"""Design preview (headless, nothing saved): the arm's clearance proxies posed by the IK at a few frames, with the ship
context, rendered in Workbench. Pictures only for reading the design; they are not the model.
Run: blender -b --factory-startup source/ship_context_2026-10-16.blend --python build/design_pose_preview.py -- AFT A previews/design_pose
"""
import bpy, json, math, sys, os
from mathutils import Matrix, Vector

HERE = os.path.dirname(os.path.abspath(__file__))
ROOT = os.path.dirname(HERE)
sys.path.insert(0, HERE)
import design_kin as K
import design_parts as DP

KEY, VER, PREF = sys.argv[sys.argv.index("--") + 1:][:3]
FRAMES = [1, 12, 30, 48, 90]
D = json.load(open(os.path.join(ROOT, "design.json")))
S = D["scale"]["m_per_ref1_px"]
DR = D["doors"][KEY]
scn = bpy.context.scene
for o in bpy.data.objects:
    if not o.users_scene:
        scn.collection.objects.link(o)
for n in ("Moonpool | hull lining", "Moonpool | curved dry basin channel"):
    bpy.data.objects[n].hide_render = True                  # look into the pocket
arm = K.Arm(S)
door = bpy.data.objects[DR["door"]]
yb, zb = D["carriage"]["centre_y"], D["carriage"]["underside_z"]
xt_w, yt_w, zt_w = (Vector(DR["tool_axes_world"][k]) for k in ("x_t", "y_t", "z_t"))
tool_c = (K.w2c(tuple(xt_w)), K.w2c(tuple(yt_w)), K.w2c(tuple(zt_w)))
o3 = lambda p: Vector((p[0], 0, p[1])) if len(p) == 2 else Vector(p)
J2v, J3v, F0v, WCv = o3(K.PX["J2"]) * S, o3(K.PX["J3"]) * S, Vector((-35, 0, 937)) * S, o3(K.PX["WC"]) * S
ORIG = {"Turret": (0, 0, 0), "LowerArm": K.PX["J2"], "UpperArm": K.PX["J3"], "Forearm": (-35, 937), "WristHead": K.PX["WC"],
        "ToolA": K.PX["WC"], "ToolB": K.PX["WC"]}
COL = {"Turret": (0.85, 0.85, 0.82, 1), "LowerArm": (0.92, 0.92, 0.9, 1), "UpperArm": (0.88, 0.88, 0.86, 1), "Forearm": (0.9, 0.9, 0.88, 1),
       "WristHead": (0.2, 0.2, 0.22, 1), "ToolA": (0.25, 0.25, 0.27, 1), "ToolB": (0.25, 0.25, 0.27, 1), "Carriage": (0.15, 0.15, 0.17, 1)}
mats = {}
for k, c in COL.items():
    m = bpy.data.materials.new("prev " + k)
    m.diffuse_color = c
    mats[k] = m


def prim(kind, name, M, size, mat):
    if kind == "box":
        bpy.ops.mesh.primitive_cube_add(size=1.0)
        o = bpy.context.object
        o.scale = (2 * size[0], 2 * size[1], 2 * size[2])
    else:
        r, hl, ax = size
        bpy.ops.mesh.primitive_cylinder_add(vertices=24, radius=r, depth=2 * hl)
        o = bpy.context.object
        if ax == "X":
            o.rotation_euler = (0, math.pi / 2, 0)
        elif ax == "Y":
            o.rotation_euler = (math.pi / 2, 0, 0)
    bpy.context.view_layer.update()
    o.matrix_world = M @ o.matrix_world
    o.name = name
    o.data.materials.append(mat)
    return o


made = []
for f in FRAMES:
    scn.frame_set(f)
    dl = door.matrix_world.translation.copy()
    c = DR["carriage"]["A"] + DR["carriage"]["B"] * dl.x
    P = dl + Vector(DR["attach_local"])
    WC = P - xt_w * D["tools"]["A"]["d_t"]
    q = K.solve(arm, K.w2c((WC.x - c, WC.y - yb, WC.z - zb)), tool_c, branch5=DR["wrist_branch"])
    R0 = Matrix.Translation((0, yb, zb)) @ Matrix.Rotation(math.pi, 4, 'X')
    M = {"Carriage": R0 @ Matrix.Translation((c, 0, 0))}
    M["Turret"] = M["Carriage"] @ Matrix.Rotation(q["q1"], 4, 'Z')
    M["LowerArm"] = M["Turret"] @ Matrix.Translation(J2v) @ Matrix.Rotation(-q["q2"], 4, 'Y')
    M["UpperArm"] = M["LowerArm"] @ Matrix.Translation(J3v - J2v) @ Matrix.Rotation(-q["q3"], 4, 'Y')
    M["Forearm"] = M["UpperArm"] @ Matrix.Translation(F0v - J3v) @ Matrix.Rotation(q["q4"], 4, 'X')
    M["WristHead"] = M["Forearm"] @ Matrix.Translation(WCv - F0v) @ Matrix.Rotation(q["q5"], 4, 'Y')
    M["ToolA"] = M["ToolB"] = M["WristHead"] @ Matrix.Rotation(q["q6"], 4, 'X')
    sz = D["carriage"]["size"]
    made.append((f, prim("box", "prev carriage f%d" % f, M["Carriage"] @ Matrix.Translation((0, 0, -sz["height"] / 2)),
                         (sz["along_rail"] / 2, sz["across"] / 2, sz["height"] / 2), mats["Carriage"])))
    for link, lst in DP.PROXIES.items():
        if link.startswith("Tool") and link != "Tool" + VER:
            continue
        for b in lst:
            local = Matrix.Translation((Vector(b["c"]) - o3(ORIG[link])) * S) @ Matrix.Rotation(-math.radians(b.get("tilt", 0.0)), 4, 'Y') @ \
                Matrix.Rotation(math.radians(b.get("tiltZ", 0.0)), 4, 'Z')
            if "r" in b:
                o = prim("cyl", "prev %s %s f%d" % (link, b["n"], f), M[link] @ local, (b["r"] * S, b["hl"] * S, b["ax"]), mats[link])
            else:
                o = prim("box", "prev %s %s f%d" % (link, b["n"], f), M[link] @ local, [v * S for v in b["h"]], mats[link])
            made.append((f, o))

# light + cameras, workbench
scn.render.engine = 'BLENDER_WORKBENCH'
scn.display.shading.light = 'STUDIO'
scn.display.shading.color_type = 'MATERIAL'
scn.display.shading.show_shadows = True
scn.display.shading.show_cavity = True
scn.render.resolution_x, scn.render.resolution_y = 1400, 900
side = DR["side"]
cx = -5.6 if KEY == "AFT" else 11.7
views = {
    "inboard": ((cx, 2.5, -5.0), (cx, -6.5, -6.0)),
    "along_rail": ((cx + side * 6.5, -4.0, -4.6), (cx - side * 1.0, -6.6, -5.8)),
    "end_on": ((cx - side * 0.2 + side * 9.0 * 0, -1.0, -3.9), (cx, -7.0, -6.2)),
}
cam_d = bpy.data.cameras.new("prev cam")
cam_d.lens = 24
cam = bpy.data.objects.new("prev cam", cam_d)
scn.collection.objects.link(cam)
scn.camera = cam
for f in FRAMES:
    for ff, o in made:
        o.hide_render = ff != f
    scn.frame_set(f)
    for vn, (eye, look) in views.items():
        cam.location = eye
        d = Vector(look) - Vector(eye)
        cam.rotation_euler = d.to_track_quat('-Z', 'Y').to_euler()
        scn.render.filepath = os.path.join(ROOT, "%s_%s_%s_f%03d_%s.png" % (PREF, KEY, VER, f, vn))
        bpy.ops.render.render(write_still=True)
print("PREVIEW DONE")