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convertToCollisionMesh

Convert collision primitive geometry into collision mesh geometry

Since R2022a

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    Syntax

    collisionMesh = convertToCollisionMesh(collisionObj)

    Description

    collisionMesh = convertToCollisionMesh(collisionObj) converts a collision primitive geometry, collisionObj, to a convex mesh collision geometry, collisionMesh, which retains the pose of collisionObj.

    Note

    Because converting a collision primitive to a collision mesh discretizes the underlying primitive, the converted mesh can return a different checkCollision result than the primitive equivalent.

    example

    Examples

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    Open Live Script

    Create and visualize a box as a collision geometry object.

    box = collisionBox(2,3,4)
    box = 
  collisionBox with properties:

       X: 2
       Y: 3
       Z: 4
    Pose: [4x4 double]


    show(box);

    Figure contains an axes object. The axes object with xlabel X, ylabel Y contains an object of type patch.

    Convert the collision box to a mesh. Visualize the mesh.

    mesh = convertToCollisionMesh(box)
    mesh = 
  collisionMesh with properties:

    Vertices: [8x3 double]
        Pose: [4x4 double]


    show(mesh);

    Figure contains an axes object. The axes object with xlabel X, ylabel Y contains an object of type patch.

    Input Arguments

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    Collision geometry object, specified as a collisionBox, collisionSphere, collisionCylinder, or collisionCapsule object. The function converts this object into a collision mesh.

    Output Arguments

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    Collision mesh, returned as a collisionMesh object. This object is the mesh equivalent of the specified collision geometry object.

    Extended Capabilities

    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2022a

    See Also

    Objects

    Topics