Create convex mesh collision geometry
collisionMesh to create a collision geometry as a convex
MSH = collisionMesh( creates a
convex mesh collision geometry from the list of 3-D Vertices.
The vertices are specified relative to a frame of choice (collision geometry frame). By
default, the collision geometry frame collocates with the world frame.
MSH = collisionMesh(___,Pose=
Pose property of the mesh to
relative to the world frame.
Vertices — Vertices
3-D real-valued array
Vertices of a mesh, specified as an N-by-3 array, where
N is the number of vertices. Each row of
Vertices represents the coordinates of a point in 3-D space. Note
that some of the points can be inside the constructed convex mesh.
Pose — Pose
eye(4) (default) | real-valued 4-by-4 matrix |
Pose of the collision geometry relative to the world frame, specified as a 4-by-4 homogeneous
matrix or an
se3 object. You can change
the pose after you create the collision geometry.
Note that when the pose is specified as an
se3 object, the
Pose property stores the pose
as a numeric 4-by-4 matrix.
Create and Visualize Mesh Collision Geometry
Create an array consisting of the coordinates of ten points randomly chosen on the unit sphere. For reproducibility, set the random seed to the default value.
rng default n = 10; pts = zeros(n,3); for k = 1:n ph = 2*pi*rand(1); th = pi*rand(1); pts(k,:) = [cos(th)*sin(ph) sin(th)*sin(ph) cos(ph)]; end
Create a convex mesh collision geometry from the array. Visualize the collision geometry.
m = collisionMesh(pts); show(m)
Create a second array similar to the first, but this time consisting of 1000 points randomly chosen on the unit sphere.
n = 1000; pts2 = zeros(n,3); for k = 1:n ph = 2*pi*rand(1); th = pi*rand(1); pts2(k,:) = [cos(th)*sin(ph) sin(th)*sin(ph) cos(ph)]; end
Create and visualize a mesh collision geometry from the array. Observe that choosing more points on the sphere results in a sphere-like mesh.
m2 = collisionMesh(pts2); show(m2)
Create an array consisting of the coordinates of the eight corners of a cube. The cube is centered at the origin and has side length 4.
cubeCorners = [-2 -2 -2 ; -2 2 -2 ; 2 -2 -2 ; 2 2 -2 ;... -2 -2 2 ; -2 2 2 ; 2 -2 2 ; 2 2 2]
cubeCorners = 8×3 -2 -2 -2 -2 2 -2 2 -2 -2 2 2 -2 -2 -2 2 -2 2 2 2 -2 2 2 2 2
pts2. Create and visualize the mesh collision geometry from the new array. Because the cube contains the sphere, the sphere points that are interior to the cube are disregarded when creating the geometry.
pts3 = [pts2;cubeCorners]; m3 = collisionMesh(pts3); show(m3)