package Savage.Robots.UnmannedUnderwaterVehicles;
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.Navigation.*;
import org.web3d.x3d.jsail.Networking.*;
import org.web3d.x3d.jsail.Rendering.*;
import org.web3d.x3d.jsail.Scripting.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Text.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* Model of the Acoustic Radio Interactive Exploratory Server (ARIES), an operational NPS-designed Unmanned Underwater Vehicle (AUV). Expose position, rotation, sonars, thrusters, fins, etc. as a reusable prototype.
Related links: Catalog page AriesPrototype, source AriesPrototype.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 NPS, aboard RV Gyre in Gulf of Mexico off Gulfport MS 1999; Jane Wu Rolands and Associates 2001, Duane Davis NPS 2003
*/
public class AriesPrototype
{
/** Default constructor to create this object. */
public AriesPrototype ()
{
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_0)
.setHead(new head()
.addMeta(new meta().setName(meta.NAME_TITLE ).setContent("AriesPrototype.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Model of the Acoustic Radio Interactive Exploratory Server (ARIES), an operational NPS-designed Unmanned Underwater Vehicle (AUV). Expose position, rotation, sonars, thrusters, fins, etc. as a reusable prototype."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Don Brutzman NPS, aboard RV Gyre in Gulf of Mexico off Gulfport MS 1999; Jane Wu Rolands and Associates 2001, Duane Davis NPS 2003"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("30 July 2000"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("20 October 2019"))
.addMeta(new meta().setName(meta.NAME_PHOTO ).setContent("AriesHoistCloseup.jpg"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("AriesFlyerMarch2001.pdf"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("organic_mcmONR2002.pdf"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("AriesSchematic.png"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("AriesSchematic.ppt"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.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()
.addComments(" Produce wireframe or transparent beam cones. ")
.addChild(new WorldInfo().setTitle("AriesPrototype.x3d"))
.addChild(new ExternProtoDeclare("BeamCone").setName("BeamCone").setAppinfo("Produce wireframe or transparent beam cones. Typical uses include propeller/thruster water flow or line-of-sight sonar/radar/light beams. Negative range values invert base and apex at same relative location. Default: beam with apex at (0 0 0) and base of radius 1 in x-z plane at (1 0 0).").setUrl(new String[] {"../../CommunicationsAndSensors/Beam/BeamConePrototype.x3d#BeamCone","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Beam/BeamConePrototype.x3d#BeamCone","../../CommunicationsAndSensors/Beam/BeamConePrototype.wrl#BeamCone","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Beam/BeamConePrototype.wrl#BeamCone"})
.addField(new field().setName("name").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("BeamCone name aids tracing"))
.addField(new field().setName("contact").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("(communications) is transmitted signal in contact with receiver or (sensor) is a target return detected?"))
.addField(new field().setName("range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("distance in meters along x axis"))
.addField(new field().setName("defaultRange").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("distance in meters used until eventIn range sent"))
.addField(new field().setName("wireframe").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("whether wireframe beam is drawn"))
.addField(new field().setName("solid").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("whether solid beam is drawn"))
.addField(new field().setName("beamHeightDegrees").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("degrees across vertical y axis"))
.addField(new field().setName("beamWidthDegrees").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("degrees across horizontal z axis"))
.addField(new field().setName("contactColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("rendering color when contact=true"))
.addField(new field().setName("noContactColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("rendering color when contact=false"))
.addField(new field().setName("transparency").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("1 = fully transparent wireframe only"))
.addField(new field().setName("traceEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("flag to turn on Script tracing")))
.addChild(new ProtoDeclare("Aries").setName("Aries").setAppinfo("Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)")
.setProtoInterface(new ProtoInterface()
.addField(new field().setName("hullName").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("Aries").setAppinfo("can be overridden at instantiation time only"))
.addField(new field().setName("hullColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(.9,.9,.9)).setAppinfo("hull color for this UUV instance"))
.addField(new field().setName("planeColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(.1,.1,.8)).setAppinfo("plane color for this UUV instance"))
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFVec3f(0.0,0.0,0.0)))
.addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFRotation(0.0,0.0,1.0,0.0)))
.addField(new field().setName("set_portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
.addField(new field().setName("set_ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
.addField(new field().setName("set_ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels"))
.addField(new field().setName("set_ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
.addField(new field().setName("set_ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
.addField(new field().setName("set_ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels")))
.setProtoBody(new ProtoBody()
.addChild(new Transform("AriesTransform")
.setIS(new IS()
.addConnect(new connect().setNodeField("translation").setProtoField("translation"))
.addConnect(new connect().setNodeField("rotation").setProtoField("rotation")))
.addChild(new Transform("ST725").setTranslation(.9,-0.12,-0.03)
.addChild(new ProtoInstance("BeamCone", "ST725BeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("ST725BeamCone"))
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(24))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(1))
.addFieldValue(new fieldValue().setName("solid").setValue(true))
.addFieldValue(new fieldValue().setName("wireframe").setValue(false))
.addFieldValue(new fieldValue().setName("contactColor").setValue(new SFColor(1.0,0.0,0.0)))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(.3,.05,.05)))
.addFieldValue(new fieldValue().setName("transparency").setValue(.2))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false))))
.addChild(new Transform("ST1000").setTranslation(.7,.12,.05)
.addChild(new ProtoInstance("BeamCone", "ST1000BeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("ST1000BeamCone"))
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(1))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(1))
.addFieldValue(new fieldValue().setName("solid").setValue(true))
.addFieldValue(new fieldValue().setName("wireframe").setValue(false))
.addFieldValue(new fieldValue().setName("contactColor").setValue(new SFColor(1.0,.8,0.0)))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(.4,.3,.05)))
.addFieldValue(new fieldValue().setName("transparency").setValue(.2))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false))))
.addChild(new Script("SONAR_STEERING_AND_DETECTS").setSourceCode("""
ecmascript:
function degreeToRadian( value )
{
return value * Math.PI / 180;
}
function set_ST725Range (value, timeStamp)
{
if ((value > 0) && (value < 30.0))
{
ST725Contact = true;
ST725Range_changed = value;
}
else
{
ST725Contact = false;
if ( value < 0 )
ST725Range_changed = 0.0;
else
ST725Range_changed = 30.0;
}
}
function set_ST725Bearing (value, timeStamp)
{
ST725Rotation = new SFRotation(0, 1, 0, degreeToRadian(value));
}
function set_ST725Intensity (value, timeStamp)
{
ST725Intensity = new SFFloat(value);
}
function set_ST1000Range (value, timeStamp)
{
if ((value > 0) && (value < 30.0))
{
ST1000Contact = true;
ST1000Range_changed = value;
}
else
{
ST1000Contact = false;
if ( value < 0 )
ST1000Range_changed = 0.0;
else
ST1000Range_changed = 30.0;
}
}
function set_ST1000Bearing (value, timeStamp)
{
ST1000Rotation = new SFRotation(0, 1, 0, degreeToRadian(value));
}
function set_ST1000Intensity (value, timeStamp)
{
ST1000Intensity = new SFFloat(value);
}
""")
.addField(new field().setName("set_ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST725Rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST725Contact").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Contact").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST725Range_changed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Range_changed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.setIS(new IS()
.addConnect(new connect().setNodeField("set_ST725Range").setProtoField("set_ST725Range"))
.addConnect(new connect().setNodeField("set_ST725Bearing").setProtoField("set_ST725Bearing"))
.addConnect(new connect().setNodeField("set_ST725Intensity").setProtoField("set_ST725Intensity"))
.addConnect(new connect().setNodeField("set_ST1000Range").setProtoField("set_ST1000Range"))
.addConnect(new connect().setNodeField("set_ST1000Bearing").setProtoField("set_ST1000Bearing"))
.addConnect(new connect().setNodeField("set_ST1000Intensity").setProtoField("set_ST1000Intensity"))))
.addChild(new Group()
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST725Rotation").setToNode("ST725").setToField("rotation"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST1000Rotation").setToNode("ST1000").setToField("rotation"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST725Contact").setToNode("ST725BeamCone").setToField("contact"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST1000Contact").setToNode("ST1000BeamCone").setToField("contact"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST725Range_changed").setToNode("ST725BeamCone").setToField("range"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST1000Range_changed").setToNode("ST1000BeamCone").setToField("range"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST725Intensity").setToNode("ST725BeamCone").setToField("transparency"))
.addChild(new ROUTE().setFromNode("SONAR_STEERING_AND_DETECTS").setFromField("ST1000Intensity").setToNode("ST1000BeamCone").setToField("transparency")))
.addChild(new LOD().setRange(new double[] {400.0})
.addComments(" ### hack job! need to update actual numbers instead of scaling ")
.addChild(new Transform("PRIMARY_AUV_GEOMETRY").setScale(1.0,1.3,1.0)
.addComments(" positive rotation about y-axis rotates rudders to port ")
.addChild(new Transform("FORWARD_RUDDERS").setTranslation(.6223,0.0,0.0)
.addChild(new Transform().setTranslation(0.0,.13335,0.0)
.addChild(new Shape("PLANE_SHAPE")
.setAppearance(new Appearance()
.setMaterial(new Material("PlaneMaterial")
.setIS(new IS()
.addConnect(new connect().setNodeField("diffuseColor").setProtoField("planeColor")))))
.addComments(" creaseAngle for sharp edges ")
.setGeometry(new IndexedFaceSet().setCreaseAngle(3.14159).setCoordIndex(new int[] {0,3,2,1,-1,4,5,6,7,-1,0,1,5,4,-1,1,2,6,5,-1,2,3,7,6,-1,0,3,7,4,-1})
.addComments(" indices for point values range [0..7] ")
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {.0635,0.0,-0.0127,.0381,.1778,-0.0127,-0.0381,.1778,-0.0127,-0.0889,0.0,-0.0127,.0635,0.0,.0127,.0381,.1778,.0127,-0.0381,.1778,.0127,-0.0889,0.0,.0127}))))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14159267).setTranslation(0.0,-0.13335,0.0)
.addChild(new Shape().setUSE("PLANE_SHAPE"))))
.addComments(" positive rotation about y-axis rotates rudder to port ")
.addChild(new Transform("AFTER_RUDDERS").setTranslation(-0.7747,0.0,0.0)
.addChild(new Transform().setTranslation(0.0,.13335,0.0)
.addChild(new Shape().setUSE("PLANE_SHAPE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14159267).setTranslation(0.0,-0.13335,0.0)
.addChild(new Shape().setUSE("PLANE_SHAPE"))))
.addChild(new Transform("FORWARD_PLANES").setTranslation(.6223,0.0,0.0)
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57079).setTranslation(0.0,0.0,.20955)
.addChild(new Shape().setUSE("PLANE_SHAPE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,-1.57079).setTranslation(0.0,0.0,-0.20955)
.addChild(new Shape().setUSE("PLANE_SHAPE"))))
.addChild(new Transform("AFTER_PLANES").setTranslation(-0.7747,0.0,0.0)
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57079).setTranslation(0.0,0.0,.20955)
.addChild(new Shape().setUSE("PLANE_SHAPE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,-1.57079).setTranslation(0.0,0.0,-0.20955)
.addChild(new Shape().setUSE("PLANE_SHAPE"))))
.addChild(new Script("PLANE_SURFACES").setSourceCode("""
ecmascript:
function set_forwardRudders (value, timeStamp) {
forwardRuddersRotation = new SFRotation(0, 1, 0, value);
}
function set_afterRudders (value, timeStamp) {
afterRuddersRotation = new SFRotation(0, 1, 0, value);
}
function set_forwardPlanes (value, timeStamp) {
forwardPlanesRotation = new SFRotation(0, 0, 1, value);
}
function set_afterPlanes (value, timeStamp) {
afterPlanesRotation = new SFRotation(0, 0, 1, value);
}
""")
.addField(new field().setName("set_forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardRuddersRotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterRuddersRotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardPlanesRotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterPlanesRotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.setIS(new IS()
.addConnect(new connect().setNodeField("set_forwardRudders").setProtoField("set_forwardRudders"))
.addConnect(new connect().setNodeField("set_afterRudders").setProtoField("set_afterRudders"))
.addConnect(new connect().setNodeField("set_forwardPlanes").setProtoField("set_forwardPlanes"))
.addConnect(new connect().setNodeField("set_afterPlanes").setProtoField("set_afterPlanes"))))
.addChild(new Group()
.addChild(new ROUTE().setFromNode("PLANE_SURFACES").setFromField("forwardRuddersRotation").setToNode("FORWARD_RUDDERS").setToField("rotation"))
.addChild(new ROUTE().setFromNode("PLANE_SURFACES").setFromField("afterRuddersRotation").setToNode("AFTER_RUDDERS").setToField("rotation"))
.addChild(new ROUTE().setFromNode("PLANE_SURFACES").setFromField("forwardPlanesRotation").setToNode("FORWARD_PLANES").setToField("rotation"))
.addChild(new ROUTE().setFromNode("PLANE_SURFACES").setFromField("afterPlanesRotation").setToNode("AFTER_PLANES").setToField("rotation")))
.addChild(new Transform("FORWARD_VERTICAL_THRUSTER").setTranslation(.3302,0.0,0.0)
.addChild(new Shape("VERTICAL_THRUSTER_SHAPE")
.setAppearance(new Appearance("THRUSTER_APPEARANCE")
.setMaterial(new Material().setDiffuseColor(.2,.2,.2)))
.setGeometry(new Cylinder().setHeight(.29).setRadius(.0635).setSide(false)))
.addChild(new Transform("FORWARD_VERTICAL_BEAMCONE").setRotation(0.0,0.0,1.0,1.57079).setTranslation(0.0,.145,0.0)
.addChild(new ProtoInstance("BeamCone", "ForwardVerticalBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("ForwardVerticalBeamCone"))
.addComments(" range -1.0..0..1.0m <==> -24V..0..24V ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))))
.addChild(new Transform("AFTER_VERTICAL_THRUSTER").setTranslation(-0.4953,0.0,0.0)
.addChild(new Shape().setUSE("VERTICAL_THRUSTER_SHAPE"))
.addChild(new Transform("AFTER_VERTICAL_BEAMCONE").setRotation(0.0,0.0,1.0,1.57079).setTranslation(0.0,.145,0.0)
.addChild(new ProtoInstance("BeamCone", "AfterVerticalBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("AfterVerticalBeamCone"))
.addComments(" range -1.0..0..1.0m <==> -24V..0..24V ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))))
.addChild(new Transform("FORWARD_LATERAL_THRUSTER").setRotation(1.0,0.0,0.0,1.57079).setTranslation(.4699,0.0,0.0)
.addChild(new Shape("LATERAL_THRUSTER_SHAPE")
.setAppearance(new Appearance().setUSE("THRUSTER_APPEARANCE"))
.setGeometry(new Cylinder().setHeight(.44).setRadius(.0635).setSide(false)))
.addChild(new Transform("FORWARD_LATERAL_BEAMCONE").setRotation(0.0,0.0,1.0,1.57079).setTranslation(0.0,.145,0.0)
.addChild(new ProtoInstance("BeamCone", "ForwardLateralBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("ForwardLateralBeamCone"))
.addComments(" range -1.0..0..1.0m <==> -24V..0..24V ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))))
.addChild(new Transform("AFTER_LATERAL_THRUSTER").setRotation(1.0,0.0,0.0,1.57079).setTranslation(-0.6223,0.0,0.0)
.addChild(new Shape().setUSE("LATERAL_THRUSTER_SHAPE"))
.addChild(new Transform("AFTER_LATERAL_BEAMCONE").setRotation(0.0,0.0,1.0,1.57079).setTranslation(0.0,.145,0.0)
.addChild(new ProtoInstance("BeamCone", "AfterLateralBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("AfterLateralBeamCone"))
.addComments(" range -1.0..0..1.0m <==> -24V..0..24V ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))))
.addChild(new Script("THRUSTER_CONES").setSourceCode("""
ecmascript:
function set_forwardVerticalThruster (value, timeStamp) {
if (value >= 0)
forwardVerticalThrusterBeamTranslation = new SFVec3f(0, .145, 0);
else
forwardVerticalThrusterBeamTranslation = new SFVec3f(0, -0.145 + value, 0);
forwardVerticalThrusterBeamRange = value;
}
function set_afterVerticalThruster (value, timeStamp) {
if (value >= 0)
afterVerticalThrusterBeamTranslation = new SFVec3f(0, .145, 0);
else
afterVerticalThrusterBeamTranslation = new SFVec3f(0, -0.145 + value, 0);
afterVerticalThrusterBeamRange = value;
}
function set_forwardLateralThruster (value, timeStamp) {
if (value >= 0)
forwardLateralThrusterBeamTranslation = new SFVec3f(0, .21, 0);
else
forwardLateralThrusterBeamTranslation = new SFVec3f(0, -0.21 + value, 0);
forwardLateralThrusterBeamRange = value;
}
function set_afterLateralThruster (value, timeStamp) {
if (value >= 0)
afterLateralThrusterBeamTranslation = new SFVec3f(0, .21, 0);
else
afterLateralThrusterBeamTranslation = new SFVec3f(0, -0.21 + value, 0);
afterLateralThrusterBeamRange = value;
}
""")
.addField(new field().setName("set_forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardVerticalThrusterBeamTranslation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardVerticalThrusterBeamRange").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterVerticalThrusterBeamTranslation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterVerticalThrusterBeamRange").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardLateralThrusterBeamTranslation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardLateralThrusterBeamRange").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterLateralThrusterBeamTranslation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterLateralThrusterBeamRange").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.setIS(new IS()
.addConnect(new connect().setNodeField("set_forwardVerticalThruster").setProtoField("set_forwardVerticalThruster"))
.addConnect(new connect().setNodeField("set_afterVerticalThruster").setProtoField("set_afterVerticalThruster"))
.addConnect(new connect().setNodeField("set_forwardLateralThruster").setProtoField("set_forwardLateralThruster"))
.addConnect(new connect().setNodeField("set_afterLateralThruster").setProtoField("set_afterLateralThruster"))))
.addChild(new Group()
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("forwardVerticalThrusterBeamTranslation").setToNode("FORWARD_VERTICAL_BEAMCONE").setToField("translation"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("forwardVerticalThrusterBeamRange").setToNode("ForwardVerticalBeamCone").setToField("range"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("afterVerticalThrusterBeamTranslation").setToNode("AFTER_VERTICAL_BEAMCONE").setToField("translation"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("afterVerticalThrusterBeamRange").setToNode("AfterVerticalBeamCone").setToField("range"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("forwardLateralThrusterBeamTranslation").setToNode("FORWARD_LATERAL_BEAMCONE").setToField("translation"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("forwardLateralThrusterBeamRange").setToNode("ForwardLateralBeamCone").setToField("range"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("afterLateralThrusterBeamTranslation").setToNode("AFTER_LATERAL_BEAMCONE").setToField("translation"))
.addChild(new ROUTE().setFromNode("THRUSTER_CONES").setFromField("afterLateralThrusterBeamRange").setToNode("AfterLateralBeamCone").setToField("range")))
.addChild(new Shape("HULL")
.setAppearance(new Appearance("HULL_APPEARANCE")
.setMaterial(new Material("HullMaterial")
.setIS(new IS()
.addConnect(new connect().setNodeField("diffuseColor").setProtoField("hullColor")))))
.setGeometry(new IndexedFaceSet().setCreaseAngle(2.2).setCoordIndex(getIndexedFaceSet_9_242_coordIndex())
.addComments(" Bow Cowling [0..24], Stern Cowling [25..30], Rudder Post [31..38] ")
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {.6985,.13335,-0.20955,.6985,.13335,.20955,.6985,-0.13335,.20955,.6985,-0.13335,-0.20955,1.05,.085,0.0,1.05,0.0,.1143,1.05,-0.085,0.0,1.05,0.0,-0.1143,1.05,.04572,-0.098985,1.05,.079188,-0.05715,1.05,.079188,.05715,1.05,.04572,.098985,1.05,-0.04572,.098985,1.05,-0.079188,.05715,1.05,-0.079188,-0.05715,1.05,-0.04572,-0.098985,1.1,.04064,.02032,1.1,.02032,.06096,1.1,-0.02032,.06096,1.1,-0.04064,.02032,1.1,-0.04064,-0.02032,1.1,-0.02032,-0.06096,1.1,.02032,-0.06096,1.1,.04064,-0.02032,1.11,0.0,0.0,-0.6985,.13335,.20955,-0.6985,.13335,-0.20955,-0.6985,-0.13335,-0.20955,-0.6985,-0.13335,.20955,-1.1303,0.0,.20955,-1.1303,0.0,-0.20955,-0.6985,.13335,.0635,-0.8509,.13335,.0635,-0.8509,.13335,-0.0635,-0.6985,.13335,-0.0635,-0.6985,-0.13335,.0635,-0.8509,-0.13335,.0635,-0.8509,-0.13335,-0.0635,-0.6985,-0.13335,-0.0635})))))
.addComments(" original translation -1.1557 0 .09525 ")
.addChild(new Transform("STARTBOARD_SCREW_BEAMCONE_AND_SHAFT").setTranslation(-1.3,0.0,.3)
.addChild(new Transform("STARTBOARD_THRUSTER_BODY").setRotation(0.0,0.0,1.0,1.57).setTranslation(.15,0.0,0.0)
.addChild(new Shape()
.setAppearance(new Appearance("THRUSTER_BODY_APPEARANCE")
.setMaterial(new Material().setDiffuseColor(.9,.9,.9)))
.setGeometry(new Cylinder().setHeight(.16).setRadius(.08)))
.addChild(new Shape()
.setAppearance(new Appearance("THRUSTER_INNERBODY_APPEARANCE")
.setMaterial(new Material().setDiffuseColor(.2,.2,.2)))
.setGeometry(new Cylinder().setHeight(.22).setRadius(.06))))
.addChild(new Transform("STARBOARD_THRUSTER_BRACKET").setRotation(0.0,0.0,1.0,1.57).setTranslation(.2,0.0,-0.05)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(.9,.9,.9)))
.setGeometry(new Box().setSize(.02,.05,.2))))
.addChild(new Transform("STARBOARD_SCREW_BEAMCONE").setRotation(0.0,1.0,0.0,3.14)
.addChild(new ProtoInstance("BeamCone", "StarboardScrewBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("StarboardScrewBeamCone"))
.addComments(" range values -1..0..1m <==> -700..0..700 RPM ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false))
.setIS(new IS()
.addConnect(new connect().setNodeField("range").setProtoField("set_stbdRpm")))))
.addChild(new Group("SHAFT")
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57079).setTranslation(.0281,0.0,0.0)
.addChild(new Shape("SCREW_SHAFT")
.setAppearance(new Appearance("SCREW_APPEARANCE")
.setMaterial(new Material().setDiffuseColor(.226,.197,0.0)))
.setGeometry(new Cylinder().setBottom(false).setHeight(.0762).setRadius(.008).setTop(false))))
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57079).setTranslation(-0.015,0.0,0.0)
.addChild(new Shape("SHAFT_END_CAP")
.setAppearance(new Appearance().setUSE("SCREW_APPEARANCE"))
.setGeometry(new Cone().setBottom(false).setBottomRadius(.008).setHeight(.01))))))
.addComments(" original translation -1.1557 0 .09525 ")
.addChild(new Transform("STARBOARD_SCREW").setTranslation(-1.3,0.0,.3)
.addChild(new Transform("STARBOARD_BLADE")
.addChild(new Transform().setRotation(0.0,1.0,0.0,-0.39)
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("SCREW_APPEARANCE"))
.setGeometry(new IndexedFaceSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,-1,0,7,6,5,4,3,2,1,-1})
.setCoord(new Coordinate("BLADE_COORDINATES").setPoint(new MFVec3f(new double[] {0.0,0.0,-0.00508,0.0,.02540,-0.02032,0.0,.04572,-0.01524,0.0,.05080,-0.00508,0.0,.05080,.00508,0.0,.04572,.01524,0.0,.02540,.02032,0.0,0.0,.00508})))))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57079)
.addChild(new Transform().setUSE("STARBOARD_BLADE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14159267)
.addChild(new Transform().setUSE("STARBOARD_BLADE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,-1.57079)
.addChild(new Transform().setUSE("STARBOARD_BLADE"))))
.addComments(" original translation -1.1557 0 -0.09525 ")
.addChild(new Transform("PORT_SCREW_BEAMCONE_AND_SHAFT").setTranslation(-1.3,0.0,-0.3)
.addChild(new Transform("PORT_THRUSTER_BODY").setRotation(0.0,0.0,1.0,1.57).setTranslation(.15,0.0,0.0)
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("THRUSTER_BODY_APPEARANCE"))
.setGeometry(new Cylinder().setHeight(.16).setRadius(.08)))
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("THRUSTER_INNERBODY_APPEARANCE"))
.setGeometry(new Cylinder().setHeight(.22).setRadius(.05))))
.addChild(new Transform("PORT_THRUSTER_BRACKET").setRotation(0.0,0.0,1.0,1.57).setTranslation(.2,0.0,.05)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(.9,.9,.9)))
.setGeometry(new Box().setSize(.02,.05,.2))))
.addChild(new Transform("PORT_SCREW_BEAMCONE").setRotation(0.0,1.0,0.0,3.14)
.addChild(new ProtoInstance("BeamCone", "PortScrewBeamCone").setContainerField("children")
.addFieldValue(new fieldValue().setName("name").setValue("PortScrewBeamCone"))
.addComments(" range values -1..0..1 m <==> -700..0..700 RPM ")
.addFieldValue(new fieldValue().setName("defaultRange").setValue(1))
.addFieldValue(new fieldValue().setName("beamHeightDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("beamWidthDegrees").setValue(8))
.addFieldValue(new fieldValue().setName("solid").setValue(false))
.addFieldValue(new fieldValue().setName("wireframe").setValue(true))
.addComments(" Greenish blue for sea water flow ")
.addFieldValue(new fieldValue().setName("noContactColor").setValue(new SFColor(0.0,.8,.4)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false))
.setIS(new IS()
.addConnect(new connect().setNodeField("range").setProtoField("set_portRpm")))))
.addChild(new Group().setUSE("SHAFT")))
.addComments(" original translation -1.1557 0 -0.09525 ")
.addChild(new Transform("PORT_SCREW").setTranslation(-1.3,0.0,-0.3)
.addChild(new Group("PORT_BLADE")
.addChild(new Transform().setRotation(0.0,1.0,0.0,.39)
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("SCREW_APPEARANCE"))
.setGeometry(new IndexedFaceSet().setCoordIndex(new int[] {0,1,2,3,4,5,6,7,-1,0,7,6,5,4,3,2,1,-1})
.addComments(" This blade has reversed pitch ")
.setCoord(new Coordinate().setUSE("BLADE_COORDINATES"))))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57079)
.addChild(new Group().setUSE("PORT_BLADE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14159267)
.addChild(new Group().setUSE("PORT_BLADE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,-1.57079)
.addChild(new Group().setUSE("PORT_BLADE")))))
.addChild(new Shape()
.addComments(" Medium-resolution LOD level ")
.setAppearance(new Appearance().setUSE("HULL_APPEARANCE"))
.addComments(" size is full length, height, width ")
.setGeometry(new Box().setSize(2.2,.26,.42))))
.addChild(new Group()
.addChild(new Viewpoint("HULLNAME_VIEWPOINT").setDescription("Aries Prototype").setPosition(0.0,0.0,4.0)
.setIS(new IS()
.addConnect(new connect().setNodeField("description").setProtoField("hullName"))))
.addChild(new Viewpoint().setDescription("Port Bow").setOrientation(0.0,1.0,0.0,2.356).setPosition(8.0,0.0,-8.0))
.addChild(new Viewpoint().setDescription("Bow").setOrientation(0.0,1.0,0.0,1.572).setPosition(10.0,0.0,0.0))
.addChild(new Viewpoint().setDescription("Starboard Bow").setOrientation(0.0,1.0,0.0,0.785).setPosition(8.0,0.0,8.0))
.addChild(new Viewpoint().setDescription("Port Beam").setOrientation(0.0,1.0,0.0,3.14159267).setPosition(0.0,0.0,-10.0))
.addChild(new Viewpoint().setDescription("Port Astern").setOrientation(0.0,1.0,0.0,3.926).setPosition(-8.0,0.0,-8.0))
.addChild(new Viewpoint().setDescription("Astern").setOrientation(0.0,1.0,0.0,-1.4).setPosition(-10.0,0.0,0.0))
.addChild(new Viewpoint().setDescription("Starboard Astern").setOrientation(0.0,1.0,0.0,-0.783).setPosition(-10.0,0.0,10.0))
.addChild(new Viewpoint().setDescription("Looking down from 25m above Aries").setOrientation(1.0,0.0,0.0,-1.57).setPosition(0.0,25.0,0.0))))))
.addChild(new Viewpoint().setDescription("Aries AUV"))
.addChild(new Group()
.addChild(new ProtoInstance("Aries").setContainerField("children")
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(0.0,0.4,0.0)))))
.addComments(" Viewable geometry is anchored text that links to an example that showing the usage of AriesPrototype ")
.addChild(new Anchor().setDescription("AriesExample").setParameter(new String[] {"target=_blank"}).setUrl(new String[] {"AriesExample.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesExample.x3d","AriesExample.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesExample.wrl"})
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.0,1.0,1.0).setEmissiveColor(0.0,1.0,1.0)))
.setGeometry(new Text().setString(new String[] {"AriesPrototype","is a prototype definition file","","click on text to view","AriesExample"})
.setFontStyle(new FontStyle().setJustify(FontStyle.JUSTIFY_MIDDLE_MIDDLE))))));
}
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
/** Define subarrays using type int[] */
private int[] getIndexedFaceSet_9_242_coordIndex_1()
{
int[] value = {0,26,34,33,32,31,25,1,-1,1,25,31,32,33,34,26,0,-1,1,25,29,28,2,-1,2,28,29,25,1,-1,2,28,35,36,37,38,27,3,-1,3,27,38,37,36,35,28,2,-1,3,27,30,26,0,-1,0,26,30,27,3,-1,0,4,1,-1,0,1,4,-1,1,5,2,-1,1,2,5,-1,2,6,3,-1,2,3,6,-1,3,7,0,-1,3,0,7,-1,7,0,8,-1,7,8,0,-1,8,0,9,-1,8,9,0,-1,9,0,4,-1,9,4,0,-1,4,1,10,-1,4,10,1,-1,10,1,11,-1,10,11,1,-1,11,1,5,-1,11,5,1,-1,5,2,12,-1,5,12,2,-1,12,2,13,-1,12,13,2,-1,13,2,6,-1,13,6,2,-1,6,3,14,-1,6,14,3,-1,14,3,15,-1,14,15,3,-1,15,3,7,-1,15,7,3,-1,4,10,16,-1,10,4,16,-1,10,11,16,-1,11,10,16,-1,11,5,17,-1,5,11,17,-1,5,12,18,-1,12,5,18,-1,12,13,19,-1,13,12,19,-1,13,6,19,-1,6,13,19,-1,6,14,20,-1,14,6,20,-1,14,15,20,-1,15,14,20,-1,15,7,21,-1,7,15,21,-1,7,8,22,-1,8,7,22,-1,8,9,23,-1,9,8,23,-1,9,4,23,-1,4,9,23,-1,4,16,23,-1,16,4,23,-1,11,17,16,-1,17,11,16,-1,5,18,17,-1,18,5,17,-1,12,19,18,-1,19,12,18,-1,6,20,19,-1,20,6,19,-1,20,15,21,-1,15,20,21,-1,21,7,22,-1,7,21,22,-1,22,8,23,-1,8,22,23,-1,23,16,24,-1,16,23,24,-1,16,17,24,-1,17,16,24,-1,17,18,24,-1,18,17,24,-1,18,19,24,-1,19,18,24,-1,19,20,24,-1,20,19,24,-1,20,21,24,-1,21,20,24,-1,21,22,24,-1,22,21,24,-1,22,23,24,-1,23,22,24,-1,25,26,30,29,-1,29,30,26,25,-1,27,28,29,30,-1,30,29,28,27,-1,31,32,36,35,-1,35,36,32,31,-1,32,33,37,36,-1,36,37,33,32,-1,34,38,37,33,-1,33,37,38,34,-1};
return value;
}
/** Large attribute array: IndexedFaceSet coordIndex field, scene-graph level=9, element #242, 462 total numbers.
* Reassemble split array as single method to improve readability and runnability.
* Provide large array values via separate methods, hoping to avoid 'code too large' Java compilation errors.
* Individual Java methods (including aggregated initializations) are limited to 64KB.
* @see https://stackoverflow.com/questions/2407912/code-too-large-compilation-error-in-java
* @see https://stackoverflow.com/questions/11437905/java-too-many-constants-jvm-error
*/
private MFInt32 getIndexedFaceSet_9_242_coordIndex()
{
MFInt32 IndexedFaceSet_9_242_coordIndex = new MFInt32()/*2.finalize*/
.append(new MFInt32(getIndexedFaceSet_9_242_coordIndex_1()));
return IndexedFaceSet_9_242_coordIndex;
}
/** The initialized model object, created within initialize() method. */
private X3D x3dModel;
/**
* Provide a
* shallow copy
* of the X3D model.
* @see X3D
* @return AriesPrototype 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 AriesPrototype().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.UnmannedUnderwaterVehicles.AriesPrototype\" 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.UnmannedUnderwaterVehicles.AriesPrototype self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// Robots/UnmannedUnderwaterVehicles/AriesPrototype_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "Robots/UnmannedUnderwaterVehicles/AriesPrototype_JavaExport.x3d";
String filenameX3DV = "Robots/UnmannedUnderwaterVehicles/AriesPrototype_JavaExport.x3dv";
String filenameJSON = "Robots/UnmannedUnderwaterVehicles/AriesPrototype_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}