# US 12,002,154 B1 · Systems and methods for automatic and dynamic generation of shape-conforming and computationally efficient colliders for point clouds > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,002,154 B1 - Document ID: US12002154B1 - Status: Granted - Kind: B1 - Application number: 18/419,088 - Filed: 2024-01-22 - Granted: 2024-06-04 - Earliest claimed: 2024-01-22 - Assignees: Illuscio, Inc. - Applicants: Illuscio, Inc. - Inventors: Max Good; Dwayne Elahie - Web page: https://patentgrep.com/patent/US12002154B1 ## CPC - G06T 17/00: Three-dimensional [3D] modelling for computer graphics - G06T 19/00: Manipulating three-dimensional [3D] models or images for computer graphics - G06T 3/4023: based on decimating pixels or lines of pixels; based on inserting pixels or lines of pixels - G06T 2210/21: Collision detection, intersection - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A three-dimensional (3D) interactivity system automatically and dynamically generates shape-conforming and computationally efficient colliders for detecting collisions with automatically differentiated features represented by different sets of points in a point cloud. The system selects a set of points that represent a particular feature of a 3D object, decimates the set of points to a subset of points that represent an approximate shape of the particular feature with fewer points than the set of points, and generates a collider with the approximate shape represented by the subset of points. The system may then use the collider in determining whether a collision element collides with the particular feature. ## Claims ### Claim 1 A method comprising: selecting a set of points from a plurality of points that are distributed in a three-dimensional (3D) space, wherein the set of points represent a particular feature of a 3D object; decimating the set of points to a subset of points that represent an approximate shape of the particular feature with fewer points than the set of points; generating a collider with the approximate shape represented by the subset of points; and using the collider in determining whether a collision element collides with the particular feature. ### Claim 2 (depends on 1) The method of claim 1 further comprising: associating the collider to one or more points of the set of points; and moving the collider in combination with the set of points in response to associating the collider to the one or more points. ### Claim 3 (depends on 2) The method of claim 2, wherein associating the collider to the one or more points comprises: linking an edge or corner of the collider to a point from the set of points that represents the edge or corner on the particular feature. ### Claim 4 (depends on 1) The method of claim 1 further comprising: detecting a collision with the particular feature in response to the collision element having a position that contacts a position anywhere along the approximate shape of the collider; and performing a collision action associated with the collider in response to detecting the collision. ### Claim 5 (depends on 1) The method of claim 1, wherein the plurality of points collectively form the 3D object, and wherein the particular feature is an interactive component of the 3D object. ### Claim 6 (depends on 1) The method of claim 1 further comprising: differentiating the set of points from the plurality of points based on a detected commonality amongst the set of points that is not present in other points of the plurality of points. ### Claim 7 (depends on 1) The method of claim 1 further comprising: determining an amount by which the approximate shape of the collider is to match a shape of the particular feature; and wherein decimating the set of points comprises: selecting the subset of points to retain from the set of points based on the amount by which the approximate shape of the collider is to match the shape of the particular feature. ### Claim 8 (depends on 7) The method of claim 7, wherein determining the amount comprises: detecting one or more of a size or a position of the particular feature in a field-of-view; increasing the amount in response to detecting a first size or a first position of the particular feature; and decreasing the amount in response to detecting a second size or a second position of the particular feature that is smaller or more distant than the first size or the first position. ### Claim 9 (depends on 7) The method of claim 7, wherein determining the amount comprises: determining available resources for collision detection or rendering the plurality of points; increasing the amount in response to the available resources being greater than a threshold; and decreasing the amount in response to the available resources being less than the threshold. ### Claim 10 (depends on 1) The method of claim 1, wherein generating the collider comprises: defining one or more functions that generate one or more different shaped volumes that collectively form the approximate shape. ### Claim 11 (depends on 1) The method of claim 1 further comprising: determining that the approximate shape of the collider deviates from a shape of the particular feature by more than an acceptable amount; decimating the set of points to a second subset of points that includes more points than the subset of points and that preserve more of the shape of the particular feature than the subset of points; and replacing the collider with a second collider that is generated based on the second subset of points. ### Claim 12 (depends on 1) The method of claim 1 further comprising: determining that the particular feature has moved from a first position in a field-of-view to a second position in the field-of-view; determining a different level of specificity for detecting collisions with the particular feature at the second position than at the first position; generating a second collider based on a different decimation of the set of points; and using the second collider to detect collisions with the particular feature at the second position. ### Claim 13 (depends on 1) The method of claim 1, wherein decimating the set of points comprises: retaining points from the set of points corresponding to corners or edges of the particular feature; and discarding other points from the set of points forming an interior of the particular feature. ### Claim 14 (depends on 1) The method of claim 1, wherein decimating the set of points comprises: retaining points from the set of points that form an exterior of the particular feature; and discarding points from the set of points that form an interior of the particular feature. ### Claim 15 (depends on 1) The method of claim 1, wherein the collision element corresponds to user input that is issued in an interactive environment in which the particular feature is presented or a moving object within the interactive environment. ### Claim 16 A three-dimensional (3D) interactivity system comprising: one or more hardware processors configured to: select a set of points from a plurality of points that are distributed in a three-dimensional (3D) space, wherein the set of points represent a particular feature of a 3D object; decimate the set of points to a subset of points that represent an approximate shape of the particular feature with fewer points than the set of points; generate a collider with the approximate shape represented by the subset of points; and use the collider in determining whether a collision element collides with the particular feature. ### Claim 17 (depends on 16) The 3D interactivity system of claim 16, wherein the one or more hardware processors are further configured to: associate the collider to one or more points of the set of points; and move the collider in combination with the set of points in response to associating the collider to the one or more points. ### Claim 18 (depends on 17) The 3D interactivity system of claim 17, wherein associating the collider to the one or more points comprises: linking an edge or corner of the collider to a point from the set of points that represents the edge or corner on the particular feature. ### Claim 19 (depends on 16) The 3D interactivity system of claim 16, wherein the one or more hardware processors are further configured to: detect a collision with the particular feature in response to the collision element having a position that contacts a position anywhere along the approximate shape of the collider; and perform a collision action associated with the collider in response to detecting the collision. ### Claim 20 A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a three-dimensional (3D) interactivity system, cause the 3D interactivity system to perform operations comprising: selecting a set of points from a plurality of points that are distributed in a three-dimensional (3D) space, wherein the set of points represent a particular feature of a 3D object; decimating the set of points to a subset of points that represent an approximate shape of the particular feature with fewer points than the set of points; generating a collider with the approximate shape represented by the subset of points; and using the collider in determining whether a collision element collides with the particular feature.