Note
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Distance between boxes with GJKΒΆ
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accumulated_time=0.1773834228515625
print(__doc__)
import time
import numpy as np
import matplotlib.pyplot as plt
import pytransform3d.plot_utils as ppu
from distance3d import gjk, random, geometry, plotting, colliders
random_state = np.random.RandomState(0)
box2origin, size = random.rand_box(random_state, 0.1, 3)
vertices = geometry.convert_box_to_vertices(box2origin, size)
box_collider = colliders.Box(box2origin, size)
ax = ppu.make_3d_axis(ax_s=3)
accumulated_time = 0.0
for i in range(3000):
box2origin2, size2 = random.rand_box(random_state, 2, 1)
box_collider2 = colliders.Box(box2origin2, size2)
start = time.time()
dist, closest_point_box, closest_point_box2, _ = gjk.gjk(
box_collider, box_collider2)
end = time.time()
accumulated_time += end - start
print(dist)
if i > 10:
continue
plotting.plot_segment(
ax, closest_point_box, closest_point_box2, c="k", lw=1)
ppu.plot_box(ax=ax, A2B=box2origin2, size=size2, wireframe=False, alpha=0.2)
print(f"{accumulated_time=}")
ppu.plot_box(
ax=ax, A2B=box2origin, size=size, wireframe=False, alpha=0.5,
color="yellow")
plt.show()
Total running time of the script: ( 0 minutes 1.153 seconds)