template bool sphereCapsuleIntersect(const Sphere< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template bool sphereCapsuleDistance(const Sphere< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, double *dist, Vector3< double > *p1, Vector3< double > *p2)