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#include <TestHelpers.hpp>
#include <gtest/gtest.h>

#include <dart/dynamics/BodyNode.hpp>
#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/Skeleton.hpp>

#include <dart/simulation/World.hpp>

#include <dart/collision/CollisionResult.hpp>

//==============================================================================
TEST(Issue1231, NoContacts)
{
  dart::simulation::WorldPtr world = dart::simulation::World::create();

  double x = -0.25;
  for (const std::string& name : {"1", "2"})
  {
    const auto skeleton = dart::dynamics::Skeleton::create(name);
    skeleton->setMobile(false);
    auto pair
        = skeleton->createJointAndBodyNodePair<dart::dynamics::FreeJoint>();
    auto joint = pair.first;
    auto bn = pair.second;

    Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
    tf.translation() = Eigen::Vector3d(x, x, x);
    joint->setTransform(tf);
    x += 0.5;

    bn->createShapeNodeWith<dart::dynamics::CollisionAspect>(
        std::make_shared<dart::dynamics::BoxShape>(
            Eigen::Vector3d::Constant(1.0)));

    world->addSkeleton(skeleton);
  }

  world->step();
  const std::size_t num = world->getLastCollisionResult().getNumContacts();
  EXPECT_EQ(0u, num);
}
