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#include <TestHelpers.hpp>
#include <gtest/gtest.h>

#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/MeshShape.hpp>
#include <dart/dynamics/PlaneShape.hpp>
#include <dart/dynamics/Skeleton.hpp>
#include <dart/dynamics/WeldJoint.hpp>

#include <dart/dynamics/ConstraintSolver.hpp>
#include <dart/simulation/World.hpp>

#include <dart/dynamics/bullet/BulletCollisionDetector.hpp>
#include <dart/dynamics/ode/OdeCollisionDetector.hpp>

#include <dart/io/DartResourceRetriever.hpp>

//==============================================================================
bool runIssue1234Subtest(
    const dart::collision::CollisionDetectorPtr detector,
    const dart::dynamics::ShapePtr& against,
    const Eigen::Vector3d normal,
    const double offset,
    const double angle,
    const Eigen::Vector3d axis)
{
  auto group = detector->createCollisionGroup();

  const Eigen::Matrix3d R(Eigen::AngleAxisd(angle, axis));

  auto plane = dart::dynamics::Skeleton::create("plane");
  plane->createJointAndBodyNodePair<FreeJoint>()
      .second->createShapeNodeWith<dart::dynamics::CollisionAspect>(
          std::make_shared<dart::dynamics::PlaneShape>(R * normal, offset));
  group->subscribeTo(plane);

  auto mesh = dart::dynamics::Skeleton::create("against");
  mesh->createJointAndBodyNodePair<FreeJoint>()
      .second->createShapeNodeWith<dart::dynamics::CollisionAspect>(against)
      ->setRelativeTranslation(R * normal * offset);
  group->subscribeTo(mesh);

  const bool collision = group->collide();
  EXPECT_TRUE(collision) << "\nFailed config:"
                         << "\nNormal:  " << (R * normal).transpose()
                         << "\nOffset:  " << offset
                         << "\nTilt:    " << dart::math::toDegree(angle)
                         << " degrees"
                         << "\nAgainst: " << against->getType() << std::endl;

  return collision;
}

//==============================================================================
void runIssue1234Test(
    std::function<dart::collision::CollisionDetectorPtr()> detectorFactory)
{
  const std::string meshUri = "dart://sample/obj/BoxSmall.obj";
  const auto aiscene = dart::dynamics::MeshShape::loadMesh(
      meshUri, dart::io::DartResourceRetriever::create());
  ASSERT_TRUE(aiscene);
  const auto mesh = std::make_shared<dart::dynamics::MeshShape>(
      100.0 * Eigen::Vector3d::Ones(), aiscene, meshUri);

  const auto bb = mesh->getBoundingBox();
  for (int i = 0; i < 3; ++i)
  {
    EXPECT_NEAR(bb.getMin()[i], -2.0, 1e-3);
    EXPECT_NEAR(bb.getMax()[i], 2.0, 1e-3);
  }

  const auto box
      = std::make_shared<dart::dynamics::BoxShape>(bb.getMax() - bb.getMin());

  const auto sphere = std::make_shared<dart::dynamics::SphereShape>(
      bb.getMax()[0] - bb.getMin()[0]);

  std::size_t numTests = 0;
  std::size_t numPasses = 0;

  for (const dart::dynamics::ShapePtr& shape :
       {dart::dynamics::ShapePtr{box}, dart::dynamics::ShapePtr{mesh}})
  {
    for (const double offset : {-0.1, 0.0, 0.1})
    {
      for (const auto& normal : {Eigen::Vector3d(0.0, 0.0, 1.0),
                                 Eigen::Vector3d(0.0, 0.0, -1.0),
                                 Eigen::Vector3d(0.0, 1.0, 0.0),
                                 Eigen::Vector3d(0.0, -1.0, 0.0),
                                 Eigen::Vector3d(1.0, 0.0, 0.0),
                                 Eigen::Vector3d(-1.0, 0.0, 0.0)})
      {
        if (offset < 0.0)
        {
          for (const auto& angle : {0.0, dart::math::toRadian(10.0)})
          {
            const Eigen::Vector3d axis = std::abs(normal[1]) > 1e-3
                                             ? Eigen::Vector3d::UnitY()
                                             : Eigen::Vector3d::UnitX();

            ++numTests;
            if (runIssue1234Subtest(
                    detectorFactory(), shape, normal, offset, angle, axis))
            {
              ++numPasses;
            }
          }
        }
        else
        {
          ++numTests;
          if (runIssue1234Subtest(
                  detectorFactory(),
                  shape,
                  normal,
                  offset,
                  0.0,
                  Eigen::Vector3d::UnitZ()))
          {
            ++numPasses;
          }
        }
      }
    }
  }

  EXPECT_EQ(numTests, numPasses);
  std::cout << "Failures: " << numTests - numPasses << std::endl;
}

//==============================================================================
TEST(DISABLED_Issue1234, Bullet)
{
  runIssue1234Test(
      [] { return dart::collision::BulletCollisionDetector::create(); });
}

//==============================================================================
TEST(DISABLED_Issue1234, ODE)
{
  runIssue1234Test(
      [] { return dart::collision::OdeCollisionDetector::create(); });
}
