CoppeliaSim 4.3.0 User Manual - CoppeliaSim 4.3.0 使用者手冊

  • Home
    • Site Map
    • reveal
    • blog
  • welcome
  • userInterface
    • pagesAndViews
    • coordinateDialog
    • positionDialog
    • orientationDialog
    • objectMovement
    • positionOrientationTransformation
    • settings
    • shortcuts
  • scenesAndModels
    • scenes
    • models
    • modelDialog
  • environment
    • environmentPropertiesDialog
    • textureDialog
  • entities
    • collections
    • objects
      • sceneObjectPropertiesDialog
      • commonPropertiesDialog
    • collidableObjects
    • measurableObjects
    • detectableObjects
    • viewableObjects
    • convexHull
    • layerSelectionDialog
      • cameras
      • cameraPropertiesDialog
      • lights
      • lightPropertiesDialog
      • shapes
      • shapeReferenceFrames
      • primitiveShapes
      • convexDecomposition
      • shapeProperties
      • shapeDynamicsProperties
      • shapeDynamicEngineProperties
      • geometryDialog
      • shapeEditModes
      • triangleEditMode
      • vertexEditMode
      • edgeEditMode
      • groupedShapeEditMode
      • joints
      • jointModes
      • jointProperties
      • jointDynamicsProperties
      • jointDynamicEngineProperties
      • dummies
      • dummyPropertiesDialog
      • graphs
      • graphPropertiesDialog
      • proximitySensors
      • proximitySensorDescription
      • proximitySensorPropertiesDialog
      • proximitySensorVolumeDialog
      • proximitySensorDetectionParameterDialog
      • visionSensors
      • visionSensorDescription
      • visionSensorPropertiesDialog
      • forceSensors
      • forceSensorPropertiesDialog
      • octrees
      • octreePropertiesDialog
      • pointClouds
      • pointCloudPropertiesDialog
    • paths
  • functionality
    • geometricCalculations
    • collisionDetection
    • distanceCalculation
      • geometricPlugin
      • simGeom API
      • coppeliaGeometricRoutines
      • CoppeliaGeometricRoutinesAPI
    • IGLPluginAPIreference
    • kinematics
    • basicsOnIkGroupsAndIkElements
    • solvingIkAndFk
      • kinematicsPlugin
      • simIKAPI
      • coppeliaKinematicsRoutines
      • CoppeliaKinematicsRoutinesAPI
    • dynamicsModule
    • designingDynamicSimulations
      • dynamicsDialog
      • dynamicsEngineDialog
    • dataVisualizationAndOutput
    • externalFrontEnd
    • dataTransformation
    • meansOfCommunication
      • remoteApiOverview
      • zmqRemoteApiOverview
      • wsRemoteApiOverview
      • rosInterfaces
      • rosInterf
      • ROSPluginAPIreference
      • ros2Interface
      • ROS2PluginAPIreference
    • ZMQPluginAPIreference
    • WSPluginAPIreference
    • pathsAndTrajectories
    • pathAndMotionPlanningModules
    • OMPLPluginAPIreference
    • syntheticVision
    • IMPluginAPIreference
    • simVisionAPI
    • customUIPlugin
    • UIPluginAPIreference
    • simUI-widgets
    • QMLPluginAPIreference
    • importExport
    • xmlFormat
      • urdfPlugin
      • APIFunctions
      • sdfPlugin
      • SDFPluginAPIreference
    • aviRecorder
    • AssimpPluginAPIreference
    • GLTFPluginAPIreference
      • commandLine
      • LuaCmdPluginAPIreference
      • miscellaneousFunctionality
      • SurfRecPluginAPIreference
      • ICPPluginAPIreference
      • SubprocessPluginAPIreference
  • writingCode
    • scripts
      • embeddedScripts
      • simulationScripts
      • mainScript
      • childScripts
      • customizationScripts
      • scriptProperties
      • scriptEditor
    • addOns
    • sandboxScript
    • scriptExecution
    • threadedAndNonThreadedCode
      • callbackFunctions
      • dynCallbackFunctions
      • jointCallbackFunctions
      • contactCallbackFunction
      • visionCallbackFunctions
      • triggerCallbackFunctions
      • userConfigCallbackFunctions
    • luaPythonDifferences
    • luaCrashCourse
    • plugins
    • mainClientApplication
    • accessingSceneObjects
    • explicitHandling
    • apisOverview
      • apiFunctions
      • apiConstants
      • objectParameterIDs
  • simulation
    • simulationPropertiesDialog
  • tutorials
    • bubbleRobTutorial
    • buildingAModelTutorial
    • lineFollowingBubbleRobTutorial
    • inverseKinematicsTutorial
    • externalControllerTutorial
    • pluginTutorial
    • robotLanguageIntegrationTutorial
    • rosTutorial
      • ros1Tutorial
      • ros2Tutorial
    • compilingCoppeliaSim
scenesAndModels << Previous Next >> models

scenes

Scenes

Compared to models, a scene can contain exactly the same type of elements, but additionally also includes following elements, specific to scenes:

  • The environment
  • The main script
  • Pages and views
  • A scene or scene image content can be seen through a viewable object associated with a view, itself contained in a page. When creating a new scene ([Menu bar --> File --> New Scene]), the default scene will contain following elements:

  • Several camera objects: cameras allow to see the scene if they are associated with a view.
  • Several light objects: without a light the scene would be hardly visible. The light is used to illuminate the scene.
  • Several views: a view is associated with a camera and displays what the camera sees. Views are contained in pages.
  • Several pages: a page contains one or several views.
  • The environment: the environment is composed by properties as ambient light, fog, background color, etc.
  • The floor: the floor is made-up by objects grouped in a model.
  • The default main script: the default main script should allow running minimal simulations, without the need of child scripts. A child script copied into the scene at a later stage will then also be automatically executed (called by the main script) if it is associated with a scene object.
  • Scenes can be opened (loaded) with [Menu bar --> File --> Open Scene...] and saved with [Menu bar --> File --> Save Scene] or [Menu Bar --> File --> Save Scene as]. Scene files ("*.ttt"-files) also support drag and drop operations between the explorer window and the application window. Scene files can also be double-clicked, in which case they will launch the CoppeliaSim application and be opened.




    scenesAndModels << Previous Next >> models

    Copyright © All rights reserved | This template is made with by Colorlib