Virtual Environment

From Emergent

The Virtual Environment system allows you to simulate a virtual world inside of your simulation.

See 3d Animation for instructions on creating a simple animation of your program's output.

See the demo/virt_env/ve_arm.proj (usually in /usr/local/share/Emergent) for an example project that uses this technology to simulate a virtual arm reaching for objects.

Reference Information

• VEWorld -- world container object for all elements of the virtual environment -- create this in Program.objs
• VEObject -- container for individual body and joint elements that compose an overall virtual object (e.g., an arm has at least 2 body components and 2 joints).
• VEBody -- basic rigid body object, with position, rotation, velocity, mass, etc -- has shape, color, texture, and can load an Open Inventor 3d object file.
• VEJoint -- a joint joins two bodies and imposes constraints on movement
• VESpace -- contains static elements of the environment (ground, walls, etc) -- use multiple spaces if there are spatially separated complex spaces (e.g., multiple different rooms) -- optimizes performance.
• VEStatic -- one static body -- e.g., one wall -- has position, shape, color, etc as in the VEBody.
• VETexture -- textures are represented separately and can be used by multiple different objects, for greater efficiency.