from pathlib import Path
import numpy as np,trimesh,coacd,json
ROOT=Path(__file__).resolve().parents[1];out=ROOT/'output/foundationpose_spider_20260915/collision';out.mkdir(exist_ok=True)
coacd.set_log_level('warn');report={}
for name,file in [('upper','上半.stl'),('lower','下半.stl')]:
 m=trimesh.load(ROOT/'docs'/file)
 if name=='upper':m=trimesh.load(ROOT/'output/depth_ablation_red_20260916/red_box_closed.ply',process=False)
 print(name,'watertight',m.is_watertight,flush=True)
 parts=coacd.run_coacd(coacd.Mesh(m.vertices,m.faces),threshold=.03,max_convex_hull=20,preprocess_mode='auto',preprocess_resolution=60,resolution=1500,mcts_nodes=10,mcts_iterations=60,mcts_max_depth=3,merge=True,seed=0)
 for i,(v,f) in enumerate(parts):trimesh.Trimesh(v,f,process=False).export(out/f'{name}_{i:03d}.obj')
 report[name]={'parts':len(parts),'mesh_volume_m3':m.volume,'hull_volume_sum_m3':sum(trimesh.Trimesh(v,f,process=False).volume for v,f in parts),'approximation':'CoACD convex decomposition, threshold .03; not exact CAD collision'}
 print(name,report[name],flush=True)
(out/'manifest.json').write_text(json.dumps(report,indent=2))