#include <AP_gtest.h>

#include <AP_Math/AP_Math.h>

#define SQRT_2 1.4142135623730951f

TEST(VectorTest, Rotations)
{
    unsigned rotation_count = 0;

#define TEST_ROTATION(rotation, _x, _y, _z) { \
    const float accuracy = 1.0e-6; \
    Vector3f v(1, 1, 1); \
    v.rotate(rotation); \
    Vector3f expected(_x, _y, _z); \
    EXPECT_NEAR(expected.length(), v.length(), accuracy); \
    EXPECT_FLOAT_EQ(expected.x, v.x); \
    EXPECT_FLOAT_EQ(expected.y, v.y); \
    EXPECT_FLOAT_EQ(expected.z, v.z); \
    rotation_count++; \
}

    TEST_ROTATION(ROTATION_NONE, 1, 1, 1);
    TEST_ROTATION(ROTATION_YAW_45, 0, SQRT_2, 1);
    TEST_ROTATION(ROTATION_YAW_90, -1, 1, 1);
    TEST_ROTATION(ROTATION_YAW_135, -SQRT_2, 0, 1);
    TEST_ROTATION(ROTATION_YAW_180, -1, -1, 1);
    TEST_ROTATION(ROTATION_YAW_225, 0, -SQRT_2, 1);
    TEST_ROTATION(ROTATION_YAW_270, 1, -1, 1);
    TEST_ROTATION(ROTATION_YAW_315, SQRT_2, 0, 1);
    TEST_ROTATION(ROTATION_ROLL_180, 1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_45, SQRT_2, 0, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_90, 1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_135, 0, SQRT_2, -1);
    TEST_ROTATION(ROTATION_PITCH_180, -1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_225, -SQRT_2, 0, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_270, -1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_180_YAW_315, 0, -SQRT_2, -1);
    TEST_ROTATION(ROTATION_ROLL_90, 1, -1, 1);
    TEST_ROTATION(ROTATION_ROLL_90_YAW_45, SQRT_2, 0, 1);
    TEST_ROTATION(ROTATION_ROLL_90_YAW_90, 1, 1, 1);
    TEST_ROTATION(ROTATION_ROLL_90_YAW_135, 0, SQRT_2, 1);
    TEST_ROTATION(ROTATION_ROLL_270, 1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_270_YAW_45, 0, SQRT_2, -1);
    TEST_ROTATION(ROTATION_ROLL_270_YAW_90, -1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_270_YAW_135, -SQRT_2, 0, -1);
    TEST_ROTATION(ROTATION_PITCH_90, 1, 1, -1);
    TEST_ROTATION(ROTATION_PITCH_270, -1, 1, 1);
    TEST_ROTATION(ROTATION_PITCH_180_YAW_90, -1, -1, -1);
    TEST_ROTATION(ROTATION_PITCH_180_YAW_270, 1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_90_PITCH_90, 1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_180_PITCH_90, -1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_270_PITCH_90, -1, 1, -1);
    TEST_ROTATION(ROTATION_ROLL_90_PITCH_180, -1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_270_PITCH_180, -1, 1, 1);
    TEST_ROTATION(ROTATION_ROLL_90_PITCH_270, -1, -1, 1);
    TEST_ROTATION(ROTATION_ROLL_180_PITCH_270, 1, -1, 1);
    TEST_ROTATION(ROTATION_ROLL_270_PITCH_270, 1, 1, 1);
    TEST_ROTATION(ROTATION_ROLL_90_PITCH_180_YAW_90, 1, -1, -1);
    TEST_ROTATION(ROTATION_ROLL_90_YAW_270, -1, -1, 1);
    TEST_ROTATION(ROTATION_ROLL_90_PITCH_68_YAW_293, -0.4066309f, -1.5839677f, -0.5706992f);

    EXPECT_EQ(ROTATION_MAX, rotation_count) << "All rotations are expect to be tested";
}

AP_GTEST_MAIN()