与虚拟现实世界互动

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

您可以使用MATLAB功能和类与虚拟现实世界进行交互。创建虚拟世界对象（vrobject) and node objects (vrnode) to represent a virtual world that you create with万博1manbetxSimulink 3D Animation™。通过使用可用虚拟世界节点及其字段设置值vrnode对象方法。

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 useSimulink 3D Animation函数来读取传感器字段值为装病者ion models and control simulation based on the user interaction with the virtual scene. You can write an S-function or aMATLAB Functionblock that reads the sensor output.

功能

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Virtual Worlds

`vrworld`	创建新的`vrworld`与虚拟世界相关的对象
`vrdrawnow`	更新虚拟世界
`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`	列出有关记忆中虚拟世界的详细信息

Virtual World Figures

`vrfigure`	Create virtual reality figure
`capture`	捕获虚拟现实图像图像
`关`	Close virtual reality figure
`get`	返回属性值`vrfigure`目的
`已验证`	检查有效性`vrfigure`对象处理
`放`	设置属性值`vrfigure`目的
`VRGCF`	动作虚拟现实图
`vrgcbf`	Current callback`vrfigure`目的
`vrclose`	关闭虚拟现实图形窗口

Virtual World Utilities

`vr.utils.stereo3d`	立体视觉设置`vr.canvas`and`vr.figure`对象
`vrdir2ori`	将视图方向转换为方向
`vrori2dir`	兑换viewpoint orientation to direction
`vrrotvec`	Calculate rotation between two vectors
`vrrotmat2vec`	兑换rotation from matrix to axis-angle representation
`vrrotvec2mat`	兑换rotation from axis-angle to matrix representation
`VRIFS2PATCH`	转换虚拟世界`IndexedFaceSet`节点MATLAB补丁
`vrpatch2ifs`	兑换MATLAB补丁to`IndexedFaceSet`nodes
`vrjoystick`	Create joystick object
`vrspacemouse`	Create space mouse object

Blocks

VR Source

Read data from virtual world to万博1manbetxmodel

MATLAB Interaction

虚拟现实世界和动态系统示例

使用接口的虚拟世界来模拟框图以及MATLAB对象和函数。万博1manbetx

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

打开一个虚拟世界，以在虚拟世界观看器中查看虚拟世界，扫描其结构，并从MATLAB命令窗口更改虚拟世界属性。

Interact with a Virtual World with MATLAB

通过使用VRNode对象方法与虚拟世界进行交互，为所有可用的虚拟世界节点及其字段设置VRWorld对象属性值。

关闭并删除VRWorld对象

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.

通过传感器事件修改远程虚拟世界

交互式模式允许客户端通过来自虚拟世界中定义的传感器节点的事件来修改远程虚拟世界。

Detect Object Collisions

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

特色示例

UAV Competition Example

这sl3dex_uav示例说明了如何使用Simulink®3DAnimation™使用虚拟碰撞传感器来交互式控制模拟并更改虚拟世界对象的外观。万博1manbetx该示例代表了一个简单的无人机（UAV）挑战。

Open Example

僵硬的人体树可视化

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

Open Example

带操纵杆控制的门户起重机

VRCRANE_JOYSTICK示例说明了Simulink®模型如何与虚拟世界相互作用。万博1manbetx门户起重机动力学以Simulink建模，并在虚拟现实中可视化。万博1manbetx该模型使用操纵杆输入块来控制设定点。操纵杆3轴用于控制设定点位置，按钮1用于启动起重机。

Open Model

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.

Open Model

Portal Crane with Control Panel

Open Model

倒摆

VRPEND示例说明了Simulink®中动态模型可以与虚拟现实世界交互的各种方式。万博1manbetx它是由PID控制器控制的二维倒置摆的模型。该模型与“常见”倒置的摆模型区别的是可视化和设置设定点的方法。您可以使用轨迹图和VR接收器块可视化和与虚拟世界交互。轨迹图块使您可以跟踪摆位置的历史记录并更改设定值。可以在轨迹图块的掩模中选择设置设定点的方法。可用以下方法：

Open Model

Virtual Control Panel

VRDEMO_PANEL示例显示了3D世界编辑器组件库中可用的传感对象的使用。这些对象结合了VRML传感器，其值可以通过VR源块将其值读取为logic（使用VRML脚本和路由实现），该元素可以根据用户输入更改万博1manbetx其视觉外观。

Open Model

Manipulator Moving a Load with Use of Global Coordinates

说明了Simulink®3DAnimation™模型中全局坐标的使用。万博1manbetx全局坐标可以在模型中以多种方式用于对象跟踪和操纵，简单的碰撞检测，触觉效果的模拟等。

Open Model

飞机起飞

VRTKOFF示例表示从跑道中取下的简化飞机。该模型中定义了几个观点，无论是静态还是连接到平面上，使您可以从各个角度看到起飞。

Open Model