| 1 |
<?xml version="1.0" encoding="UTF-8"?>
|
| 2 |
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.3//EN" "https://www.web3d.org/specifications/x3d-3.3.dtd">
|
| 3 | <X3D profile='Immersive' version='3.3' xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.3.xsd'> |
| 4 | <head> |
| 5 | <meta name='title' content='SideScanSonarExample.x3d'/> |
| 6 | <meta name='description' content='Produce wireframe or transparent sidescan sonar beams.'/> |
| 7 | <meta name='creator' content='Don Brutzman'/> |
| 8 | <meta name='created' content='15 March 2001'/> |
| 9 | <meta name='modified' content='20 October 2019'/> |
| 10 | <meta name='reference' content='https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d'/> |
| 11 | <meta name='identifier' content='https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d'/> |
| 12 | <meta name='generator' content='X3D-Edit 3.3 https://savage.nps.edu/X3D-Edit'/> |
| 13 | <meta name='license' content='../../license.html'/> |
| 14 | </head> |
Index for DEF nodes:
AnimationGroup,
RangeInterpolator,
SideScanSonarBeam,
SonarClock,
TextTouch,
TransparencyInterpolator
| 15 | <Scene> |
| 16 | <Background skyColor='0.2 0.2 0.4'/> |
| 17 | <WorldInfo info='"Produce wireframe or transparent beam cones"' title='BeamConeExample'/> |
| 18 | <Viewpoint description='SideScanSonar example' orientation='0 1 0 -1.57' position='-40 0 0'/> |
| 19 | <ExternProtoDeclare name='SideScanSonar' appinfo='Produce wireframe or semi-transparent sonar sidescan beams' url=' "../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar" '> |
| 20 |
<field name='altitude' type='SFFloat' accessType='inputOnly'
appinfo='vertical distance above bottom in meters along y axis'/> |
| 21 |
<field name='defaultAltitude' type='SFFloat' accessType='initializeOnly'
appinfo='default vertical distance above bottom in meters along y axis'/> |
| 22 |
<field name='maxAltitude' type='SFFloat' accessType='initializeOnly'
appinfo='maximum effective altitude of sidescan sonar above bottom'/> |
| 23 |
<field name='defaultCrossTrackHalfRange' type='SFFloat' accessType='initializeOnly'
appinfo='distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom'/> |
| 24 |
<field name='defaultTrackWidthMeters' type='SFFloat' accessType='initializeOnly'
appinfo='longitudinal width of a single return'/> |
| 25 |
<field name='vehicleWidthMeters' type='SFFloat' accessType='initializeOnly'
appinfo='width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers'/> |
| 26 |
<field name='contact' type='SFBool' accessType='inputOnly'
appinfo='(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?'/> |
| 27 |
<field name='wireframe' type='SFBool' accessType='initializeOnly'
appinfo='draw lines for tracking shape?'/> |
| 28 |
<field name='solid' type='SFBool' accessType='initializeOnly'
appinfo='draw solid tracking shape?'/> |
| 29 |
<field name='contactColor' type='SFColor' accessType='initializeOnly'
appinfo='rendering color when contact=true'/> |
| 30 |
<field name='noContactColor' type='SFColor' accessType='initializeOnly'
appinfo='rendering color when contact=false'/> |
| 31 |
<field name='transparency' type='SFFloat' accessType='inputOutput'
appinfo='1 = fully transparent wireframe only'/> |
| 32 | </ExternProtoDeclare> |
| 33 | <!-- Viewable geometry for this scene --> |
| 34 | <Group> |
| 35 |
<!-- ROUTE information for SideScanSonarBeam node:
[from TextTouch.isOver to contact
]
[from RangeInterpolator.value_changed to altitude
]
[from TransparencyInterpolator.value_changed to transparency
]
-->
<ProtoInstance name='SideScanSonar' DEF='SideScanSonarBeam'> |
| 36 | <fieldValue name='defaultTrackWidthMeters' value='1'/> |
| 37 | <fieldValue name='transparency' value='0.5'/> |
| 38 | <fieldValue name='wireframe' value='true'/> |
| 39 | <fieldValue name='solid' value='true'/> |
| 40 | </ProtoInstance> |
| 41 | <Transform translation='0 4 0'> |
| 42 | <Billboard> |
| 43 | <Shape> |
| 44 | <Appearance> |
| 45 | <Material diffuseColor='.8 .8 0'/> |
| 46 | </Appearance> |
| 47 | <Text string='"touch text to activate contact-mode rendering"'> |
| 48 | <FontStyle justify='"MIDDLE" "MIDDLE"' size='2'/> |
| 49 | </Text> |
| 50 | </Shape> |
| 51 | <TouchSensor description='Hover over text to activate contact mode'/> |
| 52 | <Shape> |
| 53 | <!-- transparent Box as text-selection assist --> |
| 54 | <Box size='32 2 .001'/> |
| 55 | <Appearance> |
| 56 | <Material transparency='1'/> |
| 57 | </Appearance> |
| 58 | </Shape> |
| 59 | </Billboard> |
| 60 |
<!-- ROUTE information for TextTouch node:
[from isOver to SideScanSonarBeam.contact
]
-->
<TouchSensor DEF='TextTouch' description='touch text to toggle contact-mode rendering'/> |
| 61 | < ROUTE fromNode='TextTouch' fromField='isOver' toNode='SideScanSonarBeam' toField='contact'/> |
| 62 | </Transform> |
| 63 | </Group> |
| 64 | <Group DEF='AnimationGroup'> |
| 65 |
<!-- ROUTE information for SonarClock node:
[from fraction_changed to RangeInterpolator.set_fraction
]
[from fraction_changed to TransparencyInterpolator.set_fraction
]
-->
<TimeSensor DEF='SonarClock' cycleInterval='10' loop='true'/> |
| 66 | <!-- note that this interpolator sets speed at (5m / 6sec) == 0.78 m/sec which is very very slow!! --> |
| 67 | <!-- this example is not physically realistic but it helps visualize the propagation of sound energy --> |
| 68 |
<!-- ROUTE information for RangeInterpolator node:
[from SonarClock.fraction_changed to set_fraction
]
[from value_changed to SideScanSonarBeam.altitude
]
-->
<ScalarInterpolator DEF='RangeInterpolator' key='0 .2 0.8 1' keyValue='0 0.01 5 5'/> |
| 69 | < ROUTE fromNode='SonarClock' fromField='fraction_changed' toNode='RangeInterpolator' toField='set_fraction'/> |
| 70 | < ROUTE fromNode='RangeInterpolator' fromField='value_changed' toNode='SideScanSonarBeam' toField='altitude'/> |
| 71 | <!-- ========== --> |
| 72 |
<!-- ROUTE information for TransparencyInterpolator node:
[from SonarClock.fraction_changed to set_fraction
]
[from value_changed to SideScanSonarBeam.transparency
]
-->
<ScalarInterpolator DEF='TransparencyInterpolator' key='0 .2 0.8 1' keyValue='0 0 1 1'/> |
| 73 | < ROUTE fromNode='SonarClock' fromField='fraction_changed' toNode='TransparencyInterpolator' toField='set_fraction'/> |
| 74 | < ROUTE fromNode='TransparencyInterpolator' fromField='value_changed' toNode='SideScanSonarBeam' toField='transparency'/> |
| 75 | </Group> |
| 76 | </Scene> |
| 77 | </X3D> |
Index for DEF nodes:
AnimationGroup,
RangeInterpolator,
SideScanSonarBeam,
SonarClock,
TextTouch,
TransparencyInterpolator
Event Graph ROUTE Table entries with 5 ROUTE connections total, showing X3D event-model relationships for this scene.
Each row shows an event cascade that may occur during a single timestamp interval between frame renderings, as part of the X3D execution model.
| line 51
TouchSensor |
description='Hover over text to activate contact mode' User-interaction hint for this node.(TouchSensor description is providing a tooltip) |
|
TextTouch
TouchSensor isOver SFBool |
SideScanSonarBeam
ProtoInstance contact SFBool |
|
SonarClock
TimeSensor fraction_changed SFFloat |
RangeInterpolator
ScalarInterpolator set_fraction SFFloat |
then
|
RangeInterpolator
ScalarInterpolator value_changed SFFloat |
SideScanSonarBeam
ProtoInstance altitude SFFloat |
||
|
SonarClock
TimeSensor fraction_changed SFFloat |
TransparencyInterpolator
ScalarInterpolator set_fraction SFFloat |
then
|
TransparencyInterpolator
ScalarInterpolator value_changed SFFloat |
SideScanSonarBeam
ProtoInstance transparency SFFloat |
|
SideScanSonarBeam
ProtoInstance SideScanSonar |
No ROUTE connection found for output events from this node. This ProtoInstance contains SFNode/MFNode fieldValue declarations with direct access to other nodes, and thus has potential to produce run-time animation. |
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matches XML terminology
<XmlElement
DEF='idName' attribute='value'/>
(Light-blue background: event-based behavior node or statement)
(Grey background inside box: inserted documentation)
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<ProtoInstance name='ProtoName'>
<field
name='fieldName'/> </ProtoInstance>
-->
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