Virtual Reality and Animation for MATLAB® and Simulink® Users

Nassim Khaled

Virtual Reality and Animation for MATLAB® and Simulink® Users

Visualization of Dynamic Models and Control Simulations

Springer

Contents

1 Introduction to Virtual Reality in MATLAB® and Simulink® Environment 1 1.1 Overview of the Book 1

2 V-Realm Builder» 3 2.1 Introduction 3 2.2 What Is V-Realm Builder? 3 2.3 Installing V-Realm Builder from MATLAB® 3 2.4 Starting V-Realm Builder 4

3 The Translating Cube 7 3.1 Introduction 7 3.2 Cube Problem 8 3.3 Creating the Virtual Scene for the Cube 8 3.4 Cartesian Coordinates for the VRML 14 3.5 M-script File for Solving the Differential Equation 15 3.6 M-script File for Animating the Virtual Scene 16 3.7 Application Problem 18 Reference 19

Book 19

4 Mass-Spring-Damper Oscillations 21 4.1 Introduction 21 4.2 Mass-Spring-Damper Problem 22 4.3 Creating the Virtual Scene for the Mass-Spring-Damper 22 4.4 Adding Material and Changing the Color Properties

of the Virtual Objects 26 4.5 M-script File for Solving the Differential Equation 28 4.6 M-script File for Animating the Virtual Scene 31 4.7 Application Problem 33 Reference 34

Book 34

V

vi Contents

5 Crank-Slider Mechanism of a Piston 35 5.1 Introduction 35 5.2 Crank-Slider Mechanism 35 5.3 Creating the Virtual Scene for the Crank-Slider Mechanism 36 5.4 M-script File for Animating the Virtual Scene 42 5.5 Application Problem: Control of a Ball on a Plate 46 References 48

Books 48

6 Car Animation with Joystick Control 49 6.1 Introduction 49 6.2 Equations of Motion of the Car and Wheels 50 6.3 Creating the Virtual Scene for the Car 52 6.4 Joystick Setup 67 6.5 M-script File for Animating the Virtual Scene 67 6.6 Changing the Viewpoint 71 6.7 Application Problem: Fuzzy Logic Controller

for the Car Speed 72 Reference 74

Book 74

7 Animation of a Ship Moving Across Waves 75 7.1 Introduction 75 7.2 Equations of Motion of Sea Waves and the Ship 75 7.3 Creating the Virtual Scene for the Sea and Ship 76 7.4 M-script File for Animating the Virtual Scene 93 7.5 Application Problem: Ship Heading Controller 95 References 98

Books 98

8 Animation of a Translating Cube Using Simulink® 99 8.1 Introduction 99 8.2 Translating Cube Problem 99 8.3 Cartesian Coordinates for the Virtual Reality

Environment VRML 100 8.4 Creating the Simulink® Model for Animating

the Virtual Scene 101 8.5 Application Problem: Collision of Two Boxes 106 Reference 108

Book 108

9 Animation of Mass-Spring-Damper Oscillations Using Simulink® 109 9.1 Introduction 109 9.2 Mass-Spring-Damper Problem 109 9.3 Creating the Simulink® Model for Animating

the Virtual Scene 110

Contents vii

9.4 Changing the Viewpoint in Simulink® 118 9.5 Application Problem: Collision of Two Boxes 119 Reference 121

Book 121

10 Animation of Crank-Slider Mechanism of a Piston Using Simulink® 123 10.1 Introduction 123 10.2 Crank-Slider Mechanism 123 10.3 Creating the Simulink® Model for Animating

the Virtual Scene 124 10.4 Changing the Viewpoint in Simulink® 128 10.5 Application Problem: Control of a Ball on a Plate 129 References 139

Books 139

11 Car Animation with Joystick Control for Simulink® Users 141 11.1 Introduction 141 11.2 Equations of Motion of the Car and Wheels 142 11.3 Joystick Setup 144 11.4 Creating the Simulink® Model for Animating

the Virtual Scene 146 11.5 Application Problem: Fuzzy Logic Controller

for the Car Speed 149 Reference 160

Book 160

12 Animation of a Ship Moving Across Waves Using Simulink® 161 12.1 Introduction 161 12.2 Equations of Motion of Sea Waves and the Ship 161 12.3 Simulink® Model for Animating the Virtual Scene 162 12.4 Application Problem: Ship Heading Controller 169 References 172

Books 172

Index 173