Interactive Simulation

Interactive simulation uses the same rum.toml scenario format as batch simulation. The scenario selects the model, solver, viewer, input routing, and transport ports.

Run the quadrotor SIL example:

cargo run -p rumoca --release -- \
  sim -c examples/interactive/quadrotor/rum.acro.toml

Run the rover SIL example:

cargo run -p rumoca --release -- \
  sim -c examples/interactive/rover/rum.toml

The CLI prints the HTTP and WebSocket endpoints for the viewer. Open the HTTP URL in a browser if it does not open automatically.

Input Routing

Keyboard, gamepad, and viewer inputs are routed through the generic Rumoca input path. rum.toml scenarios describe which signals drive which model inputs.

The runtime supports three pacing styles:

  • as fast as possible
  • realtime
  • lockstep, where the simulation advances only when an external packet arrives

Use realtime for human-in-the-loop browser control. Use lockstep for external interfaces that own the timing.

Viewer Modes

The built-in results panel is useful for plots. External web viewers are useful for 3D scenes and interactive SIL. Both are launched from rum.toml scenarios so the same config can be used from CLI and editor tooling.

← Rumoca Scenarios Targets and Templates →