//#OsgVortex Header v1.0

// Specifies windows attributes
Viewer {
  Window {
    Title "OsgVortex Prismatic Joint example (VRlab)"
    Origin [1 1] // position of window
    Size [1280 1024] // size of window
    FullScreen 1 // Start in full screen mode
  }
}


OptimizeScene 1 // Should the whole graphical scene be optimized? Let it be 0 for now.

World {
  StepLength 0.01 // Specifies the step length for the simulation loop.
  SafeTime 0
  AutoDisable 0
  Gravity [0 0 -9.81] // Gravity constant
//  IntegrationModel "StableStepper"

  LCPSettings {
    MaxIterations 100
  }
}


#define ENVIRONMENT_MATERIAL 0
#define DEFAULT_MATERIAL 1 

Material {
  ID "env default"
  Tuple [ENVIRONMENT_MATERIAL DEFAULT_MATERIAL]
  Friction 4
  Restitution 0.2
  FrictionModel "ScaledBox"
}

Material {
  ID "def def"
  Tuple [DEFAULT_MATERIAL DEFAULT_MATERIAL]
  Friction 0.1
  Restitution 0.3
  //FrictionModel "ScaledBox"
}



Object {
  ID "cone1"
  Size [0.1 0.2]
  Position [0 0 3]
  Orientation [0 0 45]

  Dynamic 1
 
  VisualAttributes {
    Light {
    }
    Geometry {
      Primitive "cone"
    }
  }
}



Object {
  ID "floor"
  Size [30 30]

  Position [0 0 0]
  Orientation [0 0 0]
  Dynamic 0
  VisualAttributes {
    Geometry {
      Primitive "plane"
    }
  }
  PhysicalAttributes {
    Geometry {
      Primitive "plane"
    }
    Material ENVIRONMENT_MATERIAL
  }
}

pillow_size {
  radius 0.1
  height 2
}


pillow_pos {
  x 1
  y 1
  z pillow_size.height/2
}


// ===================
// Pillows
// ===================

Object {
  ID "pillow1"
  
  Size [pillow_size.radius pillow_size.height ] 
  Position [-pillow_pos.x -pillow_pos.y pillow_pos.z  ]
  Dynamic 0

  VisualAttributes {    
    Geometry {
      Primitive "cylinder"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "cylinder"
    }
  }
}


Object {
  ID "pillow2"
  
  Size [pillow_size.radius pillow_size.height ] 
  Position [pillow_pos.x -pillow_pos.y pillow_pos.z  ]
  Dynamic 0

  VisualAttributes {    
    Geometry {
      Primitive "cylinder"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "cylinder"
    }
  }
}


Object {
  ID "pillow3"
  
  Size [pillow_size.radius pillow_size.height ] 
  Position [pillow_pos.x pillow_pos.y pillow_pos.z  ]
  Dynamic 0

  VisualAttributes {    
    Geometry {
      Primitive "cylinder"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "cylinder"
    }
  }
}


Object {
  ID "pillow4"
  
  Size [pillow_size.radius pillow_size.height ] 
  Position [-pillow_pos.x pillow_pos.y pillow_pos.z  ]
  Dynamic 0

  VisualAttributes {    
    Geometry {
      Primitive "cylinder"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "cylinder"
    }
  }
}

// ===================
// Holders of the springs
// ===================

holder_size 0.1
holder_pos {
  x pillow_pos.x
  y pillow_pos.y
  z pillow_size.height+holder_size
}

#define HOLDER_POS1 [-holder_pos.x -holder_pos.y holder_pos.z  ]
#define HOLDER_POS2 [holder_pos.x -holder_pos.y holder_pos.z  ]
#define HOLDER_POS3 [holder_pos.x holder_pos.y holder_pos.z  ]
#define HOLDER_POS4 [-holder_pos.x holder_pos.y holder_pos.z ]

holder_dynamic 0
Object {
  ID "holder1"
  
  Size [holder_size ] 
  Position HOLDER_POS1
  Dynamic holder_dynamic 

  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}


Object {
  ID "holder2"
  
  Size [holder_size ] 
  Position HOLDER_POS2
  Dynamic holder_dynamic 

  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}


Object {
  ID "holder3"
  
  Size [holder_size ] 
  Position HOLDER_POS3
  Dynamic holder_dynamic 

  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}


Object {
  ID "holder4"
  
  Size [holder_size ] 
  Position HOLDER_POS4
  Dynamic holder_dynamic 

  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}

basket_size {
  thickness 0.1
  x 1
  y 1
  z 0.6
}

basket_pos {
  x 0
  y 0
  z pillow_size.height/2
}



Object {
  ID "basket_wall1"
  
  Size [basket_size.thickness basket_size.y basket_size.z ] 
  Position [-basket_pos.x-basket_size.x/2+basket_size.thickness/2 basket_pos.y basket_size.z/2 ]
  Dynamic 1

  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}


Object {
  ID "basket_wall2"
  
  Size [basket_size.thickness basket_size.y basket_size.z ] 
  Position [basket_pos.x+basket_size.x/2-basket_size.thickness/2 basket_pos.y basket_size.z/2 ]
  Dynamic 1

  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}

Object {
  ID "basket_wall3"
  
  Size [basket_size.x basket_size.thickness basket_size.z ] 
  Position [basket_pos.x basket_pos.y+basket_size.y/2+basket_size.thickness/2 basket_size.z/2 ]
  Dynamic 1

  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}

Object {
  ID "basket_wall4"
  
  Size [basket_size.x basket_size.thickness basket_size.z ] 
  Position [basket_pos.x -basket_pos.y-basket_size.y/2-basket_size.thickness/2 basket_size.z/2 ]
  Dynamic 1

  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}


Object {
  ID "basket_floor"
  
  Size [basket_size.x basket_size.y basket_size.thickness ] 
  Position [basket_pos.x basket_pos.y basket_size.thickness/2 ]
  Dynamic 1

  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}


Object {
  ID "basket"
  
  Size [basket_size.x basket_size.y basket_size.z ] 
  Position [basket_pos.x basket_pos.y basket_pos.z ]
  Dynamic 1

  PhysicalAttributes {
    Material DEFAULT_MATERIAL
    CompositeMembers {
      Object "basket_wall1"
      Object "basket_wall2"
      Object "basket_wall3"
      Object "basket_wall4"
      Object "basket_floor"
    }
  }
  xVisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
}

// =======================
// Create springs
// =======================

stiffness 50
damping 1
natural_length 0.8

Joint { 
  ID "spring1"
  Spring {
      NaturalLength natural_length
      Stiffness stiffness
      Damping damping
   }


  Object1 {   // First object must be dynamic
    ID "basket"
    Position [ -basket_size.x/2 -basket_size.y/2 basket_pos.z+basket_size.z]
  }
 
  Object2 {
    ID "holder1"
    Position HOLDER_POS1
  }
 
  Enabled 1
}


Joint { 
  ID "spring2"
  Spring {
      NaturalLength natural_length
      Stiffness stiffness
      Damping damping
   }


  Object1 {   // First object must be dynamic
    ID "basket"
    Position [ basket_size.x/2 -basket_size.y/2 basket_pos.z+basket_size.z]
  }
 
  Object2 {
    ID "holder2"
    Position HOLDER_POS2
  }
 
  Enabled 1
}

Joint { 
  ID "spring3"
  Spring {
      NaturalLength natural_length
      Stiffness stiffness
      Damping damping
   }


  Object1 {   // First object must be dynamic
    ID "basket"
    Position [ basket_size.x/2 basket_size.y/2 basket_pos.z+basket_size.z]
  }
 
  Object2 {
    ID "holder3"
    Position HOLDER_POS3
  }
 
  Enabled 1
}

Joint { 
  ID "spring4"
  Spring {
      NaturalLength natural_length
      Stiffness stiffness
      Damping damping
   }


  Object1 {   // First object must be dynamic
    ID "basket"
    Position [ -basket_size.x/2 basket_size.y/2 basket_pos.z+basket_size.z]
  }
 
  Object2 {
    ID "holder4"
    Position HOLDER_POS4
  }
 
  Enabled 1
}



Object {
  ID "balls"
  
  Size [ 0.2 ] 
  Position [0 0 4 ]
  Dynamic 1
  CopyOp {
    Copies 10
    PositionIncrement [0 0.01 1]
  }
  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Mass 0.1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}

xObject {
  ID "bigball"
  
  Size [ 0.4 ] 
  Position [-10 0 0.4 ]
  Dynamic 1
  
  VisualAttributes {    
    Geometry {
      Primitive "sphere"
    }
  }
  PhysicalAttributes {
    Mass 1
    AngularDamping 0.001
    AngularVelocity [0 50 0]
    LinearVelocity [10 0 0]
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "sphere"
    }
  }
}

rod_size {
  radius 0.1
  length 10
}

rod_pos {
  x 0
  y 0
  z -rod_size.length/2
}


plane_size {
  x 1
  y 1
  z 0.1
}

planar_pos {
  x -3
  y -3
  z 0
}

Object {
  ID "rod"
  
  Size [ rod_size.radius rod_size.length ] 
  Position [rod_pos.x rod_pos.y rod_pos.z ]
  Dynamic 1
  
  VisualAttributes {    
    Geometry {
      Primitive "cylinder"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "cylinder"
    }
  }
}


Object {
  ID "plane"
  
  Size [ plane_size.x plane_size.y plane_size.z ] 
  Position [0 0 plane_size.z/2 ]
  Orientation [45 0 0]
  Dynamic 1
  
  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}

Object {
  ID "planar"

  Position [0 0 0]
  Dynamic 1
  PhysicalAttributes {
    Material DEFAULT_MATERIAL

    CompositeMembers {
      Object "rod"
      Object "plane"
    }
  }
}

// Planar does not react with floor
CollisionPair {
  Object1 "planar"
  Object2 "floor"
  Enable 0
}


Joint { 
  ID "Prismatic1"
  Prismatic {
  }

  Object1 {   // First object must be dynamic
    ID "planar"
    Position [0 0 0]
  }
    Position [0 0 0]
 
  Axis [ 0 0 1] // Make sure it is normalized

  LowerLimit 0
  UpperLimit 10
  DesiredVelocity 0.7
  MaxForce 200
 
  Enabled 1
}



Object {
  ID "interact_box"
  
  Size [ 0.1 0.2 0.3 ] 
  Position [0 -3 1 ]
  Dynamic 1
  
  VisualAttributes {    
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Mass 1
    AngularDamping 0.001
//    AngularVelocity [0 50 0]
//    LinearVelocity [10 0 0]
    Material DEFAULT_MATERIAL
    Geometry {
      Primitive "box"
    }
  }
}

Joint { 
  ID "Kinematic1"
  Position [0 0 0]
  Object1 {
    ID "interact_box" // "basket"//
  }

  LinearStrength [0 0 0]
  Enabled 1

  Kinematic {
  }
}

xJoint { 
  ID "MousePickJoint"
  Position [0 0 0]
  Object1 {
    ID "interact_box"
  }

  Enabled 0

  Kinematic {
    LinearStrength [100 100 100]
  }
}



leg {
  size {
    x 0.1
    y 0.1
    z 0.3
  }
}

chair {
  size {
    x 0.5
    y 0.5
    z 0.1
  }
  height leg.size.z+0.1
}

// Create seat of the chair
Object {
  ID "seat"
  
  Size [chair.size.x chair.size.y chair.size.z ]
  Position [0 0 leg.size.z+chair.size.z/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 10
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}


// Create back seat of the chair
Object {
  ID "back-seat"
  
  Size [chair.size.z chair.size.y chair.size.x ]
  Position [-chair.size.x/2 0 leg.size.z+chair.size.z/2+chair.size.x/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 10
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}

// Create leg1
Object {
  ID "leg1"
  
  Size [leg.size.x leg.size.y leg.size.z ]
  Position [leg.size.x-chair.size.x/2 leg.size.y-chair.size.y/2 leg.size.z/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 1
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}

// Create leg2
Object {
  ID "leg2"
  
  Size [leg.size.x leg.size.y leg.size.z ]
  Position [-leg.size.x+chair.size.x/2 leg.size.y-chair.size.y/2 leg.size.z/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 1
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}


// Create leg3
Object {
  ID "leg3"
  
  Size [leg.size.x leg.size.y leg.size.z ]
  Position [leg.size.x-chair.size.x/2 -leg.size.y+chair.size.y/2 leg.size.z/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 1
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}


// Create leg4
Object {
  ID "leg4"
  
  Size [leg.size.x leg.size.y leg.size.z ]
  Position [-leg.size.x+chair.size.x/2 -leg.size.x+chair.size.y/2 leg.size.z/2]
  Dynamic 1
  VisualAttributes {
    Geometry {
      Primitive "box"
    }
  }
  PhysicalAttributes {
    Material 1
    Mass 1
    LinearVelocity [0 0 0]
    AngularVelocity [0 0 0]
    Geometry {
      Primitive "box"
    }
  }
}

// Create the composite object, the chair, consisting of 6 objects.
Object {
  ID "chair"
  Position [0 0 10+chair.height/2]

  Dynamic 1
  PhysicalAttributes {
    CompositeMembers {
      Object "leg1"
      Object "leg2"
      Object "leg3"
      Object "leg4"
      Object "seat"
      Object "back-seat"
    }

    Material 1    

    LinearVelocity [0 0 0]
    AngularVelocity [0 5 0]
    Mass 1
    LinearDamping 0.05
    AngularDamping 0.05
  }
}