#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# A cardboard box.
# template language: javascript
EXTERNPROTO "webots://projects/appearances/protos/Cardboard.proto"
PROTO CardboardBox [
field SFVec3f translation 0 0 0.3
field SFRotation rotation 0 0 1 0
field SFString name "cardboard box"
field SFVec3f size 0.6 0.6 0.6 # Defines the size of the cardboard box.
field SFFloat mass 0 # Defines the mass of the cardboard box in kg. A value smaller or equal to 0 remove the physics of the cardboard box.
field SFBool locked FALSE # Is `Solid.locked`.
field SFFloat lidAngle 0 # Defines the opening of the cardboard box in radians. A value equal to 0 closes the box and uses a simple box for the bounding object, preventing it from containing objects.
]
{
%<
let size = fields.size.value;
let volume = size.x * size.y * size.z;
let mass = fields.mass.value;
if (volume < 0.000001 || volume > 1) {
size = fields.size.defaultValue;
console.error('Box volume outside of range [ 1 cm3 ; 1 m3 ]. \'size\' value reset to (' + size.x + ', ' + size.y + ', ' + size.z + ').');
}
const max_size = 2.5;
const min_size = 0.01;
if (size.x > max_size) {
console.error('\'size.x\' greater than maximal size (' + max_size + '). Value clamped.');
size.x = max_size;
} else if (size.x < min_size) {
console.error('\'size.x\' less than minimal size (' + min_size + '). Value clamped.');
size.x = min_size;
}
if (size.y > max_size) {
console.error('\'size.y\' greater than maximal size (' + max_size + '). Value clamped.');
size.y = max_size;
} else if (size.y < min_size) {
console.error('\'size.y\' less than minimal size (' + min_size + '). Value clamped.');
size.y = min_size;
}
if (size.z > max_size) {
console.error('\'size.z\' greater than maximal size (' + max_size + '). Value clamped.');
size.z = max_size;
} else if (size.z < min_size) {
console.error('\'size.z\' less than minimal size (' + min_size + '). Value clamped.');
size.z = min_size;
}
// we want the mass for a 1cm3 box be comprised between 0.1 and 10 g inclusive
// and the mass for a 1m3 box be comprised between 1 and 100 kg, hence the
// following min_mass and max_mass values:
let min_mass = Math.pow(volume, 2/3);
let max_mass = min_mass * 100;
if (mass > 0 && mass < min_mass) {
console.error('\'mass\' less than minimal value (' + min_mass + '). Value clamped.');
mass = min_mass;
} else if (mass > max_mass) {
console.error('\'mass\' greater than maximal value (' + max_mass + '). Value clamped.');
mass = max_mass;
}
>%
Solid {
translation IS translation
rotation IS rotation
children [
DEF BACK Transform {
translation %<= -(size.x / 2 - 0.00025) >% 0 0
children [
Shape {
appearance Cardboard {
type "back"
}
geometry Box {
size 0.0005 %<= size.y - 0.0001 >% %<= size.z - 0.0001 >%
}
}
]
}
DEF FRONT Transform {
translation %<= size.x / 2 - 0.00025 >% 0 0
children [
Shape {
appearance Cardboard {
type "front"
}
geometry Box {
size 0.0005 %<= size.y - 0.0001 >% %<= size.z - 0.0001 >%
}
}
]
}
DEF RIGHT Transform {
translation 0 %<= -(size.y / 2 - 0.00025) >% 0
children [
Shape {
appearance Cardboard {
type "right"
}
geometry Box {
size %<= size.x - 0.0001 >% 0.0005 %<= size.z - 0.0001 >%
}
}
]
}
DEF LEFT Transform {
translation 0 %<= size.y / 2 - 0.00025 >% 0
children [
Shape {
appearance Cardboard {
type "left"
}
geometry Box {
size %<= size.x - 0.0001 >% 0.0005 %<= size.z - 0.0001 >%
}
}
]
}
DEF BOTTOM Transform {
translation 0 0 %<= -size.z / 2 + 0.00025 >%
children [
Shape {
appearance Cardboard {
type "bottom"
}
geometry Box {
size %<= size.x - 0.0001 >% %<= size.y - 0.0001 >% 0.0005
}
}
]
}
DEF TOP Transform {
%<
let position = {x:0, y:0, z:0}
let angle = fields.lidAngle.value;
position.x = -((size.x / 2) - Math.cos(angle) * (size.x / 2));
position.z = (size.z / 2) - 0.00025 + Math.sin(angle) * (size.x / 2);
>%
translation %<= position.x >% %<= position.y >% %<= position.z >%
rotation 0 1 0 %<= -fields.lidAngle.value >%
children [
Shape {
appearance Cardboard {
type "top"
}
geometry Box {
size %<= size.x - 0.0001 >% %<= size.y - 0.0001 >% 0.0005
}
}
]
}
]
name IS name
model "cardboard box"
%< if (fields.lidAngle.value === 0) { >%
boundingObject Box {
size %<= size.x >% %<= size.y >% %<= size.z >%
}
%< } else { >%
boundingObject Group {
children [
DEF BACK Transform {
translation %<= -(size.x / 2 - 0.0005) >% 0 0
children [
Shape {
appearance Cardboard {
type "back"
}
geometry Box {
size 0.003 %<= size.y - 0.0001 >% %<= size.z - 0.0001 >%
}
}
]
}
DEF FRONT Transform {
translation %<= size.x / 2 - 0.0005 >% 0 0
children [
Shape {
appearance Cardboard {
type "front"
}
geometry Box {
size 0.003 %<= size.y - 0.0001 >% %<= size.z - 0.0001 >%
}
}
]
}
DEF RIGHT Transform {
translation 0 %<= -(size.y / 2 - 0.0005) >% 0
children [
Shape {
appearance Cardboard {
type "right"
}
geometry Box {
size %<= size.x - 0.0001 >% 0.003 %<= size.z - 0.0001 >%
}
}
]
}
DEF LEFT Transform {
translation 0 %<= size.y / 2 - 0.0005 >% 0
children [
Shape {
appearance Cardboard {
type "left"
}
geometry Box {
size %<= size.x - 0.0001 >% 0.003 %<= size.z - 0.0001 >%
}
}
]
translationStep 0
}
DEF BOTTOM Transform {
translation 0 0 %<= -size.z / 2 + 0.0005 >%
children [
Shape {
appearance Cardboard {
type "bottom"
}
geometry Box {
size %<= size.x - 0.0001 >% %<= size.y - 0.0001 >% 0.003
}
}
]
}
DEF TOP Transform {
translation %<= position.x >% %<= position.y >% %<= position.z >%
rotation 0 1 0 %<= -fields.lidAngle.value >%
children [
Shape {
appearance Cardboard {
type "bottom"
}
geometry Box {
size %<= size.x - 0.0001 >% %<= size.y - 0.0001 >% 0.003
}
}
]
}
]
}
%< }
if (mass > 0) { >%
physics Physics {
density -1
mass %<= mass >%
}
%< } >%
locked IS locked
}
}