flexible-collision-library/fcl — pull request #18 by Karsten1987 (2013-11-18 09:48:22+00:00)
Title: adding capsule capsule distance computation

I extended the narrowphase about capsule capsule distance computation. Computation is based on the closest point calculation of two line segments. Those points are augmented by the directional unit vector and the radius of the capsule.
There is also a testfile for it.