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/** \author Jia Pan */

#include <iostream>

#include "fcl/fcl.h"

#include "gtest/gtest.h"

using namespace std;
using namespace fcl;

//==============================================================================
template <typename S>
void test_general()
{
  std::shared_ptr<Box<S>> box0(new Box<S>(1,1,1));
  std::shared_ptr<Box<S>> box1(new Box<S>(1,1,1));

//  GJKSolver_indep solver;
  detail::GJKSolver_libccd<S> solver;
  std::vector<ContactPoint<S>> contact_points;

  Transform3<S> tf0, tf1;
  tf0.setIdentity();
  tf0.translation() = Vector3<S>(.9,0,0);
  tf0.linear() = Quaternion<S>(.6, .8, 0, 0).toRotationMatrix();
  tf1.setIdentity();

  bool res = solver.shapeIntersect(*box0, tf0, *box1, tf1, &contact_points);

  EXPECT_TRUE(true);

  for (const auto& contact_point : contact_points)
  {
    cout << "contact points: " << contact_point.pos.transpose() << endl;
    cout << "pen depth: " << contact_point.penetration_depth << endl;
    cout << "normal: " << contact_point.normal << endl;
  }
  cout << "result: " << res << endl;

  static const int num_max_contacts = std::numeric_limits<int>::max();
  static const bool enable_contact = true;
  fcl::CollisionResult<S> result;
  fcl::CollisionRequest<S> request(num_max_contacts,
                                enable_contact);

  CollisionObject<S> co0(box0, tf0);
  CollisionObject<S> co1(box1, tf1);

  fcl::collide(&co0, &co1, request, result);
  vector<Contact<S>> contacts;
  result.getContacts(contacts);

  cout << contacts.size() << " contacts found" << endl;
  for(const Contact<S> &contact : contacts) {
    cout << "position: " << contact.pos << endl;
  }
}

//==============================================================================
GTEST_TEST(FCL_GENERAL, general)
{
  // test_general<float>();
  test_general<double>();
}

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