Vortex Software Solution 6.6 Samples Starting Guide

Transcription

1 Vortex Software Solution 6.6 Samples Starting Guide This document explains how to control the mechanisms and scenes provided as samples with Vortex Software Solution 6.6

2 TABLE OF CONTENTS Installation... 3 Vortex Samples Directory Structure... 3 Vortex Player... 4 Available Samples... 5 Defense Vehicles (LAV & M1A2)... 6 Mobile Crane... 9 Offshore Top Side Vessel with Knuckle-Boom Crane Offshore Sea Bed Subsea ROV Excavator and Dump Truck Packbot for Explosive Ordnance Disposal Forklift in Warehouse Forestry Forwarder Engineering Test Terrain

3 INSTALLATION The Vortex Samples installation package is available from the MyVortex website. Follow these instructions to download and install the package: 1. Go to MyVortex ( 2. On the login page, enter your username and password and then press Enter. 3. Select the Downloads tab. 4. Find the Vortex_Samples_6.6.msi package in the Latest Release (6.6) section. 5. Click the link to begin the download. 6. In the window that opens, click Save File to download the installer. Note: some browsers will directly open a Downloads window indicating the status of the install. 7. Browse to the location of the installer and double-click to start the installation. Note: if you are asked to verify the install process, click Run. To override this security warning, select the Always ask before opening this file option. 8. Follow the instructions in the Vortex Setup Wizard. Note: if you want to install the samples package somewhere other than the default installation folder, click the Browse button and choose an alternate location. Your installation is now complete. Vortex Samples Directory Structure By default, the Vortex Samples folder is installed under the Vortex root folder (C:\CM Labs\Vortex Samples 6.6\). Its sub-directories provide access to the following elements: Sub-directory Environment Equipment Equipment/Resources Scenario Contents Terrains used in scenes Vehicle and prop mechanisms Additional content such as CSV tables for vehicle systems Editor and Player asset files for scenes If needed, the scenes associated material tables can be located in their respective Scenario folders. If the table is not found, the default material table will be used instead, and the scene s dynamic behaviors will be incorrect. 3

4 VORTEX PLAYER For installation procedures and general Vortex Player information, please refer to the main Vortex documentation. Once the Vortex Samples package is installed, the Vortex Player automatically detects the installation folders and populates the Scene list with all the scenes available. Scenes have different cameras and roles usually a default, free-fly camera and additional cameras attached to the equipment. Select a role to enable the controls associated with that role, and select the camera associated with the role to get the correct viewpoint. Cycle between the roles using the r keyboard shortcut; Cycle between the cameras using the c keyboard shortcut; Or, use the Roles and Seats tab in the Player to configure the active role (click on the Roles column) and then the camera (click on the Cameras column). 4

5 AVAILABLE SAMPLES Several pre-built samples are provided with Vortex 6.6 to demonstrate Vortex s high-fidelity dynamic capabilities. Sample Defense Vehicles Mobile Crane Offshore Top Side Vessel with Knuckle-Boom Crane Offshore Sea Bed Subsea ROV Excavator and Dump Truck Explosive Ordnance Disposal Forklift in Warehouse Forestry Forwarder Engineering Test Terrain Description This scenario includes a trio of armored vehicles that can be driven over a variety of terrain types. This scenario features a rough terrain crane lifting a length of concrete pipe in a constrained environment (houses, trees). This scenario features an intervention vessel using a knuckle crane to lift an EDP out of the water and onto the deck. This scenario features a generic ROV inspecting a typical sub-sea field. The ROV is equipped with controllable arms. This scenario shows a standard 36-ton excavator digging and filling a dump truck with soil in a construction zone. This tense night scenario shows an EOD specialist using a tethered Packbot to inspect and move a suspicious suitcase. This night-shift scenario features a generic forklift moving boxes and pallets from one set of shelves to another. This outdoor scenario features a heavy forestry forwarder collecting logs and moving them to a central collection area. This scene is an empty plain with modular terrain elements to build your own custom test track. The samples are all configured to be operated using a gamepad-type controller. If you have a different type of control device, you might need to adjust the connections and mapping using the Vortex Editor. Note that many samples require the installation of separate add-ons. If these are not present, not all functionalities of the sample will be available, and warnings may appear in the Editor. You should still be able to simulate in the Editor and the Player. 5

6 Defense Vehicles (LAV & M1A2) This sample provides an eight-wheeled Light Armored Vehicle (LAV) and a M1A2 main battle tank. Both combine a Vehicle Systems model with simple logic to operate the vehicle via the gamepad. In addition, a second LAV is available with Hull Protection Kit (HPK) armor to increase protection at the cost of lower manoeuvrability. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vehicle Systems: required for the vehicles transmissions and suspensions. Highlights The LAV features an automatic transmission with 15 gears (6 reverses and 8 forwards, plus neutral). The LAV driver can engage the 8x8 mode by locking all differentials for increased allterrain performance. Flat tire faults can be triggered from the Instructor VHL Interface for the LAV. The M1A2 features an automatic transmission with a pivot gear to turn on the spot. Operation Notes Start by selecting a Role, and then launch the simulation. The vehicles can be driven from either position (driver or gunner), only the viewpoint changes. Put the vehicle in gear and use the throttle to start moving. Flat tire faults can be triggered from the Instructor VHL Interface for the LAV. In the Player, this is accessed via the Content Debugger tab: open the Content folder, then the Scene folder, then the vehicle folder, and locate the Instructor entry. There are checkboxes to trigger the event ( FL Wheel Flat and FR Wheel Flat ). 6

7 Simulation Notes The LAV assembly mostly contains the chassis and the turret parts. o The antenna s graphic model is divided in five pieces. Parts connected with hinge constraints are used to create the flexible antenna. Two camera extensions are placed in the mechanisms to provide independent points of view for the operators (driver and gunner). The Vehicle Systems use braking and engine torque tables that are suitable for heavy equipment. Additional tables are available in the Equipment/Resources folder. When setting up the Vehicle Systems wheel components, you can define which ones are steerable. In this case, the LAV s four front wheels are configured as such. The M1A2 does not have a mesh model for the tracks. These are generated and animated via the Vehicle Systems. The HPK Armor is a separate mechanism that is attached, at the scene level, to another instance of the base LAV model. Note that both armor and vehicle have corresponding attachment points set up at the mechanism level. The LAV also has four Attachment Points on the chassis corners that can be used for towing cables and other equipment. Python Scripts Differential Lock handles which differential components are locked, depending on operating mode. Note that the two rear axles are locked permanently on the LAV (this can be changed in the differential script). Gear Value returns the exact gear mode and number for the VHL output interface. LAV Controller handles the gear (Park, Gear Up and Gear Down) and engine state of the vehicle. It takes various inputs such as current gear, throttle and brake signals (either from the VHL or another script), and returns values to the Vehicle Systems to put the LAV in motion. Recoil applies forces similar to the ones generated when firing the gun when the fire button is pushed. It does not actually fire a projectile. Turret Controller controls the turret s motions using switch inputs rather than analog, since the turret is controlled from the digital D-Pad instead of an analog joystick. InLine Help manages the display of the joystick control diagram in the lower left corner of the screen. Fault Wheel simulates the loss of the left and/or right front tire, depending on what s been triggered. The outputs change the material and visual aspects of the wheel to remove the tire and simulate running on the rim. 7

8 HUD Controller manages the display of the speed, RPM and current gear at the bottom right of the screen. M1A2 Controller handles the gear (Park, Gear Up and Gear Down) and engine state of the vehicle. It takes various inputs such as current gear, throttle and brake signals (either from the VHL or another script), and returns values to the Vehicle Systems to get the tank in motion. Pivot Steer is available to turn the tank on the spot. 8

9 Mobile Crane This sample provides a rigging scenario example. It combines a Vehicle Systems with Cable Systems and advanced logic. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Cable Systems: required for the crane and the spreader. Vortex Human (Add-on and Data): required for the avatars including the slingers and supervisor. Vortex Tree Library: required for the trees and vegetation. Highlights Demonstrate the Cable systems with a spreader and the crane itself. Rigging is simulated via a script to attach the hooks as needed. Simulated hydraulics (via a Python script with a low-pass filter) provide a similar feel to the real vehicle. Operation Notes While the featured model includes the crane s normal driving capabilities, the sample scenario locks the crane in operation mode for simplicity. The crane will not accept commands until the outriggers are fully deployed. The engine throttle must be used in combination with the respective hoist, boom, and turret commands. 9

10 The sample uses color coding to indicate the state of the rigging. The hook and slings must be brought close to one another to allow them to be attached. o If the hook is red, the Anti-Two Block is activated; the hook is too close to the boom s pulley. You must lower the hoist. o If the hook is green, you are in range to attach the load s sling to the hook. Make sure the hook is properly positioned above the load. o If the hook is yellow, the load is being attached. Do not move the crane or hook. o If the hook is blue, the load is properly attached. Simulation Notes The mobile crane assembly includes some features to increase the fidelity of the model, such as: o The hydraulic controls (turret, boom elevation and extension) are matched with a low pass filter to add inertia. o The turret and booms have some relaxation in their constraints to provide torsion under heavy lifting. o The weighted hook contains a hinge constraint with friction to avoid torsion when the load is rotating. Cable Systems has the Enable Breakage parameter turned on. When the maximum tension (10,000N) is exceeded for more than ten steps (approx. 160ms), the flexible cable is cut. The attachment logic in the scene adds a constraint between each sling cable attachment point and the hook attachment point. This operation is performed when the simulation is started. When the hook is within the attraction distance and the attach command is triggered, the Max Force value is applied to attract the sling attachment point onto the hook progressively. Python Scripts Anti-Two Block measures the distance between the hook and the pulley, and locks the drum if they are too close. Drum takes inputs from the throttle and joystick and combines them to drive the drum, up to the maximum length of the cable (which is set as a parameter). Gear Value returns the exact gear mode and number for the VHL output interface. In this case the script is inactive since the crane will not be driven. Hydraulic Boom takes inputs from the throttle and joystick and combines them to drive the boom, acting on the constraint linking the boom s hydraulic cylinders. The signal is processed via a low-pass filter to give a similar feeling to real hydraulics. 10

11 Mobile Crane Controller is the main control scrip of the vehicle. It handles the gear (Park, Gear Up and Down) and engine state of the vehicle. It takes various inputs (either from the VHL or other scripts), and returns values to the Vehicle Systems and constraints to get the crane in motion. Since the crane is locked in place, not all functions are used. Outriggers handles the movements of the crane s stabilizers. It takes inputs from the Controller script and deploys the outriggers as needed. Telescopic Boom takes inputs from the throttle and joystick and combines them to drive the telescopic boom, acting on the constraint linking the boom s hydraulic sections. Like for the main boom, the signal is processed via a low-pass filter to give a similar feeling to real hydraulics. There s an input from the Anti-Two Block script that locks the boom if the hook and pulley get too close. Turret takes inputs from the throttle and joystick and combines them to rotate the turret, acting on the constraint linking the latter to the crane body. Again, the signal is processed via a low-pass filter. InLine Help manages the display of the joystick control diagram in the lower left corner of the screen. HUD Controller manages the display of the speed, RPM and current gear at the bottom right of the screen. There are three Rigging Controllers, one for each of the hooks. These receive the order to attach and generate the force needed to bring the cable to the attachment point. Hook Colorization handles the color of the hook. The hook s color comes from the VHL input, depending on the conditions in the scene. Note that this script is placed at the scene level, not the mechanism s, since it involves data inputs and outputs from several elements (the crane, the hook, the spreader, and the concrete pipe). Attach Sling takes the single input signal to attach the sling, and splits it to the Sling Front and Sling Rear scripts. 11

12 Offshore Top Side Vessel with Knuckle-Boom Crane This sample provides an offshore scenario to demonstrate the use of Vortex in a marine environment. It includes a controllable knuckle boom crane mounted on a vessel to transfer equipment from the vessel to the seabed. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vortex Marine: required for the vessel wake and propeller effect on the ocean surface. Vortex Human (Add-on and Data): required for the avatars including the signalers, slingers and supervisor. Vortex Simulink (Vortex Simulink Editor): required for the heave compensation of the offshore crane. Highlights Illustrate how Vortex can be used to perform lift planning and validation in an offshore environment. The ocean simulation includes wave modeling, water surface reflections and propeller effects. It s possible to change the waves size and the wind force during the simulation. Hooking of equipment is controlled via Python scripting. Vessel operations can be simulated using crew avatars on vessel deck (the signaler role is controllable with a gamepad to walk around the ship). Optional co-simulation with Simulink for the heave control compensation system of an offshore vessel crane. 12

13 Operation Notes Use the crane control to hoist up the subsea module and land it on the vessel deck. Unhook the subsea module using the gamepad. During simulation, a compiled Simulink model is controlling the motion of the knuckleboom crane drum to compensate for the heave motion of the vessel. You need to install the Vortex Simulink Editor add-on (i.e. it is not required to install MATLAB or Simulink itself). Select the Signaler Role to walk around the vessel deck using the gamepad controller. Simulation Notes The scene includes two intervention vessels with equipment on deck, a Floating Production Storage and Offloading (FPSO) ship, and a subsea module (EDP) hooked to a knuckle-boom crane. o The observation intervention vessel is used to illustrate the thruster wash effect. The former automatically moves in wide circles around the scene. Ocean properties are defined in the Ocean Dynamics extension under the Environment Properties. By changing the inputs and parameters of this extension in the Vortex Editor, it is possible to alter the sea state and sea current. Under the Ocean Dynamics, the Ocean Graphics extension can be used to tune ocean visibility (fog, silt) and ocean reflection/color. Environment controls (such at the time of the day and weather conditions) can be changed under Environment/Sky Dome. Offshore sounds were added to the scene to provide audio feedback. Python Scripts Underwater Visibility Control lets the user toggle between top side and subsea visibility levels directly from the gamepad. InLine Help manages the display of the gamepad control diagram in the lower left corner of the screen. Propeller Speed returns a propeller speed based on the vessel s own speed. This is used to set the propeller wash effect. Crane Controller takes inputs from the VHL (and thus gamepad) and combines them to drive the boom and stick, acting on the constraint linking the crane together. The signals are processed via a low-pass filter to give a similar feeling to real hydraulics. 13

14 Offshore Sea Bed Subsea ROV This sample provides an offshore scenario to demonstrate the use of Vortex in a marine environment. It includes a Remotely Operated Vehicle (ROV) with robotic manipulators and tooling to perform subsea interventions. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vortex Marine: required for the hydrodynamics and current effects. Highlights Simulates the hydrodynamics of an underwater vehicle (ROV). Showcases the three types of cables available in Vortex: o Generic Cable: flexible cables used to model the tether cable connecting the ROV to the Tether Management System (TMS) and to model the umbilical connecting the TMS to the LARS system on the offshore vessel. o Catenary: used to model the risers connecting the FPSO to the subsea modules on the seabed. o Pipeline: used to model fixed pipelines on the seabed. Modeling and control of robotic manipulators using joint-by-joint control or inverse kinematics using Python scripting. Ocean modeling including sea current and visibility. 14

15 Operation Notes When piloting the ROV, make sure you spool out enough tether to properly operate the remote vehicle. Different cameras can be used to monitor ROV interventions: Docking Camera: the docking camera is used to assist the ROV operator during the latching of the ROV into the TMS. ROV Camera: camera located in front of the ROV during normal ROV interventions. Allows to navigate the ROV and perform manipulations using the robotic manipulators on the ROV. Titan4 Camera: this camera is installed on the wrist of the Titan4 robotic manipulator. It can be used for better visibility when grasping objects. Third-Person View Camera: this is a camera to monitor ROV operations from an observer point of view. You can control the view of this camera by clicking on the left mouse button and using the mouse to position the camera. To toggle between the ROV and the robotic manipulators, use the gamepad. If the ROV Operator role is active, the HUD/image in the down-right corner of the screen will highlight which equipment is currently being controlled. You can toggle between low and high underwater visibility using the gamepad. This sample also illustrates how simulation can be used to perform subsea accessibility studies. The torque tool installed on the ROV can only be partly inserted into the AAV Bucket on the Christmas Tree due to contact between the top of the ROV and the top of the Christmas Tree (see picture below). Using the Vortex Editor, the torque tool can be repositioned lower on the ROV in order to be able to fully insert it into the AAV bucket. 15

16 Simulation Notes Ocean properties are defined in the Ocean Dynamics extension under the Environment Properties. By changing the inputs and parameters of this extension in the Vortex Editor, you will be able to alter the sea state and sea current. Under the Ocean Dynamics, you will also find the Ocean Graphics extension which can be used to tune ocean visibility (fog, silt) and ocean reflection/color. Control of the ROV thrusters is achieved using seven thrusters extensions located in the ROV mechanism (see below). Python Scripts ROV Multiple Device Selection lets the user toggle between the various controls and tools attached to the ROV. ROV Controller checks the desired ROV velocity coming from the gamepad, and computes the required thruster speeds necessary to create that motion. It then outputs the control signals to the thruster extensions. Thruster Joystick Command checks the signals coming from the gamepad, and computes a direction signal to feed to the ROV Controller script. Camera Controller checks the joystick inputs for the camera and turns them into a tilt velocity for the constraint that attaches the camera to the ROV. Torque Tool Display checks the number of rotations made by the tool and converts them into text to be displayed. Titan4 Joystick Mapping takes the various joystick inputs and converts them into velocities suitable for use by the Inverse Kinematic script. IK Titan4 takes the current and desired positions of the arm, and computes the required joint motions required to complete the command. Rigmaster Joystick Mapping takes the various joystick inputs and converts them into velocities suitable for use by the Inverse Kinematic script. TMS Drum Control takes the gamepad input and converts it into an angular velocity for the drum constraint. It also imposes a limit to that speed via a set parameter. 16

17 Excavator and Dump Truck This sample provides a digging scenario on loam soil with a 36-ton excavator and a three-axle construction truck vehicle. The truck combines a Vehicle Systems model with simple logic to drive the vehicle; in addition, it provides control for both brake and retarder combined. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vehicle Systems: required for the vehicles transmissions and suspensions. Cable Systems: required to model the excavator s hydraulic lines. Earthworks Systems: required to model the soil and excavation. Vortex Human (Add-on and Data): required for the avatars including the waiting truck driver, workers, and supervisor. Vortex Tree Library: required for the trees and vegetation. Highlights The excavator mechanism provides a hydrostatic Vehicle Systems model with rigid tracks. The logic provides hydraulic controls for all actuators with a low pass filter to simulate inertia. The entire area between the orange cones can be dug into, including the loose soil pile to the left. Soil can be excavated using the bucket or pushed with the dozer blade. Excavated soil can be dumped in the truck or added to the pile. 17

18 Operation Notes The Excavator comes with two control modes, either operating the tracks or the turret with the hydraulic actuators. o To dig with the excavator, use the controls to operate the turret and the hydraulic actuators of the boom and arm. o To drive the excavator, switch to Drive mode, and use coordinated left and right track commands to move forward, backward, or turn. The excavator can pivot in place. o The excavator's dozer blade can be lowered or raised in either mode. The truck can be driven and its bed emptied (note that the latter function is not animated for simplicity). Simulation Notes The boom and arm have some relaxation in their constraints to provide torsion under heavy forces. The Soil Layer tool, combined with empty collision geometries, is used to generate the loose soil pile. Adjusting the Relative Density field will change the pile s shape as it settles more or less. The starting shape can also be modified by changing the collision geometries in the Soil Pile mechanism. A VHL interface is used to change the bucket soil material configuration from the scene to avoid changing the mechanism file for each soil type. In the Player, this is accessed via the Content Debugger tab: open the Content folder, then the Scene folder, then the Excavator folder, and locate the Earthwork Bucket entry. A simple Cable Systems is used to model the flexible sections of the excavator s hydraulic lines. The parts of the vehicle the lines are attached to are set to infinitely massive, to optimize the simulation. The Mirror extension is used to create a reflective surface in the cab s left-side mirror. Since the right-side mirror cannot be seen without changing the point of view, it has been left bare to save on processing power. The glass windows of the cab have a slightly colored, yet transparent (Alpha) graphic material. Python Scripts Actuator Controller takes inputs from the VHL and joystick and uses them to drive the arm, acting on the constraint linking the arm s hydraulic cylinders. The signal is processed via a low-pass filter to give a similar feeling to real hydraulics. 18

19 Engine Controller controls the state of the engine, and whether the excavator is in digging or driving mode. Mode Dispatcher takes the command signals and sends them to the proper destination, depending on the operating mode currently selected (digging or driving). Sound Controller checks the current status of the excavator and plays the associated sounds from a set series of.wav files. InLine Help manages the display of the joystick control diagram in the lower left corner of the screen. Bucket Controller animates the truck bed when it moves up and down. Gear Value returns the exact gear mode and number for the VHL output interface. Truck Controller is the main control scrip of the vehicle. It handles the gear (Park, Gear Up and Down) and engine state of the vehicle. It takes various inputs (either from the VHL or other scripts), and returns values to the Vehicle Systems and constraints to get the crane in motion. This script also mixes the brake and retarder values so the driver does not have to bother with it. HUD Controller manages the display of the speed, RPM and current gear at the bottom right of the screen. Notes that it is placed at the scene level to be used by both the truck and the excavator. 19

20 Packbot for Explosive Ordnance Disposal This sample provides a remotely operated robot used for bomb disposal, reconnaissance, and surveillance. The Packbot can climb stairs, relay video from the mounted cameras, and grab small objects such as a suitcase, as demonstrated in this example. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vehicle Systems: required for the robot s transmission. Cable Systems: required to model the tether. Vortex Human (Add-on and Data): required for the human avatars, including the policemen and crowd. Highlights The gripper showcases Vortex s grasping simulation capabilities. The inverse kinematics controls make it easy for untrained operators to control the arm: simply push the claw toward where you want it to go. The robot comes with two onboard cameras, one in the base and one at the top of the arm. They can be controlled in either mode. The lower one has a spotlight attached to perform inspection in dark places (under the truck, for example). The optic-fiber control tether auto-spools out the back of the robot as it moves about. It can be paid out or reeled in manually if needed. The scene is set at night to showcase the new emissive textures. Both the vehicles and the buildings have self-illuminated textures for windows and light sources. 20

21 Operation Notes The robot can be controlled using a standard gamepad with four directions. When using full left or right, it turns on the spot. The tether automatically spools out when the Packbot moves, but this can be overridden with the shoulder buttons. By raising or lowering the flippers (forward tracks), the robot can cross obstacle such as stairs or curbs. When set to Gripper mode, the arm uses invert kinematics for control: the joysticks control the gripper s position in space, and not the various joints of the arm. The robot s gripper can grab the suitcase s handle. Switch to Gripper Mode to access the controls for the gripper, wrist, and arm. While this mode is active, the robot does not move from its last position. Simulation Notes The robot mechanism uses a Vehicle Systems with four tracks controlled by two electric motors for left and right propulsion. On each side, the tracks are connected together to a single motor using a shaft. The detailed collision geometries for the gripper s fingers were generated with the new V-HACD decomposition feature, set to Intermediate. A noise extension is connected to the camera to simulate the low-bandwidth and interference of the remote connection. By default, the tether is not present (to model the radio-controlled robot). To add it to the scene, open the Tether/Dynamics Generic Cable extension and click on the Active checkbox at the top. The tether is an adaptive cable with greatly reduced stiffness. The openings of the box at the rear of the robot are modeled with two Cable Ring constraints. Emissive textures are included to illuminate the night scene in conjunction with numerous point lights. The street lamps use a light map instead of individual light sources to save on processing power. The map was generated by taking a screenshot of the scene viewed from the top, and using a graphic program to paint the desired lighting. Python Scripts Warning Lights uses sin waves to provide oscillating values for the Intensity of the police truck s emergency lights. Arm Controller takes the various gamepad inputs and converts them into velocities suitable for use by the Inverse Kinematic script. 21

22 Cameras Controller checks the gamepad inputs for the camera and turns them into a tilt velocity for the constraint that attaches the camera. Chassis Controller takes the flipper, direction and speed signals and converts them into motions for the flippers constraints, and engine values for the Vehicle Systems. Gripper Controller takes input signals for the gripper and wrist, and converts them into motion via the gripper and wrist s motor constraints. Packbot Controller is the main dispatcher script for the Packbot. It takes input signals from the VHL and joystick, and sends them to the proper destination based on the operating mode currently selected (driving or gripper). Spooling Controller takes the joystick input and current chassis velocity, and uses them to provide an angular velocity for the tether drum constraint. The script includes a builtin scaling factor ( ratio ), which could be extracted into a set parameter instead if desired. IK Controller takes the current and desired positions of the arm, and computes the required joint motions required to complete the command. InLine Help manages the display of the joystick control diagram in the lower left corner of the screen. 22

23 Forklift in Warehouse This sample provides a three-wheel forklift with pallets and boxes to move around in a warehouse. This is a basic example to demonstrate Vortex principles. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Cable Systems: required to model the cables of the suspended ceiling lights. Vortex Human (Add-on and Data): required for the avatars including the forklift driver and warehouse workers. Vortex Tree Library: required for the potted plants. Highlights There are two types of pallets to move between racks. Movable pallets have a slightly different color than the rest. The ambient lighting is provided by multiple real-time light sources. The forklift is equipped with a custom rotating warning light. Hit one of the ceiling lamps with the forklift and see what happens! Operation Notes The rear wheel is both powered and steerable; this gives the forklift a very tight turning radius. Both front wheels are free. The forks can be extended up and down, tilted forward and back, and shifted left and right. Note that they can go quite high keep an eye on the ceiling. 23

24 Simulation Notes The warehouse is a Mechanism in itself. For improved frame rate performances, not all racks and boxes can be interacted with. Multiple light sources cast real-time shadows across the scene. The rotating warning light uses multiple transparent planes and a custom script to recreate the halo effect. A Vortex Human driver figure is placed within the cab. The Human Dynamic and Human Control elements have been removed, since they are not needed: the driver figure is completely enclosed within the cabin s collision geometry. Python Scripts Forklift Controller takes various input signals from the VHL interface (which is itself connected to the Joystick extension), and applies a low-pass filter to simulate the hydraulics. The signals are then outputted to the various constraints to make the forklift respond to the controls. It is possible to adjust the reaction time by changing values within the script; the values could also be set as parameters to be even easier to change. InLine Help manages the display of the joystick control diagram in the lower left corner of the screen. Revolving Light Controller puts together two spotlights and creates a rotation animation for them. The resulting position data is also used to drive the graphic nodes of the rotating light and the simulated light halos attached to it. 24

25 Forestry Forwarder This sample provides an eight-wheeled forestry forwarder equipped with a loading crane. It combines a complex custom Vehicle Systems model with advanced scripting to control the crane and other functions. Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on. Vehicle Systems: required for the vehicle s transmission and suspension. Vortex Human (Add-on and Data): required for the avatar of the driver. Vortex Tree Library: required for the trees and vegetation. Highlights Complex suspension (eight wheels on four bogies, articulated chassis) Steering via articulated body Advanced convex-convex gripper contacts (grasping wood logs) The crane controls features inverse kinematics simply push the claw where you want it to go. The cabin has its own rotation control on the left stick. It can be used to follow the crane for better visibility during operation. Forest environment with multiple trees and complex terrain topology. The terrain collision geometry extends beyond the bounded forested area. 25

26 Operation Notes The hydrostatic transmission features two travel speeds, Low and High. The selected speed applies to both forward and back, which are controlled via the D-Pad. The cabin can be rotated to provide a better view of the crane. Note that due to hydraulic and power connections, the rotation is limited to about 290 degrees; the cabin cannot be completely spun around on the right side. The crane uses invert kinematics for control: the joysticks control the grapple s position in space, and not the crane s various joints. The cabin s rear view mirror is functional. Simulation Notes A customized Vehicle Systems template was created for the forwarder (eight wheels mounted on independent bogies, articulated body, hydrostatic transmission). The collision geometries for the claw were generated with the new V-HACD decomposition feature, set to High to get the proper curvature. The Mirror extension is used to create a reflective surface in the cab s right-side mirror. Note that the mirror is curved for a larger field of view. The glass windows of the cab have a slightly colored, yet transparent (Alpha) graphic material. A Vortex Human driver figure is placed within the cab. The Human Dynamic and Human Control elements have been removed, since they are not needed: the driver figure is completely enclosed within the cabin s collision geometry. The surrounding forest is created using Vortex Tree, though the logs themselves are separate mechanisms to allow them to be loaded onto the vehicle. Python Scripts Speed Controller handles the gear (Park, Low and High) and engine state. Gear Controller returns the exact gear mode and number for VHL output interface. Direction Controller is used to convert the Boolean (0 or 1) signal from the D-pad into a steering signal, and applies a low-pass filter to simulate the steering hydraulics. Inverse Kinematics converts the user s joystick inputs into a position for the grapple (and by extension, the crane itself). Cabin Controller checks the orientation of the cabin. 26

27 Engineering Test Terrain The Engineering Test Terrain asset provides an environment where vehicles and mechanisms can be tested under different operating conditions. Pre-Requisites There are no pre-requisites for this sample. Highlights Modules provide several obstacles to test vehicle crossing capabilities. Changing the material of the ground allows different types of driving surfaces (e.g., sand, ice, snow) to be simulated to test vehicle slipping and road holding. Operation Notes The engineering test terrain is intended as a configurable environment. Simply select and move modules around as needed to create a customized path. A different material can be set for the ground or modules to test traction. Simulation Notes The modules are created as Mechanisms to allow them to be moved around; if they were part of the Terrain, they would not be selectable. All modules are set as Static to improve simulation performance. Python Scripts None are used in this sample. 27