Geometry Bundle

R2026b

Group multiple geometries into geometry bundle

Since R2026b

• 

Geometry Bundle block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
Simscape / Multibody / Curves and Surfaces

Description

The Geometry Bundle block groups multiple geometries into a bundle. The block produces a geometry domain line that represents a collection of geometries. A geometry bundle can contain other geometry bundles. The geometries in the bundle do not need to be rigidly connected. You can use a single contact force block, such as a Spatial Contact Force block, for a geometry bundle instead of one contact force block per geometry pair.

When using the Geometry Bundle block:

• A contact force block supports a geometry bundle only if it supports all of the geometry members in the bundle. For example, the Spatial Contact Force block does not support a geometry bundle that contains a point cloud, brick solid, and line segment, because a line segment is not a valid geometry for spatial contact.

• A geometry bundle can contact another geometry only if all geometry members in the bundle support contact with that geometry. For example, a geometry bundle that contains a point cloud and a disk cannot contact another point cloud, because contact between point clouds is not supported.

Examples

Using the Spatial Contact Force Block with Geometry Bundle

A toy bumper car traveling down a series of ramps while undergoing intermittent collisions. A Spatial Contact Force block is used with Geometry Bundle blocks to model the friction and normal forces between every pair of geometries that may potentially come into contact during the simulation (e.g., between one of the car's wheels and a railing). The Spatial Contact Force block is able to generate brief high-impact contact forces to model collisions, as well as sustained contact forces to model rolling and sliding. The Geometry Bundle blocks group together geometries so that the connected Spatial Contact Force block can generate forces for multiple pairs of geometries.

• Open Model

Ports

Geometry

GN — Input geometries

geometry

Geometry members in the geometry bundle. The port names are GN, where N is a unique identifying number for each input geometry. Use the Number of Geometry Inputs parameter to specify the number of input geometries.

GB — Geometry bundle

geometry

Geometry bundle that represents the group of input geometries.

Parameters

Number of Geometry Inputs — Number of input geometries

2 (default) | positive integer

Number of input geometries in the geometry bundle.

Version History

Introduced in R2026b