Primitive shapes

Next to importing meshes from an external file, shapes can also directly be created inside CoppeliaSim by selecting [Add > Primitive shape]:

[Primitive shapes]


Geometric parameters of the primitive shapes can be adjusted in the primitive shape dialog:

[Primitive shape dialog]


  • X- / Y- / Z-size: size along the world reference frame's x- / y- / z-axis.
  • X- / Y- / Z-Subdivisions: number of elements along the world reference frame's x- / y- / z-axis
  • Smooth shaded: whether the shape should appear smooth (Gouraud shading) or sharp.
  • Open ends: whether the cylinder has open ends.
  • Sides: number of sides of a cylinder, disc or sphere.
  • Face subdivisions: number of face subdivisions of a cylinder.
  • Disc subdivisions: number of disc subdivisions (disc or cylinder)
  • Dynamic and respondable: if selected, the generated shape will be dynamically enabled, i.e. dynamic and respondable. Those properties can be changed at a later time too.
  • Material density: the density of the material.

    • The subdivisions and faces properties cannot directly be seen and have not a direct effect. Following shows two similar shapes with different subdivision parameters:

    [Two cuboids with different subdivision parameters (as seen in the triangle edit mode)]


    Shapes with a higher subdivision count can reflect light in a more differentiated way, depending on the selected renderer. See the triangle edit mode and the Subdivide largest triangles option for more details.

    Colors and other visual attributes should be adjusted in the shape properties. The shape mesh can also be adjusted and edited in the shape edit modes, or in the geometry dialog.