import bpy, bmesh
from mathutils import Vector
from mathutils.bvhtree import BVHTree
objs = [o for o in bpy.data.objects if o.type == 'MESH' and o.name.startswith("SM_DNR_") and o.name not in ("SM_DNR_Decals",)]
data = {}
for o in objs:
    bm = bmesh.new(); bm.from_mesh(o.data); bm.transform(o.matrix_world)
    bmesh.ops.triangulate(bm, faces=bm.faces[:])
    data[o.name] = (BVHTree.FromBMesh(bm, epsilon=1e-6), [v.co.copy() for v in bm.verts])
    bm.free()
names = list(data)
flag = []
for a in names:
    for b in names:
        if a == b: continue
        tb, _ = data[b]; _, va = data[a]
        bad = []
        for p in va:
            r = tb.find_nearest(p, 0.03)
            if r[0] is None: continue
            loc, nrm, idx, dist = r
            s = (p - loc).dot(nrm)
            if s < -0.0010 and dist < 0.03:
                bad.append((round(p.x,3), round(p.y,3), round(p.z,3), round(s,4)))
        if bad:
            flag.append((a, b, len(bad), bad[:3]))
result = {"penetrating_vertices": flag}