In one embodiment of the present invention, a foldable beam generator produces a foldable beam polyline that approximates a three-dimensional (3D) space curve. The foldable beam generator optimizes the number and position of joints included in the foldable beam polyline to minimize differences between the foldable beam polyline and the 3D space curve while complying with one or more manufacturing constraints. Notably, the foldable beam generator designs each of the joints to act as a living hinge that closes to a fixed angle when heated and solidifies when cooled. By using the foldable beam polyline as a 3D digital model for manufacturing and subsequently applying heat to assemble the manufactured 3D object, defects and/or limitations of complex 3D objects typically associated with traditional manufacturing techniques may be reduced. In particular, support structures designed to buttress three-dimensional (3D) digital models during 3D printing may be minimized.