Managed to export my VRML simulation to X3D, and embed it here with the HTML5 X3DOM Framework. Note that you will need to use a supported browser in order to view the model. Click on the image below to view the model in action:
I dug up some more old VRML simulation replays created some time ago. These ones demonstrate the dynamic response of CH-47B Chinook and UH-1H helicopters with externally slung loads undergoing a either simple disturbance or manoeuvre. The coupled-body dynamic simulation was performed in Matlab and then exported to VRML for visualisation.
Note the browser/plugin requirements in my previous post.
Just tidied up my VRMLtrace python program. This script converts any simulation/pose data (position+orientation) into a VRML model for visualisation. It uses a template file, a VRML model of the vehicle and a data file to generate the VRML. More details are on the page.
...
# Generate the key array
key = [ k/(self.N - 1.0) for k in range(self.N) ]
self.d['KEY'] = " %8.4f"*self.N % tuple(key)
# Initial helicopter rotation & translation
self.d['HELI_ROT_0'] = "%8.4f %8.4f %8.4f %8.4f" % tuple(self.a2v(v))
self.d['HELI_TRANS_0'] = "%8.4f %8.4f %8.4f" % tuple(self.a2v(r))
af = 0.0
ar = 0.0
# Loop through each frame
for i in range(self.N):
x = self.X[i]
q = self.e2q(x[3:6])
v = self.q2v(q)
r = x[0:3]
# Intermediate helicopter rotation & translation
self.d['HELI_ROT'] += "%8.4f %8.4f %8.4f %8.4f,\n" % tuple(self.a2v(v))
self.d['HELI_TRANS'] += "%8.4f %8.4f %8.4f,\n" % tuple(self.a2v(r))
# Intermediate forward & aft rotor rotations
self.d['FWDROT_ROT'] += "%8.4f %8.4f %8.4f %8.4f,\n" % (0.0,1.0,0.0,af)
self.d['AFTROT_ROT'] += "%8.4f %8.4f %8.4f %8.4f,\n" % (0.0,0.0,1.0,-ar)
...
This is an old VRML simulation replay I created back when I worked in the Helicopter Flight Dynamics group at DSTO, Melbourne. It demonstrates the dynamic response of a CH-47B Chinook helicopter with an externally slung Medium Maintenance Shelter (MMS) load undergoing a simple manoeuvre. The coupled-body dynamic simulation was performed in Matlab and then exported to VRML for visualisation. More details are available in my report.
You will need a VRML Plugin to view the model. On Windows, ParallelGraphics Cortona 3D Viewer works very well.
If you are using OS X Safari with the FreeWRL plugin, be warned that clicking the following link, which contains the embedded VRML, may hang your system! I have not had any such problems under Windows :/ On a Mac, I suggest using instantplayer and loading the direct link instead.
Alternatively, you can see a video animation of model here.
