capsule vs triangle

[Martijn]

Hi,

Can someone give me a rough description of how to generate contacts between capsule-triangle? The capsule may be tapered (top and bottom cap radius can vary).

Right now I have it at:

1) If points of capsule line segment are 'inside' triangle; do simple sphere-tri collision for the two points with the respective end cap radius.

2) If one or both points of line segment are outside the triangle; do line-line distance (i.e. closest point on line) for capsule line segment against the three triangle edges. The capsule radius at closest point on capsule line segment is interpolated from the two capsule radii.

Is this correct? Does this account for all possible situations?

Thanks,

Martijn

[Martijn]

Bump.

Hints for non-tapered capsules are welcome too.