r"""
.. _ref_cad_chassis:

Chassis Visualization Example
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This example demonstrates how to use the pyMyCar package to create and visualize different car chassis models. 
The chassis is the main structural component of a vehicle, supporting the body and other parts.

The code below shows how to:
- Import and use predefined chassis models from pyMyCar.
- Visualize these models in 3D with PyVista, including the reference coordinate axes.
- Compare different chassis designs by rendering them in separate windows.

"""

###############################################################################
# Import necessary libraries
# --------------------------
import numpy as np
import pandas as pd
import pyvista as pv


###############################################################################
# Import from pymycar package
# ---------------------------
from pymycar.Cad.Chassis import formula, tourist


###############################################################################
# Formula
# -------

# %%
# Model A
chassis_formula_A = formula.model_A(front_axle_to_com=1500,
            rear_axle_to_com=1645*0.5,
            front_track=1500*0.5,
            rear_track=1645*0.5,
            com_height=400.0,
            roll=0,
            pitch=0,
            yaw=0,
            x=0,
            y=0,
            z=0)

# %%
# Define the specific point location for the reference coordinate system
reference_point = np.array([0, 0, 400])

plotter = pv.Plotter()
plotter.add_mesh(chassis_formula_A, color="red", opacity=0.5)

axes = pv.Axes()
axes.axes_actor.z_axis_shaft_properties.color = (0.0, 1.0, 1.0)
axes.axes_actor.shaft_type = axes.axes_actor.ShaftType.CYLINDER
plotter.add_actor(axes.axes_actor)

plotter.show()


# %%
# Model B
chassis_formula_B = formula.model_B()

plotter = pv.Plotter()
plotter.add_mesh(chassis_formula_B, color="red", opacity=0.5)
plotter.add_actor(axes.axes_actor)

plotter.show()

###############################################################################
# Tourist
# -------
chassis_tourist_A = tourist.model_A()

plotter = pv.Plotter()
plotter.add_mesh(chassis_tourist_A, color="red", opacity=0.5)
plotter.add_actor(axes.axes_actor)

plotter.show()