Added a dummy 3d animation block

controls/model/3D_Animation/eigenaxis_ucart.m

+%**************************************************************************
+% Project   : Autonomous Helicopter
+% Group     : 05gr835 
+% Created   : 2005-04-28
+% Edited    : 2005-05-25
+% -------------------------------------------------------------------------
+% The non-linear model contains the following files:
+% 
+% thrusten.m        : Main rotor thrust equations
+% rigid.m           : Rigid body equations
+% parameters.m      : Helicopter parameters
+% mrflap.m          : Main rotor flapping equations
+% force_torque.m    : Force and torque equations
+% eigenaxis.m       : Eigen axis rotation for use in VR toolbox
+
+%**************************************************************************
+
+% eigenaxis.m       : This file contains the eigen axis rotation
+%algorithm. This file is created by group 05gr830.
+
+function y = eigenaxis(u)
+
+
+if abs(u(1))< 0.0001
+    u(1) = 0.0001;
+end
+
+if abs(u(2))< 0.0001
+    u(2) = 0.0001;
+end
+
+if abs(u(3))< 0.0001
+    u(3) = 0.0001;
+end
+
+u = [ -u(1); -u(2); u(3) ];% [Pitch, Yaw, Roll] 
+
+C11 = cos(u(2))*cos(u(3));
+C12 = cos(u(2))*sin(u(3));
+C13 = -sin(u(2));
+C21 = sin(u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));
+C22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));
+C23 = sin(u(1))*cos(u(2));
+C31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));
+C32 = cos(u(1))*sin(u(2))*sin(u(3))-sin(u(1))*cos(u(3));
+C33 = cos(u(1))*cos(u(2));
+    
+theta = acos(0.5*(C11+C22+C33-1));
+
+e = [C23-C32; C31-C13; C12-C21]/(2*sin(theta));
+    
+y = [e; theta];

controls/model/3D_Animation/license.txt

+Copyright (c) 2009, The MathWorks, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are 
+met:
+
+    * Redistributions of source code must retain the above copyright 
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright 
+      notice, this list of conditions and the following disclaimer in 
+      the documentation and/or other materials provided with the distribution
+    * Neither the name of the The MathWorks, Inc. nor the names 
+      of its contributors may be used to endorse or promote products derived 
+      from this software without specific prior written permission.
+      
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+POSSIBILITY OF SUCH DAMAGE.

controls/model/3D_Animation/sfun_time.c

+#define S_FUNCTION_LEVEL 2
+#define S_FUNCTION_NAME  sfun_time
+
+#define TIME_SCALE_FACTOR(S) ssGetSFcnParam(S,0)
+
+/*
+ * Need to include simstruc.h for the definition of the SimStruct and
+ * its associated macro definitions.
+ */
+#include "simstruc.h"
+
+/*
+ *  Include the standard ANSI C header for handling time functions:
+ *  ---------------------------------------------------------------
+ */
+#include <time.h>
+
+static void mdlInitializeSizes(SimStruct *S)
+{
+
+   ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */
+
+   if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
+
+    ssSetNumContStates(S, 0);
+    ssSetNumDiscStates(S, 0);
+
+   if (!ssSetNumInputPorts(S, 0)) return;
+
+   if (!ssSetNumOutputPorts(S, 0)) return;
+   
+   ssSetNumSampleTimes(S, 1);
+   ssSetNumRWork(S, 1);
+   ssSetNumIWork(S, 0);
+   ssSetNumPWork(S, 0);
+   ssSetNumModes(S, 0);
+   ssSetNumNonsampledZCs(S, 0);
+   ssSetOptions(S, 0);
+}
+
+#define MDL_INITIALIZE_SAMPLE_TIMES
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+   ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
+   ssSetOffsetTime(S, 0, 0.0);
+}
+
+#define MDL_START
+static void mdlStart(SimStruct *S)
+{
+    ssSetRWorkValue(S,0,ssGetTStart(S));
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+   real_T             t_previousSimTime = ssGetRWorkValue(S,0);
+   const real_T      *scaleFactor = mxGetPr(TIME_SCALE_FACTOR(S));
+   time_T             t_SimTime = ssGetT(S);
+   real_T             t_diff = 0.0;
+   real_T             dt;
+   real_T             t_current;
+   real_T             t_0;
+   real_T             t_previous;
+   real_T             t_elapsed;
+   
+   /* Desired Delta time */
+   dt = (t_SimTime - t_previousSimTime) * (scaleFactor[0]);
+   /* Get clock time at the beginning of this step*/   
+   t_previous = (real_T)clock()/CLOCKS_PER_SEC;
+   t_0 = (real_T)clock()/CLOCKS_PER_SEC;
+
+   /* Wait to reach the desired time */
+   while (t_diff<dt){
+        t_current = (real_T) clock()/CLOCKS_PER_SEC;
+        /* Look for wrapup */
+        if (t_current<t_previous){
+            t_elapsed = t_previous - t_0;
+            t_0 = (real_T) clock()/CLOCKS_PER_SEC - t_elapsed;
+        }
+        t_diff = t_current - t_0;
+        t_previous = t_current;
+   }
+   
+   /* Store current time to be used in next time step*/
+   ssSetRWorkValue(S, 0, t_SimTime);
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+    UNUSED_ARG(S); /* unused input argument */
+}
+
+/*
+ *  Required S-function trailer:
+ *  ----------------------------
+ */
+#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
+#include "simulink.c"      /* MEX-file interface mechanism */
+#else
+#include "cg_sfun.h"       /* Code generation registration function */
+#endif