#X3D V3.1 utf8
PROFILE Immersive
# [X3D] version=3.1
# [X3D] noNamespaceSchemaLocation=https://www.web3d.org/specifications/x3d-3.1.xsd
# X3D-to-ClassicVRML XSL translation autogenerated by X3dToClassicVrmlEncoding.xslt and X3dToVrml97.xslt
# https://www.web3d.org/x3d/content/X3dToClassicVrmlEncoding.xslt
# https://www.web3d.org/x3d/content/X3dToVrml97.xslt
# Transformation using XSLT processor: Saxonica
# head
META "title" "AuvInBeachTanks.x3d"
META "description" "Example showing DIS EspduTransform interface for physics-animated AUV entities. Example use: mil.navy.nps.auv.AuvPduGenerator.java generates ESPDUs for this scene."
META "creator" "Don Brutzman and Duane Davis"
META "translator" "Miguel Ayala"
META "created" "5 September 2000"
META "translated" "16 February 2002"
META "modified" "20 October 2019"
META "reference" "http://faculty.nps.edu/brutzman/vrtp/demo/auv/AuvInBeachTanks.wrl"
META "reference" "http://faculty.nps.edu/brutzman/vrtp/mil/navy/nps/dis/EspduTransformEXAMPLE.wrl"
META "subject" "NPS Beach Tanks Autonomous Underwater Vehicle (AUV)"
META "identifier" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/AuvInBeachTanks.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
EXTERNPROTO AriesEspdu [ 
  # [appinfo] Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype

  inputOutput    SFInt32	 siteID
  inputOutput    SFInt32	 applicationID
  inputOutput    SFInt32	 entityID
  inputOutput    SFTime	 readInterval    # [appinfo] network read periodicity

  inputOutput    SFTime	 writeInterval    # [appinfo] network write periodicity

  inputOutput    SFString	 networkMode    # [appinfo] Override default EspduTransform value so that listening occurs by default

  inputOutput    SFString	 address    # [appinfo] multicast address

  inputOutput    SFInt32	 port    # [appinfo] multicast port

  inputOutput    SFVec3f	 translation    # [appinfo] initial position prior to first ESPDU receipt

  inputOutput    SFRotation	 rotation    # [appinfo] initial orientation prior to first ESPDU receipt

  inputOutput    SFInt32	 traceNodeEnabled    # [appinfo] Set to 0 to activate EspduTransformTrace

  inputOutput    SFColor	 hullColor    # [appinfo] color for this Aries instance

  inputOutput    SFString	 hullName    # [appinfo] up to 11 characters maps to EspduTransform marking

][
"../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu"
 ]
# ====================
EXTERNPROTO GridXZ [ 
  # [appinfo] Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.

  initializeOnly SFString	 description    # [appinfo] Purpose of this grid displayed for overall Viewpoint

  inputOutput    SFColor	 labelColor    # [appinfo] color for descriptive labels at grid edges and corners

  inputOutput    SFVec3f	 scale    # [appinfo] default unscaled size: 10m by 10m

  inputOutput    MFString	 originLabel
  inputOutput    MFString	 WestLabel    # [appinfo] -X axis

  inputOutput    MFString	 NorthWestLabel
  inputOutput    MFString	 NorthLabel    # [appinfo] -Z axis

  inputOutput    MFString	 NorthEastLabel
  inputOutput    MFString	 EastLabel    # [appinfo] +X axis

  inputOutput    MFString	 SouthEastLabel
  inputOutput    MFString	 SouthLabel    # [appinfo] +Z axis

  inputOutput    MFString	 SouthWestLabel
  inputOutput    SFVec3f	 labelsOffset    # [appinfo] label location offset (in meters) to improve readability

][
"../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../Tools/Authoring/GridXZPrototype.x3d#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../Tools/Authoring/GridXZPrototype.wrl#GridXZ" "../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ"
 ]
# ====================
 GridXZ {
  description  "GridXZ for AUV Beach Tanks"
  labelColor  1 1 1
  scale  1 1 1
  originLabel  [ "origin" "0 0 0" ]
  WestLabel  [ "West" "-Z" ]
  NorthWestLabel  [ "10 0 -10" ]
  NorthLabel  [ "North" "+X" ]
  NorthEastLabel  [ "10 0 10" ]
  EastLabel  [ "East" "+Z" ]
  SouthEastLabel  [ "-10 0 10" ]
  SouthLabel  [ "South" "-X" ]
  SouthWestLabel  [ "-10 0 -10" ]
}
# ====================
# Example uses of EspduTransform node to view three remote DIS-capable entities
NavigationInfo {
  speed 2
  visibilityLimit 2000
}
WorldInfo {
  title "AUV examples of EspduTransform use"
}
DEF PICKABLES Group {
  children [
      Group {
        children [
                  # Inline file chiseled & gzipped due to extensive CosmoWorlds warnings
            Inline {
              url [ "BeachTanks.x3d" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/BeachTanks.x3d" "BeachTanks.wrl" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/BeachTanks.wrl" ]
            }
            DEF AUV-1  AriesEspdu {
              hullName  "AUVWB AUV 1"
              entityID  0
              readInterval  0.25
              translation  -100 -100 5
              traceNodeEnabled  -1
              networkMode  "networkReader"
            }
            DEF AUV-2  AriesEspdu {
              translation  -100 -105 5
              networkMode  "networkReader"
              readInterval  0.25
              hullName  "AUVWB AUV 2"
              entityID  1
              traceNodeEnabled  -1
            }
            DEF AUV-3  AriesEspdu {
              hullName  "AUVWB AUV 3"
              entityID  2
              readInterval  0.25
              translation  -100 -110 5
              traceNodeEnabled  -1
              networkMode  "networkReader"
            }
            DEF AUV-4  AriesEspdu {
              hullName  "AUVWB AUV 4"
              entityID  3
              readInterval  0.25
              translation  -100 -115 5
              traceNodeEnabled  -1
              networkMode  "networkReader"
            }
            DEF AUV-5  AriesEspdu {
              hullName  "AUVWB AUV 5"
              entityID  4
              readInterval  0.25
              translation  -100 -120 5
              traceNodeEnabled  -1
              networkMode  "networkReader"
            }
            DEF AUV-6  AriesEspdu {
              hullName  "AUVWB AUV 6"
              entityID  5
              readInterval  0.25
              translation  -100 -125 5
              traceNodeEnabled  -1
              networkMode  "networkReader"
            }
        ]
      }
  ]
}