Vortex Software Solution 6.7 Samples Starting Guide · PDF fileEquipment Vehicle and prop...

Vortex Software Solution 6.7 Samples Starting Guide

This document explains how to control the mechanisms and scenes

provided as samples with Vortex Software Solution 6.7

Vortex Software Solution 6.7 — Samples Starting Guide

645 Wellington, #301 Montreal, QC H3C 1T2 Canada

+1 514-287-1166 [email protected] www.cm-labs.com

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TABLE OF CONTENTS

Installation .................................................................................................................................................... 3

Vortex Samples Directory Structure ......................................................................................................... 3

Vortex Player ................................................................................................................................................. 4

Available Samples ......................................................................................................................................... 5

Defense Vehicles (LAV & M1A2) ............................................................................................................... 6

Mobile Crane ............................................................................................................................................ 9

Offshore Top Side – Vessel with Knuckle-Boom Crane .......................................................................... 12

Offshore Sea Bed – Subsea ROV ............................................................................................................. 14

Excavator and Dump Truck ..................................................................................................................... 17

Packbot for Explosive Ordnance Disposal .............................................................................................. 20

Forklift in Warehouse ............................................................................................................................. 23

Forestry Forwarder ................................................................................................................................. 25

Engineering Test Terrain ......................................................................................................................... 27

Materials Gallery .................................................................................................................................... 28




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INSTALLATION The Vortex Samples installation package is available from the Download Centre of CM Labs’ sales portal

(www.cm-labs.com/sales).

Follow these instructions to download and install the package:

1. Go to the Sales portal (http://www.cm-labs.com/sales).

2. On the login page, enter your username/email and password and then press Enter.

3. Select the Download Centre tab at the top of the page.

4. Type Vortex 6.7 Samples in the search field to locate the file.

5. Click the download icon (black with a white downward arrow) to begin the download.

6. In the window that opens, click Save File to download the installer.

Note: some browsers will directly open a Downloads window indicating the status of the install.

7. Browse to the location of the installer and double-click to start the installation.

Note: if you are asked to verify the install process, click Run. To override this security warning,

select the Always ask before opening this file option.

8. Follow the instructions in the Vortex Setup Wizard.

Note: if you want to install the samples package somewhere other than the default installation

folder, click the Browse button and choose an alternate location.

Your installation is now complete.

Vortex Samples Directory Structure By default, the Vortex Samples folder is installed under the Vortex root folder

(C:\CM Labs\Vortex Samples 6.7\). Its sub-directories provide access to the following elements:

Sub-directory Contents

Environment Terrains used in scenes Equipment Vehicle and prop mechanisms Equipment/Resources Additional content such as CSV tables for vehicle systems Materials A graphics gallery containing a wide variety of pre-set materials Scenario Editor and Player asset files for scenes

If needed, the scenes’ associated material tables can be located in their respective Scenario folders. If

the table is not found, the default material table will be used instead, and the scene’s dynamic behaviors

will be incorrect.

http://www.cm-labs.com/sales




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VORTEX PLAYER For installation procedures and general Vortex Player information, please refer to the main Vortex

documentation.

Once the Vortex Samples package is installed, the Vortex Player automatically detects the installation

folders and populates the Scene list with all the scenes available.

Scenes have different cameras and roles — usually a default, free-fly camera and additional cameras

attached to the equipment. Select a role to enable the controls associated with that role, and select the

camera associated with the role to get the correct viewpoint.

Cycle between the roles using the “r” keyboard shortcut;

Cycle between the cameras using the “c” keyboard shortcut;

Or, use the “Roles and Seats” tab in the Player to configure the active role (click on the “Roles”

column) and then the camera (click on the “Cameras” column).




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AVAILABLE SAMPLES Several pre-built samples are provided with Vortex 6.7 to demonstrate Vortex’s high-fidelity dynamic

capabilities.

Sample Description

Defense Vehicles This scenario includes a trio of armored vehicles that can be driven over a variety of terrain types.

Mobile Crane This scenario features a rough terrain crane lifting a length of concrete pipe in a constrained environment (houses, trees).

Offshore Top Side – Vessel with Knuckle-Boom Crane

This scenario features an intervention vessel using a knuckle crane to lift an EDP out of the water and onto the deck.

Offshore Sea Bed – Subsea ROV

This scenario features a generic ROV inspecting a typical sub-sea field. The ROV is equipped with controllable arms.

Excavator and Dump Truck This scenario shows a standard 36-ton excavator digging and filling a dump truck with soil in a construction zone.

Explosive Ordnance Disposal This tense night scenario shows an EOD specialist using a tethered Packbot to inspect and move a suspicious suitcase.

Forklift in Warehouse This scenario features a forklift moving boxes and pallets from one set of shelves to another.

Forestry Forwarder This outdoor scenario features a heavy forestry forwarder collecting logs and moving them to a central collection area.

Engineering Test Terrain This scene is an empty plain with modular terrain elements to build your own custom test track.

Materials Gallery Unlike the other samples, this one is a graphics gallery. It contains a number of pre-set graphics materials, such as metal and plastic.

The samples are all configured to be operated using a gamepad-type controller. If you have a different

type of control device, you might need to adjust the connections and mapping using the Vortex Editor.

Note that some of the samples require the installation of separate add-ons. If these are not present, not

all functionalities of the sample will be available, and warnings may appear in the Editor. You should still

be able to simulate in the Editor and the Player.




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Defense Vehicles (LAV & M1A2)

This sample provides an eight-wheeled Light Armored Vehicle (LAV) and a M1A2 main battle tank. Both

combine a Vehicle Systems model with simple logic to operate the vehicle via the gamepad. In addition,

a second LAV is available with Hull Protection Kit (HPK) armor to increase protection at the cost of lower

manoeuvrability.

Pre-Requisites To access the full functionality of the sample, the following Vortex add-on is used.

Vehicle Systems: required for the vehicles’ transmissions and suspensions.

Highlights The LAV features an automatic transmission with 15 gears (6 reverses and 8 forwards, plus

neutral).

The LAV driver can engage the 8x8 mode by locking all differentials for increased all-terrain

performance.

Flat tire faults can be triggered from the Instructor VHL Interface for the LAV.

The M1A2 features an automatic transmission with a pivot gear to turn on the spot.

The turrets of all vehicles can be controlled via the D-pad. It’s possible to fire the main gun with

blanks (there’s recoil but no projectile is actually launched).

All components of the sample now use the multi-texturing feature. The LAV has textures for

different levels of dirt and mud.

The terrain is now a Graphics Gallery.

The LAVs leave a dust trail when moving across certain types of terrain.

The driver position has a Viewpoint set for multi-display use.




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Operation Notes Start by selecting a Role, and then launch the simulation. The vehicles can be driven from either

position (driver or gunner), only the viewpoint changes.

Put the vehicle in gear and use the throttle to start moving.

Flat tire faults can be triggered from the Instructor VHL Interface for the LAV. In the Player, this

is accessed via the Content Debugger tab: open the Content folder, then the Scene folder, then

the vehicle folder, and locate the Instructor entry. There are checkboxes to trigger the event

(“FL Wheel Flat” and “FR Wheel Flat”).

Simulation Notes The LAV assembly mostly contains the chassis and the turret parts.

o The antenna’s graphic model is divided in five pieces. Parts connected with hinge

constraints are used to create the flexible antenna.

Two camera extensions are placed in the mechanisms to provide independent points of view for

the operators (driver and gunner).

A viewpoint extension is placed in the mechanisms to facilitate deployment on multiple-display

setups (refer to the documentation for more).

The Vehicle Systems use braking and engine torque tables that are suitable for heavy

equipment. Additional tables are available in the Equipment/Resources folder.

When setting up the Vehicle Systems’ wheel components, you can define which ones are

steerable. In this case, the LAV’s four front wheels are configured as such.

Both LAV and tank use the latest Vehicle Systems features: transition time between the gears,

maximum torque on differential locks, and minimum and maximum travel of the suspension.

The M1A2 does not have a mesh model for the tracks. These are generated and animated via

the Vehicle Systems.

The HPK Armor is a separate mechanism that is attached, at the scene level, to another instance

of the base LAV model. Note that both armor and vehicle have corresponding attachment points

set up at the mechanism level.

The LAV also has four Attachment Points on the chassis corners that can be used for towing

cables and other equipment.

The LAV has a script and particle emitters that use the “Material in Contact” wheel output to

drive the emission of dust particles of a color matching the ground material.

The LAV model uses the new multi-texturing feature to present both a clean and dirty

appearance. By modifying the alpha value of the layers, it’s possible to progressively dirty up the

vehicle (either by manual control or via a script).




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Python Scripts Differential Lock handles which differential components are locked, depending on operating

mode. Note that the two rear axles are locked permanently on the LAV (this can be changed in

the differential script).

Gear Value returns the exact gear mode and number for the VHL output interface.

LAV Controller handles the gear (Park, Gear Up and Gear Down) and engine state of the vehicle.

It takes various inputs such as current gear, throttle and brake signals (either from the VHL or

another script), and returns values to the Vehicle Systems to put the LAV in motion.

Recoil applies forces similar to the ones generated when firing the gun when the fire button is

pushed. It does not actually fire a projectile.

Turret Controller controls the turret’s motions using switch inputs rather than analog, since the

turret is controlled from the digital D-Pad instead of an analog joystick.

InLine Help manages the display of the joystick control diagram in the lower left corner of the

screen.

Fault Wheel simulates the loss of the left and/or right front tire, depending on what’s been

triggered. The outputs change the material and visual aspects of the wheel to remove the tire

and simulate running on the rim.

HUD Controller manages the display of the speed, RPM and current gear at the bottom right of

the screen.

Wheel Dust looks at the LAV’s speed and the wheels’ Material in Contact output, and use the

two to control a pair of particle emitters attached to the rear wheels. The particles are emitted

at a rate proportional to the vehicle’s speed and with a color matching the ground currently in

contact with the wheels.

M1A2 Controller handles the gear (Park, Gear Up and Gear Down) and engine state of the

vehicle. It takes various inputs such as current gear, throttle and brake signals (either from the

VHL or another script), and returns values to the Vehicle Systems to get the tank in motion.

Pivot Steer is available to turn the tank on the spot.




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Mobile Crane

This sample provides a rigging scenario example. It combines a Vehicle Systems with Cable Systems and

advanced logic.

Pre-Requisites To access the full functionality of the sample, you will need the following Vortex adds-on.

Cable Systems: required for the crane and the spreader.

Vortex Human (Add-on and Data): required for the avatars including the slingers and supervisor.

Vortex Tree Library: required for the trees and vegetation.

Highlights Demonstrate the Cable systems with a spreader and the crane itself.

Rigging is simulated via a script to attach the hooks as needed.

Simulated hydraulics (via a Python script with a low-pass filter) provide a similar feel to the real

vehicle.

All components of the sample now use the multi-texturing feature.


The crane operator position has a Viewpoint set for multi-display use.

Operation Notes While the featured model includes the crane’s normal driving capabilities, the sample scenario

locks the crane in operation mode for simplicity.

The crane will not accept commands until the outriggers are fully deployed.

The engine throttle must be used in combination with the respective hoist, boom, and turret

commands.




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The sample uses color coding to indicate the state of the rigging. The hook and slings must be

brought close to one another to allow them to be attached.

o If the hook is red, the Anti-Two Block is activated; the hook is too close to the boom’s pulley.

You must lower the hoist.

o If the hook is green, you are in range to attach the load’s sling to the hook. Make sure the

hook is properly positioned above the load.

o If the hook is yellow, the load is being attached. Do not move the crane or hook.

o If the hook is blue, the load is properly attached.

Simulation Notes The mobile crane assembly includes some features to increase the fidelity of the model, such as:

o The hydraulic controls (turret, boom elevation and extension) are matched with a low

pass filter to add inertia.

o The turret and booms have some relaxation in their constraints to provide torsion under

heavy lifting.

o The weighted hook contains a hinge constraint with friction to avoid torsion when the

load is rotating.

Cable Systems has the Enable Breakage parameter turned on. When the maximum tension

(50,000N) is exceeded for more than 120 steps (approx. 2 s), the flexible cable is cut.

The attachment logic in the scene adds a constraint between each sling cable attachment point

and the hook attachment point. This operation is performed when the simulation is started.

When the hook is within the attraction distance and the “attach” command is triggered, the

Max Force value is applied to attract the sling attachment point onto the hook progressively.

Python Scripts Anti-Two Block measures the distance between the hook and the pulley, and locks the drum if

they are too close.

Drum takes inputs from the throttle and joystick and combines them to drive the drum, up to

the maximum length of the cable (which is set as a parameter).

Gear Value returns the exact gear mode and number for the VHL output interface. In this case

the script is inactive since the crane will not be driven.

Hydraulic Boom takes inputs from the throttle and joystick and combines them to drive the

boom, acting on the constraint linking the boom’s hydraulic cylinders. The signal is processed via

a low-pass filter to give a similar feeling to real hydraulics.

Mobile Crane Controller is the main control scrip of the vehicle. It handles the gear (Park, Gear

Up and Down) and engine state of the vehicle. It takes various inputs (either from the VHL or

other scripts), and returns values to the Vehicle Systems and constraints to get the crane in

motion. Since the crane is locked in place, not all functions are used.

Outriggers handles the movements of the crane’s stabilizers. It takes inputs from the Controller

script and deploys the outriggers as needed.




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Telescopic Boom takes inputs from the throttle and joystick and combines them to drive the

telescopic boom, acting on the constraint linking the boom’s hydraulic sections. Like for the

main boom, the signal is processed via a low-pass filter to give a similar feeling to real

hydraulics. There’s an input from the Anti-Two Block script that locks the boom if the hook and

pulley get too close.

Turret takes inputs from the throttle and joystick and combines them to rotate the turret, acting

on the constraint linking the latter to the crane body. Again, the signal is processed via a low-

pass filter.


screen.


the screen.

There are three Rigging Controllers, one for each of the hooks. These receive the order to attach

and generate the force needed to bring the cable to the attachment point.

Hook Colorization handles the color of the hook. The hook’s color comes from the VHL input,

depending on the conditions in the scene. Note that this script is placed at the scene level, not

the mechanism’s, since it involves data inputs and outputs from several elements (the crane, the

hook, the spreader, and the concrete pipe).

Attach Sling takes the single input signal to attach the sling, and splits it to the Sling Front and

Sling Rear scripts.




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Offshore Top Side – Vessel with Knuckle-Boom Crane

This sample provides an offshore scenario to demonstrate the use of Vortex in a marine environment. It

includes a controllable knuckle boom crane mounted on a vessel to transfer equipment from the vessel

to the seabed.


Vortex Marine: required for the vessel wake and propeller effect on the ocean surface.

Vortex Human (Add-on and Data): required for the avatars including the signalers, slingers and

supervisor.

Vortex Simulink (Vortex Simulink Editor): required for the heave compensation of the offshore

crane. If not present a warning will appear, but the simulation is unaffected.

Highlights This sample illustrates how Vortex can be used to perform lift planning and validation in an

offshore environment.

The ocean simulation includes wave modeling, water surface reflections and propeller effects.

It’s possible to change the waves’ size and the wind force during the simulation.

Hooking of equipment is controlled via Python scripting.

Vessel operations can be simulated using crew avatars on vessel deck (the signaler role is

controllable with a gamepad to walk around the ship).


o Texture masks allow the ships’ windows to reflect light differently than the hull

o The equipment have a “used” appearance, with scratches and dents

Optional co-simulation with Simulink for the heave control compensation system of an offshore

vessel crane.

The crane operator position has a Viewpoint set for multi-display use.




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Operation Notes Use the crane control to hoist up the subsea module and land it on the vessel deck.

Unhook the subsea module using the gamepad.

During simulation, a compiled Simulink model can control the motion of the knuckle-boom

crane drum to compensate for the heave motion of the vessel. You will need to install the

Vortex Simulink Editor add-on (note that it is not required to install MATLAB or Simulink itself).

Select the Signaler Role to walk around the vessel deck using the gamepad controller.

Simulation Notes

The scene includes two intervention vessels with equipment on deck, a Floating Production

Storage and Offloading (FPSO) ship, and a subsea module (EDP) hooked to a knuckle-boom

crane.

o The observation intervention vessel is used to illustrate the thruster wash effect. The

former automatically moves in wide circles around the scene.

Ocean properties are defined in the Ocean Dynamics extension under the Environment

Properties. By changing the inputs and parameters of this extension in the Vortex Editor, it is

possible to alter the sea state and sea current. Under the Ocean Dynamics, the Ocean Graphics

extension can be used to tune ocean visibility (fog, silt) and ocean reflection/color.

Environment controls (such at the time of the day and weather conditions) can be changed

under Environment/Sky Dome.

Offshore sounds were added to the scene to provide audio feedback.

Python Scripts Underwater Visibility Control lets the user toggle between top side and subsea visibility levels

directly from the gamepad.

InLine Help manages the display of the gamepad control diagram in the lower left corner of the

screen.

Propeller Speed returns a propeller speed based on the vessel’s own speed. This is used to set

the propeller wash effect.

Crane Controller takes inputs from the VHL (and thus gamepad) and combines them to drive the

boom and stick, acting on the constraint linking the crane together. The signals are processed

via a low-pass filter to give a similar feeling to real hydraulics.




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Offshore Sea Bed – Subsea ROV

This sample provides an offshore scenario to demonstrate the use of Vortex in a marine environment. It

includes a Remotely Operated Vehicle (ROV) with robotic manipulators and tooling to perform subsea

interventions.


Vortex Marine: required for the hydrodynamics and current effects.

Highlights Simulates the hydrodynamics of an underwater vehicle (ROV).

Showcases the three types of cables available in Vortex:

o Generic Cable: flexible cables used to model the tether cable connecting the ROV to the

Tether Management System (TMS) and to model the umbilical connecting the TMS to

the LARS system on the offshore vessel.

o Catenary: used to model the risers connecting the FPSO to the subsea modules on the

seabed.

o Pipeline: used to model fixed pipelines on the seabed.

Modeling and control of robotic manipulators using joint-by-joint control or inverse kinematics

using Python scripting.

Ocean modeling including sea current and visibility.

ROV now features a station-keeping feature to facilitate use of the arms.


o The sub-sea terrain has a more natural look with no tiling

o The equipment have a “used” appearance, with scratches and dents




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The sub-sea terrain is now a Graphics Gallery, which allow the use of multi-texturing.

Operation Notes When piloting the ROV, make sure you spool out enough tether to properly operate the remote

vehicle.

Different cameras can be used to monitor ROV interventions:

Docking Camera: the docking camera is used to assist the ROV operator during the

latching of the ROV into the TMS.

ROV Camera: camera located in front of the ROV during normal ROV interventions.

Allows to navigate the ROV and perform manipulations using the robotic manipulators

on the ROV.

Titan4 Camera: this camera is installed on the wrist of the Titan4 robotic manipulator. It

can be used for better visibility when grasping objects.

Third-Person View Camera: this is a camera to monitor ROV operations from an

observer point of view. You can control the view of this camera by clicking on the left

mouse button and using the mouse to position the camera.

To toggle between the ROV and the robotic manipulators, use the gamepad. If the ROV

Operator role is active, the HUD/image in the down-right corner of the screen will highlight

which equipment is currently being controlled.

You can toggle between low and high underwater visibility using the gamepad.

This sample also illustrates how simulation can be used to perform subsea accessibility studies.

The torque tool installed on the ROV can only be partly inserted into the AAV Bucket on the

Christmas Tree due to contact between the top of the ROV and the top of the Christmas Tree

(see picture below). Using the Vortex Editor, the torque tool can be repositioned lower on the

ROV in order to be able to fully insert it into the AAV bucket.




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Simulation Notes

Ocean properties are defined in the Ocean Dynamics extension under the Environment

Properties. By changing the inputs and parameters of this extension in the Vortex Editor,

you will be able to alter the sea state and sea current. Under the Ocean Dynamics, you

will also find the Ocean Graphics extension which can be used to tune ocean visibility

(fog, silt) and ocean reflection/color.

Control of the ROV thrusters is achieved using seven thrusters extensions located in the ROV

mechanism (see below).

Python Scripts ROV Multiple Device Selection lets the user toggle between the various controls and tools

attached to the ROV.

ROV Controller checks the desired ROV velocity coming from the gamepad, and computes the

required thruster speeds necessary to create that motion. It then outputs the control signals to

the thruster extensions.

Thruster Joystick Command checks the signals coming from the gamepad, and computes a

direction signal to feed to the ROV Controller script.

Camera Controller checks the joystick inputs for the camera and turns them into a tilt velocity

for the constraint that attaches the camera to the ROV.

Torque Tool Display checks the number of rotations made by the tool and converts them into

text to be displayed.

Titan4 Joystick Mapping takes the various joystick inputs and converts them into velocities

suitable for use by the Inverse Kinematic script.

IK – Titan4 takes the current and desired positions of the arm, and computes the required joint

motions required to complete the command.

Rigmaster Joystick Mapping takes the various joystick inputs and converts them into velocities

suitable for use by the Inverse Kinematic script.

TMS Drum Control takes the gamepad input and converts it into an angular velocity for the

drum constraint. It also imposes a limit to that speed via a set parameter.




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Excavator and Dump Truck

This sample provides a digging scenario on loam soil with a 36-ton excavator and a three-axle

construction truck vehicle. The truck combines a Vehicle Systems model with simple logic to drive the

vehicle; in addition, it provides control for both brake and retarder combined.


Vehicle Systems: required for the vehicles’ transmissions and suspensions.

Cable Systems: required to model the excavator’s hydraulic lines.

Earthworks Systems: required to model the soil and excavation.

Vortex Human (Add-on and Data): required for the avatars including the waiting truck driver,

workers, and supervisor.


Highlights The excavator mechanism provides a hydrostatic Vehicle Systems model with rigid tracks. The

logic provides hydraulic controls for all actuators with a low pass filter to simulate inertia.

The entire area between the orange cones can be dug into, including the loose soil pile to the

left. Soil can be excavated using the bucket or pushed with the dozer blade. Excavated soil can

be dumped in the truck or added to the pile.

There’s a concrete pipe buried right in front of the starting position of the excavator. It cannot

be dug out of the ground, but it can be uncovered and re-buried.



Both the excavator operator and truck driver positions have a Viewpoint set for multi-display

use.




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Operation Notes The Excavator comes with two control modes, either operating the tracks or the turret with the

hydraulic actuators.

o To dig with the excavator, use the controls to operate the turret and the hydraulic actuators

of the boom and arm.

o To drive the excavator, switch to Drive mode, and use coordinated left and right track

commands to move forward, backward, or turn. The excavator can pivot in place.

o The excavator's dozer blade can be lowered or raised in either mode.

The truck can be driven and its bed emptied (note that the latter function is not animated for

simplicity).

Simulation Notes The boom and arm have some relaxation in their constraints to provide torsion under heavy

forces.

The Soil Layer tool, combined with empty collision geometries, is used to generate the loose soil

pile. Adjusting the Relative Density field will change the pile’s shape as it settles more or less.

The starting shape can also be modified by changing the collision geometries in the Soil Pile

mechanism.

The Soil Layer tool is also used to create the buried concrete pipe (it is set to Non-Diggable).

Note that the collision geometry of the latter is slightly smaller than the graphic to ensure a

good visual interaction with the soil flowing around it.

A VHL interface is used to change the bucket soil material configuration from the scene to avoid

changing the mechanism file for each soil type. In the Player, this is accessed via the Content

Debugger tab: open the Content folder, then the Scene folder, then the Excavator folder, and

locate the Earthwork Bucket entry.

A simple Cable Systems is used to model the flexible sections of the excavator’s hydraulic lines.

The parts of the vehicle the lines are attached to are set to “infinitely massive,” to optimize the

simulation.

The Mirror extension is used to create a reflective surface in the cab’s left-side mirror. Since the

right-side mirror cannot be seen without changing the point of view, it has been left bare to

save on processing power.

The glass windows of the cab have a slightly colored, yet transparent (Alpha) graphic material.

Python Scripts Actuator Controller takes inputs from the VHL and joystick and uses them to drive the arm,

acting on the constraint linking the arm’s hydraulic cylinders. The signal is processed via a low-

pass filter to give a similar feeling to real hydraulics.

Engine Controller controls the state of the engine, and whether the excavator is in digging or

driving mode.




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Mode Dispatcher takes the command signals and sends them to the proper destination,

depending on the operating mode currently selected (digging or driving).

Sound Controller checks the current status of the excavator and plays the associated sounds

from a set series of .wav files.


screen.

Bucket Controller animates the truck bed when it moves up and down.

Gear Value returns the exact gear mode and number for the VHL output interface.

Truck Controller is the main control scrip of the vehicle. It handles the gear (Park, Gear Up and

Down) and engine state of the vehicle. It takes various inputs (either from the VHL or other

scripts), and returns values to the Vehicle Systems and constraints to get the crane in motion.

This script also mixes the brake and retarder values so the driver does not have to bother with

it.


the screen. Notes that it is placed at the scene level to be used by both the truck and the

excavator.




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Packbot for Explosive Ordnance Disposal

This sample provides a remotely operated robot used for bomb disposal, reconnaissance, and

surveillance. The Packbot can climb stairs, relay video from the mounted cameras, and grab small

objects such as a suitcase, as demonstrated in this example.


Vehicle Systems: required for the robot’s transmission.

Cable Systems: required to model the tether.

Vortex Human (Add-on and Data): required for the human avatars, including the policemen and

crowd.

Highlights The gripper showcases Vortex’s grasping simulation capabilities. The inverse kinematics controls

make it easy for untrained operators to control the arm: simply push the claw toward where you

want it to go.

The robot comes with two onboard cameras, one in the base and one at the top of the arm.

They can be controlled in either mode. The lower one has a spotlight attached to perform

inspection in dark places (under the truck, for example).

The optional optic-fiber control tether auto-spools out the back of the robot as it moves about.

It can be paid out or reeled in manually if needed.



The scene is set at night to showcase the new emissive textures. Both the vehicles and the

buildings have self-illuminated textures for windows and light sources.




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Operation Notes The robot can be controlled using a standard gamepad with four directions. When using full left

or right, it turns on the spot.

To operate with a tether, navigate to the Dynamics Generic Cable extension and check the

“Active” checkbox. The tether automatically spools out when the Packbot moves, but this can be

overridden with the shoulder buttons.

By raising or lowering the flippers (forward tracks), the robot can cross obstacle such as stairs or

curbs.

When set to Gripper mode, the arm uses invert kinematics for control: the joysticks control the

gripper’s position in space, and not the various joints of the arm.

The robot’s gripper can grab the suitcase’s handle. Switch to Gripper Mode to access the

controls for the gripper, wrist, and arm. While this mode is active, the robot does not move from

its last position.

Simulation Notes The robot mechanism uses a Vehicle Systems with four tracks controlled by two electric motors

for left and right propulsion. On each side, the tracks are connected together to a single motor

using a shaft.

The detailed collision geometries for the gripper’s fingers were generated with the V-HACD

decomposition feature, set to Intermediate.

A noise extension is connected to the camera to simulate the low-bandwidth and interference

of the remote connection.

By default, the tether is not present (to model the radio-controlled robot). To add it to the

scene, open the Tether/Dynamics Generic Cable extension and click on the “Active” checkbox at

the top.

The tether is an adaptive cable with greatly reduced stiffness. The openings of the box at the

rear of the robot are modeled with two Cable Ring constraints.

Emissive textures are included to illuminate the night scene in conjunction with numerous point

lights.

The street lamps use a light map instead of individual light sources to save on processing power.

The map was generated by taking a screenshot of the scene viewed from the top, and using a

graphic program to paint the desired lighting.

Python Scripts Warning Lights uses sin waves to provide oscillating values for the Intensity of the police truck’s

emergency lights.

Arm Controller takes the various gamepad inputs and converts them into velocities suitable for

use by the Inverse Kinematic script.

Cameras Controller checks the gamepad inputs for the camera and turns them into a tilt

velocity for the constraint that attaches the camera.




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Chassis Controller takes the flipper, direction and speed signals and converts them into motions

for the flippers’ constraints, and engine values for the Vehicle Systems.

Gripper Controller takes input signals for the gripper and wrist, and converts them into motion

via the gripper and wrist’s motor constraints.

Packbot Controller is the main dispatcher script for the Packbot. It takes input signals from the

VHL and joystick, and sends them to the proper destination based on the operating mode

currently selected (driving or gripper).

Spooling Controller takes the joystick input and current chassis velocity, and uses them to

provide an angular velocity for the tether drum constraint. The script includes a built-in scaling

factor (“ratio”), which could be extracted into a set parameter instead if desired.

IK Controller takes the current and desired positions of the arm, and computes the required

joint motions required to complete the command.


screen.




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Forklift in Warehouse

This sample provides a three-wheel forklift with pallets and boxes to move around in a warehouse. This

is a basic example to demonstrate Vortex principles.


Cable Systems: required to model the cables of the suspended ceiling lights.

Vortex Human (Add-on and Data): required for the avatars including the forklift driver and

warehouse workers.

Highlights Boxes can be moved between racks. Movable boxes have a slightly different color than the rest.

The ambient lighting is provided by multiple real-time light sources.

The forklift is equipped with a custom rotating warning light.


The forklift operator position has a Viewpoint set for multi-display use.

Hit one of the ceiling beams with the forklift and see what happens!

Operation Notes The rear wheels are both powered and steerable; this gives the forklift a very tight turning

radius. Both front wheels are free.

The steering wheel and speed lever follow the motion of the vehicle, providing additional

feedback to the operator.

The carriage can be extended up and down, tilted forward and back, and the forks shifted left

and right. Note that the mast can go quite high – keep an eye on the ceiling.




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Simulation Notes The warehouse is a Mechanism in itself.

For improved frame rate performances, not all racks and boxes can be interacted with.

Multiple light sources cast real-time shadows across the scene. A Sky Box is used to provide a

backdrop to the windows.

The rotating warning light uses multiple transparent planes and a custom script to recreate the

halo effect.

A Vortex Human driver figure is placed within the cab. The Human Dynamic and Human Control

elements have been removed, since they are not needed: the driver figure is completely

enclosed within the cabin’s collision geometry.

Python Scripts Forklift Controller takes various input signals from the VHL interface (which is itself connected

to the Joystick extension), and applies a low-pass filter to simulate the hydraulics. The signals

are then outputted to the various constraints to make the forklift respond to the controls. It is

possible to adjust the reaction time by changing values within the script.


screen.

Revolving Light Controller puts together two spotlights and creates a rotation animation for

them. The resulting position data is also used to drive the graphic nodes of the rotating light and

the simulated light halos attached to it.




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Forestry Forwarder

This sample provides an eight-wheeled forestry forwarder equipped with a loading crane. It combines a

complex custom Vehicle Systems model with advanced scripting to control the crane and other

functions.


Vehicle Systems: required for the vehicle’s transmission and suspension.

Vortex Human (Add-on and Data): required for the avatar of the driver.


Highlights Complex suspension (eight wheels on four bogies, articulated chassis)

Steering via articulated body

Advanced convex-convex gripper contacts (grasping wood logs)

The crane controls features inverse kinematics – simply push the claw where you want it to go.

It will extend automatically if needed.

The cabin has its own rotation control on the left stick. It can be used to follow the crane for

better visibility during operation.

Forest environment with multiple trees and complex terrain topology.





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The terrain is now a Graphics Gallery. A second Graphics Gallery is placed over it and offset

slightly to create the illusion that the vehicle is sinking into the soft ground cover.

The operator position has a Viewpoint set for multi-display use.

Operation Notes The hydrostatic transmission features two travel speeds, Low and High. The selected speed

applies to both forward and back, which are controlled via the D-Pad.

The cabin can be rotated to provide a better view of the crane. Note that due to hydraulic and

power connections, the rotation is limited to about 290 degrees; the cabin cannot be completely

spun around on the right side.

The crane uses invert kinematics for control: the joysticks control the grapple’s position in space,

and not the crane’s various joints. The crane’s stick extends automatically if a longer reach is

required.

The cabin’s curved rear view mirror is functional.

Simulation Notes A customized Vehicle Systems template was created for the forwarder (eight wheels mounted

on independent bogies, articulated body, hydrostatic transmission).

The collision geometries for the claw were generated with the new V-HACD decomposition

feature, set to High to get the proper curvature.

The Mirror extension is used to create a reflective surface in the cab’s right-side mirror. Note

that the mirror is curved for a larger field of view.

The glass windows of the cab have a slightly colored, yet transparent (Alpha) graphic material.

A Vortex Human driver figure is placed within the cab. The Human Dynamic and Human Control

elements have been removed, since they are not needed: the driver figure is completely

enclosed within the cabin’s collision geometry.

The surrounding forest is created using Vortex Tree, though the logs themselves are separate

mechanisms to allow them to be loaded onto the vehicle.

Python Scripts Speed Controller handles the gear (Park, Low and High) and engine state.

Gear Controller returns the exact gear mode and number for VHL output interface.

Direction Controller is used to convert the Boolean (0 or 1) signal from the D-pad into a steering

signal, and applies a low-pass filter to simulate the steering hydraulics.

Inverse Kinematics converts the user’s joystick inputs into a position for the grapple (and by

extension, the crane itself).

Cabin Controller checks the orientation of the cabin.




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Engineering Test Terrain

The Engineering Test Terrain asset provides an environment where vehicles and mechanisms can be

tested under different operating conditions.

Pre-Requisites There are no pre-requisites for this sample.

Highlights Modules provide several obstacles to test vehicle crossing capabilities.

Changing the material of the ground allows different types of driving surfaces (e.g., sand, ice,

snow) to be simulated to test vehicle slipping and road holding.


Operation Notes The engineering test terrain is intended as a configurable environment. Simply select and move

modules around as needed to create a customized path.

A different material can be set for the ground or modules to test traction.

The LAV from the Defense Vehicles Sample is included to quickly begin testing.

Simulation Notes The modules are created as Mechanisms to allow them to be moved around; if they were part

of the Terrain, they would not be selectable.

All modules are set as Static to improve simulation performance.

Python Scripts

None are used in this sample.




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Materials Gallery

The Materials Gallery provides a number of pre-set graphics materials that can be used in your own

models or as a visual reference. Note that it’s a graphics gallery and not a scene.

The various Materials here have been done with seamless textures, which is important to create useful

material to use quickly. You can use this sample as is; you could also import new textures and add your

own new materials in it, to grow your own Material Library.

Pre-Requisites There are no pre-requisites for this sample.

Metals

Metal Copper (1024x1024): this is a copper-like material that provides a good example of how to set a

graphics material for metal. Note the values for Specular and Gloss channels.

Metal Black Flat: this is an example of metal that was painted with a mat black finish.

Metal Ondulate Rusted (4098x4098): this is a high-detail rusted metal, with a normal map to provide

the ondulations required to simulate corrugated metal sheet without having to create 3D geometry.

Metal Rust (2048x2048): this is a common rusted surface. It could be used for old or damaged vehicles,

walls, or anything that has been left in the elements.

Metal Grey Flat: this is a metal painted with a flat gray primer.

Chrome: this is a chrome-like material. To provide the required reflections, make sure "Environment

Reflections" is turned on and add a Sky Box to your scene. The latter will need to have colors similar to

your scene’s environment (for example, the bottom side should be colored like the ground).




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Plastics

Plastic Red (1024x1024): this is a plastic-like material that provides a good example of how to set a

graphics material for plastics. Note the values for Specular and Gloss channels.

Plastic Abrasive Green (1024x1024): this material uses a Normal map to create the bumps and ridges.

PVC Matte: this material emulates PVC plastic.

PVC Soft Matte: this material emulates another type of PVC plastic. It’s a good base to start new plastic

materials from.

Woods

Wood Honey (1024x1024): this is an example of how the various textures and channels can be used to

create very rich-looking materials, in this case a varnished wood.

Wood Plywood (2048x2048): this is standard plywood, of the kind used on construction sites

everywhere. Use it to create walls, boxes, pallets, etc.

Wood Dirty (4098x4098): this is an old wood structure that has been left out in the elements a while.

The green paint has faded to a greenish-blue and started to peel from the surface.

Nature

Foliage (1024x1024): this is a basic material for the foliage of trees and shrubs.

Grass (2048x2048): this is a basic material for grass-covered areas.

Construction

Brick (1024x1024): this material is used to emulate bricks. Its color can be adjusted to match whatever is

required for the scene.

Ground

Concrete (1024x1024): use this material for anything made out of common concrete.

Gravel (2048x2048): this material uses a Normal map to provide the illusions that it's composed of

multiple small rocks rather than a single image.

Mud (4098x4098): use this material for mud-like surfaces, such as freshly-dug earth, a construction site

after the rain, or a wetland.

Mud (1024x1024): this is another mud-like material, though using a lower-resolution texture to occupy

less memory space.




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Sand (1024x1024): this is a basic material for sand and dust-covered areas.

Rock (1024x1024): this is a basic material for rocks and rocky areas.

Miscs

Chicken Wire Fence (2048x2048): this is a specialized example of what can be done with graphics

materials. Here, the texture with a wire pattern has an alpha channel. The Blend mode is set so that it

appears transparent. Using this material on a wall will emulate a fence that can be seen through but not

moved through.

Metal Frosted (1024x1024): this material is another uncommon use, this time playing with the Specular

and Gloss channels to give the illusion of a frosted-over piece of metal.

Graphite, Charcoal (1024x1024): this is a carbon-like material that can be used for graphite or burnt

area, depending on how it is set with masks.

Particles

The following materials are intended to be used for particles. They are set on a transparent (alpha)

backdrop.

SnowFall_particle: this material is used to create snow. It can also be added as a layer to the top of

existing models to simulate a thin, freshly fallen snow cover.

Rain_particle: this material is used to create water droplets. Use it in a particle emitter if your scene

requires rain, but you do not want to include a Skydome extension.

Silt_particle: this material was intended to simulate underwater silt, but it can also be used for other

dust-like material.

Multi-Textured

The following materials were built using multiple texture and mask layers. They provide examples as

what can be done using the latest Graphics Gallery features, but can also be used "as is" in your own

scenes. All materials use 1024x1024, lower-resolution textures to occupy less memory space.

Foliage Multi: use this for a foliage mix, or to create richer vegetation.

Foliage Mud: use this for mixed ground cover.

Foliage Mud Gravel: use this for a complex ground cover that includes various soil types as well as some

vegetation (grass or freshly cut plants).

Gravel Mud Var01: this is a rough mix of gravel and mud. Useful for construction sites.




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Gravel Mud (1): this is another variation of the previous material.

Sand Rock: this is a mixture of sand and small rocks, perfect for desert-like environments.

Textures

The graphics materials were created using the textures found in this folder. Most of the textures are

seamless to allow them to be applied easily on any surface with a UV set.

The file names follow the recommended conventions, consisting of a label for identification, the type of

texture (albedo, normal, etc.) and its resolution (512, 1K, 2K, etc.).

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