code: function capsuleVsSphere(contactPoint, contactNormal, capsule, sphere) {
    const sphereCenter = sphere.centerOfVolume;
    findClosestPointOnSegmentToPoint(contactPoint, capsule.segment, sphereCenter);
    vec3.subtract(contactNormal, sphereCenter, contactPoint);
    vec3.normalize(contactNormal, contactNormal);
    vec3.scaleAndAdd(contactPoint, contactPoint, contactNormal, capsule.radius);
  }
docs: Finds the closest point on the surface of the capsule to the sphere center.
  
  @param {vec3} contactPoint Output param.
  @param {vec3} contactNormal Output param.
  @param {Capsule} capsule
  @param {Sphere} sphere