User manual MATLAB SIMULINK 3D ANIMATION 5

[. . . ] Simulink® 3D AnimationTM 5 User's Guide How to Contact The MathWorks Web Newsgroup www. mathworks. com/contact_TS. html Technical Support www. mathworks. com comp. soft-sys. matlab suggest@mathworks. com bugs@mathworks. com doc@mathworks. com service@mathworks. com info@mathworks. com Product enhancement suggestions Bug reports Documentation error reports Order status, license renewals, passcodes Sales, pricing, and general information 508-647-7000 (Phone) 508-647-7001 (Fax) The MathWorks, Inc. 3 Apple Hill Drive Natick, MA 01760-2098 For contact information about worldwide offices, see the MathWorks Web site. Simulink® 3D AnimationTM User's Guide © COPYRIGHT 2001­2010 by HUMUSOFT s. r. o. and The MathWorks, Inc. The software described in this document is furnished under a license agreement. [. . . ] VR Sink inputs take signals of the type corresponding to their VRML representation. Position inputs are of type SFVec3f, which is the position represented in [x y z] coordinates. Rotation inputs are of type SFRotation, the four-element vector defining rotation as [axis angle], using the coordinate system described in "Coordinate System Used" on page 5-29, where the angle value is in radians. The user has to match the coordinate system used by the Simulink model to that of the virtual scene. If the two systems are not identical, some kind of axes transformation is necessary. While object positions are usually available in the form required by VRML (Cartesian coordinates), rotations usually have to be converted from some other representation. In many cases, object rotations are defined using the rotation matrix representation. For converting such rotations into the VRML format, use the Rotation Matrix to VRML Rotation block found in the Utilities sublibrary of vrlib. The objects' positions and rotations are treated differently depending on the virtual scene hierarchy: · When all parts in a Simulink model are defined in global coordinates, and the virtual scene has a flat structure of independent objects, use the following positions and rotations. 5-38 Using CAD Models with the Simulink® 3D AnimationTM Product Object positions Object rotations Send to VR Sink all positions in global coordinates. Send to VR Sink all rotations in global coordinates, with center of rotation defined as the coordinate system origin. (As the default center of rotation of VRML Transform objects is [0 0 0], it is usually not necessary to define it for each part in the VRML file. · When all parts in Simulink model follow hierarchical relations, and the virtual scene has a nested structure, use the following positions and rotations. Object positions Send to VR Sink all positions in local coordinates (relative to their parents or predecessors in the object hierarchy). For example, send the robot's tool position relative to the robot's hand. Send to VR Sink all rotations in local coordinates (relative to their parents or predecessors in the object hierarchy). For example, send the robot's tool rotation relative to the robot's hand. To visually match the positions of joints between objects, it is usually necessary to coincide the center of rotation defined in the virtual scene with the center of rotation defined in the Simulink model, as joints between parts are usually positioned not in the origin, [0 0 0], of the parent's coordinate system. To define a center of rotation different from the default value, [0 0 0], define the center field of the child's Transform node in the VRML file. For example, define the robot's tool center of rotation to coincide with the joint connecting the hand and the tool in the hand's local coordinates. In a hierarchical scene structure, when the parts are connected by revolving joints, it is easy to define the relative rotations between parts. The joint axis directly defines the VRML rotation axis, so constructing the [axis angle] four-element VRML rotation vector is trivial. Object rotations 5-39 5 Virtual Worlds Initial Conditions A Simulink model's initial conditions must correspond to the initial object's positions and rotations defined in the virtual scene. Otherwise, the object controlled from Simulink would "jump" from the position defined in the VRML file to the position dictated by the Simulink software at the start of the simulation. You can compensate for this offset either in the VRML file (by defining an another level of nested Transform around the controlled object) or in the Simulink model by adding the object's initial position to the model calculations before sending to the VR Sink block. [. . . ] Vector of handles to Simulink 3D Animation viewer windows currently viewing the virtual world. Read only. Figures Vector of vrfigure objects FileName String 11-113 vrworld/set Property Nodes Value Vector of vrnode objects Description Vector of vrnode objects for all named nodes in the virtual world. The string can contain tokens that are replaced by the corresponding information when the animation recording takes place. For details, see "Animation Recording File Tokens" on page 4-12. [. . . ]