#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" "ThrusterTechnadyne.x3d"
META "creator" "Don Brutzman and Jeff Weekley"
META "description" "A thruster is a shrouded propeller used for propulsion or posture control."
META "created" "15 March 2001"
META "modified" "20 October 2019"
META "identifier" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  title "ThrusterTechnadyne.x3d"
}
Group {
  children [
      # Outer blue casing
      Shape {
        geometry Extrusion {
          beginCap FALSE
          creaseAngle 2
          crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 ]
          endCap FALSE
          scale [ 0.09 0.09 0.08 0.08 0.07 0.07 0.08 0.08 0.09 0.09 ]
          spine [ -0.08 0 0 0.08 0 0 0.08 0 0 -0.08 0 0 -0.08 0 0 ]
        }
        appearance Appearance {
          material Material {
            diffuseColor 0 0.7 1
          }
        }
      }
      # Screw and shaft
      Group {
        children [
                  Transform {
              rotation 0 0 1 1.57079
              translation .0281 0 0
              children [
                              DEF SCREW_SHAFT Shape {
                    appearance DEF SCREW_APPEARANCE Appearance {
                      material Material {
                        diffuseColor .226 .197 0
                      }
                    }
                    geometry Cylinder {
                      height .0762
                      radius .008
                      top FALSE
                    }
                  }
                  DEF Motor Transform {
                    translation 0 -0.1 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            height 0.175
                            radius 0.05
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.25 0.3 0.33
                            }
                          }
                        }
                    ]
                  }
              ]
            }
            Transform {
              rotation 0 0 1 1.57079
              translation -.015 0 0
              children [
                              DEF SHAFT_END_CAP Shape {
                    appearance USE SCREW_APPEARANCE
                    geometry Cone {
                      bottom FALSE
                      bottomRadius .008
                      height .01
                    }
                  }
              ]
            }
            DEF STARBOARD_BLADE Transform {
              children [
                              Transform {
                    rotation 0 1 0 -.39
                    children [
                                          Shape {
                          appearance USE SCREW_APPEARANCE
                          geometry IndexedFaceSet {
                            coordIndex [ 0 1 2 3 4 5 6 7 -1 0 7 6 5 4 3 2 1 -1 ]
                            coord DEF BLADE_COORDINATES Coordinate {
                              point [ 0 0 -.00508 0 .02540 -.02032 0 .04572 -.01524 0 .05080 -.00508 0 .05080 .00508 0 .04572 .01524 0 .02540 .02032 0 0 .00508 ]
                            }
                          }
                        }
                    ]
                  }
              ]
            }
            Transform {
              rotation 1 0 0 1.57079
              children [
                              USE STARBOARD_BLADE
              ]
            }
            Transform {
              rotation 1 0 0 3.14159267
              children [
                              USE STARBOARD_BLADE
              ]
            }
            Transform {
              rotation 1 0 0 -1.57079
              children [
                              USE STARBOARD_BLADE
              ]
            }
        ]
      }
  ]
}