#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jul  5 14:37:24 2020

@author: corkep
"""

from spatialmath.geom3d import *

import unittest
import numpy.testing as nt
import spatialmath.base as base

class PluckerTest(unittest.TestCase):
    

    # Primitives
    def test_constructor1(self):
        
        # construct from 6-vector
        L = Plucker([1, 2, 3, 4, 5, 6])
        self.assertIsInstance(L, Plucker)
        nt.assert_array_almost_equal(L.v, np.r_[1, 2, 3])
        nt.assert_array_almost_equal(L.w, np.r_[4, 5, 6])
        
        # construct from object
        L2 = Plucker(L)
        self.assertIsInstance(L, Plucker)
        nt.assert_array_almost_equal(L2.v, np.r_[1, 2, 3])
        nt.assert_array_almost_equal(L2.w, np.r_[4, 5, 6])
        
        # construct from point and direction
        L = Plucker.PointDir([1, 2, 3], [4, 5, 6])
        self.assertTrue(L.contains([1, 2, 3]))
        nt.assert_array_almost_equal(L.uw, base.unitvec([4, 5, 6]))
    
    
    def test_vec(self):
        # verify double
        L = Plucker([1, 2, 3, 4, 5, 6])
        nt.assert_array_almost_equal(L.vec, np.r_[1, 2, 3, 4, 5, 6])
    
    def test_constructor2(self):
        # 2, point constructor
        P = np.r_[2, 3, 7]
        Q = np.r_[2, 1, 0]
        L = Plucker.PQ(P, Q)
        nt.assert_array_almost_equal(L.w, P-Q)
        nt.assert_array_almost_equal(L.v, np.cross(P-Q, Q))
    
        # TODO, all combos of list and ndarray
        # test all possible input shapes
        # L2, = Plucker(P, Q)
        # self.assertEqual(double(L2), double(L))
        # L2, = Plucker(P, Q')
        # self.assertEqual(double(L2), double(L))
        # L2, = Plucker(P', Q')
        # self.assertEqual(double(L2), double(L))
        # L2, = Plucker(P, Q)
        # self.assertEqual(double(L2), double(L))
        
        # # planes constructor
        # P = [10, 11, 12]'; w = [1, 2, 3]
        # L = Plucker.PointDir(P, w)
        # self.assertEqual(double(L), [cross(w,P) w]'); %FAIL
        # L2, = Plucker.PointDir(P', w)
        # self.assertEqual(double(L2), double(L))
        # L2, = Plucker.PointDir(P, w')
        # self.assertEqual(double(L2), double(L))
        # L2, = Plucker.PointDir(P', w')
        # self.assertEqual(double(L2), double(L))
    
    
    def test_pp(self):
        # validate pp and ppd
        L = Plucker.PQ([-1, 1, 2], [1, 1, 2])
        nt.assert_array_almost_equal(L.pp, np.r_[0, 1, 2])
        self.assertEqual(L.ppd, math.sqrt(5))
        
        # validate pp
        self.assertTrue( L.contains(L.pp) )
    
    
    def test_contains(self):
        P = [2, 3, 7]
        Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        # validate contains
        self.assertTrue( L.contains([2, 3, 7]) )
        self.assertTrue( L.contains([2, 1, 0]) )
        self.assertFalse( L.contains([2, 1, 4]) )
    
    
    def test_closest(self):
        P = [2, 3, 7]
        Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        out = L.closest(P)
        nt.assert_array_almost_equal(out.p, P)
        self.assertAlmostEqual(out.d, 0)
        
            # validate closest with given points and origin
        out = L.closest(Q)
        nt.assert_array_almost_equal(out.p, Q)
        self.assertAlmostEqual(out.d, 0)
        
        L = Plucker.PQ([-1, 1, 2], [1, 1, 2])
        out = L.closest([0, 1, 2])
        nt.assert_array_almost_equal(out.p, np.r_[0, 1, 2])
        self.assertAlmostEqual(out.d, 0)
        
        out = L.closest([5, 1, 2])
        nt.assert_array_almost_equal(out.p, np.r_[5, 1, 2])
        self.assertAlmostEqual(out.d, 0)
        
        out = L.closest([0, 0, 0])
        nt.assert_array_almost_equal(out.p, L.pp)
        self.assertEqual(out.d, L.ppd)
        
        out = L.closest([5, 1, 0])
        nt.assert_array_almost_equal(out.p, [5, 1, 2])
        self.assertAlmostEqual(out.d, 2)
    
    def test_plot(self):
        
        P = [2, 3, 7]
        Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        fig = plt.figure()
        ax = fig.add_subplot(111, projection='3d', proj_type='ortho')
        ax.set_xlim3d(-10, 10)
        ax.set_ylim3d(-10, 10)
        ax.set_zlim3d(-10, 10)
        
        L.plot(color='red', linewidth=2)
    
    def test_eq(self):
        w = np.r_[1, 2, 3]
        P = np.r_[-2, 4, 3]
        
        L1 = Plucker.PQ(P, P + w)
        L2 = Plucker.PQ(P + 2 * w, P + 5 * w)
        L3 = Plucker.PQ(P + np.r_[1, 0, 0], P + w)
        
        self.assertTrue(L1 == L2)
        self.assertFalse(L1 == L3)
        
        self.assertFalse(L1 != L2)
        self.assertTrue(L1 != L3)
    
    def test_skew(self):
        
        P = [2, 3, 7]; Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        m = L.skew
        
        self.assertEqual(m.shape, (4,4))
        nt.assert_array_almost_equal(m + m.T, np.zeros((4,4)))
    
    def test_mtimes(self):
        P = [1, 2, 0]
        Q = [1, 2, 10]  # vertical line through (1,2)
        L = Plucker.PQ(P, Q)
        
        # check transformation by SE3
        
        L2 = SE3() * L
        nt.assert_array_almost_equal(L.vec, L2.vec)
        
        L2 = SE3(2, 0, 0) * L  # shift line in the x direction
        nt.assert_array_almost_equal(L2.vec, np.r_[20, -30, 0, 0, 0, -10])
        L2 = SE3(0, 2, 0) * L  # shift line in the y direction
        nt.assert_array_almost_equal(L2.vec, np.r_[40, -10, 0, 0, 0, -10])
    
    def test_parallel(self):
        
        L1 = Plucker.PointDir([4, 5, 6], [1, 2, 3])
        L2 = Plucker.PointDir([5, 5, 6], [1, 2, 3])
        L3 = Plucker.PointDir([4, 5, 6], [3, 2, 1])
        
        # L1, || L2, but doesnt intersect
        # L1, intersects L3
        
        self.assertTrue( L1.isparallel(L1) )
        self.assertTrue(L1 | L1)
        
        self.assertTrue( L1.isparallel(L2) )
        self.assertTrue(L1 | L2)
        self.assertTrue( L2.isparallel(L1) )
        self.assertTrue(L2 | L1)
        self.assertFalse( L1.isparallel(L3) )
        self.assertFalse(L1 | L3)
    
    
    def test_intersect(self):
    
        
        L1 = Plucker.PointDir([4, 5, 6], [1, 2, 3])
        L2 = Plucker.PointDir([5, 5, 6], [1, 2, 3])
        L3 = Plucker.PointDir( [4, 5, 6], [0, 0, 1])
        L4 = Plucker.PointDir([5, 5, 6], [1, 0, 0])
    
        # L1, || L2, but doesnt intersect
        # L3, intersects L4
        self.assertFalse( L1^L2, )
        
        self.assertTrue( L3^L4, )
        
        
    def test_commonperp(self):
        L1 = Plucker.PointDir([4, 5, 6], [0, 0, 1])
        L2 = Plucker.PointDir([6, 5, 6], [0, 1, 0])
        
        self.assertFalse( L1|L2)
        self.assertFalse( L1^L2)
        
        self.assertEqual( L1.distance(L2), 2)
        
        L = L1.commonperp(L2)  # common perp intersects both lines
        
        self.assertTrue( L^L1)
        self.assertTrue( L^L2)
    
    
    def test_line(self):
        
        # mindist
        # intersect
        # char
        # intersect_volume
        # mindist
        # mtimes
        # or
        # side
        pass
    
    def test_point(self):
        P = [2, 3, 7]
        Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        self.assertTrue( L.contains(L.point(0)) )
        self.assertTrue( L.contains(L.point(1)) )
        self.assertTrue( L.contains(L.point(-1)) )
    
    
    def test_char(self):
        P = [2, 3, 7]
        Q = [2, 1, 0]
        L = Plucker.PQ(P, Q)
        
        s = str(L)
        self.assertIsInstance(s, str)

    def test_plane(self):
        
        xyplane = [0, 0, 1, 0]
        xzplane = [0, 1, 0, 0]
        L = Plucker.Planes(xyplane, xzplane) # x axis
        nt.assert_array_almost_equal(L.vec, np.r_[0, 0, 0, -1, 0, 0])
        
        L = Plucker.PQ([-1, 2, 3], [1, 2, 3]);  # line at y=2,z=3
        x6 = [1, 0, 0, -6]  # x = 6
        
        # plane_intersect
        p, lam = L.intersect_plane(x6)
        nt.assert_array_almost_equal(p, np.r_[6, 2, 3])
        nt.assert_array_almost_equal(L.point(lam).flatten(), np.r_[6, 2, 3])
        

        x6s = Plane.PN(n=[1, 0, 0], p=[6, 0, 0])
        p, lam = L.intersect_plane(x6s)
        nt.assert_array_almost_equal(p, np.r_[6, 2, 3])
        
        nt.assert_array_almost_equal(L.point(lam).flatten(), np.r_[6, 2, 3])
    
    def test_methods(self):
        # intersection
        px = Plucker.PQ([0, 0, 0], [1, 0, 0]);  # x-axis
        py = Plucker.PQ([0, 0, 0], [0, 1, 0]);  # y-axis
        px1 = Plucker.PQ([0, 1, 0], [1, 1, 0]); # offset x-axis
        
        self.assertEqual(px.ppd, 0)
        self.assertEqual(px1.ppd, 1)
        nt.assert_array_almost_equal(px1.pp, [0, 1, 0])

        px.intersects(px)
        px.intersects(py)
        px.intersects(px1)
        
        
    # def test_intersect(self):
    #     px = Plucker([0, 0, 0], [1, 0, 0]);  # x-axis
    #     py = Plucker([0, 0, 0], [0, 1, 0]);  # y-axis
    #     
    #     plane.d = [1, 0, 0]; plane.p = 2; # plane x=2
    #     
    #     px.intersect_plane(plane)
    #     py.intersect_plane(plane)

if __name__ == "__main__":

    unittest.main()
