# model_card_scaled.py
import trimesh
import json
import numpy as np

PI = np.pi

# === 可调参数 ===
MODEL_SCALE              = 1.0        # 几何整体缩放
MARKER_FRAC              = 0.02       # 标注物相对尺寸(基于 OBB 对角线)

CONTACT_POS               = (-0.035, 0.045, -0.5)   # 目标点位置
CONTACT_RPY               = (-PI/2, 0.0, PI/2)      # 目标点姿态 (XYZ/弧度)
CONTACT_RADIUS_SCALE      = 1.2                  # 目标标记球半径系数

TARGET_POS              = (0., 0.045, -0.45)      # 抓取/吸附点位置
TARGET_RPY              = (-PI/2, 0.0, -PI/2)      # 抓取点姿态 (XYZ/弧度)
TARGET_RADIUS_SCALE     = 1.0                  # 抓取标记球半径系数


# 可视化小坐标轴大小（两者共用）
AXIS_ORIGIN_SIZE_SCALE   = 1.0

def create_model_data(id="barrel"):
    file_path = f"./{id}.glb"
    save_path = f"./model_data.json"

    # 1) 读模型并烘焙为单一 Trimesh
    with open(file_path, "rb") as f:
        loaded = trimesh.load(f, file_type="glb")
    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded

    # 2) 缩放
    mesh.apply_scale(MODEL_SCALE)
    scene = trimesh.Scene(mesh)

    # 3) 尺寸 & 标注尺度
    obb = mesh.bounding_box_oriented
    center = np.asarray(obb.centroid)
    ext = np.asarray(obb.extents)
    diag = float(np.linalg.norm(ext)) + 1e-12

    origin_sz  = diag * MARKER_FRAC * 0.6
    r_target   = diag * MARKER_FRAC * float(TARGET_RADIUS_SCALE)
    r_contact  = diag * MARKER_FRAC * float(CONTACT_RADIUS_SCALE)

    red   = [1.0, 0.0, 0.0, 0.5]
    green = [0.0, 1.0, 0.0, 0.5]

    # 4) target 点
    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
    T_target = (
        trimesh.transformations.translation_matrix(np.asarray(TARGET_POS)) @
        trimesh.transformations.euler_matrix(*TARGET_RPY)
    )
    target_sphere.apply_transform(T_target)
    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
    axis_t = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
    axis_t.apply_transform(T_target)
    scene.add_geometry(axis_t)
    scene.add_geometry(target_sphere)
    target_points_list = [T_target.tolist()]

    # 5) contact 点（新增）
    contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_contact)
    T_contact = (
        trimesh.transformations.translation_matrix(np.asarray(CONTACT_POS)) @
        trimesh.transformations.euler_matrix(*CONTACT_RPY)
    )
    contact_sphere.apply_transform(T_contact)
    contact_sphere.visual.vertex_colors = np.array([red] * len(contact_sphere.vertices))
    axis_c = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
    axis_c.apply_transform(T_contact)
    scene.add_geometry(axis_c)
    scene.add_geometry(contact_sphere)
    contact_points_list = [T_contact.tolist()]

    # 6) Orientation 参考点（OBB +Y 顶端）
    if hasattr(obb, "primitive") and hasattr(obb.primitive, "transform"):
        R_obb = np.asarray(obb.primitive.transform)[:3, :3]
    else:
        R_obb = np.eye(3)
    orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
    T_orient = trimesh.transformations.translation_matrix(center + R_obb[:, 1] * (ext[1] / 2.0))
    orient.apply_transform(T_orient)
    orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
    scene.add_geometry(orient)

    # 7) 写 JSON
    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
    data = {
        "center": center.tolist(),
        "extents": ext.tolist(),
        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
        "target_pose": target_points_list,               # 一个 target
        "contact_points_pose": contact_points_list,      # 一个 contact
        "transform_matrix": transform_matrix,
        "functional_matrix": [],
        "orientation_point": T_orient.tolist(),
        "contact_points_group": [[0]],                   # 单组：仅索引0
        "contact_points_mask": [True],
        "contact_points_discription": ["Single contact at CONTACT_POS."],
        "target_point_discription": ["User-defined target at TARGET_POS."],
        "functional_point_discription": [""],
        "orientation_point_discription": ["OBB +Y reference."]
    }
    with open(save_path, "w") as f:
        json.dump(data, f, indent=4, separators=(",", ": "))

    scene.show()

if __name__ == "__main__":
    create_model_data("barrel")