"""Moving parts of the Remora through their travel against everything that does not move (read only, never saved):
canopy 0..-75 deg (5 deg steps), hatch lid 0..-110 deg (10), rotors 0..60 deg (one blade pitch, 3 deg), drill 0..180 deg (10)."""
import bpy, math, json, os
from mathutils import Matrix, Vector
from mathutils.bvhtree import BVHTree
HERE = os.path.dirname(os.path.abspath(__file__))
O = bpy.data.objects
def tree(o):
    bpy.context.view_layer.update()
    me = o.data
    me.calc_loop_triangles()
    M = o.matrix_world
    vs = [M @ v.co for v in me.vertices]
    return BVHTree.FromPolygons(vs, [tuple(t.vertices) for t in me.loop_triangles]), vs
static = [O["SM_Remora_Hull"], O["SM_Remora_Cabin"]]
ST = [tree(o) for o in static]
def least(vs, step=3):
    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(name, axis, angles):
    o = O[name]
    base = o.rotation_euler.copy()
    rows = []
    for a in angles:
        e = base.copy()
        e[axis] = base[axis] + math.radians(a)
        o.rotation_euler = e
        t, vs = tree(o)
        hits = sum(len(t.overlap(s)) for s, _ in ST)
        rows.append({"deg": a, "intersections": hits, "least_gap_m": round(least(vs), 4)})
    o.rotation_euler = base
    bpy.context.view_layer.update()
    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}
out = {
    "canopy": sweep("SM_Remora_Canopy", 0, list(range(0, -76, -5))),
    "hatch_lid": sweep("SM_Remora_HatchLid", 0, list(range(0, -111, -10))),
    "rotor_port": sweep("SM_Remora_Rotor.Port", 1, list(range(0, 61, 3))),
    "rotor_stbd": sweep("SM_Remora_Rotor.Stbd", 1, list(range(0, 61, 3))),
    "drill": sweep("SM_Remora_Drill", 1, list(range(0, 181, 10))),
}
# moving parts against each other at rest (canopy, lid, rotors, drill are far apart; this proves it)
movers = ["SM_Remora_Canopy", "SM_Remora_HatchLid", "SM_Remora_Rotor.Port", "SM_Remora_Rotor.Stbd", "SM_Remora_Drill"]
mt = {n: tree(O[n])[0] for n in movers}
out["movers_touching_each_other"] = [(a, b) for i, a in enumerate(movers) for b in movers[i + 1:] if mt[a].overlap(mt[b])]
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()}))