r"""
.. _ref_cad_suspension_double_whisbone_base:

Double Whisbonebase: 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.double_whisbone import whisbone_cad_base


###############################################################################
# Parameters Definition
# ---------------------
data = {
    "UCA_FRONT": np.array([586.7, -314.5, 199.9]),
    "UCA_REAR": np.array([930.7, -230.2, 244.2]), 
    "LCA_FRONT": np.array([588.7, -384.2, 76.8]),
    "LCA_REAR": np.array([938.2, -191.2, 62.7]), 
    "TIEROD_INNER": np.array([934.2, -192.1, 81.2]),
    "uca_outer": np.array([953.0, -474.2, 272.2]),   
    "lca_outer": np.array([934.8, -514.7, 47.9]),   
    "tierod_outer": np.array([1027.1, -513.7, 43.6]),
    "wheel_center": np.array([941.5, -580.2, 155.1])
}

upper_control_arm, lower_control_arm, direction, wheel_center1 = whisbone_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(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()