Cross-section snapshots of MASCOT impacting different 30 cm regolith beds, with an impact angle of 45°, and on its back corner first. The beds differ in friction (gravel-like and moderate) and include or exclude a midheight boulder. The green aggregate represents the boulder, and each red line indicates the projected 2D velocity of the corresponding particle. t_impact corresponds to the simulation time when MASCOT is in contact with the regolith for the first time. The incoming and outgoing velocity vectors are indicated by the blue arrows, and the impact location is marked by the solid green circle.