"""Critique 2: the J3 rod's eye stays on the knob pin (the cylinder is aimed and sized right) at every frame, and the
doors' own positions at the key frames. Read-only.

  blender -b --factory-startup "<DoorRobotArm.blend>" --python previews/critique2/crit2_rodeye.py -- <out.json>
"""
import json
import sys

import bpy
from mathutils import Vector

OUT = sys.argv[sys.argv.index("--") + 1]
sf = bpy.data.scenes["DoorArm | Ship fit"]
bpy.context.window_manager.windows[0].scene = sf
ctl = bpy.data.objects["DoorArm | CONTROLS"]
KNOB_IN_UPPER = Vector((-0.4664, 0.0, -0.3696))       # DoorRobotArm_layout.json ik_closed_form.rod.knob_in_upper
R = {"rod_eye_to_knob_pin_mm": {}, "doors": {}}
for ver in ("A", "B"):
    ctl["version"] = 0 if ver == "A" else 1
    ctl.update_tag()
    for key in ("AFT", "FORE"):
        p = "DoorArm_%s_%s | " % (key, ver)
        up = bpy.data.objects[p + "upper arm"]
        pis = bpy.data.objects[p + "J3 piston"]
        worst = [0.0, 0]
        for f in range(1, 121):
            sf.frame_set(f)
            dg = bpy.context.evaluated_depsgraph_get()
            Mu = up.evaluated_get(dg).matrix_world
            Mp = pis.evaluated_get(dg).matrix_world
            d = (Mp.translation - Mu @ KNOB_IN_UPPER).length * 1000
            if d > worst[0]:
                worst = [round(d, 3), f]
        R["rod_eye_to_knob_pin_mm"]["%s_%s" % (key, ver)] = worst
ctl["version"] = 0
ctl.update_tag()
for n in ("Moonpool_Door_Aft", "Moonpool_Door_Fore"):
    o = bpy.data.objects[n]
    row = {}
    for f in (1, 12, 30, 48, 72, 90, 108, 120):
        sf.frame_set(f)
        row[f] = [round(x, 4) for x in o.evaluated_get(bpy.context.evaluated_depsgraph_get()).matrix_world.translation]
    R["doors"][n] = row
with open(OUT, "w") as fh:
    json.dump(R, fh, indent=1)
print("[crit2] rodeye written", OUT, flush=True)