Main Content

Point

Point geometry for contact modeling

  • Library:
  • Simscape / Multibody / Curves and Surfaces

  • Point Block

Description

The Point block exports a 0-D point geometry for modeling contact problems. You can model contacts between the point and many types of geometries, such as all the solids and convex hulls in the Body Element library and the infinite plane in the Curves and Surfaces library. However, you cannot model a contact between a pair of points because there is no penetration, which is necessary for the penalty method, between two points.

Point

Using the point geometry can simplify and speed up contact modeling that involves complex geometries by eliminating unnecessary geometric details. For example, in the Train Humanoid Walker example, you can simplify the feet-ground contact by using several points to represent the robot feet.

Robot Feet

Ports

Frame

expand all

Local reference frame to use to define the location and orientation of the point.

Geometry

expand all

Geometry frame that represents the point defined by this block. Connect this port to the Spatial Contact Force block to model contacts on the point.

Parameters

expand all

Graphic

Graphic used to visualize the point. Specify this parameter to None to eliminate the point from the model visualization.

Shape of the marker used to visualize the point. The marker shape has no effect on the contact results of the point.

Dependencies

To enable this parameter, set Type to Marker.

Size of marker for visualization. The maker size does not scale with zoom level.

Dependencies

To enable this parameter, set Type to Marker.

Parameterizations for specifying visual properties. Select Simple to specify diffuse color and opacity. Select Advanced to specify more visual properties, such as Specular Color, Ambient Color, Emissive Color, and Shininess.

Dependencies

To enable this parameter, set Type to Marker.

Color of the graphic under direct white light, specified as an [R G B] or [R G B A] vector on a 0–1 scale. An optional fourth element (A) specifies the color opacity on a scale of 0–1. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set Type to Marker.

Graphic opacity, specified as a scalar in the range of 0 to 1. A scalar of 0 corresponds to completely transparent, and a scalar of 1 corresponds to completely opaque.

Dependencies

To enable this parameter, set:

  1. Type to Marker

  2. Visual Properties to Simple

Color of specular highlights, specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set:

  1. Type to From Geometry or Marker

  2. Visual Properties to Advanced

Color of shadow areas in diffuse ambient light, specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set:

  1. Type to From Geometry or Marker

  2. Visual Properties to Advanced

Graphic color due to self illumination, specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element (A) specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set:

  1. Type to From Geometry or Marker

  2. Visual Properties to Advanced

Sharpness of specular light reflections, specified as a scalar number on a 0–128 scale. Increase the shininess value for smaller but sharper highlights. Decrease the value for larger but smoother highlights.

Dependencies

To enable this parameter, set:

  1. Type to From Geometry or Marker

  2. Visual Properties to Advanced

Extended Capabilities

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

Introduced in R2020b