#VRML V2.0 utf8
#
#  nested.wrl
#  Nested sensors
#	by John L. Moreland
#
#  This world illustrates the use of nested sensors where one sensor
#  covers shapes in an inner Transform group, and another sensor covers
#  shapes in an outer Transform group.
#

WorldInfo {
    title "Nested sensors"
    info [ "Copyright (c) 1998, John L. Moreland" ]
}

NavigationInfo {
    type [ "EXAMINE", "ANY" ]
}

Viewpoint {
    position 0.0 1.0 2.0
    orientation 1.0 0.0 0.0  -0.25
    description "Entry view"
}

#
#  An arm with a joint and a pair of SphereSensors, one per arm segment
#
DEF TopTf Transform {
    children [
        # Segment 1 Transform
        DEF Segment1Tf Transform {
            center      0.0 -0.25  0.0
            translation 0.0  0.25  0.0
            children [

                DEF Segment1Ss SphereSensor { }

                # Segment 1 Pieces
                DEF Block Transform {
                    scale 0.1 0.5 0.1
                    children [
                        Shape {
                            appearance DEF Appear Appearance {
                                material Material {
                                    diffuseColor 1 1 0
                                }
                            }
                            geometry Sphere {
                                radius 0.5
                            }
                        }
                    ]
                }
                # Joint
                Transform {
                    translation 0.0 0.25 0.0
                    children [
                        Shape {
                            appearance USE Appear
                            geometry Sphere {
                                radius 0.05
                            }
                        }
                    ]
                }

                # Segment 2 Transform
                DEF Segment2Tf Transform {
                    center 0.0 0.25 0.0
                    children [

                        DEF Segment2Ss SphereSensor { }

                        # Segment 2 Pieces
                        Transform {
                            translation 0.0 0.5 0.0
                            children USE Block
                        }
                    ]
                }
            ]
        }
    ]
}

ROUTE Segment1Ss.rotation_changed TO Segment1Tf.set_rotation
ROUTE Segment2Ss.rotation_changed TO Segment2Tf.set_rotation


# Ground
Shape {
    appearance Appearance {
        material Material { }
    }
    geometry Box {
        size 2.0 0.02 2.0
    }
}