using namespace imstk;

///
/// \brief imstk hello world example
///  Creates and visualizes a simple elastic object constrained at certain points
///
int main()
{
    // Create the simulation manager
    auto sdk = std::make_shared<SimulationManager>();

    // Create imstk scene
    auto scene = sdk->createNewScene("HelloWorld");

    // Load a sample volumetric mesh
    auto volTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>
                      (MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg"));

    // Create a surface mesh for display purposes that is extracted from loaded volume mesh
    auto surfMesh = std::make_shared<SurfaceMesh>();
    volTetMesh->extractSurfaceMesh(surfMesh, true);

    // Create a visual model
    auto surfMeshModel = std::make_shared<VisualModel>(surfMesh);

    // Construct a map that relates volumetric and surface mesh

    // Construct one to one nodal map based on the above meshes
    auto oneToOneNodalMap = std::make_shared<OneToOneMap>();
    oneToOneNodalMap->setMaster(volTetMesh);
    oneToOneNodalMap->setSlave(surfMesh);
    oneToOneNodalMap->compute();

    // Create a deformable object
    auto deformableObj = std::make_shared<PbdObject>("PBDobject");
    auto pbdModel = std::make_shared<PbdModel>();
    pbdModel->setModelGeometry(volTetMesh);

    // configure the physics model
    pbdModel->configure(/*Number of Constraints*/ 1,
                        /*Constraint configuration*/ "FEM StVk 100.0 0.3",
                        /*Mass*/ 1.0,
                        /*Gravity*/ "0 -9.8 0",
                        /*TimeStep*/ 0.01,
                        /*FixedPoint*/ "51 127 178",
                        /*NumberOfIterationInConstraintSolver*/ 5);

    // Configure the deformable body
    deformableObj->setDynamicalModel(pbdModel); // set the physics model
    deformableObj->addVisualModel(surfMeshModel); // set the geometry to be used for rendering
    deformableObj->setPhysicsGeometry(volTetMesh); // set the geometry to be used for physics
    deformableObj->setPhysicsToVisualMap(oneToOneNodalMap); // assign the computed map
    deformableObj->setPbdModel(pbdModel);

    auto pbdSolver = std::make_shared<PbdSolver>();
    pbdSolver->setPbdObject(deformableObj);

    scene->addNonlinearSolver(pbdSolver);
    scene->addSceneObject(deformableObj);

    // Light
    scene->addLight(std::make_shared<DirectionalLight>("light"));

    // Run the scene
    sdk->setActiveScene(scene);
    sdk->startSimulation();

    return 0;
}