"""Moving parts of the Manta through their travel against everything that does not move (read only, never saved):
rotor 0..72 deg (one blade pitch, 3 deg), tool boom swing -45..+45 deg (5), drill bit 0..180 deg (10), also at the boom's ends.
Runs headless: blender -b Tender_Manta.blend --python build/motion_check.py"""
import bpy, math, json, os
from mathutils import Vector
from mathutils.bvhtree import BVHTree
HERE = r"D:\HADAL - The Descent\models\tender-manta\build"
O = bpy.data.objects
def tree(o):
    bpy.context.view_layer.update()
    dg = bpy.context.evaluated_depsgraph_get()
    ev = o.evaluated_get(dg)
    me = ev.to_mesh(); me.calc_loop_triangles()
    M = ev.matrix_world
    vs = [M @ v.co for v in me.vertices]
    t = BVHTree.FromPolygons(vs, [tuple(x.vertices) for x in me.loop_triangles])
    ev.to_mesh_clear()
    return t, vs
root = O["Manta_Root"]
for o in O:                      # drivers off: the check sets angles itself
    if o.animation_data:
        for d in o.animation_data.drivers:
            d.mute = True
ST = [tree(O["SM_Manta_Hull"]), tree(O["SM_Manta_Glass"])]
def least(vs, step=2):
    best = 9.0
    for t, _ in ST:
        for p in vs[::step]:
            h = t.find_nearest(p)
            if h[0] is not None:
                best = min(best, h[3])
    return best
def sweep(objs, setter, angles):
    rows = []
    for a in angles:
        setter(a)
        hits, gap = 0, 9.0
        for o in objs:
            t, vs = tree(o)
            hits += sum(len(t.overlap(s)) for s, _ in ST)
            gap = min(gap, least(vs))
        rows.append({"deg": a, "intersections": hits, "least_gap_m": round(gap, 4)})
    setter(0)
    return {"worst_gap_m": min(r["least_gap_m"] for r in rows), "angles_with_intersections": [r["deg"] for r in rows if r["intersections"]],
            "rows": rows}
rot, boom, bit = O["SM_Manta_Rotor"], O["SM_Manta_ToolBoom"], O["SM_Manta_ToolBit"]
def set_rot(a): rot.rotation_euler = (0, math.radians(a), 0)
def set_boom(a): boom.rotation_euler = (0, 0, math.radians(a))
def set_bit(a): bit.rotation_euler = (0, math.radians(a), 0)
out = {"rotor": sweep([rot], set_rot, list(range(0, 73, 3))),
       "boom": sweep([boom, bit], set_boom, list(range(-45, 46, 5)))}
clear = [r["deg"] for r in out["boom"]["rows"] if not r["intersections"] and r["least_gap_m"] >= 0.005]   # the hinge runs 1 cm clear by design
out["boom_clear_range_deg"] = [min(clear), max(clear)] if clear else None
for end in (out["boom_clear_range_deg"] or [0]):
    set_boom(end)
    out["bit_at_%d" % end] = sweep([bit], set_bit, list(range(0, 181, 10)))
set_boom(0)
movers = [rot, boom, bit]
mt = {o.name: tree(o)[0] for o in movers}
out["movers_touching_each_other"] = [(a.name, b.name) for i, a in enumerate(movers) for b in movers[i + 1:]
                                     if b.parent is not a and mt[a.name].overlap(mt[b.name])]
json.dump(out, open(os.path.join(HERE, "checks", "motion.json"), "w"), indent=1)
print("MOTION", json.dumps({k: ({kk: vv for kk, vv in v.items() if kk != "rows"} if isinstance(v, dict) else v) for k, v in out.items()}))