"""Is gravity actually simulated at all right now? Check PhysicsScene + one item's live state."""
import omni.usd, omni.timeline
from pxr import UsdPhysics, PhysxSchema, UsdGeom, Usd
import isaacsim.core.experimental.utils.app as app_utils
from isaacsim.core.experimental.prims import RigidPrim

stage = omni.usd.get_context().get_stage()
tl = omni.timeline.get_timeline_interface()
print("timeline playing:", tl.is_playing())

sc = stage.GetPrimAtPath("/World/PhysicsScene")
print("PhysicsScene valid:", sc.IsValid())
if sc.IsValid():
    physxScene = PhysxSchema.PhysxSceneAPI(sc)
    print("  gravityMagnitude:", sc.GetAttribute("physics:gravityMagnitude").Get())
    print("  gravityDirection:", sc.GetAttribute("physics:gravityDirection").Get())
    print("  timeStepsPerSecond:", sc.GetAttribute("physxScene:timeStepsPerSecond").Get())
    print("  enableCCD:", sc.GetAttribute("physxScene:enableCCD").Get())

name = "bottle"
prim = stage.GetPrimAtPath(f"/World/Items/{name}")
print(f"\n{name} prim valid:", prim.IsValid())
print("  applied schemas:", list(prim.GetAppliedSchemas()))
print("  kinematicEnabled:", prim.GetAttribute("physics:kinematicEnabled").Get())
attr = prim.GetAttribute("xformOp:translate")
print("  authored translate:", attr.Get())
rp = RigidPrim(paths=[f"/World/Items/{name}"])
print("  RigidPrim world pose (fabric):", rp.get_world_poses()[0].numpy()[0])

# check mass / collision on descendant meshes
n_col = 0
for p in Usd.PrimRange(prim):
    if p.HasAPI(UsdPhysics.CollisionAPI) or p.HasAPI(UsdPhysics.MeshCollisionAPI):
        n_col += 1
print("  descendant prims with CollisionAPI:", n_col)

print("\n=== stepping physics 60 more times, watching bottle's Z ===")
if not tl.is_playing():
    tl.play()
for i in range(6):
    await app_utils.update_app_async(steps=10)
    p = rp.get_world_poses()[0].numpy()[0]
    print(f"  step batch {i}: pos={p}  playing={tl.is_playing()}  time={tl.get_current_time():.3f}")