Efi Fogel
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mink3d

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player		 mink3d is an interactive program with extensive 3D graphics that simulates and demonstrates 3D collition detection. The program opens a window divided into four quadrants. The bottom left is the work space. It contains two polytopes; a robot and an obstacle. You can select the robot or the obstacle by moving the cursor and placing it above the robot or the obstacle respectively. Once a polytope is selected, it can translated by clicking the right and left mouse buttons simultaneously and moving the cursor while the buttons are pressed, or it can be rotated by clicking the left mouse and moving the cursor horizontaly while the button is pressed. The bootom right quadrant is the auxiliary space it shows the reflected robot and the obstacle. The top left quadrant is the configuration space. It shows the origin and the Minkowski sum of the reflected robot and the obstacle. The top right quadrant shows the folded unit-cube of the cubical Gaussian map. The blue segments originate from the robot and the red segments originate from the obstacle.

Type the command below to run the program. 
mink3d [options] <model>
The command line options are: 

  -h                print this help message
  -d <directory>    add <directory> to search list
  -v <level>        set verbose level
  -m                toggle the Minkowski operands between the robot
                    and the reflected robot. Default is reflected robot.

<model> is the name of a file in VRML format that must contain two Shape nodes that represent the robot and the obstacle. The Geometry node of the Shape node that represents the robot must be named "robot", and similarly the Geometry node of the Shape node that represents the obstacle must be named "obstacle", see list of input files. Naturally, all these input files are valid inputs for the player as well.

The input files available for download contain ROUTE statements that enable the toggling of the boolean state of the fields of the robot, the obstacle, and their Minkowski sum CubicalGaussianMap nodes. The table below describes the mapping between the keys and the fields they control used as a convention in all input files.
KeyField
ddualDraw of the robot
edualDraw of the obstacle
cdualDraw of the Minkowski sum
Once the program is running and in focus, in addition to the keys above, you can press the the key "1" to enlarge the quadrant that contains the cursor so that it consume the entire window, and becomes the single viewport. If the window consists of a single viewport, you can split it back into four quadrants by pressing the key "4".

List of input files:

cgm_cube_cube2.wrl
cgm_cube_cube.wrl
cgm_dihex_dipyr_dihex_dipyr2.wrl
cgm_dihex_dipyr_dihex_dipyr.wrl
cgm_dioct_dipyr_dioct_dipyr2.wrl
cgm_dioct_dipyr_dioct_dipyr.wrl
cgm_dioct_pyr_dioct_pyr2.wrl
cgm_geo_sphere4_rot_geo_sphere4.wrl
cgm_icos_cube.wrl
cgm_icos_cuboctahedron.wrl
cgm_icos_icos.wrl
cgm_oct_dipyr_oct_dipyr.wrl
cgm_oct_pyr_oct_pyr2.wrl
cgm_pent_hexecontahedron_truncated_icosidodecahedron.wrl
cgm_sqr_pyr_oct_sqr2.wrl
cgm_tet2_tet2.wrl
cgm_tet_cube.wrl
cgm_tet_icos0.wrl
cgm_tet_rhombicuboctahedron.wrl
cgm_tet_tet.wrl
cgm_tet_truncated_icosidodecahedron.wrl
Last modified: December 30 2004.
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