search

flexible-collision-library / fcl

Flexible Collision Library
https://flexible-collision-library.github.io/
Other
1.39k stars 417 forks source link

Combining multiple shape bases into a convex shape #608

Open biiigwang opened 1 year ago

biiigwang commented 1 year ago

I'm using fcl for collision detection in my project. I need to create a convex shape out of multiple basic shape bases like cylinders. However, I couldn't find an API in fcl to combine multiple shape bases (e.g. several cylinders) into a single convex shape.

I looked at the documentation and examples but couldn't find if this is supported. I'd appreciate any pointers to relevant parts of the API if I missed this capability. If it's not possible currently, any thoughts on the best way to implement it?

Let me know if you need any more details! Thank you for building this great collision library.

zzy5510 commented 11 months ago

I don't think fcl can do it. Maybe you can try to extract points of your basic shape, and use qhull to generate a convex hull. https://github.com/qhull/qhull