<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.1//EN" "https://www.web3d.org/specifications/x3d-3.1.dtd">
<X3D profile='Immersive' version='3.1' xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.1.xsd'>
  <head>
    <meta content='PredatorInWorld.x3d' name='title'/>
    <meta content='Contains 3 DIS-enabled Predator UAVs in a generic world.' name='description'/>
    <meta content='Duane Davis, Naval Postgraduate School (included Aries model authored by Jeff Weekley, Naval Postgraduate School)' name='creator'/>
    <meta content='27 August 2004' name='created'/>
    <meta content='20 October 2019' name='modified'/>
    <meta content='AuvInBeachTanks.x3d' name='reference'/>
    <meta content='predator uav dis' name='subject'/>
    <meta content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorInWorld.x3d' name='identifier'/>
    <meta content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit' name='generator'/>
    <meta content='../../license.html' name='license'/>
  </head>
  <Scene>
    <WorldInfo title='PredatorInWorld.x3d'/>
    <ExternProtoDeclare appinfo='Predator unmanned air vehicle (UAV)' name='PredatorEspdu' url='"../../Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#AriesEspdu" "../../Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#AriesEspdu" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#AriesEspdu"'>
      <field accessType='inputOutput' appinfo='default value PredatorUAV' name='marking' type='SFString'/>
      <field accessType='inputOutput' appinfo='default value 0' name='siteID' type='SFInt32'/>
      <field accessType='inputOutput' appinfo='default value 1' name='applicationID' type='SFInt32'/>
      <field accessType='inputOutput' appinfo='default value 30' name='entityID' type='SFInt32'/>
      <field accessType='inputOutput' appinfo='default value 0.1' name='readInterval' type='SFTime'/>
      <field accessType='inputOutput' appinfo='default value 1.0' name='writeInterval' type='SFTime'/>
      <field accessType='inputOutput' appinfo='Override default EspduTransform value so that listening occurs by default' name='networkMode' type='SFString'/>
      <field accessType='inputOutput' appinfo='default value 224.2.181.145' name='address' type='SFString'/>
      <field accessType='inputOutput' appinfo='default value 62040' name='port' type='SFInt32'/>
      <field accessType='inputOutput' appinfo='default value 0 0 0' name='translation' type='SFVec3f'/>
      <field accessType='inputOutput' appinfo='default value 0 0 1 0' name='rotation' type='SFRotation'/>
    </ExternProtoDeclare>
    <ExternProtoDeclare appinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.' name='GridXZ' url='"../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ"'>
      <field accessType='initializeOnly' appinfo='Purpose of this grid displayed for overall Viewpoint' name='description' type='SFString'/>
      <field accessType='inputOutput' appinfo='color for descriptive labels at grid edges and corners' name='labelColor' type='SFColor'/>
      <field accessType='inputOutput' appinfo='default unscaled size: 10m by 10m' name='scale' type='SFVec3f'/>
      <field accessType='inputOutput' name='originLabel' type='MFString'/>
      <field accessType='inputOutput' appinfo='-X axis' name='WestLabel' type='MFString'/>
      <field accessType='inputOutput' name='NorthWestLabel' type='MFString'/>
      <field accessType='inputOutput' appinfo='-Z axis' name='NorthLabel' type='MFString'/>
      <field accessType='inputOutput' name='NorthEastLabel' type='MFString'/>
      <field accessType='inputOutput' appinfo='+X axis' name='EastLabel' type='MFString'/>
      <field accessType='inputOutput' name='SouthEastLabel' type='MFString'/>
      <field accessType='inputOutput' appinfo='+Z axis' name='SouthLabel' type='MFString'/>
      <field accessType='inputOutput' name='SouthWestLabel' type='MFString'/>
      <field accessType='inputOutput' appinfo='label location offset (in meters) to improve readability' name='labelsOffset' type='SFVec3f'/>
    </ExternProtoDeclare>
    <!-- ==================== -->
    <ProtoInstance name='GridXZ'>
      <fieldValue name='description' value='GridXZ for AUV in Open Ocean'/>
      <fieldValue name='labelColor' value='1 1 1'/>
      <fieldValue name='scale' value='50 50 50'/>
      <fieldValue name='originLabel' value='"origin" "0 0 0"'/>
      <fieldValue name='WestLabel' value='"West" "-Y"'/>
      <fieldValue name='NorthWestLabel' value='"500 0 -500"'/>
      <fieldValue name='NorthLabel' value='"North" "+X"'/>
      <fieldValue name='NorthEastLabel' value='"500 0 500"'/>
      <fieldValue name='EastLabel' value='"East" "+Y"'/>
      <fieldValue name='SouthEastLabel' value='"-500 0 500"'/>
      <fieldValue name='SouthLabel' value='"South" "-X"'/>
      <fieldValue name='SouthWestLabel' value='"-500 0 -500"'/>
    </ProtoInstance>
    <Group DEF='PICKABLES'>
      <Group>
        <ProtoInstance DEF='UAV1' name='PredatorEspdu'>
          <fieldValue name='marking' value='UAV-1'/>
          <fieldValue name='siteID' value='0'/>
          <fieldValue name='applicationID' value='1'/>
          <fieldValue name='entityID' value='30'/>
          <fieldValue name='readInterval' value='0.25'/>
          <fieldValue name='translation' value='750 -2 750'/>
          <fieldValue name='networkMode' value='networkReader'/>
        </ProtoInstance>
        <ProtoInstance DEF='UAV2' name='PredatorEspdu'>
          <fieldValue name='marking' value='UAV-2'/>
          <fieldValue name='siteID' value='0'/>
          <fieldValue name='applicationID' value='1'/>
          <fieldValue name='entityID' value='31'/>
          <fieldValue name='readInterval' value='0.25'/>
          <fieldValue name='translation' value='750 -4 750'/>
        </ProtoInstance>
        <ProtoInstance DEF='UAV3' name='PredatorEspdu'>
          <fieldValue name='marking' value='UAV-3'/>
          <fieldValue name='siteID' value='0'/>
          <fieldValue name='applicationID' value='1'/>
          <fieldValue name='entityID' value='32'/>
          <fieldValue name='readInterval' value='0.25'/>
          <fieldValue name='translation' value='750 -6 750'/>
        </ProtoInstance>
        <ProtoInstance DEF='UAV4' name='PredatorEspdu'>
          <fieldValue name='marking' value='UAV-4'/>
          <fieldValue name='siteID' value='0'/>
          <fieldValue name='applicationID' value='1'/>
          <fieldValue name='entityID' value='33'/>
          <fieldValue name='readInterval' value='0.25'/>
          <fieldValue name='translation' value='750 -8 750'/>
        </ProtoInstance>
      </Group>
      <Transform DEF='TERRAINTRANSFORM' translation='-15000 0 -15000'>
        <Shape>
          <Appearance>
            <Material diffuseColor='0.5 0.5 0.0' emissiveColor='.1 .1 0'/>
            <ImageTexture url='"../../../Savage/AuvWorkbench/OperatingAreas/dirt4.gif" "https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/dirt4.gif"'/>
          </Appearance>
          <ElevationGrid creaseAngle='3.14' height='-75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50' xDimension='11' xSpacing='3000' zDimension='11' zSpacing='3000'>
            <TextureCoordinate point='1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 11 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 8 10 8 11 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11'/>
          </ElevationGrid>
        </Shape>
      </Transform>
    </Group>
    <Group DEF='MISSIONPATHS'>
      <Shape>
        <Appearance DEF='TRACKMATERIAL'>
          <Material emissiveColor='1 1 1'/>
        </Appearance>
        <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
          <Coordinate point='0 0 0 -100 -45 -100 -500 -45 -100 -500 -45 -200 -100 -45 -200 -100 -45 -300 -500 -45 -300 -500 -45 -400 -100 -45 -400 -100 -45 -500 -500 -45 -500'/>
        </IndexedLineSet>
      </Shape>
      <Shape>
        <Appearance USE='TRACKMATERIAL'/>
        <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
          <Coordinate point='0 0 0 100 -45 -100 500 -45 -100 500 -45 -200 100 -45 -200 100 -45 -300 500 -45 -300 500 -45 -400 100 -45 -400 100 -45 -500 500 -45 -500'/>
        </IndexedLineSet>
      </Shape>
      <Shape>
        <Appearance USE='TRACKMATERIAL'/>
        <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
          <Coordinate point='0 0 0 100 -45 100 500 -45 100 500 -45 200 100 -45 200 100 -45 300 500 -45 300 500 -45 400 100 -45 400 100 -45 500 500 -45 500'/>
        </IndexedLineSet>
      </Shape>
      <Shape>
        <Appearance USE='TRACKMATERIAL'/>
        <IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
          <Coordinate point='0 0 0 -100 -45 100 -500 -45 100 -500 -45 200 -100 -45 200 -100 -45 300 -500 -45 300 -500 -45 400 -100 -45 400 -100 -45 500 -500 -45 500'/>
        </IndexedLineSet>
      </Shape>
    </Group>
  </Scene>
</X3D>