r"""
.. _ref_cad_motorbike_rear_assembly_swingarm_conf_0:

Rear Assembly: Swingarm Base Configuration
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block::

   #                          
   #
   #                                                  \ 
   #                                                   . 
   #                                                    \ 
   #        /--------------                ___________----* SA_LEFT
   #       /                              /             /⁻\\ 
   #      /                 _____________/              ///\ 
   #     / sa_left_outer  /                                 \ 
   #    /     *----------/                   ___________-----* SA_RIGHT
   #    \      \                             /              /⁻\\ 
   #  wheel center*            _____________/               /// . 
   #     \       \            /                                  \ 
   #      \       *----------/  
   #       \   SA_right_outer
   #        \
   #         \
   #          \---*----------
   #             Wheel center ground reference
   #

+-----------------+--------------------------+--------+
| Points  Name    | Description              | Type   |
+=================+==========================+========+
| wheel center    | Center of the Wheel      | mobile |
+-----------------+--------------------------+--------+
| SA RIGHT        | Swingarm Right           | fixed  |
+-----------------+--------------------------+--------+
| SA LEFT         | Swingarm Left            | fixed  |
+-----------------+--------------------------+--------+
| sa right outer  | Swingarm right outer     | mobile |
+-----------------+--------------------------+--------+
| sa left outer   | Swingarm left outer      | mobile |
+-----------------+--------------------------+--------+

"""

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

from pymycar.Cad.MotorCycle.rear_assembly import swingarm_cad_base
from pymycar.Cad.MotorCycle.frame import frame_cad_base
from pymycar.Cad.MotorCycle.rear_assembly import rear_suspension_cantilever
from pymycar.Cad.MotorCycle.front_assembly import fork_front_suspension

data = {
    "SA_RIGHT": np.array([0.0, -100.0, 0.0]),
    "SA_LEFT": np.array([0.0,   200.0,  0.0]),    
    "sa_right_outer": np.array([-500.0, -125.0, -0.0]),   
    "sa_left_outer": np.array([-500.0,   125.0, -0.0]),
    "wheel_center": np.array([-500.0,   0.0,    -0.0]),
}


swingarm = swingarm_cad_base(data, index=None)
wheel = pv.Cylinder(center=data["wheel_center"], direction=(0, 1, 0), height=50, radius=200)

plotter = pv.Plotter()
plotter.add_mesh(swingarm, color="blue"),
plotter.add_mesh(wheel, color="black", opacity=0.5)

# Add points to the plot
for name, coord in data.items():
    plotter.add_mesh(pv.Sphere(radius=5, center=coord), color='red')

# Add text annotations
for name, coord in data.items():
    plotter.add_point_labels([coord], [name], point_size=20, font_size=30, text_color='black', always_visible=True)

plotter.show()