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<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "http://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive' version='3.0 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.0.xsd '>
<head>
<meta name='titlecontent='AuvInBeachTanks.x3d'/>
<meta name='descriptioncontent='Example showing DIS EspduTransform interface for physics-animated AUV entities. Example use: mil.navy.nps.auv.AuvPduGenerator.java generates ESPDUs for this scene.'/>
<meta name='creatorcontent='Don Brutzman and Duane Davis'/>
<meta name='translatorcontent='Miguel Ayala'/>
<meta name='createdcontent='5 September 2000'/>
<meta name='translatedcontent='16 February 2002'/>
<meta name='modifiedcontent='23 June 2014'/>
<meta name='infocontent='AUV in tank 2 is currently operational with AUV Workbench.'/>
<meta name='referencecontent=' http://faculty.nps.edu/brutzman/vrtp/demo/auv/AuvInBeachTanks.wrl '/>
<meta name='referencecontent=' http://faculty.nps.edu/brutzman/vrtp/mil/navy/nps/dis/EspduTransformEXAMPLE.wrl '/>
<meta name='subjectcontent='NPS Beach Tanks Autonomous Underwater Vehicle (AUV)'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AuvInBeachTanks.x3d '/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ

Index for DEF nodes : DynamicsAuvEspduTransform, NPSHeartBeatAUVEspduTransform
-->
<Scene>
<ExternProtoDeclare name='AriesEspduappinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype'
  url=' "AriesEspduPrototype.x3d#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "AriesEspduPrototype.wrl#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" '>
<field name='siteIDtype='SFInt32accessType='inputOutput'/>
<field name='applicationIDtype='SFInt32accessType='inputOutput'/>
<field name='entityIDtype='SFInt32accessType='inputOutput'/>
<field name='readIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network read periodicity'/>

<field name='writeIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network write periodicity'/>

<field name='networkModetype='SFStringaccessType='inputOutput'
 appinfo='Override default EspduTransform value so that listening occurs by default'/>

<field name='addresstype='SFStringaccessType='inputOutput'
 appinfo='multicast address'/>

<field name='porttype='SFInt32accessType='inputOutput'
 appinfo='multicast port'/>

<field name='translationtype='SFVec3faccessType='inputOutput'
 appinfo='initial position prior to first ESPDU receipt'/>

<field name='rotationtype='SFRotationaccessType='inputOutput'
 appinfo='initial orientation prior to first ESPDU receipt'/>

<field name='traceNodeEnabledtype='SFInt32accessType='inputOutput'
 appinfo='Set to 0 to activate EspduTransformTrace'/>

<field name='hullColortype='SFColoraccessType='inputOutput'
 appinfo='color for this Aries instance'/>

<field name='hullNametype='SFStringaccessType='inputOutput'
 appinfo='up to 11 characters maps to EspduTransform marking'/>
</ExternProtoDeclare>
<!-- ==================== -->
<ExternProtoDeclare name='GridXZappinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.'
  url=' "../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" '>
<field name='descriptiontype='SFStringaccessType='initializeOnly'
 appinfo='Purpose of this grid displayed for overall Viewpoint'/>

<field name='labelColortype='SFColoraccessType='inputOutput'
 appinfo='color for descriptive labels at grid edges and corners'/>

<field name='scaletype='SFVec3faccessType='inputOutput'
 appinfo='default unscaled size: 10m by 10m'/>

<field name='originLabeltype='MFStringaccessType='inputOutput'/>
<field name='WestLabeltype='MFStringaccessType='inputOutput'
 appinfo='-X axis'/>

<field name='NorthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='NorthLabeltype='MFStringaccessType='inputOutput'
 appinfo='-Z axis'/>

<field name='NorthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='EastLabeltype='MFStringaccessType='inputOutput'
 appinfo='+X axis'/>

<field name='SouthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='SouthLabeltype='MFStringaccessType='inputOutput'
 appinfo='+Z axis'/>

<field name='SouthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='labelsOffsettype='SFVec3faccessType='inputOutput'
 appinfo='label location offset (in meters) to improve readability'/>
</ExternProtoDeclare>
<!-- ==================== -->
<ProtoInstance name='GridXZ'>
<fieldValue name='descriptionvalue='GridXZ for AUV Beach Tanks'/>
<fieldValue name='labelColorvalue='1 1 1'/>
<fieldValue name='scalevalue='1 1 1'/>
<fieldValue name='originLabelvalue='"origin" "0 0 0"'/>
<fieldValue name='WestLabelvalue='"West" "-Z"'/>
<fieldValue name='NorthWestLabelvalue='"10 0 -10"'/>
<fieldValue name='NorthLabelvalue='"North" "+X"'/>
<fieldValue name='NorthEastLabelvalue='"10 0 10"'/>
<fieldValue name='EastLabelvalue='"East" "+Z"'/>
<fieldValue name='SouthEastLabelvalue='"-10 0 10"'/>
<fieldValue name='SouthLabelvalue='"South" "-X"'/>
<fieldValue name='SouthWestLabelvalue='"-10 0 -10"'/>
</ProtoInstance>
<!-- ==================== -->
<!-- Example uses of EspduTransform node to view three remote DIS-capable entities -->
<NavigationInfo speed='2visibilityLimit='2000'/>
<WorldInfo title='AUV examples of EspduTransform use'/>
<Group>
<!-- Inline file chiseled & gzipped due to extensive CosmoWorlds warnings -->
<Inline
  url=' "../../../Basic/DistributedInteractiveSimulation/BeachTanks.x3d" "http://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/BeachTanks.x3d" "../../../Basic/DistributedInteractiveSimulation/BeachTanks.wrl" "http://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/BeachTanks.wrl" '/>

<!-- "local AUV" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -->
<ProtoInstance name='AriesEspduDEF='NPSHeartBeatAUVEspduTransform'>
<fieldValue name='hullNamevalue='NPS-run AUV'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='1'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='translationvalue='5 -2 3'/>
<fieldValue name='traceNodeEnabledvalue='-1'/>
</ProtoInstance>
<!-- -->
<ProtoInstance name='AriesEspdu'>
<fieldValue name='translationvalue='5 -1.5 17'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='DynamicsAuvEspduTransform'>
<fieldValue name='hullNamevalue='dynamicsAUV'/>
<fieldValue name='siteIDvalue='36'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='1'/>
<fieldValue name='readIntervalvalue='0.05'/>
<fieldValue name='translationvalue='4 -1.5 28'/>
<fieldValue name='traceNodeEnabledvalue='-1'/>
</ProtoInstance>
</Group>
</Scene>
</X3D>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ

Index for DEF nodes : DynamicsAuvEspduTransform, NPSHeartBeatAUVEspduTransform
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
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    <Prototype name='ProtoName'> <field name='fieldName'/> </Prototype> -->

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