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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE Rigid_Body

#include <boost/test/unit_test.hpp>

#include <boost/test/floating_point_comparison.hpp>



#include "Car.h"



using namespace Vamos_Body;

using namespace Vamos_Geometry;



bool vector_equal (const Three_Vector& v1, const Three_Vector& v2)

{

  if ((v1 - v2).magnitude () > 1e-6)

    {

      std::cerr << v1 << " != " << v2 << std::endl;

      // Can't do the obvious std::cerr << v1 << " != " << v2 << std::endl;

      // because << needs to be overloaded in namespace std for boost.  See

      // comment at end of Three_Vector.h.

      return false;

    }

  return true;

}



struct Crash_Box_Fixture

{

  Crash_Box_Fixture ()

    : v (1.0, 1.0, 1.0)

  {

    crash_box.front = 1.0;

    crash_box.back = 0.0;

    crash_box.left = 1.0;

    crash_box.right = 0.0;

    crash_box.top = 1.0;

    crash_box.bottom = 0.0;

  }



  Car::Crash_Box crash_box;



  Three_Vector v;

  Three_Vector null;

  Three_Vector x;

};



BOOST_AUTO_TEST_CASE (outside_of_box)

{

  Crash_Box_Fixture f;



  f.x = Three_Vector (2.0, 2.0, 2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (-2.0, -2.0, -2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (-2.0, 2.0, 2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (2.0, -2.0, -2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);



  f.x = Three_Vector (2.0, 0.5, 0.5);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (-2.0, 0.5, 0.5);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (0.5, 2.0, 0.5);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (0.5, -2.0, 0.5);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (0.5, 0.5, 2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

  f.x = Three_Vector (0.5, 0.5, -2.0);

  BOOST_CHECK_EQUAL (f.crash_box.penetration (f.x, f.v, false), f.null);

}



BOOST_AUTO_TEST_CASE (inside_box)

{

  Crash_Box_Fixture f;



  f.x = Three_Vector (0.1, 0.5, 0.5);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (-0.1, 0.0, 0.0)));

  f.x = Three_Vector (0.5, 0.1, 0.5);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (0.0, -0.1, 0.0)));

  f.x = Three_Vector (0.5, 0.5, 0.1);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (0.0, 0.0, -0.1)));



  f.x = Three_Vector (0.9, 0.5, 0.5);

  f.v = Three_Vector (-1.0, -1.0, -1.0);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (0.1, 0.0, 0.0)));

  f.x = Three_Vector (0.5, 0.9, 0.5);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (0.0, 0.1, 0.0)));

  f.x = Three_Vector (0.5, 0.5, 0.9);

  BOOST_CHECK (vector_equal (f.crash_box.penetration (f.x, f.v, false),

                             Three_Vector (0.0, 0.0, 0.1)));

}