We give a concise definition of mitered offset surfaces for nonconvex polytopes in R 3 , along with a proof of existence and a discussion of basic properties. These results imply the existence of 3D straight skeletons for general nonconvex polytopes. The geometric, topological, and algorithmic features of such skeletons are investigated, including a classification of their constructing events in the generic case. Our results extend to the weighted setting, to a larger class of polytope decompositions, and to general dimensions. For (weighted) straight skeletons of an n-facet polytope in R d , an upper bound of O(n d ) on their combinatorial complexity is derived. It relies on a novel layer partition for straight skeletons, and improves the trivial bound by an order of magnitude for d ≥ 3.

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This video demonstrates the first complete implementation of an algorithm for constructing all possible straight skeletons of a general nonconvex polytope in three dimensions.