#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# A customizable conveyor belt moving at a constant speed.
# template language: javascript
EXTERNPROTO "webots://projects/appearances/protos/CorrugatedMetal.proto"
EXTERNPROTO "webots://projects/appearances/protos/Rubber.proto"
PROTO ConveyorBelt [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 0 1 0
field SFString name "conveyor belt"
field SFString window "<none>"
field SFVec3f size 1.5 0.5 0.6
field SFNode appearance CorrugatedMetal { textureTransform TextureTransform { scale 2 2 } } # Defines the appearance of the conveyor belt.
field SFFloat borderThickness 0.03 # Defines the thickness of the metal part around the conveyor belt.
field SFFloat borderHeight 0.01 # Defines the height of the border around the conveyor.
field SFFloat speed 0.5 # Defines the rubber band speed in meters per second.
field SFFloat acceleration -1 # Defines the acceleration of the conveyor belt.
field SFFloat timer 0.0 # Defines for how long the conveyor belt should move (it will move forever if set to 0).
]
{
%<
let size = fields.size.value;
if (size.x <= 0.0 || size.y <= 0.0 || size.z <= 0.0) {
size = fields.size.defaultValue;
console.error('\'size\' should be strictly positive. Value reset to (' + size.x + ', ' + size.y + ', ' + size.z + ').');
}
let borderThickness = fields.borderThickness.value;
if (borderThickness <= 0.0) {
borderThickness = fields.borderThickness.defaultValue;
console.error('\'borderThickness\' must be strictly positive. Value reset to ' + borderThickness + '.');
}
const borderHeight = fields.borderHeight.value;
>%
Robot {
translation IS translation
rotation IS rotation
name IS name
controller "conveyor_belt"
controllerArgs [
%<= '"' + fields.speed.value + '"' >%
%<= '"' + fields.timer.value + '"' >%
]
window IS window
children [
Track {
translation 0 0 %<= 0.75 * size.z >%
children [
Shape {
appearance Rubber {
type "dotted"
textureTransform TextureTransform {
scale %<= 4.0 * size.x >% %<= 4.0 * size.y >%
}
}
geometry DEF BELT_BO Box {
size %<= size.x >% %<= size.y >% %<= 0.5 * size.z >%
}
}
]
boundingObject USE BELT_BO
physics Physics {
density -1
mass 1
}
device [
LinearMotor {
name "belt_motor"
acceleration IS acceleration
maxVelocity %<= Math.abs(fields.speed.value) >%
sound ""
}
]
textureAnimation %<= 1 / size.x >% 0
}
Shape {
appearance IS appearance
geometry IndexedFaceSet {
%<
const xA = 0.5 * size.x;
const xB = 0.5 * size.x + borderThickness;
const yA = 0.5 * size.y;
const yB = 0.5 * size.y + borderThickness;
const zA = 0.0;
const zB = size.z;
const zC = size.z + borderHeight;
>%
coord Coordinate {
point [
%<= xB >% %<= -yB >% %<= zA >%
%<= xB >% %<= -yB >% %<= zC >%
%<= -xB >% %<= -yB >% %<= zC >%
%<= -xB >% %<= -yB >% %<= zA >%
%<= xB >% %<= yB >% %<= zA >%
%<= xB >% %<= yB >% %<= zC >%
%<= -xB >% %<= yB >% %<= zC >%
%<= -xB >% %<= yB >% %<= zA >%
%<= xA >% %<= -yA >% %<= zC >%
%<= xA >% %<= yA >% %<= zC >%
%<= -xA >% %<= yA >% %<= zC >%
%<= -xA >% %<= -yA >% %<= zC >%
%<= xA >% %<= -yA >% %<= zB >%
%<= xA >% %<= yA >% %<= zB >%
%<= -xA >% %<= yA >% %<= zB >%
%<= -xA >% %<= -yA >% %<= zB >%
]
}
texCoord TextureCoordinate {
point [
0 0
1 0
1 1
0 1
0 %<= zC/xB >%
1 %<= zC/xB >%
0 %<= zC/xB >%
%<= yB/xB >% %<= zC/xB >%
%<= yB/xB >% 0
0 0
0.001 0
0.001 0.001
0 0.001
]
}
texCoordIndex [
1 5 4 0 -1
0 1 5 4 -1
0 8 7 6 -1
0 8 7 6 -1
9 10 11 12 -1
9 10 11 12 -1
9 10 11 12 -1
9 10 11 12 -1
9 10 11 12 -1
%< if (borderHeight > 0.0) { >%
9 10 11 12 -1
9 10 11 12 -1
9 10 11 12 -1
9 10 11 12 -1
%< } >%
]
coordIndex [
0 1 2 3 -1
4 7 6 5 -1
0 4 5 1 -1
7 3 2 6 -1
1 5 9 8 -1
5 6 10 9 -1
6 2 11 10 -1
2 1 8 11 -1
0 3 7 4 -1
%< if (borderHeight > 0.0) { >%
8 9 13 12 -1
9 10 14 13 -1
10 11 15 14 -1
11 8 12 15 -1
%< } >%
]
}
}
]
boundingObject Group {
children [
Transform {
translation %<= 0.5 * (size.x + borderThickness) >% 0 %<= 0.5 * (size.z + borderHeight) >%
children [
Box {
size %<= borderThickness >% %<= size.y + 2.0 * borderThickness >% %<= size.z + borderHeight >%
}
]
}
Transform {
translation %<= -0.5 * (size.x + borderThickness) >% 0 %<= 0.5 * (size.z + borderHeight) >%
children [
Box {
size %<= borderThickness >% %<= size.y + 2.0 * borderThickness >% %<= size.z + borderHeight >%
}
]
}
Transform {
translation 0 %<= -0.5 * (size.y + borderThickness) >% %<= 0.5 * (size.z + borderHeight) >%
children [
Box {
size %<= size.x >% %<= borderThickness >% %<= size.z + borderHeight >%
}
]
}
Transform {
translation 0 %<= 0.5 * (size.y + borderThickness) >% %<= 0.5 * (size.z + borderHeight) >%
children [
Box {
size %<= size.x >% %<= borderThickness >% %<= size.z + borderHeight >%
}
]
}
]
}
}
}