I'm trying to figure out how to do continuous collision with a capsule (which would represent a collision volume for a player for example).
Given how common the capsule is in many game engines, and the fact it is merely a circle swept along a line, I would assume that even just normal collision between it any boxes, triangles/arbitrary facets would be abundant, however I'm having a hard time finding anything on capsule collision.
Some how I guess I could figure out the swept volume/object intersection (box + 4 capsule collision detection), and binary search my way down to an approximate collision, but this seems far from ideal, especially given the simple shapes involved. I feel given the shapes I should be able to intersect directly and receive the results. I'm not sure how to figure out "where" something intersected along a swept series with other methods (like GJK).
For my case, I'm currently focused on just AABB collisions and vertically oriented swept 3D capsules, which I hope to resolve (move capsule appropriately back with AABB collision).