read

Since R2025a

Create a ultrasonic sensor in the 3D environment using the sim3d.sensors.UltrasonicSensor object. You can adjust the detection range and field of view of the sensor for your scene and test scenario. Use the read function to extract the target detection 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 ultrasonic sensor object using the sim3d.sensors.UltrasonicSensor object and set the location, range, and field of view of the sensor. Add the UltrasonicSensor to the world.

UltrasonicSensor = sim3d.sensors.UltrasonicSensor( ...
        ActorName = "UltrasonicSensor", ...
        Translation = [-3, 0, 0], ...
        Range = 10.0, ...
        FieldOfView = [20 20]);
add(world,UltrasonicSensor);

Set the Simulation 3D Viewer window point of view and run the co-simulation.

viewport = createViewport(world,Translation=[-3 0 0]);
sampletime = 0.5;
stoptime = 10;
run(world,sampletime,stoptime);

2.499793e+00 1.819821e-02 0
2.499172e+00 3.639460e-02 0
2.498137e+00 5.458734e-02 0
2.496687e+00 7.277462e-02 0
2.491871e+00 1.499477e-01 0
2.489009e+00 1.679558e-01 0
2.485736e+00 1.859328e-01 0
2.482051e+00 2.038770e-01 0
2.477953e+00 2.217864e-01 0
2.473444e+00 2.396593e-01 0
2.468521e+00 2.574937e-01 0
2.463184e+00 2.752877e-01 0
2.457434e+00 2.930396e-01 0
2.451269e+00 3.107473e-01 0
2.444688e+00 3.284091e-01 0
2.437690e+00 3.460229e-01 0
2.430275e+00 3.635869e-01 0
2.422441e+00 3.810993e-01 0
2.414569e+00 3.965727e-01 0
2.410634e+00 3.906916e-01 0
2.406754e+00 3.847855e-01 0

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

function updateImpl(world)
    [~, point] = world.Actors.UltrasonicSensor.read();
    fprintf("%d %d %d\n", point(1), point(2), point(3));
end