Visualisation FMU

A generic FMU that provides 3D visualisation capabilities for any existing FMI based co-simulation. The FMU embeds a web-server and HTML/Javascript code for visualisation in the browser. As such, users can connect to the visualisation even if the FMU is running in the cloud.

Configuration

The structure of the simulation is configured through XML, VisualConfig.xml, which must be placed in the resources folder of the FMU.

See VisualFmuConfig.xsd for an API reference.

3D models

OBJ/MTL, STL and GLTF are supported. The files must be located inside the resources folder in the FMU.

Example

<?xml version="1.0" encoding="UTF-8"?>
<vico:VisualFmuConfig xmlns:vico="http://github.com/Vico-platform/VisualisationFmu/VisualFmuConfig">

    <vico:CameraConfig>
        <vico:initialPosition px="-15" py="15" pz="-25"/>
    </vico:CameraConfig>

    <vico:Transform name="t1">
        <vico:Geometry color="blue">
            <vico:Shape>
                <vico:Sphere radius="0.5"/>
            </vico:Shape>
        </vico:Geometry>
    </vico:Transform>

    <vico:Transform name="t2" parent="t1">
        <vico:Geometry>
            <vico:Shape>
                <vico:Box xExtent="1" yExtent="1" zExtent="1"/>
            </vico:Shape>
        </vico:Geometry>
        <vico:Position px="5"/>
        <vico:Trail length="2"/>
    </vico:Transform>
    
</vico:VisualFmuConfig>

Updating transforms

The FMU exposes input ports for position and rotation/quaternion.

    transform[i].position.x
    transform[i].position.y
    transform[i].position.z
    
    transform[i].rotation.x
    transform[i].rotation.y
    transform[i].rotation.z
    
    transform[i].quaternion.x
    transform[i].quaternion.y
    transform[i].quaternion.z
    transform[i].quaternion.w

Here, i is used to update the position and/or rotation of the ith transform defined in the configuration XML.

Run-time commands

User defined commands can be triggered by sending JSON messages to the exposed changeCommand string parameter.

Example

{
  "colorChanged": {
    "name": "t1",
    "color": "0xffffff"
  }
}

Building the FMU

Simply run ./gradlew build. The FMU is located in build/generated

Requirements

The FMU is built using the JVM (JDK8), so a suitable run-time environment is required. That is, add jvm.dll/libjvm.so to PATH.

Python 3.7 < is known not work with FMU4j, which is used to generate the FMU.