# See pybullet quickstart guide here:
# https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#
# Create a Tiltbrush-like app, drawing lines using any controller
# Line width can be changed

import pybullet as p
import pybullet_data


CONTROLLER_ID = 0
POSITION = 1
ORIENTATION = 2
BUTTONS = 6

#assume that the VR physics server is already started before
c = p.connect(p.SHARED_MEMORY)
print(c)
if (c < 0):
  p.connect(p.GUI)

p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setInternalSimFlags(0)  #don't load default robot assets etc
p.resetSimulation()
p.loadURDF("plane.urdf")
p.loadURDF("cube.urdf", 0, 0, 1)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)

prevPosition = [None] * p.VR_MAX_CONTROLLERS
colors = [0., 0.5, 0.5] * p.VR_MAX_CONTROLLERS
widths = [3] * p.VR_MAX_CONTROLLERS
a = [0, 0, 0]
#use a few default colors
colors[0] = [0, 0, 0]
colors[1] = [0.5, 0, 0]
colors[2] = [0, 0.5, 0]
colors[3] = [0, 0, 0.5]
colors[4] = [0.5, 0.5, 0.]
colors[5] = [.5, .5, .5]

p.startStateLogging(p.STATE_LOGGING_VR_CONTROLLERS, "vr_hmd.bin", deviceTypeFilter=p.VR_DEVICE_HMD)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "generic_data.bin")
p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS, "contact_points.bin")

while True:
  events = p.getVREvents(p.VR_DEVICE_HMD + p.VR_DEVICE_GENERIC_TRACKER)
  for e in (events):
    pos = e[POSITION]
    mat = p.getMatrixFromQuaternion(e[ORIENTATION])
    dir0 = [mat[0], mat[3], mat[6]]
    dir1 = [mat[1], mat[4], mat[7]]
    dir2 = [mat[2], mat[5], mat[8]]
    lineLen = 0.1
    dir = [-mat[2], -mat[5], -mat[8]]

    to = [pos[0] + lineLen * dir[0], pos[1] + lineLen * dir[1], pos[2] + lineLen * dir[2]]
    toX = [pos[0] + lineLen * dir0[0], pos[1] + lineLen * dir0[1], pos[2] + lineLen * dir0[2]]
    toY = [pos[0] + lineLen * dir1[0], pos[1] + lineLen * dir1[1], pos[2] + lineLen * dir1[2]]
    toZ = [pos[0] + lineLen * dir2[0], pos[1] + lineLen * dir2[1], pos[2] + lineLen * dir2[2]]
    p.addUserDebugLine(pos, toX, [1, 0, 0], 1)
    p.addUserDebugLine(pos, toY, [0, 1, 0], 1)
    p.addUserDebugLine(pos, toZ, [0, 0, 1], 1)

    p.addUserDebugLine(pos, to, [0.5, 0.5, 0.], 1, 3)

  events = p.getVREvents()

  for e in (events):
    if (e[BUTTONS][33] & p.VR_BUTTON_WAS_TRIGGERED):
      prevPosition[e[CONTROLLER_ID]] = e[POSITION]
    if (e[BUTTONS][32] & p.VR_BUTTON_WAS_TRIGGERED):
      widths[e[CONTROLLER_ID]] = widths[e[0]] + 1
      if (widths[e[CONTROLLER_ID]] > 20):
        widths[e[CONTROLLER_ID]] = 1
    if (e[BUTTONS][1] & p.VR_BUTTON_WAS_TRIGGERED):
      p.resetSimulation()
      #p.setGravity(0,0,-10)
      p.removeAllUserDebugItems()
      p.loadURDF("plane.urdf")
    if (e[BUTTONS][33] == p.VR_BUTTON_IS_DOWN):
      pt = prevPosition[e[CONTROLLER_ID]]

      #print(prevPosition[e[0]])
      #print(e[1])
      diff = [pt[0] - e[POSITION][0], pt[1] - e[POSITION][1], pt[2] - e[POSITION][2]]
      lenSqr = diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2]
      ptDistThreshold = 0.01
      if (lenSqr > (ptDistThreshold * ptDistThreshold)):
        p.addUserDebugLine(e[POSITION], prevPosition[e[CONTROLLER_ID]], colors[e[CONTROLLER_ID]],
                           widths[e[CONTROLLER_ID]])
        #p.loadURDF("cube_small.urdf",e[1])
        colors[e[CONTROLLER_ID]] = [
            1 - colors[e[CONTROLLER_ID]][0], 1 - colors[e[CONTROLLER_ID]][1],
            1 - colors[e[CONTROLLER_ID]][2]
        ]
        prevPosition[e[CONTROLLER_ID]] = e[POSITION]
