function mp=Build_RotateSampleTest()
% Bulid mp obj （contains models and all arguments)
%% init
pace=1;
Pst=[0 0 0]-[1 2 1]-pace*0.5001;
Ped=[10 20 10]+2;
Ped=FCM_dV.round_Ped(Pst,Ped,pace);
maxdeep=4;
order=1;
viewxy=[120 30];


Shape.accessThreshold(pace/maxdeep/2/2/2);%
Oa=[0 0 0];
Ra=[0 0 0];

rvec=(Ped-Pst)/pace
num_cells=rvec(1)*rvec(2)*rvec(3);
fprintf("num_cells: %.0f\n",num_cells);% show num of cells


%% add SS lib & python path
additon_path=pwd;
if count(py.sys.path,additon_path) == 0
    insert(py.sys.path,int32(0),additon_path);
end

%% assemble c0



cyObjs=[];

pos=[
    1 1 0;
    0 1 0;
    
    0 0 0;
    1 0 0;
    1 1 0;

    0 0 1;
    1 0 1;
    1 1 1;
    ];
angle=[
    0 0 0;
    0 0 0;

    -pi/2 0 0;
    -pi/2 0 0;
    0 -pi/2 0;

    -pi/2 0 0;
    -pi/2 0 0;
    0 -pi/2 0;
    ];

for i=0:10:0
    for j=0:10:10
        for k=0:10:0
            for idx=1:size(angle,1)
                cy=CSG("Cylinder",[i j k]+pos(idx,:)*10,angle(idx,:),1,1*10);
                cyObjs=[cyObjs cy];
            end
        end
    end
end
firstFlg=1;
cys=[];
for cy=cyObjs
    if firstFlg==1
        firstFlg=0;
        cys=cy;
    else
        cys=cys+cy;
    end
end
%% tmp output
% c.set_display_args([Pst(1) Pst(2) Pst(3)],Ped,pace/5,'viewxy',viewxy);
% c.csg2stl('/home/cflin/Documents/MATLAB/MatlabCode/TopCSG/NNew_Data/RotateSample/CSG_plates');
% 
% cys.set_display_args([Pst(1) Pst(2) Pst(3)],Ped,pace/5,'viewxy',viewxy);
% cys.csg2stl('/home/cflin/Documents/MATLAB/MatlabCode/TopCSG/NNew_Data/RotateSample/CSG_cylinders');
% 
% limitedCube=CSG("Cube","corner",[0 0 0+0.1],Ra,[12 12 6]+[0 0 -0.1]);
% limitedCube.set_display_args([Pst(1) Pst(2) Pst(3)],Ped,pace/5,'viewxy',viewxy);
% limitedCube.csg2stl('/home/cflin/Documents/MATLAB/MatlabCode/TopCSG/NNew_Data/RotateSample/CSG_limitedCube');
% 
% limitedCys=limitedCube*cys;
% limitedCys.set_display_args([Pst(1) Pst(2) Pst(3)],Ped,pace/5,'viewxy',viewxy);
% limitedCys.csg2stl('/home/cflin/Documents/MATLAB/MatlabCode/TopCSG/NNew_Data/RotateSample/CSG_limitedCylinders');

% left plate
leftPlate=CSG("Cube","corner",[0 0 0]-[1 2 1],Ra,[12 2 12]);
c=leftPlate+cys;



%---------------------------assemble c

% show model
clf;
c.set_display_args([Pst(1) Pst(2) Pst(3)],Ped,pace/5,'viewxy',viewxy);
c.display_csg();
% c.csg2stl('/home/cflin/Documents/MATLAB/MatlabCode/TopCSG/NNew_Data/RotateSample/initModel');

V0=1;
%%
% time and calculate Volume
tic
fcmv=FCM_V(Pst,Ped,pace,maxdeep,order,@c.calSF,@(X) ones(size(X,1),1));% |||1 dV
V0=fcmv.calIntegral_V();
fprintf('V0: %f   ,Time: %f\n',V0,toc);


%% build Dirichlet/Neumann boundary
eepsD=1e-4;
eepsN=3;

Dirich_csg=CSG("Cube","corner",[0 0 0]-[1 2 1],Ra,[12 0 12]);
Dirich_csg.saveAs('Dir');
Dirich_csg.judge_func=@(X)  abs(X(:,2)--2)< eepsD;
%------------------------------------------Neu

Neuman_csg=CSG("Cube","corner",[5 20 0]-[1 1 1],Ra,[2 2 2]);
Neuman_csg.judge_func=@(X) abs(X(:,2)-20)<eepsN & abs(X(:,1)-5)<0.2;
Neuman_csg.fdv=@cal_NeuF;

fcmdv=FCM_dV(Pst,Ped,pace,maxdeep,order,@c.calSDF,@(X) ones(size(X,1),1));% |||1 dV
SDir=fcmdv.calIntegral_S(Dirich_csg)
% Sstd=1;
% relaSD=(S0-Sstd)/Sstd

SNeu=fcmdv.calIntegral_S(Neuman_csg)
% S1std=0.25
% relaSN=(S1-S1std)/S1std

%% show model
clf;
c.set_display_args(Pst,Ped,pace/2,'viewxy',viewxy);
c.saveAs('c');
c.display_csg();
% c.set_display_args([Pst(1) 0 Pst(3)],Ped,pace/8,'viewxy',viewxy);
% c.csg2stl('./orgModel');



%% init mp(save handle)
mp=ModelPlus(Pst,Ped,pace,order,maxdeep);
mp.c=c;
mp.Dirich_csg=Dirich_csg;
mp.Neuman_csg=Neuman_csg;
mp.V0=V0;
mp.viewxy=viewxy;
mp.E=2e11*1e-3;
mp.u=0.3;
if 1 && order<3
    saveKeH=SaveKe(mp,@compute_B_in_local,mp.pace,mp.order,mp);
    mp.saveKe=saveKeH;
end

%% set args here
mp.fixedDir=1;
mp.fixedNeu=1;
mp.iscontrast=0;
mp.isrecord=1;
mp.frac=0.9;
mp.maxloop=40;
mp.interp_eeps=pace/(2^(maxdeep-1));
mp.interp_eeps=pi/2/2000;
%% save handle here
for i=1:length(cyObjs)
    mp.handleMap(['cyObj' num2str(i)])=cyObjs(i);
end
mp.handleMap('lenObj')=length(cyObjs);

%% init fmt
tic
fmt=FeatureMappingTable(c,Pst,Ped,pace);
fmt.reflash_table();
tini=toc;
mp.recorder.time_maintain_fmt(end+1)=tini;
mp.fmt=fmt;
fprintf('num_node: %f\n',mp.id_cnt);

%% init x
x0=[];
lb=[];
ub=[];
for cyObj=cyObjs
        x0=[x0 cyObj.rootH.x cyObj.rootH.y  cyObj.rootH.z cyObj.rootH.tx cyObj.rootH.ty cyObj.rootH.r cyObj.rootH.h];
        lb=[lb 0    0  0 -pi/2 -pi/2    0               0];
        ub=[ub 10  20 10 pi/2 pi/2      cyObj.rootH.r*1.5 15];
end
x0=x0';
lb=lb';
ub=ub';
%---------------------------------end fill

mp.handleMap('x0')=x0;
mp.handleMap('lb')=lb;
mp.handleMap('ub')=ub;
mp.handleMap('modify_func')=@modify_c_by_x;
mp.handleMap('constrast_list')= ...
    {};
modify_c_by_x(x0,mp);

end


function modify_c_by_x(x,mp)
Len=mp.handleMap('lenObj');
for i=1:Len
    curObj=mp.handleMap(['cyObj' num2str(i)]);
    curObj.rootH.x=x(i*7-6);
    curObj.rootH.y=x(i*7-5);
    curObj.rootH.z=x(i*7-4);
    curObj.rootH.tx=x(i*7-3);
    curObj.rootH.ty=x(i*7-2);
    curObj.rootH.r=x(i*7-1);
    curObj.rootH.h=x(i*7);
    if(abs(curObj.rootH.r)<0.2)
        curObj.rootH.r=0;
    end
    if(abs(curObj.rootH.h)<0.2)
        curObj.rootH.h=0;
    end
       
end
end

function ret=cal_NeuF(X)

lenX=size(X,1);
% 1 N
ret=[zeros(lenX,2),ones(lenX,1)*-1e3];

end