VRML for Kinematic and

Physical Modeling and

Simulations

Benjamin Pugliese
Mahesh Saptharishi
 Modeling Requirements
• 3-D representation with object interaction
constraints
• Temporal consistency
• Real-time simulation and visualization of
the model
• Combining geometric and non-geometric
parameters for simulation (multi-modal)
 VRML Capabilities
• Powerful representations for 3-D objects
• Temporal event generation
• User-defined object interaction primitives
• Interactive interface
• Platform independent
• Easily extendible
 Applications
• High-DOF kinematics modeling (Robot Arm)
• This demonstration exemplifies VRML’s capability
to simulate highly articulated structures. In this
particular example, the combinations of rigid bodies
move independently while being connected.
Without a visualization tool such as VRML it would
be very difficult to imagine the motion of such a
machine.
 Applications Cont.,
• Collision and interference detection (Kitchen)
• Discrete event simulation involves proper execution of
scheduled temporal events and dynamic events. An
example of a dynamic event is collision detection and
subsequent action. This movie clip demonstrates a
simple collision detection scheme implemented using
VRML. The action induced by the event is the change
in color of the colliding object. The user could define a
whole host of events that could result from this catalyst
event. The kinematics and the analysis for the event
detection was done using JAVA. All visualization and
simulation of the rigid bodies was done with VRML.
 Applications Cont.,

• Interaction modeling for avatars (Avatars)

• Another application of VRML is tele-presence and
virtual reality worlds. This has been most commonly
used for chat rooms. An application that is slowly
starting to come up is virtual worlds. Virtual worlds
can house shopping complexes, 3D-Web pages, etc..
 Application Cont.,
• Space physics modeling (NASA)
• NASA has used VRML to model planetary motion,
space shuttle design, and simulation of missions.
The demonstrations in the hyperlink show the
ability of VRML to simulate environmental events
such as temperature, surface winds, light etc. NASA
is primarily interested in VRML because of its
ability to very quickly develop proof-of-concepts.
 Applications Cont.,
• Rapid prototyping (Sojourner)
• NASA used VRML in parts of the MARS mission
planning stage. This demonstration is the National
Geographic Society’s rendition of how the mission
was executed. Design of Sojourner and Pathfinder
and the simulation of its components can also be
seen. Note the power of VRML as an effective
visualization tool. This particular demonstration also
shows the power of multimedia content to design,
develop and demonstrate new ideas.
 Disadvantages
• Interpreted nature of VRML makes it slow
for display of complicated simulations
• Object representations and interaction
primitives can take up a lot of memory
• Using VRML for simulation involves a
fairly steep learning curve
• No standard interface for extensions
 Conclusions
• VRML provides a very elegant tool for
simulating and visualizing complex
interactions
• It’s popularity is constantly increasing in
the modeling domain
• It has the appeal for distributed, internet
based design and modeling
 References and Resources
• Web 3D Consortium
• The VRML Repository
• The Annotated VRML Reference Manual
• I-COLLIDE
Collision detection with VRML
• VRML and the Visualization of Space Science D
 Answers to questions
• Steep learning curve for VRML simulation?
why? better method?
• Using VRML, to create simple 3D worlds is very
easy and effective. The complications arise when
trying to program 3D worlds with events to
designate interactions and dynamics in the world.
The event structure, though powerful, is
complicated at first glance. It takes some time to
understand how to use the event architecture in
combination with the VRML reality engine. Other
methods such as CAD have similar problems, but
the capabilities of each differ. VRML is more of a
general purpose simulator while CAD is more
application specific.
 Answers to questions
• How to include kinematics formula into
VRML?
• VRML provides for JAVA and C/C++ interfaces for
backend computations. This is necessary because
VRML is largely interpreted and large native
computations slow it down. The I-COLLIDE
package (linked as a reference) is an excellent
example of using JAVA as the computational
backend for VRML-based simulation. Please also
see http://www.igd.fhg.de/CP/scriptgen/ . This web
page provides a java script template generator to
insert within VRML for computations. The VRML
Repository has many other JAVA resources.