#
# Copyright (c) 2015-2021 CNRS INRIA
#
# ruff: noqa: E402, F401, F403, F405

import numpy

# On Windows, if pinocchio.dll is not in the same directory than
# the .pyd, it will not be loaded.
# We first try to load pinocchio, then, if it fail and we are on Windows:
#  1. We add all paths inside PINOCCHIO_WINDOWS_DLL_PATH to DllDirectory
#  2. If PINOCCHIO_WINDOWS_DLL_PATH we add the relative path from the
#     package directory to the bin directory to DllDirectory
# This solution is inspired from:
#  - https://github.com/PixarAnimationStudios/OpenUSD/pull/1511/files
#  - https://stackoverflow.com/questions/65334494/python-c-extension-packaging-dll-along-with-pyd
# More resources on https://github.com/diffpy/pyobjcryst/issues/33
try:
    from .pinocchio_pywrap_default import *
    from .pinocchio_pywrap_default import __raw_version__, __version__
except ImportError:
    import platform

    if platform.system() == "Windows":
        from .windows_dll_manager import build_directory_manager, get_dll_paths

        with build_directory_manager() as dll_dir_manager:
            for p in get_dll_paths():
                dll_dir_manager.add_dll_directory(p)
            from .pinocchio_pywrap_default import *
            from .pinocchio_pywrap_default import __raw_version__, __version__
    else:
        raise

import inspect

# Manually register submodules
import sys

from . import utils
from .explog import exp, log

submodules = inspect.getmembers(pinocchio_pywrap_default, inspect.ismodule)
for module_info in submodules:
    sys.modules["pinocchio." + module_info[0]] = module_info[1]

sys.modules["pinocchio.rpy"] = rpy
sys.modules["pinocchio.cholesky"] = cholesky

if WITH_COLLISION:
    import coal
    from coal import (
        CachedMeshLoader,
        CollisionGeometry,
        CollisionResult,
        Contact,
        DistanceResult,
        MeshLoader,
        StdVec_CollisionResult,
        StdVec_Contact,
        StdVec_DistanceResult,
    )

    # Pickling support becauso Vec3s is registered by
    # coal and pinocchio (see pinocchio/binding/python/multibody/data.hpp)
    coal.StdVec_Vec3s.__safe_for_unpickling__ = True
    coal.StdVec_Vec3s.__getstate_manages_dict__ = True

    # Deprecated, should be removed in next major release
    hppfcl = coal

from .deprecated import *
from .robot_wrapper import RobotWrapper
from .shortcuts import *
