/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 */

#include <gtest/gtest.h>

#include "TestHelpers.hpp"

#include "dart/common/common.hpp"
#include "dart/constraint/constraint.hpp"
#include "dart/dynamics/dynamics.hpp"
#include "dart/simulation/World.hpp"

using namespace dart;

//==============================================================================
void testContactWithKinematicJoint(
    const constraint::BoxedLcpSolverPtr& lcpSolver, double tol)
{
  auto world = std::make_shared<simulation::World>();
  world->setConstraintSolver(
      std::make_unique<constraint::BoxedLcpConstraintSolver>(lcpSolver));

  auto skeleton1 = dynamics::Skeleton::create("skeleton1");
  auto pair1 = skeleton1->createJointAndBodyNodePair<dynamics::FreeJoint>();
  auto bodyNode1 = pair1.second;
  auto joint1 = pair1.first;
  joint1->setActuatorType(dynamics::Joint::VELOCITY);
  auto shape1
      = std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(1.0, 1.0, 1.0));
  bodyNode1->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
      shape1);
  skeleton1->setPosition(5, 0.0);

  auto skeleton2 = dynamics::Skeleton::create("skeleton2");
  auto pair2 = skeleton2->createJointAndBodyNodePair<dynamics::FreeJoint>();
  auto bodyNode2 = pair2.second;
  auto joint2 = pair2.first;
  joint2->setActuatorType(dynamics::Joint::FORCE);
  auto shape2
      = std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.5, 0.5, 0.5));
  bodyNode2->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
      shape2);
  skeleton2->setPosition(5, 0.75);

  world->addSkeleton(skeleton1);
  world->addSkeleton(skeleton2);

  for (auto i = 0u; i < 100; ++i)
  {
    skeleton1->setCommand(3, 0.1);

    world->step();

    EXPECT_EQ(bodyNode1->getLinearVelocity()[0], 0.1);

    // Need few steps to settle down
    if (i > 15)
    {
      EXPECT_NEAR(bodyNode2->getLinearVelocity()[0], 0.1, tol);
    }
  }
}

//==============================================================================
TEST(ContactConstraint, ContactWithKinematicJoint)
{
  testContactWithKinematicJoint(
      std::make_shared<constraint::DantzigBoxedLcpSolver>(), 1e-6);

#ifdef DART_ARCH_32BITS
  testContactWithKinematicJoint(
      std::make_shared<constraint::PgsBoxedLcpSolver>(), 1e-3);
#else
  testContactWithKinematicJoint(
      std::make_shared<constraint::PgsBoxedLcpSolver>(), 1e-4);
#endif
}
