/*
    * Licensed to the Apache Software Foundation (ASF) under one or more
    * contributor license agreements.  See the NOTICE file distributed with
    * this work for additional information regarding copyright ownership.
    * The ASF licenses this file to You under the Apache License, Version 2.0
    * (the "License"); you may not use this file except in compliance with
    * the License.  You may obtain a copy of the License at
    *
    *      http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package org.apache.commons.geometry.euclidean.twod.rotation;
  
  import java.util.function.BiFunction;
  import java.util.function.DoubleFunction;
  
  import org.apache.commons.geometry.core.GeometryTestUtils;
  import org.apache.commons.geometry.core.precision.DoublePrecisionContext;
  import org.apache.commons.geometry.core.precision.EpsilonDoublePrecisionContext;
  import org.apache.commons.geometry.euclidean.EuclideanTestUtils;
  import org.apache.commons.geometry.euclidean.EuclideanTransform;
  import org.apache.commons.geometry.euclidean.twod.AffineTransformMatrix2D;
  import org.apache.commons.geometry.euclidean.twod.Line;
  import org.apache.commons.geometry.euclidean.twod.Lines;
  import org.apache.commons.geometry.euclidean.twod.Vector2D;
  import org.apache.commons.numbers.angle.PlaneAngleRadians;
  import org.junit.Assert;
  import org.junit.Test;
  
  public class Rotation2DTest {
  
      private static final double TEST_EPS = 1e-10;
  
      private static final DoublePrecisionContext TEST_PRECISION =
              new EpsilonDoublePrecisionContext(TEST_EPS);
  
      @Test
      public void testIdentity() {
          // act
          final Rotation2D r = Rotation2D.identity();
  
          // assert
          Assert.assertEquals(0.0, r.getAngle(), 0.0);
          Assert.assertTrue(r.preservesOrientation());
      }
  
      @Test
      public void testProperties() {
          // act
          final Rotation2D r = Rotation2D.of(100.0);
  
          // assert
          Assert.assertEquals(100.0, r.getAngle(), 0.0);
          Assert.assertTrue(r.preservesOrientation());
      }
  
      @Test
      public void testApply() {
          // act/assert
          checkApply(1.0, Vector2D.ZERO, Vector2D.ZERO);
  
          checkApply(0.0, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_X);
          checkApply(PlaneAngleRadians.PI_OVER_TWO, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_Y);
          checkApply(PlaneAngleRadians.PI, Vector2D.Unit.PLUS_X, Vector2D.Unit.MINUS_X);
          checkApply(PlaneAngleRadians.THREE_PI_OVER_TWO, Vector2D.Unit.PLUS_X, Vector2D.Unit.MINUS_Y);
          checkApply(PlaneAngleRadians.TWO_PI, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_X);
  
          checkRotate(Rotation2D::of, Rotation2D::apply);
      }
  
      @Test
      public void testApplyVector() {
          // act/assert
          checkApplyVector(1.0, Vector2D.ZERO, Vector2D.ZERO);
  
          checkApplyVector(0.0, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_X);
          checkApplyVector(PlaneAngleRadians.PI_OVER_TWO, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_Y);
          checkApplyVector(PlaneAngleRadians.PI, Vector2D.Unit.PLUS_X, Vector2D.Unit.MINUS_X);
          checkApplyVector(PlaneAngleRadians.THREE_PI_OVER_TWO, Vector2D.Unit.PLUS_X, Vector2D.Unit.MINUS_Y);
          checkApplyVector(PlaneAngleRadians.TWO_PI, Vector2D.Unit.PLUS_X, Vector2D.Unit.PLUS_X);
  
          checkRotate(Rotation2D::of, Rotation2D::applyVector);
      }
  
      @Test
      public void testInverse_properties() {
          // arrange
          final Rotation2D orig = Rotation2D.of(100.0);
  
          // act
          final Rotation2D r = orig.inverse();
  
          // assert
          Assert.assertEquals(-100.0, r.getAngle(), 0.0);
         Assert.assertTrue(r.preservesOrientation());
     }
 
     @Test
     public void testInverse_apply() {
         // arrange
         final Rotation2D orig = Rotation2D.of(100.0);
         final Rotation2D inv = orig.inverse();
 
         final Vector2D v1 = Vector2D.of(1, 2);
         final Vector2D v2 = Vector2D.of(-3, 4);
         final Vector2D v3 = Vector2D.of(-5, -6);
         final Vector2D v4 = Vector2D.of(7, -8);
 
         // act/assert
         EuclideanTestUtils.assertCoordinatesEqual(v1, orig.apply(inv.apply(v1)), TEST_EPS);
         EuclideanTestUtils.assertCoordinatesEqual(v2, inv.apply(orig.apply(v2)), TEST_EPS);
         EuclideanTestUtils.assertCoordinatesEqual(v3, orig.apply(inv.apply(v3)), TEST_EPS);
         EuclideanTestUtils.assertCoordinatesEqual(v4, inv.apply(orig.apply(v4)), TEST_EPS);
     }
 
     @Test
     public void testToMatrix() {
         // arrange
         final double angle = 0.1 * Math.PI;
 
         // act
         final AffineTransformMatrix2D m = Rotation2D.of(angle).toMatrix();
 
         // assert
         final double sin = Math.sin(angle);
         final double cos = Math.cos(angle);
 
         final double[] expected = {
             cos, -sin, 0,
             sin, cos, 0
         };
         Assert.assertArrayEquals(expected, m.toArray(), 0.0);
     }
 
     @Test
     public void testToMatrix_apply() {
         // act/assert
         checkRotate(angle -> Rotation2D.of(angle).toMatrix(), AffineTransformMatrix2D::apply);
     }
 
     @Test
     public void testCreateRotationVector() {
         // arrange
         final double min = -8;
         final double max = 8;
         final double step = 1;
 
         EuclideanTestUtils.permuteSkipZero(min, max, step, (ux, uy) -> {
             EuclideanTestUtils.permuteSkipZero(min, max, step, (vx, vy) -> {
 
                 final Vector2D u = Vector2D.of(ux, uy);
                 final Vector2D v = Vector2D.of(vx, vy);
 
                 // act
                 final Rotation2D r = Rotation2D.createVectorRotation(u, v);
 
                 // assert
                 EuclideanTestUtils.assertCoordinatesEqual(v.normalize(), r.apply(u).normalize(), TEST_EPS); // u -> v
                 Assert.assertEquals(0.0, v.dot(r.apply(u.orthogonal())), TEST_EPS); // preserves orthogonality
             });
         });
     }
 
     @Test
     public void testCreateRotationVector_invalidVectors() {
         // arrange
         final Vector2D vec = Vector2D.of(1, 1);
 
         final Vector2D zero = Vector2D.ZERO;
         final Vector2D nan = Vector2D.NaN;
         final Vector2D posInf = Vector2D.POSITIVE_INFINITY;
         final Vector2D negInf = Vector2D.POSITIVE_INFINITY;
 
         // act/assert
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(zero, vec);
         }, IllegalArgumentException.class);
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(vec, zero);
         }, IllegalArgumentException.class);
 
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(nan, vec);
         }, IllegalArgumentException.class);
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(vec, nan);
         }, IllegalArgumentException.class);
 
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(posInf, vec);
         }, IllegalArgumentException.class);
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(vec, negInf);
         }, IllegalArgumentException.class);
 
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(zero, nan);
         }, IllegalArgumentException.class);
         GeometryTestUtils.assertThrows(() -> {
             Rotation2D.createVectorRotation(negInf, posInf);
         }, IllegalArgumentException.class);
     }
 
     @Test
     public void testHashCode() {
         // arrange
         final Rotation2D a = Rotation2D.of(1.0);
         final Rotation2D b = Rotation2D.of(0.0);
         final Rotation2D c = Rotation2D.of(-1.0);
         final Rotation2D d = Rotation2D.of(1.0);
 
         final int hash = a.hashCode();
 
         // act/assert
         Assert.assertEquals(hash, a.hashCode());
 
         Assert.assertNotEquals(hash, b.hashCode());
         Assert.assertNotEquals(hash, c.hashCode());
 
         Assert.assertEquals(hash, d.hashCode());
     }
 
     @Test
     public void testEquals() {
         // arrange
         final Rotation2D a = Rotation2D.of(1.0);
         final Rotation2D b = Rotation2D.of(0.0);
         final Rotation2D c = Rotation2D.of(-1.0);
         final Rotation2D d = Rotation2D.of(1.0);
 
         // act/assert
         Assert.assertFalse(a.equals(null));
         Assert.assertFalse(a.equals(new Object()));
 
         Assert.assertEquals(a, a);
 
         Assert.assertNotEquals(a, b);
         Assert.assertNotEquals(a, c);
 
         Assert.assertEquals(a, d);
         Assert.assertEquals(d, a);
     }
 
     @Test
     public void testToString() {
         // arrange
         final Rotation2D r = Rotation2D.of(1.0);
 
         // act
         final String str = r.toString();
 
         // assert
         Assert.assertEquals("Rotation2D[angle=1.0]", str);
     }
 
     private static void checkApply(final double angle, final Vector2D pt, final Vector2D expectedPt) {
         final Rotation2D r = Rotation2D.of(angle);
         EuclideanTestUtils.assertCoordinatesEqual(expectedPt, r.apply(pt), TEST_EPS);
     }
 
     private static void checkApplyVector(final double angle, final Vector2D pt, final Vector2D expectedPt) {
         final Rotation2D r = Rotation2D.of(angle);
         EuclideanTestUtils.assertCoordinatesEqual(expectedPt, r.applyVector(pt), TEST_EPS);
     }
 
     /** Check a rotation transform for consistency against a variety of points and rotation angles.
      * @param factory function used to create a rotation transform from an input angle
      * @param transformFn function that accepts the transform and a point and returns
      *      the transformed point
      */
     private static <T extends EuclideanTransform<Vector2D>> void checkRotate(
             final DoubleFunction<T> factory, final BiFunction<T, Vector2D, Vector2D> transformFn) {
 
         // check zero
         final T transform = factory.apply(0);
         EuclideanTestUtils.assertCoordinatesEqual(Vector2D.ZERO, transformFn.apply(transform, Vector2D.ZERO), TEST_EPS);
 
         // check a variety of non-zero points
         EuclideanTestUtils.permuteSkipZero(-2, -2, 1, (x, y) -> {
             checkRotatePoint(Vector2D.of(x, y), factory, transformFn);
         });
     }
 
     /** Check a rotation transform for consistency when transforming a single point against a
      * variety of rotation angles.
      * @param pt point to transform
      * @param factory function used to create a rotation transform from an input angle
      * @param transformFn function that accepts the transform and a point and returns
      *      the transformed point
      */
     private static <T extends EuclideanTransform<Vector2D>> void checkRotatePoint(
             final Vector2D pt, final DoubleFunction<T> factory, final BiFunction<T, Vector2D, Vector2D> transformFn) {
 
         // arrange
         final double limit = 4 * Math.PI;
         final double inc = 0.25;
 
         final Line line = Lines.fromPointAndDirection(Vector2D.ZERO, pt, TEST_PRECISION);
 
         T transform;
         Vector2D resultPt;
         Line resultLine;
         for (double angle = -limit; angle < limit; angle += inc) {
             transform = factory.apply(angle);
 
             // act
             resultPt = transformFn.apply(transform, pt);
 
             // assert
             // check that the norm is unchanged
             Assert.assertEquals(pt.norm(), resultPt.norm(), TEST_EPS);
 
             resultLine = Lines.fromPointAndDirection(Vector2D.ZERO, resultPt, TEST_PRECISION);
             final double lineAngle = line.angle(resultLine);
 
             // check that the angle is what we expect
             Assert.assertEquals(PlaneAngleRadians.normalizeBetweenMinusPiAndPi(angle), lineAngle, TEST_EPS);
         }
     }
 }