Capsule-sphere collides at closest point on segment. #201
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tiny_vector3.h: change api according to Eigen geometry.hpp: Capsule can compute position of tip & base given the pose
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Computes collision by first getting the point on the capsule-segment that is closest to the sphere-center.
Uses clamp to avoid branches.
Secondary:
tiny_vector3.h: change API according to Eigengeometry.hpp: Capsule can compute the position of tip & base given the pose