# VRML_SIM R2022b utf8
# Iris drone model. Note that the model is not 1-to-1 with the 
# real drone as motor/propeller constants were empirically determined.

PROTO Iris [
  field  SFVec3f     translation     0 0 0
  field  SFRotation  rotation        0 0 1 0
  field  SFString    name            "Iris"  # Is `Robot.name`.
  field  SFString    controller      "void"  # Is `Robot.controller`.
  field  MFString    controllerArgs  []      # Is `Robot.controllerArgs`.
  field  SFString    customData      ""      # Is `Robot.customData`.
  field  SFBool      supervisor      FALSE   # Is `Robot.supervisor`.
  field  SFBool      synchronization TRUE    # Is `Robot.synchronization`.
  field  MFNode      extensionSlot   []      # Extends the robot with new nodes in the extension slot.
]
{
  Robot {
    translation IS translation
    rotation IS rotation
    controller IS controller
    controllerArgs IS controllerArgs
    customData IS customData
    supervisor IS supervisor
    synchronization IS synchronization
    name IS name
    children [
      Group {
        children IS extensionSlot
      }
      DEF IRIS_MESH Shape {
        appearance PBRAppearance {
          baseColor 0.05 0.05 0.05
          roughness 1.000000
          metalness 0.2
        }
        geometry Mesh {
          url "meshes/iris.dae"
        }
        castShadows FALSE
      }
      Propeller {
        shaftAxis 0 0 1
        centerOfThrust 0.130000 -0.220000 0.023000
        thrustConstants 0.0012 0
        torqueConstants 5.0e-04 0
        device RotationalMotor {
          name "m1_motor"
          maxVelocity 100
          maxTorque 30
          multiplier 1
        }
        slowHelix Solid {
          translation 0.130000 -0.220000 0.023000
          children [
            Shape {
              appearance DEF PROP_BLUE PBRAppearance {
                baseColor 0 0 0.75
                metalness 0.3
              }
              geometry DEF CCW_PROP Mesh {
                url [
                  "meshes/iris_prop_ccw.dae"
                ]
              }
            }
          ]
        }
      }
      Propeller {
        shaftAxis 0 0 1
        centerOfThrust -0.130000 0.200000 0.023000
        thrustConstants 0.0012 0
        torqueConstants 5.0e-04 0
        device RotationalMotor {
          name "m2_motor"
          maxVelocity 100
          maxTorque 30
          multiplier 1
        }
        slowHelix Solid {
          translation -0.130000 0.200000 0.023000
          children [
            Shape {
              appearance DEF PROP_BLACK PBRAppearance {
                baseColor 0 0 0
                metalness 0.3
              }
              geometry USE CCW_PROP
            }
          ]
        }
      }
      Propeller {
        shaftAxis 0 0 1
        centerOfThrust 00.130000 0.220000 0.023000
        thrustConstants -0.0012 0
        torqueConstants 5.0e-04 0
        device RotationalMotor {
          name "m3_motor"
          maxVelocity 100
          maxTorque 30
          multiplier -1
        }
        slowHelix Solid {
          translation 0.130000 0.220000 0.023000
          children [
            Shape {
              appearance USE PROP_BLUE
              geometry DEF CW_PROP Mesh {
                url [
                  "meshes/iris_prop_cw.dae"
                ]
              }
            }
          ]
        }
      }
      Propeller {
        shaftAxis 0 0 1
        centerOfThrust -0.130000 -0.200000 0.023000
        thrustConstants -0.0012 0
        torqueConstants 5.0e-04 0
        device RotationalMotor {
          name "m4_motor"
          maxVelocity 100
          maxTorque 30
          multiplier -1
        }
        slowHelix Solid {
          translation -0.130000 -0.200000 0.023000
          children [
            Shape {
              appearance USE PROP_BLACK
              geometry USE CW_PROP
            }
          ]
        }
      }
      Accelerometer {
      }
      GPS {
      }
      Gyro {
      }
      InertialUnit {
      }
    ]
    boundingObject Box {
       size 0.470000 0.470000 0.110000
    }
    physics Physics {
      density -1
      mass 1.500000
      centerOfMass [ 0.000000 0.000000 0.000000 ]
      inertiaMatrix [
        2.912500e-02 2.912500e-02 5.522500e-02
        0.000000e+00 0.000000e+00 0.000000e+00
      ]
    }
  }
}