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[FEATURE] Add analytical collisions for capsule-capsule and capsule-sphere. #2098

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[FEATURE] Add analytical collisions for capsule-capsule and capsule-sphere.

[FEATURE] Add analytical collisions for capsule-capsule and capsule-sphere. #2098

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Job Run time
ubuntu-24.04-3.12-examples
24m 5s
24m 5s