#include "zeroerr/assert.h"
#include "zeroerr/unittest.h"

#include "animation/AnimClip.h"
#include "animation/AnimControlMath.h"
#include "animation/AnimImporter.h"
#include "animation/AnimLayerMixer.h"
#include "animation/AnimPlayer.h"
#include "animation/AnimGraph.h"
#include "animation/AnimPose.h"
#include "animation/AnimSkeleton.h"
#include "animation/AnimStateMachine.h"
#include "animation/AnimTrail.h"
#include "animation/Animation.h"
#include "animation/ControlAnim.h"
#include "animation/ControlPose.h"
#include "animation/MotionDatabase.h"
#include "animation/MotionMatcher.h"
#include "animation/Tween.h"

#include "common/Exception.h"

#include <cmath>
#include <algorithm>
#include <memory>

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using namespace eve::animation;

TEST_CASE("animation.tween.lerpAbsolute") {
    auto *anim = Animation::create();
    std::unique_ptr<Tween> tw(anim->newTween(1.f));
    tw->setFrom("x", 0.f);
    tw->setTo("x", 100.f);
    tw->setEase("linear");
    tw->start();

    CHECK(tw->isRunning());
    CHECK(std::fabs(tw->get("x")) < 1e-5f);

    tw->update(0.5f);
    CHECK(std::fabs(tw->get("x") - 50.f) < 1e-4f);
    CHECK(std::fabs(tw->getProgress() - 0.5f) < 1e-5f);

    tw->update(0.5f);
    CHECK(std::fabs(tw->get("x") - 100.f) < 1e-4f);
    CHECK(tw->isFinished());
    CHECK(!tw->isActive());
}

TEST_CASE("animation.tween.setDeltaRelative") {
    auto *anim = Animation::create();
    std::unique_ptr<Tween> tw(anim->newTween(1.f));
    tw->setFrom("y", 10.f);
    tw->setDelta("y", 40.f);  // → 50
    tw->start();

    CHECK(std::fabs(tw->getTo("y") - 50.f) < 1e-5f);
    CHECK(std::fabs(tw->getDelta("y") - 40.f) < 1e-5f);

    tw->update(0.25f);
    CHECK(std::fabs(tw->get("y") - 20.f) < 1e-4f);

    tw->update(0.75f);
    CHECK(std::fabs(tw->get("y") - 50.f) < 1e-4f);
    CHECK(tw->isFinished());
}

TEST_CASE("animation.tween.multiProperty") {
    auto *anim = Animation::create();
    std::unique_ptr<Tween> tw(anim->newTween(2.f));
    tw->setFrom("x", 0.f);
    tw->setTo("x", 200.f);
    tw->setFrom("alpha", 1.f);
    tw->setDelta("alpha", -1.f);  // → 0
    tw->start();

    anim->update(1.f);
    CHECK(std::fabs(tw->get("x") - 100.f) < 1e-3f);
    CHECK(std::fabs(tw->get("alpha") - 0.5f) < 1e-4f);
    CHECK_EQ(tw->getPropertyCount(), 2);
    CHECK_EQ(anim->getActiveCount(), 1);
}

TEST_CASE("animation.tween.easeOutQuad") {
    std::unique_ptr<Tween> tw(new Tween(1.f));
    tw->setFrom("v", 0.f);
    tw->setTo("v", 1.f);
    tw->setEase("outQuad");
    // evaluate at t=0.5: outQuad(0.5) = 1 - 0.5^2 = 0.75
    CHECK(std::fabs(tw->evaluate("v", 0.5f) - 0.75f) < 1e-5f);
}

TEST_CASE("animation.tween.angleShortestPath") {
    std::unique_ptr<Tween> tw(new Tween(1.f));
    tw->setFromAngle("rot", float(M_PI * 0.9));   // ~162°
    tw->setToAngle("rot", float(-M_PI * 0.9));    // ~-162°, short path crosses ±π
    tw->start();
    tw->update(0.5f);
    // Midpoint of shortest arc should be near ±π
    float mid = tw->get("rot");
    CHECK(std::fabs(std::fabs(mid) - float(M_PI)) < 0.05f);
}

TEST_CASE("animation.tween.delayPauseResume") {
    auto *anim = Animation::create();
    std::unique_ptr<Tween> tw(anim->newTween(1.f));
    tw->setFrom("x", 0.f);
    tw->setTo("x", 10.f);
    tw->setDelay(0.5f);
    tw->start();

    CHECK(tw->isDelayed());
    tw->update(0.25f);
    CHECK(tw->isDelayed());
    CHECK(std::fabs(tw->get("x")) < 1e-5f);

    tw->pause();
    CHECK(tw->isPaused());
    tw->update(1.f);  // paused — no progress
    CHECK(tw->isPaused());

    tw->resume();
    tw->update(0.25f);  // finish delay
    CHECK(tw->isRunning());
    tw->update(0.5f);
    CHECK(std::fabs(tw->get("x") - 5.f) < 1e-3f);
}

TEST_CASE("animation.tween.yoyoRepeat") {
    std::unique_ptr<Tween> tw(new Tween(1.f));
    tw->setFrom("x", 0.f);
    tw->setTo("x", 100.f);
    tw->setRepeat(2);
    tw->setYoyo(true);
    tw->start();

    tw->update(1.f);  // end of first cycle → at 100, reverse starts
    CHECK(tw->isRunning());
    CHECK(std::fabs(tw->get("x") - 100.f) < 1e-3f);

    tw->update(0.5f);  // halfway back
    CHECK(std::fabs(tw->get("x") - 50.f) < 1e-2f);

    tw->update(0.5f);  // finished second (yoyo back) cycle
    CHECK(tw->isFinished());
    CHECK(std::fabs(tw->get("x")) < 1e-2f);
}

TEST_CASE("animation.module.clearFinished") {
    auto *anim = Animation::create();
    anim->clearAll();
    // Keep raw pointers: clearFinished only drops registry entries.
    Tween *a = anim->newTween(0.5f);
    Tween *b = anim->newTween(2.f);
    a->setFrom("x", 0.f);
    a->setTo("x", 1.f);
    a->start();
    b->setFrom("x", 0.f);
    b->setTo("x", 1.f);
    b->start();

    CHECK_EQ(anim->getTweenCount(), 2);
    anim->update(0.5f);
    CHECK(a->isFinished());
    CHECK(b->isRunning());
    anim->clearFinished();
    CHECK_EQ(anim->getTweenCount(), 1);
    CHECK_EQ(anim->getActiveCount(), 1);

    delete a;
    delete b;
}

TEST_CASE("animation.tween.unknownEaseThrows") {
    std::unique_ptr<Tween> tw(new Tween(1.f));
    bool threw = false;
    try {
        tw->setEase("notARealEase");
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);
}

TEST_CASE("animation.pose.aimBoneTracksWorldTarget") {
    auto sk = std::make_unique<AnimSkeleton>();
    sk->addBone("root", -1);
    auto pose = std::make_unique<AnimPose>();
    sk->applyBindPose(pose.get());

    REQUIRE(pose->aimBone(sk.get(), 0, 10.f, 0.f, 0.f, 1.f));
    const float forwardX = pose->getWorldMatrixElement(0, 8);
    const float forwardZ = pose->getWorldMatrixElement(0, 10);
    CHECK(forwardX > 0.999f);
    CHECK(std::fabs(forwardZ) < 1e-3f);
}

TEST_CASE("animation.pose.twoBoneIkMovesTipTowardTarget") {
    auto sk   = std::make_unique<AnimSkeleton>();
    int  root = sk->addBone("root", -1);
    int  mid  = sk->addBone("mid", root);
    int  tip  = sk->addBone("tip", mid);
    sk->setBindPosition(mid, 0.f, 1.f, 0.f);
    sk->setBindPosition(tip, 0.f, 1.f, 0.f);
    auto pose = std::make_unique<AnimPose>();
    sk->applyBindPose(pose.get());
    pose->computeWorld(sk.get());
    const float before = std::hypot(pose->getWorldPositionX(tip) - 1.f, pose->getWorldPositionY(tip) - 1.f);

    REQUIRE(pose->solveTwoBoneIK(sk.get(), root, mid, tip, 1.f, 1.f, 0.f, 1.f));
    const float after = std::hypot(pose->getWorldPositionX(tip) - 1.f, pose->getWorldPositionY(tip) - 1.f);
    CHECK(after < before * 0.1f);
}

TEST_CASE("animation.tween.deltaWithoutFromUsesCurrent") {
    std::unique_ptr<Tween> tw(new Tween(1.f));
    tw->setDelta("x", 10.f);  // from defaults to current (0)
    tw->start();
    CHECK(std::fabs(tw->getFrom("x")) < 1e-5f);
    CHECK(std::fabs(tw->getTo("x") - 10.f) < 1e-5f);
    tw->update(1.f);
    CHECK(std::fabs(tw->get("x") - 10.f) < 1e-4f);
}

// ---- helpers for 3D skeletal tests ----

static std::unique_ptr<AnimSkeleton> makeTwoBoneSkeleton() {
    auto sk = std::make_unique<AnimSkeleton>();
    int root = sk->addBone("root", -1);
    sk->setBindPosition(root, 0.f, 0.f, 0.f);
    int hip = sk->addBone("hip", root);
    sk->setBindPosition(hip, 0.f, 1.f, 0.f);
    return sk;
}

/** Clip that moves root along +Z at roughly `speed` units/sec over `dur`. */
static std::unique_ptr<AnimClip> makeLocomotionClip(const char *name, float speed, float dur) {
    auto clip = std::make_unique<AnimClip>(name);
    clip->setLoop(true);
    clip->setSampleRate(20.f);
    clip->setDuration(dur);
    // Root translation keys; hip stays near bind with a mild bob.
    clip->addPositionKey(0, 0.f, 0.f, 0.f, 0.f);
    clip->addPositionKey(0, dur, 0.f, 0.f, speed * dur);
    clip->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    clip->addPositionKey(1, dur * 0.5f, 0.f, 1.05f, speed * dur * 0.5f);
    clip->addPositionKey(1, dur, 0.f, 1.f, speed * dur);
    return clip;
}

TEST_CASE("animation.skeleton.hierarchyAndBind") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    CHECK_EQ(sk->getBoneCount(), 2);
    CHECK_EQ(sk->findBone("hip"), 1);
    CHECK_EQ(sk->getParent(1), 0);
    CHECK(sk->getBoneName(0) == "root");

    std::unique_ptr<AnimPose> pose(new AnimPose());
    sk->applyBindPose(pose.get());
    CHECK_EQ(pose->getBoneCount(), 2);
    CHECK(std::fabs(pose->getLocalPositionY(1) - 1.f) < 1e-5f);

    pose->computeWorld(sk.get());
    CHECK(std::fabs(pose->getWorldPositionY(1) - 1.f) < 1e-4f);
}

TEST_CASE("animation.clip.sampleLerp") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> clip(new AnimClip("wave"));
    clip->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    clip->addPositionKey(1, 1.f, 2.f, 1.f, 0.f);
    clip->setDuration(1.f);

    std::unique_ptr<AnimPose> pose(new AnimPose());
    clip->sample(0.5f, pose.get(), sk.get());
    CHECK(std::fabs(pose->getLocalPositionX(1) - 1.f) < 1e-4f);
    CHECK(std::fabs(pose->getLocalPositionY(1) - 1.f) < 1e-4f);
}

TEST_CASE("animation.player.playAndCrossFade") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> a(makeLocomotionClip("walk", 1.f, 1.f));
    std::unique_ptr<AnimClip> b(makeLocomotionClip("run", 3.f, 1.f));

    std::unique_ptr<AnimPlayer> player(new AnimPlayer(sk.get()));
    player->play(a.get());
    player->update(0.5f);
    CHECK(player->isPlaying());
    CHECK(std::fabs(player->getPose()->getLocalPositionZ(0) - 0.5f) < 0.05f);

    player->crossFade(b.get(), 0.2f);
    player->update(0.1f);
    CHECK(player->isPlaying());
    // Mid-fade: between walk(~0.6) and run start(0)
    float z = player->getPose()->getLocalPositionZ(0);
    CHECK(z > -0.01f);
    CHECK(z < 0.7f);

    player->update(0.2f);
    CHECK(player->getClip() == b.get());
}

TEST_CASE("animation.player.rootMotionAndNotifyAcrossLoop") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 2.f, 1.f));
    walk->addEvent(0.25f, "footstep.left");
    walk->addEvent(0.75f, "footstep.right");
    AnimPlayer player(sk.get());
    player.play(walk.get());
    player.update(0.3f);
    CHECK(std::fabs(player.getRootMotionZ() - 0.6f) < 0.01f);
    CHECK(player.consumeEvent() == "footstep.left");
    CHECK(player.consumeEvent().empty());

    player.setTime(0.9f);
    player.update(0.2f);
    CHECK(std::fabs(player.getRootMotionZ() - 0.4f) < 0.01f);
    player.update(0.7f);
    CHECK(player.consumeEvent() == "footstep.left");
    CHECK(player.consumeEvent() == "footstep.right");
}

TEST_CASE("animation.player.updateRateLodAccumulatesTime") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));
    AnimPlayer player(sk.get());
    player.play(walk.get());
    player.setUpdateRate(10.f);
    player.update(0.04f);
    CHECK(std::fabs(player.getTime()) < 1e-5f);
    player.update(0.06f);
    CHECK(std::fabs(player.getTime() - 0.1f) < 1e-5f);
    CHECK(std::fabs(player.getRootMotionZ() - 0.1f) < 1e-5f);
}

TEST_CASE("animation.graph.blendSpaceLayerAndAdditive") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> run(makeLocomotionClip("run", 4.f, 1.f));
    std::unique_ptr<AnimClip> overlay(new AnimClip("overlay"));
    overlay->setDuration(1.f);
    overlay->addPositionKey(1, 0.f, 2.f, 1.f, 0.f);

    AnimGraph graph(sk.get());
    const int idleNode = graph.addClip(idle.get());
    const int runNode = graph.addClip(run.get());
    const int overlayNode = graph.addClip(overlay.get());
    const int locomotion = graph.addBlendSpace1D();
    graph.addBlendSpace1DPoint(locomotion, 0.f, idleNode);
    graph.addBlendSpace1DPoint(locomotion, 4.f, runNode);
    graph.setPosition1D(locomotion, 2.f);
    const int layer = graph.addLayer(locomotion, overlayNode, 0.5f);
    graph.setBoneMask(layer, 1, 1.f, true);
    graph.setRoot(layer);
    graph.update(0.25f);

    CHECK(std::fabs(graph.getPose()->getLocalPositionZ(0) - 0.5f) < 0.05f);
    CHECK(std::fabs(graph.getPose()->getLocalPositionX(1) - 1.f) < 0.05f);

    const int additive = graph.addAdditive(locomotion, overlayNode, 0.25f);
    graph.setRoot(additive);
    graph.update(0.f);
    CHECK(std::fabs(graph.getPose()->getLocalPositionX(1) - 0.5f) < 0.05f);
}

TEST_CASE("animation.graph.oneShotFadesAndCompletes") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> shot(makeLocomotionClip("shot", 2.f, 0.5f));
    shot->setLoop(false);
    AnimGraph graph(sk.get());
    const int base = graph.addClip(idle.get());
    const int action = graph.addClip(shot.get());
    const int oneShot = graph.addOneShot(base, action, 0.1f, 0.1f);
    graph.setRoot(oneShot);
    graph.trigger(oneShot);
    graph.update(0.25f);
    CHECK(graph.isOneShotActive(oneShot));
    CHECK(graph.getPose()->getLocalPositionZ(0) > 0.1f);
    graph.update(0.3f);
    CHECK(!graph.isOneShotActive(oneShot));
}

TEST_CASE("animation.layers.overrideMaskAndAdditive") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     base(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimClip> upper(new AnimClip("upper"));
    upper->setDuration(1.f);
    upper->setLoop(true);
    upper->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    upper->addPositionKey(1, 1.f, 2.f, 1.f, 0.f);

    AnimPlayer basePlayer(sk.get());
    AnimPlayer upperPlayer(sk.get());
    basePlayer.play(base.get());
    upperPlayer.play(upper.get());
    AnimBoneMask upperMask(sk.get());
    CHECK(upperMask.setBoneAndChildren("hip", 1.f));
    AnimLayerMixer mixer(sk.get());
    CHECK(mixer.setBasePlayer(&basePlayer));
    CHECK_EQ(mixer.addLayer("upper", &upperPlayer, &upperMask, "override"), 0);
    CHECK(mixer.setLayerWeight("upper", 0.5f));
    mixer.update(0.5f);
    CHECK(std::fabs(mixer.getPose()->getLocalPositionZ(0) - 0.5f) < 1e-5f);
    CHECK(std::fabs(mixer.getPose()->getLocalPositionX(1) - 0.5f) < 1e-5f);

    std::unique_ptr<AnimClip> recoil(new AnimClip("recoil"));
    recoil->setDuration(1.f);
    recoil->setLoop(true);
    recoil->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    recoil->addPositionKey(1, 1.f, 0.f, 3.f, 0.f);
    AnimPlayer recoilPlayer(sk.get());
    recoilPlayer.play(recoil.get());
    CHECK_EQ(mixer.addLayer("recoil", &recoilPlayer, &upperMask, "additive"), 1);
    CHECK(mixer.setLayerWeight("recoil", 0.5f));
    mixer.update(0.5f);
    CHECK(std::fabs(mixer.getPose()->getLocalPositionY(1) - 1.5f) < 1e-5f);
}


TEST_CASE("animation.layers.poseSourcesAndAdditiveReference") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     walk(makeLocomotionClip("walk", 1.f, 1.f));

    // Absolute upper pose used with bind-pose additive reference.
    std::unique_ptr<AnimClip> upperAbs(new AnimClip("upperAbs"));
    upperAbs->setDuration(1.f);
    upperAbs->setLoop(true);
    upperAbs->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    upperAbs->addPositionKey(1, 1.f, 0.f, 3.f, 0.f);

    // Identity-delta clip: translation is already the additive offset.
    std::unique_ptr<AnimClip> upperDelta(new AnimClip("upperDelta"));
    upperDelta->setDuration(1.f);
    upperDelta->setLoop(true);
    upperDelta->addPositionKey(1, 0.f, 0.f, 0.f, 0.f);
    upperDelta->addPositionKey(1, 1.f, 0.f, 2.f, 0.f);

    AnimPlayer basePlayer(sk.get());
    basePlayer.play(walk.get());

    AnimGraph upperGraph(sk.get());
    const int upperClip = upperGraph.addClip(upperAbs.get());
    upperGraph.setRoot(upperClip);

    AnimBoneMask upperMask(sk.get());
    CHECK(upperMask.setBoneAndChildren("hip", 1.f));

    AnimLayerMixer mixer(sk.get());
    CHECK(mixer.setBasePlayer(&basePlayer));
    CHECK_EQ(mixer.addGraphLayer("upper", &upperGraph, &upperMask, "additive"), 0);
    CHECK(mixer.setLayerWeight("upper", 0.5f));
    CHECK_EQ(mixer.getLayerMode("upper"), std::string("additive"));
    CHECK_EQ(mixer.getLayerAdditiveReference("upper"), std::string("bind"));
    mixer.update(0.5f);
    // bind-local hip Y is 1; absolute sample Y at t=0.5 is 2; delta=(2-1); weight 0.5 -> +0.5 on base.
    // Base locomotion at t=0.5 keeps hip near bind Y (~1.05 from bob keys) — tolerate range.
    CHECK(mixer.getPose()->getLocalPositionY(1) > 1.2f);

    // Switch the same absolute clip to identity reference and expect a larger lift
    // because the absolute Y is treated as a raw delta.
    CHECK(mixer.setLayerAdditiveReferenceCompat("upper", "identity"));
    CHECK_EQ(mixer.getLayerAdditiveReference("upper"), std::string("identity"));

    AnimPlayer deltaPlayer(sk.get());
    deltaPlayer.play(upperDelta.get());
    CHECK(mixer.removeLayer("upper"));
    CHECK_EQ(mixer.addLayer("upperDelta", &deltaPlayer, &upperMask, "additive"), 0);
    CHECK(mixer.setLayerAdditiveReferenceCompat("upperDelta", "identity"));
    CHECK(mixer.setLayerWeight("upperDelta", 0.5f));
    mixer.update(0.5f);
    // Identity delta Y at t=0.5 is 1; weight 0.5 adds ~0.5 on top of locomotion hip (~1).
    CHECK(mixer.getPose()->getLocalPositionY(1) > 1.4f);
}

TEST_CASE("animation.layers.disabledLayersStillAdvance") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     walk(makeLocomotionClip("walk", 1.f, 1.f));
    std::unique_ptr<AnimClip>     upper(new AnimClip("upper"));
    upper->setDuration(1.f);
    upper->setLoop(true);
    upper->addPositionKey(1, 0.f, 0.f, 1.f, 0.f);
    upper->addPositionKey(1, 1.f, 2.f, 1.f, 0.f);

    AnimPlayer basePlayer(sk.get());
    AnimPlayer upperPlayer(sk.get());
    basePlayer.play(walk.get());
    upperPlayer.play(upper.get());
    AnimBoneMask upperMask(sk.get());
    CHECK(upperMask.setBoneAndChildren("hip", 1.f));
    AnimLayerMixer mixer(sk.get());
    CHECK(mixer.setBasePlayer(&basePlayer));
    CHECK_EQ(mixer.addLayer("upper", &upperPlayer, &upperMask, "override"), 0);
    CHECK(mixer.setLayerEnabled("upper", false));
    mixer.update(0.5f);
    const float disabledTime = upperPlayer.getTime();
    CHECK(disabledTime > 0.4f);
    // Disabled layers still advance, so re-enabling resumes from mid-clip rather than t=0.
    CHECK(mixer.setLayerEnabled("upper", true));
    CHECK(upperPlayer.getTime() >= disabledTime);
    mixer.update(0.25f);
    CHECK(upperPlayer.getTime() > disabledTime);
}

TEST_CASE("animation.graph.additiveReferenceBindMatchesMixer") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     base(makeLocomotionClip("walk", 0.f, 1.f));
    std::unique_ptr<AnimClip>     abs(new AnimClip("abs"));
    abs->setDuration(1.f);
    abs->setLoop(true);
    abs->addPositionKey(1, 0.f, 0.f, 3.f, 0.f);
    abs->addPositionKey(1, 1.f, 0.f, 3.f, 0.f);

    AnimGraph graph(sk.get());
    const int baseNode = graph.addClip(base.get());
    const int absNode  = graph.addClip(abs.get());
    const int addNode  = graph.addAdditive(baseNode, absNode, 1.f);
    graph.setRoot(addNode);
    CHECK(graph.setAdditiveReferenceCompat(addNode, "bind"));
    CHECK_EQ(graph.getAdditiveReference(addNode), std::string("bind"));
    graph.update(0.f);
    // Absolute Y=3 against bind Y=1 => +2 on base bind (~1) => ~3.
    CHECK(std::fabs(graph.getPose()->getLocalPositionY(1) - 3.f) < 0.1f);
}

TEST_CASE("animation.player.eventsSurviveLoopBoundaries") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     clip(makeLocomotionClip("events", 0.f, 1.f));
    clip->addEvent(0.25f, "footstep", "left");
    clip->addEvent(0.75f, "footstep", "right");
    AnimPlayer player(sk.get());
    player.play(clip.get());

    player.update(0.3f);
    CHECK_EQ(player.getEventCount(), 1);
    CHECK_EQ(player.getEventName(0), std::string("footstep"));
    CHECK_EQ(player.getEventPayload(0), std::string("left"));
    player.update(0.5f);
    CHECK_EQ(player.getEventCount(), 1);
    CHECK_EQ(player.getEventPayload(0), std::string("right"));
    player.update(1.5f);
    CHECK_EQ(player.getEventCount(), 3);
}

TEST_CASE("animation.stateMachine.floatTransition") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("Idle", idle.get());
    sm->addState("Walk", walk.get());
    sm->setEntry("Idle");

    int t = sm->addTransition("Idle", "Walk", 0.1f);
    sm->addFloatCondition(t, "speed", ">", 0.5f);
    int t2 = sm->addTransition("Walk", "Idle", 0.1f);
    sm->addFloatCondition(t2, "speed", "<", 0.1f);

    CHECK(sm->getCurrentState() == "Idle");
    sm->setFloat("speed", 1.f);
    sm->update(0.016f);
    // Logical state switches immediately; pose may still be blending.
    CHECK((sm->getCurrentState() == "Walk" || sm->isBlending()));
    for (int i = 0; i < 20; ++i) sm->update(0.05f);
    CHECK(sm->getCurrentState() == "Walk");

    sm->setFloat("speed", 0.f);
    for (int i = 0; i < 20; ++i) sm->update(0.05f);
    CHECK(sm->getCurrentState() == "Idle");
}

TEST_CASE("animation.stateMachine.triggerAndExitTime") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> jump(makeLocomotionClip("jump", 0.f, 0.5f));
    jump->setLoop(false);

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("Idle", idle.get());
    sm->addState("Jump", jump.get());
    sm->setEntry("Idle");

    int t = sm->addTransition("Idle", "Jump", 0.f);
    sm->addTriggerCondition(t, "jump");
    int tBack = sm->addTransition("Jump", "Idle", 0.05f);
    sm->setExitTime(tBack, 0.9f);

    sm->update(0.1f);
    CHECK(sm->getCurrentState() == "Idle");
    sm->setTrigger("jump");
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "Jump");

    // Before exit time, stay in Jump
    sm->update(0.2f);
    CHECK(sm->getCurrentState() == "Jump");
    // Past 0.9 * 0.5s duration
    sm->update(0.4f);
    for (int i = 0; i < 10; ++i) sm->update(0.05f);
    CHECK(sm->getCurrentState() == "Idle");
}

TEST_CASE("animation.stateMachine.captureRestoreRoundtrip") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip>     walk(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("Idle", idle.get());
    sm->addState("Walk", walk.get());
    sm->setEntry("Idle");
    sm->setFloat("speed", 2.5f);
    sm->setBool("grounded", true);
    sm->setTrigger("jump");
    sm->update(0.25f);  // advance stateTime a bit

    eve::StateValue captured;
    REQUIRE(sm->captureState(captured));

    // Mutate everything, then restore.
    sm->setFloat("speed", 0.f);
    sm->setBool("grounded", false);
    sm->resetTrigger("jump");
    sm->setEntry("Walk");

    std::string err;
    CHECK(sm->restoreState(captured, &err));
    CHECK(err.empty());
    CHECK(sm->getCurrentState() == "Idle");
    CHECK(sm->getFloat("speed") == 2.5f);
    CHECK(sm->getBool("grounded"));
    CHECK(sm->getTrigger("jump"));
    CHECK(sm->getStateTime() > 0.1f);
}

TEST_CASE("animation.stateMachine.restoreUnknownStateFallsBackToEntry") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip>     idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip>     walk(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimStateMachine> src(new AnimStateMachine(sk.get()));
    src->addState("Idle", idle.get());
    src->setEntry("Idle");

    std::unique_ptr<AnimStateMachine> dst(new AnimStateMachine(sk.get()));
    dst->addState("Walk", walk.get());
    dst->setEntry("Walk");

    eve::StateValue captured;
    REQUIRE(src->captureState(captured));
    std::string err;
    CHECK(!dst->restoreState(captured, &err));  // "Idle" is not defined in dst
    CHECK(!err.empty());

    dst->resetToDefaults();
    CHECK(dst->getCurrentState() == "Walk");
    CHECK(!dst->isBlending());
}

TEST_CASE("animation.motionMatching.selectsFasterClip") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));
    std::unique_ptr<AnimClip> run(makeLocomotionClip("run", 3.f, 1.f));

    std::unique_ptr<MotionDatabase> db(new MotionDatabase(sk.get()));
    db->addFeatureBone(1);
    db->addClip(walk.get());
    db->addClip(run.get());
    db->bake();
    CHECK(db->isBaked());
    CHECK(db->getFrameCount() > 0);

    std::unique_ptr<MotionMatcher> mm(new MotionMatcher(sk.get(), db.get()));
    mm->setSearchInterval(0.05f);
    mm->setBlendTime(0.05f);
    mm->setIgnoreRadius(0);
    mm->setDesiredVelocity(0.f, 3.f);  // want run speed along +Z
    mm->setDesiredYaw(0.f);
    mm->search();

    CHECK(mm->getMatchedFrame() >= 0);
    // Prefer the run clip for high desired speed.
    CHECK_EQ(mm->getMatchedClipIndex(), 1);

    mm->update(0.1f);
    AnimPose *pose = mm->getPose();
    CHECK(pose->getBoneCount() == 2);
}

TEST_CASE("animation.module.factories") {
    auto *anim = Animation::create();
    std::unique_ptr<AnimSkeleton> sk(anim->newSkeleton());
    sk->addBone("root", -1);
    std::unique_ptr<AnimClip> clip(anim->newClip("c"));
    clip->setDuration(0.5f);
    std::unique_ptr<AnimPlayer> player(anim->newPlayer(sk.get()));
    player->play(clip.get());
    player->update(0.1f);
    CHECK(player->isPlaying());

    std::unique_ptr<AnimStateMachine> sm(anim->newStateMachine(sk.get()));
    sm->addState("A", clip.get());
    sm->setEntry("A");
    CHECK(sm->hasState("A"));

    std::unique_ptr<MotionDatabase> db(anim->newMotionDatabase(sk.get()));
    db->addClip(clip.get());
    db->bake();
    std::unique_ptr<MotionMatcher> mm(anim->newMotionMatcher(sk.get(), db.get()));
    mm->search();
    CHECK(mm->getMatchedFrame() >= 0);
}

TEST_CASE("animation.clip.wrapTimeLoopAndClamp") {
    std::unique_ptr<AnimClip> clip(new AnimClip("loop"));
    clip->setDuration(1.f);
    clip->setLoop(true);
    CHECK(std::fabs(clip->wrapTime(1.5f) - 0.5f) < 1e-4f);
    CHECK(std::fabs(clip->wrapTime(-0.25f) - 0.75f) < 1e-4f);

    clip->setLoop(false);
    CHECK(std::fabs(clip->wrapTime(2.f) - 1.f) < 1e-5f);
    CHECK(std::fabs(clip->wrapTime(-1.f)) < 1e-5f);
}

TEST_CASE("animation.clip.applyPlanarRootMotion") {
    std::unique_ptr<AnimClip> clip(new AnimClip("inplace"));
    clip->setDuration(1.f);
    clip->addPositionKey(0, 0.f, 0.f, 0.f, 0.f);
    clip->addPositionKey(0, 1.f, 0.f, 0.f, 0.f);
    clip->applyPlanarRootMotion(0, 0.f, 2.f);
    CHECK(std::fabs(clip->getPositionKeyZ(0, 0)) < 1e-5f);
    CHECK(std::fabs(clip->getPositionKeyZ(0, 1) - 2.f) < 1e-4f);
}

TEST_CASE("animation.pose.blendAndWorldFk") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimPose> a(new AnimPose(2));
    std::unique_ptr<AnimPose> b(new AnimPose(2));
    a->setLocalPosition(1, 0.f, 1.f, 0.f);
    b->setLocalPosition(1, 2.f, 1.f, 0.f);
    std::unique_ptr<AnimPose> mid(new AnimPose());
    mid->blendFrom(a.get(), b.get(), 0.5f);
    CHECK(std::fabs(mid->getLocalPositionX(1) - 1.f) < 1e-4f);

    mid->setLocalPosition(0, 0.f, 0.f, 0.f);
    mid->setLocalPosition(1, 0.f, 2.f, 0.f);
    mid->computeWorld(sk.get());
    CHECK(std::fabs(mid->getWorldPositionY(1) - 2.f) < 1e-4f);
}

TEST_CASE("animation.player.pauseResumeStopAndNonLoop") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> clip(makeLocomotionClip("once", 1.f, 1.f));
    clip->setLoop(false);

    std::unique_ptr<AnimPlayer> player(new AnimPlayer(sk.get()));
    player->play(clip.get());
    player->setLoop(false);
    player->update(0.25f);
    float z0 = player->getPose()->getLocalPositionZ(0);
    player->pause();
    CHECK(player->isPaused());
    player->update(0.5f);
    CHECK(std::fabs(player->getPose()->getLocalPositionZ(0) - z0) < 1e-4f);

    player->resume();
    player->update(0.25f);
    CHECK(player->getPose()->getLocalPositionZ(0) > z0 + 0.1f);

    player->update(1.f);
    CHECK(!player->isPlaying());
    CHECK(std::fabs(player->getTime() - 1.f) < 1e-3f);

    player->stop();
    CHECK(player->getClip() == nullptr);
}

TEST_CASE("animation.stateMachine.boolAndCompoundConditions") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> crouch(makeLocomotionClip("crouch", 0.f, 1.f));
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("Idle", idle.get());
    sm->addState("Crouch", crouch.get());
    sm->addState("Walk", walk.get());
    sm->setEntry("Idle");

    int toCrouch = sm->addTransition("Idle", "Crouch", 0.f);
    sm->addBoolCondition(toCrouch, "crouching", true);

    int toWalk = sm->addTransition("Idle", "Walk", 0.f);
    sm->addFloatCondition(toWalk, "speed", ">=", 0.5f);
    sm->addBoolCondition(toWalk, "crouching", false);

    int crouchUp = sm->addTransition("Crouch", "Idle", 0.f);
    sm->addBoolCondition(crouchUp, "crouching", false);

    sm->setBool("crouching", true);
    sm->setFloat("speed", 1.f);  // would walk, but crouch bool wins first matching transition
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "Crouch");

    sm->setBool("crouching", false);
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "Idle");

    sm->setFloat("speed", 1.f);
    sm->setBool("crouching", false);
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "Walk");
}

TEST_CASE("animation.stateMachine.floatOpsAndTriggerConsume") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> a(makeLocomotionClip("a", 0.f, 1.f));
    std::unique_ptr<AnimClip> b(makeLocomotionClip("b", 0.f, 1.f));

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("A", a.get());
    sm->addState("B", b.get());
    sm->setEntry("A");

    int tEq = sm->addTransition("A", "B", 0.f);
    sm->addFloatCondition(tEq, "mode", "==", 2.f);
    sm->setFloat("mode", 1.f);
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "A");
    sm->setFloat("mode", 2.f);
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "B");

    // Rebuild for trigger consume: A --trigger--> B --auto back with bool
    std::unique_ptr<AnimStateMachine> sm2(new AnimStateMachine(sk.get()));
    sm2->addState("A", a.get());
    sm2->addState("B", b.get());
    sm2->setEntry("A");
    int tTrig = sm2->addTransition("A", "B", 0.f);
    sm2->addTriggerCondition(tTrig, "go");
    int tBack = sm2->addTransition("B", "A", 0.f);
    sm2->addBoolCondition(tBack, "reset", true);

    sm2->setTrigger("go");
    sm2->update(0.016f);
    CHECK(sm2->getCurrentState() == "B");
    // Trigger consumed: without re-set, returning to A then update should stay A
    sm2->setBool("reset", true);
    sm2->update(0.016f);
    CHECK(sm2->getCurrentState() == "A");
    sm2->setBool("reset", false);
    sm2->update(0.016f);
    CHECK(sm2->getCurrentState() == "A");
}

TEST_CASE("animation.stateMachine.blendKeepsLogicalState") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));

    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("Idle", idle.get());
    sm->addState("Walk", walk.get());
    sm->setEntry("Idle");
    int t = sm->addTransition("Idle", "Walk", 0.2f);
    sm->addFloatCondition(t, "speed", ">", 0.1f);

    sm->setFloat("speed", 1.f);
    sm->update(0.016f);
    CHECK(sm->getCurrentState() == "Walk");
    CHECK(sm->isBlending());
    sm->update(0.25f);
    CHECK(!sm->isBlending());
    CHECK(sm->getCurrentState() == "Walk");
}

TEST_CASE("animation.stateMachine.invalidApiThrows") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> clip(makeLocomotionClip("c", 0.f, 1.f));
    std::unique_ptr<AnimStateMachine> sm(new AnimStateMachine(sk.get()));
    sm->addState("A", clip.get());

    bool threw = false;
    try {
        sm->addState("A", clip.get());
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);

    threw = false;
    try {
        sm->addTransition("A", "Missing", 0.1f);
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);

    int t = sm->addTransition("A", "A", 0.f);
    threw = false;
    try {
        sm->addFloatCondition(t, "x", "??", 0.f);
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);
}

TEST_CASE("animation.motionMatching.threeSpeedsAndWeights") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> idle(makeLocomotionClip("idle", 0.f, 1.f));
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));
    std::unique_ptr<AnimClip> run(makeLocomotionClip("run", 3.f, 1.f));

    std::unique_ptr<MotionDatabase> db(new MotionDatabase(sk.get()));
    db->setRootBone(0);
    db->addFeatureBone(1);
    db->addClip(idle.get());
    db->addClip(walk.get());
    db->addClip(run.get());
    db->bake();
    CHECK_EQ(db->getClipCount(), 3);
    CHECK(db->getFeatureSize() >= 13);

    std::unique_ptr<MotionMatcher> mm(new MotionMatcher(sk.get(), db.get()));
    mm->setIgnoreRadius(0);
    mm->setVelocityWeight(3.f);
    mm->setTrajectoryWeight(1.f);
    mm->setPoseWeight(0.25f);

    mm->setDesiredVelocity(0.f, 0.f);
    mm->search();
    CHECK_EQ(mm->getMatchedClipIndex(), 0);

    mm->setDesiredVelocity(0.f, 1.f);
    mm->search();
    CHECK_EQ(mm->getMatchedClipIndex(), 1);

    mm->setDesiredVelocity(0.f, 3.f);
    mm->search();
    CHECK_EQ(mm->getMatchedClipIndex(), 2);
}

TEST_CASE("animation.motionMatching.searchIntervalAndIgnoreRadius") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 1.f));
    std::unique_ptr<AnimClip> run(makeLocomotionClip("run", 3.f, 1.f));

    std::unique_ptr<MotionDatabase> db(new MotionDatabase(sk.get()));
    db->addClip(walk.get());
    db->addClip(run.get());
    db->bake();

    std::unique_ptr<MotionMatcher> mm(new MotionMatcher(sk.get(), db.get()));
    mm->setSearchInterval(1.f);  // long interval
    mm->setIgnoreRadius(0);
    mm->setDesiredVelocity(0.f, 3.f);
    mm->search();
    const int frame0 = mm->getMatchedFrame();
    CHECK(frame0 >= 0);
    CHECK_EQ(mm->getMatchedClipIndex(), 1);

    // Small updates should advance matched time without forcing a new search.
    mm->update(0.05f);
    CHECK(mm->getMatchedTime() > db->getFrameTime(frame0));
    CHECK_EQ(mm->getMatchedClipIndex(), 1);

    // Ignore radius: with large radius around current frame, still finds a match.
    mm->setIgnoreRadius(1000);
    mm->setDesiredVelocity(0.f, 1.f);
    mm->search();
    CHECK(mm->getMatchedFrame() >= 0);
}

TEST_CASE("animation.motionMatching.databaseMetadata") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimClip> walk(makeLocomotionClip("walk", 1.f, 0.5f));
    walk->setSampleRate(10.f);

    std::unique_ptr<MotionDatabase> db(new MotionDatabase(sk.get()));
    db->addFeatureBone(1);
    db->addClip(walk.get());
    db->bake();

    CHECK(db->isBaked());
    CHECK(db->getFrameCount() >= 5);
    CHECK_EQ(db->getFrameClipIndex(0), 0);
    CHECK(db->getFrameTime(0) >= 0.f);
    CHECK_EQ(db->getFeatureBoneCount(), 1);
    CHECK_EQ(db->getFeatureBone(0), 1);

    std::vector<float> feat(static_cast<size_t>(db->getFeatureSize()), 0.f);
    db->getFeature(0, feat.data(), db->getFeatureSize());
    // velocity/trajectory features should be finite
    for (float v : feat) CHECK(std::isfinite(v));
}

TEST_CASE("animation.anim.txt.roundTrip") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    sk->setBindRotation(1, 0.f, 0.f, 0.f, 1.f);
    std::unique_ptr<AnimClip> clip(makeLocomotionClip("walk", 1.5f, 0.8f));
    clip->setSampleRate(12.f);
    clip->addSyncMarker(0.2f, "left_plant");
    clip->addSyncMarker(0.6f, "right_plant");

    const std::string text = AnimImporter::exportAnimationFixtureText(sk.get(), clip.get());
    CHECK(text.find("EVA 1") != std::string::npos);

    AnimSkeleton *sk2 = nullptr;
    AnimClip *clip2   = nullptr;
    AnimImporter::importAnimationFixtureText(text, &sk2, &clip2);
    std::unique_ptr<AnimSkeleton> skOwned(sk2);
    std::unique_ptr<AnimClip> clipOwned(clip2);

    CHECK_EQ(skOwned->getBoneCount(), 2);
    CHECK(skOwned->getBoneName(1) == "hip");
    CHECK(std::fabs(clipOwned->getDuration() - 0.8f) < 1e-4f);
    CHECK(std::fabs(clipOwned->getSampleRate() - 12.f) < 1e-4f);
    CHECK(clipOwned->getPositionKeyCount(0) >= 2);
    CHECK_EQ(clipOwned->getSyncMarkerCount(), 2);
    CHECK(clipOwned->getSyncMarkerName(1) == "right_plant");

    std::unique_ptr<AnimPose> pose(new AnimPose());
    clipOwned->sample(0.4f, pose.get(), skOwned.get());
    CHECK(std::fabs(pose->getLocalPositionZ(0) - 1.5f * 0.4f) < 0.05f);
}

TEST_CASE("animation.importer.invalidThrows") {
    bool threw = false;
    try {
        AnimImporter::importAnimationFixtureText("not an eva file\n", nullptr, nullptr);
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);

    threw = false;
    AnimSkeleton *sk = nullptr;
    AnimClip *clip   = nullptr;
    try {
        AnimImporter::importAnimationFixtureText("EVA 99\n", &sk, &clip);
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);
    CHECK(sk == nullptr);
    CHECK(clip == nullptr);
}

TEST_CASE("animation.controlAnim.secondOrderTracksTarget") {
    std::unique_ptr<ControlAnim> ca(new ControlAnim(4.f, 1.f, 1.f));
    ca->setIntegrator("secondOrder");
    ca->set("x", 0.f);
    ca->setTarget("x", 10.f);

    for (int i = 0; i < 120; ++i) ca->update(1.f / 60.f);
    CHECK(std::fabs(ca->get("x") - 10.f) < 0.15f);
    CHECK(std::fabs(ca->getVelocity("x")) < 0.5f);
    CHECK_EQ(ca->getPropertyCount(), 1);
    CHECK(ca->getPropertyName(0) == "x");
}

TEST_CASE("animation.controlAnim.springCriticallyDamped") {
    std::unique_ptr<ControlAnim> ca(new ControlAnim(5.f, 1.f, 0.f));
    ca->setIntegrator("spring");
    ca->set("y", 0.f);
    ca->setTarget("y", 1.f);

    float prev = 0.f;
    bool moved = false;
    for (int i = 0; i < 180; ++i) {
        ca->update(1.f / 60.f);
        float v = ca->get("y");
        if (v > prev + 1e-6f) moved = true;
        // Critically damped: should not overshoot the target significantly.
        CHECK(v < 1.05f);
        prev = v;
    }
    CHECK(moved);
    CHECK(std::fabs(ca->get("y") - 1.f) < 0.05f);
}

TEST_CASE("animation.controlAnim.pdAndUnderdamped") {
    std::unique_ptr<ControlAnim> ca(new ControlAnim(3.f, 0.35f, 1.f));
    ca->setIntegrator("pd");
    ca->set("z", 0.f);
    ca->setTarget("z", 1.f);

    float maxV = 0.f;
    for (int i = 0; i < 240; ++i) {
        ca->update(1.f / 60.f);
        maxV = std::max(maxV, ca->get("z"));
    }
    // Underdamped PD should overshoot then settle near target.
    CHECK(maxV > 1.02f);
    CHECK(std::fabs(ca->get("z") - 1.f) < 0.1f);
}

TEST_CASE("animation.controlAnim.impulseAndIntegratorSwitch") {
    std::unique_ptr<ControlAnim> ca(new ControlAnim(2.f, 0.5f, 0.f));
    ca->set("p", 0.f);
    ca->setTarget("p", 0.f);
    ca->impulse("p", 5.f);
    ca->update(1.f / 60.f);
    CHECK(ca->get("p") > 0.01f);

    bool threw = false;
    try {
        ca->setIntegrator("nope");
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);
    CHECK(ca->getIntegrator() == "secondOrder");
}

TEST_CASE("animation.controlPose.tracksTargetPosition") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<ControlPose> cp(new ControlPose(sk.get()));
    cp->setFrequency(5.f);
    cp->setDamping(1.f);
    cp->setResponse(1.f);
    cp->setIntegrator("secondOrder");

    std::unique_ptr<AnimPose> target(new AnimPose(2));
    sk->applyBindPose(target.get());
    target->setLocalPosition(1, 0.f, 3.f, 0.f);
    cp->setTargetPose(target.get());

    // Start near bind (y=1), track toward y=3.
    for (int i = 0; i < 180; ++i) cp->update(1.f / 60.f);
    AnimPose *pose = cp->getPose();
    CHECK(std::fabs(pose->getLocalPositionY(1) - 3.f) < 0.2f);
}

TEST_CASE("animation.controlPose.boneWeightHardFollow") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<ControlPose> cp(new ControlPose(sk.get()));
    cp->setIntegrator("spring");
    cp->setBoneWeight(1, 0.f);

    std::unique_ptr<AnimPose> target(new AnimPose(2));
    sk->applyBindPose(target.get());
    target->setLocalPosition(1, 4.f, 2.f, -1.f);
    cp->setTargetPose(target.get());
    cp->update(1.f / 60.f);

    AnimPose *pose = cp->getPose();
    CHECK(std::fabs(pose->getLocalPositionX(1) - 4.f) < 1e-4f);
    CHECK(std::fabs(pose->getLocalPositionY(1) - 2.f) < 1e-4f);
    CHECK(std::fabs(pose->getLocalPositionZ(1) - -1.f) < 1e-4f);
}

TEST_CASE("animation.controlMath.pdGainsCritical") {
    float kp = 0.f, kd = 0.f;
    pdGainsFromOmegaZeta(10.f, 1.f, kp, kd);
    CHECK(std::fabs(kp - 100.f) < 1e-4f);
    CHECK(std::fabs(kd - 20.f) < 1e-4f);

    SecondOrderCoeffs c = makeSecondOrderCoeffs(1.f, 1.f, 1.f);
    CHECK(c.k1 > 0.f);
    CHECK(c.k2 > 0.f);
    CHECK(c.k3 > 0.f);
}

TEST_CASE("animation.trail.recordsAndExpires") {
    auto *anim = Animation::create();
    std::unique_ptr<AnimTrail> trail(anim->newTrail(8));
    REQUIRE(trail.get() != nullptr);
    CHECK_EQ(trail->getCapacity(), 8);
    trail->setDuration(0.2f);
    trail->setMinDistance(0.f);
    trail->setFade(true);
    trail->setStyle("line");
    trail->setColor(1.f, 0.5f, 0.2f, 1.f);

    trail->addPoint(0.f, 0.f);
    trail->addPoint(10.f, 0.f);
    trail->addPoint(20.f, 5.f);
    CHECK_EQ(trail->getPointCount(), 3);
    CHECK(std::fabs(trail->getPointX(0) - 0.f) < 1e-5f);
    CHECK(std::fabs(trail->getPointX(2) - 20.f) < 1e-5f);
    CHECK(std::fabs(trail->getPointAlpha(2) - 1.f) < 1e-4f);

    trail->update(0.1f);
    CHECK_EQ(trail->getPointCount(), 3);
    CHECK(trail->getPointAge(0) > 0.09f);
    CHECK(trail->getPointAlpha(0) < 0.6f);

    trail->update(0.15f);
    CHECK_EQ(trail->getPointCount(), 0);

    trail->draw(nullptr);  // no-op without Graphics
}

TEST_CASE("animation.trail.capacityAndMinDistance") {
    std::unique_ptr<AnimTrail> trail(new AnimTrail(4));
    trail->setDuration(0.f);  // capacity-only eviction
    trail->setMinDistance(5.f);
    trail->addPoint(0.f, 0.f);
    trail->addPoint(1.f, 0.f);  // skipped (< 5)
    CHECK_EQ(trail->getPointCount(), 1);
    trail->addPoint(6.f, 0.f);
    trail->addPoint(12.f, 0.f);
    trail->addPoint(18.f, 0.f);
    trail->addPoint(24.f, 0.f);
    CHECK_EQ(trail->getPointCount(), 4);
    CHECK(std::fabs(trail->getPointX(0) - 6.f) < 1e-5f);
    CHECK(std::fabs(trail->getPointX(3) - 24.f) < 1e-5f);
}

TEST_CASE("animation.trail.sampleBonePlanes") {
    std::unique_ptr<AnimSkeleton> sk(makeTwoBoneSkeleton());
    std::unique_ptr<AnimPose> pose(new AnimPose());
    sk->applyBindPose(pose.get());
    pose->setLocalPosition(0, 3.f, 0.f, 7.f);
    pose->setLocalPosition(1, 0.f, 2.f, 0.f);
    pose->computeWorld(sk.get());

    std::unique_ptr<AnimTrail> trail(new AnimTrail(16));
    trail->sampleBone(pose.get(), 1, "xy");
    CHECK_EQ(trail->getPointCount(), 1);
    CHECK(std::fabs(trail->getPointX(0) - 3.f) < 1e-4f);
    CHECK(std::fabs(trail->getPointY(0) - 2.f) < 1e-4f);

    trail->clear();
    trail->sampleBone(pose.get(), 1, "xz");
    CHECK(std::fabs(trail->getPointX(0) - 3.f) < 1e-4f);
    CHECK(std::fabs(trail->getPointY(0) - 7.f) < 1e-4f);

    trail->clear();
    trail->sampleBoneOffset(pose.get(), 1, 1.f, 0.f, 0.f, "xy");
    CHECK(std::fabs(trail->getPointX(0) - 4.f) < 1e-4f);

    bool threw = false;
    try {
        trail->setStyle("ribbon");
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);

    threw = false;
    try {
        trail->sampleBone(pose.get(), 1, "uvw");
    } catch (const eve::Exception &) {
        threw = true;
    }
    CHECK(threw);
}