Contents

1 Introduction

The data of an OpenMBV visualization consist of two parts: a XML file (<filename>.ombv.xml) and a HDF5 file (<filename>.ombv.h5).

The root element of the XML file must be <Group>. The syntax, the attributes and the possible children for the XML elements is documented in the section Elements. A full valid example XML file (TS.ombv.xml) is given by:

<?xml version="1.0" encoding="UTF-8"?>
<Group name="TS" expand="1" enable="1" xmlns="http://www.mbsim-env.de/OpenMBV">
  <Group name="Hauptgruppe1" expand="1" enable="1">
    <Cuboid name="Box1" enable="1">
      <minimalColorValue>0</minimalColorValue>
      <maximalColorValue>1</maximalColorValue>
      <diffuseColor>[0.3;1;1]</diffuseColor>
      <initialTranslation>[0;0;0]</initialTranslation>
      <initialRotation>[0;0;0]</initialRotation>
      <scaleFactor>1</scaleFactor>
      <length>[0.5;0.5;0.5]</length>
    </Cuboid>
    <Frame name="P1" enable="1">
      <minimalColorValue>0</minimalColorValue>
      <maximalColorValue>1</maximalColorValue>
      <diffuseColor>[-1;1;1]</diffuseColor>
      <initialTranslation>[0;0;0]</initialTranslation>
      <initialRotation>[0;0;0]</initialRotation>
      <scaleFactor>1</scaleFactor>
      <size>0.5</size>
      <offset>1</offset>
    </Frame>
  </Group>
</Group>

The according HDF5 file (TS.ombv.h5) must provide two datasets with the following path in the HDF5 file:

The content of the datasets is also documented in section Elements.

2 Nomenclature

2.1 Legend

IconDescription
<element>A XML element of name 'element'
attrNameA XML attribute of name 'attrName'
namespaceA XML namespace of name 'namespace'
typeA XML element or attribute type of name 'type'
requiredA required XML attribute
0-2A occurance of XML elements or attributes

2.2 An element

<ElementName> 0-2 elementType
attrName1 required typeOfTheAttribute
attrName2 optional typeOfTheAttribute

Documentation of the element.

The upper nomenclature defines a XML element named ElementName with (if given) a minimal occurance of 0 and a maximal occurance of 2. The element is of type elementType.
A occurance of optional means 0-1.
The element has two attributes named attrName1 and attrName2 of type typeOfTheAttribute. A attribute can be optional or required.

2.3 A choice of element

The upper nomenclature defines a choice of elements. Only one element of the given ones can be used. The choice has, if given, a minimal occurance of 1 and a maximal maximal occurence of 2.
A occurance of optional means 0-1.

2.4 A sequence of elements

The upper nomenclature defines a sequence of elements. Each element must be given in that order. The sequence has, if given, a minimal occurance of 0 and a maximal maximal occurence of 3.
A occurance of optional means 0-1.

2.5 Nested sequences/choices

Sequences and choices can be nested like above.

2.6 Child Elements

A indent indicates child elements for a given element.

3 Elements

<Object>
Object properties
Abstract Element:true
Inherits:
Inherited by:<Body>, <Group>,
Attributes:name required pv:stringPartialEval
enable pv:booleanFullEval
boundingBox pv:booleanFullEval
Object documentation
Abstract base class
Child Elements

<Body>
Object properties
Abstract Element:true
Inherits: <Object>
Inherited by:<DynamicColoredBody>, <Path>,
Attributes:outLine pv:booleanFullEval
shilouetteEdge pv:booleanFullEval
drawMethod pv:stringPartialEval
Object documentation
Abstract base class for all bodies
Child Elements

<DynamicColoredBody>
Object properties
Abstract Element:true
Inherits: <Body>
Inherited by:<Arrow>, <CoilSpring>, <NurbsDisk>, <RigidBody>, <SpineExtrusion>,
Attributes:
Object documentation
Abstract base class for all dynamically colored bodies
Child Elements

<Arrow>
Object properties
Abstract Element:false
Inherits: <DynamicColoredBody>
Inherited by:
Attributes:path pv:booleanFullEval
Object documentation
A arrow with zero, one or two heads
HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order given in world frame: time, "to" point x, "to" point y, "to" point z, delta x, delta y, delta z, color
Child Elements

<CoilSpring>
Object properties
Abstract Element:false
Inherits: <DynamicColoredBody>
Inherited by:
Attributes:
Object documentation
A coil spring
HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order given in world frame: time, "from" point x, "from" point y, "from" point z, "to" point x, "to" point y, "to" point z, color
Child Elements

<NurbsDisk>
Object properties
Abstract Element:false
Inherits: <DynamicColoredBody>
Inherited by:
Attributes:localFrame pv:booleanFullEval
Object documentation
Class for all bodies with a NURBS surface and a primitive closure.
author
Kilian Grundl
Raphael Missel
Thorsten Schindler
date
2009-05-20 initial commit (Grundl / Missel / Schindler)
2009-08-16 visualisation / contour (Grundl / Missel / Schindler)
2010-08-09 adapt to new concept of Markus Friedrich (Schindler)
Child Elements

<RigidBody>
Object properties
Abstract Element:true
Inherits: <DynamicColoredBody>
Inherited by:<CompoundRigidBody>, <Cube>, <Cuboid>, <Extrusion>, <Frame>, <Frustum>, <Grid>, <IndexedFaceSet>, <InvisibleBody>, <IvBody>, <Rotation>, <Sphere>,
Attributes:localFrame pv:booleanFullEval
referenceFrame pv:booleanFullEval
path pv:booleanFullEval
dragger pv:booleanFullEval
Object documentation
Abstract base class for all rigid bodies.
Each rigid body has a body fixed local coordinate system L and a reference coordinate system R which has a fixed relative position and rotation with respect to L (see figure). And there is a inertial fixed world coordinate system W.
Coordinate Systems of Rigid Body
rigidbodycos.png
The fixed translation from system R to system L is given by the vector initialTranslation [_R x_B, _R y_B, _R z_B]^T which coordinates are given in system R.
The fixed rotation between the systems R and L is given by the vector initialRotation [\alpha_B, \beta_B, \gamma_B]^T which are the kardan angles of the transformation matrix  A_{RL}= \textrm{cardan}(\alpha_B, \beta_B, \gamma_B) from system L to system R.
The time dependend translation between the systems W and R is given in the HDF5 dataset by the vector  [_W x_P, _W y_P, _W z_P]^T=_W r_P which coordinates are given in system W.
The time dependend rotation between the systems W and R is given in the HDF5 dataset by the vector  [\alpha_P, \beta_P, \gamma_P] which are the kardan angles of the transformation matrix  A_{WR}= \textrm{cardan}(\alpha_P, \beta_P, \gamma_P) from system R to system W.
HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order: time,  _W x_P ,  _W y_P ,  _W z_P ,  \alpha_P ,  \beta_P ,  \gamma_P , color
Child Elements

<CompoundRigidBody>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:expand pv:booleanFullEval
Object documentation
A compound of rigid bodies
Child Elements

<Cube>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A cube
Child Elements

<Cuboid>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A cuboid
Child Elements

<Extrusion>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A extrusion of a cross section area (with holes)
Child Elements

<Frame>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A frame; A coordinate system
Child Elements

<Frustum>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A frustum (with a frustum hole)
Child Elements

<Grid>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A grid in x-y-Plane
Child Elements

<IndexedFaceSet>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A nurbs surface
Child Elements

<InvisibleBody>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A invisible body
Child Elements

<IvBody>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A body defines by a Open Inventor file or a VRML file
Child Elements

<Rotation>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
Rotation of a cross section area
Child Elements

<Sphere>
Object properties
Abstract Element:false
Inherits: <RigidBody>
Inherited by:
Attributes:
Object documentation
A sphere
Child Elements

<SpineExtrusion>
Object properties
Abstract Element:false
Inherits: <DynamicColoredBody>
Inherited by:
Attributes:
Object documentation
Class for all bodies extruded along a curve.
author
Thorsten Schindler
HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order given in world frame (N is the number of spine points): time, spine point 1 x, spine point 1 y, spine point 1 z, spine twist 1, spine point 2 x, spine point 2 y, spine point 2 z, spine twist 2, ..., spine point N x, spine point N y, spine point N z, spine twist N
Child Elements

<Path>
Object properties
Abstract Element:false
Inherits: <Body>
Inherited by:
Attributes:
Object documentation
Draw a path of a reference point
HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order given in world frame: time, x, y, z
Child Elements

<Group>
Object properties
Abstract Element:false
Inherits: <Object>
Inherited by:
Attributes:expand pv:booleanFullEval
Object documentation
A container for bodies
Child Elements

4 Simple Types

objectReferenceType
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