Mathworks SIMULINK 3D ANIMATION RELEASE NOTES

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Simulink

3D Animation™

Release Notes

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Simulink

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3D Animation™ Release Notes

Summary by Version ............................... 1

Contents

Version 5.1.1 (R2010a) Simulink

Version 5.1 (R2009b) Simulink

Version 5.0 (R2009a) Simulink

Version 4.8 (R2008b) Virtual Reality Toolbox

Version 4.7 (R2008a) Virtual Reality Toolbox

Version 4.6 (R2007b) Virtual Reality Toolbox

Version 4.5 (R2007a) Virtual Reality Toolbox

Version 4.4 (R2006b) Virtual Reality Toolbox

Version 4.3 (R2006a) Virtual Reality Toolbox

Version 4.2.1 (R14SP3) Virtual Reality Toolbox

3D Anim ation ...... 4

3D Animation ........ 7

3D Anim ation ........ 10

......... 13

......... 14

......... 16

......... 18

......... 19

......... 21

....... 22

Version 4.2 (R14SP2+) Virtual Reality Toolbox

Version 4.1 (R14SP2) Virtual Reality Toolbox

Version 4.0.1 (R14SP1) Virtual Reality Toolbox

Version 4.0 (R14) Virtual Reality Toolbox

Version 3.1 (R13SP1) Virtual Reality Toolbox

............ 27

....... 23

........ 25

....... 26

........ 40

iii

Version 3.0 (R13) Virtual Reality Toolbox ............ 44

Simulink

3D Animation Compatibility Summary .... 46

iv Contents

SummarybyVersion

This table provides quick access to what’s new in each version. For clarification, see “Using Release Notes” on page 2.

Simulink®3D Animation™ Release Notes

Version (Release)

Latest Versi V5.1.1 (R201

V5.1 (R2009b)

V5.0 (R2009a)

V4.8 (R2

V4.7 (R2008a)

V4.6 (R2007b)

V4.5 (

V4.4 (R2006b)

008b)

R2007a)

New Features and Changes

Yes

0a)

Details

Yes Details

Yes Detai

Yes Details

Version Compatibilit Consideratio

No Bug Reports

Yes Summary

None Bug Repor

None Bug Reports

None Bug Re

No Bug Reports

Yes Summary

Fixed Bugs and Known Problems

Includes fix

Bug Reports Includes fixes

Includes

Includes fixes

des fixes

Inclu

Includes fixes

Bug Reports Includes fixes

fixes

ports

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

V4.3 (R2006a)

.2.1 (R14SP3)

V4.2 (R14SP2+)

Yes

ails

Det

No No Bug Reports

Yes Details

No Bug

Reports

ludes fixes

Inc

Includes fixes

nown problems

Simulink®3D Animation™ Release Notes

Version (Release)

V4.1 (R14SP2)

V4.0.1 (R14SP1)

V4.0 (R14)

V3.1 (R13SP1)

V3.0 (R13)

New Features and Changes

Yes Details

No Yes

Yes Details

Version Compatibility Considerations

Summary

Yes Summary

Fixed Bugs and Known Problems

Fixed bugs

Known p roblems

No bug fixes

Related Documentation at Web Site

Using Release Notes

Use release notes when upgrading to a newer version to learn about:

• New features

• Changes

• Potential impact on your existing files and practices

Review the release notes for other MathWorks™ products required for this product (for example, MATLAB bugs, or compatibility considerations in other products impact you.

If you are upgrading from a software version other than the m ost recent one, review the current release notes and all interim versions. For example, when you upg rade from V1.0 to V1.2, review the release notes for V1.1 and V1.2.

or Simulink®). Determine if enhancements,

What Is in the Release Notes

New Features and Changes

• New functionality

SummarybyVersion

• Changes to existing functionality

Version Compatibility Con si derations

When a new feature or change introduces a reported incompatibility between versions, the Compatibility Considerations subsection explains the impact.

Compatibility issues reported after the product release appear under Bug Reports at The MathWorks™ Web site. Bug fixes can sometimes result in incompatibilities, so review the fixed bugs in Bug Reports for any compatibility impact.

Fixed Bugs and Known Problems

The MathWorks offers a user-searchable Bug Reports database so you can view Bug Reports. The development team updates this database at release time and as more information becomes available. Bug Reports include provisions for any known workarounds or file replacem ents. Information is available for bugs existing in or fixed in Release 14SP2 or later. Information is not avail able for all bugs in earlier release s.

Access Bug Reports using y our MathWorks Account.

Simulink®3D Animation™ Release Notes

Version 5.1.1 (R2010a) Simulink 3D Animation

This table summarizes what is new in Version 5.1.1 (R2010a).

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

No Bug Reports

• “vrnode/g

on page 4

• “VRML Fie

• “Camera B

• “Naviga

• “Update

• “VR Sink

• “vrmor

• “Some D

vrnod and MF

The v

d values. This access improves virtual scene node management. It enables

fiel

o a cces s the entire virtual world structure and get the properties of all

you t

s present in the scene, including unnamed nodes. This capability is most

node

ful for advanced scene manipulations. For example, adding nodes to

use

amed nodes or setting properties for these nodes. See “VRML Field Data

unn

es” in the Simulink

Typ

etfield Now Returns Field values of SFNode and MFNode Types”

tion Method Changes” on page 5

dvrphysmod”onpage5

Block Now Supports Se tting Node eventIn Events” o n page 5

ph Demo” on page 6

ialogBoxesAreNoLongerModal”onpage6

e/getfield Now Returns Field values of SFNode

Node Types

rnode/getfield

ld Data Types” on page 5

ound to Viewpoint Shortcut Change” on page 5

function now provides access to the SFNode and MFNode

Fixed Bugs and Known Problems

Includes fix

3D Animation™ User’s Guide.

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

Version 5.1.1 (R2010a) Simulink®3D Animation™

In pre viou s releases, this capability was available only for nodes named using the

DEF keyword.

VRMLFieldDataTypes

The software now supports the SFImage VRML field data type. This support enables dynamic object texturing and playback of video sequences in the virtual scene. See “VRML Field Data Types” in the Simulink 3D Animation User’s Guide.

Camera Bound to Viewpoint Shortcut Change

The Camera Bound to Viewpoint shortcut is now Ctrl+F10.Inprevious releases, this shortcut was F10.

Navigation Method Changes

You can now select None for the Navigation > Method context menu. This option disables mouse navigation in the virtual scene viewer. The Shift+N keyboard command provides this option.

Updated vrphysmod

The vr phys mod function has been enhanced to automatically link multiple SimMechanics™ models imported through SimMechanics Link to a single virtual scene that contains these components. This means that if your model contains several VR Sink blocks that refer to the same VRML file, this function attempts to consolidate the animation signals of that virtual scene into one VR Sink block.

VR Sink Block Now Supports Setting Node eventIn Events

The VR Sink block now supports setting node eventIn events that do not have any field or ability to control virtual scene, in particular using scripts and interpolators. For example, you can now define an object trajectory using a VRML PositionInterpolator. During simulation, you can define the current position of the object o n the trajectory by setting the that interpolator.

exposeField associated w ith them. This improves the

set_fraction eventIn event of

Simulink®3D Animation™ Release Notes

vrmorph Demo

The vrmorph demo variable-size s

has been updated to reflect support for S imulink

ignals.

Some Dialog Bo

The Capturing boxes are no lo windows whil recording pa

and Recording Parameters and Create new viewpoint dialog

nger modal dialog boxes. This means that you can access other

e these dialog boxes are active. For example, you can now change

rameters or create viewpoints while a simulation is running.

xes Are No Longer Modal

Version 5.1 (R2009b) Simulink®3D Animation™

Version 5.1 (R2009b) Simulink 3D Animation

This table summarizes w hat is new in Version 5.1 (R2009b).

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

Yes Summary

• “Alternate Mode of Virtual Scene Viewer Now Default” on page 7

• “Support on the 64-Bit Intel Macintosh Platform” on page 8

• “VRML Files Recognized in MATLAB Current Folder Browser” on page 8

• “New Object vr.figure” on page 8

• “Changed vr.canvas Units Property Default” on page 9

• “Improved Performance of Orbisnap in Remote Configuration” on page 9

Fixed Bugs and Known Problems

Bug Reports Includes fix

Related Documentation at Web Site

Alternate Mode of Virtual Scene Viewer Now Default

The alternate mode of virtual scene viewer introduced in V ersion 5.0 (R2009a) is now the default viewer for all supported platforms (except for

Linux

'internal' enables this version of the virtual scene viewer.

To reactivate the legacy (former) viewer, use

DefaultViewer property to 'internalv4'.

platforms). Using vrsetpref to set the DefaultViewer property to

vrsetpref to set the

Simulink®3D Animation™ Release Notes

Note If you are running the Simulink 3D Animation software on a Linux platform, the default viewer continues to be the legacy viewer. The legacy viewer does not support MATLAB figures. If you have a Linux platform and want to access the MATLAB figure capability for the viewer, install t h e hardware-accelerated OpenGL first. Otherwise, the Simulink 3D Animation software cannot properly display the viewer window. You can then activate the new viewer by typing

vrsetpref('DefaultViewer','internalv5') in the MATLAB Command

Window.

Compatibility Considerations

The alternate mode of virtual scene viewer introduced in Version 5.0 (R2009a) is now the default viewer for all supported platforms (except for Linux platforms). At a minimum, this viewer provides the same functionality as the legacy viewer.

rendering engine

Support on the 64-Bit Intel Macintosh Platform

The Simulink 3D Animation software now supports the 64-bit Intel Macintosh®platform.

VRML Files Recognized in MATLAB Current Folder Browser

The M ATLA B Current Folder browser now supports .wrl files. Th is support enables you to perform standardMATLABfileoperationsonthe the Current Folder browser. Forexample,double-clickinga Current Folder browser now starts the Simulink 3D Animation viewer for that

.wrl file. In previous releases, double-clicking a .wrl file in the current

folder browser started the M ATL AB editor for that file.

.wrl file in

.wrl file in the

New Object vr.figure

This release provides a new object, vr.figure. This object creates a new virtual reality figure.

Version 5.1 (R2009b) Simulink®3D Animation™

Changed vr.canvas Units Property Default

The vr.canvas method Units property default is now 'normalized'.In the previous release, the default was

DefaultCanvasUnits property controls the default of the vr.can vas Units

property.

'pixels'.Thevrgetpref function

Improved Performance of Orbisnap in Remote Configuration

The performance speed of the Simulink3DAnimationStand-AloneViewer (Orbisnap) has been improved.

Simulink®3D Animation™ Release Notes

Version 5.0 (R2009a) Simulink 3D Animation

This table summarizes w hat is new in Version 5.0 (R2009a).

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

None Bug Reports

• “Alternate Mode of Virtual Scene Viewer Integrated with MATLAB

Figures” on page 10

• “vrplay Updated” on page 11

• “New Functions” on page 11

• “New Object” on page 11

• “Virtual Scenes Now Open Automatically” on pa ge 11

• “Product Files Moved” on page 11

• “Saving and Restoring the Com plete SimState” on page 12

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

Alternate Mode of Virtual Scene Viewer Integrated with MATLAB Figures

Alternate mode of virtual scene vie wer integrated with MATLAB figures, enables you to combine the follo wi ng in the same figure:

• Virtual scenes and Handle Graphics

• Multiple views of a virtual world

• Views of different virtual worlds

This feature also allows for the docking of these figure windows, each of which can contain different w orlds, into split screen MATLAB figure windows.

See in the Simulink 3D Animation User’s Guide for details on this alternate viewer mode, including how to activate it (use

DefaultViewer property to 'internalv5').

objects

vrsetpref to set the

vrplay Updated

The vrplay funct single MATLAB fi

ion now contains virtual scene and player controls in a

gure window.

New Functions

The Simulink 3

D Animation product has the following new functions:

Version 5.0 (R2009a) Simulink®3D Animation™

•

vrcadcleanu

Processes VR Animation e these files

•

vrphysmod

Automatic models cre processed environm

New Objec

This rel placeme its posi into on

Virtua

The as model assoc rele Sink

ease provides a new object,

nt of a virtual scene view into a MATLAB figure, with full control of tion and ability to be combin ed with other H andle Graphics objects eGUI.

l Scenes Now Open Automatically

sociated virtual scene now opens automatically when you open the

. This behavior occurs even if the Simulink 3D Animation block

iated with the virtual scene is in a subsystem of the model. In previous

ases, the ability to automatically open virtual scenes d id not work for VR

blocks in subsystems.

ML files created by CAD tools for use with Simulink 3D

nvironment. In previous releases, you manually processed

before using them in the Simulink 3D Animation environment.

ally adds a Simulink 3D Animation scene to SimMechanics

ated from CAD tools. In previous releases, you manually

these files before using them in the Simulink 3D Animation

ent.

vr.canvas. Thisobjectallowsforthe

duct Files Moved

Pro

Simulink 3D Animation files have moved from

The

atlabroot\toolbox\sl3d

to m

matlabroot\toolbox\vr

Simulink®3D Animation™ Release Notes

Saving and Resto

Use the new SimSt the final states thecompletesi logged). You ca from the exact Restoring the

ate feature to save the complete simulation state. Unlike

stored in earlier versions of Simulink, the SimState contains mulation state of the model (including block states that are n then restore the state at a later time and continue simulation instant at which you stopped the simulation. See “Saving and

Simulation State as the SimState” in the Simulink User’s Guide.

ring the Complete SimState

Version 4.8 (R2008b) Virtual Reality Toolbox™

Version 4.8 (R2008b) Virtual Reality Toolbox

This table summarizes w hat is new in Version 4.8 (R2008b).

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

None Bug Reports

New features and changes introduced in this version are:

• “New VR Tracer Block” on page 13

• “Updated vrnode Method” on page 13

• “New vrworld Method” on page 13

• “New Demo” on page 13

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

New VR Tracer Block

New VR Tracer block enables visualization of trajectories in virtual scenes.

Updated vrnode Method

The vrnode method now reflects support for the VRML USE reference.

New vrworld Method

The vrworld/addexternproto method is new for vrworld. This function enables the addition of an

EXTERNPROTO declaration to the virtual world.

New Demo

The vrtkof f_sp acemouse demo is new in this release. It illustrates how to use a space mouse compatible device via the MAT LAB interface. This demo requires a space mouse or compatible device.

Simulink®3D Animation™ Release Notes

Version 4.7 (R2008a) Virtual Reality Toolbox

This table summarizes w hat is new in Version 4.7 (R2008a):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

None Bug Reports

New features and changes introduced in this version are:

• “VR Sink Block Now Supports Matrix Signals as Input” on page 14

• “New vrworld Object Option” on page 14

• “Enhanced vrplay Shortcut Keys” on page 14

• “New Demos” on page 15

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

VR Sink Block Now Supports Matrix Signals as Input

The Virtual Reality Toolbox™ product now supports matrix-type data input for the VR Sink block. Previously, only the MATLAB interface supported matrices (MFxx fields). The Simulink interface supported only vectors (SF xx fields). Now, both MATLAB and Simulink interfaces support matrices (MFxx fields).

New vrworld Object Option

The vrworl d object has a new option, new. This option enables the creation of a new virtual world object, even if another vrworld object associated with the same VRM L file already exists.

Enhanced vrplay Shortcut Keys

The vrplay function shortcut keys have changed as follows:

• The Page Up and Page Down keys have the same functionality as the R

(rewind) and F (forward) shortcut keys, respectively. These keys perform rewind and forward operations on the animation file you are playing.

Version 4.7 (R2008a) Virtual Reality Toolbox™

• The p shortcut key toggles between play and pause behavior.

New Demos

The following demos are new in this release:

•

vrmorph

• vr_octavia_video

• vrtkoff_trace

Simulink®3D Animation™ Release Notes

Version 4.6 (R2007b) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.6 (R2007b):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

None Bug Reports

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

New VR To V ideo block

New VR To Vide o block allows RGB video stream output for further 2D video processing.

Joystick and Space Mouse Input Functionality Added to MATLAB Toolbox Interface

New vrjoy sti ck and vrspacemouse objects can interface with joysticks and space mouse input devices.

Joystick and Space Mouse Input Support Added for Linux

Joystick and space mouse input support is added for both 32-bit and 64-bit Linux operating systems.

New Axes Transformation and Math Functions

New axes transformation and math functions are added to the MATLAB toolbox interface. The se are:

•

vrdir2ori to convert viewpoint direction to orientation.

vrori2dir to convert viewpoint orientation to direction.

•

vrrotmat2vec to convert rotation from matrix to axis-angle representation.

•

Version 4.6 (R2007b) Virtual Reality Toolbox™

• vrrotvec to calculate a rotation between two vectors.

vrrotvec2mat to convert rotation from axis-angle to matrix representation.

•

Magellan Space Mouse Block Renamed to Space Mouse Input

The Magellan Space Mouse block is renamed to Space Mouse Input.

Simulink®3D Animation™ Release Notes

Version 4.5 (R2007a) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.5 (R2007a):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

No Bug Reports

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

Full Screen Mode in Virtual Reality Toolbox Viewer and Orbisnap Stand-Alone Viewer

Fullscreen mode, in which the menu bar and toolbar are switched off, is implemented in the Virtual Reality Toolbox viewer and the Orbisnap stand-alone viewer.

Version 4.4 (R2006b) Virtual Reality Toolbox™

Version 4.4 (R2006b) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.4 (R2006b):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

Yes—Details labeled as Compatibility Considerations, below. See also Summary

New featur

es and changes introduced in this version are

VR Text Ou

The VR Tex text in VR

t Output block allows Simulink sig nal values to be displayed as

ML scenes.

Frames P Option

It is no playba

New 3D

Space supp

wpossibletospecifytheframesper second displayed during the

ck of AVI files.

connexion Devices

Pilot and SpaceBall 5000 have been added to the list of devices

orted by

tput Block Added

er Second Added to AVI File Playback

Magellan Space Mouse block.

Fixed Bugs and Known Problems

Bug Reports Includes fix

Related Documentation at Web Site

Joys

The beh

tick Input Block

Joystick Input block joystick yaw and throttle controls have switched

aviors.

Simulink®3D Animation™ Release Notes

Compatibility Considerations

If you have models that contain this block, and you want to use that model in a Virtual Reality Toolbox version later than 4,3, you must reorder the axes. You can do so b y placing the Simulink Selector block after the Joystick Input block in the model.

Version 4.3 (R2006a) Virtual Reality Toolbox™

Version 4.3 (R2006a) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.3 (R2006a):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

No Bug Reports

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

New Utilities Library

AnewlibraryUtilities is added to the Virtual Reality Toolbox block library

Rotation 2 Vectors

for details.

vrlib. This library contains the blocks Rotation Matrix to VRML

, Viewpoint Direction to VRML Orientation, Rotation between

, Normalize Vector,andCross Product. See “Block R eference”

VR Animation Playback Controls

Anewvrplay GUI is added, which allows playback control of VRML animation files

Simulink®3D Animation™ Release Notes

Version 4.2.1 (R14SP3) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.2.1 (R14SP3):

New Features and Changes

No No Bug Reports

Version Compatibility Consideratio

Fixed Bugs and Known Problems

Includes fix

Related Documentation at Web Site

Version 4.2 (R14SP2+) Virtual Reality Toolbox™

Version 4.2 (R14SP2+) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.2 (R14SP2+):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Known problems

Related Documentation at Web Site

Virtual Reality Toolbox Support of MATLAB Compiler Product

The Virtual Reality Toolbox product now supports the MATLAB®Compiler™ product. With this capability, you can use the MATLAB Compiler software to take M-files as input and gen erate redistributable, stand-alone applications that include Virtual Reality Toolbox functionality, including the V irtual Reality Toolbox viewer. The Virtual Reality Toolbox product does not support the MATLAB Compiler product for the HP-UX platform.

Virtual Reality Toolbox Viewer

The following changes were made to the viewer:

• The Virtual Reality Toolbox viewer Recording menu has changed to

support frame captures in addition to animation recording.

• The Virtual Reality Toolbox toolbar now has a camera icon that you can

click to capture a frame of the current virtual scene.

Virtual Reality Toolbox Preferences Dialog

The Virtual Reality Toolbox preferences dialog, available through the MATLAB desktop File -> Preferences dialog, has been updated as follows:

• The Virtual Reality Figure pane is now organized by tabs.

Simulink®3D Animation™ Release Notes

• The Virtual Reality Toolbox preferences dialog now provides frame capture

preferences. These are available through the Frame Capture tab of the Virtual Reality Figure pane.

vrsetpref and vrgetpref Changes

The vrfigure set and get functions now include the following properties to support frame capturing:

•

CaptureFileFormat

• CaptureFileName

Space Mouse Block Enhancement

The Magellan Space Mouse block now allows you to specify upper and lower position coordinate limits for the mouse. The following parameters were added:

• Limit position — Determines whether you can limit the upper and lower

positions of the mouse.

• Lower position limit — Position coordinates for the lower limit of the

mouse.

• Upper position limit — Position coordinates for the upper limit of the

mouse.

Version 4.1 (R14SP2) Virtual Reality Toolbox™

Version 4.1 (R14SP2) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.1 (R14SP2):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Fixed bugs

Related Documentation at Web Site

Virtual Reality Toolbox Stand-Alone Viewer

The Virtual Reality Toolbox product now includes Orbisnap. This is a free, optional, and multiplatform stand-alone VRML viewer that does not require you to have either MATLAB o r Virtual Reality Too lbox products. You can use Orbisnap to

• View prerecorded WRL animation files

• Remotely view, from a client machine, a virtual world loaded in a current

session of the Virtual Reality Toolbox software

• View and navigate, but not simulate, a VRML world or scene

Virtual Reality Toolbox Viewer

The Virtual Reality Toolbox viewer now allows you to interactively set the

vrfigure maximum texture size through the Rendering menu.

Simulink®3D Animation™ Release Notes

Version 4.0.1 (R14SP1) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.0.1 (R14SP1):

New Features and Changes

Version Compatibility Consideratio

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

VR Source b

The VR Sour product.

ce block has been removed from the Virtual Reality Toolbox

lock

Fixed Bugs and Known Problems

Fixed bugs

Compatibility Considerations

If you ha referen

d models that made use of this block, you will need to remove any

ces to it before your model will simulate using this release.

Related Documentation at Web Site

Version 4.0 (R14) Virtual Reality Toolbox

This table summarizes what’s new in Version 4.0 (R14):

Version 4.0 (R14) Virtual Reality Toolbox™

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

New features and changes introduced in this version are

• “Improved Overall Performance” on page 28

• “Tracing and Offline Animation Fil es” on page 28

• “Improved Virtual Re ality Toolbox Viewer” on page 29

• “Double-Clicking VR Sink Blocks Behavior Changed” on page 30

• “Extended Support of Data Types” on page 30

• “Improved Timing Control” on page 31

• “HP-UX Platform Support” on page 31

• “New vrfigure Object Functions” on page 31

• “Joystick Input and Magellan Space Mouse Block Updates” on page 32

• “New and Updated D emos” on page 32

• “Virtual Reality Toolbox Simulink Blocks Updates” on page 32

Fixed Bugs and Known Problems

Fixed bugs

Related Documentation at Web Site

• “VR Sink a nd VR Source Block Source File” on page 33

• “MATLAB Interface Updates” on page 33

• “Preferences Changes” on page 33

• “vrworld Object Property Updates” on page 37

• “vrfigure Object Property Updates” on page 38

Simulink®3D Animation™ Release Notes

Improved Overall Performance

Infrastructure changes have improved the overall performance of the Virtual Reality Toolbox software.

Tracing and Offline Animation Files

The Virtual Re ality Toolbox product enables you to record animations of virtual scenes that are controlled by the Simulink or MATLAB products. You can then later play back these animations offline (in other words, independent of the MATLAB, Simulink, or Virtual Reality Toolbox). You can save animation data in the following formats:

• 3-D VRML — The Virtual Reality Toolbox software traces object

movements and saves that data into a VRML file using VRML97 timers and position/orientation interpolators. During the simulation, the product creates interpolators and saves key and interpolation data values for all the controlled movable objects in the scene. After the simulation is stopped, the product saves the entire original VRML scene with the added timers/interpolators into a user-specified VRML file.

You can then v iew these files with the Virtual Reality Toolbox viewer. 3-D VRML files typically use much less disk space than Audio Video Interleave (AVI) files. If you make any navigation movements in the Virtual Reality Toolbox view er while recording the animation, the Virtual Reality Toolbox software does not save any of these movements.

• 2-D AVI — The Virtual Reality Toolbox software traces object movements

and writes animation data into an Audio Video Interleave (AVI) file using the Virtual Reality Toolbox

avifile function. Because avifile can record the exact 2-D snapshot

of each figure window, the recorded 2-D animation reflects exactly what you see in the viewer window. It includes any navigation movem ents you make during the recording.

This functionality has been integrated into the Virtual Reality Toolbox viewer.

You can also save animation data through the MATLAB interface. Th i s functionality has been integrated into the See “MATLAB Interface” in the Virtual Reality Toolbox User’s Guide documentation for procedures on how to save animation data.

vrfigure/capture method and the MATLAB

vrworld and vrfigure methods.

Version 4.0 (R14) Virtual Reality Toolbox™

Notes when working with animation data:

• If you distribute the resulting VRML animation file, be sure to also

distribute all the inlined object and texture files referenced in the original VRML world file.

• While recording 2-D AVI animation data, always ensure that the Virtual

Reality Toolbox viewer is the topmost window and fully visible. Graphics acceleration limitations might prevent the proper recording of 2-D animation otherwise.

• For the creation of animation files, timing is an important issue. When you

create animation files that are controlled from the Simulink interface, the timing properties that control when the recording is started and stopped, and when each data snapshot (3-D) or animation frame (2-D) is saved, are related to the Simulink time. To better capture the scene dynamics, you might want to change the Sample time parameter of the VR Sink block parameter.

When you create animation files that are controlled from the MATLAB interface, you need to programmatically advan ce the time in the virtual scene.

Improved Virtual Reality Toolbox Viewer

The Virtual Reality Toolbox viewer has been completely updated and improved. In addition to the original Navigation Panel at the bottom of the window, the Virtual Reality Toolbox viewer now has a menu bar and associated toolbar. These additional areas allow you to perform a number of operations on the loaded virtual world, including

• Start the V-Realm Builder editor

• Perform navigation and rendering operations

• Work with, add, and remove viewpoints

• Start and stop model simulation

• Edit VR block parameters

• Record animations of the model simulation. You can later play back the

animation files without Virtual Reality Toolbox or other MATLA B product.

Simulink®3D Animation™ Release Notes

In addition, the Virtual Reality Toolbox software has been enhanced for b etter VRML97 compatibility, including:

• Proper handling of PR OT O nodes

• Improved VRMLScript processing

• Improved texture rendering, allowing for resolution to the hardware limit

of your video card

• Improved rendering of transparent images

In addition, the Virtual Reality Toolbox viewer keyboard navigation has changed.

Double-Clicking VR Sink Blocks Behavior Changed

The behavior of a VR Sink block when you double-click it has changed as follows:

1 The first time you add a VR Sink block to a model, double-clicking that

block displays the block parameter dialog for that block.

2 After configuration is complete and you make an association with a virtual

world, double-clicking the VR Sink block displays the Virtual Reality Toolbox viewer for that model.

To display the block parameter dialog for the V R Sink block in the Virtual Reality Toolbox viewer, select the Simulation menu, then Block Parameters.

Extended Support of Data Types

The Virtual Reality Toolbox product now supports a number of MATLAB data types. In earlier releases, the MATLAB product only supported a data type of between the MATLAB and Simulink environment and VRML scenes. With this interface, you can set and get the VRML scene node field values. The

setfield and getfield vrnode methods have been updated to work with

these new data types.

double. The Virtual Reality Toolbox product provides an interface

Version 4.0 (R14) Virtual Reality Toolbox™

Improved Timing

Thetimeinvirtu interfaces. As a world, these ac controlled by V interface. To provides two contains the c defines the s can take the f

•

'external'

that an exte words, all V source can time, or fr

set(w,'Ti

the unpre internal the virtu

•

'freeru

advance time fro method

m which the virtual world clock starts advancing with the

al scenes advances independently of MATLAB and Simulink

result, if you define dynamic actions directly in the VRML tions cannot interact appropriately with object actions irtual Reality Toolbox through the MAT L A B or Simulink

compensate for this, the Virtual Reality Toolbox product now

rworld

urrent time in the virtual world. The

ource of the time for the virtual world. The

ollowing values:

— This is the default value. This property value specifies

rnal source controls the time in a virtual world (in other irtual Reality Toolbox viewer windows). This external

be either from the Simulinkinterface, using the simulation

om the MATLABinterface, using the

me',time_value)

dictable interferences between the Simulink software and

virtual world time and ambiguities in interpreting the time in

al world.

— This property value specifies that the time in virtual worlds

s independently based on the system timer. You can still set the

set(w,'Time',time_value).

properties, Time and TimeSource.TheTime property

Control

TimeSource property

vrworld method

.The'external' property value eliminates

vrworld

HP-UX P

The Vi UNIX

New v

The v

•

rtual Reality Toolbox product is now supported on Hewlett-Packard™

(HP-UX) 11.00.

rfigure Object Functions

rfigure

vrgc

mos

vrg

— Gets the handle for a currently active virtual reality figure. It is

t useful to query and set virtual reality figure properties.

cbf

— Gets the current callback virtual reality figure.

latform Support

object has two new methods:

Simulink®3D Animation™ Release Notes

Joystick Input a

nd Magellan Space Mouse Block

Updates

When you place th disabled subsy connected to t models with al hardware conf

New and Updat

New and updat open the dem Command Win

Title Model Name

Portal Crane with Joystick Control

Portal Crane w ith Predefined Trajectory

Heat Transfer Visualization with 2-D Animation

e Dynamics Visualization

Vehicl

e Joystick Input and Magellan Space Mouse blocks in

stems, these blocks no longer require that actual hardware be

he computer for the model to run. This allows you to create

ternative user interfaces, switchable according to the actual

iguration.

ed Demos

ed de mos in Release 14 are listed in the table below. You can

os by entering the corresponding model names in the MATLAB

dow.

vrcrane_joystick

vrcrane_traj

vrheat_anim

vr_octavia

Virtual Reality Toolbox Simulink Blocks Updates

The Simulink block library for the Virtual Reality Toolbox product has the following block updates:

• VR Sink blocks now accept all meaningful data types as input. It converts

these data types to natural VRML types as necessary. These data types include logical values, many types of signed and unsigned integers, singles, and doubles.

• VR Source blocks now output signals of data types corresponding to the

natural VRML data types of the associated fields. These data types include logical values, many types of signed and unsigned integers, singles, and doubles.

Version 4.0 (R14) Virtual Reality Toolbox™

• Space Mouse Input blocks now support USB devices (such as the SpaceBall

input device), and the SpaceTraveler motion controller.

• Joystick Input blocks now support force-feedback devices such as

force-feedback joysticks, steering wheels, and haptic devices. To use this functionality, you must install DirectX

Version 8.0 or later.

VR Sink and VR Source Block Source File

The behavior of the V R Sink and VR Source block Source file text field has changed as follows:

• Browsing to a file enters that filename in the text field, with a path relative

to the Simulink model location. F or example, if the VRML file resides in

<Simulink model location>\vrml\vrbounce.wrl,thefilenamethat

appears in the text field is

• If a model has a VRML file associated with it, the Virtual Reality Toolbox

product searches the path associated with that file. If the product does not find the file on this path, it then searches for the filename using the MATLAB path value.

vrml\vrbounce.wrl.

• If you enter an absolute and fully qualified path for the VRML file, the

Virtual Reality Toolbox software searches just that path for the file.

MATLAB Interface Updates

Associated with the support of extended data types, the MATLAB interface

vrsetpref and vrgetpref functions now set and get the following new

preferences in addition to earlier preferences.

Preferences Changes

The Virtual Reality Toolbox software lets you specify preference settings so that you can define the defau lt behavior of the Virtual Reality Toolbox software. The preferences functionality has the following changes:

• The ability to set Virtual Reality Toolbox preferences has moved from

the VR Sink/Source blocks to the standard MATLAB preference system accessible through the MATLA B main window File -> Preferences menu item.

Simulink®3D Animation™ Release Notes

For this release, you can set only the preferences for HttpPort, VrPort, Editor,andTransportBuffer preferences using the MATLAB Preferences menu. To get or set the full set of preferences, use the

functions

• The following prefere nces have been added to the Virtual Reality Toolbox

software. For preferences that begin with the string

DefaultWorld, these values are the default values for the corresponding vrfigure or vrworld property.

Preference Description

DataTypeBool

DataTypeInt32

vrgetpref and vrsetpref.

DefaultFigure or

Specifies the handling of the VRML for

vrnode/setfield and

vrnode/getfield. Valid values

are

'logical' and 'char'.Ifset

'logical',theVRMLBool data

Bool data type

type is returned as a logical value. If set to is returned is

'char',theBool data type

'on' or 'off'.Default

'logical'.

Specifies handling of t he VRML for

vrnode/getfield. Valid values

are to type is returned as

'double',theInt32 is returned as 'double'. Default is 'double'.

Int32 data type

vrnode/setfield and

'int32' and 'double'.Ifset

'int32',theVRMLInt32 data

int32.Ifsetto

Version 4.0 (R14) Virtual Reality Toolbox™

Preference Description

DataTypeFloat

Specifies the handling of the VRML for

vrnode/setfield and

vrnode/getfield. Valid values

are

'single' and 'double'.Ifset

'single', the VRML Float and Color data types are returned as 'single'.Ifsetto'double',the Float and Color data types are

returned as

'double'.

DefaultFigureAnti Aliasing

Determines whether antialiasing is used by default for new objects. Valid values are 'off' and

'on'.

DefaultFigureDeleteFcn

Specifies the default callback invoked when closing a object.

DefaultFigureLighting

Specifies whether the lights are rendered by default for new

vrfigure objects. Valid values are 'off' and 'on'.

DefaultFigureMax TextureSize

Specifies the default maximum pixel size of a texture used in rendering new Valid values are

x <= video card limit, where x is a

power of 2.

DefaultFigureRecord2D CompressMethod

Specifies the default compression method for creating 2-D animation files for new Valid values are

'lossless',and'codec_code'.

float data type

'double'. Default is

vrfigure

vrfigure objects.

'auto' and 32 <=

vrfigure objects.

'', 'auto',

Simulink®3D Animation™ Release Notes

Preference Description

DefaultFigureRecord2D CompressQuality

DefaultFigureRecord2D FileName

DefaultFigureStatusBar

DefaultFigure Transparency

DefaultFigureWireframe

DefaultWorldRecord3D FileName

DefaultWorldRecordMode

DefaultWorldRecord Interval

Specifies the default quality of 2-D animation file compression for new

vrfigure objects. Valid values are

0-100.

Specifies the default 2-D offline animation file name for new

vrfigure objects.

Specifies whether the status bar appears by default at the bottom of the V irtual Reality Toolbox viewer for new values are

vrfigure objects. Valid

'off' and 'on'.

Specifies whether or n o t transparency information is taken into account when rendering for new values are

vrfigure objects. Valid

'off' and 'on'.

Specifies whether objects are drawn as solids or wireframes by default for new values are

vrfigure objects. Valid

'off' and 'on'.

Specifies the default 3-D animation file name for new

vrworld objects.

Specifies the default anim ation recording mode for new

vrworld

objects. Valid values are 'manual' and 'scheduled'.

Specifies the defa ult start and stop tim es for scheduled animation recording for new

vrworld objects.

Valid value is a vector of two doubles.

Version 4.0 (R14) Virtual Reality Toolbox™

Preference Description

DefaultWorldRemoteView

Specifies whether the virtual world is enabled by default for remote

DefaultWorldTimeSource

TransportTimeout

viewing for ne w Valid values are

Specifies the de fault source of the time for new Valid values are

'freerun'.

Amount of time VR server waits

vrworld objects.

'off' and 'on'.

vrworld objects.

'external' and

for a reply from the client. If there is no response from the client, VR server disconnects from the client.

vrworld Object Property Updates

Associated with the support of animation files, the vrworld object now supports the following new properties:

Property Description

Record3D

Record3DFileName

Enables 3D animation recording. Read/write.

3D animation file name. The string can contain tokens that are replaced by the corresponding information when the an imation recording takes place. Read/write.

Recording

Animation recording toggle. This property acts as the master recording switch. Read/write.

RecordMode

RecordInterval

Animation recording mode. Read/write.

Start and stop times for scheduled animation recording. Corresponds to the virtual world object

Time property. Read/write.

Simulink®3D Animation™ Release Notes

Property Description

Time

TimeSource

vrfigure Object Property Updates

The vrfigure object now supports the following new properties:

Property Description

MaxTextureSize

NavMode

NavSpeed

NavZones

Record2D

Record2DCompress Method

Current time in the virtual world. Read/write.

The source of the time for the virtual world. If set to

'external', time in the scene is controlled

from the MATLAB interface (by settin g the

Time

property) or the Simulink interface (simulation time), if set to

'freerun',timeinthescene

advances independently based on the system timer. Read/write.

Sets the maximum pixel size of a texture used in rendering

vrfigure objects. The smaller

the size, the faster the texture can render. Increasing this value improves image quality but decreases performance. A value of

'auto'

sets the maximum possible pixel size. If the value you enter is unsuitable, a warning might trigger. The Virtual Reality Toolbox software then automatically adjusts the property to the next smaller suitable value. Read/write.

Specifies navigation mode. Read/write.

Specifies navigation speed. Read/write.

Toggles navigation zones on/off. Read/write.

Enables 2-D offline animation file recording. Read/write.

Specifies the compression method for creating 2-D animation files. The

codec_code must be

registered in the system. See the MATLAB function documentation for

avifile. Read/write.

Property Description

Record2DCompress Quality

Record2DFileName

Specifies the quality of 2-D a nimation file compression. Read/write.

Specifies the 2-D offline animation file nam e. The s tring can contain tokens that are replaced by the corresponding information when the animation recording takes place. Read/write.

StatusBar

Toggles the status bar at the bottom of the Virtual Reality Toolbox viewer. Read/write.

Toolbar

Toggles the toolbar on the Virtual Reality Toolbox viewer. Read/write.

Version 4.0 (R14) Virtual Reality Toolbox™

Simulink®3D Animation™ Release Notes

Version 3.1 (R13SP1) Virtual Reality Toolbox

Thistablesummarizeswhat’snewinVersion3.1(SP1):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Known problems

Related Documentation at Web Site

Cross-Platform Support

The Virtual Reality Toolbox product is now supported on the M ac OS®X platform.

Improved Rendering

The overall rendering of virtual worlds for the Virtual Reality Toolbox interface is improved.

Known Problems

Micros

Microsoft®Internet Explorer®6.0 might incorrectly interpret system Java™ library paths, preventing Virtual RealityToolboxcomponents(suchasthe Virtual Reality Toolbox Viewer) from running. Netscape Navigator not experience this problem.

oft Internet Explorer 6.0

users do

If you are using Internet Explorer 6.0, you should manually edit the Java library path for Internet Explorer 6.0. Alternatively, you can also use Internet Explorer 5.5 with Virtual Reality Toolbox software.

Editing the Java Library Path

To manually edit the Java library path for Internet Explorer 6.0:

Version 3.1 (R13SP1) Virtual Reality Toolbox™

1 Run the regedit command.

2 Go to

HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\JavaVM

A list of value names and their values appears.

3 Replace each instance of %systemroot% with the system root path. For

example

C:\WINNT

4 Restart the computer.

Patch Required for the MATLAB Product Running Mac OS X

10.2

The Virtual Reality Toolbox pr od uc t requires the MATLAB product running Mac OS X 10.2.

To install the Virtual Reality Toolbox product on Mac OS X, you must first install a patch available from The MathWorks. To get the patch, go to

ftp://ftp.mathworks.com/pub/tech-support/solutions/s33053. Refer to

this location for any updates. Refer to

http://www.mathworks.com/support

for updated instructions. The instructions for this patch are below.

You should download this patch if you match one of these scenarios:

• You want to install MATLAB Release 13 on a Mac OS X 10.2 system that

does not currently have theMATLAB product installed.

• You want to update an installation of the MATLAB product that was

installed on a system with the Mac OS X product 10.1.x, but has subsequently been updated to the Mac OS X product 10.2.

• You w ant to update an installation of the MA TLAB product that is installed

on a system with Mac OS X 10.1.x.

• You already updated the MATLAB product installed on a system with Mac

OS X 10.1.x, as in scenario III above, and have subsequently updated to Mac OS X 10.2.

Simulink®3D Animation™ Release Notes

Depending on which scenario you choose, please follow the directions below.

The first step is to download the MathWorks Jaguar from

ftp://ftp.mathworks.com/pub/tech-support/solutions/s33053.

This file is named desktop. Double-click the file to start the

MathWorks_Jaguar_Updater.dmg. Place this file on your

Disk Copy utility, which will mount

Updater disk image

the disk image as a virtual disk named MathWorks_Jaguar_Updater.You will use this MathWorks_Jaguar_Updater virtual disk in the following installations.

Next, locate your scenario and follow the steps listed for that scenario.

Scenario I. You want to install MATLAB Release 13 on a Mac OS X 10.2 system that does not currently have the MATLAB product installed.

1 Insert the MATLAB Release 13 install CD titled CD 1 of 3 into your CD

drive.

2 Wait a few moments for Mac O S X to mount the CD. When the

MathWorks_R13_1 vo lume appears o n your desktop, you can proceed.

3 Double-click on the Install for Mac OS X icon in the

MathWorks_Jaguar_Updater virtual disk.

4 Follow the instructions presented by the installer.

5 After the installer finishes, drag the MathWorks_R13_1 volume to the

trash to eject the CD, and repeat steps 1 through 4 with CD 2 of 3 and CD 3 of 3.

Scenario II. You w ant to update an installation of the MATLAB product that was installed on a system with Mac OS X 10.1.x, but has subsequently been updated to Mac OS X 10.2.

1 Double-click on the XFree86_4.2.0.1-10.2 icon in the

MathWorks_Jaguar_Updater virtual disk.

2 Follow the instructions presented by the XFree86 updater. Accept any

default values presented.

Version 3.1 (R13SP1) Virtual Reality Toolbox™

3 Double-click on the MATLABR13_Jaguar_patch icon in the

MathWorks_Jaguar_Updater virtual disk.

4 Follow the instructions presented by the MATLAB updater. When

asked to choose the folder where the MATLAB product is installed click Next unless the MATLAB product is not installed the default location (

/Applications/MATLAB6p5). If the MATLAB product is not installed in

the default location, click the Choose... button and navigate to the folder where you installed the MATLAB product.

Scenario III. YouwanttoupdateaninstallationoftheMATLABproduct that is installed on a system with Mac OS X 10.1.x.

1 Double-click on the MATLABR13_Jaguar_patch icon in the

MathWorks_Jaguar_Updater virtual disk.

2 Follow the instructions presented by the MATLAB updater. When

asked to choose the folder where the MATLAB product is installed click Next unless the MATLAB product is not installed the default location (

/Applications/MATLAB6p5). If this is the case, then click the Choose...

button and navigate to the folder where you installed the MATL AB product.

Scenario IV. You already updated the MATLAB product installed on a system with Mac OS X 10.1.x, as in scenario III above, and have subsequently updated to Mac OS X 10.2.

1 Double-click on the XFree86_4.2.0.1-10.2 icon in the

MathWorks_Jaguar_Updater virtual disk.

2 Follow the instructions presented by the XFree86 updater. Accept any

default values presented.

Simulink®3D Animation™ Release Notes

Version 3.0 (R13) Virtual Reality Toolbox

This table summarizes what’s new in Version 3.0 (R13):

New Features and Changes

Yes Details belo

Version Compatibility Consideratio

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New featur

Cross-Pl

Virtual R UNIX plat

Virtual

Virtua You can Realit avirt rende the Vi brows

es and changes introduced in this version are

atform Support

eality Toolbox software Version 3.0 is supported on both PC and

forms.

Reality Toolbox Viewer

l R eality Toolbox software Version 3.0 now contains a V RML viewer.

use this viewer on all supported operating systems. With the Virtual

y Toolbox viewer, yo u can move between predefined viewpoints in

ual scene. You can also control the navigation method, speed, and

ring of the v irtual world. From the MATLAB interface, you can control

rtual Reality Toolbox viewer better than other VRML-enabled Web

ers.

Fixed Bugs and Known Problems

No bug fixes

Related Documentation at Web Site

Impr

The c bro mul tha

oved Performance

ommunication between Virtual Reality Toolbox and VRML-enabled Web

wsersisimproved. Youarenowableto perform such tasks as controlling

tiple objects in a virtual scene or setting multiple field values faster

n before.

Version 3.0 (R13) Virtual Reality Toolbox™

Improved MATLAB Interface

It is now easier to access and manipulate virtual world objects from the MATLAB command line. You can use dot notation to change object properties. Also, multiple field values are transferred between MATLAB and the Virtual Reality Toolbox server in a form consistent with their VRML representation.

Customized V-Realm Object Libraries

Compatibility Considerations

If you are on a PC p latform and you created your own object libraries in V-Realm while using Virtual Reality Toolbox software Version 2.0, deleting the M ATLA B product deletes these cust om libraries. You need to save these libraries before uninstalling the older version of the MATLAB product:

1 Save the contents of the <MATLAB root>\toolb ox\v r\vrealm folder to

another location on your system.

2 Uninstall the older version of the MATLAB product.

3 Install MATLAB software Version 6.5 (Release 13).

4 Install V-Realm using the command

vrinstall -install editor

5 Save the files from your old vrealm folder into the new vrealm folder.

MATLAB software Version 6.5 should have the same folder structure as your previous version of the MATLAB product. If the folder structure is not identical, search your system for

vrbuild2.ini. Edit the relative paths

within this file to reflect the folder structure of MATLAB software Version 6.5.

After you have moved your files into the new your

vrbuild2.ini file, do not reinstall the V-Realm editor. T he command

vrinstall -install editor

vrealm folder and customized

replaces the existing vrbuild2.ini file with the default template file.

Simulink®3D Animation™ Release Notes

Simulink 3D Animation Compatibility Summary

This table summarizes new features and changes that might cause incompatibilities when you upgrade from an earlier version, or wh en you use files on multiple versions. Details are provided in the description of the new feature or change.

Version (Release) New Features and Changes with

Version Compatib ility Impact

Latest Versi V5.1.1 (R20

V5.1 (R2009

V5.0 (R2009a)

V4.8 (R2008b)

V4.7 (R

V4.6 (R2007b)

V4.5 (R2007a)

10a)

2008a)

None

See the Comp

Considera

for this ch

None

• “Alterna

Viewer N o

None

tions subheading

ange:

te Mode of Virtual Scene

w D efau lt” on p ag e 7

atibility

4 (R2006b)

V4.

the Com p atibility

See

siderations subheading

Con

this change:

for

oystick Input Block” on page 19

• “J

Simulink®3D Animation™ Compatibility Summary

Version (Release) New Features and Changes with

Version Compatib ility Impact

V4.3 (R2006a)

V4.2.1 (R14SP3)

V4.2 (R14SP2+)

V4.1 (R14SP2)

None

V4.0.1 (R14SP1) See the Compatibility

Considerations subheading for this change:

• “VR Source block” on page 26

V4.0 (R14)

V3.1 (R13SP1)

None

V3.0 (R13) See the Compatibil ity

Considerations subheading for this change:

• “Customized V-Realm Object

Libraries” on page 45

Mathworks SIMULINK 3D ANIMATION RELEASE NOTES

Specifications and Main Features

Frequently Asked Questions

User Manual