# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================

from motrixsim import SceneData, load_model, step
from motrixsim.render import RenderApp


# Mouse controls:
# - Press and hold left button then drag to rotate the camera/view
# - Press and hold right button then drag to pan/translate the view
def main():
    # Create render window for visualization
    render = RenderApp()
    # tag::create_data[]
    # tag::load_model_from_file[]
    # The scene description file
    path = "examples/assets/empty.xml"
    # Load the scene model
    model = load_model(path)
    # end::load_model_from_file[]
    # Create the render instance of the model
    render.launch(model)
    # Create the physics data of the model
    data = SceneData(model)
    # end::create_data[]
    while True:
        # Step the physics world
        step(model, data)


if __name__ == "__main__":
    main()