#VRML V2.0 utf8

Group {
  children [
	WorldInfo {
		title "DisCoordinateSystemGimbals.wrl"
		info [
			"Computer Animation Project 1996, Eric Bachmann"
			"SGI CosmoPlayer 1.0 bugs removed by www.trapezium.com Chisel"
			"Restructuring and orientation outputs by Don Brutzman"
			"Updated:  19 April 99"
"http://www.web3D.org/WorkingGroups/vrtp/dis-java-vrml/demo/gimbals/DisCoordinateSystemGimbals.wrl"
		]
	}
	NavigationInfo {
		type [ "EXAMINE" "ANY" ]
	}
	Background {
		groundAngle	[ 1.309, 1.571 ]
		groundColor	[ 0 0.3 1, 0 0.3 1, 0 0.3 1 ]
		skyAngle	[ 1.309, 1.571 ]
		skyColor	[ 0 0.2 0.7, 0 0.5 1, 1 1 1 ]
	}
	DirectionalLight {
		color 0.5 0.4 0.0
		direction 1 -.5 1
	}
	Transform {
		translation -250 125 -250
		children [
			Shape {
				appearance Appearance {
					material Material { # DEF SUN_MATERIAL 
						ambientIntensity 0
						diffuseColor 1 0.871763 0
						specularColor 1 1 1 
						emissiveColor 1 0.871763 0
						shininess 0.5 
					}
				}
				geometry Sphere {
					radius 5.0
				}
			}
		]
	}
#	Transform {
#		translation -40 -20 -40
#		children [
#			Inline {
#				url "seamount.wrl"
#			}
#		]
#	}
	Transform {
		translation 0 20 0
		children [
			Inline {
				url "globalCoordinateSystemAxes.wrl"
			}
		]
	}
	Transform {
		translation 0 20 0
		rotation 0 1 0 1.57
		children [
			DEF AZIMUTH_TRANSFORM Transform {
				children [
					DEF AZIMUTH_SENSOR CylinderSensor { }
					Transform {
						children [
							Inline {
								url "azimuthGimbal.wrl"
							}
						]
					}
					Transform {
						rotation 0 0 1 1.57
						children [
							DEF ELEVATION_TRANSFORM Transform {
								children [
									DEF ELEVATION_SENSOR CylinderSensor { }
									Inline {
										url "elevationGimbal.wrl"
									}
									Transform {
										rotation 1 0 0 -1.57
										children [
											DEF ROLL_TRANSFORM Transform {
												children [
													DEF ROLL_SENSOR CylinderSensor { }
													Transform {
														children [
															Inline {
																 url "rollGimbal.wrl"
															}
															Transform {
																rotation 0 0 1 -1.57
																children [
																	Inline {
																		url "painted-jet.wrl"
															 		}
																	Transform {
																 		scale 0.65 0.65 0.65
																 		children Inline {
																			url "localCoordinateSystemAxes.wrl"
																		}
																	}
												 				]
															}
														]
													}
												]
											}
										]
									}
								]
							}
						]
					}
				]
			}
		]
	}
	Viewpoint {
		position   0 15  100 # Z axis in VRML coordinates
		description "East to West"
	}
	Viewpoint {
		position   120 20 0 # X axis in VRML coordinates
		orientation  0 1 0 1.5708
		description "North to South"
	}
	Viewpoint {
		position   0 20 -120 # Z axis in VRML coordinates
		orientation  0 1 0 -3.14159
		description "West to East"
	}
	Viewpoint {
		position   -120 20 0 # X axis in VRML coordinates
		orientation  0 1 0 -1.5708
		description "South to North"
	}
	Viewpoint {
		position 0 30 50
		orientation 1 0 0	-.20136
		description "Close Up"
	}
	Transform {
		translation 30 40 30
		rotation 0 1 0 0.785398
		children [
			Viewpoint {
				orientation 1 0 0	-0.45
				description "Northeast to SW"
			}
		]
	}
	Transform {
		translation -25 5 -25
		rotation 0 1 0 -2.35619
		children [
			Viewpoint {
				orientation 1 0 0	0.35
				description "Southwest to NE"
			}
		]
	}
	Viewpoint {
		position 0 125 0
		orientation -1 0 0	1.57
		description "Top Down"
	}

	Transform {
		translation 0 -12 22
		children [
			Billboard {
				axisOfRotation 0 0 0
				children [
					Shape {
						appearance Appearance {
							material Material {
								diffuseColor  0 .8 .1
								emissiveColor 0 .8 .1
							}
						}
						geometry DEF TRACE_STRING Text {
							string [ "Text string for rotation values" ]
							fontStyle FontStyle {
								size 4
								justify "MIDDLE"
							}
						}
					}
				]
			}
		]
	}
	DEF CONSTRUCT_TRACE_STRING Script {
		eventIn  	SFRotation set_roll
		eventIn  	SFRotation set_elevation
		eventIn  	SFRotation set_azimuth
		eventOut	MFString   rotationMessage_changed

		url "javascript:
			function initialize ( ) {
				roll = elevation = azimuth = azimuth2 = 0.0;
				rotationMessage_changed = new MFString (
					'VRML SFRotation = (1 0 0 0) axis-angle',
					'DIS (roll, elevation, azimuth) = (0, 0, 0) degrees'
					);
			}
			function set_roll      ( value, ts ) {
				roll      = (-value [3] * 180.0 / 3.141592653); // negate rotation to get DIS value
				while (roll <  -180.0) roll += 360.0;
				while (roll >=  180.0) roll -= 360.0;
				calculateRotation ();
				roll = Math.round (roll * 10.0) / 10.0; // round to nearest tenth
				rotationMessage_changed = new MFString (
					'VRML SFRotation = (' + newRotation + ') axis-angle',
					'DIS (roll, elevation, azimuth) = (' + roll + ', ' + elevation + ', ' + azimuth + ') degrees'
					);
			}
			function set_elevation ( value, ts ) {
				elevation = value [3] * 180.0 / 3.141592653;
				while (elevation <  -180.0) elevation += 360.0;
				while (elevation >=  180.0) elevation -= 360.0;	
				calculateRotation ();
				elevation = Math.round (elevation * 10.0) / 10.0; // round to nearest tenth
				rotationMessage_changed = new MFString (
					'VRML SFRotation = (' + newRotation + ') axis-angle',
					'DIS (roll, elevation, azimuth) = (' + roll + ', ' + elevation + ', ' + azimuth + ') degrees'
					);
			}
			function set_azimuth   ( value, ts ) {
				azimuth   = (-value [3] * 180.0 / 3.141592653); // negate rotation to get DIS value
				while (azimuth <    0.0) azimuth += 360.0;
				while (azimuth >= 360.0) azimuth -= 360.0;				
				azimuth2 = azimuth;
				while (azimuth2 <  -180.0) azimuth2 += 360.0;
				while (azimuth2 >=  180.0) azimuth2 -= 360.0;				
				calculateRotation ();
				azimuth = Math.round (azimuth * 10.0) / 10.0; // round to nearest tenth
				rotationMessage_changed = new MFString (
					'VRML SFRotation = (' + newRotation + ') axis-angle',
					'DIS (roll, elevation, azimuth) = (' + roll + ', ' + elevation + ', ' + azimuth + ') degrees'
					);
			}
			function calculateRotation () {
				newRotation = new SFRotation (1, 0, 0, 0);
				newRotation = newRotation.multiply (new SFRotation (1, 0, 0,  roll  * 3.141592653 / 180.0));
				newRotation = newRotation.multiply (new SFRotation (0, 0, 1,  elevation * 3.141592653 / 180.0));
				newRotation = newRotation.multiply (new SFRotation (0, 1, 0, -azimuth2  * 3.141592653 / 180.0));
			}
			"
	}
  ]
}

ROUTE ROLL_SENSOR.rotation_changed						TO ROLL_TRANSFORM.set_rotation
ROUTE ELEVATION_SENSOR.rotation_changed						TO ELEVATION_TRANSFORM.set_rotation
ROUTE AZIMUTH_SENSOR.rotation_changed						TO AZIMUTH_TRANSFORM.set_rotation

ROUTE ROLL_SENSOR.rotation_changed						TO CONSTRUCT_TRACE_STRING.set_roll
ROUTE ELEVATION_SENSOR.rotation_changed						TO CONSTRUCT_TRACE_STRING.set_elevation
ROUTE AZIMUTH_SENSOR.rotation_changed						TO CONSTRUCT_TRACE_STRING.set_azimuth

ROUTE CONSTRUCT_TRACE_STRING.rotationMessage_changed	TO TRACE_STRING.set_string