#VRML_SIM V7.3.0 utf8

PROTO Platform [
  field SFString name "Platform000"
  field SFFloat length .252 # outside, not driving surface
  field SFFloat width  .252 #   "
  field SFFloat height .044
  field SFFloat grooveWidth .00375
  field SFFloat grooveDepth .00275
  field SFFloat wallThickness .003
  field SFFloat topThickness .006
  field SFString type "1" # PlatformType

  field SFVec3f translation 0 0 0.022
  field SFRotation rotation 0 0 1 0

  field SFFloat density 250

  field SFColor platformColor .05 .25 .05
  field SFFloat topMarkerWidth .030
  field SFFloat sideMarkerWidth .030
  field SFBool  useWhiteMarkerBackgrounds TRUE
  field SFString markerImg ""  # Image path relative to textures/
]
{
Solid {

  # Set markerURL
  %{
    markerURL = ""
    if fields.markerImg ~= "" then
      markerURL = "textures/" .. fields.markerImg.value
    end 
  }%

  name IS name
  model IS type
  translation IS translation
  rotation IS rotation
  contactMaterial "cmat_block"
  children [
        
    # Front Face
    VisionMarker {
      rotation 0 0 1 1.5708
      translation %{=fields.length.value/2}% 0 0
      image "symbols/platformNorth.png"
      markerWidth IS sideMarkerWidth
    }
    
    # Back Face
    VisionMarker { 
      rotation 0 0 1 -1.5708
      translation %{=-fields.length.value/2}% 0 0
      image "symbols/platformSouth.png"
      markerWidth IS sideMarkerWidth
    }
          
    # Right Face
    VisionMarker {
      rotation 0 0 1 3.1415
      translation 0 %{=fields.width.value/2}% 0
      image "symbols/platformEast.png"
      markerWidth IS sideMarkerWidth
    }
    
    # Left Face
    VisionMarker {
      rotation 0 0 1 0
      translation 0 %{=-fields.width.value/2}% 0
      image "symbols/platformWest.png"
      markerWidth IS sideMarkerWidth
    }
    
    # Top Face(s)
		VisionMarker {
			rotation 1 0 0 1.5708
			translation %{=-fields.length.value/4}% %{=-fields.width.value/4}% %{=fields.height.value/2}% 
			image "letters/inverted/A.png"
			#image "ankiLogoWithBits/ankiLogoWithBits001.png"
			markerWidth IS topMarkerWidth
		}
		VisionMarker {
			rotation 1 0 0 1.5708
			translation %{=-fields.length.value/4}% %{=fields.width.value/4}% %{=fields.height.value/2}% 
			image "letters/inverted/B.png"
			#image "ankiLogoWithBits/ankiLogoWithBits010.png"
			markerWidth IS topMarkerWidth
		}
		VisionMarker {
			rotation 1 0 0 1.5708
			translation %{=fields.length.value/4}% %{=-fields.width.value/4}% %{=fields.height.value/2}% 
			image "letters/inverted/C.png"
			#image "ankiLogoWithBits/ankiLogoWithBits020.png"
			markerWidth IS topMarkerWidth
		}
		VisionMarker {
			rotation 1 0 0 1.5708
			translation %{=fields.length.value/4}% %{=fields.width.value/4}% %{=fields.height.value/2}% 
			image "letters/inverted/D.png"
			#image "ankiLogoWithBits/ankiLogoWithBits030.png"
			markerWidth IS topMarkerWidth
		}

    DEF PlatformShape Group {
      children [
        
        # Front wall
        Transform {
          translation 0 %{=fields.width.value/2-fields.wallThickness.value/2}% %{=-(fields.topThickness.value-fields.grooveDepth.value)/2}%
          children [
            DEF LONG_WALL Shape {
              appearance Appearance {
                material Material {
                  diffuseColor IS platformColor
                }
              }
              geometry Box {
                size %{=fields.length.value}% %{=fields.wallThickness.value}% %{=fields.height.value-(fields.topThickness.value-fields.grooveDepth.value)}%
              }
            }
          ]
        }
        
        # Back wall
        Transform {
          translation 0 %{=-fields.width.value/2+fields.wallThickness.value/2}% %{=-(fields.topThickness.value-fields.grooveDepth.value)/2}%
          children [ 
            USE LONG_WALL
          ]
        }
        
        # Left wall
        Transform {
          translation %{=fields.length.value/2-fields.wallThickness.value/2}% 0 %{=-(fields.topThickness.value-fields.grooveDepth.value)/2}%
          children [
            DEF SHORT_WALL Shape {
              appearance Appearance {
                material Material {
                  diffuseColor IS platformColor
                }
              }
              geometry Box {
                size %{=fields.wallThickness.value}% %{=fields.width.value-2*fields.wallThickness.value}% %{=fields.height.value-(fields.topThickness.value-fields.grooveDepth.value)}%
              }
            }
          ]
        }  
        
        # Right wall
        Transform {
          translation %{=-fields.length.value/2+fields.wallThickness.value/2}% 0 %{=-(fields.topThickness.value-fields.grooveDepth.value)/2}%
          children [
            USE SHORT_WALL
          ]
        }
        
        # Inside
        Transform {
          translation 0 0 %{=fields.height.value/2-fields.topThickness.value-fields.wallThickness.value/2}%
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor IS platformColor
                }
              }
              geometry Box {
                size %{=fields.length.value-2*fields.wallThickness.value}% %{=fields.width.value-2*fields.wallThickness.value}% %{=fields.wallThickness.value}%
              }
            }
          ]
        }
              
        # Top surface
        Transform {
          translation 0 0 %{=fields.height.value/2 - fields.topThickness.value/2}%
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor .9 .9 .8
                }
              }
              geometry Box {
                size %{=fields.length.value-2*(fields.grooveWidth.value+fields.wallThickness.value)}% %{=fields.width.value-2*(fields.grooveWidth.value+fields.wallThickness.value)}% %{=fields.topThickness.value}%
              }
            }
          ]
        }
        
      ] # PlatformShape Children
    } # PlatformShape Group
  
    # Transform {
#       translation %{=fields.length.value/2-fields.grooveWidth.value/2}% 0 %{=fields.height.value/2 - fields.grooveDepth.value}%
#       children [
#         Connector {
#           isLocked TRUE
#           autoLock TRUE
#           snap     FALSE
#           tensileStrength 0.1
#           shearStrength   2
#         }
#       ]
#     }
#     
#     Transform {
#       translation %{=-fields.length.value/2+fields.grooveWidth.value/2}% 0 %{=fields.height.value/2 - fields.grooveDepth.value}%
#       children [
#         Connector {
#           isLocked TRUE
#           autoLock TRUE
#           snap     FALSE
#           tensileStrength 0.1
#           shearStrength   2
#         }
#       ]
#     }
#     
#     Transform {
#       translation 0 %{=fields.width.value/2-fields.grooveWidth.value/2}% %{=fields.height.value/2 - fields.grooveDepth.value}%
#       children [
#         Connector {
#           isLocked TRUE
#           autoLock TRUE
#           snap     FALSE
#           tensileStrength 0.1
#           shearStrength   2
#         }
#       ]
#     }
#     
#     Transform {
#       translation 0 %{=-fields.width.value/2+fields.grooveWidth.value/2}% %{=fields.height.value/2 - fields.grooveDepth.value}%
#       children [
#         Connector {
#           isLocked TRUE
#           autoLock TRUE
#           snap     FALSE
#           tensileStrength 0.1
#           shearStrength   2
#         }
#       ]
#     }  

  ] # Solid Children
  
  boundingObject USE PlatformShape
  
  physics Physics {
    density IS density
  }
} # Solid (the actual platform)

  
} # PROTO