Default VRML Coordinate System

+y

+x+z

Default VRML Coordinate System

PC ScreenMonterey Bay Aquarium

Kelp Forest Virtual World

Coordinate System

+Ytank

+Xtank+Ztank

Four front windows

- indicates axis coming out of diagram

× - indicates axis going into diagram

+Xtank

+Ytank

+Ztank

Top DownView

-Ztank

-Xtank

* Y = 0 at mean water surface

20.5-20.5

-16.0

+8.75

+y

+x+z

Default VRML Coordinate System

PC Screen

- indicates axis coming out of diagram

Four front windows

Tank Coordinate System+Ytank

+Xtank

+Ztank

-Xtank

+Ytank

* Y = 0 at mean water surface

- indicates axis coming out of diagram

+Xtank

+Ytank

+Ztank

Top DownView

-Ztank

-Xtank 20.5-20.5

-16.0

+8.75

Tank Coordinate System

* Y = 0 at mean water surface- indicates axis coming out of diagram

Locale Coordinate System

+Ylocale

+Xlocale +Zlocale

Specific “Locale”

Fish Heading

t0t1

t

locale

/2

2

Example of a fish swimming in a circle inside a specific locale Note: Measured in radians about ylocale-axis;

t0

t1 +Xlocale

+Zlocale

Fish Path

locale

Time measured in seconds

Entity Coordinate System

+Yentity

+Xentity+Zentity

t

Fish Wiggle

t0 t1

entity

measured in radiansabout entity y-axis

Entity Coordinate System

+Yentity

+Xentity+Zentity

t

Fish Wiggle

t0 t1

entity

measured in radians about yfish-axis

t

ytank

Fish Depth

0t0

t1

-10

Note: Time measured in seconds Depth measure in meters

X1 = X0 + r cos( )Z1 = Z0 - r sin( )Y1 = Y0

+y

measured in radians about z-axis, right-hand rule applies, = 0 on X-axis

r

+z

+y

+x

r••

(x0, y0, z0)

(x1, y1, z1)

+x

Cylindrical Coordinate System

-z

Tank Layout

Tank Layout