#X3D V3.0 utf8
PROFILE Immersive
# [X3D] version=3.0
# [X3D] noNamespaceSchemaLocation=https://www.web3d.org/specifications/x3d-3.0.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" "Cetus.x3d"
META "creator" "Don Brutzman NPS and Gary Trimble Lockheed-Martin-Perry"
META "created" "6 September 2000"
META "modified" "20 October 2019"
META "description" "CETUS II autonomous underwater vehicle (AUV)."
META "Image" "CetusBow.png"
META "Image" "CetusStarboardSide.png"
META "Image" "CetusStern.png"
META "reference" "CetusFlyerMarch2001.pdf"
META "reference" "http://perrymare.com"
META "identifier" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Cetus.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  title "Cetus.x3d"
}
Viewpoint {
  description "Cetus II starboard side"
  orientation 1 0 0 -0.2
  position 0 .5 2
}
Viewpoint {
  description "Cetus II from behind"
  orientation 0 1 0 -1.57
  position -2.5 0.5 0
}
Transform {
  rotation 1 0 0 0.2
  children [
      Viewpoint {
        description "Cetus II port side"
        orientation 0 1 0 3.14
        position 0 0.5 -2
      }
  ]
}
Viewpoint {
  description "Cetus II from ahead"
  orientation 0 1 0 1.57
  position 2.5 0.5 0
}
# Convert inches to meters (39.3" :: 1m)
Transform {
  scale 0.025445 0.025445 0.025445
  children [
      # Hull body. Gary says to streamline stern a bit more.
      Switch {
        whichChoice 0
        children [ ### children3
          # Hollow body
          Group {
            children [
                          # stern section
                Shape {
                  geometry Extrusion {
                    creaseAngle 3.14
                    crossSection [ 6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0 ]
                    scale [ 0.7 0.7 0.4 0.4 0.1 0.1 ]
                    spine [ -18 0 0 -24 0 0 -27 0 0 ]
                  }
                  appearance DEF InternationalOrange Appearance {
                    material Material {
                      diffuseColor 1 0.5 0
                      emissiveColor 0.5 0.25 0
                    }
                  }
                }
                # center section
                Shape {
                  geometry Extrusion {
                    creaseAngle 1.5
                    crossSection [ -3 0 -3 -11 5 -11 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 5 11 -3 11 -3 0 ]
                    scale [ 0.4 0.4 0.8 0.8 0.95 0.95 1 1 0.9 0.9 0.7 0.7 0.4 0.4 0.1 0.1 ]
                    spine [ 27 0 0 21 0 0 16 0 0 0 0 0 -10 0 0 -18 0 0 -24 0 0 -27 0 0 ]
                  }
                  appearance USE InternationalOrange
                }
                # nose section
                Shape {
                  geometry Extrusion {
                    creaseAngle 3.14
                    crossSection [ 6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0 ]
                    scale [ 0.4 0.4 0.8 0.8 0.95 0.95 ]
                    spine [ 27 0 0 21 0 0 16 0 0 ]
                  }
                  appearance USE InternationalOrange
                }
            ]
          }
          # Solid body
          Shape {
            geometry Extrusion {
              creaseAngle 3.14
              crossSection [ 6 0 6 -10 4 -13 0 -14 -4 -13 -6 -10 -6 0 -6 10 -4 13 0 14 4 13 6 10 6 0 ]
              scale [ 0.4 0.4 0.8 0.8 0.95 0.95 1 1 0.9 0.9 0.7 0.7 0.4 0.4 0.1 0.1 ]
              spine [ 27 0 0 21 0 0 16 0 0 0 0 0 -10 0 0 -18 0 0 -24 0 0 -27 0 0 ]
            }
            appearance USE InternationalOrange
          }
        ]
      }
      # Stern planes
      DEF SternPlanes Transform {
        translation -22 0 0
        children [
                  Shape {
              geometry Box {
                size 6 1.5 22
              }
              appearance USE InternationalOrange
            }
            Transform {
              translation 0 0 11
              children [
                              DEF Stabilizer Shape {
                    geometry Box {
                      size 6 3 1
                    }
                    appearance USE InternationalOrange
                  }
              ]
            }
            Transform {
              translation 0 0 -11
              children [
                              USE Stabilizer
              ]
            }
        ]
      }
      # Forward vertical thrusters
      Transform {
        translation 19 0 0
        children [
                  Transform {
              translation 0 0 8
              children [
                              DEF ForwardThrusterCylinder Shape {
                    geometry Cylinder {
                      height 11
                      radius 2
                    }
                    appearance DEF BlackAppearance Appearance {
                      material Material {
                        diffuseColor 0.2 0.2 0.2
                      }
                    }
                  }
              ]
            }
            Transform {
              translation 0 0 -8
              children [
                              USE ForwardThrusterCylinder
              ]
            }
        ]
      }
      # Aft vertical thruster
      Transform {
        translation -24 0 0
        children [
                  DEF AftThrusterCylinder Shape {
              geometry Cylinder {
                height 7
                radius 2
              }
              appearance USE BlackAppearance
            }
        ]
      }
      # Long-baseline sonar transponder
      Transform {
        translation -20 3.5 0
        children [
                  DEF LongBaselineSonarTransponder Shape {
              geometry Cylinder {
              }
              appearance USE BlackAppearance
            }
        ]
      }
      # Propellers
      Transform {
        translation -27 0 0
        children [
                  Transform {
              scale 20 26 26
              translation 0 0 7
              children [
                              DEF PropulsionThruster Inline {
                    url [ "ThrusterTechnadyne.x3d" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.x3d" "ThrusterTechnadyne.wrl" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.wrl" ]
                  }
              ]
            }
            Transform {
              scale 20 26 26
              translation 0 0 -7
              children [
                              USE PropulsionThruster
              ]
            }
        ]
      }
      # Payload section
      Transform {
        center 0 1 0
        rotation 0 0 1 -1.57
        translation 0 1 0
        children [
                  Shape {
              geometry Cylinder {
                height 32
                radius 3.5
              }
              appearance USE BlackAppearance
            }
            Transform {
              translation 1 0 6.5
              children [
                              DEF Electronics1 Shape {
                    geometry Cylinder {
                      height 32
                      radius 2.5
                    }
                    appearance USE BlackAppearance
                  }
              ]
            }
            Transform {
              translation 1 0 -6.5
              children [
                              USE Electronics1
              ]
            }
        ]
      }
  ]
}