#X3D V3.3 utf8
PROFILE Immersive
# [X3D] version=3.3
# [X3D] noNamespaceSchemaLocation=https://www.web3d.org/specifications/x3d-3.3.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" "SideScanSonarExample.x3d"
META "description" "Produce wireframe or transparent sidescan sonar beams."
META "creator" "Don Brutzman"
META "created" "15 March 2001"
META "modified" "20 October 2019"
META "reference" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d"
META "identifier" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d"
META "generator" "X3D-Edit 3.3 https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
Background {
  skyColor [ 0.2 0.2 0.4 ]
}
WorldInfo {
  info [ "Produce wireframe or transparent beam cones" ]
  title "BeamConeExample"
}
Viewpoint {
  description "SideScanSonar example"
  orientation 0 1 0 -1.57
  position -40 0 0
}
EXTERNPROTO SideScanSonar [ 
  # [appinfo] Produce wireframe or semi-transparent sonar sidescan beams

  inputOnly      SFFloat	 altitude    # [appinfo] vertical distance above bottom in meters along y axis

  initializeOnly SFFloat	 defaultAltitude    # [appinfo] default vertical distance above bottom in meters along y axis

  initializeOnly SFFloat	 maxAltitude    # [appinfo] maximum effective altitude of sidescan sonar above bottom

  initializeOnly SFFloat	 defaultCrossTrackHalfRange    # [appinfo] distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom

  initializeOnly SFFloat	 defaultTrackWidthMeters    # [appinfo] longitudinal width of a single return

  initializeOnly SFFloat	 vehicleWidthMeters    # [appinfo] width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers

  inputOnly      SFBool	 contact    # [appinfo] (communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?

  initializeOnly SFBool	 wireframe    # [appinfo] draw lines for tracking shape?

  initializeOnly SFBool	 solid    # [appinfo] draw solid tracking shape?

  initializeOnly SFColor	 contactColor    # [appinfo] rendering color when contact=true

  initializeOnly SFColor	 noContactColor    # [appinfo] rendering color when contact=false

  inputOutput    SFFloat	 transparency    # [appinfo] 1 = fully transparent wireframe only

][
"../../../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"
 ]
# Viewable geometry for this scene
Group {
  children [
      DEF SideScanSonarBeam  SideScanSonar {
        defaultTrackWidthMeters  1
        transparency  0.5
        wireframe  TRUE
        solid  TRUE
      }
      Transform {
        translation 0 4 0
        children [
                  Billboard {
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor .8 .8 0
                      }
                    }
                    geometry Text {
                      string [ "touch text to activate contact-mode rendering" ]
                      fontStyle FontStyle {
                        justify [ "MIDDLE" "MIDDLE"  ] 
                        size 2
                      }
                    }
                  }
                  TouchSensor {
                    description "Hover over text to activate contact mode"
                  }
                  Shape {
                    # transparent Box as text-selection assist
                    geometry Box {
                      size 32 2 .001
                    }
                    appearance Appearance {
                      material Material {
                        transparency 1
                      }
                    }
                  }
              ]
            }
            DEF TextTouch TouchSensor {
              description "touch text to toggle contact-mode rendering"
            }
        ]
      ROUTE TextTouch.isOver TO SideScanSonarBeam.contact
      }
  ]
}
DEF AnimationGroup Group {
  children [
      DEF SonarClock TimeSensor {
        cycleInterval 10
        loop TRUE
      }
      # note that this interpolator sets speed at (5m / 6sec) == 0.78 m/sec which is very very slow!!
      # this example is not physically realistic but it helps visualize the propagation of sound energy
      DEF RangeInterpolator ScalarInterpolator {
        key [ 0 .2 0.8 1 ]
        keyValue [ 0 0.01 5 5 ]
      }
      # ==========
      DEF TransparencyInterpolator ScalarInterpolator {
        key [ 0 .2 0.8 1 ]
        keyValue [ 0 0 1 1 ]
      }
  ]
ROUTE SonarClock.fraction_changed TO RangeInterpolator.set_fraction
ROUTE RangeInterpolator.value_changed TO SideScanSonarBeam.altitude
ROUTE SonarClock.fraction_changed TO TransparencyInterpolator.set_fraction
ROUTE TransparencyInterpolator.value_changed TO SideScanSonarBeam.transparency
}