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Approximate convex decomposition aims to decompose a 3D shape into a set ofalmost convex components, whose convex hulls can then be used to represent theinput shape. It thus enables efficient geometry processing algorithmsspecifically designed for convex shapes and has been widely used in gameengines, physics simulations, and animation. While prior works can capture theglobal structure of input shapes, they may fail to preserve fine-graineddetails (e.g., filling a toaster's slots), which are critical for retaining thefunctionality of objects in interactive environments. In this paper, we proposea novel method that addresses the limitations of existing approaches from threeperspectives: (a) We introduce a novel collision-aware concavity metric thatexamines the distance between a shape and its convex hull from both theboundary and the interior. The proposed concavity preserves collisionconditions and is more robust to detect various approximation errors. (b) Wedecompose shapes by directly cutting meshes with 3D planes. It ensuresgenerated convex hulls are intersection-free and avoids voxelization errors.(c) Instead of using a one-step greedy strategy, we propose employing amulti-step tree search to determine the cutting planes, which leads to aglobally better solution and avoids unnecessary cuttings. Through extensiveevaluation on a large-scale articulated object dataset, we show that our methodgenerates decompositions closer to the original shape with fewer components. Itthus supports delicate and efficient object interaction in downstreamapplications. We will release our implementation to facilitate future research.

Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search