Add sphere-capsule collision.

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Apache License 2.0

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Closed ErikGartner closed 2 years ago

ErikGartner commented 2 years ago

Implements sphere-capsule collision as collision between a sphere and the two spheres of the capsule.

erwincoumans commented 2 years ago

Thanks! So this would be an approximation, not taking collisions in between the capsule end points into account?