#VRML V2.0 utf8

PROTO Shuttle [
	       exposedField SFBool enabled TRUE
	       field SFFloat rate 1
	       eventIn SFBool moveRight
	       eventOut SFBool isAtLeft
	       # next line does not work with Cosmo Beta 3 Windoze
	       field MFNode children [ DEF CUBE Box {} ]
	      ]
{
   DEF F Transform { children IS children }
   DEF T TimeSensor { 
      cycleInterval IS rate 
      enabled IS enabled
   }
   DEF S Script {
      eventIn  SFBool  enabled IS set_enabled
      field    SFFloat rate IS rate
      eventIn  SFBool  moveRight IS moveRight
      eventIn  SFBool  isActive
      eventOut SFBool  isAtLeft IS isAtLeft
      eventOut SFTime  start
      eventOut SFTime  stop
      field    SFNode  timeSensor USE T
      
      url "javascript:
                  // constructor: send initial isAtLeft eventOut
      function initialize() {
                isAtLeft = true;
            }

            function moveRight(move, ts) {
                if (move) {
                    // want to start move right
                    start = ts;
                    stop = ts + rate / 2;
                }
                else {
                    // want to start move left
                    start = ts - rate / 2;
                    stop = ts + rate / 2;
                }
            }

            function isActive(active) {
                if (!active) isAtLeft = !moveRight;
            }

            function set_enabled(value, ts) {
                if (value) {
                    // continue from where we left off
                    start = ts - (timeSensor.time - start);
                    stop  = ts - (timeSensor.time - stop);
                }
            }"
   }

   DEF I PositionInterpolator {
      keys [ 0, 0.5, 1 ]
      values [ -1 0 0, 1 0 0, -1 0 0 ]
   }
   
   ROUTE T.fraction_changed TO I.set_fraction
   ROUTE T.isActive TO S.isActive
   ROUTE I.value_changed TO F.set_translation
   ROUTE S.start TO T.set_startTime
   ROUTE S.stop TO T.set_stopTime
}


PROTO Pendulum [
		exposedField SFBool enabled TRUE
		field SFFloat rate 1
		field SFFloat maxAngle
		eventIn SFBool moveCCW
		eventOut SFBool isAtCW
		field MFNode children NULL]
{
   DEF F Transform { children IS children }
   DEF T TimeSensor { 
      cycleInterval IS rate 
      enabled IS enabled
   }
   DEF S Script {
      eventIn  SFBool     enabled IS set_enabled
      field    SFFloat    rate IS rate
      field    SFFloat    maxAngle IS maxAngle
      eventIn  SFBool     moveCCW IS moveCCW
      eventIn  SFBool     isActive
      eventOut SFBool     isAtCW IS isAtCW
      eventOut SFTime     start
      eventOut SFTime     stop
      eventOut MFRotation rotation
      field    SFNode     timeSensor USE T
      
      url "javascript:
      function initialize() {
	 // constructor:setup interpolator,
	 // send initial isAtCW eventOut
	 isAtCW = true;
	 
	 rot[0] = 0; rot[1] = 1; rot[2] = 0; 
	 rot[3] = 0;
	 rotation[0] = rot;
	 rotation[2] = rot;
	 
	 rot[3] = maxAngle;
	 rotation[1] = rot;
      }
      
      function moveCCW(move, ts) {
	 if (move) {
	    // want to start CCW half (0.0 - 0.5) of move
	    start = ts;
	    stop = start + rate / 2;
	 }
	 else {
	    // want to start CW half (0.5 - 1.0) of move
	    start = ts - rate / 2;
	    stop = ts + rate / 2;
	 }
      }
      
      function isActive(active) {
	 if (!active) isAtCW = !moveCCW;
      }
      
      function set_enabled(value, ts) {
	 if (value) {
	    // continue from where we left off
	    start = ts - (timeSensor.time - start);
	    stop  = ts - (timeSensor.time - stop);
	 }
      }"
   }
   DEF I OrientationInterpolator {
      keys [ 0, 0.5, 1 ]
   }
   ROUTE T.fraction_changed TO I.set_fraction
   ROUTE I.value_changed TO F.set_rotation
   ROUTE T.isActive TO S.isActive
   ROUTE S.start TO T.set_startTime
   ROUTE S.stop TO T.set_stopTime
   ROUTE S.rotation TO I.set_values
}

DEF Walk Shuttle { 
    enabled FALSE
    rate 10
    children [
        DEF Near ProximitySensor { size 10 10 10 } 
        DEF Turn Pendulum {
            enabled FALSE

            children [
                # The Robot
                Shape {
                    geometry Box { } # head
                }
                Transform {
                    scale 1 5 1
                    translation 0 -5 0
                    children [ Shape { geometry Sphere { } } ] # body
                }
                DEF Arm Pendulum {
                    maxAngle 0.52 # 30 degrees
                    enabled FALSE

                    children [ 
                        Transform {
                            scale 1 7 1
                            translation 1 -5 0
                            rotation 1 0 0 4.45 # rotate so swing
                                                # centers on Y axis
                            center 0 3.5 0

                            children [ 
                                Shape { geometry Cylinder { } } 
                            ]
                        }
                    ]
                }

                # duplicate arm on other side and flip so it swings
                # in opposition
                Transform {
                    rotation 0 1 0 3.14159
                    translation 10 0 0
                    children [ USE Arm ]
                }
            ]
        }
    ]
}

# hook up the sentry.  The arms will swing infinitely.  He walks
# along the shuttle path, then turns, then walks back, etc.
ROUTE Near.isActive TO Arm.enabled
ROUTE Near.isActive TO Walk.enabled
ROUTE Arm.isAtCW TO Arm.moveCCW
ROUTE Walk.isAtLeft TO Turn.moveCCW
ROUTE Turn.isAtCW TO Walk.moveRight