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