Polygon Mesh Processing Library

p_i = poly_i,*
q_i = poly2_i,*
d_i = p_i - q_i

H = sum_i 1/‖d_i‖ [d_i,2²+d_i,3²   -d_i,1⋅d_i,2      -d_i,1⋅d_i,3
                   -d_i,1⋅d_i,2    d_i,1²+d_i,3²     -d_i,2⋅d_i,3
                   -d_i,1⋅d_i,3    -d_i,2⋅d_i,3      d_i,1²+d_i,2²]
J = sum_i 1/‖d_i‖ [-d_i,2⋅p_i,2⋅q_i,1-d_i,3⋅p_i,3⋅q_i,1+d_i,2⋅p_i,1⋅q_i,2+d_i,3⋅p_i,1⋅q_i,3 
                    d_i,1⋅p_i,2⋅q_i,1-d_i,1⋅p_i,1⋅q_i,2-d_i,3⋅p_i,3⋅q_i,2+d_i,3⋅p_i,2⋅q_i,3 
                    d_i,1⋅p_i,3⋅q_i,1+d_i,2⋅p_i,3⋅q_i,2-d_i,1⋅p_i,1⋅q_i,3-d_i,2⋅p_i,2⋅q_i,3 ]

where

poly ∈ ℝ^(n×3) 
poly2 ∈ ℝ^(n×3)