read

Create an ideal camera in the 3D environment using the sim3d.sensors.IdealCamera object. You can capture images of the 3D environment and display them in MATLAB®. Use the read function to extract image 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 an ideal camera object using sim3d.sensors.IdealCamera object and set the location of the ideal camera using the Translation property. Add the idealcamera to the world.

idealCamera = sim3d.sensors.IdealCamera( ...
        ActorName="IdealCamera");
idealCamera.Translation = [-3 0 0];
add(world,idealCamera);

Run the co-simulation.

sampletime = 1/60;
stoptime = 5;
run(world,sampletime,stoptime);

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

function updateImpl(world)
    sceneImage = read(world.Actors.IdealCamera);
    image(sceneImage);
end