sim3d.sensors.RaytraceSensor

Implement ray tracing

Since R2024b

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    Description

    Use the sim3d.sensors.RaytraceSensor object to implement ray tracing in the scene. You can configure the ray origins, directions, and lengths to adjust the ray trace sensor pattern for your scene and test scenario. After you create a sim3d.sensors.RaytraceSensor object, you can modify aspects of the actor object by setting property values.

    Creation

    Syntax

    raytraceSensor = sim3d.sensors.RaytraceSensor()
    raytraceSensor = sim3d.sensors.RaytraceSensor(Name=Value)

    Description

    raytraceSensor = sim3d.sensors.RaytraceSensor() creates a default sim3d.sensors.RaytraceSensor object in the 3D environment.

    raytraceSensor = sim3d.sensors.RaytraceSensor(Name=Value) specifies options using one or more optional name-value arguments. For example, to create a ray trace sensor with number of bounces per ray as 3, set NumberOfBounces to 3.

    example

    Name-Value Arguments

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    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Example: raytraceSensor = sim3d.sensors.RaytraceSensor(ActorName='RaytraceSensor',NumberOfBounces=3)

    Name of actor, specified as a character array or string. If you do not specify an actor name, then the software assigns the actor an autogenerated name. Use this argument to set the name of the sim3d.sensors.RaytraceSensor object.

    Note

    If you specify the same name as an actor that already exists, then the software appends actor name you specify with a unique identifier.

    Since R2025a

    Coordinate system that the actor uses for translation and rotation in the 3D environment, specified as one of these listed values:

    • 'Default' – World coordinate system

    • 'MATLAB' – MATLAB® coordinate system

    • 'ISO8855' – ISO 8855 standard coordinate system

    • 'AERO' – SAE coordinate system

    • 'VRML' – X3D ISO standard coordinate system

    • 'SAE' – SAE coordinate system

    For more details on the different coordinate systems, see Coordinate Systems in Simulink 3D Animation.

    Data Types: string

    Relative translation (x,y,z) of the actor object to its parent actor, specified as a real 1-by-3 vector. Use Translation to change the position of the sim3d.sensors.RaytraceSensor object in the 3D environment along the X, Y, and Z axes of the coordinate system. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

    Example: Translation=[1 2 1]

    Relative rotation (roll, pitch, yaw) of the actor object to its parent actor, specified as a real 1-by-3 vector. Use Rotation to rotate the sim3d.sensors.RaytraceSensor object in the 3D environment.

    Example: Rotation=[pi/4 pi/8 pi/2]

    Ray origin relative to sensor location, specified as a real-valued N-by-3 array of the form [X, Y, Z], in meters. N is the number of rays. If you mount the sensor to an actor by setting Parent to the name of that actor, then X, Y, and Z are in the world coordinate system, where:

    • The X-axis points forward and away from the viewer.

    • The Y-axis points to the right.

    • The Z-axis points up.

    Example: RayOrigins=zeros(10,3)

    Normalized ray direction relative to sensor location, specified as a real-valued N-by-3 array of the form [X, Y, Z]. N is the number of rays. The units are dimensionless. If you mount the sensor to an actor by setting Parent to the name of that actor, then X, Y, and Z are in the world coordinate system, where:

    • The X-axis points forward and away from the viewer.

    • The Y-axis points to the right.

    • The Z-axis points up.

    Example: RayDirections=ones(10,3)

    Maximum total ray length of a multi-bounce trace path, specified as a real-valued N-by-1 vector, in meters. N is the number of rays.

    Example: RayLengths=ones(10,1)*10

    Number of bounces per ray that a trace may have before terminating, B, specified as a positive integer.

    Example: NumberOfBounces=0

    Option to visualize trace lines, specified as 0 (false) if the trace line visualization is not enabled or 1 (true) if it is enabled.

    Example: VisualizeTraceLines=1

    Option to enable optimization, specified as 0 (false) if the optimization is not enabled or 1 (true) if it is enabled. Enabling this argument allows the object to perform concurrent traces. Enable this argument when the number of traces is large and your machine has multiple cores.

    Example: EnableOptimization=1

    Output Arguments

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    Actor object, returned as a sim3d.sensors.RaytraceSensor object.

    Properties

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    Parent of actor, specified as a handle to the parent actor object. After you add an actor to the sim3d.World object, the default parent actor is the Scene Origin at (0,0,0). Use Parent to set any actor in the 3D environment as the parent actor of a sim3d.sensors.RaytraceSensor object.

    This property is read-only.

    Children of actor, specified as a structure. Each field of the structure contains a handle to the child of a sim3d.sensors.RaytraceSensor object.

    Parent world, specified as a handle to the parent sim3d.World object. You can use this property only if the sim3d.sensors.RaytraceSensor object is added to the parent sim3d.World object.

    This property is read-only.

    Unique ID of the sensor, specified as a real positive scalar.

    Data Types: uint32

    Since R2025a

    Coordinate system that the actor uses for translation and rotation in the 3D environment, specified as one of these listed values:

    • 'Default' – World coordinate system

    • 'MATLAB' – MATLAB coordinate system

    • 'ISO8855' – ISO 8855 standard coordinate system

    • 'AERO' – SAE coordinate system

    • 'VRML' – X3D ISO standard coordinate system

    • 'SAE' – SAE coordinate system

    For more details on the different coordinate systems, see Coordinate Systems in Simulink 3D Animation.

    Data Types: string

    Relative translation (x,y,z) of the actor object to its parent actor, specified as a real 1-by-3 vector. Use Translation to change the position of the sim3d.sensors.RaytraceSensor object in the 3D environment along the X, Y, and Z axes of the coordinate system. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

    Example: raytraceSensor.Translation = [1 2 1]

    Relative rotation (roll, pitch, yaw) of the actor object to its parent actor, specified as a real 1-by-3 vector. Use Rotation to rotate the sim3d.sensors.RaytraceSensor object in the 3D environment.

    Example: raytraceSensor.Rotation = [pi/4 pi/8 pi/2]

    Type of actor mobility to respond to physics, move the actor during simulation, or both, specified as 'sim3d.utils.MobilityTypes.Movable' or 'sim3d.utils.MobilityTypes.Static'. When Mobility is 'sim3d.utils.MobilityTypes.Static', only the Material Attributes are run-time configurable. When you set Mobility to 'sim3d.utils.MobilityTypes.Movable', all the actor properties become run-time configurable, allowing for programmatic interaction. For more details on programmatic interaction, see Programmatic Interaction.

    Example: raytraceSensor.Mobility = sim3d.utils.MobilityTypes.Movable

    Data Types: sim3d.utils.MobilityTypes

    Ray origin relative to sensor location, specified as a real-valued N-by-3 array of the form [X, Y, Z], in meters. N is the number of rays. If you mount the sensor to an actor by setting Parent to the name of that actor, then X, Y, and Z are in the world coordinate system, where:

    • The X-axis points forward and away from the viewer.

    • The Y-axis points to the right.

    • The Z-axis points up.

    Example: raytraceSensor.RayOrigins = zeros(10,3)

    Normalized ray direction relative to sensor location, specified as a real-valued N-by-3 array of the form [X, Y, Z]. N is the number of rays. The units are dimensionless. If you mount the sensor to an actor by setting Parent to the name of that actor, then X, Y, and Z are in the world coordinate system, where:

    • The X-axis points forward and away from the viewer.

    • The Y-axis points to the right.

    • The Z-axis points up.

    Example: raytraceSensor.RayDirections = ones(10,3)

    Maximum total ray length of a multi-bounce trace path, specified as a real-valued N-by-1 vector, in meters. N is the number of rays.

    Example: raytraceSensor.RayLengths = ones(10,1)*10

    Number of bounces per ray that a trace may have before terminating, B, specified as a positive integer.

    Example: raytraceSensor.NumberOfBounces = 0

    Option to visualize trace lines, specified as 0 (false) if the trace line visualization is not enabled or 1 (true) if it is enabled.

    Example: raytraceSensor.VisualizeTraceLines = 1

    Object Functions

    readReturn target data using ray tracing

    Examples

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    Open Live Script

    Create a raytrace sensor in the 3D environment using the sim3d.sensors.RaytraceSensor object. You can adjust the ray trace sensor pattern for your scene and test scenario. Use the read function to extract target data from the 3D environment.

    Create a 3D environment and set up communication with the Unreal Engine simulation environment using the output function OutputImpl and the update function UpdateImpl. The sim3d.World object can send and receive data about the 3D environment to and from the Unreal Engine at each simulation step using output and update functions, respectively. Before the Unreal Engine simulates, MATLAB calls the output function and sends data to the Unreal Engine. Then, the Unreal Engine executes at each time step and sends data to MATLAB in the update function. You can use the update function to read this data or change values after each simulation step.

    world = sim3d.World(Output=@OutputImpl,Update=@UpdateImpl);

    Create a box actor in the 3D environment using the sim3d.Actor object and add the box to the world.

    cube = sim3d.Actor( ...
        ActorName="Cube", ...
        Mobility=sim3d.utils.MobilityTypes.Movable);
createShape(cube,"box");
add(world,cube);

    Create a grid of coordinates using the meshgrid function. Use the two 2D grids, Y and Z to generate directions. The directions matrix specifies the direction for each ray.

    ys = linspace(-0.1,0.1,4);
zs = linspace(-0.1,0.1,4);
[Y,Z] = meshgrid(ys,zs);
directions = [ones(16, 1) Y(:) Z(:)];

    Create a raytrace sensor object using the sim3d.sensors.RaytraceSensor object and set the location of the sensor. Add the sensor to the world.

    raytracesensor = sim3d.sensors.RaytraceSensor( ...
        ActorName="Raytracer", ...
        RayOrigins = zeros(16, 3), ...
        RayDirections = directions, ...
        RayLengths = 1000 .* ones(16, 1), ...
        VisualizeTraceLines = true);
raytracesensor.Translation = [-3 0 0];
add(world,raytracesensor);

    Set the Simulation 3D Viewer window point of view and run the co-simulation. You can visualize the rays from the sensor in the simulation. The red rays are the rays generated from the sensor, the green rays are the rays reflected from the target, and the blue box displays the area of intersection on the target surface.

    viewport = createViewport(world);
viewport.Translation=[-4 2 0];
viewport.Rotation=[0 0 -0.2*pi];
sampletime = 0.5;
stoptime = 10;
run(world,sampletime,stoptime);
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    A cube actor in the 3D environment with raytrace sensor firing rays on the cube.

    Output Function

    The output function sends data about the actor to the Unreal Engine environment at each simulation step. For this example, the function rotates the Cube about its Z-axis by updating the Rotation property of the Cube at each simulation step. 

    function OutputImpl(world)
    world.Actors.Cube.Rotation(3) = world.Actors.Cube.Rotation(3) ...
    + 0.01; 
end

    Update Function

    The update function reads data from the Unreal Engine environment at each simulation step. For this example, the update function uses the read function of the sim3d.sensors.RaytraceSensor object to detect valid hits from the raytrace sensor in the Unreal Engine environment.

    function UpdateImpl(world)
    [~,~,~,~,validHits] = read(world.Actors.Raytracer);
    fprintf("Valid Hits: %d\n", validHits);
end

    Version History

    Introduced in R2024b

    expand all

    See Also

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    Topics