X/Y/Z axis aligned capsule patch

[Daniel K. O.]

Hi,

Patch to allow capsules to be aligned to either the x/y or z axis. Currently, capsule are hardcoded to be aligned to z axis.

The following functions are added...

void dGeomCapsuleSetAxis( dGeomID geom,int axis );

int dGeomCapsuleGetAxis( dGeomID geom );

...where axis is 0,1,2 for X, Y, Z axis respectively,

Capsule axis defaults to '2' for backward compatibility.

(submitted by Mark Sibly)