Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it.

examples3d/heightfield3.rs

@@ -54,13 +54,14 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                let collider = match j % 4 {
+                let collider = match j % 5 {
                     0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
                     1 => ColliderBuilder::ball(rad).build(),
                     // Rounded cylinders are much more efficient that cylinder, even if the
                     // rounding margin is small.
                     2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
-                    _ => ColliderBuilder::cone(rad, rad).build(),
+                    3 => ColliderBuilder::cone(rad, rad).build(),
+                    _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
                 colliders.insert(collider, handle, &mut bodies);