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jorgensd
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Mar 12, 2026
Co-authored-by: Jørgen Schartum Dokken <dokken92@gmail.com>
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Following the way of implementation #4083, introduce threading for GJK, in the case where you have$b_0, b_1, \dots, b_N$ , which you would like to compute the distance to another body
N bodies
qfor all bodiesb_i.This PR makes it possible to control the threading for this new interface,
compute_distances_gjk.GJK improvements:
Introduce monotonicity criteria for distance norm v. If v starts increasing we have hit machine tolerance and therefore exit.
Test improvements:
Removes alot of looping from the bounding box tests, in favor of a numpy/vectorized construction.
Tests
num_threads=1andnum_threads=2for the new algorithm.Bugs fixes:
The tolerances used inside GJK was wrong not , causing the bounding box tests to fail if you refined the grid even slightly (the tolerance should use as we have cast all data into that format).