#include <cruft/util/tap.hpp>

#include <cruft/util/vector.hpp>
#include <cruft/util/matrix.hpp>
#include <cruft/util/quaternion.hpp>

#include <cruft/util/coord/iostream.hpp>
#include <cruft/util/matrix.hpp>

#include <array>


///////////////////////////////////////////////////////////////////////////////
void
test_matrix_identities (cruft::TAP::logger &tap)
{
    static constexpr cruft::vector3f UP {0,1,0};

    {
        cruft::point3f p { 1, 2, 3 };

        auto m = cruft::translation (0-p);
        auto x = m * p;
        tap.expect_eq (x, cruft::point3f {0}, "trivial translation to origin");
    }

    {
        cruft::point3f p {0};
        auto m = cruft::rotation<float> (1, { 1, 0, 0 }) *
                 cruft::rotation<float> (1, { 0, 1, 0 }) *
                 cruft::rotation<float> (1, { 0, 0, 1 });
        auto x = m * p.homog ();

        tap.expect_eq (x, cruft::point4f {0,0,0,1}, "trivial rotation at origin");
    }

    {
        cruft::point3f eye { 1, 2, 3 };
        cruft::point3f tgt { 0, 0, 0 };

        auto m = cruft::look_at (eye, tgt, UP);
        auto x = m * eye.homog ();
        tap.expect_eq (x, cruft::point4f {0,0,0,1}, "look_at eye translation");
    }

    {
        cruft::point3f eye { 1, 2, 3 };
        cruft::point3f tgt { 4, 5, 6 };

        auto m = cruft::look_at (eye, tgt, UP);
        auto x = m * eye.homog ();
        tap.expect_eq (x, cruft::point4f {0,0,0,1}, "look_at eye translation with target");
    }
}


///////////////////////////////////////////////////////////////////////////////
void
test_perspective (cruft::TAP::logger &tap)
{
    static const struct {
        float w, h;
        float near, far;
        float fov;
        float a, b, c, d;
    } TESTS[] = {
        {   1.f,   1.f,    1.f,  100.f,  45.f, 2.414213419f, 2.414213419f, -1.020202041f, -2.020201921f },
        {   1.f,   1.f,    1.f,  100.f,  60.f, 1.732050776f, 1.732050776f, -1.020202041f, -2.020201921f },
        {   1.f,   1.f,    1.f,  100.f,  90.f, 1.000000000f, 1.000000000f, -1.020202041f, -2.020201921f },
        {   1.f,   1.f,    1.f,  100.f, 120.f, 0.577350199f, 0.577350199f, -1.020202041f, -2.020201921f },
        {   1.f,   1.f, 1e-08f, 1e+08f,  45.f, 2.414213419f, 2.414213419f, -1.000000000f, -0.000000020f },
        {   1.f,   1.f, 1e-08f, 1e+08f,  60.f, 1.732050776f, 1.732050776f, -1.000000000f, -0.000000020f },
        {   1.f,   1.f, 1e-08f, 1e+08f,  90.f, 1.000000000f, 1.000000000f, -1.000000000f, -0.000000020f },
        {   1.f,   1.f, 1e-08f, 1e+08f, 120.f, 0.577350199f, 0.577350199f, -1.000000000f, -0.000000020f },
        {   1.f,   1.f,  0.01f, 1000.f,  45.f, 2.414213419f, 2.414213419f, -1.000020027f, -0.020000201f },
        {   1.f,   1.f,  0.01f, 1000.f,  60.f, 1.732050776f, 1.732050776f, -1.000020027f, -0.020000201f },
        {   1.f,   1.f,  0.01f, 1000.f,  90.f, 1.000000000f, 1.000000000f, -1.000020027f, -0.020000201f },
        {   1.f,   1.f,  0.01f, 1000.f, 120.f, 0.577350199f, 0.577350199f, -1.000020027f, -0.020000201f },
        {   4.f,   3.f,    1.f,  100.f,  45.f, 1.810660124f, 2.414213419f, -1.020202041f, -2.020201921f },
        {   4.f,   3.f,    1.f,  100.f,  60.f, 1.299038053f, 1.732050776f, -1.020202041f, -2.020201921f },
        {   4.f,   3.f,    1.f,  100.f,  90.f, 0.750000000f, 1.000000000f, -1.020202041f, -2.020201921f },
        {   4.f,   3.f,    1.f,  100.f, 120.f, 0.433012664f, 0.577350199f, -1.020202041f, -2.020201921f },
        {   4.f,   3.f, 1e-08f, 1e+08f,  45.f, 1.810660124f, 2.414213419f, -1.000000000f, -0.000000020f },
        {   4.f,   3.f, 1e-08f, 1e+08f,  60.f, 1.299038053f, 1.732050776f, -1.000000000f, -0.000000020f },
        {   4.f,   3.f, 1e-08f, 1e+08f,  90.f, 0.750000000f, 1.000000000f, -1.000000000f, -0.000000020f },
        {   4.f,   3.f, 1e-08f, 1e+08f, 120.f, 0.433012664f, 0.577350199f, -1.000000000f, -0.000000020f },
        {   4.f,   3.f,  0.01f, 1000.f,  45.f, 1.810660124f, 2.414213419f, -1.000020027f, -0.020000201f },
        {   4.f,   3.f,  0.01f, 1000.f,  60.f, 1.299038053f, 1.732050776f, -1.000020027f, -0.020000201f },
        {   4.f,   3.f,  0.01f, 1000.f,  90.f, 0.750000000f, 1.000000000f, -1.000020027f, -0.020000201f },
        {   4.f,   3.f,  0.01f, 1000.f, 120.f, 0.433012664f, 0.577350199f, -1.000020027f, -0.020000201f },
        {  16.f,   9.f,    1.f,  100.f,  45.f, 1.357995033f, 2.414213419f, -1.020202041f, -2.020201921f },
        {  16.f,   9.f,    1.f,  100.f,  60.f, 0.974278569f, 1.732050776f, -1.020202041f, -2.020201921f },
        {  16.f,   9.f,    1.f,  100.f,  90.f, 0.562500000f, 1.000000000f, -1.020202041f, -2.020201921f },
        {  16.f,   9.f,    1.f,  100.f, 120.f, 0.324759483f, 0.577350199f, -1.020202041f, -2.020201921f },
        {  16.f,   9.f, 1e-08f, 1e+08f,  45.f, 1.357995033f, 2.414213419f, -1.000000000f, -0.000000020f },
        {  16.f,   9.f, 1e-08f, 1e+08f,  60.f, 0.974278569f, 1.732050776f, -1.000000000f, -0.000000020f },
        {  16.f,   9.f, 1e-08f, 1e+08f,  90.f, 0.562500000f, 1.000000000f, -1.000000000f, -0.000000020f },
        {  16.f,   9.f, 1e-08f, 1e+08f, 120.f, 0.324759483f, 0.577350199f, -1.000000000f, -0.000000020f },
        {  16.f,   9.f,  0.01f, 1000.f,  45.f, 1.357995033f, 2.414213419f, -1.000020027f, -0.020000201f },
        {  16.f,   9.f,  0.01f, 1000.f,  60.f, 0.974278569f, 1.732050776f, -1.000020027f, -0.020000201f },
        {  16.f,   9.f,  0.01f, 1000.f,  90.f, 0.562500000f, 1.000000000f, -1.000020027f, -0.020000201f },
        {  16.f,   9.f,  0.01f, 1000.f, 120.f, 0.324759483f, 0.577350199f, -1.000020027f, -0.020000201f },
        {  16.f,  10.f,    1.f,  100.f,  45.f, 1.508883357f, 2.414213419f, -1.020202041f, -2.020201921f },
        {  16.f,  10.f,    1.f,  100.f,  60.f, 1.082531691f, 1.732050776f, -1.020202041f, -2.020201921f },
        {  16.f,  10.f,    1.f,  100.f,  90.f, 0.625000000f, 1.000000000f, -1.020202041f, -2.020201921f },
        {  16.f,  10.f,    1.f,  100.f, 120.f, 0.360843867f, 0.577350199f, -1.020202041f, -2.020201921f },
        {  16.f,  10.f, 1e-08f, 1e+08f,  45.f, 1.508883357f, 2.414213419f, -1.000000000f, -0.000000020f },
        {  16.f,  10.f, 1e-08f, 1e+08f,  60.f, 1.082531691f, 1.732050776f, -1.000000000f, -0.000000020f },
        {  16.f,  10.f, 1e-08f, 1e+08f,  90.f, 0.625000000f, 1.000000000f, -1.000000000f, -0.000000020f },
        {  16.f,  10.f, 1e-08f, 1e+08f, 120.f, 0.360843867f, 0.577350199f, -1.000000000f, -0.000000020f },
        {  16.f,  10.f,  0.01f, 1000.f,  45.f, 1.508883357f, 2.414213419f, -1.000020027f, -0.020000201f },
        {  16.f,  10.f,  0.01f, 1000.f,  60.f, 1.082531691f, 1.732050776f, -1.000020027f, -0.020000201f },
        {  16.f,  10.f,  0.01f, 1000.f,  90.f, 0.625000000f, 1.000000000f, -1.000020027f, -0.020000201f },
        {  16.f,  10.f,  0.01f, 1000.f, 120.f, 0.360843867f, 0.577350199f, -1.000020027f, -0.020000201f },
        {  21.f,   9.f,    1.f,  100.f,  45.f, 1.034662843f, 2.414213419f, -1.020202041f, -2.020201921f },
        {  21.f,   9.f,    1.f,  100.f,  60.f, 0.742307484f, 1.732050776f, -1.020202041f, -2.020201921f },
        {  21.f,   9.f,    1.f,  100.f,  90.f, 0.428571433f, 1.000000000f, -1.020202041f, -2.020201921f },
        {  21.f,   9.f,    1.f,  100.f, 120.f, 0.247435793f, 0.577350199f, -1.020202041f, -2.020201921f },
        {  21.f,   9.f, 1e-08f, 1e+08f,  45.f, 1.034662843f, 2.414213419f, -1.000000000f, -0.000000020f },
        {  21.f,   9.f, 1e-08f, 1e+08f,  60.f, 0.742307484f, 1.732050776f, -1.000000000f, -0.000000020f },
        {  21.f,   9.f, 1e-08f, 1e+08f,  90.f, 0.428571433f, 1.000000000f, -1.000000000f, -0.000000020f },
        {  21.f,   9.f, 1e-08f, 1e+08f, 120.f, 0.247435793f, 0.577350199f, -1.000000000f, -0.000000020f },
        {  21.f,   9.f,  0.01f, 1000.f,  45.f, 1.034662843f, 2.414213419f, -1.000020027f, -0.020000201f },
        {  21.f,   9.f,  0.01f, 1000.f,  60.f, 0.742307484f, 1.732050776f, -1.000020027f, -0.020000201f },
        {  21.f,   9.f,  0.01f, 1000.f,  90.f, 0.428571433f, 1.000000000f, -1.000020027f, -0.020000201f },
        {  21.f,   9.f,  0.01f, 1000.f, 120.f, 0.247435793f, 0.577350199f, -1.000020027f, -0.020000201f },
    };

    for (const auto &t: TESTS) {
        cruft::matrix4f m {0};
        m[0][0] = t.a;
        m[1][1] = t.b;
        m[2][2] = t.c;
        m[2][3] = t.d;
        m[3][2] = -1.f;

        const auto p = cruft::perspective (cruft::to_radians (t.fov), t.w / t.h, {t.near, t.far});

        tap.expect (
            cruft::relatively_equal (m, p, 1e-7f),
            "perspective {}:{}@{}",
            t.w, t.h, t.fov
        );
    }
}


///////////////////////////////////////////////////////////////////////////////
void
test_mq_axis (cruft::TAP::logger &tap)
{
    static const struct {
        cruft::vector3f euler;
        const char *msg;
    } TESTS[] = {
        { { 1, 0, 0 }, "x-axis" },
        { { 0, 1, 0 }, "y-axis" },
        { { 0, 0, 1 }, "z-axis" },
    };

    for (auto t: TESTS) {
        auto m = cruft::rotation<float> (1, t.euler);
        auto q = cruft::quaternionf::angle_axis (1, t.euler);

        auto diff = sum (abs (m - q.as_matrix ()));
        tap.expect_le (diff, 1e-6f, "matrix/quaternion rotation identities, {:s}", t.msg);
    }
}


///////////////////////////////////////////////////////////////////////////////
void
test_mq_euler (cruft::TAP::logger &tap)
{
    static const struct {
        float x, y, z;
        const char *msg;
    } TESTS[] = {
        { 0, 0, 0, "zeroes" },
        { 1, 0, 0, "x-axis" },
        { 0, 1, 0, "y-axis" },
        { 0, 0, 1, "z-axis" },
        { 1, 1, 1, "ones"   },
        { 3, 3, 3, "threes" }
    };

    for (auto t: TESTS) {
        const auto mx = cruft::rotation<float> (t.x, {1,0,0});
        const auto my = cruft::rotation<float> (t.y, {0,1,0});
        const auto mz = cruft::rotation<float> (t.z, {0,0,1});
        const auto  m = mx * my * mz;

        auto q = (
            cruft::quaternionf::angle_axis (t.x, { 1, 0, 0 }) *
            cruft::quaternionf::angle_axis (t.y, { 0, 1, 0 }) *
            cruft::quaternionf::angle_axis (t.z, { 0, 0, 1 })
        ).as_matrix ();

        auto diff = cruft::sum (abs (m - q));
        tap.expect_le (diff, 1e-6f, "matrix-quaternion xyz euler rotations, {:s}", t.msg);
    }
}


///////////////////////////////////////////////////////////////////////////////
int
main (int, char**)
{
    cruft::TAP::logger tap;

    test_matrix_identities (tap);
    test_mq_axis  (tap);
    test_mq_euler (tap);
    test_perspective (tap);

    return tap.status ();
}