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humanoid-path-planner / hpp-fcl

An extension of the Flexible Collision Library
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Does this new fcl lib support taking convex object as the leaf node for building BVH model? #448

Open zfl202 opened 1 year ago

zfl202 commented 1 year ago

I see the leaf node type is triangle for building the BVH model in the old FCL lib (Another one is point, and I've never used). The reason might be that you must take the leaf as a convex shape when you use the GJK algorithm, but if I use the convex decomposition algorithm like VHACD for a concave object, it will give me several convex objects. If I use convex as the leaf node for the BVH, I think the traversal process will be faster than the triangle case. Did this new lib support this case?

jcarpent commented 1 year ago

Dear @zfl202,

That is a very good question. Currently, the leaves of BVH Model are triangle shapes and the bounding volumes can be of different types. We plan, in the very near with @lmontaut, to support VHACD within HPP-FCL for easy integration, as suggested in #428. To do so, we plan to add the notion of Compound Geometry, as a collection of several geometries, like the one obtained from the convex decomposition of a nonconvex geometry.

Is it okay for you? Best, Justin

PS: maybe, you can help us in this line of work?

lmontaut commented 1 year ago

Hi @zfl202, As explained by @jcarpent, this is a feature we really want to add to hpp-fcl. VHACD has even been rewritten to be faster and more robust, and is also a one-file header-only library now. I intend to integrate that in hpp-fcl in the near future, if you want to help don't hesitate to let us know.

mushroom-x commented 1 year ago

Really looking forward to the addition of this feature.

jcarpent commented 11 months ago

@lmontaut Any news on this issue?