Distance between convex meshes with GJKΒΆ

plot convex mesh
14.195639547121653
13.991544131028043
12.855955583218364
3.8143504470467042
7.664731240481476
24.856858212077057
23.78617295861766
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0.8394657392363908
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12.302137936978937
7.836246976889785
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16.08586159697175
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25.1280839435824
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18.823948212664618
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0.0
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10.65203489967643
0.0
14.150325904094485
19.235010128465394
20.417332804055043
3.057296673261229
4.868279023132995
10.827677026370406
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18.952223838750946
19.110794260708417
8.81939174168651
8.497600713827188
0.12351674735669227
17.941453932737435
8.943834051380614
4.938403010633628
24.547751982326435
16.7017076738082
11.947819310099591
15.131832330156156
6.735681413718315
6.8274304385771405
20.073621772449922
14.70427119054286
14.079430045472916
12.015457930574804
9.235813797996768
13.549472328243718
10.813572063088488
18.14279455949927
19.87844286340226
10.58043606284269
16.313142956680863
15.021763915720534
12.281480271768224
7.862363316525681
28.243687251839436
10.70318673149621
9.611797815144838
3.051642945793883
16.490410023976416
17.061712514527876
13.319666566187832
17.685352142319886
11.799488144748072
5.685341698368604
4.444767378615254
4.920375369244446
5.648804140746626
0.0
14.945079104015836
16.894076946177528
15.606919224599089
18.067985931200855
10.232870101965164
8.888223142732938
6.685732908408101
19.617396083927105
20.998461374751866
13.007109544080727
accumulated_time=0.24848675727844238

print(__doc__)
import time
import numpy as np
import matplotlib.pyplot as plt
import pytransform3d.transformations as pt
import pytransform3d.plot_utils as ppu
from distance3d import random, plotting, gjk, colliders


random_state = np.random.RandomState(0)
mesh2origin, vertices, triangles = random.randn_convex(random_state, center_scale=0.0)
points = pt.transform(mesh2origin, pt.vectors_to_points(vertices))[:, :3]

ax = ppu.make_3d_axis(ax_s=12)

accumulated_time = 0.0
for i in range(4000):
    mesh2origin2, vertices2, triangles2 = random.randn_convex(random_state, center_scale=10.0)
    points2 = pt.transform(mesh2origin2, pt.vectors_to_points(vertices2))[:, :3]
    start = time.time()
    dist, p1, p2, _ = gjk.gjk(colliders.ConvexHullVertices(points), colliders.ConvexHullVertices(points2))
    end = time.time()
    accumulated_time += end - start
    print(dist)
    if i > 20:
        continue
    plotting.plot_segment(ax, p1, p2, c="k", lw=1)
    plotting.plot_convex(ax, mesh2origin2, vertices2, triangles2)
print(f"{accumulated_time=}")

plotting.plot_convex(ax, mesh2origin, vertices, triangles)
plt.show()

Total running time of the script: ( 0 minutes 2.934 seconds)

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