;
        mesh->initialize(vertices, cells);
    }
    else
    {
        LOG(FATAL) << "No support for vtkCellType = "
                   << cellType << ".";
    }

    // Point Data
    std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> vertexDataMap;
    copyToDataMap(vtkMesh->GetPointData(), vertexDataMap);
    if (!vertexDataMap.empty())
    {
        vMesh->setVertexAttributes(vertexDataMap);
        vtkPointData* pointData = vtkMesh->GetPointData();
        vtkDataArray* normals   = pointData->GetNormals();
        vtkDataArray* tCoords   = pointData->GetTCoords();
        vtkDataArray* scalars   = pointData->GetScalars();
        vtkDataArray* tangents  = pointData->GetTangents();
        if (normals != nullptr)
        {
            vMesh->setVertexNormals(std::string(normals->GetName()));
        }
        if (tCoords != nullptr)
        {
            vMesh->setVertexTCoords(std::string(tCoords->GetName()));
        }
        if (scalars != nullptr)
        {
            vMesh->setVertexScalars(std::string(scalars->GetName()));
        }
        if (tangents != nullptr)
        {
            vMesh->setVertexTangents(std::string(tangents->GetName()));
        }
    }

    // Cell Data
    /*std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>> cellDataMap;
    copyToDataMap(vtkMesh->GetCellData(), cellDataMap);
    if (!cellDataMap.empty())
    {
        vMesh->setCellAttributes(cellDataMap);
        vMesh->setCellNormals(vtkMesh->GetCellData()->GetNormals() == nullptr ? "" : std::string(vtkMesh->GetCellData()->GetNormals()->GetName()));
        vMesh->setCellScalars(vtkMesh->GetCellData()->GetScalars() == nullptr ? "" : std::string(vtkMesh->GetCellData()->GetScalars()->GetName()));
        vMesh->setCellTangents(vtkMesh->GetCellData()->GetTangents() == nullptr ? "" : std::string(vtkMesh->GetCellData()->GetTangents()->GetName()));
    }*/

    return vMesh;
}

vtkSmartPointer<vtkPointSet>
GeometryUtils::copyToVtkPointSet(std::shared_ptr<PointSet> imstkMesh)
{
    vtkSmartPointer<vtkPoints> points = copyToVtkPoints(imstkMesh->getVertexPositions());

    auto polydata = vtkSmartPointer<vtkPolyData>::New();
    polydata->SetPoints(points);

    copyToVtkDataAttributes(polydata->GetPointData(), imstkMesh->getVertexAttributes());
    if (imstkMesh->getActiveVertexNormals() != "")
    {
        polydata->GetPointData()->SetActiveNormals(imstkMesh->getActiveVertexNormals().c_str());
    }
    if (imstkMesh->getActiveVertexScalars() != "")
    {
        polydata->GetPointData()->SetActiveScalars(imstkMesh->getActiveVertexScalars().c_str());
    }
    if (imstkMesh->getActiveVertexTangents() != "")
    {
        polydata->GetPointData()->SetActiveTangents(imstkMesh->getActiveVertexTangents().c_str());
    }
    if (imstkMesh->getActiveVertexTCoords() != "")
    {
        polydata->GetPointData()->SetActiveTCoords(imstkMesh->getActiveVertexTCoords().c_str());
    }

    return polydata;
}

vtkSmartPointer<vtkPolyData>
GeometryUtils::copyToVtkPolyData(std::shared_ptr<LineMesh> imstkMesh)
{
    vtkSmartPointer<vtkPoints> points = copyToVtkPoints(imstkMesh->getVertexPositions());

    vtkSmartPointer<vtkCellArray> polys = copyToVtkCellArray<2>(imstkMesh->getLinesIndices());

    auto polydata = vtkSmartPointer<vtkPolyData>::New();
    polydata->SetPoints(points);
    polydata->SetPolys(polys);

    // Copy vertex attributes
    copyToVtkDataAttributes(polydata->GetPointData(), imstkMesh->getVertexAttributes());
    if (imstkMesh->getActiveVertexNormals() != "")
    {
        polydata->GetPointData()->SetActiveNormals(imstkMesh->getActiveVertexNormals().c_str());
    }
    if (imstkMesh->getActiveVertexScalars() != "")
    {
        polydata->GetPointData()->SetActiveScalars(imstkMesh->getActiveVertexScalars().c_str());
    }
    if (imstkMesh->getActiveVertexTangents() != "")
    {
        polydata->GetPointData()->SetActiveTangents(imstkMesh->getActiveVertexTangents().c_str());
    }
    if (imstkMesh->getActiveVertexTCoords() != "")
    {
        polydata->GetPointData()->SetActiveTCoords(imstkMesh->getActiveVertexTCoords().c_str());
    }

    // Copy cell attributes
    copyToVtkDataAttributes(polydata->GetCellData(), imstkMesh->getCellAttributes());
    if (imstkMesh->getActiveCellScalars() != "")
    {
        polydata->GetCellData()->SetActiveScalars(imstkMesh->getActiveCellScalars().c_str());
    }

    return polydata;
}

vtkSmartPointer<vtkPolyData>
GeometryUtils::copyToVtkPolyData(std::shared_ptr<SurfaceMesh> imstkMesh)
{
    vtkSmartPointer<vtkPoints>    points = copyToVtkPoints(imstkMesh->getVertexPositions());
    vtkSmartPointer<vtkCellArray> polys  = copyToVtkCellArray<3>(imstkMesh->getTriangleIndices());

    auto polydata = vtkSmartPointer<vtkPolyData>::New();;
    polydata->SetPoints(points);
    polydata->SetPolys(polys);

    // Copy vertex attributes
    copyToVtkDataAttributes(polydata->GetPointData(), imstkMesh->getVertexAttributes());
    if (imstkMesh->getActiveVertexNormals() != "")
    {
        polydata->GetPointData()->SetActiveNormals(imstkMesh->getActiveVertexNormals().c_str());
    }
    if (imstkMesh->getActiveVertexScalars() != "")
    {
        polydata->GetPointData()->SetActiveScalars(imstkMesh->getActiveVertexScalars().c_str());
    }
    if (imstkMesh->getActiveVertexTangents() != "")
    {
        polydata->GetPointData()->SetActiveTangents(imstkMesh->getActiveVertexTangents().c_str());
    }
    if (imstkMesh->getActiveVertexTCoords() != "")
    {
        polydata->GetPointData()->SetActiveTCoords(imstkMesh->getActiveVertexTCoords().c_str());
    }

    // Copy cell attributes
    copyToVtkDataAttributes(polydata->GetCellData(), imstkMesh->getCellAttributes());
    if (imstkMesh->getActiveCellNormals() != "")
    {
        polydata->GetCellData()->SetActiveNormals(imstkMesh->getActiveCellNormals().c_str());
    }
    if (imstkMesh->getActiveCellScalars() != "")
    {
        polydata->GetCellData()->SetActiveScalars(imstkMesh->getActiveCellScalars().c_str());
    }
    if (imstkMesh->getActiveCellTangents() != "")
    {
        polydata->GetCellData()->SetActiveTangents(imstkMesh->getActiveCellTangents().c_str());
    }

    return polydata;
}

vtkSmartPointer<vtkUnstructuredGrid>
GeometryUtils::copyToVtkUnstructuredGrid(std::shared_ptr<TetrahedralMesh> imstkMesh)
{
    vtkSmartPointer<vtkPoints>    points = copyToVtkPoints(imstkMesh->getVertexPositions());
    vtkSmartPointer<vtkCellArray> tetras = copyToVtkCellArray<4>(imstkMesh->getTetrahedraIndices());

    auto ug = vtkSmartPointer<vtkUnstructuredGrid>::New();
    ug->SetPoints(points);
    ug->SetCells(VTK_TETRA, tetras);

    copyToVtkDataAttributes(ug->GetPointData(), imstkMesh->getVertexAttributes());
    if (imstkMesh->getActiveVertexNormals() != "")
    {
        ug->GetPointData()->SetActiveNormals(imstkMesh->getActiveVertexNormals().c_str());
    }
    if (imstkMesh->getActiveVertexScalars() != "")
    {
        ug->GetPointData()->SetActiveScalars(imstkMesh->getActiveVertexScalars().c_str());
    }
    if (imstkMesh->getActiveVertexTangents() != "")
    {
        ug->GetPointData()->SetActiveTangents(imstkMesh->getActiveVertexTangents().c_str());
    }
    if (imstkMesh->getActiveVertexTCoords() != "")
    {
        ug->GetPointData()->SetActiveTCoords(imstkMesh->getActiveVertexTCoords().c_str());
    }

    // \todo: TetrahedralMeshes don't have cell attributes yet

    return ug;
}

vtkSmartPointer<vtkUnstructuredGrid>
GeometryUtils::copyToVtkUnstructuredGrid(std::shared_ptr<HexahedralMesh> imstkMesh)
{
    vtkSmartPointer<vtkPoints>    points = copyToVtkPoints(imstkMesh->getVertexPositions());
    vtkSmartPointer<vtkCellArray> bricks = copyToVtkCellArray<8>(imstkMesh->getHexahedraIndices());

    auto ug = vtkSmartPointer<vtkUnstructuredGrid>::New();
    ug->SetPoints(points);
    ug->SetCells(VTK_HEXAHEDRON, bricks);

    copyToVtkDataAttributes(ug->GetPointData(), imstkMesh->getVertexAttributes());
    if (imstkMesh->getActiveVertexNormals() != "")
    {
        ug->GetPointData()->SetActiveNormals(imstkMesh->getActiveVertexNormals().c_str());
    }
    if (imstkMesh->getActiveVertexScalars() != "")
    {
        ug->GetPointData()->SetActiveScalars(imstkMesh->getActiveVertexScalars().c_str());
    }
    if (imstkMesh->getActiveVertexTangents() != "")
    {
        ug->GetPointData()->SetActiveTangents(imstkMesh->getActiveVertexTangents().c_str());
    }
    if (imstkMesh->getActiveVertexTCoords() != "")
    {
        ug->GetPointData()->SetActiveTCoords(imstkMesh->getActiveVertexTCoords().c_str());
    }

    // \todo: HexahedralMesh's don't have cell attributes yet

    return ug;
}

std::shared_ptr<VecDataArray<double, 3>>
GeometryUtils::copyToVecDataArray(vtkSmartPointer<vtkPoints> points)
{
    CHECK(points != nullptr) << "No valid point data provided!";

    std::shared_ptr<VecDataArray<double, 3>> vertices   = std::make_shared<VecDataArray<double, 3>>(points->GetNumberOfPoints());
    VecDataArray<double, 3>&                 vertexData = *vertices;
    for (vtkIdType i = 0; i < points->GetNumberOfPoints(); ++i)
    {
        double pos[3];
        points->GetPoint(i, pos);
        vertexData[i] = Vec3d(pos[0], pos[1], pos[2]);
    }
    return vertices;
}

vtkSmartPointer<vtkPoints>
GeometryUtils::copyToVtkPoints(std::shared_ptr<VecDataArray<double, 3>> vertices)
{
    vtkSmartPointer<vtkPoints>     points     = vtkSmartPointer<vtkPoints>::New();
    const VecDataArray<double, 3>& vertexData = *vertices;
    points->SetNumberOfPoints(vertexData.size());
    for (int i = 0; i < vertexData.size(); i++)
    {
        points->SetPoint(i, vertexData[i][0], vertexData[i][1], vertexData[i][2]);
    }
    return points;
}

template<size_t dim>
vtkSmartPointer<vtkCellArray>
GeometryUtils::copyToVtkCellArray(std::shared_ptr<VecDataArray<int, dim>> cellsPtr)
{
    vtkSmartPointer<vtkCellArray> vtkCells = vtkSmartPointer<vtkCellArray>::New();

    VecDataArray<int, dim>& cells = *cellsPtr;
    for (int i = 0; i < cells.size(); i++)
    {
        vtkCells->InsertNextCell(dim);
        for (size_t k = 0; k < dim; k++)
        {
            vtkCells->InsertCellPoint(cells[i][k]);
        }
    }
    return vtkCells;
}

template<size_t dim>
std::shared_ptr<VecDataArray<int, dim>>
GeometryUtils::copyToVecDataArray(vtkCellArray* vtkCells)
{
    using VecType = typename VecDataArray<int, dim>::VecType;

    CHECK(vtkCells != nullptr) << "No cells found!";

    std::shared_ptr<VecDataArray<int, dim>> indices = std::make_shared<VecDataArray<int, dim>>();
    indices->reserve(vtkCells->GetNumberOfCells());

    vtkNew<vtkIdList> vtkCell;
    vtkCells->InitTraversal();
    while (vtkCells->GetNextCell(vtkCell))
    {
        if (vtkCell->GetNumberOfIds() != dim)
        {
            continue;
        }
        VecType cell;
        for (size_t i = 0; i < dim; i++)
        {
            cell[i] = vtkCell->GetId(i);
        }
        indices->push_back(cell);
    }
    indices->squeeze();
    return indices;
}

void
GeometryUtils::copyToDataMap(vtkDataSetAttributes* dataAttributes, std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>>& dataMap)
{
    CHECK(dataAttributes != nullptr) << "No point data provided!";

    for (int i = 0; i < dataAttributes->GetNumberOfArrays(); ++i)
    {
        vtkDataArray* array = dataAttributes->GetArray(i);
        std::string   name  = "unnamed";
        if (array->GetName() == NULL)
        {
            int iter = 0;
            // If name already exists, iterate key
            while (dataMap.count(name + std::to_string(iter)) != 0)
            {
                iter++;
            }
            name = name + std::to_string(iter);
            array->SetName(name.c_str());
        }
        else
        {
            name = std::string(array->GetName());
        }
        dataMap[name] = copyToDataArray(array);
    }
}

void
GeometryUtils::copyToVtkDataAttributes(vtkDataSetAttributes* pointData, const std::unordered_map<std::string, std::shared_ptr<AbstractDataArray>>& dataMap)
{
    CHECK(pointData != nullptr) << "No point data provided!";

    for (auto i : dataMap)
    {
        vtkSmartPointer<vtkDataArray> arr = copyToVtkDataArray(i.second);
        if (i.first != "")
        {
            arr->SetName(i.first.c_str());
        }
        pointData->AddArray(arr);
    }
}

std::shared_ptr<SurfaceMesh>
GeometryUtils::toUVSphereSurfaceMesh(std::shared_ptr<Sphere> sphere,
                                     const unsigned int phiDivisions, const unsigned int thetaDivisions)
{
    vtkNew<vtkSphereSource> sphereSource;
    sphereSource->SetCenter(sphere->getPosition(Geometry::DataType::PreTransform).data());
    sphereSource->SetRadius(sphere->getRadius());
    sphereSource->SetPhiResolution(phiDivisions);
    sphereSource->SetThetaResolution(thetaDivisions);
    sphereSource->Update();

    vtkNew<vtkTransform> transform;
    transform->SetMatrix(mat4dTranslate(sphere->getPosition()).data());

    vtkNew<vtkTransformFilter> transformFilter;
    transformFilter->SetInputData(sphereSource->GetOutput());
    transformFilter->SetTransform(transform);
    transformFilter->Update();
    vtkNew<vtkTriangleFilter> triangulate;
    triangulate->SetInputData(transformFilter->GetOutput());
    triangulate->Update();
    vtkNew<vtkCleanPolyData> cleanData;
    cleanData->SetInputData(triangulate->GetOutput());
    cleanData->Update();

    return copyToSurfaceMesh(cleanData->GetOutput());
}

std::shared_ptr<SurfaceMesh>
GeometryUtils::toSurfaceMesh(std::shared_ptr<AnalyticalGeometry> geom)
{
    vtkSmartPointer<vtkPointSet> results = nullptr;
    if (auto plane = std::dynamic_pointer_cast<Plane>(geom))
    {
        const Quatd r = Quatd(plane->getRotation());
        const Vec3d i = r._transformVector(Vec3d(1.0, 0.0, 0.0));
        const Vec3d j = r._transformVector(Vec3d(0.0, 0.0, 1.0));

        //Vec3d p1 = plane->getPosition() + plane->getWidth() * (i + j);
        Vec3d p2 = plane->getPosition() + plane->getWidth() * (i - j);
        Vec3d p3 = plane->getPosition() + plane->getWidth() * (-i + j);
        Vec3d p4 = plane->getPosition() + plane->getWidth() * (-i - j);

        vtkNew<vtkPlaneSource> planeSource;
        planeSource->SetOrigin(p4.data());
        planeSource->SetPoint1(p3.data());
        planeSource->SetPoint2(p2.data());
        planeSource->Update();
        results = planeSource->GetOutput();
    }
    else if (auto orientedBox = std::dynamic_pointer_cast<OrientedBox>(geom))
    {
        vtkNew<vtkCubeSource> cubeSource;
        Vec3d                 extents = orientedBox->getExtents(Geometry::DataType::PreTransform);
        cubeSource->SetCenter(0.0, 0.0, 0.0);
        cubeSource->SetXLength(extents[0] * 2.0);
        cubeSource->SetYLength(extents[1] * 2.0);
        cubeSource->SetZLength(extents[2] * 2.0);
        cubeSource->Update();

        AffineTransform3d T = AffineTransform3d::Identity();
        T.translate(orientedBox->getPosition(Geometry::DataType::PostTransform));
        T.rotate(orientedBox->getOrientation(Geometry::DataType::PostTransform));
        T.scale(orientedBox->getScaling());
        T.matrix().transposeInPlace();

        vtkNew<vtkTransform> transformVtk;
        transformVtk->SetMatrix(T.data());

        vtkNew<vtkTransformFilter> transformCube;
        transformCube->SetInputData(cubeSource->GetOutput());
        transformCube->SetTransform(transformVtk);
        transformCube->Update();
        results = transformCube->GetOutput();
    }
    else
    {
        LOG(WARNING) << "Failed to produce SurfaceMesh from provided AnalyticalGeometry";
        return nullptr;
    }

    // Triangulate, mesh could have quads or other primitives
    vtkNew<vtkTriangleFilter> triangulate;
    triangulate->SetInputData(results);
    triangulate->Update();
    vtkNew<vtkCleanPolyData> cleanData;
    cleanData->SetInputConnection(triangulate->GetOutputPort());
    cleanData->Update();
    return copyToSurfaceMesh(cleanData->GetOutput());
}

int
GeometryUtils::getOpenEdgeCount(std::shared_ptr<SurfaceMesh> surfMesh)
{
    vtkNew<vtkFeatureEdges> checkClosed;
    checkClosed->SetInputData(GeometryUtils::copyToVtkPolyData(surfMesh));
    checkClosed->FeatureEdgesOff();
    checkClosed->BoundaryEdgesOn();
    checkClosed->NonManifoldEdgesOn();
    checkClosed->Update();
    return checkClosed->GetOutput()->GetNumberOfCells();
}

double
GeometryUtils::getVolume(std::shared_ptr<SurfaceMesh> surfMesh)
{
    vtkNew<vtkMassProperties> massProps;
    massProps->SetInputData(copyToVtkPolyData(surfMesh));
    massProps->Update();
    return massProps->GetVolume();
}

namespace // anonymous namespace
{
///
/// \brief Build the vertex-to-vertex connectivity
///
/// \param[in] conn element-to-vertex connectivity
/// \param[in] numVerts number of vertices
/// \param[out] vertToVert the vertex-to-vertex connectivity on return
///
template<typename ElemConn>
static void
buildVertexToVertexConnectivity(const std::vector<ElemConn>&             conn,
                                const size_t                             numVerts,
                                std::vector<std::unordered_set<size_t>>& vertToVert)
{
    // constexpr size_t numVertPerElem = ElemConn::size();
    std::vector<size_t> vertToElemPtr(numVerts + 1, 0);
    std::vector<size_t> vertToElem;

    // find the number of adjacent elements for each vertex
    for (const auto& vertices : conn)
    {
        for (auto vid : vertices)
        {
            vertToElemPtr[vid + 1] += 1;
        }
    }

    // accumulate pointer
    for (size_t i = 0; i < numVerts; ++i)
    {
        vertToElemPtr[i + 1] += vertToElemPtr[i];
    }

    // track the front position for each vertex in \p vertToElem
    auto pos = vertToElemPtr;
    // the total number of element neighbors of all vertices, ie, size of \p vertToElem
    const size_t totNum = vertToElemPtr.back();

    vertToElem.resize(totNum);

    for (size_t eid = 0; eid < conn.size(); ++eid)
    {
        for (auto vid : conn[eid])
        {
            vertToElem[pos[vid]] = eid;
            ++pos[vid];
        }
    }

    // connectivity of vertex-to-vertex
    vertToVert.resize(numVerts);
    auto getVertexNbrs = [&vertToElem, &vertToElemPtr, &conn, &vertToVert](const size_t i)
                         {
                             const auto ptr0 = vertToElemPtr[i];
                             const auto ptr1 = vertToElemPtr[i + 1];

                             for (auto ptr = ptr0; ptr < ptr1; ++ptr)
                             {
                                 for (auto vid : conn[vertToElem[ptr]])
                                 {
                                     // vertex-i itself is also included.
                                     vertToVert[i].insert(vid);
                                 }
                             }
                         };

    // for (size_t i = 0; i < numVerts; ++i)
    // {
    //     getVertexNbrs(i);
    // }
    ParallelUtils::parallelFor(numVerts, getVertexNbrs);
}

///
/// \brief Reverse Cuthill-Mckee (RCM) based reording to reduce bandwidth
///
/// \param[in] neighbors array of neighbors of each vertex; eg, neighbors[i] is an object containing all neighbors of vertex-i
/// \return the permutation vector that map from new indices to old indices
///
/// \cite https://en.wikipedia.org/wiki/Cuthill%E2%80%93McKee_algorithm
///
template<typename NeighborContainer>
static std::vector<size_t>
RCM(const std::vector<NeighborContainer>& neighbors)
{
    const size_t invalid = std::numeric_limits<size_t>::max();

    // is greater in terms of degrees
    auto isGreater = [&neighbors](const size_t i, const size_t j) {
                         return neighbors[i].size() > neighbors[j].size() ? true : false;
                     };

    const size_t numVerts = neighbors.size();

    std::vector<size_t> P(numVerts);
    for (size_t i = 0; i < numVerts; ++i)
    {
        P[i] = i;
    }
    std::sort(P.begin(), P.end(), isGreater);

    // \todo an alternative is to use std::set for P
    // std::set<size_t, isGreater> P;
    // for (size_t i=0; i<numVerts; ++i)
    // {
    //     P.insert(i);
    // }

    std::vector<size_t> R(numVerts, invalid);      // permutation
    std::queue<size_t>  Q;                         // queue
    std::vector<bool>   isInP(numVerts, true);     // if a vertex is still in P
    size_t              pos = 0;                   // track how many vertices are put into R

    ///
    /// \brief Move a vertex into R, and enque its neighbors into Q in ascending order.
    /// \param vid index of vertex to be moved into R
    ///
    auto moveVertexIntoRAndItsNeighborsIntoQ = [&neighbors, &isInP, &pos, &R, &Q](const size_t vid)
                                               {
                                                   R[pos] = vid;
                                                   ++pos;
                                                   isInP[vid] = false;

                                                   // Put the unordered neighbors into Q, in ascending order.
                                                   // first find unordered neighbors
                                                   std::set<size_t> unorderedNbrs;
                                                   for (auto nbr : neighbors[vid])
                                                   {
                                                       if (isInP[nbr])
                                                       {
                                                           unorderedNbrs.insert(nbr);
                                                       }
                                                   }

                                                   for (auto nbr : unorderedNbrs)
                                                   {
                                                       Q.push(nbr);
                                                       isInP[nbr] = false;
                                                   }
                                               };

    size_t pCur = 0;

    // main loop
    while (true)
    {
        size_t parent = invalid;
        for (size_t vid = pCur; vid < isInP.size(); ++vid)
        {
            if (isInP[vid])
            {
                isInP[vid] = false;
                pCur       = vid;
                parent     = vid;
                break;
            }
        }
        if (parent == invalid)
        {
            break;
        }

        moveVertexIntoRAndItsNeighborsIntoQ(parent);

        while (!Q.empty())
        {
            parent = Q.front();
            Q.pop();
            moveVertexIntoRAndItsNeighborsIntoQ(parent);
        }

        // here we have empty Q
    }

    CHECK(pos == numVerts) << "RCM ordering: we should never get here";

    std::reverse(R.begin(), R.end());
    return R;
}

///
/// \brief Reorder using Reverse Cuthill-Mckee algorithm
//
/// \param conn element-to-vertex connectivity
/// \param numVerts number of vertices
///
/// \return the permutation vector that maps from new indices to old indices
///
template<typename ElemConn>
static std::vector<size_t>
RCM(const std::vector<ElemConn>& conn, const size_t numVerts)
{
    // connectivity of vertex-to-vertex
    std::vector<std::unordered_set<size_t>> vertToVert;
    buildVertexToVertexConnectivity(conn, numVerts, vertToVert);
    return RCM(vertToVert);
}

///
/// \brief Given a set of points mark them as inside (true) and outside
/// \param surfaceMesh a \ref SurfaceMesh
/// \param coords a set of points to be tested
///
/// \note this function cannot be const because PointSet::computeBoundingBox, called inside, is not.
///
void
markPointsInsideAndOut(std::vector<bool>&      isInside,
                       SurfaceMesh&            surfaceMesh,
                       const StdVectorOfVec3d& coords)
{
    isInside.clear();
    isInside.resize(coords.size(), false);

    Vec3d aabbMin, aabbMax;
    surfaceMesh.computeBoundingBox(aabbMin, aabbMax, 1.0);
    /*
    auto genRandomDirection = [](Vec3d& direction)
                              {
                                  for (int i = 0; i < 3; ++i)
                                  {
                                      direction[i] = rand();
                                  }
                                  double mag = direction.norm();

                                  for (int i = 0; i < 3; ++i)
                                  {
                                      direction[i] /= mag;
                                  }
                                  return;
                              };
    */

    auto triangleRayIntersection = [](const Vec3d& xyz,
                                      const Vec3d& triVert0,
                                      const Vec3d& triVert1,
                                      const Vec3d& triVert2,
                                      const Vec3d& direction)
                                   {
                                       // const double eps = 1e-15;
                                       constexpr const double eps   = std::numeric_limits<double>::epsilon();
                                       Vec3d                  edge0 = triVert1 - triVert0;
                                       Vec3d                  edge1 = triVert2 - triVert0;
                                       Vec3d                  pvec  = direction.cross(edge1);
                                       double                 det   = edge0.dot(pvec);

                                       if (det > -eps && det < eps)
                                       {
                                           return false;
                                       }
                                       double inv_det = 1.0 / det;
                                       Vec3d  tvec    = xyz - triVert0;
                                       double u       = tvec.dot(pvec) * inv_det;
                                       if (u < 0.0 || u > 1.0)
                                       {
                                           return false;
                                       }
                                       Vec3d  qvec = tvec.cross(edge0);
                                       double v    = direction.dot(qvec) * inv_det;
                                       if (v < 0.0 || u + v > 1.0)
                                       {
                                           return false;
                                       }

                                       double t = edge1.dot(qvec) * inv_det;
                                       if (t > 0.0)
                                       {
                                           return true;
                                       }
                                       else
                                       {
                                           return false;
                                       }
                                   };

    std::vector<Vec3d> bBoxMin;
    std::vector<Vec3d> bBoxMax;

    bBoxMin.resize(surfaceMesh.getNumTriangles());
    bBoxMax.resize(surfaceMesh.getNumTriangles());

    const VecDataArray<int, 3>& indices = *surfaceMesh.getTriangleIndices();
    for (int idx = 0; idx < surfaceMesh.getNumTriangles(); ++idx)
    {
        const auto& verts = indices[idx];
        const auto& xyz0  = surfaceMesh.getVertexPosition(verts[0]);
        const auto& xyz1  = surfaceMesh.getVertexPosition(verts[1]);
        const auto& xyz2  = surfaceMesh.getVertexPosition(verts[2]);
        // const auto& xyz0  = m_vertexPositions[verts[0]];
        // const auto& xyz1  = m_vertexPositions[verts[1]];
        // const auto& xyz2  = m_vertexPositions[verts[2]];

        bBoxMin[idx][0] = xyz0[0];
        bBoxMin[idx][1] = xyz0[1];
        bBoxMin[idx][2] = xyz0[2];
        bBoxMax[idx][0] = xyz0[0];
        bBoxMax[idx][1] = xyz0[1];
        bBoxMax[idx][2] = xyz0[2];

        bBoxMin[idx][0] = std::min(bBoxMin[idx][0], xyz1[0]);
        bBoxMin[idx][1] = std::min(bBoxMin[idx][1], xyz1[1]);
        bBoxMin[idx][2] = std::min(bBoxMin[idx][2], xyz1[2]);
        bBoxMin[idx][0] = std::min(bBoxMin[idx][0], xyz2[0]);
        bBoxMin[idx][1] = std::min(bBoxMin[idx][1], xyz2[1]);
        bBoxMin[idx][2] = std::min(bBoxMin[idx][2], xyz2[2]);

        bBoxMax[idx][0] = std::max(bBoxMax[idx][0], xyz1[0]);
        bBoxMax[idx][1] = std::max(bBoxMax[idx][1], xyz1[1]);
        bBoxMax[idx][2] = std::max(bBoxMax[idx][2], xyz1[2]);
        bBoxMax[idx][0] = std::max(bBoxMax[idx][0], xyz2[0]);
        bBoxMax[idx][1] = std::max(bBoxMax[idx][1], xyz2[1]);
        bBoxMax[idx][2] = std::max(bBoxMax[idx][2], xyz2[2]);
    }

    auto rayTracingFunc = [&](const size_t i)
                          {
                              bool outBox = coords[i][0] < aabbMin[0] || coords[i][0] > aabbMax[0]
                                            || coords[i][1] < aabbMin[1] || coords[i][1] > aabbMax[1]
                                            || coords[i][2] < aabbMin[2] || coords[i][2] > aabbMax[2];
                              if (outBox)
                              {
                                  return;
                              }

                              /// \todo generate a random direction?
                              const Vec3d direction = { 0.0, 0.0, 1.0 };
                              // Vec3d direction;
                              // genRandomDirection(direction);
                              // std::cout << direction << std::endl;
                              int         numIntersections = 0;
                              const auto& xyz = *surfaceMesh.getVertexPositions();

                              for (int j = 0; j < surfaceMesh.getNumTriangles(); ++j)
                              {
                                  const Vec3i& verts = indices[j];

                                  // consider directed ray
                                  if (coords[i][2] > bBoxMax[j][2])
                                  {
                                      continue;
                                  }

                                  if (coords[i][0] > bBoxMax[j][0])
                                  {
                                      continue;
                                  }
                                  if (coords[i][0] < bBoxMin[j][0])
                                  {
                                      continue;
                                  }
                                  if (coords[i][1] > bBoxMax[j][1])
                                  {
                                      continue;
                                  }
                                  if (coords[i][1] < bBoxMin[j][1])
                                  {
                                      continue;
                                  }

                                  auto intersected = triangleRayIntersection(coords[i],
                xyz[verts[0]],
                xyz[verts[1]],
                xyz[verts[2]],
                direction);
                                  if (intersected)
                                  {
                                      ++numIntersections;
                                  }
                              }

                              if (numIntersections % 2 == 1)
                              {
                                  isInside[i] = true;
                              }

                              return;
                          };

    // for (size_t i = 0; i < coords.size(); ++i)
    // {
    //     rayTracingFunc(i);
    // }

    ParallelUtils::parallelFor(coords.size(), rayTracingFunc);
}

///
/// \brief Given a set of uniformly spaced points, mark them as inside (true) and outside.
/// It makes uses of ray-casting but skips points based on the nearest distance between current point and the surface.
///
/// \param surfaceMesh a \ref SurfaceMesh
/// \param coords a set of points to be tested
/// \param nx number of points in x-direction
/// \param ny number of points in y-direction
/// \param nz number of points in z-direction
///
void
markPointsInsideAndOut(std::vector<bool>& isInside,
                       SurfaceMesh& surfaceMesh,
                       const VecDataArray<double, 3>& coords,
                       const size_t nx,
                       const size_t ny,
                       const size_t nz)
{
    isInside.clear();
    isInside.resize(coords.size(), false);

    Vec3d aabbMin, aabbMax;
    surfaceMesh.computeBoundingBox(aabbMin, aabbMax, 1.0);
    // space between two adjacent points
    const Vec3d h = { coords[1][0] - coords[0][0], coords[nx][1] - coords[0][1], coords[nx * ny][2] - coords[0][2] };

    /// \brief if a ray intersects with a triangle.
    /// \param xyz starting point of ray
    /// \param triVert0 triVert0, triVert1, triVert2 are 3 vertices of the triangle
    /// \param direction direction of the ray
    /// \param[out] distance on return it is the distance of the point and the triangle
    auto triangleRayIntersection = [](const Vec3d& xyz, const Vec3d& triVert0, const Vec3d& triVert1, const Vec3d& triVert2, const Vec3d& direction, double& distance)
                                   {
                                       const double eps   = std::numeric_limits<double>::epsilon();
                                       const Vec3d  edge0 = triVert1 - triVert0;
                                       const Vec3d  edge1 = triVert2 - triVert0;
                                       const Vec3d  pvec  = direction.cross(edge1);
                                       const double det   = edge0.dot(pvec);

                                       if (det > -eps && det < eps)
                                       {
                                           return false;
                                       }
                                       const double inv_det = 1.0 / det;
                                       const Vec3d  tvec    = xyz - triVert0;
                                       const double u       = tvec.dot(pvec) * inv_det;
                                       if (u < 0.0 || u > 1.0)
                                       {
                                           return false;
                                       }
                                       const Vec3d  qvec = tvec.cross(edge0);
                                       const double v    = direction.dot(qvec) * inv_det;
                                       if (v < 0.0 || u + v > 1.0)
                                       {
                                           return false;
                                       }

                                       distance = edge1.dot(qvec) * inv_det;
                                       if (distance > 0.0)
                                       {
                                           return true;
                                       }
                                       else
                                       {
                                           return false;
                                       }
                                   };

    std::vector<Vec3d> bBoxMin;
    std::vector<Vec3d> bBoxMax;

    bBoxMin.resize(surfaceMesh.getNumTriangles());
    bBoxMax.resize(surfaceMesh.getNumTriangles());

    /// \brief find the bounding boxes of each surface triangle
    const VecDataArray<int, 3>& indices = *surfaceMesh.getTriangleIndices();
    auto                        findBoundingBox = [&](const size_t idx)
                                                  {
                                                      const auto& verts   = indices[idx];
                                                      const auto& vertXyz = *surfaceMesh.getVertexPositions();
                                                      const auto& xyz0    = vertXyz[verts[0]];
                                                      const auto& xyz1    = vertXyz[verts[1]];
                                                      const auto& xyz2    = vertXyz[verts[2]];

                                                      bBoxMin[idx][0] = xyz0[0];
                                                      bBoxMin[idx][1] = xyz0[1];
                                                      bBoxMin[idx][2] = xyz0[2];
                                                      bBoxMax[idx][0] = xyz0[0];
                                                      bBoxMax[idx][1] = xyz0[1];
                                                      bBoxMax[idx][2] = xyz0[2];

                                                      bBoxMin[idx][0] = std::min(bBoxMin[idx][0], xyz1[0]);
                                                      bBoxMin[idx][1] = std::min(bBoxMin[idx][1], xyz1[1]);
                                                      bBoxMin[idx][2] = std::min(bBoxMin[idx][2], xyz1[2]);
                                                      bBoxMin[idx][0] = std::min(bBoxMin[idx][0], xyz2[0]);
                                                      bBoxMin[idx][1] = std::min(bBoxMin[idx][1], xyz2[1]);
                                                      bBoxMin[idx][2] = std::min(bBoxMin[idx][2], xyz2[2]);

                                                      bBoxMax[idx][0] = std::max(bBoxMax[idx][0], xyz1[0]);
                                                      bBoxMax[idx][1] = std::max(bBoxMax[idx][1], xyz1[1]);
                                                      bBoxMax[idx][2] = std::max(bBoxMax[idx][2], xyz1[2]);
                                                      bBoxMax[idx][0] = std::max(bBoxMax[idx][0], xyz2[0]);
                                                      bBoxMax[idx][1] = std::max(bBoxMax[idx][1], xyz2[1]);
                                                      bBoxMax[idx][2] = std::max(bBoxMax[idx][2], xyz2[2]);
                                                  };

    ParallelUtils::parallelFor(surfaceMesh.getNumTriangles(), findBoundingBox);

    // ray tracing for all points in the x-axis. These points are those start with indices (0,j,k)
    // and jk = j + k*ny
    auto rayTracingLine = [&](const size_t jk)
                          {
                              size_t idx0   = jk * nx;
                              bool   outBox = coords[idx0][0] < aabbMin[0] || coords[idx0][0] > aabbMax[0]
                                              || coords[idx0][1] < aabbMin[1] || coords[idx0][1] > aabbMax[1]
                                              || coords[idx0][2] < aabbMin[2] || coords[idx0][2] > aabbMax[2];
                              if (outBox)
                              {
                                  return;
                              }

                              const Vec3d direction = { 1.0, 0.0, 0.0 };
                              const auto& xyz       = *surfaceMesh.getVertexPositions();

                              size_t i = 0;
                              while (i < nx)
                              {
                                  size_t idx = idx0 + i;
                                  int    numIntersections = 0;
                                  double dist    = 0.0;
                                  double distMin = h[0] * (nz + 1);

                                  for (int j = 0; j < surfaceMesh.getNumTriangles(); ++j)
                                  {
                                      const Vec3i& verts = indices[j];

                                      // consider directed ray
                                      if (coords[idx][0] > bBoxMax[j][0])
                                      {
                                          continue;
                                      }

                                      if (coords[idx][1] > bBoxMax[j][1])
                                      {
                                          continue;
                                      }
                                      if (coords[idx][1] < bBoxMin[j][1])
                                      {
                                          continue;
                                      }
                                      if (coords[idx][2] > bBoxMax[j][2])
                                      {
                                          continue;
                                      }
                                      if (coords[idx][2] < bBoxMin[j][2])
                                      {
                                          continue;
                                      }

                                      auto intersected = triangleRayIntersection(coords[idx],
                    xyz[verts[0]],
                    xyz[verts[1]],
                    xyz[verts[2]],
                    direction,
                    dist);
                                      if (intersected)
                                      {
                                          ++numIntersections;
                                          distMin = std::min(dist, distMin);
                                      }
                                  }

                                  // core of the algorithm: points between the current one and iEnd share the same label so we can skip them.
                                  size_t iEnd = i + static_cast<size_t>(distMin / h[0]) + 1;
                                  iEnd = std::min(iEnd, nx);

                                  if (numIntersections % 2 == 1)
                                  {
                                      for (size_t ii = idx; ii < idx0 + iEnd; ++ii)
                                      {
                                          isInside[ii] = true;
                                      }
                                  }

                                  i = iEnd;
                              }
                          };

    ParallelUtils::parallelFor(ny * nz, rayTracingLine);
}
}   // anonymous namespace

std::shared_ptr<TetrahedralMesh>
GeometryUtils::createUniformMesh(const Vec3d& aabbMin,
                                 const Vec3d& aabbMax,
                                 const int    nx,
                                 const int    ny,
                                 const int    nz)
{
    const Vec3d h = { (aabbMax[0] - aabbMin[0]) / nx,
                      (aabbMax[1] - aabbMin[1]) / ny,
                      (aabbMax[2] - aabbMin[2]) / nz };
    LOG_IF(FATAL, (h[0] <= 0.0 || h[1] <= 0.0 || h[2] <= 0.0)) << "Invalid bounding box";

    const size_t numVertices = (nx + 1) * (ny + 1) * (nz + 1);

    // std::vector<Vec3d> coords;
    std::shared_ptr<VecDataArray<double, 3>> coords   = std::make_shared<VecDataArray<double, 3>>();
    VecDataArray<double, 3>&                 vertices = *coords;
    vertices.resize(static_cast<int>(numVertices));
    int cnt = 0;

    for (int k = 0; k < nz + 1; ++k)
    {
        double z = aabbMin[2] + k * h[2];
        for (int j = 0; j < ny + 1; ++j)
        {
            double y = aabbMin[1] + j * h[1];
            for (int i = 0; i < nx + 1; ++i)
            {
                double x = aabbMin[0] + i * h[0];
                vertices[cnt] = { x, y, z };
                ++cnt;
            }
        }
    }

    const int numDiv  = 6;
    const int numTets = numDiv * nx * ny * nz;

    std::shared_ptr<VecDataArray<int, 4>> indicesPtr = std::make_shared<VecDataArray<int, 4>>();
    VecDataArray<int, 4>&                 indices    = *indicesPtr;
    indices.resize(static_cast<int>(numTets));
    cnt = 0;
    std::vector<int> indx(8);

    for (int k = 0; k < nz; ++k)
    {
        for (int j = 0; j < ny; ++j)
        {
            for (int i = 0; i < nx; ++i)
            {
                indx[3] = i + j * (nx + 1) + k * (nx + 1) * (ny + 1);
                indx[2] = indx[3] + 1;
                indx[0] = indx[3] + nx + 1;
                indx[1] = indx[0] + 1;
                indx[4] = indx[0] + (nx + 1) * (ny + 1);
                indx[5] = indx[1] + (nx + 1) * (ny + 1);
                indx[6] = indx[2] + (nx + 1) * (ny + 1);
                indx[7] = indx[3] + (nx + 1) * (ny + 1);

                indices[cnt + 0] = Vec4i(indx[0], indx[2], indx[3], indx[6]);
                indices[cnt + 1] = Vec4i(indx[0], indx[3], indx[7], indx[6]);
                indices[cnt + 2] = Vec4i(indx[0], indx[7], indx[4], indx[6]);
                indices[cnt + 3] = Vec4i(indx[0], indx[5], indx[6], indx[4]);
                indices[cnt + 4] = Vec4i(indx[1], indx[5], indx[6], indx[0]);
                indices[cnt + 5] = Vec4i(indx[1], indx[6], indx[2], indx[0]);
                cnt += numDiv;
            }
        }
    }

    auto mesh = std::make_shared<TetrahedralMesh>();
    mesh->initialize(coords, indicesPtr);
    return mesh;
}

std::shared_ptr<TetrahedralMesh>
GeometryUtils::createTetrahedralMeshCover(std::shared_ptr<SurfaceMesh> surfMesh,
                                          const int                    nx,
                                          const int                    ny,
                                          const int                    nz)
{
    Vec3d aabbMin, aabbMax;

    // create a background mesh
    surfMesh->computeBoundingBox(aabbMin, aabbMax, 1. /*percentage padding*/);
    auto uniformMesh = createUniformMesh(aabbMin, aabbMax, nx, ny, nz);

    // ray-tracing
    const VecDataArray<double, 3>& coords = *uniformMesh->getVertexPositions();
    std::vector<bool>              insideSurfMesh;
    markPointsInsideAndOut(insideSurfMesh, *surfMesh.get(), coords, nx + 1, ny + 1, nz + 1);

    // label elements
    std::vector<bool> validTet(uniformMesh->getNumTetrahedra(), false);
    std::vector<bool> validVtx(uniformMesh->getNumVertices(), false);

    // TetrahedralMesh::WeightsArray weights = {0.0, 0.0, 0.0, 0.0};
    const Vec3d h = { (aabbMax[0] - aabbMin[0]) / nx,
                      (aabbMax[1] - aabbMin[1]) / ny,
                      (aabbMax[2] - aabbMin[2]) / nz };

    // a customized approach to find the enclosing tet for each surface points
    /// \todo can be parallelized by make NUM_THREADS copies of validTet, or use atomic op on validTet
    auto labelEnclosingTet = [&aabbMin, &h, nx, ny, nz, &uniformMesh, &validTet](const Vec3d& xyz)
                             {
                                 const int idX   = (xyz[0] - aabbMin[0]) / h[0];
                                 const int idY   = (xyz[1] - aabbMin[1]) / h[1];
                                 const int idZ   = (xyz[2] - aabbMin[2]) / h[2];
                                 const int hexId = idX + idY * nx + idZ * nx * ny;

                                 // the index range of tets inside the enclosing hex
                                 const int numDiv = 6;
                                 const int tetId0 = numDiv * hexId;
                                 const int tetId1 = tetId0 + numDiv;

                                 static TetrahedralMesh::WeightsArray weights = { 0.0, 0.0, 0.0, 0.0 };

                                 // loop over the tets to find the enclosing tets
                                 for (int id = tetId0; id < tetId1; ++id)
                                 {
                                     if (validTet[id])
                                     {
                                         continue;
                                     }
                                     uniformMesh->computeBarycentricWeights(id, xyz, weights);

                                     if ((weights[0] >= 0) && (weights[1] >= 0) && (weights[2] >= 0) && (weights[3] >= 0))
                                     {
                                         validTet[id] = true;
                                         break;
                                     }
                                 }
                             };

    auto labelEnclosingTetOfVertices = [&surfMesh, &uniformMesh, &aabbMin, &h, nx, ny, nz, &labelEnclosingTet, &validTet](const int i)
                                       {
                                           const auto& xyz = surfMesh->getVertexPosition(i);
                                           labelEnclosingTet(xyz);
                                       };

    for (size_t i = 0; i < validTet.size(); ++i)
    {
        const Vec4i& verts = uniformMesh->getTetrahedronIndices(i);
        if (insideSurfMesh[verts[0]]
            || insideSurfMesh[verts[1]]
            || insideSurfMesh[verts[2]]
            || insideSurfMesh[verts[3]])
        {
            validTet[i] = true;
        }
    }

    // find the enclosing tets of a group of points on a surface triangle
    const VecDataArray<int, 3>& indices = *surfMesh->getTriangleIndices();
    auto                        labelEnclosingTetOfInteriorPnt = [&](const int fid)
                                                                 {
                                                                     auto               verts = indices[fid];
                                                                     const auto&        vtx0  = surfMesh->getVertexPosition(verts[0]);
                                                                     const auto&        vtx1  = surfMesh->getVertexPosition(verts[1]);
                                                                     const auto&        vtx2  = surfMesh->getVertexPosition(verts[2]);
                                                                     std::vector<Vec3d> pnts(12);

                                                                     pnts[0]  = 0.75 * vtx0 + 0.25 * vtx1;
                                                                     pnts[1]  = 0.50 * vtx0 + 0.50 * vtx1;
                                                                     pnts[2]  = 0.25 * vtx0 + 0.75 * vtx1;
                                                                     pnts[3]  = 0.75 * vtx1 + 0.25 * vtx2;
                                                                     pnts[4]  = 0.50 * vtx1 + 0.50 * vtx2;
                                                                     pnts[5]  = 0.25 * vtx1 + 0.75 * vtx2;
                                                                     pnts[6]  = 0.75 * vtx2 + 0.25 * vtx0;
                                                                     pnts[7]  = 0.50 * vtx2 + 0.50 * vtx0;
                                                                     pnts[8]  = 0.25 * vtx2 + 0.75 * vtx0;
                                                                     pnts[9]  = 2.0 / 3.0 * pnts[0] + 1.0 / 3.0 * pnts[5];
                                                                     pnts[10] = 0.5 * (pnts[1] + pnts[4]);
                                                                     pnts[11] = 0.5 * (pnts[4] + pnts[7]);

                                                                     for (size_t i = 0; i < pnts.size(); ++i)
                                                                     {
                                                                         labelEnclosingTet(pnts[i]);
                                                                     }
                                                                 };

    // enclose all vertices
    for (int i = 0; i < surfMesh->getNumVertices(); ++i)
    {
        labelEnclosingTetOfVertices(i);
    }

    // enclose some interior points on triangles
    for (int i = 0; i < surfMesh->getNumTriangles(); ++i)
    {
        labelEnclosingTetOfInteriorPnt(i);
    }

    int numElems = 0;
    for (size_t i = 0; i < validTet.size(); ++i)
    {
        const Vec4i& verts = uniformMesh->getTetrahedronIndices(i);
        if (validTet[i])
        {
            validVtx[verts[0]] = true;
            validVtx[verts[1]] = true;
            validVtx[verts[2]] = true;
            validVtx[verts[3]] = true;
            ++numElems;
        }
    }

    // discard useless vertices, and build old-to-new index map
    size_t numVerts = 0;
    for (auto b : validVtx)
    {
        if (b)
        {
            ++numVerts;
        }
    }

    std::shared_ptr<VecDataArray<double, 3>> newCoords = std::make_shared<VecDataArray<double, 3>>(static_cast<int>(numVerts));
    VecDataArray<double, 3>&                 vertices = *newCoords;
    std::vector<int>                         oldToNew(coords.size(), std::numeric_limits<int>::max());

    int cnt = 0;
    for (size_t i = 0; i < validVtx.size(); ++i)
    {
        if (validVtx[i])
        {
            vertices[cnt] = coords[i];
            oldToNew[i]   = cnt;
            ++cnt;
        }
    }

    // update tet-to-vert connectivity
    std::shared_ptr<VecDataArray<int, 4>> newIndicesPtr = std::make_shared<VecDataArray<int, 4>>(numElems);
    VecDataArray<int, 4>&                 newIndices = *newIndicesPtr;
    cnt = 0;
    for (int i = 0; i < uniformMesh->getNumTetrahedra(); ++i)
    {
        if (validTet[i])
        {
            const Vec4i& oldIndices = uniformMesh->getTetrahedronIndices(i);

            newIndices[cnt][0] = oldToNew[oldIndices[0]];
            newIndices[cnt][1] = oldToNew[oldIndices[1]];
            newIndices[cnt][2] = oldToNew[oldIndices[2]];
            newIndices[cnt][3] = oldToNew[oldIndices[3]];

            ++cnt;
        }
    }

    // ready to create the final mesh
    auto mesh = std::make_shared<TetrahedralMesh>();
    mesh->initialize(newCoords, newIndicesPtr);

    return mesh;
}

template<typename NeighborContainer>
std::vector<size_t>
GeometryUtils::reorderConnectivity(const std::vector<NeighborContainer>& neighbors, const MeshNodeRenumberingStrategy& method)
{
    switch (method)
    {
    case (MeshNodeRenumberingStrategy::ReverseCuthillMckee):
        return RCM(neighbors);
    default:
        LOG(WARNING) << "Unrecognized reorder method; using RCM instead";
        return RCM(neighbors);
    }
}

template<typename ElemConn>
std::vector<size_t>
GeometryUtils::reorderConnectivity(const std::vector<ElemConn>& conn, const size_t numVerts, const MeshNodeRenumberingStrategy& method)
{
    switch (method)
    {
    case (MeshNodeRenumberingStrategy::ReverseCuthillMckee):
        return RCM(conn, numVerts);
    default:
        LOG(WARNING) << "Unrecognized reorder method; using Reverse Cuthill-Mckee strategy instead";
        return RCM(conn, numVerts);
    }
}
} // namespace imstk

template std::vector<size_t> imstk::GeometryUtils::reorderConnectivity<std::set<size_t>>(const std::vector<std::set<size_t>>&, const GeometryUtils::MeshNodeRenumberingStrategy&);

template std::vector<size_t> imstk::GeometryUtils::reorderConnectivity<std::array<size_t, 4>>(const std::vector<std::array<size_t, 4>>&, const size_t, const MeshNodeRenumberingStrategy&);
