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// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
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#include <testExtractSHRT.h>
#include "ImathMatrixAlgo.h"
#include "ImathEuler.h"
#include "ImathRandom.h"
#include "ImathFun.h"
#include <iostream>
#include <exception>
#include <stdio.h>
#include <assert.h>


#if 0
    #define debug(x) (printf x, fflush (stdout))
#else
    #define debug(x)
#endif


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);}


void
testMatrix (const M33f M)
{
    //
    // Extract the rotation angle from M, and convert the
    // angle back to a matrix, N.
    //

    V2f s, t;
    float h, r;
  
    extractSHRT (M, s, h, r, t, true);

    M33f N;

    N *= M33f().setScale (s);
    N *= M33f().setShear (h);
    N *= M33f().setRotation (r);
    N *= M33f().setTranslation (t);

    debug (("Re-scale: %f %f\n", s[0], s[1]));
    debug (("Re-shear: %f\n", h));
    debug (("Re-rot  : %f\n", r));
    debug (("Re-trans: %f %f\n", t[0], t[1]));

    //
    // Verify that the entries in M and N do not
    // differ too much.
    //

    M33f D (M - N);

    for (int j = 0; j < 3; ++j)
    {
	for (int k = 0; k < 3; ++k)
	{
	    if (abs (D[j][k]) > 0.00001)
	    {
		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
testRandomAngles33 ()
{
    Rand48 random(0);

    for (int i = 0; i < 100000; ++i)
    {
	debug (("iteration: %d\n", i));

	M33f M;

	//
	// Scale M.
	//

	V2f s (random.nextf (0.000001, 2.0),
	       random.nextf (0.000001, 2.0));

	for (int j=0; j < 2; j++)
	    if (random.nextf (0.0, 1.0) >= 0.5)
		s[j] *= -1;

	M *= M33f().setScale (s);

	//
	// Shear M.
	//

	float h = random.nextf (0.000001, 2.);
	if (random.nextf (0.0, 1.0) >= 0.5)
	    h *= -1;

	M *= M33f().setShear (h);

        //
	// Rotate M.
	//

	float r = rad (random.nextf (-180, 180));
	
	M *= M33f().setRotation (r);

	//
	// Translate M.
	//

	V2f t (random.nextf (-10, 10), 
	       random.nextf (-10, 10));
	
	M *= M33f().setTranslation (t);

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

	for (int j = 0; j < 3; ++j)
	    for (int k = 0; k < 2; ++k)
		M[j][k] += random.nextf (-1e-7, 1e-7);


	debug (("Scale   : %f %f\n", s[0], s[1]));
	debug (("Shear   : %f\n", h));
	debug (("Rot     : %f\n", r));
	debug (("Trans   : %f %f\n", t[0], t[1]));


	//
	// 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);

	debug (("\n"));
    }
}


void
testAngles33 (float angle)
{
    M33f M;
    M.setRotation (rad (angle));

    //
    // With rounding errors from e.toMatrix.
    //

    testMatrix (M);

    //
    // Without rounding errors (assuming that
    // all angles are multiples of 90 degrees).
    //

    for (int i = 0; i < 2; ++i)
	for (int j = 0; j < 2; ++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);
}


void
testMatrix (const M44f M)
{
    //
    // Extract Euler angles from M, and convert the
    // Euler angles back to a matrix, N.
    //

    V3f s, h, r, t;
  
    extractSHRT (M, s, h, r, t, true);

    M44f N;

    N.translate (t); // ... matrix compositions
    N.rotate (r);
    N.shear (h);
    N.scale (s);

    debug (("Re-scale: %f %f %f\n", s[0], s[1], s[2]));
    debug (("Re-shear: %f %f %f\n", h[0], h[1], h[2]));
    debug (("Re-rot  : %f %f %f\n", r[0], r[1], r[2]));
    debug (("Re-trans: %f %f %f\n", t[0], t[1], t[2]));

    //
    // Verify that the entries in M and N do not
    // differ too much.
    //

    M44f D (M - N);

    for (int j = 0; j < 4; ++j)
    {
	for (int k = 0; k < 4; ++k)
	{
	    if (abs (D[j][k]) > 0.00001)
	    {
		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
testRandomAngles44 ()
{
    Rand48 random(0);

    for (int i = 0; i < 100000; ++i)
    {
	debug (("iteration: %d\n", i));

	M44f M;

	//
	// Translate M.
	//

	V3f t (random.nextf (-10, 10), 
	       random.nextf (-10, 10), 
	       random.nextf (-10, 10));
	
	M.translate (t);

        //
	// Rotate M.
	//

	V3f r (rad (random.nextf (-180, 180)),
	       rad (random.nextf (-180, 180)),
	       rad (random.nextf (-180, 180)));
	
	M.rotate (r);

	//
	// Shear M.
	//

	V3f h (random.nextf (0.000001, 2.0), 
	       random.nextf (0.000001, 2.0), 
	       random.nextf (0.000001, 2.0));
	
	for (int j=0; j < 3; j++)
	    if (random.nextf (0.0, 1.0) >= 0.5)
		h[j] *= -1;

	M.shear (h);

	//
	// Scale M.
	//

	V3f s (random.nextf (0.000001, 2.0),
	       random.nextf (0.000001, 2.0),
	       random.nextf (0.000001, 2.0));

	for (int j=0; j < 3; j++)
	    if (random.nextf (0.0, 1.0) >= 0.5)
		s[j] *= -1;

	M.scale (s);

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

	for (int j = 0; j < 4; ++j)
	    for (int k = 0; k < 3; ++k)
		M[j][k] += random.nextf (-1e-7, 1e-7);


	debug (("Scale   : %f %f %f\n", s[0], s[1], s[2]));
	debug (("Shear   : %f %f %f\n", h[0], h[1], h[2]));
	debug (("Rot     : %f %f %f\n", r[0], r[1], r[2]));
	debug (("Trans   : %f %f %f\n", t[0], t[1], t[2]));


	//
	// 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);

	debug (("\n"));
    }
}


void
testAngles44 (V3f angles)
{
    Eulerf e (rad (angles.x),
	      rad (angles.y),
	      rad (angles.z));

    M44f M (e.toMatrix44());

    //
    // With rounding errors from e.toMatrix.
    //

    testMatrix (M);

    //
    // 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);
}


void
test ()
{
    cout << "  random angles" << endl;

    cout << "    3x3" << endl;
    testRandomAngles33 ();

    cout << "    4x4" << endl;
    testRandomAngles44 ();

    cout << "  special angles" << endl;

    cout << "    3x3" << endl;
    for (int i = 0; i < 360; i += 90)
	testAngles33 (float (i));

    cout << "    4x4" << 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)
		testAngles44 (V3f (i, j, k));
}


} // namespace


void
testExtractSHRT ()
{
    try
    {
	cout << "Testing extraction of scale, shear, rotation, translation " 
	     << "from matrices" << endl;
	
	cout << "Imath::extractSHRT()" << endl;
	test ();
	
	cout << "ok\n" << endl;
    }
    catch (std::exception &e)
    {
	cerr << "  Caught exception: " << e.what () << endl;
    }
}