///////////////////////////////////////////////////////////////////////////

//

// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas

// Digital Ltd. LLC

// 

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///////////////////////////////////////////////////////////////////////////

#include <testExtractEuler.h>

#include "ImathMatrixAlgo.h"

#include "ImathEuler.h"

#include "ImathRandom.h"

#include "ImathFun.h"

#include <iostream>

#include <assert.h>

using namespace std;

using namespace IMATH_INTERNAL_NAMESPACE;

namespace {

float rad (float deg) {return deg * (M_PI / 180);}

float deg (float rad) {return rad * (180 / M_PI);}

M44f

matrixEulerMatrix_1 (const M44f &M, Eulerf::Order order)

{

    V3f f;

    if (order == Eulerf::XYZ)

	extractEulerXYZ (M, f);

    else

	extractEulerZYX (M, f);

    return Eulerf(f, order).toMatrix44();

}

M44f

matrixEulerMatrix_2 (const M44f &M, Eulerf::Order order)

{

    Eulerf f (order);

    f.extract (M);

    return f.toMatrix44();

}

void

testMatrix (const M44f M,

	    M44f (*matrixEulerMatrix)(const M44f &, Eulerf::Order),

	    Eulerf::Order order)

{

    //

    // Extract Euler angles from M, and convert the

    // Euler angles back to a matrix, N.

    //

    M44f N = matrixEulerMatrix (M, order);

    //

    // Verify that the entries in M and N do not

    // differ too much.

    //

    M44f D (M - N);

    for (int j = 0; j < 3; ++j)

    {

	for (int k = 0; k < 3; ++k)

	{

            if (abs (D[j][k]) > 0.000002)

	    {

		cout << "unexpectedly large matrix to "

			"euler angles conversion error: " <<

			D[j][k] << endl;

		cout << j << " " << k << endl;

		cout << "M\n" << M << endl;

		cout << "N\n" << N << endl;

		cout << "D\n" << D << endl;

		assert (false);

	    }

	}

    }

}

void

testRandomAngles (M44f (*matrixEulerMatrix)(const M44f &, Eulerf::Order),

		  Eulerf::Order order)

{

    Rand48 r(0);

    for (int i = 0; i < 100000; ++i)

    {

	//

	// Create a rotation matrix, M

	//

	Eulerf e (rad (r.nextf (-180, 180)),

		  rad (r.nextf (-180, 180)),

		  rad (r.nextf (-180, 180)),

		  Eulerf::XYZ);

	M44f M (e.toMatrix44());

	//

	// Add a small random error to the elements of M

	//

	for (int j = 0; j < 3; ++j)

	    for (int k = 0; k < 3; ++k)

		M[j][k] += r.nextf (-1e-7, 1e-7);

	//

	// Extract Euler angles from M, convert the Euler angles

	// back to a matrix, N, and verify that the entries in M

	// and N do not differ too much.

	//

	testMatrix (M, matrixEulerMatrix, order);

    }

}

void

testAngles (V3f angles,

	    M44f (*matrixEulerMatrix)(const M44f &, Eulerf::Order),

	    Eulerf::Order order)

{

    Eulerf e (rad (angles.x),

	      rad (angles.y),

	      rad (angles.z),

	      order);

    M44f M (e.toMatrix44());

    //

    // With rounding errors from e.toMatrix.

    //

    testMatrix (M, matrixEulerMatrix, order);

    //

    // Without rounding errors (assuming that

    // all angles are multiples of 90 degrees).

    //

    for (int i = 0; i < 3; ++i)

	for (int j = 0; j < 3; ++j)

	    if (M[i][j] < -0.5)

		M[i][j] = -1;

	    else if (M[i][j] > 0.5)

		M[i][j] = 1;

	    else

		M[i][j] = 0;

    testMatrix (M, matrixEulerMatrix, order);

}

void

test (M44f (*matrixEulerMatrix)(const M44f &, Eulerf::Order),

      Eulerf::Order order)

{

    cout << "order = " << setbase (16) << int (order) << setbase (10) << endl;

    // cout << "random angles" << endl;

    testRandomAngles (matrixEulerMatrix, order);

    // cout << "special angles" << endl;

    for (int i = 0; i < 360; i += 90)

	for (int j = 0; j < 360; j += 90)

	    for (int k = 0; k < 360; k += 90)

		testAngles (V3f (i, j, k), matrixEulerMatrix, order);

}

void

testRandomAngles33 ()

{

    Rand48 r(0);

    float eps = 8.0 * limits<float>::epsilon();

    for (int i = 0; i < 100000; ++i)

    {

	float angle = rad (r.nextf (-180, 180));

	M33f M;

	M.setRotation (angle);

	float angleEx;

	extractEuler (M, angleEx);

	assert (IMATH_INTERNAL_NAMESPACE::equal (angle, angleEx, eps));

    }

}

} // namespace

void

testExtractEuler ()

{

    cout << "Testing extraction of rotation angle from 3x3 matrices" << endl;

    testRandomAngles33 ();

    cout << "Testing extraction of Euler angles from matrices" << endl;

    cout << "extractEulerXYZ()" << endl;

    test (matrixEulerMatrix_1, Eulerf::XYZ);

    cout << "extractEulerZYX()" << endl;

    test (matrixEulerMatrix_1, Eulerf::ZYX);

    cout << "Eulerf::extract()" << endl;

    test (matrixEulerMatrix_2, Eulerf::XYZ);

    test (matrixEulerMatrix_2, Eulerf::XZY);

    test (matrixEulerMatrix_2, Eulerf::YZX);

    test (matrixEulerMatrix_2, Eulerf::YXZ);

    test (matrixEulerMatrix_2, Eulerf::ZXY);

    test (matrixEulerMatrix_2, Eulerf::ZYX);

    test (matrixEulerMatrix_2, Eulerf::XZX);

    test (matrixEulerMatrix_2, Eulerf::XYX);

    test (matrixEulerMatrix_2, Eulerf::YXY);

    test (matrixEulerMatrix_2, Eulerf::YZY);

    test (matrixEulerMatrix_2, Eulerf::ZYZ);

    test (matrixEulerMatrix_2, Eulerf::ZXZ);

    test (matrixEulerMatrix_2, Eulerf::XYZr);

    test (matrixEulerMatrix_2, Eulerf::XZYr);

    test (matrixEulerMatrix_2, Eulerf::YZXr);

    test (matrixEulerMatrix_2, Eulerf::YXZr);

    test (matrixEulerMatrix_2, Eulerf::ZXYr);

    test (matrixEulerMatrix_2, Eulerf::ZYXr);

    test (matrixEulerMatrix_2, Eulerf::XZXr);

    test (matrixEulerMatrix_2, Eulerf::XYXr);

    test (matrixEulerMatrix_2, Eulerf::YXYr);

    test (matrixEulerMatrix_2, Eulerf::YZYr);

    test (matrixEulerMatrix_2, Eulerf::ZYZr);

    test (matrixEulerMatrix_2, Eulerf::ZXZr);

    cout << "ok\n" << endl;

}