Capsule vs Capsule Collision Make sure the penetration depth is not zero

[robertocapuano]

Sometimes assertion fails in NarrowPhaseInfoBatch::addContactPoint(): assert(penDepth > decimal(0.0)); This happens for Capsule/Capsule collision check.

Probable cause is float approssimation in bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, MemoryAllocator& /*memoryAllocator*/) ;

I inserted a double check on penetrationDepth.

if (penetrationDepth > 0)

The logic is the same of SphereVsSphereAlgorithm::testCollision().