#ifndef TESTBULLETONLY_HAS_BEEN_INCLUDED
#define TESTBULLETONLY_HAS_BEEN_INCLUDED

#include "cppunit/TestFixture.h"
#include "cppunit/extensions/HelperMacros.h"

#include "btBulletDynamicsCommon.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"

// ---------------------------------------------------------------------------

class TestBulletOnly : public CppUnit::TestFixture
{
public:

    void setUp() 
    {
        // empty
    }

    void tearDown() 
    {
        // empty
    }

    btRigidBody::btRigidBodyConstructionInfo buildConstructionInfo( btScalar mass, btScalar friction, btScalar restitution, btScalar linearDamping,
                                                                    btScalar angularDamping, btDefaultMotionState & state, btCollisionShape * shape )
    {
        btVector3 inertia;
        shape->calculateLocalInertia( mass, inertia );
        btRigidBody::btRigidBodyConstructionInfo info( mass, &state, shape, inertia );

        info.m_friction = friction;
        info.m_restitution = restitution;
        info.m_linearDamping = linearDamping;
        info.m_angularDamping = angularDamping;
        
        return info;
    }
    
    void testKinematicVelocity0()
    {
        // Setup the world --
        
        btCollisionConfiguration *          mCollisionConfig;
        btCollisionDispatcher *             mCollisionDispatch;
        btBroadphaseInterface *             mBroadphase;
        btConstraintSolver *                mConstraintSolver;
        btDiscreteDynamicsWorld *           mWorld;

        mCollisionConfig = new btDefaultCollisionConfiguration;
        mCollisionDispatch = new btCollisionDispatcher( mCollisionConfig );
        mBroadphase = new btDbvtBroadphase();
        mConstraintSolver = new btSequentialImpulseConstraintSolver();
        mWorld = new btDiscreteDynamicsWorld( mCollisionDispatch, mBroadphase, mConstraintSolver, mCollisionConfig );
        
        mWorld->setGravity( btVector3( 0, -9.81, 0 ));
        
        // -- .

        // Set up the rigid body --
      
        btCollisionShape * bodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );

        btTransform             bodyInitial;
        btDefaultMotionState    mMotionState;
        
        bodyInitial.setIdentity();
        bodyInitial.setOrigin( btVector3( 0, 0, 0 ) );
        
        btRigidBody mRigidBody( buildConstructionInfo( 1, 0.5, 0.5, 0, 0, mMotionState, bodyShape ) );
       
        mWorld->addRigidBody( &mRigidBody );
            
        mRigidBody.setMassProps( 1, btVector3( 1, 1, 1 ) );
        mRigidBody.updateInertiaTensor();
        mRigidBody.setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT );
        
        // -- .

        // Interpolate the velocity -- 
        
        //btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, 0.3 );
		btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, .3 );
        btTransform interpolated;

        // TODO: This is inaccurate for small spins.
        btTransformUtil::integrateTransform( mRigidBody.getCenterOfMassTransform(), velocity, spin, 1.0f/60.f, interpolated );

        mRigidBody.setInterpolationWorldTransform( interpolated );
        
        // -- .
      
        mWorld->stepSimulation( 1.f/60.f, 60, 1.0f/60.f );
  
		btScalar a = 0.f;

		btScalar f = 1.f/a;
        CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getLinearVelocity().length2(), velocity.length2(), 1e-8 );
#ifdef BT_USE_DOUBLE_PRECISION
		CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 1e-4 );
#else
		CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 5e-3 );
#endif //CPPUNIT_ASSERT_DOUBLES_EQUAL
           
        delete mWorld;
        delete mConstraintSolver;
        delete mBroadphase;
        delete mCollisionDispatch;
        delete mCollisionConfig;
        delete bodyShape;
    }
     
    CPPUNIT_TEST_SUITE(TestBulletOnly);
    CPPUNIT_TEST(testKinematicVelocity0);
    CPPUNIT_TEST_SUITE_END();

private:
    
};

#endif