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/** @author Jia Pan */

#include <gtest/gtest.h>

#include "fcl/narrowphase/detail/traversal/collision_node.h"
#include "test_fcl_utility.h"

#include "fcl_resources/config.h"

using namespace fcl;

template<typename BV>
bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
                             const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                             const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
                             detail::SplitMethodType split_method,
                             bool refit_bottomup, bool verbose);

template<typename BV, typename TraversalNode>
bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
                                      const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                                      const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
                                      detail::SplitMethodType split_method, bool verbose);


template<typename BV>
bool collide_Test(const Transform3<typename BV::S>& tf,
                  const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                  const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose);

// TODO: randomly still have some runtime error
template <typename S>
void test_front_list()
{
  std::vector<Vector3<S>> p1, p2;
  std::vector<Triangle> t1, t2;

  test::loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
  test::loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);

  aligned_vector<Transform3<S>> transforms; // t0
  aligned_vector<Transform3<S>> transforms2; // t1
  S extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
  S delta_trans[] = {1, 1, 1};
#ifdef NDEBUG
  std::size_t n = 10;
#else
  std::size_t n = 1;
#endif
  bool verbose = false;

  test::generateRandomTransforms<S>(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);

  bool res, res2;

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    // Disabled broken test lines. Please see #25.
    // res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    // res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    // EXPECT_TRUE(res == res2);
    res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    EXPECT_TRUE(res == res2);
  }

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
    EXPECT_TRUE(res == res2);
    res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
    EXPECT_TRUE(res == res2);
  }

}

GTEST_TEST(FCL_FRONT_LIST, front_list)
{
//  test_front_list<float>();
  test_front_list<double>();
}

template<typename BV>
bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
                             const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                             const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
                             detail::SplitMethodType split_method,
                             bool refit_bottomup, bool verbose)
{
  using S = typename BV::S;

  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));

  detail::BVHFrontList front_list;


  std::vector<Vector3<S>> vertices1_new(vertices1.size());
  for(std::size_t i = 0; i < vertices1_new.size(); ++i)
  {
    vertices1_new[i] = tf1 * vertices1[i];
  }

  m1.beginModel();
  m1.addSubModel(vertices1_new, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3<S> pose1 = Transform3<S>::Identity();
  Transform3<S> pose2 = Transform3<S>::Identity();

  CollisionResult<S> local_result;
  detail::MeshCollisionTraversalNode<BV> node;

  if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
                     CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node, &front_list);

  if(verbose) std::cout << "front list size " << front_list.size() << std::endl;


  // update the mesh
  for(std::size_t i = 0; i < vertices1.size(); ++i)
  {
    vertices1_new[i] = tf2 * vertices1[i];
  }

  m1.beginReplaceModel();
  m1.replaceSubModel(vertices1_new);
  m1.endReplaceModel(true, refit_bottomup);

  m2.beginReplaceModel();
  m2.replaceSubModel(vertices2);
  m2.endReplaceModel(true, refit_bottomup);

  local_result.clear();
  collide(&node, &front_list);

  if(local_result.numContacts() > 0)
    return true;
  else
    return false;
}




template<typename BV, typename TraversalNode>
bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
                                      const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                                      const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
                                      detail::SplitMethodType split_method, bool verbose)
{
  using S = typename BV::S;

  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));

  detail::BVHFrontList front_list;

  m1.beginModel();
  m1.addSubModel(vertices1, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3<S> pose1(tf1);
  Transform3<S> pose2 = Transform3<S>::Identity();

  CollisionResult<S> local_result;
  TraversalNode node;

  if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2,
                 CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node, &front_list);

  if(verbose) std::cout << "front list size " << front_list.size() << std::endl;


  // update the mesh
  pose1 = tf2;
  if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2, CollisionRequest<S>(), local_result))
    std::cout << "initialize error" << std::endl;

  local_result.clear();
  collide(&node, &front_list);

  if(local_result.numContacts() > 0)
    return true;
  else
    return false;
}


template<typename BV>
bool collide_Test(const Transform3<typename BV::S>& tf,
                  const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                  const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose)
{
  using S = typename BV::S;

  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));

  m1.beginModel();
  m1.addSubModel(vertices1, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3<S> pose1(tf);
  Transform3<S> pose2 = Transform3<S>::Identity();

  CollisionResult<S> local_result;
  detail::MeshCollisionTraversalNode<BV> node;

  if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
                     CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node);


  if(local_result.numContacts() > 0)
    return true;
  else
    return false;
}

//==============================================================================
int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}