在原有的swift基础上，实现凸分解，计算非凸物体是否相交的碰撞检测程序。-SWIFT++ operates by first computing a surface decomposition of the input models. The pieces are then grouped hierarchically using convex hulls. A pair of bounding volume hierarchies (BVHs) are tested using an imp

区域增长，选择种子点，提取边界，找出边界，得到最小外接多边形-Regional growth, selecting seeds to extract the boundary to identify the boundary to give the minimum bounding polygon