distance3d.mpr.mpr_penetration

distance3d.mpr.mpr_penetration(collider1, collider2, mpr_tolerance=0.0001, max_iterations=100)

Minkowski Portal Refinement (MPR) with penetration info.

The returned penetration direction and contact position form a line along which the penetration happens. The penetration direction is computed such that adding depth + penetration_direction to each vertex of the second collider separates the two colliders.

Parameters:

collider1ConvexCollider

Convex collider 1.

collider2ConvexCollider

Convex collider 2.

mpr_tolerancefloat, optional (default: 0.0001)

Boundary tolerance for MPR algorithm

max_iterationsint, optional (default: 100)

Maximum number of iterations.

Returns:

intersectionbool

Do the two colliders intersect?

depthfloat or None

Penetration depth.

penetration_directionarray, shape (3,) or None

Penetration direction. Vector will be either a unit vector or zero vector in case of touching colliders.

contact_positionarray, shape (3,) or None

Contact position.