Simulation 3D Actor Transform Get

Get actor translation, rotation, scale

Since R2021b

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Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core
Aerospace Blockset / Animation / Simulation 3D
Simulink 3D Animation / Simulation 3D / Utilities

Description

Note

Simulating models with the Simulation 3D Actor Transform Get block requires Simulink^® 3D Animation™. If you had an Aerospace Blockset™ license prior to R2024a, you might be eligible to continue using Simulation 3D Actor Transform Get to simulate models in the 3D environment. For more information, see Opt-In Offer for Aerospace Blockset Unreal Engine Visualization Users.

The Simulation 3D Actor Transform Get block provides the actor translation, rotation, and scale for the Simulink simulation environment.

The block uses a vehicle-fixed coordinate system that is initially aligned with the inertial world coordinate system.

Axis	Description
X	Forward direction of the vehicle Roll — Right-handed rotation about X-axis
Y	Extends to the right of the vehicle, initially parallel to the ground plane Pitch — Right-handed rotation about Y-axis
Z	Extends upwards Yaw — Left-handed rotation about Z-axis

Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor.

Tip

Verify that the Simulation 3D Scene Configuration block executes before the Simulation 3D Actor Transform Get block. That way, the Unreal Engine^® 3D visualization environment prepares the data before the Simulation 3D Actor Transform Get block receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:

• Simulation 3D Scene Configuration — 0

• Simulation 3D Actor Transform Get — 1

For more information about execution order, see Control and Display Execution Order.

Ports

Output

Translation — Actor translation

array

Actor translation, in m. Array dimensions are number of parts per actor-by-3.

• Translation(1,1), Translation(1,2), and Translation(1,3) — Vehicle displacement along world X-, Y, and Z- axes, respectively.

• Translation(...,1), Translation(...,2), and Translation(...,3) — Actor displacement relative to vehicle, in vehicle-fixed coordinate system initially aligned with world X-, Y, and Z- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Translation signal:

• Dimensions are [5x3].

• Contains translation information according to the axle and wheel locations, relative to vehicle.

  $$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_{FL}& Y_{FL}& Z_{FL}\\ X_{FR}& Y_{FR}& Z_{FR}\\ X_{RL}& Y_{RL}& Z_{RL}\\ X_{RR}& Y_{RR}& Z_{RR}\end{array}\right]$$

  Translation	Array Element
  Vehicle, Xv	Translation(1,1)
  Vehicle, Yv	Translation(1,2)
  Vehicle, Zv	Translation(1,3)
  Front left wheel, XFL	Translation(2,1)
  Front left wheel, YFL	Translation(2,2)
  Front left wheel, ZFL	Translation(2,3)
  Front right wheel, XFR	Translation(3,1)
  Front right wheel, YFR	Translation(3,2)
  Front right wheel, ZFR	Translation(3,3)
  Rear left wheel, XRL	Translation(4,1)
  Rear left wheel, YRL	Translation(4,2)
  Rear left wheel, ZRL	Translation(4,3)
  Rear right wheel, XRR	Translation(5,1)
  Rear right wheel, YRR	Translation(5,2)
  Rear right wheel, ZRR	Translation(5,3)

Rotation — Actor rotation

array

Actor rotation across a [-pi/2, pi/2] range, in rad. Array dimensions are number of parts per actor-by-3.

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Vehicle rotation about vehicle-fixed pitch, roll, and yaw Y-, Z-, and X- axes, respectively.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Actor rotation about vehicle-fixed pitch, roll, and yaw Y-, X-, and Z- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Rotation signal:

• Dimensions are [5x3].

• Contains rotation information according to the axle and wheel locations.

  $$Rotation=\left[\begin{array}{ccc}Pitc{h}_v& Rol{l}_v& Ya{w}_v\\ Pitc{h}_{FL}& Rol{l}_{FL}& Ya{w}_{FL}\\ Pitc{h}_{FR}& Rol{l}_{FR}& Ya{w}_{FR}\\ Pitc{h}_{RL}& Rol{l}_{RL}& Ya{w}_{RL}\\ Pitc{h}_{RR}& Rol{l}_{RR}& Ya{w}_{RR}\end{array}\right]$$

  Rotation	Array Element
  Vehicle, Pitchv	Rotation(1,1)
  Vehicle, Rollv	Rotation(1,2)
  Vehicle, Yawv	Rotation(1,3)
  Front left wheel, PitchFL	Rotation(2,1)
  Front left wheel, RollFL	Rotation(2,2)
  Front left wheel, YawFL	Rotation(2,3)
  Front right wheel, PitchFR	Rotation(3,1)
  Front right wheel, RollFR	Rotation(3,2)
  Front right wheel, YawFR	Rotation(3,3)
  Rear left wheel, PitchRL	Rotation(4,1)
  Rear left wheel, RollRL	Rotation(4,2)
  Rear left wheel, YawRL	Rotation(4,3)
  Rear right wheel, PitchRR	Rotation(5,1)
  Rear right wheel, RollRR	Rotation(5,2)
  Rear right wheel, YawRR	Rotation(5,3)

Scale — Actor scale

array

Actor scale. Array dimensions are number of parts per actor-by-3.

• Scale(1,1), Scale(1,2), and Scale(1,3) — Vehicle scale along world X-, Y-, and Z- axes, respectively.

• Scale(...,1), Scale(...,2), and Scale(...,3) — Actor scale along world X-, Y-, and Z- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Scale signal:

• Dimensions are [5x3].

• Contains scale information according to the axle and wheel locations.

  $$Scale=\left[\begin{array}{ccc}{X}_{V_{scale}}& Y_{V_{scale}}& Z_{V_{scale}}\\ X_{F{L}_{scale}}& Y_{F{L}_{scale}}& Z_{F{L}_{scale}}\\ X_{F{R}_{scale}}& Y_{F{R}_{scale}}& Z_{F{R}_{scale}}\\ X_{R{L}_{scale}}& Y_{R{L}_{scale}}& Z_{R{L}_{scale}}\\ X_{R{R}_{scale}}& Y_{R{R}_{scale}}& Z_{R{R}_{scale}}\end{array}\right]$$

  Scale	Array Element
  Vehicle, Xvscale	Scale(1,1)
  Vehicle, Yvscale	Scale(1,2)
  Vehicle, Zvscale	Scale(1,3)
  Front left wheel, XFLscale	Scale(2,1)
  Front left wheel, YFLscale	Scale(2,2)
  Front left wheel, ZFLscale	Scale(2,3)
  Front right wheel, XFRscale	Scale(3,1)
  Front right wheel, YFRscale	Scale(3,2)
  Front right wheel, ZFRscale	Scale(3,3)
  Rear left wheel, XRLscale	Scale(4,1)
  Rear left wheel, YRLscale	Scale(4,2)
  Rear left wheel, ZRLscale	Scale(4,3)
  Rear right wheel, XRRscale	Scale(5,1)
  Rear right wheel, YRRscale	Scale(5,2)
  Rear right wheel, ZRRscale	Scale(5,3)

Parameters

Tag for actor in 3D scene, ActorTag — Name

SimulinkActor1 (default) | character vector

Actor name.

Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor.

The block does not support multiple instances of the same actor tag. To refer to the same scene actor when you use the 3D block pairs (e.g. Simulation 3D Actor Transform Get and Simulation 3D Actor Transform Set), specify the same Tag for actor in 3D scene, ActorTag parameter.

Number of parts per actor to get, NumberOfParts — Name

1 (default) | scalar

Number of parts per actor. Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor. Typically, a vehicle actor with a body and four wheels has 5 parts.

The block does not support multiple instances of the same actor tag. To refer to the same scene actor when you use the 3D block pairs (e.g. Simulation 3D Actor Transform Get and Simulation 3D Actor Transform Set), specify the same Tag for actor in 3D scene, ActorTag parameter.

Sample time — Sample time

-1 (default) | scalar

Sample time, T_s. The graphics frame rate is the inverse of the sample time.

Version History

Introduced in R2021b

R2024a: Requires Simulink 3D Animation

Simulating models with the Simulation 3D Actor Transform Get block requires Simulink 3D Animation. If you had an Aerospace Blockset license prior to R2024a, you might be eligible to continue using Simulation 3D Actor Transform Get to simulate models in the 3D environment. For more information, see Opt-In Offer for Aerospace Blockset Unreal Engine Visualization Users.