convertToCollisionMesh

Convert collision primitive geometry into collision mesh geometry

Syntax

collisionMesh = convertToCollisionMesh(collisionObj)

Description

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

Examples

Convert Collision Geometry to Collision Mesh

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);

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);

Input Arguments

collisionObj — Collision geometry object

collisionBox object | collisionSphere object | collisionCylinder object

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

Output Arguments

collisionMesh — Collision mesh

collisionMesh object

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