V1.002 User manual ©opyright 2010 IRAI
Contents
1. V1 002 User manual opyright 2010 IRAI Contents HATO UG IR AAEE E 9 Necessary Syste ceee EEEE 9 Organization Eeeeernre eer Pree re rrr EERE EEE Ere rrr errrrrrrrentr rrr rre rrr er rrrrerrerrr rrr rrrr yr rrerrrrrr tr 9 Hikes Well ATION sca ceceececeeccaeecsccsaeaeeccnmeeceanesssannmeecnceeennenssonnanneemnenccemnensonanneaaets 10 PENN acter eta ieetcncnceide daahaataatuantceconedded saddaaauunenecoucdddd sadacetanneenutas 10 Registering the license i 10 Installation ina NETWORK ae E 11 AV IPOMIMMGIN c c cc ccccrusssecenceccceceeicsananiccuinncicectgadddanaiatunnesecneneddedanaaacinnesacenes 12 Browsing and interactions 2ccccnnncnnnnnneneccsssssvseceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeelles 15 The different types of objects ccccccccccccceeeeeceeeeeeeeeeeeeeeeececeeececeeeeeceeeeeeseeecs 16 RS Gn e eapoen nace ya ree cere avonans 16 WV Of o PEPEE 16 GING FF EE 16 CIGAL E EEEE EEEE EE 16 SD SPIES aa weap ps scenes 16 BeENAVIOlS i cssscccccseccctiunssersenneeranennnngaaasansaanesnccconanganannionanasianneancaunnnniodins 16 Basie CC essee rene EEEE EEEE EEEE 17 9D rendering and SOUNGS siiis 17 PAYSICS ENGINE 18 B1018 101S E EE 19 ICID senp E ARAS 19 ROUN STOP MOJE ee AAEE AEAEE AAEE 19 Media manager ereraa a a a E 20 Properes sice cccecceccccccccccceeteaaaaccaaeadelsesassdddddddttiedidaddddddddddddddddddddddddddddarnaed 20 UNIVETS ieee ale eli 0 I aa tect 20 CUMIN SCHON cee ceca neenninen st Ep EE EEEE EREE RER 20 Ode geen eee e2. arrival conveyor brake q11 conveyor motor brake arrival conveyor orange light q12 arrival conveyor light column orange light arrival conveyor red light Q13 arrival conveyor light column red light arrival conveyor green light q14 arrival conveyor light column green light Input Output Virtual Universe 54 List of UNITY PRO variable references before_switch_low_sensor before_switch_high_sensor departure_sensor_backward gt departure_sensor_forward amival_sensor middle_conveyor_forward gt middle_conveyor_backward middle _conveyor_brake middle_conveyor_red_light _middle_conveyor_orange_light middle_conveyor_green_light switch_conveyor_forward switch_conveyor_backward switch_conveyor_brake anival_conveyor_forward Q0 2 9 amival_conveyor_backward amnival_conveyor_red_light amival_conveyor_orange_light anival_conveyor_green_light Virtual Universe 7 Q0 2 10 Q0 2 12 Q0 2 13 Q0 2 14 55 Robot and bottles This project is located in the samples robot and bottles sub directory of the Virtual Universe installation directory It is accompanied by an AGN file Virtual Universe g x Pee This project illustrates the following functionalities in particular Modification of the scale and position for spring simulation Virtual Universe 56 process sprin
3. gt Not selectable False Conveyor 1 si B Physic ED shadows Use physic True Use gravity False TD physic 1 User can apply force False Body type Box ED physic z these a E Moment of inertia 150 150 150 E suites Auto adjust center of mass False Static friction coefficient 0 gt Kinetic Friction coefficient 0 5 Elasticity coefficient o ED Physic Static softness coefficent O Virtual Universe Applications of a Behavior to an object group the torque applied to the rollers of each conveyor is generated by a sole Behavior with the apply to siblings attribute SD physic 2 ED Roter Sy se ttre 7 Conveyor 1 Rotates rollers sens 2 fo Conveyor 1 Rollers brake D Roller 2 D koers SN a Aaj Name Conveyor 1 Rotates rollers sens 1 E Type etc Type of the behavior Apply torque to the 3D sprite E Force 4000 0 0 Apply to siblings True E Position 000 Rotatior 8 0 0 E Link AUTOMGEN or AUTOSIM variable t Output Q Forward run backward run and brake simulation for the conveyors Virtual Universe wa E gt Roller 1 go Conveyor 1 Rotates rollers sens 1 goj Conveyor 1 Rotates rollers sens 2 go Conveyor 1 Rollers brake Sri vale gt 49 Simulation of a light column switch onfoff red light Type of the behavior Set the light intensity Force 0 0 0 Attractior 0 thr actio tstance 0 Apply to siblings False Positian 0 0 0 E 0 0 0 or isa 0 0 0 Min positior
4. Universe 64 Destruction of joints 2 E iames gnn Gace ao MD support wees we Drom EED roor E T Qn Virtual Universe 65 Operation The two wheels are controlled by motors whose power is controlled by numeric variables Two boolean variables are used to control the motor in each direction List of AUTOMGEN AUTOSIM variable references Symbol Variable Comments motor 1 power mw200 Motor 1 power motor 2 power mw201 Motor 2 power sensor mw203 Proximity sensor motor 1 direction 1 q0 Motor 1 Direction 1 motor 1 direction 2 q1 Motor 1 Direction 2 motor 2 direction 1 q2 Motor 2 Direction 1 motor 2 direction 2 q3 Motor 2 Direction 2 Input Output Virtual Universe 6 axis ABB Robot This project is located in the samples abb robot sub directory of the Virtual Universe installation directory It is accompanied by an AGN file Virtual Universe This project illustrates the following functionalities in particular Simulation of a 6 axis robot f Universe Name Q World B Drawing D file Light Texture file 7 Texture file Light 2 Texture file bd Texture file SBR Camera B Position and size E Coordinates ED robot Rotations Rotation axis position 2 levelt B o B Position and size current values pes level2 Coordinates Rotations gt buds Rotation axis position a levelt f Sc
5. Universe properties Virtual Universe 46 Examples Conveyor The conveyor project is located in the samples conveyor sub directory of the Virtual Universe installation directory It is accompanied by an AGN project for the AUTOMGEN or AUTOSIM software and an XEF project for the Unity Pro software Virtual Universe a CETUERT TE it I This example illustrates the following functionalities in particular Shadingmanagement here lightened with fewer faces 3D Sprites have been used to render the shading in order not to slow down the rendering too much Virtual Universe ED foo aptae HUT J B Position and size current values 4 E Coordinates 0 0 6 5 ns fEl Rotations 0 0 9 gt shadows a Rotation axis position 0 0 0 B Scale l 1 1 2 physic 1 E Relative translation 0 0 0 i Relative r n 0 0 8 gt physic 2 Center coordinates 0 186861 0 815377 0 61 2 E Absolute rotation 0 0 0 ED suites E Material Ambient color 0 0 0 ED Physic 1 Emissive color 0 0 0 SD Physic 2 Diffuse color 112 112 112 Specular color 229 229 229 om Shininess 102 400001525879 Material type SOLID a Transparency 0 Not visible True a ight Column Has a shadow True ca Receive shadows False ED Wisc physic and shadow Only frame False Ai ce tes le sochboctal ae Palan Physical management the same principle has been used for physical management ED floor 25 vuran SS
6. calculate sound vrite mode fo Get value from this behavior mopar d da di dai Read the current value of the behavior for whi gt j External link z sn More options ED battle inima distar D bottle E Script min 600 max 80 D bottiez minspeed 0 01 ETD bores maxspeed 0 3 Script accellen 20 daccelen 100 ED bottie4 accel 0 001 _len max min ED botties Flen tnenn om Gripping nothing in particular to do closing of the clamp is sufficient Virtual Universe 58 Simulation reset after movement of the last bottle pa ite RD bottles SD bottes EOJ reset simulation ad Select information to read from the 3D sprite External link Li fo reset if bottle is moved far Virtual Universe 59 Operation Two numeric values are used for each of the axes One gives the current position the other is used to set the position to reach If the current position is near the requested position then the movement has been performed List of AUTOMGEN AUTOSIM variable references Symbol Variable Comments request level 1 mw_200 Position requested for axis 1 position level 1 mwe201 Current position for axis 1 request level 5 mw208 Position requested for axis 5 position level 5 mw209 Current position for axis 5 request finger 1 mwe210 Position requested for clamp finger 1 position finger 1 mwe211 Current position for clamp finger 1 request finger 2 mw212 Position requested
7. for clamp finger 2 position finger 2 mwe213 Current position for clamp finger 2 Input Output Virtual Universe NXT robot This project is located in the samples nxt sub directory of the Virtual Universe installation directory It is accompanied by an AGN file E aloj x Virtual Universe Virtual Universe 61 This project illustrates the following functionalities in particular Simulation of a mobile robot E World 9 Light 1 J ouwe Ss Camera o E support wheets TD whee crash sound aa E supports SD supoz ED supports GD ir sensor MED sensor crash sound crash test crash sound crash test crash sound crash test DP motor ED wheat 53 nae 0 cosone 09 power GO compute motor ee hew Oj compute sound Virtual Universe Overwrite material 6 Overwrite material 7 Overwrite material 8 Overwrite material 9 Overwrite material 10 Overwrite material 11 Overwrite material 12 Overwrite material 13 Overwrite material 14 _ Overwrite material 15 Overwrite material 16 B Material current values Ambient colar Emissive color Diffuse color Specular color 0 70 0 0 0 0 0 0 44 0 7 8 0 0 0 0 0 0 at 0 202238 8 09996 6 84563 0 874582 0 265042 1 42122 1 8579 6 69854 0 118712 0 874582 0 265042 1 42122 217 217 216 0 0 0 217 217 216 E 84 84 84 o False False False
8. makes it possible to have easy to duplicate objects without having to change the links The ABB Robot example illustrated here Virtual Universe 37 Access functions to values associated to a 3D Sprite GetValSprite3d lt parameter gt returns a value associated to a 3D Sprite lt parameter gt indicates the parameter It can indicate a 3D Sprite by its name If this is not the case the parent 3D Sprite of the Behavior is used The syntax is lt 3D Sprite name gt lt parameter name gt Examples POSX position X of parent 3D Sprite BOX3 SPEEDZ speed on axis Z of the 3D Sprite named BOX3 List of possible parameters POSX POXY POSZ absolute position in the 3D World ROTX ROTY ROTZ absolute rotation in the 3D World RELPOSX RELPOSY RELPOSZ relative position based on the parent 3D Sprite Only valid if the object is managed by the physics engine and is linked to a parent 3D Sprite by a joint RELROTX RELROTY RELROTZ relative rotation based on the parent 3D Sprite Only valid if the object is managed by the physics engine and is linked to a parent 3D Sprite by a joint SCALEX SCALEY SCALEZ scale FORCEX FORCEY FORCEZ applied strength TORQUEX TORQUEY TORQUEZ applied torque FORCEBRAKEX FORCEBRAKEY FORCEBRAKEZ applied brake strength TORQUEBRAKEX TORQUEBRAKEY TORQUEBRAKEZ applied brake torque SPEEDX SPEEDY SPEEDZ Speed ROTSPEEDX ROTSPEEDY ROTSPEEDZ Angular speed Virtual Uni
9. of the associated Behavior The Normal priority corresponds to executing a script element every 10 ms the high priority corresponds to executing all the scripts every 10 ms Other lower priorities are also accessible High priority should not be used unless necessary or a short script it uses up more processor time The Script is based on BeeBasic software For more information see the help file basic_api chm located in the Virtual Universe installation directory or click on the Basic Help button Virtual Universe 35 Write a script Scripts are written in the Behaviors Script parameter A script editing window opens Script editor xi Script o o Help on functions GetValSprite3d lt parametername gt return a sprite3d value In parametername string can be optionnal 4 lt 3d sprite name gt lt parameter gt if no sprite name is used the parent 3d sprite of lt 3d sprite name gt is the name of the 3d sprite 7 An editing area as well as a help button on the specific functions is displayed The Script Error Behavior element is used to obtain an error possibly encountered in script analysis the script in question is not executed in this case but the simulation can still go to RUN mode If an error is detected the line number is displayed so that the error can be found in the editor the line and column numbers are displayed at the bottom of the editi
10. value is different from 0 The Robot and bottles example illustrates this type of Behavior Collision test with other 3D Sprites o Used to obtain the number of collisions between the parent 3D Sprite and the other Sprites of the current World The Name s of other 3D Sprites parameter is used to limit the action of this Behavior to a group of 3D Sprites see below Collision tests should only be used when strictly necessary Virtual Universe 31 See the Conveyor example for an illustration of this Behavior Test if the joint is destroyed o Used to obtain the state of the joint between the 3D Sprite associated to a Behavior and its parent Obtain penetration with other 3D Sprites o Gives the penetration depth between the 3D Sprite associated to the Behavior and the other 3D Sprites This use is typically the proximity sensor The Name s of other 3D Sprites parameter is used to limit the action of this Behavior to a group of 3D Sprites see below Penetration tests should only be used when strictly necessary See the NXT example for an illustration of this Behavior Obtain information on a 3D Sprite o Used to access the dynamic values of a 3D Sprite The Select information to read parameter determines the value Joint position test o Used to test whether a joint value is between two limits The typical use is the simulation of a position sensor on an actuator Min posit
11. 0 Max posi E Link AUTOMGEN or AUTOSIM variable t Output Q AUTOMGEN or AUTOSIM variable n 3 Management of the sensors has been implemented with Collision test Behaviors Management of the stealth of information from the sensors has been treated with a safe write mode so that the external software can see the information in a certain manner Bottom sensor Test collision with other 3D spriti 0 0 0 a 0 0 000 moo Fl ED Licht Column ALTOMGEN or AUTOSIM variable t Input I AUTOMGEN or AUTOSIM variable n 0 D misc physic and shadow cb sar D Wisc physic and shadow2 NONE D sensor support D sensor support 2 0 H Boolean false if 0 true otherwis ED sensors o box ED conveyor Switch Safe Virtual Universe 50 Return of the boxes to the start position is managed by the pair of Behaviors Collision test and Writing of position WD Misc physic and shadow D gt isc physic and shadow2 ED sensor support WD Sensor support 2 FED sensor 3 e GRD conveyor switch GRD box layout GD Departure 1 D item ED tenz D items iT g x s fo collision test For sound box 1 2 smvenacine ED roor D Conveyor 1 ED shadows ED physic ED physic ED aides SD w ED Prysic2 i Virtual Universe Ije n e departure 1 collision 1 B Type ett Type of the behavior Test collision with other 3D sp amp Force 0 8 0 Attraction Attraction distance Apply to siblin
12. 3 getbehavior reqa2 reqa2 getbehavior reqa3 ret getbehavior jret if ret lt 1 then ret computelkK 6 reqx reqy reqz reqal reqa2 reqa3 0 0 0 posi pos2 pos3 pos4 pos5 pos6 if ret 0 then setbehavior ret 1 posi getbehavior posi pos2 getbehavior pos2 pos3 getbehavior pos3 pos4 getbehayvior pos4 posS getbehavior pos5 pos6 getbehavior pos6 setbehavior 4 4 4 4 4request pos1 setbehavior 4 4 4 request pos2 setbehavior 4 request pos3 setbehavior T request pos4 setbehavior request pos5 setbehavior request pos6 else setbehavior ret ret endif setbehavior IK internalvalue 0 endif Virtual Universe 70 Simulation of a conveyor Universe wo Name Name motor World B Type et Type of the behavior Apply local force to the collide 3D sprites g Light Force 0 0 0 001 J ite traction di g Apply to siblings False See Camera a 0 0 0 a 1 0 0 0 F ED robot ED tute i Blink E How AUTOMGEN or AUTOSIM variable type NONE f AUTOMGEN or AUTOSIM variable number 0 ED conveyor pai a SHED oo Ra go motor F ED moo Arartech charnel ur j Initial value 1 D end box Current value 1 Data conversion Copy no conversion e GD end box Internal current value i Name s of other sprite bottle Get value from this behav
13. EHAVIOR current value of the Behavior names MY BEHAVIOR MY DOG internalvalue current internal value of the Behavior named MY DOG robot1 level2 position current value of the Behavior named position child of the 3D Sprite named level2 descendant of the 3D Sprite named robot1 request internalvalue current internal value of the grandparent of the parent of the Behavior SetBehavior lt parameter gt lt value gt writes the value of a Behavior lt parameter gt is identical to GetBehavior Access functions to values associated to the Universe GetUniverse lt parameter gt returns a value associated to a Universe lt parameter gt may be RUNNINGDURING returns the duration in ms since the last switch to RUN of the simulation MOUSEBUTTONS returns the state of the mouse buttons bit 0 for the left button bit 1 for the right button and bit 2 for the middle button MOUSEX MOUSEY returns the position of the mouse cursor related to the upper left corner of the rendering window Virtual Universe 40 SetUniverse lt parameter gt lt value gt writes a value associated to the Universe lt parameter gt may be PLEASEQUIT forces termination of Virtual Universe Other functions GetFirstSprite3 D lt name gt returns the first number of a 3D Sprite The name must comply with the 3D Sprite name syntax The numeric value returned may be directly passed as a pa
14. False False False False False False False False False False False False False False False False 62 Simulation of 2 variable soeed motors modulation of the speed and brake controlled by 2 Boolean variables and a numeric variable aw sae ED sports ED i sensor E E or crash sound Ba crash sound y OR crash sound a D notor ED wheat 5 ai 09 cana 5 iin one fo brake 09 sna fo compute sound crash sound i FD motorz fo crash sound Virtual Universe AUTOMGEN or AUTOSIM variable type compute motor E a 00 0 Copy no conversion 1 Normal False No option REM 2 digital inputs for 2s way of the motor ini get ior CLOCKWISE REM power from Oto 127 ior POWER if power gt 127 then power 127 brake 1 DEM hraka if dinikale inmwike ara brine 63 Analog proximity sensor simulated by a penetration test ga m Q wore y Light 1 9 plight 2 False Sx Camera 00 P 00 D gt cu ED support wheels GD support AUTOMGEN or AUTOSIM variable type NONE AUTOMGEN or AUTOSIM variable number 0 gt support2 M340 variable name OPC variable 3 OPC variable path gt tana Advantech Type NONE Advantech card number ag sensor Advantech channel number 0 o og o Copy no conversion o aaaea IR o TROUT Normal o crash test positio False No optior Minimal distance Script Virtual
15. MES ciscctcscssenneunetssstacettsscccc tuna tiaiaotessade tensa teaaiaatessadcnocons 56 Operation ccc ees cence cate npn aneee ene caa eaceagoaescoennnncenccanneaneaeeces 60 List of AUTOMGEN AUTOSIM variable references 0606 60 NXT 0 810 eee ere e pe ePr eee tert neT Uren TTT Tr eNrre rrr rrr rrerrrrr rrr rrr rererrererrrrrrerrerteersrrrererrt ry 61 Operationen ene a rr rnrerrceereee ceceeee err rerc rere te 66 The two wheels are controlled by motors whose power is controlled by numeric variables Two numeric values are used to control the MIGION WP CAG CMCCHON arse eie 66 List of AUTOMGEN AUTOSIM variable references 0 66 66 6 axis 4 S ogo 6 0 0 lmanan ere ee amen aa ere Cerna a a eee Cee caer ea 67 Operation aR ee EAA Oe OT 71 List of AUTOMGEN AUTOSIM variable references 068 72 72120101908 6 6 0 Perereeeeeperree rer err rere rerrrrrerrerr rr ter rr rrrrrrrrrrrerrrtrrerertrrerrrrererrtrere 73 Operation ooo eee cece eee eeeeecceee cece eee ee eet aaee eee seen ee eeaaaaaaaeeeeeeeeeeeetteneeaas 75 List of AUTOMGEN AUTOSIM variable references 066 75 Manipulator with cylinders and SUCTION CUDP cccsssseeeeeeeeeeeeeeneeees 76 Ope 8 Pemneree reyes ererrereeeres creny rer veererer er err errs fr ertrerrererrr rrr retry rrr rrrrrrree 81 List of AUTOMGEN AUTOSIM variable references 666 81 Virtual Universe Introduction Virtual
16. Universe is a 3D world simulator dedicated to automaton and robotics By integrating the latest technologies in 3D rendering 3D sound physical simulation and script Virtual Universe can be used to create ultra realistic simulations Virtual Universe can communicate with automaton software workshops AUTOMGEN UNITY etc so that the virtual systems can be controlled like real systems Necessary system Virtual Universe operates with the following operating systems Windows XP Windows Vista and Windows 7 Virtual Universe is compatible with AUTOMGEN 8 015 or later versions Organization eWanton ONSE ERO verti ane Trenden ene 3 Ena ap renders aS sounds Sonn Virtual Universe Installation To install Virtual Universe simply run the execution of the installation package which has been delivered to you on a CD ROM or by downloading Visit our website www irai com to download the latest updates for Virtual Universe License Registering the license Virtual Universe operates as a demo version for a 40 day trial as long as you haven t registered the license To register the license click on the License button in the Virtual Universe configuration window License q r Status of license in this place Valid version Serial number STEPH 234275 AUTOMSIM VIRTUAL UNIVERSE 48 Targets All rit Enter 4 license Change a license Move the license to another place Conn
17. ale Relative translation ag levelS Relative rotation Center coordinates og 8 Absolute rotation B Material Virtual Universe level levell 0 303 6 67572e 006 0 5 94137e 00 D 0 0 0 0 0 Lii 6 67572e 007 0 5 94137e 001 0 0 0 9 85999 16 21 0 00994059 0 0 0 67 Simulation of a motor by PID Universe oO ye o G uez f Ss Camera ED root ED even FED lever Du T ED fico Virtual Universe 68 MINOUT 1000 MAxOUT 1000 KP 20 KD 0 1 KI 0 err 0 olderr 0 integralerr 0 curtime getuniverse runningduring myloop dt getuniverse runningduring curtime if dr 0 then dt 1 curtime curtime dt request getbehavior request rem Set alSprite3d jointmin request rem Set alSprite3d jointmin request 0 0001 current getbehavior position internalyalue olderr err err request current P KP err integralerr integralerr err dt I kI integralerr D KD err olederr dt out P I D if out gt MAXOUT then out MAxXOUT if out lt MINOUT then out MINOUT setbehavior motor internalvalue out rem print P P I D D D request request position current dt dt curtime curtime goto myloop Virtual Universe Inverse kinematic calculation of the robot Script editor reqx getbehavior reqx 3 100 reqz getbehayior reqy 100 reqy getbehavior reqz 100 reqal getbehavior reqa1 reqa
18. ample to change their positions or their colors or even execute a script which can act on these objects A Behavior can act as an engine to transmit a force to a 3D Sprite The Behavior objects are children of the Light objects or 3D Sprites Virtual Universe Basic concepts 3D rendering and sounds The rendering engine used by Virtual Universe is Irrlicht which supports via DIRECTX 8 or 9 or OPENGL based on what is available on the PC The role of the 3D rendering engine is to display the 3D world objects lit by the Lights based on the viewpoint set by a camera The Cartesian coordinates X Y Z govern the 3D world Virtual Universe 17 An axis identifier is displayed in the rendering window when the configuration window is open Virtual Universe l i o x The 3D sounds increase the realism of the simulations The sounds are emitted in the virtual world at the position of the objects and are thus perceived based on the camera position Physics engine Newton Physic Engine is the physics engine used by Virtual Universe for physical object management for example gravity but also much more than that To get the most out of the physics engine it is important to be familiar with the basic concepts of physics such as forces velocities frictions mass etc Virtual Universe 18 The physics engine parameters are associated to each 3d Sprite A 3d Sprite can be managed or not by the physics engine For example an o
19. an AGN file Virtual Universe Virtual Universe 73 This project illustrates the following functionalities in particular Random positioning of objects 2 5 Name ED ance Name dispatch dust gt dust383 B Type ete Type of the behavior Execute script TD atas B roro 0 0 0 Attraction 0 TD distes 0 False D dust386 0 0 8 0 0 0 SD ust397 m SD vss o ED aeo AUTOMGEN or AUTOSIM variable type NONE 7 z PC variable t PC variable path gt dust392 Advantech Type NONE Advantech card numbe 0 gt dust393 Advantech channel number 0 Initial value 1 D ausa Current value 1 Data conversion Copy no conversion TD asss Internal current value 1 Name s of other sprite ge dust396 Write mode Normal Get value from this behavior gt dust397 Select information to read from the 3D sprite X position External link False D iustas TD asea D austa fio apon Minimal distance 0 D cesta B Script ttre int 20 mm J dp ED table and chairs Script num getfirstsprite3d dust while num gt 0 x rand 520 260 z rand 630 600 param asstring num POSX setvalsprite3d param x param asstring numj POSZ setvalsprite3d param z num getnextsprite3Sd num dust wend setbehavior dispatch dust internalyalue 0 Virtual Universe 74 Simulation of a vacuum Operation AUTOMGEN or AUTOSIM variable number 0 Initial va
20. are two different sizes the aim is to empty them towards two different destinations based on their size Two sensors a lower sensor and an upper sensor are used to identify the box size Only lower sensor small box lower and upper sensor large box Virtual Un iverse 53 List of AUTOMGEN AUTOSIM variable references Symbol Variable Comments before switch low sensor i0 lower sensor before the switch conveyor before switch high sensor i 1 upper sensor before the switch conveyor departure sensor backward i2 departure sensor behind switch conveyor departure sensor forward i3 departure sensor before switch conveyor arrival sensor i4 conveyor arrival sensor middle conveyor forward q0 middle conveyor motor forward middle conveyor backward q1 middle conveyor motor backward middle conveyor brake q2 middle conveyor brake middle conveyor red light q3 middle conveyor light column red light middle conveyor orange light q4 middle conveyor light column orange light middle conveyor green light q5 middle conveyor light column green light switch conveyor forward Q6 switch conveyor motor forward switch conveyor backward q7 switch conveyor motor backward switch conveyor brake Q8 switch conveyor brake arrival conveyor forward q9_ arrival conveyor motor forward arrival conveyor backward q10 arrival conveyor motor backward
21. bitmap at the 3D Sprite position See the dust management in the vacuum robot example Virtual Universe 28 Behaviors Behaviors are the elements which give life to the simulation They also define the links between the simulation and external software They are closely tied to the physics engine and will be able to communicate strengths to the 3D Sprites and also manipulate the return physical data for example the speed of an object For a realistic simulation actions by application of strengths should have priority over actions directly changing the position or orientation of the 3D Sprites A Behavior can also be used simply for storing a value during simulation The scripts will be able to access this value in read and write Behaviors can be considered like global variables for the application Name Used to indicate the Behavior Type etc Behavior type One of the following types for Behaviors associated to a Light None the behavior does nothing Writes the intensity of the Light o The Behavior value determines the light intensity of the associated Light One of the following types for Behaviors associated to a 3D Sprite None the behavior does nothing Applies a force or torque o All of these Behavior types are used to apply a strength or torque to the object The Strength parameters determines the strength direction the identification can be global or local based on type The strength w
22. bject only used visually may not be managed by the physics engine Dialogue The dialogue with an external software is one of the essential elements used to control the simulations The external software type and the connection parameter settings are found in the Universe properties The links are then set in Behaviors The Behavior type will determine the dialogue direction reading from or writing to the external software Script Scripts written in basic language can be associated to any object by a Behavior RUN STOP mode Virtual Universe can be in STOP mode simulation stopped and initialized or RUN simulation in progress mode In RUN mode the physics engine and dialogue with the external software are enabled The Behaviors and scripts are enabled In RUN mode rendering is performed as quickly as possible based on the PC performance the physics engine and the scripts are called every 10 ms Scrip Virtual Universe 19 The objects possess a double entry for certain parameters for example their positions The first parameter set corresponds to their initial values the second set to their current values In STOP mode the initial values are recopied in the current values Media manager This is used to store the media files 3D files bitmap files and sound files used in a project The objects can use files found in the media manager or outside it The files located in the media manager will be saved in the project
23. cted Input Output Virtual Universe 81
24. d Behaviors Importing of complex objects is implemented by clicking on a World or on a 3D Sprite with the right button of the mouse and selecting Import Examples of objects are located in the library sub directory of the Virtual Universe installation directory Exporting is implemented by clicking on a 3D Sprite with the right button of the mouse and selecting Export All of the Children elements are exported External links The external links are used to control simulations created in Virtual Universe by an external software for example AUTOMGEN The connection type is set in the Universe properties Exchanges are enabled when Virtual Universe is in RUN mode and the external software is capable of performing these exchanges The connection state is displayed in the Universe properties A link is established between the external software and a Behavior Based on the selected external software a specific variable name can be documented in each Behavior Current value and internal current value Each Behavior possesses two states a current state and an internal current state These two states are used differently and inversely based on the information direction external software towards Virtual Universe or Virtual Universe towards the external software Virtual Universe 43 Reading a Virtual Universe value from the external software This action can be described as reading an input from the exter
25. easily access all of the inputs and outputs associated to an object group by clicking with the right button of the mouse on the parent click on the World to have all of the links of objects found in the World and selecting External links Examples E floor support cylinder rod cylinder rod sensor max AUTOMGEN or AUTOSIM variable type Input oI AUTOMGEN or AUTOSIM variable number 1 Data conversion Copy no conversion E floor support cylinder rod cylinder rod sensor min AUTOMGEN or AUTOSIM variable type Input oI AUTOMGEN or AUTOSIM variable number 0 Data conversion Copy no conversion B floor support cylinder rod sensor max AUTOMGEN or AUTOSIM variable type Input oI AUTOMGEN or AUTOSIM variable number 3 E floor support cylinder rod cylinder rod venturi venturi vacuum AUTOMGEN or AUTOSIM variable type Output Q AUTOMGEN or AUTOSIM variable number O Data conversion Copy no conversion E floor support cylinder rod cylinder rod force AUTOMGEN or AUTOSIM variable type Output Q AUTOMGEN or AUTOSIM variable number 1 Data conversion Copy no conversion E floor support cylinder rod force AUTOMGEN or AUTOSIM variable type Output Q AUTOMGEN or AUTOSIM variable number 2 The typical application of this is to edit the attribution of inputs and outputs of an object after importing or duplication The variables associated to inputs and outputs depend on the type of driver type of external software selected in the
26. ect to a network license Disconnect from the network license Close Click on the Enter a license button Virtual Universe 10 Enter or change a protection You are about to save or change your user license after requesting authorization to use the information if necessary Your user code must be provided to IRAI which will then send you a validation code You can send your user code by Telephone 33 4 66 54 91 30 by Fax 33 4 66 54 91 33 or by e mail francoise saut irai orange fr The following information must be provided your complete address and telephone number and order reference or delivery note if required User code careful is ZERO and 0 is the letter 2GES 29BNU 51896 1050 ULNTB 276166 e2165 EUF9F ULKSL HPCH9 ca Paste a validation code Obtain a new from the user code clipboard Read a Copy the user validation code code to the from a file clipboard Save the user code in a file Validation code a T T T T TI TITI TT P Cancel Send the user code which is then generated by e mail to the address francoise saut irai orange fr You will receive a validation code by e mail which you then enter in the validation code areas then click on Validate to validate the license You have 20 days after the user code is generated to enter the validation code Installation in a network The Virtual Universe files can be installed on a file server The lic
27. enses can also be managed by a network license manager see the specific network license manager Virtual Universe Environment When Virtual Universe is started a 3D world rendering window appears Virtual Universe k 10 x The RUN STOP button is used to run or stop the simulation The SETUP button opens or closes the configuration window Virtual Universe 12 Setup Virtual Universe x Light Objects etc Open the media manager for media files used in the project 3D files bitmaps and sounds Show or hide the extended properties of objects a Connection Driver None status stopped Server name or IP ad localhost The items of the Options simulation Camera Properties of the selected item RIN STOP mode Project files Select browsing mode by objects list or by properties list management Virtual Universe selection Manage the license 13 K l _ port meds Save Saveas Load ewf by The same window in by properties mode is used to obtain the list of values of the same property for an object group In this mode the parent of the objects needs to be selected on the upper left and the property on the lower left Virtual Universe 14 Browsing and interactions The following commands are used to browse and in 3D World or to interact with these Mouse wheel or keyboard Up and Down keys Zoom Right mouse button pressed and m
28. es whose name starts with the text contained in it For example DUST will limit the Sprites to those whose name starts with DUST See the Vacuum robot example for an illustration of this Use the value of this Behavior If not blank this area gives the name to a Behavior whose value will be read and recopied in the current internal value See the Script chapter for more information on the name conventions for Behaviors External link If true the Behavior will be listed in the list of external links see the External links chapter Virtual Universe 33 Sounds Minimum distance Used to edit the ratio between the volume sound and the distance of the object generating the sound and the camera Script See the following chapter Virtual Universe 34 Script The concept of Script is one of the most powerful tools of Virtual Universe It is used to integrate very sophisticated treatments to the simulation Scripts are activated by Behaviors Each Behavior can activate a script which will be a completely autonomous task The Script is executed when the current associated Behavior value is different from 0 and the script has not ended The script ends if the last execution line is reached or the END instruction is executed Basic language is used Specific instructions can be used to access the values associated to objects in read or write The script execution priorities can be edited in the properties
29. file This latter method is recommended if the project needs to be shared or executed on another PC Properties Universe Connection Driver Determines the connection with an external software This is the case of connection with AUTOMGEN or AUTOSIM Server name or IP address Use localhost if the external software is run on the same PC If the software is run on another network PC enter its IP address or its name as seen on the network Port Must be the same as the one selected in the AUTOMGEN AUTOSIM properties in the TCP IP Connection Execution tab server port This is the case of connection to UNITY simulator PLC or API M340 Driver M340 mode Local simulator Simulator PLC run on the same PC API connected by USB an API M340 connected to a USB port API or simulator on IP an External software is the generic term used to define the software with which Virtual Universe dialogues Virtual Universe API connected by Ethernet or a simulator run on another PC connected to the network In this case document the IP address of the API or PC Options Automatic RUN Causes it to go to RUN when the project is opened Variable and state display Displays the variable names and the states for the Behaviors in the rendering window referred to a variable of the external software Wireframe The group of project 3D Sprites will be displayed in wireframe mode if true Debug mode for the physics engine If t
30. g False amp Position 0 0 E Rotation 0 0 alor o Min position Max posttior B Link AUTOMGEN or AUTOSIM variable type NONE AUTOMGEN or AUTOSIM variable number 0 M340 variable name PC variable NONE o 0 Copy no conversion 0 box 1 Normal ermal software 1234 return from departure 1 Set the 3D sprite position and rotation 0 0 0 False 0 7 84 0 0 0 mo AUTOMGEN or AUTOSIM variable type NONE AUTOMGEN or AUTOSIM variable number o M340 variable name The type of the variable tha NONE Advantech channel number Initial value 0 Current value 0 Data conversion Copy no conversion Internal current value o Jame s of other sprite Write mode Normal Get value from this behavior 1 collision 1 External value 0 ri th ft 0 51 The names and states of the variables are displayed in the rendering window choice of the user selected in the Universe properties My light My camera box 1 fo return From departure 1 fo return from departure 2 fo colision test for sound box 1 IRAI AUTOMGEN PLC or simulator an IP localhost 5000 Cannot send data to server server True User choice False Modulation of the sound speed based on the roller rotation speed Calculation implemented in a script ED physic 2 ED Pater Conveyor 1 Rotates rollers sens 1 Conveyor 1 Rotates rollers sens 2 Conveyor 1 Rollers brake D Roler 2 D roler s D roler 4 D rollers ED rolere D koler D rolere ED roler
31. g size and position Type of the behavior ht 1 Force Attraction ht 2 Attraction distance mera dle AUTOMGEN or AUTOSIM variable type AUTOMGEN or AUTOSIM variable number M340 variable name OPC variable OPC variable path Advantech Type Advantech card number tlel Advantech channel number ztle2 ea Internal current value Name s of other sprite ttlet ztle5 External link JJ reset simulation E reset if bottle is moved far n Sound filename Sound options No option Minimal distance a levelipos getvalsprite3d level RELPOS2 setvalsprite3d SCALEZ levell pos 600 0 001846 0 1 setvalsprite3d POS2 levellpos 600 0 66 320 Setting of joints Virtual Universe Simulation of robot motors by modification of joint limits Controlling by numeric variables a variable associated to each axis managed by a script for each motor l car Name motor levelt Ss Camera B Type ete Type of the behavior Execute script D table ae 0 0 0 ED vase Attraction distance Apply to siblings False ED ievel B Post t00 E Rotaticr 0 OO ED roler le E E aez ioe ED voter Tan raters AUTOMGEN or AUTOSIM variable type NONE gt SERINE AUTOR VR Sa o evel 40 variable name fo A Advantech channel numb f Initial value 1 fo current position Current value 1 Data conversion Copy no conversion fo sensor levell Internal current value 1 Name s of other sprite fo
32. ill applied based on the current value of the Behavior The strength applied will be the Virtual Universe 29 parameterized strength multiplied by the current value of the Behavior Applies a local force to the 3D Sprites in contact o Applies a strength to all of the 3D Sprites in collision with the associated 3D Sprite The typical application is the simulation of a conveyor belt See the ABB Robot example for an illustration Name s of other 3D Sprites is used to limit the action of this Behavior to a group of 3D Sprites see below Collision tests should only be used when strictly necessary Applies a braking force or braking torque o Identical but the applied strength will act like a brake Defines the attraction force of the 3D Sprite o The 3D Sprite attracts other 3D Sprites Name s of other 3D Sprites is used to limit the action of this Behavior to a group of 3D Sprites see below Attraction is used to set the attraction force Attraction distance changes the action area of this attraction infinite if 0 The attraction strength is also proportional to the square of the distance This is illustrated in the Manipulator with cylinders and suctions example Writes the 3D Sprite position and rotation o Modifies the position or orientation of a 3D Sprite For example useful for taking an object to the initial position see the Conveyor example Writes the 3D Spr
33. ion and Max position are the limits This is illustrated in the Manipulator with cylinders and suctions example Generic writing o The Behavior will only write an external software variable For example this value can be calculated in a script Strength Defines the strength value on each of the axes for the involved Behavior types Virtual Universe 32 Apply to brothers If true the behavior is applied to the concerned 3D Sprite and all the brothers See the Conveyor example for an illustration of this parameter Position Rotation Color Values used for the Behaviors which need them Links Based on the selected driver in the Universe properties the definition of an external variable name will appear specific to each external software Initial value This will be recopied in the current value when going to simulation RUN mode It can be used to permanently enable a Behavior For example a script can be unconditionally executed from simulation running by putting this property to 1 Current value internal current value conversion of data write mode The Behavior values and the conversion mode see the External links chapter for more information Names of other 3D Sprites Certain Behaviors can use a group of 3D Sprites By default if this parameter is blank all of the current World 3D Sprites are concerned By documenting this parameter the range of the Behavior is limited to the 3D Sprit
34. ion cup ym mem E Type ete ar Type of the behavior SS camera Force ED Foor Attraction distance FED conveyort E Position Min position D gt suport te i i B link E cinder AUTOMGEN or AUTOSIM variable type AUTOMGEN or AUTOSIM variable number f rod M340 variable name f OPC variable SD ro Advantech Type E Advantech card numbe ED venturi Advantech channel number T vacuum Internal current value Name s of other sprite sound Write mode EOY sping o force p aaae T sensor min Od eand Position sensors for the cylinders Virtual Universe vacuum Set the 3D sprite attraction force 0 0 0 50 0 6 False 0 0 8 0 0 0 77 Virtual Universe 78 Simulation of the cylinder with rod return via spring Select information to read from the 3D sprite X position Virtual Universe 79 Virtual Universe 80 Operation The arm is composed by two single acting cylinders A suction cup is used to grip the bottles Two conveyors manage the arrival and departure of the bottles List of AUTOMGEN AUTOSIM variable references Symbol Variable Comments vacuum q0 Starts the vacuum go down q 1 Extracts the vertical cylinder go out q2 Extracts the horizontal cylinder top i0 Vertical cylinder retracted bottom ol 1 Vertical cylinder extracted in i2 Horizontal cylinder retracted out l3 Horizontal cylinder extra
35. ior External link False More options Operation Six numeric variables are used to select the destination and orientation of the robot clamp The precision of the destination position is also given by a numeric variable The higher the requested precision the longer the time to end the movement inversely less precision makes it possible to chain the movements faster to the detriment of precision A control numeric variable is used to run the movement a response numeric variable is used to know if the movement has been performed The coordinate system is the one really used by the real ABB robot Virtual Universe List of AUTOMGEN AUTOSIM variable references Symbol Variable Comments xrobot1 mf200 Destination X coordinates yrobot1 mf201 Destination Y coordinates zrobot1 mf202 Destination Z coordinates arobot1 mf203 Destination A angle in degrees brobot1 mf204 Destination B angle in degrees crobot1 mf205 Destination C angle in degrees deltarobot1 mf206 Requested precision cmdrobot1 mw200 Command going from O to 1 runs the movement statrobot1 mw201 Result 1 movement performed lt 0 error 7 position impossible to reach close clamp q0 Closes the clamp Input Output Virtual Universe 72 Vacuum robot This project is located in the samples vacuum robot sub directory of the Virtual Universe installation directory It is accompanied by
36. ite position and rotation in collision o Identical but writes the position and rotations of all the 3D Sprites in collision with the parent 3D Sprite The Name s of other 3D Sprites parameter is used to limit the action of this Behavior to a group of 3D Sprites see below Collision tests should only be used when strictly necessary See the ABB Robot example for an illustration of this Behavior Virtual Universe Write the 3D Sprite environment color o Changes the parent 3D Sprite environment color if the current Behavior value is different from 0 The value to apply is one of the Behavior parameters see below See the Conveyor example for an illustration Execute a script o Executes a script if the current Behavior value is different from 0 Read the chapter on Scripts Play a sound o Used to play a sound file in a loop or just once The 3D sound will be perceived as if coming from the parent 3D Sprite The sound is played if the current Behavior value is different from 0 In addition the current behavior value can modulate the volume of speed of the played sound The examples illustrate this by modulating the played sound speed to simulate the sound of engines based on the rotation speed Generic reading o The Behavior will only read an external software variable For example this value can be used in a script Reset o Reset the simulation to its initial state if the current Behavior
37. le If true the 3D Sprite does not affect browsing when it is browsed by the mouse cursor Physics Groups the properties of an object concerning the physics engine Use the physics engine If true the 3D Sprite will be handled by the physics engine if not the object will be completely ignored by the physics engine in other words the object will be only displayed in the 3D world but it will have no physical interaction with the other objects Use gravity If true the 3D Sprite will be submitted to gravity Its mass cannot be zero The user can apply a force to the object If true the user can in RUN mode act on the object by keeping the right mouse button pressed when the cursor is on the 3D Sprite and by moving the cursor Type of body Determines the 3D Sprite geometry type for the physics engine Any a convex shape obtained from the 3D Sprite geometry Box a rectangle parallelepiped Sphere a sphere Capsule a capsule Attention the Any type if used with a complex 3D Sprite possessing very numerous faces may use a lot of resources for the physical simulation So if possible use one of the other types Virtual Universe It is possible and often useful during the set up phases to display the geometries handled by the physics engine by enabling the Debug mode for the physics engine option in the Universe properties Example The volumes handled by the physics engine appear in yellow Soluti
38. lue 1 Data conversion Copy no conversion Internal current value 1 Name s of other sprite dust Wite mode Get value From this behavior Select information to read fromthe 30 sprite position Fxtarnal ink Pa The robot is controlled by two motors in turn with binary control by 2 outputs each one output for each running direction A contact sensor detects collisions with objects a proximity sensor is used to obtain information on the absence of floor in front of the robot List of AUTOMGEN AUTOSIM variable references Name vacuum B Type etc Type of the behavior Set the collide 3D sprites position and rot Force 000 Apply to siblings False E Position 0 10000 0 E Rotation 0 6 0 ole a Min B Unk AUTOMGEN or AUTOSIM variable type NONE Symbol Variable Comments forward motor 1 q0 Motor 1 forward backward motor 1 q1 Motor 1 backward forward motor 2 q2 Motor 2 forward backward motor 2 q3 Motor 2 backward collision i0 Collision sensor ir sensor i1 No floor in front of robot sensor Input Output Virtual Universe 75 Manipulator with cylinders and suction cup This project is located in the samples cylinders sub directory of the Virtual Universe installation directory It is accompanied by an AGN file 5 Virtual Universe Virtual Universe 76 This project illustrates the following functionalities in particular Simulation of the suct
39. mera as well as a rotation on the X and Y axes anda zoom Current position The same as above but for the current position The current position can be recopied in the initial position by clicking on the down arrows appearing to the right of the initial position elements and selecting Copy from current values Virtual Universe 22 Light Name Used to indicate a Light by its name Position Used to define the coordinates and direction of the Light direction is only used for the Spot and Directional type lights Color type etc Determines the Light characteristics 3d Sprite Name Used to indicate a 3d Sprite by its name Drawing Determines the 3D file used to set the 3D Sprite geometry and any texture files Position and size Sets the position rotation as well as the axis and the initial scale of the 3D Sprite Rotations are expressed in degrees from 180 to 180 degrees Position and size current values The same as above but for current values with more the translation and relative rotation based on the parent 3D Sprite as well as the position of the object center and the absolute rotation based on the World Material These properties group the characteristics of the material used to display the object These characteristics are directly linked to the Irrlicht rendering engine Material current values The same as above for current values Virtual Universe Browsing Not selectab
40. nal software viewpoint The data path is as follows ua AS eN a 100 N nerna CONES fale cur as victual vave Universe The conversion type may be simple recopying of the value or an inversion for complemented Boolean variables In complement a write mode to external software can be specified Three modes are available Normal the value is written with each exchange Only when changed the value is only written to the external software if it has changed writing to certain external software may use resources the aim of this option is to mitigate the impact of writing in terms of resources Safe the value is written with each change Each writing is checked reading of the value after writing This mode guarantees that a fugitive state change normally a true view sensor during a very short duration less than the data exchange time between the Virtual Universe and external software will be seen by the external software This is used in the Conveyor example Virtual Universe 44 Writing an external software value to Virtual Universe This action can be described as writing an output from the external software viewpoint The data path is as follows The conversion type may be simple recopying of the value or an inversion for complemented Boolean variables Virtual Universe 45 Access to the external links of an object group It is possible to
41. ng area The Script Output Behavior element displays the outputs generated by the PRINT basic function These outputs are also displayed in the Virtual Universe 36 rendering window at the location of the 3D Sprite associated to the Behavior Specific functions The specific functions are used to access the Virtual Universe values associated to objects in read or write 3D Sprite name syntax The name for reference to 3D Sprites must comply with the following syntax aname without path it will search for the first 3D Sprite whose name starts with this text in all the current World 3D Sprites lt name gt a named 3D Sprite brother of the parent 3D Sprite of the Behavior lt name 1 gt lt name2 gt a 3D Sprite named namez2 descendant of a 3D Sprite named namet1 lt path name gt a 3D Sprite corresponding to the path These names are not case sensitive Examples my sprite indicates the first 3D Sprite whose name starts with the text my sprite another sprite indicates the 3D Sprite named another sprite brother of the parent 3D Sprite of the Behavior robot1 level3 indicates the 3D Sprite named level3 descendant of the robot 1 3D Sprite one more sprite indicates the 3D Sprite named one more sprite a brother of the parent 3D Sprite parent of the Behavior Note making reference to relative names using relative paths rather than to absolute names
42. o ED roler 10 sound conveyor 1 TE sound conveyor 1 brake TE calculate sound speed D Roler 11 D Roler 12 h au a Virtual Universe E nk AUTOMGEN or AUTOSIM variable type AUTOMGEN or AUTOSIM variable number M34 mable anne Advantech channel numbe Initial value Current value Data conversion Internal current value Name s of other sprite Get value from this behavior External link More options Sound filename Sound options Minimal distance E Set sound conveyor 1 Play sound loop 0 0 0 False 0 0 0 0 0 0 False electric motor mp3 Modulate speed 1 is normal speed 5 52 RD physic2 Operation ED koer Conveyor 1 Rotates rollers sens 1 Conveyor 1 Rotates rollers sens 2 Conveyor 1 Rollers brake ED Poler2 D rokers D Roler 4 T koers D Prolers ED roer D rolere D rolero E Roler 10 Gime TF sound conveyor 1 brake pioen D Roer 11 D Roler 12 D Roler 13 D Roler 14 D roler i5 B Unk AUTOMGEN or AUTOSIM variable type AUTOMGEN or AUTOSIM variable number 1340 variable f tect annel number Initial value Current value Data conversion Internal current value ne s of att r Get value from this behavior External link More options B Sound E Script rem calculate sound speed from roller speed ISprite3d ROTSPEEDX if speed lt 0 then speed speed if speed lt 0 01 then speed 0 SetBehavior sound conveyor 1 internalvalue speed 10 The boxes
43. ollisions are automatically deactivated between two objects linked by a joint Physical joint with the parent Determines the type of joint between a child 3D Sprite and its parent The two 3D Sprites must be managed by the physics engine They can be submitted to gravity or not Joint Determines the joint type Pivot Sliding Virtual Universe Fixed Pivot position Determines the x y z position of the link with the parent object for pivot links Action line Determines the joint action line for Sliding translation axis and Pivot rotation axis joints Limits Determines the joint minimum and maximum limits If these two values are equal then the joint has no limits rotation or translation without limits Joint power Determines the joint rigidity Joint strength Gives the value of the strength supported by the joint Joint breaking strength Strength beyond which the joint will be automatically destroyed If 0 this function is disabled This is used to simulate the destruction of a link between two objects see the NXT example Virtual Universe 27 Physical joint with another 3D Sprite Set of identical parameters but the link is created between the 3D Sprite and another 3D Sprite rather than the parent 3D Sprite The other 3D Sprite is indicated by its name This second joint is used to create circular models see the ABB Robot simulation 2D Sprite Used to display a 2D
44. on in the case of a complex 3D Sprite requiring an any shape set a simplified 3D Sprite shape with fewer facets give it the invisible and managed by physics engine attributes preserve the complex 3D Sprite shape and add it as child with the visible and not managed by physics engine attributes This solution is used in the Conveyor example Virtual Universe 25 Solution in the case of a 3D Sprite requiring a concave physical shape set several convex shapes and link them by joints Mass The mass of the object A mass of 0 freezes the object Inertia force Determines the amount of energy needed to turn the object on each of the axes Automatically adjust the center of mass If true the object s center of mass is automatically recalculated based on the 3D Sprite geometry If not the center of mass is the point of the 3D Sprite s coordinates 0 0 0 Coefficients Determine the friction elasticity and suppleness of objects A value of 0 uses the physics engine default parameters The coefficient used by the physics engine between an object A and an object B is the combination product of the coefficients of object A and object B Speed Used to access the total and local speed values of the object These values are only available for objects managed by the physics engine Penetration If true the collisions of the object are not managed For objects linked by joints see below the c
45. ot enaecesnnneceannnacaananeceannncceannnatens 22 C rent ole 1 0 peer eerererrnrntetee eeeeerrerer TTT err rtecererrrrerr tr Tr ereter ecerereee trey 22 A A 23 NaMe ee en ee 23 Position ssensseennneeeeseeeostttntttttttttttttrrsttr rtrt Eren EEEEE EEEE EE EEn nE EEEE EEE EEEren 23 Od E EE E 23 Sd SPIE eaa te enn ee ee 23 INAIMG cicccecsiccccccecsacccdiaceccccssececescceaualeaneeceuciidecdcdassecccunecccacececdaaaseccanaaias 23 DRAWING acct 23 FOStION ANO S120 a ceceeecaaetecconanecannseccasseeeeunsececansncccusseeceusanecannseccassueceuns 23 Virtual Universe Position and size Current values cccccecsseesesseeeeeeeeeeeesseeesssseeees 23 GICA USOE 23 Material current values ceecccernnineiiiieeidennnn nnan keee nee nnan nann n eniin nnna nani 23 BTOWSINO cece 24 Not selectable ssesangaacecoanorencansseannaacesnnnneasanaeeaaanaeeannnoseaeanesnannnocseeeds 24 PNYSICS e 24 Use the physics engine cccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 24 Use gravity erenn eco aea ss 24 The user can apply a force to the ObDJ Ct cccceeeeeeeeeeeeeeees 24 Type of DO 24 MASS E crerrreeererreeterccerrrer cerrerrererrrerrrr er ceerrerrerrrrrrreree 26 Inertia force Seeeeeeepeneet terre eeeeer enone reece ee nner erent eeneereneeanr rere 26 Automatically adjust the center Of MASS ccceeeeeeeeeeeeeeees 26 GOEMCIENIS eee e ee e eee er errr ee rereererere ee ttt ttt ttt ttt tt ttt ttt ttt ttrrrrrrr
46. ovement of mouse orbit around the selected object Movement of the mouse inside the rendering window automatic selection of the browsed object to orbit around Left click of the mouse on an object in STOP mode selection of the object Left mouse button pressed on an object and movement of mouse in RUN mode interaction with the selected object push pull move Virtual Universe 15 The different types of objects The objects are organized hierarchically in child parent Universe This is the parent object of the entire Virtual Universe project it contains one or more Worlds its properties set which automaton Virtual Universe will dialogue with The Universe object is always the parent of the hierarchy World This is a subset of the Universe Its properties define the rendering window aspect among other things The World objects are always the children of the Universe Camera The Cameras represent a users viewpoint in a 3D world The camera objects are children of the World objects or 3d Sprites Light The Lights are necessary just like in the real World for being able to observe the objects The Light objects are children of the World objects or 3d Sprites 3D Sprites These are the objects and their multiple physical and visual characteristics 3D Sprite objects are children of the World objects or 3D Sprites Behaviors Associated to a 3D Sprite or a Light they will dynamically change their properties for ex
47. r ee ee er 20 Server name or IP Address cceeeeecceeeeeeeee eee eeeeeeeeeeeeeeeeeeeeeeees 20 Virtual Universe Driver M340 mode ss isccccccecsesssnnsnnnenncnnnennenseennauanennannaeenanneennaunennnaainn 20 Solei E EEEE EEE EEEE AT EEEE EEEE TETEE TTT 21 Automatic RUN c 2525555555snssnnnnnenninnnnonsssehhinnmeansnnadbocadabbhhonngsananedddosans 21 Variable and state display ccc cccccccccccceceeeceseesdeeccesexeeseseeeeeeeeeeeeeseeees 21 Wiera n tan re eer eetrreet eter errr r seer ett rat eerrrrere errr tr ert es 21 Debug mode for the physics CNGING ccccseeeeeeeeeeetenteeeeeees 21 ico ic IMBeerreneeceeerer rr ceere Teer ce cre ttt serern sereeccceeenrrrssre rene ccrerr rrr strrre cee cect rrr tr 21 NEU EET EE 21 ISON eee Aeee Aeee EEEE EEEE EEEREN 21 WINGOW SIZE eeaeee E errr err ctr ren 21 Editable size enone eee eee eee renee erence eee eeeeerrereerr rere ee 21 Background Color c2cconcssnnnnnnnnnnnnnneeeeeepeeeeeeepeppeepepeeeeeeeeeeeeeeeeeeeeeepaed 21 Environment ligNt sS 22 Show the shading 2444 ccccnanicatonaccaaaaaceannsqnceengnccasaaaceetannacaccanccacqgans dna 22 Number of images displayed per second read only 0 22 Use the shader ace setae stnceececeiceciasistestan satu deeesineecoaciasenassuuncatandeceedanacasints 22 Maximum number of images per second s es 22 Camera a EEEE 22 NaMe esc erssinnttttacet teint AAAA nrnna A RAEE AR EA 22 Position ccc noacesneuacecoarccecensasaaaaasscnnooerngeg so
48. rameter to the access functions to the values associated to 3D Sprites in the form of number If the returned value is less than 0 no 3D Sprite was found See the Vacuum Robot example for an illustration GetNextSprite3D lt number gt lt name gt returns the number of the next 3D Sprite lt number gt is the value returned by GetFirstSPrite3d If the returned value is less than 0 no 3D Sprite was found Rand returns a random value between 0 and 1 See the Vacuum Robot example ComputelK lt ndof gt lt x gt lt y gt lt z gt lt a gt lt b gt lt c gt lt tx gt lt ty gt lt tz gt lt b1 gt lt b2 gt lt b3 gt lt b4 gt lt b5 lt b6 gt calculates the inverse kinematic resolution of a robot The associated Behavior must be the child of 3D Sprite composing the last element of the robot See the ABB Robot example lt ndof gt number of degrees of freedom must be 6 lt X Y Z gt position to reach lt a b c gt desired angle for the last element lt tx ty tz gt tool movement lt b1 gt to lt b6 gt name of the 6 Behaviors which will receive the values for each of the 6 axes The return value is Virtual Universe 41 0 no error the values were calculated 7 the position cannot be reached Another value lt than 0 error Virtual Universe 42 Object library It is possible to import and export complex objects composed of 3D Sprites Lights an
49. rue the volumes used by the physics engine are displayed in the rendering window yellow lines This is very useful in the development phase of a project using the physics engine to display the volumes handled by the physics engine World Name Used to indicate a World by its name Display Window size Determines the rendering window size in pixels Editable size If true the window size can be edited by the user Background color Determines the color displayed for the background on the rendering window Virtual Universe 21 Environment light Determines the color and intensity of the environment light light lighting the group of objects no matter what their positions and their orientations Show the shading If true this manages display of shading it requires that the properties of objects relative to shading also be positioned The display of shading may significantly slow down the rendering Number of images displayed per second read only Indicates the number of images displayed in a second in the rendering window Use the shader Evolved 3D displaying technique reserved for specialists Maximum number of images per second If different than 0 this limits the number of images displayed per second to the indicated value Used to preserve the processor time Camera Name Used to indicate a Camera by its name Position Determines the initial position of the Camera by the target coordinates related to the Ca
50. sennenesssssssssssssssesessssssssssssssssssssssssssssssssssnssnnsssssebacs 34 Minimum OISTANGCE ae td 34 SGPiS 34 DCMI REEE EEEE 35 Write a Senpi ett 36 Specitie TUNCHONS neucccesrnensueeneuunnannnmmmeecauennnrunnaunemmneuaunuenuvuuueeunuumceeal 37 8BD Spite name Syntax c caa E E meme 37 Access functions to values associated to a 3D Sprite 38 Behavior MAME SVMIAX iccccecccceceeetceettenttenteteeseeecenabsenemumnnmnnnnninenes 39 Access functions to values associated to Behavior 39 Access functions to values associated to the Universe 40 Other TAG HONS sededececcccacedccdccacecd ioc idadecacedecececacecccecedsacedcedecdddddacasesi 41 Object INSTA Yio ities eet ee EEEE a SR 43 External MAKS isaceceecccaniieevanniceccnmeccuantuawctenieet steccecadiuuuuunumiieenmeceedtauuanmeeeuns 43 Current value and internal current value 0 cc cece eee eeeeteeeeeeeeeeeeeees 43 Reading a Virtual Universe value from the external software 44 Writing an external software value to Virtual Universe 45 Access to the external links of an object group 46 NS A A A A AA 47 OV CY OV cia cecsenassannanascsaiasaannaqeaanenunesaeanqssannaqnaannnenssatatassannaceaannenesaaaanttsa 47 Virtual Universe Operation ae eee ee ren a eee 53 List of AUTOMGEN AUTOSIM variable references 0 066 54 List of UNITY PRO variable references s0sseeeeeeeeeeeeeeeeeees 55 PODOEANGDO
51. ttt 26 FI ae dasat aac atctcgaae IETT 26 2 0S 1 2 ec eee ec 26 Physical joint with the parent sce cccccccceccceceeeeeecccccccceeceeecesseseseeeeececetcees 26 SUIT IE EE E EEE 26 Pivot DOS INON eeii iiidid iiidid iiidid iiidid iiidid iiaia 27 Action line stsicictsiietsssoaccconsnauasanaeenon nnn sssncnnsannaesccanneessasnsassanieesonoes 27 LLITIUINS lt 2 sap aeeeconreceacanaseananececnanoceaeansseaeaneecsnnnceeaaansseneanseccennnecceansaccennad 27 JONT POWT sere EEEE 27 JONI SUSTAIN 22 ee ereere EEEE is 27 JOM Bet sl 27 Physical joint with another 3D Sprite s sssseeesseerrnneereseeeererrrnrereeeeee 28 2D SPE ere E E E rete 28 Benais errea n a renee ce 29 INAIM Gc iuccscsiccccccccsaccddtscccccescecccsssccausteasunecuciucesdccussecceaganececsscdcauseeeceinsces 29 Type ole 29 BenavVlor VDE aae nen EEE rrr rrr rrr rrr rrr rrr rrr 29 Virtual Universe Strength a ecietsercetstcisesseseissssssssssssssasesssssssssssssssssssssssssssssssesssesseseseeeees 32 Apply gogo s i 33 Position Rotation CONOR sce 33 CINKS e th teuiiansnnreannanttaiasianneeeenatttaanasarnneenennt teas 33 Initial value ccconrececoanecesennecasnove coaanasencanaeeccanocecaanaasaancecsconoceecaneeaacns 33 Current value internal current value conversion of data write TUS cicatricial ecole iit ices 33 Names orother 3D SPMES sceccccceccaveeeutrccenrerencceeremunnuiameeneneccuenneys 33 Use the value of this UN cr 33 aeaa Oa E 33 SOUNGS oi21 ctcsccsnnstecnsi
52. verse 38 RELSPEEDX RELSPEEDY RELSPEEDZ Relative speed RELROTSPEEDX RELROTSPEEDY RELROTSPEEDZ Relative angular speed at parent TRANSPARENCY Transparency from 0 opaque to 1 invisible SetValSprite3d lt parameter gt lt value gt edits a value associated to a 3D Sprite lt parameter gt is identical to GetValSprite3d with more JOINTMIN JOINTMAX minimum and maximum value of the joint with the parent JOINTMIN2 JOINTMAX2 minimum and maximum value of the second joint Behavior name syntax The name for reference to Behaviors must comply with the following syntax a name without path it will search for the first Behavior whose name starts with this text in all the current World 3D Behaviors lt name gt a named Behavior brother of the current behavior lt sprite name gt lt Behavior name gt a named Behavior child of a 3D Sprite The 3D Sprite name must meet the criteria defined in the 3D Sprite name syntax chapter Access functions to values associated to Behavior GetBehavior lt parameter gt returns a value associated to a Behavior lt parameter gt can be a Behavior name or a Behavior name and value type The syntax is lt Behavior name gt lt value type gt Virtual Universe Or lt Behavior name gt If the value type is omitted the current value is referenced The possible value type is internalvalue to access the current internal value Examples MY B
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