#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# A plastic crate.
# template language: javascript
EXTERNPROTO "webots://projects/appearances/protos/MattePaint.proto"
PROTO PlasticCrate [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "plastic crate"
field SFVec3f size 0.6 0.6 0.6
field SFColor color 0.9 0.2 0.2
field SFFloat mass 0
]
{
%<
const thicknessFactor = 0.035;
let thickness = {x: thicknessFactor * fields.size.value.x, y: thicknessFactor * fields.size.value.y, z: thicknessFactor * fields.size.value.z};
let size = fields.size.value;
if (size.x <= 0 || size.y <= 0 || size.z <= 0) {
size = fields.size.defaultValue;
console.error('\'size\' should be strictly positive. Value reset to (' + size.x + ', ' + size.y + ', ' + size.z + ').');
}
>%
Solid {
translation IS translation
rotation IS rotation
name IS name
children [
Transform {
scale IS size
children [
Shape {
appearance MattePaint {
baseColor IS color
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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children [
Box {
size %<= fields.size.value.x - 2.0 * thickness.x >% %<= thickness.y >% %<= fields.size.value.z - thickness.z >%
}
]
}
Transform {
translation 0 %<= -0.5 * (fields.size.value.y - thickness.y) >% %<= 0.5 * fields.size.value.z + 0.5 * thickness.z >%
children [
Box {
size %<= fields.size.value.x - 2.0 * thickness.x >% %<= thickness.y >% %<= fields.size.value.z - thickness.z >%
}
]
}
Transform {
translation %<= 0.5 * (fields.size.value.x - thickness.x) >% 0 %<= 0.5 * fields.size.value.z + 0.5 * thickness.z >%
children [
Box {
size %<= thickness.x >% %<= fields.size.value.y >% %<= fields.size.value.z - thickness.z >%
}
]
}
Transform {
translation %<= -0.5 * (fields.size.value.x - thickness.x) >% 0 %<= 0.5 * fields.size.value.z + 0.5 * thickness.z >%
children [
Box {
size %<= thickness.x >% %<= fields.size.value.y >% %<= fields.size.value.z - thickness.z >%
}
]
}
]
}
%< if (fields.mass.value > 0) { >%
physics Physics {
density -1
mass %<= fields.mass.value >%
}
%< } >%
}
}