show

Show collision geometry

Syntax

show(geom)

show(geom,Name=Value)

ax = show(___)

[ax,patchobj] = show(___)

Description

show(geom) shows the collision geometry in the current figure at its current pose. The function automatically generates the tessellation.

show(geom,Name=Value) specifies options using one or more name-value pair arguments in addition to any combination of input arguments from previous syntaxes. For example, FaceColor=[1 1 1]

ax = show(___) returns the axes on which you plot the collision geometry.

[ax,patchobj] = show(___) returns the graphic object patchobj that represents the collision geometry in the plot.

Examples

Show Collision Geometry

Create a cylinder collision geometry. The cylinder has a length of 3 meters and a radius of 1 meter.

cyl = collisionCylinder(1,3);

Show the cylinder.

show(cyl)
title("Collision Geometry")

Show the cylinder in a new figure with the face color as cyan and return the patch object that represents the cylinder. You can modify other properties of the patch using the patch object, such as EdgeAlpha, EdgeColor, and LineWidth.

[~,patchObj] = show(cyl,FaceColor=[0 0 1],FaceAlpha=0.2);
patchObj.EdgeAlpha = 1;
patchObj.EdgeColor = [0 0 1];
patchObj.LineWidth = 0.1;
title("Collision Geometry")

Input Arguments

geom — Collision geometry

collisionBox object | collisionCapsule object | collisionCylinder object | collisionMesh object | collisionSphere object

Collision geometry to show, specified as one of these objects:

• collisionBox

• collisionCapsule

• collisionCylinder

• collisionMesh

• collisionSphere

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: FaceColor=[1 0 0] changes the color of the collision geometry to red.

Parent — Axes on which to plot collision geometry

Axes object

Axes on which to plot the collision geometry, specified as an Axes object.

FaceColor — Face color

Axes object

Face color, specified as an RGB triplet. An RGB triplet is a three-element row vector whose elements specify the intensities of the red, green, and blue components of the color. The intensities must be in the range [0,1]; for example, [0.4 0.6 0.7].

FaceAlpha — Face transparency

1 (default) | scalar in range [0, 1]

Face transparency, specified as scalar in range [0, 1]. A value of 1 is fully opaque and 0 is completely transparent.

Output Arguments

ax — Axes displaying collision geometry

Axes object

Axes displaying the collision geometry, returned as an Axes object. For more information, see Axes Properties.

patchobj — Graphic object

Patch object

Graphic object that represents the collision geometry, returned as a Patch object. For more information, see Patch Properties.

Version History

Introduced in R2019b

R2026a: Specify face color and alpha for plotted collision geometries from show function call

The show object function now supports specifying the face color and face alpha for a collision geometry using the FaceColor and FaceAlpha name-value arguments.

You can modify other graphics properties by modifying properties of the output Patch object patchobj.