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Capsule vs Capsule Contact Manifold Generation (minimization problem + QR factorization)

Description

A method based on QR factorization for performing minimum distance and closest point calculations for line-segments / capsules.

References

  • distance query between line-segments - "Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics" by Mohammad Safeea, Pedro Neto, Richard Bearee
  • contact manifold structure - Box2D-Lite by Erin Catto

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