.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "_auto_examples/gjk/plot_convex_mesh.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_convex_mesh.py: ======================================= Distance between convex meshes with GJK ======================================= .. GENERATED FROM PYTHON SOURCE LINES 6-38 .. image-sg:: /_auto_examples/gjk/images/sphx_glr_plot_convex_mesh_001.png :alt: plot convex mesh :srcset: /_auto_examples/gjk/images/sphx_glr_plot_convex_mesh_001.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-script-out .. code-block:: none 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 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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 | .. code-block:: default 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() .. rst-class:: sphx-glr-timing **Total running time of the script:** ( 0 minutes 2.934 seconds) .. _sphx_glr_download__auto_examples_gjk_plot_convex_mesh.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_convex_mesh.py ` .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: plot_convex_mesh.ipynb ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_