RobocupTexturedSoccerBall.proto

#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# A textured soccer ball with customizable radius and mass.
# This object is physics-enabled so it will roll or bounce when hit.
# template language: javascript
PROTO RobocupTexturedSoccerBall [
  field SFVec3f    translation  0 0 0
  field SFRotation rotation     0 0 1 0
  field SFString   name         "robocup soccer ball"
  field SFInt32{1,2,3,4,5}      size 1 # Defines the ball size and mass according to FIFA standards.
  field SFString{"telstar","teamgeist","europass", "jabulani", "tango"}            texture "telstar"
]
{
  %<
    const size = fields.size.value;
    const radius_array = {1: 0.07, 2: 0.085, 3: 0.095, 4: 0.1025, 5: 0.1125};
    const mass_array = {1: 0.205, 2: 0.250, 3: 0.310, 4: 0.370, 5: 0.430};
    const radius = radius_array[size];
    const mass = mass_array[size];
    const scale = radius * 10.4;
  >%
  Solid {
    translation IS translation
    rotation IS rotation
    scale %<= scale >% %<= scale >% %<= scale >%
    children [
      DEF BALL_SHAPE Shape {
        appearance PBRAppearance {
          baseColor 0.8 0.8 0.8
          roughness 0.5
          metalness 0.1
          baseColorMap ImageTexture{
			      url [ %<= '"ball_textures/' + fields.texture.value + '.jpg"'>% ]
          }
        }
        geometry Sphere {
          radius %<= radius / scale >%
          subdivision 3
        }
      }
    ]
    name IS name
    model "soccer ball"
    contactMaterial "robocup soccer ball"
    boundingObject Sphere {
      radius %<= radius / scale >%
      subdivision 3
    }
    physics Physics {
      mass %<= mass >%
      density -1
      centerOfMass [ 0 0 0.0001 ]  # to introduce some randomness in motion
      damping Damping {
        linear 0.77
        angular 0.77
      }
    }
  }
}