# 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.
# ==============================================================================

import time

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


def lerp(a, b, t):
    return a + t * (b - a)


# 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()
    # The scene description file
    path = "examples/assets/local_arm.xml"
    # Load the scene model
    model = load_model(path)
    # Create the render instance of the model
    render.launch(model)
    # Create the physics data of the model
    data = SceneData(model)

    # Get actuator to control robot action
    rotate = model.get_actuator("rotate")
    up_down = model.get_actuator("up_down")
    fingers_actuator = model.get_actuator("fingers_actuator")
    move_rotate = -1.0
    move_up_down = 0.2
    move_fingers_actuator = 10
    fingers_actuator.set_ctrl(data, -10)

    start = time.time()
    action_index = 0

    while True:
        # Control the step interval to prevent too fast simulation
        time.sleep(0.002)

        diff = time.time() - start

        # Action by sequence
        if diff < 1:
            if action_index == 0:
                lerp_value = lerp(0, move_up_down, diff)
                up_down.set_ctrl(data, lerp_value)
            elif action_index == 1:
                lerp_value = lerp(0, move_rotate, diff)
                rotate.set_ctrl(data, lerp_value)
            elif action_index == 2:
                lerp_value = lerp(move_up_down, -0.02, diff)
                up_down.set_ctrl(data, lerp_value)
            elif action_index == 3:
                lerp_value = lerp(0, move_fingers_actuator, diff)
                fingers_actuator.set_ctrl(data, lerp_value)
            elif action_index == 4:
                lerp_value = lerp(0, move_up_down, diff)
                up_down.set_ctrl(data, lerp_value)
            elif action_index == 5:
                lerp_value = lerp(move_rotate, -move_rotate, diff)
                rotate.set_ctrl(data, lerp_value)
            elif action_index == 6:
                lerp_value = lerp(move_fingers_actuator, -move_fingers_actuator, diff)
                fingers_actuator.set_ctrl(data, lerp_value)
        else:
            start = time.time()
            action_index += 1

        # Physics world step
        step(model, data)
        # Sync render objects from physic world
        render.sync(data)


if __name__ == "__main__":
    main()