#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" "Type209GlafkosDieselSubmarine.x3d"
META "description" "A Hellenic fleet submarine."
META "creator" "Anthony Varelas"
META "created" "1 eptember 2002"
META "modified" "28 November 2019"
META "reference" "ArleighBurkePropeller.wrl Mk48.Torpedo.wrl HarpoonPrototype.wrl Radar3.wrl sonar.wav MISSILE.wav"
META "warning" "need to scale to real-world size."
META "warning" "Torpedoes and missiles need to get moved to submarine-independent coordinate system."
META "warning" "Inline Harpoon needs to get converted to Harpoon ExternProtoDeclare"
META "identifier" "https://savage.nps.edu/Savage/Submarines/Various/Type209GlafkosDieselSubmarine.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  title "Type209GlafkosDieselSubmarine.x3d"
}
Background {
  groundAngle [ 1.5 ]
  groundColor [ 0 0.2 0.7 0 0.6 0.9 ]
  skyAngle [ 0.654 1.309 ]
  skyColor [ 1 1 1 0 0.5 1 0 0.5 1 ]
}
Viewpoint {
  description "Type 209 Glafkos Diesel Submarine"
  fieldOfView 1.047
  position 1.5 -1.035 15.5
}
DEF Submarine Transform {
  center 0 0 -5
  children [
      # Construction of the Hull
      DEF Hull Transform {
        center 0 0.42 0
        scale 1 1.3 1
        children [
                  Transform {
              rotation 0 0 1 1.57
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0 0 0
                        emissiveColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 12.375
                      radius 0.84
                    }
                  }
              ]
            }
            Transform {
              rotation 0 0 1 1.57
              translation -6.184 0 0
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Extrusion {
                      beginCap FALSE
                      creaseAngle 1.57
                      crossSection [ 1 0 0.92 -0.38 0.71 -0.71 0.38 -0.92 0 -1 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1 0 -0.92 0.38 -0.71 0.71 -0.38 0.92 0 1 0.38 0.92 0.71 0.71 0.92 0.38 1 0 ]
                      scale [ 0.84 0.84 0.81 0.81 0.77 0.77 0.74 0.74 0.70 0.70 0.66 0.66 0.62 0.62 0.57 0.57 0.52 0.52 0.47 0.47 0.41 0.41 0.33 0.33 0.24 0.24 0.15 0.15 0.06 0.06 ]
                      spine [ 0 0 0 0 0.3 0 0 0.6 0 0 0.9 0 0 1.2 0 0 1.5 0 0 1.8 0 0 2.1 0 0 2.4 0 0 2.7 0 0 3 0 0 3.3 0 0 3.6 0 0 3.9 0 0 4.2 0 ]
                    }
                  }
              ]
            }
            Transform {
              scale 0.6 1 1
              translation 6.1875 0 0
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Sphere {
                      radius 0.825
                    }
                  }
              ]
            }
            Transform {
              scale 7.63 0.53 0.5
              translation -0.04 0.61 0
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Extrusion {
                      creaseAngle 1.57
                      crossSection [ 1 0 0.92 -0.38 0.71 -0.71 0.38 -0.92 0 -1 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1 -0 -0.92 0.38 -0.71 0.71 -0.38 0.92 0 1 0.38 0.92 0.71 0.71 0.92 0.38 1 0 ]
                      scale [ 0.815 0.94 0.815 0.92 0.815 0.90 0.815 0.88 0.815 0.86 0.815 0.84 0.815 0.82 0.8 0.8 0.78 0.78 0.76 0.76 ]
                      spine [ 0 0.15 0 0 0.2 0 0 0.25 0 0 0.3 0 0 0.35 0 0 0.4 0 0 0.45 0 0 0.5 0 0 0.55 0 0 0.6 0 ]
                    }
                  }
              ]
            }
        ]
      }
      # Construction of the Tower
      DEF Tower Transform {
        children [
                  DEF TowerBody Transform {
              scale 5.357 1 1
              translation 0.84375 1.455 0
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 1.5
                      radius 0.28
                    }
                  }
              ]
            }
            # Construction of the Hatch
            DEF Hatch Transform {
              children [
                              DEF HatchBase Transform {
                    translation 1.34 2.244 0
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                            }
                          }
                          geometry Cylinder {
                            height 0.08
                            radius 0.17
                          }
                        }
                    ]
                  }
                  Transform {
                    children [
                                          DEF HatchCover Group {
                          children [
                                                      Transform {
                                translation 1.33 2.2965 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor 0.15 0.175 0.175
                                        }
                                      }
                                      geometry Cylinder {
                                        height 0.0216
                                        radius 0.189
                                      }
                                    }
                                ]
                              }
                              Transform {
                                translation 1.438 2.2985 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor 0.15 0.175 0.175
                                        }
                                      }
                                      geometry Box {
                                        size 0.216 0.0216 0.378
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 1 0 0 1.57
                                translation 1.5415 2.2904 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor 0.15 0.175 0.175
                                        }
                                      }
                                      geometry Cylinder {
                                        height 0.378
                                        radius 0.027
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF Radar Transform {
              children [
                              Transform {
                    translation 0.84375 3.001875 0
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.59375
                            radius 0.0385
                          }
                        }
                    ]
                  }
                  Transform {
                    scale 0.1 0.1 0.1
                    translation 0.84375 3.9 0
                    children [
                                          Inline {
                          url [ "SubmarineRadar.x3d" "https://savage.nps.edu/Savage/Submarines/Various/SubmarineRadar.x3d" "SubmarineRadar.wrl" "https://savage.nps.edu/Savage/Submarines/Various/SubmarineRadar.wrl" ]
                        }
                    ]
                  }
              ]
            }
            # Construction of Snorkelling device
            DEF Snorkelling Transform {
              translation 0.4 2.908125 0
              children [
                              DEF SnorkellingTube Transform {
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.40625
                            radius 0.09
                          }
                        }
                    ]
                  }
                  DEF SnorkellingCover Transform {
                    scale 0.49 0.65 0.49
                    translation -0.66 -0.79 0
                    children [
                                          USE HatchCover
                    ]
                  }
              ]
            }
            # Construction of Periscope #1
            DEF Periscope1 Transform {
              children [
                              Transform {
                    translation 2 2.7675 0
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.125
                            radius 0.025
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 2 3.25 0
                    children [
                                          DEF PeriscopeTop Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 0.1
                            radius 0.04
                          }
                        }
                    ]
                  }
                  Transform {
                    rotation 1 0 0 1.57
                    translation 2 3.25 0
                    children [
                                          DEF PeriscopeLens Shape {
                          appearance Appearance {
                            material Material {
                            }
                          }
                          geometry Cylinder {
                            height 0.08
                            radius 0.028
                          }
                        }
                    ]
                  }
              ]
            }
            # Construction of Periscope #2
            DEF Periscope2 Transform {
              children [
                              Transform {
                    translation 1.7 3.001875 0
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.59375
                            radius 0.025
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 1.7 3.72 0
                    children [
                                          USE PeriscopeTop
                    ]
                  }
                  Transform {
                    rotation 1 0 0 1.57
                    translation 1.7 3.72 0
                    children [
                                          USE PeriscopeLens
                    ]
                  }
              ]
            }
            Transform {
              children [
                              Transform {
                    translation 1.0175 2.865 0.15
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.32
                            radius 0.025
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 1.0175 3.55 0.15
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 0.1
                            radius 0.016
                          }
                        }
                    ]
                  }
              ]
            }
            Transform {
              children [
                              Transform {
                    translation 0.67 2.865 0.15
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 1.32
                            radius 0.025
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 0.67 3.55 0.15
                    children [
                                          Shape {
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.175 0.175
                              specularColor 0.2 0.2 0.2
                            }
                          }
                          geometry Cylinder {
                            height 0.1
                            radius 0.016
                          }
                        }
                    ]
                  }
              ]
            }
        ]
      }
      # Construction of the Rudders
      DEF Rudders Transform {
        children [
                  Transform {
              rotation 1 0 0 1.57
              scale 0.7 1 0.1
              translation -9.5 0 0.57
              children [
                              DEF RightRudder Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 0.8
                      radius 0.4
                    }
                  }
              ]
            }
            Transform {
              translation -9.9 0 0.545
              children [
                              DEF RightRudderBlade Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Box {
                      size 0.235 0.05 0.85
                    }
                  }
              ]
            }
            Transform {
              rotation 1 0 0 -1.57
              scale 0.7 1 0.1
              translation -9.5 0 -0.57
              children [
                              USE RightRudder
              ]
            }
            Transform {
              translation -9.9 0 -0.545
              children [
                              USE RightRudderBlade
              ]
            }
            Transform {
              scale 1 1 0.133
              translation -9.72 0.5 0
              children [
                              DEF UpperRudder Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 0.8
                      radius 0.3
                    }
                  }
              ]
            }
            Transform {
              scale 1 1 0.114
              translation -9.67 -0.5 0
              children [
                              DEF DownRudder Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 0.6
                      radius 0.35
                    }
                  }
              ]
            }
        ]
      }
      # Construction of the Stabilizers
      DEF Stabilizers Transform {
        children [
                  Transform {
              scale 1 1 2
              translation 5.2 -0.42 0.42
              children [
                              DEF RightStabilizer Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 0.05
                      radius 0.46875
                    }
                  }
              ]
            }
            Transform {
              scale 1 1 2
              translation 5.2 -0.42 -0.42
              children [
                              DEF LeftStabilizer Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.175 0.175
                        specularColor 0.2 0.2 0.2
                      }
                    }
                    geometry Cylinder {
                      height 0.05
                      radius 0.46875
                    }
                  }
              ]
            }
        ]
      }
      # Inline the Propeller
      DEF Propeller Transform {
        rotation 0 1 0 -1.57
        scale 0.2 0.2 0.2
        translation -10.5 -0.12 0
        children [
                  Inline {
              url [ "Type209GlafkosDieselSubmarinePropeller.x3d" "https://savage.nps.edu/Savage/Submarines/Various/Type209GlafkosDieselSubmarinePropeller.x3d" "Type209GlafkosDieselSubmarinePropeller.wrl" "https://savage.nps.edu/Savage/Submarines/Various/Type209GlafkosDieselSubmarinePropeller.wrl" ]
            }
        ]
      }
      # Weapons
      DEF Torpedoes-Harpoons Transform {
        children [
                  DEF TorpedoSet1 Transform {
              rotation 0 0 1 -1.57
              translation 5.522 -0.2 -0.3
              children [
                              DEF TorpedoTube1 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo1 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      DEF Mk48Torpedo Inline {
                                url [ "../../Weapons/Torpedoes/Mk48Torpedo.x3d" "https://savage.nps.edu/Savage/Weapons/Torpedoes/Mk48Torpedo.x3d" "../../Weapons/Torpedoes/Mk48Torpedo.wrl" "https://savage.nps.edu/Savage/Weapons/Torpedoes/Mk48Torpedo.wrl" ]
                              }
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF TorpedoSet2 Transform {
              rotation 0 0 1 -1.57
              translation 5.522 -0.2 0.3
              children [
                              DEF TorpedoTube2 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo2 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      USE Mk48Torpedo
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF TorpedoSet3 Transform {
              rotation 0 0 1 -1.57
              translation 5.496 -0.4 -0.35
              children [
                              DEF TorpedoTube3 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo3 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      USE Mk48Torpedo
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF TorpedoSet4 Transform {
              rotation 0 0 1 -1.57
              translation 5.496 -0.4 0.35
              children [
                              DEF TorpedoTube4 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo4 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      USE Mk48Torpedo
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF TorpedoSet5 Transform {
              rotation 0 0 1 -1.57
              translation 5.528 -0.4 -0.126
              children [
                              DEF TorpedoTube5 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo5 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      USE Mk48Torpedo
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF TorpedoSet6 Transform {
              rotation 0 0 1 -1.57
              translation 5.528 -0.4 0.126
              children [
                              DEF TorpedoTube6 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Torpedo6 Transform {
                    children [
                                          Transform {
                          rotation 0 0 1 1.57
                          scale 0.32 0.32 0.32
                          translation 0 0.18 0
                          children [
                                                      USE Mk48Torpedo
                              Transform {
                                rotation 0 0 1 1.57
                                translation -1.872 0 0
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          emissiveColor 0.18 0.18 0.18
                                        }
                                      }
                                      geometry Cylinder {
                                        height 1.3
                                        radius 0.267
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF HarpoonSet1 Transform {
              rotation 0 0 1 -1.57
              translation 5.528 0 -0.25
              children [
                              DEF HarpoonTube1 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Harpoon1 Transform {
                    scale 0.1 0.1 0.1
                    translation 0 1.08 0
                    children [
                                          DEF Harpoon Inline {
                          url [ "../../Weapons/Missiles/HarpoonExample.x3d" "https://savage.nps.edu/Savage/Weapons/Missiles/HarpoonExample.x3d" "../../Weapons/Missiles/HarpoonExample.wrl" "https://savage.nps.edu/Savage/Weapons/Missiles/HarpoonExample.wrl" ]
                        }
                    ]
                  }
              ]
            }
            DEF HarpoonSet2 Transform {
              rotation 0 0 1 -1.57
              translation 5.528 0 0.25
              children [
                              DEF HarpoonTube2 Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.18 0.15 0.15
                      }
                    }
                    geometry Cylinder {
                      height 2.282
                      radius 0.09
                    }
                  }
                  DEF Harpoon2 Transform {
                    scale 0.1 0.1 0.1
                    translation 0 1.08 0
                    children [
                                          USE Harpoon
                    ]
                  }
              ]
            }
        ]
      }
  ]
}