"""Показана кинематика рычага и тяги постоянной длины. Замок проходит мёртвую точку. Упругий натяг и удержание от вибрации требуют физической пробы."""

import FreeCAD  # noqa: F401 (initialize the CAD runtime first)

# isort: split
import math
import sys
from pathlib import Path

sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
from common import Piece, Pose, V, box, cyl, join, main, params, require

MODEL_ID = "toggle"
DEFAULTS = {
    "pivot_spacing": 40,
    "crank_length": 12,
    "link_length": 36,
    "lever_length": 27,
    "pin_radius": 1.2,
    "clearance": 0.25,
}
NOTE = "Показана кинематика рычага и тяги постоянной длины. Замок проходит мёртвую точку. Упругий натяг и удержание от вибрации требуют физической пробы."
MODE = "rigid"


def make_parts(supplied=None):

    p = params(DEFAULTS, supplied)
    d, r, l, handle, pr, c = [
        p[k]
        for k in (
            "pivot_spacing",
            "crank_length",
            "link_length",
            "lever_length",
            "pin_radius",
            "clearance",
        )
    ]
    require(
        l > d - r + 2 and l > d + r * math.cos(math.radians(130)) and handle > r,
        "Link must reach the catch throughout the stroke",
    )

    def points(t):
        angle = 130 + 40 * t
        ang = math.radians(angle)
        bx = d / 2 + r * math.cos(ang)
        bz = 8 + r * math.sin(ang)
        return angle, (bx, bz), (-d / 2, bz + math.sqrt(l * l - (bx + d / 2) ** 2))

    af, bf, cf = points(1)
    base = join(box(-d / 2 - 10, -10, 0, d + 20, 20, 3), box(d / 2 - 3, 2, 3, 6, 5, 8))
    base = base.cut(cyl(pr + c, 12, (d / 2, -3, 8), (0, 1, 0)))
    lever = box(d / 2, -1, 6, handle, 3, 4).rotated(V(d / 2, 0, 8), V(0, 1, 0), -af)
    lever = join(lever, cyl(3, 3, (d / 2, -1, 8), (0, 1, 0))).cut(
        cyl(pr + c, 7, (d / 2, -3, 8), (0, 1, 0))
    )
    link = cyl(1.6, l, (cf[0], -4, cf[1]), (bf[0] - cf[0], 0, bf[1] - cf[1]))
    for x, z in (bf, cf):
        link = join(link, cyl(3, 3, (x, -5.5, z), (0, 1, 0)))
    for x, z in (bf, cf):
        link = link.cut(cyl(pr + c, 6, (x, -7, z), (0, 1, 0)))
    lid = join(
        box(-d / 2 - 9, 2, cf[1] + 3, 18, 12, 3), box(-d / 2 - 3, 2, cf[1] - 3, 6, 5, 6)
    )
    axle = cyl(pr, 9, (d / 2, -5, 8), (0, 1, 0))

    def rod_pose(t):
        _angle, b, a = points(t)
        a0 = math.degrees(math.atan2(bf[1] - cf[1], bf[0] - cf[0]))
        a1 = math.degrees(math.atan2(b[1] - a[1], b[0] - a[0]))
        return Pose(
            offset=(a[0] - cf[0], 0, a[1] - cf[1]),
            angle=-(a1 - a0),
            axis=(0, 1, 0),
            pivot=(cf[0], -4, cf[1]),
        )

    return [
        Piece("receiver", "Основание рычага", base),
        Piece(
            "lid",
            "Ответный крюк",
            lid,
            lambda t: Pose(offset=(0, 0, points(t)[2][1] - cf[1])),
        ),
        Piece(
            "lever",
            "Перекидной рычаг",
            lever,
            lambda t: Pose(
                angle=-(points(t)[0] - af), axis=(0, 1, 0), pivot=(d / 2, 0, 8)
            ),
        ),
        Piece("link", "Тяга постоянной длины", link, rod_pose),
        Piece("axle", "Ось рычага", axle, role="hardware"),
    ]


if __name__ == "__main__":
    main(make_parts, DEFAULTS, MODEL_ID, __file__, NOTE, MODE)