.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/gjk/plot_ellipsoids.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download__auto_examples_gjk_plot_ellipsoids.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr__auto_examples_gjk_plot_ellipsoids.py:


====================================
Distance between ellipsoids with GJK
====================================

.. GENERATED FROM PYTHON SOURCE LINES 6-43



.. image-sg:: /_auto_examples/gjk/images/sphx_glr_plot_ellipsoids_001.png
   :alt: plot ellipsoids
   :srcset: /_auto_examples/gjk/images/sphx_glr_plot_ellipsoids_001.png
   :class: sphx-glr-single-img


.. rst-class:: sphx-glr-script-out

 .. code-block:: none


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    3.769594345351315
    1.7885999727926785
    1.0858399229966929
    1.9503658345758241
    3.851310223913691
    2.5775979542791956
    1.4435977648743417
    0.43694873616314694
    1.12855016786621
    1.1966215820742976
    0.8140986163377143
    0.32824392547465836
    1.6443772881466279
    2.0172433364421165
    2.5041141316469875
    3.340277900171072
    0.4397773546010074
    1.9428884721466526
    1.1652332737660906
    0.34328880217997343
    3.426120452019834
    0.9290610815688629
    1.0364247313468165
    2.2397924050735596
    accumulated_time=0.12277603149414062






|

.. 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, colliders
    from distance3d import random
    from distance3d import plotting


    random_state = np.random.RandomState(0)
    ellipsoid2origin, radii = random.rand_ellipsoid(random_state, min_radius=0.2)

    ax = ppu.make_3d_axis(ax_s=2)

    accumulated_time = 0.0
    for i in range(700):
        ellipsoid2origin2, radii2 = random.rand_ellipsoid(random_state, min_radius=0.2)
        start = time.time()
        c1 = colliders.Ellipsoid(ellipsoid2origin, radii)
        c2 = colliders.Ellipsoid(ellipsoid2origin2, radii2)
        dist, closest_point_capsule, closest_point_capsule2, _ = gjk.gjk(c1, c2)
        end = time.time()
        accumulated_time += end - start
        print(dist)
        if i > 5:
            continue
        plotting.plot_segment(
            ax, closest_point_capsule, closest_point_capsule2, c="k", lw=1)
        ppu.plot_ellipsoid(
            ax=ax, A2B=ellipsoid2origin2, radii=radii2, wireframe=False, alpha=0.5)
    print(f"{accumulated_time=}")

    ppu.plot_ellipsoid(
        ax=ax, A2B=ellipsoid2origin, radii=radii, wireframe=False, alpha=0.5,
        color="yellow")
    plt.show()


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.459 seconds)


.. _sphx_glr_download__auto_examples_gjk_plot_ellipsoids.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_ellipsoids.py <plot_ellipsoids.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: plot_ellipsoids.ipynb <plot_ellipsoids.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_