// eatest.cc


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

#include "ZMutility/ZMenvironment.h"

#include "PhysicsVectors/EulerAngles.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 DEG0   = 0.0;
const Float8 DEG180 = 3.14159265358979323846;
const Float8 DEG30  = DEG180 / 6.0;
const Float8 DEG90  = DEG180 / 2.0;
const Float8 DEG270 = DEG180 + DEG90;


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


int main()  {

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

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

  cout << "\n\n=====  EulerAngles 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 EulerAngles xc = EulerAngles( -DEG90, DEG0, DEG90 );

  cout << '\n';
  if ( xc.phi() == -DEG90 )
    cout << "OK: phi() gave correct result " << -DEG90 << endl;
  else
    OK = false,
    cout << "??? phi() gave incorrect result of " << xc.phi()
	 << "\n      instead of " << -DEG90 << endl;
  if ( xc.theta() == DEG0 )
    cout << "OK: theta() gave correct result " << DEG0 << endl;
  else
    OK = false,
    cout << "??? theta() gave incorrect result of " << xc.theta()
	 << "\n      instead of " << DEG0 << endl;
  if ( xc.psi() == DEG90 )
    cout << "OK: psi() gave correct result " << DEG90 << endl;
  else
    OK = false,
    cout << "??? psi() gave incorrect result of " << xc.psi()
	 << "\n      instead of " << DEG90 << endl;

  EulerAngles x = EulerAngles( -DEG90, DEG0, DEG90 );

  cout << '\n';
  if ( x.phi() == -DEG90 )
    cout << "OK: phi() gave correct result " << -DEG90 << endl;
  else
    OK = false,
    cout << "??? phi() gave incorrect result of " << x.phi()
	 << "\n      instead of " << -DEG90 << endl;
  if ( x.theta() == DEG0 )
    cout << "OK: theta() gave correct result " << DEG0 << endl;
  else
    OK = false,
    cout << "??? theta() gave incorrect result of " << x.theta()
	 << "\n      instead of " << DEG0 << endl;
  if ( x.psi() == DEG90 )
    cout << "OK: psi() gave correct result " << DEG90 << endl;
  else
    OK = false,
    cout << "??? psi() gave incorrect result of " << x.psi()
	 << "\n      instead of " << DEG90 << endl;

  cout << '\n';
  x.setPhi( DEG30 );
  if ( x.phi() == DEG30 )
    cout << "OK: phi() correctly reset to " << DEG30 << endl;
  else
    OK = false,
    cout << "??? phi() incorrectly reset to " << x.phi()
	 << " instead of " << DEG30 << endl;
  x.setTheta( DEG30 );
  if ( x.theta() == DEG30 )
    cout << "OK: theta() correctly reset to " << DEG30 << endl;
  else
    OK = false,
    cout << "??? theta() incorrectly reset to " << x.theta()
	 << " instead of " << DEG30 << endl;
  x.setPsi( DEG30 );
  if ( x.psi() == DEG30 )
    cout << "OK: psi() correctly reset to " << DEG30 << endl;
  else
    OK = false,
    cout << "??? psi() incorrectly reset to " << x.psi()
	 << " instead of " << DEG30 << endl;

  cout << '\n';
  x.set( DEG0, DEG0, DEG0 );
  if ( x.phi() == DEG0  &&  x.theta() == DEG0  &&  x.psi() == DEG0 )
    cout << "OK: set(" << DEG0 << ", " << DEG0 << ", " << DEG0
	 << ") correctly reset" << endl;
  else
    OK = false,
    cout << "??? set(" << DEG0 << ", " << DEG0 << ", " << DEG0
	 << ") incorrectly reset to " << x << endl;

}  // accessors()


void comparators()  {

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

  const EulerAngles xc = EulerAngles( DEG180, DEG90, DEG0 );
  EulerAngles       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.setPhi( DEG270 );
  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( xc.phi(), DEG180, xc.psi() );
  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( xc.phi(), xc.theta(), DEG90 );
  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';
  EulerAngles       aa;
  cout << "OK: constructed default EulerAngles (0, 0, 0):  "
       << aa << endl;
  const EulerAngles ac;
  cout << "OK: constructed default const EulerAngles (0, 0, 0):  "
       << ac << endl;

  cout << '\n';
  EulerAngles       x( 2.0, 1.0, 0.0 );
  cout << "OK: constructed EulerAngles (2, 1, 0):  "
       << x << endl;
  const EulerAngles xc( 2.0, 1.0, 0.0 );
  cout << "OK: constructed const EulerAngles (2, 1, 0):  "
       << xc << endl;

  cout << '\n';
  EulerAngles       y  = EulerAngles( 1.0, 2.0, 3.0 );
  cout << "OK: copy-constructed EulerAngles y from temporary (1, 2, 3):  "
       << y << endl;
  const EulerAngles yc = EulerAngles( 1.0, 2.0, 3.0 );
  cout << "OK: copy-constructed const EulerAngles from temporary (1, 2, 3):  "
       << yc << endl;

  cout << '\n';
  EulerAngles       z(y);
  cout << "OK: copy-constructed EulerAngles z from y above:  "
       << z << endl;
  const EulerAngles zc(z);
  cout << "OK: copy-constructed const EulerAngles from z above:  "
       << zc << endl;

}  // constructors()


void input()  {

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

  const EulerAngles xc = EulerAngles( DEG90, DEG0, -DEG90 );
  EulerAngles       aa = xc;

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

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

}  // input()


void relComparators()  {

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

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

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

  cout << '\n';
  EulerAngles aa( xc.phi(), xc.theta(), xc.psi()+.0025 );
  if ( aa.isNear( xc ) )
    cout << "OK: " << aa << " isNear " << xc;
  else
    OK = false,
    cout << "??? " << aa << " isNear " << xc << " fails";
  cout << "\n    (distance = " << aa.howNear(xc) << ')' << endl;

}  // relComparators()