#VRML_SIM R2025a utf8
# license: Apache License 2.0
# license url: https://www.apache.org/licenses/LICENSE-2.0
# keywords: industrial/other
# Workspace limiter in the form of square blocks that can be increased in size
# template language: javascript


PROTO WorkspaceLimiter [
  field SFVec3f translation 0 0 0
  field SFRotation rotation 0 0 1 0
  field SFString name "WorkspaceLimiter"
  field SFBool locked FALSE
  field SFVec2f countLimiter 1 1 # Defines the number of blocks by X and Y
  field SFVec3f scale 1 1 1 # Defines the size of the blocks
  field SFFloat spacing 0.02 # Defines the distance between blocks
]
{

  %<
    let countLimiter = fields.countLimiter.value;
    let scale = fields.scale.value;
    let spacing = fields.spacing.value;

    let widthCount = countLimiter.x;
    let heightCount = countLimiter.y;

    let boxWidth = 1.25;
    let boxHeight = 1;
    let boxDepth = 0.01;

    if (spacing <= 0) {
      console.error("The indentation between the blocks cannot be negative")
      spacing = 0.02
    }

  >%

  Solid {
    translation IS translation
    rotation IS rotation
    name IS name
    locked IS locked
    children [
      %<
        for (let i = 0; i < widthCount; i++) {
          for (let j = 0; j < heightCount; j++) {
            let x = (i * (boxWidth + spacing) - (widthCount - 1) * (boxWidth + spacing) / 2) * scale.x;
            let y = (j * (boxHeight + spacing) - (heightCount - 1) * (boxHeight + spacing) / 2) * scale.y;
      >%
        Transform {
          translation %<= x >% 0 %<= y >%
          scale %<= scale.x >% %<= scale.y >% %<= scale.z >%
          children [
            Shape {
              appearance PBRAppearance {
                roughness 1
                metalness 0
                IBLStrength 5
              }
              geometry Box {
                size %<= boxWidth >% %<= boxDepth >% %<= boxHeight >%
              }
            }
            Shape {
              appearance PBRAppearance {
                baseColor 0.57 0.57 0.57
                roughness 1
                metalness 0
              }
              geometry Mesh {
                url ["./meshes/WorkspaceLimiter/fence.obj"]
              }
            }
          ]
        }
      %<
          }
        }
      >%
    ]
  }
}