# -*- encoding=utf-8 -*-
box = geom.facetBox(center=(0, 0, 0), extents=(1, 2, 3), color=(0, 1, 0))
O.bodies.append(box)
ids = [b.id for b in box]

# set this parameter according to your computer power to make the simulation vizualization slower of faster
coeff = 5.0

nIterPerOneCycle = int(50000 / coeff)
vel = 10000 * coeff
angVel = 8000 * coeff


# function for changing motion, sets transEngine.translationAxis, rotEngine.angularVelocity and rotEngine.zeroPoint
def updateKinematicEngines():
	part = (O.iter // nIterPerOneCycle) % 4
	if part == 0:  # fist part
		v = Vector3(1, 0, 0)
		av = 0
	elif part == 1:  # second part
		v = Vector3(0, 1, 0)
		av = angVel
	elif part == 2:  # third part
		v = Vector3(-1, 0, 0)
		av = -2 * angVel
	elif part == 3:  # fourth part
		v = Vector3(0, -1, 0)
		av = angVel
	transEngine.translationAxis = v
	rotEngine.angularVelocity = av
	rotEngine.zeroPoint += v * vel * O.dt


O.engines = [
        ForceResetter(),
        PyRunner(iterPeriod=1, command="updateKinematicEngines()"),
        # construct CombinedKinematicEngine with label, add (with +) TranslationEngine and RotationEngine
        CombinedKinematicEngine(ids=ids, label='combEngine') + TranslationEngine(translationAxis=(1, 0, 0), velocity=vel) +
        RotationEngine(rotationAxis=(0, 0, 1), angularVelocity=0, rotateAroundZero=True, zeroPoint=(0, 0, 0)),
        NewtonIntegrator(),
]

# get TranslationEngine and RotationEngine from CombinedKinematicEngine
transEngine, rotEngine = combEngine.comb[0], combEngine.comb[1]
print()
print('transEngine:', transEngine)
print('rotEngine:', rotEngine)
print()

try:
	from yade import qt
	qt.View()
except:
	print('No graphics, sorry..')

O.run()
