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Runtime/LICENSE.MD

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+BSD 3-Clause License
+
+Copyright (c) 2011, Khaled Mamou (kmamou at gmail dot com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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Runtime/VHACD.cs

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+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+namespace MeshProcess
+{
+    public class VHACD : MonoBehaviour
+    {
+        [System.Serializable]
+        public unsafe struct Parameters
+        {
+            public void Init()
+            {
+                m_resolution = 100000;
+                m_concavity = 0.001;
+                m_planeDownsampling = 4;
+                m_convexhullDownsampling = 4;
+                m_alpha = 0.05;
+                m_beta = 0.05;
+                m_pca = 0;
+                m_mode = 0; // 0: voxel-based (recommended), 1: tetrahedron-based
+                m_maxNumVerticesPerCH = 64;
+                m_minVolumePerCH = 0.0001;
+                m_callback = null;
+                m_logger = null;
+                m_convexhullApproximation = 1;
+                m_oclAcceleration = 0;
+                m_maxConvexHulls = 1024;
+                m_projectHullVertices = true; // This will project the output convex hull vertices onto the original source mesh to increase the floating point accuracy of the results
+            }
+
+            [Tooltip("maximum concavity")]
+            [Range(0, 1)]
+            public double m_concavity;
+
+            [Tooltip("controls the bias toward clipping along symmetry planes")]
+            [Range(0, 1)]
+            public double m_alpha;
+
+            [Tooltip("controls the bias toward clipping along revolution axes")]
+            [Range(0, 1)]
+            public double m_beta;
+
+            [Tooltip("controls the adaptive sampling of the generated convex-hulls")]
+            [Range(0, 0.01f)]
+            public double m_minVolumePerCH;
+
+            public void* m_callback;
+            public void* m_logger;
+
+            [Tooltip("maximum number of voxels generated during the voxelization stage")]
+            [Range(10000, 64000000)]
+            public uint m_resolution;
+
+            [Tooltip("controls the maximum number of triangles per convex-hull")]
+            [Range(4, 1024)]
+            public uint m_maxNumVerticesPerCH;
+
+            [Tooltip("controls the granularity of the search for the \"best\" clipping plane")]
+            [Range(1, 16)]
+            public uint m_planeDownsampling;
+
+            [Tooltip("controls the precision of the convex-hull generation process during the clipping plane selection stage")]
+            [Range(1, 16)]
+            public uint m_convexhullDownsampling;
+
+            [Tooltip("enable/disable normalizing the mesh before applying the convex decomposition")]
+            [Range(0, 1)]
+            public uint m_pca;
+
+            [Tooltip("0: voxel-based (recommended), 1: tetrahedron-based")]
+            [Range(0, 1)]
+            public uint m_mode;
+
+            [Range(0, 1)]
+            public uint m_convexhullApproximation;
+
+            [Range(0, 1)]
+            public uint m_oclAcceleration;
+
+            public uint m_maxConvexHulls;
+
+            [Tooltip("This will project the output convex hull vertices onto the original source mesh to increase the floating point accuracy of the results")]
+            public bool m_projectHullVertices;
+        };
+
+        unsafe struct ConvexHull
+        {
+            public double* m_points;
+            public uint* m_triangles;
+            public uint m_nPoints;
+            public uint m_nTriangles;
+            public double m_volume;
+            public fixed double m_center[3];
+        };
+
+        [DllImport("libvhacd")] static extern unsafe void* CreateVHACD();
+
+        [DllImport("libvhacd")] static extern unsafe void DestroyVHACD(void* pVHACD);
+
+        [DllImport("libvhacd")]
+        static extern unsafe bool ComputeFloat(
+            void* pVHACD,
+            float* points,
+            uint countPoints,
+            uint* triangles,
+            uint countTriangles,
+            Parameters* parameters);
+
+        [DllImport("libvhacd")]
+        static extern unsafe bool ComputeDouble(
+            void* pVHACD,
+            double* points,
+            uint countPoints,
+            uint* triangles,
+            uint countTriangles,
+            Parameters* parameters);
+
+        [DllImport("libvhacd")] static extern unsafe uint GetNConvexHulls(void* pVHACD);
+
+        [DllImport("libvhacd")]
+        static extern unsafe void GetConvexHull(
+            void* pVHACD,
+            uint index,
+            ConvexHull* ch);
+
+        public Parameters m_parameters;
+
+        public VHACD() { m_parameters.Init(); }
+
+        [ContextMenu("Generate Convex Meshes")]
+        public unsafe List<Mesh> GenerateConvexMeshes(Mesh mesh = null)
+        {
+            if (mesh == null)
+            {
+                mesh = GetComponent<MeshFilter>().sharedMesh;
+            }
+            var vhacd = CreateVHACD();
+            var parameters = m_parameters;
+
+            var verts = mesh.vertices;
+            var tris = mesh.triangles;
+            fixed (Vector3* pVerts = verts)
+            fixed (int* pTris = tris)
+            {
+                ComputeFloat(
+                    vhacd,
+                    (float*)pVerts, (uint)verts.Length,
+                    (uint*)pTris, (uint)tris.Length / 3,
+                    &parameters);
+            }
+
+            var numHulls = GetNConvexHulls(vhacd);
+            List<Mesh> convexMesh = new List<Mesh>((int)numHulls);
+            foreach (var index in Enumerable.Range(0, (int)numHulls))
+            {
+                ConvexHull hull;
+                GetConvexHull(vhacd, (uint)index, &hull);
+
+                var hullMesh = new Mesh();
+                var hullVerts = new Vector3[hull.m_nPoints];
+                fixed (Vector3* pHullVerts = hullVerts)
+                {
+                    var pComponents = hull.m_points;
+                    var pVerts = pHullVerts;
+
+                    for (var pointCount = hull.m_nPoints; pointCount != 0; --pointCount)
+                    {
+                        pVerts->x = (float)pComponents[0];
+                        pVerts->y = (float)pComponents[1];
+                        pVerts->z = (float)pComponents[2];
+
+                        pVerts += 1;
+                        pComponents += 3;
+                    }
+                }
+
+                hullMesh.SetVertices(hullVerts);
+
+                var indices = new int[hull.m_nTriangles * 3];
+                Marshal.Copy((System.IntPtr)hull.m_triangles, indices, 0, indices.Length);
+                hullMesh.SetTriangles(indices, 0);
+
+
+                convexMesh.Add(hullMesh);
+            }
+            return convexMesh;
+        }
+    }
+}

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Runtime/vhacd.asmdef

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+{
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+    "rootNamespace": "VHACD",
+    "references": [],
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+    ],
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package.json

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+{
+  "name": "com.unity.robotics.vhacd",
+  "version": "0.0.1-preview",
+  "displayName": "VHACD",
+  "description": "",
+  "unity": "2020.3",
+  "unityRelease": "19f1",
+  "_fingerprint": "d52fd80370d9257cb417999c6f5eab56604b3da9"
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