<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://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 =' https://www.web3d.org/specifications/x3d-3.0.xsd '>
<head>
<meta name='titlecontent='Manta4.x3d'/>
<meta name='descriptioncontent='Original model of Manta UUV by Naval Undersea Warfare Center (NUWC) Newport Rhode Island.'/>
<meta name='creatorcontent='Mark Boyd'/>
<meta name='translatorcontent='Don Brutzman'/>
<meta name='createdcontent='21 May 1997'/>
<meta name='translatedcontent='7 June 2004'/>
<meta name='modifiedcontent='20 October 2019'/>
<meta name='subjectcontent='Manta UUV'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Manta4.x3d '/>
<meta name='generatorcontent='Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!--

Index for DEF nodes : C, CONEMAT, CONETRA, P, S, SONAR, SonarTimer, SOUND_SOURCE, SPHEREGEO

Index for Viewpoint image : Viewpoint_1
-->
<Scene>
<WorldInfo title='Manta4.x3d'/>
<Viewpoint description='Manta side viewposition='0 0 20'/>
<!-- correct strange coordinate system for this model to align with Y up, X north, Z east -->
<Transform rotation='1.0 0.0 0.0 -1.57'>
<Transform rotation='0.0 0.0 -1.0 1.57'>
<Shape>
<Appearance>
<Material ambientIntensity='0.1diffuseColor='0.5 0.5 0.5shininess='0.3specularColor='0.83 0.83 0.83'/>
</Appearance>
<Extrusion convex='falsecreaseAngle='1.785crossSection='-3.0 -0.31034 -2.4 -0.10345 -1.8 -0.31034 -1.2 -0.82759 -0.6 -1.24138 0.0 -1.34483 0.6 -1.24138 1.2 -0.82759 1.8 -0.31034 2.4 -0.10345 3.0 -0.31034 2.4 0.47586 1.8 0.95172 1.2 1.34483 0.6 1.55172 0.0 1.65517 -0.6 1.55172 -1.2 1.34483 -1.8 0.95172 -2.4 0.47586 -3.0 -0.31034scale='0.07 0.04 0.2 0.1 0.27 0.2 0.53 0.4 0.75 0.6 0.88 0.8 0.98 0.95 1.0 1.0 1.0 1.0 0.97 0.95 0.95 0.85 0.93 0.75 0.88 0.65 0.81 0.55 0.73 0.45 0.65 0.35 0.55 0.25 0.45 0.17 0.35 0.1 0.25 0.03 0.2 0.02 0.15 0.01 0.04 0.0010solid='falsespine='0.0 -7.14 0.0 0.0 -6.96 0.0 0.0 -6.79 0.0 0.0 -5.71 0.0 0.0 -4.29 0.0 0.0 -2.86 0.0 0.0 -1.43 0.0 0.0 0.0 0.0 0.0 0.36 0.0 0.0 2.86 0.0 0.0 4.29 0.0 0.0 5.71 0.0 0.0 7.14 0.0 0.0 8.57 0.0 0.0 10.0 0.0 0.0 11.43 0.0 0.0 12.86 0.0 0.0 14.29 0.0 0.0 15.71 0.0 0.0 17.14 0.0 0.0 17.5 0.0 0.0 17.68 0.0 0.0 17.86 0.0'/>
</Shape>
<Transform rotation='0.0 0.0 1.0 1.57translation='0.0 15.0 0.0'>
<Transform rotation='1.0 0.0 0.0 1.57'>
<Transform DEF='SONARrotation='0.0 0.0 1.0 1.57'>
<!-- ROUTE information for CONETRA node:  [from S.value_changed to scale ] [from P.value_changed to translation ] -->
<Transform DEF='CONETRAcenter='0.0 15.0 0.0'>
<Shape>
<Appearance>
<!-- ROUTE information for CONEMAT node:  [from C.value_changed to set_diffuseColor ] -->
<Material DEF='CONEMATdiffuseColor='0.0 1.0 0.0transparency='0.5'/>
</Appearance>
<Sphere DEF='SPHEREGEOradius='0.1'/>
</Shape>
</Transform>
</Transform>
<Sound maxBack='500.0maxFront='500.0minBack='50.0minFront='50.0'>
<!-- ROUTE information for SOUND_SOURCE node:  [from SonarTimer.cycleTime to set_startTime ] -->
<AudioClip DEF='SOUND_SOURCEdescription='Sonar688'
  url=' "Sonar688.wav" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Sonar688.wav" '/>
</Sound>
<!-- ROUTE information for S node:  [from SonarTimer.fraction_changed to set_fraction ] [from value_changed to CONETRA.scale ] -->
<PositionInterpolator DEF='Skey='0.0 0.137 0.411 0.411 1.0keyValue='1.0 1.0 1.0 300.0 1.0 1500.0 900.0 1.0 4500.0 0.0010 0.0010 0.0010 0.0010 0.0010 0.0010'/>
<!-- ROUTE information for P node:  [from SonarTimer.fraction_changed to set_fraction ] [from value_changed to CONETRA.translation ] -->
<PositionInterpolator DEF='Pkey='0.0 0.137 0.411 0.411 1.0keyValue='0.0 0.0 0.0 0.0 -1015.0 0.0 0.0 -3045.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0'/>
<!-- ROUTE information for C node:  [from SonarTimer.fraction_changed to set_fraction ] [from value_changed to CONEMAT.set_diffuseColor ] -->
<ColorInterpolator DEF='Ckey='0.0 0.137 0.205 0.274 0.411 1.0keyValue='0.0 1.0 0.0 0.0 1.0 0.0 1.0 0.2 0.2 1.0 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0'/>
<!-- ROUTE information for SonarTimer node:  [from cycleTime to SOUND_SOURCE.set_startTime ] [from fraction_changed to S.set_fraction ] [from fraction_changed to P.set_fraction ] [from fraction_changed to C.set_fraction ] -->
<TimeSensor DEF='SonarTimercycleInterval='5.0loop='true'/>
<ROUTE fromNode='SonarTimerfromField='cycleTimetoNode='SOUND_SOURCEtoField='set_startTime'/>
<ROUTE fromNode='SonarTimerfromField='fraction_changedtoNode='StoField='set_fraction'/>
<ROUTE fromNode='SonarTimerfromField='fraction_changedtoNode='PtoField='set_fraction'/>
<ROUTE fromNode='SonarTimerfromField='fraction_changedtoNode='CtoField='set_fraction'/>
<ROUTE fromNode='SfromField='value_changedtoNode='CONETRAtoField='scale'/>
<ROUTE fromNode='PfromField='value_changedtoNode='CONETRAtoField='translation'/>
<ROUTE fromNode='CfromField='value_changedtoNode='CONEMATtoField='set_diffuseColor'/>
</Transform>
</Transform>
<Transform rotation='1.0 0.0 0.0 1.57translation='0.0 -1.5 1.5'>
<Shape>
<Appearance>
<Material diffuseColor='0.0 0.5 0.0'/>
</Appearance>
<Extrusion creaseAngle='1.78crossSection='-0.25 0.9 0.25 0.9 0.25 -3.5 -0.25 -3.5 -0.25 0.9scale='1.0 1.6 1.0 1.2 1.0 0.8 1.0 0.4spine='0.0 -0.25 0.0 0.0 0.35 0.0 0.0 0.7 0.0 0.0 1.0 0.0'/>
</Shape>
</Transform>
</Transform>
</Transform>
</Scene>
</X3D>
<!--

Index for DEF nodes : C, CONEMAT, CONETRA, P, S, SONAR, SonarTimer, SOUND_SOURCE, SPHEREGEO

Index for Viewpoint image : Viewpoint_1
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
(Light blue background: behavior node) (Grey background: inserted documentation) (Magenta background: X3D Extensibility)
-->

<!-- For additional help information about X3D scenes, please see X3D Tooltips, X3D Resources and X3D Scene Authoring Hints. -->