MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung PDF herunterladen (Seite 32)

5.2.2. Wrapping Shape Objects with Transforms

CAD tools export parts into VRML as individual shapes using various VRML

object types. It is for instance possible to use a VRML Shape node or Inline

mechanism. In order to be able to control part positions / orientations, we

need to wrap each such Shape or Inline node by a node that allows changing

these properties. It is a Transform node, whose purpose is to transform

coordinates of its children. For instance, after wrapping by a Transform node,

such Inline node will look like this:

Transform {

children [

Inline {

url ["robot_arm1.wrl"]

}

]

}

In order to be able to place the whole assembly to the right initial position in

the virtual scene, it is always good to wrap all parts of the assembly by an

additional Transform node.

5.2.3. Adding DEF Names

CAD export filters often export objects with no names, or with synthetic, non-

descriptive names. In order to be accessible from MATLAB, each VRML object

needs to be given a unique name in the VRML file. This is achieved by adding a

“DEF Object_Name” statement to the Transform line. After adding the DEF

name, robot arm1 definition in the main VRML file looks like this:

DEF Robot_Arm1 Transform {

children [

Inline {

url ["robot_arm1.wrl"]

}

]

}

These object names are used in Simulink 3D Animation functions and user

interface. For instance, they appear as descriptions of inputs to VR Sink block.

Therefore, it is good to give the parts descriptive names that help us with

orientation in the object hierarchy.

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MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung Seite 32