using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using UnitTestSharp;
using Azimuth;
using Annulus.DiscreteCollisionDetection;

namespace Annulus.UnitTests.DiscreteCollisionDetection
{
    public class ConvexConvexSignedDistanceTests : TestFixture
    {
        ConvexPolygon square = new ConvexPolygon(new Vector[] 
        {
            new Vector(-10, 10),
            new Vector(-10, -10),
            new Vector(10, -10),
            new Vector(10, 10),
        });

        public void Basic_XTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(30, 0)));

            CheckEqual(10, distance);
        }

        public void Basic_XYTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(30, 30)));

            CheckEqual(Math.Sqrt(200), distance);
        }

        public void Basic_YTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(0, 30)));

            CheckEqual(10, distance);
        }

        public void Basic_nXYTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-30, 30)));

            CheckEqual(Math.Sqrt(200), distance);
        }

        public void Basic_nXTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-30, 0)));

            CheckEqual(10, distance);
        }

        public void Basic_nXnYTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-30, -30)));

            CheckEqual(Math.Sqrt(200), distance);
        }

        public void Basic_nYTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(0, -30)));

            CheckEqual(10, distance);
        }

        public void Basic_XnYTranslate_Separate()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(30, -30)));

            CheckEqual(Math.Sqrt(200), distance);
        }



        public void Basic_XTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(10, 0)));

            CheckEqual(-10, distance);
        }

        public void Basic_XYTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(10, 10)));

            CheckEqual(-10, distance);
        }

        public void Basic_YTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(0, 10)));

            CheckEqual(-10, distance);
        }

        public void Basic_nXYTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-10, 10)));

            CheckEqual(-10, distance);
        }

        public void Basic_nXTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-10, 0)));

            CheckEqual(-10, distance);
        }

        public void Basic_nXnYTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-10, -10)));

            CheckEqual(-10, distance);
        }

        public void Basic_nYTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(0, -10)));

            CheckEqual(-10, distance);
        }

        public void Basic_XnYTranslate_Overlapping()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(10, -10)));

            CheckEqual(-10, distance);
        }



        public void Basic_XTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(20, 0)));

            CheckEqual(-0, distance);
        }

        public void Basic_XYTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(20, 20)));

            CheckEqual(-0, distance);
        }

        public void Basic_YTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(20, 20)));

            CheckEqual(-0, distance);
        }

        public void Basic_nXYTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-20, 20)));

            CheckEqual(-0, distance);
        }

        public void Basic_nXTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-20, 0)));

            CheckEqual(-0, distance);
        }

        public void Basic_nXnYTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(-20, -20)));

            CheckEqual(-0, distance);
        }

        public void Basic_nYTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(0, -20)));

            CheckEqual(-0, distance);
        }

        public void Basic_XnYTranslate_Coincident()
        {
            var distance = ConvexConvex.SignedDistance(square, square,
                AffineMatrix.BuildFromTranslation(Vector.Zero),
                AffineMatrix.BuildFromTranslation(new Vector(20, -20)));

            CheckEqual(-0, distance);
        }
    }
}