Elementary questions for decomposing nonconvex shape models in V-HACD

[miyukin73]

Hello,

I would like to use Mujoco to simulate pouring a cup with a sphere inside it using a file of my own cup.

Cup0927.zip

However, I learned that since the cup is a non-convex model, the sphere will not fit inside the cup as it is due to a wrong collision determination as shown in the image below, and I have to discompose the cup into convex models.

So I saw this V-HACD here, but is it possible to deal with the above problem?
Also, I am very sorry to trouble you, but I am a beginner and do not know how to use it well, so I would very much appreciate it if you could tell me how to write a program to solve this problem.

Thank you in advance!

[jratcliff63367]

I just ran V-HACD on your cup model and it produces reasonable results. Realize it won't be perfectly smooth since V-HACD is inherently an approximation. That said, it should likely be sufficient for your needs.

[miyukin73]

Hello, @jratcliff63367

Thank you very much for taking the time to check my model.

May I ask what kind of program you wrote to run V-HACD?

I would appreciate it if you could tell us as I could not understand it well even after reading the README and other documents.

Also, I got the impression from the attached photo that the image is very finely divided, but I wonder if it could be smoothed out a bit if it were set coarser...?

I would appreciate it if you could also tell me how to set the settings.

Thank you very much for your time.

[jratcliff63367]

V-HACD is a library that needs to be integrated into your toolchain. It is integrated into NVIDIA Omniverse and Unreal Engine. Whatever simulation tool you are using would need an engineer to integrate V-HACD into it.