Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search [SIGGRAPH2022]
[News] CoACD (both Python and C++) is supported on Linux (x86_64), Windows (amd64) and MacOS (x86_64 & apple sillicon) now!
[News] CoACD is now supported in Unity as a package!
[News] CoACD adds "auto" pre-processing mode, which produces better results for manifold meshes!
Approximate convex decomposition enables efficient geometry processing algorithms specifically designed for convex shapes (e.g., collision detection). We propose a method that is better to preserve collision conditions of the input shape with fewer components. It thus supports delicate and efficient object interaction in downstream applications.
pip install coacd
import coacd
mesh = trimesh.load(input_file, force="mesh")
mesh = coacd.Mesh(mesh.vertices, mesh.faces)
parts = coacd.run_coacd(mesh) # a list of convex hulls.
The complete example script is in python/package/bin/coacd, run it by the following command:
cd python
python package/bin/coacd -i $InputFile -o $OutputFile
Supporting Unity 2020.1 or later.
See the example project in unity branch.
movie_003_1.mp4
- Open the Package Manager from
Window->Package Manager. - Find and click the + button in the upper lefthand corner of the window. Select
Add package from git URL. - Enter the following URL:
https://github.com/SarahWeiii/CoACD.git?path=/Packages/info.flandre.coacd#unity
- Click
Add.
- Add a
CoACDcomponent to your object. You can tweak the parameters in the editor.
- Right click the component header lane. Then select
Generate Collision MeshesorGenerate Collision Meshes for Hierarchyto generate collision for the current object or all children of the current object that contains aMeshFilter, respectively.
- Unity mesh colliders will be created in the scene under
Collisionas a child of each object.
- Alternatively, you can call the runtime API as a method of the
CoACDcomponent:
public List<Mesh> RunACD(Mesh mesh);git clone --recurse-submodules https://github.com/SarahWeiii/CoACD.git
Install dependencies: git and cmake >= 3.24.
Recommended compilers: Linux g++ >= 9, < 12; clang on MacOS 10.14 or higher; MSVC 2019/2022 on Windows.
First create the build directory:
cd CoACD \
&& mkdir build \
&& cd build \
Then run cmake. On Linux and MacOS:
cmake .. -DCMAKE_BUILD_TYPE=Release \
&& make main -j
On Windows (MSVC):
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded -DOPENVDB_CORE_SHARED=OFF -DTBB_TEST=OFF -DCMAKE_CXX_FLAGS="/MT /EHsc"
cmake --build . --target main --config Release
We provide a set of default parameters, and you only need to specify the input and output path. You can take an arbitrary mesh as input (in .obj format, no need to be a manifold) and run the algorithm by the following command:
./main -i PATH_OF_YOUR_MESH -o PATH_OF_OUTPUT
The generated convex components (in both .obj and .wrl formats) will be saved in PATH_OF_OUTPUT.
We provide some example meshes and a run_example.sh, and the results will be saved in the outputs folder.
bash run_example.sh
- You can adjust the threshold by
-tto see results with different quality. - Three of the examples are from PartNet-M (Bottle.obj, Kettle.obj, KitchenPot.obj), which are non-manifold. Two of them are from Thingi10K (Octocat-v2.obj, SnowFlake.obj), which are both 2-manifold.
Here is the description of the parameters (sorted by importance).
-
-i/--input: path for input mesh (.obj). -
-o/--output: path for output (.objor.wrl). -
-ro/--remesh-output: path for preprocessed mesh output (.obj). -
-pr/--prep-resolution: resolution for manifold preprocess (20~100), default = 50. -
-t/--threshold: concavity threshold for terminating the decomposition (0.01~1), default = 0.05. -
-pm/--preprocess-mode: choose manifold preprocessing mode ('auto': automatically check input mesh manifoldness; 'on': force turn on the pre-processing; 'off': force turn off the pre-processing), default = 'auto'. -
-nm/--no-merge: flag to disable merge postprocessing, default = false. -
-c/--max-convex-hull: max # convex hulls in the result, -1 for no maximum limitation, works only when merge is enabled, default = -1 (may introduce convex hull with a concavity larger than the threshold) -
-mi/--mcts-iteration: number of search iterations in MCTS (60~2000), default = 100. -
-md/--mcts-depth: max search depth in MCTS (2~7), default = 3. -
-mn/--mcts-node: max number of child nodes in MCTS (10~40), default = 20. -
-r/--resolution: sampling resolution for Hausdorff distance calculation (1e3~1e4), default = 2000. -
--pca: flag to enable PCA pre-processing, default = false. -
-k: value of$k$ for R_v calculation, default = 0.3. -
--seed: random seed used for sampling, default = random().
An example of changing the parameters:
./main -i PATH_OF_YOUR_MESH -o PATH_OF_OUTPUT -t 0.05 -mi 200 -md 4 -mn 25
Parameter tuning tricks:
- In most cases, you only need to adjust the
threshold(0.01~1) to balance the level of detail and the number of decomposed components. A higher value gives coarser results, and a lower value gives finer-grained results. You can refer to Fig. 14 in our paper for more details. - If your input mesh is not manifold, you should also adjust the
prep-resolution(20~100) to control the detail level of the pre-processed mesh. A larger value can make the preprocessed mesh closer to the original mesh but also lead to more triangles and longer runtime. - The default parameters are fast versions. If you care less about running time but more about the number of components, try to increase
searching depth (-md),searching node (-mn)andsearching iteration (-mi)for better cutting strategies. - Make sure your input mesh is 2-manifold solid if you want to use the
-npflag. Skipping manifold pre-processing can better preserve input details, but please don't specify the-npflag if your input mesh is non-manifold (the algorithm may crush or generate wrong results). --seedis used for reproduction of the same results as our algorithm is stochastic.
If you find our code helpful, please cite our paper:
@article{wei2022coacd,
title={Approximate convex decomposition for 3d meshes with collision-aware concavity and tree search},
author={Wei, Xinyue and Liu, Minghua and Ling, Zhan and Su, Hao},
journal={ACM Transactions on Graphics (TOG)},
volume={41},
number={4},
pages={1--18},
year={2022},
publisher={ACM New York, NY, USA}
}
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