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#include <vector>
#include <typeinfo>

#include <pcl/test/gtest.h>

#include <pcl/geometry/polygon_mesh.h>

#include "test_mesh_common_functions.h"

#include <type_traits>

////////////////////////////////////////////////////////////////////////////////

using VertexIndex = pcl::geometry::VertexIndex;
using HalfEdgeIndex = pcl::geometry::HalfEdgeIndex;
using EdgeIndex = pcl::geometry::EdgeIndex;
using FaceIndex = pcl::geometry::FaceIndex;

using VertexIndices = std::vector<VertexIndex>;
using HalfEdgeIndices = std::vector<HalfEdgeIndex>;
using FaceIndices = std::vector<FaceIndex>;

template <bool IsManifoldT>
struct MeshTraits
{
    using VertexData = int;
    using HalfEdgeData = pcl::geometry::NoData;
    using EdgeData = pcl::geometry::NoData;
    using FaceData = pcl::geometry::NoData;
    using IsManifold = std::integral_constant <bool, IsManifoldT>;
};

using ManifoldPolygonMesh = pcl::geometry::PolygonMesh<MeshTraits<true> >;
using NonManifoldPolygonMesh = pcl::geometry::PolygonMesh<MeshTraits<false> >;

using PolygonMeshTypes = testing::Types <ManifoldPolygonMesh, NonManifoldPolygonMesh>;

template <class MeshT>
class TestPolygonMesh : public testing::Test
{
  protected:
    using Mesh = MeshT;
};

TYPED_TEST_SUITE (TestPolygonMesh, PolygonMeshTypes);

////////////////////////////////////////////////////////////////////////////////

TYPED_TEST (TestPolygonMesh, CorrectMeshTag)
{
  using Mesh = typename TestFixture::Mesh;
  using MeshTag = typename Mesh::MeshTag;

  ASSERT_EQ (typeid (pcl::geometry::PolygonMeshTag), typeid (MeshTag));
}

////////////////////////////////////////////////////////////////////////////////

// NOTE: It is the responsibility of the user to ensure that all vertex indices are valid.

//TYPED_TEST (TestPolygonMesh, OutOfRange)
//{
//  using Mesh = typename TestFixture::Mesh;

//  Mesh mesh;
//  VertexIndices vi;
//  for (unsigned int i=0; i<3; ++i)
//  {
//    vi.push_back (VertexIndex (i));
//  }
//  EXPECT_FALSE (mesh.addFace (vi).isValid ());

//  mesh.addVertex (0);
//  EXPECT_FALSE (mesh.addFace (vi).isValid ());

//  mesh.addVertex (1);
//  EXPECT_FALSE (mesh.addFace (vi).isValid ());

//  mesh.addVertex (2);
//  EXPECT_TRUE (mesh.addFace (vi).isValid ());
//}

////////////////////////////////////////////////////////////////////////////////

TYPED_TEST (TestPolygonMesh, CorrectNumberOfVertices)
{
  // Make sure that only quads can be added
  using Mesh = typename TestFixture::Mesh;

  for (unsigned int n=1; n<=5; ++n)
  {
    Mesh mesh;
    VertexIndices vi;
    for (unsigned int i=0; i<n; ++i)
    {
      vi.push_back (VertexIndex (i));
      mesh.addVertex (i);
    }

    const FaceIndex index = mesh.addFace (vi);
    if (n>=3) EXPECT_TRUE  (index.isValid ()) << "Number of vertices in the face: " << n;
    else      EXPECT_FALSE (index.isValid ()) << "Number of vertices in the face: " << n;
  }
}

////////////////////////////////////////////////////////////////////////////////

TYPED_TEST (TestPolygonMesh, ThreePolygons)
{
  using Mesh = typename TestFixture::Mesh;

  //   1 - 6   //
  //  / \   \  //
  // 2 - 0   5 //
  //  \   \ /  //
  //   3 - 4   //
  Mesh mesh;
  for (unsigned int i=0; i<7; ++i) mesh.addVertex (i);

  std::vector <VertexIndices> faces;
  VertexIndices vi;
  vi.push_back (VertexIndex (0));
  vi.push_back (VertexIndex (1));
  vi.push_back (VertexIndex (2));
  faces.push_back (vi);
  vi.clear ();

  vi.push_back (VertexIndex (0));
  vi.push_back (VertexIndex (2));
  vi.push_back (VertexIndex (3));
  vi.push_back (VertexIndex (4));
  faces.push_back (vi);
  vi.clear ();

  vi.push_back (VertexIndex (0));
  vi.push_back (VertexIndex (4));
  vi.push_back (VertexIndex (5));
  vi.push_back (VertexIndex (6));
  vi.push_back (VertexIndex (1));
  faces.push_back (vi);
  vi.clear ();

  for (const auto &face : faces)
  {
    ASSERT_TRUE (mesh.addFace (face).isValid ());
  }

  ASSERT_TRUE (hasFaces (mesh, faces));

  mesh.deleteFace (FaceIndex (1));
  mesh.cleanUp ();

  std::vector <std::vector <int> > expected;
  std::vector <int> tmp;
  tmp.push_back (0);
  tmp.push_back (1);
  tmp.push_back (2);
  expected.push_back (tmp);
  tmp.clear ();

  tmp.push_back (0);
  tmp.push_back (4);
  tmp.push_back (5);
  tmp.push_back (6);
  tmp.push_back (1);
  expected.push_back (tmp);
  tmp.clear ();

  ASSERT_TRUE (hasFaces (mesh, expected));
  std::vector <int> expected_boundary;
  expected_boundary.push_back (2);
  expected_boundary.push_back (1);
  expected_boundary.push_back (6);
  expected_boundary.push_back (5);
  expected_boundary.push_back (4);
  expected_boundary.push_back (0);
  ASSERT_EQ (expected_boundary, getBoundaryVertices (mesh, 0));
}

////////////////////////////////////////////////////////////////////////////////

int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
