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/** \author Jeongseok Lee */


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

#include "fcl/config.h"
#include "fcl/BVH/BVH_model.h"
#include "fcl/math/transform.h"
#include "fcl/shape/geometric_shapes.h"
#include "test_fcl_utility.h"
#include <iostream>

using namespace fcl;

template<typename BV>
void testBVHModelPointCloud()
{
  boost::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);

  if (model->getNodeType() != BV_AABB
      && model->getNodeType() != BV_KDOP16
      && model->getNodeType() != BV_KDOP18
      && model->getNodeType() != BV_KDOP24)
  {
    std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType())
              << "' does not support point cloud model. "
              << "Please see issue #67." << std::endl;
    return;
  }

  Box box;
  double a = box.side[0];
  double b = box.side[1];
  double c = box.side[2];
  std::vector<Vec3f> points(8);
  points[0].setValue(0.5 * a, -0.5 * b, 0.5 * c);
  points[1].setValue(0.5 * a, 0.5 * b, 0.5 * c);
  points[2].setValue(-0.5 * a, 0.5 * b, 0.5 * c);
  points[3].setValue(-0.5 * a, -0.5 * b, 0.5 * c);
  points[4].setValue(0.5 * a, -0.5 * b, -0.5 * c);
  points[5].setValue(0.5 * a, 0.5 * b, -0.5 * c);
  points[6].setValue(-0.5 * a, 0.5 * b, -0.5 * c);
  points[7].setValue(-0.5 * a, -0.5 * b, -0.5 * c);

  int result;

  result = model->beginModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  for (std::size_t i = 0; i < points.size(); ++i)
  {
    result = model->addVertex(points[i]);
    BOOST_CHECK_EQUAL(result, BVH_OK);
  }

  result = model->endModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  model->computeLocalAABB();

  BOOST_CHECK_EQUAL(model->num_vertices, 8);
  BOOST_CHECK_EQUAL(model->num_tris, 0);
  BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED);
}

template<typename BV>
void testBVHModelTriangles()
{
  boost::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
  Box box;

  double a = box.side[0];
  double b = box.side[1];
  double c = box.side[2];
  std::vector<Vec3f> points(8);
  std::vector<Triangle> tri_indices(12);
  points[0].setValue(0.5 * a, -0.5 * b, 0.5 * c);
  points[1].setValue(0.5 * a, 0.5 * b, 0.5 * c);
  points[2].setValue(-0.5 * a, 0.5 * b, 0.5 * c);
  points[3].setValue(-0.5 * a, -0.5 * b, 0.5 * c);
  points[4].setValue(0.5 * a, -0.5 * b, -0.5 * c);
  points[5].setValue(0.5 * a, 0.5 * b, -0.5 * c);
  points[6].setValue(-0.5 * a, 0.5 * b, -0.5 * c);
  points[7].setValue(-0.5 * a, -0.5 * b, -0.5 * c);

  tri_indices[0].set(0, 4, 1);
  tri_indices[1].set(1, 4, 5);
  tri_indices[2].set(2, 6, 3);
  tri_indices[3].set(3, 6, 7);
  tri_indices[4].set(3, 0, 2);
  tri_indices[5].set(2, 0, 1);
  tri_indices[6].set(6, 5, 7);
  tri_indices[7].set(7, 5, 4);
  tri_indices[8].set(1, 5, 2);
  tri_indices[9].set(2, 5, 6);
  tri_indices[10].set(3, 7, 0);
  tri_indices[11].set(0, 7, 4);

  int result;

  result = model->beginModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  for (std::size_t i = 0; i < tri_indices.size(); ++i)
  {
    result = model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]], points[tri_indices[i][2]]);
    BOOST_CHECK_EQUAL(result, BVH_OK);
  }

  result = model->endModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  model->computeLocalAABB();

  BOOST_CHECK_EQUAL(model->num_vertices, 12 * 3);
  BOOST_CHECK_EQUAL(model->num_tris, 12);
  BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED);
}

template<typename BV>
void testBVHModelSubModel()
{
  boost::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
  Box box;

  double a = box.side[0];
  double b = box.side[1];
  double c = box.side[2];
  std::vector<Vec3f> points(8);
  std::vector<Triangle> tri_indices(12);
  points[0].setValue(0.5 * a, -0.5 * b, 0.5 * c);
  points[1].setValue(0.5 * a, 0.5 * b, 0.5 * c);
  points[2].setValue(-0.5 * a, 0.5 * b, 0.5 * c);
  points[3].setValue(-0.5 * a, -0.5 * b, 0.5 * c);
  points[4].setValue(0.5 * a, -0.5 * b, -0.5 * c);
  points[5].setValue(0.5 * a, 0.5 * b, -0.5 * c);
  points[6].setValue(-0.5 * a, 0.5 * b, -0.5 * c);
  points[7].setValue(-0.5 * a, -0.5 * b, -0.5 * c);

  tri_indices[0].set(0, 4, 1);
  tri_indices[1].set(1, 4, 5);
  tri_indices[2].set(2, 6, 3);
  tri_indices[3].set(3, 6, 7);
  tri_indices[4].set(3, 0, 2);
  tri_indices[5].set(2, 0, 1);
  tri_indices[6].set(6, 5, 7);
  tri_indices[7].set(7, 5, 4);
  tri_indices[8].set(1, 5, 2);
  tri_indices[9].set(2, 5, 6);
  tri_indices[10].set(3, 7, 0);
  tri_indices[11].set(0, 7, 4);

  int result;

  result = model->beginModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  result = model->addSubModel(points, tri_indices);
  BOOST_CHECK_EQUAL(result, BVH_OK);

  result = model->endModel();
  BOOST_CHECK_EQUAL(result, BVH_OK);

  model->computeLocalAABB();

  BOOST_CHECK_EQUAL(model->num_vertices, 8);
  BOOST_CHECK_EQUAL(model->num_tris, 12);
  BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED);
}

template<typename BV>
void testBVHModel()
{
  testBVHModelTriangles<BV>();
  testBVHModelPointCloud<BV>();
  testBVHModelSubModel<BV>();
}

BOOST_AUTO_TEST_CASE(building_bvh_models)
{
  testBVHModel<AABB>();
  testBVHModel<OBB>();
  testBVHModel<RSS>();
  testBVHModel<kIOS>();
  testBVHModel<OBBRSS>();
  testBVHModel<KDOP<16> >();
  testBVHModel<KDOP<18> >();
  testBVHModel<KDOP<24> >();
}
