newton.geometry.collide_plane_ellipsoid#

newton.geometry.collide_plane_ellipsoid(plane_normal, plane_pos, ellipsoid_pos, ellipsoid_rot, ellipsoid_size)[source]#

Core contact geometry calculation for plane-ellipsoid collision.

Parameters:

  • plane_normal (vec3f) – Normal vector of the plane

  • plane_pos (vec3f) – Position point on the plane

  • ellipsoid_pos (vec3f) – Center position of the ellipsoid

  • ellipsoid_rot (mat33f) – Rotation matrix of the ellipsoid

  • ellipsoid_size (vec3f) – Size (radii) of the ellipsoid along each axis

Returns:

dist: Distance from ellipsoid surface to plane (negative if penetrating) pos: Contact position on ellipsoid surface normal: Contact normal vector (plane normal direction)

Return type:

Tuple containing