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3D Visualization With Modelica

Open modelica tutorial taken from their website

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Sreerag V N
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171 views

3D Visualization With Modelica

Open modelica tutorial taken from their website

Uploaded by

Sreerag V N
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 4

3D Visualization
with Modelica

1 Copyright © Open Source Modelica Consortium


Application of Modelica in Robotics Models
Real-time Training Simulator for Flight, Driving

• Using Modelica models


generating real-time
code
• Different simulation
environments (e.g.
Flight, Car Driving,
Helicopter)
• Developed at DLR
Munich, Germany
• Dymola Modelica tool

(Movie demo next page)

Courtesy of Tobias Bellmann, DLR,


Oberphaffenhofen, Germany

2 Copyright © Open Source Modelica Consortium


DLR Real-time Training Simulator Movie Demo

3 Copyright © Open Source Modelica Consortium


OMEdit 3D Visualization of Multi-Body Systems
• Built-in feature of OMEdit to
animate MSL-Multi-Body
shapes
• Visualization of simulation
results
• Animation of geometric Simulate
with
primitives and CAD-Files Animation

New
Animation
Window

4 Copyright © Open Source Modelica Consortium


OpenModelica 3D Animation Demo
(V6Engine and Excavator)

5 Copyright © Open Source Modelica Consortium


OpenModelica 3D Animation – Excavator

6 Copyright © Open Source Modelica Consortium


The Mechanics.MultiBody Library has
Pre-defined Geometric Shapes
Default visualization shapes for
Body, BodyShape, BodyBox, and BodyCylinder

• Geometric primitives Visualization body shapes for BodyShape


and CAD-Files: depending on the value of shapeType

7 Copyright © Open Source Modelica Consortium


Visualization using Third-Party Libraries:
DLR Visualization Library
• Advanced, model-integrated
and vendor-unspecific
visualization tool for
Modelica models
• Offline, online and real-time
animation
• Video-export function
• Commercial library, feature
reduced free Community
Edition exists

Courtesy of Dr. Tobias Bellmann (DLR)

8 Copyright © Open Source Modelica Consortium


DLR Visualization Library – More Details

• Advanced, model-integrated and vendor-unspecific visualization tool for


Modelica models. especially useful in the mechanical, fluid and
electrical area. Most components are attached to a Modelica model with a
Frame connector of the Modelica.Mechanics.MultiBody library
• Offline, online and real-time animation
• Visualizers for basic shapes, CAD files (.3ds, .obj, .dxf, .stl, .vrml and
more), flexible bodies and surfaces, text, light, energy-/mass-flow
visualizers, analogue instruments and weather effects. A camera system.
• Buttons, Checkboxes and Sliders are available for the creation of
graphical user interfaces. control the simulation interactively.
• Support for multi-camera scenes, a fullscreen mode, several monitors,
replays and stereo/wireframe modes. Based on the OpenSceneGraph
• Video-export as MPEG4, Windows Media Video, Flash Video

9 Copyright © Open Source Modelica Consortium


DLR Visualization Library – Modelica Components

10 Copyright © Open Source Modelica Consortium


DLR Visualization Library – DLR SimVis Viewer

Example
View

11 Copyright © Open Source Modelica Consortium


Exercise 4.1: Use 3D Visualization for Robot model

• Open the
Modelica.Mechanics.MultiBody.Examples.Systems.
RobotR3.fullRobot
example in OMEdit
• Press Simulate with Animation
• Replay the animation
• Compare with the plot

12 Copyright © Open Source Modelica Consortium


Exercise 4.2: Visualization using the
DLR Visualization Community Edition (1)
• UnpackVisualizationCommunityEdition.zip
• Open the library in OMEdit, by doing load
library on the Visualization subdirectory
• Simulate(->) the EMotor example
• The DLR SimVis visualization app should
start automatically
• Export the animation
(File→Export Replay as Video, use an
absolute file path to find the created file)
Please note: As of OpenModelica
v1.12 support for the library is only
partial and it is not yet as stable, fast
and complete as for the Dymola tool
(work in progress!)

13 Copyright © Open Source Modelica Consortium


Exercise 4.2 Cont’: Visualization using the
DLR Visualization Community Edition (2)
Goal: Instead of OMEdit, use OMShell for
running the examples
• Enter the Visualization directory in the
accompanying files and use an editor to
open the OpenModelica scripting file
runVisualizationCommunityExamples.mos
• Change the “libraryPath” variable in the
script to the respective library path on
your machine
• Start the OMShell tool
• You can copy-paste the commands from
the scripting file into the OMShell tool

14 Copyright © Open Source Modelica Consortium

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