Adds new function in MeshManager for performing convex decomposition #583
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
This was referenced Mar 13, 2024
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
ahcorde
requested changes
Mar 13, 2024
| std::size_t _maxConvexHulls, | ||
| std::size_t _voxelResolution) | ||
| { | ||
| std::vector<SubMesh> decomposed; |
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addressed in #585 that targets main
| points[idx + 2] = _subMesh->Vertex(i).Z(); | ||
| } | ||
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| uint32_t *indices = new uint32_t[indexCount]; |
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addressed in #585 that targets main
9 tasks
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replaced by #585 - > |
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🎉 New feature
Summary
Adds function for doing convex decomposition using the header only library V-HACD.
The new function take a submesh and returns a vector of decomposed submeshes. Currently a couple of parameters are exposed:
_maxConvexHulls: max number of convex hulls to produce_voxelResolution: resolution of voxels to use when decomposing the submeshThese default values for these parameters are lower than the default values provided in V-HACD for a faster convex decomposition process as the process with original values could take quite some time for complex meshes.
Checklist
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Signed-off-bymessages.