Compute collision data for one-sided collision between a plane and a sphere

The computation of the collision data between a plane and a sphere for the following case

The plane has a sense of direction that is the half-space containing the plane normal is the "outside" of the plane and the other half-space as "inside". So, the penetration depth is zero if the sphere is "outside" the plane, and positive if it is "inside" the plane.

This type of collision detection between a plane and a sphere is required for implementing virtual coupling.