Marker.proto

#VRML_SIM R2022b utf8
# template language: javascript
# tags: nonDeterministic

PROTO Marker [
  field SFVec3f translation 0 0 0
  field SFRotation rotation 0 1 0 0
  field SFVec2f {0.08 0.08, 0.1 0.1, 0.15 0.15, 0.2 0.2} size 0.08 0.08
  field SFString name ""
  field SFString model ""
  field MFString texture_url []
  field SFBool add_recognition FALSE
  field SFBool upright FALSE
]
{
  %< if (fields.upright.value) { >%
  Pose {
    translation IS translation
    rotation IS rotation
    children [
  %< } >%
  Solid {
    %<
    import * as wbrandom from 'wbrandom.js';
    wbrandom.seed(context.id);
    const uid = wbrandom.integer();
    >%
    %< if (fields.upright.value) { >%
    rotation 1 0 0 1.5708
    %< } else { >%
    translation IS translation
    rotation IS rotation
    %< } >%
    children [
      %<
      if (fields.add_recognition.value) {
        for (let corner of [['TL', 1, 1], ['TR', -1, 1], ['BR', -1, -1], ['BL', 1, -1]]) {
        let corner_name = corner[0];
        let horiz_sign = corner[1];
        let vert_sign = corner[2];
      >%
      Solid {
        translation %<= horiz_sign * fields.size.value.x / 2 >% %<= vert_sign * fields.size.value.y / 2 >% 0.001
        children [
          Shape {
            appearance PBRAppearance {
              transparency 1
              metalness 0
            }
            geometry Plane {
              # Make the detection corners one marker pixel in size
              size %<= fields.size.value.x / 8 >% %<= fields.size.value.y / 8 >%
            }
            castShadows FALSE
          }
        ]
        model %<= "\"" + uid + "_" + fields.model.value + "_" + corner_name + "\"" >%
        name %<= "\"" + corner_name + "\"" >%
        locked TRUE
        recognitionColors [
          0 0 1
        ]
      }
      %< }} >%
      Shape {
        appearance PBRAppearance {
          baseColorMap ImageTexture {
            url IS texture_url
            repeatS FALSE
            repeatT FALSE
          }
          roughness 1
          metalness 0
        }
        geometry Plane {
          # The size of the marker including the white border
          size %<= 1.25 * fields.size.value.x >% %<= 1.25 * fields.size.value.y >%
        }
        castShadows FALSE
      }
    ]
    %< if (fields.name.value !== "") { >%
    name IS name
    %< } else { >%
    name IS model
    %< } >%
    model %<= "\"" + uid + "_" + fields.model.value + "_base\"" >%
    locked TRUE
    %< if (fields.add_recognition.value) { >%
    recognitionColors [
      1 1 1
    ]
    %< } >%
  }
  %< if (fields.upright.value) { >%
    ]
  }
  %< } >%
}