X3D Model Documentation: PneumaticTire.x3d

  1  <?xml version="1.0" encoding="UTF-8"?>
  2 
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
  3  <X3D profile='Immersive' version='3.0'  xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'>
  4       <head>
  5            <meta name='title' content=' PneumaticTire.x3d '/>
  6            <meta name='description' content='High-pressure rugged tire used on small mobile robots such as ATRV.'/>
  7            <meta name='creator' content='Monty Williams'/>
  8            <meta name='created' content='22 September 2002'/>
  9            <meta name='modified' content='20 October 2019'/>
 10            <meta name='reference' content=' ATRV.x3d '/>
 11            <meta name='reference' content=' atrv_tech_2001.pdf '/>
 12            <meta name='reference' content=' http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf '/>
 13            <meta name='reference' content='http://www.irobot.com/rwi/p02.asp'/>
 14            <meta name='subject' content='Mobile wheeled robot'/>
 15            <meta name='identifier' content=' https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedGroundVehicles/PneumaticTire.x3d '/>
 16            <meta name='generator' content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit'/>
 17            <meta name='license' content='../../license.html'/>
 18       </head>
<!--
<!--
Event Graph ROUTE Table shows event connections.
-->
<!-- to top DEF nodes index: Wheel, WheelClock, WheelHole, WheelPathInterpolator, WheelTouchSensor, WheelTransform
-->
 19       <Scene>
 20            <WorldInfo title='PneumaticTire.x3d'/>
 21 
          <!-- ROUTE information for WheelTransform node:  [from WheelPathInterpolator.value_changed to set_rotation ] -->
           <Transform DEF='WheelTransform'>
 22                 <Group DEF='Wheel'>
 23                      <Transform rotation='1 0 0 1.57'>
 24                           <Shape>
 25                                <Appearance>
 26                                     <Material diffuseColor='0.2 0.2 0.2'/>
 27                                </Appearance>
 28                                <Extrusion creaseAngle='1.57' crossSection='1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00' spine='2.00 0.0 0.00 1.85 0.0 0.77 1.41 0.0 1.41 0.77 0.0 1.85 0.00 0.0 2.00 -0.77 0.0 1.85 -1.41 0.0 1.41 -1.85 0.0 0.77 -2.00 0.0 0.00 -1.85 0.0 -0.77 -1.41 0.0 -1.41 -0.77 0.0 -1.85 0.00 0.0 -2.00 0.77 0.0 -1.85 1.41 0.0 -1.41 1.85 0.0 -0.77 2.00 0.0 0.00'/>
 29                           </Shape>
 30                           <Shape>
 31                                <Appearance>
 32                                     <Material ambientIntensity='0.4' diffuseColor='0.15 0.15 0.15' shininess='0.05' specularColor='0.7 0.7 0.7'/>
 33                                </Appearance>
 34                                <Cylinder height='0.8' radius='1.1'/>
 35                           </Shape>
 36                           <Transform>
 37                                <Shape>
 38                                     <Appearance>
 39                                          <Material diffuseColor='0.2 0.2 0.2'/>
 40                                     </Appearance>
 41                                     <Cylinder height='0.85' radius='0.2'/>
 42                                </Shape>
 43                           </Transform>
 44                           <Transform translation='0.4 0.0 0.4'>
 45 
                              <!-- Shape WheelHole is a DEF node that has 3 USE nodes: USE_1, USE_2, USE_3 -->
                               <Shape DEF='WheelHole'>
 46                                     <Appearance>
 47                                          <Material diffuseColor='0.2 0.2 0.2'/>
 48                                     </Appearance>
 49                                     <Cylinder height='0.85' radius='0.15'/>
 50                                </Shape>
 51                           </Transform>
 52                           <Transform translation='0.4 0.0 -0.4'>
 53                                <Shape USE='WheelHole'/>
 54                           </Transform>
 55                           <Transform translation='-0.4 0.0 0.4'>
 56                                <Shape USE='WheelHole'/>
 57                           </Transform>
 58                           <Transform translation='-0.4 0.0 -0.4'>
 59                                <Shape USE='WheelHole'/>
 60                           </Transform>
 61                      </Transform>
 62 
                    <!-- ROUTE information for WheelTouchSensor node:  [from isOver to WheelClock.set_enabled ] -->
                     <TouchSensor DEF='WheelTouchSensor' description='touch to spin'/>
 63 
                    <!-- ROUTE information for WheelClock node:  [from WheelTouchSensor.isOver to set_enabled ] [from fraction_changed to WheelPathInterpolator.set_fraction ] -->
                     <TimeSensor DEF='WheelClock' enabled='false' loop='true'/>
 64 
                    <!-- ROUTE information for WheelPathInterpolator node:  [from WheelClock.fraction_changed to set_fraction ] [from value_changed to WheelTransform.set_rotation ] -->
                     <OrientationInterpolator DEF='WheelPathInterpolator' key='0.0 0.5 1.0' keyValue='0 0 1 0.0 0 0 1 -3.14 0 0 1 -6.28'/>
 65                 </Group>
 66            </Transform>
 67            < ROUTE  fromNode='WheelTouchSensor' fromField='isOver' toNode='WheelClock' toField='set_enabled'/>
 68            < ROUTE  fromNode='WheelClock' fromField='fraction_changed' toNode='WheelPathInterpolator' toField='set_fraction'/>
 69            < ROUTE  fromNode='WheelPathInterpolator' fromField='value_changed' toNode='WheelTransform' toField='set_rotation'/>
 70       </Scene>
 71  </X3D>
<!--
<!--
Event Graph ROUTE Table shows event connections.
-->
<!-- to top DEF nodes index: Wheel, WheelClock, WheelHole, WheelPathInterpolator, WheelTouchSensor, WheelTransform
-->
X3D Tooltips element index: Appearance, Cylinder, Extrusion, Group, head, Material, meta, OrientationInterpolator, ROUTE, Scene, Shape, TimeSensor, TouchSensor, Transform, WorldInfo, X3D, plus documentation for accessType definitions, type definitions, XML data types, and field types

Event Graph ROUTE Table entries with 3 ROUTE connections total, showing X3D event-model relationships for this scene.

Each row shows an event cascade that may occur during a single timestamp interval between frame renderings, as part of the X3D execution model.

WheelTouchSensor
TouchSensor
isOver
SFBool
→
ROUTE
event to
(1)
WheelClock
TimeSensor
set_enabled
SFBool 		then
 
 
  		WheelClock
TimeSensor
fraction_changed
SFFloat
→
ROUTE
event to
(2)
WheelPathInterpolator
OrientationInterpolator
set_fraction
SFFloat 		then
 
 
  		WheelPathInterpolator
OrientationInterpolator
value_changed
SFRotation
→
ROUTE
event to
(3)
WheelTransform
Transform
set_rotation
SFRotation


Additional guidance on X3D animation can be found in the 10-Step Animation Design Process and Event Tracing hint sheets. Have fun with X3D! 😀
-->
<!-- Online at
https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedGroundVehicles/PneumaticTireIndex.html -->
<!-- Version control at
https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedGroundVehicles/PneumaticTire.x3d -->

<!-- Color-coding legend: X3D terminology <X3dNode  DEF='idName' field='value'/> matches XML terminology <XmlElement  DEF='idName' attribute='value'/>
(Light-blue background: event-based behavior node or statement) (Grey background inside box: inserted documentation) (Magenta background: X3D Extensibility)
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