Charger.wrl

# The Charger node is used to model a special kind of battery charger for the robots.
# When a robot gets close to a Charger, the robot's battery gets recharged.
# parent: Solid

Charger {
  #fields that inherit from the Solid node:
  w3dField SFVec3f    translation         0 0 0
  w3dField SFRotation rotation            0 0 1 0
  w3dField MFNode     children            []           # shape and solids fixed to that solid
  field    SFString   name                "charger"    # individual name of the solid (eg: "my chair")
  field    SFString   model               ""           # generic name of the solid (eg: "chair")
  field    SFString   description         ""           # a short (1 line) of description of the solid
  field    SFString   contactMaterial     "default"    # see ContactProperties node
  field    MFNode     immersionProperties []           # see ImmersionProperties node
  field    SFNode     boundingObject      NULL         # for collision detection (if NULL, use children)
  field    SFNode     physics             NULL         # optional Physics node
  field    SFBool     locked              FALSE        # to avoid moving objects with the mouse
  field    SFFloat    translationStep     0.01         # step size used by translation manipulator
  field    SFFloat    rotationStep        0.261799387  # step size used by rotation manipulator
  field    SFFloat    radarCrossSection   0.0          # radar cross section of this solid
  field    MFColor    recognitionColors   []           # colors returned for this Solid by Cameras with a Recognition node
  #fields specific to the Charger node
  field    MFFloat    battery             []           # current (J), max (J), upload speed (W=J/s)
  field    SFFloat    radius              0.04         # radius of the sensitive area
  field    SFColor    emissiveColor       0 1 0        # color of the charger when it is alight
  field    SFBool     gradual             TRUE         # the charger change its color gradually

  # hidden fields
  hiddenField SFVec3f linearVelocity      0 0 0        # (m/s) Solid's initial linear velocity
  hiddenField SFVec3f angularVelocity     0 0 0        # (rad/s) Solid's initial angular velocity
}