Gyro.wrl

# A Gyro node measures the angular velocity about 3 orthogonal axes (X, Y and Z).
# The output is in rad/s. The Gyro node is mostly used for balance control.
# parent: Solid

Gyro {
  #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                "gyro"      # used by wb_robot_get_device()
  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
  field    SFNode     physics             NULL        # physical properties (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 Gyro node:
  field    MFVec3f    lookupTable         []          # empty: no interpolation
  field    SFBool     xAxis               TRUE
  field    SFBool     yAxis               TRUE
  field    SFBool     zAxis               TRUE
  field    SFFloat    resolution          -1          # resolution

  # 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
}