#X3D V3.0 utf8

PROFILE Immersive
COMPONENT xj3d_RigidBodyPhysics:2

Viewpoint {
  position 0 0 4
}

Group {
  children [
    DEF BALL-GEOM CollidableShape {
      shape Shape {
        appearance Appearance {
          material Material {
	    emissiveColor 1 0 0 
	  }
	}
	geometry Sphere { radius 0.1 }
      }
    }
    DEF GROUND-GEOM CollidableShape {
      translation 0 -0.5 0
      shape Shape {
        appearance Appearance {
          material Material {
	    emissiveColor 0 1 0
	  }
	}
	geometry Box {
	  size 20 0.1 20
	}
      }
    }
  ]
}

# Little sphere to indicate that we have collisions
Transform {
  translation 1 1 0 
  children Shape {
    appearance Appearance {
      material DEF INDICATOR-MATERIAL Material {
        emissiveColor 0 0 1 
      }
    }
    geometry Sphere { radius 0.2 } 
  }
}

DEF BODY-COLLECTION RigidBodyCollection {
  bodies [
    DEF BODY-1 RigidBody {
      position 0 2 0
      geometry USE BALL-GEOM
    }
  ]
  collider DEF COLLISION-GROUP CollisionCollection {
    bounce 1
    collidables [
      USE BALL-GEOM
      USE GROUND-GEOM
    ]
  }
}

DEF COLLISION-OUTPUT CollisionSensor {
  collidables USE COLLISION-GROUP
}

# A script to tell us when contacts occur
DEF CONTACT-SCRIPT Script {
  directOutput TRUE
  inputOnly MFNode set_jointContacts
  outputOnly MFNode correctedContacts
  inputOnly SFBool activeSensor
  outputOnly SFColor indicatorColor
  initializeOnly SFNode ground USE GROUND-GEOM
  url "ecmascript:
    function set_jointContacts(val) {
      for(i = 0; i < val.length; i++) {
        if(val[i].geometry1.equals(ground)) {
	  val[i].geometry1 = null;
	  val[i].body1 = null;
	  val[i].bounce = 1;
	}

        if(val[i].geometry2.equals(ground)) {
	  val[i].geometry2 = null;
	  val[i].body2 = null;
	  val[i].bounce = 1;
	}
      }
      correctedContacts = val;
    }

    function activeSensor(val) {
      if(val) {
        indicatorColor.r = 0;
        indicatorColor.g = 1;
        indicatorColor.b = 0;
      }	else {
        indicatorColor.r = 1;
        indicatorColor.g = 0;
        indicatorColor.b = 0;
      }
    }
  "
}

ROUTE COLLISION-OUTPUT.contacts TO CONTACT-SCRIPT.set_jointContacts
ROUTE COLLISION-OUTPUT.isActive TO CONTACT-SCRIPT.activeSensor
ROUTE CONTACT-SCRIPT.indicatorColor TO INDICATOR-MATERIAL.set_emissiveColor
ROUTE CONTACT-SCRIPT.correctedContacts TO BODY-COLLECTION.set_contacts