# 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

import numpy as np

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


# This is a unique phenomenon resulting from angular momentum conservation in microgravity.
def main():
    # Create render window for visualization
    with RenderApp() as render:
        # The scene description file
        path = "examples/assets/gyroscope_zero_gravity.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)

        body_fb = model.get_body(model.get_body_index("base")).floatingbase
        body_fb.set_local_angular_velocity(data, np.array([10, 0, 5]))
        while True:
            # Control the step interval to prevent too fast simulation
            time.sleep(0.002)
            # Step the physics world
            step(model, data)
            # Sync render objects from physic world
            render.sync(data)


if __name__ == "__main__":
    main()