#include <gr2/types.h>

#include <cmath>
#include <cstdio>
#include <vector>

int main() {
	// ScaleShearCurve uses 9 values per control point. A quadratic span reads
	// three control points, so this is the regression case for the former 3*4
	// stack buffer in Curve::eval().
	gr2::Curve curve;
	curve.degree = 2;
	curve.dim = 9;
	curve.knots = {0.0f, 1.0f, 2.0f};
	curve.controls.resize(27);
	for (size_t i = 0; i < curve.controls.size(); ++i) {
		curve.controls[i] = 1.0f + static_cast<float>(i) * 0.01f;
	}

	float out[9] = {};
	curve.eval(0.5f, out);
	for (float value : out) {
		if (!std::isfinite(value)) {
			std::fprintf(stderr, "non-finite 9D curve output\n");
			return 1;
		}
	}

	// BoneTrack::sample fills SRT components and flags; sample_local = compose(sample).
	gr2::BoneTrack track;
	track.position.degree = 1;
	track.position.dim = 3;
	track.position.knots = {0.0f, 1.0f};
	track.position.controls = {0.0f, 0.0f, 0.0f, 2.0f, 4.0f, 6.0f};
	track.orientation.degree = 0;
	track.orientation.dim = 4;
	track.orientation.knots = {0.0f};
	track.orientation.controls = {0.0f, 0.0f, 0.70710678f, 0.70710678f}; // 90 deg about Z
	gr2::Transform x;
	track.sample(0.5f, x);
	if (x.flags != 3 || std::fabs(x.position[0] - 1.0f) > 1e-5f || std::fabs(x.position[2] - 3.0f) > 1e-5f) {
		std::fprintf(stderr, "BoneTrack::sample flags=%u pos=%f,%f,%f\n", x.flags, x.position[0], x.position[1], x.position[2]);
		return 1;
	}
	gr2::Animation anim;
	anim.tracks.push_back(track);
	std::vector<gr2::Mat4> local;
	anim.sample_local(0.5f, local);
	const gr2::Mat4 m = gr2::compose(x);
	// Row-major composite: row 0 is the rotated X axis (0,1,0); translation in 12..14.
	if (local.size() != 1 || local[0] != m || std::fabs(m[1] - 1.0f) > 1e-5f || std::fabs(m[12] - 1.0f) > 1e-5f) {
		std::fprintf(stderr, "compose mismatch m[1]=%f m[12]=%f\n", m[1], m[12]);
		return 1;
	}
	return 0;
}