Function compute_distances_gjk

python/dolfinx/geometry.py:295–320

Compute the distance between a set of convex bodies. For each convex body defined in `bodies`; (a set of 3D points for each body) find the shortest distance vector to to the body `q` defined by another set of 3D points. The method uses the Gilbert-Johnson-Keerthi (GJK) distance

(
    bodies: list[npt.NDArray[Real]], q: npt.NDArray[Real], num_threads: int
)

def compute_distances_gjk(
    bodies: list[npt.NDArray[Real]], q: npt.NDArray[Real], num_threads: int
) -> npt.NDArray[Real]:
    """Compute the distance between a set of convex bodies.

    For each convex body defined in `bodies`;
    (a set of 3D points for each body) find the shortest distance vector
    to to the body `q` defined by another set of 3D points.
    The method uses the
    Gilbert-Johnson-Keerthi (GJK) distance algorithm.

    Args:
        bodies: List of bodies, where each body is an array of
            (``shape=(num_points_i, 3, gdim)``).
        q: Body 2 list of points (``shape=(num_points_2, 3)``).
        num_threads: Number of threads to use for GJK computation.

    Returns:
        Shortest vector between the two bodies.
    """
    assert all([p.dtype == q.dtype for p in bodies])
    if np.issubdtype(q.dtype, np.float32):
        return _cpp.geometry.compute_distances_gjk_float32(bodies, q, num_threads)
    elif np.issubdtype(q.dtype, np.float64):
        return _cpp.geometry.compute_distances_gjk_float64(bodies, q, num_threads)
    raise RuntimeError("Invalid dtype in compute_distances_gjk")


def determine_point_ownership(