import pybullet as p
import time
import math

p.connect(p.GUI)
#don't create a ground plane, to allow for gaps etc
p.resetSimulation()
#p.createCollisionShape(p.GEOM_PLANE)
#p.createMultiBody(0,0)
#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);

p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)

sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")

boxHalfLength = 0.5
boxHalfWidth = 2.5
boxHalfHeight = 0.1
segmentLength = 5

colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])

mass = 1
visualShapeId = -1

segmentStart = 0

for i in range (segmentLength):
	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
	segmentStart=segmentStart-1
	
for i in range (segmentLength):
	height = 0
	if (i%2):
		height=1
	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
	segmentStart=segmentStart-1

baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])

for i in range (segmentLength):
	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
	segmentStart=segmentStart-1
	if (i%2):
		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)

for i in range (segmentLength):
	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
	width=4
	for j in range (width):
		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
	segmentStart=segmentStart-1


link_Masses=[1]
linkCollisionShapeIndices=[colBoxId]
linkVisualShapeIndices=[-1]
linkPositions=[[0,0,0]]
linkOrientations=[[0,0,0,1]]
linkInertialFramePositions=[[0,0,0]]
linkInertialFrameOrientations=[[0,0,0,1]]
indices=[0]
jointTypes=[p.JOINT_REVOLUTE]
axis=[[1,0,0]]

baseOrientation = [0,0,0,1]
for i in range (segmentLength):
	boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
	p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
	print(p.getNumJoints(boxId))
	for joint in range (p.getNumJoints(boxId)):
		targetVelocity = 1
		if (i%2):
			targetVelocity =-1
		p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=10)
	segmentStart=segmentStart-1.1



p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while (1):
	camData = p.getDebugVisualizerCamera()
	viewMat = camData[2]
	projMat = camData[3]
	p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
	keys = p.getKeyboardEvents()
	p.stepSimulation()	
	#print(keys)
	time.sleep(0.01)