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[FEATURE] Add analytical collisions for capsule-capsule and capsule-sphere. #3286

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Job	Run time
ubuntu-24.04-3.11-cpu-ndarray	1h 5m 53s
ubuntu-24.04-3.13-cpu-ndarray	1h 7m 38s
macos-15-3.11-cpu-ndarray	1h 5m 20s
macos-15-3.12-cpu-field	2h 35m 31s
ubuntu-24.04-arm-3.12-cpu-ndarray	57m 57s
ubuntu-24.04-3.12-cpu-ndarray	1h 1m 54s
macos-15-3.12-cpu-ndarray	56m 29s
ubuntu-24.04-arm-3.12-cpu-field	2h 17m 27s
macos-15-3.10-cpu-ndarray	1h 16m 33s
macos-15-3.13-cpu-ndarray	56m 19s
macos-15-3.12-gpu-field	2h 49m 53s
windows-2025-3.12-cpu-ndarray	1h 26m 13s
ubuntu-24.04-3.12-cpu-field	2h 35m 28s
ubuntu-22.04-3.12-cpu-ndarray	2h 22m 53s
ubuntu-24.04-3.10-cpu-ndarray	1h 3m 43s
Publish on PyPI	0s
	23h 39m 11s