fitCollisionCapsule

Fit collision capsule around collision geometry

Since R2022b

Syntax

[collCapsule,fitInfo] = fitCollisionCapsule(geom)

Description

[collCapsule,fitInfo] = fitCollisionCapsule(geom) fits a collision capsule collCapsule around a collision geometry geom.

Examples

Fit Collision Capsule Around Collision Box

Create a box with a length, width, and height of 1 meter and fit a collision capsule on it.

box = collisionBox(1,1,1);
show(box);
hold on
[collcaps,fitinfo]= fitCollisionCapsule(box);

Visualize the new collision capsule on top of the box and set the alphas of the capsule to a low value so that the box is visible.

[~,capvis] = show(collcaps);
capvis.FaceAlpha=0.4;
xlim auto
ylim auto
zlim auto

Input Arguments

geom — Collision geometry

collisionBox object | collisionCylinder object | collisionSphere object | collisionMesh object

Collision geometry to fit capsule onto, specified as either a collisionBox, collisionSphere, collisionCylinder, or collisionMesh object.

Output Arguments

collCapsule — Collision capsule of the collision geometry

collisionCapsule object

Collision capsule of the collision geometry, returned as a collisionCapsule object.

fitInfo — Fit information of collision capsule

structure

Fit information of the collision capsule, returned as a structure. The structure contains the Residual field, returned as an N-element vector, where N is the total number of points of the collision geometry. Each element of the vector specifies the residual of a point of the collision geometry as:

$$\left|(o_{cg}-l_{cc})\right|+r_{cc}$$

where:

• o_cg is the origin of the fitted collision object.

• l_cc is the closest point of the central line of the collision capsule to o_cg.

• r_cc is the radius of the collision capsule.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022b