import bpy
from random import random
from mathutils import Matrix, Quaternion
from typing import Tuple


class ArmGraspController:
    """Class to help with controlling a single arm in blender.
    """
    def __init__(self, armature_name: str, wrist_object_name: str,
                 start_pos: Tuple[float] = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)):
        """Constructor for ArmGraspController

        Args:
            armature_name (str): The exact name of the blender armature to control.
            wrist_object_name (str): The exact name of the blender object which is used to control the arm's IK solutions.
            start_pos (Tuple[float]): 3D wrist position to start in.
        """
        self.armature_name = armature_name
        self.arm = bpy.data.objects[self.armature_name]
        self.open = False
        self.finger_grab_bones = ["index_3", "middle_3", "ring_3", "pinky_3"]
        self.thumb_rot_name = "thumb_3"
        self.upper_arm_name = "upper_arm"
        self.upper_arm_bone = self.arm.pose.bones[self.upper_arm_name]
        self.wrist_object_name = wrist_object_name
        self.wrist_object = bpy.data.objects[self.wrist_object_name]
        self.start_pos = start_pos

    def deselect_all_bones(self):
        """Deselects all bones in the armature (the arm).
        """
        for bone in self.arm.pose.bones:    # Deselect all selected bones
            bone.bone.select = False

    def move(self, new_pos: Tuple[float]):
        """Moves wrist to new position.

        Args:
            new_pos (Tuple[float]): New wrist position. Tuple size: 3 floats.
        """
        self.wrist_object.location = new_pos
        self.wrist_object.keyframe_insert(data_path='location', index=-1)

    def move_shoulder(self, new_pos: Tuple[float]):
        self.upper_arm_bone.location = new_pos
        self.upper_arm_bone.keyframe_insert(data_path='location')

    def open_fingers(self):
        self.grab_movement(0.8)

    def close_fingers(self):
        self.grab_movement(-0.8)

    def move_fingers(self):
        if self.open:
            self.open_fingers()
        else:
            self.close_fingers()
        self.open = not self.open

    def grab_movement(self, angle):
        #  select the 4 base finger bones
        #  Then:
        #  To rotate around local axis (will cause to grab)
        #  Then do the same with thumb, but only around local Z axis!
        bpy.ops.object.mode_set(mode='OBJECT')
        bpy.ops.object.select_all(action='DESELECT') # Deselect all objects
        bpy.context.view_layer.objects.active = self.arm # Make the Armature the active object 
        bpy.ops.object.mode_set(mode='POSE')
        
        # Deselect all fingers
        self.deselect_all_bones()
        
        # Rotate fingers
        for name in self.finger_grab_bones:
            bone = self.arm.pose.bones.get(name)
            # Bones need to be selected when adding keyframes, otherwise blender will throw an error:
            # https://blender.stackexchange.com/questions/1828/what-constitutes-a-context-in-pose-mode
            bone.bone.select = True
            # rotate
            bone.rotation_mode = 'XYZ'
            bone.rotation_euler.rotate_axis('X', angle)
        
        # bpy.ops.transform.rotate(value=angle, orient_axis='X', orient_type='GLOBAL')
        # Add keyframe
        bpy.ops.anim.keying_set_active_set(type='Rotation')
        bpy.ops.anim.keyframe_insert(type='Rotation')
        
        # Now rotate the thumb too
        self.deselect_all_bones()
        bone = self.arm.pose.bones.get(self.thumb_rot_name).bone
        if bone: bone.select = True
        bpy.ops.transform.rotate(value=angle, orient_axis='Z', orient_type='LOCAL')
        bpy.ops.anim.keyframe_insert(type='Rotation')



# Script start
frame_number = 0

max_dist = 0.5
#start_location = ob.location.copy()
start_location = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)
controller = ArmGraspController("Armature", "Sphere")

for i in range(12):
    bpy.context.scene.frame_set(frame_number)

    x = random()*max_dist
    y = random()*max_dist
    z = random()*max_dist
    controller.move((
        start_location[0] + x,
        start_location[1] + y,
        start_location[2] + z
    ))

    controller.move_fingers()
    frame_number += 20