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Convert collision primitive geometry into collision mesh geometry

Since R2022a



    collisionMesh = convertToCollisionMesh(collisionObj) converts a collision primitive geometry, collisionObj, to a convex mesh collision geometry, collisionMesh, which retains the pose of collisionObj.


    Because converting a collision primitive to a collision mesh discretizes the underlying primitive, the converted mesh can return a different checkCollision result than the primitive equivalent.


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    Create and visualize a box as a collision geometry object.

    box = collisionBox(2,3,4)
    box = 
      collisionBox with properties:
           X: 2
           Y: 3
           Z: 4
        Pose: [4x4 double]

    Convert the collision box to a mesh. Visualize the mesh.

    mesh = convertToCollisionMesh(box)
    mesh = 
      collisionMesh with properties:
        Vertices: [8x3 double]
            Pose: [4x4 double]

    Input Arguments

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    Collision geometry object, specified as a collisionBox, collisionSphere, collisionCylinder, or collisionCapsule object. The function converts this object into a collision mesh.

    Output Arguments

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    Collision mesh, returned as a collisionMesh object. This object is the mesh equivalent of the specified collision geometry object.

    Extended Capabilities

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

    Version History

    Introduced in R2022a