floor.wrl

#VRML V2.0 utf8

PROTO Joint [
  exposedField     SFVec3f      center              0 0 0
  exposedField     MFNode       children            []
  exposedField     MFFloat      llimit              []
  exposedField     MFFloat      lvlimit             []
  exposedField     SFRotation   limitOrientation    0 0 1 0
  exposedField     SFString     name                ""
  exposedField     SFRotation   rotation            0 0 1 0
  exposedField     SFVec3f      scale               1 1 1
  exposedField     SFRotation   scaleOrientation    0 0 1 0
  exposedField     MFFloat      stiffness           [ 0 0 0 ]
  exposedField     SFVec3f      translation         0 0 0
  exposedField     MFFloat      ulimit              []
  exposedField     MFFloat      uvlimit             []
  exposedField     SFString     jointType           ""
  exposedField     SFInt32      jointId             -1
  exposedField     SFVec3f      jointAxis           0 0 1

  exposedField     SFFloat      gearRatio           1
  exposedField     SFFloat      rotorInertia        0
  exposedField     SFFloat      rotorResistor       0
  exposedField     SFFloat      torqueConst         1
  exposedField     SFFloat      encoderPulse        1
]
{
  Transform {
    center           IS center
    children         IS children
    rotation         IS rotation
    scale            IS scale
    scaleOrientation IS scaleOrientation
    translation      IS translation
  }
}

PROTO Segment [
  field           SFVec3f     bboxCenter        0 0 0
  field           SFVec3f     bboxSize          -1 -1 -1
  exposedField    SFVec3f     centerOfMass      0 0 0
  exposedField    MFNode      children          [ ]
  exposedField    SFNode      coord             NULL
  exposedField    MFNode      displacers        [ ]
  exposedField    SFFloat     mass              0 
  exposedField    MFFloat     momentsOfInertia  [ 0 0 0 0 0 0 0 0 0 ]
  exposedField    SFString    name              ""
  eventIn         MFNode      addChildren
  eventIn         MFNode      removeChildren
]
{
  Group {
    addChildren    IS addChildren
    bboxCenter     IS bboxCenter
    bboxSize       IS bboxSize
    children       IS children
    removeChildren IS removeChildren
  }
}

PROTO Humanoid [
  field           SFVec3f    bboxCenter            0 0 0
  field           SFVec3f    bboxSize              -1 -1 -1
  exposedField    SFVec3f    center                0 0 0
  exposedField    MFNode     humanoidBody          [ ]
  exposedField    MFString   info                  [ ]
  exposedField    MFNode     joints                [ ]
  exposedField    SFString   name                  ""
  exposedField    SFRotation rotation              0 0 1 0
  exposedField    SFVec3f    scale                 1 1 1
  exposedField    SFRotation scaleOrientation      0 0 1 0
  exposedField    MFNode     segments              [ ]
  exposedField    MFNode     sites                 [ ]
  exposedField    SFVec3f    translation           0 0 0
  exposedField    SFString   version               "1.1"
  exposedField    MFNode     viewpoints            [ ]
]
{
  Transform {
    bboxCenter       IS bboxCenter
    bboxSize         IS bboxSize
    center           IS center
    rotation         IS rotation
    scale            IS scale
    scaleOrientation IS scaleOrientation
    translation      IS translation
    children [
      Group {
        children IS viewpoints
      }
      Group {
        children IS humanoidBody 
      }
    ]
  }
}

PROTO VisionSensor [
  exposedField SFVec3f    translation       0 0 0
  exposedField SFRotation rotation          0 0 1 0
  exposedField MFNode     children          [ ]
  exposedField SFFloat    fieldOfView       0.785398
  exposedField SFString   name              ""
  exposedField SFFloat    frontClipDistance 0.01
  exposedField SFFloat    backClipDistance  10.0
  exposedField SFString   type              "NONE"
  exposedField SFInt32    sensorId          -1
  exposedField SFInt32    width             320
  exposedField SFInt32    height            240
]
{
  Transform {
    rotation         IS rotation
    translation      IS translation
    children         IS children
  }
}


PROTO ForceSensor [  
  exposedField SFVec3f    maxForce    -1 -1 -1
  exposedField SFVec3f    maxTorque   -1 -1 -1
  exposedField SFVec3f    translation 0 0 0
  exposedField SFRotation rotation    0 0 1 0
  exposedField SFInt32    sensorId    -1
]
{
  Transform {
    translation IS translation
    rotation    IS rotation
  }
}

PROTO Gyro [
  exposedField SFVec3f    maxAngularVelocity -1 -1 -1
  exposedField SFVec3f    translation        0 0 0
  exposedField SFRotation rotation           0 0 1 0
  exposedField SFInt32    sensorId           -1
]
{
  Transform {
    translation IS translation
    rotation    IS rotation
  }
}

PROTO AccelerationSensor [
  exposedField SFVec3f    maxAcceleration -1 -1 -1
  exposedField SFVec3f    translation     0 0 0
  exposedField SFRotation rotation        0 0 1 0
  exposedField SFInt32    sensorId        -1
]
{
  Transform {
    translation IS translation
    rotation    IS rotation
  }
}

PROTO PressureSensor [
  exposedField SFFloat    maxPressure -1
  exposedField SFVec3f    translation 0 0 0
  exposedField SFRotation rotation    0 0 1 0
  exposedField SFInt32    sensorId    -1
]
{
  Transform {
    translation IS translation
    rotation    IS rotation
  }
}

PROTO PhotoInterrupter [
  exposedField SFVec3f transmitter 0 0 0
  exposedField SFVec3f receiver    0 0 0
  exposedField SFInt32 sensorId    -1
]
{
  Transform{
    children [
      Transform{
        translation IS transmitter
      }
      Transform{
        translation IS receiver
      }
    ]
  }
}

PROTO CylinderSensorZ [
    exposedField    SFFloat    maxAngle       -1
    exposedField    SFFloat    minAngle        0
    exposedField    MFNode     children        [ ]
]
{
  Transform{
    rotation 1 0 0 1.5708
    children [
      DEF SensorY CylinderSensor{
        maxAngle IS maxAngle
        minAngle IS minAngle
      }
      DEF AxisY Transform{
        children [
          Transform{
            rotation 1 0 0 -1.5708
            children IS children
          }
        ]
      }
    ]
  }
  ROUTE SensorY.rotation_changed TO AxisY.set_rotation
}

PROTO CylinderSensorY [
    exposedField    SFFloat    maxAngle       -1
    exposedField    SFFloat    minAngle        0
    exposedField    MFNode     children        [ ]
]
{
  Transform{
    rotation 0 1 0 1.5708
    children [
      DEF SensorX CylinderSensor{
        maxAngle IS maxAngle
        minAngle IS minAngle
      }
      DEF AxisX Transform{
        children [
          Transform{
            rotation 0 1 0 -1.5708
            children IS children
          }
        ]
      }
    ]
  }
  ROUTE SensorX.rotation_changed TO AxisX.set_rotation
}

PROTO CylinderSensorX [
    exposedField    SFFloat    maxAngle       -1
    exposedField    SFFloat    minAngle        0
    exposedField    MFNode     children        [ ]
]
{
  Transform{
    rotation 0 0 1 -1.5708
    children [
      DEF SensorZ CylinderSensor{
        maxAngle IS maxAngle
        minAngle IS minAngle
      }
      DEF AxisZ Transform{
        children [
          Transform{
            rotation 0 0 1 1.5708
            children IS children
          }
        ]
      }
    ]
  }
  ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation
}

NavigationInfo {
  avatarSize    0.5
  headlight     TRUE
  type  ["EXAMINE", "ANY"]
}

Background {
  skyColor 0.4 0.6 0.4
}

Viewpoint {
  position    3 0 0.835
  orientation 0.5770 0.5775 0.5775 2.0935
}

DEF floor Humanoid {
  humanoidBody [
    DEF WAIST Joint {
      jointType "fixed"
      translation 0.0 0.0 -0.1
      rotation 0 0 1 0
      children [
        DEF BODY Segment {
	  mass 0.5
	  momentsOfInertia [1 0 0 0 1 0 0 0 1]
          children [
            Shape {
              geometry Box {
                  size 4 4 0.2
              }
              appearance Appearance {
                  material Material {
                      diffuseColor 0.0 0.0 1.0
                  }
              }
            }
          ]
        }
      ]
    }
  ]
  joints [
    USE WAIST
  ]
  segments [
    USE BODY
  ]
  version "1.1"
}