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/** @author Karsten Knese <Karsten.Knese@googlemail.com> */

#include <gtest/gtest.h>

#include "fcl/math/constants.h"
#include "fcl/narrowphase/collision.h"
#include "fcl/narrowphase/detail/gjk_solver_indep.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"

#include <cmath>
using namespace fcl;

//==============================================================================
template <typename S>
void test_distance_capsulecapsule_origin()
{
  detail::GJKSolver_indep<S> solver;
  Capsule<S> s1(5, 10);
  Capsule<S> s2(5, 10);

  Vector3<S> closest_p1, closest_p2;

  Transform3<S> transform = Transform3<S>::Identity();
  Transform3<S> transform2 = Transform3<S>::Identity();
  transform2.translation() = Vector3<S>(20.1, 0,0);

  bool res;
  S dist;

  res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
  std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
  std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;

  EXPECT_TRUE(std::abs(dist - 10.1) < 0.001);
  EXPECT_TRUE(res);
}

//==============================================================================
template <typename S>
void test_distance_capsulecapsule_transformXY()
{
  detail::GJKSolver_indep<S> solver;
  Capsule<S> s1(5, 10);
  Capsule<S> s2(5, 10);

  Vector3<S> closest_p1, closest_p2;

  Transform3<S> transform = Transform3<S>::Identity();
  Transform3<S> transform2 = Transform3<S>::Identity();
  transform2.translation() = Vector3<S>(20, 20,0);

  bool res;
  S dist;

  res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
  std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
  std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;

  S expected = std::sqrt(S(800)) - 10;
  EXPECT_TRUE(std::abs(expected-dist) < 0.01);
  EXPECT_TRUE(res);
}

//==============================================================================
template <typename S>
void test_distance_capsulecapsule_transformZ()
{
  detail::GJKSolver_indep<S> solver;
  Capsule<S> s1(5, 10);
  Capsule<S> s2(5, 10);

  Vector3<S> closest_p1, closest_p2;

  Transform3<S> transform = Transform3<S>::Identity();
  Transform3<S> transform2 = Transform3<S>::Identity();
  transform2.translation() = Vector3<S>(0,0,20.1);

  bool res;
  S dist;

  res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
  std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
  std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;

  EXPECT_TRUE(std::abs(dist - 0.1) < 0.001);
  EXPECT_TRUE(res);
}

//==============================================================================
template <typename S>
void test_distance_capsulecapsule_transformZ2()
{
  const S Pi = constants<S>::pi();

  detail::GJKSolver_indep<S> solver;
  Capsule<S> s1(5, 10);
  Capsule<S> s2(5, 10);

  Vector3<S> closest_p1, closest_p2;

  Transform3<S> transform = Transform3<S>::Identity();
  Transform3<S> transform2 = Transform3<S>::Identity();
  transform2.translation() = Vector3<S>(0,0,25.1);
  Matrix3<S> rot2(
        AngleAxis<S>(0, Vector3<S>::UnitX())
        * AngleAxis<S>(Pi/2, Vector3<S>::UnitY())
        * AngleAxis<S>(0, Vector3<S>::UnitZ()));
  transform2.linear() = rot2;

  bool res;
  S dist;

  res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
  std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
  std::cerr << "applied transformation of two caps: " << transform.linear() << " & " << transform2.linear() << std::endl;
  std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;

  EXPECT_TRUE(std::abs(dist - 5.1) < 0.001);
  EXPECT_TRUE(res);
}

//==============================================================================
GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_origin)
{
//  test_distance_capsulecapsule_origin<float>();
  test_distance_capsulecapsule_origin<double>();
}

//==============================================================================
GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformXY)
{
//  test_distance_capsulecapsule_transformXY<float>();
  test_distance_capsulecapsule_transformXY<double>();
}

//==============================================================================
GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformZ)
{
//  test_distance_capsulecapsule_transformZ<float>();
  test_distance_capsulecapsule_transformZ<double>();
}

//==============================================================================
GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformZ2)
{
//  test_distance_capsulecapsule_transformZ2<float>();
  test_distance_capsulecapsule_transformZ2<double>();
}

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