newton.geometry.collide_sphere_capsule#

newton.geometry.collide_sphere_capsule(sphere_pos, sphere_radius, capsule_pos, capsule_axis, capsule_radius, capsule_half_length)[source]#

Core contact geometry calculation for sphere-capsule collision.

Parameters:

  • sphere_pos (vec3f) – Center position of the sphere

  • sphere_radius (float) – Radius of the sphere

  • 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:

dist: Distance between surfaces (negative if overlapping) pos: Contact position (midpoint between closest surface points) normal: Contact normal vector (from sphere toward capsule)

Return type:

Tuple containing