Engineering is not easy in any college, maybe you should switch to something more suited to your interest/strength AND less competitive (your low grades are partially due to the high caliber of students in your classes).
Top schools are not for everyone, particular people who are socially shy (hence the reason Ivies look for students with leadership skill in their admission process).
Take some time off (take leave of absence with medical reason), maybe do community college in your own town (if your parents are not accepting you, find some relatives/friends/neighbor that will) and work some low-pay job (ie, support yourself and get a better understanding what elite college education can help you), then come back to the Ivy after one year.
Sometimes that’s all it take to appreciate things from other side and recover. I knew someone who went to Cornell for engineering, got really depressed and stop going to any class, came home for the second year attending community college, then went back to Cornell for the easiest eng major (OR) and graduating this May.