I always see circle packing using ideal circles(or other shapes) inside another ideal shape. It's my understanding that packing arbitrary shapes inside other sh

I always see circle packing using ideal circles(or other shapes) inside another ideal shape. It's my understanding that packing arbitrary shapes inside other shape(even an ideal one) or the reverse, packing ideal shapes inside an arbitrary shape, is NP hard. My limited research and experimentation proves this out but my work has been in the context of getting things done and not research or algorithm design. Double packing, packing shapes inside shapes inside shapes is O(N^k) as far as I can tell.