newton.geometry.collide_sphere_cylinder#

newton.geometry.collide_sphere_cylinder(sphere_pos, sphere_radius, cylinder_pos, cylinder_axis, cylinder_radius, cylinder_half_height)[source]#

Core contact geometry calculation for sphere-cylinder collision.

Parameters:

  • sphere_pos (vec3f) – Center position of the sphere

  • sphere_radius (float) – Radius of the sphere

  • cylinder_pos (vec3f) – Center position of the cylinder

  • cylinder_axis (vec3f) – Axis direction of the cylinder

  • cylinder_radius (float) – Radius of the cylinder

  • cylinder_half_height (float) – Half height of the cylinder

Returns:

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

Return type:

Tuple containing