####################################################################################################
#
# Invoking X3D model self-test:
#
#   $ python OsaII.py
#
# Python package x3d.py package is available on PyPI for import.
#   This approach simplifies Python X3D deployment and use.
#   https://pypi.org/project/x3d
#
# Installation:
#       pip install x3d
# or
#       python -m pip install x3d
#
# Developer options for loading x3d package in other Python programs:
#
#    from x3d import *  # preferred approach, terser source that avoids x3d.* class prefixes
#
# or
#    import x3d         # traditional way to subclass x3d package, all classes require x3d.* prefix,
#                       # but python source is very verbose, for example x3d.Material x3d.Shape etc.
#                       # X3dToPython.xslt stylesheet insertPackagePrefix=true supports this option.
#
####################################################################################################

from x3d import *

newModel=X3D(profile='Immersive',version='3.0',
  head=head(
    children=[
    meta(content='OsaII.x3d',name='title'),
    meta(content='Model of OSA-II missile boat.',name='description'),
    meta(content='Scott Rosetti, LT USNR',name='creator'),
    meta(content='20 July 2003',name='created'),
    meta(content='20 October 2019',name='modified'),
    meta(content='fix Viewpoints, check coordinate systems',name='TODO'),
    meta(content='OsaIISilhoutteStbdSideWhiteBackground.png',name='Image'),
    meta(content='OsaIISilhouttePortSideWhiteBackground.png',name='Image'),
    meta(content='OsaIISilhoutteOverheadWhiteBackground.png',name='Image'),
    meta(content='Jeffrey Weekley',name='reviewed'),
    meta(content='OSA-II missile boat',name='reference'),
    meta(content='http://faculty.nps.edu/brutzman/ShipsMilitary/DDGArleighBurkeUnitedStates/Propellers.x3d',name='reference'),
    meta(content='Osa-II, missile boat, patrol craft, SAVAGE, X3D',name='subject'),
    meta(content='https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/OsaII.x3d',name='identifier'),
    meta(content='X3D-Edit 3.3, https://savage.nps.edu/X3D-Edit',name='generator'),
    meta(content='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit',name='generator'),
    meta(content='https://savage.nps.edu/Savage/Weapons/Missiles/HarpoonExample.x3d',name='reference'),
    meta(content='https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/DDGArleighBurkeUnitedStates/water.x3d',name='reference'),
    meta(content='../../license.html',name='license')]),
  Scene=Scene(
    children=[
    WorldInfo(title='OsaII.x3d'),
    Background(skyColor=[(0,0.3,1)]),
    #  OSA-II missile boat 
    ExternProtoDeclare(name='RGM-84D',url=["../../Weapons/Missiles/HarpoonPrototype.x3d#RGM-84D","https://savage.nps.edu/Savage/Weapons/Missiles/HarpoonPrototype.x3d#RGM-84D","../../Weapons/Missiles/HarpoonPrototype.wrl#RGM-84D","https://savage.nps.edu/Savage/Weapons/Missiles/HarpoonPrototype.wrl#RGM-84D"],
      field=[
      field(accessType='inputOnly',name='STARTLAUNCH',type='SFBool'),
      field(accessType='inputOnly',name='THETIME',type='SFTime')]),
    Transform(DEF='OSA_II',scale=(3.86,3.86,3.86),
      children=[
      Transform(DEF='FREEBOARD',
        children=[
        Shape(
          geometry=Extrusion(creaseAngle=.75,crossSection=[(1,.4),(-1,.4),(-.8,-.1),(.8,-.1),(1,.4)],orientation=[(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(1,0,0,-.6)],scale=[(1,1),(1,1),(1,1),(1,1),(1,1),(.001,1.4)],solid=False,spine=[(-5,0,0),(-4.6,0,0),(0,0,0),(2,0,0),(3,0,0),(5,0,0)]),
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))))]
        #  Extrusion modeling above water portion of hull 
        ),
      Transform(DEF='HULL',
        children=[
        Shape(
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(-.8,-.1),(-.7,-.3),(0,-.5),(.7,-.3),(.8,-.1),(-.8,-.1)],orientation=[(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(1,0,0,-.6)],scale=[(1,1),(1,1),(1,1),(1,1),(1,1),(.001,1.4)],solid=False,spine=[(-5,0,0),(-4.6,0,0),(0,0,0),(2,0,0),(3,0,0),(5,0,0)]),
          appearance=Appearance(
            material=Material(diffuseColor=(1,0,0))))]
        #  Extrusion modeling below-water portion of hull 
        ),
      Transform(DEF='PILOT_HOUSE',translation=(0,0,.4),
        children=[
        Shape(
          geometry=Extrusion(creaseAngle=.5,crossSection=[(.6,0),(.6,.70),(.55,.75),(-.55,.75),(-.6,.65),(-.6,0),(.6,0)],orientation=[(0,0,0,0),(1,0,0,.3)],solid=False,spine=[(1.5,0,0),(2.5,0,0)]),
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))))]
        #  Pilot House - the front-most superstructure that includes bridge 
        ),
      Transform(DEF='AFT_HOUSING',translation=(0,0,.4),
        children=[
        Shape(
          geometry=Extrusion(creaseAngle=.5,crossSection=[(.3,.5),(-.3,.5),(-.3,0),(.3,0),(.3,.5)],orientation=[(0,0,0,0),(1,0,0,-.3)],solid=False,spine=[(-3.5,0,0),(1.8,0,0)]),
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))))]
        #  Aft superstructure that runs down most of vessel 
        ),
      Transform(DEF='FRONT_WINDOWS',rotation=(0,1,0,-.3),
        children=[
        Transform(scale=(.005,.1,.05),translation=(2.51,0,.18),
          children=[
          Shape(DEF='WINDOW',
            geometry=Box(),
            appearance=Appearance(
              material=Material(diffuseColor=(0,0,.6),transparency=.75)))]),
        Transform(scale=(.005,.1,.05),translation=(2.51,.35,.18),
          children=[
          Shape(USE='WINDOW')]),
        Transform(scale=(.005,.1,.05),translation=(2.51,-.35,.18),
          children=[
          Shape(USE='WINDOW')])]),
      Transform(DEF='RIGHT_NO',scale=(.5,.5,.5),translation=(4,-.475,0),
        children=[
        Transform(rotation=(0,0,1,.45),
          children=[
          Transform(rotation=(1,0,0,1.8),
            children=[
            Shape(
              geometry=Text(string=["78"]),
              appearance=Appearance(
                material=Material(diffuseColor=(1,1,1))))])])]),
      Transform(DEF='LEFT_NO',scale=(.5,.5,.5),translation=(4.45,.315,.28),
        children=[
        Transform(rotation=(0,0,1,-.45),
          children=[
          Transform(rotation=(1,0,0,-1.8),
            children=[
            Transform(rotation=(0,1,0,3.1416),
              children=[
              Shape(
                geometry=Text(string=["78"]),
                appearance=Appearance(
                  material=Material(diffuseColor=(1,1,1))))])])])]),
      Transform(DEF='SIDE_WINDOWS',
        children=[
        Transform(rotation=(0,0,1,1.57),scale=(.005,.1,.05),translation=(2.1,.6,.91),
          children=[
          Shape(USE='WINDOW')]),
        Transform(rotation=(0,0,1,1.57),scale=(.005,.1,.05),translation=(2.1,-.6,.91),
          children=[
          Shape(USE='WINDOW')]),
        Transform(rotation=(0,0,1,1.57),scale=(.005,.1,.05),translation=(1.8,.6,.91),
          children=[
          Shape(USE='WINDOW')]),
        Transform(rotation=(0,0,1,1.57),scale=(.005,.1,.05),translation=(1.8,-.6,.91),
          children=[
          Shape(USE='WINDOW')])]),
      Transform(DEF='SIGNAL_HOUSE',
        children=[
        Shape(
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(.45,0),(.45,1.4),(-.45,1.4),(-.45,0),(.45,0)],scale=[(1,.01),(1,.8),(1,1),(1,1)],solid=False,spine=[(.5,0,0),(.75,0,0),(1.3,0,0),(1.7,0,0)]),
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))))]
        #  Aft part of bridge by main mast 
        ),
      Transform(DEF='LAUNCHER',rotation=(0,.16,1,-1.57),translation=(-3.2,-.65,.8),
        #  Styx launcher - Touch Missle cover to fire surface-to-surface missile 
        children=[
        Transform(
          #  Styx launcher 
          children=[
          Transform(DEF='MISSILE',scale=(.2,.2,.2),translation=(0,1,0),
            children=[
            TouchSensor(DEF='MissileTouch',description='triggers missile launch'),
            TimeSensor(DEF='MissileClock'),
            PositionInterpolator(DEF='MissilePath',key=[0.2,1.0],keyValue=[(0,.5,0),(0,30,0)]),
            ROUTE(fromField='fraction_changed',fromNode='MissileClock',toField='set_fraction',toNode='MissilePath'),
            ROUTE(fromField='value_changed',fromNode='MissilePath',toField='set_translation',toNode='MISSILE'),
            ROUTE(fromField='touchTime',fromNode='MissileTouch',toField='startTime',toNode='MissileClock'),
            Transform(DEF='STYX',rotation=(0,0,1,1.570796),translation=(0,-3,0),
              children=[
              ProtoInstance(name='RGM-84D')]),
            Transform(
              children=[
              Sound(
                source=AudioClip(DEF='MissileLaunch',description='Missile launch audio',url=["https://savage.nps.edu/Savage/Weapons/Missiles/MISSILE1.WAV"])),
              ROUTE(fromField='touchTime',fromNode='MissileTouch',toField='set_startTime',toNode='MissileLaunch')])]),
          Transform(DEF='STYX_LAUNCHER',
            children=[
            Inline(url=["StyxMissileTube.x3d","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/StyxMissileTube.x3d","StyxMissileTube.wrl","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/StyxMissileTube.wrl"])])])]),
      Transform(translation=(0,1.3,0),
        children=[
        Transform(DEF='LAUNCHER2',rotation=(0,.16,1,-1.57),translation=(-3.2,-.65,.8),
          #  Styx launcher 
          children=[
          Transform(
            #  Styx launcher 
            children=[
            Transform(DEF='MISSILE2',scale=(.2,.2,.2),translation=(0,1,0),
              children=[
              TouchSensor(DEF='MissileTouch2',description='triggers missile launch'),
              TimeSensor(DEF='MissileClock2'),
              PositionInterpolator(DEF='MissilePath2',key=[0.2,1.0],keyValue=[(0,.5,0),(0,30,0)]),
              ROUTE(fromField='fraction_changed',fromNode='MissileClock2',toField='set_fraction',toNode='MissilePath2'),
              ROUTE(fromField='value_changed',fromNode='MissilePath2',toField='set_translation',toNode='MISSILE2'),
              ROUTE(fromField='touchTime',fromNode='MissileTouch2',toField='startTime',toNode='MissileClock2'),
              Transform(USE='STYX')]),
            Transform(USE='STYX_LAUNCHER')])])]),
      Transform(translation=(2.6,0,0),
        children=[
        Transform(DEF='LAUNCHER3',rotation=(0,.16,1,-1.57),translation=(-3.2,-.65,.8),
          #  Styx launcher 
          children=[
          Transform(
            #  Styx launcher 
            children=[
            Transform(DEF='MISSILE3',scale=(.2,.2,.2),translation=(0,1,0),
              children=[
              TouchSensor(DEF='MissileTouch3',description='triggers missile launch'),
              TimeSensor(DEF='MissileClock3'),
              PositionInterpolator(DEF='MissilePath3',key=[0.2,1.0],keyValue=[(0,.5,0),(0,30,0)]),
              ROUTE(fromField='fraction_changed',fromNode='MissileClock3',toField='set_fraction',toNode='MissilePath3'),
              ROUTE(fromField='value_changed',fromNode='MissilePath3',toField='set_translation',toNode='MISSILE3'),
              ROUTE(fromField='touchTime',fromNode='MissileTouch3',toField='startTime',toNode='MissileClock3'),
              Transform(USE='STYX')]),
            Transform(USE='STYX_LAUNCHER')])])]),
      Transform(translation=(2.6,1.3,0),
        children=[
        Transform(DEF='LAUNCHER4',rotation=(0,.16,1,-1.57),translation=(-3.2,-.65,.8),
          #  Styx launcher 
          children=[
          Transform(
            #  Styx launcher 
            children=[
            Transform(DEF='MISSILE4',scale=(.2,.2,.2),translation=(0,1,0),
              children=[
              TouchSensor(DEF='MissileTouch4',description='triggers missile launch'),
              TimeSensor(DEF='MissileClock4'),
              PositionInterpolator(DEF='MissilePath4',key=[0.2,1.0],keyValue=[(0,.5,0),(0,30,0)]),
              ROUTE(fromField='fraction_changed',fromNode='MissileClock4',toField='set_fraction',toNode='MissilePath4'),
              ROUTE(fromField='value_changed',fromNode='MissilePath4',toField='set_translation',toNode='MISSILE4'),
              ROUTE(fromField='touchTime',fromNode='MissileTouch4',toField='startTime',toNode='MissileClock4'),
              Transform(USE='STYX')]),
            Transform(USE='STYX_LAUNCHER')])])]),
      Transform(DEF='MAIN_MAST',scale=(.075,.075,1),translation=(.7,0,0),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(4,3),(1,1)],solid=False,spine=[(0,0,0),(0,0,3)]))]),
      Transform(DEF='LAUNCHER_BASE',scale=(.3,.15,.1),translation=(-1.2,-.65,.45),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(1,1,1))),
          geometry=Box(),)]),
      Transform(translation=(0,1.3,0),
        children=[
        Transform(USE='LAUNCHER_BASE')]),
      Transform(translation=(-2.55,1.3,0),
        children=[
        Transform(USE='LAUNCHER_BASE')]),
      Transform(translation=(-2.55,0,0),
        children=[
        Transform(USE='LAUNCHER_BASE')]),
      Transform(DEF='GUN_MOUNT',
        #  forward gun mount 
        children=[
        Inline(url=["GunMount.wrl","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/GunMount.wrl","GunMount.x3d","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/GunMount.x3d"])]),
      Transform(rotation=(0,0,1,3.14),translation=(-1.2,0,0),
        #  aft gun mount 
        children=[
        Transform(USE='GUN_MOUNT')]),
      Transform(DEF='AFT_RADAR',translation=(-3,0,.8),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.2,.2),(.2,.2)],solid=False,spine=[(0,0,0),(0,0,.4)])),
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.3,.3),(.3,.3)],solid=False,spine=[(0,0,.4),(0,0,.45)])),
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.3,.3,.3))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.1,.1),(.1,.1)],solid=False,spine=[(0,0,.45),(0,0,.55)])),
        Transform(rotation=(0,1,0,-1.3),translation=(.68,0,.5),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.3,.3,.3))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.075,.075),(.12,.12),(.18,.18),(.18,.18),(.12,.12),(.075,.075)],solid=False,spine=[(0,0,.55),(0,0,.58),(0,0,.65),(0,0,.80),(0,0,.87),(0,0,.9)]))]),
        Transform(scale=(.28,.28,.2),translation=(0,0,.6),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(1,0,0),(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0),(-.707,-.707,0),(0,-1,0),(.707,-.707,0),(1,0,0)]))]),
        Transform(
          children=[
          Transform(rotation=(1,0,0,1.57),translation=(.27,0,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.27,0,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(0,.27,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(0,-.27,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(.19,.19,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.19,-.19,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.19,.19,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(.19,-.19,.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))])])]
        #  aft radar located near rear of ship on platform 
        ),
      Transform(DEF='MAST_FWD_RADAR',rotation=(0,0,1,1.17),scale=(.6,.6,.6),translation=(1.2,0,2.2),
        children=[
        Transform(scale=(.28,.28,.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
        Transform(scale=(.28,.28,.2),translation=(0,0,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
        Transform(scale=(.28,.28,.2),translation=(0,0,.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
        Transform(rotation=(1,0,0,1.57),translation=(-.252,.098,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(0,.28,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(-.28,0,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(.098,.2385,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(-.197,.197,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(.197,.197,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(-.098,.252,.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.2,radius=.01))]),
        Transform(rotation=(1,0,0,1.57),translation=(0,0,.035),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cone(bottomRadius=.05,height=.08))]),
        Transform(rotation=(0,0,1,-1.21),translation=(-.04,.09,0),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Box(size=(.3,.03,.01)))]),
        OrientationInterpolator(DEF='RadarPath',key=[0.0,0.50,1.0],keyValue=[(0.0,0.0,1.0,0.0),(0.0,0.0,1.0,3.14),(0.0,0.0,1.0,6.28)]),
        TimeSensor(DEF='Clock',cycleInterval=4.0,loop=True),
        ROUTE(fromField='fraction_changed',fromNode='Clock',toField='set_fraction',toNode='RadarPath'),
        ROUTE(fromField='value_changed',fromNode='RadarPath',toField='set_rotation',toNode='MAST_FWD_RADAR'),
        Transform(rotation=(1,0,0,1.57),translation=(0,0,-.03),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Cylinder(height=.03,radius=.02))])]
        #  forward main mast radar...rotates on time sensor 
        ),
      Transform(DEF='MAST_FWD_BEAM',scale=(.8,.06,.02),translation=(.6,0,2.15),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.2,1.2),(1,1)],solid=False,spine=[(0,0,0),(1,0,0)]))]
        #  beam which houses forward radar 
        ),
      Transform(DEF='MAST_AFT_ARM',rotation=(0,0,1,3.14),translation=(1.4,0,-.25),
        children=[
        Transform(DEF='MAST_AFT_BEAM',scale=(.8,.06,.02),translation=(.6,0,2.15),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.2,1.2),(1,1)],solid=False,spine=[(0,0,0),(1,0,0)]))]),
        Transform(DEF='MAST_AFT_RADAR',rotation=(0,0,1,1.17),scale=(.6,.6,.6),translation=(1.2,0,2.2),
          children=[
          Transform(scale=(.28,.28,.2),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
          Transform(scale=(.28,.28,.2),translation=(0,0,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
          Transform(scale=(.28,.28,.2),translation=(0,0,.2),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0)]))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.252,.098,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(0,.28,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.28,0,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(.098,.2385,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.197,.197,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(.197,.197,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(-.098,.252,.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.2,radius=.01))]),
          Transform(rotation=(1,0,0,1.57),translation=(0,0,.035),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cone(bottomRadius=.05,height=.08))]),
          Transform(rotation=(0,0,1,-1.21),translation=(-.04,.09,0),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Box(size=(.3,.03,.01)))]),
          OrientationInterpolator(DEF='RadarPathB',key=[0.0,0.50,1.0],keyValue=[(0.0,0.0,1.0,0.0),(0.0,0.0,1.0,3.14),(0.0,0.0,1.0,6.28)]),
          TimeSensor(DEF='ClockB',cycleInterval=4.0,loop=True),
          ROUTE(fromField='fraction_changed',fromNode='ClockB',toField='set_fraction',toNode='RadarPathB'),
          ROUTE(fromField='value_changed',fromNode='RadarPath',toField='set_rotation',toNode='MAST_AFT_RADAR'),
          Transform(rotation=(1,0,0,1.57),translation=(0,0,-.03),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Cylinder(height=.03,radius=.02))])]),
        Transform(DEF='SUPPORTS_LOWER',
          children=[
          Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,.03,2),
            children=[
            Transform(
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(diffuseColor=(.6,.6,.6))),
                geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])]),
          Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,-.03,2),
            children=[
            Transform(
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(diffuseColor=(.6,.6,.6))),
                geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])])])]
        #  includes beam and radar on aft part of main mast 
        ),
      Transform(DEF='CROW_NEST',scale=(.1,.1,1),translation=(.7,0,2.93),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05),(.05,.05)],solid=False,spine=[(1,0,0),(.707,.707,0),(0,1,0),(-.707,.707,0),(-1,0,0),(-.707,-.707,0),(0,-1,0),(.707,-.707,0),(1,0,0)])),
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))),
          geometry=Box(size=(1.9,.2,.1)))]
        #  mini-platform on top of main mast that houses main radar 
        ),
      Transform(DEF='SUPPORTS_UPPER',
        children=[
        Transform(
          children=[
          Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,.03,2),
            children=[
            Transform(
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(diffuseColor=(.6,.6,.6))),
                geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])]),
          Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,-.03,2),
            children=[
            Transform(
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(diffuseColor=(.6,.6,.6))),
                geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])])])]
        #  suppports for main mast beams 
        ),
      Transform(DEF='LOWER_ARM',scale=(.6,1,1),translation=(.3,0,-.4),
        children=[
        Transform(
          children=[
          Transform(
            children=[
            Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,.03,2),
              children=[
              Transform(
                children=[
                Shape(
                  appearance=Appearance(
                    material=Material(diffuseColor=(.6,.6,.6))),
                  geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])]),
            Transform(rotation=(0,1,0,1.36),scale=(.02,.02,.86),translation=(0.7,-.03,2),
              children=[
              Transform(
                children=[
                Shape(
                  appearance=Appearance(
                    material=Material(diffuseColor=(.6,.6,.6))),
                  geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.8)]))])])])]),
        Transform(scale=(.8,.06,.02),translation=(.6,0,2.15),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.2,1.2),(1,1)],solid=False,spine=[(0,0,0),(1,0,0)]))]),
        Transform(rotation=(1,0,0,1.57),scale=(1.67,1,1),translation=(1.28,0,2.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.625,0,.125))),
            geometry=Cylinder(height=.08,radius=.04,top=False)),
          Transform(translation=(0,0.04,0),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.625,0,.125))),
              geometry=Sphere(radius=.04))])])]
        #  forward facing lower beam that houses signal light 
        ),
      Transform(DEF='NON_SKID'),
      Switch(whichChoice=0,
        children=[
        Transform(translation=(0,0,.01),
          children=[
          Shape(
            geometry=Extrusion(creaseAngle=.75,crossSection=[(1,.4),(-1,.4),(-.98,.38),(.98,.38),(1,.4)],orientation=[(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(0,0,0,0),(1,0,0,-.6)],scale=[(1,1),(1,1),(1,1),(1,1),(1,1),(.01,1.4)],solid=False,spine=[(-5,0,0),(-4.6,0,0),(0,0,0),(2,0,0),(3,0,0),(5,0,0)]),
            appearance=Appearance(
              material=Material(diffuseColor=(.2,.2,.2))))])]
        #  non-skid surface on weatherdecks 
        ),
      Transform(DEF='YARDARM',
        children=[
        Transform(translation=(.7,-.65,2.5),
          children=[
          Transform(DEF='MAST_CROSS_BEAM',rotation=(0,0,1,1.57),scale=(.8,.06,.02),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.2,1.2),(1,1)],solid=False,spine=[(0,0,0),(1.6,0,0)]))])]),
        Transform(rotation=(1,0,0,.2),translation=(0,.2,0),
          children=[
          Transform(rotation=(1,0,0,1.57),translation=(.7,-.3,1.6),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(1,1,1))),
              geometry=Cylinder(radius=.005))])]),
        Transform(rotation=(1,0,0,.12),translation=(0,.25,-.05),
          children=[
          Transform(rotation=(1,0,0,1.57),translation=(.7,-.3,1.6),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(1,1,1))),
              geometry=Cylinder(radius=.005))])]),
        Transform(rotation=(1,0,0,-.2),translation=(0,.37,-.1),
          children=[
          Transform(rotation=(1,0,0,1.57),translation=(.7,-.3,1.6),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(1,1,1))),
              geometry=Cylinder(radius=.005))])]),
        Transform(rotation=(1,0,0,-.12),translation=(0,.33,-.1),
          children=[
          Transform(rotation=(1,0,0,1.57),translation=(.7,-.3,1.6),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(1,1,1))),
              geometry=Cylinder(radius=.005))])])]
        #  main beam on main mast that is used as flaghoist 
        ),
      Transform(DEF='MAST_LADDER',
        children=[
        Transform(rotation=(0,0,1,1.57),translation=(.55,0,1.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.555,0,1.3),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.56,0,1.4),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.565,0,1.5),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.57,0,1.6),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.575,0,1.7),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.605,0,2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.61,0,2.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.615,0,2.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(rotation=(0,0,1,1.57),translation=(.620,0,2.3),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))])]
        #  ladder going up aft part of main mast 
        ),
      Transform(DEF='PORT_BRIDGE_LADDER',translation=(.8,.4,-.4),
        children=[
        Transform(translation=(.55,0,1.2),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(translation=(.555,0,1.3),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(translation=(.56,0,1.4),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(translation=(.565,0,1.5),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(translation=(.57,0,1.6),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
        Transform(translation=(.55,0,1.1),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))),
            geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))])]
        #  ladder on port side of bridge 
        ),
      Transform(DEF='STBD_BRIDGE_LADDER',translation=(1.9,-.4,-.4),
        children=[
        Transform(rotation=(0,0,1,3.1416),
          children=[
          Transform(translation=(.55,0,1.2),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
          Transform(translation=(.555,0,1.3),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
          Transform(translation=(.56,0,1.4),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
          Transform(translation=(.565,0,1.5),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
          Transform(translation=(.57,0,1.6),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))]),
          Transform(translation=(.55,0,1.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(.01,.01),(.01,.01),(.01,.01),(.01,.01)],solid=False,spine=[(.08,0,0),(.08,.08,0),(-.08,.08,0),(-.08,0,0)]))])])]
        #  ladder on starboard side of bridge 
        ),
      Transform(DEF='FWD_ANT',translation=(1.85,0,1.157),
        children=[
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=.1,radius=.02),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))]),
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=3,radius=.005),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))])]
        #  HF antenna above pilot house 
        ),
      Transform(DEF='MID_ANT',translation=(-.65,0,.95),
        children=[
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=.1,radius=.02),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))]),
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=2.8,radius=.005),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))])]
        #  HF antenna midships 
        ),
      Transform(DEF='AFT_ANT',translation=(-2.2,0,.95),
        children=[
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=.1,radius=.02),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))]),
        Transform(rotation=(1,0,0,1.57),
          children=[
          Shape(
            geometry=Cylinder(height=2.8,radius=.005),
            appearance=Appearance(
              material=Material(diffuseColor=(.6,.6,.6))))])]
        #  HF antenna aft 
        ),
      Transform(
        children=[
        Shape(
          appearance=Appearance(
            material=Material(diffuseColor=(.6,.6,.6))))]),
      Transform(DEF='MAIN_RADAR',translation=(.7,0,2.95),
        children=[
        Transform(scale=(.25,.25,.25),translation=(.15,0,0),
          children=[
          Transform(rotation=(0,1,0,-.15),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.3,.3,.3))),
              geometry=Extrusion(crossSection=[(1,.3),(.6,.7),(-.6,.7),(-1,.3),(-1,-.3),(-.6,-.7),(.6,-.7),(1,-.3),(1,.3)],scale=[(1,1),(1,1)],solid=False,spine=[(0,0,0),(.05,0,0)]))]),
          Transform(translation=(-1.3,0,-.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.3,.3,.3))),
              geometry=Box(size=(.3,.3,.3)))]),
          Transform(translation=(-.2,0,0),
            children=[
            Transform(rotation=(0,1,0,-.15),
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(diffuseColor=(.6,.6,.6))),
                geometry=Box(size=(.35,.7,.5)))])]),
          Transform(rotation=(0,1,0,1.57),scale=(.1,.1,2),translation=(-1.2,0,-.1),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(diffuseColor=(.6,.6,.6))),
              geometry=Extrusion(creaseAngle=1.5,crossSection=[(1,0),(.707,.707),(0,1),(-.707,.707),(-1,0),(-.707,-.707),(0,-1),(.707,-.707),(1,0)],scale=[(1.1,1.1),(1,1)],solid=False,spine=[(0,0,0),(0,0,.3)]))])]),
        OrientationInterpolator(DEF='RadarPathC',key=[0.0,0.50,1.0],keyValue=[(0.0,0.0,1.0,0.0),(0.0,0.0,1.0,3.14),(0.0,0.0,1.0,6.28)]),
        TimeSensor(DEF='ClockC',cycleInterval=4.0,loop=True),
        ROUTE(fromField='fraction_changed',fromNode='ClockC',toField='set_fraction',toNode='RadarPathC'),
        ROUTE(fromField='value_changed',fromNode='RadarPathC',toField='set_rotation',toNode='MAIN_RADAR')]
        #  main radar located on very top of main mast 
        ),
      Transform(DEF='STBD_RUDDER',translation=(-4.65,-.4,-.77),
        children=[
        Transform(rotation=(0,0,1,-1.57),scale=(2,1,.35),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(1,0,0))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(.01,.2),(-.01,.2),(-.012,.05),(-.01,-.1),(-.008,-.15),(-.005,-.17),(0,-.2),(.005,-.17),(.008,-.15),(.01,-.1),(.012,.05),(.01,.2)],scale=[(1,1),(1,1)],solid=False,spine=[(0,0,0),(0,0,1)]))]),
        Transform(translation=(.15,0,.32),
          children=[
          Transform(rotation=(1,0,0,1.57),
            children=[
            Shape(
              geometry=Cylinder(height=.2,radius=.01),
              appearance=Appearance(
                material=Material(diffuseColor=(1,0,0))))])])]
        #  starboard rudder 
        ),
      Transform(DEF='PORT_RUDDER',translation=(-4.65,.4,-.77),
        children=[
        Transform(rotation=(0,0,1,-1.57),scale=(1.5,1,.35),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(1,0,0))),
            geometry=Extrusion(creaseAngle=1.5,crossSection=[(.01,.2),(-.01,.2),(-.012,.05),(-.01,-.1),(-.008,-.15),(-.005,-.17),(0,-.2),(.005,-.17),(.008,-.15),(.01,-.1),(.012,.05),(.01,.2)],scale=[(1,1),(1,1)],solid=False,spine=[(0,0,0),(0,0,1)]))]),
        Transform(translation=(.15,0,.32),
          children=[
          Transform(rotation=(1,0,0,1.57),
            children=[
            Shape(
              geometry=Cylinder(height=.2,radius=.01),
              appearance=Appearance(
                material=Material(diffuseColor=(1,0,0))))])])]
        #  port rudder 
        ),
      Transform(
        #  3-shaft propulsion system to include shafts, propellers, and struts. Basis for shafts and propellers taken from James Harney DDG model (see reference). 
        children=[
        Inline(url=["Propulsion.x3d","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/Propulsion.x3d","Propulsion.wrl","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/Propulsion.wrl"])]),
      Group(DEF='WATER',
        #  Switch added to turn off water for easy inlining. 
        children=[
        Switch(whichChoice=-1,
          children=[
          Transform(translation=(0,-25,0),
            children=[
            Inline(url=["Water.x3d","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/Water.x3d","Water.wrl","https://savage.nps.edu/Savage/ShipsMilitary/MissileAttackBoatOsaII/Water.wrl"])])])]),
      Viewpoint(description='Starboard Side',orientation=(1,0,0,1.5),position=(0,-20,4)),
      Viewpoint(description='Port Side',orientation=(1,0,0,-1.5),position=(0,20,4)),
      Transform(rotation=(0,0,1,-1.57),translation=(2.5,0,-1),
        children=[
        Transform(rotation=(1,0,0,1.57),
          children=[
          Viewpoint(description='props')])]),
      Transform(rotation=(0,0,1,-1.57),translation=(3,0,1),
        children=[
        Transform(rotation=(1,0,0,1.4),
          children=[
          Viewpoint(description='launcher')])]),
      Transform(
        children=[
        Transform(translation=(2.8,0,1),
          children=[
          Transform(rotation=(0,0,1,-1.57),
            children=[
            Transform(rotation=(1,0,0,1.3),
              children=[
              Viewpoint(description='bridge',position=(0,0,0))])])])])])])
) # X3D model complete

####################################################################################################
# Self-test diagnostics
####################################################################################################

print('Self-test diagnostics for OsaII.py:')
if        metaDiagnostics(newModel): # built-in utility method in X3D class
    print(metaDiagnostics(newModel)) # display meta info, hint, warning, error, TODO values in this model
# print('check newModel.XML() serialization...')
newModelXML= newModel.XML() # test export method XML() for exceptions during export
newModel.XMLvalidate()
# print(newModelXML) # diagnostic

try:
#   print('check newModel.VRML() serialization...')
    newModelVRML=newModel.VRML() # test export method VRML() for exceptions during export
    # print(prependLineNumbers(newModelVRML)) # debug
    print("Python-to-VRML export of VRML output successful", flush=True)
except Exception as err: # usually BaseException
    # https://stackoverflow.com/questions/18176602/how-to-get-the-name-of-an-exception-that-was-caught-in-python
    print("*** Python-to-VRML export of VRML output failed:", type(err).__name__, err)
    if newModelVRML: # may have failed to generate
        print(prependLineNumbers(newModelVRML, err.lineno))

try:
#   print('check newModel.JSON() serialization...')
    newModelJSON=newModel.JSON() # test export method JSON() for exceptions during export
#   print(prependLineNumbers(newModelJSON)) # debug
    print("Python-to-JSON export of JSON output successful (under development)")
except Exception as err: # usually SyntaxError
    print("*** Python-to-JSON export of JSON output failed:", type(err).__name__, err)
    if newModelJSON: # may have failed to generate
        print(prependLineNumbers(newModelJSON,err.lineno))

print("python OsaII.py load and self-test diagnostics complete.")