X3D Model Documentation: AriesInOpenWater.x3d

  1  <?xml version="1.0" encoding="UTF-8"?>
  2 
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
  3  <X3D profile='Immersive' version='3.0'  xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'>
  4       <head>
  5            <meta name='title' content=' AriesInOpenWater.x3d '/>
  6            <meta name='description' content='Contains 3 DIS-enabled Aries AUVs in an open-ocean environment. Notional bottom represented as an elevation grid corresponding to the fixed model in the AUV Dynamics module in the AUV Workbench. 4 mission tracks correspond to openWaterMission1, 2, 3, and 4 included with the workbench distribution.'/>
  7            <meta name='creator' content='Duane Davis, Naval Postgraduate School (included Aries model authored by Jeff Weekley), Don Brutzman'/>
  8            <meta name='created' content='18 April 2004'/>
  9            <meta name='modified' content='20 October 2019'/>
 10            <meta name='reference' content=' AuvInBeachTanks.x3d '/>
 11            <meta name='subject' content='aries auv dis'/>
 12            <meta name='identifier' content=' https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesInOpenWater.x3d '/>
 13            <meta name='generator' content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit'/>
 14            <meta name='license' content='../../license.html'/>
 15       </head>
<!--
<!--
Event Graph ROUTE Table shows event connections.
-->
<!-- to top DEF nodes index: AUV1, AUV2, AUV3, AUV4, MISSIONPATHS, TERRAINTRANSFORM, TRACKMATERIAL

Index for ExternProtoDeclare definitions: AriesEspdu, GridXZ
-->
 16       <Scene>
 17            <WorldInfo title='AriesInOpenWater.x3d'/>
 18            <ExternProtoDeclare name='AriesEspdu' appinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype'   url=' "AriesEspduPrototype.x3d#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "AriesEspduPrototype.wrl#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" '>
 19                 <field name='hullName' type='SFString' accessType='inputOutput'
                appinfo='up to 11 characters maps to EspduTransform marking'/>
 20                 <field name='hullColor' type='SFColor' accessType='inputOutput'
                appinfo='color for this Aries instance'/>
 21                 <field name='siteID' type='SFInt32' accessType='inputOutput'/>
 22                 <field name='applicationID' type='SFInt32' accessType='inputOutput'/>
 23                 <field name='entityID' type='SFInt32' accessType='inputOutput'/>
 24                 <field name='readInterval' type='SFTime' accessType='inputOutput'
                appinfo='network read periodicity'/>
 25                 <field name='writeInterval' type='SFTime' accessType='inputOutput'
                appinfo='network write periodicity'/>
 26                 <field name='networkMode' type='SFString' accessType='inputOutput'
                appinfo='Override default EspduTransform value so that listening occurs by default'/>
 27                 <field name='address' type='SFString' accessType='inputOutput'
                appinfo='multicast address'/>
 28                 <field name='port' type='SFInt32' accessType='inputOutput'
                appinfo='multicast port'/>
 29                 <field name='translation' type='SFVec3f' accessType='inputOutput'
                appinfo='initial position prior to first ESPDU receipt'/>
 30                 <field name='rotation' type='SFRotation' accessType='inputOutput'
                appinfo='initial orientation prior to first ESPDU receipt'/>
 31                 <field name='traceNodeEnabled' type='SFInt32' accessType='inputOutput'
                appinfo='Set to 0 to activate EspduTransformTrace'/>
 32            </ExternProtoDeclare>
 33            <ExternProtoDeclare name='GridXZ' appinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.'   url=' "../../../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" '>
 34                 <field name='description' type='SFString' accessType='initializeOnly'
                appinfo='Purpose of this grid displayed for overall Viewpoint'/>
 35                 <field name='labelColor' type='SFColor' accessType='inputOutput'
                appinfo='color for descriptive labels at grid edges and corners'/>
 36                 <field name='scale' type='SFVec3f' accessType='inputOutput'
                appinfo='default unscaled size: 10m by 10m'/>
 37                 <field name='originLabel' type='MFString' accessType='inputOutput'/>
 38                 <field name='WestLabel' type='MFString' accessType='inputOutput'
                appinfo='-X axis'/>
 39                 <field name='NorthWestLabel' type='MFString' accessType='inputOutput'/>
 40                 <field name='NorthLabel' type='MFString' accessType='inputOutput'
                appinfo='-Z axis'/>
 41                 <field name='NorthEastLabel' type='MFString' accessType='inputOutput'/>
 42                 <field name='EastLabel' type='MFString' accessType='inputOutput'
                appinfo='+X axis'/>
 43                 <field name='SouthEastLabel' type='MFString' accessType='inputOutput'/>
 44                 <field name='SouthLabel' type='MFString' accessType='inputOutput'
                appinfo='+Z axis'/>
 45                 <field name='SouthWestLabel' type='MFString' accessType='inputOutput'/>
 46                 <field name='labelsOffset' type='SFVec3f' accessType='inputOutput'
                appinfo='label location offset (in meters) to improve readability'/>
 47            </ExternProtoDeclare>
 48            <!-- ==================== -->
 49            <ProtoInstance name='GridXZ'>
 50                 <fieldValue name='description' value='GridXZ for AUV in Open Ocean'/>
 51                 <fieldValue name='labelColor' value='1 1 1'/>
 52                 <fieldValue name='scale' value='50 50 50'/>
 53                 <fieldValue name='originLabel' value='"origin" "0 0 0"'/>
 54                 <fieldValue name='WestLabel' value='"West" "-Y"'/>
 55                 <fieldValue name='NorthWestLabel' value='"500 0 -500"'/>
 56                 <fieldValue name='NorthLabel' value='"North" "+X"'/>
 57                 <fieldValue name='NorthEastLabel' value='"500 0 500"'/>
 58                 <fieldValue name='EastLabel' value='"East" "+Y"'/>
 59                 <fieldValue name='SouthEastLabel' value='"-500 0 500"'/>
 60                 <fieldValue name='SouthLabel' value='"South" "-X"'/>
 61                 <fieldValue name='SouthWestLabel' value='"-500 0 -500"'/>
 62            </ProtoInstance>
 63            <Group>
 64                 <ProtoInstance name='AriesEspdu' DEF='AUV1'>
 65                      <fieldValue name='hullName' value='AUV-1'/>
 66                      <fieldValue name='siteID' value='0'/>
 67                      <fieldValue name='applicationID' value='1'/>
 68                      <fieldValue name='entityID' value='0'/>
 69                      <fieldValue name='networkMode' value='networkReader'/>
 70                      <fieldValue name='readInterval' value='0.1'/>
 71                      <fieldValue name='translation' value='750 -2 750'/>
 72                      <fieldValue name='traceNodeEnabled' value='0'/>
 73                 </ProtoInstance>
 74                 <ProtoInstance name='AriesEspdu' DEF='AUV2'>
 75                      <fieldValue name='hullName' value='AUV-2'/>
 76                      <fieldValue name='siteID' value='0'/>
 77                      <fieldValue name='applicationID' value='1'/>
 78                      <fieldValue name='entityID' value='1'/>
 79                      <fieldValue name='networkMode' value='networkReader'/>
 80                      <fieldValue name='readInterval' value='0.1'/>
 81                      <fieldValue name='translation' value='750 -4 750'/>
 82                      <fieldValue name='traceNodeEnabled' value='0'/>
 83                 </ProtoInstance>
 84                 <ProtoInstance name='AriesEspdu' DEF='AUV3'>
 85                      <fieldValue name='hullName' value='AUV-3'/>
 86                      <fieldValue name='siteID' value='0'/>
 87                      <fieldValue name='applicationID' value='1'/>
 88                      <fieldValue name='entityID' value='2'/>
 89                      <fieldValue name='networkMode' value='networkReader'/>
 90                      <fieldValue name='readInterval' value='0.1'/>
 91                      <fieldValue name='translation' value='750 -6 750'/>
 92                      <fieldValue name='traceNodeEnabled' value='0'/>
 93                 </ProtoInstance>
 94                 <ProtoInstance name='AriesEspdu' DEF='AUV4'>
 95                      <fieldValue name='hullName' value='AUV-4'/>
 96                      <fieldValue name='siteID' value='0'/>
 97                      <fieldValue name='applicationID' value='1'/>
 98                      <fieldValue name='entityID' value='3'/>
 99                      <fieldValue name='networkMode' value='networkReader'/>
100                      <fieldValue name='readInterval' value='0.1'/>
101                      <fieldValue name='translation' value='750 -8 750'/>
102                      <fieldValue name='traceNodeEnabled' value='0'/>
103                 </ProtoInstance>
104            </Group>
105            <Transform DEF='TERRAINTRANSFORM' translation='-750 0 -750'>
106                 <Shape>
107                      <Appearance>
108                           <Material diffuseColor='0.5 0.5 0.0' emissiveColor='.1 .1 0'/>
109                           <ImageTexture   url=' "../../../Savage/AuvWorkbench/OperatingAreas/dirt4.gif " "https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/dirt4.gif " '/>
110                      </Appearance>
111                      <ElevationGrid creaseAngle='3.14' xDimension='11' xSpacing='150' zDimension='11' zSpacing='150' height='-75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50'>
112                           <TextureCoordinate point='1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 11 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 8 10 8 11 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11'/>
113                      </ElevationGrid>
114                 </Shape>
115            </Transform>
116            <Group DEF='MISSIONPATHS'>
117                 <Shape>
118 
                    <!-- Appearance TRACKMATERIAL is a DEF node that has 3 USE nodes: USE_1, USE_2, USE_3 -->
                     <Appearance DEF='TRACKMATERIAL'>
119                           <Material emissiveColor='1 1 1'/>
120                      </Appearance>
121                      <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
122                           <Coordinate point='0 0 0 -100 -45 -100 -500 -45 -100 -500 -45 -200 -100 -45 -200 -100 -45 -300 -500 -45 -300 -500 -45 -400 -100 -45 -400 -100 -45 -500 -500 -45 -500'/>
123                      </IndexedLineSet>
124                 </Shape>
125                 <Shape>
126                      <Appearance USE='TRACKMATERIAL'/>
127                      <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
128                           <Coordinate point='0 0 0 100 -45 -100 500 -45 -100 500 -45 -200 100 -45 -200 100 -45 -300 500 -45 -300 500 -45 -400 100 -45 -400 100 -45 -500 500 -45 -500'/>
129                      </IndexedLineSet>
130                 </Shape>
131                 <Shape>
132                      <Appearance USE='TRACKMATERIAL'/>
133                      <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
134                           <Coordinate point='0 0 0 100 -45 100 500 -45 100 500 -45 200 100 -45 200 100 -45 300 500 -45 300 500 -45 400 100 -45 400 100 -45 500 500 -45 500'/>
135                      </IndexedLineSet>
136                 </Shape>
137                 <Shape>
138                      <Appearance USE='TRACKMATERIAL'/>
139                      <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
140                           <Coordinate point='0 0 0 -100 -45 100 -500 -45 100 -500 -45 200 -100 -45 200 -100 -45 300 -500 -45 300 -500 -45 400 -100 -45 400 -100 -45 500 -500 -45 500'/>
141                      </IndexedLineSet>
142                 </Shape>
143            </Group>
144       </Scene>
145  </X3D>
<!--
<!--
Event Graph ROUTE Table shows event connections.
-->
<!-- to top DEF nodes index: AUV1, AUV2, AUV3, AUV4, MISSIONPATHS, TERRAINTRANSFORM, TRACKMATERIAL

Index for ExternProtoDeclare definitions: AriesEspdu, GridXZ
-->
X3D Tooltips element index: Appearance, Coordinate, ElevationGrid, ExternProtoDeclare, field, fieldValue, Group, head, ImageTexture, IndexedLineSet, Material, meta, ProtoInstance, Scene, Shape, TextureCoordinate, Transform, WorldInfo, X3D, plus documentation for accessType definitions, type definitions, XML data types, and field types

Event Graph ROUTE Table with 0 ROUTE connections total, showing X3D event-model relationships for this scene.

Each row shows an event cascade that may occur during a single timestamp interval between frame renderings, as part of the X3D execution model.

line 49
ProtoInstance
GridXZ 		No direct ROUTE connection found for events to/from this node.
This ProtoInstance contains SFNode/MFNode fieldValue declarations with
direct access to other nodes, and thus has potential to produce run-time animation. 

AUV1
ProtoInstance
AriesEspdu 		No direct ROUTE connection found for events to/from this node.
This ProtoInstance contains SFNode/MFNode fieldValue declarations with
direct access to other nodes, and thus has potential to produce run-time animation. 

AUV2
ProtoInstance
AriesEspdu 		No direct ROUTE connection found for events to/from this node.
This ProtoInstance contains SFNode/MFNode fieldValue declarations with
direct access to other nodes, and thus has potential to produce run-time animation. 

AUV3
ProtoInstance
AriesEspdu 		No direct ROUTE connection found for events to/from this node.
This ProtoInstance contains SFNode/MFNode fieldValue declarations with
direct access to other nodes, and thus has potential to produce run-time animation. 

AUV4
ProtoInstance
AriesEspdu 		No direct ROUTE connection found for events to/from this node.
This ProtoInstance contains SFNode/MFNode fieldValue declarations with
direct access to other nodes, and thus has potential to produce run-time animation. 

Additional guidance on X3D animation can be found in the 10-Step Animation Design Process and Event Tracing hint sheets. Have fun with X3D! 😀
-->
<!-- Online at
https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesInOpenWaterIndex.html -->
<!-- Version control at
https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesInOpenWater.x3d -->

<!-- Color-coding legend: X3D terminology <X3dNode  DEF='idName' field='value'/> matches XML terminology <XmlElement  DEF='idName' attribute='value'/>
(Light-blue background: event-based behavior node or statement) (Grey background inside box: inserted documentation) (Magenta background: X3D Extensibility)
    <ProtoInstance name='ProtoName'> <field name='fieldName'/> </ProtoInstance> -->

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