load("//tools/lint:lint.bzl", "add_lint_tests")
load(
    "//tools/skylark:drake_cc.bzl",
    "drake_cc_binary",
    "drake_cc_googletest",
    "drake_cc_library",
)

package(default_visibility = ["//visibility:private"])

filegroup(
    name = "torus_tet_mesh",
    data = ["models/torus.vtk"],
    visibility = ["//geometry:__pkg__"],
)

filegroup(
    name = "models",
    srcs = glob(["models/**"]) + [
        "@drake_models//:wsg_50_description",
    ],
    visibility = ["//:__pkg__"],
)

drake_cc_library(
    name = "parallel_gripper_controller",
    srcs = [
        "parallel_gripper_controller.cc",
    ],
    hdrs = [
        "parallel_gripper_controller.h",
    ],
    deps = [
        "//multibody/plant",
    ],
)

drake_cc_library(
    name = "point_source_force_field",
    srcs = [
        "point_source_force_field.cc",
    ],
    hdrs = [
        "point_source_force_field.h",
    ],
    deps = [
        "//multibody/plant",
    ],
)

drake_cc_library(
    name = "suction_cup_controller",
    srcs = [
        "suction_cup_controller.cc",
    ],
    hdrs = [
        "suction_cup_controller.h",
    ],
    deps = [
        "//multibody/plant",
    ],
)

drake_cc_binary(
    name = "deformable_torus",
    srcs = [
        "deformable_torus.cc",
    ],
    add_test_rule = 1,
    data = [
        ":models",
    ],
    test_rule_args = [
        "-simulation_time=0.1",
        "-realtime_rate=0.0",
    ],
    deps = [
        ":parallel_gripper_controller",
        ":point_source_force_field",
        ":suction_cup_controller",
        "//geometry:drake_visualizer",
        "//geometry:scene_graph",
        "//multibody/parsing",
        "//multibody/plant",
        "//systems/analysis:simulator",
        "//systems/framework:diagram",
        "@gflags",
    ],
)

drake_cc_binary(
    name = "bubble_gripper",
    srcs = [
        "bubble_gripper.cc",
    ],
    add_test_rule = 1,
    data = [
        ":models",
    ],
    test_rule_args = [
        "-simulation_time=0.1",
        "-realtime_rate=0.0",
        "-render_bubble=false",
    ],
    deps = [
        ":parallel_gripper_controller",
        "//geometry",
        "//geometry/proximity",
        "//geometry/render_gl",
        "//multibody/parsing",
        "//multibody/plant",
        "//systems/analysis:simulator",
        "//systems/framework:diagram",
        "//systems/sensors:camera_config_functions",
        "@gflags",
    ],
)

drake_cc_googletest(
    name = "point_source_force_field_test",
    deps = [
        ":point_source_force_field",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

add_lint_tests()
