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

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 "imstkCamera.h"
#include "imstkKeyboardSceneControl.h"
#include "imstkLineMesh.h"
#include "imstkLogger.h"
#include "imstkMouseSceneControl.h"
#include "imstkNew.h"
#include "imstkPbdModel.h"
#include "imstkPbdObject.h"
#include "imstkRenderMaterial.h"
#include "imstkScene.h"
#include "imstkSceneManager.h"
#include "imstkSimulationManager.h"
#include "imstkTaskGraphVizWriter.h"
#include "imstkVisualModel.h"
#include "imstkVTKViewer.h"

using namespace imstk;

///
/// \brief Create pbd string geometry
///
static std::shared_ptr<LineMesh>
makeStringGeometry(const Vec3d& pos, const int numVerts, const double stringLength)
{
    const double vertexSpacing = stringLength / numVerts;

    // Create the geometry
    imstkNew<LineMesh> stringGeometry;

    imstkNew<VecDataArray<double, 3>> verticesPtr;
    VecDataArray<double, 3>&          vertices = *verticesPtr.get();
    vertices.resize(numVerts);
    for (int j = 0; j < numVerts; j++)
    {
        vertices[j] = pos - Vec3d(0.0, static_cast<double>(j) * vertexSpacing, 0.0);
    }
    stringGeometry->setInitialVertexPositions(verticesPtr);
    stringGeometry->setVertexPositions(std::make_shared<VecDataArray<double, 3>>(*verticesPtr.get()));

    // Add connectivity data
    imstkNew<VecDataArray<int, 2>> segmentsPtr;
    VecDataArray<int, 2>&          segments = *segmentsPtr.get();
    for (int j = 0; j < numVerts - 1; j++)
    {
        segments.push_back(Vec2i(j, j + 1));
    }

    stringGeometry->setLinesIndices(segmentsPtr);
    return stringGeometry;
}

///
/// \brief Create pbd string object
///
static std::shared_ptr<PbdObject>
makePbdString(
    const std::string& name,
    const Vec3d&       pos,
    const int          numVerts,
    const double       stringLength,
    const double       bendStiffness,
    const Color&       color)
{
    imstkNew<PbdObject> stringObj(name);

    // Setup the Geometry
    std::shared_ptr<LineMesh> stringMesh = makeStringGeometry(pos, numVerts, stringLength);

    // Setup the Parameters
    imstkNew<PbdModelConfig> pbdParams;
    pbdParams->enableConstraint(PbdModelConfig::ConstraintGenType::Distance, 1e7);
    pbdParams->enableConstraint(PbdModelConfig::ConstraintGenType::Bend, bendStiffness);
    pbdParams->m_fixedNodeIds     = { 0 };
    pbdParams->m_uniformMassValue = 5.0;
    pbdParams->m_gravity    = Vec3d(0, -9.8, 0);
    pbdParams->m_dt         = 0.0005;
    pbdParams->m_iterations = 5;

    // Setup the Model
    imstkNew<PbdModel> pbdModel;
    pbdModel->setModelGeometry(stringMesh);
    pbdModel->configure(pbdParams);

    // Setup the VisualModel
    imstkNew<RenderMaterial> material;
    material->setBackFaceCulling(false);
    material->setColor(color);
    material->setLineWidth(2.0f);
    material->setDisplayMode(RenderMaterial::DisplayMode::Wireframe);

    imstkNew<VisualModel> visualModel(stringMesh);
    visualModel->setRenderMaterial(material);

    // Setup the Object
    stringObj->addVisualModel(visualModel);
    stringObj->setPhysicsGeometry(stringMesh);
    stringObj->setDynamicalModel(pbdModel);

    return stringObj;
}

static std::vector<std::shared_ptr<PbdObject>>
makePbdStrings(const int    numStrings,
               const int    numVerts,
               const double stringSpacing,
               const double stringLength,
               const Color& startColor,
               const Color& endColor)
{
    std::vector<std::shared_ptr<PbdObject>> pbdStringObjs(numStrings);

    const double size = stringSpacing * (numStrings - 1);

    for (int i = 0; i < numStrings; i++)
    {
        const Vec3d  tipPos = Vec3d(static_cast<double>(i) * stringSpacing - size * 0.5, stringLength * 0.5, 0.0);
        const double t      = static_cast<double>(i) / (numStrings - 1);

        pbdStringObjs[i] = makePbdString(
            "String " + std::to_string(i),
            tipPos,
            numVerts,
            stringLength,
            (static_cast<double>(i) * 0.1 / numStrings + 0.001) * 1e6,
            Color::lerpRgb(startColor, endColor, t));
    }

    return pbdStringObjs;
}

const double radius        = 1.5;
const int    numStrings    = 8;                    // Number of strings
const int    numVerts      = 30;                   // Number of vertices on each string
const double stringSpacing = 2.0;                  // How far each string is apart
const double stringLength  = 10.0;                 // Total length of string
const Color  startColor    = Color(1.0, 0.0, 0.0); // Color of first string
const Color  endColor      = Color(0.0, 1.0, 0.0); // Color of last string

///
/// \brief This examples uses the timing features of the task graph. This allows one
/// to see the elapsed time of every step of iMSTK as well as export the computational
/// graph and show information such as the critical path
///
int
main()
{
    // Setup logger (write to file and stdout)
    Logger::startLogger();

    imstkNew<Scene> scene("PBDString");
    scene->getActiveCamera()->setPosition(0.0, 0.0, 15.0);

    // Setup N separate strings with varying bend stiffnesses
    std::vector<std::shared_ptr<PbdObject>> pbdStringObjs =
        makePbdStrings(numStrings, numVerts, stringSpacing, stringLength, startColor, endColor);
    // Add the string scene objects to the scene
    for (std::shared_ptr<PbdObject> obj : pbdStringObjs)
    {
        scene->addSceneObject(obj);
    }

    // Run the simulation
    {
        // Setup a viewer to render
        imstkNew<VTKViewer> viewer;
        viewer->setActiveScene(scene);

        // Setup a scene manager to advance the scene
        imstkNew<SceneManager> sceneManager;
        sceneManager->setActiveScene(scene);
        sceneManager->pause();
        double t = 0.0;
        connect<Event>(sceneManager, &SceneManager::postUpdate, [&](Event*)
        {
            const double dt = sceneManager->getDt();
            for (size_t i = 0; i < pbdStringObjs.size(); i++)
            {
                std::shared_ptr<PbdModel> model = pbdStringObjs[i]->getPbdModel();
                model->getConfig()->m_dt = dt;
                std::shared_ptr<VecDataArray<double, 3>> positions = model->getCurrentState()->getPositions();
                (*positions)[0] += Vec3d(
                        -std::sin(t) * radius * dt,
                        0.0,
                        std::cos(t) * radius * dt);
            }
            t += dt;
            });

        imstkNew<SimulationManager> driver;
        driver->addModule(viewer);
        driver->addModule(sceneManager);
        driver->setDesiredDt(0.005);

        // Add mouse and keyboard controls to the viewer
        {
            imstkNew<MouseSceneControl> mouseControl(viewer->getMouseDevice());
            mouseControl->setSceneManager(sceneManager);
            viewer->addControl(mouseControl);

            imstkNew<KeyboardSceneControl> keyControl(viewer->getKeyboardDevice());
            keyControl->setSceneManager(sceneManager);
            keyControl->setModuleDriver(driver);
            viewer->addControl(keyControl);
        }

        driver->start();
    }

    // Write the graph, highlighting the critical path and putting the completion time in the name
    imstkNew<TaskGraphVizWriter> writer;
    writer->setInput(scene->getTaskGraph());
    writer->setFileName("taskGraphBenchmarkExample.svg");
    writer->setHighlightCriticalPath(true);
    writer->setWriteNodeComputeTimesColor(true);
    writer->setWriteNodeComputeTimesText(true);
    writer->write();

    return 0;
}
