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We present a major new version of Scenic, a probabilistic programminglanguage for writing formal models of the environments of cyber-physicalsystems. Scenic has been successfully used for the design and analysis of CPSin a variety of domains, but earlier versions are limited to environments whichare essentially two-dimensional. In this paper, we extend Scenic with nativesupport for 3D geometry, introducing new syntax which provides expressive waysto describe 3D configurations while preserving the simplicity and readabilityof the language. We replace Scenic's simplistic representation of objects asboxes with precise modeling of complex shapes, including a ray tracing-basedvisibility system that accounts for object occlusion. We also extend thelanguage to support arbitrary temporal requirements expressed in LTL, and buildan extensible Scenic parser generated from a formal grammar of the language.Finally, we illustrate the new application domains these features enable withcase studies that would have been impossible to accurately model in Scenic 2.

3D Environment Modeling for Falsification and Beyond with Scenic 3.0