newton.geometry.collide_plane_capsule#

newton.geometry.collide_plane_capsule(plane_normal, plane_pos, capsule_pos, capsule_axis, capsule_radius, capsule_half_length)[source]#

Core contact geometry calculation for plane-capsule collision.

Parameters:

  • plane_normal (vec3f) – Normal vector of the plane

  • plane_pos (vec3f) – Position point on the plane

  • capsule_pos (vec3f) – Center position of the capsule

  • capsule_axis (vec3f) – Axis direction of the capsule

  • capsule_radius (float) – Radius of the capsule

  • capsule_half_length (float) – Half length of the capsule

Returns:

contact_dist: Vector of contact distances contact_pos: Matrix of contact positions (one per row) contact_frame: Contact frame for both contacts

Return type:

Tuple containing