https://github.com/mxagar/voxel_point_collision_detection

Collision detection between voxelized and point-sampled objects following the Voxelmap Pointshell Algorithm by McNeely et al.
https://github.com/mxagar/voxel_point_collision_detection

3d collision-detection computational-geometry force-computation meshes physics robotics simulation

Last synced: about 2 months ago
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Collision detection between voxelized and point-sampled objects following the Voxelmap Pointshell Algorithm by McNeely et al.

• Host: GitHub
• URL: https://github.com/mxagar/voxel_point_collision_detection
• Owner: mxagar
• Created: 2024-04-25T19:11:13.000Z (10 months ago)
• Default Branch: main
• Last Pushed: 2024-05-03T08:59:33.000Z (9 months ago)
• Last Synced: 2024-11-05T20:22:36.313Z (3 months ago)
• Topics: 3d, collision-detection, computational-geometry, force-computation, meshes, physics, robotics, simulation
• Language: Jupyter Notebook
• Homepage:
• Size: 706 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Re-Implementation of the Voxelmap Pointshell Algorithm in Python

This repository contains a package which is able to detect collisions between voxelized and point-sampled objects following the Voxelmap Pointshell Algorithm (VPS) by McNeely et al.

:construction: *On-going work...*

:warning: *Pet project for fun, no guarantees...*

## Setup

In order to use the code, first, you need to set a Python environment and then install the dependencies.

A quick recipe to getting started by using [conda](https://conda.io/projects/conda/en/latest/index.html) is the following:

```bash

# Set proxy, if required

# Create environment, e.g., with conda, to control Python version

conda create -n vps python=3.10 pip

conda activate vps

# Install pip-tools

python -m pip install -U pip-tools

# Generate pinned requirements.txt

pip-compile requirements.in

# Install pinned requirements, as always

python -m pip install -r requirements.txt

# If required, add new dependencies to requirements.in and sync

# i.e., update environment

pip-compile requirements.in

pip-sync requirements.txt

# Optional (in the future): To install the package

python -m pip pip install .

# Optional: if you's like to export you final conda environment config

conda env export > environment.yml

# Optional: If required, to delete the conda environment

conda remove --name vps --all

```

## References

There are many works in the haptics literature which deal 

- McNeely

- Barbic

- Sagardia

## Interesting Links

- Popular 3D models: [common-3d-test-models](https://github.com/alecjacobson/common-3d-test-models)

- TriMesh source code with many useful 3D models: [trimesh](https://github.com/mikedh/trimesh)

## Authorship

Mikel Sagardia, 2024.  

No guarantees.