Convex Hull algorithm in Unity

Convex hull algorithm in Unity - 1. 2D problem

• Convex hull algorithm
• To visualize offset area of freely moving vehicle over time, I developed 2D convex hull algorithm in Unity3D environment.

Moving Vehicle, expressed as connected cubes

• There's nice library for convex hull algorithm, but is not possible to use it in Unity3D, since the library was implemented based on .NET 4.
• So, I implemented Graham's scan by myself, by firstly implement the algorithm in MATLAB and converting it into C#.

• Result in MATLAB
• Circles : trajectory of vertices of vehicle offset 
• Lines : calculated convex hull

• Result in Unity3D
• Store vertices data 30 times per second
• Maintain up to 2 seconds data from current frame
• From those vertices, calculate convex hull in every frame and generate 3D shape by extruding result.
• For better visualization, add outlines for edges

• Next?
• 2D offset --> 3D offset