HartOMat/render-worker/scripts/turntable_render.py

"""Blender Python script: turntable animation render for Flamenco.

Usage (from Blender):
  blender --background --python turntable_render.py -- \
    <glb_path> <frames_dir> <frame_count> <degrees> <width> <height> \
    <engine> <samples> <part_colors_json> \
    [template_path] [target_collection] [material_library_path] [material_map_json]
"""
import bpy
import sys
import os
import json
import math
from mathutils import Vector, Matrix

# ── Colour palette (matches blender_render.py / Three.js renderer) ───────────
PALETTE_HEX = [
    "#4C9BE8", "#E85B4C", "#4CBE72", "#E8A84C", "#A04CE8",
    "#4CD4E8", "#E84CA8", "#7EC850", "#E86B30", "#5088C8",
]

def _srgb_to_linear(c: int) -> float:
    v = c / 255.0
    return v / 12.92 if v <= 0.04045 else ((v + 0.055) / 1.055) ** 2.4

def _hex_to_linear(hex_color: str) -> tuple:
    h = hex_color.lstrip('#')
    return (
        _srgb_to_linear(int(h[0:2], 16)),
        _srgb_to_linear(int(h[2:4], 16)),
        _srgb_to_linear(int(h[4:6], 16)),
        1.0,
    )

PALETTE_LINEAR = [_hex_to_linear(h) for h in PALETTE_HEX]

SMOOTH_ANGLE = 30  # degrees


# ── Helper functions ─────────────────────────────────────────────────────────

def _ensure_collection(name: str):
    """Return a collection by name, creating it if needed."""
    if name in bpy.data.collections:
        return bpy.data.collections[name]
    col = bpy.data.collections.new(name)
    bpy.context.scene.collection.children.link(col)
    return col


def _assign_palette_material(part_obj, index):
    """Assign a palette colour material to a mesh part."""
    color = PALETTE_LINEAR[index % len(PALETTE_LINEAR)]
    mat = bpy.data.materials.new(name=f"Part_{index}")
    mat.use_nodes = True
    bsdf = mat.node_tree.nodes.get("Principled BSDF")
    if bsdf:
        bsdf.inputs["Base Color"].default_value = color
        bsdf.inputs["Metallic"].default_value = 0.35
        bsdf.inputs["Roughness"].default_value = 0.40
        try:
            bsdf.inputs["Specular IOR Level"].default_value = 0.5
        except KeyError:
            pass
    part_obj.data.materials.clear()
    part_obj.data.materials.append(mat)


def _apply_smooth(part_obj, angle_deg):
    """Apply smooth or flat shading to a mesh object."""
    bpy.context.view_layer.objects.active = part_obj
    part_obj.select_set(True)
    if angle_deg > 0:
        try:
            bpy.ops.object.shade_smooth_by_angle(angle=math.radians(angle_deg))
        except AttributeError:
            bpy.ops.object.shade_smooth()
            part_obj.data.use_auto_smooth = True
            part_obj.data.auto_smooth_angle = math.radians(angle_deg)
    else:
        bpy.ops.object.shade_flat()


import re as _re


def _apply_rotation(parts, rx, ry, rz):
    """Apply Euler XYZ rotation (degrees) to all parts by modifying matrix_world.

    Rotates around world origin, which equals the assembly centre because
    _import_glb already centres parts there.  Applied before material assignment
    and camera/bbox calculations so everything downstream sees the final pose.
    """
    if not parts or (rx == 0.0 and ry == 0.0 and rz == 0.0):
        return
    from mathutils import Euler
    rot_mat = Euler((math.radians(rx), math.radians(ry), math.radians(rz)), 'XYZ').to_matrix().to_4x4()
    for p in parts:
        p.matrix_world = rot_mat @ p.matrix_world
    bpy.ops.object.select_all(action='DESELECT')
    for p in parts:
        p.select_set(True)
    bpy.context.view_layer.objects.active = parts[0]
    bpy.ops.object.transform_apply(location=False, rotation=True, scale=False)
    print(f"[turntable_render] applied rotation ({rx}°, {ry}°, {rz}°) to {len(parts)} parts")


def _axis_rotation(axis: str, degrees: float) -> tuple:
    """Map turntable axis name to Euler (x, y, z) rotation in radians."""
    rad = math.radians(degrees)
    if axis == "world_x":
        return (rad, 0.0, 0.0)
    elif axis == "world_y":
        return (0.0, rad, 0.0)
    else:  # "world_z" default
        return (0.0, 0.0, rad)


def _set_fcurves_linear(action):
    """Set LINEAR interpolation on all fcurves.

    Handles both the legacy Blender < 4.4 API (action.fcurves) and the new
    Baklava layered-action API introduced in Blender 4.4 / 5.x
    (action.layers[*].strips[*].channelbags[*].fcurves).
    """
    try:
        # New layered-action API (Blender 4.4+ / 5.x)
        for layer in action.layers:
            for strip in layer.strips:
                for channelbag in strip.channelbags:
                    for fc in channelbag.fcurves:
                        for kp in fc.keyframe_points:
                            kp.interpolation = 'LINEAR'
    except AttributeError:
        # Legacy API (Blender < 4.4)
        for fc in action.fcurves:
            for kp in fc.keyframe_points:
                kp.interpolation = 'LINEAR'


# _scale_mm_to_m removed: OCC GLB export produces coordinates in metres already.


def _apply_mesh_attributes(objects: list, mesh_attributes: dict) -> None:
    """Apply topology-based shading settings from OCC analysis."""
    import math
    if not mesh_attributes or mesh_attributes.get("error"):
        return

    curved_ratio = mesh_attributes.get("curved_ratio", 0.0)
    threshold_deg = mesh_attributes.get("sharp_angle_threshold_deg", 30.0)
    threshold_rad = threshold_deg * math.pi / 180.0

    for obj in objects:
        if obj.type != 'MESH':
            continue
        # Enable smooth shading for predominantly curved parts (bearings etc.)
        if curved_ratio > 0.3:
            for poly in obj.data.polygons:
                poly.use_smooth = True
        # Auto-smooth at topology threshold
        obj.data.use_auto_smooth = True
        obj.data.auto_smooth_angle = threshold_rad


def _import_glb(glb_file):
    """Import OCC-generated GLB into Blender.

    OCC exports one mesh object per STEP part, already in metres.
    Returns list of Blender mesh objects, centred at world origin.
    """
    bpy.ops.object.select_all(action='DESELECT')
    bpy.ops.import_scene.gltf(filepath=glb_file)
    parts = [o for o in bpy.context.selected_objects if o.type == 'MESH']

    if not parts:
        print(f"ERROR: No mesh objects imported from {glb_file}")
        sys.exit(1)

    print(f"[turntable_render] imported {len(parts)} part(s) from GLB: "
          f"{[p.name for p in parts[:5]]}")

    # Centre combined bbox at world origin
    all_corners = []
    for p in parts:
        all_corners.extend(p.matrix_world @ Vector(c) for c in p.bound_box)

    if all_corners:
        mins = Vector((min(v.x for v in all_corners),
                       min(v.y for v in all_corners),
                       min(v.z for v in all_corners)))
        maxs = Vector((max(v.x for v in all_corners),
                       max(v.y for v in all_corners),
                       max(v.z for v in all_corners)))
        center = (mins + maxs) * 0.5
        # Move root objects (parentless) to centre.  Adjusting a child's local
        # .location by a world-space vector gives wrong results when the GLB has
        # Empty parent nodes (OCC assembly hierarchy).  Shifting the root moves
        # the entire hierarchy correctly.
        all_imported = list(bpy.context.selected_objects)
        root_objects = [o for o in all_imported if o.parent is None]
        for obj in root_objects:
            obj.location -= center

    return parts


def _resolve_part_name(index, part_obj, part_names_ordered):
    """Get the STEP part name for a Blender part by index.

    With per-part import, part_obj.name IS the STEP name (possibly with
    Blender .NNN suffix). Falls back to part_names_ordered for combined-STL mode.
    """
    base_name = _re.sub(r'\.\d{3}$', '', part_obj.name)
    if part_names_ordered and index < len(part_names_ordered):
        return part_names_ordered[index]
    return base_name


def _apply_material_library(parts, mat_lib_path, mat_map, part_names_ordered=None):
    """Append materials from library .blend and assign to parts via material_map.

    Matching priority per part:
      1. GLB object name (strip Blender .NNN suffix + OCC _AF0/_AF1 suffix)
      2. Prefix fallback (longest mat_map key that is a prefix of / contains part name)
      3. Index-based via part_names_ordered (also strips _AF suffix)

    mat_map: {part_name_lower: material_name}
    Parts without a match keep their current material.
    """
    if not mat_lib_path or not os.path.isfile(mat_lib_path):
        print(f"[turntable_render] material library not found: {mat_lib_path}")
        return

    # Collect unique material names needed
    needed = set(mat_map.values())
    if not needed:
        return

    # Append materials from library
    appended = {}
    for mat_name in needed:
        inner_path = f"{mat_lib_path}/Material/{mat_name}"
        try:
            bpy.ops.wm.append(
                filepath=inner_path,
                directory=f"{mat_lib_path}/Material/",
                filename=mat_name,
                link=False,
            )
            if mat_name in bpy.data.materials:
                appended[mat_name] = bpy.data.materials[mat_name]
                print(f"[turntable_render] appended material: {mat_name}")
            else:
                print(f"[turntable_render] WARNING: material '{mat_name}' not found after append")
        except Exception as exc:
            print(f"[turntable_render] WARNING: failed to append material '{mat_name}': {exc}")

    if not appended:
        return

    # Assign materials to parts — primary: name-based (per-part STL mode),
    # secondary: index-based via part_names_ordered (combined STL fallback)
    assigned_count = 0
    for i, part in enumerate(parts):
        # 1. Name-based: strip Blender .NNN suffix, then OCC _AF0/_AF1 suffix
        base_name = _re.sub(r'\.\d{3}$', '', part.name)
        _prev = None
        while _prev != base_name:
            _prev = base_name
            base_name = _re.sub(r'_AF\d+$', '', base_name, flags=_re.IGNORECASE)
        part_key = base_name.lower().strip()
        mat_name = mat_map.get(part_key)

        # 2. Prefix fallback: longest mat_map key that is a prefix/suffix match
        if not mat_name:
            for key, val in sorted(mat_map.items(), key=lambda x: len(x[0]), reverse=True):
                if len(key) >= 5 and len(part_key) >= 5 and (
                    part_key.startswith(key) or key.startswith(part_key)
                ):
                    mat_name = val
                    break

        # 3. Index-based fallback via part_names_ordered (also strips _AF suffix)
        if not mat_name and part_names_ordered and i < len(part_names_ordered):
            step_name = part_names_ordered[i]
            step_key = step_name.lower().strip()
            mat_name = mat_map.get(step_key)
            if not mat_name:
                _p2 = None
                while _p2 != step_key:
                    _p2 = step_key
                    step_key = _re.sub(r'_af\d+$', '', step_key)
                mat_name = mat_map.get(step_key)

        if mat_name and mat_name in appended:
            part.data.materials.clear()
            part.data.materials.append(appended[mat_name])
            assigned_count += 1
            print(f"[turntable_render] assigned '{mat_name}' to part '{part.name}'")

    print(f"[turntable_render] material assignment: {assigned_count}/{len(parts)} parts matched")


def main():
    argv = sys.argv
    # Everything after "--" is our args
    args = argv[argv.index("--") + 1:]

    glb_path = args[0]
    frames_dir = args[1]
    frame_count = int(args[2])
    degrees = int(args[3])
    width = int(args[4])
    height = int(args[5])
    engine = args[6]
    samples = int(args[7])
    part_colors_json = args[8] if len(args) > 8 else "{}"

    # Template + material library args (passed by schaeffler-turntable.js)
    template_path = args[9] if len(args) > 9 and args[9] else ""
    target_collection = args[10] if len(args) > 10 else "Product"
    material_library_path = args[11] if len(args) > 11 and args[11] else ""
    material_map_raw = args[12] if len(args) > 12 else "{}"
    part_names_ordered_raw = args[13] if len(args) > 13 else "[]"
    lighting_only = args[14] == "1" if len(args) > 14 else False
    cycles_device = args[15].lower() if len(args) > 15 else "auto"  # "auto", "gpu", "cpu"
    shadow_catcher = args[16] == "1" if len(args) > 16 else False
    rotation_x = float(args[17]) if len(args) > 17 else 0.0
    rotation_y = float(args[18]) if len(args) > 18 else 0.0
    rotation_z = float(args[19]) if len(args) > 19 else 0.0
    turntable_axis = args[20] if len(args) > 20 else "world_z"
    bg_color = args[21] if len(args) > 21 else ""
    transparent_bg = args[22] == "1" if len(args) > 22 else False

    # Named argument: --mesh-attributes <json>
    _mesh_attrs: dict = {}
    if "--mesh-attributes" in argv:
        _idx = argv.index("--mesh-attributes")
        try:
            _mesh_attrs = json.loads(argv[_idx + 1])
        except Exception:
            pass

    # Named argument: --camera-orbit — rotate camera around model instead of rotating model
    camera_orbit = "--camera-orbit" in argv

    # Named argument: --usd-path <path> — when set, import USD instead of GLB
    usd_path = ""
    if "--usd-path" in argv:
        _usd_idx = argv.index("--usd-path")
        usd_path = argv[_usd_idx + 1] if _usd_idx + 1 < len(argv) else ""

    # Named argument: --focal-length <mm>
    _focal_length = None
    if "--focal-length" in argv:
        _idx = argv.index("--focal-length")
        _focal_length = float(argv[_idx + 1]) if _idx + 1 < len(argv) else None

    # Named argument: --sensor-width <mm>
    _sensor_width = None
    if "--sensor-width" in argv:
        _idx = argv.index("--sensor-width")
        _sensor_width = float(argv[_idx + 1]) if _idx + 1 < len(argv) else None

    # Ensure scripts dir is on path for shared module imports
    _scripts_dir = os.path.dirname(os.path.abspath(__file__))
    if _scripts_dir not in sys.path:
        sys.path.insert(0, _scripts_dir)

    # Pre-load USD import helper (used in both MODE A and MODE B)
    _import_usd_file = None
    if usd_path:
        from import_usd import import_usd_file as _import_usd_file  # type: ignore[assignment]

    # Shared material helpers (handle USD stub collisions correctly)
    from _blender_materials import (
        apply_material_library_direct as _apply_material_library_direct,
        apply_material_library as _apply_material_library_shared,
        build_mat_map_lower as _build_mat_map_lower,
        assign_failed_material as _assign_failed_material,
    )

    os.makedirs(frames_dir, exist_ok=True)

    try:
        part_colors = json.loads(part_colors_json)
    except json.JSONDecodeError:
        part_colors = {}

    try:
        material_map = json.loads(material_map_raw) if material_map_raw else {}
    except json.JSONDecodeError:
        material_map = {}

    try:
        part_names_ordered = json.loads(part_names_ordered_raw) if part_names_ordered_raw else []
    except json.JSONDecodeError:
        part_names_ordered = []

    # Validate template path: if provided it MUST exist on disk.
    if template_path and not os.path.isfile(template_path):
        print(f"[turntable_render] ERROR: template_path was provided but file not found: {template_path}")
        print("[turntable_render] Ensure the blend-templates directory is accessible on this worker.")
        sys.exit(1)

    use_template = bool(template_path)

    print(f"[turntable_render] engine={engine}, samples={samples}, size={width}x{height}, "
          f"frames={frame_count}, degrees={degrees}")
    print(f"[turntable_render] part_names_ordered: {len(part_names_ordered)} entries")
    if use_template:
        print(f"[turntable_render] template={template_path}, collection={target_collection}, lighting_only={lighting_only}")
    else:
        print("[turntable_render] no template — using factory settings (Mode A)")
    if material_library_path:
        print(f"[turntable_render] material_library={material_library_path}, material_map keys={list(material_map.keys())}")

    # ── SCENE SETUP ──────────────────────────────────────────────────────────
    _usd_mat_lookup: dict = {}  # populated by import_usd_file when USD path is used

    if use_template:
        # ── MODE B: Template-based render ────────────────────────────────────
        print(f"[turntable_render] Opening template: {template_path}")
        bpy.ops.wm.open_mainfile(filepath=template_path)

        # Find or create target collection
        target_col = _ensure_collection(target_collection)

        # Import geometry: USD path when available, otherwise GLB
        if usd_path and _import_usd_file:
            parts, _usd_mat_lookup = _import_usd_file(usd_path)
        else:
            parts = _import_glb(glb_path)
        # Apply render position rotation before material/camera setup
        _apply_rotation(parts, rotation_x, rotation_y, rotation_z)
        # Apply OCC topology-based shading overrides
        _apply_mesh_attributes(parts, _mesh_attrs)

        # Move imported parts into target collection
        for part in parts:
            for col in list(part.users_collection):
                col.objects.unlink(part)
            target_col.objects.link(part)

        # Apply smooth shading
        for part in parts:
            _apply_smooth(part, SMOOTH_ANGLE)

        # Material assignment: USD primvar path first, then name-matching fallback
        if material_library_path and _usd_mat_lookup:
            _apply_material_library_direct(parts, material_library_path, _usd_mat_lookup)
            # Fall back to name-matching for parts without USD primvars
            if material_map:
                _unassigned = [p for p in parts if not p.data.materials or
                               (len(p.data.materials) == 1 and p.data.materials[0] and
                                p.data.materials[0].name == "SCHAEFFLER_059999_FailedMaterial")]
                if _unassigned:
                    print(f"[turntable_render] {len(_unassigned)} parts without USD primvar — "
                          f"falling back to name-matching", flush=True)
                    _apply_material_library_shared(
                        _unassigned, material_library_path,
                        _build_mat_map_lower(material_map), part_names_ordered,
                    )
        elif material_library_path and material_map:
            _apply_material_library_shared(
                parts, material_library_path,
                _build_mat_map_lower(material_map), part_names_ordered,
            )
        # Palette fallback for any parts still without materials
        for i, part in enumerate(parts):
            if not part.data.materials or len(part.data.materials) == 0:
                _assign_palette_material(part, i)

        # ── Shadow catcher (Cycles only, template mode only) ─────────────────
        if shadow_catcher:
            sc_col_name = "Shadowcatcher"
            sc_obj_name = "Shadowcatcher"
            for vl in bpy.context.scene.view_layers:
                def _enable_col_recursive(layer_col):
                    if layer_col.collection.name == sc_col_name:
                        layer_col.exclude = False
                        layer_col.collection.hide_render = False
                        layer_col.collection.hide_viewport = False
                        return True
                    for child in layer_col.children:
                        if _enable_col_recursive(child):
                            return True
                    return False
                _enable_col_recursive(vl.layer_collection)

            sc_obj = bpy.data.objects.get(sc_obj_name)
            if sc_obj:
                all_world_z = []
                for part in parts:
                    for corner in part.bound_box:
                        all_world_z.append((part.matrix_world @ Vector(corner)).z)
                if all_world_z:
                    sc_obj.location.z = min(all_world_z)
                print(f"[turntable_render] shadow catcher enabled, plane Z={sc_obj.location.z:.4f}")
            else:
                print(f"[turntable_render] WARNING: shadow catcher object '{sc_obj_name}' not found in template")

        # lighting_only: always use auto-framing; normal template: use camera if present
        needs_auto_camera = (lighting_only and not shadow_catcher) or not bpy.context.scene.camera
        if lighting_only and not shadow_catcher:
            print("[turntable_render] lighting_only mode: using template World/HDRI, forcing auto-camera")
        elif needs_auto_camera:
            print("[turntable_render] WARNING: template has no camera — will create auto-camera")

        # Set very close near clip on template camera for mm-scale parts (now in metres)
        if not needs_auto_camera and bpy.context.scene.camera:
            bpy.context.scene.camera.data.clip_start = 0.001

        print(f"[turntable_render] template mode: {len(parts)} parts imported into collection '{target_collection}'")

    else:
        # ── MODE A: Factory settings ─────────────────────────────────────────
        needs_auto_camera = True
        bpy.ops.wm.read_factory_settings(use_empty=True)

        if usd_path and _import_usd_file:
            parts, _usd_mat_lookup = _import_usd_file(usd_path)
        else:
            parts = _import_glb(glb_path)
        # Apply render position rotation before material/camera setup
        _apply_rotation(parts, rotation_x, rotation_y, rotation_z)
        # Apply OCC topology-based shading overrides
        _apply_mesh_attributes(parts, _mesh_attrs)

        for i, part in enumerate(parts):
            _apply_smooth(part, SMOOTH_ANGLE)

        # Material assignment: USD primvar path first, then name-matching fallback
        if material_library_path and _usd_mat_lookup:
            _apply_material_library_direct(parts, material_library_path, _usd_mat_lookup)
            if material_map:
                _unassigned = [p for p in parts if not p.data.materials or
                               (len(p.data.materials) == 1 and p.data.materials[0] and
                                p.data.materials[0].name == "SCHAEFFLER_059999_FailedMaterial")]
                if _unassigned:
                    _apply_material_library_shared(
                        _unassigned, material_library_path,
                        _build_mat_map_lower(material_map), part_names_ordered,
                    )
        elif material_library_path and material_map:
            _apply_material_library_shared(
                parts, material_library_path,
                _build_mat_map_lower(material_map), part_names_ordered,
            )
        else:
            # part_colors or palette — use index-based lookup via part_names_ordered
            for i, part in enumerate(parts):
                step_name = _resolve_part_name(i, part, part_names_ordered)
                color_hex = part_colors.get(step_name)
                if color_hex:
                    mat = bpy.data.materials.new(name=f"mat_{part.name}")
                    mat.use_nodes = True
                    bsdf = mat.node_tree.nodes.get("Principled BSDF")
                    if bsdf:
                        color = _hex_to_linear(color_hex)
                        bsdf.inputs["Base Color"].default_value = color
                        bsdf.inputs["Metallic"].default_value = 0.35
                        bsdf.inputs["Roughness"].default_value = 0.40
                        try:
                            bsdf.inputs["Specular IOR Level"].default_value = 0.5
                        except KeyError:
                            pass
                    part.data.materials.clear()
                    part.data.materials.append(mat)
                else:
                    _assign_palette_material(part, i)
        # Palette fallback for any parts still without materials
        for i, part in enumerate(parts):
            if not part.data.materials or len(part.data.materials) == 0:
                _assign_palette_material(part, i)

    if needs_auto_camera:
        # ── Combined bounding box / bounding sphere ──────────────────────────
        all_corners = []
        for part in parts:
            all_corners.extend(part.matrix_world @ Vector(c) for c in part.bound_box)

        bbox_min = Vector((
            min(v.x for v in all_corners),
            min(v.y for v in all_corners),
            min(v.z for v in all_corners),
        ))
        bbox_max = Vector((
            max(v.x for v in all_corners),
            max(v.y for v in all_corners),
            max(v.z for v in all_corners),
        ))

        bbox_center = (bbox_min + bbox_max) * 0.5
        bbox_dims = bbox_max - bbox_min
        bsphere_radius = max(bbox_dims.length * 0.5, 0.001)

        print(f"[turntable_render] bbox_dims={tuple(round(d, 4) for d in bbox_dims)}, "
              f"bsphere_radius={bsphere_radius:.4f}")

        # ── Lighting — only in Mode A (factory settings) ─────────────────────
        # In template mode the .blend file provides its own World/HDRI lighting.
        # Adding auto-lights would overpower the template's intended look.
        if not use_template:
            light_dist = bsphere_radius * 6.0

            bpy.ops.object.light_add(type='SUN', location=(
                bbox_center.x + light_dist * 0.5,
                bbox_center.y - light_dist * 0.35,
                bbox_center.z + light_dist,
            ))
            sun = bpy.context.active_object
            sun.data.energy = 4.0
            sun.rotation_euler = (math.radians(45), 0, math.radians(30))

            bpy.ops.object.light_add(type='AREA', location=(
                bbox_center.x - light_dist * 0.4,
                bbox_center.y + light_dist * 0.4,
                bbox_center.z + light_dist * 0.7,
            ))
            fill = bpy.context.active_object
            fill.data.energy = max(800.0, bsphere_radius ** 2 * 2000.0)
            fill.data.size = max(4.0, bsphere_radius * 4.0)

        # ── Camera ───────────────────────────────────────────────────────────
        _lens = _focal_length if _focal_length is not None else 50.0
        _sw = _sensor_width if _sensor_width is not None else 36.0
        if _focal_length is not None:
            # FOV-based distance when focal length is explicitly set
            _fov_h = math.atan(_sw / (2.0 * _lens))
            _fov_v = math.atan(_sw * (height / width) / (2.0 * _lens))
            _fov_used = min(_fov_h, _fov_v)
            _FILL_FACTOR = 0.85
            cam_dist = (bsphere_radius / math.tan(_fov_used)) / _FILL_FACTOR
            cam_dist = max(cam_dist, bsphere_radius * 1.05)
            print(f"[turntable_render] FOV-based cam_dist={cam_dist:.4f}, lens={_lens}mm")
        else:
            cam_dist = bsphere_radius * 2.5
        cam_location = Vector((
            bbox_center.x + cam_dist,
            bbox_center.y,
            bbox_center.z + bsphere_radius * 0.5,
        ))
        bpy.ops.object.camera_add(location=cam_location)
        camera = bpy.context.active_object
        bpy.context.scene.camera = camera
        camera.data.lens = _lens
        camera.data.clip_start = max(cam_dist * 0.001, 0.0001)
        camera.data.clip_end = cam_dist * 10.0

        # Track-to constraint for look-at
        empty = bpy.data.objects.new("target", None)
        bpy.context.collection.objects.link(empty)
        empty.location = bbox_center

        track = camera.constraints.new(type='TRACK_TO')
        track.target = empty
        track.track_axis = 'TRACK_NEGATIVE_Z'
        track.up_axis = 'UP_Y'

        # ── World background — only in Mode A ───────────────────────────────
        # In template mode the .blend file owns its World (HDRI, sky texture,
        # studio lighting).  Overwriting it would destroy the HDR look.
        if not use_template:
            world = bpy.data.worlds.new("World")
            bpy.context.scene.world = world
            world.use_nodes = True
            bg = world.node_tree.nodes["Background"]
            bg.inputs["Color"].default_value = (0.96, 0.96, 0.97, 1.0)
            bg.inputs["Strength"].default_value = 0.15

        # ── Turntable animation ──────────────────────────────────────────────
        scene = bpy.context.scene
        scene.frame_start = 1
        scene.frame_end = frame_count

        if camera_orbit:
            # Camera orbit: parent camera to pivot, rotate pivot
            pivot = bpy.data.objects.new("pivot", None)
            bpy.context.collection.objects.link(pivot)
            pivot.location = bbox_center

            camera.parent = pivot
            camera.location = (cam_dist, 0, bsphere_radius * 0.5)

            pivot.rotation_euler = (0, 0, 0)
            pivot.keyframe_insert(data_path="rotation_euler", frame=1)
            pivot.rotation_euler = _axis_rotation(turntable_axis, degrees)
            pivot.keyframe_insert(data_path="rotation_euler", frame=frame_count + 1)

            _set_fcurves_linear(pivot.animation_data.action)
            print(f"[turntable] camera_orbit=True — rotating camera around model")
        else:
            # Object rotation: camera stays fixed, model parts rotate around bbox center
            pivot = bpy.data.objects.new("turntable_pivot", None)
            bpy.context.collection.objects.link(pivot)
            pivot.location = bbox_center
            bpy.context.view_layer.update()

            # Reparent parts to pivot while preserving world positions.
            # Parts may have existing USD parents (Xform nodes), so simple
            # matrix_parent_inverse = pivot.inverted() is NOT enough — it
            # loses the old parent's contribution. Instead, capture world
            # matrix, reparent, then restore world position via local matrix.
            for part in parts:
                mw = part.matrix_world.copy()
                part.parent = pivot
                part.matrix_parent_inverse.identity()
                bpy.context.view_layer.update()
                part.matrix_local = pivot.matrix_world.inverted() @ mw

            pivot.rotation_euler = (0, 0, 0)
            pivot.keyframe_insert(data_path="rotation_euler", frame=1)
            pivot.rotation_euler = _axis_rotation(turntable_axis, degrees)
            pivot.keyframe_insert(data_path="rotation_euler", frame=frame_count + 1)

            _set_fcurves_linear(pivot.animation_data.action)
            print(f"[turntable] camera_orbit=False — rotating model in front of camera")


    else:
        # Template has its own camera (not auto-camera)
        scene = bpy.context.scene
        scene.frame_start = 1
        scene.frame_end = frame_count

        # Calculate model center for pivot
        all_corners = []
        for part in parts:
            all_corners.extend(part.matrix_world @ Vector(c) for c in part.bound_box)

        bbox_center = Vector((
            (min(v.x for v in all_corners) + max(v.x for v in all_corners)) * 0.5,
            (min(v.y for v in all_corners) + max(v.y for v in all_corners)) * 0.5,
            (min(v.z for v in all_corners) + max(v.z for v in all_corners)) * 0.5,
        ))

        if camera_orbit:
            # Camera orbit mode: rotate the template's camera around the model
            template_cam = scene.camera
            pivot = bpy.data.objects.new("turntable_pivot", None)
            bpy.context.collection.objects.link(pivot)
            pivot.location = bbox_center

            template_cam.parent = pivot

            pivot.rotation_euler = (0, 0, 0)
            pivot.keyframe_insert(data_path="rotation_euler", frame=1)
            pivot.rotation_euler = _axis_rotation(turntable_axis, degrees)
            pivot.keyframe_insert(data_path="rotation_euler", frame=frame_count + 1)

            _set_fcurves_linear(pivot.animation_data.action)
            print(f"[turntable] camera_orbit=True — rotating template camera around model")
        else:
            # Object rotation mode: rotate the model in front of template camera
            pivot = bpy.data.objects.new("turntable_pivot", None)
            bpy.context.collection.objects.link(pivot)
            pivot.location = bbox_center
            bpy.context.view_layer.update()

            # Reparent preserving world positions (parts may have USD parents)
            for part in parts:
                mw = part.matrix_world.copy()
                part.parent = pivot
                part.matrix_parent_inverse.identity()
                bpy.context.view_layer.update()
                part.matrix_local = pivot.matrix_world.inverted() @ mw

            pivot.rotation_euler = (0, 0, 0)
            pivot.keyframe_insert(data_path="rotation_euler", frame=1)
            pivot.rotation_euler = _axis_rotation(turntable_axis, degrees)
            pivot.keyframe_insert(data_path="rotation_euler", frame=frame_count + 1)

            _set_fcurves_linear(pivot.animation_data.action)
            print(f"[turntable] camera_orbit=False — rotating model in front of template camera")

    # ── Colour management ────────────────────────────────────────────────────
    # In template mode the .blend file owns its colour management settings.
    # Overwriting them would destroy the intended HDR/tonemapping look.
    # In factory-settings mode force Standard to avoid the grey Filmic tint.
    scene = bpy.context.scene
    if not use_template:
        scene.view_settings.view_transform = 'Standard'
        scene.view_settings.exposure = 0.0
        scene.view_settings.gamma = 1.0
        try:
            scene.view_settings.look = 'None'
        except Exception:
            pass

    # ── Render engine ────────────────────────────────────────────────────────
    if engine == "eevee":
        eevee_ok = False
        for eevee_id in ('BLENDER_EEVEE', 'BLENDER_EEVEE_NEXT'):
            try:
                scene.render.engine = eevee_id
                eevee_ok = True
                print(f"[turntable_render] EEVEE engine id: {eevee_id}")
                break
            except TypeError:
                continue
        if eevee_ok:
            for attr in ('taa_render_samples', 'samples'):
                try:
                    setattr(scene.eevee, attr, samples)
                    break
                except AttributeError:
                    continue
        else:
            print("[turntable_render] WARNING: EEVEE not available, falling back to Cycles")
            engine = "cycles"

    if engine != "eevee":
        scene.render.engine = 'CYCLES'
        scene.cycles.samples = samples
        scene.cycles.use_denoising = True
        scene.cycles.denoiser = 'OPENIMAGEDENOISE'  # GPU-accelerated when CUDA/OptiX active
        # Device selection: "cpu" forces CPU, "gpu" forces GPU (warns if unavailable),
        # "auto" (default) tries GPU first and falls back to CPU.
        print(f"[turntable_render] cycles_device={cycles_device}")
        gpu_found = False
        if cycles_device != "cpu":
            try:
                cycles_prefs = bpy.context.preferences.addons['cycles'].preferences
                for device_type in ('OPTIX', 'CUDA', 'HIP', 'ONEAPI'):
                    try:
                        cycles_prefs.compute_device_type = device_type
                        cycles_prefs.get_devices()
                        gpu_devs = [d for d in cycles_prefs.devices if d.type != 'CPU']
                        if gpu_devs:
                            for d in gpu_devs:
                                d.use = True
                            scene.cycles.device = 'GPU'
                            gpu_found = True
                            print(f"[turntable_render] Cycles GPU ({device_type})")
                            break
                    except Exception:
                        continue
            except Exception:
                pass
        if gpu_found:
            print(f"RENDER_DEVICE_USED: engine=CYCLES device=GPU compute_type={device_type}", flush=True)
        else:
            scene.cycles.device = 'CPU'
            print("[turntable_render] WARNING: GPU not found — falling back to CPU")
            print("RENDER_DEVICE_USED: engine=CYCLES device=CPU compute_type=NONE (fallback)", flush=True)
            import os as _os
            if _os.environ.get("CYCLES_DEVICE", "auto").lower() == "gpu":
                print("GPU_REQUIRED_BUT_CPU_USED: strict mode active (CYCLES_DEVICE=gpu)", flush=True)
                sys.exit(2)

    # ── Render settings ──────────────────────────────────────────────────────
    scene.render.resolution_x = width
    scene.render.resolution_y = height
    scene.render.resolution_percentage = 100
    scene.render.image_settings.file_format = 'PNG'

    # ── Transparent background ────────────────────────────────────────────────
    # bg_color compositing is handled by FFmpeg in the compose-video task.
    # Blender renders transparent PNG frames when bg_color is set.
    if bg_color or transparent_bg:
        scene.render.film_transparent = True
        if bg_color:
            print(f"[turntable_render] film_transparent=True for FFmpeg bg_color compositing ({bg_color})")
        else:
            print("[turntable_render] transparent_bg enabled (alpha PNG frames)")

    # ── Render all frames ────────────────────────────────────────────────────
    # Per-frame loop with write_still=True.  In a single Blender session,
    # Cycles keeps the GPU scene (BVH, textures, material graph) loaded
    # between frames — only the animated pivot transform is updated each step.
    # bpy.ops.render.render(animation=True) does NOT work reliably in
    # background mode after wm.open_mainfile() in Blender 5.x (silently
    # writes no files), so we use the explicit per-frame approach.
    import time as _time
    _render_start = _time.time()
    for frame in range(1, frame_count + 1):
        scene.frame_set(frame)
        scene.render.filepath = os.path.join(frames_dir, f"frame_{frame:04d}")
        bpy.ops.render.render(write_still=True)
        elapsed = _time.time() - _render_start
        fps_so_far = frame / elapsed
        print(f"[turntable_render] Frame {frame}/{frame_count} — {elapsed:.1f}s elapsed ({fps_so_far:.2f} fps)")

    total = _time.time() - _render_start
    print(f"[turntable_render] Turntable render complete: {frame_count} frames in {total:.1f}s ({frame_count/total:.2f} fps avg)")


if __name__ == "__main__":
    main()