/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     |
    \\  /    A nd           | www.openfoam.com
     \\/     M anipulation  |
-------------------------------------------------------------------------------
    Copyright (C) 2016-2017 OpenFOAM Foundation
    Copyright (C) 2016-2020 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.

    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.

\*---------------------------------------------------------------------------*/

#include "rigidBodyMeshMotion.H"
#include "addToRunTimeSelectionTable.H"
#include "polyMesh.H"
#include "pointPatchDist.H"
#include "pointConstraints.H"
#include "uniformDimensionedFields.H"
#include "forces.H"
#include "OneConstant.H"
#include "mathematicalConstants.H"

#include <iostream>
#include <fstream>

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

namespace Foam
{
    defineTypeNameAndDebug(rigidBodyMeshMotion, 0);

    addToRunTimeSelectionTable
    (
        motionSolver,
        rigidBodyMeshMotion,
        dictionary
    );
}


// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //

Foam::rigidBodyMeshMotion::bodyMesh::bodyMesh
(
    const polyMesh& mesh,
    const word& name,
    const label bodyID,
    const dictionary& dict
)
:
    name_(name),
    bodyID_(bodyID),
    patches_(dict.get<wordRes>("patches")),
    patchSet_(mesh.boundaryMesh().patchSet(patches_)),
    di_(dict.get<scalar>("innerDistance")),
    do_(dict.get<scalar>("outerDistance")),
    weight_
    (
        IOobject
        (
            name_ + ".motionScale",
            mesh.time().timeName(),
            mesh,
            IOobject::NO_READ,
            IOobject::NO_WRITE,
            false
        ),
        pointMesh::New(mesh),
        dimensionedScalar(dimless, Zero)
    )
{}


Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
(
    const polyMesh& mesh,
    const IOdictionary& dict
)
:
    displacementMotionSolver(mesh, dict, typeName),
    model_
    (
        mesh.time(),
        coeffDict(),
        IOobject
        (
            "rigidBodyMotionState",
            mesh.time().timeName(),
            "uniform",
            mesh
        ).typeHeaderOk<IOdictionary>(true)
      ? IOdictionary
        (
            IOobject
            (
                "rigidBodyMotionState",
                mesh.time().timeName(),
                "uniform",
                mesh,
                IOobject::READ_IF_PRESENT,
                IOobject::NO_WRITE,
                false
            )
        )
      : coeffDict()
    ),
    test_(coeffDict().getOrDefault("test", false)),
    rhoInf_(1.0),
    rhoName_(coeffDict().getOrDefault<word>("rho", "rho")),
    ramp_(nullptr),
    curTimeIndex_(-1),
    originReport_(coeffDict().getOrDefault<Switch>("report", true))
{
    if (rhoName_ == "rhoInf")
    {
        readEntry("rhoInf", rhoInf_);
    }

    if (coeffDict().found("ramp"))
    {
        ramp_ = Function1<scalar>::New("ramp", coeffDict());
    }
    else
    {
        ramp_.reset(new Function1Types::OneConstant<scalar>("ramp"));
    }

    const dictionary& bodiesDict = coeffDict().subDict("bodies");

    for (const entry& dEntry : bodiesDict)
    {
        const keyType& bodyName = dEntry.keyword();
        const dictionary& bodyDict = dEntry.dict();

        if (bodyDict.found("patches"))
        {
            const label bodyID = model_.bodyID(bodyName);

            if (bodyID == -1)
            {
                FatalErrorInFunction
                    << "Body " << bodyName
                    << " has been merged with another body"
                       " and cannot be assigned a set of patches"
                    << exit(FatalError);
            }

            bodyMeshes_.append
            (
                new bodyMesh
                (
                    mesh,
                    bodyName,
                    bodyID,
                    bodyDict
                )
            );
        }
    }

    // Calculate scaling factor everywhere for each meshed body
    forAll(bodyMeshes_, bi)
    {
        const pointMesh& pMesh = pointMesh::New(mesh);

        pointPatchDist pDist(pMesh, bodyMeshes_[bi].patchSet_, points0());

        pointScalarField& scale = bodyMeshes_[bi].weight_;

        // Scaling: 1 up to di then linear down to 0 at do away from patches
        scale.primitiveFieldRef() =
            min
            (
                max
                (
                    (bodyMeshes_[bi].do_ - pDist.primitiveField())
                   /(bodyMeshes_[bi].do_ - bodyMeshes_[bi].di_),
                    scalar(0)
                ),
                scalar(1)
            );

        // Convert the scale function to a cosine
        scale.primitiveFieldRef() =
            min
            (
                max
                (
                    0.5
                  - 0.5
                   *cos(scale.primitiveField()
                   *Foam::constant::mathematical::pi),
                    scalar(0)
                ),
                scalar(1)
            );

        pointConstraints::New(pMesh).constrain(scale);
        //scale.write();
    }
}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

Foam::tmp<Foam::pointField>
Foam::rigidBodyMeshMotion::curPoints() const
{
    return points0() + pointDisplacement_.primitiveField();
}


void Foam::rigidBodyMeshMotion::solve()
{
    const Time& t = mesh().time();

    if (mesh().nPoints() != points0().size())
    {
        FatalErrorInFunction
            << "The number of points in the mesh seems to have changed." << endl
            << "In constant/polyMesh there are " << points0().size()
            << " points; in the current mesh there are " << mesh().nPoints()
            << " points." << exit(FatalError);
    }

    // Store the motion state at the beginning of the time-step
    if (curTimeIndex_ != this->db().time().timeIndex())
    {
        model_.newTime();
        curTimeIndex_ = this->db().time().timeIndex();
    }

    const scalar ramp = ramp_->value(t.value());

    if (t.foundObject<uniformDimensionedVectorField>("g"))
    {
        model_.g() =
            ramp*t.lookupObject<uniformDimensionedVectorField>("g").value();

    }

    // save the data file for the least square method in NewmarkCOMimplicit routine. 
    if( exists("fxHistory_for_LSM.dat", true, true ) ){
	const scalar fileInterval( db().time().controlDict().getOrDefault<scalar>("writeInterval", 0.001) );
    	const scalar filenumR( t.value() / fileInterval );
    	const label  filenumI( t.value() / fileInterval + 1.0e-9 );


//Info << "fileInterval " << fileInterval << " filenumR " << filenumR << " filenumI " << filenumI << " mag " << mag( filenumR - filenumI ) << endl;

    	if( mag( filenumR - filenumI ) < 1.0e-8 ){	// means if( t%writeInterval == 0 ) 
    	    word filename("fxHistory_for_LSM"), timename(t.timeName());
	    cp(filename + ".dat", filename + std::to_string( t.value() ) + ".dat", true);	// file copy
	}
    }
/*
Info << "wirite interval  " << db().time().controlDict() << endl;
//if( db().time().writeNow() )	Info << "YES  " << endl;
//else				Info << "NO  " << endl;
Info << "path  " << db().time().path() << endl;
Info << "dbDir  " << db().time().dbDir() << endl;
Info << "timepath  " << db().time().timePath() << endl;
*/

    if (test_)
    {
        const label nIter(coeffDict().get<label>("nIter"));

        for (label i=0; i<nIter; i++)
        {
            model_.solve
            (
                t.value(),
                t.deltaTValue(),
                scalarField(model_.nDoF(), Zero),
                Field<spatialVector>(model_.nBodies(), Zero)
            );
        }
    }
    else
    {
        const label nIter(coeffDict().getOrDefault<label>("nIter", 1));


        for (label i=0; i<nIter; i++)
        {
            Field<spatialVector> fx(model_.nBodies(), Zero);

            forAll(bodyMeshes_, bi)
            {
                const label bodyID = bodyMeshes_[bi].bodyID_;

                dictionary forcesDict;
                forcesDict.add("type", functionObjects::forces::typeName);
                forcesDict.add("patches", bodyMeshes_[bi].patches_);
                forcesDict.add("rhoInf", rhoInf_);
                forcesDict.add("rho", rhoName_);
		forcesDict.add("CofR", (model_.X0(bodyMeshes_[bi].bodyID_).inv() && spatialVector(Zero, Zero)).l());
		if( originReport_ ) 	forcesDict.add("log", true);
	   	else			forcesDict.add("log", false);

//		forcesDict.add("CofR", vector::zero);

                functionObjects::forces f("forces", db(), forcesDict);
                f.calcForcesMoment();

                fx[bodyID] = ramp*spatialVector(f.momentEff(), f.forceEff());
            }

            model_.solve
            (
                t.value(),
                t.deltaTValue(),
                scalarField(model_.nDoF(), Zero),
                fx
            );
        }
    }

    if (Pstream::master() && model_.report())
    {
        forAll(bodyMeshes_, bi)
        {
            model_.status(bodyMeshes_[bi].bodyID_);
        }
    }

    // Update the displacements
    if (bodyMeshes_.size() == 1)
    {
        pointDisplacement_.primitiveFieldRef() = model_.transformPoints
        (
            bodyMeshes_[0].bodyID_,
            bodyMeshes_[0].weight_,
            points0()
        ) - points0();
    }
    else
    {
        labelList bodyIDs(bodyMeshes_.size());
        List<const scalarField*> weights(bodyMeshes_.size());
        forAll(bodyIDs, bi)
        {
            bodyIDs[bi] = bodyMeshes_[bi].bodyID_;
            weights[bi] = &bodyMeshes_[bi].weight_;
        }

        pointDisplacement_.primitiveFieldRef() =
            model_.transformPoints(bodyIDs, weights, points0()) - points0();
    }

    // Displacement has changed. Update boundary conditions
    pointConstraints::New
    (
        pointDisplacement_.mesh()
    ).constrainDisplacement(pointDisplacement_);


	// Save the object coordinate system to the file. [kikut]
	wordList	OutputFiles_(coeffDict().get<wordList>("OutputFiles"));
	vector	a;
	Tensor<scalar> Rb;

	for(int i=0; i<OutputFiles_.size(); i++ ){
 	   std::ofstream ofs( OutputFiles_[i] );
	   if(!ofs){	Info << endl << "FATAL ERROR: " << OutputFiles_[i] << " file could not be created." << endl; }
	   else{
		a = (model_.X0(model_.bodyID(OutputFiles_[i])).inv() && spatialVector(Zero, Zero)).l();
		Rb = model_.X0(model_.bodyID(OutputFiles_[i])).E();
		Info << OutputFiles_[i] << " was updated: " << a << endl;
		ofs << a.x() << " " << a.y() << " " << a.z() << std::endl;
		ofs << Rb.xx() << " " << Rb.xy() << " " << Rb.xz() << std::endl
		    << Rb.yx() << " " << Rb.yy() << " " << Rb.yz() << std::endl
		    << Rb.zx() << " " << Rb.zy() << " " << Rb.zz() << std::endl;
		ofs << "Center of rotation and orientation for body coordinate system (" << OutputFiles_[i] << "): x, y, z, Rxx, Rxy, Rxz, Ryx, Ryy, Ryz,Rzx, Rzy, Rzz " << std::endl; 
		ofs << "Do not remove or modify this file under calculation. The program overwrites and reads these values every time step, dt." << std::endl; 
		ofs.close();	
	   }

	   // time series data
	   word filename(OutputFiles_[i]+".dat");
 	   std::ofstream ofs2( filename, std::ios::app );
	   if(!ofs2){	Info << endl << "FATAL ERROR: " << OutputFiles_[i] << ".dat file could not be created." << endl; }
	   else{
		a = (model_.X0(model_.bodyID(OutputFiles_[i])).inv() && spatialVector(Zero, Zero)).l();
		Rb = model_.X0(model_.bodyID(OutputFiles_[i])).E();
		ofs2 << "t: " << t.timeName() << " , pos(x y z): " << a.x() << " " << a.y() << " " << a.z()
		     << " , Rx: "  << Rb.xx() << " " << Rb.xy() << " " << Rb.xz() 
		     << " , Ry: "  << Rb.yx() << " " << Rb.yy() << " " << Rb.yz() 
		     << " , Rz: "  << Rb.zx() << " " << Rb.zy() << " " << Rb.zz() << std::endl;
		ofs2.close();	
	   }
	}
}


bool Foam::rigidBodyMeshMotion::writeObject
(
    IOstreamOption streamOpt,
    const bool valid
) const
{
    // Force ASCII writing
    streamOpt.format(IOstream::ASCII);

    IOdictionary dict
    (
        IOobject
        (
            "rigidBodyMotionState",
            mesh().time().timeName(),
            "uniform",
            mesh(),
            IOobject::NO_READ,
            IOobject::NO_WRITE,
            false
        )
    );

    model_.state().write(dict);
    return dict.regIOobject::writeObject(streamOpt, valid);
}


bool Foam::rigidBodyMeshMotion::read()
{
    if (displacementMotionSolver::read())
    {
        model_.read(coeffDict());

        return true;
    }

    return false;
}


// ************************************************************************* //
