# Point Cloud

**Libraries:**

Simscape /
Multibody /
Curves and Surfaces

## Description

The Point Cloud block creates a set of points in space. Each point has a rigid offset with respect to the reference frame of the Point Cloud block. You can use a Point Cloud block to approximate a geometry, such as a body with concave shape, for contacts. When modeling certain sustained and distributed contact problems, the Spatial Contact Force block might perform better with a Point Cloud block than with a geometry block, such as Brick Solid or File Solid. This image demonstrates how to use a point cloud to approximate the bottom of a robot foot.

When modeling contacts for a point cloud, the Spatial Contact
Force and Planar Contact Force blocks
treat a point cloud as an aggregation of *N*-point geometries and
applies contact forces to each point independently. Each contact force is based on the
penetration and velocity of the individual point of the cloud.

You can create a 2-D or 3-D point cloud by using an *N*-by-2 or *N*-by-3 matrix. Each row of the matrix specifies the Cartesian coordinates of
a point with respect to the reference frame of the Point
Cloud block. An error occurs if the matrix has any repeated
rows.

**Tip**

You can use the `unique`

function to remove repeated
rows from an input matrix.

## Ports

### Frame

### Geometry

## Parameters

## Extended Capabilities

## Version History

**Introduced in R2021a**