#include "reducedmodeloptimizer.hpp"
#include "linearsimulationmodel.hpp"
#include "simulationhistoryplotter.hpp"
#include "trianglepatterngeometry.hpp"
#include "trianglepattterntopology.hpp"
#include <chrono>
#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<double> objectiveValueHistoryY;
    std::vector<double> objectiveValueHistoryX;
    std::vector<double> plotColors;
    size_t iterationOfMinima{0};
    Eigen::VectorXd initialParameters;
    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::vector<std::function<void(std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh,
                                   const double &newValue)>>
        updateReducedPatternFunctions_material;

} 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());
//}

double ReducedModelOptimizer::objective(const dlib::matrix<double, 0, 1> &x)
{
    //    std::cout.precision(17);
    //    for (int i = 0; i < x.size(); i++) {
    //        std::cout << x(i) << " ";
    //    }
    //    std::cout << std::endl;

    //    std::cout << x[n - 2] << " " << x[n - 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;
    //    FormFinder simulator;
    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 {
            constexpr bool usePotentialEnergy = false;
            double simulationScenarioError;
            if (usePotentialEnergy) {
                simulationScenarioError = std::abs(
                    reducedModelResults.internalPotentialEnergy
                    - global.fullPatternResults[simulationScenarioIndex].internalPotentialEnergy);
            } else {
                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 += simulationScenarioError * simulationScenarioError;
        }
    }
    //  std::cout << error << std::endl;
//    global.objectiveValueHistory.push_back(totalError);
//    global.plotColors.push_back(10);
    ++global.numberOfFunctionCalls;
    if (totalError < global.minY) {
        global.minY = totalError;
        global.iterationOfMinima = 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();
    }
    const double ym = 1 * 1e9;
    // Full pattern
    pFullPatternSimulationMesh = std::make_shared<SimulationMesh>(fullModel);
    pFullPatternSimulationMesh->setBeamCrossSection(
        CrossSectionType{0.002, 0.002});
    pFullPatternSimulationMesh->setBeamMaterial(0.3, ym);

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

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()
{
    function_updateReducedPattern_geometry = [&](const dlib::matrix<double, 0, 1> &x,
                                                 std::shared_ptr<SimulationMesh>
                                                     &pReducedPatternSimulationMesh) {
        const int n = x.size();
        assert(n >= 2);

        //    CoordType center_barycentric(1, 0, 0);
        //    CoordType interfaceEdgeMiddle_barycentric(0, 0.5, 0.5);
        //    CoordType movableVertex_barycentric((center_barycentric + interfaceEdgeMiddle_barycentric)
        //                                        * x[n - 2]);

        CoordType movableVertex_barycentric(1 - x(n - 2), x(n - 2) / 2, x(n - 2) / 2);
        CoordType baseTriangleMovableVertexPosition = global.baseTriangle.cP(0)
                                                          * movableVertex_barycentric[0]
                                                      + global.baseTriangle.cP(1)
                                                            * movableVertex_barycentric[1]
                                                      + global.baseTriangle.cP(2)
                                                            * movableVertex_barycentric[2];
        baseTriangleMovableVertexPosition
            = vcg::RotationMatrix(ReducedModelOptimizer::patternPlaneNormal,
                                  vcg::math::ToRad(x(n - 1)))
              * baseTriangleMovableVertexPosition;

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

    function_updateReducedPattern_material_E =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newE) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.setMaterial(ElementMaterial(e.material.poissonsRatio, newE));
            }
        };
    function_updateReducedPattern_material_A =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newA) {
            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));
            }
        };
    function_updateReducedPattern_material_I =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newI) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.I2 = newI;
                e.inertia.I3 = newI;
            }
        };
    function_updateReducedPattern_material_I2 =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newI2) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.I2 = newI2;
            }
        };
    function_updateReducedPattern_material_I3 =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newI3) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.I3 = newI3;
            }
        };
    function_updateReducedPattern_material_J =
        [&](std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh, const double &newJ) {
            for (EdgeIndex ei = 0; ei < pReducedPatternSimulationMesh->EN(); ei++) {
                Element &e = pReducedPatternSimulationMesh->elements[ei];
                e.inertia.J = newJ;
            }
        };
}

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

    for (int optimizationParameterIndex = 0;
         optimizationParameterIndex < optimizationParameters.size();
         optimizationParameterIndex++) {
        const xRange &xOptimizationParameter = optimizationParameters[optimizationParameterIndex];
        if (xOptimizationParameter.label == "E") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0]
                                                                       .material.youngsModulus;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_E);
        } else if (xOptimizationParameter.label == "A") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0].A;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_A);
        } else if (xOptimizationParameter.label == "I") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0].inertia.I2;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_I);
        } else if (xOptimizationParameter.label == "I2") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0].inertia.I2;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_I2);
        } else if (xOptimizationParameter.label == "I3") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0].inertia.I3;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_I3);
        } else if (xOptimizationParameter.label == "J") {
            global.initialParameters(optimizationParameterIndex) = mesh->elements[0].inertia.J;
            global.updateReducedPatternFunctions_material.push_back(
                function_updateReducedPattern_material_J);
        }
        //NOTE:Assuming that I2,I3 and J are be passed after E and A because the update of E and A changes I2,I3,J.
        //        case "HexSize":
        //            updateReducedPatternFunctions_material.push_back(
        //                function_updateReducedPattern_material_E);
        //            break;
        //        case "HexAngle":
        //            updateReducedPatternFunctions_material.push_back(
        //                function_updateReducedPattern_material_E);
        //            break;
    }

    if (global.updateReducedPatternFunctions_material.size() != 0) {
        function_updateReducedPattern_material =
            [&](const dlib::matrix<double, 0, 1> &x,
                std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                for (int optimizationParameterIndex = 0;
                     optimizationParameterIndex
                     < global.updateReducedPatternFunctions_material.size();
                     optimizationParameterIndex++) {
                    global.updateReducedPatternFunctions_material[optimizationParameterIndex](
                        pReducedPatternSimulationMesh,
                        global.initialParameters(optimizationParameterIndex)
                            * x(optimizationParameterIndex));
                }
            };
    } else {
        function_updateReducedPattern_material =
            [](const dlib::matrix<double, 0, 1> &x,
               std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {};
    }
}

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;
}

//#if POLYSCOPE_DEFINED
//void ReducedModelOptimizer::visualizeResults(
//    const std::vector<std::shared_ptr<SimulationJob>> &fullPatternSimulationJobs,
//    const std::vector<std::shared_ptr<SimulationJob>> &reducedPatternSimulationJobs,
//    const std::vector<BaseSimulationScenario> &simulationScenarios,
//    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
//        &reducedToFullInterfaceViMap)
//{
//    DRMSimulationModel simulator;
//    std::shared_ptr<SimulationMesh> pFullPatternSimulationMesh = fullPatternSimulationJobs[0]->pMesh;
//    pFullPatternSimulationMesh->registerForDrawing();
//    pFullPatternSimulationMesh->save(pFullPatternSimulationMesh->getLabel() + "_undeformed.ply");
//    reducedPatternSimulationJobs[0]->pMesh->save(reducedPatternSimulationJobs[0]->pMesh->getLabel()
//                                                 + "_undeformed.ply");
//    double totalError = 0;
//    for (const int simulationScenarioIndex : simulationScenarios) {
//        const std::shared_ptr<SimulationJob> &pFullPatternSimulationJob
//            = fullPatternSimulationJobs[simulationScenarioIndex];
//        pFullPatternSimulationJob->registerForDrawing(pFullPatternSimulationMesh->getLabel());
//        SimulationResults fullModelResults = simulator.executeSimulation(pFullPatternSimulationJob);
//        fullModelResults.registerForDrawing();
//        // fullModelResults.saveDeformedModel();
//        const std::shared_ptr<SimulationJob> &pReducedPatternSimulationJob
//            = reducedPatternSimulationJobs[simulationScenarioIndex];
//        SimulationResults reducedModelResults = simulator.executeSimulation(
//            pReducedPatternSimulationJob);
//        double normalizationFactor = 1;
//        if (global.optimizationSettings.normalizationStrategy
//            != ReducedModelOptimization::Settings::NormalizationStrategy::NonNormalized) {
//            normalizationFactor
//                = global.translationalDisplacementNormalizationValues[simulationScenarioIndex];
//        }
//        reducedModelResults.saveDeformedModel();
//        fullModelResults.saveDeformedModel();
//        double error = computeDisplacementError(reducedModelResults.displacements,
//                                                fullModelResults.displacements,
//                                                reducedToFullInterfaceViMap,
//                                                normalizationFactor);
//        std::cout << "Error of simulation scenario "
//            < baseSimulationScenarioNames[simulationScenarioIndex] << " is " << error << std::endl;
//        totalError += error;
//        reducedModelResults.registerForDrawing();
//        //    firstOptimizationRoundResults[simulationScenarioIndex].registerForDrawing();
//        //    registerWorldAxes();
//        const std::string screenshotFilename
//            = "/home/iason/Coding/Projects/Approximating shapes with flat "
//              "patterns/RodModelOptimizationForPatterns/build/OptimizationResults/"
//              "Images/"
//              + pFullPatternSimulationMesh->getLabel() + "_"
//              + baseSimulationScenarioNames[simulationScenarioIndex];
//        polyscope::show();
//        polyscope::screenshot(screenshotFilename, false);
//        fullModelResults.unregister();
//        reducedModelResults.unregister();
//        //    firstOptimizationRoundResults[simulationScenarioIndex].unregister();
//    }
//    std::cout << "Total error:" << totalError << std::endl;
//}

//void ReducedModelOptimizer::registerResultsForDrawing(
//    const std::shared_ptr<SimulationJob> &pFullPatternSimulationJob,
//    const std::shared_ptr<SimulationJob> &pReducedPatternSimulationJob,
//    const std::unordered_map<ReducedPatternVertexIndex, FullPatternVertexIndex>
//        &reducedToFullInterfaceViMap) {
//    DRMSimulationModel simulator;
//    std::shared_ptr<SimulationMesh> pFullPatternSimulationMesh =
//        pFullPatternSimulationJob->pMesh;
//    pFullPatternSimulationMesh->registerForDrawing();
//    //  pFullPatternSimulationMesh->savePly(pFullPatternSimulationMesh->getLabel()
//    //  +
//    //                                      "_undeformed.ply");
//    //  reducedPatternSimulationJobs[0]->pMesh->savePly(
//    //      reducedPatternSimulationJobs[0]->pMesh->getLabel() +
//    //      "_undeformed.ply");
//    pFullPatternSimulationJob->registerForDrawing(
//        pFullPatternSimulationMesh->getLabel());
//    SimulationResults fullModelResults =
//        simulator.executeSimulation(pFullPatternSimulationJob);
//    fullModelResults.registerForDrawing();
//    // fullModelResults.saveDeformedModel();
//    SimulationResults reducedModelResults =
//        simulator.executeSimulation(pReducedPatternSimulationJob);
//    //    reducedModelResults.saveDeformedModel();
//    //    fullModelResults.saveDeformedModel();
//    double error = computeRawDisplacementError(
//        reducedModelResults.displacements, fullModelResults.displacements,
//        reducedToFullInterfaceViMap/*,
//      global.reducedPatternMaximumDisplacementNormSum[simulationScenarioIndex]*/);
//    std::cout << "Error is " << error << std::endl;
//    reducedModelResults.registerForDrawing();
//}
//#endif // POLYSCOPE_DEFINED

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 dlib::function_evaluation &optimizationResult_dlib,
                                       const Settings &settings,
                                       ReducedPatternOptimization::Results &results)
{
    //Number of crashes
    //    results.numberOfSimulationCrashes = global.numOfSimulationCrashes;
    //Value of optimal objective Y
    results.objectiveValue.total = optimizationResult_dlib.y;
    //Optimal X values
    results.optimalXNameValuePairs.resize(settings.xRanges.size());
        std::vector<double> optimalX(settings.xRanges.size());
    for (int xVariableIndex = 0; xVariableIndex < settings.xRanges.size(); xVariableIndex++) {
        if (xVariableIndex < settings.xRanges.size() - 2) {
            results.optimalXNameValuePairs[xVariableIndex]
                = std::make_pair(settings.xRanges[xVariableIndex].label,
                                 optimizationResult_dlib.x(xVariableIndex)
                                     * global.initialParameters(xVariableIndex));
        } else {
            //Hex size and angle are pure values (not multipliers of the initial values)
            results.optimalXNameValuePairs[xVariableIndex]
                = std::make_pair(settings.xRanges[xVariableIndex].label,
                                 optimizationResult_dlib.x(xVariableIndex));
        }

        optimalX[xVariableIndex] = optimizationResult_dlib.x(xVariableIndex);
#ifdef POLYSCOPE_DEFINED
        std::cout << results.optimalXNameValuePairs[xVariableIndex].first << ":"
                  << optimalX[xVariableIndex] << " ";
#endif
    }
#ifdef POLYSCOPE_DEFINED
    std::cout << std::endl;
#endif

    // 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(optimizationResult_dlib.x, 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]);

        //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.iterationOfMinima = global.iterationOfMinima;
    //    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)
{
#if POLYSCOPE_DEFINED
    global.objectiveValueHistoryY.clear();
    global.objectiveValueHistoryY.reserve(settings.numberOfFunctionCalls);
    global.objectiveValueHistoryX.reserve(settings.numberOfFunctionCalls);
    global.plotColors.reserve(settings.numberOfFunctionCalls);
#endif
    double (*objF)(const dlib::matrix<double, 0, 1> &) = &objective;

    dlib::function_evaluation optimalResult;
    constexpr bool shouldJointlyOptimizeGeometryAndMaterial = false;
    const auto hexAngleParameterIt = std::find_if(settings.xRanges.begin(),
                                                  settings.xRanges.end(),
                                                  [](const xRange &x) {
                                                      return x.label == "HexAngle";
                                                  });
    const bool hasHexAngleParameter = hexAngleParameterIt != settings.xRanges.end();
    const auto hexSizeParameterIt = std::find_if(settings.xRanges.begin(),
                                                 settings.xRanges.end(),
                                                 [](const xRange &x) {
                                                     return x.label == "HexSize";
                                                 });
    const bool hasHexSizeParameter = hexSizeParameterIt != settings.xRanges.end();
    const bool hasBothGeometricalParameters = hasHexAngleParameter && hasHexSizeParameter;
    assert(hasBothGeometricalParameters || (!hasHexAngleParameter && !hasHexSizeParameter));
    const int numberOfGeometryOptimizationParameters = hasBothGeometricalParameters ? 2 : 0;
    const int numberOfMaterialOptimizationParameters = global.numberOfOptimizationParameters
                                                       - numberOfGeometryOptimizationParameters;
    const bool hasGeometryAndMaterialParameters = hasBothGeometricalParameters
                                                  && numberOfMaterialOptimizationParameters != 0;
    if (!shouldJointlyOptimizeGeometryAndMaterial && hasGeometryAndMaterialParameters) {
        //Geometry optimization of the reduced pattern
        dlib::matrix<double, 0, 1> xGeometryMin(numberOfGeometryOptimizationParameters);
        dlib::matrix<double, 0, 1> xGeometryMax(numberOfGeometryOptimizationParameters);
        //        const int hexAngleParameterIndex = std::distance(settings.xRanges.begin(),
        //                                                         hexAngleParameterIt);
        //        const int hexSizeParameterIndex = std::distance(settings.xRanges.begin(),
        //                                                        hexSizeParameterIt);
        xGeometryMin(0) = hexSizeParameterIt->min;
        xGeometryMax(0) = hexSizeParameterIt->max;
        xGeometryMin(1) = hexAngleParameterIt->min;
        xGeometryMax(1) = hexAngleParameterIt->max;

        //Set reduced pattern update functions to be used during optimization
        function_updateReducedPattern =
            [&](const dlib::matrix<double, 0, 1> &x,
                std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                function_updateReducedPattern_geometry(x, pReducedPatternSimulationMesh);
                pReducedPatternSimulationMesh->reset();
            };
        const int optimizationFunctionCalls_geometry
            = global.numberOfOptimizationParameters == numberOfGeometryOptimizationParameters
                  ? settings.numberOfFunctionCalls
                  : static_cast<int>(settings.numberOfFunctionCalls / 3.0);
        dlib::function_evaluation result_dlib_geometry
            = dlib::find_min_global(objF,
                                    xGeometryMin,
                                    xGeometryMax,
                                    dlib::max_function_calls(optimizationFunctionCalls_geometry),
                                    std::chrono::hours(24 * 365 * 290),
                                    settings.solverAccuracy);
        //Material optimization of the reduced pattern
        //        std::cout << "opt size:" << result_dlib_geometry.x(0) << std::endl;
        //        std::cout << "opt size:" << global.minX[0] << std::endl;
        dlib::function_evaluation result_dlib_material;
        if (numberOfMaterialOptimizationParameters != 0) {
            dlib::matrix<double, 0, 1> xMaterialMin(numberOfMaterialOptimizationParameters);
            dlib::matrix<double, 0, 1> xMaterialMax(numberOfMaterialOptimizationParameters);
            for (int i = 0; i < numberOfMaterialOptimizationParameters; i++) {
                xMaterialMin(i) = settings.xRanges[i].min;
                xMaterialMax(i) = settings.xRanges[i].max;
            }
            function_updateReducedPattern =
                [&](const dlib::matrix<double, 0, 1> &x,
                    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                    function_updateReducedPattern_material(x, pReducedPatternSimulationMesh);
                    function_updateReducedPattern_geometry(
                        result_dlib_geometry.x,
                        pReducedPatternSimulationMesh); //FIXME: I shouldn't need to call this
                    pReducedPatternSimulationMesh->reset();
                };
            result_dlib_material = dlib::find_min_global(objF,
                                                         xMaterialMin,
                                                         xMaterialMax,
                                                         dlib::max_function_calls(static_cast<int>(
                                                             2.0 * settings.numberOfFunctionCalls
                                                             / 3.0)),
                                                         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 = 200;
        //        dlib::find_min_bobyqa(objF,
        //                              result_dlib.x,
        //                              npt,
        //                              xMaterialMin,
        //                              xMaterialMax,
        //                              rhobeg,
        //                              rhoend,
        //                              bobyqa_maxFunctionCalls);
        //    }

        optimalResult.x.set_size(global.numberOfOptimizationParameters);
        std::copy(result_dlib_material.x.begin(),
                  result_dlib_material.x.end(),
                  optimalResult.x.begin());
        //                  debug_x.begin());
        std::copy(result_dlib_geometry.x.begin(),
                  result_dlib_geometry.x.end(),
                  optimalResult.x.begin() + numberOfMaterialOptimizationParameters);
        std::cout << "opt x:";
        for (const auto optx : optimalResult.x) {
            std::cout << optx << " ";
        }
        std::cout << std::endl;
        function_updateReducedPattern =
            [&](const dlib::matrix<double, 0, 1> &x,
                std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                function_updateReducedPattern_material(x, pReducedPatternSimulationMesh);
                function_updateReducedPattern_geometry(x, pReducedPatternSimulationMesh);
                pReducedPatternSimulationMesh->reset();
            };
        //        const auto meshLabel = global.reducedPatternSimulationJobs[0]->pMesh->getLabel();
        //        global.reducedPatternSimulationJobs[0]->pMesh->setLabel("pre");
        //        global.reducedPatternSimulationJobs[0]->pMesh->registerForDrawing(Colors::reducedInitial);
        //        polyscope::show();
        //        global.reducedPatternSimulationJobs[0]->pMesh->unregister();
        optimalResult.y = objective(optimalResult.x);
    } else {
        dlib::matrix<double, 0, 1> xMin(global.numberOfOptimizationParameters);
        dlib::matrix<double, 0, 1> xMax(global.numberOfOptimizationParameters);
        for (int i = 0; i < global.numberOfOptimizationParameters; i++) {
            xMin(i) = settings.xRanges[i].min;
            xMax(i) = settings.xRanges[i].max;
        }
        if (numberOfGeometryOptimizationParameters != 0
            && numberOfMaterialOptimizationParameters != 0) {
            function_updateReducedPattern =
                [&](const dlib::matrix<double, 0, 1> &x,
                    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                    function_updateReducedPattern_material(x, pReducedPatternSimulationMesh);
                    function_updateReducedPattern_geometry(x, pReducedPatternSimulationMesh);
                    pReducedPatternSimulationMesh->reset();
                };
        } else if (numberOfGeometryOptimizationParameters == 0) {
            function_updateReducedPattern =
                [&](const dlib::matrix<double, 0, 1> &x,
                    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                    function_updateReducedPattern_material(x, pReducedPatternSimulationMesh);
                    pReducedPatternSimulationMesh->reset();
                };

        } else {
            function_updateReducedPattern =
                [&](const dlib::matrix<double, 0, 1> &x,
                    std::shared_ptr<SimulationMesh> &pReducedPatternSimulationMesh) {
                    function_updateReducedPattern_geometry(x, pReducedPatternSimulationMesh);
                    pReducedPatternSimulationMesh->reset();
                };
        }
        optimalResult = dlib::find_min_global(objF,
                                              xMin,
                                              xMax,
                                              dlib::max_function_calls(
                                                  settings.numberOfFunctionCalls),
                                              std::chrono::hours(24 * 365 * 290),
                                              settings.solverAccuracy);
    }
    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;
}

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;
}

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;
    }

    minimumError = dlib::find_min_single_variable(objectiveFunction,
                                                  forceMagnitude,
                                                  1e-4,
                                                  1e4,
                                                  forceMagnitudeEpsilon,
                                                  1000);
    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;

    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);
        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);
        }
    }

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

void ReducedModelOptimizer::computeObjectiveValueNormalizationFactors() {

        // 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];
                translationalDisplacementNormSum += vertexDisplacement.getTranslation().norm();
            }
            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];

        SimulationResults fullPatternResults = simulator.executeSimulation(pFullPatternSimulationJob,
                                                                           simulationSettings);
//        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;
#ifdef POLYSCOPE_DEFINED
            std::cout << "Simulation job " << pFullPatternSimulationJob->getLabel()
                      << " did not converge." << std::endl;
            //            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::NonNormalized) {
    computeObjectiveValueNormalizationFactors();
    //    }
#ifdef POLYSCOPE_DEFINED
    std::cout << "Running reduced model optimization" << std::endl;
#endif
    runOptimization(optimizationSettings, results);
    results.notes = optimizationNotes;
}