#ifndef UTILITIES_H
#define UTILITIES_H

#include <Eigen/Dense>
#include <filesystem>
#include <fstream>
#include <regex>

struct Vector6d : public std::array<double, 6> {
  Vector6d() {
    for (size_t i = 0; i < 6; i++) {
      this->operator[](i) = 0;
    }
  }

  Vector6d(const double &d) {
    for (size_t i = 0; i < 6; i++) {
      this->operator[](i) = d;
    }
  }

  Vector6d(const std::array<double, 6> &arr) : std::array<double, 6>(arr) {}

  Vector6d(const std::initializer_list<double> &initList) {
    std::copy(initList.begin(), initList.end(), this->begin());
  }

  Vector6d operator*(const double &d) const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      result[i] = this->operator[](i) * d;
    }
    return result;
  }

  Vector6d operator*(const Vector6d &v) const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      result[i] = this->operator[](i) * v[i];
    }
    return result;
  }

  Vector6d operator/(const double &d) const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      result[i] = this->operator[](i) / d;
    }
    return result;
  }

  Vector6d operator+(const Vector6d &v) const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      result[i] = this->operator[](i) + v[i];
    }
    return result;
  }

  Vector6d operator-(const Vector6d &v) const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      result[i] = this->operator[](i) - v[i];
    }
    return result;
  }

  Vector6d inverted() const {
    Vector6d result;
    for (size_t i = 0; i < 6; i++) {
      assert(this->operator[](i) != 0);
      result[i] = 1 / this->operator[](i);
    }
    return result;
  }
  bool isZero() const {
    for (size_t i = 0; i < 6; i++) {
      if (this->operator[](i) != 0)
        return false;
    }
    return true;
  }

  double squaredNorm() const {
    double squaredNorm = 0;
    std::for_each(begin(), end(),
                  [&](const double &v) { squaredNorm += pow(v, 2); });
    return squaredNorm;
  }

  double norm() const { return sqrt(squaredNorm()); }

  bool isFinite() const {
    return std::any_of(begin(), end(), [](const double &v) {
      if (!std::isfinite(v)) {
        return false;
      }
      return true;
    });
  }
};

namespace Utilities {
inline void parseIntegers(const std::string &str, std::vector<size_t> &result) {
  typedef std::regex_iterator<std::string::const_iterator> re_iterator;
  typedef re_iterator::value_type re_iterated;

  std::regex re("(\\d+)");

  re_iterator rit(str.begin(), str.end(), re);
  re_iterator rend;

  std::transform(rit, rend, std::back_inserter(result),
                 [](const re_iterated &it) { return std::stoi(it[1]); });
}

inline Eigen::MatrixXd toEigenMatrix(const std::vector<Vector6d> &v) {
  Eigen::MatrixXd m(v.size(), 6);

  for (size_t vi = 0; vi < v.size(); vi++) {
    const Vector6d &vec = v[vi];
    for (size_t i = 0; i < 6; i++) {
      m(vi, i) = vec[i];
    }
  }

  return m;
}

// std::string convertToLowercase(const std::string &s) {
//  std::string lowercase;
//  std::transform(s.begin(), s.end(), lowercase.begin(),
//                 [](unsigned char c) { return std::tolower(c); });
//  return lowercase;
//}
// bool hasExtension(const std::string &filename, const std::string &extension)
// {
//  const std::filesystem::path path(filename);
//  if (!path.has_extension()) {
//    std::cerr << "Error: No file extension found in " << filename <<
//    std::endl; return false;
//  }

//  const std::string detectedExtension = path.extension().string();

//  if (convertToLowercase(detectedExtension) != convertToLowercase(extension))
//  {
//    std::cerr << "Error: detected extension is " + detectedExtension +
//                     " and not " + extension
//              << std::endl;
//    return false;
//  }
//  return true;
//}

} // namespace Utilities

// namespace ConfigurationFile {

//}
//} // namespace ConfigurationFile
#include "polyscope/curve_network.h"
#include "polyscope/polyscope.h"

inline void initPolyscope() {
  if (polyscope::state::initialized) {
    return;
  }
  polyscope::init();
  polyscope::options::groundPlaneEnabled = false;
  polyscope::view::upDir = polyscope::view::UpDir::ZUp;
}

inline void registerWorldAxes() {
  if (!polyscope::state::initialized) {
    initPolyscope();
  }

  Eigen::MatrixX3d axesPositions(4, 3);
  axesPositions.row(0) = Eigen::Vector3d(0, 0, 0);
  axesPositions.row(1) = Eigen::Vector3d(polyscope::state::lengthScale, 0, 0);
  axesPositions.row(2) = Eigen::Vector3d(0, polyscope::state::lengthScale, 0);
  axesPositions.row(3) = Eigen::Vector3d(0, 0, polyscope::state::lengthScale);

  Eigen::MatrixX2i axesEdges(3, 2);
  axesEdges.row(0) = Eigen::Vector2i(0, 1);
  axesEdges.row(1) = Eigen::Vector2i(0, 2);
  axesEdges.row(2) = Eigen::Vector2i(0, 3);
  Eigen::MatrixX3d axesColors(3, 3);
  axesColors.row(0) = Eigen::Vector3d(1, 0, 0);
  axesColors.row(1) = Eigen::Vector3d(0, 1, 0);
  axesColors.row(2) = Eigen::Vector3d(0, 0, 1);

  const std::string worldAxesName = "World Axes";
  polyscope::registerCurveNetwork(worldAxesName, axesPositions, axesEdges);
  polyscope::getCurveNetwork(worldAxesName)->setRadius(0.0001, false);
  const std::string worldAxesColorName = worldAxesName + " Color";
  polyscope::getCurveNetwork(worldAxesName)
      ->addEdgeColorQuantity(worldAxesColorName, axesColors)
      ->setEnabled(true);
}

template <typename T1, typename T2>
void constructInverseMap(const T1 &map, T2 &oppositeMap) {
  assert(!map.empty());
  oppositeMap.clear();
  for (const auto &mapIt : map) {
    oppositeMap[mapIt.second] = mapIt.first;
  }
}

#endif // UTILITIES_H