# -*- encoding=utf-8 -*-
# © Václav Šmilauer <eudoxos@arcig.cz>
#
# Test case for sphere-facet interaction.

#O.bodyContainer="BodyVector"

O.engines = [
        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Facet_Aabb()], nBins=5, sweepLength=5e-3),
        #SpatialQuickSortCollider(),
        InteractionLoop(
                [Ig2_Facet_Sphere_ScGeom()],
                [Ip2_FrictMat_FrictMat_FrictPhys()],
                [Law2_ScGeom_FrictPhys_CundallStrack()],
        ),
        NewtonIntegrator(damping=0.01, gravity=[0, 0, -10]),
]
O.bodies.append([facet([[-1, -1, 0], [1, -1, 0], [0, 1, 0]], fixed=True, color=[1, 0, 0]),
                 facet([[1, -1, 0], [
                         0,
                         1,
                         0,
                 ], [1, .5, .5]], fixed=True)])

#Gl1_Facet(normals=True)

import random, sys


def addRandomSphere():
	return O.bodies.append(sphere([random.gauss(0, 1), random.gauss(0, 1), random.uniform(1, 2)], random.uniform(.02, .05)))
	O.bodies[len(O.bodies) - 1].state.vel = [random.gauss(0, .1), random.gauss(0, .1), random.gauss(0, .1)]


for i in range(0, 100):
	addRandomSphere()

O.dt = 1e-4
#O.run()
O.saveTmp('init')
from yade import qt

qt.Controller()
qt.View()
if 1:
	for i in range(0, 1000):
		O.run(50, True)
		if random.choice([True, False]):
			idOld = random.randint(2, len(O.bodies) - 1)
			O.bodies.erase(idOld)
			print("-%d" % idOld, end=' ')
		else:
			idNew = addRandomSphere()
			print("+%d" % idNew, end=' ')
		sys.stdout.flush()
