Superellipsoid parameters

[gursoyege]

I couldn't find any definition for the superellipsoid parameters: a, b, c, epsilon1, epsilon2. What do they correspond to ?

[mehdi-benallegue]

Thank you for pointing this out, I will improve the documentation of this part, here are some details, I hope they are useful

This rendering might also give you an intuition about these parameters

This definition is similar to the one you can find in

Moustakas, Konstantinos, Dimitrios Tzovaras, and Michael Gerassimos Strintzis. "SQ-Map: Efficient layered collision detection and haptic rendering." IEEE Transactions on Visualization and Computer Graphics 13.1 (2006): 80-93.