Such an outline could be rendered with faceCulling property:
import UIKit
import RealityKit
class ViewController: UIViewController {
@IBOutlet var arView: ARView!
override func viewDidLoad() {
super.viewDidLoad()
let scene = try! Experience2.loadScene()
let scene2 = scene.clone(recursive: true)
let outline = scene2.findEntity(named: "simpBld_root") as! ModelEntity
outline.scale *= 1.02
var material = PhysicallyBasedMaterial()
material.emissiveColor.color = .white
material.emissiveIntensity = 0.5
material.faceCulling = .front
outline.model?.materials[0] = material
arView.scene.anchors.append(scene)
arView.scene.anchors.append(scene2)
}
}
PS
In your case, the name of a rook is:
.findEntity(named: "chess_rook_white_base_iconic_lod0")
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