realvirtual.MU Class Reference

MU (Movable Unit) represents physical objects that move through automation systems as products, parts, or assemblies. More...

Inheritance diagram for realvirtual.MU:

Public Member Functions
void	PlaceMUOnTopOfPosition (Vector3 position)
	Places the MU with its bottom on top of the defined position.
void	LoadMu (MU mu)
	Load the named MU on this mu.
void	EventMUEnterSensor (Sensor sensor)
	Event that this called when MU enters sensor.
void	EventMUExitSensor (Sensor sensor)
	Event that this called when MU enters sensor.
void	EventMuLoad ()
	Event that this MU is loaded onto another.
void	EventMUUnLoad ()
	Event that this MU is unloaded from another.
void	InitMu (string muname, int localid, int globalid)
void	EventMuEnterPathSimulation ()
	Event that this MU is on Path.
void	EventMUExitPathSimulation ()
	Event that this MU is unloaded from Path.
void	Fix (GameObject fixto)
void	Unfix ()
	Public method for unfixing MU to a gameobject, parent changes are done based on parent before fix.
void	PhysicsOff ()
	Public method for turning Physics off.
void	PhysicsOn ()
	Public method for turning Physics on.
void	UnloadOneMu (MU mu)
	Unloads one of the MUs which are loaded on this MU.
void	UnloadAllMUs ()
	Unloads all of the MUs which are loaded on this MU.
void	Dissolve (float duration)
	Slowly dissolves MU and destroys it.
void	Appear (float duration)
void	FixedUpdate ()
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Public Attributes
int	ID
	ID of this MU (increases on each creation on the MU source.
int	GlobalID
	Global ID, increases for each MU independent on the source.
List< GameObject >	MUAppearences
	List of MU appearances for PartChanger.
GameObject	FixedBy
	Current Gripper which is picking the part.
GameObject	LastFixedBy
	Last Gripper which has been picking the part.
GameObject	LoadedOn
	Current Part the MU is loaded on.
GameObject	StandardParent
	The standard parent Gameobject of the MU.
GameObject	ParentBeforeFix
	The parent of the MU before the last Grip.
List< Sensor >	CollidedWithSensors
	The current Sensors the Part is colliding with.
List< MU >	LoadedMus
	List of MUs which are loaded on this MU.
Source	CreatedBy
	Source which created this MU.
float	SurfaceAlignSmoothment
	Smoothing factor for surface alignment.
bool	UnfixSpeedInterpolate
	When unfixing an MU the interpolated speed of the kinematic Rigidbody will be transferred to the MU.
int	NumInterpolations
	Number of interpolations - specially needed when speed is not constant like when connected to external robot controllers.
float	FixerLastDistance
	Last distance to fixer in millimeters.
Rigidbody	Rigidbody
List< TransportSurface >	AlignWithSurface
List< TransportSurface >	TransportSurfaces
float	DissolveDuration
	Duration in seconds for dissolve effect.
float	MaxDissolveValue
	Maximum dissolve shader value.
float	Velocity
	Current velocity in millimeters per second.
Game4AutomationEventMUDelete	EventMUDeleted
	Event is called when MU is Deleted / Destroyed.
Game4AutomationEventMU	EventMUIsLoaded
	Event is called when MU is loaded onto another.
Game4AutomationEventMU	EventMUGetsLoad
	Event is called when MU gets a MU loaded onto itself.
Game4AutomationEventMUSensor	EventMUSensor
	Event is called when MU collides with a Sensor.
Game4AutomationEventMUFix	EventMUFix
	Event is called when MU is fixed or unfixed.
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()

Detailed Description

MU (Movable Unit) represents physical objects that move through automation systems as products, parts, or assemblies.

The MU is the central component in realvirtual for representing any movable object in the automation simulation. It can be anything from raw materials, work-in-progress items, finished products, containers, pallets, or any other object that needs to be transported, processed, or handled within the automation system.

Key Features:

• Physics-based movement with automatic Rigidbody configuration
• Seamless transport on conveyor belts and other transport surfaces
• Can be gripped, fixed, and released by robots and handling devices
• Hierarchical loading system (MUs can be loaded onto other MUs, like parts on pallets)
• Unique identification with both local and global IDs for tracking
• Collision detection and sensor interaction
• Multiple visual appearances support for product variants
• Automatic alignment to transport surfaces with configurable smoothing
• Speed interpolation for smooth transitions when released from grippers
• Full lifecycle management from creation at sources to destruction at sinks

Transport and Handling:

• Automatically moves on TransportSurface components based on surface speed and direction
• Can be fixed to grippers and other handling devices while maintaining parent-child relationships
• Supports complex material flow with multiple transport surfaces simultaneously
• Maintains velocity information for smooth transitions between transport elements

Common Applications:

• Products on assembly lines
• Boxes and packages in logistics systems
• Pallets in warehouse automation
• Parts in manufacturing processes
• Containers in filling and packaging lines
• Workpiece carriers in production systems
• AGV-transported goods

Integration Points:

• Sources: Created by Source components with configurable intervals
• Sinks: Destroyed by Sink components at process endpoints
• Sensors: Detected by Sensor components for position tracking
• Grippers: Can be picked and placed by Grip and Fixer components
• Transport: Moved by TransportSurface and TransportGuided components
• PLCs: Tracked and controlled through various signal interfaces

Performance Optimization:

• Rigidbody sleep mode for stationary MUs
• Efficient collision layer management
• Optimized parent-child relationship handling
• Smart surface alignment algorithms

Events and Tracking:

• EventMUSensor: Triggered when entering/exiting sensor areas
• EventMUDelete: Triggered when MU is destroyed
• EventMUFix: Triggered when MU is fixed or unfixed
• Full tracking of creation source, current fixtures, and transport surfaces

For detailed documentation see: https://doc.realvirtual.io/components-and-scripts/mu-movable-unit

Member Function Documentation

Dissolve()

void realvirtual.MU.Dissolve

(

float

duration

)

Slowly dissolves MU and destroys it.

EventMuEnterPathSimulation()

void realvirtual.MU.EventMuEnterPathSimulation

(

)

Event that this MU is on Path.

EventMUEnterSensor()

void realvirtual.MU.EventMUEnterSensor

(

Sensor

sensor

)

Event that this called when MU enters sensor.

EventMUExitPathSimulation()

void realvirtual.MU.EventMUExitPathSimulation

(

)

Event that this MU is unloaded from Path.

EventMUExitSensor()

void realvirtual.MU.EventMUExitSensor

(

Sensor

sensor

)

Event that this called when MU enters sensor.

EventMuLoad()

void realvirtual.MU.EventMuLoad

(

)

Event that this MU is loaded onto another.

EventMUUnLoad()

void realvirtual.MU.EventMUUnLoad

(

)

Event that this MU is unloaded from another.

LoadMu()

void realvirtual.MU.LoadMu

(

MU

mu

)

Load the named MU on this mu.

PhysicsOff()

void realvirtual.MU.PhysicsOff

(

)

Public method for turning Physics off.

PhysicsOn()

void realvirtual.MU.PhysicsOn

(

)

Public method for turning Physics on.

PlaceMUOnTopOfPosition()

void realvirtual.MU.PlaceMUOnTopOfPosition

(

Vector3

position

)

Places the MU with its bottom on top of the defined position.

Unfix()

void realvirtual.MU.Unfix

(

)

Public method for unfixing MU to a gameobject, parent changes are done based on parent before fix.

UnloadAllMUs()

void realvirtual.MU.UnloadAllMUs

(

)

Unloads all of the MUs which are loaded on this MU.

UnloadOneMu()

void realvirtual.MU.UnloadOneMu

(

MU

mu

)

Unloads one of the MUs which are loaded on this MU.

Member Data Documentation

CollidedWithSensors

List<Sensor> realvirtual.MU.CollidedWithSensors

The current Sensors the Part is colliding with.

CreatedBy

Source realvirtual.MU.CreatedBy

Source which created this MU.

DissolveDuration

float realvirtual.MU.DissolveDuration

Duration in seconds for dissolve effect.

EventMUDeleted

Game4AutomationEventMUDelete realvirtual.MU.EventMUDeleted

Event is called when MU is Deleted / Destroyed.

EventMUFix

Game4AutomationEventMUFix realvirtual.MU.EventMUFix

Event is called when MU is fixed or unfixed.

EventMUGetsLoad

Game4AutomationEventMU realvirtual.MU.EventMUGetsLoad

Event is called when MU gets a MU loaded onto itself.

EventMUIsLoaded

Game4AutomationEventMU realvirtual.MU.EventMUIsLoaded

Event is called when MU is loaded onto another.

EventMUSensor

Game4AutomationEventMUSensor realvirtual.MU.EventMUSensor

Event is called when MU collides with a Sensor.

FixedBy

GameObject realvirtual.MU.FixedBy

Current Gripper which is picking the part.

FixerLastDistance

float realvirtual.MU.FixerLastDistance

Last distance to fixer in millimeters.

GlobalID

int realvirtual.MU.GlobalID

Global ID, increases for each MU independent on the source.

ID

int realvirtual.MU.ID

ID of this MU (increases on each creation on the MU source.

LastFixedBy

GameObject realvirtual.MU.LastFixedBy

Last Gripper which has been picking the part.

LoadedMus

List<MU> realvirtual.MU.LoadedMus

List of MUs which are loaded on this MU.

LoadedOn

GameObject realvirtual.MU.LoadedOn

Current Part the MU is loaded on.

MaxDissolveValue

float realvirtual.MU.MaxDissolveValue

Maximum dissolve shader value.

MUAppearences

List<GameObject> realvirtual.MU.MUAppearences

List of MU appearances for PartChanger.

NumInterpolations

int realvirtual.MU.NumInterpolations

Number of interpolations - specially needed when speed is not constant like when connected to external robot controllers.

ParentBeforeFix

GameObject realvirtual.MU.ParentBeforeFix

The parent of the MU before the last Grip.

StandardParent

GameObject realvirtual.MU.StandardParent

The standard parent Gameobject of the MU.

SurfaceAlignSmoothment

float realvirtual.MU.SurfaceAlignSmoothment

Smoothing factor for surface alignment.

UnfixSpeedInterpolate

bool realvirtual.MU.UnfixSpeedInterpolate

When unfixing an MU the interpolated speed of the kinematic Rigidbody will be transferred to the MU.

Velocity

float realvirtual.MU.Velocity

Current velocity in millimeters per second.