#VRML++ draft utf8

WorldInfo { title "Walking Man Example"
            info [ "Author: Stephan Diehl", "1997" ]
          }

Background { groundColor [ 0.3 0.5 0.3 , 0.1 0.4 0.1 ]
             groundAngle 1.57
             skyColor 0 0 0.6
           }
  
PROTO ArmPart [exposedField SFColor color 1 0 0]
{ Transform { 
    children [ Transform { 
                 children Shape { appearance 
                                    Appearance { material DEF ARMMATERIAL Material { diffuseColor IS color } } 
                                  geometry Cone { bottomRadius 0.07
                                                  height .20 }
                                }
                 translation 0 0.30 0
                },
               Transform { 
                 children Shape { appearance 
                                    Appearance { material USE ARMMATERIAL } 
                                  geometry Cone { bottomRadius 0.07
                                                  height .20 }
                                 }    
                 translation 0 0.10 0
                 rotation  0 0 1 3.14
               }
              ]
   }
}


PROTO Arm [ exposedField SFRotation toprotation 0 0 0 0
            exposedField SFRotation botrotation 0 0 0 0
            exposedField SFColor color 1 0 0
          ]
{ Transform { children [ ArmPart { color IS color }
                         Transform { children ArmPart { color IS color } 
                                     translation 0 0.40 0
                                     rotation IS toprotation
                                   }
                       ]
              rotation IS botrotation
            }
}


PROTO BodyPart [ exposedField SFColor color 1 1 0 ]
{ Transform {  
    children [ Transform {
                  children Shape { appearance 
                                    Appearance { material DEF BODYMATERIAL Material { diffuseColor IS color } } 
                                   geometry Sphere { radius 0.10 }
                                 }
                  scale 1 1.5 1 
                     },
              Transform { 
                 children Shape { appearance 
                                    Appearance { material USE BODYMATERIAL } 
                                  geometry Cone { bottomRadius 0.15
                                                  height .35 }
                                }
                 translation 0 0.175 0
                 rotation 0 0 1 3.14
                },
               Transform { 
                 children Shape { appearance 
                                    Appearance { material USE BODYMATERIAL } 
                                  geometry Cone { bottomRadius 0.15
                                                  height .35 }
                                 }    
                 translation 0 -0.175 0
               }
              ]
   }
}

PROTO Head [ exposedField SFColor color 0 0 1
             exposedField SFColor hatColor 1 0.5 0.5 ] 
 { Transform { children [
                 Shape { appearance 
                           Appearance { material Material { diffuseColor IS color } } 
                           geometry Sphere { radius 0.12 }
                       },
               Transform { children  
                             Shape { appearance 
                                       Appearance { material Material { diffuseColor IS hatColor } } 
                                     geometry Cone { bottomRadius 0.14 
                                                     height 0.10 }
                                   }
                           translation 0 0.115 0
                         }
              ]
     translation 0 0.12 0
   }
 }
              

### WALKMAN

CLASS JointInterpolator [ eventIn SFFloat set_fraction
                          eventOut SFRotation value_changed ]
EXTENDS SFNode { } # abstract class


CLASS Walkman [ field TimeSensor clock NULL
                field TimeSensor slowclock NULL
                field ScalarInterpolator leftphase NULL
                field ScalarInterpolator rightphase NULL
                field JointInterpolator legleftinttop NULL
                field JointInterpolator legrightinttop NULL
                field JointInterpolator legleftintbot NULL
                field JointInterpolator legrightintbot NULL
                field JointInterpolator armleftinttop NULL
                field JointInterpolator armrightinttop NULL
                field JointInterpolator armleftintbot NULL
                field JointInterpolator armrightintbot NULL
                field PositionInterpolator heightint NULL
                field PositionInterpolator posint NULL
              ] EXTENDS SFNode
{
DEF BODY Transform { children
 DEF BODYheight Transform { children [
 BodyPart { color .14 .14 .15 },
 Transform { children DEF HEAD Head { color 0.4 0.4 0.5 
                                      hatColor 0.6 0.4 0.5 }
             translation 0 0.35 0                 
           },
 Transform { children DEF ARMright Arm { color 0.4 0.4 0.45 }
             translation 0.15 0.30 0                 
             rotation 0 0 1 3.14
           },
 Transform { children DEF ARMleft Arm { color 0.4 0.4 0.45 }
             translation -0.15 0.30 0                 
             rotation 0 0 1 3.14
           },
 Transform { children DEF LEGright Arm { color 0.5 0.5 0.55 }
             translation 0.12 -0.35 0                 
             rotation 0 0 1 3.14
           },
Transform { children DEF LEGleft Arm { color 0.5 0.5 0.55 }
            translation -0.12 -0.35 0                 
            rotation 0 0 1 3.14
          }
 ]
 }
}

ROUTE clock.fraction_changed TO rightphase.set_fraction
ROUTE clock.fraction_changed TO leftphase.set_fraction

# MOVE RIGHT ARMS
ROUTE rightphase.value_changed TO armrightinttop.set_fraction
ROUTE rightphase.value_changed TO armrightintbot.set_fraction
ROUTE armrightinttop.value_changed TO ARMright.set_toprotation
ROUTE armrightintbot.value_changed TO ARMright.set_botrotation 

# MOVE LEFT ARMS
ROUTE leftphase.value_changed TO armleftinttop.set_fraction
ROUTE leftphase.value_changed TO armleftintbot.set_fraction
ROUTE armleftinttop.value_changed TO ARMleft.set_toprotation
ROUTE armleftintbot.value_changed TO ARMleft.set_botrotation 

# MOVE RIGHT LEG
ROUTE leftphase.value_changed TO legrightinttop.set_fraction
ROUTE leftphase.value_changed TO legrightintbot.set_fraction
ROUTE legrightinttop.value_changed TO LEGright.set_toprotation
ROUTE legrightintbot.value_changed TO LEGright.set_botrotation 

# MOVE LEFT LEG
ROUTE rightphase.value_changed TO legleftinttop.set_fraction
ROUTE rightphase.value_changed TO legleftintbot.set_fraction
ROUTE legleftinttop.value_changed TO LEGleft.set_toprotation
ROUTE legleftintbot.value_changed TO LEGleft.set_botrotation

# MOVE BODY
ROUTE slowclock.fraction_changed TO posint.set_fraction
ROUTE posint.value_changed TO BODY.set_translation

ROUTE clock.fraction_changed TO heightint.set_fraction
ROUTE heightint.value_changed TO BODYheight.set_translation
}

# ViewPoints

DEF BestView Viewpoint { description "Best View"
                         position 20 5 10 
                         orientation 0 1 0.2 1.57
                       }

# Interpolators

# Orientation of Arm


CLASS ArmIntBot [ eventIn SFFloat set_fraction
                  eventOut SFRotation value_changed ]
EXTENDS JointInterpolator
{   OrientationInterpolator { 
     set_fraction IS set_fraction
     value_changed IS value_changed
     key [ 0 , 0.2, 0.8, 1 ]
     keyValue [ 0 0 0 0, 1 0 0 1.4, 1 0 0 -1.4, 0 0 0 0 ]
   }
}

CLASS ArmIntTop [ eventIn SFFloat set_fraction
                  eventOut SFRotation value_changed ]
EXTENDS JointInterpolator
{   OrientationInterpolator { 
     set_fraction IS set_fraction
     value_changed IS value_changed
     key [ 0 , 0.5, 1 ]
     keyValue [ 0 0 0 0, 1 0 0 1.0, 0 0 0 0 ]
   }
}

DEF ArmRightIntBot ArmIntBot { }
DEF ArmLeftIntBot ArmIntBot { }
DEF ArmRightIntTop ArmIntTop { }
DEF ArmLeftIntTop ArmIntTop { }

# Orientation of Right Leg

CLASS LegIntBot [ eventIn SFFloat set_fraction
                  eventOut SFRotation value_changed ]
EXTENDS JointInterpolator
{   OrientationInterpolator {
     set_fraction IS set_fraction
     value_changed IS value_changed
     key [ 0 , 0.2, 0.8, 1 ]
     keyValue [ 0 0 0 0, 1 0 0 1.5, 1 0 0 -0.3, 0 0 0 0 ]
   }
}

CLASS LegIntTop [ eventIn SFFloat set_fraction
                  eventOut SFRotation value_changed ]
EXTENDS JointInterpolator
{   OrientationInterpolator {
     set_fraction IS set_fraction
     value_changed IS value_changed
     key [ 0 , 0.2, 0.8, 1 ]
     keyValue [ 0 0 0 0, 1 0 0 -1.5, 1 0 0 -0.3, 0 0 0 0 ]
   }
}

DEF LegRightIntBot LegIntBot { }
DEF LegLeftIntBot LegIntBot { }
DEF LegRightIntTop LegIntTop { }
DEF LegLeftIntTop LegIntTop { }

# Position of BODY 

DEF PosInt 
    PositionInterpolator {   # run 10 meters
     key [ 0,  1 ]
     keyValue [ 0 0 0, 0 0 20 ]
    }    

# Height of BODY 

DEF HeightInt 
    PositionInterpolator { 
     key [ 0 , 0.5, 1 ]
     keyValue [ 0 0 0, 0 -0.2 0, 0 0 0 ]
    }   
 
# CLOCKS

DEF CLOCK  TimeSensor { loop TRUE # cycleInterval 2 
                      }

DEF SLOWCLOCK TimeSensor { cycleInterval 20 loop TRUE }

DEF RIGHTPHASE ScalarInterpolator { key [ 0,  1 ] keyValue [ 1, 0 ] }
DEF LEFTPHASE ScalarInterpolator { key [ 0,  1 ] keyValue [ 0, 1 ] }

# DANCER
# DEF CLOCK  TimeSensor { loop TRUE cycleInterval 3 }
# DEF RIGHTPHASE ScalarInterpolator { key [ 0, 0.5, 1 ] keyValue [ 1, 0, 1 ] }
# DEF LEFTPHASE ScalarInterpolator { key [ 0, 0.5, 1 ] keyValue [ 0, 1, 0 ] }

### INSTANTIATION

DEF WALKER Walkman 
 { clock USE CLOCK                     slowclock USE SLOWCLOCK
   leftphase USE LEFTPHASE             rightphase USE RIGHTPHASE
   legleftinttop USE LegLeftIntTop     legleftintbot USE LegLeftIntBot
   legrightinttop USE LegRightIntTop   legrightintbot USE LegRightIntBot
   armleftinttop USE ArmLeftIntTop     armleftintbot USE ArmLeftIntBot
   armrightinttop USE ArmRightIntTop   armrightintbot USE ArmRightIntBot
   heightint USE HeightInt             posint USE PosInt
 }

Transform { children USE WALKER
            translation 0 0 20
            rotation 0 1 0 3.14
          }

Transform { children USE WALKER
            translation -10 0 10
            rotation 0 1 0 1.57
          }

Transform { children USE WALKER
            translation 10 0 10
            rotation 0 1 0 -1.57
          }