package Savage.Robots.UnmannedGroundVehicles;
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.EnvironmentalEffects.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Geometry3D.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Networking.*;
import org.web3d.x3d.jsail.PointingDeviceSensor.*;
import org.web3d.x3d.jsail.Rendering.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Text.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
* All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics.
Related links: Catalog page ATRV, source ATRV.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 LT Monty Williams
*/
public class ATRV
{
/** Default constructor to create this object. */
public ATRV ()
{
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("ATRV.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("LT Monty Williams"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("5 September 2002"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("20 October 2019"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("PneumaticTire.x3d"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("atrv_tech_2001.pdf"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf"))
.addMeta(new meta().setName(meta.NAME_REFERENCE ).setContent("http://www.irobot.com/rwi/p02.asp"))
.addMeta(new meta().setName(meta.NAME_SUBJECT ).setContent("Mobile wheeled robot"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedGroundVehicles/ATRV.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()
.addChild(new WorldInfo().setTitle("ATRV.x3d"))
.addChild(new Background().setGroundAngle(new double[] {1.309,1.5702}).setGroundColor(new MFColor(new double[] {0.5,0.3,0.3,0.5,0.3,0.3,0.5,0.4,0.4})).setSkyAngle(new double[] {1.309,1.572}).setSkyColor(new MFColor(new double[] {0.0,0.2,0.7,0.0,0.5,1.0,1.0,1.0,1.0})))
.addChild(new Transform()
.addChild(new Group()
.addChild(new Transform("FrontWheelAxle")
.addChild(new Group("WheelAxle")
.addChild(new Transform("FrontWheelTransform").setScale(0.3,0.3,0.3).setTranslation(1.0,0.0,-0.2)
.addChild(new Inline("TIRE").setUrl(new String[] {"PneumaticTire.x3d","https://www.web3d.org/x3d/content/examples/Savage/GroundVehicles/Robots/PneumaticTire.x3d","PneumaticTire.wrl","https://www.web3d.org/x3d/content/examples/Savage/GroundVehicles/Robots/PneumaticTire.wrl"})))
.addChild(new Transform("RearWheelTransform").setScale(0.3,0.3,0.3).setTranslation(-1.0,0.0,-0.2)
.addChild(new Inline().setUSE("TIRE")))))
.addChild(new Transform().setTranslation(0.0,0.0,-2.6)
.addChild(new Group().setUSE("WheelAxle")))
.addChild(new Transform()
.addChild(new Group("PlatformBase")
.addChild(new Transform().setTranslation(0.0,0.2,-1.5)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.8,0.0,0.2)))
.setGeometry(new Box().setSize(4.0,1.0,2.0))))
.addChild(new Transform().setTranslation(2.3,0.2,-1.5)
.addChild(new Group("Bumper")
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Box().setSize(0.2,0.4,2.0)))
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57).setScale(0.2,0.2,0.2).setTranslation(-0.3,0.0,0.8)
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14)
.addChild(new Group("Harness")
.addChild(new Transform()
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Extrusion().setCrossSection(new MFVec2f(new double[] {1.6,0.0,1.0,1.0,-1.0,1.0,-1.0,0.0,1.6,0.0})).setSolid(false).setSpine(new MFVec3f(new double[] {0.0,0.0,0.5,0.0,0.0,-0.5})))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57).setTranslation(-0.5,0.5,0.0)
.addChild(new Shape("HarnessHole")
.setAppearance(new Appearance()
.setMaterial(new Material()))
.setGeometry(new Cylinder().setHeight(1.05).setRadius(0.3))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57).setTranslation(0.5,0.5,0.0)
.addChild(new Shape().setUSE("HarnessHole"))))))
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57).setScale(0.2,0.2,0.2).setTranslation(-0.3,0.0,-0.8)
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14)
.addChild(new Group().setUSE("Harness"))))))
.addChild(new Transform().setRotation(0.0,1.0,0.0,3.14).setTranslation(-2.3,0.2,-1.5)
.addChild(new Group().setUSE("Bumper")))))
.addChild(new Transform().setTranslation(0.0,0.7,-0.5)
.addChild(new Transform().setRotation(0.0,0.0,1.0,-1.57)
.addChild(new CylinderSensor("CaseCylinderSensor").setDescription("touch to activate").setMaxAngle(0.785))
.addChild(new Transform("CaseTransform")
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57)
.addChild(new Group("CASE")
.addChild(new Transform()
.addChild(new Shape()
.setAppearance(new Appearance("CaseAppearance")
.setMaterial(new Material().setDiffuseColor(0.8,0.1,0.2)))
.setGeometry(new Extrusion().setBeginCap(false).setCrossSection(new MFVec2f(new double[] {2.0,0.0,2.0,-2.0,-2.0,-2.0,-2.0,0.0,2.0,0.0})).setEndCap(false).setSolid(false).setSpine(new MFVec3f(new double[] {0.0,0.0,0.0,0.0,0.4,0.0})))))
.addChild(new Transform()
.addChild(new Shape()
.setAppearance(new Appearance().setUSE("CaseAppearance"))
.setGeometry(new IndexedFaceSet().setSolid(false).setCoordIndex(new int[] {0,1,2,-1,2,1,3,4,-1,1,5,6,3,-1,4,3,6,7,-1,7,6,5,8,-1,8,5,9,-1})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {2.0,0.4,0.0,1.0,1.2,-0.3,1.0,0.4,0.0,-2.0,1.2,-0.3,-2.0,0.4,0.0,1.0,1.2,-1.7,-2.0,1.2,-1.7,-2.0,0.4,-2.0,1.0,0.4,-2.0,2.0,0.4,-2.0})))))
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setTransparency(0.2)))
.setGeometry(new IndexedFaceSet().setCoordIndex(new int[] {0,1,2,3,-1})
.setCoord(new Coordinate().setPoint(new MFVec3f(new double[] {2.0,0.4,0.0,2.0,0.4,-2.0,1.0,1.2,-1.7,1.0,1.2,-0.3}))))))
.addChild(new Transform().setTranslation(1.6,0.2,-0.09)
.addChild(new Group("SONAR")
.addChild(new Transform()
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Box().setSize(0.2,0.2,0.2))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.7,0.5,0.2)))
.setGeometry(new Cylinder().setHeight(0.21).setRadius(0.08))))))
.addChild(new Transform().setTranslation(-1.6,0.2,-0.09)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setTranslation(1.6,0.2,-1.91)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setTranslation(-1.6,0.2,-1.91)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(-1.91,0.2,-0.4)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(-1.91,0.2,-1.6)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-0.2)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-0.4)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-0.6)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-1.4)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-1.6)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setRotation(0.0,1.0,0.0,1.57).setTranslation(1.91,0.2,-1.8)
.addChild(new Group().setUSE("SONAR")))
.addChild(new Transform().setTranslation(-1.6,1.2,-0.5)
.addChild(new Group("HitchGroup")
.addChild(new Transform().setScale(0.2,0.2,0.1)
.addChild(new Group().setUSE("Harness")))
.addChild(new Transform().setScale(0.2,0.2,0.1).setTranslation(0.2,0.0,0.0)
.addChild(new Group().setUSE("Harness")))
.addChild(new Transform().setScale(0.2,0.2,0.1).setTranslation(0.4,0.0,0.0)
.addChild(new Group().setUSE("Harness")))))
.addChild(new Transform().setTranslation(-1.6,1.2,-1.5)
.addChild(new Group().setUSE("HitchGroup")))
.addChild(new Transform().setScale(0.8,0.8,0.8).setTranslation(0.2,1.2,-0.7)
.addChild(new Group().setUSE("HitchGroup")))
.addChild(new Transform().setScale(0.8,0.8,0.8).setTranslation(0.2,1.2,-1.3)
.addChild(new Group().setUSE("HitchGroup")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,1.57).setTranslation(-0.9,1.25,-1.0)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Cylinder().setHeight(1.0).setRadius(0.05))))
.addChild(new Transform().setTranslation(-0.5,1.25,-1.0)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(1.0,1.0,1.0)))
.setGeometry(new Box().setSize(0.4,0.1,0.4))))
.addChild(new Transform().setTranslation(-1.5,1.25,-1.0)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Box().setSize(0.6,0.15,0.9))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,-0.185).setTranslation(-1.8,0.9,-0.17)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Text().setString(new String[] {"ATRV"})
.setFontStyle(new FontStyle().setSize(0.4).setCssStyle("BOLD")))))
.addChild(new Transform().setTranslation(1.0,0.1,0.0)
.addChild(new Group("HINGE")
.addChild(new Transform()
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.2,0.2,0.2)))
.setGeometry(new Box().setSize(0.4,0.2,0.05))))
.addChild(new Transform().setRotation(0.0,0.0,1.0,1.57).setTranslation(0.0,-0.12,0.0)
.addChild(new Shape()
.setAppearance(new Appearance()
.setMaterial(new Material().setDiffuseColor(0.4,0.4,0.4)))
.setGeometry(new Cylinder().setHeight(0.37).setRadius(0.02))))))
.addChild(new Transform().setTranslation(-1.0,0.1,0.0)
.addChild(new Group().setUSE("HINGE")))))
.addChild(new ROUTE().setFromNode("CaseCylinderSensor").setFromField("rotation_changed").setToNode("CaseTransform").setToField("set_rotation"))))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14).setTranslation(1.0,-0.15,0.0)
.addChild(new Group().setUSE("HINGE")))
.addChild(new Transform().setRotation(1.0,0.0,0.0,3.14).setTranslation(-1.0,-0.15,0.0)
.addChild(new Group().setUSE("HINGE")))))));
}
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 ATRV 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 ATRV().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.UnmannedGroundVehicles.ATRV\" 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.UnmannedGroundVehicles.ATRV self-validation test confirmation: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
// experimental: test X3DJSAIL output files
// Robots/UnmannedGroundVehicles/ATRV_JavaExport.* file validation is checked when building X3D Example Archives
String filenameX3D = "Robots/UnmannedGroundVehicles/ATRV_JavaExport.x3d";
String filenameX3DV = "Robots/UnmannedGroundVehicles/ATRV_JavaExport.x3dv";
String filenameJSON = "Robots/UnmannedGroundVehicles/ATRV_JavaExport.json";
thisExampleX3dModel.toFileX3D (filenameX3D);
thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO thisExampleX3dModel.toFileJSON (filenameJSON);
}
}
}