Distance between convex meshes with GJK

14.195639547121653
13.991544131028043
12.855955583218364
3.8143504470467042
7.664731240481476
24.856858212077057
23.78617295861766
9.011332590860462
0.8394657392363908
12.985665045924552
3.411141124170514
10.142632967981756
12.302137936978937
7.836246976889785
9.956607700718916
16.08586159697175
15.60052352302692
8.649402019891285
25.1280839435824
6.311765479283867
18.823948212664618
24.675848918378627
12.583893874881667
9.501796897715275
13.207436663803223
31.47255293025971
25.840266689382716
11.910963182379698
18.65635359736411
14.171259315169525
16.34855016712859
6.211710169867423
11.429219077885145
9.102144144263049
6.987132179589574
12.26467626216236
23.977902683561183
10.616122303378807
17.42595896048859
6.654760000556391
7.112252607725555
17.365642738408194
14.955741338122266
16.736505109118223
10.61385364535723
9.833526050867416
4.0959671348629225
3.104226589695142
7.914297201705321
6.9503163617147345
15.16919507438762
8.383064425760066
17.814133531167933
6.289205972319346
6.617576038940682
13.794775314874606
14.7176328540097
5.046391172754936
16.876589342895848
14.77906807863824
11.43135105678646
21.319816212237196
8.106666208536465
18.8763635025083
6.153316547031988
16.099369924465087
15.670778564928737
13.945660782696601
7.930229592972489
6.488530686320718
4.363265826100588
3.4148329948711997
19.345596407212128
17.795037564636793
15.470302585917056
2.3869878329586443
8.70855214434181
6.838859908283568
15.33838885959414
13.886937820854888
13.67022300078571
10.916905239165947
5.637394598076515
5.266601102115554
19.820000814874387
25.328097054503523
23.74607055458469
33.6132010487764
7.379636765847357
8.135405993520052
10.25559087868095
5.514370500381128
14.3079843072767
2.963860129757292
0.0
8.13919265370131
14.888511134222446
2.6972439429998207
10.568931427653206
19.73991758865974
11.06480805401656
3.4380548955854873
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10.533509932087298
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6.267148489726653
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21.265943038957822
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12.88998965722434
9.461712619809191
2.8335010129538243
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6.584941363574589
14.295740304654572
9.812837955673725
10.175849854066161
6.991309491754333
15.116688828802483
9.765056103611851
9.908881623540536
12.706124444020315
8.900862394049165
7.853850064343063
7.972128622382355
4.20420812431197
9.43556659189632
5.816095409509769
5.183998780485086
14.516761994120193
14.155537275479741
14.958582100491668
6.234919095403423
12.806541372052775
17.687153996093546
12.239414397545088
8.019863539629302
10.580814823315684
18.85937645868902
15.321201039422496
32.655187453696456
2.638658965997022
9.684307682826855
6.212024991151986
18.20064520322133
11.093809564239104
15.039052946793616
4.210271554310224
7.854727512954125
15.493333213919597
11.237975668682685
7.055218313701411
14.144164573736857
7.6137413200972865
15.779418477217366
34.72843743592739
4.461307574366428
23.223432833984972
12.42633572124683
4.520678427720151
5.19685166672916
0.963381639682429
14.401389923978195
13.757242292360285
2.4742315885762385
0.8626913709205667
11.16862188640237
18.219524820387683
10.480538569293259
15.253458241544603
10.335701908824806
8.373222760231982
13.94976743176004
16.431508476391567
13.265198622314388
9.615511832566577
11.22972896669532
17.786770364259034
6.364059195685597
4.841525581921662
4.896675489730522
30.912757727013048
4.870076110607632
13.75363087513079
14.688617472124156
26.108589793722448
12.903190523107346
9.073271664295449
3.1878211543949484
13.580373121626474
17.16042984671834
9.619464835257377
21.038988153782633
9.91331179378941
19.437178278545453
19.98834335812826
10.569251653090143
15.288710477061334
15.251351394181567
24.090214504919544
17.31401030605915
16.753369662716107
11.06013057052586
7.061361269756951
5.283358364529933
18.919474297803426
16.7173666757454
30.40575988668949
15.289183740164736
11.743730168862275
20.945625609082853
9.114356242546814
23.63579304829834
14.479594582392986
17.12075056489413
13.174523442196215
7.028948248490729
16.349885091386742
15.416483335226868
25.415143808103103
9.568222781644476
12.15730229638112
16.24816640236308
8.897515097172878
9.839316964317607
13.537132417752764
11.881699651521181
10.696122429931101
9.121823241433182
19.58408756096727
8.837081795640321
9.490227250652135
22.910927912103343
5.30330069925404
29.489814074100828
17.38175757506184
15.365085606974501
6.632274760256855
23.38059310639443
11.17460295686062
5.086767185160801
19.189852521140157
20.060450731982453
10.594930359451519
26.948998021569697
11.58626394902158
11.933422833212147
12.388630105365005
7.215281609143992
27.545169684305932
17.617408783211843
15.648288444319132
22.139898214694384
0.9953646528546674
12.30016982079163
2.190991012693246
9.793348037576141
12.169231976150234
11.046287830643116
11.902267160079864
24.72381980954645
23.61511457256025
22.172369353481397
2.062172996502451
8.955860233316173
12.807913313585926
8.995349406188494
14.040699653841532
19.418837747870203
11.250971836462785
19.690856633269316
13.970719174812057
17.814718143766594
16.996705417939587
12.018673633904957
8.935140062819679
11.082225124092174
16.711306437723135
12.771621673685905
10.733646124136076
9.034776670265911
4.944720761858996
4.890855166505273
10.65203489967643
0.0
14.150325904094485
19.235010128465394
20.417332804055043
3.057296673261229
4.868279023132995
10.827677026370406
8.609093094156703
15.77688204895918
18.132734113479973
12.581443370171266
13.816310189138978
29.68463455955549
7.727031305997638
32.28384350075367
12.263526257737485
12.493202451474916
16.208290448922114
15.920947380010219
7.2006294068463585
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8.091385934007924
6.806605802932804
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6.235298934916616
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10.784788540237628
9.251782375581334
5.07280981954347
24.852294735302387
1.942296184974814
6.9780054584826505
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16.60665405594204
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26.64743745337592
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24.308903706129595
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17.025649506705655
11.194957392280234
14.258976752896858
5.229119339005588
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11.674308142601808
3.522493024014671
19.32106725781653
11.931630943236051
5.74288854281818
10.19265256343701
5.461600100648317
8.426820674736328
1.8102163668805638
5.215210416798695
11.023769013514588
20.788610541360413
12.091437792400322
18.85801567383451
16.012217811076148
7.94710654811982
17.965505167595847
11.440390023382502
7.429504267047942
10.085169017239929
0.19695229879304563
15.946530880591649
17.882006185722563
4.238005048940183
6.165022116926993
6.411373955072228
20.91493489299114
12.40719945584786
12.572783689712848
5.377004301269409
22.77327001352674
6.322432648546264
6.604290619497054
7.069816799243493
12.940506733053521
29.02509557895465
6.401753355638338
17.904069376723196
14.845117182366026
13.702685885239173
19.936052313213818
14.116836790282514
12.507913276292303
21.91683413387979
16.57586794671038
10.46674474935723
12.109452363262722
14.5942295117067
6.393217687084429
12.1671923929518
15.083418868846445
7.672802950847863
8.738561132579775
21.752525338489477
16.882958893437188
10.786384013282516
6.955022866549067
17.18694592081332
7.008146736250336
14.277071504501432
18.784570236811874
8.905726786953363
15.190887233479893
3.4566113086158414
5.073083788704106
22.715400754738315
12.70571827693463
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18.009598194783152
11.574499688460662
23.049029705585056
11.210419502201443
10.117126549813698
18.509539989037254
15.104331317527489
2.3619679687739503
11.377533428180767
11.741220062078975
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0.0
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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()