package Savage.Robots.UnmannedAirVehicles;
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Geometry3D.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Rendering.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Texturing.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* Contains 3 DIS-enabled Predator UAVs in a generic world.
Related links: Catalog page PredatorInWorld, source PredatorInWorld.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 Duane Davis, Naval Postgraduate School (included Aries model authored by Jeff Weekley, Naval Postgraduate School)
*/
public class PredatorInWorld
{
/** Default constructor to create this object. */
public PredatorInWorld ()
{
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("PredatorInWorld.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Contains 3 DIS-enabled Predator UAVs in a generic world."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Duane Davis, Naval Postgraduate School (included Aries model authored by Jeff Weekley, Naval Postgraduate School)"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("27 August 2004"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("20 October 2019"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("AuvInBeachTanks.x3d"))
.addMeta(new meta().setName(meta.NAME_SUBJECT ).setContent("predator uav dis"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorInWorld.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 WorldInfo().setTitle("PredatorInWorld.x3d"))
.addChild(new ExternProtoDeclare("PredatorEspdu").setName("PredatorEspdu").setAppinfo("Predator unmanned air vehicle (UAV)").setUrl(new String[] {"../../Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#AriesEspdu","../../Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#AriesEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#AriesEspdu"})
.addField(new field().setName("marking").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value PredatorUAV"))
.addField(new field().setName("siteID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 0"))
.addField(new field().setName("applicationID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 1"))
.addField(new field().setName("entityID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 30"))
.addField(new field().setName("readInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 0.1"))
.addField(new field().setName("writeInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 1.0"))
.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("default value 224.2.181.145"))
.addField(new field().setName("port").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 62040"))
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 0 0 0"))
.addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default value 0 0 1 0")))
.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","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.x3d#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 in Open Ocean"))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(1.0,1.0,1.0)))
.addFieldValue(new fieldValue().setName("scale").setValue(new SFVec3f(50.0,50.0,50.0)))
.addFieldValue(new fieldValue().setName("originLabel").setValue(new String[] {"origin","0 0 0"}))
.addFieldValue(new fieldValue().setName("WestLabel").setValue(new String[] {"West","-Y"}))
.addFieldValue(new fieldValue().setName("NorthWestLabel").setValue(new String[] {"500 0 -500"}))
.addFieldValue(new fieldValue().setName("NorthLabel").setValue(new String[] {"North","+X"}))
.addFieldValue(new fieldValue().setName("NorthEastLabel").setValue(new String[] {"500 0 500"}))
.addFieldValue(new fieldValue().setName("EastLabel").setValue(new String[] {"East","+Y"}))
.addFieldValue(new fieldValue().setName("SouthEastLabel").setValue(new String[] {"-500 0 500"}))
.addFieldValue(new fieldValue().setName("SouthLabel").setValue(new String[] {"South","-X"}))
.addFieldValue(new fieldValue().setName("SouthWestLabel").setValue(new String[] {"-500 0 -500"})))
.addChild(new Group("PICKABLES")
.addChild(new Group()
.addChild(new ProtoInstance("PredatorEspdu", "UAV1").setContainerField("children")
.addFieldValue(new fieldValue().setName("marking").setValue("UAV-1"))
.addFieldValue(new fieldValue().setName("siteID").setValue(0))
.addFieldValue(new fieldValue().setName("applicationID").setValue(1))
.addFieldValue(new fieldValue().setName("entityID").setValue(30))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(750.0,-2.0,750.0)))
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))
.addChild(new ProtoInstance("PredatorEspdu", "UAV2").setContainerField("children")
.addFieldValue(new fieldValue().setName("marking").setValue("UAV-2"))
.addFieldValue(new fieldValue().setName("siteID").setValue(0))
.addFieldValue(new fieldValue().setName("applicationID").setValue(1))
.addFieldValue(new fieldValue().setName("entityID").setValue(31))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(750.0,-4.0,750.0))))
.addChild(new ProtoInstance("PredatorEspdu", "UAV3").setContainerField("children")
.addFieldValue(new fieldValue().setName("marking").setValue("UAV-3"))
.addFieldValue(new fieldValue().setName("siteID").setValue(0))
.addFieldValue(new fieldValue().setName("applicationID").setValue(1))
.addFieldValue(new fieldValue().setName("entityID").setValue(32))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(750.0,-6.0,750.0))))
.addChild(new ProtoInstance("PredatorEspdu", "UAV4").setContainerField("children")
.addFieldValue(new fieldValue().setName("marking").setValue("UAV-4"))
.addFieldValue(new fieldValue().setName("siteID").setValue(0))
.addFieldValue(new fieldValue().setName("applicationID").setValue(1))
.addFieldValue(new fieldValue().setName("entityID").setValue(33))
.addFieldValue(new fieldValue().setName("readInterval").setValue(0.25))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(750.0,-8.0,750.0)))))
.addChild(new Transform("TERRAINTRANSFORM").setTranslation(-15000.0,0.0,-15000.0)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.5,0.5,0.0).setEmissiveColor(.1,.1,0.0))
.setTexture(new ImageTexture().setUrl(new String[] {"../../../Savage/AuvWorkbench/OperatingAreas/dirt4.gif","https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/dirt4.gif"})))
.setGeometry(new ElevationGrid().setCreaseAngle(3.14).setXDimension(11).setXSpacing(3000).setZDimension(11).setZSpacing(3000).setHeight(new double[] {-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-50.0,-75.0,-50.0,-50.0,-75.0,-100.0,-125.0,-100.0,-75.0,-50.0,-25.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-100.0,-125.0,-100.0,-100.0,-125.0,-150.0,-175.0,-150.0,-125.0,-100.0,-75.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-50.0,-75.0,-50.0,-50.0,-75.0,-100.0,-125.0,-100.0,-75.0,-50.0,-25.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0,-100.0,-125.0,-100.0,-100.0,-125.0,-150.0,-175.0,-150.0,-125.0,-100.0,-75.0,-75.0,-100.0,-75.0,-75.0,-100.0,-125.0,-150.0,-125.0,-100.0,-75.0,-50.0})
.setTexCoord(new TextureCoordinate().setPoint(new MFVec2f(/*0.invocation*/)))))))
.addChild(new Group("MISSIONPATHS")
.addChild(new Shape()
.setAppearance(new Appearance("TRACKMATERIAL")
.setMaterial(new Material().setEmissiveColor(1.0,1.0,1.0)))
.setGeometry(new IndexedLineSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,8,9,10,1,0})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {0.0,0.0,0.0,-100.0,-45.0,-100.0,-500.0,-45.0,-100.0,-500.0,-45.0,-200.0,-100.0,-45.0,-200.0,-100.0,-45.0,-300.0,-500.0,-45.0,-300.0,-500.0,-45.0,-400.0,-100.0,-45.0,-400.0,-100.0,-45.0,-500.0,-500.0,-45.0,-500.0})))))
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("TRACKMATERIAL"))
.setGeometry(new IndexedLineSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,8,9,10,1,0})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {0.0,0.0,0.0,100.0,-45.0,-100.0,500.0,-45.0,-100.0,500.0,-45.0,-200.0,100.0,-45.0,-200.0,100.0,-45.0,-300.0,500.0,-45.0,-300.0,500.0,-45.0,-400.0,100.0,-45.0,-400.0,100.0,-45.0,-500.0,500.0,-45.0,-500.0})))))
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("TRACKMATERIAL"))
.setGeometry(new IndexedLineSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,8,9,10,1,0})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {0.0,0.0,0.0,100.0,-45.0,100.0,500.0,-45.0,100.0,500.0,-45.0,200.0,100.0,-45.0,200.0,100.0,-45.0,300.0,500.0,-45.0,300.0,500.0,-45.0,400.0,100.0,-45.0,400.0,100.0,-45.0,500.0,500.0,-45.0,500.0})))))
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("TRACKMATERIAL"))
.setGeometry(new IndexedLineSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,8,9,10,1,0})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {0.0,0.0,0.0,-100.0,-45.0,100.0,-500.0,-45.0,100.0,-500.0,-45.0,200.0,-100.0,-45.0,200.0,-100.0,-45.0,300.0,-500.0,-45.0,300.0,-500.0,-45.0,400.0,-100.0,-45.0,400.0,-100.0,-45.0,500.0,-500.0,-45.0,500.0})))))));
}
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 PredatorInWorld 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 PredatorInWorld().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.Robots.UnmannedAirVehicles.PredatorInWorld\" 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.Robots.UnmannedAirVehicles.PredatorInWorld self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// Robots/UnmannedAirVehicles/PredatorInWorld_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "Robots/UnmannedAirVehicles/PredatorInWorld_JavaExport.x3d";
String filenameX3DV = "Robots/UnmannedAirVehicles/PredatorInWorld_JavaExport.x3dv";
String filenameJSON = "Robots/UnmannedAirVehicles/PredatorInWorld_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}