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/** @author Jia Pan */

#include <gtest/gtest.h>

#include "fcl/config.h"
#include "fcl/geometry/octree/octree.h"
#include "fcl/geometry/geometric_shape_to_BVH_model.h"
#include "fcl/narrowphase/collision.h"
#include "fcl/broadphase/broadphase_bruteforce.h"
#include "fcl/broadphase/broadphase_spatialhash.h"
#include "fcl/broadphase/broadphase_SaP.h"
#include "fcl/broadphase/broadphase_SSaP.h"
#include "fcl/broadphase/broadphase_interval_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
#include "fcl/broadphase/default_broadphase_callbacks.h"

#include "test_fcl_utility.h"

#include "fcl_resources/config.h"

using namespace fcl;

/// @brief Octomap distance with an environment with 3 * env_size objects
template <typename S>
void octomap_distance_test(S env_scale, std::size_t env_size, bool use_mesh, bool use_mesh_octomap, double resolution = 0.1);

template<typename BV>
void octomap_distance_test_BVH(std::size_t n, double resolution = 0.1);

template <typename S>
void test_octomap_distance()
{
#ifdef NDEBUG
  octomap_distance_test<S>(200, 100, false, false);
  octomap_distance_test<S>(200, 1000, false, false);
#else
  octomap_distance_test<S>(200, 2, false, false, 1.0);
  octomap_distance_test<S>(200, 10, false, false, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_distance)
{
//  test_octomap_distance<float>();
  test_octomap_distance<double>();
}

template <typename S>
void test_octomap_distance_mesh()
{
#ifdef NDEBUG
  octomap_distance_test<S>(200, 100, true, true);
  octomap_distance_test<S>(200, 1000, true, true);
#else
  octomap_distance_test<S>(200, 2, true, true, 1.0);
  octomap_distance_test<S>(200, 5, true, true, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_distance_mesh)
{
//  test_octomap_distance_mesh<float>();
  test_octomap_distance_mesh<double>();
}

template <typename S>
void test_octomap_distance_mesh_octomap_box()
{
#ifdef NDEBUG
  octomap_distance_test<S>(200, 100, true, false);
  octomap_distance_test<S>(200, 1000, true, false);
#else
  octomap_distance_test<S>(200, 2, true, false, 1.0);
  octomap_distance_test<S>(200, 5, true, false, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_distance_mesh_octomap_box)
{
//  test_octomap_distance_mesh_octomap_box<float>();
  test_octomap_distance_mesh_octomap_box<double>();
}

template <typename S>
void test_octomap_bvh_rss_d_distance_rss()
{
#ifdef NDEBUG
  octomap_distance_test_BVH<RSS<S>>(5);
#else
  octomap_distance_test_BVH<RSS<S>>(5, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_bvh_rss_d_distance_rss)
{
//  test_octomap_bvh_rss_d_distance_rss<float>();
  test_octomap_bvh_rss_d_distance_rss<double>();
}

template <typename S>
void test_octomap_bvh_obb_d_distance_obb()
{
#ifdef NDEBUG
  octomap_distance_test_BVH<OBBRSS<S>>(5);
#else
  octomap_distance_test_BVH<OBBRSS<S>>(5, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_bvh_obb_d_distance_obb)
{
//  test_octomap_bvh_obb_d_distance_obb<float>();
  test_octomap_bvh_obb_d_distance_obb<double>();
}

template <typename S>
void test_octomap_bvh_kios_d_distance_kios()
{
#ifdef NDEBUG
  octomap_distance_test_BVH<kIOS<S>>(5);
#else
  octomap_distance_test_BVH<kIOS<S>>(5, 1.0);
#endif
}

GTEST_TEST(FCL_OCTOMAP, test_octomap_bvh_kios_d_distance_kios)
{
//  test_octomap_bvh_kios_d_distance_kios<float>();
  test_octomap_bvh_kios_d_distance_kios<double>();
}

template<typename BV>
void octomap_distance_test_BVH(std::size_t n, double resolution)
{
  using S = typename BV::S;

  std::vector<Vector3<S>> p1;
  std::vector<Triangle> t1;

  test::loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);

  BVHModel<BV>* m1 = new BVHModel<BV>();
  std::shared_ptr<CollisionGeometry<S>> m1_ptr(m1);

  m1->beginModel();
  m1->addSubModel(p1, t1);
  m1->endModel();

  OcTree<S>* tree = new OcTree<S>(
      std::shared_ptr<octomap::OcTree>(test::generateOcTree(resolution)));
  std::shared_ptr<CollisionGeometry<S>> tree_ptr(tree);

  aligned_vector<Transform3<S>> transforms;
  S extents[] = {-5, -5, -5, 5, 5, 5};

  test::generateRandomTransforms(extents, transforms, n);

  for(std::size_t i = 0; i < n; ++i)
  {
    Transform3<S> tf1(transforms[i]);
    Transform3<S> tf2(transforms[n-1-i]);

    CollisionObject<S> obj1(m1_ptr, tf1);
    CollisionObject<S> obj2(tree_ptr, tf2);
    DefaultDistanceData<S> cdata;
    DefaultDistanceData<S> cdata1b;
    cdata.request.enable_nearest_points = true;
    cdata1b.request.enable_nearest_points = true;
    S dist1 = std::numeric_limits<S>::max();
    S dist1b = std::numeric_limits<S>::max();
    // Verify that the order of geometry objects does not matter
    DefaultDistanceFunction(&obj1, &obj2, &cdata, dist1);
    DefaultDistanceFunction(&obj2, &obj1, &cdata1b, dist1b);
    EXPECT_NEAR(dist1, dist1b, constants<S>::eps());


    std::vector<CollisionObject<S>*> boxes;
    test::generateBoxesFromOctomap(boxes, *tree);
    for(std::size_t j = 0; j < boxes.size(); ++j)
      boxes[j]->setTransform(tf2 * boxes[j]->getTransform());

    DynamicAABBTreeCollisionManager<S>* manager =
        new DynamicAABBTreeCollisionManager<S>();
    manager->registerObjects(boxes);
    manager->setup();

    DefaultDistanceData<S> cdata2;
    manager->distance(&obj1, &cdata2, DefaultDistanceFunction);
    S dist2 = cdata2.result.min_distance;

    for(std::size_t j = 0; j < boxes.size(); ++j)
      delete boxes[j];
    delete manager;

    EXPECT_NEAR(dist1, dist2, 0.001);

    // Check that the nearest points are consistent with the distance
    // Note that we cannot compare the result with the "boxes" approximation,
    // since the problem is ill-posed (i.e. the nearest points may differ widely
    // for slightly different geometries)
    Vector3<S> nearestPointDistance =
        cdata.result.nearest_points[0] - cdata.result.nearest_points[1];
    // Only check the nearest point distance for a non-collision.
    // For a collision, the nearest points may be tangential and not equal to
    // the (potentially fake) signed distance returned by the distance check.
    if (dist1 > 0.0)
    {
      EXPECT_NEAR(nearestPointDistance.norm(), dist1, 0.001);
    }
  }
}

template <typename S>
void octomap_distance_test(S env_scale, std::size_t env_size, bool use_mesh, bool use_mesh_octomap, double resolution)
{
  // srand(1);
  std::vector<CollisionObject<S>*> env;
  if(use_mesh)
    test::generateEnvironmentsMesh(env, env_scale, env_size);
  else
    test::generateEnvironments(env, env_scale, env_size);

  OcTree<S>* tree = new OcTree<S>(std::shared_ptr<const octomap::OcTree>(test::generateOcTree(resolution)));
  CollisionObject<S> tree_obj((std::shared_ptr<CollisionGeometry<S>>(tree)));

  DynamicAABBTreeCollisionManager<S>* manager = new DynamicAABBTreeCollisionManager<S>();
  manager->registerObjects(env);
  manager->setup();

  DefaultDistanceData<S> cdata;
  test::TStruct t1;
  test::Timer timer1;
  timer1.start();
  manager->octree_as_geometry_collide = false;
  manager->octree_as_geometry_distance = false;
  manager->distance(&tree_obj, &cdata, DefaultDistanceFunction);
  timer1.stop();
  t1.push_back(timer1.getElapsedTime());


  DefaultDistanceData<S> cdata3;
  test::TStruct t3;
  test::Timer timer3;
  timer3.start();
  manager->octree_as_geometry_collide = true;
  manager->octree_as_geometry_distance = true;
  manager->distance(&tree_obj, &cdata3, DefaultDistanceFunction);
  timer3.stop();
  t3.push_back(timer3.getElapsedTime());


  test::TStruct t2;
  test::Timer timer2;
  timer2.start();
  std::vector<CollisionObject<S>*> boxes;
  if(use_mesh_octomap)
    test::generateBoxesFromOctomapMesh(boxes, *tree);
  else
    test::generateBoxesFromOctomap(boxes, *tree);
  timer2.stop();
  t2.push_back(timer2.getElapsedTime());

  timer2.start();
  DynamicAABBTreeCollisionManager<S>* manager2 = new DynamicAABBTreeCollisionManager<S>();
  manager2->registerObjects(boxes);
  manager2->setup();
  timer2.stop();
  t2.push_back(timer2.getElapsedTime());


  DefaultDistanceData<S> cdata2;

  timer2.start();
  manager->distance(manager2, &cdata2, DefaultDistanceFunction);
  timer2.stop();
  t2.push_back(timer2.getElapsedTime());

  std::cout << cdata.result.min_distance << " " << cdata3.result.min_distance << " " << cdata2.result.min_distance << std::endl;

  if(cdata.result.min_distance < 0)
    EXPECT_LE(cdata2.result.min_distance, 0);
  else
    EXPECT_NEAR(cdata.result.min_distance, cdata2.result.min_distance, 1e-3);

  delete manager;
  delete manager2;
  for(size_t i = 0; i < boxes.size(); ++i)
    delete boxes[i];


  std::cout << "1) octomap overall time: " << t1.overall_time << std::endl;
  std::cout << "1') octomap overall time (as geometry): " << t3.overall_time << std::endl;
  std::cout << "2) boxes overall time: " << t2.overall_time << std::endl;
  std::cout << "  a) to boxes: " << t2.records[0] << std::endl;
  std::cout << "  b) structure init: " << t2.records[1] << std::endl;
  std::cout << "  c) distance: " << t2.records[2] << std::endl;
  std::cout << "Note: octomap may need more collides when using mesh, because octomap collision uses box primitive inside" << std::endl;
}

//==============================================================================
int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}