Suppose a spherocylindrical solid is let to fall from some height to a flat, solid surface, bouncing some height up after it reaches the surface. The object clearly loses some of its energy due to the collision with the ground, but which factors determine exactly how much energy is lost? Also, please make these factors quantitative so I can create a theoretical model to predict the amount of energy lost as a result of a spherocylinder's bounce on some surface, and hence compare the release height and the predicted bounce height.
Also, keep in mind that the object may be released with some rotational kinetic energy.
In case you're wondering why I am asking this, my goal is to theoretically predict how much energy a Tic Tac, which is the spherocylindrical object, will lose if it is let go to bounce on a hard glass surface.