{ "X3D": { "encoding":"UTF-8", "@profile":"Immersive", "@version":"3.0", "@xsd:noNamespaceSchemaLocation":"https://www.web3d.org/specifications/x3d-3.0.xsd", "JSON schema":"https://www.web3d.org/specifications/x3d-4.0-JSONSchema.autogenerated.json", "head": { "meta": [ { "@name":"title", "@content":"AriesPrototype.x3d" }, { "@name":"description", "@content":"Model of the Acoustic Radio Interactive Exploratory Server (ARIES), an operational NPS-designed Unmanned Underwater Vehicle (AUV). Expose position, rotation, sonars, thrusters, fins, etc. as a reusable prototype." }, { "@name":"creator", "@content":"Don Brutzman NPS, aboard RV Gyre in Gulf of Mexico off Gulfport MS 1999; Jane Wu Rolands and Associates 2001, Duane Davis NPS 2003" }, { "@name":"created", "@content":"30 July 2000" }, { "@name":"modified", "@content":"20 October 2019" }, { "@name":"photo", "@content":"AriesHoistCloseup.jpg" }, { "@name":"reference", "@content":"AriesFlyerMarch2001.pdf" }, { "@name":"reference", "@content":"organic_mcmONR2002.pdf" }, { "@name":"reference", "@content":"AriesSchematic.png" }, { "@name":"reference", "@content":"AriesSchematic.ppt" }, { "@name":"identifier", "@content":"https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d" }, { "@name":"generator", "@content":"X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit" }, { "@name":"license", "@content":"../../license.html" }, { "@name":"translated", "@content":"04 January 2025" }, { "@name":"generator", "@content":"X3dToJson.xslt, https://www.web3d.org/x3d/stylesheets/X3dToJson.html" }, { "@name":"reference", "@content":"X3D JSON encoding: https://www.web3d.org/wiki/index.php/X3D_JSON_Encoding" } ] }, "Scene": { "-children":[ { "#comment":"Produce wireframe or transparent beam cones." }, { "WorldInfo": { "@title":"AriesPrototype.x3d" } }, { "ExternProtoDeclare": { "@name":"BeamCone", "@appinfo":"Produce wireframe or transparent beam cones. Typical uses include propeller/thruster water flow or line-of-sight sonar/radar/light beams. Negative range values invert base and apex at same relative location. 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0, degreeToRadian(value));", "}", "function set_ST725Intensity (value, timeStamp)", "{", " ST725Intensity = new SFFloat(value);", "}", "", "function set_ST1000Range (value, timeStamp)", "{", " if ((value > 0) && (value < 30.0))", " {", " ST1000Contact = true;", " ST1000Range_changed = value;", " }", " else", " {", " ST1000Contact = false;", " if ( value < 0 )", " ST1000Range_changed = 0.0;", " else", " ST1000Range_changed = 30.0;", " }", "}", "function set_ST1000Bearing (value, timeStamp)", "{", " ST1000Rotation = new SFRotation(0, 1, 0, degreeToRadian(value));", "}", "function set_ST1000Intensity (value, timeStamp)", "{", " ST1000Intensity = new SFFloat(value);", "}", "", "" ] } }, { "Group": { "-children":[ { "ROUTE": { "@fromField":"ST725Rotation", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"rotation", "@toNode":"ST725" } }, { "ROUTE": { "@fromField":"ST1000Rotation", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"rotation", "@toNode":"ST1000" } }, { "ROUTE": { "@fromField":"ST725Contact", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"contact", "@toNode":"ST725BeamCone" } }, { "ROUTE": { "@fromField":"ST1000Contact", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"contact", "@toNode":"ST1000BeamCone" } }, { "ROUTE": { "@fromField":"ST725Range_changed", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"range", "@toNode":"ST725BeamCone" } }, { "ROUTE": { "@fromField":"ST1000Range_changed", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"range", "@toNode":"ST1000BeamCone" } }, { "ROUTE": { "@fromField":"ST725Intensity", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"transparency", "@toNode":"ST725BeamCone" } }, { "ROUTE": { "@fromField":"ST1000Intensity", "@fromNode":"SONAR_STEERING_AND_DETECTS", "@toField":"transparency", "@toNode":"ST1000BeamCone" } } ] } }, { "LOD": { "@range":[400], "-children":[ { "#comment":"### hack job! need to update actual numbers instead of scaling" }, { "Transform": { "@DEF":"PRIMARY_AUV_GEOMETRY", "@scale":[1,1.3,1], "-children":[ { "#comment":"positive rotation about y-axis rotates rudders to port" }, { "Transform": { "@DEF":"FORWARD_RUDDERS", "@translation":[0.6223,0,0], "-children":[ { "Transform": { "@translation":[0,0.13335,0], "-children":[ { "Shape": { "@DEF":"PLANE_SHAPE", "-appearance": { "Appearance": { "-material": { "Material": { "@DEF":"PlaneMaterial", "IS": { "connect": [ { "@nodeField":"diffuseColor", "@protoField":"planeColor" } ] } } } } }, "-children":[ { "#comment":"creaseAngle for sharp edges" } ], "-geometry": { "IndexedFaceSet": { "@coordIndex":[0,3,2,1,-1,4,5,6,7,-1,0,1,5,4,-1,1,2,6,5,-1,2,3,7,6,-1,0,3,7,4,-1], "@creaseAngle":3.14159, "-children":[ { "#comment":"indices for point values range [0..7]" } ], "-coord": { "Coordinate": { "@point":[0.0635,0,-0.0127,0.0381,0.1778,-0.0127,-0.0381,0.1778,-0.0127,-0.0889,0,-0.0127,0.0635,0,0.0127,0.0381,0.1778,0.0127,-0.0381,0.1778,0.0127,-0.0889,0,0.0127] } } } } } } ] } }, { "Transform": { "@rotation":[1,0,0,3.14159267], "@translation":[0,-0.13335,0], "-children":[ { "Shape": { "@USE":"PLANE_SHAPE" } } ] } } ] } }, { "#comment":"positive rotation about y-axis rotates rudder to port" }, { "Transform": { "@DEF":"AFTER_RUDDERS", "@translation":[-0.7747,0,0], "-children":[ { "Transform": { "@translation":[0,0.13335,0], "-children":[ { "Shape": { "@USE":"PLANE_SHAPE" } } ] } }, { "Transform": { "@rotation":[1,0,0,3.14159267], "@translation":[0,-0.13335,0], "-children":[ { "Shape": { "@USE":"PLANE_SHAPE" } } ] } } ] } }, { "Transform": { "@DEF":"FORWARD_PLANES", "@translation":[0.6223,0,0], "-children":[ { "Transform": { "@rotation":[1,0,0,1.57079], "@translation":[0,0,0.20955], "-children":[ { "Shape": { "@USE":"PLANE_SHAPE" } } ] } }, { "Transform": { "@rotation":[1,0,0,-1.57079], "@translation":[0,0,-0.20955], "-children":[ { "Shape": { "@USE":"PLANE_SHAPE" } } ] } } ] } }, { "Transform": { "@DEF":"AFTER_PLANES", "@translation":[-0.7747,0,0], "-children":[ { 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"connect": [ { "@nodeField":"set_forwardRudders", "@protoField":"set_forwardRudders" }, { "@nodeField":"set_afterRudders", "@protoField":"set_afterRudders" }, { "@nodeField":"set_forwardPlanes", "@protoField":"set_forwardPlanes" }, { "@nodeField":"set_afterPlanes", "@protoField":"set_afterPlanes" } ] }, "#sourceCode":[ "", "", "ecmascript:", "", "function set_forwardRudders (value, timeStamp) {", " forwardRuddersRotation = new SFRotation(0, 1, 0, value);", "}", "", "function set_afterRudders (value, timeStamp) {", " afterRuddersRotation = new SFRotation(0, 1, 0, value);", "}", "", "function set_forwardPlanes (value, timeStamp) {", " forwardPlanesRotation = new SFRotation(0, 0, 1, value);", "}", "", "function set_afterPlanes (value, timeStamp) {", " afterPlanesRotation = new SFRotation(0, 0, 1, value);", "}", "", "" ] } }, { "Group": { "-children":[ { "ROUTE": { "@fromField":"forwardRuddersRotation", "@fromNode":"PLANE_SURFACES", "@toField":"rotation", "@toNode":"FORWARD_RUDDERS" } }, { "ROUTE": { "@fromField":"afterRuddersRotation", "@fromNode":"PLANE_SURFACES", "@toField":"rotation", "@toNode":"AFTER_RUDDERS" } }, { "ROUTE": { "@fromField":"forwardPlanesRotation", "@fromNode":"PLANE_SURFACES", "@toField":"rotation", "@toNode":"FORWARD_PLANES" } }, { "ROUTE": { "@fromField":"afterPlanesRotation", "@fromNode":"PLANE_SURFACES", "@toField":"rotation", "@toNode":"AFTER_PLANES" } } ] } }, { "Transform": { "@DEF":"FORWARD_VERTICAL_THRUSTER", "@translation":[0.3302,0,0], "-children":[ { "Shape": { "@DEF":"VERTICAL_THRUSTER_SHAPE", "-appearance": { "Appearance": { "@DEF":"THRUSTER_APPEARANCE", "-material": { "Material": { "@diffuseColor":[0.2,0.2,0.2] } } } }, "-geometry": { "Cylinder": { "@height":0.29, "@radius":0.0635, "@side":false } } } }, { "Transform": { "@DEF":"FORWARD_VERTICAL_BEAMCONE", "@rotation":[0,0,1,1.57079], "@translation":[0,0.145,0], "-children":[ { "ProtoInstance": { "@name":"BeamCone", "@DEF":"ForwardVerticalBeamCone", "fieldValue": [ { "@name":"name", 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