How to cover a rectangle area with irregular shapes and no holes

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I have detailed, highly irregular shapes like these:

enter image description here

and I'm looking for a way to make them cover a rectangle area with no holes and minimal blend/cover between shapes. Limited up-scaling and free rotation is also allowed.

I searched through packaging and covering algorithms but there is not a lot of information about irregular shapes and every one I looked at assumes shapes cannot blend. In my case this is acceptable.

Given above shapes one solution would look something like this:

enter image description here

To achieve above result shapes have been transalted, rotated and scaled.

Given:

  • All shapes can be scaled up and down (max 2x) and rotated
  • Shapes can overlap
  • Part of shape can be outside of rectangle
  • Shapes don't have holes in them

Do you know an algo that could solve this?

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