Interact with Virtual Reality Worlds

Create and interact with MATLAB^® virtual world objects, input virtual world data to Simulink^® models

You can use MATLAB functions and classes to interact with virtual reality worlds. Create a virtual world object (vrobject) and node objects (vrnode) to represent a virtual world that you create with Simulink 3D Animation™. Change and control the degrees of freedom for the virtual world from within the MATLAB environment by setting values for the available virtual world nodes and their fields using vrnode object methods.

Virtual reality scenes can contain sensors, which are nodes that generate events and output values depending on time, navigation, and actions and distance changes in the scene. These nodes add interactivity to the virtual world. You can use Simulink 3D Animation functions to read sensor field values into simulation models and control simulation based on the user interaction with the virtual scene. You can write an S-function or a MATLAB Function block that reads the sensor output.

Functions

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Virtual Worlds

`vrworld`	Create new `vrworld` object associated with virtual world
`vrdrawnow`	Update virtual world
`vrnode`	Create node or handle to existing node
`vr.canvas`	Create virtual reality canvas
`vrclear`	Remove all closed virtual worlds from memory
`vrwho`	List virtual worlds in memory
`vrwhos`	List details about virtual worlds in memory

Virtual World Figures

`vrfigure`	Create virtual reality figure
`capture`	Capture virtual reality figure image
`close`	Close virtual reality figure
`get`	Return property value of `vrfigure` object
`isvalid`	Check validity of `vrfigure` object handles
`set`	Set property values of `vrfigure` object
`vrgcf`	Handle for active virtual reality figure
`vrgcbf`	Current callback `vrfigure` object
`vrclose`	Close virtual reality figure windows

Virtual World Utilities

`vr.utils.stereo3d`	Stereoscopic vision settings for `vr.canvas` and `vr.figure` objects
`vrdir2ori`	Convert viewpoint direction to orientation
`vrori2dir`	Convert viewpoint orientation to direction
`vrrotvec`	Calculate rotation between two vectors
`vrrotmat2vec`	Convert rotation from matrix to axis-angle representation
`vrrotvec2mat`	Convert rotation from axis-angle to matrix representation
`vrifs2patch`	Convert virtual world `IndexedFaceSet` nodes to MATLAB patches
`vrpatch2ifs`	Convert MATLAB patches to `IndexedFaceSet` nodes
`vrjoystick`	Create joystick object
`vrspacemouse`	Create space mouse object

Blocks

VR Source

Read data from virtual world to Simulink model

MATLAB Interaction

Virtual Reality World and Dynamic System Examples

Use virtual worlds that interface to Simulink block diagrams and to MATLAB objects and functions.

Create vrworld Object for a Virtual World

Connect MATLAB to a virtual world and interact with that virtual world through the MATLAB command-line interface by creating vrworld and vrnode objects.

Open a Virtual World with MATLAB

Open a virtual world to view the virtual world in a virtual world viewer, scan its structure, and change virtual world properties from the MATLAB Command Window.

Interact with a Virtual World with MATLAB

Interact with virtual world by using vrnode object methods to set vrworld object property values for all the available virtual world nodes and their fields.

Close and Delete a vrworld Object

Close virtual worlds and remove them from memory.

Virtual World Data Types

Explore the data types used by nodes for defining objects and the types of data that can appear in the node fields and events.

VRML Sensor Input to Models

Use Sensors

Move or modify virtual world objects during simulation based on user input from the virtual world or events in the virtual world.

Modify Remote Virtual World via Sensor Events

Interactive mode allows clients to modify a remote virtual world via events from sensor nodes defined in the virtual world.

Detect Object Collisions

Use collision detection to avoid having two objects collide, or to trigger a change in virtual world object behavior or display.

Featured Examples

UAV Competition Example

The sl3dex_uav example shows how virtual collision sensors can be used to interactively control the simulation and to change the appearance of virtual world objects using Simulink® 3D Animation™. The example represents a simple unmanned aerial vehicle (UAV) challenge.

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Rigid Body Tree Visualization

The sl3dex_rigidbodytree example demonstrates the functionality of the Simulink® 3D Animation™ VR RigidBodyTree block.

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Portal Crane with Joystick Control

The vrcrane_joystick example illustrates how a Simulink® model can interact with a virtual world. The portal crane dynamics is modeled in Simulink and visualized in virtual reality. The model uses Joystick Input block to control the setpoint. Joystick 3 axes are used to control the setpoint position, button 1 is used to start the crane.

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Manipulator with SpaceMouse

This model illustrates the use of Simulink® 3D Animation™ for virtual reality prototyping and testing the viability of designs before the implementation phase. Also, this example illustrates the use of the Magellan SpaceMouse for manipulating objects in a virtual world.

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Portal Crane with Control Panel

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Inverted Pendulum

The vrpend example illustrates the various ways a dynamic model in Simulink® can interact with a virtual reality world. It is the model of 2-dimensional inverted pendulum controlled by a PID controller. What distinguishes this model from 'common' inverted pendulum models is visualization and the methods of setting the setpoint. You visualize and interact with 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 setpoint. The method for setting the setpoint can be selected in the mask of the Trajectory Graph block. The following methods are available:

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Virtual Control Panel

Vrdemo_panel example shows the use of sensing objects that are available in the 3D World Editor Components library. These objects combine VRML sensors whose values can be read into Simulink® by the VR Source block with logic (implemented using VRML Scripts and Routes) that changes their visual appearance based on user input.

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Manipulator Moving a Load with Use of Global Coordinates

Illustrates the use of global coordinates in Simulink® 3D Animation™ models. Global coordinates can be used in the model in many ways for object tracking and manipulation, simple collision detection, simulation of haptic effects, etc.

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Plane Take-Off

The vrtkoff example represents a simplified aircraft taking-off from a runway. There are several viewpoints defined in this model, both static and attached to the plane, allowing you to see the take-off from various perspectives.

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