collisionCapsule
Description
The collisionCapsule
object is a capsule primitive collision geometry
defined by a radius and length, with the central line segment of the capsule aligning with its
z-axis and the origin of the body-fixed frame located at the midpoint of
the central line segment.
Creation
Description
CAPS = collisionCapsule(
creates a capsule primitive with the specified radius radius
,length
)radius
and
length length
. The radius
and
length
arguments set the Radius
and
Length
properties, respectively.
CAPS = collisionCapsule(___,Pose=
sets the pose
)Pose
property of the capsule to pose
,
relative to the world frame.
Properties
Object Functions
checkCollision | Check if two geometries are in collision |
genspheres | Generate spheres along central line segment of capsule |
convertToCollisionMesh | Convert collision primitive geometry into collision mesh geometry |
show | Show collision geometry |