"""Mako: read-only probe of models/docking-arm/DockArm_Carousel.blend (never saved). The clamp head's envelope in the Tender's
frame (clamp axis at the origin of this table, z over the Tender origin), claws shut and open, at BOARD: for each 5 cm band
of height, the largest horizontal distance of any part of the head, claws, links and hose from the clamp axis, and the
largest distance along the Tender's length (both headings). Used to place the dorsal fin before the clamp check proper.
Writes checks/arm_envelope.json."""
import bpy, os, json, math
from mathutils import Vector
HERE = os.path.dirname(os.path.abspath(__file__))
arm = bpy.data.objects["Arm1"]
parts = [o for o in bpy.data.objects if o.type == 'MESH' and (o.name.startswith("Arm1_") or o.name == "SM_DockArm_Turret")]
dg = bpy.context.evaluated_depsgraph_get()
out = {}
for claw in (0.0, 1.0):
    arm["lower_m"] = 5.3
    arm["claw_open"] = claw
    for ob in bpy.data.objects:
        if ob.name.startswith("Arm1"):
            ob.update_tag()
    bpy.context.view_layer.update()
    dg.update()
    head = bpy.data.objects["Arm1_Head"].matrix_world
    ax = head.translation.copy()                         # the clamp axis: under the wrist
    zt = ax.z - 1.94                                     # Tender origin height
    bands = {}
    for o in parts:
        ev = o.evaluated_get(dg)
        me = ev.to_mesh()
        M = ev.matrix_world
        for v in me.vertices:
            p = M @ v.co
            z = p.z - zt
            if z > 3.2:
                continue
            r = math.hypot(p.x - ax.x, p.y - ax.y)
            b = round(math.floor(z / 0.05) * 0.05, 2)
            e = bands.setdefault(b, {"r": 0.0, "part": ""})
            if r > e["r"] and r < 2.5:
                e["r"] = round(r, 3); e["part"] = o.name
        ev.to_mesh_clear()
    out["claws_open" if claw else "claws_shut"] = {"%.2f" % k: bands[k] for k in sorted(bands)}
json.dump(out, open(os.path.join(HERE, "checks", "arm_envelope.json"), "w"), indent=0)
for k, v in out.items():
    print("ENV", k, " ".join("%s:%.2f" % (z, e["r"]) for z, e in v.items() if float(z) <= 3.0))