import os, sys, struct
sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
import numpy as np
from vrboard import VirtualBoard, Msg, A
from vrview import Renderer

data = open(sys.argv[1], 'rb').read()
board = VirtualBoard()
off = 0
while off + 8 <= len(data):
    if data[off:off + 4] != b'VPXM':
        off += 1; continue
    ln = struct.unpack_from('<I', data, off + 4)[0]
    body = data[off + 8:off + 8 + ln]; off += 8 + ln
    if len(body) >= 4:
        a = struct.unpack_from('<I', body, 0)[0]
        if a < 0x100:
            try: board.handle(Msg(False, 0xff, a, body[4:]))
            except Exception: pass

r = Renderer(w=832, h=512); c = r.cache; c.maybe_rebuild(board)
anim = board.anim_abs; chain = c.cam_chain
h = chain[-1] if (chain and chain[-1] in anim) else \
    max(anim, key=lambda k: float(np.abs(np.array(anim[k][9:12])).sum()))
mech = np.array(anim[h][9:12])
print('MECH pos', mech.round(1))
if c.view and c.view in board.nodes:
    vb = board.nodes[c.view]['body'] or b''
    if len(vb) >= 96:
        f = struct.unpack_from('<24f', vb, 0)
        print('VIEW hither(near)=%.1f yon(far)=%.1f zeye=%.2f imageplane x[%.2f,%.2f] y[%.2f,%.2f]'
              % (f[12], f[13], f[9], f[5], f[7], f[6], f[8]))

allpos = []
for inst in c.instances:
    M = r.chain_matrix(board, inst['chain'])
    for g in inst['geoms']:
        mesh = c._mesh(board, g)
        if not mesh or 'pos' not in mesh or len(mesh['pos']) == 0:
            continue
        pw = mesh['pos'] @ M[:3, :3] + M[3, :3]
        allpos.append(pw)
allpos = np.concatenate(allpos)
print('ALL verts: %d  Y[min=%.1f max=%.1f median=%.1f]'
      % (len(allpos), allpos[:, 1].min(), allpos[:, 1].max(), np.median(allpos[:, 1])))

# geometry near the mech in the XZ plane (would be the ground under/around it)
d = np.sqrt((allpos[:, 0] - mech[0])**2 + (allpos[:, 2] - mech[2])**2)
for rad in (100, 300, 800, 2000):
    near = allpos[d < rad]
    if len(near):
        print('  within %4d of mech: %6d verts  Y[%.1f..%.1f] med %.1f'
              % (rad, len(near), near[:, 1].min(), near[:, 1].max(), np.median(near[:, 1])))
    else:
        print('  within %4d of mech: 0 verts (NO geometry here)' % rad)