/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#include "imstkGeometry.h"

#include <gtest/gtest.h>

using namespace imstk;

namespace
{
class MockGeometry : public Geometry
{
public:
    MockGeometry() : Geometry("MockGeometry") { }

    const std::string getTypeName() const override { return "MockGeometry"; }
};
}

TEST(imstkGeometryTest, GetSetScaling)
{
    MockGeometry geometry;

    geometry.setScaling(Vec3d(2.0, 2.0, 2.0));
    EXPECT_EQ(geometry.getScaling(), Vec3d(2.0, 2.0, 2.0));

    geometry.setScaling(Vec3d(0.003, 0.003, 0.003));
    EXPECT_EQ(geometry.getScaling(), Vec3d(0.003, 0.003, 0.003));

    geometry.setScaling(Vec3d(400000000.0, 400000000.0, 400000000.0));
    EXPECT_EQ(geometry.getScaling(), Vec3d(400000000.0, 400000000.0, 400000000.0));
}

TEST(imstkGeometryTest, GetSetTranslation)
{
    MockGeometry geometry;

    auto p1 = Vec3d(12.0, 0.0005, -400000.0);
    auto p2 = Vec3d(-500.0, 30.0, 0.23);

    geometry.setTranslation(p1);
    EXPECT_EQ(geometry.getTranslation(), p1);

    geometry.setTranslation(p2);
    EXPECT_EQ(geometry.getTranslation(), p2);

    geometry.setTranslation(p1[0], p1[1], p1[2]);
    EXPECT_EQ(geometry.getTranslation(), p1);

    geometry.setTranslation(p2[0], p2[1], p2[2]);
    EXPECT_EQ(geometry.getTranslation(), p2);
}

TEST(imstkGeometryTest, GetSetRotation1)
{
    MockGeometry geometry;

    // NOTE: '==' not defined for Eigen::Quaternion, using 'isApprox'.
    // See https://forum.kde.org/viewtopic.php?f=74&t=118598

    // Rotation is normalized so comparing pre/post requires starting orientation
    // and angles < 360deg. As well as normalized axes.
    const Quatd q1 = Quatd(Rotd(4.1, Vec3d(12.0, 0.0, -0.5).normalized()));
    geometry.setRotation(q1);
    EXPECT_TRUE(Quatd(geometry.getRotation()).isApprox(q1));
}

TEST(imstkGeometryTest, GetSetRotation2)
{
    MockGeometry geometry;

    // NOTE: '==' not defined for Eigen::Quaternion, using 'isApprox'.
    // See https://forum.kde.org/viewtopic.php?f=74&t=118598

    // Rotation is normalized so comparing pre/post requires starting orientation
    // and angles < 360deg. As well as normalized axes.
    const Mat3d mat2 = Mat3d(Rotd(0.43, Vec3d(4000.0, -1.0, 0.0).normalized()));
    geometry.setRotation(mat2);
    EXPECT_TRUE(geometry.getRotation().isApprox(mat2));
}

TEST(imstkGeometryTest, GetSetRotation3)
{
    MockGeometry geometry;

    // NOTE: '==' not defined for Eigen::Quaternion, using 'isApprox'.
    // See https://forum.kde.org/viewtopic.php?f=74&t=118598

    // Rotation is normalized so comparing pre/post requires starting orientation
    // and angles < 360deg. As well as normalized axes.
    const double angle = 1.57;
    const Vec3d  axes  = Vec3d(-0.0, 100.0, 2000000.0).normalized();
    const Mat3d  mat3  = Mat3d(Rotd(angle, axes));
    geometry.setRotation(axes, angle);
    EXPECT_TRUE(geometry.getRotation().isApprox(mat3));
}
