US 12,293,463 B2
Approximate hierarchical convex decomposition
Khaled Mammou, Danville, CA (US); Adrian A Biagioli, Sunnyvale, CA (US); and Deepak S Tolani, Sunnyvale, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Apr. 28, 2022, as Appl. No. 17/661,193.
Prior Publication US 2023/0351697 A1, Nov. 2, 2023
Int. Cl. G06T 17/20 (2006.01); G06T 7/64 (2017.01); G06T 19/00 (2011.01)
CPC G06T 17/205 (2013.01) [G06T 7/64 (2017.01); G06T 19/00 (2013.01); G06T 2207/20021 (2013.01); G06T 2210/21 (2013.01); G06T 2219/008 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method, performed by a computing system, of decomposing a three-dimensional representation of an object into a plurality of convex hulls, the method comprising:
instantiating a cluster priority queue in a memory of the computing system, wherein the cluster priority queue initially contains a cluster corresponding to the three-dimensional representation of the object;
computing with a processor of the computing system a concavity measure for each cluster in the cluster priority queue;
for the cluster with the highest concavity measure:
computing with the processor a cut plane that divides the cluster corresponding to the three-dimensional representation of the object into two new clusters, each of the two new clusters having a corresponding convex hull, wherein computing the cut plane includes performing a hierarchical search of potential cut planes;
removing the cluster corresponding to the three-dimensional representation of the object from the cluster priority queue; and
adding the two new clusters to the cluster priority queue;
computing a collision interaction between the object and another object based on the two new clusters; and
displaying the collision interaction.