// aatest.cc


// uncomment following line to verify that input (which is undefined on
// AxisAngle objects) will fail to compile:
//#define TEST_INPUT


#include "ZMutility/ZMenvironment.h"

#include "PhysicsVectors/AxisAngle.h"
#include "PhysicsVectors/UnitVector.h"
#include "ZMutility/FixedTypes.h"
ZM_USING_NAMESPACE( zmpv )

#include "ZMutility/iostream"
using std::cin;
using std::cout;
using std::endl;
using std::flush;


bool OK = true;


const Float8 DEG180 = 3.14159265358979323846;
const Float8 DEG30  = DEG180 / 6.0;
const Float8 DEG90  = DEG180 / 2.0;
const Float8 DEG120 = 2.0 * DEG180 / 3.0;


void accessors();
void comparators();
void constructors();
void input();
void relComparators();


int main()  {

  cout << "\tAxisAngle testing\n"
       << "\t========= =======" << endl;

  constructors();
  input();
  accessors();
  comparators();
  relComparators();

  cout << "\n\n=====  AxisAngle testing summary:\n"
       << ( OK ? "OK: all automated tests passed"
               : "??? problems detected" )
       << endl;

  return  OK ? 0 : -1;

}  // main()


void accessors()  {

  cout << "\n\n=====  Testing accessors:" << endl;

  const AxisAngle xc = AxisAngle( X_HAT, DEG90 );

  cout << '\n';
  if ( xc.axis() == X_HAT )
    cout << "OK: axis() gave correct result " << X_HAT << endl;
  else
    OK = false,
    cout << "??? axis() gave incorrect result of " << xc.axis()
	 << "\n      instead of " << X_HAT << endl;
  if ( xc.delta() == DEG90 )
    cout << "OK: delta() gave correct result " << DEG90 << endl;
  else
    OK = false,
    cout << "??? delta() gave incorrect result of " << xc.delta()
	 << "\n      instead of " << DEG90 << endl;

  AxisAngle x = AxisAngle( X_HAT, DEG90 );

  cout << '\n';
  if ( x.axis() == X_HAT )
    cout << "OK: axis() gave correct result " << X_HAT << endl;
  else
    OK = false,
    cout << "??? axis() gave incorrect result of " << x.axis()
	 << "\n      instead of " << X_HAT << endl;
  if ( x.delta() == DEG90 )
    cout << "OK: delta() gave correct result " << DEG90 << endl;
  else
    OK = false,
    cout << "??? delta() gave incorrect result of " << x.delta()
	 << "\n      instead of " << DEG90 << endl;

  cout << '\n';
//x.axis() = Y_HAT;
  x.setAxis( Y_HAT );
  if ( x.axis() == Y_HAT )
    cout << "OK: axis() correctly reset to " << Y_HAT << endl;
  else
    OK = false,
    cout << "??? axis() incorrectly reset to " << x.axis()
	 << " instead of " << Y_HAT << endl;
  x.setDelta( DEG120 );
  if ( x.delta() == DEG120 )
    cout << "OK: delta() correctly reset to " << DEG120 << endl;
  else
    OK = false,
    cout << "??? delta() incorrectly reset to " << x.delta()
	 << " instead of " << DEG120 << endl;

  cout << '\n';
  x.set( Z_HAT, DEG180 );
  if ( x.axis() == Z_HAT  &&  x.delta() == DEG180 )
    cout << "OK: set(" << Z_HAT << ", " << DEG180
	 << ") correctly reset" << endl;
  else
    OK = false,
    cout << "??? set(" << Z_HAT << ", " << DEG180
	 << ") incorrectly reset to (" << x.axis() << ", "
         << x.delta() << ')'  << endl;

}  // accessors()


void comparators()  {

  cout << "\n\n=====  Testing comparators:" << endl;

  const AxisAngle xc = AxisAngle( X_HAT, 0.0 );
  AxisAngle       aa = xc;

  cout << '\n';
  if ( aa == xc )
    cout << "OK: " << aa << " == " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " == " << xc << " is false" << endl;
  if ( aa != xc )
    OK = false,
    cout << "??? " << aa << " != " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " != " << xc << " is false" << endl;

  if ( aa < xc )
    OK = false,
    cout << "??? " << aa << " <  " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " <  " << xc << " is false" << endl;
  if ( aa <= xc )
    cout << "OK: " << aa << " <= " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " <= " << xc << " is false" << endl;

  if ( aa > xc )
    OK = false,
    cout << "??? " << aa << " >  " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " >  " << xc << " is false" << endl;
  if ( aa >= xc )
    cout << "OK: " << aa << " >= " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " >= " << xc << " is false" << endl;

  cout << '\n';
  aa.setDelta( 0.1 );
  if ( aa == xc )
    OK = false,
    cout << "??? " << aa << " == " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " == " << xc << " is false" << endl;
  if ( aa != xc )
    cout << "OK: " << aa << " != " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " != " << xc << " is false" << endl;

  if ( aa < xc )
    OK = false,
    cout << "??? " << aa << " <  " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " <  " << xc << " is false" << endl;
  if ( aa <= xc )
    OK = false,
    cout << "??? " << aa << " <= " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " <= " << xc << " is false" << endl;

  if ( aa > xc )
    cout << "OK: " << aa << " >  " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " >  " << xc << " is false" << endl;
  if ( aa >= xc )
    cout << "OK: " << aa << " >= " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " >= " << xc << " is false" << endl;

  cout << '\n';
  aa.set( Y_HAT, xc.delta() );
  if ( aa == xc )
    OK = false,
    cout << "??? " << aa << " == " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " == " << xc << " is false" << endl;
  if ( aa != xc )
    cout << "OK: " << aa << " != " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " != " << xc << " is false" << endl;

  if ( aa < xc )
    OK = false,
    cout << "??? " << aa << " <  " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " <  " << xc << " is false" << endl;
  if ( aa <= xc )
    OK = false,
    cout << "??? " << aa << " <= " << xc << " is true"  << endl;
  else
    cout << "OK: " << aa << " <= " << xc << " is false" << endl;

  if ( aa > xc )
    cout << "OK: " << aa << " >  " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " >  " << xc << " is false" << endl;
  if ( aa >= xc )
    cout << "OK: " << aa << " >= " << xc << " is true"  << endl;
  else
    OK = false,
    cout << "??? " << aa << " >= " << xc << " is false" << endl;

}  // comparators()


void constructors() {

  cout << "\n\n=====  Testing constructors & output:" << endl;

  cout << '\n';
  AxisAngle       aa;
  cout << "OK: constructed default AxisAngle (def_UV, 0):\t"
       << aa << endl;
  const AxisAngle ac;
  cout << "OK: constructed default const AxisAngle (def_UV, 0):\t"
       << ac << endl;

  cout << '\n';
  AxisAngle       x(X_HAT, 0.0 );
  cout << "OK: constructed AxisAngle (X_HAT, 0):\t"
       << x << endl;
  const AxisAngle xc(X_HAT, 0.0 );
  cout << "OK: constructed const AxisAngle (X_HAT, 0):\t"
       << xc << endl;

  cout << '\n';
  AxisAngle       y  = AxisAngle( Y_HAT, 0.0 );
  cout << "OK: copy-constructed AxisAngle y from temporary (Y_HAT, 0):\t"
       << y << endl;
  const AxisAngle yc = AxisAngle( Y_HAT, 0.0 );
  cout << "OK: copy-constructed const AxisAngle from temporary (Y_HAT, 0):\t"
       << yc << endl;

  cout << '\n';
  AxisAngle       z(y);
  cout << "OK: copy-constructed AxisAngle z from y above:\t"
       << z << endl;
  const AxisAngle zc(z);
  cout << "OK: copy-constructed const AxisAngle from z above:\t"
       << zc << endl;

}  // constructors()


void input()  {

  cout << "\n\n=====  Testing input:" << endl;

  const AxisAngle xc = AxisAngle( X_HAT, 0.0 );
  AxisAngle       aa = xc;

  cout << '\n';
  cout << "Old AxisAngle:  " << aa << endl;
  cout << "Enter AxisAngle information:  " << flush;
  cin >> aa;
  cout << "OK: new AxisAngle:  " << aa << endl;

#ifdef TEST_INPUT
  cout << '\n';
  cout << "Old const AxisAngle:  " << xc << endl;
  cout << "Enter const AxisAngle information (ought not get here!):  " << flush;
  cin >> xc;  // ought not compile
  OK = false,
  cout << "??? new AxisAngle:  " << xc
       << "; erroneously allowed input to const AxisAngle" << endl;
#endif  // TEST_INPUT

}  // input()


void relComparators()  {

  cout << "\n\n=====  Testing relative comparators:" << endl;

  cout << '\n';
  const AxisAngle xc = AxisAngle( X_HAT, DEG30 );
  if ( xc.isNear( xc ) )
    cout << "OK: " << xc << " isNear itself";
  else
    OK = false,
    cout << "??? " << xc << " isNear iself fails";
  cout << " (distance = " << xc.howNear(xc) << ')' << endl;

  cout << '\n';
  const Float8    newTol = 0.005;
  Float8 oldTol = AxisAngle::setTolerance( newTol );
  if ( AxisAngle::getTolerance() == newTol )
    cout << "OK: tolerance successfully changed from " << oldTol
	 << " to " << newTol << endl;
  else
    OK = false,
    cout << "??? tolerance unsuccessfully changed from " << oldTol
	 << " to " << AxisAngle::getTolerance()
	 << "; ought be " << newTol << endl;

  cout << '\n';
  AxisAngle aa( xc.axis(), xc.delta()+.0025 );
  if ( aa.isNear( xc ) )
    cout << "OK: " << aa << " isNear " << xc;
  else
    OK = false,
    cout << "??? " << aa << " isNear " << xc << " fails";
  cout << " (distance = " << aa.howNear(xc) << ')' << endl;

}  // relComparators()