Simulink® 3D Animation User's Guide

564 Pages·2022·6.184 MB·English

Simulink® 3D Animation™
User's Guide
R2022b
How to Contact MathWorks
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The MathWorks, Inc.
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Simulink® 3D Animation™ User's Guide
© COPYRIGHT 2001–2022 by HUMUSOFT s.r.o. and The MathWorks, Inc.
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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 Minor 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 Revised for Version 5.1.1 (Release 2010a)
September 2010 Online only Revised for Version 5.2 (Release 2010b)
April 2011 Online only Revised for Version 5.3 (Release 2011a)
September 2011 Online only Revised for Version 6.0 (Release 2011b)
March 2012 Online only Revised for Version 6.1 (Release 2012a)
September 2012 Online only Revised for Version 6.2 (Release 2012b)
March 2013 Online only Revised for Version 6.3 (Release 2013a)
September 2013 Online only Revised for Version 7.0 (Release 2013b)
March 2014 Online only Revised for Version 7.1 (Release 2014a)
October 2014 Online only Revised for Version 7.2 (Release 2014b)
March 2015 Online only Revised for Version 7.3 (Release 2015a)
September 2015 Online only Revised for Version 7.4 (Release 2015b)
March 2016 Online only Revised for Version 7.5 (Release 2016a)
September 2016 Online only Revised for Version 7.6 (Release 2016b)
March 2017 Online only Revised for Version 7.7 (Release 2017a)
September 2017 Online only Revised for Version 7.8 (Release 2017b)
March 2018 Online only Revised for Version 8.0 (Release 2018a)
September 2018 Online only Revised for Version 8.1 (Release 2018b)
March 2019 Online only Revised for Version 8.2 (Release 2019a)
September 2019 Online only Revised for Version 8.3 (Release 2019b)
March 2020 Online only Revised for Version 9.0 (Release 2020a)
September 2020 Online only Revised for Version 9.1 (Release 2020b)
March 2021 Online only Revised for Version 9.2 (Release 2021a)
September 2021 Online only Revised for Version 9.3 (Release 2021b)
March 2022 Online only Revised for Version 9.4 (Release 2022a)
September 2022 Online only Revised for Version 9.5 (Release 2022b)

Contents
Getting Started
1
Simulink 3D Animation Product Description . . . . . . . . . . . . . . . . . . . . . . . 1-2
Expected Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Build and Use Virtual Worlds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Virtual Reality World Models of Dynamic Systems . . . . . . . . . . . . . . . . . . . 1-4
Set Up Your Working Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Build a Virtual Reality World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Link to a Virtual Reality World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
View Dynamic System Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Share Dynamic System Simulation Visualizations . . . . . . . . . . . . . . . . . . . 1-7
MATLAB Compiler Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
X3D Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
X3D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Relationship of X3D and VRML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
X3D Support in Simulink 3D Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Convert a VRML File to X3D Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Virtual Reality Modeling Language (VRML) . . . . . . . . . . . . . . . . . . . . . . . 1-11
Relationship of VRML and X3D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
VRML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
VRML Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
VRML Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Virtual World Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
VRML File Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Virtual Reality World and Dynamic System Examples . . . . . . . . . . . . . . . 1-16
Simulink Interface Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
MATLAB Interface Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
Unreal Engine Simulation Scenarios
2
Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
v
Scenes
3
Installation
4
Set the Default Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Set Simulink 3D Animation Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Simulink 3D Animation Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . 4-6
3D World Editor Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Canvas Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Figure Appearance Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . . . 4-8
Figure Rendering Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Figure 2-D Recording Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . 4-10
Figure Frame Capture Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
World Preferences Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Install V-Realm Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
V-Realm Editor Installation on Windows Platforms . . . . . . . . . . . . . . . . . 4-13
V-Realm Builder Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Uninstall V-Realm Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Test the Viewer Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Section Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Simulink Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
MATLAB Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Simulink Interface
5
Connect Virtual Worlds and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Output Simulation Data to a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Input Virtual World Data to a Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Change the Associated Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Open a Viewer Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Display Virtual World and Start Simulation . . . . . . . . . . . . . . . . . . . . . . . 5-10
View Virtual World on Host Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
View Virtual World Remotely . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Modify Remote Virtual World via Sensor Events . . . . . . . . . . . . . . . . . . . 5-19
Interact with Generated Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
vi Contents
MATLAB Interface
6
Create vrworld Object for a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Open a Virtual World with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Interact with a Virtual World with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Set Values for Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Read Sensor Values Using MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Close and Delete a vrworld Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
Animation Recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Recording Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Manual and Scheduled Animation Recording . . . . . . . . . . . . . . . . . . . . . 6-10
Define File Name Tokens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Default File Name Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Uses for File Name Tokens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
File Name Tokens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Manual 3-D Recording with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Manual 2-D AVI Recording with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Scheduled 3-D Recording with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Scheduled 2-D AVI Recording with MATLAB . . . . . . . . . . . . . . . . . . . . . . . 6-22
Record Animations for Unconnected Virtual Worlds . . . . . . . . . . . . . . . . 6-24
Play Animation Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Play Virtual World Animation Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Play AVI Animation Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
Build Virtual Reality Worlds
7
Choose a Virtual World Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Editors for Virtual Worlds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Set the Default Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Build and Connect a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Define the Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Add a Simulink 3D Animation Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Open a New Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Add Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Link to a Simulink Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
vii
Use Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
Add Sensors to Virtual Worlds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
Read Sensor Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
Detect Object Collisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Set Up Collision Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Use Collision Detection Data in Models . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Use Collision Detection in MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
Use Collision Detection Data in Virtual Worlds . . . . . . . . . . . . . . . . . . . . 7-27
Virtual World Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
Field Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
Virtual World Data Class Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
Simulink 3D Animation Textures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Add Sound to a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
Use CAD Models with the Simulink 3D Animation Product . . . . . . . . . . . 7-36
Use of CAD Designs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
Import CAD Designs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
Integrate the Imported Model Virtual World . . . . . . . . . . . . . . . . . . . . . . 7-36
Import STL and Physical Modeling XML Files . . . . . . . . . . . . . . . . . . . . . 7-38
Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
Import 3D Models from CAD Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-40
Level of Detail Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-40
Units Used in Exported Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-40
Coordinate System Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Assembly Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Import VRML Models from CATIA Software . . . . . . . . . . . . . . . . . . . . . . . 7-45
CATIA Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-45
Settings That Affect the VRML Output . . . . . . . . . . . . . . . . . . . . . . . . . . 7-45
Level of Detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-46
VRML Export Filter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-46
VRML Models Exported from the CATIA Environment . . . . . . . . . . . . . . . 7-46
Adjust the Resulting VRML Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48
Modify the CAD Model Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
Wrap Shape Objects with Transforms . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
Add DEF Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
Additional Virtual World Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
Import Visual Representations of Robot Models . . . . . . . . . . . . . . . . . . . 7-54
Import a DAE File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
Import a URDF File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55
Import an SDF File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
Define Viewpoint to Make Imported Model Visible . . . . . . . . . . . . . . . . . 7-58
Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-58
Link to Simulink and Simscape Multibody Models . . . . . . . . . . . . . . . . . 7-60
Link the Virtual World to a Simulink Model . . . . . . . . . . . . . . . . . . . . . . . 7-60
Initial Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-61
viii Contents
VR Placeholder and VR Signal Expander Blocks . . . . . . . . . . . . . . . . . . . 7-62
Link to Simscape Multibody Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-62
Link to a MATLAB Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-63
Using the 3D World Editor
8
3D World Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Supported Platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Use with Other Editors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
VRML and X3D Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Nodes, Library Objects, and Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Open the 3D World Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
3D World Editor Is the Default Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Open an Empty Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Open a Saved Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
3D World Editor Panes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
Preferences for 3D World Editor Startup . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
Create a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
Edit a Virtual World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
Add Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
Copy and Paste a Node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
Edit Object Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
Document a Virtual World Using Comments . . . . . . . . . . . . . . . . . . . . . . 8-14
Display Event Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
Expand and Collapse Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
Highlight Nodes and Virtual World Objects . . . . . . . . . . . . . . . . . . . . . . . 8-15
Wrap Nodes as Children of Another Node . . . . . . . . . . . . . . . . . . . . . . . . 8-16
Remove Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
Save and Export Virtual World 3D Files . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
Edit VRML and X3D Scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
Reduce Number of Polygons for Shapes . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
Virtual World Navigation in 3D World Editor . . . . . . . . . . . . . . . . . . . . . . 8-21
Specify Virtual World Rendering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
Basic Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
Coordinate Axes Triad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
View Panes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
Pivot Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
View All/View Selected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
3D World Editor Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
3D World Editor Library Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
Add a Library Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
Guidelines for Using Custom Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
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Viewing Virtual Worlds
9
Virtual World Viewers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Host and Remote Viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Comparison of Viewers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Simulink 3D Animation Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
What You Can Do with the Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Viewer Uses MATLAB Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Set Viewer Appearance Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Open the Simulink 3D Animation Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Open from the VR Sink Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Open from the Command Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Simulate with the Simulink 3D Animation Viewer . . . . . . . . . . . . . . . . . . . 9-8
Adjust Navigation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
Specify Rendering Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Turn Off Rendering for Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
Navigate Using the Simulink 3D Animation Viewer . . . . . . . . . . . . . . . . . 9-15
Basic Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
Navigation Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
Viewer Keyboard Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
Mouse Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
Navigation Control Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
Change the Navigation Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
Sensors Effect on Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
Display a Coordinate Axes Triad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
Pivot Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
Set Viewpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Define Viewpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Reset Viewpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25
Navigate Through Viewpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
Record Offline Animations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29
Animation Recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29
Recording Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29
File Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
Start and Stop Animation Recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
Play Animation Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
Record 3–D Animation Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
Record in Audio Video Interleave (AVI) Format . . . . . . . . . . . . . . . . . . . . 9-31
Schedule Files for Recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-33
Play Animations with Simulink 3D Animation Viewer . . . . . . . . . . . . . . . 9-35
Configure Frame Capture Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-36
Capture Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-37
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