.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "_auto_examples/gjk/plot_box.py" .. LINE NUMBERS ARE GIVEN BELOW. .. only:: html .. note:: :class: sphx-glr-download-link-note Click :ref:`here ` to download the full example code .. rst-class:: sphx-glr-example-title .. _sphx_glr__auto_examples_gjk_plot_box.py: =============================== Distance between boxes with GJK =============================== .. GENERATED FROM PYTHON SOURCE LINES 6-42 .. image-sg:: /_auto_examples/gjk/images/sphx_glr_plot_box_001.png :alt: plot box :srcset: /_auto_examples/gjk/images/sphx_glr_plot_box_001.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-script-out .. code-block:: none 1.440293044348311 4.133342121469611 1.7358449683524244 1.480743975524776 1.5082332994922754 2.183810630237396 1.1376319785191227 2.4660441132297075 3.9789144879566134 2.634515177493687 3.329575385843997 3.2198786233424666 3.3607577264105952 2.296944156095268 2.854112893830668 0.90440752004155 2.1004344960846564 3.196540805385142 3.56545319039108 1.7028264754517612 0.4538690750343667 1.2524143457624317 1.2254270973417334 2.715851303326644 1.3290183493283076 1.3823971177242234 2.0131847654703052 4.634038884957284 2.3925183785403497 2.732495132512746 3.306626148938569 0.5665254241548643 2.9219851365747687 2.8126616024176325 1.5866966337136403 1.5207050842290548 1.9291160023672964 1.8851873726363813 1.774174796306462 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1.3171368567825603 3.7805646082246414 3.72154423644775 2.783478552525677 accumulated_time=0.1773834228515625 | .. code-block:: default 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() .. rst-class:: sphx-glr-timing **Total running time of the script:** ( 0 minutes 1.153 seconds) .. _sphx_glr_download__auto_examples_gjk_plot_box.py: .. only:: html .. container:: sphx-glr-footer sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_box.py ` .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: plot_box.ipynb ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_