My implementation of Incremental Convex Hull algorithm and Separating Axis Theomrem for 3D objects.
Script: convex_hull.py
Usage:
usage: convex_hull.py [-h] [--file FILE] [--save_path SAVE_PATH] [--perf_test] [--num_pts NUM_PTS] [--num_trials NUM_TRIALS] [--vis]
Compute the convex hull of a 3D object.
optional arguments:
-h, --help show this help message and exit
--file FILE The target model file.
--save_path SAVE_PATH
The saving path of the result. (not supported in perf-
test mode)
--perf_test Enable perf-test mode
--num_pts NUM_PTS The number of generated points (perf-test mode only).
--num_trials NUM_TRIALS
The number of trials (perf-test mode only).
--vis Whether visualize the result? (only visualize the last
trial in perf-test mode)
Example
python convex_hull.py --file data/bunny_sim32.ply --vis
Script: vis_collision.py
Usage:
usage: vis_collision.py [-h] -m1 M1 -ch1 CH1 -m2 M2 -ch2 CH2
Visualize collision detection between convex hulls.
optional arguments:
-h, --help show this help message and exit
-m1 M1 The first mesh file.
-ch1 CH1 The convex hull file of the first mesh.
-m2 M2 The second mesh file.
-ch2 CH2 The convex hull file of the second mesh.
Note: it is recommended to input normalized models. (See: tools/normalize_mesh.py).
Example:
python vis_collision.py -m1 data/stanford_dragon_sim32_n.obj -ch1 out/stanford_dragon_convhull_n.obj -m2 data/bunny_sim32_n.ply -ch2 out/bunny_convhull_n.obj
Script: tools/normalize_mesh.py
Usage:
usage: normalize_mesh.py [-h] --file FILE
Normalize the input mesh's bounding box to [-1, 1] x [-1, 1] x [-1, 1].
optional arguments:
-h, --help show this help message and exit
--file FILE The target model file.
Note: this tool is useful for visualizing SAT collision detection when one model is far more enormous than another model. The output file will be placed in the same directory of the input file, and has the same filename but with '_n' suffix, e.g., the output file for 'out/bunny.ply' is 'out/bunny_n.ply'.