Check Ellipsoids Overlapping

Checks if there is overlapping between two ellipsoids

Checks if there is overlapping between two ellipsoids using analytical formulas in the reference [1] .

Input
Ellipsoid1 and Ellipsoid2 are (1*9) arrays. each cell represent:
(1): radius of ellipsoids at direction 1
(2): radius of ellipsoids at direction 2
(3): radius of ellipsoids at direction 3
(4): x-cooridante of centroid
(5): y-coordinate of centroid
(6): z-coordinate of centroid
(7): Inclination angle 1
(8): Inclination angle 2
(9): Inclination angle 3

output
doOverlap: true if there is overlap, otherwise it is false

References:
[1] Wang, Wenping, Jiaye Wang, and Myung-Soo Kim. "An algebraic condition for the separation of two ellipsoids." Computer aided geometric design 18.6 (2001): 531-539.