PHX Toolbox 1.0.13 (technical preview)

• Updated the toolbox for compatibility with MATLAB R2026b
• Simplified the internal class hierarchy of the shapes
• Removed the Skelet* properties, replaced by drawing directly from user code
• Improved zoom navigation in the viewer and more precise control in edit mode
• The Simulink examples are now included in the examples gallery
• Fixed various minor issues across the toolbox
• Fixed the broken phxex_magcrane demo (a missing asset)
• Documentation fixes and clarifications
• Updated skills

PHX Toolbox 1.0.12 (technical preview)

• New SurfaceVelocity property in phx.Body for bodies with a moving surface (conveyor belts)
• Support for importing a rigidBodyTree in phx.assembly.import (requires Robotics System Toolbox)
• phx.assembly.scatter can randomize the shade of the bodies through the RandomTint option (like phx.assembly.wall)
• Fixes and optimizations of the geometry built by phx.shape.Extrusion
• Fixed a potential viewer error when using studio lighting
• Fixed the inertia computation when importing an STL with "Center" = true
• Optimized building of the computation pipeline when objects are added to or removed from the scene
• Minor performance optimizations
• New version of the viewer's default "sky" background and a new "hall" background texture
• New demo phxex_beltmaze (conveyors belts)
• New demo phxex_kinova (rigidBodyTree import)
• New demo phxex_magcrane (magnetic crane)
• Modified demo phxex_conveyors (uses SurfaceVelocity, the STL model replaced by a parametric revolved profile)
• Modified demo phxex_gears (STL models replaced by a parametric extruded profile)
• Removed demo phxex_multiview (the experimental functionality it used has been removed)
• Updated documentation and skills

PHX Toolbox 1.0.11 (technical preview)

• Removed unwanted local dependencies on other toolboxes
• Unified and faster computation of the Angle and Distance properties for all joints
• Fixed joints accumulating an engine constraint on every pipeline rebuild, which silently stiffened them
• Prismatic joint can now be driven by a linear motor
• The Simulink interface is now DirectFeedthrough = false, so it no longer needs a delay block in feedback loops
• Fixed a bug in the Simulink interface that prevented the use of multiple PHX blocks
• Performance optimizations of the Simulink interface
• New tube shape, a cylinder with a hole and an optional taper (phx.shape.Tube)
• New RedrawMode parameter ("performance", "interactive", "full", "none") in phx.Simulation controlling how the scene is redrawn
• The default redraw mode changed from "performance" to "interactive"
• Fixed detection of degenerate triangles for shapes created by revolving a profile
• New user guide chapter on saving and loading scenes
• New demo of a vibratory bowl feeder (phxex_bowlfeeder)
• Updated documentation and skills

PHX Toolbox 1.0.10 (technical preview)

• Added raycast sensor phx.Raycast
• Revolute joint now supports motor drive through the MaxTorque and TargetVelocity properties
• Modified demo phxex_vengine (added usage of motor)
• Modified demo phxex_segway (added usage of motors and raycast sensor)
• Modified demo phxex_drone (added usage of motors and raycast sensor)
• New demo phxex_raycast
• New demo phxex_bowling
• New demo phxex_walker
• Minor performance optimizations
• Fixed warning in phx.Camera when using the same body for destination and target
• Improved skills and documentation

PHX Toolbox 1.0.9 (technical preview)

• Added a TrackingLag property to phx.Camera
• phx.shape.Revolution now supports a cylindrical envelope
• New experimental class phx.PlanarShadow for casting simple planar shadows
• Planar shadows added to the phxex_buoyancy and phxex_soil examples
• New demo phxex_eulerdisk
• New demo phxex_drum

PHX Toolbox 1.0.8 (technical preview)

• Reworked the phxex_swingover example (interactive version with four walls)
• New phxex_sim_swingover example (simplified Simulink version)
• Fixed writing invalid (non-finite) transformation values to phx.Body
• Fixed a drag-gizmo crash in the viewer
• Minor documentation fixes

PHX Toolbox 1.0.7 (technical preview)

• Switchable lighting modes in the viewer (phx.extra.Viewer.Lighting property)
• Wall builder (phx.assembly.wall)
• Added several built-in textures for shapes (checker, wood, metal, tiles)
• Fixed hanging timers and some other minor issues in the viewer
• New demos phxex_swingover and phxex_capacitor
• Reworked phxex_conveyors demo
• Improved skills
• Enhanced documentation

PHX Toolbox 1.0.6 (technical preview)

• Unified import of URDF, STL, OBJ and PLY files through phx.shape.Mesh and phx.assembly.import
• Fixed handling of external forces in different coordinate systems
• Added bushing joint (phx.BushingJoint)
• Added cylindrical joint (phx.CylindricalJoint)
• Improved generic joint (phx.GenericJoint) is now ready to use
• Prismatic joint (phx.PrismaticJoint) now uses axis Z as other joints
• Increased performance of phx.Buoyancy
• More robust extrusion geometry
• Optimized surface materials (better lighting and color accuracy)
• New demo phxex_vengine - parametric model of V-shaped piston engine
• Enhanced documentation with full gallery of all examples
• Improved skills are now included directly in the toolbox installation directory

PHX Toolbox 1.0.5 (technical preview)

• Added a new object for spatial detection (phx.Zone)
• Added prismatic joint (phx.PrismaticJoint)
• Optimized URDF import (phx.assembly.import)
• Changed default engine setting for sleeping (bodies are not allowed to sleep now)
• Fixed setting the mass of a body without assigning a shape
• Added phx.Zone usage to phxex_galton and phxex_soil demos
• New demo comparing simulation vs. analytical solution (phxex_validate)
• New demo simulating valve bounce in a cam mechanism (phxex_camvalve)

PHX Toolbox 1.0.4 (technical preview)

• Fixed wrong handling of resources in phxex_buoyancy
• Fixed minor numerical discrepancies between normal and headless mode
• Added Restitution property to phx.Body
• Added MutualCollisions property to all kinematic joints
• Gravity can be changed during simulation
• New namespace phx.assembly with functions arena, chain, scatter, import
• New demo phxex_stairfall
• Removed obsolete demos
• Enhanced and updated documentation
• Improved AI skills