# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""This script demonstrates different rigid and deformable meshes in the scene.

It randomly spawns different types of meshes in the scene. The meshes can be rigid or deformable
based on the probability of 0.5. The rigid meshes are spawned with rigid body and collision properties,
while the deformable meshes are spawned with deformable body properties.

.. code-block:: bash

    # Usage
    ./isaaclab.sh -p source/isaaclab/test/sim/check_meshes.py

"""

"""Launch Isaac Sim Simulator first."""


import argparse

from isaaclab.app import AppLauncher

# create argparser
parser = argparse.ArgumentParser(description="This script demonstrates different meshes in the scene.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Rest everything follows."""

import numpy as np
import random
import torch
import tqdm

import isaaclab.sim as sim_utils
import isaaclab.sim.utils.prims as prim_utils


def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
    """Defines the origins of the the scene."""
    # create tensor based on number of environments
    env_origins = torch.zeros(num_origins, 3)
    # create a grid of origins
    num_cols = np.floor(np.sqrt(num_origins))
    num_rows = np.ceil(num_origins / num_cols)
    xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy")
    env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2
    env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2
    env_origins[:, 2] = torch.rand(num_origins) + 1.0
    # return the origins
    return env_origins.tolist()


def design_scene():
    """Designs the scene by spawning ground plane, light, and deformable meshes."""
    # Ground-plane
    cfg_ground = sim_utils.GroundPlaneCfg()
    cfg_ground.func("/World/defaultGroundPlane", cfg_ground)

    # spawn distant light
    cfg_light = sim_utils.DomeLightCfg(
        intensity=3000.0,
        color=(0.75, 0.75, 0.75),
    )
    cfg_light.func("/World/light", cfg_light)

    # create new xform prims for all objects to be spawned under
    origins = define_origins(num_origins=4, spacing=5.5)
    for idx, origin in enumerate(origins):
        prim_utils.create_prim(f"/World/Origin{idx:02d}", "Xform", translation=origin)

    # spawn a red cone
    cfg_sphere = sim_utils.MeshSphereCfg(
        radius=0.25,
        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
        visual_material=sim_utils.PreviewSurfaceCfg(),
    )
    cfg_cuboid = sim_utils.MeshCuboidCfg(
        size=(0.2, 0.2, 0.2),
        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
        visual_material=sim_utils.PreviewSurfaceCfg(),
    )
    cfg_cylinder = sim_utils.MeshCylinderCfg(
        radius=0.15,
        height=0.5,
        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
        visual_material=sim_utils.PreviewSurfaceCfg(),
    )
    cfg_capsule = sim_utils.MeshCapsuleCfg(
        radius=0.15,
        height=0.5,
        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
        visual_material=sim_utils.PreviewSurfaceCfg(),
    )
    cfg_cone = sim_utils.MeshConeCfg(
        radius=0.15,
        height=0.5,
        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
        visual_material=sim_utils.PreviewSurfaceCfg(),
    )
    # create a dictionary of all the objects to be spawned
    objects_cfg = {
        "sphere": cfg_sphere,
        "cuboid": cfg_cuboid,
        "cylinder": cfg_cylinder,
        "capsule": cfg_capsule,
        "cone": cfg_cone,
    }

    # Create separate groups of deformable objects
    origins = define_origins(num_origins=25, spacing=0.5)
    print("[INFO]: Spawning objects...")
    # Iterate over all the origins and randomly spawn objects
    for idx, origin in tqdm.tqdm(enumerate(origins), total=len(origins)):
        # randomly select an object to spawn
        obj_name = random.choice(list(objects_cfg.keys()))
        obj_cfg = objects_cfg[obj_name]
        # randomly decide if it is rigid or deformable
        if random.random() < 0.5:
            obj_cfg.rigid_props = None
            obj_cfg.collision_props = None
            obj_cfg.deformable_props = sim_utils.DeformableBodyPropertiesCfg(rest_offset=0.0)
        else:
            obj_cfg.deformable_props = None
            obj_cfg.rigid_props = sim_utils.RigidBodyPropertiesCfg()
            obj_cfg.collision_props = sim_utils.CollisionPropertiesCfg()
        # randomize the color
        obj_cfg.visual_material.diffuse_color = (random.random(), random.random(), random.random())
        # spawn the object
        obj_cfg.func(f"/World/Origin.*/Object{idx:02d}", obj_cfg, translation=origin)


def main():
    """Main function."""
    # Initialize the simulation context
    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
    sim = sim_utils.SimulationContext(sim_cfg)
    # Set main camera
    sim.set_camera_view([8.0, 8.0, 6.0], [0.0, 0.0, 0.0])

    # Design scene by adding assets to it
    design_scene()

    # Play the simulator
    sim.reset()
    # Now we are ready!
    print("[INFO]: Setup complete...")

    # Simulate physics
    while simulation_app.is_running():
        # perform step
        sim.step()


if __name__ == "__main__":
    # run the main function
    main()
    # close sim app
    simulation_app.close()
