0: 
-0.409196 -1.7885e-08 -810.079
-0.409196 -1.7885e-08 -830.079
-37.5651 -1.64202e-06 -824.032
1: 
-31.2255 -1.36491e-06 -805.061
-0.409196 -1.7885e-08 -810.079
-37.5651 -1.64202e-06 -824.032
2: 
61.0536 2.66874e-06 -799.777
67.2643 2.94022e-06 -808.562
35.922 1.5702e-06 -824.305
3: 
61.0536 2.66874e-06 -799.777
35.922 1.5702e-06 -824.305
32.666 1.42788e-06 -814.314
4: 
55.7077 2.43506e-06 -792.215
61.0536 2.66874e-06 -799.777
32.666 1.42788e-06 -814.314
5: 
55.7077 2.43506e-06 -792.215
32.666 1.42788e-06 -814.314
29.7238 1.29927e-06 -805.286
6: 
35.922 1.5702e-06 -824.305
-0.409196 -1.7885e-08 -830.079
32.666 1.42788e-06 -814.314
7: 
-0.409196 -1.7885e-08 -810.079
29.7238 1.29927e-06 -805.286
32.666 1.42788e-06 -814.314
8: 
-0.409196 -1.7885e-08 -830.079
-0.409196 -1.7885e-08 -810.079
32.666 1.42788e-06 -814.314
9: 
-111.109 -4.85674e-06 -674.493
-110.002 -4.80834e-06 -671.906
-101.391 -4.43196e-06 -677.865
10: 
-110.002 -4.80834e-06 -671.906
-101.391 -4.43196e-06 -677.865
-92.2143 -4.03081e-06 -681.049
11: 
-92.2143 -4.03081e-06 -681.049
-110.002 -4.80834e-06 -671.906
-42.7391 -1.86818e-06 -608.279
12: 
-92.2143 -4.03081e-06 -681.049
-42.7391 -1.86818e-06 -608.279
-32.488 -1.42009e-06 -625.497
13: 
-106.02 -4.63429e-06 -695.031
-115.942 -5.06799e-06 -693.357
-111.109 -4.85674e-06 -674.493
14: 
-106.02 -4.63429e-06 -695.031
-111.109 -4.85674e-06 -674.493
-101.391 -4.43196e-06 -677.865
15: 
-96.2132 -4.20561e-06 -696.685
-106.02 -4.63429e-06 -695.031
-101.391 -4.43196e-06 -677.865
16: 
-96.2132 -4.20561e-06 -696.685
-101.391 -4.43196e-06 -677.865
-92.2143 -4.03081e-06 -681.049

0: 1-2 6-4 7-3 8-0 border: 1
1: 0-1 7-4 8-4 border: 2
2: 3-2 4-3 6-5 border: 1
3: 2-0 4-2 5-5 6-1 7-5 8-5 border: -1
4: 2-4 3-1 5-2 6-5 7-5 8-5 border: 0
5: 3-4 4-0 6-4 7-1 8-4 border: 2
6: 0-4 2-3 3-2 4-5 5-5 7-5 8-1 border: 0
7: 0-3 1-3 3-5 4-5 5-1 6-5 8-2 border: 0
8: 0-0 1-4 3-5 4-5 5-5 6-2 7-1 border: -1
9: 10-1 11-4 13-3 14-2 15-5 16-5 border: 0
10: 9-0 11-2 12-5 14-4 15-4 16-1 border: -1
11: 9-4 10-0 12-2 16-3 border: 1
12: 10-3 11-0 16-3 border: 2
13: 9-5 14-2 15-3 border: 1
14: 9-1 10-5 13-0 15-2 16-5 border: -1
15: 9-5 10-5 13-4 14-1 16-2 border: 0
16: 9-4 10-1 11-5 12-5 14-4 15-0 border: 2

non colinear v 20.3454 u0 -0.199781 u2 0.223097 d 8.64267e-07 0 20 d1 -0.939693 0 -0.34202 p 19.1184 8.35692e-07 11.4205
non colinear v -13.2628 u0 0.954836 u2 0.954837 d 33.0752 1.44576e-06 -4.23462 d1 -0.939693 0 -0.34202 p 19.1184 8.35692e-07 -8.57953
non colinear v -21.7934 u0 -0.197195 u2 -0.197195 d -33.0752 -1.44576e-06 -15.7654 d1 -0.939693 0 -0.34202 p -13.9568 -6.1007e-07 -4.34491
trig: 8 u: 0 0.954836 -0.197195
non colinear v -47.088 u0 2.5165 u2 2.5165 d 30.133 1.31716e-06 4.79303 d1 -0.939693 0 -0.34202 p 31.5814 1.38047e-06 -4.0434
non colinear v -1.3618 u0 0.927225 u2 0.927225 d 2.94218 1.28607e-07 -9.02765 d1 -0.939693 0 -0.34202 p 1.44839 6.33111e-08 -8.83643
non colinear v -5.87565e-05 u0 0.0451619 u2 0.0451619 d -33.0752 -1.44576e-06 4.23462 d1 -0.939693 0 -0.34202 p -1.49379 -6.52957e-08 0.191223
trig: 7 u: 2.5165 0.927225 0.0451619

non colinear v 20.3454 u -0.199781 d 8.64267e-07 0 20 d1 -0.939693 0 -0.34202 p 19.1184 8.35692e-07 11.4205
non colinear v -13.2628 u 0.954836 d 33.0752 1.44576e-06 -4.23462 d1 -0.939693 0 -0.34202 p 19.1184 8.35692e-07 -8.57953
non colinear v -21.7934 u -0.197195 d -33.0752 -1.44576e-06 -15.7654 d1 -0.939693 0 -0.34202 p -13.9568 -6.1007e-07 -4.34491
trig: 8 u: 0 0.954836 -0.197195
non colinear v -47.088 u 2.5165 d 30.133 1.31716e-06 4.79303 d1 -0.939693 0 -0.34202 p 31.5814 1.38047e-06 -4.0434
non colinear v -1.3618 u 0.927225 d 2.94218 1.28607e-07 -9.02765 d1 -0.939693 0 -0.34202 p 1.44839 6.33111e-08 -8.83643
non colinear v -5.87565e-05 u 0.0451619 d -33.0752 -1.44576e-06 4.23462 d1 -0.939693 0 -0.34202 p -1.49379 -6.52957e-08 0.191223
trig: 7 u: 2.5165 0.927225 0.0451619

trig: 8 u: 0 0.769719 0.614467
d: 6.3402 2.77139e-07 5.32007 d1 -6.36682 -2.78303e-07 -5.34241
pos 18.7092 8.17807e-07 -818.659 dir -0.766044 0 -0.642788
intr 25.0494 1.09495e-06 -813.339 intr1 12.3424 5.39504e-07 -824.001

trig: 7 u: 1.55642 0.653837 0.15915
d: 4.24541 1.85573e-07 2.45111 d1 -1.90735e-05 -7.95808e-13 0
pos 27.4021 1.19779e-06 -813.64 dir -0.866025 0 -0.5
intr 31.6475 1.38336e-06 -811.189 intr1 27.4021 1.19778e-06 -813.64
 position: 18.7092 8.17807e-07 -818.659

trig: 7 u: 2.5165 0.927225 0.0451619
acceleration: -0 speed: 0 breaks: 0 0 throttle: 0
triangle: 8 position: 18.7092 8.17807e-07 -818.659 
orientation: -0.939693 0 -0.34202

trig: 7 u: 2.5165 0.927225 0.0451619
d: 1.27967 5.59363e-08 0.465759 d1 5.53131e-05 2.38742e-12 0
dir -0.939693 0 -0.34202
intr 32.4519 1.41852e-06 -813.657 intr1 31.1722 1.36258e-06 -814.123

trig: 7 
u: 2.5165 0.927225 0.0451619
d: 1.27967 5.59363e-08 0.465759 
d1 5.53131e-05 2.38742e-12 0 
dir -0.939693 0 -0.34202

Bad cases:
acceleration: -0 speed: 0 breaks: 0 0 throttle: 0
triangle: 8 position: 18.7092 8.17807e-07 -818.659 orientation: -0.939693 0 -0.34202


acceleration: -0 speed: 0 breaks: 0 0 throttle: 0
triangle: 8 position: 18.7092 8.17807e-07 -818.659 orientayion: -1 0 8.74228e-08
Start with this:
acceleration: -0 speed: 0 breaks: 0 0 throttle: 0
triangle: 8 position: 18.7092 8.17807e-07 -818.659 orientayion: -0.939693 0 0.34202

One that works well:
acceleration: -0 speed: 0 breaks: 0 0 throttle: 0
triangle: 8 position: 18.7092 8.17807e-07 -818.659 orientayion: -0.766044 0 0.642788
