using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Azimuth;
using Annulus.DeprecatedShapes;
using Lodestone.ContinuousCollisionDetection;

namespace Lodestone.UnitTests.ContinuousCollisionDetection
{
    public class SweptSphereSphereTests : UnitTestSharp.TestFixture
    {
        public class NoMotionTests : UnitTestSharp.TestFixture
        {
            public void NoMotion_Cocentric_DifferentSizes()
            {
                Frame stationary_Origin = new Frame();

                var circle1 = new Circle(5.0);
                var circle2 = new Circle(2.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Origin);

                CheckEqual(new Interval(0, Scalar.PositiveInfinity), collisionWindow);
            }

            public void NoMotion_Cocentric_SameSize()
            {
                Frame stationary_Origin = new Frame();

                var circle1 = new Circle(5.0);
                var circle2 = new Circle(5.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Origin);

                CheckEqual(new Interval(0, Scalar.PositiveInfinity), collisionWindow);
            }

            public void NoMotion_Intersecting()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Position = new Vector(9, 0),
                };

                var circle1 = new Circle(5.0);
                var circle2 = new Circle(5.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Origin);

                CheckEqual(new Interval(0, Scalar.PositiveInfinity), collisionWindow);
            }

            public void NoMotion_Intersecting_Incident()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Position = new Vector(10, 0),
                };

                var circle1 = new Circle(5.0);
                var circle2 = new Circle(5.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }

            public void NoMotion_Disparate()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Position = new Vector(11, 0),
                };

                var circle1 = new Circle(5.0);
                var circle2 = new Circle(5.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }
        }

        public class LinearMotionTests : UnitTestSharp.TestFixture
        {
            public void OneSecond_OneSecond()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Position = new Vector(6, 0),
                    Velocity = new Vector(-4, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(new Interval(1, 2), collisionWindow);
            }

            public void Miss()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Position = new Vector(6, 0),
                    Velocity = new Vector(4, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }

            public void CoMovement()
            {
                Frame stationary_Origin = new Frame
                {
                    Velocity = new Vector(4, 0),
                };

                Frame stationary_Side = new Frame
                {
                    Position = new Vector(2, 0),
                    Velocity = new Vector(4, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }

            public void Conjoined_Separate()
            {
                Frame stationary_Origin = new Frame
                {
                    Velocity = new Vector(-4, 0),
                };

                Frame stationary_Side = new Frame
                {
                    Position = new Vector(2, 0),
                    Velocity = new Vector(4, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }

            public void Conjoined_Converge()
            {
                Frame stationary_Origin = new Frame
                {
                    Velocity = new Vector(2, 0),
                };

                Frame stationary_Side = new Frame
                {
                    Position = new Vector(2, 0),
                    Velocity = new Vector(-2, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(new Interval(0, 1), collisionWindow);
            }

            public void Glancing_Converge()
            {
                Frame stationary_Origin = new Frame
                {
                    Velocity = new Vector(2, 0),
                };

                Frame stationary_Side = new Frame
                {
                    Position = new Vector(6, -2),
                    Velocity = new Vector(-2, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }

            public void Glancing_Separate()
            {
                Frame stationary_Origin = new Frame
                {
                    Velocity = new Vector(2, 0),
                };

                Frame stationary_Side = new Frame
                {
                    Position = new Vector(0, -2),
                    Velocity = new Vector(-2, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Origin, circle2, stationary_Side);

                CheckEqual(null, collisionWindow);
            }
        }

        public class AccelerationMotionTests : UnitTestSharp.TestFixture
        {
            public void OneSecond_OneSecond()
            {
                Frame stationary_Origin = new Frame();
                Frame stationary_Side = new Frame
                {
                    Acceleration = new Vector(-8.0/3.0, 0),
                    Position = new Vector(10.0/3.0, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, stationary_Side, circle2, stationary_Origin);

                CheckEqual(new Interval(1, 2), collisionWindow);
            }

            public void Miss()
            {
                Frame Origin = new Frame();
                Frame Side = new Frame
                {
                    Position = new Vector(6, 0),
                    Acceleration = new Vector(1, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, Origin, circle2, Side);

                CheckEqual(null, collisionWindow);
            }

            public void DoublePenetrate() //heh heh
            {
                Frame Origin = new Frame();
                Frame Side = new Frame
                {
                    Position = new Vector(0, -6),
                    Velocity = new Vector(0, 6),
                    Acceleration = new Vector(0, -1),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, Origin, circle2, Side);

                CheckEqual(new Interval(6 - Math.Sqrt(28), 6 - Math.Sqrt(20)), collisionWindow);
            }

            public void GlancingThenOverlap()
            {
                Frame Origin = new Frame()
                {
                    Position = new Vector(-2, 0),
                    Velocity = new Vector(0, 12),
                    Acceleration = new Vector(0, -1),
                };

                Frame Side = new Frame
                {
                    Velocity = new Vector(12, 0),
                    Acceleration = new Vector(-1, 0),
                };

                var circle1 = new Circle(1.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, Origin, circle2, Side);

                CheckEqual(new Interval(24, 24.165525061), collisionWindow);
            }

            public void DoubleRootWhileLeaving()
            {
                Frame Origin = new Frame()
                {
                    
                };

                Frame Side = new Frame
                {
                    Position = new Vector(0, -97),
                    Velocity = new Vector(0, 20),
                    Acceleration = new Vector(0, -2),
                };

                var circle1 = new Circle(2.0);
                var circle2 = new Circle(1.0);

                var collisionWindow = SweptCircleCircle.CalculateCollisionWindows(
                    circle1, Origin, circle2, Side);

                CheckEqual(new Interval(10 - Math.Sqrt(6), 10 + Math.Sqrt(6)), collisionWindow);
            }
        }
    }
}