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/** \author Martin Felis <martin.felis@iwr.uni-heidelberg.de> */

#define BOOST_TEST_MODULE "FCL_SPHERE_CAPSULE"
#include <boost/test/unit_test.hpp>

#include "fcl/collision.h"
#include "fcl/shape/geometric_shapes.h"
#include "fcl/narrowphase/narrowphase.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using namespace fcl;

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., -50));

	Capsule capsule (50, 200.);
	Transform3f capsule_transform (Vec3f (0., 0., 200));

  BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z_negative)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., 50));

	Capsule capsule (50, 200.);
	Transform3f capsule_transform (Vec3f (0., 0., -200));

  BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_x)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., -50));

	Capsule capsule (50, 200.);
	Transform3f capsule_transform (Vec3f (150., 0., 0.));

  BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_capsule_rotated)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., -50));

	Capsule capsule (50, 200.);
	Matrix3f rotation;
	rotation.setEulerZYX (M_PI * 0.5, 0., 0.);
	Transform3f capsule_transform (rotation, Vec3f (150., 0., 0.));

  BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_penetration_z)
{
  GJKSolver_libccd solver;

  Sphere sphere1 (50);
  Transform3f sphere1_transform;
  sphere1_transform.setTranslation (Vec3f (0., 0., -50));

  Capsule capsule (50, 200.);
  Transform3f capsule_transform (Vec3f (0., 0., 125));

  std::vector<ContactPoint> contacts;

  bool is_intersecting = solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, &contacts);

  FCL_REAL penetration = contacts[0].penetration_depth;
  Vec3f contact_point = contacts[0].pos;
  Vec3f normal = contacts[0].normal;

  BOOST_CHECK (is_intersecting);
  BOOST_CHECK (penetration == 25.);
  BOOST_CHECK (Vec3f (0., 0., 1.).equal(normal));
  BOOST_CHECK (Vec3f (0., 0., 0.).equal(contact_point));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_penetration_z_rotated)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., 0));

	Capsule capsule (50, 200.);
	Matrix3f rotation;
	rotation.setEulerZYX (M_PI * 0.5, 0., 0.);
	Transform3f capsule_transform (rotation, Vec3f (0., 50., 75));

  std::vector<ContactPoint> contacts;

  bool is_intersecting = solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, &contacts);

  FCL_REAL penetration = contacts[0].penetration_depth;
  Vec3f contact_point = contacts[0].pos;
  Vec3f normal = contacts[0].normal;

	BOOST_CHECK (is_intersecting);
	BOOST_CHECK_CLOSE (25, penetration, solver.collision_tolerance);
	BOOST_CHECK (Vec3f (0., 0., 1.).equal(normal));
	BOOST_CHECK (Vec3f (0., 0., 50.).equal(contact_point, solver.collision_tolerance));
}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Distance_test_collision)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., -50));

	Capsule capsule (50, 200.);
	Transform3f capsule_transform (Vec3f (0., 0., 100));

	FCL_REAL distance;

	BOOST_CHECK (!solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance));

}

BOOST_AUTO_TEST_CASE(Sphere_Capsule_Distance_test_separated)
{
	GJKSolver_libccd solver;

	Sphere sphere1 (50);
	Transform3f sphere1_transform;
	sphere1_transform.setTranslation (Vec3f (0., 0., -50));

	Capsule capsule (50, 200.);
	Transform3f capsule_transform (Vec3f (0., 0., 175));

	FCL_REAL distance = 0.;
	Vec3f p1;
	Vec3f p2;
	bool is_separated = solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance);

	BOOST_CHECK (is_separated);
	BOOST_CHECK (distance == 25.);
}
