Point-based Minkowski Sum Boundary

by Jyh-Ming Lien, George Mason University
jmlien@gmu.edu

Project webpage: http://turing.cs.gmu.edu/wiki/PointMsum
May 21 2007

This archive contains:
- README.txt
- pm+3d
- several 3d models in obj format

The program pm+3d allows you to generate a point-based
boundary representation of the Minkowski sum of two
polyhedra. This program also allows you to visualize
the results in 3D (you will need to install glut),
and save and load results generated by the program from
disk.

This program implements a parallelized version
of our method. If you have access to a multi-processor or a
multi-core computer, you can take advantage by using
the "-thread" option.

Usage: pm+3d.exe [options] P.obj Q.obj
options:

-dP value set sampling density (d-covering) for P
-dQ value set sampling density (d-covering) for Q
-d value set sampling density (d-covering) for both P and Q
-cd enable collision detection filtering (this is default)
-no-cd disable collision detection filtering
-oct enable octree filtering
-no-oct disable octree filtering (this is default)
-nor enable normal filtering (this is default)
-no-nor disable normal filtering
-no-filters disable all filters
-thread value specify the number of threads to be used (default is 1)
-output *.m+ specify an output filename. The points of the Minkowski sum
computation will be dumped into this file
-input *.m+ specify an input filename. No Minkowski sum will be performed
in this case.
-g disable openGL visualization
P Use the negative image of P instead of P
Q Use the negative image of Q instead of Q


Example 1: m+3d -g -d 0.1 ball.obj cube.obj
This command generates a point set with 0.1-covering using cd&normal filters without displaying it

Example 2: m+3d -thread 4 -d 0.1 -oct ball.obj cube.obj
This command generates a point set with 0.1-covering using 4 threads and all filters


Here is a list of keys to control the openGL visualization tool.

* press 'esc' to quit the tool
* press '+' to increase the point size
* press '-' to decrease the point size

-- Report bugs to: Jyh-Ming Lien jmlien@gmu.edu
Computer Science @ George Mason University