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Using CAD Models with the Simulink 3D Animation Product
5-35
rotating support — arm — wrist — hand — tool
So when the rotating support moves, all other parts are usually designed to move with
it.
The hierarchy of the VRML file must correspond to the coordinates used in the dynamic
model of the assembly as follows:
• If all parts in the Simulink or SimMechanics model are defined in global coordinates,
use a flat virtual world structure.
• If all parts in the Simulink or SimMechanics model follow hierarchical relationships,
use a nested virtual world structure.
To illustrate these two cases, imagine a rotating pendulum according to the following
figure. The gray arm rotates about the vertical axis, while the orange pendulum swings
about the z axis in the rotating gray arm's local coordinates.
- Simulink 1
- 3D Animation™ 1
- User's Guide 1
- How to Contact MathWorks 2
- Revision History 3
- Contents 5
- Simulink Interface 6
- Viewing Virtual Worlds 10
- Blocks — Alphabetical List 13
- Functions — Alphabetical List 13
- Glossary 13
- Getting Started 15
- 1 Getting Started 16
- Expected Background 17
- MATLAB Compiler Support 23
- VRML Support 25
- VRML Coordinate System 27
- #VRML V2.0 utf8 29
- Installation 49
- Set the Default Viewer 50
- 2 Installation 52
- Set the Default Viewer 53
- V-Realm Builder Help 55
- Set the Default Editor 56
- Set the Default Editor 57
- 3D World Editor Preferences 63
- Figure Preferences 65
- Figure Appearance Preferences 65
- Virtual World Preferences 71
- Uninstall V-Realm Builder 74
- Test the Viewer Installation 75
- Test the Viewer Installation 77
- Open a Viewer Window 92
- View Virtual World Remotely 98
- 3 Simulink Interface 100
- View Virtual World Remotely 101
- Working with VRML Sensors 104
- Interactive Mode 105
- Read VRML Sensor Values 105
- Working with VRML Sensors 107
- Interact with Generated Code 109
- MATLAB Interface 111
- 4 MATLAB Interface 112
- Animation Recording 120
- Animation Recording 121
- File Name Tokens 122
- Define File Name Tokens 123
- Play Animation Files 141
- Build Virtual Reality Worlds 143
- VRML Editors 144
- VRML Editors 145
- Introduction 149
- Define the Problem 149
- Open a New Virtual World 152
- Add VRML Nodes 153
- Link to a Simulink Model 162
- VRML Data Types 166
- VRML Data Types 167
- VRML Data Class Types 168
- Add Sound to a Virtual World 171
- Section Overview 172
- CAD Virtual World Modeling 180
- Link to CAD Virtual Worlds 183
- Using the 3D World Editor 195
- 3D World Editor 196
- 3D World Editor 197
- 6 Using the 3D World Editor 198
- Open the 3D World Editor 199
- 3D World Editor Panes 201
- Create a Virtual World 203
- Basic Editing 205
- Edit Object Properties 207
- Display Event Fields 209
- Expand and Collapse Nodes 209
- Edit VRML Scripts 211
- View Panes 215
- Pivot Point 217
- 3D World Editor Library 218
- 3D World Editor Library 219
- VRML Viewers 222
- Comparison of Viewers 223
- Legacy Viewer 223
- Simulink 3D Animation Viewer 224
- Simulink 3D Animation Viewer 225
- 7 Viewing Virtual Worlds 226
- Specify Rendering Techniques 230
- Specify Rendering Techniques 231
- Mouse Navigation 243
- Viewpoints 248
- Viewpoints 249
- Define and Reset Viewpoints 250
- Define and Reset Viewpoints 251
- Navigate Through Viewpoints 254
- Navigate Through Viewpoints 255
- Record Offline Animations 258
- File Names 259
- Record Offline Animations 261
- Capture Frames 269
- Open the Web Viewer 271
- Navigate Using the Web Viewer 273
- Control Stereoscopic Effects 283
- Orbisnap Viewer 288
- Install Orbisnap 289
- Start Orbisnap 291
- Orbisnap Interface 292
- Orbisnap Interface 293
- Menu Bar 294
- Navigation Panel 295
- Navigate Using Orbisnap 297
- Navigate Using Orbisnap 299
- Cross Product 306
- Joystick Input 307
- Block Parameters Dialog Box 308
- Joystick Input 309
- Normalize Vector 310
- Rotation Between 2 Vectors 311
- Description 312
- Rotation Matrix 313
- Space Mouse Input 314
- 9 Blocks — Alphabetical List 316
- See Also 317
- VR Placeholder 319
- VR Signal Expander 321
- Data Type Support 324
- VR Sink 325
- VR Source 327
- VR Source 329
- VR Text Output 331
- VR Text Output 333
- VR To Video 334
- VR Tracer 335
- VR Tracer 337
- Input Arguments 342
- Examples 343
- More About 343
- Construction 347
- vr.canvas class 349
- Properties 353
- Create a Canvas in a Uipanel 360
- Create a figure 360
- Output Arguments 364
- • “MATLAB Interaction” 374
- Introduced before R2006a 379
- Return Name of a Figure 384
- Create a vrfigure object 384
- View the figure properties 395
- Stereo3DHIT = 0 396
- Arguments 399
- vrgetpref 401
- vrifs2patch 409
- vrjoystick 415
- Method Summary 418
- Keyboard Support 440
- vrsetpref 447
- vrspacemouse 455
- • Camera angle 456
- — Camera offset 457
- vr.utils.stereo3d class 459
- vrworld/get 475
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