# VRML_SIM R2022b utf8
# template language: javascript

PROTO ArucoMarker [
  field SFVec3f     translation       0 0 0
  field SFRotation  rotation          0 0 1 0
  field SFString    name              "aruco"                               # Defines the name of the aruco board.
  field SFFloat     size              0.1                                   # Defines size of the markers.
  field SFString{"0", "1", "2", "3", "4", "5", "6", "7", "8"}
                    markerId          "0"                                   # Defines the marker id.
]
{
Solid {
  translation IS translation
  rotation IS rotation
  name IS name
  children [
    # marker slightly in front of the border
    Transform {
      translation 0 0 1e-3
      children [
        Shape {
          appearance PBRAppearance {
            baseColor 1 1 1
            metalness 0
            roughness 0.6

            %< let markerTexture = "textures/aruco_" + fields.markerId.value + ".png"; >%
            baseColorMap ImageTexture {
              url "%<= markerTexture >%"
            }

          }

          geometry Plane {
            size %<= fields.size.value >% %<= fields.size.value >%
          }
        }
      ]
    }


    # while boarder
    Shape {
      appearance PBRAppearance {
        baseColor 1 1 1
        metalness 0
        roughness 0.6
      }
      geometry Plane {
        size %<= fields.size.value * 8/6 >% %<= fields.size.value * 8/6 >%
      }
    }

  ]
}
}