Contact detection between an ellipsoid and a combination of quadrics

Abstract: We analyze the characteristic polynomial associated to an ellipsoid and another quadric in the context of the contact detection problem. We obtain a necessary and sufficient condition for an efficient method to detect contact. This condition is a feature on the size and the shape of the quadrics and can be checked directly from their parameters. Under this hypothesis, contact can be noticed by means of discriminants of the characteristic polynomial. Furthermore, relative positions can be classified through the sign of the coefficients of this polynomial.