{ "X3D": { "encoding":"UTF-8", "@profile":"Immersive", "@version":"3.3", "@xsd:noNamespaceSchemaLocation":"https://www.web3d.org/specifications/x3d-3.3.xsd", "JSON schema":"https://www.web3d.org/specifications/x3d-4.0-JSONSchema.autogenerated.json", "head": { "meta": [ { "@name":"title", "@content":"SideScanSonarPrototype.x3d" }, { "@name":"description", "@content":"Produce wireframe or transparent sidescan sonar beams." }, { "@name":"creator", "@content":"Don Brutzman" }, { "@name":"created", "@content":"15 March 2001" }, { "@name":"modified", "@content":"20 October 2019" }, { "@name":"identifier", "@content":"https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d" }, { "@name":"generator", "@content":"X3D-Edit 3.3, https://www.web3d.org/x3d/tools/X3D-Edit" }, { "@name":"license", "@content":"../../license.html" }, { "@name":"translated", "@content":"21 April 2026" }, { "@name":"generator", "@content":"X3dToJson.xslt, https://www.web3d.org/x3d/stylesheets/X3dToJson.html" }, { "@name":"reference", "@content":"X3D JSON encoding: https://www.web3d.org/wiki/index.php/X3D_JSON_Encoding" } ] }, "Scene": { "-children":[ { "NavigationInfo": { "@DEF":"LockedDownInterface2D", "@type":["NONE"] } }, { "Background": { "@skyColor":[0,0.3,0.5] } }, { "WorldInfo": { "@info":["Produce wireframe or transparent beam cones."], "@title":"BeamCone Prototyupe" } }, { "Viewpoint": { "@description":"SideScanSonar Prototype", "@position":[0,0,15] } }, { "ProtoDeclare": { "@name":"SideScanSonar", "@appinfo":"Produce wireframe or semi-transparent sonar sidescan beams", "ProtoInterface": { "field": [ { "@name":"altitude", "@accessType":"inputOnly", "@appinfo":"vertical distance above bottom in meters along y axis", "@type":"SFFloat" }, { "@name":"defaultAltitude", "@accessType":"initializeOnly", "@appinfo":"default vertical distance above bottom in meters along y axis", "@type":"SFFloat", "@value":3 }, { "@name":"maxAltitude", "@accessType":"initializeOnly", "@appinfo":"maximum effective altitude of sidescan sonar above bottom", "@type":"SFFloat", "@value":3 }, { "@name":"defaultCrossTrackHalfRange", "@accessType":"initializeOnly", "@appinfo":"distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom", "@type":"SFFloat", "@value":30 }, { "@name":"defaultTrackWidthMeters", "@accessType":"initializeOnly", "@appinfo":"longitudinal width of a single return", "@type":"SFFloat", "@value":0.30 }, { "@name":"vehicleWidthMeters", "@accessType":"initializeOnly", "@appinfo":"width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers", "@type":"SFFloat", "@value":0.178 }, { "@name":"contact", "@accessType":"inputOnly", "@appinfo":"(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?", "@type":"SFBool" }, { "@name":"wireframe", "@accessType":"initializeOnly", "@appinfo":"draw lines for tracking shape?", "@type":"SFBool", "@value":true }, { "@name":"solid", "@accessType":"initializeOnly", "@appinfo":"draw solid tracking shape?", "@type":"SFBool", "@value":true }, { "@name":"contactColor", "@accessType":"initializeOnly", "@appinfo":"rendering color when contact=true", "@type":"SFColor", "@value":[0.8,0.1,0.1] }, { "@name":"noContactColor", "@accessType":"initializeOnly", "@appinfo":"rendering color when contact=false", "@type":"SFColor", "@value":[0.3,0.5,0.5] }, { "@name":"transparency", "@accessType":"inputOutput", "@appinfo":"1 = fully transparent wireframe only", "@type":"SFFloat", "@value":0 } ] }, "ProtoBody": { "-children":[ { "#comment":"BEAM_CONTROL beam scaling is controlled by range/beamHeightDegrees/beamWidthDegrees/direction inputs" }, { "Transform": { "@DEF":"BEAM_CONTROL", "-children":[ { "Switch": { "@DEF":"WIREFRAME_SWITCH", "@whichChoice":1, "-children":[ { "#comment":"TODO refactor index values starting from -1, remove WorldInfo" }, { "WorldInfo": { "@info":["initial choice is null node (WorldInfo), meaning no wireframe beam"] } }, { "Shape": { "-appearance": { "Appearance": { "-material": { "Material": { "@DEF":"WireMaterial", "@diffuseColor":[0.1,0.1,0.1], "@emissiveColor":[0.1,0.1,0.1], "IS": { "connect": [ { "@nodeField":"transparency", "@protoField":"transparency" } ] } } } } }, "-geometry": { "IndexedLineSet": { "@DEF":"ILS", "@coordIndex":[1,2,3,1,-1,5,3,4,5,-1,6,8,7,6,-1,10,9,8,10,-1,6,7,2,1,6,-1,10,5,4,9,10,-1], "-coord": { "Coordinate": { "@DEF":"BeamPatternCoordinatePoints", "@point":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] } } } } } } ] } }, { "Switch": { "@DEF":"SOLID_SWITCH", "@whichChoice":0, "-children":[ { "#comment":"TODO refactor index values starting from -1, remove WorldInfo" }, { "WorldInfo": { "@info":["initial choice is null node (WorldInfo), meaning no solid beam"] } }, { "Shape": { "-appearance": { "Appearance": { "-material": { "Material": { "@DEF":"FaceMaterial", "@diffuseColor":[0.1,0.1,0.1], "IS": { "connect": [ { "@nodeField":"transparency", "@protoField":"transparency" } ] } } } } }, "-geometry": { "IndexedFaceSet": { "@DEF":"IFS", "@coordIndex":[1,2,3,1,-1,5,3,4,5,-1,6,8,7,6,-1,10,9,8,10,-1,6,7,2,1,6,-1,10,5,4,9,10,-1], "@solid":false, "-coord": { "Coordinate": { "@USE":"BeamPatternCoordinatePoints" } } } } } } ] } } ] } }, { "#comment":"Non-renderable animation controls" }, { "Script": { "@DEF":"BEAM_CALCULATE", "field": [ { "@name":"altitude", "@accessType":"inputOnly", "@type":"SFFloat" }, { "@name":"defaultAltitude", "@accessType":"initializeOnly", "@type":"SFFloat" }, { "@name":"maxAltitude", "@accessType":"initializeOnly", "@type":"SFFloat" }, { "@name":"defaultCrossTrackHalfRange", "@accessType":"initializeOnly", "@type":"SFFloat" }, { "@name":"defaultTrackWidthMeters", "@accessType":"initializeOnly", "@type":"SFFloat" }, { "@name":"vehicleWidthMeters", "@accessType":"initializeOnly", "@type":"SFFloat" }, { "@name":"beamScale", "@accessType":"outputOnly", "@type":"SFVec3f" }, { "@name":"coordinatePoints", "@accessType":"outputOnly", "@type":"MFVec3f" }, { "@name":"traceEnabled", "@accessType":"initializeOnly", "@appinfo":"internal flag to turn on Script tracing", "@type":"SFBool", "@value":false } ], "IS": { "connect": [ { "@nodeField":"altitude", "@protoField":"altitude" }, { "@nodeField":"defaultAltitude", "@protoField":"defaultAltitude" }, { "@nodeField":"maxAltitude", "@protoField":"maxAltitude" }, { "@nodeField":"defaultCrossTrackHalfRange", "@protoField":"defaultCrossTrackHalfRange" }, { "@nodeField":"defaultTrackWidthMeters", "@protoField":"defaultTrackWidthMeters" }, { "@nodeField":"vehicleWidthMeters", "@protoField":"vehicleWidthMeters" } ] }, "#sourceCode":[ "", "", "ecmascript:", "", "function tracePrint (value)", "{", "\tif (traceEnabled) Browser.println ('[SideScanSonar BEAM_CALCULATE] ' + value);", "}", "", "function initialize () {", " beamScale = new SFVec3f (1, 1, 1);", " dt2 = defaultTrackWidthMeters/2;", "", " origin = new SFVec3f (0, 0, 0);", " a = new SFVec3f (-dt2, 0, -vehicleWidthMeters/2);", " b = new SFVec3f (-dt2, -defaultAltitude, -defaultCrossTrackHalfRange);", " c = new SFVec3f (-dt2, -defaultAltitude, 0);", " d = new SFVec3f (-dt2, -defaultAltitude, defaultCrossTrackHalfRange);", " e = new SFVec3f (-dt2, 0, vehicleWidthMeters/2);", " aa = new SFVec3f ( dt2, 0, -vehicleWidthMeters/2);", " bb = new SFVec3f ( dt2, -defaultAltitude, -defaultCrossTrackHalfRange);", " cc = new SFVec3f ( dt2, -defaultAltitude, 0);", " dd = new SFVec3f ( dt2, -defaultAltitude, defaultCrossTrackHalfRange);", " ee = new SFVec3f ( dt2, 0, vehicleWidthMeters/2);", "", " coordinatePoints = new MFVec3f (origin, a, b, c, d, e, aa, bb, cc, dd, ee);", "", " tracePrint ('coordinatePoints =' + coordinatePoints);", "}", "function altitude (newAltitude, timeStamp) {", " if (newAltitude <= 0)", " {", " beamHeightFactor= 0.001;", " beamScale = new SFVec3f (1, beamHeightFactor, beamHeightFactor);", " }", " else if (newAltitude < maxAltitude)", " {", " beamHeightFactor= newAltitude / defaultAltitude;", " beamScale = new SFVec3f (1, beamHeightFactor, beamHeightFactor);", " }", " else", " {", " beamHeightFactor= maxAltitude / defaultAltitude;", " beamScale = new SFVec3f (1, beamHeightFactor, beamHeightFactor);", " }", " tracePrint ('newAltitude =' + newAltitude);", " tracePrint ('beamHeightFactor =' + beamHeightFactor);", " tracePrint ('beamScale =' + beamScale);", "}", "", "" ] } }, { "Script": { "@DEF":"DETECTION", "@directOutput":true, "field": [ { "@name":"contact", "@accessType":"inputOnly", "@type":"SFBool" }, { "@name":"wireframe", "@accessType":"initializeOnly", "@type":"SFBool" }, { "@name":"solid", "@accessType":"initializeOnly", "@type":"SFBool" }, { "@name":"contactColor", "@accessType":"initializeOnly", "@type":"SFColor" }, { "@name":"noContactColor", "@accessType":"initializeOnly", "@type":"SFColor" }, { "@name":"beamColor", "@accessType":"outputOnly", "@type":"SFColor" }, { "@name":"wireframeChoice", "@accessType":"outputOnly", "@type":"SFInt32" }, { "@name":"solidChoice", "@accessType":"outputOnly", "@type":"SFInt32" }, { "@name":"MaterialNodeHolder", "@accessType":"initializeOnly", "@type":"SFNode", "-children":[ { "Material": { "@USE":"FaceMaterial" } } ] }, { "@name":"traceEnabled", "@accessType":"initializeOnly", "@appinfo":"internal flag to turn on Script tracing", "@type":"SFBool", "@value":false } ], "IS": { "connect": [ { "@nodeField":"contact", "@protoField":"contact" }, { "@nodeField":"wireframe", "@protoField":"wireframe" }, { "@nodeField":"solid", "@protoField":"solid" }, { "@nodeField":"contactColor", "@protoField":"contactColor" }, { "@nodeField":"noContactColor", "@protoField":"noContactColor" } ] }, "#sourceCode":[ "", "", "ecmascript:", "", "function tracePrint (value)", "{", "\tif (traceEnabled) Browser.println ('[SideScanSonar DETECTION] ' + value);", "}", "", "function initialize ()", "{", "\tbeamColor = noContactColor;", "\tif (wireframe == true) wireframeChoice = 1;", "\tif (solid == true) solidChoice = 1;", "", "\t// Debug statements", "\ttracePrint (' wireframe =' + wireframe);", "\ttracePrint (' solid =' + solid);", "\ttracePrint (' contactColor =' + contactColor);", "\ttracePrint (' noContactColor =' + noContactColor);", "\ttracePrint (' beamColor =' + beamColor);", "\ttracePrint (' wireframeChoice =' + wireframeChoice);", "\ttracePrint (' solidChoice =' + solidChoice);", "\ttracePrint (' transparency =' + MaterialNodeHolder.transparency);", "}", "function contact (newDetect, timeStamp)", "{", "\ttracePrint (' newDetect =' + newDetect);", "\tif (newDetect) beamColor = contactColor;", "\telse beamColor = noContactColor;", "}", "", "" ] } }, { "ROUTE": { "@fromField":"beamScale", "@fromNode":"BEAM_CALCULATE", "@toField":"scale", "@toNode":"BEAM_CONTROL" } }, { "ROUTE": { "@fromField":"coordinatePoints", "@fromNode":"BEAM_CALCULATE", "@toField":"point", "@toNode":"BeamPatternCoordinatePoints" } }, { "ROUTE": { "@fromField":"beamColor", "@fromNode":"DETECTION", "@toField":"emissiveColor", "@toNode":"WireMaterial" } }, { "ROUTE": { "@fromField":"beamColor", "@fromNode":"DETECTION", "@toField":"emissiveColor", "@toNode":"FaceMaterial" } }, { "ROUTE": { "@fromField":"wireframeChoice", "@fromNode":"DETECTION", "@toField":"whichChoice", "@toNode":"WIREFRAME_SWITCH" } }, { "ROUTE": { "@fromField":"solidChoice", "@fromNode":"DETECTION", "@toField":"whichChoice", "@toNode":"SOLID_SWITCH" } } ] } } }, { "#comment":"Viewable geometry for this scene is anchored text that links to an example showing ExternProtoDeclare usage of BeamCone" }, { "Anchor": { "@description":"SideScanSonar Example", "@parameter":["target=_blank"], "@url":["SideScanSonarExample.x3d","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d","SideScanSonarExample.wrl","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.wrl"], "-children":[ { "Shape": { "-appearance": { "Appearance": { "-material": { "Material": { "@diffuseColor":[0,1,1], "@emissiveColor":[0,1,1] } } } }, "-geometry": { "Text": { "@string":["SideScanSonarPrototype","is a Prototype definition file.","To see an example scene","click this text and view","SideScanSonarExample."], "-fontStyle": { "FontStyle": { "@justify":["MIDDLE","MIDDLE"] } } } } } }, { "Shape": { "-children":[ { "#comment":"transparent Box as text-selection assist" } ], "-geometry": { "Box": { "@size":[10.5,6,0.001] } }, "-appearance": { "Appearance": { "-material": { "Material": { "@transparency":1 } } } } } } ] } } ] } } }