Create a capsule geom of the given parameters, and return its ID. If space is nonzero, insert it into that space. A capsule is like a normal cylinder except it has half-sphere caps at its ends. This feature makes the internal collision detection code particularly fast and accurate. The cylinder's length, not counting the caps, is given by length. The cylinder is aligned along the geom's local Z axis. The radius of the caps, and of the cylinder itself, is given by radius.
the capsule