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The V-HACD library decomposes a 3D surface into a set of “near” convex parts. Why do we need approximate convex decomposition? Collision detection is essential for realistic physical interactions in video games and computer animation. In order to ensure real-time interactivity with the player/user, video game and 3D modeling software developers usually approximate the 3D models composing the scene (e.g. animated characters, static objects…) by a set of simple convex shapes such as ellipsoids, capsules or convex-hulls. In practice, these simple shapes provide poor approximations for concave surfaces and generate false collision detection. Convex-hull vs. ACD A second approach consists in computing an exact convex decomposition of a surface S, which consists in partitioning it into a minimal set of convex sub-surfaces. Exact convex decomposition algorithms are NP-hard and non-practical since they produce a high number of clusters. To overcome these limitations, the exact convexity constraint is relaxed and an approximate convex decomposition of S is instead computed. Here, the goal is to determine a partition of the mesh triangles with a minimal number of clusters, while ensuring that each cluster has a concavity lower than a user defined threshold. The v-hacd-tools package contains command-line tools based on the V-HACD library. Currently, this means TestVHACD; despite the name, this tool has general utility beyond testing.
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