diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
index 02fee42c4..67780e590 100644
--- a/src/collision_func_matrix.cpp
+++ b/src/collision_func_matrix.cpp
@@ -318,6 +318,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane>;
   collision_matrix[GEOM_BOX][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Box, Halfspace>;
+  collision_matrix[GEOM_BOX][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Box, Ellipsoid>;
 
   collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box>;
   collision_matrix[GEOM_SPHERE][GEOM_SPHERE] =
@@ -332,6 +334,25 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane>;
   collision_matrix[GEOM_SPHERE][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Sphere, Halfspace>;
+  collision_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Sphere, Ellipsoid>;
+
+  collision_matrix[GEOM_ELLIPSOID][GEOM_BOX] =
+      &ShapeShapeCollide<Ellipsoid, Box>;
+  collision_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] =
+      &ShapeShapeCollide<Ellipsoid, Sphere>;
+  collision_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] =
+      &ShapeShapeCollide<Ellipsoid, Capsule>;
+  collision_matrix[GEOM_ELLIPSOID][GEOM_CONE] =
+      &ShapeShapeCollide<Ellipsoid, Cone>;
+  collision_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] =
+      &ShapeShapeCollide<Ellipsoid, Cylinder>;
+  collision_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] =
+      &ShapeShapeCollide<Ellipsoid, ConvexBase>;
+  // TODO Louis: Ellipsoid - Plane
+  // TODO Louis: Ellipsoid - Halfspace
+  collision_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Ellipsoid, Ellipsoid>;
 
   collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box>;
   collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] =
@@ -347,6 +368,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &ShapeShapeCollide<Capsule, Plane>;
   collision_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Capsule, Halfspace>;
+  collision_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Capsule, Ellipsoid>;
 
   collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box>;
   collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere>;
@@ -359,6 +382,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane>;
   collision_matrix[GEOM_CONE][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Cone, Halfspace>;
+  collision_matrix[GEOM_CONE][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Cone, Ellipsoid>;
 
   collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box>;
   collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] =
@@ -375,6 +400,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &ShapeShapeCollide<Cylinder, Plane>;
   collision_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Cylinder, Halfspace>;
+  collision_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<Cylinder, Ellipsoid>;
 
   collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<ConvexBase, Box>;
   collision_matrix[GEOM_CONVEX][GEOM_SPHERE] =
@@ -391,6 +418,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &ShapeShapeCollide<ConvexBase, Plane>;
   collision_matrix[GEOM_CONVEX][GEOM_HALFSPACE] =
       &ShapeShapeCollide<ConvexBase, Halfspace>;
+  collision_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] =
+      &ShapeShapeCollide<ConvexBase, Ellipsoid>;
 
   collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box>;
   collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere>;
@@ -404,6 +433,7 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane>;
   collision_matrix[GEOM_PLANE][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Plane, Halfspace>;
+  // TODO Louis: Ellipsoid - Plane
 
   collision_matrix[GEOM_HALFSPACE][GEOM_BOX] =
       &ShapeShapeCollide<Halfspace, Box>;
@@ -421,6 +451,7 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &ShapeShapeCollide<Halfspace, Plane>;
   collision_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] =
       &ShapeShapeCollide<Halfspace, Halfspace>;
+  // TODO Louis: Ellipsoid - Halfspace
 
   collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box>::collide;
   collision_matrix[BV_AABB][GEOM_SPHERE] =
@@ -436,6 +467,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<AABB, Plane>::collide;
   collision_matrix[BV_AABB][GEOM_HALFSPACE] =
       &BVHShapeCollider<AABB, Halfspace>::collide;
+  collision_matrix[BV_AABB][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<AABB, Ellipsoid>::collide;
 
   collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box>::collide;
   collision_matrix[BV_OBB][GEOM_SPHERE] =
@@ -450,6 +483,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane>::collide;
   collision_matrix[BV_OBB][GEOM_HALFSPACE] =
       &BVHShapeCollider<OBB, Halfspace>::collide;
+  collision_matrix[BV_OBB][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<OBB, Ellipsoid>::collide;
 
   collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box>::collide;
   collision_matrix[BV_RSS][GEOM_SPHERE] =
@@ -464,6 +499,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane>::collide;
   collision_matrix[BV_RSS][GEOM_HALFSPACE] =
       &BVHShapeCollider<RSS, Halfspace>::collide;
+  collision_matrix[BV_RSS][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<RSS, Ellipsoid>::collide;
 
   collision_matrix[BV_KDOP16][GEOM_BOX] =
       &BVHShapeCollider<KDOP<16>, Box>::collide;
@@ -481,6 +518,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<KDOP<16>, Plane>::collide;
   collision_matrix[BV_KDOP16][GEOM_HALFSPACE] =
       &BVHShapeCollider<KDOP<16>, Halfspace>::collide;
+  collision_matrix[BV_KDOP16][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<KDOP<16>, Ellipsoid>::collide;
 
   collision_matrix[BV_KDOP18][GEOM_BOX] =
       &BVHShapeCollider<KDOP<18>, Box>::collide;
@@ -498,6 +537,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<KDOP<18>, Plane>::collide;
   collision_matrix[BV_KDOP18][GEOM_HALFSPACE] =
       &BVHShapeCollider<KDOP<18>, Halfspace>::collide;
+  collision_matrix[BV_KDOP18][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<KDOP<18>, Ellipsoid>::collide;
 
   collision_matrix[BV_KDOP24][GEOM_BOX] =
       &BVHShapeCollider<KDOP<24>, Box>::collide;
@@ -515,6 +556,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<KDOP<24>, Plane>::collide;
   collision_matrix[BV_KDOP24][GEOM_HALFSPACE] =
       &BVHShapeCollider<KDOP<24>, Halfspace>::collide;
+  collision_matrix[BV_KDOP24][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<KDOP<24>, Ellipsoid>::collide;
 
   collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box>::collide;
   collision_matrix[BV_kIOS][GEOM_SPHERE] =
@@ -530,6 +573,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<kIOS, Plane>::collide;
   collision_matrix[BV_kIOS][GEOM_HALFSPACE] =
       &BVHShapeCollider<kIOS, Halfspace>::collide;
+  collision_matrix[BV_kIOS][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<kIOS, Ellipsoid>::collide;
 
   collision_matrix[BV_OBBRSS][GEOM_BOX] =
       &BVHShapeCollider<OBBRSS, Box>::collide;
@@ -547,6 +592,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &BVHShapeCollider<OBBRSS, Plane>::collide;
   collision_matrix[BV_OBBRSS][GEOM_HALFSPACE] =
       &BVHShapeCollider<OBBRSS, Halfspace>::collide;
+  collision_matrix[BV_OBBRSS][GEOM_ELLIPSOID] =
+      &BVHShapeCollider<OBBRSS, Ellipsoid>::collide;
 
   collision_matrix[HF_AABB][GEOM_BOX] =
       &HeightFieldShapeCollider<AABB, Box>::collide;
@@ -564,6 +611,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &HeightFieldShapeCollider<AABB, Plane>::collide;
   collision_matrix[HF_AABB][GEOM_HALFSPACE] =
       &HeightFieldShapeCollider<AABB, Halfspace>::collide;
+  collision_matrix[HF_AABB][GEOM_ELLIPSOID] =
+      &HeightFieldShapeCollider<AABB, Ellipsoid>::collide;
 
   collision_matrix[HF_OBBRSS][GEOM_BOX] =
       &HeightFieldShapeCollider<OBBRSS, Box>::collide;
@@ -581,6 +630,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
       &HeightFieldShapeCollider<OBBRSS, Plane>::collide;
   collision_matrix[HF_OBBRSS][GEOM_HALFSPACE] =
       &HeightFieldShapeCollider<OBBRSS, Halfspace>::collide;
+  collision_matrix[HF_OBBRSS][GEOM_ELLIPSOID] =
+      &HeightFieldShapeCollider<OBBRSS, Ellipsoid>::collide;
 
   collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB>;
   collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB>;
@@ -600,6 +651,7 @@ CollisionFunctionMatrix::CollisionFunctionMatrix() {
   collision_matrix[GEOM_OCTREE][GEOM_CONVEX] = &Collide<OcTree, ConvexBase>;
   collision_matrix[GEOM_OCTREE][GEOM_PLANE] = &Collide<OcTree, Plane>;
   collision_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &Collide<OcTree, Halfspace>;
+  collision_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &Collide<OcTree, Ellipsoid>;
 
   collision_matrix[GEOM_BOX][GEOM_OCTREE] = &Collide<Box, OcTree>;
   collision_matrix[GEOM_SPHERE][GEOM_OCTREE] = &Collide<Sphere, OcTree>;
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index a91e57ca0..ca295473a 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -291,6 +291,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
   distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane>;
   distance_matrix[GEOM_BOX][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Box, Halfspace>;
+  distance_matrix[GEOM_BOX][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Box, Ellipsoid>;
 
   distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box>;
   distance_matrix[GEOM_SPHERE][GEOM_SPHERE] =
@@ -305,6 +307,25 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
   distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane>;
   distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Sphere, Halfspace>;
+  distance_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Sphere, Ellipsoid>;
+
+  distance_matrix[GEOM_ELLIPSOID][GEOM_BOX] =
+      &ShapeShapeDistance<Ellipsoid, Box>;
+  distance_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] =
+      &ShapeShapeDistance<Ellipsoid, Sphere>;
+  distance_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] =
+      &ShapeShapeDistance<Ellipsoid, Capsule>;
+  distance_matrix[GEOM_ELLIPSOID][GEOM_CONE] =
+      &ShapeShapeDistance<Ellipsoid, Cone>;
+  distance_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] =
+      &ShapeShapeDistance<Ellipsoid, Cylinder>;
+  distance_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] =
+      &ShapeShapeDistance<Ellipsoid, ConvexBase>;
+  // TODO Louis: Ellipsoid - Plane
+  // TODO Louis: Ellipsoid - Halfspace
+  distance_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Ellipsoid, Ellipsoid>;
 
   distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box>;
   distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] =
@@ -320,6 +341,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &ShapeShapeDistance<Capsule, Plane>;
   distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Capsule, Halfspace>;
+  distance_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Capsule, Ellipsoid>;
 
   distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box>;
   distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere>;
@@ -332,6 +355,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
   distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane>;
   distance_matrix[GEOM_CONE][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Cone, Halfspace>;
+  distance_matrix[GEOM_CONE][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Cone, Ellipsoid>;
 
   distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box>;
   distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] =
@@ -348,6 +373,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &ShapeShapeDistance<Cylinder, Plane>;
   distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Cylinder, Halfspace>;
+  distance_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<Cylinder, Ellipsoid>;
 
   distance_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeDistance<ConvexBase, Box>;
   distance_matrix[GEOM_CONVEX][GEOM_SPHERE] =
@@ -364,6 +391,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &ShapeShapeDistance<ConvexBase, Plane>;
   distance_matrix[GEOM_CONVEX][GEOM_HALFSPACE] =
       &ShapeShapeDistance<ConvexBase, Halfspace>;
+  distance_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] =
+      &ShapeShapeDistance<ConvexBase, Ellipsoid>;
 
   distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box>;
   distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere>;
@@ -377,6 +406,7 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
   distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane>;
   distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Plane, Halfspace>;
+  // TODO Louis: Ellipsoid - Plane
 
   distance_matrix[GEOM_HALFSPACE][GEOM_BOX] =
       &ShapeShapeDistance<Halfspace, Box>;
@@ -394,6 +424,7 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &ShapeShapeDistance<Halfspace, Plane>;
   distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] =
       &ShapeShapeDistance<Halfspace, Halfspace>;
+  // TODO Louis: Ellipsoid - Halfspace
 
   /* AABB distance not implemented */
   /*
@@ -425,6 +456,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &BVHShapeDistancer<OBB, Plane>::distance;
   distance_matrix[BV_OBB][GEOM_HALFSPACE] =
       &BVHShapeDistancer<OBB, Halfspace>::distance;
+  distance_matrix[BV_OBB][GEOM_ELLIPSOID] =
+      &BVHShapeDistancer<OBB, Ellipsoid>::distance;
 
   distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box>::distance;
   distance_matrix[BV_RSS][GEOM_SPHERE] =
@@ -440,6 +473,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &BVHShapeDistancer<RSS, Plane>::distance;
   distance_matrix[BV_RSS][GEOM_HALFSPACE] =
       &BVHShapeDistancer<RSS, Halfspace>::distance;
+  distance_matrix[BV_RSS][GEOM_ELLIPSOID] =
+      &BVHShapeDistancer<RSS, Ellipsoid>::distance;
 
   /* KDOP distance not implemented */
   /*
@@ -498,6 +533,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &BVHShapeDistancer<kIOS, Plane>::distance;
   distance_matrix[BV_kIOS][GEOM_HALFSPACE] =
       &BVHShapeDistancer<kIOS, Halfspace>::distance;
+  distance_matrix[BV_kIOS][GEOM_ELLIPSOID] =
+      &BVHShapeDistancer<kIOS, Ellipsoid>::distance;
 
   distance_matrix[BV_OBBRSS][GEOM_BOX] =
       &BVHShapeDistancer<OBBRSS, Box>::distance;
@@ -515,6 +552,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &BVHShapeDistancer<OBBRSS, Plane>::distance;
   distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] =
       &BVHShapeDistancer<OBBRSS, Halfspace>::distance;
+  distance_matrix[BV_OBBRSS][GEOM_ELLIPSOID] =
+      &BVHShapeDistancer<OBBRSS, Ellipsoid>::distance;
 
   distance_matrix[HF_AABB][GEOM_BOX] =
       &HeightFieldShapeDistancer<AABB, Box>::distance;
@@ -532,6 +571,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &HeightFieldShapeDistancer<AABB, Plane>::distance;
   distance_matrix[HF_AABB][GEOM_HALFSPACE] =
       &HeightFieldShapeDistancer<AABB, Halfspace>::distance;
+  distance_matrix[HF_AABB][GEOM_ELLIPSOID] =
+      &HeightFieldShapeDistancer<AABB, Ellipsoid>::distance;
 
   distance_matrix[HF_OBBRSS][GEOM_BOX] =
       &HeightFieldShapeDistancer<OBBRSS, Box>::distance;
@@ -549,6 +590,8 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
       &HeightFieldShapeDistancer<OBBRSS, Plane>::distance;
   distance_matrix[HF_OBBRSS][GEOM_HALFSPACE] =
       &HeightFieldShapeDistancer<OBBRSS, Halfspace>::distance;
+  distance_matrix[HF_OBBRSS][GEOM_ELLIPSOID] =
+      &HeightFieldShapeDistancer<OBBRSS, Ellipsoid>::distance;
 
   distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB>;
   distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB>;
@@ -565,6 +608,7 @@ DistanceFunctionMatrix::DistanceFunctionMatrix() {
   distance_matrix[GEOM_OCTREE][GEOM_CONVEX] = &Distance<OcTree, ConvexBase>;
   distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &Distance<OcTree, Plane>;
   distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &Distance<OcTree, Halfspace>;
+  distance_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &Distance<OcTree, Ellipsoid>;
 
   distance_matrix[GEOM_BOX][GEOM_OCTREE] = &Distance<Box, OcTree>;
   distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &Distance<Sphere, OcTree>;