Function contact_manifold_capsule_capsule 

pub fn contact_manifold_capsule_capsule<'a, ManifoldData, ContactData>(
    pos12: &Isometry<f64>,
    capsule1: &'a Capsule,
    capsule2: &'a Capsule,
    prediction: f64,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
)
where
    ContactData: Default + Copy,

Computes the contact manifold between two capsules.