[avidiax]

Much too hard to find the original paper: https://dl.acm.org/doi/epdf/10.1145/3592126

One question I have, is when we say "interlocking-free", does this mean that the algorithm can still densely stack cups (with a draft angle), or is it instead guaranteeing that the convex hull of shapes are non-interfering?

[matroid]

Thanks. I'll link it in the first line in the README. I think the interlocking-free part can pack cups like you suggest. They propose a flood fill algorithm which computes all the reachable places for the voxelized shape. It doesn't put assumptions on convexity. I think it would be a great example to try it out on though.