#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;

namespace LinearAlgebra.Test {

    [TestFixture]
    public class SwingTwistTest {

        [Test]
        public void Degrees_CreatesSwingTwistWithDegreeAngles() {
            SwingTwist st = SwingTwist.Degrees(45, 30, 15);
            Assert.IsNotNull(st);
            Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(15, st.twist.inDegrees, 0.01f);
        }

        [Test]
        public void Radians_CreatesSwingTwistWithRadianAngles() {
            float pi = (float)System.Math.PI;
            SwingTwist st = SwingTwist.Radians(pi / 4, pi / 6, pi / 12);
            Assert.IsNotNull(st);
            Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(15, st.twist.inDegrees, 0.01f);
        }

        [Test]
        public void Zero_CreatesZeroRotation() {
            SwingTwist st = SwingTwist.zero;
            Assert.AreEqual(0, st.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(0, st.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(0, st.twist.inDegrees, 0.01f);
        }

        [Test]
        public void QuaternionTest() {
            Quaternion q;
            SwingTwist s;
            Quaternion r;

            q = Quaternion.identity;
            s = SwingTwist.FromQuaternion(q);
            r = s.ToQuaternion();
            Assert.AreEqual(q, r);

            q = Quaternion.Euler(90, 0, 0);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(0, s.swing.horizontal.inDegrees, 10e-2f);
            Assert.AreEqual(90, s.swing.vertical.inDegrees, 10e-2f);
            Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
            r = s.ToQuaternion();
            Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            q = Quaternion.Euler(0, 90, 0);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(90, s.swing.horizontal.inDegrees,10e-2f);
            Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
            r = s.ToQuaternion();
            Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            q = Quaternion.Euler(0, 0, 90);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(0, s.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(90, s.twist.inDegrees, 0.01f);
            r = s.ToQuaternion();
            Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            q = Quaternion.Euler(0, 180, 0);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
            r = s.ToQuaternion();
            Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            q = Quaternion.Euler(0, 135, 0);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(135, s.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
            r = s.ToQuaternion();
            Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            q = Quaternion.Euler(60, 45, 30);
            s = SwingTwist.FromQuaternion(q);
            Assert.AreEqual(45, s.swing.horizontal.inDegrees, 0.01f);
            Assert.AreEqual(60, s.swing.vertical.inDegrees, 0.01f);
            Assert.AreEqual(30, s.twist.inDegrees, 0.01f);
            // r = s.ToQuaternion();
            // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            // q = Quaternion.Euler(-45, -30, -15);
            // s = SwingTwist.FromQuaternion(q);
            // Assert.AreEqual(-30, s.swing.horizontal.inDegrees, 0.01f);
            // Assert.AreEqual(-45, s.swing.vertical.inDegrees, 0.01f);
            // Assert.AreEqual(-15, s.twist.inDegrees, 0.01f);
            // r = s.ToQuaternion();
            // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

            // q = Quaternion.Euler(180, 180, 180);
            // s = SwingTwist.FromQuaternion(q);
            // Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f);
            // Assert.AreEqual(-180, s.swing.vertical.inDegrees, 0.01f);
            // Assert.AreEqual(-180, s.twist.inDegrees, 0.01f);
            // r = s.ToQuaternion();
            // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);

        }

        [Test]
        public void ToAngleAxis_ConvertsToSpherical() {
            SwingTwist st = SwingTwist.Degrees(45, 30, 15);
            Spherical s = st.ToAngleAxis();
            Assert.IsNotNull(s);
        }

        [Test]
        public void FromAngleAxis_ConvertsFromSpherical() {
            Spherical s = new(90, Direction.Degrees(45, 0));
            SwingTwist st = SwingTwist.FromAngleAxis(s);
            Assert.IsNotNull(st);
        }

    }

}

#endif