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Coordinate Systems in Simulink 3D Animation

Simulink® 3D Animation™ uses these coordinate systems to represent actor orientation in the 3D environment.

Coordinate System Description
World coordinate system

The world coordinate system is a left-handed Cartesian coordinate system, in m and rad.

Axes

  • X-axis points away from the viewer.

  • Y-axis points toward right.

  • Z-axis points upward.

Rotation

  • Roll — Clockwise rotation about X-axis

  • Pitch — Clockwise rotation about Y-axis

  • Yaw — Counterclockwise rotation about Z-axis

Three dimensional default coordinate system with X,Y,Z, Roll, Pitch, and Yaw labelled

MATLAB® coordinate system

The MATLAB coordinate system is a right-handed Cartesian coordinate system with Z-up orientation, in m and rad.

Axes

  • X-axis points away from the viewer.

  • Y-axis points toward left.

  • Z-axis points upward.

Rotation

  • Roll — Clockwise rotation about X-axis

  • Pitch — Clockwise rotation about Y-axis

  • Yaw — Clockwise rotation about Z-axis

Three dimensional MATLAB coordinate system with X,Y,Z, Roll, Pitch, and Yaw labelled

ISO 8855 standard coordinate system

The ISO 8855 standard coordinate system is a right-handed Cartesian coordinate system with Z-up orientation, in m and deg. This is defined in the ISO 8855[2] standard.

Axes

  • X-axis points away from the viewer.

  • Y-axis points toward left.

  • Z-axis points upward.

Rotation

  • Roll — Clockwise rotation about X-axis

  • Pitch — Clockwise rotation about Y-axis

  • Yaw — Clockwise rotation about Z-axis

Three dimensional ISO8855 coordinate system with X,Y,Z, Roll, Pitch, and Yaw labelled

X3D ISO standard coordinate system

The X3D ISO standard coordinate system is a right-handed Cartesian coordinate system with Y-up orientation, in m and rad.

Axes

  • X-axis points away from the viewer.

  • Y-axis points upward.

  • Z-axis points toward right.

Rotation

  • Roll — Clockwise rotation about X-axis

  • Pitch — Counterclockwise rotation about Y-axis

  • Yaw — Counterclockwise rotation about Z-axis

Three dimensional VRML coordinate system with X,Y,Z, Roll, Pitch, and Yaw labelled

SAE coordinate system

The SAE J670 standard coordinate system is a right-handed Cartesian coordinate system with Z-down orientation, in m and rad. This is defined in the SAE J670[1] standard. This coordinate system is used for aerospace applications. For more information, see Body Coordinates (Aerospace Blockset).

Axes

  • X-axis points away from the viewer.

  • Y-axis points toward right.

  • Z-axis points downward.

Rotation

  • Roll — Clockwise rotation about X-axis

  • Pitch — Clockwise rotation about Y-axis

  • Yaw — Clockwise rotation about Z-axis

Three dimensional SAE coordinate system with X,Y,Z, Roll, Pitch, and Yaw labelled

References

[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society of Automotive Engineers, 2008.

[2] Technical Committee. Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary. ISO 8855:2011. Geneva, Switzerland: International Organization for Standardization, 2011.

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