Transition Virtual Reality World to Unreal Engine 3D Environment

Classic Virtual Reality World that uses VRML (or X3D) is being replaced with an enhanced 3D environment that uses Unreal Engine^® from Epic Games^®. The functions and blocks that allow you to build virtual reality worlds, import models, and link virtual reality worlds using VRML format to MATLAB^® and Simulink^® will be removed in a future release. Instead, use the sim3d classes and Simulation 3D blocks to create, interact with, and link 3D environments with MATLAB and Simulink. This topic describes how to transition your code or model from the VRML format virtual reality world to the 3D environment using Unreal Engine.

Update VR Blocks to Simulation 3D Blocks

To update your model and interface with the new 3D environment, you can use the Upgrade Advisor and Model Advisor checks to identify the blocks in your model that need to be replaced. To create a 3D environment and co-simulate with the Unreal Engine, you must include a Simulation 3D Scene Configuration block in your model. While the VR blocks have no direct replacements, you can complete similar tasks with the Simulation 3D blocks.

The table outlines the old blocks and their equivalent blocks that you can use to complete basic tasks. These Simulation 3D blocks are not direct one-to-one replacements for the VR blocks but offer improved capabilities for your 3D simulation projects. For more details on updating your model, see Simulink Transition Workflow.

Old Block	New Block	Description of New Block	More Information
VR Sink	Simulation 3D Scene Configuration	Create a 3D environment and co-simulate with the Unreal Engine simulation environment.	If Output 1 is enabled in the VR Sink block, then add a Simulation 3D Camera Get block. You can load the VRML file using the Path to source file parameter in the Simulation 3D Actor block. How 3D Simulation in Unreal Engine Environment Works Simulate Actor Movement Using Simulink Simulate a Quadcopter
	Simulation 3D Actor	Create an actor object in 3D environment. Load the actor from the VRML file and control the actor in the 3D environment by enabling input ports.
VR Source	Simulation 3D Scene Configuration	Create a 3D environment and co-simulate with the Unreal Engine simulation environment.	If Output 1 is enabled in a VR Source block, then add a Simulation 3D Camera Get block. If sensor nodes are enabled in the VR Source block, then add the corresponding sensor from the blocks listed in Sensors. How 3D Simulation in Unreal Engine Environment Works Simulate Actor Movement Using Simulink
	Simulation 3D Actor	Create an actor object in 3D environment. Access the actor data from the 3D environment by enabling output ports.
VR To Video	Simulation 3D Scene Configuration	Create a 3D environment and co-simulate with the Unreal Engine simulation environment.	How 3D Simulation in Unreal Engine Environment Works Simulate Actor Movement Using Simulink
	Simulation 3D Actor	Create an actor object in 3D environment. Access and control the actor in the 3D environment using input and output ports.
	Simulation 3D Camera Get	Capture image data of the scene.
VR RigidBodyTree	Simulation 3D Scene Configuration	Create a 3D environment and co-simulate with the Unreal Engine simulation environment.	Simulating models with the Simulation 3D Robot block requires Robotics System Toolbox™. How 3D Simulation in Unreal Engine Environment Works Automate Virtual Assembly Line with Two Robotic Workcells
	Simulation 3D Robot (Robotics System Toolbox)	Implement a robot in 3D environment.
VR Tracer	Simulation 3D Actor	Create an actor object in 3D environment. Add a sim3d.graphics.PathMarker object as a child actor to view the trajectory. Control the marker object by enabling the input and output ports of the block.	Use the Initialization script to create and add a sim3d.graphics.PathMarker object. Trace the path of any actor in the 3D environment using the ControlActorName argument. You can also use the marker object to create a reference path in the 3D environment. Use the WayPoints argument to input the reference path coordinates. How 3D Simulation in Unreal Engine Environment Works
VR Text Output	Simulation 3D Actor	Create an actor object in 3D environment. Add a sim3d.graphics.Text object as a child actor to display information in the 3D environment. Control the object by enabling the input and output ports of the block.	Use the Initialization script to create and add a sim3d.graphics.Text object. How 3D Simulation in Unreal Engine Environment Works Create Annotations Using Simulink

Update vr Functions to Use sim3d Classes

To update your code and interface with the new 3D environment, use the sim3d.World class. While the vr functions have no direct replacements, you can complete similar tasks with the sim3d classes.

The table outlines the old functions and their equivalent new functions that you can use to complete basic tasks. These sim3d functions are not direct one-to-one replacements for the vr functions but offer improved capabilities for your 3D simulation projects. For more details on transitioning your code, see MATLAB Transition Workflow.

Old Functionality	New Functionality	Description of New Functionality	More Information
vrworld	sim3d.World	Create a 3D environment and co-simulate with the Unreal Engine simulation environment.	Create World and Actor Using MATLAB
vrnode	sim3d.Actor	Create or import actor objects into the 3D environment.	In addition to the sim3d.Actor object, you can also add any actor objects listed in 3D Environment, Actors and Sensors to the 3D environment. Report Events Using Actor Callbacks Simulate Actor Movement Using MATLAB
vrimport	load	Import actors or models into the 3D environment.	You can use the load function of the sim3d.World object to load actors in the 3D environment.
	sim3d.Actor load	Create an actor object in the 3D environment. Build the actor from an imported 3D file.	You can load an actor in the 3D environment using the load function of the sim3d.Actor object. Build Actor from Imported 3D File Using MATLAB
vrinsertrobot	sim3d.Actor load	Create the actor object in the 3D environment. Build the actor from an imported 3D file.	Interact with 3D Simulation Environment Automate Virtual Assembly Line with Two Robotic Workcells
vrupdaterobot	Translation	Set the relative translation of the actor object.
	Rotation	Set the relative rotation of the actor object.
vrdrawnow	Not required	Not applicable.	The run function starts the co-simulation with the Unreal Engine and updates the Simulation 3D Viewer window at each time step. Simulate Actor with Kinematics Properties Using MATLAB
vr.canvas	view	Open the Simulation 3D Viewer window and display the 3D environment.	Simulate Actor with Kinematics Properties Using MATLAB
	run	Start the co-simulation with the Unreal Engine and update the Simulation 3D Viewer window at each time step.
vrfigure	view	Open the Simulation 3D Viewer window and display the 3D environment.	Simulate Actor with Kinematics Properties Using MATLAB
	run	Start the co-simulation with the Unreal Engine and update the Simulation 3D Viewer window at each time step.
vrplay	play	Play and interact with the recorded 3D animation data.	Record Animation Play Recorded 3D Animation Data
vrview	view	Open the Simulation 3D Viewer window and display the 3D environment.	Navigate in 3D Environment
	run	Start the co-simulation with the Unreal Engine and update the Simulation 3D Viewer window at each time step.
vredit	sim3d.World	Create a 3D environment.	Simulate Actors with Dissipative Properties Using MATLAB Interact with 3D Simulation Environment
	sim3d.Actor	Create and control the actor object using its properties.