MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung PDF herunterladen (Seite 36)

While object positions are usually available in the form required by VRML

(Cartesian coordinates), rotations have to be usually converted from some

other rotation representation. In many cases, object rotations are defined

using the rotation matrix representation. For converting such rotations into

VRML format, there is the Rotation Matrix to VRML Rotation block available in

the vrlib/Utilities sub-library.

At this point it is again important to distinguish the 2 cases depending on the

virtual scene hierarchy:

 All parts in Simulink are defined in global coordinates, virtual scene has a

flat structure of independent objects

Object positions: Send to VR Sink all positions in global coordinates.

Object rotations: Send to VR Sink all rotations in global coordinates,

with centre of rotation defined in the coordinate system

origin.

As the default centre of rotation of VRML Transform objects

is [0 0 0 ], it is usually not necessary to define the centre of

rotation for each part in the VRML file specifically.

 All parts in Simulink model follow hierarchical relations, virtual scene has

a nested structure

Object positions: Send to VR Sink all positions in local coordinates of

(relative to) their parents – predecessors in the object

hierarchy. Example – robot’s tool position relative to the

robot’s hand.

Object rotations: Send to VR Sink all rotations in local coordinates of

(relative to) their parents – predecessors in the object

hierarchy. Example – robot’s tool rotation relative to the

robot’s hand.

In this case, it is usually necessary to collocate center of

rotation defined in the virtual scene with the center of

rotation defined in the Simulink model, to match visually

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MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung Seite 36