#VRML V2.0 utf8
# lab4

############################
## structure of the robot ##
############################
Transform {
rotation 1.0 0.0 0.0 1.57
children [
DEF base Transform {
   rotation 1.0 0.0 0.0 -1.57
   children [
      DEF arm1Transform Transform {
	 children [
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.8 0.8 0.8 }
	       }
	       geometry Extrusion {
		  crossSection [ -.75 .25  -.25 .75  .25 .75
				 .75 .25  .75 -.25  .25 -.75
				 -.25 -.75  -.75 -.25  -.75 .25 ]
		  spine [ 0.0 0.0 0.0
			  0.0 0.4 0.0
			  0.0 0.8 0.0
			  0.0 1.2 0.0 
			  0.0 2.4 0.0 ]
		  scale [ 1.2 1.2  1.15 1.15  1.0 1.0
			  0.9 0.9  0.9 0.9 ]
		  beginCap TRUE
		  endCap TRUE
		  solid TRUE
	       }
	    }
	    
	    Transform {
	       children [
		  DEF arm2Transform Transform {
		     translation 0.0 3.0 0.0
		     children [
			Transform {
			   rotation 0.0 0.0 1.0 -1.57
			   children [
			      Transform {
				 translation 1.0 2.0 0.0
				 children [
				    Shape {
				       appearance Appearance {
					  material Material { diffuseColor 0.8 0.0 0.0 }
				       }
				       geometry Cylinder {
					  radius 0.3
					  height 3.0
				       }
				    }
				   ]
			      }
			     ]
			}
			
			Transform {
			   rotation 1.0 0.0 0.0 -1.57
			   translation 3.4 -1.0 1.15
			   children [
			      DEF arm3Transform Transform {
				 children [
				    Transform {
				       rotation 0.0 0.0 1.0 -1.57
				       translation 0.52 1.7 0.0
				       children [
					  Shape {
					     appearance Appearance {
						material Material { diffuseColor 0.0 0.8 0.0 }
					     }
					     geometry Cylinder {
						radius 0.3
						height 2.0
					     }
					  }
					 ]
				    }
				    
				    Transform {
				       translation 1.4 1.67 0.0
				       children [
					  DEF handTransform Transform {
					     children [
						Transform {
						   rotation 0.0 1.0 0.0 1.57
						   children [
						      Group {
							 children [
							    Transform {
							       rotation 1.0 0.0 0.0 0.9
							       children [
								  DEF finger Transform {
								     translation 0.0 0.4 0.0
								     children [
									Shape {
									   appearance Appearance {
									      material Material { diffuseColor 0.0 0.0 0.8 }
									   }
									   geometry Box { size 0.2 0.65 0.07 }
									}
								       ]
								  }
								 ]
							    }
							    Transform {
							       rotation 0.0 0.0 1.0 2.09
							       children [ 
								  Transform {
								     rotation 1.0 0.0 0.0 1.2
								     children [ USE finger ]
								  }
								 ]
							    }
							    Transform {
							       rotation 0.0 0.0 1.0 -2.09
							       children [ 
								  Transform {
								     rotation 1.0 0.0 0.0 1.2
								     children [ USE finger ]
								  }
								 ]
							    }
							   ]
						      }
						     ]
						}						
					       ]
					  }
					 ]
				    }
				   ]
			      }
			     ]
			}
		       ]
		  }
		 ]
	    }
	   ]
      }
     ]
}
]}


####################
## remote control ##
####################
Transform {
   translation 0.5 -3.1 0.0
   rotation 1.0 0.0 0.0 1.57
   children [
      DEF baseRemote Transform {
	 rotation 1.0 0.0 0.0 -1.57
	 children [
	    Transform {
	       translation -0.32 -0.6 0.0
	       children [
		  Shape {
		     appearance Appearance {
			material Material { diffuseColor 0.2 0.9 0.2 }
		     }
		     geometry Text { string "slider"
			fontStyle FontStyle { size 0.35 }
		     }
		  }
		 ]
	    }
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.2 0.9 0.2 }
	       }
	       geometry Sphere {
		  radius 0.3
	       }
	    }
	   ]
      }
      DEF baseSensor PlaneSensor {
      }
      DEF baseRemoteSensor PlaneSensor {
      }
     ]
}


DEF controls Transform {
   translation 2.5 -4.0 0.0
   rotation 0.0 0.0 1.0 1.57
   children [
      Transform {
	 translation 0.0 0.1 0.0
	 children [
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.8 0.8 0.8 }
	       }
	       geometry Text { string "arm1"
		  fontStyle FontStyle { size 0.35 }
	       }
	    }
	   ]
      }
      DEF arm1Remote Transform {
	 children [
	    Transform {
	       translation 0.5 0.0 0.0
	       rotation 0.0 0.0 1.0 -1.57
	       children [
		  DEF generic Shape {
		     appearance Appearance {
			material Material { diffuseColor 0.8 0.8 0.8 }
		     }
		     geometry Cylinder {
			radius 0.07
			height 1.0
		     }
		  }
		 ]
	    }
	    DEF arm1Sensor CylinderSensor {
	    }
	    DEF arm1RemoteSensor CylinderSensor {
	    }
	   ]
      }
      
      Transform {
	 translation 0.0 -0.4 0.0
	 children [
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.8 0.0 0.0 }
	       }
	       geometry Text { string "arm2"
		  fontStyle FontStyle { size 0.35 }
	       }
	    }
	   ]
      }
      DEF arm2Remote Transform {
	 translation 0.0 -0.5 0.0
	 children [
	    Transform {
	       translation 0.5 0.0 0.0
	       rotation 0.0 0.0 1.0 -1.57
	       children [
		  Shape {
		     appearance Appearance {
			material Material { diffuseColor 0.8 0.0 0.0 }
		     }
		     geometry Cylinder {
			radius 0.07
			height 1.0
		     }
		  }
		 ]
	    }
	    DEF arm2Sensor CylinderSensor {
	    }
	    DEF arm2RemoteSensor CylinderSensor {
	    }
	   ]
      }
      
      Transform {
	 translation 0.0 -0.9 0.0
	 children [
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.0 0.8 0.0 }
	       }
	       geometry Text { string "arm3"
		  fontStyle FontStyle { size 0.35 }
	       }
	    }
	   ]
      }
      DEF arm3Remote Transform {
	 translation 0.0 -1.0 0.0
	 children [
	    Transform {
	       translation 0.5 0.0 0.0
	       rotation 0.0 0.0 1.0 -1.57
	       children [
		  Shape {
		     appearance Appearance {
			material Material { diffuseColor 0.0 0.8 0.0 }
		     }
		     geometry Cylinder {
			radius 0.07
			height 1.0
		     }
		  }
		 ]
	    }
	    DEF arm3Sensor CylinderSensor {
	    }
	    DEF arm3RemoteSensor CylinderSensor {
	    }
	   ]
      }
      
      Transform {
	 translation 0.0 -1.4 0.0
	 children [
	    Shape {
	       appearance Appearance {
		  material Material { diffuseColor 0.0 0.0 0.8 }
	       }
	       geometry Text { string "hand"
		  fontStyle FontStyle { size 0.35 }
	       }
	    }
	   ]
      }
      DEF handRemote Transform {
	 translation 0.0 -1.5 0.0
	 children [
	    Transform {
	       translation 0.5 0.0 0.0
	       rotation 0.0 0.0 1.0 -1.57
	       children [
		  Shape {
		     appearance Appearance {
			material Material { diffuseColor 0.0 0.0 0.8 }
		     }
		     geometry Cylinder {
			radius 0.07
			height 1.0
		     }
		  }
		 ]
	    }
	    DEF handSensor CylinderSensor {
	       maxAngle 1.5
	       minAngle -1.5
	    }
	    DEF handRemoteSensor CylinderSensor {
	       maxAngle 1.5
	       minAngle -1.5
	    }
	   ]
      }
     ]
}


##############
# main clock #
##############
DEF MainClock TimeSensor {
	cycleInterval 0.1
	loop TRUE
}


##################
# recorder nodes #
##################
DEF J1Recorder Script {
   url "recorder.class"
   field SFString filename "joint1.wrl"
   field SFString nodename "joint1"
   field SFRotation current_rotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool record
	 eventIn SFBool toggle
   eventIn SFFloat interpolate
   eventOut SFRotation rotation_changed
   eventIn SFBool back
   eventIn SFBool forward
}
DEF J2Recorder Script {
   url "recorder.class"
   field SFString filename "joint2.wrl"
   field SFString nodename "joint2"
   field SFRotation current_rotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool record
	 eventIn SFBool toggle
   eventIn SFFloat interpolate
   eventOut SFRotation rotation_changed
   eventIn SFBool back
   eventIn SFBool forward
}
DEF J3Recorder Script {
   url "recorder.class"
   field SFString filename "joint3.wrl"
   field SFString nodename "joint3"
   field SFRotation current_rotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool record
	 eventIn SFBool toggle
   eventIn SFFloat interpolate
   eventOut SFRotation rotation_changed
   eventIn SFBool back
	 eventIn SFBool forward
}
DEF J4Recorder Script {
   url "recorder.class"
   field SFString filename "joint4.wrl"
   field SFString nodename "joint4"
   field SFRotation current_rotation 0 1 0 0
   eventIn SFRotation set_rotation
   eventIn SFBool record
	 eventIn SFBool toggle
   eventIn SFFloat interpolate
   eventOut SFRotation rotation_changed
   eventIn SFBool back
   eventIn SFBool forward
}


###################
# control buttons #
###################
DEF text1 Transform {
	translation 4.7 -0.4 0.0
	children [
		Shape {
	    appearance Appearance {
		  material Material { diffuseColor 1.0 0.0 0.0 }
      }
      geometry Text { string "record"
			  fontStyle FontStyle { size 0.25 }
      }
    }
	]
}
DEF text2 Transform {
	translation 4.7 -1.1 0.0
	children [
		Shape {
	    appearance Appearance {
		  material Material { diffuseColor 0.0 1.0 0.0 }
      }
      geometry Text { string "toggle"
			  fontStyle FontStyle { size 0.25 }
      }
    }
	]
}
DEF text3 Transform {
	translation 4.7 -1.8 0.0
	children [
		Shape {
	    appearance Appearance {
		  material Material { diffuseColor 0.0 0.0 1.0 }
      }
      geometry Text { string "back"
			  fontStyle FontStyle { size 0.25 }
      }
    }
	]
}
DEF text4 Transform {
	translation 4.7 -2.5 0.0
	children [
		Shape {
	    appearance Appearance {
		  material Material { diffuseColor 1.0 0.0 1.0 }
      }
      geometry Text { string "forward"
			  fontStyle FontStyle { size 0.25 }
      }
    }
	]
}

DEF record_button Transform {
	 rotation 1.0 0.0 0.0 1.57
   translation 5.0 0.0 0.0
   children [
      Shape {
	 appearance Appearance {
	    material Material { diffuseColor 1.0 0.0 0.0 }
	 }
	 geometry Cylinder {
	    radius 0.2
	    height 0.2
	 }
      }
      DEF record_sensor TouchSensor {
      }
     ]
}
DEF toggle_button Transform {
	 rotation 1.0 0.0 0.0 1.57
   translation 5.0 -0.7 0.0
   children [
      Shape {
	 appearance Appearance {
	    material Material { diffuseColor 0.0 1.0 0.0 }
	 }
	 geometry Cylinder {
	    radius 0.2
	    height 0.2
	 }
      }
      DEF toggle_sensor TouchSensor {
      }
     ]
}
DEF back_button Transform {
	 rotation 1.0 0.0 0.0 1.57
   translation 5.0 -1.4 0.0
   children [
      Shape {
	 appearance Appearance {
	    material Material { diffuseColor 0.0 0.0 1.0 }
	 }
	 geometry Cylinder {
	    radius 0.2
	    height 0.2
	 }
      }
      DEF back_sensor TouchSensor {
      }
     ]
}
DEF forward_button Transform {
	 rotation 1.0 0.0 0.0 1.57
   translation 5.0 -2.1 0.0
   children [
      Shape {
	 appearance Appearance {
	    material Material { diffuseColor 1.0 0.0 1.0 }
	 }
	 geometry Cylinder {
	    radius 0.2
	    height 0.2
	 }
      }
      DEF forward_sensor TouchSensor {
      }
     ]
}


###########
# routing #
###########
ROUTE MainClock.fraction_changed TO J1Recorder.interpolate
ROUTE MainClock.fraction_changed TO J2Recorder.interpolate
ROUTE MainClock.fraction_changed TO J3Recorder.interpolate
ROUTE MainClock.fraction_changed TO J4Recorder.interpolate

ROUTE record_sensor.isActive TO J1Recorder.record
ROUTE record_sensor.isActive TO J2Recorder.record
ROUTE record_sensor.isActive TO J3Recorder.record
ROUTE record_sensor.isActive TO J4Recorder.record

ROUTE toggle_sensor.isActive TO J1Recorder.toggle
ROUTE toggle_sensor.isActive TO J2Recorder.toggle
ROUTE toggle_sensor.isActive TO J3Recorder.toggle
ROUTE toggle_sensor.isActive TO J4Recorder.toggle

ROUTE back_sensor.isActive TO J1Recorder.back
ROUTE back_sensor.isActive TO J2Recorder.back
ROUTE back_sensor.isActive TO J3Recorder.back
ROUTE back_sensor.isActive TO J4Recorder.back

ROUTE forward_sensor.isActive TO J1Recorder.forward
ROUTE forward_sensor.isActive TO J2Recorder.forward
ROUTE forward_sensor.isActive TO J3Recorder.forward
ROUTE forward_sensor.isActive TO J4Recorder.forward

ROUTE baseSensor.translation_changed TO base.set_translation
ROUTE baseRemoteSensor.translation_changed TO baseRemote.set_translation

ROUTE arm1RemoteSensor.rotation_changed TO J1Recorder.set_rotation
ROUTE J1Recorder.rotation_changed TO arm1Transform.set_rotation
ROUTE J1Recorder.rotation_changed TO arm1Remote.set_rotation
ROUTE arm2RemoteSensor.rotation_changed TO J2Recorder.set_rotation
ROUTE J2Recorder.rotation_changed TO arm2Transform.set_rotation
ROUTE J2Recorder.rotation_changed TO arm2Remote.set_rotation
ROUTE arm3RemoteSensor.rotation_changed TO J3Recorder.set_rotation
ROUTE J3Recorder.rotation_changed TO arm3Transform.set_rotation
ROUTE J3Recorder.rotation_changed TO arm3Remote.set_rotation
ROUTE handRemoteSensor.rotation_changed TO J4Recorder.set_rotation
ROUTE J4Recorder.rotation_changed TO handTransform.set_rotation
ROUTE J4Recorder.rotation_changed TO handRemote.set_rotation

Viewpoint {
	position 7.5 10 15
	orientation -0.8638 0.4839 0.1402 0.6471
	fieldOfView 0.45
	description "General"
}