# -*- encoding=utf-8 -*-
""" NOTE
Needs yade compiled with CGAL feature
"""

O.engines = [
        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Box_Aabb(), Bo1_Facet_Aabb()]),
        InteractionLoop(
                [Ig2_Facet_Sphere_ScGeom()],
                [Ip2_FrictMat_FrictMat_FrictPhys()],
                [Law2_ScGeom_FrictPhys_CundallStrack()],
        ),
        NewtonIntegrator(damping=0.01, gravity=[0, 0, -10]),
]
mat = O.materials.append(FrictMat(young=1e3, poisson=.2, density=1000, frictionAngle=radians(20)))
O.bodies.append(
        [
                facet([[-1, -1, 0], [1, -1, 0], [0, 1, 0]], fixed=True, color=[1, 0, 0], material=mat),
                facet([[1, -1, 0], [
                        0,
                        1,
                        0,
                ], [1, .5, .5]], fixed=True, material=mat)
        ]
)
import random
if 1:
	for i in range(0, 100):
		O.bodies.append(sphere([random.gauss(0, 1), random.gauss(0, 1), random.uniform(1, 2)], random.uniform(.02, .05), material=mat))
		O.bodies[len(O.bodies) - 1].state.vel = Vector3(random.gauss(0, .1), random.gauss(0, .1), random.gauss(0, .1))
else:
	O.bodies.append(sphere([0, 0, .6], .5), material=mat)
O.dt = 1e-4
O.saveTmp('init')

# compare 2 colliders:
if 1:
	O.timingEnabled = True
	from yade import timing
	for collider in InsertionSortCollider(), PersistentTriangulationCollider(haveDistantTransient=True):
		for i in range(2):
			O.loadTmp('init')
			replaceCollider(collider)
			O.run(100, True)
			timing.reset()
			O.run(50000, True)
			timing.stats()
else:
	#O.run(100,True)
	O.step()
	print(len(O.interactions))
	#O.bodies[2].phys['se3']=[-.6,0,.6,1,0,0,0]
	#O.step()
