newton.geometry.sdf_capsule

newton.geometry.sdf_capsule(point, radius, half_height, up_axis=int(Axis.Y))

Compute signed distance to a capsule for Mesh.create_capsule geometry.

Parameters:

• [m] (half_height) – Query point in the mesh local frame, shape [3], float.

• [m] – Capsule radius.

• [m] – Half-height of the cylindrical section.

• up_axis (int) – Capsule long axis as int(newton.Axis.*).

Returns:

Signed distance [m], negative inside, zero on surface, positive outside.