# 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 main():
    with RenderApp() as render:
        # The scene description file
        path = "examples/assets/model.xml"
        # Load the scene model
        model = load_model(path)
        data = SceneData(model)

        render.launch(model)

        # tag::custom_ui[]
        force = 10

        # button
        def on_click():
            nonlocal force
            print("Button clicked!")
            model.get_actuator("actuator_slider").set_ctrl(data, force)
            force = -force

        def on_toggle_changed(value: bool):
            print("toggle value:", value)

        render.opt.set_left_panel_vis(True)
        render.ui.add_button("Click Me", on_click)
        render.ui.add_toggle("Some Toggle", False, on_toggle_changed)
        # end::custom_ui[]

        while True:
            time.sleep(0.02)
            step(model, data)
            render.sync([data])


if __name__ == "__main__":
    main()