# 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, SceneModel, load_model, step
from motrixsim.render import RenderApp


def simulate(render: RenderApp, model: SceneModel, data: SceneData):
    time.sleep(0.02)
    # Step the physics world
    step(model, data)
    # Sync render objects from physic world
    render.sync(data)


# 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/options.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)
    # tag::options_code[]

    # ---------Try to access options----------
    options = model.options
    print(f"model.options: {options}")
    # Get gravity
    gravity = options.gravity  # noqa: F841
    # Get timestep
    timestep = options.timestep  # noqa: F841
    # Get max iterations
    max_iterations = options.max_iterations  # noqa: F841
    # Get solver tolerance
    solver_tolerance = options.solver_tolerance  # noqa: F841
    # Get simulation flags
    disable_gravity = options.disable_gravity  # noqa: F841
    disable_contacts = options.disable_contacts  # noqa: F841
    disable_impedance = options.disable_impedance  # noqa: F841
    # ----------End----------

    # Set gravity
    options.gravity = [0, 0, 9.8]

    for i in range(50):
        simulate(render, model, data)

    # Set gravity
    options.gravity = [0, 0, -9.8]

    for i in range(200):
        simulate(render, model, data)

    # Set simulation flags
    options.disable_contacts = True
    options.disable_impedance = True
    # end::options_code[]
    while True:
        simulate(render, model, data)


if __name__ == "__main__":
    main()