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.