package Savage.Scenarios.UW3303MinefieldSearch;
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Networking.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* Example use of SphericalMine and other prototypes to build a 4-AUV minefield search scene. Output will be produced by Matlab program.
Related links: Catalog page ExampleScenario, source ExampleScenario.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, Arlene Guest and UW3303 class
*/
public class ExampleScenario
{
/** Default constructor to create this object. */
public ExampleScenario ()
{
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_3)
.setHead(new head()
.addMeta(new meta().setName(meta.NAME_TITLE ).setContent("ExampleScenario.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Example use of SphericalMine and other prototypes to build a 4-AUV minefield search scene. Output will be produced by Matlab program."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Don Brutzman, Arlene Guest and UW3303 class"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("26 May 2004"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("23 August 2023"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Scenarios/UW3303MinefieldSearch/ExampleScenario.x3d"))
.addMeta(new meta().setName(meta.NAME_GENERATOR ).setContent("X3D-Edit 3.3, https://www.web3d.org/x3d/tools/X3D-Edit"))
.addMeta(new meta().setName(meta.NAME_LICENSE ).setContent("../../license.html")))
.setScene(new Scene()
.addComments(" ====================================== ")
.addChild(new ExternProtoDeclare("SphericalMine").setName("SphericalMine").setAppinfo("Spherical floating mine moored to bottom").setUrl(new String[] {"../../Weapons/UnderwaterMines/SphericalMinePrototype.x3d#SphericalMine","https://www.web3d.org/x3d/content/examples/Savage/Weapons/UnderwaterMines/SphericalMinePrototype.x3d#SphericalMine","../../Weapons/UnderwaterMines/SphericalMinePrototype.wrl#SphericalMine","https://www.web3d.org/x3d/content/examples/Savage/Weapons/UnderwaterMines/SphericalMinePrototype.wrl#SphericalMine"})
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Description for each mine contact."))
.addField(new field().setName("color").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Mine color can be used to indicate status (found/unknown/disabled/) tactic etc."))
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Location of mine center in local world coordinates."))
.addField(new field().setName("scale").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Scale factor to change spherical mine size default diameter = 1m."))
.addField(new field().setName("bboxCenter").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Bounding box for collision detection of mine."))
.addField(new field().setName("tetherPoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("Top and bottom endpoints of line tether that anchors this mine to the bottom."))
.addField(new field().setName("proximityIsActive").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("proximityIsActive can be used to activate information or interaction when the viewer nears the mine."))
.addField(new field().setName("proximitySize").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("proximitySize provides overall box dimensions for proximity; thus (10 10 10) yields approximate radius 5 to 7 meters.")))
.addComments(" ====================================== ")
.addChild(new ExternProtoDeclare("DvdController").setName("DvdController").setAppinfo("Digital Virtual Display (DVD) Controller Prototype is a heads-up display (HUD) to control animation timing").setUrl(new String[] {"../../Tools/HeadsUpDisplays/DvdControllerPrototype.x3d#DvdController","https://www.web3d.org/x3d/content/examples/Savage/Tools/HeadsUpDisplays/DvdControllerPrototype.x3d#DvdController","../../Tools/HeadsUpDisplays/DvdControllerPrototype.wrl#DvdController","https://www.web3d.org/x3d/content/examples/Savage/Tools/HeadsUpDisplays/DvdControllerPrototype.wrl#DvdController"})
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Short description of what is animated by this DvdController."))
.addField(new field().setName("playEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Whether or not play mode is enabled including during startup."))
.addField(new field().setName("displayMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Initializes how control buttons and slider are displayed. The control buttons include DIS control (i.e. Master Ghost Local) and Playback control (i.e. Reset to Start Fast Rewind Rewind Pause Play Fast Forward Reset to End). Possible values are (case sensitive): ALL DIS_ONLY PLAYBACK_ONLY SLIDER_ONLY DIS_PLAYBACK DIS_SLIDER PLAYBACK_SLIDER and NONE."))
.addField(new field().setName("setDisplayMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("Sets how control buttons and slider are displayed. The control buttons include DIS control (i.e. Master Ghost Local) and Playback control (i.e. Reset to Start Fast Rewind Rewind Pause Play Fast Forward Reset to End). Possible values are (case sensitive): ALL DIS_ONLY PLAYBACK_ONLY SLIDER_ONLY DIS_PLAYBACK DIS_SLIDER PLAYBACK_SLIDER and NONE."))
.addField(new field().setName("buttonColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Default button color."))
.addField(new field().setName("selectedButtonColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Button color when selected by user."))
.addField(new field().setName("labelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Default label color."))
.addField(new field().setName("selectedLabelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Label color when selected by user."))
.addField(new field().setName("locationOffset").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Modified screen location and distance (for size)."))
.addField(new field().setName("clockEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("default value true"))
.addField(new field().setName("cycleInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Time for complete loop cycle in seconds."))
.addField(new field().setName("set_cycleInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("cycleInterval_changed").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("speedFactor").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Factor used to determine the speed increase/decrease for Fast Rewind and Fast Forward action."))
.addField(new field().setName("isActive").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("startTime_changed").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("stopTime_changed").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("time_changed").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("fraction_changed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("secondsElapsed").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("isMaster").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("isMaster isRemote and isLocal are booleans represent a 3-way toggle. Only one of them can have a true value at any time."))
.addField(new field().setName("isRemote").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("isMaster isRemote and isLocal are booleans represent a 3-way toggle. Only one of them can have a true value at any time."))
.addField(new field().setName("isLocal").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("isMaster isRemote and isLocal are booleans represent a 3-way toggle. Only one of them can have a true value at any time."))
.addField(new field().setName("isPaused").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("isPaused and isRunning always have opposite values. When isPaused is true isRunning will be false and vice versa."))
.addField(new field().setName("isRunning").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("isPaused and isRunning always have opposite values. When isPaused is true isRunning will be false and vice versa."))
.addField(new field().setName("traceEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Enable/disable console output for troubleshooting"))
.addField(new field().setName("testTimeVal").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("default value -2")))
.addComments(" ====================================== ")
.addChild(new ExternProtoDeclare("WaypointInterpolator").setName("WaypointInterpolator").setAppinfo("Reads waypoints and legSpeeds/legDurations/defaultSpeed to provide a customizable position/orientation interpolator.").setUrl(new String[] {"../../../Savage/Tools/Animation/WaypointInterpolatorPrototype.x3d#WaypointInterpolator","https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorPrototype.x3d#WaypointInterpolator","../../../Savage/Tools/Animation/WaypointInterpolatorPrototype.wrl#WaypointInterpolator","https://www.web3d.org/x3d/content/examples/Savage/Tools/Animation/WaypointInterpolatorPrototype.wrl#WaypointInterpolator"})
.addComments(" Priority of use: legSpeeds (m/sec), legDurations (seconds), defaultSpeed (m/sec) ")
.addComments(" interpolation fields ")
.addComments(" display-related fields ")
.addField(new field().setName("description").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Short description of what is animated by this WaypointInterpolator."))
.addField(new field().setName("waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Waypoints being traversed with interpolation of intermediate positions and orientations."))
.addField(new field().setName("add_waypoint").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("Add another single waypoint to array of waypoints recalculate interpolator values."))
.addField(new field().setName("set_waypoints").setType(field.TYPE_MFVEC3F).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("Replace all waypoints recalculate interpolator values."))
.addField(new field().setName("pitchUpDownForVerticalWaypoints").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Whether to pitch child geometry (such as a vehicle) up or down to match vertical slope"))
.addField(new field().setName("legSpeeds").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Units m/sec. If used, array lengths for legSpeeds and legDurations must be one less than number of waypoints."))
.addField(new field().setName("legDurations").setType(field.TYPE_MFTIME).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Units in seconds. If used, array lengths for legSpeeds and legDurations must be one less than number of waypoints."))
.addField(new field().setName("defaultSpeed").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Units m/sec."))
.addField(new field().setName("turningRate").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("turningRate (degrees/second) also determines standoff distance prior to waypoint where turn commences. If 0 turns are instantaneous."))
.addField(new field().setName("totalDuration").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("Output calculation summing all leg durations, useful for setting TimeSensor cycleInterval. Units in seconds."))
.addField(new field().setName("set_fraction").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("exposed PositionInterpolator and OrientationInterpolator setting"))
.addField(new field().setName("position_changed").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("exposed PositionInterpolator setting"))
.addField(new field().setName("orientation_changed").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_OUTPUTONLY).setAppinfo("exposed OrientationInterpolator setting"))
.addField(new field().setName("lineColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default color for non-active line segments"))
.addField(new field().setName("highlightSegmentColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("active segment highlight color"))
.addField(new field().setName("transparency").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("1.0 is completely transparent, 0.0 is completely opaque."))
.addField(new field().setName("labelDisplayMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("allowed values: none; waypoints (produce labels at each waypoint); or interpolation (produce single moving label at interpolator time course speed location)"))
.addField(new field().setName("heightLabel").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("allowed values: altitude depth (negate Y value) none"))
.addField(new field().setName("labelOffset").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("heightLabel relative location"))
.addField(new field().setName("labelFontSize").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("heightLabel text size"))
.addField(new field().setName("labelColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("heightLabel text color"))
.addField(new field().setName("traceEnabled").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("enable console output to trace script computations and prototype progress"))
.addField(new field().setName("outputInitializationComputations").setType(field.TYPE_SFBOOL).setAccessType(field.ACCESSTYPE_INITIALIZEONLY).setAppinfo("Output the number of waypoints totalDistance and totalDuration to console upon initialization"))
.addField(new field().setName("verticalDropLineColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("default color for vertical drop-line segments"))
.addField(new field().setName("verticalDropLineTransparency").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("1.0 is completely transparent, 0.0 is completely opaque.")))
.addComments(" ====================================== ")
.addComments(" Main scene begins here ")
.addChild(new WorldInfo().setTitle("UW3303 Minefield Search"))
.addChild(new Inline("EnvironmentBackground").setUrl(new String[] {"MinefieldSearchBackground.x3d","https://www.web3d.org/x3d/content/examples/Savage/Scenarios/UW3303MinefieldSearch/MinefieldSearchBackground.x3d","MinefieldSearchBackground.wrl","https://www.web3d.org/x3d/content/examples/Savage/Scenarios/UW3303MinefieldSearch/MinefieldSearchBackground.wrl"}))
.addChild(new Inline("ColorCodedMinefield").setUrl(new String[] {"ColorCodedMinefield.x3d","https://www.web3d.org/x3d/content/examples/Savage/Scenarios/UW3303MinefieldSearch/ColorCodedMinefield.x3d","ColorCodedMinefield.wrl","https://www.web3d.org/x3d/content/examples/Savage/Scenarios/UW3303MinefieldSearch/ColorCodedMinefield.wrl"}))
.addChild(new Group("MinefieldGroup")
.addComments(" ***** generate custom mines ***** ")
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 1"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4850.0,-20.0,1350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 2"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(1150.0,-20.0,1550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 3"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(8850.0,-20.0,1550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 4"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6150.0,-20.0,1750.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 5"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(9750.0,-20.0,1750.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 6"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(3750.0,-20.0,1850.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 7"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4650.0,-20.0,1850.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 8"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(2850.0,-20.0,2050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 9"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6450.0,-20.0,2050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 10"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(50.0,-20.0,2150.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 11"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(2950.0,-20.0,2250.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 12"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(3750.0,-20.0,2350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 13"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5850.0,-20.0,2350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 14"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6550.0,-20.0,2350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 15"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(950.0,-20.0,2450.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 16"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(1250.0,-20.0,2450.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 17"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(9950.0,-20.0,2550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 18"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(50.0,-20.0,2650.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 19"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(250.0,-20.0,2650.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
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.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 74"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4550.0,-20.0,7350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 75"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(8050.0,-20.0,7550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 76"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(150.0,-20.0,7650.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 77"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5450.0,-20.0,7850.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 78"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5950.0,-20.0,7950.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 79"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(8150.0,-20.0,7950.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 80"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(9150.0,-20.0,7950.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 81"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5150.0,-20.0,8050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 82"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5950.0,-20.0,8050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 83"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(9750.0,-20.0,8050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 84"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5250.0,-20.0,8250.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 85"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6950.0,-20.0,8250.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 86"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4650.0,-20.0,8650.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 87"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(7250.0,-20.0,8650.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 88"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(8950.0,-20.0,8950.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 89"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6550.0,-20.0,9050.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 90"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5850.0,-20.0,9250.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 91"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(7250.0,-20.0,9250.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 92"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(750.0,-20.0,9350.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 93"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5350.0,-20.0,9450.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 94"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(5850.0,-20.0,9450.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 95"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(3750.0,-20.0,9550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 96"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4650.0,-20.0,9550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 97"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(4750.0,-20.0,9550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 98"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(9850.0,-20.0,9550.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine # 99"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6450.0,-20.0,9850.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0})))))
.addChild(new ProtoInstance("SphericalMine").setContainerField("children")
.addFieldValue(new fieldValue().setName("description").setValue("Spherical Mine #100"))
.addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(6550.0,-20.0,9950.0)))
.addFieldValue(new fieldValue().setName("tetherPoints").setValue(new MFVec3f(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,-5.0,0.0}))))))
.addComments(" ***** generate hostile submarine position ***** ")
.addChild(new Group("HostileDieselSubGroup")
.addComments(" Assume center of sub is 4m above keel. Thus depth submarine = depth water + 4 (negative overall). ")
.addComments(" Search program modifies actual (random) submarine position. ")
.addChild(new Transform("DieselLocation").setTranslation(2850.0,-10.0,9550.0)
.addComments(" Don needs to split out behaviors from the other 209 models so that they are not moving. ")
.addChild(new Inline().setUrl(new String[] {"../../Submarines/Various/Type209GlafkosDieselSubmarine.x3d","https://www.web3d.org/x3d/content/examples/Savage/Submarines/Various/Type209GlafkosDieselSubmarine.x3d","../../Submarines/Various/Type209GlafkosDieselSubmarine.wrl","https://www.web3d.org/x3d/content/examples/Savage/Submarines/Various/Type209GlafkosDieselSubmarine.wrl"}))))
.addChild(new Group("RobotSearchGroup")
.addChild(new ProtoInstance("DvdController", "MasterAnimationController").setContainerField("children")
.addFieldValue(new fieldValue().setName("buttonColor").setValue(new SFColor(0.655,0.655,0.655)))
.addFieldValue(new fieldValue().setName("selectedButtonColor").setValue(new SFColor(0.675,0.675,0.675)))
.addFieldValue(new fieldValue().setName("selectedLabelColor").setValue(new SFColor(0.9,0.0,0.0)))
.addFieldValue(new fieldValue().setName("locationOffset").setValue(new SFVec3f(5.0,7.0,-10.0)))
.addFieldValue(new fieldValue().setName("cycleInterval").setValue(16980))
.addFieldValue(new fieldValue().setName("speedFactor").setValue(10.0))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))
.addChild(new Group("Robot1")
.addChild(new ProtoInstance("WaypointInterpolator", "RobotTrack1").setContainerField("children")
.addComments(" XZ coordinates are converted from Lat/Long based on the origin ")
.addComments(" The origin is the first data point ")
.addFieldValue(new fieldValue().setName("waypoints").setValue(new MFVec3f(new MFVec3f(new double[] {250.0,10.0,50.0,350.0,10.0,8750.0,450.0,10.0,50.0,550.0,10.0,8750.0,650.0,10.0,50.0,750.0,10.0,8750.0,850.0,10.0,50.0,950.0,10.0,8850.0,1050.0,10.0,50.0,1150.0,10.0,8850.0,1250.0,10.0,50.0,1350.0,10.0,8850.0,1450.0,10.0,50.0,1550.0,10.0,8850.0,1650.0,10.0,50.0,1750.0,10.0,8850.0,1850.0,10.0,50.0,1950.0,10.0,8850.0,2050.0,10.0,50.0,2150.0,10.0,8950.0,2250.0,10.0,50.0,2350.0,10.0,8950.0,2450.0,10.0,50.0,2550.0,10.0,8950.0,2650.0,10.0,50.0}))))
.addFieldValue(new fieldValue().setName("pitchUpDownForVerticalWaypoints").setValue(false))
.addFieldValue(new fieldValue().setName("defaultSpeed").setValue(1.5))
.addFieldValue(new fieldValue().setName("turningRate").setValue(90))
.addFieldValue(new fieldValue().setName("lineColor").setValue(new SFColor(1.0,0.0,0.0)))
.addFieldValue(new fieldValue().setName("highlightSegmentColor").setValue(new SFColor(0.75,0.75,0.0)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("labelOffset").setValue(new SFVec3f(0.0,-0.8,0.0)))
.addFieldValue(new fieldValue().setName("labelFontSize").setValue(0.5))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(0.3,0.9,0.6)))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))
.addChild(new Transform("TrackingTransformRobot1")
.addComments(" Always align initial geometry with X axis ")
.addChild(new Group()
.addComments(" Point vehicle along X-axis ")
.addChild(new Transform()
.addChild(new Inline("RemusSideScan").setUrl(new String[] {"../../Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d","../../Robots/UnmannedUnderwaterVehicles/RemusSideScan.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.wrl"})))))
.addChild(new ROUTE().setFromNode("MasterAnimationController").setFromField("fraction_changed").setToNode("RobotTrack1").setToField("set_fraction"))
.addChild(new ROUTE().setFromNode("RobotTrack1").setFromField("position_changed").setToNode("TrackingTransformRobot1").setToField("translation"))
.addChild(new ROUTE().setFromNode("RobotTrack1").setFromField("orientation_changed").setToNode("TrackingTransformRobot1").setToField("rotation")))
.addChild(new Group("Robot2")
.addChild(new ProtoInstance("WaypointInterpolator", "RobotTrack2").setContainerField("children")
.addComments(" XZ coordinates are converted from Lat/Long based on the origin ")
.addComments(" The origin is the first data point ")
.addFieldValue(new fieldValue().setName("waypoints").setValue(new MFVec3f(new MFVec3f(new double[] {2650.0,10.0,50.0,2750.0,10.0,8950.0,2850.0,10.0,50.0,2950.0,10.0,8950.0,3050.0,10.0,50.0,3150.0,10.0,8950.0,3250.0,10.0,50.0,3350.0,10.0,9050.0,3450.0,10.0,50.0,3550.0,10.0,9050.0,3650.0,10.0,50.0,3750.0,10.0,9150.0,3850.0,10.0,50.0,3950.0,10.0,9150.0,4050.0,10.0,50.0,4150.0,10.0,9250.0,4250.0,10.0,50.0,4350.0,10.0,9350.0,4450.0,10.0,50.0,4550.0,10.0,9550.0,4650.0,10.0,50.0,4750.0,10.0,9850.0,4850.0,10.0,50.0,4950.0,10.0,9950.0}))))
.addFieldValue(new fieldValue().setName("pitchUpDownForVerticalWaypoints").setValue(false))
.addFieldValue(new fieldValue().setName("defaultSpeed").setValue(1.5))
.addFieldValue(new fieldValue().setName("turningRate").setValue(90))
.addFieldValue(new fieldValue().setName("lineColor").setValue(new SFColor(1.0,0.0,0.0)))
.addFieldValue(new fieldValue().setName("highlightSegmentColor").setValue(new SFColor(0.75,0.75,0.0)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("labelOffset").setValue(new SFVec3f(0.0,-0.8,0.0)))
.addFieldValue(new fieldValue().setName("labelFontSize").setValue(0.5))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(0.3,0.9,0.6)))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))
.addChild(new Transform("TrackingTransformRobot2")
.addComments(" Always align initial geometry with X axis ")
.addChild(new Group()
.addComments(" Point vehicle along X-axis ")
.addChild(new Transform()
.addChild(new Inline().setUSE("RemusSideScan")))))
.addChild(new ROUTE().setFromNode("MasterAnimationController").setFromField("fraction_changed").setToNode("RobotTrack2").setToField("set_fraction"))
.addChild(new ROUTE().setFromNode("RobotTrack2").setFromField("position_changed").setToNode("TrackingTransformRobot2").setToField("translation"))
.addChild(new ROUTE().setFromNode("RobotTrack2").setFromField("orientation_changed").setToNode("TrackingTransformRobot2").setToField("rotation")))
.addChild(new Group("Robot3")
.addChild(new ProtoInstance("WaypointInterpolator", "RobotTrack3").setContainerField("children")
.addComments(" XZ coordinates are converted from Lat/Long based on the origin ")
.addComments(" The origin is the first data point ")
.addFieldValue(new fieldValue().setName("waypoints").setValue(new MFVec3f(new MFVec3f(new double[] {4850.0,10.0,50.0,4950.0,10.0,9950.0,5050.0,10.0,50.0,5150.0,10.0,9950.0,5250.0,10.0,50.0,5350.0,10.0,9850.0,5450.0,10.0,50.0,5550.0,10.0,9550.0,5650.0,10.0,50.0,5750.0,10.0,9350.0,5850.0,10.0,50.0,5950.0,10.0,9250.0,6050.0,10.0,50.0,6150.0,10.0,9150.0,6250.0,10.0,50.0,6350.0,10.0,9150.0,6450.0,10.0,50.0,6550.0,10.0,9050.0,6650.0,10.0,50.0,6750.0,10.0,9050.0,6850.0,10.0,50.0,6950.0,10.0,8950.0,7050.0,10.0,50.0}))))
.addFieldValue(new fieldValue().setName("pitchUpDownForVerticalWaypoints").setValue(false))
.addFieldValue(new fieldValue().setName("defaultSpeed").setValue(1.5))
.addFieldValue(new fieldValue().setName("turningRate").setValue(90))
.addFieldValue(new fieldValue().setName("lineColor").setValue(new SFColor(1.0,0.0,0.0)))
.addFieldValue(new fieldValue().setName("highlightSegmentColor").setValue(new SFColor(0.75,0.75,0.0)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("labelOffset").setValue(new SFVec3f(0.0,-0.8,0.0)))
.addFieldValue(new fieldValue().setName("labelFontSize").setValue(0.5))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(0.3,0.9,0.6)))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))
.addChild(new Transform("TrackingTransformRobot3")
.addComments(" Always align initial geometry with X axis ")
.addChild(new Group()
.addComments(" Point vehicle along X-axis ")
.addChild(new Transform()
.addChild(new Inline().setUSE("RemusSideScan")))))
.addChild(new ROUTE().setFromNode("MasterAnimationController").setFromField("fraction_changed").setToNode("RobotTrack3").setToField("set_fraction"))
.addChild(new ROUTE().setFromNode("RobotTrack3").setFromField("position_changed").setToNode("TrackingTransformRobot3").setToField("translation"))
.addChild(new ROUTE().setFromNode("RobotTrack3").setFromField("orientation_changed").setToNode("TrackingTransformRobot3").setToField("rotation")))
.addChild(new Group("Robot4")
.addChild(new ProtoInstance("WaypointInterpolator", "RobotTrack4").setContainerField("children")
.addComments(" XZ coordinates are converted from Lat/Long based on the origin ")
.addComments(" The origin is the first data point ")
.addFieldValue(new fieldValue().setName("waypoints").setValue(new MFVec3f(new MFVec3f(new double[] {7050.0,10.0,50.0,7150.0,10.0,8950.0,7250.0,10.0,50.0,7350.0,10.0,8950.0,7450.0,10.0,50.0,7550.0,10.0,8950.0,7650.0,10.0,50.0,7750.0,10.0,8950.0,7850.0,10.0,50.0,7950.0,10.0,8950.0,8050.0,10.0,50.0,8150.0,10.0,8850.0,8250.0,10.0,50.0,8350.0,10.0,8850.0,8450.0,10.0,50.0,8550.0,10.0,8850.0,8650.0,10.0,50.0,8750.0,10.0,8850.0,8850.0,10.0,50.0,8950.0,10.0,8850.0,9050.0,10.0,50.0,9150.0,10.0,8850.0,9250.0,10.0,50.0,9350.0,10.0,8750.0,9450.0,10.0,50.0}))))
.addFieldValue(new fieldValue().setName("pitchUpDownForVerticalWaypoints").setValue(false))
.addFieldValue(new fieldValue().setName("defaultSpeed").setValue(1.5))
.addFieldValue(new fieldValue().setName("turningRate").setValue(90))
.addFieldValue(new fieldValue().setName("lineColor").setValue(new SFColor(1.0,0.0,0.0)))
.addFieldValue(new fieldValue().setName("highlightSegmentColor").setValue(new SFColor(0.75,0.75,0.0)))
.addFieldValue(new fieldValue().setName("transparency").setValue(0))
.addFieldValue(new fieldValue().setName("labelOffset").setValue(new SFVec3f(0.0,-0.8,0.0)))
.addFieldValue(new fieldValue().setName("labelFontSize").setValue(0.5))
.addFieldValue(new fieldValue().setName("labelColor").setValue(new SFColor(0.3,0.9,0.6)))
.addFieldValue(new fieldValue().setName("traceEnabled").setValue(false)))
.addChild(new Transform("TrackingTransformRobot4")
.addComments(" Always align initial geometry with X axis ")
.addChild(new Group()
.addComments(" Point vehicle along X-axis ")
.addChild(new Transform()
.addChild(new Inline().setUSE("RemusSideScan")))))
.addChild(new ROUTE().setFromNode("MasterAnimationController").setFromField("fraction_changed").setToNode("RobotTrack4").setToField("set_fraction"))
.addChild(new ROUTE().setFromNode("RobotTrack4").setFromField("position_changed").setToNode("TrackingTransformRobot4").setToField("translation"))
.addChild(new ROUTE().setFromNode("RobotTrack4").setFromField("orientation_changed").setToNode("TrackingTransformRobot4").setToField("rotation")))));
}
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 ExampleScenario 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 ExampleScenario().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.Scenarios.UW3303MinefieldSearch.ExampleScenario\" 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.Scenarios.UW3303MinefieldSearch.ExampleScenario self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// Scenarios/UW3303MinefieldSearch/ExampleScenario_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "Scenarios/UW3303MinefieldSearch/ExampleScenario_JavaExport.x3d";
String filenameX3DV = "Scenarios/UW3303MinefieldSearch/ExampleScenario_JavaExport.x3dv";
String filenameJSON = "Scenarios/UW3303MinefieldSearch/ExampleScenario_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}