x_ite 8.11.7 → 8.11.9

package/docs/_posts/components/DIS/EspduTransform.md

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----
-title: EspduTransform
-date: 2023-01-07
-nav: components-DIS
-categories: [components, DIS]
-tags: [EspduTransform, DIS]
----
-<style>
-.post h3 {
-  word-spacing: 0.2em;
-}
-</style>
-
-## Overview
-
-EspduTransform is a networked Transform node that can contain most nodes. If activated, EspduTransform can send or receive Entity State Protocol Data Unit (PDU) packets, also integrating functionality for the following DIS PDUs: EntityStatePdu, CollisionPdu, DetonatePdu, FirePdu, CreateEntity and RemoveEntity PDUs.
-
-The EspduTransform node belongs to the **DIS** component and its default container field is *children.* It is available from X3D version 3.0 or higher.
-
-## Hierarchy
-
-```
-+ X3DNode
-  + X3DChildNode
-    + X3DGroupingNode
-      + EspduTransform (X3DSensorNode)*
-```
-
-<small>\* Derived from multiple interfaces.</small>
-
-## Fields
-
-### SFNode [in, out] **metadata** NULL <small>[X3DMetadataObject]</small>
-
-Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
-
-#### Hint
-
-- [X3D Architecture 7.2.4 Metadata](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/core.html#Metadata){:target="_blank"}
-
-### SFBool [in, out] **enabled** TRUE
-
-Enables/disables the sensor node.
-
-### SFBool [in, out] **visible** TRUE
-
-Whether or not renderable content within this node is visually displayed.
-
-#### Hints
-
-- The *visible* field has no effect on animation behaviors, event passing or other non-visual characteristics.
-- Content must be *visible* to be collidable and to be pickable.
-
-### SFBool [in, out] **bboxDisplay** FALSE
-
-Whether to display bounding box for associated geometry, aligned with world coordinates.
-
-#### Hint
-
-- The bounding box is displayed regardless of whether contained content is visible.
-
-### SFVec3f [ ] **bboxSize** -1 -1 -1 <small>[0,∞) or −1 −1 −1</small>
-
-Bounding box size is usually omitted, and can easily be calculated automatically by an X3D player at scene-loading time with minimal computational cost. Bounding box size can also be defined as an optional authoring hint that suggests an optimization or constraint.
-
-#### Hints
-
-- Can be useful for collision computations or inverse-kinematics (IK) engines.
-- Precomputation and inclusion of bounding box information can speed up the initialization of large detailed models, with a corresponding cost of increased file size.
-- [X3D Architecture, 10.2.2 Bounding boxes](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/grouping.html#BoundingBoxes){:target="_blank"}
-- [X3D Architecture, 10.3.1 X3DBoundedObject](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/grouping.html#X3DBoundedObject){:target="_blank"}
-
-### SFVec3f [ ] **bboxCenter** 0 0 0 <small>(-∞,∞)</small>
-
-Bounding box center accompanies bboxSize and provides an optional hint for bounding box position offset from origin of local coordinate system.
-
-#### Hints
-
-- Precomputation and inclusion of bounding box information can speed up the initialization of large detailed models, with a corresponding cost of increased file size.
-- [X3D Architecture, 10.2.2 Bounding boxes](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/grouping.html#BoundingBoxes){:target="_blank"}
-- [X3D Architecture, 10.3.1 X3DBoundedObject](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/grouping.html#X3DBoundedObject){:target="_blank"}
-
-### MFNode [in] **addChildren**
-
-Input field *addChildren*.
-
-### MFNode [in] **removeChildren**
-
-Input field *removeChildren*.
-
-### MFNode [in, out] **children** [ ] <small>[X3DChildNode]</small>
-
-Grouping nodes contain an ordered list of *children* nodes.
-
-#### Hints
-
-- Each grouping node defines a coordinate space for its *children*, relative to the coordinate space of its parent node. Thus transformations accumulate down the scene graph hierarchy.
-- InputOnly MFNode addChildren field can append new X3DChildNode nodes via a ROUTE connection, duplicate input nodes (i.e. matching DEF, USE values) are ignored.
-- InputOnly MFNode removeChildren field can remove nodes from the *children* list, unrecognized input nodes (i.e. nonmatching DEF, USE values) are ignored.
-- [X3D Architecture 10.2.1 Grouping and *children* node types](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/grouping.html#GroupingAndChildrenNodes){:target="_blank"}
-
-### SFBool [out] **isActive**
-
-Have we received a network update recently?
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue0** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue1** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue2** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue3** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue4** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue5** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue6** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFFloat [in] **set_articulationParameterValue7** <small>(-∞,∞)</small>
-
-Set element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient inputOnly field in an X3D file, instead only use it a destination for ROUTE events.
-
-### SFString [in, out] **address** "localhost"
-
-Multicast network *address*, or else 'localhost'; Example: 224.2.181.145.
-
-### SFInt32 [in, out] **applicationID** 1 <small>[0,65535]</small>
-
-Simulation/exercise *applicationID* is unique for application at that site. Each simulation application that can respond to simulation management PDUs needs to have a unique *applicationID*.
-
-### SFInt32 [in, out] **articulationParameterCount** 0 <small>[0,78]</small>
-
-Number of articulated parameters attached to this entity state PDU.
-
-### MFInt32 [in, out] **articulationParameterDesignatorArray** [ ] <small>[0,255]</small>
-
-Array of designators for each articulated parameter.
-
-### MFInt32 [in, out] **articulationParameterChangeIndicatorArray** [ ] <small>[0,255]</small>
-
-Array of change counters, each incremented when an articulated parameter is updated.#IMPLIED]
-
-### MFInt32 [in, out] **articulationParameterIdPartAttachedToArray** [ ] <small>[0,65535]</small>
-
-Array of ID parts that each articulated parameter is attached to.
-
-### MFInt32 [in, out] **articulationParameterTypeArray** [ ]
-
-Array of type enumerations for each articulated parameter element.
-
-### MFFloat [in, out] **articulationParameterArray** [ ] <small>(-∞,∞)</small>
-
-Information required for representation of the entity's visual appearance and position of its articulated parts.
-
-#### Hint
-
-- Renamed as Variable Parameter in IEEE DIS 2012 revised standard.
-
-### SFVec3f [in, out] **center** 0 0 0 <small>(-∞,∞)</small>
-
-Translation offset from origin of local coordinate system.
-
-### SFInt32 [in, out] **collisionType** 0 <small>[0,255]</small>
-
-Integer enumeration for type of collision: ELASTIC or INELASTIC.
-
-### SFInt32 [in, out] **deadReckoning** 0 <small>[0,255]</small>
-
-Dead reckoning algorithm being used to project position/orientation with velocities/accelerations.
-
-### SFVec3f [in, out] **detonationLocation** 0 0 0 <small>(-∞,∞)</small>
-
-World coordinates for *detonationLocation*
-
-### SFVec3f [in, out] **detonationRelativeLocation** 0 0 0 <small>(-∞,∞)</small>
-
-Relative coordinates for detonation location
-
-### SFInt32 [in, out] **detonationResult** 0 <small>[0,255]</small>
-
-Integer enumeration for type of detonation and result that occurred., if any.
-
-### SFInt32 [in, out] **entityCategory** 0 <small>[0,255]</small>
-
-Integer enumerations value for main category that describes the entity, semantics of each code varies according to domain. See DIS Enumerations values.
-
-### SFInt32 [in, out] **entityCountry** 0 <small>[0,65535]</small>
-
-Integer enumerations value for country to which the design of the entity or its design specification is attributed.
-
-### SFInt32 [in, out] **entityDomain** 0 <small>[0,255]</small>
-
-Integer enumerations value for domain in which the entity operates: LAND, AIR, SURFACE, SUBSURFACE, SPACE or OTHER.
-
-### SFInt32 [in, out] **entityExtra** 0 <small>[0,255]</small>
-
-Any extra information required to describe a particular entity. The contents of this field shall depend on the type of entity represented.
-
-### SFInt32 [in, out] **entityID** 0 <small>[0,65535]</small>
-
-Simulation/exercise *entityID* is a unique ID for a single entity within that application.
-
-### SFInt32 [in, out] **entityKind** 0 <small>[0,255]</small>
-
-Integer enumerations value for whether entity is a PLATFORM, MUNITION, LIFE_FORM, ENVIRONMENTAL, CULTURAL_FEATURE, SUPPLY, RADIO, EXPENDABLE, SENSOR_EMITTER or OTHER.
-
-### SFInt32 [in, out] **entitySpecific** 0 <small>[0,255]</small>
-
-Specific information about an entity based on the Subcategory field. See DIS Enumerations values.
-
-### SFInt32 [in, out] **entitySubCategory** 0 <small>[0,255]</small>
-
-Input/Output field *entitySubCategory*.
-
-### SFInt32 [in, out] **eventApplicationID** 1 <small>[0,65535]</small>
-
-Simulation/exercise *eventApplicationID* is unique for events generated from application at that site. Each simulation application that can respond to simulation management PDUs needs to have a unique applicationID.
-
-### SFInt32 [in, out] **eventEntityID** 0 <small>[0,65535]</small>
-
-For a given event, simulation/exercise entityID is a unique ID for a single entity within that application.
-
-### SFInt32 [in, out] **eventNumber** 0 <small>[0,65355]</small>
-
-Sequential number of each event issued by an application.
-
-#### Warning
-
-- Reuse of numbers may be necessary during long simulation exercises.
-
-### SFInt32 [in, out] **eventSiteID** 0 <small>[0,65535]</small>
-
-Simulation/exercise siteID of the participating LAN or organization.
-
-### SFBool [in, out] **fired1** FALSE
-
-Has the primary weapon (Fire PDU) been fired?
-
-### SFBool [in, out] **fired2** FALSE
-
-Has the secondary weapon (Fire PDU) been fired?
-
-### SFInt32 [in, out] **fireMissionIndex** 0 <small>[0,65535]</small>
-
-Input/Output field *fireMissionIndex*.
-
-### SFFloat [in, out] **firingRange** 0 <small>(0,∞)</small>
-
-Range (three dimension, straight-line distance) that the firing entity's fire control system has assumed for computing the fire control solution if a weapon and if the value is known
-
-### SFInt32 [in, out] **firingRate** 0 <small>[0,65535]</small>
-
-Rate at which munitions are fired.
-
-### SFInt32 [in, out] **forceID** 0 <small>[0,255]</small>
-
-*forceID* determines the team membership of the issuing entity, and whether FRIENDLY OPPOSING or NEUTRAL or OTHER.
-
-### SFInt32 [in, out] **fuse** 0 <small>[0,65535]</small>
-
-Integer enumerations value for type of *fuse* on the munition.
-
-### SFVec3f [in, out] **linearVelocity** 0 0 0 <small>(-∞,∞)</small>
-
-Velocity of the entity relative to the rotating Earth in either world or entity coordinates, depending on the dead reckoning algorithm used.
-
-### SFVec3f [in, out] **linearAcceleration** 0 0 0 <small>(-∞,∞)</small>
-
-Acceleration of the entity relative to the rotating Earth in either world or entity coordinates, depending on the dead reckoning algorithm used.
-
-### SFString [in, out] **marking** ""
-
-Maximum of 11 characters for simple entity label.
-
-### SFString [in, out] **multicastRelayHost** ""
-
-Fallback server address if multicast not available locally. Example: track.nps.edu.
-
-### SFInt32 [in, out] **multicastRelayPort** 0 <small>[0,65535]</small>
-
-Fallback server port if multicast not available locally. Example: 8010.
-
-### SFInt32 [in, out] **munitionApplicationID** 1 <small>[0,65535]</small>
-
-*munitionApplicationID*, unique for application at that site. Each simulation application that can respond to simulation management PDUs needs to have a unique applicationID.
-
-### SFVec3f [in, out] **munitionEndPoint** 0 0 0 <small>(-∞,∞)</small>
-
-Final point of the munition path from firing weapon to detonation or impact, in exercise coordinates.
-
-### SFInt32 [in, out] **munitionEntityID** 0 <small>[0,65535]</small>
-
-*munitionEntityID* is unique ID for entity firing munition within that application.
-
-### SFInt32 [in, out] **munitionQuantity** 0 <small>[0,65535]</small>
-
-Quantity of munitions fired.
-
-### SFInt32 [in, out] **munitionSiteID** 0 <small>[0,65535]</small>
-
-Munition siteID of the participating LAN or organization.
-
-### SFVec3f [in, out] **munitionStartPoint** 0 0 0 <small>(-∞,∞)</small>
-
-Initial point of the munition path from firing weapon to detonation or impact, in exercise coordinates.
-
-### SFString [in, out] **networkMode** "standAlone" <small>["standAlone"|"networkReader"|"networkWriter"]</small>
-
-Whether this entity is ignoring the network, sending DIS packets to the network, or receiving DIS packets from the network. (1) standAlone: ignore network but still respond to events in local scene. (2) networkReader: listen to network and read PDU packets at readInterval, act as remotely linked copy of entity. (3) networkWriter: send PDU packets to network at writeInterval, act as master entity. Default value "standAlone" ensures that DIS network activation within a scene as networkReader or networkWriter is intentional.
-
-#### Warnings
-
-- Do not wrap extra quotation marks around these SFString enumeration values, since "quotation" "marks" are only used for MFString values.
-- Network activity may have associated security issues.
-
-### SFInt32 [in, out] **port** 0 <small>[0,65535]</small>
-
-Network connection *port* number (EXAMPLE 3000) for sending or receiving DIS messages. Example: 3000.
-
-### SFTime [in, out] **readInterval** 0.1 <small>[0,∞)</small>
-
-Seconds between read updates, 0 means no reading.
-
-#### Hint
-
-- *readInterval* is a nonnegative SFTime duration interval, not an absolute clock time.
-
-### SFRotation [in, out] **rotation** 0 0 1 0 <small>[-1,1] or (-∞,∞)</small>
-
-Orientation of children relative to local coordinate system, usually read from (or written to) remote, networked EspduTransform nodes.
-
-### SFVec3f [in, out] **scale** 1 1 1 <small>(-∞,∞)</small>
-
-Non-uniform x-y-z *scale* of child coordinate system, adjusted by center and scaleOrientation.
-
-### SFRotation [in, out] **scaleOrientation** 0 0 1 0 <small>[-1,1] or (-∞,∞)</small>
-
-Preliminary rotation of coordinate system before scaling (to allow scaling around arbitrary orientations).
-
-### SFInt32 [in, out] **siteID** 0 <small>[0,65535]</small>
-
-Simulation/exercise *siteID* of the participating LAN or organization.
-
-### SFVec3f [in, out] **translation** 0 0 0 <small>(-∞,∞)</small>
-
-Position of children relative to local coordinate system, usually read from (or written to) remote, networked EspduTransform nodes.
-
-### SFInt32 [in, out] **warhead** 0 <small>[0,65535]</small>
-
-Integer enumerations value for type of *warhead* on the munition.
-
-### SFTime [in, out] **writeInterval** 1 <small>[0,∞)</small>
-
-Seconds between write updates, 0 means no writing (sending).
-
-#### Hint
-
-- *writeInterval* is a nonnegative SFTime duration interval, not an absolute clock time.
-
-### SFFloat [out] **articulationParameterValue0_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue1_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue2_changed**
-
-Get element of user-defined payload array.
-
-### SFFloat [out] **articulationParameterValue3_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue4_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue5_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue6_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFFloat [out] **articulationParameterValue7_changed**
-
-Get element of user-defined payload array.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFTime [out] **collideTime**
-
-When were we collided with?
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFTime [out] **detonateTime**
-
-When were we detonated?
-
-### SFTime [out] **firedTime**
-
-When did we shoot a weapon (Fire PDU)?
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isCollided**
-
-Has a matching CollisionPDU reported a collision?
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isDetonated**
-
-Has a matching DetonationPDU reported a detonation?
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isNetworkReader**
-
-Whether networkMode='remote' (listen to network as copy of remote entity).
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isNetworkWriter**
-
-Whether networkMode='master' (output to network as master entity at writeInterval).
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isRtpHeaderHeard**
-
-Whether incoming DIS packets have an RTP header prepended.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [out] **isStandAlone**
-
-Whether networkMode='local' (ignore network but still respond to local events).
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFTime [out] **timestamp**
-
-DIS *timestamp* received from latest PDU update, converted to X3D SFTime units.
-
-#### Warning
-
-- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
-
-### SFBool [ ] **rtpHeaderExpected** FALSE
-
-Whether RTP headers are prepended to DIS PDUs.
-
-## Advisories
-
-### Hints
-
-- These PDU packets use the IEEE Distributed Interactive Simulation (DIS) protocol.
-- [Savage Developers Guide on DIS](https://savage.nps.edu/Savage/developers.html#DIS){:target="_blank"}
-- Insert a Shape node before adding geometry or Appearance.
-- [X3D for Advanced Modeling (X3D4AM) slideset](https://x3dgraphics.com/slidesets/X3dForAdvancedModeling/DistributedInteractiveSimulation.pdf){:target="_blank"}
-
-### Warning
-
-- Requires X3D `profile='Full'` or else include `<component name='DIS' level='1'/>`
-
-## See Also
-
-- [X3D Specification of EspduTransform node](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/dis.html#EspduTransform){:target="_blank"}