import numpy
import openGJK_cython as opengjk
if __name__ == "__main__":
vert_sphere_like = numpy.array(
[
[-0.58600003, 0.0, 1.0],
[0.0, -0.58600003, 1.0],
[0.58600003, 0.0, 1.0],
[0.0, 0.58600003, 1.0],
[1.0, 0.0, -0.70700002],
[1.0, 0.414, -0.414],
[1.0, 0.414, 0.414],
[1.0, 0.0, 0.70700002],
[1.0, -0.414, 0.414],
[1.0, -0.414, -0.414],
[0.0, 1.0, -0.70700002],
[-0.414, 1.0, -0.414],
[-0.414, 1.0, 0.414],
[0.0, 1.0, 0.70700002],
[0.414, 1.0, 0.414],
[0.414, 1.0, -0.414],
[-1.0, 0.0, -0.70700002],
[-1.0, -0.414, -0.414],
[-1.0, -0.414, 0.414],
[-1.0, 0.0, 0.70700002],
[-1.0, 0.414, 0.414],
[-1.0, 0.414, -0.414],
[0.0, -1.0, -0.70700002],
[0.414, -1.0, -0.414],
[0.414, -1.0, 0.414],
[0.0, -1.0, 0.70700002],
[-0.414, -1.0, 0.414],
[-0.414, -1.0, -0.414],
[0.0, 0.58600003, -1.0],
[0.58600003, 0.0, -1.0],
[0.0, -0.58600003, -1.0],
[-0.58600003, 0.0, -1.0],
],
dtype=numpy.float64,
)
vert_extruded_cube = numpy.array(
[
[-2.5, 0.0, 0.5],
[-3.5, 1.0, 0.5],
[-2.5, 0.0, -0.5],
[-3.5, 1.0, -0.5],
[0.0, 2.5, 0.5],
[0.0, 3.5, 0.5],
[-1.0, 3.5, 0.5],
[0.0, 2.5, -0.5],
[0.0, 3.5, -0.5],
[-1.0, 3.5, -0.5],
],
dtype=numpy.float64,
)
distance = opengjk.pygjk(vert_sphere_like, vert_extruded_cube)
print(distance)
The scene looks like the following screenshots ( two perspectives of same scene ):
![two-objects-from-left](https://private-user-images.githubusercontent.com/8177285/238686824-19473ecb-9f5c-42d0-ad0e-51158d2c76ea.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjMyNDE1NjgsIm5iZiI6MTcyMzI0MTI2OCwicGF0aCI6Ii84MTc3Mjg1LzIzODY4NjgyNC0xOTQ3M2VjYi05ZjVjLTQyZDAtYWQwZS01MTE1OGQyYzc2ZWEucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDgwOSUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA4MDlUMjIwNzQ4WiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9MTkwNGU0YTA0NjFlODhjZjU1ZjgzNzRkNjgyNWRlZWY2ZjNlNTk3YTBiOThmZWJmZWEzN2NiZGQ3NTBiMWNjMSZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.o3QWvPlyad-gLCSPsXQOBRySwVbZPWXNDEtrkgAi4-U)
![two-objects-from-right](https://private-user-images.githubusercontent.com/8177285/238686857-a60a8511-0306-487b-b1e8-08f57acfc52e.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjMyNDE1NjgsIm5iZiI6MTcyMzI0MTI2OCwicGF0aCI6Ii84MTc3Mjg1LzIzODY4Njg1Ny1hNjBhODUxMS0wMzA2LTQ4N2ItYjFlOC0wOGY1N2FjZmM1MmUucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDgwOSUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA4MDlUMjIwNzQ4WiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9OWIxYzhmMmY0M2IzNjA0ZjkzZTZhNmRjY2JjNmY1YTljNWQ2NDNlY2NhNzIyNGU0ZmEzYjI1ZWNiMDU0Njg5ZiZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.MGzso4qyQanlvARuh3_IJ-NC5cYFmXFgQgNHAuMIHVI)
My environment is MacOS Ventura 13.3.1 (22E261) arm64, Python 3.10.6, cpython build of openGJK ( master, commit 47df2d7 )