Webots Reference Manual

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1.Introduction

2.Controller API

3.Webots File Format

     

3.2 VRML97 nodes partially supported in Webots

The name of the node appears first and the names of the supported fields appear within the braces.

Appearance { material texture textureTransform }Background { skyColor }
Box { size }
Color { color }
Cone { bottomRadius height side bottom }
Coordinate { point }
Cylinder { bottom height radius side top }
DirectionalLight { ambientIntensity color direction intensity on }
ElevationGrid { color colorPerVertex height xDimension zDimension xSpacing
 zSpacing }
Fog { color fogType visibilityRange }
Group { children }
ImageTexture { url repeatS repeatT}
IndexedFaceSet { ccw coord coordIndex convex creaseAngle texCoord
 texCoordIndex}

Note: Face rendering is performed on a single side. The order of the coordinates indicate the orientation of the visible face. If you need double-sided faces, you will have to create two faces with the same coordinate lists but in reverse order.

IndexedLineSet { coord coordIndex }
Material { ambientIntensity diffuseColor emissiveColor shininess
 specularColor transparency}
PointLight { ambientIntensity attenuation color intensity location on radius}

Note: The value of radius is ignored. It is considered as infinite.

Shape { appearance geometry }
Sphere { radius subdivision }

Note: Spheres are rendered as icosaedrons with 20 faces when the subdivision field is set to 0. If the subdivision field is 1 (default value), then each face is subdivided into 4 faces, which makes 80 faces. With a subdivision parameter set to 2, 320 faces will be rendered, making the sphere very smooth.

TextureCoordinate { point }
TextureTransform { scale center translation rotation }
Transform { translation rotation scale children }
Viewpoint { fieldOfView orientation position }
WorldInfo { title info }

Note: A texture can be mapped only on an IndexedFaceSet shape. The texCoord and texCoordIndex must be filled. The image used as a texture must be a .png or a .jpg file, its size must be 2^n * 2^n pixels (for example 8x8, 16x16, 32x32, 64x64, 128x128 pixels). Transparent PNG images are not authorized for textures in Webots.

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