LIBRARY

SphereShape

Sphere shape primitive for 3D rendering.

This component extends from Shape

Usage

MultibodyComponents.SphereShape(render=true, color=[0.5, 0.5, 0.5, 1.0], specular_coefficient=0.7)

Parameters:

Name	Description	Units	Default value
render	Whether this shape should be rendered	–	true
color	RGBA color of the shape	–	[0.5, 0.5, 0.5, 1]
specular_coefficient	Specular reflection coefficient (0 = fully diffuse)	–	0.7

Variables

Name	Description	Units
r	3D position of the shape origin in world frame	–
R	3D rotation matrix (orientation) of the shape in world frame	–
r_shape	Offset from r to shape origin, resolved in shape frame	–
length_direction	Primary axis direction (unit vector, resolved in shape frame)	–
width_direction	Secondary axis direction (unit vector, resolved in shape frame)	–
length	Dimension along length_direction	–
width	Dimension along width_direction	–
height	Dimension perpendicular to both length and width	–

Behavior

using MultibodyComponents #hide
using ModelingToolkit #hide
@variables render #hide
@variables color #hide
@variables specular_coefficient #hide
@named sys = MultibodyComponents.SphereShape(render=render, color=color, specular_coefficient=specular_coefficient) #hide
full_equations(sys) #hide

<< @example-block not executed in draft mode >>

Source

"Sphere shape primitive for 3D rendering."
component SphereShape
  extends Shape
relations
end

Flattened Source

"Sphere shape primitive for 3D rendering."
component SphereShape
  "Whether this shape should be rendered"
  parameter render::Boolean = true
  "3D position of the shape origin in world frame"
  variable r::Real[3]
  "3D rotation matrix (orientation) of the shape in world frame"
  variable R::Real[3, 3]
  "Offset from r to shape origin, resolved in shape frame"
  variable r_shape::Real[3]
  "Primary axis direction (unit vector, resolved in shape frame)"
  variable length_direction::Real[3]
  "Secondary axis direction (unit vector, resolved in shape frame)"
  variable width_direction::Real[3]
  "Dimension along length_direction"
  variable length::Real
  "Dimension along width_direction"
  variable width::Real
  "Dimension perpendicular to both length and width"
  variable height::Real
  "RGBA color of the shape"
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  "Specular reflection coefficient (0 = fully diffuse)"
  parameter specular_coefficient::Real = 0.7
relations
metadata {}
end

Test Cases

No test cases defined.

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