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Capsule capsule collision #202

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Capsule capsule collision #202

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Commits on Apr 22, 2022

  1. Capsule-sphere collides at closest point on segmnt. 

    tiny_vector3.h: change api according to Eigen

geometry.hpp: Capsule can compute position of tip & base given the pose
    @jotix16
    jotix16 committed Apr 22, 2022
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  2. Capsules collides at closest points between segments

    @jotix16
    jotix16 committed Apr 22, 2022
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