phx

Connect and actuate PHX bodies — joints (Fixed/Revolute/Spherical/Gear/Generic), springs and ropes (Spring/GenericSpring/Rope), and force/field elements (Thruster, Resistance, Dipole, Monopole). Also covers driving parameters over time with phx.Script and the read-state / set-actuator / step control loop. Whole jointed chains/pendulums come prefabricated from phx.assembly.chain. Use after phx-scene-basics when bodies must be linked, sprung, thrust, or controlled.

Low-level PHX engine reference and pitfalls — the stringly-typed phx.engine.io gateway (add/set/get/apply/remove/step), phx.engine.BulletSettings, the phx:Component:mnemonic error-ID convention, the matlab.unittest suite, and known quirks (timestep stability, body sleeping). Use when debugging PHX behavior, writing new simulable objects, or running the tests.

Build and run a physics scene with the PHX MATLAB toolbox (phx.* objects over the Bullet engine). Use when creating phx.Body objects, attaching phx.shape.* geometry, setting pose/mass/type, using the phx.assembly prefab builders (arena, chain, scatter, URDF import), stepping a phx.Simulation, or running a PHX scene headlessly. Start here before the other phx-* skills.

Record and visualize a PHX simulation — log object properties over time with phx.Logger, draw motion trails with phx.Trace, measure distances/angles with phx.Measure, and set up the view with phx.Camera and the interactive phx.extra.Viewer. Use when capturing signals for plots or configuring how a PHX scene is displayed.

Drive a PHX physics scene from Simulink through the single PhxModel block (PhxLibrary.slx). Use when wiring Simulink signals to phx.* object properties (input/output port references like Body.Position(1:3)), setting the block's scene Source / Substeps / viewer, building or debugging a PHX co-simulation model, or doing closed-loop control of a PHX scene from Simulink.