%% 外力投影
close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = false;
opt.robotName = 'R1000_DVT';
opt.reGenerate = false;
opt.Isreal = true;
opt.isJointTorqueSensor = true;
opt.isSixAxisFTSensor = false;
theta = zeros(9,1);
dtheta = zeros(9,1);
ddtheta = zeros(9,1);
get_robot_func = sprintf('get_robot_%s',opt.robotName);
robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
robot = feval(get_Kinematics_func,robot,opt);

theta_stow = deg2rad([0;113;-160;47;80;90;90;0]);
% theta_stow = [pi/3;1.1;-2.1;0.345;0;3.14;0;0.262];
% theta_init = deg2rad([0;0;-160;47;80;90;90;0]);
theta_init = deg2rad([0;110;-160;47;80;90;90;0]);
% theta_init = [0;1.1;-2.1;0.345;0;3.14;0;0.262];
theta_stow = [0;1.972;-2.79;0.82;1.396;1.57;1.57;0];
theta_init = [0;1.1;-2.1;0.345;0;3.14;0;0.262];
theta_delta = theta_init - theta_stow;
traj_space = [];

Vel_phi=zeros(1,1);Acc_phi=zeros(1,1);dt=1/20;phi=zeros(1,1);
% Mphi = diag(5*ones(1,1));
Mphi = diag(100*ones(1,1));
% Kphi = diag(40*ones(1,1));
Kphi = diag(80*ones(1,1));
Cphi = diag(0*ones(1,1));
phi_log =[];Velphi_log =[];Accphi_log =[];

Ft(1) = 0;

for i = 1:1000
    Acc_phi = inv(Mphi)*(Ft(i)-Kphi*Vel_phi-Cphi*Vel_phi.^2);
    Vel_phi = Vel_phi + Acc_phi*dt;
    Vel_phi = min(1, max(-1, Vel_phi));
    phi = phi + Vel_phi*dt;
    if phi>=1
        phi=1;
        Acc_phi = 0;
        Vel_phi = 0;
    elseif phi<=0
        phi=0;
        Acc_phi = 0;
        Vel_phi = 0;
    end
    Accphi_log = [Accphi_log,Acc_phi];
    Velphi_log = [Velphi_log,Vel_phi];
    phi_log = [phi_log,phi];
    theta_phi(:,i) = theta_init - theta_delta .* phi;
    dtheta_phi = -theta_delta;
    
    %hack theta
    theta = zeros(9,1);
    theta(1:8) = theta_phi(:,i);
    %get robot
    robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
    get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
    robot = feval(get_Kinematics_func,robot,opt);
    %FK
    traj_space(:,:,i) = robot.kine.TW(:,:,7);
    Jaco = JacobianSpace(robot.slist(:,1:7),theta(1:7));
    dtraj_space(:,i) =Jaco*dtheta_phi(1:7); %fix
    dx_ = VecTose3(dtraj_space(:,i))*[traj_space(1:3,4,i);1];
    dx(:,i) = dx_(1:3);
    % mehod 1: only use linear force
    Fext_sensor = [0;0;0;30;-40;0]; 
    permutationMatrix = diag([-1,-1,1,1]);
    Fext_base = Adjoint(permutationMatrix*inv(traj_space(:,:,i)))'*Fext_sensor;
%     Ft(i+1) = Fext(4:6)' * dx(:,i)/(dx(:,i)'*dx(:,i))*dx(:,i);
    Ft(i+1) =  Fext_base(4:6)' *  dx(:,i)/norm(dx(:,i));
%     Ft(i+1) = sin(2*pi*dt*i);
%     Ft(i+1) = 10;
end
%%
% 预先创建箭头对象（初始位置和方向可以随意设置，后续会更新）
x_axis = quiver3(0, 0, 0, 0, 0, 0, 'r');
x_axis.LineWidth = 3;
x_axis.AutoScaleFactor = 0.5;
hold on;
test = traj_space(1:3,4,:);
reshape(test,[3,size(test,3)]);
for i = 1:1000
    % 绘制机械臂
    %     DVT.plot([theta_phi(:,i);0]')
    %     T_L8 = DVT_L8.fkine(theta_phi(:,i));

    % 设置坐标轴范围
    axis([-1 2.0 -1 1 -2 1.6]);
    plot3(test(1,i), test(2,i), test(3,i), 'bo', 'MarkerSize', 5, 'MarkerFaceColor', 'b');
    % 更新箭头的位置和方向（而不是重新创建）
    set(x_axis, 'XData', test(1,i), 'YData', test(2,i), 'ZData', test(3,i), ...
                'UData', dx(1,i)/norm(dx(:,i)), 'VData', dx(2,i)/norm(dx(:,i)), 'WData', dx(3,i)/norm(dx(:,i)));
    % 设置视角
%     view([view_angle1 view_angle2]);
    % 刷新图形
    drawnow;
end
%%
L1=Link('revolute', 'd', 0, 'a', 0, 'alpha', 0, 'offset',0,'qlim',deg2rad([-110,110]),'modified');
L2=Link('revolute', 'd', 0, 'a', 0.2, 'alpha', pi/2, 'offset',0,'qlim',deg2rad([-120,120]),'modified');
L3=Link('revolute', 'd', 0, 'a', 0.5, 'alpha', 0, 'offset',0,'qlim',deg2rad([-160,160]),'modified');
L4=Link('revolute', 'd', 0, 'a', 0.45, 'alpha', 0, 'offset',0,'qlim',deg2rad([-160,160]),'modified');
L5=Link('revolute', 'd', 0, 'a', 0.12, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-90,90]),'modified');
L6=Link('revolute', 'd', 0.28, 'a', 0, 'alpha', -pi/2, 'offset',0,'qlim',deg2rad([-270,270]),'modified');
L7=Link('revolute', 'd', 0.40, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-270,270]),'modified');
L8=Link('revolute', 'd', 0, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-71,79]),'modified');
L9=Link('prismatic', 'a', 0.126493, 'alpha', -pi/2, 'theta',0,'offset',-(0.59295-0.2772),'qlim',[0,0.342],'modified');
DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7 L8 L9],'name','DVT'); %连接连杆
% 创建仅包含前8个连杆的子机器人
links_before_L9 = DVT.links(1:8);  % 提取L1-L8
DVT_L8 = SerialLink(links_before_L9, 'name', 'DVT_up_to_L8'); 
% DVT.plot([0 0 0 0 0 0 0 0 0])%机械臂图
% 预先计算所有轨迹点
traj_points = zeros(3, 100);  % 假设总共有100个点
for i = 1:100
    T_L8 = DVT_L8.fkine(theta_phi(:,i)); 
    traj_points(:,i) = T_L8.t;  % 存储所有轨迹点
end

% 图形初始化
figure;
axis([-1 2.0 -1 2 -2 1.6]);
view_angle1 = -156;view_angle2=46;
view([view_angle1 view_angle2]);
isVideoRecordEnable = 0;
hold on;
grid on;

% 一次性绘制全部轨迹点
plot3(traj_points(1,:), traj_points(2,:), traj_points(3,:),...
      'b-o', 'MarkerSize', 4, 'MarkerFaceColor', 'b', 'LineWidth', 1.5);

% 初始化箭头
x_axis = quiver3(0,0,0,0,0,0, 'r');
x_axis.LineWidth = 3;
x_axis.AutoScaleFactor = 0.5;

% 视频录制设置
if isVideoRecordEnable
    myVideo = VideoWriter('DVT1_sim', 'MPEG-4');
    myVideo.FrameRate = 30;
    open(myVideo);
end
% 主循环（只更新机械臂和箭头）
for i = 1:100
    % 绘制机械臂（保留轨迹不擦除）
    DVT.plot([theta_phi(:,i);0]');
    
    % 更新箭头
    set(x_axis, 'XData',traj_points(1,i), 'YData',traj_points(2,i), 'ZData',traj_points(3,i),...
                'UData',dx(1,i)/norm(dx(:,i)), 'VData',dx(2,i)/norm(dx(:,i)), 'WData',dx(3,i)/norm(dx(:,i)));
%     view([view_angle1 view_angle2]);
    % 录制视频
    if isVideoRecordEnable
        frame = getframe(gcf);
        writeVideo(myVideo, frame);
    end
    
    drawnow limitrate;  % 更高效的刷新方式
end

% 确保关闭视频文件
if isVideoRecordEnable
    close(myVideo);
    disp('视频录制完成');
end