Irai Virtual Universe Pro 2.0 Operating Instructions Vupro 20 En

User Manual: irai Virtual Universe Pro 2.0 - Operating Instructions Free User Guide for Irai Virtual Universe Software, Manual

Open the PDF directly: View PDF .
Page Count: 223

Download
Open PDF In Browser	View PDF

Virtual Universe Pro V2
User manual
(C)2013 IRAI

User Manual VIRTUAL UNIVERSE Industry V2

User Manual VIRTUAL UNIVERSE PRO V2

Table of Contents
Introduction.................................................................................................. 5
Installation.................................................................................................... 6
Hardware requirements .................................................................................................... 6
Software installation ......................................................................................................... 6
Licenses registration......................................................................................................... 7
Register a license .......................................................................................................... 7
Register a security code (unlimited player) ................................................................... 9
Network installation ........................................................................................................ 10

Overview .................................................................................................... 11
Menus and Windows ...................................................................................................... 11
Navigation and interactions ............................................................................................ 14
Main steps for building a 3D emulator ............................................................................ 16
Composition of a 3D emulator ........................................................................................ 17
Types of imported 3D CAD data ..................................................................................... 21
List of available PLC connectors .................................................................................... 22
Internal working of VIRTUAL UNIVERSE PRO .............................................................. 23

Construction of a 3D emulator.................................................................. 25
Set the general properties of a 3D emulator ................................................................... 25
Display properties........................................................................................................ 25
Lighting properties ....................................................................................................... 27
Visualization properties ............................................................................................... 28
Navigation properties .................................................................................................. 30
Simulation options ....................................................................................................... 32
Import and simplify 3D CAD models ............................................................................... 35
Import 3D CAD models ............................................................................................... 35
Simplify 3D CAD models ............................................................................................. 43
Design smart 3D resources and systems ....................................................................... 47
Modify position and dimensions of a 3D sprite ............................................................ 48
Add basic 3D shapes .................................................................................................. 50
Add behaviors to 3D sprites ........................................................................................ 52
Define motion profiles with the Motion Assistant ......................................................... 62

User Manual VIRTUAL UNIVERSE PRO V2

Use a library of smart resources ..................................................................................... 78
Import a smart resource from library ........................................................................... 79
Export a smart resource into the library....................................................................... 81
Quickly connect 3D resources with the « Magnetic » option ....................................... 83
Connect a 3D emulator to an external software/controller .............................................. 86
Define the list of 3D emulator inputs/outputs ............................................................... 86
Connect a 3D emulator with an external software/controller ....................................... 89
Mapping between the 3D emulator inputs/outputs and the external controller variables
.................................................................................................................................... 90
Test and debug a 3D emulator ....................................................................................... 92
Launch simulation ....................................................................................................... 92
Simulation messages .................................................................................................. 92
Test the 3D emulator ................................................................................................... 94
Measure and optimize the performances of a 3D emulator ............................................ 96
Measure graphics performances ................................................................................. 97
Optimize graphics performances ................................................................................. 98
Measure the physics engine performances ............................................................... 101
Optimize the physics engine performances ............................................................... 102
Performances of dialog with the external software/controller .................................... 103
Generate standalone 3D emulators (players) ............................................................... 105
Limited players .......................................................................................................... 106
Unlimited players ....................................................................................................... 107

Detailed properties of a 3D emulator...................................................... 108
Properties of the Universe ............................................................................................ 109
Detailed properties of the Universe ........................................................................... 109
Properties of the World ................................................................................................. 111
Detailed properties of the World ................................................................................ 111
Functionalities at the World level ............................................................................... 114
Properties of Lights....................................................................................................... 118
Detailed properties of Lights ...................................................................................... 118
Functionalities at the Light level ................................................................................ 120
Properties of Cameras .................................................................................................. 121
Detailed properties of Cameras ................................................................................. 121
Functionalities at the Camera level ........................................................................... 123
Properties of Sprites ..................................................................................................... 124
User Manual VIRTUAL UNIVERSE PRO V2

Detailed properties of Sprites .................................................................................... 124
Functionalities at the Sprite level ............................................................................... 128
Properties of Behaviors ................................................................................................ 133
Detailed properties of Behaviors ............................................................................... 133
Types of Behavior ..................................................................................................... 135
Functionalities at the Behavior level .......................................................................... 154
Properties of HMIs ........................................................................................................ 155
Detailed properties of a HMI ...................................................................................... 156
Creation or modification of a HMI .............................................................................. 157
Properties of Controllers ............................................................................................... 163
Programming Functions ............................................................................................ 163
Detailed properties of a controller.............................................................................. 165
Programming a controller .......................................................................................... 165
Common elements .................................................................................................... 168
Ladder language ....................................................................................................... 169
Fbd/Sfc language ...................................................................................................... 176
RUN mode ................................................................................................................ 185

Diagrams simulation ............................................................................... 187
Creation of a simulation folder ...................................................................................... 189
Modifying a simulation folder ........................................................................................ 190
Adding an object on a simulation folder ........................................................................ 190
Drawing a link on a simulation folder ............................................................................ 192
Automatic generation of a diagram ............................................................................... 192

External connections .............................................................................. 204
Connection with a Schneider Electric M340 PLC or Unity Pro simulator. ..................... 204
Connection to a Schneider Electric m238 PLC ............................................................. 205
Connection to a Siemens PLC S7-1200, S7-300 or S7-400 ......................................... 208
Connection to a Rockwell Compact Logix PLC, Control Logix PLC or SoftLogix emulator
..................................................................................................................................... 209
Connection to an OPC server ....................................................................................... 210
Connection to Siemens PLC-SIM ................................................................................. 211
case of PLCSIM 5.4 SP<5......................................................................................... 211
Case of PLCSIM 5.4 SP>=5 ...................................................................................... 212
Connection to OMRON CX-Simulator .......................................................................... 213
Connection to AUTOMGEN .......................................................................................... 214
User Manual VIRTUAL UNIVERSE PRO V2

Connection to CoDeSys ............................................................................................... 215
Universal connection .................................................................................................... 217
Example: using universal connection with PLC emulator of the WinSPS-S7 software
(MHJ-Software) ......................................................................................................... 218

User Manual VIRTUAL UNIVERSE PRO V2

Introduction
VIRTUAL UNIVERSE PRO (Industry package) is an innovative 3D modeling and
emulation software enabling to quickly create an interactive 3D emulation of automated
systems (or « virtual machines »), by reusing and leveraging 3D CAD models. With the
VIRTUAL UNIVERSE PRO emulators, designers of industrial equipments and automated
systems can experiment with their products in a realistic, interactive virtual 3D environment
and emulate equipment behavior in real time. By connecting the 3D emulators with
external controllers such as PLCs (Programmable Logic Controllers) or with embedded
virtual controllers, VIRTUAL UNIVERSE PRO reproduces the real world working
conditions of a product or machine, in a fully virtual environment.

User Manual VIRTUAL UNIVERSE PRO V2

Page 5

Installation
Hardware requirements

VIRTUAL UNIVERSE PRO runs on the following Windows operating systems: Windows
XP, Windows Vista, and Windows 7. For Windows XP, it is necessary to use DirectX 9 (or
a newer version of Direct X).
VIRTUAL UNIVERSE PRO is a native Windows 32-bit software and is Windows 64 bit
compatible.
For taking full advantage of its performance (especillay during simulation), it is strongly
recommended to use VIRTUAL UNIVERSE PRO on a modern computer, with a good
graphics card and a powerful processor:
-

The refresh rate of 3D rendering is directly linked to the graphics card performance.
The accuracy of the simulation (realism of the simulated phenomena) mostly
depends on the computer CPU performance.

Software installation

For installing VIRTUAL UNIVERSE PRO on a computer, simply launch the execution of
the installation package that was shipped on CD-ROM or downloaded from Internet. Visit
our website www.irai.com to download the latest versions of VIRTUAL UNIVERSE PRO.
If an older version of VIRTUAL UNIVERSE PRO is already present on your computer, the
installation package will install the latest version of VIRTUAL UNIVERSE PRO, without
altering the old version. Removing the old version is made with the "Add or Remove
Programs" tool in the Windows Control Panel. If new 3D resources were added in the
VIRTUAL UNIVERSE PRO Resource Library, they will be retained.
By default, VIRTUAL UNIVERSE PRO operates the Newton physics simulation engine,
which is included in the installation package.
VIRTUAL UNIVERSE PRO is also capable of running the simulation engine Physx from
NVIDIA. For that, it is necessary to install the latest version of NVIDIA Physx engine. It can
be downloaded from NVIDIA's website.

User Manual VIRTUAL UNIVERSE PRO V2

Page 6

Licenses registration

Register a license
VIRTUAL UNIVERSE PRO works in a trial version (limited to 15 days trial) as long as you
have not registered the license.
To register, select "License" in the "File" menu:

A license window is opened. Click on « Enter a license »:

User Manual VIRTUAL UNIVERSE PRO V2

Page 7

Click on "Save the user code in a file" and save this file on your computer :

Then, send this file by email to the following address: contact@irai.com
You will receive by email a new file containing a validation code to register by clicking the
button "Read a validation code from a file". You can also directly enter the validation code
in the "Validation Code" field. Then you will click "Validate" to validate the license.
You have 20 days between the generation of a user code and the input of the validation
code.

User Manual VIRTUAL UNIVERSE PRO V2

Page 8

Register a security code (unlimited player)
VIRTUAL UNIVERSE PRO enables the generation of standalone 3D emulators
(executable files named « players ») having an unlimited period of use.
The player generation functionality is protected by a security code. Each player generated
has its own security code, which is unique.
For registering a security code, select Build an exe file/Build an unlimited player in the File
menu:

Once filled the player name, a window is opened, displaying a project code:

Copy and paste this project code in an email and send your email to the following address:
contact@irai.com
You will receive an unique security code, to paste in the « Security code » field, allowing
you to generate an unlimited player. When receiving the security code by email, you have
30 days for using this code to generate the player. Once generated the player; the
generation functionality will be blocked again and a new security code will be needed.

User Manual VIRTUAL UNIVERSE PRO V2

Page 9

It is highly recommended to use the limited players to make your tests (test the
communication with an external controller...), before generating the unlimited player,
considered as a definitive player.

Network installation
VIRTUAL UNIVERSE PRO can be installed on a file server, and licenses can be managed
by a network license manager. Please contact our technical support to complete this
installation: contact@irai.com

User Manual VIRTUAL UNIVERSE PRO V2

Page 10

Overview

Menus and Windows
When launching VIRTUAL UNIVERSE PRO, an empty project is opened in the main 3D
rendering window.

3D rendering
window



The Configuration menu provides access to the Setup window and to the project
construction tools.

Setup
window

User Manual VIRTUAL UNIVERSE PRO V2

Page 11



The Simulation menu provides access to the launch of the simulation and to the
simulation debug tools.

Debug window
(inputs/outputs)

3D rendering
window

Controllers
window
Logs
window



The Medias menu provides access to Media Manager containing the list of all the
media files (3D files, bitmaps) used in the 3D emulator project. All these files are
automatically saved in the 3D emulator project file.

User Manual VIRTUAL UNIVERSE PRO V2

Page 12



The ? menu provides access to the user documentation and software information.



The File menu lets you create a new project, open an existing project, save and close
a project. This menu also provides access to the generation of standalone 3D
emulators (executable files called “players”) and to the licenses registration.



The Edition menu allows you to undo or redo changes made in the current project.

Example
For getting familiar with the various menus and windows of VIRTUAL UNIVERSE PRO, a
simulation project example is available in the menu File/Open/Open a sample:

User Manual VIRTUAL UNIVERSE PRO V2

Page 13

Navigation and interactions

By default, navigation in the 3D world and interactions with 3D objects during simulation
are done with the mouse.

Mouse wheel pressed + moving
mouse or rotating wheel =
translation
Mouse wheel = zoom

Left mouse button click = actions

Right mouse button pressed +
moving mouse = rotation

Left mouse button click and drag
= grab object

When simulation is off and the setup window is opened, an (X, Y, Z) axis system is
displayed at the center of the world in the 3D rendering window (global axis system), as
well as on the 3D sprite selected with the mouse or in the tree (local axis system).

User Manual VIRTUAL UNIVERSE PRO V2

Page 14

Example
For getting familiar with navigation and interactions in VIRTUAL UNIVERSE PRO, a
simulation project example is available in the menu “File/Open/Open a sample”:

User Manual VIRTUAL UNIVERSE PRO V2

Page 15

Main steps for building a 3D emulator

VIRTUAL UNIVERSE PRO enables to build interactive automated system 3D emulators
(or “virtual machines”), composed of a 3D virtual system controlled by one or more
controllers (internal or external to the 3D emulator).



The 3D models are imported from CAD software into VIRTUAL UNIVERSE PRO to
create the 3D resources (composed of 3D objects called "sprites") and assemblies of
3D resources which will constitute the elements of the 3D virtual machine.



Adding behaviors to the sprites brings a real intelligence to 3D resources and enables
to model the behavior of resources, such as actuators and sensors of the virtual
system. Behaviors are either predefined behaviors available in VIRTUAL UNIVERSE
PRO or custom behaviors (scripts) created with a script editor integrated in VIRTUAL
UNIVERSE PRO.



All the resources created in VIRTUAL UNIVERSE PRO (smart 3D resources, or simple
behaviors without 3D representation) can be saved and stored inside a VIRTUAL
UNIVERSE PRO resource library, and can be reused for quickly building future 3D
emulator projects.



It is possible to model one or more virtual controllers inside the 3D emulator (motion
controller, control sequence) and to define a 2D control panel for modeling an humanmachine interface.



The virtual system in VIRTUAL UNIVERSE PRO can be connected and simulated with
an external controller (such as a Programmable Logic Controller).



At any time during its construction, the performance of the 3D emulator (3D rendering
quality, physics engine performance) can be measured and, if necessary, improved.



Finally, it is possible to generate standalone 3D emulators (executable files called
"players") limited to simulation and requiring no software installation.

User Manual VIRTUAL UNIVERSE PRO V2

Page 16

Composition of a 3D emulator
At any time, the Setup window provides access to the setup and construction tools of a 3D
emulator project. The 3D emulator project elements are structured and presented in a tree:

Project tree

User Manual VIRTUAL UNIVERSE PRO V2

Page 17



The Universe
level provides access to the general use properties of the
3D emulator :
- Using the 3D emulator with or without connection to an external
software/controller
- Automatic start of the simulation when opening the 3D emulator
- Navigation mode in the 3D rendering
- Setting rights to access the 3D emulator properties
- …etc.
A default setting of these properties is proposed. These properties can be modified by
the user. For more details on the properties of the Universe, refers to Properties of the
Universe.



The World
level provides access to the general display properties of the 3D
emulator :
- Setting of the background color
- Setting of the ambient light
- Adding an image to sky
- Setting of units
- ... etc..
A default setting of these properties is proposed. These properties can be modified by
the user. For more details on the properties of the World, see Properties of the World.

The Light

level provides access to the lighting properties of the simulator.

By default, the 3D emulator already includes a preset light. You can define multiple
lights in the 3D emulator. For more details on the properties of lights, see Properties of
Lights.



The Camera
emulator.

level provides access the visualization options of the 3D

By default, the 3D emulator already includes one camera. It is possible to define
multiple cameras in the 3D emulator to create different views. For more details on the
properties of cameras, see Properties of Cameras.



The Sprite

level provides access to the properties of a Sprite.

Sprites are the 3D objects composing a virtual machine project. A Sprite is most
frequently associated with an image file representing a 3D shape with its own size and
location in the 3D world. A sprite can also have no associated image and it may be only
used to structure the 3D data (assemblies). Sprites are structured and presented in a
parent / child tree.

User Manual VIRTUAL UNIVERSE PRO V2

Page 18

It is possible to manually add, copy, paste, move, delete sprites to build assemblies
and 3D resources.
Importing 3D models from CAD software into VIRTUAL UNIVERSE PRO enables to
create automatically 3D resources and assemblies of 3D resources, all consisting of a
structured set of sprites.
These assemblies of sprites and 3D resources created in VIRTUAL UNIVERSE PRO
can be saved and stored inside the VIRTUAL UNIVERSE PRO resource library and
can be reused for quickly building future 3D emulator projects.
For more details on the properties of sprites, see Properties of Sprites.



The Behavior

level provides access to properties of a behavior.

Behaviors are at the heart of simulation in VIRTUAL UNIVERSE PRO. They represent
the intelligence provided to sprites during simulation. Behaviors can turn inert 3D
Sprites into smart resources, with the capability to move, to interact and to
communicate with the other 3D resources during simulation.
There are different types of predefined behaviors available in VIRTUAL UNIVERSE
PRO depending on the resource type (actuator, sensor, and controller) to model.
Behavior can also represent inputs/outputs for sprites, allowing them to interact with
other sprites and with any external controller.
In addition, a script editor can be used to describe (in Basic language) more developed
and custom behaviors based on predefined behaviors to model a real behavioral logic
for the resource.
Behaviors, like sprites, can be saved and capitalized inside the VIRTUAL UNIVERSE
PRO integrated resource library to be reused for quickly building future 3D emulators
projects.
It is possible to manually add, copy, paste, move, and delete behaviors.
For more details on the properties of behaviors, see Properties of Behaviors.
The HMI level
HMI provides access to the properties of a HMI. HMIs allow to
create consoles which will be displayed into the render window and will use items like
push-buttons, lights, sliders, etc. For more details on the properties of HMIs, see
Properties of HMIs.
The Controller level
controller provides access to the properties of a controller.
Controllers may be children of the world or of a sprite. They allow to create programs to
control a full system or a part of a system. For more details on the properties of
controllers, see Properties of Controllers.

User Manual VIRTUAL UNIVERSE PRO V2

Page 19

Example
For understanding the concept of sprites and behaviors in VIRTUAL UNIVERSE PRO, we
suggest you to look at the Electrical Pusher resource used in the conveyor project
example available in the menu File/Open/Open a sample:

User Manual VIRTUAL UNIVERSE PRO V2

Page 20

Types of imported 3D CAD data

VIRTUAL UNIVERSE PRO allows the reuse of 3D CAD (Computer Aided Design) models
by a direct import of these data from their native CAD software, or indirectly through an
exchange file.

Here are the types of 3D CAD data that can be imported and reused today in VIRTUAL
UNIVERSE PRO:
CAD Software

Exchange file
(indirect import)

DS
SolidWorks

3DXml

Autodesk
Inventor
DS
Catia

3DXml

DS
Delmia

3DXml

User Manual VIRTUAL UNIVERSE PRO V2

Page 21

List of available PLC connectors

The virtual systems created in VIRTUAL UNIVERSE PRO can be connected to PLCs
(Programmable Logic Controller), in order to create realistic virtual automated systems.
During simulation, the virtual system in VIRTUAL UNIVERSE PRO is controlled in real
time by the PLC thanks to a permanent dialog established between the Inputs/Outputs of
the PLC program and those of the virtual system.

VIRTUAL UNIVERSE PRO is compliant with some PLC brands, and it therefore offers
several types of PLC connectors (communication protocols). These are listed below:
Connector

PLC brand

PLC types

OPC Client

Any PLC or control system
compliant with OPC

Ethernet S7

Siemens

S7-300, S7-400, S7-1200

PLC-SIM

Siemens

PLC-SIM Emulator

Ethernet-IP

Rockwell,
Allen Bradley

Compact Logix, Control Logix
or Softlogix Emulator

Modicon 340

Schneider Electric

Modicon M340
software emulator

Automgen

Automgen PLC compatibles All PLCs or other targets
(see on www.irai.com)
compayible with Automgen

Advantech I/O

Any system

Any system connected to one
or more Advantech card

Omron Sim

Omron

CX-Simulator Emulator

User Manual VIRTUAL UNIVERSE PRO V2

Unity

Page 22

Internal working of VIRTUAL UNIVERSE PRO

It may be helpful to understand which are the internal mechanisms and technologies used
in VIRTUAL UNIVERSE PRO to enable simulation.



For managing the display of the 2D and 3D sprites in the 3D emulator (during and off
simulation), VIRTUAL UNIVERSE PRO operates the 3D rendering engine called
"Irrlicht". This engine is run in parallel with the other engines, and does not affect the
smooth operation of the simulation. By default, this engine is running at full capacity, in
order to maximize graphics performance of the 3D emulator (refresh rate of 3D
rendering). However, it is possible to set a maximum value for the refresh rate, in order
to avoid consuming "unnecessarily" the computer resources. At any time, it is possible
to know the current refresh rate of 3D rendering of the 3D emulator, by reading the
FPS (Frame Per Second) metric, visible at the lower left of the 3D rendering window.



For the modeling and simulation of physical phenomena applied to sprites (gravity,
friction, collisions, forces...), two physics simulation engines can be used in VIRTUAL
UNIVERSE PRO: Newton Physic (default engine) and NVIDIA Physx. The use of the
physics engine is not systematic neither mandatory. Only the sprites with the property
"Use physics" checked are exposed to the physics engine. By default, the physics
engine is running at full capacity in VIRTUAL UNIVERSE PRO (in a separate thread
with a variable sampling rate) to get the best realism of the simulated physical
phenomena. At any time, it is possible to know the current computation speed of the
physics engine, by reading the CPS (Computation Per Second) metric, visible at the
lower left of the 3D rendering window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 23



For enabling the VIRTUAL UNIVERSE PRO 3D emulators to communicate in real time
with an external controller (such as a Programmable Logic Controller), a permanent
communication is also set up during simulation with the external controller (exchange
of input/output variables). Several industrial communication protocols are available in
VIRTUAL UNIVERSE PRO to connect and to communicate with different brands and
types of industrial controllers (Siemens, Rockwell, Schneider...). By default, the
communication speed between VIRTUAL UNIVERSE PRO and the external controller
is maximum. However, it is possible to set a minimum value for the variables exchange
period, in order to avoid consuming "unnecessarily" the computer resources.



The simulation intelligence given to the 3D objects (sprites) is defined by a set of
predefined behaviors and custom behaviors (scripts written in Basic or virtual
controllers using ladder or SFC/FDB). All these behaviors, scripts and virtual controllers
are executed in parallel (in a separate thread).

RUN/STOP simulation modes
In VIRTUAL UNIVERSE PRO, simulation can be in STOP mode (simulation stopped and
initialized) or in RUN mode (simulation running).
In RUN mode, the 3D rendering engine, the physics engine and the dialog with the
external software are processed. Behaviors and scripts are active.

The 3D sprites and cameras have a duplicate for some parameters (eg positions). The first
set of parameters corresponds to initial values, the second set to current values. In STOP
mode, the initial values are recopied into the current values.

User Manual VIRTUAL UNIVERSE PRO V2

Page 24

Construction of a 3D emulator

Set the general properties of a 3D emulator

Display properties
By default, VIRTUAL UNIVERSE PRO opens automatically to a preset pattern of world (in
terms of display).
The units used by default in this world are:
-

millimeter (length)
degree (angle)

It is possible to change the units of length (meters or millimeters), the background color, or
to add shadows, by accessing the properties of the world.

User Manual VIRTUAL UNIVERSE PRO V2

Page 25

In Expert mode, it is possible to set many other display settings, always in the properties of
the world:
-

Resize the 3D emulator window when it opens
Add an image to represent a sky above the world
Impose to the 3D rendering engine a maximum graphics refresh rate

User Manual VIRTUAL UNIVERSE PRO V2

Page 26

Lighting properties
The lighting of a 3D emulator is obtained by adding and adjusting lights. The 3D world
already has a default preset light.
This light, white, is located 50 meters above ground and has a radius of 100 meters. It is
possible to change the properties of this light, as it is possible to add more lights in the 3D
emulator.

Another parameter enables to set the default ambient light in the world (the light and its
intensity), regardless of the lights added to the 3D emulator. This parameter is located in
the properties of the world.

User Manual VIRTUAL UNIVERSE PRO V2

Page 27

Visualization properties
Visualization in a 3D emulator is managed by the use of cameras (viewpoints).
By default, the 3D emulator has a single fixed camera (single viewpoint), whose objective
is directed to the center of the world.

It is possible to add more cameras (fixed or mobile) and so to create additional views
within the 3D emulator.

User Manual VIRTUAL UNIVERSE PRO V2

Page 28

Camera 1

Camera 2

Camera 3

Caution! This method of multi-camera view can strongly reduce the performance of the
graphics rendering (refresh rate)

User Manual VIRTUAL UNIVERSE PRO V2

Page 29

Navigation properties
By default, the navigation within a 3D emulator is done using the mouse and its buttons
(VU navigation mode).

Mouse wheel pressed + moving
mouse or rotating wheel =
translation
Mouse wheel = zoom

Left mouse button click = actions

Right mouse button pressed +
moving mouse = rotation

Left mouse button click and drag
= grab object

It is possible to use another method of navigation (called IRIS3D) available in the
properties of the universe. This method of navigation uses arrow buttons to move around
and zoom in the 3D world. In this mode, the mouse navigation is still possible.

User Manual VIRTUAL UNIVERSE PRO V2

Page 30

Finally, it is possible to adjust the move and zoom coefficients, in order to move or zoom
faster or slower inside the 3D rendering (whatever the method used for navigation, VU or
IRIS3D). These coefficients are specific to the camera and are accessible in its properties.

User Manual VIRTUAL UNIVERSE PRO V2

Page 31

Simulation options
By default, at the opening, the simulation in VIRTUAL UNIVERSE PRO is in STOP mode.
The launch of the simulation (switch to RUN mode) is obtained at any time by pressing the
"RUN" button.

It is possible to automatically run the simulation at the opening of the VIRTUAL
UNIVERSE PRO project, by selecting "Automatic Run" in the properties of the Universe.

User Manual VIRTUAL UNIVERSE PRO V2

Page 32

In the default project opened by default, VIRTUAL UNIVERSE PRO is not connected to
any external software/controller.
To connect the VIRTUAL UNIVERSE PRO 3D emulator to an external software/controller,
it is necessary to select a "driver" in the properties of the universe. The launch of the
simulation (switch to RUN mode), a dialog will be established between VIRTUAL
UNIVERSE PRO and the external controller.
VIRTUAL UNIVERSE PRO is compatible with most major brands of Programmable Logic
Controller and offers several types of drivers (for different PLC communication protocols).

Once the "Driver" is selected, the settings of the connection (IP address of the PLC, OPC
server name, CPU position on the rack ...) are available in the Driver tab.

In Expert mode, and for advanced users, it is possible to change the physics engine for
simulation. In the Properties in the World, it is possible to choose the Nvidia Physix engine
in place of Newton Physics (engine used by default).
User Manual VIRTUAL UNIVERSE PRO V2

Page 33

User Manual VIRTUAL UNIVERSE PRO V2

Page 34

Import and simplify 3D CAD models

Import 3D CAD models
VIRTUAL UNIVERSE PRO allows the reuse of 3D CAD (Computer Aided Design) models
by a direct import of these data from their native CAD software, or indirectly through an
exchange file.
Here are the types of 3D CAD data that can be imported and reused today in VIRTUAL
UNIVERSE PRO:

CAD Software

Exchange file
(indirect import)

DS
SolidWorks

3DXml

Autodesk
Inventor
DS
Delmia

3DXml

DS
Catia

3DXml

User Manual VIRTUAL UNIVERSE PRO V2

Page 35

Import SolidWorks models

With this importation method, the SolidWorks data is first exported and saved as a 3DXML
file. This file is next imported into VIRTUAL UNIVERSE PRO.

The advantage of this method is to not constraint the VIRTUAL UNIVERSE PRO user to
have SolidWorks installed on his computer.



Previously, the full 3D data has to be opened in SolidWorks and saved as a 3DXML
file.



In VIRTUAL UNIVERSE PRO, open the set-up window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 36



Right-click at the World level, to access the Import/from SolidWorks menu. Importing
data is also available at a sprite level, whatever its position in the project tree.



A dialog box opens with several import methods. Choose the first method "Import a
3DXML file".

User Manual VIRTUAL UNIVERSE PRO V2

Page 37



An explorer window opens, you can select the 3DXML file to import.



Then click on the “Import” button.

User Manual VIRTUAL UNIVERSE PRO V2

Page 38



The import process is then started. A bar indicates the import progress. The waiting
time ranges from several seconds to several minutes, depending on the imported
project size.

The 3D data is then imported into VIRTUAL UNIVERSE PRO as a tree of 3D objects
(sprites), available in the set-up window.
This tree follows the original structure of the SolidWorks data (composed of parts and
assemblies). With an assembly, each part is imported as an independent 3D object (sprite)
in VIRTUAL UNIVERSE PRO. The initial colors and textures are also recovered in
VIRTUAL UNIVERSE PRO.

Assembly of
Sprites

User Manual VIRTUAL UNIVERSE PRO V2

Page 39

Import Inventor models

This method requires Autodesk Inventor opened simultaneously with VIRTUAL
UNIVERSE PRO on the same computer.



First, open the full 3D data in Autodesk Inventor.



In VIRTUAL UNIVERSE PRO, open the set-up window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 40



Right-click at the World level, to access the Import/from Inventor menu. Importing
data is also available at a sprite level, whatever its position in the project tree.



Then, click on the “Import” button.

User Manual VIRTUAL UNIVERSE PRO V2

Page 41



The import process is then started. A bar indicates the import progress. The waiting
time ranges from several seconds to several minutes, depending on the imported
project size.

The 3D data is then imported into VIRTUAL UNIVERSE PRO as a tree of 3D objects
(sprites), available in the set-up window.
This tree follows the original structure of the Inventor data (composed of parts and
assemblies). With an assembly, each part is imported as a 3D object (sprite) independent
in VIRTUAL UNIVERSE PRO. The initial colors and textures are also recovered in
VIRTUAL UNIVERSE PRO.

Assembly of
sprites

User Manual VIRTUAL UNIVERSE PRO V2

Page 42

Simplify 3D CAD models
The 3D models created with CAD software often have very complex 3D geometries
(number of triangles) and small parts that are not always necessary to VIRTUAL
UNIVERSE PRO 3D emulators and may instead greatly reduce graphics performance.
For the simplification of 3D CAD models, VIRTUAL UNIVERSE PRO offers a 3D
geometries optimization tool.

Removal of small 3D
parts
Reduction of the
number of triangles

This 3D geometry optimization tool enables to
-

Reduce the number of triangles composing a 3D sprite: on the selected 3D sprites,
the tool applies a percentage reduction in the number of triangles, respecting a
minimum threshold (minimum number of triangles) not to be exceeded.

User Manual VIRTUAL UNIVERSE PRO V2

Page 43

Original data :

Optimized data :

6 982 triangles

2 093 triangles (- 70 %)

Original data :

Optimized data:

19 456 triangles

2 234 triangles (- 89 %)

Remove unnecessary small 3D parts: on the selected 3D sprites, the tool deletes
the 3D parts whose size (volume) is below a threshold.

User Manual VIRTUAL UNIVERSE PRO V2

Page 44

This optimization tool is available at two levels:


At the World level: optimization is applied to all 3D sprites in the 3D emulator project



At a 3D sprite level: optimization is only applied to the selected sprite and all its 3D
sprites children

User Manual VIRTUAL UNIVERSE PRO V2

Page 45

For more information on how to measure and optimize graphics performance of a 3D
emulator, see Measure graphics performances

User Manual VIRTUAL UNIVERSE PRO V2

Page 46

Design smart 3D resources and systems

VIRTUAL UNIVERSE PRO enables the design of new smart 3D resources and systems,
by reusing 3D CAD models (Computer Aided Design).
These smart 3D resources and systems can be saved independently and be added to the
VIRTUAL UNIVERSE PRO resource library, to be reused for future 3D emulator projects.
In VIRTUAL UNIVERSE PRO, a smart 3D resource is often composed of several 3D
sprites (structured assembly of sprites) to which behaviors are attached. During simulation,
these behaviors constitute the intelligence of the resource.

Example
The Electrical Pusher, available in the Demo Library, is a smart 3D resource. It features a
structured set of sprites and behaviors that controls the drawer release/return (cylinder).

3D Sprites
Behaviors

3D Sprites

User Manual VIRTUAL UNIVERSE PRO V2

Page 47

Modify position and dimensions of a 3D sprite
In VIRTUAL UNIVERSE PRO, the position of a sprite in the 3D world is defined in relative
coordinates, relative to the parent sprite. Thus, when data is imported from 3D CAD
software, each sprite has a default set of null coordinates (position and rotation) in the
local frame (positions relative to the parent sprite).
For moving a sprite, there are two methods:


It can be moved directly by the arrows (translation) or circles (rotation) of the (X,Y,Z)
compass attached to the sprite.

Compass
attached to
the Sprite



It can also be moved precisely through the local coordinate settings "Position and
Size": The displayed units (meters or millimeters) are those selected in the properties
of the World.

User Manual VIRTUAL UNIVERSE PRO V2

Page 48



For changing the size of a sprite, just modify the dimensions parameters of this sprite in
the "Position and Size" tab in the sprite options.
The displayed units (meters or millimeters) are those selected in the properties of the
World.

User Manual VIRTUAL UNIVERSE PRO V2

Page 49

Add basic 3D shapes
VIRTUAL UNIVERSE PRO provides a set of basic 3D shapes (cubes, cylinders,..)
available in the resource library.
These basic shapes are used to represent the 3D elements missing in the original CAD 3D
models (like a sensor beam, or the moving part of a conveyor belt...).

Example
For building the conveyors available in the demonstration library (Demo library), a basic
3D shape (parallelepiped) was used to model the conveyor moving part ("conveyor motor"
sprite).
This primitive shape was first inserted into the conveyor resource, resized and positioned
in the right place, and it was finally hidden.

User Manual VIRTUAL UNIVERSE PRO V2

Page 50

User Manual VIRTUAL UNIVERSE PRO V2

Page 51

Add behaviors to 3D sprites
Behaviors are the intelligence provided to the sprites during simulation.
Adding behaviors to sprites enables you to build smart resources, capable to move in the
3D world, interact with other 3D resources or communicate with each other or with external
software. For example, behaviors can be used to model the actuators and sensors within
the operative part of an automated system.
Behaviors are, either predefined and configurable behaviors, available in VIRTUAL
UNIVERSE PRO, or custom and more complex behaviors based on scripts, created by
user with the VIRTUAL UNIVERSE PRO integrated script editor. A script is frequently
used to model the main controller of the resource (internal logic).

Predefined and configurable behaviors

Behavior based on a script



Adding a behavior to a sprite is made by right-clicking on the selected sprite :

User Manual VIRTUAL UNIVERSE PRO V2

Page 52



In the behavior properties, it is possible to choose the behavior type:



Behaviors are organized into seven sub categories presented in the “Types of
Behaviors” window:

User Manual VIRTUAL UNIVERSE PRO V2

Page 53

The 6 categories outlined include the predefined behaviors in VIRTUAL UNIVERSE
PRO

The Code category providing access to Script behaviors.

User Manual VIRTUAL UNIVERSE PRO V2

Page 54



Once the behavior type selected, it is possible to configure the behavior by setting its
properties

Behavior
configuration
(properties)



With a Script behavior, the Scipt editor is opened via the code tab.

Script editor

User Manual VIRTUAL UNIVERSE PRO V2

Page 55

For more information on behavior types and properties, see Properties of Behaviors.

Example 1
Take a look at the « Electrical Pusher » resource available in the VIRTUAL UNIVERSE
PRO demo library

Example 2
Take a look at the « Detection sensor » resource available in the VIRTUAL UNIVERSE
PRO demo library

Exercise
The purpose of this short exercise is to add a new behavior to a 3D resource of the library
(Electrical Pusher) and to modify its main script to include this new behavior.

User Manual VIRTUAL UNIVERSE PRO V2

Page 56

1. Open a void project and switch to the resources library window.

2. From the library, insert the “Electrical Pusher” resource inside the project, by slipping it
with the mouse.

3. Get back to the set-up window and launch the simulation. During simulation, click on
the top cover with the mouse to exit/enter the drawer. Watch the evolution of behaviors.

User Manual VIRTUAL UNIVERSE PRO V2

Page 57

4. Stop the simulation. At the A33660065-ENVELOPPE sprite level, add a new “Get
informations” behavior and rename it “position X”.

5. In the behavior properties, select "X position" in the "Select information to be read from
the 3D sprite" field. This behavior then returns the position along the A33660065ENVELOPPE sprite X axis (in the local coordinate system relative to the parent sprite
“Electrical pusher”).

User Manual VIRTUAL UNIVERSE PRO V2

Page 58

6. Click on the « Main behavior » behavior and open the script editor.

7. In this script, the modification is to use the new behavior “Position X” instead of the
curpos=GetValSprite3d("POSX") function.

User Manual VIRTUAL UNIVERSE PRO V2

Page 59

Old script

User Manual VIRTUAL UNIVERSE PRO V2

Page 60

New script

8. Restart the simulation with this new script and note that the pusher behavior remains
unchanged.

User Manual VIRTUAL UNIVERSE PRO V2

Page 61

Define motion profiles with the Motion Assistant
The Motion Assistant enables to easily define the motion profiles of a 3D mechanical
resource or system, by creating and adjusting automatically the behaviors needed for
simulation of these motion profiles.
A mechanical resource can be, for instance, a cylinder or an axis driven by a set {motor +
variable-frequency drive}. The Motion Assistant enables, as appropriate, to control a
resource in different ways:
-

In time
In speed
In position

User Manual VIRTUAL UNIVERSE PRO V2

Page 62

Moving as a function of time

This is typically the motion profile used in the case of a cylinder driven in time by an
external controller.



First, select (in the project tree) the mobile part of the mechanical resource that you
wish to set in motion (this is the cylinder rod in the example above).



Then click the green tab "Motion assistant" to the left of the tree.



The Motion assistant window appears on screen.

User Manual VIRTUAL UNIVERSE PRO V2

Page 63

Min and Max positions

Command type
« Go » time (from Min to Max)

« Back » time (from Max to Min)

Boolean sensor Min position

Boolean sensor Max position



Set the Min and Max stops, either manually or by moving the resource directly in the
rendering window (these stops will be reached by the resource).



Set the time to "go" and to "return" of the mechanical resource (cylinder rod).



Select the Move command type.

User Manual VIRTUAL UNIVERSE PRO V2

Page 64



It is also possible to add Boolean sensors (AON sensors, all or nothing), returning 1 if
the mechanical resource is within the detection range of the sensor and 0 otherwise.
The following example illustrates the creation of a Boolean sensor (sensor_max)
located around the maximum position.



The generated behaviors are:
Behavior “move”, cylinder actuator, 3D emulator input
Boolean sensor “min”, 3D emulator output
Boolean sensor “max”, 3D emulator output

o A value of 0 for the "move" behavior will result in a "return" displacement and a
value of 1 to a "go" displacement.
o Min and Max have a value of 1 when the resource is located within the sensor
range, 0 otherwise.

User Manual VIRTUAL UNIVERSE PRO V2

Page 65

Moving as a function of speed

This is typically the motion profile used in the case of an axis, driven by a set {motor +
variable-frequency drive} receiving speed setpoints from a programmable logic controller,
external to the 3D emulator.



First, select (in the project tree) the mobile part of the mechanical resource that you
wish to set in motion (this is the cylinder rod in the example above).



Then click the green tab "Motion assistant" to the left of the tree.



The Motion assistant window appears on screen.

User Manual VIRTUAL UNIVERSE PRO V2

Page 66

Min and Max positions

Command type
Immediate position sensor
Boolean sensor Max position
Boolean sensor Min position



Set the Min and Max stops, either manually or by moving the resource directly in the
rendering window (these stops will not be reached by the resource).



Select the Move command type according to the command you wish to apply (preset
speed, preset acceleration/deceleration time). The following image illustrates how to
create a movement with two preset speeds (100 and -100 mm/s) and a profile of
acceleration/deceleration (one second to reach the applied speed).

User Manual VIRTUAL UNIVERSE PRO V2

Page 67



The addition of an "immediate" position sensor (returning directly the resource position
along the motion axis) constitutes a position feedback. The following image illustrates
the creation of such a sensor “posz”.



User Manual VIRTUAL UNIVERSE PRO V2

Page 68



The generated behaviors are :
The behavior value sets the speed
Speed setpoint, 3D emulator input
Acceleration time, 3D emulator input
Deceleration time, 3D emulator input
Preset speed 1, 3D emulator input
Preset speed 2, 3D emulator input
“Immediate” position sensor, 3D emulator output
Boolean sensor min, 3D emulator output
Boolean sensor max, 3D emulator output

o A value of 1 for a "Preset speed" behavior activates the preset speed, forcing the
speed setpoint to its value.
o Reqspeed, accstime, decstime are only created if the user defines a profile of
accel/decel profile. If no profile is defined, the command part will directly write
"move" that will be an input for the 3D emulator

User Manual VIRTUAL UNIVERSE PRO V2

Page 69

Moving as a function of an “immediate” position

This is typically the motion profile used in the case of an axis, driven by a set {motor +
variable-frequency drive} receiving position setpoints from an axis controller, external to
the 3D emulator.



First, select (in the project tree) the mobile part of the mechanical resource that you
wish to set in motion.



Then click the green tab "Motion assistant" to the left of the tree.



The Motion assistant window appears on screen.

User Manual VIRTUAL UNIVERSE PRO V2

Page 70

Min and Max positions

Command type
Immediate position sensor
Boolean sensor Min
Boolean sensor Max



Set the Min and Max stops, either manually or by moving the resource directly in the
rendering window (these stops will not be reached by the resource).



Select the command type (direct or relative).

User Manual VIRTUAL UNIVERSE PRO V2

Page 71

Direct position command
Relative position command



User Manual VIRTUAL UNIVERSE PRO V2

Page 72



The generated behaviors are :
Direct writing of the resource position, 3D emulator input
“immediate” position sensor 3D emulator output
Boolean sensor “min”, 3D emulator output
Boolean sensor “max”, 3D emulator output

User Manual VIRTUAL UNIVERSE PRO V2

Page 73

Moving as a function of a position with acceleration and deceleration

This is typically the motion profile used in the case of an axis, driven by a set {motor +
variable-frequency drive} receiving position setpoints from an axis controller, internal to the
3D emulator.

1)
2)



First, select (in the project tree) the mobile part of the mechanical resource that you
wish to set in motion.



Then click the green tab "Motion assistant" to the left of the tree.



The Motion assistant window appears on screen.

User Manual VIRTUAL UNIVERSE PRO V2

Page 74

Min and Max positions

Command type

« Immediate » position sensor
Boolean sensor Min
Boolean sensor Max



Set the Min and Max stops, either manually or by moving the resource directly in the
rendering window (these stops will not be reached by the resource).



Select the command type (direct or relative).



Select the option « Use an acceleration/deceleration profile to reach a position… » and
define the profile parameters.

User Manual VIRTUAL UNIVERSE PRO V2

Page 75



User Manual VIRTUAL UNIVERSE PRO V2

Page 76



The generated behaviors are:
Direct writing of the resource position, internal value
“immediate” position sensor, 3D emulator output
Boolean min sensor, 3D emulator output
Boolean max sensor, 3D emulator output
Position setpoint, 3D emulator input
Maximum speed in units/s (mm or degrees), 3D emulator input
Time to reach maximum speed, 3D emulator input
Time to reach 0 speed, 3D emulator input

User Manual VIRTUAL UNIVERSE PRO V2

Page 77

Use a library of smart resources

VIRTUAL UNIVERSE PRO provides access to a library of 3D resources enabling to
capitalize on your own smart resources in order to later use them for building new 3D
emulator projects.
As example, VIRTUAL UNIVERSE PRO provides a first demonstration library (called
Demo library) including some smart 3D resources (conveyors, electrical pusher, sensors,
electrical enclosure, source, sink...) that should help to train you and design your own 3D
smart resources.

The VIRTUAL UNIVERSE PRO library is stored in the "library" folder, itself located in the
VIRTUAL UNIVERSE PRO Industry installation directory:
VIRTUAL UNIVERSE PRO Industry\VUI 1.113\library

User Manual VIRTUAL UNIVERSE PRO V2

Page 78

Import a smart resource from library


For accessing to a 3D resource already available in the library, click on the blue tab
"Library" on the left of the set-up window. A browser will open, allowing you to access
all 3D resources available in the library.



In the library, select the resource to add to the project and drag and drop it from the
library onto the 3D rendering window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 79



The 3D resource is immediately added to the project, and visible in the project tree.

User Manual VIRTUAL UNIVERSE PRO V2

Page 80

Export a smart resource into the library
VIRTUAL UNIVERSE PRO enables you to capitalize on your own smart resources in order
to later use them for building new 3D emulator projects.



In the project tree, select the 3D resource to add to the library and right click. Select
Export/Export.

A Windows Explorer opens. In the VIRTUAL UNIVERSE PRO installation directory,
select the "library" folder. This folder is not write-protected, you can organize it the way
you want (adding new directories).


After having selected the backup path and named your resource, click "Save".

User Manual VIRTUAL UNIVERSE PRO V2

Page 81



The new 3D resource is then available in the VIRTUAL UNIVERSE PRO library, ready
for reuse.

User Manual VIRTUAL UNIVERSE PRO V2

Page 82

Quickly connect 3D resources with the « Magnetic » option
VIRTUAL UNIVERSE PRO features a "Magnetic" function which enables to easily connect
3D resources by using the mouse.
This is particularly useful for quickly positioning the resources of a production line in the 3D
world.
In the 3D resource, a sprite is designated as the connector and has the particularity of
being "magnetized" with other 3D sprites that also use the "Magnetic" function.



The "Magnetic" function is available in the sprite properties



When the 3D sprites using the "Magnetic" function are moved in the 3D world and
approached to one another with the mouse (off simulation), they are "magnetized"
towards each other. The connection is complete when the overlap between the two
sprites is maximum.

User Manual VIRTUAL UNIVERSE PRO V2

Page 83



To disable the "Magnetic" function and disconnect the sprites, simply hold the "Alt" key
while moving the sprite with the mouse.

Example
All the conveyors available in the demo library of VIRTUAL UNIVERSE PRO use the
"Magnetic" function.

User Manual VIRTUAL UNIVERSE PRO V2

Page 84

When a conveyor is approached to another conveyor using the mouse, it positions and
connects itself perfectly.

User Manual VIRTUAL UNIVERSE PRO V2

Page 85

Connect a 3D emulator to an external software/controller

Define the list of 3D emulator inputs/outputs
The list of 3D emulator inputs/outputs corresponds to all "Generic read" and "Generic
write" behaviors added to the project and reported as "external links".

User Manual VIRTUAL UNIVERSE PRO V2

Page 86

The "External Link" property is available in the behavior properties.

The list of 3D emulator inputs/outputs is available by a right click at the world level, in the
"External Links" window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 87

List of 3D emulator
inputs/outputs

User Manual VIRTUAL UNIVERSE PRO V2

Page 88

Connect a 3D emulator with an external software/controller
By default, the 3D emulator project is not connected to an external software/controller.
Configuring a connection with an external software/controller (Programmable Logic
Controller, PLC emulator, OPC server...) is made in the Universe, in the "Connection" tab,
by choosing a type of connector (driver).

Once the "Driver" is selected, the connection settings (PLC IP address, CPU position on
the rack, OPC server name...) are made in the tab-specific driver.

User Manual VIRTUAL UNIVERSE PRO V2

Page 89

Mapping between the 3D emulator inputs/outputs and the external
controller variables
The 3D emulator inputs/outputs can be linked to the external software/controller variables
at two levels
-

at the input/output behavior level (declared as external link).

at the World level, in the External Links window (listing all the 3D emulator
inputs/outputs), accessible by a right click.

User Manual VIRTUAL UNIVERSE PRO V2

Page 90

In the special case of ROCKWELL/Allen Bradley PLCs, it is possible to import a list of tags
used in the PLC program in VIRTUAL UNIVERSE PRO, as a .L5K file, previously exported
from the ROCKWELL/Allen Bradley programming software.

.L5K file

User Manual VIRTUAL UNIVERSE PRO V2

Page 91

Test and debug a 3D emulator

Launch simulation


To start the simulation, select Simulation in the menu bar and then "Run".

Simulation messages
During simulation, a simulation diagnosis is carried out continuously.



If a problem (warning or fatal error) occurs at startup or during simulation (design error
in the 3D emulator, communication problem with the external software/controller...), a
message window opens with the list of identified problems :

User Manual VIRTUAL UNIVERSE PRO V2

Page 92

Here is the meaning of colors:
Light blue: normal operation of the simulation
Orange: warning (design error in the 3D emulator)
Red : fatal error (script failure, connection problem,..)

A second window also opens in parallel, prompting the user to stop the simulation (to
correct the problem) or to continue with the simulation.



At any time during simulation, the user can access the logs window, in the
"Simulation/Debug/Logs" menu.

User Manual VIRTUAL UNIVERSE PRO V2

Page 93

Test the 3D emulator
During simulation, it is possible to test the 3D emulator by forcing and displaying its
input/output variables, connected or not to an external software/controller.
This allows, for example, to test the 3D emulator before the PLC program is fully complete
or available, or to simulate unexpected scenarios (PLC connection interruption...).
In the Simulation/Debug/I/O menu, the user can access to the 3D emulator I/O monitoring
and debugging window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 94










The « Name » column indicates the 3D emulator input/output variable name
o red = 3D emulator input variable
o green = 3D emulator output variable
The « External variable » column the connected external software/controller variable
name.
The « Current value » column the variable current value.
The « Internal Current value » column indicates the variable internal (before any
conversion) current value.
The « Forcing » column is used to force the variable.
The « Acquisition time » column gives the instantaneous time required for the
exchange of the variable between the 3D emulator and the external software/controller.
The « Error » column indicates a possible connection error with the external software.

User Manual VIRTUAL UNIVERSE PRO V2

Page 95

Measure and optimize the performances of a 3D emulator

There are three criteria to measure and optimize the performances of a 3D emulator :




The graphics refresh rate (3D rendering speed and fluidity)
The physics engine performances (realism of the simulated physical phenomena)
The speed of dialog with the external software/controller

User Manual VIRTUAL UNIVERSE PRO V2

Page 96

Measure graphics performances
It is important to measure and optimize graphics performances of a 3D emulator. Indeed,
these graphics performances directly influence the fluidity and visual quality of 3D
rendering.
The graphics performances of a 3D emulator are represented by the number of frames
displayed per second (FPS) in the 3D rendering window (during simulation and offline
simulation). It also corresponds to the graphic refresh rate.
In VIRTUAL UNIVERSE PRO, this information is constantly displayed in the lower left of
the 3D rendering window.

The graphic performances of a 3D emulator mainly depend on the following factors:





The graphics card quality and performance (installed on the computer running the
3D emulator)
The 3D geometry complexity (displayed in the emulator 3D rendering)
The number of cameras (views) used in the 3D emulator
The set-up window opening or closing during simulation

User Manual VIRTUAL UNIVERSE PRO V2

Page 97

We consider that the graphics performances of a 3D emulator are good when the graphics
refresh rate always remains above 15 FPS (15 frames per second).

Optimize graphics performances
Graphic card
For getting good graphics performance with the VIRTUAL UNIVERSE PRO 3D emulators,
it is strongly recommended to use a modern computer equipped with a good graphics
card.
Graphics cards dedicated to the world of video games are particularly powerful and
adapted for VIRTUAL UNIVERSE PRO 3D emulators.

3D geometry simplification
The 3D models created with CAD software often have very complex 3D geometries
(number of triangles) and small parts that are not always necessary to VIRTUAL
UNIVERSE PRO 3D emulators and may instead greatly reduce graphics performance.
For the simplification of 3D CAD models, VIRTUAL UNIVERSE PRO offers a 3D
geometries optimization tool.
For more information about usage of the 3D geometry optimization tool, see Simplify 3D
CAD models.

User Manual VIRTUAL UNIVERSE PRO V2

Page 98

User Manual VIRTUAL UNIVERSE PRO V2

Page 99

Opening the set-up window

When opened, the set-up window can significantly reduce the graphics refresh rate during
simulation. During simulation, when possible, it is recommended to keep this set-up
window closed.
Another possibility is to use a second screen to open the set-up window (and Debug
window), in order to keep only the 3D rendering window opened on the first screen. Thus,
the graphics performances of the 3D emulator (during simulation) are not reduced.

Set-up window

3D rendering window

Use of multiple cameras

The use of multiple cameras in a 3D emulator may reduce the graphics performances.

User Manual VIRTUAL UNIVERSE PRO V2

Page 100

Measure the physics engine performances
It may be useful to know how to measure and optimize performances of the VIRTUAL
UNIVERSE PRO physics engine, particularly for 3D emulators which require the
simulation of many physical phenomena (gravity of bodies, friction, collisions).
The VIRTUAL UNIVERSE PRO physics engine performances directly influence the
realism of the simulated physical phenomena.
The physics engine performances are expressed in number of physics engine calculation
per second (CPS).
In VIRTUAL UNIVERSE PRO, this information is constantly displayed in the lower left of
the 3D rendering window.

The physics performances of a 3D emulator strongly depend on the following factors:



The processor (CPU) performance of the computer used to run the 3D emulator
The number and shape of 3D objects used by the physics engine during simulation

It is considered that the physics performances of a 3D emulator are good when the
number of physics calculations, during simulation, is still greater than 100 CPS (100
calculations per second).

User Manual VIRTUAL UNIVERSE PRO V2

Page 101

Optimize the physics engine performances
Computer CPU
To achieve good physics performances in the VIRTUAL UNIVERSE PRO 3D emulators, it
is strongly recommended to use a modern computer equipped with a powerful processor
(multi-core).

Shape of 3D sprites used by the physics engine
By default, when added to the project, 3D sprites are not exposed to the physics engine,
their option "Use physics" is disabled.
For optimizing the physics engine performance, it is recommended to not declare too
many 3D Sprites used by the physics engine and to choose the body type "box" when
possible.

The "Any" or "Convex" body types are those which provide the greater realism in the
simulated physical phenomena, but also strongly impact the physics engine.
In development phases, it can be useful to visualize the geometries handled by the
physics engine by activating the "debug physics" mode in the properties of the Universe.

User Manual VIRTUAL UNIVERSE PRO V2

Page 102

Performances of dialog with the external software/controller
The dialog performances with the external software/controller are expressed by the time
(in milliseconds) needed to exchange the set of variables shared between the 3D emulator
and the external software/controller.
This information is available, during simulation, in the Universe/Connection/Link Quality
tab.

The Debug I/O window also provides the time needed for exchanging each variable with
the external software.
User Manual VIRTUAL UNIVERSE PRO V2

Page 103

User Manual VIRTUAL UNIVERSE PRO V2

Page 104

Generate standalone 3D emulators (players)

VIRTUAL UNIVERSE PRO can generate independent 3D emulators, as executable files
(.exe) called "players".
A player embeds all the simulation intelligence from its original 3D emulator project (from
which it is created). It can be connected to an external software/controller (depending on
the type of connection defined in the original 3D emulator project) and offers, during
simulation, the same functionalities as the original 3D emulator project.
There are two types of players:



Limited player (2 minutes of use)
Unlimited player (unlimited use)

User Manual VIRTUAL UNIVERSE PRO V2

Page 105

Limited players
VIRTUAL UNIVERSE PRO allows the generation of players, limited to a life of 2 minutes
(the player closes 2 minutes after it opened).
The generation of a limited duration player is available in the File/Generate an
executable/Generate a limited player menu.

User Manual VIRTUAL UNIVERSE PRO V2

Page 106

Unlimited players
VIRTUAL UNIVERSE PRO allows the generation of unlimited players (in term of duration),
but protected by a unique security code.
The generation of an unlimited duration player is available in the "Build an exe file/Build an
unlimited player" in the “File” menu.
This generation requires a security code. For more information, see Register a security
code (unlimited player)

User Manual VIRTUAL UNIVERSE PRO V2

Page 107

Detailed properties of a 3D emulator
The setup window provides access to the detailed properties of a 3D emulator project.
Some of these properties are for advanced users only and are accessible by activating the
“Expert mode”.

Setup
window

Expert mode

User Manual VIRTUAL UNIVERSE PRO V2

Page 108

Properties of the Universe

Detailed properties of the Universe

Universe
properties

Connection
Driver: Define the connection with external software (software which communicates
with VIRTUAL UNIVERSE PRO). The available drivers are:

Status: Current status of the connection (stopped, external software not ready,
connected).

User Manual VIRTUAL UNIVERSE PRO V2

Page 109

Last error: Last communication error.
Link quality: Time needed to exchange all data with the external software (in
milliseconds).
TCP server (Expert mode): If true, activates a TCP server allowing one or more
external applications to dialog with VIRTUAL.
TCP server port (Expert mode): TCP port number.
Minimum refresh period for external variables (Expert mode): Minimum limit (in
milliseconds) for the exchange of all variables. 100: exchange of all variables every 100
milliseconds as a minimum.

Options
Automatic run: If true, simulation is launched automatically when opening the project.
Press “Shift” key at the opening of the project to deactivate the automatic run.
Show variables and states (Expert mode): If true, displays (in the rendering window)
variables names and states on 3D Sprites containing such a behavior (using external
variables or states).
Navigation mode: VU (navigation with mouse) or IRIS3D (in the absence of mouse, this
mode enables navigation with buttons and arrows).
Only frame (Expert mode): Draw only frames for 3D Sprites.
Debug physic: If true, the volumes used by the physics engine are displayed in the 3D
rendering window (yellow color lines). This can be very useful in the development
phase of a project to see the different volumes used by the physics engine.

Statistics (Expert mode)
This section provides information on the 3D rendering time, on the physics engine
performance and on processing of behaviors.

Security (Expert mode)
Set a password to control access to the setup window and to the project modification.

User Manual VIRTUAL UNIVERSE PRO V2

Page 110

Properties of the World

Detailed properties of the World

World
properties

Name (Expert mode)
Name of the World.

Display
Window size (Expert mode): Rendering window size (in pixels) in full screen mode. Full
screen mode is activated by running VIRTUAL UNIVERSE PRO with /fullscreen on the
command line. This is necessary for use of VIRTUAL UNIVERSE PRO with a 3D view
screen and 3D glasses.
Resizable (Expert mode): Allow the user to resize the window.
Background color: Define the color of the 3D world background.
Ambient light: Determine the color and intensity of ambient light (light illuminating all
objects regardless of their positions and orientations).
User Manual VIRTUAL UNIVERSE PRO V2

Page 111

Show shadows: If true, handles the display of shadows, requires that the properties of
objects relating to the shadows is also positioned. The display of shadows can
significantly slow down the 3D rendering.
Display the number of frames per second: refresh rate.
Use shader (Expert mode): Use of a shader (advanced technology for rendering
shadows and other effects. Only spot lights or directional lights must be used if true).
Max frames per second (Expert mode): If not 0, limit the number of frames displayed
per second to the specified value. Also preserves CPU time.
Fog, Fog color, Fog start, Fog end (Expert mode): Display a fog effect.

Physic
Physic engine (Expert mode): Select the physic engine to be used: NEWTON Physics
by default.
Sampling (0=variable) (Expert mode): Physic engine sampling period in seconds, 0
indicates a variable sampling.
Simulation soft only (Expert mode): Force a software physics simulation for the physics
engine, does not use the hardware accelerator for physical simulation.
Gravity (N) (Expert mode): Gravity value in Newton.
Mouse force: Define the force used when the user picks an object in RUN mode (2000
is the default value).

HMI
HMI: Activation of a Human-Machine Interface..
HMI console location: Determine the HMI console location (Floating or Anchored
below).

Sky dome (Expert mode)
Set a texture used as sky.

Options

User Manual VIRTUAL UNIVERSE PRO V2

Page 112

Global size coefficient (mode expert): Modify the size, position and speed values. By
default, the global size coefficient is 100 for each axis, corresponding to a display of
measurements units in millimeters.
Measure unities for length and location: Define the unities used for coordinates and
size properties (by default, the millimeter).

User Manual VIRTUAL UNIVERSE PRO V2

Page 113

Functionalities at the World level

Add
Add a 3D Sprite, Light or Camera as « Child » of the World.

Import
An object: Import a VIRTUAL UNIVERSE PRO object (.VUO file) in the 3D emulator
project. A VIRTUAL UNIVERSE PRO object is a simulation resource that is to be
reused in a 3D emulator project. An object may be limited to a simple sprite or
behavior, or may represent a more complex smart 3D resource (assemblies of sprites
and behaviors). The smart 3D resources available in the VIRTUAL UNIVERSE PRO
demonstration library are objects.
A 3D file: Import 3D files from standard formats (.3DS, VRML, STL, .OBJ files, etc...) in
the VIRTUAL UNIVERSE PRO 3D emulator project.
A basic form: Provides access to the library of basic 3D shapes available in VIRTUAL
UNIVERSE PRO. A basic is an object file (.VUO file) representing a basic 3D shape.
VIRTUAL UNIVERSE PRO provides in its library a list of basic 3D shapes that can be
reused in a 3D emulator project. The basic object files are located in the
library/Primitive folder in the VIRTUAL UNIVERSE PRO Industry installation directory.
From SolidWorks: Provides access to the SolidWorks data import tool. For more
information on how to import 3D models from SolidWorks, see Import SolidWorks
models.

User Manual VIRTUAL UNIVERSE PRO V2

Page 114

From Inventor: Provides access to the Inventor data import tool. For more information
on how to import 3D models from Inventor, see Import Inventor models.

A 3D text: Add a 3D sprite in a text shape.

User Manual VIRTUAL UNIVERSE PRO V2

Page 115

External links
Open the External Links window, listing all behaviors defined as "External links" in the
3D emulator project (at the World level). For more information regarding the
inputs/outputs of a 3D emulator, see Define the list of 3D emulator inputs/outputs.

Optimize
Open the geometries optimization tool of VIRTUAL UNIVERSE PRO, allowing user to
simplify the geometry of all the 3D sprites used in the 3D emulator project (world level).
Simplifying the 3D geometries enables to optimize the performance of 3D rendering.
For more information on how to use this optimization tool, see Simplify 3D CAD
models.

User Manual VIRTUAL UNIVERSE PRO V2

Page 116

For more information on how to measure and optimize graphics performance of a 3D
emulator, see Measure graphics performances.

Include to rendering / Exclude from rendering
Make all the 3D sprites visible/invisible in the 3D rendering window.

User Manual VIRTUAL UNIVERSE PRO V2

Page 117

Properties of Lights

Detailed properties of Lights

Light
properties

Name
Name of the Light.

Position
Coordinates: Define the Light’s coordinates (unused for Directional Light).
Direction: Set the direction of the Light in degrees (only used for Spot or Directional
Light).
Target (Expert mode): Only used for the shader shadows, this parameter sets the
target coordinates (X, Y and Z).

Color, type, etc.
Color: Color of the Light.
Power: Multiplicative factor of the Light’s power, 0 value = default (multiplication by 1).
Radius: Radius of the Light (distance of effect).
Hide light: Hide the Light spot and halo.
Light halo size: Modify only the halo size, not the power and radius of the light.

User Manual VIRTUAL UNIVERSE PRO V2

Page 118

Type: Select the Light type: point (all directions lighting), spot or directional.
Falloff: The light strength’s decrease between Outer and Inner cone.
Outercone: Angle of the outer cone for spots (ignored for other lights).
Inercone: Angle of the outer cone for spots (ignored for other lights).
Attenuation: Light strength fading over distance.

User Manual VIRTUAL UNIVERSE PRO V2

Page 119

Functionalities at the Light level

Add
Add a new Behavior.

Delete
Remove the Light.

Paste
Paste the behaviors copied from another light.
External links
Open the Light External Links window, listing all behaviors reported as "External links".
This can be useful to control the Light with an external variable.

User Manual VIRTUAL UNIVERSE PRO V2

Page 120

Properties of Cameras
Detailed properties of Cameras

Cameras
properties

Name
Name of the Camera.

Location
Determine the initial position of the Camera by the coordinates of the target (where the
Camera is looking) as well as rotation about the axes X and Y and zoom.

Current location
Same as above, but for the current position. The current position can be copied into the
original position by clicking the downward arrows appearing on the right elements of
initial positions and selecting "Copy from current values”.

Limits
Restrict the Camera’s movements.

User Manual VIRTUAL UNIVERSE PRO V2

Page 121

Options
Fixed: The user cannot move the Camera.
Rotate with parent: If true, the Camera moves along with its parent.
Activated when start: In multi-camera mode, sets the Camera as active.
Zoom coefficient: Increase or decrease the zoom speed (0 = default).
Move coefficient: Increase or decrease the displacement speed (0 = default).

User Manual VIRTUAL UNIVERSE PRO V2

Page 122

Functionalities at the Camera level

Delete
Delete the Camera.

User Manual VIRTUAL UNIVERSE PRO V2

Page 123

Properties of Sprites

Detailed properties of Sprites

Properties of
a Sprite

Name
Name of the Sprite.

Drawing
Determine the 3D file used to define the geometry of the 3D Sprite and possible texture
files.

Position and size
Define the initial position, rotation (along the axis) and scale (expert mode) of the 3D
Sprite. The rotations are in degrees (from -180 to +180 degrees).

Position and size (current values) – RUN mode
Same as above, but for the current values. Also displays the relative translation and
rotation (relative to the 3D parent Sprite), the position of the object center and the
absolute rotation (to the world).

Material (current values)
User Manual VIRTUAL UNIVERSE PRO V2

Page 124

These properties include the characteristics of the equipment used to display the
object. These characteristics are directly related to the Irrlicht rendering engine.
Transparency: Set the transparency of the object from 0 (no transparency) to 1 (full
transparency).
Design both faces (Expert mode): Display the two faces of the object’s surfaces.

Material (current values) – RUN mode
Same as above, but for the current values.

Options
Non selectable: If true, the 3D sprite is not selectable by mouse (useful for large 3D
sprites to let smaller Sprites be selectable).
Select parent: If true, select the parent instead of the object itself when clicked.
Magnetic: Magnetic object for automatic positioning and connection of 3D Sprites.

Physic
Use physic: If true, the physics engine will process this 3D Sprite. If false, the 3D Sprite
will be ignored by the physics engine and have no physical interaction with the other
3D objects.
Use gravity: If true, the 3D Sprite will be subject to gravity. Its mass must also be nonzero.
User can apply force: If true, the user can, in RUN mode, acting on the object by
holding down the right mouse button while the cursor is on the Sprite 3D and moving
the cursor.
Body type: Determine the geometry type of the 3D Sprite that will be handled by the
physics engine:
-

Any (convex): a convex shape derived from the 3D geometry of the Sprite.
Any (Nvidia Physx only)
Box : rectangular parallelepiped
Sphere
Capsule
Cloth (Nvidia Physx only)
Soft body (Nvidia Physx only)
Fluid (Nvidia Physx only).

User Manual VIRTUAL UNIVERSE PRO V2

Page 125

Caution! The type "Any", when is used with a complex 3D Sprite (with many sides),
may consume a lot of resources during physics simulation. Prefer, when possible
one of the other types (as “Box” type).
In the development phases, it is possible and often useful to visualize the geometries
handled by the physics engine by activating the "debug physic" mode in the properties
of the universe.
Example:

Mass: Mass of the object (0 = freeze).
Moment of inertia (Expert mode): Determine the object’s resistance to changes to its
rotation.
Linear/Angular damping (Expert mode): Linear/angular viscous friction.
Auto adjusts center of mass (Expert mode): If true, computes the center of mass from
the geometric center of the object. If false, the center of mass is the point of
coordinates (0,0,0).
Center of mass (Expert mode): Define the object’s center of mass.
Coefficients: Determine the static and kinetic friction, the elasticity and static softness
coefficients. A zero value uses the default parameters of the physics engine. The
coefficient used by the physics engine between an object A and object B is a
combination (product) of the coefficients of object A and object B.
Penetrate: If true, the 3D Sprite will penetrate other 3D sprites. In the case of objects
linked by joints (see below) collisions are automatically disabled.

Physic joint with parent
Joint: Define a joint with the parent of the 3D Sprite. The 3D Sprite must use physic
and have a non-zero mass:
-

Hinge
Slider
Ball and socket

User Manual VIRTUAL UNIVERSE PRO V2

Page 126

Hinge and slider
Pulley (Nvidia Physx only)
Fix

Pivot joint position or anchor position: Origin of the pivot or anchor solution.
Line of action: Line of action of the Joint: slide (translation axis) and pivot (rotation
axis).
Limits: Minimum and Maximum positions for the joint. Limits are disabled if min limit =
max limit.
Joint power: Power (rigidity) of the joint.
Joint force (N) (Expert mode): Force supported by the joint.
Break joint force (N) (Expert mode): If joint force is greater than this value, the joint is
breaks.
Pivot joint position or anchor position (parent or other objects): Origin of the pivot or
anchor position
Pulley (Expert mode): Options for the creation of a pulley.

Billboard (Expert mode)
2D graphic file displayed in the 3D world.

Liquid effect (Expert mode)
Simulate a liquid effect.

Particles (Expert mode)
Display particles (simulates small moving objects: water, fire…).

Animation (Expert mode)
Manage the animation defined in a 3D file (only available for .x files).

User Manual VIRTUAL UNIVERSE PRO V2

Page 127

Functionalities at the Sprite level

Add
Add a new 3D Sprite, Light, Camera or behavior as a child of the 3D Sprite.
Delete
Delete the 3D Sprite (ability to delete a group of 3D Sprite with “This 3d sprite and the
next…”).
Duplicate
Online or chained duplication of 3D resources. Associated with the "Magnetic" function,
this option is particularly useful for the construction of a conveyor line.
Export
Export a Sprite (with eventual behavior and children) as a VIRTUAL UNIVERSE PRO
reusable object (.vuo file), just like a smart 3D resource. By default, VIRTUAL
UNIVERSE PRO proposes to save this object in the VIRTUAL UNIVERSE PRO library
directory, but it is possible to select another location on the computer.
It is also possible to export only the children's behavior of the selected sprite.
Import

User Manual VIRTUAL UNIVERSE PRO V2

Page 128

An object: Import a VIRTUAL UNIVERSE PRO object (.VUO file) in the 3D emulator
project. A VIRTUAL UNIVERSE PRO object is a simulation resource that is to be
reused in a 3D emulator project. An object may be limited to a simple sprite or
behavior, or may represent a more complex smart 3D resource (assemblies of sprites
and behaviors). The smart 3D resources available in the VIRTUAL UNIVERSE PRO
demonstration library are objects.
A 3D file: Import 3D files from standard formats (.3DS, VRML, STL, .OBJ files, etc...) in
the VIRTUAL UNIVERSE PRO 3D emulator project.
A basic form: Provides access to the library of basic 3D shapes available in VIRTUAL
UNIVERSE PRO. A basic is an object file (.VUO file) representing a basic 3D shape.
VIRTUAL UNIVERSE PRO provides in its library a list of basic 3D shapes that can be
reused in a 3D emulator project. The basic object files are located in the
library/Primitive folder in the VIRTUAL UNIVERSE PRO Industry installation directory.
From SolidWorks: Provides access to the SolidWorks data import tool. For more
information on how to import 3D models from SolidWorks, see Import SolidWorks
models.

From Inventor: Provides access to the Inventor data import tool. For more information
on how to import 3D models from Inventor, see Import Inventor models.

User Manual VIRTUAL UNIVERSE PRO V2

Page 129

A 3D text: Add a 3D sprite in a text shape.

External links
Open the External Links window, listing all behaviors defined as "External links" at the
selected sripte level.

User Manual VIRTUAL UNIVERSE PRO V2

Page 130

Show/Hide
Show, hide or exclude a 3D resource from the 3D rendering windows.

Optimize

Provides access to the geometries optimization tool of VIRTUAL UNIVERSE PRO,
enabling user to simplify the 3D geometry of the selected Sprites (including its
children).
Simplifying the 3D geometries enables to optimize the performance of 3D rendering.
For more information on how to use this optimization tool, see Simplify 3D CAD
models.

User Manual VIRTUAL UNIVERSE PRO V2

Page 131

For more information on how to measure and optimize graphics performance of a 3D
emulator, see Measure graphics performances.

Open the object
Show only the selected object in the 3D rendering window and in the project tree

Fit to view
Center the view on the selected 3D Sprite.
User Manual VIRTUAL UNIVERSE PRO V2

Page 132

Properties of Behaviors

Detailed properties of Behaviors

Behaviors
properties

Name
Name of the Behavior

Type, etc.
Behavior type (see details below)

Link
Initial value: Will be copied into the current value when switching to simulation RUN
mode. Can be used for a permanent activation of a behavior. For example, a script will
be executed unconditionally from the start of the simulation by setting this property to 1.
Current value: Current value of the Behavior's variable, this value can be copied from
or copied to the external software.
Data conversion: Determines how the data is converted between the current value and
the internal current value:
-

Copy (no conversion)
Boolean (false if 0, true otherwise)

User Manual VIRTUAL UNIVERSE PRO V2

Page 133

Non Boolean (true if 0, false otherwise)
From real world
To real world

Internal current value: Internal current value of the Behavior’s variable, this variable is
used to drive the simulation or this value comes from the simulation.
Alphanumeric value (Expert mode): Used to store a string value.
Write mode: Define the method of writing data to the external software:
-

Normal: data is written on each exchange cycle.
Only when changed: data is only written on a value change.
Safe: Data is read before writing and is not written if the value is the same.
When writing data, verification is made to check that the value is correctly
written.

Get value from this behavior: If nonempty, this area gives the name of a behavior
whose value will be read and copied into the internal current value.
External link: If true, this Behavior will be displayed in the I/O list.
External value (Expert mode): Used by the “only when changed” mode.
Last value written to the external software (Expert mode): Used by the “safe” mode.
Need to be written (Expert mode): Used by the “safe” mode.
External error (Expert mode): Error message if an error occurred while accessing an
external variable. Empty if no error.

User Manual VIRTUAL UNIVERSE PRO V2

Page 134

Types of Behavior
VIRTUAL UNIVERSE PRO offers a wide variety of predefined behaviors to be applied to
3D sprites. These behaviors are organized in 7 categories presented in the "Type of
behavior" window.

Conveyor displacement
These behaviors are used to control the conveyor belt speed (in translation or rotation,
depending on the conveyor shape).

User Manual VIRTUAL UNIVERSE PRO V2

Page 135

Speed:
o Set the linear velocity of the sprite relatively to the reference axis of the
World (absolute axis system). In meters/sec or mm/s according to the units
selected in the properties of the world.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite and that
a slide joint is defined between the sprite (sprite moved) and the parent
sprite.

Relative speed:
o Sets the linear velocity of the sprite relative to the axes of the local
coordinate system relative to the sprite (local frame). In meters/sec or mm/s
according to the units selected in the properties of the world.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite and that
a slide joint is defined between the sprite (sprite moved) and the parent
sprite.
Example

User Manual VIRTUAL UNIVERSE PRO V2

Page 136

This behavior is used in the conveyor types "Linear belt conveyor" and
"Linear Roller conveyor" available in VIRTUAL UNIVERSE PRO demo
library, to manage the conveyor belt speed.

Angular speed:
o Defines the angular velocity of the Sprite relative to the reference axes of the
World (absolute frame). In degrees/s.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite and that
a revolute (hinge) joint is defined between the sprite (sprite moved) and the
parent sprite.

Relative angular speed:
o Defines the angular velocity of the Sprite relative to the axes of the local
coordinate system relative to the sprite (local frame). In degrees/s.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite and that
a revolute (hinge) joint is defined between the sprite (sprite moved) and the
parent sprite.
Example
This behavior is used in the conveyor types "Curve roller conveyor" available
in VIRTUAL UNIVERSE PRO demo library, to manage the conveyor belt
speed.

Resource displacement

These behaviors are intended to control the movement of 3D objects and 3D resources
(translation, rotation, position).
These are the behaviors the most widely used to manage the resources movements in the
VIRTUAL UNIVERSE PRO 3D emulators.
Most of these behaviors can be created and configured automatically using the Motion
Assistant. For details, see Define motion profiles with the Motion Assistant.

User Manual VIRTUAL UNIVERSE PRO V2

Page 137

These behaviors do not rely on the VIRTUAL UNIVERSE PRO physics engine and do not
require a kinematic joint between the child and parent sprites.

Move on X:
o Move the sprite in translation relative to the axis X of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in meters/sec or mm/s depending on the units selected in the
properties of the world.
Important! This behavior does not rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.
Example
The behavior "Move on X" in control mode "Time" is used in the electrical
pusher "Electrical pusher" present library, to control the drawer
return/release.

Move on Y:
User Manual VIRTUAL UNIVERSE PRO V2

Page 138

o Move the sprite in translation relative to the axis X of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in meters/sec or mm/s depending on the units selected in the
properties of the world.
Important! This behavior does not rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.

Move on Z:
o Move the sprite in translation relative to the axis Z of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in meters/sec or mm/s depending on the units selected in the
properties of the world.
Important! This behavior does not rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.

Rotate X:
o Move the sprite in rotation relative to the axis X of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in degrees/seconds.
Important! This behavior does not rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.

Rotate Y:

User Manual VIRTUAL UNIVERSE PRO V2

Page 139

o Move the sprite in rotation relative to the axis Y of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in degrees/seconds.
Important! This behavior does not rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.

Rotate Z:
o Move the sprite in rotation relative to the axis Z of the parent sprite local
frame (local frame).
The property “Move and rotate mode" lets you choose the drive mode for this
displacement (Time, Speed, Position).
Speed is in degrees/seconds.
Important! This behavior does rely on the VIRTUAL UNIVERSE PRO
physics engine. However, the Physics option can be enabled on the sprite, to
take into account the potential collisions of this sprite with other sprites.

Attach colliding objects:
o Attach the selected 3D sprite with other sprites whose name is specified in
the Link/Name(s) field.
Important! This behavior has to be applied to the moving sprite, which
comes in contact with other sprites. The name of sprites to be attached must
be filled.

Freeze:
o Freezes the object.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite.
Example

User Manual VIRTUAL UNIVERSE PRO V2

Page 140

This behavior is used in the conveyors available in VIRTUAL UNIVERSE
PRO demo library, to freeze the conveyor belt and bring it back to its initial
position, when moved.

Put far:
o Place the 3D Object "far" by moving it off to a distant position (not visible).

Test

These behaviors are designed to retrieve information about the 3D objects during
simulation (position or identifier of an object, detection an object by a sensor, collision
detection...).

Test collision with other objects:
o Enables to detect the collision of this spite with other 3D sprites. The internal
current value returns the number of triangles involved in the collision.

User Manual VIRTUAL UNIVERSE PRO V2

Page 141

Important! The parameter "Name(s) other sprite" limits the action of this
behavior to a group of 3D sprites. The name of monitored sprites has to be
specified.

Read colliding object number:
o Provides the identifier of the 3D sprite colliding with the current sprite.
Example
The scanner sensor available in the VIRTUAL UNIVERSE PRO library
operates this behavior.

Test sprite position:
o Enables to test whether the 3D Sprite position is between two bounds called
“Min position” and "Max Position". This behavior can model a position sensor
located on an actuator.
Important! This behavior relies on the VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite and a
kinematic joint to be defined between the sprite and its parent.

Get penetration with other objects:
o Gives the penetration depth between the 3D Sprite associated with the
behavior and other 3D sprites. The parameter "Name (s) of other sprites"
limits the action of this behavior to a group of 3D sprites.
Important! This behavior relies on VIRTUAL UNIVERSE PRO physics
engine. It requires the option "Physics" to be checked for the sprite. Frequent
use of this behavior may decrease the physics engine performances.

Example
This behavior can model a proximity sensor.

Get information:
o Provides access to dynamic values belonging to a 3D Sprite. The parameter
"Select information to be read from the 3D sprite" determines the information
received.
User Manual VIRTUAL UNIVERSE PRO V2

Page 142

Test if clicked:
o Takes the value 1 if the user clicks on the associated object (with the left
mouse button).
Important! This behavior only works if the sprite is selectable by the mouse
(option Not selectable = false)
Example
The 3D resource « Electrical Pusher » available in the library uses this
behavior.

Test if mouse over:
o Takes the value 1 if the user rolls over the object with the mouse.

Properties

These behaviors are used to modify some properties.

User Manual VIRTUAL UNIVERSE PRO V2

Page 143

Define ambient color:
o Sets the ambient color of a 3D Sprite.
Important! This behavior colors the sprite materials. The coloring of these
materials has to be enabled in the sprite options.

Set invisible:
o Makes the object invisible if enabled (a value of 1).

Disable physic:
o Disables physics for the 3D Sprite if activated (a value of 1).

Code

Execute a script:

User Manual VIRTUAL UNIVERSE PRO V2

Page 144

o Runs the script written in the tab "Code" if the behavior's current value is
different from 0.

Script editor

The language used in the script editor is the Beebasic. For more information,
please refer to the basic_api.chm file available in VIRTUAL UNIVERSE PRO
installation directory and to the “Help on functions” field under the script editor.
Here is a list of the main functions used by the script editor:
-

Getbehavior() : returns a value associated to a Behavior.
refers to the parameter. It may designate a 3d Sprite by its
name. If this is not the case, the 3d Sprite parent of the Behavior is used. The
syntax is [<3d sprite name>]..

SetBehavior(,) : writes a Behavior value

GetValSprite3d(): returns a value associated to a 3d Sprite.

SetValSprite3d(,): modifies a value associated to a 3d
Sprite.

Getuniverse("time") : Returns the current 'time”.

User Manual VIRTUAL UNIVERSE PRO V2

Page 145

The name for the reference to a behavior must respect the following syntax:
-

A name without a path: will seek the Behavior whose name starts with that
text in all Behaviors (in the World).
..\: A behavior brother of the Behavior.
<3d sprite name>\: A behavior child of a 3d sprite.
It is also possible to reference the value type as follows: []..
The
value
types
are:
« internalvalue »,
« currentvalue » and «values».

Execute a script file:
o Runs a script contained in a file if the current value of the behavior is different
from 0.
This solution is particularly useful if a script is too long for the integrated script
editor.

User Manual VIRTUAL UNIVERSE PRO V2

Page 146

Example 1
Case of the « Electrical Pusher » resource available in the VIRTUAL UNIVERSE PRO
resource library.
The "Main behavior" script is used to control the drawer retraction/release by writing the
"move" behavior based on an input order coming from the "pusher" behavior. It also
returns the drawer current position ("pusher home position" and "pusher out position"
external variables).

Main behavior
myloop:
curpos=GetValSprite3d("POSX")
if getbehavior("..\pusher.currentvalue")=true or getbehavior("[..\..\A33660068-CAPOT DESSUS1\clic].currentvalue")=true then
setbehavior("..\move.values",1)
else
setbehavior("..\move.values",0)
endif
if curpos>=5 then
setbehavior("..\pusher home position.values",1)
else
setbehavior("..\pusher home position.values",0)
endif
if curpos<=-1.2 then
setbehavior("..\pusher out position.values",1)
else
setbehavior("..\pusher out position.values",0)
endif
goto myloop

User Manual VIRTUAL UNIVERSE PRO V2

Page 147

Example 2
Case of the « Linear belt conveyor » resource available in the VIRTUAL UNIVERSE PRO
resource library.
The « Main behavior » script manages the conveyor belt speed by writing the « speed »
behavior based on an order coming from the two inputs («linear belt conveyor speed » and
« linear belt conveyor start »).

Main behavior
myloop:
conveyor_speed=getbehavior("[..\linear belt conveyor speed]")
conveyor_start=getbehavior("[..\linear belt conveyor start]")
if conveyor_start=true then
setbehavior("[..\speed].values",conveyor_speed)
else
setbehavior("[..\speed].values",0)
endif
goto myloop

Exemple 3

Case of the « Detection sensor » resource available in the VIRTUAL UNIVERSE PRO
resource library.

User Manual VIRTUAL UNIVERSE PRO V2

Page 148

The « Main behavior » is used to copy the collision test result from the « test collision »
behavior to the « detection sensor » behavior.

Main behavior
collision=getbehavior("..\test collision")
setbehavior("..\detection sensor.values", collision)

Exemple 4

Case of the « Tower light » resource available in the VIRTUAL UNIVERSE PRO resource
library.
The RED lamp « Main behavior » handles the light flashing (0.5s period) based on the
« red light » input signal.

Main behavior
Sub wait(t)
User Manual VIRTUAL UNIVERSE PRO V2

Page 149

t1=getuniverse("time")
miloop:
t2=getuniverse("time")
if(t2-t1..
Example:
Application.GVL.myvariable
means: global variable called "myvariable" of the application called "Application".
MyApplication.MyPOU.anothervariable
means: variable
"MyApplication".

"anothervariable"

User Manual VIRTUAL UNIVERSE PRO V2

the

module

"MyPOU"

the

application

Page 207

Connection to a Siemens PLC S7-1200, S7-300 or S7-400
The PC and the PLC must be connected to a network.

The IP address of the PLC must be filled in the S7/IP address item. For the S7-400 PLC,
the PLC CPU position in rack must also be filled in the S7/CPU position item.
The usable variables for link names are inputs, outputs and internal variables. Bit, 16 bits
words, 32 bits words and floating types can be used. Examples: %I0.0, %MW10, %QW0,
%MF15

User Manual VIRTUAL UNIVERSE PRO V2

Page 208

Connection to a Rockwell Compact Logix PLC, Control Logix
PLC or SoftLogix emulator

The PLC or PC (SoftLogix) IP address and CPU position must be filled in.
The usable variables for the links are Tags used in the Rockwell program running in the
PLC or the Emulator. For a Tag belonging to a program, the following syntax must be
used: PROGRAM::, example: PROGRAM:MYPROGRAM:MYTAG

User Manual VIRTUAL UNIVERSE PRO V2

Page 209

Connection to an OPC server

OPC server name must be filled in. If this server is running on the same PC then the OPC
server path item must be left blank. For a distant server, the network name or IP address
of the server rmust be filled in.
Usable variable names for links are the OPC variables names.

User Manual VIRTUAL UNIVERSE PRO V2

Page 210

Connection to Siemens PLC-SIM
case of PLCSIM 5.4 SP<5

The "PLCSimGateway.exe" program which is present in the Virtual Universe Pro
installation directory must be launched. The "Server name or IP address" must be filled in
with the network name or IP address of the PLC where PLCSimGateway.exe is running
(use "localhost" as server name if PLCSimGateway.exe runs on the same PC).

User Manual VIRTUAL UNIVERSE PRO V2

Page 211

Case of PLCSIM 5.4 SP>=5
In this case, PLC Sim emulator is considered as a Siemens PLC.
The NetToPlcSim.exe program which is on the Virtual Universe Pro installation directory
must be launched, it creates a gateway allowing to communicate with PLCSIM in the same
way than a S7300 or S7400 PLC using a network adapter.
The STEP project must be defined with a CPU using a network adapter.
The selected PG/PC interface must be PLCSIM TCP-IP.
NetToPlcSim.exe automatically sets up and activates a communication link between a
network adapter managed in PLCSIM with a 192.168.0.1IP address and a 127.0.0.1 local
address. Virtual Universe Pro can then be connected with the S7 PLC driver using the
127.0.0.1 IP address.
The usable variables for link names are inputs, outputs and internal variable. Bit, 16 bits
words, 32 bits words and floating types can be used. Examples: %I0.0, %MW10, %QW0,
%MF15

User Manual VIRTUAL UNIVERSE PRO V2

Page 212

Connection to OMRON CX-Simulator
The driver for OMRON CX-Simulator emulator use a direct memory access technology for
reading and writing DM variables. If other OMRON variables types must be read or written
then copy to or from this variables must be written in the Omron CX-Programmer program
(Mov instruction can be used for doing this). The localization of the DM variables needs
that 2 DM words have to be preset with specific values at the beginning of the exchange
area. These 2 values are used as signature and permits the driver to found the exchange
table. The signature is only used at connection time. The 2 signature words are the words
number 0 and 1 of the table, the next word is word number 2, etc.
First signature word
(position 0 of the table)
(value hex 4952)

Second signature word
(position 1 if the table)
(value hex 4149)

Third word (position 2
of the table)

Depending on the Windows version, this technology may needs Virtual Universe Pro to be
run in administrator mode. For launching Virtual Universe Pro in administrator mode, right
click on the Virtual Universe Pro launching shortcut and select "Run as administrator".

The configuration of the links is made by selecting the number of the DM word from the
beginning of the exchange table and the access type. The access type specifies if the read
or write will be processed to a bit of the word, to the whole word (16 bits integer) or to a
group of 2, 4 or 8 consecutive DM words used as 32 bits integer or 32 or 64 bits float (in
this case the number is the number of the first DM word of the group).

User Manual VIRTUAL UNIVERSE PRO V2

Page 213

Connection to AUTOMGEN

The Execution/Connection TCP-IP/Server of the AUTOMGEN project properties must be
checked.

If AUTOMGEN is running on a distant PC, the network name or the IP address must be
filled in the "Server name or OP address" item. If AUTOMGEN is running on the same PC
then "localhost" must be used.
The usable variable names for the links are the whole AUTOMGEN variable names.
The "AUTOMGEN PC executor" driver permits a faster connection with the PC executor of
AUTOMGEN.

User Manual VIRTUAL UNIVERSE PRO V2

Page 214

Connection to CoDeSys

This connection permits an access to the CoDeSys compatible targets. The "CodeSys Ini"
item have to be filled with the CoDeSys connection setup as defined in the INI CodeSys
files.

An example of connection with Gateway 2 and Gateway 3 and associated CoDeSys
projects can be found in the Virtual Universe Pro examples directory.

User Manual VIRTUAL UNIVERSE PRO V2

Page 215

The variables of the CoDeSys project which must be read or written by Virtual Universe
Pro have to be added in a Symbol Configuration item:

The syntax to use for referencing CoDeSys variables in Virtual Universe Pro is as
following:
..
Example:
Application.GVL.myvariable
means: global variable called "myvariable" of the application called "Application".
MyApplication.MyPOU.anothervariable
means: variable
"MyApplication".

"anothervariable"

User Manual VIRTUAL UNIVERSE PRO V2

the

module

"MyPOU"

the

application

Page 216

Universal connection

This connection permits an universal access to the variables stat of a PLC emulator
running on the same PC. The main concept is to identify the PLC emulator by the name of
its process and to localize an exchange area with a signature.

The "Process search string" parameter allow to identify a process. The first process found
with an exe file name associated containing the search string will be used. Warning, this
string is case sensitive. The Windows Task manager tool can be used to list the running
processes.
The "Exchange area signature" parameter allows to localize in the process memory the
beginning of an exchange area which will be used to read and write variables stats to and
from Virtual Universe Pro.
This parameter is defined as two hex digits per character. By example, 52494941 will
define a 4 characters string "RIIA".
In the PLC emulator, the signature must be written at the beginning of the required
exchange area zone. The easiest way is usually to do this by adding some code to the
project which is running inside the PLC emulator.

User Manual VIRTUAL UNIVERSE PRO V2

Page 217

Remarks :
- it is recommended to use a signature with at least 4 characters to avoid a false
localization,
- it is recommended to make tests to obtain a successful work.
The links defined in Virtual Universe Pro use a position from the beginning of the
exchange area and an access type. The position is arbitrary specified in number of 16 bits
words. The access type specifies if the read or write will be processed to a bit of the word,
to the whole word (16 bits integer) or to a group of 2, 4 or 8 consecutive words used as 32
bits integer or 32 or 64 bits float (in this case the number is the number of the first word of
the group).
This technology permits to read and write words in the exchange area. If other PLC
emulator specific variable types have to be written or read, then copy instructions must be
added in the program (see example below).

Example: using universal connection with PLC emulator of the WinSPSS7 software (MHJ-Software)
1- setting up connection in Virtual Universe Pro

The exe file name of the process which is the PLC emulator for the WinSPS-S7 V5
software is "w7sv5.exe". The "ws7" search string will identify this process.
Arbitrary, the signature is defined to 52494941: RIIA string.

User Manual VIRTUAL UNIVERSE PRO V2

Page 218

2- defining the signature at the beginning of the exchange area in the emulator

The exchange area is arbitrary localized from MW0 STEP7 variable.
The following program lines
L 21065
T MW0
L 18753
T MW2
write the 4 characters RIIA in the STEP7 words MW0 and MW2. In the following case
(STEP7 language), these 2 words are mapped to 4 consecutive bytes in memory. This
initialization is made only one time at program startup (use of OB100 STEP7 block).
3- copy from and to the exchange area
Our sample use 5 digital inputs and 15 digital outputs. Arbitrary, inputs I0.0 to I0.4 and
outputs Q0.0 to Q0.14 are used.

User Manual VIRTUAL UNIVERSE PRO V2

Page 219

The code for copying variables is as following:

For convenience and for this example, the variables are copied by group of 16. The MW4
STEP7 word matches the inputs, MW6 STEP7 word matches the outputs.
Summary of the use of the PLC emulator memory:

Byte 0

Byte 1

Byte 2

Byte 3

"R" 52

"I" 49

"A" 41

Byte 4

Byte 5

Byte 6

Byte 7

Word STEP7
MW0

Word STEP7
MW2

Word STEP7
MW4

Word STEP7
MW6

Echange word #0

Exhange word #1

Exhange word #2

Exhange word #3

Inputs STEP7
IW0

Outputs STEP7
QW0
"R" 52

User Manual VIRTUAL UNIVERSE PRO V2

Page 220

3- Virtual Universe Pro links

User Manual VIRTUAL UNIVERSE PRO V2

Page 221

Source Exif Data:

File Type                       : PDF
File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.5
Linearized                      : No
Page Count                      : 223
Language                        : fr-FR
Tagged PDF                      : Yes
Author                          : Stéphane MASSART
Creator                         : Microsoft® Office Word 2007
Create Date                     : 2013:01:29 19:48:34+01:00
Modify Date                     : 2013:01:29 19:48:34+01:00
Producer                        : Microsoft® Office Word 2007

EXIF Metadata provided by EXIF.tools

Irai Virtual Universe Pro 2.0 Operating Instructions Vupro 20 En

Navigation menu

Versions of this User Manual:

Views

Navigation