package Savage.AuvWorkbench.OperatingAreas;
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Navigation.*;
import org.web3d.x3d.jsail.Networking.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* Example showing DIS EspduTransform interface for physics-animated AUV entities. Example use: mil.navy.nps.auv.AuvPduGenerator.java generates ESPDUs for this scene.
Related links: Catalog page AuvInBeachTanks, source AuvInBeachTanks.java, X3D Resources, X3D Scene Authoring Hints, and X3D Tooltips.
This program uses the
X3D Java Scene Access Interface Library (X3DJSAIL).
It has been produced using the
X3dToJava.xslt
stylesheet
(version control)
which is used to create Java source code from an original .x3d model.
* @author Don Brutzman and Duane Davis
*/
public class AuvInBeachTanks
{
/** Default constructor to create this object. */
public AuvInBeachTanks ()
{
initialize();
}
/** Create and initialize the X3D model for this object. */
public final void initialize()
{
try { // catch-all
x3dModel = new X3D().setProfile(X3D.PROFILE_IMMERSIVE).setVersion(X3D.VERSION_3_1)
.setHead(new head()
.addMeta(new meta().setName(meta.NAME_TITLE ).setContent("AuvInBeachTanks.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Example showing DIS EspduTransform interface for physics-animated AUV entities. Example use: mil.navy.nps.auv.AuvPduGenerator.java generates ESPDUs for this scene."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Don Brutzman and Duane Davis"))
.addMeta(new meta().setName(meta.NAME_TRANSLATOR ).setContent("Miguel Ayala"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("5 September 2000"))
.addMeta(new meta().setName(meta.NAME_TRANSLATED ).setContent("16 February 2002"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("20 October 2019"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("http://faculty.nps.edu/brutzman/vrtp/demo/auv/AuvInBeachTanks.wrl"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("http://faculty.nps.edu/brutzman/vrtp/mil/navy/nps/dis/EspduTransformEXAMPLE.wrl"))
.addMeta(new meta().setName(meta.NAME_SUBJECT ).setContent("NPS Beach Tanks Autonomous Underwater Vehicle (AUV)"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/AuvInBeachTanks.x3d"))
.addMeta(new meta().setName(meta.NAME_GENERATOR ).setContent("X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit"))
.addMeta(new meta().setName(meta.NAME_LICENSE ).setContent("../../license.html")))
.setScene(new Scene()
.addChild(new ExternProtoDeclare("AriesEspdu").setName("AriesEspdu").setAppinfo("Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype").setUrl(new String[] {"../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu","../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu"})
.addField(new field().setName("siteID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("applicationID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("entityID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("readInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("network read periodicity"))
.addField(new field().setName("writeInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("network write periodicity"))
.addField(new field().setName("networkMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Override default EspduTransform value so that listening occurs by default"))
.addField(new field().setName("address").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("multicast address"))
.addField(new field().setName("port").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("multicast port"))
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("initial position prior to first ESPDU receipt"))
.addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("initial orientation prior to first ESPDU receipt"))
.addField(new field().setName("traceNodeEnabled").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Set to 0 to activate EspduTransformTrace"))
.addField(new field().setName("hullColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("color for this Aries instance"))
.addField(new field().setName("hullName").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("up to 11 characters maps to EspduTransform marking")))
.addComments(" ==================== ")
.addChild(new ExternProtoDeclare("GridXZ").setName("GridXZ").setAppinfo("Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.").setUrl(new String[] {"../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ","../../Tools/Authoring/GridXZPrototype.x3d#GridXZ","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ","../../Tools/Authoring/GridXZPrototype.wrl#GridXZ","../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ"})
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Purpose of this grid displayed for overall Viewpoint"))
.addField(new field().setName("labelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("color for descriptive labels at grid edges and corners"))
.addField(new field().setName("scale").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default unscaled size: 10m by 10m"))
.addField(new field().setName("originLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("WestLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("-X axis"))
.addField(new field().setName("NorthWestLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("NorthLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("-Z axis"))
.addField(new field().setName("NorthEastLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("EastLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("+X axis"))
.addField(new field().setName("SouthEastLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("SouthLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("+Z axis"))
.addField(new field().setName("SouthWestLabel").setType(field.TYPE_MFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("labelsOffset").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("label location offset (in meters) to improve readability")))
.addComments(" ==================== ")
.addChild(new ProtoInstance("GridXZ").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("GridXZ for AUV Beach Tanks"))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(1.0,1.0,1.0)))
.addFieldValue(new fieldValue().setName("scale").setValue(new SFVec3f(1.0,1.0,1.0)))
.addFieldValue(new fieldValue().setName("originLabel").setValue(new String[] {"origin","0 0 0"}))
.addFieldValue(new fieldValue().setName("WestLabel").setValue(new String[] {"West","-Z"}))
.addFieldValue(new fieldValue().setName("NorthWestLabel").setValue(new String[] {"10 0 -10"}))
.addFieldValue(new fieldValue().setName("NorthLabel").setValue(new String[] {"North","+X"}))
.addFieldValue(new fieldValue().setName("NorthEastLabel").setValue(new String[] {"10 0 10"}))
.addFieldValue(new fieldValue().setName("EastLabel").setValue(new String[] {"East","+Z"}))
.addFieldValue(new fieldValue().setName("SouthEastLabel").setValue(new String[] {"-10 0 10"}))
.addFieldValue(new fieldValue().setName("SouthLabel").setValue(new String[] {"South","-X"}))
.addFieldValue(new fieldValue().setName("SouthWestLabel").setValue(new String[] {"-10 0 -10"})))
.addComments(" ==================== ")
.addComments(" Example uses of EspduTransform node to view three remote DIS-capable entities ")
.addChild(new NavigationInfo().setSpeed(2).setVisibilityLimit(2000))
.addChild(new WorldInfo().setTitle("AUV examples of EspduTransform use"))
.addChild(new Group("PICKABLES")
.addChild(new Group()
.addComments(" Inline file chiseled & gzipped due to extensive CosmoWorlds warnings ")
.addChild(new Inline().setUrl(new String[] {"BeachTanks.x3d","https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/BeachTanks.x3d","BeachTanks.wrl","https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/BeachTanks.wrl"}))
.addChild(new ProtoInstance("AriesEspdu", "AUV-1").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 1"))
.addFieldValue(new fieldValue().setName("entityID").setValue(0))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-100.0,5.0)))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))
.addChild(new ProtoInstance("AriesEspdu", "AUV-2").setContainerField("children")
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-105.0,5.0)))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader"))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 2"))
.addFieldValue(new fieldValue().setName("entityID").setValue(1))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1)))
.addChild(new ProtoInstance("AriesEspdu", "AUV-3").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 3"))
.addFieldValue(new fieldValue().setName("entityID").setValue(2))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-110.0,5.0)))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))
.addChild(new ProtoInstance("AriesEspdu", "AUV-4").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 4"))
.addFieldValue(new fieldValue().setName("entityID").setValue(3))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-115.0,5.0)))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))
.addChild(new ProtoInstance("AriesEspdu", "AUV-5").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 5"))
.addFieldValue(new fieldValue().setName("entityID").setValue(4))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-120.0,5.0)))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))
.addChild(new ProtoInstance("AriesEspdu", "AUV-6").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullName").setValue("AUVWB AUV 6"))
.addFieldValue(new fieldValue().setName("entityID").setValue(5))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(-100.0,-125.0,5.0)))
.addFieldValue(new fieldValue().setName("traceNodeEnabled").setValue(-1))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader"))))));
}
catch (Exception ex)
{
System.err.println ("*** Further hints on X3DJSAIL errors and exceptions at");
System.err.println ("*** https://www.web3d.org/specifications/java/X3DJSAIL.html");
throw (ex);
}
}
// end of initialize() method
/** The initialized model object, created within initialize() method. */
private X3D x3dModel;
/**
* Provide a
* shallow copy
* of the X3D model.
* @see X3D
* @return AuvInBeachTanks model
*/
public X3D getX3dModel()
{
return x3dModel;
}
/**
* Default main() method provided for test purposes, uses CommandLine to set global ConfigurationProperties for this object.
* @param args array of input parameters, provided as arguments
* @see X3D.handleArguments(args)
* @see X3D.validationReport()
* @see CommandLine
* @see CommandLine.USAGE
* @see ConfigurationProperties
*/
public static void main(String args[])
{
System.out.println("Build this X3D model, showing validation diagnostics...");
X3D thisExampleX3dModel = new AuvInBeachTanks().getX3dModel();
// System.out.println("X3D model construction complete.");
// next handle command line arguments
boolean hasArguments = (args != null) && (args.length > 0);
boolean validate = true; // default
boolean argumentsLoadNewModel = false;
String fileName = new String();
if (args != null)
{
for (String arg : args)
{
if (arg.toLowerCase().startsWith("-v") || arg.toLowerCase().contains("validate"))
{
validate = true; // making sure
}
if (arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3D) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_CLASSICVRML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3DB) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_VRML97) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_EXI) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_GZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_ZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_HTML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_XHTML))
{
argumentsLoadNewModel = true;
fileName = arg;
}
}
}
if (argumentsLoadNewModel)
System.out.println("WARNING: \"Savage.AuvWorkbench.OperatingAreas.AuvInBeachTanks\" model invocation is attempting to load file \"" + fileName + "\" instead of simply validating itself... file loading ignored.");
else if (hasArguments) // if no arguments provided, this method produces usage warning
thisExampleX3dModel.handleArguments(args);
if (validate)
{
// System.out.println("--- TODO fix duplicated outputs ---"); // omit when duplicated outputs problem is solved/refactored
String validationResults = thisExampleX3dModel.validationReport();
// System.out.println("-----------------------------------"); // omit when duplicated outputs problem is solved/refactored
System.out.print("Savage.AuvWorkbench.OperatingAreas.AuvInBeachTanks self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// AuvWorkbench/OperatingAreas/AuvInBeachTanks_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "AuvWorkbench/OperatingAreas/AuvInBeachTanks_JavaExport.x3d";
String filenameX3DV = "AuvWorkbench/OperatingAreas/AuvInBeachTanks_JavaExport.x3dv";
String filenameJSON = "AuvWorkbench/OperatingAreas/AuvInBeachTanks_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}