r"""
.. _ref_cadsuspension_multilink_base:

Multilink Base
^^^^^^^^^^^^^^

.. code-block::

   #                        
   #                    \\\    
   #                    \-/  
   #             UCA_REAR* 
   #                    /
   #                   / 
   #   -----------    /
   #    |       |    /
   #    |       |   *----------*UCA_FRONT
   #    |       | uca_outer   /⁻\.
   #    |       |             ///
   #    |       |
   #    |       |
   #    |       |        tierod_outer
   #    |       |       *--------------------*TIEROD_INNER
   #    |       |
   #    |       |
   #    |       |       lca_outer
   #    |       |      *------------*LCA_REAR
   #   -----------     \           /⁻\.
   #                    \          ///
   #                     \.
   #                      *LCA_FRONT
   #                     /⁻\.
   #                     ///
   

+--------------+-------------------------------+
| Name         | Description                   | 
+==============+===============================+
| UCA_FRONT    | upper control arm front       | 
+--------------+-------------------------------+
| UCA_REAR     | upper control arm rear        | 
+--------------+-------------------------------+
| LCA_FRONT    | upper control arm front       | 
+--------------+-------------------------------+
| LCA_REAR     | LOWER control arm rear        | 
+--------------+-------------------------------+
| TIEROD_INNER | tierod inner                  | 
+--------------+-------------------------------+
| uca_outer    | upper control arm outer       |
+--------------+-------------------------------+
| lca_outer    | lower upper control arm outer |  
+--------------+-------------------------------+
| tierod_outer | tierod outer                  |
+--------------+-------------------------------+

"""

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


###############################################################################
# Import from pymycar package
# ---------------------------
from pymycar.Cad.Suspension.multilink import multilink_cad_base


###############################################################################
# Parameters Definition
# ---------------------
data = {
    "UCA_FRONT": np.array([4707.1, -462.7, 1120.5]),
    "UCA_REAR": np.array([4912.2, -418.5, 1128.2]), 
    "LCA_FRONT": np.array([4066.2, -498.8, 1015.7]),
    "LCA_REAR": np.array([4682.3, -285.2, 936.4]), 
    "TIEROD_INNER": np.array([5042.5, -272.4, 988.7]),
    "uca_outer": np.array([4701.2, -710.5, 1207.3]),   
    "lca_outer": np.array([4687.4, -698.2, 927.5]),   
    "tierod_outer": np.array([4942.9, -719.8, 1038.2]),
    "wheel_center": np.array([4682.2, -766.1, 1047.4]),
    "uca_outer_aux": np.array([4840.7, -721.2, 1202.8]),   
    "lca_outer_aux": np.array([4702.5, -701.7, 1006.2]),  
}


upper_control_arm, lower_control_arm, upper_control_arm_aux, lower_control_arm_aux, direction, wheel_center1 = multilink_cad_base(data, None)
wheel = pv.Cylinder(center=data["wheel_center"], direction=(0, 1, 0), height=50, radius=200)

plotter = pv.Plotter()
plotter.add_mesh(upper_control_arm, color="blue"),
plotter.add_mesh(lower_control_arm, color="pink"),
plotter.add_mesh(upper_control_arm_aux, color="blue"),
plotter.add_mesh(lower_control_arm_aux, color="pink"),
plotter.add_mesh(direction, color="green"),
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()