#include "reducedmodeloptimizer.hpp"
#include "linearsimulationmodel.hpp"
#include "simulationhistoryplotter.hpp"
#include "trianglepatterngeometry.hpp"
#include "trianglepattterntopology.hpp"
#include <armadillo>
#include <chrono>
#include <execution>
#include <functional>

using namespace ReducedPatternOptimization;

struct GlobalOptimizationVariables
{
    //    std::vector<std::vector<Vector6d>> fullPatternDisplacements;
    std::vector<SimulationResults> fullPatternResults;
    std::vector<double> translationalDisplacementNormalizationValues;
    std::vector<double> rotationalDisplacementNormalizationValues;
    std::vector<std::shared_ptr<SimulationJob>> fullPatternSimulationJobs;
    std::vector<std::shared_ptr<SimulationJob>> reducedPatternSimulationJobs;
    std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex> reducedToFullInterfaceViMap;
    std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        fullPatternInterfaceViPairs;
    matplot::line_handle gPlotHandle;
    std::vector<size_t> objectiveValueHistory_iteration;
    std::vector<double> objectiveValueHistory;
    std::vector<double> plotColors;
    std::array<double, 7> parametersInitialValue;
    std::array<double, 7> optimizationInitialValue;
    std::vector<int> simulationScenarioIndices;
    double minY{DBL_MAX};
    std::vector<double> minX;
    int numOfSimulationCrashes{false};
    int numberOfFunctionCalls{0};
    int numberOfOptimizationParameters{5};
    ReducedPatternOptimization::Settings optimizationSettings;
    vcg::Triangle3<double> baseTriangle;
    //Variables for finding the full pattern simulation forces
    std::shared_ptr<SimulationMesh> pFullPatternSimulationMesh;
    std::function<void(const double &,
                       const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>> &,
                       SimulationJob &)>
        constructScenarioFunction;
    FullPatternVertexIndex interfaceViForComputingScenarioError;
    double desiredMaxDisplacementValue;
    double desiredMaxRotationAngle;
    std::string currentScenarioName;
    std::array<std::function<void(const double &newValue,
                                  std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh)>,
               7>
        functions_updateReducedPatternParameter;
    std::vector<double> xMin;
    std::vector<double> xMax;
    std::vector<double> scenarioEqualizationWeight;
    std::vector<double> scenarioUserWeights;
} global;

double ReducedModelOptimizer::computeDisplacementError(
    const std::vector<Vector6d> &fullPatternDisplacements,
    const std::vector<Vector6d> &reducedPatternDisplacements,
    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap,
    const double &normalizationFactor)
{
    const double rawError = computeRawTranslationalError(fullPatternDisplacements,
                                                         reducedPatternDisplacements,
                                                         reducedToFullInterfaceViMap);
    //    std::cout << "raw trans error:" << rawError << std::endl;
    //    std::cout << "raw trans error:" << normalizationFactor << std::endl;
    return rawError / normalizationFactor;
}

double ReducedModelOptimizer::computeRawTranslationalError(
    const std::vector<Vector6d> &fullPatternDisplacements,
    const std::vector<Vector6d> &reducedPatternDisplacements,
    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap)
{
    double error = 0;
    for (const auto reducedFullViPair : reducedToFullInterfaceViMap) {
        const VertexIndex reducedModelVi = reducedFullViPair.first;
        const VertexIndex fullModelVi = reducedFullViPair.second;
        const Eigen::Vector3d fullPatternVertexDiplacement = fullPatternDisplacements[fullModelVi]
                                                                 .getTranslation();
        const Eigen::Vector3d reducedPatternVertexDiplacement
            = reducedPatternDisplacements[reducedModelVi].getTranslation();
        const double vertexError = (fullPatternVertexDiplacement - reducedPatternVertexDiplacement)
                                       .norm();
        error += vertexError;
    }

    return error;
}

double ReducedModelOptimizer::computeRawRotationalError(
    const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
    const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap)
{
    double rawRotationalError = 0;
    for (const auto &reducedToFullInterfaceViPair : reducedToFullInterfaceViMap) {
        const double vertexRotationalError
            = rotatedQuaternion_fullPattern[reducedToFullInterfaceViPair.second].angularDistance(
                rotatedQuaternion_reducedPattern[reducedToFullInterfaceViPair.first]);
        rawRotationalError += vertexRotationalError;
    }

    return rawRotationalError;
}

double ReducedModelOptimizer::computeRotationalError(
    const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_fullPattern,
    const std::vector<Eigen::Quaternion<double>> &rotatedQuaternion_reducedPattern,
    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap,
    const double &normalizationFactor)
{
    const double rawRotationalError = computeRawRotationalError(rotatedQuaternion_fullPattern,
                                                                rotatedQuaternion_reducedPattern,
                                                                reducedToFullInterfaceViMap);
    return rawRotationalError / normalizationFactor;
}

double ReducedModelOptimizer::computeError(
    const SimulationResults &simulationResults_fullPattern,
    const SimulationResults &simulationResults_reducedPattern,
    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap,
    const double &normalizationFactor_translationalDisplacement,
    const double &normalizationFactor_rotationalDisplacement)
{
    const double translationalError
        = computeDisplacementError(simulationResults_fullPattern.displacements,
                                   simulationResults_reducedPattern.displacements,
                                   reducedToFullInterfaceViMap,
                                   normalizationFactor_translationalDisplacement);

    //    std::cout << "normalization factor:" << normalizationFactor_rotationalDisplacement << std::endl;
    //    std::cout << "trans error:" << translationalError << std::endl;
    const double rotationalError
        = computeRotationalError(simulationResults_fullPattern.rotationalDisplacementQuaternion,
                                 simulationResults_reducedPattern.rotationalDisplacementQuaternion,
                                 reducedToFullInterfaceViMap,
                                 normalizationFactor_rotationalDisplacement);
    return global.optimizationSettings.objectiveWeights.translational * translationalError
           + global.optimizationSettings.objectiveWeights.rotational * rotationalError;
}

//double ReducedModelOptimizer::objective(double E,double A,double J,double I2,double I3,
//                                        double innerHexagonSize,
//                                        double innerHexagonRotationAngle) {
//    std::vector<double> x{E,A,J,I2,I3, innerHexagonSize, innerHexagonRotationAngle};
//    return ReducedModelOptimizer::objective(x.size(), x.data());
//}

#ifdef USE_ENSMALLEN
struct EnsmallenOptimizationObjective
{
    static double Evaluate(const arma::mat &x_arma)
    {
        std::vector<double> x(x_arma.begin(), x_arma.end());
        for (int xi = 0; xi < x.size(); xi++) {
            if (x[xi] > global.xMax[xi]) {
                return std::numeric_limits<double>::max();
                x[xi] = global.xMax[xi];
                //                                std::cout << "Out of range" << std::endl;
            } else if (x[xi] < global.xMin[xi]) {
                return std::numeric_limits<double>::max();
                x[xi] = global.xMin[xi];
                //                                std::cout << "Out of range" << std::endl;
            }
        }
        return ReducedModelOptimizer::objective(x);
    }
};
#endif

#ifdef DLIB_DEFINED
double ReducedModelOptimizer::objective(const dlib::matrix<double, 0, 1> &x)
{
    return objective(std::vector<double>(x.begin(), x.end()));
}
#endif

double ReducedModelOptimizer::objective(const double &xValue)
{
    return objective({xValue});
}

double ReducedModelOptimizer::objective(const std::vector<double> &x)
{
    //    std::cout.precision(17);
    //    for (int i = 0; i < x.size(); i++) {
    //        std::cout << x[i] << " ";
    //    }
    //    std::cout << std::endl;

    //    std::cout << x(x.size() - 2) << " " << x(x.size() - 1) << std::endl;
    //  const Element &e =
    //  global.reducedPatternSimulationJobs[0]->pMesh->elements[0]; std::cout <<
    //  e.axialConstFactor << " " << e.torsionConstFactor << " "
    //            << e.firstBendingConstFactor << " " <<
    //            e.secondBendingConstFactor
    //            << std::endl;
    //    const int n = x.size();
    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh
        = global.reducedPatternSimulationJobs[global.simulationScenarioIndices[0]]->pMesh;
    function_updateReducedPattern(x, pReducedPatternSimulationMesh);
    //    global.reducedPatternSimulationJobs[0]->pMesh->registerForDrawing();
    //    global.fullPatternSimulationJobs[0]->pMesh->registerForDrawing();
    //    polyscope::show();
    //    global.reducedPatternSimulationJobs[0]->pMesh->unregister();

    //  std::cout << e.axialConstFact|A,I2,I3,J,r,thetaor << " " << e.torsionConstFactor << " "
    //            << e.firstBendingConstFactor << " " <<
    //            e.secondBendingConstFactor
    //            << std::endl;

    // run simulations
    double totalError = 0;
    LinearSimulationModel simulator;
    simulator.setStructure(pReducedPatternSimulationMesh);
    //    simulator.initialize();
    //    FormFinder simulator;

    std::for_each(
        std::execution::par_unseq,
        global.simulationScenarioIndices.begin(),
        global.simulationScenarioIndices.end(),
        [&](const int &simulationScenarioIndex) {
            //    for (const int simulationScenarioIndex : global.simulationScenarioIndices) {
            const std::shared_ptr<SimulationJob> &reducedJob
                = global.reducedPatternSimulationJobs[simulationScenarioIndex];
            //#ifdef POLYSCOPE_DEFINED
            //        std::cout << reducedJob->getLabel() << ":" << std::endl;
            //#endif
            SimulationResults reducedModelResults = simulator.executeSimulation(reducedJob);
            //    std::string filename;
            if (!reducedModelResults.converged) {
                totalError += std::numeric_limits<double>::max();
                global.numOfSimulationCrashes++;
#ifdef POLYSCOPE_DEFINED
                std::cout << "Failed simulation" << std::endl;
#endif
            } else {
                //                double simulationScenarioError;
                //            constexpr bool usePotentialEnergy = false;
                //            if (usePotentialEnergy) {
                //                simulationScenarioError = std::abs(
                //                    reducedModelResults.internalPotentialEnergy
                //                    - global.fullPatternResults[simulationScenarioIndex].internalPotentialEnergy);
                //            } else {
                const double simulationScenarioError = computeError(
                    global.fullPatternResults[simulationScenarioIndex],
                    reducedModelResults,
                    global.reducedToFullInterfaceViMap,
                    global.translationalDisplacementNormalizationValues[simulationScenarioIndex],
                    global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]);
                //            }
                //#ifdef POLYSCOPE_DEFINED
                //            reducedJob->pMesh->registerForDrawing(Colors::reducedInitial);
                //            reducedModelResults.registerForDrawing(Colors::reducedDeformed);
                //            global.pFullPatternSimulationMesh->registerForDrawing(Colors::fullDeformed);
                //            global.fullPatternResults[simulationScenarioIndex].registerForDrawing(
                //                Colors::fullDeformed);
                //            polyscope::show();
                //            reducedModelResults.unregister();
                //            global.pFullPatternSimulationMesh->unregister();
                //            global.fullPatternResults[simulationScenarioIndex].unregister();
                //#endif
                //        if (global.optimizationSettings.normalizationStrategy !=
                //        NormalizationStrategy::Epsilon &&
                //            simulationScenarioError > 1) {
                //          std::cout << "Simulation scenario "
                //                    <<
                //                    simulationScenarioStrings[simulationScenarioIndex]
                //                    << " results in an error bigger than one." <<
                //                    std::endl;
                //          for (size_t parameterIndex = 0; parameterIndex < n;
                //               parameterIndex++) {
                //            std::cout << "x[" + std::to_string(parameterIndex) + "]="
                //                      << x[parameterIndex] << std::endl;
                //          }
                //        }

                //            #ifdef POLYSCOPE_DEFINED
                //                    ReducedModelOptimizer::visualizeResults(
                //                        global.fullPatternSimulationJobs[simulationScenarioIndex],
                //                        global.reducedPatternSimulationJobs[simulationScenarioIndex],
                //                        global.reducedToFullInterfaceViMap, false);

                //                    ReducedModelOptimizer::visualizeResults(
                //                        global.fullPatternSimulationJobs[simulationScenarioIndex],
                //                        std::make_shared<SimulationJob>(
                //                            reducedPatternMaximumDisplacementSimulationJobs
                //                                [simulationScenarioIndex]),
                //                        global.reducedToFullInterfaceViMap, true);
                //                    polyscope::removeAllStructures();
                //            #endif // POLYSCOPE_DEFINED
                totalError += /*global.scenarioUserWeights[simulationScenarioIndex]
                              **/
                              /*global.scenarioEqualizationWeight[simulationScenarioIndex]
                    **/
                    simulationScenarioError * simulationScenarioError;
            }
        });
    //    std::cout << totalError << std::endl;
    //    global.objectiveValueHistory.push_back(totalError);
    //    global.plotColors.push_back(10);
    ++global.numberOfFunctionCalls;
    if (totalError < global.minY) {
        global.minY = totalError;
        //        global.objectiveValueHistory.push_back(totalError);
        //        global.objectiveValueHistory_iteration.push_back(global.numberOfFunctionCalls);
        //        std::cout << "New best:" << totalError << std::endl;
        //        //        global.minX.assign(x.begin(), x.begin() + n);
        //        std::cout.precision(17);
        //        for (int i = 0; i < x.size(); i++) {
        //            std::cout << x(i) << " ";
        //        }
        //        std::cout << std::endl;
        //        global.objectiveValueHistoryY.push_back(std::log(totalError));
        //        global.objectiveValueHistoryX.push_back(global.numberOfFunctionCalls);
        //        global.plotColors.push_back(0.1);
        //        auto xPlot = matplot::linspace(0,
        //                                       global.objectiveValueHistoryY.size(),
        //                                       global.objectiveValueHistoryY.size());
        //        global.gPlotHandle = matplot::scatter(global.objectiveValueHistoryX,
        //                                              global.objectiveValueHistoryY,
        //                                              4,
        //                                              global.plotColors);
        //        matplot::show();
        //                SimulationResultsReporter::createPlot("Number of Steps",
        //                                              "Objective value",
        //                                              global.objectiveValueHistoryY);
    }
#ifdef POLYSCOPE_DEFINED
    if (global.optimizationSettings.numberOfFunctionCalls >= 100
        && global.numberOfFunctionCalls % (global.optimizationSettings.numberOfFunctionCalls / 100)
               == 0) {
        std::cout << "Number of function calls:" << global.numberOfFunctionCalls << std::endl;
    }
#endif
    //     compute error and return it
    return totalError;
}

void ReducedModelOptimizer::createSimulationMeshes(
    PatternGeometry &fullModel,
    PatternGeometry &reducedModel,
    std::shared_ptr<SimulationMesh> &pFullPatternSimulationMesh,
    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh)
{
    if (typeid(CrossSectionType) != typeid(RectangularBeamDimensions)) {
        std::cerr << "Error: A rectangular cross section is expected." << std::endl;
        terminate();
    }
    // Full pattern
    pFullPatternSimulationMesh = std::make_shared<SimulationMesh>(fullModel);
    pFullPatternSimulationMesh->setBeamCrossSection(CrossSectionType{0.002, 0.002});
    pFullPatternSimulationMesh->setBeamMaterial(0.3, youngsModulus);

    // Reduced pattern
    pReducedPatternSimulationMesh = std::make_shared<SimulationMesh>(reducedModel);
    pReducedPatternSimulationMesh->setBeamCrossSection(CrossSectionType{0.002, 0.002});
    pReducedPatternSimulationMesh->setBeamMaterial(0.3, youngsModulus);
}

void ReducedModelOptimizer::createSimulationMeshes(PatternGeometry &fullModel,
                                                   PatternGeometry &reducedModel)
{
    ReducedModelOptimizer::createSimulationMeshes(fullModel,
                                                  reducedModel,
                                                  m_pFullPatternSimulationMesh,
                                                  m_pReducedPatternSimulationMesh);
}

void ReducedModelOptimizer::computeMaps(
    const std::unordered_map<size_t, std::unordered_set<size_t>> &slotToNode,
    PatternGeometry &fullPattern,
    PatternGeometry &reducedPattern,
    std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
        &reducedToFullInterfaceViMap,
    std::unordered_map<FullPatternVertexIndex, ReducedPatternVertexIndex>
        &fullToReducedInterfaceViMap,
    std::vector<std::pair<FullPatternVertexIndex, ReducedPatternVertexIndex>>
        &fullPatternOppositeInterfaceViPairs)
{
    // Compute the offset between the interface nodes
    const size_t interfaceSlotIndex = 4; // bottom edge
    assert(slotToNode.find(interfaceSlotIndex) != slotToNode.end()
           && slotToNode.find(interfaceSlotIndex)->second.size() == 1);
    // Assuming that in the bottom edge there is only one vertex which is also the
    // interface
    const size_t baseTriangleInterfaceVi = *(slotToNode.find(interfaceSlotIndex)->second.begin());

    vcg::tri::Allocator<VCGEdgeMesh>::PointerUpdater<PatternGeometry::VertexPointer> pu_fullModel;
    fullPattern.deleteDanglingVertices(pu_fullModel);
    const size_t fullModelBaseTriangleInterfaceVi = pu_fullModel.remap.empty()
                                                        ? baseTriangleInterfaceVi
                                                        : pu_fullModel.remap[baseTriangleInterfaceVi];
    const size_t fullModelBaseTriangleVN = fullPattern.VN();
    fullPattern.createFan();
    const size_t duplicateVerticesPerFanPair = fullModelBaseTriangleVN - fullPattern.VN() / 6;
    const size_t fullPatternInterfaceVertexOffset = fullModelBaseTriangleVN
                                                    - duplicateVerticesPerFanPair;
    //  std::cout << "Dups in fan pair:" << duplicateVerticesPerFanPair <<
    //  std::endl;

    // Save excluded edges TODO:this changes the global object. Should this be a
    // function parameter?
    //  global.reducedPatternExludedEdges.clear();
    //  const size_t reducedBaseTriangleNumberOfEdges = reducedPattern.EN();
    //  for (size_t fanIndex = 0; fanIndex < fanSize; fanIndex++) {
    //    for (const size_t ei : reducedModelExcludedEdges) {
    //      global.reducedPatternExludedEdges.insert(
    //          fanIndex * reducedBaseTriangleNumberOfEdges + ei);
    //    }
    //  }

    // Construct reduced->full and full->reduced interface vi map
    reducedToFullInterfaceViMap.clear();
    vcg::tri::Allocator<VCGEdgeMesh>::PointerUpdater<PatternGeometry::VertexPointer> pu_reducedModel;
    reducedPattern.deleteDanglingVertices(pu_reducedModel);
    const size_t reducedModelBaseTriangleInterfaceVi = pu_reducedModel.remap[baseTriangleInterfaceVi];
    const size_t reducedModelInterfaceVertexOffset
        = reducedPattern.VN() /*- 1*/ /*- reducedModelBaseTriangleInterfaceVi*/;
    Results::applyOptimizationResults_innerHexagon(initialHexagonSize,
                                                   0,
                                                   global.baseTriangle,
                                                   reducedPattern);
    reducedPattern.createFan({0}); //TODO: should be an input parameter from main
    for (size_t fanIndex = 0; fanIndex < fanSize; fanIndex++) {
        reducedToFullInterfaceViMap[reducedModelInterfaceVertexOffset * fanIndex
                                    + reducedModelBaseTriangleInterfaceVi]
            = fullModelBaseTriangleInterfaceVi + fanIndex * fullPatternInterfaceVertexOffset;
    }
    fullToReducedInterfaceViMap.clear();
    constructInverseMap(reducedToFullInterfaceViMap, fullToReducedInterfaceViMap);

    // Create opposite vertex map
    fullPatternOppositeInterfaceViPairs.clear();
    fullPatternOppositeInterfaceViPairs.reserve(fanSize / 2);
    //    for (int fanIndex = fanSize / 2 - 1; fanIndex >= 0; fanIndex--) {
    for (int fanIndex = 0; fanIndex < fanSize / 2; fanIndex++) {
        const size_t vi0 = fullModelBaseTriangleInterfaceVi
                           + fanIndex * fullPatternInterfaceVertexOffset;
        const size_t vi1 = vi0 + (fanSize / 2) * fullPatternInterfaceVertexOffset;
        assert(vi0 < fullPattern.VN() && vi1 < fullPattern.VN());
        fullPatternOppositeInterfaceViPairs.emplace_back(std::make_pair(vi0, vi1));
    }
    global.fullPatternInterfaceViPairs = fullPatternOppositeInterfaceViPairs;

#if POLYSCOPE_DEFINED
    const bool debugMapping = false;
    if (debugMapping) {
        reducedPattern.registerForDrawing();

        //    std::vector<glm::vec3> colors_reducedPatternExcludedEdges(
        //        reducedPattern.EN(), glm::vec3(0, 0, 0));
        //    for (const size_t ei : global.reducedPatternExludedEdges) {
        //      colors_reducedPatternExcludedEdges[ei] = glm::vec3(1, 0, 0);
        //    }
        //    const std::string label = reducedPattern.getLabel();
        //    polyscope::getCurveNetwork(label)
        //        ->addEdgeColorQuantity("Excluded edges",
        //                               colors_reducedPatternExcludedEdges)
        //        ->setEnabled(true);
        //    polyscope::show();

        std::vector<glm::vec3> nodeColorsOpposite(fullPattern.VN(), glm::vec3(0, 0, 0));
        for (const std::pair<size_t, size_t> oppositeVerts : fullPatternOppositeInterfaceViPairs) {
            auto color = polyscope::getNextUniqueColor();
            nodeColorsOpposite[oppositeVerts.first] = color;
            nodeColorsOpposite[oppositeVerts.second] = color;
        }
        fullPattern.registerForDrawing();
        polyscope::getCurveNetwork(fullPattern.getLabel())
            ->addNodeColorQuantity("oppositeMap", nodeColorsOpposite)
            ->setEnabled(true);
        polyscope::show();

        std::vector<glm::vec3> nodeColorsReducedToFull_reduced(reducedPattern.VN(),
                                                               glm::vec3(0, 0, 0));
        std::vector<glm::vec3> nodeColorsReducedToFull_full(fullPattern.VN(), glm::vec3(0, 0, 0));
        for (size_t vi = 0; vi < reducedPattern.VN(); vi++) {
            if (global.reducedToFullInterfaceViMap.contains(vi)) {
                auto color = polyscope::getNextUniqueColor();
                nodeColorsReducedToFull_reduced[vi] = color;
                nodeColorsReducedToFull_full[global.reducedToFullInterfaceViMap[vi]] = color;
            }
        }
        polyscope::getCurveNetwork(reducedPattern.getLabel())
            ->addNodeColorQuantity("reducedToFull_reduced", nodeColorsReducedToFull_reduced)
            ->setEnabled(true);
        polyscope::getCurveNetwork(fullPattern.getLabel())
            ->addNodeColorQuantity("reducedToFull_full", nodeColorsReducedToFull_full)
            ->setEnabled(true);
        polyscope::show();
    }
#endif
}

void ReducedModelOptimizer::computeMaps(PatternGeometry &fullPattern,
                                        PatternGeometry &reducedPattern)
{
    ReducedModelOptimizer::computeMaps(slotToNode,
                                       fullPattern,
                                       reducedPattern,
                                       global.reducedToFullInterfaceViMap,
                                       m_fullToReducedInterfaceViMap,
                                       m_fullPatternOppositeInterfaceViPairs);
}

ReducedModelOptimizer::ReducedModelOptimizer(const std::vector<size_t> &numberOfNodesPerSlot)
{
    FlatPatternTopology::constructNodeToSlotMap(numberOfNodesPerSlot, nodeToSlot);
    FlatPatternTopology::constructSlotToNodeMap(nodeToSlot, slotToNode);
    constructBaseScenarioFunctions.resize(BaseSimulationScenario::NumberOfBaseSimulationScenarios);
    scenarioIsSymmetrical.resize(BaseSimulationScenario::NumberOfBaseSimulationScenarios);
    constructBaseScenarioFunctions[BaseSimulationScenario::Axial] = &constructAxialSimulationScenario;
    scenarioIsSymmetrical[BaseSimulationScenario::Axial] = false;
    constructBaseScenarioFunctions[BaseSimulationScenario::Shear] = &constructShearSimulationScenario;
    scenarioIsSymmetrical[BaseSimulationScenario::Shear] = false;
    constructBaseScenarioFunctions[BaseSimulationScenario::Bending]
        = &constructBendingSimulationScenario;
    scenarioIsSymmetrical[BaseSimulationScenario::Bending] = true;
    constructBaseScenarioFunctions[BaseSimulationScenario::Dome] = &constructDomeSimulationScenario;
    scenarioIsSymmetrical[BaseSimulationScenario::Dome] = true;
    constructBaseScenarioFunctions[BaseSimulationScenario::Saddle]
        = &constructSaddleSimulationScenario;
    scenarioIsSymmetrical[BaseSimulationScenario::Saddle] = true;
}

void ReducedModelOptimizer::initializePatterns(PatternGeometry &fullPattern,
                                               PatternGeometry &reducedPattern,
                                               const std::vector<xRange> &optimizationParameters)
{
    assert(fullPattern.VN() == reducedPattern.VN() && fullPattern.EN() >= reducedPattern.EN());
    fullPatternNumberOfEdges = fullPattern.EN();
#if POLYSCOPE_DEFINED
    polyscope::removeAllStructures();
#endif
    // Create copies of the input models
    PatternGeometry copyFullPattern;
    PatternGeometry copyReducedPattern;
    copyFullPattern.copy(fullPattern);
    copyReducedPattern.copy(reducedPattern);
    global.baseTriangle = copyReducedPattern.getBaseTriangle();

    computeMaps(copyFullPattern, copyReducedPattern);
    createSimulationMeshes(copyFullPattern, copyReducedPattern);
    initializeUpdateReducedPatternFunctions();
    initializeOptimizationParameters(m_pFullPatternSimulationMesh, optimizationParameters);
}

void ReducedModelOptimizer::initializeUpdateReducedPatternFunctions()
{
    global.functions_updateReducedPatternParameter[R] =
        [](const double &newR, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            const CoordType barycentricCoordinates_hexagonBaseTriangleVertex(1 - newR,
                                                                             newR / 2,
                                                                             newR / 2);
            const CoordType hexagonBaseTriangleVertexPosition
                = global.baseTriangle.cP(0) * barycentricCoordinates_hexagonBaseTriangleVertex[0]
                  + global.baseTriangle.cP(1) * barycentricCoordinates_hexagonBaseTriangleVertex[1]
                  + global.baseTriangle.cP(2) * barycentricCoordinates_hexagonBaseTriangleVertex[2];

            for (int rotationCounter = 0; rotationCounter < ReducedModelOptimizer::fanSize;
                 rotationCounter++) {
                pReducedPatternSimulationMesh->vert[2 * rotationCounter].P()
                    = vcg::RotationMatrix(ReducedModelOptimizer::patternPlaneNormal,
                                          vcg::math::ToRad(60.0 * rotationCounter))
                      * hexagonBaseTriangleVertexPosition;
            }
        };

    global.functions_updateReducedPatternParameter[Theta] =
        [](const double &newTheta, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            const CoordType baseTriangleHexagonVertexPosition
                = pReducedPatternSimulationMesh->vert[0].cP();

            const CoordType thetaRotatedHexagonBaseTriangleVertexPosition
                = vcg::RotationMatrix(ReducedModelOptimizer::patternPlaneNormal,
                                      vcg::math::ToRad(newTheta))
                  * baseTriangleHexagonVertexPosition;

            for (int rotationCounter = 0; rotationCounter < ReducedModelOptimizer::fanSize;
                 rotationCounter++) {
                pReducedPatternSimulationMesh->vert[2 * rotationCounter].P()
                    = vcg::RotationMatrix(ReducedModelOptimizer::patternPlaneNormal,
                                          vcg::math::ToRad(60.0 * rotationCounter))
                      * thetaRotatedHexagonBaseTriangleVertexPosition;
            }
        };

    global.functions_updateReducedPatternParameter[E] =
        [](const double &newE, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.setMaterial(ElementMaterial(e.material.poissonsRatio, newE));
            }
        };
    global.functions_updateReducedPatternParameter[A] =
        [](const double &newA, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            const double beamWidth = std::sqrt(newA);
            const double beamHeight = beamWidth;
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.setDimensions(RectangularBeamDimensions(beamWidth, beamHeight));
            }
        };

    global.functions_updateReducedPatternParameter[I2] =
        [](const double &newI2, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.I2 = newI2;
                e.updateRigidity();
            }
        };
    global.functions_updateReducedPatternParameter[I3] =
        [](const double &newI3, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.I3 = newI3;
                e.updateRigidity();
            }
        };
    global.functions_updateReducedPatternParameter[J] =
        [](const double &newJ, std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.J = newJ;
                e.updateRigidity();
            }
        };
}

void ReducedModelOptimizer::initializeOptimizationParameters(
    const std::shared_ptr<SimulationMesh> &mesh, const std::vector<xRange> &optimizationParameters)
{
    global.numberOfOptimizationParameters = NumberOfOptimizationParameters;

    for (int optimizationParameterIndex = 0;
         optimizationParameterIndex < optimizationParameters.size();
         optimizationParameterIndex++) {
        for (int optimizationParameterIndex = E;
             optimizationParameterIndex != NumberOfOptimizationParameters;
             optimizationParameterIndex++) {
            //            const xRange &xOptimizationParameter = optimizationParameters[optimizationParameterIndex];
            switch (optimizationParameterIndex) {
            case E:
                global.parametersInitialValue[optimizationParameterIndex]
                    = mesh->elements[0].material.youngsModulus;
                global.optimizationInitialValue[optimizationParameterIndex] = 1;
                break;
            case A:
                global.parametersInitialValue[optimizationParameterIndex] = mesh->elements[0].A;
                global.optimizationInitialValue[optimizationParameterIndex] = 1;
                break;
            case I2:
                global.parametersInitialValue[optimizationParameterIndex] = mesh->elements[0]
                                                                                .inertia.I2;
                global.optimizationInitialValue[optimizationParameterIndex] = 1;
                break;
            case I3:
                global.parametersInitialValue[optimizationParameterIndex] = mesh->elements[0]
                                                                                .inertia.I3;
                global.optimizationInitialValue[optimizationParameterIndex] = 1;
                break;
            case J:
                global.parametersInitialValue[optimizationParameterIndex] = mesh->elements[0]
                                                                                .inertia.J;
                global.optimizationInitialValue[optimizationParameterIndex] = 1;
                break;
            case R:
                global.parametersInitialValue[optimizationParameterIndex] = 0;
                global.optimizationInitialValue[optimizationParameterIndex] = 0.5;
                break;
            case Theta:
                global.parametersInitialValue[optimizationParameterIndex] = 0;
                global.optimizationInitialValue[optimizationParameterIndex] = 0;
                break;
            }
        }
    }
}

void ReducedModelOptimizer::computeReducedModelSimulationJob(
    const SimulationJob &simulationJobOfFullModel,
    const std::unordered_map<size_t, size_t> &fullToReducedMap,
    SimulationJob &simulationJobOfReducedModel)
{
    assert(simulationJobOfReducedModel.pMesh->VN() != 0);
    std::unordered_map<VertexIndex, std::unordered_set<DoFType>> reducedModelFixedVertices;
    for (auto fullModelFixedVertex : simulationJobOfFullModel.constrainedVertices) {
        reducedModelFixedVertices[fullToReducedMap.at(fullModelFixedVertex.first)]
            = fullModelFixedVertex.second;
    }

    std::unordered_map<VertexIndex, Vector6d> reducedModelNodalForces;
    for (auto fullModelNodalForce : simulationJobOfFullModel.nodalExternalForces) {
        reducedModelNodalForces[fullToReducedMap.at(fullModelNodalForce.first)]
            = fullModelNodalForce.second;
    }

    std::unordered_map<VertexIndex, Eigen::Vector3d> reducedNodalForcedDisplacements;
    for (auto fullForcedDisplacement : simulationJobOfFullModel.nodalForcedDisplacements) {
        reducedNodalForcedDisplacements[fullToReducedMap.at(fullForcedDisplacement.first)]
            = fullForcedDisplacement.second;
    }

    simulationJobOfReducedModel.constrainedVertices = reducedModelFixedVertices;
    simulationJobOfReducedModel.nodalExternalForces = reducedModelNodalForces;
    simulationJobOfReducedModel.label = simulationJobOfFullModel.getLabel();
    simulationJobOfReducedModel.nodalForcedDisplacements = reducedNodalForcedDisplacements;
}

void ReducedModelOptimizer::computeDesiredReducedModelDisplacements(
    const SimulationResults &fullModelResults,
    const std::unordered_map<size_t, size_t> &displacementsReducedToFullMap,
    Eigen::MatrixX3d &optimalDisplacementsOfReducedModel)
{
    assert(optimalDisplacementsOfReducedModel.rows() != 0
           && optimalDisplacementsOfReducedModel.cols() == 3);
    optimalDisplacementsOfReducedModel.setZero(optimalDisplacementsOfReducedModel.rows(),
                                               optimalDisplacementsOfReducedModel.cols());

    for (auto reducedFullViPair : displacementsReducedToFullMap) {
        const VertexIndex fullModelVi = reducedFullViPair.second;
        const Vector6d fullModelViDisplacements = fullModelResults.displacements[fullModelVi];
        optimalDisplacementsOfReducedModel.row(reducedFullViPair.first)
            = Eigen::Vector3d(fullModelViDisplacements[0],
                              fullModelViDisplacements[1],
                              fullModelViDisplacements[2]);
    }
}

void ReducedModelOptimizer::getResults(const FunctionEvaluation &optimalObjective,
                                       const Settings &settings,
                                       ReducedPatternOptimization::Results &results)
{
    //Number of crashes
    //    results.numberOfSimulationCrashes = global.numOfSimulationCrashes;
    //Value of optimal objective Y
    results.objectiveValue.total = optimalObjective.y;
    //    results.objectiveValue.total = 0;
    if (optimalObjective.y != global.minY) {
        std::cout << "Different optimal y:" << optimalObjective.y << " " << global.minY
                  << std::endl;
    }
    //Optimal X values
    results.optimalXNameValuePairs.resize(settings.parameterRanges.size());
    std::vector<double> optimalX(settings.parameterRanges.size());
    for (int optimizationParameterIndex = E;
         optimizationParameterIndex != NumberOfOptimizationParameters;
         optimizationParameterIndex++) {
        if (settings.parameterRanges[optimizationParameterIndex].max
                - settings.parameterRanges[optimizationParameterIndex].min
            < 1e-10) {
            continue;
        }
        if (optimizationParameterIndex < settings.parameterRanges.size() - 2) {
            results.optimalXNameValuePairs[optimizationParameterIndex]
                = std::make_pair(settings.parameterRanges[optimizationParameterIndex].label,
                                 optimalObjective.x[optimizationParameterIndex]
                                     * global.parametersInitialValue[optimizationParameterIndex]);
        } else {
            //Hex size and angle are pure values (not multipliers of the initial values)
            results.optimalXNameValuePairs[optimizationParameterIndex]
                = std::make_pair(settings.parameterRanges[optimizationParameterIndex].label,
                                 optimalObjective.x[optimizationParameterIndex]);
        }

        optimalX[optimizationParameterIndex] = optimalObjective.x[optimizationParameterIndex];
#ifdef POLYSCOPE_DEFINED
        std::cout << results.optimalXNameValuePairs[optimizationParameterIndex].first << ":"
                  << optimalX[optimizationParameterIndex] << " ";
#endif
    }
#ifdef POLYSCOPE_DEFINED
    std::cout << std::endl;
#endif

    results.fullPatternYoungsModulus = youngsModulus;
    // Compute obj value per simulation scenario and the raw objective value
    //    updateMeshFunction(optimalX);
    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh
        = global.reducedPatternSimulationJobs[global.simulationScenarioIndices[0]]->pMesh;
    function_updateReducedPattern(std::vector<double>(optimalObjective.x.begin(),
                                                      optimalObjective.x.end()),
                                  pReducedPatternSimulationMesh);
    //    results.objectiveValue.totalPerSimulationScenario.resize(totalNumberOfSimulationScenarios);
    //TODO:use push_back it will make the code more readable
    LinearSimulationModel simulator;
    results.objectiveValue.totalRaw = 0;
    results.objectiveValue.perSimulationScenario_translational.resize(
        global.simulationScenarioIndices.size());
    results.objectiveValue.perSimulationScenario_rawTranslational.resize(
        global.simulationScenarioIndices.size());
    results.objectiveValue.perSimulationScenario_rotational.resize(
        global.simulationScenarioIndices.size());
    results.objectiveValue.perSimulationScenario_rawRotational.resize(
        global.simulationScenarioIndices.size());
    results.objectiveValue.perSimulationScenario_total.resize(
        global.simulationScenarioIndices.size());
    //#ifdef POLYSCOPE_DEFINED
    //    global.pFullPatternSimulationMesh->registerForDrawing(Colors::fullDeformed);
    //#endif

    results.perScenario_fullPatternPotentialEnergy.resize(global.simulationScenarioIndices.size());
    for (int i = 0; i < global.simulationScenarioIndices.size(); i++) {
        const int simulationScenarioIndex = global.simulationScenarioIndices[i];
        SimulationResults reducedModelResults = simulator.executeSimulation(
            global.reducedPatternSimulationJobs[simulationScenarioIndex]);

        results.objectiveValue.perSimulationScenario_total[i] = computeError(
            global.fullPatternResults[simulationScenarioIndex],
            reducedModelResults,
            global.reducedToFullInterfaceViMap,
            global.translationalDisplacementNormalizationValues[simulationScenarioIndex],
            global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]);

        //        results.objectiveValue.total += results.objectiveValue.perSimulationScenario_total[i];
        //Raw translational
        const double rawTranslationalError = computeRawTranslationalError(
            global.fullPatternResults[simulationScenarioIndex].displacements,
            reducedModelResults.displacements,
            global.reducedToFullInterfaceViMap);
        results.objectiveValue.perSimulationScenario_rawTranslational[i] = rawTranslationalError;
        //Raw rotational
        const double rawRotationalError = computeRawRotationalError(
            global.fullPatternResults[simulationScenarioIndex].rotationalDisplacementQuaternion,
            reducedModelResults.rotationalDisplacementQuaternion,
            global.reducedToFullInterfaceViMap);
        results.objectiveValue.perSimulationScenario_rawRotational[i] = rawRotationalError;

        //Normalized translational
        const double normalizedTranslationalError = computeDisplacementError(
            global.fullPatternResults[simulationScenarioIndex].displacements,
            reducedModelResults.displacements,
            global.reducedToFullInterfaceViMap,
            global.translationalDisplacementNormalizationValues[simulationScenarioIndex]);
        results.objectiveValue.perSimulationScenario_translational[i] = normalizedTranslationalError;
        //            const double test_normalizedTranslationError = computeDisplacementError(
        //                global.fullPatternResults[simulationScenarioIndex].displacements,
        //                reducedModelResults.displacements,
        //                global.reducedToFullInterfaceViMap,
        //                global.translationalDisplacementNormalizationValues[simulationScenarioIndex]);
        //Normalized rotational
        const double normalizedRotationalError = computeRotationalError(
            global.fullPatternResults[simulationScenarioIndex].rotationalDisplacementQuaternion,
            reducedModelResults.rotationalDisplacementQuaternion,
            global.reducedToFullInterfaceViMap,
            global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]);
        results.objectiveValue.perSimulationScenario_rotational[i] = normalizedRotationalError;
        //            const double test_normalizedRotationalError = computeRotationalError(
        //                global.fullPatternResults[simulationScenarioIndex].rotationalDisplacementQuaternion,
        //                reducedModelResults.rotationalDisplacementQuaternion,
        //                global.reducedToFullInterfaceViMap,
        //                global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]);
        //            assert(test_normalizedTranslationError == normalizedTranslationalError);
        //            assert(test_normalizedRotationalError == normalizedRotationalError);
        results.objectiveValue.totalRaw += rawTranslationalError + rawRotationalError;
        results.perScenario_fullPatternPotentialEnergy[i]
            = global.fullPatternResults[simulationScenarioIndex].internalPotentialEnergy;
#ifdef POLYSCOPE_DEFINED
        std::cout << "Simulation scenario:"
                  << global.reducedPatternSimulationJobs[simulationScenarioIndex]->getLabel()
                  << std::endl;
        std::cout << "raw translational error:" << rawTranslationalError << std::endl;
        std::cout << "translation normalization value:"
                  << global.translationalDisplacementNormalizationValues[simulationScenarioIndex]
                  << std::endl;
        std::cout << "raw Rotational error:" << rawRotationalError << std::endl;
        std::cout << "rotational normalization value:"
                  << global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]
                  << std::endl;
        std::cout << "Translational error:" << normalizedTranslationalError << std::endl;
        std::cout << "Rotational error:" << normalizedRotationalError << std::endl;
        //        results.objectiveValuePerSimulationScenario[simulationScenarioIndex]
        //            = normalizedTranslationalError + normalizedRotationalError;
        std::cout << "Total Error value:" << results.objectiveValue.perSimulationScenario_total[i]
                  << std::endl;
        std::cout << std::endl;

        //        reducedModelResults.registerForDrawing(Colors::reducedDeformed);
        //        global.fullPatternResults[simulationScenarioIndex].registerForDrawing(Colors::fullDeformed);
        //        polyscope::show();
        //        reducedModelResults.unregister();
        //        global.fullPatternResults[simulationScenarioIndex].unregister();

#endif
    }

    for (int simulationScenarioIndex : global.simulationScenarioIndices) {
        results.fullPatternSimulationJobs.push_back(
            global.fullPatternSimulationJobs[simulationScenarioIndex]);
        results.reducedPatternSimulationJobs.push_back(
            global.reducedPatternSimulationJobs[simulationScenarioIndex]);
        //        const std::string temp = global.reducedPatternSimulationJobs[simulationScenarioIndex]
        //                                     ->pMesh->getLabel();
        //        global.reducedPatternSimulationJobs[simulationScenarioIndex]->pMesh->setLabel("temp");
        //        global.reducedPatternSimulationJobs[simulationScenarioIndex]->pMesh->registerForDrawing();
        //        global.reducedPatternSimulationJobs[simulationScenarioIndex]->pMesh->setLabel(temp);
    }
    results.objectiveValueHistory = global.objectiveValueHistory;
    results.objectiveValueHistory_iteration = global.objectiveValueHistory_iteration;
    //    results.draw();
}

std::vector<std::pair<BaseSimulationScenario, double>>
ReducedModelOptimizer::computeFullPatternMaxSimulationForces(
    const std::vector<BaseSimulationScenario> &desiredBaseSimulationScenario)
{
    std::vector<std::pair<BaseSimulationScenario, double>> fullPatternMaxSimulationForces;
    fullPatternMaxSimulationForces.reserve(desiredBaseSimulationScenario.size());
    for (const BaseSimulationScenario &scenario : desiredBaseSimulationScenario) {
        const double maxForce = computeFullPatternMaxSimulationForce(scenario);
        fullPatternMaxSimulationForces.emplace_back(std::make_pair(scenario, maxForce));
    }

    return fullPatternMaxSimulationForces;
}

std::vector<std::pair<BaseSimulationScenario, double>>
ReducedModelOptimizer::getFullPatternMaxSimulationForces(
    const std::vector<BaseSimulationScenario> &desiredBaseSimulationScenarioIndices)
{
    std::vector<std::pair<BaseSimulationScenario, double>> fullPatternSimulationScenarioMaxMagnitudes;
#ifdef POLYSCOPE_DEFINED
    const std::filesystem::path forceMagnitudesDirectoryPath(std::filesystem::current_path()
                                                                 .parent_path()
                                                                 .append("IntermediateResults")
                                                                 .append("ForceMagnitudes"));
    std::filesystem::path patternMaxForceMagnitudesFilePath(
        std::filesystem::path(forceMagnitudesDirectoryPath)
            .append(m_pFullPatternSimulationMesh->getLabel() + ".json"));
    const bool fullPatternScenarioMagnitudesExist = std::filesystem::exists(
        patternMaxForceMagnitudesFilePath);
    if (fullPatternScenarioMagnitudesExist) {
        nlohmann::json json;
        std::ifstream ifs(patternMaxForceMagnitudesFilePath.string());
        ifs >> json;
        fullPatternSimulationScenarioMaxMagnitudes
            = static_cast<std::vector<std::pair<BaseSimulationScenario, double>>>(
                json.at("maxMagn"));
        const bool shouldRecompute = fullPatternSimulationScenarioMaxMagnitudes.size()
                                     != desiredBaseSimulationScenarioIndices.size();
        if (!shouldRecompute) {
            return fullPatternSimulationScenarioMaxMagnitudes;
        }
    }
#endif
    fullPatternSimulationScenarioMaxMagnitudes = computeFullPatternMaxSimulationForces(
        desiredBaseSimulationScenarioIndices);

#ifdef POLYSCOPE_DEFINED
    nlohmann::json json;
    json["maxMagn"] = fullPatternSimulationScenarioMaxMagnitudes;

    std::filesystem::create_directories(forceMagnitudesDirectoryPath);
    std::ofstream jsonFile(patternMaxForceMagnitudesFilePath.string());
    jsonFile << json;

#endif
    assert(fullPatternSimulationScenarioMaxMagnitudes.size()
           == desiredBaseSimulationScenarioIndices.size());

    return fullPatternSimulationScenarioMaxMagnitudes;
}

void ReducedModelOptimizer::runOptimization(const Settings &settings,
                                            ReducedPatternOptimization::Results &results)
{
    global.objectiveValueHistory.clear();
    global.objectiveValueHistory_iteration.clear();
    global.objectiveValueHistory.reserve(settings.numberOfFunctionCalls / 100);
    global.objectiveValueHistory_iteration.reserve(settings.numberOfFunctionCalls / 100);

#if POLYSCOPE_DEFINED
//    global.plotColors.reserve(settings.numberOfFunctionCalls);
#endif
#ifdef USE_ENSMALLEN
#else
    double (*objF)(const dlib::matrix<double, 0, 1> &) = &objective;
#endif
    enum OptimizationParameterComparisonScenarioIndex {
        AllVar,
        YMAndGeo,
        noYM,
        SplittedMatGeo,
        SplittedYM_before,
        SplittedYM_after,
        SplittedGeoYMMat,
        NumberOfScenarios
    };
    const std::vector<std::vector<std::vector<OptimizationParameterIndex>>> scenarioParameters =
        [&]() {
            std::vector<std::vector<std::vector<OptimizationParameterIndex>>> scenarioParameters(
                NumberOfScenarios);
            scenarioParameters[AllVar] = {{E, A, I2, I3, J, R, Theta}};
            scenarioParameters[YMAndGeo] = {{R, Theta, E}};
            scenarioParameters[noYM] = {{A, I2, I3, J, R, Theta}};
            scenarioParameters[SplittedMatGeo] = {{E, A, I2, I3, J}, {R, Theta}};
            scenarioParameters[SplittedYM_before] = {{E}, {A, I2, I3, J, R, Theta}};
            scenarioParameters[SplittedYM_after] = {{A, I2, I3, J, R, Theta}, {E}};
            scenarioParameters[SplittedGeoYMMat] = {{R, Theta}, {E}, {A, I2, I3, J}};
            return scenarioParameters;
        }();

    constexpr OptimizationParameterComparisonScenarioIndex scenario = noYM;
    const std::vector<std::vector<OptimizationParameterIndex>> scenarioParameterGroups
        = scenarioParameters[scenario];

    //TODO:Ensure that the reduced pattern mesh has the initial parameter values before starting the optimization
    FunctionEvaluation optimalResult;
    for (const std::vector<OptimizationParameterIndex> &parameterGroup : scenarioParameterGroups) {
        //Set update function. TODO: Make this function immutable by defining it once and using the global variable to set parameterGroup
        function_updateReducedPattern = [&](const std::vector<double> &x,
                                            std::shared_ptr<SimulationMesh> &pMesh) {
            for (int xIndex = 0; xIndex < x.size(); xIndex++) {
                const OptimizationParameterIndex parameterIndex = parameterGroup[xIndex];
                //                const double parameterInitialValue=optimizationSettings.parameterRanges[parameterIndex].initialValue;
                const double parameterInitialValue = global.parametersInitialValue[parameterIndex];
                const double parameterNewValue = [&]() {
                    if (parameterIndex == R
                        || parameterIndex
                               == Theta) { //NOTE:Here I explore the geometry parameters linearly
                        return x[xIndex] /*+ parameterInitialValue*/;
                    }
                    //and the material parameters exponentially(?).TODO: Check what happens if I make all linear
                    return x[xIndex] * parameterInitialValue;
                }();
                global.functions_updateReducedPatternParameter[parameterIndex](parameterNewValue,
                                                                               pMesh);
            }
            pMesh->reset(); //NOTE: I could put this code into each updateParameter function for avoiding unessecary calculations
        };

        std::vector<double> xMin;
        std::vector<double> xMax;
        xMin.resize(parameterGroup.size());
        xMax.resize(parameterGroup.size());
        for (int xIndex = 0; xIndex < parameterGroup.size(); xIndex++) {
            const OptimizationParameterIndex parameterIndex = parameterGroup[xIndex];

            xMin[xIndex] = settings.parameterRanges[parameterIndex].min;
            xMax[xIndex] = settings.parameterRanges[parameterIndex].max;
        }
#ifdef USE_ENSMALLEN
        arma::mat x(parameterGroup.size(), 1);
        for (int xIndex = 0; xIndex < parameterGroup.size(); xIndex++) {
            const OptimizationParameterIndex parameterIndex = parameterGroup[xIndex];

            x(xIndex, 0) = global.optimizationInitialValue[parameterIndex];
        }

        global.xMin = xMin;
        global.xMax = xMax;

        // Create simulated annealing optimizer with default options.
        // The ens::SA<> type can be replaced with any suitable ensmallen optimizer
        // that is able to handle arbitrary functions.
        EnsmallenOptimizationObjective optimizationFunction;
        //Set min max values
        //        ens::SA optimizer;
        //        ens::CNE optimizer;
        //        ens::DE optimizer;
        //        ens::SPSA optimizer;
        //        arma::mat xMin_arma(global.xMin);
        //        arma::mat xMax_arma(global.xMax);
        //        ens::LBestPSO optimizer(64, xMin_arma, xMax_arma, 1000);
        ens::LBestPSO optimizer;
        const double minima = optimizer.Optimize(optimizationFunction, x);
        for (int xIndex = 0; xIndex < parameterGroup.size(); xIndex++) {
            if (x[xIndex] > global.xMax[xIndex]) {
                x[xIndex] = global.xMax[xIndex];
            } else if (x[xIndex] < global.xMin[xIndex]) {
                x[xIndex] = global.xMin[xIndex];
            }
        }

#ifdef POLYSCOPE_DEFINED
        std::cout << "optimal x:"
                  << "\n"
                  << x << std::endl;
        std::cout << "Minima:" << minima << std::endl;
#endif
        optimalResult.x.clear();
        optimalResult.x.resize(parameterGroup.size());
        std::copy(x.begin(), x.end(), optimalResult.x.begin());
        optimalResult.y = minima;

#else
        //Set min max values
        dlib::matrix<double, 0, 1> xMin_dlib(parameterGroup.size());
        dlib::matrix<double, 0, 1> xMax_dlib(parameterGroup.size());
        for (int xIndex = 0; xIndex < parameterGroup.size(); xIndex++) {
            const OptimizationParameterIndex parameterIndex = parameterGroup[xIndex];

            xMin_dlib(xIndex) = settings.parameterRanges[parameterIndex].min;
            xMax_dlib(xIndex) = settings.parameterRanges[parameterIndex].max;
        }
        const dlib::function_evaluation optimalResult_dlib
            = dlib::find_min_global(objF,
                                    xMin_dlib,
                                    xMax_dlib,
                                    dlib::max_function_calls(settings.numberOfFunctionCalls),
                                    std::chrono::hours(24 * 365 * 290),
                                    settings.solverAccuracy);

        //        constexpr bool useBOBYQA = false;
        //        if (useBOBYQA) {
        //        const size_t npt = 2 * global.numberOfOptimizationParameters;
        //        //      ((n + 2) + ((n + 1) * (n + 2) / 2)) / 2;
        //        const double rhobeg = 0.1;
        //        //  const double rhobeg = 10;
        //        const double rhoend = rhobeg * 1e-6;
        //        //  const size_t maxFun = 10 * (x.size() ^ 2);
        //        const size_t bobyqa_maxFunctionCalls = 10000;
        //        dlib::matrix<double, 1, 0> x;
        //        dlib::function_evaluation optimalResult_dlib;
        //        optimalResult_dlib.x.set_size(parameterGroup.size());
        //        for (int xIndex = 0; xIndex < parameterGroup.size(); xIndex++) {
        //            const OptimizationParameterIndex parameterIndex = parameterGroup[xIndex];
        //            optimalResult_dlib.x(xIndex) = global.optimizationInitialValue[parameterIndex];

        //            std::cout << "xIndex:" << xIndex << std::endl;
        //            std::cout << "xInit:" << optimalResult_dlib.x(xIndex) << std::endl;
        //        }

        //        optimalResult_dlib.y = dlib::find_min_bobyqa(objF,
        //                                                     optimalResult_dlib.x,
        //                                                     npt,
        //                                                     xMin,
        //                                                     xMax,
        //                                                     rhobeg,
        //                                                     rhoend,
        //                                                     bobyqa_maxFunctionCalls);
        //        }
        optimalResult.x.clear();
        optimalResult.x.resize(parameterGroup.size());
        std::copy(optimalResult_dlib.x.begin(), optimalResult_dlib.x.end(), optimalResult.x.begin());
        optimalResult.y = optimalResult_dlib.y;

#endif
        function_updateReducedPattern(
            std::vector<double>(optimalResult.x.begin(), optimalResult.x.end()),
            global.reducedPatternSimulationJobs[0]
                ->pMesh); //TODO: Check if its ok to update only the changed parameters
                          //        std::cout << "GLOBAL MIN:" << global.minY << std::endl;
                          //        std::cout << "opt res y:" << optimalResult.y << std::endl;
    }
    getResults(optimalResult, settings, results);
}

void ReducedModelOptimizer::constructAxialSimulationScenario(
    const double &forceMagnitude,
    const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        &oppositeInterfaceViPairs,
    SimulationJob &job)
{
    for (auto viPairIt = oppositeInterfaceViPairs.begin();
         viPairIt != oppositeInterfaceViPairs.end();
         viPairIt++) {
        if (viPairIt != oppositeInterfaceViPairs.begin()) {
            CoordType forceDirection(1, 0, 0);
            job.nodalExternalForces[viPairIt->first]
                = Vector6d({forceDirection[0], forceDirection[1], forceDirection[2], 0, 0, 0})
                  * forceMagnitude;
            job.constrainedVertices[viPairIt->second] = std::unordered_set<DoFType>{0, 1, 2, 3, 4, 5};
        }
    }
}

void ReducedModelOptimizer::constructShearSimulationScenario(
    const double &forceMagnitude,
    const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        &oppositeInterfaceViPairs,
    SimulationJob &job)
{
    for (auto viPairIt = oppositeInterfaceViPairs.begin();
         viPairIt != oppositeInterfaceViPairs.end();
         viPairIt++) {
        if (viPairIt != oppositeInterfaceViPairs.begin()) {
            CoordType forceDirection(0, 1, 0);
            const auto viPair = *viPairIt;
            job.nodalExternalForces[viPair.first]
                = Vector6d({forceDirection[0], forceDirection[1], forceDirection[2], 0, 0, 0})
                  * forceMagnitude;
            job.constrainedVertices[viPair.second] = std::unordered_set<DoFType>{0, 1, 2, 3, 4, 5};
        }
    }
}

void ReducedModelOptimizer::constructBendingSimulationScenario(
    const double &forceMagnitude,
    const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        &oppositeInterfaceViPairs,
    SimulationJob &job)
{
    for (const auto &viPair : oppositeInterfaceViPairs) {
        job.nodalExternalForces[viPair.first] = Vector6d({0, 0, 1, 0, 0, 0}) * forceMagnitude;
        job.constrainedVertices[viPair.second] = std::unordered_set<DoFType>{0, 1, 2, 3, 4, 5};
    }
}

/*NOTE: From the results it seems as if the forced displacements are different in the linear and in the drm
 * */
void ReducedModelOptimizer::constructDomeSimulationScenario(
    const double &forceMagnitude,
    const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        &oppositeInterfaceViPairs,
    SimulationJob &job)
{
    for (auto viPairIt = oppositeInterfaceViPairs.begin();
         viPairIt != oppositeInterfaceViPairs.end();
         viPairIt++) {
        const auto viPair = *viPairIt;
        CoordType interfaceVector = (job.pMesh->vert[viPair.first].cP()
                                     - job.pMesh->vert[viPair.second].cP());
        VectorType momentAxis = vcg::RotationMatrix(VectorType(0, 0, 1), vcg::math::ToRad(90.0))
                                * interfaceVector.Normalize();
        if (viPairIt == oppositeInterfaceViPairs.begin()) {
            job.nodalForcedDisplacements[viPair.first]
                = Eigen::Vector3d(-interfaceVector[0],
                                  -interfaceVector[1],
                                  0)
                  * 0.005
                  * std::abs(
                      forceMagnitude); //NOTE:Should the forced displacement change relatively to the magnitude?
            //                  * std::abs(forceMagnitude / maxForceMagnitude_dome);
            job.nodalForcedDisplacements[viPair.second] = Eigen::Vector3d(interfaceVector[0],
                                                                          interfaceVector[1],
                                                                          0)
                                                          * 0.005 * std::abs(forceMagnitude);
            //                  * std::abs(forceMagnitude / maxForceMagnitude_dome);
            //            CoordType v = (pMesh->vert[viPair.first].cP() - pMesh->vert[viPair.second].cP())
            //                          ^ CoordType(0, 0, -1).Normalize();
            //            nodalForces[viPair.first] = Vector6d({0, 0, 0, v[0], v[1], 0}) * forceMagnitude
            //                                        * 0.0001;
            //            nodalForces[viPair.second] = Vector6d({0, 0, 0, -v[0], -v[1], 0}) * forceMagnitude
            //                                         * 0.0001;
        } else {
            job.nodalExternalForces[viPair.first]
                = Vector6d({0, 0, 0, momentAxis[0], momentAxis[1], momentAxis[2]}) * forceMagnitude
                  / 3;
            job.nodalExternalForces[viPair.second]
                = Vector6d({0, 0, 0, -momentAxis[0], -momentAxis[1], -momentAxis[2]})
                  * forceMagnitude / 3;
            job.constrainedVertices[viPair.first] = std::unordered_set<DoFType>{2};
            job.constrainedVertices[viPair.second] = std::unordered_set<DoFType>{2};
        }
    }
}

void ReducedModelOptimizer::constructSaddleSimulationScenario(
    const double &forceMagnitude,
    const std::vector<std::pair<FullPatternVertexIndex, FullPatternVertexIndex>>
        &oppositeInterfaceViPairs,
    SimulationJob &job)
{
    for (auto viPairIt = oppositeInterfaceViPairs.begin();
         viPairIt != oppositeInterfaceViPairs.end();
         viPairIt++) {
        const auto &viPair = *viPairIt;
        CoordType v = (job.pMesh->vert[viPair.first].cP() - job.pMesh->vert[viPair.second].cP())
                      ^ CoordType(0, 0, -1).Normalize();
        if (viPairIt == oppositeInterfaceViPairs.begin()) {
            job.nodalExternalForces[viPair.first] = Vector6d({0, 0, 0, v[0], v[1], 0})
                                                    * forceMagnitude;
            job.nodalExternalForces[viPair.second] = Vector6d({0, 0, 0, -v[0], -v[1], 0})
                                                     * forceMagnitude;
        } else {
            job.constrainedVertices[viPair.first] = std::unordered_set<DoFType>{2};
            job.constrainedVertices[viPair.second] = std::unordered_set<DoFType>{0, 1, 2};

            job.nodalExternalForces[viPair.first] = Vector6d({0, 0, 0, -v[0], -v[1], 0})
                                                    * forceMagnitude / 2;
            job.nodalExternalForces[viPair.second] = Vector6d({0, 0, 0, v[0], v[1], 0})
                                                     * forceMagnitude / 2;
        }
    }
}

double fullPatternMaxSimulationForceRotationalObjective(const double &forceMagnitude)
{
    SimulationJob job;
    job.pMesh = global.pFullPatternSimulationMesh;
    global.constructScenarioFunction(forceMagnitude, global.fullPatternInterfaceViPairs, job);
    //    ReducedModelOptimizer::axialSimulationScenario(forceMagnitude,
    //                                                   global.fullPatternInterfaceViPairs,
    //                                                   job);

    DRMSimulationModel simulator;
    DRMSimulationModel::Settings settings;
    settings.totalExternalForcesNormPercentageTermination = 1e-2;
    settings.totalTranslationalKineticEnergyThreshold = 1e-8;
    settings.viscousDampingFactor = 1e-2;
    settings.useKineticDamping = true;
    settings.shouldDraw = false;
    settings.debugModeStep = 200;
    //    settings.averageResidualForcesCriterionThreshold = 1e-5;
    settings.maxDRMIterations = 200000;
    SimulationResults results = simulator.executeSimulation(std::make_shared<SimulationJob>(job),
                                                            settings);
    const double &desiredRotationAngle = global.desiredMaxRotationAngle;
    double error;
#ifdef POLYSCOPE_DEFINED
    job.pMesh->setLabel("initial");
    //    job.pMesh->registerForDrawing();
    //    results.registerForDrawing();
    //    polyscope::show();
    std::string saveJobToPath;
    if (!results.converged) {
        //        std::cout << "Force used:" << forceMagnitude << std::endl;
        error = std::numeric_limits<double>::max();
        //        DRMSimulationModel::Settings debugSimulationSettings;
        //        debugSimulationSettings.isDebugMode = true;
        //        debugSimulationSettings.debugModeStep = 1000;
        //        //            debugSimulationSettings.maxDRMIterations = 100000;
        //        debugSimulationSettings.shouldDraw = true;
        //        debugSimulationSettings.drawingStep = debugSimulationSettings.debugModeStep;
        //        debugSimulationSettings.shouldCreatePlots = true;
        //        //            debugSimulationSettings.Dtini = 0.06;
        //        debugSimulationSettings.beVerbose = true;
        //        debugSimulationSettings.useAverage = true;
        //        //            debugSimulationSettings.totalExternalForcesNormPercentageTermination = 1e-3;
        //        debugSimulationSettings.shouldUseTranslationalKineticEnergyThreshold = true;
        //        auto debugResults = simulator.executeSimulation(std::make_shared<SimulationJob>(job),
        //                                                        debugSimulationSettings);
        //        std::terminate();
        saveJobToPath = "../nonConvergingJobs";
    } else {
        error = std::abs(
            results.rotationalDisplacementQuaternion[global.interfaceViForComputingScenarioError]
                .angularDistance(Eigen::Quaterniond::Identity())
            - desiredRotationAngle);
        saveJobToPath = "../convergingJobs";
    }
    //    std::filesystem::path outputPath(std::filesystem::path(saveJobToPath)
    //                                         .append(job.pMesh->getLabel())
    //                                         .append("mag_" + global.currentScenarioName));
    //    std::filesystem::create_directories(outputPath);
    //    job.save(outputPath);
    //    settings.save(outputPath);

    std::cout << "Force:" << forceMagnitude << " Error is:" << vcg::math::ToDeg(error) << std::endl;
#endif
    return error;
}

void search(const std::function<double(const double &)> objectiveFunction,
            const double &targetY,
            double &optimalX,
            double &error,
            const double &epsilon,
            const double &maxIterations)
{
    error = std::numeric_limits<double>::max();
    int iterationIndex = 0;
    double low = optimalX / 1e-3, high = optimalX * 1e3;
    while (error > epsilon && iterationIndex < maxIterations) {
        const double y = objectiveFunction(optimalX);
        error = std::abs(targetY - y);
        if (y > targetY) {
            high = optimalX;
        } else {
            low = optimalX;
        }
        optimalX = low + (high - low) / 2;

        iterationIndex++;
    }

    if (iterationIndex == maxIterations) {
        std::cerr << "Max iterations reached." << std::endl;
    }
}

double fullPatternMaxSimulationForceTranslationalObjective(const double &forceMagnitude)
{
    SimulationJob job;
    job.pMesh = global.pFullPatternSimulationMesh;
    global.constructScenarioFunction(forceMagnitude, global.fullPatternInterfaceViPairs, job);
    //    ReducedModelOptimizer::axialSimulationScenario(forceMagnitude,
    //                                                   global.fullPatternInterfaceViPairs,
    //                                                   job);

    DRMSimulationModel simulator;
    DRMSimulationModel::Settings settings;
    //    settings.totalResidualForcesNormThreshold = 1e-3;
    settings.totalExternalForcesNormPercentageTermination = 1e-2;
    settings.totalTranslationalKineticEnergyThreshold = 1e-8;
    settings.viscousDampingFactor = 5e-3;
    settings.useKineticDamping = true;
    //    settings.averageResidualForcesCriterionThreshold = 1e-5;
    //        settings.useAverage = true;
    //        settings.totalTranslationalKineticEnergyThreshold = 1e-10;
    //    settings.shouldUseTranslationalKineticEnergyThreshold = true;
    //    settings.shouldDraw = true;
    //    settings.isDebugMode = true;
    //    settings.drawingStep = 200000;
    //    settings.beVerbose = true;
    //    settings.debugModeStep = 200;
    settings.maxDRMIterations = 200000;
    SimulationResults results = simulator.executeSimulation(std::make_shared<SimulationJob>(job),
                                                            settings);
    const double &desiredDisplacementValue = global.desiredMaxDisplacementValue;
    double error;
    if (!results.converged) {
        error = std::numeric_limits<double>::max();
        std::filesystem::path outputPath(std::filesystem::path("../nonConvergingJobs")
                                             .append(job.pMesh->getLabel())
                                             .append("mag_" + global.currentScenarioName));
        std::filesystem::create_directories(outputPath);
        job.save(outputPath);
        settings.save(outputPath);
        //        std::terminate();
    } else {
        error = std::abs(
            results.displacements[global.interfaceViForComputingScenarioError].getTranslation().norm()
            - desiredDisplacementValue);
    }

#ifdef POLYSCOPE_DEFINED
    std::cout << "Force:" << forceMagnitude << " Error is:" << error << std::endl;
#endif

    return error;
}

#ifdef USE_ENSMALLEN
struct ForceMagnitudeOptimization
{
    std::function<double(const double &)> objectiveFunction;
    ForceMagnitudeOptimization(std::function<double(const double &)> &f) : objectiveFunction(f) {}
    double Evaluate(const arma::mat &x) { return objectiveFunction(x(0, 0)); }
};
#endif

double ReducedModelOptimizer::computeFullPatternMaxSimulationForce(
    const BaseSimulationScenario &scenario)
{
    double forceMagnitude = 1;
    double minimumError;
    bool wasSuccessful = false;
    global.constructScenarioFunction = constructBaseScenarioFunctions[scenario];
    const double baseTriangleHeight = vcg::Distance(global.baseTriangle.cP(0),
                                                    (global.baseTriangle.cP(1)
                                                     + global.baseTriangle.cP(2))
                                                        / 2);
    std::function<double(const double &)> objectiveFunction;
    double translationalOptimizationEpsilon{baseTriangleHeight * 0.001};
    double objectiveEpsilon = translationalOptimizationEpsilon;
    objectiveFunction = &fullPatternMaxSimulationForceTranslationalObjective;
    global.interfaceViForComputingScenarioError = global.fullPatternInterfaceViPairs[1].first;
    global.desiredMaxDisplacementValue = 0.1 * baseTriangleHeight;
    global.currentScenarioName = baseSimulationScenarioNames[scenario];
    double forceMagnitudeEpsilon = 1e-4;

    switch (scenario) {
    case Axial:
        global.desiredMaxDisplacementValue = 0.03 * baseTriangleHeight;
        break;
    case Shear:
        global.desiredMaxDisplacementValue = 0.03 * baseTriangleHeight;
        break;
    case Bending:
        break;
    case Dome:
        global.desiredMaxRotationAngle = vcg::math::ToRad(25.0);
        objectiveFunction = &fullPatternMaxSimulationForceRotationalObjective;
        forceMagnitudeEpsilon *= 1e-2;
        objectiveEpsilon = vcg::math::ToRad(3.0);
        forceMagnitude = 0.6;
        break;
    case Saddle:
        global.interfaceViForComputingScenarioError = global.fullPatternInterfaceViPairs[0].first;
        break;
    }

    constexpr int maxIterations = 1000;
    minimumError = dlib::find_min_single_variable(objectiveFunction,
                                                  forceMagnitude,
                                                  1e-4,
                                                  1e4,
                                                  forceMagnitudeEpsilon,
                                                  maxIterations);
#ifdef DLIB_DEFINED
#else
    //    ens::SA<> optimizer;
    //    arma::vec lowerBound("0.00001");
    //    arma::vec upperBound("10000");
    //    ens::LBestPSO optimizer(64, lowerBound, upperBound, maxIterations, 350, forceMagnitudeEpsilon);
    //    ForceMagnitudeOptimization f(objectiveFunction); // Create function to be optimized.
    //    arma::mat forceMagnitude_mat({forceMagnitude});
    //    minimumError = optimizer.Optimize(f, forceMagnitude_mat);
    //    std::cout << ReducedPatternOptimization::baseSimulationScenarioNames[scenario] << ": "
    //              << optimalObjective << std::endl;
    //        forceMagnitude = forceMagnitude_mat(0, 0);

//    search(objectiveFunction,
//           global.desiredMaxDisplacementValue,
//           forceMagnitude,
//           minimumError,
//           objectiveEpsilon,
//           maxIterations);
#endif

    wasSuccessful = minimumError < objectiveEpsilon;

#ifdef POLYSCOPE_DEFINED
    std::cout << "Max " << ReducedPatternOptimization::baseSimulationScenarioNames[scenario]
              << " magnitude:" << forceMagnitude << std::endl;
    if (!wasSuccessful) {
        SimulationJob job;
        job.pMesh = global.pFullPatternSimulationMesh;
        global.constructScenarioFunction(forceMagnitude, global.fullPatternInterfaceViPairs, job);
        std::cout << ReducedPatternOptimization::baseSimulationScenarioNames[scenario]
                         + " max scenario magnitude was not succefully determined."
                  << std::endl;
        std::filesystem::path outputPath(
            std::filesystem::path("../nonConvergingJobs")
                .append(m_pFullPatternSimulationMesh->getLabel())
                .append("magFinal_"
                        + ReducedPatternOptimization::baseSimulationScenarioNames[scenario]));
        std::filesystem::create_directories(outputPath);
        job.save(outputPath);
        std::terminate();
    }
#endif

    return forceMagnitude;
}

std::vector<std::shared_ptr<SimulationJob>> ReducedModelOptimizer::createFullPatternSimulationJobs(
    const std::shared_ptr<SimulationMesh> &pMesh,
    const std::vector<std::pair<BaseSimulationScenario, double>> &scenarioMaxForceMagnitudePairs)
{
    std::vector<std::shared_ptr<SimulationJob>> scenarios;
    scenarios.resize(totalNumberOfSimulationScenarios);

    SimulationJob job;
    job.pMesh = pMesh;

    global.scenarioEqualizationWeight.resize(
        totalNumberOfSimulationScenarios); //This essentially holds the base scenario weights but I use totalNumberOfSimulationScenarios elements instead in order to have O(1) access time during the optimization
    global.scenarioUserWeights.resize(totalNumberOfSimulationScenarios);
    const double userWeightsSum = std::accumulate(baseScenarioWeights.begin(),
                                                  baseScenarioWeights.end(),
                                                  0);
    for (std::pair<BaseSimulationScenario, double> scenarioMaxForceMagnitudePair :
         scenarioMaxForceMagnitudePairs) {
        const BaseSimulationScenario scenario = scenarioMaxForceMagnitudePair.first;
        const double maxForceMagnitude = scenarioMaxForceMagnitudePair.second;
        const int numberOfSimulationScenarios = simulationScenariosResolution[scenario];
        const double minForceMagnitude = scenarioIsSymmetrical[scenario]
                                             ? maxForceMagnitude / numberOfSimulationScenarios
                                             : -maxForceMagnitude;
        const double forceMagnitudeStep = numberOfSimulationScenarios == 1
                                              ? maxForceMagnitude
                                              : (maxForceMagnitude - minForceMagnitude)
                                                    / (numberOfSimulationScenarios);
        const int baseSimulationScenarioIndexOffset
            = std::accumulate(simulationScenariosResolution.begin(),
                              simulationScenariosResolution.begin() + scenario,
                              0);
        const double baseScenarioEqualizationWeight = static_cast<double>(
                                                          numberOfSimulationScenarios)
                                                      / totalNumberOfSimulationScenarios;
        const double baseScenarioUserWeight = static_cast<double>(baseScenarioWeights[scenario])
                                              / userWeightsSum;
        for (int simulationScenarioIndex = 0; simulationScenarioIndex < numberOfSimulationScenarios;
             simulationScenarioIndex++) {
            job.nodalExternalForces.clear();
            job.constrainedVertices.clear();
            job.nodalForcedDisplacements.clear();
            job.label = baseSimulationScenarioNames[scenario] + "_"
                        + std::to_string(simulationScenarioIndex);

            const double forceMagnitude = (forceMagnitudeStep * simulationScenarioIndex
                                           + minForceMagnitude);
            constructBaseScenarioFunctions[scenario](forceMagnitude,
                                                     m_fullPatternOppositeInterfaceViPairs,
                                                     job);

            scenarios[baseSimulationScenarioIndexOffset + simulationScenarioIndex]
                = std::make_shared<SimulationJob>(job);
            global.scenarioEqualizationWeight[simulationScenarioIndex]
                = baseScenarioEqualizationWeight;
            global.scenarioUserWeights[simulationScenarioIndex] = baseScenarioUserWeight;
        }
    }

#ifdef POLYSCOPE_DEFINED
    std::cout << "Computed full pattern scenario magnitudes" << std::endl;
#endif
    return scenarios;
}

void ReducedModelOptimizer::computeObjectiveValueNormalizationFactors()
{
    //    m_pFullPatternSimulationMesh->registerForDrawing();
    //    m_pFullPatternSimulationMesh->save(std::filesystem::current_path().append("initial.ply"));
    // Compute the sum of the displacement norms
    std::vector<double> fullPatternTranslationalDisplacementNormSum(
        totalNumberOfSimulationScenarios);
    std::vector<double> fullPatternAngularDistance(totalNumberOfSimulationScenarios);
    for (int simulationScenarioIndex : global.simulationScenarioIndices) {
        double translationalDisplacementNormSum = 0;
        for (auto interfaceViPair : global.reducedToFullInterfaceViMap) {
            const int fullPatternVi = interfaceViPair.second;
            //If the full pattern vertex is translationally constrained dont take it into account
            if (global.fullPatternSimulationJobs[simulationScenarioIndex]
                    ->constrainedVertices.contains(fullPatternVi)) {
                const std::unordered_set<int> constrainedDof
                    = global.fullPatternSimulationJobs[simulationScenarioIndex]
                          ->constrainedVertices.at(fullPatternVi);
                if (constrainedDof.contains(0) && constrainedDof.contains(1)
                    && constrainedDof.contains(2)) {
                    continue;
                }
            }

            const Vector6d &vertexDisplacement = global.fullPatternResults[simulationScenarioIndex]
                                                     .displacements[fullPatternVi];
            //            std::cout << "vi:" << fullPatternVi << std::endl;
            //            std::cout << "displacement:" << vertexDisplacement.getTranslation().norm() << std::endl;

            translationalDisplacementNormSum += vertexDisplacement.getTranslation().norm();
        }
        //        global.fullPatternResults[simulationScenarioIndex].saveDeformedModel(
        //            std::filesystem::current_path());
        //        global.fullPatternResults[simulationScenarioIndex].registerForDrawing();
        //        polyscope::show();
        //        global.fullPatternResults[simulationScenarioIndex].unregister();
        double angularDistanceSum = 0;
        for (auto interfaceViPair : global.reducedToFullInterfaceViMap) {
            const int fullPatternVi = interfaceViPair.second;
            //If the full pattern vertex is rotationally constrained dont take it into account
            if (global.fullPatternSimulationJobs[simulationScenarioIndex]
                    ->constrainedVertices.contains(fullPatternVi)) {
                const std::unordered_set<int> constrainedDof
                    = global.fullPatternSimulationJobs[simulationScenarioIndex]
                          ->constrainedVertices.at(fullPatternVi);
                if (constrainedDof.contains(3) && constrainedDof.contains(5)
                    && constrainedDof.contains(4)) {
                    continue;
                }
            }
            angularDistanceSum += global.fullPatternResults[simulationScenarioIndex]
                                      .rotationalDisplacementQuaternion[fullPatternVi]
                                      .angularDistance(Eigen::Quaterniond::Identity());
        }

        fullPatternTranslationalDisplacementNormSum[simulationScenarioIndex]
            = translationalDisplacementNormSum;
        fullPatternAngularDistance[simulationScenarioIndex] = angularDistanceSum;
    }

    for (int simulationScenarioIndex : global.simulationScenarioIndices) {
        if (global.optimizationSettings.normalizationStrategy
            == Settings::NormalizationStrategy::Epsilon) {
            const double epsilon_translationalDisplacement = global.optimizationSettings
                                                                 .translationNormalizationParameter;
            global.translationalDisplacementNormalizationValues[simulationScenarioIndex]
                = std::max(fullPatternTranslationalDisplacementNormSum[simulationScenarioIndex],
                           epsilon_translationalDisplacement);
            const double epsilon_rotationalDisplacement = global.optimizationSettings
                                                              .rotationNormalizationParameter;
            global.rotationalDisplacementNormalizationValues[simulationScenarioIndex]
                = std::max(fullPatternAngularDistance[simulationScenarioIndex],
                           epsilon_rotationalDisplacement);
        } else {
            global.translationalDisplacementNormalizationValues[simulationScenarioIndex] = 1;
            global.rotationalDisplacementNormalizationValues[simulationScenarioIndex] = 1;
        }
    }
}

void ReducedModelOptimizer::optimize(
    const Settings &optimizationSettings,
    ReducedPatternOptimization::Results &results,
    const std::vector<BaseSimulationScenario> &desiredBaseSimulationScenarioIndices)
{
    for (int baseSimulationScenarioIndex : desiredBaseSimulationScenarioIndices) {
        //Increase the size of the vector holding the simulation scenario indices
        global.simulationScenarioIndices.resize(
            global.simulationScenarioIndices.size()
            + simulationScenariosResolution[baseSimulationScenarioIndex]);
        //Add the simulation scenarios indices that correspond to this base simulation scenario
        std::iota(global.simulationScenarioIndices.end()
                      - simulationScenariosResolution[baseSimulationScenarioIndex],
                  global.simulationScenarioIndices.end(),
                  std::accumulate(simulationScenariosResolution.begin(),
                                  simulationScenariosResolution.begin()
                                      + baseSimulationScenarioIndex,
                                  0));
    }

    global.reducedPatternSimulationJobs.resize(totalNumberOfSimulationScenarios);
    global.fullPatternResults.resize(totalNumberOfSimulationScenarios);
    global.translationalDisplacementNormalizationValues.resize(totalNumberOfSimulationScenarios);
    global.rotationalDisplacementNormalizationValues.resize(totalNumberOfSimulationScenarios);
    global.minY = std::numeric_limits<double>::max();
    global.numOfSimulationCrashes = 0;
    global.numberOfFunctionCalls = 0;
    global.optimizationSettings = optimizationSettings;
    global.pFullPatternSimulationMesh = m_pFullPatternSimulationMesh;

    std::vector<std::pair<BaseSimulationScenario, double>> fullPatternSimulationScenarioMaxMagnitudes
        = getFullPatternMaxSimulationForces(desiredBaseSimulationScenarioIndices);
    global.fullPatternSimulationJobs
        = createFullPatternSimulationJobs(m_pFullPatternSimulationMesh,
                                          fullPatternSimulationScenarioMaxMagnitudes);
    //  polyscope::removeAllStructures();

    results.baseTriangle = global.baseTriangle;

    DRMSimulationModel::Settings simulationSettings;
    simulationSettings.maxDRMIterations = 200000;
    simulationSettings.totalTranslationalKineticEnergyThreshold = 1e-8;
    simulationSettings.viscousDampingFactor = 5e-3;
    simulationSettings.useKineticDamping = true;

//    simulationSettings.averageResidualForcesCriterionThreshold = 1e-5;
//    simulationSettings.viscousDampingFactor = 1e-3;
//    simulationSettings.beVerbose = true;
//    simulationSettings.shouldDraw = true;
//    simulationSettings.isDebugMode = true;
//    simulationSettings.debugModeStep = 100000;
#ifdef POLYSCOPE_DEFINED
    constexpr bool drawFullPatternSimulationResults = false;
    if (drawFullPatternSimulationResults) {
        global.fullPatternSimulationJobs[0]->pMesh->registerForDrawing(
            ReducedPatternOptimization::Colors::fullInitial);
    }
#endif
    results.wasSuccessful = true;
    for (int simulationScenarioIndex : global.simulationScenarioIndices) {
        const std::shared_ptr<SimulationJob> &pFullPatternSimulationJob
            = global.fullPatternSimulationJobs[simulationScenarioIndex];

        //        std::filesystem::path patternMaxForceMagnitudesFilePath(
        //            std::filesystem::path(forceMagnitudesDirectoryPath)
        //                .append(pFullPatternSimulationJob->getLabel() + ".json"));
        //        const bool fullPatternScenarioMagnitudesExist = std::filesystem::exists(
        //            patternMaxForceMagnitudesFilePath);
        //        if (fullPatternScenarioMagnitudesExist) {
        //            nlohmann::json json;
        //            std::ifstream ifs(patternMaxForceMagnitudesFilePath.string());
        //            ifs >> json;
        //            fullPatternSimulationScenarioMaxMagnitudes
        //                = static_cast<std::vector<std::pair<BaseSimulationScenario, double>>>(
        //                    json.at("maxMagn"));
        //            const bool shouldRecompute = fullPatternSimulationScenarioMaxMagnitudes.size()
        //                                         != desiredBaseSimulationScenarioIndices.size();
        //            if (!shouldRecompute) {
        //                return fullPatternSimulationScenarioMaxMagnitudes;
        //            }
        //        }
#ifdef POLYSCOPE_DEFINED
        LinearSimulationModel linearSimulator;
        SimulationResults fullPatternResults = linearSimulator.executeSimulation(
            pFullPatternSimulationJob);

#else
        SimulationResults fullPatternResults = simulator.executeSimulation(pFullPatternSimulationJob,
                                                                           simulationSettings);
#endif
//        if (!fullPatternResults.converged) {
//            DRMSimulationModel::Settings simulationSettings_secondRound;
//            simulationSettings_secondRound.viscousDampingFactor = 2e-3;
//            simulationSettings_secondRound.useKineticDamping = true;
//            simulationSettings.maxDRMIterations = 200000;
//            fullPatternResults = simulator.executeSimulation(pFullPatternSimulationJob,
//                                                             simulationSettings_secondRound);
#ifdef POLYSCOPE_DEFINED
//        std::cout << "Simulation job " << pFullPatternSimulationJob->getLabel()
//                  << " used viscous damping." << std::endl;
#endif

        if (!fullPatternResults.converged) {
            results.wasSuccessful = false;
            std::cerr << "Simulation job " << pFullPatternSimulationJob->getLabel()
                      << " did not converge." << std::endl;
#ifdef POLYSCOPE_DEFINED
            //            DRMSimulationModel::Settings debugSimulationSettings;
            //            debugSimulationSettings.debugModeStep = 50;
            //            //            //            debugSimulationSettings.maxDRMIterations = 100000;
            //            debugSimulationSettings.shouldDraw = true;
            //            //            debugSimulationSettings.drawingStep = debugSimulationSettings.debugModeStep;
            //            debugSimulationSettings.shouldCreatePlots = true;
            //            //            //            debugSimulationSettings.Dtini = 0.06;
            //            debugSimulationSettings.beVerbose = true;
            //            debugSimulationSettings.averageResidualForcesCriterionThreshold = 1e-5;
            //            debugSimulationSettings.maxDRMIterations = 100000;
            //            debugSimulationSettings.totalTranslationalKineticEnergyThreshold = 1e-8;
            //            debugSimulationSettings.viscousDampingFactor = 1e-2;
            //            //            //            debugSimulationSettings.totalExternalForcesNormPercentageTermination = 1e-3;
            //            //            //            debugSimulationSettings.shouldUseTranslationalKineticEnergyThreshold = true;
            //            auto debugResults = simulator.executeSimulation(pFullPatternSimulationJob,
            //                                                            debugSimulationSettings);
            //            debugResults.setLabelPrefix("debugResults");
            //            debugResults.registerForDrawing();
            //            polyscope::show();
            //            debugResults.unregister();
            std::filesystem::path outputPath(
                std::filesystem::path("../nonConvergingJobs")
                    .append(m_pFullPatternSimulationMesh->getLabel())
                    .append("final_" + pFullPatternSimulationJob->getLabel()));
            std::filesystem::create_directories(outputPath);
            pFullPatternSimulationJob->save(outputPath);
            simulationSettings.save(outputPath);
#endif
            std::terminate();
            return;
            //            }
        }
#ifdef POLYSCOPE_DEFINED
        if (drawFullPatternSimulationResults) {
            //                SimulationResults fullPatternResults_linear = linearSimulator.executeSimulation(
            //                    pFullPatternSimulationJob);
            fullPatternResults.registerForDrawing(ReducedPatternOptimization::Colors::fullDeformed,
                                                  true);
            //                fullPatternResults_linear.labelPrefix += "_linear";
            //                fullPatternResults_linear.registerForDrawing(ReducedModelOptimization::Colors::fullDeformed,
            //                                                             true,
            //                                                             true);
            polyscope::show();
            fullPatternResults.unregister();
            //                fullPatternResults_linear.unregister();
        }
#endif
        global.fullPatternResults[simulationScenarioIndex] = fullPatternResults;
        SimulationJob reducedPatternSimulationJob;
        reducedPatternSimulationJob.pMesh = m_pReducedPatternSimulationMesh;
        computeReducedModelSimulationJob(*pFullPatternSimulationJob,
                                         m_fullToReducedInterfaceViMap,
                                         reducedPatternSimulationJob);
        global.reducedPatternSimulationJobs[simulationScenarioIndex]
            = std::make_shared<SimulationJob>(reducedPatternSimulationJob);
        //        std::cout << "Ran sim scenario:" << simulationScenarioIndex << std::endl;
    }

#ifdef POLYSCOPE_DEFINED
    if (drawFullPatternSimulationResults) {
        global.fullPatternSimulationJobs[0]->pMesh->unregister();
    }
#endif
    if (global.optimizationSettings.normalizationStrategy
        == Settings::NormalizationStrategy::Epsilon) {
        computeObjectiveValueNormalizationFactors();
    }
#ifdef POLYSCOPE_DEFINED
    std::cout << "Running reduced model optimization" << std::endl;
#endif
    runOptimization(optimizationSettings, results);
    results.notes = optimizationNotes;
}