addVisual

Add visual geometry data to rigid body

Syntax

addVisual(body,type,parameters)

addVisual(___,tform)

Description

addVisual(body,type,parameters) adds the visuals of a geometry of the specified type type and geometric parameters parameters to the specified rigid body body.

addVisual(___,tform) specifies a homogeneous transformation for the geometry visual relative to the body frame in addition to any combination of input arguments from previous syntaxes.

Input Arguments

body — Rigid body

rigidBody object

Rigid body, specified as a rigidBody object.

type — Geometry type for geometry

"box" | "cylinder" | "capsule" | "sphere" | "mesh"

Geometry type for geometry, specified as a string scalar. The specified type determines the format of the parameters input.

• "box" — [x y z]

• "cylinder" — [radius length]

• "capsule" — [radius length]

• "sphere" — radius

• "mesh" — "meshfilename" or {'meshfilename' scale}.'meshfilename' must either be an STL or DAE file name, specified as a string or character vector. scale is the xyz-scale of the mesh's bounding box, specified as a three-element vector of positive numeric values. The scaling is along the axes of the origin frame of the rigid body.

Data Types: char | string

parameters — Geometry parameters

numeric vector | numeric matrix | string scalar

Geometry parameters, specified as a numeric vector, numeric matrix, or string scalar. The type input determines the format of this value.

• "box" — [x y z]

• "cylinder" — [radius length]

• "capsule" — [radius length]

• "sphere" — radius

• "mesh" — "meshfilename" or {'meshfilename' scale}.'meshfilename' must either be an STL or DAE file name, specified as a string or character vector. scale is the xyz-scale of the mesh's bounding box, specified as a three-element vector of positive numeric values. The scaling is along the axes of the origin frame of the rigid body.

Example: addVisual(body,"mesh",{"meshName.stl",[0.5 1 1]})

Data Types: single | double | char | string

tform — Polygon mesh transformation

4-by-4 homogeneous transformation

Mesh transformation relative to the body coordinate frame, specified as a 4-by-4 homogeneous transformation.

Version History

Introduced in R2017b

R2024b: Scale meshes

Specify an xyz-scale for the "mesh" geometry type using the parameters argument.

R2023a: Add visual of primitive geometries

Use the type and parameters arguments to specify primitive geometries such as a box, sphere, cylinder, and capsule.