#VRML V2.0 utf8

# Aleksey Potashnik (cs184-bk)
# Created on PC, NT4, IE4.0, CosmoPlayer 2.1
# Lab4

# Backgroud for slide control

Transform {
   translation 6 0 0
   children Shape {
	  appearance Appearance { material Material { diffuseColor 0.8 0.8 0.8 }}
	  geometry Box { size 1.0 5 0.125 }}
}

# Set-up of sensors and corresponding controls

Group {
   children [
	  DEF SliderSen PlaneSensor {
		 maxPosition 0.0 2.0
		 minPosition 0.0 -2.0
	  }
	  DEF SliderCTRL Transform {
		 center 6 0 0
		 children [
			Transform {
			   translation 6 0 0.125
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 0.2 0.2 0.2 }}
				  geometry Box { size 0.6 0.3 0.125 }}
			}
		   ]
	  }]} 

Group {
   children [
	  DEF Rot1Sen CylinderSensor {
		 minAngle -1.57
		 maxAngle 1.57
	  }
	  DEF Rot1CTRL Transform {
		 center 3.5 -3 0
		 children [
			Transform {
			   rotation 1 0 0 1.57
			   translation 3.5 -3 0.5
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 0.0 1.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 1.0 }}
			}
			Transform {
			   translation 3.5 -3 1.0
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 0.0 1.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 0.4 }}
			}]
	  }]}

Group {
   children [
	  DEF Rot2Sen CylinderSensor {
		 minAngle -1.57
		 maxAngle 1.57
	  }
	  DEF Rot2CTRL Transform {
		 center 3.5 -1 0
		 children [
			Transform {
			   rotation 1 0 0 1.57
			   translation 3.5 -1 0.5
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 1.0 }}
			}
			Transform {
			   translation 3.5 -1 1.0
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 0.4 }}
			}]
	  }]}

Group {
   children [
	  DEF Rot3Sen CylinderSensor {
		 minAngle -1.57
		 maxAngle 1.57
	  }
	  DEF Rot3CTRL Transform {
		 center 3.5 1 0
		 children [
			Transform {
			   rotation 1 0 0 1.57
			   translation 3.5 1 0.5
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 0.0 0.0 1.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 1.0 }}
			}
			Transform {
			   translation 3.5 1 1.0
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 0.0 0.0 1.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 0.4 }}
			}]
	  }]}

Group {
   children [
	  DEF Rot4Sen CylinderSensor {
		 minAngle -1.57
		 maxAngle 1.57
	  }
	  DEF Rot4CTRL Transform {
		 center 3.5 3 0
		 children [
			Transform {
			   rotation 1 0 0 1.57
			   translation 3.5 3 0.5
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 1.0 }}
			}
			Transform {
			   translation 3.5 3 1.0
			   children Shape {
				  appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 }}
				  geometry Cylinder { 
					 radius 0.125 
					 height 0.4 }}
			}]
	  }]}


#########################################################
#
# Robot
#
#########################################################

# Background for robot's base

Transform {
   rotation 1 0 0 -1.57
   translation -2.5 -3.1 0.0
   children Shape {
	  appearance Appearance { 
		 material Material { diffuseColor 0.8 0.8 0.8 
			emissiveColor 0.8 0.8 0.8}}
	  geometry Box { size 2.0 5.5 0.125 }}}

# Parts of the robot

Transform {
   rotation 1 0 0 1.57
   children [
	  DEF SliderPart Transform {
		 children [

			Transform {
			   rotation 1 0 0 -1.57
			   translation -2.5 0 2
			   children [
				  DEF Rot1Part Transform {
					 center 0 0 0
					 children [
						Shape { 
						   appearance Appearance { 
							  material Material { diffuseColor 0.0 1.0 0.0 }}
						   geometry Box { size 0.4 2.2 1.0 }}
						
						Transform {
						   rotation 1 0 0 -1.57
						   translation 0 1.98 0
						   children [
							  DEF Rot2Part Transform {
								 center 0 0 -0.88
								 children [
									Shape { appearance Appearance { 
									   material Material { diffuseColor 1.0 0.0 0.0 }}
									   geometry Box { size 0.8 0.32 1.76 }}

									Transform {
									   translation 0 0 1.54
									   children [
										  DEF Rot3Part Transform {
											 center 0 0 -0.66
											 children [
												Shape { appearance Appearance { 
												   material Material { 
													  diffuseColor 0.0 0.0 1.0 }}
												   geometry Box { size 0.24 0.6 1.32 }}
												Transform {
												   rotation 0 0 1 -1.57
												   children [
													  DEF Rot4Part Transform {
														 center 0 0 0.675
														 children [

# Hand
Transform {
   scale 1.5 1.5 1.5
   rotation 0 1 0 1.57
   translation 0 0 0.675
   children [
	  Transform {
		 translation -0.125 0 0
		 children [
			DEF cube Shape {
			   appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 }}
			   geometry Box { size 0.25 0.25 0.25 }} ]}
	  Transform {
		 translation -0.625 0 -0.25
		 children [ USE cube ]}
	  Transform {
		 translation -0.625 0 0.25
		 children [ USE cube ]}

	  Shape {
		 appearance Appearance { material Material { diffuseColor 1.0 1.0 0.0 }}
		 geometry IndexedFaceSet {
			coord Coordinate {
			   point [
				-0.25 0.125 0.125
				-0.5 0.125 0.375
			    -0.5 0.125 0.125
				-0.375 0.125 0
				-0.25 0.125 -0.125
				-0.5 0.125 -0.375
			    -0.5 0.125 -0.125	

				-0.25 -0.125 0.125
				-0.5 -0.125 0.375
			    -0.5 -0.125 0.125
				-0.375 -0.125 0
				-0.25 -0.125 -0.125
				-0.5 -0.125 -0.375
			    -0.5 -0.125 -0.125
			   ]}
			coordIndex [0 4 5 6 3 2 1 0 -1
					    7 8 9 10 13 12 11 7 -1
					   0 1 8 7 0 -1
					   5 4 11 12 5 -1
					   2 3 10 9 2 -1
					   6 13 10 3 6 -1]
			convex FALSE
			solid TRUE
		 }} ]}
# End of Hand

]} ]} ]} ]} ]} ]} ]} ]} ]} ]}

# End of Robot --------------------------------------------------

# Control buttons ----------------------------------------------

Group {
   children [
	  Transform {
		 translation 8 3 0
		 rotation 1 0 0 1.57
		 children Shape {
			appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 }}
			geometry Cylinder { radius 0.25 height 0.25}}}
	  DEF recordNext TouchSensor {} ]}

Transform {
   translation 7 2.2 0
   children Shape {
	  appearance Appearance { material Material { diffuseColor 1.0 0.0 0.0 }}
	  geometry Text { 
		 string [ "recordNext" ] 
		 fontStyle FontStyle { size 0.5 }}}}

Group {
   children [
	  Transform {
		 translation 8 1.3 0
		 rotation 1 0 0 1.57
		 children Shape {
			appearance Appearance { material Material { diffuseColor 0.0 1.0 1.0 }}
			geometry Cylinder { radius 0.25 height 0.25}}}
	  DEF step_forward TouchSensor {} ]}

Transform {
   translation 7 0.5 0
   children Shape {
	  appearance Appearance { material Material { diffuseColor 0.0 1.0 1.0 }}
	  geometry Text { 
		 string [ "step_forward" ] 
		 fontStyle FontStyle { size 0.5 }}}}

Group {
   children [
	  Transform {
		 translation 8 -1.3 0
		 rotation 1 0 0 1.57
		 children Shape {
			appearance Appearance { material Material { diffuseColor 0.0 1.0 1.0 }}
			geometry Cylinder { radius 0.25 height 0.25}}}
	  DEF step_back TouchSensor {} ]}

Transform {
   translation 7 -0.65 0
   children Shape {
	  appearance Appearance { material Material { diffuseColor 0.0 1.0 1.0 }}
	  geometry Text { 
		 string [ "step_back" ] 
		 fontStyle FontStyle { size 0.5 }}}}

Group {
   children [
	  Transform {
		 translation 8 -3 0
		 rotation 1 0 0 1.57
		 children Shape {
			appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 }}
			geometry Cylinder { radius 0.25 height 0.25}}}
	  DEF saveFile TouchSensor {} ]}

Transform {
   translation 7 -2.5 0
   children Shape {
	  appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 }}
	  geometry Text { 
		 string [ "play/stop" ] 
		 fontStyle FontStyle { size 0.5 }}}}

# Status indicator

Transform {
   translation 5.0 -3.5 0
   children [
	  DEF sw Switch {
		 whichChoice 0
		 choice [
			Shape {
			   appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 }}
			   geometry Text {
				  string ["Add frame mode"
						  "Playback from 0 frame"]
				  length [ 0 ]
				  fontStyle FontStyle { size 0.40 }}}
			Shape {
			   appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 }}
			   geometry Text {
				  string ["Edit frame mode "
						  "Playback from current frame"]
				  length [ 0 ]
				  fontStyle FontStyle { size 0.40 }}}
			Shape {
			   appearance Appearance { material Material { diffuseColor 1.0 1.0 1.0 }}
			   geometry Text {
				  string ["Playback mode"]
				  length [ 0 ]
				  fontStyle FontStyle { size 0.40 }}}
		   ]} ]}
			

# End of Control Buttons ---------------------------------------

DEF MainClock TimeSensor {
   cycleInterval 1.0
   loop TRUE
   enabled FALSE
}

# Definition of Recorders --------------------------------------

DEF Joint1Recorder Script {
   url "recorder.class"
   field SFRotation currentRotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool recordNext
   eventIn SFBool saveFile
   eventOut SFRotation rotation_changed
   eventIn SFBool step_back
   eventIn SFBool step_forward
   eventOut SFInt32 stat
   eventIn SFFloat set_fraction
   eventOut SFBool ctrl_clock
}

DEF Joint2Recorder Script {
   url "recorder.class"
   field SFRotation currentRotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool recordNext
   eventIn SFBool saveFile
   eventOut SFRotation rotation_changed
   eventIn SFBool step_back
   eventIn SFBool step_forward
   eventOut SFInt32 stat
   eventIn SFFloat set_fraction
   eventOut SFBool ctrl_clock 
}

DEF Joint3Recorder Script {
   url "recorder.class"
   field SFRotation currentRotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool recordNext
   eventIn SFBool saveFile
   eventOut SFRotation rotation_changed
   eventIn SFBool step_back
   eventIn SFBool step_forward
   eventOut SFInt32 stat
   eventIn SFFloat set_fraction
   eventOut SFBool ctrl_clock
}

DEF Joint4Recorder Script {
   url "recorder.class"
   field SFRotation currentRotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool recordNext
   eventIn SFBool saveFile
   eventOut SFRotation rotation_changed
   eventIn SFBool step_back
   eventIn SFBool step_forward
   eventOut SFInt32 stat
   eventIn SFFloat set_fraction
   eventOut SFBool ctrl_clock
}

ROUTE Joint1Recorder.stat TO sw.set_whichChoice
ROUTE Joint1Recorder.ctrl_clock TO MainClock.set_enabled

ROUTE MainClock.fraction_changed TO Joint1Recorder.set_fraction
ROUTE MainClock.fraction_changed TO Joint2Recorder.set_fraction
ROUTE MainClock.fraction_changed TO Joint3Recorder.set_fraction
ROUTE MainClock.fraction_changed TO Joint4Recorder.set_fraction

ROUTE SliderSen.translation_changed TO SliderCTRL.set_translation
ROUTE SliderSen.translation_changed TO SliderPart.set_translation

ROUTE Rot1Sen.rotation_changed TO Joint1Recorder.set_rotation
ROUTE Joint1Recorder.rotation_changed TO Rot1Part.set_rotation
ROUTE Joint1Recorder.rotation_changed TO Rot1CTRL.set_rotation

ROUTE Rot2Sen.rotation_changed TO Joint2Recorder.set_rotation
ROUTE Joint2Recorder.rotation_changed TO Rot2Part.set_rotation
ROUTE Joint2Recorder.rotation_changed TO Rot2CTRL.set_rotation

ROUTE Rot3Sen.rotation_changed TO Joint3Recorder.set_rotation
ROUTE Joint3Recorder.rotation_changed TO Rot3Part.set_rotation
ROUTE Joint3Recorder.rotation_changed TO Rot3CTRL.set_rotation

ROUTE Rot4Sen.rotation_changed TO Joint4Recorder.set_rotation
ROUTE Joint4Recorder.rotation_changed TO Rot4Part.set_rotation
ROUTE Joint4Recorder.rotation_changed TO Rot4CTRL.set_rotation

ROUTE recordNext.isActive TO Joint1Recorder.recordNext
ROUTE step_forward.isActive TO Joint1Recorder.step_forward
ROUTE step_back.isActive TO Joint1Recorder.step_back
ROUTE saveFile.isActive TO Joint1Recorder.saveFile

ROUTE recordNext.isActive TO Joint2Recorder.recordNext
ROUTE step_forward.isActive TO Joint2Recorder.step_forward
ROUTE step_back.isActive TO Joint2Recorder.step_back
ROUTE saveFile.isActive TO Joint2Recorder.saveFile

ROUTE recordNext.isActive TO Joint3Recorder.recordNext
ROUTE step_forward.isActive TO Joint3Recorder.step_forward
ROUTE step_back.isActive TO Joint3Recorder.step_back
ROUTE saveFile.isActive TO Joint3Recorder.saveFile

ROUTE recordNext.isActive TO Joint4Recorder.recordNext
ROUTE step_forward.isActive TO Joint4Recorder.step_forward
ROUTE step_back.isActive TO Joint4Recorder.step_back
ROUTE saveFile.isActive TO Joint4Recorder.saveFile

Viewpoint {
   position 1 0 12
   description "Default"
}