Mathworks SIMULINK 3D ANIMATION 5 user guide

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Simulink®3D Anima

User’s Guide

tion™ 5

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3D Animation™ User’s Guide

Revision History

August 2001 First printing New for Version 2.0 (Release 12.1) July 2002 Second printing Revised for Version 3.0 (Release 13) October 2002 Online only Revised for Version 3.1 (Release 13) June 2004 Third printing Revised for Version 4.0 (Release 14) October 2004 Fourth printing Revised for Version 4.0.1 (Release 14SP1) March 2005 Online only Revised for Version 4.1 (Release 14SP2) April 2005 Online only Revised for Version 4.2 (Release 14SP2+) September 2005 Online only M inor revision for Version 4.2.1 (Release 14SP3) March 2006 Online only Revised for Version 4.3 (Release 2006a) September 2006 Online only Revised for Version 4.4 (Release 2006b) March 2007 Online only Revised for Version 4.5 (Release 2007a) September 2007 Online only Revised for Version 4.6 (Release 2007b) March 2008 Online only Revised for Version 4.7 (Release 2008a) October 2008 Online only Revised for Version 4.8 (Release 2008b) March 2009 Online only Revised for Version 5.0 (Release 2009a) March 2010 Online only R evised for Version 5.1.1 (Release 2010a)

Getting Started

Product Overview ................................. 1-2

Overview Expected Background

........................................ 1-2

.............................. 1-3

Contents

Simulink

VRML Support MATLAB Interface Simulink Interface MATLAB VRML View ers VRML Editor Real-Time Workshop Software Support SimMechanics Support Hardware Support Client-Server Architecture

VRML Overview

VRML History VRML Co ordinate System VRML File Format

Examples Using the Simulink

Product

Simulink Interface Examples MATLAB Interface Examples

Simulink

3D Animation Software Features .......... 1-4

................................... 1-4

................................ 1-6

Compiler Support ........................ 1-7

................................... 1-8

..................................... 1-9

............................. 1-10

................................ 1-10

.......................... 1-10

................................... 1-11

.................................... 1-11

.......................... 1-12

................................ 1-14

......................................... 1-17

........................ 1-17

....................... 1-27

3D Animation Texture File ............... 1-31

............... 1-9

3D Animation

Implementation Notes

VRML Compatibility Simulink

3D Animation Server ..................... 1-33

............................. 1-32

............................... 1-32

Installation

Required Products ................................. 2-2

Section Overview MATLAB Product VRML View er

.................................. 2-2

................................. 2-2

.................................... 2-3

Getting Started

The Simulink®3D Animation™ product allows you to connect an existing virtual world, defined with VRML, to the Simulink environments. Understanding the features of the Simulink 3D Animation software and some basic VRML concepts will help you to use this product more effectively.

• “Product Overview” on page 1-2

• “Simulink

• “VRML Overview” on page 1-11

• “Examples Using the Simulink

• “Simulink

• “Implementation Notes” on page 1-32

3D Animation Software Features” on page 1-4

3D Anim ation Product” on page 1-17

3D Animation Texture File” on page 1-31

and MATLAB

1 Getting Started

Product Overview

Overview

The Simulink 3D Animation product is a solution for interacting with virtual reality models of dynamic systems over time. It extends the capabilities of your MATLAB and Simulink software into the world of virtual reality graphics.

• Virtual worlds — Create virtual worlds or three-dimensional scene s using

• Dynamic s ystem s — Create and define dynamic systems with the MATLAB

In this section...

“Overview” on page 1-2

“Expected Background” on page 1-3

standard Virtual Reality Modeling Language (VRML) technology.

and Simulink products.

1-2

• Animatio n — View moving three-dimensional scenes driven by signals

from the Simulink environment.

• Manipulation — Change the positions and properties of objects in a virtual

world while running a simulation.

To provide a comple te working environment, the Simulink 3D Animation product includes additional components:

• VRML viewer — Use either the Simulink 3D Animation viewer or, for

Windows display your virtual worlds.

• VRML editor — You can use any VRML editor to build your VRML

environment or world. For your convenience, for Windows platform s, use Ligos UNIX code to create virtual worlds.

platforms, the Blaxxun Contact®plug-in for Web browsers to

V-Realm Builder software to create and edit VRML code. For

or Linux®platforms, use the MATLAB text editor to write VRML

Product Overview

Expected Backgr

To help you effec the chap te rs and that Simulink 3 works as descri

This guide ass

• MATLAB produ

to use functi

• Simulink an

diagrams an

• VRML, to cre

scenes to c

If you are a the follo

wing topics:

• Chapter 1

Simulin

• Chapter

Simulin

tively read and use this guide, here is a brief description of

a suggested reading path. As a general rule, you can assume

D Animation software on the Apple

bed for the UNIX/Linux platforms.

umes that you are already familiar with

ct, to write scripts and functions with MATLAB code, and

ons with the command-line interface

d Stateflow d simulate those models

ate or otherwise provide virtual worlds or three-dimensional

onnect to Simulink or MATLAB software

new Simulink 3D Animation user, you might want to review

, “G etting Started” — This chapter gives you an overview of the

k 3D Animation features.

3, “Simulink Interface” — Interact with a virtual world from

k environment.

ound

Mac OS®Xplatform

charts products to create models as block

• Chapte

MATLAB

r 4, “MATLAB Interface” — Interact with a virtual world from

environment.

1-3

1 Getting Started

Simulink 3D Animation Software Features

In this section...

“VRML Support” o n page 1-4

“MATLAB Interface” on page 1-6

“Simulink Interface” on page 1-6

“MATLAB®Compiler Support” on page 1-7

“VRML Viewers” on page 1-8

“VRML Editor” on page 1-9

“Real-Time Workshop Software Support” on page 1-9

“SimMechanics Support” on page 1-10

“Hardware Support” on page 1-10

“Client-Server Architecture” on page 1-10

1-4

VRML Support

The Virtual Reality M odeling Language (VRML) is an ISO standard that is open, text-based, and uses a WWW-oriented format. You use VRML to define a virtual world that you can display with a VRML viewer and connect to a Simulink model.

The Simulink 3D Animation software uses many of the advanced features defined in the current VRML97 specification. The term VRML, in this guide, always refers to VRML as defined in the VRML97 standard ISO/IEC 14772-1:1997, available from description of 3-D scenes, sounds, internal actions, and WWW anchors.

http://www.web3d.org. This format includes a

Simulink®3D Animation™ Software Features

The software analyzes the structure of the virtual world, determines what signals are available, and makes them available from the MATLAB and Simulink environment.

The Simulink 3D Animation viewer supports the majority of VRML97 standard nodes, allowing you almost complete control over associated virtual worlds. The blaxxun Contact plug-in supports all VRML97 standard nodes.

Note The Blaxxun Contact VRML plug-in is required for sound. Other Web viewers may allow for sound playback, bu t are not off icially supported.

Simulink 3D Animation software ensures that the changes made to a virtual world are reflected in the MATLAB and Simulink interfaces. If you change the viewpoint in your virtual world, this change occurs in the

vrworld object

properties in MATLAB and Simulink interfaces.

The software includes functions for retrieving and changing virtual world properties.

Note Since some VRML worlds are automatically generated in VRML1.0, and the Simulink 3D Animation product does not support VRML1.0, you need to save these worlds in the current standard for VRML, VRML97.

For PC platforms, you can convert VRML1.0 worlds to VRML97 worlds b y opening the worlds in Ligos V-Realm Builder and saving them. V-Realm Builder is shipped with the PC version of the software. Other commercially available software programs can also perform the VRML1.0 to VRML97 conversion.

1-5

1 Getting Started

MATLAB Interface

Simulink 3D Animation softwa r e provides a flexible MAT L AB interface to virtual reality worlds. After creating MATLAB objects and associating them with a virtual world, you can control the virtual world by using functions and methods.

From the MATLAB software, you can set p ositio ns and properties of VRML objects, create callbacks from graphicaluserinterfaces(GUIs),andmapdata to virtual objects. You can also view the world with a VRML viewer, determine its structure, and assign new values to all available nodes and their fields.

The software includes functions for retrieving and changing the virtual world properties and for saving the V RML files corresponding to the a ctual structure of a virtual world.

The MATLA B software provides communication for control and manipulation of virtual reality objects using MATLAB objects.

1-6

Simulink Interface

With a Simulink model, you can observe a simulation of your dynamic system over time in a visually realistic 3-D model.

The Simulink 3D Animation library provides blocks to directly connect Simulink signals with virtual worlds. This connection lets you visualize y our model as a three-dimensional animation.

You can implement m ost of the software features with Simulink blocks. Once you inclu de these blocks in a Simulink diagram, you can select a virtual world and connect Simulink signals to the virtual world. The software automatically scans a virtual world for available VRML nodes that the Simulink software can drive.

All the VRML node properties are listed in a hierarchical tree-style viewer. You select the degrees of freedom to control from within the Simulink interface. After you close a Block Parame ters dialog box, the Simulink software updates the block with the inputs and outputs corresponding to selected nodes in the virtual world. After connecting these inputs to appropriate Simulink signals, you can view the simulation with a VR ML viewer.

Simulink®3D Animation™ Software Features

The Simulink produ ct provides communication for control and manipulation of virtual reality objects, using Simulink 3D Animation blocks.

MATLAB Compiler Support

The Simulink 3D Animation product supports the MATLAB®Compiler™ product. With this capability, you canusethecompilertotakeMATLABfiles as input and generate redistributable, stand-alone applications that include Simulink 3D Anim ati o n functionality, including the Simulink 3D Animation viewer.

Stand-alone applications that include Simulink 3D Animation functionality have the following limitations:

• No Simulink software support, which results in no access to the Simulink

3D Animation Simulink library (

• No Simulink 3D Animation server, which results in no remote connectio n

for the Orbisnap or Blaxxun viewers

vrlib).

• No animation recording ability

• No editing world ability

• The following Simulink 3D Animationviewerfeaturescannotbeusedin

stand-alone applications:

- File>OpeninEditor

- Recording menu

- Simulation menu

- Help access

To use these features, create a Simulink 3D Animation product (for example, creating, opening, and closing a

vrworld object), then use the MATLAB Compiler product.

.m file that uses th e MATLAB interface for the

1-7

1 Getting Started

VRML Viewers

The Simulink 3D Animation product contains a viewer that is the default viewing method for virtual worlds. This Simulink 3D Animation viewer is supported on PC, UNIX, Apple Mac OS X, and Linux platforms.

IfyouareonaPCplatform,youcaninstallaVRMLplug-inandviewavirtual world in your preferred Web browser. For PC platforms, the software includes the VRML plug-in blaxxun Contact. This i s the only supported VRML plug-in. You can also use Orbisnap to view a virtual wo r ld .

If you install the VRM L plug-in, the software connects MATLAB and Simulink with the VRML-enabled browser to display a simulated process using the TCP/IP protocol. This allows you to watch a simulated virtual world not only on the computer where these products are running, but also on other computers connected through the Internet

1-8

VRML Editor

For PC platforms the classic VRML addition of thi authoring, dev simulations.

s VRML authoring tool, the product provides a complete

elopment, and working environment for carrying out 3-D visual

Simulink®3D Animation™ Software Features

, the Simulink 3D Animation product includes one of

authoring tools, V-Realm Builder by Ligos. With the

You use a VRML e block diagra

• PC platforms

with the Sim V-Realm Bui

Use the comm world. See

For inform Animatio

• UNIX and L

platform editor,

V-Realm PC vers

Real-T

The fo

The Si

-Time Windows Target™ product. Using the Simulink external mode,

Real

an interact with real-time code generated by the Real-Time Workshop

you c

uct and compiled with a third-party C/C++ compiler in the Real-Time

prod

ows Target environment. See the Real-Time Windows Target User’s

Wind

de documentation for further details.

Gui

n product, see Chapter 5, “Virtual Worlds”.

sistheMATLABeditor. IfyoudonotwanttousetheMATLAB

you ca n set the

Builder is the only suppo rted VRML editor. It is provided with the

ion of the Simulink 3D Animation product.

ime Workshop Software Support

llowing products support interaction with Real- Tim e Workshop

mulink interface in the Simulink 3D Animation product supports the

ditor to create the virtual worlds you connect to Simulink

ms:

— Ligos V-Realm Builder software Version 2.0 is included

ulink 3D A nimation software. If you do not want to use

lder software, you can use your favorite VRML editor.

and

vrinstall to install the editor before editing a virtual

“Installing the VRML Editor (Windows)” on page 2-27.

ation on using V-Realm Builder software with the Simulink 3D

inux platforms — The default VRML editor for UNIX and Linux

Editor preference to y our favorite tex t editor.

code.

1-9

1 Getting Started

SimMechanics Su

You can use the Si model created wi amachineinthe a detailed pict SimMechanics a VRML viewer.

Hardware Sup

The Simulink hardware de

Client-Se

Simulink 3 products t software

• Single co

represe

• Network

compute server

D Animation software connects the MATLAB and Simulink

o a VRML-enabled Web browser using the TCP/IP protocol. The

can be used in two configurations:

mputer — MATLAB and Simulink and the virtual reality

ntations run on the same host computer.

computer — You can view an animated virtual world on a

r separate from the computer with the Simulink 3D Animation

. Multiple clients can be connected to one server.

mulink 3D Animation product to view the beh a vior of a

th the SimMechanics™ software. First, you build a model of

Simulink interface using SimMechanics blocks. Then, create

ure of your machine in a virtual world, connect this world to the

body sensor outputs, and view the behavior of the bodies in

port

3D Animation product contains functions for connecting to

vices, including joysticks and space mice, using Simulink blocks.

rver Architecture

pport

1-10

VRML Overview

In this section...

“VRML History” on page 1-11

“VRML Coordinate S ystem” on page 1-12

“VRML File Format” on page 1-14

VRML History

The Virtual Reality Modeling Language (VRML) is the language you use to display t hree -dimensional objects with a VRML viewer.

Since people started to publish their documents on the World Wide Web (WWW), there has been an effort to enhance the conte nt of Web pages with advanced three-dimensional graphics and interaction with those graphics.

The term Virtual Reality Markup Language (VRML) was first used by Tim Berners-Lee at a European Web conference in 1994 when he talked about a need for a 3-D Web standard. Soon afterward, an active group of artists and engineers formed around a mailing list called nameofthestandardtoVirtualRealityModelingLanguagetoemphasize theroleofgraphics. Theresultoftheir effort was to produce the VRML 1 specification. As a basis for this specification, they used a subset of the Inventor file format from Silicon Graphics.

VRML Overview

www-vrml. They changed the

The VRML 1 standard was implemented in several VRML browsers, but it allowed you to create only static virtual worlds. This limitation reduced the possibility of its widespread use. Quickly it became clear that the language needed a robust extension to add animation and interactivity, and bring life to a virtual world. The VRML 2 standard was developed, and in the year 1997 it was adopted as International Standard ISO/IEC 14772-1:1997. Since then it is referred to as VRML97.

1-11

1 Getting Started

VRML97 represents an open and flexible platform for creating interacti ve three-dimensional scenes (virtual worlds). As computers improve in computational power and graphic capability, and communication lines become faster, the use of 3-D graphics becomes more popular outside the traditional domain of art and games. There are now a number of VRML97-enabled browsers available on several platforms. Also, there are an increasing number of VRML authoring tools from which to choose. In addition, many traditional graphical software packages (CAD, visual art, and so on) offer VRML97 import/export features.

The Simulink 3D Animation product uses VRML97 technology to deliver a unique, open 3-D visualization solution for MATLAB users. It is a useful contribution to a wide use of VRML97 in the field of technical and scientific computation and interactive 3-D animation.

The VRML97 standard continues to be improved by the Web 3D Consortium. The newly released X3D (eXtensible 3D) standard is the successor to VRML97. X3D is an extensible standard that provides compatibility w ith existing VRML content and browsers. For more information, see

http://www.web3d.org.

1-12

VRML Coordinate System

VRML Overview

TheVRMLcoordinatesystemisdifferentfromtheMATLABandAerospace Blockset™ coordinate systems. VRML uses the world coordinate system in which the y-axispointsupwardandthez-axisplacesobjectsnearerorfarther from the front of the screen. It is importa nt to realize this fact in situations involving the interaction of these different coordinate systems. SimMechanics uses the VRML coordinate system.

Rotation angles — In VRML, rotation angles are defined using the right-hand rule. Imagine your right hand holding an axis while your thumb points in the direction of the axis toward its positive end. Your four remaining fingers point in a counterclockwise direction. This counterclockwise direction is the positive rotation angle of an object moving around that axis.

Child objects — In the hierarchical structure of a VRML file, the position and orientation of child obje cts are specified relative to the parent object. The parent object has its local coordinatespacedefinedbyitsownpositionand orientation. Moving the parent object also moves the child objects relative to the parent object.

Measurement units — All lengths and distances are measured in meters,and all angles are measured in radians.

1-13

1 Getting Started

VRML File Format

You need not have VRML authoring t a basic knowled worlds more eff world element

any substantial knowledge of the VRML format to use the

ools to create virtual worlds. However, it is useful to have

ge of VRML scene description. This helps you create virtual

ectively, and gives y ou a good understanding of how the virtual

s can be controlled using Simulink 3D Animation software.

This section i Reference. T Many special create your o to an approp

In VRML, a 3objects (n scene. The (represen for holdi

• Box node —

• Transfo

transla

• Materia

• Direct

• Fog nod

• Proxi

gener regio

riate third-party VRML book.

odes). Every node in the tree represents some functionality of the

re are 54 different types of nodes. Some of them are shape nodes

ting real 3-D objects), and some of them are grouping nodes used

ng child nodes. H ere are some examples:

rm node — Defines position, scale, scale orientation, rotation,

tion, and children of its subtree (grouping node).

l node — Corresponds to material in a scene.

ionalLight node — Represents lighting in a scene.

e—Allowsyoutomodifytheenvironment optical propertie s.

mitySensor node — Brings interactivity to VRML97. This node

ates events when the user enters, exits, and moves within the defined

ninspace.

ntroduces VRML. F or more information, see the V RML97

his reference is available online at

ized VRML books can help you understand VRML concepts and

wn v irtual worlds. For more inform ation about the VRML, refer

D scene is described by a hierarchical tree structure of

Represents a box in a scene.

http://www.web3d.org.

1-14

node contains a list of fields that hold values defining parameters for

Each

unction.

its f

es can be placed in the top level of a tree or as children of other nodes in

Nod

tree hierarchy. When you change a value in the field of a certain node, all

the

es in its subtree are affected. This feature allows you to define relative

nod

itions inside com plicated compound objects.

pos

VRML Overview

You can mark every node with a specific name by us ing the keyword DEF in the VRM L scene code. For example, the statement thenameforthisboxnodeto

MyNodeName. You can access the fields of only

DEF MyNodeName Box sets

those nodes that you name in a virtual world

In the following example of a simple VRML file, two graphical objects are modeled in a 3-D scene: A floor is represented by a flat box with a red ball above it. Note that the VRML file is a readable text file that you can write in any text editor.

#VRML V2.0 utf8 # This is a comment line WorldInfo {

title "Bouncing Ball" } Viewpoint {

position 0 5 30

description "Side View" } DEF Floor Box {

size 6 0.2 6 } DEF Ball Transform {

translation 0 10 0

children Shape {

appearance Appearance {

material Material {

diffuseColor 1 0 0

} } geometry Sphere { }

}

The first line is the VRML header line. Every VRML file must start with this header line. It indicates that this is a VRML 2 file and that the text objects in the file are encoded according to the UTF8 standard. You use the number sign (#) to comment VRML worlds. Everything on a line after the # sign is ignored b y a VRML viewer, with the exception of the first header line.

1-15

1 Getting Started

Most of the box properties are left at their default values – distance from the center of the coordinate system, material, color, and so on. Only the name

Floor andthedimensionsareassignedtothebox. Tobeabletocontrolthe

position and other properties of the ball, it is defined as a child node of a Transform type node. Here, the default unit sphere is assigned a red color and a position 10 m above the floor. In addition, the virtual world title is used by VRML viewers to distinguish between virtual worlds. A suitable initial viewpoint is defined in the virtual world VRML file.

When displayed in V-Realm Builder, the floor and red ball look like this:

1-16

Examples Using the Simulink®3D Animation™ Product

Examples Using the Simulink 3D Animation Product

In this section...

“Simulink Interface Examples” on page 1-17

“MATLAB Interface Examples” on page 1-27

Simulink Interface Examples

For all the examples that have a Simulink model, use the following procedure to run the example and view the model:

1 In the MATLAB Command Window, enter the name of a Simulink model.

For example, enter

vrbounce

A Simulink window opens with the block diagram for the model. By default, a virtual world also opens in the Simulink 3D Animation viewer or your VRML-enabled Web browser. If you close the virtual world window, double-click the VR Sink block to display it again.

Note If the viewer does not appear, double-click the VR Sink block in the Simulink model. In the Simulink 3D Animation viewer, from the Simulation menu, click box opens. The Open VRML viewer automatically check box should be selected by default. This selection enables the virtual world windo w to be displayed when you double-click the VR Sink block.

2 In the Simulink wi ndow, from the Simulation menu, click Start.

(Alternatively, in the Simulink 3D Animation viewer, from the Simulation menu, click Start.)

A simulation starts running, and the virtual world is animated using signal data from the simulation.

Block Parameters. A Block Parameters dialog

1-17

1 Getting Started

The f ollowing table lists the Simulink examples provided with the Simulink 3D A nimation product. Descriptions of the examples follow the table.

Real-Time Workshop

Demo

vrbounce

vrcrane_joystick

vrcrane_traj

vrlights

vrmaglev

vrmaglev_rtwin

vrmanipul

vrmemb1

vrmorph

vr_octavia

vr_octavia_video

vrpend

vrplanets

vrtkoff

vrtkoff_trace

vrtkoff_hud

Ready VR Sink Joystick Space Mouse

1-18

Bouncing Ball Example (vrbounce)

The vrbounce example represents a ball bouncing from a floor. The ball deformsasithitsthefloor,keepingthevolumeoftheballconstant. The deformation is achieved by modifying the scale field o f the ball.

Examples Using the Simulink®3D Animation™ Product

Portal Crane with Joystick Control (vrcrane_joystick)

The vrcrane_joystick example illustrates how a Simulink model can interact with a virtual world. The portal crane dynamics are modeled in the Simulink interface and vi sualized in virtual reality. The model uses the Joystick Input block to control the setpoint. Joystick 3 axes control the setpoint position and button 1 starts the crane. This example requires a standard Joystick with at least three independent axes connected to the PC.

To minimize the number of signals transferred between the Simulink model andthevirtualrealityworld,andtokeepthemodelassimpleandflexibleas possible, only the minimum set of moving objects properties are sent from the model to the VR Sink block. All other values that are necessary to describe the virtual reality objects movem ent are computed from this minimum set using VRMLScript in the associated VRML file.

For details on how the crane model hierarchy and scripting logic is implemented, see the associated commented VRM L file

portal_crane.wrl.

Portal Crane with Predefined Trajectory Example (vrcrane_traj)

The vrcrane_traj example is based on the vrcrane_joystick demo, but instead of interactive control, it has a predefined load trajectory. The

vrcrane_traj model illustrates a technique to create the visual impression of

joining a nd splitting moving objects in the VRML w orld.

A crane magnet attaches the load box, moves it to a different location, then releases the box and returns to the initial position. This effect is achieved using an additional, geometrically identical shadow object that is placed as an independent object outside of the crane objects hierarchy. At any time, only one of the Load or Shadow objects is displayed, using two VRML Switch nodes connected by the ROUTE statement.

After the crane moves the load to a new position, at the time of the load release, a VRMLScript script assigns the new shadow o bject position according to the current Load position. The Shadow object becomes visible. Because it is independent from the rest of the crane moving parts hierarchy, it stays at its position as the crane moves away.

1-19

1 Getting Started

Lighting Example (vrlights)

The vrlights example demonstrates light sources. In the scene, you can move Sun (modeled as objects around the Simulink model. This creates the illusion of changes between day and night, and night terrain illumination. The associated VRML file defines several viewpoints that allow you to observe gradual changes in light from various perspectives.

DirectionalLight) and Lamp (modeled as PointLight)

Magnetic Levitation Model Example (vrmaglev)

The vrmaglev example shows the interaction between dynamic models in the Simulink environment and virtual worlds. The Simulink model represents the HUMUSOFT model. The plant model is controlled by a PID controller with feed-forward to cope with the nonlinearity of the magnetic levi tation system. To more easily observe and control the ball, set the VRML viewer to the Came ra 3 viewpoint.

You can set the ball position setpoint in two ways:

CE 152 Magnetic Levitation educational/presentation scale

1-20

• Using a Signal G enerator block

• Clicking at a desired position in the virtual reality scene

To achieve a dragging effect, use the VRML PlaneSensor attached to the ball geometry with its output restricted to <0,1> in the vertical coordinate and processed by the VR Sensor Reader block. The vrextin S-function provides the data connection).

For m ore details on how to read values from virtual scenes programmatically, see “Working with VRML Se ns ors” on page 3-26.

Magnetic Levitation Model for Real-Time Windows Target Example (vrmaglev_rtwin)

In addition to the vrma glev example, the vrmaglev_rtwin example works directly with the actual CE 152 scale model hardware in real time. The MathWorks created this model to work with the HUMUSOFT MF 624 data acquisition board, and Real-Time Workshop and Real-Time Windows Target software. However, you can adapt this model for other targets and acquisition boards. A digital IIR filter, from the Signal Processing Blockset™ library, filters the physical system output. You can bypass the physical system by

Examples Using the Simulink®3D Animation™ Product

using the built-in plant model. Running this model in real time is an example showing the capabilities of the Simulink product in control systems design and rapid prototyping.

Note that after enabling the remote view in the VR Sink block dialog box, you can co ntrol the Simulink model even from another (remote) client computer. This can be useful for distributing the computing power between a real-time Simulink model running on one machine and the rendering of a virtual reality world on another machine.

To work with this model, use as powerful a machine as possible or split the computing/renderingovertwomachines.

Manipulator with Space Mouse Example (vrmanipul)

The vrmanipul example illustrates the use of Simulink 3D Animation software for virtual reality p rototyping and testing the viability of designs before the implementation phase. Also, this example illustrates the use of a space mouse input for manipulating objects in a virtual world. Note that you must have a space mouse input to run this demo.

VRML model represents a nuclear hot chamber manipulator. It is

The

ipulated by a simple Simulink model containing the Space Mouse Input

man

ock. This model uses all six degrees of fre edom of the space mouse for

1-21

1 Getting Started

manipulating the mechanical arm, and this model uses mouse button 1 to close the grip of the manipulator jaws.

A space mouse is an input device with six degrees of freedom. It is useful for navigating and manipulating objects in a virtual world. A space mouse is also suitable as a general input device for Simulink models. This professional device greatly facilitates all the previously mentioned tasks. You can use a space mouse for higher performance applications and user comfort. Space mouse input is supported through the Space Mouse Input block, which is included in the Simulink 3D Animation block library for the Simulink environment.

The Space Mouse Input block can operate in three modes to cover the most typical use of such a device in a three-dimensional context:

• Speeds

• Positions

• Viewpoint coordinates

1-22

Rotating Membrane Example (vrmemb1)

The vrmemb1 example is similar to the vrmemb example, but this time the associated virtual wo r ld is driven from a Simulink model.

Geometry Morphing Example (vrmorph)

The vrmorph example illustrates how you can transfer matrix-type or variable-size signal data between the Simulink interface and a virtual reality world. This capability enables you to perform massive color changes or morphing. This model morphs a cube into an octahedron and changes it back to a cube.

Vehicle Dynamics Visualization (vr_octavia)

The vr_octavia example illustrates the benefits of the visualization of complex dynamic model in the virtual reality environment. It also demonstrates the Simulink 3D Animation 3-D off-line animation recording functionality.

Examples Using the Simulink®3D Animation™ Product

Vehicle Dynamics Visualization with Video Output Example (vr_octavia_video)

The vr_octavia_video example illustrates how to use video output from the VR To Video block. This model performs simple operations on the video output. It requires the Video and Image Processing Blockset™ product.

1-23

1 Getting Started

Inverted Pendulum Example (vrpend)

The vrpend example illustrates the various ways a dynamic model in the Simulink interface can interact with a virtual reality scene. It is the model of a two-dimensional inverted pendulum controlled by a PID controller. What distinguishes this model from common inverted pendulum models are the methods for setting the set point. You visualize and interact w ith a virtual world by using a Trajectory Graph and VR Sink blocks. The Trajectory Graph block allows you to track the history of the pendulum position and change the set point in three ways:

• Mouse — Click and drag a mouse pointer in the Trajectory Graph

two-dimensional window

• Input Signal — External Trajectory Graph input in this model (driven by a

random number generator)

• VR Sensor — Activates the input from a VRML TouchSensor

When the pointing device in the VRML viewer moves over an active TouchSensor area, the cursor shape changes. The triggering logic in this model is set to apply the new set point value with a left mouse button click.

1-24

Notice the pseudoorthographic view defined in the associated VRML file. You achieve this effect by creating a viewpointthatislocatedfarfromthe object of interest with a very narrow view defined by the VRML FieldOfView parameter. An orthographic view is useful for eliminating the panoramic distortion that occurs when you are using a wide-angle lens. The disadvantage of this technique is that locating the viewpoint at a distance makes the standard viewer navigation tricky or difficult in some navigation mode s, such as the Examine mode. If you want to navigate around the virtual pendulum bench, you should use some other viewpoint.

Solar System Example (vrplanets)

The vrplanet s exampleshowsthedynamicrepresentation of the first four planets of the solar system, Moon orbiting around Earth, and Sun itself. The model uses the real properties of the celestial bodies. Only the relative planet sizes and the distance between the Earth and the Moon are adjusted, to provide an interesting view.

Examples Using the Simulink®3D Animation™ Product

Several viewpoints are defined i n the virtual scene, both static and attached to an observer on Earth. You can see that the planet bodies are not represented as perfect sphere s. Using the VRML Sphere graphic primitive, which is rendered this way, simplified the model. If you want to make the planets more realistic, you could use the more complex IndexedFaceSet node type.

Mutual gravity accelerations of the bodies are computed using Simulink matrix-type data support.

Plane Takeoff Example (vrtkoff)

The vrtkoff example represents a simplified aircraft taking off from a runway. Several viewpoints are defined in this model, both static and attached to th e plane, allowing you to see the tak e off from various perspectives.

The m odel demonstrates the technique of combining several objects imported or obtained from different sources (CAD packages, general 3-D modelers, and so on) into a virtual reality scene. Usua lly it is necessary for you to wrap such imported objects with an additional VRML Transform node. This wrapper allows you to set appropriately the scaling, position, and orientation of the objects to fit in the scene. In this example, the aircraft model from the Ligos V-Realm Builder Object Library is incorporated into the scene. The file

vrtkoff2.wrl uses the same scene with a different type of aircraft.

Plane Take-Off with Trajectory Tracing Example (vrtkoff_trace)

The vrtkoff_trace is a variant of the vrtkoff example that illustrates how to trace the trajectory of a moving object(plane)inascene. ItusesaVR Tracer block. Using a p r ed ef ined sample time, this b lock allows you to place markers at the current position of an object. When the simulation stops, the markers indicate the trajectory path of the object. This example uses an octahedron as a marker.

Plane Take-Off with H UD Text Example (vr tkoff_hud)

The vrtkoff_hud example i llustrates how to display signal values as text in the virtual scene and a simple Head-Up Display (HUD). It is a variant of the

vrtkoff example.

The example sends the text to a virtual scene using the VR Text Output block. This block formats the input vector using the format string defined in its

1-25

1 Getting Started

mask (see sprintf for more information) and sends the resulting string to the

'string' field of the associated VRML text node in the scene.

The example achieves HUD behavior (maintaining constant relative position between the user and the Text node) by defining a ProximitySensor. This sensor senses user position and orientation as it navigates through the scene and routes this information to the translation and rotation of the HUD object (in this case, a VRML Transform that contains the Text node).

1-26

MATLAB Interface Examples

The following table lists the MATLAB interface examples provided with the software. Descriptions of the examples follow the table. Note that MATLAB interface examples display virtual worlds in your default viewer. If your default is the Simulink 3D Animation viewer, some buttons are grayed out. In particular, the simulation buttons for simulation and recording are unavailable.

Demo

vrcar

vrheat

vrheat_anim

vrmemb

vrterrain_simple

vrtkoff_spacemouse

Examples Using the Simulink®3D Animation™ Product

vrml() Moving Objects

Morphing Objects Text R ecording

Function

Use

Space Mouse

XXX

Car in the Mountains Example (vrcar)

This demonstration illustrates the use of the Simulink 3D Animation product with the MATLAB interface. In a step-by-step tutorial, it shows commands for navigating a virtual car along a path through the mountains.

1 In the MATLAB Command Window, type

vrcar

2 A tutorial script starts running. Follow the instructions in the MATLAB

Command Window.

Heat Transfer Example (vrheat)

This demonstration illustrates the use of the Simulink 3D Animation product with the MATLAB interface for manipulating complex objects.

1-27

1 Getting Started

In this demonstration, matrix-type data is transferred between the MATLAB software and a virtual reality world. Using this feature, you can achieve massive color changes or morphing. This is useful for representing various physical processes. Precalculated data of time-based temperature distribution in an L-shaped metal block is used. The data is then sent to the virtual world. This forms an animation with relatively large changes.

This is a step-by-step demonstration. Shown are the following features:

• Reshaping the object

• Applying the color palette to re pre sent distributed parameters across an

object shape

• Working with VRML text objects

• Animating a scene using the MATLAB interface

• Synchronization of multiple scene properties

At the end of this example, you can preserve the virtual world object in the MATLAB workspace, then save the resulting scene to a corresponding VRML file or carry out other subsequent operations on it.

1-28

Heat Transfer Visualization w ith 2-D Animation (vrheat_anim)

This demonstration illustrates the use of the Simulink 3D Animation MATLAB interface to create 2-D offline animation files.

You can control the offline animation recording mechanism by setting the relevant the Simulink 3D Animation viewer to record animations. However, direct control of the recording is also possible.

This example uses the heat distribution data from the create an animation file. You can later distribute this animation file to be independently viewed by others. For this kind of visualization, where the static geometry represented by VRML thesimulationofsomephysicalphenomenon,itissuitabletocreate2-D

.avi animation files. The software uses the avifile function to record 2-D

animation exactly as it appears in the viewer figure.

vrworld and vrfigure object properties. Note that you should use

vrheat example to

IndexedFaceSet is colored based on

Examples Using the Simulink®3D Animation™ Product

There are several methods you can use to record animations. In this example, we use the scheduled recording. When scheduled recording is active, a time frameisrecordedintotheanimationfilewitheachsettingofthevirtualworld

Time property. Recording is completed when you set the scene time at the end

or outside the predefined recording interval.

When using the Simulink 3D Animation MATLAB interface, you set the scene time as desired. This is typically from the point of view of the simulated phenomenon equidistant times. This is the most important difference from recording the animations for virtual worlds that are associated with Simulink models, where scene time co rresp onds d i rectly to the Simulink time.

Note that the scene time can represent any independent quantity along which you want to animate the computed solution.

This is a step-by-step demonstration. Shown are the following features:

• Recording 2-D offline animations using the MATLAB interface

• Applying the color palette to visualize distributed parameters across an

object shape

• Animat ing a scene

• Playing the created 2-D animation file using the system AVI player

At the end of this example, the resulting file

vrheat_anim.avi remains in the

working folder for later use.

Rotating Membrane with MATLAB GUI Example (vrmemb)

The vrmemb example shows how to use a 3-D graphic object generated from the MATLAB environment with the Simulink 3D Animation product. The membrane was generated by the format using the standard

vrml function. You can save all Handle Graphics

objects this way and use them with the Simulink 3D Animation software as components of associated virtual worlds.

After starting the demo, you see a control panel with two sliders and three check boxes. Use the sliders to rotate and zoom the membrane while you use thecheckboxestodeterminetheaxistorotatearound.

logo function and saved in the VRML

1-29

1 Getting Started

In the VRML scene, notice the text object. It is a child of the VRML Billboard node. You can configure this node so that its local z-axis turns to point to the viewer at all times. This can be useful for modeling virtual control panels and head-up displays (HUDs).

Terrain Visualization Example (vrterrain_simple)

This demonstration illustrates converting available Digital Elevation Models into the VRML format, for use in virtual reality scenes.

As a source of terrain data, the South San Francisco DEM model (included in the Mapping Toolbox™ software) has been used. A simple Boeing model is included in the scene to show the technique of creating virtual scenes from several sources on-the-fly.

This demo requires the Mapping Toolbox software from The MathWorks.

747

Plane Manipulation Using Space Mouse MATLAB Object

This demonstration illustrates how to use a space mouse using the MATLAB interface. After you start this demo, a virtual scene with an aircraft is displayed in the Simulink 3D Anim ation viewer. You can navigate the plane in the scene using a space mouse input device. Press button 1 to place a marker at the current plane position.

This demo requires a space mouse or compatible device.

1-30

Simulink 3D Animation Texture File

The following are texture file recommendations for Simulink 3D Animation models:

• Where possible, scale source texture files to a size equal to a power of 2 in

both dimensions. Doing so ensures optimal performance for the Simulink 3D Anim ation viewer. If you do not perform this scaling, the Simulink 3D Animation viewer might attempt to descale the image or create textures with undesired resolutions.

• Usesourcetexturefileswhosesizeanddetailarenomorethanwhatyou

needforyourapplication.

• Where possible, use the Portable Network Graphics (PNG) format as the

static texture format. VRML also supports the GIF and JPG graphic formats.

• For movie textures, use the MPEG format. For optimal performance, be

sure to scale source texture files to a size equal to the power of 2 in both dimensions.

Simulink®3D Animation™ Texture File

1-31

1 Getting Started

Implementation Notes

In this section...

“VRML Compatibility” on page 1-32

“Simulink®3D Animation Server” on page 1-33

VRML Compatibility

The Simulink 3D Animation product currently supports most features of VRML97, with the following limitations:

• The Simulink 3D Animation server ignores the VRML Script node, but it

passes the node to the VRML viewer. This allows you to run VR ML scripts on the viewer side. You cannot run them on the Simulink 3D Animation server.

• The Simulink 3D Animation server ignores the Inline node, but it passes

the node to the viewer. Therefore, the viewer sees the complete virtual world with all included substructures, but the included parts are not accessible from the software. In some rare cases, this limitation can render the v irtual world unusable with the software. This happens under either of the following conditions:

1-32

- The virtual world contains a USE name reference to a node that is in

the included part.

- The virtual world contains an inc lu d ed part with a PROTO or

EXTERNPROTO declaration that is referenced in the main virtual world file.

• In keeping with the VRML97 specification, the Simulink 3D Animation

viewer ignores BMP files. As a result, VRML scene textures might not display properly in the Simulink 3D Animation viewer. To properly display scene textures, replace all BMP texture files in a VRML scene with PNG, JPG, or GIF equivalents. Note that blaxxun Contact supports BMP files in addition to the standard VRML texture file formats.

For a complete list of VRM L97 nodes, r efer to the VRML97 specification.

Implementation Notes

Simulink 3D Anim

This note is appl viewer.

The Simulink 3D server for com MATLAB and Sim Animation HTM sends VRML an

The server is This happen block diagr interface. that conta

When the HT virtual w

Remote u port num

orlds at the following address, where 81 2 3 is the default p o rt number:

http://localhost:8123

sers can connect to the following address, where 8123 is the default

ber:

http://your_machine:8123

icable only if you are using blaxxun Contact as your VRML

Animation software uses a Simulink 3D Animation HTTP

munication between a VRML-enabled Web browser and the

ulink environment. It generates the main Simulink 3D

L page with the list of currently available virtual worlds and

d other requested files and data to clients (VRML v iewers).

started when the software is loaded into the MATLAB interface.

s whenever you use a Simulink 3D Animation block in a Simulink

am, or whenever you open a The HTTP server is shut down when you close all Simulink models in Simulink 3D Animation blocks, or use the

TP server is running, your browser can see a list o f available

ation Server

vrworld object in the MATLAB

vrclear command.

You can Prefer MATLA

Depen worl

set the port number of the server in the Simulink 3D Animation

ences dialog box from the Simulink interface, or use

B Command Window.

ding on the status of served

ds can be empty.

vrworld objects, the list of a vailable virtual

vrsetpref in the

1-33

1 Getting Started

1-34

Installation

The Simulink 3D Animation product provides the files you need for installation on both your host com puter and client computer.

• “Required Products” on page 2-2

• “Recommended Product” on page 2-4

• “Related Products” on page 2-5

• “System Requirements” on page 2-6

• “Installing Simulink

page 2-12

3D Animation Software on the Host Computer” on

• “Installing the VRML Plug-In Viewer on the Host Computer” on page 2-17

• “Installing the VRML Editor on the Ho st Computer” on page 2-27

• “Changing Simulink

Preferences Dialog” on page 2-34

• “Removing Components (Windows)” on page 2-47

• “Installing on the Client Computer” on page 2-49

• “Testing the Installation” on page 2-50

3D Animation Preferences with the MATLAB

2 Installation

Required Products

Section Over view

The Simulink 3D Animation product is part of a family of products from The MathWorks. You need to install some of these products and other third-party products to use the Simulink 3D Animation product.

MATLAB Product

the MATLAB software provides the tools you use to write scripts and functions in MATLAB co de . You can use your scripts to set positions and properties of VRML objects, create callbacks from GUIs, and map data to virtual objects.

In this section...

“Section Overview” on page 2-2

“MATLAB Product” on page 2-2

“VRML Viewer” on page 2-3

2-2

Note Version 5.1 of Simulink 3D Animation software requires MATLAB software Version 7.9.

MATLAB documentation — For information on using the MATLAB software, see the MATLAB documentation. It explains how to work with data and how to use the functions supplied with the MATLAB software. For a reference describing the functions specific to the Simulink 3D Animation software, see the Simulink 3D Animation online documentation.

Required Products

VRML Viewer

You use a VRML viewer to visualize and explore virtual worlds described with VRML. The following are descriptions of VRML viewers:

• Simulin k 3D An imation viewer — This viewer is installed with the

Simulink 3D Animation product and is the default viewer for virtual worlds. You can access this viewer from either a Simulink 3D Animation block in your S imulink model, or by using the functions with the MATLAB software.

The Simulink 3D Animation viewer is a client to the Simulink 3D Animation server. It does not require a Web browser and it is available on more platforms than any other VRML97 viewer. It is supported on PC, Mac OS X, UNIX, and Linux platforms. The viewer is the recommended method for viewing virtual worlds on a host computer.

• Blaxxun Contact Version 4.4 — VRML plu g- in shipped with the PC versio n

of the Simulink 3D Animation product. This VR ML plug-in allows you to view virtual worlds in your Web browser. The Blaxxun Contact plug-in is the only supported VRML plug-in.

vrview and vrfigure

You can view a virtual world in the Simulink 3D Animation viewer as soon as you install the Simulink 3D Animation product. If you want to view the virtual world in your Web browser, you need to use the to install the Blaxxun Contact plug-in. See “Installing a VRML Plug-In (Windows)” on page 2-18.

For information on using a Web browser to view virtual worlds, see “Testing the Installation” on page 2-50. The Blaxxun Contact installation executable files are located at

Every VRML plug-in installs Sun™ Java™ classes into the Web browser. Limit the number of plug-ins you use to avoid Java errors and conflicts. For this reason, use only the Simulink 3D Animation viewer or the Blaxxun Contact VRML plug-in on PC platforms. On UNIX and L inux platforms, use only the Simulink 3D Animation viewer.

C:\matlabroot\toolbox\sl3d\blaxxun.

vrinstall command

2-3

2 Installation

Recommended Product

Optionally, you can install the Simulink product to use the Simulink 3D Animation product.

Simulink Product

The Simulink product provides an environment where you model your physical system and controller as a block diagram. You create the block diagram by using a mouse to connect blocks and a keyboard to edit block parameters.

With the Simulink 3D Animation product, you can interact with the VR representation of the model you created with Simulink blocks, and visualize the simulation of your dynamic system over time.

Note Version 5.1 of Sim u li nk 3D Animation software uses Simulink software Version 7.4.

2-4

Simulink documentation — For information on using the Simulink software, see the Simulink documentation. It explains how to connect blocks, build models, and change block parameters. For a reference describing the Simulink 3D Animation blocks, see Chapter 8, “Block Reference”.

Related Products

The MathWorks prov ides several products that are especially relevant to the kinds of tasks you can perform with the Simulink 3D Animation product.

For more information about any of these products, see either of the follo wing:

• Online documentation for that product if it is installed on your system

• The MathWorks™ Web site, at

http://www.mathworks.com/products/3d-animation/related.jsp

System Requirements

In this section...

“Section Overview” on page 2-6

“Supported Computer Platforms” on page 2-6

“Host Computer” on page 2-8

“Client Computer” on page 2-9

Section Over view

The Simulink 3D Animation product has the same hardware requirements as the MATLAB product. It is a multiplatform product that runs on PC-compatible computers with Microsoft systems. It runs on SGI, Solaris™, and Alpha hardware running UNIX, and also on Apple Power Macintosh

Windows or Linux operating

hardware running Mac OS X.

2-6

Supported Computer Platforms

The Simulink 3D Animation serv er is the part of the Simulink 3D Animation software that interfaces with your Simulink models. It stores information about the current state of virtual worlds and manages connections to VR clients. The VR client is a VRM L viewer that d isplays a virtual world. The VR client can be either the Simulink 3D Animation viewer or a Web browser with a V RML plug-in.

Platform/Product

System Requirements

Thefollowingtablesummarizesthesupported computer platforms and the viewer and editor that are provided for each of them.

Simulink 3D VR Server

Animation

Viewer

VRML Editor

VRML Browser Plug-In

Windows

Windows x64

Linux kernels

Linux x86–64 kernels

Sun Solaris 64

Mac®OS X

* Distributed with the MATLAB software.

** Distributed with the Simulink 3D Animation software.

Yes Yes

Ligos V-Realm Builder*

MATLAB editor*

blaxxun Contact**

2-7

2 Installation

Host Computer

The host compute Simulink, and Si optionally, a W Real-Time Work Target™ softw

r is a desktop computer where you install the MATLAB,

mulink 3D Animation products, a VRML editor and,

eb browser with a VRML plug-in. You can also install the

shop product with Real-Time Windows Target or xPC

aretorunandviewareal-timeapplication.

The following the host comp

Host Compute

Hardware Description

CPU Intel®Pentium, Athlon or higher (PC)

Graphics card Graphics card with hardware 3-D acceleration

RAM

Periphe

TCP/IP communication

llowing table lists the minimum software the software requires

The fo on you

http

Host

r host computer. For a list of optional software products, see

://www.mathworks.com/products/3d-animation/related.jsp

Computer Software Requirements

table lists the minimum resources the software requires on

uter.

rHardwareRequirements

sormore

rals

128 Mbyte

Hard disk drive with 45 Mbytes of free space

DVD-ROM drive

If you want to allow a connection from a client computer, you need a network connection between the h ost computer and the client computer.

2-8

Software Description

MATLAB product

Simulink product Version 7.4. The Simulink product is not required,

Simulink 3D Animation product

Version 7.9.

but highly recommend.

Version 5.1.

Host Computer Software Requirements (Continued)

Software Description

System Requirements

VRML editor

Web browser

VRML plug-in

For M icrosoft Windows platforms, you can install the Ligos VRML editor (V-Realm Builder 2.0) provided with the Simulink 3D Animation product. For UNIX and Linux, the default editor is the MATLAB editor. When you create VRML worlds on these operating systems, you can use any 3-D modeling tool with the VRML97 export capability.

On PC platforms, you can use a Web browser and the Blaxxun Contact plug-in to view virtual worlds. This is an alternative to using the Simulink 3D Animation viewer.

Use Internet Explorer later, or Netscape Navigator

software Version 4.0 or

4.0 or later with

Sun Java enabled.

If you are using a Web browser instead of the Simulink 3D Animation viewer, you need to install a VRML97 plug-in with External Authoring Interface (EAI) support. If you have Blaxxun Contact (Windows) on your computer, you have already installed a VRML plug-in.

Windows platforms — You can install the Blaxxun Contact 4.4 plug-in provided with the Simulink 3D Animation product.

For information on how to install the Blaxxun Contact plug-in, see “Installing a VRML Plug-In (Windows)” on page 2-18.

Client Computer

You can use a client computer to view and control a virtual world. Because the MATLAB or Simulink product does not run on this computer, you must connect to a host computer running a simulation or executable code. The host

2-9

2 Installation

computer, through the Simulink 3D Animation server, provides the v a lues needed to animate a virtual world.

The clie n t computer communicates with the host computer over TCP/IP, a nd it displays the virtual world using a VR client. In this case, the VR client is a VR ML-enabled Web browser. You can verify the TCP/IP connection between the host and client computers by using the command-line p rom pt. If there are problems, y ou must first f ix the TCP/IP protocol settings according to the documentation for your operating system.

The following table lists the minimum hardware resources the Simulink 3D Animation product needs on the client computer.

Client Computer Hardware Requirements

Hardware Description

Graphics card Graphics card with hardware 3-D acceleration.

TCP/IP communication If you want to allow a connection from a client

computer, you need a network connection between the host computer and the client computer.

ping command from a

2-10

The following table lists the software the Simulink 3D Animation installation requires on the client computer. You do not need to install the software on the client computer.

Because the only component required for the client computer is standard VRML97 viewing software, it is possible that different configurations will work. F or example, you might be able to run an operating system not listed in the table “Supported Computer Platforms” on page 2-6. H ow ev er, these configurations have not been tested and they are not supported.

System Requirements

Client Computer Software Requirements

Software Description

Operating system W indo ws XP (the TCP/IP protocol must be

installed).

Web browser Use Internet Exp lore r 4.0 or later, or Netscape

Navigator 4.0 or later with Java enabled.

VRML plug-in

VRML97 plug-in with External Authoring Interface support. If you have the Blaxxun Contact software (Windows) on your computer, you have already installed a VRML plug-in.

Windows platforms -- You can install the Blaxxun Contact 4.4 plug-in provided with the Simulink 3D Animation product.

For information on how to install the Blaxxun Contact plug-in, see “Installing a VRML Plug-In (Windows)” on page 2-18.

2-11

2 Installation

Installing Simulink 3D Animation Software on the Host Computer

In this section...

“Section Overview” on page 2-12

“Components on a Host Computer” on page 2-12

“Installing from a DVD (Windows)” on page 2-13

“Installing f rom a DVD (UNIX/Linux)” on page 2-14

“LD_LIBRARY_PATH Environment Variable (UNIX)” on page 2-15

“Known Issue with the Simulink®3D A n imatio n and Internet Explorer 6.0 (Windows) Products” on page 2-15

Section Over view

You may install the Simu link 3D Anim ation software from a DVD or from the MathWorks Web site. Before you install the software for a standard installation, you need your online MathWorks Account. For detailed information about the installation process, see the MathWorks installation documentation for your platform.

2-12

Components on a Host Computer

This section introduces you to the individual components of the Simulink 3D Animation software: what they are, what they are used for, and when they should or should not be installed. If you are not interested, you can skip this section, or you can simply accept the defaults at the component selection screen, and the recommended default components are installed.

• Simulink 3D Animation software — This component contains t he core files

that interconnect the MATLAB and Simulink interfaces to VRML. This component i s required for the software to operate, and you must install it on the host computer. This component is not used on a client computer.

• Simulink 3D Animation viewer — This is a multiplatform VRML viewer

that is included with the Simulink 3D Animation software, and it is set as the default view er for displaying virtual wo rlds.

Installing Simulink®3D Animation™ Software on the Host Co m puter

• VRML plug-in — Optionally, you can use a VRML plug-in for a Web

browser to view virtual reality worlds. The Blaxxun Contact plug-in is included with the Simulink 3D Animation product for Microsoft Windows platforms. However, you can also use the Simulink 3D Animation viewer. A VRML plug-in is the only component that you need to instal l on a client computer.

• VRML editor — If you are going to create and modify virtual worlds, you

need a VRML97-compatible editor. Ligos V-Realm Builder software is included with the Simulink 3D Animation product for Windows platforms. If you do not plan to edit virtual reality worlds or if you prefer to use a different VRML editor, you do not need to install it on your computer. For UNIX and Linux platforms, the MATLAB editor is the default VRM L editor. This component is not used on a client computer.

• Example models — These are MATLAB and Simulink programs and

models connected to prebuilt virtual reality worlds. You can use these models and virtual reality worlds both for discovering the capabilities of the Simulink 3D Animation product and as templates for building your own projects. This component is not used on the client computer.

• Online documentati on — This component contains the guide you are

reading now. You can access the online version through the MATLAB Help browser. An Adobe Web site at

http://www.mathworks.com. Follow the links to product

Acrobat®PDF file is available on the MathWorks

documentation. This documentation can be read using the Adobe Acrobat Reader. If you do not have this reader installed on your computer, you can download it from

http://www.adobe.com.

Installing from a DVD (Windows)

To install the Simulink 3D Animation software from a DVD on a Windows platform:

1 Insert the DVD into your host DVD-ROM drive.

The installation program should start automatically after a few seconds. If the installation program does not start automatically, run on the DVD.

2 Follow the instructions on each of the screens to complete the installation.

setup.exe

2-13

2 Installation

The Simulink 3D Animation viewer is installed with the software. For PC platforms, you have the option of installin g a VRML plug-in for your browser as an alternative to the viewer. See “Installing a VRML Plug-In (Windows)” on page 2-18.

If you are on a PC platform, you need to complete additional steps for installing the VRML editor. See “Installing the VRM L Editor (Windows)” on page 2-27.

Installing from a DVD (UNIX/Linux)

The following is an overview of how to install the Simulink 3D Animation software on a UNIX or Linux platform from the DVD. Consult the installation guide for your platform for a comprehensive explanation of the installation process.

1 Log in to your system.

2 As necessary, mount the DVD-ROM drive.

2-14

3 Run the appropriate installation script for your platform.

4 During the installation process, a dialog box allows you to select the

products to install.

This dialog box lists all the products you are licensed to install in the Items to Install box. Make sure the Simulink 3D Animation product is listed in this box.

5 Follow the instructions on each of the remaining screens to complete the

installation.

The Simulink 3D Animation viewer is the default viewer for UNIX platforms. For more information, see “Simulink

3D Animation Viewer” on page 2-17.

If you are on a UNIX platform, the MATLAB editor is your default VRML editor. For more information, see “VRML Editor (UNIX/Linux)” on page 2-28.

Installing Simulink®3D Animation™ Software on the Host Co m puter

LD_LIBRARY_PAT

If your system do you run the Simul like the follow

Invalid MEX-file 'matlab/toolbox/sl3d/sl3d/vrsfunc.mexglx': libGL.so: cannot open shar ed object file

If you see an e

If the

LD_LIB

the followi

setenv LD_LIBRARY_PATH matlabroot/sys/opengl/lib/<PLATFORM>:$LD_LIBRARY_PATH

If the LD_L line like

setenv LD_LIBRARY_PATH matlabroot/sys/opengl/lib/<PLATFORM>

In both c

ing in the MATLAB window:

rror like this, set the

RARY_PATH

ng to add the new path to the existing one:

IBRARY_PATH

the following:

ases,

<PLATFORM> is the UNIX platform you are working in.

H Environment Variable (UNIX)

es not have the OpenGL

ink 3D Animation viewer, you might see an error message

environment v ariable already exists, use a line like

environment variable does not already exist, use a

software properly installed when

LD_LIBRARY_PATH environment variable.

Known I Intern

on 6.0 of the Microsoft Internet Explorer browser might incorrectly

Versi

pret system Sun Java library paths, preventing Simulink 3D Animation

inter compo

ing properly. Netscape Navigator browser users do not experience this

runn

lem.

prob

u are using Internet Explorer 6.0, you should manually edit the Java

If yo

rary path for Internet Explorer 6.0. Alternatively, you can also use Internet

lib

lorer 5.5 with the Simulink 3D Animation product.

Exp

ssue with the Simulink 3D Animation and

et Explorer 6.0 (Windows) Products

nents (such as those for the Simulink 3D Animation viewer) from

Editing the Java Library Path

manually edit the Java library path for Internet Explorer 6.0,

2-15

2 Installation

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% w ith the system root path. For

example:

C:\WINNT

4 Restart the computer.

2-16

Installing the VRML Plug-In Viewer on the Host Computer

Installing the VRML Plug-In V iewer on the Host Computer

In this section...

“Section Overview” on page 2-17

“Simulink®3D Animation Viewer” on page 2-17

“Installing a VRML Plug-In (Windows)” on page 2-18

“Installing a VRML Plug-In (UNIX and Linux)” on page 2-21

“Setting the Default Viewer of Virtual Scenes” on pag e 2-22

Section Over view

You can use the Simulink 3D Animation viewer or VRML-enabled Web browser to view virtual worlds.

The Simulink 3D Animation viewer is the only viewer that can be used on all supported platforms. The Blaxxun Contact plug-in is available for PC platforms only.

Simulink 3D Animation Viewer

The Simulink 3D Animation viewer is the preferred method of viewing a virtual scene. The viewer can be used on any supported operating system. It is installed and set as the default viewer when you install the software. You can view virtual scenes as soon as the software is installed on your machine.

Note It is possible to view virtual scenes with a Web browser that contains a VRML plug-in. Every VRML plug-in installs Java classes into the Web browser. It is best to limit the number of plug-ins you install on your machine to avoid Sun Java errors and conflicts. For this reason, use only the S imulink 3D Animation viewer and the Blaxxun Contact VRML plug-in on PC platforms. On UNIX and Linux platforms, use only the Simulink 3D Animation viewer.

2-17

2 Installation

Installing a VRM

When you install Animation viewe browser as a VRM Contact plug-i or Netscape Na supported VRM

Note The Blax default brow the install executable

You must us This versi software

If you hav sure tha plug-in this ins

procedure a second time. The Blaxxun Contact installation

files are located at

on of the Blaxxun Contact VRML plug-in is distributed with the

. The following procedure describes how to install the plug-in.

e the MATLAB Web Server installed on your machine, make

t the Web Server is stopped before you install the Blaxxun Contact

. Also, verify that you are connected to the Internet before starting

tallation procedure:

the Simulink 3D Animation software, the Simulink 3D

r is set as the default viewer. If you want to use a Web

L viewe r, use the following procedure to install the Blaxxun

n. You can use this plug-in with either the Internet Explorer

vigator browser. The Blaxxun Contact plug-in is the only

Lplug-in.

xun Contact installer installs the plug-in for the current

ser only. If you change the default browser, you need to complete

e Blaxxun Contact 4.4 with the Simulink 3D Animation product.

L P lug-In (W indows)

C:\matlabroot\toolbox\sl3d\blaxxun.

2-18

1 Start t

2 In the MATLAB Command Window, type

The MATLAB interface displays the message

3 Check the graphics card manual to determine the acceleration method to

select. If you are not sure, select Direct 3d by typing

The blaxxun installer starts running and displays the following dialog box.

he MATLAB software.

vrinstall -install viewer

Do you want to use OpenGL or Direct3d acceleration? (o/d)

Installing the VRML Plug-In Viewer on the Host Computer

4 Follow the instructions on the remaining screens.

5 In the MA

vrinstall

-check

If the v displa

External VRML viewer: installed

If th Wind

VRML viewer: not installed

TLAB Command Window, type

iewer installation was successful, the MATLAB Command Window

ys the fo llowing message:

e viewer installation was unsuccessful, the MATLAB Command

ow displays the message

2-19

2 Installation

Known Issue with the Blaxxun Contact Plug-In

The Blaxxun Contact VRML plug-in can fail to update the virtual scene when used with the Simulink 3D Animation and Internet Explorer 5.5 and later products. Netscape Navigator users do not experience this problem.

If you are using Internet Explorer 5.5 or later, you must manually change a network security setting before you can use Blaxxun Contact 4.4 with Simulink 3D Animation Version 3.0 or later. Upgrading your version of the Blaxxun Contact plug-in does not resolve this problem.

Changing the Default Network Security Setting

You must change your default network security setting before using the Blaxxun Contact plug-in with Internet Explorer 5.5 and later to ensure that the virtual scene is updated appropriately. You can use this workaround for the following:

• PC platform is Windows XP Service Pack 1.

• The PC platform is not one of the above, but you have installed the

Microsoft Java Virtual Machine (JVM) on the PC.

2-20

1 Open Internet Explorer.

2 From the Tools menu, choose Internet Options.

The Internet Options dialog box opens.

3 Select the Local Intranet icon.

4 Click the Security tab.

5 Click the Custom Level button.

The Security Settings dialog box opens.

6 Scroll down until you see Microsoft VM. The first subheading is Java

permissions

Installing the VRML Plug-In Viewer on the Host Computer

7 Select Custom.

The Java Custom Settings button appears in the lower left of the Security Settings dialog box.

8 Click Java Custom Settings.

The Local intranet dialog box opens.

9 Click the Edit Permissions tab.

10 Scan the main headings and subheadings (marked with a lock icon) until

you see

11 Under Run Unsigned Content,findAccess to all Network Addresses.

12 Under Access to all Network Addresses, select Enable.

13 Click OK.

Run Unsigned Content.

The Local intranet dialog box closes.

14 In the Security Settings dialog box, click OK.

You are asked if you want to change the security settings for this zone.

15 Select Yes.

16 In the Internet Options dialog box, click OK.

Installing a VRML Plug-In (UNIX and Linux)

If you want to use a Web browser instead of the Simulink 3D Animation viewer to view virtual scenes, you need to install a VRML97 plug-in with External Authoring Interface (EAI) support. This requirement is met by the Blaxxun Contact plug-in for Microsoft Microsoft platforms. If you are using any other operating system, you needtousetheSimulink3DAnimation viewer to view virtual worlds.

Note The Blaxxun Contact interface is the only supported VRML plug-in.

2-21

2 Installation

Setting the Default Viewer of Virtual Scenes

If you install a VRML plug-in in your Web browser, it is possibl e to view virtual scenes with eith er the Simulink 3D Animation viewer, legacy Simulink 3D Animation viewer, or your Web browser. You determine the viewer used to display your scene using the (Alternatively, if you want to use the MATLAB File menu Preferences dialog, see “Changing Simulink

3D Animation Preferences wi th the MATLAB

Preferences Dialog” on page 2-34.)

The following procedure describes how to set the viewer to the Sim ulink 3D Animation viewer or the Web b rowser. It assumes that you are working on a PC platform. If you want to use the legacy Simulink 3D Animation viewer, see “Viewing Virtual Worlds with the Legacy Simulink Viewer” on page 6-56.

1 At the MATLAB comman d prompt, type

vrinstall -check

vrsetpref and vrgetpref commands.

3D Animation

2-22

to determine whether the Blaxxun Contact software is installed.

The MATLAB Command Window displays

VRML viewer: install ed VRML editor: installed

The viewer and editor are installed. If the viewer is not installed, see “Installing a VRML Plug-In (Windows)” on page 2-18.

2 Determine your default viewer by typing

vrgetpref

The MATLAB Command Window displays

ans =

DataTypeBool: 'logical' DataTypeInt32: 'double' DataTypeFloat: 'double'

DefaultCanvasNavPanel: 'none'

Installing the VRML Plug-In Viewer on the Host Computer

DefaultCanvasUnits: 'normalized'

DefaultFigureAntialiasing: 'off'

DefaultFigureCaptureFileFormat: 'tif'

DefaultFigureCaptureFileName: '%f_anim_%n.tif'

DefaultFigureDeleteFcn: ''

DefaultFigureLighting: 'on'

DefaultFigureMaxTextureSize: 'auto'

DefaultFigureNavPanel: 'halfbar' DefaultFigureNavZones: 'off' DefaultFigurePosition: [5 92 576 380]

DefaultFigureRecord2DCompressMethod: 'auto'

DefaultFigureRecord2DCompressQuality: 75

DefaultFigureRecord2DFileName: '%f_anim_%n.avi'

DefaultFigureRecord2DFPS: 15

DefaultFigureStatusBar: 'on'

DefaultFigureTextures: 'on'

DefaultFigureToolBar: 'on'

DefaultFigureTransparency: 'on'

DefaultFigureWireframe: 'off'

DefaultViewer: 'internal'

DefaultWorldRecord3DFileName: '%f_anim_%n.wrl'

DefaultWorldRecordMode: 'manual'

DefaultWorldRecordInterval: [0 0]

DefaultWorldRemoteView: 'off' DefaultWorldTimeSource: 'external'

Editor: [1x60 char]

HttpPort: 8123

TransportBuffer: 5

TransportTimeout: 20

VrPort: 8124

The DefaultViewer property is set to 'internal'. The Simulink 3D Animation viewer is the default viewer for vie wing virtual scenes. Any virtual scenes that you open are displayed in the viewer.

3 For example, at the MATLAB command prompt, type

vrplanets

2-23

2 Installation

The Planets demo is loaded and the virtual scene is displayed in the Simulink 3D Animation viewer.

2-24

4 Change the default viewer to your Web b rowser by typing

pref('DefaultViewer','web')

vrset

The default Windows system VRML plug-in is used. The Blaxxun Contact VRML plug- in sets itself as the default VRM L plug-in during its installation.

he MATLAB command prompt, type

5 At t

vrplanets

Installing the VRML Plug-In Viewer on the Host Computer

The Planets demo is loaded and the virtual scene is displayed in your Web browser.

6 Reset the Simulink 3D Animation viewer as your default viewer by typing

vrsetpref('DefaultViewer','factory')

7 In the Simulink 3D Animation viewer for vrplanets,fromtheSimulation

menu, select Block Parameters.

A Parameters: VR Sink dialog box opens.

2-25

2 Installation

2-26

The ta prope View b If the open

rget of the View button is determined by the

rty. If the

utton opens the virtual world in the Simulink 3D Animation viewer.

DefaultViewer property is set to 'web', clicking the View button

s the virtual world in your Web browser.

DefaultViewer property is set to 'internal',clickingthe

DefaultViewer

Installing the VRML Editor on the Host Computer

In this section...

“Installing the VRML Editor (Windows)” on page 2-27

“VRML Editor (UNIX/Linux)” on page 2-28

“Setting the Default Editor of Virtual Scenes” on page 2-28

Installing the VRML Editor (Windows)

When you install the Simulink 3D An imation product, files are copied to your hard drive for the Ligos V-Realm Builder software, but the installation is not complete.

Installing the VRML editor writes a key to the Microsoft Windows registry, making extra V-Realm Builder library files available for you to use, and it associates the Edit button in Simulink 3D Animation blocks with this editor:

1 Start the MATLAB software.

2 In the MATLAB Command Window, type

vrinst

-insta

all ll editor

or type

tall('-install','editor')

vrins

The MATLAB Command Window displays the following messages:

ting editor installation...

Star

Don

2-27

2 Installation

3 Type

vrinstall

-check

If the editor installation was successful, The MATLAB Command Window displays the following message:

VRML editor: installed

VRML Editor (UNIX/Linux)

The MATLAB editor is the default VRML editor for UNIX platforms and no installation is required. To create your virtual worlds usin g the MATLAB editor, you need to understand the virtual reality modeling language and the VRML data types that are relevant to MATLAB. For information about the modeling language, refer to an appropriate third-party VRML book. Also, see “VRML Data Types” on page 5-21 for the data types to use with the MATLAB software.

2-28

Alternatively, you can use a general 3-D modeling tool with VRML97 export capabilities. Currently, no VRML editor with the functionality of those available for Windows platforms is commercially available for UNIX platforms. However, an open source VRML editor, for UNIX systems. See for more information.

http://vrml.cip.ica.uni-stuttgart.de/dune/

white_dune, is under development

Setting the Default Editor of Virtual Scenes

You can edit virtual scenes with a VRML authoring tool, such as V-Realm Builder, or with any text editor, as the VRML language is written in text files. You determine the editor that is used to edit your scene by using the

vrsetpref and vrgetpref comm ands. (Alternatively, if you want to use

the MATLAB File menu Preferences dialog, see “Changing Simulink Animation Preferences with the M ATLAB Preferences Dialog” on page 2-34.)

The following procedure demonstrates how to change your editor from V-Realm Builder to a text editor. It assumes that you are working on a PC platform.

Installing the VRML Editor on the Host Computer

1 At the MATLAB comman d prompt, type

vrinstall

-check

to determine whether V-Realm Builder is installed.

The MATLAB Command Window displays

VRML viewer: installed VRML editor: installed

The viewer and editor are ins ta ll ed. If the editor is no t installed, see “Installing the VRML Editor (Windows)” on page 2-27.

2 Determine your default editor by typing

a = vrgetpref

The MATLAB Command Window displays

DataTypeBool: 'logical' DataTypeInt32: 'double' DataTypeFloat: 'double'

DefaultCanvasNavPanel: 'none'

DefaultCanvasUnits: 'normalized'

DefaultFigureAntialiasing: 'off'

DefaultFigureDeleteFcn: ''

DefaultFigureLighting: 'on'

DefaultFigureMaxTextureSize: 'auto'

DefaultFigureNavPanel: 'halfbar' DefaultFigureNavZones: 'off' DefaultFigurePosition: [5 92 512 380]

DefaultFigureRecord2DCompressMethod: 'auto'

DefaultFigureRecord2DCompressQuality: 75

DefaultFigureRecord2DFileName: '%f_anim_%n.avi'

DefaultFigureRecord2DFPS: 15

DefaultFigureStatusBar: 'on'

DefaultFigureToolBar: 'on'

DefaultFigureTransparency: 'on'

DefaultFigureWireframe: 'off'

DefaultViewer: 'internal'

2-29

2 Installation

DefaultWorldRecord3DFileName: '%f_anim_%n.wrl'

DefaultWorldRecordMode: 'manual'

DefaultWorldRecordInterval: [0 0]

DefaultWorldRemoteView: 'off' DefaultWorldTimeSource: 'external'

Editor: [1x60 char]

HttpPort: 8123

TransportBuffer: 5

VrPort: 8123

The variable a is a structure array. You need to index into it to determine the

Editor property.

3 To determine your default editor, type

a.Editor

The MATLAB Command Window displays

ans = "%matlabroot\toolbox\sl3d\vrealm\program\vrbuild2.exe" "%file"

2-30

This is the path to the V-Realm Builder executable file. V-Realm Builder is the current VRML editor.

4 Verify that V-Realm Builder is your default editor. At the MATLAB

command prompt, type

vrpend

The Inverted Pendulum demo loads and the pendulum is visible in the viewer.

5 In the Simulink 3D Animation viewer for vrpend,fromtheSimulation

menu, select Block Parameters

The Parameters: VR Sink dialog box opens.

Installing the VRML Editor on the Host Computer

6 Click Edit.

The

vrpend model opens in the V -Realm Builder authoring tool.

2-31

2 Installation

2-32

7 At the MA

by typi

vrsetpref('Editor','')

You ca path t

8 In the Simulink 3D Animation viewer for vrpend,fromtheSimulation

TLAB window, change the default editor to the MATLAB editor

n set your editor to any text editor you want to use by specifying the

o the executable of the text editor.

menu, select Block Parameters.

The Parameters: VR Sink dialog box opens.

ck Edit.

9 Cli

The MATLAB editor opens and is now set as your default VRML editor.

Installing the VRML Editor on the Host Computer

10 To reset the V-Realm Builder authoring tool as your default VRML editor,

type

vrsetpref('Editor','factory')

Clicking the Edit button now launches V-Realm Builder.

2-33

2 Installation

Changing Simulink 3D Animation Preferences with the MATLAB Preferences Dialog

In this section...

“Section Overview” on page 2-34

“Simulink®3D Animation Preferences” on page 2-35

“Simulink®3D Animation Canvas Preferences” on page 2-37

“Simulink®3D Animation Figure Preferences” on page 2-37

“Simulink®3D Animation World Preferences” on page 2-45

Section Over view

The topics in this section describe howtosettheSimulink3DAnimation preferences using the MATLA B File > Preferences dialog. The list of settable preferences is a subset of those available through the MATLAB interface functions.

2-34

The Simulink 3D Animation software installs with default preference settings. You can change these settings with

• MATLAB File > Preferences dialog — This GUI has preference dialogs

for the MATLAB product and its related products, including the Simulink 3D Animation product.

• Simulink 3D Animation MATLAB interface functions

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Simulink 3D Animation Preferences

To access the Simulink 3D Animation preferences GUI:

1 From the MATLAB desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

The Simulink 3D Animation Preferences d ialog ap pears in the right pane.

3 Set the preferences as desired. See the following table for the p references

you can change. Click OK to save the settings.

2-35

2 Installation

Preference Value Description

Bool

Default VRML Viewer

'logical' | 'char'

Default: 'logical'

'internal' 'internalv4' | 'internalv5' |'web'

Default: 'internal'

Specifies the handling of the VRML Bool data type for If set to returned as a logical value. If set to

Bool data type is returned 'on' or 'off'.

Specifies which viewer is used to view a virtual scene. The default Simulink 3D Animation viewer is used when the preference is set to

'internal' or 'internalv5'.Thelegacy

viewer is used when this preference is set to

'internalv4'. The Web browser is used when

this preference is set to

Note For Linux platforms, 'internal' sets the viewer to the legacy viewer, and setstheviewertotheupdatedviewer,whichuses MATLAB figures.

vrnode/setfield and vrnode/getfield.

'logical',theVRMLBool data type is

'char',the

'web'.

'internalv5'

2-36

Float

Int32

HTTP Port

'single'

| 'doub le'

Default: 'double'

'int32'

| ' doub le'

Default: 'double'

Numeric

Default: 8123

Specifies the handling of the VRML float data type for If set to

vrnode/setfield and vrnode/getfield.

'single',theVRMLFloat and Color

data types are returned as 'sing le'.Ifsetto

'double',theFloat and Color data types are

returned as

'double'.

Specifies handling of the VRML Int32 data type for

vrnode/setfield and vrnode/getfield.If

set to

'int32',theVRMLInt32 data type is

returned as

int32.Ifsetto'double',theInt32

data type is returned as 'double'.

IP port number used to access the Simulink 3D Animation server over the Web v ia HTTP. If you change this preference, you must restart the MATLAB software before the change takes effect.

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Preference Value Description

Transport Buffer

Transport Timeout

Numeric

Default: 5

Numeric

Default: 20

Length of the transport buffer (network packet overlay) for communication between the Simulink 3D Animation server and its clients.

Amount of time, in seconds, the Simulink 3D Animationserverwaitsforareplyfromthe client. If there is no response from the client, the Simulink 3D Animation server disconnects from the client.

VRML Editor command line

VR Port

String Path to the VRML editor. If this path is empty,

the MATLAB editor is used.

Numeric

Default: 8124

IP port used for communication between the Simulink 3D Animation server and its clients. If you change this preference, you must restart the MATLAB software before the change takes effect.

Simulink 3D Animation Canvas Preferences

The Simulink 3D Animation figure has the Navigation panel preference:

Property Value Description

Navigation panel

'none' 'opaque'

| 'translucent' |

Controls the appearance of the navigation panel in the canvas.

Default: 'none'

Simulink 3D Animation Figure Preferences

The Simulink 3D Animation figure has a number of preferences, presented in the following categories:

2-37

2 Installation

• “Simulink®3D Animation Figure Appearance Preferences” on page 2-38

• “Simulink

3D Animation Fig ure Rendering Preferences” on page 2-39

3D Animation Figure 2-D Recording Preferences” on page 2-41

3D Animation Figure Frame Capture Preferences” on page 2-43

Simulink 3D Animation F igure Appearance Preferences

To access the virtual figure appearance preferences:

1 From the MATLAB software desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

3 In the left pane under Simulink 3D Animation,selectFigure.

The Simulink 3D Animation Preferences dialog appears in the right pane, with the Appearance tab selected.

2-38

4 Set t

he preferences as desired. See the following table for the appearance

erences you can change. Click OK to save the settings.

pref

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Property Value Description

Navigation panel

Navigation zones

'opaque' 'none' | 'halfbar' | 'bar'

Default: 'halfbar'

'off' | 'on'

| 'translucent' |

Controls the appearance of the navigation panel in the Simulink 3D Animation viewer.

Toggles navigation zones on/off.

Default: 'off'

Position

Status bar

Toolbar

Vector of four doubles Specifies the screen coordinates

'off'

| 'on'

Default: 'on'

'off'

| 'on'

Default: 'on'

of this

Toggles the status bar at the bottom of the Simulink 3D Animation viewer.

Toggles the toolbar on the Simulink 3D Animation viewer.

vrfigure object.

Simulink 3D Animation Figure Rendering Preferences

To access the virtual figure rendering preferences:

1 From the MATLAB desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

3 In the left pane under Simulink 3D Animation,selectFigure.

The Simulink 3D Animation Figure Preferences dialog appears in the right pane.

4 Select the Rendering tab.

The Simulink 3D Animation Figure Preferences dialog appears in the right pane, with the Rendering tab selected.

2-39

2 Installation

5 Set the preferences as desired. See the following table for the rendering

preferences you can change. Click OK to save the settings.

Property Value Description

Antialiasing

Lighting

'off'

Default: 'off'

'off'

Default: 'on'

| 'on'

Determines whether antialiasing is used when rendering scene. Antialiasing smooths textures by interpolating values between texture points.

Specifies whether the lighting is taken into account when rendering. If it is off, all the objects are drawn as if uniformly lit.

2-40

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Property Value Description

Maximum texture size

'auto' | 32

card limit, where

<= x <= video

x is a

power of 2 (video card limit is typically

1024 or 2048)

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. Avalueof maximum possible pixel size. If the value you enter is unsuitable, a warning might trigger. The software then automatically adjusts the property to the next smaller suitable value.

Textures

Transparency

'off'

Default: 'on'

'off'

Default: 'on'

| 'on'

Turns texture rendering on or off.

Specifies whether or not transparency information is taken into account when rendering.

Wireframe

'off'

Default: 'off'

| 'on'

Specifies whether objects are drawnassolidsorwireframes.

'auto' sets the

Simulink 3D Animation Figure 2-D Recording Preferences

To access the virtual figure 2-D recording preferences:

1 From the MATLAB desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

3 In the left pane under Simulink 3D Animation,selectFigure.

The Simulink 3D Animation Preferences d ialog ap pears in the right pane.

2-41

2 Installation

4 Select the 2-D Recording tab.

The Simulink 3D Animation Figure Preferences dialog appears in the right pane, with the 2-D Recording tab selected.

5 Set the preferences as desired. See the following table for the rendering

preferences you can change. Click OK to save the settings.

Property Value Description

2-D animated file name

Recording compression method

String.

Default:

'' | 'auto' | 'lossless' | 'codec_code'

'%f_anim_%n.avi'

Default: ' auto '

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Specifies the 2-D offline animation filename. The string can contain tokens that are replaced by the corresponding information when the animation recording takes place. For further details, see “Animation Recording File Tokens” on page 4-12.

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.

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Property Value Description

Recording compression quality

Frames per second

Integer0–100.

Default:

Default: 15

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

vrfigure objects.

Specifies the default frames per second playback speed.

Simulink 3D Animation Figure Frame Capture Pref erences

To access the virtual figure frame capture preferences:

1 From the MATLAB desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

3 In the left pane under Simulink 3D Animation,selectFigure.

The Simulink 3D Animation Figure Preferences dialog appears in the right pane.

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2 Installation

4 Select the Frame Capture tab.

The Simulink 3D Animation Figure Preferences dialog appears in the right pane, with the Frame C apture tab selected.

5 Set the preferences as desired. See the following table for the rendering

preferences you can change. Click OK to save the settings.

Property Value Description

CaptureFileFormat

CaptureFileName

'tif'

Defaul

String.

Default:

png'

| '

'tif'

'%f_anim_%n.ext'

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Specifies file format for a captured frame file. Read/write.

Specifies the frame capture filename. The string can contain tokens that are replaced by the corresponding information when the animation recording takes place. For further details, see “Frame Capture and Animation Recording File Tokens” on page 6-19. Read/write.

Changing Simulink®3D Animation™ Preferen ces with the MATLAB®Preferences Dialog

Simulink 3D Animation World Preferences

To access the virtual world preferences :

1 From the MATLAB desktop, select File > Preferences.

2 In the left pane of the Preferences dialog box, select Simulink 3D

Animation.

3 IntheleftpaneunderSimulink 3D Animation, select World.

The Simulink 3D A nimation World Preferences dialog appears in the right pane.

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2 Installation

4 Set the preferences as desired. See the following table for the rendering

preferences you can change. Click OK to save the settings.

Property Value Description

Allowing viewing from the Internet

3-D animated file name

Recording mode

'off' | 'on'

Default: 'off'

String.

Default:

'manual' | 'scheduled'

'%f_anim_%n.wrl'

Remote access flag. If the virtual world is enabled for remote viewing, it is set to

'on'; otherwise, it is set to 'off'.

3-D animation filename. 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” o n page 4-12.

Animation recording mode.

Recording interval

Time source

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Default: 'manual'

Vector of two doubles

Default:

'external' | 'freerun'

[0 0]

Default: 'external'

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

Time

property.

Sourceofthetimeforthe virtual world. If set to

'external',timeinthe

scene is controlled from the MATLAB software (by setting the

Time property) or the

Simulink software (simulation time). If set to

'freerun',

time in the scene advances independently based on the system timer.

Removing Components (Windows)

In this section...

“Section Overview” on page 2-47

“Removing Simulink®3D Animation and Ligos V-Realm Builder (Microsoft Windows) Software” on page 2-47

“Removing the Blaxxun Contact Plug-In (Windows)” on page 2-48

Section Over view

Normally, you should not have to uninstall the Simulink 3D Animation software, the Blaxxun Contact plug-in, or Ligos V-Realm Builder. If you need to do so, this section explains these procedures.

Removing Simulink 3D Animation and Ligos V-Realm Builder (Microsoft Windows) Software

Use the MathWorks uninstaller. Running this utility removes the Simulink 3D Animation and Ligos V-Realm Builder software from your system. It also restores your previous system configuration.

Removing Components (Windows®)

1 On the Windows task bar, click Start,pointtoMATLAB,andthenclick

the uninstaller.

The MathWorks uninstaller begins running.

2 Selec

3 Follow the remaining uninstall instructions.

ttheSimulink 3D Animation check box.

Note The Blaxxun Contact plug-in is not uninstalled during the Simulink 3D Animation software removal.

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2 Installation

Removing the Bla

To uninstall thi

1 From the Window

Control Panel.

2 In the Control Panel cascading menu, click Add/Remove Programs.

3 In the A dd/R emov e Programs dialog box, select blaxxun Contact,then

click the Change/Remove button.

s VRML plug-in from the host computer:

xxun Contact Plug-In (Windows)

s task bar, click Start,pointtoSettings,andclick

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Installing on the C lient Computer

In this section...

“Section Overview” on page 2-49

“Installing a VRML Plug-In (Windows)” on page 2-49

Section Over view

In most configurations, you do not need to install a viewer on a client computer because you can perform all the tasks on a host compute r . However, if you have v ery large models that consume considerable computational resources, you might want to use a client computer to run and view the virtual world.

TheclientcomputermusthaveaVRML97 plug-in with External Authoring Interface (EAI) support. This means that your client computer must be a PC platform with the Blaxxun Contact plug-in. Only the Blaxxun Contact software is supported.

Installing on the Client Computer

“Installing a VRML Plug-In (Windows)” on page 2-18 describes how to install the Blaxxun Contact VRML plug-in on a computer running Windows.

Installing a VRML Plug-In (Windows)

If you want to view a virtual world on a client computer, you need to use a Web browser with a VRML plug-in.

The Blaxxun Contact plug-in is provided with the Simulink 3D Animation software, but you cannot install the Blaxxun Contact plug-in Version 4.4 on a client computer with the MathWorks installer if you do not have this plug-in installed.

• Copy the file

computer. This file is located at

blaxxuncontact44.exe from your host computer to the client

C:\matlabroot\toolbox\sl3d\blaxxun.

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2 Installation

Testing the Installation

In this section...

“Section Overview” on page 2-50

“Running a Simulink Interface Example” on page 2-50

“Running a MATLAB Interface Example” on page 2-55

Section Over view

The Simulink 3D Animation product includes several Simulink models with the associated virtual worlds. These models are examples of w hat you can do with this software. You ca n use one of these examples to test the installatio n of the Simulink 3D Animation software, the VRML viewer, and the VRML editor.

Running a Simulink Interface Example

In the demo folder for the software, there is a Simulink model for a two-dimensional inverted pendulum. This model, which you can view in three dimensions with the software, has an interactive set point and trajectory graph.

2-50

Beforeyoucanrunthisdemo,youhavetoinstalltheMATLAB,Simulink, and Simulink 3D Animation products as follows:

1 In the MATLAB Command Window, type

vrpend

A Simulink window opens with the model for an inverted pendulum.

Testing the Installation

The Simulink 3D Animatio n vi ewer opens with a 3-D model of the pendulum.

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2 Installation

2-52

2 In the Si

Start.A running

mulink 3D Animation viewer, from the Simulation menu, click

Trajectory Graph window opens, and a simulation starts

Testing the Installation

3 In the Simu

surface an

link 3D Animation viewer, point to a position on the blue

dleft-click.

The pendulum set point, represented by the green cone, moves to a new location. Next, the path is drawn on the trajectory graph, and then the pendulum itself moves to the new location.

In the Simulink 3D A ni m ation viewer, you see the animated movement of the pendulum. Use the viewer controls to navigate through the virtual world, change the viewpoints, and m ove the set point. For more information about using the Simulink 3D Animation viewer controls, see “Simulink 3D Animation Viewer” on page 6-2.

4 In the

Simulink window, double-click the Trajectory Graph block.

The Block Parameters: Trajectory Graph dialog box opens.

5 From the Setpoint mode list, choose Mouse,thenclickOK.

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2 Installation

You can now position

6 Move the mouse pointer into the graph area and click.

The set point (red circle) for the pendulum position moves to a new location.

7 In the Si

The trajectory for the pendulum is displayed in the graph as a blue line.

use the trajectory graph as a 2-D input device to set the

of the pendulum.

mulink window, from the Simulation menu, click Stop.

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Mathworks SIMULINK 3D ANIMATION 5 user guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Getting Started

Product Overview

Overview

Simulink 3D Animation Software Features

VRML Support

MATLAB Interface

Simulink Interface

MATLAB Compiler Support

VRML Viewers

VRML Editor

VRML Overview

VRML History

VRML Coordinate System

VRML File Format

Examples Using the Simulink 3D Animation Product

Simulink Interface Examples

Bouncing Ball Example (vrbounce)

Portal Crane with Joystick Control (vrcrane_joystick)

Portal Crane with Predefined Trajectory Example (vrcrane_traj)

Lighting Example (vrlights)

Magnetic Levitation Model Example (vrmaglev)

Manipulator with Space Mouse Example (vrmanipul)

Rotating Membrane Example (vrmemb1)

Geometry Morphing Example (vrmorph)

Vehicle Dynamics Visualization (vr_octavia)

Inverted Pendulum Example (vrpend)

Solar System Example (vrplanets)

Plane Takeoff Example (vrtkoff)

Plane Take-Off with Trajectory Tracing Example (vrtkoff_trace)

Plane Take-Off with H UD Text Example (vr tkoff_hud)

MATLAB Interface Examples

Car in the Mountains Example (vrcar)

Heat Transfer Example (vrheat)

Heat Transfer Visualization w ith 2-D Animation (vrheat_anim)

Rotating Membrane with MATLAB GUI Example (vrmemb)

Terrain Visualization Example (vrterrain_simple)

Plane Manipulation Using Space Mouse MATLAB Object

Simulink 3D Animation Texture File

Implementation Notes

VRML Compatibility

Installation

Required Products

Section Over view

MATLAB Product

VRML Viewer

Recommended Product

Simulink Product

Related Products

System Requirements

Section Over view

Supported Computer Platforms

Host Computer

Client Computer

Client Computer Hardware Requirements

Client Computer Software Requirements

Installing Simulink 3D Animation Software on the Host Computer

Section Over view

Components on a Host Computer

Installing from a DVD (Windows)

Installing from a DVD (UNIX/Linux)

Editing the Java Library Path

Installing the VRML Plug-In Viewer on the Host Computer

Section Over view

Simulink 3D Animation Viewer

Known Issue with the Blaxxun Contact Plug-In

Changing the Default Network Security Setting

Installing a VRML Plug-In (UNIX and Linux)

Setting the Default Viewer of Virtual Scenes

Installing the VRML Editor on the Host Computer

Installing the VRML Editor (Windows)

VRML Editor (UNIX/Linux)

Setting the Default Editor of Virtual Scenes

Section Over view

Simulink 3D Animation Preferences

Simulink 3D Animation Canvas Preferences

Simulink 3D Animation Figure Preferences